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1 .file "fc.c"2 .arch atmega1284p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global GasIsZeroCnt11 .global GasIsZeroCnt12 .section .bss15 GasIsZeroCnt:16 0000 0000 .skip 2,017 .global HooverGasEmergencyPercent18 .global HooverGasEmergencyPercent21 HooverGasEmergencyPercent:22 0002 0000 .skip 2,023 .global VarioCharacter24 .data27 VarioCharacter:28 0000 20 .byte 3229 .global GIER_GRAD_FAKTOR32 GIER_GRAD_FAKTOR:33 0001 0B05 0000 .long 129134 .global FC_StatusFlags235 .global FC_StatusFlags236 .section .bss39 FC_StatusFlags2:40 0004 00 .skip 1,041 .global FC_StatusFlags42 .global FC_StatusFlags45 FC_StatusFlags:46 0005 00 .skip 1,047 .global modell_fliegt48 .global modell_fliegt51 modell_fliegt:52 0006 0000 .skip 2,053 .global MaxStickRoll54 .global MaxStickRoll57 MaxStickRoll:58 0008 0000 .skip 2,059 .global MaxStickNick60 .global MaxStickNick63 MaxStickNick:64 000a 0000 .skip 2,065 .global ExternHoehenValue66 .data69 ExternHoehenValue:70 0005 ECFF .word -2071 .global ExternStickGier72 .global ExternStickGier73 .section .bss76 ExternStickGier:77 000c 0000 .skip 2,078 .global ExternStickRoll79 .global ExternStickRoll82 ExternStickRoll:83 000e 0000 .skip 2,084 .global ExternStickNick85 .global ExternStickNick88 ExternStickNick:89 0010 0000 .skip 2,090 .global sintab91 .data94 sintab:95 0007 00 .byte 096 0008 02 .byte 297 0009 04 .byte 498 000a 06 .byte 699 000b 07 .byte 7100 000c 08 .byte 8101 000d 08 .byte 8102 000e 08 .byte 8103 000f 07 .byte 7104 0010 06 .byte 6105 0011 04 .byte 4106 0012 02 .byte 2107 0013 00 .byte 0108 0014 FE .byte -2109 0015 FC .byte -4110 0016 FA .byte -6111 0017 F9 .byte -7112 0018 F8 .byte -8113 0019 F8 .byte -8114 001a F8 .byte -8115 001b F9 .byte -7116 001c FA .byte -6117 001d FC .byte -4118 001e FE .byte -2119 001f 00 .byte 0120 0020 02 .byte 2121 0021 04 .byte 4122 0022 06 .byte 6123 0023 07 .byte 7124 0024 08 .byte 8125 0025 08 .byte 8126 .global CareFree127 .global CareFree128 .section .bss131 CareFree:132 0012 00 .skip 1,0133 .global Parameter_DynamicStability134 .data137 Parameter_DynamicStability:138 0026 64 .byte 100139 .global Parameter_CouplingYawCorrection142 Parameter_CouplingYawCorrection:143 0027 40 .byte 64144 .global Parameter_AchsKopplung2147 Parameter_AchsKopplung2:148 0028 41 .byte 65149 .global Parameter_AchsKopplung1152 Parameter_AchsKopplung1:153 0029 5A .byte 90154 .global Parameter_LoopGasLimit157 Parameter_LoopGasLimit:158 002a 46 .byte 70159 .global Parameter_ServoRollControl162 Parameter_ServoRollControl:163 002b 64 .byte 100164 .global Parameter_ServoNickControl167 Parameter_ServoNickControl:168 002c 64 .byte 100169 .global Parameter_UserParam8170 .global Parameter_UserParam8171 .section .bss174 Parameter_UserParam8:175 0013 00 .skip 1,0176 .global Parameter_UserParam7177 .global Parameter_UserParam7180 Parameter_UserParam7:181 0014 00 .skip 1,0182 .global Parameter_UserParam6183 .global Parameter_UserParam6186 Parameter_UserParam6:187 0015 00 .skip 1,0188 .global Parameter_UserParam5189 .global Parameter_UserParam5192 Parameter_UserParam5:193 0016 00 .skip 1,0194 .global Parameter_UserParam4195 .global Parameter_UserParam4198 Parameter_UserParam4:199 0017 00 .skip 1,0200 .global Parameter_UserParam3201 .global Parameter_UserParam3204 Parameter_UserParam3:205 0018 00 .skip 1,0206 .global Parameter_UserParam2207 .global Parameter_UserParam2210 Parameter_UserParam2:211 0019 00 .skip 1,0212 .global Parameter_UserParam1213 .global Parameter_UserParam1216 Parameter_UserParam1:217 001a 00 .skip 1,0218 .global Parameter_I_Faktor219 .data222 Parameter_I_Faktor:223 002d 0A .byte 10224 .global Parameter_Gier_P227 Parameter_Gier_P:228 002e 02 .byte 2229 .global Parameter_Gyro_Gier_I232 Parameter_Gyro_Gier_I:233 002f 96 .byte -106234 .global Parameter_Gyro_Gier_P237 Parameter_Gyro_Gier_P:238 0030 96 .byte -106239 .global Parameter_Gyro_I242 Parameter_Gyro_I:243 0031 96 .byte -106244 .global Parameter_Gyro_P247 Parameter_Gyro_P:248 0032 96 .byte -106249 .global Parameter_Gyro_D252 Parameter_Gyro_D:253 0033 08 .byte 8254 .global Parameter_Hoehe_GPS_Z257 Parameter_Hoehe_GPS_Z:258 0034 40 .byte 64259 .global Parameter_KompassWirkung262 Parameter_KompassWirkung:263 0035 40 .byte 64264 .global Parameter_Hoehe_ACC_Wirkung267 Parameter_Hoehe_ACC_Wirkung:268 0036 3A .byte 58269 .global Parameter_Hoehe_P272 Parameter_Hoehe_P:273 0037 10 .byte 16274 .global Parameter_HoehenSchalter277 Parameter_HoehenSchalter:278 0038 FB .byte -5279 .global Parameter_Luftdruck_D282 Parameter_Luftdruck_D:283 0039 30 .byte 48284 .global Looping_Oben285 .global Looping_Oben286 .section .bss289 Looping_Oben:290 001b 00 .skip 1,0291 .global Looping_Unten292 .global Looping_Unten295 Looping_Unten:296 001c 00 .skip 1,0297 .global Looping_Rechts298 .global Looping_Rechts301 Looping_Rechts:302 001d 00 .skip 1,0303 .global Looping_Links304 .global Looping_Links307 Looping_Links:308 001e 00 .skip 1,0309 .global Looping_Roll310 .global Looping_Roll313 Looping_Roll:314 001f 00 .skip 1,0315 .global Looping_Nick316 .global Looping_Nick319 Looping_Nick:320 0020 00 .skip 1,0321 .global Ki322 .data325 Ki:326 003a 3801 .word 312327 .global HoverGas328 .global HoverGas329 .section .bss332 HoverGas:333 0021 0000 .skip 2,0334 .global LageKorrekturNick335 .global LageKorrekturNick338 LageKorrekturNick:339 0023 0000 .skip 2,0340 .global LageKorrekturRoll341 .global LageKorrekturRoll344 LageKorrekturRoll:345 0025 0000 .skip 2,0346 .global NeueKompassRichtungMerken347 .global NeueKompassRichtungMerken350 NeueKompassRichtungMerken:351 0027 00 .skip 1,0352 .global CalibrationDone353 .global CalibrationDone356 CalibrationDone:357 0028 00 .skip 1,0358 .global CompassGierSetpoint359 .global CompassGierSetpoint362 CompassGierSetpoint:363 0029 0000 .skip 2,0364 .global WaypointTrimming365 .global WaypointTrimming368 WaypointTrimming:369 002b 00 .skip 1,0370 .global carefree_old371 .data374 carefree_old:375 003c 32 .byte 50376 .global FromNC_AltitudeSpeed377 .global FromNC_AltitudeSpeed378 .section .bss381 FromNC_AltitudeSpeed:382 002c 00 .skip 1,0383 .global FromNC_AltitudeSetpoint384 .global FromNC_AltitudeSetpoint387 FromNC_AltitudeSetpoint:388 002d 0000 0000 .skip 4,0389 .global AltitudeSetpointTrimming390 .global AltitudeSetpointTrimming393 AltitudeSetpointTrimming:394 0031 0000 .skip 2,0395 .global SollHoehe396 .global SollHoehe399 SollHoehe:400 0033 0000 0000 .skip 4,0401 .global HoehenWert402 .global HoehenWert405 HoehenWert:406 0037 0000 0000 .skip 4,0407 .global StartTrigger408 .global StartTrigger411 StartTrigger:412 003b 00 .skip 1,0413 .global MotorenEin414 .global MotorenEin417 MotorenEin:418 003c 00 .skip 1,0419 .global SenderOkay420 .global SenderOkay423 SenderOkay:424 003d 00 .skip 1,0425 .global Poti426 .global Poti429 Poti:430 003e 0000 0000 .skip 9,0430 0000 0000430 00431 .global StickGas432 .global StickGas435 StickGas:436 0047 0000 .skip 2,0437 .global StickGier438 .global StickGier441 StickGier:442 0049 0000 .skip 2,0443 .global StickRoll444 .global StickRoll447 StickRoll:448 004b 0000 .skip 2,0449 .global StickNick450 .global StickNick453 StickNick:454 004d 0000 .skip 2,0455 .global HoverGasMax456 .data459 HoverGasMax:460 003d FF03 .word 1023461 .global HoverGasMin462 .global HoverGasMin463 .section .bss466 HoverGasMin:467 004f 0000 .skip 2,0468 .global StickGasHover469 .data472 StickGasHover:473 003f 7800 .word 120474 .global GierGyroFehler475 .global GierGyroFehler476 .section .bss479 GierGyroFehler:480 0051 0000 .skip 2,0481 .global Umschlag180Roll482 .data485 Umschlag180Roll:486 0041 90D0 0300 .long 250000487 .global Umschlag180Nick490 Umschlag180Nick:491 0045 90D0 0300 .long 250000492 .global TrichterFlug493 .global TrichterFlug494 .section .bss497 TrichterFlug:498 0053 00 .skip 1,0499 .global HoehenReglerAktiv500 .global HoehenReglerAktiv503 HoehenReglerAktiv:504 0054 00 .skip 1,0505 .global KompassSignalSchlecht506 .data509 KompassSignalSchlecht:510 0049 3200 .word 50511 .global KompassFusion514 KompassFusion:515 004b 20 .byte 32516 .global CalculateCompassTimer519 CalculateCompassTimer:520 004c 64 .byte 100521 .global KompassSollWert522 .global KompassSollWert523 .section .bss526 KompassSollWert:527 0055 0000 .skip 2,0528 .global KompassValue529 .data532 KompassValue:533 004d FFFF .word -1534 .global Mess_Integral_Hoch535 .global Mess_Integral_Hoch536 .section .bss539 Mess_Integral_Hoch:540 0057 0000 0000 .skip 4,0541 .global SummeRoll542 .global SummeRoll545 SummeRoll:546 005b 0000 0000 .skip 4,0547 .global SummeNick548 .global SummeNick551 SummeNick:552 005f 0000 0000 .skip 4,0553 .global Mess_Integral_Gier2554 .global Mess_Integral_Gier2557 Mess_Integral_Gier2:558 0063 0000 0000 .skip 4,0559 .global Mess_Integral_Gier560 .global Mess_Integral_Gier563 Mess_Integral_Gier:564 0067 0000 0000 .skip 4,0565 .global Mess_IntegralRoll2566 .global Mess_IntegralRoll2569 Mess_IntegralRoll2:570 006b 0000 0000 .skip 4,0571 .global Mess_IntegralRoll572 .global Mess_IntegralRoll575 Mess_IntegralRoll:576 006f 0000 0000 .skip 4,0577 .global Mess_IntegralNick2578 .global Mess_IntegralNick2581 Mess_IntegralNick2:582 0073 0000 0000 .skip 4,0583 .global Mess_IntegralNick584 .global Mess_IntegralNick587 Mess_IntegralNick:588 0077 0000 0000 .skip 4,0589 .global Integral_Gier590 .global Integral_Gier593 Integral_Gier:594 007b 0000 0000 .skip 4,0595 .global IntegralAccZ596 .global IntegralAccZ599 IntegralAccZ:600 007f 0000 0000 .skip 4,0601 .global IntegralAccRoll602 .global IntegralAccRoll605 IntegralAccRoll:606 0083 0000 0000 .skip 4,0607 .global IntegralAccNick608 .global IntegralAccNick611 IntegralAccNick:612 0087 0000 0000 .skip 4,0613 .global IntegralRoll2614 .global IntegralRoll2617 IntegralRoll2:618 008b 0000 0000 .skip 4,0619 .global IntegralRoll620 .global IntegralRoll623 IntegralRoll:624 008f 0000 0000 .skip 4,0625 .global IntegralNick2626 .global IntegralNick2629 IntegralNick2:630 0093 0000 0000 .skip 4,0631 .global IntegralNick632 .global IntegralNick635 IntegralNick:636 0097 0000 0000 .skip 4,0637 .global ControlHeading638 .global ControlHeading641 ControlHeading:642 009b 00 .skip 1,0643 .global NeutralAccZ644 .global NeutralAccZ647 NeutralAccZ:648 009c 0000 .skip 2,0649 .global NaviCntAcc650 .global NaviCntAcc653 NaviCntAcc:654 009e 0000 .skip 2,0655 .global NeutralAccY656 .global NeutralAccY659 NeutralAccY:660 00a0 0000 .skip 2,0661 .global NeutralAccX662 .global NeutralAccX665 NeutralAccX:666 00a2 0000 .skip 2,0667 .global StartNeutralNick668 .global StartNeutralNick671 StartNeutralNick:672 00a4 0000 .skip 2,0673 .global StartNeutralRoll674 .global StartNeutralRoll677 StartNeutralRoll:678 00a6 0000 .skip 2,0679 .global AdNeutralGier680 .global AdNeutralGier683 AdNeutralGier:684 00a8 0000 .skip 2,0685 .global AdNeutralRoll686 .global AdNeutralRoll689 AdNeutralRoll:690 00aa 0000 .skip 2,0691 .global AdNeutralNick692 .global AdNeutralNick695 AdNeutralNick:696 00ac 0000 .skip 2,0697 .global BaroExpandActive698 .global BaroExpandActive701 BaroExpandActive:702 00ae 0000 .skip 2,0703 .text704 .global CopyDebugValues706 CopyDebugValues:707 /* prologue: frame size=0 */708 0000 EF92 push r14709 0002 FF92 push r15710 0004 0F93 push r16711 0006 1F93 push r17712 /* prologue end (size=4) */713 0008 8091 0000 lds r24,EE_Parameter+28714 000c 9927 clr r25715 000e 880F lsl r24716 0010 991F rol r25717 0012 880F lsl r24718 0014 991F rol r25719 0016 7C01 movw r14,r24720 0018 0027 clr r16721 001a F7FC sbrc r15,7722 001c 0095 com r16723 001e 102F mov r17,r16724 0020 8091 0000 lds r24,IntegralNick725 0024 9091 0000 lds r25,(IntegralNick)+1726 0028 A091 0000 lds r26,(IntegralNick)+2727 002c B091 0000 lds r27,(IntegralNick)+3728 0030 BC01 movw r22,r24729 0032 CD01 movw r24,r26730 0034 A801 movw r20,r16731 0036 9701 movw r18,r14732 0038 0E94 0000 call __divmodsi4733 003c 3093 0000 sts (DebugOut+2)+1,r19734 0040 2093 0000 sts DebugOut+2,r18735 0044 8091 0000 lds r24,IntegralRoll736 0048 9091 0000 lds r25,(IntegralRoll)+1737 004c A091 0000 lds r26,(IntegralRoll)+2738 0050 B091 0000 lds r27,(IntegralRoll)+3739 0054 BC01 movw r22,r24740 0056 CD01 movw r24,r26741 0058 A801 movw r20,r16742 005a 9701 movw r18,r14743 005c 0E94 0000 call __divmodsi4744 0060 3093 0000 sts (DebugOut+4)+1,r19745 0064 2093 0000 sts DebugOut+4,r18746 0068 8091 0000 lds r24,Mittelwert_AccNick747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1748 0070 97FD sbrc r25,7749 0072 0396 adiw r24,3750 .L2:751 0074 9595 asr r25752 0076 8795 ror r24753 0078 9595 asr r25754 007a 8795 ror r24755 007c 9093 0000 sts (DebugOut+6)+1,r25756 0080 8093 0000 sts DebugOut+6,r24757 0084 8091 0000 lds r24,Mittelwert_AccRoll758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1759 008c 97FD sbrc r25,7760 008e 0396 adiw r24,3761 .L3:762 0090 9595 asr r25763 0092 8795 ror r24764 0094 9595 asr r25765 0096 8795 ror r24766 0098 9093 0000 sts (DebugOut+8)+1,r25767 009c 8093 0000 sts DebugOut+8,r24768 00a0 8091 0000 lds r24,AdNeutralGier769 00a4 9091 0000 lds r25,(AdNeutralGier)+1770 00a8 2091 0000 lds r18,AdWertGier771 00ac 3091 0000 lds r19,(AdWertGier)+1772 00b0 821B sub r24,r18773 00b2 930B sbc r25,r19774 00b4 9093 0000 sts (DebugOut+10)+1,r25775 00b8 8093 0000 sts DebugOut+10,r24776 00bc 8091 0000 lds r24,HoehenWert777 00c0 9091 0000 lds r25,(HoehenWert)+1778 00c4 A091 0000 lds r26,(HoehenWert)+2779 00c8 B091 0000 lds r27,(HoehenWert)+3780 00cc BC01 movw r22,r24781 00ce CD01 movw r24,r26782 00d0 25E0 ldi r18,lo8(5)783 00d2 30E0 ldi r19,hi8(5)784 00d4 40E0 ldi r20,hlo8(5)785 00d6 50E0 ldi r21,hhi8(5)786 00d8 0E94 0000 call __divmodsi4787 00dc 3093 0000 sts (DebugOut+12)+1,r19788 00e0 2093 0000 sts DebugOut+12,r18789 00e4 8091 0000 lds r24,AdWertAccHoch790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1791 00ec 9093 0000 sts (DebugOut+14)+1,r25792 00f0 8093 0000 sts DebugOut+14,r24793 00f4 8091 0000 lds r24,UBat794 00f8 9091 0000 lds r25,(UBat)+1795 00fc 9093 0000 sts (DebugOut+16)+1,r25796 0100 8093 0000 sts DebugOut+16,r24797 0104 8091 0000 lds r24,Motor+1798 0108 9927 clr r25799 010a 9093 0000 sts (DebugOut+18)+1,r25800 010e 8093 0000 sts DebugOut+18,r24801 0112 8091 0000 lds r24,Motor+9802 0116 9927 clr r25803 0118 9093 0000 sts (DebugOut+20)+1,r25804 011c 8093 0000 sts DebugOut+20,r24805 0120 8091 0000 lds r24,Motor+17806 0124 9927 clr r25807 0126 9093 0000 sts (DebugOut+22)+1,r25808 012a 8093 0000 sts DebugOut+22,r24809 012e 8091 0000 lds r24,Motor+25810 0132 9927 clr r25811 0134 9093 0000 sts (DebugOut+24)+1,r25812 0138 8093 0000 sts DebugOut+24,r24813 013c 8091 0000 lds r24,Motor+33814 0140 9927 clr r25815 0142 9093 0000 sts (DebugOut+26)+1,r25816 0146 8093 0000 sts DebugOut+26,r24817 014a 8091 0000 lds r24,Motor+41818 014e 9927 clr r25819 0150 9093 0000 sts (DebugOut+28)+1,r25820 0154 8093 0000 sts DebugOut+28,r24821 0158 8091 0000 lds r24,Motor+49822 015c 9927 clr r25823 015e 9093 0000 sts (DebugOut+30)+1,r25824 0162 8093 0000 sts DebugOut+30,r24825 0166 8091 0000 lds r24,Motor+57826 016a 9927 clr r25827 016c 9093 0000 sts (DebugOut+32)+1,r25828 0170 8093 0000 sts DebugOut+32,r24829 0174 8091 0000 lds r24,SenderOkay830 0178 9927 clr r25831 017a 9093 0000 sts (DebugOut+34)+1,r25832 017e 8093 0000 sts DebugOut+34,r24833 0182 8091 0000 lds r24,ErsatzKompass834 0186 9091 0000 lds r25,(ErsatzKompass)+1835 018a A091 0000 lds r26,(ErsatzKompass)+2836 018e B091 0000 lds r27,(ErsatzKompass)+3837 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR838 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1839 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2840 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3841 01a2 BC01 movw r22,r24842 01a4 CD01 movw r24,r26843 01a6 0E94 0000 call __divmodsi4844 01aa 3093 0000 sts (DebugOut+36)+1,r19845 01ae 2093 0000 sts DebugOut+36,r18846 01b2 8091 0000 lds r24,Capacity847 01b6 9091 0000 lds r25,(Capacity)+1848 01ba 9093 0000 sts (DebugOut+38)+1,r25849 01be 8093 0000 sts DebugOut+38,r24850 01c2 8091 0000 lds r24,Capacity+4851 01c6 9091 0000 lds r25,(Capacity+4)+1852 01ca 9093 0000 sts (DebugOut+40)+1,r25853 01ce 8093 0000 sts DebugOut+40,r24854 01d2 8091 0000 lds r24,ServoNickValue855 01d6 9091 0000 lds r25,(ServoNickValue)+1856 01da 9093 0000 sts (DebugOut+42)+1,r25857 01de 8093 0000 sts DebugOut+42,r24858 01e2 8091 0000 lds r24,KompassValue859 01e6 9091 0000 lds r25,(KompassValue)+1860 01ea 9093 0000 sts (DebugOut+44)+1,r25861 01ee 8093 0000 sts DebugOut+44,r24862 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__863 01f6 1092 0000 sts DebugOut+46,__zero_reg__864 01fa 8091 0000 lds r24,Capacity+6865 01fe 9927 clr r25866 0200 9093 0000 sts (DebugOut+48)+1,r25867 0204 8093 0000 sts DebugOut+48,r24868 0208 8091 0000 lds r24,GPS_Nick869 020c 9091 0000 lds r25,(GPS_Nick)+1870 0210 9093 0000 sts (DebugOut+50)+1,r25871 0214 8093 0000 sts DebugOut+50,r24872 0218 8091 0000 lds r24,GPS_Roll873 021c 9091 0000 lds r25,(GPS_Roll)+1874 0220 9093 0000 sts (DebugOut+52)+1,r25875 0224 8093 0000 sts DebugOut+52,r24876 0228 8091 0000 lds r24,VersionInfo+5877 022c 8823 tst r24878 022e 01F4 brne .L5879 0230 8091 0000 lds r24,VersionInfo+6880 0234 8823 tst r24881 0236 01F0 breq .L4882 .L5:883 0238 8091 0000 lds r24,DebugOut+1884 023c 8160 ori r24,lo8(1)885 023e 00C0 rjmp .L7886 .L4:887 0240 8091 0000 lds r24,DebugOut+1888 0244 8E7F andi r24,lo8(-2)889 .L7:890 0246 8093 0000 sts DebugOut+1,r24891 /* epilogue: frame size=0 */892 024a 1F91 pop r17893 024c 0F91 pop r16894 024e FF90 pop r15895 0250 EF90 pop r14896 0252 0895 ret897 /* epilogue end (size=5) */898 /* function CopyDebugValues size 300 (291) */900 .global Piep902 Piep:903 /* prologue: frame size=0 */904 0254 EF92 push r14905 0256 FF92 push r15906 0258 1F93 push r17907 025a CF93 push r28908 025c DF93 push r29909 /* prologue end (size=5) */910 025e 182F mov r17,r24911 0260 7B01 movw r14,r22912 0262 8091 0000 lds r24,MotorenEin913 0266 8823 tst r24914 0268 01F4 brne .L8915 026a 8091 0000 lds r24,PlatinenVersion916 026e 8C30 cpi r24,lo8(12)917 0270 00F0 brlo .L11918 0272 8631 cpi r24,lo8(22)919 0274 01F4 brne .L10920 .L11:921 0276 2998 cbi 37-0x20,1922 0278 00C0 rjmp .L12923 .L10:924 027a 299A sbi 37-0x20,1925 .L12:926 027c 1150 subi r17,lo8(-(-1))927 027e 1F3F cpi r17,lo8(-1)928 0280 01F0 breq .L26929 0282 F092 0000 sts (beeptime)+1,r15930 0286 E092 0000 sts beeptime,r14931 028a E701 movw r28,r14932 .L34:933 028c 8091 0000 lds r24,beeptime934 0290 9091 0000 lds r25,(beeptime)+1935 0294 892B or r24,r25936 0296 01F4 brne .L31937 0298 2097 sbiw r28,0938 029a 01F0 breq .L12939 .L31:940 029c 8091 0000 lds r24,UpdateMotor941 02a0 8823 tst r24942 02a2 01F0 breq .L34943 02a4 1092 0000 sts UpdateMotor,__zero_reg__944 02a8 8091 0000 lds r24,beeptime945 02ac 9091 0000 lds r25,(beeptime)+1946 02b0 892B or r24,r25947 02b2 01F4 brne .L19948 02b4 2197 sbiw r28,1949 .L19:950 02b6 0E94 0000 call LIBFC_Polling951 02ba 00C0 rjmp .L34952 .L26:953 02bc 8091 0000 lds r24,PlatinenVersion954 02c0 8C30 cpi r24,lo8(12)955 02c2 00F0 brlo .L23956 02c4 8631 cpi r24,lo8(22)957 02c6 01F4 brne .L22958 .L23:959 02c8 299A sbi 37-0x20,1960 02ca 00C0 rjmp .L8961 .L22:962 02cc 2998 cbi 37-0x20,1963 .L8:964 /* epilogue: frame size=0 */965 02ce DF91 pop r29966 02d0 CF91 pop r28967 02d2 1F91 pop r17968 02d4 FF90 pop r15969 02d6 EF90 pop r14970 02d8 0895 ret971 /* epilogue end (size=6) */972 /* function Piep size 67 (56) */974 .global CalibrierMittelwert976 CalibrierMittelwert:977 /* prologue: frame size=0 */978 02da CF93 push r28979 02dc DF93 push r29980 /* prologue end (size=2) */981 02de 8091 0000 lds r24,PlatinenVersion982 02e2 8D30 cpi r24,lo8(13)983 02e4 01F4 brne .L36984 02e6 0E94 0000 call SucheGyroOffset985 .L36:986 02ea 1092 7A00 sts 122,__zero_reg__987 02ee 8091 0000 lds r24,AdWertNick988 02f2 9091 0000 lds r25,(AdWertNick)+1989 02f6 9093 0000 sts (MesswertNick)+1,r25990 02fa 8093 0000 sts MesswertNick,r24991 02fe 8091 0000 lds r24,AdWertRoll992 0302 9091 0000 lds r25,(AdWertRoll)+1993 0306 9093 0000 sts (MesswertRoll)+1,r25994 030a 8093 0000 sts MesswertRoll,r24995 030e 8091 0000 lds r24,AdWertGier996 0312 9091 0000 lds r25,(AdWertGier)+1997 0316 9093 0000 sts (MesswertGier)+1,r25998 031a 8093 0000 sts MesswertGier,r24999 031e 2091 0000 lds r18,AdWertAccNick1000 0322 3091 0000 lds r19,(AdWertAccNick)+11001 0326 C901 movw r24,r181002 0328 880F lsl r241003 032a 991F rol r251004 032c 880F lsl r241005 032e 991F rol r251006 0330 820F add r24,r181007 0332 931F adc r25,r191008 0334 820F add r24,r181009 0336 931F adc r25,r191010 0338 9093 0000 sts (Mittelwert_AccNick)+1,r251011 033c 8093 0000 sts Mittelwert_AccNick,r241012 0340 2091 0000 lds r18,AdWertAccRoll1013 0344 3091 0000 lds r19,(AdWertAccRoll)+11014 0348 C901 movw r24,r181015 034a 880F lsl r241016 034c 991F rol r251017 034e 880F lsl r241018 0350 991F rol r251019 0352 820F add r24,r181020 0354 931F adc r25,r191021 0356 820F add r24,r181022 0358 931F adc r25,r191023 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r251024 035e 8093 0000 sts Mittelwert_AccRoll,r241025 0362 8FEC ldi r24,lo8(-49)1026 0364 8093 7A00 sts 122,r241027 0368 A0E0 ldi r26,lo8(Poti)1028 036a B0E0 ldi r27,hi8(Poti)1029 036c C0E0 ldi r28,lo8(EE_Parameter+5)1030 036e D0E0 ldi r29,hi8(EE_Parameter+5)1031 0370 97E0 ldi r25,lo8(7)1032 .L46:1033 0372 8991 ld r24,Y+1034 0374 E82F mov r30,r241035 0376 FF27 clr r311036 0378 EE0F add r30,r301037 037a FF1F adc r31,r311038 037c E050 subi r30,lo8(-(PPM_in))1039 037e F040 sbci r31,hi8(-(PPM_in))1040 0380 0190 ld __tmp_reg__,Z+1041 0382 F081 ld r31,Z1042 0384 E02D mov r30,__tmp_reg__1043 0386 E158 subi r30,lo8(-(127))1044 0388 FF4F sbci r31,hi8(-(127))1045 038a 1E16 cp __zero_reg__,r301046 038c 1F06 cpc __zero_reg__,r311047 038e 04F0 brlt .L401048 0390 E0E0 ldi r30,lo8(0)1049 0392 F0E0 ldi r31,hi8(0)1050 0394 00C0 rjmp .L411051 .L40:1052 0396 EF3F cpi r30,2551053 0398 F105 cpc r31,__zero_reg__1054 039a 04F0 brlt .L411055 039c EFEF ldi r30,lo8(255)1056 039e F0E0 ldi r31,hi8(255)1057 .L41:1058 03a0 8C91 ld r24,X1059 03a2 282F mov r18,r241060 03a4 3327 clr r191061 03a6 E217 cp r30,r181062 03a8 F307 cpc r31,r191063 03aa 04F4 brge .L431064 03ac 8150 subi r24,lo8(-(-1))1065 03ae 00C0 rjmp .L491066 .L43:1067 03b0 2E17 cp r18,r301068 03b2 3F07 cpc r19,r311069 03b4 04F4 brge .L391070 03b6 8F5F subi r24,lo8(-(1))1071 .L49:1072 03b8 8C93 st X,r241073 .L39:1074 03ba 9150 subi r25,lo8(-(-1))1075 03bc 1196 adiw r26,11076 03be 97FF sbrs r25,71077 03c0 00C0 rjmp .L461078 03c2 8091 0000 lds r24,EE_Parameter+651079 03c6 9927 clr r251080 03c8 AA27 clr r261081 03ca BB27 clr r271082 03cc BC01 movw r22,r241083 03ce CD01 movw r24,r261084 03d0 24EC ldi r18,lo8(2500)1085 03d2 39E0 ldi r19,hi8(2500)1086 03d4 40E0 ldi r20,hlo8(2500)1087 03d6 50E0 ldi r21,hhi8(2500)1088 03d8 0E94 0000 call __mulsi31089 03dc DC01 movw r26,r241090 03de CB01 movw r24,r221091 03e0 8093 0000 sts Umschlag180Nick,r241092 03e4 9093 0000 sts (Umschlag180Nick)+1,r251093 03e8 A093 0000 sts (Umschlag180Nick)+2,r261094 03ec B093 0000 sts (Umschlag180Nick)+3,r271095 03f0 8091 0000 lds r24,EE_Parameter+661096 03f4 9927 clr r251097 03f6 AA27 clr r261098 03f8 BB27 clr r271099 03fa BC01 movw r22,r241100 03fc CD01 movw r24,r261101 03fe 0E94 0000 call __mulsi31102 0402 DC01 movw r26,r241103 0404 CB01 movw r24,r221104 0406 8093 0000 sts Umschlag180Roll,r241105 040a 9093 0000 sts (Umschlag180Roll)+1,r251106 040e A093 0000 sts (Umschlag180Roll)+2,r261107 0412 B093 0000 sts (Umschlag180Roll)+3,r271108 /* epilogue: frame size=0 */1109 0416 DF91 pop r291110 0418 CF91 pop r281111 041a 0895 ret1112 /* epilogue end (size=3) */1113 /* function CalibrierMittelwert size 161 (156) */1115 .section .progmem.data,"a",@progbits1118 __c.35:1119 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1119 4320 6E6F1119 7420 63611119 6C69 62721119 6174 65641120 .text1121 .global SetNeutral1123 SetNeutral:1124 /* prologue: frame size=0 */1125 041c A0E0 ldi r26,lo8(0)1126 041e B0E0 ldi r27,hi8(0)1127 0420 E0E0 ldi r30,pm_lo8(1f)1128 0422 F0E0 ldi r31,pm_hi8(1f)1129 0424 0C94 0000 jmp __prologue_saves__+121130 1:1131 /* prologue end (size=6) */1132 0428 882E mov r8,r241133 042a C0E0 ldi r28,lo8(0)1134 042c D0E0 ldi r29,hi8(0)1135 042e 7E01 movw r14,r281136 0430 6E01 movw r12,r281137 0432 1092 0000 sts VersionInfo+5,__zero_reg__1138 0436 D093 0000 sts (NeutralAccX)+1,r291139 043a C093 0000 sts NeutralAccX,r281140 043e D093 0000 sts (NeutralAccY)+1,r291141 0442 C093 0000 sts NeutralAccY,r281142 0446 D093 0000 sts (NeutralAccZ)+1,r291143 044a C093 0000 sts NeutralAccZ,r281144 044e D093 0000 sts (AdNeutralNick)+1,r291145 0452 C093 0000 sts AdNeutralNick,r281146 0456 D093 0000 sts (AdNeutralRoll)+1,r291147 045a C093 0000 sts AdNeutralRoll,r281148 045e D093 0000 sts (AdNeutralGier)+1,r291149 0462 C093 0000 sts AdNeutralGier,r281150 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1151 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1152 046e 1092 0000 sts ExpandBaro,__zero_reg__1153 0472 0E94 0000 call CalibrierMittelwert1154 0476 84E6 ldi r24,lo8(100)1155 0478 90E0 ldi r25,hi8(100)1156 047a 0E94 0000 call Delay_ms_Mess1157 047e 0E94 0000 call CalibrierMittelwert1158 0482 8091 0000 lds r24,EE_Parameter+131159 0486 80FF sbrs r24,01160 0488 00C0 rjmp .L511161 048a 8091 0000 lds r24,MessLuftdruck1162 048e 9091 0000 lds r25,(MessLuftdruck)+11163 0492 875B subi r24,lo8(951)1164 0494 9340 sbci r25,hi8(951)1165 0496 00F4 brsh .L531166 0498 8091 0000 lds r24,MessLuftdruck1167 049c 9091 0000 lds r25,(MessLuftdruck)+11168 04a0 8E5E subi r24,lo8(750)1169 04a2 9240 sbci r25,hi8(750)1170 04a4 00F4 brsh .L511171 .L53:1172 04a6 0E94 0000 call SucheLuftruckOffset1173 .L51:1174 04aa 0FE1 ldi r16,lo8(31)1175 .L57:1176 04ac 8AE0 ldi r24,lo8(10)1177 04ae 90E0 ldi r25,hi8(10)1178 04b0 0E94 0000 call Delay_ms_Mess1179 04b4 8091 0000 lds r24,AdWertGier1180 04b8 9091 0000 lds r25,(AdWertGier)+11181 04bc C80F add r28,r241182 04be D91F adc r29,r251183 04c0 8091 0000 lds r24,AdWertNick1184 04c4 9091 0000 lds r25,(AdWertNick)+11185 04c8 E80E add r14,r241186 04ca F91E adc r15,r251187 04cc 8091 0000 lds r24,AdWertRoll1188 04d0 9091 0000 lds r25,(AdWertRoll)+11189 04d4 C80E add r12,r241190 04d6 D91E adc r13,r251191 04d8 0150 subi r16,lo8(-(-1))1192 04da 07FF sbrs r16,71193 04dc 00C0 rjmp .L571194 04de 9701 movw r18,r141195 04e0 205F subi r18,lo8(-(16))1196 04e2 3F4F sbci r19,hi8(-(16))1197 04e4 3695 lsr r191198 04e6 2795 ror r181199 04e8 3695 lsr r191200 04ea 2795 ror r181201 04ec 3093 0000 sts (AdNeutralNick)+1,r191202 04f0 2093 0000 sts AdNeutralNick,r181203 04f4 C601 movw r24,r121204 04f6 4096 adiw r24,161205 04f8 9695 lsr r251206 04fa 8795 ror r241207 04fc 9695 lsr r251208 04fe 8795 ror r241209 0500 9093 0000 sts (AdNeutralRoll)+1,r251210 0504 8093 0000 sts AdNeutralRoll,r241211 0508 6096 adiw r28,161212 050a F5E0 ldi r31,51213 050c D695 1: lsr r291214 050e C795 ror r281215 0510 FA95 dec r311216 0512 01F4 brne 1b1217 0514 D093 0000 sts (AdNeutralGier)+1,r291218 0518 C093 0000 sts AdNeutralGier,r281219 051c 9093 0000 sts (StartNeutralRoll)+1,r251220 0520 8093 0000 sts StartNeutralRoll,r241221 0524 3093 0000 sts (StartNeutralNick)+1,r191222 0528 2093 0000 sts StartNeutralNick,r181223 052c 8820 tst r81224 052e 01F4 brne .+21225 0530 00C0 rjmp .L581226 0532 8091 0000 lds r24,Mittelwert_AccNick1227 0536 9091 0000 lds r25,(Mittelwert_AccNick)+11228 053a 97FF sbrs r25,71229 053c 00C0 rjmp .L591230 053e 9095 com r251231 0540 8195 neg r241232 0542 9F4F sbci r25,lo8(-1)1233 .L59:1234 0544 6CE0 ldi r22,lo8(12)1235 0546 70E0 ldi r23,hi8(12)1236 0548 0E94 0000 call __divmodhi41237 054c 9B01 movw r18,r221238 054e 7093 0000 sts (NeutralAccX)+1,r231239 0552 6093 0000 sts NeutralAccX,r221240 0556 8091 0000 lds r24,Mittelwert_AccRoll1241 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+11242 055e 97FF sbrs r25,71243 0560 00C0 rjmp .L601244 0562 9095 com r251245 0564 8195 neg r241246 0566 9F4F sbci r25,lo8(-1)1247 .L60:1248 0568 6CE0 ldi r22,lo8(12)1249 056a 70E0 ldi r23,hi8(12)1250 056c 0E94 0000 call __divmodhi41251 0570 7093 0000 sts (NeutralAccY)+1,r231252 0574 6093 0000 sts NeutralAccY,r221253 0578 8091 0000 lds r24,Aktuell_az1254 057c 9091 0000 lds r25,(Aktuell_az)+11255 0580 9093 0000 sts (NeutralAccZ)+1,r251256 0584 8093 0000 sts NeutralAccZ,r241257 0588 B901 movw r22,r181258 058a 84E0 ldi r24,lo8(4)1259 058c 90E0 ldi r25,hi8(4)1260 058e 0E94 0000 call SetParamWord1261 0592 6091 0000 lds r22,NeutralAccY1262 0596 7091 0000 lds r23,(NeutralAccY)+11263 059a 86E0 ldi r24,lo8(6)1264 059c 90E0 ldi r25,hi8(6)1265 059e 0E94 0000 call SetParamWord1266 05a2 6091 0000 lds r22,NeutralAccZ1267 05a6 7091 0000 lds r23,(NeutralAccZ)+11268 05aa 88E0 ldi r24,lo8(8)1269 05ac 90E0 ldi r25,hi8(8)1270 05ae 0E94 0000 call SetParamWord1271 05b2 00C0 rjmp .L611272 .L58:1273 05b4 84E0 ldi r24,lo8(4)1274 05b6 90E0 ldi r25,hi8(4)1275 05b8 0E94 0000 call GetParamWord1276 05bc 9093 0000 sts (NeutralAccX)+1,r251277 05c0 8093 0000 sts NeutralAccX,r241278 05c4 86E0 ldi r24,lo8(6)1279 05c6 90E0 ldi r25,hi8(6)1280 05c8 0E94 0000 call GetParamWord1281 05cc 9093 0000 sts (NeutralAccY)+1,r251282 05d0 8093 0000 sts NeutralAccY,r241283 05d4 88E0 ldi r24,lo8(8)1284 05d6 90E0 ldi r25,hi8(8)1285 05d8 0E94 0000 call GetParamWord1286 05dc 9C01 movw r18,r241287 05de 9093 0000 sts (NeutralAccZ)+1,r251288 05e2 8093 0000 sts NeutralAccZ,r241289 05e6 8091 0000 lds r24,NeutralAccX1290 05ea 9091 0000 lds r25,(NeutralAccX)+11291 05ee 8150 subi r24,lo8(2049)1292 05f0 9840 sbci r25,hi8(2049)1293 05f2 00F4 brsh .L631294 05f4 8091 0000 lds r24,NeutralAccY1295 05f8 9091 0000 lds r25,(NeutralAccY)+11296 05fc 8150 subi r24,lo8(2049)1297 05fe 9840 sbci r25,hi8(2049)1298 0600 00F4 brsh .L631299 0602 2150 subi r18,lo8(1025)1300 0604 3440 sbci r19,hi8(1025)1301 0606 00F0 brlo .L611302 .L63:1303 0608 80E0 ldi r24,lo8(__c.35)1304 060a 90E0 ldi r25,hi8(__c.35)1305 060c 9F93 push r251306 060e 8F93 push r241307 0610 80E0 ldi r24,lo8(pm(uart_putchar))1308 0612 90E0 ldi r25,hi8(pm(uart_putchar))1309 0614 9F93 push r251310 0616 8F93 push r241311 0618 E091 0000 lds r30,_printf_P1312 061c F091 0000 lds r31,(_printf_P)+11313 0620 0995 icall1314 0622 8091 0000 lds r24,Mittelwert_AccNick1315 0626 9091 0000 lds r25,(Mittelwert_AccNick)+11316 062a 97FF sbrs r25,71317 062c 00C0 rjmp .L641318 062e 9095 com r251319 0630 8195 neg r241320 0632 9F4F sbci r25,lo8(-1)1321 .L64:1322 0634 6CE0 ldi r22,lo8(12)1323 0636 70E0 ldi r23,hi8(12)1324 0638 0E94 0000 call __divmodhi41325 063c 7093 0000 sts (NeutralAccX)+1,r231326 0640 6093 0000 sts NeutralAccX,r221327 0644 8091 0000 lds r24,Mittelwert_AccRoll1328 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+11329 064c 97FF sbrs r25,71330 064e 00C0 rjmp .L651331 0650 9095 com r251332 0652 8195 neg r241333 0654 9F4F sbci r25,lo8(-1)1334 .L65:1335 0656 6CE0 ldi r22,lo8(12)1336 0658 70E0 ldi r23,hi8(12)1337 065a 0E94 0000 call __divmodhi41338 065e 7093 0000 sts (NeutralAccY)+1,r231339 0662 6093 0000 sts NeutralAccY,r221340 0666 8091 0000 lds r24,Aktuell_az1341 066a 9091 0000 lds r25,(Aktuell_az)+11342 066e 9093 0000 sts (NeutralAccZ)+1,r251343 0672 8093 0000 sts NeutralAccZ,r241344 0676 0F90 pop __tmp_reg__1345 0678 0F90 pop __tmp_reg__1346 067a 0F90 pop __tmp_reg__1347 067c 0F90 pop __tmp_reg__1348 .L61:1349 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__1350 0682 1092 0000 sts MesswertNick,__zero_reg__1351 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__1352 068a 1092 0000 sts MesswertRoll,__zero_reg__1353 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__1354 0692 1092 0000 sts MesswertGier,__zero_reg__1355 0696 84E6 ldi r24,lo8(100)1356 0698 90E0 ldi r25,hi8(100)1357 069a 0E94 0000 call Delay_ms_Mess1358 069e 8091 0000 lds r24,AdWertAccNick1359 06a2 9091 0000 lds r25,(AdWertAccNick)+11360 06a6 9C01 movw r18,r241361 06a8 220F lsl r181362 06aa 331F rol r191363 06ac 220F lsl r181364 06ae 331F rol r191365 06b0 280F add r18,r241366 06b2 391F adc r19,r251367 06b4 280F add r18,r241368 06b6 391F adc r19,r251369 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r191370 06bc 2093 0000 sts Mittelwert_AccNick,r181371 06c0 8091 0000 lds r24,AdWertAccRoll1372 06c4 9091 0000 lds r25,(AdWertAccRoll)+11373 06c8 8C01 movw r16,r241374 06ca 000F lsl r161375 06cc 111F rol r171376 06ce 000F lsl r161377 06d0 111F rol r171378 06d2 080F add r16,r241379 06d4 191F adc r17,r251380 06d6 080F add r16,r241381 06d8 191F adc r17,r251382 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r171383 06de 0093 0000 sts Mittelwert_AccRoll,r161384 06e2 8091 0000 lds r24,EE_Parameter+281385 06e6 C82E mov r12,r241386 06e8 DD24 clr r131387 06ea EE24 clr r141388 06ec FF24 clr r151389 06ee 4427 clr r201390 06f0 37FD sbrc r19,71391 06f2 4095 com r201392 06f4 542F mov r21,r201393 06f6 C701 movw r24,r141394 06f8 B601 movw r22,r121395 06fa 0E94 0000 call __mulsi31396 06fe 4B01 movw r8,r221397 0700 5C01 movw r10,r241398 0702 6093 0000 sts IntegralNick,r221399 0706 7093 0000 sts (IntegralNick)+1,r231400 070a 8093 0000 sts (IntegralNick)+2,r241401 070e 9093 0000 sts (IntegralNick)+3,r251402 0712 9801 movw r18,r161403 0714 4427 clr r201404 0716 37FD sbrc r19,71405 0718 4095 com r201406 071a 542F mov r21,r201407 071c C701 movw r24,r141408 071e B601 movw r22,r121409 0720 0E94 0000 call __mulsi31410 0724 DC01 movw r26,r241411 0726 CB01 movw r24,r221412 0728 8093 0000 sts IntegralRoll,r241413 072c 9093 0000 sts (IntegralRoll)+1,r251414 0730 A093 0000 sts (IntegralRoll)+2,r261415 0734 B093 0000 sts (IntegralRoll)+3,r271416 0738 8092 0000 sts Mess_IntegralNick,r81417 073c 9092 0000 sts (Mess_IntegralNick)+1,r91418 0740 A092 0000 sts (Mess_IntegralNick)+2,r101419 0744 B092 0000 sts (Mess_IntegralNick)+3,r111420 0748 8093 0000 sts Mess_IntegralRoll,r241421 074c 9093 0000 sts (Mess_IntegralRoll)+1,r251422 0750 A093 0000 sts (Mess_IntegralRoll)+2,r261423 0754 B093 0000 sts (Mess_IntegralRoll)+3,r271424 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__1425 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1426 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1427 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1428 0768 8091 0000 lds r24,Luftdruck1429 076c 9091 0000 lds r25,(Luftdruck)+11430 0770 A091 0000 lds r26,(Luftdruck)+21431 0774 B091 0000 lds r27,(Luftdruck)+31432 0778 9093 0000 sts (StartLuftdruck)+1,r251433 077c 8093 0000 sts StartLuftdruck,r241434 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__1435 0784 1092 0000 sts VarioMeter,__zero_reg__1436 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1437 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1438 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1439 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1440 0798 0091 0000 lds r16,KompassValue1441 079c 1091 0000 lds r17,(KompassValue)+11442 07a0 1093 0000 sts (KompassSollWert)+1,r171443 07a4 0093 0000 sts KompassSollWert,r161444 07a8 84E6 ldi r24,lo8(100)1445 07aa 90E0 ldi r25,hi8(100)1446 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r251447 07b0 8093 0000 sts KompassSignalSchlecht,r241448 07b4 82E3 ldi r24,lo8(50)1449 07b6 90E0 ldi r25,hi8(50)1450 07b8 9093 0000 sts (beeptime)+1,r251451 07bc 8093 0000 sts beeptime,r241452 07c0 8091 0000 lds r24,EE_Parameter+651453 07c4 9927 clr r251454 07c6 AA27 clr r261455 07c8 BB27 clr r271456 07ca BC01 movw r22,r241457 07cc CD01 movw r24,r261458 07ce 24EC ldi r18,lo8(2500)1459 07d0 39E0 ldi r19,hi8(2500)1460 07d2 40E0 ldi r20,hlo8(2500)1461 07d4 50E0 ldi r21,hhi8(2500)1462 07d6 0E94 0000 call __mulsi31463 07da DC01 movw r26,r241464 07dc CB01 movw r24,r221465 07de 8856 subi r24,lo8(-(15000))1466 07e0 954C sbci r25,hi8(-(15000))1467 07e2 AF4F sbci r26,hlo8(-(15000))1468 07e4 BF4F sbci r27,hhi8(-(15000))1469 07e6 8093 0000 sts Umschlag180Nick,r241470 07ea 9093 0000 sts (Umschlag180Nick)+1,r251471 07ee A093 0000 sts (Umschlag180Nick)+2,r261472 07f2 B093 0000 sts (Umschlag180Nick)+3,r271473 07f6 8091 0000 lds r24,EE_Parameter+661474 07fa 9927 clr r251475 07fc AA27 clr r261476 07fe BB27 clr r271477 0800 BC01 movw r22,r241478 0802 CD01 movw r24,r261479 0804 0E94 0000 call __mulsi31480 0808 DC01 movw r26,r241481 080a CB01 movw r24,r221482 080c 8856 subi r24,lo8(-(15000))1483 080e 954C sbci r25,hi8(-(15000))1484 0810 AF4F sbci r26,hlo8(-(15000))1485 0812 BF4F sbci r27,hhi8(-(15000))1486 0814 8093 0000 sts Umschlag180Roll,r241487 0818 9093 0000 sts (Umschlag180Roll)+1,r251488 081c A093 0000 sts (Umschlag180Roll)+2,r261489 0820 B093 0000 sts (Umschlag180Roll)+3,r271490 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1491 0828 1092 0000 sts ExternHoehenValue,__zero_reg__1492 082c C801 movw r24,r161493 082e AA27 clr r261494 0830 97FD sbrc r25,71495 0832 A095 com r261496 0834 BA2F mov r27,r261497 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR1498 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11499 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21500 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31501 0846 BC01 movw r22,r241502 0848 CD01 movw r24,r261503 084a 0E94 0000 call __mulsi31504 084e DC01 movw r26,r241505 0850 CB01 movw r24,r221506 0852 8093 0000 sts ErsatzKompass,r241507 0856 9093 0000 sts (ErsatzKompass)+1,r251508 085a A093 0000 sts (ErsatzKompass)+2,r261509 085e B093 0000 sts (ErsatzKompass)+3,r271510 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1511 0866 1092 0000 sts GierGyroFehler,__zero_reg__1512 086a 0E94 0000 call LED_Init1513 086e 8091 0000 lds r24,FC_StatusFlags1514 0872 8460 ori r24,lo8(4)1515 0874 8093 0000 sts FC_StatusFlags,r241516 0878 8FEF ldi r24,lo8(-1)1517 087a 8093 0000 sts FromNaviCtrl_Value,r241518 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1519 0882 80E2 ldi r24,lo8(32)1520 0884 8093 0000 sts FromNaviCtrl_Value+2,r241521 0888 C0E0 ldi r28,lo8(Poti)1522 088a D0E0 ldi r29,hi8(Poti)1523 088c A0E0 ldi r26,lo8(EE_Parameter+5)1524 088e B0E0 ldi r27,hi8(EE_Parameter+5)1525 0890 07E0 ldi r16,lo8(7)1526 .L69:1527 0892 8D91 ld r24,X+1528 0894 E82F mov r30,r241529 0896 FF27 clr r311530 0898 EE0F add r30,r301531 089a FF1F adc r31,r311532 089c E050 subi r30,lo8(-(PPM_in))1533 089e F040 sbci r31,hi8(-(PPM_in))1534 08a0 8081 ld r24,Z1535 08a2 9181 ldd r25,Z+11536 08a4 8158 subi r24,lo8(-(127))1537 08a6 8993 st Y+,r241538 08a8 0150 subi r16,lo8(-(-1))1539 08aa 07FF sbrs r16,71540 08ac 00C0 rjmp .L691541 08ae 84E6 ldi r24,lo8(100)1542 08b0 8093 0000 sts SenderOkay,r241543 08b4 8091 0000 lds r24,ServoActive1544 08b8 8823 tst r241545 08ba 01F0 breq .L701546 08bc 579A sbi 42-0x20,71547 08be 00C0 rjmp .L711548 .L70:1549 08c0 80E0 ldi r24,lo8(4352)1550 08c2 91E1 ldi r25,hi8(4352)1551 08c4 9093 0000 sts (NickServoValue)+1,r251552 08c8 8093 0000 sts NickServoValue,r241553 .L71:1554 08cc 8091 0000 lds r24,AdNeutralNick1555 08d0 9091 0000 lds r25,(AdNeutralNick)+11556 08d4 8056 subi r24,lo8(-(-2400))1557 08d6 9940 sbci r25,hi8(-(-2400))1558 08d8 815C subi r24,lo8(11201)1559 08da 9B42 sbci r25,hi8(11201)1560 08dc 00F0 brlo .L721561 08de 8091 0000 lds r24,VersionInfo+51562 08e2 8160 ori r24,lo8(1)1563 08e4 8093 0000 sts VersionInfo+5,r241564 .L72:1565 08e8 8091 0000 lds r24,AdNeutralRoll1566 08ec 9091 0000 lds r25,(AdNeutralRoll)+11567 08f0 8056 subi r24,lo8(-(-2400))1568 08f2 9940 sbci r25,hi8(-(-2400))1569 08f4 815C subi r24,lo8(11201)1570 08f6 9B42 sbci r25,hi8(11201)1571 08f8 00F0 brlo .L731572 08fa 8091 0000 lds r24,VersionInfo+51573 08fe 8260 ori r24,lo8(2)1574 0900 8093 0000 sts VersionInfo+5,r241575 .L73:1576 0904 8091 0000 lds r24,AdNeutralGier1577 0908 9091 0000 lds r25,(AdNeutralGier)+11578 090c 8C52 subi r24,lo8(-(-300))1579 090e 9140 sbci r25,hi8(-(-300))1580 0910 8957 subi r24,lo8(1401)1581 0912 9540 sbci r25,hi8(1401)1582 0914 00F0 brlo .L741583 0916 8091 0000 lds r24,VersionInfo+51584 091a 8460 ori r24,lo8(4)1585 091c 8093 0000 sts VersionInfo+5,r241586 .L74:1587 0920 8091 0000 lds r24,NeutralAccX1588 0924 9091 0000 lds r25,(NeutralAccX)+11589 0928 8C52 subi r24,lo8(-(-300))1590 092a 9140 sbci r25,hi8(-(-300))1591 092c 835C subi r24,lo8(451)1592 092e 9140 sbci r25,hi8(451)1593 0930 00F0 brlo .L751594 0932 8091 0000 lds r24,VersionInfo+51595 0936 8860 ori r24,lo8(8)1596 0938 8093 0000 sts VersionInfo+5,r241597 .L75:1598 093c 8091 0000 lds r24,NeutralAccY1599 0940 9091 0000 lds r25,(NeutralAccY)+11600 0944 8C52 subi r24,lo8(-(-300))1601 0946 9140 sbci r25,hi8(-(-300))1602 0948 835C subi r24,lo8(451)1603 094a 9140 sbci r25,hi8(451)1604 094c 00F0 brlo .L761605 094e 8091 0000 lds r24,VersionInfo+51606 0952 8061 ori r24,lo8(16)1607 0954 8093 0000 sts VersionInfo+5,r241608 .L76:1609 0958 8091 0000 lds r24,NeutralAccZ1610 095c 9091 0000 lds r25,(NeutralAccZ)+11611 0960 8050 subi r24,lo8(-(-512))1612 0962 9240 sbci r25,hi8(-(-512))1613 0964 8355 subi r24,lo8(339)1614 0966 9140 sbci r25,hi8(339)1615 0968 00F0 brlo .L771616 096a 8091 0000 lds r24,VersionInfo+51617 096e 8062 ori r24,lo8(32)1618 0970 8093 0000 sts VersionInfo+5,r241619 .L77:1620 0974 86E4 ldi r24,lo8(70)1621 0976 8093 0000 sts carefree_old,r241622 097a 0E94 0000 call LIBFC_HoTT_Clear1623 /* epilogue: frame size=0 */1624 097e ECE0 ldi r30,121625 0980 CDB7 in r28,__SP_L__1626 0982 DEB7 in r29,__SP_H__1627 0984 0C94 0000 jmp __epilogue_restores__+121628 /* epilogue end (size=5) */1629 /* function SetNeutral size 705 (694) */1631 .lcomm tmpl.27,41632 .lcomm tmpl2.28,41633 .lcomm tmpl3.29,41634 .lcomm tmpl4.30,41635 .lcomm oldNick.31,21636 .lcomm oldRoll.32,21637 .lcomm d2Roll.33,21638 .lcomm d2Nick.34,21639 .global Mittelwert1641 Mittelwert:1642 /* prologue: frame size=19 */1643 0988 A3E1 ldi r26,lo8(19)1644 098a B0E0 ldi r27,hi8(19)1645 098c E0E0 ldi r30,pm_lo8(1f)1646 098e F0E0 ldi r31,pm_hi8(1f)1647 0990 0C94 0000 jmp __prologue_saves__+01648 1:1649 /* prologue end (size=6) */1650 0994 8091 0000 lds r24,AdNeutralGier1651 0998 9091 0000 lds r25,(AdNeutralGier)+11652 099c 2091 0000 lds r18,AdWertGier1653 09a0 3091 0000 lds r19,(AdWertGier)+11654 09a4 821B sub r24,r181655 09a6 930B sbc r25,r191656 09a8 9093 0000 sts (MesswertGier)+1,r251657 09ac 8093 0000 sts MesswertGier,r241658 09b0 8091 0000 lds r24,AdWertNickFilter1659 09b4 9091 0000 lds r25,(AdWertNickFilter)+11660 09b8 97FD sbrc r25,71661 09ba 0796 adiw r24,71662 .L83:1663 09bc 9C01 movw r18,r241664 09be 13E0 ldi r17,31665 09c0 3595 1: asr r191666 09c2 2795 ror r181667 09c4 1A95 dec r171668 09c6 01F4 brne 1b1669 09c8 3093 0000 sts (MesswertNick)+1,r191670 09cc 2093 0000 sts MesswertNick,r181671 09d0 8091 0000 lds r24,AdWertRollFilter1672 09d4 9091 0000 lds r25,(AdWertRollFilter)+11673 09d8 97FD sbrc r25,71674 09da 0796 adiw r24,71675 .L84:1676 09dc B3E0 ldi r27,31677 09de 9595 1: asr r251678 09e0 8795 ror r241679 09e2 BA95 dec r271680 09e4 01F4 brne 1b1681 09e6 9093 0000 sts (MesswertRoll)+1,r251682 09ea 8093 0000 sts MesswertRoll,r241683 09ee 3093 0000 sts (RohMesswertNick)+1,r191684 09f2 2093 0000 sts RohMesswertNick,r181685 09f6 9093 0000 sts (RohMesswertRoll)+1,r251686 09fa 8093 0000 sts RohMesswertRoll,r241687 09fe 8091 0000 lds r24,Mittelwert_AccNick1688 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+11689 0a06 AC01 movw r20,r241690 0a08 440F lsl r201691 0a0a 551F rol r211692 0a0c 480F add r20,r241693 0a0e 591F adc r21,r251694 0a10 2091 0000 lds r18,AdWertAccNick1695 0a14 3091 0000 lds r19,(AdWertAccNick)+11696 0a18 C901 movw r24,r181697 0a1a 880F lsl r241698 0a1c 991F rol r251699 0a1e 880F lsl r241700 0a20 991F rol r251701 0a22 820F add r24,r181702 0a24 931F adc r25,r191703 0a26 820F add r24,r181704 0a28 931F adc r25,r191705 0a2a 480F add r20,r241706 0a2c 591F adc r21,r251707 0a2e 57FF sbrs r21,71708 0a30 00C0 rjmp .L851709 0a32 4D5F subi r20,lo8(-(3))1710 0a34 5F4F sbci r21,hi8(-(3))1711 .L85:1712 0a36 5595 asr r211713 0a38 4795 ror r201714 0a3a 5595 asr r211715 0a3c 4795 ror r201716 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r211717 0a42 4093 0000 sts Mittelwert_AccNick,r201718 0a46 8091 0000 lds r24,Mittelwert_AccRoll1719 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+11720 0a4e AC01 movw r20,r241721 0a50 440F lsl r201722 0a52 551F rol r211723 0a54 480F add r20,r241724 0a56 591F adc r21,r251725 0a58 2091 0000 lds r18,AdWertAccRoll1726 0a5c 3091 0000 lds r19,(AdWertAccRoll)+11727 0a60 C901 movw r24,r181728 0a62 880F lsl r241729 0a64 991F rol r251730 0a66 880F lsl r241731 0a68 991F rol r251732 0a6a 820F add r24,r181733 0a6c 931F adc r25,r191734 0a6e 820F add r24,r181735 0a70 931F adc r25,r191736 0a72 480F add r20,r241737 0a74 591F adc r21,r251738 0a76 57FF sbrs r21,71739 0a78 00C0 rjmp .L861740 0a7a 4D5F subi r20,lo8(-(3))1741 0a7c 5F4F sbci r21,hi8(-(3))1742 .L86:1743 0a7e 5595 asr r211744 0a80 4795 ror r201745 0a82 5595 asr r211746 0a84 4795 ror r201747 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r211748 0a8a 4093 0000 sts Mittelwert_AccRoll,r201749 0a8e 2091 0000 lds r18,AdWertAccNick1750 0a92 3091 0000 lds r19,(AdWertAccNick)+11751 0a96 C901 movw r24,r181752 0a98 880F lsl r241753 0a9a 991F rol r251754 0a9c 880F lsl r241755 0a9e 991F rol r251756 0aa0 820F add r24,r181757 0aa2 931F adc r25,r191758 0aa4 820F add r24,r181759 0aa6 931F adc r25,r191760 0aa8 9C01 movw r18,r241761 0aaa 4427 clr r201762 0aac 37FD sbrc r19,71763 0aae 4095 com r201764 0ab0 542F mov r21,r201765 0ab2 8091 0000 lds r24,IntegralAccNick1766 0ab6 9091 0000 lds r25,(IntegralAccNick)+11767 0aba A091 0000 lds r26,(IntegralAccNick)+21768 0abe B091 0000 lds r27,(IntegralAccNick)+31769 0ac2 820F add r24,r181770 0ac4 931F adc r25,r191771 0ac6 A41F adc r26,r201772 0ac8 B51F adc r27,r211773 0aca 8093 0000 sts IntegralAccNick,r241774 0ace 9093 0000 sts (IntegralAccNick)+1,r251775 0ad2 A093 0000 sts (IntegralAccNick)+2,r261776 0ad6 B093 0000 sts (IntegralAccNick)+3,r271777 0ada 2091 0000 lds r18,AdWertAccRoll1778 0ade 3091 0000 lds r19,(AdWertAccRoll)+11779 0ae2 C901 movw r24,r181780 0ae4 880F lsl r241781 0ae6 991F rol r251782 0ae8 880F lsl r241783 0aea 991F rol r251784 0aec 820F add r24,r181785 0aee 931F adc r25,r191786 0af0 820F add r24,r181787 0af2 931F adc r25,r191788 0af4 9C01 movw r18,r241789 0af6 4427 clr r201790 0af8 37FD sbrc r19,71791 0afa 4095 com r201792 0afc 542F mov r21,r201793 0afe 8091 0000 lds r24,IntegralAccRoll1794 0b02 9091 0000 lds r25,(IntegralAccRoll)+11795 0b06 A091 0000 lds r26,(IntegralAccRoll)+21796 0b0a B091 0000 lds r27,(IntegralAccRoll)+31797 0b0e 820F add r24,r181798 0b10 931F adc r25,r191799 0b12 A41F adc r26,r201800 0b14 B51F adc r27,r211801 0b16 8093 0000 sts IntegralAccRoll,r241802 0b1a 9093 0000 sts (IntegralAccRoll)+1,r251803 0b1e A093 0000 sts (IntegralAccRoll)+2,r261804 0b22 B093 0000 sts (IntegralAccRoll)+3,r271805 0b26 8091 0000 lds r24,NaviAccNick1806 0b2a 9091 0000 lds r25,(NaviAccNick)+11807 0b2e 2091 0000 lds r18,AdWertAccNick1808 0b32 3091 0000 lds r19,(AdWertAccNick)+11809 0b36 820F add r24,r181810 0b38 931F adc r25,r191811 0b3a 9093 0000 sts (NaviAccNick)+1,r251812 0b3e 8093 0000 sts NaviAccNick,r241813 0b42 8091 0000 lds r24,NaviAccRoll1814 0b46 9091 0000 lds r25,(NaviAccRoll)+11815 0b4a 2091 0000 lds r18,AdWertAccRoll1816 0b4e 3091 0000 lds r19,(AdWertAccRoll)+11817 0b52 820F add r24,r181818 0b54 931F adc r25,r191819 0b56 9093 0000 sts (NaviAccRoll)+1,r251820 0b5a 8093 0000 sts NaviAccRoll,r241821 0b5e 8091 0000 lds r24,NaviCntAcc1822 0b62 9091 0000 lds r25,(NaviCntAcc)+11823 0b66 0196 adiw r24,11824 0b68 9093 0000 sts (NaviCntAcc)+1,r251825 0b6c 8093 0000 sts NaviCntAcc,r241826 0b70 8091 0000 lds r24,Aktuell_az1827 0b74 9091 0000 lds r25,(Aktuell_az)+11828 0b78 2091 0000 lds r18,NeutralAccZ1829 0b7c 3091 0000 lds r19,(NeutralAccZ)+11830 0b80 821B sub r24,r181831 0b82 930B sbc r25,r191832 0b84 9C01 movw r18,r241833 0b86 4427 clr r201834 0b88 37FD sbrc r19,71835 0b8a 4095 com r201836 0b8c 542F mov r21,r201837 0b8e 8091 0000 lds r24,IntegralAccZ1838 0b92 9091 0000 lds r25,(IntegralAccZ)+11839 0b96 A091 0000 lds r26,(IntegralAccZ)+21840 0b9a B091 0000 lds r27,(IntegralAccZ)+31841 0b9e 820F add r24,r181842 0ba0 931F adc r25,r191843 0ba2 A41F adc r26,r201844 0ba4 B51F adc r27,r211845 0ba6 8093 0000 sts IntegralAccZ,r241846 0baa 9093 0000 sts (IntegralAccZ)+1,r251847 0bae A093 0000 sts (IntegralAccZ)+2,r261848 0bb2 B093 0000 sts (IntegralAccZ)+3,r271849 0bb6 8FEC ldi r24,lo8(-49)1850 0bb8 8093 7A00 sts 122,r241851 0bbc 1092 0000 sts AdReady,__zero_reg__1852 0bc0 2091 0000 lds r18,Mess_IntegralRoll1853 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+11854 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+21855 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+31856 0bd0 2987 std Y+9,r181857 0bd2 3A87 std Y+10,r191858 0bd4 4B87 std Y+11,r201859 0bd6 5C87 std Y+12,r211860 0bd8 2954 subi r18,lo8(93001)1861 0bda 3B46 sbci r19,hi8(93001)1862 0bdc 4140 sbci r20,hlo8(93001)1863 0bde 5040 sbci r21,hhi8(93001)1864 0be0 04F0 brlt .L871865 0be2 28E4 ldi r18,lo8(93000)1866 0be4 3BE6 ldi r19,hi8(93000)1867 0be6 41E0 ldi r20,hlo8(93000)1868 0be8 50E0 ldi r21,hhi8(93000)1869 0bea 00C0 rjmp .L1671870 .L87:1871 0bec 8985 ldd r24,Y+91872 0bee 9A85 ldd r25,Y+101873 0bf0 AB85 ldd r26,Y+111874 0bf2 BC85 ldd r27,Y+121875 0bf4 885B subi r24,lo8(-93000)1876 0bf6 9449 sbci r25,hi8(-93000)1877 0bf8 AE4F sbci r26,hlo8(-93000)1878 0bfa BF4F sbci r27,hhi8(-93000)1879 0bfc 04F4 brge .L891880 0bfe 28EB ldi r18,lo8(-93000)1881 0c00 34E9 ldi r19,hi8(-93000)1882 0c02 4EEF ldi r20,hlo8(-93000)1883 0c04 5FEF ldi r21,hhi8(-93000)1884 .L167:1885 0c06 2D83 std Y+5,r181886 0c08 3E83 std Y+6,r191887 0c0a 4F83 std Y+7,r201888 0c0c 5887 std Y+8,r211889 0c0e 00C0 rjmp .L881890 .L89:1891 0c10 8985 ldd r24,Y+91892 0c12 9A85 ldd r25,Y+101893 0c14 AB85 ldd r26,Y+111894 0c16 BC85 ldd r27,Y+121895 0c18 8D83 std Y+5,r241896 0c1a 9E83 std Y+6,r251897 0c1c AF83 std Y+7,r261898 0c1e B887 std Y+8,r271899 .L88:1900 0c20 2091 0000 lds r18,Mess_IntegralNick1901 0c24 3091 0000 lds r19,(Mess_IntegralNick)+11902 0c28 4091 0000 lds r20,(Mess_IntegralNick)+21903 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+31904 0c30 2D87 std Y+13,r181905 0c32 3E87 std Y+14,r191906 0c34 4F87 std Y+15,r201907 0c36 588B std Y+16,r211908 0c38 2954 subi r18,lo8(93001)1909 0c3a 3B46 sbci r19,hi8(93001)1910 0c3c 4140 sbci r20,hlo8(93001)1911 0c3e 5040 sbci r21,hhi8(93001)1912 0c40 04F0 brlt .L911913 0c42 28E4 ldi r18,lo8(93000)1914 0c44 3BE6 ldi r19,hi8(93000)1915 0c46 41E0 ldi r20,hlo8(93000)1916 0c48 50E0 ldi r21,hhi8(93000)1917 0c4a 00C0 rjmp .L1681918 .L91:1919 0c4c 8D85 ldd r24,Y+131920 0c4e 9E85 ldd r25,Y+141921 0c50 AF85 ldd r26,Y+151922 0c52 B889 ldd r27,Y+161923 0c54 885B subi r24,lo8(-93000)1924 0c56 9449 sbci r25,hi8(-93000)1925 0c58 AE4F sbci r26,hlo8(-93000)1926 0c5a BF4F sbci r27,hhi8(-93000)1927 0c5c 04F4 brge .L931928 0c5e 28EB ldi r18,lo8(-93000)1929 0c60 34E9 ldi r19,hi8(-93000)1930 0c62 4EEF ldi r20,hlo8(-93000)1931 0c64 5FEF ldi r21,hhi8(-93000)1932 .L168:1933 0c66 2983 std Y+1,r181934 0c68 3A83 std Y+2,r191935 0c6a 4B83 std Y+3,r201936 0c6c 5C83 std Y+4,r211937 0c6e 00C0 rjmp .L921938 .L93:1939 0c70 8D85 ldd r24,Y+131940 0c72 9E85 ldd r25,Y+141941 0c74 AF85 ldd r26,Y+151942 0c76 B889 ldd r27,Y+161943 0c78 8983 std Y+1,r241944 0c7a 9A83 std Y+2,r251945 0c7c AB83 std Y+3,r261946 0c7e BC83 std Y+4,r271947 .L92:1948 0c80 A091 0000 lds r26,MesswertGier1949 0c84 B091 0000 lds r27,(MesswertGier)+11950 0c88 BB8B std Y+19,r271951 0c8a AA8B std Y+18,r261952 0c8c FD01 movw r30,r261953 0c8e CF01 movw r24,r301954 0c90 AA27 clr r261955 0c92 97FD sbrc r25,71956 0c94 A095 com r261957 0c96 BA2F mov r27,r261958 0c98 A090 0000 lds r10,Mess_Integral_Gier1959 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+11960 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+21961 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+31962 0ca8 A80E add r10,r241963 0caa B91E adc r11,r251964 0cac CA1E adc r12,r261965 0cae DB1E adc r13,r271966 0cb0 A092 0000 sts Mess_Integral_Gier,r101967 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r111968 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r121969 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r131970 0cc0 E090 0000 lds r14,ErsatzKompass1971 0cc4 F090 0000 lds r15,(ErsatzKompass)+11972 0cc8 0091 0000 lds r16,(ErsatzKompass)+21973 0ccc 1091 0000 lds r17,(ErsatzKompass)+31974 0cd0 E80E add r14,r241975 0cd2 F91E adc r15,r251976 0cd4 0A1F adc r16,r261977 0cd6 1B1F adc r17,r271978 0cd8 E092 0000 sts ErsatzKompass,r141979 0cdc F092 0000 sts (ErsatzKompass)+1,r151980 0ce0 0093 0000 sts (ErsatzKompass)+2,r161981 0ce4 1093 0000 sts (ErsatzKompass)+3,r171982 0ce8 F091 0000 lds r31,Looping_Nick1983 0cec F98B std Y+17,r311984 0cee FF23 tst r311985 0cf0 01F0 breq .+21986 0cf2 00C0 rjmp .L951987 0cf4 8091 0000 lds r24,Looping_Roll1988 0cf8 8823 tst r241989 0cfa 01F0 breq .+21990 0cfc 00C0 rjmp .L951991 0cfe 8091 0000 lds r24,Parameter_GlobalConfig1992 0d02 86FF sbrs r24,61993 0d04 00C0 rjmp .L951994 0d06 8091 0000 lds r24,MesswertRoll1995 0d0a 9091 0000 lds r25,(MesswertRoll)+11996 0d0e AA27 clr r261997 0d10 97FD sbrc r25,71998 0d12 A095 com r261999 0d14 BA2F mov r27,r262000 0d16 BC01 movw r22,r242001 0d18 CD01 movw r24,r262002 0d1a 2981 ldd r18,Y+12003 0d1c 3A81 ldd r19,Y+22004 0d1e 4B81 ldd r20,Y+32005 0d20 5C81 ldd r21,Y+42006 0d22 0E94 0000 call __mulsi32007 0d26 9B01 movw r18,r222008 0d28 AC01 movw r20,r242009 0d2a 97FF sbrs r25,72010 0d2c 00C0 rjmp .L962011 0d2e 2150 subi r18,lo8(-(2047))2012 0d30 384F sbci r19,hi8(-(2047))2013 0d32 4F4F sbci r20,hlo8(-(2047))2014 0d34 5F4F sbci r21,hhi8(-(2047))2015 .L96:2016 0d36 BBE0 ldi r27,112017 0d38 5595 1: asr r212018 0d3a 4795 ror r202019 0d3c 3795 ror r192020 0d3e 2795 ror r182021 0d40 BA95 dec r272022 0d42 01F4 brne 1b2023 0d44 8091 0000 lds r24,Parameter_AchsKopplung22024 0d48 682E mov r6,r242025 0d4a 7724 clr r72026 0d4c 8824 clr r82027 0d4e 9924 clr r92028 0d50 CA01 movw r24,r202029 0d52 B901 movw r22,r182030 0d54 A401 movw r20,r82031 0d56 9301 movw r18,r62032 0d58 0E94 0000 call __mulsi32033 0d5c DC01 movw r26,r242034 0d5e CB01 movw r24,r222035 0d60 8093 0000 sts tmpl3.29,r242036 0d64 9093 0000 sts (tmpl3.29)+1,r252037 0d68 A093 0000 sts (tmpl3.29)+2,r262038 0d6c B093 0000 sts (tmpl3.29)+3,r272039 0d70 B7FF sbrs r27,72040 0d72 00C0 rjmp .L972041 0d74 8150 subi r24,lo8(-(4095))2042 0d76 904F sbci r25,hi8(-(4095))2043 0d78 AF4F sbci r26,hlo8(-(4095))2044 0d7a BF4F sbci r27,hhi8(-(4095))2045 .L97:2046 0d7c 1C01 movw r2,r242047 0d7e 2D01 movw r4,r262048 0d80 ACE0 ldi r26,122049 0d82 5594 1: asr r52050 0d84 4794 ror r42051 0d86 3794 ror r32052 0d88 2794 ror r22053 0d8a AA95 dec r262054 0d8c 01F4 brne 1b2055 0d8e 2092 0000 sts tmpl3.29,r22056 0d92 3092 0000 sts (tmpl3.29)+1,r32057 0d96 4092 0000 sts (tmpl3.29)+2,r42058 0d9a 5092 0000 sts (tmpl3.29)+3,r52059 0d9e 8091 0000 lds r24,MesswertNick2060 0da2 9091 0000 lds r25,(MesswertNick)+12061 0da6 AA27 clr r262062 0da8 97FD sbrc r25,72063 0daa A095 com r262064 0dac BA2F mov r27,r262065 0dae BC01 movw r22,r242066 0db0 CD01 movw r24,r262067 0db2 2D81 ldd r18,Y+52068 0db4 3E81 ldd r19,Y+62069 0db6 4F81 ldd r20,Y+72070 0db8 5885 ldd r21,Y+82071 0dba 0E94 0000 call __mulsi32072 0dbe 97FF sbrs r25,72073 0dc0 00C0 rjmp .L982074 0dc2 6150 subi r22,lo8(-(2047))2075 0dc4 784F sbci r23,hi8(-(2047))2076 0dc6 8F4F sbci r24,hlo8(-(2047))2077 0dc8 9F4F sbci r25,hhi8(-(2047))2078 .L98:2079 0dca FBE0 ldi r31,112080 0dcc 9595 1: asr r252081 0dce 8795 ror r242082 0dd0 7795 ror r232083 0dd2 6795 ror r222084 0dd4 FA95 dec r312085 0dd6 01F4 brne 1b2086 0dd8 A401 movw r20,r82087 0dda 9301 movw r18,r62088 0ddc 0E94 0000 call __mulsi32089 0de0 DC01 movw r26,r242090 0de2 CB01 movw r24,r222091 0de4 8093 0000 sts tmpl4.30,r242092 0de8 9093 0000 sts (tmpl4.30)+1,r252093 0dec A093 0000 sts (tmpl4.30)+2,r262094 0df0 B093 0000 sts (tmpl4.30)+3,r272095 0df4 B7FF sbrs r27,72096 0df6 00C0 rjmp .L992097 0df8 8150 subi r24,lo8(-(4095))2098 0dfa 904F sbci r25,hi8(-(4095))2099 0dfc AF4F sbci r26,hlo8(-(4095))2100 0dfe BF4F sbci r27,hhi8(-(4095))2101 .L99:2102 0e00 9C01 movw r18,r242103 0e02 AD01 movw r20,r262104 0e04 ECE0 ldi r30,122105 0e06 5595 1: asr r212106 0e08 4795 ror r202107 0e0a 3795 ror r192108 0e0c 2795 ror r182109 0e0e EA95 dec r302110 0e10 01F4 brne 1b2111 0e12 2093 0000 sts tmpl4.30,r182112 0e16 3093 0000 sts (tmpl4.30)+1,r192113 0e1a 4093 0000 sts (tmpl4.30)+2,r202114 0e1e 5093 0000 sts (tmpl4.30)+3,r212115 0e22 8091 0000 lds r24,tmpl3.292116 0e26 9091 0000 lds r25,(tmpl3.29)+12117 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r252118 0e2e 8093 0000 sts KopplungsteilNickRoll,r242119 0e32 8091 0000 lds r24,tmpl4.302120 0e36 9091 0000 lds r25,(tmpl4.30)+12121 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r252122 0e3e 8093 0000 sts KopplungsteilRollNick,r242123 0e42 2219 sub r18,r22124 0e44 3309 sbc r19,r32125 0e46 4409 sbc r20,r42126 0e48 5509 sbc r21,r52127 0e4a 2093 0000 sts tmpl4.30,r182128 0e4e 3093 0000 sts (tmpl4.30)+1,r192129 0e52 4093 0000 sts (tmpl4.30)+2,r202130 0e56 5093 0000 sts (tmpl4.30)+3,r212131 0e5a E20E add r14,r182132 0e5c F31E adc r15,r192133 0e5e 041F adc r16,r202134 0e60 151F adc r17,r212135 0e62 E092 0000 sts ErsatzKompass,r142136 0e66 F092 0000 sts (ErsatzKompass)+1,r152137 0e6a 0093 0000 sts (ErsatzKompass)+2,r162138 0e6e 1093 0000 sts (ErsatzKompass)+3,r172139 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection2140 0e76 8823 tst r242141 0e78 01F4 brne .L1002142 0e7a 57FF sbrs r21,72143 0e7c 00C0 rjmp .L1012144 0e7e 2F5F subi r18,lo8(-(1))2145 0e80 3F4F sbci r19,hi8(-(1))2146 0e82 4F4F sbci r20,hlo8(-(1))2147 0e84 5F4F sbci r21,hhi8(-(1))2148 .L101:2149 0e86 5595 asr r212150 0e88 4795 ror r202151 0e8a 3795 ror r192152 0e8c 2795 ror r182153 0e8e A21A sub r10,r182154 0e90 B30A sbc r11,r192155 0e92 C40A sbc r12,r202156 0e94 D50A sbc r13,r212157 0e96 A092 0000 sts Mess_Integral_Gier,r102158 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r112159 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r122160 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r132161 .L100:2162 0ea6 2A89 ldd r18,Y+182163 0ea8 3B89 ldd r19,Y+192164 0eaa 7901 movw r14,r182165 0eac 0027 clr r162166 0eae F7FC sbrc r15,72167 0eb0 0095 com r162168 0eb2 102F mov r17,r162169 0eb4 8091 0000 lds r24,tmpl4.302170 0eb8 9091 0000 lds r25,(tmpl4.30)+12171 0ebc A091 0000 lds r26,(tmpl4.30)+22172 0ec0 B091 0000 lds r27,(tmpl4.30)+32173 0ec4 E80E add r14,r242174 0ec6 F91E adc r15,r252175 0ec8 0A1F adc r16,r262176 0eca 1B1F adc r17,r272177 0ecc C801 movw r24,r162178 0ece B701 movw r22,r142179 0ed0 2981 ldd r18,Y+12180 0ed2 3A81 ldd r19,Y+22181 0ed4 4B81 ldd r20,Y+32182 0ed6 5C81 ldd r21,Y+42183 0ed8 0E94 0000 call __mulsi32184 0edc 9B01 movw r18,r222185 0ede AC01 movw r20,r242186 0ee0 97FF sbrs r25,72187 0ee2 00C0 rjmp .L1022188 0ee4 2150 subi r18,lo8(-(2047))2189 0ee6 384F sbci r19,hi8(-(2047))2190 0ee8 4F4F sbci r20,hlo8(-(2047))2191 0eea 5F4F sbci r21,hhi8(-(2047))2192 .L102:2193 0eec 6BE0 ldi r22,112194 0eee 5595 1: asr r212195 0ef0 4795 ror r202196 0ef2 3795 ror r192197 0ef4 2795 ror r182198 0ef6 6A95 dec r222199 0ef8 01F4 brne 1b2200 0efa 8091 0000 lds r24,Parameter_AchsKopplung12201 0efe A82E mov r10,r242202 0f00 BB24 clr r112203 0f02 CC24 clr r122204 0f04 DD24 clr r132205 0f06 CA01 movw r24,r202206 0f08 B901 movw r22,r182207 0f0a A601 movw r20,r122208 0f0c 9501 movw r18,r102209 0f0e 0E94 0000 call __mulsi32210 0f12 DC01 movw r26,r242211 0f14 CB01 movw r24,r222212 0f16 8093 0000 sts tmpl.27,r242213 0f1a 9093 0000 sts (tmpl.27)+1,r252214 0f1e A093 0000 sts (tmpl.27)+2,r262215 0f22 B093 0000 sts (tmpl.27)+3,r272216 0f26 B7FF sbrs r27,72217 0f28 00C0 rjmp .L1032218 0f2a 8150 subi r24,lo8(-(4095))2219 0f2c 904F sbci r25,hi8(-(4095))2220 0f2e AF4F sbci r26,hlo8(-(4095))2221 0f30 BF4F sbci r27,hhi8(-(4095))2222 .L103:2223 0f32 3C01 movw r6,r242224 0f34 4D01 movw r8,r262225 0f36 3CE0 ldi r19,122226 0f38 9594 1: asr r92227 0f3a 8794 ror r82228 0f3c 7794 ror r72229 0f3e 6794 ror r62230 0f40 3A95 dec r192231 0f42 01F4 brne 1b2232 0f44 6092 0000 sts tmpl.27,r62233 0f48 7092 0000 sts (tmpl.27)+1,r72234 0f4c 8092 0000 sts (tmpl.27)+2,r82235 0f50 9092 0000 sts (tmpl.27)+3,r92236 0f54 C801 movw r24,r162237 0f56 B701 movw r22,r142238 0f58 2D81 ldd r18,Y+52239 0f5a 3E81 ldd r19,Y+62240 0f5c 4F81 ldd r20,Y+72241 0f5e 5885 ldd r21,Y+82242 0f60 0E94 0000 call __mulsi32243 0f64 97FF sbrs r25,72244 0f66 00C0 rjmp .L1042245 0f68 6150 subi r22,lo8(-(2047))2246 0f6a 784F sbci r23,hi8(-(2047))2247 0f6c 8F4F sbci r24,hlo8(-(2047))2248 0f6e 9F4F sbci r25,hhi8(-(2047))2249 .L104:2250 0f70 2BE0 ldi r18,112251 0f72 9595 1: asr r252252 0f74 8795 ror r242253 0f76 7795 ror r232254 0f78 6795 ror r222255 0f7a 2A95 dec r182256 0f7c 01F4 brne 1b2257 0f7e A601 movw r20,r122258 0f80 9501 movw r18,r102259 0f82 0E94 0000 call __mulsi32260 0f86 DC01 movw r26,r242261 0f88 CB01 movw r24,r222262 0f8a 8093 0000 sts tmpl2.28,r242263 0f8e 9093 0000 sts (tmpl2.28)+1,r252264 0f92 A093 0000 sts (tmpl2.28)+2,r262265 0f96 B093 0000 sts (tmpl2.28)+3,r272266 0f9a B7FF sbrs r27,72267 0f9c 00C0 rjmp .L1052268 0f9e 8150 subi r24,lo8(-(4095))2269 0fa0 904F sbci r25,hi8(-(4095))2270 0fa2 AF4F sbci r26,hlo8(-(4095))2271 0fa4 BF4F sbci r27,hhi8(-(4095))2272 .L105:2273 0fa6 AC01 movw r20,r242274 0fa8 BD01 movw r22,r262275 0faa 8CE0 ldi r24,122276 0fac 7595 1: asr r232277 0fae 6795 ror r222278 0fb0 5795 ror r212279 0fb2 4795 ror r202280 0fb4 8A95 dec r242281 0fb6 01F4 brne 1b2282 0fb8 4093 0000 sts tmpl2.28,r202283 0fbc 5093 0000 sts (tmpl2.28)+1,r212284 0fc0 6093 0000 sts (tmpl2.28)+2,r222285 0fc4 7093 0000 sts (tmpl2.28)+3,r232286 0fc8 2A89 ldd r18,Y+182287 0fca 3B89 ldd r19,Y+192288 0fcc 37FF sbrs r19,72289 0fce 00C0 rjmp .L1072290 0fd0 3095 com r192291 0fd2 2195 neg r182292 0fd4 3F4F sbci r19,lo8(-1)2293 .L107:2294 0fd6 2134 cpi r18,652295 0fd8 3105 cpc r19,__zero_reg__2296 0fda 04F0 brlt .L1122297 0fdc D401 movw r26,r82298 0fde C301 movw r24,r62299 0fe0 97FE sbrs r9,72300 0fe2 00C0 rjmp .L1102301 0fe4 B095 com r272302 0fe6 A095 com r262303 0fe8 9095 com r252304 0fea 8195 neg r242305 0fec 9F4F sbci r25,lo8(-1)2306 0fee AF4F sbci r26,lo8(-1)2307 0ff0 BF4F sbci r27,lo8(-1)2308 .L110:2309 0ff2 8138 cpi r24,lo8(129)2310 0ff4 9105 cpc r25,__zero_reg__2311 0ff6 A105 cpc r26,__zero_reg__2312 0ff8 B105 cpc r27,__zero_reg__2313 0ffa 04F4 brge .L1092314 0ffc DB01 movw r26,r222315 0ffe CA01 movw r24,r202316 1000 77FF sbrs r23,72317 1002 00C0 rjmp .L1112318 1004 B095 com r272319 1006 A095 com r262320 1008 9095 com r252321 100a 8195 neg r242322 100c 9F4F sbci r25,lo8(-1)2323 100e AF4F sbci r26,lo8(-1)2324 1010 BF4F sbci r27,lo8(-1)2325 .L111:2326 1012 8138 cpi r24,lo8(129)2327 1014 9105 cpc r25,__zero_reg__2328 1016 A105 cpc r26,__zero_reg__2329 1018 B105 cpc r27,__zero_reg__2330 101a 04F0 brlt .L1122331 .L109:2332 101c 81E0 ldi r24,lo8(1)2333 101e 8093 0000 sts TrichterFlug,r242334 1022 00C0 rjmp .L1122335 .L95:2336 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2337 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__2338 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2339 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2340 1034 1092 0000 sts tmpl2.28,__zero_reg__2341 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__2342 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__2343 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__2344 1044 1092 0000 sts tmpl.27,__zero_reg__2345 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__2346 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__2347 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__2348 .L112:2349 1054 8091 0000 lds r24,tmpl2.282350 1058 9091 0000 lds r25,(tmpl2.28)+12351 105c A091 0000 lds r26,(tmpl2.28)+22352 1060 B091 0000 lds r27,(tmpl2.28)+32353 1064 BC01 movw r22,r242354 1066 CD01 movw r24,r262355 1068 24E6 ldi r18,lo8(100)2356 106a 30E0 ldi r19,hi8(100)2357 106c 40E0 ldi r20,hlo8(100)2358 106e 50E0 ldi r21,hhi8(100)2359 1070 0E94 0000 call __divmodsi42360 1074 E090 0000 lds r14,tmpl.272361 1078 F090 0000 lds r15,(tmpl.27)+12362 107c E21A sub r14,r182363 107e F30A sbc r15,r192364 1080 F092 0000 sts (TrimRoll)+1,r152365 1084 E092 0000 sts TrimRoll,r142366 1088 8091 0000 lds r24,tmpl.272367 108c 9091 0000 lds r25,(tmpl.27)+12368 1090 A091 0000 lds r26,(tmpl.27)+22369 1094 B091 0000 lds r27,(tmpl.27)+32370 1098 BC01 movw r22,r242371 109a CD01 movw r24,r262372 109c 24E6 ldi r18,lo8(100)2373 109e 30E0 ldi r19,hi8(100)2374 10a0 40E0 ldi r20,hlo8(100)2375 10a2 50E0 ldi r21,hhi8(100)2376 10a4 0E94 0000 call __divmodsi42377 10a8 DA01 movw r26,r202378 10aa C901 movw r24,r182379 10ac 2091 0000 lds r18,tmpl2.282380 10b0 3091 0000 lds r19,(tmpl2.28)+12381 10b4 8C01 movw r16,r242382 10b6 021B sub r16,r182383 10b8 130B sbc r17,r192384 10ba 1093 0000 sts (TrimNick)+1,r172385 10be 0093 0000 sts TrimNick,r162386 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR2387 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12388 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22389 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32390 10d2 BC01 movw r22,r242391 10d4 CD01 movw r24,r262392 10d6 28E6 ldi r18,lo8(360)2393 10d8 31E0 ldi r19,hi8(360)2394 10da 40E0 ldi r20,hlo8(360)2395 10dc 50E0 ldi r21,hhi8(360)2396 10de 0E94 0000 call __mulsi32397 10e2 2091 0000 lds r18,ErsatzKompass2398 10e6 3091 0000 lds r19,(ErsatzKompass)+12399 10ea 4091 0000 lds r20,(ErsatzKompass)+22400 10ee 5091 0000 lds r21,(ErsatzKompass)+32401 10f2 2617 cp r18,r222402 10f4 3707 cpc r19,r232403 10f6 4807 cpc r20,r242404 10f8 5907 cpc r21,r252405 10fa 04F0 brlt .L1132406 10fc 261B sub r18,r222407 10fe 370B sbc r19,r232408 1100 480B sbc r20,r242409 1102 590B sbc r21,r252410 1104 2093 0000 sts ErsatzKompass,r182411 1108 3093 0000 sts (ErsatzKompass)+1,r192412 110c 4093 0000 sts (ErsatzKompass)+2,r202413 1110 5093 0000 sts (ErsatzKompass)+3,r212414 .L113:2415 1114 2091 0000 lds r18,ErsatzKompass2416 1118 3091 0000 lds r19,(ErsatzKompass)+12417 111c 4091 0000 lds r20,(ErsatzKompass)+22418 1120 5091 0000 lds r21,(ErsatzKompass)+32419 1124 57FF sbrs r21,72420 1126 00C0 rjmp .L1142421 1128 260F add r18,r222422 112a 371F adc r19,r232423 112c 481F adc r20,r242424 112e 591F adc r21,r252425 1130 2093 0000 sts ErsatzKompass,r182426 1134 3093 0000 sts (ErsatzKompass)+1,r192427 1138 4093 0000 sts (ErsatzKompass)+2,r202428 113c 5093 0000 sts (ErsatzKompass)+3,r212429 .L114:2430 1140 6091 0000 lds r22,MesswertRoll2431 1144 7091 0000 lds r23,(MesswertRoll)+12432 1148 6E0D add r22,r142433 114a 7F1D adc r23,r152434 114c 9B01 movw r18,r222435 114e 4427 clr r202436 1150 37FD sbrc r19,72437 1152 4095 com r202438 1154 542F mov r21,r202439 1156 8091 0000 lds r24,Mess_IntegralRoll22440 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+12441 115e A091 0000 lds r26,(Mess_IntegralRoll2)+22442 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+32443 1166 820F add r24,r182444 1168 931F adc r25,r192445 116a A41F adc r26,r202446 116c B51F adc r27,r212447 116e 8093 0000 sts Mess_IntegralRoll2,r242448 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r252449 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r262450 117a B093 0000 sts (Mess_IntegralRoll2)+3,r272451 117e 8091 0000 lds r24,LageKorrekturRoll2452 1182 9091 0000 lds r25,(LageKorrekturRoll)+12453 1186 681B sub r22,r242454 1188 790B sbc r23,r252455 118a CB01 movw r24,r222456 118c AA27 clr r262457 118e 97FD sbrc r25,72458 1190 A095 com r262459 1192 BA2F mov r27,r262460 1194 2985 ldd r18,Y+92461 1196 3A85 ldd r19,Y+102462 1198 4B85 ldd r20,Y+112463 119a 5C85 ldd r21,Y+122464 119c 820F add r24,r182465 119e 931F adc r25,r192466 11a0 A41F adc r26,r202467 11a2 B51F adc r27,r212468 11a4 8093 0000 sts Mess_IntegralRoll,r242469 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r252470 11ac A093 0000 sts (Mess_IntegralRoll)+2,r262471 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r272472 11b4 C090 0000 lds r12,Umschlag180Roll2473 11b8 D090 0000 lds r13,(Umschlag180Roll)+12474 11bc E090 0000 lds r14,(Umschlag180Roll)+22475 11c0 F090 0000 lds r15,(Umschlag180Roll)+32476 11c4 C816 cp r12,r242477 11c6 D906 cpc r13,r252478 11c8 EA06 cpc r14,r262479 11ca FB06 cpc r15,r272480 11cc 04F4 brge .L1152481 11ce 88EA ldi r24,lo8(25000)2482 11d0 91E6 ldi r25,hi8(25000)2483 11d2 A0E0 ldi r26,hlo8(25000)2484 11d4 B0E0 ldi r27,hhi8(25000)2485 11d6 8C19 sub r24,r122486 11d8 9D09 sbc r25,r132487 11da AE09 sbc r26,r142488 11dc BF09 sbc r27,r152489 11de 8093 0000 sts Mess_IntegralRoll,r242490 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r252491 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r262492 11ea B093 0000 sts (Mess_IntegralRoll)+3,r272493 11ee 8093 0000 sts Mess_IntegralRoll2,r242494 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r252495 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r262496 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r272497 .L115:2498 11fe 2227 clr r182499 1200 3327 clr r192500 1202 A901 movw r20,r182501 1204 2C19 sub r18,r122502 1206 3D09 sbc r19,r132503 1208 4E09 sbc r20,r142504 120a 5F09 sbc r21,r152505 120c 8091 0000 lds r24,Mess_IntegralRoll2506 1210 9091 0000 lds r25,(Mess_IntegralRoll)+12507 1214 A091 0000 lds r26,(Mess_IntegralRoll)+22508 1218 B091 0000 lds r27,(Mess_IntegralRoll)+32509 121c 8217 cp r24,r182510 121e 9307 cpc r25,r192511 1220 A407 cpc r26,r202512 1222 B507 cpc r27,r212513 1224 04F4 brge .L1162514 1226 D701 movw r26,r142515 1228 C601 movw r24,r122516 122a 885A subi r24,lo8(-(-25000))2517 122c 9146 sbci r25,hi8(-(-25000))2518 122e A040 sbci r26,hlo8(-(-25000))2519 1230 B040 sbci r27,hhi8(-(-25000))2520 1232 8093 0000 sts Mess_IntegralRoll,r242521 1236 9093 0000 sts (Mess_IntegralRoll)+1,r252522 123a A093 0000 sts (Mess_IntegralRoll)+2,r262523 123e B093 0000 sts (Mess_IntegralRoll)+3,r272524 1242 8093 0000 sts Mess_IntegralRoll2,r242525 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r252526 124a A093 0000 sts (Mess_IntegralRoll2)+2,r262527 124e B093 0000 sts (Mess_IntegralRoll2)+3,r272528 .L116:2529 1252 6091 0000 lds r22,MesswertNick2530 1256 7091 0000 lds r23,(MesswertNick)+12531 125a 600F add r22,r162532 125c 711F adc r23,r172533 125e 9B01 movw r18,r222534 1260 4427 clr r202535 1262 37FD sbrc r19,72536 1264 4095 com r202537 1266 542F mov r21,r202538 1268 8091 0000 lds r24,Mess_IntegralNick22539 126c 9091 0000 lds r25,(Mess_IntegralNick2)+12540 1270 A091 0000 lds r26,(Mess_IntegralNick2)+22541 1274 B091 0000 lds r27,(Mess_IntegralNick2)+32542 1278 820F add r24,r182543 127a 931F adc r25,r192544 127c A41F adc r26,r202545 127e B51F adc r27,r212546 1280 8093 0000 sts Mess_IntegralNick2,r242547 1284 9093 0000 sts (Mess_IntegralNick2)+1,r252548 1288 A093 0000 sts (Mess_IntegralNick2)+2,r262549 128c B093 0000 sts (Mess_IntegralNick2)+3,r272550 1290 8091 0000 lds r24,LageKorrekturNick2551 1294 9091 0000 lds r25,(LageKorrekturNick)+12552 1298 681B sub r22,r242553 129a 790B sbc r23,r252554 129c CB01 movw r24,r222555 129e AA27 clr r262556 12a0 97FD sbrc r25,72557 12a2 A095 com r262558 12a4 BA2F mov r27,r262559 12a6 2D85 ldd r18,Y+132560 12a8 3E85 ldd r19,Y+142561 12aa 4F85 ldd r20,Y+152562 12ac 5889 ldd r21,Y+162563 12ae 820F add r24,r182564 12b0 931F adc r25,r192565 12b2 A41F adc r26,r202566 12b4 B51F adc r27,r212567 12b6 8093 0000 sts Mess_IntegralNick,r242568 12ba 9093 0000 sts (Mess_IntegralNick)+1,r252569 12be A093 0000 sts (Mess_IntegralNick)+2,r262570 12c2 B093 0000 sts (Mess_IntegralNick)+3,r272571 12c6 E090 0000 lds r14,Umschlag180Nick2572 12ca F090 0000 lds r15,(Umschlag180Nick)+12573 12ce 0091 0000 lds r16,(Umschlag180Nick)+22574 12d2 1091 0000 lds r17,(Umschlag180Nick)+32575 12d6 E816 cp r14,r242576 12d8 F906 cpc r15,r252577 12da 0A07 cpc r16,r262578 12dc 1B07 cpc r17,r272579 12de 04F4 brge .L1172580 12e0 88EA ldi r24,lo8(25000)2581 12e2 91E6 ldi r25,hi8(25000)2582 12e4 A0E0 ldi r26,hlo8(25000)2583 12e6 B0E0 ldi r27,hhi8(25000)2584 12e8 8E19 sub r24,r142585 12ea 9F09 sbc r25,r152586 12ec A00B sbc r26,r162587 12ee B10B sbc r27,r172588 12f0 8093 0000 sts Mess_IntegralNick,r242589 12f4 9093 0000 sts (Mess_IntegralNick)+1,r252590 12f8 A093 0000 sts (Mess_IntegralNick)+2,r262591 12fc B093 0000 sts (Mess_IntegralNick)+3,r272592 1300 8093 0000 sts Mess_IntegralNick2,r242593 1304 9093 0000 sts (Mess_IntegralNick2)+1,r252594 1308 A093 0000 sts (Mess_IntegralNick2)+2,r262595 130c B093 0000 sts (Mess_IntegralNick2)+3,r272596 .L117:2597 1310 2227 clr r182598 1312 3327 clr r192599 1314 A901 movw r20,r182600 1316 2E19 sub r18,r142601 1318 3F09 sbc r19,r152602 131a 400B sbc r20,r162603 131c 510B sbc r21,r172604 131e 8091 0000 lds r24,Mess_IntegralNick2605 1322 9091 0000 lds r25,(Mess_IntegralNick)+12606 1326 A091 0000 lds r26,(Mess_IntegralNick)+22607 132a B091 0000 lds r27,(Mess_IntegralNick)+32608 132e 8217 cp r24,r182609 1330 9307 cpc r25,r192610 1332 A407 cpc r26,r202611 1334 B507 cpc r27,r212612 1336 04F4 brge .L1182613 1338 D801 movw r26,r162614 133a C701 movw r24,r142615 133c 885A subi r24,lo8(-(-25000))2616 133e 9146 sbci r25,hi8(-(-25000))2617 1340 A040 sbci r26,hlo8(-(-25000))2618 1342 B040 sbci r27,hhi8(-(-25000))2619 1344 8093 0000 sts Mess_IntegralNick,r242620 1348 9093 0000 sts (Mess_IntegralNick)+1,r252621 134c A093 0000 sts (Mess_IntegralNick)+2,r262622 1350 B093 0000 sts (Mess_IntegralNick)+3,r272623 1354 8093 0000 sts Mess_IntegralNick2,r242624 1358 9093 0000 sts (Mess_IntegralNick2)+1,r252625 135c A093 0000 sts (Mess_IntegralNick2)+2,r262626 1360 B093 0000 sts (Mess_IntegralNick2)+3,r272627 .L118:2628 1364 8091 0000 lds r24,Mess_Integral_Gier2629 1368 9091 0000 lds r25,(Mess_Integral_Gier)+12630 136c A091 0000 lds r26,(Mess_Integral_Gier)+22631 1370 B091 0000 lds r27,(Mess_Integral_Gier)+32632 1374 8093 0000 sts Integral_Gier,r242633 1378 9093 0000 sts (Integral_Gier)+1,r252634 137c A093 0000 sts (Integral_Gier)+2,r262635 1380 B093 0000 sts (Integral_Gier)+3,r272636 1384 8091 0000 lds r24,Mess_IntegralNick2637 1388 9091 0000 lds r25,(Mess_IntegralNick)+12638 138c A091 0000 lds r26,(Mess_IntegralNick)+22639 1390 B091 0000 lds r27,(Mess_IntegralNick)+32640 1394 8093 0000 sts IntegralNick,r242641 1398 9093 0000 sts (IntegralNick)+1,r252642 139c A093 0000 sts (IntegralNick)+2,r262643 13a0 B093 0000 sts (IntegralNick)+3,r272644 13a4 8091 0000 lds r24,Mess_IntegralRoll2645 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+12646 13ac A091 0000 lds r26,(Mess_IntegralRoll)+22647 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+32648 13b4 8093 0000 sts IntegralRoll,r242649 13b8 9093 0000 sts (IntegralRoll)+1,r252650 13bc A093 0000 sts (IntegralRoll)+2,r262651 13c0 B093 0000 sts (IntegralRoll)+3,r272652 13c4 8091 0000 lds r24,Mess_IntegralNick22653 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+12654 13cc A091 0000 lds r26,(Mess_IntegralNick2)+22655 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+32656 13d4 8093 0000 sts IntegralNick2,r242657 13d8 9093 0000 sts (IntegralNick2)+1,r252658 13dc A093 0000 sts (IntegralNick2)+2,r262659 13e0 B093 0000 sts (IntegralNick2)+3,r272660 13e4 8091 0000 lds r24,Mess_IntegralRoll22661 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+12662 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+22663 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+32664 13f4 8093 0000 sts IntegralRoll2,r242665 13f8 9093 0000 sts (IntegralRoll2)+1,r252666 13fc A093 0000 sts (IntegralRoll2)+2,r262667 1400 B093 0000 sts (IntegralRoll2)+3,r272668 1404 8091 0000 lds r24,HiResNick2669 1408 9091 0000 lds r25,(HiResNick)+12670 140c 97FD sbrc r25,72671 140e 0796 adiw r24,72672 .L119:2673 1410 03E0 ldi r16,32674 1412 9595 1: asr r252675 1414 8795 ror r242676 1416 0A95 dec r162677 1418 01F4 brne 1b2678 141a 9093 0000 sts (MesswertNick)+1,r252679 141e 8093 0000 sts MesswertNick,r242680 1422 8091 0000 lds r24,HiResRoll2681 1426 9091 0000 lds r25,(HiResRoll)+12682 142a 97FD sbrc r25,72683 142c 0796 adiw r24,72684 .L120:2685 142e 13E0 ldi r17,32686 1430 9595 1: asr r252687 1432 8795 ror r242688 1434 1A95 dec r172689 1436 01F4 brne 1b2690 1438 9093 0000 sts (MesswertRoll)+1,r252691 143c 8093 0000 sts MesswertRoll,r242692 1440 8091 0000 lds r24,AdWertNick2693 1444 9091 0000 lds r25,(AdWertNick)+12694 1448 0F97 sbiw r24,152695 144a 04F4 brge .L1212696 144c 88E1 ldi r24,lo8(-1000)2697 144e 9CEF ldi r25,hi8(-1000)2698 1450 9093 0000 sts (MesswertNick)+1,r252699 1454 8093 0000 sts MesswertNick,r242700 .L121:2701 1458 8091 0000 lds r24,AdWertNick2702 145c 9091 0000 lds r25,(AdWertNick)+12703 1460 0797 sbiw r24,72704 1462 04F4 brge .L1222705 1464 80E3 ldi r24,lo8(-2000)2706 1466 98EF ldi r25,hi8(-2000)2707 1468 9093 0000 sts (MesswertNick)+1,r252708 146c 8093 0000 sts MesswertNick,r242709 .L122:2710 1470 2091 0000 lds r18,PlatinenVersion2711 1474 2A30 cpi r18,lo8(10)2712 1476 01F4 brne .L1232713 1478 8091 0000 lds r24,AdWertNick2714 147c 9091 0000 lds r25,(AdWertNick)+12715 1480 835F subi r24,lo8(1011)2716 1482 9340 sbci r25,hi8(1011)2717 1484 04F0 brlt .L1242718 1486 88EE ldi r24,lo8(1000)2719 1488 93E0 ldi r25,hi8(1000)2720 148a 9093 0000 sts (MesswertNick)+1,r252721 148e 8093 0000 sts MesswertNick,r242722 .L124:2723 1492 8091 0000 lds r24,AdWertNick2724 1496 9091 0000 lds r25,(AdWertNick)+12725 149a 8A5F subi r24,lo8(1018)2726 149c 9340 sbci r25,hi8(1018)2727 149e 04F0 brlt .L1262728 14a0 00C0 rjmp .L1692729 .L123:2730 14a2 8091 0000 lds r24,AdWertNick2731 14a6 9091 0000 lds r25,(AdWertNick)+12732 14aa 815D subi r24,lo8(2001)2733 14ac 9740 sbci r25,hi8(2001)2734 14ae 04F0 brlt .L1272735 14b0 88EE ldi r24,lo8(1000)2736 14b2 93E0 ldi r25,hi8(1000)2737 14b4 9093 0000 sts (MesswertNick)+1,r252738 14b8 8093 0000 sts MesswertNick,r242739 .L127:2740 14bc 8091 0000 lds r24,AdWertNick2741 14c0 9091 0000 lds r25,(AdWertNick)+12742 14c4 805E subi r24,lo8(2016)2743 14c6 9740 sbci r25,hi8(2016)2744 14c8 04F0 brlt .L1262745 .L169:2746 14ca 80ED ldi r24,lo8(2000)2747 14cc 97E0 ldi r25,hi8(2000)2748 14ce 9093 0000 sts (MesswertNick)+1,r252749 14d2 8093 0000 sts MesswertNick,r242750 .L126:2751 14d6 8091 0000 lds r24,AdWertRoll2752 14da 9091 0000 lds r25,(AdWertRoll)+12753 14de 0F97 sbiw r24,152754 14e0 04F4 brge .L1292755 14e2 88E1 ldi r24,lo8(-1000)2756 14e4 9CEF ldi r25,hi8(-1000)2757 14e6 9093 0000 sts (MesswertRoll)+1,r252758 14ea 8093 0000 sts MesswertRoll,r242759 .L129:2760 14ee 8091 0000 lds r24,AdWertRoll2761 14f2 9091 0000 lds r25,(AdWertRoll)+12762 14f6 0797 sbiw r24,72763 14f8 04F4 brge .L1302764 14fa 80E3 ldi r24,lo8(-2000)2765 14fc 98EF ldi r25,hi8(-2000)2766 14fe 9093 0000 sts (MesswertRoll)+1,r252767 1502 8093 0000 sts MesswertRoll,r242768 .L130:2769 1506 2A30 cpi r18,lo8(10)2770 1508 01F4 brne .L1312771 150a 8091 0000 lds r24,AdWertRoll2772 150e 9091 0000 lds r25,(AdWertRoll)+12773 1512 835F subi r24,lo8(1011)2774 1514 9340 sbci r25,hi8(1011)2775 1516 04F0 brlt .L1322776 1518 88EE ldi r24,lo8(1000)2777 151a 93E0 ldi r25,hi8(1000)2778 151c 9093 0000 sts (MesswertRoll)+1,r252779 1520 8093 0000 sts MesswertRoll,r242780 .L132:2781 1524 8091 0000 lds r24,AdWertRoll2782 1528 9091 0000 lds r25,(AdWertRoll)+12783 152c 8A5F subi r24,lo8(1018)2784 152e 9340 sbci r25,hi8(1018)2785 1530 04F0 brlt .L1342786 1532 00C0 rjmp .L1702787 .L131:2788 1534 8091 0000 lds r24,AdWertRoll2789 1538 9091 0000 lds r25,(AdWertRoll)+12790 153c 815D subi r24,lo8(2001)2791 153e 9740 sbci r25,hi8(2001)2792 1540 04F0 brlt .L1352793 1542 88EE ldi r24,lo8(1000)2794 1544 93E0 ldi r25,hi8(1000)2795 1546 9093 0000 sts (MesswertRoll)+1,r252796 154a 8093 0000 sts MesswertRoll,r242797 .L135:2798 154e 8091 0000 lds r24,AdWertRoll2799 1552 9091 0000 lds r25,(AdWertRoll)+12800 1556 805E subi r24,lo8(2016)2801 1558 9740 sbci r25,hi8(2016)2802 155a 04F0 brlt .L1342803 .L170:2804 155c 80ED ldi r24,lo8(2000)2805 155e 97E0 ldi r25,hi8(2000)2806 1560 9093 0000 sts (MesswertRoll)+1,r252807 1564 8093 0000 sts MesswertRoll,r242808 .L134:2809 1568 6091 0000 lds r22,Parameter_Gyro_D2810 156c 6623 tst r222811 156e 01F4 brne .+22812 1570 00C0 rjmp .L1372813 1572 4091 0000 lds r20,HiResNick2814 1576 5091 0000 lds r21,(HiResNick)+12815 157a 8091 0000 lds r24,oldNick.312816 157e 9091 0000 lds r25,(oldNick.31)+12817 1582 481B sub r20,r242818 1584 590B sbc r21,r252819 1586 5093 0000 sts (d2Nick.34)+1,r212820 158a 4093 0000 sts d2Nick.34,r202821 158e 2091 0000 lds r18,HiResNick2822 1592 3091 0000 lds r19,(HiResNick)+12823 1596 280F add r18,r242824 1598 391F adc r19,r252825 159a 37FF sbrs r19,72826 159c 00C0 rjmp .L1382827 159e 2F5F subi r18,lo8(-(1))2828 15a0 3F4F sbci r19,hi8(-(1))2829 .L138:2830 15a2 3595 asr r192831 15a4 2795 ror r182832 15a6 3093 0000 sts (oldNick.31)+1,r192833 15aa 2093 0000 sts oldNick.31,r182834 15ae 4138 cpi r20,1292835 15b0 5105 cpc r21,__zero_reg__2836 15b2 04F0 brlt .L1392837 15b4 80E8 ldi r24,lo8(128)2838 15b6 90E0 ldi r25,hi8(128)2839 15b8 00C0 rjmp .L1712840 .L139:2841 15ba 4058 subi r20,lo8(-128)2842 15bc 5F4F sbci r21,hi8(-128)2843 15be 04F4 brge .L1402844 15c0 80E8 ldi r24,lo8(-128)2845 15c2 9FEF ldi r25,hi8(-128)2846 .L171:2847 15c4 9093 0000 sts (d2Nick.34)+1,r252848 15c8 8093 0000 sts d2Nick.34,r242849 .L140:2850 15cc 4091 0000 lds r20,HiResRoll2851 15d0 5091 0000 lds r21,(HiResRoll)+12852 15d4 8091 0000 lds r24,oldRoll.322853 15d8 9091 0000 lds r25,(oldRoll.32)+12854 15dc 481B sub r20,r242855 15de 590B sbc r21,r252856 15e0 5093 0000 sts (d2Roll.33)+1,r212857 15e4 4093 0000 sts d2Roll.33,r202858 15e8 2091 0000 lds r18,HiResRoll2859 15ec 3091 0000 lds r19,(HiResRoll)+12860 15f0 280F add r18,r242861 15f2 391F adc r19,r252862 15f4 37FF sbrs r19,72863 15f6 00C0 rjmp .L1422864 15f8 2F5F subi r18,lo8(-(1))2865 15fa 3F4F sbci r19,hi8(-(1))2866 .L142:2867 15fc 3595 asr r192868 15fe 2795 ror r182869 1600 3093 0000 sts (oldRoll.32)+1,r192870 1604 2093 0000 sts oldRoll.32,r182871 1608 4138 cpi r20,1292872 160a 5105 cpc r21,__zero_reg__2873 160c 04F0 brlt .L1432874 160e 80E8 ldi r24,lo8(128)2875 1610 90E0 ldi r25,hi8(128)2876 1612 00C0 rjmp .L1722877 .L143:2878 1614 4058 subi r20,lo8(-128)2879 1616 5F4F sbci r21,hi8(-128)2880 1618 04F4 brge .L1442881 161a 80E8 ldi r24,lo8(-128)2882 161c 9FEF ldi r25,hi8(-128)2883 .L172:2884 161e 9093 0000 sts (d2Roll.33)+1,r252885 1622 8093 0000 sts d2Roll.33,r242886 .L144:2887 1626 462F mov r20,r222888 1628 5527 clr r212889 162a 8091 0000 lds r24,d2Nick.342890 162e 9091 0000 lds r25,(d2Nick.34)+12891 1632 849F mul r24,r202892 1634 B001 movw r22,r02893 1636 859F mul r24,r212894 1638 700D add r23,r02895 163a 949F mul r25,r202896 163c 700D add r23,r02897 163e 1124 clr r12898 1640 9B01 movw r18,r222899 1642 77FF sbrs r23,72900 1644 00C0 rjmp .L1462901 1646 215F subi r18,lo8(-(15))2902 1648 3F4F sbci r19,hi8(-(15))2903 .L146:2904 164a F4E0 ldi r31,42905 164c 3595 1: asr r192906 164e 2795 ror r182907 1650 FA95 dec r312908 1652 01F4 brne 1b2909 1654 8091 0000 lds r24,MesswertNick2910 1658 9091 0000 lds r25,(MesswertNick)+12911 165c 820F add r24,r182912 165e 931F adc r25,r192913 1660 9093 0000 sts (MesswertNick)+1,r252914 1664 8093 0000 sts MesswertNick,r242915 1668 8091 0000 lds r24,d2Roll.332916 166c 9091 0000 lds r25,(d2Roll.33)+12917 1670 849F mul r24,r202918 1672 D001 movw r26,r02919 1674 859F mul r24,r212920 1676 B00D add r27,r02921 1678 949F mul r25,r202922 167a B00D add r27,r02923 167c 1124 clr r12924 167e AD01 movw r20,r262925 1680 9D01 movw r18,r262926 1682 B7FF sbrs r27,72927 1684 00C0 rjmp .L1472928 1686 215F subi r18,lo8(-(15))2929 1688 3F4F sbci r19,hi8(-(15))2930 .L147:2931 168a E4E0 ldi r30,42932 168c 3595 1: asr r192933 168e 2795 ror r182934 1690 EA95 dec r302935 1692 01F4 brne 1b2936 1694 8091 0000 lds r24,MesswertRoll2937 1698 9091 0000 lds r25,(MesswertRoll)+12938 169c 820F add r24,r182939 169e 931F adc r25,r192940 16a0 9093 0000 sts (MesswertRoll)+1,r252941 16a4 8093 0000 sts MesswertRoll,r242942 16a8 8091 0000 lds r24,HiResNick2943 16ac 9091 0000 lds r25,(HiResNick)+12944 16b0 860F add r24,r222945 16b2 971F adc r25,r232946 16b4 9093 0000 sts (HiResNick)+1,r252947 16b8 8093 0000 sts HiResNick,r242948 16bc 8091 0000 lds r24,HiResRoll2949 16c0 9091 0000 lds r25,(HiResRoll)+12950 16c4 840F add r24,r202951 16c6 951F adc r25,r212952 16c8 9093 0000 sts (HiResRoll)+1,r252953 16cc 8093 0000 sts HiResRoll,r242954 .L137:2955 16d0 0091 0000 lds r16,RohMesswertRoll2956 16d4 1091 0000 lds r17,(RohMesswertRoll)+12957 16d8 8091 0000 lds r24,KopplungsteilNickRoll2958 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+12959 16e0 1016 cp __zero_reg__,r162960 16e2 1106 cpc __zero_reg__,r172961 16e4 04F4 brge .L1482962 16e6 9C01 movw r18,r242963 16e8 97FF sbrs r25,72964 16ea 00C0 rjmp .L1492965 16ec 2227 clr r182966 16ee 3327 clr r192967 16f0 281B sub r18,r242968 16f2 390B sbc r19,r252969 .L149:2970 16f4 C901 movw r24,r182971 16f6 AA27 clr r262972 16f8 97FD sbrc r25,72973 16fa A095 com r262974 16fc BA2F mov r27,r262975 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection2976 1702 3327 clr r192977 1704 4427 clr r202978 1706 5527 clr r212979 1708 BC01 movw r22,r242980 170a CD01 movw r24,r262981 170c 0E94 0000 call __mulsi32982 1710 9B01 movw r18,r222983 1712 AC01 movw r20,r242984 1714 97FF sbrs r25,72985 1716 00C0 rjmp .L1502986 1718 215C subi r18,lo8(-(63))2987 171a 3F4F sbci r19,hi8(-(63))2988 171c 4F4F sbci r20,hlo8(-(63))2989 171e 5F4F sbci r21,hhi8(-(63))2990 .L150:2991 1720 76E0 ldi r23,62992 1722 5595 1: asr r212993 1724 4795 ror r202994 1726 3795 ror r192995 1728 2795 ror r182996 172a 7A95 dec r232997 172c 01F4 brne 1b2998 172e 8091 0000 lds r24,TrimRoll2999 1732 9091 0000 lds r25,(TrimRoll)+13000 1736 820F add r24,r183001 1738 931F adc r25,r193002 173a 00C0 rjmp .L1733003 .L148:3004 173c 97FF sbrs r25,73005 173e 00C0 rjmp .L1523006 1740 9095 com r253007 1742 8195 neg r243008 1744 9F4F sbci r25,lo8(-1)3009 .L152:3010 1746 AA27 clr r263011 1748 97FD sbrc r25,73012 174a A095 com r263013 174c BA2F mov r27,r263014 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection3015 1752 3327 clr r193016 1754 4427 clr r203017 1756 5527 clr r213018 1758 BC01 movw r22,r243019 175a CD01 movw r24,r263020 175c 0E94 0000 call __mulsi33021 1760 9B01 movw r18,r223022 1762 AC01 movw r20,r243023 1764 97FF sbrs r25,73024 1766 00C0 rjmp .L1533025 1768 215C subi r18,lo8(-(63))3026 176a 3F4F sbci r19,hi8(-(63))3027 176c 4F4F sbci r20,hlo8(-(63))3028 176e 5F4F sbci r21,hhi8(-(63))3029 .L153:3030 1770 66E0 ldi r22,63031 1772 5595 1: asr r213032 1774 4795 ror r203033 1776 3795 ror r193034 1778 2795 ror r183035 177a 6A95 dec r223036 177c 01F4 brne 1b3037 177e 8091 0000 lds r24,TrimRoll3038 1782 9091 0000 lds r25,(TrimRoll)+13039 1786 821B sub r24,r183040 1788 930B sbc r25,r193041 .L173:3042 178a 9093 0000 sts (TrimRoll)+1,r253043 178e 8093 0000 sts TrimRoll,r243044 1792 E090 0000 lds r14,RohMesswertNick3045 1796 F090 0000 lds r15,(RohMesswertNick)+13046 179a 8091 0000 lds r24,KopplungsteilRollNick3047 179e 9091 0000 lds r25,(KopplungsteilRollNick)+13048 17a2 1E14 cp __zero_reg__,r143049 17a4 1F04 cpc __zero_reg__,r153050 17a6 04F4 brge .L1543051 17a8 9C01 movw r18,r243052 17aa 97FF sbrs r25,73053 17ac 00C0 rjmp .L1553054 17ae 2227 clr r183055 17b0 3327 clr r193056 17b2 281B sub r18,r243057 17b4 390B sbc r19,r253058 .L155:3059 17b6 C901 movw r24,r183060 17b8 AA27 clr r263061 17ba 97FD sbrc r25,73062 17bc A095 com r263063 17be BA2F mov r27,r263064 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection3065 17c4 3327 clr r193066 17c6 4427 clr r203067 17c8 5527 clr r213068 17ca BC01 movw r22,r243069 17cc CD01 movw r24,r263070 17ce 0E94 0000 call __mulsi33071 17d2 9B01 movw r18,r223072 17d4 AC01 movw r20,r243073 17d6 97FF sbrs r25,73074 17d8 00C0 rjmp .L1563075 17da 215C subi r18,lo8(-(63))3076 17dc 3F4F sbci r19,hi8(-(63))3077 17de 4F4F sbci r20,hlo8(-(63))3078 17e0 5F4F sbci r21,hhi8(-(63))3079 .L156:3080 17e2 96E0 ldi r25,63081 17e4 5595 1: asr r213082 17e6 4795 ror r203083 17e8 3795 ror r193084 17ea 2795 ror r183085 17ec 9A95 dec r253086 17ee 01F4 brne 1b3087 17f0 8091 0000 lds r24,TrimNick3088 17f4 9091 0000 lds r25,(TrimNick)+13089 17f8 820F add r24,r183090 17fa 931F adc r25,r193091 17fc 00C0 rjmp .L1743092 .L154:3093 17fe 97FF sbrs r25,73094 1800 00C0 rjmp .L1583095 1802 9095 com r253096 1804 8195 neg r243097 1806 9F4F sbci r25,lo8(-1)3098 .L158:3099 1808 AA27 clr r263100 180a 97FD sbrc r25,73101 180c A095 com r263102 180e BA2F mov r27,r263103 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection3104 1814 3327 clr r193105 1816 4427 clr r203106 1818 5527 clr r213107 181a BC01 movw r22,r243108 181c CD01 movw r24,r263109 181e 0E94 0000 call __mulsi33110 1822 9B01 movw r18,r223111 1824 AC01 movw r20,r243112 1826 97FF sbrs r25,73113 1828 00C0 rjmp .L1593114 182a 215C subi r18,lo8(-(63))3115 182c 3F4F sbci r19,hi8(-(63))3116 182e 4F4F sbci r20,hlo8(-(63))3117 1830 5F4F sbci r21,hhi8(-(63))3118 .L159:3119 1832 86E0 ldi r24,63120 1834 5595 1: asr r213121 1836 4795 ror r203122 1838 3795 ror r193123 183a 2795 ror r183124 183c 8A95 dec r243125 183e 01F4 brne 1b3126 1840 8091 0000 lds r24,TrimNick3127 1844 9091 0000 lds r25,(TrimNick)+13128 1848 821B sub r24,r183129 184a 930B sbc r25,r193130 .L174:3131 184c 9093 0000 sts (TrimNick)+1,r253132 1850 8093 0000 sts TrimNick,r243133 1854 8091 0000 lds r24,Parameter_GlobalConfig3134 1858 87FF sbrs r24,73135 185a 00C0 rjmp .L823136 185c B989 ldd r27,Y+173137 185e BB23 tst r273138 1860 01F0 breq .+23139 1862 00C0 rjmp .L823140 1864 8091 0000 lds r24,Looping_Roll3141 1868 8823 tst r243142 186a 01F4 brne .L823143 186c E1E0 ldi r30,lo8(257)3144 186e EE16 cp r14,r303145 1870 E1E0 ldi r30,hi8(257)3146 1872 FE06 cpc r15,r303147 1874 04F0 brlt .L1613148 1876 8091 0000 lds r24,MesswertNick3149 187a 9091 0000 lds r25,(MesswertNick)+13150 187e 8E0D add r24,r143151 1880 9F1D adc r25,r153152 1882 8050 subi r24,lo8(-(-256))3153 1884 9140 sbci r25,hi8(-(-256))3154 1886 00C0 rjmp .L1753155 .L161:3156 1888 F0E0 ldi r31,lo8(-256)3157 188a EF16 cp r14,r313158 188c FFEF ldi r31,hi8(-256)3159 188e FF06 cpc r15,r313160 1890 04F4 brge .L1623161 1892 8091 0000 lds r24,MesswertNick3162 1896 9091 0000 lds r25,(MesswertNick)+13163 189a 8E0D add r24,r143164 189c 9F1D adc r25,r153165 189e 8050 subi r24,lo8(-(256))3166 18a0 9F4F sbci r25,hi8(-(256))3167 .L175:3168 18a2 9093 0000 sts (MesswertNick)+1,r253169 18a6 8093 0000 sts MesswertNick,r243170 .L162:3171 18aa 21E0 ldi r18,hi8(257)3172 18ac 0130 cpi r16,lo8(257)3173 18ae 1207 cpc r17,r183174 18b0 04F0 brlt .L1643175 18b2 8091 0000 lds r24,MesswertRoll3176 18b6 9091 0000 lds r25,(MesswertRoll)+13177 18ba 800F add r24,r163178 18bc 911F adc r25,r173179 18be 8050 subi r24,lo8(-(-256))3180 18c0 9140 sbci r25,hi8(-(-256))3181 18c2 00C0 rjmp .L1763182 .L164:3183 18c4 3FEF ldi r19,hi8(-256)3184 18c6 0030 cpi r16,lo8(-256)3185 18c8 1307 cpc r17,r193186 18ca 04F4 brge .L823187 18cc 8091 0000 lds r24,MesswertRoll3188 18d0 9091 0000 lds r25,(MesswertRoll)+13189 18d4 800F add r24,r163190 18d6 911F adc r25,r173191 18d8 8050 subi r24,lo8(-(256))3192 18da 9F4F sbci r25,hi8(-(256))3193 .L176:3194 18dc 9093 0000 sts (MesswertRoll)+1,r253195 18e0 8093 0000 sts MesswertRoll,r243196 .L82:3197 /* epilogue: frame size=19 */3198 18e4 E2E1 ldi r30,183199 18e6 CD5E subi r28,-193200 18e8 0C94 0000 jmp __epilogue_restores__+03201 /* epilogue end (size=4) */3202 /* function Mittelwert size 2000 (1990) */3204 .global SendMotorData3206 SendMotorData:3207 /* prologue: frame size=0 */3208 /* prologue end (size=0) */3209 18ec 8091 0000 lds r24,MotorenEin3210 18f0 8823 tst r243211 18f2 01F4 brne .L1783212 18f4 8091 0000 lds r24,FC_StatusFlags3213 18f8 8C7F andi r24,lo8(-4)3214 18fa 8093 0000 sts FC_StatusFlags,r243215 18fe A0E0 ldi r26,lo8(MotorTest)3216 1900 B0E0 ldi r27,hi8(MotorTest)3217 1902 E0E0 ldi r30,lo8(Motor)3218 1904 F0E0 ldi r31,hi8(Motor)3219 1906 9BE0 ldi r25,lo8(11)3220 .L183:3221 1908 8091 0000 lds r24,PC_MotortestActive3222 190c 8823 tst r243223 190e 01F4 brne .L1823224 1910 8C93 st X,r243225 .L182:3226 1912 8D91 ld r24,X+3227 1914 8183 std Z+1,r243228 1916 1282 std Z+2,__zero_reg__3229 1918 9150 subi r25,lo8(-(-1))3230 191a 3896 adiw r30,83231 191c 97FF sbrs r25,73232 191e 00C0 rjmp .L1833233 1920 8091 0000 lds r24,PC_MotortestActive3234 1924 8823 tst r243235 1926 01F0 breq .L1853236 1928 8091 0000 lds r24,PC_MotortestActive3237 192c 8150 subi r24,lo8(-(-1))3238 192e 8093 0000 sts PC_MotortestActive,r243239 1932 00C0 rjmp .L1853240 .L178:3241 1934 8091 0000 lds r24,FC_StatusFlags3242 1938 8160 ori r24,lo8(1)3243 193a 8093 0000 sts FC_StatusFlags,r243244 .L185:3245 193e 8091 0000 lds r24,I2C_TransferActive3246 1942 8823 tst r243247 1944 01F0 breq .L1863248 1946 1092 0000 sts I2C_TransferActive,__zero_reg__3249 194a 0895 ret3250 .L186:3251 194c 8093 0000 sts motor_write,r243252 1950 8093 0000 sts twi_state,r243253 1954 8091 0000 lds r24,BLFlags3254 1958 8E7F andi r24,lo8(-2)3255 195a 8093 0000 sts BLFlags,r243256 195e 85EA ldi r24,lo8(-91)3257 1960 8093 BC00 sts 188,r243258 1964 0895 ret3259 /* epilogue: frame size=0 */3260 /* epilogue: noreturn */3261 /* epilogue end (size=0) */3262 /* function SendMotorData size 61 (61) */3264 .global ParameterZuordnung3266 ParameterZuordnung:3267 /* prologue: frame size=0 */3268 1966 CF93 push r283269 1968 DF93 push r293270 /* prologue end (size=2) */3271 196a A0E0 ldi r26,lo8(Poti)3272 196c B0E0 ldi r27,hi8(Poti)3273 196e C0E0 ldi r28,lo8(EE_Parameter+5)3274 1970 D0E0 ldi r29,hi8(EE_Parameter+5)3275 1972 57E0 ldi r21,lo8(7)3276 .L203:3277 1974 9991 ld r25,Y+3278 1976 E92F mov r30,r253279 1978 FF27 clr r313280 197a EE0F add r30,r303281 197c FF1F adc r31,r313282 197e E050 subi r30,lo8(-(PPM_in))3283 1980 F040 sbci r31,hi8(-(PPM_in))3284 1982 0190 ld __tmp_reg__,Z+3285 1984 F081 ld r31,Z3286 1986 E02D mov r30,__tmp_reg__3287 1988 E158 subi r30,lo8(-(127))3288 198a FF4F sbci r31,hi8(-(127))3289 198c EF3F cpi r30,2553290 198e F105 cpc r31,__zero_reg__3291 1990 01F0 breq .L1943292 1992 04F0 brlt .L1943293 1994 EFEF ldi r30,lo8(255)3294 1996 F0E0 ldi r31,hi8(255)3295 1998 00C0 rjmp .L1953296 .L194:3297 199a F7FF sbrs r31,73298 199c 00C0 rjmp .L1953299 199e E0E0 ldi r30,lo8(0)3300 19a0 F0E0 ldi r31,hi8(0)3301 .L195:3302 19a2 9931 cpi r25,lo8(25)3303 19a4 01F4 brne .L1973304 19a6 EC93 st X,r303305 19a8 00C0 rjmp .L1933306 .L197:3307 19aa 4C91 ld r20,X3308 19ac 242F mov r18,r203309 19ae 3327 clr r193310 19b0 E217 cp r30,r183311 19b2 F307 cpc r31,r193312 19b4 01F0 breq .L1933313 19b6 CF01 movw r24,r303314 19b8 821B sub r24,r183315 19ba 930B sbc r25,r193316 19bc 97FD sbrc r25,73317 19be 0396 adiw r24,33318 .L200:3319 19c0 9595 asr r253320 19c2 8795 ror r243321 19c4 9595 asr r253322 19c6 8795 ror r243323 19c8 242F mov r18,r203324 19ca 280F add r18,r243325 19cc 2C93 st X,r183326 19ce 822F mov r24,r183327 19d0 9927 clr r253328 19d2 E817 cp r30,r243329 19d4 F907 cpc r31,r253330 19d6 04F4 brge .L2013331 19d8 2150 subi r18,lo8(-(-1))3332 19da 00C0 rjmp .L3233333 .L201:3334 19dc 2F5F subi r18,lo8(-(1))3335 .L323:3336 19de 2C93 st X,r183337 .L193:3338 19e0 5150 subi r21,lo8(-(-1))3339 19e2 1196 adiw r26,13340 19e4 57FF sbrs r21,73341 19e6 00C0 rjmp .L2033342 19e8 8091 0000 lds r24,EE_Parameter+153343 19ec 883F cpi r24,lo8(-8)3344 19ee 00F0 brlo .L3243345 19f0 EFEF ldi r30,lo8(255)3346 19f2 F0E0 ldi r31,hi8(255)3347 19f4 E81B sub r30,r243348 19f6 F109 sbc r31,__zero_reg__3349 19f8 E050 subi r30,lo8(-(Poti))3350 19fa F040 sbci r31,hi8(-(Poti))3351 19fc 8081 ld r24,Z3352 .L324:3353 19fe 8093 0000 sts Parameter_Luftdruck_D,r243354 1a02 8091 0000 lds r24,Parameter_Luftdruck_D3355 1a06 8823 tst r243356 1a08 01F0 breq .L2073357 1a0a 8436 cpi r24,lo8(100)3358 1a0c 00F0 brlo .L2073359 1a0e 84E6 ldi r24,lo8(100)3360 1a10 8093 0000 sts Parameter_Luftdruck_D,r243361 .L207:3362 1a14 8091 0000 lds r24,EE_Parameter+173363 1a18 883F cpi r24,lo8(-8)3364 1a1a 00F0 brlo .L3253365 1a1c EFEF ldi r30,lo8(255)3366 1a1e F0E0 ldi r31,hi8(255)3367 1a20 E81B sub r30,r243368 1a22 F109 sbc r31,__zero_reg__3369 1a24 E050 subi r30,lo8(-(Poti))3370 1a26 F040 sbci r31,hi8(-(Poti))3371 1a28 8081 ld r24,Z3372 .L325:3373 1a2a 8093 0000 sts Parameter_Hoehe_P,r243374 1a2e 8091 0000 lds r24,Parameter_Hoehe_P3375 1a32 8823 tst r243376 1a34 01F0 breq .L2123377 1a36 8436 cpi r24,lo8(100)3378 1a38 00F0 brlo .L2123379 1a3a 84E6 ldi r24,lo8(100)3380 1a3c 8093 0000 sts Parameter_Hoehe_P,r243381 .L212:3382 1a40 8091 0000 lds r24,EE_Parameter+303383 1a44 883F cpi r24,lo8(-8)3384 1a46 00F0 brlo .L3263385 1a48 EFEF ldi r30,lo8(255)3386 1a4a F0E0 ldi r31,hi8(255)3387 1a4c E81B sub r30,r243388 1a4e F109 sbc r31,__zero_reg__3389 1a50 E050 subi r30,lo8(-(Poti))3390 1a52 F040 sbci r31,hi8(-(Poti))3391 1a54 8081 ld r24,Z3392 .L326:3393 1a56 8093 0000 sts Parameter_Gyro_P,r243394 1a5a 8091 0000 lds r24,Parameter_Gyro_P3395 1a5e 8B30 cpi r24,lo8(11)3396 1a60 00F4 brsh .L2163397 1a62 8AE0 ldi r24,lo8(10)3398 1a64 00C0 rjmp .L3273399 .L216:3400 1a66 8F3F cpi r24,lo8(-1)3401 1a68 01F4 brne .L2173402 .L327:3403 1a6a 8093 0000 sts Parameter_Gyro_P,r243404 .L217:3405 1a6e 8091 0000 lds r24,EE_Parameter+753406 1a72 883F cpi r24,lo8(-8)3407 1a74 00F0 brlo .L3283408 1a76 EFEF ldi r30,lo8(255)3409 1a78 F0E0 ldi r31,hi8(255)3410 1a7a E81B sub r30,r243411 1a7c F109 sbc r31,__zero_reg__3412 1a7e E050 subi r30,lo8(-(Poti))3413 1a80 F040 sbci r31,hi8(-(Poti))3414 1a82 8081 ld r24,Z3415 .L328:3416 1a84 8093 0000 sts Parameter_J16Timing,r243417 1a88 8091 0000 lds r24,Parameter_J16Timing3418 1a8c 8630 cpi r24,lo8(6)3419 1a8e 00F4 brsh .L2213420 1a90 85E0 ldi r24,lo8(5)3421 1a92 00C0 rjmp .L3293422 .L221:3423 1a94 8F3F cpi r24,lo8(-1)3424 1a96 01F4 brne .L2223425 .L329:3426 1a98 8093 0000 sts Parameter_J16Timing,r243427 .L222:3428 1a9c 8091 0000 lds r24,EE_Parameter+773429 1aa0 883F cpi r24,lo8(-8)3430 1aa2 00F0 brlo .L3303431 1aa4 EFEF ldi r30,lo8(255)3432 1aa6 F0E0 ldi r31,hi8(255)3433 1aa8 E81B sub r30,r243434 1aaa F109 sbc r31,__zero_reg__3435 1aac E050 subi r30,lo8(-(Poti))3436 1aae F040 sbci r31,hi8(-(Poti))3437 1ab0 8081 ld r24,Z3438 .L330:3439 1ab2 8093 0000 sts Parameter_J17Timing,r243440 1ab6 8091 0000 lds r24,Parameter_J17Timing3441 1aba 8630 cpi r24,lo8(6)3442 1abc 00F4 brsh .L2263443 1abe 85E0 ldi r24,lo8(5)3444 1ac0 00C0 rjmp .L3313445 .L226:3446 1ac2 8F3F cpi r24,lo8(-1)3447 1ac4 01F4 brne .L2273448 .L331:3449 1ac6 8093 0000 sts Parameter_J17Timing,r243450 .L227:3451 1aca 8091 0000 lds r24,EE_Parameter+563452 1ace 873F cpi r24,lo8(-9)3453 1ad0 01F4 brne .L2293454 1ad2 4299 sbic 40-0x20,23455 1ad4 00C0 rjmp .L3623456 1ad6 00C0 rjmp .L2343457 .L229:3458 1ad8 863F cpi r24,lo8(-10)3459 1ada 01F4 brne .L2333460 1adc 439B sbis 40-0x20,33461 1ade 00C0 rjmp .L2343462 .L362:3463 1ae0 8CE8 ldi r24,lo8(-116)3464 1ae2 00C0 rjmp .L3323465 .L234:3466 1ae4 86E4 ldi r24,lo8(70)3467 1ae6 00C0 rjmp .L3323468 .L233:3469 1ae8 883F cpi r24,lo8(-8)3470 1aea 00F0 brlo .L3323471 1aec EFEF ldi r30,lo8(255)3472 1aee F0E0 ldi r31,hi8(255)3473 1af0 E81B sub r30,r243474 1af2 F109 sbc r31,__zero_reg__3475 1af4 E050 subi r30,lo8(-(Poti))3476 1af6 F040 sbci r31,hi8(-(Poti))3477 1af8 8081 ld r24,Z3478 .L332:3479 1afa 8093 0000 sts Parameter_Servo3,r243480 1afe 8091 0000 lds r24,EE_Parameter+573481 1b02 873F cpi r24,lo8(-9)3482 1b04 01F4 brne .L2393483 1b06 4299 sbic 40-0x20,23484 1b08 00C0 rjmp .L3633485 1b0a 00C0 rjmp .L2443486 .L239:3487 1b0c 863F cpi r24,lo8(-10)3488 1b0e 01F4 brne .L2433489 1b10 439B sbis 40-0x20,33490 1b12 00C0 rjmp .L2443491 .L363:3492 1b14 8CE8 ldi r24,lo8(-116)3493 1b16 00C0 rjmp .L3333494 .L244:3495 1b18 86E4 ldi r24,lo8(70)3496 1b1a 00C0 rjmp .L3333497 .L243:3498 1b1c 883F cpi r24,lo8(-8)3499 1b1e 00F0 brlo .L3333500 1b20 EFEF ldi r30,lo8(255)3501 1b22 F0E0 ldi r31,hi8(255)3502 1b24 E81B sub r30,r243503 1b26 F109 sbc r31,__zero_reg__3504 1b28 E050 subi r30,lo8(-(Poti))3505 1b2a F040 sbci r31,hi8(-(Poti))3506 1b2c 8081 ld r24,Z3507 .L333:3508 1b2e 8093 0000 sts Parameter_Servo4,r243509 1b32 8091 0000 lds r24,EE_Parameter+583510 1b36 883F cpi r24,lo8(-8)3511 1b38 00F0 brlo .L3343512 1b3a EFEF ldi r30,lo8(255)3513 1b3c F0E0 ldi r31,hi8(255)3514 1b3e E81B sub r30,r243515 1b40 F109 sbc r31,__zero_reg__3516 1b42 E050 subi r30,lo8(-(Poti))3517 1b44 F040 sbci r31,hi8(-(Poti))3518 1b46 8081 ld r24,Z3519 .L334:3520 1b48 8093 0000 sts Parameter_Servo5,r243521 1b4c 8091 0000 lds r24,EE_Parameter+163522 1b50 883F cpi r24,lo8(-8)3523 1b52 00F0 brlo .L3353524 1b54 EFEF ldi r30,lo8(255)3525 1b56 F0E0 ldi r31,hi8(255)3526 1b58 E81B sub r30,r243527 1b5a F109 sbc r31,__zero_reg__3528 1b5c E050 subi r30,lo8(-(Poti))3529 1b5e F040 sbci r31,hi8(-(Poti))3530 1b60 8081 ld r24,Z3531 .L335:3532 1b62 8093 0000 sts Parameter_HoehenSchalter,r243533 1b66 8091 0000 lds r24,EE_Parameter+193534 1b6a 883F cpi r24,lo8(-8)3535 1b6c 00F0 brlo .L3363536 1b6e EFEF ldi r30,lo8(255)3537 1b70 F0E0 ldi r31,hi8(255)3538 1b72 E81B sub r30,r243539 1b74 F109 sbc r31,__zero_reg__3540 1b76 E050 subi r30,lo8(-(Poti))3541 1b78 F040 sbci r31,hi8(-(Poti))3542 1b7a 8081 ld r24,Z3543 .L336:3544 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243545 1b80 8091 0000 lds r24,EE_Parameter+213546 1b84 883F cpi r24,lo8(-8)3547 1b86 00F0 brlo .L3373548 1b88 EFEF ldi r30,lo8(255)3549 1b8a F0E0 ldi r31,hi8(255)3550 1b8c E81B sub r30,r243551 1b8e F109 sbc r31,__zero_reg__3552 1b90 E050 subi r30,lo8(-(Poti))3553 1b92 F040 sbci r31,hi8(-(Poti))3554 1b94 8081 ld r24,Z3555 .L337:3556 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r243557 1b9a 8091 0000 lds r24,EE_Parameter+293558 1b9e 883F cpi r24,lo8(-8)3559 1ba0 00F0 brlo .L3383560 1ba2 EFEF ldi r30,lo8(255)3561 1ba4 F0E0 ldi r31,hi8(255)3562 1ba6 E81B sub r30,r243563 1ba8 F109 sbc r31,__zero_reg__3564 1baa E050 subi r30,lo8(-(Poti))3565 1bac F040 sbci r31,hi8(-(Poti))3566 1bae 8081 ld r24,Z3567 .L338:3568 1bb0 8093 0000 sts Parameter_KompassWirkung,r243569 1bb4 8091 0000 lds r24,EE_Parameter+313570 1bb8 883F cpi r24,lo8(-8)3571 1bba 00F0 brlo .L3393572 1bbc EFEF ldi r30,lo8(255)3573 1bbe F0E0 ldi r31,hi8(255)3574 1bc0 E81B sub r30,r243575 1bc2 F109 sbc r31,__zero_reg__3576 1bc4 E050 subi r30,lo8(-(Poti))3577 1bc6 F040 sbci r31,hi8(-(Poti))3578 1bc8 8081 ld r24,Z3579 .L339:3580 1bca 8093 0000 sts Parameter_Gyro_I,r243581 1bce 8091 0000 lds r24,EE_Parameter+323582 1bd2 883F cpi r24,lo8(-8)3583 1bd4 00F0 brlo .L3403584 1bd6 EFEF ldi r30,lo8(255)3585 1bd8 F0E0 ldi r31,hi8(255)3586 1bda E81B sub r30,r243587 1bdc F109 sbc r31,__zero_reg__3588 1bde E050 subi r30,lo8(-(Poti))3589 1be0 F040 sbci r31,hi8(-(Poti))3590 1be2 8081 ld r24,Z3591 .L340:3592 1be4 8093 0000 sts Parameter_Gyro_D,r243593 1be8 8091 0000 lds r24,EE_Parameter+333594 1bec 883F cpi r24,lo8(-8)3595 1bee 00F0 brlo .L3413596 1bf0 EFEF ldi r30,lo8(255)3597 1bf2 F0E0 ldi r31,hi8(255)3598 1bf4 E81B sub r30,r243599 1bf6 F109 sbc r31,__zero_reg__3600 1bf8 E050 subi r30,lo8(-(Poti))3601 1bfa F040 sbci r31,hi8(-(Poti))3602 1bfc 8081 ld r24,Z3603 .L341:3604 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r243605 1c02 8091 0000 lds r24,EE_Parameter+343606 1c06 883F cpi r24,lo8(-8)3607 1c08 00F0 brlo .L3423608 1c0a EFEF ldi r30,lo8(255)3609 1c0c F0E0 ldi r31,hi8(255)3610 1c0e E81B sub r30,r243611 1c10 F109 sbc r31,__zero_reg__3612 1c12 E050 subi r30,lo8(-(Poti))3613 1c14 F040 sbci r31,hi8(-(Poti))3614 1c16 8081 ld r24,Z3615 .L342:3616 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r243617 1c1c 8091 0000 lds r24,EE_Parameter+403618 1c20 883F cpi r24,lo8(-8)3619 1c22 00F0 brlo .L3433620 1c24 EFEF ldi r30,lo8(255)3621 1c26 F0E0 ldi r31,hi8(255)3622 1c28 E81B sub r30,r243623 1c2a F109 sbc r31,__zero_reg__3624 1c2c E050 subi r30,lo8(-(Poti))3625 1c2e F040 sbci r31,hi8(-(Poti))3626 1c30 8081 ld r24,Z3627 .L343:3628 1c32 8093 0000 sts Parameter_I_Faktor,r243629 1c36 8091 0000 lds r24,EE_Parameter+413630 1c3a 883F cpi r24,lo8(-8)3631 1c3c 00F0 brlo .L3443632 1c3e EFEF ldi r30,lo8(255)3633 1c40 F0E0 ldi r31,hi8(255)3634 1c42 E81B sub r30,r243635 1c44 F109 sbc r31,__zero_reg__3636 1c46 E050 subi r30,lo8(-(Poti))3637 1c48 F040 sbci r31,hi8(-(Poti))3638 1c4a 8081 ld r24,Z3639 .L344:3640 1c4c 8093 0000 sts Parameter_UserParam1,r243641 1c50 8091 0000 lds r24,EE_Parameter+423642 1c54 883F cpi r24,lo8(-8)3643 1c56 00F0 brlo .L3453644 1c58 EFEF ldi r30,lo8(255)3645 1c5a F0E0 ldi r31,hi8(255)3646 1c5c E81B sub r30,r243647 1c5e F109 sbc r31,__zero_reg__3648 1c60 E050 subi r30,lo8(-(Poti))3649 1c62 F040 sbci r31,hi8(-(Poti))3650 1c64 8081 ld r24,Z3651 .L345:3652 1c66 8093 0000 sts Parameter_UserParam2,r243653 1c6a 8091 0000 lds r24,EE_Parameter+433654 1c6e 883F cpi r24,lo8(-8)3655 1c70 00F0 brlo .L3463656 1c72 EFEF ldi r30,lo8(255)3657 1c74 F0E0 ldi r31,hi8(255)3658 1c76 E81B sub r30,r243659 1c78 F109 sbc r31,__zero_reg__3660 1c7a E050 subi r30,lo8(-(Poti))3661 1c7c F040 sbci r31,hi8(-(Poti))3662 1c7e 8081 ld r24,Z3663 .L346:3664 1c80 8093 0000 sts Parameter_UserParam3,r243665 1c84 8091 0000 lds r24,EE_Parameter+443666 1c88 883F cpi r24,lo8(-8)3667 1c8a 00F0 brlo .L3473668 1c8c EFEF ldi r30,lo8(255)3669 1c8e F0E0 ldi r31,hi8(255)3670 1c90 E81B sub r30,r243671 1c92 F109 sbc r31,__zero_reg__3672 1c94 E050 subi r30,lo8(-(Poti))3673 1c96 F040 sbci r31,hi8(-(Poti))3674 1c98 8081 ld r24,Z3675 .L347:3676 1c9a 8093 0000 sts Parameter_UserParam4,r243677 1c9e 8091 0000 lds r24,EE_Parameter+703678 1ca2 883F cpi r24,lo8(-8)3679 1ca4 00F0 brlo .L3483680 1ca6 EFEF ldi r30,lo8(255)3681 1ca8 F0E0 ldi r31,hi8(255)3682 1caa E81B sub r30,r243683 1cac F109 sbc r31,__zero_reg__3684 1cae E050 subi r30,lo8(-(Poti))3685 1cb0 F040 sbci r31,hi8(-(Poti))3686 1cb2 8081 ld r24,Z3687 .L348:3688 1cb4 8093 0000 sts Parameter_UserParam5,r243689 1cb8 8091 0000 lds r24,EE_Parameter+713690 1cbc 883F cpi r24,lo8(-8)3691 1cbe 00F0 brlo .L3493692 1cc0 EFEF ldi r30,lo8(255)3693 1cc2 F0E0 ldi r31,hi8(255)3694 1cc4 E81B sub r30,r243695 1cc6 F109 sbc r31,__zero_reg__3696 1cc8 E050 subi r30,lo8(-(Poti))3697 1cca F040 sbci r31,hi8(-(Poti))3698 1ccc 8081 ld r24,Z3699 .L349:3700 1cce 8093 0000 sts Parameter_UserParam6,r243701 1cd2 8091 0000 lds r24,EE_Parameter+723702 1cd6 883F cpi r24,lo8(-8)3703 1cd8 00F0 brlo .L3503704 1cda EFEF ldi r30,lo8(255)3705 1cdc F0E0 ldi r31,hi8(255)3706 1cde E81B sub r30,r243707 1ce0 F109 sbc r31,__zero_reg__3708 1ce2 E050 subi r30,lo8(-(Poti))3709 1ce4 F040 sbci r31,hi8(-(Poti))3710 1ce6 8081 ld r24,Z3711 .L350:3712 1ce8 8093 0000 sts Parameter_UserParam7,r243713 1cec 8091 0000 lds r24,EE_Parameter+733714 1cf0 883F cpi r24,lo8(-8)3715 1cf2 00F0 brlo .L3513716 1cf4 EFEF ldi r30,lo8(255)3717 1cf6 F0E0 ldi r31,hi8(255)3718 1cf8 E81B sub r30,r243719 1cfa F109 sbc r31,__zero_reg__3720 1cfc E050 subi r30,lo8(-(Poti))3721 1cfe F040 sbci r31,hi8(-(Poti))3722 1d00 8081 ld r24,Z3723 .L351:3724 1d02 8093 0000 sts Parameter_UserParam8,r243725 1d06 8091 0000 lds r24,EE_Parameter+453726 1d0a 883F cpi r24,lo8(-8)3727 1d0c 00F0 brlo .L3523728 1d0e EFEF ldi r30,lo8(255)3729 1d10 F0E0 ldi r31,hi8(255)3730 1d12 E81B sub r30,r243731 1d14 F109 sbc r31,__zero_reg__3732 1d16 E050 subi r30,lo8(-(Poti))3733 1d18 F040 sbci r31,hi8(-(Poti))3734 1d1a 8081 ld r24,Z3735 .L352:3736 1d1c 8093 0000 sts Parameter_ServoNickControl,r243737 1d20 8091 0000 lds r24,EE_Parameter+493738 1d24 883F cpi r24,lo8(-8)3739 1d26 00F0 brlo .L3533740 1d28 EFEF ldi r30,lo8(255)3741 1d2a F0E0 ldi r31,hi8(255)3742 1d2c E81B sub r30,r243743 1d2e F109 sbc r31,__zero_reg__3744 1d30 E050 subi r30,lo8(-(Poti))3745 1d32 F040 sbci r31,hi8(-(Poti))3746 1d34 8081 ld r24,Z3747 .L353:3748 1d36 8093 0000 sts Parameter_ServoRollControl,r243749 1d3a 8091 0000 lds r24,EE_Parameter+593750 1d3e 883F cpi r24,lo8(-8)3751 1d40 00F0 brlo .L3543752 1d42 EFEF ldi r30,lo8(255)3753 1d44 F0E0 ldi r31,hi8(255)3754 1d46 E81B sub r30,r243755 1d48 F109 sbc r31,__zero_reg__3756 1d4a E050 subi r30,lo8(-(Poti))3757 1d4c F040 sbci r31,hi8(-(Poti))3758 1d4e 8081 ld r24,Z3759 .L354:3760 1d50 8093 0000 sts Parameter_LoopGasLimit,r243761 1d54 8091 0000 lds r24,EE_Parameter+623762 1d58 883F cpi r24,lo8(-8)3763 1d5a 00F0 brlo .L3553764 1d5c EFEF ldi r30,lo8(255)3765 1d5e F0E0 ldi r31,hi8(255)3766 1d60 E81B sub r30,r243767 1d62 F109 sbc r31,__zero_reg__3768 1d64 E050 subi r30,lo8(-(Poti))3769 1d66 F040 sbci r31,hi8(-(Poti))3770 1d68 8081 ld r24,Z3771 .L355:3772 1d6a 8093 0000 sts Parameter_AchsKopplung1,r243773 1d6e 8091 0000 lds r24,EE_Parameter+633774 1d72 883F cpi r24,lo8(-8)3775 1d74 00F0 brlo .L3563776 1d76 EFEF ldi r30,lo8(255)3777 1d78 F0E0 ldi r31,hi8(255)3778 1d7a E81B sub r30,r243779 1d7c F109 sbc r31,__zero_reg__3780 1d7e E050 subi r30,lo8(-(Poti))3781 1d80 F040 sbci r31,hi8(-(Poti))3782 1d82 8081 ld r24,Z3783 .L356:3784 1d84 8093 0000 sts Parameter_AchsKopplung2,r243785 1d88 8091 0000 lds r24,EE_Parameter+643786 1d8c 883F cpi r24,lo8(-8)3787 1d8e 00F0 brlo .L3573788 1d90 EFEF ldi r30,lo8(255)3789 1d92 F0E0 ldi r31,hi8(255)3790 1d94 E81B sub r30,r243791 1d96 F109 sbc r31,__zero_reg__3792 1d98 E050 subi r30,lo8(-(Poti))3793 1d9a F040 sbci r31,hi8(-(Poti))3794 1d9c 8081 ld r24,Z3795 .L357:3796 1d9e 8093 0000 sts Parameter_CouplingYawCorrection,r243797 1da2 8091 0000 lds r24,EE_Parameter+1043798 1da6 883F cpi r24,lo8(-8)3799 1da8 00F0 brlo .L3583800 1daa EFEF ldi r30,lo8(255)3801 1dac F0E0 ldi r31,hi8(255)3802 1dae E81B sub r30,r243803 1db0 F109 sbc r31,__zero_reg__3804 1db2 E050 subi r30,lo8(-(Poti))3805 1db4 F040 sbci r31,hi8(-(Poti))3806 1db6 8081 ld r24,Z3807 .L358:3808 1db8 8093 0000 sts Parameter_MaximumAltitude,r243809 1dbc 9091 0000 lds r25,NC_To_FC_MaxAltitude3810 1dc0 9923 tst r253811 1dc2 01F0 breq .L3013812 1dc4 8091 0000 lds r24,Parameter_MaximumAltitude3813 1dc8 9817 cp r25,r243814 1dca 00F0 brlo .L3003815 .L301:3816 1dcc 8091 0000 lds r24,Parameter_MaximumAltitude3817 1dd0 8823 tst r243818 1dd2 01F4 brne .L2993819 .L300:3820 1dd4 9093 0000 sts Parameter_MaximumAltitude,r253821 .L299:3822 1dd8 8091 0000 lds r24,EE_Parameter+133823 1ddc 8093 0000 sts Parameter_GlobalConfig,r243824 1de0 8091 0000 lds r24,EE_Parameter+1103825 1de4 8093 0000 sts Parameter_ExtraConfig,r243826 1de8 8091 0000 lds r24,EE_Parameter+693827 1dec 883F cpi r24,lo8(-8)3828 1dee 00F0 brlo .L3593829 1df0 EFEF ldi r30,lo8(255)3830 1df2 F0E0 ldi r31,hi8(255)3831 1df4 E81B sub r30,r243832 1df6 F109 sbc r31,__zero_reg__3833 1df8 E050 subi r30,lo8(-(Poti))3834 1dfa F040 sbci r31,hi8(-(Poti))3835 1dfc 8081 ld r24,Z3836 .L359:3837 1dfe 8093 0000 sts Parameter_DynamicStability,r243838 1e02 8091 0000 lds r24,EE_Parameter+973839 1e06 883F cpi r24,lo8(-8)3840 1e08 00F0 brlo .L3603841 1e0a EFEF ldi r30,lo8(255)3842 1e0c F0E0 ldi r31,hi8(255)3843 1e0e E81B sub r30,r243844 1e10 F109 sbc r31,__zero_reg__3845 1e12 E050 subi r30,lo8(-(Poti))3846 1e14 F040 sbci r31,hi8(-(Poti))3847 1e16 8081 ld r24,Z3848 .L360:3849 1e18 8093 0000 sts Parameter_ExternalControl,r243850 1e1c 8091 0000 lds r24,Parameter_I_Faktor3851 1e20 282F mov r18,r243852 1e22 3327 clr r193853 1e24 2F5F subi r18,lo8(-(1))3854 1e26 3F4F sbci r19,hi8(-(1))3855 1e28 8CE3 ldi r24,lo8(10300)3856 1e2a 98E2 ldi r25,hi8(10300)3857 1e2c B901 movw r22,r183858 1e2e 0E94 0000 call __divmodhi43859 1e32 7093 0000 sts (Ki)+1,r233860 1e36 6093 0000 sts Ki,r223861 1e3a 8091 0000 lds r24,EE_Parameter+273862 1e3e 8093 0000 sts MAX_GAS,r243863 1e42 8091 0000 lds r24,EE_Parameter+263864 1e46 8093 0000 sts MIN_GAS,r243865 1e4a 9091 0000 lds r25,EE_Parameter+993866 1e4e 9333 cpi r25,lo8(51)3867 1e50 00F4 brsh .+23868 1e52 00C0 rjmp .L3063869 1e54 81E0 ldi r24,lo8(1)3870 1e56 8093 0000 sts CareFree,r243871 1e5a 983F cpi r25,lo8(-8)3872 1e5c 00F0 brlo .L3073873 1e5e EFEF ldi r30,lo8(255)3874 1e60 F0E0 ldi r31,hi8(255)3875 1e62 E91B sub r30,r253876 1e64 F109 sbc r31,__zero_reg__3877 1e66 E050 subi r30,lo8(-(Poti))3878 1e68 F040 sbci r31,hi8(-(Poti))3879 1e6a 8081 ld r24,Z3880 1e6c 8233 cpi r24,lo8(50)3881 1e6e 00F4 brsh .L3073882 1e70 1092 0000 sts CareFree,__zero_reg__3883 .L307:3884 1e74 8091 0000 lds r24,carefree_old3885 1e78 2091 0000 lds r18,CareFree3886 1e7c 8217 cp r24,r183887 1e7e 01F0 breq .L3083888 1e80 8330 cpi r24,lo8(3)3889 1e82 00F4 brsh .L3093890 1e84 3091 0000 lds r19,SpeakHoTT3891 1e88 2223 tst r183892 1e8a 01F0 breq .L3103893 1e8c 8CED ldi r24,lo8(1500)3894 1e8e 95E0 ldi r25,hi8(1500)3895 1e90 9093 0000 sts (beeptime)+1,r253896 1e94 8093 0000 sts beeptime,r243897 1e98 3323 tst r193898 1e9a 01F4 brne .L3123899 1e9c 8EE2 ldi r24,lo8(46)3900 1e9e 00C0 rjmp .L3613901 .L310:3902 1ea0 88EC ldi r24,lo8(200)3903 1ea2 90E0 ldi r25,hi8(200)3904 1ea4 9093 0000 sts (beeptime)+1,r253905 1ea8 8093 0000 sts beeptime,r243906 1eac 3323 tst r193907 1eae 01F4 brne .L3123908 1eb0 87E1 ldi r24,lo8(23)3909 .L361:3910 1eb2 8093 0000 sts SpeakHoTT,r243911 .L312:3912 1eb6 85E0 ldi r24,lo8(5)3913 1eb8 8093 0000 sts NeueKompassRichtungMerken,r243914 1ebc 2093 0000 sts carefree_old,r183915 1ec0 00C0 rjmp .L3083916 .L309:3917 1ec2 8150 subi r24,lo8(-(-1))3918 1ec4 8093 0000 sts carefree_old,r243919 .L308:3920 1ec8 8091 0000 lds r24,FromNaviCtrl+73921 1ecc 9091 0000 lds r25,(FromNaviCtrl+7)+13922 1ed0 97FF sbrs r25,73923 1ed2 00C0 rjmp .L3163924 1ed4 8091 0000 lds r24,CareFree3925 1ed8 8823 tst r243926 1eda 01F0 breq .L3163927 1edc 8091 0000 lds r24,VersionInfo+53928 1ee0 8068 ori r24,lo8(-128)3929 1ee2 8093 0000 sts VersionInfo+5,r243930 1ee6 00C0 rjmp .L3163931 .L306:3932 1ee8 1092 0000 sts CareFree,__zero_reg__3933 1eec 8AE0 ldi r24,lo8(10)3934 1eee 8093 0000 sts carefree_old,r243935 .L316:3936 1ef2 8091 0000 lds r24,FromNaviCtrl+73937 1ef6 9091 0000 lds r25,(FromNaviCtrl+7)+13938 1efa 97FF sbrs r25,73939 1efc 00C0 rjmp .L3173940 1efe 8091 0000 lds r24,MotorenEin3941 1f02 8823 tst r243942 1f04 01F0 breq .L3173943 1f06 8091 0000 lds r24,CareFree3944 1f0a 8823 tst r243945 1f0c 01F0 breq .L3173946 1f0e 8091 0000 lds r24,BeepMuster3947 1f12 9091 0000 lds r25,(BeepMuster)+13948 1f16 8F5F subi r24,lo8(-1)3949 1f18 9F4F sbci r25,hi8(-1)3950 1f1a 01F4 brne .L3173951 1f1c 88E9 ldi r24,lo8(15000)3952 1f1e 9AE3 ldi r25,hi8(15000)3953 1f20 9093 0000 sts (beeptime)+1,r253954 1f24 8093 0000 sts beeptime,r243955 1f28 80E0 ldi r24,lo8(-23552)3956 1f2a 94EA ldi r25,hi8(-23552)3957 1f2c 9093 0000 sts (BeepMuster)+1,r253958 1f30 8093 0000 sts BeepMuster,r243959 1f34 1092 0000 sts CareFree,__zero_reg__3960 .L317:3961 1f38 8091 0000 lds r24,CareFree3962 1f3c 8823 tst r243963 1f3e 01F0 breq .L3183964 1f40 8091 0000 lds r24,FC_StatusFlags23965 1f44 8160 ori r24,lo8(1)3966 1f46 8093 0000 sts FC_StatusFlags2,r243967 1f4a 8091 0000 lds r24,Parameter_AchsKopplung13968 1f4e 823D cpi r24,lo8(-46)3969 1f50 00F4 brsh .L1903970 1f52 825E subi r24,lo8(-(30))3971 1f54 8093 0000 sts Parameter_AchsKopplung1,r243972 1f58 00C0 rjmp .L1903973 .L318:3974 1f5a 8091 0000 lds r24,FC_StatusFlags23975 1f5e 8E7F andi r24,lo8(-2)3976 1f60 8093 0000 sts FC_StatusFlags2,r243977 .L190:3978 /* epilogue: frame size=0 */3979 1f64 DF91 pop r293980 1f66 CF91 pop r283981 1f68 0895 ret3982 /* epilogue end (size=3) */3983 /* function ParameterZuordnung size 772 (767) */3985 .lcomm sollGier.0,43986 .lcomm tmp_long.1,43987 .lcomm tmp_long2.2,43988 .lcomm IntegralFehlerNick.3,43989 .lcomm IntegralFehlerRoll.4,43990 .lcomm RcLostTimer.5,23991 .lcomm delay_neutral.6,13992 .lcomm delay_einschalten.7,13993 .lcomm delay_ausschalten.8,13994 .lcomm move_safety_switch.9,13995 .lcomm ausgleichNick.10,43996 .lcomm ausgleichRoll.11,43997 .lcomm stick_nick.12,23998 .lcomm stick_roll.13,23999 .lcomm cnt.14,24000 .lcomm last_n_p.15,14001 .lcomm last_n_n.16,14002 .lcomm last_r_p.17,14003 .lcomm last_r_n.18,14004 .lcomm MittelIntegralNick_Alt.19,44005 .lcomm MittelIntegralRoll_Alt.20,44006 .lcomm HeightTrimming.21,24007 .lcomm FilterHCGas.22,24008 .lcomm HoverGasFilter.23,44009 .data4012 delay.24:4013 004f 64 .byte 1004014 .lcomm BaroAtUpperLimit.25,14015 .lcomm BaroAtLowerLimit.26,14016 .text4017 .global MotorRegler4019 MotorRegler:4020 /* prologue: frame size=23 */4021 1f6a A7E1 ldi r26,lo8(23)4022 1f6c B0E0 ldi r27,hi8(23)4023 1f6e E0E0 ldi r30,pm_lo8(1f)4024 1f70 F0E0 ldi r31,pm_hi8(1f)4025 1f72 0C94 0000 jmp __prologue_saves__+04026 1:4027 /* prologue end (size=6) */4028 1f76 0E94 0000 call Mittelwert4029 1f7a 8091 0000 lds r24,FC_StatusFlags4030 1f7e 9927 clr r254031 1f80 8471 andi r24,lo8(20)4032 1f82 9070 andi r25,hi8(20)4033 1f84 892B or r24,r254034 1f86 01F4 brne .L3654035 1f88 8091 0000 lds r24,EE_Parameter+1114036 1f8c 82FF sbrs r24,24037 1f8e 00C0 rjmp .L3664038 1f90 8091 0000 lds r24,HoverGas4039 1f94 9091 0000 lds r25,(HoverGas)+14040 1f98 0097 sbiw r24,04041 1f9a 01F0 breq .L3674042 1f9c 02E0 ldi r16,hi8(600)4043 1f9e 8835 cpi r24,lo8(600)4044 1fa0 9007 cpc r25,r164045 1fa2 04F4 brge .L3674046 1fa4 9C01 movw r18,r244047 1fa6 97FF sbrs r25,74048 1fa8 00C0 rjmp .L3684049 1faa 2D5F subi r18,lo8(-(3))4050 1fac 3F4F sbci r19,hi8(-(3))4051 .L368:4052 1fae 3595 asr r194053 1fb0 2795 ror r184054 1fb2 3595 asr r194055 1fb4 2795 ror r184056 1fb6 8091 0000 lds r24,EE_Parameter+374057 1fba 9927 clr r254058 1fbc 289F mul r18,r244059 1fbe A001 movw r20,r04060 1fc0 299F mul r18,r254061 1fc2 500D add r21,r04062 1fc4 389F mul r19,r244063 1fc6 500D add r21,r04064 1fc8 1124 clr r14065 1fca CA01 movw r24,r204066 1fcc 64E6 ldi r22,lo8(100)4067 1fce 70E0 ldi r23,hi8(100)4068 1fd0 0E94 0000 call __divmodhi44069 1fd4 CB01 movw r24,r224070 1fd6 00C0 rjmp .L8874071 .L367:4072 1fd8 8DE2 ldi r24,lo8(45)4073 1fda 90E0 ldi r25,hi8(45)4074 1fdc 00C0 rjmp .L8874075 .L366:4076 1fde 8091 0000 lds r24,EE_Parameter+374077 1fe2 9927 clr r254078 .L887:4079 1fe4 9093 0000 sts (HooverGasEmergencyPercent)+1,r254080 1fe8 8093 0000 sts HooverGasEmergencyPercent,r244081 .L365:4082 1fec 2091 0000 lds r18,GasIsZeroCnt4083 1ff0 3091 0000 lds r19,(GasIsZeroCnt)+14084 1ff4 55E7 ldi r21,hi8(30000)4085 1ff6 2033 cpi r18,lo8(30000)4086 1ff8 3507 cpc r19,r214087 1ffa 01F4 brne .L3714088 1ffc 1092 0000 sts (StickGas)+1,__zero_reg__4089 2000 1092 0000 sts StickGas,__zero_reg__4090 2004 8091 0000 lds r24,MIN_GAS4091 2008 9927 clr r254092 200a 9093 0000 sts (HooverGasEmergencyPercent)+1,r254093 200e 8093 0000 sts HooverGasEmergencyPercent,r244094 .L371:4095 2012 6091 0000 lds r22,StickGas4096 2016 7091 0000 lds r23,(StickGas)+14097 201a 7A83 std Y+2,r234098 201c 6983 std Y+1,r224099 201e 8091 0000 lds r24,MIN_GAS4100 2022 9927 clr r254101 2024 0A96 adiw r24,104102 2026 6817 cp r22,r244103 2028 7907 cpc r23,r254104 202a 04F4 brge .L3724105 202c 9A83 std Y+2,r254106 202e 8983 std Y+1,r244107 .L372:4108 2030 8091 0000 lds r24,SenderOkay4109 2034 8436 cpi r24,lo8(100)4110 2036 00F0 brlo .+24111 2038 00C0 rjmp .L3734112 203a 8091 0000 lds r24,FC_StatusFlags24113 203e 82FD sbrc r24,24114 2040 00C0 rjmp .L3734115 2042 8091 0000 lds r24,RcLostTimer.54116 2046 9091 0000 lds r25,(RcLostTimer.5)+14117 204a 0097 sbiw r24,04118 204c 01F0 breq .L3744119 204e 0197 sbiw r24,14120 2050 9093 0000 sts (RcLostTimer.5)+1,r254121 2054 8093 0000 sts RcLostTimer.5,r244122 2058 00C0 rjmp .L3754123 .L374:4124 205a 1092 0000 sts MotorenEin,__zero_reg__4125 205e 9093 0000 sts (modell_fliegt)+1,r254126 2062 8093 0000 sts modell_fliegt,r244127 2066 8091 0000 lds r24,FC_StatusFlags4128 206a 8D7E andi r24,lo8(-19)4129 206c 8093 0000 sts FC_StatusFlags,r244130 .L375:4131 2070 8091 0000 lds r24,PlatinenVersion4132 2074 8A30 cpi r24,lo8(10)4133 2076 01F0 breq .L3774134 2078 8431 cpi r24,lo8(20)4135 207a 00F0 brlo .L3764136 .L377:4137 207c 289A sbi 37-0x20,04138 207e 00C0 rjmp .L3784139 .L376:4140 2080 2898 cbi 37-0x20,04141 .L378:4142 2082 8091 0000 lds r24,modell_fliegt4143 2086 9091 0000 lds r25,(modell_fliegt)+14144 208a 895E subi r24,lo8(1001)4145 208c 9340 sbci r25,hi8(1001)4146 208e 00F0 brlo .L3794147 2090 8091 0000 lds r24,Capacity+64148 2094 8536 cpi r24,lo8(101)4149 2096 00F0 brlo .L3794150 2098 8091 0000 lds r24,HooverGasEmergencyPercent4151 209c 9091 0000 lds r25,(HooverGasEmergencyPercent)+14152 20a0 9A83 std Y+2,r254153 20a2 8983 std Y+1,r244154 20a4 8091 0000 lds r24,FC_StatusFlags4155 20a8 8061 ori r24,lo8(16)4156 20aa 8093 0000 sts FC_StatusFlags,r244157 20ae 8091 0000 lds r24,EE_Parameter+14158 20b2 A82F mov r26,r244159 20b4 BB27 clr r274160 20b6 AA0F add r26,r264161 20b8 BB1F adc r27,r274162 20ba FD01 movw r30,r264163 20bc E050 subi r30,lo8(-(PPM_diff))4164 20be F040 sbci r31,hi8(-(PPM_diff))4165 20c0 1182 std Z+1,__zero_reg__4166 20c2 1082 st Z,__zero_reg__4167 20c4 8091 0000 lds r24,EE_Parameter+24168 20c8 282F mov r18,r244169 20ca 3327 clr r194170 20cc 220F add r18,r184171 20ce 331F adc r19,r194172 20d0 C901 movw r24,r184173 20d2 8050 subi r24,lo8(-(PPM_diff))4174 20d4 9040 sbci r25,hi8(-(PPM_diff))4175 20d6 FC01 movw r30,r244176 20d8 1182 std Z+1,__zero_reg__4177 20da 1082 st Z,__zero_reg__4178 20dc A050 subi r26,lo8(-(PPM_in))4179 20de B040 sbci r27,hi8(-(PPM_in))4180 20e0 1196 adiw r26,14181 20e2 1C92 st X,__zero_reg__4182 20e4 1E92 st -X,__zero_reg__4183 20e6 2050 subi r18,lo8(-(PPM_in))4184 20e8 3040 sbci r19,hi8(-(PPM_in))4185 20ea D901 movw r26,r184186 20ec 1196 adiw r26,14187 20ee 1C92 st X,__zero_reg__4188 20f0 1E92 st -X,__zero_reg__4189 20f2 8091 0000 lds r24,EE_Parameter+44190 20f6 E82F mov r30,r244191 20f8 FF27 clr r314192 20fa EE0F add r30,r304193 20fc FF1F adc r31,r314194 20fe E050 subi r30,lo8(-(PPM_in))4195 2100 F040 sbci r31,hi8(-(PPM_in))4196 2102 1182 std Z+1,__zero_reg__4197 2104 1082 st Z,__zero_reg__4198 2106 00C0 rjmp .L3814199 .L379:4200 2108 1092 0000 sts MotorenEin,__zero_reg__4201 210c 00C0 rjmp .L3814202 .L373:4203 210e 8091 0000 lds r24,SenderOkay4204 2112 8D38 cpi r24,lo8(-115)4205 2114 00F4 brsh .+24206 2116 00C0 rjmp .L3824207 2118 8091 0000 lds r24,FC_StatusFlags4208 211c 8F7E andi r24,lo8(-17)4209 211e 8093 0000 sts FC_StatusFlags,r244210 2122 9091 0000 lds r25,EE_Parameter+384211 2126 82E3 ldi r24,lo8(50)4212 2128 989F mul r25,r244213 212a C001 movw r24,r04214 212c 1124 clr r14215 212e 9093 0000 sts (RcLostTimer.5)+1,r254216 2132 8093 0000 sts RcLostTimer.5,r244217 2136 E981 ldd r30,Y+14218 2138 FA81 ldd r31,Y+24219 213a B997 sbiw r30,414220 213c 04F0 brlt .L3834221 213e 8091 0000 lds r24,MotorenEin4222 2142 8823 tst r244223 2144 01F0 breq .L3834224 2146 8091 0000 lds r24,modell_fliegt4225 214a 9091 0000 lds r25,(modell_fliegt)+14226 214e FFEF ldi r31,hi8(-1)4227 2150 8F3F cpi r24,lo8(-1)4228 2152 9F07 cpc r25,r314229 2154 01F0 breq .L3834230 2156 0196 adiw r24,14231 2158 9093 0000 sts (modell_fliegt)+1,r254232 215c 8093 0000 sts modell_fliegt,r244233 .L383:4234 2160 8091 0000 lds r24,modell_fliegt4235 2164 9091 0000 lds r25,(modell_fliegt)+14236 2168 8F3F cpi r24,2554237 216a 9105 cpc r25,__zero_reg__4238 216c 01F0 breq .+24239 216e 00F4 brsh .L3854240 2170 1092 0000 sts SummeNick,__zero_reg__4241 2174 1092 0000 sts (SummeNick)+1,__zero_reg__4242 2178 1092 0000 sts (SummeNick)+2,__zero_reg__4243 217c 1092 0000 sts (SummeNick)+3,__zero_reg__4244 2180 1092 0000 sts SummeRoll,__zero_reg__4245 2184 1092 0000 sts (SummeRoll)+1,__zero_reg__4246 2188 1092 0000 sts (SummeRoll)+2,__zero_reg__4247 218c 1092 0000 sts (SummeRoll)+3,__zero_reg__4248 2190 1092 0000 sts sollGier.0,__zero_reg__4249 2194 1092 0000 sts (sollGier.0)+1,__zero_reg__4250 2198 1092 0000 sts (sollGier.0)+2,__zero_reg__4251 219c 1092 0000 sts (sollGier.0)+3,__zero_reg__4252 21a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__4253 21a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4254 21a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4255 21ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4256 21b0 00C0 rjmp .L3864257 .L385:4258 21b2 8091 0000 lds r24,FC_StatusFlags4259 21b6 8260 ori r24,lo8(2)4260 21b8 8093 0000 sts FC_StatusFlags,r244261 .L386:4262 21bc 8091 0000 lds r24,EE_Parameter+34263 21c0 E82F mov r30,r244264 21c2 FF27 clr r314265 21c4 EE0F add r30,r304266 21c6 FF1F adc r31,r314267 21c8 E050 subi r30,lo8(-(PPM_in))4268 21ca F040 sbci r31,hi8(-(PPM_in))4269 21cc 8081 ld r24,Z4270 21ce 9181 ldd r25,Z+14271 21d0 8135 cpi r24,814272 21d2 9105 cpc r25,__zero_reg__4273 21d4 04F4 brge .+24274 21d6 00C0 rjmp .L3874275 21d8 2091 0000 lds r18,MotorenEin4276 21dc 2223 tst r184277 21de 01F0 breq .+24278 21e0 00C0 rjmp .L3874279 21e2 8091 0000 lds r24,EE_Parameter+44280 21e6 E82F mov r30,r244281 21e8 FF27 clr r314282 21ea EE0F add r30,r304283 21ec FF1F adc r31,r314284 21ee E050 subi r30,lo8(-(PPM_in))4285 21f0 F040 sbci r31,hi8(-(PPM_in))4286 21f2 8081 ld r24,Z4287 21f4 9181 ldd r25,Z+14288 21f6 8C34 cpi r24,764289 21f8 9105 cpc r25,__zero_reg__4290 21fa 04F4 brge .+24291 21fc 00C0 rjmp .L3884292 21fe 8091 0000 lds r24,delay_neutral.64293 2202 8F5F subi r24,lo8(-(1))4294 2204 8093 0000 sts delay_neutral.6,r244295 2208 893C cpi r24,lo8(-55)4296 220a 00F4 brsh .+24297 220c 00C0 rjmp .L3874298 220e 2093 0000 sts delay_neutral.6,r184299 2212 1092 0000 sts (modell_fliegt)+1,__zero_reg__4300 2216 1092 0000 sts modell_fliegt,__zero_reg__4301 221a 3091 0000 lds r19,EE_Parameter+14302 221e E32F mov r30,r194303 2220 FF27 clr r314304 2222 EE0F add r30,r304305 2224 FF1F adc r31,r314306 2226 E050 subi r30,lo8(-(PPM_in))4307 2228 F040 sbci r31,hi8(-(PPM_in))4308 222a 8081 ld r24,Z4309 222c 9181 ldd r25,Z+14310 222e 8734 cpi r24,714311 2230 9105 cpc r25,__zero_reg__4312 2232 04F4 brge .L3914313 2234 8091 0000 lds r24,EE_Parameter+24314 2238 E82F mov r30,r244315 223a FF27 clr r314316 223c EE0F add r30,r304317 223e FF1F adc r31,r314318 2240 E050 subi r30,lo8(-(PPM_in))4319 2242 F040 sbci r31,hi8(-(PPM_in))4320 2244 8081 ld r24,Z4321 2246 9181 ldd r25,Z+14322 2248 0190 ld __tmp_reg__,Z+4323 224a F081 ld r31,Z4324 224c E02D mov r30,__tmp_reg__4325 224e F7FF sbrs r31,74326 2250 00C0 rjmp .L3924327 2252 F095 com r314328 2254 E195 neg r304329 2256 FF4F sbci r31,lo8(-1)4330 .L392:4331 2258 E734 cpi r30,714332 225a F105 cpc r31,__zero_reg__4333 225c 04F4 brge .+24334 225e 00C0 rjmp .L3904335 .L391:4336 2260 41E0 ldi r20,lo8(1)4337 2262 2091 0000 lds r18,EE_Parameter+24338 2266 A22F mov r26,r184339 2268 BB27 clr r274340 226a AA0F add r26,r264341 226c BB1F adc r27,r274342 226e A050 subi r26,lo8(-(PPM_in))4343 2270 B040 sbci r27,hi8(-(PPM_in))4344 2272 8D91 ld r24,X+4345 2274 9C91 ld r25,X4346 2276 1197 sbiw r26,14347 2278 8734 cpi r24,714348 227a 9105 cpc r25,__zero_reg__4349 227c 04F0 brlt .L3934350 227e E32F mov r30,r194351 2280 FF27 clr r314352 2282 EE0F add r30,r304353 2284 FF1F adc r31,r314354 2286 E050 subi r30,lo8(-(PPM_in))4355 2288 F040 sbci r31,hi8(-(PPM_in))4356 228a 8081 ld r24,Z4357 228c 9181 ldd r25,Z+14358 .L393:4359 228e 8D91 ld r24,X+4360 2290 9C91 ld r25,X4361 2292 8734 cpi r24,714362 2294 9105 cpc r25,__zero_reg__4363 2296 04F0 brlt .L3944364 2298 8091 0000 lds r24,EE_Parameter+14365 229c E82F mov r30,r244366 229e FF27 clr r314367 22a0 EE0F add r30,r304368 22a2 FF1F adc r31,r314369 22a4 E050 subi r30,lo8(-(PPM_in))4370 22a6 F040 sbci r31,hi8(-(PPM_in))4371 22a8 8081 ld r24,Z4372 22aa 9181 ldd r25,Z+14373 22ac 8734 cpi r24,714374 22ae 9105 cpc r25,__zero_reg__4375 22b0 04F0 brlt .L3944376 22b2 42E0 ldi r20,lo8(2)4377 .L394:4378 22b4 E22F mov r30,r184379 22b6 FF27 clr r314380 22b8 EE0F add r30,r304381 22ba FF1F adc r31,r314382 22bc E050 subi r30,lo8(-(PPM_in))4383 22be F040 sbci r31,hi8(-(PPM_in))4384 22c0 8081 ld r24,Z4385 22c2 9181 ldd r25,Z+14386 22c4 8634 cpi r24,704387 22c6 9105 cpc r25,__zero_reg__4388 22c8 04F4 brge .L3954389 22ca 8091 0000 lds r24,EE_Parameter+14390 22ce E82F mov r30,r244391 22d0 FF27 clr r314392 22d2 EE0F add r30,r304393 22d4 FF1F adc r31,r314394 22d6 E050 subi r30,lo8(-(PPM_in))4395 22d8 F040 sbci r31,hi8(-(PPM_in))4396 22da 8081 ld r24,Z4397 22dc 9181 ldd r25,Z+14398 22de 8734 cpi r24,714399 22e0 9105 cpc r25,__zero_reg__4400 22e2 04F0 brlt .L3954401 22e4 43E0 ldi r20,lo8(3)4402 .L395:4403 22e6 E22F mov r30,r184404 22e8 FF27 clr r314405 22ea EE0F add r30,r304406 22ec FF1F adc r31,r314407 22ee E050 subi r30,lo8(-(PPM_in))4408 22f0 F040 sbci r31,hi8(-(PPM_in))4409 22f2 8081 ld r24,Z4410 22f4 9181 ldd r25,Z+14411 22f6 8A5B subi r24,lo8(-70)4412 22f8 9F4F sbci r25,hi8(-70)4413 22fa 04F4 brge .L3964414 22fc 8091 0000 lds r24,EE_Parameter+14415 2300 E82F mov r30,r244416 2302 FF27 clr r314417 2304 EE0F add r30,r304418 2306 FF1F adc r31,r314419 2308 E050 subi r30,lo8(-(PPM_in))4420 230a F040 sbci r31,hi8(-(PPM_in))4421 230c 8081 ld r24,Z4422 230e 9181 ldd r25,Z+14423 2310 8734 cpi r24,714424 2312 9105 cpc r25,__zero_reg__4425 2314 04F0 brlt .L3964426 2316 44E0 ldi r20,lo8(4)4427 .L396:4428 2318 E22F mov r30,r184429 231a FF27 clr r314430 231c EE0F add r30,r304431 231e FF1F adc r31,r314432 2320 E050 subi r30,lo8(-(PPM_in))4433 2322 F040 sbci r31,hi8(-(PPM_in))4434 2324 8081 ld r24,Z4435 2326 9181 ldd r25,Z+14436 2328 8A5B subi r24,lo8(-70)4437 232a 9F4F sbci r25,hi8(-70)4438 232c 04F4 brge .L3974439 232e 8091 0000 lds r24,EE_Parameter+14440 2332 E82F mov r30,r244441 2334 FF27 clr r314442 2336 EE0F add r30,r304443 2338 FF1F adc r31,r314444 233a E050 subi r30,lo8(-(PPM_in))4445 233c F040 sbci r31,hi8(-(PPM_in))4446 233e 8081 ld r24,Z4447 2340 9181 ldd r25,Z+14448 2342 8634 cpi r24,704449 2344 9105 cpc r25,__zero_reg__4450 2346 04F4 brge .L3974451 2348 45E0 ldi r20,lo8(5)4452 .L397:4453 234a 842F mov r24,r204454 234c 0E94 0000 call SetActiveParamSet4455 .L390:4456 2350 8091 0000 lds r24,EE_Parameter+24457 2354 E82F mov r30,r244458 2356 FF27 clr r314459 2358 EE0F add r30,r304460 235a FF1F adc r31,r314461 235c E050 subi r30,lo8(-(PPM_in))4462 235e F040 sbci r31,hi8(-(PPM_in))4463 2360 8081 ld r24,Z4464 2362 9181 ldd r25,Z+14465 2364 0190 ld __tmp_reg__,Z+4466 2366 F081 ld r31,Z4467 2368 E02D mov r30,__tmp_reg__4468 236a F7FF sbrs r31,74469 236c 00C0 rjmp .L3994470 236e F095 com r314471 2370 E195 neg r304472 2372 FF4F sbci r31,lo8(-1)4473 .L399:4474 2374 7E97 sbiw r30,304475 2376 04F4 brge .L3984476 2378 8091 0000 lds r24,EE_Parameter+14477 237c E82F mov r30,r244478 237e FF27 clr r314479 2380 EE0F add r30,r304480 2382 FF1F adc r31,r314481 2384 E050 subi r30,lo8(-(PPM_in))4482 2386 F040 sbci r31,hi8(-(PPM_in))4483 2388 8081 ld r24,Z4484 238a 9181 ldd r25,Z+14485 238c 8A5B subi r24,lo8(-70)4486 238e 9F4F sbci r25,hi8(-70)4487 2390 04F4 brge .L3984488 2392 81E0 ldi r24,lo8(1)4489 2394 8093 0000 sts WinkelOut+6,r244490 2398 1092 0000 sts CalibrationDone,__zero_reg__4491 239c 88EE ldi r24,lo8(1000)4492 239e 93E0 ldi r25,hi8(1000)4493 23a0 9093 0000 sts (beeptime)+1,r254494 23a4 8093 0000 sts beeptime,r244495 23a8 00C0 rjmp .L3874496 .L398:4497 23aa 0E94 0000 call GetActiveParamSet4498 23ae 0E94 0000 call ParamSet_ReadFromEEProm4499 23b2 80E0 ldi r24,lo8(0)4500 23b4 0E94 0000 call LipoDetection4501 23b8 8091 0000 lds r24,EE_Parameter+394502 23bc 0E94 0000 call LIBFC_ReceiverInit4503 23c0 8091 0000 lds r24,Parameter_GlobalConfig4504 23c4 80FF sbrs r24,04505 23c6 00C0 rjmp .L4014506 23c8 8091 0000 lds r24,MessLuftdruck4507 23cc 9091 0000 lds r25,(MessLuftdruck)+14508 23d0 875B subi r24,lo8(951)4509 23d2 9340 sbci r25,hi8(951)4510 23d4 00F4 brsh .L4034511 23d6 8091 0000 lds r24,MessLuftdruck4512 23da 9091 0000 lds r25,(MessLuftdruck)+14513 23de 8E5E subi r24,lo8(750)4514 23e0 9240 sbci r25,hi8(750)4515 23e2 00F4 brsh .L4014516 .L403:4517 23e4 0E94 0000 call SucheLuftruckOffset4518 .L401:4519 23e8 80E0 ldi r24,lo8(0)4520 23ea 0E94 0000 call SetNeutral4521 23ee 81E0 ldi r24,lo8(1)4522 23f0 8093 0000 sts CalibrationDone,r244523 23f4 8093 0000 sts ServoActive,r244524 23f8 579A sbi 42-0x20,74525 23fa 00C0 rjmp .L8884526 .L388:4527 23fc 8081 ld r24,Z4528 23fe 9181 ldd r25,Z+14529 2400 855B subi r24,lo8(-75)4530 2402 9F4F sbci r25,hi8(-75)4531 2404 04F4 brge .L4054532 2406 8091 0000 lds r24,delay_neutral.64533 240a 8F5F subi r24,lo8(-(1))4534 240c 8093 0000 sts delay_neutral.6,r244535 2410 893C cpi r24,lo8(-55)4536 2412 00F0 brlo .L3874537 2414 2093 0000 sts MotorenEin,r184538 2418 2093 0000 sts delay_neutral.6,r184539 241c 1092 0000 sts (modell_fliegt)+1,__zero_reg__4540 2420 1092 0000 sts modell_fliegt,__zero_reg__4541 2424 81E0 ldi r24,lo8(1)4542 2426 0E94 0000 call SetNeutral4543 242a 81E0 ldi r24,lo8(1)4544 242c 8093 0000 sts CalibrationDone,r244545 .L888:4546 2430 88E1 ldi r24,lo8(24)4547 2432 8093 0000 sts SpeakHoTT,r244548 2436 0E94 0000 call GetActiveParamSet4549 243a 68E7 ldi r22,lo8(120)4550 243c 70E0 ldi r23,hi8(120)4551 243e 0E94 0000 call Piep4552 2442 00C0 rjmp .L3874553 .L405:4554 2444 2093 0000 sts delay_neutral.6,r184555 .L387:4556 2448 8091 0000 lds r24,EE_Parameter+34557 244c E82F mov r30,r244558 244e FF27 clr r314559 2450 EE0F add r30,r304560 2452 FF1F adc r31,r314561 2454 E050 subi r30,lo8(-(PPM_in))4562 2456 F040 sbci r31,hi8(-(PPM_in))4563 2458 8081 ld r24,Z4564 245a 9181 ldd r25,Z+14565 245c 8B5A subi r24,lo8(-85)4566 245e 9F4F sbci r25,hi8(-85)4567 2460 04F0 brlt .+24568 2462 00C0 rjmp .L4084569 2464 2091 0000 lds r18,EE_Parameter+1004570 2468 E22F mov r30,r184571 246a FF27 clr r314572 246c EF77 andi r30,lo8(127)4573 246e F070 andi r31,hi8(127)4574 2470 EE0F add r30,r304575 2472 FF1F adc r31,r314576 2474 E050 subi r30,lo8(-(PPM_diff))4577 2476 F040 sbci r31,hi8(-(PPM_diff))4578 2478 8081 ld r24,Z4579 247a 9181 ldd r25,Z+14580 247c 0697 sbiw r24,64581 247e 04F0 brlt .L4094582 2480 84E6 ldi r24,lo8(100)4583 2482 00C0 rjmp .L8894584 .L409:4585 2484 8081 ld r24,Z4586 2486 9181 ldd r25,Z+14587 2488 8B5F subi r24,lo8(-5)4588 248a 9F4F sbci r25,hi8(-5)4589 248c 04F4 brge .L4104590 248e 8CE9 ldi r24,lo8(-100)4591 .L889:4592 2490 8093 0000 sts move_safety_switch.9,r244593 .L410:4594 2494 8091 0000 lds r24,MotorenEin4595 2498 E091 0000 lds r30,EE_Parameter+44596 249c 8823 tst r244597 249e 01F0 breq .+24598 24a0 00C0 rjmp .L4124599 24a2 FF27 clr r314600 24a4 EE0F add r30,r304601 24a6 FF1F adc r31,r314602 24a8 E050 subi r30,lo8(-(PPM_in))4603 24aa F040 sbci r31,hi8(-(PPM_in))4604 24ac 8081 ld r24,Z4605 24ae 9181 ldd r25,Z+14606 24b0 855B subi r24,lo8(-75)4607 24b2 9F4F sbci r25,hi8(-75)4608 24b4 04F4 brge .L4154609 24b6 8091 0000 lds r24,EE_Parameter+1114610 24ba 83FD sbrc r24,34611 24bc 00C0 rjmp .L4164612 24be E22F mov r30,r184613 24c0 FF27 clr r314614 24c2 EE0F add r30,r304615 24c4 FF1F adc r31,r314616 24c6 E050 subi r30,lo8(-(PPM_in))4617 24c8 F040 sbci r31,hi8(-(PPM_in))4618 24ca 8081 ld r24,Z4619 24cc 9181 ldd r25,Z+14620 24ce 855B subi r24,lo8(-75)4621 24d0 9F4F sbci r25,hi8(-75)4622 24d2 04F0 brlt .L4144623 .L416:4624 24d4 8091 0000 lds r24,EE_Parameter+1004625 24d8 8823 tst r244626 24da 01F0 breq .L4144627 .L415:4628 24dc 8091 0000 lds r24,EE_Parameter+1114629 24e0 83FF sbrs r24,34630 24e2 00C0 rjmp .L4134631 24e4 8091 0000 lds r24,EE_Parameter+1004632 24e8 E82F mov r30,r244633 24ea FF27 clr r314634 24ec EE0F add r30,r304635 24ee FF1F adc r31,r314636 24f0 E050 subi r30,lo8(-(PPM_in))4637 24f2 F040 sbci r31,hi8(-(PPM_in))4638 24f4 8081 ld r24,Z4639 24f6 9181 ldd r25,Z+14640 24f8 875F subi r24,lo8(-9)4641 24fa 9F4F sbci r25,hi8(-9)4642 24fc 04F4 brge .+24643 24fe 00C0 rjmp .L4134644 2500 8091 0000 lds r24,move_safety_switch.94645 2504 8436 cpi r24,lo8(100)4646 2506 01F0 breq .+24647 2508 00C0 rjmp .L4134648 .L414:4649 250a 2091 0000 lds r18,CalibrationDone4650 250e 2223 tst r184651 2510 01F0 breq .L4174652 2512 8091 0000 lds r24,FC_StatusFlags4653 2516 8860 ori r24,lo8(8)4654 2518 8093 0000 sts FC_StatusFlags,r244655 .L417:4656 251c 8091 0000 lds r24,delay_einschalten.74657 2520 8F5F subi r24,lo8(-(1))4658 2522 8093 0000 sts delay_einschalten.7,r244659 2526 8E3F cpi r24,lo8(-2)4660 2528 00F4 brsh .+24661 252a 00C0 rjmp .L4234662 252c 1092 0000 sts delay_einschalten.7,__zero_reg__4663 2530 8091 0000 lds r24,VersionInfo+54664 2534 8823 tst r244665 2536 01F0 breq .+24666 2538 00C0 rjmp .L4194667 253a 2223 tst r184668 253c 01F4 brne .+24669 253e 00C0 rjmp .L4194670 2540 8091 0000 lds r24,NC_ErrorCode4671 2544 8823 tst r244672 2546 01F0 breq .+24673 2548 00C0 rjmp .L4194674 254a 81E0 ldi r24,lo8(1)4675 254c 90E0 ldi r25,hi8(1)4676 254e 9093 0000 sts (modell_fliegt)+1,r254677 2552 8093 0000 sts modell_fliegt,r244678 2556 81E0 ldi r24,lo8(1)4679 2558 8093 0000 sts MotorenEin,r244680 255c 1092 0000 sts sollGier.0,__zero_reg__4681 2560 1092 0000 sts (sollGier.0)+1,__zero_reg__4682 2564 1092 0000 sts (sollGier.0)+2,__zero_reg__4683 2568 1092 0000 sts (sollGier.0)+3,__zero_reg__4684 256c 1092 0000 sts Mess_Integral_Gier,__zero_reg__4685 2570 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4686 2574 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4687 2578 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4688 257c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4689 2580 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4690 2584 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4691 2588 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4692 258c 8091 0000 lds r24,EE_Parameter+284693 2590 E82E mov r14,r244694 2592 FF24 clr r154695 2594 0027 clr r164696 2596 1127 clr r174697 2598 8091 0000 lds r24,Mittelwert_AccNick4698 259c 9091 0000 lds r25,(Mittelwert_AccNick)+14699 25a0 9C01 movw r18,r244700 25a2 4427 clr r204701 25a4 37FD sbrc r19,74702 25a6 4095 com r204703 25a8 542F mov r21,r204704 25aa C801 movw r24,r164705 25ac B701 movw r22,r144706 25ae 0E94 0000 call __mulsi34707 25b2 DC01 movw r26,r244708 25b4 CB01 movw r24,r224709 25b6 8093 0000 sts Mess_IntegralNick,r244710 25ba 9093 0000 sts (Mess_IntegralNick)+1,r254711 25be A093 0000 sts (Mess_IntegralNick)+2,r264712 25c2 B093 0000 sts (Mess_IntegralNick)+3,r274713 25c6 8091 0000 lds r24,Mittelwert_AccRoll4714 25ca 9091 0000 lds r25,(Mittelwert_AccRoll)+14715 25ce 9C01 movw r18,r244716 25d0 4427 clr r204717 25d2 37FD sbrc r19,74718 25d4 4095 com r204719 25d6 542F mov r21,r204720 25d8 C801 movw r24,r164721 25da B701 movw r22,r144722 25dc 0E94 0000 call __mulsi34723 25e0 DC01 movw r26,r244724 25e2 CB01 movw r24,r224725 25e4 8093 0000 sts Mess_IntegralRoll,r244726 25e8 9093 0000 sts (Mess_IntegralRoll)+1,r254727 25ec A093 0000 sts (Mess_IntegralRoll)+2,r264728 25f0 B093 0000 sts (Mess_IntegralRoll)+3,r274729 25f4 8091 0000 lds r24,IntegralNick4730 25f8 9091 0000 lds r25,(IntegralNick)+14731 25fc A091 0000 lds r26,(IntegralNick)+24732 2600 B091 0000 lds r27,(IntegralNick)+34733 2604 8093 0000 sts Mess_IntegralNick2,r244734 2608 9093 0000 sts (Mess_IntegralNick2)+1,r254735 260c A093 0000 sts (Mess_IntegralNick2)+2,r264736 2610 B093 0000 sts (Mess_IntegralNick2)+3,r274737 2614 8091 0000 lds r24,IntegralRoll4738 2618 9091 0000 lds r25,(IntegralRoll)+14739 261c A091 0000 lds r26,(IntegralRoll)+24740 2620 B091 0000 lds r27,(IntegralRoll)+34741 2624 8093 0000 sts Mess_IntegralRoll2,r244742 2628 9093 0000 sts (Mess_IntegralRoll2)+1,r254743 262c A093 0000 sts (Mess_IntegralRoll2)+2,r264744 2630 B093 0000 sts (Mess_IntegralRoll2)+3,r274745 2634 1092 0000 sts SummeNick,__zero_reg__4746 2638 1092 0000 sts (SummeNick)+1,__zero_reg__4747 263c 1092 0000 sts (SummeNick)+2,__zero_reg__4748 2640 1092 0000 sts (SummeNick)+3,__zero_reg__4749 2644 1092 0000 sts SummeRoll,__zero_reg__4750 2648 1092 0000 sts (SummeRoll)+1,__zero_reg__4751 264c 1092 0000 sts (SummeRoll)+2,__zero_reg__4752 2650 1092 0000 sts (SummeRoll)+3,__zero_reg__4753 2654 84E6 ldi r24,lo8(100)4754 2656 8093 0000 sts NeueKompassRichtungMerken,r244755 265a 84E3 ldi r24,lo8(52)4756 265c 00C0 rjmp .L8904757 .L419:4758 265e 8CED ldi r24,lo8(1500)4759 2660 95E0 ldi r25,hi8(1500)4760 2662 9093 0000 sts (beeptime)+1,r254761 2666 8093 0000 sts beeptime,r244762 266a 2223 tst r184763 266c 01F0 breq .+24764 266e 00C0 rjmp .L4234765 2670 81E0 ldi r24,lo8(1)4766 2672 00C0 rjmp .L8904767 .L413:4768 2674 1092 0000 sts delay_einschalten.7,__zero_reg__4769 2678 00C0 rjmp .L4234770 .L412:4771 267a FF27 clr r314772 267c EE0F add r30,r304773 267e FF1F adc r31,r314774 2680 E050 subi r30,lo8(-(PPM_in))4775 2682 F040 sbci r31,hi8(-(PPM_in))4776 2684 8081 ld r24,Z4777 2686 9181 ldd r25,Z+14778 2688 8C34 cpi r24,764779 268a 9105 cpc r25,__zero_reg__4780 268c 04F0 brlt .L4264781 268e 8091 0000 lds r24,EE_Parameter+1114782 2692 83FD sbrc r24,34783 2694 00C0 rjmp .L4274784 2696 E22F mov r30,r184785 2698 FF27 clr r314786 269a EE0F add r30,r304787 269c FF1F adc r31,r314788 269e E050 subi r30,lo8(-(PPM_in))4789 26a0 F040 sbci r31,hi8(-(PPM_in))4790 26a2 8081 ld r24,Z4791 26a4 9181 ldd r25,Z+14792 26a6 855B subi r24,lo8(-75)4793 26a8 9F4F sbci r25,hi8(-75)4794 26aa 04F0 brlt .L4254795 .L427:4796 26ac 8091 0000 lds r24,EE_Parameter+1004797 26b0 8823 tst r244798 26b2 01F0 breq .L4254799 .L426:4800 26b4 8091 0000 lds r24,EE_Parameter+1114801 26b8 83FF sbrs r24,34802 26ba 00C0 rjmp .L4244803 26bc 8091 0000 lds r24,EE_Parameter+1004804 26c0 E82F mov r30,r244805 26c2 FF27 clr r314806 26c4 EE0F add r30,r304807 26c6 FF1F adc r31,r314808 26c8 E050 subi r30,lo8(-(PPM_in))4809 26ca F040 sbci r31,hi8(-(PPM_in))4810 26cc 8081 ld r24,Z4811 26ce 9181 ldd r25,Z+14812 26d0 8E5C subi r24,lo8(-50)4813 26d2 9F4F sbci r25,hi8(-50)4814 26d4 04F4 brge .L4244815 26d6 8091 0000 lds r24,move_safety_switch.94816 26da 8C39 cpi r24,lo8(-100)4817 26dc 01F4 brne .L4244818 .L425:4819 26de 8091 0000 lds r24,delay_ausschalten.84820 26e2 8F5F subi r24,lo8(-(1))4821 26e4 8093 0000 sts delay_ausschalten.8,r244822 26e8 8B3F cpi r24,lo8(-5)4823 26ea 00F0 brlo .L4234824 26ec 1092 0000 sts MotorenEin,__zero_reg__4825 26f0 1092 0000 sts delay_ausschalten.8,__zero_reg__4826 26f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__4827 26f8 1092 0000 sts modell_fliegt,__zero_reg__4828 26fc 86E2 ldi r24,lo8(38)4829 .L890:4830 26fe 8093 0000 sts SpeakHoTT,r244831 2702 00C0 rjmp .L4234832 .L424:4833 2704 1092 0000 sts delay_ausschalten.8,__zero_reg__4834 .L423:4835 2708 8091 0000 lds r24,GasIsZeroCnt4836 270c 9091 0000 lds r25,(GasIsZeroCnt)+14837 2710 13E0 ldi r17,hi8(1000)4838 2712 883E cpi r24,lo8(1000)4839 2714 9107 cpc r25,r174840 2716 00F4 brsh .L3814841 2718 0196 adiw r24,14842 271a 9093 0000 sts (GasIsZeroCnt)+1,r254843 271e 8093 0000 sts GasIsZeroCnt,r244844 2722 00C0 rjmp .L3814845 .L408:4846 2724 1092 0000 sts move_safety_switch.9,__zero_reg__4847 2728 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4848 272c 1092 0000 sts GasIsZeroCnt,__zero_reg__4849 2730 00C0 rjmp .L3814850 .L382:4851 2732 2E5E subi r18,lo8(750)4852 2734 3240 sbci r19,hi8(750)4853 2736 00F0 brlo .L3814854 2738 8091 0000 lds r24,GPSInfo+44855 273c 9091 0000 lds r25,(GPSInfo+4)+14856 2740 8059 subi r24,lo8(400)4857 2742 9140 sbci r25,hi8(400)4858 2744 00F4 brsh .L3814859 2746 8091 0000 lds r24,HoehenWert4860 274a 9091 0000 lds r25,(HoehenWert)+14861 274e A091 0000 lds r26,(HoehenWert)+24862 2752 B091 0000 lds r27,(HoehenWert)+34863 2756 8C5D subi r24,lo8(1500)4864 2758 9540 sbci r25,hi8(1500)4865 275a A040 sbci r26,hlo8(1500)4866 275c B040 sbci r27,hhi8(1500)4867 275e 04F4 brge .L3814868 2760 80E3 ldi r24,lo8(30000)4869 2762 95E7 ldi r25,hi8(30000)4870 2764 9093 0000 sts (GasIsZeroCnt)+1,r254871 2768 8093 0000 sts GasIsZeroCnt,r244872 276c 8091 0000 lds r24,modell_fliegt4873 2770 9091 0000 lds r25,(modell_fliegt)+14874 2774 8A5E subi r24,lo8(1002)4875 2776 9340 sbci r25,hi8(1002)4876 2778 00F0 brlo .L3814877 277a 89EE ldi r24,lo8(1001)4878 277c 93E0 ldi r25,hi8(1001)4879 277e 9093 0000 sts (modell_fliegt)+1,r254880 2782 8093 0000 sts modell_fliegt,r244881 .L381:4882 2786 8091 0000 lds r24,NewPpmData4883 278a 8150 subi r24,lo8(-(-1))4884 278c 8093 0000 sts NewPpmData,r244885 2790 8091 0000 lds r24,NewPpmData4886 2794 8F3F cpi r24,lo8(-1)4887 2796 01F0 breq .L4374888 2798 8091 0000 lds r24,FC_StatusFlags4889 279c 84FF sbrs r24,44890 279e 00C0 rjmp .L4364891 .L437:4892 27a0 0E94 0000 call ParameterZuordnung4893 27a4 B090 0000 lds r11,EE_Parameter+234894 27a8 8091 0000 lds r24,stick_nick.124895 27ac 9091 0000 lds r25,(stick_nick.12)+14896 27b0 9C01 movw r18,r244897 27b2 220F lsl r184898 27b4 331F rol r194899 27b6 280F add r18,r244900 27b8 391F adc r19,r254901 27ba C090 0000 lds r12,EE_Parameter+14902 27be AC2D mov r26,r124903 27c0 BB27 clr r274904 27c2 AA0F add r26,r264905 27c4 BB1F adc r27,r274906 27c6 FD01 movw r30,r264907 27c8 E050 subi r30,lo8(-(PPM_in))4908 27ca F040 sbci r31,hi8(-(PPM_in))4909 27cc 4B2D mov r20,r114910 27ce 5527 clr r214911 27d0 8081 ld r24,Z4912 27d2 9181 ldd r25,Z+14913 27d4 849F mul r24,r204914 27d6 F001 movw r30,r04915 27d8 859F mul r24,r214916 27da F00D add r31,r04917 27dc 949F mul r25,r204918 27de F00D add r31,r04919 27e0 1124 clr r14920 27e2 2E0F add r18,r304921 27e4 3F1F adc r19,r314922 27e6 37FF sbrs r19,74923 27e8 00C0 rjmp .L4384924 27ea 2D5F subi r18,lo8(-(3))4925 27ec 3F4F sbci r19,hi8(-(3))4926 .L438:4927 27ee B901 movw r22,r184928 27f0 7595 asr r234929 27f2 6795 ror r224930 27f4 7595 asr r234931 27f6 6795 ror r224932 27f8 A050 subi r26,lo8(-(PPM_diff))4933 27fa B040 sbci r27,hi8(-(PPM_diff))4934 27fc 8091 0000 lds r24,EE_Parameter+244935 2800 082F mov r16,r244936 2802 1127 clr r174937 2804 8D91 ld r24,X+4938 2806 9C91 ld r25,X4939 2808 809F mul r24,r164940 280a 7001 movw r14,r04941 280c 819F mul r24,r174942 280e F00C add r15,r04943 2810 909F mul r25,r164944 2812 F00C add r15,r04945 2814 1124 clr r14946 2816 6E0D add r22,r144947 2818 7F1D adc r23,r154948 281a 7093 0000 sts (stick_nick.12)+1,r234949 281e 6093 0000 sts stick_nick.12,r224950 2822 8091 0000 lds r24,stick_roll.134951 2826 9091 0000 lds r25,(stick_roll.13)+14952 282a 9C01 movw r18,r244953 282c 220F lsl r184954 282e 331F rol r194955 2830 280F add r18,r244956 2832 391F adc r19,r254957 2834 D090 0000 lds r13,EE_Parameter+24958 2838 AD2D mov r26,r134959 283a BB27 clr r274960 283c AA0F add r26,r264961 283e BB1F adc r27,r274962 2840 FD01 movw r30,r264963 2842 E050 subi r30,lo8(-(PPM_in))4964 2844 F040 sbci r31,hi8(-(PPM_in))4965 2846 8081 ld r24,Z4966 2848 9181 ldd r25,Z+14967 284a 849F mul r24,r204968 284c F001 movw r30,r04969 284e 859F mul r24,r214970 2850 F00D add r31,r04971 2852 949F mul r25,r204972 2854 F00D add r31,r04973 2856 1124 clr r14974 2858 2E0F add r18,r304975 285a 3F1F adc r19,r314976 285c 37FF sbrs r19,74977 285e 00C0 rjmp .L4394978 2860 2D5F subi r18,lo8(-(3))4979 2862 3F4F sbci r19,hi8(-(3))4980 .L439:4981 2864 A901 movw r20,r184982 2866 5595 asr r214983 2868 4795 ror r204984 286a 5595 asr r214985 286c 4795 ror r204986 286e A050 subi r26,lo8(-(PPM_diff))4987 2870 B040 sbci r27,hi8(-(PPM_diff))4988 2872 8D91 ld r24,X+4989 2874 9C91 ld r25,X4990 2876 809F mul r24,r164991 2878 7001 movw r14,r04992 287a 819F mul r24,r174993 287c F00C add r15,r04994 287e 909F mul r25,r164995 2880 F00C add r15,r04996 2882 1124 clr r14997 2884 4E0D add r20,r144998 2886 5F1D adc r21,r154999 2888 5093 0000 sts (stick_roll.13)+1,r215000 288c 4093 0000 sts stick_roll.13,r205001 2890 8091 0000 lds r24,CareFree5002 2894 8823 tst r245003 2896 01F4 brne .+25004 2898 00C0 rjmp .L4405005 289a CB01 movw r24,r225006 289c 77FD sbrc r23,75007 289e 0396 adiw r24,35008 .L441:5009 28a0 DC01 movw r26,r245010 28a2 B595 asr r275011 28a4 A795 ror r265012 28a6 B595 asr r275013 28a8 A795 ror r265014 28aa CA01 movw r24,r205015 28ac 57FD sbrc r21,75016 28ae 0396 adiw r24,35017 .L442:5018 28b0 FC01 movw r30,r245019 28b2 F595 asr r315020 28b4 E795 ror r305021 28b6 F595 asr r315022 28b8 E795 ror r305023 28ba 8091 0000 lds r24,FromNC_Rotate_C5024 28be 682F mov r22,r245025 28c0 7727 clr r235026 28c2 67FD sbrc r22,75027 28c4 7095 com r235028 28c6 6A9F mul r22,r265029 28c8 9001 movw r18,r05030 28ca 6B9F mul r22,r275031 28cc 300D add r19,r05032 28ce 7A9F mul r23,r265033 28d0 300D add r19,r05034 28d2 1124 clr r15035 28d4 8091 0000 lds r24,FromNC_Rotate_S5036 28d8 482F mov r20,r245037 28da 5527 clr r215038 28dc 47FD sbrc r20,75039 28de 5095 com r215040 28e0 4E9F mul r20,r305041 28e2 C001 movw r24,r05042 28e4 4F9F mul r20,r315043 28e6 900D add r25,r05044 28e8 5E9F mul r21,r305045 28ea 900D add r25,r05046 28ec 1124 clr r15047 28ee 280F add r18,r245048 28f0 391F adc r19,r255049 28f2 37FF sbrs r19,75050 28f4 00C0 rjmp .L4435051 28f6 295F subi r18,lo8(-(7))5052 28f8 3F4F sbci r19,hi8(-(7))5053 .L443:5054 28fa 93E0 ldi r25,35055 28fc 3595 1: asr r195056 28fe 2795 ror r185057 2900 9A95 dec r255058 2902 01F4 brne 1b5059 2904 3093 0000 sts (StickNick)+1,r195060 2908 2093 0000 sts StickNick,r185061 290c 6E9F mul r22,r305062 290e 9001 movw r18,r05063 2910 6F9F mul r22,r315064 2912 300D add r19,r05065 2914 7E9F mul r23,r305066 2916 300D add r19,r05067 2918 1124 clr r15068 291a 4A9F mul r20,r265069 291c C001 movw r24,r05070 291e 4B9F mul r20,r275071 2920 900D add r25,r05072 2922 5A9F mul r21,r265073 2924 900D add r25,r05074 2926 1124 clr r15075 2928 00C0 rjmp .L9195076 .L440:5077 292a 8091 0000 lds r24,EE_Parameter+985078 292e E82F mov r30,r245079 2930 FF27 clr r315080 2932 E050 subi r30,lo8(-(sintab))5081 2934 F040 sbci r31,hi8(-(sintab))5082 2936 8681 ldd r24,Z+65083 2938 8093 0000 sts FromNC_Rotate_C,r245084 293c 9081 ld r25,Z5085 293e 9093 0000 sts FromNC_Rotate_S,r255086 2942 A82F mov r26,r245087 2944 BB27 clr r275088 2946 A7FD sbrc r26,75089 2948 B095 com r275090 294a A69F mul r26,r225091 294c 9001 movw r18,r05092 294e A79F mul r26,r235093 2950 300D add r19,r05094 2952 B69F mul r27,r225095 2954 300D add r19,r05096 2956 1124 clr r15097 2958 E92F mov r30,r255098 295a FF27 clr r315099 295c E7FD sbrc r30,75100 295e F095 com r315101 2960 E49F mul r30,r205102 2962 C001 movw r24,r05103 2964 E59F mul r30,r215104 2966 900D add r25,r05105 2968 F49F mul r31,r205106 296a 900D add r25,r05107 296c 1124 clr r15108 296e 280F add r18,r245109 2970 391F adc r19,r255110 2972 37FF sbrs r19,75111 2974 00C0 rjmp .L4465112 2976 295F subi r18,lo8(-(7))5113 2978 3F4F sbci r19,hi8(-(7))5114 .L446:5115 297a 83E0 ldi r24,35116 297c 3595 1: asr r195117 297e 2795 ror r185118 2980 8A95 dec r245119 2982 01F4 brne 1b5120 2984 3093 0000 sts (StickNick)+1,r195121 2988 2093 0000 sts StickNick,r185122 298c A49F mul r26,r205123 298e 9001 movw r18,r05124 2990 A59F mul r26,r215125 2992 300D add r19,r05126 2994 B49F mul r27,r205127 2996 300D add r19,r05128 2998 1124 clr r15129 299a E69F mul r30,r225130 299c C001 movw r24,r05131 299e E79F mul r30,r235132 29a0 900D add r25,r05133 29a2 F69F mul r31,r225134 29a4 900D add r25,r05135 29a6 1124 clr r15136 .L919:5137 29a8 281B sub r18,r245138 29aa 390B sbc r19,r255139 29ac 37FF sbrs r19,75140 29ae 00C0 rjmp .L4475141 29b0 295F subi r18,lo8(-(7))5142 29b2 3F4F sbci r19,hi8(-(7))5143 .L447:5144 29b4 03E0 ldi r16,35145 29b6 3595 1: asr r195146 29b8 2795 ror r185147 29ba 0A95 dec r165148 29bc 01F4 brne 1b5149 29be 3093 0000 sts (StickRoll)+1,r195150 29c2 2093 0000 sts StickRoll,r185151 29c6 8091 0000 lds r24,EE_Parameter+45152 29ca E82F mov r30,r245153 29cc FF27 clr r315154 29ce EE0F add r30,r305155 29d0 FF1F adc r31,r315156 29d2 E050 subi r30,lo8(-(PPM_in))5157 29d4 F040 sbci r31,hi8(-(PPM_in))5158 29d6 8081 ld r24,Z5159 29d8 9181 ldd r25,Z+15160 29da 9095 com r255161 29dc 8195 neg r245162 29de 9F4F sbci r25,lo8(-1)5163 29e0 9093 0000 sts (StickGier)+1,r255164 29e4 8093 0000 sts StickGier,r245165 29e8 8530 cpi r24,55166 29ea 9105 cpc r25,__zero_reg__5167 29ec 04F0 brlt .L4485168 29ee 0497 sbiw r24,45169 29f0 00C0 rjmp .L8915170 .L448:5171 29f2 0FEF ldi r16,hi8(-4)5172 29f4 8C3F cpi r24,lo8(-4)5173 29f6 9007 cpc r25,r165174 29f8 04F4 brge .L4505175 29fa 0496 adiw r24,45176 .L891:5177 29fc 9093 0000 sts (StickGier)+1,r255178 2a00 8093 0000 sts StickGier,r245179 2a04 00C0 rjmp .L4495180 .L450:5181 2a06 1092 0000 sts (StickGier)+1,__zero_reg__5182 2a0a 1092 0000 sts StickGier,__zero_reg__5183 .L449:5184 2a0e 8091 0000 lds r24,GPS_Aid_StickMultiplikator5185 2a12 8823 tst r245186 2a14 01F4 brne .+25187 2a16 00C0 rjmp .L4525188 2a18 282F mov r18,r245189 2a1a 3327 clr r195190 2a1c 8091 0000 lds r24,StickNick5191 2a20 9091 0000 lds r25,(StickNick)+15192 2a24 97FD sbrc r25,75193 2a26 0796 adiw r24,75194 .L453:5195 2a28 13E0 ldi r17,35196 2a2a 9595 1: asr r255197 2a2c 8795 ror r245198 2a2e 1A95 dec r175199 2a30 01F4 brne 1b5200 2a32 289F mul r18,r245201 2a34 A001 movw r20,r05202 2a36 299F mul r18,r255203 2a38 500D add r21,r05204 2a3a 389F mul r19,r245205 2a3c 500D add r21,r05206 2a3e 1124 clr r15207 2a40 CA01 movw r24,r205208 2a42 57FD sbrc r21,75209 2a44 0F96 adiw r24,155210 .L454:5211 2a46 B4E0 ldi r27,45212 2a48 9595 1: asr r255213 2a4a 8795 ror r245214 2a4c BA95 dec r275215 2a4e 01F4 brne 1b5216 2a50 9093 0000 sts (StickNick)+1,r255217 2a54 8093 0000 sts StickNick,r245218 2a58 8091 0000 lds r24,StickRoll5219 2a5c 9091 0000 lds r25,(StickRoll)+15220 2a60 97FD sbrc r25,75221 2a62 0796 adiw r24,75222 .L455:5223 2a64 A3E0 ldi r26,35224 2a66 9595 1: asr r255225 2a68 8795 ror r245226 2a6a AA95 dec r265227 2a6c 01F4 brne 1b5228 2a6e 289F mul r18,r245229 2a70 B001 movw r22,r05230 2a72 299F mul r18,r255231 2a74 700D add r23,r05232 2a76 389F mul r19,r245233 2a78 700D add r23,r05234 2a7a 1124 clr r15235 2a7c CB01 movw r24,r225236 2a7e 77FD sbrc r23,75237 2a80 0F96 adiw r24,155238 .L456:5239 2a82 F4E0 ldi r31,45240 2a84 9595 1: asr r255241 2a86 8795 ror r245242 2a88 FA95 dec r315243 2a8a 01F4 brne 1b5244 2a8c 9093 0000 sts (StickRoll)+1,r255245 2a90 8093 0000 sts StickRoll,r245246 .L452:5247 2a94 8090 0000 lds r8,StickNick5248 2a98 9090 0000 lds r9,(StickNick)+15249 2a9c 8091 0000 lds r24,GPS_Nick5250 2aa0 9091 0000 lds r25,(GPS_Nick)+15251 2aa4 881A sub r8,r245252 2aa6 990A sbc r9,r255253 2aa8 9092 0000 sts (StickNick)+1,r95254 2aac 8092 0000 sts StickNick,r85255 2ab0 0091 0000 lds r16,StickRoll5256 2ab4 1091 0000 lds r17,(StickRoll)+15257 2ab8 8091 0000 lds r24,GPS_Roll5258 2abc 9091 0000 lds r25,(GPS_Roll)+15259 2ac0 081B sub r16,r245260 2ac2 190B sbc r17,r255261 2ac4 1093 0000 sts (StickRoll)+1,r175262 2ac8 0093 0000 sts StickRoll,r165263 2acc 8091 0000 lds r24,EE_Parameter+35264 2ad0 E82F mov r30,r245265 2ad2 FF27 clr r315266 2ad4 EE0F add r30,r305267 2ad6 FF1F adc r31,r315268 2ad8 E050 subi r30,lo8(-(PPM_in))5269 2ada F040 sbci r31,hi8(-(PPM_in))5270 2adc E080 ld r14,Z5271 2ade F180 ldd r15,Z+15272 2ae0 8FE7 ldi r24,lo8(127)5273 2ae2 90E0 ldi r25,hi8(127)5274 2ae4 E80E add r14,r245275 2ae6 F91E adc r15,r255276 2ae8 F092 0000 sts (StickGas)+1,r155277 2aec E092 0000 sts StickGas,r145278 2af0 8091 0000 lds r24,Parameter_Gyro_P5279 2af4 9927 clr r255280 2af6 AA27 clr r265281 2af8 97FD sbrc r25,75282 2afa A095 com r265283 2afc BA2F mov r27,r265284 2afe BC01 movw r22,r245285 2b00 CD01 movw r24,r265286 2b02 0E94 0000 call __floatsisf5287 2b06 DC01 movw r26,r245288 2b08 CB01 movw r24,r225289 2b0a 20E0 ldi r18,lo8(0x41200000)5290 2b0c 30E0 ldi r19,hi8(0x41200000)5291 2b0e 40E2 ldi r20,hlo8(0x41200000)5292 2b10 51E4 ldi r21,hhi8(0x41200000)5293 2b12 BC01 movw r22,r245294 2b14 CD01 movw r24,r265295 2b16 0E94 0000 call __addsf35296 2b1a DC01 movw r26,r245297 2b1c CB01 movw r24,r225298 2b1e BC01 movw r22,r245299 2b20 CD01 movw r24,r265300 2b22 0E94 0000 call __fixunssfsi5301 2b26 DC01 movw r26,r245302 2b28 CB01 movw r24,r225303 2b2a 8093 0000 sts GyroFaktor,r245304 2b2e 8091 0000 lds r24,Parameter_Gyro_I5305 2b32 8093 0000 sts IntegralFaktor,r245306 2b36 8091 0000 lds r24,Parameter_Gyro_Gier_P5307 2b3a 9927 clr r255308 2b3c AA27 clr r265309 2b3e 97FD sbrc r25,75310 2b40 A095 com r265311 2b42 BA2F mov r27,r265312 2b44 BC01 movw r22,r245313 2b46 CD01 movw r24,r265314 2b48 0E94 0000 call __floatsisf5315 2b4c DC01 movw r26,r245316 2b4e CB01 movw r24,r225317 2b50 20E0 ldi r18,lo8(0x41200000)5318 2b52 30E0 ldi r19,hi8(0x41200000)5319 2b54 40E2 ldi r20,hlo8(0x41200000)5320 2b56 51E4 ldi r21,hhi8(0x41200000)5321 2b58 BC01 movw r22,r245322 2b5a CD01 movw r24,r265323 2b5c 0E94 0000 call __addsf35324 2b60 DC01 movw r26,r245325 2b62 CB01 movw r24,r225326 2b64 BC01 movw r22,r245327 2b66 CD01 movw r24,r265328 2b68 0E94 0000 call __fixunssfsi5329 2b6c DC01 movw r26,r245330 2b6e CB01 movw r24,r225331 2b70 8093 0000 sts GyroFaktorGier,r245332 2b74 8091 0000 lds r24,Parameter_Gyro_Gier_I5333 2b78 8093 0000 sts IntegralFaktorGier,r245334 2b7c 8091 0000 lds r24,ExternControl+105335 2b80 80FF sbrs r24,05336 2b82 00C0 rjmp .L4575337 2b84 8091 0000 lds r24,Parameter_ExternalControl5338 2b88 8138 cpi r24,lo8(-127)5339 2b8a 00F4 brsh .+25340 2b8c 00C0 rjmp .L4575341 2b8e 8091 0000 lds r24,ExternControl+35342 2b92 9927 clr r255343 2b94 87FD sbrc r24,75344 2b96 9095 com r255345 2b98 2B2D mov r18,r115346 2b9a 3327 clr r195347 2b9c 829F mul r24,r185348 2b9e D001 movw r26,r05349 2ba0 839F mul r24,r195350 2ba2 B00D add r27,r05351 2ba4 929F mul r25,r185352 2ba6 B00D add r27,r05353 2ba8 1124 clr r15354 2baa 8A0E add r8,r265355 2bac 9B1E adc r9,r275356 2bae 9092 0000 sts (StickNick)+1,r95357 2bb2 8092 0000 sts StickNick,r85358 2bb6 8091 0000 lds r24,ExternControl+45359 2bba 9927 clr r255360 2bbc 87FD sbrc r24,75361 2bbe 9095 com r255362 2bc0 829F mul r24,r185363 2bc2 F001 movw r30,r05364 2bc4 839F mul r24,r195365 2bc6 F00D add r31,r05366 2bc8 929F mul r25,r185367 2bca F00D add r31,r05368 2bcc 1124 clr r15369 2bce 0E0F add r16,r305370 2bd0 1F1F adc r17,r315371 2bd2 1093 0000 sts (StickRoll)+1,r175372 2bd6 0093 0000 sts StickRoll,r165373 2bda 8091 0000 lds r24,ExternControl+55374 2bde 282F mov r18,r245375 2be0 3327 clr r195376 2be2 27FD sbrc r18,75377 2be4 3095 com r195378 2be6 8091 0000 lds r24,StickGier5379 2bea 9091 0000 lds r25,(StickGier)+15380 2bee 820F add r24,r185381 2bf0 931F adc r25,r195382 2bf2 9093 0000 sts (StickGier)+1,r255383 2bf6 8093 0000 sts StickGier,r245384 2bfa 8091 0000 lds r24,ExternControl+75385 2bfe 282F mov r18,r245386 2c00 3327 clr r195387 2c02 27FD sbrc r18,75388 2c04 3095 com r195389 2c06 8091 0000 lds r24,EE_Parameter+185390 2c0a 9927 clr r255391 2c0c 289F mul r18,r245392 2c0e 8001 movw r16,r05393 2c10 299F mul r18,r255394 2c12 100D add r17,r05395 2c14 389F mul r19,r245396 2c16 100D add r17,r05397 2c18 1124 clr r15398 2c1a 1093 0000 sts (ExternHoehenValue)+1,r175399 2c1e 0093 0000 sts ExternHoehenValue,r165400 2c22 8091 0000 lds r24,ExternControl+65401 2c26 9927 clr r255402 2c28 8E15 cp r24,r145403 2c2a 9F05 cpc r25,r155404 2c2c 04F4 brge .L4575405 2c2e 9093 0000 sts (StickGas)+1,r255406 2c32 8093 0000 sts StickGas,r245407 .L457:5408 2c36 8091 0000 lds r24,StickGas5409 2c3a 9091 0000 lds r25,(StickGas)+15410 2c3e 97FF sbrs r25,75411 2c40 00C0 rjmp .L4595412 2c42 1092 0000 sts (StickGas)+1,__zero_reg__5413 2c46 1092 0000 sts StickGas,__zero_reg__5414 .L459:5415 2c4a 8091 0000 lds r24,Parameter_GlobalConfig5416 2c4e 82FF sbrs r24,25417 2c50 00C0 rjmp .L4605418 2c52 1092 0000 sts IntegralFaktor,__zero_reg__5419 .L460:5420 2c56 4091 0000 lds r20,StickNick5421 2c5a 5091 0000 lds r21,(StickNick)+15422 2c5e CA01 movw r24,r205423 2c60 57FD sbrc r21,75424 2c62 0396 adiw r24,35425 .L462:5426 2c64 9C01 movw r18,r245427 2c66 3595 asr r195428 2c68 2795 ror r185429 2c6a 3595 asr r195430 2c6c 2795 ror r185431 2c6e 37FF sbrs r19,75432 2c70 00C0 rjmp .L4635433 2c72 3095 com r195434 2c74 2195 neg r185435 2c76 3F4F sbci r19,lo8(-1)5436 .L463:5437 2c78 8091 0000 lds r24,MaxStickNick5438 2c7c 9091 0000 lds r25,(MaxStickNick)+15439 2c80 8217 cp r24,r185440 2c82 9307 cpc r25,r195441 2c84 04F4 brge .L4615442 2c86 CA01 movw r24,r205443 2c88 57FF sbrs r21,75444 2c8a 00C0 rjmp .L4645445 2c8c 9095 com r255446 2c8e 8195 neg r245447 2c90 9F4F sbci r25,lo8(-1)5448 .L464:5449 2c92 97FD sbrc r25,75450 2c94 0396 adiw r24,35451 .L465:5452 2c96 9595 asr r255453 2c98 8795 ror r245454 2c9a 9595 asr r255455 2c9c 8795 ror r245456 2c9e 9093 0000 sts (MaxStickNick)+1,r255457 2ca2 8093 0000 sts MaxStickNick,r245458 2ca6 8536 cpi r24,1015459 2ca8 9105 cpc r25,__zero_reg__5460 2caa 04F0 brlt .L4675461 2cac 84E6 ldi r24,lo8(100)5462 2cae 90E0 ldi r25,hi8(100)5463 2cb0 00C0 rjmp .L8925464 .L461:5465 2cb2 0197 sbiw r24,15466 .L892:5467 2cb4 9093 0000 sts (MaxStickNick)+1,r255468 2cb8 8093 0000 sts MaxStickNick,r245469 .L467:5470 2cbc 4091 0000 lds r20,StickRoll5471 2cc0 5091 0000 lds r21,(StickRoll)+15472 2cc4 CA01 movw r24,r205473 2cc6 57FD sbrc r21,75474 2cc8 0396 adiw r24,35475 .L469:5476 2cca 9C01 movw r18,r245477 2ccc 3595 asr r195478 2cce 2795 ror r185479 2cd0 3595 asr r195480 2cd2 2795 ror r185481 2cd4 37FF sbrs r19,75482 2cd6 00C0 rjmp .L4705483 2cd8 3095 com r195484 2cda 2195 neg r185485 2cdc 3F4F sbci r19,lo8(-1)5486 .L470:5487 2cde 8091 0000 lds r24,MaxStickRoll5488 2ce2 9091 0000 lds r25,(MaxStickRoll)+15489 2ce6 8217 cp r24,r185490 2ce8 9307 cpc r25,r195491 2cea 04F4 brge .L4685492 2cec CA01 movw r24,r205493 2cee 57FF sbrs r21,75494 2cf0 00C0 rjmp .L4715495 2cf2 9095 com r255496 2cf4 8195 neg r245497 2cf6 9F4F sbci r25,lo8(-1)5498 .L471:5499 2cf8 97FD sbrc r25,75500 2cfa 0396 adiw r24,35501 .L472:5502 2cfc 9595 asr r255503 2cfe 8795 ror r245504 2d00 9595 asr r255505 2d02 8795 ror r245506 2d04 9093 0000 sts (MaxStickRoll)+1,r255507 2d08 8093 0000 sts MaxStickRoll,r245508 2d0c 8536 cpi r24,1015509 2d0e 9105 cpc r25,__zero_reg__5510 2d10 04F0 brlt .L4745511 2d12 84E6 ldi r24,lo8(100)5512 2d14 90E0 ldi r25,hi8(100)5513 2d16 00C0 rjmp .L8935514 .L468:5515 2d18 0197 sbiw r24,15516 .L893:5517 2d1a 9093 0000 sts (MaxStickRoll)+1,r255518 2d1e 8093 0000 sts MaxStickRoll,r245519 .L474:5520 2d22 8091 0000 lds r24,FC_StatusFlags5521 2d26 84FF sbrs r24,45522 2d28 00C0 rjmp .L4755523 2d2a 1092 0000 sts (MaxStickNick)+1,__zero_reg__5524 2d2e 1092 0000 sts MaxStickNick,__zero_reg__5525 2d32 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5526 2d36 1092 0000 sts MaxStickRoll,__zero_reg__5527 .L475:5528 2d3a ED2D mov r30,r135529 2d3c FF27 clr r315530 2d3e EE0F add r30,r305531 2d40 FF1F adc r31,r315532 2d42 E050 subi r30,lo8(-(PPM_in))5533 2d44 F040 sbci r31,hi8(-(PPM_in))5534 2d46 4091 0000 lds r20,EE_Parameter+605535 2d4a 242F mov r18,r205536 2d4c 3327 clr r195537 2d4e 8081 ld r24,Z5538 2d50 9181 ldd r25,Z+15539 2d52 2817 cp r18,r245540 2d54 3907 cpc r19,r255541 2d56 04F4 brge .L4765542 2d58 8091 0000 lds r24,EE_Parameter+1085543 2d5c 82FF sbrs r24,25544 2d5e 00C0 rjmp .L4765545 2d60 81E0 ldi r24,lo8(1)5546 2d62 8093 0000 sts Looping_Links,r245547 2d66 00C0 rjmp .L4775548 .L476:5549 2d68 ED2D mov r30,r135550 2d6a FF27 clr r315551 2d6c EE0F add r30,r305552 2d6e FF1F adc r31,r315553 2d70 E050 subi r30,lo8(-(PPM_in))5554 2d72 F040 sbci r31,hi8(-(PPM_in))5555 2d74 842F mov r24,r205556 2d76 9927 clr r255557 2d78 2091 0000 lds r18,EE_Parameter+615558 2d7c 821B sub r24,r185559 2d7e 9109 sbc r25,__zero_reg__5560 2d80 2081 ld r18,Z5561 2d82 3181 ldd r19,Z+15562 2d84 2817 cp r18,r245563 2d86 3907 cpc r19,r255564 2d88 04F4 brge .L4775565 2d8a 1092 0000 sts Looping_Links,__zero_reg__5566 .L477:5567 2d8e 4091 0000 lds r20,EE_Parameter+25568 2d92 E42F mov r30,r205569 2d94 FF27 clr r315570 2d96 EE0F add r30,r305571 2d98 FF1F adc r31,r315572 2d9a E050 subi r30,lo8(-(PPM_in))5573 2d9c F040 sbci r31,hi8(-(PPM_in))5574 2d9e 5091 0000 lds r21,EE_Parameter+605575 2da2 852F mov r24,r215576 2da4 9927 clr r255577 2da6 2227 clr r185578 2da8 3327 clr r195579 2daa 281B sub r18,r245580 2dac 390B sbc r19,r255581 2dae 8081 ld r24,Z5582 2db0 9181 ldd r25,Z+15583 2db2 8217 cp r24,r185584 2db4 9307 cpc r25,r195585 2db6 04F4 brge .L4795586 2db8 8091 0000 lds r24,EE_Parameter+1085587 2dbc 83FF sbrs r24,35588 2dbe 00C0 rjmp .L4795589 2dc0 81E0 ldi r24,lo8(1)5590 2dc2 8093 0000 sts Looping_Rechts,r245591 2dc6 00C0 rjmp .L4805592 .L479:5593 2dc8 8091 0000 lds r24,Looping_Rechts5594 2dcc 8823 tst r245595 2dce 01F0 breq .L4805596 2dd0 E42F mov r30,r205597 2dd2 FF27 clr r315598 2dd4 EE0F add r30,r305599 2dd6 FF1F adc r31,r315600 2dd8 E050 subi r30,lo8(-(PPM_in))5601 2dda F040 sbci r31,hi8(-(PPM_in))5602 2ddc 8091 0000 lds r24,EE_Parameter+615603 2de0 9927 clr r255604 2de2 851B sub r24,r215605 2de4 9109 sbc r25,__zero_reg__5606 2de6 2081 ld r18,Z5607 2de8 3181 ldd r19,Z+15608 2dea 8217 cp r24,r185609 2dec 9307 cpc r25,r195610 2dee 04F4 brge .L4805611 2df0 1092 0000 sts Looping_Rechts,__zero_reg__5612 .L480:5613 2df4 EC2D mov r30,r125614 2df6 FF27 clr r315615 2df8 EE0F add r30,r305616 2dfa FF1F adc r31,r315617 2dfc E050 subi r30,lo8(-(PPM_in))5618 2dfe F040 sbci r31,hi8(-(PPM_in))5619 2e00 4091 0000 lds r20,EE_Parameter+605620 2e04 242F mov r18,r205621 2e06 3327 clr r195622 2e08 8081 ld r24,Z5623 2e0a 9181 ldd r25,Z+15624 2e0c 2817 cp r18,r245625 2e0e 3907 cpc r19,r255626 2e10 04F4 brge .L4835627 2e12 8091 0000 lds r24,EE_Parameter+1085628 2e16 80FF sbrs r24,05629 2e18 00C0 rjmp .L4835630 2e1a 81E0 ldi r24,lo8(1)5631 2e1c 8093 0000 sts Looping_Oben,r245632 2e20 00C0 rjmp .L4845633 .L483:5634 2e22 8091 0000 lds r24,Looping_Oben5635 2e26 8823 tst r245636 2e28 01F0 breq .L4845637 2e2a EC2D mov r30,r125638 2e2c FF27 clr r315639 2e2e EE0F add r30,r305640 2e30 FF1F adc r31,r315641 2e32 E050 subi r30,lo8(-(PPM_in))5642 2e34 F040 sbci r31,hi8(-(PPM_in))5643 2e36 842F mov r24,r205644 2e38 9927 clr r255645 2e3a 2091 0000 lds r18,EE_Parameter+615646 2e3e 821B sub r24,r185647 2e40 9109 sbc r25,__zero_reg__5648 2e42 2081 ld r18,Z5649 2e44 3181 ldd r19,Z+15650 2e46 2817 cp r18,r245651 2e48 3907 cpc r19,r255652 2e4a 04F4 brge .L4845653 2e4c 1092 0000 sts Looping_Oben,__zero_reg__5654 .L484:5655 2e50 4091 0000 lds r20,EE_Parameter+15656 2e54 E42F mov r30,r205657 2e56 FF27 clr r315658 2e58 EE0F add r30,r305659 2e5a FF1F adc r31,r315660 2e5c E050 subi r30,lo8(-(PPM_in))5661 2e5e F040 sbci r31,hi8(-(PPM_in))5662 2e60 5091 0000 lds r21,EE_Parameter+605663 2e64 852F mov r24,r215664 2e66 9927 clr r255665 2e68 2227 clr r185666 2e6a 3327 clr r195667 2e6c 281B sub r18,r245668 2e6e 390B sbc r19,r255669 2e70 8081 ld r24,Z5670 2e72 9181 ldd r25,Z+15671 2e74 8217 cp r24,r185672 2e76 9307 cpc r25,r195673 2e78 04F4 brge .L4875674 2e7a 8091 0000 lds r24,EE_Parameter+1085675 2e7e 81FF sbrs r24,15676 2e80 00C0 rjmp .L4875677 2e82 81E0 ldi r24,lo8(1)5678 2e84 8093 0000 sts Looping_Unten,r245679 2e88 00C0 rjmp .L4885680 .L487:5681 2e8a 8091 0000 lds r24,Looping_Unten5682 2e8e 8823 tst r245683 2e90 01F0 breq .L4885684 2e92 E42F mov r30,r205685 2e94 FF27 clr r315686 2e96 EE0F add r30,r305687 2e98 FF1F adc r31,r315688 2e9a E050 subi r30,lo8(-(PPM_in))5689 2e9c F040 sbci r31,hi8(-(PPM_in))5690 2e9e 8091 0000 lds r24,EE_Parameter+615691 2ea2 9927 clr r255692 2ea4 851B sub r24,r215693 2ea6 9109 sbc r25,__zero_reg__5694 2ea8 2081 ld r18,Z5695 2eaa 3181 ldd r19,Z+15696 2eac 8217 cp r24,r185697 2eae 9307 cpc r25,r195698 2eb0 04F4 brge .L4885699 2eb2 1092 0000 sts Looping_Unten,__zero_reg__5700 .L488:5701 2eb6 8091 0000 lds r24,Looping_Links5702 2eba 8823 tst r245703 2ebc 01F4 brne .L4925704 2ebe 8091 0000 lds r24,Looping_Rechts5705 2ec2 8111 cpse r24,__zero_reg__5706 .L492:5707 2ec4 81E0 ldi r24,lo8(1)5708 .L491:5709 2ec6 8093 0000 sts Looping_Roll,r245710 2eca 8091 0000 lds r24,Looping_Oben5711 2ece 8823 tst r245712 2ed0 01F4 brne .L4955713 2ed2 8091 0000 lds r24,Looping_Unten5714 2ed6 8823 tst r245715 2ed8 01F0 breq .L4945716 .L495:5717 2eda 81E0 ldi r24,lo8(1)5718 2edc 8093 0000 sts Looping_Nick,r245719 2ee0 1092 0000 sts Looping_Roll,__zero_reg__5720 2ee4 1092 0000 sts Looping_Links,__zero_reg__5721 2ee8 1092 0000 sts Looping_Rechts,__zero_reg__5722 2eec 00C0 rjmp .L4365723 .L494:5724 2eee 8093 0000 sts Looping_Nick,r245725 .L436:5726 2ef2 8091 0000 lds r24,Looping_Roll5727 2ef6 8823 tst r245728 2ef8 01F4 brne .L4985729 2efa 8091 0000 lds r24,Looping_Nick5730 2efe 8823 tst r245731 2f00 01F0 breq .L4975732 .L498:5733 2f02 8091 0000 lds r24,EE_Parameter+595734 2f06 9927 clr r255735 2f08 2981 ldd r18,Y+15736 2f0a 3A81 ldd r19,Y+25737 2f0c 8217 cp r24,r185738 2f0e 9307 cpc r25,r195739 2f10 04F4 brge .L4995740 2f12 9A83 std Y+2,r255741 2f14 8983 std Y+1,r245742 .L499:5743 2f16 81E0 ldi r24,lo8(1)5744 2f18 8093 0000 sts TrichterFlug,r245745 .L497:5746 2f1c 8091 0000 lds r24,FC_StatusFlags25747 2f20 9927 clr r255748 2f22 9C01 movw r18,r245749 2f24 2470 andi r18,lo8(4)5750 2f26 3070 andi r19,hi8(4)5751 2f28 82FF sbrs r24,25752 2f2a 00C0 rjmp .L5005753 2f2c 8091 0000 lds r24,GPS_Nick5754 2f30 9091 0000 lds r25,(GPS_Nick)+15755 2f34 9095 com r255756 2f36 8195 neg r245757 2f38 9F4F sbci r25,lo8(-1)5758 2f3a 9093 0000 sts (StickNick)+1,r255759 2f3e 8093 0000 sts StickNick,r245760 2f42 8091 0000 lds r24,GPS_Roll5761 2f46 9091 0000 lds r25,(GPS_Roll)+15762 2f4a 9095 com r255763 2f4c 8195 neg r245764 2f4e 9F4F sbci r25,lo8(-1)5765 2f50 9093 0000 sts (StickRoll)+1,r255766 2f54 8093 0000 sts StickRoll,r245767 2f58 8091 0000 lds r24,StickGasHover5768 2f5c 9091 0000 lds r25,(StickGasHover)+15769 2f60 9093 0000 sts (StickGas)+1,r255770 2f64 8093 0000 sts StickGas,r245771 2f68 8091 0000 lds r24,Parameter_GlobalConfig5772 2f6c 8B77 andi r24,lo8(123)5773 2f6e 8B66 ori r24,lo8(107)5774 2f70 8093 0000 sts Parameter_GlobalConfig,r245775 2f74 8091 0000 lds r24,Parameter_ExtraConfig5776 2f78 8C7B andi r24,lo8(-68)5777 2f7a 8093 0000 sts Parameter_ExtraConfig,r245778 2f7e 88EC ldi r24,lo8(-56)5779 2f80 8093 0000 sts Parameter_HoehenSchalter,r245780 2f84 00C0 rjmp .L5015781 .L500:5782 2f86 8091 0000 lds r24,FC_StatusFlags5783 2f8a 84FF sbrs r24,45784 2f8c 00C0 rjmp .L5015785 2f8e 3093 0000 sts (StickGier)+1,r195786 2f92 2093 0000 sts StickGier,r185787 2f96 3093 0000 sts (StickNick)+1,r195788 2f9a 2093 0000 sts StickNick,r185789 2f9e 3093 0000 sts (StickRoll)+1,r195790 2fa2 2093 0000 sts StickRoll,r185791 2fa6 9AE5 ldi r25,lo8(90)5792 2fa8 9093 0000 sts GyroFaktor,r255793 2fac 88E7 ldi r24,lo8(120)5794 2fae 8093 0000 sts IntegralFaktor,r245795 2fb2 9093 0000 sts GyroFaktorGier,r255796 2fb6 8093 0000 sts IntegralFaktorGier,r245797 2fba 1092 0000 sts Looping_Roll,__zero_reg__5798 2fbe 1092 0000 sts Looping_Nick,__zero_reg__5799 .L501:5800 2fc2 8091 0000 lds r24,MittelIntegralNick5801 2fc6 9091 0000 lds r25,(MittelIntegralNick)+15802 2fca A091 0000 lds r26,(MittelIntegralNick)+25803 2fce B091 0000 lds r27,(MittelIntegralNick)+35804 2fd2 2091 0000 lds r18,IntegralNick5805 2fd6 3091 0000 lds r19,(IntegralNick)+15806 2fda 4091 0000 lds r20,(IntegralNick)+25807 2fde 5091 0000 lds r21,(IntegralNick)+35808 2fe2 820F add r24,r185809 2fe4 931F adc r25,r195810 2fe6 A41F adc r26,r205811 2fe8 B51F adc r27,r215812 2fea 8093 0000 sts MittelIntegralNick,r245813 2fee 9093 0000 sts (MittelIntegralNick)+1,r255814 2ff2 A093 0000 sts (MittelIntegralNick)+2,r265815 2ff6 B093 0000 sts (MittelIntegralNick)+3,r275816 2ffa 8091 0000 lds r24,MittelIntegralRoll5817 2ffe 9091 0000 lds r25,(MittelIntegralRoll)+15818 3002 A091 0000 lds r26,(MittelIntegralRoll)+25819 3006 B091 0000 lds r27,(MittelIntegralRoll)+35820 300a E090 0000 lds r14,IntegralRoll5821 300e F090 0000 lds r15,(IntegralRoll)+15822 3012 0091 0000 lds r16,(IntegralRoll)+25823 3016 1091 0000 lds r17,(IntegralRoll)+35824 301a EB82 std Y+3,r145825 301c FC82 std Y+4,r155826 301e 0D83 std Y+5,r165827 3020 1E83 std Y+6,r175828 3022 8E0D add r24,r145829 3024 9F1D adc r25,r155830 3026 A01F adc r26,r165831 3028 B11F adc r27,r175832 302a 8093 0000 sts MittelIntegralRoll,r245833 302e 9093 0000 sts (MittelIntegralRoll)+1,r255834 3032 A093 0000 sts (MittelIntegralRoll)+2,r265835 3036 B093 0000 sts (MittelIntegralRoll)+3,r275836 303a 8091 0000 lds r24,MittelIntegralNick25837 303e 9091 0000 lds r25,(MittelIntegralNick2)+15838 3042 A091 0000 lds r26,(MittelIntegralNick2)+25839 3046 B091 0000 lds r27,(MittelIntegralNick2)+35840 304a E090 0000 lds r14,IntegralNick25841 304e F090 0000 lds r15,(IntegralNick2)+15842 3052 0091 0000 lds r16,(IntegralNick2)+25843 3056 1091 0000 lds r17,(IntegralNick2)+35844 305a EF82 std Y+7,r145845 305c F886 std Y+8,r155846 305e 0987 std Y+9,r165847 3060 1A87 std Y+10,r175848 3062 8E0D add r24,r145849 3064 9F1D adc r25,r155850 3066 A01F adc r26,r165851 3068 B11F adc r27,r175852 306a 8093 0000 sts MittelIntegralNick2,r245853 306e 9093 0000 sts (MittelIntegralNick2)+1,r255854 3072 A093 0000 sts (MittelIntegralNick2)+2,r265855 3076 B093 0000 sts (MittelIntegralNick2)+3,r275856 307a 8091 0000 lds r24,MittelIntegralRoll25857 307e 9091 0000 lds r25,(MittelIntegralRoll2)+15858 3082 A091 0000 lds r26,(MittelIntegralRoll2)+25859 3086 B091 0000 lds r27,(MittelIntegralRoll2)+35860 308a E090 0000 lds r14,IntegralRoll25861 308e F090 0000 lds r15,(IntegralRoll2)+15862 3092 0091 0000 lds r16,(IntegralRoll2)+25863 3096 1091 0000 lds r17,(IntegralRoll2)+35864 309a EB86 std Y+11,r145865 309c FC86 std Y+12,r155866 309e 0D87 std Y+13,r165867 30a0 1E87 std Y+14,r175868 30a2 8E0D add r24,r145869 30a4 9F1D adc r25,r155870 30a6 A01F adc r26,r165871 30a8 B11F adc r27,r175872 30aa 8093 0000 sts MittelIntegralRoll2,r245873 30ae 9093 0000 sts (MittelIntegralRoll2)+1,r255874 30b2 A093 0000 sts (MittelIntegralRoll2)+2,r265875 30b6 B093 0000 sts (MittelIntegralRoll2)+3,r275876 30ba F090 0000 lds r15,Looping_Nick5877 30be FF86 std Y+15,r155878 30c0 FF20 tst r155879 30c2 01F4 brne .L5045880 30c4 8091 0000 lds r24,Looping_Roll5881 30c8 8823 tst r245882 30ca 01F4 brne .+25883 30cc 00C0 rjmp .L8865884 .L504:5885 30ce 1092 0000 sts IntegralAccNick,__zero_reg__5886 30d2 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5887 30d6 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5888 30da 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5889 30de 1092 0000 sts IntegralAccRoll,__zero_reg__5890 30e2 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5891 30e6 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5892 30ea 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5893 30ee 1092 0000 sts MittelIntegralNick,__zero_reg__5894 30f2 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5895 30f6 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5896 30fa 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5897 30fe 1092 0000 sts MittelIntegralRoll,__zero_reg__5898 3102 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5899 3106 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5900 310a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5901 310e 1092 0000 sts MittelIntegralNick2,__zero_reg__5902 3112 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5903 3116 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5904 311a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5905 311e 1092 0000 sts MittelIntegralRoll2,__zero_reg__5906 3122 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5907 3126 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5908 312a 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5909 312e 8091 0000 lds r24,Mess_IntegralNick5910 3132 9091 0000 lds r25,(Mess_IntegralNick)+15911 3136 A091 0000 lds r26,(Mess_IntegralNick)+25912 313a B091 0000 lds r27,(Mess_IntegralNick)+35913 313e 8093 0000 sts Mess_IntegralNick2,r245914 3142 9093 0000 sts (Mess_IntegralNick2)+1,r255915 3146 A093 0000 sts (Mess_IntegralNick2)+2,r265916 314a B093 0000 sts (Mess_IntegralNick2)+3,r275917 314e 8091 0000 lds r24,Mess_IntegralRoll5918 3152 9091 0000 lds r25,(Mess_IntegralRoll)+15919 3156 A091 0000 lds r26,(Mess_IntegralRoll)+25920 315a B091 0000 lds r27,(Mess_IntegralRoll)+35921 315e 8093 0000 sts Mess_IntegralRoll2,r245922 3162 9093 0000 sts (Mess_IntegralRoll2)+1,r255923 3166 A093 0000 sts (Mess_IntegralRoll2)+2,r265924 316a B093 0000 sts (Mess_IntegralRoll2)+3,r275925 316e 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5926 3172 1092 0000 sts ZaehlMessungen,__zero_reg__5927 3176 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5928 317a 1092 0000 sts LageKorrekturNick,__zero_reg__5929 317e 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5930 3182 1092 0000 sts LageKorrekturRoll,__zero_reg__5931 3186 0F85 ldd r16,Y+155932 3188 0023 tst r165933 318a 01F0 breq .+25934 318c 00C0 rjmp .L5055935 .L886:5936 318e 8091 0000 lds r24,Looping_Roll5937 3192 8823 tst r245938 3194 01F0 breq .+25939 3196 00C0 rjmp .L5055940 3198 8091 0000 lds r24,Aktuell_az5941 319c 9091 0000 lds r25,(Aktuell_az)+15942 31a0 8150 subi r24,lo8(513)5943 31a2 9240 sbci r25,hi8(513)5944 31a4 04F4 brge .L5065945 31a6 8091 0000 lds r24,MotorenEin5946 31aa 8823 tst r245947 31ac 01F4 brne .+25948 31ae 00C0 rjmp .L5055949 .L506:5950 31b0 9090 0000 lds r9,FromNaviCtrl_Value5951 31b4 A090 0000 lds r10,EE_Parameter+285952 31b8 2090 0000 lds r2,Mittelwert_AccNick5953 31bc 3090 0000 lds r3,(Mittelwert_AccNick)+15954 31c0 4090 0000 lds r4,Mittelwert_AccRoll5955 31c4 5090 0000 lds r5,(Mittelwert_AccRoll)+15956 31c8 1914 cp __zero_reg__,r95957 31ca 04F0 brlt .+25958 31cc 00C0 rjmp .L5075959 31ce BB24 clr r115960 31d0 CC24 clr r125961 31d2 DD24 clr r135962 31d4 CA01 movw r24,r205963 31d6 B901 movw r22,r185964 31d8 A601 movw r20,r125965 31da 9501 movw r18,r105966 31dc 0E94 0000 call __divmodsi45967 31e0 7901 movw r14,r185968 31e2 8A01 movw r16,r205969 31e4 8091 0000 lds r24,FromNaviCtrl+95970 31e8 9091 0000 lds r25,(FromNaviCtrl+9)+15971 31ec 281A sub r2,r245972 31ee 390A sbc r3,r255973 31f0 C101 movw r24,r25974 31f2 AA27 clr r265975 31f4 97FD sbrc r25,75976 31f6 A095 com r265977 31f8 BA2F mov r27,r265978 31fa E81A sub r14,r245979 31fc F90A sbc r15,r255980 31fe 0A0B sbc r16,r265981 3200 1B0B sbc r17,r275982 3202 6B81 ldd r22,Y+35983 3204 7C81 ldd r23,Y+45984 3206 8D81 ldd r24,Y+55985 3208 9E81 ldd r25,Y+65986 320a A601 movw r20,r125987 320c 9501 movw r18,r105988 320e 0E94 0000 call __divmodsi45989 3212 5901 movw r10,r185990 3214 6A01 movw r12,r205991 3216 8091 0000 lds r24,FromNaviCtrl+115992 321a 9091 0000 lds r25,(FromNaviCtrl+11)+15993 321e 481A sub r4,r245994 3220 590A sbc r5,r255995 3222 C201 movw r24,r45996 3224 AA27 clr r265997 3226 97FD sbrc r25,75998 3228 A095 com r265999 322a BA2F mov r27,r266000 322c A81A sub r10,r246001 322e B90A sbc r11,r256002 3230 CA0A sbc r12,r266003 3232 DB0A sbc r13,r276004 3234 292C mov r2,r96005 3236 3324 clr r36006 3238 27FC sbrc r2,76007 323a 3094 com r36008 323c 432C mov r4,r36009 323e 532C mov r5,r36010 3240 C801 movw r24,r166011 3242 B701 movw r22,r146012 3244 A201 movw r20,r46013 3246 9101 movw r18,r26014 3248 0E94 0000 call __mulsi36015 324c 97FF sbrs r25,76016 324e 00C0 rjmp .L5086017 3250 6150 subi r22,lo8(-(511))6018 3252 7E4F sbci r23,hi8(-(511))6019 3254 8F4F sbci r24,hlo8(-(511))6020 3256 9F4F sbci r25,hhi8(-(511))6021 .L508:6022 3258 3B01 movw r6,r226023 325a 4C01 movw r8,r246024 325c 09E0 ldi r16,96025 325e 9594 1: asr r96026 3260 8794 ror r86027 3262 7794 ror r76028 3264 6794 ror r66029 3266 0A95 dec r166030 3268 01F4 brne 1b6031 326a C601 movw r24,r126032 326c B501 movw r22,r106033 326e A201 movw r20,r46034 3270 9101 movw r18,r26035 3272 0E94 0000 call __mulsi36036 3276 97FF sbrs r25,76037 3278 00C0 rjmp .L5096038 327a 6150 subi r22,lo8(-(511))6039 327c 7E4F sbci r23,hi8(-(511))6040 327e 8F4F sbci r24,hlo8(-(511))6041 3280 9F4F sbci r25,hhi8(-(511))6042 .L509:6043 3282 5B01 movw r10,r226044 3284 6C01 movw r12,r246045 3286 19E0 ldi r17,96046 3288 D594 1: asr r136047 328a C794 ror r126048 328c B794 ror r116049 328e A794 ror r106050 3290 1A95 dec r176051 3292 01F4 brne 1b6052 3294 8091 0000 lds r24,MaxStickNick6053 3298 9091 0000 lds r25,(MaxStickNick)+16054 329c 8134 cpi r24,656055 329e 9105 cpc r25,__zero_reg__6056 32a0 04F4 brge .L5116057 32a2 8091 0000 lds r24,MaxStickRoll6058 32a6 9091 0000 lds r25,(MaxStickRoll)+16059 32aa 8134 cpi r24,656060 32ac 9105 cpc r25,__zero_reg__6061 32ae 04F0 brlt .L5106062 .L511:6063 32b0 D401 movw r26,r86064 32b2 C301 movw r24,r66065 32b4 97FE sbrs r9,76066 32b6 00C0 rjmp .L5126067 32b8 0196 adiw r24,16068 32ba A11D adc r26,__zero_reg__6069 32bc B11D adc r27,__zero_reg__6070 .L512:6071 32be 3C01 movw r6,r246072 32c0 4D01 movw r8,r266073 32c2 9594 asr r96074 32c4 8794 ror r86075 32c6 7794 ror r76076 32c8 6794 ror r66077 32ca D601 movw r26,r126078 32cc C501 movw r24,r106079 32ce D7FE sbrs r13,76080 32d0 00C0 rjmp .L5136081 32d2 0196 adiw r24,16082 32d4 A11D adc r26,__zero_reg__6083 32d6 B11D adc r27,__zero_reg__6084 .L513:6085 32d8 5C01 movw r10,r246086 32da 6D01 movw r12,r266087 32dc D594 asr r136088 32de C794 ror r126089 32e0 B794 ror r116090 32e2 A794 ror r106091 .L510:6092 32e4 8091 0000 lds r24,FromNaviCtrl_Value+26093 32e8 282F mov r18,r246094 32ea 3327 clr r196095 32ec 27FD sbrc r18,76096 32ee 3095 com r196097 32f0 432F mov r20,r196098 32f2 532F mov r21,r196099 32f4 2615 cp r18,r66100 32f6 3705 cpc r19,r76101 32f8 4805 cpc r20,r86102 32fa 5905 cpc r21,r96103 32fc 04F4 brge .L5146104 32fe 3901 movw r6,r186105 3300 4A01 movw r8,r206106 .L514:6107 3302 9927 clr r256108 3304 87FD sbrc r24,76109 3306 9095 com r256110 3308 9095 com r256111 330a 8195 neg r246112 330c 9F4F sbci r25,lo8(-1)6113 330e AA27 clr r266114 3310 97FD sbrc r25,76115 3312 A095 com r266116 3314 BA2F mov r27,r266117 3316 6816 cp r6,r246118 3318 7906 cpc r7,r256119 331a 8A06 cpc r8,r266120 331c 9B06 cpc r9,r276121 331e 04F4 brge .L5156122 3320 3C01 movw r6,r246123 3322 4D01 movw r8,r266124 .L515:6125 3324 2A15 cp r18,r106126 3326 3B05 cpc r19,r116127 3328 4C05 cpc r20,r126128 332a 5D05 cpc r21,r136129 332c 04F4 brge .L5166130 332e 5901 movw r10,r186131 3330 6A01 movw r12,r206132 .L516:6133 3332 A816 cp r10,r246134 3334 B906 cpc r11,r256135 3336 CA06 cpc r12,r266136 3338 DB06 cpc r13,r276137 333a 04F0 brlt .+26138 333c 00C0 rjmp .L5186139 333e 5C01 movw r10,r246140 3340 6D01 movw r12,r266141 3342 00C0 rjmp .L5186142 .L507:6143 3344 EA2C mov r14,r106144 3346 FF24 clr r156145 3348 0027 clr r166146 334a 1127 clr r176147 334c CA01 movw r24,r206148 334e B901 movw r22,r186149 3350 A801 movw r20,r166150 3352 9701 movw r18,r146151 3354 0E94 0000 call __divmodsi46152 3358 3901 movw r6,r186153 335a 4A01 movw r8,r206154 335c C101 movw r24,r26155 335e AA27 clr r266156 3360 97FD sbrc r25,76157 3362 A095 com r266158 3364 BA2F mov r27,r266159 3366 681A sub r6,r246160 3368 790A sbc r7,r256161 336a 8A0A sbc r8,r266162 336c 9B0A sbc r9,r276163 336e 6B81 ldd r22,Y+36164 3370 7C81 ldd r23,Y+46165 3372 8D81 ldd r24,Y+56166 3374 9E81 ldd r25,Y+66167 3376 A801 movw r20,r166168 3378 9701 movw r18,r146169 337a 0E94 0000 call __divmodsi46170 337e 5901 movw r10,r186171 3380 6A01 movw r12,r206172 3382 C201 movw r24,r46173 3384 AA27 clr r266174 3386 97FD sbrc r25,76175 3388 A095 com r266176 338a BA2F mov r27,r266177 338c A81A sub r10,r246178 338e B90A sbc r11,r256179 3390 CA0A sbc r12,r266180 3392 DB0A sbc r13,r276181 3394 D401 movw r26,r86182 3396 C301 movw r24,r66183 3398 97FE sbrs r9,76184 339a 00C0 rjmp .L5196185 339c 0F96 adiw r24,156186 339e A11D adc r26,__zero_reg__6187 33a0 B11D adc r27,__zero_reg__6188 .L519:6189 33a2 3C01 movw r6,r246190 33a4 4D01 movw r8,r266191 33a6 F4E0 ldi r31,46192 33a8 9594 1: asr r96193 33aa 8794 ror r86194 33ac 7794 ror r76195 33ae 6794 ror r66196 33b0 FA95 dec r316197 33b2 01F4 brne 1b6198 33b4 D601 movw r26,r126199 33b6 C501 movw r24,r106200 33b8 D7FE sbrs r13,76201 33ba 00C0 rjmp .L5206202 33bc 0F96 adiw r24,156203 33be A11D adc r26,__zero_reg__6204 33c0 B11D adc r27,__zero_reg__6205 .L520:6206 33c2 5C01 movw r10,r246207 33c4 6D01 movw r12,r266208 33c6 E4E0 ldi r30,46209 33c8 D594 1: asr r136210 33ca C794 ror r126211 33cc B794 ror r116212 33ce A794 ror r106213 33d0 EA95 dec r306214 33d2 01F4 brne 1b6215 33d4 8091 0000 lds r24,MaxStickNick6216 33d8 9091 0000 lds r25,(MaxStickNick)+16217 33dc 8134 cpi r24,656218 33de 9105 cpc r25,__zero_reg__6219 33e0 04F4 brge .L5226220 33e2 8091 0000 lds r24,MaxStickRoll6221 33e6 9091 0000 lds r25,(MaxStickRoll)+16222 33ea 8134 cpi r24,656223 33ec 9105 cpc r25,__zero_reg__6224 33ee 04F0 brlt .L5216225 .L522:6226 33f0 C401 movw r24,r86227 33f2 B301 movw r22,r66228 33f4 23E0 ldi r18,lo8(3)6229 33f6 30E0 ldi r19,hi8(3)6230 33f8 40E0 ldi r20,hlo8(3)6231 33fa 50E0 ldi r21,hhi8(3)6232 33fc 0E94 0000 call __divmodsi46233 3400 3901 movw r6,r186234 3402 4A01 movw r8,r206235 3404 C601 movw r24,r126236 3406 B501 movw r22,r106237 3408 23E0 ldi r18,lo8(3)6238 340a 30E0 ldi r19,hi8(3)6239 340c 40E0 ldi r20,hlo8(3)6240 340e 50E0 ldi r21,hhi8(3)6241 3410 0E94 0000 call __divmodsi46242 3414 5901 movw r10,r186243 3416 6A01 movw r12,r206244 .L521:6245 3418 8091 0000 lds r24,EE_Parameter+46246 341c E82F mov r30,r246247 341e FF27 clr r316248 3420 EE0F add r30,r306249 3422 FF1F adc r31,r316250 3424 E050 subi r30,lo8(-(PPM_in))6251 3426 F040 sbci r31,hi8(-(PPM_in))6252 3428 8081 ld r24,Z6253 342a 9181 ldd r25,Z+16254 342c 0190 ld __tmp_reg__,Z+6255 342e F081 ld r31,Z6256 3430 E02D mov r30,__tmp_reg__6257 3432 F7FF sbrs r31,76258 3434 00C0 rjmp .L5246259 3436 F095 com r316260 3438 E195 neg r306261 343a FF4F sbci r31,lo8(-1)6262 .L524:6263 343c 7A97 sbiw r30,266264 343e 04F0 brlt .L5236265 3440 C401 movw r24,r86266 3442 B301 movw r22,r66267 3444 23E0 ldi r18,lo8(3)6268 3446 30E0 ldi r19,hi8(3)6269 3448 40E0 ldi r20,hlo8(3)6270 344a 50E0 ldi r21,hhi8(3)6271 344c 0E94 0000 call __divmodsi46272 3450 3901 movw r6,r186273 3452 4A01 movw r8,r206274 3454 C601 movw r24,r126275 3456 B501 movw r22,r106276 3458 23E0 ldi r18,lo8(3)6277 345a 30E0 ldi r19,hi8(3)6278 345c 40E0 ldi r20,hlo8(3)6279 345e 50E0 ldi r21,hhi8(3)6280 3460 0E94 0000 call __divmodsi46281 3464 5901 movw r10,r186282 3466 6A01 movw r12,r206283 .L523:6284 3468 89E1 ldi r24,lo8(25)6285 346a 8093 0000 sts KompassFusion,r246286 346e 21E2 ldi r18,lo8(33)6287 3470 6216 cp r6,r186288 3472 7104 cpc r7,__zero_reg__6289 3474 8104 cpc r8,__zero_reg__6290 3476 9104 cpc r9,__zero_reg__6291 3478 04F0 brlt .L5256292 347a 70E2 ldi r23,lo8(32)6293 347c 672E mov r6,r236294 347e 712C mov r7,__zero_reg__6295 3480 812C mov r8,__zero_reg__6296 3482 912C mov r9,__zero_reg__6297 .L525:6298 3484 30EE ldi r19,lo8(-32)6299 3486 6316 cp r6,r196300 3488 3FEF ldi r19,hi8(-32)6301 348a 7306 cpc r7,r196302 348c 3FEF ldi r19,hlo8(-32)6303 348e 8306 cpc r8,r196304 3490 3FEF ldi r19,hhi8(-32)6305 3492 9306 cpc r9,r196306 3494 04F4 brge .L5266307 3496 60EE ldi r22,lo8(-32)6308 3498 662E mov r6,r226309 349a 6FEF ldi r22,hi8(-32)6310 349c 762E mov r7,r226311 349e 6FEF ldi r22,hlo8(-32)6312 34a0 862E mov r8,r226313 34a2 6FEF ldi r22,hhi8(-32)6314 34a4 962E mov r9,r226315 .L526:6316 34a6 41E2 ldi r20,lo8(33)6317 34a8 A416 cp r10,r206318 34aa B104 cpc r11,__zero_reg__6319 34ac C104 cpc r12,__zero_reg__6320 34ae D104 cpc r13,__zero_reg__6321 34b0 04F0 brlt .L5276322 34b2 50E2 ldi r21,lo8(32)6323 34b4 A52E mov r10,r216324 34b6 B12C mov r11,__zero_reg__6325 34b8 C12C mov r12,__zero_reg__6326 34ba D12C mov r13,__zero_reg__6327 .L527:6328 34bc 50EE ldi r21,lo8(-32)6329 34be A516 cp r10,r216330 34c0 5FEF ldi r21,hi8(-32)6331 34c2 B506 cpc r11,r216332 34c4 5FEF ldi r21,hlo8(-32)6333 34c6 C506 cpc r12,r216334 34c8 5FEF ldi r21,hhi8(-32)6335 34ca D506 cpc r13,r216336 34cc 04F4 brge .L5186337 34ce 40EE ldi r20,lo8(-32)6338 34d0 A42E mov r10,r206339 34d2 4FEF ldi r20,hi8(-32)6340 34d4 B42E mov r11,r206341 34d6 4FEF ldi r20,hlo8(-32)6342 34d8 C42E mov r12,r206343 34da 4FEF ldi r20,hhi8(-32)6344 34dc D42E mov r13,r206345 .L518:6346 34de 8091 0000 lds r24,Mess_IntegralNick6347 34e2 9091 0000 lds r25,(Mess_IntegralNick)+16348 34e6 A091 0000 lds r26,(Mess_IntegralNick)+26349 34ea B091 0000 lds r27,(Mess_IntegralNick)+36350 34ee 8619 sub r24,r66351 34f0 9709 sbc r25,r76352 34f2 A809 sbc r26,r86353 34f4 B909 sbc r27,r96354 34f6 8093 0000 sts Mess_IntegralNick,r246355 34fa 9093 0000 sts (Mess_IntegralNick)+1,r256356 34fe A093 0000 sts (Mess_IntegralNick)+2,r266357 3502 B093 0000 sts (Mess_IntegralNick)+3,r276358 3506 8091 0000 lds r24,Mess_IntegralRoll6359 350a 9091 0000 lds r25,(Mess_IntegralRoll)+16360 350e A091 0000 lds r26,(Mess_IntegralRoll)+26361 3512 B091 0000 lds r27,(Mess_IntegralRoll)+36362 3516 8A19 sub r24,r106363 3518 9B09 sbc r25,r116364 351a AC09 sbc r26,r126365 351c BD09 sbc r27,r136366 351e 8093 0000 sts Mess_IntegralRoll,r246367 3522 9093 0000 sts (Mess_IntegralRoll)+1,r256368 3526 A093 0000 sts (Mess_IntegralRoll)+2,r266369 352a B093 0000 sts (Mess_IntegralRoll)+3,r276370 .L505:6371 352e 8091 0000 lds r24,ZaehlMessungen6372 3532 9091 0000 lds r25,(ZaehlMessungen)+16373 3536 8F3F cpi r24,2556374 3538 9105 cpc r25,__zero_reg__6375 353a 01F0 breq .+26376 353c 00F4 brsh .+26377 353e 00C0 rjmp .L5296378 3540 6F85 ldd r22,Y+156379 3542 6623 tst r226380 3544 01F0 breq .+26381 3546 00C0 rjmp .L5306382 3548 8091 0000 lds r24,Looping_Roll6383 354c 8823 tst r246384 354e 01F0 breq .+26385 3550 00C0 rjmp .L5306386 3552 8091 0000 lds r24,TrichterFlug6387 3556 8823 tst r246388 3558 01F0 breq .+26389 355a 00C0 rjmp .L5306390 355c 7091 0000 lds r23,EE_Parameter+686391 3560 788B std Y+16,r236392 3562 7723 tst r236393 3564 01F4 brne .+26394 3566 00C0 rjmp .L5306395 3568 8091 0000 lds r24,MittelIntegralNick6396 356c 9091 0000 lds r25,(MittelIntegralNick)+16397 3570 A091 0000 lds r26,(MittelIntegralNick)+26398 3574 B091 0000 lds r27,(MittelIntegralNick)+36399 3578 B7FF sbrs r27,76400 357a 00C0 rjmp .L5316401 357c 8150 subi r24,lo8(-(255))6402 357e 9F4F sbci r25,hi8(-(255))6403 3580 AF4F sbci r26,hlo8(-(255))6404 3582 BF4F sbci r27,hhi8(-(255))6405 .L531:6406 3584 E92E mov r14,r256407 3586 FA2E mov r15,r266408 3588 0B2F mov r16,r276409 358a 1127 clr r176410 358c 07FD sbrc r16,76411 358e 1A95 dec r176412 3590 E092 0000 sts MittelIntegralNick,r146413 3594 F092 0000 sts (MittelIntegralNick)+1,r156414 3598 0093 0000 sts (MittelIntegralNick)+2,r166415 359c 1093 0000 sts (MittelIntegralNick)+3,r176416 35a0 8091 0000 lds r24,MittelIntegralRoll6417 35a4 9091 0000 lds r25,(MittelIntegralRoll)+16418 35a8 A091 0000 lds r26,(MittelIntegralRoll)+26419 35ac B091 0000 lds r27,(MittelIntegralRoll)+36420 35b0 B7FF sbrs r27,76421 35b2 00C0 rjmp .L5326422 35b4 8150 subi r24,lo8(-(255))6423 35b6 9F4F sbci r25,hi8(-(255))6424 35b8 AF4F sbci r26,hlo8(-(255))6425 35ba BF4F sbci r27,hhi8(-(255))6426 .L532:6427 35bc 892F mov r24,r256428 35be 9A2F mov r25,r266429 35c0 AB2F mov r26,r276430 35c2 BB27 clr r276431 35c4 A7FD sbrc r26,76432 35c6 BA95 dec r276433 35c8 898B std Y+17,r246434 35ca 9A8B std Y+18,r256435 35cc AB8B std Y+19,r266436 35ce BC8B std Y+20,r276437 35d0 8093 0000 sts MittelIntegralRoll,r246438 35d4 9093 0000 sts (MittelIntegralRoll)+1,r256439 35d8 A093 0000 sts (MittelIntegralRoll)+2,r266440 35dc B093 0000 sts (MittelIntegralRoll)+3,r276441 35e0 8091 0000 lds r24,EE_Parameter+286442 35e4 A82E mov r10,r246443 35e6 BB24 clr r116444 35e8 CC24 clr r126445 35ea DD24 clr r136446 35ec 2091 0000 lds r18,IntegralAccNick6447 35f0 3091 0000 lds r19,(IntegralAccNick)+16448 35f4 4091 0000 lds r20,(IntegralAccNick)+26449 35f8 5091 0000 lds r21,(IntegralAccNick)+36450 35fc C601 movw r24,r126451 35fe B501 movw r22,r106452 3600 0E94 0000 call __mulsi36453 3604 97FF sbrs r25,76454 3606 00C0 rjmp .L5336455 3608 6150 subi r22,lo8(-(255))6456 360a 7F4F sbci r23,hi8(-(255))6457 360c 8F4F sbci r24,hlo8(-(255))6458 360e 9F4F sbci r25,hhi8(-(255))6459 .L533:6460 3610 672E mov r6,r236461 3612 782E mov r7,r246462 3614 892E mov r8,r256463 3616 9924 clr r96464 3618 87FC sbrc r8,76465 361a 9A94 dec r96466 361c 6092 0000 sts IntegralAccNick,r66467 3620 7092 0000 sts (IntegralAccNick)+1,r76468 3624 8092 0000 sts (IntegralAccNick)+2,r86469 3628 9092 0000 sts (IntegralAccNick)+3,r96470 362c 2091 0000 lds r18,IntegralAccRoll6471 3630 3091 0000 lds r19,(IntegralAccRoll)+16472 3634 4091 0000 lds r20,(IntegralAccRoll)+26473 3638 5091 0000 lds r21,(IntegralAccRoll)+36474 363c C601 movw r24,r126475 363e B501 movw r22,r106476 3640 0E94 0000 call __mulsi36477 3644 97FF sbrs r25,76478 3646 00C0 rjmp .L5346479 3648 6150 subi r22,lo8(-(255))6480 364a 7F4F sbci r23,hi8(-(255))6481 364c 8F4F sbci r24,hlo8(-(255))6482 364e 9F4F sbci r25,hhi8(-(255))6483 .L534:6484 3650 272E mov r2,r236485 3652 382E mov r3,r246486 3654 492E mov r4,r256487 3656 5524 clr r56488 3658 47FC sbrc r4,76489 365a 5A94 dec r56490 365c 2092 0000 sts IntegralAccRoll,r26491 3660 3092 0000 sts (IntegralAccRoll)+1,r36492 3664 4092 0000 sts (IntegralAccRoll)+2,r46493 3668 5092 0000 sts (IntegralAccRoll)+3,r56494 366c 8091 0000 lds r24,IntegralAccZ6495 3670 9091 0000 lds r25,(IntegralAccZ)+16496 3674 A091 0000 lds r26,(IntegralAccZ)+26497 3678 B091 0000 lds r27,(IntegralAccZ)+36498 367c B7FF sbrs r27,76499 367e 00C0 rjmp .L5356500 3680 8150 subi r24,lo8(-(255))6501 3682 9F4F sbci r25,hi8(-(255))6502 3684 AF4F sbci r26,hlo8(-(255))6503 3686 BF4F sbci r27,hhi8(-(255))6504 .L535:6505 3688 892F mov r24,r256506 368a 9A2F mov r25,r266507 368c AB2F mov r26,r276508 368e BB27 clr r276509 3690 A7FD sbrc r26,76510 3692 BA95 dec r276511 3694 8093 0000 sts IntegralAccZ,r246512 3698 9093 0000 sts (IntegralAccZ)+1,r256513 369c A093 0000 sts (IntegralAccZ)+2,r266514 36a0 B093 0000 sts (IntegralAccZ)+3,r276515 36a4 D801 movw r26,r166516 36a6 C701 movw r24,r146517 36a8 8619 sub r24,r66518 36aa 9709 sbc r25,r76519 36ac A809 sbc r26,r86520 36ae B909 sbc r27,r96521 36b0 8093 0000 sts IntegralFehlerNick.3,r246522 36b4 9093 0000 sts (IntegralFehlerNick.3)+1,r256523 36b8 A093 0000 sts (IntegralFehlerNick.3)+2,r266524 36bc B093 0000 sts (IntegralFehlerNick.3)+3,r276525 36c0 2091 0000 lds r18,EE_Parameter+676526 36c4 E22E mov r14,r186527 36c6 FF24 clr r156528 36c8 0027 clr r166529 36ca 1127 clr r176530 36cc BC01 movw r22,r246531 36ce CD01 movw r24,r266532 36d0 A801 movw r20,r166533 36d2 9701 movw r18,r146534 36d4 0E94 0000 call __divmodsi46535 36d8 5901 movw r10,r186536 36da 6A01 movw r12,r206537 36dc 2093 0000 sts ausgleichNick.10,r186538 36e0 3093 0000 sts (ausgleichNick.10)+1,r196539 36e4 4093 0000 sts (ausgleichNick.10)+2,r206540 36e8 5093 0000 sts (ausgleichNick.10)+3,r216541 36ec 8989 ldd r24,Y+176542 36ee 9A89 ldd r25,Y+186543 36f0 AB89 ldd r26,Y+196544 36f2 BC89 ldd r27,Y+206545 36f4 8219 sub r24,r26546 36f6 9309 sbc r25,r36547 36f8 A409 sbc r26,r46548 36fa B509 sbc r27,r56549 36fc 8093 0000 sts IntegralFehlerRoll.4,r246550 3700 9093 0000 sts (IntegralFehlerRoll.4)+1,r256551 3704 A093 0000 sts (IntegralFehlerRoll.4)+2,r266552 3708 B093 0000 sts (IntegralFehlerRoll.4)+3,r276553 370c BC01 movw r22,r246554 370e CD01 movw r24,r266555 3710 A801 movw r20,r166556 3712 9701 movw r18,r146557 3714 0E94 0000 call __divmodsi46558 3718 2093 0000 sts ausgleichRoll.11,r186559 371c 3093 0000 sts (ausgleichRoll.11)+1,r196560 3720 4093 0000 sts (ausgleichRoll.11)+2,r206561 3724 5093 0000 sts (ausgleichRoll.11)+3,r216562 3728 D601 movw r26,r126563 372a C501 movw r24,r106564 372c D7FE sbrs r13,76565 372e 00C0 rjmp .L5366566 3730 8150 subi r24,lo8(-(255))6567 3732 9F4F sbci r25,hi8(-(255))6568 3734 AF4F sbci r26,hlo8(-(255))6569 3736 BF4F sbci r27,hhi8(-(255))6570 .L536:6571 3738 892F mov r24,r256572 373a 9A2F mov r25,r266573 373c AB2F mov r26,r276574 373e BB27 clr r276575 3740 A7FD sbrc r26,76576 3742 BA95 dec r276577 3744 9093 0000 sts (LageKorrekturNick)+1,r256578 3748 8093 0000 sts LageKorrekturNick,r246579 374c 57FF sbrs r21,76580 374e 00C0 rjmp .L5376581 3750 2150 subi r18,lo8(-(255))6582 3752 3F4F sbci r19,hi8(-(255))6583 3754 4F4F sbci r20,hlo8(-(255))6584 3756 5F4F sbci r21,hhi8(-(255))6585 .L537:6586 3758 BB27 clr r276587 375a 57FD sbrc r21,76588 375c BA95 dec r276589 375e A52F mov r26,r216590 3760 942F mov r25,r206591 3762 832F mov r24,r196592 3764 9093 0000 sts (LageKorrekturRoll)+1,r256593 3768 8093 0000 sts LageKorrekturRoll,r246594 376c 8091 0000 lds r24,MaxStickNick6595 3770 9091 0000 lds r25,(MaxStickNick)+16596 3774 8134 cpi r24,656597 3776 9105 cpc r25,__zero_reg__6598 3778 04F4 brge .L5396599 377a 8091 0000 lds r24,MaxStickRoll6600 377e 9091 0000 lds r25,(MaxStickRoll)+16601 3782 8134 cpi r24,656602 3784 9105 cpc r25,__zero_reg__6603 3786 04F4 brge .L5396604 3788 8091 0000 lds r24,EE_Parameter+46605 378c E82F mov r30,r246606 378e FF27 clr r316607 3790 EE0F add r30,r306608 3792 FF1F adc r31,r316609 3794 E050 subi r30,lo8(-(PPM_in))6610 3796 F040 sbci r31,hi8(-(PPM_in))6611 3798 8081 ld r24,Z6612 379a 9181 ldd r25,Z+16613 379c 0190 ld __tmp_reg__,Z+6614 379e F081 ld r31,Z6615 37a0 E02D mov r30,__tmp_reg__6616 37a2 F7FF sbrs r31,76617 37a4 00C0 rjmp .L5406618 37a6 F095 com r316619 37a8 E195 neg r306620 37aa FF4F sbci r31,lo8(-1)6621 .L540:6622 37ac 7A97 sbiw r30,266623 37ae 04F0 brlt .L5386624 .L539:6625 37b0 8091 0000 lds r24,FromNaviCtrl_Value6626 37b4 8F3F cpi r24,lo8(-1)6627 37b6 01F4 brne .L5386628 37b8 8091 0000 lds r24,LageKorrekturNick6629 37bc 9091 0000 lds r25,(LageKorrekturNick)+16630 37c0 97FD sbrc r25,76631 37c2 0196 adiw r24,16632 .L541:6633 37c4 9595 asr r256634 37c6 8795 ror r246635 37c8 9093 0000 sts (LageKorrekturNick)+1,r256636 37cc 8093 0000 sts LageKorrekturNick,r246637 37d0 8091 0000 lds r24,LageKorrekturRoll6638 37d4 9091 0000 lds r25,(LageKorrekturRoll)+16639 37d8 97FD sbrc r25,76640 37da 0196 adiw r24,16641 .L542:6642 37dc 9595 asr r256643 37de 8795 ror r246644 37e0 9093 0000 sts (LageKorrekturRoll)+1,r256645 37e4 8093 0000 sts LageKorrekturRoll,r246646 .L538:6647 37e8 8091 0000 lds r24,MittelIntegralNick26648 37ec 9091 0000 lds r25,(MittelIntegralNick2)+16649 37f0 A091 0000 lds r26,(MittelIntegralNick2)+26650 37f4 B091 0000 lds r27,(MittelIntegralNick2)+36651 37f8 B7FF sbrs r27,76652 37fa 00C0 rjmp .L5436653 37fc 8150 subi r24,lo8(-(255))6654 37fe 9F4F sbci r25,hi8(-(255))6655 3800 AF4F sbci r26,hlo8(-(255))6656 3802 BF4F sbci r27,hhi8(-(255))6657 .L543:6658 3804 892F mov r24,r256659 3806 9A2F mov r25,r266660 3808 AB2F mov r26,r276661 380a BB27 clr r276662 380c A7FD sbrc r26,76663 380e BA95 dec r276664 3810 8093 0000 sts MittelIntegralNick2,r246665 3814 9093 0000 sts (MittelIntegralNick2)+1,r256666 3818 A093 0000 sts (MittelIntegralNick2)+2,r266667 381c B093 0000 sts (MittelIntegralNick2)+3,r276668 3820 8091 0000 lds r24,MittelIntegralRoll26669 3824 9091 0000 lds r25,(MittelIntegralRoll2)+16670 3828 A091 0000 lds r26,(MittelIntegralRoll2)+26671 382c B091 0000 lds r27,(MittelIntegralRoll2)+36672 3830 B7FF sbrs r27,76673 3832 00C0 rjmp .L5446674 3834 8150 subi r24,lo8(-(255))6675 3836 9F4F sbci r25,hi8(-(255))6676 3838 AF4F sbci r26,hlo8(-(255))6677 383a BF4F sbci r27,hhi8(-(255))6678 .L544:6679 383c 892F mov r24,r256680 383e 9A2F mov r25,r266681 3840 AB2F mov r26,r276682 3842 BB27 clr r276683 3844 A7FD sbrc r26,76684 3846 BA95 dec r276685 3848 8093 0000 sts MittelIntegralRoll2,r246686 384c 9093 0000 sts (MittelIntegralRoll2)+1,r256687 3850 A093 0000 sts (MittelIntegralRoll2)+2,r266688 3854 B093 0000 sts (MittelIntegralRoll2)+3,r276689 3858 8091 0000 lds r24,IntegralNick6690 385c 9091 0000 lds r25,(IntegralNick)+16691 3860 A091 0000 lds r26,(IntegralNick)+26692 3864 B091 0000 lds r27,(IntegralNick)+36693 3868 2F81 ldd r18,Y+76694 386a 3885 ldd r19,Y+86695 386c 4985 ldd r20,Y+96696 386e 5A85 ldd r21,Y+106697 3870 281B sub r18,r246698 3872 390B sbc r19,r256699 3874 4A0B sbc r20,r266700 3876 5B0B sbc r21,r276701 3878 2093 0000 sts tmp_long.1,r186702 387c 3093 0000 sts (tmp_long.1)+1,r196703 3880 4093 0000 sts (tmp_long.1)+2,r206704 3884 5093 0000 sts (tmp_long.1)+3,r216705 3888 8091 0000 lds r24,IntegralRoll6706 388c 9091 0000 lds r25,(IntegralRoll)+16707 3890 A091 0000 lds r26,(IntegralRoll)+26708 3894 B091 0000 lds r27,(IntegralRoll)+36709 3898 EB84 ldd r14,Y+116710 389a FC84 ldd r15,Y+126711 389c 0D85 ldd r16,Y+136712 389e 1E85 ldd r17,Y+146713 38a0 E81A sub r14,r246714 38a2 F90A sbc r15,r256715 38a4 0A0B sbc r16,r266716 38a6 1B0B sbc r17,r276717 38a8 E092 0000 sts tmp_long2.2,r146718 38ac F092 0000 sts (tmp_long2.2)+1,r156719 38b0 0093 0000 sts (tmp_long2.2)+2,r166720 38b4 1093 0000 sts (tmp_long2.2)+3,r176721 38b8 2093 0000 sts IntegralFehlerNick.3,r186722 38bc 3093 0000 sts (IntegralFehlerNick.3)+1,r196723 38c0 4093 0000 sts (IntegralFehlerNick.3)+2,r206724 38c4 5093 0000 sts (IntegralFehlerNick.3)+3,r216725 38c8 E092 0000 sts IntegralFehlerRoll.4,r146726 38cc F092 0000 sts (IntegralFehlerRoll.4)+1,r156727 38d0 0093 0000 sts (IntegralFehlerRoll.4)+2,r166728 38d4 1093 0000 sts (IntegralFehlerRoll.4)+3,r176729 38d8 8091 0000 lds r24,Mess_IntegralNick26730 38dc 9091 0000 lds r25,(Mess_IntegralNick2)+16731 38e0 A091 0000 lds r26,(Mess_IntegralNick2)+26732 38e4 B091 0000 lds r27,(Mess_IntegralNick2)+36733 38e8 821B sub r24,r186734 38ea 930B sbc r25,r196735 38ec A40B sbc r26,r206736 38ee B50B sbc r27,r216737 38f0 8093 0000 sts Mess_IntegralNick2,r246738 38f4 9093 0000 sts (Mess_IntegralNick2)+1,r256739 38f8 A093 0000 sts (Mess_IntegralNick2)+2,r266740 38fc B093 0000 sts (Mess_IntegralNick2)+3,r276741 3900 8091 0000 lds r24,Mess_IntegralRoll26742 3904 9091 0000 lds r25,(Mess_IntegralRoll2)+16743 3908 A091 0000 lds r26,(Mess_IntegralRoll2)+26744 390c B091 0000 lds r27,(Mess_IntegralRoll2)+36745 3910 8E19 sub r24,r146746 3912 9F09 sbc r25,r156747 3914 A00B sbc r26,r166748 3916 B10B sbc r27,r176749 3918 8093 0000 sts Mess_IntegralRoll2,r246750 391c 9093 0000 sts (Mess_IntegralRoll2)+1,r256751 3920 A093 0000 sts (Mess_IntegralRoll2)+2,r266752 3924 B093 0000 sts (Mess_IntegralRoll2)+3,r276753 3928 8889 ldd r24,Y+166754 392a 8823 tst r246755 392c 01F0 breq .L5456756 392e 2091 0000 lds r18,GierGyroFehler6757 3932 3091 0000 lds r19,(GierGyroFehler)+16758 3936 2138 cpi r18,1296759 3938 3105 cpc r19,__zero_reg__6760 393a 04F0 brlt .L5466761 393c 8091 0000 lds r24,AdNeutralGier6762 3940 9091 0000 lds r25,(AdNeutralGier)+16763 3944 0196 adiw r24,16764 3946 9093 0000 sts (AdNeutralGier)+1,r256765 394a 8093 0000 sts AdNeutralGier,r246766 .L546:6767 394e 2058 subi r18,lo8(-128)6768 3950 3F4F sbci r19,hi8(-128)6769 3952 04F4 brge .L5456770 3954 8091 0000 lds r24,AdNeutralGier6771 3958 9091 0000 lds r25,(AdNeutralGier)+16772 395c 0197 sbiw r24,16773 395e 9093 0000 sts (AdNeutralGier)+1,r256774 3962 8093 0000 sts AdNeutralGier,r246775 .L545:6776 3966 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6777 396a 1092 0000 sts GierGyroFehler,__zero_reg__6778 396e 81E0 ldi r24,lo8(1)6779 3970 90E0 ldi r25,hi8(1)6780 3972 9093 0000 sts (cnt.14)+1,r256781 3976 8093 0000 sts cnt.14,r246782 397a E090 0000 lds r14,IntegralFehlerNick.36783 397e F090 0000 lds r15,(IntegralFehlerNick.3)+16784 3982 0091 0000 lds r16,(IntegralFehlerNick.3)+26785 3986 1091 0000 lds r17,(IntegralFehlerNick.3)+36786 398a D801 movw r26,r166787 398c C701 movw r24,r146788 398e 17FF sbrs r17,76789 3990 00C0 rjmp .L5496790 3992 8827 clr r246791 3994 9927 clr r256792 3996 DC01 movw r26,r246793 3998 8E19 sub r24,r146794 399a 9F09 sbc r25,r156795 399c A00B sbc r26,r166796 399e B10B sbc r27,r176797 .L549:6798 39a0 8150 subi r24,lo8(513)6799 39a2 9240 sbci r25,hi8(513)6800 39a4 A040 sbci r26,hlo8(513)6801 39a6 B040 sbci r27,hhi8(513)6802 39a8 04F0 brlt .L5486803 39aa 84E0 ldi r24,lo8(4)6804 39ac 90E0 ldi r25,hi8(4)6805 39ae 9093 0000 sts (cnt.14)+1,r256806 39b2 8093 0000 sts cnt.14,r246807 .L548:6808 39b6 8091 0000 lds r24,MittelIntegralNick_Alt.196809 39ba 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16810 39be A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26811 39c2 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36812 39c6 2091 0000 lds r18,MittelIntegralNick6813 39ca 3091 0000 lds r19,(MittelIntegralNick)+16814 39ce 4091 0000 lds r20,(MittelIntegralNick)+26815 39d2 5091 0000 lds r21,(MittelIntegralNick)+36816 39d6 821B sub r24,r186817 39d8 930B sbc r25,r196818 39da A40B sbc r26,r206819 39dc B50B sbc r27,r216820 39de 815E subi r24,lo8(-(19999))6821 39e0 914B sbci r25,hi8(-(19999))6822 39e2 AF4F sbci r26,hlo8(-(19999))6823 39e4 BF4F sbci r27,hhi8(-(19999))6824 39e6 8F53 subi r24,lo8(39999)6825 39e8 9C49 sbci r25,hi8(39999)6826 39ea A040 sbci r26,hlo8(39999)6827 39ec B040 sbci r27,hhi8(39999)6828 39ee 00F0 brlo .L5516829 39f0 8091 0000 lds r24,FromNaviCtrl_Value+16830 39f4 8931 cpi r24,lo8(25)6831 39f6 04F4 brge .+26832 39f8 00C0 rjmp .L5506833 .L551:6834 39fa 21E0 ldi r18,lo8(4097)6835 39fc E216 cp r14,r186836 39fe 20E1 ldi r18,hi8(4097)6837 3a00 F206 cpc r15,r186838 3a02 20E0 ldi r18,hlo8(4097)6839 3a04 0207 cpc r16,r186840 3a06 20E0 ldi r18,hhi8(4097)6841 3a08 1207 cpc r17,r186842 3a0a 04F4 brge .+26843 3a0c 00C0 rjmp .L5526844 3a0e 8091 0000 lds r24,last_n_p.156845 3a12 8823 tst r246846 3a14 01F4 brne .+26847 3a16 00C0 rjmp .L5536848 3a18 D801 movw r26,r166849 3a1a C701 movw r24,r146850 3a1c 17FF sbrs r17,76851 3a1e 00C0 rjmp .L5546852 3a20 8827 clr r246853 3a22 9927 clr r256854 3a24 DC01 movw r26,r246855 3a26 8E19 sub r24,r146856 3a28 9F09 sbc r25,r156857 3a2a A00B sbc r26,r166858 3a2c B10B sbc r27,r176859 .L554:6860 3a2e 9C01 movw r18,r246861 3a30 AD01 movw r20,r266862 3a32 B7FF sbrs r27,76863 3a34 00C0 rjmp .L5556864 3a36 2150 subi r18,lo8(-(511))6865 3a38 3E4F sbci r19,hi8(-(511))6866 3a3a 4F4F sbci r20,hlo8(-(511))6867 3a3c 5F4F sbci r21,hhi8(-(511))6868 .L555:6869 3a3e F9E0 ldi r31,96870 3a40 5595 1: asr r216871 3a42 4795 ror r206872 3a44 3795 ror r196873 3a46 2795 ror r186874 3a48 FA95 dec r316875 3a4a 01F4 brne 1b6876 3a4c 8091 0000 lds r24,cnt.146877 3a50 9091 0000 lds r25,(cnt.14)+16878 3a54 820F add r24,r186879 3a56 931F adc r25,r196880 3a58 9093 0000 sts (cnt.14)+1,r256881 3a5c 8093 0000 sts cnt.14,r246882 3a60 D801 movw r26,r166883 3a62 C701 movw r24,r146884 3a64 17FF sbrs r17,76885 3a66 00C0 rjmp .L5566886 3a68 0796 adiw r24,76887 3a6a A11D adc r26,__zero_reg__6888 3a6c B11D adc r27,__zero_reg__6889 .L556:6890 3a6e E3E0 ldi r30,36891 3a70 B595 1: asr r276892 3a72 A795 ror r266893 3a74 9795 ror r256894 3a76 8795 ror r246895 3a78 EA95 dec r306896 3a7a 01F4 brne 1b6897 3a7c 8093 0000 sts ausgleichNick.10,r246898 3a80 9093 0000 sts (ausgleichNick.10)+1,r256899 3a84 A093 0000 sts (ausgleichNick.10)+2,r266900 3a88 B093 0000 sts (ausgleichNick.10)+3,r276901 3a8c 8958 subi r24,lo8(5001)6902 3a8e 9341 sbci r25,hi8(5001)6903 3a90 A040 sbci r26,hlo8(5001)6904 3a92 B040 sbci r27,hhi8(5001)6905 3a94 04F0 brlt .L5576906 3a96 88E8 ldi r24,lo8(5000)6907 3a98 93E1 ldi r25,hi8(5000)6908 3a9a A0E0 ldi r26,hlo8(5000)6909 3a9c B0E0 ldi r27,hhi8(5000)6910 3a9e 8093 0000 sts ausgleichNick.10,r246911 3aa2 9093 0000 sts (ausgleichNick.10)+1,r256912 3aa6 A093 0000 sts (ausgleichNick.10)+2,r266913 3aaa B093 0000 sts (ausgleichNick.10)+3,r276914 .L557:6915 3aae 2091 0000 lds r18,ausgleichNick.106916 3ab2 3091 0000 lds r19,(ausgleichNick.10)+16917 3ab6 4091 0000 lds r20,(ausgleichNick.10)+26918 3aba 5091 0000 lds r21,(ausgleichNick.10)+36919 3abe 57FF sbrs r21,76920 3ac0 00C0 rjmp .L5586921 3ac2 2150 subi r18,lo8(-(255))6922 3ac4 3F4F sbci r19,hi8(-(255))6923 3ac6 4F4F sbci r20,hlo8(-(255))6924 3ac8 5F4F sbci r21,hhi8(-(255))6925 .L558:6926 3aca 232F mov r18,r196927 3acc 342F mov r19,r206928 3ace 452F mov r20,r216929 3ad0 5527 clr r216930 3ad2 47FD sbrc r20,76931 3ad4 5A95 dec r216932 3ad6 8091 0000 lds r24,LageKorrekturNick6933 3ada 9091 0000 lds r25,(LageKorrekturNick)+16934 3ade 820F add r24,r186935 3ae0 931F adc r25,r196936 3ae2 9093 0000 sts (LageKorrekturNick)+1,r256937 3ae6 8093 0000 sts LageKorrekturNick,r246938 3aea 00C0 rjmp .L5606939 .L553:6940 3aec 81E0 ldi r24,lo8(1)6941 3aee 8093 0000 sts last_n_p.15,r246942 3af2 00C0 rjmp .L5606943 .L552:6944 3af4 1092 0000 sts last_n_p.15,__zero_reg__6945 .L560:6946 3af8 40E0 ldi r20,lo8(-4096)6947 3afa E416 cp r14,r206948 3afc 40EF ldi r20,hi8(-4096)6949 3afe F406 cpc r15,r206950 3b00 4FEF ldi r20,hlo8(-4096)6951 3b02 0407 cpc r16,r206952 3b04 4FEF ldi r20,hhi8(-4096)6953 3b06 1407 cpc r17,r206954 3b08 04F0 brlt .+26955 3b0a 00C0 rjmp .L5616956 3b0c 8091 0000 lds r24,last_n_n.166957 3b10 8823 tst r246958 3b12 01F4 brne .+26959 3b14 00C0 rjmp .L5626960 3b16 D801 movw r26,r166961 3b18 C701 movw r24,r146962 3b1a 17FF sbrs r17,76963 3b1c 00C0 rjmp .L5636964 3b1e 8827 clr r246965 3b20 9927 clr r256966 3b22 DC01 movw r26,r246967 3b24 8E19 sub r24,r146968 3b26 9F09 sbc r25,r156969 3b28 A00B sbc r26,r166970 3b2a B10B sbc r27,r176971 .L563:6972 3b2c 9C01 movw r18,r246973 3b2e AD01 movw r20,r266974 3b30 B7FF sbrs r27,76975 3b32 00C0 rjmp .L5646976 3b34 2150 subi r18,lo8(-(511))6977 3b36 3E4F sbci r19,hi8(-(511))6978 3b38 4F4F sbci r20,hlo8(-(511))6979 3b3a 5F4F sbci r21,hhi8(-(511))6980 .L564:6981 3b3c 69E0 ldi r22,96982 3b3e 5595 1: asr r216983 3b40 4795 ror r206984 3b42 3795 ror r196985 3b44 2795 ror r186986 3b46 6A95 dec r226987 3b48 01F4 brne 1b6988 3b4a 8091 0000 lds r24,cnt.146989 3b4e 9091 0000 lds r25,(cnt.14)+16990 3b52 820F add r24,r186991 3b54 931F adc r25,r196992 3b56 9093 0000 sts (cnt.14)+1,r256993 3b5a 8093 0000 sts cnt.14,r246994 3b5e D801 movw r26,r166995 3b60 C701 movw r24,r146996 3b62 17FF sbrs r17,76997 3b64 00C0 rjmp .L5656998 3b66 0796 adiw r24,76999 3b68 A11D adc r26,__zero_reg__7000 3b6a B11D adc r27,__zero_reg__7001 .L565:7002 3b6c 23E0 ldi r18,37003 3b6e B595 1: asr r277004 3b70 A795 ror r267005 3b72 9795 ror r257006 3b74 8795 ror r247007 3b76 2A95 dec r187008 3b78 01F4 brne 1b7009 3b7a 8093 0000 sts ausgleichNick.10,r247010 3b7e 9093 0000 sts (ausgleichNick.10)+1,r257011 3b82 A093 0000 sts (ausgleichNick.10)+2,r267012 3b86 B093 0000 sts (ausgleichNick.10)+3,r277013 3b8a 8857 subi r24,lo8(-5000)7014 3b8c 9C4E sbci r25,hi8(-5000)7015 3b8e AF4F sbci r26,hlo8(-5000)7016 3b90 BF4F sbci r27,hhi8(-5000)7017 3b92 04F4 brge .L5667018 3b94 88E7 ldi r24,lo8(-5000)7019 3b96 9CEE ldi r25,hi8(-5000)7020 3b98 AFEF ldi r26,hlo8(-5000)7021 3b9a BFEF ldi r27,hhi8(-5000)7022 3b9c 8093 0000 sts ausgleichNick.10,r247023 3ba0 9093 0000 sts (ausgleichNick.10)+1,r257024 3ba4 A093 0000 sts (ausgleichNick.10)+2,r267025 3ba8 B093 0000 sts (ausgleichNick.10)+3,r277026 .L566:7027 3bac 2091 0000 lds r18,ausgleichNick.107028 3bb0 3091 0000 lds r19,(ausgleichNick.10)+17029 3bb4 4091 0000 lds r20,(ausgleichNick.10)+27030 3bb8 5091 0000 lds r21,(ausgleichNick.10)+37031 3bbc 57FF sbrs r21,77032 3bbe 00C0 rjmp .L5677033 3bc0 2150 subi r18,lo8(-(255))7034 3bc2 3F4F sbci r19,hi8(-(255))7035 3bc4 4F4F sbci r20,hlo8(-(255))7036 3bc6 5F4F sbci r21,hhi8(-(255))7037 .L567:7038 3bc8 232F mov r18,r197039 3bca 342F mov r19,r207040 3bcc 452F mov r20,r217041 3bce 5527 clr r217042 3bd0 47FD sbrc r20,77043 3bd2 5A95 dec r217044 3bd4 8091 0000 lds r24,LageKorrekturNick7045 3bd8 9091 0000 lds r25,(LageKorrekturNick)+17046 3bdc 820F add r24,r187047 3bde 931F adc r25,r197048 3be0 9093 0000 sts (LageKorrekturNick)+1,r257049 3be4 8093 0000 sts LageKorrekturNick,r247050 3be8 00C0 rjmp .L5707051 .L562:7052 3bea 81E0 ldi r24,lo8(1)7053 3bec 8093 0000 sts last_n_n.16,r247054 3bf0 00C0 rjmp .L5707055 .L561:7056 3bf2 1092 0000 sts last_n_n.16,__zero_reg__7057 3bf6 00C0 rjmp .L5707058 .L550:7059 3bf8 1092 0000 sts (cnt.14)+1,__zero_reg__7060 3bfc 1092 0000 sts cnt.14,__zero_reg__7061 3c00 84E6 ldi r24,lo8(100)7062 3c02 90E0 ldi r25,hi8(100)7063 3c04 9093 0000 sts (KompassSignalSchlecht)+1,r257064 3c08 8093 0000 sts KompassSignalSchlecht,r247065 .L570:7066 3c0c 6889 ldd r22,Y+167067 3c0e 262F mov r18,r227068 3c10 3327 clr r197069 3c12 8091 0000 lds r24,cnt.147070 3c16 9091 0000 lds r25,(cnt.14)+17071 3c1a 2817 cp r18,r247072 3c1c 3907 cpc r19,r257073 3c1e 04F4 brge .L5717074 3c20 3093 0000 sts (cnt.14)+1,r197075 3c24 2093 0000 sts cnt.14,r187076 .L571:7077 3c28 1091 0000 lds r17,FromNaviCtrl_Value+17078 3c2c 1123 tst r177079 3c2e 01F0 breq .L5727080 3c30 212F mov r18,r177081 3c32 3327 clr r197082 3c34 27FD sbrc r18,77083 3c36 3095 com r197084 3c38 8091 0000 lds r24,cnt.147085 3c3c 9091 0000 lds r25,(cnt.14)+17086 3c40 2817 cp r18,r247087 3c42 3907 cpc r19,r257088 3c44 04F4 brge .L5727089 3c46 3093 0000 sts (cnt.14)+1,r197090 3c4a 2093 0000 sts cnt.14,r187091 .L572:7092 3c4e 4091 0000 lds r20,IntegralFehlerNick.37093 3c52 5091 0000 lds r21,(IntegralFehlerNick.3)+17094 3c56 6091 0000 lds r22,(IntegralFehlerNick.3)+27095 3c5a 7091 0000 lds r23,(IntegralFehlerNick.3)+37096 3c5e 4138 cpi r20,lo8(129)7097 3c60 5105 cpc r21,__zero_reg__7098 3c62 6105 cpc r22,__zero_reg__7099 3c64 7105 cpc r23,__zero_reg__7100 3c66 04F0 brlt .L5747101 3c68 8091 0000 lds r24,AdNeutralNick7102 3c6c 9091 0000 lds r25,(AdNeutralNick)+17103 3c70 2091 0000 lds r18,cnt.147104 3c74 3091 0000 lds r19,(cnt.14)+17105 3c78 820F add r24,r187106 3c7a 931F adc r25,r197107 3c7c 9093 0000 sts (AdNeutralNick)+1,r257108 3c80 8093 0000 sts AdNeutralNick,r247109 .L574:7110 3c84 4058 subi r20,lo8(-128)7111 3c86 5F4F sbci r21,hi8(-128)7112 3c88 6F4F sbci r22,hlo8(-128)7113 3c8a 7F4F sbci r23,hhi8(-128)7114 3c8c 04F4 brge .L5757115 3c8e 8091 0000 lds r24,AdNeutralNick7116 3c92 9091 0000 lds r25,(AdNeutralNick)+17117 3c96 2091 0000 lds r18,cnt.147118 3c9a 3091 0000 lds r19,(cnt.14)+17119 3c9e 821B sub r24,r187120 3ca0 930B sbc r25,r197121 3ca2 9093 0000 sts (AdNeutralNick)+1,r257122 3ca6 8093 0000 sts AdNeutralNick,r247123 .L575:7124 3caa 81E0 ldi r24,lo8(1)7125 3cac 90E0 ldi r25,hi8(1)7126 3cae 9093 0000 sts (cnt.14)+1,r257127 3cb2 8093 0000 sts cnt.14,r247128 3cb6 C090 0000 lds r12,IntegralFehlerRoll.47129 3cba D090 0000 lds r13,(IntegralFehlerRoll.4)+17130 3cbe E090 0000 lds r14,(IntegralFehlerRoll.4)+27131 3cc2 F090 0000 lds r15,(IntegralFehlerRoll.4)+37132 3cc6 D701 movw r26,r147133 3cc8 C601 movw r24,r127134 3cca F7FE sbrs r15,77135 3ccc 00C0 rjmp .L5777136 3cce 8827 clr r247137 3cd0 9927 clr r257138 3cd2 DC01 movw r26,r247139 3cd4 8C19 sub r24,r127140 3cd6 9D09 sbc r25,r137141 3cd8 AE09 sbc r26,r147142 3cda BF09 sbc r27,r157143 .L577:7144 3cdc 8150 subi r24,lo8(513)7145 3cde 9240 sbci r25,hi8(513)7146 3ce0 A040 sbci r26,hlo8(513)7147 3ce2 B040 sbci r27,hhi8(513)7148 3ce4 04F0 brlt .L5767149 3ce6 84E0 ldi r24,lo8(4)7150 3ce8 90E0 ldi r25,hi8(4)7151 3cea 9093 0000 sts (cnt.14)+1,r257152 3cee 8093 0000 sts cnt.14,r247153 .L576:7154 3cf2 8091 0000 lds r24,MittelIntegralRoll_Alt.207155 3cf6 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17156 3cfa A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27157 3cfe B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37158 3d02 2091 0000 lds r18,MittelIntegralRoll7159 3d06 3091 0000 lds r19,(MittelIntegralRoll)+17160 3d0a 4091 0000 lds r20,(MittelIntegralRoll)+27161 3d0e 5091 0000 lds r21,(MittelIntegralRoll)+37162 3d12 821B sub r24,r187163 3d14 930B sbc r25,r197164 3d16 A40B sbc r26,r207165 3d18 B50B sbc r27,r217166 3d1a 815E subi r24,lo8(-(19999))7167 3d1c 914B sbci r25,hi8(-(19999))7168 3d1e AF4F sbci r26,hlo8(-(19999))7169 3d20 BF4F sbci r27,hhi8(-(19999))7170 3d22 8F53 subi r24,lo8(39999)7171 3d24 9C49 sbci r25,hi8(39999)7172 3d26 A040 sbci r26,hlo8(39999)7173 3d28 B040 sbci r27,hhi8(39999)7174 3d2a 00F0 brlo .L5797175 3d2c 1931 cpi r17,lo8(25)7176 3d2e 04F4 brge .+27177 3d30 00C0 rjmp .L5787178 .L579:7179 3d32 01E0 ldi r16,lo8(4097)7180 3d34 C016 cp r12,r167181 3d36 00E1 ldi r16,hi8(4097)7182 3d38 D006 cpc r13,r167183 3d3a 00E0 ldi r16,hlo8(4097)7184 3d3c E006 cpc r14,r167185 3d3e 00E0 ldi r16,hhi8(4097)7186 3d40 F006 cpc r15,r167187 3d42 04F4 brge .+27188 3d44 00C0 rjmp .L5807189 3d46 8091 0000 lds r24,last_r_p.177190 3d4a 8823 tst r247191 3d4c 01F4 brne .+27192 3d4e 00C0 rjmp .L5817193 3d50 D701 movw r26,r147194 3d52 C601 movw r24,r127195 3d54 F7FE sbrs r15,77196 3d56 00C0 rjmp .L5827197 3d58 8827 clr r247198 3d5a 9927 clr r257199 3d5c DC01 movw r26,r247200 3d5e 8C19 sub r24,r127201 3d60 9D09 sbc r25,r137202 3d62 AE09 sbc r26,r147203 3d64 BF09 sbc r27,r157204 .L582:7205 3d66 9C01 movw r18,r247206 3d68 AD01 movw r20,r267207 3d6a B7FF sbrs r27,77208 3d6c 00C0 rjmp .L5837209 3d6e 2150 subi r18,lo8(-(511))7210 3d70 3E4F sbci r19,hi8(-(511))7211 3d72 4F4F sbci r20,hlo8(-(511))7212 3d74 5F4F sbci r21,hhi8(-(511))7213 .L583:7214 3d76 09E0 ldi r16,97215 3d78 5595 1: asr r217216 3d7a 4795 ror r207217 3d7c 3795 ror r197218 3d7e 2795 ror r187219 3d80 0A95 dec r167220 3d82 01F4 brne 1b7221 3d84 8091 0000 lds r24,cnt.147222 3d88 9091 0000 lds r25,(cnt.14)+17223 3d8c 820F add r24,r187224 3d8e 931F adc r25,r197225 3d90 9093 0000 sts (cnt.14)+1,r257226 3d94 8093 0000 sts cnt.14,r247227 3d98 D701 movw r26,r147228 3d9a C601 movw r24,r127229 3d9c F7FE sbrs r15,77230 3d9e 00C0 rjmp .L5847231 3da0 0796 adiw r24,77232 3da2 A11D adc r26,__zero_reg__7233 3da4 B11D adc r27,__zero_reg__7234 .L584:7235 3da6 13E0 ldi r17,37236 3da8 B595 1: asr r277237 3daa A795 ror r267238 3dac 9795 ror r257239 3dae 8795 ror r247240 3db0 1A95 dec r177241 3db2 01F4 brne 1b7242 3db4 8093 0000 sts ausgleichRoll.11,r247243 3db8 9093 0000 sts (ausgleichRoll.11)+1,r257244 3dbc A093 0000 sts (ausgleichRoll.11)+2,r267245 3dc0 B093 0000 sts (ausgleichRoll.11)+3,r277246 3dc4 8958 subi r24,lo8(5001)7247 3dc6 9341 sbci r25,hi8(5001)7248 3dc8 A040 sbci r26,hlo8(5001)7249 3dca B040 sbci r27,hhi8(5001)7250 3dcc 04F0 brlt .L5857251 3dce 88E8 ldi r24,lo8(5000)7252 3dd0 93E1 ldi r25,hi8(5000)7253 3dd2 A0E0 ldi r26,hlo8(5000)7254 3dd4 B0E0 ldi r27,hhi8(5000)7255 3dd6 8093 0000 sts ausgleichRoll.11,r247256 3dda 9093 0000 sts (ausgleichRoll.11)+1,r257257 3dde A093 0000 sts (ausgleichRoll.11)+2,r267258 3de2 B093 0000 sts (ausgleichRoll.11)+3,r277259 .L585:7260 3de6 2091 0000 lds r18,ausgleichRoll.117261 3dea 3091 0000 lds r19,(ausgleichRoll.11)+17262 3dee 4091 0000 lds r20,(ausgleichRoll.11)+27263 3df2 5091 0000 lds r21,(ausgleichRoll.11)+37264 3df6 57FF sbrs r21,77265 3df8 00C0 rjmp .L5867266 3dfa 2150 subi r18,lo8(-(255))7267 3dfc 3F4F sbci r19,hi8(-(255))7268 3dfe 4F4F sbci r20,hlo8(-(255))7269 3e00 5F4F sbci r21,hhi8(-(255))7270 .L586:7271 3e02 232F mov r18,r197272 3e04 342F mov r19,r207273 3e06 452F mov r20,r217274 3e08 5527 clr r217275 3e0a 47FD sbrc r20,77276 3e0c 5A95 dec r217277 3e0e 8091 0000 lds r24,LageKorrekturRoll7278 3e12 9091 0000 lds r25,(LageKorrekturRoll)+17279 3e16 820F add r24,r187280 3e18 931F adc r25,r197281 3e1a 9093 0000 sts (LageKorrekturRoll)+1,r257282 3e1e 8093 0000 sts LageKorrekturRoll,r247283 3e22 00C0 rjmp .L5887284 .L581:7285 3e24 81E0 ldi r24,lo8(1)7286 3e26 8093 0000 sts last_r_p.17,r247287 3e2a 00C0 rjmp .L5887288 .L580:7289 3e2c 1092 0000 sts last_r_p.17,__zero_reg__7290 .L588:7291 3e30 20E0 ldi r18,lo8(-4096)7292 3e32 C216 cp r12,r187293 3e34 20EF ldi r18,hi8(-4096)7294 3e36 D206 cpc r13,r187295 3e38 2FEF ldi r18,hlo8(-4096)7296 3e3a E206 cpc r14,r187297 3e3c 2FEF ldi r18,hhi8(-4096)7298 3e3e F206 cpc r15,r187299 3e40 04F0 brlt .+27300 3e42 00C0 rjmp .L5897301 3e44 8091 0000 lds r24,last_r_n.187302 3e48 8823 tst r247303 3e4a 01F4 brne .+27304 3e4c 00C0 rjmp .L5907305 3e4e D701 movw r26,r147306 3e50 C601 movw r24,r127307 3e52 F7FE sbrs r15,77308 3e54 00C0 rjmp .L5917309 3e56 8827 clr r247310 3e58 9927 clr r257311 3e5a DC01 movw r26,r247312 3e5c 8C19 sub r24,r127313 3e5e 9D09 sbc r25,r137314 3e60 AE09 sbc r26,r147315 3e62 BF09 sbc r27,r157316 .L591:7317 3e64 9C01 movw r18,r247318 3e66 AD01 movw r20,r267319 3e68 B7FF sbrs r27,77320 3e6a 00C0 rjmp .L5927321 3e6c 2150 subi r18,lo8(-(511))7322 3e6e 3E4F sbci r19,hi8(-(511))7323 3e70 4F4F sbci r20,hlo8(-(511))7324 3e72 5F4F sbci r21,hhi8(-(511))7325 .L592:7326 3e74 E9E0 ldi r30,97327 3e76 5595 1: asr r217328 3e78 4795 ror r207329 3e7a 3795 ror r197330 3e7c 2795 ror r187331 3e7e EA95 dec r307332 3e80 01F4 brne 1b7333 3e82 8091 0000 lds r24,cnt.147334 3e86 9091 0000 lds r25,(cnt.14)+17335 3e8a 820F add r24,r187336 3e8c 931F adc r25,r197337 3e8e 9093 0000 sts (cnt.14)+1,r257338 3e92 8093 0000 sts cnt.14,r247339 3e96 D701 movw r26,r147340 3e98 C601 movw r24,r127341 3e9a F7FE sbrs r15,77342 3e9c 00C0 rjmp .L5937343 3e9e 0796 adiw r24,77344 3ea0 A11D adc r26,__zero_reg__7345 3ea2 B11D adc r27,__zero_reg__7346 .L593:7347 3ea4 73E0 ldi r23,37348 3ea6 B595 1: asr r277349 3ea8 A795 ror r267350 3eaa 9795 ror r257351 3eac 8795 ror r247352 3eae 7A95 dec r237353 3eb0 01F4 brne 1b7354 3eb2 8093 0000 sts ausgleichRoll.11,r247355 3eb6 9093 0000 sts (ausgleichRoll.11)+1,r257356 3eba A093 0000 sts (ausgleichRoll.11)+2,r267357 3ebe B093 0000 sts (ausgleichRoll.11)+3,r277358 3ec2 8857 subi r24,lo8(-5000)7359 3ec4 9C4E sbci r25,hi8(-5000)7360 3ec6 AF4F sbci r26,hlo8(-5000)7361 3ec8 BF4F sbci r27,hhi8(-5000)7362 3eca 04F4 brge .L5947363 3ecc 88E7 ldi r24,lo8(-5000)7364 3ece 9CEE ldi r25,hi8(-5000)7365 3ed0 AFEF ldi r26,hlo8(-5000)7366 3ed2 BFEF ldi r27,hhi8(-5000)7367 3ed4 8093 0000 sts ausgleichRoll.11,r247368 3ed8 9093 0000 sts (ausgleichRoll.11)+1,r257369 3edc A093 0000 sts (ausgleichRoll.11)+2,r267370 3ee0 B093 0000 sts (ausgleichRoll.11)+3,r277371 .L594:7372 3ee4 2091 0000 lds r18,ausgleichRoll.117373 3ee8 3091 0000 lds r19,(ausgleichRoll.11)+17374 3eec 4091 0000 lds r20,(ausgleichRoll.11)+27375 3ef0 5091 0000 lds r21,(ausgleichRoll.11)+37376 3ef4 57FF sbrs r21,77377 3ef6 00C0 rjmp .L5957378 3ef8 2150 subi r18,lo8(-(255))7379 3efa 3F4F sbci r19,hi8(-(255))7380 3efc 4F4F sbci r20,hlo8(-(255))7381 3efe 5F4F sbci r21,hhi8(-(255))7382 .L595:7383 3f00 232F mov r18,r197384 3f02 342F mov r19,r207385 3f04 452F mov r20,r217386 3f06 5527 clr r217387 3f08 47FD sbrc r20,77388 3f0a 5A95 dec r217389 3f0c 8091 0000 lds r24,LageKorrekturRoll7390 3f10 9091 0000 lds r25,(LageKorrekturRoll)+17391 3f14 820F add r24,r187392 3f16 931F adc r25,r197393 3f18 9093 0000 sts (LageKorrekturRoll)+1,r257394 3f1c 8093 0000 sts LageKorrekturRoll,r247395 3f20 00C0 rjmp .L5987396 .L590:7397 3f22 81E0 ldi r24,lo8(1)7398 3f24 8093 0000 sts last_r_n.18,r247399 3f28 00C0 rjmp .L5987400 .L589:7401 3f2a 1092 0000 sts last_r_n.18,__zero_reg__7402 3f2e 00C0 rjmp .L5987403 .L578:7404 3f30 1092 0000 sts (cnt.14)+1,__zero_reg__7405 3f34 1092 0000 sts cnt.14,__zero_reg__7406 3f38 84E6 ldi r24,lo8(100)7407 3f3a 90E0 ldi r25,hi8(100)7408 3f3c 9093 0000 sts (KompassSignalSchlecht)+1,r257409 3f40 8093 0000 sts KompassSignalSchlecht,r247410 .L598:7411 3f44 4889 ldd r20,Y+167412 3f46 242F mov r18,r207413 3f48 3327 clr r197414 3f4a 8091 0000 lds r24,cnt.147415 3f4e 9091 0000 lds r25,(cnt.14)+17416 3f52 2817 cp r18,r247417 3f54 3907 cpc r19,r257418 3f56 04F4 brge .L5997419 3f58 3093 0000 sts (cnt.14)+1,r197420 3f5c 2093 0000 sts cnt.14,r187421 .L599:7422 3f60 8091 0000 lds r24,FromNaviCtrl_Value+17423 3f64 8823 tst r247424 3f66 01F0 breq .L6007425 3f68 282F mov r18,r247426 3f6a 3327 clr r197427 3f6c 27FD sbrc r18,77428 3f6e 3095 com r197429 3f70 8091 0000 lds r24,cnt.147430 3f74 9091 0000 lds r25,(cnt.14)+17431 3f78 2817 cp r18,r247432 3f7a 3907 cpc r19,r257433 3f7c 04F4 brge .L6007434 3f7e 3093 0000 sts (cnt.14)+1,r197435 3f82 2093 0000 sts cnt.14,r187436 .L600:7437 3f86 4091 0000 lds r20,IntegralFehlerRoll.47438 3f8a 5091 0000 lds r21,(IntegralFehlerRoll.4)+17439 3f8e 6091 0000 lds r22,(IntegralFehlerRoll.4)+27440 3f92 7091 0000 lds r23,(IntegralFehlerRoll.4)+37441 3f96 4138 cpi r20,lo8(129)7442 3f98 5105 cpc r21,__zero_reg__7443 3f9a 6105 cpc r22,__zero_reg__7444 3f9c 7105 cpc r23,__zero_reg__7445 3f9e 04F0 brlt .L6027446 3fa0 8091 0000 lds r24,AdNeutralRoll7447 3fa4 9091 0000 lds r25,(AdNeutralRoll)+17448 3fa8 2091 0000 lds r18,cnt.147449 3fac 3091 0000 lds r19,(cnt.14)+17450 3fb0 820F add r24,r187451 3fb2 931F adc r25,r197452 3fb4 9093 0000 sts (AdNeutralRoll)+1,r257453 3fb8 8093 0000 sts AdNeutralRoll,r247454 .L602:7455 3fbc 4058 subi r20,lo8(-128)7456 3fbe 5F4F sbci r21,hi8(-128)7457 3fc0 6F4F sbci r22,hlo8(-128)7458 3fc2 7F4F sbci r23,hhi8(-128)7459 3fc4 04F4 brge .L6047460 3fc6 8091 0000 lds r24,AdNeutralRoll7461 3fca 9091 0000 lds r25,(AdNeutralRoll)+17462 3fce 2091 0000 lds r18,cnt.147463 3fd2 3091 0000 lds r19,(cnt.14)+17464 3fd6 821B sub r24,r187465 3fd8 930B sbc r25,r197466 3fda 9093 0000 sts (AdNeutralRoll)+1,r257467 3fde 8093 0000 sts AdNeutralRoll,r247468 3fe2 00C0 rjmp .L6047469 .L530:7470 3fe4 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7471 3fe8 1092 0000 sts LageKorrekturRoll,__zero_reg__7472 3fec 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7473 3ff0 1092 0000 sts LageKorrekturNick,__zero_reg__7474 3ff4 1092 0000 sts TrichterFlug,__zero_reg__7475 .L604:7476 3ff8 8091 0000 lds r24,IntegralFaktor7477 3ffc 8823 tst r247478 3ffe 01F4 brne .L6057479 4000 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7480 4004 1092 0000 sts LageKorrekturRoll,__zero_reg__7481 4008 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7482 400c 1092 0000 sts LageKorrekturNick,__zero_reg__7483 .L605:7484 4010 8091 0000 lds r24,MittelIntegralNick7485 4014 9091 0000 lds r25,(MittelIntegralNick)+17486 4018 A091 0000 lds r26,(MittelIntegralNick)+27487 401c B091 0000 lds r27,(MittelIntegralNick)+37488 4020 8093 0000 sts MittelIntegralNick_Alt.19,r247489 4024 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257490 4028 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267491 402c B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277492 4030 8091 0000 lds r24,MittelIntegralRoll7493 4034 9091 0000 lds r25,(MittelIntegralRoll)+17494 4038 A091 0000 lds r26,(MittelIntegralRoll)+27495 403c B091 0000 lds r27,(MittelIntegralRoll)+37496 4040 8093 0000 sts MittelIntegralRoll_Alt.20,r247497 4044 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257498 4048 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267499 404c B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277500 4050 1092 0000 sts IntegralAccNick,__zero_reg__7501 4054 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7502 4058 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7503 405c 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7504 4060 1092 0000 sts IntegralAccRoll,__zero_reg__7505 4064 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7506 4068 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7507 406c 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7508 4070 1092 0000 sts IntegralAccZ,__zero_reg__7509 4074 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7510 4078 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7511 407c 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7512 4080 1092 0000 sts MittelIntegralNick,__zero_reg__7513 4084 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7514 4088 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7515 408c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7516 4090 1092 0000 sts MittelIntegralRoll,__zero_reg__7517 4094 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7518 4098 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7519 409c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7520 40a0 1092 0000 sts MittelIntegralNick2,__zero_reg__7521 40a4 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7522 40a8 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7523 40ac 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7524 40b0 1092 0000 sts MittelIntegralRoll2,__zero_reg__7525 40b4 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7526 40b8 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7527 40bc 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7528 40c0 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7529 40c4 1092 0000 sts ZaehlMessungen,__zero_reg__7530 .L529:7531 40c8 E090 0000 lds r14,StickGier7532 40cc F090 0000 lds r15,(StickGier)+17533 40d0 C701 movw r24,r147534 40d2 F7FE sbrs r15,77535 40d4 00C0 rjmp .L6077536 40d6 8827 clr r247537 40d8 9927 clr r257538 40da 8E19 sub r24,r147539 40dc 9F09 sbc r25,r157540 .L607:7541 40de 0497 sbiw r24,47542 40e0 04F0 brlt .L6067543 40e2 8091 0000 lds r24,Parameter_GlobalConfig7544 40e6 84FD sbrc r24,47545 40e8 00C0 rjmp .L6067546 40ea 82E3 ldi r24,lo8(50)7547 40ec 8093 0000 sts NeueKompassRichtungMerken,r247548 .L606:7549 40f0 1091 0000 lds r17,EE_Parameter+257550 40f4 A12E mov r10,r177551 40f6 BB24 clr r117552 40f8 CC24 clr r127553 40fa DD24 clr r137554 40fc B701 movw r22,r147555 40fe 8827 clr r247556 4100 77FD sbrc r23,77557 4102 8095 com r247558 4104 982F mov r25,r247559 4106 9701 movw r18,r147560 4108 F7FE sbrs r15,77561 410a 00C0 rjmp .L6097562 410c 2227 clr r187563 410e 3327 clr r197564 4110 2E19 sub r18,r147565 4112 3F09 sbc r19,r157566 .L609:7567 4114 4427 clr r207568 4116 37FD sbrc r19,77569 4118 4095 com r207570 411a 542F mov r21,r207571 411c 0E94 0000 call __mulsi37572 4120 9B01 movw r18,r227573 4122 AC01 movw r20,r247574 4124 C601 movw r24,r127575 4126 B501 movw r22,r107576 4128 0E94 0000 call __mulsi37577 412c 97FF sbrs r25,77578 412e 00C0 rjmp .L6107579 4130 6150 subi r22,lo8(-(511))7580 4132 7E4F sbci r23,hi8(-(511))7581 4134 8F4F sbci r24,hlo8(-(511))7582 4136 9F4F sbci r25,hhi8(-(511))7583 .L610:7584 4138 59E0 ldi r21,97585 413a 9595 1: asr r257586 413c 8795 ror r247587 413e 7795 ror r237588 4140 6795 ror r227589 4142 5A95 dec r217590 4144 01F4 brne 1b7591 4146 9B01 movw r18,r227592 4148 812F mov r24,r177593 414a 9927 clr r257594 414c 8E9D mul r24,r147595 414e D001 movw r26,r07596 4150 8F9D mul r24,r157597 4152 B00D add r27,r07598 4154 9E9D mul r25,r147599 4156 B00D add r27,r07600 4158 1124 clr r17601 415a CD01 movw r24,r267602 415c B7FD sbrc r27,77603 415e 0396 adiw r24,37604 .L611:7605 4160 9595 asr r257606 4162 8795 ror r247607 4164 9595 asr r257608 4166 8795 ror r247609 4168 280F add r18,r247610 416a 391F adc r19,r257611 416c 8091 0000 lds r24,CompassGierSetpoint7612 4170 9091 0000 lds r25,(CompassGierSetpoint)+17613 4174 280F add r18,r247614 4176 391F adc r19,r257615 4178 4427 clr r207616 417a 37FD sbrc r19,77617 417c 4095 com r207618 417e 542F mov r21,r207619 4180 2093 0000 sts sollGier.0,r187620 4184 3093 0000 sts (sollGier.0)+1,r197621 4188 4093 0000 sts (sollGier.0)+2,r207622 418c 5093 0000 sts (sollGier.0)+3,r217623 4190 8091 0000 lds r24,Mess_Integral_Gier7624 4194 9091 0000 lds r25,(Mess_Integral_Gier)+17625 4198 A091 0000 lds r26,(Mess_Integral_Gier)+27626 419c B091 0000 lds r27,(Mess_Integral_Gier)+37627 41a0 821B sub r24,r187628 41a2 930B sbc r25,r197629 41a4 A40B sbc r26,r207630 41a6 B50B sbc r27,r217631 41a8 8093 0000 sts Mess_Integral_Gier,r247632 41ac 9093 0000 sts (Mess_Integral_Gier)+1,r257633 41b0 A093 0000 sts (Mess_Integral_Gier)+2,r267634 41b4 B093 0000 sts (Mess_Integral_Gier)+3,r277635 41b8 8155 subi r24,lo8(50001)7636 41ba 934C sbci r25,hi8(50001)7637 41bc A040 sbci r26,hlo8(50001)7638 41be B040 sbci r27,hhi8(50001)7639 41c0 04F0 brlt .L6127640 41c2 80E5 ldi r24,lo8(50000)7641 41c4 93EC ldi r25,hi8(50000)7642 41c6 A0E0 ldi r26,hlo8(50000)7643 41c8 B0E0 ldi r27,hhi8(50000)7644 41ca 8093 0000 sts Mess_Integral_Gier,r247645 41ce 9093 0000 sts (Mess_Integral_Gier)+1,r257646 41d2 A093 0000 sts (Mess_Integral_Gier)+2,r267647 41d6 B093 0000 sts (Mess_Integral_Gier)+3,r277648 .L612:7649 41da 8091 0000 lds r24,Mess_Integral_Gier7650 41de 9091 0000 lds r25,(Mess_Integral_Gier)+17651 41e2 A091 0000 lds r26,(Mess_Integral_Gier)+27652 41e6 B091 0000 lds r27,(Mess_Integral_Gier)+37653 41ea 805B subi r24,lo8(-50000)7654 41ec 9C43 sbci r25,hi8(-50000)7655 41ee AF4F sbci r26,hlo8(-50000)7656 41f0 BF4F sbci r27,hhi8(-50000)7657 41f2 04F4 brge .L6137658 41f4 80EB ldi r24,lo8(-50000)7659 41f6 9CE3 ldi r25,hi8(-50000)7660 41f8 AFEF ldi r26,hlo8(-50000)7661 41fa BFEF ldi r27,hhi8(-50000)7662 41fc 8093 0000 sts Mess_Integral_Gier,r247663 4200 9093 0000 sts (Mess_Integral_Gier)+1,r257664 4204 A093 0000 sts (Mess_Integral_Gier)+2,r267665 4208 B093 0000 sts (Mess_Integral_Gier)+3,r277666 .L613:7667 420c 0091 0000 lds r16,KompassValue7668 4210 1091 0000 lds r17,(KompassValue)+17669 4214 17FD sbrc r17,77670 4216 00C0 rjmp .L6147671 4218 8091 0000 lds r24,Parameter_GlobalConfig7672 421c 83FF sbrs r24,37673 421e 00C0 rjmp .L6147674 4220 8091 0000 lds r24,CalculateCompassTimer7675 4224 8150 subi r24,lo8(-(-1))7676 4226 8093 0000 sts CalculateCompassTimer,r247677 422a 8823 tst r247678 422c 01F0 breq .+27679 422e 00C0 rjmp .L6317680 4230 8DE0 ldi r24,lo8(13)7681 4232 8093 0000 sts CalculateCompassTimer,r247682 4236 8091 0000 lds r24,IntegralNick7683 423a 9091 0000 lds r25,(IntegralNick)+17684 423e A091 0000 lds r26,(IntegralNick)+27685 4242 B091 0000 lds r27,(IntegralNick)+37686 4246 B7FF sbrs r27,77687 4248 00C0 rjmp .L6167688 424a 8150 subi r24,lo8(-(511))7689 424c 9E4F sbci r25,hi8(-(511))7690 424e AF4F sbci r26,hlo8(-(511))7691 4250 BF4F sbci r27,hhi8(-(511))7692 .L616:7693 4252 39E0 ldi r19,97694 4254 B595 1: asr r277695 4256 A795 ror r267696 4258 9795 ror r257697 425a 8795 ror r247698 425c 3A95 dec r197699 425e 01F4 brne 1b7700 4260 7C01 movw r14,r247701 4262 97FF sbrs r25,77702 4264 00C0 rjmp .L6177703 4266 F094 com r157704 4268 E194 neg r147705 426a F108 sbc r15,__zero_reg__7706 426c F394 inc r157707 .L617:7708 426e 8091 0000 lds r24,IntegralRoll7709 4272 9091 0000 lds r25,(IntegralRoll)+17710 4276 A091 0000 lds r26,(IntegralRoll)+27711 427a B091 0000 lds r27,(IntegralRoll)+37712 427e B7FF sbrs r27,77713 4280 00C0 rjmp .L6187714 4282 8150 subi r24,lo8(-(511))7715 4284 9E4F sbci r25,hi8(-(511))7716 4286 AF4F sbci r26,hlo8(-(511))7717 4288 BF4F sbci r27,hhi8(-(511))7718 .L618:7719 428a 29E0 ldi r18,97720 428c B595 1: asr r277721 428e A795 ror r267722 4290 9795 ror r257723 4292 8795 ror r247724 4294 2A95 dec r187725 4296 01F4 brne 1b7726 4298 9C01 movw r18,r247727 429a 97FF sbrs r25,77728 429c 00C0 rjmp .L6197729 429e 3095 com r197730 42a0 2195 neg r187731 42a2 3F4F sbci r19,lo8(-1)7732 .L619:7733 42a4 E216 cp r14,r187734 42a6 F306 cpc r15,r197735 42a8 04F4 brge .L6207736 42aa 7901 movw r14,r187737 .L620:7738 42ac B701 movw r22,r147739 42ae F7FE sbrs r15,77740 42b0 00C0 rjmp .L6217741 42b2 695F subi r22,lo8(-(7))7742 42b4 7F4F sbci r23,hi8(-(7))7743 .L621:7744 42b6 2B01 movw r4,r227745 42b8 A3E0 ldi r26,37746 42ba 5594 1: asr r57747 42bc 4794 ror r47748 42be AA95 dec r267749 42c0 01F4 brne 1b7750 42c2 22E0 ldi r18,lo8(2)7751 42c4 30E0 ldi r19,hi8(2)7752 42c6 420E add r4,r187753 42c8 531E adc r5,r197754 42ca 6090 0000 lds r6,ErsatzKompass7755 42ce 7090 0000 lds r7,(ErsatzKompass)+17756 42d2 8090 0000 lds r8,(ErsatzKompass)+27757 42d6 9090 0000 lds r9,(ErsatzKompass)+37758 42da 2091 0000 lds r18,GIER_GRAD_FAKTOR7759 42de 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17760 42e2 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27761 42e6 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37762 42ea C401 movw r24,r87763 42ec B301 movw r22,r67764 42ee 0E94 0000 call __divmodsi47765 42f2 5901 movw r10,r187766 42f4 6A01 movw r12,r207767 42f6 3093 0000 sts (ErsatzKompassInGrad)+1,r197768 42fa 2093 0000 sts ErsatzKompassInGrad,r187769 42fe 021B sub r16,r187770 4300 130B sbc r17,r197771 4302 C801 movw r24,r167772 4304 845E subi r24,lo8(-(540))7773 4306 9D4F sbci r25,hi8(-(540))7774 4308 68E6 ldi r22,lo8(360)7775 430a 71E0 ldi r23,hi8(360)7776 430c 0E94 0000 call __divmodhi47777 4310 9C01 movw r18,r247778 4312 245B subi r18,lo8(-(-180))7779 4314 3040 sbci r19,hi8(-(-180))7780 4316 8091 0000 lds r24,KompassSignalSchlecht7781 431a 9091 0000 lds r25,(KompassSignalSchlecht)+17782 431e 0097 sbiw r24,07783 4320 01F0 breq .L6227784 4322 0197 sbiw r24,17785 4324 9093 0000 sts (KompassSignalSchlecht)+1,r257786 4328 8093 0000 sts KompassSignalSchlecht,r247787 432c 00C0 rjmp .L6237788 .L622:7789 432e 49E1 ldi r20,lo8(25)7790 4330 E416 cp r14,r207791 4332 F104 cpc r15,__zero_reg__7792 4334 04F4 brge .L6237793 4336 8091 0000 lds r24,GierGyroFehler7794 433a 9091 0000 lds r25,(GierGyroFehler)+17795 433e 820F add r24,r187796 4340 931F adc r25,r197797 4342 9093 0000 sts (GierGyroFehler)+1,r257798 4346 8093 0000 sts GierGyroFehler,r247799 434a 8091 0000 lds r24,NeueKompassRichtungMerken7800 434e 8823 tst r247801 4350 01F0 breq .L6237802 4352 8150 subi r24,lo8(-(-1))7803 4354 8093 0000 sts NeueKompassRichtungMerken,r247804 4358 8823 tst r247805 435a 01F4 brne .L6237806 435c B092 0000 sts (KompassSollWert)+1,r117807 4360 A092 0000 sts KompassSollWert,r107808 .L623:7809 4364 8091 0000 lds r24,KompassSignalSchlecht7810 4368 9091 0000 lds r25,(KompassSignalSchlecht)+17811 436c 892B or r24,r257812 436e 01F4 brne .L6277813 4370 8091 0000 lds r24,KompassFusion7814 4374 9927 clr r257815 4376 289F mul r18,r247816 4378 B001 movw r22,r07817 437a 299F mul r18,r257818 437c 700D add r23,r07819 437e 389F mul r19,r247820 4380 700D add r23,r07821 4382 1124 clr r17822 4384 CB01 movw r24,r227823 4386 B201 movw r22,r47824 4388 0E94 0000 call __divmodhi47825 438c CB01 movw r24,r227826 438e AA27 clr r267827 4390 97FD sbrc r25,77828 4392 A095 com r267829 4394 BA2F mov r27,r267830 4396 680E add r6,r247831 4398 791E adc r7,r257832 439a 8A1E adc r8,r267833 439c 9B1E adc r9,r277834 439e 6092 0000 sts ErsatzKompass,r67835 43a2 7092 0000 sts (ErsatzKompass)+1,r77836 43a6 8092 0000 sts (ErsatzKompass)+2,r87837 43aa 9092 0000 sts (ErsatzKompass)+3,r97838 .L627:7839 43ae 8091 0000 lds r24,NeueKompassRichtungMerken7840 43b2 8823 tst r247841 43b4 01F4 brne .L6147842 43b6 8091 0000 lds r24,KompassSollWert7843 43ba 9091 0000 lds r25,(KompassSollWert)+17844 43be 2091 0000 lds r18,ErsatzKompassInGrad7845 43c2 3091 0000 lds r19,(ErsatzKompassInGrad)+17846 43c6 821B sub r24,r187847 43c8 930B sbc r25,r197848 43ca 845E subi r24,lo8(-(540))7849 43cc 9D4F sbci r25,hi8(-(540))7850 43ce 68E6 ldi r22,lo8(360)7851 43d0 71E0 ldi r23,hi8(360)7852 43d2 0E94 0000 call __divmodhi47853 43d6 9C01 movw r18,r247854 43d8 245B subi r18,lo8(-(-180))7855 43da 3040 sbci r19,hi8(-(-180))7856 43dc 8091 0000 lds r24,Parameter_KompassWirkung7857 43e0 8695 lsr r247858 43e2 9927 clr r257859 43e4 289F mul r18,r247860 43e6 D001 movw r26,r07861 43e8 299F mul r18,r257862 43ea B00D add r27,r07863 43ec 389F mul r19,r247864 43ee B00D add r27,r07865 43f0 1124 clr r17866 43f2 9D01 movw r18,r267867 43f4 B7FF sbrs r27,77868 43f6 00C0 rjmp .L6297869 43f8 215F subi r18,lo8(-(15))7870 43fa 3F4F sbci r19,hi8(-(15))7871 .L629:7872 43fc F4E0 ldi r31,47873 43fe 3595 1: asr r197874 4400 2795 ror r187875 4402 FA95 dec r317876 4404 01F4 brne 1b7877 4406 3093 0000 sts (CompassGierSetpoint)+1,r197878 440a 2093 0000 sts CompassGierSetpoint,r187879 440e 00C0 rjmp .L6317880 .L614:7881 4410 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7882 4414 1092 0000 sts CompassGierSetpoint,__zero_reg__7883 .L631:7884 4418 8091 0000 lds r24,TrichterFlug7885 441c 8823 tst r247886 441e 01F0 breq .L6327887 4420 1092 0000 sts SummeRoll,__zero_reg__7888 4424 1092 0000 sts (SummeRoll)+1,__zero_reg__7889 4428 1092 0000 sts (SummeRoll)+2,__zero_reg__7890 442c 1092 0000 sts (SummeRoll)+3,__zero_reg__7891 4430 1092 0000 sts SummeNick,__zero_reg__7892 4434 1092 0000 sts (SummeNick)+1,__zero_reg__7893 4438 1092 0000 sts (SummeNick)+2,__zero_reg__7894 443c 1092 0000 sts (SummeNick)+3,__zero_reg__7895 .L632:7896 4440 F090 0000 lds r15,Looping_Nick7897 4444 FF20 tst r157898 4446 01F4 brne .L6337899 4448 8091 0000 lds r24,IntegralFaktor7900 444c 282F mov r18,r247901 444e 3327 clr r197902 4450 4427 clr r207903 4452 5527 clr r217904 4454 8091 0000 lds r24,IntegralNick7905 4458 9091 0000 lds r25,(IntegralNick)+17906 445c A091 0000 lds r26,(IntegralNick)+27907 4460 B091 0000 lds r27,(IntegralNick)+37908 4464 BC01 movw r22,r247909 4466 CD01 movw r24,r267910 4468 0E94 0000 call __mulsi37911 446c DC01 movw r26,r247912 446e CB01 movw r24,r227913 4470 BC01 movw r22,r247914 4472 CD01 movw r24,r267915 4474 28EF ldi r18,lo8(11000)7916 4476 3AE2 ldi r19,hi8(11000)7917 4478 40E0 ldi r20,hlo8(11000)7918 447a 50E0 ldi r21,hhi8(11000)7919 447c 0E94 0000 call __divmodsi47920 4480 3901 movw r6,r187921 4482 00C0 rjmp .L6347922 .L633:7923 4484 6624 clr r67924 4486 7724 clr r77925 .L634:7926 4488 E090 0000 lds r14,Looping_Roll7927 448c EE20 tst r147928 448e 01F4 brne .L6357929 4490 8091 0000 lds r24,IntegralFaktor7930 4494 282F mov r18,r247931 4496 3327 clr r197932 4498 4427 clr r207933 449a 5527 clr r217934 449c 8091 0000 lds r24,IntegralRoll7935 44a0 9091 0000 lds r25,(IntegralRoll)+17936 44a4 A091 0000 lds r26,(IntegralRoll)+27937 44a8 B091 0000 lds r27,(IntegralRoll)+37938 44ac BC01 movw r22,r247939 44ae CD01 movw r24,r267940 44b0 0E94 0000 call __mulsi37941 44b4 DC01 movw r26,r247942 44b6 CB01 movw r24,r227943 44b8 BC01 movw r22,r247944 44ba CD01 movw r24,r267945 44bc 28EF ldi r18,lo8(11000)7946 44be 3AE2 ldi r19,hi8(11000)7947 44c0 40E0 ldi r20,hlo8(11000)7948 44c2 50E0 ldi r21,hhi8(11000)7949 44c4 0E94 0000 call __divmodsi47950 44c8 2901 movw r4,r187951 44ca 00C0 rjmp .L6367952 .L635:7953 44cc 4424 clr r47954 44ce 5524 clr r57955 .L636:7956 44d0 8091 0000 lds r24,TrimNick7957 44d4 9091 0000 lds r25,(TrimNick)+17958 44d8 893C cpi r24,2017959 44da 9105 cpc r25,__zero_reg__7960 44dc 04F0 brlt .L6377961 44de 88EC ldi r24,lo8(200)7962 44e0 90E0 ldi r25,hi8(200)7963 44e2 00C0 rjmp .L8947964 .L637:7965 44e4 8853 subi r24,lo8(-200)7966 44e6 9F4F sbci r25,hi8(-200)7967 44e8 04F4 brge .L6387968 44ea 88E3 ldi r24,lo8(-200)7969 44ec 9FEF ldi r25,hi8(-200)7970 .L894:7971 44ee 9093 0000 sts (TrimNick)+1,r257972 44f2 8093 0000 sts TrimNick,r247973 .L638:7974 44f6 8091 0000 lds r24,TrimRoll7975 44fa 9091 0000 lds r25,(TrimRoll)+17976 44fe 893C cpi r24,2017977 4500 9105 cpc r25,__zero_reg__7978 4502 04F0 brlt .L6407979 4504 88EC ldi r24,lo8(200)7980 4506 90E0 ldi r25,hi8(200)7981 4508 00C0 rjmp .L8957982 .L640:7983 450a 8853 subi r24,lo8(-200)7984 450c 9F4F sbci r25,hi8(-200)7985 450e 04F4 brge .L6417986 4510 88E3 ldi r24,lo8(-200)7987 4512 9FEF ldi r25,hi8(-200)7988 .L895:7989 4514 9093 0000 sts (TrimRoll)+1,r257990 4518 8093 0000 sts TrimRoll,r247991 .L641:7992 451c 8091 0000 lds r24,MesswertNick7993 4520 9091 0000 lds r25,(MesswertNick)+17994 4524 AA27 clr r267995 4526 97FD sbrc r25,77996 4528 A095 com r267997 452a BA2F mov r27,r267998 452c 2091 0000 lds r18,GyroFaktor7999 4530 A22E mov r10,r188000 4532 BB24 clr r118001 4534 CC24 clr r128002 4536 DD24 clr r138003 4538 BC01 movw r22,r248004 453a CD01 movw r24,r268005 453c A601 movw r20,r128006 453e 9501 movw r18,r108007 4540 0E94 0000 call __mulsi38008 4544 9B01 movw r18,r228009 4546 AC01 movw r20,r248010 4548 8091 0000 lds r24,TrimNick8011 454c 9091 0000 lds r25,(TrimNick)+18012 4550 AA27 clr r268013 4552 97FD sbrc r25,78014 4554 A095 com r268015 4556 BA2F mov r27,r268016 4558 E7E0 ldi r30,78017 455a 880F 1: lsl r248018 455c 991F rol r258019 455e AA1F rol r268020 4560 BB1F rol r278021 4562 EA95 dec r308022 4564 01F4 brne 1b8023 4566 280F add r18,r248024 4568 391F adc r19,r258025 456a 4A1F adc r20,r268026 456c 5B1F adc r21,r278027 456e 57FF sbrs r21,78028 4570 00C0 rjmp .L6438029 4572 215C subi r18,lo8(-(63))8030 4574 3F4F sbci r19,hi8(-(63))8031 4576 4F4F sbci r20,hlo8(-(63))8032 4578 5F4F sbci r21,hhi8(-(63))8033 .L643:8034 457a 76E0 ldi r23,68035 457c 5595 1: asr r218036 457e 4795 ror r208037 4580 3795 ror r198038 4582 2795 ror r188039 4584 7A95 dec r238040 4586 01F4 brne 1b8041 4588 8301 movw r16,r68042 458a 020F add r16,r188043 458c 131F adc r17,r198044 458e 1093 0000 sts (MesswertNick)+1,r178045 4592 0093 0000 sts MesswertNick,r168046 4596 8091 0000 lds r24,MesswertRoll8047 459a 9091 0000 lds r25,(MesswertRoll)+18048 459e AA27 clr r268049 45a0 97FD sbrc r25,78050 45a2 A095 com r268051 45a4 BA2F mov r27,r268052 45a6 BC01 movw r22,r248053 45a8 CD01 movw r24,r268054 45aa A601 movw r20,r128055 45ac 9501 movw r18,r108056 45ae 0E94 0000 call __mulsi38057 45b2 9B01 movw r18,r228058 45b4 AC01 movw r20,r248059 45b6 8091 0000 lds r24,TrimRoll8060 45ba 9091 0000 lds r25,(TrimRoll)+18061 45be AA27 clr r268062 45c0 97FD sbrc r25,78063 45c2 A095 com r268064 45c4 BA2F mov r27,r268065 45c6 67E0 ldi r22,78066 45c8 880F 1: lsl r248067 45ca 991F rol r258068 45cc AA1F rol r268069 45ce BB1F rol r278070 45d0 6A95 dec r228071 45d2 01F4 brne 1b8072 45d4 280F add r18,r248073 45d6 391F adc r19,r258074 45d8 4A1F adc r20,r268075 45da 5B1F adc r21,r278076 45dc 57FF sbrs r21,78077 45de 00C0 rjmp .L6448078 45e0 215C subi r18,lo8(-(63))8079 45e2 3F4F sbci r19,hi8(-(63))8080 45e4 4F4F sbci r20,hlo8(-(63))8081 45e6 5F4F sbci r21,hhi8(-(63))8082 .L644:8083 45e8 F6E0 ldi r31,68084 45ea 5595 1: asr r218085 45ec 4795 ror r208086 45ee 3795 ror r198087 45f0 2795 ror r188088 45f2 FA95 dec r318089 45f4 01F4 brne 1b8090 45f6 4201 movw r8,r48091 45f8 820E add r8,r188092 45fa 931E adc r9,r198093 45fc 9092 0000 sts (MesswertRoll)+1,r98094 4600 8092 0000 sts MesswertRoll,r88095 4604 8091 0000 lds r24,MesswertGier8096 4608 9091 0000 lds r25,(MesswertGier)+18097 460c 880F add r24,r248098 460e 991F adc r25,r258099 4610 AA27 clr r268100 4612 97FD sbrc r25,78101 4614 A095 com r268102 4616 BA2F mov r27,r268103 4618 2091 0000 lds r18,GyroFaktorGier8104 461c 3327 clr r198105 461e 4427 clr r208106 4620 5527 clr r218107 4622 BC01 movw r22,r248108 4624 CD01 movw r24,r268109 4626 0E94 0000 call __mulsi38110 462a 5B01 movw r10,r228111 462c 6C01 movw r12,r248112 462e 97FF sbrs r25,78113 4630 00C0 rjmp .L6458114 4632 2FE3 ldi r18,lo8(63)8115 4634 30E0 ldi r19,hi8(63)8116 4636 40E0 ldi r20,hlo8(63)8117 4638 50E0 ldi r21,hhi8(63)8118 463a A20E add r10,r188119 463c B31E adc r11,r198120 463e C41E adc r12,r208121 4640 D51E adc r13,r218122 .L645:8123 4642 E6E0 ldi r30,68124 4644 D594 1: asr r138125 4646 C794 ror r128126 4648 B794 ror r118127 464a A794 ror r108128 464c EA95 dec r308129 464e 01F4 brne 1b8130 4650 8091 0000 lds r24,IntegralFaktorGier8131 4654 282F mov r18,r248132 4656 3327 clr r198133 4658 4427 clr r208134 465a 5527 clr r218135 465c 8091 0000 lds r24,Integral_Gier8136 4660 9091 0000 lds r25,(Integral_Gier)+18137 4664 A091 0000 lds r26,(Integral_Gier)+28138 4668 B091 0000 lds r27,(Integral_Gier)+38139 466c BC01 movw r22,r248140 466e CD01 movw r24,r268141 4670 0E94 0000 call __mulsi38142 4674 DC01 movw r26,r248143 4676 CB01 movw r24,r228144 4678 BC01 movw r22,r248145 467a CD01 movw r24,r268146 467c 20EF ldi r18,lo8(22000)8147 467e 35E5 ldi r19,hi8(22000)8148 4680 40E0 ldi r20,hlo8(22000)8149 4682 50E0 ldi r21,hhi8(22000)8150 4684 0E94 0000 call __divmodsi48151 4688 B501 movw r22,r108152 468a 620F add r22,r188153 468c 731F adc r23,r198154 468e 7093 0000 sts (MesswertGier)+1,r238155 4692 6093 0000 sts MesswertGier,r228156 4696 0150 subi r16,lo8(4097)8157 4698 1041 sbci r17,hi8(4097)8158 469a 04F0 brlt .L6468159 469c 80E0 ldi r24,lo8(4096)8160 469e 90E1 ldi r25,hi8(4096)8161 46a0 9093 0000 sts (MesswertNick)+1,r258162 46a4 8093 0000 sts MesswertNick,r248163 .L646:8164 46a8 8091 0000 lds r24,MesswertNick8165 46ac 9091 0000 lds r25,(MesswertNick)+18166 46b0 8050 subi r24,lo8(-4096)8167 46b2 904F sbci r25,hi8(-4096)8168 46b4 04F4 brge .L6478169 46b6 80E0 ldi r24,lo8(-4096)8170 46b8 90EF ldi r25,hi8(-4096)8171 46ba 9093 0000 sts (MesswertNick)+1,r258172 46be 8093 0000 sts MesswertNick,r248173 .L647:8174 46c2 51E0 ldi r21,lo8(4097)8175 46c4 8516 cp r8,r218176 46c6 50E1 ldi r21,hi8(4097)8177 46c8 9506 cpc r9,r218178 46ca 04F0 brlt .L6488179 46cc 80E0 ldi r24,lo8(4096)8180 46ce 90E1 ldi r25,hi8(4096)8181 46d0 9093 0000 sts (MesswertRoll)+1,r258182 46d4 8093 0000 sts MesswertRoll,r248183 .L648:8184 46d8 8091 0000 lds r24,MesswertRoll8185 46dc 9091 0000 lds r25,(MesswertRoll)+18186 46e0 8050 subi r24,lo8(-4096)8187 46e2 904F sbci r25,hi8(-4096)8188 46e4 04F4 brge .L6498189 46e6 80E0 ldi r24,lo8(-4096)8190 46e8 90EF ldi r25,hi8(-4096)8191 46ea 9093 0000 sts (MesswertRoll)+1,r258192 46ee 8093 0000 sts MesswertRoll,r248193 .L649:8194 46f2 6150 subi r22,lo8(4097)8195 46f4 7041 sbci r23,hi8(4097)8196 46f6 04F0 brlt .L6508197 46f8 80E0 ldi r24,lo8(4096)8198 46fa 90E1 ldi r25,hi8(4096)8199 46fc 9093 0000 sts (MesswertGier)+1,r258200 4700 8093 0000 sts MesswertGier,r248201 .L650:8202 4704 8091 0000 lds r24,MesswertGier8203 4708 9091 0000 lds r25,(MesswertGier)+18204 470c 8050 subi r24,lo8(-4096)8205 470e 904F sbci r25,hi8(-4096)8206 4710 04F4 brge .L6518207 4712 80E0 ldi r24,lo8(-4096)8208 4714 90EF ldi r25,hi8(-4096)8209 4716 9093 0000 sts (MesswertGier)+1,r258210 471a 8093 0000 sts MesswertGier,r248211 .L651:8212 471e 8091 0000 lds r24,BattLowVoltageWarning8213 4722 482F mov r20,r248214 4724 5527 clr r218215 4726 8091 0000 lds r24,UBat8216 472a 9091 0000 lds r25,(UBat)+18217 472e 4817 cp r20,r248218 4730 5907 cpc r21,r258219 4732 04F4 brge .L6528220 4734 2091 0000 lds r18,UBat8221 4738 3091 0000 lds r19,(UBat)+18222 473c 0981 ldd r16,Y+18223 473e 1A81 ldd r17,Y+28224 4740 049F mul r16,r208225 4742 C001 movw r24,r08226 4744 059F mul r16,r218227 4746 900D add r25,r08228 4748 149F mul r17,r208229 474a 900D add r25,r08230 474c 1124 clr r18231 474e B901 movw r22,r188232 4750 0E94 0000 call __udivmodhi48233 4754 7A83 std Y+2,r238234 4756 6983 std Y+1,r228235 .L652:8236 4758 2981 ldd r18,Y+18237 475a 3A81 ldd r19,Y+28238 475c 220F lsl r188239 475e 331F rol r198240 4760 220F lsl r188241 4762 331F rol r198242 4764 3A83 std Y+2,r198243 4766 2983 std Y+1,r188244 4768 4091 0000 lds r20,Parameter_GlobalConfig8245 476c 40FD sbrc r20,08246 476e 00C0 rjmp .+48247 4770 0C94 0000 jmp .L6538248 4774 EE20 tst r148249 4776 01F0 breq .+48250 4778 0C94 0000 jmp .L6538251 477c FF20 tst r158252 477e 01F0 breq .+48253 4780 0C94 0000 jmp .L6538254 4784 00E0 ldi r16,lo8(0)8255 4786 10E0 ldi r17,hi8(0)8256 4788 4801 movw r8,r168257 478a 8091 0000 lds r24,HoverGas8258 478e 9091 0000 lds r25,(HoverGas)+18259 4792 9093 0000 sts (DebugOut+44)+1,r258260 4796 8093 0000 sts DebugOut+44,r248261 479a 2091 0000 lds r18,BaroExpandActive8262 479e 3091 0000 lds r19,(BaroExpandActive)+18263 47a2 2115 cp r18,__zero_reg__8264 47a4 3105 cpc r19,__zero_reg__8265 47a6 01F0 breq .+28266 47a8 00C0 rjmp .L6548267 47aa 8091 0000 lds r24,MessLuftdruck8268 47ae 9091 0000 lds r25,(MessLuftdruck)+18269 47b2 8959 subi r24,lo8(921)8270 47b4 9340 sbci r25,hi8(921)8271 47b6 00F0 brlo .L6558272 47b8 87B5 in r24,71-0x208273 47ba 803F cpi r24,lo8(-16)8274 47bc 00F4 brsh .L6568275 47be 8091 0000 lds r24,ExpandBaro8276 47c2 8150 subi r24,lo8(-(-1))8277 47c4 00C0 rjmp .L8968278 .L656:8279 47c6 81E0 ldi r24,lo8(1)8280 47c8 8093 0000 sts BaroAtLowerLimit.26,r248281 47cc 00C0 rjmp .L6638282 .L655:8283 47ce 8091 0000 lds r24,MessLuftdruck8284 47d2 9091 0000 lds r25,(MessLuftdruck)+18285 47d6 8436 cpi r24,1008286 47d8 9105 cpc r25,__zero_reg__8287 47da 00F4 brsh .L6598288 47dc 87B5 in r24,71-0x208289 47de 8031 cpi r24,lo8(16)8290 47e0 00F0 brlo .L6608291 47e2 8091 0000 lds r24,ExpandBaro8292 47e6 8F5F subi r24,lo8(-(1))8293 .L896:8294 47e8 8093 0000 sts ExpandBaro,r248295 47ec 9FE0 ldi r25,lo8(15)8296 47ee 8902 muls r24,r258297 47f0 9001 movw r18,r08298 47f2 1124 clr r18299 47f4 8091 0000 lds r24,DruckOffsetSetting8300 47f8 821B sub r24,r188301 47fa 87BD out 71-0x20,r248302 47fc 8CE2 ldi r24,lo8(300)8303 47fe 91E0 ldi r25,hi8(300)8304 4800 9093 0000 sts (beeptime)+1,r258305 4804 8093 0000 sts beeptime,r248306 4808 8EE5 ldi r24,lo8(350)8307 480a 91E0 ldi r25,hi8(350)8308 480c 9093 0000 sts (BaroExpandActive)+1,r258309 4810 8093 0000 sts BaroExpandActive,r248310 4814 00C0 rjmp .L6638311 .L660:8312 4816 81E0 ldi r24,lo8(1)8313 4818 8093 0000 sts BaroAtUpperLimit.25,r248314 481c 00C0 rjmp .L6638315 .L659:8316 481e F092 0000 sts BaroAtUpperLimit.25,r158317 4822 F092 0000 sts BaroAtLowerLimit.26,r158318 4826 00C0 rjmp .L6638319 .L654:8320 4828 8091 0000 lds r24,HoehenWert8321 482c 9091 0000 lds r25,(HoehenWert)+18322 4830 A091 0000 lds r26,(HoehenWert)+28323 4834 B091 0000 lds r27,(HoehenWert)+38324 4838 64E0 ldi r22,48325 483a 880F 1: lsl r248326 483c 991F rol r258327 483e AA1F rol r268328 4840 BB1F rol r278329 4842 6A95 dec r228330 4844 01F4 brne 1b8331 4846 8093 0000 sts SummenHoehe,r248332 484a 9093 0000 sts (SummenHoehe)+1,r258333 484e A093 0000 sts (SummenHoehe)+2,r268334 4852 B093 0000 sts (SummenHoehe)+3,r278335 4856 1093 0000 sts (VarioMeter)+1,r178336 485a 0093 0000 sts VarioMeter,r168337 485e 2150 subi r18,lo8(-(-1))8338 4860 3040 sbci r19,hi8(-(-1))8339 4862 3093 0000 sts (BaroExpandActive)+1,r198340 4866 2093 0000 sts BaroExpandActive,r188341 .L663:8342 486a 2091 0000 lds r18,Parameter_HoehenSchalter8343 486e 41FF sbrs r20,18344 4870 00C0 rjmp .L6648345 4872 2233 cpi r18,lo8(50)8346 4874 00F4 brsh .L6658347 4876 8091 0000 lds r24,delay.248348 487a 8150 subi r24,lo8(-(-1))8349 487c 8093 0000 sts delay.24,r248350 4880 8F3F cpi r24,lo8(-1)8351 4882 01F0 breq .+28352 4884 00C0 rjmp .L6718353 4886 8091 0000 lds r24,SpeakHoTT8354 488a 8823 tst r248355 488c 01F4 brne .L6678356 488e 8091 0000 lds r24,HoehenReglerAktiv8357 4892 8823 tst r248358 4894 01F0 breq .L6678359 4896 88E2 ldi r24,lo8(40)8360 4898 8093 0000 sts SpeakHoTT,r248361 .L667:8362 489c 1092 0000 sts HoehenReglerAktiv,__zero_reg__8363 48a0 8091 0000 lds r24,HoehenWert8364 48a4 9091 0000 lds r25,(HoehenWert)+18365 48a8 A091 0000 lds r26,(HoehenWert)+28366 48ac B091 0000 lds r27,(HoehenWert)+38367 48b0 8093 0000 sts SollHoehe,r248368 48b4 9093 0000 sts (SollHoehe)+1,r258369 48b8 A093 0000 sts (SollHoehe)+2,r268370 48bc B093 0000 sts (SollHoehe)+3,r278371 48c0 81E0 ldi r24,lo8(1)8372 48c2 8093 0000 sts delay.24,r248373 48c6 00C0 rjmp .L6718374 .L665:8375 48c8 2734 cpi r18,lo8(71)8376 48ca 00F0 brlo .L6718377 48cc 8091 0000 lds r24,SpeakHoTT8378 48d0 8823 tst r248379 48d2 01F4 brne .L6708380 48d4 8091 0000 lds r24,HoehenReglerAktiv8381 48d8 8823 tst r248382 48da 01F4 brne .L6708383 48dc 87E2 ldi r24,lo8(39)8384 48de 8093 0000 sts SpeakHoTT,r248385 .L670:8386 48e2 88EC ldi r24,lo8(-56)8387 48e4 8093 0000 sts delay.24,r248388 48e8 00C0 rjmp .L8978389 .L664:8390 48ea 8091 0000 lds r24,ExternHoehenValue8391 48ee 9091 0000 lds r25,(ExternHoehenValue)+18392 48f2 820F add r24,r188393 48f4 911D adc r25,__zero_reg__8394 48f6 2091 0000 lds r18,EE_Parameter+188395 48fa 3327 clr r198396 48fc 829F mul r24,r188397 48fe A001 movw r20,r08398 4900 839F mul r24,r198399 4902 500D add r21,r08400 4904 929F mul r25,r188401 4906 500D add r21,r08402 4908 1124 clr r18403 490a CA01 movw r24,r208404 490c AA27 clr r268405 490e 97FD sbrc r25,78406 4910 A095 com r268407 4912 BA2F mov r27,r268408 4914 8093 0000 sts SollHoehe,r248409 4918 9093 0000 sts (SollHoehe)+1,r258410 491c A093 0000 sts (SollHoehe)+2,r268411 4920 B093 0000 sts (SollHoehe)+3,r278412 .L897:8413 4924 81E0 ldi r24,lo8(1)8414 4926 8093 0000 sts HoehenReglerAktiv,r248415 .L671:8416 492a 8091 0000 lds r24,IntegralNick8417 492e 9091 0000 lds r25,(IntegralNick)+18418 4932 A091 0000 lds r26,(IntegralNick)+28419 4936 B091 0000 lds r27,(IntegralNick)+38420 493a E090 0000 lds r14,GIER_GRAD_FAKTOR8421 493e F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18422 4942 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28423 4946 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38424 494a BC01 movw r22,r248425 494c CD01 movw r24,r268426 494e A801 movw r20,r168427 4950 9701 movw r18,r148428 4952 0E94 0000 call __divmodsi48429 4956 5901 movw r10,r188430 4958 6A01 movw r12,r208431 495a 8091 0000 lds r24,IntegralRoll8432 495e 9091 0000 lds r25,(IntegralRoll)+18433 4962 A091 0000 lds r26,(IntegralRoll)+28434 4966 B091 0000 lds r27,(IntegralRoll)+38435 496a BC01 movw r22,r248436 496c CD01 movw r24,r268437 496e A801 movw r20,r168438 4970 9701 movw r18,r148439 4972 0E94 0000 call __divmodsi48440 4976 B901 movw r22,r188441 4978 C501 movw r24,r108442 497a 0E94 0000 call ihypot8443 497e 5C01 movw r10,r248444 4980 CC97 sbiw r24,608445 4982 04F0 brlt .L6728446 4984 5CE3 ldi r21,lo8(60)8447 4986 A52E mov r10,r218448 4988 B12C mov r11,__zero_reg__8449 .L672:8450 498a C501 movw r24,r108451 498c 0E94 0000 call c_cos_81928452 4990 5C01 movw r10,r248453 4992 80E2 ldi r24,lo8(32)8454 4994 8093 0000 sts VarioCharacter,r248455 4998 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8456 499c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8457 49a0 8091 0000 lds r24,HoehenReglerAktiv8458 49a4 8823 tst r248459 49a6 01F4 brne .+28460 49a8 00C0 rjmp .L6738461 49aa 8091 0000 lds r24,FC_StatusFlags8462 49ae 9927 clr r258463 49b0 9C01 movw r18,r248464 49b2 2071 andi r18,lo8(16)8465 49b4 3070 andi r19,hi8(16)8466 49b6 84FD sbrc r24,48467 49b8 00C0 rjmp .L6738468 49ba 8091 0000 lds r24,FC_StatusFlags28469 49be 8260 ori r24,lo8(2)8470 49c0 8093 0000 sts FC_StatusFlags2,r248471 49c4 7091 0000 lds r23,Parameter_ExtraConfig8472 49c8 872F mov r24,r238473 49ca 9927 clr r258474 49cc 41E0 ldi r20,lo8(1)8475 49ce C42E mov r12,r208476 49d0 D12C mov r13,__zero_reg__8477 49d2 C822 and r12,r248478 49d4 D922 and r13,r258479 49d6 80FD sbrc r24,08480 49d8 00C0 rjmp .L6758481 49da 8091 0000 lds r24,Parameter_GlobalConfig8482 49de 81FD sbrc r24,18483 49e0 00C0 rjmp .L6748484 .L675:8485 49e2 C980 ldd r12,Y+18486 49e4 DA80 ldd r13,Y+28487 49e6 3093 0000 sts (HeightTrimming.21)+1,r198488 49ea 2093 0000 sts HeightTrimming.21,r188489 49ee 3093 0000 sts (AltitudeSetpointTrimming)+1,r198490 49f2 2093 0000 sts AltitudeSetpointTrimming,r188491 49f6 8091 0000 lds r24,FC_StatusFlags8492 49fa 806C ori r24,lo8(-64)8493 49fc 8093 0000 sts FC_StatusFlags,r248494 4a00 00C0 rjmp .L6768495 .L674:8496 4a02 8091 0000 lds r24,FC_StatusFlags8497 4a06 81FF sbrs r24,18498 4a08 00C0 rjmp .L6778499 4a0a 0091 0000 lds r16,StickGasHover8500 4a0e 1091 0000 lds r17,(StickGasHover)+18501 4a12 C801 movw r24,r168502 4a14 0F96 adiw r24,158503 4a16 2090 0000 lds r2,StickGas8504 4a1a 3090 0000 lds r3,(StickGas)+18505 4a1e 8215 cp r24,r28506 4a20 9305 cpc r25,r38507 4a22 04F0 brlt .+28508 4a24 00C0 rjmp .L6788509 4a26 8091 0000 lds r24,BaroAtUpperLimit.258510 4a2a 8823 tst r248511 4a2c 01F0 breq .+28512 4a2e 00C0 rjmp .L6788513 4a30 8091 0000 lds r24,FC_StatusFlags8514 4a34 87FF sbrs r24,78515 4a36 00C0 rjmp .L6798516 4a38 8091 0000 lds r24,FC_StatusFlags8517 4a3c 8F77 andi r24,lo8(127)8518 4a3e 8093 0000 sts FC_StatusFlags,r248519 4a42 8091 0000 lds r24,HoehenWert8520 4a46 9091 0000 lds r25,(HoehenWert)+18521 4a4a A091 0000 lds r26,(HoehenWert)+28522 4a4e B091 0000 lds r27,(HoehenWert)+38523 4a52 8093 0000 sts SollHoehe,r248524 4a56 9093 0000 sts (SollHoehe)+1,r258525 4a5a A093 0000 sts (SollHoehe)+2,r268526 4a5e B093 0000 sts (SollHoehe)+3,r278527 .L679:8528 4a62 8091 0000 lds r24,FC_StatusFlags8529 4a66 8064 ori r24,lo8(64)8530 4a68 8093 0000 sts FC_StatusFlags,r248531 4a6c E090 0000 lds r14,Parameter_MaximumAltitude8532 4a70 EE20 tst r148533 4a72 01F0 breq .L6808534 4a74 8091 0000 lds r24,SollHoehe8535 4a78 9091 0000 lds r25,(SollHoehe)+18536 4a7c A091 0000 lds r26,(SollHoehe)+28537 4a80 B091 0000 lds r27,(SollHoehe)+38538 4a84 BC01 movw r22,r248539 4a86 CD01 movw r24,r268540 4a88 24E6 ldi r18,lo8(100)8541 4a8a 30E0 ldi r19,hi8(100)8542 4a8c 40E0 ldi r20,hlo8(100)8543 4a8e 50E0 ldi r21,hhi8(100)8544 4a90 0E94 0000 call __divmodsi48545 4a94 8E2D mov r24,r148546 4a96 9927 clr r258547 4a98 AA27 clr r268548 4a9a BB27 clr r278549 4a9c 8217 cp r24,r188550 4a9e 9307 cpc r25,r198551 4aa0 A407 cpc r26,r208552 4aa2 B507 cpc r27,r218553 4aa4 04F4 brge .L6808554 4aa6 D092 0000 sts (AltitudeSetpointTrimming)+1,r138555 4aaa C092 0000 sts AltitudeSetpointTrimming,r128556 4aae 00C0 rjmp .L6818557 .L680:8558 4ab0 C101 movw r24,r28559 4ab2 801B sub r24,r168560 4ab4 910B sbc r25,r178561 4ab6 0F97 sbiw r24,158562 4ab8 97FF sbrs r25,78563 4aba 00C0 rjmp .L6828564 4abc 9095 com r258565 4abe 8195 neg r248566 4ac0 9F4F sbci r25,lo8(-1)8567 .L682:8568 4ac2 9093 0000 sts (AltitudeSetpointTrimming)+1,r258569 4ac6 8093 0000 sts AltitudeSetpointTrimming,r248570 4aca 8BE2 ldi r24,lo8(43)8571 4acc 8093 0000 sts VarioCharacter,r248572 .L681:8573 4ad0 1092 0000 sts WaypointTrimming,__zero_reg__8574 4ad4 00C0 rjmp .L6838575 .L678:8576 4ad6 C801 movw r24,r168577 4ad8 0F97 sbiw r24,158578 4ada 2816 cp r2,r248579 4adc 3906 cpc r3,r258580 4ade 04F4 brge .L6848581 4ae0 2091 0000 lds r18,BaroAtLowerLimit.268582 4ae4 2223 tst r188583 4ae6 01F4 brne .L6848584 4ae8 8091 0000 lds r24,FC_StatusFlags8585 4aec 86FF sbrs r24,68586 4aee 00C0 rjmp .L6858587 4af0 8091 0000 lds r24,FC_StatusFlags8588 4af4 8F7B andi r24,lo8(-65)8589 4af6 8093 0000 sts FC_StatusFlags,r248590 4afa 8091 0000 lds r24,HoehenWert8591 4afe 9091 0000 lds r25,(HoehenWert)+18592 4b02 A091 0000 lds r26,(HoehenWert)+28593 4b06 B091 0000 lds r27,(HoehenWert)+38594 4b0a 8093 0000 sts SollHoehe,r248595 4b0e 9093 0000 sts (SollHoehe)+1,r258596 4b12 A093 0000 sts (SollHoehe)+2,r268597 4b16 B093 0000 sts (SollHoehe)+3,r278598 .L685:8599 4b1a 8091 0000 lds r24,FC_StatusFlags8600 4b1e 8068 ori r24,lo8(-128)8601 4b20 8093 0000 sts FC_StatusFlags,r248602 4b24 C101 movw r24,r28603 4b26 801B sub r24,r168604 4b28 910B sbc r25,r178605 4b2a 0F96 adiw r24,158606 4b2c 97FF sbrs r25,78607 4b2e 00C0 rjmp .L6868608 4b30 9095 com r258609 4b32 8195 neg r248610 4b34 9F4F sbci r25,lo8(-1)8611 .L686:8612 4b36 9095 com r258613 4b38 8195 neg r248614 4b3a 9F4F sbci r25,lo8(-1)8615 4b3c 9093 0000 sts (AltitudeSetpointTrimming)+1,r258616 4b40 8093 0000 sts AltitudeSetpointTrimming,r248617 4b44 8DE2 ldi r24,lo8(45)8618 4b46 8093 0000 sts VarioCharacter,r248619 4b4a 2093 0000 sts WaypointTrimming,r188620 4b4e 00C0 rjmp .L6838621 .L684:8622 4b50 8DE3 ldi r24,lo8(61)8623 4b52 8093 0000 sts VarioCharacter,r248624 4b56 6091 0000 lds r22,FromNC_AltitudeSpeed8625 4b5a 6623 tst r228626 4b5c 01F0 breq .L6888627 4b5e 2091 0000 lds r18,FromNC_AltitudeSetpoint8628 4b62 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18629 4b66 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28630 4b6a 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38631 4b6e 8091 0000 lds r24,SollHoehe8632 4b72 9091 0000 lds r25,(SollHoehe)+18633 4b76 A091 0000 lds r26,(SollHoehe)+28634 4b7a B091 0000 lds r27,(SollHoehe)+38635 4b7e 8217 cp r24,r188636 4b80 9307 cpc r25,r198637 4b82 A407 cpc r26,r208638 4b84 B507 cpc r27,r218639 4b86 04F4 brge .L6888640 4b88 8091 0000 lds r24,FC_StatusFlags8641 4b8c 8064 ori r24,lo8(64)8642 4b8e 8093 0000 sts FC_StatusFlags,r248643 4b92 862F mov r24,r228644 4b94 9927 clr r258645 4b96 9093 0000 sts (AltitudeSetpointTrimming)+1,r258646 4b9a 8093 0000 sts AltitudeSetpointTrimming,r248647 4b9e 8AE0 ldi r24,lo8(10)8648 4ba0 8093 0000 sts WaypointTrimming,r248649 4ba4 8EE5 ldi r24,lo8(94)8650 4ba6 8093 0000 sts VarioCharacter,r248651 4baa 8091 0000 lds r24,FC_StatusFlags8652 4bae 87FF sbrs r24,78653 4bb0 00C0 rjmp .L6838654 4bb2 8091 0000 lds r24,FC_StatusFlags8655 4bb6 8F77 andi r24,lo8(127)8656 4bb8 00C0 rjmp .L8998657 .L688:8658 4bba 6623 tst r228659 4bbc 01F4 brne .+28660 4bbe 00C0 rjmp .L6918661 4bc0 2091 0000 lds r18,FromNC_AltitudeSetpoint8662 4bc4 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18663 4bc8 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28664 4bcc 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38665 4bd0 8091 0000 lds r24,SollHoehe8666 4bd4 9091 0000 lds r25,(SollHoehe)+18667 4bd8 A091 0000 lds r26,(SollHoehe)+28668 4bdc B091 0000 lds r27,(SollHoehe)+38669 4be0 2817 cp r18,r248670 4be2 3907 cpc r19,r258671 4be4 4A07 cpc r20,r268672 4be6 5B07 cpc r21,r278673 4be8 04F4 brge .L6918674 4bea 8091 0000 lds r24,FC_StatusFlags8675 4bee 8068 ori r24,lo8(-128)8676 4bf0 8093 0000 sts FC_StatusFlags,r248677 4bf4 862F mov r24,r228678 4bf6 9927 clr r258679 4bf8 9095 com r258680 4bfa 8195 neg r248681 4bfc 9F4F sbci r25,lo8(-1)8682 4bfe 9093 0000 sts (AltitudeSetpointTrimming)+1,r258683 4c02 8093 0000 sts AltitudeSetpointTrimming,r248684 4c06 86EF ldi r24,lo8(-10)8685 4c08 8093 0000 sts WaypointTrimming,r248686 4c0c 86E7 ldi r24,lo8(118)8687 4c0e 8093 0000 sts VarioCharacter,r248688 4c12 8091 0000 lds r24,FC_StatusFlags8689 4c16 86FF sbrs r24,68690 4c18 00C0 rjmp .L6838691 4c1a 8091 0000 lds r24,FC_StatusFlags8692 4c1e 8F7B andi r24,lo8(-65)8693 .L899:8694 4c20 8093 0000 sts FC_StatusFlags,r248695 4c24 8091 0000 lds r24,HoehenWert8696 4c28 9091 0000 lds r25,(HoehenWert)+18697 4c2c A091 0000 lds r26,(HoehenWert)+28698 4c30 B091 0000 lds r27,(HoehenWert)+38699 4c34 8093 0000 sts SollHoehe,r248700 4c38 9093 0000 sts (SollHoehe)+1,r258701 4c3c A093 0000 sts (SollHoehe)+2,r268702 4c40 B093 0000 sts (SollHoehe)+3,r278703 4c44 00C0 rjmp .L6838704 .L691:8705 4c46 8091 0000 lds r24,FC_StatusFlags8706 4c4a 807C andi r24,lo8(-64)8707 4c4c 01F4 brne .+28708 4c4e 00C0 rjmp .L6838709 4c50 8091 0000 lds r24,WaypointTrimming8710 4c54 8823 tst r248711 4c56 01F4 brne .L6958712 4c58 E090 0000 lds r14,HoehenWert8713 4c5c F090 0000 lds r15,(HoehenWert)+18714 4c60 0091 0000 lds r16,(HoehenWert)+28715 4c64 1091 0000 lds r17,(HoehenWert)+38716 4c68 D801 movw r26,r168717 4c6a C701 movw r24,r148718 4c6c 8058 subi r24,lo8(-(-128))8719 4c6e 9040 sbci r25,hi8(-(-128))8720 4c70 A040 sbci r26,hlo8(-(-128))8721 4c72 B040 sbci r27,hhi8(-(-128))8722 4c74 2091 0000 lds r18,SollHoehe8723 4c78 3091 0000 lds r19,(SollHoehe)+18724 4c7c 4091 0000 lds r20,(SollHoehe)+28725 4c80 5091 0000 lds r21,(SollHoehe)+38726 4c84 8217 cp r24,r188727 4c86 9307 cpc r25,r198728 4c88 A407 cpc r26,r208729 4c8a B507 cpc r27,r218730 4c8c 04F4 brge .L8988731 4c8e D801 movw r26,r168732 4c90 C701 movw r24,r148733 4c92 8058 subi r24,lo8(-(128))8734 4c94 9F4F sbci r25,hi8(-(128))8735 4c96 AF4F sbci r26,hlo8(-(128))8736 4c98 BF4F sbci r27,hhi8(-(128))8737 4c9a 2817 cp r18,r248738 4c9c 3907 cpc r19,r258739 4c9e 4A07 cpc r20,r268740 4ca0 5B07 cpc r21,r278741 4ca2 04F0 brlt .L6998742 .L898:8743 4ca4 8093 0000 sts SollHoehe,r248744 4ca8 9093 0000 sts (SollHoehe)+1,r258745 4cac A093 0000 sts (SollHoehe)+2,r268746 4cb0 B093 0000 sts (SollHoehe)+3,r278747 4cb4 00C0 rjmp .L6998748 .L695:8749 4cb6 1092 0000 sts WaypointTrimming,__zero_reg__8750 .L699:8751 4cba 8091 0000 lds r24,FC_StatusFlags8752 4cbe 8F73 andi r24,lo8(63)8753 4cc0 8093 0000 sts FC_StatusFlags,r248754 4cc4 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8755 4cc8 1092 0000 sts HeightTrimming.21,__zero_reg__8756 4ccc 71FF sbrs r23,18757 4cce 00C0 rjmp .L7008758 4cd0 84EF ldi r24,lo8(500)8759 4cd2 91E0 ldi r25,hi8(500)8760 4cd4 9093 0000 sts (beeptime)+1,r258761 4cd8 8093 0000 sts beeptime,r248762 .L700:8763 4cdc 8091 0000 lds r24,StartTrigger8764 4ce0 8823 tst r248765 4ce2 01F4 brne .L6838766 4ce4 8091 0000 lds r24,HoehenWert8767 4ce8 9091 0000 lds r25,(HoehenWert)+18768 4cec A091 0000 lds r26,(HoehenWert)+28769 4cf0 B091 0000 lds r27,(HoehenWert)+38770 4cf4 C397 sbiw r24,518771 4cf6 A105 cpc r26,__zero_reg__8772 4cf8 B105 cpc r27,__zero_reg__8773 4cfa 04F0 brlt .L6838774 4cfc 81E0 ldi r24,lo8(1)8775 4cfe 8093 0000 sts StartTrigger,r248776 .L683:8777 4d02 6091 0000 lds r22,HeightTrimming.218778 4d06 7091 0000 lds r23,(HeightTrimming.21)+18779 4d0a 8091 0000 lds r24,AltitudeSetpointTrimming8780 4d0e 9091 0000 lds r25,(AltitudeSetpointTrimming)+18781 4d12 680F add r22,r248782 4d14 791F adc r23,r258783 4d16 7093 0000 sts (HeightTrimming.21)+1,r238784 4d1a 6093 0000 sts HeightTrimming.21,r228785 4d1e CB01 movw r24,r228786 4d20 77FF sbrs r23,78787 4d22 00C0 rjmp .L7038788 4d24 8827 clr r248789 4d26 9927 clr r258790 4d28 861B sub r24,r228791 4d2a 970B sbc r25,r238792 .L703:8793 4d2c 855F subi r24,lo8(501)8794 4d2e 9140 sbci r25,hi8(501)8795 4d30 04F4 brge .+28796 4d32 00C0 rjmp .L7028797 4d34 4091 0000 lds r20,WaypointTrimming8798 4d38 4423 tst r208799 4d3a 01F0 breq .L7048800 4d3c 8091 0000 lds r24,FromNC_AltitudeSetpoint8801 4d40 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18802 4d44 2091 0000 lds r18,SollHoehe8803 4d48 3091 0000 lds r19,(SollHoehe)+18804 4d4c 821B sub r24,r188805 4d4e 930B sbc r25,r198806 4d50 0996 adiw r24,98807 4d52 4397 sbiw r24,198808 4d54 00F4 brsh .L7058809 4d56 8091 0000 lds r24,FromNC_AltitudeSetpoint8810 4d5a 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18811 4d5e A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28812 4d62 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38813 4d66 00C0 rjmp .L9018814 .L705:8815 4d68 242F mov r18,r208816 4d6a 3327 clr r198817 4d6c 27FD sbrc r18,78818 4d6e 3095 com r198819 4d70 432F mov r20,r198820 4d72 532F mov r21,r198821 4d74 8091 0000 lds r24,SollHoehe8822 4d78 9091 0000 lds r25,(SollHoehe)+18823 4d7c A091 0000 lds r26,(SollHoehe)+28824 4d80 B091 0000 lds r27,(SollHoehe)+38825 4d84 820F add r24,r188826 4d86 931F adc r25,r198827 4d88 A41F adc r26,r208828 4d8a B51F adc r27,r218829 .L901:8830 4d8c 8093 0000 sts SollHoehe,r248831 4d90 9093 0000 sts (SollHoehe)+1,r258832 4d94 A093 0000 sts (SollHoehe)+2,r268833 4d98 B093 0000 sts (SollHoehe)+3,r278834 4d9c 00C0 rjmp .L7078835 .L704:8836 4d9e 8091 0000 lds r24,EE_Parameter+188837 4da2 2091 0000 lds r18,SollHoehe8838 4da6 3091 0000 lds r19,(SollHoehe)+18839 4daa 4091 0000 lds r20,(SollHoehe)+28840 4dae 5091 0000 lds r21,(SollHoehe)+38841 4db2 1616 cp __zero_reg__,r228842 4db4 1706 cpc __zero_reg__,r238843 4db6 04F4 brge .L7088844 4db8 63E0 ldi r22,lo8(3)8845 4dba 0E94 0000 call __udivmodqi48846 4dbe 280F add r18,r248847 4dc0 311D adc r19,__zero_reg__8848 4dc2 411D adc r20,__zero_reg__8849 4dc4 511D adc r21,__zero_reg__8850 4dc6 00C0 rjmp .L9008851 .L708:8852 4dc8 63E0 ldi r22,lo8(3)8853 4dca 0E94 0000 call __udivmodqi48854 4dce 281B sub r18,r248855 4dd0 3109 sbc r19,__zero_reg__8856 4dd2 4109 sbc r20,__zero_reg__8857 4dd4 5109 sbc r21,__zero_reg__8858 .L900:8859 4dd6 2093 0000 sts SollHoehe,r188860 4dda 3093 0000 sts (SollHoehe)+1,r198861 4dde 4093 0000 sts (SollHoehe)+2,r208862 4de2 5093 0000 sts (SollHoehe)+3,r218863 .L707:8864 4de6 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8865 4dea 1092 0000 sts HeightTrimming.21,__zero_reg__8866 4dee E090 0000 lds r14,HoehenWert8867 4df2 F090 0000 lds r15,(HoehenWert)+18868 4df6 0091 0000 lds r16,(HoehenWert)+28869 4dfa 1091 0000 lds r17,(HoehenWert)+38870 4dfe D801 movw r26,r168871 4e00 C701 movw r24,r148872 4e02 8050 subi r24,lo8(-(-1024))8873 4e04 9440 sbci r25,hi8(-(-1024))8874 4e06 A040 sbci r26,hlo8(-(-1024))8875 4e08 B040 sbci r27,hhi8(-(-1024))8876 4e0a 2091 0000 lds r18,SollHoehe8877 4e0e 3091 0000 lds r19,(SollHoehe)+18878 4e12 4091 0000 lds r20,(SollHoehe)+28879 4e16 5091 0000 lds r21,(SollHoehe)+38880 4e1a 8217 cp r24,r188881 4e1c 9307 cpc r25,r198882 4e1e A407 cpc r26,r208883 4e20 B507 cpc r27,r218884 4e22 04F4 brge .L9028885 4e24 D801 movw r26,r168886 4e26 C701 movw r24,r148887 4e28 8050 subi r24,lo8(-(1024))8888 4e2a 9C4F sbci r25,hi8(-(1024))8889 4e2c AF4F sbci r26,hlo8(-(1024))8890 4e2e BF4F sbci r27,hhi8(-(1024))8891 4e30 2817 cp r18,r248892 4e32 3907 cpc r19,r258893 4e34 4A07 cpc r20,r268894 4e36 5B07 cpc r21,r278895 4e38 04F0 brlt .L7118896 .L902:8897 4e3a 8093 0000 sts SollHoehe,r248898 4e3e 9093 0000 sts (SollHoehe)+1,r258899 4e42 A093 0000 sts (SollHoehe)+2,r268900 4e46 B093 0000 sts (SollHoehe)+3,r278901 .L711:8902 4e4a 8091 0000 lds r24,Parameter_ExtraConfig8903 4e4e 81FF sbrs r24,18904 4e50 00C0 rjmp .L7138905 4e52 84E6 ldi r24,lo8(100)8906 4e54 90E0 ldi r25,hi8(100)8907 4e56 9093 0000 sts (beeptime)+1,r258908 4e5a 8093 0000 sts beeptime,r248909 .L713:8910 4e5e 8091 0000 lds r24,EE_Parameter+228911 4e62 8823 tst r248912 4e64 01F4 brne .L7028913 4e66 8091 0000 lds r24,FromNC_AltitudeSpeed8914 4e6a 8823 tst r248915 4e6c 01F4 brne .L7028916 4e6e 4091 0000 lds r20,HoverGas8917 4e72 5091 0000 lds r21,(HoverGas)+18918 4e76 57FF sbrs r21,78919 4e78 00C0 rjmp .L7158920 4e7a 4D5F subi r20,lo8(-(3))8921 4e7c 5F4F sbci r21,hi8(-(3))8922 .L715:8923 4e7e 5595 asr r218924 4e80 4795 ror r208925 4e82 5595 asr r218926 4e84 4795 ror r208927 4e86 8091 0000 lds r24,UBat8928 4e8a 9091 0000 lds r25,(UBat)+18929 4e8e 2091 0000 lds r18,BattLowVoltageWarning8930 4e92 3327 clr r198931 4e94 489F mul r20,r248932 4e96 F001 movw r30,r08933 4e98 499F mul r20,r258934 4e9a F00D add r31,r08935 4e9c 589F mul r21,r248936 4e9e F00D add r31,r08937 4ea0 1124 clr r18938 4ea2 CF01 movw r24,r308939 4ea4 B901 movw r22,r188940 4ea6 0E94 0000 call __divmodhi48941 4eaa 7093 0000 sts (StickGasHover)+1,r238942 4eae 6093 0000 sts StickGasHover,r228943 4eb2 6634 cpi r22,708944 4eb4 7105 cpc r23,__zero_reg__8945 4eb6 04F4 brge .L7168946 4eb8 86E4 ldi r24,lo8(70)8947 4eba 90E0 ldi r25,hi8(70)8948 4ebc 00C0 rjmp .L9038949 .L716:8950 4ebe 6739 cpi r22,1518951 4ec0 7105 cpc r23,__zero_reg__8952 4ec2 04F0 brlt .L7028953 4ec4 86E9 ldi r24,lo8(150)8954 4ec6 90E0 ldi r25,hi8(150)8955 .L903:8956 4ec8 9093 0000 sts (StickGasHover)+1,r258957 4ecc 8093 0000 sts StickGasHover,r248958 .L702:8959 4ed0 8091 0000 lds r24,BaroExpandActive8960 4ed4 9091 0000 lds r25,(BaroExpandActive)+18961 4ed8 892B or r24,r258962 4eda 01F0 breq .L7208963 4edc 8091 0000 lds r24,HoehenWert8964 4ee0 9091 0000 lds r25,(HoehenWert)+18965 4ee4 A091 0000 lds r26,(HoehenWert)+28966 4ee8 B091 0000 lds r27,(HoehenWert)+38967 4eec 8093 0000 sts SollHoehe,r248968 4ef0 9093 0000 sts (SollHoehe)+1,r258969 4ef4 A093 0000 sts (SollHoehe)+2,r268970 4ef8 B093 0000 sts (SollHoehe)+3,r278971 4efc 00C0 rjmp .L7208972 .L677:8973 4efe 8091 0000 lds r24,HoehenWert8974 4f02 9091 0000 lds r25,(HoehenWert)+18975 4f06 A091 0000 lds r26,(HoehenWert)+28976 4f0a B091 0000 lds r27,(HoehenWert)+38977 4f0e 8059 subi r24,lo8(-(-400))8978 4f10 9140 sbci r25,hi8(-(-400))8979 4f12 A040 sbci r26,hlo8(-(-400))8980 4f14 B040 sbci r27,hhi8(-(-400))8981 4f16 8093 0000 sts SollHoehe,r248982 4f1a 9093 0000 sts (SollHoehe)+1,r258983 4f1e A093 0000 sts (SollHoehe)+2,r268984 4f22 B093 0000 sts (SollHoehe)+3,r278985 4f26 8091 0000 lds r24,EE_Parameter+228986 4f2a 8823 tst r248987 4f2c 01F0 breq .L7218988 4f2e 9927 clr r258989 4f30 00C0 rjmp .L9048990 .L721:8991 4f32 88E7 ldi r24,lo8(120)8992 4f34 90E0 ldi r25,hi8(120)8993 .L904:8994 4f36 9093 0000 sts (StickGasHover)+1,r258995 4f3a 8093 0000 sts StickGasHover,r248996 4f3e E980 ldd r14,Y+18997 4f40 FA80 ldd r15,Y+28998 4f42 F092 0000 sts (HoverGas)+1,r158999 4f46 E092 0000 sts HoverGas,r149000 4f4a 8EE2 ldi r24,lo8(46)9001 4f4c 8093 0000 sts VarioCharacter,r249002 .L720:9003 4f50 C090 0000 lds r12,HoverGas9004 4f54 D090 0000 lds r13,(HoverGas)+19005 .L676:9006 4f58 E090 0000 lds r14,HoehenWert9007 4f5c F090 0000 lds r15,(HoehenWert)+19008 4f60 0091 0000 lds r16,(HoehenWert)+29009 4f64 1091 0000 lds r17,(HoehenWert)+39010 4f68 2091 0000 lds r18,SollHoehe9011 4f6c 3091 0000 lds r19,(SollHoehe)+19012 4f70 4091 0000 lds r20,(SollHoehe)+29013 4f74 5091 0000 lds r21,(SollHoehe)+39014 4f78 2E15 cp r18,r149015 4f7a 3F05 cpc r19,r159016 4f7c 4007 cpc r20,r169017 4f7e 5107 cpc r21,r179018 4f80 04F0 brlt .L7249019 4f82 8091 0000 lds r24,Parameter_ExtraConfig9020 4f86 80FD sbrc r24,09021 4f88 00C0 rjmp .L7829022 .L724:9023 4f8a 8091 0000 lds r24,BaroExpandActive9024 4f8e 9091 0000 lds r25,(BaroExpandActive)+19025 4f92 892B or r24,r259026 4f94 01F0 breq .L7259027 4f96 C090 0000 lds r12,HoverGas9028 4f9a D090 0000 lds r13,(HoverGas)+19029 4f9e 00E0 ldi r16,lo8(0)9030 4fa0 10E0 ldi r17,hi8(0)9031 4fa2 00C0 rjmp .L7269032 .L725:9033 4fa4 D801 movw r26,r169034 4fa6 C701 movw r24,r149035 4fa8 821B sub r24,r189036 4faa 930B sbc r25,r199037 4fac A40B sbc r26,r209038 4fae B50B sbc r27,r219039 4fb0 8093 0000 sts tmp_long.1,r249040 4fb4 9093 0000 sts (tmp_long.1)+1,r259041 4fb8 A093 0000 sts (tmp_long.1)+2,r269042 4fbc B093 0000 sts (tmp_long.1)+3,r279043 4fc0 8230 cpi r24,lo8(-32766)9044 4fc2 00E8 ldi r16,hi8(-32766)9045 4fc4 9007 cpc r25,r169046 4fc6 0FEF ldi r16,hlo8(-32766)9047 4fc8 A007 cpc r26,r169048 4fca 0FEF ldi r16,hhi8(-32766)9049 4fcc B007 cpc r27,r169050 4fce 04F4 brge .L7279051 4fd0 81E0 ldi r24,lo8(-32767)9052 4fd2 90E8 ldi r25,hi8(-32767)9053 4fd4 AFEF ldi r26,hlo8(-32767)9054 4fd6 BFEF ldi r27,hhi8(-32767)9055 4fd8 00C0 rjmp .L9059056 .L727:9057 4fda 8F5F subi r24,lo8(32767)9058 4fdc 9F47 sbci r25,hi8(32767)9059 4fde A040 sbci r26,hlo8(32767)9060 4fe0 B040 sbci r27,hhi8(32767)9061 4fe2 04F0 brlt .L7289062 4fe4 8FEF ldi r24,lo8(32767)9063 4fe6 9FE7 ldi r25,hi8(32767)9064 4fe8 A0E0 ldi r26,hlo8(32767)9065 4fea B0E0 ldi r27,hhi8(32767)9066 .L905:9067 4fec 8093 0000 sts tmp_long.1,r249068 4ff0 9093 0000 sts (tmp_long.1)+1,r259069 4ff4 A093 0000 sts (tmp_long.1)+2,r269070 4ff8 B093 0000 sts (tmp_long.1)+3,r279071 .L728:9072 4ffc 0091 0000 lds r16,tmp_long.19073 5000 1091 0000 lds r17,(tmp_long.1)+19074 5004 8091 0000 lds r24,Parameter_Hoehe_P9075 5008 282F mov r18,r249076 500a 3327 clr r199077 500c 4427 clr r209078 500e 5527 clr r219079 5010 8091 0000 lds r24,tmp_long.19080 5014 9091 0000 lds r25,(tmp_long.1)+19081 5018 A091 0000 lds r26,(tmp_long.1)+29082 501c B091 0000 lds r27,(tmp_long.1)+39083 5020 BC01 movw r22,r249084 5022 CD01 movw r24,r269085 5024 0E94 0000 call __mulsi39086 5028 97FF sbrs r25,79087 502a 00C0 rjmp .L7309088 502c 615E subi r22,lo8(-(31))9089 502e 7F4F sbci r23,hi8(-(31))9090 5030 8F4F sbci r24,hlo8(-(31))9091 5032 9F4F sbci r25,hhi8(-(31))9092 .L730:9093 5034 25E0 ldi r18,59094 5036 9595 1: asr r259095 5038 8795 ror r249096 503a 7795 ror r239097 503c 6795 ror r229098 503e 2A95 dec r189099 5040 01F4 brne 1b9100 5042 6093 0000 sts tmp_long.1,r229101 5046 7093 0000 sts (tmp_long.1)+1,r239102 504a 8093 0000 sts (tmp_long.1)+2,r249103 504e 9093 0000 sts (tmp_long.1)+3,r259104 5052 6530 cpi r22,lo8(-507)9105 5054 2EEF ldi r18,hi8(-507)9106 5056 7207 cpc r23,r189107 5058 2FEF ldi r18,hlo8(-507)9108 505a 8207 cpc r24,r189109 505c 2FEF ldi r18,hhi8(-507)9110 505e 9207 cpc r25,r189111 5060 04F4 brge .L7319112 5062 84E0 ldi r24,lo8(-508)9113 5064 9EEF ldi r25,hi8(-508)9114 5066 AFEF ldi r26,hlo8(-508)9115 5068 BFEF ldi r27,hhi8(-508)9116 506a 00C0 rjmp .L9069117 .L731:9118 506c 6050 subi r22,lo8(1024)9119 506e 7440 sbci r23,hi8(1024)9120 5070 8040 sbci r24,hlo8(1024)9121 5072 9040 sbci r25,hhi8(1024)9122 5074 04F0 brlt .L7329123 5076 80E0 ldi r24,lo8(1024)9124 5078 94E0 ldi r25,hi8(1024)9125 507a A0E0 ldi r26,hlo8(1024)9126 507c B0E0 ldi r27,hhi8(1024)9127 .L906:9128 507e 8093 0000 sts tmp_long.1,r249129 5082 9093 0000 sts (tmp_long.1)+1,r259130 5086 A093 0000 sts (tmp_long.1)+2,r269131 508a B093 0000 sts (tmp_long.1)+3,r279132 .L732:9133 508e 8090 0000 lds r8,tmp_long.19134 5092 9090 0000 lds r9,(tmp_long.1)+19135 5096 2091 0000 lds r18,VarioMeter9136 509a 3091 0000 lds r19,(VarioMeter)+19137 509e 37FF sbrs r19,79138 50a0 00C0 rjmp .L7349139 50a2 295F subi r18,lo8(-(7))9140 50a4 3F4F sbci r19,hi8(-(7))9141 .L734:9142 50a6 83E0 ldi r24,39143 50a8 3595 1: asr r199144 50aa 2795 ror r189145 50ac 8A95 dec r249146 50ae 01F4 brne 1b9147 50b0 4FEF ldi r20,hi8(-126)9148 50b2 2238 cpi r18,lo8(-126)9149 50b4 3407 cpc r19,r209150 50b6 04F4 brge .L7359151 50b8 21E8 ldi r18,lo8(-127)9152 50ba 3FEF ldi r19,hi8(-127)9153 50bc 00C0 rjmp .L7369154 .L735:9155 50be 2038 cpi r18,1289156 50c0 3105 cpc r19,__zero_reg__9157 50c2 04F0 brlt .L7369158 50c4 20E8 ldi r18,lo8(128)9159 50c6 30E0 ldi r19,hi8(128)9160 .L736:9161 50c8 C901 movw r24,r189162 50ca AA27 clr r269163 50cc 97FD sbrc r25,79164 50ce A095 com r269165 50d0 BA2F mov r27,r269166 50d2 2091 0000 lds r18,Parameter_Luftdruck_D9167 50d6 3327 clr r199168 50d8 4427 clr r209169 50da 5527 clr r219170 50dc BC01 movw r22,r249171 50de CD01 movw r24,r269172 50e0 0E94 0000 call __mulsi39173 50e4 97FF sbrs r25,79174 50e6 00C0 rjmp .L7389175 50e8 6D5F subi r22,lo8(-(3))9176 50ea 7F4F sbci r23,hi8(-(3))9177 50ec 8F4F sbci r24,hlo8(-(3))9178 50ee 9F4F sbci r25,hhi8(-(3))9179 .L738:9180 50f0 B2E0 ldi r27,29181 50f2 9595 1: asr r259182 50f4 8795 ror r249183 50f6 7795 ror r239184 50f8 6795 ror r229185 50fa BA95 dec r279186 50fc 01F4 brne 1b9187 50fe 9B01 movw r18,r229188 5100 5FEF ldi r21,hi8(-255)9189 5102 6130 cpi r22,lo8(-255)9190 5104 7507 cpc r23,r219191 5106 04F4 brge .L7399192 5108 20E0 ldi r18,lo8(-256)9193 510a 3FEF ldi r19,hi8(-256)9194 510c 00C0 rjmp .L7409195 .L739:9196 510e 6F3F cpi r22,2559197 5110 7105 cpc r23,__zero_reg__9198 5112 01F0 breq .L7409199 5114 04F0 brlt .L7409200 5116 20E0 ldi r18,lo8(256)9201 5118 31E0 ldi r19,hi8(256)9202 .L740:9203 511a 8091 0000 lds r24,FC_StatusFlags9204 511e 807C andi r24,lo8(-64)9205 5120 01F0 breq .L7429206 5122 C901 movw r24,r189207 5124 37FD sbrc r19,79208 5126 0396 adiw r24,39209 .L743:9210 5128 9C01 movw r18,r249211 512a 3595 asr r199212 512c 2795 ror r189213 512e 3595 asr r199214 5130 2795 ror r189215 5132 00C0 rjmp .L7449216 .L742:9217 5134 8091 0000 lds r24,Parameter_ExtraConfig9218 5138 80FF sbrs r24,09219 513a 00C0 rjmp .L7449220 513c C901 movw r24,r189221 513e 37FD sbrc r19,79222 5140 0796 adiw r24,79223 .L746:9224 5142 9C01 movw r18,r249225 5144 F3E0 ldi r31,39226 5146 3595 1: asr r199227 5148 2795 ror r189228 514a FA95 dec r319229 514c 01F4 brne 1b9230 .L744:9231 514e 820E add r8,r189232 5150 931E adc r9,r199233 .L726:9234 5152 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9235 5156 2223 tst r189236 5158 01F4 brne .+29237 515a 00C0 rjmp .L7479238 515c 6091 0000 lds r22,Mess_Integral_Hoch9239 5160 7091 0000 lds r23,(Mess_Integral_Hoch)+19240 5164 8091 0000 lds r24,(Mess_Integral_Hoch)+29241 5168 9091 0000 lds r25,(Mess_Integral_Hoch)+39242 516c 97FF sbrs r25,79243 516e 00C0 rjmp .L7489244 5170 6158 subi r22,lo8(-(127))9245 5172 7F4F sbci r23,hi8(-(127))9246 5174 8F4F sbci r24,hlo8(-(127))9247 5176 9F4F sbci r25,hhi8(-(127))9248 .L748:9249 5178 E7E0 ldi r30,79250 517a 9595 1: asr r259251 517c 8795 ror r249252 517e 7795 ror r239253 5180 6795 ror r229254 5182 EA95 dec r309255 5184 01F4 brne 1b9256 5186 3327 clr r199257 5188 4427 clr r209258 518a 5527 clr r219259 518c 0E94 0000 call __mulsi39260 5190 97FF sbrs r25,79261 5192 00C0 rjmp .L7499262 5194 615E subi r22,lo8(-(31))9263 5196 7F4F sbci r23,hi8(-(31))9264 5198 8F4F sbci r24,hlo8(-(31))9265 519a 9F4F sbci r25,hhi8(-(31))9266 .L749:9267 519c 55E0 ldi r21,59268 519e 9595 1: asr r259269 51a0 8795 ror r249270 51a2 7795 ror r239271 51a4 6795 ror r229272 51a6 5A95 dec r219273 51a8 01F4 brne 1b9274 51aa 6093 0000 sts tmp_long.1,r229275 51ae 7093 0000 sts (tmp_long.1)+1,r239276 51b2 8093 0000 sts (tmp_long.1)+2,r249277 51b6 9093 0000 sts (tmp_long.1)+3,r259278 51ba 6138 cpi r22,lo8(-127)9279 51bc AFEF ldi r26,hi8(-127)9280 51be 7A07 cpc r23,r269281 51c0 AFEF ldi r26,hlo8(-127)9282 51c2 8A07 cpc r24,r269283 51c4 AFEF ldi r26,hhi8(-127)9284 51c6 9A07 cpc r25,r269285 51c8 04F4 brge .L7509286 51ca 80E8 ldi r24,lo8(-128)9287 51cc 9FEF ldi r25,hi8(-128)9288 51ce AFEF ldi r26,hlo8(-128)9289 51d0 BFEF ldi r27,hhi8(-128)9290 51d2 00C0 rjmp .L9079291 .L750:9292 51d4 6F3F cpi r22,lo8(255)9293 51d6 7105 cpc r23,__zero_reg__9294 51d8 8105 cpc r24,__zero_reg__9295 51da 9105 cpc r25,__zero_reg__9296 51dc 01F0 breq .L7519297 51de 04F0 brlt .L7519298 51e0 80E0 ldi r24,lo8(256)9299 51e2 91E0 ldi r25,hi8(256)9300 51e4 A0E0 ldi r26,hlo8(256)9301 51e6 B0E0 ldi r27,hhi8(256)9302 .L907:9303 51e8 8093 0000 sts tmp_long.1,r249304 51ec 9093 0000 sts (tmp_long.1)+1,r259305 51f0 A093 0000 sts (tmp_long.1)+2,r269306 51f4 B093 0000 sts (tmp_long.1)+3,r279307 .L751:9308 51f8 8091 0000 lds r24,tmp_long.19309 51fc 9091 0000 lds r25,(tmp_long.1)+19310 5200 880E add r8,r249311 5202 991E adc r9,r259312 .L747:9313 5204 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9314 5208 282F mov r18,r249315 520a 3327 clr r199316 520c 8091 0000 lds r24,FromNaviCtrl_Value+49317 5210 9927 clr r259318 5212 87FD sbrc r24,79319 5214 9095 com r259320 5216 289F mul r18,r249321 5218 F001 movw r30,r09322 521a 299F mul r18,r259323 521c F00D add r31,r09324 521e 389F mul r19,r249325 5220 F00D add r31,r09326 5222 1124 clr r19327 5224 9F01 movw r18,r309328 5226 F7FF sbrs r31,79329 5228 00C0 rjmp .L7539330 522a 2158 subi r18,lo8(-(127))9331 522c 3F4F sbci r19,hi8(-(127))9332 .L753:9333 522e 220F lsl r189334 5230 232F mov r18,r199335 5232 221F rol r189336 5234 330B sbc r19,r199337 5236 FFEF ldi r31,hi8(-127)9338 5238 2138 cpi r18,lo8(-127)9339 523a 3F07 cpc r19,r319340 523c 04F4 brge .L7549341 523e 20E8 ldi r18,lo8(-128)9342 5240 3FEF ldi r19,hi8(-128)9343 5242 00C0 rjmp .L7559344 .L754:9345 5244 2F3F cpi r18,2559346 5246 3105 cpc r19,__zero_reg__9347 5248 01F0 breq .L7559348 524a 04F0 brlt .L7559349 524c 20E0 ldi r18,lo8(256)9350 524e 31E0 ldi r19,hi8(256)9351 .L755:9352 5250 820E add r8,r189353 5252 931E adc r9,r199354 5254 C401 movw r24,r89355 5256 AA27 clr r269356 5258 97FD sbrc r25,79357 525a A095 com r269358 525c BA2F mov r27,r269359 525e E090 0000 lds r14,HoverGas9360 5262 F090 0000 lds r15,(HoverGas)+19361 5266 9701 movw r18,r149362 5268 4427 clr r209363 526a 37FD sbrc r19,79364 526c 4095 com r209365 526e 542F mov r21,r209366 5270 BC01 movw r22,r249367 5272 CD01 movw r24,r269368 5274 0E94 0000 call __mulsi39369 5278 97FF sbrs r25,79370 527a 00C0 rjmp .L7579371 527c 6150 subi r22,lo8(-(511))9372 527e 7E4F sbci r23,hi8(-(511))9373 5280 8F4F sbci r24,hlo8(-(511))9374 5282 9F4F sbci r25,hhi8(-(511))9375 .L757:9376 5284 29E0 ldi r18,99377 5286 9595 1: asr r259378 5288 8795 ror r249379 528a 7795 ror r239380 528c 6795 ror r229381 528e 2A95 dec r189382 5290 01F4 brne 1b9383 5292 C61A sub r12,r229384 5294 D70A sbc r13,r239385 5296 8091 0000 lds r24,AltitudeSetpointTrimming9386 529a 9091 0000 lds r25,(AltitudeSetpointTrimming)+19387 529e 892B or r24,r259388 52a0 01F0 breq .+29389 52a2 00C0 rjmp .L7589390 52a4 1E14 cp __zero_reg__,r149391 52a6 1F04 cpc __zero_reg__,r159392 52a8 04F0 brlt .+29393 52aa 00C0 rjmp .L7589394 52ac 9801 movw r18,r169395 52ae 17FF sbrs r17,79396 52b0 00C0 rjmp .L7599397 52b2 3095 com r199398 52b4 2195 neg r189399 52b6 3F4F sbci r19,lo8(-1)9400 .L759:9401 52b8 2D33 cpi r18,619402 52ba 3105 cpc r19,__zero_reg__9403 52bc 00F4 brsh .L7609404 52be 8091 0000 lds r24,HoverGasMin9405 52c2 9091 0000 lds r25,(HoverGasMin)+19406 52c6 8C15 cp r24,r129407 52c8 9D05 cpc r25,r139408 52ca 04F4 brge .L9099409 52cc 00C0 rjmp .L9189410 .L760:9411 52ce 2C53 subi r18,lo8(-(-60))9412 52d0 3040 sbci r19,hi8(-(-60))9413 52d2 85E0 ldi r24,59414 52d4 3695 1: lsr r199415 52d6 2795 ror r189416 52d8 8A95 dec r249417 52da 01F4 brne 1b9418 52dc 2031 cpi r18,169419 52de 3105 cpc r19,__zero_reg__9420 52e0 00F0 brlo .L7659421 52e2 2FE0 ldi r18,lo8(15)9422 52e4 30E0 ldi r19,hi8(15)9423 .L765:9424 52e6 4091 0000 lds r20,HoverGasMin9425 52ea 5091 0000 lds r21,(HoverGasMin)+19426 52ee 1016 cp __zero_reg__,r169427 52f0 1106 cpc __zero_reg__,r179428 52f2 04F4 brge .L7669429 52f4 80E1 ldi r24,lo8(16)9430 52f6 90E0 ldi r25,hi8(16)9431 52f8 821B sub r24,r189432 52fa 930B sbc r25,r199433 52fc 489F mul r20,r249434 52fe 9001 movw r18,r09435 5300 499F mul r20,r259436 5302 300D add r19,r09437 5304 589F mul r21,r249438 5306 300D add r19,r09439 5308 1124 clr r19440 530a B4E0 ldi r27,49441 530c 3695 1: lsr r199442 530e 2795 ror r189443 5310 BA95 dec r279444 5312 01F4 brne 1b9445 5314 2C15 cp r18,r129446 5316 3D05 cpc r19,r139447 5318 00F4 brsh .L9089448 .L918:9449 531a 8091 0000 lds r24,HoverGasMax9450 531e 9091 0000 lds r25,(HoverGasMax)+19451 5322 C816 cp r12,r249452 5324 D906 cpc r13,r259453 5326 04F0 brlt .L7589454 .L909:9455 5328 6C01 movw r12,r249456 532a 00C0 rjmp .L7589457 .L766:9458 532c 205F subi r18,lo8(-(16))9459 532e 3F4F sbci r19,hi8(-(16))9460 5330 8091 0000 lds r24,HoverGasMax9461 5334 9091 0000 lds r25,(HoverGasMax)+19462 5338 829F mul r24,r189463 533a 8001 movw r16,r09464 533c 839F mul r24,r199465 533e 100D add r17,r09466 5340 929F mul r25,r189467 5342 100D add r17,r09468 5344 1124 clr r19469 5346 9801 movw r18,r169470 5348 A4E0 ldi r26,49471 534a 3695 1: lsr r199472 534c 2795 ror r189473 534e AA95 dec r269474 5350 01F4 brne 1b9475 5352 4C15 cp r20,r129476 5354 5D05 cpc r21,r139477 5356 04F0 brlt .L7719478 5358 6A01 movw r12,r209479 535a 00C0 rjmp .L7589480 .L771:9481 535c C216 cp r12,r189482 535e D306 cpc r13,r199483 5360 00F0 brlo .L7589484 .L908:9485 5362 6901 movw r12,r189486 .L758:9487 5364 C601 movw r24,r129488 5366 AA27 clr r269489 5368 97FD sbrc r25,79490 536a A095 com r269491 536c BA2F mov r27,r269492 536e FDE0 ldi r31,139493 5370 880F 1: lsl r249494 5372 991F rol r259495 5374 AA1F rol r269496 5376 BB1F rol r279497 5378 FA95 dec r319498 537a 01F4 brne 1b9499 537c 9501 movw r18,r109500 537e 4427 clr r209501 5380 37FD sbrc r19,79502 5382 4095 com r209503 5384 542F mov r21,r209504 5386 BC01 movw r22,r249505 5388 CD01 movw r24,r269506 538a 0E94 0000 call __divmodsi49507 538e 2093 0000 sts tmp_long2.2,r189508 5392 3093 0000 sts (tmp_long2.2)+1,r199509 5396 4093 0000 sts (tmp_long2.2)+2,r209510 539a 5093 0000 sts (tmp_long2.2)+3,r219511 539e C090 0000 lds r12,tmp_long2.29512 53a2 D090 0000 lds r13,(tmp_long2.2)+19513 53a6 8091 0000 lds r24,FilterHCGas.229514 53aa 9091 0000 lds r25,(FilterHCGas.22)+19515 53ae 9C01 movw r18,r249516 53b0 220F lsl r189517 53b2 331F rol r199518 53b4 280F add r18,r249519 53b6 391F adc r19,r259520 53b8 2C0D add r18,r129521 53ba 3D1D adc r19,r139522 53bc 37FF sbrs r19,79523 53be 00C0 rjmp .L7749524 53c0 2D5F subi r18,lo8(-(3))9525 53c2 3F4F sbci r19,hi8(-(3))9526 .L774:9527 53c4 A901 movw r20,r189528 53c6 5595 asr r219529 53c8 4795 ror r209530 53ca 5595 asr r219531 53cc 4795 ror r209532 53ce 5093 0000 sts (FilterHCGas.22)+1,r219533 53d2 4093 0000 sts FilterHCGas.22,r209534 53d6 8091 0000 lds r24,EE_Parameter+149535 53da 282F mov r18,r249536 53dc 3327 clr r199537 53de 220F lsl r189538 53e0 331F rol r199539 53e2 220F lsl r189540 53e4 331F rol r199541 53e6 2417 cp r18,r209542 53e8 3507 cpc r19,r219543 53ea 04F4 brge .L9109544 53ec 8091 0000 lds r24,MAX_GAS9545 53f0 282F mov r18,r249546 53f2 3327 clr r199547 53f4 220F lsl r189548 53f6 331F rol r199549 53f8 220F lsl r189550 53fa 331F rol r199551 53fc 2055 subi r18,lo8(-(-80))9552 53fe 3040 sbci r19,hi8(-(-80))9553 5400 4217 cp r20,r189554 5402 5307 cpc r21,r199555 5404 04F0 brlt .L7769556 .L910:9557 5406 3093 0000 sts (FilterHCGas.22)+1,r199558 540a 2093 0000 sts FilterHCGas.22,r189559 .L776:9560 540e 8091 0000 lds r24,Parameter_ExtraConfig9561 5412 80FF sbrs r24,09562 5414 00C0 rjmp .L7789563 5416 8091 0000 lds r24,FilterHCGas.229564 541a 9091 0000 lds r25,(FilterHCGas.22)+19565 541e 2981 ldd r18,Y+19566 5420 3A81 ldd r19,Y+29567 5422 8217 cp r24,r189568 5424 9307 cpc r25,r199569 5426 04F0 brlt .L7799570 5428 3093 0000 sts (FilterHCGas.22)+1,r199571 542c 2093 0000 sts FilterHCGas.22,r189572 .L779:9573 5430 4091 0000 lds r20,FilterHCGas.229574 5434 5091 0000 lds r21,(FilterHCGas.22)+19575 5438 5A83 std Y+2,r219576 543a 4983 std Y+1,r209577 543c 00C0 rjmp .L7829578 .L778:9579 543e 2981 ldd r18,Y+19580 5440 3A81 ldd r19,Y+29581 5442 2E19 sub r18,r149582 5444 3F09 sbc r19,r159583 5446 37FF sbrs r19,79584 5448 00C0 rjmp .L7819585 544a 2D5F subi r18,lo8(-(3))9586 544c 3F4F sbci r19,hi8(-(3))9587 .L781:9588 544e 3595 asr r199589 5450 2795 ror r189590 5452 3595 asr r199591 5454 2795 ror r189592 5456 6091 0000 lds r22,FilterHCGas.229593 545a 7091 0000 lds r23,(FilterHCGas.22)+19594 545e 620F add r22,r189595 5460 731F adc r23,r199596 5462 7A83 std Y+2,r239597 5464 6983 std Y+1,r229598 5466 00C0 rjmp .L7829599 .L673:9600 5468 8091 0000 lds r24,EE_Parameter+229601 546c 8823 tst r249602 546e 01F4 brne .L7839603 5470 6091 0000 lds r22,HoverGas9604 5474 7091 0000 lds r23,(HoverGas)+19605 5478 77FF sbrs r23,79606 547a 00C0 rjmp .L7849607 547c 6D5F subi r22,lo8(-(3))9608 547e 7F4F sbci r23,hi8(-(3))9609 .L784:9610 5480 7595 asr r239611 5482 6795 ror r229612 5484 7595 asr r239613 5486 6795 ror r229614 5488 4091 0000 lds r20,UBat9615 548c 5091 0000 lds r21,(UBat)+19616 5490 8091 0000 lds r24,BattLowVoltageWarning9617 5494 282F mov r18,r249618 5496 3327 clr r199619 5498 649F mul r22,r209620 549a C001 movw r24,r09621 549c 659F mul r22,r219622 549e 900D add r25,r09623 54a0 749F mul r23,r209624 54a2 900D add r25,r09625 54a4 1124 clr r19626 54a6 B901 movw r22,r189627 54a8 0E94 0000 call __divmodhi49628 54ac CB01 movw r24,r229629 54ae 00C0 rjmp .L9119630 .L783:9631 54b0 9927 clr r259632 .L911:9633 54b2 9093 0000 sts (StickGasHover)+1,r259634 54b6 8093 0000 sts StickGasHover,r249635 54ba 8091 0000 lds r24,StickGasHover9636 54be 9091 0000 lds r25,(StickGasHover)+19637 54c2 8734 cpi r24,719638 54c4 9105 cpc r25,__zero_reg__9639 54c6 04F4 brge .L7869640 54c8 86E4 ldi r24,lo8(70)9641 54ca 90E0 ldi r25,hi8(70)9642 54cc 00C0 rjmp .L9129643 .L786:9644 54ce 8639 cpi r24,1509645 54d0 9105 cpc r25,__zero_reg__9646 54d2 04F0 brlt .L7879647 54d4 86E9 ldi r24,lo8(150)9648 54d6 90E0 ldi r25,hi8(150)9649 .L912:9650 54d8 9093 0000 sts (StickGasHover)+1,r259651 54dc 8093 0000 sts StickGasHover,r249652 .L787:9653 54e0 8981 ldd r24,Y+19654 54e2 9A81 ldd r25,Y+29655 54e4 9093 0000 sts (FilterHCGas.22)+1,r259656 54e8 8093 0000 sts FilterHCGas.22,r249657 54ec 8091 0000 lds r24,FC_StatusFlags9658 54f0 806C ori r24,lo8(-64)9659 54f2 8093 0000 sts FC_StatusFlags,r249660 54f6 8091 0000 lds r24,FC_StatusFlags29661 54fa 8D7F andi r24,lo8(-3)9662 54fc 8093 0000 sts FC_StatusFlags2,r249663 .L782:9664 5500 8091 0000 lds r24,FC_StatusFlags9665 5504 9927 clr r259666 5506 9C01 movw r18,r249667 5508 2270 andi r18,lo8(2)9668 550a 3070 andi r19,hi8(2)9669 550c 81FF sbrs r24,19670 550e 00C0 rjmp .L7899671 5510 8091 0000 lds r24,HoverGasFilter.239672 5514 9091 0000 lds r25,(HoverGasFilter.23)+19673 5518 A091 0000 lds r26,(HoverGasFilter.23)+29674 551c B091 0000 lds r27,(HoverGasFilter.23)+39675 5520 0097 sbiw r24,09676 5522 A105 cpc r26,__zero_reg__9677 5524 B105 cpc r27,__zero_reg__9678 5526 01F0 breq .L7919679 5528 8091 0000 lds r24,StartTrigger9680 552c 8130 cpi r24,lo8(1)9681 552e 01F4 brne .L7909682 .L791:9683 5530 E981 ldd r30,Y+19684 5532 FA81 ldd r31,Y+29685 5534 CF01 movw r24,r309686 5536 AA27 clr r269687 5538 97FD sbrc r25,79688 553a A095 com r269689 553c BA2F mov r27,r269690 553e 1EE0 ldi r17,149691 5540 880F 1: lsl r249692 5542 991F rol r259693 5544 AA1F rol r269694 5546 BB1F rol r279695 5548 1A95 dec r179696 554a 01F4 brne 1b9697 554c 8093 0000 sts HoverGasFilter.23,r249698 5550 9093 0000 sts (HoverGasFilter.23)+1,r259699 5554 A093 0000 sts (HoverGasFilter.23)+2,r269700 5558 B093 0000 sts (HoverGasFilter.23)+3,r279701 .L790:9702 555c 8091 0000 lds r24,StartTrigger9703 5560 8130 cpi r24,lo8(1)9704 5562 01F4 brne .L7929705 5564 82E0 ldi r24,lo8(2)9706 5566 8093 0000 sts StartTrigger,r249707 .L792:9708 556a E980 ldd r14,Y+19709 556c FA80 ldd r15,Y+29710 556e C701 movw r24,r149711 5570 AA27 clr r269712 5572 97FD sbrc r25,79713 5574 A095 com r269714 5576 BA2F mov r27,r269715 5578 9501 movw r18,r109716 557a 4427 clr r209717 557c 37FD sbrc r19,79718 557e 4095 com r209719 5580 542F mov r21,r209720 5582 BC01 movw r22,r249721 5584 CD01 movw r24,r269722 5586 0E94 0000 call __mulsi39723 558a DC01 movw r26,r249724 558c CB01 movw r24,r229725 558e 8093 0000 sts tmp_long2.2,r249726 5592 9093 0000 sts (tmp_long2.2)+1,r259727 5596 A093 0000 sts (tmp_long2.2)+2,r269728 559a B093 0000 sts (tmp_long2.2)+3,r279729 559e B7FF sbrs r27,79730 55a0 00C0 rjmp .L7939731 55a2 8150 subi r24,lo8(-(8191))9732 55a4 904E sbci r25,hi8(-(8191))9733 55a6 AF4F sbci r26,hlo8(-(8191))9734 55a8 BF4F sbci r27,hhi8(-(8191))9735 .L793:9736 55aa 7C01 movw r14,r249737 55ac 8D01 movw r16,r269738 55ae ADE0 ldi r26,139739 55b0 1595 1: asr r179740 55b2 0795 ror r169741 55b4 F794 ror r159742 55b6 E794 ror r149743 55b8 AA95 dec r269744 55ba 01F4 brne 1b9745 55bc E092 0000 sts tmp_long2.2,r149746 55c0 F092 0000 sts (tmp_long2.2)+1,r159747 55c4 0093 0000 sts (tmp_long2.2)+2,r169748 55c8 1093 0000 sts (tmp_long2.2)+3,r179749 55cc 6091 0000 lds r22,modell_fliegt9750 55d0 7091 0000 lds r23,(modell_fliegt)+19751 55d4 2FE0 ldi r18,hi8(4000)9752 55d6 603A cpi r22,lo8(4000)9753 55d8 7207 cpc r23,r189754 55da 00F4 brsh .L7949755 55dc 8091 0000 lds r24,HoverGasFilter.239756 55e0 9091 0000 lds r25,(HoverGasFilter.23)+19757 55e4 A091 0000 lds r26,(HoverGasFilter.23)+29758 55e8 B091 0000 lds r27,(HoverGasFilter.23)+39759 55ec 9C01 movw r18,r249760 55ee AD01 movw r20,r269761 55f0 FAE0 ldi r31,109762 55f2 5695 1: lsr r219763 55f4 4795 ror r209764 55f6 3795 ror r199765 55f8 2795 ror r189766 55fa FA95 dec r319767 55fc 01F4 brne 1b9768 55fe 821B sub r24,r189769 5600 930B sbc r25,r199770 5602 A40B sbc r26,r209771 5604 B50B sbc r27,r219772 5606 A801 movw r20,r169773 5608 9701 movw r18,r149774 560a E4E0 ldi r30,49775 560c 220F 1: lsl r189776 560e 331F rol r199777 5610 441F rol r209778 5612 551F rol r219779 5614 EA95 dec r309780 5616 01F4 brne 1b9781 5618 820F add r24,r189782 561a 931F adc r25,r199783 561c A41F adc r26,r209784 561e B51F adc r27,r219785 5620 8093 0000 sts HoverGasFilter.23,r249786 5624 9093 0000 sts (HoverGasFilter.23)+1,r259787 5628 A093 0000 sts (HoverGasFilter.23)+2,r269788 562c B093 0000 sts (HoverGasFilter.23)+3,r279789 .L794:9790 5630 6054 subi r22,lo8(8000)9791 5632 7F41 sbci r23,hi8(8000)9792 5634 00F4 brsh .L7959793 5636 8091 0000 lds r24,HoverGasFilter.239794 563a 9091 0000 lds r25,(HoverGasFilter.23)+19795 563e A091 0000 lds r26,(HoverGasFilter.23)+29796 5642 B091 0000 lds r27,(HoverGasFilter.23)+39797 5646 9C01 movw r18,r249798 5648 AD01 movw r20,r269799 564a 6CE0 ldi r22,129800 564c 5695 1: lsr r219801 564e 4795 ror r209802 5650 3795 ror r199803 5652 2795 ror r189804 5654 6A95 dec r229805 5656 01F4 brne 1b9806 5658 821B sub r24,r189807 565a 930B sbc r25,r199808 565c A40B sbc r26,r209809 565e B50B sbc r27,r219810 5660 A801 movw r20,r169811 5662 9701 movw r18,r149812 5664 F2E0 ldi r31,29813 5666 220F 1: lsl r189814 5668 331F rol r199815 566a 441F rol r209816 566c 551F rol r219817 566e FA95 dec r319818 5670 01F4 brne 1b9819 5672 820F add r24,r189820 5674 931F adc r25,r199821 5676 A41F adc r26,r209822 5678 B51F adc r27,r219823 567a 00C0 rjmp .L9139824 .L795:9825 567c 8091 0000 lds r24,VarioMeter9826 5680 9091 0000 lds r25,(VarioMeter)+19827 5684 8091 0000 lds r24,VarioMeter9828 5688 9091 0000 lds r25,(VarioMeter)+19829 568c 97FF sbrs r25,79830 568e 00C0 rjmp .L7989831 5690 9095 com r259832 5692 8195 neg r249833 5694 9F4F sbci r25,lo8(-1)9834 .L798:9835 5696 8436 cpi r24,1009836 5698 9105 cpc r25,__zero_reg__9837 569a 04F4 brge .L7969838 569c 8091 0000 lds r24,HoehenWert9839 56a0 9091 0000 lds r25,(HoehenWert)+19840 56a4 2091 0000 lds r18,SollHoehe9841 56a8 3091 0000 lds r19,(SollHoehe)+19842 56ac 821B sub r24,r189843 56ae 930B sbc r25,r199844 56b0 8150 subi r24,lo8(-(255))9845 56b2 9F4F sbci r25,hi8(-(255))9846 56b4 8F5F subi r24,lo8(511)9847 56b6 9140 sbci r25,hi8(511)9848 56b8 00F4 brsh .L7969849 56ba 8091 0000 lds r24,HoverGasFilter.239850 56be 9091 0000 lds r25,(HoverGasFilter.23)+19851 56c2 A091 0000 lds r26,(HoverGasFilter.23)+29852 56c6 B091 0000 lds r27,(HoverGasFilter.23)+39853 56ca 9C01 movw r18,r249854 56cc AD01 movw r20,r269855 56ce EEE0 ldi r30,149856 56d0 5695 1: lsr r219857 56d2 4795 ror r209858 56d4 3795 ror r199859 56d6 2795 ror r189860 56d8 EA95 dec r309861 56da 01F4 brne 1b9862 56dc 821B sub r24,r189863 56de 930B sbc r25,r199864 56e0 A40B sbc r26,r209865 56e2 B50B sbc r27,r219866 56e4 8E0D add r24,r149867 56e6 9F1D adc r25,r159868 56e8 A01F adc r26,r169869 56ea B11F adc r27,r179870 .L913:9871 56ec 8093 0000 sts HoverGasFilter.23,r249872 56f0 9093 0000 sts (HoverGasFilter.23)+1,r259873 56f4 A093 0000 sts (HoverGasFilter.23)+2,r269874 56f8 B093 0000 sts (HoverGasFilter.23)+3,r279875 .L796:9876 56fc 8091 0000 lds r24,HoverGasFilter.239877 5700 9091 0000 lds r25,(HoverGasFilter.23)+19878 5704 A091 0000 lds r26,(HoverGasFilter.23)+29879 5708 B091 0000 lds r27,(HoverGasFilter.23)+39880 570c 7EE0 ldi r23,149881 570e B695 1: lsr r279882 5710 A795 ror r269883 5712 9795 ror r259884 5714 8795 ror r249885 5716 7A95 dec r239886 5718 01F4 brne 1b9887 571a 9093 0000 sts (HoverGas)+1,r259888 571e 8093 0000 sts HoverGas,r249889 5722 4091 0000 lds r20,EE_Parameter+209890 5726 4423 tst r209891 5728 01F0 breq .L7999892 572a 5527 clr r219893 572c 9C01 movw r18,r249894 572e BA01 movw r22,r209895 5730 0E94 0000 call __divmodhi49896 5734 C901 movw r24,r189897 5736 861B sub r24,r229898 5738 970B sbc r25,r239899 573a 9093 0000 sts (HoverGasMin)+1,r259900 573e 8093 0000 sts HoverGasMin,r249901 5742 260F add r18,r229902 5744 371F adc r19,r239903 5746 3093 0000 sts (HoverGasMax)+1,r199904 574a 2093 0000 sts HoverGasMax,r189905 574e 00C0 rjmp .L8029906 .L799:9907 5750 1092 0000 sts (HoverGasMin)+1,__zero_reg__9908 5754 1092 0000 sts HoverGasMin,__zero_reg__9909 5758 8FEF ldi r24,lo8(1023)9910 575a 93E0 ldi r25,hi8(1023)9911 575c 9093 0000 sts (HoverGasMax)+1,r259912 5760 8093 0000 sts HoverGasMax,r249913 5764 00C0 rjmp .L8029914 .L789:9915 5766 1092 0000 sts StartTrigger,__zero_reg__9916 576a 1092 0000 sts HoverGasFilter.23,__zero_reg__9917 576e 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9918 5772 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9919 5776 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9920 577a 3093 0000 sts (HoverGas)+1,r199921 577e 2093 0000 sts HoverGas,r189922 5782 00C0 rjmp .L8029923 .L653:9924 5784 8091 0000 lds r24,FC_StatusFlags9925 5788 806C ori r24,lo8(-64)9926 578a 8093 0000 sts FC_StatusFlags,r249927 .L802:9928 578e 8091 0000 lds r24,NC_To_FC_Flags9929 5792 81FF sbrs r24,19930 5794 00C0 rjmp .L8039931 5796 8981 ldd r24,Y+19932 5798 9A81 ldd r25,Y+29933 579a 97FD sbrc r25,79934 579c 0396 adiw r24,39935 .L805:9936 579e 9595 asr r259937 57a0 8795 ror r249938 57a2 9595 asr r259939 57a4 8795 ror r249940 57a6 2091 0000 lds r18,HooverGasEmergencyPercent9941 57aa 3091 0000 lds r19,(HooverGasEmergencyPercent)+19942 57ae 2817 cp r18,r249943 57b0 3907 cpc r19,r259944 57b2 00F4 brsh .L8049945 57b4 8091 0000 lds r24,HoverGas9946 57b8 9091 0000 lds r25,(HoverGas)+19947 57bc 892B or r24,r259948 57be 01F0 breq .L8049949 57c0 220F lsl r189950 57c2 331F rol r199951 57c4 220F lsl r189952 57c6 331F rol r199953 57c8 3A83 std Y+2,r199954 57ca 2983 std Y+1,r189955 .L804:9956 57cc 8091 0000 lds r24,HoehenWert9957 57d0 9091 0000 lds r25,(HoehenWert)+19958 57d4 A091 0000 lds r26,(HoehenWert)+29959 57d8 B091 0000 lds r27,(HoehenWert)+39960 57dc 8093 0000 sts SollHoehe,r249961 57e0 9093 0000 sts (SollHoehe)+1,r259962 57e4 A093 0000 sts (SollHoehe)+2,r269963 57e8 B093 0000 sts (SollHoehe)+3,r279964 57ec 88E9 ldi r24,lo8(15000)9965 57ee 9AE3 ldi r25,hi8(15000)9966 57f0 9093 0000 sts (beeptime)+1,r259967 57f4 8093 0000 sts beeptime,r249968 57f8 80E0 ldi r24,lo8(3584)9969 57fa 9EE0 ldi r25,hi8(3584)9970 57fc 9093 0000 sts (BeepMuster)+1,r259971 5800 8093 0000 sts BeepMuster,r249972 .L803:9973 5804 2091 0000 lds r18,MIN_GAS9974 5808 822F mov r24,r189975 580a 9927 clr r259976 580c 880F lsl r249977 580e 991F rol r259978 5810 880F lsl r249979 5812 991F rol r259980 5814 8896 adiw r24,409981 5816 6981 ldd r22,Y+19982 5818 7A81 ldd r23,Y+29983 581a 8617 cp r24,r229984 581c 9707 cpc r25,r239985 581e 04F0 brlt .L8069986 5820 9A83 std Y+2,r259987 5822 8983 std Y+1,r249988 .L806:9989 5824 7091 0000 lds r23,MAX_GAS9990 5828 7D8B std Y+21,r239991 582a 872F mov r24,r239992 582c 9927 clr r259993 582e 880F lsl r249994 5830 991F rol r259995 5832 880F lsl r249996 5834 991F rol r259997 5836 8055 subi r24,lo8(-(-80))9998 5838 9040 sbci r25,hi8(-(-80))9999 583a A981 ldd r26,Y+110000 583c BA81 ldd r27,Y+210001 583e 8A17 cp r24,r2610002 5840 9B07 cpc r25,r2710003 5842 04F4 brge .L80710004 5844 9A83 std Y+2,r2510005 5846 8983 std Y+1,r2410006 .L807:10007 5848 8091 0000 lds r24,MissingMotor10008 584c 8823 tst r2410009 584e 01F4 brne .L80910010 5850 8091 0000 lds r24,Capacity+610011 5854 8F3F cpi r24,lo8(-1)10012 5856 01F4 brne .L80910013 5858 8091 0000 lds r24,NC_ErrorCode10014 585c 8823 tst r2410015 585e 01F0 breq .L80810016 .L809:10017 5860 8091 0000 lds r24,modell_fliegt10018 5864 9091 0000 lds r25,(modell_fliegt)+110019 5868 0297 sbiw r24,210020 586a C097 sbiw r24,4810021 586c 00F4 brsh .L80810022 586e E981 ldd r30,Y+110023 5870 FA81 ldd r31,Y+210024 5872 1E16 cp __zero_reg__,r3010025 5874 1F06 cpc __zero_reg__,r3110026 5876 04F4 brge .L80810027 5878 81E0 ldi r24,lo8(1)10028 587a 90E0 ldi r25,hi8(1)10029 587c 9093 0000 sts (modell_fliegt)+1,r2510030 5880 8093 0000 sts modell_fliegt,r2410031 5884 E22E mov r14,r1810032 5886 FF24 clr r1510033 5888 EE0C lsl r1410034 588a FF1C rol r1510035 588c EE0C lsl r1410036 588e FF1C rol r1510037 5890 8701 movw r16,r1410038 5892 085D subi r16,lo8(-(40))10039 5894 1F4F sbci r17,hi8(-(40))10040 5896 1A83 std Y+2,r1710041 5898 0983 std Y+1,r1610042 .L808:10043 589a 2981 ldd r18,Y+110044 589c 3A81 ldd r19,Y+210045 589e 3093 0000 sts (DebugOut+16)+1,r1910046 58a2 2093 0000 sts DebugOut+16,r1810047 58a6 8091 0000 lds r24,sollGier.010048 58aa 9091 0000 lds r25,(sollGier.0)+110049 58ae A091 0000 lds r26,(sollGier.0)+210050 58b2 B091 0000 lds r27,(sollGier.0)+310051 58b6 12E0 ldi r17,210052 58b8 880F 1: lsl r2410053 58ba 991F rol r2510054 58bc AA1F rol r2610055 58be BB1F rol r2710056 58c0 1A95 dec r1710057 58c2 01F4 brne 1b10058 58c4 0091 0000 lds r16,MesswertGier10059 58c8 1091 0000 lds r17,(MesswertGier)+110060 58cc 081B sub r16,r2410061 58ce 190B sbc r17,r2510062 58d0 213A cpi r18,16110063 58d2 3105 cpc r19,__zero_reg__10064 58d4 04F0 brlt .L81110065 58d6 C901 movw r24,r1810066 58d8 37FD sbrc r19,710067 58da 0196 adiw r24,110068 .L813:10069 58dc 9595 asr r2510070 58de 8795 ror r2410071 58e0 8017 cp r24,r1610072 58e2 9107 cpc r25,r1710073 58e4 04F4 brge .L81210074 58e6 8C01 movw r16,r2410075 .L812:10076 58e8 9095 com r2510077 58ea 8195 neg r2410078 58ec 9F4F sbci r25,lo8(-1)10079 58ee 0817 cp r16,r2410080 58f0 1907 cpc r17,r2510081 58f2 04F4 brge .L81810082 58f4 8C01 movw r16,r2410083 58f6 00C0 rjmp .L81810084 .L811:10085 58f8 0135 cpi r16,8110086 58fa 1105 cpc r17,__zero_reg__10087 58fc 04F0 brlt .L81910088 58fe 00E5 ldi r16,lo8(80)10089 5900 10E0 ldi r17,hi8(80)10090 .L819:10091 5902 3FEF ldi r19,hi8(-80)10092 5904 003B cpi r16,lo8(-80)10093 5906 1307 cpc r17,r1910094 5908 04F4 brge .L81810095 590a 00EB ldi r16,lo8(-80)10096 590c 1FEF ldi r17,hi8(-80)10097 .L818:10098 590e 4D89 ldd r20,Y+2110099 5910 242F mov r18,r2010100 5912 3327 clr r1910101 5914 220F lsl r1810102 5916 331F rol r1910103 5918 220F lsl r1810104 591a 331F rol r1910105 591c C901 movw r24,r1810106 591e 6981 ldd r22,Y+110107 5920 7A81 ldd r23,Y+210108 5922 861B sub r24,r2210109 5924 970B sbc r25,r2310110 5926 8017 cp r24,r1610111 5928 9107 cpc r25,r1710112 592a 04F4 brge .L82110113 592c 8C01 movw r16,r2410114 .L821:10115 592e 8981 ldd r24,Y+110116 5930 9A81 ldd r25,Y+210117 5932 821B sub r24,r1810118 5934 930B sbc r25,r1910119 5936 0817 cp r16,r2410120 5938 1907 cpc r17,r2510121 593a 04F4 brge .L82210122 593c 8C01 movw r16,r2410123 .L822:10124 593e 8091 0000 lds r24,MesswertNick10125 5942 9091 0000 lds r25,(MesswertNick)+110126 5946 6091 0000 lds r22,StickNick10127 594a 7091 0000 lds r23,(StickNick)+110128 594e 861B sub r24,r2210129 5950 970B sbc r25,r2310130 5952 9093 0000 sts (DiffNick)+1,r2510131 5956 8093 0000 sts DiffNick,r2410132 595a D090 0000 lds r13,IntegralFaktor10133 595e 2091 0000 lds r18,SummeNick10134 5962 3091 0000 lds r19,(SummeNick)+110135 5966 4091 0000 lds r20,(SummeNick)+210136 596a 5091 0000 lds r21,(SummeNick)+310137 596e DD20 tst r1310138 5970 01F0 breq .L82310139 5972 661A sub r6,r2210140 5974 770A sbc r7,r2310141 5976 C301 movw r24,r610142 5978 AA27 clr r2610143 597a 97FD sbrc r25,710144 597c A095 com r2610145 597e BA2F mov r27,r2610146 5980 00C0 rjmp .L91410147 .L823:10148 5982 AA27 clr r2610149 5984 97FD sbrc r25,710150 5986 A095 com r2610151 5988 BA2F mov r27,r2610152 .L914:10153 598a 280F add r18,r2410154 598c 391F adc r19,r2510155 598e 4A1F adc r20,r2610156 5990 5B1F adc r21,r2710157 5992 2093 0000 sts SummeNick,r1810158 5996 3093 0000 sts (SummeNick)+1,r1910159 599a 4093 0000 sts (SummeNick)+2,r2010160 599e 5093 0000 sts (SummeNick)+3,r2110161 59a2 8091 0000 lds r24,SummeNick10162 59a6 9091 0000 lds r25,(SummeNick)+110163 59aa A091 0000 lds r26,(SummeNick)+210164 59ae B091 0000 lds r27,(SummeNick)+310165 59b2 8150 subi r24,lo8(64001)10166 59b4 9A4F sbci r25,hi8(64001)10167 59b6 A040 sbci r26,hlo8(64001)10168 59b8 B040 sbci r27,hhi8(64001)10169 59ba 04F0 brlt .L82510170 59bc 80E0 ldi r24,lo8(64000)10171 59be 9AEF ldi r25,hi8(64000)10172 59c0 A0E0 ldi r26,hlo8(64000)10173 59c2 B0E0 ldi r27,hhi8(64000)10174 59c4 8093 0000 sts SummeNick,r2410175 59c8 9093 0000 sts (SummeNick)+1,r2510176 59cc A093 0000 sts (SummeNick)+2,r2610177 59d0 B093 0000 sts (SummeNick)+3,r2710178 .L825:10179 59d4 8091 0000 lds r24,SummeNick10180 59d8 9091 0000 lds r25,(SummeNick)+110181 59dc A091 0000 lds r26,(SummeNick)+210182 59e0 B091 0000 lds r27,(SummeNick)+310183 59e4 8050 subi r24,lo8(-64000)10184 59e6 9640 sbci r25,hi8(-64000)10185 59e8 AF4F sbci r26,hlo8(-64000)10186 59ea BF4F sbci r27,hhi8(-64000)10187 59ec 04F4 brge .L82610188 59ee 80E0 ldi r24,lo8(-64000)10189 59f0 96E0 ldi r25,hi8(-64000)10190 59f2 AFEF ldi r26,hlo8(-64000)10191 59f4 BFEF ldi r27,hhi8(-64000)10192 59f6 8093 0000 sts SummeNick,r2410193 59fa 9093 0000 sts (SummeNick)+1,r2510194 59fe A093 0000 sts (SummeNick)+2,r2610195 5a02 B093 0000 sts (SummeNick)+3,r2710196 .L826:10197 5a06 C090 0000 lds r12,EE_Parameter+3510198 5a0a 2091 0000 lds r18,DiffNick10199 5a0e 3091 0000 lds r19,(DiffNick)+110200 5a12 78E0 ldi r23,lo8(8)10201 5a14 E72E mov r14,r2310202 5a16 EC14 cp r14,r1210203 5a18 00F0 brlo .L82710204 5a1a 8C2D mov r24,r1210205 5a1c 9927 clr r2510206 5a1e 829F mul r24,r1810207 5a20 A001 movw r20,r010208 5a22 839F mul r24,r1910209 5a24 500D add r21,r010210 5a26 929F mul r25,r1810211 5a28 500D add r21,r010212 5a2a 1124 clr r110213 5a2c CA01 movw r24,r2010214 5a2e 57FD sbrc r21,710215 5a30 0796 adiw r24,710216 .L828:10217 5a32 7C01 movw r14,r2410218 5a34 63E0 ldi r22,310219 5a36 F594 1: asr r1510220 5a38 E794 ror r1410221 5a3a 6A95 dec r2210222 5a3c 01F4 brne 1b10223 5a3e 00C0 rjmp .L82910224 .L827:10225 5a40 8C2D mov r24,r1210226 5a42 8695 lsr r2410227 5a44 9927 clr r2510228 5a46 829F mul r24,r1810229 5a48 B001 movw r22,r010230 5a4a 839F mul r24,r1910231 5a4c 700D add r23,r010232 5a4e 929F mul r25,r1810233 5a50 700D add r23,r010234 5a52 1124 clr r110235 5a54 CB01 movw r24,r2210236 5a56 77FD sbrc r23,710237 5a58 0396 adiw r24,310238 .L830:10239 5a5a 7C01 movw r14,r2410240 5a5c F594 asr r1510241 5a5e E794 ror r1410242 5a60 F594 asr r1510243 5a62 E794 ror r1410244 .L829:10245 5a64 A090 0000 lds r10,Ki10246 5a68 B090 0000 lds r11,(Ki)+110247 5a6c 9501 movw r18,r1010248 5a6e 4427 clr r2010249 5a70 37FD sbrc r19,710250 5a72 4095 com r2010251 5a74 542F mov r21,r2010252 5a76 8091 0000 lds r24,SummeNick10253 5a7a 9091 0000 lds r25,(SummeNick)+110254 5a7e A091 0000 lds r26,(SummeNick)+210255 5a82 B091 0000 lds r27,(SummeNick)+310256 5a86 BC01 movw r22,r2410257 5a88 CD01 movw r24,r2610258 5a8a 0E94 0000 call __divmodsi410259 5a8e E20E add r14,r1810260 5a90 F31E adc r15,r1910261 5a92 9090 0000 lds r9,Parameter_DynamicStability10262 5a96 692D mov r22,r910263 5a98 7727 clr r2310264 5a9a 8827 clr r2410265 5a9c 9927 clr r2510266 5a9e 9801 movw r18,r1610267 5aa0 17FF sbrs r17,710268 5aa2 00C0 rjmp .L83110269 5aa4 2227 clr r1810270 5aa6 3327 clr r1910271 5aa8 201B sub r18,r1610272 5aaa 310B sbc r19,r1710273 .L831:10274 5aac 37FF sbrs r19,710275 5aae 00C0 rjmp .L83210276 5ab0 2F5F subi r18,lo8(-(1))10277 5ab2 3F4F sbci r19,hi8(-(1))10278 .L832:10279 5ab4 3595 asr r1910280 5ab6 2795 ror r1810281 5ab8 A981 ldd r26,Y+110282 5aba BA81 ldd r27,Y+210283 5abc 2A0F add r18,r2610284 5abe 3B1F adc r19,r2710285 5ac0 4427 clr r2010286 5ac2 37FD sbrc r19,710287 5ac4 4095 com r2010288 5ac6 542F mov r21,r2010289 5ac8 0E94 0000 call __mulsi310290 5acc 97FF sbrs r25,710291 5ace 00C0 rjmp .L83310292 5ad0 615C subi r22,lo8(-(63))10293 5ad2 7F4F sbci r23,hi8(-(63))10294 5ad4 8F4F sbci r24,hlo8(-(63))10295 5ad6 9F4F sbci r25,hhi8(-(63))10296 .L833:10297 5ad8 26E0 ldi r18,610298 5ada 9595 1: asr r2510299 5adc 8795 ror r2410300 5ade 7795 ror r2310301 5ae0 6795 ror r2210302 5ae2 2A95 dec r1810303 5ae4 01F4 brne 1b10304 5ae6 9B01 movw r18,r2210305 5ae8 6E15 cp r22,r1410306 5aea 7F05 cpc r23,r1510307 5aec 04F4 brge .L83410308 5aee 7B01 movw r14,r2210309 .L834:10310 5af0 3095 com r1910311 5af2 2195 neg r1810312 5af4 3F4F sbci r19,lo8(-1)10313 5af6 E216 cp r14,r1810314 5af8 F306 cpc r15,r1910315 5afa 04F4 brge .L83510316 5afc 7901 movw r14,r1810317 .L835:10318 5afe 8091 0000 lds r24,MesswertRoll10319 5b02 9091 0000 lds r25,(MesswertRoll)+110320 5b06 6091 0000 lds r22,StickRoll10321 5b0a 7091 0000 lds r23,(StickRoll)+110322 5b0e 861B sub r24,r2210323 5b10 970B sbc r25,r2310324 5b12 9093 0000 sts (DiffRoll)+1,r2510325 5b16 8093 0000 sts DiffRoll,r2410326 5b1a 2091 0000 lds r18,SummeRoll10327 5b1e 3091 0000 lds r19,(SummeRoll)+110328 5b22 4091 0000 lds r20,(SummeRoll)+210329 5b26 5091 0000 lds r21,(SummeRoll)+310330 5b2a DD20 tst r1310331 5b2c 01F0 breq .L83610332 5b2e 461A sub r4,r2210333 5b30 570A sbc r5,r2310334 5b32 C201 movw r24,r410335 5b34 AA27 clr r2610336 5b36 97FD sbrc r25,710337 5b38 A095 com r2610338 5b3a BA2F mov r27,r2610339 5b3c 00C0 rjmp .L91510340 .L836:10341 5b3e AA27 clr r2610342 5b40 97FD sbrc r25,710343 5b42 A095 com r2610344 5b44 BA2F mov r27,r2610345 .L915:10346 5b46 280F add r18,r2410347 5b48 391F adc r19,r2510348 5b4a 4A1F adc r20,r2610349 5b4c 5B1F adc r21,r2710350 5b4e 2093 0000 sts SummeRoll,r1810351 5b52 3093 0000 sts (SummeRoll)+1,r1910352 5b56 4093 0000 sts (SummeRoll)+2,r2010353 5b5a 5093 0000 sts (SummeRoll)+3,r2110354 5b5e 8091 0000 lds r24,SummeRoll10355 5b62 9091 0000 lds r25,(SummeRoll)+110356 5b66 A091 0000 lds r26,(SummeRoll)+210357 5b6a B091 0000 lds r27,(SummeRoll)+310358 5b6e 8150 subi r24,lo8(64001)10359 5b70 9A4F sbci r25,hi8(64001)10360 5b72 A040 sbci r26,hlo8(64001)10361 5b74 B040 sbci r27,hhi8(64001)10362 5b76 04F0 brlt .L83810363 5b78 80E0 ldi r24,lo8(64000)10364 5b7a 9AEF ldi r25,hi8(64000)10365 5b7c A0E0 ldi r26,hlo8(64000)10366 5b7e B0E0 ldi r27,hhi8(64000)10367 5b80 8093 0000 sts SummeRoll,r2410368 5b84 9093 0000 sts (SummeRoll)+1,r2510369 5b88 A093 0000 sts (SummeRoll)+2,r2610370 5b8c B093 0000 sts (SummeRoll)+3,r2710371 .L838:10372 5b90 8091 0000 lds r24,SummeRoll10373 5b94 9091 0000 lds r25,(SummeRoll)+110374 5b98 A091 0000 lds r26,(SummeRoll)+210375 5b9c B091 0000 lds r27,(SummeRoll)+310376 5ba0 8050 subi r24,lo8(-64000)10377 5ba2 9640 sbci r25,hi8(-64000)10378 5ba4 AF4F sbci r26,hlo8(-64000)10379 5ba6 BF4F sbci r27,hhi8(-64000)10380 5ba8 04F4 brge .L83910381 5baa 80E0 ldi r24,lo8(-64000)10382 5bac 96E0 ldi r25,hi8(-64000)10383 5bae AFEF ldi r26,hlo8(-64000)10384 5bb0 BFEF ldi r27,hhi8(-64000)10385 5bb2 8093 0000 sts SummeRoll,r2410386 5bb6 9093 0000 sts (SummeRoll)+1,r2510387 5bba A093 0000 sts (SummeRoll)+2,r2610388 5bbe B093 0000 sts (SummeRoll)+3,r2710389 .L839:10390 5bc2 2091 0000 lds r18,DiffRoll10391 5bc6 3091 0000 lds r19,(DiffRoll)+110392 5bca 48E0 ldi r20,lo8(8)10393 5bcc 4C15 cp r20,r1210394 5bce 00F0 brlo .L84010395 5bd0 8C2D mov r24,r1210396 5bd2 9927 clr r2510397 5bd4 829F mul r24,r1810398 5bd6 B001 movw r22,r010399 5bd8 839F mul r24,r1910400 5bda 700D add r23,r010401 5bdc 929F mul r25,r1810402 5bde 700D add r23,r010403 5be0 1124 clr r110404 5be2 CB01 movw r24,r2210405 5be4 77FD sbrc r23,710406 5be6 0796 adiw r24,710407 .L841:10408 5be8 6C01 movw r12,r2410409 5bea B3E0 ldi r27,310410 5bec D594 1: asr r1310411 5bee C794 ror r1210412 5bf0 BA95 dec r2710413 5bf2 01F4 brne 1b10414 5bf4 00C0 rjmp .L84210415 .L840:10416 5bf6 C694 lsr r1210417 5bf8 8C2D mov r24,r1210418 5bfa 9927 clr r2510419 5bfc 829F mul r24,r1810420 5bfe D001 movw r26,r010421 5c00 839F mul r24,r1910422 5c02 B00D add r27,r010423 5c04 929F mul r25,r1810424 5c06 B00D add r27,r010425 5c08 1124 clr r110426 5c0a CD01 movw r24,r2610427 5c0c B7FD sbrc r27,710428 5c0e 0396 adiw r24,310429 .L843:10430 5c10 6C01 movw r12,r2410431 5c12 D594 asr r1310432 5c14 C794 ror r1210433 5c16 D594 asr r1310434 5c18 C794 ror r1210435 .L842:10436 5c1a 9501 movw r18,r1010437 5c1c 4427 clr r2010438 5c1e 37FD sbrc r19,710439 5c20 4095 com r2010440 5c22 542F mov r21,r2010441 5c24 8091 0000 lds r24,SummeRoll10442 5c28 9091 0000 lds r25,(SummeRoll)+110443 5c2c A091 0000 lds r26,(SummeRoll)+210444 5c30 B091 0000 lds r27,(SummeRoll)+310445 5c34 BC01 movw r22,r2410446 5c36 CD01 movw r24,r2610447 5c38 0E94 0000 call __divmodsi410448 5c3c C20E add r12,r1810449 5c3e D31E adc r13,r1910450 5c40 692D mov r22,r910451 5c42 7727 clr r2310452 5c44 8827 clr r2410453 5c46 9927 clr r2510454 5c48 9801 movw r18,r1610455 5c4a 17FF sbrs r17,710456 5c4c 00C0 rjmp .L84410457 5c4e 2227 clr r1810458 5c50 3327 clr r1910459 5c52 201B sub r18,r1610460 5c54 310B sbc r19,r1710461 .L844:10462 5c56 37FF sbrs r19,710463 5c58 00C0 rjmp .L84510464 5c5a 2F5F subi r18,lo8(-(1))10465 5c5c 3F4F sbci r19,hi8(-(1))10466 .L845:10467 5c5e 3595 asr r1910468 5c60 2795 ror r1810469 5c62 E981 ldd r30,Y+110470 5c64 FA81 ldd r31,Y+210471 5c66 2E0F add r18,r3010472 5c68 3F1F adc r19,r3110473 5c6a 4427 clr r2010474 5c6c 37FD sbrc r19,710475 5c6e 4095 com r2010476 5c70 542F mov r21,r2010477 5c72 0E94 0000 call __mulsi310478 5c76 97FF sbrs r25,710479 5c78 00C0 rjmp .L84610480 5c7a 615C subi r22,lo8(-(63))10481 5c7c 7F4F sbci r23,hi8(-(63))10482 5c7e 8F4F sbci r24,hlo8(-(63))10483 5c80 9F4F sbci r25,hhi8(-(63))10484 .L846:10485 5c82 E6E0 ldi r30,610486 5c84 9595 1: asr r2510487 5c86 8795 ror r2410488 5c88 7795 ror r2310489 5c8a 6795 ror r2210490 5c8c EA95 dec r3010491 5c8e 01F4 brne 1b10492 5c90 9B01 movw r18,r2210493 5c92 6C15 cp r22,r1210494 5c94 7D05 cpc r23,r1310495 5c96 04F4 brge .L84710496 5c98 6B01 movw r12,r2210497 .L847:10498 5c9a 3095 com r1910499 5c9c 2195 neg r1810500 5c9e 3F4F sbci r19,lo8(-1)10501 5ca0 C216 cp r12,r1810502 5ca2 D306 cpc r13,r1910503 5ca4 04F4 brge .L84810504 5ca6 6901 movw r12,r1810505 .L848:10506 5ca8 8091 0000 lds r24,MIN_GAS10507 5cac 282E mov r2,r2410508 5cae 3324 clr r310509 5cb0 5090 0000 lds r5,EE_Parameter+10110510 5cb4 60E0 ldi r22,lo8(Motor)10511 5cb6 862E mov r8,r2210512 5cb8 60E0 ldi r22,hi8(Motor)10513 5cba 962E mov r9,r2210514 5cbc 50E0 ldi r21,lo8(Mixer+13)10515 5cbe A52E mov r10,r2110516 5cc0 50E0 ldi r21,hi8(Mixer+13)10517 5cc2 B52E mov r11,r2110518 5cc4 4BE0 ldi r20,lo8(11)10519 5cc6 442E mov r4,r2010520 5cc8 30E0 ldi r19,lo8(tmp_motorwert)10521 5cca 632E mov r6,r1910522 5ccc 30E0 ldi r19,hi8(tmp_motorwert)10523 5cce 732E mov r7,r1910524 .L883:10525 5cd0 D501 movw r26,r1010526 5cd2 2C91 ld r18,X10527 5cd4 1216 cp __zero_reg__,r1810528 5cd6 04F0 brlt .+210529 5cd8 00C0 rjmp .L85210530 5cda 2034 cpi r18,lo8(64)10531 5cdc 01F4 brne .L85310532 5cde E981 ldd r30,Y+110533 5ce0 FA81 ldd r31,Y+210534 5ce2 FF8B std Y+23,r3110535 5ce4 EE8B std Y+22,r3010536 5ce6 00C0 rjmp .L85410537 .L853:10538 5ce8 4981 ldd r20,Y+110539 5cea 5A81 ldd r21,Y+210540 5cec CA01 movw r24,r2010541 5cee AA27 clr r2610542 5cf0 97FD sbrc r25,710543 5cf2 A095 com r2610544 5cf4 BA2F mov r27,r2610545 5cf6 3327 clr r1910546 5cf8 27FD sbrc r18,710547 5cfa 3095 com r1910548 5cfc 432F mov r20,r1910549 5cfe 532F mov r21,r1910550 5d00 BC01 movw r22,r2410551 5d02 CD01 movw r24,r2610552 5d04 0E94 0000 call __mulsi310553 5d08 97FF sbrs r25,710554 5d0a 00C0 rjmp .L85510555 5d0c 615C subi r22,lo8(-(63))10556 5d0e 7F4F sbci r23,hi8(-(63))10557 5d10 8F4F sbci r24,hlo8(-(63))10558 5d12 9F4F sbci r25,hhi8(-(63))10559 .L855:10560 5d14 26E0 ldi r18,610561 5d16 9595 1: asr r2510562 5d18 8795 ror r2410563 5d1a 7795 ror r2310564 5d1c 6795 ror r2210565 5d1e 2A95 dec r1810566 5d20 01F4 brne 1b10567 5d22 7F8B std Y+23,r2310568 5d24 6E8B std Y+22,r2210569 .L854:10570 5d26 F501 movw r30,r1010571 5d28 2181 ldd r18,Z+110572 5d2a 2034 cpi r18,lo8(64)10573 5d2c 01F4 brne .L85610574 5d2e 2E89 ldd r18,Y+2210575 5d30 3F89 ldd r19,Y+2310576 5d32 2E0D add r18,r1410577 5d34 3F1D adc r19,r1510578 5d36 3F8B std Y+23,r1910579 5d38 2E8B std Y+22,r1810580 5d3a 00C0 rjmp .L85710581 .L856:10582 5d3c 203C cpi r18,lo8(-64)10583 5d3e 01F4 brne .L85810584 5d40 4E89 ldd r20,Y+2210585 5d42 5F89 ldd r21,Y+2310586 5d44 4E19 sub r20,r1410587 5d46 5F09 sbc r21,r1510588 5d48 5F8B std Y+23,r2110589 5d4a 4E8B std Y+22,r2010590 5d4c 00C0 rjmp .L85710591 .L858:10592 5d4e C701 movw r24,r1410593 5d50 AA27 clr r2610594 5d52 97FD sbrc r25,710595 5d54 A095 com r2610596 5d56 BA2F mov r27,r2610597 5d58 3327 clr r1910598 5d5a 27FD sbrc r18,710599 5d5c 3095 com r1910600 5d5e 432F mov r20,r1910601 5d60 532F mov r21,r1910602 5d62 BC01 movw r22,r2410603 5d64 CD01 movw r24,r2610604 5d66 0E94 0000 call __mulsi310605 5d6a 97FF sbrs r25,710606 5d6c 00C0 rjmp .L86010607 5d6e 615C subi r22,lo8(-(63))10608 5d70 7F4F sbci r23,hi8(-(63))10609 5d72 8F4F sbci r24,hlo8(-(63))10610 5d74 9F4F sbci r25,hhi8(-(63))10611 .L860:10612 5d76 B6E0 ldi r27,610613 5d78 9595 1: asr r2510614 5d7a 8795 ror r2410615 5d7c 7795 ror r2310616 5d7e 6795 ror r2210617 5d80 BA95 dec r2710618 5d82 01F4 brne 1b10619 5d84 AE89 ldd r26,Y+2210620 5d86 BF89 ldd r27,Y+2310621 5d88 A60F add r26,r2210622 5d8a B71F adc r27,r2310623 5d8c BF8B std Y+23,r2710624 5d8e AE8B std Y+22,r2610625 .L857:10626 5d90 F501 movw r30,r1010627 5d92 2281 ldd r18,Z+210628 5d94 2034 cpi r18,lo8(64)10629 5d96 01F4 brne .L86110630 5d98 2E89 ldd r18,Y+2210631 5d9a 3F89 ldd r19,Y+2310632 5d9c 2C0D add r18,r1210633 5d9e 3D1D adc r19,r1310634 5da0 3F8B std Y+23,r1910635 5da2 2E8B std Y+22,r1810636 5da4 00C0 rjmp .L86210637 .L861:10638 5da6 203C cpi r18,lo8(-64)10639 5da8 01F4 brne .L86310640 5daa 4E89 ldd r20,Y+2210641 5dac 5F89 ldd r21,Y+2310642 5dae 4C19 sub r20,r1210643 5db0 5D09 sbc r21,r1310644 5db2 5F8B std Y+23,r2110645 5db4 4E8B std Y+22,r2010646 5db6 00C0 rjmp .L86210647 .L863:10648 5db8 C601 movw r24,r1210649 5dba AA27 clr r2610650 5dbc 97FD sbrc r25,710651 5dbe A095 com r2610652 5dc0 BA2F mov r27,r2610653 5dc2 3327 clr r1910654 5dc4 27FD sbrc r18,710655 5dc6 3095 com r1910656 5dc8 432F mov r20,r1910657 5dca 532F mov r21,r1910658 5dcc BC01 movw r22,r2410659 5dce CD01 movw r24,r2610660 5dd0 0E94 0000 call __mulsi310661 5dd4 97FF sbrs r25,710662 5dd6 00C0 rjmp .L86510663 5dd8 615C subi r22,lo8(-(63))10664 5dda 7F4F sbci r23,hi8(-(63))10665 5ddc 8F4F sbci r24,hlo8(-(63))10666 5dde 9F4F sbci r25,hhi8(-(63))10667 .L865:10668 5de0 A6E0 ldi r26,610669 5de2 9595 1: asr r2510670 5de4 8795 ror r2410671 5de6 7795 ror r2310672 5de8 6795 ror r2210673 5dea AA95 dec r2610674 5dec 01F4 brne 1b10675 5dee AE89 ldd r26,Y+2210676 5df0 BF89 ldd r27,Y+2310677 5df2 A60F add r26,r2210678 5df4 B71F adc r27,r2310679 5df6 BF8B std Y+23,r2710680 5df8 AE8B std Y+22,r2610681 .L862:10682 5dfa F501 movw r30,r1010683 5dfc 2381 ldd r18,Z+310684 5dfe 2034 cpi r18,lo8(64)10685 5e00 01F4 brne .L86610686 5e02 2E89 ldd r18,Y+2210687 5e04 3F89 ldd r19,Y+2310688 5e06 200F add r18,r1610689 5e08 311F adc r19,r1710690 5e0a 3F8B std Y+23,r1910691 5e0c 2E8B std Y+22,r1810692 5e0e 00C0 rjmp .L86710693 .L866:10694 5e10 203C cpi r18,lo8(-64)10695 5e12 01F4 brne .L86810696 5e14 4E89 ldd r20,Y+2210697 5e16 5F89 ldd r21,Y+2310698 5e18 401B sub r20,r1610699 5e1a 510B sbc r21,r1710700 5e1c 5F8B std Y+23,r2110701 5e1e 4E8B std Y+22,r2010702 5e20 00C0 rjmp .L86710703 .L868:10704 5e22 C801 movw r24,r1610705 5e24 AA27 clr r2610706 5e26 97FD sbrc r25,710707 5e28 A095 com r2610708 5e2a BA2F mov r27,r2610709 5e2c 3327 clr r1910710 5e2e 27FD sbrc r18,710711 5e30 3095 com r1910712 5e32 432F mov r20,r1910713 5e34 532F mov r21,r1910714 5e36 BC01 movw r22,r2410715 5e38 CD01 movw r24,r2610716 5e3a 0E94 0000 call __mulsi310717 5e3e 97FF sbrs r25,710718 5e40 00C0 rjmp .L87010719 5e42 615C subi r22,lo8(-(63))10720 5e44 7F4F sbci r23,hi8(-(63))10721 5e46 8F4F sbci r24,hlo8(-(63))10722 5e48 9F4F sbci r25,hhi8(-(63))10723 .L870:10724 5e4a F6E0 ldi r31,610725 5e4c 9595 1: asr r2510726 5e4e 8795 ror r2410727 5e50 7795 ror r2310728 5e52 6795 ror r2210729 5e54 FA95 dec r3110730 5e56 01F4 brne 1b10731 5e58 AE89 ldd r26,Y+2210732 5e5a BF89 ldd r27,Y+2310733 5e5c A60F add r26,r2210734 5e5e B71F adc r27,r2310735 5e60 BF8B std Y+23,r2710736 5e62 AE8B std Y+22,r2610737 .L867:10738 5e64 F301 movw r30,r610739 5e66 8081 ld r24,Z10740 5e68 9181 ldd r25,Z+110741 5e6a 2E89 ldd r18,Y+2210742 5e6c 3F89 ldd r19,Y+2310743 5e6e 8217 cp r24,r1810744 5e70 9307 cpc r25,r1910745 5e72 04F4 brge .L87110746 5e74 B901 movw r22,r1810747 5e76 680F add r22,r2410748 5e78 791F adc r23,r2510749 5e7a 77FF sbrs r23,710750 5e7c 00C0 rjmp .L87210751 5e7e 6F5F subi r22,lo8(-(1))10752 5e80 7F4F sbci r23,hi8(-(1))10753 .L872:10754 5e82 7595 asr r2310755 5e84 6795 ror r2210756 5e86 7F8B std Y+23,r2310757 5e88 6E8B std Y+22,r2210758 5e8a 00C0 rjmp .L87310759 .L871:10760 5e8c 5520 tst r510761 5e8e 01F4 brne .L87410762 5e90 4E89 ldd r20,Y+2210763 5e92 5F89 ldd r21,Y+2310764 5e94 440F add r20,r2010765 5e96 551F adc r21,r2110766 5e98 481B sub r20,r2410767 5e9a 590B sbc r21,r2510768 5e9c 5F8B std Y+23,r2110769 5e9e 4E8B std Y+22,r2010770 5ea0 00C0 rjmp .L87310771 .L874:10772 5ea2 51E0 ldi r21,lo8(1)10773 5ea4 5515 cp r21,r510774 5ea6 00F4 brsh .L87310775 5ea8 252D mov r18,r510776 5eaa 3327 clr r1910777 5eac 6E89 ldd r22,Y+2210778 5eae 7F89 ldd r23,Y+2310779 5eb0 861B sub r24,r2210780 5eb2 970B sbc r25,r2310781 5eb4 B901 movw r22,r1810782 5eb6 0E94 0000 call __divmodhi410783 5eba AE89 ldd r26,Y+2210784 5ebc BF89 ldd r27,Y+2310785 5ebe A60F add r26,r2210786 5ec0 B71F adc r27,r2310787 5ec2 BF8B std Y+23,r2710788 5ec4 AE8B std Y+22,r2610789 .L873:10790 5ec6 C101 movw r24,r210791 5ec8 880F lsl r2410792 5eca 991F rol r2510793 5ecc 880F lsl r2410794 5ece 991F rol r2510795 5ed0 EE89 ldd r30,Y+2210796 5ed2 FF89 ldd r31,Y+2310797 5ed4 8E17 cp r24,r3010798 5ed6 9F07 cpc r25,r3110799 5ed8 04F4 brge .L91610800 5eda FD89 ldd r31,Y+2110801 5edc 8F2F mov r24,r3110802 5ede 9927 clr r2510803 5ee0 880F lsl r2410804 5ee2 991F rol r2510805 5ee4 880F lsl r2410806 5ee6 991F rol r2510807 5ee8 2E89 ldd r18,Y+2210808 5eea 3F89 ldd r19,Y+2310809 5eec 2817 cp r18,r2410810 5eee 3907 cpc r19,r2510811 5ef0 04F0 brlt .L87810812 .L916:10813 5ef2 9F8B std Y+23,r2510814 5ef4 8E8B std Y+22,r2410815 .L878:10816 5ef6 8E89 ldd r24,Y+2210817 5ef8 9F89 ldd r25,Y+2310818 5efa 97FD sbrc r25,710819 5efc 0396 adiw r24,310820 .L880:10821 5efe 9595 asr r2510822 5f00 8795 ror r2410823 5f02 9595 asr r2510824 5f04 8795 ror r2410825 5f06 F401 movw r30,r810826 5f08 8183 std Z+1,r2410827 5f0a 880F lsl r2410828 5f0c 991F rol r2510829 5f0e 880F lsl r2410830 5f10 991F rol r2510831 5f12 2E89 ldd r18,Y+2210832 5f14 3F89 ldd r19,Y+2310833 5f16 281B sub r18,r2410834 5f18 390B sbc r19,r2510835 5f1a C901 movw r24,r1810836 5f1c 880F lsl r2410837 5f1e 8283 std Z+2,r2410838 5f20 EE89 ldd r30,Y+2210839 5f22 FF89 ldd r31,Y+2310840 5f24 D301 movw r26,r610841 5f26 ED93 st X+,r3010842 5f28 FC93 st X,r3110843 5f2a 00C0 rjmp .L85110844 .L852:10845 5f2c F401 movw r30,r810846 5f2e 1182 std Z+1,__zero_reg__10847 5f30 1282 std Z+2,__zero_reg__10848 .L851:10849 5f32 4A94 dec r410850 5f34 22E0 ldi r18,lo8(2)10851 5f36 30E0 ldi r19,hi8(2)10852 5f38 620E add r6,r1810853 5f3a 731E adc r7,r1910854 5f3c 44E0 ldi r20,lo8(4)10855 5f3e 50E0 ldi r21,hi8(4)10856 5f40 A40E add r10,r2010857 5f42 B51E adc r11,r2110858 5f44 68E0 ldi r22,lo8(8)10859 5f46 70E0 ldi r23,hi8(8)10860 5f48 860E add r8,r2210861 5f4a 971E adc r9,r2310862 5f4c 47FE sbrs r4,710863 5f4e 00C0 rjmp .L88310864 /* epilogue: frame size=23 */10865 5f50 E2E1 ldi r30,1810866 5f52 C95E subi r28,-2310867 5f54 0C94 0000 jmp __epilogue_restores__+010868 /* epilogue end (size=4) */10869 /* function MotorRegler size 8305 (8295) */10871 .comm TrimNick,2,110872 .comm TrimRoll,2,110873 .comm ErsatzKompass,4,110874 .comm ErsatzKompassInGrad,2,110875 .comm MesswertNick,2,110876 .comm MesswertRoll,2,110877 .comm MesswertGier,2,110878 .comm Mittelwert_AccNick,2,110879 .comm Mittelwert_AccRoll,2,110880 .comm NaviAccNick,2,110881 .comm NaviAccRoll,2,110882 .comm h,1,110883 .comm m,1,110884 .comm s,1,110885 .comm DiffNick,2,110886 .comm DiffRoll,2,110887 .comm Parameter_Servo3,1,110888 .comm Parameter_Servo4,1,110889 .comm Parameter_Servo5,1,110890 .comm Parameter_J16Bitmask,1,110891 .comm Parameter_J16Timing,1,110892 .comm Parameter_J17Bitmask,1,110893 .comm Parameter_J17Timing,1,110894 .comm Parameter_GlobalConfig,1,110895 .comm Parameter_ExtraConfig,1,110896 .comm MesswertGierBias,2,110897 .comm RohMesswertNick,2,110898 .comm RohMesswertRoll,2,110899 .comm MittelIntegralNick,4,110900 .comm MittelIntegralRoll,4,110901 .comm MittelIntegralNick2,4,110902 .comm MittelIntegralRoll2,4,110903 .comm MAX_GAS,1,110904 .comm MIN_GAS,1,110905 .comm GyroFaktor,1,110906 .comm GyroFaktorGier,1,110907 .comm IntegralFaktor,1,110908 .comm IntegralFaktorGier,1,110909 .comm Parameter_NaviGpsModeControl,1,110910 .comm Parameter_NaviGpsGain,1,110911 .comm Parameter_NaviGpsP,1,110912 .comm Parameter_NaviGpsI,1,110913 .comm Parameter_NaviGpsD,1,110914 .comm Parameter_NaviGpsACC,1,110915 .comm Parameter_NaviOperatingRadius,1,110916 .comm Parameter_NaviWindCorrection,1,110917 .comm Parameter_NaviSpeedCompensation,1,110918 .comm Parameter_ExternalControl,1,110919 .comm Parameter_MaximumAltitude,1,110920 .comm KopplungsteilNickRoll,2,110921 .comm KopplungsteilRollNick,2,110922 .comm tmp_motorwert,24,110923 /* File "fc.c": code 12371 = 0x3053 (12310), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/ccsD8yYp.s:3 *ABS*:0000003f __SREG__C:\Temp/ccsD8yYp.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccsD8yYp.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccsD8yYp.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccsD8yYp.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccsD8yYp.s:15 .bss:00000000 GasIsZeroCntC:\Temp/ccsD8yYp.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/ccsD8yYp.s:27 .data:00000000 VarioCharacterC:\Temp/ccsD8yYp.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/ccsD8yYp.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/ccsD8yYp.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/ccsD8yYp.s:51 .bss:00000006 modell_fliegtC:\Temp/ccsD8yYp.s:57 .bss:00000008 MaxStickRollC:\Temp/ccsD8yYp.s:63 .bss:0000000a MaxStickNickC:\Temp/ccsD8yYp.s:69 .data:00000005 ExternHoehenValueC:\Temp/ccsD8yYp.s:76 .bss:0000000c ExternStickGierC:\Temp/ccsD8yYp.s:82 .bss:0000000e ExternStickRollC:\Temp/ccsD8yYp.s:88 .bss:00000010 ExternStickNickC:\Temp/ccsD8yYp.s:94 .data:00000007 sintabC:\Temp/ccsD8yYp.s:131 .bss:00000012 CareFreeC:\Temp/ccsD8yYp.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/ccsD8yYp.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/ccsD8yYp.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/ccsD8yYp.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/ccsD8yYp.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/ccsD8yYp.s:162 .data:0000002b Parameter_ServoRollControlC:\Temp/ccsD8yYp.s:167 .data:0000002c Parameter_ServoNickControlC:\Temp/ccsD8yYp.s:174 .bss:00000013 Parameter_UserParam8C:\Temp/ccsD8yYp.s:180 .bss:00000014 Parameter_UserParam7C:\Temp/ccsD8yYp.s:186 .bss:00000015 Parameter_UserParam6C:\Temp/ccsD8yYp.s:192 .bss:00000016 Parameter_UserParam5C:\Temp/ccsD8yYp.s:198 .bss:00000017 Parameter_UserParam4C:\Temp/ccsD8yYp.s:204 .bss:00000018 Parameter_UserParam3C:\Temp/ccsD8yYp.s:210 .bss:00000019 Parameter_UserParam2C:\Temp/ccsD8yYp.s:216 .bss:0000001a Parameter_UserParam1C:\Temp/ccsD8yYp.s:222 .data:0000002d Parameter_I_FaktorC:\Temp/ccsD8yYp.s:227 .data:0000002e Parameter_Gier_PC:\Temp/ccsD8yYp.s:232 .data:0000002f Parameter_Gyro_Gier_IC:\Temp/ccsD8yYp.s:237 .data:00000030 Parameter_Gyro_Gier_PC:\Temp/ccsD8yYp.s:242 .data:00000031 Parameter_Gyro_IC:\Temp/ccsD8yYp.s:247 .data:00000032 Parameter_Gyro_PC:\Temp/ccsD8yYp.s:252 .data:00000033 Parameter_Gyro_DC:\Temp/ccsD8yYp.s:257 .data:00000034 Parameter_Hoehe_GPS_ZC:\Temp/ccsD8yYp.s:262 .data:00000035 Parameter_KompassWirkungC:\Temp/ccsD8yYp.s:267 .data:00000036 Parameter_Hoehe_ACC_WirkungC:\Temp/ccsD8yYp.s:272 .data:00000037 Parameter_Hoehe_PC:\Temp/ccsD8yYp.s:277 .data:00000038 Parameter_HoehenSchalterC:\Temp/ccsD8yYp.s:282 .data:00000039 Parameter_Luftdruck_DC:\Temp/ccsD8yYp.s:289 .bss:0000001b Looping_ObenC:\Temp/ccsD8yYp.s:295 .bss:0000001c Looping_UntenC:\Temp/ccsD8yYp.s:301 .bss:0000001d Looping_RechtsC:\Temp/ccsD8yYp.s:307 .bss:0000001e Looping_LinksC:\Temp/ccsD8yYp.s:313 .bss:0000001f Looping_RollC:\Temp/ccsD8yYp.s:319 .bss:00000020 Looping_NickC:\Temp/ccsD8yYp.s:325 .data:0000003a KiC:\Temp/ccsD8yYp.s:332 .bss:00000021 HoverGasC:\Temp/ccsD8yYp.s:338 .bss:00000023 LageKorrekturNickC:\Temp/ccsD8yYp.s:344 .bss:00000025 LageKorrekturRollC:\Temp/ccsD8yYp.s:350 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/ccsD8yYp.s:356 .bss:00000028 CalibrationDoneC:\Temp/ccsD8yYp.s:362 .bss:00000029 CompassGierSetpointC:\Temp/ccsD8yYp.s:368 .bss:0000002b WaypointTrimmingC:\Temp/ccsD8yYp.s:374 .data:0000003c carefree_oldC:\Temp/ccsD8yYp.s:381 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/ccsD8yYp.s:387 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/ccsD8yYp.s:393 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/ccsD8yYp.s:399 .bss:00000033 SollHoeheC:\Temp/ccsD8yYp.s:405 .bss:00000037 HoehenWertC:\Temp/ccsD8yYp.s:411 .bss:0000003b StartTriggerC:\Temp/ccsD8yYp.s:417 .bss:0000003c MotorenEinC:\Temp/ccsD8yYp.s:423 .bss:0000003d SenderOkayC:\Temp/ccsD8yYp.s:429 .bss:0000003e PotiC:\Temp/ccsD8yYp.s:435 .bss:00000047 StickGasC:\Temp/ccsD8yYp.s:441 .bss:00000049 StickGierC:\Temp/ccsD8yYp.s:447 .bss:0000004b StickRollC:\Temp/ccsD8yYp.s:453 .bss:0000004d StickNickC:\Temp/ccsD8yYp.s:459 .data:0000003d HoverGasMaxC:\Temp/ccsD8yYp.s:466 .bss:0000004f HoverGasMinC:\Temp/ccsD8yYp.s:472 .data:0000003f StickGasHoverC:\Temp/ccsD8yYp.s:479 .bss:00000051 GierGyroFehlerC:\Temp/ccsD8yYp.s:485 .data:00000041 Umschlag180RollC:\Temp/ccsD8yYp.s:490 .data:00000045 Umschlag180NickC:\Temp/ccsD8yYp.s:497 .bss:00000053 TrichterFlugC:\Temp/ccsD8yYp.s:503 .bss:00000054 HoehenReglerAktivC:\Temp/ccsD8yYp.s:509 .data:00000049 KompassSignalSchlechtC:\Temp/ccsD8yYp.s:514 .data:0000004b KompassFusionC:\Temp/ccsD8yYp.s:519 .data:0000004c CalculateCompassTimerC:\Temp/ccsD8yYp.s:526 .bss:00000055 KompassSollWertC:\Temp/ccsD8yYp.s:532 .data:0000004d KompassValueC:\Temp/ccsD8yYp.s:539 .bss:00000057 Mess_Integral_HochC:\Temp/ccsD8yYp.s:545 .bss:0000005b SummeRollC:\Temp/ccsD8yYp.s:551 .bss:0000005f SummeNickC:\Temp/ccsD8yYp.s:557 .bss:00000063 Mess_Integral_Gier2C:\Temp/ccsD8yYp.s:563 .bss:00000067 Mess_Integral_GierC:\Temp/ccsD8yYp.s:569 .bss:0000006b Mess_IntegralRoll2C:\Temp/ccsD8yYp.s:575 .bss:0000006f Mess_IntegralRollC:\Temp/ccsD8yYp.s:581 .bss:00000073 Mess_IntegralNick2C:\Temp/ccsD8yYp.s:587 .bss:00000077 Mess_IntegralNickC:\Temp/ccsD8yYp.s:593 .bss:0000007b Integral_GierC:\Temp/ccsD8yYp.s:599 .bss:0000007f IntegralAccZC:\Temp/ccsD8yYp.s:605 .bss:00000083 IntegralAccRollC:\Temp/ccsD8yYp.s:611 .bss:00000087 IntegralAccNickC:\Temp/ccsD8yYp.s:617 .bss:0000008b IntegralRoll2C:\Temp/ccsD8yYp.s:623 .bss:0000008f IntegralRollC:\Temp/ccsD8yYp.s:629 .bss:00000093 IntegralNick2C:\Temp/ccsD8yYp.s:635 .bss:00000097 IntegralNickC:\Temp/ccsD8yYp.s:641 .bss:0000009b ControlHeadingC:\Temp/ccsD8yYp.s:647 .bss:0000009c NeutralAccZC:\Temp/ccsD8yYp.s:653 .bss:0000009e NaviCntAccC:\Temp/ccsD8yYp.s:659 .bss:000000a0 NeutralAccYC:\Temp/ccsD8yYp.s:665 .bss:000000a2 NeutralAccXC:\Temp/ccsD8yYp.s:671 .bss:000000a4 StartNeutralNickC:\Temp/ccsD8yYp.s:677 .bss:000000a6 StartNeutralRollC:\Temp/ccsD8yYp.s:683 .bss:000000a8 AdNeutralGierC:\Temp/ccsD8yYp.s:689 .bss:000000aa AdNeutralRollC:\Temp/ccsD8yYp.s:695 .bss:000000ac AdNeutralNickC:\Temp/ccsD8yYp.s:701 .bss:000000ae BaroExpandActiveC:\Temp/ccsD8yYp.s:706 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000004 ErsatzKompassC:\Temp/ccsD8yYp.s:902 .text:00000254 PiepC:\Temp/ccsD8yYp.s:976 .text:000002da CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/ccsD8yYp.s:1118 .progmem.data:00000000 __c.35C:\Temp/ccsD8yYp.s:1123 .text:0000041c SetNeutral.bss:000000b0 tmpl.27C:\Temp/ccsD8yYp.s:1631 .bss:000000b4 tmpl2.28C:\Temp/ccsD8yYp.s:1632 .bss:000000b8 tmpl3.29C:\Temp/ccsD8yYp.s:1633 .bss:000000bc tmpl4.30C:\Temp/ccsD8yYp.s:1634 .bss:000000c0 oldNick.31C:\Temp/ccsD8yYp.s:1635 .bss:000000c2 oldRoll.32C:\Temp/ccsD8yYp.s:1636 .bss:000000c4 d2Roll.33C:\Temp/ccsD8yYp.s:1637 .bss:000000c6 d2Nick.34C:\Temp/ccsD8yYp.s:1641 .text:00000988 Mittelwert*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRoll*COM*:00000001 Parameter_GlobalConfig*COM*:00000002 KopplungsteilNickRoll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\Temp/ccsD8yYp.s:3206 .text:000018ec SendMotorDataC:\Temp/ccsD8yYp.s:3266 .text:00001966 ParameterZuordnung*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_Servo3*COM*:00000001 Parameter_Servo4*COM*:00000001 Parameter_Servo5*COM*:00000001 Parameter_MaximumAltitude*COM*:00000001 Parameter_ExtraConfig*COM*:00000001 Parameter_ExternalControl*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\Temp/ccsD8yYp.s:1638 .bss:000000c8 sollGier.0C:\Temp/ccsD8yYp.s:3985 .bss:000000cc tmp_long.1C:\Temp/ccsD8yYp.s:3986 .bss:000000d0 tmp_long2.2C:\Temp/ccsD8yYp.s:3987 .bss:000000d4 IntegralFehlerNick.3C:\Temp/ccsD8yYp.s:3988 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/ccsD8yYp.s:3989 .bss:000000dc RcLostTimer.5C:\Temp/ccsD8yYp.s:3990 .bss:000000de delay_neutral.6C:\Temp/ccsD8yYp.s:3991 .bss:000000df delay_einschalten.7C:\Temp/ccsD8yYp.s:3992 .bss:000000e0 delay_ausschalten.8C:\Temp/ccsD8yYp.s:3993 .bss:000000e1 move_safety_switch.9C:\Temp/ccsD8yYp.s:3994 .bss:000000e2 ausgleichNick.10C:\Temp/ccsD8yYp.s:3995 .bss:000000e6 ausgleichRoll.11C:\Temp/ccsD8yYp.s:3996 .bss:000000ea stick_nick.12C:\Temp/ccsD8yYp.s:3997 .bss:000000ec stick_roll.13C:\Temp/ccsD8yYp.s:3998 .bss:000000ee cnt.14C:\Temp/ccsD8yYp.s:3999 .bss:000000f0 last_n_p.15C:\Temp/ccsD8yYp.s:4000 .bss:000000f1 last_n_n.16C:\Temp/ccsD8yYp.s:4001 .bss:000000f2 last_r_p.17C:\Temp/ccsD8yYp.s:4002 .bss:000000f3 last_r_n.18C:\Temp/ccsD8yYp.s:4003 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/ccsD8yYp.s:4004 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/ccsD8yYp.s:4005 .bss:000000fc HeightTrimming.21C:\Temp/ccsD8yYp.s:4006 .bss:000000fe FilterHCGas.22C:\Temp/ccsD8yYp.s:4007 .bss:00000100 HoverGasFilter.23C:\Temp/ccsD8yYp.s:4012 .data:0000004f delay.24C:\Temp/ccsD8yYp.s:4008 .bss:00000104 BaroAtUpperLimit.25C:\Temp/ccsD8yYp.s:4014 .bss:00000105 BaroAtLowerLimit.26C:\Temp/ccsD8yYp.s:4019 .text:00001f6a MotorRegler*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 IntegralFaktorGier*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2*COM*:00000002 ErsatzKompassInGrad*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000018 tmp_motorwert*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsModeControl*COM*:00000001 Parameter_NaviGpsGain*COM*:00000001 Parameter_NaviGpsP*COM*:00000001 Parameter_NaviGpsI*COM*:00000001 Parameter_NaviGpsD*COM*:00000001 Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED SYMBOLS__do_copy_data__do_clear_bssEE_Parameter__divmodsi4DebugOutAdWertGierAdWertAccHochUBatMotorCapacityServoNickValueGPS_NickGPS_RollVersionInfoPlatinenVersionbeeptimeUpdateMotorLIBFC_PollingSucheGyroOffsetAdWertNickAdWertRollAdWertAccNickAdWertAccRollPPM_in__mulsi3__prologue_saves__ExpandBaroDelay_ms_MessMessLuftdruckSucheLuftruckOffset__divmodhi4Aktuell_azSetParamWordGetParamWorduart_putchar_printf_PLuftdruckStartLuftdruckVarioMeterLED_InitFromNaviCtrl_ValueServoActiveNickServoValueLIBFC_HoTT_Clear__epilogue_restores__AdWertNickFilterAdWertRollFilterAdReadyHiResNickHiResRollMotorTestPC_MotortestActiveI2C_TransferActivemotor_writetwi_stateBLFlagsNC_To_FC_MaxAltitudeSpeakHoTTFromNaviCtrlBeepMusterPPM_diffSetActiveParamSetWinkelOutGetActiveParamSetParamSet_ReadFromEEPromLipoDetectionLIBFC_ReceiverInitNC_ErrorCodeGPSInfoNewPpmDataFromNC_Rotate_CFromNC_Rotate_SGPS_Aid_StickMultiplikator__floatsisf__addsf3__fixunssfsiExternControlZaehlMessungenBattLowVoltageWarning__udivmodhi4DruckOffsetSettingSummenHoeheihypotc_cos_8192__udivmodqi4NC_To_FC_FlagsMissingMotorMixer