Subversion Repositories FlightCtrl

   1                            .file   "timer0.c"
   2                            .arch atmega1284p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global ServoRollValue
  11                    .global ServoRollValue
  12                            .section .bss
  15                    ServoRollValue:
  16 0000 0000                  .skip 2,0
  17                    .global ServoNickValue
  18                    .global ServoNickValue
  21                    ServoNickValue:
  22 0002 0000                  .skip 2,0
  23                    .global NickServoValue
  24                            .data
  27                    NickServoValue:
  28 0000 0020                  .word   8192
  29                    .global BeepMuster
  32                    BeepMuster:
  33 0002 FFFF                  .word   -1
  34                    .global ServoRollOffset
  37                    ServoRollOffset:
  38 0004 C01F                  .word   8128
  39                    .global ServoNickOffset
  42                    ServoNickOffset:
  43 0006 C01F                  .word   8128
  44                    .global RemainingPulse
  45                    .global RemainingPulse
  46                            .section .bss
  49                    RemainingPulse:
  50 0004 0000                  .skip 2,0
  51                    .global CalculateServoSignals
  52                            .data
  55                    CalculateServoSignals:
  56 0008 01                    .byte   1
  57                    .global ServoActive
  58                    .global ServoActive
  59                            .section .bss
  62                    ServoActive:
  63 0006 00                    .skip 1,0
  64                    .global SendSPI
  65                    .global SendSPI
  68                    SendSPI:
  69 0007 00                    .skip 1,0
  70                    .global beeptime
  71                    .global beeptime
  74                    beeptime:
  75 0008 0000                  .skip 2,0
  76                    .global cntKompass
  77                    .global cntKompass
  80                    cntKompass:
  81 000a 0000                  .skip 2,0
  82                    .global UpdateMotor
  83                    .global UpdateMotor
  86                    UpdateMotor:
  87 000c 00                    .skip 1,0
  88                    .global CountMilliseconds
  89                    .global CountMilliseconds
  92                    CountMilliseconds:
  93 000d 0000                  .skip 2,0
  94                            .data
  97                    cnt_1ms.3:
  98 0009 01                    .byte   1
  99                            .lcomm cnt.4,1
 100                            .lcomm compass_active.5,1
 101                            .text
 102                    .global __vector_18
 104                    __vector_18:
 105                    /* prologue: frame size=0 */
 106 0000 1F92                  push __zero_reg__
 107 0002 0F92                  push __tmp_reg__
 108 0004 0FB6                  in __tmp_reg__,__SREG__
 109 0006 0F92                  push __tmp_reg__
 110 0008 1124                  clr __zero_reg__
 111 000a 2F93                  push r18
 112 000c 3F93                  push r19
 113 000e 5F93                  push r21
 114 0010 6F93                  push r22
 115 0012 7F93                  push r23
 116 0014 8F93                  push r24
 117 0016 9F93                  push r25
 118 0018 AF93                  push r26
 119 001a BF93                  push r27
 120 001c EF93                  push r30
 121 001e FF93                  push r31
 122                    /* prologue end (size=16) */
 123 0020 20E0                  ldi r18,lo8(0)
 124 0022 8091 0000             lds r24,SendSPI
 125 0026 8823                  tst r24
 126 0028 01F0                  breq .L2
 127 002a 8091 0000             lds r24,SendSPI
 128 002e 8150                  subi r24,lo8(-(-1))
 129 0030 8093 0000             sts SendSPI,r24
 130                    .L2:
 131 0034 8091 0000             lds r24,SpektrumTimer
 132 0038 8823                  tst r24
 133 003a 01F0                  breq .L3
 134 003c 8150                  subi r24,lo8(-(-1))
 135 003e 8093 0000             sts SpektrumTimer,r24
 136                    .L3:
 137 0042 8091 0000             lds r24,cnt.4
 138 0046 8150                  subi r24,lo8(-(-1))
 139 0048 8093 0000             sts cnt.4,r24
 140 004c 8F3F                  cpi r24,lo8(-1)
 141 004e 01F0                  breq .+2
 142 0050 00C0                  rjmp .L4
 143 0052 89E0                  ldi r24,lo8(9)
 144 0054 8093 0000             sts cnt.4,r24
 145 0058 8091 0000             lds r24,CountMilliseconds
 146 005c 9091 0000             lds r25,(CountMilliseconds)+1
 147 0060 0196                  adiw r24,1
 148 0062 9093 0000             sts (CountMilliseconds)+1,r25
 149 0066 8093 0000             sts CountMilliseconds,r24
 150 006a 8091 0000             lds r24,cnt_1ms.3
 151 006e 8F5F                  subi r24,lo8(-(1))
 152 0070 8170                  andi r24,lo8(1)
 153 0072 8093 0000             sts cnt_1ms.3,r24
 154 0076 8823                  tst r24
 155 0078 01F4                  brne .L5
 156 007a 81E0                  ldi r24,lo8(1)
 157 007c 8093 0000             sts UpdateMotor,r24
 158                    .L5:
 159 0080 3499                  sbic 38-0x20,4
 160 0082 00C0                  rjmp .L6
 161 0084 81E0                  ldi r24,lo8(1)
 162 0086 8093 0000             sts compass_active.5,r24
 163                    .L6:
 164 008a 8091 0000             lds r24,beeptime
 165 008e 9091 0000             lds r25,(beeptime)+1
 166 0092 892B                  or r24,r25
 167 0094 01F0                  breq .L7
 168 0096 8091 0000             lds r24,beeptime
 169 009a 9091 0000             lds r25,(beeptime)+1
 170 009e 0B97                  sbiw r24,11
 171 00a0 00F0                  brlo .L8
 172 00a2 8091 0000             lds r24,beeptime
 173 00a6 9091 0000             lds r25,(beeptime)+1
 174 00aa 0A97                  sbiw r24,10
 175 00ac 9093 0000             sts (beeptime)+1,r25
 176 00b0 8093 0000             sts beeptime,r24
 177 00b4 00C0                  rjmp .L9
 178                    .L8:
 179 00b6 1092 0000             sts (beeptime)+1,__zero_reg__
 180 00ba 1092 0000             sts beeptime,__zero_reg__
 181                    .L9:
 182 00be 8091 0000             lds r24,beeptime
 183 00c2 9091 0000             lds r25,(beeptime)+1
 184 00c6 2091 0000             lds r18,BeepMuster
 185 00ca 3091 0000             lds r19,(BeepMuster)+1
 186 00ce 8223                  and r24,r18
 187 00d0 9323                  and r25,r19
 188 00d2 892B                  or r24,r25
 189 00d4 01F0                  breq .L10
 190 00d6 21E0                  ldi r18,lo8(1)
 191 00d8 00C0                  rjmp .L12
 192                    .L10:
 193 00da 20E0                  ldi r18,lo8(0)
 194 00dc 00C0                  rjmp .L12
 195                    .L7:
 196 00de 8FEF                  ldi r24,lo8(-1)
 197 00e0 9FEF                  ldi r25,hi8(-1)
 198 00e2 9093 0000             sts (BeepMuster)+1,r25
 199 00e6 8093 0000             sts BeepMuster,r24
 200                    .L12:
 201 00ea 8091 0000             lds r24,PlatinenVersion
 202 00ee 2223                  tst r18
 203 00f0 01F0                  breq .L13
 204 00f2 8A30                  cpi r24,lo8(10)
 205 00f4 01F4                  brne .L14
 206 00f6 5A9A                  sbi 43-0x20,2
 207 00f8 00C0                  rjmp .L4
 208                    .L14:
 209 00fa 479A                  sbi 40-0x20,7
 210 00fc 00C0                  rjmp .L4
 211                    .L13:
 212 00fe 8A30                  cpi r24,lo8(10)
 213 0100 01F4                  brne .L17
 214 0102 5A98                  cbi 43-0x20,2
 215 0104 00C0                  rjmp .L4
 216                    .L17:
 217 0106 4798                  cbi 40-0x20,7
 218                    .L4:
 219 0108 8091 0000             lds r24,compass_active.5
 220 010c 8823                  tst r24
 221 010e 01F4                  brne .+2
 222 0110 00C0                  rjmp .L1
 223 0112 2091 0000             lds r18,NaviDataOkay
 224 0116 2223                  tst r18
 225 0118 01F0                  breq .+2
 226 011a 00C0                  rjmp .L1
 227 011c 8091 0000             lds r24,Parameter_GlobalConfig
 228 0120 83FF                  sbrs r24,3
 229 0122 00C0                  rjmp .L1
 230 0124 86B1                  in r24,38-0x20
 231 0126 9927                  clr r25
 232 0128 FC01                  movw r30,r24
 233 012a E071                  andi r30,lo8(16)
 234 012c F070                  andi r31,hi8(16)
 235 012e 84FF                  sbrs r24,4
 236 0130 00C0                  rjmp .L20
 237 0132 8091 0000             lds r24,cntKompass
 238 0136 9091 0000             lds r25,(cntKompass)+1
 239 013a 0196                  adiw r24,1
 240 013c 9093 0000             sts (cntKompass)+1,r25
 241 0140 8093 0000             sts cntKompass,r24
 242 0144 8091 0000             lds r24,cntKompass
 243 0148 9091 0000             lds r25,(cntKompass)+1
 244 014c 895E                  subi r24,lo8(1001)
 245 014e 9340                  sbci r25,hi8(1001)
 246 0150 00F0                  brlo .L1
 247 0152 2093 0000             sts compass_active.5,r18
 248 0156 00C0                  rjmp .L1
 249                    .L20:
 250 0158 8091 0000             lds r24,cntKompass
 251 015c 9091 0000             lds r25,(cntKompass)+1
 252 0160 892B                  or r24,r25
 253 0162 01F0                  breq .L23
 254 0164 8091 0000             lds r24,cntKompass
 255 0168 9091 0000             lds r25,(cntKompass)+1
 256 016c 8A56                  subi r24,lo8(362)
 257 016e 9140                  sbci r25,hi8(362)
 258 0170 00F4                  brsh .L23
 259 0172 8091 0000             lds r24,cntKompass
 260 0176 9091 0000             lds r25,(cntKompass)+1
 261 017a 69E2                  ldi r22,lo8(41)
 262 017c 70E0                  ldi r23,hi8(41)
 263 017e 0E94 0000             call __udivmodhi4
 264 0182 8091 0000             lds r24,cntKompass
 265 0186 9091 0000             lds r25,(cntKompass)+1
 266 018a 860F                  add r24,r22
 267 018c 971F                  adc r25,r23
 268 018e 9093 0000             sts (cntKompass)+1,r25
 269 0192 8093 0000             sts cntKompass,r24
 270 0196 8091 0000             lds r24,cntKompass
 271 019a 9091 0000             lds r25,(cntKompass)+1
 272 019e 0B97                  sbiw r24,11
 273 01a0 00F0                  brlo .L24
 274 01a2 8091 0000             lds r24,cntKompass
 275 01a6 9091 0000             lds r25,(cntKompass)+1
 276 01aa 0A97                  sbiw r24,10
 277 01ac 9093 0000             sts (KompassValue)+1,r25
 278 01b0 8093 0000             sts KompassValue,r24
 279 01b4 00C0                  rjmp .L23
 280                    .L24:
 281 01b6 F093 0000             sts (KompassValue)+1,r31
 282 01ba E093 0000             sts KompassValue,r30
 283                    .L23:
 284 01be 1092 0000             sts (cntKompass)+1,__zero_reg__
 285 01c2 1092 0000             sts cntKompass,__zero_reg__
 286                    .L1:
 287                    /* epilogue: frame size=0 */
 288 01c6 FF91                  pop r31
 289 01c8 EF91                  pop r30
 290 01ca BF91                  pop r27
 291 01cc AF91                  pop r26
 292 01ce 9F91                  pop r25
 293 01d0 8F91                  pop r24
 294 01d2 7F91                  pop r23
 295 01d4 6F91                  pop r22
 296 01d6 5F91                  pop r21
 297 01d8 3F91                  pop r19
 298 01da 2F91                  pop r18
 299 01dc 0F90                  pop __tmp_reg__
 300 01de 0FBE                  out __SREG__,__tmp_reg__
 301 01e0 0F90                  pop __tmp_reg__
 302 01e2 1F90                  pop __zero_reg__
 303 01e4 1895                  reti
 304                    /* epilogue end (size=16) */
 305                    /* function __vector_18 size 247 (215) */
 307                    .global SetDelay
 309                    SetDelay:
 310                    /* prologue: frame size=0 */
 311                    /* prologue end (size=0) */
 312 01e6 2091 0000             lds r18,CountMilliseconds
 313 01ea 3091 0000             lds r19,(CountMilliseconds)+1
 314 01ee 280F                  add r18,r24
 315 01f0 391F                  adc r19,r25
 316 01f2 C901                  movw r24,r18
 317 01f4 0196                  adiw r24,1
 318                    /* epilogue: frame size=0 */
 319 01f6 0895                  ret
 320                    /* epilogue end (size=1) */
 321                    /* function SetDelay size 9 (8) */
 323                    .global CheckDelay
 325                    CheckDelay:
 326                    /* prologue: frame size=0 */
 327                    /* prologue end (size=0) */
 328 01f8 2091 0000             lds r18,CountMilliseconds
 329 01fc 3091 0000             lds r19,(CountMilliseconds)+1
 330 0200 821B                  sub r24,r18
 331 0202 930B                  sbc r25,r19
 332 0204 892F                  mov r24,r25
 333 0206 9927                  clr r25
 334 0208 8695                  lsr r24
 335 020a 8074                  andi r24,lo8(64)
 336 020c 9070                  andi r25,hi8(64)
 337                    /* epilogue: frame size=0 */
 338 020e 0895                  ret
 339                    /* epilogue end (size=1) */
 340                    /* function CheckDelay size 12 (11) */
 342                    .global Delay_ms
 344                    Delay_ms:
 345                    /* prologue: frame size=0 */
 346 0210 CF93                  push r28
 347 0212 DF93                  push r29
 348                    /* prologue end (size=2) */
 349 0214 0E94 0000             call SetDelay
 350 0218 EC01                  movw r28,r24
 351                    .L29:
 352 021a CE01                  movw r24,r28
 353 021c 0E94 0000             call CheckDelay
 354 0220 8823                  tst r24
 355 0222 01F0                  breq .L29
 356                    /* epilogue: frame size=0 */
 357 0224 DF91                  pop r29
 358 0226 CF91                  pop r28
 359 0228 0895                  ret
 360                    /* epilogue end (size=3) */
 361                    /* function Delay_ms size 13 (8) */
 363                    .global Delay_ms_Mess
 365                    Delay_ms_Mess:
 366                    /* prologue: frame size=0 */
 367 022a CF93                  push r28
 368 022c DF93                  push r29
 369                    /* prologue end (size=2) */
 370 022e 0E94 0000             call SetDelay
 371 0232 EC01                  movw r28,r24
 372 0234 00C0                  rjmp .L40
 373                    .L36:
 374 0236 8091 0000             lds r24,AdReady
 375 023a 8823                  tst r24
 376 023c 01F0                  breq .L40
 377 023e 9093 0000             sts AdReady,r25
 378 0242 8FEC                  ldi r24,lo8(-49)
 379 0244 8093 7A00             sts 122,r24
 380                    .L40:
 381 0248 CE01                  movw r24,r28
 382 024a 0E94 0000             call CheckDelay
 383 024e 982F                  mov r25,r24
 384 0250 8823                  tst r24
 385 0252 01F0                  breq .L36
 386                    /* epilogue: frame size=0 */
 387 0254 DF91                  pop r29
 388 0256 CF91                  pop r28
 389 0258 0895                  ret
 390                    /* epilogue end (size=3) */
 391                    /* function Delay_ms_Mess size 24 (19) */
 393                    .global TIMER2_Init
 395                    TIMER2_Init:
 396                    /* prologue: frame size=0 */
 397                    /* prologue end (size=0) */
 398 025a 9FB7                  in r25,95-0x20
 399                    /* #APP */
 400 025c F894                  cli
 401                    /* #NOAPP */
 402 025e 5F98                  cbi 43-0x20,7
 403 0260 3E9A                  sbi 39-0x20,6
 404 0262 469A                  sbi 40-0x20,6
 405 0264 8091 B000             lds r24,176
 406 0268 8F70                  andi r24,lo8(15)
 407 026a 8093 B000             sts 176,r24
 408 026e 8091 B000             lds r24,176
 409 0272 8360                  ori r24,lo8(3)
 410 0274 8093 B000             sts 176,r24
 411 0278 8091 B100             lds r24,177
 412 027c 8B73                  andi r24,lo8(59)
 413 027e 8093 B100             sts 177,r24
 414 0282 8091 B100             lds r24,177
 415 0286 8B60                  ori r24,lo8(11)
 416 0288 8093 B100             sts 177,r24
 417 028c 1092 B200             sts 178,__zero_reg__
 418 0290 8FEF                  ldi r24,lo8(-1)
 419 0292 8093 B300             sts 179,r24
 420 0296 8091 B000             lds r24,176
 421 029a 8068                  ori r24,lo8(-128)
 422 029c 8093 B000             sts 176,r24
 423 02a0 8091 7000             lds r24,112
 424 02a4 8A7F                  andi r24,lo8(-6)
 425 02a6 8093 7000             sts 112,r24
 426 02aa 8091 7000             lds r24,112
 427 02ae 8260                  ori r24,lo8(2)
 428 02b0 8093 7000             sts 112,r24
 429 02b4 9FBF                  out 95-0x20,r25
 430                    /* epilogue: frame size=0 */
 431 02b6 0895                  ret
 432                    /* epilogue end (size=1) */
 433                    /* function TIMER2_Init size 48 (47) */
 435                    .global Timer_Init
 437                    Timer_Init:
 438                    /* prologue: frame size=0 */
 439                    /* prologue end (size=0) */
 440 02b8 8AE0                  ldi r24,lo8(10)
 441 02ba 90E0                  ldi r25,hi8(10)
 442 02bc 0E94 0000             call SetDelay
 443 02c0 9093 0000             sts (tim_main)+1,r25
 444 02c4 8093 0000             sts tim_main,r24
 445 02c8 82E0                  ldi r24,lo8(2)
 446 02ca 85BD                  out 69-0x20,r24
 447 02cc 83EA                  ldi r24,lo8(-93)
 448 02ce 84BD                  out 68-0x20,r24
 449 02d0 17BC                  out 71-0x20,__zero_reg__
 450 02d2 84EB                  ldi r24,lo8(-76)
 451 02d4 88BD                  out 72-0x20,r24
 452 02d6 86E0                  ldi r24,lo8(6)
 453 02d8 86BD                  out 70-0x20,r24
 454 02da 8091 6E00             lds r24,110
 455 02de 8160                  ori r24,lo8(1)
 456 02e0 8093 6E00             sts 110,r24
 457                    /* epilogue: frame size=0 */
 458 02e4 0895                  ret
 459                    /* epilogue end (size=1) */
 460                    /* function Timer_Init size 23 (22) */
 462                    .global CalcNickServoValue
 464                    CalcNickServoValue:
 465                    /* prologue: frame size=0 */
 466                    /* prologue end (size=0) */
 467 02e6 8091 0000             lds r24,EE_Parameter+109
 468 02ea 2091 0000             lds r18,Parameter_ServoNickControl
 469 02ee 82FF                  sbrs r24,2
 470 02f0 00C0                  rjmp .L44
 471 02f2 9091 0000             lds r25,EE_Parameter+48
 472 02f6 8CE3                  ldi r24,lo8(60)
 473 02f8 989F                  mul r25,r24
 474 02fa B001                  movw r22,r0
 475 02fc 1124                  clr r1
 476 02fe 9091 0000             lds r25,EE_Parameter+47
 477 0302 80E5                  ldi r24,lo8(80)
 478 0304 989F                  mul r25,r24
 479 0306 A001                  movw r20,r0
 480 0308 1124                  clr r1
 481 030a 922F                  mov r25,r18
 482 030c 9058                  subi r25,lo8(-(-128))
 483 030e 97FD                  sbrc r25,7
 484 0310 9D5F                  subi r25,lo8(-(3))
 485                    .L45:
 486 0312 9595                  asr r25
 487 0314 9595                  asr r25
 488 0316 86E0                  ldi r24,lo8(6)
 489 0318 9802                  muls r25,r24
 490 031a C001                  movw r24,r0
 491 031c 1124                  clr r1
 492 031e 2091 0000             lds r18,NickServoValue
 493 0322 3091 0000             lds r19,(NickServoValue)+1
 494 0326 281B                  sub r18,r24
 495 0328 390B                  sbc r19,r25
 496 032a 3093 0000             sts (NickServoValue)+1,r19
 497 032e 2093 0000             sts NickServoValue,r18
 498 0332 4217                  cp r20,r18
 499 0334 5307                  cpc r21,r19
 500 0336 04F0                  brlt .L46
 501 0338 5093 0000             sts (NickServoValue)+1,r21
 502 033c 4093 0000             sts NickServoValue,r20
 503 0340 0895                  ret
 504                    .L46:
 505 0342 2617                  cp r18,r22
 506 0344 3707                  cpc r19,r23
 507 0346 04F0                  brlt .L43
 508 0348 7093 0000             sts (NickServoValue)+1,r23
 509 034c 6093 0000             sts NickServoValue,r22
 510 0350 0895                  ret
 511                    .L44:
 512 0352 822F                  mov r24,r18
 513 0354 9927                  clr r25
 514 0356 36E0                  ldi r19,6
 515 0358 880F          1:      lsl r24
 516 035a 991F                  rol r25
 517 035c 3A95                  dec r19
 518 035e 01F4                  brne 1b
 519 0360 9093 0000             sts (NickServoValue)+1,r25
 520 0364 8093 0000             sts NickServoValue,r24
 521                    .L43:
 522 0368 0895                  ret
 523                    /* epilogue: frame size=0 */
 524                    /* epilogue: noreturn */
 525                    /* epilogue end (size=0) */
 526                    /* function CalcNickServoValue size 67 (67) */
 528                    .global CalculateServo
 530                    CalculateServo:
 531                    /* prologue: frame size=0 */
 532 036a A0E0                  ldi r26,lo8(0)
 533 036c B0E0                  ldi r27,hi8(0)
 534 036e E0E0                  ldi r30,pm_lo8(1f)
 535 0370 F0E0                  ldi r31,pm_hi8(1f)
 536 0372 0C94 0000             jmp __prologue_saves__+22
 537                    1:
 538                    /* prologue end (size=6) */
 539 0376 8091 0000             lds r24,EE_Parameter+55
 540 037a E82F                  mov r30,r24
 541 037c FF27                  clr r31
 542 037e E050                  subi r30,lo8(-(sintab))
 543 0380 F040                  sbci r31,hi8(-(sintab))
 544 0382 9681                  ldd r25,Z+6
 545 0384 D080                  ld r13,Z
 546 0386 8091 0000             lds r24,CalculateServoSignals
 547 038a A92F                  mov r26,r25
 548 038c BB27                  clr r27
 549 038e A7FD                  sbrc r26,7
 550 0390 B095                  com r27
 551 0392 CB2F                  mov r28,r27
 552 0394 DB2F                  mov r29,r27
 553 0396 8130                  cpi r24,lo8(1)
 554 0398 01F0                  breq .+2
 555 039a 00C0                  rjmp .L51
 556 039c 2091 0000             lds r18,IntegralNick
 557 03a0 3091 0000             lds r19,(IntegralNick)+1
 558 03a4 4091 0000             lds r20,(IntegralNick)+2
 559 03a8 5091 0000             lds r21,(IntegralNick)+3
 560 03ac BD01                  movw r22,r26
 561 03ae CE01                  movw r24,r28
 562 03b0 0E94 0000             call __mulsi3
 563 03b4 97FF                  sbrs r25,7
 564 03b6 00C0                  rjmp .L52
 565 03b8 6158                  subi r22,lo8(-(127))
 566 03ba 7F4F                  sbci r23,hi8(-(127))
 567 03bc 8F4F                  sbci r24,hlo8(-(127))
 568 03be 9F4F                  sbci r25,hhi8(-(127))
 569                    .L52:
 570 03c0 7B01                  movw r14,r22
 571 03c2 8C01                  movw r16,r24
 572 03c4 C7E0                  ldi r28,7
 573 03c6 1595          1:      asr r17
 574 03c8 0795                  ror r16
 575 03ca F794                  ror r15
 576 03cc E794                  ror r14
 577 03ce CA95                  dec r28
 578 03d0 01F4                  brne 1b
 579 03d2 8D2D                  mov r24,r13
 580 03d4 9927                  clr r25
 581 03d6 87FD                  sbrc r24,7
 582 03d8 9095                  com r25
 583 03da A92F                  mov r26,r25
 584 03dc B92F                  mov r27,r25
 585 03de 2091 0000             lds r18,IntegralRoll
 586 03e2 3091 0000             lds r19,(IntegralRoll)+1
 587 03e6 4091 0000             lds r20,(IntegralRoll)+2
 588 03ea 5091 0000             lds r21,(IntegralRoll)+3
 589 03ee BC01                  movw r22,r24
 590 03f0 CD01                  movw r24,r26
 591 03f2 0E94 0000             call __mulsi3
 592 03f6 97FF                  sbrs r25,7
 593 03f8 00C0                  rjmp .L53
 594 03fa 6158                  subi r22,lo8(-(127))
 595 03fc 7F4F                  sbci r23,hi8(-(127))
 596 03fe 8F4F                  sbci r24,hlo8(-(127))
 597 0400 9F4F                  sbci r25,hhi8(-(127))
 598                    .L53:
 599 0402 B7E0                  ldi r27,7
 600 0404 9595          1:      asr r25
 601 0406 8795                  ror r24
 602 0408 7795                  ror r23
 603 040a 6795                  ror r22
 604 040c BA95                  dec r27
 605 040e 01F4                  brne 1b
 606 0410 F801                  movw r30,r16
 607 0412 E701                  movw r28,r14
 608 0414 C61B                  sub r28,r22
 609 0416 D70B                  sbc r29,r23
 610 0418 E80B                  sbc r30,r24
 611 041a F90B                  sbc r31,r25
 612 041c 2091 0000             lds r18,POI_KameraNick
 613 0420 3091 0000             lds r19,(POI_KameraNick)+1
 614 0424 C901                  movw r24,r18
 615 0426 A3E0                  ldi r26,3
 616 0428 880F          1:      lsl r24
 617 042a 991F                  rol r25
 618 042c AA95                  dec r26
 619 042e 01F4                  brne 1b
 620 0430 821B                  sub r24,r18
 621 0432 930B                  sbc r25,r19
 622 0434 AA27                  clr r26
 623 0436 97FD                  sbrc r25,7
 624 0438 A095                  com r26
 625 043a BA2F                  mov r27,r26
 626 043c C81B                  sub r28,r24
 627 043e D90B                  sbc r29,r25
 628 0440 EA0B                  sbc r30,r26
 629 0442 FB0B                  sbc r31,r27
 630 0444 8091 0000             lds r24,EE_Parameter+46
 631 0448 9927                  clr r25
 632 044a AA27                  clr r26
 633 044c BB27                  clr r27
 634 044e BC01                  movw r22,r24
 635 0450 CD01                  movw r24,r26
 636 0452 9E01                  movw r18,r28
 637 0454 AF01                  movw r20,r30
 638 0456 0E94 0000             call __mulsi3
 639 045a 97FF                  sbrs r25,7
 640 045c 00C0                  rjmp .L54
 641 045e 6150                  subi r22,lo8(-(511))
 642 0460 7E4F                  sbci r23,hi8(-(511))
 643 0462 8F4F                  sbci r24,hlo8(-(511))
 644 0464 9F4F                  sbci r25,hhi8(-(511))
 645                    .L54:
 646 0466 FC01                  movw r30,r24
 647 0468 EB01                  movw r28,r22
 648 046a 79E0                  ldi r23,9
 649 046c F595          1:      asr r31
 650 046e E795                  ror r30
 651 0470 D795                  ror r29
 652 0472 C795                  ror r28
 653 0474 7A95                  dec r23
 654 0476 01F4                  brne 1b
 655 0478 1091 0000             lds r17,EE_Parameter+109
 656 047c 6091 0000             lds r22,NickServoValue
 657 0480 7091 0000             lds r23,(NickServoValue)+1
 658 0484 12FF                  sbrs r17,2
 659 0486 00C0                  rjmp .L55
 660 0488 7093 0000             sts (ServoNickOffset)+1,r23
 661 048c 6093 0000             sts ServoNickOffset,r22
 662 0490 00C0                  rjmp .L56
 663                    .L55:
 664 0492 4091 0000             lds r20,ServoNickOffset
 665 0496 5091 0000             lds r21,(ServoNickOffset)+1
 666 049a 8091 0000             lds r24,EE_Parameter+54
 667 049e 282F                  mov r18,r24
 668 04a0 3327                  clr r19
 669 04a2 CB01                  movw r24,r22
 670 04a4 841B                  sub r24,r20
 671 04a6 950B                  sbc r25,r21
 672 04a8 B901                  movw r22,r18
 673 04aa 0E94 0000             call __divmodhi4
 674 04ae 8091 0000             lds r24,ServoNickOffset
 675 04b2 9091 0000             lds r25,(ServoNickOffset)+1
 676 04b6 860F                  add r24,r22
 677 04b8 971F                  adc r25,r23
 678 04ba 9093 0000             sts (ServoNickOffset)+1,r25
 679 04be 8093 0000             sts ServoNickOffset,r24
 680                    .L56:
 681 04c2 10FF                  sbrs r17,0
 682 04c4 00C0                  rjmp .L57
 683 04c6 8091 0000             lds r24,ServoNickOffset
 684 04ca 9091 0000             lds r25,(ServoNickOffset)+1
 685 04ce 97FD                  sbrc r25,7
 686 04d0 0F96                  adiw r24,15
 687                    .L58:
 688 04d2 64E0                  ldi r22,4
 689 04d4 9595          1:      asr r25
 690 04d6 8795                  ror r24
 691 04d8 6A95                  dec r22
 692 04da 01F4                  brne 1b
 693 04dc AA27                  clr r26
 694 04de 97FD                  sbrc r25,7
 695 04e0 A095                  com r26
 696 04e2 BA2F                  mov r27,r26
 697 04e4 C80F                  add r28,r24
 698 04e6 D91F                  adc r29,r25
 699 04e8 EA1F                  adc r30,r26
 700 04ea FB1F                  adc r31,r27
 701 04ec 00C0                  rjmp .L59
 702                    .L57:
 703 04ee 8091 0000             lds r24,ServoNickOffset
 704 04f2 9091 0000             lds r25,(ServoNickOffset)+1
 705 04f6 97FD                  sbrc r25,7
 706 04f8 0F96                  adiw r24,15
 707                    .L60:
 708 04fa 54E0                  ldi r21,4
 709 04fc 9595          1:      asr r25
 710 04fe 8795                  ror r24
 711 0500 5A95                  dec r21
 712 0502 01F4                  brne 1b
 713 0504 AA27                  clr r26
 714 0506 97FD                  sbrc r25,7
 715 0508 A095                  com r26
 716 050a BA2F                  mov r27,r26
 717 050c 8C1B                  sub r24,r28
 718 050e 9D0B                  sbc r25,r29
 719 0510 AE0B                  sbc r26,r30
 720 0512 BF0B                  sbc r27,r31
 721 0514 FD01                  movw r30,r26
 722 0516 EC01                  movw r28,r24
 723                    .L59:
 724 0518 2091 0000             lds r18,EE_Parameter+106
 725 051c 2223                  tst r18
 726 051e 01F0                  breq .L61
 727 0520 3327                  clr r19
 728 0522 8091 0000             lds r24,ServoNickValue
 729 0526 9091 0000             lds r25,(ServoNickValue)+1
 730 052a 829F                  mul r24,r18
 731 052c A001                  movw r20,r0
 732 052e 839F                  mul r24,r19
 733 0530 500D                  add r21,r0
 734 0532 929F                  mul r25,r18
 735 0534 500D                  add r21,r0
 736 0536 1124                  clr r1
 737 0538 CA01                  movw r24,r20
 738 053a AA27                  clr r26
 739 053c 97FD                  sbrc r25,7
 740 053e A095                  com r26
 741 0540 BA2F                  mov r27,r26
 742 0542 8C0F                  add r24,r28
 743 0544 9D1F                  adc r25,r29
 744 0546 AE1F                  adc r26,r30
 745 0548 BF1F                  adc r27,r31
 746 054a 2F5F                  subi r18,lo8(-(1))
 747 054c 3F4F                  sbci r19,hi8(-(1))
 748 054e 4427                  clr r20
 749 0550 37FD                  sbrc r19,7
 750 0552 4095                  com r20
 751 0554 542F                  mov r21,r20
 752 0556 BC01                  movw r22,r24
 753 0558 CD01                  movw r24,r26
 754 055a 0E94 0000             call __divmodsi4
 755 055e 3093 0000             sts (ServoNickValue)+1,r19
 756 0562 2093 0000             sts ServoNickValue,r18
 757 0566 00C0                  rjmp .L62
 758                    .L61:
 759 0568 D093 0000             sts (ServoNickValue)+1,r29
 760 056c C093 0000             sts ServoNickValue,r28
 761                    .L62:
 762 0570 8091 0000             lds r24,EE_Parameter+47
 763 0574 282F                  mov r18,r24
 764 0576 3327                  clr r19
 765 0578 220F                  lsl r18
 766 057a 331F                  rol r19
 767 057c 220F                  lsl r18
 768 057e 331F                  rol r19
 769 0580 8091 0000             lds r24,ServoNickValue
 770 0584 9091 0000             lds r25,(ServoNickValue)+1
 771 0588 8217                  cp r24,r18
 772 058a 9307                  cpc r25,r19
 773 058c 04F0                  brlt .L81
 774 058e 8091 0000             lds r24,EE_Parameter+48
 775 0592 282F                  mov r18,r24
 776 0594 3327                  clr r19
 777 0596 220F                  lsl r18
 778 0598 331F                  rol r19
 779 059a 220F                  lsl r18
 780 059c 331F                  rol r19
 781 059e 8091 0000             lds r24,ServoNickValue
 782 05a2 9091 0000             lds r25,(ServoNickValue)+1
 783 05a6 2817                  cp r18,r24
 784 05a8 3907                  cpc r19,r25
 785 05aa 04F4                  brge .L64
 786                    .L81:
 787 05ac 3093 0000             sts (ServoNickValue)+1,r19
 788 05b0 2093 0000             sts ServoNickValue,r18
 789                    .L64:
 790 05b4 8091 0000             lds r24,PlatinenVersion
 791 05b8 8431                  cpi r24,lo8(20)
 792 05ba 00F4                  brsh .+2
 793 05bc 00C0                  rjmp .L79
 794 05be 8091 0000             lds r24,CalculateServoSignals
 795 05c2 8F5F                  subi r24,lo8(-(1))
 796 05c4 8093 0000             sts CalculateServoSignals,r24
 797 05c8 00C0                  rjmp .L50
 798                    .L51:
 799 05ca 2091 0000             lds r18,IntegralRoll
 800 05ce 3091 0000             lds r19,(IntegralRoll)+1
 801 05d2 4091 0000             lds r20,(IntegralRoll)+2
 802 05d6 5091 0000             lds r21,(IntegralRoll)+3
 803 05da BD01                  movw r22,r26
 804 05dc CE01                  movw r24,r28
 805 05de 0E94 0000             call __mulsi3
 806 05e2 97FF                  sbrs r25,7
 807 05e4 00C0                  rjmp .L69
 808 05e6 6158                  subi r22,lo8(-(127))
 809 05e8 7F4F                  sbci r23,hi8(-(127))
 810 05ea 8F4F                  sbci r24,hlo8(-(127))
 811 05ec 9F4F                  sbci r25,hhi8(-(127))
 812                    .L69:
 813 05ee 7B01                  movw r14,r22
 814 05f0 8C01                  movw r16,r24
 815 05f2 87E0                  ldi r24,7
 816 05f4 1595          1:      asr r17
 817 05f6 0795                  ror r16
 818 05f8 F794                  ror r15
 819 05fa E794                  ror r14
 820 05fc 8A95                  dec r24
 821 05fe 01F4                  brne 1b
 822 0600 8D2D                  mov r24,r13
 823 0602 9927                  clr r25
 824 0604 87FD                  sbrc r24,7
 825 0606 9095                  com r25
 826 0608 A92F                  mov r26,r25
 827 060a B92F                  mov r27,r25
 828 060c 2091 0000             lds r18,IntegralNick
 829 0610 3091 0000             lds r19,(IntegralNick)+1
 830 0614 4091 0000             lds r20,(IntegralNick)+2
 831 0618 5091 0000             lds r21,(IntegralNick)+3
 832 061c BC01                  movw r22,r24
 833 061e CD01                  movw r24,r26
 834 0620 0E94 0000             call __mulsi3
 835 0624 9B01                  movw r18,r22
 836 0626 AC01                  movw r20,r24
 837 0628 97FF                  sbrs r25,7
 838 062a 00C0                  rjmp .L70
 839 062c 2158                  subi r18,lo8(-(127))
 840 062e 3F4F                  sbci r19,hi8(-(127))
 841 0630 4F4F                  sbci r20,hlo8(-(127))
 842 0632 5F4F                  sbci r21,hhi8(-(127))
 843                    .L70:
 844 0634 C7E0                  ldi r28,7
 845 0636 5595          1:      asr r21
 846 0638 4795                  ror r20
 847 063a 3795                  ror r19
 848 063c 2795                  ror r18
 849 063e CA95                  dec r28
 850 0640 01F4                  brne 1b
 851 0642 2E0D                  add r18,r14
 852 0644 3F1D                  adc r19,r15
 853 0646 401F                  adc r20,r16
 854 0648 511F                  adc r21,r17
 855 064a 8091 0000             lds r24,EE_Parameter+50
 856 064e 9927                  clr r25
 857 0650 AA27                  clr r26
 858 0652 BB27                  clr r27
 859 0654 BC01                  movw r22,r24
 860 0656 CD01                  movw r24,r26
 861 0658 0E94 0000             call __mulsi3
 862 065c 97FF                  sbrs r25,7
 863 065e 00C0                  rjmp .L71
 864 0660 6150                  subi r22,lo8(-(511))
 865 0662 7E4F                  sbci r23,hi8(-(511))
 866 0664 8F4F                  sbci r24,hlo8(-(511))
 867 0666 9F4F                  sbci r25,hhi8(-(511))
 868                    .L71:
 869 0668 FC01                  movw r30,r24
 870 066a EB01                  movw r28,r22
 871 066c B9E0                  ldi r27,9
 872 066e F595          1:      asr r31
 873 0670 E795                  ror r30
 874 0672 D795                  ror r29
 875 0674 C795                  ror r28
 876 0676 BA95                  dec r27
 877 0678 01F4                  brne 1b
 878 067a 8091 0000             lds r24,Parameter_ServoRollControl
 879 067e 9927                  clr r25
 880 0680 A6E0                  ldi r26,6
 881 0682 880F          1:      lsl r24
 882 0684 991F                  rol r25
 883 0686 AA95                  dec r26
 884 0688 01F4                  brne 1b
 885 068a 4091 0000             lds r20,ServoRollOffset
 886 068e 5091 0000             lds r21,(ServoRollOffset)+1
 887 0692 2091 0000             lds r18,EE_Parameter+54
 888 0696 3327                  clr r19
 889 0698 841B                  sub r24,r20
 890 069a 950B                  sbc r25,r21
 891 069c B901                  movw r22,r18
 892 069e 0E94 0000             call __divmodhi4
 893 06a2 8091 0000             lds r24,ServoRollOffset
 894 06a6 9091 0000             lds r25,(ServoRollOffset)+1
 895 06aa 860F                  add r24,r22
 896 06ac 971F                  adc r25,r23
 897 06ae 9093 0000             sts (ServoRollOffset)+1,r25
 898 06b2 8093 0000             sts ServoRollOffset,r24
 899 06b6 8091 0000             lds r24,EE_Parameter+109
 900 06ba 81FF                  sbrs r24,1
 901 06bc 00C0                  rjmp .L72
 902 06be 8091 0000             lds r24,ServoRollOffset
 903 06c2 9091 0000             lds r25,(ServoRollOffset)+1
 904 06c6 97FD                  sbrc r25,7
 905 06c8 0F96                  adiw r24,15
 906                    .L73:
 907 06ca 74E0                  ldi r23,4
 908 06cc 9595          1:      asr r25
 909 06ce 8795                  ror r24
 910 06d0 7A95                  dec r23
 911 06d2 01F4                  brne 1b
 912 06d4 AA27                  clr r26
 913 06d6 97FD                  sbrc r25,7
 914 06d8 A095                  com r26
 915 06da BA2F                  mov r27,r26
 916 06dc C80F                  add r28,r24
 917 06de D91F                  adc r29,r25
 918 06e0 EA1F                  adc r30,r26
 919 06e2 FB1F                  adc r31,r27
 920 06e4 00C0                  rjmp .L74
 921                    .L72:
 922 06e6 8091 0000             lds r24,ServoRollOffset
 923 06ea 9091 0000             lds r25,(ServoRollOffset)+1
 924 06ee 97FD                  sbrc r25,7
 925 06f0 0F96                  adiw r24,15
 926                    .L75:
 927 06f2 64E0                  ldi r22,4
 928 06f4 9595          1:      asr r25
 929 06f6 8795                  ror r24
 930 06f8 6A95                  dec r22
 931 06fa 01F4                  brne 1b
 932 06fc AA27                  clr r26
 933 06fe 97FD                  sbrc r25,7
 934 0700 A095                  com r26
 935 0702 BA2F                  mov r27,r26
 936 0704 8C1B                  sub r24,r28
 937 0706 9D0B                  sbc r25,r29
 938 0708 AE0B                  sbc r26,r30
 939 070a BF0B                  sbc r27,r31
 940 070c FD01                  movw r30,r26
 941 070e EC01                  movw r28,r24
 942                    .L74:
 943 0710 2091 0000             lds r18,EE_Parameter+107
 944 0714 2223                  tst r18
 945 0716 01F0                  breq .L76
 946 0718 3327                  clr r19
 947 071a 8091 0000             lds r24,ServoRollValue
 948 071e 9091 0000             lds r25,(ServoRollValue)+1
 949 0722 829F                  mul r24,r18
 950 0724 A001                  movw r20,r0
 951 0726 839F                  mul r24,r19
 952 0728 500D                  add r21,r0
 953 072a 929F                  mul r25,r18
 954 072c 500D                  add r21,r0
 955 072e 1124                  clr r1
 956 0730 CA01                  movw r24,r20
 957 0732 AA27                  clr r26
 958 0734 97FD                  sbrc r25,7
 959 0736 A095                  com r26
 960 0738 BA2F                  mov r27,r26
 961 073a 8C0F                  add r24,r28
 962 073c 9D1F                  adc r25,r29
 963 073e AE1F                  adc r26,r30
 964 0740 BF1F                  adc r27,r31
 965 0742 2F5F                  subi r18,lo8(-(1))
 966 0744 3F4F                  sbci r19,hi8(-(1))
 967 0746 4427                  clr r20
 968 0748 37FD                  sbrc r19,7
 969 074a 4095                  com r20
 970 074c 542F                  mov r21,r20
 971 074e BC01                  movw r22,r24
 972 0750 CD01                  movw r24,r26
 973 0752 0E94 0000             call __divmodsi4
 974 0756 3093 0000             sts (ServoRollValue)+1,r19
 975 075a 2093 0000             sts ServoRollValue,r18
 976 075e 00C0                  rjmp .L77
 977                    .L76:
 978 0760 D093 0000             sts (ServoRollValue)+1,r29
 979 0764 C093 0000             sts ServoRollValue,r28
 980                    .L77:
 981 0768 8091 0000             lds r24,EE_Parameter+51
 982 076c 282F                  mov r18,r24
 983 076e 3327                  clr r19
 984 0770 220F                  lsl r18
 985 0772 331F                  rol r19
 986 0774 220F                  lsl r18
 987 0776 331F                  rol r19
 988 0778 8091 0000             lds r24,ServoRollValue
 989 077c 9091 0000             lds r25,(ServoRollValue)+1
 990 0780 8217                  cp r24,r18
 991 0782 9307                  cpc r25,r19
 992 0784 04F0                  brlt .L82
 993 0786 8091 0000             lds r24,EE_Parameter+52
 994 078a 282F                  mov r18,r24
 995 078c 3327                  clr r19
 996 078e 220F                  lsl r18
 997 0790 331F                  rol r19
 998 0792 220F                  lsl r18
 999 0794 331F                  rol r19
 1000 0796 8091 0000            lds r24,ServoRollValue
 1001 079a 9091 0000            lds r25,(ServoRollValue)+1
 1002 079e 2817                 cp r18,r24
 1003 07a0 3907                 cpc r19,r25
 1004 07a2 04F4                 brge .L79
 1005                   .L82:
 1006 07a4 3093 0000            sts (ServoRollValue)+1,r19
 1007 07a8 2093 0000            sts ServoRollValue,r18
 1008                   .L79:
 1009 07ac 1092 0000            sts CalculateServoSignals,__zero_reg__
 1010                   .L50:
 1011                   /* epilogue: frame size=0 */
 1012 07b0 E7E0                 ldi r30,7
 1013 07b2 CDB7                 in r28,__SP_L__
 1014 07b4 DEB7                 in r29,__SP_H__
 1015 07b6 0C94 0000            jmp __epilogue_restores__+22
 1016                   /* epilogue end (size=5) */
 1017                   /* function CalculateServo size 556 (545) */
 1019                           .lcomm PulseOutput.0,1
 1020                           .lcomm ServoFrameTime.1,2
 1021                           .lcomm ServoIndex.2,1
 1022                   .global __vector_9
 1024                   __vector_9:
 1025                   /* prologue: frame size=0 */
 1026 07ba 1F92                 push __zero_reg__
 1027 07bc 0F92                 push __tmp_reg__
 1028 07be 0FB6                 in __tmp_reg__,__SREG__
 1029 07c0 0F92                 push __tmp_reg__
 1030 07c2 1124                 clr __zero_reg__
 1031 07c4 2F93                 push r18
 1032 07c6 3F93                 push r19
 1033 07c8 4F93                 push r20
 1034 07ca 5F93                 push r21
 1035 07cc 8F93                 push r24
 1036 07ce 9F93                 push r25
 1037 07d0 EF93                 push r30
 1038 07d2 FF93                 push r31
 1039                   /* prologue end (size=13) */
 1040 07d4 8091 0000            lds r24,PlatinenVersion
 1041 07d8 9091 0000            lds r25,PulseOutput.0
 1042 07dc 8431                 cpi r24,lo8(20)
 1043 07de 00F0                 brlo .+2
 1044 07e0 00C0                 rjmp .L84
 1045 07e2 9923                 tst r25
 1046 07e4 01F0                 breq .+2
 1047 07e6 00C0                 rjmp .L91
 1048 07e8 8091 B000            lds r24,176
 1049 07ec 86FF                 sbrs r24,6
 1050 07ee 00C0                 rjmp .L86
 1051 07f0 8091 B000            lds r24,176
 1052 07f4 8F7B                 andi r24,lo8(-65)
 1053 07f6 8093 B000            sts 176,r24
 1054 07fa 8091 0000            lds r24,ServoNickValue
 1055 07fe 9091 0000            lds r25,(ServoNickValue)+1
 1056 0802 8755                 subi r24,lo8(-(425))
 1057 0804 9E4F                 sbci r25,hi8(-(425))
 1058 0806 9093 0000            sts (RemainingPulse)+1,r25
 1059 080a 8093 0000            sts RemainingPulse,r24
 1060 080e 25E0                 ldi r18,hi8(1501)
 1061 0810 8D3D                 cpi r24,lo8(1501)
 1062 0812 9207                 cpc r25,r18
 1063 0814 00F0                 brlo .L87
 1064 0816 8CED                 ldi r24,lo8(1500)
 1065 0818 95E0                 ldi r25,hi8(1500)
 1066 081a 00C0                 rjmp .L121
 1067                   .L87:
 1068 081c 8757                 subi r24,lo8(375)
 1069 081e 9140                 sbci r25,hi8(375)
 1070 0820 00F4                 brsh .L88
 1071 0822 87E7                 ldi r24,lo8(375)
 1072 0824 91E0                 ldi r25,hi8(375)
 1073                   .L121:
 1074 0826 9093 0000            sts (RemainingPulse)+1,r25
 1075 082a 8093 0000            sts RemainingPulse,r24
 1076                   .L88:
 1077 082e 8091 0000            lds r24,RemainingPulse
 1078 0832 9091 0000            lds r25,(RemainingPulse)+1
 1079 0836 00C0                 rjmp .L126
 1080                   .L86:
 1081 0838 8091 B000            lds r24,176
 1082 083c 8064                 ori r24,lo8(64)
 1083 083e 8093 B000            sts 176,r24
 1084 0842 8091 0000            lds r24,EE_Parameter+53
 1085 0846 282F                 mov r18,r24
 1086 0848 3327                 clr r19
 1087 084a 8DED                 ldi r24,lo8(1757)
 1088 084c 96E0                 ldi r25,hi8(1757)
 1089 084e 289F                 mul r18,r24
 1090 0850 A001                 movw r20,r0
 1091 0852 299F                 mul r18,r25
 1092 0854 500D                 add r21,r0
 1093 0856 389F                 mul r19,r24
 1094 0858 500D                 add r21,r0
 1095 085a 1124                 clr r1
 1096 085c CA01                 movw r24,r20
 1097 085e 2091 0000            lds r18,ServoFrameTime.1
 1098 0862 3091 0000            lds r19,(ServoFrameTime.1)+1
 1099 0866 821B                 sub r24,r18
 1100 0868 930B                 sbc r25,r19
 1101 086a 9093 0000            sts (RemainingPulse)+1,r25
 1102 086e 8093 0000            sts RemainingPulse,r24
 1103 0872 81E0                 ldi r24,lo8(1)
 1104 0874 8093 0000            sts CalculateServoSignals,r24
 1105 0878 00C0                 rjmp .L109
 1106                   .L84:
 1107 087a 9923                 tst r25
 1108 087c 01F0                 breq .+2
 1109 087e 00C0                 rjmp .L91
 1110 0880 8091 B000            lds r24,176
 1111 0884 86FF                 sbrs r24,6
 1112 0886 00C0                 rjmp .L93
 1113 0888 8091 B000            lds r24,176
 1114 088c 8F7B                 andi r24,lo8(-65)
 1115 088e 8093 B000            sts 176,r24
 1116 0892 E091 0000            lds r30,ServoIndex.2
 1117 0896 2091 0000            lds r18,EE_Parameter+53
 1118 089a EE23                 tst r30
 1119 089c 01F4                 brne .L94
 1120 089e 3327                 clr r19
 1121 08a0 8DED                 ldi r24,lo8(1757)
 1122 08a2 96E0                 ldi r25,hi8(1757)
 1123 08a4 289F                 mul r18,r24
 1124 08a6 A001                 movw r20,r0
 1125 08a8 299F                 mul r18,r25
 1126 08aa 500D                 add r21,r0
 1127 08ac 389F                 mul r19,r24
 1128 08ae 500D                 add r21,r0
 1129 08b0 1124                 clr r1
 1130 08b2 CA01                 movw r24,r20
 1131 08b4 2091 0000            lds r18,ServoFrameTime.1
 1132 08b8 3091 0000            lds r19,(ServoFrameTime.1)+1
 1133 08bc 821B                 sub r24,r18
 1134 08be 930B                 sbc r25,r19
 1135 08c0 9093 0000            sts (RemainingPulse)+1,r25
 1136 08c4 8093 0000            sts RemainingPulse,r24
 1137 08c8 1092 0000            sts (ServoFrameTime.1)+1,__zero_reg__
 1138 08cc 1092 0000            sts ServoFrameTime.1,__zero_reg__
 1139 08d0 469A                 sbi 40-0x20,6
 1140 08d2 00C0                 rjmp .L109
 1141                   .L94:
 1142 08d4 2E17                 cp r18,r30
 1143 08d6 00F4                 brsh .L96
 1144 08d8 8AE0                 ldi r24,lo8(10)
 1145 08da 90E0                 ldi r25,hi8(10)
 1146 08dc 9093 0000            sts (RemainingPulse)+1,r25
 1147 08e0 8093 0000            sts RemainingPulse,r24
 1148 08e4 00C0                 rjmp .L109
 1149                   .L96:
 1150 08e6 89EA                 ldi r24,lo8(937)
 1151 08e8 93E0                 ldi r25,hi8(937)
 1152 08ea 9093 0000            sts (RemainingPulse)+1,r25
 1153 08ee 8093 0000            sts RemainingPulse,r24
 1154 08f2 8E2F                 mov r24,r30
 1155 08f4 9927                 clr r25
 1156 08f6 8330                 cpi r24,3
 1157 08f8 9105                 cpc r25,__zero_reg__
 1158 08fa 01F0                 breq .L101
 1159 08fc 8430                 cpi r24,4
 1160 08fe 9105                 cpc r25,__zero_reg__
 1161 0900 04F4                 brge .L105
 1162 0902 8130                 cpi r24,1
 1163 0904 9105                 cpc r25,__zero_reg__
 1164 0906 01F0                 breq .L99
 1165 0908 0297                 sbiw r24,2
 1166 090a 01F0                 breq .L100
 1167 090c 00C0                 rjmp .L104
 1168                   .L105:
 1169 090e 8430                 cpi r24,4
 1170 0910 9105                 cpc r25,__zero_reg__
 1171 0912 01F0                 breq .L102
 1172 0914 0597                 sbiw r24,5
 1173 0916 01F0                 breq .L103
 1174 0918 00C0                 rjmp .L104
 1175                   .L99:
 1176 091a 8091 0000            lds r24,ServoNickValue
 1177 091e 9091 0000            lds r25,(ServoNickValue)+1
 1178 0922 00C0                 rjmp .L125
 1179                   .L100:
 1180 0924 8091 0000            lds r24,ServoRollValue
 1181 0928 9091 0000            lds r25,(ServoRollValue)+1
 1182                   .L125:
 1183 092c 8755                 subi r24,lo8(-(425))
 1184 092e 9E4F                 sbci r25,hi8(-(425))
 1185 0930 00C0                 rjmp .L122
 1186                   .L101:
 1187 0932 8091 0000            lds r24,Parameter_Servo3
 1188 0936 00C0                 rjmp .L127
 1189                   .L102:
 1190 0938 8091 0000            lds r24,Parameter_Servo4
 1191 093c 00C0                 rjmp .L127
 1192                   .L103:
 1193 093e 8091 0000            lds r24,Parameter_Servo5
 1194                   .L127:
 1195 0942 9927                 clr r25
 1196 0944 880F                 lsl r24
 1197 0946 991F                 rol r25
 1198 0948 880F                 lsl r24
 1199 094a 991F                 rol r25
 1200 094c 00C0                 rjmp .L125
 1201                   .L104:
 1202 094e FF27                 clr r31
 1203 0950 EE0F                 add r30,r30
 1204 0952 FF1F                 adc r31,r31
 1205 0954 E050                 subi r30,lo8(-(PPM_in))
 1206 0956 F040                 sbci r31,hi8(-(PPM_in))
 1207 0958 2081                 ld r18,Z
 1208 095a 3181                 ldd r19,Z+1
 1209 095c 220F                 add r18,r18
 1210 095e 331F                 adc r19,r19
 1211 0960 8091 0000            lds r24,RemainingPulse
 1212 0964 9091 0000            lds r25,(RemainingPulse)+1
 1213 0968 820F                 add r24,r18
 1214 096a 931F                 adc r25,r19
 1215                   .L122:
 1216 096c 9093 0000            sts (RemainingPulse)+1,r25
 1217 0970 8093 0000            sts RemainingPulse,r24
 1218 0974 8091 0000            lds r24,RemainingPulse
 1219 0978 9091 0000            lds r25,(RemainingPulse)+1
 1220 097c 55E0                 ldi r21,hi8(1501)
 1221 097e 8D3D                 cpi r24,lo8(1501)
 1222 0980 9507                 cpc r25,r21
 1223 0982 00F0                 brlo .L106
 1224 0984 8CED                 ldi r24,lo8(1500)
 1225 0986 95E0                 ldi r25,hi8(1500)
 1226 0988 00C0                 rjmp .L123
 1227                   .L106:
 1228 098a 8757                 subi r24,lo8(375)
 1229 098c 9140                 sbci r25,hi8(375)
 1230 098e 00F4                 brsh .L107
 1231 0990 87E7                 ldi r24,lo8(375)
 1232 0992 91E0                 ldi r25,hi8(375)
 1233                   .L123:
 1234 0994 9093 0000            sts (RemainingPulse)+1,r25
 1235 0998 8093 0000            sts RemainingPulse,r24
 1236                   .L107:
 1237 099c 2091 0000            lds r18,RemainingPulse
 1238 09a0 3091 0000            lds r19,(RemainingPulse)+1
 1239 09a4 2C5B                 subi r18,lo8(-(-188))
 1240 09a6 3040                 sbci r19,hi8(-(-188))
 1241 09a8 3093 0000            sts (RemainingPulse)+1,r19
 1242 09ac 2093 0000            sts RemainingPulse,r18
 1243 09b0 8091 0000            lds r24,ServoFrameTime.1
 1244 09b4 9091 0000            lds r25,(ServoFrameTime.1)+1
 1245 09b8 820F                 add r24,r18
 1246 09ba 931F                 adc r25,r19
 1247                   .L126:
 1248 09bc 9093 0000            sts (ServoFrameTime.1)+1,r25
 1249 09c0 8093 0000            sts ServoFrameTime.1,r24
 1250 09c4 00C0                 rjmp .L109
 1251                   .L93:
 1252 09c6 8091 B000            lds r24,176
 1253 09ca 8064                 ori r24,lo8(64)
 1254 09cc 8093 B000            sts 176,r24
 1255 09d0 8CEB                 ldi r24,lo8(188)
 1256 09d2 90E0                 ldi r25,hi8(188)
 1257 09d4 9093 0000            sts (RemainingPulse)+1,r25
 1258 09d8 8093 0000            sts RemainingPulse,r24
 1259 09dc 8091 0000            lds r24,ServoFrameTime.1
 1260 09e0 9091 0000            lds r25,(ServoFrameTime.1)+1
 1261 09e4 8454                 subi r24,lo8(-(188))
 1262 09e6 9F4F                 sbci r25,hi8(-(188))
 1263 09e8 9093 0000            sts (ServoFrameTime.1)+1,r25
 1264 09ec 8093 0000            sts ServoFrameTime.1,r24
 1265 09f0 8091 0000            lds r24,ServoActive
 1266 09f4 8823                 tst r24
 1267 09f6 01F0                 breq .L112
 1268 09f8 8091 0000            lds r24,SenderOkay
 1269 09fc 8823                 tst r24
 1270 09fe 01F4                 brne .L111
 1271                   .L112:
 1272 0a00 8091 0000            lds r24,ServoActive
 1273 0a04 8230                 cpi r24,lo8(2)
 1274 0a06 01F4                 brne .L110
 1275                   .L111:
 1276 0a08 4698                 cbi 40-0x20,6
 1277 0a0a 00C0                 rjmp .L113
 1278                   .L110:
 1279 0a0c 469A                 sbi 40-0x20,6
 1280                   .L113:
 1281 0a0e 8091 0000            lds r24,ServoIndex.2
 1282 0a12 8F5F                 subi r24,lo8(-(1))
 1283 0a14 8093 0000            sts ServoIndex.2,r24
 1284 0a18 282F                 mov r18,r24
 1285 0a1a 3327                 clr r19
 1286 0a1c 8091 0000            lds r24,EE_Parameter+53
 1287 0a20 9927                 clr r25
 1288 0a22 0196                 adiw r24,1
 1289 0a24 8217                 cp r24,r18
 1290 0a26 9307                 cpc r25,r19
 1291 0a28 04F4                 brge .L109
 1292 0a2a 81E0                 ldi r24,lo8(1)
 1293 0a2c 8093 0000            sts CalculateServoSignals,r24
 1294 0a30 1092 0000            sts ServoIndex.2,__zero_reg__
 1295                   .L109:
 1296 0a34 81E0                 ldi r24,lo8(1)
 1297 0a36 8093 0000            sts PulseOutput.0,r24
 1298                   .L91:
 1299 0a3a 2091 0000            lds r18,RemainingPulse
 1300 0a3e 3091 0000            lds r19,(RemainingPulse)+1
 1301 0a42 41E0                 ldi r20,hi8(383)
 1302 0a44 2F37                 cpi r18,lo8(383)
 1303 0a46 3407                 cpc r19,r20
 1304 0a48 00F0                 brlo .L115
 1305 0a4a 8FEF                 ldi r24,lo8(-1)
 1306 0a4c 8093 B300            sts 179,r24
 1307 0a50 2F5F                 subi r18,lo8(-(-255))
 1308 0a52 3040                 sbci r19,hi8(-(-255))
 1309 0a54 00C0                 rjmp .L124
 1310                   .L115:
 1311 0a56 2F3F                 cpi r18,255
 1312 0a58 3105                 cpc r19,__zero_reg__
 1313 0a5a 01F0                 breq .L117
 1314 0a5c 00F0                 brlo .L117
 1315 0a5e A901                 movw r20,r18
 1316 0a60 4F5F                 subi r20,lo8(-(-255))
 1317 0a62 5040                 sbci r21,hi8(-(-255))
 1318 0a64 4F37                 cpi r20,127
 1319 0a66 5105                 cpc r21,__zero_reg__
 1320 0a68 00F4                 brsh .L118
 1321 0a6a 80E8                 ldi r24,lo8(-128)
 1322 0a6c 8093 B300            sts 179,r24
 1323 0a70 2058                 subi r18,lo8(-(-128))
 1324 0a72 3040                 sbci r19,hi8(-(-128))
 1325                   .L124:
 1326 0a74 3093 0000            sts (RemainingPulse)+1,r19
 1327 0a78 2093 0000            sts RemainingPulse,r18
 1328 0a7c 00C0                 rjmp .L83
 1329                   .L118:
 1330 0a7e 8FEF                 ldi r24,lo8(-1)
 1331 0a80 8093 B300            sts 179,r24
 1332 0a84 5093 0000            sts (RemainingPulse)+1,r21
 1333 0a88 4093 0000            sts RemainingPulse,r20
 1334 0a8c 00C0                 rjmp .L83
 1335                   .L117:
 1336 0a8e 8091 0000            lds r24,RemainingPulse
 1337 0a92 8093 B300            sts 179,r24
 1338 0a96 1092 0000            sts (RemainingPulse)+1,__zero_reg__
 1339 0a9a 1092 0000            sts RemainingPulse,__zero_reg__
 1340 0a9e 1092 0000            sts PulseOutput.0,__zero_reg__
 1341                   .L83:
 1342                   /* epilogue: frame size=0 */
 1343 0aa2 FF91                 pop r31
 1344 0aa4 EF91                 pop r30
 1345 0aa6 9F91                 pop r25
 1346 0aa8 8F91                 pop r24
 1347 0aaa 5F91                 pop r21
 1348 0aac 4F91                 pop r20
 1349 0aae 3F91                 pop r19
 1350 0ab0 2F91                 pop r18
 1351 0ab2 0F90                 pop __tmp_reg__
 1352 0ab4 0FBE                 out __SREG__,__tmp_reg__
 1353 0ab6 0F90                 pop __tmp_reg__
 1354 0ab8 1F90                 pop __zero_reg__
 1355 0aba 1895                 reti
 1356                   /* epilogue end (size=13) */
 1357                   /* function __vector_9 size 389 (363) */
 1359                           .comm tim_main,2,1
 1360                   /* File "timer0.c": code 1388 = 0x056c (1305), prologues  39, epilogues  44 */
DEFINED SYMBOLS
                            *ABS*:00000000 timer0.c
  C:\Temp/cchGLUCl.s:3      *ABS*:0000003f __SREG__
  C:\Temp/cchGLUCl.s:4      *ABS*:0000003e __SP_H__
  C:\Temp/cchGLUCl.s:5      *ABS*:0000003d __SP_L__
  C:\Temp/cchGLUCl.s:6      *ABS*:00000000 __tmp_reg__
  C:\Temp/cchGLUCl.s:7      *ABS*:00000001 __zero_reg__
  C:\Temp/cchGLUCl.s:15     .bss:00000000 ServoRollValue
  C:\Temp/cchGLUCl.s:21     .bss:00000002 ServoNickValue
  C:\Temp/cchGLUCl.s:27     .data:00000000 NickServoValue
  C:\Temp/cchGLUCl.s:32     .data:00000002 BeepMuster
  C:\Temp/cchGLUCl.s:37     .data:00000004 ServoRollOffset
  C:\Temp/cchGLUCl.s:42     .data:00000006 ServoNickOffset
  C:\Temp/cchGLUCl.s:49     .bss:00000004 RemainingPulse
  C:\Temp/cchGLUCl.s:55     .data:00000008 CalculateServoSignals
  C:\Temp/cchGLUCl.s:62     .bss:00000006 ServoActive
  C:\Temp/cchGLUCl.s:68     .bss:00000007 SendSPI
  C:\Temp/cchGLUCl.s:74     .bss:00000008 beeptime
  C:\Temp/cchGLUCl.s:80     .bss:0000000a cntKompass
  C:\Temp/cchGLUCl.s:86     .bss:0000000c UpdateMotor
  C:\Temp/cchGLUCl.s:92     .bss:0000000d CountMilliseconds
  C:\Temp/cchGLUCl.s:97     .data:00000009 cnt_1ms.3
                             .bss:0000000f cnt.4
  C:\Temp/cchGLUCl.s:99     .bss:00000010 compass_active.5
  C:\Temp/cchGLUCl.s:104    .text:00000000 __vector_18
  C:\Temp/cchGLUCl.s:309    .text:000001e6 SetDelay
  C:\Temp/cchGLUCl.s:325    .text:000001f8 CheckDelay
  C:\Temp/cchGLUCl.s:344    .text:00000210 Delay_ms
  C:\Temp/cchGLUCl.s:365    .text:0000022a Delay_ms_Mess
  C:\Temp/cchGLUCl.s:395    .text:0000025a TIMER2_Init
  C:\Temp/cchGLUCl.s:437    .text:000002b8 Timer_Init
                            *COM*:00000002 tim_main
  C:\Temp/cchGLUCl.s:464    .text:000002e6 CalcNickServoValue
  C:\Temp/cchGLUCl.s:530    .text:0000036a CalculateServo
  C:\Temp/cchGLUCl.s:100    .bss:00000011 PulseOutput.0
  C:\Temp/cchGLUCl.s:1019   .bss:00000012 ServoFrameTime.1
  C:\Temp/cchGLUCl.s:1020   .bss:00000014 ServoIndex.2
  C:\Temp/cchGLUCl.s:1024   .text:000007ba __vector_9

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
SpektrumTimer
PlatinenVersion
NaviDataOkay
Parameter_GlobalConfig
__udivmodhi4
KompassValue
AdReady
EE_Parameter
Parameter_ServoNickControl
__prologue_saves__
sintab
IntegralNick
__mulsi3
IntegralRoll
POI_KameraNick
__divmodhi4
__divmodsi4
Parameter_ServoRollControl
__epilogue_restores__
Parameter_Servo3
Parameter_Servo4
Parameter_Servo5
PPM_in
SenderOkay