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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_ServoRollComp162 Parameter_ServoRollComp:163 002b 55 .byte 85164 .global Parameter_ServoNickComp167 Parameter_ServoNickComp:168 002c 32 .byte 50169 .global Parameter_ServoRollControl172 Parameter_ServoRollControl:173 002d 64 .byte 100174 .global Parameter_ServoNickControl177 Parameter_ServoNickControl:178 002e 64 .byte 100179 .global Parameter_UserParam8180 .global Parameter_UserParam8181 .section .bss184 Parameter_UserParam8:185 0013 00 .skip 1,0186 .global Parameter_UserParam7187 .global Parameter_UserParam7190 Parameter_UserParam7:191 0014 00 .skip 1,0192 .global Parameter_UserParam6193 .global Parameter_UserParam6196 Parameter_UserParam6:197 0015 00 .skip 1,0198 .global Parameter_UserParam5199 .global Parameter_UserParam5202 Parameter_UserParam5:203 0016 00 .skip 1,0204 .global Parameter_UserParam4205 .global Parameter_UserParam4208 Parameter_UserParam4:209 0017 00 .skip 1,0210 .global Parameter_UserParam3211 .global Parameter_UserParam3214 Parameter_UserParam3:215 0018 00 .skip 1,0216 .global Parameter_UserParam2217 .global Parameter_UserParam2220 Parameter_UserParam2:221 0019 00 .skip 1,0222 .global Parameter_UserParam1223 .global Parameter_UserParam1226 Parameter_UserParam1:227 001a 00 .skip 1,0228 .global Parameter_I_Faktor229 .data232 Parameter_I_Faktor:233 002f 0A .byte 10234 .global Parameter_Gier_P237 Parameter_Gier_P:238 0030 02 .byte 2239 .global Parameter_Gyro_Gier_I242 Parameter_Gyro_Gier_I:243 0031 96 .byte -106244 .global Parameter_Gyro_Gier_P247 Parameter_Gyro_Gier_P:248 0032 96 .byte -106249 .global Parameter_Gyro_I252 Parameter_Gyro_I:253 0033 96 .byte -106254 .global Parameter_Gyro_P257 Parameter_Gyro_P:258 0034 96 .byte -106259 .global Parameter_Gyro_D262 Parameter_Gyro_D:263 0035 08 .byte 8264 .global Parameter_Hoehe_GPS_Z267 Parameter_Hoehe_GPS_Z:268 0036 40 .byte 64269 .global Parameter_KompassWirkung272 Parameter_KompassWirkung:273 0037 40 .byte 64274 .global Parameter_Hoehe_ACC_Wirkung277 Parameter_Hoehe_ACC_Wirkung:278 0038 3A .byte 58279 .global Parameter_Hoehe_P282 Parameter_Hoehe_P:283 0039 10 .byte 16284 .global Parameter_HoehenSchalter287 Parameter_HoehenSchalter:288 003a FB .byte -5289 .global Parameter_Luftdruck_D292 Parameter_Luftdruck_D:293 003b 30 .byte 48294 .global Looping_Oben295 .global Looping_Oben296 .section .bss299 Looping_Oben:300 001b 00 .skip 1,0301 .global Looping_Unten302 .global Looping_Unten305 Looping_Unten:306 001c 00 .skip 1,0307 .global Looping_Rechts308 .global Looping_Rechts311 Looping_Rechts:312 001d 00 .skip 1,0313 .global Looping_Links314 .global Looping_Links317 Looping_Links:318 001e 00 .skip 1,0319 .global Looping_Roll320 .global Looping_Roll323 Looping_Roll:324 001f 00 .skip 1,0325 .global Looping_Nick326 .global Looping_Nick329 Looping_Nick:330 0020 00 .skip 1,0331 .global Ki332 .data335 Ki:336 003c 3801 .word 312337 .global HoverGas338 .global HoverGas339 .section .bss342 HoverGas:343 0021 0000 .skip 2,0344 .global LageKorrekturNick345 .global LageKorrekturNick348 LageKorrekturNick:349 0023 0000 .skip 2,0350 .global LageKorrekturRoll351 .global LageKorrekturRoll354 LageKorrekturRoll:355 0025 0000 .skip 2,0356 .global NeueKompassRichtungMerken357 .global NeueKompassRichtungMerken360 NeueKompassRichtungMerken:361 0027 00 .skip 1,0362 .global CalibrationDone363 .global CalibrationDone366 CalibrationDone:367 0028 00 .skip 1,0368 .global CompassGierSetpoint369 .global CompassGierSetpoint372 CompassGierSetpoint:373 0029 0000 .skip 2,0374 .global WaypointTrimming375 .global WaypointTrimming378 WaypointTrimming:379 002b 00 .skip 1,0380 .global carefree_old381 .data384 carefree_old:385 003e 32 .byte 50386 .global FromNC_AltitudeSpeed387 .global FromNC_AltitudeSpeed388 .section .bss391 FromNC_AltitudeSpeed:392 002c 00 .skip 1,0393 .global FromNC_AltitudeSetpoint394 .global FromNC_AltitudeSetpoint397 FromNC_AltitudeSetpoint:398 002d 0000 0000 .skip 4,0399 .global AltitudeSetpointTrimming400 .global AltitudeSetpointTrimming403 AltitudeSetpointTrimming:404 0031 0000 .skip 2,0405 .global SollHoehe406 .global SollHoehe409 SollHoehe:410 0033 0000 0000 .skip 4,0411 .global HoehenWert412 .global HoehenWert415 HoehenWert:416 0037 0000 0000 .skip 4,0417 .global StartTrigger418 .global StartTrigger421 StartTrigger:422 003b 00 .skip 1,0423 .global MotorenEin424 .global MotorenEin427 MotorenEin:428 003c 00 .skip 1,0429 .global SenderOkay430 .global SenderOkay433 SenderOkay:434 003d 00 .skip 1,0435 .global Poti436 .global Poti439 Poti:440 003e 0000 0000 .skip 9,0440 0000 0000440 00441 .global StickGas442 .global StickGas445 StickGas:446 0047 0000 .skip 2,0447 .global StickGier448 .global StickGier451 StickGier:452 0049 0000 .skip 2,0453 .global StickRoll454 .global StickRoll457 StickRoll:458 004b 0000 .skip 2,0459 .global StickNick460 .global StickNick463 StickNick:464 004d 0000 .skip 2,0465 .global HoverGasMax466 .data469 HoverGasMax:470 003f FF03 .word 1023471 .global HoverGasMin472 .global HoverGasMin473 .section .bss476 HoverGasMin:477 004f 0000 .skip 2,0478 .global StickGasHover479 .data482 StickGasHover:483 0041 7800 .word 120484 .global GierGyroFehler485 .global GierGyroFehler486 .section .bss489 GierGyroFehler:490 0051 0000 .skip 2,0491 .global Umschlag180Roll492 .data495 Umschlag180Roll:496 0043 90D0 0300 .long 250000497 .global Umschlag180Nick500 Umschlag180Nick:501 0047 90D0 0300 .long 250000502 .global TrichterFlug503 .global TrichterFlug504 .section .bss507 TrichterFlug:508 0053 00 .skip 1,0509 .global HoehenReglerAktiv510 .global HoehenReglerAktiv513 HoehenReglerAktiv:514 0054 00 .skip 1,0515 .global KompassSignalSchlecht516 .data519 KompassSignalSchlecht:520 004b 3200 .word 50521 .global KompassFusion524 KompassFusion:525 004d 20 .byte 32526 .global CalculateCompassTimer529 CalculateCompassTimer:530 004e 64 .byte 100531 .global KompassSollWert532 .global KompassSollWert533 .section .bss536 KompassSollWert:537 0055 0000 .skip 2,0538 .global KompassValue539 .data542 KompassValue:543 004f FFFF .word -1544 .global Mess_Integral_Hoch545 .global Mess_Integral_Hoch546 .section .bss549 Mess_Integral_Hoch:550 0057 0000 0000 .skip 4,0551 .global SummeRoll552 .global SummeRoll555 SummeRoll:556 005b 0000 0000 .skip 4,0557 .global SummeNick558 .global SummeNick561 SummeNick:562 005f 0000 0000 .skip 4,0563 .global Mess_Integral_Gier2564 .global Mess_Integral_Gier2567 Mess_Integral_Gier2:568 0063 0000 0000 .skip 4,0569 .global Mess_Integral_Gier570 .global Mess_Integral_Gier573 Mess_Integral_Gier:574 0067 0000 0000 .skip 4,0575 .global Mess_IntegralRoll2576 .global Mess_IntegralRoll2579 Mess_IntegralRoll2:580 006b 0000 0000 .skip 4,0581 .global Mess_IntegralRoll582 .global Mess_IntegralRoll585 Mess_IntegralRoll:586 006f 0000 0000 .skip 4,0587 .global Mess_IntegralNick2588 .global Mess_IntegralNick2591 Mess_IntegralNick2:592 0073 0000 0000 .skip 4,0593 .global Mess_IntegralNick594 .global Mess_IntegralNick597 Mess_IntegralNick:598 0077 0000 0000 .skip 4,0599 .global Integral_Gier600 .global Integral_Gier603 Integral_Gier:604 007b 0000 0000 .skip 4,0605 .global IntegralAccZ606 .global IntegralAccZ609 IntegralAccZ:610 007f 0000 0000 .skip 4,0611 .global IntegralAccRoll612 .global IntegralAccRoll615 IntegralAccRoll:616 0083 0000 0000 .skip 4,0617 .global IntegralAccNick618 .global IntegralAccNick621 IntegralAccNick:622 0087 0000 0000 .skip 4,0623 .global IntegralRoll2624 .global IntegralRoll2627 IntegralRoll2:628 008b 0000 0000 .skip 4,0629 .global IntegralRoll630 .global IntegralRoll633 IntegralRoll:634 008f 0000 0000 .skip 4,0635 .global IntegralNick2636 .global IntegralNick2639 IntegralNick2:640 0093 0000 0000 .skip 4,0641 .global IntegralNick642 .global IntegralNick645 IntegralNick:646 0097 0000 0000 .skip 4,0647 .global ControlHeading648 .global ControlHeading651 ControlHeading:652 009b 00 .skip 1,0653 .global NeutralAccZ654 .global NeutralAccZ657 NeutralAccZ:658 009c 0000 .skip 2,0659 .global NaviCntAcc660 .global NaviCntAcc663 NaviCntAcc:664 009e 0000 .skip 2,0665 .global NeutralAccY666 .global NeutralAccY669 NeutralAccY:670 00a0 0000 .skip 2,0671 .global NeutralAccX672 .global NeutralAccX675 NeutralAccX:676 00a2 0000 .skip 2,0677 .global StartNeutralNick678 .global StartNeutralNick681 StartNeutralNick:682 00a4 0000 .skip 2,0683 .global StartNeutralRoll684 .global StartNeutralRoll687 StartNeutralRoll:688 00a6 0000 .skip 2,0689 .global AdNeutralGier690 .global AdNeutralGier693 AdNeutralGier:694 00a8 0000 .skip 2,0695 .global AdNeutralRoll696 .global AdNeutralRoll699 AdNeutralRoll:700 00aa 0000 .skip 2,0701 .global AdNeutralNick702 .global AdNeutralNick705 AdNeutralNick:706 00ac 0000 .skip 2,0707 .global BaroExpandActive708 .global BaroExpandActive711 BaroExpandActive:712 00ae 0000 .skip 2,0713 .text714 .global CopyDebugValues716 CopyDebugValues:717 /* prologue: frame size=0 */718 0000 EF92 push r14719 0002 FF92 push r15720 0004 0F93 push r16721 0006 1F93 push r17722 /* prologue end (size=4) */723 0008 8091 0000 lds r24,EE_Parameter+28724 000c 9927 clr r25725 000e 880F lsl r24726 0010 991F rol r25727 0012 880F lsl r24728 0014 991F rol r25729 0016 7C01 movw r14,r24730 0018 0027 clr r16731 001a F7FC sbrc r15,7732 001c 0095 com r16733 001e 102F mov r17,r16734 0020 8091 0000 lds r24,IntegralNick735 0024 9091 0000 lds r25,(IntegralNick)+1736 0028 A091 0000 lds r26,(IntegralNick)+2737 002c B091 0000 lds r27,(IntegralNick)+3738 0030 BC01 movw r22,r24739 0032 CD01 movw r24,r26740 0034 A801 movw r20,r16741 0036 9701 movw r18,r14742 0038 0E94 0000 call __divmodsi4743 003c 3093 0000 sts (DebugOut+2)+1,r19744 0040 2093 0000 sts DebugOut+2,r18745 0044 8091 0000 lds r24,IntegralRoll746 0048 9091 0000 lds r25,(IntegralRoll)+1747 004c A091 0000 lds r26,(IntegralRoll)+2748 0050 B091 0000 lds r27,(IntegralRoll)+3749 0054 BC01 movw r22,r24750 0056 CD01 movw r24,r26751 0058 A801 movw r20,r16752 005a 9701 movw r18,r14753 005c 0E94 0000 call __divmodsi4754 0060 3093 0000 sts (DebugOut+4)+1,r19755 0064 2093 0000 sts DebugOut+4,r18756 0068 8091 0000 lds r24,Mittelwert_AccNick757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1758 0070 97FD sbrc r25,7759 0072 0396 adiw r24,3760 .L2:761 0074 9595 asr r25762 0076 8795 ror r24763 0078 9595 asr r25764 007a 8795 ror r24765 007c 9093 0000 sts (DebugOut+6)+1,r25766 0080 8093 0000 sts DebugOut+6,r24767 0084 8091 0000 lds r24,Mittelwert_AccRoll768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1769 008c 97FD sbrc r25,7770 008e 0396 adiw r24,3771 .L3:772 0090 9595 asr r25773 0092 8795 ror r24774 0094 9595 asr r25775 0096 8795 ror r24776 0098 9093 0000 sts (DebugOut+8)+1,r25777 009c 8093 0000 sts DebugOut+8,r24778 00a0 8091 0000 lds r24,AdNeutralGier779 00a4 9091 0000 lds r25,(AdNeutralGier)+1780 00a8 2091 0000 lds r18,AdWertGier781 00ac 3091 0000 lds r19,(AdWertGier)+1782 00b0 821B sub r24,r18783 00b2 930B sbc r25,r19784 00b4 9093 0000 sts (DebugOut+10)+1,r25785 00b8 8093 0000 sts DebugOut+10,r24786 00bc 8091 0000 lds r24,HoehenWert787 00c0 9091 0000 lds r25,(HoehenWert)+1788 00c4 A091 0000 lds r26,(HoehenWert)+2789 00c8 B091 0000 lds r27,(HoehenWert)+3790 00cc BC01 movw r22,r24791 00ce CD01 movw r24,r26792 00d0 25E0 ldi r18,lo8(5)793 00d2 30E0 ldi r19,hi8(5)794 00d4 40E0 ldi r20,hlo8(5)795 00d6 50E0 ldi r21,hhi8(5)796 00d8 0E94 0000 call __divmodsi4797 00dc 3093 0000 sts (DebugOut+12)+1,r19798 00e0 2093 0000 sts DebugOut+12,r18799 00e4 8091 0000 lds r24,AdWertAccHoch800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1801 00ec 9093 0000 sts (DebugOut+14)+1,r25802 00f0 8093 0000 sts DebugOut+14,r24803 00f4 8091 0000 lds r24,KompassValue804 00f8 9091 0000 lds r25,(KompassValue)+1805 00fc 9093 0000 sts (DebugOut+18)+1,r25806 0100 8093 0000 sts DebugOut+18,r24807 0104 8091 0000 lds r24,UBat808 0108 9091 0000 lds r25,(UBat)+1809 010c 9093 0000 sts (DebugOut+20)+1,r25810 0110 8093 0000 sts DebugOut+20,r24811 0114 8091 0000 lds r24,SenderOkay812 0118 9927 clr r25813 011a 9093 0000 sts (DebugOut+22)+1,r25814 011e 8093 0000 sts DebugOut+22,r24815 0122 8091 0000 lds r24,ErsatzKompassInGrad816 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1817 012a 9093 0000 sts (DebugOut+24)+1,r25818 012e 8093 0000 sts DebugOut+24,r24819 0132 8091 0000 lds r24,Motor+1820 0136 9927 clr r25821 0138 9093 0000 sts (DebugOut+26)+1,r25822 013c 8093 0000 sts DebugOut+26,r24823 0140 8091 0000 lds r24,Motor+9824 0144 9927 clr r25825 0146 9093 0000 sts (DebugOut+28)+1,r25826 014a 8093 0000 sts DebugOut+28,r24827 014e 8091 0000 lds r24,Motor+17828 0152 9927 clr r25829 0154 9093 0000 sts (DebugOut+30)+1,r25830 0158 8093 0000 sts DebugOut+30,r24831 015c 8091 0000 lds r24,Motor+25832 0160 9927 clr r25833 0162 9093 0000 sts (DebugOut+32)+1,r25834 0166 8093 0000 sts DebugOut+32,r24835 016a 8091 0000 lds r24,ServoNickValue836 016e 9091 0000 lds r25,(ServoNickValue)+1837 0172 9093 0000 sts (DebugOut+42)+1,r25838 0176 8093 0000 sts DebugOut+42,r24839 017a 8091 0000 lds r24,Capacity840 017e 9091 0000 lds r25,(Capacity)+1841 0182 9093 0000 sts (DebugOut+46)+1,r25842 0186 8093 0000 sts DebugOut+46,r24843 018a 8091 0000 lds r24,Capacity+4844 018e 9091 0000 lds r25,(Capacity+4)+1845 0192 9093 0000 sts (DebugOut+48)+1,r25846 0196 8093 0000 sts DebugOut+48,r24847 019a 8091 0000 lds r24,SollHoehe848 019e 9091 0000 lds r25,(SollHoehe)+1849 01a2 A091 0000 lds r26,(SollHoehe)+2850 01a6 B091 0000 lds r27,(SollHoehe)+3851 01aa BC01 movw r22,r24852 01ac CD01 movw r24,r26853 01ae 25E0 ldi r18,lo8(5)854 01b0 30E0 ldi r19,hi8(5)855 01b2 40E0 ldi r20,hlo8(5)856 01b4 50E0 ldi r21,hhi8(5)857 01b6 0E94 0000 call __divmodsi4858 01ba 3093 0000 sts (DebugOut+50)+1,r19859 01be 2093 0000 sts DebugOut+50,r18860 01c2 8091 0000 lds r24,KompassSollWert861 01c6 9091 0000 lds r25,(KompassSollWert)+1862 01ca 9093 0000 sts (DebugOut+56)+1,r25863 01ce 8093 0000 sts DebugOut+56,r24864 01d2 8091 0000 lds r24,Capacity+6865 01d6 9927 clr r25866 01d8 9093 0000 sts (DebugOut+60)+1,r25867 01dc 8093 0000 sts DebugOut+60,r24868 01e0 8091 0000 lds r24,GPS_Nick869 01e4 9091 0000 lds r25,(GPS_Nick)+1870 01e8 9093 0000 sts (DebugOut+62)+1,r25871 01ec 8093 0000 sts DebugOut+62,r24872 01f0 8091 0000 lds r24,GPS_Roll873 01f4 9091 0000 lds r25,(GPS_Roll)+1874 01f8 9093 0000 sts (DebugOut+64)+1,r25875 01fc 8093 0000 sts DebugOut+64,r24876 0200 8091 0000 lds r24,VersionInfo+5877 0204 8823 tst r24878 0206 01F4 brne .L5879 0208 8091 0000 lds r24,VersionInfo+6880 020c 8823 tst r24881 020e 01F0 breq .L4882 .L5:883 0210 8091 0000 lds r24,DebugOut+1884 0214 8160 ori r24,lo8(1)885 0216 00C0 rjmp .L7886 .L4:887 0218 8091 0000 lds r24,DebugOut+1888 021c 8E7F andi r24,lo8(-2)889 .L7:890 021e 8093 0000 sts DebugOut+1,r24891 /* epilogue: frame size=0 */892 0222 1F91 pop r17893 0224 0F91 pop r16894 0226 FF90 pop r15895 0228 EF90 pop r14896 022a 0895 ret897 /* epilogue end (size=5) */898 /* function CopyDebugValues size 280 (271) */900 .global Piep902 Piep:903 /* prologue: frame size=0 */904 022c EF92 push r14905 022e FF92 push r15906 0230 1F93 push r17907 0232 CF93 push r28908 0234 DF93 push r29909 /* prologue end (size=5) */910 0236 182F mov r17,r24911 0238 7B01 movw r14,r22912 023a 8091 0000 lds r24,MotorenEin913 023e 8823 tst r24914 0240 01F4 brne .L8915 0242 8091 0000 lds r24,PlatinenVersion916 0246 8C30 cpi r24,lo8(12)917 0248 00F0 brlo .L11918 024a 8631 cpi r24,lo8(22)919 024c 01F4 brne .L10920 .L11:921 024e 2998 cbi 37-0x20,1922 0250 00C0 rjmp .L12923 .L10:924 0252 299A sbi 37-0x20,1925 .L12:926 0254 1150 subi r17,lo8(-(-1))927 0256 1F3F cpi r17,lo8(-1)928 0258 01F0 breq .L26929 025a F092 0000 sts (beeptime)+1,r15930 025e E092 0000 sts beeptime,r14931 0262 E701 movw r28,r14932 .L34:933 0264 8091 0000 lds r24,beeptime934 0268 9091 0000 lds r25,(beeptime)+1935 026c 892B or r24,r25936 026e 01F4 brne .L31937 0270 2097 sbiw r28,0938 0272 01F0 breq .L12939 .L31:940 0274 8091 0000 lds r24,UpdateMotor941 0278 8823 tst r24942 027a 01F0 breq .L34943 027c 1092 0000 sts UpdateMotor,__zero_reg__944 0280 8091 0000 lds r24,beeptime945 0284 9091 0000 lds r25,(beeptime)+1946 0288 892B or r24,r25947 028a 01F4 brne .L19948 028c 2197 sbiw r28,1949 .L19:950 028e 0E94 0000 call LIBFC_Polling951 0292 00C0 rjmp .L34952 .L26:953 0294 8091 0000 lds r24,PlatinenVersion954 0298 8C30 cpi r24,lo8(12)955 029a 00F0 brlo .L23956 029c 8631 cpi r24,lo8(22)957 029e 01F4 brne .L22958 .L23:959 02a0 299A sbi 37-0x20,1960 02a2 00C0 rjmp .L8961 .L22:962 02a4 2998 cbi 37-0x20,1963 .L8:964 /* epilogue: frame size=0 */965 02a6 DF91 pop r29966 02a8 CF91 pop r28967 02aa 1F91 pop r17968 02ac FF90 pop r15969 02ae EF90 pop r14970 02b0 0895 ret971 /* epilogue end (size=6) */972 /* function Piep size 67 (56) */974 .global CalibrierMittelwert976 CalibrierMittelwert:977 /* prologue: frame size=0 */978 02b2 CF93 push r28979 02b4 DF93 push r29980 /* prologue end (size=2) */981 02b6 8091 0000 lds r24,PlatinenVersion982 02ba 8D30 cpi r24,lo8(13)983 02bc 01F4 brne .L36984 02be 0E94 0000 call SucheGyroOffset985 .L36:986 02c2 1092 7A00 sts 122,__zero_reg__987 02c6 8091 0000 lds r24,AdWertNick988 02ca 9091 0000 lds r25,(AdWertNick)+1989 02ce 9093 0000 sts (MesswertNick)+1,r25990 02d2 8093 0000 sts MesswertNick,r24991 02d6 8091 0000 lds r24,AdWertRoll992 02da 9091 0000 lds r25,(AdWertRoll)+1993 02de 9093 0000 sts (MesswertRoll)+1,r25994 02e2 8093 0000 sts MesswertRoll,r24995 02e6 8091 0000 lds r24,AdWertGier996 02ea 9091 0000 lds r25,(AdWertGier)+1997 02ee 9093 0000 sts (MesswertGier)+1,r25998 02f2 8093 0000 sts MesswertGier,r24999 02f6 2091 0000 lds r18,AdWertAccNick1000 02fa 3091 0000 lds r19,(AdWertAccNick)+11001 02fe C901 movw r24,r181002 0300 880F lsl r241003 0302 991F rol r251004 0304 880F lsl r241005 0306 991F rol r251006 0308 820F add r24,r181007 030a 931F adc r25,r191008 030c 820F add r24,r181009 030e 931F adc r25,r191010 0310 9093 0000 sts (Mittelwert_AccNick)+1,r251011 0314 8093 0000 sts Mittelwert_AccNick,r241012 0318 2091 0000 lds r18,AdWertAccRoll1013 031c 3091 0000 lds r19,(AdWertAccRoll)+11014 0320 C901 movw r24,r181015 0322 880F lsl r241016 0324 991F rol r251017 0326 880F lsl r241018 0328 991F rol r251019 032a 820F add r24,r181020 032c 931F adc r25,r191021 032e 820F add r24,r181022 0330 931F adc r25,r191023 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r251024 0336 8093 0000 sts Mittelwert_AccRoll,r241025 033a 8FEC ldi r24,lo8(-49)1026 033c 8093 7A00 sts 122,r241027 0340 A0E0 ldi r26,lo8(Poti)1028 0342 B0E0 ldi r27,hi8(Poti)1029 0344 C0E0 ldi r28,lo8(EE_Parameter+5)1030 0346 D0E0 ldi r29,hi8(EE_Parameter+5)1031 0348 97E0 ldi r25,lo8(7)1032 .L46:1033 034a 8991 ld r24,Y+1034 034c E82F mov r30,r241035 034e FF27 clr r311036 0350 EE0F add r30,r301037 0352 FF1F adc r31,r311038 0354 E050 subi r30,lo8(-(PPM_in))1039 0356 F040 sbci r31,hi8(-(PPM_in))1040 0358 0190 ld __tmp_reg__,Z+1041 035a F081 ld r31,Z1042 035c E02D mov r30,__tmp_reg__1043 035e E158 subi r30,lo8(-(127))1044 0360 FF4F sbci r31,hi8(-(127))1045 0362 1E16 cp __zero_reg__,r301046 0364 1F06 cpc __zero_reg__,r311047 0366 04F0 brlt .L401048 0368 E0E0 ldi r30,lo8(0)1049 036a F0E0 ldi r31,hi8(0)1050 036c 00C0 rjmp .L411051 .L40:1052 036e EF3F cpi r30,2551053 0370 F105 cpc r31,__zero_reg__1054 0372 04F0 brlt .L411055 0374 EFEF ldi r30,lo8(255)1056 0376 F0E0 ldi r31,hi8(255)1057 .L41:1058 0378 8C91 ld r24,X1059 037a 282F mov r18,r241060 037c 3327 clr r191061 037e E217 cp r30,r181062 0380 F307 cpc r31,r191063 0382 04F4 brge .L431064 0384 8150 subi r24,lo8(-(-1))1065 0386 00C0 rjmp .L491066 .L43:1067 0388 2E17 cp r18,r301068 038a 3F07 cpc r19,r311069 038c 04F4 brge .L391070 038e 8F5F subi r24,lo8(-(1))1071 .L49:1072 0390 8C93 st X,r241073 .L39:1074 0392 9150 subi r25,lo8(-(-1))1075 0394 1196 adiw r26,11076 0396 97FF sbrs r25,71077 0398 00C0 rjmp .L461078 039a 8091 0000 lds r24,EE_Parameter+651079 039e 9927 clr r251080 03a0 AA27 clr r261081 03a2 BB27 clr r271082 03a4 BC01 movw r22,r241083 03a6 CD01 movw r24,r261084 03a8 24EC ldi r18,lo8(2500)1085 03aa 39E0 ldi r19,hi8(2500)1086 03ac 40E0 ldi r20,hlo8(2500)1087 03ae 50E0 ldi r21,hhi8(2500)1088 03b0 0E94 0000 call __mulsi31089 03b4 DC01 movw r26,r241090 03b6 CB01 movw r24,r221091 03b8 8093 0000 sts Umschlag180Nick,r241092 03bc 9093 0000 sts (Umschlag180Nick)+1,r251093 03c0 A093 0000 sts (Umschlag180Nick)+2,r261094 03c4 B093 0000 sts (Umschlag180Nick)+3,r271095 03c8 8091 0000 lds r24,EE_Parameter+661096 03cc 9927 clr r251097 03ce AA27 clr r261098 03d0 BB27 clr r271099 03d2 BC01 movw r22,r241100 03d4 CD01 movw r24,r261101 03d6 0E94 0000 call __mulsi31102 03da DC01 movw r26,r241103 03dc CB01 movw r24,r221104 03de 8093 0000 sts Umschlag180Roll,r241105 03e2 9093 0000 sts (Umschlag180Roll)+1,r251106 03e6 A093 0000 sts (Umschlag180Roll)+2,r261107 03ea B093 0000 sts (Umschlag180Roll)+3,r271108 /* epilogue: frame size=0 */1109 03ee DF91 pop r291110 03f0 CF91 pop r281111 03f2 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 03f4 A0E0 ldi r26,lo8(0)1126 03f6 B0E0 ldi r27,hi8(0)1127 03f8 E0E0 ldi r30,pm_lo8(1f)1128 03fa F0E0 ldi r31,pm_hi8(1f)1129 03fc 0C94 0000 jmp __prologue_saves__+121130 1:1131 /* prologue end (size=6) */1132 0400 882E mov r8,r241133 0402 C0E0 ldi r28,lo8(0)1134 0404 D0E0 ldi r29,hi8(0)1135 0406 7E01 movw r14,r281136 0408 6E01 movw r12,r281137 040a 1092 0000 sts VersionInfo+5,__zero_reg__1138 040e D093 0000 sts (NeutralAccX)+1,r291139 0412 C093 0000 sts NeutralAccX,r281140 0416 D093 0000 sts (NeutralAccY)+1,r291141 041a C093 0000 sts NeutralAccY,r281142 041e D093 0000 sts (NeutralAccZ)+1,r291143 0422 C093 0000 sts NeutralAccZ,r281144 0426 D093 0000 sts (AdNeutralNick)+1,r291145 042a C093 0000 sts AdNeutralNick,r281146 042e D093 0000 sts (AdNeutralRoll)+1,r291147 0432 C093 0000 sts AdNeutralRoll,r281148 0436 D093 0000 sts (AdNeutralGier)+1,r291149 043a C093 0000 sts AdNeutralGier,r281150 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1151 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1152 0446 1092 0000 sts ExpandBaro,__zero_reg__1153 044a 0E94 0000 call CalibrierMittelwert1154 044e 84E6 ldi r24,lo8(100)1155 0450 90E0 ldi r25,hi8(100)1156 0452 0E94 0000 call Delay_ms_Mess1157 0456 0E94 0000 call CalibrierMittelwert1158 045a 8091 0000 lds r24,EE_Parameter+131159 045e 80FF sbrs r24,01160 0460 00C0 rjmp .L511161 0462 8091 0000 lds r24,MessLuftdruck1162 0466 9091 0000 lds r25,(MessLuftdruck)+11163 046a 875B subi r24,lo8(951)1164 046c 9340 sbci r25,hi8(951)1165 046e 00F4 brsh .L531166 0470 8091 0000 lds r24,MessLuftdruck1167 0474 9091 0000 lds r25,(MessLuftdruck)+11168 0478 8E5E subi r24,lo8(750)1169 047a 9240 sbci r25,hi8(750)1170 047c 00F4 brsh .L511171 .L53:1172 047e 0E94 0000 call SucheLuftruckOffset1173 .L51:1174 0482 0FE1 ldi r16,lo8(31)1175 .L57:1176 0484 8AE0 ldi r24,lo8(10)1177 0486 90E0 ldi r25,hi8(10)1178 0488 0E94 0000 call Delay_ms_Mess1179 048c 8091 0000 lds r24,AdWertGier1180 0490 9091 0000 lds r25,(AdWertGier)+11181 0494 C80F add r28,r241182 0496 D91F adc r29,r251183 0498 8091 0000 lds r24,AdWertNick1184 049c 9091 0000 lds r25,(AdWertNick)+11185 04a0 E80E add r14,r241186 04a2 F91E adc r15,r251187 04a4 8091 0000 lds r24,AdWertRoll1188 04a8 9091 0000 lds r25,(AdWertRoll)+11189 04ac C80E add r12,r241190 04ae D91E adc r13,r251191 04b0 0150 subi r16,lo8(-(-1))1192 04b2 07FF sbrs r16,71193 04b4 00C0 rjmp .L571194 04b6 9701 movw r18,r141195 04b8 205F subi r18,lo8(-(16))1196 04ba 3F4F sbci r19,hi8(-(16))1197 04bc 3695 lsr r191198 04be 2795 ror r181199 04c0 3695 lsr r191200 04c2 2795 ror r181201 04c4 3093 0000 sts (AdNeutralNick)+1,r191202 04c8 2093 0000 sts AdNeutralNick,r181203 04cc C601 movw r24,r121204 04ce 4096 adiw r24,161205 04d0 9695 lsr r251206 04d2 8795 ror r241207 04d4 9695 lsr r251208 04d6 8795 ror r241209 04d8 9093 0000 sts (AdNeutralRoll)+1,r251210 04dc 8093 0000 sts AdNeutralRoll,r241211 04e0 6096 adiw r28,161212 04e2 F5E0 ldi r31,51213 04e4 D695 1: lsr r291214 04e6 C795 ror r281215 04e8 FA95 dec r311216 04ea 01F4 brne 1b1217 04ec D093 0000 sts (AdNeutralGier)+1,r291218 04f0 C093 0000 sts AdNeutralGier,r281219 04f4 9093 0000 sts (StartNeutralRoll)+1,r251220 04f8 8093 0000 sts StartNeutralRoll,r241221 04fc 3093 0000 sts (StartNeutralNick)+1,r191222 0500 2093 0000 sts StartNeutralNick,r181223 0504 8820 tst r81224 0506 01F4 brne .+21225 0508 00C0 rjmp .L581226 050a 8091 0000 lds r24,Mittelwert_AccNick1227 050e 9091 0000 lds r25,(Mittelwert_AccNick)+11228 0512 97FF sbrs r25,71229 0514 00C0 rjmp .L591230 0516 9095 com r251231 0518 8195 neg r241232 051a 9F4F sbci r25,lo8(-1)1233 .L59:1234 051c 6CE0 ldi r22,lo8(12)1235 051e 70E0 ldi r23,hi8(12)1236 0520 0E94 0000 call __divmodhi41237 0524 9B01 movw r18,r221238 0526 7093 0000 sts (NeutralAccX)+1,r231239 052a 6093 0000 sts NeutralAccX,r221240 052e 8091 0000 lds r24,Mittelwert_AccRoll1241 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+11242 0536 97FF sbrs r25,71243 0538 00C0 rjmp .L601244 053a 9095 com r251245 053c 8195 neg r241246 053e 9F4F sbci r25,lo8(-1)1247 .L60:1248 0540 6CE0 ldi r22,lo8(12)1249 0542 70E0 ldi r23,hi8(12)1250 0544 0E94 0000 call __divmodhi41251 0548 7093 0000 sts (NeutralAccY)+1,r231252 054c 6093 0000 sts NeutralAccY,r221253 0550 8091 0000 lds r24,Aktuell_az1254 0554 9091 0000 lds r25,(Aktuell_az)+11255 0558 9093 0000 sts (NeutralAccZ)+1,r251256 055c 8093 0000 sts NeutralAccZ,r241257 0560 B901 movw r22,r181258 0562 84E0 ldi r24,lo8(4)1259 0564 90E0 ldi r25,hi8(4)1260 0566 0E94 0000 call SetParamWord1261 056a 6091 0000 lds r22,NeutralAccY1262 056e 7091 0000 lds r23,(NeutralAccY)+11263 0572 86E0 ldi r24,lo8(6)1264 0574 90E0 ldi r25,hi8(6)1265 0576 0E94 0000 call SetParamWord1266 057a 6091 0000 lds r22,NeutralAccZ1267 057e 7091 0000 lds r23,(NeutralAccZ)+11268 0582 88E0 ldi r24,lo8(8)1269 0584 90E0 ldi r25,hi8(8)1270 0586 0E94 0000 call SetParamWord1271 058a 00C0 rjmp .L611272 .L58:1273 058c 84E0 ldi r24,lo8(4)1274 058e 90E0 ldi r25,hi8(4)1275 0590 0E94 0000 call GetParamWord1276 0594 9093 0000 sts (NeutralAccX)+1,r251277 0598 8093 0000 sts NeutralAccX,r241278 059c 86E0 ldi r24,lo8(6)1279 059e 90E0 ldi r25,hi8(6)1280 05a0 0E94 0000 call GetParamWord1281 05a4 9093 0000 sts (NeutralAccY)+1,r251282 05a8 8093 0000 sts NeutralAccY,r241283 05ac 88E0 ldi r24,lo8(8)1284 05ae 90E0 ldi r25,hi8(8)1285 05b0 0E94 0000 call GetParamWord1286 05b4 9C01 movw r18,r241287 05b6 9093 0000 sts (NeutralAccZ)+1,r251288 05ba 8093 0000 sts NeutralAccZ,r241289 05be 8091 0000 lds r24,NeutralAccX1290 05c2 9091 0000 lds r25,(NeutralAccX)+11291 05c6 8150 subi r24,lo8(2049)1292 05c8 9840 sbci r25,hi8(2049)1293 05ca 00F4 brsh .L631294 05cc 8091 0000 lds r24,NeutralAccY1295 05d0 9091 0000 lds r25,(NeutralAccY)+11296 05d4 8150 subi r24,lo8(2049)1297 05d6 9840 sbci r25,hi8(2049)1298 05d8 00F4 brsh .L631299 05da 2150 subi r18,lo8(1025)1300 05dc 3440 sbci r19,hi8(1025)1301 05de 00F0 brlo .L611302 .L63:1303 05e0 80E0 ldi r24,lo8(__c.35)1304 05e2 90E0 ldi r25,hi8(__c.35)1305 05e4 9F93 push r251306 05e6 8F93 push r241307 05e8 80E0 ldi r24,lo8(pm(uart_putchar))1308 05ea 90E0 ldi r25,hi8(pm(uart_putchar))1309 05ec 9F93 push r251310 05ee 8F93 push r241311 05f0 E091 0000 lds r30,_printf_P1312 05f4 F091 0000 lds r31,(_printf_P)+11313 05f8 0995 icall1314 05fa 8091 0000 lds r24,Mittelwert_AccNick1315 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+11316 0602 97FF sbrs r25,71317 0604 00C0 rjmp .L641318 0606 9095 com r251319 0608 8195 neg r241320 060a 9F4F sbci r25,lo8(-1)1321 .L64:1322 060c 6CE0 ldi r22,lo8(12)1323 060e 70E0 ldi r23,hi8(12)1324 0610 0E94 0000 call __divmodhi41325 0614 7093 0000 sts (NeutralAccX)+1,r231326 0618 6093 0000 sts NeutralAccX,r221327 061c 8091 0000 lds r24,Mittelwert_AccRoll1328 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+11329 0624 97FF sbrs r25,71330 0626 00C0 rjmp .L651331 0628 9095 com r251332 062a 8195 neg r241333 062c 9F4F sbci r25,lo8(-1)1334 .L65:1335 062e 6CE0 ldi r22,lo8(12)1336 0630 70E0 ldi r23,hi8(12)1337 0632 0E94 0000 call __divmodhi41338 0636 7093 0000 sts (NeutralAccY)+1,r231339 063a 6093 0000 sts NeutralAccY,r221340 063e 8091 0000 lds r24,Aktuell_az1341 0642 9091 0000 lds r25,(Aktuell_az)+11342 0646 9093 0000 sts (NeutralAccZ)+1,r251343 064a 8093 0000 sts NeutralAccZ,r241344 064e 0F90 pop __tmp_reg__1345 0650 0F90 pop __tmp_reg__1346 0652 0F90 pop __tmp_reg__1347 0654 0F90 pop __tmp_reg__1348 .L61:1349 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__1350 065a 1092 0000 sts MesswertNick,__zero_reg__1351 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__1352 0662 1092 0000 sts MesswertRoll,__zero_reg__1353 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__1354 066a 1092 0000 sts MesswertGier,__zero_reg__1355 066e 84E6 ldi r24,lo8(100)1356 0670 90E0 ldi r25,hi8(100)1357 0672 0E94 0000 call Delay_ms_Mess1358 0676 8091 0000 lds r24,AdWertAccNick1359 067a 9091 0000 lds r25,(AdWertAccNick)+11360 067e 9C01 movw r18,r241361 0680 220F lsl r181362 0682 331F rol r191363 0684 220F lsl r181364 0686 331F rol r191365 0688 280F add r18,r241366 068a 391F adc r19,r251367 068c 280F add r18,r241368 068e 391F adc r19,r251369 0690 3093 0000 sts (Mittelwert_AccNick)+1,r191370 0694 2093 0000 sts Mittelwert_AccNick,r181371 0698 8091 0000 lds r24,AdWertAccRoll1372 069c 9091 0000 lds r25,(AdWertAccRoll)+11373 06a0 8C01 movw r16,r241374 06a2 000F lsl r161375 06a4 111F rol r171376 06a6 000F lsl r161377 06a8 111F rol r171378 06aa 080F add r16,r241379 06ac 191F adc r17,r251380 06ae 080F add r16,r241381 06b0 191F adc r17,r251382 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r171383 06b6 0093 0000 sts Mittelwert_AccRoll,r161384 06ba 8091 0000 lds r24,EE_Parameter+281385 06be C82E mov r12,r241386 06c0 DD24 clr r131387 06c2 EE24 clr r141388 06c4 FF24 clr r151389 06c6 4427 clr r201390 06c8 37FD sbrc r19,71391 06ca 4095 com r201392 06cc 542F mov r21,r201393 06ce C701 movw r24,r141394 06d0 B601 movw r22,r121395 06d2 0E94 0000 call __mulsi31396 06d6 4B01 movw r8,r221397 06d8 5C01 movw r10,r241398 06da 6093 0000 sts IntegralNick,r221399 06de 7093 0000 sts (IntegralNick)+1,r231400 06e2 8093 0000 sts (IntegralNick)+2,r241401 06e6 9093 0000 sts (IntegralNick)+3,r251402 06ea 9801 movw r18,r161403 06ec 4427 clr r201404 06ee 37FD sbrc r19,71405 06f0 4095 com r201406 06f2 542F mov r21,r201407 06f4 C701 movw r24,r141408 06f6 B601 movw r22,r121409 06f8 0E94 0000 call __mulsi31410 06fc DC01 movw r26,r241411 06fe CB01 movw r24,r221412 0700 8093 0000 sts IntegralRoll,r241413 0704 9093 0000 sts (IntegralRoll)+1,r251414 0708 A093 0000 sts (IntegralRoll)+2,r261415 070c B093 0000 sts (IntegralRoll)+3,r271416 0710 8092 0000 sts Mess_IntegralNick,r81417 0714 9092 0000 sts (Mess_IntegralNick)+1,r91418 0718 A092 0000 sts (Mess_IntegralNick)+2,r101419 071c B092 0000 sts (Mess_IntegralNick)+3,r111420 0720 8093 0000 sts Mess_IntegralRoll,r241421 0724 9093 0000 sts (Mess_IntegralRoll)+1,r251422 0728 A093 0000 sts (Mess_IntegralRoll)+2,r261423 072c B093 0000 sts (Mess_IntegralRoll)+3,r271424 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__1425 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1426 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1427 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1428 0740 8091 0000 lds r24,Luftdruck1429 0744 9091 0000 lds r25,(Luftdruck)+11430 0748 A091 0000 lds r26,(Luftdruck)+21431 074c B091 0000 lds r27,(Luftdruck)+31432 0750 9093 0000 sts (StartLuftdruck)+1,r251433 0754 8093 0000 sts StartLuftdruck,r241434 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__1435 075c 1092 0000 sts VarioMeter,__zero_reg__1436 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1437 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1438 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1439 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1440 0770 0091 0000 lds r16,KompassValue1441 0774 1091 0000 lds r17,(KompassValue)+11442 0778 1093 0000 sts (KompassSollWert)+1,r171443 077c 0093 0000 sts KompassSollWert,r161444 0780 84E6 ldi r24,lo8(100)1445 0782 90E0 ldi r25,hi8(100)1446 0784 9093 0000 sts (KompassSignalSchlecht)+1,r251447 0788 8093 0000 sts KompassSignalSchlecht,r241448 078c 82E3 ldi r24,lo8(50)1449 078e 90E0 ldi r25,hi8(50)1450 0790 9093 0000 sts (beeptime)+1,r251451 0794 8093 0000 sts beeptime,r241452 0798 8091 0000 lds r24,EE_Parameter+651453 079c 9927 clr r251454 079e AA27 clr r261455 07a0 BB27 clr r271456 07a2 BC01 movw r22,r241457 07a4 CD01 movw r24,r261458 07a6 24EC ldi r18,lo8(2500)1459 07a8 39E0 ldi r19,hi8(2500)1460 07aa 40E0 ldi r20,hlo8(2500)1461 07ac 50E0 ldi r21,hhi8(2500)1462 07ae 0E94 0000 call __mulsi31463 07b2 DC01 movw r26,r241464 07b4 CB01 movw r24,r221465 07b6 8856 subi r24,lo8(-(15000))1466 07b8 954C sbci r25,hi8(-(15000))1467 07ba AF4F sbci r26,hlo8(-(15000))1468 07bc BF4F sbci r27,hhi8(-(15000))1469 07be 8093 0000 sts Umschlag180Nick,r241470 07c2 9093 0000 sts (Umschlag180Nick)+1,r251471 07c6 A093 0000 sts (Umschlag180Nick)+2,r261472 07ca B093 0000 sts (Umschlag180Nick)+3,r271473 07ce 8091 0000 lds r24,EE_Parameter+661474 07d2 9927 clr r251475 07d4 AA27 clr r261476 07d6 BB27 clr r271477 07d8 BC01 movw r22,r241478 07da CD01 movw r24,r261479 07dc 0E94 0000 call __mulsi31480 07e0 DC01 movw r26,r241481 07e2 CB01 movw r24,r221482 07e4 8856 subi r24,lo8(-(15000))1483 07e6 954C sbci r25,hi8(-(15000))1484 07e8 AF4F sbci r26,hlo8(-(15000))1485 07ea BF4F sbci r27,hhi8(-(15000))1486 07ec 8093 0000 sts Umschlag180Roll,r241487 07f0 9093 0000 sts (Umschlag180Roll)+1,r251488 07f4 A093 0000 sts (Umschlag180Roll)+2,r261489 07f8 B093 0000 sts (Umschlag180Roll)+3,r271490 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1491 0800 1092 0000 sts ExternHoehenValue,__zero_reg__1492 0804 C801 movw r24,r161493 0806 AA27 clr r261494 0808 97FD sbrc r25,71495 080a A095 com r261496 080c BA2F mov r27,r261497 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR1498 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11499 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21500 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31501 081e BC01 movw r22,r241502 0820 CD01 movw r24,r261503 0822 0E94 0000 call __mulsi31504 0826 DC01 movw r26,r241505 0828 CB01 movw r24,r221506 082a 8093 0000 sts ErsatzKompass,r241507 082e 9093 0000 sts (ErsatzKompass)+1,r251508 0832 A093 0000 sts (ErsatzKompass)+2,r261509 0836 B093 0000 sts (ErsatzKompass)+3,r271510 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1511 083e 1092 0000 sts GierGyroFehler,__zero_reg__1512 0842 0E94 0000 call LED_Init1513 0846 8091 0000 lds r24,FC_StatusFlags1514 084a 8460 ori r24,lo8(4)1515 084c 8093 0000 sts FC_StatusFlags,r241516 0850 8FEF ldi r24,lo8(-1)1517 0852 8093 0000 sts FromNaviCtrl_Value,r241518 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1519 085a 80E2 ldi r24,lo8(32)1520 085c 8093 0000 sts FromNaviCtrl_Value+2,r241521 0860 C0E0 ldi r28,lo8(Poti)1522 0862 D0E0 ldi r29,hi8(Poti)1523 0864 A0E0 ldi r26,lo8(EE_Parameter+5)1524 0866 B0E0 ldi r27,hi8(EE_Parameter+5)1525 0868 07E0 ldi r16,lo8(7)1526 .L69:1527 086a 8D91 ld r24,X+1528 086c E82F mov r30,r241529 086e FF27 clr r311530 0870 EE0F add r30,r301531 0872 FF1F adc r31,r311532 0874 E050 subi r30,lo8(-(PPM_in))1533 0876 F040 sbci r31,hi8(-(PPM_in))1534 0878 8081 ld r24,Z1535 087a 9181 ldd r25,Z+11536 087c 8158 subi r24,lo8(-(127))1537 087e 8993 st Y+,r241538 0880 0150 subi r16,lo8(-(-1))1539 0882 07FF sbrs r16,71540 0884 00C0 rjmp .L691541 0886 84E6 ldi r24,lo8(100)1542 0888 8093 0000 sts SenderOkay,r241543 088c 8091 0000 lds r24,ServoActive1544 0890 8823 tst r241545 0892 01F0 breq .L701546 0894 579A sbi 42-0x20,71547 0896 00C0 rjmp .L711548 .L70:1549 0898 80E0 ldi r24,lo8(4352)1550 089a 91E1 ldi r25,hi8(4352)1551 089c 9093 0000 sts (NickServoValue)+1,r251552 08a0 8093 0000 sts NickServoValue,r241553 .L71:1554 08a4 8091 0000 lds r24,AdNeutralNick1555 08a8 9091 0000 lds r25,(AdNeutralNick)+11556 08ac 8056 subi r24,lo8(-(-2400))1557 08ae 9940 sbci r25,hi8(-(-2400))1558 08b0 815C subi r24,lo8(11201)1559 08b2 9B42 sbci r25,hi8(11201)1560 08b4 00F0 brlo .L721561 08b6 8091 0000 lds r24,VersionInfo+51562 08ba 8160 ori r24,lo8(1)1563 08bc 8093 0000 sts VersionInfo+5,r241564 .L72:1565 08c0 8091 0000 lds r24,AdNeutralRoll1566 08c4 9091 0000 lds r25,(AdNeutralRoll)+11567 08c8 8056 subi r24,lo8(-(-2400))1568 08ca 9940 sbci r25,hi8(-(-2400))1569 08cc 815C subi r24,lo8(11201)1570 08ce 9B42 sbci r25,hi8(11201)1571 08d0 00F0 brlo .L731572 08d2 8091 0000 lds r24,VersionInfo+51573 08d6 8260 ori r24,lo8(2)1574 08d8 8093 0000 sts VersionInfo+5,r241575 .L73:1576 08dc 8091 0000 lds r24,AdNeutralGier1577 08e0 9091 0000 lds r25,(AdNeutralGier)+11578 08e4 8C52 subi r24,lo8(-(-300))1579 08e6 9140 sbci r25,hi8(-(-300))1580 08e8 8957 subi r24,lo8(1401)1581 08ea 9540 sbci r25,hi8(1401)1582 08ec 00F0 brlo .L741583 08ee 8091 0000 lds r24,VersionInfo+51584 08f2 8460 ori r24,lo8(4)1585 08f4 8093 0000 sts VersionInfo+5,r241586 .L74:1587 08f8 8091 0000 lds r24,NeutralAccX1588 08fc 9091 0000 lds r25,(NeutralAccX)+11589 0900 8C52 subi r24,lo8(-(-300))1590 0902 9140 sbci r25,hi8(-(-300))1591 0904 835C subi r24,lo8(451)1592 0906 9140 sbci r25,hi8(451)1593 0908 00F0 brlo .L751594 090a 8091 0000 lds r24,VersionInfo+51595 090e 8860 ori r24,lo8(8)1596 0910 8093 0000 sts VersionInfo+5,r241597 .L75:1598 0914 8091 0000 lds r24,NeutralAccY1599 0918 9091 0000 lds r25,(NeutralAccY)+11600 091c 8C52 subi r24,lo8(-(-300))1601 091e 9140 sbci r25,hi8(-(-300))1602 0920 835C subi r24,lo8(451)1603 0922 9140 sbci r25,hi8(451)1604 0924 00F0 brlo .L761605 0926 8091 0000 lds r24,VersionInfo+51606 092a 8061 ori r24,lo8(16)1607 092c 8093 0000 sts VersionInfo+5,r241608 .L76:1609 0930 8091 0000 lds r24,NeutralAccZ1610 0934 9091 0000 lds r25,(NeutralAccZ)+11611 0938 8050 subi r24,lo8(-(-512))1612 093a 9240 sbci r25,hi8(-(-512))1613 093c 8355 subi r24,lo8(339)1614 093e 9140 sbci r25,hi8(339)1615 0940 00F0 brlo .L771616 0942 8091 0000 lds r24,VersionInfo+51617 0946 8062 ori r24,lo8(32)1618 0948 8093 0000 sts VersionInfo+5,r241619 .L77:1620 094c 86E4 ldi r24,lo8(70)1621 094e 8093 0000 sts carefree_old,r241622 0952 0E94 0000 call LIBFC_HoTT_Clear1623 /* epilogue: frame size=0 */1624 0956 ECE0 ldi r30,121625 0958 CDB7 in r28,__SP_L__1626 095a DEB7 in r29,__SP_H__1627 095c 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 0960 A3E1 ldi r26,lo8(19)1644 0962 B0E0 ldi r27,hi8(19)1645 0964 E0E0 ldi r30,pm_lo8(1f)1646 0966 F0E0 ldi r31,pm_hi8(1f)1647 0968 0C94 0000 jmp __prologue_saves__+01648 1:1649 /* prologue end (size=6) */1650 096c 8091 0000 lds r24,AdNeutralGier1651 0970 9091 0000 lds r25,(AdNeutralGier)+11652 0974 2091 0000 lds r18,AdWertGier1653 0978 3091 0000 lds r19,(AdWertGier)+11654 097c 821B sub r24,r181655 097e 930B sbc r25,r191656 0980 9093 0000 sts (MesswertGier)+1,r251657 0984 8093 0000 sts MesswertGier,r241658 0988 8091 0000 lds r24,AdWertNickFilter1659 098c 9091 0000 lds r25,(AdWertNickFilter)+11660 0990 97FD sbrc r25,71661 0992 0796 adiw r24,71662 .L83:1663 0994 9C01 movw r18,r241664 0996 13E0 ldi r17,31665 0998 3595 1: asr r191666 099a 2795 ror r181667 099c 1A95 dec r171668 099e 01F4 brne 1b1669 09a0 3093 0000 sts (MesswertNick)+1,r191670 09a4 2093 0000 sts MesswertNick,r181671 09a8 8091 0000 lds r24,AdWertRollFilter1672 09ac 9091 0000 lds r25,(AdWertRollFilter)+11673 09b0 97FD sbrc r25,71674 09b2 0796 adiw r24,71675 .L84:1676 09b4 B3E0 ldi r27,31677 09b6 9595 1: asr r251678 09b8 8795 ror r241679 09ba BA95 dec r271680 09bc 01F4 brne 1b1681 09be 9093 0000 sts (MesswertRoll)+1,r251682 09c2 8093 0000 sts MesswertRoll,r241683 09c6 3093 0000 sts (RohMesswertNick)+1,r191684 09ca 2093 0000 sts RohMesswertNick,r181685 09ce 9093 0000 sts (RohMesswertRoll)+1,r251686 09d2 8093 0000 sts RohMesswertRoll,r241687 09d6 8091 0000 lds r24,Mittelwert_AccNick1688 09da 9091 0000 lds r25,(Mittelwert_AccNick)+11689 09de AC01 movw r20,r241690 09e0 440F lsl r201691 09e2 551F rol r211692 09e4 480F add r20,r241693 09e6 591F adc r21,r251694 09e8 2091 0000 lds r18,AdWertAccNick1695 09ec 3091 0000 lds r19,(AdWertAccNick)+11696 09f0 C901 movw r24,r181697 09f2 880F lsl r241698 09f4 991F rol r251699 09f6 880F lsl r241700 09f8 991F rol r251701 09fa 820F add r24,r181702 09fc 931F adc r25,r191703 09fe 820F add r24,r181704 0a00 931F adc r25,r191705 0a02 480F add r20,r241706 0a04 591F adc r21,r251707 0a06 57FF sbrs r21,71708 0a08 00C0 rjmp .L851709 0a0a 4D5F subi r20,lo8(-(3))1710 0a0c 5F4F sbci r21,hi8(-(3))1711 .L85:1712 0a0e 5595 asr r211713 0a10 4795 ror r201714 0a12 5595 asr r211715 0a14 4795 ror r201716 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r211717 0a1a 4093 0000 sts Mittelwert_AccNick,r201718 0a1e 8091 0000 lds r24,Mittelwert_AccRoll1719 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+11720 0a26 AC01 movw r20,r241721 0a28 440F lsl r201722 0a2a 551F rol r211723 0a2c 480F add r20,r241724 0a2e 591F adc r21,r251725 0a30 2091 0000 lds r18,AdWertAccRoll1726 0a34 3091 0000 lds r19,(AdWertAccRoll)+11727 0a38 C901 movw r24,r181728 0a3a 880F lsl r241729 0a3c 991F rol r251730 0a3e 880F lsl r241731 0a40 991F rol r251732 0a42 820F add r24,r181733 0a44 931F adc r25,r191734 0a46 820F add r24,r181735 0a48 931F adc r25,r191736 0a4a 480F add r20,r241737 0a4c 591F adc r21,r251738 0a4e 57FF sbrs r21,71739 0a50 00C0 rjmp .L861740 0a52 4D5F subi r20,lo8(-(3))1741 0a54 5F4F sbci r21,hi8(-(3))1742 .L86:1743 0a56 5595 asr r211744 0a58 4795 ror r201745 0a5a 5595 asr r211746 0a5c 4795 ror r201747 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r211748 0a62 4093 0000 sts Mittelwert_AccRoll,r201749 0a66 2091 0000 lds r18,AdWertAccNick1750 0a6a 3091 0000 lds r19,(AdWertAccNick)+11751 0a6e C901 movw r24,r181752 0a70 880F lsl r241753 0a72 991F rol r251754 0a74 880F lsl r241755 0a76 991F rol r251756 0a78 820F add r24,r181757 0a7a 931F adc r25,r191758 0a7c 820F add r24,r181759 0a7e 931F adc r25,r191760 0a80 9C01 movw r18,r241761 0a82 4427 clr r201762 0a84 37FD sbrc r19,71763 0a86 4095 com r201764 0a88 542F mov r21,r201765 0a8a 8091 0000 lds r24,IntegralAccNick1766 0a8e 9091 0000 lds r25,(IntegralAccNick)+11767 0a92 A091 0000 lds r26,(IntegralAccNick)+21768 0a96 B091 0000 lds r27,(IntegralAccNick)+31769 0a9a 820F add r24,r181770 0a9c 931F adc r25,r191771 0a9e A41F adc r26,r201772 0aa0 B51F adc r27,r211773 0aa2 8093 0000 sts IntegralAccNick,r241774 0aa6 9093 0000 sts (IntegralAccNick)+1,r251775 0aaa A093 0000 sts (IntegralAccNick)+2,r261776 0aae B093 0000 sts (IntegralAccNick)+3,r271777 0ab2 2091 0000 lds r18,AdWertAccRoll1778 0ab6 3091 0000 lds r19,(AdWertAccRoll)+11779 0aba C901 movw r24,r181780 0abc 880F lsl r241781 0abe 991F rol r251782 0ac0 880F lsl r241783 0ac2 991F rol r251784 0ac4 820F add r24,r181785 0ac6 931F adc r25,r191786 0ac8 820F add r24,r181787 0aca 931F adc r25,r191788 0acc 9C01 movw r18,r241789 0ace 4427 clr r201790 0ad0 37FD sbrc r19,71791 0ad2 4095 com r201792 0ad4 542F mov r21,r201793 0ad6 8091 0000 lds r24,IntegralAccRoll1794 0ada 9091 0000 lds r25,(IntegralAccRoll)+11795 0ade A091 0000 lds r26,(IntegralAccRoll)+21796 0ae2 B091 0000 lds r27,(IntegralAccRoll)+31797 0ae6 820F add r24,r181798 0ae8 931F adc r25,r191799 0aea A41F adc r26,r201800 0aec B51F adc r27,r211801 0aee 8093 0000 sts IntegralAccRoll,r241802 0af2 9093 0000 sts (IntegralAccRoll)+1,r251803 0af6 A093 0000 sts (IntegralAccRoll)+2,r261804 0afa B093 0000 sts (IntegralAccRoll)+3,r271805 0afe 8091 0000 lds r24,NaviAccNick1806 0b02 9091 0000 lds r25,(NaviAccNick)+11807 0b06 2091 0000 lds r18,AdWertAccNick1808 0b0a 3091 0000 lds r19,(AdWertAccNick)+11809 0b0e 820F add r24,r181810 0b10 931F adc r25,r191811 0b12 9093 0000 sts (NaviAccNick)+1,r251812 0b16 8093 0000 sts NaviAccNick,r241813 0b1a 8091 0000 lds r24,NaviAccRoll1814 0b1e 9091 0000 lds r25,(NaviAccRoll)+11815 0b22 2091 0000 lds r18,AdWertAccRoll1816 0b26 3091 0000 lds r19,(AdWertAccRoll)+11817 0b2a 820F add r24,r181818 0b2c 931F adc r25,r191819 0b2e 9093 0000 sts (NaviAccRoll)+1,r251820 0b32 8093 0000 sts NaviAccRoll,r241821 0b36 8091 0000 lds r24,NaviCntAcc1822 0b3a 9091 0000 lds r25,(NaviCntAcc)+11823 0b3e 0196 adiw r24,11824 0b40 9093 0000 sts (NaviCntAcc)+1,r251825 0b44 8093 0000 sts NaviCntAcc,r241826 0b48 8091 0000 lds r24,Aktuell_az1827 0b4c 9091 0000 lds r25,(Aktuell_az)+11828 0b50 2091 0000 lds r18,NeutralAccZ1829 0b54 3091 0000 lds r19,(NeutralAccZ)+11830 0b58 821B sub r24,r181831 0b5a 930B sbc r25,r191832 0b5c 9C01 movw r18,r241833 0b5e 4427 clr r201834 0b60 37FD sbrc r19,71835 0b62 4095 com r201836 0b64 542F mov r21,r201837 0b66 8091 0000 lds r24,IntegralAccZ1838 0b6a 9091 0000 lds r25,(IntegralAccZ)+11839 0b6e A091 0000 lds r26,(IntegralAccZ)+21840 0b72 B091 0000 lds r27,(IntegralAccZ)+31841 0b76 820F add r24,r181842 0b78 931F adc r25,r191843 0b7a A41F adc r26,r201844 0b7c B51F adc r27,r211845 0b7e 8093 0000 sts IntegralAccZ,r241846 0b82 9093 0000 sts (IntegralAccZ)+1,r251847 0b86 A093 0000 sts (IntegralAccZ)+2,r261848 0b8a B093 0000 sts (IntegralAccZ)+3,r271849 0b8e 8FEC ldi r24,lo8(-49)1850 0b90 8093 7A00 sts 122,r241851 0b94 1092 0000 sts AdReady,__zero_reg__1852 0b98 2091 0000 lds r18,Mess_IntegralRoll1853 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+11854 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+21855 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+31856 0ba8 2987 std Y+9,r181857 0baa 3A87 std Y+10,r191858 0bac 4B87 std Y+11,r201859 0bae 5C87 std Y+12,r211860 0bb0 2954 subi r18,lo8(93001)1861 0bb2 3B46 sbci r19,hi8(93001)1862 0bb4 4140 sbci r20,hlo8(93001)1863 0bb6 5040 sbci r21,hhi8(93001)1864 0bb8 04F0 brlt .L871865 0bba 28E4 ldi r18,lo8(93000)1866 0bbc 3BE6 ldi r19,hi8(93000)1867 0bbe 41E0 ldi r20,hlo8(93000)1868 0bc0 50E0 ldi r21,hhi8(93000)1869 0bc2 00C0 rjmp .L1671870 .L87:1871 0bc4 8985 ldd r24,Y+91872 0bc6 9A85 ldd r25,Y+101873 0bc8 AB85 ldd r26,Y+111874 0bca BC85 ldd r27,Y+121875 0bcc 885B subi r24,lo8(-93000)1876 0bce 9449 sbci r25,hi8(-93000)1877 0bd0 AE4F sbci r26,hlo8(-93000)1878 0bd2 BF4F sbci r27,hhi8(-93000)1879 0bd4 04F4 brge .L891880 0bd6 28EB ldi r18,lo8(-93000)1881 0bd8 34E9 ldi r19,hi8(-93000)1882 0bda 4EEF ldi r20,hlo8(-93000)1883 0bdc 5FEF ldi r21,hhi8(-93000)1884 .L167:1885 0bde 2D83 std Y+5,r181886 0be0 3E83 std Y+6,r191887 0be2 4F83 std Y+7,r201888 0be4 5887 std Y+8,r211889 0be6 00C0 rjmp .L881890 .L89:1891 0be8 8985 ldd r24,Y+91892 0bea 9A85 ldd r25,Y+101893 0bec AB85 ldd r26,Y+111894 0bee BC85 ldd r27,Y+121895 0bf0 8D83 std Y+5,r241896 0bf2 9E83 std Y+6,r251897 0bf4 AF83 std Y+7,r261898 0bf6 B887 std Y+8,r271899 .L88:1900 0bf8 2091 0000 lds r18,Mess_IntegralNick1901 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+11902 0c00 4091 0000 lds r20,(Mess_IntegralNick)+21903 0c04 5091 0000 lds r21,(Mess_IntegralNick)+31904 0c08 2D87 std Y+13,r181905 0c0a 3E87 std Y+14,r191906 0c0c 4F87 std Y+15,r201907 0c0e 588B std Y+16,r211908 0c10 2954 subi r18,lo8(93001)1909 0c12 3B46 sbci r19,hi8(93001)1910 0c14 4140 sbci r20,hlo8(93001)1911 0c16 5040 sbci r21,hhi8(93001)1912 0c18 04F0 brlt .L911913 0c1a 28E4 ldi r18,lo8(93000)1914 0c1c 3BE6 ldi r19,hi8(93000)1915 0c1e 41E0 ldi r20,hlo8(93000)1916 0c20 50E0 ldi r21,hhi8(93000)1917 0c22 00C0 rjmp .L1681918 .L91:1919 0c24 8D85 ldd r24,Y+131920 0c26 9E85 ldd r25,Y+141921 0c28 AF85 ldd r26,Y+151922 0c2a B889 ldd r27,Y+161923 0c2c 885B subi r24,lo8(-93000)1924 0c2e 9449 sbci r25,hi8(-93000)1925 0c30 AE4F sbci r26,hlo8(-93000)1926 0c32 BF4F sbci r27,hhi8(-93000)1927 0c34 04F4 brge .L931928 0c36 28EB ldi r18,lo8(-93000)1929 0c38 34E9 ldi r19,hi8(-93000)1930 0c3a 4EEF ldi r20,hlo8(-93000)1931 0c3c 5FEF ldi r21,hhi8(-93000)1932 .L168:1933 0c3e 2983 std Y+1,r181934 0c40 3A83 std Y+2,r191935 0c42 4B83 std Y+3,r201936 0c44 5C83 std Y+4,r211937 0c46 00C0 rjmp .L921938 .L93:1939 0c48 8D85 ldd r24,Y+131940 0c4a 9E85 ldd r25,Y+141941 0c4c AF85 ldd r26,Y+151942 0c4e B889 ldd r27,Y+161943 0c50 8983 std Y+1,r241944 0c52 9A83 std Y+2,r251945 0c54 AB83 std Y+3,r261946 0c56 BC83 std Y+4,r271947 .L92:1948 0c58 A091 0000 lds r26,MesswertGier1949 0c5c B091 0000 lds r27,(MesswertGier)+11950 0c60 BB8B std Y+19,r271951 0c62 AA8B std Y+18,r261952 0c64 FD01 movw r30,r261953 0c66 CF01 movw r24,r301954 0c68 AA27 clr r261955 0c6a 97FD sbrc r25,71956 0c6c A095 com r261957 0c6e BA2F mov r27,r261958 0c70 A090 0000 lds r10,Mess_Integral_Gier1959 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+11960 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+21961 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+31962 0c80 A80E add r10,r241963 0c82 B91E adc r11,r251964 0c84 CA1E adc r12,r261965 0c86 DB1E adc r13,r271966 0c88 A092 0000 sts Mess_Integral_Gier,r101967 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r111968 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r121969 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r131970 0c98 E090 0000 lds r14,ErsatzKompass1971 0c9c F090 0000 lds r15,(ErsatzKompass)+11972 0ca0 0091 0000 lds r16,(ErsatzKompass)+21973 0ca4 1091 0000 lds r17,(ErsatzKompass)+31974 0ca8 E80E add r14,r241975 0caa F91E adc r15,r251976 0cac 0A1F adc r16,r261977 0cae 1B1F adc r17,r271978 0cb0 E092 0000 sts ErsatzKompass,r141979 0cb4 F092 0000 sts (ErsatzKompass)+1,r151980 0cb8 0093 0000 sts (ErsatzKompass)+2,r161981 0cbc 1093 0000 sts (ErsatzKompass)+3,r171982 0cc0 F091 0000 lds r31,Looping_Nick1983 0cc4 F98B std Y+17,r311984 0cc6 FF23 tst r311985 0cc8 01F0 breq .+21986 0cca 00C0 rjmp .L951987 0ccc 8091 0000 lds r24,Looping_Roll1988 0cd0 8823 tst r241989 0cd2 01F0 breq .+21990 0cd4 00C0 rjmp .L951991 0cd6 8091 0000 lds r24,Parameter_GlobalConfig1992 0cda 86FF sbrs r24,61993 0cdc 00C0 rjmp .L951994 0cde 8091 0000 lds r24,MesswertRoll1995 0ce2 9091 0000 lds r25,(MesswertRoll)+11996 0ce6 AA27 clr r261997 0ce8 97FD sbrc r25,71998 0cea A095 com r261999 0cec BA2F mov r27,r262000 0cee BC01 movw r22,r242001 0cf0 CD01 movw r24,r262002 0cf2 2981 ldd r18,Y+12003 0cf4 3A81 ldd r19,Y+22004 0cf6 4B81 ldd r20,Y+32005 0cf8 5C81 ldd r21,Y+42006 0cfa 0E94 0000 call __mulsi32007 0cfe 9B01 movw r18,r222008 0d00 AC01 movw r20,r242009 0d02 97FF sbrs r25,72010 0d04 00C0 rjmp .L962011 0d06 2150 subi r18,lo8(-(2047))2012 0d08 384F sbci r19,hi8(-(2047))2013 0d0a 4F4F sbci r20,hlo8(-(2047))2014 0d0c 5F4F sbci r21,hhi8(-(2047))2015 .L96:2016 0d0e BBE0 ldi r27,112017 0d10 5595 1: asr r212018 0d12 4795 ror r202019 0d14 3795 ror r192020 0d16 2795 ror r182021 0d18 BA95 dec r272022 0d1a 01F4 brne 1b2023 0d1c 8091 0000 lds r24,Parameter_AchsKopplung22024 0d20 682E mov r6,r242025 0d22 7724 clr r72026 0d24 8824 clr r82027 0d26 9924 clr r92028 0d28 CA01 movw r24,r202029 0d2a B901 movw r22,r182030 0d2c A401 movw r20,r82031 0d2e 9301 movw r18,r62032 0d30 0E94 0000 call __mulsi32033 0d34 DC01 movw r26,r242034 0d36 CB01 movw r24,r222035 0d38 8093 0000 sts tmpl3.29,r242036 0d3c 9093 0000 sts (tmpl3.29)+1,r252037 0d40 A093 0000 sts (tmpl3.29)+2,r262038 0d44 B093 0000 sts (tmpl3.29)+3,r272039 0d48 B7FF sbrs r27,72040 0d4a 00C0 rjmp .L972041 0d4c 8150 subi r24,lo8(-(4095))2042 0d4e 904F sbci r25,hi8(-(4095))2043 0d50 AF4F sbci r26,hlo8(-(4095))2044 0d52 BF4F sbci r27,hhi8(-(4095))2045 .L97:2046 0d54 1C01 movw r2,r242047 0d56 2D01 movw r4,r262048 0d58 ACE0 ldi r26,122049 0d5a 5594 1: asr r52050 0d5c 4794 ror r42051 0d5e 3794 ror r32052 0d60 2794 ror r22053 0d62 AA95 dec r262054 0d64 01F4 brne 1b2055 0d66 2092 0000 sts tmpl3.29,r22056 0d6a 3092 0000 sts (tmpl3.29)+1,r32057 0d6e 4092 0000 sts (tmpl3.29)+2,r42058 0d72 5092 0000 sts (tmpl3.29)+3,r52059 0d76 8091 0000 lds r24,MesswertNick2060 0d7a 9091 0000 lds r25,(MesswertNick)+12061 0d7e AA27 clr r262062 0d80 97FD sbrc r25,72063 0d82 A095 com r262064 0d84 BA2F mov r27,r262065 0d86 BC01 movw r22,r242066 0d88 CD01 movw r24,r262067 0d8a 2D81 ldd r18,Y+52068 0d8c 3E81 ldd r19,Y+62069 0d8e 4F81 ldd r20,Y+72070 0d90 5885 ldd r21,Y+82071 0d92 0E94 0000 call __mulsi32072 0d96 97FF sbrs r25,72073 0d98 00C0 rjmp .L982074 0d9a 6150 subi r22,lo8(-(2047))2075 0d9c 784F sbci r23,hi8(-(2047))2076 0d9e 8F4F sbci r24,hlo8(-(2047))2077 0da0 9F4F sbci r25,hhi8(-(2047))2078 .L98:2079 0da2 FBE0 ldi r31,112080 0da4 9595 1: asr r252081 0da6 8795 ror r242082 0da8 7795 ror r232083 0daa 6795 ror r222084 0dac FA95 dec r312085 0dae 01F4 brne 1b2086 0db0 A401 movw r20,r82087 0db2 9301 movw r18,r62088 0db4 0E94 0000 call __mulsi32089 0db8 DC01 movw r26,r242090 0dba CB01 movw r24,r222091 0dbc 8093 0000 sts tmpl4.30,r242092 0dc0 9093 0000 sts (tmpl4.30)+1,r252093 0dc4 A093 0000 sts (tmpl4.30)+2,r262094 0dc8 B093 0000 sts (tmpl4.30)+3,r272095 0dcc B7FF sbrs r27,72096 0dce 00C0 rjmp .L992097 0dd0 8150 subi r24,lo8(-(4095))2098 0dd2 904F sbci r25,hi8(-(4095))2099 0dd4 AF4F sbci r26,hlo8(-(4095))2100 0dd6 BF4F sbci r27,hhi8(-(4095))2101 .L99:2102 0dd8 9C01 movw r18,r242103 0dda AD01 movw r20,r262104 0ddc ECE0 ldi r30,122105 0dde 5595 1: asr r212106 0de0 4795 ror r202107 0de2 3795 ror r192108 0de4 2795 ror r182109 0de6 EA95 dec r302110 0de8 01F4 brne 1b2111 0dea 2093 0000 sts tmpl4.30,r182112 0dee 3093 0000 sts (tmpl4.30)+1,r192113 0df2 4093 0000 sts (tmpl4.30)+2,r202114 0df6 5093 0000 sts (tmpl4.30)+3,r212115 0dfa 8091 0000 lds r24,tmpl3.292116 0dfe 9091 0000 lds r25,(tmpl3.29)+12117 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r252118 0e06 8093 0000 sts KopplungsteilNickRoll,r242119 0e0a 8091 0000 lds r24,tmpl4.302120 0e0e 9091 0000 lds r25,(tmpl4.30)+12121 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r252122 0e16 8093 0000 sts KopplungsteilRollNick,r242123 0e1a 2219 sub r18,r22124 0e1c 3309 sbc r19,r32125 0e1e 4409 sbc r20,r42126 0e20 5509 sbc r21,r52127 0e22 2093 0000 sts tmpl4.30,r182128 0e26 3093 0000 sts (tmpl4.30)+1,r192129 0e2a 4093 0000 sts (tmpl4.30)+2,r202130 0e2e 5093 0000 sts (tmpl4.30)+3,r212131 0e32 E20E add r14,r182132 0e34 F31E adc r15,r192133 0e36 041F adc r16,r202134 0e38 151F adc r17,r212135 0e3a E092 0000 sts ErsatzKompass,r142136 0e3e F092 0000 sts (ErsatzKompass)+1,r152137 0e42 0093 0000 sts (ErsatzKompass)+2,r162138 0e46 1093 0000 sts (ErsatzKompass)+3,r172139 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection2140 0e4e 8823 tst r242141 0e50 01F4 brne .L1002142 0e52 57FF sbrs r21,72143 0e54 00C0 rjmp .L1012144 0e56 2F5F subi r18,lo8(-(1))2145 0e58 3F4F sbci r19,hi8(-(1))2146 0e5a 4F4F sbci r20,hlo8(-(1))2147 0e5c 5F4F sbci r21,hhi8(-(1))2148 .L101:2149 0e5e 5595 asr r212150 0e60 4795 ror r202151 0e62 3795 ror r192152 0e64 2795 ror r182153 0e66 A21A sub r10,r182154 0e68 B30A sbc r11,r192155 0e6a C40A sbc r12,r202156 0e6c D50A sbc r13,r212157 0e6e A092 0000 sts Mess_Integral_Gier,r102158 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r112159 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r122160 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r132161 .L100:2162 0e7e 2A89 ldd r18,Y+182163 0e80 3B89 ldd r19,Y+192164 0e82 7901 movw r14,r182165 0e84 0027 clr r162166 0e86 F7FC sbrc r15,72167 0e88 0095 com r162168 0e8a 102F mov r17,r162169 0e8c 8091 0000 lds r24,tmpl4.302170 0e90 9091 0000 lds r25,(tmpl4.30)+12171 0e94 A091 0000 lds r26,(tmpl4.30)+22172 0e98 B091 0000 lds r27,(tmpl4.30)+32173 0e9c E80E add r14,r242174 0e9e F91E adc r15,r252175 0ea0 0A1F adc r16,r262176 0ea2 1B1F adc r17,r272177 0ea4 C801 movw r24,r162178 0ea6 B701 movw r22,r142179 0ea8 2981 ldd r18,Y+12180 0eaa 3A81 ldd r19,Y+22181 0eac 4B81 ldd r20,Y+32182 0eae 5C81 ldd r21,Y+42183 0eb0 0E94 0000 call __mulsi32184 0eb4 9B01 movw r18,r222185 0eb6 AC01 movw r20,r242186 0eb8 97FF sbrs r25,72187 0eba 00C0 rjmp .L1022188 0ebc 2150 subi r18,lo8(-(2047))2189 0ebe 384F sbci r19,hi8(-(2047))2190 0ec0 4F4F sbci r20,hlo8(-(2047))2191 0ec2 5F4F sbci r21,hhi8(-(2047))2192 .L102:2193 0ec4 6BE0 ldi r22,112194 0ec6 5595 1: asr r212195 0ec8 4795 ror r202196 0eca 3795 ror r192197 0ecc 2795 ror r182198 0ece 6A95 dec r222199 0ed0 01F4 brne 1b2200 0ed2 8091 0000 lds r24,Parameter_AchsKopplung12201 0ed6 A82E mov r10,r242202 0ed8 BB24 clr r112203 0eda CC24 clr r122204 0edc DD24 clr r132205 0ede CA01 movw r24,r202206 0ee0 B901 movw r22,r182207 0ee2 A601 movw r20,r122208 0ee4 9501 movw r18,r102209 0ee6 0E94 0000 call __mulsi32210 0eea DC01 movw r26,r242211 0eec CB01 movw r24,r222212 0eee 8093 0000 sts tmpl.27,r242213 0ef2 9093 0000 sts (tmpl.27)+1,r252214 0ef6 A093 0000 sts (tmpl.27)+2,r262215 0efa B093 0000 sts (tmpl.27)+3,r272216 0efe B7FF sbrs r27,72217 0f00 00C0 rjmp .L1032218 0f02 8150 subi r24,lo8(-(4095))2219 0f04 904F sbci r25,hi8(-(4095))2220 0f06 AF4F sbci r26,hlo8(-(4095))2221 0f08 BF4F sbci r27,hhi8(-(4095))2222 .L103:2223 0f0a 3C01 movw r6,r242224 0f0c 4D01 movw r8,r262225 0f0e 3CE0 ldi r19,122226 0f10 9594 1: asr r92227 0f12 8794 ror r82228 0f14 7794 ror r72229 0f16 6794 ror r62230 0f18 3A95 dec r192231 0f1a 01F4 brne 1b2232 0f1c 6092 0000 sts tmpl.27,r62233 0f20 7092 0000 sts (tmpl.27)+1,r72234 0f24 8092 0000 sts (tmpl.27)+2,r82235 0f28 9092 0000 sts (tmpl.27)+3,r92236 0f2c C801 movw r24,r162237 0f2e B701 movw r22,r142238 0f30 2D81 ldd r18,Y+52239 0f32 3E81 ldd r19,Y+62240 0f34 4F81 ldd r20,Y+72241 0f36 5885 ldd r21,Y+82242 0f38 0E94 0000 call __mulsi32243 0f3c 97FF sbrs r25,72244 0f3e 00C0 rjmp .L1042245 0f40 6150 subi r22,lo8(-(2047))2246 0f42 784F sbci r23,hi8(-(2047))2247 0f44 8F4F sbci r24,hlo8(-(2047))2248 0f46 9F4F sbci r25,hhi8(-(2047))2249 .L104:2250 0f48 2BE0 ldi r18,112251 0f4a 9595 1: asr r252252 0f4c 8795 ror r242253 0f4e 7795 ror r232254 0f50 6795 ror r222255 0f52 2A95 dec r182256 0f54 01F4 brne 1b2257 0f56 A601 movw r20,r122258 0f58 9501 movw r18,r102259 0f5a 0E94 0000 call __mulsi32260 0f5e DC01 movw r26,r242261 0f60 CB01 movw r24,r222262 0f62 8093 0000 sts tmpl2.28,r242263 0f66 9093 0000 sts (tmpl2.28)+1,r252264 0f6a A093 0000 sts (tmpl2.28)+2,r262265 0f6e B093 0000 sts (tmpl2.28)+3,r272266 0f72 B7FF sbrs r27,72267 0f74 00C0 rjmp .L1052268 0f76 8150 subi r24,lo8(-(4095))2269 0f78 904F sbci r25,hi8(-(4095))2270 0f7a AF4F sbci r26,hlo8(-(4095))2271 0f7c BF4F sbci r27,hhi8(-(4095))2272 .L105:2273 0f7e AC01 movw r20,r242274 0f80 BD01 movw r22,r262275 0f82 8CE0 ldi r24,122276 0f84 7595 1: asr r232277 0f86 6795 ror r222278 0f88 5795 ror r212279 0f8a 4795 ror r202280 0f8c 8A95 dec r242281 0f8e 01F4 brne 1b2282 0f90 4093 0000 sts tmpl2.28,r202283 0f94 5093 0000 sts (tmpl2.28)+1,r212284 0f98 6093 0000 sts (tmpl2.28)+2,r222285 0f9c 7093 0000 sts (tmpl2.28)+3,r232286 0fa0 2A89 ldd r18,Y+182287 0fa2 3B89 ldd r19,Y+192288 0fa4 37FF sbrs r19,72289 0fa6 00C0 rjmp .L1072290 0fa8 3095 com r192291 0faa 2195 neg r182292 0fac 3F4F sbci r19,lo8(-1)2293 .L107:2294 0fae 2134 cpi r18,652295 0fb0 3105 cpc r19,__zero_reg__2296 0fb2 04F0 brlt .L1122297 0fb4 D401 movw r26,r82298 0fb6 C301 movw r24,r62299 0fb8 97FE sbrs r9,72300 0fba 00C0 rjmp .L1102301 0fbc B095 com r272302 0fbe A095 com r262303 0fc0 9095 com r252304 0fc2 8195 neg r242305 0fc4 9F4F sbci r25,lo8(-1)2306 0fc6 AF4F sbci r26,lo8(-1)2307 0fc8 BF4F sbci r27,lo8(-1)2308 .L110:2309 0fca 8138 cpi r24,lo8(129)2310 0fcc 9105 cpc r25,__zero_reg__2311 0fce A105 cpc r26,__zero_reg__2312 0fd0 B105 cpc r27,__zero_reg__2313 0fd2 04F4 brge .L1092314 0fd4 DB01 movw r26,r222315 0fd6 CA01 movw r24,r202316 0fd8 77FF sbrs r23,72317 0fda 00C0 rjmp .L1112318 0fdc B095 com r272319 0fde A095 com r262320 0fe0 9095 com r252321 0fe2 8195 neg r242322 0fe4 9F4F sbci r25,lo8(-1)2323 0fe6 AF4F sbci r26,lo8(-1)2324 0fe8 BF4F sbci r27,lo8(-1)2325 .L111:2326 0fea 8138 cpi r24,lo8(129)2327 0fec 9105 cpc r25,__zero_reg__2328 0fee A105 cpc r26,__zero_reg__2329 0ff0 B105 cpc r27,__zero_reg__2330 0ff2 04F0 brlt .L1122331 .L109:2332 0ff4 81E0 ldi r24,lo8(1)2333 0ff6 8093 0000 sts TrichterFlug,r242334 0ffa 00C0 rjmp .L1122335 .L95:2336 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2337 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__2338 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2339 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2340 100c 1092 0000 sts tmpl2.28,__zero_reg__2341 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__2342 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__2343 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__2344 101c 1092 0000 sts tmpl.27,__zero_reg__2345 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__2346 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__2347 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__2348 .L112:2349 102c 8091 0000 lds r24,tmpl2.282350 1030 9091 0000 lds r25,(tmpl2.28)+12351 1034 A091 0000 lds r26,(tmpl2.28)+22352 1038 B091 0000 lds r27,(tmpl2.28)+32353 103c BC01 movw r22,r242354 103e CD01 movw r24,r262355 1040 24E6 ldi r18,lo8(100)2356 1042 30E0 ldi r19,hi8(100)2357 1044 40E0 ldi r20,hlo8(100)2358 1046 50E0 ldi r21,hhi8(100)2359 1048 0E94 0000 call __divmodsi42360 104c E090 0000 lds r14,tmpl.272361 1050 F090 0000 lds r15,(tmpl.27)+12362 1054 E21A sub r14,r182363 1056 F30A sbc r15,r192364 1058 F092 0000 sts (TrimRoll)+1,r152365 105c E092 0000 sts TrimRoll,r142366 1060 8091 0000 lds r24,tmpl.272367 1064 9091 0000 lds r25,(tmpl.27)+12368 1068 A091 0000 lds r26,(tmpl.27)+22369 106c B091 0000 lds r27,(tmpl.27)+32370 1070 BC01 movw r22,r242371 1072 CD01 movw r24,r262372 1074 24E6 ldi r18,lo8(100)2373 1076 30E0 ldi r19,hi8(100)2374 1078 40E0 ldi r20,hlo8(100)2375 107a 50E0 ldi r21,hhi8(100)2376 107c 0E94 0000 call __divmodsi42377 1080 DA01 movw r26,r202378 1082 C901 movw r24,r182379 1084 2091 0000 lds r18,tmpl2.282380 1088 3091 0000 lds r19,(tmpl2.28)+12381 108c 8C01 movw r16,r242382 108e 021B sub r16,r182383 1090 130B sbc r17,r192384 1092 1093 0000 sts (TrimNick)+1,r172385 1096 0093 0000 sts TrimNick,r162386 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR2387 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12388 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22389 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32390 10aa BC01 movw r22,r242391 10ac CD01 movw r24,r262392 10ae 28E6 ldi r18,lo8(360)2393 10b0 31E0 ldi r19,hi8(360)2394 10b2 40E0 ldi r20,hlo8(360)2395 10b4 50E0 ldi r21,hhi8(360)2396 10b6 0E94 0000 call __mulsi32397 10ba 2091 0000 lds r18,ErsatzKompass2398 10be 3091 0000 lds r19,(ErsatzKompass)+12399 10c2 4091 0000 lds r20,(ErsatzKompass)+22400 10c6 5091 0000 lds r21,(ErsatzKompass)+32401 10ca 2617 cp r18,r222402 10cc 3707 cpc r19,r232403 10ce 4807 cpc r20,r242404 10d0 5907 cpc r21,r252405 10d2 04F0 brlt .L1132406 10d4 261B sub r18,r222407 10d6 370B sbc r19,r232408 10d8 480B sbc r20,r242409 10da 590B sbc r21,r252410 10dc 2093 0000 sts ErsatzKompass,r182411 10e0 3093 0000 sts (ErsatzKompass)+1,r192412 10e4 4093 0000 sts (ErsatzKompass)+2,r202413 10e8 5093 0000 sts (ErsatzKompass)+3,r212414 .L113:2415 10ec 2091 0000 lds r18,ErsatzKompass2416 10f0 3091 0000 lds r19,(ErsatzKompass)+12417 10f4 4091 0000 lds r20,(ErsatzKompass)+22418 10f8 5091 0000 lds r21,(ErsatzKompass)+32419 10fc 57FF sbrs r21,72420 10fe 00C0 rjmp .L1142421 1100 260F add r18,r222422 1102 371F adc r19,r232423 1104 481F adc r20,r242424 1106 591F adc r21,r252425 1108 2093 0000 sts ErsatzKompass,r182426 110c 3093 0000 sts (ErsatzKompass)+1,r192427 1110 4093 0000 sts (ErsatzKompass)+2,r202428 1114 5093 0000 sts (ErsatzKompass)+3,r212429 .L114:2430 1118 6091 0000 lds r22,MesswertRoll2431 111c 7091 0000 lds r23,(MesswertRoll)+12432 1120 6E0D add r22,r142433 1122 7F1D adc r23,r152434 1124 9B01 movw r18,r222435 1126 4427 clr r202436 1128 37FD sbrc r19,72437 112a 4095 com r202438 112c 542F mov r21,r202439 112e 8091 0000 lds r24,Mess_IntegralRoll22440 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+12441 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+22442 113a B091 0000 lds r27,(Mess_IntegralRoll2)+32443 113e 820F add r24,r182444 1140 931F adc r25,r192445 1142 A41F adc r26,r202446 1144 B51F adc r27,r212447 1146 8093 0000 sts Mess_IntegralRoll2,r242448 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r252449 114e A093 0000 sts (Mess_IntegralRoll2)+2,r262450 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r272451 1156 8091 0000 lds r24,LageKorrekturRoll2452 115a 9091 0000 lds r25,(LageKorrekturRoll)+12453 115e 681B sub r22,r242454 1160 790B sbc r23,r252455 1162 CB01 movw r24,r222456 1164 AA27 clr r262457 1166 97FD sbrc r25,72458 1168 A095 com r262459 116a BA2F mov r27,r262460 116c 2985 ldd r18,Y+92461 116e 3A85 ldd r19,Y+102462 1170 4B85 ldd r20,Y+112463 1172 5C85 ldd r21,Y+122464 1174 820F add r24,r182465 1176 931F adc r25,r192466 1178 A41F adc r26,r202467 117a B51F adc r27,r212468 117c 8093 0000 sts Mess_IntegralRoll,r242469 1180 9093 0000 sts (Mess_IntegralRoll)+1,r252470 1184 A093 0000 sts (Mess_IntegralRoll)+2,r262471 1188 B093 0000 sts (Mess_IntegralRoll)+3,r272472 118c C090 0000 lds r12,Umschlag180Roll2473 1190 D090 0000 lds r13,(Umschlag180Roll)+12474 1194 E090 0000 lds r14,(Umschlag180Roll)+22475 1198 F090 0000 lds r15,(Umschlag180Roll)+32476 119c C816 cp r12,r242477 119e D906 cpc r13,r252478 11a0 EA06 cpc r14,r262479 11a2 FB06 cpc r15,r272480 11a4 04F4 brge .L1152481 11a6 88EA ldi r24,lo8(25000)2482 11a8 91E6 ldi r25,hi8(25000)2483 11aa A0E0 ldi r26,hlo8(25000)2484 11ac B0E0 ldi r27,hhi8(25000)2485 11ae 8C19 sub r24,r122486 11b0 9D09 sbc r25,r132487 11b2 AE09 sbc r26,r142488 11b4 BF09 sbc r27,r152489 11b6 8093 0000 sts Mess_IntegralRoll,r242490 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r252491 11be A093 0000 sts (Mess_IntegralRoll)+2,r262492 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r272493 11c6 8093 0000 sts Mess_IntegralRoll2,r242494 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r252495 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r262496 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r272497 .L115:2498 11d6 2227 clr r182499 11d8 3327 clr r192500 11da A901 movw r20,r182501 11dc 2C19 sub r18,r122502 11de 3D09 sbc r19,r132503 11e0 4E09 sbc r20,r142504 11e2 5F09 sbc r21,r152505 11e4 8091 0000 lds r24,Mess_IntegralRoll2506 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+12507 11ec A091 0000 lds r26,(Mess_IntegralRoll)+22508 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+32509 11f4 8217 cp r24,r182510 11f6 9307 cpc r25,r192511 11f8 A407 cpc r26,r202512 11fa B507 cpc r27,r212513 11fc 04F4 brge .L1162514 11fe D701 movw r26,r142515 1200 C601 movw r24,r122516 1202 885A subi r24,lo8(-(-25000))2517 1204 9146 sbci r25,hi8(-(-25000))2518 1206 A040 sbci r26,hlo8(-(-25000))2519 1208 B040 sbci r27,hhi8(-(-25000))2520 120a 8093 0000 sts Mess_IntegralRoll,r242521 120e 9093 0000 sts (Mess_IntegralRoll)+1,r252522 1212 A093 0000 sts (Mess_IntegralRoll)+2,r262523 1216 B093 0000 sts (Mess_IntegralRoll)+3,r272524 121a 8093 0000 sts Mess_IntegralRoll2,r242525 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r252526 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r262527 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r272528 .L116:2529 122a 6091 0000 lds r22,MesswertNick2530 122e 7091 0000 lds r23,(MesswertNick)+12531 1232 600F add r22,r162532 1234 711F adc r23,r172533 1236 9B01 movw r18,r222534 1238 4427 clr r202535 123a 37FD sbrc r19,72536 123c 4095 com r202537 123e 542F mov r21,r202538 1240 8091 0000 lds r24,Mess_IntegralNick22539 1244 9091 0000 lds r25,(Mess_IntegralNick2)+12540 1248 A091 0000 lds r26,(Mess_IntegralNick2)+22541 124c B091 0000 lds r27,(Mess_IntegralNick2)+32542 1250 820F add r24,r182543 1252 931F adc r25,r192544 1254 A41F adc r26,r202545 1256 B51F adc r27,r212546 1258 8093 0000 sts Mess_IntegralNick2,r242547 125c 9093 0000 sts (Mess_IntegralNick2)+1,r252548 1260 A093 0000 sts (Mess_IntegralNick2)+2,r262549 1264 B093 0000 sts (Mess_IntegralNick2)+3,r272550 1268 8091 0000 lds r24,LageKorrekturNick2551 126c 9091 0000 lds r25,(LageKorrekturNick)+12552 1270 681B sub r22,r242553 1272 790B sbc r23,r252554 1274 CB01 movw r24,r222555 1276 AA27 clr r262556 1278 97FD sbrc r25,72557 127a A095 com r262558 127c BA2F mov r27,r262559 127e 2D85 ldd r18,Y+132560 1280 3E85 ldd r19,Y+142561 1282 4F85 ldd r20,Y+152562 1284 5889 ldd r21,Y+162563 1286 820F add r24,r182564 1288 931F adc r25,r192565 128a A41F adc r26,r202566 128c B51F adc r27,r212567 128e 8093 0000 sts Mess_IntegralNick,r242568 1292 9093 0000 sts (Mess_IntegralNick)+1,r252569 1296 A093 0000 sts (Mess_IntegralNick)+2,r262570 129a B093 0000 sts (Mess_IntegralNick)+3,r272571 129e E090 0000 lds r14,Umschlag180Nick2572 12a2 F090 0000 lds r15,(Umschlag180Nick)+12573 12a6 0091 0000 lds r16,(Umschlag180Nick)+22574 12aa 1091 0000 lds r17,(Umschlag180Nick)+32575 12ae E816 cp r14,r242576 12b0 F906 cpc r15,r252577 12b2 0A07 cpc r16,r262578 12b4 1B07 cpc r17,r272579 12b6 04F4 brge .L1172580 12b8 88EA ldi r24,lo8(25000)2581 12ba 91E6 ldi r25,hi8(25000)2582 12bc A0E0 ldi r26,hlo8(25000)2583 12be B0E0 ldi r27,hhi8(25000)2584 12c0 8E19 sub r24,r142585 12c2 9F09 sbc r25,r152586 12c4 A00B sbc r26,r162587 12c6 B10B sbc r27,r172588 12c8 8093 0000 sts Mess_IntegralNick,r242589 12cc 9093 0000 sts (Mess_IntegralNick)+1,r252590 12d0 A093 0000 sts (Mess_IntegralNick)+2,r262591 12d4 B093 0000 sts (Mess_IntegralNick)+3,r272592 12d8 8093 0000 sts Mess_IntegralNick2,r242593 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r252594 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r262595 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r272596 .L117:2597 12e8 2227 clr r182598 12ea 3327 clr r192599 12ec A901 movw r20,r182600 12ee 2E19 sub r18,r142601 12f0 3F09 sbc r19,r152602 12f2 400B sbc r20,r162603 12f4 510B sbc r21,r172604 12f6 8091 0000 lds r24,Mess_IntegralNick2605 12fa 9091 0000 lds r25,(Mess_IntegralNick)+12606 12fe A091 0000 lds r26,(Mess_IntegralNick)+22607 1302 B091 0000 lds r27,(Mess_IntegralNick)+32608 1306 8217 cp r24,r182609 1308 9307 cpc r25,r192610 130a A407 cpc r26,r202611 130c B507 cpc r27,r212612 130e 04F4 brge .L1182613 1310 D801 movw r26,r162614 1312 C701 movw r24,r142615 1314 885A subi r24,lo8(-(-25000))2616 1316 9146 sbci r25,hi8(-(-25000))2617 1318 A040 sbci r26,hlo8(-(-25000))2618 131a B040 sbci r27,hhi8(-(-25000))2619 131c 8093 0000 sts Mess_IntegralNick,r242620 1320 9093 0000 sts (Mess_IntegralNick)+1,r252621 1324 A093 0000 sts (Mess_IntegralNick)+2,r262622 1328 B093 0000 sts (Mess_IntegralNick)+3,r272623 132c 8093 0000 sts Mess_IntegralNick2,r242624 1330 9093 0000 sts (Mess_IntegralNick2)+1,r252625 1334 A093 0000 sts (Mess_IntegralNick2)+2,r262626 1338 B093 0000 sts (Mess_IntegralNick2)+3,r272627 .L118:2628 133c 8091 0000 lds r24,Mess_Integral_Gier2629 1340 9091 0000 lds r25,(Mess_Integral_Gier)+12630 1344 A091 0000 lds r26,(Mess_Integral_Gier)+22631 1348 B091 0000 lds r27,(Mess_Integral_Gier)+32632 134c 8093 0000 sts Integral_Gier,r242633 1350 9093 0000 sts (Integral_Gier)+1,r252634 1354 A093 0000 sts (Integral_Gier)+2,r262635 1358 B093 0000 sts (Integral_Gier)+3,r272636 135c 8091 0000 lds r24,Mess_IntegralNick2637 1360 9091 0000 lds r25,(Mess_IntegralNick)+12638 1364 A091 0000 lds r26,(Mess_IntegralNick)+22639 1368 B091 0000 lds r27,(Mess_IntegralNick)+32640 136c 8093 0000 sts IntegralNick,r242641 1370 9093 0000 sts (IntegralNick)+1,r252642 1374 A093 0000 sts (IntegralNick)+2,r262643 1378 B093 0000 sts (IntegralNick)+3,r272644 137c 8091 0000 lds r24,Mess_IntegralRoll2645 1380 9091 0000 lds r25,(Mess_IntegralRoll)+12646 1384 A091 0000 lds r26,(Mess_IntegralRoll)+22647 1388 B091 0000 lds r27,(Mess_IntegralRoll)+32648 138c 8093 0000 sts IntegralRoll,r242649 1390 9093 0000 sts (IntegralRoll)+1,r252650 1394 A093 0000 sts (IntegralRoll)+2,r262651 1398 B093 0000 sts (IntegralRoll)+3,r272652 139c 8091 0000 lds r24,Mess_IntegralNick22653 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+12654 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+22655 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+32656 13ac 8093 0000 sts IntegralNick2,r242657 13b0 9093 0000 sts (IntegralNick2)+1,r252658 13b4 A093 0000 sts (IntegralNick2)+2,r262659 13b8 B093 0000 sts (IntegralNick2)+3,r272660 13bc 8091 0000 lds r24,Mess_IntegralRoll22661 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+12662 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+22663 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+32664 13cc 8093 0000 sts IntegralRoll2,r242665 13d0 9093 0000 sts (IntegralRoll2)+1,r252666 13d4 A093 0000 sts (IntegralRoll2)+2,r262667 13d8 B093 0000 sts (IntegralRoll2)+3,r272668 13dc 8091 0000 lds r24,HiResNick2669 13e0 9091 0000 lds r25,(HiResNick)+12670 13e4 97FD sbrc r25,72671 13e6 0796 adiw r24,72672 .L119:2673 13e8 03E0 ldi r16,32674 13ea 9595 1: asr r252675 13ec 8795 ror r242676 13ee 0A95 dec r162677 13f0 01F4 brne 1b2678 13f2 9093 0000 sts (MesswertNick)+1,r252679 13f6 8093 0000 sts MesswertNick,r242680 13fa 8091 0000 lds r24,HiResRoll2681 13fe 9091 0000 lds r25,(HiResRoll)+12682 1402 97FD sbrc r25,72683 1404 0796 adiw r24,72684 .L120:2685 1406 13E0 ldi r17,32686 1408 9595 1: asr r252687 140a 8795 ror r242688 140c 1A95 dec r172689 140e 01F4 brne 1b2690 1410 9093 0000 sts (MesswertRoll)+1,r252691 1414 8093 0000 sts MesswertRoll,r242692 1418 8091 0000 lds r24,AdWertNick2693 141c 9091 0000 lds r25,(AdWertNick)+12694 1420 0F97 sbiw r24,152695 1422 04F4 brge .L1212696 1424 88E1 ldi r24,lo8(-1000)2697 1426 9CEF ldi r25,hi8(-1000)2698 1428 9093 0000 sts (MesswertNick)+1,r252699 142c 8093 0000 sts MesswertNick,r242700 .L121:2701 1430 8091 0000 lds r24,AdWertNick2702 1434 9091 0000 lds r25,(AdWertNick)+12703 1438 0797 sbiw r24,72704 143a 04F4 brge .L1222705 143c 80E3 ldi r24,lo8(-2000)2706 143e 98EF ldi r25,hi8(-2000)2707 1440 9093 0000 sts (MesswertNick)+1,r252708 1444 8093 0000 sts MesswertNick,r242709 .L122:2710 1448 2091 0000 lds r18,PlatinenVersion2711 144c 2A30 cpi r18,lo8(10)2712 144e 01F4 brne .L1232713 1450 8091 0000 lds r24,AdWertNick2714 1454 9091 0000 lds r25,(AdWertNick)+12715 1458 835F subi r24,lo8(1011)2716 145a 9340 sbci r25,hi8(1011)2717 145c 04F0 brlt .L1242718 145e 88EE ldi r24,lo8(1000)2719 1460 93E0 ldi r25,hi8(1000)2720 1462 9093 0000 sts (MesswertNick)+1,r252721 1466 8093 0000 sts MesswertNick,r242722 .L124:2723 146a 8091 0000 lds r24,AdWertNick2724 146e 9091 0000 lds r25,(AdWertNick)+12725 1472 8A5F subi r24,lo8(1018)2726 1474 9340 sbci r25,hi8(1018)2727 1476 04F0 brlt .L1262728 1478 00C0 rjmp .L1692729 .L123:2730 147a 8091 0000 lds r24,AdWertNick2731 147e 9091 0000 lds r25,(AdWertNick)+12732 1482 815D subi r24,lo8(2001)2733 1484 9740 sbci r25,hi8(2001)2734 1486 04F0 brlt .L1272735 1488 88EE ldi r24,lo8(1000)2736 148a 93E0 ldi r25,hi8(1000)2737 148c 9093 0000 sts (MesswertNick)+1,r252738 1490 8093 0000 sts MesswertNick,r242739 .L127:2740 1494 8091 0000 lds r24,AdWertNick2741 1498 9091 0000 lds r25,(AdWertNick)+12742 149c 805E subi r24,lo8(2016)2743 149e 9740 sbci r25,hi8(2016)2744 14a0 04F0 brlt .L1262745 .L169:2746 14a2 80ED ldi r24,lo8(2000)2747 14a4 97E0 ldi r25,hi8(2000)2748 14a6 9093 0000 sts (MesswertNick)+1,r252749 14aa 8093 0000 sts MesswertNick,r242750 .L126:2751 14ae 8091 0000 lds r24,AdWertRoll2752 14b2 9091 0000 lds r25,(AdWertRoll)+12753 14b6 0F97 sbiw r24,152754 14b8 04F4 brge .L1292755 14ba 88E1 ldi r24,lo8(-1000)2756 14bc 9CEF ldi r25,hi8(-1000)2757 14be 9093 0000 sts (MesswertRoll)+1,r252758 14c2 8093 0000 sts MesswertRoll,r242759 .L129:2760 14c6 8091 0000 lds r24,AdWertRoll2761 14ca 9091 0000 lds r25,(AdWertRoll)+12762 14ce 0797 sbiw r24,72763 14d0 04F4 brge .L1302764 14d2 80E3 ldi r24,lo8(-2000)2765 14d4 98EF ldi r25,hi8(-2000)2766 14d6 9093 0000 sts (MesswertRoll)+1,r252767 14da 8093 0000 sts MesswertRoll,r242768 .L130:2769 14de 2A30 cpi r18,lo8(10)2770 14e0 01F4 brne .L1312771 14e2 8091 0000 lds r24,AdWertRoll2772 14e6 9091 0000 lds r25,(AdWertRoll)+12773 14ea 835F subi r24,lo8(1011)2774 14ec 9340 sbci r25,hi8(1011)2775 14ee 04F0 brlt .L1322776 14f0 88EE ldi r24,lo8(1000)2777 14f2 93E0 ldi r25,hi8(1000)2778 14f4 9093 0000 sts (MesswertRoll)+1,r252779 14f8 8093 0000 sts MesswertRoll,r242780 .L132:2781 14fc 8091 0000 lds r24,AdWertRoll2782 1500 9091 0000 lds r25,(AdWertRoll)+12783 1504 8A5F subi r24,lo8(1018)2784 1506 9340 sbci r25,hi8(1018)2785 1508 04F0 brlt .L1342786 150a 00C0 rjmp .L1702787 .L131:2788 150c 8091 0000 lds r24,AdWertRoll2789 1510 9091 0000 lds r25,(AdWertRoll)+12790 1514 815D subi r24,lo8(2001)2791 1516 9740 sbci r25,hi8(2001)2792 1518 04F0 brlt .L1352793 151a 88EE ldi r24,lo8(1000)2794 151c 93E0 ldi r25,hi8(1000)2795 151e 9093 0000 sts (MesswertRoll)+1,r252796 1522 8093 0000 sts MesswertRoll,r242797 .L135:2798 1526 8091 0000 lds r24,AdWertRoll2799 152a 9091 0000 lds r25,(AdWertRoll)+12800 152e 805E subi r24,lo8(2016)2801 1530 9740 sbci r25,hi8(2016)2802 1532 04F0 brlt .L1342803 .L170:2804 1534 80ED ldi r24,lo8(2000)2805 1536 97E0 ldi r25,hi8(2000)2806 1538 9093 0000 sts (MesswertRoll)+1,r252807 153c 8093 0000 sts MesswertRoll,r242808 .L134:2809 1540 6091 0000 lds r22,Parameter_Gyro_D2810 1544 6623 tst r222811 1546 01F4 brne .+22812 1548 00C0 rjmp .L1372813 154a 4091 0000 lds r20,HiResNick2814 154e 5091 0000 lds r21,(HiResNick)+12815 1552 8091 0000 lds r24,oldNick.312816 1556 9091 0000 lds r25,(oldNick.31)+12817 155a 481B sub r20,r242818 155c 590B sbc r21,r252819 155e 5093 0000 sts (d2Nick.34)+1,r212820 1562 4093 0000 sts d2Nick.34,r202821 1566 2091 0000 lds r18,HiResNick2822 156a 3091 0000 lds r19,(HiResNick)+12823 156e 280F add r18,r242824 1570 391F adc r19,r252825 1572 37FF sbrs r19,72826 1574 00C0 rjmp .L1382827 1576 2F5F subi r18,lo8(-(1))2828 1578 3F4F sbci r19,hi8(-(1))2829 .L138:2830 157a 3595 asr r192831 157c 2795 ror r182832 157e 3093 0000 sts (oldNick.31)+1,r192833 1582 2093 0000 sts oldNick.31,r182834 1586 4138 cpi r20,1292835 1588 5105 cpc r21,__zero_reg__2836 158a 04F0 brlt .L1392837 158c 80E8 ldi r24,lo8(128)2838 158e 90E0 ldi r25,hi8(128)2839 1590 00C0 rjmp .L1712840 .L139:2841 1592 4058 subi r20,lo8(-128)2842 1594 5F4F sbci r21,hi8(-128)2843 1596 04F4 brge .L1402844 1598 80E8 ldi r24,lo8(-128)2845 159a 9FEF ldi r25,hi8(-128)2846 .L171:2847 159c 9093 0000 sts (d2Nick.34)+1,r252848 15a0 8093 0000 sts d2Nick.34,r242849 .L140:2850 15a4 4091 0000 lds r20,HiResRoll2851 15a8 5091 0000 lds r21,(HiResRoll)+12852 15ac 8091 0000 lds r24,oldRoll.322853 15b0 9091 0000 lds r25,(oldRoll.32)+12854 15b4 481B sub r20,r242855 15b6 590B sbc r21,r252856 15b8 5093 0000 sts (d2Roll.33)+1,r212857 15bc 4093 0000 sts d2Roll.33,r202858 15c0 2091 0000 lds r18,HiResRoll2859 15c4 3091 0000 lds r19,(HiResRoll)+12860 15c8 280F add r18,r242861 15ca 391F adc r19,r252862 15cc 37FF sbrs r19,72863 15ce 00C0 rjmp .L1422864 15d0 2F5F subi r18,lo8(-(1))2865 15d2 3F4F sbci r19,hi8(-(1))2866 .L142:2867 15d4 3595 asr r192868 15d6 2795 ror r182869 15d8 3093 0000 sts (oldRoll.32)+1,r192870 15dc 2093 0000 sts oldRoll.32,r182871 15e0 4138 cpi r20,1292872 15e2 5105 cpc r21,__zero_reg__2873 15e4 04F0 brlt .L1432874 15e6 80E8 ldi r24,lo8(128)2875 15e8 90E0 ldi r25,hi8(128)2876 15ea 00C0 rjmp .L1722877 .L143:2878 15ec 4058 subi r20,lo8(-128)2879 15ee 5F4F sbci r21,hi8(-128)2880 15f0 04F4 brge .L1442881 15f2 80E8 ldi r24,lo8(-128)2882 15f4 9FEF ldi r25,hi8(-128)2883 .L172:2884 15f6 9093 0000 sts (d2Roll.33)+1,r252885 15fa 8093 0000 sts d2Roll.33,r242886 .L144:2887 15fe 462F mov r20,r222888 1600 5527 clr r212889 1602 8091 0000 lds r24,d2Nick.342890 1606 9091 0000 lds r25,(d2Nick.34)+12891 160a 849F mul r24,r202892 160c B001 movw r22,r02893 160e 859F mul r24,r212894 1610 700D add r23,r02895 1612 949F mul r25,r202896 1614 700D add r23,r02897 1616 1124 clr r12898 1618 9B01 movw r18,r222899 161a 77FF sbrs r23,72900 161c 00C0 rjmp .L1462901 161e 215F subi r18,lo8(-(15))2902 1620 3F4F sbci r19,hi8(-(15))2903 .L146:2904 1622 F4E0 ldi r31,42905 1624 3595 1: asr r192906 1626 2795 ror r182907 1628 FA95 dec r312908 162a 01F4 brne 1b2909 162c 8091 0000 lds r24,MesswertNick2910 1630 9091 0000 lds r25,(MesswertNick)+12911 1634 820F add r24,r182912 1636 931F adc r25,r192913 1638 9093 0000 sts (MesswertNick)+1,r252914 163c 8093 0000 sts MesswertNick,r242915 1640 8091 0000 lds r24,d2Roll.332916 1644 9091 0000 lds r25,(d2Roll.33)+12917 1648 849F mul r24,r202918 164a D001 movw r26,r02919 164c 859F mul r24,r212920 164e B00D add r27,r02921 1650 949F mul r25,r202922 1652 B00D add r27,r02923 1654 1124 clr r12924 1656 AD01 movw r20,r262925 1658 9D01 movw r18,r262926 165a B7FF sbrs r27,72927 165c 00C0 rjmp .L1472928 165e 215F subi r18,lo8(-(15))2929 1660 3F4F sbci r19,hi8(-(15))2930 .L147:2931 1662 E4E0 ldi r30,42932 1664 3595 1: asr r192933 1666 2795 ror r182934 1668 EA95 dec r302935 166a 01F4 brne 1b2936 166c 8091 0000 lds r24,MesswertRoll2937 1670 9091 0000 lds r25,(MesswertRoll)+12938 1674 820F add r24,r182939 1676 931F adc r25,r192940 1678 9093 0000 sts (MesswertRoll)+1,r252941 167c 8093 0000 sts MesswertRoll,r242942 1680 8091 0000 lds r24,HiResNick2943 1684 9091 0000 lds r25,(HiResNick)+12944 1688 860F add r24,r222945 168a 971F adc r25,r232946 168c 9093 0000 sts (HiResNick)+1,r252947 1690 8093 0000 sts HiResNick,r242948 1694 8091 0000 lds r24,HiResRoll2949 1698 9091 0000 lds r25,(HiResRoll)+12950 169c 840F add r24,r202951 169e 951F adc r25,r212952 16a0 9093 0000 sts (HiResRoll)+1,r252953 16a4 8093 0000 sts HiResRoll,r242954 .L137:2955 16a8 0091 0000 lds r16,RohMesswertRoll2956 16ac 1091 0000 lds r17,(RohMesswertRoll)+12957 16b0 8091 0000 lds r24,KopplungsteilNickRoll2958 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+12959 16b8 1016 cp __zero_reg__,r162960 16ba 1106 cpc __zero_reg__,r172961 16bc 04F4 brge .L1482962 16be 9C01 movw r18,r242963 16c0 97FF sbrs r25,72964 16c2 00C0 rjmp .L1492965 16c4 2227 clr r182966 16c6 3327 clr r192967 16c8 281B sub r18,r242968 16ca 390B sbc r19,r252969 .L149:2970 16cc C901 movw r24,r182971 16ce AA27 clr r262972 16d0 97FD sbrc r25,72973 16d2 A095 com r262974 16d4 BA2F mov r27,r262975 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection2976 16da 3327 clr r192977 16dc 4427 clr r202978 16de 5527 clr r212979 16e0 BC01 movw r22,r242980 16e2 CD01 movw r24,r262981 16e4 0E94 0000 call __mulsi32982 16e8 9B01 movw r18,r222983 16ea AC01 movw r20,r242984 16ec 97FF sbrs r25,72985 16ee 00C0 rjmp .L1502986 16f0 215C subi r18,lo8(-(63))2987 16f2 3F4F sbci r19,hi8(-(63))2988 16f4 4F4F sbci r20,hlo8(-(63))2989 16f6 5F4F sbci r21,hhi8(-(63))2990 .L150:2991 16f8 76E0 ldi r23,62992 16fa 5595 1: asr r212993 16fc 4795 ror r202994 16fe 3795 ror r192995 1700 2795 ror r182996 1702 7A95 dec r232997 1704 01F4 brne 1b2998 1706 8091 0000 lds r24,TrimRoll2999 170a 9091 0000 lds r25,(TrimRoll)+13000 170e 820F add r24,r183001 1710 931F adc r25,r193002 1712 00C0 rjmp .L1733003 .L148:3004 1714 97FF sbrs r25,73005 1716 00C0 rjmp .L1523006 1718 9095 com r253007 171a 8195 neg r243008 171c 9F4F sbci r25,lo8(-1)3009 .L152:3010 171e AA27 clr r263011 1720 97FD sbrc r25,73012 1722 A095 com r263013 1724 BA2F mov r27,r263014 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection3015 172a 3327 clr r193016 172c 4427 clr r203017 172e 5527 clr r213018 1730 BC01 movw r22,r243019 1732 CD01 movw r24,r263020 1734 0E94 0000 call __mulsi33021 1738 9B01 movw r18,r223022 173a AC01 movw r20,r243023 173c 97FF sbrs r25,73024 173e 00C0 rjmp .L1533025 1740 215C subi r18,lo8(-(63))3026 1742 3F4F sbci r19,hi8(-(63))3027 1744 4F4F sbci r20,hlo8(-(63))3028 1746 5F4F sbci r21,hhi8(-(63))3029 .L153:3030 1748 66E0 ldi r22,63031 174a 5595 1: asr r213032 174c 4795 ror r203033 174e 3795 ror r193034 1750 2795 ror r183035 1752 6A95 dec r223036 1754 01F4 brne 1b3037 1756 8091 0000 lds r24,TrimRoll3038 175a 9091 0000 lds r25,(TrimRoll)+13039 175e 821B sub r24,r183040 1760 930B sbc r25,r193041 .L173:3042 1762 9093 0000 sts (TrimRoll)+1,r253043 1766 8093 0000 sts TrimRoll,r243044 176a E090 0000 lds r14,RohMesswertNick3045 176e F090 0000 lds r15,(RohMesswertNick)+13046 1772 8091 0000 lds r24,KopplungsteilRollNick3047 1776 9091 0000 lds r25,(KopplungsteilRollNick)+13048 177a 1E14 cp __zero_reg__,r143049 177c 1F04 cpc __zero_reg__,r153050 177e 04F4 brge .L1543051 1780 9C01 movw r18,r243052 1782 97FF sbrs r25,73053 1784 00C0 rjmp .L1553054 1786 2227 clr r183055 1788 3327 clr r193056 178a 281B sub r18,r243057 178c 390B sbc r19,r253058 .L155:3059 178e C901 movw r24,r183060 1790 AA27 clr r263061 1792 97FD sbrc r25,73062 1794 A095 com r263063 1796 BA2F mov r27,r263064 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection3065 179c 3327 clr r193066 179e 4427 clr r203067 17a0 5527 clr r213068 17a2 BC01 movw r22,r243069 17a4 CD01 movw r24,r263070 17a6 0E94 0000 call __mulsi33071 17aa 9B01 movw r18,r223072 17ac AC01 movw r20,r243073 17ae 97FF sbrs r25,73074 17b0 00C0 rjmp .L1563075 17b2 215C subi r18,lo8(-(63))3076 17b4 3F4F sbci r19,hi8(-(63))3077 17b6 4F4F sbci r20,hlo8(-(63))3078 17b8 5F4F sbci r21,hhi8(-(63))3079 .L156:3080 17ba 96E0 ldi r25,63081 17bc 5595 1: asr r213082 17be 4795 ror r203083 17c0 3795 ror r193084 17c2 2795 ror r183085 17c4 9A95 dec r253086 17c6 01F4 brne 1b3087 17c8 8091 0000 lds r24,TrimNick3088 17cc 9091 0000 lds r25,(TrimNick)+13089 17d0 820F add r24,r183090 17d2 931F adc r25,r193091 17d4 00C0 rjmp .L1743092 .L154:3093 17d6 97FF sbrs r25,73094 17d8 00C0 rjmp .L1583095 17da 9095 com r253096 17dc 8195 neg r243097 17de 9F4F sbci r25,lo8(-1)3098 .L158:3099 17e0 AA27 clr r263100 17e2 97FD sbrc r25,73101 17e4 A095 com r263102 17e6 BA2F mov r27,r263103 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection3104 17ec 3327 clr r193105 17ee 4427 clr r203106 17f0 5527 clr r213107 17f2 BC01 movw r22,r243108 17f4 CD01 movw r24,r263109 17f6 0E94 0000 call __mulsi33110 17fa 9B01 movw r18,r223111 17fc AC01 movw r20,r243112 17fe 97FF sbrs r25,73113 1800 00C0 rjmp .L1593114 1802 215C subi r18,lo8(-(63))3115 1804 3F4F sbci r19,hi8(-(63))3116 1806 4F4F sbci r20,hlo8(-(63))3117 1808 5F4F sbci r21,hhi8(-(63))3118 .L159:3119 180a 86E0 ldi r24,63120 180c 5595 1: asr r213121 180e 4795 ror r203122 1810 3795 ror r193123 1812 2795 ror r183124 1814 8A95 dec r243125 1816 01F4 brne 1b3126 1818 8091 0000 lds r24,TrimNick3127 181c 9091 0000 lds r25,(TrimNick)+13128 1820 821B sub r24,r183129 1822 930B sbc r25,r193130 .L174:3131 1824 9093 0000 sts (TrimNick)+1,r253132 1828 8093 0000 sts TrimNick,r243133 182c 8091 0000 lds r24,Parameter_GlobalConfig3134 1830 87FF sbrs r24,73135 1832 00C0 rjmp .L823136 1834 B989 ldd r27,Y+173137 1836 BB23 tst r273138 1838 01F0 breq .+23139 183a 00C0 rjmp .L823140 183c 8091 0000 lds r24,Looping_Roll3141 1840 8823 tst r243142 1842 01F4 brne .L823143 1844 E1E0 ldi r30,lo8(257)3144 1846 EE16 cp r14,r303145 1848 E1E0 ldi r30,hi8(257)3146 184a FE06 cpc r15,r303147 184c 04F0 brlt .L1613148 184e 8091 0000 lds r24,MesswertNick3149 1852 9091 0000 lds r25,(MesswertNick)+13150 1856 8E0D add r24,r143151 1858 9F1D adc r25,r153152 185a 8050 subi r24,lo8(-(-256))3153 185c 9140 sbci r25,hi8(-(-256))3154 185e 00C0 rjmp .L1753155 .L161:3156 1860 F0E0 ldi r31,lo8(-256)3157 1862 EF16 cp r14,r313158 1864 FFEF ldi r31,hi8(-256)3159 1866 FF06 cpc r15,r313160 1868 04F4 brge .L1623161 186a 8091 0000 lds r24,MesswertNick3162 186e 9091 0000 lds r25,(MesswertNick)+13163 1872 8E0D add r24,r143164 1874 9F1D adc r25,r153165 1876 8050 subi r24,lo8(-(256))3166 1878 9F4F sbci r25,hi8(-(256))3167 .L175:3168 187a 9093 0000 sts (MesswertNick)+1,r253169 187e 8093 0000 sts MesswertNick,r243170 .L162:3171 1882 21E0 ldi r18,hi8(257)3172 1884 0130 cpi r16,lo8(257)3173 1886 1207 cpc r17,r183174 1888 04F0 brlt .L1643175 188a 8091 0000 lds r24,MesswertRoll3176 188e 9091 0000 lds r25,(MesswertRoll)+13177 1892 800F add r24,r163178 1894 911F adc r25,r173179 1896 8050 subi r24,lo8(-(-256))3180 1898 9140 sbci r25,hi8(-(-256))3181 189a 00C0 rjmp .L1763182 .L164:3183 189c 3FEF ldi r19,hi8(-256)3184 189e 0030 cpi r16,lo8(-256)3185 18a0 1307 cpc r17,r193186 18a2 04F4 brge .L823187 18a4 8091 0000 lds r24,MesswertRoll3188 18a8 9091 0000 lds r25,(MesswertRoll)+13189 18ac 800F add r24,r163190 18ae 911F adc r25,r173191 18b0 8050 subi r24,lo8(-(256))3192 18b2 9F4F sbci r25,hi8(-(256))3193 .L176:3194 18b4 9093 0000 sts (MesswertRoll)+1,r253195 18b8 8093 0000 sts MesswertRoll,r243196 .L82:3197 /* epilogue: frame size=19 */3198 18bc E2E1 ldi r30,183199 18be CD5E subi r28,-193200 18c0 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 18c4 8091 0000 lds r24,MotorenEin3210 18c8 8823 tst r243211 18ca 01F4 brne .L1783212 18cc 8091 0000 lds r24,FC_StatusFlags3213 18d0 8C7F andi r24,lo8(-4)3214 18d2 8093 0000 sts FC_StatusFlags,r243215 18d6 A0E0 ldi r26,lo8(MotorTest)3216 18d8 B0E0 ldi r27,hi8(MotorTest)3217 18da E0E0 ldi r30,lo8(Motor)3218 18dc F0E0 ldi r31,hi8(Motor)3219 18de 9BE0 ldi r25,lo8(11)3220 .L183:3221 18e0 8091 0000 lds r24,PC_MotortestActive3222 18e4 8823 tst r243223 18e6 01F4 brne .L1823224 18e8 8C93 st X,r243225 .L182:3226 18ea 8D91 ld r24,X+3227 18ec 8183 std Z+1,r243228 18ee 1282 std Z+2,__zero_reg__3229 18f0 9150 subi r25,lo8(-(-1))3230 18f2 3896 adiw r30,83231 18f4 97FF sbrs r25,73232 18f6 00C0 rjmp .L1833233 18f8 8091 0000 lds r24,PC_MotortestActive3234 18fc 8823 tst r243235 18fe 01F0 breq .L1853236 1900 8091 0000 lds r24,PC_MotortestActive3237 1904 8150 subi r24,lo8(-(-1))3238 1906 8093 0000 sts PC_MotortestActive,r243239 190a 00C0 rjmp .L1853240 .L178:3241 190c 8091 0000 lds r24,FC_StatusFlags3242 1910 8160 ori r24,lo8(1)3243 1912 8093 0000 sts FC_StatusFlags,r243244 .L185:3245 1916 8091 0000 lds r24,I2C_TransferActive3246 191a 8823 tst r243247 191c 01F0 breq .L1863248 191e 1092 0000 sts I2C_TransferActive,__zero_reg__3249 1922 0895 ret3250 .L186:3251 1924 8093 0000 sts motor_write,r243252 1928 8093 0000 sts twi_state,r243253 192c 8091 0000 lds r24,BLFlags3254 1930 8E7F andi r24,lo8(-2)3255 1932 8093 0000 sts BLFlags,r243256 1936 85EA ldi r24,lo8(-91)3257 1938 8093 BC00 sts 188,r243258 193c 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 193e CF93 push r283269 1940 DF93 push r293270 /* prologue end (size=2) */3271 1942 A0E0 ldi r26,lo8(Poti)3272 1944 B0E0 ldi r27,hi8(Poti)3273 1946 C0E0 ldi r28,lo8(EE_Parameter+5)3274 1948 D0E0 ldi r29,hi8(EE_Parameter+5)3275 194a 57E0 ldi r21,lo8(7)3276 .L203:3277 194c 9991 ld r25,Y+3278 194e E92F mov r30,r253279 1950 FF27 clr r313280 1952 EE0F add r30,r303281 1954 FF1F adc r31,r313282 1956 E050 subi r30,lo8(-(PPM_in))3283 1958 F040 sbci r31,hi8(-(PPM_in))3284 195a 0190 ld __tmp_reg__,Z+3285 195c F081 ld r31,Z3286 195e E02D mov r30,__tmp_reg__3287 1960 E158 subi r30,lo8(-(127))3288 1962 FF4F sbci r31,hi8(-(127))3289 1964 EF3F cpi r30,2553290 1966 F105 cpc r31,__zero_reg__3291 1968 01F0 breq .L1943292 196a 04F0 brlt .L1943293 196c EFEF ldi r30,lo8(255)3294 196e F0E0 ldi r31,hi8(255)3295 1970 00C0 rjmp .L1953296 .L194:3297 1972 F7FF sbrs r31,73298 1974 00C0 rjmp .L1953299 1976 E0E0 ldi r30,lo8(0)3300 1978 F0E0 ldi r31,hi8(0)3301 .L195:3302 197a 9931 cpi r25,lo8(25)3303 197c 01F4 brne .L1973304 197e EC93 st X,r303305 1980 00C0 rjmp .L1933306 .L197:3307 1982 4C91 ld r20,X3308 1984 242F mov r18,r203309 1986 3327 clr r193310 1988 E217 cp r30,r183311 198a F307 cpc r31,r193312 198c 01F0 breq .L1933313 198e CF01 movw r24,r303314 1990 821B sub r24,r183315 1992 930B sbc r25,r193316 1994 97FD sbrc r25,73317 1996 0396 adiw r24,33318 .L200:3319 1998 9595 asr r253320 199a 8795 ror r243321 199c 9595 asr r253322 199e 8795 ror r243323 19a0 242F mov r18,r203324 19a2 280F add r18,r243325 19a4 2C93 st X,r183326 19a6 822F mov r24,r183327 19a8 9927 clr r253328 19aa E817 cp r30,r243329 19ac F907 cpc r31,r253330 19ae 04F4 brge .L2013331 19b0 2150 subi r18,lo8(-(-1))3332 19b2 00C0 rjmp .L3273333 .L201:3334 19b4 2F5F subi r18,lo8(-(1))3335 .L327:3336 19b6 2C93 st X,r183337 .L193:3338 19b8 5150 subi r21,lo8(-(-1))3339 19ba 1196 adiw r26,13340 19bc 57FF sbrs r21,73341 19be 00C0 rjmp .L2033342 19c0 8091 0000 lds r24,EE_Parameter+153343 19c4 883F cpi r24,lo8(-8)3344 19c6 00F0 brlo .L3283345 19c8 EFEF ldi r30,lo8(255)3346 19ca F0E0 ldi r31,hi8(255)3347 19cc E81B sub r30,r243348 19ce F109 sbc r31,__zero_reg__3349 19d0 E050 subi r30,lo8(-(Poti))3350 19d2 F040 sbci r31,hi8(-(Poti))3351 19d4 8081 ld r24,Z3352 .L328:3353 19d6 8093 0000 sts Parameter_Luftdruck_D,r243354 19da 8091 0000 lds r24,Parameter_Luftdruck_D3355 19de 8823 tst r243356 19e0 01F0 breq .L2073357 19e2 8436 cpi r24,lo8(100)3358 19e4 00F0 brlo .L2073359 19e6 84E6 ldi r24,lo8(100)3360 19e8 8093 0000 sts Parameter_Luftdruck_D,r243361 .L207:3362 19ec 8091 0000 lds r24,EE_Parameter+173363 19f0 883F cpi r24,lo8(-8)3364 19f2 00F0 brlo .L3293365 19f4 EFEF ldi r30,lo8(255)3366 19f6 F0E0 ldi r31,hi8(255)3367 19f8 E81B sub r30,r243368 19fa F109 sbc r31,__zero_reg__3369 19fc E050 subi r30,lo8(-(Poti))3370 19fe F040 sbci r31,hi8(-(Poti))3371 1a00 8081 ld r24,Z3372 .L329:3373 1a02 8093 0000 sts Parameter_Hoehe_P,r243374 1a06 8091 0000 lds r24,Parameter_Hoehe_P3375 1a0a 8823 tst r243376 1a0c 01F0 breq .L2123377 1a0e 8436 cpi r24,lo8(100)3378 1a10 00F0 brlo .L2123379 1a12 84E6 ldi r24,lo8(100)3380 1a14 8093 0000 sts Parameter_Hoehe_P,r243381 .L212:3382 1a18 8091 0000 lds r24,EE_Parameter+303383 1a1c 883F cpi r24,lo8(-8)3384 1a1e 00F0 brlo .L3303385 1a20 EFEF ldi r30,lo8(255)3386 1a22 F0E0 ldi r31,hi8(255)3387 1a24 E81B sub r30,r243388 1a26 F109 sbc r31,__zero_reg__3389 1a28 E050 subi r30,lo8(-(Poti))3390 1a2a F040 sbci r31,hi8(-(Poti))3391 1a2c 8081 ld r24,Z3392 .L330:3393 1a2e 8093 0000 sts Parameter_Gyro_P,r243394 1a32 8091 0000 lds r24,Parameter_Gyro_P3395 1a36 8B30 cpi r24,lo8(11)3396 1a38 00F4 brsh .L2163397 1a3a 8AE0 ldi r24,lo8(10)3398 1a3c 00C0 rjmp .L3313399 .L216:3400 1a3e 8F3F cpi r24,lo8(-1)3401 1a40 01F4 brne .L2173402 .L331:3403 1a42 8093 0000 sts Parameter_Gyro_P,r243404 .L217:3405 1a46 8091 0000 lds r24,EE_Parameter+753406 1a4a 883F cpi r24,lo8(-8)3407 1a4c 00F0 brlo .L3323408 1a4e EFEF ldi r30,lo8(255)3409 1a50 F0E0 ldi r31,hi8(255)3410 1a52 E81B sub r30,r243411 1a54 F109 sbc r31,__zero_reg__3412 1a56 E050 subi r30,lo8(-(Poti))3413 1a58 F040 sbci r31,hi8(-(Poti))3414 1a5a 8081 ld r24,Z3415 .L332:3416 1a5c 8093 0000 sts Parameter_J16Timing,r243417 1a60 8091 0000 lds r24,Parameter_J16Timing3418 1a64 8630 cpi r24,lo8(6)3419 1a66 00F4 brsh .L2213420 1a68 85E0 ldi r24,lo8(5)3421 1a6a 00C0 rjmp .L3333422 .L221:3423 1a6c 8F3F cpi r24,lo8(-1)3424 1a6e 01F4 brne .L2223425 .L333:3426 1a70 8093 0000 sts Parameter_J16Timing,r243427 .L222:3428 1a74 8091 0000 lds r24,EE_Parameter+773429 1a78 883F cpi r24,lo8(-8)3430 1a7a 00F0 brlo .L3343431 1a7c EFEF ldi r30,lo8(255)3432 1a7e F0E0 ldi r31,hi8(255)3433 1a80 E81B sub r30,r243434 1a82 F109 sbc r31,__zero_reg__3435 1a84 E050 subi r30,lo8(-(Poti))3436 1a86 F040 sbci r31,hi8(-(Poti))3437 1a88 8081 ld r24,Z3438 .L334:3439 1a8a 8093 0000 sts Parameter_J17Timing,r243440 1a8e 8091 0000 lds r24,Parameter_J17Timing3441 1a92 8630 cpi r24,lo8(6)3442 1a94 00F4 brsh .L2263443 1a96 85E0 ldi r24,lo8(5)3444 1a98 00C0 rjmp .L3353445 .L226:3446 1a9a 8F3F cpi r24,lo8(-1)3447 1a9c 01F4 brne .L2273448 .L335:3449 1a9e 8093 0000 sts Parameter_J17Timing,r243450 .L227:3451 1aa2 8091 0000 lds r24,EE_Parameter+563452 1aa6 873F cpi r24,lo8(-9)3453 1aa8 01F4 brne .L2293454 1aaa 4299 sbic 40-0x20,23455 1aac 00C0 rjmp .L3683456 1aae 00C0 rjmp .L2343457 .L229:3458 1ab0 863F cpi r24,lo8(-10)3459 1ab2 01F4 brne .L2333460 1ab4 439B sbis 40-0x20,33461 1ab6 00C0 rjmp .L2343462 .L368:3463 1ab8 8CE8 ldi r24,lo8(-116)3464 1aba 00C0 rjmp .L3363465 .L234:3466 1abc 86E4 ldi r24,lo8(70)3467 1abe 00C0 rjmp .L3363468 .L233:3469 1ac0 883F cpi r24,lo8(-8)3470 1ac2 00F0 brlo .L3363471 1ac4 EFEF ldi r30,lo8(255)3472 1ac6 F0E0 ldi r31,hi8(255)3473 1ac8 E81B sub r30,r243474 1aca F109 sbc r31,__zero_reg__3475 1acc E050 subi r30,lo8(-(Poti))3476 1ace F040 sbci r31,hi8(-(Poti))3477 1ad0 8081 ld r24,Z3478 .L336:3479 1ad2 8093 0000 sts Parameter_Servo3,r243480 1ad6 8091 0000 lds r24,EE_Parameter+573481 1ada 873F cpi r24,lo8(-9)3482 1adc 01F4 brne .L2393483 1ade 4299 sbic 40-0x20,23484 1ae0 00C0 rjmp .L3693485 1ae2 00C0 rjmp .L2443486 .L239:3487 1ae4 863F cpi r24,lo8(-10)3488 1ae6 01F4 brne .L2433489 1ae8 439B sbis 40-0x20,33490 1aea 00C0 rjmp .L2443491 .L369:3492 1aec 8CE8 ldi r24,lo8(-116)3493 1aee 00C0 rjmp .L3373494 .L244:3495 1af0 86E4 ldi r24,lo8(70)3496 1af2 00C0 rjmp .L3373497 .L243:3498 1af4 883F cpi r24,lo8(-8)3499 1af6 00F0 brlo .L3373500 1af8 EFEF ldi r30,lo8(255)3501 1afa F0E0 ldi r31,hi8(255)3502 1afc E81B sub r30,r243503 1afe F109 sbc r31,__zero_reg__3504 1b00 E050 subi r30,lo8(-(Poti))3505 1b02 F040 sbci r31,hi8(-(Poti))3506 1b04 8081 ld r24,Z3507 .L337:3508 1b06 8093 0000 sts Parameter_Servo4,r243509 1b0a 8091 0000 lds r24,EE_Parameter+583510 1b0e 883F cpi r24,lo8(-8)3511 1b10 00F0 brlo .L3383512 1b12 EFEF ldi r30,lo8(255)3513 1b14 F0E0 ldi r31,hi8(255)3514 1b16 E81B sub r30,r243515 1b18 F109 sbc r31,__zero_reg__3516 1b1a E050 subi r30,lo8(-(Poti))3517 1b1c F040 sbci r31,hi8(-(Poti))3518 1b1e 8081 ld r24,Z3519 .L338:3520 1b20 8093 0000 sts Parameter_Servo5,r243521 1b24 8091 0000 lds r24,EE_Parameter+163522 1b28 883F cpi r24,lo8(-8)3523 1b2a 00F0 brlo .L3393524 1b2c EFEF ldi r30,lo8(255)3525 1b2e F0E0 ldi r31,hi8(255)3526 1b30 E81B sub r30,r243527 1b32 F109 sbc r31,__zero_reg__3528 1b34 E050 subi r30,lo8(-(Poti))3529 1b36 F040 sbci r31,hi8(-(Poti))3530 1b38 8081 ld r24,Z3531 .L339:3532 1b3a 8093 0000 sts Parameter_HoehenSchalter,r243533 1b3e 8091 0000 lds r24,EE_Parameter+193534 1b42 883F cpi r24,lo8(-8)3535 1b44 00F0 brlo .L3403536 1b46 EFEF ldi r30,lo8(255)3537 1b48 F0E0 ldi r31,hi8(255)3538 1b4a E81B sub r30,r243539 1b4c F109 sbc r31,__zero_reg__3540 1b4e E050 subi r30,lo8(-(Poti))3541 1b50 F040 sbci r31,hi8(-(Poti))3542 1b52 8081 ld r24,Z3543 .L340:3544 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243545 1b58 8091 0000 lds r24,EE_Parameter+213546 1b5c 883F cpi r24,lo8(-8)3547 1b5e 00F0 brlo .L3413548 1b60 EFEF ldi r30,lo8(255)3549 1b62 F0E0 ldi r31,hi8(255)3550 1b64 E81B sub r30,r243551 1b66 F109 sbc r31,__zero_reg__3552 1b68 E050 subi r30,lo8(-(Poti))3553 1b6a F040 sbci r31,hi8(-(Poti))3554 1b6c 8081 ld r24,Z3555 .L341:3556 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r243557 1b72 8091 0000 lds r24,EE_Parameter+293558 1b76 883F cpi r24,lo8(-8)3559 1b78 00F0 brlo .L3423560 1b7a EFEF ldi r30,lo8(255)3561 1b7c F0E0 ldi r31,hi8(255)3562 1b7e E81B sub r30,r243563 1b80 F109 sbc r31,__zero_reg__3564 1b82 E050 subi r30,lo8(-(Poti))3565 1b84 F040 sbci r31,hi8(-(Poti))3566 1b86 8081 ld r24,Z3567 .L342:3568 1b88 8093 0000 sts Parameter_KompassWirkung,r243569 1b8c 8091 0000 lds r24,EE_Parameter+313570 1b90 883F cpi r24,lo8(-8)3571 1b92 00F0 brlo .L3433572 1b94 EFEF ldi r30,lo8(255)3573 1b96 F0E0 ldi r31,hi8(255)3574 1b98 E81B sub r30,r243575 1b9a F109 sbc r31,__zero_reg__3576 1b9c E050 subi r30,lo8(-(Poti))3577 1b9e F040 sbci r31,hi8(-(Poti))3578 1ba0 8081 ld r24,Z3579 .L343:3580 1ba2 8093 0000 sts Parameter_Gyro_I,r243581 1ba6 8091 0000 lds r24,EE_Parameter+323582 1baa 883F cpi r24,lo8(-8)3583 1bac 00F0 brlo .L3443584 1bae EFEF ldi r30,lo8(255)3585 1bb0 F0E0 ldi r31,hi8(255)3586 1bb2 E81B sub r30,r243587 1bb4 F109 sbc r31,__zero_reg__3588 1bb6 E050 subi r30,lo8(-(Poti))3589 1bb8 F040 sbci r31,hi8(-(Poti))3590 1bba 8081 ld r24,Z3591 .L344:3592 1bbc 8093 0000 sts Parameter_Gyro_D,r243593 1bc0 8091 0000 lds r24,EE_Parameter+333594 1bc4 883F cpi r24,lo8(-8)3595 1bc6 00F0 brlo .L3453596 1bc8 EFEF ldi r30,lo8(255)3597 1bca F0E0 ldi r31,hi8(255)3598 1bcc E81B sub r30,r243599 1bce F109 sbc r31,__zero_reg__3600 1bd0 E050 subi r30,lo8(-(Poti))3601 1bd2 F040 sbci r31,hi8(-(Poti))3602 1bd4 8081 ld r24,Z3603 .L345:3604 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r243605 1bda 8091 0000 lds r24,EE_Parameter+343606 1bde 883F cpi r24,lo8(-8)3607 1be0 00F0 brlo .L3463608 1be2 EFEF ldi r30,lo8(255)3609 1be4 F0E0 ldi r31,hi8(255)3610 1be6 E81B sub r30,r243611 1be8 F109 sbc r31,__zero_reg__3612 1bea E050 subi r30,lo8(-(Poti))3613 1bec F040 sbci r31,hi8(-(Poti))3614 1bee 8081 ld r24,Z3615 .L346:3616 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r243617 1bf4 8091 0000 lds r24,EE_Parameter+403618 1bf8 883F cpi r24,lo8(-8)3619 1bfa 00F0 brlo .L3473620 1bfc EFEF ldi r30,lo8(255)3621 1bfe F0E0 ldi r31,hi8(255)3622 1c00 E81B sub r30,r243623 1c02 F109 sbc r31,__zero_reg__3624 1c04 E050 subi r30,lo8(-(Poti))3625 1c06 F040 sbci r31,hi8(-(Poti))3626 1c08 8081 ld r24,Z3627 .L347:3628 1c0a 8093 0000 sts Parameter_I_Faktor,r243629 1c0e 8091 0000 lds r24,EE_Parameter+413630 1c12 883F cpi r24,lo8(-8)3631 1c14 00F0 brlo .L3483632 1c16 EFEF ldi r30,lo8(255)3633 1c18 F0E0 ldi r31,hi8(255)3634 1c1a E81B sub r30,r243635 1c1c F109 sbc r31,__zero_reg__3636 1c1e E050 subi r30,lo8(-(Poti))3637 1c20 F040 sbci r31,hi8(-(Poti))3638 1c22 8081 ld r24,Z3639 .L348:3640 1c24 8093 0000 sts Parameter_UserParam1,r243641 1c28 8091 0000 lds r24,EE_Parameter+423642 1c2c 883F cpi r24,lo8(-8)3643 1c2e 00F0 brlo .L3493644 1c30 EFEF ldi r30,lo8(255)3645 1c32 F0E0 ldi r31,hi8(255)3646 1c34 E81B sub r30,r243647 1c36 F109 sbc r31,__zero_reg__3648 1c38 E050 subi r30,lo8(-(Poti))3649 1c3a F040 sbci r31,hi8(-(Poti))3650 1c3c 8081 ld r24,Z3651 .L349:3652 1c3e 8093 0000 sts Parameter_UserParam2,r243653 1c42 8091 0000 lds r24,EE_Parameter+433654 1c46 883F cpi r24,lo8(-8)3655 1c48 00F0 brlo .L3503656 1c4a EFEF ldi r30,lo8(255)3657 1c4c F0E0 ldi r31,hi8(255)3658 1c4e E81B sub r30,r243659 1c50 F109 sbc r31,__zero_reg__3660 1c52 E050 subi r30,lo8(-(Poti))3661 1c54 F040 sbci r31,hi8(-(Poti))3662 1c56 8081 ld r24,Z3663 .L350:3664 1c58 8093 0000 sts Parameter_UserParam3,r243665 1c5c 8091 0000 lds r24,EE_Parameter+443666 1c60 883F cpi r24,lo8(-8)3667 1c62 00F0 brlo .L3513668 1c64 EFEF ldi r30,lo8(255)3669 1c66 F0E0 ldi r31,hi8(255)3670 1c68 E81B sub r30,r243671 1c6a F109 sbc r31,__zero_reg__3672 1c6c E050 subi r30,lo8(-(Poti))3673 1c6e F040 sbci r31,hi8(-(Poti))3674 1c70 8081 ld r24,Z3675 .L351:3676 1c72 8093 0000 sts Parameter_UserParam4,r243677 1c76 8091 0000 lds r24,EE_Parameter+703678 1c7a 883F cpi r24,lo8(-8)3679 1c7c 00F0 brlo .L3523680 1c7e EFEF ldi r30,lo8(255)3681 1c80 F0E0 ldi r31,hi8(255)3682 1c82 E81B sub r30,r243683 1c84 F109 sbc r31,__zero_reg__3684 1c86 E050 subi r30,lo8(-(Poti))3685 1c88 F040 sbci r31,hi8(-(Poti))3686 1c8a 8081 ld r24,Z3687 .L352:3688 1c8c 8093 0000 sts Parameter_UserParam5,r243689 1c90 8091 0000 lds r24,EE_Parameter+713690 1c94 883F cpi r24,lo8(-8)3691 1c96 00F0 brlo .L3533692 1c98 EFEF ldi r30,lo8(255)3693 1c9a F0E0 ldi r31,hi8(255)3694 1c9c E81B sub r30,r243695 1c9e F109 sbc r31,__zero_reg__3696 1ca0 E050 subi r30,lo8(-(Poti))3697 1ca2 F040 sbci r31,hi8(-(Poti))3698 1ca4 8081 ld r24,Z3699 .L353:3700 1ca6 8093 0000 sts Parameter_UserParam6,r243701 1caa 8091 0000 lds r24,EE_Parameter+723702 1cae 883F cpi r24,lo8(-8)3703 1cb0 00F0 brlo .L3543704 1cb2 EFEF ldi r30,lo8(255)3705 1cb4 F0E0 ldi r31,hi8(255)3706 1cb6 E81B sub r30,r243707 1cb8 F109 sbc r31,__zero_reg__3708 1cba E050 subi r30,lo8(-(Poti))3709 1cbc F040 sbci r31,hi8(-(Poti))3710 1cbe 8081 ld r24,Z3711 .L354:3712 1cc0 8093 0000 sts Parameter_UserParam7,r243713 1cc4 8091 0000 lds r24,EE_Parameter+733714 1cc8 883F cpi r24,lo8(-8)3715 1cca 00F0 brlo .L3553716 1ccc EFEF ldi r30,lo8(255)3717 1cce F0E0 ldi r31,hi8(255)3718 1cd0 E81B sub r30,r243719 1cd2 F109 sbc r31,__zero_reg__3720 1cd4 E050 subi r30,lo8(-(Poti))3721 1cd6 F040 sbci r31,hi8(-(Poti))3722 1cd8 8081 ld r24,Z3723 .L355:3724 1cda 8093 0000 sts Parameter_UserParam8,r243725 1cde 8091 0000 lds r24,EE_Parameter+453726 1ce2 883F cpi r24,lo8(-8)3727 1ce4 00F0 brlo .L3563728 1ce6 EFEF ldi r30,lo8(255)3729 1ce8 F0E0 ldi r31,hi8(255)3730 1cea E81B sub r30,r243731 1cec F109 sbc r31,__zero_reg__3732 1cee E050 subi r30,lo8(-(Poti))3733 1cf0 F040 sbci r31,hi8(-(Poti))3734 1cf2 8081 ld r24,Z3735 .L356:3736 1cf4 8093 0000 sts Parameter_ServoNickControl,r243737 1cf8 8091 0000 lds r24,EE_Parameter+493738 1cfc 883F cpi r24,lo8(-8)3739 1cfe 00F0 brlo .L3573740 1d00 EFEF ldi r30,lo8(255)3741 1d02 F0E0 ldi r31,hi8(255)3742 1d04 E81B sub r30,r243743 1d06 F109 sbc r31,__zero_reg__3744 1d08 E050 subi r30,lo8(-(Poti))3745 1d0a F040 sbci r31,hi8(-(Poti))3746 1d0c 8081 ld r24,Z3747 .L357:3748 1d0e 8093 0000 sts Parameter_ServoRollControl,r243749 1d12 8091 0000 lds r24,EE_Parameter+463750 1d16 883F cpi r24,lo8(-8)3751 1d18 00F0 brlo .L3583752 1d1a EFEF ldi r30,lo8(255)3753 1d1c F0E0 ldi r31,hi8(255)3754 1d1e E81B sub r30,r243755 1d20 F109 sbc r31,__zero_reg__3756 1d22 E050 subi r30,lo8(-(Poti))3757 1d24 F040 sbci r31,hi8(-(Poti))3758 1d26 8081 ld r24,Z3759 .L358:3760 1d28 8093 0000 sts Parameter_ServoNickComp,r243761 1d2c 8091 0000 lds r24,EE_Parameter+503762 1d30 883F cpi r24,lo8(-8)3763 1d32 00F0 brlo .L3593764 1d34 EFEF ldi r30,lo8(255)3765 1d36 F0E0 ldi r31,hi8(255)3766 1d38 E81B sub r30,r243767 1d3a F109 sbc r31,__zero_reg__3768 1d3c E050 subi r30,lo8(-(Poti))3769 1d3e F040 sbci r31,hi8(-(Poti))3770 1d40 8081 ld r24,Z3771 .L359:3772 1d42 8093 0000 sts Parameter_ServoRollComp,r243773 1d46 8091 0000 lds r24,EE_Parameter+593774 1d4a 883F cpi r24,lo8(-8)3775 1d4c 00F0 brlo .L3603776 1d4e EFEF ldi r30,lo8(255)3777 1d50 F0E0 ldi r31,hi8(255)3778 1d52 E81B sub r30,r243779 1d54 F109 sbc r31,__zero_reg__3780 1d56 E050 subi r30,lo8(-(Poti))3781 1d58 F040 sbci r31,hi8(-(Poti))3782 1d5a 8081 ld r24,Z3783 .L360:3784 1d5c 8093 0000 sts Parameter_LoopGasLimit,r243785 1d60 8091 0000 lds r24,EE_Parameter+623786 1d64 883F cpi r24,lo8(-8)3787 1d66 00F0 brlo .L3613788 1d68 EFEF ldi r30,lo8(255)3789 1d6a F0E0 ldi r31,hi8(255)3790 1d6c E81B sub r30,r243791 1d6e F109 sbc r31,__zero_reg__3792 1d70 E050 subi r30,lo8(-(Poti))3793 1d72 F040 sbci r31,hi8(-(Poti))3794 1d74 8081 ld r24,Z3795 .L361:3796 1d76 8093 0000 sts Parameter_AchsKopplung1,r243797 1d7a 8091 0000 lds r24,EE_Parameter+633798 1d7e 883F cpi r24,lo8(-8)3799 1d80 00F0 brlo .L3623800 1d82 EFEF ldi r30,lo8(255)3801 1d84 F0E0 ldi r31,hi8(255)3802 1d86 E81B sub r30,r243803 1d88 F109 sbc r31,__zero_reg__3804 1d8a E050 subi r30,lo8(-(Poti))3805 1d8c F040 sbci r31,hi8(-(Poti))3806 1d8e 8081 ld r24,Z3807 .L362:3808 1d90 8093 0000 sts Parameter_AchsKopplung2,r243809 1d94 8091 0000 lds r24,EE_Parameter+643810 1d98 883F cpi r24,lo8(-8)3811 1d9a 00F0 brlo .L3633812 1d9c EFEF ldi r30,lo8(255)3813 1d9e F0E0 ldi r31,hi8(255)3814 1da0 E81B sub r30,r243815 1da2 F109 sbc r31,__zero_reg__3816 1da4 E050 subi r30,lo8(-(Poti))3817 1da6 F040 sbci r31,hi8(-(Poti))3818 1da8 8081 ld r24,Z3819 .L363:3820 1daa 8093 0000 sts Parameter_CouplingYawCorrection,r243821 1dae 8091 0000 lds r24,EE_Parameter+1043822 1db2 883F cpi r24,lo8(-8)3823 1db4 00F0 brlo .L3643824 1db6 EFEF ldi r30,lo8(255)3825 1db8 F0E0 ldi r31,hi8(255)3826 1dba E81B sub r30,r243827 1dbc F109 sbc r31,__zero_reg__3828 1dbe E050 subi r30,lo8(-(Poti))3829 1dc0 F040 sbci r31,hi8(-(Poti))3830 1dc2 8081 ld r24,Z3831 .L364:3832 1dc4 8093 0000 sts Parameter_MaximumAltitude,r243833 1dc8 9091 0000 lds r25,NC_To_FC_MaxAltitude3834 1dcc 9923 tst r253835 1dce 01F0 breq .L3053836 1dd0 8091 0000 lds r24,Parameter_MaximumAltitude3837 1dd4 9817 cp r25,r243838 1dd6 00F0 brlo .L3043839 .L305:3840 1dd8 8091 0000 lds r24,Parameter_MaximumAltitude3841 1ddc 8823 tst r243842 1dde 01F4 brne .L3033843 .L304:3844 1de0 9093 0000 sts Parameter_MaximumAltitude,r253845 .L303:3846 1de4 8091 0000 lds r24,EE_Parameter+133847 1de8 8093 0000 sts Parameter_GlobalConfig,r243848 1dec 8091 0000 lds r24,EE_Parameter+1103849 1df0 8093 0000 sts Parameter_ExtraConfig,r243850 1df4 8091 0000 lds r24,EE_Parameter+693851 1df8 883F cpi r24,lo8(-8)3852 1dfa 00F0 brlo .L3653853 1dfc EFEF ldi r30,lo8(255)3854 1dfe F0E0 ldi r31,hi8(255)3855 1e00 E81B sub r30,r243856 1e02 F109 sbc r31,__zero_reg__3857 1e04 E050 subi r30,lo8(-(Poti))3858 1e06 F040 sbci r31,hi8(-(Poti))3859 1e08 8081 ld r24,Z3860 .L365:3861 1e0a 8093 0000 sts Parameter_DynamicStability,r243862 1e0e 8091 0000 lds r24,EE_Parameter+973863 1e12 883F cpi r24,lo8(-8)3864 1e14 00F0 brlo .L3663865 1e16 EFEF ldi r30,lo8(255)3866 1e18 F0E0 ldi r31,hi8(255)3867 1e1a E81B sub r30,r243868 1e1c F109 sbc r31,__zero_reg__3869 1e1e E050 subi r30,lo8(-(Poti))3870 1e20 F040 sbci r31,hi8(-(Poti))3871 1e22 8081 ld r24,Z3872 .L366:3873 1e24 8093 0000 sts Parameter_ExternalControl,r243874 1e28 8091 0000 lds r24,Parameter_I_Faktor3875 1e2c 282F mov r18,r243876 1e2e 3327 clr r193877 1e30 2F5F subi r18,lo8(-(1))3878 1e32 3F4F sbci r19,hi8(-(1))3879 1e34 8CE3 ldi r24,lo8(10300)3880 1e36 98E2 ldi r25,hi8(10300)3881 1e38 B901 movw r22,r183882 1e3a 0E94 0000 call __divmodhi43883 1e3e 7093 0000 sts (Ki)+1,r233884 1e42 6093 0000 sts Ki,r223885 1e46 8091 0000 lds r24,EE_Parameter+273886 1e4a 8093 0000 sts MAX_GAS,r243887 1e4e 8091 0000 lds r24,EE_Parameter+263888 1e52 8093 0000 sts MIN_GAS,r243889 1e56 9091 0000 lds r25,EE_Parameter+993890 1e5a 9333 cpi r25,lo8(51)3891 1e5c 00F4 brsh .+23892 1e5e 00C0 rjmp .L3103893 1e60 81E0 ldi r24,lo8(1)3894 1e62 8093 0000 sts CareFree,r243895 1e66 983F cpi r25,lo8(-8)3896 1e68 00F0 brlo .L3113897 1e6a EFEF ldi r30,lo8(255)3898 1e6c F0E0 ldi r31,hi8(255)3899 1e6e E91B sub r30,r253900 1e70 F109 sbc r31,__zero_reg__3901 1e72 E050 subi r30,lo8(-(Poti))3902 1e74 F040 sbci r31,hi8(-(Poti))3903 1e76 8081 ld r24,Z3904 1e78 8233 cpi r24,lo8(50)3905 1e7a 00F4 brsh .L3113906 1e7c 1092 0000 sts CareFree,__zero_reg__3907 .L311:3908 1e80 8091 0000 lds r24,carefree_old3909 1e84 2091 0000 lds r18,CareFree3910 1e88 8217 cp r24,r183911 1e8a 01F0 breq .L3123912 1e8c 8330 cpi r24,lo8(3)3913 1e8e 00F4 brsh .L3133914 1e90 3091 0000 lds r19,SpeakHoTT3915 1e94 2223 tst r183916 1e96 01F0 breq .L3143917 1e98 8CED ldi r24,lo8(1500)3918 1e9a 95E0 ldi r25,hi8(1500)3919 1e9c 9093 0000 sts (beeptime)+1,r253920 1ea0 8093 0000 sts beeptime,r243921 1ea4 3323 tst r193922 1ea6 01F4 brne .L3163923 1ea8 8EE2 ldi r24,lo8(46)3924 1eaa 00C0 rjmp .L3673925 .L314:3926 1eac 88EC ldi r24,lo8(200)3927 1eae 90E0 ldi r25,hi8(200)3928 1eb0 9093 0000 sts (beeptime)+1,r253929 1eb4 8093 0000 sts beeptime,r243930 1eb8 3323 tst r193931 1eba 01F4 brne .L3163932 1ebc 87E1 ldi r24,lo8(23)3933 .L367:3934 1ebe 8093 0000 sts SpeakHoTT,r243935 .L316:3936 1ec2 85E0 ldi r24,lo8(5)3937 1ec4 8093 0000 sts NeueKompassRichtungMerken,r243938 1ec8 2093 0000 sts carefree_old,r183939 1ecc 00C0 rjmp .L3123940 .L313:3941 1ece 8150 subi r24,lo8(-(-1))3942 1ed0 8093 0000 sts carefree_old,r243943 .L312:3944 1ed4 8091 0000 lds r24,FromNaviCtrl+73945 1ed8 9091 0000 lds r25,(FromNaviCtrl+7)+13946 1edc 97FF sbrs r25,73947 1ede 00C0 rjmp .L3203948 1ee0 8091 0000 lds r24,CareFree3949 1ee4 8823 tst r243950 1ee6 01F0 breq .L3203951 1ee8 8091 0000 lds r24,VersionInfo+53952 1eec 8068 ori r24,lo8(-128)3953 1eee 8093 0000 sts VersionInfo+5,r243954 1ef2 00C0 rjmp .L3203955 .L310:3956 1ef4 1092 0000 sts CareFree,__zero_reg__3957 1ef8 8AE0 ldi r24,lo8(10)3958 1efa 8093 0000 sts carefree_old,r243959 .L320:3960 1efe 8091 0000 lds r24,FromNaviCtrl+73961 1f02 9091 0000 lds r25,(FromNaviCtrl+7)+13962 1f06 97FF sbrs r25,73963 1f08 00C0 rjmp .L3213964 1f0a 8091 0000 lds r24,MotorenEin3965 1f0e 8823 tst r243966 1f10 01F0 breq .L3213967 1f12 8091 0000 lds r24,CareFree3968 1f16 8823 tst r243969 1f18 01F0 breq .L3213970 1f1a 8091 0000 lds r24,BeepMuster3971 1f1e 9091 0000 lds r25,(BeepMuster)+13972 1f22 8F5F subi r24,lo8(-1)3973 1f24 9F4F sbci r25,hi8(-1)3974 1f26 01F4 brne .L3213975 1f28 88E9 ldi r24,lo8(15000)3976 1f2a 9AE3 ldi r25,hi8(15000)3977 1f2c 9093 0000 sts (beeptime)+1,r253978 1f30 8093 0000 sts beeptime,r243979 1f34 80E0 ldi r24,lo8(-23552)3980 1f36 94EA ldi r25,hi8(-23552)3981 1f38 9093 0000 sts (BeepMuster)+1,r253982 1f3c 8093 0000 sts BeepMuster,r243983 1f40 1092 0000 sts CareFree,__zero_reg__3984 .L321:3985 1f44 8091 0000 lds r24,CareFree3986 1f48 8823 tst r243987 1f4a 01F0 breq .L3223988 1f4c 8091 0000 lds r24,FC_StatusFlags23989 1f50 8160 ori r24,lo8(1)3990 1f52 8093 0000 sts FC_StatusFlags2,r243991 1f56 8091 0000 lds r24,Parameter_AchsKopplung13992 1f5a 823D cpi r24,lo8(-46)3993 1f5c 00F4 brsh .L1903994 1f5e 825E subi r24,lo8(-(30))3995 1f60 8093 0000 sts Parameter_AchsKopplung1,r243996 1f64 00C0 rjmp .L1903997 .L322:3998 1f66 8091 0000 lds r24,FC_StatusFlags23999 1f6a 8E7F andi r24,lo8(-2)4000 1f6c 8093 0000 sts FC_StatusFlags2,r244001 .L190:4002 /* epilogue: frame size=0 */4003 1f70 DF91 pop r294004 1f72 CF91 pop r284005 1f74 0895 ret4006 /* epilogue end (size=3) */4007 /* function ParameterZuordnung size 798 (793) */4009 .lcomm sollGier.0,44010 .lcomm tmp_long.1,44011 .lcomm tmp_long2.2,44012 .lcomm IntegralFehlerNick.3,44013 .lcomm IntegralFehlerRoll.4,44014 .lcomm RcLostTimer.5,24015 .lcomm delay_neutral.6,14016 .lcomm delay_einschalten.7,14017 .lcomm delay_ausschalten.8,14018 .lcomm move_safety_switch.9,14019 .lcomm ausgleichNick.10,44020 .lcomm ausgleichRoll.11,44021 .lcomm stick_nick.12,24022 .lcomm stick_roll.13,24023 .lcomm cnt.14,24024 .lcomm last_n_p.15,14025 .lcomm last_n_n.16,14026 .lcomm last_r_p.17,14027 .lcomm last_r_n.18,14028 .lcomm MittelIntegralNick_Alt.19,44029 .lcomm MittelIntegralRoll_Alt.20,44030 .lcomm HeightTrimming.21,24031 .lcomm FilterHCGas.22,24032 .lcomm HoverGasFilter.23,44033 .data4036 delay.24:4037 0051 64 .byte 1004038 .lcomm BaroAtUpperLimit.25,14039 .lcomm BaroAtLowerLimit.26,14040 .text4041 .global MotorRegler4043 MotorRegler:4044 /* prologue: frame size=23 */4045 1f76 A7E1 ldi r26,lo8(23)4046 1f78 B0E0 ldi r27,hi8(23)4047 1f7a E0E0 ldi r30,pm_lo8(1f)4048 1f7c F0E0 ldi r31,pm_hi8(1f)4049 1f7e 0C94 0000 jmp __prologue_saves__+04050 1:4051 /* prologue end (size=6) */4052 1f82 0E94 0000 call Mittelwert4053 1f86 8091 0000 lds r24,FC_StatusFlags4054 1f8a 9927 clr r254055 1f8c 8471 andi r24,lo8(20)4056 1f8e 9070 andi r25,hi8(20)4057 1f90 892B or r24,r254058 1f92 01F4 brne .L3714059 1f94 8091 0000 lds r24,EE_Parameter+1114060 1f98 82FF sbrs r24,24061 1f9a 00C0 rjmp .L3724062 1f9c 8091 0000 lds r24,HoverGas4063 1fa0 9091 0000 lds r25,(HoverGas)+14064 1fa4 0097 sbiw r24,04065 1fa6 01F0 breq .L3734066 1fa8 02E0 ldi r16,hi8(600)4067 1faa 8835 cpi r24,lo8(600)4068 1fac 9007 cpc r25,r164069 1fae 04F4 brge .L3734070 1fb0 9C01 movw r18,r244071 1fb2 97FF sbrs r25,74072 1fb4 00C0 rjmp .L3744073 1fb6 2D5F subi r18,lo8(-(3))4074 1fb8 3F4F sbci r19,hi8(-(3))4075 .L374:4076 1fba 3595 asr r194077 1fbc 2795 ror r184078 1fbe 3595 asr r194079 1fc0 2795 ror r184080 1fc2 8091 0000 lds r24,EE_Parameter+374081 1fc6 9927 clr r254082 1fc8 289F mul r18,r244083 1fca A001 movw r20,r04084 1fcc 299F mul r18,r254085 1fce 500D add r21,r04086 1fd0 389F mul r19,r244087 1fd2 500D add r21,r04088 1fd4 1124 clr r14089 1fd6 CA01 movw r24,r204090 1fd8 64E6 ldi r22,lo8(100)4091 1fda 70E0 ldi r23,hi8(100)4092 1fdc 0E94 0000 call __divmodhi44093 1fe0 CB01 movw r24,r224094 1fe2 00C0 rjmp .L8934095 .L373:4096 1fe4 8DE2 ldi r24,lo8(45)4097 1fe6 90E0 ldi r25,hi8(45)4098 1fe8 00C0 rjmp .L8934099 .L372:4100 1fea 8091 0000 lds r24,EE_Parameter+374101 1fee 9927 clr r254102 .L893:4103 1ff0 9093 0000 sts (HooverGasEmergencyPercent)+1,r254104 1ff4 8093 0000 sts HooverGasEmergencyPercent,r244105 .L371:4106 1ff8 2091 0000 lds r18,GasIsZeroCnt4107 1ffc 3091 0000 lds r19,(GasIsZeroCnt)+14108 2000 55E7 ldi r21,hi8(30000)4109 2002 2033 cpi r18,lo8(30000)4110 2004 3507 cpc r19,r214111 2006 01F4 brne .L3774112 2008 1092 0000 sts (StickGas)+1,__zero_reg__4113 200c 1092 0000 sts StickGas,__zero_reg__4114 2010 8091 0000 lds r24,MIN_GAS4115 2014 9927 clr r254116 2016 9093 0000 sts (HooverGasEmergencyPercent)+1,r254117 201a 8093 0000 sts HooverGasEmergencyPercent,r244118 .L377:4119 201e 6091 0000 lds r22,StickGas4120 2022 7091 0000 lds r23,(StickGas)+14121 2026 7A83 std Y+2,r234122 2028 6983 std Y+1,r224123 202a 8091 0000 lds r24,MIN_GAS4124 202e 9927 clr r254125 2030 0A96 adiw r24,104126 2032 6817 cp r22,r244127 2034 7907 cpc r23,r254128 2036 04F4 brge .L3784129 2038 9A83 std Y+2,r254130 203a 8983 std Y+1,r244131 .L378:4132 203c 8091 0000 lds r24,SenderOkay4133 2040 8436 cpi r24,lo8(100)4134 2042 00F0 brlo .+24135 2044 00C0 rjmp .L3794136 2046 8091 0000 lds r24,FC_StatusFlags24137 204a 82FD sbrc r24,24138 204c 00C0 rjmp .L3794139 204e 8091 0000 lds r24,RcLostTimer.54140 2052 9091 0000 lds r25,(RcLostTimer.5)+14141 2056 0097 sbiw r24,04142 2058 01F0 breq .L3804143 205a 0197 sbiw r24,14144 205c 9093 0000 sts (RcLostTimer.5)+1,r254145 2060 8093 0000 sts RcLostTimer.5,r244146 2064 00C0 rjmp .L3814147 .L380:4148 2066 1092 0000 sts MotorenEin,__zero_reg__4149 206a 9093 0000 sts (modell_fliegt)+1,r254150 206e 8093 0000 sts modell_fliegt,r244151 2072 8091 0000 lds r24,FC_StatusFlags4152 2076 8D7E andi r24,lo8(-19)4153 2078 8093 0000 sts FC_StatusFlags,r244154 .L381:4155 207c 8091 0000 lds r24,PlatinenVersion4156 2080 8A30 cpi r24,lo8(10)4157 2082 01F0 breq .L3834158 2084 8431 cpi r24,lo8(20)4159 2086 00F0 brlo .L3824160 .L383:4161 2088 289A sbi 37-0x20,04162 208a 00C0 rjmp .L3844163 .L382:4164 208c 2898 cbi 37-0x20,04165 .L384:4166 208e 8091 0000 lds r24,modell_fliegt4167 2092 9091 0000 lds r25,(modell_fliegt)+14168 2096 895E subi r24,lo8(1001)4169 2098 9340 sbci r25,hi8(1001)4170 209a 00F0 brlo .L3854171 209c 8091 0000 lds r24,Capacity+64172 20a0 8536 cpi r24,lo8(101)4173 20a2 00F0 brlo .L3854174 20a4 8091 0000 lds r24,HooverGasEmergencyPercent4175 20a8 9091 0000 lds r25,(HooverGasEmergencyPercent)+14176 20ac 9A83 std Y+2,r254177 20ae 8983 std Y+1,r244178 20b0 8091 0000 lds r24,FC_StatusFlags4179 20b4 8061 ori r24,lo8(16)4180 20b6 8093 0000 sts FC_StatusFlags,r244181 20ba 8091 0000 lds r24,EE_Parameter+14182 20be A82F mov r26,r244183 20c0 BB27 clr r274184 20c2 AA0F add r26,r264185 20c4 BB1F adc r27,r274186 20c6 FD01 movw r30,r264187 20c8 E050 subi r30,lo8(-(PPM_diff))4188 20ca F040 sbci r31,hi8(-(PPM_diff))4189 20cc 1182 std Z+1,__zero_reg__4190 20ce 1082 st Z,__zero_reg__4191 20d0 8091 0000 lds r24,EE_Parameter+24192 20d4 282F mov r18,r244193 20d6 3327 clr r194194 20d8 220F add r18,r184195 20da 331F adc r19,r194196 20dc C901 movw r24,r184197 20de 8050 subi r24,lo8(-(PPM_diff))4198 20e0 9040 sbci r25,hi8(-(PPM_diff))4199 20e2 FC01 movw r30,r244200 20e4 1182 std Z+1,__zero_reg__4201 20e6 1082 st Z,__zero_reg__4202 20e8 A050 subi r26,lo8(-(PPM_in))4203 20ea B040 sbci r27,hi8(-(PPM_in))4204 20ec 1196 adiw r26,14205 20ee 1C92 st X,__zero_reg__4206 20f0 1E92 st -X,__zero_reg__4207 20f2 2050 subi r18,lo8(-(PPM_in))4208 20f4 3040 sbci r19,hi8(-(PPM_in))4209 20f6 D901 movw r26,r184210 20f8 1196 adiw r26,14211 20fa 1C92 st X,__zero_reg__4212 20fc 1E92 st -X,__zero_reg__4213 20fe 8091 0000 lds r24,EE_Parameter+44214 2102 E82F mov r30,r244215 2104 FF27 clr r314216 2106 EE0F add r30,r304217 2108 FF1F adc r31,r314218 210a E050 subi r30,lo8(-(PPM_in))4219 210c F040 sbci r31,hi8(-(PPM_in))4220 210e 1182 std Z+1,__zero_reg__4221 2110 1082 st Z,__zero_reg__4222 2112 00C0 rjmp .L3874223 .L385:4224 2114 1092 0000 sts MotorenEin,__zero_reg__4225 2118 00C0 rjmp .L3874226 .L379:4227 211a 8091 0000 lds r24,SenderOkay4228 211e 8D38 cpi r24,lo8(-115)4229 2120 00F4 brsh .+24230 2122 00C0 rjmp .L3884231 2124 8091 0000 lds r24,FC_StatusFlags4232 2128 8F7E andi r24,lo8(-17)4233 212a 8093 0000 sts FC_StatusFlags,r244234 212e 9091 0000 lds r25,EE_Parameter+384235 2132 82E3 ldi r24,lo8(50)4236 2134 989F mul r25,r244237 2136 C001 movw r24,r04238 2138 1124 clr r14239 213a 9093 0000 sts (RcLostTimer.5)+1,r254240 213e 8093 0000 sts RcLostTimer.5,r244241 2142 E981 ldd r30,Y+14242 2144 FA81 ldd r31,Y+24243 2146 B997 sbiw r30,414244 2148 04F0 brlt .L3894245 214a 8091 0000 lds r24,MotorenEin4246 214e 8823 tst r244247 2150 01F0 breq .L3894248 2152 8091 0000 lds r24,modell_fliegt4249 2156 9091 0000 lds r25,(modell_fliegt)+14250 215a FFEF ldi r31,hi8(-1)4251 215c 8F3F cpi r24,lo8(-1)4252 215e 9F07 cpc r25,r314253 2160 01F0 breq .L3894254 2162 0196 adiw r24,14255 2164 9093 0000 sts (modell_fliegt)+1,r254256 2168 8093 0000 sts modell_fliegt,r244257 .L389:4258 216c 8091 0000 lds r24,modell_fliegt4259 2170 9091 0000 lds r25,(modell_fliegt)+14260 2174 8F3F cpi r24,2554261 2176 9105 cpc r25,__zero_reg__4262 2178 01F0 breq .+24263 217a 00F4 brsh .L3914264 217c 1092 0000 sts SummeNick,__zero_reg__4265 2180 1092 0000 sts (SummeNick)+1,__zero_reg__4266 2184 1092 0000 sts (SummeNick)+2,__zero_reg__4267 2188 1092 0000 sts (SummeNick)+3,__zero_reg__4268 218c 1092 0000 sts SummeRoll,__zero_reg__4269 2190 1092 0000 sts (SummeRoll)+1,__zero_reg__4270 2194 1092 0000 sts (SummeRoll)+2,__zero_reg__4271 2198 1092 0000 sts (SummeRoll)+3,__zero_reg__4272 219c 1092 0000 sts sollGier.0,__zero_reg__4273 21a0 1092 0000 sts (sollGier.0)+1,__zero_reg__4274 21a4 1092 0000 sts (sollGier.0)+2,__zero_reg__4275 21a8 1092 0000 sts (sollGier.0)+3,__zero_reg__4276 21ac 1092 0000 sts Mess_Integral_Gier,__zero_reg__4277 21b0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4278 21b4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4279 21b8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4280 21bc 00C0 rjmp .L3924281 .L391:4282 21be 8091 0000 lds r24,FC_StatusFlags4283 21c2 8260 ori r24,lo8(2)4284 21c4 8093 0000 sts FC_StatusFlags,r244285 .L392:4286 21c8 8091 0000 lds r24,EE_Parameter+34287 21cc E82F mov r30,r244288 21ce FF27 clr r314289 21d0 EE0F add r30,r304290 21d2 FF1F adc r31,r314291 21d4 E050 subi r30,lo8(-(PPM_in))4292 21d6 F040 sbci r31,hi8(-(PPM_in))4293 21d8 8081 ld r24,Z4294 21da 9181 ldd r25,Z+14295 21dc 8135 cpi r24,814296 21de 9105 cpc r25,__zero_reg__4297 21e0 04F4 brge .+24298 21e2 00C0 rjmp .L3934299 21e4 2091 0000 lds r18,MotorenEin4300 21e8 2223 tst r184301 21ea 01F0 breq .+24302 21ec 00C0 rjmp .L3934303 21ee 8091 0000 lds r24,EE_Parameter+44304 21f2 E82F mov r30,r244305 21f4 FF27 clr r314306 21f6 EE0F add r30,r304307 21f8 FF1F adc r31,r314308 21fa E050 subi r30,lo8(-(PPM_in))4309 21fc F040 sbci r31,hi8(-(PPM_in))4310 21fe 8081 ld r24,Z4311 2200 9181 ldd r25,Z+14312 2202 8C34 cpi r24,764313 2204 9105 cpc r25,__zero_reg__4314 2206 04F4 brge .+24315 2208 00C0 rjmp .L3944316 220a 8091 0000 lds r24,delay_neutral.64317 220e 8F5F subi r24,lo8(-(1))4318 2210 8093 0000 sts delay_neutral.6,r244319 2214 893C cpi r24,lo8(-55)4320 2216 00F4 brsh .+24321 2218 00C0 rjmp .L3934322 221a 2093 0000 sts delay_neutral.6,r184323 221e 1092 0000 sts (modell_fliegt)+1,__zero_reg__4324 2222 1092 0000 sts modell_fliegt,__zero_reg__4325 2226 3091 0000 lds r19,EE_Parameter+14326 222a E32F mov r30,r194327 222c FF27 clr r314328 222e EE0F add r30,r304329 2230 FF1F adc r31,r314330 2232 E050 subi r30,lo8(-(PPM_in))4331 2234 F040 sbci r31,hi8(-(PPM_in))4332 2236 8081 ld r24,Z4333 2238 9181 ldd r25,Z+14334 223a 8734 cpi r24,714335 223c 9105 cpc r25,__zero_reg__4336 223e 04F4 brge .L3974337 2240 8091 0000 lds r24,EE_Parameter+24338 2244 E82F mov r30,r244339 2246 FF27 clr r314340 2248 EE0F add r30,r304341 224a FF1F adc r31,r314342 224c E050 subi r30,lo8(-(PPM_in))4343 224e F040 sbci r31,hi8(-(PPM_in))4344 2250 8081 ld r24,Z4345 2252 9181 ldd r25,Z+14346 2254 0190 ld __tmp_reg__,Z+4347 2256 F081 ld r31,Z4348 2258 E02D mov r30,__tmp_reg__4349 225a F7FF sbrs r31,74350 225c 00C0 rjmp .L3984351 225e F095 com r314352 2260 E195 neg r304353 2262 FF4F sbci r31,lo8(-1)4354 .L398:4355 2264 E734 cpi r30,714356 2266 F105 cpc r31,__zero_reg__4357 2268 04F4 brge .+24358 226a 00C0 rjmp .L3964359 .L397:4360 226c 41E0 ldi r20,lo8(1)4361 226e 2091 0000 lds r18,EE_Parameter+24362 2272 A22F mov r26,r184363 2274 BB27 clr r274364 2276 AA0F add r26,r264365 2278 BB1F adc r27,r274366 227a A050 subi r26,lo8(-(PPM_in))4367 227c B040 sbci r27,hi8(-(PPM_in))4368 227e 8D91 ld r24,X+4369 2280 9C91 ld r25,X4370 2282 1197 sbiw r26,14371 2284 8734 cpi r24,714372 2286 9105 cpc r25,__zero_reg__4373 2288 04F0 brlt .L3994374 228a E32F mov r30,r194375 228c FF27 clr r314376 228e EE0F add r30,r304377 2290 FF1F adc r31,r314378 2292 E050 subi r30,lo8(-(PPM_in))4379 2294 F040 sbci r31,hi8(-(PPM_in))4380 2296 8081 ld r24,Z4381 2298 9181 ldd r25,Z+14382 .L399:4383 229a 8D91 ld r24,X+4384 229c 9C91 ld r25,X4385 229e 8734 cpi r24,714386 22a0 9105 cpc r25,__zero_reg__4387 22a2 04F0 brlt .L4004388 22a4 8091 0000 lds r24,EE_Parameter+14389 22a8 E82F mov r30,r244390 22aa FF27 clr r314391 22ac EE0F add r30,r304392 22ae FF1F adc r31,r314393 22b0 E050 subi r30,lo8(-(PPM_in))4394 22b2 F040 sbci r31,hi8(-(PPM_in))4395 22b4 8081 ld r24,Z4396 22b6 9181 ldd r25,Z+14397 22b8 8734 cpi r24,714398 22ba 9105 cpc r25,__zero_reg__4399 22bc 04F0 brlt .L4004400 22be 42E0 ldi r20,lo8(2)4401 .L400:4402 22c0 E22F mov r30,r184403 22c2 FF27 clr r314404 22c4 EE0F add r30,r304405 22c6 FF1F adc r31,r314406 22c8 E050 subi r30,lo8(-(PPM_in))4407 22ca F040 sbci r31,hi8(-(PPM_in))4408 22cc 8081 ld r24,Z4409 22ce 9181 ldd r25,Z+14410 22d0 8634 cpi r24,704411 22d2 9105 cpc r25,__zero_reg__4412 22d4 04F4 brge .L4014413 22d6 8091 0000 lds r24,EE_Parameter+14414 22da E82F mov r30,r244415 22dc FF27 clr r314416 22de EE0F add r30,r304417 22e0 FF1F adc r31,r314418 22e2 E050 subi r30,lo8(-(PPM_in))4419 22e4 F040 sbci r31,hi8(-(PPM_in))4420 22e6 8081 ld r24,Z4421 22e8 9181 ldd r25,Z+14422 22ea 8734 cpi r24,714423 22ec 9105 cpc r25,__zero_reg__4424 22ee 04F0 brlt .L4014425 22f0 43E0 ldi r20,lo8(3)4426 .L401:4427 22f2 E22F mov r30,r184428 22f4 FF27 clr r314429 22f6 EE0F add r30,r304430 22f8 FF1F adc r31,r314431 22fa E050 subi r30,lo8(-(PPM_in))4432 22fc F040 sbci r31,hi8(-(PPM_in))4433 22fe 8081 ld r24,Z4434 2300 9181 ldd r25,Z+14435 2302 8A5B subi r24,lo8(-70)4436 2304 9F4F sbci r25,hi8(-70)4437 2306 04F4 brge .L4024438 2308 8091 0000 lds r24,EE_Parameter+14439 230c E82F mov r30,r244440 230e FF27 clr r314441 2310 EE0F add r30,r304442 2312 FF1F adc r31,r314443 2314 E050 subi r30,lo8(-(PPM_in))4444 2316 F040 sbci r31,hi8(-(PPM_in))4445 2318 8081 ld r24,Z4446 231a 9181 ldd r25,Z+14447 231c 8734 cpi r24,714448 231e 9105 cpc r25,__zero_reg__4449 2320 04F0 brlt .L4024450 2322 44E0 ldi r20,lo8(4)4451 .L402:4452 2324 E22F mov r30,r184453 2326 FF27 clr r314454 2328 EE0F add r30,r304455 232a FF1F adc r31,r314456 232c E050 subi r30,lo8(-(PPM_in))4457 232e F040 sbci r31,hi8(-(PPM_in))4458 2330 8081 ld r24,Z4459 2332 9181 ldd r25,Z+14460 2334 8A5B subi r24,lo8(-70)4461 2336 9F4F sbci r25,hi8(-70)4462 2338 04F4 brge .L4034463 233a 8091 0000 lds r24,EE_Parameter+14464 233e E82F mov r30,r244465 2340 FF27 clr r314466 2342 EE0F add r30,r304467 2344 FF1F adc r31,r314468 2346 E050 subi r30,lo8(-(PPM_in))4469 2348 F040 sbci r31,hi8(-(PPM_in))4470 234a 8081 ld r24,Z4471 234c 9181 ldd r25,Z+14472 234e 8634 cpi r24,704473 2350 9105 cpc r25,__zero_reg__4474 2352 04F4 brge .L4034475 2354 45E0 ldi r20,lo8(5)4476 .L403:4477 2356 842F mov r24,r204478 2358 0E94 0000 call SetActiveParamSet4479 .L396:4480 235c 8091 0000 lds r24,EE_Parameter+24481 2360 E82F mov r30,r244482 2362 FF27 clr r314483 2364 EE0F add r30,r304484 2366 FF1F adc r31,r314485 2368 E050 subi r30,lo8(-(PPM_in))4486 236a F040 sbci r31,hi8(-(PPM_in))4487 236c 8081 ld r24,Z4488 236e 9181 ldd r25,Z+14489 2370 0190 ld __tmp_reg__,Z+4490 2372 F081 ld r31,Z4491 2374 E02D mov r30,__tmp_reg__4492 2376 F7FF sbrs r31,74493 2378 00C0 rjmp .L4054494 237a F095 com r314495 237c E195 neg r304496 237e FF4F sbci r31,lo8(-1)4497 .L405:4498 2380 7E97 sbiw r30,304499 2382 04F4 brge .L4044500 2384 8091 0000 lds r24,EE_Parameter+14501 2388 E82F mov r30,r244502 238a FF27 clr r314503 238c EE0F add r30,r304504 238e FF1F adc r31,r314505 2390 E050 subi r30,lo8(-(PPM_in))4506 2392 F040 sbci r31,hi8(-(PPM_in))4507 2394 8081 ld r24,Z4508 2396 9181 ldd r25,Z+14509 2398 8A5B subi r24,lo8(-70)4510 239a 9F4F sbci r25,hi8(-70)4511 239c 04F4 brge .L4044512 239e 81E0 ldi r24,lo8(1)4513 23a0 8093 0000 sts WinkelOut+6,r244514 23a4 1092 0000 sts CalibrationDone,__zero_reg__4515 23a8 88EE ldi r24,lo8(1000)4516 23aa 93E0 ldi r25,hi8(1000)4517 23ac 9093 0000 sts (beeptime)+1,r254518 23b0 8093 0000 sts beeptime,r244519 23b4 00C0 rjmp .L3934520 .L404:4521 23b6 0E94 0000 call GetActiveParamSet4522 23ba 0E94 0000 call ParamSet_ReadFromEEProm4523 23be 80E0 ldi r24,lo8(0)4524 23c0 0E94 0000 call LipoDetection4525 23c4 8091 0000 lds r24,EE_Parameter+394526 23c8 0E94 0000 call LIBFC_ReceiverInit4527 23cc 8091 0000 lds r24,Parameter_GlobalConfig4528 23d0 80FF sbrs r24,04529 23d2 00C0 rjmp .L4074530 23d4 8091 0000 lds r24,MessLuftdruck4531 23d8 9091 0000 lds r25,(MessLuftdruck)+14532 23dc 875B subi r24,lo8(951)4533 23de 9340 sbci r25,hi8(951)4534 23e0 00F4 brsh .L4094535 23e2 8091 0000 lds r24,MessLuftdruck4536 23e6 9091 0000 lds r25,(MessLuftdruck)+14537 23ea 8E5E subi r24,lo8(750)4538 23ec 9240 sbci r25,hi8(750)4539 23ee 00F4 brsh .L4074540 .L409:4541 23f0 0E94 0000 call SucheLuftruckOffset4542 .L407:4543 23f4 80E0 ldi r24,lo8(0)4544 23f6 0E94 0000 call SetNeutral4545 23fa 81E0 ldi r24,lo8(1)4546 23fc 8093 0000 sts CalibrationDone,r244547 2400 8093 0000 sts ServoActive,r244548 2404 579A sbi 42-0x20,74549 2406 00C0 rjmp .L8944550 .L394:4551 2408 8081 ld r24,Z4552 240a 9181 ldd r25,Z+14553 240c 855B subi r24,lo8(-75)4554 240e 9F4F sbci r25,hi8(-75)4555 2410 04F4 brge .L4114556 2412 8091 0000 lds r24,delay_neutral.64557 2416 8F5F subi r24,lo8(-(1))4558 2418 8093 0000 sts delay_neutral.6,r244559 241c 893C cpi r24,lo8(-55)4560 241e 00F0 brlo .L3934561 2420 2093 0000 sts MotorenEin,r184562 2424 2093 0000 sts delay_neutral.6,r184563 2428 1092 0000 sts (modell_fliegt)+1,__zero_reg__4564 242c 1092 0000 sts modell_fliegt,__zero_reg__4565 2430 81E0 ldi r24,lo8(1)4566 2432 0E94 0000 call SetNeutral4567 2436 81E0 ldi r24,lo8(1)4568 2438 8093 0000 sts CalibrationDone,r244569 .L894:4570 243c 88E1 ldi r24,lo8(24)4571 243e 8093 0000 sts SpeakHoTT,r244572 2442 0E94 0000 call GetActiveParamSet4573 2446 68E7 ldi r22,lo8(120)4574 2448 70E0 ldi r23,hi8(120)4575 244a 0E94 0000 call Piep4576 244e 00C0 rjmp .L3934577 .L411:4578 2450 2093 0000 sts delay_neutral.6,r184579 .L393:4580 2454 8091 0000 lds r24,EE_Parameter+34581 2458 E82F mov r30,r244582 245a FF27 clr r314583 245c EE0F add r30,r304584 245e FF1F adc r31,r314585 2460 E050 subi r30,lo8(-(PPM_in))4586 2462 F040 sbci r31,hi8(-(PPM_in))4587 2464 8081 ld r24,Z4588 2466 9181 ldd r25,Z+14589 2468 8B5A subi r24,lo8(-85)4590 246a 9F4F sbci r25,hi8(-85)4591 246c 04F0 brlt .+24592 246e 00C0 rjmp .L4144593 2470 2091 0000 lds r18,EE_Parameter+1004594 2474 E22F mov r30,r184595 2476 FF27 clr r314596 2478 EF77 andi r30,lo8(127)4597 247a F070 andi r31,hi8(127)4598 247c EE0F add r30,r304599 247e FF1F adc r31,r314600 2480 E050 subi r30,lo8(-(PPM_diff))4601 2482 F040 sbci r31,hi8(-(PPM_diff))4602 2484 8081 ld r24,Z4603 2486 9181 ldd r25,Z+14604 2488 0697 sbiw r24,64605 248a 04F0 brlt .L4154606 248c 84E6 ldi r24,lo8(100)4607 248e 00C0 rjmp .L8954608 .L415:4609 2490 8081 ld r24,Z4610 2492 9181 ldd r25,Z+14611 2494 8B5F subi r24,lo8(-5)4612 2496 9F4F sbci r25,hi8(-5)4613 2498 04F4 brge .L4164614 249a 8CE9 ldi r24,lo8(-100)4615 .L895:4616 249c 8093 0000 sts move_safety_switch.9,r244617 .L416:4618 24a0 8091 0000 lds r24,MotorenEin4619 24a4 E091 0000 lds r30,EE_Parameter+44620 24a8 8823 tst r244621 24aa 01F0 breq .+24622 24ac 00C0 rjmp .L4184623 24ae FF27 clr r314624 24b0 EE0F add r30,r304625 24b2 FF1F adc r31,r314626 24b4 E050 subi r30,lo8(-(PPM_in))4627 24b6 F040 sbci r31,hi8(-(PPM_in))4628 24b8 8081 ld r24,Z4629 24ba 9181 ldd r25,Z+14630 24bc 855B subi r24,lo8(-75)4631 24be 9F4F sbci r25,hi8(-75)4632 24c0 04F4 brge .L4214633 24c2 8091 0000 lds r24,EE_Parameter+1114634 24c6 83FD sbrc r24,34635 24c8 00C0 rjmp .L4224636 24ca E22F mov r30,r184637 24cc FF27 clr r314638 24ce EE0F add r30,r304639 24d0 FF1F adc r31,r314640 24d2 E050 subi r30,lo8(-(PPM_in))4641 24d4 F040 sbci r31,hi8(-(PPM_in))4642 24d6 8081 ld r24,Z4643 24d8 9181 ldd r25,Z+14644 24da 855B subi r24,lo8(-75)4645 24dc 9F4F sbci r25,hi8(-75)4646 24de 04F0 brlt .L4204647 .L422:4648 24e0 8091 0000 lds r24,EE_Parameter+1004649 24e4 8823 tst r244650 24e6 01F0 breq .L4204651 .L421:4652 24e8 8091 0000 lds r24,EE_Parameter+1114653 24ec 83FF sbrs r24,34654 24ee 00C0 rjmp .L4194655 24f0 8091 0000 lds r24,EE_Parameter+1004656 24f4 E82F mov r30,r244657 24f6 FF27 clr r314658 24f8 EE0F add r30,r304659 24fa FF1F adc r31,r314660 24fc E050 subi r30,lo8(-(PPM_in))4661 24fe F040 sbci r31,hi8(-(PPM_in))4662 2500 8081 ld r24,Z4663 2502 9181 ldd r25,Z+14664 2504 875F subi r24,lo8(-9)4665 2506 9F4F sbci r25,hi8(-9)4666 2508 04F4 brge .+24667 250a 00C0 rjmp .L4194668 250c 8091 0000 lds r24,move_safety_switch.94669 2510 8436 cpi r24,lo8(100)4670 2512 01F0 breq .+24671 2514 00C0 rjmp .L4194672 .L420:4673 2516 2091 0000 lds r18,CalibrationDone4674 251a 2223 tst r184675 251c 01F0 breq .L4234676 251e 8091 0000 lds r24,FC_StatusFlags4677 2522 8860 ori r24,lo8(8)4678 2524 8093 0000 sts FC_StatusFlags,r244679 .L423:4680 2528 8091 0000 lds r24,delay_einschalten.74681 252c 8F5F subi r24,lo8(-(1))4682 252e 8093 0000 sts delay_einschalten.7,r244683 2532 8E3F cpi r24,lo8(-2)4684 2534 00F4 brsh .+24685 2536 00C0 rjmp .L4294686 2538 1092 0000 sts delay_einschalten.7,__zero_reg__4687 253c 8091 0000 lds r24,VersionInfo+54688 2540 8823 tst r244689 2542 01F0 breq .+24690 2544 00C0 rjmp .L4254691 2546 2223 tst r184692 2548 01F4 brne .+24693 254a 00C0 rjmp .L4254694 254c 8091 0000 lds r24,NC_ErrorCode4695 2550 8823 tst r244696 2552 01F0 breq .+24697 2554 00C0 rjmp .L4254698 2556 81E0 ldi r24,lo8(1)4699 2558 90E0 ldi r25,hi8(1)4700 255a 9093 0000 sts (modell_fliegt)+1,r254701 255e 8093 0000 sts modell_fliegt,r244702 2562 81E0 ldi r24,lo8(1)4703 2564 8093 0000 sts MotorenEin,r244704 2568 1092 0000 sts sollGier.0,__zero_reg__4705 256c 1092 0000 sts (sollGier.0)+1,__zero_reg__4706 2570 1092 0000 sts (sollGier.0)+2,__zero_reg__4707 2574 1092 0000 sts (sollGier.0)+3,__zero_reg__4708 2578 1092 0000 sts Mess_Integral_Gier,__zero_reg__4709 257c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4710 2580 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4711 2584 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4712 2588 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4713 258c 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4714 2590 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4715 2594 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4716 2598 8091 0000 lds r24,EE_Parameter+284717 259c E82E mov r14,r244718 259e FF24 clr r154719 25a0 0027 clr r164720 25a2 1127 clr r174721 25a4 8091 0000 lds r24,Mittelwert_AccNick4722 25a8 9091 0000 lds r25,(Mittelwert_AccNick)+14723 25ac 9C01 movw r18,r244724 25ae 4427 clr r204725 25b0 37FD sbrc r19,74726 25b2 4095 com r204727 25b4 542F mov r21,r204728 25b6 C801 movw r24,r164729 25b8 B701 movw r22,r144730 25ba 0E94 0000 call __mulsi34731 25be DC01 movw r26,r244732 25c0 CB01 movw r24,r224733 25c2 8093 0000 sts Mess_IntegralNick,r244734 25c6 9093 0000 sts (Mess_IntegralNick)+1,r254735 25ca A093 0000 sts (Mess_IntegralNick)+2,r264736 25ce B093 0000 sts (Mess_IntegralNick)+3,r274737 25d2 8091 0000 lds r24,Mittelwert_AccRoll4738 25d6 9091 0000 lds r25,(Mittelwert_AccRoll)+14739 25da 9C01 movw r18,r244740 25dc 4427 clr r204741 25de 37FD sbrc r19,74742 25e0 4095 com r204743 25e2 542F mov r21,r204744 25e4 C801 movw r24,r164745 25e6 B701 movw r22,r144746 25e8 0E94 0000 call __mulsi34747 25ec DC01 movw r26,r244748 25ee CB01 movw r24,r224749 25f0 8093 0000 sts Mess_IntegralRoll,r244750 25f4 9093 0000 sts (Mess_IntegralRoll)+1,r254751 25f8 A093 0000 sts (Mess_IntegralRoll)+2,r264752 25fc B093 0000 sts (Mess_IntegralRoll)+3,r274753 2600 8091 0000 lds r24,IntegralNick4754 2604 9091 0000 lds r25,(IntegralNick)+14755 2608 A091 0000 lds r26,(IntegralNick)+24756 260c B091 0000 lds r27,(IntegralNick)+34757 2610 8093 0000 sts Mess_IntegralNick2,r244758 2614 9093 0000 sts (Mess_IntegralNick2)+1,r254759 2618 A093 0000 sts (Mess_IntegralNick2)+2,r264760 261c B093 0000 sts (Mess_IntegralNick2)+3,r274761 2620 8091 0000 lds r24,IntegralRoll4762 2624 9091 0000 lds r25,(IntegralRoll)+14763 2628 A091 0000 lds r26,(IntegralRoll)+24764 262c B091 0000 lds r27,(IntegralRoll)+34765 2630 8093 0000 sts Mess_IntegralRoll2,r244766 2634 9093 0000 sts (Mess_IntegralRoll2)+1,r254767 2638 A093 0000 sts (Mess_IntegralRoll2)+2,r264768 263c B093 0000 sts (Mess_IntegralRoll2)+3,r274769 2640 1092 0000 sts SummeNick,__zero_reg__4770 2644 1092 0000 sts (SummeNick)+1,__zero_reg__4771 2648 1092 0000 sts (SummeNick)+2,__zero_reg__4772 264c 1092 0000 sts (SummeNick)+3,__zero_reg__4773 2650 1092 0000 sts SummeRoll,__zero_reg__4774 2654 1092 0000 sts (SummeRoll)+1,__zero_reg__4775 2658 1092 0000 sts (SummeRoll)+2,__zero_reg__4776 265c 1092 0000 sts (SummeRoll)+3,__zero_reg__4777 2660 84E6 ldi r24,lo8(100)4778 2662 8093 0000 sts NeueKompassRichtungMerken,r244779 2666 84E3 ldi r24,lo8(52)4780 2668 00C0 rjmp .L8964781 .L425:4782 266a 8CED ldi r24,lo8(1500)4783 266c 95E0 ldi r25,hi8(1500)4784 266e 9093 0000 sts (beeptime)+1,r254785 2672 8093 0000 sts beeptime,r244786 2676 2223 tst r184787 2678 01F0 breq .+24788 267a 00C0 rjmp .L4294789 267c 81E0 ldi r24,lo8(1)4790 267e 00C0 rjmp .L8964791 .L419:4792 2680 1092 0000 sts delay_einschalten.7,__zero_reg__4793 2684 00C0 rjmp .L4294794 .L418:4795 2686 FF27 clr r314796 2688 EE0F add r30,r304797 268a FF1F adc r31,r314798 268c E050 subi r30,lo8(-(PPM_in))4799 268e F040 sbci r31,hi8(-(PPM_in))4800 2690 8081 ld r24,Z4801 2692 9181 ldd r25,Z+14802 2694 8C34 cpi r24,764803 2696 9105 cpc r25,__zero_reg__4804 2698 04F0 brlt .L4324805 269a 8091 0000 lds r24,EE_Parameter+1114806 269e 83FD sbrc r24,34807 26a0 00C0 rjmp .L4334808 26a2 E22F mov r30,r184809 26a4 FF27 clr r314810 26a6 EE0F add r30,r304811 26a8 FF1F adc r31,r314812 26aa E050 subi r30,lo8(-(PPM_in))4813 26ac F040 sbci r31,hi8(-(PPM_in))4814 26ae 8081 ld r24,Z4815 26b0 9181 ldd r25,Z+14816 26b2 855B subi r24,lo8(-75)4817 26b4 9F4F sbci r25,hi8(-75)4818 26b6 04F0 brlt .L4314819 .L433:4820 26b8 8091 0000 lds r24,EE_Parameter+1004821 26bc 8823 tst r244822 26be 01F0 breq .L4314823 .L432:4824 26c0 8091 0000 lds r24,EE_Parameter+1114825 26c4 83FF sbrs r24,34826 26c6 00C0 rjmp .L4304827 26c8 8091 0000 lds r24,EE_Parameter+1004828 26cc E82F mov r30,r244829 26ce FF27 clr r314830 26d0 EE0F add r30,r304831 26d2 FF1F adc r31,r314832 26d4 E050 subi r30,lo8(-(PPM_in))4833 26d6 F040 sbci r31,hi8(-(PPM_in))4834 26d8 8081 ld r24,Z4835 26da 9181 ldd r25,Z+14836 26dc 8E5C subi r24,lo8(-50)4837 26de 9F4F sbci r25,hi8(-50)4838 26e0 04F4 brge .L4304839 26e2 8091 0000 lds r24,move_safety_switch.94840 26e6 8C39 cpi r24,lo8(-100)4841 26e8 01F4 brne .L4304842 .L431:4843 26ea 8091 0000 lds r24,delay_ausschalten.84844 26ee 8F5F subi r24,lo8(-(1))4845 26f0 8093 0000 sts delay_ausschalten.8,r244846 26f4 8B3F cpi r24,lo8(-5)4847 26f6 00F0 brlo .L4294848 26f8 1092 0000 sts MotorenEin,__zero_reg__4849 26fc 1092 0000 sts delay_ausschalten.8,__zero_reg__4850 2700 1092 0000 sts (modell_fliegt)+1,__zero_reg__4851 2704 1092 0000 sts modell_fliegt,__zero_reg__4852 2708 86E2 ldi r24,lo8(38)4853 .L896:4854 270a 8093 0000 sts SpeakHoTT,r244855 270e 00C0 rjmp .L4294856 .L430:4857 2710 1092 0000 sts delay_ausschalten.8,__zero_reg__4858 .L429:4859 2714 8091 0000 lds r24,GasIsZeroCnt4860 2718 9091 0000 lds r25,(GasIsZeroCnt)+14861 271c 13E0 ldi r17,hi8(1000)4862 271e 883E cpi r24,lo8(1000)4863 2720 9107 cpc r25,r174864 2722 00F4 brsh .L3874865 2724 0196 adiw r24,14866 2726 9093 0000 sts (GasIsZeroCnt)+1,r254867 272a 8093 0000 sts GasIsZeroCnt,r244868 272e 00C0 rjmp .L3874869 .L414:4870 2730 1092 0000 sts move_safety_switch.9,__zero_reg__4871 2734 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4872 2738 1092 0000 sts GasIsZeroCnt,__zero_reg__4873 273c 00C0 rjmp .L3874874 .L388:4875 273e 2E5E subi r18,lo8(750)4876 2740 3240 sbci r19,hi8(750)4877 2742 00F0 brlo .L3874878 2744 8091 0000 lds r24,GPSInfo+44879 2748 9091 0000 lds r25,(GPSInfo+4)+14880 274c 8059 subi r24,lo8(400)4881 274e 9140 sbci r25,hi8(400)4882 2750 00F4 brsh .L3874883 2752 8091 0000 lds r24,HoehenWert4884 2756 9091 0000 lds r25,(HoehenWert)+14885 275a A091 0000 lds r26,(HoehenWert)+24886 275e B091 0000 lds r27,(HoehenWert)+34887 2762 8C5D subi r24,lo8(1500)4888 2764 9540 sbci r25,hi8(1500)4889 2766 A040 sbci r26,hlo8(1500)4890 2768 B040 sbci r27,hhi8(1500)4891 276a 04F4 brge .L3874892 276c 80E3 ldi r24,lo8(30000)4893 276e 95E7 ldi r25,hi8(30000)4894 2770 9093 0000 sts (GasIsZeroCnt)+1,r254895 2774 8093 0000 sts GasIsZeroCnt,r244896 2778 8091 0000 lds r24,modell_fliegt4897 277c 9091 0000 lds r25,(modell_fliegt)+14898 2780 8A5E subi r24,lo8(1002)4899 2782 9340 sbci r25,hi8(1002)4900 2784 00F0 brlo .L3874901 2786 89EE ldi r24,lo8(1001)4902 2788 93E0 ldi r25,hi8(1001)4903 278a 9093 0000 sts (modell_fliegt)+1,r254904 278e 8093 0000 sts modell_fliegt,r244905 .L387:4906 2792 8091 0000 lds r24,NewPpmData4907 2796 8150 subi r24,lo8(-(-1))4908 2798 8093 0000 sts NewPpmData,r244909 279c 8091 0000 lds r24,NewPpmData4910 27a0 8F3F cpi r24,lo8(-1)4911 27a2 01F0 breq .L4434912 27a4 8091 0000 lds r24,FC_StatusFlags4913 27a8 84FF sbrs r24,44914 27aa 00C0 rjmp .L4424915 .L443:4916 27ac 0E94 0000 call ParameterZuordnung4917 27b0 B090 0000 lds r11,EE_Parameter+234918 27b4 8091 0000 lds r24,stick_nick.124919 27b8 9091 0000 lds r25,(stick_nick.12)+14920 27bc 9C01 movw r18,r244921 27be 220F lsl r184922 27c0 331F rol r194923 27c2 280F add r18,r244924 27c4 391F adc r19,r254925 27c6 C090 0000 lds r12,EE_Parameter+14926 27ca AC2D mov r26,r124927 27cc BB27 clr r274928 27ce AA0F add r26,r264929 27d0 BB1F adc r27,r274930 27d2 FD01 movw r30,r264931 27d4 E050 subi r30,lo8(-(PPM_in))4932 27d6 F040 sbci r31,hi8(-(PPM_in))4933 27d8 4B2D mov r20,r114934 27da 5527 clr r214935 27dc 8081 ld r24,Z4936 27de 9181 ldd r25,Z+14937 27e0 849F mul r24,r204938 27e2 F001 movw r30,r04939 27e4 859F mul r24,r214940 27e6 F00D add r31,r04941 27e8 949F mul r25,r204942 27ea F00D add r31,r04943 27ec 1124 clr r14944 27ee 2E0F add r18,r304945 27f0 3F1F adc r19,r314946 27f2 37FF sbrs r19,74947 27f4 00C0 rjmp .L4444948 27f6 2D5F subi r18,lo8(-(3))4949 27f8 3F4F sbci r19,hi8(-(3))4950 .L444:4951 27fa B901 movw r22,r184952 27fc 7595 asr r234953 27fe 6795 ror r224954 2800 7595 asr r234955 2802 6795 ror r224956 2804 A050 subi r26,lo8(-(PPM_diff))4957 2806 B040 sbci r27,hi8(-(PPM_diff))4958 2808 8091 0000 lds r24,EE_Parameter+244959 280c 082F mov r16,r244960 280e 1127 clr r174961 2810 8D91 ld r24,X+4962 2812 9C91 ld r25,X4963 2814 809F mul r24,r164964 2816 7001 movw r14,r04965 2818 819F mul r24,r174966 281a F00C add r15,r04967 281c 909F mul r25,r164968 281e F00C add r15,r04969 2820 1124 clr r14970 2822 6E0D add r22,r144971 2824 7F1D adc r23,r154972 2826 7093 0000 sts (stick_nick.12)+1,r234973 282a 6093 0000 sts stick_nick.12,r224974 282e 8091 0000 lds r24,stick_roll.134975 2832 9091 0000 lds r25,(stick_roll.13)+14976 2836 9C01 movw r18,r244977 2838 220F lsl r184978 283a 331F rol r194979 283c 280F add r18,r244980 283e 391F adc r19,r254981 2840 D090 0000 lds r13,EE_Parameter+24982 2844 AD2D mov r26,r134983 2846 BB27 clr r274984 2848 AA0F add r26,r264985 284a BB1F adc r27,r274986 284c FD01 movw r30,r264987 284e E050 subi r30,lo8(-(PPM_in))4988 2850 F040 sbci r31,hi8(-(PPM_in))4989 2852 8081 ld r24,Z4990 2854 9181 ldd r25,Z+14991 2856 849F mul r24,r204992 2858 F001 movw r30,r04993 285a 859F mul r24,r214994 285c F00D add r31,r04995 285e 949F mul r25,r204996 2860 F00D add r31,r04997 2862 1124 clr r14998 2864 2E0F add r18,r304999 2866 3F1F adc r19,r315000 2868 37FF sbrs r19,75001 286a 00C0 rjmp .L4455002 286c 2D5F subi r18,lo8(-(3))5003 286e 3F4F sbci r19,hi8(-(3))5004 .L445:5005 2870 A901 movw r20,r185006 2872 5595 asr r215007 2874 4795 ror r205008 2876 5595 asr r215009 2878 4795 ror r205010 287a A050 subi r26,lo8(-(PPM_diff))5011 287c B040 sbci r27,hi8(-(PPM_diff))5012 287e 8D91 ld r24,X+5013 2880 9C91 ld r25,X5014 2882 809F mul r24,r165015 2884 7001 movw r14,r05016 2886 819F mul r24,r175017 2888 F00C add r15,r05018 288a 909F mul r25,r165019 288c F00C add r15,r05020 288e 1124 clr r15021 2890 4E0D add r20,r145022 2892 5F1D adc r21,r155023 2894 5093 0000 sts (stick_roll.13)+1,r215024 2898 4093 0000 sts stick_roll.13,r205025 289c 8091 0000 lds r24,CareFree5026 28a0 8823 tst r245027 28a2 01F4 brne .+25028 28a4 00C0 rjmp .L4465029 28a6 CB01 movw r24,r225030 28a8 77FD sbrc r23,75031 28aa 0396 adiw r24,35032 .L447:5033 28ac DC01 movw r26,r245034 28ae B595 asr r275035 28b0 A795 ror r265036 28b2 B595 asr r275037 28b4 A795 ror r265038 28b6 CA01 movw r24,r205039 28b8 57FD sbrc r21,75040 28ba 0396 adiw r24,35041 .L448:5042 28bc FC01 movw r30,r245043 28be F595 asr r315044 28c0 E795 ror r305045 28c2 F595 asr r315046 28c4 E795 ror r305047 28c6 8091 0000 lds r24,FromNC_Rotate_C5048 28ca 682F mov r22,r245049 28cc 7727 clr r235050 28ce 67FD sbrc r22,75051 28d0 7095 com r235052 28d2 6A9F mul r22,r265053 28d4 9001 movw r18,r05054 28d6 6B9F mul r22,r275055 28d8 300D add r19,r05056 28da 7A9F mul r23,r265057 28dc 300D add r19,r05058 28de 1124 clr r15059 28e0 8091 0000 lds r24,FromNC_Rotate_S5060 28e4 482F mov r20,r245061 28e6 5527 clr r215062 28e8 47FD sbrc r20,75063 28ea 5095 com r215064 28ec 4E9F mul r20,r305065 28ee C001 movw r24,r05066 28f0 4F9F mul r20,r315067 28f2 900D add r25,r05068 28f4 5E9F mul r21,r305069 28f6 900D add r25,r05070 28f8 1124 clr r15071 28fa 280F add r18,r245072 28fc 391F adc r19,r255073 28fe 37FF sbrs r19,75074 2900 00C0 rjmp .L4495075 2902 295F subi r18,lo8(-(7))5076 2904 3F4F sbci r19,hi8(-(7))5077 .L449:5078 2906 93E0 ldi r25,35079 2908 3595 1: asr r195080 290a 2795 ror r185081 290c 9A95 dec r255082 290e 01F4 brne 1b5083 2910 3093 0000 sts (StickNick)+1,r195084 2914 2093 0000 sts StickNick,r185085 2918 6E9F mul r22,r305086 291a 9001 movw r18,r05087 291c 6F9F mul r22,r315088 291e 300D add r19,r05089 2920 7E9F mul r23,r305090 2922 300D add r19,r05091 2924 1124 clr r15092 2926 4A9F mul r20,r265093 2928 C001 movw r24,r05094 292a 4B9F mul r20,r275095 292c 900D add r25,r05096 292e 5A9F mul r21,r265097 2930 900D add r25,r05098 2932 1124 clr r15099 2934 00C0 rjmp .L9255100 .L446:5101 2936 8091 0000 lds r24,EE_Parameter+985102 293a E82F mov r30,r245103 293c FF27 clr r315104 293e E050 subi r30,lo8(-(sintab))5105 2940 F040 sbci r31,hi8(-(sintab))5106 2942 8681 ldd r24,Z+65107 2944 8093 0000 sts FromNC_Rotate_C,r245108 2948 9081 ld r25,Z5109 294a 9093 0000 sts FromNC_Rotate_S,r255110 294e A82F mov r26,r245111 2950 BB27 clr r275112 2952 A7FD sbrc r26,75113 2954 B095 com r275114 2956 A69F mul r26,r225115 2958 9001 movw r18,r05116 295a A79F mul r26,r235117 295c 300D add r19,r05118 295e B69F mul r27,r225119 2960 300D add r19,r05120 2962 1124 clr r15121 2964 E92F mov r30,r255122 2966 FF27 clr r315123 2968 E7FD sbrc r30,75124 296a F095 com r315125 296c E49F mul r30,r205126 296e C001 movw r24,r05127 2970 E59F mul r30,r215128 2972 900D add r25,r05129 2974 F49F mul r31,r205130 2976 900D add r25,r05131 2978 1124 clr r15132 297a 280F add r18,r245133 297c 391F adc r19,r255134 297e 37FF sbrs r19,75135 2980 00C0 rjmp .L4525136 2982 295F subi r18,lo8(-(7))5137 2984 3F4F sbci r19,hi8(-(7))5138 .L452:5139 2986 83E0 ldi r24,35140 2988 3595 1: asr r195141 298a 2795 ror r185142 298c 8A95 dec r245143 298e 01F4 brne 1b5144 2990 3093 0000 sts (StickNick)+1,r195145 2994 2093 0000 sts StickNick,r185146 2998 A49F mul r26,r205147 299a 9001 movw r18,r05148 299c A59F mul r26,r215149 299e 300D add r19,r05150 29a0 B49F mul r27,r205151 29a2 300D add r19,r05152 29a4 1124 clr r15153 29a6 E69F mul r30,r225154 29a8 C001 movw r24,r05155 29aa E79F mul r30,r235156 29ac 900D add r25,r05157 29ae F69F mul r31,r225158 29b0 900D add r25,r05159 29b2 1124 clr r15160 .L925:5161 29b4 281B sub r18,r245162 29b6 390B sbc r19,r255163 29b8 37FF sbrs r19,75164 29ba 00C0 rjmp .L4535165 29bc 295F subi r18,lo8(-(7))5166 29be 3F4F sbci r19,hi8(-(7))5167 .L453:5168 29c0 03E0 ldi r16,35169 29c2 3595 1: asr r195170 29c4 2795 ror r185171 29c6 0A95 dec r165172 29c8 01F4 brne 1b5173 29ca 3093 0000 sts (StickRoll)+1,r195174 29ce 2093 0000 sts StickRoll,r185175 29d2 8091 0000 lds r24,EE_Parameter+45176 29d6 E82F mov r30,r245177 29d8 FF27 clr r315178 29da EE0F add r30,r305179 29dc FF1F adc r31,r315180 29de E050 subi r30,lo8(-(PPM_in))5181 29e0 F040 sbci r31,hi8(-(PPM_in))5182 29e2 8081 ld r24,Z5183 29e4 9181 ldd r25,Z+15184 29e6 9095 com r255185 29e8 8195 neg r245186 29ea 9F4F sbci r25,lo8(-1)5187 29ec 9093 0000 sts (StickGier)+1,r255188 29f0 8093 0000 sts StickGier,r245189 29f4 8530 cpi r24,55190 29f6 9105 cpc r25,__zero_reg__5191 29f8 04F0 brlt .L4545192 29fa 0497 sbiw r24,45193 29fc 00C0 rjmp .L8975194 .L454:5195 29fe 0FEF ldi r16,hi8(-4)5196 2a00 8C3F cpi r24,lo8(-4)5197 2a02 9007 cpc r25,r165198 2a04 04F4 brge .L4565199 2a06 0496 adiw r24,45200 .L897:5201 2a08 9093 0000 sts (StickGier)+1,r255202 2a0c 8093 0000 sts StickGier,r245203 2a10 00C0 rjmp .L4555204 .L456:5205 2a12 1092 0000 sts (StickGier)+1,__zero_reg__5206 2a16 1092 0000 sts StickGier,__zero_reg__5207 .L455:5208 2a1a 8091 0000 lds r24,GPS_Aid_StickMultiplikator5209 2a1e 8823 tst r245210 2a20 01F4 brne .+25211 2a22 00C0 rjmp .L4585212 2a24 282F mov r18,r245213 2a26 3327 clr r195214 2a28 8091 0000 lds r24,StickNick5215 2a2c 9091 0000 lds r25,(StickNick)+15216 2a30 97FD sbrc r25,75217 2a32 0796 adiw r24,75218 .L459:5219 2a34 13E0 ldi r17,35220 2a36 9595 1: asr r255221 2a38 8795 ror r245222 2a3a 1A95 dec r175223 2a3c 01F4 brne 1b5224 2a3e 289F mul r18,r245225 2a40 A001 movw r20,r05226 2a42 299F mul r18,r255227 2a44 500D add r21,r05228 2a46 389F mul r19,r245229 2a48 500D add r21,r05230 2a4a 1124 clr r15231 2a4c CA01 movw r24,r205232 2a4e 57FD sbrc r21,75233 2a50 0F96 adiw r24,155234 .L460:5235 2a52 B4E0 ldi r27,45236 2a54 9595 1: asr r255237 2a56 8795 ror r245238 2a58 BA95 dec r275239 2a5a 01F4 brne 1b5240 2a5c 9093 0000 sts (StickNick)+1,r255241 2a60 8093 0000 sts StickNick,r245242 2a64 8091 0000 lds r24,StickRoll5243 2a68 9091 0000 lds r25,(StickRoll)+15244 2a6c 97FD sbrc r25,75245 2a6e 0796 adiw r24,75246 .L461:5247 2a70 A3E0 ldi r26,35248 2a72 9595 1: asr r255249 2a74 8795 ror r245250 2a76 AA95 dec r265251 2a78 01F4 brne 1b5252 2a7a 289F mul r18,r245253 2a7c B001 movw r22,r05254 2a7e 299F mul r18,r255255 2a80 700D add r23,r05256 2a82 389F mul r19,r245257 2a84 700D add r23,r05258 2a86 1124 clr r15259 2a88 CB01 movw r24,r225260 2a8a 77FD sbrc r23,75261 2a8c 0F96 adiw r24,155262 .L462:5263 2a8e F4E0 ldi r31,45264 2a90 9595 1: asr r255265 2a92 8795 ror r245266 2a94 FA95 dec r315267 2a96 01F4 brne 1b5268 2a98 9093 0000 sts (StickRoll)+1,r255269 2a9c 8093 0000 sts StickRoll,r245270 .L458:5271 2aa0 8090 0000 lds r8,StickNick5272 2aa4 9090 0000 lds r9,(StickNick)+15273 2aa8 8091 0000 lds r24,GPS_Nick5274 2aac 9091 0000 lds r25,(GPS_Nick)+15275 2ab0 881A sub r8,r245276 2ab2 990A sbc r9,r255277 2ab4 9092 0000 sts (StickNick)+1,r95278 2ab8 8092 0000 sts StickNick,r85279 2abc 0091 0000 lds r16,StickRoll5280 2ac0 1091 0000 lds r17,(StickRoll)+15281 2ac4 8091 0000 lds r24,GPS_Roll5282 2ac8 9091 0000 lds r25,(GPS_Roll)+15283 2acc 081B sub r16,r245284 2ace 190B sbc r17,r255285 2ad0 1093 0000 sts (StickRoll)+1,r175286 2ad4 0093 0000 sts StickRoll,r165287 2ad8 8091 0000 lds r24,EE_Parameter+35288 2adc E82F mov r30,r245289 2ade FF27 clr r315290 2ae0 EE0F add r30,r305291 2ae2 FF1F adc r31,r315292 2ae4 E050 subi r30,lo8(-(PPM_in))5293 2ae6 F040 sbci r31,hi8(-(PPM_in))5294 2ae8 E080 ld r14,Z5295 2aea F180 ldd r15,Z+15296 2aec 8FE7 ldi r24,lo8(127)5297 2aee 90E0 ldi r25,hi8(127)5298 2af0 E80E add r14,r245299 2af2 F91E adc r15,r255300 2af4 F092 0000 sts (StickGas)+1,r155301 2af8 E092 0000 sts StickGas,r145302 2afc 8091 0000 lds r24,Parameter_Gyro_P5303 2b00 9927 clr r255304 2b02 AA27 clr r265305 2b04 97FD sbrc r25,75306 2b06 A095 com r265307 2b08 BA2F mov r27,r265308 2b0a BC01 movw r22,r245309 2b0c CD01 movw r24,r265310 2b0e 0E94 0000 call __floatsisf5311 2b12 DC01 movw r26,r245312 2b14 CB01 movw r24,r225313 2b16 20E0 ldi r18,lo8(0x41200000)5314 2b18 30E0 ldi r19,hi8(0x41200000)5315 2b1a 40E2 ldi r20,hlo8(0x41200000)5316 2b1c 51E4 ldi r21,hhi8(0x41200000)5317 2b1e BC01 movw r22,r245318 2b20 CD01 movw r24,r265319 2b22 0E94 0000 call __addsf35320 2b26 DC01 movw r26,r245321 2b28 CB01 movw r24,r225322 2b2a BC01 movw r22,r245323 2b2c CD01 movw r24,r265324 2b2e 0E94 0000 call __fixunssfsi5325 2b32 DC01 movw r26,r245326 2b34 CB01 movw r24,r225327 2b36 8093 0000 sts GyroFaktor,r245328 2b3a 8091 0000 lds r24,Parameter_Gyro_I5329 2b3e 8093 0000 sts IntegralFaktor,r245330 2b42 8091 0000 lds r24,Parameter_Gyro_Gier_P5331 2b46 9927 clr r255332 2b48 AA27 clr r265333 2b4a 97FD sbrc r25,75334 2b4c A095 com r265335 2b4e BA2F mov r27,r265336 2b50 BC01 movw r22,r245337 2b52 CD01 movw r24,r265338 2b54 0E94 0000 call __floatsisf5339 2b58 DC01 movw r26,r245340 2b5a CB01 movw r24,r225341 2b5c 20E0 ldi r18,lo8(0x41200000)5342 2b5e 30E0 ldi r19,hi8(0x41200000)5343 2b60 40E2 ldi r20,hlo8(0x41200000)5344 2b62 51E4 ldi r21,hhi8(0x41200000)5345 2b64 BC01 movw r22,r245346 2b66 CD01 movw r24,r265347 2b68 0E94 0000 call __addsf35348 2b6c DC01 movw r26,r245349 2b6e CB01 movw r24,r225350 2b70 BC01 movw r22,r245351 2b72 CD01 movw r24,r265352 2b74 0E94 0000 call __fixunssfsi5353 2b78 DC01 movw r26,r245354 2b7a CB01 movw r24,r225355 2b7c 8093 0000 sts GyroFaktorGier,r245356 2b80 8091 0000 lds r24,Parameter_Gyro_Gier_I5357 2b84 8093 0000 sts IntegralFaktorGier,r245358 2b88 8091 0000 lds r24,ExternControl+105359 2b8c 80FF sbrs r24,05360 2b8e 00C0 rjmp .L4635361 2b90 8091 0000 lds r24,Parameter_ExternalControl5362 2b94 8138 cpi r24,lo8(-127)5363 2b96 00F4 brsh .+25364 2b98 00C0 rjmp .L4635365 2b9a 8091 0000 lds r24,ExternControl+35366 2b9e 9927 clr r255367 2ba0 87FD sbrc r24,75368 2ba2 9095 com r255369 2ba4 2B2D mov r18,r115370 2ba6 3327 clr r195371 2ba8 829F mul r24,r185372 2baa D001 movw r26,r05373 2bac 839F mul r24,r195374 2bae B00D add r27,r05375 2bb0 929F mul r25,r185376 2bb2 B00D add r27,r05377 2bb4 1124 clr r15378 2bb6 8A0E add r8,r265379 2bb8 9B1E adc r9,r275380 2bba 9092 0000 sts (StickNick)+1,r95381 2bbe 8092 0000 sts StickNick,r85382 2bc2 8091 0000 lds r24,ExternControl+45383 2bc6 9927 clr r255384 2bc8 87FD sbrc r24,75385 2bca 9095 com r255386 2bcc 829F mul r24,r185387 2bce F001 movw r30,r05388 2bd0 839F mul r24,r195389 2bd2 F00D add r31,r05390 2bd4 929F mul r25,r185391 2bd6 F00D add r31,r05392 2bd8 1124 clr r15393 2bda 0E0F add r16,r305394 2bdc 1F1F adc r17,r315395 2bde 1093 0000 sts (StickRoll)+1,r175396 2be2 0093 0000 sts StickRoll,r165397 2be6 8091 0000 lds r24,ExternControl+55398 2bea 282F mov r18,r245399 2bec 3327 clr r195400 2bee 27FD sbrc r18,75401 2bf0 3095 com r195402 2bf2 8091 0000 lds r24,StickGier5403 2bf6 9091 0000 lds r25,(StickGier)+15404 2bfa 820F add r24,r185405 2bfc 931F adc r25,r195406 2bfe 9093 0000 sts (StickGier)+1,r255407 2c02 8093 0000 sts StickGier,r245408 2c06 8091 0000 lds r24,ExternControl+75409 2c0a 282F mov r18,r245410 2c0c 3327 clr r195411 2c0e 27FD sbrc r18,75412 2c10 3095 com r195413 2c12 8091 0000 lds r24,EE_Parameter+185414 2c16 9927 clr r255415 2c18 289F mul r18,r245416 2c1a 8001 movw r16,r05417 2c1c 299F mul r18,r255418 2c1e 100D add r17,r05419 2c20 389F mul r19,r245420 2c22 100D add r17,r05421 2c24 1124 clr r15422 2c26 1093 0000 sts (ExternHoehenValue)+1,r175423 2c2a 0093 0000 sts ExternHoehenValue,r165424 2c2e 8091 0000 lds r24,ExternControl+65425 2c32 9927 clr r255426 2c34 8E15 cp r24,r145427 2c36 9F05 cpc r25,r155428 2c38 04F4 brge .L4635429 2c3a 9093 0000 sts (StickGas)+1,r255430 2c3e 8093 0000 sts StickGas,r245431 .L463:5432 2c42 8091 0000 lds r24,StickGas5433 2c46 9091 0000 lds r25,(StickGas)+15434 2c4a 97FF sbrs r25,75435 2c4c 00C0 rjmp .L4655436 2c4e 1092 0000 sts (StickGas)+1,__zero_reg__5437 2c52 1092 0000 sts StickGas,__zero_reg__5438 .L465:5439 2c56 8091 0000 lds r24,Parameter_GlobalConfig5440 2c5a 82FF sbrs r24,25441 2c5c 00C0 rjmp .L4665442 2c5e 1092 0000 sts IntegralFaktor,__zero_reg__5443 .L466:5444 2c62 4091 0000 lds r20,StickNick5445 2c66 5091 0000 lds r21,(StickNick)+15446 2c6a CA01 movw r24,r205447 2c6c 57FD sbrc r21,75448 2c6e 0396 adiw r24,35449 .L468:5450 2c70 9C01 movw r18,r245451 2c72 3595 asr r195452 2c74 2795 ror r185453 2c76 3595 asr r195454 2c78 2795 ror r185455 2c7a 37FF sbrs r19,75456 2c7c 00C0 rjmp .L4695457 2c7e 3095 com r195458 2c80 2195 neg r185459 2c82 3F4F sbci r19,lo8(-1)5460 .L469:5461 2c84 8091 0000 lds r24,MaxStickNick5462 2c88 9091 0000 lds r25,(MaxStickNick)+15463 2c8c 8217 cp r24,r185464 2c8e 9307 cpc r25,r195465 2c90 04F4 brge .L4675466 2c92 CA01 movw r24,r205467 2c94 57FF sbrs r21,75468 2c96 00C0 rjmp .L4705469 2c98 9095 com r255470 2c9a 8195 neg r245471 2c9c 9F4F sbci r25,lo8(-1)5472 .L470:5473 2c9e 97FD sbrc r25,75474 2ca0 0396 adiw r24,35475 .L471:5476 2ca2 9595 asr r255477 2ca4 8795 ror r245478 2ca6 9595 asr r255479 2ca8 8795 ror r245480 2caa 9093 0000 sts (MaxStickNick)+1,r255481 2cae 8093 0000 sts MaxStickNick,r245482 2cb2 8536 cpi r24,1015483 2cb4 9105 cpc r25,__zero_reg__5484 2cb6 04F0 brlt .L4735485 2cb8 84E6 ldi r24,lo8(100)5486 2cba 90E0 ldi r25,hi8(100)5487 2cbc 00C0 rjmp .L8985488 .L467:5489 2cbe 0197 sbiw r24,15490 .L898:5491 2cc0 9093 0000 sts (MaxStickNick)+1,r255492 2cc4 8093 0000 sts MaxStickNick,r245493 .L473:5494 2cc8 4091 0000 lds r20,StickRoll5495 2ccc 5091 0000 lds r21,(StickRoll)+15496 2cd0 CA01 movw r24,r205497 2cd2 57FD sbrc r21,75498 2cd4 0396 adiw r24,35499 .L475:5500 2cd6 9C01 movw r18,r245501 2cd8 3595 asr r195502 2cda 2795 ror r185503 2cdc 3595 asr r195504 2cde 2795 ror r185505 2ce0 37FF sbrs r19,75506 2ce2 00C0 rjmp .L4765507 2ce4 3095 com r195508 2ce6 2195 neg r185509 2ce8 3F4F sbci r19,lo8(-1)5510 .L476:5511 2cea 8091 0000 lds r24,MaxStickRoll5512 2cee 9091 0000 lds r25,(MaxStickRoll)+15513 2cf2 8217 cp r24,r185514 2cf4 9307 cpc r25,r195515 2cf6 04F4 brge .L4745516 2cf8 CA01 movw r24,r205517 2cfa 57FF sbrs r21,75518 2cfc 00C0 rjmp .L4775519 2cfe 9095 com r255520 2d00 8195 neg r245521 2d02 9F4F sbci r25,lo8(-1)5522 .L477:5523 2d04 97FD sbrc r25,75524 2d06 0396 adiw r24,35525 .L478:5526 2d08 9595 asr r255527 2d0a 8795 ror r245528 2d0c 9595 asr r255529 2d0e 8795 ror r245530 2d10 9093 0000 sts (MaxStickRoll)+1,r255531 2d14 8093 0000 sts MaxStickRoll,r245532 2d18 8536 cpi r24,1015533 2d1a 9105 cpc r25,__zero_reg__5534 2d1c 04F0 brlt .L4805535 2d1e 84E6 ldi r24,lo8(100)5536 2d20 90E0 ldi r25,hi8(100)5537 2d22 00C0 rjmp .L8995538 .L474:5539 2d24 0197 sbiw r24,15540 .L899:5541 2d26 9093 0000 sts (MaxStickRoll)+1,r255542 2d2a 8093 0000 sts MaxStickRoll,r245543 .L480:5544 2d2e 8091 0000 lds r24,FC_StatusFlags5545 2d32 84FF sbrs r24,45546 2d34 00C0 rjmp .L4815547 2d36 1092 0000 sts (MaxStickNick)+1,__zero_reg__5548 2d3a 1092 0000 sts MaxStickNick,__zero_reg__5549 2d3e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5550 2d42 1092 0000 sts MaxStickRoll,__zero_reg__5551 .L481:5552 2d46 ED2D mov r30,r135553 2d48 FF27 clr r315554 2d4a EE0F add r30,r305555 2d4c FF1F adc r31,r315556 2d4e E050 subi r30,lo8(-(PPM_in))5557 2d50 F040 sbci r31,hi8(-(PPM_in))5558 2d52 4091 0000 lds r20,EE_Parameter+605559 2d56 242F mov r18,r205560 2d58 3327 clr r195561 2d5a 8081 ld r24,Z5562 2d5c 9181 ldd r25,Z+15563 2d5e 2817 cp r18,r245564 2d60 3907 cpc r19,r255565 2d62 04F4 brge .L4825566 2d64 8091 0000 lds r24,EE_Parameter+1085567 2d68 82FF sbrs r24,25568 2d6a 00C0 rjmp .L4825569 2d6c 81E0 ldi r24,lo8(1)5570 2d6e 8093 0000 sts Looping_Links,r245571 2d72 00C0 rjmp .L4835572 .L482:5573 2d74 ED2D mov r30,r135574 2d76 FF27 clr r315575 2d78 EE0F add r30,r305576 2d7a FF1F adc r31,r315577 2d7c E050 subi r30,lo8(-(PPM_in))5578 2d7e F040 sbci r31,hi8(-(PPM_in))5579 2d80 842F mov r24,r205580 2d82 9927 clr r255581 2d84 2091 0000 lds r18,EE_Parameter+615582 2d88 821B sub r24,r185583 2d8a 9109 sbc r25,__zero_reg__5584 2d8c 2081 ld r18,Z5585 2d8e 3181 ldd r19,Z+15586 2d90 2817 cp r18,r245587 2d92 3907 cpc r19,r255588 2d94 04F4 brge .L4835589 2d96 1092 0000 sts Looping_Links,__zero_reg__5590 .L483:5591 2d9a 4091 0000 lds r20,EE_Parameter+25592 2d9e E42F mov r30,r205593 2da0 FF27 clr r315594 2da2 EE0F add r30,r305595 2da4 FF1F adc r31,r315596 2da6 E050 subi r30,lo8(-(PPM_in))5597 2da8 F040 sbci r31,hi8(-(PPM_in))5598 2daa 5091 0000 lds r21,EE_Parameter+605599 2dae 852F mov r24,r215600 2db0 9927 clr r255601 2db2 2227 clr r185602 2db4 3327 clr r195603 2db6 281B sub r18,r245604 2db8 390B sbc r19,r255605 2dba 8081 ld r24,Z5606 2dbc 9181 ldd r25,Z+15607 2dbe 8217 cp r24,r185608 2dc0 9307 cpc r25,r195609 2dc2 04F4 brge .L4855610 2dc4 8091 0000 lds r24,EE_Parameter+1085611 2dc8 83FF sbrs r24,35612 2dca 00C0 rjmp .L4855613 2dcc 81E0 ldi r24,lo8(1)5614 2dce 8093 0000 sts Looping_Rechts,r245615 2dd2 00C0 rjmp .L4865616 .L485:5617 2dd4 8091 0000 lds r24,Looping_Rechts5618 2dd8 8823 tst r245619 2dda 01F0 breq .L4865620 2ddc E42F mov r30,r205621 2dde FF27 clr r315622 2de0 EE0F add r30,r305623 2de2 FF1F adc r31,r315624 2de4 E050 subi r30,lo8(-(PPM_in))5625 2de6 F040 sbci r31,hi8(-(PPM_in))5626 2de8 8091 0000 lds r24,EE_Parameter+615627 2dec 9927 clr r255628 2dee 851B sub r24,r215629 2df0 9109 sbc r25,__zero_reg__5630 2df2 2081 ld r18,Z5631 2df4 3181 ldd r19,Z+15632 2df6 8217 cp r24,r185633 2df8 9307 cpc r25,r195634 2dfa 04F4 brge .L4865635 2dfc 1092 0000 sts Looping_Rechts,__zero_reg__5636 .L486:5637 2e00 EC2D mov r30,r125638 2e02 FF27 clr r315639 2e04 EE0F add r30,r305640 2e06 FF1F adc r31,r315641 2e08 E050 subi r30,lo8(-(PPM_in))5642 2e0a F040 sbci r31,hi8(-(PPM_in))5643 2e0c 4091 0000 lds r20,EE_Parameter+605644 2e10 242F mov r18,r205645 2e12 3327 clr r195646 2e14 8081 ld r24,Z5647 2e16 9181 ldd r25,Z+15648 2e18 2817 cp r18,r245649 2e1a 3907 cpc r19,r255650 2e1c 04F4 brge .L4895651 2e1e 8091 0000 lds r24,EE_Parameter+1085652 2e22 80FF sbrs r24,05653 2e24 00C0 rjmp .L4895654 2e26 81E0 ldi r24,lo8(1)5655 2e28 8093 0000 sts Looping_Oben,r245656 2e2c 00C0 rjmp .L4905657 .L489:5658 2e2e 8091 0000 lds r24,Looping_Oben5659 2e32 8823 tst r245660 2e34 01F0 breq .L4905661 2e36 EC2D mov r30,r125662 2e38 FF27 clr r315663 2e3a EE0F add r30,r305664 2e3c FF1F adc r31,r315665 2e3e E050 subi r30,lo8(-(PPM_in))5666 2e40 F040 sbci r31,hi8(-(PPM_in))5667 2e42 842F mov r24,r205668 2e44 9927 clr r255669 2e46 2091 0000 lds r18,EE_Parameter+615670 2e4a 821B sub r24,r185671 2e4c 9109 sbc r25,__zero_reg__5672 2e4e 2081 ld r18,Z5673 2e50 3181 ldd r19,Z+15674 2e52 2817 cp r18,r245675 2e54 3907 cpc r19,r255676 2e56 04F4 brge .L4905677 2e58 1092 0000 sts Looping_Oben,__zero_reg__5678 .L490:5679 2e5c 4091 0000 lds r20,EE_Parameter+15680 2e60 E42F mov r30,r205681 2e62 FF27 clr r315682 2e64 EE0F add r30,r305683 2e66 FF1F adc r31,r315684 2e68 E050 subi r30,lo8(-(PPM_in))5685 2e6a F040 sbci r31,hi8(-(PPM_in))5686 2e6c 5091 0000 lds r21,EE_Parameter+605687 2e70 852F mov r24,r215688 2e72 9927 clr r255689 2e74 2227 clr r185690 2e76 3327 clr r195691 2e78 281B sub r18,r245692 2e7a 390B sbc r19,r255693 2e7c 8081 ld r24,Z5694 2e7e 9181 ldd r25,Z+15695 2e80 8217 cp r24,r185696 2e82 9307 cpc r25,r195697 2e84 04F4 brge .L4935698 2e86 8091 0000 lds r24,EE_Parameter+1085699 2e8a 81FF sbrs r24,15700 2e8c 00C0 rjmp .L4935701 2e8e 81E0 ldi r24,lo8(1)5702 2e90 8093 0000 sts Looping_Unten,r245703 2e94 00C0 rjmp .L4945704 .L493:5705 2e96 8091 0000 lds r24,Looping_Unten5706 2e9a 8823 tst r245707 2e9c 01F0 breq .L4945708 2e9e E42F mov r30,r205709 2ea0 FF27 clr r315710 2ea2 EE0F add r30,r305711 2ea4 FF1F adc r31,r315712 2ea6 E050 subi r30,lo8(-(PPM_in))5713 2ea8 F040 sbci r31,hi8(-(PPM_in))5714 2eaa 8091 0000 lds r24,EE_Parameter+615715 2eae 9927 clr r255716 2eb0 851B sub r24,r215717 2eb2 9109 sbc r25,__zero_reg__5718 2eb4 2081 ld r18,Z5719 2eb6 3181 ldd r19,Z+15720 2eb8 8217 cp r24,r185721 2eba 9307 cpc r25,r195722 2ebc 04F4 brge .L4945723 2ebe 1092 0000 sts Looping_Unten,__zero_reg__5724 .L494:5725 2ec2 8091 0000 lds r24,Looping_Links5726 2ec6 8823 tst r245727 2ec8 01F4 brne .L4985728 2eca 8091 0000 lds r24,Looping_Rechts5729 2ece 8111 cpse r24,__zero_reg__5730 .L498:5731 2ed0 81E0 ldi r24,lo8(1)5732 .L497:5733 2ed2 8093 0000 sts Looping_Roll,r245734 2ed6 8091 0000 lds r24,Looping_Oben5735 2eda 8823 tst r245736 2edc 01F4 brne .L5015737 2ede 8091 0000 lds r24,Looping_Unten5738 2ee2 8823 tst r245739 2ee4 01F0 breq .L5005740 .L501:5741 2ee6 81E0 ldi r24,lo8(1)5742 2ee8 8093 0000 sts Looping_Nick,r245743 2eec 1092 0000 sts Looping_Roll,__zero_reg__5744 2ef0 1092 0000 sts Looping_Links,__zero_reg__5745 2ef4 1092 0000 sts Looping_Rechts,__zero_reg__5746 2ef8 00C0 rjmp .L4425747 .L500:5748 2efa 8093 0000 sts Looping_Nick,r245749 .L442:5750 2efe 8091 0000 lds r24,Looping_Roll5751 2f02 8823 tst r245752 2f04 01F4 brne .L5045753 2f06 8091 0000 lds r24,Looping_Nick5754 2f0a 8823 tst r245755 2f0c 01F0 breq .L5035756 .L504:5757 2f0e 8091 0000 lds r24,EE_Parameter+595758 2f12 9927 clr r255759 2f14 2981 ldd r18,Y+15760 2f16 3A81 ldd r19,Y+25761 2f18 8217 cp r24,r185762 2f1a 9307 cpc r25,r195763 2f1c 04F4 brge .L5055764 2f1e 9A83 std Y+2,r255765 2f20 8983 std Y+1,r245766 .L505:5767 2f22 81E0 ldi r24,lo8(1)5768 2f24 8093 0000 sts TrichterFlug,r245769 .L503:5770 2f28 8091 0000 lds r24,FC_StatusFlags25771 2f2c 9927 clr r255772 2f2e 9C01 movw r18,r245773 2f30 2470 andi r18,lo8(4)5774 2f32 3070 andi r19,hi8(4)5775 2f34 82FF sbrs r24,25776 2f36 00C0 rjmp .L5065777 2f38 8091 0000 lds r24,GPS_Nick5778 2f3c 9091 0000 lds r25,(GPS_Nick)+15779 2f40 9095 com r255780 2f42 8195 neg r245781 2f44 9F4F sbci r25,lo8(-1)5782 2f46 9093 0000 sts (StickNick)+1,r255783 2f4a 8093 0000 sts StickNick,r245784 2f4e 8091 0000 lds r24,GPS_Roll5785 2f52 9091 0000 lds r25,(GPS_Roll)+15786 2f56 9095 com r255787 2f58 8195 neg r245788 2f5a 9F4F sbci r25,lo8(-1)5789 2f5c 9093 0000 sts (StickRoll)+1,r255790 2f60 8093 0000 sts StickRoll,r245791 2f64 8091 0000 lds r24,StickGasHover5792 2f68 9091 0000 lds r25,(StickGasHover)+15793 2f6c 9093 0000 sts (StickGas)+1,r255794 2f70 8093 0000 sts StickGas,r245795 2f74 8091 0000 lds r24,Parameter_GlobalConfig5796 2f78 8B77 andi r24,lo8(123)5797 2f7a 8B66 ori r24,lo8(107)5798 2f7c 8093 0000 sts Parameter_GlobalConfig,r245799 2f80 8091 0000 lds r24,Parameter_ExtraConfig5800 2f84 8C7B andi r24,lo8(-68)5801 2f86 8093 0000 sts Parameter_ExtraConfig,r245802 2f8a 88EC ldi r24,lo8(-56)5803 2f8c 8093 0000 sts Parameter_HoehenSchalter,r245804 2f90 00C0 rjmp .L5075805 .L506:5806 2f92 8091 0000 lds r24,FC_StatusFlags5807 2f96 84FF sbrs r24,45808 2f98 00C0 rjmp .L5075809 2f9a 3093 0000 sts (StickGier)+1,r195810 2f9e 2093 0000 sts StickGier,r185811 2fa2 3093 0000 sts (StickNick)+1,r195812 2fa6 2093 0000 sts StickNick,r185813 2faa 3093 0000 sts (StickRoll)+1,r195814 2fae 2093 0000 sts StickRoll,r185815 2fb2 9AE5 ldi r25,lo8(90)5816 2fb4 9093 0000 sts GyroFaktor,r255817 2fb8 88E7 ldi r24,lo8(120)5818 2fba 8093 0000 sts IntegralFaktor,r245819 2fbe 9093 0000 sts GyroFaktorGier,r255820 2fc2 8093 0000 sts IntegralFaktorGier,r245821 2fc6 1092 0000 sts Looping_Roll,__zero_reg__5822 2fca 1092 0000 sts Looping_Nick,__zero_reg__5823 .L507:5824 2fce 8091 0000 lds r24,MittelIntegralNick5825 2fd2 9091 0000 lds r25,(MittelIntegralNick)+15826 2fd6 A091 0000 lds r26,(MittelIntegralNick)+25827 2fda B091 0000 lds r27,(MittelIntegralNick)+35828 2fde 2091 0000 lds r18,IntegralNick5829 2fe2 3091 0000 lds r19,(IntegralNick)+15830 2fe6 4091 0000 lds r20,(IntegralNick)+25831 2fea 5091 0000 lds r21,(IntegralNick)+35832 2fee 820F add r24,r185833 2ff0 931F adc r25,r195834 2ff2 A41F adc r26,r205835 2ff4 B51F adc r27,r215836 2ff6 8093 0000 sts MittelIntegralNick,r245837 2ffa 9093 0000 sts (MittelIntegralNick)+1,r255838 2ffe A093 0000 sts (MittelIntegralNick)+2,r265839 3002 B093 0000 sts (MittelIntegralNick)+3,r275840 3006 8091 0000 lds r24,MittelIntegralRoll5841 300a 9091 0000 lds r25,(MittelIntegralRoll)+15842 300e A091 0000 lds r26,(MittelIntegralRoll)+25843 3012 B091 0000 lds r27,(MittelIntegralRoll)+35844 3016 E090 0000 lds r14,IntegralRoll5845 301a F090 0000 lds r15,(IntegralRoll)+15846 301e 0091 0000 lds r16,(IntegralRoll)+25847 3022 1091 0000 lds r17,(IntegralRoll)+35848 3026 EB82 std Y+3,r145849 3028 FC82 std Y+4,r155850 302a 0D83 std Y+5,r165851 302c 1E83 std Y+6,r175852 302e 8E0D add r24,r145853 3030 9F1D adc r25,r155854 3032 A01F adc r26,r165855 3034 B11F adc r27,r175856 3036 8093 0000 sts MittelIntegralRoll,r245857 303a 9093 0000 sts (MittelIntegralRoll)+1,r255858 303e A093 0000 sts (MittelIntegralRoll)+2,r265859 3042 B093 0000 sts (MittelIntegralRoll)+3,r275860 3046 8091 0000 lds r24,MittelIntegralNick25861 304a 9091 0000 lds r25,(MittelIntegralNick2)+15862 304e A091 0000 lds r26,(MittelIntegralNick2)+25863 3052 B091 0000 lds r27,(MittelIntegralNick2)+35864 3056 E090 0000 lds r14,IntegralNick25865 305a F090 0000 lds r15,(IntegralNick2)+15866 305e 0091 0000 lds r16,(IntegralNick2)+25867 3062 1091 0000 lds r17,(IntegralNick2)+35868 3066 EF82 std Y+7,r145869 3068 F886 std Y+8,r155870 306a 0987 std Y+9,r165871 306c 1A87 std Y+10,r175872 306e 8E0D add r24,r145873 3070 9F1D adc r25,r155874 3072 A01F adc r26,r165875 3074 B11F adc r27,r175876 3076 8093 0000 sts MittelIntegralNick2,r245877 307a 9093 0000 sts (MittelIntegralNick2)+1,r255878 307e A093 0000 sts (MittelIntegralNick2)+2,r265879 3082 B093 0000 sts (MittelIntegralNick2)+3,r275880 3086 8091 0000 lds r24,MittelIntegralRoll25881 308a 9091 0000 lds r25,(MittelIntegralRoll2)+15882 308e A091 0000 lds r26,(MittelIntegralRoll2)+25883 3092 B091 0000 lds r27,(MittelIntegralRoll2)+35884 3096 E090 0000 lds r14,IntegralRoll25885 309a F090 0000 lds r15,(IntegralRoll2)+15886 309e 0091 0000 lds r16,(IntegralRoll2)+25887 30a2 1091 0000 lds r17,(IntegralRoll2)+35888 30a6 EB86 std Y+11,r145889 30a8 FC86 std Y+12,r155890 30aa 0D87 std Y+13,r165891 30ac 1E87 std Y+14,r175892 30ae 8E0D add r24,r145893 30b0 9F1D adc r25,r155894 30b2 A01F adc r26,r165895 30b4 B11F adc r27,r175896 30b6 8093 0000 sts MittelIntegralRoll2,r245897 30ba 9093 0000 sts (MittelIntegralRoll2)+1,r255898 30be A093 0000 sts (MittelIntegralRoll2)+2,r265899 30c2 B093 0000 sts (MittelIntegralRoll2)+3,r275900 30c6 F090 0000 lds r15,Looping_Nick5901 30ca FF86 std Y+15,r155902 30cc FF20 tst r155903 30ce 01F4 brne .L5105904 30d0 8091 0000 lds r24,Looping_Roll5905 30d4 8823 tst r245906 30d6 01F4 brne .+25907 30d8 00C0 rjmp .L8925908 .L510:5909 30da 1092 0000 sts IntegralAccNick,__zero_reg__5910 30de 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5911 30e2 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5912 30e6 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5913 30ea 1092 0000 sts IntegralAccRoll,__zero_reg__5914 30ee 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5915 30f2 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5916 30f6 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5917 30fa 1092 0000 sts MittelIntegralNick,__zero_reg__5918 30fe 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5919 3102 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5920 3106 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5921 310a 1092 0000 sts MittelIntegralRoll,__zero_reg__5922 310e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5923 3112 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5924 3116 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5925 311a 1092 0000 sts MittelIntegralNick2,__zero_reg__5926 311e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5927 3122 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5928 3126 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5929 312a 1092 0000 sts MittelIntegralRoll2,__zero_reg__5930 312e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5931 3132 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5932 3136 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5933 313a 8091 0000 lds r24,Mess_IntegralNick5934 313e 9091 0000 lds r25,(Mess_IntegralNick)+15935 3142 A091 0000 lds r26,(Mess_IntegralNick)+25936 3146 B091 0000 lds r27,(Mess_IntegralNick)+35937 314a 8093 0000 sts Mess_IntegralNick2,r245938 314e 9093 0000 sts (Mess_IntegralNick2)+1,r255939 3152 A093 0000 sts (Mess_IntegralNick2)+2,r265940 3156 B093 0000 sts (Mess_IntegralNick2)+3,r275941 315a 8091 0000 lds r24,Mess_IntegralRoll5942 315e 9091 0000 lds r25,(Mess_IntegralRoll)+15943 3162 A091 0000 lds r26,(Mess_IntegralRoll)+25944 3166 B091 0000 lds r27,(Mess_IntegralRoll)+35945 316a 8093 0000 sts Mess_IntegralRoll2,r245946 316e 9093 0000 sts (Mess_IntegralRoll2)+1,r255947 3172 A093 0000 sts (Mess_IntegralRoll2)+2,r265948 3176 B093 0000 sts (Mess_IntegralRoll2)+3,r275949 317a 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5950 317e 1092 0000 sts ZaehlMessungen,__zero_reg__5951 3182 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5952 3186 1092 0000 sts LageKorrekturNick,__zero_reg__5953 318a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5954 318e 1092 0000 sts LageKorrekturRoll,__zero_reg__5955 3192 0F85 ldd r16,Y+155956 3194 0023 tst r165957 3196 01F0 breq .+25958 3198 00C0 rjmp .L5115959 .L892:5960 319a 8091 0000 lds r24,Looping_Roll5961 319e 8823 tst r245962 31a0 01F0 breq .+25963 31a2 00C0 rjmp .L5115964 31a4 8091 0000 lds r24,Aktuell_az5965 31a8 9091 0000 lds r25,(Aktuell_az)+15966 31ac 8150 subi r24,lo8(513)5967 31ae 9240 sbci r25,hi8(513)5968 31b0 04F4 brge .L5125969 31b2 8091 0000 lds r24,MotorenEin5970 31b6 8823 tst r245971 31b8 01F4 brne .+25972 31ba 00C0 rjmp .L5115973 .L512:5974 31bc 9090 0000 lds r9,FromNaviCtrl_Value5975 31c0 A090 0000 lds r10,EE_Parameter+285976 31c4 2090 0000 lds r2,Mittelwert_AccNick5977 31c8 3090 0000 lds r3,(Mittelwert_AccNick)+15978 31cc 4090 0000 lds r4,Mittelwert_AccRoll5979 31d0 5090 0000 lds r5,(Mittelwert_AccRoll)+15980 31d4 1914 cp __zero_reg__,r95981 31d6 04F0 brlt .+25982 31d8 00C0 rjmp .L5135983 31da BB24 clr r115984 31dc CC24 clr r125985 31de DD24 clr r135986 31e0 CA01 movw r24,r205987 31e2 B901 movw r22,r185988 31e4 A601 movw r20,r125989 31e6 9501 movw r18,r105990 31e8 0E94 0000 call __divmodsi45991 31ec 7901 movw r14,r185992 31ee 8A01 movw r16,r205993 31f0 8091 0000 lds r24,FromNaviCtrl+95994 31f4 9091 0000 lds r25,(FromNaviCtrl+9)+15995 31f8 281A sub r2,r245996 31fa 390A sbc r3,r255997 31fc C101 movw r24,r25998 31fe AA27 clr r265999 3200 97FD sbrc r25,76000 3202 A095 com r266001 3204 BA2F mov r27,r266002 3206 E81A sub r14,r246003 3208 F90A sbc r15,r256004 320a 0A0B sbc r16,r266005 320c 1B0B sbc r17,r276006 320e 6B81 ldd r22,Y+36007 3210 7C81 ldd r23,Y+46008 3212 8D81 ldd r24,Y+56009 3214 9E81 ldd r25,Y+66010 3216 A601 movw r20,r126011 3218 9501 movw r18,r106012 321a 0E94 0000 call __divmodsi46013 321e 5901 movw r10,r186014 3220 6A01 movw r12,r206015 3222 8091 0000 lds r24,FromNaviCtrl+116016 3226 9091 0000 lds r25,(FromNaviCtrl+11)+16017 322a 481A sub r4,r246018 322c 590A sbc r5,r256019 322e C201 movw r24,r46020 3230 AA27 clr r266021 3232 97FD sbrc r25,76022 3234 A095 com r266023 3236 BA2F mov r27,r266024 3238 A81A sub r10,r246025 323a B90A sbc r11,r256026 323c CA0A sbc r12,r266027 323e DB0A sbc r13,r276028 3240 292C mov r2,r96029 3242 3324 clr r36030 3244 27FC sbrc r2,76031 3246 3094 com r36032 3248 432C mov r4,r36033 324a 532C mov r5,r36034 324c C801 movw r24,r166035 324e B701 movw r22,r146036 3250 A201 movw r20,r46037 3252 9101 movw r18,r26038 3254 0E94 0000 call __mulsi36039 3258 97FF sbrs r25,76040 325a 00C0 rjmp .L5146041 325c 6150 subi r22,lo8(-(511))6042 325e 7E4F sbci r23,hi8(-(511))6043 3260 8F4F sbci r24,hlo8(-(511))6044 3262 9F4F sbci r25,hhi8(-(511))6045 .L514:6046 3264 3B01 movw r6,r226047 3266 4C01 movw r8,r246048 3268 09E0 ldi r16,96049 326a 9594 1: asr r96050 326c 8794 ror r86051 326e 7794 ror r76052 3270 6794 ror r66053 3272 0A95 dec r166054 3274 01F4 brne 1b6055 3276 C601 movw r24,r126056 3278 B501 movw r22,r106057 327a A201 movw r20,r46058 327c 9101 movw r18,r26059 327e 0E94 0000 call __mulsi36060 3282 97FF sbrs r25,76061 3284 00C0 rjmp .L5156062 3286 6150 subi r22,lo8(-(511))6063 3288 7E4F sbci r23,hi8(-(511))6064 328a 8F4F sbci r24,hlo8(-(511))6065 328c 9F4F sbci r25,hhi8(-(511))6066 .L515:6067 328e 5B01 movw r10,r226068 3290 6C01 movw r12,r246069 3292 19E0 ldi r17,96070 3294 D594 1: asr r136071 3296 C794 ror r126072 3298 B794 ror r116073 329a A794 ror r106074 329c 1A95 dec r176075 329e 01F4 brne 1b6076 32a0 8091 0000 lds r24,MaxStickNick6077 32a4 9091 0000 lds r25,(MaxStickNick)+16078 32a8 8134 cpi r24,656079 32aa 9105 cpc r25,__zero_reg__6080 32ac 04F4 brge .L5176081 32ae 8091 0000 lds r24,MaxStickRoll6082 32b2 9091 0000 lds r25,(MaxStickRoll)+16083 32b6 8134 cpi r24,656084 32b8 9105 cpc r25,__zero_reg__6085 32ba 04F0 brlt .L5166086 .L517:6087 32bc D401 movw r26,r86088 32be C301 movw r24,r66089 32c0 97FE sbrs r9,76090 32c2 00C0 rjmp .L5186091 32c4 0196 adiw r24,16092 32c6 A11D adc r26,__zero_reg__6093 32c8 B11D adc r27,__zero_reg__6094 .L518:6095 32ca 3C01 movw r6,r246096 32cc 4D01 movw r8,r266097 32ce 9594 asr r96098 32d0 8794 ror r86099 32d2 7794 ror r76100 32d4 6794 ror r66101 32d6 D601 movw r26,r126102 32d8 C501 movw r24,r106103 32da D7FE sbrs r13,76104 32dc 00C0 rjmp .L5196105 32de 0196 adiw r24,16106 32e0 A11D adc r26,__zero_reg__6107 32e2 B11D adc r27,__zero_reg__6108 .L519:6109 32e4 5C01 movw r10,r246110 32e6 6D01 movw r12,r266111 32e8 D594 asr r136112 32ea C794 ror r126113 32ec B794 ror r116114 32ee A794 ror r106115 .L516:6116 32f0 8091 0000 lds r24,FromNaviCtrl_Value+26117 32f4 282F mov r18,r246118 32f6 3327 clr r196119 32f8 27FD sbrc r18,76120 32fa 3095 com r196121 32fc 432F mov r20,r196122 32fe 532F mov r21,r196123 3300 2615 cp r18,r66124 3302 3705 cpc r19,r76125 3304 4805 cpc r20,r86126 3306 5905 cpc r21,r96127 3308 04F4 brge .L5206128 330a 3901 movw r6,r186129 330c 4A01 movw r8,r206130 .L520:6131 330e 9927 clr r256132 3310 87FD sbrc r24,76133 3312 9095 com r256134 3314 9095 com r256135 3316 8195 neg r246136 3318 9F4F sbci r25,lo8(-1)6137 331a AA27 clr r266138 331c 97FD sbrc r25,76139 331e A095 com r266140 3320 BA2F mov r27,r266141 3322 6816 cp r6,r246142 3324 7906 cpc r7,r256143 3326 8A06 cpc r8,r266144 3328 9B06 cpc r9,r276145 332a 04F4 brge .L5216146 332c 3C01 movw r6,r246147 332e 4D01 movw r8,r266148 .L521:6149 3330 2A15 cp r18,r106150 3332 3B05 cpc r19,r116151 3334 4C05 cpc r20,r126152 3336 5D05 cpc r21,r136153 3338 04F4 brge .L5226154 333a 5901 movw r10,r186155 333c 6A01 movw r12,r206156 .L522:6157 333e A816 cp r10,r246158 3340 B906 cpc r11,r256159 3342 CA06 cpc r12,r266160 3344 DB06 cpc r13,r276161 3346 04F0 brlt .+26162 3348 00C0 rjmp .L5246163 334a 5C01 movw r10,r246164 334c 6D01 movw r12,r266165 334e 00C0 rjmp .L5246166 .L513:6167 3350 EA2C mov r14,r106168 3352 FF24 clr r156169 3354 0027 clr r166170 3356 1127 clr r176171 3358 CA01 movw r24,r206172 335a B901 movw r22,r186173 335c A801 movw r20,r166174 335e 9701 movw r18,r146175 3360 0E94 0000 call __divmodsi46176 3364 3901 movw r6,r186177 3366 4A01 movw r8,r206178 3368 C101 movw r24,r26179 336a AA27 clr r266180 336c 97FD sbrc r25,76181 336e A095 com r266182 3370 BA2F mov r27,r266183 3372 681A sub r6,r246184 3374 790A sbc r7,r256185 3376 8A0A sbc r8,r266186 3378 9B0A sbc r9,r276187 337a 6B81 ldd r22,Y+36188 337c 7C81 ldd r23,Y+46189 337e 8D81 ldd r24,Y+56190 3380 9E81 ldd r25,Y+66191 3382 A801 movw r20,r166192 3384 9701 movw r18,r146193 3386 0E94 0000 call __divmodsi46194 338a 5901 movw r10,r186195 338c 6A01 movw r12,r206196 338e C201 movw r24,r46197 3390 AA27 clr r266198 3392 97FD sbrc r25,76199 3394 A095 com r266200 3396 BA2F mov r27,r266201 3398 A81A sub r10,r246202 339a B90A sbc r11,r256203 339c CA0A sbc r12,r266204 339e DB0A sbc r13,r276205 33a0 D401 movw r26,r86206 33a2 C301 movw r24,r66207 33a4 97FE sbrs r9,76208 33a6 00C0 rjmp .L5256209 33a8 0F96 adiw r24,156210 33aa A11D adc r26,__zero_reg__6211 33ac B11D adc r27,__zero_reg__6212 .L525:6213 33ae 3C01 movw r6,r246214 33b0 4D01 movw r8,r266215 33b2 F4E0 ldi r31,46216 33b4 9594 1: asr r96217 33b6 8794 ror r86218 33b8 7794 ror r76219 33ba 6794 ror r66220 33bc FA95 dec r316221 33be 01F4 brne 1b6222 33c0 D601 movw r26,r126223 33c2 C501 movw r24,r106224 33c4 D7FE sbrs r13,76225 33c6 00C0 rjmp .L5266226 33c8 0F96 adiw r24,156227 33ca A11D adc r26,__zero_reg__6228 33cc B11D adc r27,__zero_reg__6229 .L526:6230 33ce 5C01 movw r10,r246231 33d0 6D01 movw r12,r266232 33d2 E4E0 ldi r30,46233 33d4 D594 1: asr r136234 33d6 C794 ror r126235 33d8 B794 ror r116236 33da A794 ror r106237 33dc EA95 dec r306238 33de 01F4 brne 1b6239 33e0 8091 0000 lds r24,MaxStickNick6240 33e4 9091 0000 lds r25,(MaxStickNick)+16241 33e8 8134 cpi r24,656242 33ea 9105 cpc r25,__zero_reg__6243 33ec 04F4 brge .L5286244 33ee 8091 0000 lds r24,MaxStickRoll6245 33f2 9091 0000 lds r25,(MaxStickRoll)+16246 33f6 8134 cpi r24,656247 33f8 9105 cpc r25,__zero_reg__6248 33fa 04F0 brlt .L5276249 .L528:6250 33fc C401 movw r24,r86251 33fe B301 movw r22,r66252 3400 23E0 ldi r18,lo8(3)6253 3402 30E0 ldi r19,hi8(3)6254 3404 40E0 ldi r20,hlo8(3)6255 3406 50E0 ldi r21,hhi8(3)6256 3408 0E94 0000 call __divmodsi46257 340c 3901 movw r6,r186258 340e 4A01 movw r8,r206259 3410 C601 movw r24,r126260 3412 B501 movw r22,r106261 3414 23E0 ldi r18,lo8(3)6262 3416 30E0 ldi r19,hi8(3)6263 3418 40E0 ldi r20,hlo8(3)6264 341a 50E0 ldi r21,hhi8(3)6265 341c 0E94 0000 call __divmodsi46266 3420 5901 movw r10,r186267 3422 6A01 movw r12,r206268 .L527:6269 3424 8091 0000 lds r24,EE_Parameter+46270 3428 E82F mov r30,r246271 342a FF27 clr r316272 342c EE0F add r30,r306273 342e FF1F adc r31,r316274 3430 E050 subi r30,lo8(-(PPM_in))6275 3432 F040 sbci r31,hi8(-(PPM_in))6276 3434 8081 ld r24,Z6277 3436 9181 ldd r25,Z+16278 3438 0190 ld __tmp_reg__,Z+6279 343a F081 ld r31,Z6280 343c E02D mov r30,__tmp_reg__6281 343e F7FF sbrs r31,76282 3440 00C0 rjmp .L5306283 3442 F095 com r316284 3444 E195 neg r306285 3446 FF4F sbci r31,lo8(-1)6286 .L530:6287 3448 7A97 sbiw r30,266288 344a 04F0 brlt .L5296289 344c C401 movw r24,r86290 344e B301 movw r22,r66291 3450 23E0 ldi r18,lo8(3)6292 3452 30E0 ldi r19,hi8(3)6293 3454 40E0 ldi r20,hlo8(3)6294 3456 50E0 ldi r21,hhi8(3)6295 3458 0E94 0000 call __divmodsi46296 345c 3901 movw r6,r186297 345e 4A01 movw r8,r206298 3460 C601 movw r24,r126299 3462 B501 movw r22,r106300 3464 23E0 ldi r18,lo8(3)6301 3466 30E0 ldi r19,hi8(3)6302 3468 40E0 ldi r20,hlo8(3)6303 346a 50E0 ldi r21,hhi8(3)6304 346c 0E94 0000 call __divmodsi46305 3470 5901 movw r10,r186306 3472 6A01 movw r12,r206307 .L529:6308 3474 89E1 ldi r24,lo8(25)6309 3476 8093 0000 sts KompassFusion,r246310 347a 21E2 ldi r18,lo8(33)6311 347c 6216 cp r6,r186312 347e 7104 cpc r7,__zero_reg__6313 3480 8104 cpc r8,__zero_reg__6314 3482 9104 cpc r9,__zero_reg__6315 3484 04F0 brlt .L5316316 3486 70E2 ldi r23,lo8(32)6317 3488 672E mov r6,r236318 348a 712C mov r7,__zero_reg__6319 348c 812C mov r8,__zero_reg__6320 348e 912C mov r9,__zero_reg__6321 .L531:6322 3490 30EE ldi r19,lo8(-32)6323 3492 6316 cp r6,r196324 3494 3FEF ldi r19,hi8(-32)6325 3496 7306 cpc r7,r196326 3498 3FEF ldi r19,hlo8(-32)6327 349a 8306 cpc r8,r196328 349c 3FEF ldi r19,hhi8(-32)6329 349e 9306 cpc r9,r196330 34a0 04F4 brge .L5326331 34a2 60EE ldi r22,lo8(-32)6332 34a4 662E mov r6,r226333 34a6 6FEF ldi r22,hi8(-32)6334 34a8 762E mov r7,r226335 34aa 6FEF ldi r22,hlo8(-32)6336 34ac 862E mov r8,r226337 34ae 6FEF ldi r22,hhi8(-32)6338 34b0 962E mov r9,r226339 .L532:6340 34b2 41E2 ldi r20,lo8(33)6341 34b4 A416 cp r10,r206342 34b6 B104 cpc r11,__zero_reg__6343 34b8 C104 cpc r12,__zero_reg__6344 34ba D104 cpc r13,__zero_reg__6345 34bc 04F0 brlt .L5336346 34be 50E2 ldi r21,lo8(32)6347 34c0 A52E mov r10,r216348 34c2 B12C mov r11,__zero_reg__6349 34c4 C12C mov r12,__zero_reg__6350 34c6 D12C mov r13,__zero_reg__6351 .L533:6352 34c8 50EE ldi r21,lo8(-32)6353 34ca A516 cp r10,r216354 34cc 5FEF ldi r21,hi8(-32)6355 34ce B506 cpc r11,r216356 34d0 5FEF ldi r21,hlo8(-32)6357 34d2 C506 cpc r12,r216358 34d4 5FEF ldi r21,hhi8(-32)6359 34d6 D506 cpc r13,r216360 34d8 04F4 brge .L5246361 34da 40EE ldi r20,lo8(-32)6362 34dc A42E mov r10,r206363 34de 4FEF ldi r20,hi8(-32)6364 34e0 B42E mov r11,r206365 34e2 4FEF ldi r20,hlo8(-32)6366 34e4 C42E mov r12,r206367 34e6 4FEF ldi r20,hhi8(-32)6368 34e8 D42E mov r13,r206369 .L524:6370 34ea 8091 0000 lds r24,Mess_IntegralNick6371 34ee 9091 0000 lds r25,(Mess_IntegralNick)+16372 34f2 A091 0000 lds r26,(Mess_IntegralNick)+26373 34f6 B091 0000 lds r27,(Mess_IntegralNick)+36374 34fa 8619 sub r24,r66375 34fc 9709 sbc r25,r76376 34fe A809 sbc r26,r86377 3500 B909 sbc r27,r96378 3502 8093 0000 sts Mess_IntegralNick,r246379 3506 9093 0000 sts (Mess_IntegralNick)+1,r256380 350a A093 0000 sts (Mess_IntegralNick)+2,r266381 350e B093 0000 sts (Mess_IntegralNick)+3,r276382 3512 8091 0000 lds r24,Mess_IntegralRoll6383 3516 9091 0000 lds r25,(Mess_IntegralRoll)+16384 351a A091 0000 lds r26,(Mess_IntegralRoll)+26385 351e B091 0000 lds r27,(Mess_IntegralRoll)+36386 3522 8A19 sub r24,r106387 3524 9B09 sbc r25,r116388 3526 AC09 sbc r26,r126389 3528 BD09 sbc r27,r136390 352a 8093 0000 sts Mess_IntegralRoll,r246391 352e 9093 0000 sts (Mess_IntegralRoll)+1,r256392 3532 A093 0000 sts (Mess_IntegralRoll)+2,r266393 3536 B093 0000 sts (Mess_IntegralRoll)+3,r276394 .L511:6395 353a 8091 0000 lds r24,ZaehlMessungen6396 353e 9091 0000 lds r25,(ZaehlMessungen)+16397 3542 8F3F cpi r24,2556398 3544 9105 cpc r25,__zero_reg__6399 3546 01F0 breq .+26400 3548 00F4 brsh .+26401 354a 00C0 rjmp .L5356402 354c 6F85 ldd r22,Y+156403 354e 6623 tst r226404 3550 01F0 breq .+26405 3552 00C0 rjmp .L5366406 3554 8091 0000 lds r24,Looping_Roll6407 3558 8823 tst r246408 355a 01F0 breq .+26409 355c 00C0 rjmp .L5366410 355e 8091 0000 lds r24,TrichterFlug6411 3562 8823 tst r246412 3564 01F0 breq .+26413 3566 00C0 rjmp .L5366414 3568 7091 0000 lds r23,EE_Parameter+686415 356c 788B std Y+16,r236416 356e 7723 tst r236417 3570 01F4 brne .+26418 3572 00C0 rjmp .L5366419 3574 8091 0000 lds r24,MittelIntegralNick6420 3578 9091 0000 lds r25,(MittelIntegralNick)+16421 357c A091 0000 lds r26,(MittelIntegralNick)+26422 3580 B091 0000 lds r27,(MittelIntegralNick)+36423 3584 B7FF sbrs r27,76424 3586 00C0 rjmp .L5376425 3588 8150 subi r24,lo8(-(255))6426 358a 9F4F sbci r25,hi8(-(255))6427 358c AF4F sbci r26,hlo8(-(255))6428 358e BF4F sbci r27,hhi8(-(255))6429 .L537:6430 3590 E92E mov r14,r256431 3592 FA2E mov r15,r266432 3594 0B2F mov r16,r276433 3596 1127 clr r176434 3598 07FD sbrc r16,76435 359a 1A95 dec r176436 359c E092 0000 sts MittelIntegralNick,r146437 35a0 F092 0000 sts (MittelIntegralNick)+1,r156438 35a4 0093 0000 sts (MittelIntegralNick)+2,r166439 35a8 1093 0000 sts (MittelIntegralNick)+3,r176440 35ac 8091 0000 lds r24,MittelIntegralRoll6441 35b0 9091 0000 lds r25,(MittelIntegralRoll)+16442 35b4 A091 0000 lds r26,(MittelIntegralRoll)+26443 35b8 B091 0000 lds r27,(MittelIntegralRoll)+36444 35bc B7FF sbrs r27,76445 35be 00C0 rjmp .L5386446 35c0 8150 subi r24,lo8(-(255))6447 35c2 9F4F sbci r25,hi8(-(255))6448 35c4 AF4F sbci r26,hlo8(-(255))6449 35c6 BF4F sbci r27,hhi8(-(255))6450 .L538:6451 35c8 892F mov r24,r256452 35ca 9A2F mov r25,r266453 35cc AB2F mov r26,r276454 35ce BB27 clr r276455 35d0 A7FD sbrc r26,76456 35d2 BA95 dec r276457 35d4 898B std Y+17,r246458 35d6 9A8B std Y+18,r256459 35d8 AB8B std Y+19,r266460 35da BC8B std Y+20,r276461 35dc 8093 0000 sts MittelIntegralRoll,r246462 35e0 9093 0000 sts (MittelIntegralRoll)+1,r256463 35e4 A093 0000 sts (MittelIntegralRoll)+2,r266464 35e8 B093 0000 sts (MittelIntegralRoll)+3,r276465 35ec 8091 0000 lds r24,EE_Parameter+286466 35f0 A82E mov r10,r246467 35f2 BB24 clr r116468 35f4 CC24 clr r126469 35f6 DD24 clr r136470 35f8 2091 0000 lds r18,IntegralAccNick6471 35fc 3091 0000 lds r19,(IntegralAccNick)+16472 3600 4091 0000 lds r20,(IntegralAccNick)+26473 3604 5091 0000 lds r21,(IntegralAccNick)+36474 3608 C601 movw r24,r126475 360a B501 movw r22,r106476 360c 0E94 0000 call __mulsi36477 3610 97FF sbrs r25,76478 3612 00C0 rjmp .L5396479 3614 6150 subi r22,lo8(-(255))6480 3616 7F4F sbci r23,hi8(-(255))6481 3618 8F4F sbci r24,hlo8(-(255))6482 361a 9F4F sbci r25,hhi8(-(255))6483 .L539:6484 361c 672E mov r6,r236485 361e 782E mov r7,r246486 3620 892E mov r8,r256487 3622 9924 clr r96488 3624 87FC sbrc r8,76489 3626 9A94 dec r96490 3628 6092 0000 sts IntegralAccNick,r66491 362c 7092 0000 sts (IntegralAccNick)+1,r76492 3630 8092 0000 sts (IntegralAccNick)+2,r86493 3634 9092 0000 sts (IntegralAccNick)+3,r96494 3638 2091 0000 lds r18,IntegralAccRoll6495 363c 3091 0000 lds r19,(IntegralAccRoll)+16496 3640 4091 0000 lds r20,(IntegralAccRoll)+26497 3644 5091 0000 lds r21,(IntegralAccRoll)+36498 3648 C601 movw r24,r126499 364a B501 movw r22,r106500 364c 0E94 0000 call __mulsi36501 3650 97FF sbrs r25,76502 3652 00C0 rjmp .L5406503 3654 6150 subi r22,lo8(-(255))6504 3656 7F4F sbci r23,hi8(-(255))6505 3658 8F4F sbci r24,hlo8(-(255))6506 365a 9F4F sbci r25,hhi8(-(255))6507 .L540:6508 365c 272E mov r2,r236509 365e 382E mov r3,r246510 3660 492E mov r4,r256511 3662 5524 clr r56512 3664 47FC sbrc r4,76513 3666 5A94 dec r56514 3668 2092 0000 sts IntegralAccRoll,r26515 366c 3092 0000 sts (IntegralAccRoll)+1,r36516 3670 4092 0000 sts (IntegralAccRoll)+2,r46517 3674 5092 0000 sts (IntegralAccRoll)+3,r56518 3678 8091 0000 lds r24,IntegralAccZ6519 367c 9091 0000 lds r25,(IntegralAccZ)+16520 3680 A091 0000 lds r26,(IntegralAccZ)+26521 3684 B091 0000 lds r27,(IntegralAccZ)+36522 3688 B7FF sbrs r27,76523 368a 00C0 rjmp .L5416524 368c 8150 subi r24,lo8(-(255))6525 368e 9F4F sbci r25,hi8(-(255))6526 3690 AF4F sbci r26,hlo8(-(255))6527 3692 BF4F sbci r27,hhi8(-(255))6528 .L541:6529 3694 892F mov r24,r256530 3696 9A2F mov r25,r266531 3698 AB2F mov r26,r276532 369a BB27 clr r276533 369c A7FD sbrc r26,76534 369e BA95 dec r276535 36a0 8093 0000 sts IntegralAccZ,r246536 36a4 9093 0000 sts (IntegralAccZ)+1,r256537 36a8 A093 0000 sts (IntegralAccZ)+2,r266538 36ac B093 0000 sts (IntegralAccZ)+3,r276539 36b0 D801 movw r26,r166540 36b2 C701 movw r24,r146541 36b4 8619 sub r24,r66542 36b6 9709 sbc r25,r76543 36b8 A809 sbc r26,r86544 36ba B909 sbc r27,r96545 36bc 8093 0000 sts IntegralFehlerNick.3,r246546 36c0 9093 0000 sts (IntegralFehlerNick.3)+1,r256547 36c4 A093 0000 sts (IntegralFehlerNick.3)+2,r266548 36c8 B093 0000 sts (IntegralFehlerNick.3)+3,r276549 36cc 2091 0000 lds r18,EE_Parameter+676550 36d0 E22E mov r14,r186551 36d2 FF24 clr r156552 36d4 0027 clr r166553 36d6 1127 clr r176554 36d8 BC01 movw r22,r246555 36da CD01 movw r24,r266556 36dc A801 movw r20,r166557 36de 9701 movw r18,r146558 36e0 0E94 0000 call __divmodsi46559 36e4 5901 movw r10,r186560 36e6 6A01 movw r12,r206561 36e8 2093 0000 sts ausgleichNick.10,r186562 36ec 3093 0000 sts (ausgleichNick.10)+1,r196563 36f0 4093 0000 sts (ausgleichNick.10)+2,r206564 36f4 5093 0000 sts (ausgleichNick.10)+3,r216565 36f8 8989 ldd r24,Y+176566 36fa 9A89 ldd r25,Y+186567 36fc AB89 ldd r26,Y+196568 36fe BC89 ldd r27,Y+206569 3700 8219 sub r24,r26570 3702 9309 sbc r25,r36571 3704 A409 sbc r26,r46572 3706 B509 sbc r27,r56573 3708 8093 0000 sts IntegralFehlerRoll.4,r246574 370c 9093 0000 sts (IntegralFehlerRoll.4)+1,r256575 3710 A093 0000 sts (IntegralFehlerRoll.4)+2,r266576 3714 B093 0000 sts (IntegralFehlerRoll.4)+3,r276577 3718 BC01 movw r22,r246578 371a CD01 movw r24,r266579 371c A801 movw r20,r166580 371e 9701 movw r18,r146581 3720 0E94 0000 call __divmodsi46582 3724 2093 0000 sts ausgleichRoll.11,r186583 3728 3093 0000 sts (ausgleichRoll.11)+1,r196584 372c 4093 0000 sts (ausgleichRoll.11)+2,r206585 3730 5093 0000 sts (ausgleichRoll.11)+3,r216586 3734 D601 movw r26,r126587 3736 C501 movw r24,r106588 3738 D7FE sbrs r13,76589 373a 00C0 rjmp .L5426590 373c 8150 subi r24,lo8(-(255))6591 373e 9F4F sbci r25,hi8(-(255))6592 3740 AF4F sbci r26,hlo8(-(255))6593 3742 BF4F sbci r27,hhi8(-(255))6594 .L542:6595 3744 892F mov r24,r256596 3746 9A2F mov r25,r266597 3748 AB2F mov r26,r276598 374a BB27 clr r276599 374c A7FD sbrc r26,76600 374e BA95 dec r276601 3750 9093 0000 sts (LageKorrekturNick)+1,r256602 3754 8093 0000 sts LageKorrekturNick,r246603 3758 57FF sbrs r21,76604 375a 00C0 rjmp .L5436605 375c 2150 subi r18,lo8(-(255))6606 375e 3F4F sbci r19,hi8(-(255))6607 3760 4F4F sbci r20,hlo8(-(255))6608 3762 5F4F sbci r21,hhi8(-(255))6609 .L543:6610 3764 BB27 clr r276611 3766 57FD sbrc r21,76612 3768 BA95 dec r276613 376a A52F mov r26,r216614 376c 942F mov r25,r206615 376e 832F mov r24,r196616 3770 9093 0000 sts (LageKorrekturRoll)+1,r256617 3774 8093 0000 sts LageKorrekturRoll,r246618 3778 8091 0000 lds r24,MaxStickNick6619 377c 9091 0000 lds r25,(MaxStickNick)+16620 3780 8134 cpi r24,656621 3782 9105 cpc r25,__zero_reg__6622 3784 04F4 brge .L5456623 3786 8091 0000 lds r24,MaxStickRoll6624 378a 9091 0000 lds r25,(MaxStickRoll)+16625 378e 8134 cpi r24,656626 3790 9105 cpc r25,__zero_reg__6627 3792 04F4 brge .L5456628 3794 8091 0000 lds r24,EE_Parameter+46629 3798 E82F mov r30,r246630 379a FF27 clr r316631 379c EE0F add r30,r306632 379e FF1F adc r31,r316633 37a0 E050 subi r30,lo8(-(PPM_in))6634 37a2 F040 sbci r31,hi8(-(PPM_in))6635 37a4 8081 ld r24,Z6636 37a6 9181 ldd r25,Z+16637 37a8 0190 ld __tmp_reg__,Z+6638 37aa F081 ld r31,Z6639 37ac E02D mov r30,__tmp_reg__6640 37ae F7FF sbrs r31,76641 37b0 00C0 rjmp .L5466642 37b2 F095 com r316643 37b4 E195 neg r306644 37b6 FF4F sbci r31,lo8(-1)6645 .L546:6646 37b8 7A97 sbiw r30,266647 37ba 04F0 brlt .L5446648 .L545:6649 37bc 8091 0000 lds r24,FromNaviCtrl_Value6650 37c0 8F3F cpi r24,lo8(-1)6651 37c2 01F4 brne .L5446652 37c4 8091 0000 lds r24,LageKorrekturNick6653 37c8 9091 0000 lds r25,(LageKorrekturNick)+16654 37cc 97FD sbrc r25,76655 37ce 0196 adiw r24,16656 .L547:6657 37d0 9595 asr r256658 37d2 8795 ror r246659 37d4 9093 0000 sts (LageKorrekturNick)+1,r256660 37d8 8093 0000 sts LageKorrekturNick,r246661 37dc 8091 0000 lds r24,LageKorrekturRoll6662 37e0 9091 0000 lds r25,(LageKorrekturRoll)+16663 37e4 97FD sbrc r25,76664 37e6 0196 adiw r24,16665 .L548:6666 37e8 9595 asr r256667 37ea 8795 ror r246668 37ec 9093 0000 sts (LageKorrekturRoll)+1,r256669 37f0 8093 0000 sts LageKorrekturRoll,r246670 .L544:6671 37f4 8091 0000 lds r24,MittelIntegralNick26672 37f8 9091 0000 lds r25,(MittelIntegralNick2)+16673 37fc A091 0000 lds r26,(MittelIntegralNick2)+26674 3800 B091 0000 lds r27,(MittelIntegralNick2)+36675 3804 B7FF sbrs r27,76676 3806 00C0 rjmp .L5496677 3808 8150 subi r24,lo8(-(255))6678 380a 9F4F sbci r25,hi8(-(255))6679 380c AF4F sbci r26,hlo8(-(255))6680 380e BF4F sbci r27,hhi8(-(255))6681 .L549:6682 3810 892F mov r24,r256683 3812 9A2F mov r25,r266684 3814 AB2F mov r26,r276685 3816 BB27 clr r276686 3818 A7FD sbrc r26,76687 381a BA95 dec r276688 381c 8093 0000 sts MittelIntegralNick2,r246689 3820 9093 0000 sts (MittelIntegralNick2)+1,r256690 3824 A093 0000 sts (MittelIntegralNick2)+2,r266691 3828 B093 0000 sts (MittelIntegralNick2)+3,r276692 382c 8091 0000 lds r24,MittelIntegralRoll26693 3830 9091 0000 lds r25,(MittelIntegralRoll2)+16694 3834 A091 0000 lds r26,(MittelIntegralRoll2)+26695 3838 B091 0000 lds r27,(MittelIntegralRoll2)+36696 383c B7FF sbrs r27,76697 383e 00C0 rjmp .L5506698 3840 8150 subi r24,lo8(-(255))6699 3842 9F4F sbci r25,hi8(-(255))6700 3844 AF4F sbci r26,hlo8(-(255))6701 3846 BF4F sbci r27,hhi8(-(255))6702 .L550:6703 3848 892F mov r24,r256704 384a 9A2F mov r25,r266705 384c AB2F mov r26,r276706 384e BB27 clr r276707 3850 A7FD sbrc r26,76708 3852 BA95 dec r276709 3854 8093 0000 sts MittelIntegralRoll2,r246710 3858 9093 0000 sts (MittelIntegralRoll2)+1,r256711 385c A093 0000 sts (MittelIntegralRoll2)+2,r266712 3860 B093 0000 sts (MittelIntegralRoll2)+3,r276713 3864 8091 0000 lds r24,IntegralNick6714 3868 9091 0000 lds r25,(IntegralNick)+16715 386c A091 0000 lds r26,(IntegralNick)+26716 3870 B091 0000 lds r27,(IntegralNick)+36717 3874 2F81 ldd r18,Y+76718 3876 3885 ldd r19,Y+86719 3878 4985 ldd r20,Y+96720 387a 5A85 ldd r21,Y+106721 387c 281B sub r18,r246722 387e 390B sbc r19,r256723 3880 4A0B sbc r20,r266724 3882 5B0B sbc r21,r276725 3884 2093 0000 sts tmp_long.1,r186726 3888 3093 0000 sts (tmp_long.1)+1,r196727 388c 4093 0000 sts (tmp_long.1)+2,r206728 3890 5093 0000 sts (tmp_long.1)+3,r216729 3894 8091 0000 lds r24,IntegralRoll6730 3898 9091 0000 lds r25,(IntegralRoll)+16731 389c A091 0000 lds r26,(IntegralRoll)+26732 38a0 B091 0000 lds r27,(IntegralRoll)+36733 38a4 EB84 ldd r14,Y+116734 38a6 FC84 ldd r15,Y+126735 38a8 0D85 ldd r16,Y+136736 38aa 1E85 ldd r17,Y+146737 38ac E81A sub r14,r246738 38ae F90A sbc r15,r256739 38b0 0A0B sbc r16,r266740 38b2 1B0B sbc r17,r276741 38b4 E092 0000 sts tmp_long2.2,r146742 38b8 F092 0000 sts (tmp_long2.2)+1,r156743 38bc 0093 0000 sts (tmp_long2.2)+2,r166744 38c0 1093 0000 sts (tmp_long2.2)+3,r176745 38c4 2093 0000 sts IntegralFehlerNick.3,r186746 38c8 3093 0000 sts (IntegralFehlerNick.3)+1,r196747 38cc 4093 0000 sts (IntegralFehlerNick.3)+2,r206748 38d0 5093 0000 sts (IntegralFehlerNick.3)+3,r216749 38d4 E092 0000 sts IntegralFehlerRoll.4,r146750 38d8 F092 0000 sts (IntegralFehlerRoll.4)+1,r156751 38dc 0093 0000 sts (IntegralFehlerRoll.4)+2,r166752 38e0 1093 0000 sts (IntegralFehlerRoll.4)+3,r176753 38e4 8091 0000 lds r24,Mess_IntegralNick26754 38e8 9091 0000 lds r25,(Mess_IntegralNick2)+16755 38ec A091 0000 lds r26,(Mess_IntegralNick2)+26756 38f0 B091 0000 lds r27,(Mess_IntegralNick2)+36757 38f4 821B sub r24,r186758 38f6 930B sbc r25,r196759 38f8 A40B sbc r26,r206760 38fa B50B sbc r27,r216761 38fc 8093 0000 sts Mess_IntegralNick2,r246762 3900 9093 0000 sts (Mess_IntegralNick2)+1,r256763 3904 A093 0000 sts (Mess_IntegralNick2)+2,r266764 3908 B093 0000 sts (Mess_IntegralNick2)+3,r276765 390c 8091 0000 lds r24,Mess_IntegralRoll26766 3910 9091 0000 lds r25,(Mess_IntegralRoll2)+16767 3914 A091 0000 lds r26,(Mess_IntegralRoll2)+26768 3918 B091 0000 lds r27,(Mess_IntegralRoll2)+36769 391c 8E19 sub r24,r146770 391e 9F09 sbc r25,r156771 3920 A00B sbc r26,r166772 3922 B10B sbc r27,r176773 3924 8093 0000 sts Mess_IntegralRoll2,r246774 3928 9093 0000 sts (Mess_IntegralRoll2)+1,r256775 392c A093 0000 sts (Mess_IntegralRoll2)+2,r266776 3930 B093 0000 sts (Mess_IntegralRoll2)+3,r276777 3934 8889 ldd r24,Y+166778 3936 8823 tst r246779 3938 01F0 breq .L5516780 393a 2091 0000 lds r18,GierGyroFehler6781 393e 3091 0000 lds r19,(GierGyroFehler)+16782 3942 2138 cpi r18,1296783 3944 3105 cpc r19,__zero_reg__6784 3946 04F0 brlt .L5526785 3948 8091 0000 lds r24,AdNeutralGier6786 394c 9091 0000 lds r25,(AdNeutralGier)+16787 3950 0196 adiw r24,16788 3952 9093 0000 sts (AdNeutralGier)+1,r256789 3956 8093 0000 sts AdNeutralGier,r246790 .L552:6791 395a 2058 subi r18,lo8(-128)6792 395c 3F4F sbci r19,hi8(-128)6793 395e 04F4 brge .L5516794 3960 8091 0000 lds r24,AdNeutralGier6795 3964 9091 0000 lds r25,(AdNeutralGier)+16796 3968 0197 sbiw r24,16797 396a 9093 0000 sts (AdNeutralGier)+1,r256798 396e 8093 0000 sts AdNeutralGier,r246799 .L551:6800 3972 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6801 3976 1092 0000 sts GierGyroFehler,__zero_reg__6802 397a 81E0 ldi r24,lo8(1)6803 397c 90E0 ldi r25,hi8(1)6804 397e 9093 0000 sts (cnt.14)+1,r256805 3982 8093 0000 sts cnt.14,r246806 3986 E090 0000 lds r14,IntegralFehlerNick.36807 398a F090 0000 lds r15,(IntegralFehlerNick.3)+16808 398e 0091 0000 lds r16,(IntegralFehlerNick.3)+26809 3992 1091 0000 lds r17,(IntegralFehlerNick.3)+36810 3996 D801 movw r26,r166811 3998 C701 movw r24,r146812 399a 17FF sbrs r17,76813 399c 00C0 rjmp .L5556814 399e 8827 clr r246815 39a0 9927 clr r256816 39a2 DC01 movw r26,r246817 39a4 8E19 sub r24,r146818 39a6 9F09 sbc r25,r156819 39a8 A00B sbc r26,r166820 39aa B10B sbc r27,r176821 .L555:6822 39ac 8150 subi r24,lo8(513)6823 39ae 9240 sbci r25,hi8(513)6824 39b0 A040 sbci r26,hlo8(513)6825 39b2 B040 sbci r27,hhi8(513)6826 39b4 04F0 brlt .L5546827 39b6 84E0 ldi r24,lo8(4)6828 39b8 90E0 ldi r25,hi8(4)6829 39ba 9093 0000 sts (cnt.14)+1,r256830 39be 8093 0000 sts cnt.14,r246831 .L554:6832 39c2 8091 0000 lds r24,MittelIntegralNick_Alt.196833 39c6 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16834 39ca A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26835 39ce B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36836 39d2 2091 0000 lds r18,MittelIntegralNick6837 39d6 3091 0000 lds r19,(MittelIntegralNick)+16838 39da 4091 0000 lds r20,(MittelIntegralNick)+26839 39de 5091 0000 lds r21,(MittelIntegralNick)+36840 39e2 821B sub r24,r186841 39e4 930B sbc r25,r196842 39e6 A40B sbc r26,r206843 39e8 B50B sbc r27,r216844 39ea 815E subi r24,lo8(-(19999))6845 39ec 914B sbci r25,hi8(-(19999))6846 39ee AF4F sbci r26,hlo8(-(19999))6847 39f0 BF4F sbci r27,hhi8(-(19999))6848 39f2 8F53 subi r24,lo8(39999)6849 39f4 9C49 sbci r25,hi8(39999)6850 39f6 A040 sbci r26,hlo8(39999)6851 39f8 B040 sbci r27,hhi8(39999)6852 39fa 00F0 brlo .L5576853 39fc 8091 0000 lds r24,FromNaviCtrl_Value+16854 3a00 8931 cpi r24,lo8(25)6855 3a02 04F4 brge .+26856 3a04 00C0 rjmp .L5566857 .L557:6858 3a06 21E0 ldi r18,lo8(4097)6859 3a08 E216 cp r14,r186860 3a0a 20E1 ldi r18,hi8(4097)6861 3a0c F206 cpc r15,r186862 3a0e 20E0 ldi r18,hlo8(4097)6863 3a10 0207 cpc r16,r186864 3a12 20E0 ldi r18,hhi8(4097)6865 3a14 1207 cpc r17,r186866 3a16 04F4 brge .+26867 3a18 00C0 rjmp .L5586868 3a1a 8091 0000 lds r24,last_n_p.156869 3a1e 8823 tst r246870 3a20 01F4 brne .+26871 3a22 00C0 rjmp .L5596872 3a24 D801 movw r26,r166873 3a26 C701 movw r24,r146874 3a28 17FF sbrs r17,76875 3a2a 00C0 rjmp .L5606876 3a2c 8827 clr r246877 3a2e 9927 clr r256878 3a30 DC01 movw r26,r246879 3a32 8E19 sub r24,r146880 3a34 9F09 sbc r25,r156881 3a36 A00B sbc r26,r166882 3a38 B10B sbc r27,r176883 .L560:6884 3a3a 9C01 movw r18,r246885 3a3c AD01 movw r20,r266886 3a3e B7FF sbrs r27,76887 3a40 00C0 rjmp .L5616888 3a42 2150 subi r18,lo8(-(511))6889 3a44 3E4F sbci r19,hi8(-(511))6890 3a46 4F4F sbci r20,hlo8(-(511))6891 3a48 5F4F sbci r21,hhi8(-(511))6892 .L561:6893 3a4a F9E0 ldi r31,96894 3a4c 5595 1: asr r216895 3a4e 4795 ror r206896 3a50 3795 ror r196897 3a52 2795 ror r186898 3a54 FA95 dec r316899 3a56 01F4 brne 1b6900 3a58 8091 0000 lds r24,cnt.146901 3a5c 9091 0000 lds r25,(cnt.14)+16902 3a60 820F add r24,r186903 3a62 931F adc r25,r196904 3a64 9093 0000 sts (cnt.14)+1,r256905 3a68 8093 0000 sts cnt.14,r246906 3a6c D801 movw r26,r166907 3a6e C701 movw r24,r146908 3a70 17FF sbrs r17,76909 3a72 00C0 rjmp .L5626910 3a74 0796 adiw r24,76911 3a76 A11D adc r26,__zero_reg__6912 3a78 B11D adc r27,__zero_reg__6913 .L562:6914 3a7a E3E0 ldi r30,36915 3a7c B595 1: asr r276916 3a7e A795 ror r266917 3a80 9795 ror r256918 3a82 8795 ror r246919 3a84 EA95 dec r306920 3a86 01F4 brne 1b6921 3a88 8093 0000 sts ausgleichNick.10,r246922 3a8c 9093 0000 sts (ausgleichNick.10)+1,r256923 3a90 A093 0000 sts (ausgleichNick.10)+2,r266924 3a94 B093 0000 sts (ausgleichNick.10)+3,r276925 3a98 8958 subi r24,lo8(5001)6926 3a9a 9341 sbci r25,hi8(5001)6927 3a9c A040 sbci r26,hlo8(5001)6928 3a9e B040 sbci r27,hhi8(5001)6929 3aa0 04F0 brlt .L5636930 3aa2 88E8 ldi r24,lo8(5000)6931 3aa4 93E1 ldi r25,hi8(5000)6932 3aa6 A0E0 ldi r26,hlo8(5000)6933 3aa8 B0E0 ldi r27,hhi8(5000)6934 3aaa 8093 0000 sts ausgleichNick.10,r246935 3aae 9093 0000 sts (ausgleichNick.10)+1,r256936 3ab2 A093 0000 sts (ausgleichNick.10)+2,r266937 3ab6 B093 0000 sts (ausgleichNick.10)+3,r276938 .L563:6939 3aba 2091 0000 lds r18,ausgleichNick.106940 3abe 3091 0000 lds r19,(ausgleichNick.10)+16941 3ac2 4091 0000 lds r20,(ausgleichNick.10)+26942 3ac6 5091 0000 lds r21,(ausgleichNick.10)+36943 3aca 57FF sbrs r21,76944 3acc 00C0 rjmp .L5646945 3ace 2150 subi r18,lo8(-(255))6946 3ad0 3F4F sbci r19,hi8(-(255))6947 3ad2 4F4F sbci r20,hlo8(-(255))6948 3ad4 5F4F sbci r21,hhi8(-(255))6949 .L564:6950 3ad6 232F mov r18,r196951 3ad8 342F mov r19,r206952 3ada 452F mov r20,r216953 3adc 5527 clr r216954 3ade 47FD sbrc r20,76955 3ae0 5A95 dec r216956 3ae2 8091 0000 lds r24,LageKorrekturNick6957 3ae6 9091 0000 lds r25,(LageKorrekturNick)+16958 3aea 820F add r24,r186959 3aec 931F adc r25,r196960 3aee 9093 0000 sts (LageKorrekturNick)+1,r256961 3af2 8093 0000 sts LageKorrekturNick,r246962 3af6 00C0 rjmp .L5666963 .L559:6964 3af8 81E0 ldi r24,lo8(1)6965 3afa 8093 0000 sts last_n_p.15,r246966 3afe 00C0 rjmp .L5666967 .L558:6968 3b00 1092 0000 sts last_n_p.15,__zero_reg__6969 .L566:6970 3b04 40E0 ldi r20,lo8(-4096)6971 3b06 E416 cp r14,r206972 3b08 40EF ldi r20,hi8(-4096)6973 3b0a F406 cpc r15,r206974 3b0c 4FEF ldi r20,hlo8(-4096)6975 3b0e 0407 cpc r16,r206976 3b10 4FEF ldi r20,hhi8(-4096)6977 3b12 1407 cpc r17,r206978 3b14 04F0 brlt .+26979 3b16 00C0 rjmp .L5676980 3b18 8091 0000 lds r24,last_n_n.166981 3b1c 8823 tst r246982 3b1e 01F4 brne .+26983 3b20 00C0 rjmp .L5686984 3b22 D801 movw r26,r166985 3b24 C701 movw r24,r146986 3b26 17FF sbrs r17,76987 3b28 00C0 rjmp .L5696988 3b2a 8827 clr r246989 3b2c 9927 clr r256990 3b2e DC01 movw r26,r246991 3b30 8E19 sub r24,r146992 3b32 9F09 sbc r25,r156993 3b34 A00B sbc r26,r166994 3b36 B10B sbc r27,r176995 .L569:6996 3b38 9C01 movw r18,r246997 3b3a AD01 movw r20,r266998 3b3c B7FF sbrs r27,76999 3b3e 00C0 rjmp .L5707000 3b40 2150 subi r18,lo8(-(511))7001 3b42 3E4F sbci r19,hi8(-(511))7002 3b44 4F4F sbci r20,hlo8(-(511))7003 3b46 5F4F sbci r21,hhi8(-(511))7004 .L570:7005 3b48 69E0 ldi r22,97006 3b4a 5595 1: asr r217007 3b4c 4795 ror r207008 3b4e 3795 ror r197009 3b50 2795 ror r187010 3b52 6A95 dec r227011 3b54 01F4 brne 1b7012 3b56 8091 0000 lds r24,cnt.147013 3b5a 9091 0000 lds r25,(cnt.14)+17014 3b5e 820F add r24,r187015 3b60 931F adc r25,r197016 3b62 9093 0000 sts (cnt.14)+1,r257017 3b66 8093 0000 sts cnt.14,r247018 3b6a D801 movw r26,r167019 3b6c C701 movw r24,r147020 3b6e 17FF sbrs r17,77021 3b70 00C0 rjmp .L5717022 3b72 0796 adiw r24,77023 3b74 A11D adc r26,__zero_reg__7024 3b76 B11D adc r27,__zero_reg__7025 .L571:7026 3b78 23E0 ldi r18,37027 3b7a B595 1: asr r277028 3b7c A795 ror r267029 3b7e 9795 ror r257030 3b80 8795 ror r247031 3b82 2A95 dec r187032 3b84 01F4 brne 1b7033 3b86 8093 0000 sts ausgleichNick.10,r247034 3b8a 9093 0000 sts (ausgleichNick.10)+1,r257035 3b8e A093 0000 sts (ausgleichNick.10)+2,r267036 3b92 B093 0000 sts (ausgleichNick.10)+3,r277037 3b96 8857 subi r24,lo8(-5000)7038 3b98 9C4E sbci r25,hi8(-5000)7039 3b9a AF4F sbci r26,hlo8(-5000)7040 3b9c BF4F sbci r27,hhi8(-5000)7041 3b9e 04F4 brge .L5727042 3ba0 88E7 ldi r24,lo8(-5000)7043 3ba2 9CEE ldi r25,hi8(-5000)7044 3ba4 AFEF ldi r26,hlo8(-5000)7045 3ba6 BFEF ldi r27,hhi8(-5000)7046 3ba8 8093 0000 sts ausgleichNick.10,r247047 3bac 9093 0000 sts (ausgleichNick.10)+1,r257048 3bb0 A093 0000 sts (ausgleichNick.10)+2,r267049 3bb4 B093 0000 sts (ausgleichNick.10)+3,r277050 .L572:7051 3bb8 2091 0000 lds r18,ausgleichNick.107052 3bbc 3091 0000 lds r19,(ausgleichNick.10)+17053 3bc0 4091 0000 lds r20,(ausgleichNick.10)+27054 3bc4 5091 0000 lds r21,(ausgleichNick.10)+37055 3bc8 57FF sbrs r21,77056 3bca 00C0 rjmp .L5737057 3bcc 2150 subi r18,lo8(-(255))7058 3bce 3F4F sbci r19,hi8(-(255))7059 3bd0 4F4F sbci r20,hlo8(-(255))7060 3bd2 5F4F sbci r21,hhi8(-(255))7061 .L573:7062 3bd4 232F mov r18,r197063 3bd6 342F mov r19,r207064 3bd8 452F mov r20,r217065 3bda 5527 clr r217066 3bdc 47FD sbrc r20,77067 3bde 5A95 dec r217068 3be0 8091 0000 lds r24,LageKorrekturNick7069 3be4 9091 0000 lds r25,(LageKorrekturNick)+17070 3be8 820F add r24,r187071 3bea 931F adc r25,r197072 3bec 9093 0000 sts (LageKorrekturNick)+1,r257073 3bf0 8093 0000 sts LageKorrekturNick,r247074 3bf4 00C0 rjmp .L5767075 .L568:7076 3bf6 81E0 ldi r24,lo8(1)7077 3bf8 8093 0000 sts last_n_n.16,r247078 3bfc 00C0 rjmp .L5767079 .L567:7080 3bfe 1092 0000 sts last_n_n.16,__zero_reg__7081 3c02 00C0 rjmp .L5767082 .L556:7083 3c04 1092 0000 sts (cnt.14)+1,__zero_reg__7084 3c08 1092 0000 sts cnt.14,__zero_reg__7085 3c0c 84E6 ldi r24,lo8(100)7086 3c0e 90E0 ldi r25,hi8(100)7087 3c10 9093 0000 sts (KompassSignalSchlecht)+1,r257088 3c14 8093 0000 sts KompassSignalSchlecht,r247089 .L576:7090 3c18 6889 ldd r22,Y+167091 3c1a 262F mov r18,r227092 3c1c 3327 clr r197093 3c1e 8091 0000 lds r24,cnt.147094 3c22 9091 0000 lds r25,(cnt.14)+17095 3c26 2817 cp r18,r247096 3c28 3907 cpc r19,r257097 3c2a 04F4 brge .L5777098 3c2c 3093 0000 sts (cnt.14)+1,r197099 3c30 2093 0000 sts cnt.14,r187100 .L577:7101 3c34 1091 0000 lds r17,FromNaviCtrl_Value+17102 3c38 1123 tst r177103 3c3a 01F0 breq .L5787104 3c3c 212F mov r18,r177105 3c3e 3327 clr r197106 3c40 27FD sbrc r18,77107 3c42 3095 com r197108 3c44 8091 0000 lds r24,cnt.147109 3c48 9091 0000 lds r25,(cnt.14)+17110 3c4c 2817 cp r18,r247111 3c4e 3907 cpc r19,r257112 3c50 04F4 brge .L5787113 3c52 3093 0000 sts (cnt.14)+1,r197114 3c56 2093 0000 sts cnt.14,r187115 .L578:7116 3c5a 4091 0000 lds r20,IntegralFehlerNick.37117 3c5e 5091 0000 lds r21,(IntegralFehlerNick.3)+17118 3c62 6091 0000 lds r22,(IntegralFehlerNick.3)+27119 3c66 7091 0000 lds r23,(IntegralFehlerNick.3)+37120 3c6a 4138 cpi r20,lo8(129)7121 3c6c 5105 cpc r21,__zero_reg__7122 3c6e 6105 cpc r22,__zero_reg__7123 3c70 7105 cpc r23,__zero_reg__7124 3c72 04F0 brlt .L5807125 3c74 8091 0000 lds r24,AdNeutralNick7126 3c78 9091 0000 lds r25,(AdNeutralNick)+17127 3c7c 2091 0000 lds r18,cnt.147128 3c80 3091 0000 lds r19,(cnt.14)+17129 3c84 820F add r24,r187130 3c86 931F adc r25,r197131 3c88 9093 0000 sts (AdNeutralNick)+1,r257132 3c8c 8093 0000 sts AdNeutralNick,r247133 .L580:7134 3c90 4058 subi r20,lo8(-128)7135 3c92 5F4F sbci r21,hi8(-128)7136 3c94 6F4F sbci r22,hlo8(-128)7137 3c96 7F4F sbci r23,hhi8(-128)7138 3c98 04F4 brge .L5817139 3c9a 8091 0000 lds r24,AdNeutralNick7140 3c9e 9091 0000 lds r25,(AdNeutralNick)+17141 3ca2 2091 0000 lds r18,cnt.147142 3ca6 3091 0000 lds r19,(cnt.14)+17143 3caa 821B sub r24,r187144 3cac 930B sbc r25,r197145 3cae 9093 0000 sts (AdNeutralNick)+1,r257146 3cb2 8093 0000 sts AdNeutralNick,r247147 .L581:7148 3cb6 81E0 ldi r24,lo8(1)7149 3cb8 90E0 ldi r25,hi8(1)7150 3cba 9093 0000 sts (cnt.14)+1,r257151 3cbe 8093 0000 sts cnt.14,r247152 3cc2 C090 0000 lds r12,IntegralFehlerRoll.47153 3cc6 D090 0000 lds r13,(IntegralFehlerRoll.4)+17154 3cca E090 0000 lds r14,(IntegralFehlerRoll.4)+27155 3cce F090 0000 lds r15,(IntegralFehlerRoll.4)+37156 3cd2 D701 movw r26,r147157 3cd4 C601 movw r24,r127158 3cd6 F7FE sbrs r15,77159 3cd8 00C0 rjmp .L5837160 3cda 8827 clr r247161 3cdc 9927 clr r257162 3cde DC01 movw r26,r247163 3ce0 8C19 sub r24,r127164 3ce2 9D09 sbc r25,r137165 3ce4 AE09 sbc r26,r147166 3ce6 BF09 sbc r27,r157167 .L583:7168 3ce8 8150 subi r24,lo8(513)7169 3cea 9240 sbci r25,hi8(513)7170 3cec A040 sbci r26,hlo8(513)7171 3cee B040 sbci r27,hhi8(513)7172 3cf0 04F0 brlt .L5827173 3cf2 84E0 ldi r24,lo8(4)7174 3cf4 90E0 ldi r25,hi8(4)7175 3cf6 9093 0000 sts (cnt.14)+1,r257176 3cfa 8093 0000 sts cnt.14,r247177 .L582:7178 3cfe 8091 0000 lds r24,MittelIntegralRoll_Alt.207179 3d02 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17180 3d06 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27181 3d0a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37182 3d0e 2091 0000 lds r18,MittelIntegralRoll7183 3d12 3091 0000 lds r19,(MittelIntegralRoll)+17184 3d16 4091 0000 lds r20,(MittelIntegralRoll)+27185 3d1a 5091 0000 lds r21,(MittelIntegralRoll)+37186 3d1e 821B sub r24,r187187 3d20 930B sbc r25,r197188 3d22 A40B sbc r26,r207189 3d24 B50B sbc r27,r217190 3d26 815E subi r24,lo8(-(19999))7191 3d28 914B sbci r25,hi8(-(19999))7192 3d2a AF4F sbci r26,hlo8(-(19999))7193 3d2c BF4F sbci r27,hhi8(-(19999))7194 3d2e 8F53 subi r24,lo8(39999)7195 3d30 9C49 sbci r25,hi8(39999)7196 3d32 A040 sbci r26,hlo8(39999)7197 3d34 B040 sbci r27,hhi8(39999)7198 3d36 00F0 brlo .L5857199 3d38 1931 cpi r17,lo8(25)7200 3d3a 04F4 brge .+27201 3d3c 00C0 rjmp .L5847202 .L585:7203 3d3e 01E0 ldi r16,lo8(4097)7204 3d40 C016 cp r12,r167205 3d42 00E1 ldi r16,hi8(4097)7206 3d44 D006 cpc r13,r167207 3d46 00E0 ldi r16,hlo8(4097)7208 3d48 E006 cpc r14,r167209 3d4a 00E0 ldi r16,hhi8(4097)7210 3d4c F006 cpc r15,r167211 3d4e 04F4 brge .+27212 3d50 00C0 rjmp .L5867213 3d52 8091 0000 lds r24,last_r_p.177214 3d56 8823 tst r247215 3d58 01F4 brne .+27216 3d5a 00C0 rjmp .L5877217 3d5c D701 movw r26,r147218 3d5e C601 movw r24,r127219 3d60 F7FE sbrs r15,77220 3d62 00C0 rjmp .L5887221 3d64 8827 clr r247222 3d66 9927 clr r257223 3d68 DC01 movw r26,r247224 3d6a 8C19 sub r24,r127225 3d6c 9D09 sbc r25,r137226 3d6e AE09 sbc r26,r147227 3d70 BF09 sbc r27,r157228 .L588:7229 3d72 9C01 movw r18,r247230 3d74 AD01 movw r20,r267231 3d76 B7FF sbrs r27,77232 3d78 00C0 rjmp .L5897233 3d7a 2150 subi r18,lo8(-(511))7234 3d7c 3E4F sbci r19,hi8(-(511))7235 3d7e 4F4F sbci r20,hlo8(-(511))7236 3d80 5F4F sbci r21,hhi8(-(511))7237 .L589:7238 3d82 09E0 ldi r16,97239 3d84 5595 1: asr r217240 3d86 4795 ror r207241 3d88 3795 ror r197242 3d8a 2795 ror r187243 3d8c 0A95 dec r167244 3d8e 01F4 brne 1b7245 3d90 8091 0000 lds r24,cnt.147246 3d94 9091 0000 lds r25,(cnt.14)+17247 3d98 820F add r24,r187248 3d9a 931F adc r25,r197249 3d9c 9093 0000 sts (cnt.14)+1,r257250 3da0 8093 0000 sts cnt.14,r247251 3da4 D701 movw r26,r147252 3da6 C601 movw r24,r127253 3da8 F7FE sbrs r15,77254 3daa 00C0 rjmp .L5907255 3dac 0796 adiw r24,77256 3dae A11D adc r26,__zero_reg__7257 3db0 B11D adc r27,__zero_reg__7258 .L590:7259 3db2 13E0 ldi r17,37260 3db4 B595 1: asr r277261 3db6 A795 ror r267262 3db8 9795 ror r257263 3dba 8795 ror r247264 3dbc 1A95 dec r177265 3dbe 01F4 brne 1b7266 3dc0 8093 0000 sts ausgleichRoll.11,r247267 3dc4 9093 0000 sts (ausgleichRoll.11)+1,r257268 3dc8 A093 0000 sts (ausgleichRoll.11)+2,r267269 3dcc B093 0000 sts (ausgleichRoll.11)+3,r277270 3dd0 8958 subi r24,lo8(5001)7271 3dd2 9341 sbci r25,hi8(5001)7272 3dd4 A040 sbci r26,hlo8(5001)7273 3dd6 B040 sbci r27,hhi8(5001)7274 3dd8 04F0 brlt .L5917275 3dda 88E8 ldi r24,lo8(5000)7276 3ddc 93E1 ldi r25,hi8(5000)7277 3dde A0E0 ldi r26,hlo8(5000)7278 3de0 B0E0 ldi r27,hhi8(5000)7279 3de2 8093 0000 sts ausgleichRoll.11,r247280 3de6 9093 0000 sts (ausgleichRoll.11)+1,r257281 3dea A093 0000 sts (ausgleichRoll.11)+2,r267282 3dee B093 0000 sts (ausgleichRoll.11)+3,r277283 .L591:7284 3df2 2091 0000 lds r18,ausgleichRoll.117285 3df6 3091 0000 lds r19,(ausgleichRoll.11)+17286 3dfa 4091 0000 lds r20,(ausgleichRoll.11)+27287 3dfe 5091 0000 lds r21,(ausgleichRoll.11)+37288 3e02 57FF sbrs r21,77289 3e04 00C0 rjmp .L5927290 3e06 2150 subi r18,lo8(-(255))7291 3e08 3F4F sbci r19,hi8(-(255))7292 3e0a 4F4F sbci r20,hlo8(-(255))7293 3e0c 5F4F sbci r21,hhi8(-(255))7294 .L592:7295 3e0e 232F mov r18,r197296 3e10 342F mov r19,r207297 3e12 452F mov r20,r217298 3e14 5527 clr r217299 3e16 47FD sbrc r20,77300 3e18 5A95 dec r217301 3e1a 8091 0000 lds r24,LageKorrekturRoll7302 3e1e 9091 0000 lds r25,(LageKorrekturRoll)+17303 3e22 820F add r24,r187304 3e24 931F adc r25,r197305 3e26 9093 0000 sts (LageKorrekturRoll)+1,r257306 3e2a 8093 0000 sts LageKorrekturRoll,r247307 3e2e 00C0 rjmp .L5947308 .L587:7309 3e30 81E0 ldi r24,lo8(1)7310 3e32 8093 0000 sts last_r_p.17,r247311 3e36 00C0 rjmp .L5947312 .L586:7313 3e38 1092 0000 sts last_r_p.17,__zero_reg__7314 .L594:7315 3e3c 20E0 ldi r18,lo8(-4096)7316 3e3e C216 cp r12,r187317 3e40 20EF ldi r18,hi8(-4096)7318 3e42 D206 cpc r13,r187319 3e44 2FEF ldi r18,hlo8(-4096)7320 3e46 E206 cpc r14,r187321 3e48 2FEF ldi r18,hhi8(-4096)7322 3e4a F206 cpc r15,r187323 3e4c 04F0 brlt .+27324 3e4e 00C0 rjmp .L5957325 3e50 8091 0000 lds r24,last_r_n.187326 3e54 8823 tst r247327 3e56 01F4 brne .+27328 3e58 00C0 rjmp .L5967329 3e5a D701 movw r26,r147330 3e5c C601 movw r24,r127331 3e5e F7FE sbrs r15,77332 3e60 00C0 rjmp .L5977333 3e62 8827 clr r247334 3e64 9927 clr r257335 3e66 DC01 movw r26,r247336 3e68 8C19 sub r24,r127337 3e6a 9D09 sbc r25,r137338 3e6c AE09 sbc r26,r147339 3e6e BF09 sbc r27,r157340 .L597:7341 3e70 9C01 movw r18,r247342 3e72 AD01 movw r20,r267343 3e74 B7FF sbrs r27,77344 3e76 00C0 rjmp .L5987345 3e78 2150 subi r18,lo8(-(511))7346 3e7a 3E4F sbci r19,hi8(-(511))7347 3e7c 4F4F sbci r20,hlo8(-(511))7348 3e7e 5F4F sbci r21,hhi8(-(511))7349 .L598:7350 3e80 E9E0 ldi r30,97351 3e82 5595 1: asr r217352 3e84 4795 ror r207353 3e86 3795 ror r197354 3e88 2795 ror r187355 3e8a EA95 dec r307356 3e8c 01F4 brne 1b7357 3e8e 8091 0000 lds r24,cnt.147358 3e92 9091 0000 lds r25,(cnt.14)+17359 3e96 820F add r24,r187360 3e98 931F adc r25,r197361 3e9a 9093 0000 sts (cnt.14)+1,r257362 3e9e 8093 0000 sts cnt.14,r247363 3ea2 D701 movw r26,r147364 3ea4 C601 movw r24,r127365 3ea6 F7FE sbrs r15,77366 3ea8 00C0 rjmp .L5997367 3eaa 0796 adiw r24,77368 3eac A11D adc r26,__zero_reg__7369 3eae B11D adc r27,__zero_reg__7370 .L599:7371 3eb0 73E0 ldi r23,37372 3eb2 B595 1: asr r277373 3eb4 A795 ror r267374 3eb6 9795 ror r257375 3eb8 8795 ror r247376 3eba 7A95 dec r237377 3ebc 01F4 brne 1b7378 3ebe 8093 0000 sts ausgleichRoll.11,r247379 3ec2 9093 0000 sts (ausgleichRoll.11)+1,r257380 3ec6 A093 0000 sts (ausgleichRoll.11)+2,r267381 3eca B093 0000 sts (ausgleichRoll.11)+3,r277382 3ece 8857 subi r24,lo8(-5000)7383 3ed0 9C4E sbci r25,hi8(-5000)7384 3ed2 AF4F sbci r26,hlo8(-5000)7385 3ed4 BF4F sbci r27,hhi8(-5000)7386 3ed6 04F4 brge .L6007387 3ed8 88E7 ldi r24,lo8(-5000)7388 3eda 9CEE ldi r25,hi8(-5000)7389 3edc AFEF ldi r26,hlo8(-5000)7390 3ede BFEF ldi r27,hhi8(-5000)7391 3ee0 8093 0000 sts ausgleichRoll.11,r247392 3ee4 9093 0000 sts (ausgleichRoll.11)+1,r257393 3ee8 A093 0000 sts (ausgleichRoll.11)+2,r267394 3eec B093 0000 sts (ausgleichRoll.11)+3,r277395 .L600:7396 3ef0 2091 0000 lds r18,ausgleichRoll.117397 3ef4 3091 0000 lds r19,(ausgleichRoll.11)+17398 3ef8 4091 0000 lds r20,(ausgleichRoll.11)+27399 3efc 5091 0000 lds r21,(ausgleichRoll.11)+37400 3f00 57FF sbrs r21,77401 3f02 00C0 rjmp .L6017402 3f04 2150 subi r18,lo8(-(255))7403 3f06 3F4F sbci r19,hi8(-(255))7404 3f08 4F4F sbci r20,hlo8(-(255))7405 3f0a 5F4F sbci r21,hhi8(-(255))7406 .L601:7407 3f0c 232F mov r18,r197408 3f0e 342F mov r19,r207409 3f10 452F mov r20,r217410 3f12 5527 clr r217411 3f14 47FD sbrc r20,77412 3f16 5A95 dec r217413 3f18 8091 0000 lds r24,LageKorrekturRoll7414 3f1c 9091 0000 lds r25,(LageKorrekturRoll)+17415 3f20 820F add r24,r187416 3f22 931F adc r25,r197417 3f24 9093 0000 sts (LageKorrekturRoll)+1,r257418 3f28 8093 0000 sts LageKorrekturRoll,r247419 3f2c 00C0 rjmp .L6047420 .L596:7421 3f2e 81E0 ldi r24,lo8(1)7422 3f30 8093 0000 sts last_r_n.18,r247423 3f34 00C0 rjmp .L6047424 .L595:7425 3f36 1092 0000 sts last_r_n.18,__zero_reg__7426 3f3a 00C0 rjmp .L6047427 .L584:7428 3f3c 1092 0000 sts (cnt.14)+1,__zero_reg__7429 3f40 1092 0000 sts cnt.14,__zero_reg__7430 3f44 84E6 ldi r24,lo8(100)7431 3f46 90E0 ldi r25,hi8(100)7432 3f48 9093 0000 sts (KompassSignalSchlecht)+1,r257433 3f4c 8093 0000 sts KompassSignalSchlecht,r247434 .L604:7435 3f50 4889 ldd r20,Y+167436 3f52 242F mov r18,r207437 3f54 3327 clr r197438 3f56 8091 0000 lds r24,cnt.147439 3f5a 9091 0000 lds r25,(cnt.14)+17440 3f5e 2817 cp r18,r247441 3f60 3907 cpc r19,r257442 3f62 04F4 brge .L6057443 3f64 3093 0000 sts (cnt.14)+1,r197444 3f68 2093 0000 sts cnt.14,r187445 .L605:7446 3f6c 8091 0000 lds r24,FromNaviCtrl_Value+17447 3f70 8823 tst r247448 3f72 01F0 breq .L6067449 3f74 282F mov r18,r247450 3f76 3327 clr r197451 3f78 27FD sbrc r18,77452 3f7a 3095 com r197453 3f7c 8091 0000 lds r24,cnt.147454 3f80 9091 0000 lds r25,(cnt.14)+17455 3f84 2817 cp r18,r247456 3f86 3907 cpc r19,r257457 3f88 04F4 brge .L6067458 3f8a 3093 0000 sts (cnt.14)+1,r197459 3f8e 2093 0000 sts cnt.14,r187460 .L606:7461 3f92 4091 0000 lds r20,IntegralFehlerRoll.47462 3f96 5091 0000 lds r21,(IntegralFehlerRoll.4)+17463 3f9a 6091 0000 lds r22,(IntegralFehlerRoll.4)+27464 3f9e 7091 0000 lds r23,(IntegralFehlerRoll.4)+37465 3fa2 4138 cpi r20,lo8(129)7466 3fa4 5105 cpc r21,__zero_reg__7467 3fa6 6105 cpc r22,__zero_reg__7468 3fa8 7105 cpc r23,__zero_reg__7469 3faa 04F0 brlt .L6087470 3fac 8091 0000 lds r24,AdNeutralRoll7471 3fb0 9091 0000 lds r25,(AdNeutralRoll)+17472 3fb4 2091 0000 lds r18,cnt.147473 3fb8 3091 0000 lds r19,(cnt.14)+17474 3fbc 820F add r24,r187475 3fbe 931F adc r25,r197476 3fc0 9093 0000 sts (AdNeutralRoll)+1,r257477 3fc4 8093 0000 sts AdNeutralRoll,r247478 .L608:7479 3fc8 4058 subi r20,lo8(-128)7480 3fca 5F4F sbci r21,hi8(-128)7481 3fcc 6F4F sbci r22,hlo8(-128)7482 3fce 7F4F sbci r23,hhi8(-128)7483 3fd0 04F4 brge .L6107484 3fd2 8091 0000 lds r24,AdNeutralRoll7485 3fd6 9091 0000 lds r25,(AdNeutralRoll)+17486 3fda 2091 0000 lds r18,cnt.147487 3fde 3091 0000 lds r19,(cnt.14)+17488 3fe2 821B sub r24,r187489 3fe4 930B sbc r25,r197490 3fe6 9093 0000 sts (AdNeutralRoll)+1,r257491 3fea 8093 0000 sts AdNeutralRoll,r247492 3fee 00C0 rjmp .L6107493 .L536:7494 3ff0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7495 3ff4 1092 0000 sts LageKorrekturRoll,__zero_reg__7496 3ff8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7497 3ffc 1092 0000 sts LageKorrekturNick,__zero_reg__7498 4000 1092 0000 sts TrichterFlug,__zero_reg__7499 .L610:7500 4004 8091 0000 lds r24,IntegralFaktor7501 4008 8823 tst r247502 400a 01F4 brne .L6117503 400c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7504 4010 1092 0000 sts LageKorrekturRoll,__zero_reg__7505 4014 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7506 4018 1092 0000 sts LageKorrekturNick,__zero_reg__7507 .L611:7508 401c 8091 0000 lds r24,MittelIntegralNick7509 4020 9091 0000 lds r25,(MittelIntegralNick)+17510 4024 A091 0000 lds r26,(MittelIntegralNick)+27511 4028 B091 0000 lds r27,(MittelIntegralNick)+37512 402c 8093 0000 sts MittelIntegralNick_Alt.19,r247513 4030 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257514 4034 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267515 4038 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277516 403c 8091 0000 lds r24,MittelIntegralRoll7517 4040 9091 0000 lds r25,(MittelIntegralRoll)+17518 4044 A091 0000 lds r26,(MittelIntegralRoll)+27519 4048 B091 0000 lds r27,(MittelIntegralRoll)+37520 404c 8093 0000 sts MittelIntegralRoll_Alt.20,r247521 4050 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257522 4054 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267523 4058 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277524 405c 1092 0000 sts IntegralAccNick,__zero_reg__7525 4060 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7526 4064 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7527 4068 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7528 406c 1092 0000 sts IntegralAccRoll,__zero_reg__7529 4070 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7530 4074 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7531 4078 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7532 407c 1092 0000 sts IntegralAccZ,__zero_reg__7533 4080 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7534 4084 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7535 4088 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7536 408c 1092 0000 sts MittelIntegralNick,__zero_reg__7537 4090 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7538 4094 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7539 4098 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7540 409c 1092 0000 sts MittelIntegralRoll,__zero_reg__7541 40a0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7542 40a4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7543 40a8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7544 40ac 1092 0000 sts MittelIntegralNick2,__zero_reg__7545 40b0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7546 40b4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7547 40b8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7548 40bc 1092 0000 sts MittelIntegralRoll2,__zero_reg__7549 40c0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7550 40c4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7551 40c8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7552 40cc 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7553 40d0 1092 0000 sts ZaehlMessungen,__zero_reg__7554 .L535:7555 40d4 E090 0000 lds r14,StickGier7556 40d8 F090 0000 lds r15,(StickGier)+17557 40dc C701 movw r24,r147558 40de F7FE sbrs r15,77559 40e0 00C0 rjmp .L6137560 40e2 8827 clr r247561 40e4 9927 clr r257562 40e6 8E19 sub r24,r147563 40e8 9F09 sbc r25,r157564 .L613:7565 40ea 0497 sbiw r24,47566 40ec 04F0 brlt .L6127567 40ee 8091 0000 lds r24,Parameter_GlobalConfig7568 40f2 84FD sbrc r24,47569 40f4 00C0 rjmp .L6127570 40f6 82E3 ldi r24,lo8(50)7571 40f8 8093 0000 sts NeueKompassRichtungMerken,r247572 .L612:7573 40fc 1091 0000 lds r17,EE_Parameter+257574 4100 A12E mov r10,r177575 4102 BB24 clr r117576 4104 CC24 clr r127577 4106 DD24 clr r137578 4108 B701 movw r22,r147579 410a 8827 clr r247580 410c 77FD sbrc r23,77581 410e 8095 com r247582 4110 982F mov r25,r247583 4112 9701 movw r18,r147584 4114 F7FE sbrs r15,77585 4116 00C0 rjmp .L6157586 4118 2227 clr r187587 411a 3327 clr r197588 411c 2E19 sub r18,r147589 411e 3F09 sbc r19,r157590 .L615:7591 4120 4427 clr r207592 4122 37FD sbrc r19,77593 4124 4095 com r207594 4126 542F mov r21,r207595 4128 0E94 0000 call __mulsi37596 412c 9B01 movw r18,r227597 412e AC01 movw r20,r247598 4130 C601 movw r24,r127599 4132 B501 movw r22,r107600 4134 0E94 0000 call __mulsi37601 4138 97FF sbrs r25,77602 413a 00C0 rjmp .L6167603 413c 6150 subi r22,lo8(-(511))7604 413e 7E4F sbci r23,hi8(-(511))7605 4140 8F4F sbci r24,hlo8(-(511))7606 4142 9F4F sbci r25,hhi8(-(511))7607 .L616:7608 4144 59E0 ldi r21,97609 4146 9595 1: asr r257610 4148 8795 ror r247611 414a 7795 ror r237612 414c 6795 ror r227613 414e 5A95 dec r217614 4150 01F4 brne 1b7615 4152 9B01 movw r18,r227616 4154 812F mov r24,r177617 4156 9927 clr r257618 4158 8E9D mul r24,r147619 415a D001 movw r26,r07620 415c 8F9D mul r24,r157621 415e B00D add r27,r07622 4160 9E9D mul r25,r147623 4162 B00D add r27,r07624 4164 1124 clr r17625 4166 CD01 movw r24,r267626 4168 B7FD sbrc r27,77627 416a 0396 adiw r24,37628 .L617:7629 416c 9595 asr r257630 416e 8795 ror r247631 4170 9595 asr r257632 4172 8795 ror r247633 4174 280F add r18,r247634 4176 391F adc r19,r257635 4178 8091 0000 lds r24,CompassGierSetpoint7636 417c 9091 0000 lds r25,(CompassGierSetpoint)+17637 4180 280F add r18,r247638 4182 391F adc r19,r257639 4184 4427 clr r207640 4186 37FD sbrc r19,77641 4188 4095 com r207642 418a 542F mov r21,r207643 418c 2093 0000 sts sollGier.0,r187644 4190 3093 0000 sts (sollGier.0)+1,r197645 4194 4093 0000 sts (sollGier.0)+2,r207646 4198 5093 0000 sts (sollGier.0)+3,r217647 419c 8091 0000 lds r24,Mess_Integral_Gier7648 41a0 9091 0000 lds r25,(Mess_Integral_Gier)+17649 41a4 A091 0000 lds r26,(Mess_Integral_Gier)+27650 41a8 B091 0000 lds r27,(Mess_Integral_Gier)+37651 41ac 821B sub r24,r187652 41ae 930B sbc r25,r197653 41b0 A40B sbc r26,r207654 41b2 B50B sbc r27,r217655 41b4 8093 0000 sts Mess_Integral_Gier,r247656 41b8 9093 0000 sts (Mess_Integral_Gier)+1,r257657 41bc A093 0000 sts (Mess_Integral_Gier)+2,r267658 41c0 B093 0000 sts (Mess_Integral_Gier)+3,r277659 41c4 8155 subi r24,lo8(50001)7660 41c6 934C sbci r25,hi8(50001)7661 41c8 A040 sbci r26,hlo8(50001)7662 41ca B040 sbci r27,hhi8(50001)7663 41cc 04F0 brlt .L6187664 41ce 80E5 ldi r24,lo8(50000)7665 41d0 93EC ldi r25,hi8(50000)7666 41d2 A0E0 ldi r26,hlo8(50000)7667 41d4 B0E0 ldi r27,hhi8(50000)7668 41d6 8093 0000 sts Mess_Integral_Gier,r247669 41da 9093 0000 sts (Mess_Integral_Gier)+1,r257670 41de A093 0000 sts (Mess_Integral_Gier)+2,r267671 41e2 B093 0000 sts (Mess_Integral_Gier)+3,r277672 .L618:7673 41e6 8091 0000 lds r24,Mess_Integral_Gier7674 41ea 9091 0000 lds r25,(Mess_Integral_Gier)+17675 41ee A091 0000 lds r26,(Mess_Integral_Gier)+27676 41f2 B091 0000 lds r27,(Mess_Integral_Gier)+37677 41f6 805B subi r24,lo8(-50000)7678 41f8 9C43 sbci r25,hi8(-50000)7679 41fa AF4F sbci r26,hlo8(-50000)7680 41fc BF4F sbci r27,hhi8(-50000)7681 41fe 04F4 brge .L6197682 4200 80EB ldi r24,lo8(-50000)7683 4202 9CE3 ldi r25,hi8(-50000)7684 4204 AFEF ldi r26,hlo8(-50000)7685 4206 BFEF ldi r27,hhi8(-50000)7686 4208 8093 0000 sts Mess_Integral_Gier,r247687 420c 9093 0000 sts (Mess_Integral_Gier)+1,r257688 4210 A093 0000 sts (Mess_Integral_Gier)+2,r267689 4214 B093 0000 sts (Mess_Integral_Gier)+3,r277690 .L619:7691 4218 0091 0000 lds r16,KompassValue7692 421c 1091 0000 lds r17,(KompassValue)+17693 4220 17FD sbrc r17,77694 4222 00C0 rjmp .L6207695 4224 8091 0000 lds r24,Parameter_GlobalConfig7696 4228 83FF sbrs r24,37697 422a 00C0 rjmp .L6207698 422c 8091 0000 lds r24,CalculateCompassTimer7699 4230 8150 subi r24,lo8(-(-1))7700 4232 8093 0000 sts CalculateCompassTimer,r247701 4236 8823 tst r247702 4238 01F0 breq .+27703 423a 00C0 rjmp .L6377704 423c 8DE0 ldi r24,lo8(13)7705 423e 8093 0000 sts CalculateCompassTimer,r247706 4242 8091 0000 lds r24,IntegralNick7707 4246 9091 0000 lds r25,(IntegralNick)+17708 424a A091 0000 lds r26,(IntegralNick)+27709 424e B091 0000 lds r27,(IntegralNick)+37710 4252 B7FF sbrs r27,77711 4254 00C0 rjmp .L6227712 4256 8150 subi r24,lo8(-(511))7713 4258 9E4F sbci r25,hi8(-(511))7714 425a AF4F sbci r26,hlo8(-(511))7715 425c BF4F sbci r27,hhi8(-(511))7716 .L622:7717 425e 39E0 ldi r19,97718 4260 B595 1: asr r277719 4262 A795 ror r267720 4264 9795 ror r257721 4266 8795 ror r247722 4268 3A95 dec r197723 426a 01F4 brne 1b7724 426c 7C01 movw r14,r247725 426e 97FF sbrs r25,77726 4270 00C0 rjmp .L6237727 4272 F094 com r157728 4274 E194 neg r147729 4276 F108 sbc r15,__zero_reg__7730 4278 F394 inc r157731 .L623:7732 427a 8091 0000 lds r24,IntegralRoll7733 427e 9091 0000 lds r25,(IntegralRoll)+17734 4282 A091 0000 lds r26,(IntegralRoll)+27735 4286 B091 0000 lds r27,(IntegralRoll)+37736 428a B7FF sbrs r27,77737 428c 00C0 rjmp .L6247738 428e 8150 subi r24,lo8(-(511))7739 4290 9E4F sbci r25,hi8(-(511))7740 4292 AF4F sbci r26,hlo8(-(511))7741 4294 BF4F sbci r27,hhi8(-(511))7742 .L624:7743 4296 29E0 ldi r18,97744 4298 B595 1: asr r277745 429a A795 ror r267746 429c 9795 ror r257747 429e 8795 ror r247748 42a0 2A95 dec r187749 42a2 01F4 brne 1b7750 42a4 9C01 movw r18,r247751 42a6 97FF sbrs r25,77752 42a8 00C0 rjmp .L6257753 42aa 3095 com r197754 42ac 2195 neg r187755 42ae 3F4F sbci r19,lo8(-1)7756 .L625:7757 42b0 E216 cp r14,r187758 42b2 F306 cpc r15,r197759 42b4 04F4 brge .L6267760 42b6 7901 movw r14,r187761 .L626:7762 42b8 B701 movw r22,r147763 42ba F7FE sbrs r15,77764 42bc 00C0 rjmp .L6277765 42be 695F subi r22,lo8(-(7))7766 42c0 7F4F sbci r23,hi8(-(7))7767 .L627:7768 42c2 2B01 movw r4,r227769 42c4 A3E0 ldi r26,37770 42c6 5594 1: asr r57771 42c8 4794 ror r47772 42ca AA95 dec r267773 42cc 01F4 brne 1b7774 42ce 22E0 ldi r18,lo8(2)7775 42d0 30E0 ldi r19,hi8(2)7776 42d2 420E add r4,r187777 42d4 531E adc r5,r197778 42d6 6090 0000 lds r6,ErsatzKompass7779 42da 7090 0000 lds r7,(ErsatzKompass)+17780 42de 8090 0000 lds r8,(ErsatzKompass)+27781 42e2 9090 0000 lds r9,(ErsatzKompass)+37782 42e6 2091 0000 lds r18,GIER_GRAD_FAKTOR7783 42ea 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17784 42ee 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27785 42f2 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37786 42f6 C401 movw r24,r87787 42f8 B301 movw r22,r67788 42fa 0E94 0000 call __divmodsi47789 42fe 5901 movw r10,r187790 4300 6A01 movw r12,r207791 4302 3093 0000 sts (ErsatzKompassInGrad)+1,r197792 4306 2093 0000 sts ErsatzKompassInGrad,r187793 430a 021B sub r16,r187794 430c 130B sbc r17,r197795 430e C801 movw r24,r167796 4310 845E subi r24,lo8(-(540))7797 4312 9D4F sbci r25,hi8(-(540))7798 4314 68E6 ldi r22,lo8(360)7799 4316 71E0 ldi r23,hi8(360)7800 4318 0E94 0000 call __divmodhi47801 431c 9C01 movw r18,r247802 431e 245B subi r18,lo8(-(-180))7803 4320 3040 sbci r19,hi8(-(-180))7804 4322 8091 0000 lds r24,KompassSignalSchlecht7805 4326 9091 0000 lds r25,(KompassSignalSchlecht)+17806 432a 0097 sbiw r24,07807 432c 01F0 breq .L6287808 432e 0197 sbiw r24,17809 4330 9093 0000 sts (KompassSignalSchlecht)+1,r257810 4334 8093 0000 sts KompassSignalSchlecht,r247811 4338 00C0 rjmp .L6297812 .L628:7813 433a 49E1 ldi r20,lo8(25)7814 433c E416 cp r14,r207815 433e F104 cpc r15,__zero_reg__7816 4340 04F4 brge .L6297817 4342 8091 0000 lds r24,GierGyroFehler7818 4346 9091 0000 lds r25,(GierGyroFehler)+17819 434a 820F add r24,r187820 434c 931F adc r25,r197821 434e 9093 0000 sts (GierGyroFehler)+1,r257822 4352 8093 0000 sts GierGyroFehler,r247823 4356 8091 0000 lds r24,NeueKompassRichtungMerken7824 435a 8823 tst r247825 435c 01F0 breq .L6297826 435e 8150 subi r24,lo8(-(-1))7827 4360 8093 0000 sts NeueKompassRichtungMerken,r247828 4364 8823 tst r247829 4366 01F4 brne .L6297830 4368 B092 0000 sts (KompassSollWert)+1,r117831 436c A092 0000 sts KompassSollWert,r107832 .L629:7833 4370 8091 0000 lds r24,KompassSignalSchlecht7834 4374 9091 0000 lds r25,(KompassSignalSchlecht)+17835 4378 892B or r24,r257836 437a 01F4 brne .L6337837 437c 8091 0000 lds r24,KompassFusion7838 4380 9927 clr r257839 4382 289F mul r18,r247840 4384 B001 movw r22,r07841 4386 299F mul r18,r257842 4388 700D add r23,r07843 438a 389F mul r19,r247844 438c 700D add r23,r07845 438e 1124 clr r17846 4390 CB01 movw r24,r227847 4392 B201 movw r22,r47848 4394 0E94 0000 call __divmodhi47849 4398 CB01 movw r24,r227850 439a AA27 clr r267851 439c 97FD sbrc r25,77852 439e A095 com r267853 43a0 BA2F mov r27,r267854 43a2 680E add r6,r247855 43a4 791E adc r7,r257856 43a6 8A1E adc r8,r267857 43a8 9B1E adc r9,r277858 43aa 6092 0000 sts ErsatzKompass,r67859 43ae 7092 0000 sts (ErsatzKompass)+1,r77860 43b2 8092 0000 sts (ErsatzKompass)+2,r87861 43b6 9092 0000 sts (ErsatzKompass)+3,r97862 .L633:7863 43ba 8091 0000 lds r24,NeueKompassRichtungMerken7864 43be 8823 tst r247865 43c0 01F4 brne .L6207866 43c2 8091 0000 lds r24,KompassSollWert7867 43c6 9091 0000 lds r25,(KompassSollWert)+17868 43ca 2091 0000 lds r18,ErsatzKompassInGrad7869 43ce 3091 0000 lds r19,(ErsatzKompassInGrad)+17870 43d2 821B sub r24,r187871 43d4 930B sbc r25,r197872 43d6 845E subi r24,lo8(-(540))7873 43d8 9D4F sbci r25,hi8(-(540))7874 43da 68E6 ldi r22,lo8(360)7875 43dc 71E0 ldi r23,hi8(360)7876 43de 0E94 0000 call __divmodhi47877 43e2 9C01 movw r18,r247878 43e4 245B subi r18,lo8(-(-180))7879 43e6 3040 sbci r19,hi8(-(-180))7880 43e8 8091 0000 lds r24,Parameter_KompassWirkung7881 43ec 8695 lsr r247882 43ee 9927 clr r257883 43f0 289F mul r18,r247884 43f2 D001 movw r26,r07885 43f4 299F mul r18,r257886 43f6 B00D add r27,r07887 43f8 389F mul r19,r247888 43fa B00D add r27,r07889 43fc 1124 clr r17890 43fe 9D01 movw r18,r267891 4400 B7FF sbrs r27,77892 4402 00C0 rjmp .L6357893 4404 215F subi r18,lo8(-(15))7894 4406 3F4F sbci r19,hi8(-(15))7895 .L635:7896 4408 F4E0 ldi r31,47897 440a 3595 1: asr r197898 440c 2795 ror r187899 440e FA95 dec r317900 4410 01F4 brne 1b7901 4412 3093 0000 sts (CompassGierSetpoint)+1,r197902 4416 2093 0000 sts CompassGierSetpoint,r187903 441a 00C0 rjmp .L6377904 .L620:7905 441c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7906 4420 1092 0000 sts CompassGierSetpoint,__zero_reg__7907 .L637:7908 4424 8091 0000 lds r24,TrichterFlug7909 4428 8823 tst r247910 442a 01F0 breq .L6387911 442c 1092 0000 sts SummeRoll,__zero_reg__7912 4430 1092 0000 sts (SummeRoll)+1,__zero_reg__7913 4434 1092 0000 sts (SummeRoll)+2,__zero_reg__7914 4438 1092 0000 sts (SummeRoll)+3,__zero_reg__7915 443c 1092 0000 sts SummeNick,__zero_reg__7916 4440 1092 0000 sts (SummeNick)+1,__zero_reg__7917 4444 1092 0000 sts (SummeNick)+2,__zero_reg__7918 4448 1092 0000 sts (SummeNick)+3,__zero_reg__7919 .L638:7920 444c F090 0000 lds r15,Looping_Nick7921 4450 FF20 tst r157922 4452 01F4 brne .L6397923 4454 8091 0000 lds r24,IntegralFaktor7924 4458 282F mov r18,r247925 445a 3327 clr r197926 445c 4427 clr r207927 445e 5527 clr r217928 4460 8091 0000 lds r24,IntegralNick7929 4464 9091 0000 lds r25,(IntegralNick)+17930 4468 A091 0000 lds r26,(IntegralNick)+27931 446c B091 0000 lds r27,(IntegralNick)+37932 4470 BC01 movw r22,r247933 4472 CD01 movw r24,r267934 4474 0E94 0000 call __mulsi37935 4478 DC01 movw r26,r247936 447a CB01 movw r24,r227937 447c BC01 movw r22,r247938 447e CD01 movw r24,r267939 4480 28EF ldi r18,lo8(11000)7940 4482 3AE2 ldi r19,hi8(11000)7941 4484 40E0 ldi r20,hlo8(11000)7942 4486 50E0 ldi r21,hhi8(11000)7943 4488 0E94 0000 call __divmodsi47944 448c 3901 movw r6,r187945 448e 00C0 rjmp .L6407946 .L639:7947 4490 6624 clr r67948 4492 7724 clr r77949 .L640:7950 4494 E090 0000 lds r14,Looping_Roll7951 4498 EE20 tst r147952 449a 01F4 brne .L6417953 449c 8091 0000 lds r24,IntegralFaktor7954 44a0 282F mov r18,r247955 44a2 3327 clr r197956 44a4 4427 clr r207957 44a6 5527 clr r217958 44a8 8091 0000 lds r24,IntegralRoll7959 44ac 9091 0000 lds r25,(IntegralRoll)+17960 44b0 A091 0000 lds r26,(IntegralRoll)+27961 44b4 B091 0000 lds r27,(IntegralRoll)+37962 44b8 BC01 movw r22,r247963 44ba CD01 movw r24,r267964 44bc 0E94 0000 call __mulsi37965 44c0 DC01 movw r26,r247966 44c2 CB01 movw r24,r227967 44c4 BC01 movw r22,r247968 44c6 CD01 movw r24,r267969 44c8 28EF ldi r18,lo8(11000)7970 44ca 3AE2 ldi r19,hi8(11000)7971 44cc 40E0 ldi r20,hlo8(11000)7972 44ce 50E0 ldi r21,hhi8(11000)7973 44d0 0E94 0000 call __divmodsi47974 44d4 2901 movw r4,r187975 44d6 00C0 rjmp .L6427976 .L641:7977 44d8 4424 clr r47978 44da 5524 clr r57979 .L642:7980 44dc 8091 0000 lds r24,TrimNick7981 44e0 9091 0000 lds r25,(TrimNick)+17982 44e4 893C cpi r24,2017983 44e6 9105 cpc r25,__zero_reg__7984 44e8 04F0 brlt .L6437985 44ea 88EC ldi r24,lo8(200)7986 44ec 90E0 ldi r25,hi8(200)7987 44ee 00C0 rjmp .L9007988 .L643:7989 44f0 8853 subi r24,lo8(-200)7990 44f2 9F4F sbci r25,hi8(-200)7991 44f4 04F4 brge .L6447992 44f6 88E3 ldi r24,lo8(-200)7993 44f8 9FEF ldi r25,hi8(-200)7994 .L900:7995 44fa 9093 0000 sts (TrimNick)+1,r257996 44fe 8093 0000 sts TrimNick,r247997 .L644:7998 4502 8091 0000 lds r24,TrimRoll7999 4506 9091 0000 lds r25,(TrimRoll)+18000 450a 893C cpi r24,2018001 450c 9105 cpc r25,__zero_reg__8002 450e 04F0 brlt .L6468003 4510 88EC ldi r24,lo8(200)8004 4512 90E0 ldi r25,hi8(200)8005 4514 00C0 rjmp .L9018006 .L646:8007 4516 8853 subi r24,lo8(-200)8008 4518 9F4F sbci r25,hi8(-200)8009 451a 04F4 brge .L6478010 451c 88E3 ldi r24,lo8(-200)8011 451e 9FEF ldi r25,hi8(-200)8012 .L901:8013 4520 9093 0000 sts (TrimRoll)+1,r258014 4524 8093 0000 sts TrimRoll,r248015 .L647:8016 4528 8091 0000 lds r24,MesswertNick8017 452c 9091 0000 lds r25,(MesswertNick)+18018 4530 AA27 clr r268019 4532 97FD sbrc r25,78020 4534 A095 com r268021 4536 BA2F mov r27,r268022 4538 2091 0000 lds r18,GyroFaktor8023 453c A22E mov r10,r188024 453e BB24 clr r118025 4540 CC24 clr r128026 4542 DD24 clr r138027 4544 BC01 movw r22,r248028 4546 CD01 movw r24,r268029 4548 A601 movw r20,r128030 454a 9501 movw r18,r108031 454c 0E94 0000 call __mulsi38032 4550 9B01 movw r18,r228033 4552 AC01 movw r20,r248034 4554 8091 0000 lds r24,TrimNick8035 4558 9091 0000 lds r25,(TrimNick)+18036 455c AA27 clr r268037 455e 97FD sbrc r25,78038 4560 A095 com r268039 4562 BA2F mov r27,r268040 4564 E7E0 ldi r30,78041 4566 880F 1: lsl r248042 4568 991F rol r258043 456a AA1F rol r268044 456c BB1F rol r278045 456e EA95 dec r308046 4570 01F4 brne 1b8047 4572 280F add r18,r248048 4574 391F adc r19,r258049 4576 4A1F adc r20,r268050 4578 5B1F adc r21,r278051 457a 57FF sbrs r21,78052 457c 00C0 rjmp .L6498053 457e 215C subi r18,lo8(-(63))8054 4580 3F4F sbci r19,hi8(-(63))8055 4582 4F4F sbci r20,hlo8(-(63))8056 4584 5F4F sbci r21,hhi8(-(63))8057 .L649:8058 4586 76E0 ldi r23,68059 4588 5595 1: asr r218060 458a 4795 ror r208061 458c 3795 ror r198062 458e 2795 ror r188063 4590 7A95 dec r238064 4592 01F4 brne 1b8065 4594 8301 movw r16,r68066 4596 020F add r16,r188067 4598 131F adc r17,r198068 459a 1093 0000 sts (MesswertNick)+1,r178069 459e 0093 0000 sts MesswertNick,r168070 45a2 8091 0000 lds r24,MesswertRoll8071 45a6 9091 0000 lds r25,(MesswertRoll)+18072 45aa AA27 clr r268073 45ac 97FD sbrc r25,78074 45ae A095 com r268075 45b0 BA2F mov r27,r268076 45b2 BC01 movw r22,r248077 45b4 CD01 movw r24,r268078 45b6 A601 movw r20,r128079 45b8 9501 movw r18,r108080 45ba 0E94 0000 call __mulsi38081 45be 9B01 movw r18,r228082 45c0 AC01 movw r20,r248083 45c2 8091 0000 lds r24,TrimRoll8084 45c6 9091 0000 lds r25,(TrimRoll)+18085 45ca AA27 clr r268086 45cc 97FD sbrc r25,78087 45ce A095 com r268088 45d0 BA2F mov r27,r268089 45d2 67E0 ldi r22,78090 45d4 880F 1: lsl r248091 45d6 991F rol r258092 45d8 AA1F rol r268093 45da BB1F rol r278094 45dc 6A95 dec r228095 45de 01F4 brne 1b8096 45e0 280F add r18,r248097 45e2 391F adc r19,r258098 45e4 4A1F adc r20,r268099 45e6 5B1F adc r21,r278100 45e8 57FF sbrs r21,78101 45ea 00C0 rjmp .L6508102 45ec 215C subi r18,lo8(-(63))8103 45ee 3F4F sbci r19,hi8(-(63))8104 45f0 4F4F sbci r20,hlo8(-(63))8105 45f2 5F4F sbci r21,hhi8(-(63))8106 .L650:8107 45f4 F6E0 ldi r31,68108 45f6 5595 1: asr r218109 45f8 4795 ror r208110 45fa 3795 ror r198111 45fc 2795 ror r188112 45fe FA95 dec r318113 4600 01F4 brne 1b8114 4602 4201 movw r8,r48115 4604 820E add r8,r188116 4606 931E adc r9,r198117 4608 9092 0000 sts (MesswertRoll)+1,r98118 460c 8092 0000 sts MesswertRoll,r88119 4610 8091 0000 lds r24,MesswertGier8120 4614 9091 0000 lds r25,(MesswertGier)+18121 4618 880F add r24,r248122 461a 991F adc r25,r258123 461c AA27 clr r268124 461e 97FD sbrc r25,78125 4620 A095 com r268126 4622 BA2F mov r27,r268127 4624 2091 0000 lds r18,GyroFaktorGier8128 4628 3327 clr r198129 462a 4427 clr r208130 462c 5527 clr r218131 462e BC01 movw r22,r248132 4630 CD01 movw r24,r268133 4632 0E94 0000 call __mulsi38134 4636 5B01 movw r10,r228135 4638 6C01 movw r12,r248136 463a 97FF sbrs r25,78137 463c 00C0 rjmp .L6518138 463e 2FE3 ldi r18,lo8(63)8139 4640 30E0 ldi r19,hi8(63)8140 4642 40E0 ldi r20,hlo8(63)8141 4644 50E0 ldi r21,hhi8(63)8142 4646 A20E add r10,r188143 4648 B31E adc r11,r198144 464a C41E adc r12,r208145 464c D51E adc r13,r218146 .L651:8147 464e E6E0 ldi r30,68148 4650 D594 1: asr r138149 4652 C794 ror r128150 4654 B794 ror r118151 4656 A794 ror r108152 4658 EA95 dec r308153 465a 01F4 brne 1b8154 465c 8091 0000 lds r24,IntegralFaktorGier8155 4660 282F mov r18,r248156 4662 3327 clr r198157 4664 4427 clr r208158 4666 5527 clr r218159 4668 8091 0000 lds r24,Integral_Gier8160 466c 9091 0000 lds r25,(Integral_Gier)+18161 4670 A091 0000 lds r26,(Integral_Gier)+28162 4674 B091 0000 lds r27,(Integral_Gier)+38163 4678 BC01 movw r22,r248164 467a CD01 movw r24,r268165 467c 0E94 0000 call __mulsi38166 4680 DC01 movw r26,r248167 4682 CB01 movw r24,r228168 4684 BC01 movw r22,r248169 4686 CD01 movw r24,r268170 4688 20EF ldi r18,lo8(22000)8171 468a 35E5 ldi r19,hi8(22000)8172 468c 40E0 ldi r20,hlo8(22000)8173 468e 50E0 ldi r21,hhi8(22000)8174 4690 0E94 0000 call __divmodsi48175 4694 B501 movw r22,r108176 4696 620F add r22,r188177 4698 731F adc r23,r198178 469a 7093 0000 sts (MesswertGier)+1,r238179 469e 6093 0000 sts MesswertGier,r228180 46a2 0150 subi r16,lo8(4097)8181 46a4 1041 sbci r17,hi8(4097)8182 46a6 04F0 brlt .L6528183 46a8 80E0 ldi r24,lo8(4096)8184 46aa 90E1 ldi r25,hi8(4096)8185 46ac 9093 0000 sts (MesswertNick)+1,r258186 46b0 8093 0000 sts MesswertNick,r248187 .L652:8188 46b4 8091 0000 lds r24,MesswertNick8189 46b8 9091 0000 lds r25,(MesswertNick)+18190 46bc 8050 subi r24,lo8(-4096)8191 46be 904F sbci r25,hi8(-4096)8192 46c0 04F4 brge .L6538193 46c2 80E0 ldi r24,lo8(-4096)8194 46c4 90EF ldi r25,hi8(-4096)8195 46c6 9093 0000 sts (MesswertNick)+1,r258196 46ca 8093 0000 sts MesswertNick,r248197 .L653:8198 46ce 51E0 ldi r21,lo8(4097)8199 46d0 8516 cp r8,r218200 46d2 50E1 ldi r21,hi8(4097)8201 46d4 9506 cpc r9,r218202 46d6 04F0 brlt .L6548203 46d8 80E0 ldi r24,lo8(4096)8204 46da 90E1 ldi r25,hi8(4096)8205 46dc 9093 0000 sts (MesswertRoll)+1,r258206 46e0 8093 0000 sts MesswertRoll,r248207 .L654:8208 46e4 8091 0000 lds r24,MesswertRoll8209 46e8 9091 0000 lds r25,(MesswertRoll)+18210 46ec 8050 subi r24,lo8(-4096)8211 46ee 904F sbci r25,hi8(-4096)8212 46f0 04F4 brge .L6558213 46f2 80E0 ldi r24,lo8(-4096)8214 46f4 90EF ldi r25,hi8(-4096)8215 46f6 9093 0000 sts (MesswertRoll)+1,r258216 46fa 8093 0000 sts MesswertRoll,r248217 .L655:8218 46fe 6150 subi r22,lo8(4097)8219 4700 7041 sbci r23,hi8(4097)8220 4702 04F0 brlt .L6568221 4704 80E0 ldi r24,lo8(4096)8222 4706 90E1 ldi r25,hi8(4096)8223 4708 9093 0000 sts (MesswertGier)+1,r258224 470c 8093 0000 sts MesswertGier,r248225 .L656:8226 4710 8091 0000 lds r24,MesswertGier8227 4714 9091 0000 lds r25,(MesswertGier)+18228 4718 8050 subi r24,lo8(-4096)8229 471a 904F sbci r25,hi8(-4096)8230 471c 04F4 brge .L6578231 471e 80E0 ldi r24,lo8(-4096)8232 4720 90EF ldi r25,hi8(-4096)8233 4722 9093 0000 sts (MesswertGier)+1,r258234 4726 8093 0000 sts MesswertGier,r248235 .L657:8236 472a 8091 0000 lds r24,BattLowVoltageWarning8237 472e 482F mov r20,r248238 4730 5527 clr r218239 4732 8091 0000 lds r24,UBat8240 4736 9091 0000 lds r25,(UBat)+18241 473a 4817 cp r20,r248242 473c 5907 cpc r21,r258243 473e 04F4 brge .L6588244 4740 2091 0000 lds r18,UBat8245 4744 3091 0000 lds r19,(UBat)+18246 4748 0981 ldd r16,Y+18247 474a 1A81 ldd r17,Y+28248 474c 049F mul r16,r208249 474e C001 movw r24,r08250 4750 059F mul r16,r218251 4752 900D add r25,r08252 4754 149F mul r17,r208253 4756 900D add r25,r08254 4758 1124 clr r18255 475a B901 movw r22,r188256 475c 0E94 0000 call __udivmodhi48257 4760 7A83 std Y+2,r238258 4762 6983 std Y+1,r228259 .L658:8260 4764 2981 ldd r18,Y+18261 4766 3A81 ldd r19,Y+28262 4768 220F lsl r188263 476a 331F rol r198264 476c 220F lsl r188265 476e 331F rol r198266 4770 3A83 std Y+2,r198267 4772 2983 std Y+1,r188268 4774 4091 0000 lds r20,Parameter_GlobalConfig8269 4778 40FD sbrc r20,08270 477a 00C0 rjmp .+48271 477c 0C94 0000 jmp .L6598272 4780 EE20 tst r148273 4782 01F0 breq .+48274 4784 0C94 0000 jmp .L6598275 4788 FF20 tst r158276 478a 01F0 breq .+48277 478c 0C94 0000 jmp .L6598278 4790 00E0 ldi r16,lo8(0)8279 4792 10E0 ldi r17,hi8(0)8280 4794 4801 movw r8,r168281 4796 8091 0000 lds r24,HoverGas8282 479a 9091 0000 lds r25,(HoverGas)+18283 479e 9093 0000 sts (DebugOut+44)+1,r258284 47a2 8093 0000 sts DebugOut+44,r248285 47a6 2091 0000 lds r18,BaroExpandActive8286 47aa 3091 0000 lds r19,(BaroExpandActive)+18287 47ae 2115 cp r18,__zero_reg__8288 47b0 3105 cpc r19,__zero_reg__8289 47b2 01F0 breq .+28290 47b4 00C0 rjmp .L6608291 47b6 8091 0000 lds r24,MessLuftdruck8292 47ba 9091 0000 lds r25,(MessLuftdruck)+18293 47be 8959 subi r24,lo8(921)8294 47c0 9340 sbci r25,hi8(921)8295 47c2 00F0 brlo .L6618296 47c4 87B5 in r24,71-0x208297 47c6 803F cpi r24,lo8(-16)8298 47c8 00F4 brsh .L6628299 47ca 8091 0000 lds r24,ExpandBaro8300 47ce 8150 subi r24,lo8(-(-1))8301 47d0 00C0 rjmp .L9028302 .L662:8303 47d2 81E0 ldi r24,lo8(1)8304 47d4 8093 0000 sts BaroAtLowerLimit.26,r248305 47d8 00C0 rjmp .L6698306 .L661:8307 47da 8091 0000 lds r24,MessLuftdruck8308 47de 9091 0000 lds r25,(MessLuftdruck)+18309 47e2 8436 cpi r24,1008310 47e4 9105 cpc r25,__zero_reg__8311 47e6 00F4 brsh .L6658312 47e8 87B5 in r24,71-0x208313 47ea 8031 cpi r24,lo8(16)8314 47ec 00F0 brlo .L6668315 47ee 8091 0000 lds r24,ExpandBaro8316 47f2 8F5F subi r24,lo8(-(1))8317 .L902:8318 47f4 8093 0000 sts ExpandBaro,r248319 47f8 9FE0 ldi r25,lo8(15)8320 47fa 8902 muls r24,r258321 47fc 9001 movw r18,r08322 47fe 1124 clr r18323 4800 8091 0000 lds r24,DruckOffsetSetting8324 4804 821B sub r24,r188325 4806 87BD out 71-0x20,r248326 4808 8CE2 ldi r24,lo8(300)8327 480a 91E0 ldi r25,hi8(300)8328 480c 9093 0000 sts (beeptime)+1,r258329 4810 8093 0000 sts beeptime,r248330 4814 8EE5 ldi r24,lo8(350)8331 4816 91E0 ldi r25,hi8(350)8332 4818 9093 0000 sts (BaroExpandActive)+1,r258333 481c 8093 0000 sts BaroExpandActive,r248334 4820 00C0 rjmp .L6698335 .L666:8336 4822 81E0 ldi r24,lo8(1)8337 4824 8093 0000 sts BaroAtUpperLimit.25,r248338 4828 00C0 rjmp .L6698339 .L665:8340 482a F092 0000 sts BaroAtUpperLimit.25,r158341 482e F092 0000 sts BaroAtLowerLimit.26,r158342 4832 00C0 rjmp .L6698343 .L660:8344 4834 8091 0000 lds r24,HoehenWert8345 4838 9091 0000 lds r25,(HoehenWert)+18346 483c A091 0000 lds r26,(HoehenWert)+28347 4840 B091 0000 lds r27,(HoehenWert)+38348 4844 64E0 ldi r22,48349 4846 880F 1: lsl r248350 4848 991F rol r258351 484a AA1F rol r268352 484c BB1F rol r278353 484e 6A95 dec r228354 4850 01F4 brne 1b8355 4852 8093 0000 sts SummenHoehe,r248356 4856 9093 0000 sts (SummenHoehe)+1,r258357 485a A093 0000 sts (SummenHoehe)+2,r268358 485e B093 0000 sts (SummenHoehe)+3,r278359 4862 1093 0000 sts (VarioMeter)+1,r178360 4866 0093 0000 sts VarioMeter,r168361 486a 2150 subi r18,lo8(-(-1))8362 486c 3040 sbci r19,hi8(-(-1))8363 486e 3093 0000 sts (BaroExpandActive)+1,r198364 4872 2093 0000 sts BaroExpandActive,r188365 .L669:8366 4876 2091 0000 lds r18,Parameter_HoehenSchalter8367 487a 41FF sbrs r20,18368 487c 00C0 rjmp .L6708369 487e 2233 cpi r18,lo8(50)8370 4880 00F4 brsh .L6718371 4882 8091 0000 lds r24,delay.248372 4886 8150 subi r24,lo8(-(-1))8373 4888 8093 0000 sts delay.24,r248374 488c 8F3F cpi r24,lo8(-1)8375 488e 01F0 breq .+28376 4890 00C0 rjmp .L6778377 4892 8091 0000 lds r24,SpeakHoTT8378 4896 8823 tst r248379 4898 01F4 brne .L6738380 489a 8091 0000 lds r24,HoehenReglerAktiv8381 489e 8823 tst r248382 48a0 01F0 breq .L6738383 48a2 88E2 ldi r24,lo8(40)8384 48a4 8093 0000 sts SpeakHoTT,r248385 .L673:8386 48a8 1092 0000 sts HoehenReglerAktiv,__zero_reg__8387 48ac 8091 0000 lds r24,HoehenWert8388 48b0 9091 0000 lds r25,(HoehenWert)+18389 48b4 A091 0000 lds r26,(HoehenWert)+28390 48b8 B091 0000 lds r27,(HoehenWert)+38391 48bc 8093 0000 sts SollHoehe,r248392 48c0 9093 0000 sts (SollHoehe)+1,r258393 48c4 A093 0000 sts (SollHoehe)+2,r268394 48c8 B093 0000 sts (SollHoehe)+3,r278395 48cc 81E0 ldi r24,lo8(1)8396 48ce 8093 0000 sts delay.24,r248397 48d2 00C0 rjmp .L6778398 .L671:8399 48d4 2734 cpi r18,lo8(71)8400 48d6 00F0 brlo .L6778401 48d8 8091 0000 lds r24,SpeakHoTT8402 48dc 8823 tst r248403 48de 01F4 brne .L6768404 48e0 8091 0000 lds r24,HoehenReglerAktiv8405 48e4 8823 tst r248406 48e6 01F4 brne .L6768407 48e8 87E2 ldi r24,lo8(39)8408 48ea 8093 0000 sts SpeakHoTT,r248409 .L676:8410 48ee 88EC ldi r24,lo8(-56)8411 48f0 8093 0000 sts delay.24,r248412 48f4 00C0 rjmp .L9038413 .L670:8414 48f6 8091 0000 lds r24,ExternHoehenValue8415 48fa 9091 0000 lds r25,(ExternHoehenValue)+18416 48fe 820F add r24,r188417 4900 911D adc r25,__zero_reg__8418 4902 2091 0000 lds r18,EE_Parameter+188419 4906 3327 clr r198420 4908 829F mul r24,r188421 490a A001 movw r20,r08422 490c 839F mul r24,r198423 490e 500D add r21,r08424 4910 929F mul r25,r188425 4912 500D add r21,r08426 4914 1124 clr r18427 4916 CA01 movw r24,r208428 4918 AA27 clr r268429 491a 97FD sbrc r25,78430 491c A095 com r268431 491e BA2F mov r27,r268432 4920 8093 0000 sts SollHoehe,r248433 4924 9093 0000 sts (SollHoehe)+1,r258434 4928 A093 0000 sts (SollHoehe)+2,r268435 492c B093 0000 sts (SollHoehe)+3,r278436 .L903:8437 4930 81E0 ldi r24,lo8(1)8438 4932 8093 0000 sts HoehenReglerAktiv,r248439 .L677:8440 4936 8091 0000 lds r24,IntegralNick8441 493a 9091 0000 lds r25,(IntegralNick)+18442 493e A091 0000 lds r26,(IntegralNick)+28443 4942 B091 0000 lds r27,(IntegralNick)+38444 4946 E090 0000 lds r14,GIER_GRAD_FAKTOR8445 494a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18446 494e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28447 4952 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38448 4956 BC01 movw r22,r248449 4958 CD01 movw r24,r268450 495a A801 movw r20,r168451 495c 9701 movw r18,r148452 495e 0E94 0000 call __divmodsi48453 4962 5901 movw r10,r188454 4964 6A01 movw r12,r208455 4966 8091 0000 lds r24,IntegralRoll8456 496a 9091 0000 lds r25,(IntegralRoll)+18457 496e A091 0000 lds r26,(IntegralRoll)+28458 4972 B091 0000 lds r27,(IntegralRoll)+38459 4976 BC01 movw r22,r248460 4978 CD01 movw r24,r268461 497a A801 movw r20,r168462 497c 9701 movw r18,r148463 497e 0E94 0000 call __divmodsi48464 4982 B901 movw r22,r188465 4984 C501 movw r24,r108466 4986 0E94 0000 call ihypot8467 498a 5C01 movw r10,r248468 498c CC97 sbiw r24,608469 498e 04F0 brlt .L6788470 4990 5CE3 ldi r21,lo8(60)8471 4992 A52E mov r10,r218472 4994 B12C mov r11,__zero_reg__8473 .L678:8474 4996 C501 movw r24,r108475 4998 0E94 0000 call c_cos_81928476 499c 5C01 movw r10,r248477 499e 80E2 ldi r24,lo8(32)8478 49a0 8093 0000 sts VarioCharacter,r248479 49a4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8480 49a8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8481 49ac 8091 0000 lds r24,HoehenReglerAktiv8482 49b0 8823 tst r248483 49b2 01F4 brne .+28484 49b4 00C0 rjmp .L6798485 49b6 8091 0000 lds r24,FC_StatusFlags8486 49ba 9927 clr r258487 49bc 9C01 movw r18,r248488 49be 2071 andi r18,lo8(16)8489 49c0 3070 andi r19,hi8(16)8490 49c2 84FD sbrc r24,48491 49c4 00C0 rjmp .L6798492 49c6 8091 0000 lds r24,FC_StatusFlags28493 49ca 8260 ori r24,lo8(2)8494 49cc 8093 0000 sts FC_StatusFlags2,r248495 49d0 7091 0000 lds r23,Parameter_ExtraConfig8496 49d4 872F mov r24,r238497 49d6 9927 clr r258498 49d8 41E0 ldi r20,lo8(1)8499 49da C42E mov r12,r208500 49dc D12C mov r13,__zero_reg__8501 49de C822 and r12,r248502 49e0 D922 and r13,r258503 49e2 80FD sbrc r24,08504 49e4 00C0 rjmp .L6818505 49e6 8091 0000 lds r24,Parameter_GlobalConfig8506 49ea 81FD sbrc r24,18507 49ec 00C0 rjmp .L6808508 .L681:8509 49ee C980 ldd r12,Y+18510 49f0 DA80 ldd r13,Y+28511 49f2 3093 0000 sts (HeightTrimming.21)+1,r198512 49f6 2093 0000 sts HeightTrimming.21,r188513 49fa 3093 0000 sts (AltitudeSetpointTrimming)+1,r198514 49fe 2093 0000 sts AltitudeSetpointTrimming,r188515 4a02 8091 0000 lds r24,FC_StatusFlags8516 4a06 806C ori r24,lo8(-64)8517 4a08 8093 0000 sts FC_StatusFlags,r248518 4a0c 00C0 rjmp .L6828519 .L680:8520 4a0e 8091 0000 lds r24,FC_StatusFlags8521 4a12 81FF sbrs r24,18522 4a14 00C0 rjmp .L6838523 4a16 0091 0000 lds r16,StickGasHover8524 4a1a 1091 0000 lds r17,(StickGasHover)+18525 4a1e C801 movw r24,r168526 4a20 0F96 adiw r24,158527 4a22 2090 0000 lds r2,StickGas8528 4a26 3090 0000 lds r3,(StickGas)+18529 4a2a 8215 cp r24,r28530 4a2c 9305 cpc r25,r38531 4a2e 04F0 brlt .+28532 4a30 00C0 rjmp .L6848533 4a32 8091 0000 lds r24,BaroAtUpperLimit.258534 4a36 8823 tst r248535 4a38 01F0 breq .+28536 4a3a 00C0 rjmp .L6848537 4a3c 8091 0000 lds r24,FC_StatusFlags8538 4a40 87FF sbrs r24,78539 4a42 00C0 rjmp .L6858540 4a44 8091 0000 lds r24,FC_StatusFlags8541 4a48 8F77 andi r24,lo8(127)8542 4a4a 8093 0000 sts FC_StatusFlags,r248543 4a4e 8091 0000 lds r24,HoehenWert8544 4a52 9091 0000 lds r25,(HoehenWert)+18545 4a56 A091 0000 lds r26,(HoehenWert)+28546 4a5a B091 0000 lds r27,(HoehenWert)+38547 4a5e 8093 0000 sts SollHoehe,r248548 4a62 9093 0000 sts (SollHoehe)+1,r258549 4a66 A093 0000 sts (SollHoehe)+2,r268550 4a6a B093 0000 sts (SollHoehe)+3,r278551 .L685:8552 4a6e 8091 0000 lds r24,FC_StatusFlags8553 4a72 8064 ori r24,lo8(64)8554 4a74 8093 0000 sts FC_StatusFlags,r248555 4a78 E090 0000 lds r14,Parameter_MaximumAltitude8556 4a7c EE20 tst r148557 4a7e 01F0 breq .L6868558 4a80 8091 0000 lds r24,SollHoehe8559 4a84 9091 0000 lds r25,(SollHoehe)+18560 4a88 A091 0000 lds r26,(SollHoehe)+28561 4a8c B091 0000 lds r27,(SollHoehe)+38562 4a90 BC01 movw r22,r248563 4a92 CD01 movw r24,r268564 4a94 24E6 ldi r18,lo8(100)8565 4a96 30E0 ldi r19,hi8(100)8566 4a98 40E0 ldi r20,hlo8(100)8567 4a9a 50E0 ldi r21,hhi8(100)8568 4a9c 0E94 0000 call __divmodsi48569 4aa0 8E2D mov r24,r148570 4aa2 9927 clr r258571 4aa4 AA27 clr r268572 4aa6 BB27 clr r278573 4aa8 8217 cp r24,r188574 4aaa 9307 cpc r25,r198575 4aac A407 cpc r26,r208576 4aae B507 cpc r27,r218577 4ab0 04F4 brge .L6868578 4ab2 D092 0000 sts (AltitudeSetpointTrimming)+1,r138579 4ab6 C092 0000 sts AltitudeSetpointTrimming,r128580 4aba 00C0 rjmp .L6878581 .L686:8582 4abc C101 movw r24,r28583 4abe 801B sub r24,r168584 4ac0 910B sbc r25,r178585 4ac2 0F97 sbiw r24,158586 4ac4 97FF sbrs r25,78587 4ac6 00C0 rjmp .L6888588 4ac8 9095 com r258589 4aca 8195 neg r248590 4acc 9F4F sbci r25,lo8(-1)8591 .L688:8592 4ace 9093 0000 sts (AltitudeSetpointTrimming)+1,r258593 4ad2 8093 0000 sts AltitudeSetpointTrimming,r248594 4ad6 8BE2 ldi r24,lo8(43)8595 4ad8 8093 0000 sts VarioCharacter,r248596 .L687:8597 4adc 1092 0000 sts WaypointTrimming,__zero_reg__8598 4ae0 00C0 rjmp .L6898599 .L684:8600 4ae2 C801 movw r24,r168601 4ae4 0F97 sbiw r24,158602 4ae6 2816 cp r2,r248603 4ae8 3906 cpc r3,r258604 4aea 04F4 brge .L6908605 4aec 2091 0000 lds r18,BaroAtLowerLimit.268606 4af0 2223 tst r188607 4af2 01F4 brne .L6908608 4af4 8091 0000 lds r24,FC_StatusFlags8609 4af8 86FF sbrs r24,68610 4afa 00C0 rjmp .L6918611 4afc 8091 0000 lds r24,FC_StatusFlags8612 4b00 8F7B andi r24,lo8(-65)8613 4b02 8093 0000 sts FC_StatusFlags,r248614 4b06 8091 0000 lds r24,HoehenWert8615 4b0a 9091 0000 lds r25,(HoehenWert)+18616 4b0e A091 0000 lds r26,(HoehenWert)+28617 4b12 B091 0000 lds r27,(HoehenWert)+38618 4b16 8093 0000 sts SollHoehe,r248619 4b1a 9093 0000 sts (SollHoehe)+1,r258620 4b1e A093 0000 sts (SollHoehe)+2,r268621 4b22 B093 0000 sts (SollHoehe)+3,r278622 .L691:8623 4b26 8091 0000 lds r24,FC_StatusFlags8624 4b2a 8068 ori r24,lo8(-128)8625 4b2c 8093 0000 sts FC_StatusFlags,r248626 4b30 C101 movw r24,r28627 4b32 801B sub r24,r168628 4b34 910B sbc r25,r178629 4b36 0F96 adiw r24,158630 4b38 97FF sbrs r25,78631 4b3a 00C0 rjmp .L6928632 4b3c 9095 com r258633 4b3e 8195 neg r248634 4b40 9F4F sbci r25,lo8(-1)8635 .L692:8636 4b42 9095 com r258637 4b44 8195 neg r248638 4b46 9F4F sbci r25,lo8(-1)8639 4b48 9093 0000 sts (AltitudeSetpointTrimming)+1,r258640 4b4c 8093 0000 sts AltitudeSetpointTrimming,r248641 4b50 8DE2 ldi r24,lo8(45)8642 4b52 8093 0000 sts VarioCharacter,r248643 4b56 2093 0000 sts WaypointTrimming,r188644 4b5a 00C0 rjmp .L6898645 .L690:8646 4b5c 8DE3 ldi r24,lo8(61)8647 4b5e 8093 0000 sts VarioCharacter,r248648 4b62 6091 0000 lds r22,FromNC_AltitudeSpeed8649 4b66 6623 tst r228650 4b68 01F0 breq .L6948651 4b6a 2091 0000 lds r18,FromNC_AltitudeSetpoint8652 4b6e 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18653 4b72 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28654 4b76 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38655 4b7a 8091 0000 lds r24,SollHoehe8656 4b7e 9091 0000 lds r25,(SollHoehe)+18657 4b82 A091 0000 lds r26,(SollHoehe)+28658 4b86 B091 0000 lds r27,(SollHoehe)+38659 4b8a 8217 cp r24,r188660 4b8c 9307 cpc r25,r198661 4b8e A407 cpc r26,r208662 4b90 B507 cpc r27,r218663 4b92 04F4 brge .L6948664 4b94 8091 0000 lds r24,FC_StatusFlags8665 4b98 8064 ori r24,lo8(64)8666 4b9a 8093 0000 sts FC_StatusFlags,r248667 4b9e 862F mov r24,r228668 4ba0 9927 clr r258669 4ba2 9093 0000 sts (AltitudeSetpointTrimming)+1,r258670 4ba6 8093 0000 sts AltitudeSetpointTrimming,r248671 4baa 8AE0 ldi r24,lo8(10)8672 4bac 8093 0000 sts WaypointTrimming,r248673 4bb0 8EE5 ldi r24,lo8(94)8674 4bb2 8093 0000 sts VarioCharacter,r248675 4bb6 8091 0000 lds r24,FC_StatusFlags8676 4bba 87FF sbrs r24,78677 4bbc 00C0 rjmp .L6898678 4bbe 8091 0000 lds r24,FC_StatusFlags8679 4bc2 8F77 andi r24,lo8(127)8680 4bc4 00C0 rjmp .L9058681 .L694:8682 4bc6 6623 tst r228683 4bc8 01F4 brne .+28684 4bca 00C0 rjmp .L6978685 4bcc 2091 0000 lds r18,FromNC_AltitudeSetpoint8686 4bd0 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18687 4bd4 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28688 4bd8 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38689 4bdc 8091 0000 lds r24,SollHoehe8690 4be0 9091 0000 lds r25,(SollHoehe)+18691 4be4 A091 0000 lds r26,(SollHoehe)+28692 4be8 B091 0000 lds r27,(SollHoehe)+38693 4bec 2817 cp r18,r248694 4bee 3907 cpc r19,r258695 4bf0 4A07 cpc r20,r268696 4bf2 5B07 cpc r21,r278697 4bf4 04F4 brge .L6978698 4bf6 8091 0000 lds r24,FC_StatusFlags8699 4bfa 8068 ori r24,lo8(-128)8700 4bfc 8093 0000 sts FC_StatusFlags,r248701 4c00 862F mov r24,r228702 4c02 9927 clr r258703 4c04 9095 com r258704 4c06 8195 neg r248705 4c08 9F4F sbci r25,lo8(-1)8706 4c0a 9093 0000 sts (AltitudeSetpointTrimming)+1,r258707 4c0e 8093 0000 sts AltitudeSetpointTrimming,r248708 4c12 86EF ldi r24,lo8(-10)8709 4c14 8093 0000 sts WaypointTrimming,r248710 4c18 86E7 ldi r24,lo8(118)8711 4c1a 8093 0000 sts VarioCharacter,r248712 4c1e 8091 0000 lds r24,FC_StatusFlags8713 4c22 86FF sbrs r24,68714 4c24 00C0 rjmp .L6898715 4c26 8091 0000 lds r24,FC_StatusFlags8716 4c2a 8F7B andi r24,lo8(-65)8717 .L905:8718 4c2c 8093 0000 sts FC_StatusFlags,r248719 4c30 8091 0000 lds r24,HoehenWert8720 4c34 9091 0000 lds r25,(HoehenWert)+18721 4c38 A091 0000 lds r26,(HoehenWert)+28722 4c3c B091 0000 lds r27,(HoehenWert)+38723 4c40 8093 0000 sts SollHoehe,r248724 4c44 9093 0000 sts (SollHoehe)+1,r258725 4c48 A093 0000 sts (SollHoehe)+2,r268726 4c4c B093 0000 sts (SollHoehe)+3,r278727 4c50 00C0 rjmp .L6898728 .L697:8729 4c52 8091 0000 lds r24,FC_StatusFlags8730 4c56 807C andi r24,lo8(-64)8731 4c58 01F4 brne .+28732 4c5a 00C0 rjmp .L6898733 4c5c 8091 0000 lds r24,WaypointTrimming8734 4c60 8823 tst r248735 4c62 01F4 brne .L7018736 4c64 E090 0000 lds r14,HoehenWert8737 4c68 F090 0000 lds r15,(HoehenWert)+18738 4c6c 0091 0000 lds r16,(HoehenWert)+28739 4c70 1091 0000 lds r17,(HoehenWert)+38740 4c74 D801 movw r26,r168741 4c76 C701 movw r24,r148742 4c78 8058 subi r24,lo8(-(-128))8743 4c7a 9040 sbci r25,hi8(-(-128))8744 4c7c A040 sbci r26,hlo8(-(-128))8745 4c7e B040 sbci r27,hhi8(-(-128))8746 4c80 2091 0000 lds r18,SollHoehe8747 4c84 3091 0000 lds r19,(SollHoehe)+18748 4c88 4091 0000 lds r20,(SollHoehe)+28749 4c8c 5091 0000 lds r21,(SollHoehe)+38750 4c90 8217 cp r24,r188751 4c92 9307 cpc r25,r198752 4c94 A407 cpc r26,r208753 4c96 B507 cpc r27,r218754 4c98 04F4 brge .L9048755 4c9a D801 movw r26,r168756 4c9c C701 movw r24,r148757 4c9e 8058 subi r24,lo8(-(128))8758 4ca0 9F4F sbci r25,hi8(-(128))8759 4ca2 AF4F sbci r26,hlo8(-(128))8760 4ca4 BF4F sbci r27,hhi8(-(128))8761 4ca6 2817 cp r18,r248762 4ca8 3907 cpc r19,r258763 4caa 4A07 cpc r20,r268764 4cac 5B07 cpc r21,r278765 4cae 04F0 brlt .L7058766 .L904:8767 4cb0 8093 0000 sts SollHoehe,r248768 4cb4 9093 0000 sts (SollHoehe)+1,r258769 4cb8 A093 0000 sts (SollHoehe)+2,r268770 4cbc B093 0000 sts (SollHoehe)+3,r278771 4cc0 00C0 rjmp .L7058772 .L701:8773 4cc2 1092 0000 sts WaypointTrimming,__zero_reg__8774 .L705:8775 4cc6 8091 0000 lds r24,FC_StatusFlags8776 4cca 8F73 andi r24,lo8(63)8777 4ccc 8093 0000 sts FC_StatusFlags,r248778 4cd0 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8779 4cd4 1092 0000 sts HeightTrimming.21,__zero_reg__8780 4cd8 71FF sbrs r23,18781 4cda 00C0 rjmp .L7068782 4cdc 84EF ldi r24,lo8(500)8783 4cde 91E0 ldi r25,hi8(500)8784 4ce0 9093 0000 sts (beeptime)+1,r258785 4ce4 8093 0000 sts beeptime,r248786 .L706:8787 4ce8 8091 0000 lds r24,StartTrigger8788 4cec 8823 tst r248789 4cee 01F4 brne .L6898790 4cf0 8091 0000 lds r24,HoehenWert8791 4cf4 9091 0000 lds r25,(HoehenWert)+18792 4cf8 A091 0000 lds r26,(HoehenWert)+28793 4cfc B091 0000 lds r27,(HoehenWert)+38794 4d00 C397 sbiw r24,518795 4d02 A105 cpc r26,__zero_reg__8796 4d04 B105 cpc r27,__zero_reg__8797 4d06 04F0 brlt .L6898798 4d08 81E0 ldi r24,lo8(1)8799 4d0a 8093 0000 sts StartTrigger,r248800 .L689:8801 4d0e 6091 0000 lds r22,HeightTrimming.218802 4d12 7091 0000 lds r23,(HeightTrimming.21)+18803 4d16 8091 0000 lds r24,AltitudeSetpointTrimming8804 4d1a 9091 0000 lds r25,(AltitudeSetpointTrimming)+18805 4d1e 680F add r22,r248806 4d20 791F adc r23,r258807 4d22 7093 0000 sts (HeightTrimming.21)+1,r238808 4d26 6093 0000 sts HeightTrimming.21,r228809 4d2a CB01 movw r24,r228810 4d2c 77FF sbrs r23,78811 4d2e 00C0 rjmp .L7098812 4d30 8827 clr r248813 4d32 9927 clr r258814 4d34 861B sub r24,r228815 4d36 970B sbc r25,r238816 .L709:8817 4d38 855F subi r24,lo8(501)8818 4d3a 9140 sbci r25,hi8(501)8819 4d3c 04F4 brge .+28820 4d3e 00C0 rjmp .L7088821 4d40 4091 0000 lds r20,WaypointTrimming8822 4d44 4423 tst r208823 4d46 01F0 breq .L7108824 4d48 8091 0000 lds r24,FromNC_AltitudeSetpoint8825 4d4c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18826 4d50 2091 0000 lds r18,SollHoehe8827 4d54 3091 0000 lds r19,(SollHoehe)+18828 4d58 821B sub r24,r188829 4d5a 930B sbc r25,r198830 4d5c 0996 adiw r24,98831 4d5e 4397 sbiw r24,198832 4d60 00F4 brsh .L7118833 4d62 8091 0000 lds r24,FromNC_AltitudeSetpoint8834 4d66 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18835 4d6a A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28836 4d6e B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38837 4d72 00C0 rjmp .L9078838 .L711:8839 4d74 242F mov r18,r208840 4d76 3327 clr r198841 4d78 27FD sbrc r18,78842 4d7a 3095 com r198843 4d7c 432F mov r20,r198844 4d7e 532F mov r21,r198845 4d80 8091 0000 lds r24,SollHoehe8846 4d84 9091 0000 lds r25,(SollHoehe)+18847 4d88 A091 0000 lds r26,(SollHoehe)+28848 4d8c B091 0000 lds r27,(SollHoehe)+38849 4d90 820F add r24,r188850 4d92 931F adc r25,r198851 4d94 A41F adc r26,r208852 4d96 B51F adc r27,r218853 .L907:8854 4d98 8093 0000 sts SollHoehe,r248855 4d9c 9093 0000 sts (SollHoehe)+1,r258856 4da0 A093 0000 sts (SollHoehe)+2,r268857 4da4 B093 0000 sts (SollHoehe)+3,r278858 4da8 00C0 rjmp .L7138859 .L710:8860 4daa 8091 0000 lds r24,EE_Parameter+188861 4dae 2091 0000 lds r18,SollHoehe8862 4db2 3091 0000 lds r19,(SollHoehe)+18863 4db6 4091 0000 lds r20,(SollHoehe)+28864 4dba 5091 0000 lds r21,(SollHoehe)+38865 4dbe 1616 cp __zero_reg__,r228866 4dc0 1706 cpc __zero_reg__,r238867 4dc2 04F4 brge .L7148868 4dc4 63E0 ldi r22,lo8(3)8869 4dc6 0E94 0000 call __udivmodqi48870 4dca 280F add r18,r248871 4dcc 311D adc r19,__zero_reg__8872 4dce 411D adc r20,__zero_reg__8873 4dd0 511D adc r21,__zero_reg__8874 4dd2 00C0 rjmp .L9068875 .L714:8876 4dd4 63E0 ldi r22,lo8(3)8877 4dd6 0E94 0000 call __udivmodqi48878 4dda 281B sub r18,r248879 4ddc 3109 sbc r19,__zero_reg__8880 4dde 4109 sbc r20,__zero_reg__8881 4de0 5109 sbc r21,__zero_reg__8882 .L906:8883 4de2 2093 0000 sts SollHoehe,r188884 4de6 3093 0000 sts (SollHoehe)+1,r198885 4dea 4093 0000 sts (SollHoehe)+2,r208886 4dee 5093 0000 sts (SollHoehe)+3,r218887 .L713:8888 4df2 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8889 4df6 1092 0000 sts HeightTrimming.21,__zero_reg__8890 4dfa E090 0000 lds r14,HoehenWert8891 4dfe F090 0000 lds r15,(HoehenWert)+18892 4e02 0091 0000 lds r16,(HoehenWert)+28893 4e06 1091 0000 lds r17,(HoehenWert)+38894 4e0a D801 movw r26,r168895 4e0c C701 movw r24,r148896 4e0e 8050 subi r24,lo8(-(-1024))8897 4e10 9440 sbci r25,hi8(-(-1024))8898 4e12 A040 sbci r26,hlo8(-(-1024))8899 4e14 B040 sbci r27,hhi8(-(-1024))8900 4e16 2091 0000 lds r18,SollHoehe8901 4e1a 3091 0000 lds r19,(SollHoehe)+18902 4e1e 4091 0000 lds r20,(SollHoehe)+28903 4e22 5091 0000 lds r21,(SollHoehe)+38904 4e26 8217 cp r24,r188905 4e28 9307 cpc r25,r198906 4e2a A407 cpc r26,r208907 4e2c B507 cpc r27,r218908 4e2e 04F4 brge .L9088909 4e30 D801 movw r26,r168910 4e32 C701 movw r24,r148911 4e34 8050 subi r24,lo8(-(1024))8912 4e36 9C4F sbci r25,hi8(-(1024))8913 4e38 AF4F sbci r26,hlo8(-(1024))8914 4e3a BF4F sbci r27,hhi8(-(1024))8915 4e3c 2817 cp r18,r248916 4e3e 3907 cpc r19,r258917 4e40 4A07 cpc r20,r268918 4e42 5B07 cpc r21,r278919 4e44 04F0 brlt .L7178920 .L908:8921 4e46 8093 0000 sts SollHoehe,r248922 4e4a 9093 0000 sts (SollHoehe)+1,r258923 4e4e A093 0000 sts (SollHoehe)+2,r268924 4e52 B093 0000 sts (SollHoehe)+3,r278925 .L717:8926 4e56 8091 0000 lds r24,Parameter_ExtraConfig8927 4e5a 81FF sbrs r24,18928 4e5c 00C0 rjmp .L7198929 4e5e 84E6 ldi r24,lo8(100)8930 4e60 90E0 ldi r25,hi8(100)8931 4e62 9093 0000 sts (beeptime)+1,r258932 4e66 8093 0000 sts beeptime,r248933 .L719:8934 4e6a 8091 0000 lds r24,EE_Parameter+228935 4e6e 8823 tst r248936 4e70 01F4 brne .L7088937 4e72 8091 0000 lds r24,FromNC_AltitudeSpeed8938 4e76 8823 tst r248939 4e78 01F4 brne .L7088940 4e7a 4091 0000 lds r20,HoverGas8941 4e7e 5091 0000 lds r21,(HoverGas)+18942 4e82 57FF sbrs r21,78943 4e84 00C0 rjmp .L7218944 4e86 4D5F subi r20,lo8(-(3))8945 4e88 5F4F sbci r21,hi8(-(3))8946 .L721:8947 4e8a 5595 asr r218948 4e8c 4795 ror r208949 4e8e 5595 asr r218950 4e90 4795 ror r208951 4e92 8091 0000 lds r24,UBat8952 4e96 9091 0000 lds r25,(UBat)+18953 4e9a 2091 0000 lds r18,BattLowVoltageWarning8954 4e9e 3327 clr r198955 4ea0 489F mul r20,r248956 4ea2 F001 movw r30,r08957 4ea4 499F mul r20,r258958 4ea6 F00D add r31,r08959 4ea8 589F mul r21,r248960 4eaa F00D add r31,r08961 4eac 1124 clr r18962 4eae CF01 movw r24,r308963 4eb0 B901 movw r22,r188964 4eb2 0E94 0000 call __divmodhi48965 4eb6 7093 0000 sts (StickGasHover)+1,r238966 4eba 6093 0000 sts StickGasHover,r228967 4ebe 6634 cpi r22,708968 4ec0 7105 cpc r23,__zero_reg__8969 4ec2 04F4 brge .L7228970 4ec4 86E4 ldi r24,lo8(70)8971 4ec6 90E0 ldi r25,hi8(70)8972 4ec8 00C0 rjmp .L9098973 .L722:8974 4eca 6739 cpi r22,1518975 4ecc 7105 cpc r23,__zero_reg__8976 4ece 04F0 brlt .L7088977 4ed0 86E9 ldi r24,lo8(150)8978 4ed2 90E0 ldi r25,hi8(150)8979 .L909:8980 4ed4 9093 0000 sts (StickGasHover)+1,r258981 4ed8 8093 0000 sts StickGasHover,r248982 .L708:8983 4edc 8091 0000 lds r24,BaroExpandActive8984 4ee0 9091 0000 lds r25,(BaroExpandActive)+18985 4ee4 892B or r24,r258986 4ee6 01F0 breq .L7268987 4ee8 8091 0000 lds r24,HoehenWert8988 4eec 9091 0000 lds r25,(HoehenWert)+18989 4ef0 A091 0000 lds r26,(HoehenWert)+28990 4ef4 B091 0000 lds r27,(HoehenWert)+38991 4ef8 8093 0000 sts SollHoehe,r248992 4efc 9093 0000 sts (SollHoehe)+1,r258993 4f00 A093 0000 sts (SollHoehe)+2,r268994 4f04 B093 0000 sts (SollHoehe)+3,r278995 4f08 00C0 rjmp .L7268996 .L683:8997 4f0a 8091 0000 lds r24,HoehenWert8998 4f0e 9091 0000 lds r25,(HoehenWert)+18999 4f12 A091 0000 lds r26,(HoehenWert)+29000 4f16 B091 0000 lds r27,(HoehenWert)+39001 4f1a 8059 subi r24,lo8(-(-400))9002 4f1c 9140 sbci r25,hi8(-(-400))9003 4f1e A040 sbci r26,hlo8(-(-400))9004 4f20 B040 sbci r27,hhi8(-(-400))9005 4f22 8093 0000 sts SollHoehe,r249006 4f26 9093 0000 sts (SollHoehe)+1,r259007 4f2a A093 0000 sts (SollHoehe)+2,r269008 4f2e B093 0000 sts (SollHoehe)+3,r279009 4f32 8091 0000 lds r24,EE_Parameter+229010 4f36 8823 tst r249011 4f38 01F0 breq .L7279012 4f3a 9927 clr r259013 4f3c 00C0 rjmp .L9109014 .L727:9015 4f3e 88E7 ldi r24,lo8(120)9016 4f40 90E0 ldi r25,hi8(120)9017 .L910:9018 4f42 9093 0000 sts (StickGasHover)+1,r259019 4f46 8093 0000 sts StickGasHover,r249020 4f4a E980 ldd r14,Y+19021 4f4c FA80 ldd r15,Y+29022 4f4e F092 0000 sts (HoverGas)+1,r159023 4f52 E092 0000 sts HoverGas,r149024 4f56 8EE2 ldi r24,lo8(46)9025 4f58 8093 0000 sts VarioCharacter,r249026 .L726:9027 4f5c C090 0000 lds r12,HoverGas9028 4f60 D090 0000 lds r13,(HoverGas)+19029 .L682:9030 4f64 E090 0000 lds r14,HoehenWert9031 4f68 F090 0000 lds r15,(HoehenWert)+19032 4f6c 0091 0000 lds r16,(HoehenWert)+29033 4f70 1091 0000 lds r17,(HoehenWert)+39034 4f74 2091 0000 lds r18,SollHoehe9035 4f78 3091 0000 lds r19,(SollHoehe)+19036 4f7c 4091 0000 lds r20,(SollHoehe)+29037 4f80 5091 0000 lds r21,(SollHoehe)+39038 4f84 2E15 cp r18,r149039 4f86 3F05 cpc r19,r159040 4f88 4007 cpc r20,r169041 4f8a 5107 cpc r21,r179042 4f8c 04F0 brlt .L7309043 4f8e 8091 0000 lds r24,Parameter_ExtraConfig9044 4f92 80FD sbrc r24,09045 4f94 00C0 rjmp .L7889046 .L730:9047 4f96 8091 0000 lds r24,BaroExpandActive9048 4f9a 9091 0000 lds r25,(BaroExpandActive)+19049 4f9e 892B or r24,r259050 4fa0 01F0 breq .L7319051 4fa2 C090 0000 lds r12,HoverGas9052 4fa6 D090 0000 lds r13,(HoverGas)+19053 4faa 00E0 ldi r16,lo8(0)9054 4fac 10E0 ldi r17,hi8(0)9055 4fae 00C0 rjmp .L7329056 .L731:9057 4fb0 D801 movw r26,r169058 4fb2 C701 movw r24,r149059 4fb4 821B sub r24,r189060 4fb6 930B sbc r25,r199061 4fb8 A40B sbc r26,r209062 4fba B50B sbc r27,r219063 4fbc 8093 0000 sts tmp_long.1,r249064 4fc0 9093 0000 sts (tmp_long.1)+1,r259065 4fc4 A093 0000 sts (tmp_long.1)+2,r269066 4fc8 B093 0000 sts (tmp_long.1)+3,r279067 4fcc 8230 cpi r24,lo8(-32766)9068 4fce 00E8 ldi r16,hi8(-32766)9069 4fd0 9007 cpc r25,r169070 4fd2 0FEF ldi r16,hlo8(-32766)9071 4fd4 A007 cpc r26,r169072 4fd6 0FEF ldi r16,hhi8(-32766)9073 4fd8 B007 cpc r27,r169074 4fda 04F4 brge .L7339075 4fdc 81E0 ldi r24,lo8(-32767)9076 4fde 90E8 ldi r25,hi8(-32767)9077 4fe0 AFEF ldi r26,hlo8(-32767)9078 4fe2 BFEF ldi r27,hhi8(-32767)9079 4fe4 00C0 rjmp .L9119080 .L733:9081 4fe6 8F5F subi r24,lo8(32767)9082 4fe8 9F47 sbci r25,hi8(32767)9083 4fea A040 sbci r26,hlo8(32767)9084 4fec B040 sbci r27,hhi8(32767)9085 4fee 04F0 brlt .L7349086 4ff0 8FEF ldi r24,lo8(32767)9087 4ff2 9FE7 ldi r25,hi8(32767)9088 4ff4 A0E0 ldi r26,hlo8(32767)9089 4ff6 B0E0 ldi r27,hhi8(32767)9090 .L911:9091 4ff8 8093 0000 sts tmp_long.1,r249092 4ffc 9093 0000 sts (tmp_long.1)+1,r259093 5000 A093 0000 sts (tmp_long.1)+2,r269094 5004 B093 0000 sts (tmp_long.1)+3,r279095 .L734:9096 5008 0091 0000 lds r16,tmp_long.19097 500c 1091 0000 lds r17,(tmp_long.1)+19098 5010 8091 0000 lds r24,Parameter_Hoehe_P9099 5014 282F mov r18,r249100 5016 3327 clr r199101 5018 4427 clr r209102 501a 5527 clr r219103 501c 8091 0000 lds r24,tmp_long.19104 5020 9091 0000 lds r25,(tmp_long.1)+19105 5024 A091 0000 lds r26,(tmp_long.1)+29106 5028 B091 0000 lds r27,(tmp_long.1)+39107 502c BC01 movw r22,r249108 502e CD01 movw r24,r269109 5030 0E94 0000 call __mulsi39110 5034 97FF sbrs r25,79111 5036 00C0 rjmp .L7369112 5038 615E subi r22,lo8(-(31))9113 503a 7F4F sbci r23,hi8(-(31))9114 503c 8F4F sbci r24,hlo8(-(31))9115 503e 9F4F sbci r25,hhi8(-(31))9116 .L736:9117 5040 25E0 ldi r18,59118 5042 9595 1: asr r259119 5044 8795 ror r249120 5046 7795 ror r239121 5048 6795 ror r229122 504a 2A95 dec r189123 504c 01F4 brne 1b9124 504e 6093 0000 sts tmp_long.1,r229125 5052 7093 0000 sts (tmp_long.1)+1,r239126 5056 8093 0000 sts (tmp_long.1)+2,r249127 505a 9093 0000 sts (tmp_long.1)+3,r259128 505e 6530 cpi r22,lo8(-507)9129 5060 2EEF ldi r18,hi8(-507)9130 5062 7207 cpc r23,r189131 5064 2FEF ldi r18,hlo8(-507)9132 5066 8207 cpc r24,r189133 5068 2FEF ldi r18,hhi8(-507)9134 506a 9207 cpc r25,r189135 506c 04F4 brge .L7379136 506e 84E0 ldi r24,lo8(-508)9137 5070 9EEF ldi r25,hi8(-508)9138 5072 AFEF ldi r26,hlo8(-508)9139 5074 BFEF ldi r27,hhi8(-508)9140 5076 00C0 rjmp .L9129141 .L737:9142 5078 6050 subi r22,lo8(1024)9143 507a 7440 sbci r23,hi8(1024)9144 507c 8040 sbci r24,hlo8(1024)9145 507e 9040 sbci r25,hhi8(1024)9146 5080 04F0 brlt .L7389147 5082 80E0 ldi r24,lo8(1024)9148 5084 94E0 ldi r25,hi8(1024)9149 5086 A0E0 ldi r26,hlo8(1024)9150 5088 B0E0 ldi r27,hhi8(1024)9151 .L912:9152 508a 8093 0000 sts tmp_long.1,r249153 508e 9093 0000 sts (tmp_long.1)+1,r259154 5092 A093 0000 sts (tmp_long.1)+2,r269155 5096 B093 0000 sts (tmp_long.1)+3,r279156 .L738:9157 509a 8090 0000 lds r8,tmp_long.19158 509e 9090 0000 lds r9,(tmp_long.1)+19159 50a2 2091 0000 lds r18,VarioMeter9160 50a6 3091 0000 lds r19,(VarioMeter)+19161 50aa 37FF sbrs r19,79162 50ac 00C0 rjmp .L7409163 50ae 295F subi r18,lo8(-(7))9164 50b0 3F4F sbci r19,hi8(-(7))9165 .L740:9166 50b2 83E0 ldi r24,39167 50b4 3595 1: asr r199168 50b6 2795 ror r189169 50b8 8A95 dec r249170 50ba 01F4 brne 1b9171 50bc 4FEF ldi r20,hi8(-126)9172 50be 2238 cpi r18,lo8(-126)9173 50c0 3407 cpc r19,r209174 50c2 04F4 brge .L7419175 50c4 21E8 ldi r18,lo8(-127)9176 50c6 3FEF ldi r19,hi8(-127)9177 50c8 00C0 rjmp .L7429178 .L741:9179 50ca 2038 cpi r18,1289180 50cc 3105 cpc r19,__zero_reg__9181 50ce 04F0 brlt .L7429182 50d0 20E8 ldi r18,lo8(128)9183 50d2 30E0 ldi r19,hi8(128)9184 .L742:9185 50d4 C901 movw r24,r189186 50d6 AA27 clr r269187 50d8 97FD sbrc r25,79188 50da A095 com r269189 50dc BA2F mov r27,r269190 50de 2091 0000 lds r18,Parameter_Luftdruck_D9191 50e2 3327 clr r199192 50e4 4427 clr r209193 50e6 5527 clr r219194 50e8 BC01 movw r22,r249195 50ea CD01 movw r24,r269196 50ec 0E94 0000 call __mulsi39197 50f0 97FF sbrs r25,79198 50f2 00C0 rjmp .L7449199 50f4 6D5F subi r22,lo8(-(3))9200 50f6 7F4F sbci r23,hi8(-(3))9201 50f8 8F4F sbci r24,hlo8(-(3))9202 50fa 9F4F sbci r25,hhi8(-(3))9203 .L744:9204 50fc B2E0 ldi r27,29205 50fe 9595 1: asr r259206 5100 8795 ror r249207 5102 7795 ror r239208 5104 6795 ror r229209 5106 BA95 dec r279210 5108 01F4 brne 1b9211 510a 9B01 movw r18,r229212 510c 5FEF ldi r21,hi8(-255)9213 510e 6130 cpi r22,lo8(-255)9214 5110 7507 cpc r23,r219215 5112 04F4 brge .L7459216 5114 20E0 ldi r18,lo8(-256)9217 5116 3FEF ldi r19,hi8(-256)9218 5118 00C0 rjmp .L7469219 .L745:9220 511a 6F3F cpi r22,2559221 511c 7105 cpc r23,__zero_reg__9222 511e 01F0 breq .L7469223 5120 04F0 brlt .L7469224 5122 20E0 ldi r18,lo8(256)9225 5124 31E0 ldi r19,hi8(256)9226 .L746:9227 5126 8091 0000 lds r24,FC_StatusFlags9228 512a 807C andi r24,lo8(-64)9229 512c 01F0 breq .L7489230 512e C901 movw r24,r189231 5130 37FD sbrc r19,79232 5132 0396 adiw r24,39233 .L749:9234 5134 9C01 movw r18,r249235 5136 3595 asr r199236 5138 2795 ror r189237 513a 3595 asr r199238 513c 2795 ror r189239 513e 00C0 rjmp .L7509240 .L748:9241 5140 8091 0000 lds r24,Parameter_ExtraConfig9242 5144 80FF sbrs r24,09243 5146 00C0 rjmp .L7509244 5148 C901 movw r24,r189245 514a 37FD sbrc r19,79246 514c 0796 adiw r24,79247 .L752:9248 514e 9C01 movw r18,r249249 5150 F3E0 ldi r31,39250 5152 3595 1: asr r199251 5154 2795 ror r189252 5156 FA95 dec r319253 5158 01F4 brne 1b9254 .L750:9255 515a 820E add r8,r189256 515c 931E adc r9,r199257 .L732:9258 515e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9259 5162 2223 tst r189260 5164 01F4 brne .+29261 5166 00C0 rjmp .L7539262 5168 6091 0000 lds r22,Mess_Integral_Hoch9263 516c 7091 0000 lds r23,(Mess_Integral_Hoch)+19264 5170 8091 0000 lds r24,(Mess_Integral_Hoch)+29265 5174 9091 0000 lds r25,(Mess_Integral_Hoch)+39266 5178 97FF sbrs r25,79267 517a 00C0 rjmp .L7549268 517c 6158 subi r22,lo8(-(127))9269 517e 7F4F sbci r23,hi8(-(127))9270 5180 8F4F sbci r24,hlo8(-(127))9271 5182 9F4F sbci r25,hhi8(-(127))9272 .L754:9273 5184 E7E0 ldi r30,79274 5186 9595 1: asr r259275 5188 8795 ror r249276 518a 7795 ror r239277 518c 6795 ror r229278 518e EA95 dec r309279 5190 01F4 brne 1b9280 5192 3327 clr r199281 5194 4427 clr r209282 5196 5527 clr r219283 5198 0E94 0000 call __mulsi39284 519c 97FF sbrs r25,79285 519e 00C0 rjmp .L7559286 51a0 615E subi r22,lo8(-(31))9287 51a2 7F4F sbci r23,hi8(-(31))9288 51a4 8F4F sbci r24,hlo8(-(31))9289 51a6 9F4F sbci r25,hhi8(-(31))9290 .L755:9291 51a8 55E0 ldi r21,59292 51aa 9595 1: asr r259293 51ac 8795 ror r249294 51ae 7795 ror r239295 51b0 6795 ror r229296 51b2 5A95 dec r219297 51b4 01F4 brne 1b9298 51b6 6093 0000 sts tmp_long.1,r229299 51ba 7093 0000 sts (tmp_long.1)+1,r239300 51be 8093 0000 sts (tmp_long.1)+2,r249301 51c2 9093 0000 sts (tmp_long.1)+3,r259302 51c6 6138 cpi r22,lo8(-127)9303 51c8 AFEF ldi r26,hi8(-127)9304 51ca 7A07 cpc r23,r269305 51cc AFEF ldi r26,hlo8(-127)9306 51ce 8A07 cpc r24,r269307 51d0 AFEF ldi r26,hhi8(-127)9308 51d2 9A07 cpc r25,r269309 51d4 04F4 brge .L7569310 51d6 80E8 ldi r24,lo8(-128)9311 51d8 9FEF ldi r25,hi8(-128)9312 51da AFEF ldi r26,hlo8(-128)9313 51dc BFEF ldi r27,hhi8(-128)9314 51de 00C0 rjmp .L9139315 .L756:9316 51e0 6F3F cpi r22,lo8(255)9317 51e2 7105 cpc r23,__zero_reg__9318 51e4 8105 cpc r24,__zero_reg__9319 51e6 9105 cpc r25,__zero_reg__9320 51e8 01F0 breq .L7579321 51ea 04F0 brlt .L7579322 51ec 80E0 ldi r24,lo8(256)9323 51ee 91E0 ldi r25,hi8(256)9324 51f0 A0E0 ldi r26,hlo8(256)9325 51f2 B0E0 ldi r27,hhi8(256)9326 .L913:9327 51f4 8093 0000 sts tmp_long.1,r249328 51f8 9093 0000 sts (tmp_long.1)+1,r259329 51fc A093 0000 sts (tmp_long.1)+2,r269330 5200 B093 0000 sts (tmp_long.1)+3,r279331 .L757:9332 5204 8091 0000 lds r24,tmp_long.19333 5208 9091 0000 lds r25,(tmp_long.1)+19334 520c 880E add r8,r249335 520e 991E adc r9,r259336 .L753:9337 5210 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9338 5214 282F mov r18,r249339 5216 3327 clr r199340 5218 8091 0000 lds r24,FromNaviCtrl_Value+49341 521c 9927 clr r259342 521e 87FD sbrc r24,79343 5220 9095 com r259344 5222 289F mul r18,r249345 5224 F001 movw r30,r09346 5226 299F mul r18,r259347 5228 F00D add r31,r09348 522a 389F mul r19,r249349 522c F00D add r31,r09350 522e 1124 clr r19351 5230 9F01 movw r18,r309352 5232 F7FF sbrs r31,79353 5234 00C0 rjmp .L7599354 5236 2158 subi r18,lo8(-(127))9355 5238 3F4F sbci r19,hi8(-(127))9356 .L759:9357 523a 220F lsl r189358 523c 232F mov r18,r199359 523e 221F rol r189360 5240 330B sbc r19,r199361 5242 FFEF ldi r31,hi8(-127)9362 5244 2138 cpi r18,lo8(-127)9363 5246 3F07 cpc r19,r319364 5248 04F4 brge .L7609365 524a 20E8 ldi r18,lo8(-128)9366 524c 3FEF ldi r19,hi8(-128)9367 524e 00C0 rjmp .L7619368 .L760:9369 5250 2F3F cpi r18,2559370 5252 3105 cpc r19,__zero_reg__9371 5254 01F0 breq .L7619372 5256 04F0 brlt .L7619373 5258 20E0 ldi r18,lo8(256)9374 525a 31E0 ldi r19,hi8(256)9375 .L761:9376 525c 820E add r8,r189377 525e 931E adc r9,r199378 5260 C401 movw r24,r89379 5262 AA27 clr r269380 5264 97FD sbrc r25,79381 5266 A095 com r269382 5268 BA2F mov r27,r269383 526a E090 0000 lds r14,HoverGas9384 526e F090 0000 lds r15,(HoverGas)+19385 5272 9701 movw r18,r149386 5274 4427 clr r209387 5276 37FD sbrc r19,79388 5278 4095 com r209389 527a 542F mov r21,r209390 527c BC01 movw r22,r249391 527e CD01 movw r24,r269392 5280 0E94 0000 call __mulsi39393 5284 97FF sbrs r25,79394 5286 00C0 rjmp .L7639395 5288 6150 subi r22,lo8(-(511))9396 528a 7E4F sbci r23,hi8(-(511))9397 528c 8F4F sbci r24,hlo8(-(511))9398 528e 9F4F sbci r25,hhi8(-(511))9399 .L763:9400 5290 29E0 ldi r18,99401 5292 9595 1: asr r259402 5294 8795 ror r249403 5296 7795 ror r239404 5298 6795 ror r229405 529a 2A95 dec r189406 529c 01F4 brne 1b9407 529e C61A sub r12,r229408 52a0 D70A sbc r13,r239409 52a2 8091 0000 lds r24,AltitudeSetpointTrimming9410 52a6 9091 0000 lds r25,(AltitudeSetpointTrimming)+19411 52aa 892B or r24,r259412 52ac 01F0 breq .+29413 52ae 00C0 rjmp .L7649414 52b0 1E14 cp __zero_reg__,r149415 52b2 1F04 cpc __zero_reg__,r159416 52b4 04F0 brlt .+29417 52b6 00C0 rjmp .L7649418 52b8 9801 movw r18,r169419 52ba 17FF sbrs r17,79420 52bc 00C0 rjmp .L7659421 52be 3095 com r199422 52c0 2195 neg r189423 52c2 3F4F sbci r19,lo8(-1)9424 .L765:9425 52c4 2D33 cpi r18,619426 52c6 3105 cpc r19,__zero_reg__9427 52c8 00F4 brsh .L7669428 52ca 8091 0000 lds r24,HoverGasMin9429 52ce 9091 0000 lds r25,(HoverGasMin)+19430 52d2 8C15 cp r24,r129431 52d4 9D05 cpc r25,r139432 52d6 04F4 brge .L9159433 52d8 00C0 rjmp .L9249434 .L766:9435 52da 2C53 subi r18,lo8(-(-60))9436 52dc 3040 sbci r19,hi8(-(-60))9437 52de 85E0 ldi r24,59438 52e0 3695 1: lsr r199439 52e2 2795 ror r189440 52e4 8A95 dec r249441 52e6 01F4 brne 1b9442 52e8 2031 cpi r18,169443 52ea 3105 cpc r19,__zero_reg__9444 52ec 00F0 brlo .L7719445 52ee 2FE0 ldi r18,lo8(15)9446 52f0 30E0 ldi r19,hi8(15)9447 .L771:9448 52f2 4091 0000 lds r20,HoverGasMin9449 52f6 5091 0000 lds r21,(HoverGasMin)+19450 52fa 1016 cp __zero_reg__,r169451 52fc 1106 cpc __zero_reg__,r179452 52fe 04F4 brge .L7729453 5300 80E1 ldi r24,lo8(16)9454 5302 90E0 ldi r25,hi8(16)9455 5304 821B sub r24,r189456 5306 930B sbc r25,r199457 5308 489F mul r20,r249458 530a 9001 movw r18,r09459 530c 499F mul r20,r259460 530e 300D add r19,r09461 5310 589F mul r21,r249462 5312 300D add r19,r09463 5314 1124 clr r19464 5316 B4E0 ldi r27,49465 5318 3695 1: lsr r199466 531a 2795 ror r189467 531c BA95 dec r279468 531e 01F4 brne 1b9469 5320 2C15 cp r18,r129470 5322 3D05 cpc r19,r139471 5324 00F4 brsh .L9149472 .L924:9473 5326 8091 0000 lds r24,HoverGasMax9474 532a 9091 0000 lds r25,(HoverGasMax)+19475 532e C816 cp r12,r249476 5330 D906 cpc r13,r259477 5332 04F0 brlt .L7649478 .L915:9479 5334 6C01 movw r12,r249480 5336 00C0 rjmp .L7649481 .L772:9482 5338 205F subi r18,lo8(-(16))9483 533a 3F4F sbci r19,hi8(-(16))9484 533c 8091 0000 lds r24,HoverGasMax9485 5340 9091 0000 lds r25,(HoverGasMax)+19486 5344 829F mul r24,r189487 5346 8001 movw r16,r09488 5348 839F mul r24,r199489 534a 100D add r17,r09490 534c 929F mul r25,r189491 534e 100D add r17,r09492 5350 1124 clr r19493 5352 9801 movw r18,r169494 5354 A4E0 ldi r26,49495 5356 3695 1: lsr r199496 5358 2795 ror r189497 535a AA95 dec r269498 535c 01F4 brne 1b9499 535e 4C15 cp r20,r129500 5360 5D05 cpc r21,r139501 5362 04F0 brlt .L7779502 5364 6A01 movw r12,r209503 5366 00C0 rjmp .L7649504 .L777:9505 5368 C216 cp r12,r189506 536a D306 cpc r13,r199507 536c 00F0 brlo .L7649508 .L914:9509 536e 6901 movw r12,r189510 .L764:9511 5370 C601 movw r24,r129512 5372 AA27 clr r269513 5374 97FD sbrc r25,79514 5376 A095 com r269515 5378 BA2F mov r27,r269516 537a FDE0 ldi r31,139517 537c 880F 1: lsl r249518 537e 991F rol r259519 5380 AA1F rol r269520 5382 BB1F rol r279521 5384 FA95 dec r319522 5386 01F4 brne 1b9523 5388 9501 movw r18,r109524 538a 4427 clr r209525 538c 37FD sbrc r19,79526 538e 4095 com r209527 5390 542F mov r21,r209528 5392 BC01 movw r22,r249529 5394 CD01 movw r24,r269530 5396 0E94 0000 call __divmodsi49531 539a 2093 0000 sts tmp_long2.2,r189532 539e 3093 0000 sts (tmp_long2.2)+1,r199533 53a2 4093 0000 sts (tmp_long2.2)+2,r209534 53a6 5093 0000 sts (tmp_long2.2)+3,r219535 53aa C090 0000 lds r12,tmp_long2.29536 53ae D090 0000 lds r13,(tmp_long2.2)+19537 53b2 8091 0000 lds r24,FilterHCGas.229538 53b6 9091 0000 lds r25,(FilterHCGas.22)+19539 53ba 9C01 movw r18,r249540 53bc 220F lsl r189541 53be 331F rol r199542 53c0 280F add r18,r249543 53c2 391F adc r19,r259544 53c4 2C0D add r18,r129545 53c6 3D1D adc r19,r139546 53c8 37FF sbrs r19,79547 53ca 00C0 rjmp .L7809548 53cc 2D5F subi r18,lo8(-(3))9549 53ce 3F4F sbci r19,hi8(-(3))9550 .L780:9551 53d0 A901 movw r20,r189552 53d2 5595 asr r219553 53d4 4795 ror r209554 53d6 5595 asr r219555 53d8 4795 ror r209556 53da 5093 0000 sts (FilterHCGas.22)+1,r219557 53de 4093 0000 sts FilterHCGas.22,r209558 53e2 8091 0000 lds r24,EE_Parameter+149559 53e6 282F mov r18,r249560 53e8 3327 clr r199561 53ea 220F lsl r189562 53ec 331F rol r199563 53ee 220F lsl r189564 53f0 331F rol r199565 53f2 2417 cp r18,r209566 53f4 3507 cpc r19,r219567 53f6 04F4 brge .L9169568 53f8 8091 0000 lds r24,MAX_GAS9569 53fc 282F mov r18,r249570 53fe 3327 clr r199571 5400 220F lsl r189572 5402 331F rol r199573 5404 220F lsl r189574 5406 331F rol r199575 5408 2055 subi r18,lo8(-(-80))9576 540a 3040 sbci r19,hi8(-(-80))9577 540c 4217 cp r20,r189578 540e 5307 cpc r21,r199579 5410 04F0 brlt .L7829580 .L916:9581 5412 3093 0000 sts (FilterHCGas.22)+1,r199582 5416 2093 0000 sts FilterHCGas.22,r189583 .L782:9584 541a 8091 0000 lds r24,Parameter_ExtraConfig9585 541e 80FF sbrs r24,09586 5420 00C0 rjmp .L7849587 5422 8091 0000 lds r24,FilterHCGas.229588 5426 9091 0000 lds r25,(FilterHCGas.22)+19589 542a 2981 ldd r18,Y+19590 542c 3A81 ldd r19,Y+29591 542e 8217 cp r24,r189592 5430 9307 cpc r25,r199593 5432 04F0 brlt .L7859594 5434 3093 0000 sts (FilterHCGas.22)+1,r199595 5438 2093 0000 sts FilterHCGas.22,r189596 .L785:9597 543c 4091 0000 lds r20,FilterHCGas.229598 5440 5091 0000 lds r21,(FilterHCGas.22)+19599 5444 5A83 std Y+2,r219600 5446 4983 std Y+1,r209601 5448 00C0 rjmp .L7889602 .L784:9603 544a 2981 ldd r18,Y+19604 544c 3A81 ldd r19,Y+29605 544e 2E19 sub r18,r149606 5450 3F09 sbc r19,r159607 5452 37FF sbrs r19,79608 5454 00C0 rjmp .L7879609 5456 2D5F subi r18,lo8(-(3))9610 5458 3F4F sbci r19,hi8(-(3))9611 .L787:9612 545a 3595 asr r199613 545c 2795 ror r189614 545e 3595 asr r199615 5460 2795 ror r189616 5462 6091 0000 lds r22,FilterHCGas.229617 5466 7091 0000 lds r23,(FilterHCGas.22)+19618 546a 620F add r22,r189619 546c 731F adc r23,r199620 546e 7A83 std Y+2,r239621 5470 6983 std Y+1,r229622 5472 00C0 rjmp .L7889623 .L679:9624 5474 8091 0000 lds r24,EE_Parameter+229625 5478 8823 tst r249626 547a 01F4 brne .L7899627 547c 6091 0000 lds r22,HoverGas9628 5480 7091 0000 lds r23,(HoverGas)+19629 5484 77FF sbrs r23,79630 5486 00C0 rjmp .L7909631 5488 6D5F subi r22,lo8(-(3))9632 548a 7F4F sbci r23,hi8(-(3))9633 .L790:9634 548c 7595 asr r239635 548e 6795 ror r229636 5490 7595 asr r239637 5492 6795 ror r229638 5494 4091 0000 lds r20,UBat9639 5498 5091 0000 lds r21,(UBat)+19640 549c 8091 0000 lds r24,BattLowVoltageWarning9641 54a0 282F mov r18,r249642 54a2 3327 clr r199643 54a4 649F mul r22,r209644 54a6 C001 movw r24,r09645 54a8 659F mul r22,r219646 54aa 900D add r25,r09647 54ac 749F mul r23,r209648 54ae 900D add r25,r09649 54b0 1124 clr r19650 54b2 B901 movw r22,r189651 54b4 0E94 0000 call __divmodhi49652 54b8 CB01 movw r24,r229653 54ba 00C0 rjmp .L9179654 .L789:9655 54bc 9927 clr r259656 .L917:9657 54be 9093 0000 sts (StickGasHover)+1,r259658 54c2 8093 0000 sts StickGasHover,r249659 54c6 8091 0000 lds r24,StickGasHover9660 54ca 9091 0000 lds r25,(StickGasHover)+19661 54ce 8734 cpi r24,719662 54d0 9105 cpc r25,__zero_reg__9663 54d2 04F4 brge .L7929664 54d4 86E4 ldi r24,lo8(70)9665 54d6 90E0 ldi r25,hi8(70)9666 54d8 00C0 rjmp .L9189667 .L792:9668 54da 8639 cpi r24,1509669 54dc 9105 cpc r25,__zero_reg__9670 54de 04F0 brlt .L7939671 54e0 86E9 ldi r24,lo8(150)9672 54e2 90E0 ldi r25,hi8(150)9673 .L918:9674 54e4 9093 0000 sts (StickGasHover)+1,r259675 54e8 8093 0000 sts StickGasHover,r249676 .L793:9677 54ec 8981 ldd r24,Y+19678 54ee 9A81 ldd r25,Y+29679 54f0 9093 0000 sts (FilterHCGas.22)+1,r259680 54f4 8093 0000 sts FilterHCGas.22,r249681 54f8 8091 0000 lds r24,FC_StatusFlags9682 54fc 806C ori r24,lo8(-64)9683 54fe 8093 0000 sts FC_StatusFlags,r249684 5502 8091 0000 lds r24,FC_StatusFlags29685 5506 8D7F andi r24,lo8(-3)9686 5508 8093 0000 sts FC_StatusFlags2,r249687 .L788:9688 550c 8091 0000 lds r24,FC_StatusFlags9689 5510 9927 clr r259690 5512 9C01 movw r18,r249691 5514 2270 andi r18,lo8(2)9692 5516 3070 andi r19,hi8(2)9693 5518 81FF sbrs r24,19694 551a 00C0 rjmp .L7959695 551c 8091 0000 lds r24,HoverGasFilter.239696 5520 9091 0000 lds r25,(HoverGasFilter.23)+19697 5524 A091 0000 lds r26,(HoverGasFilter.23)+29698 5528 B091 0000 lds r27,(HoverGasFilter.23)+39699 552c 0097 sbiw r24,09700 552e A105 cpc r26,__zero_reg__9701 5530 B105 cpc r27,__zero_reg__9702 5532 01F0 breq .L7979703 5534 8091 0000 lds r24,StartTrigger9704 5538 8130 cpi r24,lo8(1)9705 553a 01F4 brne .L7969706 .L797:9707 553c E981 ldd r30,Y+19708 553e FA81 ldd r31,Y+29709 5540 CF01 movw r24,r309710 5542 AA27 clr r269711 5544 97FD sbrc r25,79712 5546 A095 com r269713 5548 BA2F mov r27,r269714 554a 1EE0 ldi r17,149715 554c 880F 1: lsl r249716 554e 991F rol r259717 5550 AA1F rol r269718 5552 BB1F rol r279719 5554 1A95 dec r179720 5556 01F4 brne 1b9721 5558 8093 0000 sts HoverGasFilter.23,r249722 555c 9093 0000 sts (HoverGasFilter.23)+1,r259723 5560 A093 0000 sts (HoverGasFilter.23)+2,r269724 5564 B093 0000 sts (HoverGasFilter.23)+3,r279725 .L796:9726 5568 8091 0000 lds r24,StartTrigger9727 556c 8130 cpi r24,lo8(1)9728 556e 01F4 brne .L7989729 5570 82E0 ldi r24,lo8(2)9730 5572 8093 0000 sts StartTrigger,r249731 .L798:9732 5576 E980 ldd r14,Y+19733 5578 FA80 ldd r15,Y+29734 557a C701 movw r24,r149735 557c AA27 clr r269736 557e 97FD sbrc r25,79737 5580 A095 com r269738 5582 BA2F mov r27,r269739 5584 9501 movw r18,r109740 5586 4427 clr r209741 5588 37FD sbrc r19,79742 558a 4095 com r209743 558c 542F mov r21,r209744 558e BC01 movw r22,r249745 5590 CD01 movw r24,r269746 5592 0E94 0000 call __mulsi39747 5596 DC01 movw r26,r249748 5598 CB01 movw r24,r229749 559a 8093 0000 sts tmp_long2.2,r249750 559e 9093 0000 sts (tmp_long2.2)+1,r259751 55a2 A093 0000 sts (tmp_long2.2)+2,r269752 55a6 B093 0000 sts (tmp_long2.2)+3,r279753 55aa B7FF sbrs r27,79754 55ac 00C0 rjmp .L7999755 55ae 8150 subi r24,lo8(-(8191))9756 55b0 904E sbci r25,hi8(-(8191))9757 55b2 AF4F sbci r26,hlo8(-(8191))9758 55b4 BF4F sbci r27,hhi8(-(8191))9759 .L799:9760 55b6 7C01 movw r14,r249761 55b8 8D01 movw r16,r269762 55ba ADE0 ldi r26,139763 55bc 1595 1: asr r179764 55be 0795 ror r169765 55c0 F794 ror r159766 55c2 E794 ror r149767 55c4 AA95 dec r269768 55c6 01F4 brne 1b9769 55c8 E092 0000 sts tmp_long2.2,r149770 55cc F092 0000 sts (tmp_long2.2)+1,r159771 55d0 0093 0000 sts (tmp_long2.2)+2,r169772 55d4 1093 0000 sts (tmp_long2.2)+3,r179773 55d8 6091 0000 lds r22,modell_fliegt9774 55dc 7091 0000 lds r23,(modell_fliegt)+19775 55e0 2FE0 ldi r18,hi8(4000)9776 55e2 603A cpi r22,lo8(4000)9777 55e4 7207 cpc r23,r189778 55e6 00F4 brsh .L8009779 55e8 8091 0000 lds r24,HoverGasFilter.239780 55ec 9091 0000 lds r25,(HoverGasFilter.23)+19781 55f0 A091 0000 lds r26,(HoverGasFilter.23)+29782 55f4 B091 0000 lds r27,(HoverGasFilter.23)+39783 55f8 9C01 movw r18,r249784 55fa AD01 movw r20,r269785 55fc FAE0 ldi r31,109786 55fe 5695 1: lsr r219787 5600 4795 ror r209788 5602 3795 ror r199789 5604 2795 ror r189790 5606 FA95 dec r319791 5608 01F4 brne 1b9792 560a 821B sub r24,r189793 560c 930B sbc r25,r199794 560e A40B sbc r26,r209795 5610 B50B sbc r27,r219796 5612 A801 movw r20,r169797 5614 9701 movw r18,r149798 5616 E4E0 ldi r30,49799 5618 220F 1: lsl r189800 561a 331F rol r199801 561c 441F rol r209802 561e 551F rol r219803 5620 EA95 dec r309804 5622 01F4 brne 1b9805 5624 820F add r24,r189806 5626 931F adc r25,r199807 5628 A41F adc r26,r209808 562a B51F adc r27,r219809 562c 8093 0000 sts HoverGasFilter.23,r249810 5630 9093 0000 sts (HoverGasFilter.23)+1,r259811 5634 A093 0000 sts (HoverGasFilter.23)+2,r269812 5638 B093 0000 sts (HoverGasFilter.23)+3,r279813 .L800:9814 563c 6054 subi r22,lo8(8000)9815 563e 7F41 sbci r23,hi8(8000)9816 5640 00F4 brsh .L8019817 5642 8091 0000 lds r24,HoverGasFilter.239818 5646 9091 0000 lds r25,(HoverGasFilter.23)+19819 564a A091 0000 lds r26,(HoverGasFilter.23)+29820 564e B091 0000 lds r27,(HoverGasFilter.23)+39821 5652 9C01 movw r18,r249822 5654 AD01 movw r20,r269823 5656 6CE0 ldi r22,129824 5658 5695 1: lsr r219825 565a 4795 ror r209826 565c 3795 ror r199827 565e 2795 ror r189828 5660 6A95 dec r229829 5662 01F4 brne 1b9830 5664 821B sub r24,r189831 5666 930B sbc r25,r199832 5668 A40B sbc r26,r209833 566a B50B sbc r27,r219834 566c A801 movw r20,r169835 566e 9701 movw r18,r149836 5670 F2E0 ldi r31,29837 5672 220F 1: lsl r189838 5674 331F rol r199839 5676 441F rol r209840 5678 551F rol r219841 567a FA95 dec r319842 567c 01F4 brne 1b9843 567e 820F add r24,r189844 5680 931F adc r25,r199845 5682 A41F adc r26,r209846 5684 B51F adc r27,r219847 5686 00C0 rjmp .L9199848 .L801:9849 5688 8091 0000 lds r24,VarioMeter9850 568c 9091 0000 lds r25,(VarioMeter)+19851 5690 8091 0000 lds r24,VarioMeter9852 5694 9091 0000 lds r25,(VarioMeter)+19853 5698 97FF sbrs r25,79854 569a 00C0 rjmp .L8049855 569c 9095 com r259856 569e 8195 neg r249857 56a0 9F4F sbci r25,lo8(-1)9858 .L804:9859 56a2 8436 cpi r24,1009860 56a4 9105 cpc r25,__zero_reg__9861 56a6 04F4 brge .L8029862 56a8 8091 0000 lds r24,HoehenWert9863 56ac 9091 0000 lds r25,(HoehenWert)+19864 56b0 2091 0000 lds r18,SollHoehe9865 56b4 3091 0000 lds r19,(SollHoehe)+19866 56b8 821B sub r24,r189867 56ba 930B sbc r25,r199868 56bc 8150 subi r24,lo8(-(255))9869 56be 9F4F sbci r25,hi8(-(255))9870 56c0 8F5F subi r24,lo8(511)9871 56c2 9140 sbci r25,hi8(511)9872 56c4 00F4 brsh .L8029873 56c6 8091 0000 lds r24,HoverGasFilter.239874 56ca 9091 0000 lds r25,(HoverGasFilter.23)+19875 56ce A091 0000 lds r26,(HoverGasFilter.23)+29876 56d2 B091 0000 lds r27,(HoverGasFilter.23)+39877 56d6 9C01 movw r18,r249878 56d8 AD01 movw r20,r269879 56da EEE0 ldi r30,149880 56dc 5695 1: lsr r219881 56de 4795 ror r209882 56e0 3795 ror r199883 56e2 2795 ror r189884 56e4 EA95 dec r309885 56e6 01F4 brne 1b9886 56e8 821B sub r24,r189887 56ea 930B sbc r25,r199888 56ec A40B sbc r26,r209889 56ee B50B sbc r27,r219890 56f0 8E0D add r24,r149891 56f2 9F1D adc r25,r159892 56f4 A01F adc r26,r169893 56f6 B11F adc r27,r179894 .L919:9895 56f8 8093 0000 sts HoverGasFilter.23,r249896 56fc 9093 0000 sts (HoverGasFilter.23)+1,r259897 5700 A093 0000 sts (HoverGasFilter.23)+2,r269898 5704 B093 0000 sts (HoverGasFilter.23)+3,r279899 .L802:9900 5708 8091 0000 lds r24,HoverGasFilter.239901 570c 9091 0000 lds r25,(HoverGasFilter.23)+19902 5710 A091 0000 lds r26,(HoverGasFilter.23)+29903 5714 B091 0000 lds r27,(HoverGasFilter.23)+39904 5718 7EE0 ldi r23,149905 571a B695 1: lsr r279906 571c A795 ror r269907 571e 9795 ror r259908 5720 8795 ror r249909 5722 7A95 dec r239910 5724 01F4 brne 1b9911 5726 9093 0000 sts (HoverGas)+1,r259912 572a 8093 0000 sts HoverGas,r249913 572e 4091 0000 lds r20,EE_Parameter+209914 5732 4423 tst r209915 5734 01F0 breq .L8059916 5736 5527 clr r219917 5738 9C01 movw r18,r249918 573a BA01 movw r22,r209919 573c 0E94 0000 call __divmodhi49920 5740 C901 movw r24,r189921 5742 861B sub r24,r229922 5744 970B sbc r25,r239923 5746 9093 0000 sts (HoverGasMin)+1,r259924 574a 8093 0000 sts HoverGasMin,r249925 574e 260F add r18,r229926 5750 371F adc r19,r239927 5752 3093 0000 sts (HoverGasMax)+1,r199928 5756 2093 0000 sts HoverGasMax,r189929 575a 00C0 rjmp .L8089930 .L805:9931 575c 1092 0000 sts (HoverGasMin)+1,__zero_reg__9932 5760 1092 0000 sts HoverGasMin,__zero_reg__9933 5764 8FEF ldi r24,lo8(1023)9934 5766 93E0 ldi r25,hi8(1023)9935 5768 9093 0000 sts (HoverGasMax)+1,r259936 576c 8093 0000 sts HoverGasMax,r249937 5770 00C0 rjmp .L8089938 .L795:9939 5772 1092 0000 sts StartTrigger,__zero_reg__9940 5776 1092 0000 sts HoverGasFilter.23,__zero_reg__9941 577a 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9942 577e 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9943 5782 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9944 5786 3093 0000 sts (HoverGas)+1,r199945 578a 2093 0000 sts HoverGas,r189946 578e 00C0 rjmp .L8089947 .L659:9948 5790 8091 0000 lds r24,FC_StatusFlags9949 5794 806C ori r24,lo8(-64)9950 5796 8093 0000 sts FC_StatusFlags,r249951 .L808:9952 579a 8091 0000 lds r24,NC_To_FC_Flags9953 579e 81FF sbrs r24,19954 57a0 00C0 rjmp .L8099955 57a2 8981 ldd r24,Y+19956 57a4 9A81 ldd r25,Y+29957 57a6 97FD sbrc r25,79958 57a8 0396 adiw r24,39959 .L811:9960 57aa 9595 asr r259961 57ac 8795 ror r249962 57ae 9595 asr r259963 57b0 8795 ror r249964 57b2 2091 0000 lds r18,HooverGasEmergencyPercent9965 57b6 3091 0000 lds r19,(HooverGasEmergencyPercent)+19966 57ba 2817 cp r18,r249967 57bc 3907 cpc r19,r259968 57be 00F4 brsh .L8109969 57c0 8091 0000 lds r24,HoverGas9970 57c4 9091 0000 lds r25,(HoverGas)+19971 57c8 892B or r24,r259972 57ca 01F0 breq .L8109973 57cc 220F lsl r189974 57ce 331F rol r199975 57d0 220F lsl r189976 57d2 331F rol r199977 57d4 3A83 std Y+2,r199978 57d6 2983 std Y+1,r189979 .L810:9980 57d8 8091 0000 lds r24,HoehenWert9981 57dc 9091 0000 lds r25,(HoehenWert)+19982 57e0 A091 0000 lds r26,(HoehenWert)+29983 57e4 B091 0000 lds r27,(HoehenWert)+39984 57e8 8093 0000 sts SollHoehe,r249985 57ec 9093 0000 sts (SollHoehe)+1,r259986 57f0 A093 0000 sts (SollHoehe)+2,r269987 57f4 B093 0000 sts (SollHoehe)+3,r279988 57f8 88E9 ldi r24,lo8(15000)9989 57fa 9AE3 ldi r25,hi8(15000)9990 57fc 9093 0000 sts (beeptime)+1,r259991 5800 8093 0000 sts beeptime,r249992 5804 80E0 ldi r24,lo8(3584)9993 5806 9EE0 ldi r25,hi8(3584)9994 5808 9093 0000 sts (BeepMuster)+1,r259995 580c 8093 0000 sts BeepMuster,r249996 .L809:9997 5810 2091 0000 lds r18,MIN_GAS9998 5814 822F mov r24,r189999 5816 9927 clr r2510000 5818 880F lsl r2410001 581a 991F rol r2510002 581c 880F lsl r2410003 581e 991F rol r2510004 5820 8896 adiw r24,4010005 5822 6981 ldd r22,Y+110006 5824 7A81 ldd r23,Y+210007 5826 8617 cp r24,r2210008 5828 9707 cpc r25,r2310009 582a 04F0 brlt .L81210010 582c 9A83 std Y+2,r2510011 582e 8983 std Y+1,r2410012 .L812:10013 5830 7091 0000 lds r23,MAX_GAS10014 5834 7D8B std Y+21,r2310015 5836 872F mov r24,r2310016 5838 9927 clr r2510017 583a 880F lsl r2410018 583c 991F rol r2510019 583e 880F lsl r2410020 5840 991F rol r2510021 5842 8055 subi r24,lo8(-(-80))10022 5844 9040 sbci r25,hi8(-(-80))10023 5846 A981 ldd r26,Y+110024 5848 BA81 ldd r27,Y+210025 584a 8A17 cp r24,r2610026 584c 9B07 cpc r25,r2710027 584e 04F4 brge .L81310028 5850 9A83 std Y+2,r2510029 5852 8983 std Y+1,r2410030 .L813:10031 5854 8091 0000 lds r24,MissingMotor10032 5858 8823 tst r2410033 585a 01F4 brne .L81510034 585c 8091 0000 lds r24,Capacity+610035 5860 8F3F cpi r24,lo8(-1)10036 5862 01F4 brne .L81510037 5864 8091 0000 lds r24,NC_ErrorCode10038 5868 8823 tst r2410039 586a 01F0 breq .L81410040 .L815:10041 586c 8091 0000 lds r24,modell_fliegt10042 5870 9091 0000 lds r25,(modell_fliegt)+110043 5874 0297 sbiw r24,210044 5876 C097 sbiw r24,4810045 5878 00F4 brsh .L81410046 587a E981 ldd r30,Y+110047 587c FA81 ldd r31,Y+210048 587e 1E16 cp __zero_reg__,r3010049 5880 1F06 cpc __zero_reg__,r3110050 5882 04F4 brge .L81410051 5884 81E0 ldi r24,lo8(1)10052 5886 90E0 ldi r25,hi8(1)10053 5888 9093 0000 sts (modell_fliegt)+1,r2510054 588c 8093 0000 sts modell_fliegt,r2410055 5890 E22E mov r14,r1810056 5892 FF24 clr r1510057 5894 EE0C lsl r1410058 5896 FF1C rol r1510059 5898 EE0C lsl r1410060 589a FF1C rol r1510061 589c 8701 movw r16,r1410062 589e 085D subi r16,lo8(-(40))10063 58a0 1F4F sbci r17,hi8(-(40))10064 58a2 1A83 std Y+2,r1710065 58a4 0983 std Y+1,r1610066 .L814:10067 58a6 2981 ldd r18,Y+110068 58a8 3A81 ldd r19,Y+210069 58aa 3093 0000 sts (DebugOut+16)+1,r1910070 58ae 2093 0000 sts DebugOut+16,r1810071 58b2 8091 0000 lds r24,sollGier.010072 58b6 9091 0000 lds r25,(sollGier.0)+110073 58ba A091 0000 lds r26,(sollGier.0)+210074 58be B091 0000 lds r27,(sollGier.0)+310075 58c2 12E0 ldi r17,210076 58c4 880F 1: lsl r2410077 58c6 991F rol r2510078 58c8 AA1F rol r2610079 58ca BB1F rol r2710080 58cc 1A95 dec r1710081 58ce 01F4 brne 1b10082 58d0 0091 0000 lds r16,MesswertGier10083 58d4 1091 0000 lds r17,(MesswertGier)+110084 58d8 081B sub r16,r2410085 58da 190B sbc r17,r2510086 58dc 213A cpi r18,16110087 58de 3105 cpc r19,__zero_reg__10088 58e0 04F0 brlt .L81710089 58e2 C901 movw r24,r1810090 58e4 37FD sbrc r19,710091 58e6 0196 adiw r24,110092 .L819:10093 58e8 9595 asr r2510094 58ea 8795 ror r2410095 58ec 8017 cp r24,r1610096 58ee 9107 cpc r25,r1710097 58f0 04F4 brge .L81810098 58f2 8C01 movw r16,r2410099 .L818:10100 58f4 9095 com r2510101 58f6 8195 neg r2410102 58f8 9F4F sbci r25,lo8(-1)10103 58fa 0817 cp r16,r2410104 58fc 1907 cpc r17,r2510105 58fe 04F4 brge .L82410106 5900 8C01 movw r16,r2410107 5902 00C0 rjmp .L82410108 .L817:10109 5904 0135 cpi r16,8110110 5906 1105 cpc r17,__zero_reg__10111 5908 04F0 brlt .L82510112 590a 00E5 ldi r16,lo8(80)10113 590c 10E0 ldi r17,hi8(80)10114 .L825:10115 590e 3FEF ldi r19,hi8(-80)10116 5910 003B cpi r16,lo8(-80)10117 5912 1307 cpc r17,r1910118 5914 04F4 brge .L82410119 5916 00EB ldi r16,lo8(-80)10120 5918 1FEF ldi r17,hi8(-80)10121 .L824:10122 591a 4D89 ldd r20,Y+2110123 591c 242F mov r18,r2010124 591e 3327 clr r1910125 5920 220F lsl r1810126 5922 331F rol r1910127 5924 220F lsl r1810128 5926 331F rol r1910129 5928 C901 movw r24,r1810130 592a 6981 ldd r22,Y+110131 592c 7A81 ldd r23,Y+210132 592e 861B sub r24,r2210133 5930 970B sbc r25,r2310134 5932 8017 cp r24,r1610135 5934 9107 cpc r25,r1710136 5936 04F4 brge .L82710137 5938 8C01 movw r16,r2410138 .L827:10139 593a 8981 ldd r24,Y+110140 593c 9A81 ldd r25,Y+210141 593e 821B sub r24,r1810142 5940 930B sbc r25,r1910143 5942 0817 cp r16,r2410144 5944 1907 cpc r17,r2510145 5946 04F4 brge .L82810146 5948 8C01 movw r16,r2410147 .L828:10148 594a 8091 0000 lds r24,MesswertNick10149 594e 9091 0000 lds r25,(MesswertNick)+110150 5952 6091 0000 lds r22,StickNick10151 5956 7091 0000 lds r23,(StickNick)+110152 595a 861B sub r24,r2210153 595c 970B sbc r25,r2310154 595e 9093 0000 sts (DiffNick)+1,r2510155 5962 8093 0000 sts DiffNick,r2410156 5966 D090 0000 lds r13,IntegralFaktor10157 596a 2091 0000 lds r18,SummeNick10158 596e 3091 0000 lds r19,(SummeNick)+110159 5972 4091 0000 lds r20,(SummeNick)+210160 5976 5091 0000 lds r21,(SummeNick)+310161 597a DD20 tst r1310162 597c 01F0 breq .L82910163 597e 661A sub r6,r2210164 5980 770A sbc r7,r2310165 5982 C301 movw r24,r610166 5984 AA27 clr r2610167 5986 97FD sbrc r25,710168 5988 A095 com r2610169 598a BA2F mov r27,r2610170 598c 00C0 rjmp .L92010171 .L829:10172 598e AA27 clr r2610173 5990 97FD sbrc r25,710174 5992 A095 com r2610175 5994 BA2F mov r27,r2610176 .L920:10177 5996 280F add r18,r2410178 5998 391F adc r19,r2510179 599a 4A1F adc r20,r2610180 599c 5B1F adc r21,r2710181 599e 2093 0000 sts SummeNick,r1810182 59a2 3093 0000 sts (SummeNick)+1,r1910183 59a6 4093 0000 sts (SummeNick)+2,r2010184 59aa 5093 0000 sts (SummeNick)+3,r2110185 59ae 8091 0000 lds r24,SummeNick10186 59b2 9091 0000 lds r25,(SummeNick)+110187 59b6 A091 0000 lds r26,(SummeNick)+210188 59ba B091 0000 lds r27,(SummeNick)+310189 59be 8150 subi r24,lo8(64001)10190 59c0 9A4F sbci r25,hi8(64001)10191 59c2 A040 sbci r26,hlo8(64001)10192 59c4 B040 sbci r27,hhi8(64001)10193 59c6 04F0 brlt .L83110194 59c8 80E0 ldi r24,lo8(64000)10195 59ca 9AEF ldi r25,hi8(64000)10196 59cc A0E0 ldi r26,hlo8(64000)10197 59ce B0E0 ldi r27,hhi8(64000)10198 59d0 8093 0000 sts SummeNick,r2410199 59d4 9093 0000 sts (SummeNick)+1,r2510200 59d8 A093 0000 sts (SummeNick)+2,r2610201 59dc B093 0000 sts (SummeNick)+3,r2710202 .L831:10203 59e0 8091 0000 lds r24,SummeNick10204 59e4 9091 0000 lds r25,(SummeNick)+110205 59e8 A091 0000 lds r26,(SummeNick)+210206 59ec B091 0000 lds r27,(SummeNick)+310207 59f0 8050 subi r24,lo8(-64000)10208 59f2 9640 sbci r25,hi8(-64000)10209 59f4 AF4F sbci r26,hlo8(-64000)10210 59f6 BF4F sbci r27,hhi8(-64000)10211 59f8 04F4 brge .L83210212 59fa 80E0 ldi r24,lo8(-64000)10213 59fc 96E0 ldi r25,hi8(-64000)10214 59fe AFEF ldi r26,hlo8(-64000)10215 5a00 BFEF ldi r27,hhi8(-64000)10216 5a02 8093 0000 sts SummeNick,r2410217 5a06 9093 0000 sts (SummeNick)+1,r2510218 5a0a A093 0000 sts (SummeNick)+2,r2610219 5a0e B093 0000 sts (SummeNick)+3,r2710220 .L832:10221 5a12 C090 0000 lds r12,EE_Parameter+3510222 5a16 2091 0000 lds r18,DiffNick10223 5a1a 3091 0000 lds r19,(DiffNick)+110224 5a1e 78E0 ldi r23,lo8(8)10225 5a20 E72E mov r14,r2310226 5a22 EC14 cp r14,r1210227 5a24 00F0 brlo .L83310228 5a26 8C2D mov r24,r1210229 5a28 9927 clr r2510230 5a2a 829F mul r24,r1810231 5a2c A001 movw r20,r010232 5a2e 839F mul r24,r1910233 5a30 500D add r21,r010234 5a32 929F mul r25,r1810235 5a34 500D add r21,r010236 5a36 1124 clr r110237 5a38 CA01 movw r24,r2010238 5a3a 57FD sbrc r21,710239 5a3c 0796 adiw r24,710240 .L834:10241 5a3e 7C01 movw r14,r2410242 5a40 63E0 ldi r22,310243 5a42 F594 1: asr r1510244 5a44 E794 ror r1410245 5a46 6A95 dec r2210246 5a48 01F4 brne 1b10247 5a4a 00C0 rjmp .L83510248 .L833:10249 5a4c 8C2D mov r24,r1210250 5a4e 8695 lsr r2410251 5a50 9927 clr r2510252 5a52 829F mul r24,r1810253 5a54 B001 movw r22,r010254 5a56 839F mul r24,r1910255 5a58 700D add r23,r010256 5a5a 929F mul r25,r1810257 5a5c 700D add r23,r010258 5a5e 1124 clr r110259 5a60 CB01 movw r24,r2210260 5a62 77FD sbrc r23,710261 5a64 0396 adiw r24,310262 .L836:10263 5a66 7C01 movw r14,r2410264 5a68 F594 asr r1510265 5a6a E794 ror r1410266 5a6c F594 asr r1510267 5a6e E794 ror r1410268 .L835:10269 5a70 A090 0000 lds r10,Ki10270 5a74 B090 0000 lds r11,(Ki)+110271 5a78 9501 movw r18,r1010272 5a7a 4427 clr r2010273 5a7c 37FD sbrc r19,710274 5a7e 4095 com r2010275 5a80 542F mov r21,r2010276 5a82 8091 0000 lds r24,SummeNick10277 5a86 9091 0000 lds r25,(SummeNick)+110278 5a8a A091 0000 lds r26,(SummeNick)+210279 5a8e B091 0000 lds r27,(SummeNick)+310280 5a92 BC01 movw r22,r2410281 5a94 CD01 movw r24,r2610282 5a96 0E94 0000 call __divmodsi410283 5a9a E20E add r14,r1810284 5a9c F31E adc r15,r1910285 5a9e 9090 0000 lds r9,Parameter_DynamicStability10286 5aa2 692D mov r22,r910287 5aa4 7727 clr r2310288 5aa6 8827 clr r2410289 5aa8 9927 clr r2510290 5aaa 9801 movw r18,r1610291 5aac 17FF sbrs r17,710292 5aae 00C0 rjmp .L83710293 5ab0 2227 clr r1810294 5ab2 3327 clr r1910295 5ab4 201B sub r18,r1610296 5ab6 310B sbc r19,r1710297 .L837:10298 5ab8 37FF sbrs r19,710299 5aba 00C0 rjmp .L83810300 5abc 2F5F subi r18,lo8(-(1))10301 5abe 3F4F sbci r19,hi8(-(1))10302 .L838:10303 5ac0 3595 asr r1910304 5ac2 2795 ror r1810305 5ac4 A981 ldd r26,Y+110306 5ac6 BA81 ldd r27,Y+210307 5ac8 2A0F add r18,r2610308 5aca 3B1F adc r19,r2710309 5acc 4427 clr r2010310 5ace 37FD sbrc r19,710311 5ad0 4095 com r2010312 5ad2 542F mov r21,r2010313 5ad4 0E94 0000 call __mulsi310314 5ad8 97FF sbrs r25,710315 5ada 00C0 rjmp .L83910316 5adc 615C subi r22,lo8(-(63))10317 5ade 7F4F sbci r23,hi8(-(63))10318 5ae0 8F4F sbci r24,hlo8(-(63))10319 5ae2 9F4F sbci r25,hhi8(-(63))10320 .L839:10321 5ae4 26E0 ldi r18,610322 5ae6 9595 1: asr r2510323 5ae8 8795 ror r2410324 5aea 7795 ror r2310325 5aec 6795 ror r2210326 5aee 2A95 dec r1810327 5af0 01F4 brne 1b10328 5af2 9B01 movw r18,r2210329 5af4 6E15 cp r22,r1410330 5af6 7F05 cpc r23,r1510331 5af8 04F4 brge .L84010332 5afa 7B01 movw r14,r2210333 .L840:10334 5afc 3095 com r1910335 5afe 2195 neg r1810336 5b00 3F4F sbci r19,lo8(-1)10337 5b02 E216 cp r14,r1810338 5b04 F306 cpc r15,r1910339 5b06 04F4 brge .L84110340 5b08 7901 movw r14,r1810341 .L841:10342 5b0a 8091 0000 lds r24,MesswertRoll10343 5b0e 9091 0000 lds r25,(MesswertRoll)+110344 5b12 6091 0000 lds r22,StickRoll10345 5b16 7091 0000 lds r23,(StickRoll)+110346 5b1a 861B sub r24,r2210347 5b1c 970B sbc r25,r2310348 5b1e 9093 0000 sts (DiffRoll)+1,r2510349 5b22 8093 0000 sts DiffRoll,r2410350 5b26 2091 0000 lds r18,SummeRoll10351 5b2a 3091 0000 lds r19,(SummeRoll)+110352 5b2e 4091 0000 lds r20,(SummeRoll)+210353 5b32 5091 0000 lds r21,(SummeRoll)+310354 5b36 DD20 tst r1310355 5b38 01F0 breq .L84210356 5b3a 461A sub r4,r2210357 5b3c 570A sbc r5,r2310358 5b3e C201 movw r24,r410359 5b40 AA27 clr r2610360 5b42 97FD sbrc r25,710361 5b44 A095 com r2610362 5b46 BA2F mov r27,r2610363 5b48 00C0 rjmp .L92110364 .L842:10365 5b4a AA27 clr r2610366 5b4c 97FD sbrc r25,710367 5b4e A095 com r2610368 5b50 BA2F mov r27,r2610369 .L921:10370 5b52 280F add r18,r2410371 5b54 391F adc r19,r2510372 5b56 4A1F adc r20,r2610373 5b58 5B1F adc r21,r2710374 5b5a 2093 0000 sts SummeRoll,r1810375 5b5e 3093 0000 sts (SummeRoll)+1,r1910376 5b62 4093 0000 sts (SummeRoll)+2,r2010377 5b66 5093 0000 sts (SummeRoll)+3,r2110378 5b6a 8091 0000 lds r24,SummeRoll10379 5b6e 9091 0000 lds r25,(SummeRoll)+110380 5b72 A091 0000 lds r26,(SummeRoll)+210381 5b76 B091 0000 lds r27,(SummeRoll)+310382 5b7a 8150 subi r24,lo8(64001)10383 5b7c 9A4F sbci r25,hi8(64001)10384 5b7e A040 sbci r26,hlo8(64001)10385 5b80 B040 sbci r27,hhi8(64001)10386 5b82 04F0 brlt .L84410387 5b84 80E0 ldi r24,lo8(64000)10388 5b86 9AEF ldi r25,hi8(64000)10389 5b88 A0E0 ldi r26,hlo8(64000)10390 5b8a B0E0 ldi r27,hhi8(64000)10391 5b8c 8093 0000 sts SummeRoll,r2410392 5b90 9093 0000 sts (SummeRoll)+1,r2510393 5b94 A093 0000 sts (SummeRoll)+2,r2610394 5b98 B093 0000 sts (SummeRoll)+3,r2710395 .L844:10396 5b9c 8091 0000 lds r24,SummeRoll10397 5ba0 9091 0000 lds r25,(SummeRoll)+110398 5ba4 A091 0000 lds r26,(SummeRoll)+210399 5ba8 B091 0000 lds r27,(SummeRoll)+310400 5bac 8050 subi r24,lo8(-64000)10401 5bae 9640 sbci r25,hi8(-64000)10402 5bb0 AF4F sbci r26,hlo8(-64000)10403 5bb2 BF4F sbci r27,hhi8(-64000)10404 5bb4 04F4 brge .L84510405 5bb6 80E0 ldi r24,lo8(-64000)10406 5bb8 96E0 ldi r25,hi8(-64000)10407 5bba AFEF ldi r26,hlo8(-64000)10408 5bbc BFEF ldi r27,hhi8(-64000)10409 5bbe 8093 0000 sts SummeRoll,r2410410 5bc2 9093 0000 sts (SummeRoll)+1,r2510411 5bc6 A093 0000 sts (SummeRoll)+2,r2610412 5bca B093 0000 sts (SummeRoll)+3,r2710413 .L845:10414 5bce 2091 0000 lds r18,DiffRoll10415 5bd2 3091 0000 lds r19,(DiffRoll)+110416 5bd6 48E0 ldi r20,lo8(8)10417 5bd8 4C15 cp r20,r1210418 5bda 00F0 brlo .L84610419 5bdc 8C2D mov r24,r1210420 5bde 9927 clr r2510421 5be0 829F mul r24,r1810422 5be2 B001 movw r22,r010423 5be4 839F mul r24,r1910424 5be6 700D add r23,r010425 5be8 929F mul r25,r1810426 5bea 700D add r23,r010427 5bec 1124 clr r110428 5bee CB01 movw r24,r2210429 5bf0 77FD sbrc r23,710430 5bf2 0796 adiw r24,710431 .L847:10432 5bf4 6C01 movw r12,r2410433 5bf6 B3E0 ldi r27,310434 5bf8 D594 1: asr r1310435 5bfa C794 ror r1210436 5bfc BA95 dec r2710437 5bfe 01F4 brne 1b10438 5c00 00C0 rjmp .L84810439 .L846:10440 5c02 C694 lsr r1210441 5c04 8C2D mov r24,r1210442 5c06 9927 clr r2510443 5c08 829F mul r24,r1810444 5c0a D001 movw r26,r010445 5c0c 839F mul r24,r1910446 5c0e B00D add r27,r010447 5c10 929F mul r25,r1810448 5c12 B00D add r27,r010449 5c14 1124 clr r110450 5c16 CD01 movw r24,r2610451 5c18 B7FD sbrc r27,710452 5c1a 0396 adiw r24,310453 .L849:10454 5c1c 6C01 movw r12,r2410455 5c1e D594 asr r1310456 5c20 C794 ror r1210457 5c22 D594 asr r1310458 5c24 C794 ror r1210459 .L848:10460 5c26 9501 movw r18,r1010461 5c28 4427 clr r2010462 5c2a 37FD sbrc r19,710463 5c2c 4095 com r2010464 5c2e 542F mov r21,r2010465 5c30 8091 0000 lds r24,SummeRoll10466 5c34 9091 0000 lds r25,(SummeRoll)+110467 5c38 A091 0000 lds r26,(SummeRoll)+210468 5c3c B091 0000 lds r27,(SummeRoll)+310469 5c40 BC01 movw r22,r2410470 5c42 CD01 movw r24,r2610471 5c44 0E94 0000 call __divmodsi410472 5c48 C20E add r12,r1810473 5c4a D31E adc r13,r1910474 5c4c 692D mov r22,r910475 5c4e 7727 clr r2310476 5c50 8827 clr r2410477 5c52 9927 clr r2510478 5c54 9801 movw r18,r1610479 5c56 17FF sbrs r17,710480 5c58 00C0 rjmp .L85010481 5c5a 2227 clr r1810482 5c5c 3327 clr r1910483 5c5e 201B sub r18,r1610484 5c60 310B sbc r19,r1710485 .L850:10486 5c62 37FF sbrs r19,710487 5c64 00C0 rjmp .L85110488 5c66 2F5F subi r18,lo8(-(1))10489 5c68 3F4F sbci r19,hi8(-(1))10490 .L851:10491 5c6a 3595 asr r1910492 5c6c 2795 ror r1810493 5c6e E981 ldd r30,Y+110494 5c70 FA81 ldd r31,Y+210495 5c72 2E0F add r18,r3010496 5c74 3F1F adc r19,r3110497 5c76 4427 clr r2010498 5c78 37FD sbrc r19,710499 5c7a 4095 com r2010500 5c7c 542F mov r21,r2010501 5c7e 0E94 0000 call __mulsi310502 5c82 97FF sbrs r25,710503 5c84 00C0 rjmp .L85210504 5c86 615C subi r22,lo8(-(63))10505 5c88 7F4F sbci r23,hi8(-(63))10506 5c8a 8F4F sbci r24,hlo8(-(63))10507 5c8c 9F4F sbci r25,hhi8(-(63))10508 .L852:10509 5c8e E6E0 ldi r30,610510 5c90 9595 1: asr r2510511 5c92 8795 ror r2410512 5c94 7795 ror r2310513 5c96 6795 ror r2210514 5c98 EA95 dec r3010515 5c9a 01F4 brne 1b10516 5c9c 9B01 movw r18,r2210517 5c9e 6C15 cp r22,r1210518 5ca0 7D05 cpc r23,r1310519 5ca2 04F4 brge .L85310520 5ca4 6B01 movw r12,r2210521 .L853:10522 5ca6 3095 com r1910523 5ca8 2195 neg r1810524 5caa 3F4F sbci r19,lo8(-1)10525 5cac C216 cp r12,r1810526 5cae D306 cpc r13,r1910527 5cb0 04F4 brge .L85410528 5cb2 6901 movw r12,r1810529 .L854:10530 5cb4 8091 0000 lds r24,MIN_GAS10531 5cb8 282E mov r2,r2410532 5cba 3324 clr r310533 5cbc 5090 0000 lds r5,EE_Parameter+10110534 5cc0 60E0 ldi r22,lo8(Motor)10535 5cc2 862E mov r8,r2210536 5cc4 60E0 ldi r22,hi8(Motor)10537 5cc6 962E mov r9,r2210538 5cc8 50E0 ldi r21,lo8(Mixer+13)10539 5cca A52E mov r10,r2110540 5ccc 50E0 ldi r21,hi8(Mixer+13)10541 5cce B52E mov r11,r2110542 5cd0 4BE0 ldi r20,lo8(11)10543 5cd2 442E mov r4,r2010544 5cd4 30E0 ldi r19,lo8(tmp_motorwert)10545 5cd6 632E mov r6,r1910546 5cd8 30E0 ldi r19,hi8(tmp_motorwert)10547 5cda 732E mov r7,r1910548 .L889:10549 5cdc D501 movw r26,r1010550 5cde 2C91 ld r18,X10551 5ce0 1216 cp __zero_reg__,r1810552 5ce2 04F0 brlt .+210553 5ce4 00C0 rjmp .L85810554 5ce6 2034 cpi r18,lo8(64)10555 5ce8 01F4 brne .L85910556 5cea E981 ldd r30,Y+110557 5cec FA81 ldd r31,Y+210558 5cee FF8B std Y+23,r3110559 5cf0 EE8B std Y+22,r3010560 5cf2 00C0 rjmp .L86010561 .L859:10562 5cf4 4981 ldd r20,Y+110563 5cf6 5A81 ldd r21,Y+210564 5cf8 CA01 movw r24,r2010565 5cfa AA27 clr r2610566 5cfc 97FD sbrc r25,710567 5cfe A095 com r2610568 5d00 BA2F mov r27,r2610569 5d02 3327 clr r1910570 5d04 27FD sbrc r18,710571 5d06 3095 com r1910572 5d08 432F mov r20,r1910573 5d0a 532F mov r21,r1910574 5d0c BC01 movw r22,r2410575 5d0e CD01 movw r24,r2610576 5d10 0E94 0000 call __mulsi310577 5d14 97FF sbrs r25,710578 5d16 00C0 rjmp .L86110579 5d18 615C subi r22,lo8(-(63))10580 5d1a 7F4F sbci r23,hi8(-(63))10581 5d1c 8F4F sbci r24,hlo8(-(63))10582 5d1e 9F4F sbci r25,hhi8(-(63))10583 .L861:10584 5d20 26E0 ldi r18,610585 5d22 9595 1: asr r2510586 5d24 8795 ror r2410587 5d26 7795 ror r2310588 5d28 6795 ror r2210589 5d2a 2A95 dec r1810590 5d2c 01F4 brne 1b10591 5d2e 7F8B std Y+23,r2310592 5d30 6E8B std Y+22,r2210593 .L860:10594 5d32 F501 movw r30,r1010595 5d34 2181 ldd r18,Z+110596 5d36 2034 cpi r18,lo8(64)10597 5d38 01F4 brne .L86210598 5d3a 2E89 ldd r18,Y+2210599 5d3c 3F89 ldd r19,Y+2310600 5d3e 2E0D add r18,r1410601 5d40 3F1D adc r19,r1510602 5d42 3F8B std Y+23,r1910603 5d44 2E8B std Y+22,r1810604 5d46 00C0 rjmp .L86310605 .L862:10606 5d48 203C cpi r18,lo8(-64)10607 5d4a 01F4 brne .L86410608 5d4c 4E89 ldd r20,Y+2210609 5d4e 5F89 ldd r21,Y+2310610 5d50 4E19 sub r20,r1410611 5d52 5F09 sbc r21,r1510612 5d54 5F8B std Y+23,r2110613 5d56 4E8B std Y+22,r2010614 5d58 00C0 rjmp .L86310615 .L864:10616 5d5a C701 movw r24,r1410617 5d5c AA27 clr r2610618 5d5e 97FD sbrc r25,710619 5d60 A095 com r2610620 5d62 BA2F mov r27,r2610621 5d64 3327 clr r1910622 5d66 27FD sbrc r18,710623 5d68 3095 com r1910624 5d6a 432F mov r20,r1910625 5d6c 532F mov r21,r1910626 5d6e BC01 movw r22,r2410627 5d70 CD01 movw r24,r2610628 5d72 0E94 0000 call __mulsi310629 5d76 97FF sbrs r25,710630 5d78 00C0 rjmp .L86610631 5d7a 615C subi r22,lo8(-(63))10632 5d7c 7F4F sbci r23,hi8(-(63))10633 5d7e 8F4F sbci r24,hlo8(-(63))10634 5d80 9F4F sbci r25,hhi8(-(63))10635 .L866:10636 5d82 B6E0 ldi r27,610637 5d84 9595 1: asr r2510638 5d86 8795 ror r2410639 5d88 7795 ror r2310640 5d8a 6795 ror r2210641 5d8c BA95 dec r2710642 5d8e 01F4 brne 1b10643 5d90 AE89 ldd r26,Y+2210644 5d92 BF89 ldd r27,Y+2310645 5d94 A60F add r26,r2210646 5d96 B71F adc r27,r2310647 5d98 BF8B std Y+23,r2710648 5d9a AE8B std Y+22,r2610649 .L863:10650 5d9c F501 movw r30,r1010651 5d9e 2281 ldd r18,Z+210652 5da0 2034 cpi r18,lo8(64)10653 5da2 01F4 brne .L86710654 5da4 2E89 ldd r18,Y+2210655 5da6 3F89 ldd r19,Y+2310656 5da8 2C0D add r18,r1210657 5daa 3D1D adc r19,r1310658 5dac 3F8B std Y+23,r1910659 5dae 2E8B std Y+22,r1810660 5db0 00C0 rjmp .L86810661 .L867:10662 5db2 203C cpi r18,lo8(-64)10663 5db4 01F4 brne .L86910664 5db6 4E89 ldd r20,Y+2210665 5db8 5F89 ldd r21,Y+2310666 5dba 4C19 sub r20,r1210667 5dbc 5D09 sbc r21,r1310668 5dbe 5F8B std Y+23,r2110669 5dc0 4E8B std Y+22,r2010670 5dc2 00C0 rjmp .L86810671 .L869:10672 5dc4 C601 movw r24,r1210673 5dc6 AA27 clr r2610674 5dc8 97FD sbrc r25,710675 5dca A095 com r2610676 5dcc BA2F mov r27,r2610677 5dce 3327 clr r1910678 5dd0 27FD sbrc r18,710679 5dd2 3095 com r1910680 5dd4 432F mov r20,r1910681 5dd6 532F mov r21,r1910682 5dd8 BC01 movw r22,r2410683 5dda CD01 movw r24,r2610684 5ddc 0E94 0000 call __mulsi310685 5de0 97FF sbrs r25,710686 5de2 00C0 rjmp .L87110687 5de4 615C subi r22,lo8(-(63))10688 5de6 7F4F sbci r23,hi8(-(63))10689 5de8 8F4F sbci r24,hlo8(-(63))10690 5dea 9F4F sbci r25,hhi8(-(63))10691 .L871:10692 5dec A6E0 ldi r26,610693 5dee 9595 1: asr r2510694 5df0 8795 ror r2410695 5df2 7795 ror r2310696 5df4 6795 ror r2210697 5df6 AA95 dec r2610698 5df8 01F4 brne 1b10699 5dfa AE89 ldd r26,Y+2210700 5dfc BF89 ldd r27,Y+2310701 5dfe A60F add r26,r2210702 5e00 B71F adc r27,r2310703 5e02 BF8B std Y+23,r2710704 5e04 AE8B std Y+22,r2610705 .L868:10706 5e06 F501 movw r30,r1010707 5e08 2381 ldd r18,Z+310708 5e0a 2034 cpi r18,lo8(64)10709 5e0c 01F4 brne .L87210710 5e0e 2E89 ldd r18,Y+2210711 5e10 3F89 ldd r19,Y+2310712 5e12 200F add r18,r1610713 5e14 311F adc r19,r1710714 5e16 3F8B std Y+23,r1910715 5e18 2E8B std Y+22,r1810716 5e1a 00C0 rjmp .L87310717 .L872:10718 5e1c 203C cpi r18,lo8(-64)10719 5e1e 01F4 brne .L87410720 5e20 4E89 ldd r20,Y+2210721 5e22 5F89 ldd r21,Y+2310722 5e24 401B sub r20,r1610723 5e26 510B sbc r21,r1710724 5e28 5F8B std Y+23,r2110725 5e2a 4E8B std Y+22,r2010726 5e2c 00C0 rjmp .L87310727 .L874:10728 5e2e C801 movw r24,r1610729 5e30 AA27 clr r2610730 5e32 97FD sbrc r25,710731 5e34 A095 com r2610732 5e36 BA2F mov r27,r2610733 5e38 3327 clr r1910734 5e3a 27FD sbrc r18,710735 5e3c 3095 com r1910736 5e3e 432F mov r20,r1910737 5e40 532F mov r21,r1910738 5e42 BC01 movw r22,r2410739 5e44 CD01 movw r24,r2610740 5e46 0E94 0000 call __mulsi310741 5e4a 97FF sbrs r25,710742 5e4c 00C0 rjmp .L87610743 5e4e 615C subi r22,lo8(-(63))10744 5e50 7F4F sbci r23,hi8(-(63))10745 5e52 8F4F sbci r24,hlo8(-(63))10746 5e54 9F4F sbci r25,hhi8(-(63))10747 .L876:10748 5e56 F6E0 ldi r31,610749 5e58 9595 1: asr r2510750 5e5a 8795 ror r2410751 5e5c 7795 ror r2310752 5e5e 6795 ror r2210753 5e60 FA95 dec r3110754 5e62 01F4 brne 1b10755 5e64 AE89 ldd r26,Y+2210756 5e66 BF89 ldd r27,Y+2310757 5e68 A60F add r26,r2210758 5e6a B71F adc r27,r2310759 5e6c BF8B std Y+23,r2710760 5e6e AE8B std Y+22,r2610761 .L873:10762 5e70 F301 movw r30,r610763 5e72 8081 ld r24,Z10764 5e74 9181 ldd r25,Z+110765 5e76 2E89 ldd r18,Y+2210766 5e78 3F89 ldd r19,Y+2310767 5e7a 8217 cp r24,r1810768 5e7c 9307 cpc r25,r1910769 5e7e 04F4 brge .L87710770 5e80 B901 movw r22,r1810771 5e82 680F add r22,r2410772 5e84 791F adc r23,r2510773 5e86 77FF sbrs r23,710774 5e88 00C0 rjmp .L87810775 5e8a 6F5F subi r22,lo8(-(1))10776 5e8c 7F4F sbci r23,hi8(-(1))10777 .L878:10778 5e8e 7595 asr r2310779 5e90 6795 ror r2210780 5e92 7F8B std Y+23,r2310781 5e94 6E8B std Y+22,r2210782 5e96 00C0 rjmp .L87910783 .L877:10784 5e98 5520 tst r510785 5e9a 01F4 brne .L88010786 5e9c 4E89 ldd r20,Y+2210787 5e9e 5F89 ldd r21,Y+2310788 5ea0 440F add r20,r2010789 5ea2 551F adc r21,r2110790 5ea4 481B sub r20,r2410791 5ea6 590B sbc r21,r2510792 5ea8 5F8B std Y+23,r2110793 5eaa 4E8B std Y+22,r2010794 5eac 00C0 rjmp .L87910795 .L880:10796 5eae 51E0 ldi r21,lo8(1)10797 5eb0 5515 cp r21,r510798 5eb2 00F4 brsh .L87910799 5eb4 252D mov r18,r510800 5eb6 3327 clr r1910801 5eb8 6E89 ldd r22,Y+2210802 5eba 7F89 ldd r23,Y+2310803 5ebc 861B sub r24,r2210804 5ebe 970B sbc r25,r2310805 5ec0 B901 movw r22,r1810806 5ec2 0E94 0000 call __divmodhi410807 5ec6 AE89 ldd r26,Y+2210808 5ec8 BF89 ldd r27,Y+2310809 5eca A60F add r26,r2210810 5ecc B71F adc r27,r2310811 5ece BF8B std Y+23,r2710812 5ed0 AE8B std Y+22,r2610813 .L879:10814 5ed2 C101 movw r24,r210815 5ed4 880F lsl r2410816 5ed6 991F rol r2510817 5ed8 880F lsl r2410818 5eda 991F rol r2510819 5edc EE89 ldd r30,Y+2210820 5ede FF89 ldd r31,Y+2310821 5ee0 8E17 cp r24,r3010822 5ee2 9F07 cpc r25,r3110823 5ee4 04F4 brge .L92210824 5ee6 FD89 ldd r31,Y+2110825 5ee8 8F2F mov r24,r3110826 5eea 9927 clr r2510827 5eec 880F lsl r2410828 5eee 991F rol r2510829 5ef0 880F lsl r2410830 5ef2 991F rol r2510831 5ef4 2E89 ldd r18,Y+2210832 5ef6 3F89 ldd r19,Y+2310833 5ef8 2817 cp r18,r2410834 5efa 3907 cpc r19,r2510835 5efc 04F0 brlt .L88410836 .L922:10837 5efe 9F8B std Y+23,r2510838 5f00 8E8B std Y+22,r2410839 .L884:10840 5f02 8E89 ldd r24,Y+2210841 5f04 9F89 ldd r25,Y+2310842 5f06 97FD sbrc r25,710843 5f08 0396 adiw r24,310844 .L886:10845 5f0a 9595 asr r2510846 5f0c 8795 ror r2410847 5f0e 9595 asr r2510848 5f10 8795 ror r2410849 5f12 F401 movw r30,r810850 5f14 8183 std Z+1,r2410851 5f16 880F lsl r2410852 5f18 991F rol r2510853 5f1a 880F lsl r2410854 5f1c 991F rol r2510855 5f1e 2E89 ldd r18,Y+2210856 5f20 3F89 ldd r19,Y+2310857 5f22 281B sub r18,r2410858 5f24 390B sbc r19,r2510859 5f26 C901 movw r24,r1810860 5f28 880F lsl r2410861 5f2a 8283 std Z+2,r2410862 5f2c EE89 ldd r30,Y+2210863 5f2e FF89 ldd r31,Y+2310864 5f30 D301 movw r26,r610865 5f32 ED93 st X+,r3010866 5f34 FC93 st X,r3110867 5f36 00C0 rjmp .L85710868 .L858:10869 5f38 F401 movw r30,r810870 5f3a 1182 std Z+1,__zero_reg__10871 5f3c 1282 std Z+2,__zero_reg__10872 .L857:10873 5f3e 4A94 dec r410874 5f40 22E0 ldi r18,lo8(2)10875 5f42 30E0 ldi r19,hi8(2)10876 5f44 620E add r6,r1810877 5f46 731E adc r7,r1910878 5f48 44E0 ldi r20,lo8(4)10879 5f4a 50E0 ldi r21,hi8(4)10880 5f4c A40E add r10,r2010881 5f4e B51E adc r11,r2110882 5f50 68E0 ldi r22,lo8(8)10883 5f52 70E0 ldi r23,hi8(8)10884 5f54 860E add r8,r2210885 5f56 971E adc r9,r2310886 5f58 47FE sbrs r4,710887 5f5a 00C0 rjmp .L88910888 /* epilogue: frame size=23 */10889 5f5c E2E1 ldi r30,1810890 5f5e C95E subi r28,-2310891 5f60 0C94 0000 jmp __epilogue_restores__+010892 /* epilogue end (size=4) */10893 /* function MotorRegler size 8305 (8295) */10895 .comm TrimNick,2,110896 .comm TrimRoll,2,110897 .comm ErsatzKompass,4,110898 .comm ErsatzKompassInGrad,2,110899 .comm MesswertNick,2,110900 .comm MesswertRoll,2,110901 .comm MesswertGier,2,110902 .comm Mittelwert_AccNick,2,110903 .comm Mittelwert_AccRoll,2,110904 .comm NaviAccNick,2,110905 .comm NaviAccRoll,2,110906 .comm h,1,110907 .comm m,1,110908 .comm s,1,110909 .comm DiffNick,2,110910 .comm DiffRoll,2,110911 .comm Parameter_Servo3,1,110912 .comm Parameter_Servo4,1,110913 .comm Parameter_Servo5,1,110914 .comm Parameter_J16Bitmask,1,110915 .comm Parameter_J16Timing,1,110916 .comm Parameter_J17Bitmask,1,110917 .comm Parameter_J17Timing,1,110918 .comm Parameter_GlobalConfig,1,110919 .comm Parameter_ExtraConfig,1,110920 .comm MesswertGierBias,2,110921 .comm RohMesswertNick,2,110922 .comm RohMesswertRoll,2,110923 .comm MittelIntegralNick,4,110924 .comm MittelIntegralRoll,4,110925 .comm MittelIntegralNick2,4,110926 .comm MittelIntegralRoll2,4,110927 .comm MAX_GAS,1,110928 .comm MIN_GAS,1,110929 .comm GyroFaktor,1,110930 .comm GyroFaktorGier,1,110931 .comm IntegralFaktor,1,110932 .comm IntegralFaktorGier,1,110933 .comm Parameter_NaviGpsModeControl,1,110934 .comm Parameter_NaviGpsGain,1,110935 .comm Parameter_NaviGpsP,1,110936 .comm Parameter_NaviGpsI,1,110937 .comm Parameter_NaviGpsD,1,110938 .comm Parameter_NaviGpsACC,1,110939 .comm Parameter_NaviOperatingRadius,1,110940 .comm Parameter_NaviWindCorrection,1,110941 .comm Parameter_NaviSpeedCompensation,1,110942 .comm Parameter_ExternalControl,1,110943 .comm Parameter_MaximumAltitude,1,110944 .comm KopplungsteilNickRoll,2,110945 .comm KopplungsteilRollNick,2,110946 .comm tmp_motorwert,24,110947 /* File "fc.c": code 12377 = 0x3059 (12316), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/cch19s1E.s:3 *ABS*:0000003f __SREG__C:\Temp/cch19s1E.s:4 *ABS*:0000003e __SP_H__C:\Temp/cch19s1E.s:5 *ABS*:0000003d __SP_L__C:\Temp/cch19s1E.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/cch19s1E.s:7 *ABS*:00000001 __zero_reg__C:\Temp/cch19s1E.s:15 .bss:00000000 GasIsZeroCntC:\Temp/cch19s1E.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/cch19s1E.s:27 .data:00000000 VarioCharacterC:\Temp/cch19s1E.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/cch19s1E.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/cch19s1E.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/cch19s1E.s:51 .bss:00000006 modell_fliegtC:\Temp/cch19s1E.s:57 .bss:00000008 MaxStickRollC:\Temp/cch19s1E.s:63 .bss:0000000a MaxStickNickC:\Temp/cch19s1E.s:69 .data:00000005 ExternHoehenValueC:\Temp/cch19s1E.s:76 .bss:0000000c ExternStickGierC:\Temp/cch19s1E.s:82 .bss:0000000e ExternStickRollC:\Temp/cch19s1E.s:88 .bss:00000010 ExternStickNickC:\Temp/cch19s1E.s:94 .data:00000007 sintabC:\Temp/cch19s1E.s:131 .bss:00000012 CareFreeC:\Temp/cch19s1E.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/cch19s1E.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/cch19s1E.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/cch19s1E.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/cch19s1E.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/cch19s1E.s:162 .data:0000002b Parameter_ServoRollCompC:\Temp/cch19s1E.s:167 .data:0000002c Parameter_ServoNickCompC:\Temp/cch19s1E.s:172 .data:0000002d Parameter_ServoRollControlC:\Temp/cch19s1E.s:177 .data:0000002e Parameter_ServoNickControlC:\Temp/cch19s1E.s:184 .bss:00000013 Parameter_UserParam8C:\Temp/cch19s1E.s:190 .bss:00000014 Parameter_UserParam7C:\Temp/cch19s1E.s:196 .bss:00000015 Parameter_UserParam6C:\Temp/cch19s1E.s:202 .bss:00000016 Parameter_UserParam5C:\Temp/cch19s1E.s:208 .bss:00000017 Parameter_UserParam4C:\Temp/cch19s1E.s:214 .bss:00000018 Parameter_UserParam3C:\Temp/cch19s1E.s:220 .bss:00000019 Parameter_UserParam2C:\Temp/cch19s1E.s:226 .bss:0000001a Parameter_UserParam1C:\Temp/cch19s1E.s:232 .data:0000002f Parameter_I_FaktorC:\Temp/cch19s1E.s:237 .data:00000030 Parameter_Gier_PC:\Temp/cch19s1E.s:242 .data:00000031 Parameter_Gyro_Gier_IC:\Temp/cch19s1E.s:247 .data:00000032 Parameter_Gyro_Gier_PC:\Temp/cch19s1E.s:252 .data:00000033 Parameter_Gyro_IC:\Temp/cch19s1E.s:257 .data:00000034 Parameter_Gyro_PC:\Temp/cch19s1E.s:262 .data:00000035 Parameter_Gyro_DC:\Temp/cch19s1E.s:267 .data:00000036 Parameter_Hoehe_GPS_ZC:\Temp/cch19s1E.s:272 .data:00000037 Parameter_KompassWirkungC:\Temp/cch19s1E.s:277 .data:00000038 Parameter_Hoehe_ACC_WirkungC:\Temp/cch19s1E.s:282 .data:00000039 Parameter_Hoehe_PC:\Temp/cch19s1E.s:287 .data:0000003a Parameter_HoehenSchalterC:\Temp/cch19s1E.s:292 .data:0000003b Parameter_Luftdruck_DC:\Temp/cch19s1E.s:299 .bss:0000001b Looping_ObenC:\Temp/cch19s1E.s:305 .bss:0000001c Looping_UntenC:\Temp/cch19s1E.s:311 .bss:0000001d Looping_RechtsC:\Temp/cch19s1E.s:317 .bss:0000001e Looping_LinksC:\Temp/cch19s1E.s:323 .bss:0000001f Looping_RollC:\Temp/cch19s1E.s:329 .bss:00000020 Looping_NickC:\Temp/cch19s1E.s:335 .data:0000003c KiC:\Temp/cch19s1E.s:342 .bss:00000021 HoverGasC:\Temp/cch19s1E.s:348 .bss:00000023 LageKorrekturNickC:\Temp/cch19s1E.s:354 .bss:00000025 LageKorrekturRollC:\Temp/cch19s1E.s:360 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/cch19s1E.s:366 .bss:00000028 CalibrationDoneC:\Temp/cch19s1E.s:372 .bss:00000029 CompassGierSetpointC:\Temp/cch19s1E.s:378 .bss:0000002b WaypointTrimmingC:\Temp/cch19s1E.s:384 .data:0000003e carefree_oldC:\Temp/cch19s1E.s:391 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/cch19s1E.s:397 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/cch19s1E.s:403 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/cch19s1E.s:409 .bss:00000033 SollHoeheC:\Temp/cch19s1E.s:415 .bss:00000037 HoehenWertC:\Temp/cch19s1E.s:421 .bss:0000003b StartTriggerC:\Temp/cch19s1E.s:427 .bss:0000003c MotorenEinC:\Temp/cch19s1E.s:433 .bss:0000003d SenderOkayC:\Temp/cch19s1E.s:439 .bss:0000003e PotiC:\Temp/cch19s1E.s:445 .bss:00000047 StickGasC:\Temp/cch19s1E.s:451 .bss:00000049 StickGierC:\Temp/cch19s1E.s:457 .bss:0000004b StickRollC:\Temp/cch19s1E.s:463 .bss:0000004d StickNickC:\Temp/cch19s1E.s:469 .data:0000003f HoverGasMaxC:\Temp/cch19s1E.s:476 .bss:0000004f HoverGasMinC:\Temp/cch19s1E.s:482 .data:00000041 StickGasHoverC:\Temp/cch19s1E.s:489 .bss:00000051 GierGyroFehlerC:\Temp/cch19s1E.s:495 .data:00000043 Umschlag180RollC:\Temp/cch19s1E.s:500 .data:00000047 Umschlag180NickC:\Temp/cch19s1E.s:507 .bss:00000053 TrichterFlugC:\Temp/cch19s1E.s:513 .bss:00000054 HoehenReglerAktivC:\Temp/cch19s1E.s:519 .data:0000004b KompassSignalSchlechtC:\Temp/cch19s1E.s:524 .data:0000004d KompassFusionC:\Temp/cch19s1E.s:529 .data:0000004e CalculateCompassTimerC:\Temp/cch19s1E.s:536 .bss:00000055 KompassSollWertC:\Temp/cch19s1E.s:542 .data:0000004f KompassValueC:\Temp/cch19s1E.s:549 .bss:00000057 Mess_Integral_HochC:\Temp/cch19s1E.s:555 .bss:0000005b SummeRollC:\Temp/cch19s1E.s:561 .bss:0000005f SummeNickC:\Temp/cch19s1E.s:567 .bss:00000063 Mess_Integral_Gier2C:\Temp/cch19s1E.s:573 .bss:00000067 Mess_Integral_GierC:\Temp/cch19s1E.s:579 .bss:0000006b Mess_IntegralRoll2C:\Temp/cch19s1E.s:585 .bss:0000006f Mess_IntegralRollC:\Temp/cch19s1E.s:591 .bss:00000073 Mess_IntegralNick2C:\Temp/cch19s1E.s:597 .bss:00000077 Mess_IntegralNickC:\Temp/cch19s1E.s:603 .bss:0000007b Integral_GierC:\Temp/cch19s1E.s:609 .bss:0000007f IntegralAccZC:\Temp/cch19s1E.s:615 .bss:00000083 IntegralAccRollC:\Temp/cch19s1E.s:621 .bss:00000087 IntegralAccNickC:\Temp/cch19s1E.s:627 .bss:0000008b IntegralRoll2C:\Temp/cch19s1E.s:633 .bss:0000008f IntegralRollC:\Temp/cch19s1E.s:639 .bss:00000093 IntegralNick2C:\Temp/cch19s1E.s:645 .bss:00000097 IntegralNickC:\Temp/cch19s1E.s:651 .bss:0000009b ControlHeadingC:\Temp/cch19s1E.s:657 .bss:0000009c NeutralAccZC:\Temp/cch19s1E.s:663 .bss:0000009e NaviCntAccC:\Temp/cch19s1E.s:669 .bss:000000a0 NeutralAccYC:\Temp/cch19s1E.s:675 .bss:000000a2 NeutralAccXC:\Temp/cch19s1E.s:681 .bss:000000a4 StartNeutralNickC:\Temp/cch19s1E.s:687 .bss:000000a6 StartNeutralRollC:\Temp/cch19s1E.s:693 .bss:000000a8 AdNeutralGierC:\Temp/cch19s1E.s:699 .bss:000000aa AdNeutralRollC:\Temp/cch19s1E.s:705 .bss:000000ac AdNeutralNickC:\Temp/cch19s1E.s:711 .bss:000000ae BaroExpandActiveC:\Temp/cch19s1E.s:716 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000002 ErsatzKompassInGradC:\Temp/cch19s1E.s:902 .text:0000022c PiepC:\Temp/cch19s1E.s:976 .text:000002b2 CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/cch19s1E.s:1118 .progmem.data:00000000 __c.35C:\Temp/cch19s1E.s:1123 .text:000003f4 SetNeutral*COM*:00000004 ErsatzKompass.bss:000000b0 tmpl.27C:\Temp/cch19s1E.s:1631 .bss:000000b4 tmpl2.28C:\Temp/cch19s1E.s:1632 .bss:000000b8 tmpl3.29C:\Temp/cch19s1E.s:1633 .bss:000000bc tmpl4.30C:\Temp/cch19s1E.s:1634 .bss:000000c0 oldNick.31C:\Temp/cch19s1E.s:1635 .bss:000000c2 oldRoll.32C:\Temp/cch19s1E.s:1636 .bss:000000c4 d2Roll.33C:\Temp/cch19s1E.s:1637 .bss:000000c6 d2Nick.34C:\Temp/cch19s1E.s:1641 .text:00000960 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/cch19s1E.s:3206 .text:000018c4 SendMotorDataC:\Temp/cch19s1E.s:3266 .text:0000193e 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/cch19s1E.s:1638 .bss:000000c8 sollGier.0C:\Temp/cch19s1E.s:4009 .bss:000000cc tmp_long.1C:\Temp/cch19s1E.s:4010 .bss:000000d0 tmp_long2.2C:\Temp/cch19s1E.s:4011 .bss:000000d4 IntegralFehlerNick.3C:\Temp/cch19s1E.s:4012 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/cch19s1E.s:4013 .bss:000000dc RcLostTimer.5C:\Temp/cch19s1E.s:4014 .bss:000000de delay_neutral.6C:\Temp/cch19s1E.s:4015 .bss:000000df delay_einschalten.7C:\Temp/cch19s1E.s:4016 .bss:000000e0 delay_ausschalten.8C:\Temp/cch19s1E.s:4017 .bss:000000e1 move_safety_switch.9C:\Temp/cch19s1E.s:4018 .bss:000000e2 ausgleichNick.10C:\Temp/cch19s1E.s:4019 .bss:000000e6 ausgleichRoll.11C:\Temp/cch19s1E.s:4020 .bss:000000ea stick_nick.12C:\Temp/cch19s1E.s:4021 .bss:000000ec stick_roll.13C:\Temp/cch19s1E.s:4022 .bss:000000ee cnt.14C:\Temp/cch19s1E.s:4023 .bss:000000f0 last_n_p.15C:\Temp/cch19s1E.s:4024 .bss:000000f1 last_n_n.16C:\Temp/cch19s1E.s:4025 .bss:000000f2 last_r_p.17C:\Temp/cch19s1E.s:4026 .bss:000000f3 last_r_n.18C:\Temp/cch19s1E.s:4027 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/cch19s1E.s:4028 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/cch19s1E.s:4029 .bss:000000fc HeightTrimming.21C:\Temp/cch19s1E.s:4030 .bss:000000fe FilterHCGas.22C:\Temp/cch19s1E.s:4031 .bss:00000100 HoverGasFilter.23C:\Temp/cch19s1E.s:4036 .data:00000051 delay.24C:\Temp/cch19s1E.s:4032 .bss:00000104 BaroAtUpperLimit.25C:\Temp/cch19s1E.s:4038 .bss:00000105 BaroAtLowerLimit.26C:\Temp/cch19s1E.s:4043 .text:00001f76 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 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__divmodsi4DebugOutAdWertGierAdWertAccHochUBatMotorServoNickValueCapacityGPS_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