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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,SollHoehe779 00a4 9091 0000 lds r25,(SollHoehe)+1780 00a8 A091 0000 lds r26,(SollHoehe)+2781 00ac B091 0000 lds r27,(SollHoehe)+3782 00b0 BC01 movw r22,r24783 00b2 CD01 movw r24,r26784 00b4 25E0 ldi r18,lo8(5)785 00b6 30E0 ldi r19,hi8(5)786 00b8 40E0 ldi r20,hlo8(5)787 00ba 50E0 ldi r21,hhi8(5)788 00bc 0E94 0000 call __divmodsi4789 00c0 3093 0000 sts (DebugOut+10)+1,r19790 00c4 2093 0000 sts DebugOut+10,r18791 00c8 8091 0000 lds r24,HoehenWert792 00cc 9091 0000 lds r25,(HoehenWert)+1793 00d0 A091 0000 lds r26,(HoehenWert)+2794 00d4 B091 0000 lds r27,(HoehenWert)+3795 00d8 BC01 movw r22,r24796 00da CD01 movw r24,r26797 00dc 25E0 ldi r18,lo8(5)798 00de 30E0 ldi r19,hi8(5)799 00e0 40E0 ldi r20,hlo8(5)800 00e2 50E0 ldi r21,hhi8(5)801 00e4 0E94 0000 call __divmodsi4802 00e8 3093 0000 sts (DebugOut+12)+1,r19803 00ec 2093 0000 sts DebugOut+12,r18804 00f0 8091 0000 lds r24,KompassValue805 00f4 9091 0000 lds r25,(KompassValue)+1806 00f8 9093 0000 sts (DebugOut+14)+1,r25807 00fc 8093 0000 sts DebugOut+14,r24808 0100 8091 0000 lds r24,KompassSollWert809 0104 9091 0000 lds r25,(KompassSollWert)+1810 0108 9093 0000 sts (DebugOut+16)+1,r25811 010c 8093 0000 sts DebugOut+16,r24812 0110 8091 0000 lds r24,Capacity813 0114 9091 0000 lds r25,(Capacity)+1814 0118 9093 0000 sts (DebugOut+18)+1,r25815 011c 8093 0000 sts DebugOut+18,r24816 0120 8091 0000 lds r24,UBat817 0124 9091 0000 lds r25,(UBat)+1818 0128 9093 0000 sts (DebugOut+20)+1,r25819 012c 8093 0000 sts DebugOut+20,r24820 0130 8091 0000 lds r24,Motor+1821 0134 9927 clr r25822 0136 9093 0000 sts (DebugOut+22)+1,r25823 013a 8093 0000 sts DebugOut+22,r24824 013e 8091 0000 lds r24,Motor+9825 0142 9927 clr r25826 0144 9093 0000 sts (DebugOut+24)+1,r25827 0148 8093 0000 sts DebugOut+24,r24828 014c 8091 0000 lds r24,Motor+17829 0150 9927 clr r25830 0152 9093 0000 sts (DebugOut+26)+1,r25831 0156 8093 0000 sts DebugOut+26,r24832 015a 8091 0000 lds r24,Motor+25833 015e 9927 clr r25834 0160 9093 0000 sts (DebugOut+28)+1,r25835 0164 8093 0000 sts DebugOut+28,r24836 0168 8091 0000 lds r24,Motor+33837 016c 9927 clr r25838 016e 9093 0000 sts (DebugOut+30)+1,r25839 0172 8093 0000 sts DebugOut+30,r24840 0176 8091 0000 lds r24,Motor+41841 017a 9927 clr r25842 017c 9093 0000 sts (DebugOut+32)+1,r25843 0180 8093 0000 sts DebugOut+32,r24844 0184 8091 0000 lds r24,SenderOkay845 0188 9927 clr r25846 018a 9093 0000 sts (DebugOut+34)+1,r25847 018e 8093 0000 sts DebugOut+34,r24848 0192 8091 0000 lds r24,ErsatzKompass849 0196 9091 0000 lds r25,(ErsatzKompass)+1850 019a A091 0000 lds r26,(ErsatzKompass)+2851 019e B091 0000 lds r27,(ErsatzKompass)+3852 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR853 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1854 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2855 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3856 01b2 BC01 movw r22,r24857 01b4 CD01 movw r24,r26858 01b6 0E94 0000 call __divmodsi4859 01ba 3093 0000 sts (DebugOut+36)+1,r19860 01be 2093 0000 sts DebugOut+36,r18861 01c2 8091 0000 lds r24,AdNeutralGier862 01c6 9091 0000 lds r25,(AdNeutralGier)+1863 01ca 2091 0000 lds r18,AdWertGier864 01ce 3091 0000 lds r19,(AdWertGier)+1865 01d2 821B sub r24,r18866 01d4 930B sbc r25,r19867 01d6 9093 0000 sts (DebugOut+38)+1,r25868 01da 8093 0000 sts DebugOut+38,r24869 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__870 01e2 1092 0000 sts DebugOut+40,__zero_reg__871 01e6 8091 0000 lds r24,ServoNickValue872 01ea 9091 0000 lds r25,(ServoNickValue)+1873 01ee 9093 0000 sts (DebugOut+42)+1,r25874 01f2 8093 0000 sts DebugOut+42,r24875 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__876 01fa 1092 0000 sts DebugOut+44,__zero_reg__877 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__878 0202 1092 0000 sts DebugOut+46,__zero_reg__879 0206 8091 0000 lds r24,Capacity+4880 020a 9091 0000 lds r25,(Capacity+4)+1881 020e 9093 0000 sts (DebugOut+48)+1,r25882 0212 8093 0000 sts DebugOut+48,r24883 0216 8091 0000 lds r24,Capacity+6884 021a 9927 clr r25885 021c 9093 0000 sts (DebugOut+50)+1,r25886 0220 8093 0000 sts DebugOut+50,r24887 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__888 0228 1092 0000 sts DebugOut+52,__zero_reg__889 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__890 0230 1092 0000 sts DebugOut+54,__zero_reg__891 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__892 0238 1092 0000 sts DebugOut+56,__zero_reg__893 023c 8091 0000 lds r24,AdWertAccHoch894 0240 9091 0000 lds r25,(AdWertAccHoch)+1895 0244 9093 0000 sts (DebugOut+58)+1,r25896 0248 8093 0000 sts DebugOut+58,r24897 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__898 0250 1092 0000 sts DebugOut+60,__zero_reg__899 0254 8091 0000 lds r24,GPS_Nick900 0258 9091 0000 lds r25,(GPS_Nick)+1901 025c 9093 0000 sts (DebugOut+62)+1,r25902 0260 8093 0000 sts DebugOut+62,r24903 0264 8091 0000 lds r24,GPS_Roll904 0268 9091 0000 lds r25,(GPS_Roll)+1905 026c 9093 0000 sts (DebugOut+64)+1,r25906 0270 8093 0000 sts DebugOut+64,r24907 0274 8091 0000 lds r24,VersionInfo+5908 0278 8823 tst r24909 027a 01F4 brne .L5910 027c 8091 0000 lds r24,VersionInfo+6911 0280 8823 tst r24912 0282 01F0 breq .L4913 .L5:914 0284 8091 0000 lds r24,DebugOut+1915 0288 8160 ori r24,lo8(1)916 028a 00C0 rjmp .L7917 .L4:918 028c 8091 0000 lds r24,DebugOut+1919 0290 8E7F andi r24,lo8(-2)920 .L7:921 0292 8093 0000 sts DebugOut+1,r24922 /* epilogue: frame size=0 */923 0296 1F91 pop r17924 0298 0F91 pop r16925 029a FF90 pop r15926 029c EF90 pop r14927 029e 0895 ret928 /* epilogue end (size=5) */929 /* function CopyDebugValues size 338 (329) */931 .global Piep933 Piep:934 /* prologue: frame size=0 */935 02a0 EF92 push r14936 02a2 FF92 push r15937 02a4 1F93 push r17938 02a6 CF93 push r28939 02a8 DF93 push r29940 /* prologue end (size=5) */941 02aa 182F mov r17,r24942 02ac 7B01 movw r14,r22943 02ae 8091 0000 lds r24,MotorenEin944 02b2 8823 tst r24945 02b4 01F4 brne .L8946 02b6 8091 0000 lds r24,PlatinenVersion947 02ba 8C30 cpi r24,lo8(12)948 02bc 00F0 brlo .L11949 02be 8631 cpi r24,lo8(22)950 02c0 01F4 brne .L10951 .L11:952 02c2 2998 cbi 37-0x20,1953 02c4 00C0 rjmp .L12954 .L10:955 02c6 299A sbi 37-0x20,1956 .L12:957 02c8 1150 subi r17,lo8(-(-1))958 02ca 1F3F cpi r17,lo8(-1)959 02cc 01F0 breq .L26960 02ce F092 0000 sts (beeptime)+1,r15961 02d2 E092 0000 sts beeptime,r14962 02d6 E701 movw r28,r14963 .L34:964 02d8 8091 0000 lds r24,beeptime965 02dc 9091 0000 lds r25,(beeptime)+1966 02e0 892B or r24,r25967 02e2 01F4 brne .L31968 02e4 2097 sbiw r28,0969 02e6 01F0 breq .L12970 .L31:971 02e8 8091 0000 lds r24,UpdateMotor972 02ec 8823 tst r24973 02ee 01F0 breq .L34974 02f0 1092 0000 sts UpdateMotor,__zero_reg__975 02f4 8091 0000 lds r24,beeptime976 02f8 9091 0000 lds r25,(beeptime)+1977 02fc 892B or r24,r25978 02fe 01F4 brne .L19979 0300 2197 sbiw r28,1980 .L19:981 0302 0E94 0000 call LIBFC_Polling982 0306 00C0 rjmp .L34983 .L26:984 0308 8091 0000 lds r24,PlatinenVersion985 030c 8C30 cpi r24,lo8(12)986 030e 00F0 brlo .L23987 0310 8631 cpi r24,lo8(22)988 0312 01F4 brne .L22989 .L23:990 0314 299A sbi 37-0x20,1991 0316 00C0 rjmp .L8992 .L22:993 0318 2998 cbi 37-0x20,1994 .L8:995 /* epilogue: frame size=0 */996 031a DF91 pop r29997 031c CF91 pop r28998 031e 1F91 pop r17999 0320 FF90 pop r151000 0322 EF90 pop r141001 0324 0895 ret1002 /* epilogue end (size=6) */1003 /* function Piep size 67 (56) */1005 .global CalibrierMittelwert1007 CalibrierMittelwert:1008 /* prologue: frame size=0 */1009 0326 CF93 push r281010 0328 DF93 push r291011 /* prologue end (size=2) */1012 032a 8091 0000 lds r24,PlatinenVersion1013 032e 8D30 cpi r24,lo8(13)1014 0330 01F4 brne .L361015 0332 0E94 0000 call SucheGyroOffset1016 .L36:1017 0336 1092 7A00 sts 122,__zero_reg__1018 033a 8091 0000 lds r24,AdWertNick1019 033e 9091 0000 lds r25,(AdWertNick)+11020 0342 9093 0000 sts (MesswertNick)+1,r251021 0346 8093 0000 sts MesswertNick,r241022 034a 8091 0000 lds r24,AdWertRoll1023 034e 9091 0000 lds r25,(AdWertRoll)+11024 0352 9093 0000 sts (MesswertRoll)+1,r251025 0356 8093 0000 sts MesswertRoll,r241026 035a 8091 0000 lds r24,AdWertGier1027 035e 9091 0000 lds r25,(AdWertGier)+11028 0362 9093 0000 sts (MesswertGier)+1,r251029 0366 8093 0000 sts MesswertGier,r241030 036a 2091 0000 lds r18,AdWertAccNick1031 036e 3091 0000 lds r19,(AdWertAccNick)+11032 0372 C901 movw r24,r181033 0374 880F lsl r241034 0376 991F rol r251035 0378 880F lsl r241036 037a 991F rol r251037 037c 820F add r24,r181038 037e 931F adc r25,r191039 0380 820F add r24,r181040 0382 931F adc r25,r191041 0384 9093 0000 sts (Mittelwert_AccNick)+1,r251042 0388 8093 0000 sts Mittelwert_AccNick,r241043 038c 2091 0000 lds r18,AdWertAccRoll1044 0390 3091 0000 lds r19,(AdWertAccRoll)+11045 0394 C901 movw r24,r181046 0396 880F lsl r241047 0398 991F rol r251048 039a 880F lsl r241049 039c 991F rol r251050 039e 820F add r24,r181051 03a0 931F adc r25,r191052 03a2 820F add r24,r181053 03a4 931F adc r25,r191054 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r251055 03aa 8093 0000 sts Mittelwert_AccRoll,r241056 03ae 8FEC ldi r24,lo8(-49)1057 03b0 8093 7A00 sts 122,r241058 03b4 A0E0 ldi r26,lo8(Poti)1059 03b6 B0E0 ldi r27,hi8(Poti)1060 03b8 C0E0 ldi r28,lo8(EE_Parameter+5)1061 03ba D0E0 ldi r29,hi8(EE_Parameter+5)1062 03bc 97E0 ldi r25,lo8(7)1063 .L46:1064 03be 8991 ld r24,Y+1065 03c0 E82F mov r30,r241066 03c2 FF27 clr r311067 03c4 EE0F add r30,r301068 03c6 FF1F adc r31,r311069 03c8 E050 subi r30,lo8(-(PPM_in))1070 03ca F040 sbci r31,hi8(-(PPM_in))1071 03cc 0190 ld __tmp_reg__,Z+1072 03ce F081 ld r31,Z1073 03d0 E02D mov r30,__tmp_reg__1074 03d2 E158 subi r30,lo8(-(127))1075 03d4 FF4F sbci r31,hi8(-(127))1076 03d6 1E16 cp __zero_reg__,r301077 03d8 1F06 cpc __zero_reg__,r311078 03da 04F0 brlt .L401079 03dc E0E0 ldi r30,lo8(0)1080 03de F0E0 ldi r31,hi8(0)1081 03e0 00C0 rjmp .L411082 .L40:1083 03e2 EF3F cpi r30,2551084 03e4 F105 cpc r31,__zero_reg__1085 03e6 04F0 brlt .L411086 03e8 EFEF ldi r30,lo8(255)1087 03ea F0E0 ldi r31,hi8(255)1088 .L41:1089 03ec 8C91 ld r24,X1090 03ee 282F mov r18,r241091 03f0 3327 clr r191092 03f2 E217 cp r30,r181093 03f4 F307 cpc r31,r191094 03f6 04F4 brge .L431095 03f8 8150 subi r24,lo8(-(-1))1096 03fa 00C0 rjmp .L491097 .L43:1098 03fc 2E17 cp r18,r301099 03fe 3F07 cpc r19,r311100 0400 04F4 brge .L391101 0402 8F5F subi r24,lo8(-(1))1102 .L49:1103 0404 8C93 st X,r241104 .L39:1105 0406 9150 subi r25,lo8(-(-1))1106 0408 1196 adiw r26,11107 040a 97FF sbrs r25,71108 040c 00C0 rjmp .L461109 040e 8091 0000 lds r24,EE_Parameter+651110 0412 9927 clr r251111 0414 AA27 clr r261112 0416 BB27 clr r271113 0418 BC01 movw r22,r241114 041a CD01 movw r24,r261115 041c 24EC ldi r18,lo8(2500)1116 041e 39E0 ldi r19,hi8(2500)1117 0420 40E0 ldi r20,hlo8(2500)1118 0422 50E0 ldi r21,hhi8(2500)1119 0424 0E94 0000 call __mulsi31120 0428 DC01 movw r26,r241121 042a CB01 movw r24,r221122 042c 8093 0000 sts Umschlag180Nick,r241123 0430 9093 0000 sts (Umschlag180Nick)+1,r251124 0434 A093 0000 sts (Umschlag180Nick)+2,r261125 0438 B093 0000 sts (Umschlag180Nick)+3,r271126 043c 8091 0000 lds r24,EE_Parameter+661127 0440 9927 clr r251128 0442 AA27 clr r261129 0444 BB27 clr r271130 0446 BC01 movw r22,r241131 0448 CD01 movw r24,r261132 044a 0E94 0000 call __mulsi31133 044e DC01 movw r26,r241134 0450 CB01 movw r24,r221135 0452 8093 0000 sts Umschlag180Roll,r241136 0456 9093 0000 sts (Umschlag180Roll)+1,r251137 045a A093 0000 sts (Umschlag180Roll)+2,r261138 045e B093 0000 sts (Umschlag180Roll)+3,r271139 /* epilogue: frame size=0 */1140 0462 DF91 pop r291141 0464 CF91 pop r281142 0466 0895 ret1143 /* epilogue end (size=3) */1144 /* function CalibrierMittelwert size 161 (156) */1146 .section .progmem.data,"a",@progbits1149 __c.35:1150 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1150 4320 6E6F1150 7420 63611150 6C69 62721150 6174 65641151 .text1152 .global SetNeutral1154 SetNeutral:1155 /* prologue: frame size=0 */1156 0468 A0E0 ldi r26,lo8(0)1157 046a B0E0 ldi r27,hi8(0)1158 046c E0E0 ldi r30,pm_lo8(1f)1159 046e F0E0 ldi r31,pm_hi8(1f)1160 0470 0C94 0000 jmp __prologue_saves__+121161 1:1162 /* prologue end (size=6) */1163 0474 882E mov r8,r241164 0476 C0E0 ldi r28,lo8(0)1165 0478 D0E0 ldi r29,hi8(0)1166 047a 7E01 movw r14,r281167 047c 6E01 movw r12,r281168 047e 1092 0000 sts VersionInfo+5,__zero_reg__1169 0482 D093 0000 sts (NeutralAccX)+1,r291170 0486 C093 0000 sts NeutralAccX,r281171 048a D093 0000 sts (NeutralAccY)+1,r291172 048e C093 0000 sts NeutralAccY,r281173 0492 D093 0000 sts (NeutralAccZ)+1,r291174 0496 C093 0000 sts NeutralAccZ,r281175 049a D093 0000 sts (AdNeutralNick)+1,r291176 049e C093 0000 sts AdNeutralNick,r281177 04a2 D093 0000 sts (AdNeutralRoll)+1,r291178 04a6 C093 0000 sts AdNeutralRoll,r281179 04aa D093 0000 sts (AdNeutralGier)+1,r291180 04ae C093 0000 sts AdNeutralGier,r281181 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1182 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1183 04ba 1092 0000 sts ExpandBaro,__zero_reg__1184 04be 0E94 0000 call CalibrierMittelwert1185 04c2 84E6 ldi r24,lo8(100)1186 04c4 90E0 ldi r25,hi8(100)1187 04c6 0E94 0000 call Delay_ms_Mess1188 04ca 0E94 0000 call CalibrierMittelwert1189 04ce 8091 0000 lds r24,EE_Parameter+131190 04d2 80FF sbrs r24,01191 04d4 00C0 rjmp .L511192 04d6 8091 0000 lds r24,MessLuftdruck1193 04da 9091 0000 lds r25,(MessLuftdruck)+11194 04de 875B subi r24,lo8(951)1195 04e0 9340 sbci r25,hi8(951)1196 04e2 00F4 brsh .L531197 04e4 8091 0000 lds r24,MessLuftdruck1198 04e8 9091 0000 lds r25,(MessLuftdruck)+11199 04ec 8E5E subi r24,lo8(750)1200 04ee 9240 sbci r25,hi8(750)1201 04f0 00F4 brsh .L511202 .L53:1203 04f2 0E94 0000 call SucheLuftruckOffset1204 .L51:1205 04f6 0FE1 ldi r16,lo8(31)1206 .L57:1207 04f8 8AE0 ldi r24,lo8(10)1208 04fa 90E0 ldi r25,hi8(10)1209 04fc 0E94 0000 call Delay_ms_Mess1210 0500 8091 0000 lds r24,AdWertGier1211 0504 9091 0000 lds r25,(AdWertGier)+11212 0508 C80F add r28,r241213 050a D91F adc r29,r251214 050c 8091 0000 lds r24,AdWertNick1215 0510 9091 0000 lds r25,(AdWertNick)+11216 0514 E80E add r14,r241217 0516 F91E adc r15,r251218 0518 8091 0000 lds r24,AdWertRoll1219 051c 9091 0000 lds r25,(AdWertRoll)+11220 0520 C80E add r12,r241221 0522 D91E adc r13,r251222 0524 0150 subi r16,lo8(-(-1))1223 0526 07FF sbrs r16,71224 0528 00C0 rjmp .L571225 052a 9701 movw r18,r141226 052c 205F subi r18,lo8(-(16))1227 052e 3F4F sbci r19,hi8(-(16))1228 0530 3695 lsr r191229 0532 2795 ror r181230 0534 3695 lsr r191231 0536 2795 ror r181232 0538 3093 0000 sts (AdNeutralNick)+1,r191233 053c 2093 0000 sts AdNeutralNick,r181234 0540 C601 movw r24,r121235 0542 4096 adiw r24,161236 0544 9695 lsr r251237 0546 8795 ror r241238 0548 9695 lsr r251239 054a 8795 ror r241240 054c 9093 0000 sts (AdNeutralRoll)+1,r251241 0550 8093 0000 sts AdNeutralRoll,r241242 0554 6096 adiw r28,161243 0556 F5E0 ldi r31,51244 0558 D695 1: lsr r291245 055a C795 ror r281246 055c FA95 dec r311247 055e 01F4 brne 1b1248 0560 D093 0000 sts (AdNeutralGier)+1,r291249 0564 C093 0000 sts AdNeutralGier,r281250 0568 9093 0000 sts (StartNeutralRoll)+1,r251251 056c 8093 0000 sts StartNeutralRoll,r241252 0570 3093 0000 sts (StartNeutralNick)+1,r191253 0574 2093 0000 sts StartNeutralNick,r181254 0578 8820 tst r81255 057a 01F4 brne .+21256 057c 00C0 rjmp .L581257 057e 8091 0000 lds r24,Mittelwert_AccNick1258 0582 9091 0000 lds r25,(Mittelwert_AccNick)+11259 0586 97FF sbrs r25,71260 0588 00C0 rjmp .L591261 058a 9095 com r251262 058c 8195 neg r241263 058e 9F4F sbci r25,lo8(-1)1264 .L59:1265 0590 6CE0 ldi r22,lo8(12)1266 0592 70E0 ldi r23,hi8(12)1267 0594 0E94 0000 call __divmodhi41268 0598 9B01 movw r18,r221269 059a 7093 0000 sts (NeutralAccX)+1,r231270 059e 6093 0000 sts NeutralAccX,r221271 05a2 8091 0000 lds r24,Mittelwert_AccRoll1272 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+11273 05aa 97FF sbrs r25,71274 05ac 00C0 rjmp .L601275 05ae 9095 com r251276 05b0 8195 neg r241277 05b2 9F4F sbci r25,lo8(-1)1278 .L60:1279 05b4 6CE0 ldi r22,lo8(12)1280 05b6 70E0 ldi r23,hi8(12)1281 05b8 0E94 0000 call __divmodhi41282 05bc 7093 0000 sts (NeutralAccY)+1,r231283 05c0 6093 0000 sts NeutralAccY,r221284 05c4 8091 0000 lds r24,Aktuell_az1285 05c8 9091 0000 lds r25,(Aktuell_az)+11286 05cc 9093 0000 sts (NeutralAccZ)+1,r251287 05d0 8093 0000 sts NeutralAccZ,r241288 05d4 B901 movw r22,r181289 05d6 84E0 ldi r24,lo8(4)1290 05d8 90E0 ldi r25,hi8(4)1291 05da 0E94 0000 call SetParamWord1292 05de 6091 0000 lds r22,NeutralAccY1293 05e2 7091 0000 lds r23,(NeutralAccY)+11294 05e6 86E0 ldi r24,lo8(6)1295 05e8 90E0 ldi r25,hi8(6)1296 05ea 0E94 0000 call SetParamWord1297 05ee 6091 0000 lds r22,NeutralAccZ1298 05f2 7091 0000 lds r23,(NeutralAccZ)+11299 05f6 88E0 ldi r24,lo8(8)1300 05f8 90E0 ldi r25,hi8(8)1301 05fa 0E94 0000 call SetParamWord1302 05fe 00C0 rjmp .L611303 .L58:1304 0600 84E0 ldi r24,lo8(4)1305 0602 90E0 ldi r25,hi8(4)1306 0604 0E94 0000 call GetParamWord1307 0608 9093 0000 sts (NeutralAccX)+1,r251308 060c 8093 0000 sts NeutralAccX,r241309 0610 86E0 ldi r24,lo8(6)1310 0612 90E0 ldi r25,hi8(6)1311 0614 0E94 0000 call GetParamWord1312 0618 9093 0000 sts (NeutralAccY)+1,r251313 061c 8093 0000 sts NeutralAccY,r241314 0620 88E0 ldi r24,lo8(8)1315 0622 90E0 ldi r25,hi8(8)1316 0624 0E94 0000 call GetParamWord1317 0628 9C01 movw r18,r241318 062a 9093 0000 sts (NeutralAccZ)+1,r251319 062e 8093 0000 sts NeutralAccZ,r241320 0632 8091 0000 lds r24,NeutralAccX1321 0636 9091 0000 lds r25,(NeutralAccX)+11322 063a 8150 subi r24,lo8(2049)1323 063c 9840 sbci r25,hi8(2049)1324 063e 00F4 brsh .L631325 0640 8091 0000 lds r24,NeutralAccY1326 0644 9091 0000 lds r25,(NeutralAccY)+11327 0648 8150 subi r24,lo8(2049)1328 064a 9840 sbci r25,hi8(2049)1329 064c 00F4 brsh .L631330 064e 2150 subi r18,lo8(1025)1331 0650 3440 sbci r19,hi8(1025)1332 0652 00F0 brlo .L611333 .L63:1334 0654 80E0 ldi r24,lo8(__c.35)1335 0656 90E0 ldi r25,hi8(__c.35)1336 0658 9F93 push r251337 065a 8F93 push r241338 065c 80E0 ldi r24,lo8(pm(uart_putchar))1339 065e 90E0 ldi r25,hi8(pm(uart_putchar))1340 0660 9F93 push r251341 0662 8F93 push r241342 0664 E091 0000 lds r30,_printf_P1343 0668 F091 0000 lds r31,(_printf_P)+11344 066c 0995 icall1345 066e 8091 0000 lds r24,Mittelwert_AccNick1346 0672 9091 0000 lds r25,(Mittelwert_AccNick)+11347 0676 97FF sbrs r25,71348 0678 00C0 rjmp .L641349 067a 9095 com r251350 067c 8195 neg r241351 067e 9F4F sbci r25,lo8(-1)1352 .L64:1353 0680 6CE0 ldi r22,lo8(12)1354 0682 70E0 ldi r23,hi8(12)1355 0684 0E94 0000 call __divmodhi41356 0688 7093 0000 sts (NeutralAccX)+1,r231357 068c 6093 0000 sts NeutralAccX,r221358 0690 8091 0000 lds r24,Mittelwert_AccRoll1359 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+11360 0698 97FF sbrs r25,71361 069a 00C0 rjmp .L651362 069c 9095 com r251363 069e 8195 neg r241364 06a0 9F4F sbci r25,lo8(-1)1365 .L65:1366 06a2 6CE0 ldi r22,lo8(12)1367 06a4 70E0 ldi r23,hi8(12)1368 06a6 0E94 0000 call __divmodhi41369 06aa 7093 0000 sts (NeutralAccY)+1,r231370 06ae 6093 0000 sts NeutralAccY,r221371 06b2 8091 0000 lds r24,Aktuell_az1372 06b6 9091 0000 lds r25,(Aktuell_az)+11373 06ba 9093 0000 sts (NeutralAccZ)+1,r251374 06be 8093 0000 sts NeutralAccZ,r241375 06c2 0F90 pop __tmp_reg__1376 06c4 0F90 pop __tmp_reg__1377 06c6 0F90 pop __tmp_reg__1378 06c8 0F90 pop __tmp_reg__1379 .L61:1380 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__1381 06ce 1092 0000 sts MesswertNick,__zero_reg__1382 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__1383 06d6 1092 0000 sts MesswertRoll,__zero_reg__1384 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__1385 06de 1092 0000 sts MesswertGier,__zero_reg__1386 06e2 84E6 ldi r24,lo8(100)1387 06e4 90E0 ldi r25,hi8(100)1388 06e6 0E94 0000 call Delay_ms_Mess1389 06ea 8091 0000 lds r24,AdWertAccNick1390 06ee 9091 0000 lds r25,(AdWertAccNick)+11391 06f2 9C01 movw r18,r241392 06f4 220F lsl r181393 06f6 331F rol r191394 06f8 220F lsl r181395 06fa 331F rol r191396 06fc 280F add r18,r241397 06fe 391F adc r19,r251398 0700 280F add r18,r241399 0702 391F adc r19,r251400 0704 3093 0000 sts (Mittelwert_AccNick)+1,r191401 0708 2093 0000 sts Mittelwert_AccNick,r181402 070c 8091 0000 lds r24,AdWertAccRoll1403 0710 9091 0000 lds r25,(AdWertAccRoll)+11404 0714 8C01 movw r16,r241405 0716 000F lsl r161406 0718 111F rol r171407 071a 000F lsl r161408 071c 111F rol r171409 071e 080F add r16,r241410 0720 191F adc r17,r251411 0722 080F add r16,r241412 0724 191F adc r17,r251413 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r171414 072a 0093 0000 sts Mittelwert_AccRoll,r161415 072e 8091 0000 lds r24,EE_Parameter+281416 0732 C82E mov r12,r241417 0734 DD24 clr r131418 0736 EE24 clr r141419 0738 FF24 clr r151420 073a 4427 clr r201421 073c 37FD sbrc r19,71422 073e 4095 com r201423 0740 542F mov r21,r201424 0742 C701 movw r24,r141425 0744 B601 movw r22,r121426 0746 0E94 0000 call __mulsi31427 074a 4B01 movw r8,r221428 074c 5C01 movw r10,r241429 074e 6093 0000 sts IntegralNick,r221430 0752 7093 0000 sts (IntegralNick)+1,r231431 0756 8093 0000 sts (IntegralNick)+2,r241432 075a 9093 0000 sts (IntegralNick)+3,r251433 075e 9801 movw r18,r161434 0760 4427 clr r201435 0762 37FD sbrc r19,71436 0764 4095 com r201437 0766 542F mov r21,r201438 0768 C701 movw r24,r141439 076a B601 movw r22,r121440 076c 0E94 0000 call __mulsi31441 0770 DC01 movw r26,r241442 0772 CB01 movw r24,r221443 0774 8093 0000 sts IntegralRoll,r241444 0778 9093 0000 sts (IntegralRoll)+1,r251445 077c A093 0000 sts (IntegralRoll)+2,r261446 0780 B093 0000 sts (IntegralRoll)+3,r271447 0784 8092 0000 sts Mess_IntegralNick,r81448 0788 9092 0000 sts (Mess_IntegralNick)+1,r91449 078c A092 0000 sts (Mess_IntegralNick)+2,r101450 0790 B092 0000 sts (Mess_IntegralNick)+3,r111451 0794 8093 0000 sts Mess_IntegralRoll,r241452 0798 9093 0000 sts (Mess_IntegralRoll)+1,r251453 079c A093 0000 sts (Mess_IntegralRoll)+2,r261454 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r271455 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__1456 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1457 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1458 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1459 07b4 8091 0000 lds r24,Luftdruck1460 07b8 9091 0000 lds r25,(Luftdruck)+11461 07bc A091 0000 lds r26,(Luftdruck)+21462 07c0 B091 0000 lds r27,(Luftdruck)+31463 07c4 9093 0000 sts (StartLuftdruck)+1,r251464 07c8 8093 0000 sts StartLuftdruck,r241465 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__1466 07d0 1092 0000 sts VarioMeter,__zero_reg__1467 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1468 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1469 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1470 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1471 07e4 0091 0000 lds r16,KompassValue1472 07e8 1091 0000 lds r17,(KompassValue)+11473 07ec 1093 0000 sts (KompassSollWert)+1,r171474 07f0 0093 0000 sts KompassSollWert,r161475 07f4 84E6 ldi r24,lo8(100)1476 07f6 90E0 ldi r25,hi8(100)1477 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r251478 07fc 8093 0000 sts KompassSignalSchlecht,r241479 0800 82E3 ldi r24,lo8(50)1480 0802 90E0 ldi r25,hi8(50)1481 0804 9093 0000 sts (beeptime)+1,r251482 0808 8093 0000 sts beeptime,r241483 080c 8091 0000 lds r24,EE_Parameter+651484 0810 9927 clr r251485 0812 AA27 clr r261486 0814 BB27 clr r271487 0816 BC01 movw r22,r241488 0818 CD01 movw r24,r261489 081a 24EC ldi r18,lo8(2500)1490 081c 39E0 ldi r19,hi8(2500)1491 081e 40E0 ldi r20,hlo8(2500)1492 0820 50E0 ldi r21,hhi8(2500)1493 0822 0E94 0000 call __mulsi31494 0826 DC01 movw r26,r241495 0828 CB01 movw r24,r221496 082a 8856 subi r24,lo8(-(15000))1497 082c 954C sbci r25,hi8(-(15000))1498 082e AF4F sbci r26,hlo8(-(15000))1499 0830 BF4F sbci r27,hhi8(-(15000))1500 0832 8093 0000 sts Umschlag180Nick,r241501 0836 9093 0000 sts (Umschlag180Nick)+1,r251502 083a A093 0000 sts (Umschlag180Nick)+2,r261503 083e B093 0000 sts (Umschlag180Nick)+3,r271504 0842 8091 0000 lds r24,EE_Parameter+661505 0846 9927 clr r251506 0848 AA27 clr r261507 084a BB27 clr r271508 084c BC01 movw r22,r241509 084e CD01 movw r24,r261510 0850 0E94 0000 call __mulsi31511 0854 DC01 movw r26,r241512 0856 CB01 movw r24,r221513 0858 8856 subi r24,lo8(-(15000))1514 085a 954C sbci r25,hi8(-(15000))1515 085c AF4F sbci r26,hlo8(-(15000))1516 085e BF4F sbci r27,hhi8(-(15000))1517 0860 8093 0000 sts Umschlag180Roll,r241518 0864 9093 0000 sts (Umschlag180Roll)+1,r251519 0868 A093 0000 sts (Umschlag180Roll)+2,r261520 086c B093 0000 sts (Umschlag180Roll)+3,r271521 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1522 0874 1092 0000 sts ExternHoehenValue,__zero_reg__1523 0878 C801 movw r24,r161524 087a AA27 clr r261525 087c 97FD sbrc r25,71526 087e A095 com r261527 0880 BA2F mov r27,r261528 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR1529 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11530 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21531 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31532 0892 BC01 movw r22,r241533 0894 CD01 movw r24,r261534 0896 0E94 0000 call __mulsi31535 089a DC01 movw r26,r241536 089c CB01 movw r24,r221537 089e 8093 0000 sts ErsatzKompass,r241538 08a2 9093 0000 sts (ErsatzKompass)+1,r251539 08a6 A093 0000 sts (ErsatzKompass)+2,r261540 08aa B093 0000 sts (ErsatzKompass)+3,r271541 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1542 08b2 1092 0000 sts GierGyroFehler,__zero_reg__1543 08b6 0E94 0000 call LED_Init1544 08ba 8091 0000 lds r24,FC_StatusFlags1545 08be 8460 ori r24,lo8(4)1546 08c0 8093 0000 sts FC_StatusFlags,r241547 08c4 8FEF ldi r24,lo8(-1)1548 08c6 8093 0000 sts FromNaviCtrl_Value,r241549 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1550 08ce 80E2 ldi r24,lo8(32)1551 08d0 8093 0000 sts FromNaviCtrl_Value+2,r241552 08d4 C0E0 ldi r28,lo8(Poti)1553 08d6 D0E0 ldi r29,hi8(Poti)1554 08d8 A0E0 ldi r26,lo8(EE_Parameter+5)1555 08da B0E0 ldi r27,hi8(EE_Parameter+5)1556 08dc 07E0 ldi r16,lo8(7)1557 .L69:1558 08de 8D91 ld r24,X+1559 08e0 E82F mov r30,r241560 08e2 FF27 clr r311561 08e4 EE0F add r30,r301562 08e6 FF1F adc r31,r311563 08e8 E050 subi r30,lo8(-(PPM_in))1564 08ea F040 sbci r31,hi8(-(PPM_in))1565 08ec 8081 ld r24,Z1566 08ee 9181 ldd r25,Z+11567 08f0 8158 subi r24,lo8(-(127))1568 08f2 8993 st Y+,r241569 08f4 0150 subi r16,lo8(-(-1))1570 08f6 07FF sbrs r16,71571 08f8 00C0 rjmp .L691572 08fa 84E6 ldi r24,lo8(100)1573 08fc 8093 0000 sts SenderOkay,r241574 0900 8091 0000 lds r24,ServoActive1575 0904 8823 tst r241576 0906 01F0 breq .L701577 0908 579A sbi 42-0x20,71578 090a 00C0 rjmp .L711579 .L70:1580 090c 80E0 ldi r24,lo8(4352)1581 090e 91E1 ldi r25,hi8(4352)1582 0910 9093 0000 sts (NickServoValue)+1,r251583 0914 8093 0000 sts NickServoValue,r241584 .L71:1585 0918 8091 0000 lds r24,AdNeutralNick1586 091c 9091 0000 lds r25,(AdNeutralNick)+11587 0920 8056 subi r24,lo8(-(-2400))1588 0922 9940 sbci r25,hi8(-(-2400))1589 0924 815C subi r24,lo8(11201)1590 0926 9B42 sbci r25,hi8(11201)1591 0928 00F0 brlo .L721592 092a 8091 0000 lds r24,VersionInfo+51593 092e 8160 ori r24,lo8(1)1594 0930 8093 0000 sts VersionInfo+5,r241595 .L72:1596 0934 8091 0000 lds r24,AdNeutralRoll1597 0938 9091 0000 lds r25,(AdNeutralRoll)+11598 093c 8056 subi r24,lo8(-(-2400))1599 093e 9940 sbci r25,hi8(-(-2400))1600 0940 815C subi r24,lo8(11201)1601 0942 9B42 sbci r25,hi8(11201)1602 0944 00F0 brlo .L731603 0946 8091 0000 lds r24,VersionInfo+51604 094a 8260 ori r24,lo8(2)1605 094c 8093 0000 sts VersionInfo+5,r241606 .L73:1607 0950 8091 0000 lds r24,AdNeutralGier1608 0954 9091 0000 lds r25,(AdNeutralGier)+11609 0958 8C52 subi r24,lo8(-(-300))1610 095a 9140 sbci r25,hi8(-(-300))1611 095c 8957 subi r24,lo8(1401)1612 095e 9540 sbci r25,hi8(1401)1613 0960 00F0 brlo .L741614 0962 8091 0000 lds r24,VersionInfo+51615 0966 8460 ori r24,lo8(4)1616 0968 8093 0000 sts VersionInfo+5,r241617 .L74:1618 096c 8091 0000 lds r24,NeutralAccX1619 0970 9091 0000 lds r25,(NeutralAccX)+11620 0974 8C52 subi r24,lo8(-(-300))1621 0976 9140 sbci r25,hi8(-(-300))1622 0978 835C subi r24,lo8(451)1623 097a 9140 sbci r25,hi8(451)1624 097c 00F0 brlo .L751625 097e 8091 0000 lds r24,VersionInfo+51626 0982 8860 ori r24,lo8(8)1627 0984 8093 0000 sts VersionInfo+5,r241628 .L75:1629 0988 8091 0000 lds r24,NeutralAccY1630 098c 9091 0000 lds r25,(NeutralAccY)+11631 0990 8C52 subi r24,lo8(-(-300))1632 0992 9140 sbci r25,hi8(-(-300))1633 0994 835C subi r24,lo8(451)1634 0996 9140 sbci r25,hi8(451)1635 0998 00F0 brlo .L761636 099a 8091 0000 lds r24,VersionInfo+51637 099e 8061 ori r24,lo8(16)1638 09a0 8093 0000 sts VersionInfo+5,r241639 .L76:1640 09a4 8091 0000 lds r24,NeutralAccZ1641 09a8 9091 0000 lds r25,(NeutralAccZ)+11642 09ac 8050 subi r24,lo8(-(-512))1643 09ae 9240 sbci r25,hi8(-(-512))1644 09b0 8355 subi r24,lo8(339)1645 09b2 9140 sbci r25,hi8(339)1646 09b4 00F0 brlo .L771647 09b6 8091 0000 lds r24,VersionInfo+51648 09ba 8062 ori r24,lo8(32)1649 09bc 8093 0000 sts VersionInfo+5,r241650 .L77:1651 09c0 86E4 ldi r24,lo8(70)1652 09c2 8093 0000 sts carefree_old,r241653 09c6 0E94 0000 call LIBFC_HoTT_Clear1654 /* epilogue: frame size=0 */1655 09ca ECE0 ldi r30,121656 09cc CDB7 in r28,__SP_L__1657 09ce DEB7 in r29,__SP_H__1658 09d0 0C94 0000 jmp __epilogue_restores__+121659 /* epilogue end (size=5) */1660 /* function SetNeutral size 705 (694) */1662 .lcomm tmpl.27,41663 .lcomm tmpl2.28,41664 .lcomm tmpl3.29,41665 .lcomm tmpl4.30,41666 .lcomm oldNick.31,21667 .lcomm oldRoll.32,21668 .lcomm d2Roll.33,21669 .lcomm d2Nick.34,21670 .global Mittelwert1672 Mittelwert:1673 /* prologue: frame size=19 */1674 09d4 A3E1 ldi r26,lo8(19)1675 09d6 B0E0 ldi r27,hi8(19)1676 09d8 E0E0 ldi r30,pm_lo8(1f)1677 09da F0E0 ldi r31,pm_hi8(1f)1678 09dc 0C94 0000 jmp __prologue_saves__+01679 1:1680 /* prologue end (size=6) */1681 09e0 8091 0000 lds r24,AdNeutralGier1682 09e4 9091 0000 lds r25,(AdNeutralGier)+11683 09e8 2091 0000 lds r18,AdWertGier1684 09ec 3091 0000 lds r19,(AdWertGier)+11685 09f0 821B sub r24,r181686 09f2 930B sbc r25,r191687 09f4 9093 0000 sts (MesswertGier)+1,r251688 09f8 8093 0000 sts MesswertGier,r241689 09fc 8091 0000 lds r24,AdWertNickFilter1690 0a00 9091 0000 lds r25,(AdWertNickFilter)+11691 0a04 97FD sbrc r25,71692 0a06 0796 adiw r24,71693 .L83:1694 0a08 9C01 movw r18,r241695 0a0a 13E0 ldi r17,31696 0a0c 3595 1: asr r191697 0a0e 2795 ror r181698 0a10 1A95 dec r171699 0a12 01F4 brne 1b1700 0a14 3093 0000 sts (MesswertNick)+1,r191701 0a18 2093 0000 sts MesswertNick,r181702 0a1c 8091 0000 lds r24,AdWertRollFilter1703 0a20 9091 0000 lds r25,(AdWertRollFilter)+11704 0a24 97FD sbrc r25,71705 0a26 0796 adiw r24,71706 .L84:1707 0a28 B3E0 ldi r27,31708 0a2a 9595 1: asr r251709 0a2c 8795 ror r241710 0a2e BA95 dec r271711 0a30 01F4 brne 1b1712 0a32 9093 0000 sts (MesswertRoll)+1,r251713 0a36 8093 0000 sts MesswertRoll,r241714 0a3a 3093 0000 sts (RohMesswertNick)+1,r191715 0a3e 2093 0000 sts RohMesswertNick,r181716 0a42 9093 0000 sts (RohMesswertRoll)+1,r251717 0a46 8093 0000 sts RohMesswertRoll,r241718 0a4a 8091 0000 lds r24,Mittelwert_AccNick1719 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+11720 0a52 AC01 movw r20,r241721 0a54 440F lsl r201722 0a56 551F rol r211723 0a58 480F add r20,r241724 0a5a 591F adc r21,r251725 0a5c 2091 0000 lds r18,AdWertAccNick1726 0a60 3091 0000 lds r19,(AdWertAccNick)+11727 0a64 C901 movw r24,r181728 0a66 880F lsl r241729 0a68 991F rol r251730 0a6a 880F lsl r241731 0a6c 991F rol r251732 0a6e 820F add r24,r181733 0a70 931F adc r25,r191734 0a72 820F add r24,r181735 0a74 931F adc r25,r191736 0a76 480F add r20,r241737 0a78 591F adc r21,r251738 0a7a 57FF sbrs r21,71739 0a7c 00C0 rjmp .L851740 0a7e 4D5F subi r20,lo8(-(3))1741 0a80 5F4F sbci r21,hi8(-(3))1742 .L85:1743 0a82 5595 asr r211744 0a84 4795 ror r201745 0a86 5595 asr r211746 0a88 4795 ror r201747 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r211748 0a8e 4093 0000 sts Mittelwert_AccNick,r201749 0a92 8091 0000 lds r24,Mittelwert_AccRoll1750 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+11751 0a9a AC01 movw r20,r241752 0a9c 440F lsl r201753 0a9e 551F rol r211754 0aa0 480F add r20,r241755 0aa2 591F adc r21,r251756 0aa4 2091 0000 lds r18,AdWertAccRoll1757 0aa8 3091 0000 lds r19,(AdWertAccRoll)+11758 0aac C901 movw r24,r181759 0aae 880F lsl r241760 0ab0 991F rol r251761 0ab2 880F lsl r241762 0ab4 991F rol r251763 0ab6 820F add r24,r181764 0ab8 931F adc r25,r191765 0aba 820F add r24,r181766 0abc 931F adc r25,r191767 0abe 480F add r20,r241768 0ac0 591F adc r21,r251769 0ac2 57FF sbrs r21,71770 0ac4 00C0 rjmp .L861771 0ac6 4D5F subi r20,lo8(-(3))1772 0ac8 5F4F sbci r21,hi8(-(3))1773 .L86:1774 0aca 5595 asr r211775 0acc 4795 ror r201776 0ace 5595 asr r211777 0ad0 4795 ror r201778 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r211779 0ad6 4093 0000 sts Mittelwert_AccRoll,r201780 0ada 2091 0000 lds r18,AdWertAccNick1781 0ade 3091 0000 lds r19,(AdWertAccNick)+11782 0ae2 C901 movw r24,r181783 0ae4 880F lsl r241784 0ae6 991F rol r251785 0ae8 880F lsl r241786 0aea 991F rol r251787 0aec 820F add r24,r181788 0aee 931F adc r25,r191789 0af0 820F add r24,r181790 0af2 931F adc r25,r191791 0af4 9C01 movw r18,r241792 0af6 4427 clr r201793 0af8 37FD sbrc r19,71794 0afa 4095 com r201795 0afc 542F mov r21,r201796 0afe 8091 0000 lds r24,IntegralAccNick1797 0b02 9091 0000 lds r25,(IntegralAccNick)+11798 0b06 A091 0000 lds r26,(IntegralAccNick)+21799 0b0a B091 0000 lds r27,(IntegralAccNick)+31800 0b0e 820F add r24,r181801 0b10 931F adc r25,r191802 0b12 A41F adc r26,r201803 0b14 B51F adc r27,r211804 0b16 8093 0000 sts IntegralAccNick,r241805 0b1a 9093 0000 sts (IntegralAccNick)+1,r251806 0b1e A093 0000 sts (IntegralAccNick)+2,r261807 0b22 B093 0000 sts (IntegralAccNick)+3,r271808 0b26 2091 0000 lds r18,AdWertAccRoll1809 0b2a 3091 0000 lds r19,(AdWertAccRoll)+11810 0b2e C901 movw r24,r181811 0b30 880F lsl r241812 0b32 991F rol r251813 0b34 880F lsl r241814 0b36 991F rol r251815 0b38 820F add r24,r181816 0b3a 931F adc r25,r191817 0b3c 820F add r24,r181818 0b3e 931F adc r25,r191819 0b40 9C01 movw r18,r241820 0b42 4427 clr r201821 0b44 37FD sbrc r19,71822 0b46 4095 com r201823 0b48 542F mov r21,r201824 0b4a 8091 0000 lds r24,IntegralAccRoll1825 0b4e 9091 0000 lds r25,(IntegralAccRoll)+11826 0b52 A091 0000 lds r26,(IntegralAccRoll)+21827 0b56 B091 0000 lds r27,(IntegralAccRoll)+31828 0b5a 820F add r24,r181829 0b5c 931F adc r25,r191830 0b5e A41F adc r26,r201831 0b60 B51F adc r27,r211832 0b62 8093 0000 sts IntegralAccRoll,r241833 0b66 9093 0000 sts (IntegralAccRoll)+1,r251834 0b6a A093 0000 sts (IntegralAccRoll)+2,r261835 0b6e B093 0000 sts (IntegralAccRoll)+3,r271836 0b72 8091 0000 lds r24,NaviAccNick1837 0b76 9091 0000 lds r25,(NaviAccNick)+11838 0b7a 2091 0000 lds r18,AdWertAccNick1839 0b7e 3091 0000 lds r19,(AdWertAccNick)+11840 0b82 820F add r24,r181841 0b84 931F adc r25,r191842 0b86 9093 0000 sts (NaviAccNick)+1,r251843 0b8a 8093 0000 sts NaviAccNick,r241844 0b8e 8091 0000 lds r24,NaviAccRoll1845 0b92 9091 0000 lds r25,(NaviAccRoll)+11846 0b96 2091 0000 lds r18,AdWertAccRoll1847 0b9a 3091 0000 lds r19,(AdWertAccRoll)+11848 0b9e 820F add r24,r181849 0ba0 931F adc r25,r191850 0ba2 9093 0000 sts (NaviAccRoll)+1,r251851 0ba6 8093 0000 sts NaviAccRoll,r241852 0baa 8091 0000 lds r24,NaviCntAcc1853 0bae 9091 0000 lds r25,(NaviCntAcc)+11854 0bb2 0196 adiw r24,11855 0bb4 9093 0000 sts (NaviCntAcc)+1,r251856 0bb8 8093 0000 sts NaviCntAcc,r241857 0bbc 8091 0000 lds r24,Aktuell_az1858 0bc0 9091 0000 lds r25,(Aktuell_az)+11859 0bc4 2091 0000 lds r18,NeutralAccZ1860 0bc8 3091 0000 lds r19,(NeutralAccZ)+11861 0bcc 821B sub r24,r181862 0bce 930B sbc r25,r191863 0bd0 9C01 movw r18,r241864 0bd2 4427 clr r201865 0bd4 37FD sbrc r19,71866 0bd6 4095 com r201867 0bd8 542F mov r21,r201868 0bda 8091 0000 lds r24,IntegralAccZ1869 0bde 9091 0000 lds r25,(IntegralAccZ)+11870 0be2 A091 0000 lds r26,(IntegralAccZ)+21871 0be6 B091 0000 lds r27,(IntegralAccZ)+31872 0bea 820F add r24,r181873 0bec 931F adc r25,r191874 0bee A41F adc r26,r201875 0bf0 B51F adc r27,r211876 0bf2 8093 0000 sts IntegralAccZ,r241877 0bf6 9093 0000 sts (IntegralAccZ)+1,r251878 0bfa A093 0000 sts (IntegralAccZ)+2,r261879 0bfe B093 0000 sts (IntegralAccZ)+3,r271880 0c02 8FEC ldi r24,lo8(-49)1881 0c04 8093 7A00 sts 122,r241882 0c08 1092 0000 sts AdReady,__zero_reg__1883 0c0c 2091 0000 lds r18,Mess_IntegralRoll1884 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+11885 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+21886 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+31887 0c1c 2987 std Y+9,r181888 0c1e 3A87 std Y+10,r191889 0c20 4B87 std Y+11,r201890 0c22 5C87 std Y+12,r211891 0c24 2954 subi r18,lo8(93001)1892 0c26 3B46 sbci r19,hi8(93001)1893 0c28 4140 sbci r20,hlo8(93001)1894 0c2a 5040 sbci r21,hhi8(93001)1895 0c2c 04F0 brlt .L871896 0c2e 28E4 ldi r18,lo8(93000)1897 0c30 3BE6 ldi r19,hi8(93000)1898 0c32 41E0 ldi r20,hlo8(93000)1899 0c34 50E0 ldi r21,hhi8(93000)1900 0c36 00C0 rjmp .L1671901 .L87:1902 0c38 8985 ldd r24,Y+91903 0c3a 9A85 ldd r25,Y+101904 0c3c AB85 ldd r26,Y+111905 0c3e BC85 ldd r27,Y+121906 0c40 885B subi r24,lo8(-93000)1907 0c42 9449 sbci r25,hi8(-93000)1908 0c44 AE4F sbci r26,hlo8(-93000)1909 0c46 BF4F sbci r27,hhi8(-93000)1910 0c48 04F4 brge .L891911 0c4a 28EB ldi r18,lo8(-93000)1912 0c4c 34E9 ldi r19,hi8(-93000)1913 0c4e 4EEF ldi r20,hlo8(-93000)1914 0c50 5FEF ldi r21,hhi8(-93000)1915 .L167:1916 0c52 2D83 std Y+5,r181917 0c54 3E83 std Y+6,r191918 0c56 4F83 std Y+7,r201919 0c58 5887 std Y+8,r211920 0c5a 00C0 rjmp .L881921 .L89:1922 0c5c 8985 ldd r24,Y+91923 0c5e 9A85 ldd r25,Y+101924 0c60 AB85 ldd r26,Y+111925 0c62 BC85 ldd r27,Y+121926 0c64 8D83 std Y+5,r241927 0c66 9E83 std Y+6,r251928 0c68 AF83 std Y+7,r261929 0c6a B887 std Y+8,r271930 .L88:1931 0c6c 2091 0000 lds r18,Mess_IntegralNick1932 0c70 3091 0000 lds r19,(Mess_IntegralNick)+11933 0c74 4091 0000 lds r20,(Mess_IntegralNick)+21934 0c78 5091 0000 lds r21,(Mess_IntegralNick)+31935 0c7c 2D87 std Y+13,r181936 0c7e 3E87 std Y+14,r191937 0c80 4F87 std Y+15,r201938 0c82 588B std Y+16,r211939 0c84 2954 subi r18,lo8(93001)1940 0c86 3B46 sbci r19,hi8(93001)1941 0c88 4140 sbci r20,hlo8(93001)1942 0c8a 5040 sbci r21,hhi8(93001)1943 0c8c 04F0 brlt .L911944 0c8e 28E4 ldi r18,lo8(93000)1945 0c90 3BE6 ldi r19,hi8(93000)1946 0c92 41E0 ldi r20,hlo8(93000)1947 0c94 50E0 ldi r21,hhi8(93000)1948 0c96 00C0 rjmp .L1681949 .L91:1950 0c98 8D85 ldd r24,Y+131951 0c9a 9E85 ldd r25,Y+141952 0c9c AF85 ldd r26,Y+151953 0c9e B889 ldd r27,Y+161954 0ca0 885B subi r24,lo8(-93000)1955 0ca2 9449 sbci r25,hi8(-93000)1956 0ca4 AE4F sbci r26,hlo8(-93000)1957 0ca6 BF4F sbci r27,hhi8(-93000)1958 0ca8 04F4 brge .L931959 0caa 28EB ldi r18,lo8(-93000)1960 0cac 34E9 ldi r19,hi8(-93000)1961 0cae 4EEF ldi r20,hlo8(-93000)1962 0cb0 5FEF ldi r21,hhi8(-93000)1963 .L168:1964 0cb2 2983 std Y+1,r181965 0cb4 3A83 std Y+2,r191966 0cb6 4B83 std Y+3,r201967 0cb8 5C83 std Y+4,r211968 0cba 00C0 rjmp .L921969 .L93:1970 0cbc 8D85 ldd r24,Y+131971 0cbe 9E85 ldd r25,Y+141972 0cc0 AF85 ldd r26,Y+151973 0cc2 B889 ldd r27,Y+161974 0cc4 8983 std Y+1,r241975 0cc6 9A83 std Y+2,r251976 0cc8 AB83 std Y+3,r261977 0cca BC83 std Y+4,r271978 .L92:1979 0ccc A091 0000 lds r26,MesswertGier1980 0cd0 B091 0000 lds r27,(MesswertGier)+11981 0cd4 BB8B std Y+19,r271982 0cd6 AA8B std Y+18,r261983 0cd8 FD01 movw r30,r261984 0cda CF01 movw r24,r301985 0cdc AA27 clr r261986 0cde 97FD sbrc r25,71987 0ce0 A095 com r261988 0ce2 BA2F mov r27,r261989 0ce4 A090 0000 lds r10,Mess_Integral_Gier1990 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+11991 0cec C090 0000 lds r12,(Mess_Integral_Gier)+21992 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+31993 0cf4 A80E add r10,r241994 0cf6 B91E adc r11,r251995 0cf8 CA1E adc r12,r261996 0cfa DB1E adc r13,r271997 0cfc A092 0000 sts Mess_Integral_Gier,r101998 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r111999 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r122000 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r132001 0d0c E090 0000 lds r14,ErsatzKompass2002 0d10 F090 0000 lds r15,(ErsatzKompass)+12003 0d14 0091 0000 lds r16,(ErsatzKompass)+22004 0d18 1091 0000 lds r17,(ErsatzKompass)+32005 0d1c E80E add r14,r242006 0d1e F91E adc r15,r252007 0d20 0A1F adc r16,r262008 0d22 1B1F adc r17,r272009 0d24 E092 0000 sts ErsatzKompass,r142010 0d28 F092 0000 sts (ErsatzKompass)+1,r152011 0d2c 0093 0000 sts (ErsatzKompass)+2,r162012 0d30 1093 0000 sts (ErsatzKompass)+3,r172013 0d34 F091 0000 lds r31,Looping_Nick2014 0d38 F98B std Y+17,r312015 0d3a FF23 tst r312016 0d3c 01F0 breq .+22017 0d3e 00C0 rjmp .L952018 0d40 8091 0000 lds r24,Looping_Roll2019 0d44 8823 tst r242020 0d46 01F0 breq .+22021 0d48 00C0 rjmp .L952022 0d4a 8091 0000 lds r24,Parameter_GlobalConfig2023 0d4e 86FF sbrs r24,62024 0d50 00C0 rjmp .L952025 0d52 8091 0000 lds r24,MesswertRoll2026 0d56 9091 0000 lds r25,(MesswertRoll)+12027 0d5a AA27 clr r262028 0d5c 97FD sbrc r25,72029 0d5e A095 com r262030 0d60 BA2F mov r27,r262031 0d62 BC01 movw r22,r242032 0d64 CD01 movw r24,r262033 0d66 2981 ldd r18,Y+12034 0d68 3A81 ldd r19,Y+22035 0d6a 4B81 ldd r20,Y+32036 0d6c 5C81 ldd r21,Y+42037 0d6e 0E94 0000 call __mulsi32038 0d72 9B01 movw r18,r222039 0d74 AC01 movw r20,r242040 0d76 97FF sbrs r25,72041 0d78 00C0 rjmp .L962042 0d7a 2150 subi r18,lo8(-(2047))2043 0d7c 384F sbci r19,hi8(-(2047))2044 0d7e 4F4F sbci r20,hlo8(-(2047))2045 0d80 5F4F sbci r21,hhi8(-(2047))2046 .L96:2047 0d82 BBE0 ldi r27,112048 0d84 5595 1: asr r212049 0d86 4795 ror r202050 0d88 3795 ror r192051 0d8a 2795 ror r182052 0d8c BA95 dec r272053 0d8e 01F4 brne 1b2054 0d90 8091 0000 lds r24,Parameter_AchsKopplung22055 0d94 682E mov r6,r242056 0d96 7724 clr r72057 0d98 8824 clr r82058 0d9a 9924 clr r92059 0d9c CA01 movw r24,r202060 0d9e B901 movw r22,r182061 0da0 A401 movw r20,r82062 0da2 9301 movw r18,r62063 0da4 0E94 0000 call __mulsi32064 0da8 DC01 movw r26,r242065 0daa CB01 movw r24,r222066 0dac 8093 0000 sts tmpl3.29,r242067 0db0 9093 0000 sts (tmpl3.29)+1,r252068 0db4 A093 0000 sts (tmpl3.29)+2,r262069 0db8 B093 0000 sts (tmpl3.29)+3,r272070 0dbc B7FF sbrs r27,72071 0dbe 00C0 rjmp .L972072 0dc0 8150 subi r24,lo8(-(4095))2073 0dc2 904F sbci r25,hi8(-(4095))2074 0dc4 AF4F sbci r26,hlo8(-(4095))2075 0dc6 BF4F sbci r27,hhi8(-(4095))2076 .L97:2077 0dc8 1C01 movw r2,r242078 0dca 2D01 movw r4,r262079 0dcc ACE0 ldi r26,122080 0dce 5594 1: asr r52081 0dd0 4794 ror r42082 0dd2 3794 ror r32083 0dd4 2794 ror r22084 0dd6 AA95 dec r262085 0dd8 01F4 brne 1b2086 0dda 2092 0000 sts tmpl3.29,r22087 0dde 3092 0000 sts (tmpl3.29)+1,r32088 0de2 4092 0000 sts (tmpl3.29)+2,r42089 0de6 5092 0000 sts (tmpl3.29)+3,r52090 0dea 8091 0000 lds r24,MesswertNick2091 0dee 9091 0000 lds r25,(MesswertNick)+12092 0df2 AA27 clr r262093 0df4 97FD sbrc r25,72094 0df6 A095 com r262095 0df8 BA2F mov r27,r262096 0dfa BC01 movw r22,r242097 0dfc CD01 movw r24,r262098 0dfe 2D81 ldd r18,Y+52099 0e00 3E81 ldd r19,Y+62100 0e02 4F81 ldd r20,Y+72101 0e04 5885 ldd r21,Y+82102 0e06 0E94 0000 call __mulsi32103 0e0a 97FF sbrs r25,72104 0e0c 00C0 rjmp .L982105 0e0e 6150 subi r22,lo8(-(2047))2106 0e10 784F sbci r23,hi8(-(2047))2107 0e12 8F4F sbci r24,hlo8(-(2047))2108 0e14 9F4F sbci r25,hhi8(-(2047))2109 .L98:2110 0e16 FBE0 ldi r31,112111 0e18 9595 1: asr r252112 0e1a 8795 ror r242113 0e1c 7795 ror r232114 0e1e 6795 ror r222115 0e20 FA95 dec r312116 0e22 01F4 brne 1b2117 0e24 A401 movw r20,r82118 0e26 9301 movw r18,r62119 0e28 0E94 0000 call __mulsi32120 0e2c DC01 movw r26,r242121 0e2e CB01 movw r24,r222122 0e30 8093 0000 sts tmpl4.30,r242123 0e34 9093 0000 sts (tmpl4.30)+1,r252124 0e38 A093 0000 sts (tmpl4.30)+2,r262125 0e3c B093 0000 sts (tmpl4.30)+3,r272126 0e40 B7FF sbrs r27,72127 0e42 00C0 rjmp .L992128 0e44 8150 subi r24,lo8(-(4095))2129 0e46 904F sbci r25,hi8(-(4095))2130 0e48 AF4F sbci r26,hlo8(-(4095))2131 0e4a BF4F sbci r27,hhi8(-(4095))2132 .L99:2133 0e4c 9C01 movw r18,r242134 0e4e AD01 movw r20,r262135 0e50 ECE0 ldi r30,122136 0e52 5595 1: asr r212137 0e54 4795 ror r202138 0e56 3795 ror r192139 0e58 2795 ror r182140 0e5a EA95 dec r302141 0e5c 01F4 brne 1b2142 0e5e 2093 0000 sts tmpl4.30,r182143 0e62 3093 0000 sts (tmpl4.30)+1,r192144 0e66 4093 0000 sts (tmpl4.30)+2,r202145 0e6a 5093 0000 sts (tmpl4.30)+3,r212146 0e6e 8091 0000 lds r24,tmpl3.292147 0e72 9091 0000 lds r25,(tmpl3.29)+12148 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r252149 0e7a 8093 0000 sts KopplungsteilNickRoll,r242150 0e7e 8091 0000 lds r24,tmpl4.302151 0e82 9091 0000 lds r25,(tmpl4.30)+12152 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r252153 0e8a 8093 0000 sts KopplungsteilRollNick,r242154 0e8e 2219 sub r18,r22155 0e90 3309 sbc r19,r32156 0e92 4409 sbc r20,r42157 0e94 5509 sbc r21,r52158 0e96 2093 0000 sts tmpl4.30,r182159 0e9a 3093 0000 sts (tmpl4.30)+1,r192160 0e9e 4093 0000 sts (tmpl4.30)+2,r202161 0ea2 5093 0000 sts (tmpl4.30)+3,r212162 0ea6 E20E add r14,r182163 0ea8 F31E adc r15,r192164 0eaa 041F adc r16,r202165 0eac 151F adc r17,r212166 0eae E092 0000 sts ErsatzKompass,r142167 0eb2 F092 0000 sts (ErsatzKompass)+1,r152168 0eb6 0093 0000 sts (ErsatzKompass)+2,r162169 0eba 1093 0000 sts (ErsatzKompass)+3,r172170 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection2171 0ec2 8823 tst r242172 0ec4 01F4 brne .L1002173 0ec6 57FF sbrs r21,72174 0ec8 00C0 rjmp .L1012175 0eca 2F5F subi r18,lo8(-(1))2176 0ecc 3F4F sbci r19,hi8(-(1))2177 0ece 4F4F sbci r20,hlo8(-(1))2178 0ed0 5F4F sbci r21,hhi8(-(1))2179 .L101:2180 0ed2 5595 asr r212181 0ed4 4795 ror r202182 0ed6 3795 ror r192183 0ed8 2795 ror r182184 0eda A21A sub r10,r182185 0edc B30A sbc r11,r192186 0ede C40A sbc r12,r202187 0ee0 D50A sbc r13,r212188 0ee2 A092 0000 sts Mess_Integral_Gier,r102189 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r112190 0eea C092 0000 sts (Mess_Integral_Gier)+2,r122191 0eee D092 0000 sts (Mess_Integral_Gier)+3,r132192 .L100:2193 0ef2 2A89 ldd r18,Y+182194 0ef4 3B89 ldd r19,Y+192195 0ef6 7901 movw r14,r182196 0ef8 0027 clr r162197 0efa F7FC sbrc r15,72198 0efc 0095 com r162199 0efe 102F mov r17,r162200 0f00 8091 0000 lds r24,tmpl4.302201 0f04 9091 0000 lds r25,(tmpl4.30)+12202 0f08 A091 0000 lds r26,(tmpl4.30)+22203 0f0c B091 0000 lds r27,(tmpl4.30)+32204 0f10 E80E add r14,r242205 0f12 F91E adc r15,r252206 0f14 0A1F adc r16,r262207 0f16 1B1F adc r17,r272208 0f18 C801 movw r24,r162209 0f1a B701 movw r22,r142210 0f1c 2981 ldd r18,Y+12211 0f1e 3A81 ldd r19,Y+22212 0f20 4B81 ldd r20,Y+32213 0f22 5C81 ldd r21,Y+42214 0f24 0E94 0000 call __mulsi32215 0f28 9B01 movw r18,r222216 0f2a AC01 movw r20,r242217 0f2c 97FF sbrs r25,72218 0f2e 00C0 rjmp .L1022219 0f30 2150 subi r18,lo8(-(2047))2220 0f32 384F sbci r19,hi8(-(2047))2221 0f34 4F4F sbci r20,hlo8(-(2047))2222 0f36 5F4F sbci r21,hhi8(-(2047))2223 .L102:2224 0f38 6BE0 ldi r22,112225 0f3a 5595 1: asr r212226 0f3c 4795 ror r202227 0f3e 3795 ror r192228 0f40 2795 ror r182229 0f42 6A95 dec r222230 0f44 01F4 brne 1b2231 0f46 8091 0000 lds r24,Parameter_AchsKopplung12232 0f4a A82E mov r10,r242233 0f4c BB24 clr r112234 0f4e CC24 clr r122235 0f50 DD24 clr r132236 0f52 CA01 movw r24,r202237 0f54 B901 movw r22,r182238 0f56 A601 movw r20,r122239 0f58 9501 movw r18,r102240 0f5a 0E94 0000 call __mulsi32241 0f5e DC01 movw r26,r242242 0f60 CB01 movw r24,r222243 0f62 8093 0000 sts tmpl.27,r242244 0f66 9093 0000 sts (tmpl.27)+1,r252245 0f6a A093 0000 sts (tmpl.27)+2,r262246 0f6e B093 0000 sts (tmpl.27)+3,r272247 0f72 B7FF sbrs r27,72248 0f74 00C0 rjmp .L1032249 0f76 8150 subi r24,lo8(-(4095))2250 0f78 904F sbci r25,hi8(-(4095))2251 0f7a AF4F sbci r26,hlo8(-(4095))2252 0f7c BF4F sbci r27,hhi8(-(4095))2253 .L103:2254 0f7e 3C01 movw r6,r242255 0f80 4D01 movw r8,r262256 0f82 3CE0 ldi r19,122257 0f84 9594 1: asr r92258 0f86 8794 ror r82259 0f88 7794 ror r72260 0f8a 6794 ror r62261 0f8c 3A95 dec r192262 0f8e 01F4 brne 1b2263 0f90 6092 0000 sts tmpl.27,r62264 0f94 7092 0000 sts (tmpl.27)+1,r72265 0f98 8092 0000 sts (tmpl.27)+2,r82266 0f9c 9092 0000 sts (tmpl.27)+3,r92267 0fa0 C801 movw r24,r162268 0fa2 B701 movw r22,r142269 0fa4 2D81 ldd r18,Y+52270 0fa6 3E81 ldd r19,Y+62271 0fa8 4F81 ldd r20,Y+72272 0faa 5885 ldd r21,Y+82273 0fac 0E94 0000 call __mulsi32274 0fb0 97FF sbrs r25,72275 0fb2 00C0 rjmp .L1042276 0fb4 6150 subi r22,lo8(-(2047))2277 0fb6 784F sbci r23,hi8(-(2047))2278 0fb8 8F4F sbci r24,hlo8(-(2047))2279 0fba 9F4F sbci r25,hhi8(-(2047))2280 .L104:2281 0fbc 2BE0 ldi r18,112282 0fbe 9595 1: asr r252283 0fc0 8795 ror r242284 0fc2 7795 ror r232285 0fc4 6795 ror r222286 0fc6 2A95 dec r182287 0fc8 01F4 brne 1b2288 0fca A601 movw r20,r122289 0fcc 9501 movw r18,r102290 0fce 0E94 0000 call __mulsi32291 0fd2 DC01 movw r26,r242292 0fd4 CB01 movw r24,r222293 0fd6 8093 0000 sts tmpl2.28,r242294 0fda 9093 0000 sts (tmpl2.28)+1,r252295 0fde A093 0000 sts (tmpl2.28)+2,r262296 0fe2 B093 0000 sts (tmpl2.28)+3,r272297 0fe6 B7FF sbrs r27,72298 0fe8 00C0 rjmp .L1052299 0fea 8150 subi r24,lo8(-(4095))2300 0fec 904F sbci r25,hi8(-(4095))2301 0fee AF4F sbci r26,hlo8(-(4095))2302 0ff0 BF4F sbci r27,hhi8(-(4095))2303 .L105:2304 0ff2 AC01 movw r20,r242305 0ff4 BD01 movw r22,r262306 0ff6 8CE0 ldi r24,122307 0ff8 7595 1: asr r232308 0ffa 6795 ror r222309 0ffc 5795 ror r212310 0ffe 4795 ror r202311 1000 8A95 dec r242312 1002 01F4 brne 1b2313 1004 4093 0000 sts tmpl2.28,r202314 1008 5093 0000 sts (tmpl2.28)+1,r212315 100c 6093 0000 sts (tmpl2.28)+2,r222316 1010 7093 0000 sts (tmpl2.28)+3,r232317 1014 2A89 ldd r18,Y+182318 1016 3B89 ldd r19,Y+192319 1018 37FF sbrs r19,72320 101a 00C0 rjmp .L1072321 101c 3095 com r192322 101e 2195 neg r182323 1020 3F4F sbci r19,lo8(-1)2324 .L107:2325 1022 2134 cpi r18,652326 1024 3105 cpc r19,__zero_reg__2327 1026 04F0 brlt .L1122328 1028 D401 movw r26,r82329 102a C301 movw r24,r62330 102c 97FE sbrs r9,72331 102e 00C0 rjmp .L1102332 1030 B095 com r272333 1032 A095 com r262334 1034 9095 com r252335 1036 8195 neg r242336 1038 9F4F sbci r25,lo8(-1)2337 103a AF4F sbci r26,lo8(-1)2338 103c BF4F sbci r27,lo8(-1)2339 .L110:2340 103e 8138 cpi r24,lo8(129)2341 1040 9105 cpc r25,__zero_reg__2342 1042 A105 cpc r26,__zero_reg__2343 1044 B105 cpc r27,__zero_reg__2344 1046 04F4 brge .L1092345 1048 DB01 movw r26,r222346 104a CA01 movw r24,r202347 104c 77FF sbrs r23,72348 104e 00C0 rjmp .L1112349 1050 B095 com r272350 1052 A095 com r262351 1054 9095 com r252352 1056 8195 neg r242353 1058 9F4F sbci r25,lo8(-1)2354 105a AF4F sbci r26,lo8(-1)2355 105c BF4F sbci r27,lo8(-1)2356 .L111:2357 105e 8138 cpi r24,lo8(129)2358 1060 9105 cpc r25,__zero_reg__2359 1062 A105 cpc r26,__zero_reg__2360 1064 B105 cpc r27,__zero_reg__2361 1066 04F0 brlt .L1122362 .L109:2363 1068 81E0 ldi r24,lo8(1)2364 106a 8093 0000 sts TrichterFlug,r242365 106e 00C0 rjmp .L1122366 .L95:2367 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2368 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__2369 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2370 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2371 1080 1092 0000 sts tmpl2.28,__zero_reg__2372 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__2373 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__2374 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__2375 1090 1092 0000 sts tmpl.27,__zero_reg__2376 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__2377 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__2378 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__2379 .L112:2380 10a0 8091 0000 lds r24,tmpl2.282381 10a4 9091 0000 lds r25,(tmpl2.28)+12382 10a8 A091 0000 lds r26,(tmpl2.28)+22383 10ac B091 0000 lds r27,(tmpl2.28)+32384 10b0 BC01 movw r22,r242385 10b2 CD01 movw r24,r262386 10b4 24E6 ldi r18,lo8(100)2387 10b6 30E0 ldi r19,hi8(100)2388 10b8 40E0 ldi r20,hlo8(100)2389 10ba 50E0 ldi r21,hhi8(100)2390 10bc 0E94 0000 call __divmodsi42391 10c0 E090 0000 lds r14,tmpl.272392 10c4 F090 0000 lds r15,(tmpl.27)+12393 10c8 E21A sub r14,r182394 10ca F30A sbc r15,r192395 10cc F092 0000 sts (TrimRoll)+1,r152396 10d0 E092 0000 sts TrimRoll,r142397 10d4 8091 0000 lds r24,tmpl.272398 10d8 9091 0000 lds r25,(tmpl.27)+12399 10dc A091 0000 lds r26,(tmpl.27)+22400 10e0 B091 0000 lds r27,(tmpl.27)+32401 10e4 BC01 movw r22,r242402 10e6 CD01 movw r24,r262403 10e8 24E6 ldi r18,lo8(100)2404 10ea 30E0 ldi r19,hi8(100)2405 10ec 40E0 ldi r20,hlo8(100)2406 10ee 50E0 ldi r21,hhi8(100)2407 10f0 0E94 0000 call __divmodsi42408 10f4 DA01 movw r26,r202409 10f6 C901 movw r24,r182410 10f8 2091 0000 lds r18,tmpl2.282411 10fc 3091 0000 lds r19,(tmpl2.28)+12412 1100 8C01 movw r16,r242413 1102 021B sub r16,r182414 1104 130B sbc r17,r192415 1106 1093 0000 sts (TrimNick)+1,r172416 110a 0093 0000 sts TrimNick,r162417 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR2418 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12419 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22420 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32421 111e BC01 movw r22,r242422 1120 CD01 movw r24,r262423 1122 28E6 ldi r18,lo8(360)2424 1124 31E0 ldi r19,hi8(360)2425 1126 40E0 ldi r20,hlo8(360)2426 1128 50E0 ldi r21,hhi8(360)2427 112a 0E94 0000 call __mulsi32428 112e 2091 0000 lds r18,ErsatzKompass2429 1132 3091 0000 lds r19,(ErsatzKompass)+12430 1136 4091 0000 lds r20,(ErsatzKompass)+22431 113a 5091 0000 lds r21,(ErsatzKompass)+32432 113e 2617 cp r18,r222433 1140 3707 cpc r19,r232434 1142 4807 cpc r20,r242435 1144 5907 cpc r21,r252436 1146 04F0 brlt .L1132437 1148 261B sub r18,r222438 114a 370B sbc r19,r232439 114c 480B sbc r20,r242440 114e 590B sbc r21,r252441 1150 2093 0000 sts ErsatzKompass,r182442 1154 3093 0000 sts (ErsatzKompass)+1,r192443 1158 4093 0000 sts (ErsatzKompass)+2,r202444 115c 5093 0000 sts (ErsatzKompass)+3,r212445 .L113:2446 1160 2091 0000 lds r18,ErsatzKompass2447 1164 3091 0000 lds r19,(ErsatzKompass)+12448 1168 4091 0000 lds r20,(ErsatzKompass)+22449 116c 5091 0000 lds r21,(ErsatzKompass)+32450 1170 57FF sbrs r21,72451 1172 00C0 rjmp .L1142452 1174 260F add r18,r222453 1176 371F adc r19,r232454 1178 481F adc r20,r242455 117a 591F adc r21,r252456 117c 2093 0000 sts ErsatzKompass,r182457 1180 3093 0000 sts (ErsatzKompass)+1,r192458 1184 4093 0000 sts (ErsatzKompass)+2,r202459 1188 5093 0000 sts (ErsatzKompass)+3,r212460 .L114:2461 118c 6091 0000 lds r22,MesswertRoll2462 1190 7091 0000 lds r23,(MesswertRoll)+12463 1194 6E0D add r22,r142464 1196 7F1D adc r23,r152465 1198 9B01 movw r18,r222466 119a 4427 clr r202467 119c 37FD sbrc r19,72468 119e 4095 com r202469 11a0 542F mov r21,r202470 11a2 8091 0000 lds r24,Mess_IntegralRoll22471 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+12472 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+22473 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+32474 11b2 820F add r24,r182475 11b4 931F adc r25,r192476 11b6 A41F adc r26,r202477 11b8 B51F adc r27,r212478 11ba 8093 0000 sts Mess_IntegralRoll2,r242479 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r252480 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r262481 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r272482 11ca 8091 0000 lds r24,LageKorrekturRoll2483 11ce 9091 0000 lds r25,(LageKorrekturRoll)+12484 11d2 681B sub r22,r242485 11d4 790B sbc r23,r252486 11d6 CB01 movw r24,r222487 11d8 AA27 clr r262488 11da 97FD sbrc r25,72489 11dc A095 com r262490 11de BA2F mov r27,r262491 11e0 2985 ldd r18,Y+92492 11e2 3A85 ldd r19,Y+102493 11e4 4B85 ldd r20,Y+112494 11e6 5C85 ldd r21,Y+122495 11e8 820F add r24,r182496 11ea 931F adc r25,r192497 11ec A41F adc r26,r202498 11ee B51F adc r27,r212499 11f0 8093 0000 sts Mess_IntegralRoll,r242500 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r252501 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r262502 11fc B093 0000 sts (Mess_IntegralRoll)+3,r272503 1200 C090 0000 lds r12,Umschlag180Roll2504 1204 D090 0000 lds r13,(Umschlag180Roll)+12505 1208 E090 0000 lds r14,(Umschlag180Roll)+22506 120c F090 0000 lds r15,(Umschlag180Roll)+32507 1210 C816 cp r12,r242508 1212 D906 cpc r13,r252509 1214 EA06 cpc r14,r262510 1216 FB06 cpc r15,r272511 1218 04F4 brge .L1152512 121a 88EA ldi r24,lo8(25000)2513 121c 91E6 ldi r25,hi8(25000)2514 121e A0E0 ldi r26,hlo8(25000)2515 1220 B0E0 ldi r27,hhi8(25000)2516 1222 8C19 sub r24,r122517 1224 9D09 sbc r25,r132518 1226 AE09 sbc r26,r142519 1228 BF09 sbc r27,r152520 122a 8093 0000 sts Mess_IntegralRoll,r242521 122e 9093 0000 sts (Mess_IntegralRoll)+1,r252522 1232 A093 0000 sts (Mess_IntegralRoll)+2,r262523 1236 B093 0000 sts (Mess_IntegralRoll)+3,r272524 123a 8093 0000 sts Mess_IntegralRoll2,r242525 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r252526 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r262527 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r272528 .L115:2529 124a 2227 clr r182530 124c 3327 clr r192531 124e A901 movw r20,r182532 1250 2C19 sub r18,r122533 1252 3D09 sbc r19,r132534 1254 4E09 sbc r20,r142535 1256 5F09 sbc r21,r152536 1258 8091 0000 lds r24,Mess_IntegralRoll2537 125c 9091 0000 lds r25,(Mess_IntegralRoll)+12538 1260 A091 0000 lds r26,(Mess_IntegralRoll)+22539 1264 B091 0000 lds r27,(Mess_IntegralRoll)+32540 1268 8217 cp r24,r182541 126a 9307 cpc r25,r192542 126c A407 cpc r26,r202543 126e B507 cpc r27,r212544 1270 04F4 brge .L1162545 1272 D701 movw r26,r142546 1274 C601 movw r24,r122547 1276 885A subi r24,lo8(-(-25000))2548 1278 9146 sbci r25,hi8(-(-25000))2549 127a A040 sbci r26,hlo8(-(-25000))2550 127c B040 sbci r27,hhi8(-(-25000))2551 127e 8093 0000 sts Mess_IntegralRoll,r242552 1282 9093 0000 sts (Mess_IntegralRoll)+1,r252553 1286 A093 0000 sts (Mess_IntegralRoll)+2,r262554 128a B093 0000 sts (Mess_IntegralRoll)+3,r272555 128e 8093 0000 sts Mess_IntegralRoll2,r242556 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r252557 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r262558 129a B093 0000 sts (Mess_IntegralRoll2)+3,r272559 .L116:2560 129e 6091 0000 lds r22,MesswertNick2561 12a2 7091 0000 lds r23,(MesswertNick)+12562 12a6 600F add r22,r162563 12a8 711F adc r23,r172564 12aa 9B01 movw r18,r222565 12ac 4427 clr r202566 12ae 37FD sbrc r19,72567 12b0 4095 com r202568 12b2 542F mov r21,r202569 12b4 8091 0000 lds r24,Mess_IntegralNick22570 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+12571 12bc A091 0000 lds r26,(Mess_IntegralNick2)+22572 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+32573 12c4 820F add r24,r182574 12c6 931F adc r25,r192575 12c8 A41F adc r26,r202576 12ca B51F adc r27,r212577 12cc 8093 0000 sts Mess_IntegralNick2,r242578 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r252579 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r262580 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r272581 12dc 8091 0000 lds r24,LageKorrekturNick2582 12e0 9091 0000 lds r25,(LageKorrekturNick)+12583 12e4 681B sub r22,r242584 12e6 790B sbc r23,r252585 12e8 CB01 movw r24,r222586 12ea AA27 clr r262587 12ec 97FD sbrc r25,72588 12ee A095 com r262589 12f0 BA2F mov r27,r262590 12f2 2D85 ldd r18,Y+132591 12f4 3E85 ldd r19,Y+142592 12f6 4F85 ldd r20,Y+152593 12f8 5889 ldd r21,Y+162594 12fa 820F add r24,r182595 12fc 931F adc r25,r192596 12fe A41F adc r26,r202597 1300 B51F adc r27,r212598 1302 8093 0000 sts Mess_IntegralNick,r242599 1306 9093 0000 sts (Mess_IntegralNick)+1,r252600 130a A093 0000 sts (Mess_IntegralNick)+2,r262601 130e B093 0000 sts (Mess_IntegralNick)+3,r272602 1312 E090 0000 lds r14,Umschlag180Nick2603 1316 F090 0000 lds r15,(Umschlag180Nick)+12604 131a 0091 0000 lds r16,(Umschlag180Nick)+22605 131e 1091 0000 lds r17,(Umschlag180Nick)+32606 1322 E816 cp r14,r242607 1324 F906 cpc r15,r252608 1326 0A07 cpc r16,r262609 1328 1B07 cpc r17,r272610 132a 04F4 brge .L1172611 132c 88EA ldi r24,lo8(25000)2612 132e 91E6 ldi r25,hi8(25000)2613 1330 A0E0 ldi r26,hlo8(25000)2614 1332 B0E0 ldi r27,hhi8(25000)2615 1334 8E19 sub r24,r142616 1336 9F09 sbc r25,r152617 1338 A00B sbc r26,r162618 133a B10B sbc r27,r172619 133c 8093 0000 sts Mess_IntegralNick,r242620 1340 9093 0000 sts (Mess_IntegralNick)+1,r252621 1344 A093 0000 sts (Mess_IntegralNick)+2,r262622 1348 B093 0000 sts (Mess_IntegralNick)+3,r272623 134c 8093 0000 sts Mess_IntegralNick2,r242624 1350 9093 0000 sts (Mess_IntegralNick2)+1,r252625 1354 A093 0000 sts (Mess_IntegralNick2)+2,r262626 1358 B093 0000 sts (Mess_IntegralNick2)+3,r272627 .L117:2628 135c 2227 clr r182629 135e 3327 clr r192630 1360 A901 movw r20,r182631 1362 2E19 sub r18,r142632 1364 3F09 sbc r19,r152633 1366 400B sbc r20,r162634 1368 510B sbc r21,r172635 136a 8091 0000 lds r24,Mess_IntegralNick2636 136e 9091 0000 lds r25,(Mess_IntegralNick)+12637 1372 A091 0000 lds r26,(Mess_IntegralNick)+22638 1376 B091 0000 lds r27,(Mess_IntegralNick)+32639 137a 8217 cp r24,r182640 137c 9307 cpc r25,r192641 137e A407 cpc r26,r202642 1380 B507 cpc r27,r212643 1382 04F4 brge .L1182644 1384 D801 movw r26,r162645 1386 C701 movw r24,r142646 1388 885A subi r24,lo8(-(-25000))2647 138a 9146 sbci r25,hi8(-(-25000))2648 138c A040 sbci r26,hlo8(-(-25000))2649 138e B040 sbci r27,hhi8(-(-25000))2650 1390 8093 0000 sts Mess_IntegralNick,r242651 1394 9093 0000 sts (Mess_IntegralNick)+1,r252652 1398 A093 0000 sts (Mess_IntegralNick)+2,r262653 139c B093 0000 sts (Mess_IntegralNick)+3,r272654 13a0 8093 0000 sts Mess_IntegralNick2,r242655 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r252656 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r262657 13ac B093 0000 sts (Mess_IntegralNick2)+3,r272658 .L118:2659 13b0 8091 0000 lds r24,Mess_Integral_Gier2660 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+12661 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+22662 13bc B091 0000 lds r27,(Mess_Integral_Gier)+32663 13c0 8093 0000 sts Integral_Gier,r242664 13c4 9093 0000 sts (Integral_Gier)+1,r252665 13c8 A093 0000 sts (Integral_Gier)+2,r262666 13cc B093 0000 sts (Integral_Gier)+3,r272667 13d0 8091 0000 lds r24,Mess_IntegralNick2668 13d4 9091 0000 lds r25,(Mess_IntegralNick)+12669 13d8 A091 0000 lds r26,(Mess_IntegralNick)+22670 13dc B091 0000 lds r27,(Mess_IntegralNick)+32671 13e0 8093 0000 sts IntegralNick,r242672 13e4 9093 0000 sts (IntegralNick)+1,r252673 13e8 A093 0000 sts (IntegralNick)+2,r262674 13ec B093 0000 sts (IntegralNick)+3,r272675 13f0 8091 0000 lds r24,Mess_IntegralRoll2676 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+12677 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+22678 13fc B091 0000 lds r27,(Mess_IntegralRoll)+32679 1400 8093 0000 sts IntegralRoll,r242680 1404 9093 0000 sts (IntegralRoll)+1,r252681 1408 A093 0000 sts (IntegralRoll)+2,r262682 140c B093 0000 sts (IntegralRoll)+3,r272683 1410 8091 0000 lds r24,Mess_IntegralNick22684 1414 9091 0000 lds r25,(Mess_IntegralNick2)+12685 1418 A091 0000 lds r26,(Mess_IntegralNick2)+22686 141c B091 0000 lds r27,(Mess_IntegralNick2)+32687 1420 8093 0000 sts IntegralNick2,r242688 1424 9093 0000 sts (IntegralNick2)+1,r252689 1428 A093 0000 sts (IntegralNick2)+2,r262690 142c B093 0000 sts (IntegralNick2)+3,r272691 1430 8091 0000 lds r24,Mess_IntegralRoll22692 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+12693 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+22694 143c B091 0000 lds r27,(Mess_IntegralRoll2)+32695 1440 8093 0000 sts IntegralRoll2,r242696 1444 9093 0000 sts (IntegralRoll2)+1,r252697 1448 A093 0000 sts (IntegralRoll2)+2,r262698 144c B093 0000 sts (IntegralRoll2)+3,r272699 1450 8091 0000 lds r24,HiResNick2700 1454 9091 0000 lds r25,(HiResNick)+12701 1458 97FD sbrc r25,72702 145a 0796 adiw r24,72703 .L119:2704 145c 03E0 ldi r16,32705 145e 9595 1: asr r252706 1460 8795 ror r242707 1462 0A95 dec r162708 1464 01F4 brne 1b2709 1466 9093 0000 sts (MesswertNick)+1,r252710 146a 8093 0000 sts MesswertNick,r242711 146e 8091 0000 lds r24,HiResRoll2712 1472 9091 0000 lds r25,(HiResRoll)+12713 1476 97FD sbrc r25,72714 1478 0796 adiw r24,72715 .L120:2716 147a 13E0 ldi r17,32717 147c 9595 1: asr r252718 147e 8795 ror r242719 1480 1A95 dec r172720 1482 01F4 brne 1b2721 1484 9093 0000 sts (MesswertRoll)+1,r252722 1488 8093 0000 sts MesswertRoll,r242723 148c 8091 0000 lds r24,AdWertNick2724 1490 9091 0000 lds r25,(AdWertNick)+12725 1494 0F97 sbiw r24,152726 1496 04F4 brge .L1212727 1498 88E1 ldi r24,lo8(-1000)2728 149a 9CEF ldi r25,hi8(-1000)2729 149c 9093 0000 sts (MesswertNick)+1,r252730 14a0 8093 0000 sts MesswertNick,r242731 .L121:2732 14a4 8091 0000 lds r24,AdWertNick2733 14a8 9091 0000 lds r25,(AdWertNick)+12734 14ac 0797 sbiw r24,72735 14ae 04F4 brge .L1222736 14b0 80E3 ldi r24,lo8(-2000)2737 14b2 98EF ldi r25,hi8(-2000)2738 14b4 9093 0000 sts (MesswertNick)+1,r252739 14b8 8093 0000 sts MesswertNick,r242740 .L122:2741 14bc 2091 0000 lds r18,PlatinenVersion2742 14c0 2A30 cpi r18,lo8(10)2743 14c2 01F4 brne .L1232744 14c4 8091 0000 lds r24,AdWertNick2745 14c8 9091 0000 lds r25,(AdWertNick)+12746 14cc 835F subi r24,lo8(1011)2747 14ce 9340 sbci r25,hi8(1011)2748 14d0 04F0 brlt .L1242749 14d2 88EE ldi r24,lo8(1000)2750 14d4 93E0 ldi r25,hi8(1000)2751 14d6 9093 0000 sts (MesswertNick)+1,r252752 14da 8093 0000 sts MesswertNick,r242753 .L124:2754 14de 8091 0000 lds r24,AdWertNick2755 14e2 9091 0000 lds r25,(AdWertNick)+12756 14e6 8A5F subi r24,lo8(1018)2757 14e8 9340 sbci r25,hi8(1018)2758 14ea 04F0 brlt .L1262759 14ec 00C0 rjmp .L1692760 .L123:2761 14ee 8091 0000 lds r24,AdWertNick2762 14f2 9091 0000 lds r25,(AdWertNick)+12763 14f6 815D subi r24,lo8(2001)2764 14f8 9740 sbci r25,hi8(2001)2765 14fa 04F0 brlt .L1272766 14fc 88EE ldi r24,lo8(1000)2767 14fe 93E0 ldi r25,hi8(1000)2768 1500 9093 0000 sts (MesswertNick)+1,r252769 1504 8093 0000 sts MesswertNick,r242770 .L127:2771 1508 8091 0000 lds r24,AdWertNick2772 150c 9091 0000 lds r25,(AdWertNick)+12773 1510 805E subi r24,lo8(2016)2774 1512 9740 sbci r25,hi8(2016)2775 1514 04F0 brlt .L1262776 .L169:2777 1516 80ED ldi r24,lo8(2000)2778 1518 97E0 ldi r25,hi8(2000)2779 151a 9093 0000 sts (MesswertNick)+1,r252780 151e 8093 0000 sts MesswertNick,r242781 .L126:2782 1522 8091 0000 lds r24,AdWertRoll2783 1526 9091 0000 lds r25,(AdWertRoll)+12784 152a 0F97 sbiw r24,152785 152c 04F4 brge .L1292786 152e 88E1 ldi r24,lo8(-1000)2787 1530 9CEF ldi r25,hi8(-1000)2788 1532 9093 0000 sts (MesswertRoll)+1,r252789 1536 8093 0000 sts MesswertRoll,r242790 .L129:2791 153a 8091 0000 lds r24,AdWertRoll2792 153e 9091 0000 lds r25,(AdWertRoll)+12793 1542 0797 sbiw r24,72794 1544 04F4 brge .L1302795 1546 80E3 ldi r24,lo8(-2000)2796 1548 98EF ldi r25,hi8(-2000)2797 154a 9093 0000 sts (MesswertRoll)+1,r252798 154e 8093 0000 sts MesswertRoll,r242799 .L130:2800 1552 2A30 cpi r18,lo8(10)2801 1554 01F4 brne .L1312802 1556 8091 0000 lds r24,AdWertRoll2803 155a 9091 0000 lds r25,(AdWertRoll)+12804 155e 835F subi r24,lo8(1011)2805 1560 9340 sbci r25,hi8(1011)2806 1562 04F0 brlt .L1322807 1564 88EE ldi r24,lo8(1000)2808 1566 93E0 ldi r25,hi8(1000)2809 1568 9093 0000 sts (MesswertRoll)+1,r252810 156c 8093 0000 sts MesswertRoll,r242811 .L132:2812 1570 8091 0000 lds r24,AdWertRoll2813 1574 9091 0000 lds r25,(AdWertRoll)+12814 1578 8A5F subi r24,lo8(1018)2815 157a 9340 sbci r25,hi8(1018)2816 157c 04F0 brlt .L1342817 157e 00C0 rjmp .L1702818 .L131:2819 1580 8091 0000 lds r24,AdWertRoll2820 1584 9091 0000 lds r25,(AdWertRoll)+12821 1588 815D subi r24,lo8(2001)2822 158a 9740 sbci r25,hi8(2001)2823 158c 04F0 brlt .L1352824 158e 88EE ldi r24,lo8(1000)2825 1590 93E0 ldi r25,hi8(1000)2826 1592 9093 0000 sts (MesswertRoll)+1,r252827 1596 8093 0000 sts MesswertRoll,r242828 .L135:2829 159a 8091 0000 lds r24,AdWertRoll2830 159e 9091 0000 lds r25,(AdWertRoll)+12831 15a2 805E subi r24,lo8(2016)2832 15a4 9740 sbci r25,hi8(2016)2833 15a6 04F0 brlt .L1342834 .L170:2835 15a8 80ED ldi r24,lo8(2000)2836 15aa 97E0 ldi r25,hi8(2000)2837 15ac 9093 0000 sts (MesswertRoll)+1,r252838 15b0 8093 0000 sts MesswertRoll,r242839 .L134:2840 15b4 6091 0000 lds r22,Parameter_Gyro_D2841 15b8 6623 tst r222842 15ba 01F4 brne .+22843 15bc 00C0 rjmp .L1372844 15be 4091 0000 lds r20,HiResNick2845 15c2 5091 0000 lds r21,(HiResNick)+12846 15c6 8091 0000 lds r24,oldNick.312847 15ca 9091 0000 lds r25,(oldNick.31)+12848 15ce 481B sub r20,r242849 15d0 590B sbc r21,r252850 15d2 5093 0000 sts (d2Nick.34)+1,r212851 15d6 4093 0000 sts d2Nick.34,r202852 15da 2091 0000 lds r18,HiResNick2853 15de 3091 0000 lds r19,(HiResNick)+12854 15e2 280F add r18,r242855 15e4 391F adc r19,r252856 15e6 37FF sbrs r19,72857 15e8 00C0 rjmp .L1382858 15ea 2F5F subi r18,lo8(-(1))2859 15ec 3F4F sbci r19,hi8(-(1))2860 .L138:2861 15ee 3595 asr r192862 15f0 2795 ror r182863 15f2 3093 0000 sts (oldNick.31)+1,r192864 15f6 2093 0000 sts oldNick.31,r182865 15fa 4138 cpi r20,1292866 15fc 5105 cpc r21,__zero_reg__2867 15fe 04F0 brlt .L1392868 1600 80E8 ldi r24,lo8(128)2869 1602 90E0 ldi r25,hi8(128)2870 1604 00C0 rjmp .L1712871 .L139:2872 1606 4058 subi r20,lo8(-128)2873 1608 5F4F sbci r21,hi8(-128)2874 160a 04F4 brge .L1402875 160c 80E8 ldi r24,lo8(-128)2876 160e 9FEF ldi r25,hi8(-128)2877 .L171:2878 1610 9093 0000 sts (d2Nick.34)+1,r252879 1614 8093 0000 sts d2Nick.34,r242880 .L140:2881 1618 4091 0000 lds r20,HiResRoll2882 161c 5091 0000 lds r21,(HiResRoll)+12883 1620 8091 0000 lds r24,oldRoll.322884 1624 9091 0000 lds r25,(oldRoll.32)+12885 1628 481B sub r20,r242886 162a 590B sbc r21,r252887 162c 5093 0000 sts (d2Roll.33)+1,r212888 1630 4093 0000 sts d2Roll.33,r202889 1634 2091 0000 lds r18,HiResRoll2890 1638 3091 0000 lds r19,(HiResRoll)+12891 163c 280F add r18,r242892 163e 391F adc r19,r252893 1640 37FF sbrs r19,72894 1642 00C0 rjmp .L1422895 1644 2F5F subi r18,lo8(-(1))2896 1646 3F4F sbci r19,hi8(-(1))2897 .L142:2898 1648 3595 asr r192899 164a 2795 ror r182900 164c 3093 0000 sts (oldRoll.32)+1,r192901 1650 2093 0000 sts oldRoll.32,r182902 1654 4138 cpi r20,1292903 1656 5105 cpc r21,__zero_reg__2904 1658 04F0 brlt .L1432905 165a 80E8 ldi r24,lo8(128)2906 165c 90E0 ldi r25,hi8(128)2907 165e 00C0 rjmp .L1722908 .L143:2909 1660 4058 subi r20,lo8(-128)2910 1662 5F4F sbci r21,hi8(-128)2911 1664 04F4 brge .L1442912 1666 80E8 ldi r24,lo8(-128)2913 1668 9FEF ldi r25,hi8(-128)2914 .L172:2915 166a 9093 0000 sts (d2Roll.33)+1,r252916 166e 8093 0000 sts d2Roll.33,r242917 .L144:2918 1672 462F mov r20,r222919 1674 5527 clr r212920 1676 8091 0000 lds r24,d2Nick.342921 167a 9091 0000 lds r25,(d2Nick.34)+12922 167e 849F mul r24,r202923 1680 B001 movw r22,r02924 1682 859F mul r24,r212925 1684 700D add r23,r02926 1686 949F mul r25,r202927 1688 700D add r23,r02928 168a 1124 clr r12929 168c 9B01 movw r18,r222930 168e 77FF sbrs r23,72931 1690 00C0 rjmp .L1462932 1692 215F subi r18,lo8(-(15))2933 1694 3F4F sbci r19,hi8(-(15))2934 .L146:2935 1696 F4E0 ldi r31,42936 1698 3595 1: asr r192937 169a 2795 ror r182938 169c FA95 dec r312939 169e 01F4 brne 1b2940 16a0 8091 0000 lds r24,MesswertNick2941 16a4 9091 0000 lds r25,(MesswertNick)+12942 16a8 820F add r24,r182943 16aa 931F adc r25,r192944 16ac 9093 0000 sts (MesswertNick)+1,r252945 16b0 8093 0000 sts MesswertNick,r242946 16b4 8091 0000 lds r24,d2Roll.332947 16b8 9091 0000 lds r25,(d2Roll.33)+12948 16bc 849F mul r24,r202949 16be D001 movw r26,r02950 16c0 859F mul r24,r212951 16c2 B00D add r27,r02952 16c4 949F mul r25,r202953 16c6 B00D add r27,r02954 16c8 1124 clr r12955 16ca AD01 movw r20,r262956 16cc 9D01 movw r18,r262957 16ce B7FF sbrs r27,72958 16d0 00C0 rjmp .L1472959 16d2 215F subi r18,lo8(-(15))2960 16d4 3F4F sbci r19,hi8(-(15))2961 .L147:2962 16d6 E4E0 ldi r30,42963 16d8 3595 1: asr r192964 16da 2795 ror r182965 16dc EA95 dec r302966 16de 01F4 brne 1b2967 16e0 8091 0000 lds r24,MesswertRoll2968 16e4 9091 0000 lds r25,(MesswertRoll)+12969 16e8 820F add r24,r182970 16ea 931F adc r25,r192971 16ec 9093 0000 sts (MesswertRoll)+1,r252972 16f0 8093 0000 sts MesswertRoll,r242973 16f4 8091 0000 lds r24,HiResNick2974 16f8 9091 0000 lds r25,(HiResNick)+12975 16fc 860F add r24,r222976 16fe 971F adc r25,r232977 1700 9093 0000 sts (HiResNick)+1,r252978 1704 8093 0000 sts HiResNick,r242979 1708 8091 0000 lds r24,HiResRoll2980 170c 9091 0000 lds r25,(HiResRoll)+12981 1710 840F add r24,r202982 1712 951F adc r25,r212983 1714 9093 0000 sts (HiResRoll)+1,r252984 1718 8093 0000 sts HiResRoll,r242985 .L137:2986 171c 0091 0000 lds r16,RohMesswertRoll2987 1720 1091 0000 lds r17,(RohMesswertRoll)+12988 1724 8091 0000 lds r24,KopplungsteilNickRoll2989 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+12990 172c 1016 cp __zero_reg__,r162991 172e 1106 cpc __zero_reg__,r172992 1730 04F4 brge .L1482993 1732 9C01 movw r18,r242994 1734 97FF sbrs r25,72995 1736 00C0 rjmp .L1492996 1738 2227 clr r182997 173a 3327 clr r192998 173c 281B sub r18,r242999 173e 390B sbc r19,r253000 .L149:3001 1740 C901 movw r24,r183002 1742 AA27 clr r263003 1744 97FD sbrc r25,73004 1746 A095 com r263005 1748 BA2F mov r27,r263006 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection3007 174e 3327 clr r193008 1750 4427 clr r203009 1752 5527 clr r213010 1754 BC01 movw r22,r243011 1756 CD01 movw r24,r263012 1758 0E94 0000 call __mulsi33013 175c 9B01 movw r18,r223014 175e AC01 movw r20,r243015 1760 97FF sbrs r25,73016 1762 00C0 rjmp .L1503017 1764 215C subi r18,lo8(-(63))3018 1766 3F4F sbci r19,hi8(-(63))3019 1768 4F4F sbci r20,hlo8(-(63))3020 176a 5F4F sbci r21,hhi8(-(63))3021 .L150:3022 176c 76E0 ldi r23,63023 176e 5595 1: asr r213024 1770 4795 ror r203025 1772 3795 ror r193026 1774 2795 ror r183027 1776 7A95 dec r233028 1778 01F4 brne 1b3029 177a 8091 0000 lds r24,TrimRoll3030 177e 9091 0000 lds r25,(TrimRoll)+13031 1782 820F add r24,r183032 1784 931F adc r25,r193033 1786 00C0 rjmp .L1733034 .L148:3035 1788 97FF sbrs r25,73036 178a 00C0 rjmp .L1523037 178c 9095 com r253038 178e 8195 neg r243039 1790 9F4F sbci r25,lo8(-1)3040 .L152:3041 1792 AA27 clr r263042 1794 97FD sbrc r25,73043 1796 A095 com r263044 1798 BA2F mov r27,r263045 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection3046 179e 3327 clr r193047 17a0 4427 clr r203048 17a2 5527 clr r213049 17a4 BC01 movw r22,r243050 17a6 CD01 movw r24,r263051 17a8 0E94 0000 call __mulsi33052 17ac 9B01 movw r18,r223053 17ae AC01 movw r20,r243054 17b0 97FF sbrs r25,73055 17b2 00C0 rjmp .L1533056 17b4 215C subi r18,lo8(-(63))3057 17b6 3F4F sbci r19,hi8(-(63))3058 17b8 4F4F sbci r20,hlo8(-(63))3059 17ba 5F4F sbci r21,hhi8(-(63))3060 .L153:3061 17bc 66E0 ldi r22,63062 17be 5595 1: asr r213063 17c0 4795 ror r203064 17c2 3795 ror r193065 17c4 2795 ror r183066 17c6 6A95 dec r223067 17c8 01F4 brne 1b3068 17ca 8091 0000 lds r24,TrimRoll3069 17ce 9091 0000 lds r25,(TrimRoll)+13070 17d2 821B sub r24,r183071 17d4 930B sbc r25,r193072 .L173:3073 17d6 9093 0000 sts (TrimRoll)+1,r253074 17da 8093 0000 sts TrimRoll,r243075 17de E090 0000 lds r14,RohMesswertNick3076 17e2 F090 0000 lds r15,(RohMesswertNick)+13077 17e6 8091 0000 lds r24,KopplungsteilRollNick3078 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+13079 17ee 1E14 cp __zero_reg__,r143080 17f0 1F04 cpc __zero_reg__,r153081 17f2 04F4 brge .L1543082 17f4 9C01 movw r18,r243083 17f6 97FF sbrs r25,73084 17f8 00C0 rjmp .L1553085 17fa 2227 clr r183086 17fc 3327 clr r193087 17fe 281B sub r18,r243088 1800 390B sbc r19,r253089 .L155:3090 1802 C901 movw r24,r183091 1804 AA27 clr r263092 1806 97FD sbrc r25,73093 1808 A095 com r263094 180a BA2F mov r27,r263095 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection3096 1810 3327 clr r193097 1812 4427 clr r203098 1814 5527 clr r213099 1816 BC01 movw r22,r243100 1818 CD01 movw r24,r263101 181a 0E94 0000 call __mulsi33102 181e 9B01 movw r18,r223103 1820 AC01 movw r20,r243104 1822 97FF sbrs r25,73105 1824 00C0 rjmp .L1563106 1826 215C subi r18,lo8(-(63))3107 1828 3F4F sbci r19,hi8(-(63))3108 182a 4F4F sbci r20,hlo8(-(63))3109 182c 5F4F sbci r21,hhi8(-(63))3110 .L156:3111 182e 96E0 ldi r25,63112 1830 5595 1: asr r213113 1832 4795 ror r203114 1834 3795 ror r193115 1836 2795 ror r183116 1838 9A95 dec r253117 183a 01F4 brne 1b3118 183c 8091 0000 lds r24,TrimNick3119 1840 9091 0000 lds r25,(TrimNick)+13120 1844 820F add r24,r183121 1846 931F adc r25,r193122 1848 00C0 rjmp .L1743123 .L154:3124 184a 97FF sbrs r25,73125 184c 00C0 rjmp .L1583126 184e 9095 com r253127 1850 8195 neg r243128 1852 9F4F sbci r25,lo8(-1)3129 .L158:3130 1854 AA27 clr r263131 1856 97FD sbrc r25,73132 1858 A095 com r263133 185a BA2F mov r27,r263134 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection3135 1860 3327 clr r193136 1862 4427 clr r203137 1864 5527 clr r213138 1866 BC01 movw r22,r243139 1868 CD01 movw r24,r263140 186a 0E94 0000 call __mulsi33141 186e 9B01 movw r18,r223142 1870 AC01 movw r20,r243143 1872 97FF sbrs r25,73144 1874 00C0 rjmp .L1593145 1876 215C subi r18,lo8(-(63))3146 1878 3F4F sbci r19,hi8(-(63))3147 187a 4F4F sbci r20,hlo8(-(63))3148 187c 5F4F sbci r21,hhi8(-(63))3149 .L159:3150 187e 86E0 ldi r24,63151 1880 5595 1: asr r213152 1882 4795 ror r203153 1884 3795 ror r193154 1886 2795 ror r183155 1888 8A95 dec r243156 188a 01F4 brne 1b3157 188c 8091 0000 lds r24,TrimNick3158 1890 9091 0000 lds r25,(TrimNick)+13159 1894 821B sub r24,r183160 1896 930B sbc r25,r193161 .L174:3162 1898 9093 0000 sts (TrimNick)+1,r253163 189c 8093 0000 sts TrimNick,r243164 18a0 8091 0000 lds r24,Parameter_GlobalConfig3165 18a4 87FF sbrs r24,73166 18a6 00C0 rjmp .L823167 18a8 B989 ldd r27,Y+173168 18aa BB23 tst r273169 18ac 01F0 breq .+23170 18ae 00C0 rjmp .L823171 18b0 8091 0000 lds r24,Looping_Roll3172 18b4 8823 tst r243173 18b6 01F4 brne .L823174 18b8 E1E0 ldi r30,lo8(257)3175 18ba EE16 cp r14,r303176 18bc E1E0 ldi r30,hi8(257)3177 18be FE06 cpc r15,r303178 18c0 04F0 brlt .L1613179 18c2 8091 0000 lds r24,MesswertNick3180 18c6 9091 0000 lds r25,(MesswertNick)+13181 18ca 8E0D add r24,r143182 18cc 9F1D adc r25,r153183 18ce 8050 subi r24,lo8(-(-256))3184 18d0 9140 sbci r25,hi8(-(-256))3185 18d2 00C0 rjmp .L1753186 .L161:3187 18d4 F0E0 ldi r31,lo8(-256)3188 18d6 EF16 cp r14,r313189 18d8 FFEF ldi r31,hi8(-256)3190 18da FF06 cpc r15,r313191 18dc 04F4 brge .L1623192 18de 8091 0000 lds r24,MesswertNick3193 18e2 9091 0000 lds r25,(MesswertNick)+13194 18e6 8E0D add r24,r143195 18e8 9F1D adc r25,r153196 18ea 8050 subi r24,lo8(-(256))3197 18ec 9F4F sbci r25,hi8(-(256))3198 .L175:3199 18ee 9093 0000 sts (MesswertNick)+1,r253200 18f2 8093 0000 sts MesswertNick,r243201 .L162:3202 18f6 21E0 ldi r18,hi8(257)3203 18f8 0130 cpi r16,lo8(257)3204 18fa 1207 cpc r17,r183205 18fc 04F0 brlt .L1643206 18fe 8091 0000 lds r24,MesswertRoll3207 1902 9091 0000 lds r25,(MesswertRoll)+13208 1906 800F add r24,r163209 1908 911F adc r25,r173210 190a 8050 subi r24,lo8(-(-256))3211 190c 9140 sbci r25,hi8(-(-256))3212 190e 00C0 rjmp .L1763213 .L164:3214 1910 3FEF ldi r19,hi8(-256)3215 1912 0030 cpi r16,lo8(-256)3216 1914 1307 cpc r17,r193217 1916 04F4 brge .L823218 1918 8091 0000 lds r24,MesswertRoll3219 191c 9091 0000 lds r25,(MesswertRoll)+13220 1920 800F add r24,r163221 1922 911F adc r25,r173222 1924 8050 subi r24,lo8(-(256))3223 1926 9F4F sbci r25,hi8(-(256))3224 .L176:3225 1928 9093 0000 sts (MesswertRoll)+1,r253226 192c 8093 0000 sts MesswertRoll,r243227 .L82:3228 /* epilogue: frame size=19 */3229 1930 E2E1 ldi r30,183230 1932 CD5E subi r28,-193231 1934 0C94 0000 jmp __epilogue_restores__+03232 /* epilogue end (size=4) */3233 /* function Mittelwert size 2000 (1990) */3235 .global SendMotorData3237 SendMotorData:3238 /* prologue: frame size=0 */3239 /* prologue end (size=0) */3240 1938 8091 0000 lds r24,MotorenEin3241 193c 8823 tst r243242 193e 01F4 brne .L1783243 1940 8091 0000 lds r24,FC_StatusFlags3244 1944 8C7F andi r24,lo8(-4)3245 1946 8093 0000 sts FC_StatusFlags,r243246 194a A0E0 ldi r26,lo8(MotorTest)3247 194c B0E0 ldi r27,hi8(MotorTest)3248 194e E0E0 ldi r30,lo8(Motor)3249 1950 F0E0 ldi r31,hi8(Motor)3250 1952 9BE0 ldi r25,lo8(11)3251 .L183:3252 1954 8091 0000 lds r24,PC_MotortestActive3253 1958 8823 tst r243254 195a 01F4 brne .L1823255 195c 8C93 st X,r243256 .L182:3257 195e 8D91 ld r24,X+3258 1960 8183 std Z+1,r243259 1962 1282 std Z+2,__zero_reg__3260 1964 9150 subi r25,lo8(-(-1))3261 1966 3896 adiw r30,83262 1968 97FF sbrs r25,73263 196a 00C0 rjmp .L1833264 196c 8091 0000 lds r24,PC_MotortestActive3265 1970 8823 tst r243266 1972 01F0 breq .L1853267 1974 8091 0000 lds r24,PC_MotortestActive3268 1978 8150 subi r24,lo8(-(-1))3269 197a 8093 0000 sts PC_MotortestActive,r243270 197e 00C0 rjmp .L1853271 .L178:3272 1980 8091 0000 lds r24,FC_StatusFlags3273 1984 8160 ori r24,lo8(1)3274 1986 8093 0000 sts FC_StatusFlags,r243275 .L185:3276 198a 8091 0000 lds r24,I2C_TransferActive3277 198e 8823 tst r243278 1990 01F0 breq .L1863279 1992 1092 0000 sts I2C_TransferActive,__zero_reg__3280 1996 0895 ret3281 .L186:3282 1998 8093 0000 sts motor_write,r243283 199c 8093 0000 sts twi_state,r243284 19a0 8091 0000 lds r24,BLFlags3285 19a4 8E7F andi r24,lo8(-2)3286 19a6 8093 0000 sts BLFlags,r243287 19aa 85EA ldi r24,lo8(-91)3288 19ac 8093 BC00 sts 188,r243289 19b0 0895 ret3290 /* epilogue: frame size=0 */3291 /* epilogue: noreturn */3292 /* epilogue end (size=0) */3293 /* function SendMotorData size 61 (61) */3295 .global ParameterZuordnung3297 ParameterZuordnung:3298 /* prologue: frame size=0 */3299 19b2 CF93 push r283300 19b4 DF93 push r293301 /* prologue end (size=2) */3302 19b6 A0E0 ldi r26,lo8(Poti)3303 19b8 B0E0 ldi r27,hi8(Poti)3304 19ba C0E0 ldi r28,lo8(EE_Parameter+5)3305 19bc D0E0 ldi r29,hi8(EE_Parameter+5)3306 19be 57E0 ldi r21,lo8(7)3307 .L203:3308 19c0 9991 ld r25,Y+3309 19c2 E92F mov r30,r253310 19c4 FF27 clr r313311 19c6 EE0F add r30,r303312 19c8 FF1F adc r31,r313313 19ca E050 subi r30,lo8(-(PPM_in))3314 19cc F040 sbci r31,hi8(-(PPM_in))3315 19ce 0190 ld __tmp_reg__,Z+3316 19d0 F081 ld r31,Z3317 19d2 E02D mov r30,__tmp_reg__3318 19d4 E158 subi r30,lo8(-(127))3319 19d6 FF4F sbci r31,hi8(-(127))3320 19d8 EF3F cpi r30,2553321 19da F105 cpc r31,__zero_reg__3322 19dc 01F0 breq .L1943323 19de 04F0 brlt .L1943324 19e0 EFEF ldi r30,lo8(255)3325 19e2 F0E0 ldi r31,hi8(255)3326 19e4 00C0 rjmp .L1953327 .L194:3328 19e6 F7FF sbrs r31,73329 19e8 00C0 rjmp .L1953330 19ea E0E0 ldi r30,lo8(0)3331 19ec F0E0 ldi r31,hi8(0)3332 .L195:3333 19ee 9931 cpi r25,lo8(25)3334 19f0 01F4 brne .L1973335 19f2 EC93 st X,r303336 19f4 00C0 rjmp .L1933337 .L197:3338 19f6 4C91 ld r20,X3339 19f8 242F mov r18,r203340 19fa 3327 clr r193341 19fc E217 cp r30,r183342 19fe F307 cpc r31,r193343 1a00 01F0 breq .L1933344 1a02 CF01 movw r24,r303345 1a04 821B sub r24,r183346 1a06 930B sbc r25,r193347 1a08 97FD sbrc r25,73348 1a0a 0396 adiw r24,33349 .L200:3350 1a0c 9595 asr r253351 1a0e 8795 ror r243352 1a10 9595 asr r253353 1a12 8795 ror r243354 1a14 242F mov r18,r203355 1a16 280F add r18,r243356 1a18 2C93 st X,r183357 1a1a 822F mov r24,r183358 1a1c 9927 clr r253359 1a1e E817 cp r30,r243360 1a20 F907 cpc r31,r253361 1a22 04F4 brge .L2013362 1a24 2150 subi r18,lo8(-(-1))3363 1a26 00C0 rjmp .L3273364 .L201:3365 1a28 2F5F subi r18,lo8(-(1))3366 .L327:3367 1a2a 2C93 st X,r183368 .L193:3369 1a2c 5150 subi r21,lo8(-(-1))3370 1a2e 1196 adiw r26,13371 1a30 57FF sbrs r21,73372 1a32 00C0 rjmp .L2033373 1a34 8091 0000 lds r24,EE_Parameter+153374 1a38 883F cpi r24,lo8(-8)3375 1a3a 00F0 brlo .L3283376 1a3c EFEF ldi r30,lo8(255)3377 1a3e F0E0 ldi r31,hi8(255)3378 1a40 E81B sub r30,r243379 1a42 F109 sbc r31,__zero_reg__3380 1a44 E050 subi r30,lo8(-(Poti))3381 1a46 F040 sbci r31,hi8(-(Poti))3382 1a48 8081 ld r24,Z3383 .L328:3384 1a4a 8093 0000 sts Parameter_Luftdruck_D,r243385 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D3386 1a52 8823 tst r243387 1a54 01F0 breq .L2073388 1a56 8436 cpi r24,lo8(100)3389 1a58 00F0 brlo .L2073390 1a5a 84E6 ldi r24,lo8(100)3391 1a5c 8093 0000 sts Parameter_Luftdruck_D,r243392 .L207:3393 1a60 8091 0000 lds r24,EE_Parameter+173394 1a64 883F cpi r24,lo8(-8)3395 1a66 00F0 brlo .L3293396 1a68 EFEF ldi r30,lo8(255)3397 1a6a F0E0 ldi r31,hi8(255)3398 1a6c E81B sub r30,r243399 1a6e F109 sbc r31,__zero_reg__3400 1a70 E050 subi r30,lo8(-(Poti))3401 1a72 F040 sbci r31,hi8(-(Poti))3402 1a74 8081 ld r24,Z3403 .L329:3404 1a76 8093 0000 sts Parameter_Hoehe_P,r243405 1a7a 8091 0000 lds r24,Parameter_Hoehe_P3406 1a7e 8823 tst r243407 1a80 01F0 breq .L2123408 1a82 8436 cpi r24,lo8(100)3409 1a84 00F0 brlo .L2123410 1a86 84E6 ldi r24,lo8(100)3411 1a88 8093 0000 sts Parameter_Hoehe_P,r243412 .L212:3413 1a8c 8091 0000 lds r24,EE_Parameter+303414 1a90 883F cpi r24,lo8(-8)3415 1a92 00F0 brlo .L3303416 1a94 EFEF ldi r30,lo8(255)3417 1a96 F0E0 ldi r31,hi8(255)3418 1a98 E81B sub r30,r243419 1a9a F109 sbc r31,__zero_reg__3420 1a9c E050 subi r30,lo8(-(Poti))3421 1a9e F040 sbci r31,hi8(-(Poti))3422 1aa0 8081 ld r24,Z3423 .L330:3424 1aa2 8093 0000 sts Parameter_Gyro_P,r243425 1aa6 8091 0000 lds r24,Parameter_Gyro_P3426 1aaa 8B30 cpi r24,lo8(11)3427 1aac 00F4 brsh .L2163428 1aae 8AE0 ldi r24,lo8(10)3429 1ab0 00C0 rjmp .L3313430 .L216:3431 1ab2 8F3F cpi r24,lo8(-1)3432 1ab4 01F4 brne .L2173433 .L331:3434 1ab6 8093 0000 sts Parameter_Gyro_P,r243435 .L217:3436 1aba 8091 0000 lds r24,EE_Parameter+753437 1abe 883F cpi r24,lo8(-8)3438 1ac0 00F0 brlo .L3323439 1ac2 EFEF ldi r30,lo8(255)3440 1ac4 F0E0 ldi r31,hi8(255)3441 1ac6 E81B sub r30,r243442 1ac8 F109 sbc r31,__zero_reg__3443 1aca E050 subi r30,lo8(-(Poti))3444 1acc F040 sbci r31,hi8(-(Poti))3445 1ace 8081 ld r24,Z3446 .L332:3447 1ad0 8093 0000 sts Parameter_J16Timing,r243448 1ad4 8091 0000 lds r24,Parameter_J16Timing3449 1ad8 8630 cpi r24,lo8(6)3450 1ada 00F4 brsh .L2213451 1adc 85E0 ldi r24,lo8(5)3452 1ade 00C0 rjmp .L3333453 .L221:3454 1ae0 8F3F cpi r24,lo8(-1)3455 1ae2 01F4 brne .L2223456 .L333:3457 1ae4 8093 0000 sts Parameter_J16Timing,r243458 .L222:3459 1ae8 8091 0000 lds r24,EE_Parameter+773460 1aec 883F cpi r24,lo8(-8)3461 1aee 00F0 brlo .L3343462 1af0 EFEF ldi r30,lo8(255)3463 1af2 F0E0 ldi r31,hi8(255)3464 1af4 E81B sub r30,r243465 1af6 F109 sbc r31,__zero_reg__3466 1af8 E050 subi r30,lo8(-(Poti))3467 1afa F040 sbci r31,hi8(-(Poti))3468 1afc 8081 ld r24,Z3469 .L334:3470 1afe 8093 0000 sts Parameter_J17Timing,r243471 1b02 8091 0000 lds r24,Parameter_J17Timing3472 1b06 8630 cpi r24,lo8(6)3473 1b08 00F4 brsh .L2263474 1b0a 85E0 ldi r24,lo8(5)3475 1b0c 00C0 rjmp .L3353476 .L226:3477 1b0e 8F3F cpi r24,lo8(-1)3478 1b10 01F4 brne .L2273479 .L335:3480 1b12 8093 0000 sts Parameter_J17Timing,r243481 .L227:3482 1b16 8091 0000 lds r24,EE_Parameter+563483 1b1a 873F cpi r24,lo8(-9)3484 1b1c 01F4 brne .L2293485 1b1e 4299 sbic 40-0x20,23486 1b20 00C0 rjmp .L3683487 1b22 00C0 rjmp .L2343488 .L229:3489 1b24 863F cpi r24,lo8(-10)3490 1b26 01F4 brne .L2333491 1b28 439B sbis 40-0x20,33492 1b2a 00C0 rjmp .L2343493 .L368:3494 1b2c 8CE8 ldi r24,lo8(-116)3495 1b2e 00C0 rjmp .L3363496 .L234:3497 1b30 86E4 ldi r24,lo8(70)3498 1b32 00C0 rjmp .L3363499 .L233:3500 1b34 883F cpi r24,lo8(-8)3501 1b36 00F0 brlo .L3363502 1b38 EFEF ldi r30,lo8(255)3503 1b3a F0E0 ldi r31,hi8(255)3504 1b3c E81B sub r30,r243505 1b3e F109 sbc r31,__zero_reg__3506 1b40 E050 subi r30,lo8(-(Poti))3507 1b42 F040 sbci r31,hi8(-(Poti))3508 1b44 8081 ld r24,Z3509 .L336:3510 1b46 8093 0000 sts Parameter_Servo3,r243511 1b4a 8091 0000 lds r24,EE_Parameter+573512 1b4e 873F cpi r24,lo8(-9)3513 1b50 01F4 brne .L2393514 1b52 4299 sbic 40-0x20,23515 1b54 00C0 rjmp .L3693516 1b56 00C0 rjmp .L2443517 .L239:3518 1b58 863F cpi r24,lo8(-10)3519 1b5a 01F4 brne .L2433520 1b5c 439B sbis 40-0x20,33521 1b5e 00C0 rjmp .L2443522 .L369:3523 1b60 8CE8 ldi r24,lo8(-116)3524 1b62 00C0 rjmp .L3373525 .L244:3526 1b64 86E4 ldi r24,lo8(70)3527 1b66 00C0 rjmp .L3373528 .L243:3529 1b68 883F cpi r24,lo8(-8)3530 1b6a 00F0 brlo .L3373531 1b6c EFEF ldi r30,lo8(255)3532 1b6e F0E0 ldi r31,hi8(255)3533 1b70 E81B sub r30,r243534 1b72 F109 sbc r31,__zero_reg__3535 1b74 E050 subi r30,lo8(-(Poti))3536 1b76 F040 sbci r31,hi8(-(Poti))3537 1b78 8081 ld r24,Z3538 .L337:3539 1b7a 8093 0000 sts Parameter_Servo4,r243540 1b7e 8091 0000 lds r24,EE_Parameter+583541 1b82 883F cpi r24,lo8(-8)3542 1b84 00F0 brlo .L3383543 1b86 EFEF ldi r30,lo8(255)3544 1b88 F0E0 ldi r31,hi8(255)3545 1b8a E81B sub r30,r243546 1b8c F109 sbc r31,__zero_reg__3547 1b8e E050 subi r30,lo8(-(Poti))3548 1b90 F040 sbci r31,hi8(-(Poti))3549 1b92 8081 ld r24,Z3550 .L338:3551 1b94 8093 0000 sts Parameter_Servo5,r243552 1b98 8091 0000 lds r24,EE_Parameter+163553 1b9c 883F cpi r24,lo8(-8)3554 1b9e 00F0 brlo .L3393555 1ba0 EFEF ldi r30,lo8(255)3556 1ba2 F0E0 ldi r31,hi8(255)3557 1ba4 E81B sub r30,r243558 1ba6 F109 sbc r31,__zero_reg__3559 1ba8 E050 subi r30,lo8(-(Poti))3560 1baa F040 sbci r31,hi8(-(Poti))3561 1bac 8081 ld r24,Z3562 .L339:3563 1bae 8093 0000 sts Parameter_HoehenSchalter,r243564 1bb2 8091 0000 lds r24,EE_Parameter+193565 1bb6 883F cpi r24,lo8(-8)3566 1bb8 00F0 brlo .L3403567 1bba EFEF ldi r30,lo8(255)3568 1bbc F0E0 ldi r31,hi8(255)3569 1bbe E81B sub r30,r243570 1bc0 F109 sbc r31,__zero_reg__3571 1bc2 E050 subi r30,lo8(-(Poti))3572 1bc4 F040 sbci r31,hi8(-(Poti))3573 1bc6 8081 ld r24,Z3574 .L340:3575 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243576 1bcc 8091 0000 lds r24,EE_Parameter+213577 1bd0 883F cpi r24,lo8(-8)3578 1bd2 00F0 brlo .L3413579 1bd4 EFEF ldi r30,lo8(255)3580 1bd6 F0E0 ldi r31,hi8(255)3581 1bd8 E81B sub r30,r243582 1bda F109 sbc r31,__zero_reg__3583 1bdc E050 subi r30,lo8(-(Poti))3584 1bde F040 sbci r31,hi8(-(Poti))3585 1be0 8081 ld r24,Z3586 .L341:3587 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r243588 1be6 8091 0000 lds r24,EE_Parameter+293589 1bea 883F cpi r24,lo8(-8)3590 1bec 00F0 brlo .L3423591 1bee EFEF ldi r30,lo8(255)3592 1bf0 F0E0 ldi r31,hi8(255)3593 1bf2 E81B sub r30,r243594 1bf4 F109 sbc r31,__zero_reg__3595 1bf6 E050 subi r30,lo8(-(Poti))3596 1bf8 F040 sbci r31,hi8(-(Poti))3597 1bfa 8081 ld r24,Z3598 .L342:3599 1bfc 8093 0000 sts Parameter_KompassWirkung,r243600 1c00 8091 0000 lds r24,EE_Parameter+313601 1c04 883F cpi r24,lo8(-8)3602 1c06 00F0 brlo .L3433603 1c08 EFEF ldi r30,lo8(255)3604 1c0a F0E0 ldi r31,hi8(255)3605 1c0c E81B sub r30,r243606 1c0e F109 sbc r31,__zero_reg__3607 1c10 E050 subi r30,lo8(-(Poti))3608 1c12 F040 sbci r31,hi8(-(Poti))3609 1c14 8081 ld r24,Z3610 .L343:3611 1c16 8093 0000 sts Parameter_Gyro_I,r243612 1c1a 8091 0000 lds r24,EE_Parameter+323613 1c1e 883F cpi r24,lo8(-8)3614 1c20 00F0 brlo .L3443615 1c22 EFEF ldi r30,lo8(255)3616 1c24 F0E0 ldi r31,hi8(255)3617 1c26 E81B sub r30,r243618 1c28 F109 sbc r31,__zero_reg__3619 1c2a E050 subi r30,lo8(-(Poti))3620 1c2c F040 sbci r31,hi8(-(Poti))3621 1c2e 8081 ld r24,Z3622 .L344:3623 1c30 8093 0000 sts Parameter_Gyro_D,r243624 1c34 8091 0000 lds r24,EE_Parameter+333625 1c38 883F cpi r24,lo8(-8)3626 1c3a 00F0 brlo .L3453627 1c3c EFEF ldi r30,lo8(255)3628 1c3e F0E0 ldi r31,hi8(255)3629 1c40 E81B sub r30,r243630 1c42 F109 sbc r31,__zero_reg__3631 1c44 E050 subi r30,lo8(-(Poti))3632 1c46 F040 sbci r31,hi8(-(Poti))3633 1c48 8081 ld r24,Z3634 .L345:3635 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r243636 1c4e 8091 0000 lds r24,EE_Parameter+343637 1c52 883F cpi r24,lo8(-8)3638 1c54 00F0 brlo .L3463639 1c56 EFEF ldi r30,lo8(255)3640 1c58 F0E0 ldi r31,hi8(255)3641 1c5a E81B sub r30,r243642 1c5c F109 sbc r31,__zero_reg__3643 1c5e E050 subi r30,lo8(-(Poti))3644 1c60 F040 sbci r31,hi8(-(Poti))3645 1c62 8081 ld r24,Z3646 .L346:3647 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r243648 1c68 8091 0000 lds r24,EE_Parameter+403649 1c6c 883F cpi r24,lo8(-8)3650 1c6e 00F0 brlo .L3473651 1c70 EFEF ldi r30,lo8(255)3652 1c72 F0E0 ldi r31,hi8(255)3653 1c74 E81B sub r30,r243654 1c76 F109 sbc r31,__zero_reg__3655 1c78 E050 subi r30,lo8(-(Poti))3656 1c7a F040 sbci r31,hi8(-(Poti))3657 1c7c 8081 ld r24,Z3658 .L347:3659 1c7e 8093 0000 sts Parameter_I_Faktor,r243660 1c82 8091 0000 lds r24,EE_Parameter+413661 1c86 883F cpi r24,lo8(-8)3662 1c88 00F0 brlo .L3483663 1c8a EFEF ldi r30,lo8(255)3664 1c8c F0E0 ldi r31,hi8(255)3665 1c8e E81B sub r30,r243666 1c90 F109 sbc r31,__zero_reg__3667 1c92 E050 subi r30,lo8(-(Poti))3668 1c94 F040 sbci r31,hi8(-(Poti))3669 1c96 8081 ld r24,Z3670 .L348:3671 1c98 8093 0000 sts Parameter_UserParam1,r243672 1c9c 8091 0000 lds r24,EE_Parameter+423673 1ca0 883F cpi r24,lo8(-8)3674 1ca2 00F0 brlo .L3493675 1ca4 EFEF ldi r30,lo8(255)3676 1ca6 F0E0 ldi r31,hi8(255)3677 1ca8 E81B sub r30,r243678 1caa F109 sbc r31,__zero_reg__3679 1cac E050 subi r30,lo8(-(Poti))3680 1cae F040 sbci r31,hi8(-(Poti))3681 1cb0 8081 ld r24,Z3682 .L349:3683 1cb2 8093 0000 sts Parameter_UserParam2,r243684 1cb6 8091 0000 lds r24,EE_Parameter+433685 1cba 883F cpi r24,lo8(-8)3686 1cbc 00F0 brlo .L3503687 1cbe EFEF ldi r30,lo8(255)3688 1cc0 F0E0 ldi r31,hi8(255)3689 1cc2 E81B sub r30,r243690 1cc4 F109 sbc r31,__zero_reg__3691 1cc6 E050 subi r30,lo8(-(Poti))3692 1cc8 F040 sbci r31,hi8(-(Poti))3693 1cca 8081 ld r24,Z3694 .L350:3695 1ccc 8093 0000 sts Parameter_UserParam3,r243696 1cd0 8091 0000 lds r24,EE_Parameter+443697 1cd4 883F cpi r24,lo8(-8)3698 1cd6 00F0 brlo .L3513699 1cd8 EFEF ldi r30,lo8(255)3700 1cda F0E0 ldi r31,hi8(255)3701 1cdc E81B sub r30,r243702 1cde F109 sbc r31,__zero_reg__3703 1ce0 E050 subi r30,lo8(-(Poti))3704 1ce2 F040 sbci r31,hi8(-(Poti))3705 1ce4 8081 ld r24,Z3706 .L351:3707 1ce6 8093 0000 sts Parameter_UserParam4,r243708 1cea 8091 0000 lds r24,EE_Parameter+703709 1cee 883F cpi r24,lo8(-8)3710 1cf0 00F0 brlo .L3523711 1cf2 EFEF ldi r30,lo8(255)3712 1cf4 F0E0 ldi r31,hi8(255)3713 1cf6 E81B sub r30,r243714 1cf8 F109 sbc r31,__zero_reg__3715 1cfa E050 subi r30,lo8(-(Poti))3716 1cfc F040 sbci r31,hi8(-(Poti))3717 1cfe 8081 ld r24,Z3718 .L352:3719 1d00 8093 0000 sts Parameter_UserParam5,r243720 1d04 8091 0000 lds r24,EE_Parameter+713721 1d08 883F cpi r24,lo8(-8)3722 1d0a 00F0 brlo .L3533723 1d0c EFEF ldi r30,lo8(255)3724 1d0e F0E0 ldi r31,hi8(255)3725 1d10 E81B sub r30,r243726 1d12 F109 sbc r31,__zero_reg__3727 1d14 E050 subi r30,lo8(-(Poti))3728 1d16 F040 sbci r31,hi8(-(Poti))3729 1d18 8081 ld r24,Z3730 .L353:3731 1d1a 8093 0000 sts Parameter_UserParam6,r243732 1d1e 8091 0000 lds r24,EE_Parameter+723733 1d22 883F cpi r24,lo8(-8)3734 1d24 00F0 brlo .L3543735 1d26 EFEF ldi r30,lo8(255)3736 1d28 F0E0 ldi r31,hi8(255)3737 1d2a E81B sub r30,r243738 1d2c F109 sbc r31,__zero_reg__3739 1d2e E050 subi r30,lo8(-(Poti))3740 1d30 F040 sbci r31,hi8(-(Poti))3741 1d32 8081 ld r24,Z3742 .L354:3743 1d34 8093 0000 sts Parameter_UserParam7,r243744 1d38 8091 0000 lds r24,EE_Parameter+733745 1d3c 883F cpi r24,lo8(-8)3746 1d3e 00F0 brlo .L3553747 1d40 EFEF ldi r30,lo8(255)3748 1d42 F0E0 ldi r31,hi8(255)3749 1d44 E81B sub r30,r243750 1d46 F109 sbc r31,__zero_reg__3751 1d48 E050 subi r30,lo8(-(Poti))3752 1d4a F040 sbci r31,hi8(-(Poti))3753 1d4c 8081 ld r24,Z3754 .L355:3755 1d4e 8093 0000 sts Parameter_UserParam8,r243756 1d52 8091 0000 lds r24,EE_Parameter+453757 1d56 883F cpi r24,lo8(-8)3758 1d58 00F0 brlo .L3563759 1d5a EFEF ldi r30,lo8(255)3760 1d5c F0E0 ldi r31,hi8(255)3761 1d5e E81B sub r30,r243762 1d60 F109 sbc r31,__zero_reg__3763 1d62 E050 subi r30,lo8(-(Poti))3764 1d64 F040 sbci r31,hi8(-(Poti))3765 1d66 8081 ld r24,Z3766 .L356:3767 1d68 8093 0000 sts Parameter_ServoNickControl,r243768 1d6c 8091 0000 lds r24,EE_Parameter+493769 1d70 883F cpi r24,lo8(-8)3770 1d72 00F0 brlo .L3573771 1d74 EFEF ldi r30,lo8(255)3772 1d76 F0E0 ldi r31,hi8(255)3773 1d78 E81B sub r30,r243774 1d7a F109 sbc r31,__zero_reg__3775 1d7c E050 subi r30,lo8(-(Poti))3776 1d7e F040 sbci r31,hi8(-(Poti))3777 1d80 8081 ld r24,Z3778 .L357:3779 1d82 8093 0000 sts Parameter_ServoRollControl,r243780 1d86 8091 0000 lds r24,EE_Parameter+463781 1d8a 883F cpi r24,lo8(-8)3782 1d8c 00F0 brlo .L3583783 1d8e EFEF ldi r30,lo8(255)3784 1d90 F0E0 ldi r31,hi8(255)3785 1d92 E81B sub r30,r243786 1d94 F109 sbc r31,__zero_reg__3787 1d96 E050 subi r30,lo8(-(Poti))3788 1d98 F040 sbci r31,hi8(-(Poti))3789 1d9a 8081 ld r24,Z3790 .L358:3791 1d9c 8093 0000 sts Parameter_ServoNickComp,r243792 1da0 8091 0000 lds r24,EE_Parameter+503793 1da4 883F cpi r24,lo8(-8)3794 1da6 00F0 brlo .L3593795 1da8 EFEF ldi r30,lo8(255)3796 1daa F0E0 ldi r31,hi8(255)3797 1dac E81B sub r30,r243798 1dae F109 sbc r31,__zero_reg__3799 1db0 E050 subi r30,lo8(-(Poti))3800 1db2 F040 sbci r31,hi8(-(Poti))3801 1db4 8081 ld r24,Z3802 .L359:3803 1db6 8093 0000 sts Parameter_ServoRollComp,r243804 1dba 8091 0000 lds r24,EE_Parameter+593805 1dbe 883F cpi r24,lo8(-8)3806 1dc0 00F0 brlo .L3603807 1dc2 EFEF ldi r30,lo8(255)3808 1dc4 F0E0 ldi r31,hi8(255)3809 1dc6 E81B sub r30,r243810 1dc8 F109 sbc r31,__zero_reg__3811 1dca E050 subi r30,lo8(-(Poti))3812 1dcc F040 sbci r31,hi8(-(Poti))3813 1dce 8081 ld r24,Z3814 .L360:3815 1dd0 8093 0000 sts Parameter_LoopGasLimit,r243816 1dd4 8091 0000 lds r24,EE_Parameter+623817 1dd8 883F cpi r24,lo8(-8)3818 1dda 00F0 brlo .L3613819 1ddc EFEF ldi r30,lo8(255)3820 1dde F0E0 ldi r31,hi8(255)3821 1de0 E81B sub r30,r243822 1de2 F109 sbc r31,__zero_reg__3823 1de4 E050 subi r30,lo8(-(Poti))3824 1de6 F040 sbci r31,hi8(-(Poti))3825 1de8 8081 ld r24,Z3826 .L361:3827 1dea 8093 0000 sts Parameter_AchsKopplung1,r243828 1dee 8091 0000 lds r24,EE_Parameter+633829 1df2 883F cpi r24,lo8(-8)3830 1df4 00F0 brlo .L3623831 1df6 EFEF ldi r30,lo8(255)3832 1df8 F0E0 ldi r31,hi8(255)3833 1dfa E81B sub r30,r243834 1dfc F109 sbc r31,__zero_reg__3835 1dfe E050 subi r30,lo8(-(Poti))3836 1e00 F040 sbci r31,hi8(-(Poti))3837 1e02 8081 ld r24,Z3838 .L362:3839 1e04 8093 0000 sts Parameter_AchsKopplung2,r243840 1e08 8091 0000 lds r24,EE_Parameter+643841 1e0c 883F cpi r24,lo8(-8)3842 1e0e 00F0 brlo .L3633843 1e10 EFEF ldi r30,lo8(255)3844 1e12 F0E0 ldi r31,hi8(255)3845 1e14 E81B sub r30,r243846 1e16 F109 sbc r31,__zero_reg__3847 1e18 E050 subi r30,lo8(-(Poti))3848 1e1a F040 sbci r31,hi8(-(Poti))3849 1e1c 8081 ld r24,Z3850 .L363:3851 1e1e 8093 0000 sts Parameter_CouplingYawCorrection,r243852 1e22 8091 0000 lds r24,EE_Parameter+1043853 1e26 883F cpi r24,lo8(-8)3854 1e28 00F0 brlo .L3643855 1e2a EFEF ldi r30,lo8(255)3856 1e2c F0E0 ldi r31,hi8(255)3857 1e2e E81B sub r30,r243858 1e30 F109 sbc r31,__zero_reg__3859 1e32 E050 subi r30,lo8(-(Poti))3860 1e34 F040 sbci r31,hi8(-(Poti))3861 1e36 8081 ld r24,Z3862 .L364:3863 1e38 8093 0000 sts Parameter_MaximumAltitude,r243864 1e3c 9091 0000 lds r25,NC_To_FC_MaxAltitude3865 1e40 9923 tst r253866 1e42 01F0 breq .L3053867 1e44 8091 0000 lds r24,Parameter_MaximumAltitude3868 1e48 9817 cp r25,r243869 1e4a 00F0 brlo .L3043870 .L305:3871 1e4c 8091 0000 lds r24,Parameter_MaximumAltitude3872 1e50 8823 tst r243873 1e52 01F4 brne .L3033874 .L304:3875 1e54 9093 0000 sts Parameter_MaximumAltitude,r253876 .L303:3877 1e58 8091 0000 lds r24,EE_Parameter+133878 1e5c 8093 0000 sts Parameter_GlobalConfig,r243879 1e60 8091 0000 lds r24,EE_Parameter+1103880 1e64 8093 0000 sts Parameter_ExtraConfig,r243881 1e68 8091 0000 lds r24,EE_Parameter+693882 1e6c 883F cpi r24,lo8(-8)3883 1e6e 00F0 brlo .L3653884 1e70 EFEF ldi r30,lo8(255)3885 1e72 F0E0 ldi r31,hi8(255)3886 1e74 E81B sub r30,r243887 1e76 F109 sbc r31,__zero_reg__3888 1e78 E050 subi r30,lo8(-(Poti))3889 1e7a F040 sbci r31,hi8(-(Poti))3890 1e7c 8081 ld r24,Z3891 .L365:3892 1e7e 8093 0000 sts Parameter_DynamicStability,r243893 1e82 8091 0000 lds r24,EE_Parameter+973894 1e86 883F cpi r24,lo8(-8)3895 1e88 00F0 brlo .L3663896 1e8a EFEF ldi r30,lo8(255)3897 1e8c F0E0 ldi r31,hi8(255)3898 1e8e E81B sub r30,r243899 1e90 F109 sbc r31,__zero_reg__3900 1e92 E050 subi r30,lo8(-(Poti))3901 1e94 F040 sbci r31,hi8(-(Poti))3902 1e96 8081 ld r24,Z3903 .L366:3904 1e98 8093 0000 sts Parameter_ExternalControl,r243905 1e9c 8091 0000 lds r24,Parameter_I_Faktor3906 1ea0 282F mov r18,r243907 1ea2 3327 clr r193908 1ea4 2F5F subi r18,lo8(-(1))3909 1ea6 3F4F sbci r19,hi8(-(1))3910 1ea8 8CE3 ldi r24,lo8(10300)3911 1eaa 98E2 ldi r25,hi8(10300)3912 1eac B901 movw r22,r183913 1eae 0E94 0000 call __divmodhi43914 1eb2 7093 0000 sts (Ki)+1,r233915 1eb6 6093 0000 sts Ki,r223916 1eba 8091 0000 lds r24,EE_Parameter+273917 1ebe 8093 0000 sts MAX_GAS,r243918 1ec2 8091 0000 lds r24,EE_Parameter+263919 1ec6 8093 0000 sts MIN_GAS,r243920 1eca 9091 0000 lds r25,EE_Parameter+993921 1ece 9333 cpi r25,lo8(51)3922 1ed0 00F4 brsh .+23923 1ed2 00C0 rjmp .L3103924 1ed4 81E0 ldi r24,lo8(1)3925 1ed6 8093 0000 sts CareFree,r243926 1eda 983F cpi r25,lo8(-8)3927 1edc 00F0 brlo .L3113928 1ede EFEF ldi r30,lo8(255)3929 1ee0 F0E0 ldi r31,hi8(255)3930 1ee2 E91B sub r30,r253931 1ee4 F109 sbc r31,__zero_reg__3932 1ee6 E050 subi r30,lo8(-(Poti))3933 1ee8 F040 sbci r31,hi8(-(Poti))3934 1eea 8081 ld r24,Z3935 1eec 8233 cpi r24,lo8(50)3936 1eee 00F4 brsh .L3113937 1ef0 1092 0000 sts CareFree,__zero_reg__3938 .L311:3939 1ef4 8091 0000 lds r24,carefree_old3940 1ef8 2091 0000 lds r18,CareFree3941 1efc 8217 cp r24,r183942 1efe 01F0 breq .L3123943 1f00 8330 cpi r24,lo8(3)3944 1f02 00F4 brsh .L3133945 1f04 3091 0000 lds r19,SpeakHoTT3946 1f08 2223 tst r183947 1f0a 01F0 breq .L3143948 1f0c 8CED ldi r24,lo8(1500)3949 1f0e 95E0 ldi r25,hi8(1500)3950 1f10 9093 0000 sts (beeptime)+1,r253951 1f14 8093 0000 sts beeptime,r243952 1f18 3323 tst r193953 1f1a 01F4 brne .L3163954 1f1c 8EE2 ldi r24,lo8(46)3955 1f1e 00C0 rjmp .L3673956 .L314:3957 1f20 88EC ldi r24,lo8(200)3958 1f22 90E0 ldi r25,hi8(200)3959 1f24 9093 0000 sts (beeptime)+1,r253960 1f28 8093 0000 sts beeptime,r243961 1f2c 3323 tst r193962 1f2e 01F4 brne .L3163963 1f30 87E1 ldi r24,lo8(23)3964 .L367:3965 1f32 8093 0000 sts SpeakHoTT,r243966 .L316:3967 1f36 85E0 ldi r24,lo8(5)3968 1f38 8093 0000 sts NeueKompassRichtungMerken,r243969 1f3c 2093 0000 sts carefree_old,r183970 1f40 00C0 rjmp .L3123971 .L313:3972 1f42 8150 subi r24,lo8(-(-1))3973 1f44 8093 0000 sts carefree_old,r243974 .L312:3975 1f48 8091 0000 lds r24,FromNaviCtrl+73976 1f4c 9091 0000 lds r25,(FromNaviCtrl+7)+13977 1f50 97FF sbrs r25,73978 1f52 00C0 rjmp .L3203979 1f54 8091 0000 lds r24,CareFree3980 1f58 8823 tst r243981 1f5a 01F0 breq .L3203982 1f5c 8091 0000 lds r24,VersionInfo+53983 1f60 8068 ori r24,lo8(-128)3984 1f62 8093 0000 sts VersionInfo+5,r243985 1f66 00C0 rjmp .L3203986 .L310:3987 1f68 1092 0000 sts CareFree,__zero_reg__3988 1f6c 8AE0 ldi r24,lo8(10)3989 1f6e 8093 0000 sts carefree_old,r243990 .L320:3991 1f72 8091 0000 lds r24,FromNaviCtrl+73992 1f76 9091 0000 lds r25,(FromNaviCtrl+7)+13993 1f7a 97FF sbrs r25,73994 1f7c 00C0 rjmp .L3213995 1f7e 8091 0000 lds r24,MotorenEin3996 1f82 8823 tst r243997 1f84 01F0 breq .L3213998 1f86 8091 0000 lds r24,CareFree3999 1f8a 8823 tst r244000 1f8c 01F0 breq .L3214001 1f8e 8091 0000 lds r24,BeepMuster4002 1f92 9091 0000 lds r25,(BeepMuster)+14003 1f96 8F5F subi r24,lo8(-1)4004 1f98 9F4F sbci r25,hi8(-1)4005 1f9a 01F4 brne .L3214006 1f9c 88E9 ldi r24,lo8(15000)4007 1f9e 9AE3 ldi r25,hi8(15000)4008 1fa0 9093 0000 sts (beeptime)+1,r254009 1fa4 8093 0000 sts beeptime,r244010 1fa8 80E0 ldi r24,lo8(-23552)4011 1faa 94EA ldi r25,hi8(-23552)4012 1fac 9093 0000 sts (BeepMuster)+1,r254013 1fb0 8093 0000 sts BeepMuster,r244014 1fb4 1092 0000 sts CareFree,__zero_reg__4015 .L321:4016 1fb8 8091 0000 lds r24,CareFree4017 1fbc 8823 tst r244018 1fbe 01F0 breq .L3224019 1fc0 8091 0000 lds r24,FC_StatusFlags24020 1fc4 8160 ori r24,lo8(1)4021 1fc6 8093 0000 sts FC_StatusFlags2,r244022 1fca 8091 0000 lds r24,Parameter_AchsKopplung14023 1fce 823D cpi r24,lo8(-46)4024 1fd0 00F4 brsh .L1904025 1fd2 825E subi r24,lo8(-(30))4026 1fd4 8093 0000 sts Parameter_AchsKopplung1,r244027 1fd8 00C0 rjmp .L1904028 .L322:4029 1fda 8091 0000 lds r24,FC_StatusFlags24030 1fde 8E7F andi r24,lo8(-2)4031 1fe0 8093 0000 sts FC_StatusFlags2,r244032 .L190:4033 /* epilogue: frame size=0 */4034 1fe4 DF91 pop r294035 1fe6 CF91 pop r284036 1fe8 0895 ret4037 /* epilogue end (size=3) */4038 /* function ParameterZuordnung size 798 (793) */4040 .lcomm sollGier.0,44041 .lcomm tmp_long.1,44042 .lcomm tmp_long2.2,44043 .lcomm IntegralFehlerNick.3,44044 .lcomm IntegralFehlerRoll.4,44045 .lcomm RcLostTimer.5,24046 .lcomm delay_neutral.6,14047 .lcomm delay_einschalten.7,14048 .lcomm delay_ausschalten.8,14049 .lcomm move_safety_switch.9,14050 .lcomm ausgleichNick.10,44051 .lcomm ausgleichRoll.11,44052 .lcomm stick_nick.12,24053 .lcomm stick_roll.13,24054 .lcomm cnt.14,24055 .lcomm last_n_p.15,14056 .lcomm last_n_n.16,14057 .lcomm last_r_p.17,14058 .lcomm last_r_n.18,14059 .lcomm MittelIntegralNick_Alt.19,44060 .lcomm MittelIntegralRoll_Alt.20,44061 .lcomm HeightTrimming.21,24062 .lcomm FilterHCGas.22,24063 .lcomm HoverGasFilter.23,44064 .data4067 delay.24:4068 0051 64 .byte 1004069 .lcomm BaroAtUpperLimit.25,14070 .lcomm BaroAtLowerLimit.26,14071 .text4072 .global MotorRegler4074 MotorRegler:4075 /* prologue: frame size=23 */4076 1fea A7E1 ldi r26,lo8(23)4077 1fec B0E0 ldi r27,hi8(23)4078 1fee E0E0 ldi r30,pm_lo8(1f)4079 1ff0 F0E0 ldi r31,pm_hi8(1f)4080 1ff2 0C94 0000 jmp __prologue_saves__+04081 1:4082 /* prologue end (size=6) */4083 1ff6 0E94 0000 call Mittelwert4084 1ffa 8091 0000 lds r24,FC_StatusFlags4085 1ffe 9927 clr r254086 2000 8471 andi r24,lo8(20)4087 2002 9070 andi r25,hi8(20)4088 2004 892B or r24,r254089 2006 01F4 brne .L3714090 2008 8091 0000 lds r24,EE_Parameter+1114091 200c 82FF sbrs r24,24092 200e 00C0 rjmp .L3724093 2010 8091 0000 lds r24,HoverGas4094 2014 9091 0000 lds r25,(HoverGas)+14095 2018 0097 sbiw r24,04096 201a 01F0 breq .L3734097 201c 02E0 ldi r16,hi8(600)4098 201e 8835 cpi r24,lo8(600)4099 2020 9007 cpc r25,r164100 2022 04F4 brge .L3734101 2024 9C01 movw r18,r244102 2026 97FF sbrs r25,74103 2028 00C0 rjmp .L3744104 202a 2D5F subi r18,lo8(-(3))4105 202c 3F4F sbci r19,hi8(-(3))4106 .L374:4107 202e 3595 asr r194108 2030 2795 ror r184109 2032 3595 asr r194110 2034 2795 ror r184111 2036 8091 0000 lds r24,EE_Parameter+374112 203a 9927 clr r254113 203c 289F mul r18,r244114 203e A001 movw r20,r04115 2040 299F mul r18,r254116 2042 500D add r21,r04117 2044 389F mul r19,r244118 2046 500D add r21,r04119 2048 1124 clr r14120 204a CA01 movw r24,r204121 204c 64E6 ldi r22,lo8(100)4122 204e 70E0 ldi r23,hi8(100)4123 2050 0E94 0000 call __divmodhi44124 2054 CB01 movw r24,r224125 2056 00C0 rjmp .L8934126 .L373:4127 2058 8DE2 ldi r24,lo8(45)4128 205a 90E0 ldi r25,hi8(45)4129 205c 00C0 rjmp .L8934130 .L372:4131 205e 8091 0000 lds r24,EE_Parameter+374132 2062 9927 clr r254133 .L893:4134 2064 9093 0000 sts (HooverGasEmergencyPercent)+1,r254135 2068 8093 0000 sts HooverGasEmergencyPercent,r244136 .L371:4137 206c 2091 0000 lds r18,GasIsZeroCnt4138 2070 3091 0000 lds r19,(GasIsZeroCnt)+14139 2074 55E7 ldi r21,hi8(30000)4140 2076 2033 cpi r18,lo8(30000)4141 2078 3507 cpc r19,r214142 207a 01F4 brne .L3774143 207c 1092 0000 sts (StickGas)+1,__zero_reg__4144 2080 1092 0000 sts StickGas,__zero_reg__4145 2084 8091 0000 lds r24,MIN_GAS4146 2088 9927 clr r254147 208a 9093 0000 sts (HooverGasEmergencyPercent)+1,r254148 208e 8093 0000 sts HooverGasEmergencyPercent,r244149 .L377:4150 2092 6091 0000 lds r22,StickGas4151 2096 7091 0000 lds r23,(StickGas)+14152 209a 7A83 std Y+2,r234153 209c 6983 std Y+1,r224154 209e 8091 0000 lds r24,MIN_GAS4155 20a2 9927 clr r254156 20a4 0A96 adiw r24,104157 20a6 6817 cp r22,r244158 20a8 7907 cpc r23,r254159 20aa 04F4 brge .L3784160 20ac 9A83 std Y+2,r254161 20ae 8983 std Y+1,r244162 .L378:4163 20b0 8091 0000 lds r24,SenderOkay4164 20b4 8436 cpi r24,lo8(100)4165 20b6 00F0 brlo .+24166 20b8 00C0 rjmp .L3794167 20ba 8091 0000 lds r24,FC_StatusFlags24168 20be 82FD sbrc r24,24169 20c0 00C0 rjmp .L3794170 20c2 8091 0000 lds r24,RcLostTimer.54171 20c6 9091 0000 lds r25,(RcLostTimer.5)+14172 20ca 0097 sbiw r24,04173 20cc 01F0 breq .L3804174 20ce 0197 sbiw r24,14175 20d0 9093 0000 sts (RcLostTimer.5)+1,r254176 20d4 8093 0000 sts RcLostTimer.5,r244177 20d8 00C0 rjmp .L3814178 .L380:4179 20da 1092 0000 sts MotorenEin,__zero_reg__4180 20de 9093 0000 sts (modell_fliegt)+1,r254181 20e2 8093 0000 sts modell_fliegt,r244182 20e6 8091 0000 lds r24,FC_StatusFlags4183 20ea 8D7E andi r24,lo8(-19)4184 20ec 8093 0000 sts FC_StatusFlags,r244185 .L381:4186 20f0 8091 0000 lds r24,PlatinenVersion4187 20f4 8A30 cpi r24,lo8(10)4188 20f6 01F0 breq .L3834189 20f8 8431 cpi r24,lo8(20)4190 20fa 00F0 brlo .L3824191 .L383:4192 20fc 289A sbi 37-0x20,04193 20fe 00C0 rjmp .L3844194 .L382:4195 2100 2898 cbi 37-0x20,04196 .L384:4197 2102 8091 0000 lds r24,modell_fliegt4198 2106 9091 0000 lds r25,(modell_fliegt)+14199 210a 895E subi r24,lo8(1001)4200 210c 9340 sbci r25,hi8(1001)4201 210e 00F0 brlo .L3854202 2110 8091 0000 lds r24,Capacity+64203 2114 8536 cpi r24,lo8(101)4204 2116 00F0 brlo .L3854205 2118 8091 0000 lds r24,HooverGasEmergencyPercent4206 211c 9091 0000 lds r25,(HooverGasEmergencyPercent)+14207 2120 9A83 std Y+2,r254208 2122 8983 std Y+1,r244209 2124 8091 0000 lds r24,FC_StatusFlags4210 2128 8061 ori r24,lo8(16)4211 212a 8093 0000 sts FC_StatusFlags,r244212 212e 8091 0000 lds r24,EE_Parameter+14213 2132 A82F mov r26,r244214 2134 BB27 clr r274215 2136 AA0F add r26,r264216 2138 BB1F adc r27,r274217 213a FD01 movw r30,r264218 213c E050 subi r30,lo8(-(PPM_diff))4219 213e F040 sbci r31,hi8(-(PPM_diff))4220 2140 1182 std Z+1,__zero_reg__4221 2142 1082 st Z,__zero_reg__4222 2144 8091 0000 lds r24,EE_Parameter+24223 2148 282F mov r18,r244224 214a 3327 clr r194225 214c 220F add r18,r184226 214e 331F adc r19,r194227 2150 C901 movw r24,r184228 2152 8050 subi r24,lo8(-(PPM_diff))4229 2154 9040 sbci r25,hi8(-(PPM_diff))4230 2156 FC01 movw r30,r244231 2158 1182 std Z+1,__zero_reg__4232 215a 1082 st Z,__zero_reg__4233 215c A050 subi r26,lo8(-(PPM_in))4234 215e B040 sbci r27,hi8(-(PPM_in))4235 2160 1196 adiw r26,14236 2162 1C92 st X,__zero_reg__4237 2164 1E92 st -X,__zero_reg__4238 2166 2050 subi r18,lo8(-(PPM_in))4239 2168 3040 sbci r19,hi8(-(PPM_in))4240 216a D901 movw r26,r184241 216c 1196 adiw r26,14242 216e 1C92 st X,__zero_reg__4243 2170 1E92 st -X,__zero_reg__4244 2172 8091 0000 lds r24,EE_Parameter+44245 2176 E82F mov r30,r244246 2178 FF27 clr r314247 217a EE0F add r30,r304248 217c FF1F adc r31,r314249 217e E050 subi r30,lo8(-(PPM_in))4250 2180 F040 sbci r31,hi8(-(PPM_in))4251 2182 1182 std Z+1,__zero_reg__4252 2184 1082 st Z,__zero_reg__4253 2186 00C0 rjmp .L3874254 .L385:4255 2188 1092 0000 sts MotorenEin,__zero_reg__4256 218c 00C0 rjmp .L3874257 .L379:4258 218e 8091 0000 lds r24,SenderOkay4259 2192 8D38 cpi r24,lo8(-115)4260 2194 00F4 brsh .+24261 2196 00C0 rjmp .L3884262 2198 8091 0000 lds r24,FC_StatusFlags4263 219c 8F7E andi r24,lo8(-17)4264 219e 8093 0000 sts FC_StatusFlags,r244265 21a2 9091 0000 lds r25,EE_Parameter+384266 21a6 82E3 ldi r24,lo8(50)4267 21a8 989F mul r25,r244268 21aa C001 movw r24,r04269 21ac 1124 clr r14270 21ae 9093 0000 sts (RcLostTimer.5)+1,r254271 21b2 8093 0000 sts RcLostTimer.5,r244272 21b6 E981 ldd r30,Y+14273 21b8 FA81 ldd r31,Y+24274 21ba B997 sbiw r30,414275 21bc 04F0 brlt .L3894276 21be 8091 0000 lds r24,MotorenEin4277 21c2 8823 tst r244278 21c4 01F0 breq .L3894279 21c6 8091 0000 lds r24,modell_fliegt4280 21ca 9091 0000 lds r25,(modell_fliegt)+14281 21ce FFEF ldi r31,hi8(-1)4282 21d0 8F3F cpi r24,lo8(-1)4283 21d2 9F07 cpc r25,r314284 21d4 01F0 breq .L3894285 21d6 0196 adiw r24,14286 21d8 9093 0000 sts (modell_fliegt)+1,r254287 21dc 8093 0000 sts modell_fliegt,r244288 .L389:4289 21e0 8091 0000 lds r24,modell_fliegt4290 21e4 9091 0000 lds r25,(modell_fliegt)+14291 21e8 8F3F cpi r24,2554292 21ea 9105 cpc r25,__zero_reg__4293 21ec 01F0 breq .+24294 21ee 00F4 brsh .L3914295 21f0 1092 0000 sts SummeNick,__zero_reg__4296 21f4 1092 0000 sts (SummeNick)+1,__zero_reg__4297 21f8 1092 0000 sts (SummeNick)+2,__zero_reg__4298 21fc 1092 0000 sts (SummeNick)+3,__zero_reg__4299 2200 1092 0000 sts SummeRoll,__zero_reg__4300 2204 1092 0000 sts (SummeRoll)+1,__zero_reg__4301 2208 1092 0000 sts (SummeRoll)+2,__zero_reg__4302 220c 1092 0000 sts (SummeRoll)+3,__zero_reg__4303 2210 1092 0000 sts sollGier.0,__zero_reg__4304 2214 1092 0000 sts (sollGier.0)+1,__zero_reg__4305 2218 1092 0000 sts (sollGier.0)+2,__zero_reg__4306 221c 1092 0000 sts (sollGier.0)+3,__zero_reg__4307 2220 1092 0000 sts Mess_Integral_Gier,__zero_reg__4308 2224 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4309 2228 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4310 222c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4311 2230 00C0 rjmp .L3924312 .L391:4313 2232 8091 0000 lds r24,FC_StatusFlags4314 2236 8260 ori r24,lo8(2)4315 2238 8093 0000 sts FC_StatusFlags,r244316 .L392:4317 223c 8091 0000 lds r24,EE_Parameter+34318 2240 E82F mov r30,r244319 2242 FF27 clr r314320 2244 EE0F add r30,r304321 2246 FF1F adc r31,r314322 2248 E050 subi r30,lo8(-(PPM_in))4323 224a F040 sbci r31,hi8(-(PPM_in))4324 224c 8081 ld r24,Z4325 224e 9181 ldd r25,Z+14326 2250 8135 cpi r24,814327 2252 9105 cpc r25,__zero_reg__4328 2254 04F4 brge .+24329 2256 00C0 rjmp .L3934330 2258 2091 0000 lds r18,MotorenEin4331 225c 2223 tst r184332 225e 01F0 breq .+24333 2260 00C0 rjmp .L3934334 2262 8091 0000 lds r24,EE_Parameter+44335 2266 E82F mov r30,r244336 2268 FF27 clr r314337 226a EE0F add r30,r304338 226c FF1F adc r31,r314339 226e E050 subi r30,lo8(-(PPM_in))4340 2270 F040 sbci r31,hi8(-(PPM_in))4341 2272 8081 ld r24,Z4342 2274 9181 ldd r25,Z+14343 2276 8C34 cpi r24,764344 2278 9105 cpc r25,__zero_reg__4345 227a 04F4 brge .+24346 227c 00C0 rjmp .L3944347 227e 8091 0000 lds r24,delay_neutral.64348 2282 8F5F subi r24,lo8(-(1))4349 2284 8093 0000 sts delay_neutral.6,r244350 2288 893C cpi r24,lo8(-55)4351 228a 00F4 brsh .+24352 228c 00C0 rjmp .L3934353 228e 2093 0000 sts delay_neutral.6,r184354 2292 1092 0000 sts (modell_fliegt)+1,__zero_reg__4355 2296 1092 0000 sts modell_fliegt,__zero_reg__4356 229a 3091 0000 lds r19,EE_Parameter+14357 229e E32F mov r30,r194358 22a0 FF27 clr r314359 22a2 EE0F add r30,r304360 22a4 FF1F adc r31,r314361 22a6 E050 subi r30,lo8(-(PPM_in))4362 22a8 F040 sbci r31,hi8(-(PPM_in))4363 22aa 8081 ld r24,Z4364 22ac 9181 ldd r25,Z+14365 22ae 8734 cpi r24,714366 22b0 9105 cpc r25,__zero_reg__4367 22b2 04F4 brge .L3974368 22b4 8091 0000 lds r24,EE_Parameter+24369 22b8 E82F mov r30,r244370 22ba FF27 clr r314371 22bc EE0F add r30,r304372 22be FF1F adc r31,r314373 22c0 E050 subi r30,lo8(-(PPM_in))4374 22c2 F040 sbci r31,hi8(-(PPM_in))4375 22c4 8081 ld r24,Z4376 22c6 9181 ldd r25,Z+14377 22c8 0190 ld __tmp_reg__,Z+4378 22ca F081 ld r31,Z4379 22cc E02D mov r30,__tmp_reg__4380 22ce F7FF sbrs r31,74381 22d0 00C0 rjmp .L3984382 22d2 F095 com r314383 22d4 E195 neg r304384 22d6 FF4F sbci r31,lo8(-1)4385 .L398:4386 22d8 E734 cpi r30,714387 22da F105 cpc r31,__zero_reg__4388 22dc 04F4 brge .+24389 22de 00C0 rjmp .L3964390 .L397:4391 22e0 41E0 ldi r20,lo8(1)4392 22e2 2091 0000 lds r18,EE_Parameter+24393 22e6 A22F mov r26,r184394 22e8 BB27 clr r274395 22ea AA0F add r26,r264396 22ec BB1F adc r27,r274397 22ee A050 subi r26,lo8(-(PPM_in))4398 22f0 B040 sbci r27,hi8(-(PPM_in))4399 22f2 8D91 ld r24,X+4400 22f4 9C91 ld r25,X4401 22f6 1197 sbiw r26,14402 22f8 8734 cpi r24,714403 22fa 9105 cpc r25,__zero_reg__4404 22fc 04F0 brlt .L3994405 22fe E32F mov r30,r194406 2300 FF27 clr r314407 2302 EE0F add r30,r304408 2304 FF1F adc r31,r314409 2306 E050 subi r30,lo8(-(PPM_in))4410 2308 F040 sbci r31,hi8(-(PPM_in))4411 230a 8081 ld r24,Z4412 230c 9181 ldd r25,Z+14413 .L399:4414 230e 8D91 ld r24,X+4415 2310 9C91 ld r25,X4416 2312 8734 cpi r24,714417 2314 9105 cpc r25,__zero_reg__4418 2316 04F0 brlt .L4004419 2318 8091 0000 lds r24,EE_Parameter+14420 231c E82F mov r30,r244421 231e FF27 clr r314422 2320 EE0F add r30,r304423 2322 FF1F adc r31,r314424 2324 E050 subi r30,lo8(-(PPM_in))4425 2326 F040 sbci r31,hi8(-(PPM_in))4426 2328 8081 ld r24,Z4427 232a 9181 ldd r25,Z+14428 232c 8734 cpi r24,714429 232e 9105 cpc r25,__zero_reg__4430 2330 04F0 brlt .L4004431 2332 42E0 ldi r20,lo8(2)4432 .L400:4433 2334 E22F mov r30,r184434 2336 FF27 clr r314435 2338 EE0F add r30,r304436 233a FF1F adc r31,r314437 233c E050 subi r30,lo8(-(PPM_in))4438 233e F040 sbci r31,hi8(-(PPM_in))4439 2340 8081 ld r24,Z4440 2342 9181 ldd r25,Z+14441 2344 8634 cpi r24,704442 2346 9105 cpc r25,__zero_reg__4443 2348 04F4 brge .L4014444 234a 8091 0000 lds r24,EE_Parameter+14445 234e E82F mov r30,r244446 2350 FF27 clr r314447 2352 EE0F add r30,r304448 2354 FF1F adc r31,r314449 2356 E050 subi r30,lo8(-(PPM_in))4450 2358 F040 sbci r31,hi8(-(PPM_in))4451 235a 8081 ld r24,Z4452 235c 9181 ldd r25,Z+14453 235e 8734 cpi r24,714454 2360 9105 cpc r25,__zero_reg__4455 2362 04F0 brlt .L4014456 2364 43E0 ldi r20,lo8(3)4457 .L401:4458 2366 E22F mov r30,r184459 2368 FF27 clr r314460 236a EE0F add r30,r304461 236c FF1F adc r31,r314462 236e E050 subi r30,lo8(-(PPM_in))4463 2370 F040 sbci r31,hi8(-(PPM_in))4464 2372 8081 ld r24,Z4465 2374 9181 ldd r25,Z+14466 2376 8A5B subi r24,lo8(-70)4467 2378 9F4F sbci r25,hi8(-70)4468 237a 04F4 brge .L4024469 237c 8091 0000 lds r24,EE_Parameter+14470 2380 E82F mov r30,r244471 2382 FF27 clr r314472 2384 EE0F add r30,r304473 2386 FF1F adc r31,r314474 2388 E050 subi r30,lo8(-(PPM_in))4475 238a F040 sbci r31,hi8(-(PPM_in))4476 238c 8081 ld r24,Z4477 238e 9181 ldd r25,Z+14478 2390 8734 cpi r24,714479 2392 9105 cpc r25,__zero_reg__4480 2394 04F0 brlt .L4024481 2396 44E0 ldi r20,lo8(4)4482 .L402:4483 2398 E22F mov r30,r184484 239a FF27 clr r314485 239c EE0F add r30,r304486 239e FF1F adc r31,r314487 23a0 E050 subi r30,lo8(-(PPM_in))4488 23a2 F040 sbci r31,hi8(-(PPM_in))4489 23a4 8081 ld r24,Z4490 23a6 9181 ldd r25,Z+14491 23a8 8A5B subi r24,lo8(-70)4492 23aa 9F4F sbci r25,hi8(-70)4493 23ac 04F4 brge .L4034494 23ae 8091 0000 lds r24,EE_Parameter+14495 23b2 E82F mov r30,r244496 23b4 FF27 clr r314497 23b6 EE0F add r30,r304498 23b8 FF1F adc r31,r314499 23ba E050 subi r30,lo8(-(PPM_in))4500 23bc F040 sbci r31,hi8(-(PPM_in))4501 23be 8081 ld r24,Z4502 23c0 9181 ldd r25,Z+14503 23c2 8634 cpi r24,704504 23c4 9105 cpc r25,__zero_reg__4505 23c6 04F4 brge .L4034506 23c8 45E0 ldi r20,lo8(5)4507 .L403:4508 23ca 842F mov r24,r204509 23cc 0E94 0000 call SetActiveParamSet4510 .L396:4511 23d0 8091 0000 lds r24,EE_Parameter+24512 23d4 E82F mov r30,r244513 23d6 FF27 clr r314514 23d8 EE0F add r30,r304515 23da FF1F adc r31,r314516 23dc E050 subi r30,lo8(-(PPM_in))4517 23de F040 sbci r31,hi8(-(PPM_in))4518 23e0 8081 ld r24,Z4519 23e2 9181 ldd r25,Z+14520 23e4 0190 ld __tmp_reg__,Z+4521 23e6 F081 ld r31,Z4522 23e8 E02D mov r30,__tmp_reg__4523 23ea F7FF sbrs r31,74524 23ec 00C0 rjmp .L4054525 23ee F095 com r314526 23f0 E195 neg r304527 23f2 FF4F sbci r31,lo8(-1)4528 .L405:4529 23f4 7E97 sbiw r30,304530 23f6 04F4 brge .L4044531 23f8 8091 0000 lds r24,EE_Parameter+14532 23fc E82F mov r30,r244533 23fe FF27 clr r314534 2400 EE0F add r30,r304535 2402 FF1F adc r31,r314536 2404 E050 subi r30,lo8(-(PPM_in))4537 2406 F040 sbci r31,hi8(-(PPM_in))4538 2408 8081 ld r24,Z4539 240a 9181 ldd r25,Z+14540 240c 8A5B subi r24,lo8(-70)4541 240e 9F4F sbci r25,hi8(-70)4542 2410 04F4 brge .L4044543 2412 81E0 ldi r24,lo8(1)4544 2414 8093 0000 sts WinkelOut+6,r244545 2418 1092 0000 sts CalibrationDone,__zero_reg__4546 241c 88EE ldi r24,lo8(1000)4547 241e 93E0 ldi r25,hi8(1000)4548 2420 9093 0000 sts (beeptime)+1,r254549 2424 8093 0000 sts beeptime,r244550 2428 00C0 rjmp .L3934551 .L404:4552 242a 0E94 0000 call GetActiveParamSet4553 242e 0E94 0000 call ParamSet_ReadFromEEProm4554 2432 80E0 ldi r24,lo8(0)4555 2434 0E94 0000 call LipoDetection4556 2438 8091 0000 lds r24,EE_Parameter+394557 243c 0E94 0000 call LIBFC_ReceiverInit4558 2440 8091 0000 lds r24,Parameter_GlobalConfig4559 2444 80FF sbrs r24,04560 2446 00C0 rjmp .L4074561 2448 8091 0000 lds r24,MessLuftdruck4562 244c 9091 0000 lds r25,(MessLuftdruck)+14563 2450 875B subi r24,lo8(951)4564 2452 9340 sbci r25,hi8(951)4565 2454 00F4 brsh .L4094566 2456 8091 0000 lds r24,MessLuftdruck4567 245a 9091 0000 lds r25,(MessLuftdruck)+14568 245e 8E5E subi r24,lo8(750)4569 2460 9240 sbci r25,hi8(750)4570 2462 00F4 brsh .L4074571 .L409:4572 2464 0E94 0000 call SucheLuftruckOffset4573 .L407:4574 2468 80E0 ldi r24,lo8(0)4575 246a 0E94 0000 call SetNeutral4576 246e 81E0 ldi r24,lo8(1)4577 2470 8093 0000 sts CalibrationDone,r244578 2474 8093 0000 sts ServoActive,r244579 2478 579A sbi 42-0x20,74580 247a 00C0 rjmp .L8944581 .L394:4582 247c 8081 ld r24,Z4583 247e 9181 ldd r25,Z+14584 2480 855B subi r24,lo8(-75)4585 2482 9F4F sbci r25,hi8(-75)4586 2484 04F4 brge .L4114587 2486 8091 0000 lds r24,delay_neutral.64588 248a 8F5F subi r24,lo8(-(1))4589 248c 8093 0000 sts delay_neutral.6,r244590 2490 893C cpi r24,lo8(-55)4591 2492 00F0 brlo .L3934592 2494 2093 0000 sts MotorenEin,r184593 2498 2093 0000 sts delay_neutral.6,r184594 249c 1092 0000 sts (modell_fliegt)+1,__zero_reg__4595 24a0 1092 0000 sts modell_fliegt,__zero_reg__4596 24a4 81E0 ldi r24,lo8(1)4597 24a6 0E94 0000 call SetNeutral4598 24aa 81E0 ldi r24,lo8(1)4599 24ac 8093 0000 sts CalibrationDone,r244600 .L894:4601 24b0 88E1 ldi r24,lo8(24)4602 24b2 8093 0000 sts SpeakHoTT,r244603 24b6 0E94 0000 call GetActiveParamSet4604 24ba 68E7 ldi r22,lo8(120)4605 24bc 70E0 ldi r23,hi8(120)4606 24be 0E94 0000 call Piep4607 24c2 00C0 rjmp .L3934608 .L411:4609 24c4 2093 0000 sts delay_neutral.6,r184610 .L393:4611 24c8 8091 0000 lds r24,EE_Parameter+34612 24cc E82F mov r30,r244613 24ce FF27 clr r314614 24d0 EE0F add r30,r304615 24d2 FF1F adc r31,r314616 24d4 E050 subi r30,lo8(-(PPM_in))4617 24d6 F040 sbci r31,hi8(-(PPM_in))4618 24d8 8081 ld r24,Z4619 24da 9181 ldd r25,Z+14620 24dc 8B5A subi r24,lo8(-85)4621 24de 9F4F sbci r25,hi8(-85)4622 24e0 04F0 brlt .+24623 24e2 00C0 rjmp .L4144624 24e4 2091 0000 lds r18,EE_Parameter+1004625 24e8 E22F mov r30,r184626 24ea FF27 clr r314627 24ec EF77 andi r30,lo8(127)4628 24ee F070 andi r31,hi8(127)4629 24f0 EE0F add r30,r304630 24f2 FF1F adc r31,r314631 24f4 E050 subi r30,lo8(-(PPM_diff))4632 24f6 F040 sbci r31,hi8(-(PPM_diff))4633 24f8 8081 ld r24,Z4634 24fa 9181 ldd r25,Z+14635 24fc 0697 sbiw r24,64636 24fe 04F0 brlt .L4154637 2500 84E6 ldi r24,lo8(100)4638 2502 00C0 rjmp .L8954639 .L415:4640 2504 8081 ld r24,Z4641 2506 9181 ldd r25,Z+14642 2508 8B5F subi r24,lo8(-5)4643 250a 9F4F sbci r25,hi8(-5)4644 250c 04F4 brge .L4164645 250e 8CE9 ldi r24,lo8(-100)4646 .L895:4647 2510 8093 0000 sts move_safety_switch.9,r244648 .L416:4649 2514 8091 0000 lds r24,MotorenEin4650 2518 E091 0000 lds r30,EE_Parameter+44651 251c 8823 tst r244652 251e 01F0 breq .+24653 2520 00C0 rjmp .L4184654 2522 FF27 clr r314655 2524 EE0F add r30,r304656 2526 FF1F adc r31,r314657 2528 E050 subi r30,lo8(-(PPM_in))4658 252a F040 sbci r31,hi8(-(PPM_in))4659 252c 8081 ld r24,Z4660 252e 9181 ldd r25,Z+14661 2530 855B subi r24,lo8(-75)4662 2532 9F4F sbci r25,hi8(-75)4663 2534 04F4 brge .L4214664 2536 8091 0000 lds r24,EE_Parameter+1114665 253a 83FD sbrc r24,34666 253c 00C0 rjmp .L4224667 253e E22F mov r30,r184668 2540 FF27 clr r314669 2542 EE0F add r30,r304670 2544 FF1F adc r31,r314671 2546 E050 subi r30,lo8(-(PPM_in))4672 2548 F040 sbci r31,hi8(-(PPM_in))4673 254a 8081 ld r24,Z4674 254c 9181 ldd r25,Z+14675 254e 855B subi r24,lo8(-75)4676 2550 9F4F sbci r25,hi8(-75)4677 2552 04F0 brlt .L4204678 .L422:4679 2554 8091 0000 lds r24,EE_Parameter+1004680 2558 8823 tst r244681 255a 01F0 breq .L4204682 .L421:4683 255c 8091 0000 lds r24,EE_Parameter+1114684 2560 83FF sbrs r24,34685 2562 00C0 rjmp .L4194686 2564 8091 0000 lds r24,EE_Parameter+1004687 2568 E82F mov r30,r244688 256a FF27 clr r314689 256c EE0F add r30,r304690 256e FF1F adc r31,r314691 2570 E050 subi r30,lo8(-(PPM_in))4692 2572 F040 sbci r31,hi8(-(PPM_in))4693 2574 8081 ld r24,Z4694 2576 9181 ldd r25,Z+14695 2578 875F subi r24,lo8(-9)4696 257a 9F4F sbci r25,hi8(-9)4697 257c 04F4 brge .+24698 257e 00C0 rjmp .L4194699 2580 8091 0000 lds r24,move_safety_switch.94700 2584 8436 cpi r24,lo8(100)4701 2586 01F0 breq .+24702 2588 00C0 rjmp .L4194703 .L420:4704 258a 2091 0000 lds r18,CalibrationDone4705 258e 2223 tst r184706 2590 01F0 breq .L4234707 2592 8091 0000 lds r24,FC_StatusFlags4708 2596 8860 ori r24,lo8(8)4709 2598 8093 0000 sts FC_StatusFlags,r244710 .L423:4711 259c 8091 0000 lds r24,delay_einschalten.74712 25a0 8F5F subi r24,lo8(-(1))4713 25a2 8093 0000 sts delay_einschalten.7,r244714 25a6 8E3F cpi r24,lo8(-2)4715 25a8 00F4 brsh .+24716 25aa 00C0 rjmp .L4294717 25ac 1092 0000 sts delay_einschalten.7,__zero_reg__4718 25b0 8091 0000 lds r24,VersionInfo+54719 25b4 8823 tst r244720 25b6 01F0 breq .+24721 25b8 00C0 rjmp .L4254722 25ba 2223 tst r184723 25bc 01F4 brne .+24724 25be 00C0 rjmp .L4254725 25c0 8091 0000 lds r24,NC_ErrorCode4726 25c4 8823 tst r244727 25c6 01F0 breq .+24728 25c8 00C0 rjmp .L4254729 25ca 81E0 ldi r24,lo8(1)4730 25cc 90E0 ldi r25,hi8(1)4731 25ce 9093 0000 sts (modell_fliegt)+1,r254732 25d2 8093 0000 sts modell_fliegt,r244733 25d6 81E0 ldi r24,lo8(1)4734 25d8 8093 0000 sts MotorenEin,r244735 25dc 1092 0000 sts sollGier.0,__zero_reg__4736 25e0 1092 0000 sts (sollGier.0)+1,__zero_reg__4737 25e4 1092 0000 sts (sollGier.0)+2,__zero_reg__4738 25e8 1092 0000 sts (sollGier.0)+3,__zero_reg__4739 25ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__4740 25f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4741 25f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4742 25f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4743 25fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4744 2600 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4745 2604 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4746 2608 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4747 260c 8091 0000 lds r24,EE_Parameter+284748 2610 E82E mov r14,r244749 2612 FF24 clr r154750 2614 0027 clr r164751 2616 1127 clr r174752 2618 8091 0000 lds r24,Mittelwert_AccNick4753 261c 9091 0000 lds r25,(Mittelwert_AccNick)+14754 2620 9C01 movw r18,r244755 2622 4427 clr r204756 2624 37FD sbrc r19,74757 2626 4095 com r204758 2628 542F mov r21,r204759 262a C801 movw r24,r164760 262c B701 movw r22,r144761 262e 0E94 0000 call __mulsi34762 2632 DC01 movw r26,r244763 2634 CB01 movw r24,r224764 2636 8093 0000 sts Mess_IntegralNick,r244765 263a 9093 0000 sts (Mess_IntegralNick)+1,r254766 263e A093 0000 sts (Mess_IntegralNick)+2,r264767 2642 B093 0000 sts (Mess_IntegralNick)+3,r274768 2646 8091 0000 lds r24,Mittelwert_AccRoll4769 264a 9091 0000 lds r25,(Mittelwert_AccRoll)+14770 264e 9C01 movw r18,r244771 2650 4427 clr r204772 2652 37FD sbrc r19,74773 2654 4095 com r204774 2656 542F mov r21,r204775 2658 C801 movw r24,r164776 265a B701 movw r22,r144777 265c 0E94 0000 call __mulsi34778 2660 DC01 movw r26,r244779 2662 CB01 movw r24,r224780 2664 8093 0000 sts Mess_IntegralRoll,r244781 2668 9093 0000 sts (Mess_IntegralRoll)+1,r254782 266c A093 0000 sts (Mess_IntegralRoll)+2,r264783 2670 B093 0000 sts (Mess_IntegralRoll)+3,r274784 2674 8091 0000 lds r24,IntegralNick4785 2678 9091 0000 lds r25,(IntegralNick)+14786 267c A091 0000 lds r26,(IntegralNick)+24787 2680 B091 0000 lds r27,(IntegralNick)+34788 2684 8093 0000 sts Mess_IntegralNick2,r244789 2688 9093 0000 sts (Mess_IntegralNick2)+1,r254790 268c A093 0000 sts (Mess_IntegralNick2)+2,r264791 2690 B093 0000 sts (Mess_IntegralNick2)+3,r274792 2694 8091 0000 lds r24,IntegralRoll4793 2698 9091 0000 lds r25,(IntegralRoll)+14794 269c A091 0000 lds r26,(IntegralRoll)+24795 26a0 B091 0000 lds r27,(IntegralRoll)+34796 26a4 8093 0000 sts Mess_IntegralRoll2,r244797 26a8 9093 0000 sts (Mess_IntegralRoll2)+1,r254798 26ac A093 0000 sts (Mess_IntegralRoll2)+2,r264799 26b0 B093 0000 sts (Mess_IntegralRoll2)+3,r274800 26b4 1092 0000 sts SummeNick,__zero_reg__4801 26b8 1092 0000 sts (SummeNick)+1,__zero_reg__4802 26bc 1092 0000 sts (SummeNick)+2,__zero_reg__4803 26c0 1092 0000 sts (SummeNick)+3,__zero_reg__4804 26c4 1092 0000 sts SummeRoll,__zero_reg__4805 26c8 1092 0000 sts (SummeRoll)+1,__zero_reg__4806 26cc 1092 0000 sts (SummeRoll)+2,__zero_reg__4807 26d0 1092 0000 sts (SummeRoll)+3,__zero_reg__4808 26d4 84E6 ldi r24,lo8(100)4809 26d6 8093 0000 sts NeueKompassRichtungMerken,r244810 26da 84E3 ldi r24,lo8(52)4811 26dc 00C0 rjmp .L8964812 .L425:4813 26de 8CED ldi r24,lo8(1500)4814 26e0 95E0 ldi r25,hi8(1500)4815 26e2 9093 0000 sts (beeptime)+1,r254816 26e6 8093 0000 sts beeptime,r244817 26ea 2223 tst r184818 26ec 01F0 breq .+24819 26ee 00C0 rjmp .L4294820 26f0 81E0 ldi r24,lo8(1)4821 26f2 00C0 rjmp .L8964822 .L419:4823 26f4 1092 0000 sts delay_einschalten.7,__zero_reg__4824 26f8 00C0 rjmp .L4294825 .L418:4826 26fa FF27 clr r314827 26fc EE0F add r30,r304828 26fe FF1F adc r31,r314829 2700 E050 subi r30,lo8(-(PPM_in))4830 2702 F040 sbci r31,hi8(-(PPM_in))4831 2704 8081 ld r24,Z4832 2706 9181 ldd r25,Z+14833 2708 8C34 cpi r24,764834 270a 9105 cpc r25,__zero_reg__4835 270c 04F0 brlt .L4324836 270e 8091 0000 lds r24,EE_Parameter+1114837 2712 83FD sbrc r24,34838 2714 00C0 rjmp .L4334839 2716 E22F mov r30,r184840 2718 FF27 clr r314841 271a EE0F add r30,r304842 271c FF1F adc r31,r314843 271e E050 subi r30,lo8(-(PPM_in))4844 2720 F040 sbci r31,hi8(-(PPM_in))4845 2722 8081 ld r24,Z4846 2724 9181 ldd r25,Z+14847 2726 855B subi r24,lo8(-75)4848 2728 9F4F sbci r25,hi8(-75)4849 272a 04F0 brlt .L4314850 .L433:4851 272c 8091 0000 lds r24,EE_Parameter+1004852 2730 8823 tst r244853 2732 01F0 breq .L4314854 .L432:4855 2734 8091 0000 lds r24,EE_Parameter+1114856 2738 83FF sbrs r24,34857 273a 00C0 rjmp .L4304858 273c 8091 0000 lds r24,EE_Parameter+1004859 2740 E82F mov r30,r244860 2742 FF27 clr r314861 2744 EE0F add r30,r304862 2746 FF1F adc r31,r314863 2748 E050 subi r30,lo8(-(PPM_in))4864 274a F040 sbci r31,hi8(-(PPM_in))4865 274c 8081 ld r24,Z4866 274e 9181 ldd r25,Z+14867 2750 8E5C subi r24,lo8(-50)4868 2752 9F4F sbci r25,hi8(-50)4869 2754 04F4 brge .L4304870 2756 8091 0000 lds r24,move_safety_switch.94871 275a 8C39 cpi r24,lo8(-100)4872 275c 01F4 brne .L4304873 .L431:4874 275e 8091 0000 lds r24,delay_ausschalten.84875 2762 8F5F subi r24,lo8(-(1))4876 2764 8093 0000 sts delay_ausschalten.8,r244877 2768 8B3F cpi r24,lo8(-5)4878 276a 00F0 brlo .L4294879 276c 1092 0000 sts MotorenEin,__zero_reg__4880 2770 1092 0000 sts delay_ausschalten.8,__zero_reg__4881 2774 1092 0000 sts (modell_fliegt)+1,__zero_reg__4882 2778 1092 0000 sts modell_fliegt,__zero_reg__4883 277c 86E2 ldi r24,lo8(38)4884 .L896:4885 277e 8093 0000 sts SpeakHoTT,r244886 2782 00C0 rjmp .L4294887 .L430:4888 2784 1092 0000 sts delay_ausschalten.8,__zero_reg__4889 .L429:4890 2788 8091 0000 lds r24,GasIsZeroCnt4891 278c 9091 0000 lds r25,(GasIsZeroCnt)+14892 2790 13E0 ldi r17,hi8(1000)4893 2792 883E cpi r24,lo8(1000)4894 2794 9107 cpc r25,r174895 2796 00F4 brsh .L3874896 2798 0196 adiw r24,14897 279a 9093 0000 sts (GasIsZeroCnt)+1,r254898 279e 8093 0000 sts GasIsZeroCnt,r244899 27a2 00C0 rjmp .L3874900 .L414:4901 27a4 1092 0000 sts move_safety_switch.9,__zero_reg__4902 27a8 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4903 27ac 1092 0000 sts GasIsZeroCnt,__zero_reg__4904 27b0 00C0 rjmp .L3874905 .L388:4906 27b2 2E5E subi r18,lo8(750)4907 27b4 3240 sbci r19,hi8(750)4908 27b6 00F0 brlo .L3874909 27b8 8091 0000 lds r24,GPSInfo+44910 27bc 9091 0000 lds r25,(GPSInfo+4)+14911 27c0 8059 subi r24,lo8(400)4912 27c2 9140 sbci r25,hi8(400)4913 27c4 00F4 brsh .L3874914 27c6 8091 0000 lds r24,HoehenWert4915 27ca 9091 0000 lds r25,(HoehenWert)+14916 27ce A091 0000 lds r26,(HoehenWert)+24917 27d2 B091 0000 lds r27,(HoehenWert)+34918 27d6 8C5D subi r24,lo8(1500)4919 27d8 9540 sbci r25,hi8(1500)4920 27da A040 sbci r26,hlo8(1500)4921 27dc B040 sbci r27,hhi8(1500)4922 27de 04F4 brge .L3874923 27e0 80E3 ldi r24,lo8(30000)4924 27e2 95E7 ldi r25,hi8(30000)4925 27e4 9093 0000 sts (GasIsZeroCnt)+1,r254926 27e8 8093 0000 sts GasIsZeroCnt,r244927 27ec 8091 0000 lds r24,modell_fliegt4928 27f0 9091 0000 lds r25,(modell_fliegt)+14929 27f4 8A5E subi r24,lo8(1002)4930 27f6 9340 sbci r25,hi8(1002)4931 27f8 00F0 brlo .L3874932 27fa 89EE ldi r24,lo8(1001)4933 27fc 93E0 ldi r25,hi8(1001)4934 27fe 9093 0000 sts (modell_fliegt)+1,r254935 2802 8093 0000 sts modell_fliegt,r244936 .L387:4937 2806 8091 0000 lds r24,NewPpmData4938 280a 8150 subi r24,lo8(-(-1))4939 280c 8093 0000 sts NewPpmData,r244940 2810 8091 0000 lds r24,NewPpmData4941 2814 8F3F cpi r24,lo8(-1)4942 2816 01F0 breq .L4434943 2818 8091 0000 lds r24,FC_StatusFlags4944 281c 84FF sbrs r24,44945 281e 00C0 rjmp .L4424946 .L443:4947 2820 0E94 0000 call ParameterZuordnung4948 2824 B090 0000 lds r11,EE_Parameter+234949 2828 8091 0000 lds r24,stick_nick.124950 282c 9091 0000 lds r25,(stick_nick.12)+14951 2830 9C01 movw r18,r244952 2832 220F lsl r184953 2834 331F rol r194954 2836 280F add r18,r244955 2838 391F adc r19,r254956 283a C090 0000 lds r12,EE_Parameter+14957 283e AC2D mov r26,r124958 2840 BB27 clr r274959 2842 AA0F add r26,r264960 2844 BB1F adc r27,r274961 2846 FD01 movw r30,r264962 2848 E050 subi r30,lo8(-(PPM_in))4963 284a F040 sbci r31,hi8(-(PPM_in))4964 284c 4B2D mov r20,r114965 284e 5527 clr r214966 2850 8081 ld r24,Z4967 2852 9181 ldd r25,Z+14968 2854 849F mul r24,r204969 2856 F001 movw r30,r04970 2858 859F mul r24,r214971 285a F00D add r31,r04972 285c 949F mul r25,r204973 285e F00D add r31,r04974 2860 1124 clr r14975 2862 2E0F add r18,r304976 2864 3F1F adc r19,r314977 2866 37FF sbrs r19,74978 2868 00C0 rjmp .L4444979 286a 2D5F subi r18,lo8(-(3))4980 286c 3F4F sbci r19,hi8(-(3))4981 .L444:4982 286e B901 movw r22,r184983 2870 7595 asr r234984 2872 6795 ror r224985 2874 7595 asr r234986 2876 6795 ror r224987 2878 A050 subi r26,lo8(-(PPM_diff))4988 287a B040 sbci r27,hi8(-(PPM_diff))4989 287c 8091 0000 lds r24,EE_Parameter+244990 2880 082F mov r16,r244991 2882 1127 clr r174992 2884 8D91 ld r24,X+4993 2886 9C91 ld r25,X4994 2888 809F mul r24,r164995 288a 7001 movw r14,r04996 288c 819F mul r24,r174997 288e F00C add r15,r04998 2890 909F mul r25,r164999 2892 F00C add r15,r05000 2894 1124 clr r15001 2896 6E0D add r22,r145002 2898 7F1D adc r23,r155003 289a 7093 0000 sts (stick_nick.12)+1,r235004 289e 6093 0000 sts stick_nick.12,r225005 28a2 8091 0000 lds r24,stick_roll.135006 28a6 9091 0000 lds r25,(stick_roll.13)+15007 28aa 9C01 movw r18,r245008 28ac 220F lsl r185009 28ae 331F rol r195010 28b0 280F add r18,r245011 28b2 391F adc r19,r255012 28b4 D090 0000 lds r13,EE_Parameter+25013 28b8 AD2D mov r26,r135014 28ba BB27 clr r275015 28bc AA0F add r26,r265016 28be BB1F adc r27,r275017 28c0 FD01 movw r30,r265018 28c2 E050 subi r30,lo8(-(PPM_in))5019 28c4 F040 sbci r31,hi8(-(PPM_in))5020 28c6 8081 ld r24,Z5021 28c8 9181 ldd r25,Z+15022 28ca 849F mul r24,r205023 28cc F001 movw r30,r05024 28ce 859F mul r24,r215025 28d0 F00D add r31,r05026 28d2 949F mul r25,r205027 28d4 F00D add r31,r05028 28d6 1124 clr r15029 28d8 2E0F add r18,r305030 28da 3F1F adc r19,r315031 28dc 37FF sbrs r19,75032 28de 00C0 rjmp .L4455033 28e0 2D5F subi r18,lo8(-(3))5034 28e2 3F4F sbci r19,hi8(-(3))5035 .L445:5036 28e4 A901 movw r20,r185037 28e6 5595 asr r215038 28e8 4795 ror r205039 28ea 5595 asr r215040 28ec 4795 ror r205041 28ee A050 subi r26,lo8(-(PPM_diff))5042 28f0 B040 sbci r27,hi8(-(PPM_diff))5043 28f2 8D91 ld r24,X+5044 28f4 9C91 ld r25,X5045 28f6 809F mul r24,r165046 28f8 7001 movw r14,r05047 28fa 819F mul r24,r175048 28fc F00C add r15,r05049 28fe 909F mul r25,r165050 2900 F00C add r15,r05051 2902 1124 clr r15052 2904 4E0D add r20,r145053 2906 5F1D adc r21,r155054 2908 5093 0000 sts (stick_roll.13)+1,r215055 290c 4093 0000 sts stick_roll.13,r205056 2910 8091 0000 lds r24,CareFree5057 2914 8823 tst r245058 2916 01F4 brne .+25059 2918 00C0 rjmp .L4465060 291a CB01 movw r24,r225061 291c 77FD sbrc r23,75062 291e 0396 adiw r24,35063 .L447:5064 2920 DC01 movw r26,r245065 2922 B595 asr r275066 2924 A795 ror r265067 2926 B595 asr r275068 2928 A795 ror r265069 292a CA01 movw r24,r205070 292c 57FD sbrc r21,75071 292e 0396 adiw r24,35072 .L448:5073 2930 FC01 movw r30,r245074 2932 F595 asr r315075 2934 E795 ror r305076 2936 F595 asr r315077 2938 E795 ror r305078 293a 8091 0000 lds r24,FromNC_Rotate_C5079 293e 682F mov r22,r245080 2940 7727 clr r235081 2942 67FD sbrc r22,75082 2944 7095 com r235083 2946 6A9F mul r22,r265084 2948 9001 movw r18,r05085 294a 6B9F mul r22,r275086 294c 300D add r19,r05087 294e 7A9F mul r23,r265088 2950 300D add r19,r05089 2952 1124 clr r15090 2954 8091 0000 lds r24,FromNC_Rotate_S5091 2958 482F mov r20,r245092 295a 5527 clr r215093 295c 47FD sbrc r20,75094 295e 5095 com r215095 2960 4E9F mul r20,r305096 2962 C001 movw r24,r05097 2964 4F9F mul r20,r315098 2966 900D add r25,r05099 2968 5E9F mul r21,r305100 296a 900D add r25,r05101 296c 1124 clr r15102 296e 280F add r18,r245103 2970 391F adc r19,r255104 2972 37FF sbrs r19,75105 2974 00C0 rjmp .L4495106 2976 295F subi r18,lo8(-(7))5107 2978 3F4F sbci r19,hi8(-(7))5108 .L449:5109 297a 93E0 ldi r25,35110 297c 3595 1: asr r195111 297e 2795 ror r185112 2980 9A95 dec r255113 2982 01F4 brne 1b5114 2984 3093 0000 sts (StickNick)+1,r195115 2988 2093 0000 sts StickNick,r185116 298c 6E9F mul r22,r305117 298e 9001 movw r18,r05118 2990 6F9F mul r22,r315119 2992 300D add r19,r05120 2994 7E9F mul r23,r305121 2996 300D add r19,r05122 2998 1124 clr r15123 299a 4A9F mul r20,r265124 299c C001 movw r24,r05125 299e 4B9F mul r20,r275126 29a0 900D add r25,r05127 29a2 5A9F mul r21,r265128 29a4 900D add r25,r05129 29a6 1124 clr r15130 29a8 00C0 rjmp .L9255131 .L446:5132 29aa 8091 0000 lds r24,EE_Parameter+985133 29ae E82F mov r30,r245134 29b0 FF27 clr r315135 29b2 E050 subi r30,lo8(-(sintab))5136 29b4 F040 sbci r31,hi8(-(sintab))5137 29b6 8681 ldd r24,Z+65138 29b8 8093 0000 sts FromNC_Rotate_C,r245139 29bc 9081 ld r25,Z5140 29be 9093 0000 sts FromNC_Rotate_S,r255141 29c2 A82F mov r26,r245142 29c4 BB27 clr r275143 29c6 A7FD sbrc r26,75144 29c8 B095 com r275145 29ca A69F mul r26,r225146 29cc 9001 movw r18,r05147 29ce A79F mul r26,r235148 29d0 300D add r19,r05149 29d2 B69F mul r27,r225150 29d4 300D add r19,r05151 29d6 1124 clr r15152 29d8 E92F mov r30,r255153 29da FF27 clr r315154 29dc E7FD sbrc r30,75155 29de F095 com r315156 29e0 E49F mul r30,r205157 29e2 C001 movw r24,r05158 29e4 E59F mul r30,r215159 29e6 900D add r25,r05160 29e8 F49F mul r31,r205161 29ea 900D add r25,r05162 29ec 1124 clr r15163 29ee 280F add r18,r245164 29f0 391F adc r19,r255165 29f2 37FF sbrs r19,75166 29f4 00C0 rjmp .L4525167 29f6 295F subi r18,lo8(-(7))5168 29f8 3F4F sbci r19,hi8(-(7))5169 .L452:5170 29fa 83E0 ldi r24,35171 29fc 3595 1: asr r195172 29fe 2795 ror r185173 2a00 8A95 dec r245174 2a02 01F4 brne 1b5175 2a04 3093 0000 sts (StickNick)+1,r195176 2a08 2093 0000 sts StickNick,r185177 2a0c A49F mul r26,r205178 2a0e 9001 movw r18,r05179 2a10 A59F mul r26,r215180 2a12 300D add r19,r05181 2a14 B49F mul r27,r205182 2a16 300D add r19,r05183 2a18 1124 clr r15184 2a1a E69F mul r30,r225185 2a1c C001 movw r24,r05186 2a1e E79F mul r30,r235187 2a20 900D add r25,r05188 2a22 F69F mul r31,r225189 2a24 900D add r25,r05190 2a26 1124 clr r15191 .L925:5192 2a28 281B sub r18,r245193 2a2a 390B sbc r19,r255194 2a2c 37FF sbrs r19,75195 2a2e 00C0 rjmp .L4535196 2a30 295F subi r18,lo8(-(7))5197 2a32 3F4F sbci r19,hi8(-(7))5198 .L453:5199 2a34 03E0 ldi r16,35200 2a36 3595 1: asr r195201 2a38 2795 ror r185202 2a3a 0A95 dec r165203 2a3c 01F4 brne 1b5204 2a3e 3093 0000 sts (StickRoll)+1,r195205 2a42 2093 0000 sts StickRoll,r185206 2a46 8091 0000 lds r24,EE_Parameter+45207 2a4a E82F mov r30,r245208 2a4c FF27 clr r315209 2a4e EE0F add r30,r305210 2a50 FF1F adc r31,r315211 2a52 E050 subi r30,lo8(-(PPM_in))5212 2a54 F040 sbci r31,hi8(-(PPM_in))5213 2a56 8081 ld r24,Z5214 2a58 9181 ldd r25,Z+15215 2a5a 9095 com r255216 2a5c 8195 neg r245217 2a5e 9F4F sbci r25,lo8(-1)5218 2a60 9093 0000 sts (StickGier)+1,r255219 2a64 8093 0000 sts StickGier,r245220 2a68 8530 cpi r24,55221 2a6a 9105 cpc r25,__zero_reg__5222 2a6c 04F0 brlt .L4545223 2a6e 0497 sbiw r24,45224 2a70 00C0 rjmp .L8975225 .L454:5226 2a72 0FEF ldi r16,hi8(-4)5227 2a74 8C3F cpi r24,lo8(-4)5228 2a76 9007 cpc r25,r165229 2a78 04F4 brge .L4565230 2a7a 0496 adiw r24,45231 .L897:5232 2a7c 9093 0000 sts (StickGier)+1,r255233 2a80 8093 0000 sts StickGier,r245234 2a84 00C0 rjmp .L4555235 .L456:5236 2a86 1092 0000 sts (StickGier)+1,__zero_reg__5237 2a8a 1092 0000 sts StickGier,__zero_reg__5238 .L455:5239 2a8e 8091 0000 lds r24,GPS_Aid_StickMultiplikator5240 2a92 8823 tst r245241 2a94 01F4 brne .+25242 2a96 00C0 rjmp .L4585243 2a98 282F mov r18,r245244 2a9a 3327 clr r195245 2a9c 8091 0000 lds r24,StickNick5246 2aa0 9091 0000 lds r25,(StickNick)+15247 2aa4 97FD sbrc r25,75248 2aa6 0796 adiw r24,75249 .L459:5250 2aa8 13E0 ldi r17,35251 2aaa 9595 1: asr r255252 2aac 8795 ror r245253 2aae 1A95 dec r175254 2ab0 01F4 brne 1b5255 2ab2 289F mul r18,r245256 2ab4 A001 movw r20,r05257 2ab6 299F mul r18,r255258 2ab8 500D add r21,r05259 2aba 389F mul r19,r245260 2abc 500D add r21,r05261 2abe 1124 clr r15262 2ac0 CA01 movw r24,r205263 2ac2 57FD sbrc r21,75264 2ac4 0F96 adiw r24,155265 .L460:5266 2ac6 B4E0 ldi r27,45267 2ac8 9595 1: asr r255268 2aca 8795 ror r245269 2acc BA95 dec r275270 2ace 01F4 brne 1b5271 2ad0 9093 0000 sts (StickNick)+1,r255272 2ad4 8093 0000 sts StickNick,r245273 2ad8 8091 0000 lds r24,StickRoll5274 2adc 9091 0000 lds r25,(StickRoll)+15275 2ae0 97FD sbrc r25,75276 2ae2 0796 adiw r24,75277 .L461:5278 2ae4 A3E0 ldi r26,35279 2ae6 9595 1: asr r255280 2ae8 8795 ror r245281 2aea AA95 dec r265282 2aec 01F4 brne 1b5283 2aee 289F mul r18,r245284 2af0 B001 movw r22,r05285 2af2 299F mul r18,r255286 2af4 700D add r23,r05287 2af6 389F mul r19,r245288 2af8 700D add r23,r05289 2afa 1124 clr r15290 2afc CB01 movw r24,r225291 2afe 77FD sbrc r23,75292 2b00 0F96 adiw r24,155293 .L462:5294 2b02 F4E0 ldi r31,45295 2b04 9595 1: asr r255296 2b06 8795 ror r245297 2b08 FA95 dec r315298 2b0a 01F4 brne 1b5299 2b0c 9093 0000 sts (StickRoll)+1,r255300 2b10 8093 0000 sts StickRoll,r245301 .L458:5302 2b14 8090 0000 lds r8,StickNick5303 2b18 9090 0000 lds r9,(StickNick)+15304 2b1c 8091 0000 lds r24,GPS_Nick5305 2b20 9091 0000 lds r25,(GPS_Nick)+15306 2b24 881A sub r8,r245307 2b26 990A sbc r9,r255308 2b28 9092 0000 sts (StickNick)+1,r95309 2b2c 8092 0000 sts StickNick,r85310 2b30 0091 0000 lds r16,StickRoll5311 2b34 1091 0000 lds r17,(StickRoll)+15312 2b38 8091 0000 lds r24,GPS_Roll5313 2b3c 9091 0000 lds r25,(GPS_Roll)+15314 2b40 081B sub r16,r245315 2b42 190B sbc r17,r255316 2b44 1093 0000 sts (StickRoll)+1,r175317 2b48 0093 0000 sts StickRoll,r165318 2b4c 8091 0000 lds r24,EE_Parameter+35319 2b50 E82F mov r30,r245320 2b52 FF27 clr r315321 2b54 EE0F add r30,r305322 2b56 FF1F adc r31,r315323 2b58 E050 subi r30,lo8(-(PPM_in))5324 2b5a F040 sbci r31,hi8(-(PPM_in))5325 2b5c E080 ld r14,Z5326 2b5e F180 ldd r15,Z+15327 2b60 8FE7 ldi r24,lo8(127)5328 2b62 90E0 ldi r25,hi8(127)5329 2b64 E80E add r14,r245330 2b66 F91E adc r15,r255331 2b68 F092 0000 sts (StickGas)+1,r155332 2b6c E092 0000 sts StickGas,r145333 2b70 8091 0000 lds r24,Parameter_Gyro_P5334 2b74 9927 clr r255335 2b76 AA27 clr r265336 2b78 97FD sbrc r25,75337 2b7a A095 com r265338 2b7c BA2F mov r27,r265339 2b7e BC01 movw r22,r245340 2b80 CD01 movw r24,r265341 2b82 0E94 0000 call __floatsisf5342 2b86 DC01 movw r26,r245343 2b88 CB01 movw r24,r225344 2b8a 20E0 ldi r18,lo8(0x41200000)5345 2b8c 30E0 ldi r19,hi8(0x41200000)5346 2b8e 40E2 ldi r20,hlo8(0x41200000)5347 2b90 51E4 ldi r21,hhi8(0x41200000)5348 2b92 BC01 movw r22,r245349 2b94 CD01 movw r24,r265350 2b96 0E94 0000 call __addsf35351 2b9a DC01 movw r26,r245352 2b9c CB01 movw r24,r225353 2b9e BC01 movw r22,r245354 2ba0 CD01 movw r24,r265355 2ba2 0E94 0000 call __fixunssfsi5356 2ba6 DC01 movw r26,r245357 2ba8 CB01 movw r24,r225358 2baa 8093 0000 sts GyroFaktor,r245359 2bae 8091 0000 lds r24,Parameter_Gyro_I5360 2bb2 8093 0000 sts IntegralFaktor,r245361 2bb6 8091 0000 lds r24,Parameter_Gyro_Gier_P5362 2bba 9927 clr r255363 2bbc AA27 clr r265364 2bbe 97FD sbrc r25,75365 2bc0 A095 com r265366 2bc2 BA2F mov r27,r265367 2bc4 BC01 movw r22,r245368 2bc6 CD01 movw r24,r265369 2bc8 0E94 0000 call __floatsisf5370 2bcc DC01 movw r26,r245371 2bce CB01 movw r24,r225372 2bd0 20E0 ldi r18,lo8(0x41200000)5373 2bd2 30E0 ldi r19,hi8(0x41200000)5374 2bd4 40E2 ldi r20,hlo8(0x41200000)5375 2bd6 51E4 ldi r21,hhi8(0x41200000)5376 2bd8 BC01 movw r22,r245377 2bda CD01 movw r24,r265378 2bdc 0E94 0000 call __addsf35379 2be0 DC01 movw r26,r245380 2be2 CB01 movw r24,r225381 2be4 BC01 movw r22,r245382 2be6 CD01 movw r24,r265383 2be8 0E94 0000 call __fixunssfsi5384 2bec DC01 movw r26,r245385 2bee CB01 movw r24,r225386 2bf0 8093 0000 sts GyroFaktorGier,r245387 2bf4 8091 0000 lds r24,Parameter_Gyro_Gier_I5388 2bf8 8093 0000 sts IntegralFaktorGier,r245389 2bfc 8091 0000 lds r24,ExternControl+105390 2c00 80FF sbrs r24,05391 2c02 00C0 rjmp .L4635392 2c04 8091 0000 lds r24,Parameter_ExternalControl5393 2c08 8138 cpi r24,lo8(-127)5394 2c0a 00F4 brsh .+25395 2c0c 00C0 rjmp .L4635396 2c0e 8091 0000 lds r24,ExternControl+35397 2c12 9927 clr r255398 2c14 87FD sbrc r24,75399 2c16 9095 com r255400 2c18 2B2D mov r18,r115401 2c1a 3327 clr r195402 2c1c 829F mul r24,r185403 2c1e D001 movw r26,r05404 2c20 839F mul r24,r195405 2c22 B00D add r27,r05406 2c24 929F mul r25,r185407 2c26 B00D add r27,r05408 2c28 1124 clr r15409 2c2a 8A0E add r8,r265410 2c2c 9B1E adc r9,r275411 2c2e 9092 0000 sts (StickNick)+1,r95412 2c32 8092 0000 sts StickNick,r85413 2c36 8091 0000 lds r24,ExternControl+45414 2c3a 9927 clr r255415 2c3c 87FD sbrc r24,75416 2c3e 9095 com r255417 2c40 829F mul r24,r185418 2c42 F001 movw r30,r05419 2c44 839F mul r24,r195420 2c46 F00D add r31,r05421 2c48 929F mul r25,r185422 2c4a F00D add r31,r05423 2c4c 1124 clr r15424 2c4e 0E0F add r16,r305425 2c50 1F1F adc r17,r315426 2c52 1093 0000 sts (StickRoll)+1,r175427 2c56 0093 0000 sts StickRoll,r165428 2c5a 8091 0000 lds r24,ExternControl+55429 2c5e 282F mov r18,r245430 2c60 3327 clr r195431 2c62 27FD sbrc r18,75432 2c64 3095 com r195433 2c66 8091 0000 lds r24,StickGier5434 2c6a 9091 0000 lds r25,(StickGier)+15435 2c6e 820F add r24,r185436 2c70 931F adc r25,r195437 2c72 9093 0000 sts (StickGier)+1,r255438 2c76 8093 0000 sts StickGier,r245439 2c7a 8091 0000 lds r24,ExternControl+75440 2c7e 282F mov r18,r245441 2c80 3327 clr r195442 2c82 27FD sbrc r18,75443 2c84 3095 com r195444 2c86 8091 0000 lds r24,EE_Parameter+185445 2c8a 9927 clr r255446 2c8c 289F mul r18,r245447 2c8e 8001 movw r16,r05448 2c90 299F mul r18,r255449 2c92 100D add r17,r05450 2c94 389F mul r19,r245451 2c96 100D add r17,r05452 2c98 1124 clr r15453 2c9a 1093 0000 sts (ExternHoehenValue)+1,r175454 2c9e 0093 0000 sts ExternHoehenValue,r165455 2ca2 8091 0000 lds r24,ExternControl+65456 2ca6 9927 clr r255457 2ca8 8E15 cp r24,r145458 2caa 9F05 cpc r25,r155459 2cac 04F4 brge .L4635460 2cae 9093 0000 sts (StickGas)+1,r255461 2cb2 8093 0000 sts StickGas,r245462 .L463:5463 2cb6 8091 0000 lds r24,StickGas5464 2cba 9091 0000 lds r25,(StickGas)+15465 2cbe 97FF sbrs r25,75466 2cc0 00C0 rjmp .L4655467 2cc2 1092 0000 sts (StickGas)+1,__zero_reg__5468 2cc6 1092 0000 sts StickGas,__zero_reg__5469 .L465:5470 2cca 8091 0000 lds r24,Parameter_GlobalConfig5471 2cce 82FF sbrs r24,25472 2cd0 00C0 rjmp .L4665473 2cd2 1092 0000 sts IntegralFaktor,__zero_reg__5474 .L466:5475 2cd6 4091 0000 lds r20,StickNick5476 2cda 5091 0000 lds r21,(StickNick)+15477 2cde CA01 movw r24,r205478 2ce0 57FD sbrc r21,75479 2ce2 0396 adiw r24,35480 .L468:5481 2ce4 9C01 movw r18,r245482 2ce6 3595 asr r195483 2ce8 2795 ror r185484 2cea 3595 asr r195485 2cec 2795 ror r185486 2cee 37FF sbrs r19,75487 2cf0 00C0 rjmp .L4695488 2cf2 3095 com r195489 2cf4 2195 neg r185490 2cf6 3F4F sbci r19,lo8(-1)5491 .L469:5492 2cf8 8091 0000 lds r24,MaxStickNick5493 2cfc 9091 0000 lds r25,(MaxStickNick)+15494 2d00 8217 cp r24,r185495 2d02 9307 cpc r25,r195496 2d04 04F4 brge .L4675497 2d06 CA01 movw r24,r205498 2d08 57FF sbrs r21,75499 2d0a 00C0 rjmp .L4705500 2d0c 9095 com r255501 2d0e 8195 neg r245502 2d10 9F4F sbci r25,lo8(-1)5503 .L470:5504 2d12 97FD sbrc r25,75505 2d14 0396 adiw r24,35506 .L471:5507 2d16 9595 asr r255508 2d18 8795 ror r245509 2d1a 9595 asr r255510 2d1c 8795 ror r245511 2d1e 9093 0000 sts (MaxStickNick)+1,r255512 2d22 8093 0000 sts MaxStickNick,r245513 2d26 8536 cpi r24,1015514 2d28 9105 cpc r25,__zero_reg__5515 2d2a 04F0 brlt .L4735516 2d2c 84E6 ldi r24,lo8(100)5517 2d2e 90E0 ldi r25,hi8(100)5518 2d30 00C0 rjmp .L8985519 .L467:5520 2d32 0197 sbiw r24,15521 .L898:5522 2d34 9093 0000 sts (MaxStickNick)+1,r255523 2d38 8093 0000 sts MaxStickNick,r245524 .L473:5525 2d3c 4091 0000 lds r20,StickRoll5526 2d40 5091 0000 lds r21,(StickRoll)+15527 2d44 CA01 movw r24,r205528 2d46 57FD sbrc r21,75529 2d48 0396 adiw r24,35530 .L475:5531 2d4a 9C01 movw r18,r245532 2d4c 3595 asr r195533 2d4e 2795 ror r185534 2d50 3595 asr r195535 2d52 2795 ror r185536 2d54 37FF sbrs r19,75537 2d56 00C0 rjmp .L4765538 2d58 3095 com r195539 2d5a 2195 neg r185540 2d5c 3F4F sbci r19,lo8(-1)5541 .L476:5542 2d5e 8091 0000 lds r24,MaxStickRoll5543 2d62 9091 0000 lds r25,(MaxStickRoll)+15544 2d66 8217 cp r24,r185545 2d68 9307 cpc r25,r195546 2d6a 04F4 brge .L4745547 2d6c CA01 movw r24,r205548 2d6e 57FF sbrs r21,75549 2d70 00C0 rjmp .L4775550 2d72 9095 com r255551 2d74 8195 neg r245552 2d76 9F4F sbci r25,lo8(-1)5553 .L477:5554 2d78 97FD sbrc r25,75555 2d7a 0396 adiw r24,35556 .L478:5557 2d7c 9595 asr r255558 2d7e 8795 ror r245559 2d80 9595 asr r255560 2d82 8795 ror r245561 2d84 9093 0000 sts (MaxStickRoll)+1,r255562 2d88 8093 0000 sts MaxStickRoll,r245563 2d8c 8536 cpi r24,1015564 2d8e 9105 cpc r25,__zero_reg__5565 2d90 04F0 brlt .L4805566 2d92 84E6 ldi r24,lo8(100)5567 2d94 90E0 ldi r25,hi8(100)5568 2d96 00C0 rjmp .L8995569 .L474:5570 2d98 0197 sbiw r24,15571 .L899:5572 2d9a 9093 0000 sts (MaxStickRoll)+1,r255573 2d9e 8093 0000 sts MaxStickRoll,r245574 .L480:5575 2da2 8091 0000 lds r24,FC_StatusFlags5576 2da6 84FF sbrs r24,45577 2da8 00C0 rjmp .L4815578 2daa 1092 0000 sts (MaxStickNick)+1,__zero_reg__5579 2dae 1092 0000 sts MaxStickNick,__zero_reg__5580 2db2 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5581 2db6 1092 0000 sts MaxStickRoll,__zero_reg__5582 .L481:5583 2dba ED2D mov r30,r135584 2dbc FF27 clr r315585 2dbe EE0F add r30,r305586 2dc0 FF1F adc r31,r315587 2dc2 E050 subi r30,lo8(-(PPM_in))5588 2dc4 F040 sbci r31,hi8(-(PPM_in))5589 2dc6 4091 0000 lds r20,EE_Parameter+605590 2dca 242F mov r18,r205591 2dcc 3327 clr r195592 2dce 8081 ld r24,Z5593 2dd0 9181 ldd r25,Z+15594 2dd2 2817 cp r18,r245595 2dd4 3907 cpc r19,r255596 2dd6 04F4 brge .L4825597 2dd8 8091 0000 lds r24,EE_Parameter+1085598 2ddc 82FF sbrs r24,25599 2dde 00C0 rjmp .L4825600 2de0 81E0 ldi r24,lo8(1)5601 2de2 8093 0000 sts Looping_Links,r245602 2de6 00C0 rjmp .L4835603 .L482:5604 2de8 ED2D mov r30,r135605 2dea FF27 clr r315606 2dec EE0F add r30,r305607 2dee FF1F adc r31,r315608 2df0 E050 subi r30,lo8(-(PPM_in))5609 2df2 F040 sbci r31,hi8(-(PPM_in))5610 2df4 842F mov r24,r205611 2df6 9927 clr r255612 2df8 2091 0000 lds r18,EE_Parameter+615613 2dfc 821B sub r24,r185614 2dfe 9109 sbc r25,__zero_reg__5615 2e00 2081 ld r18,Z5616 2e02 3181 ldd r19,Z+15617 2e04 2817 cp r18,r245618 2e06 3907 cpc r19,r255619 2e08 04F4 brge .L4835620 2e0a 1092 0000 sts Looping_Links,__zero_reg__5621 .L483:5622 2e0e 4091 0000 lds r20,EE_Parameter+25623 2e12 E42F mov r30,r205624 2e14 FF27 clr r315625 2e16 EE0F add r30,r305626 2e18 FF1F adc r31,r315627 2e1a E050 subi r30,lo8(-(PPM_in))5628 2e1c F040 sbci r31,hi8(-(PPM_in))5629 2e1e 5091 0000 lds r21,EE_Parameter+605630 2e22 852F mov r24,r215631 2e24 9927 clr r255632 2e26 2227 clr r185633 2e28 3327 clr r195634 2e2a 281B sub r18,r245635 2e2c 390B sbc r19,r255636 2e2e 8081 ld r24,Z5637 2e30 9181 ldd r25,Z+15638 2e32 8217 cp r24,r185639 2e34 9307 cpc r25,r195640 2e36 04F4 brge .L4855641 2e38 8091 0000 lds r24,EE_Parameter+1085642 2e3c 83FF sbrs r24,35643 2e3e 00C0 rjmp .L4855644 2e40 81E0 ldi r24,lo8(1)5645 2e42 8093 0000 sts Looping_Rechts,r245646 2e46 00C0 rjmp .L4865647 .L485:5648 2e48 8091 0000 lds r24,Looping_Rechts5649 2e4c 8823 tst r245650 2e4e 01F0 breq .L4865651 2e50 E42F mov r30,r205652 2e52 FF27 clr r315653 2e54 EE0F add r30,r305654 2e56 FF1F adc r31,r315655 2e58 E050 subi r30,lo8(-(PPM_in))5656 2e5a F040 sbci r31,hi8(-(PPM_in))5657 2e5c 8091 0000 lds r24,EE_Parameter+615658 2e60 9927 clr r255659 2e62 851B sub r24,r215660 2e64 9109 sbc r25,__zero_reg__5661 2e66 2081 ld r18,Z5662 2e68 3181 ldd r19,Z+15663 2e6a 8217 cp r24,r185664 2e6c 9307 cpc r25,r195665 2e6e 04F4 brge .L4865666 2e70 1092 0000 sts Looping_Rechts,__zero_reg__5667 .L486:5668 2e74 EC2D mov r30,r125669 2e76 FF27 clr r315670 2e78 EE0F add r30,r305671 2e7a FF1F adc r31,r315672 2e7c E050 subi r30,lo8(-(PPM_in))5673 2e7e F040 sbci r31,hi8(-(PPM_in))5674 2e80 4091 0000 lds r20,EE_Parameter+605675 2e84 242F mov r18,r205676 2e86 3327 clr r195677 2e88 8081 ld r24,Z5678 2e8a 9181 ldd r25,Z+15679 2e8c 2817 cp r18,r245680 2e8e 3907 cpc r19,r255681 2e90 04F4 brge .L4895682 2e92 8091 0000 lds r24,EE_Parameter+1085683 2e96 80FF sbrs r24,05684 2e98 00C0 rjmp .L4895685 2e9a 81E0 ldi r24,lo8(1)5686 2e9c 8093 0000 sts Looping_Oben,r245687 2ea0 00C0 rjmp .L4905688 .L489:5689 2ea2 8091 0000 lds r24,Looping_Oben5690 2ea6 8823 tst r245691 2ea8 01F0 breq .L4905692 2eaa EC2D mov r30,r125693 2eac FF27 clr r315694 2eae EE0F add r30,r305695 2eb0 FF1F adc r31,r315696 2eb2 E050 subi r30,lo8(-(PPM_in))5697 2eb4 F040 sbci r31,hi8(-(PPM_in))5698 2eb6 842F mov r24,r205699 2eb8 9927 clr r255700 2eba 2091 0000 lds r18,EE_Parameter+615701 2ebe 821B sub r24,r185702 2ec0 9109 sbc r25,__zero_reg__5703 2ec2 2081 ld r18,Z5704 2ec4 3181 ldd r19,Z+15705 2ec6 2817 cp r18,r245706 2ec8 3907 cpc r19,r255707 2eca 04F4 brge .L4905708 2ecc 1092 0000 sts Looping_Oben,__zero_reg__5709 .L490:5710 2ed0 4091 0000 lds r20,EE_Parameter+15711 2ed4 E42F mov r30,r205712 2ed6 FF27 clr r315713 2ed8 EE0F add r30,r305714 2eda FF1F adc r31,r315715 2edc E050 subi r30,lo8(-(PPM_in))5716 2ede F040 sbci r31,hi8(-(PPM_in))5717 2ee0 5091 0000 lds r21,EE_Parameter+605718 2ee4 852F mov r24,r215719 2ee6 9927 clr r255720 2ee8 2227 clr r185721 2eea 3327 clr r195722 2eec 281B sub r18,r245723 2eee 390B sbc r19,r255724 2ef0 8081 ld r24,Z5725 2ef2 9181 ldd r25,Z+15726 2ef4 8217 cp r24,r185727 2ef6 9307 cpc r25,r195728 2ef8 04F4 brge .L4935729 2efa 8091 0000 lds r24,EE_Parameter+1085730 2efe 81FF sbrs r24,15731 2f00 00C0 rjmp .L4935732 2f02 81E0 ldi r24,lo8(1)5733 2f04 8093 0000 sts Looping_Unten,r245734 2f08 00C0 rjmp .L4945735 .L493:5736 2f0a 8091 0000 lds r24,Looping_Unten5737 2f0e 8823 tst r245738 2f10 01F0 breq .L4945739 2f12 E42F mov r30,r205740 2f14 FF27 clr r315741 2f16 EE0F add r30,r305742 2f18 FF1F adc r31,r315743 2f1a E050 subi r30,lo8(-(PPM_in))5744 2f1c F040 sbci r31,hi8(-(PPM_in))5745 2f1e 8091 0000 lds r24,EE_Parameter+615746 2f22 9927 clr r255747 2f24 851B sub r24,r215748 2f26 9109 sbc r25,__zero_reg__5749 2f28 2081 ld r18,Z5750 2f2a 3181 ldd r19,Z+15751 2f2c 8217 cp r24,r185752 2f2e 9307 cpc r25,r195753 2f30 04F4 brge .L4945754 2f32 1092 0000 sts Looping_Unten,__zero_reg__5755 .L494:5756 2f36 8091 0000 lds r24,Looping_Links5757 2f3a 8823 tst r245758 2f3c 01F4 brne .L4985759 2f3e 8091 0000 lds r24,Looping_Rechts5760 2f42 8111 cpse r24,__zero_reg__5761 .L498:5762 2f44 81E0 ldi r24,lo8(1)5763 .L497:5764 2f46 8093 0000 sts Looping_Roll,r245765 2f4a 8091 0000 lds r24,Looping_Oben5766 2f4e 8823 tst r245767 2f50 01F4 brne .L5015768 2f52 8091 0000 lds r24,Looping_Unten5769 2f56 8823 tst r245770 2f58 01F0 breq .L5005771 .L501:5772 2f5a 81E0 ldi r24,lo8(1)5773 2f5c 8093 0000 sts Looping_Nick,r245774 2f60 1092 0000 sts Looping_Roll,__zero_reg__5775 2f64 1092 0000 sts Looping_Links,__zero_reg__5776 2f68 1092 0000 sts Looping_Rechts,__zero_reg__5777 2f6c 00C0 rjmp .L4425778 .L500:5779 2f6e 8093 0000 sts Looping_Nick,r245780 .L442:5781 2f72 8091 0000 lds r24,Looping_Roll5782 2f76 8823 tst r245783 2f78 01F4 brne .L5045784 2f7a 8091 0000 lds r24,Looping_Nick5785 2f7e 8823 tst r245786 2f80 01F0 breq .L5035787 .L504:5788 2f82 8091 0000 lds r24,EE_Parameter+595789 2f86 9927 clr r255790 2f88 2981 ldd r18,Y+15791 2f8a 3A81 ldd r19,Y+25792 2f8c 8217 cp r24,r185793 2f8e 9307 cpc r25,r195794 2f90 04F4 brge .L5055795 2f92 9A83 std Y+2,r255796 2f94 8983 std Y+1,r245797 .L505:5798 2f96 81E0 ldi r24,lo8(1)5799 2f98 8093 0000 sts TrichterFlug,r245800 .L503:5801 2f9c 8091 0000 lds r24,FC_StatusFlags25802 2fa0 9927 clr r255803 2fa2 9C01 movw r18,r245804 2fa4 2470 andi r18,lo8(4)5805 2fa6 3070 andi r19,hi8(4)5806 2fa8 82FF sbrs r24,25807 2faa 00C0 rjmp .L5065808 2fac 8091 0000 lds r24,GPS_Nick5809 2fb0 9091 0000 lds r25,(GPS_Nick)+15810 2fb4 9095 com r255811 2fb6 8195 neg r245812 2fb8 9F4F sbci r25,lo8(-1)5813 2fba 9093 0000 sts (StickNick)+1,r255814 2fbe 8093 0000 sts StickNick,r245815 2fc2 8091 0000 lds r24,GPS_Roll5816 2fc6 9091 0000 lds r25,(GPS_Roll)+15817 2fca 9095 com r255818 2fcc 8195 neg r245819 2fce 9F4F sbci r25,lo8(-1)5820 2fd0 9093 0000 sts (StickRoll)+1,r255821 2fd4 8093 0000 sts StickRoll,r245822 2fd8 8091 0000 lds r24,StickGasHover5823 2fdc 9091 0000 lds r25,(StickGasHover)+15824 2fe0 9093 0000 sts (StickGas)+1,r255825 2fe4 8093 0000 sts StickGas,r245826 2fe8 8091 0000 lds r24,Parameter_GlobalConfig5827 2fec 8B77 andi r24,lo8(123)5828 2fee 8B66 ori r24,lo8(107)5829 2ff0 8093 0000 sts Parameter_GlobalConfig,r245830 2ff4 8091 0000 lds r24,Parameter_ExtraConfig5831 2ff8 8C7B andi r24,lo8(-68)5832 2ffa 8093 0000 sts Parameter_ExtraConfig,r245833 2ffe 88EC ldi r24,lo8(-56)5834 3000 8093 0000 sts Parameter_HoehenSchalter,r245835 3004 00C0 rjmp .L5075836 .L506:5837 3006 8091 0000 lds r24,FC_StatusFlags5838 300a 84FF sbrs r24,45839 300c 00C0 rjmp .L5075840 300e 3093 0000 sts (StickGier)+1,r195841 3012 2093 0000 sts StickGier,r185842 3016 3093 0000 sts (StickNick)+1,r195843 301a 2093 0000 sts StickNick,r185844 301e 3093 0000 sts (StickRoll)+1,r195845 3022 2093 0000 sts StickRoll,r185846 3026 9AE5 ldi r25,lo8(90)5847 3028 9093 0000 sts GyroFaktor,r255848 302c 88E7 ldi r24,lo8(120)5849 302e 8093 0000 sts IntegralFaktor,r245850 3032 9093 0000 sts GyroFaktorGier,r255851 3036 8093 0000 sts IntegralFaktorGier,r245852 303a 1092 0000 sts Looping_Roll,__zero_reg__5853 303e 1092 0000 sts Looping_Nick,__zero_reg__5854 .L507:5855 3042 8091 0000 lds r24,MittelIntegralNick5856 3046 9091 0000 lds r25,(MittelIntegralNick)+15857 304a A091 0000 lds r26,(MittelIntegralNick)+25858 304e B091 0000 lds r27,(MittelIntegralNick)+35859 3052 2091 0000 lds r18,IntegralNick5860 3056 3091 0000 lds r19,(IntegralNick)+15861 305a 4091 0000 lds r20,(IntegralNick)+25862 305e 5091 0000 lds r21,(IntegralNick)+35863 3062 820F add r24,r185864 3064 931F adc r25,r195865 3066 A41F adc r26,r205866 3068 B51F adc r27,r215867 306a 8093 0000 sts MittelIntegralNick,r245868 306e 9093 0000 sts (MittelIntegralNick)+1,r255869 3072 A093 0000 sts (MittelIntegralNick)+2,r265870 3076 B093 0000 sts (MittelIntegralNick)+3,r275871 307a 8091 0000 lds r24,MittelIntegralRoll5872 307e 9091 0000 lds r25,(MittelIntegralRoll)+15873 3082 A091 0000 lds r26,(MittelIntegralRoll)+25874 3086 B091 0000 lds r27,(MittelIntegralRoll)+35875 308a E090 0000 lds r14,IntegralRoll5876 308e F090 0000 lds r15,(IntegralRoll)+15877 3092 0091 0000 lds r16,(IntegralRoll)+25878 3096 1091 0000 lds r17,(IntegralRoll)+35879 309a EB82 std Y+3,r145880 309c FC82 std Y+4,r155881 309e 0D83 std Y+5,r165882 30a0 1E83 std Y+6,r175883 30a2 8E0D add r24,r145884 30a4 9F1D adc r25,r155885 30a6 A01F adc r26,r165886 30a8 B11F adc r27,r175887 30aa 8093 0000 sts MittelIntegralRoll,r245888 30ae 9093 0000 sts (MittelIntegralRoll)+1,r255889 30b2 A093 0000 sts (MittelIntegralRoll)+2,r265890 30b6 B093 0000 sts (MittelIntegralRoll)+3,r275891 30ba 8091 0000 lds r24,MittelIntegralNick25892 30be 9091 0000 lds r25,(MittelIntegralNick2)+15893 30c2 A091 0000 lds r26,(MittelIntegralNick2)+25894 30c6 B091 0000 lds r27,(MittelIntegralNick2)+35895 30ca E090 0000 lds r14,IntegralNick25896 30ce F090 0000 lds r15,(IntegralNick2)+15897 30d2 0091 0000 lds r16,(IntegralNick2)+25898 30d6 1091 0000 lds r17,(IntegralNick2)+35899 30da EF82 std Y+7,r145900 30dc F886 std Y+8,r155901 30de 0987 std Y+9,r165902 30e0 1A87 std Y+10,r175903 30e2 8E0D add r24,r145904 30e4 9F1D adc r25,r155905 30e6 A01F adc r26,r165906 30e8 B11F adc r27,r175907 30ea 8093 0000 sts MittelIntegralNick2,r245908 30ee 9093 0000 sts (MittelIntegralNick2)+1,r255909 30f2 A093 0000 sts (MittelIntegralNick2)+2,r265910 30f6 B093 0000 sts (MittelIntegralNick2)+3,r275911 30fa 8091 0000 lds r24,MittelIntegralRoll25912 30fe 9091 0000 lds r25,(MittelIntegralRoll2)+15913 3102 A091 0000 lds r26,(MittelIntegralRoll2)+25914 3106 B091 0000 lds r27,(MittelIntegralRoll2)+35915 310a E090 0000 lds r14,IntegralRoll25916 310e F090 0000 lds r15,(IntegralRoll2)+15917 3112 0091 0000 lds r16,(IntegralRoll2)+25918 3116 1091 0000 lds r17,(IntegralRoll2)+35919 311a EB86 std Y+11,r145920 311c FC86 std Y+12,r155921 311e 0D87 std Y+13,r165922 3120 1E87 std Y+14,r175923 3122 8E0D add r24,r145924 3124 9F1D adc r25,r155925 3126 A01F adc r26,r165926 3128 B11F adc r27,r175927 312a 8093 0000 sts MittelIntegralRoll2,r245928 312e 9093 0000 sts (MittelIntegralRoll2)+1,r255929 3132 A093 0000 sts (MittelIntegralRoll2)+2,r265930 3136 B093 0000 sts (MittelIntegralRoll2)+3,r275931 313a F090 0000 lds r15,Looping_Nick5932 313e FF86 std Y+15,r155933 3140 FF20 tst r155934 3142 01F4 brne .L5105935 3144 8091 0000 lds r24,Looping_Roll5936 3148 8823 tst r245937 314a 01F4 brne .+25938 314c 00C0 rjmp .L8925939 .L510:5940 314e 1092 0000 sts IntegralAccNick,__zero_reg__5941 3152 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5942 3156 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5943 315a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5944 315e 1092 0000 sts IntegralAccRoll,__zero_reg__5945 3162 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5946 3166 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5947 316a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5948 316e 1092 0000 sts MittelIntegralNick,__zero_reg__5949 3172 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5950 3176 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5951 317a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5952 317e 1092 0000 sts MittelIntegralRoll,__zero_reg__5953 3182 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5954 3186 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5955 318a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5956 318e 1092 0000 sts MittelIntegralNick2,__zero_reg__5957 3192 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5958 3196 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5959 319a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5960 319e 1092 0000 sts MittelIntegralRoll2,__zero_reg__5961 31a2 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5962 31a6 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5963 31aa 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5964 31ae 8091 0000 lds r24,Mess_IntegralNick5965 31b2 9091 0000 lds r25,(Mess_IntegralNick)+15966 31b6 A091 0000 lds r26,(Mess_IntegralNick)+25967 31ba B091 0000 lds r27,(Mess_IntegralNick)+35968 31be 8093 0000 sts Mess_IntegralNick2,r245969 31c2 9093 0000 sts (Mess_IntegralNick2)+1,r255970 31c6 A093 0000 sts (Mess_IntegralNick2)+2,r265971 31ca B093 0000 sts (Mess_IntegralNick2)+3,r275972 31ce 8091 0000 lds r24,Mess_IntegralRoll5973 31d2 9091 0000 lds r25,(Mess_IntegralRoll)+15974 31d6 A091 0000 lds r26,(Mess_IntegralRoll)+25975 31da B091 0000 lds r27,(Mess_IntegralRoll)+35976 31de 8093 0000 sts Mess_IntegralRoll2,r245977 31e2 9093 0000 sts (Mess_IntegralRoll2)+1,r255978 31e6 A093 0000 sts (Mess_IntegralRoll2)+2,r265979 31ea B093 0000 sts (Mess_IntegralRoll2)+3,r275980 31ee 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5981 31f2 1092 0000 sts ZaehlMessungen,__zero_reg__5982 31f6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5983 31fa 1092 0000 sts LageKorrekturNick,__zero_reg__5984 31fe 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5985 3202 1092 0000 sts LageKorrekturRoll,__zero_reg__5986 3206 0F85 ldd r16,Y+155987 3208 0023 tst r165988 320a 01F0 breq .+25989 320c 00C0 rjmp .L5115990 .L892:5991 320e 8091 0000 lds r24,Looping_Roll5992 3212 8823 tst r245993 3214 01F0 breq .+25994 3216 00C0 rjmp .L5115995 3218 8091 0000 lds r24,Aktuell_az5996 321c 9091 0000 lds r25,(Aktuell_az)+15997 3220 8150 subi r24,lo8(513)5998 3222 9240 sbci r25,hi8(513)5999 3224 04F4 brge .L5126000 3226 8091 0000 lds r24,MotorenEin6001 322a 8823 tst r246002 322c 01F4 brne .+26003 322e 00C0 rjmp .L5116004 .L512:6005 3230 9090 0000 lds r9,FromNaviCtrl_Value6006 3234 A090 0000 lds r10,EE_Parameter+286007 3238 2090 0000 lds r2,Mittelwert_AccNick6008 323c 3090 0000 lds r3,(Mittelwert_AccNick)+16009 3240 4090 0000 lds r4,Mittelwert_AccRoll6010 3244 5090 0000 lds r5,(Mittelwert_AccRoll)+16011 3248 1914 cp __zero_reg__,r96012 324a 04F0 brlt .+26013 324c 00C0 rjmp .L5136014 324e BB24 clr r116015 3250 CC24 clr r126016 3252 DD24 clr r136017 3254 CA01 movw r24,r206018 3256 B901 movw r22,r186019 3258 A601 movw r20,r126020 325a 9501 movw r18,r106021 325c 0E94 0000 call __divmodsi46022 3260 7901 movw r14,r186023 3262 8A01 movw r16,r206024 3264 8091 0000 lds r24,FromNaviCtrl+96025 3268 9091 0000 lds r25,(FromNaviCtrl+9)+16026 326c 281A sub r2,r246027 326e 390A sbc r3,r256028 3270 C101 movw r24,r26029 3272 AA27 clr r266030 3274 97FD sbrc r25,76031 3276 A095 com r266032 3278 BA2F mov r27,r266033 327a E81A sub r14,r246034 327c F90A sbc r15,r256035 327e 0A0B sbc r16,r266036 3280 1B0B sbc r17,r276037 3282 6B81 ldd r22,Y+36038 3284 7C81 ldd r23,Y+46039 3286 8D81 ldd r24,Y+56040 3288 9E81 ldd r25,Y+66041 328a A601 movw r20,r126042 328c 9501 movw r18,r106043 328e 0E94 0000 call __divmodsi46044 3292 5901 movw r10,r186045 3294 6A01 movw r12,r206046 3296 8091 0000 lds r24,FromNaviCtrl+116047 329a 9091 0000 lds r25,(FromNaviCtrl+11)+16048 329e 481A sub r4,r246049 32a0 590A sbc r5,r256050 32a2 C201 movw r24,r46051 32a4 AA27 clr r266052 32a6 97FD sbrc r25,76053 32a8 A095 com r266054 32aa BA2F mov r27,r266055 32ac A81A sub r10,r246056 32ae B90A sbc r11,r256057 32b0 CA0A sbc r12,r266058 32b2 DB0A sbc r13,r276059 32b4 292C mov r2,r96060 32b6 3324 clr r36061 32b8 27FC sbrc r2,76062 32ba 3094 com r36063 32bc 432C mov r4,r36064 32be 532C mov r5,r36065 32c0 C801 movw r24,r166066 32c2 B701 movw r22,r146067 32c4 A201 movw r20,r46068 32c6 9101 movw r18,r26069 32c8 0E94 0000 call __mulsi36070 32cc 97FF sbrs r25,76071 32ce 00C0 rjmp .L5146072 32d0 6150 subi r22,lo8(-(511))6073 32d2 7E4F sbci r23,hi8(-(511))6074 32d4 8F4F sbci r24,hlo8(-(511))6075 32d6 9F4F sbci r25,hhi8(-(511))6076 .L514:6077 32d8 3B01 movw r6,r226078 32da 4C01 movw r8,r246079 32dc 09E0 ldi r16,96080 32de 9594 1: asr r96081 32e0 8794 ror r86082 32e2 7794 ror r76083 32e4 6794 ror r66084 32e6 0A95 dec r166085 32e8 01F4 brne 1b6086 32ea C601 movw r24,r126087 32ec B501 movw r22,r106088 32ee A201 movw r20,r46089 32f0 9101 movw r18,r26090 32f2 0E94 0000 call __mulsi36091 32f6 97FF sbrs r25,76092 32f8 00C0 rjmp .L5156093 32fa 6150 subi r22,lo8(-(511))6094 32fc 7E4F sbci r23,hi8(-(511))6095 32fe 8F4F sbci r24,hlo8(-(511))6096 3300 9F4F sbci r25,hhi8(-(511))6097 .L515:6098 3302 5B01 movw r10,r226099 3304 6C01 movw r12,r246100 3306 19E0 ldi r17,96101 3308 D594 1: asr r136102 330a C794 ror r126103 330c B794 ror r116104 330e A794 ror r106105 3310 1A95 dec r176106 3312 01F4 brne 1b6107 3314 8091 0000 lds r24,MaxStickNick6108 3318 9091 0000 lds r25,(MaxStickNick)+16109 331c 8134 cpi r24,656110 331e 9105 cpc r25,__zero_reg__6111 3320 04F4 brge .L5176112 3322 8091 0000 lds r24,MaxStickRoll6113 3326 9091 0000 lds r25,(MaxStickRoll)+16114 332a 8134 cpi r24,656115 332c 9105 cpc r25,__zero_reg__6116 332e 04F0 brlt .L5166117 .L517:6118 3330 D401 movw r26,r86119 3332 C301 movw r24,r66120 3334 97FE sbrs r9,76121 3336 00C0 rjmp .L5186122 3338 0196 adiw r24,16123 333a A11D adc r26,__zero_reg__6124 333c B11D adc r27,__zero_reg__6125 .L518:6126 333e 3C01 movw r6,r246127 3340 4D01 movw r8,r266128 3342 9594 asr r96129 3344 8794 ror r86130 3346 7794 ror r76131 3348 6794 ror r66132 334a D601 movw r26,r126133 334c C501 movw r24,r106134 334e D7FE sbrs r13,76135 3350 00C0 rjmp .L5196136 3352 0196 adiw r24,16137 3354 A11D adc r26,__zero_reg__6138 3356 B11D adc r27,__zero_reg__6139 .L519:6140 3358 5C01 movw r10,r246141 335a 6D01 movw r12,r266142 335c D594 asr r136143 335e C794 ror r126144 3360 B794 ror r116145 3362 A794 ror r106146 .L516:6147 3364 8091 0000 lds r24,FromNaviCtrl_Value+26148 3368 282F mov r18,r246149 336a 3327 clr r196150 336c 27FD sbrc r18,76151 336e 3095 com r196152 3370 432F mov r20,r196153 3372 532F mov r21,r196154 3374 2615 cp r18,r66155 3376 3705 cpc r19,r76156 3378 4805 cpc r20,r86157 337a 5905 cpc r21,r96158 337c 04F4 brge .L5206159 337e 3901 movw r6,r186160 3380 4A01 movw r8,r206161 .L520:6162 3382 9927 clr r256163 3384 87FD sbrc r24,76164 3386 9095 com r256165 3388 9095 com r256166 338a 8195 neg r246167 338c 9F4F sbci r25,lo8(-1)6168 338e AA27 clr r266169 3390 97FD sbrc r25,76170 3392 A095 com r266171 3394 BA2F mov r27,r266172 3396 6816 cp r6,r246173 3398 7906 cpc r7,r256174 339a 8A06 cpc r8,r266175 339c 9B06 cpc r9,r276176 339e 04F4 brge .L5216177 33a0 3C01 movw r6,r246178 33a2 4D01 movw r8,r266179 .L521:6180 33a4 2A15 cp r18,r106181 33a6 3B05 cpc r19,r116182 33a8 4C05 cpc r20,r126183 33aa 5D05 cpc r21,r136184 33ac 04F4 brge .L5226185 33ae 5901 movw r10,r186186 33b0 6A01 movw r12,r206187 .L522:6188 33b2 A816 cp r10,r246189 33b4 B906 cpc r11,r256190 33b6 CA06 cpc r12,r266191 33b8 DB06 cpc r13,r276192 33ba 04F0 brlt .+26193 33bc 00C0 rjmp .L5246194 33be 5C01 movw r10,r246195 33c0 6D01 movw r12,r266196 33c2 00C0 rjmp .L5246197 .L513:6198 33c4 EA2C mov r14,r106199 33c6 FF24 clr r156200 33c8 0027 clr r166201 33ca 1127 clr r176202 33cc CA01 movw r24,r206203 33ce B901 movw r22,r186204 33d0 A801 movw r20,r166205 33d2 9701 movw r18,r146206 33d4 0E94 0000 call __divmodsi46207 33d8 3901 movw r6,r186208 33da 4A01 movw r8,r206209 33dc C101 movw r24,r26210 33de AA27 clr r266211 33e0 97FD sbrc r25,76212 33e2 A095 com r266213 33e4 BA2F mov r27,r266214 33e6 681A sub r6,r246215 33e8 790A sbc r7,r256216 33ea 8A0A sbc r8,r266217 33ec 9B0A sbc r9,r276218 33ee 6B81 ldd r22,Y+36219 33f0 7C81 ldd r23,Y+46220 33f2 8D81 ldd r24,Y+56221 33f4 9E81 ldd r25,Y+66222 33f6 A801 movw r20,r166223 33f8 9701 movw r18,r146224 33fa 0E94 0000 call __divmodsi46225 33fe 5901 movw r10,r186226 3400 6A01 movw r12,r206227 3402 C201 movw r24,r46228 3404 AA27 clr r266229 3406 97FD sbrc r25,76230 3408 A095 com r266231 340a BA2F mov r27,r266232 340c A81A sub r10,r246233 340e B90A sbc r11,r256234 3410 CA0A sbc r12,r266235 3412 DB0A sbc r13,r276236 3414 D401 movw r26,r86237 3416 C301 movw r24,r66238 3418 97FE sbrs r9,76239 341a 00C0 rjmp .L5256240 341c 0F96 adiw r24,156241 341e A11D adc r26,__zero_reg__6242 3420 B11D adc r27,__zero_reg__6243 .L525:6244 3422 3C01 movw r6,r246245 3424 4D01 movw r8,r266246 3426 F4E0 ldi r31,46247 3428 9594 1: asr r96248 342a 8794 ror r86249 342c 7794 ror r76250 342e 6794 ror r66251 3430 FA95 dec r316252 3432 01F4 brne 1b6253 3434 D601 movw r26,r126254 3436 C501 movw r24,r106255 3438 D7FE sbrs r13,76256 343a 00C0 rjmp .L5266257 343c 0F96 adiw r24,156258 343e A11D adc r26,__zero_reg__6259 3440 B11D adc r27,__zero_reg__6260 .L526:6261 3442 5C01 movw r10,r246262 3444 6D01 movw r12,r266263 3446 E4E0 ldi r30,46264 3448 D594 1: asr r136265 344a C794 ror r126266 344c B794 ror r116267 344e A794 ror r106268 3450 EA95 dec r306269 3452 01F4 brne 1b6270 3454 8091 0000 lds r24,MaxStickNick6271 3458 9091 0000 lds r25,(MaxStickNick)+16272 345c 8134 cpi r24,656273 345e 9105 cpc r25,__zero_reg__6274 3460 04F4 brge .L5286275 3462 8091 0000 lds r24,MaxStickRoll6276 3466 9091 0000 lds r25,(MaxStickRoll)+16277 346a 8134 cpi r24,656278 346c 9105 cpc r25,__zero_reg__6279 346e 04F0 brlt .L5276280 .L528:6281 3470 C401 movw r24,r86282 3472 B301 movw r22,r66283 3474 23E0 ldi r18,lo8(3)6284 3476 30E0 ldi r19,hi8(3)6285 3478 40E0 ldi r20,hlo8(3)6286 347a 50E0 ldi r21,hhi8(3)6287 347c 0E94 0000 call __divmodsi46288 3480 3901 movw r6,r186289 3482 4A01 movw r8,r206290 3484 C601 movw r24,r126291 3486 B501 movw r22,r106292 3488 23E0 ldi r18,lo8(3)6293 348a 30E0 ldi r19,hi8(3)6294 348c 40E0 ldi r20,hlo8(3)6295 348e 50E0 ldi r21,hhi8(3)6296 3490 0E94 0000 call __divmodsi46297 3494 5901 movw r10,r186298 3496 6A01 movw r12,r206299 .L527:6300 3498 8091 0000 lds r24,EE_Parameter+46301 349c E82F mov r30,r246302 349e FF27 clr r316303 34a0 EE0F add r30,r306304 34a2 FF1F adc r31,r316305 34a4 E050 subi r30,lo8(-(PPM_in))6306 34a6 F040 sbci r31,hi8(-(PPM_in))6307 34a8 8081 ld r24,Z6308 34aa 9181 ldd r25,Z+16309 34ac 0190 ld __tmp_reg__,Z+6310 34ae F081 ld r31,Z6311 34b0 E02D mov r30,__tmp_reg__6312 34b2 F7FF sbrs r31,76313 34b4 00C0 rjmp .L5306314 34b6 F095 com r316315 34b8 E195 neg r306316 34ba FF4F sbci r31,lo8(-1)6317 .L530:6318 34bc 7A97 sbiw r30,266319 34be 04F0 brlt .L5296320 34c0 C401 movw r24,r86321 34c2 B301 movw r22,r66322 34c4 23E0 ldi r18,lo8(3)6323 34c6 30E0 ldi r19,hi8(3)6324 34c8 40E0 ldi r20,hlo8(3)6325 34ca 50E0 ldi r21,hhi8(3)6326 34cc 0E94 0000 call __divmodsi46327 34d0 3901 movw r6,r186328 34d2 4A01 movw r8,r206329 34d4 C601 movw r24,r126330 34d6 B501 movw r22,r106331 34d8 23E0 ldi r18,lo8(3)6332 34da 30E0 ldi r19,hi8(3)6333 34dc 40E0 ldi r20,hlo8(3)6334 34de 50E0 ldi r21,hhi8(3)6335 34e0 0E94 0000 call __divmodsi46336 34e4 5901 movw r10,r186337 34e6 6A01 movw r12,r206338 .L529:6339 34e8 89E1 ldi r24,lo8(25)6340 34ea 8093 0000 sts KompassFusion,r246341 34ee 21E2 ldi r18,lo8(33)6342 34f0 6216 cp r6,r186343 34f2 7104 cpc r7,__zero_reg__6344 34f4 8104 cpc r8,__zero_reg__6345 34f6 9104 cpc r9,__zero_reg__6346 34f8 04F0 brlt .L5316347 34fa 70E2 ldi r23,lo8(32)6348 34fc 672E mov r6,r236349 34fe 712C mov r7,__zero_reg__6350 3500 812C mov r8,__zero_reg__6351 3502 912C mov r9,__zero_reg__6352 .L531:6353 3504 30EE ldi r19,lo8(-32)6354 3506 6316 cp r6,r196355 3508 3FEF ldi r19,hi8(-32)6356 350a 7306 cpc r7,r196357 350c 3FEF ldi r19,hlo8(-32)6358 350e 8306 cpc r8,r196359 3510 3FEF ldi r19,hhi8(-32)6360 3512 9306 cpc r9,r196361 3514 04F4 brge .L5326362 3516 60EE ldi r22,lo8(-32)6363 3518 662E mov r6,r226364 351a 6FEF ldi r22,hi8(-32)6365 351c 762E mov r7,r226366 351e 6FEF ldi r22,hlo8(-32)6367 3520 862E mov r8,r226368 3522 6FEF ldi r22,hhi8(-32)6369 3524 962E mov r9,r226370 .L532:6371 3526 41E2 ldi r20,lo8(33)6372 3528 A416 cp r10,r206373 352a B104 cpc r11,__zero_reg__6374 352c C104 cpc r12,__zero_reg__6375 352e D104 cpc r13,__zero_reg__6376 3530 04F0 brlt .L5336377 3532 50E2 ldi r21,lo8(32)6378 3534 A52E mov r10,r216379 3536 B12C mov r11,__zero_reg__6380 3538 C12C mov r12,__zero_reg__6381 353a D12C mov r13,__zero_reg__6382 .L533:6383 353c 50EE ldi r21,lo8(-32)6384 353e A516 cp r10,r216385 3540 5FEF ldi r21,hi8(-32)6386 3542 B506 cpc r11,r216387 3544 5FEF ldi r21,hlo8(-32)6388 3546 C506 cpc r12,r216389 3548 5FEF ldi r21,hhi8(-32)6390 354a D506 cpc r13,r216391 354c 04F4 brge .L5246392 354e 40EE ldi r20,lo8(-32)6393 3550 A42E mov r10,r206394 3552 4FEF ldi r20,hi8(-32)6395 3554 B42E mov r11,r206396 3556 4FEF ldi r20,hlo8(-32)6397 3558 C42E mov r12,r206398 355a 4FEF ldi r20,hhi8(-32)6399 355c D42E mov r13,r206400 .L524:6401 355e 8091 0000 lds r24,Mess_IntegralNick6402 3562 9091 0000 lds r25,(Mess_IntegralNick)+16403 3566 A091 0000 lds r26,(Mess_IntegralNick)+26404 356a B091 0000 lds r27,(Mess_IntegralNick)+36405 356e 8619 sub r24,r66406 3570 9709 sbc r25,r76407 3572 A809 sbc r26,r86408 3574 B909 sbc r27,r96409 3576 8093 0000 sts Mess_IntegralNick,r246410 357a 9093 0000 sts (Mess_IntegralNick)+1,r256411 357e A093 0000 sts (Mess_IntegralNick)+2,r266412 3582 B093 0000 sts (Mess_IntegralNick)+3,r276413 3586 8091 0000 lds r24,Mess_IntegralRoll6414 358a 9091 0000 lds r25,(Mess_IntegralRoll)+16415 358e A091 0000 lds r26,(Mess_IntegralRoll)+26416 3592 B091 0000 lds r27,(Mess_IntegralRoll)+36417 3596 8A19 sub r24,r106418 3598 9B09 sbc r25,r116419 359a AC09 sbc r26,r126420 359c BD09 sbc r27,r136421 359e 8093 0000 sts Mess_IntegralRoll,r246422 35a2 9093 0000 sts (Mess_IntegralRoll)+1,r256423 35a6 A093 0000 sts (Mess_IntegralRoll)+2,r266424 35aa B093 0000 sts (Mess_IntegralRoll)+3,r276425 .L511:6426 35ae 8091 0000 lds r24,ZaehlMessungen6427 35b2 9091 0000 lds r25,(ZaehlMessungen)+16428 35b6 8F3F cpi r24,2556429 35b8 9105 cpc r25,__zero_reg__6430 35ba 01F0 breq .+26431 35bc 00F4 brsh .+26432 35be 00C0 rjmp .L5356433 35c0 6F85 ldd r22,Y+156434 35c2 6623 tst r226435 35c4 01F0 breq .+26436 35c6 00C0 rjmp .L5366437 35c8 8091 0000 lds r24,Looping_Roll6438 35cc 8823 tst r246439 35ce 01F0 breq .+26440 35d0 00C0 rjmp .L5366441 35d2 8091 0000 lds r24,TrichterFlug6442 35d6 8823 tst r246443 35d8 01F0 breq .+26444 35da 00C0 rjmp .L5366445 35dc 7091 0000 lds r23,EE_Parameter+686446 35e0 788B std Y+16,r236447 35e2 7723 tst r236448 35e4 01F4 brne .+26449 35e6 00C0 rjmp .L5366450 35e8 8091 0000 lds r24,MittelIntegralNick6451 35ec 9091 0000 lds r25,(MittelIntegralNick)+16452 35f0 A091 0000 lds r26,(MittelIntegralNick)+26453 35f4 B091 0000 lds r27,(MittelIntegralNick)+36454 35f8 B7FF sbrs r27,76455 35fa 00C0 rjmp .L5376456 35fc 8150 subi r24,lo8(-(255))6457 35fe 9F4F sbci r25,hi8(-(255))6458 3600 AF4F sbci r26,hlo8(-(255))6459 3602 BF4F sbci r27,hhi8(-(255))6460 .L537:6461 3604 E92E mov r14,r256462 3606 FA2E mov r15,r266463 3608 0B2F mov r16,r276464 360a 1127 clr r176465 360c 07FD sbrc r16,76466 360e 1A95 dec r176467 3610 E092 0000 sts MittelIntegralNick,r146468 3614 F092 0000 sts (MittelIntegralNick)+1,r156469 3618 0093 0000 sts (MittelIntegralNick)+2,r166470 361c 1093 0000 sts (MittelIntegralNick)+3,r176471 3620 8091 0000 lds r24,MittelIntegralRoll6472 3624 9091 0000 lds r25,(MittelIntegralRoll)+16473 3628 A091 0000 lds r26,(MittelIntegralRoll)+26474 362c B091 0000 lds r27,(MittelIntegralRoll)+36475 3630 B7FF sbrs r27,76476 3632 00C0 rjmp .L5386477 3634 8150 subi r24,lo8(-(255))6478 3636 9F4F sbci r25,hi8(-(255))6479 3638 AF4F sbci r26,hlo8(-(255))6480 363a BF4F sbci r27,hhi8(-(255))6481 .L538:6482 363c 892F mov r24,r256483 363e 9A2F mov r25,r266484 3640 AB2F mov r26,r276485 3642 BB27 clr r276486 3644 A7FD sbrc r26,76487 3646 BA95 dec r276488 3648 898B std Y+17,r246489 364a 9A8B std Y+18,r256490 364c AB8B std Y+19,r266491 364e BC8B std Y+20,r276492 3650 8093 0000 sts MittelIntegralRoll,r246493 3654 9093 0000 sts (MittelIntegralRoll)+1,r256494 3658 A093 0000 sts (MittelIntegralRoll)+2,r266495 365c B093 0000 sts (MittelIntegralRoll)+3,r276496 3660 8091 0000 lds r24,EE_Parameter+286497 3664 A82E mov r10,r246498 3666 BB24 clr r116499 3668 CC24 clr r126500 366a DD24 clr r136501 366c 2091 0000 lds r18,IntegralAccNick6502 3670 3091 0000 lds r19,(IntegralAccNick)+16503 3674 4091 0000 lds r20,(IntegralAccNick)+26504 3678 5091 0000 lds r21,(IntegralAccNick)+36505 367c C601 movw r24,r126506 367e B501 movw r22,r106507 3680 0E94 0000 call __mulsi36508 3684 97FF sbrs r25,76509 3686 00C0 rjmp .L5396510 3688 6150 subi r22,lo8(-(255))6511 368a 7F4F sbci r23,hi8(-(255))6512 368c 8F4F sbci r24,hlo8(-(255))6513 368e 9F4F sbci r25,hhi8(-(255))6514 .L539:6515 3690 672E mov r6,r236516 3692 782E mov r7,r246517 3694 892E mov r8,r256518 3696 9924 clr r96519 3698 87FC sbrc r8,76520 369a 9A94 dec r96521 369c 6092 0000 sts IntegralAccNick,r66522 36a0 7092 0000 sts (IntegralAccNick)+1,r76523 36a4 8092 0000 sts (IntegralAccNick)+2,r86524 36a8 9092 0000 sts (IntegralAccNick)+3,r96525 36ac 2091 0000 lds r18,IntegralAccRoll6526 36b0 3091 0000 lds r19,(IntegralAccRoll)+16527 36b4 4091 0000 lds r20,(IntegralAccRoll)+26528 36b8 5091 0000 lds r21,(IntegralAccRoll)+36529 36bc C601 movw r24,r126530 36be B501 movw r22,r106531 36c0 0E94 0000 call __mulsi36532 36c4 97FF sbrs r25,76533 36c6 00C0 rjmp .L5406534 36c8 6150 subi r22,lo8(-(255))6535 36ca 7F4F sbci r23,hi8(-(255))6536 36cc 8F4F sbci r24,hlo8(-(255))6537 36ce 9F4F sbci r25,hhi8(-(255))6538 .L540:6539 36d0 272E mov r2,r236540 36d2 382E mov r3,r246541 36d4 492E mov r4,r256542 36d6 5524 clr r56543 36d8 47FC sbrc r4,76544 36da 5A94 dec r56545 36dc 2092 0000 sts IntegralAccRoll,r26546 36e0 3092 0000 sts (IntegralAccRoll)+1,r36547 36e4 4092 0000 sts (IntegralAccRoll)+2,r46548 36e8 5092 0000 sts (IntegralAccRoll)+3,r56549 36ec 8091 0000 lds r24,IntegralAccZ6550 36f0 9091 0000 lds r25,(IntegralAccZ)+16551 36f4 A091 0000 lds r26,(IntegralAccZ)+26552 36f8 B091 0000 lds r27,(IntegralAccZ)+36553 36fc B7FF sbrs r27,76554 36fe 00C0 rjmp .L5416555 3700 8150 subi r24,lo8(-(255))6556 3702 9F4F sbci r25,hi8(-(255))6557 3704 AF4F sbci r26,hlo8(-(255))6558 3706 BF4F sbci r27,hhi8(-(255))6559 .L541:6560 3708 892F mov r24,r256561 370a 9A2F mov r25,r266562 370c AB2F mov r26,r276563 370e BB27 clr r276564 3710 A7FD sbrc r26,76565 3712 BA95 dec r276566 3714 8093 0000 sts IntegralAccZ,r246567 3718 9093 0000 sts (IntegralAccZ)+1,r256568 371c A093 0000 sts (IntegralAccZ)+2,r266569 3720 B093 0000 sts (IntegralAccZ)+3,r276570 3724 D801 movw r26,r166571 3726 C701 movw r24,r146572 3728 8619 sub r24,r66573 372a 9709 sbc r25,r76574 372c A809 sbc r26,r86575 372e B909 sbc r27,r96576 3730 8093 0000 sts IntegralFehlerNick.3,r246577 3734 9093 0000 sts (IntegralFehlerNick.3)+1,r256578 3738 A093 0000 sts (IntegralFehlerNick.3)+2,r266579 373c B093 0000 sts (IntegralFehlerNick.3)+3,r276580 3740 2091 0000 lds r18,EE_Parameter+676581 3744 E22E mov r14,r186582 3746 FF24 clr r156583 3748 0027 clr r166584 374a 1127 clr r176585 374c BC01 movw r22,r246586 374e CD01 movw r24,r266587 3750 A801 movw r20,r166588 3752 9701 movw r18,r146589 3754 0E94 0000 call __divmodsi46590 3758 5901 movw r10,r186591 375a 6A01 movw r12,r206592 375c 2093 0000 sts ausgleichNick.10,r186593 3760 3093 0000 sts (ausgleichNick.10)+1,r196594 3764 4093 0000 sts (ausgleichNick.10)+2,r206595 3768 5093 0000 sts (ausgleichNick.10)+3,r216596 376c 8989 ldd r24,Y+176597 376e 9A89 ldd r25,Y+186598 3770 AB89 ldd r26,Y+196599 3772 BC89 ldd r27,Y+206600 3774 8219 sub r24,r26601 3776 9309 sbc r25,r36602 3778 A409 sbc r26,r46603 377a B509 sbc r27,r56604 377c 8093 0000 sts IntegralFehlerRoll.4,r246605 3780 9093 0000 sts (IntegralFehlerRoll.4)+1,r256606 3784 A093 0000 sts (IntegralFehlerRoll.4)+2,r266607 3788 B093 0000 sts (IntegralFehlerRoll.4)+3,r276608 378c BC01 movw r22,r246609 378e CD01 movw r24,r266610 3790 A801 movw r20,r166611 3792 9701 movw r18,r146612 3794 0E94 0000 call __divmodsi46613 3798 2093 0000 sts ausgleichRoll.11,r186614 379c 3093 0000 sts (ausgleichRoll.11)+1,r196615 37a0 4093 0000 sts (ausgleichRoll.11)+2,r206616 37a4 5093 0000 sts (ausgleichRoll.11)+3,r216617 37a8 D601 movw r26,r126618 37aa C501 movw r24,r106619 37ac D7FE sbrs r13,76620 37ae 00C0 rjmp .L5426621 37b0 8150 subi r24,lo8(-(255))6622 37b2 9F4F sbci r25,hi8(-(255))6623 37b4 AF4F sbci r26,hlo8(-(255))6624 37b6 BF4F sbci r27,hhi8(-(255))6625 .L542:6626 37b8 892F mov r24,r256627 37ba 9A2F mov r25,r266628 37bc AB2F mov r26,r276629 37be BB27 clr r276630 37c0 A7FD sbrc r26,76631 37c2 BA95 dec r276632 37c4 9093 0000 sts (LageKorrekturNick)+1,r256633 37c8 8093 0000 sts LageKorrekturNick,r246634 37cc 57FF sbrs r21,76635 37ce 00C0 rjmp .L5436636 37d0 2150 subi r18,lo8(-(255))6637 37d2 3F4F sbci r19,hi8(-(255))6638 37d4 4F4F sbci r20,hlo8(-(255))6639 37d6 5F4F sbci r21,hhi8(-(255))6640 .L543:6641 37d8 BB27 clr r276642 37da 57FD sbrc r21,76643 37dc BA95 dec r276644 37de A52F mov r26,r216645 37e0 942F mov r25,r206646 37e2 832F mov r24,r196647 37e4 9093 0000 sts (LageKorrekturRoll)+1,r256648 37e8 8093 0000 sts LageKorrekturRoll,r246649 37ec 8091 0000 lds r24,MaxStickNick6650 37f0 9091 0000 lds r25,(MaxStickNick)+16651 37f4 8134 cpi r24,656652 37f6 9105 cpc r25,__zero_reg__6653 37f8 04F4 brge .L5456654 37fa 8091 0000 lds r24,MaxStickRoll6655 37fe 9091 0000 lds r25,(MaxStickRoll)+16656 3802 8134 cpi r24,656657 3804 9105 cpc r25,__zero_reg__6658 3806 04F4 brge .L5456659 3808 8091 0000 lds r24,EE_Parameter+46660 380c E82F mov r30,r246661 380e FF27 clr r316662 3810 EE0F add r30,r306663 3812 FF1F adc r31,r316664 3814 E050 subi r30,lo8(-(PPM_in))6665 3816 F040 sbci r31,hi8(-(PPM_in))6666 3818 8081 ld r24,Z6667 381a 9181 ldd r25,Z+16668 381c 0190 ld __tmp_reg__,Z+6669 381e F081 ld r31,Z6670 3820 E02D mov r30,__tmp_reg__6671 3822 F7FF sbrs r31,76672 3824 00C0 rjmp .L5466673 3826 F095 com r316674 3828 E195 neg r306675 382a FF4F sbci r31,lo8(-1)6676 .L546:6677 382c 7A97 sbiw r30,266678 382e 04F0 brlt .L5446679 .L545:6680 3830 8091 0000 lds r24,FromNaviCtrl_Value6681 3834 8F3F cpi r24,lo8(-1)6682 3836 01F4 brne .L5446683 3838 8091 0000 lds r24,LageKorrekturNick6684 383c 9091 0000 lds r25,(LageKorrekturNick)+16685 3840 97FD sbrc r25,76686 3842 0196 adiw r24,16687 .L547:6688 3844 9595 asr r256689 3846 8795 ror r246690 3848 9093 0000 sts (LageKorrekturNick)+1,r256691 384c 8093 0000 sts LageKorrekturNick,r246692 3850 8091 0000 lds r24,LageKorrekturRoll6693 3854 9091 0000 lds r25,(LageKorrekturRoll)+16694 3858 97FD sbrc r25,76695 385a 0196 adiw r24,16696 .L548:6697 385c 9595 asr r256698 385e 8795 ror r246699 3860 9093 0000 sts (LageKorrekturRoll)+1,r256700 3864 8093 0000 sts LageKorrekturRoll,r246701 .L544:6702 3868 8091 0000 lds r24,MittelIntegralNick26703 386c 9091 0000 lds r25,(MittelIntegralNick2)+16704 3870 A091 0000 lds r26,(MittelIntegralNick2)+26705 3874 B091 0000 lds r27,(MittelIntegralNick2)+36706 3878 B7FF sbrs r27,76707 387a 00C0 rjmp .L5496708 387c 8150 subi r24,lo8(-(255))6709 387e 9F4F sbci r25,hi8(-(255))6710 3880 AF4F sbci r26,hlo8(-(255))6711 3882 BF4F sbci r27,hhi8(-(255))6712 .L549:6713 3884 892F mov r24,r256714 3886 9A2F mov r25,r266715 3888 AB2F mov r26,r276716 388a BB27 clr r276717 388c A7FD sbrc r26,76718 388e BA95 dec r276719 3890 8093 0000 sts MittelIntegralNick2,r246720 3894 9093 0000 sts (MittelIntegralNick2)+1,r256721 3898 A093 0000 sts (MittelIntegralNick2)+2,r266722 389c B093 0000 sts (MittelIntegralNick2)+3,r276723 38a0 8091 0000 lds r24,MittelIntegralRoll26724 38a4 9091 0000 lds r25,(MittelIntegralRoll2)+16725 38a8 A091 0000 lds r26,(MittelIntegralRoll2)+26726 38ac B091 0000 lds r27,(MittelIntegralRoll2)+36727 38b0 B7FF sbrs r27,76728 38b2 00C0 rjmp .L5506729 38b4 8150 subi r24,lo8(-(255))6730 38b6 9F4F sbci r25,hi8(-(255))6731 38b8 AF4F sbci r26,hlo8(-(255))6732 38ba BF4F sbci r27,hhi8(-(255))6733 .L550:6734 38bc 892F mov r24,r256735 38be 9A2F mov r25,r266736 38c0 AB2F mov r26,r276737 38c2 BB27 clr r276738 38c4 A7FD sbrc r26,76739 38c6 BA95 dec r276740 38c8 8093 0000 sts MittelIntegralRoll2,r246741 38cc 9093 0000 sts (MittelIntegralRoll2)+1,r256742 38d0 A093 0000 sts (MittelIntegralRoll2)+2,r266743 38d4 B093 0000 sts (MittelIntegralRoll2)+3,r276744 38d8 8091 0000 lds r24,IntegralNick6745 38dc 9091 0000 lds r25,(IntegralNick)+16746 38e0 A091 0000 lds r26,(IntegralNick)+26747 38e4 B091 0000 lds r27,(IntegralNick)+36748 38e8 2F81 ldd r18,Y+76749 38ea 3885 ldd r19,Y+86750 38ec 4985 ldd r20,Y+96751 38ee 5A85 ldd r21,Y+106752 38f0 281B sub r18,r246753 38f2 390B sbc r19,r256754 38f4 4A0B sbc r20,r266755 38f6 5B0B sbc r21,r276756 38f8 2093 0000 sts tmp_long.1,r186757 38fc 3093 0000 sts (tmp_long.1)+1,r196758 3900 4093 0000 sts (tmp_long.1)+2,r206759 3904 5093 0000 sts (tmp_long.1)+3,r216760 3908 8091 0000 lds r24,IntegralRoll6761 390c 9091 0000 lds r25,(IntegralRoll)+16762 3910 A091 0000 lds r26,(IntegralRoll)+26763 3914 B091 0000 lds r27,(IntegralRoll)+36764 3918 EB84 ldd r14,Y+116765 391a FC84 ldd r15,Y+126766 391c 0D85 ldd r16,Y+136767 391e 1E85 ldd r17,Y+146768 3920 E81A sub r14,r246769 3922 F90A sbc r15,r256770 3924 0A0B sbc r16,r266771 3926 1B0B sbc r17,r276772 3928 E092 0000 sts tmp_long2.2,r146773 392c F092 0000 sts (tmp_long2.2)+1,r156774 3930 0093 0000 sts (tmp_long2.2)+2,r166775 3934 1093 0000 sts (tmp_long2.2)+3,r176776 3938 2093 0000 sts IntegralFehlerNick.3,r186777 393c 3093 0000 sts (IntegralFehlerNick.3)+1,r196778 3940 4093 0000 sts (IntegralFehlerNick.3)+2,r206779 3944 5093 0000 sts (IntegralFehlerNick.3)+3,r216780 3948 E092 0000 sts IntegralFehlerRoll.4,r146781 394c F092 0000 sts (IntegralFehlerRoll.4)+1,r156782 3950 0093 0000 sts (IntegralFehlerRoll.4)+2,r166783 3954 1093 0000 sts (IntegralFehlerRoll.4)+3,r176784 3958 8091 0000 lds r24,Mess_IntegralNick26785 395c 9091 0000 lds r25,(Mess_IntegralNick2)+16786 3960 A091 0000 lds r26,(Mess_IntegralNick2)+26787 3964 B091 0000 lds r27,(Mess_IntegralNick2)+36788 3968 821B sub r24,r186789 396a 930B sbc r25,r196790 396c A40B sbc r26,r206791 396e B50B sbc r27,r216792 3970 8093 0000 sts Mess_IntegralNick2,r246793 3974 9093 0000 sts (Mess_IntegralNick2)+1,r256794 3978 A093 0000 sts (Mess_IntegralNick2)+2,r266795 397c B093 0000 sts (Mess_IntegralNick2)+3,r276796 3980 8091 0000 lds r24,Mess_IntegralRoll26797 3984 9091 0000 lds r25,(Mess_IntegralRoll2)+16798 3988 A091 0000 lds r26,(Mess_IntegralRoll2)+26799 398c B091 0000 lds r27,(Mess_IntegralRoll2)+36800 3990 8E19 sub r24,r146801 3992 9F09 sbc r25,r156802 3994 A00B sbc r26,r166803 3996 B10B sbc r27,r176804 3998 8093 0000 sts Mess_IntegralRoll2,r246805 399c 9093 0000 sts (Mess_IntegralRoll2)+1,r256806 39a0 A093 0000 sts (Mess_IntegralRoll2)+2,r266807 39a4 B093 0000 sts (Mess_IntegralRoll2)+3,r276808 39a8 8889 ldd r24,Y+166809 39aa 8823 tst r246810 39ac 01F0 breq .L5516811 39ae 2091 0000 lds r18,GierGyroFehler6812 39b2 3091 0000 lds r19,(GierGyroFehler)+16813 39b6 2138 cpi r18,1296814 39b8 3105 cpc r19,__zero_reg__6815 39ba 04F0 brlt .L5526816 39bc 8091 0000 lds r24,AdNeutralGier6817 39c0 9091 0000 lds r25,(AdNeutralGier)+16818 39c4 0196 adiw r24,16819 39c6 9093 0000 sts (AdNeutralGier)+1,r256820 39ca 8093 0000 sts AdNeutralGier,r246821 .L552:6822 39ce 2058 subi r18,lo8(-128)6823 39d0 3F4F sbci r19,hi8(-128)6824 39d2 04F4 brge .L5516825 39d4 8091 0000 lds r24,AdNeutralGier6826 39d8 9091 0000 lds r25,(AdNeutralGier)+16827 39dc 0197 sbiw r24,16828 39de 9093 0000 sts (AdNeutralGier)+1,r256829 39e2 8093 0000 sts AdNeutralGier,r246830 .L551:6831 39e6 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6832 39ea 1092 0000 sts GierGyroFehler,__zero_reg__6833 39ee 81E0 ldi r24,lo8(1)6834 39f0 90E0 ldi r25,hi8(1)6835 39f2 9093 0000 sts (cnt.14)+1,r256836 39f6 8093 0000 sts cnt.14,r246837 39fa E090 0000 lds r14,IntegralFehlerNick.36838 39fe F090 0000 lds r15,(IntegralFehlerNick.3)+16839 3a02 0091 0000 lds r16,(IntegralFehlerNick.3)+26840 3a06 1091 0000 lds r17,(IntegralFehlerNick.3)+36841 3a0a D801 movw r26,r166842 3a0c C701 movw r24,r146843 3a0e 17FF sbrs r17,76844 3a10 00C0 rjmp .L5556845 3a12 8827 clr r246846 3a14 9927 clr r256847 3a16 DC01 movw r26,r246848 3a18 8E19 sub r24,r146849 3a1a 9F09 sbc r25,r156850 3a1c A00B sbc r26,r166851 3a1e B10B sbc r27,r176852 .L555:6853 3a20 8150 subi r24,lo8(513)6854 3a22 9240 sbci r25,hi8(513)6855 3a24 A040 sbci r26,hlo8(513)6856 3a26 B040 sbci r27,hhi8(513)6857 3a28 04F0 brlt .L5546858 3a2a 84E0 ldi r24,lo8(4)6859 3a2c 90E0 ldi r25,hi8(4)6860 3a2e 9093 0000 sts (cnt.14)+1,r256861 3a32 8093 0000 sts cnt.14,r246862 .L554:6863 3a36 8091 0000 lds r24,MittelIntegralNick_Alt.196864 3a3a 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16865 3a3e A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26866 3a42 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36867 3a46 2091 0000 lds r18,MittelIntegralNick6868 3a4a 3091 0000 lds r19,(MittelIntegralNick)+16869 3a4e 4091 0000 lds r20,(MittelIntegralNick)+26870 3a52 5091 0000 lds r21,(MittelIntegralNick)+36871 3a56 821B sub r24,r186872 3a58 930B sbc r25,r196873 3a5a A40B sbc r26,r206874 3a5c B50B sbc r27,r216875 3a5e 815E subi r24,lo8(-(19999))6876 3a60 914B sbci r25,hi8(-(19999))6877 3a62 AF4F sbci r26,hlo8(-(19999))6878 3a64 BF4F sbci r27,hhi8(-(19999))6879 3a66 8F53 subi r24,lo8(39999)6880 3a68 9C49 sbci r25,hi8(39999)6881 3a6a A040 sbci r26,hlo8(39999)6882 3a6c B040 sbci r27,hhi8(39999)6883 3a6e 00F0 brlo .L5576884 3a70 8091 0000 lds r24,FromNaviCtrl_Value+16885 3a74 8931 cpi r24,lo8(25)6886 3a76 04F4 brge .+26887 3a78 00C0 rjmp .L5566888 .L557:6889 3a7a 21E0 ldi r18,lo8(4097)6890 3a7c E216 cp r14,r186891 3a7e 20E1 ldi r18,hi8(4097)6892 3a80 F206 cpc r15,r186893 3a82 20E0 ldi r18,hlo8(4097)6894 3a84 0207 cpc r16,r186895 3a86 20E0 ldi r18,hhi8(4097)6896 3a88 1207 cpc r17,r186897 3a8a 04F4 brge .+26898 3a8c 00C0 rjmp .L5586899 3a8e 8091 0000 lds r24,last_n_p.156900 3a92 8823 tst r246901 3a94 01F4 brne .+26902 3a96 00C0 rjmp .L5596903 3a98 D801 movw r26,r166904 3a9a C701 movw r24,r146905 3a9c 17FF sbrs r17,76906 3a9e 00C0 rjmp .L5606907 3aa0 8827 clr r246908 3aa2 9927 clr r256909 3aa4 DC01 movw r26,r246910 3aa6 8E19 sub r24,r146911 3aa8 9F09 sbc r25,r156912 3aaa A00B sbc r26,r166913 3aac B10B sbc r27,r176914 .L560:6915 3aae 9C01 movw r18,r246916 3ab0 AD01 movw r20,r266917 3ab2 B7FF sbrs r27,76918 3ab4 00C0 rjmp .L5616919 3ab6 2150 subi r18,lo8(-(511))6920 3ab8 3E4F sbci r19,hi8(-(511))6921 3aba 4F4F sbci r20,hlo8(-(511))6922 3abc 5F4F sbci r21,hhi8(-(511))6923 .L561:6924 3abe F9E0 ldi r31,96925 3ac0 5595 1: asr r216926 3ac2 4795 ror r206927 3ac4 3795 ror r196928 3ac6 2795 ror r186929 3ac8 FA95 dec r316930 3aca 01F4 brne 1b6931 3acc 8091 0000 lds r24,cnt.146932 3ad0 9091 0000 lds r25,(cnt.14)+16933 3ad4 820F add r24,r186934 3ad6 931F adc r25,r196935 3ad8 9093 0000 sts (cnt.14)+1,r256936 3adc 8093 0000 sts cnt.14,r246937 3ae0 D801 movw r26,r166938 3ae2 C701 movw r24,r146939 3ae4 17FF sbrs r17,76940 3ae6 00C0 rjmp .L5626941 3ae8 0796 adiw r24,76942 3aea A11D adc r26,__zero_reg__6943 3aec B11D adc r27,__zero_reg__6944 .L562:6945 3aee E3E0 ldi r30,36946 3af0 B595 1: asr r276947 3af2 A795 ror r266948 3af4 9795 ror r256949 3af6 8795 ror r246950 3af8 EA95 dec r306951 3afa 01F4 brne 1b6952 3afc 8093 0000 sts ausgleichNick.10,r246953 3b00 9093 0000 sts (ausgleichNick.10)+1,r256954 3b04 A093 0000 sts (ausgleichNick.10)+2,r266955 3b08 B093 0000 sts (ausgleichNick.10)+3,r276956 3b0c 8958 subi r24,lo8(5001)6957 3b0e 9341 sbci r25,hi8(5001)6958 3b10 A040 sbci r26,hlo8(5001)6959 3b12 B040 sbci r27,hhi8(5001)6960 3b14 04F0 brlt .L5636961 3b16 88E8 ldi r24,lo8(5000)6962 3b18 93E1 ldi r25,hi8(5000)6963 3b1a A0E0 ldi r26,hlo8(5000)6964 3b1c B0E0 ldi r27,hhi8(5000)6965 3b1e 8093 0000 sts ausgleichNick.10,r246966 3b22 9093 0000 sts (ausgleichNick.10)+1,r256967 3b26 A093 0000 sts (ausgleichNick.10)+2,r266968 3b2a B093 0000 sts (ausgleichNick.10)+3,r276969 .L563:6970 3b2e 2091 0000 lds r18,ausgleichNick.106971 3b32 3091 0000 lds r19,(ausgleichNick.10)+16972 3b36 4091 0000 lds r20,(ausgleichNick.10)+26973 3b3a 5091 0000 lds r21,(ausgleichNick.10)+36974 3b3e 57FF sbrs r21,76975 3b40 00C0 rjmp .L5646976 3b42 2150 subi r18,lo8(-(255))6977 3b44 3F4F sbci r19,hi8(-(255))6978 3b46 4F4F sbci r20,hlo8(-(255))6979 3b48 5F4F sbci r21,hhi8(-(255))6980 .L564:6981 3b4a 232F mov r18,r196982 3b4c 342F mov r19,r206983 3b4e 452F mov r20,r216984 3b50 5527 clr r216985 3b52 47FD sbrc r20,76986 3b54 5A95 dec r216987 3b56 8091 0000 lds r24,LageKorrekturNick6988 3b5a 9091 0000 lds r25,(LageKorrekturNick)+16989 3b5e 820F add r24,r186990 3b60 931F adc r25,r196991 3b62 9093 0000 sts (LageKorrekturNick)+1,r256992 3b66 8093 0000 sts LageKorrekturNick,r246993 3b6a 00C0 rjmp .L5666994 .L559:6995 3b6c 81E0 ldi r24,lo8(1)6996 3b6e 8093 0000 sts last_n_p.15,r246997 3b72 00C0 rjmp .L5666998 .L558:6999 3b74 1092 0000 sts last_n_p.15,__zero_reg__7000 .L566:7001 3b78 40E0 ldi r20,lo8(-4096)7002 3b7a E416 cp r14,r207003 3b7c 40EF ldi r20,hi8(-4096)7004 3b7e F406 cpc r15,r207005 3b80 4FEF ldi r20,hlo8(-4096)7006 3b82 0407 cpc r16,r207007 3b84 4FEF ldi r20,hhi8(-4096)7008 3b86 1407 cpc r17,r207009 3b88 04F0 brlt .+27010 3b8a 00C0 rjmp .L5677011 3b8c 8091 0000 lds r24,last_n_n.167012 3b90 8823 tst r247013 3b92 01F4 brne .+27014 3b94 00C0 rjmp .L5687015 3b96 D801 movw r26,r167016 3b98 C701 movw r24,r147017 3b9a 17FF sbrs r17,77018 3b9c 00C0 rjmp .L5697019 3b9e 8827 clr r247020 3ba0 9927 clr r257021 3ba2 DC01 movw r26,r247022 3ba4 8E19 sub r24,r147023 3ba6 9F09 sbc r25,r157024 3ba8 A00B sbc r26,r167025 3baa B10B sbc r27,r177026 .L569:7027 3bac 9C01 movw r18,r247028 3bae AD01 movw r20,r267029 3bb0 B7FF sbrs r27,77030 3bb2 00C0 rjmp .L5707031 3bb4 2150 subi r18,lo8(-(511))7032 3bb6 3E4F sbci r19,hi8(-(511))7033 3bb8 4F4F sbci r20,hlo8(-(511))7034 3bba 5F4F sbci r21,hhi8(-(511))7035 .L570:7036 3bbc 69E0 ldi r22,97037 3bbe 5595 1: asr r217038 3bc0 4795 ror r207039 3bc2 3795 ror r197040 3bc4 2795 ror r187041 3bc6 6A95 dec r227042 3bc8 01F4 brne 1b7043 3bca 8091 0000 lds r24,cnt.147044 3bce 9091 0000 lds r25,(cnt.14)+17045 3bd2 820F add r24,r187046 3bd4 931F adc r25,r197047 3bd6 9093 0000 sts (cnt.14)+1,r257048 3bda 8093 0000 sts cnt.14,r247049 3bde D801 movw r26,r167050 3be0 C701 movw r24,r147051 3be2 17FF sbrs r17,77052 3be4 00C0 rjmp .L5717053 3be6 0796 adiw r24,77054 3be8 A11D adc r26,__zero_reg__7055 3bea B11D adc r27,__zero_reg__7056 .L571:7057 3bec 23E0 ldi r18,37058 3bee B595 1: asr r277059 3bf0 A795 ror r267060 3bf2 9795 ror r257061 3bf4 8795 ror r247062 3bf6 2A95 dec r187063 3bf8 01F4 brne 1b7064 3bfa 8093 0000 sts ausgleichNick.10,r247065 3bfe 9093 0000 sts (ausgleichNick.10)+1,r257066 3c02 A093 0000 sts (ausgleichNick.10)+2,r267067 3c06 B093 0000 sts (ausgleichNick.10)+3,r277068 3c0a 8857 subi r24,lo8(-5000)7069 3c0c 9C4E sbci r25,hi8(-5000)7070 3c0e AF4F sbci r26,hlo8(-5000)7071 3c10 BF4F sbci r27,hhi8(-5000)7072 3c12 04F4 brge .L5727073 3c14 88E7 ldi r24,lo8(-5000)7074 3c16 9CEE ldi r25,hi8(-5000)7075 3c18 AFEF ldi r26,hlo8(-5000)7076 3c1a BFEF ldi r27,hhi8(-5000)7077 3c1c 8093 0000 sts ausgleichNick.10,r247078 3c20 9093 0000 sts (ausgleichNick.10)+1,r257079 3c24 A093 0000 sts (ausgleichNick.10)+2,r267080 3c28 B093 0000 sts (ausgleichNick.10)+3,r277081 .L572:7082 3c2c 2091 0000 lds r18,ausgleichNick.107083 3c30 3091 0000 lds r19,(ausgleichNick.10)+17084 3c34 4091 0000 lds r20,(ausgleichNick.10)+27085 3c38 5091 0000 lds r21,(ausgleichNick.10)+37086 3c3c 57FF sbrs r21,77087 3c3e 00C0 rjmp .L5737088 3c40 2150 subi r18,lo8(-(255))7089 3c42 3F4F sbci r19,hi8(-(255))7090 3c44 4F4F sbci r20,hlo8(-(255))7091 3c46 5F4F sbci r21,hhi8(-(255))7092 .L573:7093 3c48 232F mov r18,r197094 3c4a 342F mov r19,r207095 3c4c 452F mov r20,r217096 3c4e 5527 clr r217097 3c50 47FD sbrc r20,77098 3c52 5A95 dec r217099 3c54 8091 0000 lds r24,LageKorrekturNick7100 3c58 9091 0000 lds r25,(LageKorrekturNick)+17101 3c5c 820F add r24,r187102 3c5e 931F adc r25,r197103 3c60 9093 0000 sts (LageKorrekturNick)+1,r257104 3c64 8093 0000 sts LageKorrekturNick,r247105 3c68 00C0 rjmp .L5767106 .L568:7107 3c6a 81E0 ldi r24,lo8(1)7108 3c6c 8093 0000 sts last_n_n.16,r247109 3c70 00C0 rjmp .L5767110 .L567:7111 3c72 1092 0000 sts last_n_n.16,__zero_reg__7112 3c76 00C0 rjmp .L5767113 .L556:7114 3c78 1092 0000 sts (cnt.14)+1,__zero_reg__7115 3c7c 1092 0000 sts cnt.14,__zero_reg__7116 3c80 84E6 ldi r24,lo8(100)7117 3c82 90E0 ldi r25,hi8(100)7118 3c84 9093 0000 sts (KompassSignalSchlecht)+1,r257119 3c88 8093 0000 sts KompassSignalSchlecht,r247120 .L576:7121 3c8c 6889 ldd r22,Y+167122 3c8e 262F mov r18,r227123 3c90 3327 clr r197124 3c92 8091 0000 lds r24,cnt.147125 3c96 9091 0000 lds r25,(cnt.14)+17126 3c9a 2817 cp r18,r247127 3c9c 3907 cpc r19,r257128 3c9e 04F4 brge .L5777129 3ca0 3093 0000 sts (cnt.14)+1,r197130 3ca4 2093 0000 sts cnt.14,r187131 .L577:7132 3ca8 1091 0000 lds r17,FromNaviCtrl_Value+17133 3cac 1123 tst r177134 3cae 01F0 breq .L5787135 3cb0 212F mov r18,r177136 3cb2 3327 clr r197137 3cb4 27FD sbrc r18,77138 3cb6 3095 com r197139 3cb8 8091 0000 lds r24,cnt.147140 3cbc 9091 0000 lds r25,(cnt.14)+17141 3cc0 2817 cp r18,r247142 3cc2 3907 cpc r19,r257143 3cc4 04F4 brge .L5787144 3cc6 3093 0000 sts (cnt.14)+1,r197145 3cca 2093 0000 sts cnt.14,r187146 .L578:7147 3cce 4091 0000 lds r20,IntegralFehlerNick.37148 3cd2 5091 0000 lds r21,(IntegralFehlerNick.3)+17149 3cd6 6091 0000 lds r22,(IntegralFehlerNick.3)+27150 3cda 7091 0000 lds r23,(IntegralFehlerNick.3)+37151 3cde 4138 cpi r20,lo8(129)7152 3ce0 5105 cpc r21,__zero_reg__7153 3ce2 6105 cpc r22,__zero_reg__7154 3ce4 7105 cpc r23,__zero_reg__7155 3ce6 04F0 brlt .L5807156 3ce8 8091 0000 lds r24,AdNeutralNick7157 3cec 9091 0000 lds r25,(AdNeutralNick)+17158 3cf0 2091 0000 lds r18,cnt.147159 3cf4 3091 0000 lds r19,(cnt.14)+17160 3cf8 820F add r24,r187161 3cfa 931F adc r25,r197162 3cfc 9093 0000 sts (AdNeutralNick)+1,r257163 3d00 8093 0000 sts AdNeutralNick,r247164 .L580:7165 3d04 4058 subi r20,lo8(-128)7166 3d06 5F4F sbci r21,hi8(-128)7167 3d08 6F4F sbci r22,hlo8(-128)7168 3d0a 7F4F sbci r23,hhi8(-128)7169 3d0c 04F4 brge .L5817170 3d0e 8091 0000 lds r24,AdNeutralNick7171 3d12 9091 0000 lds r25,(AdNeutralNick)+17172 3d16 2091 0000 lds r18,cnt.147173 3d1a 3091 0000 lds r19,(cnt.14)+17174 3d1e 821B sub r24,r187175 3d20 930B sbc r25,r197176 3d22 9093 0000 sts (AdNeutralNick)+1,r257177 3d26 8093 0000 sts AdNeutralNick,r247178 .L581:7179 3d2a 81E0 ldi r24,lo8(1)7180 3d2c 90E0 ldi r25,hi8(1)7181 3d2e 9093 0000 sts (cnt.14)+1,r257182 3d32 8093 0000 sts cnt.14,r247183 3d36 C090 0000 lds r12,IntegralFehlerRoll.47184 3d3a D090 0000 lds r13,(IntegralFehlerRoll.4)+17185 3d3e E090 0000 lds r14,(IntegralFehlerRoll.4)+27186 3d42 F090 0000 lds r15,(IntegralFehlerRoll.4)+37187 3d46 D701 movw r26,r147188 3d48 C601 movw r24,r127189 3d4a F7FE sbrs r15,77190 3d4c 00C0 rjmp .L5837191 3d4e 8827 clr r247192 3d50 9927 clr r257193 3d52 DC01 movw r26,r247194 3d54 8C19 sub r24,r127195 3d56 9D09 sbc r25,r137196 3d58 AE09 sbc r26,r147197 3d5a BF09 sbc r27,r157198 .L583:7199 3d5c 8150 subi r24,lo8(513)7200 3d5e 9240 sbci r25,hi8(513)7201 3d60 A040 sbci r26,hlo8(513)7202 3d62 B040 sbci r27,hhi8(513)7203 3d64 04F0 brlt .L5827204 3d66 84E0 ldi r24,lo8(4)7205 3d68 90E0 ldi r25,hi8(4)7206 3d6a 9093 0000 sts (cnt.14)+1,r257207 3d6e 8093 0000 sts cnt.14,r247208 .L582:7209 3d72 8091 0000 lds r24,MittelIntegralRoll_Alt.207210 3d76 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17211 3d7a A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27212 3d7e B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37213 3d82 2091 0000 lds r18,MittelIntegralRoll7214 3d86 3091 0000 lds r19,(MittelIntegralRoll)+17215 3d8a 4091 0000 lds r20,(MittelIntegralRoll)+27216 3d8e 5091 0000 lds r21,(MittelIntegralRoll)+37217 3d92 821B sub r24,r187218 3d94 930B sbc r25,r197219 3d96 A40B sbc r26,r207220 3d98 B50B sbc r27,r217221 3d9a 815E subi r24,lo8(-(19999))7222 3d9c 914B sbci r25,hi8(-(19999))7223 3d9e AF4F sbci r26,hlo8(-(19999))7224 3da0 BF4F sbci r27,hhi8(-(19999))7225 3da2 8F53 subi r24,lo8(39999)7226 3da4 9C49 sbci r25,hi8(39999)7227 3da6 A040 sbci r26,hlo8(39999)7228 3da8 B040 sbci r27,hhi8(39999)7229 3daa 00F0 brlo .L5857230 3dac 1931 cpi r17,lo8(25)7231 3dae 04F4 brge .+27232 3db0 00C0 rjmp .L5847233 .L585:7234 3db2 01E0 ldi r16,lo8(4097)7235 3db4 C016 cp r12,r167236 3db6 00E1 ldi r16,hi8(4097)7237 3db8 D006 cpc r13,r167238 3dba 00E0 ldi r16,hlo8(4097)7239 3dbc E006 cpc r14,r167240 3dbe 00E0 ldi r16,hhi8(4097)7241 3dc0 F006 cpc r15,r167242 3dc2 04F4 brge .+27243 3dc4 00C0 rjmp .L5867244 3dc6 8091 0000 lds r24,last_r_p.177245 3dca 8823 tst r247246 3dcc 01F4 brne .+27247 3dce 00C0 rjmp .L5877248 3dd0 D701 movw r26,r147249 3dd2 C601 movw r24,r127250 3dd4 F7FE sbrs r15,77251 3dd6 00C0 rjmp .L5887252 3dd8 8827 clr r247253 3dda 9927 clr r257254 3ddc DC01 movw r26,r247255 3dde 8C19 sub r24,r127256 3de0 9D09 sbc r25,r137257 3de2 AE09 sbc r26,r147258 3de4 BF09 sbc r27,r157259 .L588:7260 3de6 9C01 movw r18,r247261 3de8 AD01 movw r20,r267262 3dea B7FF sbrs r27,77263 3dec 00C0 rjmp .L5897264 3dee 2150 subi r18,lo8(-(511))7265 3df0 3E4F sbci r19,hi8(-(511))7266 3df2 4F4F sbci r20,hlo8(-(511))7267 3df4 5F4F sbci r21,hhi8(-(511))7268 .L589:7269 3df6 09E0 ldi r16,97270 3df8 5595 1: asr r217271 3dfa 4795 ror r207272 3dfc 3795 ror r197273 3dfe 2795 ror r187274 3e00 0A95 dec r167275 3e02 01F4 brne 1b7276 3e04 8091 0000 lds r24,cnt.147277 3e08 9091 0000 lds r25,(cnt.14)+17278 3e0c 820F add r24,r187279 3e0e 931F adc r25,r197280 3e10 9093 0000 sts (cnt.14)+1,r257281 3e14 8093 0000 sts cnt.14,r247282 3e18 D701 movw r26,r147283 3e1a C601 movw r24,r127284 3e1c F7FE sbrs r15,77285 3e1e 00C0 rjmp .L5907286 3e20 0796 adiw r24,77287 3e22 A11D adc r26,__zero_reg__7288 3e24 B11D adc r27,__zero_reg__7289 .L590:7290 3e26 13E0 ldi r17,37291 3e28 B595 1: asr r277292 3e2a A795 ror r267293 3e2c 9795 ror r257294 3e2e 8795 ror r247295 3e30 1A95 dec r177296 3e32 01F4 brne 1b7297 3e34 8093 0000 sts ausgleichRoll.11,r247298 3e38 9093 0000 sts (ausgleichRoll.11)+1,r257299 3e3c A093 0000 sts (ausgleichRoll.11)+2,r267300 3e40 B093 0000 sts (ausgleichRoll.11)+3,r277301 3e44 8958 subi r24,lo8(5001)7302 3e46 9341 sbci r25,hi8(5001)7303 3e48 A040 sbci r26,hlo8(5001)7304 3e4a B040 sbci r27,hhi8(5001)7305 3e4c 04F0 brlt .L5917306 3e4e 88E8 ldi r24,lo8(5000)7307 3e50 93E1 ldi r25,hi8(5000)7308 3e52 A0E0 ldi r26,hlo8(5000)7309 3e54 B0E0 ldi r27,hhi8(5000)7310 3e56 8093 0000 sts ausgleichRoll.11,r247311 3e5a 9093 0000 sts (ausgleichRoll.11)+1,r257312 3e5e A093 0000 sts (ausgleichRoll.11)+2,r267313 3e62 B093 0000 sts (ausgleichRoll.11)+3,r277314 .L591:7315 3e66 2091 0000 lds r18,ausgleichRoll.117316 3e6a 3091 0000 lds r19,(ausgleichRoll.11)+17317 3e6e 4091 0000 lds r20,(ausgleichRoll.11)+27318 3e72 5091 0000 lds r21,(ausgleichRoll.11)+37319 3e76 57FF sbrs r21,77320 3e78 00C0 rjmp .L5927321 3e7a 2150 subi r18,lo8(-(255))7322 3e7c 3F4F sbci r19,hi8(-(255))7323 3e7e 4F4F sbci r20,hlo8(-(255))7324 3e80 5F4F sbci r21,hhi8(-(255))7325 .L592:7326 3e82 232F mov r18,r197327 3e84 342F mov r19,r207328 3e86 452F mov r20,r217329 3e88 5527 clr r217330 3e8a 47FD sbrc r20,77331 3e8c 5A95 dec r217332 3e8e 8091 0000 lds r24,LageKorrekturRoll7333 3e92 9091 0000 lds r25,(LageKorrekturRoll)+17334 3e96 820F add r24,r187335 3e98 931F adc r25,r197336 3e9a 9093 0000 sts (LageKorrekturRoll)+1,r257337 3e9e 8093 0000 sts LageKorrekturRoll,r247338 3ea2 00C0 rjmp .L5947339 .L587:7340 3ea4 81E0 ldi r24,lo8(1)7341 3ea6 8093 0000 sts last_r_p.17,r247342 3eaa 00C0 rjmp .L5947343 .L586:7344 3eac 1092 0000 sts last_r_p.17,__zero_reg__7345 .L594:7346 3eb0 20E0 ldi r18,lo8(-4096)7347 3eb2 C216 cp r12,r187348 3eb4 20EF ldi r18,hi8(-4096)7349 3eb6 D206 cpc r13,r187350 3eb8 2FEF ldi r18,hlo8(-4096)7351 3eba E206 cpc r14,r187352 3ebc 2FEF ldi r18,hhi8(-4096)7353 3ebe F206 cpc r15,r187354 3ec0 04F0 brlt .+27355 3ec2 00C0 rjmp .L5957356 3ec4 8091 0000 lds r24,last_r_n.187357 3ec8 8823 tst r247358 3eca 01F4 brne .+27359 3ecc 00C0 rjmp .L5967360 3ece D701 movw r26,r147361 3ed0 C601 movw r24,r127362 3ed2 F7FE sbrs r15,77363 3ed4 00C0 rjmp .L5977364 3ed6 8827 clr r247365 3ed8 9927 clr r257366 3eda DC01 movw r26,r247367 3edc 8C19 sub r24,r127368 3ede 9D09 sbc r25,r137369 3ee0 AE09 sbc r26,r147370 3ee2 BF09 sbc r27,r157371 .L597:7372 3ee4 9C01 movw r18,r247373 3ee6 AD01 movw r20,r267374 3ee8 B7FF sbrs r27,77375 3eea 00C0 rjmp .L5987376 3eec 2150 subi r18,lo8(-(511))7377 3eee 3E4F sbci r19,hi8(-(511))7378 3ef0 4F4F sbci r20,hlo8(-(511))7379 3ef2 5F4F sbci r21,hhi8(-(511))7380 .L598:7381 3ef4 E9E0 ldi r30,97382 3ef6 5595 1: asr r217383 3ef8 4795 ror r207384 3efa 3795 ror r197385 3efc 2795 ror r187386 3efe EA95 dec r307387 3f00 01F4 brne 1b7388 3f02 8091 0000 lds r24,cnt.147389 3f06 9091 0000 lds r25,(cnt.14)+17390 3f0a 820F add r24,r187391 3f0c 931F adc r25,r197392 3f0e 9093 0000 sts (cnt.14)+1,r257393 3f12 8093 0000 sts cnt.14,r247394 3f16 D701 movw r26,r147395 3f18 C601 movw r24,r127396 3f1a F7FE sbrs r15,77397 3f1c 00C0 rjmp .L5997398 3f1e 0796 adiw r24,77399 3f20 A11D adc r26,__zero_reg__7400 3f22 B11D adc r27,__zero_reg__7401 .L599:7402 3f24 73E0 ldi r23,37403 3f26 B595 1: asr r277404 3f28 A795 ror r267405 3f2a 9795 ror r257406 3f2c 8795 ror r247407 3f2e 7A95 dec r237408 3f30 01F4 brne 1b7409 3f32 8093 0000 sts ausgleichRoll.11,r247410 3f36 9093 0000 sts (ausgleichRoll.11)+1,r257411 3f3a A093 0000 sts (ausgleichRoll.11)+2,r267412 3f3e B093 0000 sts (ausgleichRoll.11)+3,r277413 3f42 8857 subi r24,lo8(-5000)7414 3f44 9C4E sbci r25,hi8(-5000)7415 3f46 AF4F sbci r26,hlo8(-5000)7416 3f48 BF4F sbci r27,hhi8(-5000)7417 3f4a 04F4 brge .L6007418 3f4c 88E7 ldi r24,lo8(-5000)7419 3f4e 9CEE ldi r25,hi8(-5000)7420 3f50 AFEF ldi r26,hlo8(-5000)7421 3f52 BFEF ldi r27,hhi8(-5000)7422 3f54 8093 0000 sts ausgleichRoll.11,r247423 3f58 9093 0000 sts (ausgleichRoll.11)+1,r257424 3f5c A093 0000 sts (ausgleichRoll.11)+2,r267425 3f60 B093 0000 sts (ausgleichRoll.11)+3,r277426 .L600:7427 3f64 2091 0000 lds r18,ausgleichRoll.117428 3f68 3091 0000 lds r19,(ausgleichRoll.11)+17429 3f6c 4091 0000 lds r20,(ausgleichRoll.11)+27430 3f70 5091 0000 lds r21,(ausgleichRoll.11)+37431 3f74 57FF sbrs r21,77432 3f76 00C0 rjmp .L6017433 3f78 2150 subi r18,lo8(-(255))7434 3f7a 3F4F sbci r19,hi8(-(255))7435 3f7c 4F4F sbci r20,hlo8(-(255))7436 3f7e 5F4F sbci r21,hhi8(-(255))7437 .L601:7438 3f80 232F mov r18,r197439 3f82 342F mov r19,r207440 3f84 452F mov r20,r217441 3f86 5527 clr r217442 3f88 47FD sbrc r20,77443 3f8a 5A95 dec r217444 3f8c 8091 0000 lds r24,LageKorrekturRoll7445 3f90 9091 0000 lds r25,(LageKorrekturRoll)+17446 3f94 820F add r24,r187447 3f96 931F adc r25,r197448 3f98 9093 0000 sts (LageKorrekturRoll)+1,r257449 3f9c 8093 0000 sts LageKorrekturRoll,r247450 3fa0 00C0 rjmp .L6047451 .L596:7452 3fa2 81E0 ldi r24,lo8(1)7453 3fa4 8093 0000 sts last_r_n.18,r247454 3fa8 00C0 rjmp .L6047455 .L595:7456 3faa 1092 0000 sts last_r_n.18,__zero_reg__7457 3fae 00C0 rjmp .L6047458 .L584:7459 3fb0 1092 0000 sts (cnt.14)+1,__zero_reg__7460 3fb4 1092 0000 sts cnt.14,__zero_reg__7461 3fb8 84E6 ldi r24,lo8(100)7462 3fba 90E0 ldi r25,hi8(100)7463 3fbc 9093 0000 sts (KompassSignalSchlecht)+1,r257464 3fc0 8093 0000 sts KompassSignalSchlecht,r247465 .L604:7466 3fc4 4889 ldd r20,Y+167467 3fc6 242F mov r18,r207468 3fc8 3327 clr r197469 3fca 8091 0000 lds r24,cnt.147470 3fce 9091 0000 lds r25,(cnt.14)+17471 3fd2 2817 cp r18,r247472 3fd4 3907 cpc r19,r257473 3fd6 04F4 brge .L6057474 3fd8 3093 0000 sts (cnt.14)+1,r197475 3fdc 2093 0000 sts cnt.14,r187476 .L605:7477 3fe0 8091 0000 lds r24,FromNaviCtrl_Value+17478 3fe4 8823 tst r247479 3fe6 01F0 breq .L6067480 3fe8 282F mov r18,r247481 3fea 3327 clr r197482 3fec 27FD sbrc r18,77483 3fee 3095 com r197484 3ff0 8091 0000 lds r24,cnt.147485 3ff4 9091 0000 lds r25,(cnt.14)+17486 3ff8 2817 cp r18,r247487 3ffa 3907 cpc r19,r257488 3ffc 04F4 brge .L6067489 3ffe 3093 0000 sts (cnt.14)+1,r197490 4002 2093 0000 sts cnt.14,r187491 .L606:7492 4006 4091 0000 lds r20,IntegralFehlerRoll.47493 400a 5091 0000 lds r21,(IntegralFehlerRoll.4)+17494 400e 6091 0000 lds r22,(IntegralFehlerRoll.4)+27495 4012 7091 0000 lds r23,(IntegralFehlerRoll.4)+37496 4016 4138 cpi r20,lo8(129)7497 4018 5105 cpc r21,__zero_reg__7498 401a 6105 cpc r22,__zero_reg__7499 401c 7105 cpc r23,__zero_reg__7500 401e 04F0 brlt .L6087501 4020 8091 0000 lds r24,AdNeutralRoll7502 4024 9091 0000 lds r25,(AdNeutralRoll)+17503 4028 2091 0000 lds r18,cnt.147504 402c 3091 0000 lds r19,(cnt.14)+17505 4030 820F add r24,r187506 4032 931F adc r25,r197507 4034 9093 0000 sts (AdNeutralRoll)+1,r257508 4038 8093 0000 sts AdNeutralRoll,r247509 .L608:7510 403c 4058 subi r20,lo8(-128)7511 403e 5F4F sbci r21,hi8(-128)7512 4040 6F4F sbci r22,hlo8(-128)7513 4042 7F4F sbci r23,hhi8(-128)7514 4044 04F4 brge .L6107515 4046 8091 0000 lds r24,AdNeutralRoll7516 404a 9091 0000 lds r25,(AdNeutralRoll)+17517 404e 2091 0000 lds r18,cnt.147518 4052 3091 0000 lds r19,(cnt.14)+17519 4056 821B sub r24,r187520 4058 930B sbc r25,r197521 405a 9093 0000 sts (AdNeutralRoll)+1,r257522 405e 8093 0000 sts AdNeutralRoll,r247523 4062 00C0 rjmp .L6107524 .L536:7525 4064 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7526 4068 1092 0000 sts LageKorrekturRoll,__zero_reg__7527 406c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7528 4070 1092 0000 sts LageKorrekturNick,__zero_reg__7529 4074 1092 0000 sts TrichterFlug,__zero_reg__7530 .L610:7531 4078 8091 0000 lds r24,IntegralFaktor7532 407c 8823 tst r247533 407e 01F4 brne .L6117534 4080 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7535 4084 1092 0000 sts LageKorrekturRoll,__zero_reg__7536 4088 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7537 408c 1092 0000 sts LageKorrekturNick,__zero_reg__7538 .L611:7539 4090 8091 0000 lds r24,MittelIntegralNick7540 4094 9091 0000 lds r25,(MittelIntegralNick)+17541 4098 A091 0000 lds r26,(MittelIntegralNick)+27542 409c B091 0000 lds r27,(MittelIntegralNick)+37543 40a0 8093 0000 sts MittelIntegralNick_Alt.19,r247544 40a4 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257545 40a8 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267546 40ac B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277547 40b0 8091 0000 lds r24,MittelIntegralRoll7548 40b4 9091 0000 lds r25,(MittelIntegralRoll)+17549 40b8 A091 0000 lds r26,(MittelIntegralRoll)+27550 40bc B091 0000 lds r27,(MittelIntegralRoll)+37551 40c0 8093 0000 sts MittelIntegralRoll_Alt.20,r247552 40c4 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257553 40c8 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267554 40cc B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277555 40d0 1092 0000 sts IntegralAccNick,__zero_reg__7556 40d4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7557 40d8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7558 40dc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7559 40e0 1092 0000 sts IntegralAccRoll,__zero_reg__7560 40e4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7561 40e8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7562 40ec 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7563 40f0 1092 0000 sts IntegralAccZ,__zero_reg__7564 40f4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7565 40f8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7566 40fc 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7567 4100 1092 0000 sts MittelIntegralNick,__zero_reg__7568 4104 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7569 4108 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7570 410c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7571 4110 1092 0000 sts MittelIntegralRoll,__zero_reg__7572 4114 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7573 4118 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7574 411c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7575 4120 1092 0000 sts MittelIntegralNick2,__zero_reg__7576 4124 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7577 4128 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7578 412c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7579 4130 1092 0000 sts MittelIntegralRoll2,__zero_reg__7580 4134 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7581 4138 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7582 413c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7583 4140 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7584 4144 1092 0000 sts ZaehlMessungen,__zero_reg__7585 .L535:7586 4148 E090 0000 lds r14,StickGier7587 414c F090 0000 lds r15,(StickGier)+17588 4150 C701 movw r24,r147589 4152 F7FE sbrs r15,77590 4154 00C0 rjmp .L6137591 4156 8827 clr r247592 4158 9927 clr r257593 415a 8E19 sub r24,r147594 415c 9F09 sbc r25,r157595 .L613:7596 415e 0497 sbiw r24,47597 4160 04F0 brlt .L6127598 4162 8091 0000 lds r24,Parameter_GlobalConfig7599 4166 84FD sbrc r24,47600 4168 00C0 rjmp .L6127601 416a 82E3 ldi r24,lo8(50)7602 416c 8093 0000 sts NeueKompassRichtungMerken,r247603 .L612:7604 4170 1091 0000 lds r17,EE_Parameter+257605 4174 A12E mov r10,r177606 4176 BB24 clr r117607 4178 CC24 clr r127608 417a DD24 clr r137609 417c B701 movw r22,r147610 417e 8827 clr r247611 4180 77FD sbrc r23,77612 4182 8095 com r247613 4184 982F mov r25,r247614 4186 9701 movw r18,r147615 4188 F7FE sbrs r15,77616 418a 00C0 rjmp .L6157617 418c 2227 clr r187618 418e 3327 clr r197619 4190 2E19 sub r18,r147620 4192 3F09 sbc r19,r157621 .L615:7622 4194 4427 clr r207623 4196 37FD sbrc r19,77624 4198 4095 com r207625 419a 542F mov r21,r207626 419c 0E94 0000 call __mulsi37627 41a0 9B01 movw r18,r227628 41a2 AC01 movw r20,r247629 41a4 C601 movw r24,r127630 41a6 B501 movw r22,r107631 41a8 0E94 0000 call __mulsi37632 41ac 97FF sbrs r25,77633 41ae 00C0 rjmp .L6167634 41b0 6150 subi r22,lo8(-(511))7635 41b2 7E4F sbci r23,hi8(-(511))7636 41b4 8F4F sbci r24,hlo8(-(511))7637 41b6 9F4F sbci r25,hhi8(-(511))7638 .L616:7639 41b8 59E0 ldi r21,97640 41ba 9595 1: asr r257641 41bc 8795 ror r247642 41be 7795 ror r237643 41c0 6795 ror r227644 41c2 5A95 dec r217645 41c4 01F4 brne 1b7646 41c6 9B01 movw r18,r227647 41c8 812F mov r24,r177648 41ca 9927 clr r257649 41cc 8E9D mul r24,r147650 41ce D001 movw r26,r07651 41d0 8F9D mul r24,r157652 41d2 B00D add r27,r07653 41d4 9E9D mul r25,r147654 41d6 B00D add r27,r07655 41d8 1124 clr r17656 41da CD01 movw r24,r267657 41dc B7FD sbrc r27,77658 41de 0396 adiw r24,37659 .L617:7660 41e0 9595 asr r257661 41e2 8795 ror r247662 41e4 9595 asr r257663 41e6 8795 ror r247664 41e8 280F add r18,r247665 41ea 391F adc r19,r257666 41ec 8091 0000 lds r24,CompassGierSetpoint7667 41f0 9091 0000 lds r25,(CompassGierSetpoint)+17668 41f4 280F add r18,r247669 41f6 391F adc r19,r257670 41f8 4427 clr r207671 41fa 37FD sbrc r19,77672 41fc 4095 com r207673 41fe 542F mov r21,r207674 4200 2093 0000 sts sollGier.0,r187675 4204 3093 0000 sts (sollGier.0)+1,r197676 4208 4093 0000 sts (sollGier.0)+2,r207677 420c 5093 0000 sts (sollGier.0)+3,r217678 4210 8091 0000 lds r24,Mess_Integral_Gier7679 4214 9091 0000 lds r25,(Mess_Integral_Gier)+17680 4218 A091 0000 lds r26,(Mess_Integral_Gier)+27681 421c B091 0000 lds r27,(Mess_Integral_Gier)+37682 4220 821B sub r24,r187683 4222 930B sbc r25,r197684 4224 A40B sbc r26,r207685 4226 B50B sbc r27,r217686 4228 8093 0000 sts Mess_Integral_Gier,r247687 422c 9093 0000 sts (Mess_Integral_Gier)+1,r257688 4230 A093 0000 sts (Mess_Integral_Gier)+2,r267689 4234 B093 0000 sts (Mess_Integral_Gier)+3,r277690 4238 8155 subi r24,lo8(50001)7691 423a 934C sbci r25,hi8(50001)7692 423c A040 sbci r26,hlo8(50001)7693 423e B040 sbci r27,hhi8(50001)7694 4240 04F0 brlt .L6187695 4242 80E5 ldi r24,lo8(50000)7696 4244 93EC ldi r25,hi8(50000)7697 4246 A0E0 ldi r26,hlo8(50000)7698 4248 B0E0 ldi r27,hhi8(50000)7699 424a 8093 0000 sts Mess_Integral_Gier,r247700 424e 9093 0000 sts (Mess_Integral_Gier)+1,r257701 4252 A093 0000 sts (Mess_Integral_Gier)+2,r267702 4256 B093 0000 sts (Mess_Integral_Gier)+3,r277703 .L618:7704 425a 8091 0000 lds r24,Mess_Integral_Gier7705 425e 9091 0000 lds r25,(Mess_Integral_Gier)+17706 4262 A091 0000 lds r26,(Mess_Integral_Gier)+27707 4266 B091 0000 lds r27,(Mess_Integral_Gier)+37708 426a 805B subi r24,lo8(-50000)7709 426c 9C43 sbci r25,hi8(-50000)7710 426e AF4F sbci r26,hlo8(-50000)7711 4270 BF4F sbci r27,hhi8(-50000)7712 4272 04F4 brge .L6197713 4274 80EB ldi r24,lo8(-50000)7714 4276 9CE3 ldi r25,hi8(-50000)7715 4278 AFEF ldi r26,hlo8(-50000)7716 427a BFEF ldi r27,hhi8(-50000)7717 427c 8093 0000 sts Mess_Integral_Gier,r247718 4280 9093 0000 sts (Mess_Integral_Gier)+1,r257719 4284 A093 0000 sts (Mess_Integral_Gier)+2,r267720 4288 B093 0000 sts (Mess_Integral_Gier)+3,r277721 .L619:7722 428c 0091 0000 lds r16,KompassValue7723 4290 1091 0000 lds r17,(KompassValue)+17724 4294 17FD sbrc r17,77725 4296 00C0 rjmp .L6207726 4298 8091 0000 lds r24,Parameter_GlobalConfig7727 429c 83FF sbrs r24,37728 429e 00C0 rjmp .L6207729 42a0 8091 0000 lds r24,CalculateCompassTimer7730 42a4 8150 subi r24,lo8(-(-1))7731 42a6 8093 0000 sts CalculateCompassTimer,r247732 42aa 8823 tst r247733 42ac 01F0 breq .+27734 42ae 00C0 rjmp .L6377735 42b0 8DE0 ldi r24,lo8(13)7736 42b2 8093 0000 sts CalculateCompassTimer,r247737 42b6 8091 0000 lds r24,IntegralNick7738 42ba 9091 0000 lds r25,(IntegralNick)+17739 42be A091 0000 lds r26,(IntegralNick)+27740 42c2 B091 0000 lds r27,(IntegralNick)+37741 42c6 B7FF sbrs r27,77742 42c8 00C0 rjmp .L6227743 42ca 8150 subi r24,lo8(-(511))7744 42cc 9E4F sbci r25,hi8(-(511))7745 42ce AF4F sbci r26,hlo8(-(511))7746 42d0 BF4F sbci r27,hhi8(-(511))7747 .L622:7748 42d2 39E0 ldi r19,97749 42d4 B595 1: asr r277750 42d6 A795 ror r267751 42d8 9795 ror r257752 42da 8795 ror r247753 42dc 3A95 dec r197754 42de 01F4 brne 1b7755 42e0 7C01 movw r14,r247756 42e2 97FF sbrs r25,77757 42e4 00C0 rjmp .L6237758 42e6 F094 com r157759 42e8 E194 neg r147760 42ea F108 sbc r15,__zero_reg__7761 42ec F394 inc r157762 .L623:7763 42ee 8091 0000 lds r24,IntegralRoll7764 42f2 9091 0000 lds r25,(IntegralRoll)+17765 42f6 A091 0000 lds r26,(IntegralRoll)+27766 42fa B091 0000 lds r27,(IntegralRoll)+37767 42fe B7FF sbrs r27,77768 4300 00C0 rjmp .L6247769 4302 8150 subi r24,lo8(-(511))7770 4304 9E4F sbci r25,hi8(-(511))7771 4306 AF4F sbci r26,hlo8(-(511))7772 4308 BF4F sbci r27,hhi8(-(511))7773 .L624:7774 430a 29E0 ldi r18,97775 430c B595 1: asr r277776 430e A795 ror r267777 4310 9795 ror r257778 4312 8795 ror r247779 4314 2A95 dec r187780 4316 01F4 brne 1b7781 4318 9C01 movw r18,r247782 431a 97FF sbrs r25,77783 431c 00C0 rjmp .L6257784 431e 3095 com r197785 4320 2195 neg r187786 4322 3F4F sbci r19,lo8(-1)7787 .L625:7788 4324 E216 cp r14,r187789 4326 F306 cpc r15,r197790 4328 04F4 brge .L6267791 432a 7901 movw r14,r187792 .L626:7793 432c B701 movw r22,r147794 432e F7FE sbrs r15,77795 4330 00C0 rjmp .L6277796 4332 695F subi r22,lo8(-(7))7797 4334 7F4F sbci r23,hi8(-(7))7798 .L627:7799 4336 2B01 movw r4,r227800 4338 A3E0 ldi r26,37801 433a 5594 1: asr r57802 433c 4794 ror r47803 433e AA95 dec r267804 4340 01F4 brne 1b7805 4342 22E0 ldi r18,lo8(2)7806 4344 30E0 ldi r19,hi8(2)7807 4346 420E add r4,r187808 4348 531E adc r5,r197809 434a 6090 0000 lds r6,ErsatzKompass7810 434e 7090 0000 lds r7,(ErsatzKompass)+17811 4352 8090 0000 lds r8,(ErsatzKompass)+27812 4356 9090 0000 lds r9,(ErsatzKompass)+37813 435a 2091 0000 lds r18,GIER_GRAD_FAKTOR7814 435e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17815 4362 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27816 4366 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37817 436a C401 movw r24,r87818 436c B301 movw r22,r67819 436e 0E94 0000 call __divmodsi47820 4372 5901 movw r10,r187821 4374 6A01 movw r12,r207822 4376 3093 0000 sts (ErsatzKompassInGrad)+1,r197823 437a 2093 0000 sts ErsatzKompassInGrad,r187824 437e 021B sub r16,r187825 4380 130B sbc r17,r197826 4382 C801 movw r24,r167827 4384 845E subi r24,lo8(-(540))7828 4386 9D4F sbci r25,hi8(-(540))7829 4388 68E6 ldi r22,lo8(360)7830 438a 71E0 ldi r23,hi8(360)7831 438c 0E94 0000 call __divmodhi47832 4390 9C01 movw r18,r247833 4392 245B subi r18,lo8(-(-180))7834 4394 3040 sbci r19,hi8(-(-180))7835 4396 8091 0000 lds r24,KompassSignalSchlecht7836 439a 9091 0000 lds r25,(KompassSignalSchlecht)+17837 439e 0097 sbiw r24,07838 43a0 01F0 breq .L6287839 43a2 0197 sbiw r24,17840 43a4 9093 0000 sts (KompassSignalSchlecht)+1,r257841 43a8 8093 0000 sts KompassSignalSchlecht,r247842 43ac 00C0 rjmp .L6297843 .L628:7844 43ae 49E1 ldi r20,lo8(25)7845 43b0 E416 cp r14,r207846 43b2 F104 cpc r15,__zero_reg__7847 43b4 04F4 brge .L6297848 43b6 8091 0000 lds r24,GierGyroFehler7849 43ba 9091 0000 lds r25,(GierGyroFehler)+17850 43be 820F add r24,r187851 43c0 931F adc r25,r197852 43c2 9093 0000 sts (GierGyroFehler)+1,r257853 43c6 8093 0000 sts GierGyroFehler,r247854 43ca 8091 0000 lds r24,NeueKompassRichtungMerken7855 43ce 8823 tst r247856 43d0 01F0 breq .L6297857 43d2 8150 subi r24,lo8(-(-1))7858 43d4 8093 0000 sts NeueKompassRichtungMerken,r247859 43d8 8823 tst r247860 43da 01F4 brne .L6297861 43dc B092 0000 sts (KompassSollWert)+1,r117862 43e0 A092 0000 sts KompassSollWert,r107863 .L629:7864 43e4 8091 0000 lds r24,KompassSignalSchlecht7865 43e8 9091 0000 lds r25,(KompassSignalSchlecht)+17866 43ec 892B or r24,r257867 43ee 01F4 brne .L6337868 43f0 8091 0000 lds r24,KompassFusion7869 43f4 9927 clr r257870 43f6 289F mul r18,r247871 43f8 B001 movw r22,r07872 43fa 299F mul r18,r257873 43fc 700D add r23,r07874 43fe 389F mul r19,r247875 4400 700D add r23,r07876 4402 1124 clr r17877 4404 CB01 movw r24,r227878 4406 B201 movw r22,r47879 4408 0E94 0000 call __divmodhi47880 440c CB01 movw r24,r227881 440e AA27 clr r267882 4410 97FD sbrc r25,77883 4412 A095 com r267884 4414 BA2F mov r27,r267885 4416 680E add r6,r247886 4418 791E adc r7,r257887 441a 8A1E adc r8,r267888 441c 9B1E adc r9,r277889 441e 6092 0000 sts ErsatzKompass,r67890 4422 7092 0000 sts (ErsatzKompass)+1,r77891 4426 8092 0000 sts (ErsatzKompass)+2,r87892 442a 9092 0000 sts (ErsatzKompass)+3,r97893 .L633:7894 442e 8091 0000 lds r24,NeueKompassRichtungMerken7895 4432 8823 tst r247896 4434 01F4 brne .L6207897 4436 8091 0000 lds r24,KompassSollWert7898 443a 9091 0000 lds r25,(KompassSollWert)+17899 443e 2091 0000 lds r18,ErsatzKompassInGrad7900 4442 3091 0000 lds r19,(ErsatzKompassInGrad)+17901 4446 821B sub r24,r187902 4448 930B sbc r25,r197903 444a 845E subi r24,lo8(-(540))7904 444c 9D4F sbci r25,hi8(-(540))7905 444e 68E6 ldi r22,lo8(360)7906 4450 71E0 ldi r23,hi8(360)7907 4452 0E94 0000 call __divmodhi47908 4456 9C01 movw r18,r247909 4458 245B subi r18,lo8(-(-180))7910 445a 3040 sbci r19,hi8(-(-180))7911 445c 8091 0000 lds r24,Parameter_KompassWirkung7912 4460 8695 lsr r247913 4462 9927 clr r257914 4464 289F mul r18,r247915 4466 D001 movw r26,r07916 4468 299F mul r18,r257917 446a B00D add r27,r07918 446c 389F mul r19,r247919 446e B00D add r27,r07920 4470 1124 clr r17921 4472 9D01 movw r18,r267922 4474 B7FF sbrs r27,77923 4476 00C0 rjmp .L6357924 4478 215F subi r18,lo8(-(15))7925 447a 3F4F sbci r19,hi8(-(15))7926 .L635:7927 447c F4E0 ldi r31,47928 447e 3595 1: asr r197929 4480 2795 ror r187930 4482 FA95 dec r317931 4484 01F4 brne 1b7932 4486 3093 0000 sts (CompassGierSetpoint)+1,r197933 448a 2093 0000 sts CompassGierSetpoint,r187934 448e 00C0 rjmp .L6377935 .L620:7936 4490 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7937 4494 1092 0000 sts CompassGierSetpoint,__zero_reg__7938 .L637:7939 4498 8091 0000 lds r24,TrichterFlug7940 449c 8823 tst r247941 449e 01F0 breq .L6387942 44a0 1092 0000 sts SummeRoll,__zero_reg__7943 44a4 1092 0000 sts (SummeRoll)+1,__zero_reg__7944 44a8 1092 0000 sts (SummeRoll)+2,__zero_reg__7945 44ac 1092 0000 sts (SummeRoll)+3,__zero_reg__7946 44b0 1092 0000 sts SummeNick,__zero_reg__7947 44b4 1092 0000 sts (SummeNick)+1,__zero_reg__7948 44b8 1092 0000 sts (SummeNick)+2,__zero_reg__7949 44bc 1092 0000 sts (SummeNick)+3,__zero_reg__7950 .L638:7951 44c0 F090 0000 lds r15,Looping_Nick7952 44c4 FF20 tst r157953 44c6 01F4 brne .L6397954 44c8 8091 0000 lds r24,IntegralFaktor7955 44cc 282F mov r18,r247956 44ce 3327 clr r197957 44d0 4427 clr r207958 44d2 5527 clr r217959 44d4 8091 0000 lds r24,IntegralNick7960 44d8 9091 0000 lds r25,(IntegralNick)+17961 44dc A091 0000 lds r26,(IntegralNick)+27962 44e0 B091 0000 lds r27,(IntegralNick)+37963 44e4 BC01 movw r22,r247964 44e6 CD01 movw r24,r267965 44e8 0E94 0000 call __mulsi37966 44ec DC01 movw r26,r247967 44ee CB01 movw r24,r227968 44f0 BC01 movw r22,r247969 44f2 CD01 movw r24,r267970 44f4 28EF ldi r18,lo8(11000)7971 44f6 3AE2 ldi r19,hi8(11000)7972 44f8 40E0 ldi r20,hlo8(11000)7973 44fa 50E0 ldi r21,hhi8(11000)7974 44fc 0E94 0000 call __divmodsi47975 4500 3901 movw r6,r187976 4502 00C0 rjmp .L6407977 .L639:7978 4504 6624 clr r67979 4506 7724 clr r77980 .L640:7981 4508 E090 0000 lds r14,Looping_Roll7982 450c EE20 tst r147983 450e 01F4 brne .L6417984 4510 8091 0000 lds r24,IntegralFaktor7985 4514 282F mov r18,r247986 4516 3327 clr r197987 4518 4427 clr r207988 451a 5527 clr r217989 451c 8091 0000 lds r24,IntegralRoll7990 4520 9091 0000 lds r25,(IntegralRoll)+17991 4524 A091 0000 lds r26,(IntegralRoll)+27992 4528 B091 0000 lds r27,(IntegralRoll)+37993 452c BC01 movw r22,r247994 452e CD01 movw r24,r267995 4530 0E94 0000 call __mulsi37996 4534 DC01 movw r26,r247997 4536 CB01 movw r24,r227998 4538 BC01 movw r22,r247999 453a CD01 movw r24,r268000 453c 28EF ldi r18,lo8(11000)8001 453e 3AE2 ldi r19,hi8(11000)8002 4540 40E0 ldi r20,hlo8(11000)8003 4542 50E0 ldi r21,hhi8(11000)8004 4544 0E94 0000 call __divmodsi48005 4548 2901 movw r4,r188006 454a 00C0 rjmp .L6428007 .L641:8008 454c 4424 clr r48009 454e 5524 clr r58010 .L642:8011 4550 8091 0000 lds r24,TrimNick8012 4554 9091 0000 lds r25,(TrimNick)+18013 4558 893C cpi r24,2018014 455a 9105 cpc r25,__zero_reg__8015 455c 04F0 brlt .L6438016 455e 88EC ldi r24,lo8(200)8017 4560 90E0 ldi r25,hi8(200)8018 4562 00C0 rjmp .L9008019 .L643:8020 4564 8853 subi r24,lo8(-200)8021 4566 9F4F sbci r25,hi8(-200)8022 4568 04F4 brge .L6448023 456a 88E3 ldi r24,lo8(-200)8024 456c 9FEF ldi r25,hi8(-200)8025 .L900:8026 456e 9093 0000 sts (TrimNick)+1,r258027 4572 8093 0000 sts TrimNick,r248028 .L644:8029 4576 8091 0000 lds r24,TrimRoll8030 457a 9091 0000 lds r25,(TrimRoll)+18031 457e 893C cpi r24,2018032 4580 9105 cpc r25,__zero_reg__8033 4582 04F0 brlt .L6468034 4584 88EC ldi r24,lo8(200)8035 4586 90E0 ldi r25,hi8(200)8036 4588 00C0 rjmp .L9018037 .L646:8038 458a 8853 subi r24,lo8(-200)8039 458c 9F4F sbci r25,hi8(-200)8040 458e 04F4 brge .L6478041 4590 88E3 ldi r24,lo8(-200)8042 4592 9FEF ldi r25,hi8(-200)8043 .L901:8044 4594 9093 0000 sts (TrimRoll)+1,r258045 4598 8093 0000 sts TrimRoll,r248046 .L647:8047 459c 8091 0000 lds r24,MesswertNick8048 45a0 9091 0000 lds r25,(MesswertNick)+18049 45a4 AA27 clr r268050 45a6 97FD sbrc r25,78051 45a8 A095 com r268052 45aa BA2F mov r27,r268053 45ac 2091 0000 lds r18,GyroFaktor8054 45b0 A22E mov r10,r188055 45b2 BB24 clr r118056 45b4 CC24 clr r128057 45b6 DD24 clr r138058 45b8 BC01 movw r22,r248059 45ba CD01 movw r24,r268060 45bc A601 movw r20,r128061 45be 9501 movw r18,r108062 45c0 0E94 0000 call __mulsi38063 45c4 9B01 movw r18,r228064 45c6 AC01 movw r20,r248065 45c8 8091 0000 lds r24,TrimNick8066 45cc 9091 0000 lds r25,(TrimNick)+18067 45d0 AA27 clr r268068 45d2 97FD sbrc r25,78069 45d4 A095 com r268070 45d6 BA2F mov r27,r268071 45d8 E7E0 ldi r30,78072 45da 880F 1: lsl r248073 45dc 991F rol r258074 45de AA1F rol r268075 45e0 BB1F rol r278076 45e2 EA95 dec r308077 45e4 01F4 brne 1b8078 45e6 280F add r18,r248079 45e8 391F adc r19,r258080 45ea 4A1F adc r20,r268081 45ec 5B1F adc r21,r278082 45ee 57FF sbrs r21,78083 45f0 00C0 rjmp .L6498084 45f2 215C subi r18,lo8(-(63))8085 45f4 3F4F sbci r19,hi8(-(63))8086 45f6 4F4F sbci r20,hlo8(-(63))8087 45f8 5F4F sbci r21,hhi8(-(63))8088 .L649:8089 45fa 76E0 ldi r23,68090 45fc 5595 1: asr r218091 45fe 4795 ror r208092 4600 3795 ror r198093 4602 2795 ror r188094 4604 7A95 dec r238095 4606 01F4 brne 1b8096 4608 8301 movw r16,r68097 460a 020F add r16,r188098 460c 131F adc r17,r198099 460e 1093 0000 sts (MesswertNick)+1,r178100 4612 0093 0000 sts MesswertNick,r168101 4616 8091 0000 lds r24,MesswertRoll8102 461a 9091 0000 lds r25,(MesswertRoll)+18103 461e AA27 clr r268104 4620 97FD sbrc r25,78105 4622 A095 com r268106 4624 BA2F mov r27,r268107 4626 BC01 movw r22,r248108 4628 CD01 movw r24,r268109 462a A601 movw r20,r128110 462c 9501 movw r18,r108111 462e 0E94 0000 call __mulsi38112 4632 9B01 movw r18,r228113 4634 AC01 movw r20,r248114 4636 8091 0000 lds r24,TrimRoll8115 463a 9091 0000 lds r25,(TrimRoll)+18116 463e AA27 clr r268117 4640 97FD sbrc r25,78118 4642 A095 com r268119 4644 BA2F mov r27,r268120 4646 67E0 ldi r22,78121 4648 880F 1: lsl r248122 464a 991F rol r258123 464c AA1F rol r268124 464e BB1F rol r278125 4650 6A95 dec r228126 4652 01F4 brne 1b8127 4654 280F add r18,r248128 4656 391F adc r19,r258129 4658 4A1F adc r20,r268130 465a 5B1F adc r21,r278131 465c 57FF sbrs r21,78132 465e 00C0 rjmp .L6508133 4660 215C subi r18,lo8(-(63))8134 4662 3F4F sbci r19,hi8(-(63))8135 4664 4F4F sbci r20,hlo8(-(63))8136 4666 5F4F sbci r21,hhi8(-(63))8137 .L650:8138 4668 F6E0 ldi r31,68139 466a 5595 1: asr r218140 466c 4795 ror r208141 466e 3795 ror r198142 4670 2795 ror r188143 4672 FA95 dec r318144 4674 01F4 brne 1b8145 4676 4201 movw r8,r48146 4678 820E add r8,r188147 467a 931E adc r9,r198148 467c 9092 0000 sts (MesswertRoll)+1,r98149 4680 8092 0000 sts MesswertRoll,r88150 4684 8091 0000 lds r24,MesswertGier8151 4688 9091 0000 lds r25,(MesswertGier)+18152 468c 880F add r24,r248153 468e 991F adc r25,r258154 4690 AA27 clr r268155 4692 97FD sbrc r25,78156 4694 A095 com r268157 4696 BA2F mov r27,r268158 4698 2091 0000 lds r18,GyroFaktorGier8159 469c 3327 clr r198160 469e 4427 clr r208161 46a0 5527 clr r218162 46a2 BC01 movw r22,r248163 46a4 CD01 movw r24,r268164 46a6 0E94 0000 call __mulsi38165 46aa 5B01 movw r10,r228166 46ac 6C01 movw r12,r248167 46ae 97FF sbrs r25,78168 46b0 00C0 rjmp .L6518169 46b2 2FE3 ldi r18,lo8(63)8170 46b4 30E0 ldi r19,hi8(63)8171 46b6 40E0 ldi r20,hlo8(63)8172 46b8 50E0 ldi r21,hhi8(63)8173 46ba A20E add r10,r188174 46bc B31E adc r11,r198175 46be C41E adc r12,r208176 46c0 D51E adc r13,r218177 .L651:8178 46c2 E6E0 ldi r30,68179 46c4 D594 1: asr r138180 46c6 C794 ror r128181 46c8 B794 ror r118182 46ca A794 ror r108183 46cc EA95 dec r308184 46ce 01F4 brne 1b8185 46d0 8091 0000 lds r24,IntegralFaktorGier8186 46d4 282F mov r18,r248187 46d6 3327 clr r198188 46d8 4427 clr r208189 46da 5527 clr r218190 46dc 8091 0000 lds r24,Integral_Gier8191 46e0 9091 0000 lds r25,(Integral_Gier)+18192 46e4 A091 0000 lds r26,(Integral_Gier)+28193 46e8 B091 0000 lds r27,(Integral_Gier)+38194 46ec BC01 movw r22,r248195 46ee CD01 movw r24,r268196 46f0 0E94 0000 call __mulsi38197 46f4 DC01 movw r26,r248198 46f6 CB01 movw r24,r228199 46f8 BC01 movw r22,r248200 46fa CD01 movw r24,r268201 46fc 20EF ldi r18,lo8(22000)8202 46fe 35E5 ldi r19,hi8(22000)8203 4700 40E0 ldi r20,hlo8(22000)8204 4702 50E0 ldi r21,hhi8(22000)8205 4704 0E94 0000 call __divmodsi48206 4708 B501 movw r22,r108207 470a 620F add r22,r188208 470c 731F adc r23,r198209 470e 7093 0000 sts (MesswertGier)+1,r238210 4712 6093 0000 sts MesswertGier,r228211 4716 0150 subi r16,lo8(4097)8212 4718 1041 sbci r17,hi8(4097)8213 471a 04F0 brlt .L6528214 471c 80E0 ldi r24,lo8(4096)8215 471e 90E1 ldi r25,hi8(4096)8216 4720 9093 0000 sts (MesswertNick)+1,r258217 4724 8093 0000 sts MesswertNick,r248218 .L652:8219 4728 8091 0000 lds r24,MesswertNick8220 472c 9091 0000 lds r25,(MesswertNick)+18221 4730 8050 subi r24,lo8(-4096)8222 4732 904F sbci r25,hi8(-4096)8223 4734 04F4 brge .L6538224 4736 80E0 ldi r24,lo8(-4096)8225 4738 90EF ldi r25,hi8(-4096)8226 473a 9093 0000 sts (MesswertNick)+1,r258227 473e 8093 0000 sts MesswertNick,r248228 .L653:8229 4742 51E0 ldi r21,lo8(4097)8230 4744 8516 cp r8,r218231 4746 50E1 ldi r21,hi8(4097)8232 4748 9506 cpc r9,r218233 474a 04F0 brlt .L6548234 474c 80E0 ldi r24,lo8(4096)8235 474e 90E1 ldi r25,hi8(4096)8236 4750 9093 0000 sts (MesswertRoll)+1,r258237 4754 8093 0000 sts MesswertRoll,r248238 .L654:8239 4758 8091 0000 lds r24,MesswertRoll8240 475c 9091 0000 lds r25,(MesswertRoll)+18241 4760 8050 subi r24,lo8(-4096)8242 4762 904F sbci r25,hi8(-4096)8243 4764 04F4 brge .L6558244 4766 80E0 ldi r24,lo8(-4096)8245 4768 90EF ldi r25,hi8(-4096)8246 476a 9093 0000 sts (MesswertRoll)+1,r258247 476e 8093 0000 sts MesswertRoll,r248248 .L655:8249 4772 6150 subi r22,lo8(4097)8250 4774 7041 sbci r23,hi8(4097)8251 4776 04F0 brlt .L6568252 4778 80E0 ldi r24,lo8(4096)8253 477a 90E1 ldi r25,hi8(4096)8254 477c 9093 0000 sts (MesswertGier)+1,r258255 4780 8093 0000 sts MesswertGier,r248256 .L656:8257 4784 8091 0000 lds r24,MesswertGier8258 4788 9091 0000 lds r25,(MesswertGier)+18259 478c 8050 subi r24,lo8(-4096)8260 478e 904F sbci r25,hi8(-4096)8261 4790 04F4 brge .L6578262 4792 80E0 ldi r24,lo8(-4096)8263 4794 90EF ldi r25,hi8(-4096)8264 4796 9093 0000 sts (MesswertGier)+1,r258265 479a 8093 0000 sts MesswertGier,r248266 .L657:8267 479e 8091 0000 lds r24,BattLowVoltageWarning8268 47a2 482F mov r20,r248269 47a4 5527 clr r218270 47a6 8091 0000 lds r24,UBat8271 47aa 9091 0000 lds r25,(UBat)+18272 47ae 4817 cp r20,r248273 47b0 5907 cpc r21,r258274 47b2 04F4 brge .L6588275 47b4 2091 0000 lds r18,UBat8276 47b8 3091 0000 lds r19,(UBat)+18277 47bc 0981 ldd r16,Y+18278 47be 1A81 ldd r17,Y+28279 47c0 049F mul r16,r208280 47c2 C001 movw r24,r08281 47c4 059F mul r16,r218282 47c6 900D add r25,r08283 47c8 149F mul r17,r208284 47ca 900D add r25,r08285 47cc 1124 clr r18286 47ce B901 movw r22,r188287 47d0 0E94 0000 call __udivmodhi48288 47d4 7A83 std Y+2,r238289 47d6 6983 std Y+1,r228290 .L658:8291 47d8 2981 ldd r18,Y+18292 47da 3A81 ldd r19,Y+28293 47dc 220F lsl r188294 47de 331F rol r198295 47e0 220F lsl r188296 47e2 331F rol r198297 47e4 3A83 std Y+2,r198298 47e6 2983 std Y+1,r188299 47e8 4091 0000 lds r20,Parameter_GlobalConfig8300 47ec 40FD sbrc r20,08301 47ee 00C0 rjmp .+48302 47f0 0C94 0000 jmp .L6598303 47f4 EE20 tst r148304 47f6 01F0 breq .+48305 47f8 0C94 0000 jmp .L6598306 47fc FF20 tst r158307 47fe 01F0 breq .+48308 4800 0C94 0000 jmp .L6598309 4804 00E0 ldi r16,lo8(0)8310 4806 10E0 ldi r17,hi8(0)8311 4808 4801 movw r8,r168312 480a 8091 0000 lds r24,HoverGas8313 480e 9091 0000 lds r25,(HoverGas)+18314 4812 9093 0000 sts (DebugOut+44)+1,r258315 4816 8093 0000 sts DebugOut+44,r248316 481a 2091 0000 lds r18,BaroExpandActive8317 481e 3091 0000 lds r19,(BaroExpandActive)+18318 4822 2115 cp r18,__zero_reg__8319 4824 3105 cpc r19,__zero_reg__8320 4826 01F0 breq .+28321 4828 00C0 rjmp .L6608322 482a 8091 0000 lds r24,MessLuftdruck8323 482e 9091 0000 lds r25,(MessLuftdruck)+18324 4832 8959 subi r24,lo8(921)8325 4834 9340 sbci r25,hi8(921)8326 4836 00F0 brlo .L6618327 4838 87B5 in r24,71-0x208328 483a 803F cpi r24,lo8(-16)8329 483c 00F4 brsh .L6628330 483e 8091 0000 lds r24,ExpandBaro8331 4842 8150 subi r24,lo8(-(-1))8332 4844 00C0 rjmp .L9028333 .L662:8334 4846 81E0 ldi r24,lo8(1)8335 4848 8093 0000 sts BaroAtLowerLimit.26,r248336 484c 00C0 rjmp .L6698337 .L661:8338 484e 8091 0000 lds r24,MessLuftdruck8339 4852 9091 0000 lds r25,(MessLuftdruck)+18340 4856 8436 cpi r24,1008341 4858 9105 cpc r25,__zero_reg__8342 485a 00F4 brsh .L6658343 485c 87B5 in r24,71-0x208344 485e 8031 cpi r24,lo8(16)8345 4860 00F0 brlo .L6668346 4862 8091 0000 lds r24,ExpandBaro8347 4866 8F5F subi r24,lo8(-(1))8348 .L902:8349 4868 8093 0000 sts ExpandBaro,r248350 486c 9FE0 ldi r25,lo8(15)8351 486e 8902 muls r24,r258352 4870 9001 movw r18,r08353 4872 1124 clr r18354 4874 8091 0000 lds r24,DruckOffsetSetting8355 4878 821B sub r24,r188356 487a 87BD out 71-0x20,r248357 487c 8CE2 ldi r24,lo8(300)8358 487e 91E0 ldi r25,hi8(300)8359 4880 9093 0000 sts (beeptime)+1,r258360 4884 8093 0000 sts beeptime,r248361 4888 8EE5 ldi r24,lo8(350)8362 488a 91E0 ldi r25,hi8(350)8363 488c 9093 0000 sts (BaroExpandActive)+1,r258364 4890 8093 0000 sts BaroExpandActive,r248365 4894 00C0 rjmp .L6698366 .L666:8367 4896 81E0 ldi r24,lo8(1)8368 4898 8093 0000 sts BaroAtUpperLimit.25,r248369 489c 00C0 rjmp .L6698370 .L665:8371 489e F092 0000 sts BaroAtUpperLimit.25,r158372 48a2 F092 0000 sts BaroAtLowerLimit.26,r158373 48a6 00C0 rjmp .L6698374 .L660:8375 48a8 8091 0000 lds r24,HoehenWert8376 48ac 9091 0000 lds r25,(HoehenWert)+18377 48b0 A091 0000 lds r26,(HoehenWert)+28378 48b4 B091 0000 lds r27,(HoehenWert)+38379 48b8 64E0 ldi r22,48380 48ba 880F 1: lsl r248381 48bc 991F rol r258382 48be AA1F rol r268383 48c0 BB1F rol r278384 48c2 6A95 dec r228385 48c4 01F4 brne 1b8386 48c6 8093 0000 sts SummenHoehe,r248387 48ca 9093 0000 sts (SummenHoehe)+1,r258388 48ce A093 0000 sts (SummenHoehe)+2,r268389 48d2 B093 0000 sts (SummenHoehe)+3,r278390 48d6 1093 0000 sts (VarioMeter)+1,r178391 48da 0093 0000 sts VarioMeter,r168392 48de 2150 subi r18,lo8(-(-1))8393 48e0 3040 sbci r19,hi8(-(-1))8394 48e2 3093 0000 sts (BaroExpandActive)+1,r198395 48e6 2093 0000 sts BaroExpandActive,r188396 .L669:8397 48ea 2091 0000 lds r18,Parameter_HoehenSchalter8398 48ee 41FF sbrs r20,18399 48f0 00C0 rjmp .L6708400 48f2 2233 cpi r18,lo8(50)8401 48f4 00F4 brsh .L6718402 48f6 8091 0000 lds r24,delay.248403 48fa 8150 subi r24,lo8(-(-1))8404 48fc 8093 0000 sts delay.24,r248405 4900 8F3F cpi r24,lo8(-1)8406 4902 01F0 breq .+28407 4904 00C0 rjmp .L6778408 4906 8091 0000 lds r24,SpeakHoTT8409 490a 8823 tst r248410 490c 01F4 brne .L6738411 490e 8091 0000 lds r24,HoehenReglerAktiv8412 4912 8823 tst r248413 4914 01F0 breq .L6738414 4916 88E2 ldi r24,lo8(40)8415 4918 8093 0000 sts SpeakHoTT,r248416 .L673:8417 491c 1092 0000 sts HoehenReglerAktiv,__zero_reg__8418 4920 8091 0000 lds r24,HoehenWert8419 4924 9091 0000 lds r25,(HoehenWert)+18420 4928 A091 0000 lds r26,(HoehenWert)+28421 492c B091 0000 lds r27,(HoehenWert)+38422 4930 8093 0000 sts SollHoehe,r248423 4934 9093 0000 sts (SollHoehe)+1,r258424 4938 A093 0000 sts (SollHoehe)+2,r268425 493c B093 0000 sts (SollHoehe)+3,r278426 4940 81E0 ldi r24,lo8(1)8427 4942 8093 0000 sts delay.24,r248428 4946 00C0 rjmp .L6778429 .L671:8430 4948 2734 cpi r18,lo8(71)8431 494a 00F0 brlo .L6778432 494c 8091 0000 lds r24,SpeakHoTT8433 4950 8823 tst r248434 4952 01F4 brne .L6768435 4954 8091 0000 lds r24,HoehenReglerAktiv8436 4958 8823 tst r248437 495a 01F4 brne .L6768438 495c 87E2 ldi r24,lo8(39)8439 495e 8093 0000 sts SpeakHoTT,r248440 .L676:8441 4962 88EC ldi r24,lo8(-56)8442 4964 8093 0000 sts delay.24,r248443 4968 00C0 rjmp .L9038444 .L670:8445 496a 8091 0000 lds r24,ExternHoehenValue8446 496e 9091 0000 lds r25,(ExternHoehenValue)+18447 4972 820F add r24,r188448 4974 911D adc r25,__zero_reg__8449 4976 2091 0000 lds r18,EE_Parameter+188450 497a 3327 clr r198451 497c 829F mul r24,r188452 497e A001 movw r20,r08453 4980 839F mul r24,r198454 4982 500D add r21,r08455 4984 929F mul r25,r188456 4986 500D add r21,r08457 4988 1124 clr r18458 498a CA01 movw r24,r208459 498c AA27 clr r268460 498e 97FD sbrc r25,78461 4990 A095 com r268462 4992 BA2F mov r27,r268463 4994 8093 0000 sts SollHoehe,r248464 4998 9093 0000 sts (SollHoehe)+1,r258465 499c A093 0000 sts (SollHoehe)+2,r268466 49a0 B093 0000 sts (SollHoehe)+3,r278467 .L903:8468 49a4 81E0 ldi r24,lo8(1)8469 49a6 8093 0000 sts HoehenReglerAktiv,r248470 .L677:8471 49aa 8091 0000 lds r24,IntegralNick8472 49ae 9091 0000 lds r25,(IntegralNick)+18473 49b2 A091 0000 lds r26,(IntegralNick)+28474 49b6 B091 0000 lds r27,(IntegralNick)+38475 49ba E090 0000 lds r14,GIER_GRAD_FAKTOR8476 49be F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18477 49c2 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28478 49c6 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38479 49ca BC01 movw r22,r248480 49cc CD01 movw r24,r268481 49ce A801 movw r20,r168482 49d0 9701 movw r18,r148483 49d2 0E94 0000 call __divmodsi48484 49d6 5901 movw r10,r188485 49d8 6A01 movw r12,r208486 49da 8091 0000 lds r24,IntegralRoll8487 49de 9091 0000 lds r25,(IntegralRoll)+18488 49e2 A091 0000 lds r26,(IntegralRoll)+28489 49e6 B091 0000 lds r27,(IntegralRoll)+38490 49ea BC01 movw r22,r248491 49ec CD01 movw r24,r268492 49ee A801 movw r20,r168493 49f0 9701 movw r18,r148494 49f2 0E94 0000 call __divmodsi48495 49f6 B901 movw r22,r188496 49f8 C501 movw r24,r108497 49fa 0E94 0000 call ihypot8498 49fe 5C01 movw r10,r248499 4a00 CC97 sbiw r24,608500 4a02 04F0 brlt .L6788501 4a04 5CE3 ldi r21,lo8(60)8502 4a06 A52E mov r10,r218503 4a08 B12C mov r11,__zero_reg__8504 .L678:8505 4a0a C501 movw r24,r108506 4a0c 0E94 0000 call c_cos_81928507 4a10 5C01 movw r10,r248508 4a12 80E2 ldi r24,lo8(32)8509 4a14 8093 0000 sts VarioCharacter,r248510 4a18 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8511 4a1c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8512 4a20 8091 0000 lds r24,HoehenReglerAktiv8513 4a24 8823 tst r248514 4a26 01F4 brne .+28515 4a28 00C0 rjmp .L6798516 4a2a 8091 0000 lds r24,FC_StatusFlags8517 4a2e 9927 clr r258518 4a30 9C01 movw r18,r248519 4a32 2071 andi r18,lo8(16)8520 4a34 3070 andi r19,hi8(16)8521 4a36 84FD sbrc r24,48522 4a38 00C0 rjmp .L6798523 4a3a 8091 0000 lds r24,FC_StatusFlags28524 4a3e 8260 ori r24,lo8(2)8525 4a40 8093 0000 sts FC_StatusFlags2,r248526 4a44 7091 0000 lds r23,Parameter_ExtraConfig8527 4a48 872F mov r24,r238528 4a4a 9927 clr r258529 4a4c 41E0 ldi r20,lo8(1)8530 4a4e C42E mov r12,r208531 4a50 D12C mov r13,__zero_reg__8532 4a52 C822 and r12,r248533 4a54 D922 and r13,r258534 4a56 80FD sbrc r24,08535 4a58 00C0 rjmp .L6818536 4a5a 8091 0000 lds r24,Parameter_GlobalConfig8537 4a5e 81FD sbrc r24,18538 4a60 00C0 rjmp .L6808539 .L681:8540 4a62 C980 ldd r12,Y+18541 4a64 DA80 ldd r13,Y+28542 4a66 3093 0000 sts (HeightTrimming.21)+1,r198543 4a6a 2093 0000 sts HeightTrimming.21,r188544 4a6e 3093 0000 sts (AltitudeSetpointTrimming)+1,r198545 4a72 2093 0000 sts AltitudeSetpointTrimming,r188546 4a76 8091 0000 lds r24,FC_StatusFlags8547 4a7a 806C ori r24,lo8(-64)8548 4a7c 8093 0000 sts FC_StatusFlags,r248549 4a80 00C0 rjmp .L6828550 .L680:8551 4a82 8091 0000 lds r24,FC_StatusFlags8552 4a86 81FF sbrs r24,18553 4a88 00C0 rjmp .L6838554 4a8a 0091 0000 lds r16,StickGasHover8555 4a8e 1091 0000 lds r17,(StickGasHover)+18556 4a92 C801 movw r24,r168557 4a94 0F96 adiw r24,158558 4a96 2090 0000 lds r2,StickGas8559 4a9a 3090 0000 lds r3,(StickGas)+18560 4a9e 8215 cp r24,r28561 4aa0 9305 cpc r25,r38562 4aa2 04F0 brlt .+28563 4aa4 00C0 rjmp .L6848564 4aa6 8091 0000 lds r24,BaroAtUpperLimit.258565 4aaa 8823 tst r248566 4aac 01F0 breq .+28567 4aae 00C0 rjmp .L6848568 4ab0 8091 0000 lds r24,FC_StatusFlags8569 4ab4 87FF sbrs r24,78570 4ab6 00C0 rjmp .L6858571 4ab8 8091 0000 lds r24,FC_StatusFlags8572 4abc 8F77 andi r24,lo8(127)8573 4abe 8093 0000 sts FC_StatusFlags,r248574 4ac2 8091 0000 lds r24,HoehenWert8575 4ac6 9091 0000 lds r25,(HoehenWert)+18576 4aca A091 0000 lds r26,(HoehenWert)+28577 4ace B091 0000 lds r27,(HoehenWert)+38578 4ad2 8093 0000 sts SollHoehe,r248579 4ad6 9093 0000 sts (SollHoehe)+1,r258580 4ada A093 0000 sts (SollHoehe)+2,r268581 4ade B093 0000 sts (SollHoehe)+3,r278582 .L685:8583 4ae2 8091 0000 lds r24,FC_StatusFlags8584 4ae6 8064 ori r24,lo8(64)8585 4ae8 8093 0000 sts FC_StatusFlags,r248586 4aec E090 0000 lds r14,Parameter_MaximumAltitude8587 4af0 EE20 tst r148588 4af2 01F0 breq .L6868589 4af4 8091 0000 lds r24,SollHoehe8590 4af8 9091 0000 lds r25,(SollHoehe)+18591 4afc A091 0000 lds r26,(SollHoehe)+28592 4b00 B091 0000 lds r27,(SollHoehe)+38593 4b04 BC01 movw r22,r248594 4b06 CD01 movw r24,r268595 4b08 24E6 ldi r18,lo8(100)8596 4b0a 30E0 ldi r19,hi8(100)8597 4b0c 40E0 ldi r20,hlo8(100)8598 4b0e 50E0 ldi r21,hhi8(100)8599 4b10 0E94 0000 call __divmodsi48600 4b14 8E2D mov r24,r148601 4b16 9927 clr r258602 4b18 AA27 clr r268603 4b1a BB27 clr r278604 4b1c 8217 cp r24,r188605 4b1e 9307 cpc r25,r198606 4b20 A407 cpc r26,r208607 4b22 B507 cpc r27,r218608 4b24 04F4 brge .L6868609 4b26 D092 0000 sts (AltitudeSetpointTrimming)+1,r138610 4b2a C092 0000 sts AltitudeSetpointTrimming,r128611 4b2e 00C0 rjmp .L6878612 .L686:8613 4b30 C101 movw r24,r28614 4b32 801B sub r24,r168615 4b34 910B sbc r25,r178616 4b36 0F97 sbiw r24,158617 4b38 97FF sbrs r25,78618 4b3a 00C0 rjmp .L6888619 4b3c 9095 com r258620 4b3e 8195 neg r248621 4b40 9F4F sbci r25,lo8(-1)8622 .L688:8623 4b42 9093 0000 sts (AltitudeSetpointTrimming)+1,r258624 4b46 8093 0000 sts AltitudeSetpointTrimming,r248625 4b4a 8BE2 ldi r24,lo8(43)8626 4b4c 8093 0000 sts VarioCharacter,r248627 .L687:8628 4b50 1092 0000 sts WaypointTrimming,__zero_reg__8629 4b54 00C0 rjmp .L6898630 .L684:8631 4b56 C801 movw r24,r168632 4b58 0F97 sbiw r24,158633 4b5a 2816 cp r2,r248634 4b5c 3906 cpc r3,r258635 4b5e 04F4 brge .L6908636 4b60 2091 0000 lds r18,BaroAtLowerLimit.268637 4b64 2223 tst r188638 4b66 01F4 brne .L6908639 4b68 8091 0000 lds r24,FC_StatusFlags8640 4b6c 86FF sbrs r24,68641 4b6e 00C0 rjmp .L6918642 4b70 8091 0000 lds r24,FC_StatusFlags8643 4b74 8F7B andi r24,lo8(-65)8644 4b76 8093 0000 sts FC_StatusFlags,r248645 4b7a 8091 0000 lds r24,HoehenWert8646 4b7e 9091 0000 lds r25,(HoehenWert)+18647 4b82 A091 0000 lds r26,(HoehenWert)+28648 4b86 B091 0000 lds r27,(HoehenWert)+38649 4b8a 8093 0000 sts SollHoehe,r248650 4b8e 9093 0000 sts (SollHoehe)+1,r258651 4b92 A093 0000 sts (SollHoehe)+2,r268652 4b96 B093 0000 sts (SollHoehe)+3,r278653 .L691:8654 4b9a 8091 0000 lds r24,FC_StatusFlags8655 4b9e 8068 ori r24,lo8(-128)8656 4ba0 8093 0000 sts FC_StatusFlags,r248657 4ba4 C101 movw r24,r28658 4ba6 801B sub r24,r168659 4ba8 910B sbc r25,r178660 4baa 0F96 adiw r24,158661 4bac 97FF sbrs r25,78662 4bae 00C0 rjmp .L6928663 4bb0 9095 com r258664 4bb2 8195 neg r248665 4bb4 9F4F sbci r25,lo8(-1)8666 .L692:8667 4bb6 9095 com r258668 4bb8 8195 neg r248669 4bba 9F4F sbci r25,lo8(-1)8670 4bbc 9093 0000 sts (AltitudeSetpointTrimming)+1,r258671 4bc0 8093 0000 sts AltitudeSetpointTrimming,r248672 4bc4 8DE2 ldi r24,lo8(45)8673 4bc6 8093 0000 sts VarioCharacter,r248674 4bca 2093 0000 sts WaypointTrimming,r188675 4bce 00C0 rjmp .L6898676 .L690:8677 4bd0 8DE3 ldi r24,lo8(61)8678 4bd2 8093 0000 sts VarioCharacter,r248679 4bd6 6091 0000 lds r22,FromNC_AltitudeSpeed8680 4bda 6623 tst r228681 4bdc 01F0 breq .L6948682 4bde 2091 0000 lds r18,FromNC_AltitudeSetpoint8683 4be2 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18684 4be6 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28685 4bea 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38686 4bee 8091 0000 lds r24,SollHoehe8687 4bf2 9091 0000 lds r25,(SollHoehe)+18688 4bf6 A091 0000 lds r26,(SollHoehe)+28689 4bfa B091 0000 lds r27,(SollHoehe)+38690 4bfe 8217 cp r24,r188691 4c00 9307 cpc r25,r198692 4c02 A407 cpc r26,r208693 4c04 B507 cpc r27,r218694 4c06 04F4 brge .L6948695 4c08 8091 0000 lds r24,FC_StatusFlags8696 4c0c 8064 ori r24,lo8(64)8697 4c0e 8093 0000 sts FC_StatusFlags,r248698 4c12 862F mov r24,r228699 4c14 9927 clr r258700 4c16 9093 0000 sts (AltitudeSetpointTrimming)+1,r258701 4c1a 8093 0000 sts AltitudeSetpointTrimming,r248702 4c1e 8AE0 ldi r24,lo8(10)8703 4c20 8093 0000 sts WaypointTrimming,r248704 4c24 8EE5 ldi r24,lo8(94)8705 4c26 8093 0000 sts VarioCharacter,r248706 4c2a 8091 0000 lds r24,FC_StatusFlags8707 4c2e 87FF sbrs r24,78708 4c30 00C0 rjmp .L6898709 4c32 8091 0000 lds r24,FC_StatusFlags8710 4c36 8F77 andi r24,lo8(127)8711 4c38 00C0 rjmp .L9058712 .L694:8713 4c3a 6623 tst r228714 4c3c 01F4 brne .+28715 4c3e 00C0 rjmp .L6978716 4c40 2091 0000 lds r18,FromNC_AltitudeSetpoint8717 4c44 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18718 4c48 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28719 4c4c 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38720 4c50 8091 0000 lds r24,SollHoehe8721 4c54 9091 0000 lds r25,(SollHoehe)+18722 4c58 A091 0000 lds r26,(SollHoehe)+28723 4c5c B091 0000 lds r27,(SollHoehe)+38724 4c60 2817 cp r18,r248725 4c62 3907 cpc r19,r258726 4c64 4A07 cpc r20,r268727 4c66 5B07 cpc r21,r278728 4c68 04F4 brge .L6978729 4c6a 8091 0000 lds r24,FC_StatusFlags8730 4c6e 8068 ori r24,lo8(-128)8731 4c70 8093 0000 sts FC_StatusFlags,r248732 4c74 862F mov r24,r228733 4c76 9927 clr r258734 4c78 9095 com r258735 4c7a 8195 neg r248736 4c7c 9F4F sbci r25,lo8(-1)8737 4c7e 9093 0000 sts (AltitudeSetpointTrimming)+1,r258738 4c82 8093 0000 sts AltitudeSetpointTrimming,r248739 4c86 86EF ldi r24,lo8(-10)8740 4c88 8093 0000 sts WaypointTrimming,r248741 4c8c 86E7 ldi r24,lo8(118)8742 4c8e 8093 0000 sts VarioCharacter,r248743 4c92 8091 0000 lds r24,FC_StatusFlags8744 4c96 86FF sbrs r24,68745 4c98 00C0 rjmp .L6898746 4c9a 8091 0000 lds r24,FC_StatusFlags8747 4c9e 8F7B andi r24,lo8(-65)8748 .L905:8749 4ca0 8093 0000 sts FC_StatusFlags,r248750 4ca4 8091 0000 lds r24,HoehenWert8751 4ca8 9091 0000 lds r25,(HoehenWert)+18752 4cac A091 0000 lds r26,(HoehenWert)+28753 4cb0 B091 0000 lds r27,(HoehenWert)+38754 4cb4 8093 0000 sts SollHoehe,r248755 4cb8 9093 0000 sts (SollHoehe)+1,r258756 4cbc A093 0000 sts (SollHoehe)+2,r268757 4cc0 B093 0000 sts (SollHoehe)+3,r278758 4cc4 00C0 rjmp .L6898759 .L697:8760 4cc6 8091 0000 lds r24,FC_StatusFlags8761 4cca 807C andi r24,lo8(-64)8762 4ccc 01F4 brne .+28763 4cce 00C0 rjmp .L6898764 4cd0 8091 0000 lds r24,WaypointTrimming8765 4cd4 8823 tst r248766 4cd6 01F4 brne .L7018767 4cd8 E090 0000 lds r14,HoehenWert8768 4cdc F090 0000 lds r15,(HoehenWert)+18769 4ce0 0091 0000 lds r16,(HoehenWert)+28770 4ce4 1091 0000 lds r17,(HoehenWert)+38771 4ce8 D801 movw r26,r168772 4cea C701 movw r24,r148773 4cec 8058 subi r24,lo8(-(-128))8774 4cee 9040 sbci r25,hi8(-(-128))8775 4cf0 A040 sbci r26,hlo8(-(-128))8776 4cf2 B040 sbci r27,hhi8(-(-128))8777 4cf4 2091 0000 lds r18,SollHoehe8778 4cf8 3091 0000 lds r19,(SollHoehe)+18779 4cfc 4091 0000 lds r20,(SollHoehe)+28780 4d00 5091 0000 lds r21,(SollHoehe)+38781 4d04 8217 cp r24,r188782 4d06 9307 cpc r25,r198783 4d08 A407 cpc r26,r208784 4d0a B507 cpc r27,r218785 4d0c 04F4 brge .L9048786 4d0e D801 movw r26,r168787 4d10 C701 movw r24,r148788 4d12 8058 subi r24,lo8(-(128))8789 4d14 9F4F sbci r25,hi8(-(128))8790 4d16 AF4F sbci r26,hlo8(-(128))8791 4d18 BF4F sbci r27,hhi8(-(128))8792 4d1a 2817 cp r18,r248793 4d1c 3907 cpc r19,r258794 4d1e 4A07 cpc r20,r268795 4d20 5B07 cpc r21,r278796 4d22 04F0 brlt .L7058797 .L904:8798 4d24 8093 0000 sts SollHoehe,r248799 4d28 9093 0000 sts (SollHoehe)+1,r258800 4d2c A093 0000 sts (SollHoehe)+2,r268801 4d30 B093 0000 sts (SollHoehe)+3,r278802 4d34 00C0 rjmp .L7058803 .L701:8804 4d36 1092 0000 sts WaypointTrimming,__zero_reg__8805 .L705:8806 4d3a 8091 0000 lds r24,FC_StatusFlags8807 4d3e 8F73 andi r24,lo8(63)8808 4d40 8093 0000 sts FC_StatusFlags,r248809 4d44 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8810 4d48 1092 0000 sts HeightTrimming.21,__zero_reg__8811 4d4c 71FF sbrs r23,18812 4d4e 00C0 rjmp .L7068813 4d50 84EF ldi r24,lo8(500)8814 4d52 91E0 ldi r25,hi8(500)8815 4d54 9093 0000 sts (beeptime)+1,r258816 4d58 8093 0000 sts beeptime,r248817 .L706:8818 4d5c 8091 0000 lds r24,StartTrigger8819 4d60 8823 tst r248820 4d62 01F4 brne .L6898821 4d64 8091 0000 lds r24,HoehenWert8822 4d68 9091 0000 lds r25,(HoehenWert)+18823 4d6c A091 0000 lds r26,(HoehenWert)+28824 4d70 B091 0000 lds r27,(HoehenWert)+38825 4d74 C397 sbiw r24,518826 4d76 A105 cpc r26,__zero_reg__8827 4d78 B105 cpc r27,__zero_reg__8828 4d7a 04F0 brlt .L6898829 4d7c 81E0 ldi r24,lo8(1)8830 4d7e 8093 0000 sts StartTrigger,r248831 .L689:8832 4d82 6091 0000 lds r22,HeightTrimming.218833 4d86 7091 0000 lds r23,(HeightTrimming.21)+18834 4d8a 8091 0000 lds r24,AltitudeSetpointTrimming8835 4d8e 9091 0000 lds r25,(AltitudeSetpointTrimming)+18836 4d92 680F add r22,r248837 4d94 791F adc r23,r258838 4d96 7093 0000 sts (HeightTrimming.21)+1,r238839 4d9a 6093 0000 sts HeightTrimming.21,r228840 4d9e CB01 movw r24,r228841 4da0 77FF sbrs r23,78842 4da2 00C0 rjmp .L7098843 4da4 8827 clr r248844 4da6 9927 clr r258845 4da8 861B sub r24,r228846 4daa 970B sbc r25,r238847 .L709:8848 4dac 855F subi r24,lo8(501)8849 4dae 9140 sbci r25,hi8(501)8850 4db0 04F4 brge .+28851 4db2 00C0 rjmp .L7088852 4db4 4091 0000 lds r20,WaypointTrimming8853 4db8 4423 tst r208854 4dba 01F0 breq .L7108855 4dbc 8091 0000 lds r24,FromNC_AltitudeSetpoint8856 4dc0 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18857 4dc4 2091 0000 lds r18,SollHoehe8858 4dc8 3091 0000 lds r19,(SollHoehe)+18859 4dcc 821B sub r24,r188860 4dce 930B sbc r25,r198861 4dd0 0996 adiw r24,98862 4dd2 4397 sbiw r24,198863 4dd4 00F4 brsh .L7118864 4dd6 8091 0000 lds r24,FromNC_AltitudeSetpoint8865 4dda 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18866 4dde A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28867 4de2 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38868 4de6 00C0 rjmp .L9078869 .L711:8870 4de8 242F mov r18,r208871 4dea 3327 clr r198872 4dec 27FD sbrc r18,78873 4dee 3095 com r198874 4df0 432F mov r20,r198875 4df2 532F mov r21,r198876 4df4 8091 0000 lds r24,SollHoehe8877 4df8 9091 0000 lds r25,(SollHoehe)+18878 4dfc A091 0000 lds r26,(SollHoehe)+28879 4e00 B091 0000 lds r27,(SollHoehe)+38880 4e04 820F add r24,r188881 4e06 931F adc r25,r198882 4e08 A41F adc r26,r208883 4e0a B51F adc r27,r218884 .L907:8885 4e0c 8093 0000 sts SollHoehe,r248886 4e10 9093 0000 sts (SollHoehe)+1,r258887 4e14 A093 0000 sts (SollHoehe)+2,r268888 4e18 B093 0000 sts (SollHoehe)+3,r278889 4e1c 00C0 rjmp .L7138890 .L710:8891 4e1e 8091 0000 lds r24,EE_Parameter+188892 4e22 2091 0000 lds r18,SollHoehe8893 4e26 3091 0000 lds r19,(SollHoehe)+18894 4e2a 4091 0000 lds r20,(SollHoehe)+28895 4e2e 5091 0000 lds r21,(SollHoehe)+38896 4e32 1616 cp __zero_reg__,r228897 4e34 1706 cpc __zero_reg__,r238898 4e36 04F4 brge .L7148899 4e38 63E0 ldi r22,lo8(3)8900 4e3a 0E94 0000 call __udivmodqi48901 4e3e 280F add r18,r248902 4e40 311D adc r19,__zero_reg__8903 4e42 411D adc r20,__zero_reg__8904 4e44 511D adc r21,__zero_reg__8905 4e46 00C0 rjmp .L9068906 .L714:8907 4e48 63E0 ldi r22,lo8(3)8908 4e4a 0E94 0000 call __udivmodqi48909 4e4e 281B sub r18,r248910 4e50 3109 sbc r19,__zero_reg__8911 4e52 4109 sbc r20,__zero_reg__8912 4e54 5109 sbc r21,__zero_reg__8913 .L906:8914 4e56 2093 0000 sts SollHoehe,r188915 4e5a 3093 0000 sts (SollHoehe)+1,r198916 4e5e 4093 0000 sts (SollHoehe)+2,r208917 4e62 5093 0000 sts (SollHoehe)+3,r218918 .L713:8919 4e66 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8920 4e6a 1092 0000 sts HeightTrimming.21,__zero_reg__8921 4e6e E090 0000 lds r14,HoehenWert8922 4e72 F090 0000 lds r15,(HoehenWert)+18923 4e76 0091 0000 lds r16,(HoehenWert)+28924 4e7a 1091 0000 lds r17,(HoehenWert)+38925 4e7e D801 movw r26,r168926 4e80 C701 movw r24,r148927 4e82 8050 subi r24,lo8(-(-1024))8928 4e84 9440 sbci r25,hi8(-(-1024))8929 4e86 A040 sbci r26,hlo8(-(-1024))8930 4e88 B040 sbci r27,hhi8(-(-1024))8931 4e8a 2091 0000 lds r18,SollHoehe8932 4e8e 3091 0000 lds r19,(SollHoehe)+18933 4e92 4091 0000 lds r20,(SollHoehe)+28934 4e96 5091 0000 lds r21,(SollHoehe)+38935 4e9a 8217 cp r24,r188936 4e9c 9307 cpc r25,r198937 4e9e A407 cpc r26,r208938 4ea0 B507 cpc r27,r218939 4ea2 04F4 brge .L9088940 4ea4 D801 movw r26,r168941 4ea6 C701 movw r24,r148942 4ea8 8050 subi r24,lo8(-(1024))8943 4eaa 9C4F sbci r25,hi8(-(1024))8944 4eac AF4F sbci r26,hlo8(-(1024))8945 4eae BF4F sbci r27,hhi8(-(1024))8946 4eb0 2817 cp r18,r248947 4eb2 3907 cpc r19,r258948 4eb4 4A07 cpc r20,r268949 4eb6 5B07 cpc r21,r278950 4eb8 04F0 brlt .L7178951 .L908:8952 4eba 8093 0000 sts SollHoehe,r248953 4ebe 9093 0000 sts (SollHoehe)+1,r258954 4ec2 A093 0000 sts (SollHoehe)+2,r268955 4ec6 B093 0000 sts (SollHoehe)+3,r278956 .L717:8957 4eca 8091 0000 lds r24,Parameter_ExtraConfig8958 4ece 81FF sbrs r24,18959 4ed0 00C0 rjmp .L7198960 4ed2 84E6 ldi r24,lo8(100)8961 4ed4 90E0 ldi r25,hi8(100)8962 4ed6 9093 0000 sts (beeptime)+1,r258963 4eda 8093 0000 sts beeptime,r248964 .L719:8965 4ede 8091 0000 lds r24,EE_Parameter+228966 4ee2 8823 tst r248967 4ee4 01F4 brne .L7088968 4ee6 8091 0000 lds r24,FromNC_AltitudeSpeed8969 4eea 8823 tst r248970 4eec 01F4 brne .L7088971 4eee 4091 0000 lds r20,HoverGas8972 4ef2 5091 0000 lds r21,(HoverGas)+18973 4ef6 57FF sbrs r21,78974 4ef8 00C0 rjmp .L7218975 4efa 4D5F subi r20,lo8(-(3))8976 4efc 5F4F sbci r21,hi8(-(3))8977 .L721:8978 4efe 5595 asr r218979 4f00 4795 ror r208980 4f02 5595 asr r218981 4f04 4795 ror r208982 4f06 8091 0000 lds r24,UBat8983 4f0a 9091 0000 lds r25,(UBat)+18984 4f0e 2091 0000 lds r18,BattLowVoltageWarning8985 4f12 3327 clr r198986 4f14 489F mul r20,r248987 4f16 F001 movw r30,r08988 4f18 499F mul r20,r258989 4f1a F00D add r31,r08990 4f1c 589F mul r21,r248991 4f1e F00D add r31,r08992 4f20 1124 clr r18993 4f22 CF01 movw r24,r308994 4f24 B901 movw r22,r188995 4f26 0E94 0000 call __divmodhi48996 4f2a 7093 0000 sts (StickGasHover)+1,r238997 4f2e 6093 0000 sts StickGasHover,r228998 4f32 6634 cpi r22,708999 4f34 7105 cpc r23,__zero_reg__9000 4f36 04F4 brge .L7229001 4f38 86E4 ldi r24,lo8(70)9002 4f3a 90E0 ldi r25,hi8(70)9003 4f3c 00C0 rjmp .L9099004 .L722:9005 4f3e 6739 cpi r22,1519006 4f40 7105 cpc r23,__zero_reg__9007 4f42 04F0 brlt .L7089008 4f44 86E9 ldi r24,lo8(150)9009 4f46 90E0 ldi r25,hi8(150)9010 .L909:9011 4f48 9093 0000 sts (StickGasHover)+1,r259012 4f4c 8093 0000 sts StickGasHover,r249013 .L708:9014 4f50 8091 0000 lds r24,BaroExpandActive9015 4f54 9091 0000 lds r25,(BaroExpandActive)+19016 4f58 892B or r24,r259017 4f5a 01F0 breq .L7269018 4f5c 8091 0000 lds r24,HoehenWert9019 4f60 9091 0000 lds r25,(HoehenWert)+19020 4f64 A091 0000 lds r26,(HoehenWert)+29021 4f68 B091 0000 lds r27,(HoehenWert)+39022 4f6c 8093 0000 sts SollHoehe,r249023 4f70 9093 0000 sts (SollHoehe)+1,r259024 4f74 A093 0000 sts (SollHoehe)+2,r269025 4f78 B093 0000 sts (SollHoehe)+3,r279026 4f7c 00C0 rjmp .L7269027 .L683:9028 4f7e 8091 0000 lds r24,HoehenWert9029 4f82 9091 0000 lds r25,(HoehenWert)+19030 4f86 A091 0000 lds r26,(HoehenWert)+29031 4f8a B091 0000 lds r27,(HoehenWert)+39032 4f8e 8059 subi r24,lo8(-(-400))9033 4f90 9140 sbci r25,hi8(-(-400))9034 4f92 A040 sbci r26,hlo8(-(-400))9035 4f94 B040 sbci r27,hhi8(-(-400))9036 4f96 8093 0000 sts SollHoehe,r249037 4f9a 9093 0000 sts (SollHoehe)+1,r259038 4f9e A093 0000 sts (SollHoehe)+2,r269039 4fa2 B093 0000 sts (SollHoehe)+3,r279040 4fa6 8091 0000 lds r24,EE_Parameter+229041 4faa 8823 tst r249042 4fac 01F0 breq .L7279043 4fae 9927 clr r259044 4fb0 00C0 rjmp .L9109045 .L727:9046 4fb2 88E7 ldi r24,lo8(120)9047 4fb4 90E0 ldi r25,hi8(120)9048 .L910:9049 4fb6 9093 0000 sts (StickGasHover)+1,r259050 4fba 8093 0000 sts StickGasHover,r249051 4fbe E980 ldd r14,Y+19052 4fc0 FA80 ldd r15,Y+29053 4fc2 F092 0000 sts (HoverGas)+1,r159054 4fc6 E092 0000 sts HoverGas,r149055 4fca 8EE2 ldi r24,lo8(46)9056 4fcc 8093 0000 sts VarioCharacter,r249057 .L726:9058 4fd0 C090 0000 lds r12,HoverGas9059 4fd4 D090 0000 lds r13,(HoverGas)+19060 .L682:9061 4fd8 E090 0000 lds r14,HoehenWert9062 4fdc F090 0000 lds r15,(HoehenWert)+19063 4fe0 0091 0000 lds r16,(HoehenWert)+29064 4fe4 1091 0000 lds r17,(HoehenWert)+39065 4fe8 2091 0000 lds r18,SollHoehe9066 4fec 3091 0000 lds r19,(SollHoehe)+19067 4ff0 4091 0000 lds r20,(SollHoehe)+29068 4ff4 5091 0000 lds r21,(SollHoehe)+39069 4ff8 2E15 cp r18,r149070 4ffa 3F05 cpc r19,r159071 4ffc 4007 cpc r20,r169072 4ffe 5107 cpc r21,r179073 5000 04F0 brlt .L7309074 5002 8091 0000 lds r24,Parameter_ExtraConfig9075 5006 80FD sbrc r24,09076 5008 00C0 rjmp .L7889077 .L730:9078 500a 8091 0000 lds r24,BaroExpandActive9079 500e 9091 0000 lds r25,(BaroExpandActive)+19080 5012 892B or r24,r259081 5014 01F0 breq .L7319082 5016 C090 0000 lds r12,HoverGas9083 501a D090 0000 lds r13,(HoverGas)+19084 501e 00E0 ldi r16,lo8(0)9085 5020 10E0 ldi r17,hi8(0)9086 5022 00C0 rjmp .L7329087 .L731:9088 5024 D801 movw r26,r169089 5026 C701 movw r24,r149090 5028 821B sub r24,r189091 502a 930B sbc r25,r199092 502c A40B sbc r26,r209093 502e B50B sbc r27,r219094 5030 8093 0000 sts tmp_long.1,r249095 5034 9093 0000 sts (tmp_long.1)+1,r259096 5038 A093 0000 sts (tmp_long.1)+2,r269097 503c B093 0000 sts (tmp_long.1)+3,r279098 5040 8230 cpi r24,lo8(-32766)9099 5042 00E8 ldi r16,hi8(-32766)9100 5044 9007 cpc r25,r169101 5046 0FEF ldi r16,hlo8(-32766)9102 5048 A007 cpc r26,r169103 504a 0FEF ldi r16,hhi8(-32766)9104 504c B007 cpc r27,r169105 504e 04F4 brge .L7339106 5050 81E0 ldi r24,lo8(-32767)9107 5052 90E8 ldi r25,hi8(-32767)9108 5054 AFEF ldi r26,hlo8(-32767)9109 5056 BFEF ldi r27,hhi8(-32767)9110 5058 00C0 rjmp .L9119111 .L733:9112 505a 8F5F subi r24,lo8(32767)9113 505c 9F47 sbci r25,hi8(32767)9114 505e A040 sbci r26,hlo8(32767)9115 5060 B040 sbci r27,hhi8(32767)9116 5062 04F0 brlt .L7349117 5064 8FEF ldi r24,lo8(32767)9118 5066 9FE7 ldi r25,hi8(32767)9119 5068 A0E0 ldi r26,hlo8(32767)9120 506a B0E0 ldi r27,hhi8(32767)9121 .L911:9122 506c 8093 0000 sts tmp_long.1,r249123 5070 9093 0000 sts (tmp_long.1)+1,r259124 5074 A093 0000 sts (tmp_long.1)+2,r269125 5078 B093 0000 sts (tmp_long.1)+3,r279126 .L734:9127 507c 0091 0000 lds r16,tmp_long.19128 5080 1091 0000 lds r17,(tmp_long.1)+19129 5084 8091 0000 lds r24,Parameter_Hoehe_P9130 5088 282F mov r18,r249131 508a 3327 clr r199132 508c 4427 clr r209133 508e 5527 clr r219134 5090 8091 0000 lds r24,tmp_long.19135 5094 9091 0000 lds r25,(tmp_long.1)+19136 5098 A091 0000 lds r26,(tmp_long.1)+29137 509c B091 0000 lds r27,(tmp_long.1)+39138 50a0 BC01 movw r22,r249139 50a2 CD01 movw r24,r269140 50a4 0E94 0000 call __mulsi39141 50a8 97FF sbrs r25,79142 50aa 00C0 rjmp .L7369143 50ac 615E subi r22,lo8(-(31))9144 50ae 7F4F sbci r23,hi8(-(31))9145 50b0 8F4F sbci r24,hlo8(-(31))9146 50b2 9F4F sbci r25,hhi8(-(31))9147 .L736:9148 50b4 25E0 ldi r18,59149 50b6 9595 1: asr r259150 50b8 8795 ror r249151 50ba 7795 ror r239152 50bc 6795 ror r229153 50be 2A95 dec r189154 50c0 01F4 brne 1b9155 50c2 6093 0000 sts tmp_long.1,r229156 50c6 7093 0000 sts (tmp_long.1)+1,r239157 50ca 8093 0000 sts (tmp_long.1)+2,r249158 50ce 9093 0000 sts (tmp_long.1)+3,r259159 50d2 6530 cpi r22,lo8(-507)9160 50d4 2EEF ldi r18,hi8(-507)9161 50d6 7207 cpc r23,r189162 50d8 2FEF ldi r18,hlo8(-507)9163 50da 8207 cpc r24,r189164 50dc 2FEF ldi r18,hhi8(-507)9165 50de 9207 cpc r25,r189166 50e0 04F4 brge .L7379167 50e2 84E0 ldi r24,lo8(-508)9168 50e4 9EEF ldi r25,hi8(-508)9169 50e6 AFEF ldi r26,hlo8(-508)9170 50e8 BFEF ldi r27,hhi8(-508)9171 50ea 00C0 rjmp .L9129172 .L737:9173 50ec 6050 subi r22,lo8(1024)9174 50ee 7440 sbci r23,hi8(1024)9175 50f0 8040 sbci r24,hlo8(1024)9176 50f2 9040 sbci r25,hhi8(1024)9177 50f4 04F0 brlt .L7389178 50f6 80E0 ldi r24,lo8(1024)9179 50f8 94E0 ldi r25,hi8(1024)9180 50fa A0E0 ldi r26,hlo8(1024)9181 50fc B0E0 ldi r27,hhi8(1024)9182 .L912:9183 50fe 8093 0000 sts tmp_long.1,r249184 5102 9093 0000 sts (tmp_long.1)+1,r259185 5106 A093 0000 sts (tmp_long.1)+2,r269186 510a B093 0000 sts (tmp_long.1)+3,r279187 .L738:9188 510e 8090 0000 lds r8,tmp_long.19189 5112 9090 0000 lds r9,(tmp_long.1)+19190 5116 2091 0000 lds r18,VarioMeter9191 511a 3091 0000 lds r19,(VarioMeter)+19192 511e 37FF sbrs r19,79193 5120 00C0 rjmp .L7409194 5122 295F subi r18,lo8(-(7))9195 5124 3F4F sbci r19,hi8(-(7))9196 .L740:9197 5126 83E0 ldi r24,39198 5128 3595 1: asr r199199 512a 2795 ror r189200 512c 8A95 dec r249201 512e 01F4 brne 1b9202 5130 4FEF ldi r20,hi8(-126)9203 5132 2238 cpi r18,lo8(-126)9204 5134 3407 cpc r19,r209205 5136 04F4 brge .L7419206 5138 21E8 ldi r18,lo8(-127)9207 513a 3FEF ldi r19,hi8(-127)9208 513c 00C0 rjmp .L7429209 .L741:9210 513e 2038 cpi r18,1289211 5140 3105 cpc r19,__zero_reg__9212 5142 04F0 brlt .L7429213 5144 20E8 ldi r18,lo8(128)9214 5146 30E0 ldi r19,hi8(128)9215 .L742:9216 5148 C901 movw r24,r189217 514a AA27 clr r269218 514c 97FD sbrc r25,79219 514e A095 com r269220 5150 BA2F mov r27,r269221 5152 2091 0000 lds r18,Parameter_Luftdruck_D9222 5156 3327 clr r199223 5158 4427 clr r209224 515a 5527 clr r219225 515c BC01 movw r22,r249226 515e CD01 movw r24,r269227 5160 0E94 0000 call __mulsi39228 5164 97FF sbrs r25,79229 5166 00C0 rjmp .L7449230 5168 6D5F subi r22,lo8(-(3))9231 516a 7F4F sbci r23,hi8(-(3))9232 516c 8F4F sbci r24,hlo8(-(3))9233 516e 9F4F sbci r25,hhi8(-(3))9234 .L744:9235 5170 B2E0 ldi r27,29236 5172 9595 1: asr r259237 5174 8795 ror r249238 5176 7795 ror r239239 5178 6795 ror r229240 517a BA95 dec r279241 517c 01F4 brne 1b9242 517e 9B01 movw r18,r229243 5180 5FEF ldi r21,hi8(-255)9244 5182 6130 cpi r22,lo8(-255)9245 5184 7507 cpc r23,r219246 5186 04F4 brge .L7459247 5188 20E0 ldi r18,lo8(-256)9248 518a 3FEF ldi r19,hi8(-256)9249 518c 00C0 rjmp .L7469250 .L745:9251 518e 6F3F cpi r22,2559252 5190 7105 cpc r23,__zero_reg__9253 5192 01F0 breq .L7469254 5194 04F0 brlt .L7469255 5196 20E0 ldi r18,lo8(256)9256 5198 31E0 ldi r19,hi8(256)9257 .L746:9258 519a 8091 0000 lds r24,FC_StatusFlags9259 519e 807C andi r24,lo8(-64)9260 51a0 01F0 breq .L7489261 51a2 C901 movw r24,r189262 51a4 37FD sbrc r19,79263 51a6 0396 adiw r24,39264 .L749:9265 51a8 9C01 movw r18,r249266 51aa 3595 asr r199267 51ac 2795 ror r189268 51ae 3595 asr r199269 51b0 2795 ror r189270 51b2 00C0 rjmp .L7509271 .L748:9272 51b4 8091 0000 lds r24,Parameter_ExtraConfig9273 51b8 80FF sbrs r24,09274 51ba 00C0 rjmp .L7509275 51bc C901 movw r24,r189276 51be 37FD sbrc r19,79277 51c0 0796 adiw r24,79278 .L752:9279 51c2 9C01 movw r18,r249280 51c4 F3E0 ldi r31,39281 51c6 3595 1: asr r199282 51c8 2795 ror r189283 51ca FA95 dec r319284 51cc 01F4 brne 1b9285 .L750:9286 51ce 820E add r8,r189287 51d0 931E adc r9,r199288 .L732:9289 51d2 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9290 51d6 2223 tst r189291 51d8 01F4 brne .+29292 51da 00C0 rjmp .L7539293 51dc 6091 0000 lds r22,Mess_Integral_Hoch9294 51e0 7091 0000 lds r23,(Mess_Integral_Hoch)+19295 51e4 8091 0000 lds r24,(Mess_Integral_Hoch)+29296 51e8 9091 0000 lds r25,(Mess_Integral_Hoch)+39297 51ec 97FF sbrs r25,79298 51ee 00C0 rjmp .L7549299 51f0 6158 subi r22,lo8(-(127))9300 51f2 7F4F sbci r23,hi8(-(127))9301 51f4 8F4F sbci r24,hlo8(-(127))9302 51f6 9F4F sbci r25,hhi8(-(127))9303 .L754:9304 51f8 E7E0 ldi r30,79305 51fa 9595 1: asr r259306 51fc 8795 ror r249307 51fe 7795 ror r239308 5200 6795 ror r229309 5202 EA95 dec r309310 5204 01F4 brne 1b9311 5206 3327 clr r199312 5208 4427 clr r209313 520a 5527 clr r219314 520c 0E94 0000 call __mulsi39315 5210 97FF sbrs r25,79316 5212 00C0 rjmp .L7559317 5214 615E subi r22,lo8(-(31))9318 5216 7F4F sbci r23,hi8(-(31))9319 5218 8F4F sbci r24,hlo8(-(31))9320 521a 9F4F sbci r25,hhi8(-(31))9321 .L755:9322 521c 55E0 ldi r21,59323 521e 9595 1: asr r259324 5220 8795 ror r249325 5222 7795 ror r239326 5224 6795 ror r229327 5226 5A95 dec r219328 5228 01F4 brne 1b9329 522a 6093 0000 sts tmp_long.1,r229330 522e 7093 0000 sts (tmp_long.1)+1,r239331 5232 8093 0000 sts (tmp_long.1)+2,r249332 5236 9093 0000 sts (tmp_long.1)+3,r259333 523a 6138 cpi r22,lo8(-127)9334 523c AFEF ldi r26,hi8(-127)9335 523e 7A07 cpc r23,r269336 5240 AFEF ldi r26,hlo8(-127)9337 5242 8A07 cpc r24,r269338 5244 AFEF ldi r26,hhi8(-127)9339 5246 9A07 cpc r25,r269340 5248 04F4 brge .L7569341 524a 80E8 ldi r24,lo8(-128)9342 524c 9FEF ldi r25,hi8(-128)9343 524e AFEF ldi r26,hlo8(-128)9344 5250 BFEF ldi r27,hhi8(-128)9345 5252 00C0 rjmp .L9139346 .L756:9347 5254 6F3F cpi r22,lo8(255)9348 5256 7105 cpc r23,__zero_reg__9349 5258 8105 cpc r24,__zero_reg__9350 525a 9105 cpc r25,__zero_reg__9351 525c 01F0 breq .L7579352 525e 04F0 brlt .L7579353 5260 80E0 ldi r24,lo8(256)9354 5262 91E0 ldi r25,hi8(256)9355 5264 A0E0 ldi r26,hlo8(256)9356 5266 B0E0 ldi r27,hhi8(256)9357 .L913:9358 5268 8093 0000 sts tmp_long.1,r249359 526c 9093 0000 sts (tmp_long.1)+1,r259360 5270 A093 0000 sts (tmp_long.1)+2,r269361 5274 B093 0000 sts (tmp_long.1)+3,r279362 .L757:9363 5278 8091 0000 lds r24,tmp_long.19364 527c 9091 0000 lds r25,(tmp_long.1)+19365 5280 880E add r8,r249366 5282 991E adc r9,r259367 .L753:9368 5284 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9369 5288 282F mov r18,r249370 528a 3327 clr r199371 528c 8091 0000 lds r24,FromNaviCtrl_Value+49372 5290 9927 clr r259373 5292 87FD sbrc r24,79374 5294 9095 com r259375 5296 289F mul r18,r249376 5298 F001 movw r30,r09377 529a 299F mul r18,r259378 529c F00D add r31,r09379 529e 389F mul r19,r249380 52a0 F00D add r31,r09381 52a2 1124 clr r19382 52a4 9F01 movw r18,r309383 52a6 F7FF sbrs r31,79384 52a8 00C0 rjmp .L7599385 52aa 2158 subi r18,lo8(-(127))9386 52ac 3F4F sbci r19,hi8(-(127))9387 .L759:9388 52ae 220F lsl r189389 52b0 232F mov r18,r199390 52b2 221F rol r189391 52b4 330B sbc r19,r199392 52b6 FFEF ldi r31,hi8(-127)9393 52b8 2138 cpi r18,lo8(-127)9394 52ba 3F07 cpc r19,r319395 52bc 04F4 brge .L7609396 52be 20E8 ldi r18,lo8(-128)9397 52c0 3FEF ldi r19,hi8(-128)9398 52c2 00C0 rjmp .L7619399 .L760:9400 52c4 2F3F cpi r18,2559401 52c6 3105 cpc r19,__zero_reg__9402 52c8 01F0 breq .L7619403 52ca 04F0 brlt .L7619404 52cc 20E0 ldi r18,lo8(256)9405 52ce 31E0 ldi r19,hi8(256)9406 .L761:9407 52d0 820E add r8,r189408 52d2 931E adc r9,r199409 52d4 C401 movw r24,r89410 52d6 AA27 clr r269411 52d8 97FD sbrc r25,79412 52da A095 com r269413 52dc BA2F mov r27,r269414 52de E090 0000 lds r14,HoverGas9415 52e2 F090 0000 lds r15,(HoverGas)+19416 52e6 9701 movw r18,r149417 52e8 4427 clr r209418 52ea 37FD sbrc r19,79419 52ec 4095 com r209420 52ee 542F mov r21,r209421 52f0 BC01 movw r22,r249422 52f2 CD01 movw r24,r269423 52f4 0E94 0000 call __mulsi39424 52f8 97FF sbrs r25,79425 52fa 00C0 rjmp .L7639426 52fc 6150 subi r22,lo8(-(511))9427 52fe 7E4F sbci r23,hi8(-(511))9428 5300 8F4F sbci r24,hlo8(-(511))9429 5302 9F4F sbci r25,hhi8(-(511))9430 .L763:9431 5304 29E0 ldi r18,99432 5306 9595 1: asr r259433 5308 8795 ror r249434 530a 7795 ror r239435 530c 6795 ror r229436 530e 2A95 dec r189437 5310 01F4 brne 1b9438 5312 C61A sub r12,r229439 5314 D70A sbc r13,r239440 5316 8091 0000 lds r24,AltitudeSetpointTrimming9441 531a 9091 0000 lds r25,(AltitudeSetpointTrimming)+19442 531e 892B or r24,r259443 5320 01F0 breq .+29444 5322 00C0 rjmp .L7649445 5324 1E14 cp __zero_reg__,r149446 5326 1F04 cpc __zero_reg__,r159447 5328 04F0 brlt .+29448 532a 00C0 rjmp .L7649449 532c 9801 movw r18,r169450 532e 17FF sbrs r17,79451 5330 00C0 rjmp .L7659452 5332 3095 com r199453 5334 2195 neg r189454 5336 3F4F sbci r19,lo8(-1)9455 .L765:9456 5338 2D33 cpi r18,619457 533a 3105 cpc r19,__zero_reg__9458 533c 00F4 brsh .L7669459 533e 8091 0000 lds r24,HoverGasMin9460 5342 9091 0000 lds r25,(HoverGasMin)+19461 5346 8C15 cp r24,r129462 5348 9D05 cpc r25,r139463 534a 04F4 brge .L9159464 534c 00C0 rjmp .L9249465 .L766:9466 534e 2C53 subi r18,lo8(-(-60))9467 5350 3040 sbci r19,hi8(-(-60))9468 5352 85E0 ldi r24,59469 5354 3695 1: lsr r199470 5356 2795 ror r189471 5358 8A95 dec r249472 535a 01F4 brne 1b9473 535c 2031 cpi r18,169474 535e 3105 cpc r19,__zero_reg__9475 5360 00F0 brlo .L7719476 5362 2FE0 ldi r18,lo8(15)9477 5364 30E0 ldi r19,hi8(15)9478 .L771:9479 5366 4091 0000 lds r20,HoverGasMin9480 536a 5091 0000 lds r21,(HoverGasMin)+19481 536e 1016 cp __zero_reg__,r169482 5370 1106 cpc __zero_reg__,r179483 5372 04F4 brge .L7729484 5374 80E1 ldi r24,lo8(16)9485 5376 90E0 ldi r25,hi8(16)9486 5378 821B sub r24,r189487 537a 930B sbc r25,r199488 537c 489F mul r20,r249489 537e 9001 movw r18,r09490 5380 499F mul r20,r259491 5382 300D add r19,r09492 5384 589F mul r21,r249493 5386 300D add r19,r09494 5388 1124 clr r19495 538a B4E0 ldi r27,49496 538c 3695 1: lsr r199497 538e 2795 ror r189498 5390 BA95 dec r279499 5392 01F4 brne 1b9500 5394 2C15 cp r18,r129501 5396 3D05 cpc r19,r139502 5398 00F4 brsh .L9149503 .L924:9504 539a 8091 0000 lds r24,HoverGasMax9505 539e 9091 0000 lds r25,(HoverGasMax)+19506 53a2 C816 cp r12,r249507 53a4 D906 cpc r13,r259508 53a6 04F0 brlt .L7649509 .L915:9510 53a8 6C01 movw r12,r249511 53aa 00C0 rjmp .L7649512 .L772:9513 53ac 205F subi r18,lo8(-(16))9514 53ae 3F4F sbci r19,hi8(-(16))9515 53b0 8091 0000 lds r24,HoverGasMax9516 53b4 9091 0000 lds r25,(HoverGasMax)+19517 53b8 829F mul r24,r189518 53ba 8001 movw r16,r09519 53bc 839F mul r24,r199520 53be 100D add r17,r09521 53c0 929F mul r25,r189522 53c2 100D add r17,r09523 53c4 1124 clr r19524 53c6 9801 movw r18,r169525 53c8 A4E0 ldi r26,49526 53ca 3695 1: lsr r199527 53cc 2795 ror r189528 53ce AA95 dec r269529 53d0 01F4 brne 1b9530 53d2 4C15 cp r20,r129531 53d4 5D05 cpc r21,r139532 53d6 04F0 brlt .L7779533 53d8 6A01 movw r12,r209534 53da 00C0 rjmp .L7649535 .L777:9536 53dc C216 cp r12,r189537 53de D306 cpc r13,r199538 53e0 00F0 brlo .L7649539 .L914:9540 53e2 6901 movw r12,r189541 .L764:9542 53e4 C601 movw r24,r129543 53e6 AA27 clr r269544 53e8 97FD sbrc r25,79545 53ea A095 com r269546 53ec BA2F mov r27,r269547 53ee FDE0 ldi r31,139548 53f0 880F 1: lsl r249549 53f2 991F rol r259550 53f4 AA1F rol r269551 53f6 BB1F rol r279552 53f8 FA95 dec r319553 53fa 01F4 brne 1b9554 53fc 9501 movw r18,r109555 53fe 4427 clr r209556 5400 37FD sbrc r19,79557 5402 4095 com r209558 5404 542F mov r21,r209559 5406 BC01 movw r22,r249560 5408 CD01 movw r24,r269561 540a 0E94 0000 call __divmodsi49562 540e 2093 0000 sts tmp_long2.2,r189563 5412 3093 0000 sts (tmp_long2.2)+1,r199564 5416 4093 0000 sts (tmp_long2.2)+2,r209565 541a 5093 0000 sts (tmp_long2.2)+3,r219566 541e C090 0000 lds r12,tmp_long2.29567 5422 D090 0000 lds r13,(tmp_long2.2)+19568 5426 8091 0000 lds r24,FilterHCGas.229569 542a 9091 0000 lds r25,(FilterHCGas.22)+19570 542e 9C01 movw r18,r249571 5430 220F lsl r189572 5432 331F rol r199573 5434 280F add r18,r249574 5436 391F adc r19,r259575 5438 2C0D add r18,r129576 543a 3D1D adc r19,r139577 543c 37FF sbrs r19,79578 543e 00C0 rjmp .L7809579 5440 2D5F subi r18,lo8(-(3))9580 5442 3F4F sbci r19,hi8(-(3))9581 .L780:9582 5444 A901 movw r20,r189583 5446 5595 asr r219584 5448 4795 ror r209585 544a 5595 asr r219586 544c 4795 ror r209587 544e 5093 0000 sts (FilterHCGas.22)+1,r219588 5452 4093 0000 sts FilterHCGas.22,r209589 5456 8091 0000 lds r24,EE_Parameter+149590 545a 282F mov r18,r249591 545c 3327 clr r199592 545e 220F lsl r189593 5460 331F rol r199594 5462 220F lsl r189595 5464 331F rol r199596 5466 2417 cp r18,r209597 5468 3507 cpc r19,r219598 546a 04F4 brge .L9169599 546c 8091 0000 lds r24,MAX_GAS9600 5470 282F mov r18,r249601 5472 3327 clr r199602 5474 220F lsl r189603 5476 331F rol r199604 5478 220F lsl r189605 547a 331F rol r199606 547c 2055 subi r18,lo8(-(-80))9607 547e 3040 sbci r19,hi8(-(-80))9608 5480 4217 cp r20,r189609 5482 5307 cpc r21,r199610 5484 04F0 brlt .L7829611 .L916:9612 5486 3093 0000 sts (FilterHCGas.22)+1,r199613 548a 2093 0000 sts FilterHCGas.22,r189614 .L782:9615 548e 8091 0000 lds r24,Parameter_ExtraConfig9616 5492 80FF sbrs r24,09617 5494 00C0 rjmp .L7849618 5496 8091 0000 lds r24,FilterHCGas.229619 549a 9091 0000 lds r25,(FilterHCGas.22)+19620 549e 2981 ldd r18,Y+19621 54a0 3A81 ldd r19,Y+29622 54a2 8217 cp r24,r189623 54a4 9307 cpc r25,r199624 54a6 04F0 brlt .L7859625 54a8 3093 0000 sts (FilterHCGas.22)+1,r199626 54ac 2093 0000 sts FilterHCGas.22,r189627 .L785:9628 54b0 4091 0000 lds r20,FilterHCGas.229629 54b4 5091 0000 lds r21,(FilterHCGas.22)+19630 54b8 5A83 std Y+2,r219631 54ba 4983 std Y+1,r209632 54bc 00C0 rjmp .L7889633 .L784:9634 54be 2981 ldd r18,Y+19635 54c0 3A81 ldd r19,Y+29636 54c2 2E19 sub r18,r149637 54c4 3F09 sbc r19,r159638 54c6 37FF sbrs r19,79639 54c8 00C0 rjmp .L7879640 54ca 2D5F subi r18,lo8(-(3))9641 54cc 3F4F sbci r19,hi8(-(3))9642 .L787:9643 54ce 3595 asr r199644 54d0 2795 ror r189645 54d2 3595 asr r199646 54d4 2795 ror r189647 54d6 6091 0000 lds r22,FilterHCGas.229648 54da 7091 0000 lds r23,(FilterHCGas.22)+19649 54de 620F add r22,r189650 54e0 731F adc r23,r199651 54e2 7A83 std Y+2,r239652 54e4 6983 std Y+1,r229653 54e6 00C0 rjmp .L7889654 .L679:9655 54e8 8091 0000 lds r24,EE_Parameter+229656 54ec 8823 tst r249657 54ee 01F4 brne .L7899658 54f0 6091 0000 lds r22,HoverGas9659 54f4 7091 0000 lds r23,(HoverGas)+19660 54f8 77FF sbrs r23,79661 54fa 00C0 rjmp .L7909662 54fc 6D5F subi r22,lo8(-(3))9663 54fe 7F4F sbci r23,hi8(-(3))9664 .L790:9665 5500 7595 asr r239666 5502 6795 ror r229667 5504 7595 asr r239668 5506 6795 ror r229669 5508 4091 0000 lds r20,UBat9670 550c 5091 0000 lds r21,(UBat)+19671 5510 8091 0000 lds r24,BattLowVoltageWarning9672 5514 282F mov r18,r249673 5516 3327 clr r199674 5518 649F mul r22,r209675 551a C001 movw r24,r09676 551c 659F mul r22,r219677 551e 900D add r25,r09678 5520 749F mul r23,r209679 5522 900D add r25,r09680 5524 1124 clr r19681 5526 B901 movw r22,r189682 5528 0E94 0000 call __divmodhi49683 552c CB01 movw r24,r229684 552e 00C0 rjmp .L9179685 .L789:9686 5530 9927 clr r259687 .L917:9688 5532 9093 0000 sts (StickGasHover)+1,r259689 5536 8093 0000 sts StickGasHover,r249690 553a 8091 0000 lds r24,StickGasHover9691 553e 9091 0000 lds r25,(StickGasHover)+19692 5542 8734 cpi r24,719693 5544 9105 cpc r25,__zero_reg__9694 5546 04F4 brge .L7929695 5548 86E4 ldi r24,lo8(70)9696 554a 90E0 ldi r25,hi8(70)9697 554c 00C0 rjmp .L9189698 .L792:9699 554e 8639 cpi r24,1509700 5550 9105 cpc r25,__zero_reg__9701 5552 04F0 brlt .L7939702 5554 86E9 ldi r24,lo8(150)9703 5556 90E0 ldi r25,hi8(150)9704 .L918:9705 5558 9093 0000 sts (StickGasHover)+1,r259706 555c 8093 0000 sts StickGasHover,r249707 .L793:9708 5560 8981 ldd r24,Y+19709 5562 9A81 ldd r25,Y+29710 5564 9093 0000 sts (FilterHCGas.22)+1,r259711 5568 8093 0000 sts FilterHCGas.22,r249712 556c 8091 0000 lds r24,FC_StatusFlags9713 5570 806C ori r24,lo8(-64)9714 5572 8093 0000 sts FC_StatusFlags,r249715 5576 8091 0000 lds r24,FC_StatusFlags29716 557a 8D7F andi r24,lo8(-3)9717 557c 8093 0000 sts FC_StatusFlags2,r249718 .L788:9719 5580 8091 0000 lds r24,FC_StatusFlags9720 5584 9927 clr r259721 5586 9C01 movw r18,r249722 5588 2270 andi r18,lo8(2)9723 558a 3070 andi r19,hi8(2)9724 558c 81FF sbrs r24,19725 558e 00C0 rjmp .L7959726 5590 8091 0000 lds r24,HoverGasFilter.239727 5594 9091 0000 lds r25,(HoverGasFilter.23)+19728 5598 A091 0000 lds r26,(HoverGasFilter.23)+29729 559c B091 0000 lds r27,(HoverGasFilter.23)+39730 55a0 0097 sbiw r24,09731 55a2 A105 cpc r26,__zero_reg__9732 55a4 B105 cpc r27,__zero_reg__9733 55a6 01F0 breq .L7979734 55a8 8091 0000 lds r24,StartTrigger9735 55ac 8130 cpi r24,lo8(1)9736 55ae 01F4 brne .L7969737 .L797:9738 55b0 E981 ldd r30,Y+19739 55b2 FA81 ldd r31,Y+29740 55b4 CF01 movw r24,r309741 55b6 AA27 clr r269742 55b8 97FD sbrc r25,79743 55ba A095 com r269744 55bc BA2F mov r27,r269745 55be 1EE0 ldi r17,149746 55c0 880F 1: lsl r249747 55c2 991F rol r259748 55c4 AA1F rol r269749 55c6 BB1F rol r279750 55c8 1A95 dec r179751 55ca 01F4 brne 1b9752 55cc 8093 0000 sts HoverGasFilter.23,r249753 55d0 9093 0000 sts (HoverGasFilter.23)+1,r259754 55d4 A093 0000 sts (HoverGasFilter.23)+2,r269755 55d8 B093 0000 sts (HoverGasFilter.23)+3,r279756 .L796:9757 55dc 8091 0000 lds r24,StartTrigger9758 55e0 8130 cpi r24,lo8(1)9759 55e2 01F4 brne .L7989760 55e4 82E0 ldi r24,lo8(2)9761 55e6 8093 0000 sts StartTrigger,r249762 .L798:9763 55ea E980 ldd r14,Y+19764 55ec FA80 ldd r15,Y+29765 55ee C701 movw r24,r149766 55f0 AA27 clr r269767 55f2 97FD sbrc r25,79768 55f4 A095 com r269769 55f6 BA2F mov r27,r269770 55f8 9501 movw r18,r109771 55fa 4427 clr r209772 55fc 37FD sbrc r19,79773 55fe 4095 com r209774 5600 542F mov r21,r209775 5602 BC01 movw r22,r249776 5604 CD01 movw r24,r269777 5606 0E94 0000 call __mulsi39778 560a DC01 movw r26,r249779 560c CB01 movw r24,r229780 560e 8093 0000 sts tmp_long2.2,r249781 5612 9093 0000 sts (tmp_long2.2)+1,r259782 5616 A093 0000 sts (tmp_long2.2)+2,r269783 561a B093 0000 sts (tmp_long2.2)+3,r279784 561e B7FF sbrs r27,79785 5620 00C0 rjmp .L7999786 5622 8150 subi r24,lo8(-(8191))9787 5624 904E sbci r25,hi8(-(8191))9788 5626 AF4F sbci r26,hlo8(-(8191))9789 5628 BF4F sbci r27,hhi8(-(8191))9790 .L799:9791 562a 7C01 movw r14,r249792 562c 8D01 movw r16,r269793 562e ADE0 ldi r26,139794 5630 1595 1: asr r179795 5632 0795 ror r169796 5634 F794 ror r159797 5636 E794 ror r149798 5638 AA95 dec r269799 563a 01F4 brne 1b9800 563c E092 0000 sts tmp_long2.2,r149801 5640 F092 0000 sts (tmp_long2.2)+1,r159802 5644 0093 0000 sts (tmp_long2.2)+2,r169803 5648 1093 0000 sts (tmp_long2.2)+3,r179804 564c 6091 0000 lds r22,modell_fliegt9805 5650 7091 0000 lds r23,(modell_fliegt)+19806 5654 2FE0 ldi r18,hi8(4000)9807 5656 603A cpi r22,lo8(4000)9808 5658 7207 cpc r23,r189809 565a 00F4 brsh .L8009810 565c 8091 0000 lds r24,HoverGasFilter.239811 5660 9091 0000 lds r25,(HoverGasFilter.23)+19812 5664 A091 0000 lds r26,(HoverGasFilter.23)+29813 5668 B091 0000 lds r27,(HoverGasFilter.23)+39814 566c 9C01 movw r18,r249815 566e AD01 movw r20,r269816 5670 FAE0 ldi r31,109817 5672 5695 1: lsr r219818 5674 4795 ror r209819 5676 3795 ror r199820 5678 2795 ror r189821 567a FA95 dec r319822 567c 01F4 brne 1b9823 567e 821B sub r24,r189824 5680 930B sbc r25,r199825 5682 A40B sbc r26,r209826 5684 B50B sbc r27,r219827 5686 A801 movw r20,r169828 5688 9701 movw r18,r149829 568a E4E0 ldi r30,49830 568c 220F 1: lsl r189831 568e 331F rol r199832 5690 441F rol r209833 5692 551F rol r219834 5694 EA95 dec r309835 5696 01F4 brne 1b9836 5698 820F add r24,r189837 569a 931F adc r25,r199838 569c A41F adc r26,r209839 569e B51F adc r27,r219840 56a0 8093 0000 sts HoverGasFilter.23,r249841 56a4 9093 0000 sts (HoverGasFilter.23)+1,r259842 56a8 A093 0000 sts (HoverGasFilter.23)+2,r269843 56ac B093 0000 sts (HoverGasFilter.23)+3,r279844 .L800:9845 56b0 6054 subi r22,lo8(8000)9846 56b2 7F41 sbci r23,hi8(8000)9847 56b4 00F4 brsh .L8019848 56b6 8091 0000 lds r24,HoverGasFilter.239849 56ba 9091 0000 lds r25,(HoverGasFilter.23)+19850 56be A091 0000 lds r26,(HoverGasFilter.23)+29851 56c2 B091 0000 lds r27,(HoverGasFilter.23)+39852 56c6 9C01 movw r18,r249853 56c8 AD01 movw r20,r269854 56ca 6CE0 ldi r22,129855 56cc 5695 1: lsr r219856 56ce 4795 ror r209857 56d0 3795 ror r199858 56d2 2795 ror r189859 56d4 6A95 dec r229860 56d6 01F4 brne 1b9861 56d8 821B sub r24,r189862 56da 930B sbc r25,r199863 56dc A40B sbc r26,r209864 56de B50B sbc r27,r219865 56e0 A801 movw r20,r169866 56e2 9701 movw r18,r149867 56e4 F2E0 ldi r31,29868 56e6 220F 1: lsl r189869 56e8 331F rol r199870 56ea 441F rol r209871 56ec 551F rol r219872 56ee FA95 dec r319873 56f0 01F4 brne 1b9874 56f2 820F add r24,r189875 56f4 931F adc r25,r199876 56f6 A41F adc r26,r209877 56f8 B51F adc r27,r219878 56fa 00C0 rjmp .L9199879 .L801:9880 56fc 8091 0000 lds r24,VarioMeter9881 5700 9091 0000 lds r25,(VarioMeter)+19882 5704 8091 0000 lds r24,VarioMeter9883 5708 9091 0000 lds r25,(VarioMeter)+19884 570c 97FF sbrs r25,79885 570e 00C0 rjmp .L8049886 5710 9095 com r259887 5712 8195 neg r249888 5714 9F4F sbci r25,lo8(-1)9889 .L804:9890 5716 8436 cpi r24,1009891 5718 9105 cpc r25,__zero_reg__9892 571a 04F4 brge .L8029893 571c 8091 0000 lds r24,HoehenWert9894 5720 9091 0000 lds r25,(HoehenWert)+19895 5724 2091 0000 lds r18,SollHoehe9896 5728 3091 0000 lds r19,(SollHoehe)+19897 572c 821B sub r24,r189898 572e 930B sbc r25,r199899 5730 8150 subi r24,lo8(-(255))9900 5732 9F4F sbci r25,hi8(-(255))9901 5734 8F5F subi r24,lo8(511)9902 5736 9140 sbci r25,hi8(511)9903 5738 00F4 brsh .L8029904 573a 8091 0000 lds r24,HoverGasFilter.239905 573e 9091 0000 lds r25,(HoverGasFilter.23)+19906 5742 A091 0000 lds r26,(HoverGasFilter.23)+29907 5746 B091 0000 lds r27,(HoverGasFilter.23)+39908 574a 9C01 movw r18,r249909 574c AD01 movw r20,r269910 574e EEE0 ldi r30,149911 5750 5695 1: lsr r219912 5752 4795 ror r209913 5754 3795 ror r199914 5756 2795 ror r189915 5758 EA95 dec r309916 575a 01F4 brne 1b9917 575c 821B sub r24,r189918 575e 930B sbc r25,r199919 5760 A40B sbc r26,r209920 5762 B50B sbc r27,r219921 5764 8E0D add r24,r149922 5766 9F1D adc r25,r159923 5768 A01F adc r26,r169924 576a B11F adc r27,r179925 .L919:9926 576c 8093 0000 sts HoverGasFilter.23,r249927 5770 9093 0000 sts (HoverGasFilter.23)+1,r259928 5774 A093 0000 sts (HoverGasFilter.23)+2,r269929 5778 B093 0000 sts (HoverGasFilter.23)+3,r279930 .L802:9931 577c 8091 0000 lds r24,HoverGasFilter.239932 5780 9091 0000 lds r25,(HoverGasFilter.23)+19933 5784 A091 0000 lds r26,(HoverGasFilter.23)+29934 5788 B091 0000 lds r27,(HoverGasFilter.23)+39935 578c 7EE0 ldi r23,149936 578e B695 1: lsr r279937 5790 A795 ror r269938 5792 9795 ror r259939 5794 8795 ror r249940 5796 7A95 dec r239941 5798 01F4 brne 1b9942 579a 9093 0000 sts (HoverGas)+1,r259943 579e 8093 0000 sts HoverGas,r249944 57a2 4091 0000 lds r20,EE_Parameter+209945 57a6 4423 tst r209946 57a8 01F0 breq .L8059947 57aa 5527 clr r219948 57ac 9C01 movw r18,r249949 57ae BA01 movw r22,r209950 57b0 0E94 0000 call __divmodhi49951 57b4 C901 movw r24,r189952 57b6 861B sub r24,r229953 57b8 970B sbc r25,r239954 57ba 9093 0000 sts (HoverGasMin)+1,r259955 57be 8093 0000 sts HoverGasMin,r249956 57c2 260F add r18,r229957 57c4 371F adc r19,r239958 57c6 3093 0000 sts (HoverGasMax)+1,r199959 57ca 2093 0000 sts HoverGasMax,r189960 57ce 00C0 rjmp .L8089961 .L805:9962 57d0 1092 0000 sts (HoverGasMin)+1,__zero_reg__9963 57d4 1092 0000 sts HoverGasMin,__zero_reg__9964 57d8 8FEF ldi r24,lo8(1023)9965 57da 93E0 ldi r25,hi8(1023)9966 57dc 9093 0000 sts (HoverGasMax)+1,r259967 57e0 8093 0000 sts HoverGasMax,r249968 57e4 00C0 rjmp .L8089969 .L795:9970 57e6 1092 0000 sts StartTrigger,__zero_reg__9971 57ea 1092 0000 sts HoverGasFilter.23,__zero_reg__9972 57ee 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9973 57f2 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9974 57f6 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9975 57fa 3093 0000 sts (HoverGas)+1,r199976 57fe 2093 0000 sts HoverGas,r189977 5802 00C0 rjmp .L8089978 .L659:9979 5804 8091 0000 lds r24,FC_StatusFlags9980 5808 806C ori r24,lo8(-64)9981 580a 8093 0000 sts FC_StatusFlags,r249982 .L808:9983 580e 8091 0000 lds r24,NC_To_FC_Flags9984 5812 81FF sbrs r24,19985 5814 00C0 rjmp .L8099986 5816 8981 ldd r24,Y+19987 5818 9A81 ldd r25,Y+29988 581a 97FD sbrc r25,79989 581c 0396 adiw r24,39990 .L811:9991 581e 9595 asr r259992 5820 8795 ror r249993 5822 9595 asr r259994 5824 8795 ror r249995 5826 2091 0000 lds r18,HooverGasEmergencyPercent9996 582a 3091 0000 lds r19,(HooverGasEmergencyPercent)+19997 582e 2817 cp r18,r249998 5830 3907 cpc r19,r259999 5832 00F4 brsh .L81010000 5834 8091 0000 lds r24,HoverGas10001 5838 9091 0000 lds r25,(HoverGas)+110002 583c 892B or r24,r2510003 583e 01F0 breq .L81010004 5840 220F lsl r1810005 5842 331F rol r1910006 5844 220F lsl r1810007 5846 331F rol r1910008 5848 3A83 std Y+2,r1910009 584a 2983 std Y+1,r1810010 .L810:10011 584c 8091 0000 lds r24,HoehenWert10012 5850 9091 0000 lds r25,(HoehenWert)+110013 5854 A091 0000 lds r26,(HoehenWert)+210014 5858 B091 0000 lds r27,(HoehenWert)+310015 585c 8093 0000 sts SollHoehe,r2410016 5860 9093 0000 sts (SollHoehe)+1,r2510017 5864 A093 0000 sts (SollHoehe)+2,r2610018 5868 B093 0000 sts (SollHoehe)+3,r2710019 586c 88E9 ldi r24,lo8(15000)10020 586e 9AE3 ldi r25,hi8(15000)10021 5870 9093 0000 sts (beeptime)+1,r2510022 5874 8093 0000 sts beeptime,r2410023 5878 80E0 ldi r24,lo8(3584)10024 587a 9EE0 ldi r25,hi8(3584)10025 587c 9093 0000 sts (BeepMuster)+1,r2510026 5880 8093 0000 sts BeepMuster,r2410027 .L809:10028 5884 2091 0000 lds r18,MIN_GAS10029 5888 822F mov r24,r1810030 588a 9927 clr r2510031 588c 880F lsl r2410032 588e 991F rol r2510033 5890 880F lsl r2410034 5892 991F rol r2510035 5894 8896 adiw r24,4010036 5896 6981 ldd r22,Y+110037 5898 7A81 ldd r23,Y+210038 589a 8617 cp r24,r2210039 589c 9707 cpc r25,r2310040 589e 04F0 brlt .L81210041 58a0 9A83 std Y+2,r2510042 58a2 8983 std Y+1,r2410043 .L812:10044 58a4 7091 0000 lds r23,MAX_GAS10045 58a8 7D8B std Y+21,r2310046 58aa 872F mov r24,r2310047 58ac 9927 clr r2510048 58ae 880F lsl r2410049 58b0 991F rol r2510050 58b2 880F lsl r2410051 58b4 991F rol r2510052 58b6 8055 subi r24,lo8(-(-80))10053 58b8 9040 sbci r25,hi8(-(-80))10054 58ba A981 ldd r26,Y+110055 58bc BA81 ldd r27,Y+210056 58be 8A17 cp r24,r2610057 58c0 9B07 cpc r25,r2710058 58c2 04F4 brge .L81310059 58c4 9A83 std Y+2,r2510060 58c6 8983 std Y+1,r2410061 .L813:10062 58c8 8091 0000 lds r24,MissingMotor10063 58cc 8823 tst r2410064 58ce 01F4 brne .L81510065 58d0 8091 0000 lds r24,Capacity+610066 58d4 8F3F cpi r24,lo8(-1)10067 58d6 01F4 brne .L81510068 58d8 8091 0000 lds r24,NC_ErrorCode10069 58dc 8823 tst r2410070 58de 01F0 breq .L81410071 .L815:10072 58e0 8091 0000 lds r24,modell_fliegt10073 58e4 9091 0000 lds r25,(modell_fliegt)+110074 58e8 0297 sbiw r24,210075 58ea C097 sbiw r24,4810076 58ec 00F4 brsh .L81410077 58ee E981 ldd r30,Y+110078 58f0 FA81 ldd r31,Y+210079 58f2 1E16 cp __zero_reg__,r3010080 58f4 1F06 cpc __zero_reg__,r3110081 58f6 04F4 brge .L81410082 58f8 81E0 ldi r24,lo8(1)10083 58fa 90E0 ldi r25,hi8(1)10084 58fc 9093 0000 sts (modell_fliegt)+1,r2510085 5900 8093 0000 sts modell_fliegt,r2410086 5904 E22E mov r14,r1810087 5906 FF24 clr r1510088 5908 EE0C lsl r1410089 590a FF1C rol r1510090 590c EE0C lsl r1410091 590e FF1C rol r1510092 5910 8701 movw r16,r1410093 5912 085D subi r16,lo8(-(40))10094 5914 1F4F sbci r17,hi8(-(40))10095 5916 1A83 std Y+2,r1710096 5918 0983 std Y+1,r1610097 .L814:10098 591a 2981 ldd r18,Y+110099 591c 3A81 ldd r19,Y+210100 591e 3093 0000 sts (DebugOut+16)+1,r1910101 5922 2093 0000 sts DebugOut+16,r1810102 5926 8091 0000 lds r24,sollGier.010103 592a 9091 0000 lds r25,(sollGier.0)+110104 592e A091 0000 lds r26,(sollGier.0)+210105 5932 B091 0000 lds r27,(sollGier.0)+310106 5936 12E0 ldi r17,210107 5938 880F 1: lsl r2410108 593a 991F rol r2510109 593c AA1F rol r2610110 593e BB1F rol r2710111 5940 1A95 dec r1710112 5942 01F4 brne 1b10113 5944 0091 0000 lds r16,MesswertGier10114 5948 1091 0000 lds r17,(MesswertGier)+110115 594c 081B sub r16,r2410116 594e 190B sbc r17,r2510117 5950 213A cpi r18,16110118 5952 3105 cpc r19,__zero_reg__10119 5954 04F0 brlt .L81710120 5956 C901 movw r24,r1810121 5958 37FD sbrc r19,710122 595a 0196 adiw r24,110123 .L819:10124 595c 9595 asr r2510125 595e 8795 ror r2410126 5960 8017 cp r24,r1610127 5962 9107 cpc r25,r1710128 5964 04F4 brge .L81810129 5966 8C01 movw r16,r2410130 .L818:10131 5968 9095 com r2510132 596a 8195 neg r2410133 596c 9F4F sbci r25,lo8(-1)10134 596e 0817 cp r16,r2410135 5970 1907 cpc r17,r2510136 5972 04F4 brge .L82410137 5974 8C01 movw r16,r2410138 5976 00C0 rjmp .L82410139 .L817:10140 5978 0135 cpi r16,8110141 597a 1105 cpc r17,__zero_reg__10142 597c 04F0 brlt .L82510143 597e 00E5 ldi r16,lo8(80)10144 5980 10E0 ldi r17,hi8(80)10145 .L825:10146 5982 3FEF ldi r19,hi8(-80)10147 5984 003B cpi r16,lo8(-80)10148 5986 1307 cpc r17,r1910149 5988 04F4 brge .L82410150 598a 00EB ldi r16,lo8(-80)10151 598c 1FEF ldi r17,hi8(-80)10152 .L824:10153 598e 4D89 ldd r20,Y+2110154 5990 242F mov r18,r2010155 5992 3327 clr r1910156 5994 220F lsl r1810157 5996 331F rol r1910158 5998 220F lsl r1810159 599a 331F rol r1910160 599c C901 movw r24,r1810161 599e 6981 ldd r22,Y+110162 59a0 7A81 ldd r23,Y+210163 59a2 861B sub r24,r2210164 59a4 970B sbc r25,r2310165 59a6 8017 cp r24,r1610166 59a8 9107 cpc r25,r1710167 59aa 04F4 brge .L82710168 59ac 8C01 movw r16,r2410169 .L827:10170 59ae 8981 ldd r24,Y+110171 59b0 9A81 ldd r25,Y+210172 59b2 821B sub r24,r1810173 59b4 930B sbc r25,r1910174 59b6 0817 cp r16,r2410175 59b8 1907 cpc r17,r2510176 59ba 04F4 brge .L82810177 59bc 8C01 movw r16,r2410178 .L828:10179 59be 8091 0000 lds r24,MesswertNick10180 59c2 9091 0000 lds r25,(MesswertNick)+110181 59c6 6091 0000 lds r22,StickNick10182 59ca 7091 0000 lds r23,(StickNick)+110183 59ce 861B sub r24,r2210184 59d0 970B sbc r25,r2310185 59d2 9093 0000 sts (DiffNick)+1,r2510186 59d6 8093 0000 sts DiffNick,r2410187 59da D090 0000 lds r13,IntegralFaktor10188 59de 2091 0000 lds r18,SummeNick10189 59e2 3091 0000 lds r19,(SummeNick)+110190 59e6 4091 0000 lds r20,(SummeNick)+210191 59ea 5091 0000 lds r21,(SummeNick)+310192 59ee DD20 tst r1310193 59f0 01F0 breq .L82910194 59f2 661A sub r6,r2210195 59f4 770A sbc r7,r2310196 59f6 C301 movw r24,r610197 59f8 AA27 clr r2610198 59fa 97FD sbrc r25,710199 59fc A095 com r2610200 59fe BA2F mov r27,r2610201 5a00 00C0 rjmp .L92010202 .L829:10203 5a02 AA27 clr r2610204 5a04 97FD sbrc r25,710205 5a06 A095 com r2610206 5a08 BA2F mov r27,r2610207 .L920:10208 5a0a 280F add r18,r2410209 5a0c 391F adc r19,r2510210 5a0e 4A1F adc r20,r2610211 5a10 5B1F adc r21,r2710212 5a12 2093 0000 sts SummeNick,r1810213 5a16 3093 0000 sts (SummeNick)+1,r1910214 5a1a 4093 0000 sts (SummeNick)+2,r2010215 5a1e 5093 0000 sts (SummeNick)+3,r2110216 5a22 8091 0000 lds r24,SummeNick10217 5a26 9091 0000 lds r25,(SummeNick)+110218 5a2a A091 0000 lds r26,(SummeNick)+210219 5a2e B091 0000 lds r27,(SummeNick)+310220 5a32 8150 subi r24,lo8(64001)10221 5a34 9A4F sbci r25,hi8(64001)10222 5a36 A040 sbci r26,hlo8(64001)10223 5a38 B040 sbci r27,hhi8(64001)10224 5a3a 04F0 brlt .L83110225 5a3c 80E0 ldi r24,lo8(64000)10226 5a3e 9AEF ldi r25,hi8(64000)10227 5a40 A0E0 ldi r26,hlo8(64000)10228 5a42 B0E0 ldi r27,hhi8(64000)10229 5a44 8093 0000 sts SummeNick,r2410230 5a48 9093 0000 sts (SummeNick)+1,r2510231 5a4c A093 0000 sts (SummeNick)+2,r2610232 5a50 B093 0000 sts (SummeNick)+3,r2710233 .L831:10234 5a54 8091 0000 lds r24,SummeNick10235 5a58 9091 0000 lds r25,(SummeNick)+110236 5a5c A091 0000 lds r26,(SummeNick)+210237 5a60 B091 0000 lds r27,(SummeNick)+310238 5a64 8050 subi r24,lo8(-64000)10239 5a66 9640 sbci r25,hi8(-64000)10240 5a68 AF4F sbci r26,hlo8(-64000)10241 5a6a BF4F sbci r27,hhi8(-64000)10242 5a6c 04F4 brge .L83210243 5a6e 80E0 ldi r24,lo8(-64000)10244 5a70 96E0 ldi r25,hi8(-64000)10245 5a72 AFEF ldi r26,hlo8(-64000)10246 5a74 BFEF ldi r27,hhi8(-64000)10247 5a76 8093 0000 sts SummeNick,r2410248 5a7a 9093 0000 sts (SummeNick)+1,r2510249 5a7e A093 0000 sts (SummeNick)+2,r2610250 5a82 B093 0000 sts (SummeNick)+3,r2710251 .L832:10252 5a86 C090 0000 lds r12,EE_Parameter+3510253 5a8a 2091 0000 lds r18,DiffNick10254 5a8e 3091 0000 lds r19,(DiffNick)+110255 5a92 78E0 ldi r23,lo8(8)10256 5a94 E72E mov r14,r2310257 5a96 EC14 cp r14,r1210258 5a98 00F0 brlo .L83310259 5a9a 8C2D mov r24,r1210260 5a9c 9927 clr r2510261 5a9e 829F mul r24,r1810262 5aa0 A001 movw r20,r010263 5aa2 839F mul r24,r1910264 5aa4 500D add r21,r010265 5aa6 929F mul r25,r1810266 5aa8 500D add r21,r010267 5aaa 1124 clr r110268 5aac CA01 movw r24,r2010269 5aae 57FD sbrc r21,710270 5ab0 0796 adiw r24,710271 .L834:10272 5ab2 7C01 movw r14,r2410273 5ab4 63E0 ldi r22,310274 5ab6 F594 1: asr r1510275 5ab8 E794 ror r1410276 5aba 6A95 dec r2210277 5abc 01F4 brne 1b10278 5abe 00C0 rjmp .L83510279 .L833:10280 5ac0 8C2D mov r24,r1210281 5ac2 8695 lsr r2410282 5ac4 9927 clr r2510283 5ac6 829F mul r24,r1810284 5ac8 B001 movw r22,r010285 5aca 839F mul r24,r1910286 5acc 700D add r23,r010287 5ace 929F mul r25,r1810288 5ad0 700D add r23,r010289 5ad2 1124 clr r110290 5ad4 CB01 movw r24,r2210291 5ad6 77FD sbrc r23,710292 5ad8 0396 adiw r24,310293 .L836:10294 5ada 7C01 movw r14,r2410295 5adc F594 asr r1510296 5ade E794 ror r1410297 5ae0 F594 asr r1510298 5ae2 E794 ror r1410299 .L835:10300 5ae4 A090 0000 lds r10,Ki10301 5ae8 B090 0000 lds r11,(Ki)+110302 5aec 9501 movw r18,r1010303 5aee 4427 clr r2010304 5af0 37FD sbrc r19,710305 5af2 4095 com r2010306 5af4 542F mov r21,r2010307 5af6 8091 0000 lds r24,SummeNick10308 5afa 9091 0000 lds r25,(SummeNick)+110309 5afe A091 0000 lds r26,(SummeNick)+210310 5b02 B091 0000 lds r27,(SummeNick)+310311 5b06 BC01 movw r22,r2410312 5b08 CD01 movw r24,r2610313 5b0a 0E94 0000 call __divmodsi410314 5b0e E20E add r14,r1810315 5b10 F31E adc r15,r1910316 5b12 9090 0000 lds r9,Parameter_DynamicStability10317 5b16 692D mov r22,r910318 5b18 7727 clr r2310319 5b1a 8827 clr r2410320 5b1c 9927 clr r2510321 5b1e 9801 movw r18,r1610322 5b20 17FF sbrs r17,710323 5b22 00C0 rjmp .L83710324 5b24 2227 clr r1810325 5b26 3327 clr r1910326 5b28 201B sub r18,r1610327 5b2a 310B sbc r19,r1710328 .L837:10329 5b2c 37FF sbrs r19,710330 5b2e 00C0 rjmp .L83810331 5b30 2F5F subi r18,lo8(-(1))10332 5b32 3F4F sbci r19,hi8(-(1))10333 .L838:10334 5b34 3595 asr r1910335 5b36 2795 ror r1810336 5b38 A981 ldd r26,Y+110337 5b3a BA81 ldd r27,Y+210338 5b3c 2A0F add r18,r2610339 5b3e 3B1F adc r19,r2710340 5b40 4427 clr r2010341 5b42 37FD sbrc r19,710342 5b44 4095 com r2010343 5b46 542F mov r21,r2010344 5b48 0E94 0000 call __mulsi310345 5b4c 97FF sbrs r25,710346 5b4e 00C0 rjmp .L83910347 5b50 615C subi r22,lo8(-(63))10348 5b52 7F4F sbci r23,hi8(-(63))10349 5b54 8F4F sbci r24,hlo8(-(63))10350 5b56 9F4F sbci r25,hhi8(-(63))10351 .L839:10352 5b58 26E0 ldi r18,610353 5b5a 9595 1: asr r2510354 5b5c 8795 ror r2410355 5b5e 7795 ror r2310356 5b60 6795 ror r2210357 5b62 2A95 dec r1810358 5b64 01F4 brne 1b10359 5b66 9B01 movw r18,r2210360 5b68 6E15 cp r22,r1410361 5b6a 7F05 cpc r23,r1510362 5b6c 04F4 brge .L84010363 5b6e 7B01 movw r14,r2210364 .L840:10365 5b70 3095 com r1910366 5b72 2195 neg r1810367 5b74 3F4F sbci r19,lo8(-1)10368 5b76 E216 cp r14,r1810369 5b78 F306 cpc r15,r1910370 5b7a 04F4 brge .L84110371 5b7c 7901 movw r14,r1810372 .L841:10373 5b7e 8091 0000 lds r24,MesswertRoll10374 5b82 9091 0000 lds r25,(MesswertRoll)+110375 5b86 6091 0000 lds r22,StickRoll10376 5b8a 7091 0000 lds r23,(StickRoll)+110377 5b8e 861B sub r24,r2210378 5b90 970B sbc r25,r2310379 5b92 9093 0000 sts (DiffRoll)+1,r2510380 5b96 8093 0000 sts DiffRoll,r2410381 5b9a 2091 0000 lds r18,SummeRoll10382 5b9e 3091 0000 lds r19,(SummeRoll)+110383 5ba2 4091 0000 lds r20,(SummeRoll)+210384 5ba6 5091 0000 lds r21,(SummeRoll)+310385 5baa DD20 tst r1310386 5bac 01F0 breq .L84210387 5bae 461A sub r4,r2210388 5bb0 570A sbc r5,r2310389 5bb2 C201 movw r24,r410390 5bb4 AA27 clr r2610391 5bb6 97FD sbrc r25,710392 5bb8 A095 com r2610393 5bba BA2F mov r27,r2610394 5bbc 00C0 rjmp .L92110395 .L842:10396 5bbe AA27 clr r2610397 5bc0 97FD sbrc r25,710398 5bc2 A095 com r2610399 5bc4 BA2F mov r27,r2610400 .L921:10401 5bc6 280F add r18,r2410402 5bc8 391F adc r19,r2510403 5bca 4A1F adc r20,r2610404 5bcc 5B1F adc r21,r2710405 5bce 2093 0000 sts SummeRoll,r1810406 5bd2 3093 0000 sts (SummeRoll)+1,r1910407 5bd6 4093 0000 sts (SummeRoll)+2,r2010408 5bda 5093 0000 sts (SummeRoll)+3,r2110409 5bde 8091 0000 lds r24,SummeRoll10410 5be2 9091 0000 lds r25,(SummeRoll)+110411 5be6 A091 0000 lds r26,(SummeRoll)+210412 5bea B091 0000 lds r27,(SummeRoll)+310413 5bee 8150 subi r24,lo8(64001)10414 5bf0 9A4F sbci r25,hi8(64001)10415 5bf2 A040 sbci r26,hlo8(64001)10416 5bf4 B040 sbci r27,hhi8(64001)10417 5bf6 04F0 brlt .L84410418 5bf8 80E0 ldi r24,lo8(64000)10419 5bfa 9AEF ldi r25,hi8(64000)10420 5bfc A0E0 ldi r26,hlo8(64000)10421 5bfe B0E0 ldi r27,hhi8(64000)10422 5c00 8093 0000 sts SummeRoll,r2410423 5c04 9093 0000 sts (SummeRoll)+1,r2510424 5c08 A093 0000 sts (SummeRoll)+2,r2610425 5c0c B093 0000 sts (SummeRoll)+3,r2710426 .L844:10427 5c10 8091 0000 lds r24,SummeRoll10428 5c14 9091 0000 lds r25,(SummeRoll)+110429 5c18 A091 0000 lds r26,(SummeRoll)+210430 5c1c B091 0000 lds r27,(SummeRoll)+310431 5c20 8050 subi r24,lo8(-64000)10432 5c22 9640 sbci r25,hi8(-64000)10433 5c24 AF4F sbci r26,hlo8(-64000)10434 5c26 BF4F sbci r27,hhi8(-64000)10435 5c28 04F4 brge .L84510436 5c2a 80E0 ldi r24,lo8(-64000)10437 5c2c 96E0 ldi r25,hi8(-64000)10438 5c2e AFEF ldi r26,hlo8(-64000)10439 5c30 BFEF ldi r27,hhi8(-64000)10440 5c32 8093 0000 sts SummeRoll,r2410441 5c36 9093 0000 sts (SummeRoll)+1,r2510442 5c3a A093 0000 sts (SummeRoll)+2,r2610443 5c3e B093 0000 sts (SummeRoll)+3,r2710444 .L845:10445 5c42 2091 0000 lds r18,DiffRoll10446 5c46 3091 0000 lds r19,(DiffRoll)+110447 5c4a 48E0 ldi r20,lo8(8)10448 5c4c 4C15 cp r20,r1210449 5c4e 00F0 brlo .L84610450 5c50 8C2D mov r24,r1210451 5c52 9927 clr r2510452 5c54 829F mul r24,r1810453 5c56 B001 movw r22,r010454 5c58 839F mul r24,r1910455 5c5a 700D add r23,r010456 5c5c 929F mul r25,r1810457 5c5e 700D add r23,r010458 5c60 1124 clr r110459 5c62 CB01 movw r24,r2210460 5c64 77FD sbrc r23,710461 5c66 0796 adiw r24,710462 .L847:10463 5c68 6C01 movw r12,r2410464 5c6a B3E0 ldi r27,310465 5c6c D594 1: asr r1310466 5c6e C794 ror r1210467 5c70 BA95 dec r2710468 5c72 01F4 brne 1b10469 5c74 00C0 rjmp .L84810470 .L846:10471 5c76 C694 lsr r1210472 5c78 8C2D mov r24,r1210473 5c7a 9927 clr r2510474 5c7c 829F mul r24,r1810475 5c7e D001 movw r26,r010476 5c80 839F mul r24,r1910477 5c82 B00D add r27,r010478 5c84 929F mul r25,r1810479 5c86 B00D add r27,r010480 5c88 1124 clr r110481 5c8a CD01 movw r24,r2610482 5c8c B7FD sbrc r27,710483 5c8e 0396 adiw r24,310484 .L849:10485 5c90 6C01 movw r12,r2410486 5c92 D594 asr r1310487 5c94 C794 ror r1210488 5c96 D594 asr r1310489 5c98 C794 ror r1210490 .L848:10491 5c9a 9501 movw r18,r1010492 5c9c 4427 clr r2010493 5c9e 37FD sbrc r19,710494 5ca0 4095 com r2010495 5ca2 542F mov r21,r2010496 5ca4 8091 0000 lds r24,SummeRoll10497 5ca8 9091 0000 lds r25,(SummeRoll)+110498 5cac A091 0000 lds r26,(SummeRoll)+210499 5cb0 B091 0000 lds r27,(SummeRoll)+310500 5cb4 BC01 movw r22,r2410501 5cb6 CD01 movw r24,r2610502 5cb8 0E94 0000 call __divmodsi410503 5cbc C20E add r12,r1810504 5cbe D31E adc r13,r1910505 5cc0 692D mov r22,r910506 5cc2 7727 clr r2310507 5cc4 8827 clr r2410508 5cc6 9927 clr r2510509 5cc8 9801 movw r18,r1610510 5cca 17FF sbrs r17,710511 5ccc 00C0 rjmp .L85010512 5cce 2227 clr r1810513 5cd0 3327 clr r1910514 5cd2 201B sub r18,r1610515 5cd4 310B sbc r19,r1710516 .L850:10517 5cd6 37FF sbrs r19,710518 5cd8 00C0 rjmp .L85110519 5cda 2F5F subi r18,lo8(-(1))10520 5cdc 3F4F sbci r19,hi8(-(1))10521 .L851:10522 5cde 3595 asr r1910523 5ce0 2795 ror r1810524 5ce2 E981 ldd r30,Y+110525 5ce4 FA81 ldd r31,Y+210526 5ce6 2E0F add r18,r3010527 5ce8 3F1F adc r19,r3110528 5cea 4427 clr r2010529 5cec 37FD sbrc r19,710530 5cee 4095 com r2010531 5cf0 542F mov r21,r2010532 5cf2 0E94 0000 call __mulsi310533 5cf6 97FF sbrs r25,710534 5cf8 00C0 rjmp .L85210535 5cfa 615C subi r22,lo8(-(63))10536 5cfc 7F4F sbci r23,hi8(-(63))10537 5cfe 8F4F sbci r24,hlo8(-(63))10538 5d00 9F4F sbci r25,hhi8(-(63))10539 .L852:10540 5d02 E6E0 ldi r30,610541 5d04 9595 1: asr r2510542 5d06 8795 ror r2410543 5d08 7795 ror r2310544 5d0a 6795 ror r2210545 5d0c EA95 dec r3010546 5d0e 01F4 brne 1b10547 5d10 9B01 movw r18,r2210548 5d12 6C15 cp r22,r1210549 5d14 7D05 cpc r23,r1310550 5d16 04F4 brge .L85310551 5d18 6B01 movw r12,r2210552 .L853:10553 5d1a 3095 com r1910554 5d1c 2195 neg r1810555 5d1e 3F4F sbci r19,lo8(-1)10556 5d20 C216 cp r12,r1810557 5d22 D306 cpc r13,r1910558 5d24 04F4 brge .L85410559 5d26 6901 movw r12,r1810560 .L854:10561 5d28 8091 0000 lds r24,MIN_GAS10562 5d2c 282E mov r2,r2410563 5d2e 3324 clr r310564 5d30 5090 0000 lds r5,EE_Parameter+10110565 5d34 60E0 ldi r22,lo8(Motor)10566 5d36 862E mov r8,r2210567 5d38 60E0 ldi r22,hi8(Motor)10568 5d3a 962E mov r9,r2210569 5d3c 50E0 ldi r21,lo8(Mixer+13)10570 5d3e A52E mov r10,r2110571 5d40 50E0 ldi r21,hi8(Mixer+13)10572 5d42 B52E mov r11,r2110573 5d44 4BE0 ldi r20,lo8(11)10574 5d46 442E mov r4,r2010575 5d48 30E0 ldi r19,lo8(tmp_motorwert)10576 5d4a 632E mov r6,r1910577 5d4c 30E0 ldi r19,hi8(tmp_motorwert)10578 5d4e 732E mov r7,r1910579 .L889:10580 5d50 D501 movw r26,r1010581 5d52 2C91 ld r18,X10582 5d54 1216 cp __zero_reg__,r1810583 5d56 04F0 brlt .+210584 5d58 00C0 rjmp .L85810585 5d5a 2034 cpi r18,lo8(64)10586 5d5c 01F4 brne .L85910587 5d5e E981 ldd r30,Y+110588 5d60 FA81 ldd r31,Y+210589 5d62 FF8B std Y+23,r3110590 5d64 EE8B std Y+22,r3010591 5d66 00C0 rjmp .L86010592 .L859:10593 5d68 4981 ldd r20,Y+110594 5d6a 5A81 ldd r21,Y+210595 5d6c CA01 movw r24,r2010596 5d6e AA27 clr r2610597 5d70 97FD sbrc r25,710598 5d72 A095 com r2610599 5d74 BA2F mov r27,r2610600 5d76 3327 clr r1910601 5d78 27FD sbrc r18,710602 5d7a 3095 com r1910603 5d7c 432F mov r20,r1910604 5d7e 532F mov r21,r1910605 5d80 BC01 movw r22,r2410606 5d82 CD01 movw r24,r2610607 5d84 0E94 0000 call __mulsi310608 5d88 97FF sbrs r25,710609 5d8a 00C0 rjmp .L86110610 5d8c 615C subi r22,lo8(-(63))10611 5d8e 7F4F sbci r23,hi8(-(63))10612 5d90 8F4F sbci r24,hlo8(-(63))10613 5d92 9F4F sbci r25,hhi8(-(63))10614 .L861:10615 5d94 26E0 ldi r18,610616 5d96 9595 1: asr r2510617 5d98 8795 ror r2410618 5d9a 7795 ror r2310619 5d9c 6795 ror r2210620 5d9e 2A95 dec r1810621 5da0 01F4 brne 1b10622 5da2 7F8B std Y+23,r2310623 5da4 6E8B std Y+22,r2210624 .L860:10625 5da6 F501 movw r30,r1010626 5da8 2181 ldd r18,Z+110627 5daa 2034 cpi r18,lo8(64)10628 5dac 01F4 brne .L86210629 5dae 2E89 ldd r18,Y+2210630 5db0 3F89 ldd r19,Y+2310631 5db2 2E0D add r18,r1410632 5db4 3F1D adc r19,r1510633 5db6 3F8B std Y+23,r1910634 5db8 2E8B std Y+22,r1810635 5dba 00C0 rjmp .L86310636 .L862:10637 5dbc 203C cpi r18,lo8(-64)10638 5dbe 01F4 brne .L86410639 5dc0 4E89 ldd r20,Y+2210640 5dc2 5F89 ldd r21,Y+2310641 5dc4 4E19 sub r20,r1410642 5dc6 5F09 sbc r21,r1510643 5dc8 5F8B std Y+23,r2110644 5dca 4E8B std Y+22,r2010645 5dcc 00C0 rjmp .L86310646 .L864:10647 5dce C701 movw r24,r1410648 5dd0 AA27 clr r2610649 5dd2 97FD sbrc r25,710650 5dd4 A095 com r2610651 5dd6 BA2F mov r27,r2610652 5dd8 3327 clr r1910653 5dda 27FD sbrc r18,710654 5ddc 3095 com r1910655 5dde 432F mov r20,r1910656 5de0 532F mov r21,r1910657 5de2 BC01 movw r22,r2410658 5de4 CD01 movw r24,r2610659 5de6 0E94 0000 call __mulsi310660 5dea 97FF sbrs r25,710661 5dec 00C0 rjmp .L86610662 5dee 615C subi r22,lo8(-(63))10663 5df0 7F4F sbci r23,hi8(-(63))10664 5df2 8F4F sbci r24,hlo8(-(63))10665 5df4 9F4F sbci r25,hhi8(-(63))10666 .L866:10667 5df6 B6E0 ldi r27,610668 5df8 9595 1: asr r2510669 5dfa 8795 ror r2410670 5dfc 7795 ror r2310671 5dfe 6795 ror r2210672 5e00 BA95 dec r2710673 5e02 01F4 brne 1b10674 5e04 AE89 ldd r26,Y+2210675 5e06 BF89 ldd r27,Y+2310676 5e08 A60F add r26,r2210677 5e0a B71F adc r27,r2310678 5e0c BF8B std Y+23,r2710679 5e0e AE8B std Y+22,r2610680 .L863:10681 5e10 F501 movw r30,r1010682 5e12 2281 ldd r18,Z+210683 5e14 2034 cpi r18,lo8(64)10684 5e16 01F4 brne .L86710685 5e18 2E89 ldd r18,Y+2210686 5e1a 3F89 ldd r19,Y+2310687 5e1c 2C0D add r18,r1210688 5e1e 3D1D adc r19,r1310689 5e20 3F8B std Y+23,r1910690 5e22 2E8B std Y+22,r1810691 5e24 00C0 rjmp .L86810692 .L867:10693 5e26 203C cpi r18,lo8(-64)10694 5e28 01F4 brne .L86910695 5e2a 4E89 ldd r20,Y+2210696 5e2c 5F89 ldd r21,Y+2310697 5e2e 4C19 sub r20,r1210698 5e30 5D09 sbc r21,r1310699 5e32 5F8B std Y+23,r2110700 5e34 4E8B std Y+22,r2010701 5e36 00C0 rjmp .L86810702 .L869:10703 5e38 C601 movw r24,r1210704 5e3a AA27 clr r2610705 5e3c 97FD sbrc r25,710706 5e3e A095 com r2610707 5e40 BA2F mov r27,r2610708 5e42 3327 clr r1910709 5e44 27FD sbrc r18,710710 5e46 3095 com r1910711 5e48 432F mov r20,r1910712 5e4a 532F mov r21,r1910713 5e4c BC01 movw r22,r2410714 5e4e CD01 movw r24,r2610715 5e50 0E94 0000 call __mulsi310716 5e54 97FF sbrs r25,710717 5e56 00C0 rjmp .L87110718 5e58 615C subi r22,lo8(-(63))10719 5e5a 7F4F sbci r23,hi8(-(63))10720 5e5c 8F4F sbci r24,hlo8(-(63))10721 5e5e 9F4F sbci r25,hhi8(-(63))10722 .L871:10723 5e60 A6E0 ldi r26,610724 5e62 9595 1: asr r2510725 5e64 8795 ror r2410726 5e66 7795 ror r2310727 5e68 6795 ror r2210728 5e6a AA95 dec r2610729 5e6c 01F4 brne 1b10730 5e6e AE89 ldd r26,Y+2210731 5e70 BF89 ldd r27,Y+2310732 5e72 A60F add r26,r2210733 5e74 B71F adc r27,r2310734 5e76 BF8B std Y+23,r2710735 5e78 AE8B std Y+22,r2610736 .L868:10737 5e7a F501 movw r30,r1010738 5e7c 2381 ldd r18,Z+310739 5e7e 2034 cpi r18,lo8(64)10740 5e80 01F4 brne .L87210741 5e82 2E89 ldd r18,Y+2210742 5e84 3F89 ldd r19,Y+2310743 5e86 200F add r18,r1610744 5e88 311F adc r19,r1710745 5e8a 3F8B std Y+23,r1910746 5e8c 2E8B std Y+22,r1810747 5e8e 00C0 rjmp .L87310748 .L872:10749 5e90 203C cpi r18,lo8(-64)10750 5e92 01F4 brne .L87410751 5e94 4E89 ldd r20,Y+2210752 5e96 5F89 ldd r21,Y+2310753 5e98 401B sub r20,r1610754 5e9a 510B sbc r21,r1710755 5e9c 5F8B std Y+23,r2110756 5e9e 4E8B std Y+22,r2010757 5ea0 00C0 rjmp .L87310758 .L874:10759 5ea2 C801 movw r24,r1610760 5ea4 AA27 clr r2610761 5ea6 97FD sbrc r25,710762 5ea8 A095 com r2610763 5eaa BA2F mov r27,r2610764 5eac 3327 clr r1910765 5eae 27FD sbrc r18,710766 5eb0 3095 com r1910767 5eb2 432F mov r20,r1910768 5eb4 532F mov r21,r1910769 5eb6 BC01 movw r22,r2410770 5eb8 CD01 movw r24,r2610771 5eba 0E94 0000 call __mulsi310772 5ebe 97FF sbrs r25,710773 5ec0 00C0 rjmp .L87610774 5ec2 615C subi r22,lo8(-(63))10775 5ec4 7F4F sbci r23,hi8(-(63))10776 5ec6 8F4F sbci r24,hlo8(-(63))10777 5ec8 9F4F sbci r25,hhi8(-(63))10778 .L876:10779 5eca F6E0 ldi r31,610780 5ecc 9595 1: asr r2510781 5ece 8795 ror r2410782 5ed0 7795 ror r2310783 5ed2 6795 ror r2210784 5ed4 FA95 dec r3110785 5ed6 01F4 brne 1b10786 5ed8 AE89 ldd r26,Y+2210787 5eda BF89 ldd r27,Y+2310788 5edc A60F add r26,r2210789 5ede B71F adc r27,r2310790 5ee0 BF8B std Y+23,r2710791 5ee2 AE8B std Y+22,r2610792 .L873:10793 5ee4 F301 movw r30,r610794 5ee6 8081 ld r24,Z10795 5ee8 9181 ldd r25,Z+110796 5eea 2E89 ldd r18,Y+2210797 5eec 3F89 ldd r19,Y+2310798 5eee 8217 cp r24,r1810799 5ef0 9307 cpc r25,r1910800 5ef2 04F4 brge .L87710801 5ef4 B901 movw r22,r1810802 5ef6 680F add r22,r2410803 5ef8 791F adc r23,r2510804 5efa 77FF sbrs r23,710805 5efc 00C0 rjmp .L87810806 5efe 6F5F subi r22,lo8(-(1))10807 5f00 7F4F sbci r23,hi8(-(1))10808 .L878:10809 5f02 7595 asr r2310810 5f04 6795 ror r2210811 5f06 7F8B std Y+23,r2310812 5f08 6E8B std Y+22,r2210813 5f0a 00C0 rjmp .L87910814 .L877:10815 5f0c 5520 tst r510816 5f0e 01F4 brne .L88010817 5f10 4E89 ldd r20,Y+2210818 5f12 5F89 ldd r21,Y+2310819 5f14 440F add r20,r2010820 5f16 551F adc r21,r2110821 5f18 481B sub r20,r2410822 5f1a 590B sbc r21,r2510823 5f1c 5F8B std Y+23,r2110824 5f1e 4E8B std Y+22,r2010825 5f20 00C0 rjmp .L87910826 .L880:10827 5f22 51E0 ldi r21,lo8(1)10828 5f24 5515 cp r21,r510829 5f26 00F4 brsh .L87910830 5f28 252D mov r18,r510831 5f2a 3327 clr r1910832 5f2c 6E89 ldd r22,Y+2210833 5f2e 7F89 ldd r23,Y+2310834 5f30 861B sub r24,r2210835 5f32 970B sbc r25,r2310836 5f34 B901 movw r22,r1810837 5f36 0E94 0000 call __divmodhi410838 5f3a AE89 ldd r26,Y+2210839 5f3c BF89 ldd r27,Y+2310840 5f3e A60F add r26,r2210841 5f40 B71F adc r27,r2310842 5f42 BF8B std Y+23,r2710843 5f44 AE8B std Y+22,r2610844 .L879:10845 5f46 C101 movw r24,r210846 5f48 880F lsl r2410847 5f4a 991F rol r2510848 5f4c 880F lsl r2410849 5f4e 991F rol r2510850 5f50 EE89 ldd r30,Y+2210851 5f52 FF89 ldd r31,Y+2310852 5f54 8E17 cp r24,r3010853 5f56 9F07 cpc r25,r3110854 5f58 04F4 brge .L92210855 5f5a FD89 ldd r31,Y+2110856 5f5c 8F2F mov r24,r3110857 5f5e 9927 clr r2510858 5f60 880F lsl r2410859 5f62 991F rol r2510860 5f64 880F lsl r2410861 5f66 991F rol r2510862 5f68 2E89 ldd r18,Y+2210863 5f6a 3F89 ldd r19,Y+2310864 5f6c 2817 cp r18,r2410865 5f6e 3907 cpc r19,r2510866 5f70 04F0 brlt .L88410867 .L922:10868 5f72 9F8B std Y+23,r2510869 5f74 8E8B std Y+22,r2410870 .L884:10871 5f76 8E89 ldd r24,Y+2210872 5f78 9F89 ldd r25,Y+2310873 5f7a 97FD sbrc r25,710874 5f7c 0396 adiw r24,310875 .L886:10876 5f7e 9595 asr r2510877 5f80 8795 ror r2410878 5f82 9595 asr r2510879 5f84 8795 ror r2410880 5f86 F401 movw r30,r810881 5f88 8183 std Z+1,r2410882 5f8a 880F lsl r2410883 5f8c 991F rol r2510884 5f8e 880F lsl r2410885 5f90 991F rol r2510886 5f92 2E89 ldd r18,Y+2210887 5f94 3F89 ldd r19,Y+2310888 5f96 281B sub r18,r2410889 5f98 390B sbc r19,r2510890 5f9a C901 movw r24,r1810891 5f9c 880F lsl r2410892 5f9e 8283 std Z+2,r2410893 5fa0 EE89 ldd r30,Y+2210894 5fa2 FF89 ldd r31,Y+2310895 5fa4 D301 movw r26,r610896 5fa6 ED93 st X+,r3010897 5fa8 FC93 st X,r3110898 5faa 00C0 rjmp .L85710899 .L858:10900 5fac F401 movw r30,r810901 5fae 1182 std Z+1,__zero_reg__10902 5fb0 1282 std Z+2,__zero_reg__10903 .L857:10904 5fb2 4A94 dec r410905 5fb4 22E0 ldi r18,lo8(2)10906 5fb6 30E0 ldi r19,hi8(2)10907 5fb8 620E add r6,r1810908 5fba 731E adc r7,r1910909 5fbc 44E0 ldi r20,lo8(4)10910 5fbe 50E0 ldi r21,hi8(4)10911 5fc0 A40E add r10,r2010912 5fc2 B51E adc r11,r2110913 5fc4 68E0 ldi r22,lo8(8)10914 5fc6 70E0 ldi r23,hi8(8)10915 5fc8 860E add r8,r2210916 5fca 971E adc r9,r2310917 5fcc 47FE sbrs r4,710918 5fce 00C0 rjmp .L88910919 /* epilogue: frame size=23 */10920 5fd0 E2E1 ldi r30,1810921 5fd2 C95E subi r28,-2310922 5fd4 0C94 0000 jmp __epilogue_restores__+010923 /* epilogue end (size=4) */10924 /* function MotorRegler size 8305 (8295) */10926 .comm TrimNick,2,110927 .comm TrimRoll,2,110928 .comm ErsatzKompass,4,110929 .comm ErsatzKompassInGrad,2,110930 .comm MesswertNick,2,110931 .comm MesswertRoll,2,110932 .comm MesswertGier,2,110933 .comm Mittelwert_AccNick,2,110934 .comm Mittelwert_AccRoll,2,110935 .comm NaviAccNick,2,110936 .comm NaviAccRoll,2,110937 .comm h,1,110938 .comm m,1,110939 .comm s,1,110940 .comm DiffNick,2,110941 .comm DiffRoll,2,110942 .comm Parameter_Servo3,1,110943 .comm Parameter_Servo4,1,110944 .comm Parameter_Servo5,1,110945 .comm Parameter_J16Bitmask,1,110946 .comm Parameter_J16Timing,1,110947 .comm Parameter_J17Bitmask,1,110948 .comm Parameter_J17Timing,1,110949 .comm Parameter_GlobalConfig,1,110950 .comm Parameter_ExtraConfig,1,110951 .comm MesswertGierBias,2,110952 .comm RohMesswertNick,2,110953 .comm RohMesswertRoll,2,110954 .comm MittelIntegralNick,4,110955 .comm MittelIntegralRoll,4,110956 .comm MittelIntegralNick2,4,110957 .comm MittelIntegralRoll2,4,110958 .comm MAX_GAS,1,110959 .comm MIN_GAS,1,110960 .comm GyroFaktor,1,110961 .comm GyroFaktorGier,1,110962 .comm IntegralFaktor,1,110963 .comm IntegralFaktorGier,1,110964 .comm Parameter_NaviGpsModeControl,1,110965 .comm Parameter_NaviGpsGain,1,110966 .comm Parameter_NaviGpsP,1,110967 .comm Parameter_NaviGpsI,1,110968 .comm Parameter_NaviGpsD,1,110969 .comm Parameter_NaviGpsACC,1,110970 .comm Parameter_NaviOperatingRadius,1,110971 .comm Parameter_NaviWindCorrection,1,110972 .comm Parameter_NaviSpeedCompensation,1,110973 .comm Parameter_ExternalControl,1,110974 .comm Parameter_MaximumAltitude,1,110975 .comm KopplungsteilNickRoll,2,110976 .comm KopplungsteilRollNick,2,110977 .comm tmp_motorwert,24,110978 /* File "fc.c": code 12435 = 0x3093 (12374), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/ccMKYVI5.s:3 *ABS*:0000003f __SREG__C:\Temp/ccMKYVI5.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccMKYVI5.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccMKYVI5.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccMKYVI5.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccMKYVI5.s:15 .bss:00000000 GasIsZeroCntC:\Temp/ccMKYVI5.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/ccMKYVI5.s:27 .data:00000000 VarioCharacterC:\Temp/ccMKYVI5.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/ccMKYVI5.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/ccMKYVI5.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/ccMKYVI5.s:51 .bss:00000006 modell_fliegtC:\Temp/ccMKYVI5.s:57 .bss:00000008 MaxStickRollC:\Temp/ccMKYVI5.s:63 .bss:0000000a MaxStickNickC:\Temp/ccMKYVI5.s:69 .data:00000005 ExternHoehenValueC:\Temp/ccMKYVI5.s:76 .bss:0000000c ExternStickGierC:\Temp/ccMKYVI5.s:82 .bss:0000000e ExternStickRollC:\Temp/ccMKYVI5.s:88 .bss:00000010 ExternStickNickC:\Temp/ccMKYVI5.s:94 .data:00000007 sintabC:\Temp/ccMKYVI5.s:131 .bss:00000012 CareFreeC:\Temp/ccMKYVI5.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/ccMKYVI5.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/ccMKYVI5.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/ccMKYVI5.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/ccMKYVI5.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/ccMKYVI5.s:162 .data:0000002b Parameter_ServoRollCompC:\Temp/ccMKYVI5.s:167 .data:0000002c Parameter_ServoNickCompC:\Temp/ccMKYVI5.s:172 .data:0000002d Parameter_ServoRollControlC:\Temp/ccMKYVI5.s:177 .data:0000002e Parameter_ServoNickControlC:\Temp/ccMKYVI5.s:184 .bss:00000013 Parameter_UserParam8C:\Temp/ccMKYVI5.s:190 .bss:00000014 Parameter_UserParam7C:\Temp/ccMKYVI5.s:196 .bss:00000015 Parameter_UserParam6C:\Temp/ccMKYVI5.s:202 .bss:00000016 Parameter_UserParam5C:\Temp/ccMKYVI5.s:208 .bss:00000017 Parameter_UserParam4C:\Temp/ccMKYVI5.s:214 .bss:00000018 Parameter_UserParam3C:\Temp/ccMKYVI5.s:220 .bss:00000019 Parameter_UserParam2C:\Temp/ccMKYVI5.s:226 .bss:0000001a Parameter_UserParam1C:\Temp/ccMKYVI5.s:232 .data:0000002f Parameter_I_FaktorC:\Temp/ccMKYVI5.s:237 .data:00000030 Parameter_Gier_PC:\Temp/ccMKYVI5.s:242 .data:00000031 Parameter_Gyro_Gier_IC:\Temp/ccMKYVI5.s:247 .data:00000032 Parameter_Gyro_Gier_PC:\Temp/ccMKYVI5.s:252 .data:00000033 Parameter_Gyro_IC:\Temp/ccMKYVI5.s:257 .data:00000034 Parameter_Gyro_PC:\Temp/ccMKYVI5.s:262 .data:00000035 Parameter_Gyro_DC:\Temp/ccMKYVI5.s:267 .data:00000036 Parameter_Hoehe_GPS_ZC:\Temp/ccMKYVI5.s:272 .data:00000037 Parameter_KompassWirkungC:\Temp/ccMKYVI5.s:277 .data:00000038 Parameter_Hoehe_ACC_WirkungC:\Temp/ccMKYVI5.s:282 .data:00000039 Parameter_Hoehe_PC:\Temp/ccMKYVI5.s:287 .data:0000003a Parameter_HoehenSchalterC:\Temp/ccMKYVI5.s:292 .data:0000003b Parameter_Luftdruck_DC:\Temp/ccMKYVI5.s:299 .bss:0000001b Looping_ObenC:\Temp/ccMKYVI5.s:305 .bss:0000001c Looping_UntenC:\Temp/ccMKYVI5.s:311 .bss:0000001d Looping_RechtsC:\Temp/ccMKYVI5.s:317 .bss:0000001e Looping_LinksC:\Temp/ccMKYVI5.s:323 .bss:0000001f Looping_RollC:\Temp/ccMKYVI5.s:329 .bss:00000020 Looping_NickC:\Temp/ccMKYVI5.s:335 .data:0000003c KiC:\Temp/ccMKYVI5.s:342 .bss:00000021 HoverGasC:\Temp/ccMKYVI5.s:348 .bss:00000023 LageKorrekturNickC:\Temp/ccMKYVI5.s:354 .bss:00000025 LageKorrekturRollC:\Temp/ccMKYVI5.s:360 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/ccMKYVI5.s:366 .bss:00000028 CalibrationDoneC:\Temp/ccMKYVI5.s:372 .bss:00000029 CompassGierSetpointC:\Temp/ccMKYVI5.s:378 .bss:0000002b WaypointTrimmingC:\Temp/ccMKYVI5.s:384 .data:0000003e carefree_oldC:\Temp/ccMKYVI5.s:391 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/ccMKYVI5.s:397 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/ccMKYVI5.s:403 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/ccMKYVI5.s:409 .bss:00000033 SollHoeheC:\Temp/ccMKYVI5.s:415 .bss:00000037 HoehenWertC:\Temp/ccMKYVI5.s:421 .bss:0000003b StartTriggerC:\Temp/ccMKYVI5.s:427 .bss:0000003c MotorenEinC:\Temp/ccMKYVI5.s:433 .bss:0000003d SenderOkayC:\Temp/ccMKYVI5.s:439 .bss:0000003e PotiC:\Temp/ccMKYVI5.s:445 .bss:00000047 StickGasC:\Temp/ccMKYVI5.s:451 .bss:00000049 StickGierC:\Temp/ccMKYVI5.s:457 .bss:0000004b StickRollC:\Temp/ccMKYVI5.s:463 .bss:0000004d StickNickC:\Temp/ccMKYVI5.s:469 .data:0000003f HoverGasMaxC:\Temp/ccMKYVI5.s:476 .bss:0000004f HoverGasMinC:\Temp/ccMKYVI5.s:482 .data:00000041 StickGasHoverC:\Temp/ccMKYVI5.s:489 .bss:00000051 GierGyroFehlerC:\Temp/ccMKYVI5.s:495 .data:00000043 Umschlag180RollC:\Temp/ccMKYVI5.s:500 .data:00000047 Umschlag180NickC:\Temp/ccMKYVI5.s:507 .bss:00000053 TrichterFlugC:\Temp/ccMKYVI5.s:513 .bss:00000054 HoehenReglerAktivC:\Temp/ccMKYVI5.s:519 .data:0000004b KompassSignalSchlechtC:\Temp/ccMKYVI5.s:524 .data:0000004d KompassFusionC:\Temp/ccMKYVI5.s:529 .data:0000004e CalculateCompassTimerC:\Temp/ccMKYVI5.s:536 .bss:00000055 KompassSollWertC:\Temp/ccMKYVI5.s:542 .data:0000004f KompassValueC:\Temp/ccMKYVI5.s:549 .bss:00000057 Mess_Integral_HochC:\Temp/ccMKYVI5.s:555 .bss:0000005b SummeRollC:\Temp/ccMKYVI5.s:561 .bss:0000005f SummeNickC:\Temp/ccMKYVI5.s:567 .bss:00000063 Mess_Integral_Gier2C:\Temp/ccMKYVI5.s:573 .bss:00000067 Mess_Integral_GierC:\Temp/ccMKYVI5.s:579 .bss:0000006b Mess_IntegralRoll2C:\Temp/ccMKYVI5.s:585 .bss:0000006f Mess_IntegralRollC:\Temp/ccMKYVI5.s:591 .bss:00000073 Mess_IntegralNick2C:\Temp/ccMKYVI5.s:597 .bss:00000077 Mess_IntegralNickC:\Temp/ccMKYVI5.s:603 .bss:0000007b Integral_GierC:\Temp/ccMKYVI5.s:609 .bss:0000007f IntegralAccZC:\Temp/ccMKYVI5.s:615 .bss:00000083 IntegralAccRollC:\Temp/ccMKYVI5.s:621 .bss:00000087 IntegralAccNickC:\Temp/ccMKYVI5.s:627 .bss:0000008b IntegralRoll2C:\Temp/ccMKYVI5.s:633 .bss:0000008f IntegralRollC:\Temp/ccMKYVI5.s:639 .bss:00000093 IntegralNick2C:\Temp/ccMKYVI5.s:645 .bss:00000097 IntegralNickC:\Temp/ccMKYVI5.s:651 .bss:0000009b ControlHeadingC:\Temp/ccMKYVI5.s:657 .bss:0000009c NeutralAccZC:\Temp/ccMKYVI5.s:663 .bss:0000009e NaviCntAccC:\Temp/ccMKYVI5.s:669 .bss:000000a0 NeutralAccYC:\Temp/ccMKYVI5.s:675 .bss:000000a2 NeutralAccXC:\Temp/ccMKYVI5.s:681 .bss:000000a4 StartNeutralNickC:\Temp/ccMKYVI5.s:687 .bss:000000a6 StartNeutralRollC:\Temp/ccMKYVI5.s:693 .bss:000000a8 AdNeutralGierC:\Temp/ccMKYVI5.s:699 .bss:000000aa AdNeutralRollC:\Temp/ccMKYVI5.s:705 .bss:000000ac AdNeutralNickC:\Temp/ccMKYVI5.s:711 .bss:000000ae BaroExpandActiveC:\Temp/ccMKYVI5.s:716 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000004 ErsatzKompassC:\Temp/ccMKYVI5.s:933 .text:000002a0 PiepC:\Temp/ccMKYVI5.s:1007 .text:00000326 CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/ccMKYVI5.s:1149 .progmem.data:00000000 __c.35C:\Temp/ccMKYVI5.s:1154 .text:00000468 SetNeutral.bss:000000b0 tmpl.27C:\Temp/ccMKYVI5.s:1662 .bss:000000b4 tmpl2.28C:\Temp/ccMKYVI5.s:1663 .bss:000000b8 tmpl3.29C:\Temp/ccMKYVI5.s:1664 .bss:000000bc tmpl4.30C:\Temp/ccMKYVI5.s:1665 .bss:000000c0 oldNick.31C:\Temp/ccMKYVI5.s:1666 .bss:000000c2 oldRoll.32C:\Temp/ccMKYVI5.s:1667 .bss:000000c4 d2Roll.33C:\Temp/ccMKYVI5.s:1668 .bss:000000c6 d2Nick.34C:\Temp/ccMKYVI5.s:1672 .text:000009d4 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/ccMKYVI5.s:3237 .text:00001938 SendMotorDataC:\Temp/ccMKYVI5.s:3297 .text:000019b2 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/ccMKYVI5.s:1669 .bss:000000c8 sollGier.0C:\Temp/ccMKYVI5.s:4040 .bss:000000cc tmp_long.1C:\Temp/ccMKYVI5.s:4041 .bss:000000d0 tmp_long2.2C:\Temp/ccMKYVI5.s:4042 .bss:000000d4 IntegralFehlerNick.3C:\Temp/ccMKYVI5.s:4043 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/ccMKYVI5.s:4044 .bss:000000dc RcLostTimer.5C:\Temp/ccMKYVI5.s:4045 .bss:000000de delay_neutral.6C:\Temp/ccMKYVI5.s:4046 .bss:000000df delay_einschalten.7C:\Temp/ccMKYVI5.s:4047 .bss:000000e0 delay_ausschalten.8C:\Temp/ccMKYVI5.s:4048 .bss:000000e1 move_safety_switch.9C:\Temp/ccMKYVI5.s:4049 .bss:000000e2 ausgleichNick.10C:\Temp/ccMKYVI5.s:4050 .bss:000000e6 ausgleichRoll.11C:\Temp/ccMKYVI5.s:4051 .bss:000000ea stick_nick.12C:\Temp/ccMKYVI5.s:4052 .bss:000000ec stick_roll.13C:\Temp/ccMKYVI5.s:4053 .bss:000000ee cnt.14C:\Temp/ccMKYVI5.s:4054 .bss:000000f0 last_n_p.15C:\Temp/ccMKYVI5.s:4055 .bss:000000f1 last_n_n.16C:\Temp/ccMKYVI5.s:4056 .bss:000000f2 last_r_p.17C:\Temp/ccMKYVI5.s:4057 .bss:000000f3 last_r_n.18C:\Temp/ccMKYVI5.s:4058 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/ccMKYVI5.s:4059 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/ccMKYVI5.s:4060 .bss:000000fc HeightTrimming.21C:\Temp/ccMKYVI5.s:4061 .bss:000000fe FilterHCGas.22C:\Temp/ccMKYVI5.s:4062 .bss:00000100 HoverGasFilter.23C:\Temp/ccMKYVI5.s:4067 .data:00000051 delay.24C:\Temp/ccMKYVI5.s:4063 .bss:00000104 BaroAtUpperLimit.25C:\Temp/ccMKYVI5.s:4069 .bss:00000105 BaroAtLowerLimit.26C:\Temp/ccMKYVI5.s:4074 .text:00001fea MotorRegler*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 IntegralFaktorGier*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2*COM*:00000002 ErsatzKompassInGrad*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000018 tmp_motorwert*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsModeControl*COM*:00000001 Parameter_NaviGpsGain*COM*:00000001 Parameter_NaviGpsP*COM*:00000001 Parameter_NaviGpsI*COM*:00000001 Parameter_NaviGpsD*COM*:00000001 Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED SYMBOLS__do_copy_data__do_clear_bssEE_Parameter__divmodsi4DebugOutCapacityUBatMotorAdWertGierServoNickValueAdWertAccHochGPS_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