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1 .file "fc.c"2 .arch atmega1284p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global GasIsZeroCnt11 .global GasIsZeroCnt12 .section .bss15 GasIsZeroCnt:16 0000 0000 .skip 2,017 .global HooverGasEmergencyPercent18 .global HooverGasEmergencyPercent21 HooverGasEmergencyPercent:22 0002 0000 .skip 2,023 .global VarioCharacter24 .data27 VarioCharacter:28 0000 20 .byte 3229 .global GIER_GRAD_FAKTOR32 GIER_GRAD_FAKTOR:33 0001 0B05 0000 .long 129134 .global FC_StatusFlags235 .global FC_StatusFlags236 .section .bss39 FC_StatusFlags2:40 0004 00 .skip 1,041 .global FC_StatusFlags42 .global FC_StatusFlags45 FC_StatusFlags:46 0005 00 .skip 1,047 .global modell_fliegt48 .global modell_fliegt51 modell_fliegt:52 0006 0000 .skip 2,053 .global MaxStickRoll54 .global MaxStickRoll57 MaxStickRoll:58 0008 0000 .skip 2,059 .global MaxStickNick60 .global MaxStickNick63 MaxStickNick:64 000a 0000 .skip 2,065 .global ExternHoehenValue66 .data69 ExternHoehenValue:70 0005 ECFF .word -2071 .global ExternStickGier72 .global ExternStickGier73 .section .bss76 ExternStickGier:77 000c 0000 .skip 2,078 .global ExternStickRoll79 .global ExternStickRoll82 ExternStickRoll:83 000e 0000 .skip 2,084 .global ExternStickNick85 .global ExternStickNick88 ExternStickNick:89 0010 0000 .skip 2,090 .global sintab91 .data94 sintab:95 0007 00 .byte 096 0008 02 .byte 297 0009 04 .byte 498 000a 06 .byte 699 000b 07 .byte 7100 000c 08 .byte 8101 000d 08 .byte 8102 000e 08 .byte 8103 000f 07 .byte 7104 0010 06 .byte 6105 0011 04 .byte 4106 0012 02 .byte 2107 0013 00 .byte 0108 0014 FE .byte -2109 0015 FC .byte -4110 0016 FA .byte -6111 0017 F9 .byte -7112 0018 F8 .byte -8113 0019 F8 .byte -8114 001a F8 .byte -8115 001b F9 .byte -7116 001c FA .byte -6117 001d FC .byte -4118 001e FE .byte -2119 001f 00 .byte 0120 0020 02 .byte 2121 0021 04 .byte 4122 0022 06 .byte 6123 0023 07 .byte 7124 0024 08 .byte 8125 0025 08 .byte 8126 .global CareFree127 .global CareFree128 .section .bss131 CareFree:132 0012 00 .skip 1,0133 .global Parameter_DynamicStability134 .data137 Parameter_DynamicStability:138 0026 64 .byte 100139 .global Parameter_CouplingYawCorrection142 Parameter_CouplingYawCorrection:143 0027 40 .byte 64144 .global Parameter_AchsKopplung2147 Parameter_AchsKopplung2:148 0028 41 .byte 65149 .global Parameter_AchsKopplung1152 Parameter_AchsKopplung1:153 0029 5A .byte 90154 .global Parameter_LoopGasLimit157 Parameter_LoopGasLimit:158 002a 46 .byte 70159 .global Parameter_ServoRollComp162 Parameter_ServoRollComp:163 002b 55 .byte 85164 .global Parameter_ServoNickComp167 Parameter_ServoNickComp:168 002c 32 .byte 50169 .global Parameter_ServoRollControl172 Parameter_ServoRollControl:173 002d 64 .byte 100174 .global Parameter_ServoNickControl177 Parameter_ServoNickControl:178 002e 64 .byte 100179 .global Parameter_UserParam8180 .global Parameter_UserParam8181 .section .bss184 Parameter_UserParam8:185 0013 00 .skip 1,0186 .global Parameter_UserParam7187 .global Parameter_UserParam7190 Parameter_UserParam7:191 0014 00 .skip 1,0192 .global Parameter_UserParam6193 .global Parameter_UserParam6196 Parameter_UserParam6:197 0015 00 .skip 1,0198 .global Parameter_UserParam5199 .global Parameter_UserParam5202 Parameter_UserParam5:203 0016 00 .skip 1,0204 .global Parameter_UserParam4205 .global Parameter_UserParam4208 Parameter_UserParam4:209 0017 00 .skip 1,0210 .global Parameter_UserParam3211 .global Parameter_UserParam3214 Parameter_UserParam3:215 0018 00 .skip 1,0216 .global Parameter_UserParam2217 .global Parameter_UserParam2220 Parameter_UserParam2:221 0019 00 .skip 1,0222 .global Parameter_UserParam1223 .global Parameter_UserParam1226 Parameter_UserParam1:227 001a 00 .skip 1,0228 .global Parameter_I_Faktor229 .data232 Parameter_I_Faktor:233 002f 0A .byte 10234 .global Parameter_Gier_P237 Parameter_Gier_P:238 0030 02 .byte 2239 .global Parameter_Gyro_Gier_I242 Parameter_Gyro_Gier_I:243 0031 96 .byte -106244 .global Parameter_Gyro_Gier_P247 Parameter_Gyro_Gier_P:248 0032 96 .byte -106249 .global Parameter_Gyro_I252 Parameter_Gyro_I:253 0033 96 .byte -106254 .global Parameter_Gyro_P257 Parameter_Gyro_P:258 0034 96 .byte -106259 .global Parameter_Gyro_D262 Parameter_Gyro_D:263 0035 08 .byte 8264 .global Parameter_Hoehe_GPS_Z267 Parameter_Hoehe_GPS_Z:268 0036 40 .byte 64269 .global Parameter_KompassWirkung272 Parameter_KompassWirkung:273 0037 40 .byte 64274 .global Parameter_Hoehe_ACC_Wirkung277 Parameter_Hoehe_ACC_Wirkung:278 0038 3A .byte 58279 .global Parameter_Hoehe_P282 Parameter_Hoehe_P:283 0039 10 .byte 16284 .global Parameter_HoehenSchalter287 Parameter_HoehenSchalter:288 003a FB .byte -5289 .global Parameter_Luftdruck_D292 Parameter_Luftdruck_D:293 003b 30 .byte 48294 .global Looping_Oben295 .global Looping_Oben296 .section .bss299 Looping_Oben:300 001b 00 .skip 1,0301 .global Looping_Unten302 .global Looping_Unten305 Looping_Unten:306 001c 00 .skip 1,0307 .global Looping_Rechts308 .global Looping_Rechts311 Looping_Rechts:312 001d 00 .skip 1,0313 .global Looping_Links314 .global Looping_Links317 Looping_Links:318 001e 00 .skip 1,0319 .global Looping_Roll320 .global Looping_Roll323 Looping_Roll:324 001f 00 .skip 1,0325 .global Looping_Nick326 .global Looping_Nick329 Looping_Nick:330 0020 00 .skip 1,0331 .global Ki332 .data335 Ki:336 003c 3801 .word 312337 .global HoverGas338 .global HoverGas339 .section .bss342 HoverGas:343 0021 0000 .skip 2,0344 .global LageKorrekturNick345 .global LageKorrekturNick348 LageKorrekturNick:349 0023 0000 .skip 2,0350 .global LageKorrekturRoll351 .global LageKorrekturRoll354 LageKorrekturRoll:355 0025 0000 .skip 2,0356 .global NeueKompassRichtungMerken357 .global NeueKompassRichtungMerken360 NeueKompassRichtungMerken:361 0027 00 .skip 1,0362 .global CalibrationDone363 .global CalibrationDone366 CalibrationDone:367 0028 00 .skip 1,0368 .global CompassGierSetpoint369 .global CompassGierSetpoint372 CompassGierSetpoint:373 0029 0000 .skip 2,0374 .global WaypointTrimming375 .global WaypointTrimming378 WaypointTrimming:379 002b 00 .skip 1,0380 .global carefree_old381 .data384 carefree_old:385 003e 32 .byte 50386 .global FromNC_AltitudeSpeed387 .global FromNC_AltitudeSpeed388 .section .bss391 FromNC_AltitudeSpeed:392 002c 00 .skip 1,0393 .global FromNC_AltitudeSetpoint394 .global FromNC_AltitudeSetpoint397 FromNC_AltitudeSetpoint:398 002d 0000 0000 .skip 4,0399 .global AltitudeSetpointTrimming400 .global AltitudeSetpointTrimming403 AltitudeSetpointTrimming:404 0031 0000 .skip 2,0405 .global SollHoehe406 .global SollHoehe409 SollHoehe:410 0033 0000 0000 .skip 4,0411 .global HoehenWert412 .global HoehenWert415 HoehenWert:416 0037 0000 0000 .skip 4,0417 .global StartTrigger418 .global StartTrigger421 StartTrigger:422 003b 00 .skip 1,0423 .global MotorenEin424 .global MotorenEin427 MotorenEin:428 003c 00 .skip 1,0429 .global SenderOkay430 .global SenderOkay433 SenderOkay:434 003d 00 .skip 1,0435 .global Poti436 .global Poti439 Poti:440 003e 0000 0000 .skip 9,0440 0000 0000440 00441 .global StickGas442 .global StickGas445 StickGas:446 0047 0000 .skip 2,0447 .global StickGier448 .global StickGier451 StickGier:452 0049 0000 .skip 2,0453 .global StickRoll454 .global StickRoll457 StickRoll:458 004b 0000 .skip 2,0459 .global StickNick460 .global StickNick463 StickNick:464 004d 0000 .skip 2,0465 .global HoverGasMax466 .data469 HoverGasMax:470 003f FF03 .word 1023471 .global HoverGasMin472 .global HoverGasMin473 .section .bss476 HoverGasMin:477 004f 0000 .skip 2,0478 .global StickGasHover479 .data482 StickGasHover:483 0041 7800 .word 120484 .global GierGyroFehler485 .global GierGyroFehler486 .section .bss489 GierGyroFehler:490 0051 0000 .skip 2,0491 .global Umschlag180Roll492 .data495 Umschlag180Roll:496 0043 90D0 0300 .long 250000497 .global Umschlag180Nick500 Umschlag180Nick:501 0047 90D0 0300 .long 250000502 .global TrichterFlug503 .global TrichterFlug504 .section .bss507 TrichterFlug:508 0053 00 .skip 1,0509 .global HoehenReglerAktiv510 .global HoehenReglerAktiv513 HoehenReglerAktiv:514 0054 00 .skip 1,0515 .global KompassSignalSchlecht516 .data519 KompassSignalSchlecht:520 004b 3200 .word 50521 .global KompassFusion524 KompassFusion:525 004d 20 .byte 32526 .global CalculateCompassTimer529 CalculateCompassTimer:530 004e 64 .byte 100531 .global KompassSollWert532 .global KompassSollWert533 .section .bss536 KompassSollWert:537 0055 0000 .skip 2,0538 .global KompassValue539 .data542 KompassValue:543 004f FFFF .word -1544 .global Mess_Integral_Hoch545 .global Mess_Integral_Hoch546 .section .bss549 Mess_Integral_Hoch:550 0057 0000 0000 .skip 4,0551 .global SummeRoll552 .global SummeRoll555 SummeRoll:556 005b 0000 0000 .skip 4,0557 .global SummeNick558 .global SummeNick561 SummeNick:562 005f 0000 0000 .skip 4,0563 .global Mess_Integral_Gier2564 .global Mess_Integral_Gier2567 Mess_Integral_Gier2:568 0063 0000 0000 .skip 4,0569 .global Mess_Integral_Gier570 .global Mess_Integral_Gier573 Mess_Integral_Gier:574 0067 0000 0000 .skip 4,0575 .global Mess_IntegralRoll2576 .global Mess_IntegralRoll2579 Mess_IntegralRoll2:580 006b 0000 0000 .skip 4,0581 .global Mess_IntegralRoll582 .global Mess_IntegralRoll585 Mess_IntegralRoll:586 006f 0000 0000 .skip 4,0587 .global Mess_IntegralNick2588 .global Mess_IntegralNick2591 Mess_IntegralNick2:592 0073 0000 0000 .skip 4,0593 .global Mess_IntegralNick594 .global Mess_IntegralNick597 Mess_IntegralNick:598 0077 0000 0000 .skip 4,0599 .global Integral_Gier600 .global Integral_Gier603 Integral_Gier:604 007b 0000 0000 .skip 4,0605 .global IntegralAccZ606 .global IntegralAccZ609 IntegralAccZ:610 007f 0000 0000 .skip 4,0611 .global IntegralAccRoll612 .global IntegralAccRoll615 IntegralAccRoll:616 0083 0000 0000 .skip 4,0617 .global IntegralAccNick618 .global IntegralAccNick621 IntegralAccNick:622 0087 0000 0000 .skip 4,0623 .global IntegralRoll2624 .global IntegralRoll2627 IntegralRoll2:628 008b 0000 0000 .skip 4,0629 .global IntegralRoll630 .global IntegralRoll633 IntegralRoll:634 008f 0000 0000 .skip 4,0635 .global IntegralNick2636 .global IntegralNick2639 IntegralNick2:640 0093 0000 0000 .skip 4,0641 .global IntegralNick642 .global IntegralNick645 IntegralNick:646 0097 0000 0000 .skip 4,0647 .global ControlHeading648 .global ControlHeading651 ControlHeading:652 009b 00 .skip 1,0653 .global NeutralAccZ654 .global NeutralAccZ657 NeutralAccZ:658 009c 0000 .skip 2,0659 .global NaviCntAcc660 .global NaviCntAcc663 NaviCntAcc:664 009e 0000 .skip 2,0665 .global NeutralAccY666 .global NeutralAccY669 NeutralAccY:670 00a0 0000 .skip 2,0671 .global NeutralAccX672 .global NeutralAccX675 NeutralAccX:676 00a2 0000 .skip 2,0677 .global StartNeutralNick678 .global StartNeutralNick681 StartNeutralNick:682 00a4 0000 .skip 2,0683 .global StartNeutralRoll684 .global StartNeutralRoll687 StartNeutralRoll:688 00a6 0000 .skip 2,0689 .global AdNeutralGier690 .global AdNeutralGier693 AdNeutralGier:694 00a8 0000 .skip 2,0695 .global AdNeutralRoll696 .global AdNeutralRoll699 AdNeutralRoll:700 00aa 0000 .skip 2,0701 .global AdNeutralNick702 .global AdNeutralNick705 AdNeutralNick:706 00ac 0000 .skip 2,0707 .global BaroExpandActive708 .global BaroExpandActive711 BaroExpandActive:712 00ae 0000 .skip 2,0713 .text714 .global CopyDebugValues716 CopyDebugValues:717 /* prologue: frame size=0 */718 0000 EF92 push r14719 0002 FF92 push r15720 0004 0F93 push r16721 0006 1F93 push r17722 /* prologue end (size=4) */723 0008 8091 0000 lds r24,EE_Parameter+28724 000c 9927 clr r25725 000e 880F lsl r24726 0010 991F rol r25727 0012 880F lsl r24728 0014 991F rol r25729 0016 7C01 movw r14,r24730 0018 0027 clr r16731 001a F7FC sbrc r15,7732 001c 0095 com r16733 001e 102F mov r17,r16734 0020 8091 0000 lds r24,IntegralNick735 0024 9091 0000 lds r25,(IntegralNick)+1736 0028 A091 0000 lds r26,(IntegralNick)+2737 002c B091 0000 lds r27,(IntegralNick)+3738 0030 BC01 movw r22,r24739 0032 CD01 movw r24,r26740 0034 A801 movw r20,r16741 0036 9701 movw r18,r14742 0038 0E94 0000 call __divmodsi4743 003c 3093 0000 sts (DebugOut+2)+1,r19744 0040 2093 0000 sts DebugOut+2,r18745 0044 8091 0000 lds r24,IntegralRoll746 0048 9091 0000 lds r25,(IntegralRoll)+1747 004c A091 0000 lds r26,(IntegralRoll)+2748 0050 B091 0000 lds r27,(IntegralRoll)+3749 0054 BC01 movw r22,r24750 0056 CD01 movw r24,r26751 0058 A801 movw r20,r16752 005a 9701 movw r18,r14753 005c 0E94 0000 call __divmodsi4754 0060 3093 0000 sts (DebugOut+4)+1,r19755 0064 2093 0000 sts DebugOut+4,r18756 0068 8091 0000 lds r24,Mittelwert_AccNick757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1758 0070 97FD sbrc r25,7759 0072 0396 adiw r24,3760 .L2:761 0074 9595 asr r25762 0076 8795 ror r24763 0078 9595 asr r25764 007a 8795 ror r24765 007c 9093 0000 sts (DebugOut+6)+1,r25766 0080 8093 0000 sts DebugOut+6,r24767 0084 8091 0000 lds r24,Mittelwert_AccRoll768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1769 008c 97FD sbrc r25,7770 008e 0396 adiw r24,3771 .L3:772 0090 9595 asr r25773 0092 8795 ror r24774 0094 9595 asr r25775 0096 8795 ror r24776 0098 9093 0000 sts (DebugOut+8)+1,r25777 009c 8093 0000 sts DebugOut+8,r24778 00a0 8091 0000 lds r24,AdNeutralGier779 00a4 9091 0000 lds r25,(AdNeutralGier)+1780 00a8 2091 0000 lds r18,AdWertGier781 00ac 3091 0000 lds r19,(AdWertGier)+1782 00b0 821B sub r24,r18783 00b2 930B sbc r25,r19784 00b4 9093 0000 sts (DebugOut+10)+1,r25785 00b8 8093 0000 sts DebugOut+10,r24786 00bc 8091 0000 lds r24,HoehenWert787 00c0 9091 0000 lds r25,(HoehenWert)+1788 00c4 A091 0000 lds r26,(HoehenWert)+2789 00c8 B091 0000 lds r27,(HoehenWert)+3790 00cc BC01 movw r22,r24791 00ce CD01 movw r24,r26792 00d0 25E0 ldi r18,lo8(5)793 00d2 30E0 ldi r19,hi8(5)794 00d4 40E0 ldi r20,hlo8(5)795 00d6 50E0 ldi r21,hhi8(5)796 00d8 0E94 0000 call __divmodsi4797 00dc 3093 0000 sts (DebugOut+12)+1,r19798 00e0 2093 0000 sts DebugOut+12,r18799 00e4 8091 0000 lds r24,AdWertAccHoch800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1801 00ec 9093 0000 sts (DebugOut+14)+1,r25802 00f0 8093 0000 sts DebugOut+14,r24803 00f4 8091 0000 lds r24,UBat804 00f8 9091 0000 lds r25,(UBat)+1805 00fc 9093 0000 sts (DebugOut+16)+1,r25806 0100 8093 0000 sts DebugOut+16,r24807 0104 8091 0000 lds r24,Motor+1808 0108 9927 clr r25809 010a 9093 0000 sts (DebugOut+18)+1,r25810 010e 8093 0000 sts DebugOut+18,r24811 0112 8091 0000 lds r24,Motor+9812 0116 9927 clr r25813 0118 9093 0000 sts (DebugOut+20)+1,r25814 011c 8093 0000 sts DebugOut+20,r24815 0120 8091 0000 lds r24,Motor+17816 0124 9927 clr r25817 0126 9093 0000 sts (DebugOut+22)+1,r25818 012a 8093 0000 sts DebugOut+22,r24819 012e 8091 0000 lds r24,Motor+25820 0132 9927 clr r25821 0134 9093 0000 sts (DebugOut+24)+1,r25822 0138 8093 0000 sts DebugOut+24,r24823 013c 8091 0000 lds r24,Motor+33824 0140 9927 clr r25825 0142 9093 0000 sts (DebugOut+26)+1,r25826 0146 8093 0000 sts DebugOut+26,r24827 014a 8091 0000 lds r24,Motor+41828 014e 9927 clr r25829 0150 9093 0000 sts (DebugOut+28)+1,r25830 0154 8093 0000 sts DebugOut+28,r24831 0158 8091 0000 lds r24,Motor+49832 015c 9927 clr r25833 015e 9093 0000 sts (DebugOut+30)+1,r25834 0162 8093 0000 sts DebugOut+30,r24835 0166 8091 0000 lds r24,Motor+57836 016a 9927 clr r25837 016c 9093 0000 sts (DebugOut+32)+1,r25838 0170 8093 0000 sts DebugOut+32,r24839 0174 8091 0000 lds r24,SenderOkay840 0178 9927 clr r25841 017a 9093 0000 sts (DebugOut+34)+1,r25842 017e 8093 0000 sts DebugOut+34,r24843 0182 8091 0000 lds r24,ErsatzKompass844 0186 9091 0000 lds r25,(ErsatzKompass)+1845 018a A091 0000 lds r26,(ErsatzKompass)+2846 018e B091 0000 lds r27,(ErsatzKompass)+3847 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR848 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1849 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2850 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3851 01a2 BC01 movw r22,r24852 01a4 CD01 movw r24,r26853 01a6 0E94 0000 call __divmodsi4854 01aa 3093 0000 sts (DebugOut+36)+1,r19855 01ae 2093 0000 sts DebugOut+36,r18856 01b2 8091 0000 lds r24,Capacity857 01b6 9091 0000 lds r25,(Capacity)+1858 01ba 9093 0000 sts (DebugOut+38)+1,r25859 01be 8093 0000 sts DebugOut+38,r24860 01c2 8091 0000 lds r24,Capacity+4861 01c6 9091 0000 lds r25,(Capacity+4)+1862 01ca 9093 0000 sts (DebugOut+40)+1,r25863 01ce 8093 0000 sts DebugOut+40,r24864 01d2 8091 0000 lds r24,ServoNickValue865 01d6 9091 0000 lds r25,(ServoNickValue)+1866 01da 9093 0000 sts (DebugOut+42)+1,r25867 01de 8093 0000 sts DebugOut+42,r24868 01e2 8091 0000 lds r24,KompassValue869 01e6 9091 0000 lds r25,(KompassValue)+1870 01ea 9093 0000 sts (DebugOut+44)+1,r25871 01ee 8093 0000 sts DebugOut+44,r24872 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__873 01f6 1092 0000 sts DebugOut+46,__zero_reg__874 01fa 8091 0000 lds r24,Capacity+6875 01fe 9927 clr r25876 0200 9093 0000 sts (DebugOut+48)+1,r25877 0204 8093 0000 sts DebugOut+48,r24878 0208 8091 0000 lds r24,GPS_Nick879 020c 9091 0000 lds r25,(GPS_Nick)+1880 0210 9093 0000 sts (DebugOut+50)+1,r25881 0214 8093 0000 sts DebugOut+50,r24882 0218 8091 0000 lds r24,GPS_Roll883 021c 9091 0000 lds r25,(GPS_Roll)+1884 0220 9093 0000 sts (DebugOut+52)+1,r25885 0224 8093 0000 sts DebugOut+52,r24886 0228 8091 0000 lds r24,VersionInfo+5887 022c 8823 tst r24888 022e 01F4 brne .L5889 0230 8091 0000 lds r24,VersionInfo+6890 0234 8823 tst r24891 0236 01F0 breq .L4892 .L5:893 0238 8091 0000 lds r24,DebugOut+1894 023c 8160 ori r24,lo8(1)895 023e 00C0 rjmp .L7896 .L4:897 0240 8091 0000 lds r24,DebugOut+1898 0244 8E7F andi r24,lo8(-2)899 .L7:900 0246 8093 0000 sts DebugOut+1,r24901 /* epilogue: frame size=0 */902 024a 1F91 pop r17903 024c 0F91 pop r16904 024e FF90 pop r15905 0250 EF90 pop r14906 0252 0895 ret907 /* epilogue end (size=5) */908 /* function CopyDebugValues size 300 (291) */910 .global Piep912 Piep:913 /* prologue: frame size=0 */914 0254 EF92 push r14915 0256 FF92 push r15916 0258 1F93 push r17917 025a CF93 push r28918 025c DF93 push r29919 /* prologue end (size=5) */920 025e 182F mov r17,r24921 0260 7B01 movw r14,r22922 0262 8091 0000 lds r24,MotorenEin923 0266 8823 tst r24924 0268 01F4 brne .L8925 026a 8091 0000 lds r24,PlatinenVersion926 026e 8C30 cpi r24,lo8(12)927 0270 00F0 brlo .L11928 0272 8631 cpi r24,lo8(22)929 0274 01F4 brne .L10930 .L11:931 0276 2998 cbi 37-0x20,1932 0278 00C0 rjmp .L12933 .L10:934 027a 299A sbi 37-0x20,1935 .L12:936 027c 1150 subi r17,lo8(-(-1))937 027e 1F3F cpi r17,lo8(-1)938 0280 01F0 breq .L26939 0282 F092 0000 sts (beeptime)+1,r15940 0286 E092 0000 sts beeptime,r14941 028a E701 movw r28,r14942 .L34:943 028c 8091 0000 lds r24,beeptime944 0290 9091 0000 lds r25,(beeptime)+1945 0294 892B or r24,r25946 0296 01F4 brne .L31947 0298 2097 sbiw r28,0948 029a 01F0 breq .L12949 .L31:950 029c 8091 0000 lds r24,UpdateMotor951 02a0 8823 tst r24952 02a2 01F0 breq .L34953 02a4 1092 0000 sts UpdateMotor,__zero_reg__954 02a8 8091 0000 lds r24,beeptime955 02ac 9091 0000 lds r25,(beeptime)+1956 02b0 892B or r24,r25957 02b2 01F4 brne .L19958 02b4 2197 sbiw r28,1959 .L19:960 02b6 0E94 0000 call LIBFC_Polling961 02ba 00C0 rjmp .L34962 .L26:963 02bc 8091 0000 lds r24,PlatinenVersion964 02c0 8C30 cpi r24,lo8(12)965 02c2 00F0 brlo .L23966 02c4 8631 cpi r24,lo8(22)967 02c6 01F4 brne .L22968 .L23:969 02c8 299A sbi 37-0x20,1970 02ca 00C0 rjmp .L8971 .L22:972 02cc 2998 cbi 37-0x20,1973 .L8:974 /* epilogue: frame size=0 */975 02ce DF91 pop r29976 02d0 CF91 pop r28977 02d2 1F91 pop r17978 02d4 FF90 pop r15979 02d6 EF90 pop r14980 02d8 0895 ret981 /* epilogue end (size=6) */982 /* function Piep size 67 (56) */984 .global CalibrierMittelwert986 CalibrierMittelwert:987 /* prologue: frame size=0 */988 02da CF93 push r28989 02dc DF93 push r29990 /* prologue end (size=2) */991 02de 8091 0000 lds r24,PlatinenVersion992 02e2 8D30 cpi r24,lo8(13)993 02e4 01F4 brne .L36994 02e6 0E94 0000 call SucheGyroOffset995 .L36:996 02ea 1092 7A00 sts 122,__zero_reg__997 02ee 8091 0000 lds r24,AdWertNick998 02f2 9091 0000 lds r25,(AdWertNick)+1999 02f6 9093 0000 sts (MesswertNick)+1,r251000 02fa 8093 0000 sts MesswertNick,r241001 02fe 8091 0000 lds r24,AdWertRoll1002 0302 9091 0000 lds r25,(AdWertRoll)+11003 0306 9093 0000 sts (MesswertRoll)+1,r251004 030a 8093 0000 sts MesswertRoll,r241005 030e 8091 0000 lds r24,AdWertGier1006 0312 9091 0000 lds r25,(AdWertGier)+11007 0316 9093 0000 sts (MesswertGier)+1,r251008 031a 8093 0000 sts MesswertGier,r241009 031e 2091 0000 lds r18,AdWertAccNick1010 0322 3091 0000 lds r19,(AdWertAccNick)+11011 0326 C901 movw r24,r181012 0328 880F lsl r241013 032a 991F rol r251014 032c 880F lsl r241015 032e 991F rol r251016 0330 820F add r24,r181017 0332 931F adc r25,r191018 0334 820F add r24,r181019 0336 931F adc r25,r191020 0338 9093 0000 sts (Mittelwert_AccNick)+1,r251021 033c 8093 0000 sts Mittelwert_AccNick,r241022 0340 2091 0000 lds r18,AdWertAccRoll1023 0344 3091 0000 lds r19,(AdWertAccRoll)+11024 0348 C901 movw r24,r181025 034a 880F lsl r241026 034c 991F rol r251027 034e 880F lsl r241028 0350 991F rol r251029 0352 820F add r24,r181030 0354 931F adc r25,r191031 0356 820F add r24,r181032 0358 931F adc r25,r191033 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r251034 035e 8093 0000 sts Mittelwert_AccRoll,r241035 0362 8FEC ldi r24,lo8(-49)1036 0364 8093 7A00 sts 122,r241037 0368 A0E0 ldi r26,lo8(Poti)1038 036a B0E0 ldi r27,hi8(Poti)1039 036c C0E0 ldi r28,lo8(EE_Parameter+5)1040 036e D0E0 ldi r29,hi8(EE_Parameter+5)1041 0370 97E0 ldi r25,lo8(7)1042 .L46:1043 0372 8991 ld r24,Y+1044 0374 E82F mov r30,r241045 0376 FF27 clr r311046 0378 EE0F add r30,r301047 037a FF1F adc r31,r311048 037c E050 subi r30,lo8(-(PPM_in))1049 037e F040 sbci r31,hi8(-(PPM_in))1050 0380 0190 ld __tmp_reg__,Z+1051 0382 F081 ld r31,Z1052 0384 E02D mov r30,__tmp_reg__1053 0386 E158 subi r30,lo8(-(127))1054 0388 FF4F sbci r31,hi8(-(127))1055 038a 1E16 cp __zero_reg__,r301056 038c 1F06 cpc __zero_reg__,r311057 038e 04F0 brlt .L401058 0390 E0E0 ldi r30,lo8(0)1059 0392 F0E0 ldi r31,hi8(0)1060 0394 00C0 rjmp .L411061 .L40:1062 0396 EF3F cpi r30,2551063 0398 F105 cpc r31,__zero_reg__1064 039a 04F0 brlt .L411065 039c EFEF ldi r30,lo8(255)1066 039e F0E0 ldi r31,hi8(255)1067 .L41:1068 03a0 8C91 ld r24,X1069 03a2 282F mov r18,r241070 03a4 3327 clr r191071 03a6 E217 cp r30,r181072 03a8 F307 cpc r31,r191073 03aa 04F4 brge .L431074 03ac 8150 subi r24,lo8(-(-1))1075 03ae 00C0 rjmp .L491076 .L43:1077 03b0 2E17 cp r18,r301078 03b2 3F07 cpc r19,r311079 03b4 04F4 brge .L391080 03b6 8F5F subi r24,lo8(-(1))1081 .L49:1082 03b8 8C93 st X,r241083 .L39:1084 03ba 9150 subi r25,lo8(-(-1))1085 03bc 1196 adiw r26,11086 03be 97FF sbrs r25,71087 03c0 00C0 rjmp .L461088 03c2 8091 0000 lds r24,EE_Parameter+651089 03c6 9927 clr r251090 03c8 AA27 clr r261091 03ca BB27 clr r271092 03cc BC01 movw r22,r241093 03ce CD01 movw r24,r261094 03d0 24EC ldi r18,lo8(2500)1095 03d2 39E0 ldi r19,hi8(2500)1096 03d4 40E0 ldi r20,hlo8(2500)1097 03d6 50E0 ldi r21,hhi8(2500)1098 03d8 0E94 0000 call __mulsi31099 03dc DC01 movw r26,r241100 03de CB01 movw r24,r221101 03e0 8093 0000 sts Umschlag180Nick,r241102 03e4 9093 0000 sts (Umschlag180Nick)+1,r251103 03e8 A093 0000 sts (Umschlag180Nick)+2,r261104 03ec B093 0000 sts (Umschlag180Nick)+3,r271105 03f0 8091 0000 lds r24,EE_Parameter+661106 03f4 9927 clr r251107 03f6 AA27 clr r261108 03f8 BB27 clr r271109 03fa BC01 movw r22,r241110 03fc CD01 movw r24,r261111 03fe 0E94 0000 call __mulsi31112 0402 DC01 movw r26,r241113 0404 CB01 movw r24,r221114 0406 8093 0000 sts Umschlag180Roll,r241115 040a 9093 0000 sts (Umschlag180Roll)+1,r251116 040e A093 0000 sts (Umschlag180Roll)+2,r261117 0412 B093 0000 sts (Umschlag180Roll)+3,r271118 /* epilogue: frame size=0 */1119 0416 DF91 pop r291120 0418 CF91 pop r281121 041a 0895 ret1122 /* epilogue end (size=3) */1123 /* function CalibrierMittelwert size 161 (156) */1125 .section .progmem.data,"a",@progbits1128 __c.35:1129 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1129 4320 6E6F1129 7420 63611129 6C69 62721129 6174 65641130 .text1131 .global SetNeutral1133 SetNeutral:1134 /* prologue: frame size=0 */1135 041c A0E0 ldi r26,lo8(0)1136 041e B0E0 ldi r27,hi8(0)1137 0420 E0E0 ldi r30,pm_lo8(1f)1138 0422 F0E0 ldi r31,pm_hi8(1f)1139 0424 0C94 0000 jmp __prologue_saves__+121140 1:1141 /* prologue end (size=6) */1142 0428 882E mov r8,r241143 042a C0E0 ldi r28,lo8(0)1144 042c D0E0 ldi r29,hi8(0)1145 042e 7E01 movw r14,r281146 0430 6E01 movw r12,r281147 0432 1092 0000 sts VersionInfo+5,__zero_reg__1148 0436 D093 0000 sts (NeutralAccX)+1,r291149 043a C093 0000 sts NeutralAccX,r281150 043e D093 0000 sts (NeutralAccY)+1,r291151 0442 C093 0000 sts NeutralAccY,r281152 0446 D093 0000 sts (NeutralAccZ)+1,r291153 044a C093 0000 sts NeutralAccZ,r281154 044e D093 0000 sts (AdNeutralNick)+1,r291155 0452 C093 0000 sts AdNeutralNick,r281156 0456 D093 0000 sts (AdNeutralRoll)+1,r291157 045a C093 0000 sts AdNeutralRoll,r281158 045e D093 0000 sts (AdNeutralGier)+1,r291159 0462 C093 0000 sts AdNeutralGier,r281160 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1161 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1162 046e 1092 0000 sts ExpandBaro,__zero_reg__1163 0472 0E94 0000 call CalibrierMittelwert1164 0476 84E6 ldi r24,lo8(100)1165 0478 90E0 ldi r25,hi8(100)1166 047a 0E94 0000 call Delay_ms_Mess1167 047e 0E94 0000 call CalibrierMittelwert1168 0482 8091 0000 lds r24,EE_Parameter+131169 0486 80FF sbrs r24,01170 0488 00C0 rjmp .L511171 048a 8091 0000 lds r24,MessLuftdruck1172 048e 9091 0000 lds r25,(MessLuftdruck)+11173 0492 875B subi r24,lo8(951)1174 0494 9340 sbci r25,hi8(951)1175 0496 00F4 brsh .L531176 0498 8091 0000 lds r24,MessLuftdruck1177 049c 9091 0000 lds r25,(MessLuftdruck)+11178 04a0 8E5E subi r24,lo8(750)1179 04a2 9240 sbci r25,hi8(750)1180 04a4 00F4 brsh .L511181 .L53:1182 04a6 0E94 0000 call SucheLuftruckOffset1183 .L51:1184 04aa 0FE1 ldi r16,lo8(31)1185 .L57:1186 04ac 8AE0 ldi r24,lo8(10)1187 04ae 90E0 ldi r25,hi8(10)1188 04b0 0E94 0000 call Delay_ms_Mess1189 04b4 8091 0000 lds r24,AdWertGier1190 04b8 9091 0000 lds r25,(AdWertGier)+11191 04bc C80F add r28,r241192 04be D91F adc r29,r251193 04c0 8091 0000 lds r24,AdWertNick1194 04c4 9091 0000 lds r25,(AdWertNick)+11195 04c8 E80E add r14,r241196 04ca F91E adc r15,r251197 04cc 8091 0000 lds r24,AdWertRoll1198 04d0 9091 0000 lds r25,(AdWertRoll)+11199 04d4 C80E add r12,r241200 04d6 D91E adc r13,r251201 04d8 0150 subi r16,lo8(-(-1))1202 04da 07FF sbrs r16,71203 04dc 00C0 rjmp .L571204 04de 9701 movw r18,r141205 04e0 205F subi r18,lo8(-(16))1206 04e2 3F4F sbci r19,hi8(-(16))1207 04e4 3695 lsr r191208 04e6 2795 ror r181209 04e8 3695 lsr r191210 04ea 2795 ror r181211 04ec 3093 0000 sts (AdNeutralNick)+1,r191212 04f0 2093 0000 sts AdNeutralNick,r181213 04f4 C601 movw r24,r121214 04f6 4096 adiw r24,161215 04f8 9695 lsr r251216 04fa 8795 ror r241217 04fc 9695 lsr r251218 04fe 8795 ror r241219 0500 9093 0000 sts (AdNeutralRoll)+1,r251220 0504 8093 0000 sts AdNeutralRoll,r241221 0508 6096 adiw r28,161222 050a F5E0 ldi r31,51223 050c D695 1: lsr r291224 050e C795 ror r281225 0510 FA95 dec r311226 0512 01F4 brne 1b1227 0514 D093 0000 sts (AdNeutralGier)+1,r291228 0518 C093 0000 sts AdNeutralGier,r281229 051c 9093 0000 sts (StartNeutralRoll)+1,r251230 0520 8093 0000 sts StartNeutralRoll,r241231 0524 3093 0000 sts (StartNeutralNick)+1,r191232 0528 2093 0000 sts StartNeutralNick,r181233 052c 8820 tst r81234 052e 01F4 brne .+21235 0530 00C0 rjmp .L581236 0532 8091 0000 lds r24,Mittelwert_AccNick1237 0536 9091 0000 lds r25,(Mittelwert_AccNick)+11238 053a 97FF sbrs r25,71239 053c 00C0 rjmp .L591240 053e 9095 com r251241 0540 8195 neg r241242 0542 9F4F sbci r25,lo8(-1)1243 .L59:1244 0544 6CE0 ldi r22,lo8(12)1245 0546 70E0 ldi r23,hi8(12)1246 0548 0E94 0000 call __divmodhi41247 054c 9B01 movw r18,r221248 054e 7093 0000 sts (NeutralAccX)+1,r231249 0552 6093 0000 sts NeutralAccX,r221250 0556 8091 0000 lds r24,Mittelwert_AccRoll1251 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+11252 055e 97FF sbrs r25,71253 0560 00C0 rjmp .L601254 0562 9095 com r251255 0564 8195 neg r241256 0566 9F4F sbci r25,lo8(-1)1257 .L60:1258 0568 6CE0 ldi r22,lo8(12)1259 056a 70E0 ldi r23,hi8(12)1260 056c 0E94 0000 call __divmodhi41261 0570 7093 0000 sts (NeutralAccY)+1,r231262 0574 6093 0000 sts NeutralAccY,r221263 0578 8091 0000 lds r24,Aktuell_az1264 057c 9091 0000 lds r25,(Aktuell_az)+11265 0580 9093 0000 sts (NeutralAccZ)+1,r251266 0584 8093 0000 sts NeutralAccZ,r241267 0588 B901 movw r22,r181268 058a 84E0 ldi r24,lo8(4)1269 058c 90E0 ldi r25,hi8(4)1270 058e 0E94 0000 call SetParamWord1271 0592 6091 0000 lds r22,NeutralAccY1272 0596 7091 0000 lds r23,(NeutralAccY)+11273 059a 86E0 ldi r24,lo8(6)1274 059c 90E0 ldi r25,hi8(6)1275 059e 0E94 0000 call SetParamWord1276 05a2 6091 0000 lds r22,NeutralAccZ1277 05a6 7091 0000 lds r23,(NeutralAccZ)+11278 05aa 88E0 ldi r24,lo8(8)1279 05ac 90E0 ldi r25,hi8(8)1280 05ae 0E94 0000 call SetParamWord1281 05b2 00C0 rjmp .L611282 .L58:1283 05b4 84E0 ldi r24,lo8(4)1284 05b6 90E0 ldi r25,hi8(4)1285 05b8 0E94 0000 call GetParamWord1286 05bc 9093 0000 sts (NeutralAccX)+1,r251287 05c0 8093 0000 sts NeutralAccX,r241288 05c4 86E0 ldi r24,lo8(6)1289 05c6 90E0 ldi r25,hi8(6)1290 05c8 0E94 0000 call GetParamWord1291 05cc 9093 0000 sts (NeutralAccY)+1,r251292 05d0 8093 0000 sts NeutralAccY,r241293 05d4 88E0 ldi r24,lo8(8)1294 05d6 90E0 ldi r25,hi8(8)1295 05d8 0E94 0000 call GetParamWord1296 05dc 9C01 movw r18,r241297 05de 9093 0000 sts (NeutralAccZ)+1,r251298 05e2 8093 0000 sts NeutralAccZ,r241299 05e6 8091 0000 lds r24,NeutralAccX1300 05ea 9091 0000 lds r25,(NeutralAccX)+11301 05ee 8150 subi r24,lo8(2049)1302 05f0 9840 sbci r25,hi8(2049)1303 05f2 00F4 brsh .L631304 05f4 8091 0000 lds r24,NeutralAccY1305 05f8 9091 0000 lds r25,(NeutralAccY)+11306 05fc 8150 subi r24,lo8(2049)1307 05fe 9840 sbci r25,hi8(2049)1308 0600 00F4 brsh .L631309 0602 2150 subi r18,lo8(1025)1310 0604 3440 sbci r19,hi8(1025)1311 0606 00F0 brlo .L611312 .L63:1313 0608 80E0 ldi r24,lo8(__c.35)1314 060a 90E0 ldi r25,hi8(__c.35)1315 060c 9F93 push r251316 060e 8F93 push r241317 0610 80E0 ldi r24,lo8(pm(uart_putchar))1318 0612 90E0 ldi r25,hi8(pm(uart_putchar))1319 0614 9F93 push r251320 0616 8F93 push r241321 0618 E091 0000 lds r30,_printf_P1322 061c F091 0000 lds r31,(_printf_P)+11323 0620 0995 icall1324 0622 8091 0000 lds r24,Mittelwert_AccNick1325 0626 9091 0000 lds r25,(Mittelwert_AccNick)+11326 062a 97FF sbrs r25,71327 062c 00C0 rjmp .L641328 062e 9095 com r251329 0630 8195 neg r241330 0632 9F4F sbci r25,lo8(-1)1331 .L64:1332 0634 6CE0 ldi r22,lo8(12)1333 0636 70E0 ldi r23,hi8(12)1334 0638 0E94 0000 call __divmodhi41335 063c 7093 0000 sts (NeutralAccX)+1,r231336 0640 6093 0000 sts NeutralAccX,r221337 0644 8091 0000 lds r24,Mittelwert_AccRoll1338 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+11339 064c 97FF sbrs r25,71340 064e 00C0 rjmp .L651341 0650 9095 com r251342 0652 8195 neg r241343 0654 9F4F sbci r25,lo8(-1)1344 .L65:1345 0656 6CE0 ldi r22,lo8(12)1346 0658 70E0 ldi r23,hi8(12)1347 065a 0E94 0000 call __divmodhi41348 065e 7093 0000 sts (NeutralAccY)+1,r231349 0662 6093 0000 sts NeutralAccY,r221350 0666 8091 0000 lds r24,Aktuell_az1351 066a 9091 0000 lds r25,(Aktuell_az)+11352 066e 9093 0000 sts (NeutralAccZ)+1,r251353 0672 8093 0000 sts NeutralAccZ,r241354 0676 0F90 pop __tmp_reg__1355 0678 0F90 pop __tmp_reg__1356 067a 0F90 pop __tmp_reg__1357 067c 0F90 pop __tmp_reg__1358 .L61:1359 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__1360 0682 1092 0000 sts MesswertNick,__zero_reg__1361 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__1362 068a 1092 0000 sts MesswertRoll,__zero_reg__1363 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__1364 0692 1092 0000 sts MesswertGier,__zero_reg__1365 0696 84E6 ldi r24,lo8(100)1366 0698 90E0 ldi r25,hi8(100)1367 069a 0E94 0000 call Delay_ms_Mess1368 069e 8091 0000 lds r24,AdWertAccNick1369 06a2 9091 0000 lds r25,(AdWertAccNick)+11370 06a6 9C01 movw r18,r241371 06a8 220F lsl r181372 06aa 331F rol r191373 06ac 220F lsl r181374 06ae 331F rol r191375 06b0 280F add r18,r241376 06b2 391F adc r19,r251377 06b4 280F add r18,r241378 06b6 391F adc r19,r251379 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r191380 06bc 2093 0000 sts Mittelwert_AccNick,r181381 06c0 8091 0000 lds r24,AdWertAccRoll1382 06c4 9091 0000 lds r25,(AdWertAccRoll)+11383 06c8 8C01 movw r16,r241384 06ca 000F lsl r161385 06cc 111F rol r171386 06ce 000F lsl r161387 06d0 111F rol r171388 06d2 080F add r16,r241389 06d4 191F adc r17,r251390 06d6 080F add r16,r241391 06d8 191F adc r17,r251392 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r171393 06de 0093 0000 sts Mittelwert_AccRoll,r161394 06e2 8091 0000 lds r24,EE_Parameter+281395 06e6 C82E mov r12,r241396 06e8 DD24 clr r131397 06ea EE24 clr r141398 06ec FF24 clr r151399 06ee 4427 clr r201400 06f0 37FD sbrc r19,71401 06f2 4095 com r201402 06f4 542F mov r21,r201403 06f6 C701 movw r24,r141404 06f8 B601 movw r22,r121405 06fa 0E94 0000 call __mulsi31406 06fe 4B01 movw r8,r221407 0700 5C01 movw r10,r241408 0702 6093 0000 sts IntegralNick,r221409 0706 7093 0000 sts (IntegralNick)+1,r231410 070a 8093 0000 sts (IntegralNick)+2,r241411 070e 9093 0000 sts (IntegralNick)+3,r251412 0712 9801 movw r18,r161413 0714 4427 clr r201414 0716 37FD sbrc r19,71415 0718 4095 com r201416 071a 542F mov r21,r201417 071c C701 movw r24,r141418 071e B601 movw r22,r121419 0720 0E94 0000 call __mulsi31420 0724 DC01 movw r26,r241421 0726 CB01 movw r24,r221422 0728 8093 0000 sts IntegralRoll,r241423 072c 9093 0000 sts (IntegralRoll)+1,r251424 0730 A093 0000 sts (IntegralRoll)+2,r261425 0734 B093 0000 sts (IntegralRoll)+3,r271426 0738 8092 0000 sts Mess_IntegralNick,r81427 073c 9092 0000 sts (Mess_IntegralNick)+1,r91428 0740 A092 0000 sts (Mess_IntegralNick)+2,r101429 0744 B092 0000 sts (Mess_IntegralNick)+3,r111430 0748 8093 0000 sts Mess_IntegralRoll,r241431 074c 9093 0000 sts (Mess_IntegralRoll)+1,r251432 0750 A093 0000 sts (Mess_IntegralRoll)+2,r261433 0754 B093 0000 sts (Mess_IntegralRoll)+3,r271434 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__1435 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1436 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1437 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1438 0768 8091 0000 lds r24,Luftdruck1439 076c 9091 0000 lds r25,(Luftdruck)+11440 0770 A091 0000 lds r26,(Luftdruck)+21441 0774 B091 0000 lds r27,(Luftdruck)+31442 0778 9093 0000 sts (StartLuftdruck)+1,r251443 077c 8093 0000 sts StartLuftdruck,r241444 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__1445 0784 1092 0000 sts VarioMeter,__zero_reg__1446 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1447 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1448 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1449 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1450 0798 0091 0000 lds r16,KompassValue1451 079c 1091 0000 lds r17,(KompassValue)+11452 07a0 1093 0000 sts (KompassSollWert)+1,r171453 07a4 0093 0000 sts KompassSollWert,r161454 07a8 84E6 ldi r24,lo8(100)1455 07aa 90E0 ldi r25,hi8(100)1456 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r251457 07b0 8093 0000 sts KompassSignalSchlecht,r241458 07b4 82E3 ldi r24,lo8(50)1459 07b6 90E0 ldi r25,hi8(50)1460 07b8 9093 0000 sts (beeptime)+1,r251461 07bc 8093 0000 sts beeptime,r241462 07c0 8091 0000 lds r24,EE_Parameter+651463 07c4 9927 clr r251464 07c6 AA27 clr r261465 07c8 BB27 clr r271466 07ca BC01 movw r22,r241467 07cc CD01 movw r24,r261468 07ce 24EC ldi r18,lo8(2500)1469 07d0 39E0 ldi r19,hi8(2500)1470 07d2 40E0 ldi r20,hlo8(2500)1471 07d4 50E0 ldi r21,hhi8(2500)1472 07d6 0E94 0000 call __mulsi31473 07da DC01 movw r26,r241474 07dc CB01 movw r24,r221475 07de 8856 subi r24,lo8(-(15000))1476 07e0 954C sbci r25,hi8(-(15000))1477 07e2 AF4F sbci r26,hlo8(-(15000))1478 07e4 BF4F sbci r27,hhi8(-(15000))1479 07e6 8093 0000 sts Umschlag180Nick,r241480 07ea 9093 0000 sts (Umschlag180Nick)+1,r251481 07ee A093 0000 sts (Umschlag180Nick)+2,r261482 07f2 B093 0000 sts (Umschlag180Nick)+3,r271483 07f6 8091 0000 lds r24,EE_Parameter+661484 07fa 9927 clr r251485 07fc AA27 clr r261486 07fe BB27 clr r271487 0800 BC01 movw r22,r241488 0802 CD01 movw r24,r261489 0804 0E94 0000 call __mulsi31490 0808 DC01 movw r26,r241491 080a CB01 movw r24,r221492 080c 8856 subi r24,lo8(-(15000))1493 080e 954C sbci r25,hi8(-(15000))1494 0810 AF4F sbci r26,hlo8(-(15000))1495 0812 BF4F sbci r27,hhi8(-(15000))1496 0814 8093 0000 sts Umschlag180Roll,r241497 0818 9093 0000 sts (Umschlag180Roll)+1,r251498 081c A093 0000 sts (Umschlag180Roll)+2,r261499 0820 B093 0000 sts (Umschlag180Roll)+3,r271500 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1501 0828 1092 0000 sts ExternHoehenValue,__zero_reg__1502 082c C801 movw r24,r161503 082e AA27 clr r261504 0830 97FD sbrc r25,71505 0832 A095 com r261506 0834 BA2F mov r27,r261507 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR1508 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11509 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21510 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31511 0846 BC01 movw r22,r241512 0848 CD01 movw r24,r261513 084a 0E94 0000 call __mulsi31514 084e DC01 movw r26,r241515 0850 CB01 movw r24,r221516 0852 8093 0000 sts ErsatzKompass,r241517 0856 9093 0000 sts (ErsatzKompass)+1,r251518 085a A093 0000 sts (ErsatzKompass)+2,r261519 085e B093 0000 sts (ErsatzKompass)+3,r271520 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1521 0866 1092 0000 sts GierGyroFehler,__zero_reg__1522 086a 0E94 0000 call LED_Init1523 086e 8091 0000 lds r24,FC_StatusFlags1524 0872 8460 ori r24,lo8(4)1525 0874 8093 0000 sts FC_StatusFlags,r241526 0878 8FEF ldi r24,lo8(-1)1527 087a 8093 0000 sts FromNaviCtrl_Value,r241528 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1529 0882 80E2 ldi r24,lo8(32)1530 0884 8093 0000 sts FromNaviCtrl_Value+2,r241531 0888 C0E0 ldi r28,lo8(Poti)1532 088a D0E0 ldi r29,hi8(Poti)1533 088c A0E0 ldi r26,lo8(EE_Parameter+5)1534 088e B0E0 ldi r27,hi8(EE_Parameter+5)1535 0890 07E0 ldi r16,lo8(7)1536 .L69:1537 0892 8D91 ld r24,X+1538 0894 E82F mov r30,r241539 0896 FF27 clr r311540 0898 EE0F add r30,r301541 089a FF1F adc r31,r311542 089c E050 subi r30,lo8(-(PPM_in))1543 089e F040 sbci r31,hi8(-(PPM_in))1544 08a0 8081 ld r24,Z1545 08a2 9181 ldd r25,Z+11546 08a4 8158 subi r24,lo8(-(127))1547 08a6 8993 st Y+,r241548 08a8 0150 subi r16,lo8(-(-1))1549 08aa 07FF sbrs r16,71550 08ac 00C0 rjmp .L691551 08ae 84E6 ldi r24,lo8(100)1552 08b0 8093 0000 sts SenderOkay,r241553 08b4 8091 0000 lds r24,ServoActive1554 08b8 8823 tst r241555 08ba 01F0 breq .L701556 08bc 579A sbi 42-0x20,71557 08be 00C0 rjmp .L711558 .L70:1559 08c0 80E0 ldi r24,lo8(4352)1560 08c2 91E1 ldi r25,hi8(4352)1561 08c4 9093 0000 sts (NickServoValue)+1,r251562 08c8 8093 0000 sts NickServoValue,r241563 .L71:1564 08cc 8091 0000 lds r24,AdNeutralNick1565 08d0 9091 0000 lds r25,(AdNeutralNick)+11566 08d4 8056 subi r24,lo8(-(-2400))1567 08d6 9940 sbci r25,hi8(-(-2400))1568 08d8 815C subi r24,lo8(11201)1569 08da 9B42 sbci r25,hi8(11201)1570 08dc 00F0 brlo .L721571 08de 8091 0000 lds r24,VersionInfo+51572 08e2 8160 ori r24,lo8(1)1573 08e4 8093 0000 sts VersionInfo+5,r241574 .L72:1575 08e8 8091 0000 lds r24,AdNeutralRoll1576 08ec 9091 0000 lds r25,(AdNeutralRoll)+11577 08f0 8056 subi r24,lo8(-(-2400))1578 08f2 9940 sbci r25,hi8(-(-2400))1579 08f4 815C subi r24,lo8(11201)1580 08f6 9B42 sbci r25,hi8(11201)1581 08f8 00F0 brlo .L731582 08fa 8091 0000 lds r24,VersionInfo+51583 08fe 8260 ori r24,lo8(2)1584 0900 8093 0000 sts VersionInfo+5,r241585 .L73:1586 0904 8091 0000 lds r24,AdNeutralGier1587 0908 9091 0000 lds r25,(AdNeutralGier)+11588 090c 8C52 subi r24,lo8(-(-300))1589 090e 9140 sbci r25,hi8(-(-300))1590 0910 8957 subi r24,lo8(1401)1591 0912 9540 sbci r25,hi8(1401)1592 0914 00F0 brlo .L741593 0916 8091 0000 lds r24,VersionInfo+51594 091a 8460 ori r24,lo8(4)1595 091c 8093 0000 sts VersionInfo+5,r241596 .L74:1597 0920 8091 0000 lds r24,NeutralAccX1598 0924 9091 0000 lds r25,(NeutralAccX)+11599 0928 8C52 subi r24,lo8(-(-300))1600 092a 9140 sbci r25,hi8(-(-300))1601 092c 835C subi r24,lo8(451)1602 092e 9140 sbci r25,hi8(451)1603 0930 00F0 brlo .L751604 0932 8091 0000 lds r24,VersionInfo+51605 0936 8860 ori r24,lo8(8)1606 0938 8093 0000 sts VersionInfo+5,r241607 .L75:1608 093c 8091 0000 lds r24,NeutralAccY1609 0940 9091 0000 lds r25,(NeutralAccY)+11610 0944 8C52 subi r24,lo8(-(-300))1611 0946 9140 sbci r25,hi8(-(-300))1612 0948 835C subi r24,lo8(451)1613 094a 9140 sbci r25,hi8(451)1614 094c 00F0 brlo .L761615 094e 8091 0000 lds r24,VersionInfo+51616 0952 8061 ori r24,lo8(16)1617 0954 8093 0000 sts VersionInfo+5,r241618 .L76:1619 0958 8091 0000 lds r24,NeutralAccZ1620 095c 9091 0000 lds r25,(NeutralAccZ)+11621 0960 8050 subi r24,lo8(-(-512))1622 0962 9240 sbci r25,hi8(-(-512))1623 0964 8355 subi r24,lo8(339)1624 0966 9140 sbci r25,hi8(339)1625 0968 00F0 brlo .L771626 096a 8091 0000 lds r24,VersionInfo+51627 096e 8062 ori r24,lo8(32)1628 0970 8093 0000 sts VersionInfo+5,r241629 .L77:1630 0974 86E4 ldi r24,lo8(70)1631 0976 8093 0000 sts carefree_old,r241632 097a 0E94 0000 call LIBFC_HoTT_Clear1633 /* epilogue: frame size=0 */1634 097e ECE0 ldi r30,121635 0980 CDB7 in r28,__SP_L__1636 0982 DEB7 in r29,__SP_H__1637 0984 0C94 0000 jmp __epilogue_restores__+121638 /* epilogue end (size=5) */1639 /* function SetNeutral size 705 (694) */1641 .lcomm tmpl.27,41642 .lcomm tmpl2.28,41643 .lcomm tmpl3.29,41644 .lcomm tmpl4.30,41645 .lcomm oldNick.31,21646 .lcomm oldRoll.32,21647 .lcomm d2Roll.33,21648 .lcomm d2Nick.34,21649 .global Mittelwert1651 Mittelwert:1652 /* prologue: frame size=19 */1653 0988 A3E1 ldi r26,lo8(19)1654 098a B0E0 ldi r27,hi8(19)1655 098c E0E0 ldi r30,pm_lo8(1f)1656 098e F0E0 ldi r31,pm_hi8(1f)1657 0990 0C94 0000 jmp __prologue_saves__+01658 1:1659 /* prologue end (size=6) */1660 0994 8091 0000 lds r24,AdNeutralGier1661 0998 9091 0000 lds r25,(AdNeutralGier)+11662 099c 2091 0000 lds r18,AdWertGier1663 09a0 3091 0000 lds r19,(AdWertGier)+11664 09a4 821B sub r24,r181665 09a6 930B sbc r25,r191666 09a8 9093 0000 sts (MesswertGier)+1,r251667 09ac 8093 0000 sts MesswertGier,r241668 09b0 8091 0000 lds r24,AdWertNickFilter1669 09b4 9091 0000 lds r25,(AdWertNickFilter)+11670 09b8 97FD sbrc r25,71671 09ba 0796 adiw r24,71672 .L83:1673 09bc 9C01 movw r18,r241674 09be 13E0 ldi r17,31675 09c0 3595 1: asr r191676 09c2 2795 ror r181677 09c4 1A95 dec r171678 09c6 01F4 brne 1b1679 09c8 3093 0000 sts (MesswertNick)+1,r191680 09cc 2093 0000 sts MesswertNick,r181681 09d0 8091 0000 lds r24,AdWertRollFilter1682 09d4 9091 0000 lds r25,(AdWertRollFilter)+11683 09d8 97FD sbrc r25,71684 09da 0796 adiw r24,71685 .L84:1686 09dc B3E0 ldi r27,31687 09de 9595 1: asr r251688 09e0 8795 ror r241689 09e2 BA95 dec r271690 09e4 01F4 brne 1b1691 09e6 9093 0000 sts (MesswertRoll)+1,r251692 09ea 8093 0000 sts MesswertRoll,r241693 09ee 3093 0000 sts (RohMesswertNick)+1,r191694 09f2 2093 0000 sts RohMesswertNick,r181695 09f6 9093 0000 sts (RohMesswertRoll)+1,r251696 09fa 8093 0000 sts RohMesswertRoll,r241697 09fe 8091 0000 lds r24,Mittelwert_AccNick1698 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+11699 0a06 AC01 movw r20,r241700 0a08 440F lsl r201701 0a0a 551F rol r211702 0a0c 480F add r20,r241703 0a0e 591F adc r21,r251704 0a10 2091 0000 lds r18,AdWertAccNick1705 0a14 3091 0000 lds r19,(AdWertAccNick)+11706 0a18 C901 movw r24,r181707 0a1a 880F lsl r241708 0a1c 991F rol r251709 0a1e 880F lsl r241710 0a20 991F rol r251711 0a22 820F add r24,r181712 0a24 931F adc r25,r191713 0a26 820F add r24,r181714 0a28 931F adc r25,r191715 0a2a 480F add r20,r241716 0a2c 591F adc r21,r251717 0a2e 57FF sbrs r21,71718 0a30 00C0 rjmp .L851719 0a32 4D5F subi r20,lo8(-(3))1720 0a34 5F4F sbci r21,hi8(-(3))1721 .L85:1722 0a36 5595 asr r211723 0a38 4795 ror r201724 0a3a 5595 asr r211725 0a3c 4795 ror r201726 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r211727 0a42 4093 0000 sts Mittelwert_AccNick,r201728 0a46 8091 0000 lds r24,Mittelwert_AccRoll1729 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+11730 0a4e AC01 movw r20,r241731 0a50 440F lsl r201732 0a52 551F rol r211733 0a54 480F add r20,r241734 0a56 591F adc r21,r251735 0a58 2091 0000 lds r18,AdWertAccRoll1736 0a5c 3091 0000 lds r19,(AdWertAccRoll)+11737 0a60 C901 movw r24,r181738 0a62 880F lsl r241739 0a64 991F rol r251740 0a66 880F lsl r241741 0a68 991F rol r251742 0a6a 820F add r24,r181743 0a6c 931F adc r25,r191744 0a6e 820F add r24,r181745 0a70 931F adc r25,r191746 0a72 480F add r20,r241747 0a74 591F adc r21,r251748 0a76 57FF sbrs r21,71749 0a78 00C0 rjmp .L861750 0a7a 4D5F subi r20,lo8(-(3))1751 0a7c 5F4F sbci r21,hi8(-(3))1752 .L86:1753 0a7e 5595 asr r211754 0a80 4795 ror r201755 0a82 5595 asr r211756 0a84 4795 ror r201757 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r211758 0a8a 4093 0000 sts Mittelwert_AccRoll,r201759 0a8e 2091 0000 lds r18,AdWertAccNick1760 0a92 3091 0000 lds r19,(AdWertAccNick)+11761 0a96 C901 movw r24,r181762 0a98 880F lsl r241763 0a9a 991F rol r251764 0a9c 880F lsl r241765 0a9e 991F rol r251766 0aa0 820F add r24,r181767 0aa2 931F adc r25,r191768 0aa4 820F add r24,r181769 0aa6 931F adc r25,r191770 0aa8 9C01 movw r18,r241771 0aaa 4427 clr r201772 0aac 37FD sbrc r19,71773 0aae 4095 com r201774 0ab0 542F mov r21,r201775 0ab2 8091 0000 lds r24,IntegralAccNick1776 0ab6 9091 0000 lds r25,(IntegralAccNick)+11777 0aba A091 0000 lds r26,(IntegralAccNick)+21778 0abe B091 0000 lds r27,(IntegralAccNick)+31779 0ac2 820F add r24,r181780 0ac4 931F adc r25,r191781 0ac6 A41F adc r26,r201782 0ac8 B51F adc r27,r211783 0aca 8093 0000 sts IntegralAccNick,r241784 0ace 9093 0000 sts (IntegralAccNick)+1,r251785 0ad2 A093 0000 sts (IntegralAccNick)+2,r261786 0ad6 B093 0000 sts (IntegralAccNick)+3,r271787 0ada 2091 0000 lds r18,AdWertAccRoll1788 0ade 3091 0000 lds r19,(AdWertAccRoll)+11789 0ae2 C901 movw r24,r181790 0ae4 880F lsl r241791 0ae6 991F rol r251792 0ae8 880F lsl r241793 0aea 991F rol r251794 0aec 820F add r24,r181795 0aee 931F adc r25,r191796 0af0 820F add r24,r181797 0af2 931F adc r25,r191798 0af4 9C01 movw r18,r241799 0af6 4427 clr r201800 0af8 37FD sbrc r19,71801 0afa 4095 com r201802 0afc 542F mov r21,r201803 0afe 8091 0000 lds r24,IntegralAccRoll1804 0b02 9091 0000 lds r25,(IntegralAccRoll)+11805 0b06 A091 0000 lds r26,(IntegralAccRoll)+21806 0b0a B091 0000 lds r27,(IntegralAccRoll)+31807 0b0e 820F add r24,r181808 0b10 931F adc r25,r191809 0b12 A41F adc r26,r201810 0b14 B51F adc r27,r211811 0b16 8093 0000 sts IntegralAccRoll,r241812 0b1a 9093 0000 sts (IntegralAccRoll)+1,r251813 0b1e A093 0000 sts (IntegralAccRoll)+2,r261814 0b22 B093 0000 sts (IntegralAccRoll)+3,r271815 0b26 8091 0000 lds r24,NaviAccNick1816 0b2a 9091 0000 lds r25,(NaviAccNick)+11817 0b2e 2091 0000 lds r18,AdWertAccNick1818 0b32 3091 0000 lds r19,(AdWertAccNick)+11819 0b36 820F add r24,r181820 0b38 931F adc r25,r191821 0b3a 9093 0000 sts (NaviAccNick)+1,r251822 0b3e 8093 0000 sts NaviAccNick,r241823 0b42 8091 0000 lds r24,NaviAccRoll1824 0b46 9091 0000 lds r25,(NaviAccRoll)+11825 0b4a 2091 0000 lds r18,AdWertAccRoll1826 0b4e 3091 0000 lds r19,(AdWertAccRoll)+11827 0b52 820F add r24,r181828 0b54 931F adc r25,r191829 0b56 9093 0000 sts (NaviAccRoll)+1,r251830 0b5a 8093 0000 sts NaviAccRoll,r241831 0b5e 8091 0000 lds r24,NaviCntAcc1832 0b62 9091 0000 lds r25,(NaviCntAcc)+11833 0b66 0196 adiw r24,11834 0b68 9093 0000 sts (NaviCntAcc)+1,r251835 0b6c 8093 0000 sts NaviCntAcc,r241836 0b70 8091 0000 lds r24,Aktuell_az1837 0b74 9091 0000 lds r25,(Aktuell_az)+11838 0b78 2091 0000 lds r18,NeutralAccZ1839 0b7c 3091 0000 lds r19,(NeutralAccZ)+11840 0b80 821B sub r24,r181841 0b82 930B sbc r25,r191842 0b84 9C01 movw r18,r241843 0b86 4427 clr r201844 0b88 37FD sbrc r19,71845 0b8a 4095 com r201846 0b8c 542F mov r21,r201847 0b8e 8091 0000 lds r24,IntegralAccZ1848 0b92 9091 0000 lds r25,(IntegralAccZ)+11849 0b96 A091 0000 lds r26,(IntegralAccZ)+21850 0b9a B091 0000 lds r27,(IntegralAccZ)+31851 0b9e 820F add r24,r181852 0ba0 931F adc r25,r191853 0ba2 A41F adc r26,r201854 0ba4 B51F adc r27,r211855 0ba6 8093 0000 sts IntegralAccZ,r241856 0baa 9093 0000 sts (IntegralAccZ)+1,r251857 0bae A093 0000 sts (IntegralAccZ)+2,r261858 0bb2 B093 0000 sts (IntegralAccZ)+3,r271859 0bb6 8FEC ldi r24,lo8(-49)1860 0bb8 8093 7A00 sts 122,r241861 0bbc 1092 0000 sts AdReady,__zero_reg__1862 0bc0 2091 0000 lds r18,Mess_IntegralRoll1863 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+11864 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+21865 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+31866 0bd0 2987 std Y+9,r181867 0bd2 3A87 std Y+10,r191868 0bd4 4B87 std Y+11,r201869 0bd6 5C87 std Y+12,r211870 0bd8 2954 subi r18,lo8(93001)1871 0bda 3B46 sbci r19,hi8(93001)1872 0bdc 4140 sbci r20,hlo8(93001)1873 0bde 5040 sbci r21,hhi8(93001)1874 0be0 04F0 brlt .L871875 0be2 28E4 ldi r18,lo8(93000)1876 0be4 3BE6 ldi r19,hi8(93000)1877 0be6 41E0 ldi r20,hlo8(93000)1878 0be8 50E0 ldi r21,hhi8(93000)1879 0bea 00C0 rjmp .L1671880 .L87:1881 0bec 8985 ldd r24,Y+91882 0bee 9A85 ldd r25,Y+101883 0bf0 AB85 ldd r26,Y+111884 0bf2 BC85 ldd r27,Y+121885 0bf4 885B subi r24,lo8(-93000)1886 0bf6 9449 sbci r25,hi8(-93000)1887 0bf8 AE4F sbci r26,hlo8(-93000)1888 0bfa BF4F sbci r27,hhi8(-93000)1889 0bfc 04F4 brge .L891890 0bfe 28EB ldi r18,lo8(-93000)1891 0c00 34E9 ldi r19,hi8(-93000)1892 0c02 4EEF ldi r20,hlo8(-93000)1893 0c04 5FEF ldi r21,hhi8(-93000)1894 .L167:1895 0c06 2D83 std Y+5,r181896 0c08 3E83 std Y+6,r191897 0c0a 4F83 std Y+7,r201898 0c0c 5887 std Y+8,r211899 0c0e 00C0 rjmp .L881900 .L89:1901 0c10 8985 ldd r24,Y+91902 0c12 9A85 ldd r25,Y+101903 0c14 AB85 ldd r26,Y+111904 0c16 BC85 ldd r27,Y+121905 0c18 8D83 std Y+5,r241906 0c1a 9E83 std Y+6,r251907 0c1c AF83 std Y+7,r261908 0c1e B887 std Y+8,r271909 .L88:1910 0c20 2091 0000 lds r18,Mess_IntegralNick1911 0c24 3091 0000 lds r19,(Mess_IntegralNick)+11912 0c28 4091 0000 lds r20,(Mess_IntegralNick)+21913 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+31914 0c30 2D87 std Y+13,r181915 0c32 3E87 std Y+14,r191916 0c34 4F87 std Y+15,r201917 0c36 588B std Y+16,r211918 0c38 2954 subi r18,lo8(93001)1919 0c3a 3B46 sbci r19,hi8(93001)1920 0c3c 4140 sbci r20,hlo8(93001)1921 0c3e 5040 sbci r21,hhi8(93001)1922 0c40 04F0 brlt .L911923 0c42 28E4 ldi r18,lo8(93000)1924 0c44 3BE6 ldi r19,hi8(93000)1925 0c46 41E0 ldi r20,hlo8(93000)1926 0c48 50E0 ldi r21,hhi8(93000)1927 0c4a 00C0 rjmp .L1681928 .L91:1929 0c4c 8D85 ldd r24,Y+131930 0c4e 9E85 ldd r25,Y+141931 0c50 AF85 ldd r26,Y+151932 0c52 B889 ldd r27,Y+161933 0c54 885B subi r24,lo8(-93000)1934 0c56 9449 sbci r25,hi8(-93000)1935 0c58 AE4F sbci r26,hlo8(-93000)1936 0c5a BF4F sbci r27,hhi8(-93000)1937 0c5c 04F4 brge .L931938 0c5e 28EB ldi r18,lo8(-93000)1939 0c60 34E9 ldi r19,hi8(-93000)1940 0c62 4EEF ldi r20,hlo8(-93000)1941 0c64 5FEF ldi r21,hhi8(-93000)1942 .L168:1943 0c66 2983 std Y+1,r181944 0c68 3A83 std Y+2,r191945 0c6a 4B83 std Y+3,r201946 0c6c 5C83 std Y+4,r211947 0c6e 00C0 rjmp .L921948 .L93:1949 0c70 8D85 ldd r24,Y+131950 0c72 9E85 ldd r25,Y+141951 0c74 AF85 ldd r26,Y+151952 0c76 B889 ldd r27,Y+161953 0c78 8983 std Y+1,r241954 0c7a 9A83 std Y+2,r251955 0c7c AB83 std Y+3,r261956 0c7e BC83 std Y+4,r271957 .L92:1958 0c80 A091 0000 lds r26,MesswertGier1959 0c84 B091 0000 lds r27,(MesswertGier)+11960 0c88 BB8B std Y+19,r271961 0c8a AA8B std Y+18,r261962 0c8c FD01 movw r30,r261963 0c8e CF01 movw r24,r301964 0c90 AA27 clr r261965 0c92 97FD sbrc r25,71966 0c94 A095 com r261967 0c96 BA2F mov r27,r261968 0c98 A090 0000 lds r10,Mess_Integral_Gier1969 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+11970 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+21971 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+31972 0ca8 A80E add r10,r241973 0caa B91E adc r11,r251974 0cac CA1E adc r12,r261975 0cae DB1E adc r13,r271976 0cb0 A092 0000 sts Mess_Integral_Gier,r101977 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r111978 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r121979 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r131980 0cc0 E090 0000 lds r14,ErsatzKompass1981 0cc4 F090 0000 lds r15,(ErsatzKompass)+11982 0cc8 0091 0000 lds r16,(ErsatzKompass)+21983 0ccc 1091 0000 lds r17,(ErsatzKompass)+31984 0cd0 E80E add r14,r241985 0cd2 F91E adc r15,r251986 0cd4 0A1F adc r16,r261987 0cd6 1B1F adc r17,r271988 0cd8 E092 0000 sts ErsatzKompass,r141989 0cdc F092 0000 sts (ErsatzKompass)+1,r151990 0ce0 0093 0000 sts (ErsatzKompass)+2,r161991 0ce4 1093 0000 sts (ErsatzKompass)+3,r171992 0ce8 F091 0000 lds r31,Looping_Nick1993 0cec F98B std Y+17,r311994 0cee FF23 tst r311995 0cf0 01F0 breq .+21996 0cf2 00C0 rjmp .L951997 0cf4 8091 0000 lds r24,Looping_Roll1998 0cf8 8823 tst r241999 0cfa 01F0 breq .+22000 0cfc 00C0 rjmp .L952001 0cfe 8091 0000 lds r24,Parameter_GlobalConfig2002 0d02 86FF sbrs r24,62003 0d04 00C0 rjmp .L952004 0d06 8091 0000 lds r24,MesswertRoll2005 0d0a 9091 0000 lds r25,(MesswertRoll)+12006 0d0e AA27 clr r262007 0d10 97FD sbrc r25,72008 0d12 A095 com r262009 0d14 BA2F mov r27,r262010 0d16 BC01 movw r22,r242011 0d18 CD01 movw r24,r262012 0d1a 2981 ldd r18,Y+12013 0d1c 3A81 ldd r19,Y+22014 0d1e 4B81 ldd r20,Y+32015 0d20 5C81 ldd r21,Y+42016 0d22 0E94 0000 call __mulsi32017 0d26 9B01 movw r18,r222018 0d28 AC01 movw r20,r242019 0d2a 97FF sbrs r25,72020 0d2c 00C0 rjmp .L962021 0d2e 2150 subi r18,lo8(-(2047))2022 0d30 384F sbci r19,hi8(-(2047))2023 0d32 4F4F sbci r20,hlo8(-(2047))2024 0d34 5F4F sbci r21,hhi8(-(2047))2025 .L96:2026 0d36 BBE0 ldi r27,112027 0d38 5595 1: asr r212028 0d3a 4795 ror r202029 0d3c 3795 ror r192030 0d3e 2795 ror r182031 0d40 BA95 dec r272032 0d42 01F4 brne 1b2033 0d44 8091 0000 lds r24,Parameter_AchsKopplung22034 0d48 682E mov r6,r242035 0d4a 7724 clr r72036 0d4c 8824 clr r82037 0d4e 9924 clr r92038 0d50 CA01 movw r24,r202039 0d52 B901 movw r22,r182040 0d54 A401 movw r20,r82041 0d56 9301 movw r18,r62042 0d58 0E94 0000 call __mulsi32043 0d5c DC01 movw r26,r242044 0d5e CB01 movw r24,r222045 0d60 8093 0000 sts tmpl3.29,r242046 0d64 9093 0000 sts (tmpl3.29)+1,r252047 0d68 A093 0000 sts (tmpl3.29)+2,r262048 0d6c B093 0000 sts (tmpl3.29)+3,r272049 0d70 B7FF sbrs r27,72050 0d72 00C0 rjmp .L972051 0d74 8150 subi r24,lo8(-(4095))2052 0d76 904F sbci r25,hi8(-(4095))2053 0d78 AF4F sbci r26,hlo8(-(4095))2054 0d7a BF4F sbci r27,hhi8(-(4095))2055 .L97:2056 0d7c 1C01 movw r2,r242057 0d7e 2D01 movw r4,r262058 0d80 ACE0 ldi r26,122059 0d82 5594 1: asr r52060 0d84 4794 ror r42061 0d86 3794 ror r32062 0d88 2794 ror r22063 0d8a AA95 dec r262064 0d8c 01F4 brne 1b2065 0d8e 2092 0000 sts tmpl3.29,r22066 0d92 3092 0000 sts (tmpl3.29)+1,r32067 0d96 4092 0000 sts (tmpl3.29)+2,r42068 0d9a 5092 0000 sts (tmpl3.29)+3,r52069 0d9e 8091 0000 lds r24,MesswertNick2070 0da2 9091 0000 lds r25,(MesswertNick)+12071 0da6 AA27 clr r262072 0da8 97FD sbrc r25,72073 0daa A095 com r262074 0dac BA2F mov r27,r262075 0dae BC01 movw r22,r242076 0db0 CD01 movw r24,r262077 0db2 2D81 ldd r18,Y+52078 0db4 3E81 ldd r19,Y+62079 0db6 4F81 ldd r20,Y+72080 0db8 5885 ldd r21,Y+82081 0dba 0E94 0000 call __mulsi32082 0dbe 97FF sbrs r25,72083 0dc0 00C0 rjmp .L982084 0dc2 6150 subi r22,lo8(-(2047))2085 0dc4 784F sbci r23,hi8(-(2047))2086 0dc6 8F4F sbci r24,hlo8(-(2047))2087 0dc8 9F4F sbci r25,hhi8(-(2047))2088 .L98:2089 0dca FBE0 ldi r31,112090 0dcc 9595 1: asr r252091 0dce 8795 ror r242092 0dd0 7795 ror r232093 0dd2 6795 ror r222094 0dd4 FA95 dec r312095 0dd6 01F4 brne 1b2096 0dd8 A401 movw r20,r82097 0dda 9301 movw r18,r62098 0ddc 0E94 0000 call __mulsi32099 0de0 DC01 movw r26,r242100 0de2 CB01 movw r24,r222101 0de4 8093 0000 sts tmpl4.30,r242102 0de8 9093 0000 sts (tmpl4.30)+1,r252103 0dec A093 0000 sts (tmpl4.30)+2,r262104 0df0 B093 0000 sts (tmpl4.30)+3,r272105 0df4 B7FF sbrs r27,72106 0df6 00C0 rjmp .L992107 0df8 8150 subi r24,lo8(-(4095))2108 0dfa 904F sbci r25,hi8(-(4095))2109 0dfc AF4F sbci r26,hlo8(-(4095))2110 0dfe BF4F sbci r27,hhi8(-(4095))2111 .L99:2112 0e00 9C01 movw r18,r242113 0e02 AD01 movw r20,r262114 0e04 ECE0 ldi r30,122115 0e06 5595 1: asr r212116 0e08 4795 ror r202117 0e0a 3795 ror r192118 0e0c 2795 ror r182119 0e0e EA95 dec r302120 0e10 01F4 brne 1b2121 0e12 2093 0000 sts tmpl4.30,r182122 0e16 3093 0000 sts (tmpl4.30)+1,r192123 0e1a 4093 0000 sts (tmpl4.30)+2,r202124 0e1e 5093 0000 sts (tmpl4.30)+3,r212125 0e22 8091 0000 lds r24,tmpl3.292126 0e26 9091 0000 lds r25,(tmpl3.29)+12127 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r252128 0e2e 8093 0000 sts KopplungsteilNickRoll,r242129 0e32 8091 0000 lds r24,tmpl4.302130 0e36 9091 0000 lds r25,(tmpl4.30)+12131 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r252132 0e3e 8093 0000 sts KopplungsteilRollNick,r242133 0e42 2219 sub r18,r22134 0e44 3309 sbc r19,r32135 0e46 4409 sbc r20,r42136 0e48 5509 sbc r21,r52137 0e4a 2093 0000 sts tmpl4.30,r182138 0e4e 3093 0000 sts (tmpl4.30)+1,r192139 0e52 4093 0000 sts (tmpl4.30)+2,r202140 0e56 5093 0000 sts (tmpl4.30)+3,r212141 0e5a E20E add r14,r182142 0e5c F31E adc r15,r192143 0e5e 041F adc r16,r202144 0e60 151F adc r17,r212145 0e62 E092 0000 sts ErsatzKompass,r142146 0e66 F092 0000 sts (ErsatzKompass)+1,r152147 0e6a 0093 0000 sts (ErsatzKompass)+2,r162148 0e6e 1093 0000 sts (ErsatzKompass)+3,r172149 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection2150 0e76 8823 tst r242151 0e78 01F4 brne .L1002152 0e7a 57FF sbrs r21,72153 0e7c 00C0 rjmp .L1012154 0e7e 2F5F subi r18,lo8(-(1))2155 0e80 3F4F sbci r19,hi8(-(1))2156 0e82 4F4F sbci r20,hlo8(-(1))2157 0e84 5F4F sbci r21,hhi8(-(1))2158 .L101:2159 0e86 5595 asr r212160 0e88 4795 ror r202161 0e8a 3795 ror r192162 0e8c 2795 ror r182163 0e8e A21A sub r10,r182164 0e90 B30A sbc r11,r192165 0e92 C40A sbc r12,r202166 0e94 D50A sbc r13,r212167 0e96 A092 0000 sts Mess_Integral_Gier,r102168 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r112169 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r122170 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r132171 .L100:2172 0ea6 2A89 ldd r18,Y+182173 0ea8 3B89 ldd r19,Y+192174 0eaa 7901 movw r14,r182175 0eac 0027 clr r162176 0eae F7FC sbrc r15,72177 0eb0 0095 com r162178 0eb2 102F mov r17,r162179 0eb4 8091 0000 lds r24,tmpl4.302180 0eb8 9091 0000 lds r25,(tmpl4.30)+12181 0ebc A091 0000 lds r26,(tmpl4.30)+22182 0ec0 B091 0000 lds r27,(tmpl4.30)+32183 0ec4 E80E add r14,r242184 0ec6 F91E adc r15,r252185 0ec8 0A1F adc r16,r262186 0eca 1B1F adc r17,r272187 0ecc C801 movw r24,r162188 0ece B701 movw r22,r142189 0ed0 2981 ldd r18,Y+12190 0ed2 3A81 ldd r19,Y+22191 0ed4 4B81 ldd r20,Y+32192 0ed6 5C81 ldd r21,Y+42193 0ed8 0E94 0000 call __mulsi32194 0edc 9B01 movw r18,r222195 0ede AC01 movw r20,r242196 0ee0 97FF sbrs r25,72197 0ee2 00C0 rjmp .L1022198 0ee4 2150 subi r18,lo8(-(2047))2199 0ee6 384F sbci r19,hi8(-(2047))2200 0ee8 4F4F sbci r20,hlo8(-(2047))2201 0eea 5F4F sbci r21,hhi8(-(2047))2202 .L102:2203 0eec 6BE0 ldi r22,112204 0eee 5595 1: asr r212205 0ef0 4795 ror r202206 0ef2 3795 ror r192207 0ef4 2795 ror r182208 0ef6 6A95 dec r222209 0ef8 01F4 brne 1b2210 0efa 8091 0000 lds r24,Parameter_AchsKopplung12211 0efe A82E mov r10,r242212 0f00 BB24 clr r112213 0f02 CC24 clr r122214 0f04 DD24 clr r132215 0f06 CA01 movw r24,r202216 0f08 B901 movw r22,r182217 0f0a A601 movw r20,r122218 0f0c 9501 movw r18,r102219 0f0e 0E94 0000 call __mulsi32220 0f12 DC01 movw r26,r242221 0f14 CB01 movw r24,r222222 0f16 8093 0000 sts tmpl.27,r242223 0f1a 9093 0000 sts (tmpl.27)+1,r252224 0f1e A093 0000 sts (tmpl.27)+2,r262225 0f22 B093 0000 sts (tmpl.27)+3,r272226 0f26 B7FF sbrs r27,72227 0f28 00C0 rjmp .L1032228 0f2a 8150 subi r24,lo8(-(4095))2229 0f2c 904F sbci r25,hi8(-(4095))2230 0f2e AF4F sbci r26,hlo8(-(4095))2231 0f30 BF4F sbci r27,hhi8(-(4095))2232 .L103:2233 0f32 3C01 movw r6,r242234 0f34 4D01 movw r8,r262235 0f36 3CE0 ldi r19,122236 0f38 9594 1: asr r92237 0f3a 8794 ror r82238 0f3c 7794 ror r72239 0f3e 6794 ror r62240 0f40 3A95 dec r192241 0f42 01F4 brne 1b2242 0f44 6092 0000 sts tmpl.27,r62243 0f48 7092 0000 sts (tmpl.27)+1,r72244 0f4c 8092 0000 sts (tmpl.27)+2,r82245 0f50 9092 0000 sts (tmpl.27)+3,r92246 0f54 C801 movw r24,r162247 0f56 B701 movw r22,r142248 0f58 2D81 ldd r18,Y+52249 0f5a 3E81 ldd r19,Y+62250 0f5c 4F81 ldd r20,Y+72251 0f5e 5885 ldd r21,Y+82252 0f60 0E94 0000 call __mulsi32253 0f64 97FF sbrs r25,72254 0f66 00C0 rjmp .L1042255 0f68 6150 subi r22,lo8(-(2047))2256 0f6a 784F sbci r23,hi8(-(2047))2257 0f6c 8F4F sbci r24,hlo8(-(2047))2258 0f6e 9F4F sbci r25,hhi8(-(2047))2259 .L104:2260 0f70 2BE0 ldi r18,112261 0f72 9595 1: asr r252262 0f74 8795 ror r242263 0f76 7795 ror r232264 0f78 6795 ror r222265 0f7a 2A95 dec r182266 0f7c 01F4 brne 1b2267 0f7e A601 movw r20,r122268 0f80 9501 movw r18,r102269 0f82 0E94 0000 call __mulsi32270 0f86 DC01 movw r26,r242271 0f88 CB01 movw r24,r222272 0f8a 8093 0000 sts tmpl2.28,r242273 0f8e 9093 0000 sts (tmpl2.28)+1,r252274 0f92 A093 0000 sts (tmpl2.28)+2,r262275 0f96 B093 0000 sts (tmpl2.28)+3,r272276 0f9a B7FF sbrs r27,72277 0f9c 00C0 rjmp .L1052278 0f9e 8150 subi r24,lo8(-(4095))2279 0fa0 904F sbci r25,hi8(-(4095))2280 0fa2 AF4F sbci r26,hlo8(-(4095))2281 0fa4 BF4F sbci r27,hhi8(-(4095))2282 .L105:2283 0fa6 AC01 movw r20,r242284 0fa8 BD01 movw r22,r262285 0faa 8CE0 ldi r24,122286 0fac 7595 1: asr r232287 0fae 6795 ror r222288 0fb0 5795 ror r212289 0fb2 4795 ror r202290 0fb4 8A95 dec r242291 0fb6 01F4 brne 1b2292 0fb8 4093 0000 sts tmpl2.28,r202293 0fbc 5093 0000 sts (tmpl2.28)+1,r212294 0fc0 6093 0000 sts (tmpl2.28)+2,r222295 0fc4 7093 0000 sts (tmpl2.28)+3,r232296 0fc8 2A89 ldd r18,Y+182297 0fca 3B89 ldd r19,Y+192298 0fcc 37FF sbrs r19,72299 0fce 00C0 rjmp .L1072300 0fd0 3095 com r192301 0fd2 2195 neg r182302 0fd4 3F4F sbci r19,lo8(-1)2303 .L107:2304 0fd6 2134 cpi r18,652305 0fd8 3105 cpc r19,__zero_reg__2306 0fda 04F0 brlt .L1122307 0fdc D401 movw r26,r82308 0fde C301 movw r24,r62309 0fe0 97FE sbrs r9,72310 0fe2 00C0 rjmp .L1102311 0fe4 B095 com r272312 0fe6 A095 com r262313 0fe8 9095 com r252314 0fea 8195 neg r242315 0fec 9F4F sbci r25,lo8(-1)2316 0fee AF4F sbci r26,lo8(-1)2317 0ff0 BF4F sbci r27,lo8(-1)2318 .L110:2319 0ff2 8138 cpi r24,lo8(129)2320 0ff4 9105 cpc r25,__zero_reg__2321 0ff6 A105 cpc r26,__zero_reg__2322 0ff8 B105 cpc r27,__zero_reg__2323 0ffa 04F4 brge .L1092324 0ffc DB01 movw r26,r222325 0ffe CA01 movw r24,r202326 1000 77FF sbrs r23,72327 1002 00C0 rjmp .L1112328 1004 B095 com r272329 1006 A095 com r262330 1008 9095 com r252331 100a 8195 neg r242332 100c 9F4F sbci r25,lo8(-1)2333 100e AF4F sbci r26,lo8(-1)2334 1010 BF4F sbci r27,lo8(-1)2335 .L111:2336 1012 8138 cpi r24,lo8(129)2337 1014 9105 cpc r25,__zero_reg__2338 1016 A105 cpc r26,__zero_reg__2339 1018 B105 cpc r27,__zero_reg__2340 101a 04F0 brlt .L1122341 .L109:2342 101c 81E0 ldi r24,lo8(1)2343 101e 8093 0000 sts TrichterFlug,r242344 1022 00C0 rjmp .L1122345 .L95:2346 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2347 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__2348 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2349 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2350 1034 1092 0000 sts tmpl2.28,__zero_reg__2351 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__2352 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__2353 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__2354 1044 1092 0000 sts tmpl.27,__zero_reg__2355 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__2356 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__2357 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__2358 .L112:2359 1054 8091 0000 lds r24,tmpl2.282360 1058 9091 0000 lds r25,(tmpl2.28)+12361 105c A091 0000 lds r26,(tmpl2.28)+22362 1060 B091 0000 lds r27,(tmpl2.28)+32363 1064 BC01 movw r22,r242364 1066 CD01 movw r24,r262365 1068 24E6 ldi r18,lo8(100)2366 106a 30E0 ldi r19,hi8(100)2367 106c 40E0 ldi r20,hlo8(100)2368 106e 50E0 ldi r21,hhi8(100)2369 1070 0E94 0000 call __divmodsi42370 1074 E090 0000 lds r14,tmpl.272371 1078 F090 0000 lds r15,(tmpl.27)+12372 107c E21A sub r14,r182373 107e F30A sbc r15,r192374 1080 F092 0000 sts (TrimRoll)+1,r152375 1084 E092 0000 sts TrimRoll,r142376 1088 8091 0000 lds r24,tmpl.272377 108c 9091 0000 lds r25,(tmpl.27)+12378 1090 A091 0000 lds r26,(tmpl.27)+22379 1094 B091 0000 lds r27,(tmpl.27)+32380 1098 BC01 movw r22,r242381 109a CD01 movw r24,r262382 109c 24E6 ldi r18,lo8(100)2383 109e 30E0 ldi r19,hi8(100)2384 10a0 40E0 ldi r20,hlo8(100)2385 10a2 50E0 ldi r21,hhi8(100)2386 10a4 0E94 0000 call __divmodsi42387 10a8 DA01 movw r26,r202388 10aa C901 movw r24,r182389 10ac 2091 0000 lds r18,tmpl2.282390 10b0 3091 0000 lds r19,(tmpl2.28)+12391 10b4 8C01 movw r16,r242392 10b6 021B sub r16,r182393 10b8 130B sbc r17,r192394 10ba 1093 0000 sts (TrimNick)+1,r172395 10be 0093 0000 sts TrimNick,r162396 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR2397 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12398 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22399 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32400 10d2 BC01 movw r22,r242401 10d4 CD01 movw r24,r262402 10d6 28E6 ldi r18,lo8(360)2403 10d8 31E0 ldi r19,hi8(360)2404 10da 40E0 ldi r20,hlo8(360)2405 10dc 50E0 ldi r21,hhi8(360)2406 10de 0E94 0000 call __mulsi32407 10e2 2091 0000 lds r18,ErsatzKompass2408 10e6 3091 0000 lds r19,(ErsatzKompass)+12409 10ea 4091 0000 lds r20,(ErsatzKompass)+22410 10ee 5091 0000 lds r21,(ErsatzKompass)+32411 10f2 2617 cp r18,r222412 10f4 3707 cpc r19,r232413 10f6 4807 cpc r20,r242414 10f8 5907 cpc r21,r252415 10fa 04F0 brlt .L1132416 10fc 261B sub r18,r222417 10fe 370B sbc r19,r232418 1100 480B sbc r20,r242419 1102 590B sbc r21,r252420 1104 2093 0000 sts ErsatzKompass,r182421 1108 3093 0000 sts (ErsatzKompass)+1,r192422 110c 4093 0000 sts (ErsatzKompass)+2,r202423 1110 5093 0000 sts (ErsatzKompass)+3,r212424 .L113:2425 1114 2091 0000 lds r18,ErsatzKompass2426 1118 3091 0000 lds r19,(ErsatzKompass)+12427 111c 4091 0000 lds r20,(ErsatzKompass)+22428 1120 5091 0000 lds r21,(ErsatzKompass)+32429 1124 57FF sbrs r21,72430 1126 00C0 rjmp .L1142431 1128 260F add r18,r222432 112a 371F adc r19,r232433 112c 481F adc r20,r242434 112e 591F adc r21,r252435 1130 2093 0000 sts ErsatzKompass,r182436 1134 3093 0000 sts (ErsatzKompass)+1,r192437 1138 4093 0000 sts (ErsatzKompass)+2,r202438 113c 5093 0000 sts (ErsatzKompass)+3,r212439 .L114:2440 1140 6091 0000 lds r22,MesswertRoll2441 1144 7091 0000 lds r23,(MesswertRoll)+12442 1148 6E0D add r22,r142443 114a 7F1D adc r23,r152444 114c 9B01 movw r18,r222445 114e 4427 clr r202446 1150 37FD sbrc r19,72447 1152 4095 com r202448 1154 542F mov r21,r202449 1156 8091 0000 lds r24,Mess_IntegralRoll22450 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+12451 115e A091 0000 lds r26,(Mess_IntegralRoll2)+22452 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+32453 1166 820F add r24,r182454 1168 931F adc r25,r192455 116a A41F adc r26,r202456 116c B51F adc r27,r212457 116e 8093 0000 sts Mess_IntegralRoll2,r242458 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r252459 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r262460 117a B093 0000 sts (Mess_IntegralRoll2)+3,r272461 117e 8091 0000 lds r24,LageKorrekturRoll2462 1182 9091 0000 lds r25,(LageKorrekturRoll)+12463 1186 681B sub r22,r242464 1188 790B sbc r23,r252465 118a CB01 movw r24,r222466 118c AA27 clr r262467 118e 97FD sbrc r25,72468 1190 A095 com r262469 1192 BA2F mov r27,r262470 1194 2985 ldd r18,Y+92471 1196 3A85 ldd r19,Y+102472 1198 4B85 ldd r20,Y+112473 119a 5C85 ldd r21,Y+122474 119c 820F add r24,r182475 119e 931F adc r25,r192476 11a0 A41F adc r26,r202477 11a2 B51F adc r27,r212478 11a4 8093 0000 sts Mess_IntegralRoll,r242479 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r252480 11ac A093 0000 sts (Mess_IntegralRoll)+2,r262481 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r272482 11b4 C090 0000 lds r12,Umschlag180Roll2483 11b8 D090 0000 lds r13,(Umschlag180Roll)+12484 11bc E090 0000 lds r14,(Umschlag180Roll)+22485 11c0 F090 0000 lds r15,(Umschlag180Roll)+32486 11c4 C816 cp r12,r242487 11c6 D906 cpc r13,r252488 11c8 EA06 cpc r14,r262489 11ca FB06 cpc r15,r272490 11cc 04F4 brge .L1152491 11ce 88EA ldi r24,lo8(25000)2492 11d0 91E6 ldi r25,hi8(25000)2493 11d2 A0E0 ldi r26,hlo8(25000)2494 11d4 B0E0 ldi r27,hhi8(25000)2495 11d6 8C19 sub r24,r122496 11d8 9D09 sbc r25,r132497 11da AE09 sbc r26,r142498 11dc BF09 sbc r27,r152499 11de 8093 0000 sts Mess_IntegralRoll,r242500 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r252501 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r262502 11ea B093 0000 sts (Mess_IntegralRoll)+3,r272503 11ee 8093 0000 sts Mess_IntegralRoll2,r242504 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r252505 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r262506 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r272507 .L115:2508 11fe 2227 clr r182509 1200 3327 clr r192510 1202 A901 movw r20,r182511 1204 2C19 sub r18,r122512 1206 3D09 sbc r19,r132513 1208 4E09 sbc r20,r142514 120a 5F09 sbc r21,r152515 120c 8091 0000 lds r24,Mess_IntegralRoll2516 1210 9091 0000 lds r25,(Mess_IntegralRoll)+12517 1214 A091 0000 lds r26,(Mess_IntegralRoll)+22518 1218 B091 0000 lds r27,(Mess_IntegralRoll)+32519 121c 8217 cp r24,r182520 121e 9307 cpc r25,r192521 1220 A407 cpc r26,r202522 1222 B507 cpc r27,r212523 1224 04F4 brge .L1162524 1226 D701 movw r26,r142525 1228 C601 movw r24,r122526 122a 885A subi r24,lo8(-(-25000))2527 122c 9146 sbci r25,hi8(-(-25000))2528 122e A040 sbci r26,hlo8(-(-25000))2529 1230 B040 sbci r27,hhi8(-(-25000))2530 1232 8093 0000 sts Mess_IntegralRoll,r242531 1236 9093 0000 sts (Mess_IntegralRoll)+1,r252532 123a A093 0000 sts (Mess_IntegralRoll)+2,r262533 123e B093 0000 sts (Mess_IntegralRoll)+3,r272534 1242 8093 0000 sts Mess_IntegralRoll2,r242535 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r252536 124a A093 0000 sts (Mess_IntegralRoll2)+2,r262537 124e B093 0000 sts (Mess_IntegralRoll2)+3,r272538 .L116:2539 1252 6091 0000 lds r22,MesswertNick2540 1256 7091 0000 lds r23,(MesswertNick)+12541 125a 600F add r22,r162542 125c 711F adc r23,r172543 125e 9B01 movw r18,r222544 1260 4427 clr r202545 1262 37FD sbrc r19,72546 1264 4095 com r202547 1266 542F mov r21,r202548 1268 8091 0000 lds r24,Mess_IntegralNick22549 126c 9091 0000 lds r25,(Mess_IntegralNick2)+12550 1270 A091 0000 lds r26,(Mess_IntegralNick2)+22551 1274 B091 0000 lds r27,(Mess_IntegralNick2)+32552 1278 820F add r24,r182553 127a 931F adc r25,r192554 127c A41F adc r26,r202555 127e B51F adc r27,r212556 1280 8093 0000 sts Mess_IntegralNick2,r242557 1284 9093 0000 sts (Mess_IntegralNick2)+1,r252558 1288 A093 0000 sts (Mess_IntegralNick2)+2,r262559 128c B093 0000 sts (Mess_IntegralNick2)+3,r272560 1290 8091 0000 lds r24,LageKorrekturNick2561 1294 9091 0000 lds r25,(LageKorrekturNick)+12562 1298 681B sub r22,r242563 129a 790B sbc r23,r252564 129c CB01 movw r24,r222565 129e AA27 clr r262566 12a0 97FD sbrc r25,72567 12a2 A095 com r262568 12a4 BA2F mov r27,r262569 12a6 2D85 ldd r18,Y+132570 12a8 3E85 ldd r19,Y+142571 12aa 4F85 ldd r20,Y+152572 12ac 5889 ldd r21,Y+162573 12ae 820F add r24,r182574 12b0 931F adc r25,r192575 12b2 A41F adc r26,r202576 12b4 B51F adc r27,r212577 12b6 8093 0000 sts Mess_IntegralNick,r242578 12ba 9093 0000 sts (Mess_IntegralNick)+1,r252579 12be A093 0000 sts (Mess_IntegralNick)+2,r262580 12c2 B093 0000 sts (Mess_IntegralNick)+3,r272581 12c6 E090 0000 lds r14,Umschlag180Nick2582 12ca F090 0000 lds r15,(Umschlag180Nick)+12583 12ce 0091 0000 lds r16,(Umschlag180Nick)+22584 12d2 1091 0000 lds r17,(Umschlag180Nick)+32585 12d6 E816 cp r14,r242586 12d8 F906 cpc r15,r252587 12da 0A07 cpc r16,r262588 12dc 1B07 cpc r17,r272589 12de 04F4 brge .L1172590 12e0 88EA ldi r24,lo8(25000)2591 12e2 91E6 ldi r25,hi8(25000)2592 12e4 A0E0 ldi r26,hlo8(25000)2593 12e6 B0E0 ldi r27,hhi8(25000)2594 12e8 8E19 sub r24,r142595 12ea 9F09 sbc r25,r152596 12ec A00B sbc r26,r162597 12ee B10B sbc r27,r172598 12f0 8093 0000 sts Mess_IntegralNick,r242599 12f4 9093 0000 sts (Mess_IntegralNick)+1,r252600 12f8 A093 0000 sts (Mess_IntegralNick)+2,r262601 12fc B093 0000 sts (Mess_IntegralNick)+3,r272602 1300 8093 0000 sts Mess_IntegralNick2,r242603 1304 9093 0000 sts (Mess_IntegralNick2)+1,r252604 1308 A093 0000 sts (Mess_IntegralNick2)+2,r262605 130c B093 0000 sts (Mess_IntegralNick2)+3,r272606 .L117:2607 1310 2227 clr r182608 1312 3327 clr r192609 1314 A901 movw r20,r182610 1316 2E19 sub r18,r142611 1318 3F09 sbc r19,r152612 131a 400B sbc r20,r162613 131c 510B sbc r21,r172614 131e 8091 0000 lds r24,Mess_IntegralNick2615 1322 9091 0000 lds r25,(Mess_IntegralNick)+12616 1326 A091 0000 lds r26,(Mess_IntegralNick)+22617 132a B091 0000 lds r27,(Mess_IntegralNick)+32618 132e 8217 cp r24,r182619 1330 9307 cpc r25,r192620 1332 A407 cpc r26,r202621 1334 B507 cpc r27,r212622 1336 04F4 brge .L1182623 1338 D801 movw r26,r162624 133a C701 movw r24,r142625 133c 885A subi r24,lo8(-(-25000))2626 133e 9146 sbci r25,hi8(-(-25000))2627 1340 A040 sbci r26,hlo8(-(-25000))2628 1342 B040 sbci r27,hhi8(-(-25000))2629 1344 8093 0000 sts Mess_IntegralNick,r242630 1348 9093 0000 sts (Mess_IntegralNick)+1,r252631 134c A093 0000 sts (Mess_IntegralNick)+2,r262632 1350 B093 0000 sts (Mess_IntegralNick)+3,r272633 1354 8093 0000 sts Mess_IntegralNick2,r242634 1358 9093 0000 sts (Mess_IntegralNick2)+1,r252635 135c A093 0000 sts (Mess_IntegralNick2)+2,r262636 1360 B093 0000 sts (Mess_IntegralNick2)+3,r272637 .L118:2638 1364 8091 0000 lds r24,Mess_Integral_Gier2639 1368 9091 0000 lds r25,(Mess_Integral_Gier)+12640 136c A091 0000 lds r26,(Mess_Integral_Gier)+22641 1370 B091 0000 lds r27,(Mess_Integral_Gier)+32642 1374 8093 0000 sts Integral_Gier,r242643 1378 9093 0000 sts (Integral_Gier)+1,r252644 137c A093 0000 sts (Integral_Gier)+2,r262645 1380 B093 0000 sts (Integral_Gier)+3,r272646 1384 8091 0000 lds r24,Mess_IntegralNick2647 1388 9091 0000 lds r25,(Mess_IntegralNick)+12648 138c A091 0000 lds r26,(Mess_IntegralNick)+22649 1390 B091 0000 lds r27,(Mess_IntegralNick)+32650 1394 8093 0000 sts IntegralNick,r242651 1398 9093 0000 sts (IntegralNick)+1,r252652 139c A093 0000 sts (IntegralNick)+2,r262653 13a0 B093 0000 sts (IntegralNick)+3,r272654 13a4 8091 0000 lds r24,Mess_IntegralRoll2655 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+12656 13ac A091 0000 lds r26,(Mess_IntegralRoll)+22657 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+32658 13b4 8093 0000 sts IntegralRoll,r242659 13b8 9093 0000 sts (IntegralRoll)+1,r252660 13bc A093 0000 sts (IntegralRoll)+2,r262661 13c0 B093 0000 sts (IntegralRoll)+3,r272662 13c4 8091 0000 lds r24,Mess_IntegralNick22663 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+12664 13cc A091 0000 lds r26,(Mess_IntegralNick2)+22665 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+32666 13d4 8093 0000 sts IntegralNick2,r242667 13d8 9093 0000 sts (IntegralNick2)+1,r252668 13dc A093 0000 sts (IntegralNick2)+2,r262669 13e0 B093 0000 sts (IntegralNick2)+3,r272670 13e4 8091 0000 lds r24,Mess_IntegralRoll22671 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+12672 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+22673 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+32674 13f4 8093 0000 sts IntegralRoll2,r242675 13f8 9093 0000 sts (IntegralRoll2)+1,r252676 13fc A093 0000 sts (IntegralRoll2)+2,r262677 1400 B093 0000 sts (IntegralRoll2)+3,r272678 1404 8091 0000 lds r24,HiResNick2679 1408 9091 0000 lds r25,(HiResNick)+12680 140c 97FD sbrc r25,72681 140e 0796 adiw r24,72682 .L119:2683 1410 03E0 ldi r16,32684 1412 9595 1: asr r252685 1414 8795 ror r242686 1416 0A95 dec r162687 1418 01F4 brne 1b2688 141a 9093 0000 sts (MesswertNick)+1,r252689 141e 8093 0000 sts MesswertNick,r242690 1422 8091 0000 lds r24,HiResRoll2691 1426 9091 0000 lds r25,(HiResRoll)+12692 142a 97FD sbrc r25,72693 142c 0796 adiw r24,72694 .L120:2695 142e 13E0 ldi r17,32696 1430 9595 1: asr r252697 1432 8795 ror r242698 1434 1A95 dec r172699 1436 01F4 brne 1b2700 1438 9093 0000 sts (MesswertRoll)+1,r252701 143c 8093 0000 sts MesswertRoll,r242702 1440 8091 0000 lds r24,AdWertNick2703 1444 9091 0000 lds r25,(AdWertNick)+12704 1448 0F97 sbiw r24,152705 144a 04F4 brge .L1212706 144c 88E1 ldi r24,lo8(-1000)2707 144e 9CEF ldi r25,hi8(-1000)2708 1450 9093 0000 sts (MesswertNick)+1,r252709 1454 8093 0000 sts MesswertNick,r242710 .L121:2711 1458 8091 0000 lds r24,AdWertNick2712 145c 9091 0000 lds r25,(AdWertNick)+12713 1460 0797 sbiw r24,72714 1462 04F4 brge .L1222715 1464 80E3 ldi r24,lo8(-2000)2716 1466 98EF ldi r25,hi8(-2000)2717 1468 9093 0000 sts (MesswertNick)+1,r252718 146c 8093 0000 sts MesswertNick,r242719 .L122:2720 1470 2091 0000 lds r18,PlatinenVersion2721 1474 2A30 cpi r18,lo8(10)2722 1476 01F4 brne .L1232723 1478 8091 0000 lds r24,AdWertNick2724 147c 9091 0000 lds r25,(AdWertNick)+12725 1480 835F subi r24,lo8(1011)2726 1482 9340 sbci r25,hi8(1011)2727 1484 04F0 brlt .L1242728 1486 88EE ldi r24,lo8(1000)2729 1488 93E0 ldi r25,hi8(1000)2730 148a 9093 0000 sts (MesswertNick)+1,r252731 148e 8093 0000 sts MesswertNick,r242732 .L124:2733 1492 8091 0000 lds r24,AdWertNick2734 1496 9091 0000 lds r25,(AdWertNick)+12735 149a 8A5F subi r24,lo8(1018)2736 149c 9340 sbci r25,hi8(1018)2737 149e 04F0 brlt .L1262738 14a0 00C0 rjmp .L1692739 .L123:2740 14a2 8091 0000 lds r24,AdWertNick2741 14a6 9091 0000 lds r25,(AdWertNick)+12742 14aa 815D subi r24,lo8(2001)2743 14ac 9740 sbci r25,hi8(2001)2744 14ae 04F0 brlt .L1272745 14b0 88EE ldi r24,lo8(1000)2746 14b2 93E0 ldi r25,hi8(1000)2747 14b4 9093 0000 sts (MesswertNick)+1,r252748 14b8 8093 0000 sts MesswertNick,r242749 .L127:2750 14bc 8091 0000 lds r24,AdWertNick2751 14c0 9091 0000 lds r25,(AdWertNick)+12752 14c4 805E subi r24,lo8(2016)2753 14c6 9740 sbci r25,hi8(2016)2754 14c8 04F0 brlt .L1262755 .L169:2756 14ca 80ED ldi r24,lo8(2000)2757 14cc 97E0 ldi r25,hi8(2000)2758 14ce 9093 0000 sts (MesswertNick)+1,r252759 14d2 8093 0000 sts MesswertNick,r242760 .L126:2761 14d6 8091 0000 lds r24,AdWertRoll2762 14da 9091 0000 lds r25,(AdWertRoll)+12763 14de 0F97 sbiw r24,152764 14e0 04F4 brge .L1292765 14e2 88E1 ldi r24,lo8(-1000)2766 14e4 9CEF ldi r25,hi8(-1000)2767 14e6 9093 0000 sts (MesswertRoll)+1,r252768 14ea 8093 0000 sts MesswertRoll,r242769 .L129:2770 14ee 8091 0000 lds r24,AdWertRoll2771 14f2 9091 0000 lds r25,(AdWertRoll)+12772 14f6 0797 sbiw r24,72773 14f8 04F4 brge .L1302774 14fa 80E3 ldi r24,lo8(-2000)2775 14fc 98EF ldi r25,hi8(-2000)2776 14fe 9093 0000 sts (MesswertRoll)+1,r252777 1502 8093 0000 sts MesswertRoll,r242778 .L130:2779 1506 2A30 cpi r18,lo8(10)2780 1508 01F4 brne .L1312781 150a 8091 0000 lds r24,AdWertRoll2782 150e 9091 0000 lds r25,(AdWertRoll)+12783 1512 835F subi r24,lo8(1011)2784 1514 9340 sbci r25,hi8(1011)2785 1516 04F0 brlt .L1322786 1518 88EE ldi r24,lo8(1000)2787 151a 93E0 ldi r25,hi8(1000)2788 151c 9093 0000 sts (MesswertRoll)+1,r252789 1520 8093 0000 sts MesswertRoll,r242790 .L132:2791 1524 8091 0000 lds r24,AdWertRoll2792 1528 9091 0000 lds r25,(AdWertRoll)+12793 152c 8A5F subi r24,lo8(1018)2794 152e 9340 sbci r25,hi8(1018)2795 1530 04F0 brlt .L1342796 1532 00C0 rjmp .L1702797 .L131:2798 1534 8091 0000 lds r24,AdWertRoll2799 1538 9091 0000 lds r25,(AdWertRoll)+12800 153c 815D subi r24,lo8(2001)2801 153e 9740 sbci r25,hi8(2001)2802 1540 04F0 brlt .L1352803 1542 88EE ldi r24,lo8(1000)2804 1544 93E0 ldi r25,hi8(1000)2805 1546 9093 0000 sts (MesswertRoll)+1,r252806 154a 8093 0000 sts MesswertRoll,r242807 .L135:2808 154e 8091 0000 lds r24,AdWertRoll2809 1552 9091 0000 lds r25,(AdWertRoll)+12810 1556 805E subi r24,lo8(2016)2811 1558 9740 sbci r25,hi8(2016)2812 155a 04F0 brlt .L1342813 .L170:2814 155c 80ED ldi r24,lo8(2000)2815 155e 97E0 ldi r25,hi8(2000)2816 1560 9093 0000 sts (MesswertRoll)+1,r252817 1564 8093 0000 sts MesswertRoll,r242818 .L134:2819 1568 6091 0000 lds r22,Parameter_Gyro_D2820 156c 6623 tst r222821 156e 01F4 brne .+22822 1570 00C0 rjmp .L1372823 1572 4091 0000 lds r20,HiResNick2824 1576 5091 0000 lds r21,(HiResNick)+12825 157a 8091 0000 lds r24,oldNick.312826 157e 9091 0000 lds r25,(oldNick.31)+12827 1582 481B sub r20,r242828 1584 590B sbc r21,r252829 1586 5093 0000 sts (d2Nick.34)+1,r212830 158a 4093 0000 sts d2Nick.34,r202831 158e 2091 0000 lds r18,HiResNick2832 1592 3091 0000 lds r19,(HiResNick)+12833 1596 280F add r18,r242834 1598 391F adc r19,r252835 159a 37FF sbrs r19,72836 159c 00C0 rjmp .L1382837 159e 2F5F subi r18,lo8(-(1))2838 15a0 3F4F sbci r19,hi8(-(1))2839 .L138:2840 15a2 3595 asr r192841 15a4 2795 ror r182842 15a6 3093 0000 sts (oldNick.31)+1,r192843 15aa 2093 0000 sts oldNick.31,r182844 15ae 4138 cpi r20,1292845 15b0 5105 cpc r21,__zero_reg__2846 15b2 04F0 brlt .L1392847 15b4 80E8 ldi r24,lo8(128)2848 15b6 90E0 ldi r25,hi8(128)2849 15b8 00C0 rjmp .L1712850 .L139:2851 15ba 4058 subi r20,lo8(-128)2852 15bc 5F4F sbci r21,hi8(-128)2853 15be 04F4 brge .L1402854 15c0 80E8 ldi r24,lo8(-128)2855 15c2 9FEF ldi r25,hi8(-128)2856 .L171:2857 15c4 9093 0000 sts (d2Nick.34)+1,r252858 15c8 8093 0000 sts d2Nick.34,r242859 .L140:2860 15cc 4091 0000 lds r20,HiResRoll2861 15d0 5091 0000 lds r21,(HiResRoll)+12862 15d4 8091 0000 lds r24,oldRoll.322863 15d8 9091 0000 lds r25,(oldRoll.32)+12864 15dc 481B sub r20,r242865 15de 590B sbc r21,r252866 15e0 5093 0000 sts (d2Roll.33)+1,r212867 15e4 4093 0000 sts d2Roll.33,r202868 15e8 2091 0000 lds r18,HiResRoll2869 15ec 3091 0000 lds r19,(HiResRoll)+12870 15f0 280F add r18,r242871 15f2 391F adc r19,r252872 15f4 37FF sbrs r19,72873 15f6 00C0 rjmp .L1422874 15f8 2F5F subi r18,lo8(-(1))2875 15fa 3F4F sbci r19,hi8(-(1))2876 .L142:2877 15fc 3595 asr r192878 15fe 2795 ror r182879 1600 3093 0000 sts (oldRoll.32)+1,r192880 1604 2093 0000 sts oldRoll.32,r182881 1608 4138 cpi r20,1292882 160a 5105 cpc r21,__zero_reg__2883 160c 04F0 brlt .L1432884 160e 80E8 ldi r24,lo8(128)2885 1610 90E0 ldi r25,hi8(128)2886 1612 00C0 rjmp .L1722887 .L143:2888 1614 4058 subi r20,lo8(-128)2889 1616 5F4F sbci r21,hi8(-128)2890 1618 04F4 brge .L1442891 161a 80E8 ldi r24,lo8(-128)2892 161c 9FEF ldi r25,hi8(-128)2893 .L172:2894 161e 9093 0000 sts (d2Roll.33)+1,r252895 1622 8093 0000 sts d2Roll.33,r242896 .L144:2897 1626 462F mov r20,r222898 1628 5527 clr r212899 162a 8091 0000 lds r24,d2Nick.342900 162e 9091 0000 lds r25,(d2Nick.34)+12901 1632 849F mul r24,r202902 1634 B001 movw r22,r02903 1636 859F mul r24,r212904 1638 700D add r23,r02905 163a 949F mul r25,r202906 163c 700D add r23,r02907 163e 1124 clr r12908 1640 9B01 movw r18,r222909 1642 77FF sbrs r23,72910 1644 00C0 rjmp .L1462911 1646 215F subi r18,lo8(-(15))2912 1648 3F4F sbci r19,hi8(-(15))2913 .L146:2914 164a F4E0 ldi r31,42915 164c 3595 1: asr r192916 164e 2795 ror r182917 1650 FA95 dec r312918 1652 01F4 brne 1b2919 1654 8091 0000 lds r24,MesswertNick2920 1658 9091 0000 lds r25,(MesswertNick)+12921 165c 820F add r24,r182922 165e 931F adc r25,r192923 1660 9093 0000 sts (MesswertNick)+1,r252924 1664 8093 0000 sts MesswertNick,r242925 1668 8091 0000 lds r24,d2Roll.332926 166c 9091 0000 lds r25,(d2Roll.33)+12927 1670 849F mul r24,r202928 1672 D001 movw r26,r02929 1674 859F mul r24,r212930 1676 B00D add r27,r02931 1678 949F mul r25,r202932 167a B00D add r27,r02933 167c 1124 clr r12934 167e AD01 movw r20,r262935 1680 9D01 movw r18,r262936 1682 B7FF sbrs r27,72937 1684 00C0 rjmp .L1472938 1686 215F subi r18,lo8(-(15))2939 1688 3F4F sbci r19,hi8(-(15))2940 .L147:2941 168a E4E0 ldi r30,42942 168c 3595 1: asr r192943 168e 2795 ror r182944 1690 EA95 dec r302945 1692 01F4 brne 1b2946 1694 8091 0000 lds r24,MesswertRoll2947 1698 9091 0000 lds r25,(MesswertRoll)+12948 169c 820F add r24,r182949 169e 931F adc r25,r192950 16a0 9093 0000 sts (MesswertRoll)+1,r252951 16a4 8093 0000 sts MesswertRoll,r242952 16a8 8091 0000 lds r24,HiResNick2953 16ac 9091 0000 lds r25,(HiResNick)+12954 16b0 860F add r24,r222955 16b2 971F adc r25,r232956 16b4 9093 0000 sts (HiResNick)+1,r252957 16b8 8093 0000 sts HiResNick,r242958 16bc 8091 0000 lds r24,HiResRoll2959 16c0 9091 0000 lds r25,(HiResRoll)+12960 16c4 840F add r24,r202961 16c6 951F adc r25,r212962 16c8 9093 0000 sts (HiResRoll)+1,r252963 16cc 8093 0000 sts HiResRoll,r242964 .L137:2965 16d0 0091 0000 lds r16,RohMesswertRoll2966 16d4 1091 0000 lds r17,(RohMesswertRoll)+12967 16d8 8091 0000 lds r24,KopplungsteilNickRoll2968 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+12969 16e0 1016 cp __zero_reg__,r162970 16e2 1106 cpc __zero_reg__,r172971 16e4 04F4 brge .L1482972 16e6 9C01 movw r18,r242973 16e8 97FF sbrs r25,72974 16ea 00C0 rjmp .L1492975 16ec 2227 clr r182976 16ee 3327 clr r192977 16f0 281B sub r18,r242978 16f2 390B sbc r19,r252979 .L149:2980 16f4 C901 movw r24,r182981 16f6 AA27 clr r262982 16f8 97FD sbrc r25,72983 16fa A095 com r262984 16fc BA2F mov r27,r262985 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection2986 1702 3327 clr r192987 1704 4427 clr r202988 1706 5527 clr r212989 1708 BC01 movw r22,r242990 170a CD01 movw r24,r262991 170c 0E94 0000 call __mulsi32992 1710 9B01 movw r18,r222993 1712 AC01 movw r20,r242994 1714 97FF sbrs r25,72995 1716 00C0 rjmp .L1502996 1718 215C subi r18,lo8(-(63))2997 171a 3F4F sbci r19,hi8(-(63))2998 171c 4F4F sbci r20,hlo8(-(63))2999 171e 5F4F sbci r21,hhi8(-(63))3000 .L150:3001 1720 76E0 ldi r23,63002 1722 5595 1: asr r213003 1724 4795 ror r203004 1726 3795 ror r193005 1728 2795 ror r183006 172a 7A95 dec r233007 172c 01F4 brne 1b3008 172e 8091 0000 lds r24,TrimRoll3009 1732 9091 0000 lds r25,(TrimRoll)+13010 1736 820F add r24,r183011 1738 931F adc r25,r193012 173a 00C0 rjmp .L1733013 .L148:3014 173c 97FF sbrs r25,73015 173e 00C0 rjmp .L1523016 1740 9095 com r253017 1742 8195 neg r243018 1744 9F4F sbci r25,lo8(-1)3019 .L152:3020 1746 AA27 clr r263021 1748 97FD sbrc r25,73022 174a A095 com r263023 174c BA2F mov r27,r263024 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection3025 1752 3327 clr r193026 1754 4427 clr r203027 1756 5527 clr r213028 1758 BC01 movw r22,r243029 175a CD01 movw r24,r263030 175c 0E94 0000 call __mulsi33031 1760 9B01 movw r18,r223032 1762 AC01 movw r20,r243033 1764 97FF sbrs r25,73034 1766 00C0 rjmp .L1533035 1768 215C subi r18,lo8(-(63))3036 176a 3F4F sbci r19,hi8(-(63))3037 176c 4F4F sbci r20,hlo8(-(63))3038 176e 5F4F sbci r21,hhi8(-(63))3039 .L153:3040 1770 66E0 ldi r22,63041 1772 5595 1: asr r213042 1774 4795 ror r203043 1776 3795 ror r193044 1778 2795 ror r183045 177a 6A95 dec r223046 177c 01F4 brne 1b3047 177e 8091 0000 lds r24,TrimRoll3048 1782 9091 0000 lds r25,(TrimRoll)+13049 1786 821B sub r24,r183050 1788 930B sbc r25,r193051 .L173:3052 178a 9093 0000 sts (TrimRoll)+1,r253053 178e 8093 0000 sts TrimRoll,r243054 1792 E090 0000 lds r14,RohMesswertNick3055 1796 F090 0000 lds r15,(RohMesswertNick)+13056 179a 8091 0000 lds r24,KopplungsteilRollNick3057 179e 9091 0000 lds r25,(KopplungsteilRollNick)+13058 17a2 1E14 cp __zero_reg__,r143059 17a4 1F04 cpc __zero_reg__,r153060 17a6 04F4 brge .L1543061 17a8 9C01 movw r18,r243062 17aa 97FF sbrs r25,73063 17ac 00C0 rjmp .L1553064 17ae 2227 clr r183065 17b0 3327 clr r193066 17b2 281B sub r18,r243067 17b4 390B sbc r19,r253068 .L155:3069 17b6 C901 movw r24,r183070 17b8 AA27 clr r263071 17ba 97FD sbrc r25,73072 17bc A095 com r263073 17be BA2F mov r27,r263074 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection3075 17c4 3327 clr r193076 17c6 4427 clr r203077 17c8 5527 clr r213078 17ca BC01 movw r22,r243079 17cc CD01 movw r24,r263080 17ce 0E94 0000 call __mulsi33081 17d2 9B01 movw r18,r223082 17d4 AC01 movw r20,r243083 17d6 97FF sbrs r25,73084 17d8 00C0 rjmp .L1563085 17da 215C subi r18,lo8(-(63))3086 17dc 3F4F sbci r19,hi8(-(63))3087 17de 4F4F sbci r20,hlo8(-(63))3088 17e0 5F4F sbci r21,hhi8(-(63))3089 .L156:3090 17e2 96E0 ldi r25,63091 17e4 5595 1: asr r213092 17e6 4795 ror r203093 17e8 3795 ror r193094 17ea 2795 ror r183095 17ec 9A95 dec r253096 17ee 01F4 brne 1b3097 17f0 8091 0000 lds r24,TrimNick3098 17f4 9091 0000 lds r25,(TrimNick)+13099 17f8 820F add r24,r183100 17fa 931F adc r25,r193101 17fc 00C0 rjmp .L1743102 .L154:3103 17fe 97FF sbrs r25,73104 1800 00C0 rjmp .L1583105 1802 9095 com r253106 1804 8195 neg r243107 1806 9F4F sbci r25,lo8(-1)3108 .L158:3109 1808 AA27 clr r263110 180a 97FD sbrc r25,73111 180c A095 com r263112 180e BA2F mov r27,r263113 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection3114 1814 3327 clr r193115 1816 4427 clr r203116 1818 5527 clr r213117 181a BC01 movw r22,r243118 181c CD01 movw r24,r263119 181e 0E94 0000 call __mulsi33120 1822 9B01 movw r18,r223121 1824 AC01 movw r20,r243122 1826 97FF sbrs r25,73123 1828 00C0 rjmp .L1593124 182a 215C subi r18,lo8(-(63))3125 182c 3F4F sbci r19,hi8(-(63))3126 182e 4F4F sbci r20,hlo8(-(63))3127 1830 5F4F sbci r21,hhi8(-(63))3128 .L159:3129 1832 86E0 ldi r24,63130 1834 5595 1: asr r213131 1836 4795 ror r203132 1838 3795 ror r193133 183a 2795 ror r183134 183c 8A95 dec r243135 183e 01F4 brne 1b3136 1840 8091 0000 lds r24,TrimNick3137 1844 9091 0000 lds r25,(TrimNick)+13138 1848 821B sub r24,r183139 184a 930B sbc r25,r193140 .L174:3141 184c 9093 0000 sts (TrimNick)+1,r253142 1850 8093 0000 sts TrimNick,r243143 1854 8091 0000 lds r24,Parameter_GlobalConfig3144 1858 87FF sbrs r24,73145 185a 00C0 rjmp .L823146 185c B989 ldd r27,Y+173147 185e BB23 tst r273148 1860 01F0 breq .+23149 1862 00C0 rjmp .L823150 1864 8091 0000 lds r24,Looping_Roll3151 1868 8823 tst r243152 186a 01F4 brne .L823153 186c E1E0 ldi r30,lo8(257)3154 186e EE16 cp r14,r303155 1870 E1E0 ldi r30,hi8(257)3156 1872 FE06 cpc r15,r303157 1874 04F0 brlt .L1613158 1876 8091 0000 lds r24,MesswertNick3159 187a 9091 0000 lds r25,(MesswertNick)+13160 187e 8E0D add r24,r143161 1880 9F1D adc r25,r153162 1882 8050 subi r24,lo8(-(-256))3163 1884 9140 sbci r25,hi8(-(-256))3164 1886 00C0 rjmp .L1753165 .L161:3166 1888 F0E0 ldi r31,lo8(-256)3167 188a EF16 cp r14,r313168 188c FFEF ldi r31,hi8(-256)3169 188e FF06 cpc r15,r313170 1890 04F4 brge .L1623171 1892 8091 0000 lds r24,MesswertNick3172 1896 9091 0000 lds r25,(MesswertNick)+13173 189a 8E0D add r24,r143174 189c 9F1D adc r25,r153175 189e 8050 subi r24,lo8(-(256))3176 18a0 9F4F sbci r25,hi8(-(256))3177 .L175:3178 18a2 9093 0000 sts (MesswertNick)+1,r253179 18a6 8093 0000 sts MesswertNick,r243180 .L162:3181 18aa 21E0 ldi r18,hi8(257)3182 18ac 0130 cpi r16,lo8(257)3183 18ae 1207 cpc r17,r183184 18b0 04F0 brlt .L1643185 18b2 8091 0000 lds r24,MesswertRoll3186 18b6 9091 0000 lds r25,(MesswertRoll)+13187 18ba 800F add r24,r163188 18bc 911F adc r25,r173189 18be 8050 subi r24,lo8(-(-256))3190 18c0 9140 sbci r25,hi8(-(-256))3191 18c2 00C0 rjmp .L1763192 .L164:3193 18c4 3FEF ldi r19,hi8(-256)3194 18c6 0030 cpi r16,lo8(-256)3195 18c8 1307 cpc r17,r193196 18ca 04F4 brge .L823197 18cc 8091 0000 lds r24,MesswertRoll3198 18d0 9091 0000 lds r25,(MesswertRoll)+13199 18d4 800F add r24,r163200 18d6 911F adc r25,r173201 18d8 8050 subi r24,lo8(-(256))3202 18da 9F4F sbci r25,hi8(-(256))3203 .L176:3204 18dc 9093 0000 sts (MesswertRoll)+1,r253205 18e0 8093 0000 sts MesswertRoll,r243206 .L82:3207 /* epilogue: frame size=19 */3208 18e4 E2E1 ldi r30,183209 18e6 CD5E subi r28,-193210 18e8 0C94 0000 jmp __epilogue_restores__+03211 /* epilogue end (size=4) */3212 /* function Mittelwert size 2000 (1990) */3214 .global SendMotorData3216 SendMotorData:3217 /* prologue: frame size=0 */3218 /* prologue end (size=0) */3219 18ec 8091 0000 lds r24,MotorenEin3220 18f0 8823 tst r243221 18f2 01F4 brne .L1783222 18f4 8091 0000 lds r24,FC_StatusFlags3223 18f8 8C7F andi r24,lo8(-4)3224 18fa 8093 0000 sts FC_StatusFlags,r243225 18fe A0E0 ldi r26,lo8(MotorTest)3226 1900 B0E0 ldi r27,hi8(MotorTest)3227 1902 E0E0 ldi r30,lo8(Motor)3228 1904 F0E0 ldi r31,hi8(Motor)3229 1906 9BE0 ldi r25,lo8(11)3230 .L183:3231 1908 8091 0000 lds r24,PC_MotortestActive3232 190c 8823 tst r243233 190e 01F4 brne .L1823234 1910 8C93 st X,r243235 .L182:3236 1912 8D91 ld r24,X+3237 1914 8183 std Z+1,r243238 1916 1282 std Z+2,__zero_reg__3239 1918 9150 subi r25,lo8(-(-1))3240 191a 3896 adiw r30,83241 191c 97FF sbrs r25,73242 191e 00C0 rjmp .L1833243 1920 8091 0000 lds r24,PC_MotortestActive3244 1924 8823 tst r243245 1926 01F0 breq .L1853246 1928 8091 0000 lds r24,PC_MotortestActive3247 192c 8150 subi r24,lo8(-(-1))3248 192e 8093 0000 sts PC_MotortestActive,r243249 1932 00C0 rjmp .L1853250 .L178:3251 1934 8091 0000 lds r24,FC_StatusFlags3252 1938 8160 ori r24,lo8(1)3253 193a 8093 0000 sts FC_StatusFlags,r243254 .L185:3255 193e 8091 0000 lds r24,I2C_TransferActive3256 1942 8823 tst r243257 1944 01F0 breq .L1863258 1946 1092 0000 sts I2C_TransferActive,__zero_reg__3259 194a 0895 ret3260 .L186:3261 194c 8093 0000 sts motor_write,r243262 1950 8093 0000 sts twi_state,r243263 1954 8091 0000 lds r24,BLFlags3264 1958 8E7F andi r24,lo8(-2)3265 195a 8093 0000 sts BLFlags,r243266 195e 85EA ldi r24,lo8(-91)3267 1960 8093 BC00 sts 188,r243268 1964 0895 ret3269 /* epilogue: frame size=0 */3270 /* epilogue: noreturn */3271 /* epilogue end (size=0) */3272 /* function SendMotorData size 61 (61) */3274 .global ParameterZuordnung3276 ParameterZuordnung:3277 /* prologue: frame size=0 */3278 1966 CF93 push r283279 1968 DF93 push r293280 /* prologue end (size=2) */3281 196a A0E0 ldi r26,lo8(Poti)3282 196c B0E0 ldi r27,hi8(Poti)3283 196e C0E0 ldi r28,lo8(EE_Parameter+5)3284 1970 D0E0 ldi r29,hi8(EE_Parameter+5)3285 1972 57E0 ldi r21,lo8(7)3286 .L203:3287 1974 9991 ld r25,Y+3288 1976 E92F mov r30,r253289 1978 FF27 clr r313290 197a EE0F add r30,r303291 197c FF1F adc r31,r313292 197e E050 subi r30,lo8(-(PPM_in))3293 1980 F040 sbci r31,hi8(-(PPM_in))3294 1982 0190 ld __tmp_reg__,Z+3295 1984 F081 ld r31,Z3296 1986 E02D mov r30,__tmp_reg__3297 1988 E158 subi r30,lo8(-(127))3298 198a FF4F sbci r31,hi8(-(127))3299 198c EF3F cpi r30,2553300 198e F105 cpc r31,__zero_reg__3301 1990 01F0 breq .L1943302 1992 04F0 brlt .L1943303 1994 EFEF ldi r30,lo8(255)3304 1996 F0E0 ldi r31,hi8(255)3305 1998 00C0 rjmp .L1953306 .L194:3307 199a F7FF sbrs r31,73308 199c 00C0 rjmp .L1953309 199e E0E0 ldi r30,lo8(0)3310 19a0 F0E0 ldi r31,hi8(0)3311 .L195:3312 19a2 9931 cpi r25,lo8(25)3313 19a4 01F4 brne .L1973314 19a6 EC93 st X,r303315 19a8 00C0 rjmp .L1933316 .L197:3317 19aa 4C91 ld r20,X3318 19ac 242F mov r18,r203319 19ae 3327 clr r193320 19b0 E217 cp r30,r183321 19b2 F307 cpc r31,r193322 19b4 01F0 breq .L1933323 19b6 CF01 movw r24,r303324 19b8 821B sub r24,r183325 19ba 930B sbc r25,r193326 19bc 97FD sbrc r25,73327 19be 0396 adiw r24,33328 .L200:3329 19c0 9595 asr r253330 19c2 8795 ror r243331 19c4 9595 asr r253332 19c6 8795 ror r243333 19c8 242F mov r18,r203334 19ca 280F add r18,r243335 19cc 2C93 st X,r183336 19ce 822F mov r24,r183337 19d0 9927 clr r253338 19d2 E817 cp r30,r243339 19d4 F907 cpc r31,r253340 19d6 04F4 brge .L2013341 19d8 2150 subi r18,lo8(-(-1))3342 19da 00C0 rjmp .L3273343 .L201:3344 19dc 2F5F subi r18,lo8(-(1))3345 .L327:3346 19de 2C93 st X,r183347 .L193:3348 19e0 5150 subi r21,lo8(-(-1))3349 19e2 1196 adiw r26,13350 19e4 57FF sbrs r21,73351 19e6 00C0 rjmp .L2033352 19e8 8091 0000 lds r24,EE_Parameter+153353 19ec 883F cpi r24,lo8(-8)3354 19ee 00F0 brlo .L3283355 19f0 EFEF ldi r30,lo8(255)3356 19f2 F0E0 ldi r31,hi8(255)3357 19f4 E81B sub r30,r243358 19f6 F109 sbc r31,__zero_reg__3359 19f8 E050 subi r30,lo8(-(Poti))3360 19fa F040 sbci r31,hi8(-(Poti))3361 19fc 8081 ld r24,Z3362 .L328:3363 19fe 8093 0000 sts Parameter_Luftdruck_D,r243364 1a02 8091 0000 lds r24,Parameter_Luftdruck_D3365 1a06 8823 tst r243366 1a08 01F0 breq .L2073367 1a0a 8436 cpi r24,lo8(100)3368 1a0c 00F0 brlo .L2073369 1a0e 84E6 ldi r24,lo8(100)3370 1a10 8093 0000 sts Parameter_Luftdruck_D,r243371 .L207:3372 1a14 8091 0000 lds r24,EE_Parameter+173373 1a18 883F cpi r24,lo8(-8)3374 1a1a 00F0 brlo .L3293375 1a1c EFEF ldi r30,lo8(255)3376 1a1e F0E0 ldi r31,hi8(255)3377 1a20 E81B sub r30,r243378 1a22 F109 sbc r31,__zero_reg__3379 1a24 E050 subi r30,lo8(-(Poti))3380 1a26 F040 sbci r31,hi8(-(Poti))3381 1a28 8081 ld r24,Z3382 .L329:3383 1a2a 8093 0000 sts Parameter_Hoehe_P,r243384 1a2e 8091 0000 lds r24,Parameter_Hoehe_P3385 1a32 8823 tst r243386 1a34 01F0 breq .L2123387 1a36 8436 cpi r24,lo8(100)3388 1a38 00F0 brlo .L2123389 1a3a 84E6 ldi r24,lo8(100)3390 1a3c 8093 0000 sts Parameter_Hoehe_P,r243391 .L212:3392 1a40 8091 0000 lds r24,EE_Parameter+303393 1a44 883F cpi r24,lo8(-8)3394 1a46 00F0 brlo .L3303395 1a48 EFEF ldi r30,lo8(255)3396 1a4a F0E0 ldi r31,hi8(255)3397 1a4c E81B sub r30,r243398 1a4e F109 sbc r31,__zero_reg__3399 1a50 E050 subi r30,lo8(-(Poti))3400 1a52 F040 sbci r31,hi8(-(Poti))3401 1a54 8081 ld r24,Z3402 .L330:3403 1a56 8093 0000 sts Parameter_Gyro_P,r243404 1a5a 8091 0000 lds r24,Parameter_Gyro_P3405 1a5e 8B30 cpi r24,lo8(11)3406 1a60 00F4 brsh .L2163407 1a62 8AE0 ldi r24,lo8(10)3408 1a64 00C0 rjmp .L3313409 .L216:3410 1a66 8F3F cpi r24,lo8(-1)3411 1a68 01F4 brne .L2173412 .L331:3413 1a6a 8093 0000 sts Parameter_Gyro_P,r243414 .L217:3415 1a6e 8091 0000 lds r24,EE_Parameter+753416 1a72 883F cpi r24,lo8(-8)3417 1a74 00F0 brlo .L3323418 1a76 EFEF ldi r30,lo8(255)3419 1a78 F0E0 ldi r31,hi8(255)3420 1a7a E81B sub r30,r243421 1a7c F109 sbc r31,__zero_reg__3422 1a7e E050 subi r30,lo8(-(Poti))3423 1a80 F040 sbci r31,hi8(-(Poti))3424 1a82 8081 ld r24,Z3425 .L332:3426 1a84 8093 0000 sts Parameter_J16Timing,r243427 1a88 8091 0000 lds r24,Parameter_J16Timing3428 1a8c 8630 cpi r24,lo8(6)3429 1a8e 00F4 brsh .L2213430 1a90 85E0 ldi r24,lo8(5)3431 1a92 00C0 rjmp .L3333432 .L221:3433 1a94 8F3F cpi r24,lo8(-1)3434 1a96 01F4 brne .L2223435 .L333:3436 1a98 8093 0000 sts Parameter_J16Timing,r243437 .L222:3438 1a9c 8091 0000 lds r24,EE_Parameter+773439 1aa0 883F cpi r24,lo8(-8)3440 1aa2 00F0 brlo .L3343441 1aa4 EFEF ldi r30,lo8(255)3442 1aa6 F0E0 ldi r31,hi8(255)3443 1aa8 E81B sub r30,r243444 1aaa F109 sbc r31,__zero_reg__3445 1aac E050 subi r30,lo8(-(Poti))3446 1aae F040 sbci r31,hi8(-(Poti))3447 1ab0 8081 ld r24,Z3448 .L334:3449 1ab2 8093 0000 sts Parameter_J17Timing,r243450 1ab6 8091 0000 lds r24,Parameter_J17Timing3451 1aba 8630 cpi r24,lo8(6)3452 1abc 00F4 brsh .L2263453 1abe 85E0 ldi r24,lo8(5)3454 1ac0 00C0 rjmp .L3353455 .L226:3456 1ac2 8F3F cpi r24,lo8(-1)3457 1ac4 01F4 brne .L2273458 .L335:3459 1ac6 8093 0000 sts Parameter_J17Timing,r243460 .L227:3461 1aca 8091 0000 lds r24,EE_Parameter+563462 1ace 873F cpi r24,lo8(-9)3463 1ad0 01F4 brne .L2293464 1ad2 4299 sbic 40-0x20,23465 1ad4 00C0 rjmp .L3683466 1ad6 00C0 rjmp .L2343467 .L229:3468 1ad8 863F cpi r24,lo8(-10)3469 1ada 01F4 brne .L2333470 1adc 439B sbis 40-0x20,33471 1ade 00C0 rjmp .L2343472 .L368:3473 1ae0 8CE8 ldi r24,lo8(-116)3474 1ae2 00C0 rjmp .L3363475 .L234:3476 1ae4 86E4 ldi r24,lo8(70)3477 1ae6 00C0 rjmp .L3363478 .L233:3479 1ae8 883F cpi r24,lo8(-8)3480 1aea 00F0 brlo .L3363481 1aec EFEF ldi r30,lo8(255)3482 1aee F0E0 ldi r31,hi8(255)3483 1af0 E81B sub r30,r243484 1af2 F109 sbc r31,__zero_reg__3485 1af4 E050 subi r30,lo8(-(Poti))3486 1af6 F040 sbci r31,hi8(-(Poti))3487 1af8 8081 ld r24,Z3488 .L336:3489 1afa 8093 0000 sts Parameter_Servo3,r243490 1afe 8091 0000 lds r24,EE_Parameter+573491 1b02 873F cpi r24,lo8(-9)3492 1b04 01F4 brne .L2393493 1b06 4299 sbic 40-0x20,23494 1b08 00C0 rjmp .L3693495 1b0a 00C0 rjmp .L2443496 .L239:3497 1b0c 863F cpi r24,lo8(-10)3498 1b0e 01F4 brne .L2433499 1b10 439B sbis 40-0x20,33500 1b12 00C0 rjmp .L2443501 .L369:3502 1b14 8CE8 ldi r24,lo8(-116)3503 1b16 00C0 rjmp .L3373504 .L244:3505 1b18 86E4 ldi r24,lo8(70)3506 1b1a 00C0 rjmp .L3373507 .L243:3508 1b1c 883F cpi r24,lo8(-8)3509 1b1e 00F0 brlo .L3373510 1b20 EFEF ldi r30,lo8(255)3511 1b22 F0E0 ldi r31,hi8(255)3512 1b24 E81B sub r30,r243513 1b26 F109 sbc r31,__zero_reg__3514 1b28 E050 subi r30,lo8(-(Poti))3515 1b2a F040 sbci r31,hi8(-(Poti))3516 1b2c 8081 ld r24,Z3517 .L337:3518 1b2e 8093 0000 sts Parameter_Servo4,r243519 1b32 8091 0000 lds r24,EE_Parameter+583520 1b36 883F cpi r24,lo8(-8)3521 1b38 00F0 brlo .L3383522 1b3a EFEF ldi r30,lo8(255)3523 1b3c F0E0 ldi r31,hi8(255)3524 1b3e E81B sub r30,r243525 1b40 F109 sbc r31,__zero_reg__3526 1b42 E050 subi r30,lo8(-(Poti))3527 1b44 F040 sbci r31,hi8(-(Poti))3528 1b46 8081 ld r24,Z3529 .L338:3530 1b48 8093 0000 sts Parameter_Servo5,r243531 1b4c 8091 0000 lds r24,EE_Parameter+163532 1b50 883F cpi r24,lo8(-8)3533 1b52 00F0 brlo .L3393534 1b54 EFEF ldi r30,lo8(255)3535 1b56 F0E0 ldi r31,hi8(255)3536 1b58 E81B sub r30,r243537 1b5a F109 sbc r31,__zero_reg__3538 1b5c E050 subi r30,lo8(-(Poti))3539 1b5e F040 sbci r31,hi8(-(Poti))3540 1b60 8081 ld r24,Z3541 .L339:3542 1b62 8093 0000 sts Parameter_HoehenSchalter,r243543 1b66 8091 0000 lds r24,EE_Parameter+193544 1b6a 883F cpi r24,lo8(-8)3545 1b6c 00F0 brlo .L3403546 1b6e EFEF ldi r30,lo8(255)3547 1b70 F0E0 ldi r31,hi8(255)3548 1b72 E81B sub r30,r243549 1b74 F109 sbc r31,__zero_reg__3550 1b76 E050 subi r30,lo8(-(Poti))3551 1b78 F040 sbci r31,hi8(-(Poti))3552 1b7a 8081 ld r24,Z3553 .L340:3554 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243555 1b80 8091 0000 lds r24,EE_Parameter+213556 1b84 883F cpi r24,lo8(-8)3557 1b86 00F0 brlo .L3413558 1b88 EFEF ldi r30,lo8(255)3559 1b8a F0E0 ldi r31,hi8(255)3560 1b8c E81B sub r30,r243561 1b8e F109 sbc r31,__zero_reg__3562 1b90 E050 subi r30,lo8(-(Poti))3563 1b92 F040 sbci r31,hi8(-(Poti))3564 1b94 8081 ld r24,Z3565 .L341:3566 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r243567 1b9a 8091 0000 lds r24,EE_Parameter+293568 1b9e 883F cpi r24,lo8(-8)3569 1ba0 00F0 brlo .L3423570 1ba2 EFEF ldi r30,lo8(255)3571 1ba4 F0E0 ldi r31,hi8(255)3572 1ba6 E81B sub r30,r243573 1ba8 F109 sbc r31,__zero_reg__3574 1baa E050 subi r30,lo8(-(Poti))3575 1bac F040 sbci r31,hi8(-(Poti))3576 1bae 8081 ld r24,Z3577 .L342:3578 1bb0 8093 0000 sts Parameter_KompassWirkung,r243579 1bb4 8091 0000 lds r24,EE_Parameter+313580 1bb8 883F cpi r24,lo8(-8)3581 1bba 00F0 brlo .L3433582 1bbc EFEF ldi r30,lo8(255)3583 1bbe F0E0 ldi r31,hi8(255)3584 1bc0 E81B sub r30,r243585 1bc2 F109 sbc r31,__zero_reg__3586 1bc4 E050 subi r30,lo8(-(Poti))3587 1bc6 F040 sbci r31,hi8(-(Poti))3588 1bc8 8081 ld r24,Z3589 .L343:3590 1bca 8093 0000 sts Parameter_Gyro_I,r243591 1bce 8091 0000 lds r24,EE_Parameter+323592 1bd2 883F cpi r24,lo8(-8)3593 1bd4 00F0 brlo .L3443594 1bd6 EFEF ldi r30,lo8(255)3595 1bd8 F0E0 ldi r31,hi8(255)3596 1bda E81B sub r30,r243597 1bdc F109 sbc r31,__zero_reg__3598 1bde E050 subi r30,lo8(-(Poti))3599 1be0 F040 sbci r31,hi8(-(Poti))3600 1be2 8081 ld r24,Z3601 .L344:3602 1be4 8093 0000 sts Parameter_Gyro_D,r243603 1be8 8091 0000 lds r24,EE_Parameter+333604 1bec 883F cpi r24,lo8(-8)3605 1bee 00F0 brlo .L3453606 1bf0 EFEF ldi r30,lo8(255)3607 1bf2 F0E0 ldi r31,hi8(255)3608 1bf4 E81B sub r30,r243609 1bf6 F109 sbc r31,__zero_reg__3610 1bf8 E050 subi r30,lo8(-(Poti))3611 1bfa F040 sbci r31,hi8(-(Poti))3612 1bfc 8081 ld r24,Z3613 .L345:3614 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r243615 1c02 8091 0000 lds r24,EE_Parameter+343616 1c06 883F cpi r24,lo8(-8)3617 1c08 00F0 brlo .L3463618 1c0a EFEF ldi r30,lo8(255)3619 1c0c F0E0 ldi r31,hi8(255)3620 1c0e E81B sub r30,r243621 1c10 F109 sbc r31,__zero_reg__3622 1c12 E050 subi r30,lo8(-(Poti))3623 1c14 F040 sbci r31,hi8(-(Poti))3624 1c16 8081 ld r24,Z3625 .L346:3626 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r243627 1c1c 8091 0000 lds r24,EE_Parameter+403628 1c20 883F cpi r24,lo8(-8)3629 1c22 00F0 brlo .L3473630 1c24 EFEF ldi r30,lo8(255)3631 1c26 F0E0 ldi r31,hi8(255)3632 1c28 E81B sub r30,r243633 1c2a F109 sbc r31,__zero_reg__3634 1c2c E050 subi r30,lo8(-(Poti))3635 1c2e F040 sbci r31,hi8(-(Poti))3636 1c30 8081 ld r24,Z3637 .L347:3638 1c32 8093 0000 sts Parameter_I_Faktor,r243639 1c36 8091 0000 lds r24,EE_Parameter+413640 1c3a 883F cpi r24,lo8(-8)3641 1c3c 00F0 brlo .L3483642 1c3e EFEF ldi r30,lo8(255)3643 1c40 F0E0 ldi r31,hi8(255)3644 1c42 E81B sub r30,r243645 1c44 F109 sbc r31,__zero_reg__3646 1c46 E050 subi r30,lo8(-(Poti))3647 1c48 F040 sbci r31,hi8(-(Poti))3648 1c4a 8081 ld r24,Z3649 .L348:3650 1c4c 8093 0000 sts Parameter_UserParam1,r243651 1c50 8091 0000 lds r24,EE_Parameter+423652 1c54 883F cpi r24,lo8(-8)3653 1c56 00F0 brlo .L3493654 1c58 EFEF ldi r30,lo8(255)3655 1c5a F0E0 ldi r31,hi8(255)3656 1c5c E81B sub r30,r243657 1c5e F109 sbc r31,__zero_reg__3658 1c60 E050 subi r30,lo8(-(Poti))3659 1c62 F040 sbci r31,hi8(-(Poti))3660 1c64 8081 ld r24,Z3661 .L349:3662 1c66 8093 0000 sts Parameter_UserParam2,r243663 1c6a 8091 0000 lds r24,EE_Parameter+433664 1c6e 883F cpi r24,lo8(-8)3665 1c70 00F0 brlo .L3503666 1c72 EFEF ldi r30,lo8(255)3667 1c74 F0E0 ldi r31,hi8(255)3668 1c76 E81B sub r30,r243669 1c78 F109 sbc r31,__zero_reg__3670 1c7a E050 subi r30,lo8(-(Poti))3671 1c7c F040 sbci r31,hi8(-(Poti))3672 1c7e 8081 ld r24,Z3673 .L350:3674 1c80 8093 0000 sts Parameter_UserParam3,r243675 1c84 8091 0000 lds r24,EE_Parameter+443676 1c88 883F cpi r24,lo8(-8)3677 1c8a 00F0 brlo .L3513678 1c8c EFEF ldi r30,lo8(255)3679 1c8e F0E0 ldi r31,hi8(255)3680 1c90 E81B sub r30,r243681 1c92 F109 sbc r31,__zero_reg__3682 1c94 E050 subi r30,lo8(-(Poti))3683 1c96 F040 sbci r31,hi8(-(Poti))3684 1c98 8081 ld r24,Z3685 .L351:3686 1c9a 8093 0000 sts Parameter_UserParam4,r243687 1c9e 8091 0000 lds r24,EE_Parameter+703688 1ca2 883F cpi r24,lo8(-8)3689 1ca4 00F0 brlo .L3523690 1ca6 EFEF ldi r30,lo8(255)3691 1ca8 F0E0 ldi r31,hi8(255)3692 1caa E81B sub r30,r243693 1cac F109 sbc r31,__zero_reg__3694 1cae E050 subi r30,lo8(-(Poti))3695 1cb0 F040 sbci r31,hi8(-(Poti))3696 1cb2 8081 ld r24,Z3697 .L352:3698 1cb4 8093 0000 sts Parameter_UserParam5,r243699 1cb8 8091 0000 lds r24,EE_Parameter+713700 1cbc 883F cpi r24,lo8(-8)3701 1cbe 00F0 brlo .L3533702 1cc0 EFEF ldi r30,lo8(255)3703 1cc2 F0E0 ldi r31,hi8(255)3704 1cc4 E81B sub r30,r243705 1cc6 F109 sbc r31,__zero_reg__3706 1cc8 E050 subi r30,lo8(-(Poti))3707 1cca F040 sbci r31,hi8(-(Poti))3708 1ccc 8081 ld r24,Z3709 .L353:3710 1cce 8093 0000 sts Parameter_UserParam6,r243711 1cd2 8091 0000 lds r24,EE_Parameter+723712 1cd6 883F cpi r24,lo8(-8)3713 1cd8 00F0 brlo .L3543714 1cda EFEF ldi r30,lo8(255)3715 1cdc F0E0 ldi r31,hi8(255)3716 1cde E81B sub r30,r243717 1ce0 F109 sbc r31,__zero_reg__3718 1ce2 E050 subi r30,lo8(-(Poti))3719 1ce4 F040 sbci r31,hi8(-(Poti))3720 1ce6 8081 ld r24,Z3721 .L354:3722 1ce8 8093 0000 sts Parameter_UserParam7,r243723 1cec 8091 0000 lds r24,EE_Parameter+733724 1cf0 883F cpi r24,lo8(-8)3725 1cf2 00F0 brlo .L3553726 1cf4 EFEF ldi r30,lo8(255)3727 1cf6 F0E0 ldi r31,hi8(255)3728 1cf8 E81B sub r30,r243729 1cfa F109 sbc r31,__zero_reg__3730 1cfc E050 subi r30,lo8(-(Poti))3731 1cfe F040 sbci r31,hi8(-(Poti))3732 1d00 8081 ld r24,Z3733 .L355:3734 1d02 8093 0000 sts Parameter_UserParam8,r243735 1d06 8091 0000 lds r24,EE_Parameter+453736 1d0a 883F cpi r24,lo8(-8)3737 1d0c 00F0 brlo .L3563738 1d0e EFEF ldi r30,lo8(255)3739 1d10 F0E0 ldi r31,hi8(255)3740 1d12 E81B sub r30,r243741 1d14 F109 sbc r31,__zero_reg__3742 1d16 E050 subi r30,lo8(-(Poti))3743 1d18 F040 sbci r31,hi8(-(Poti))3744 1d1a 8081 ld r24,Z3745 .L356:3746 1d1c 8093 0000 sts Parameter_ServoNickControl,r243747 1d20 8091 0000 lds r24,EE_Parameter+493748 1d24 883F cpi r24,lo8(-8)3749 1d26 00F0 brlo .L3573750 1d28 EFEF ldi r30,lo8(255)3751 1d2a F0E0 ldi r31,hi8(255)3752 1d2c E81B sub r30,r243753 1d2e F109 sbc r31,__zero_reg__3754 1d30 E050 subi r30,lo8(-(Poti))3755 1d32 F040 sbci r31,hi8(-(Poti))3756 1d34 8081 ld r24,Z3757 .L357:3758 1d36 8093 0000 sts Parameter_ServoRollControl,r243759 1d3a 8091 0000 lds r24,EE_Parameter+463760 1d3e 883F cpi r24,lo8(-8)3761 1d40 00F0 brlo .L3583762 1d42 EFEF ldi r30,lo8(255)3763 1d44 F0E0 ldi r31,hi8(255)3764 1d46 E81B sub r30,r243765 1d48 F109 sbc r31,__zero_reg__3766 1d4a E050 subi r30,lo8(-(Poti))3767 1d4c F040 sbci r31,hi8(-(Poti))3768 1d4e 8081 ld r24,Z3769 .L358:3770 1d50 8093 0000 sts Parameter_ServoNickComp,r243771 1d54 8091 0000 lds r24,EE_Parameter+503772 1d58 883F cpi r24,lo8(-8)3773 1d5a 00F0 brlo .L3593774 1d5c EFEF ldi r30,lo8(255)3775 1d5e F0E0 ldi r31,hi8(255)3776 1d60 E81B sub r30,r243777 1d62 F109 sbc r31,__zero_reg__3778 1d64 E050 subi r30,lo8(-(Poti))3779 1d66 F040 sbci r31,hi8(-(Poti))3780 1d68 8081 ld r24,Z3781 .L359:3782 1d6a 8093 0000 sts Parameter_ServoRollComp,r243783 1d6e 8091 0000 lds r24,EE_Parameter+593784 1d72 883F cpi r24,lo8(-8)3785 1d74 00F0 brlo .L3603786 1d76 EFEF ldi r30,lo8(255)3787 1d78 F0E0 ldi r31,hi8(255)3788 1d7a E81B sub r30,r243789 1d7c F109 sbc r31,__zero_reg__3790 1d7e E050 subi r30,lo8(-(Poti))3791 1d80 F040 sbci r31,hi8(-(Poti))3792 1d82 8081 ld r24,Z3793 .L360:3794 1d84 8093 0000 sts Parameter_LoopGasLimit,r243795 1d88 8091 0000 lds r24,EE_Parameter+623796 1d8c 883F cpi r24,lo8(-8)3797 1d8e 00F0 brlo .L3613798 1d90 EFEF ldi r30,lo8(255)3799 1d92 F0E0 ldi r31,hi8(255)3800 1d94 E81B sub r30,r243801 1d96 F109 sbc r31,__zero_reg__3802 1d98 E050 subi r30,lo8(-(Poti))3803 1d9a F040 sbci r31,hi8(-(Poti))3804 1d9c 8081 ld r24,Z3805 .L361:3806 1d9e 8093 0000 sts Parameter_AchsKopplung1,r243807 1da2 8091 0000 lds r24,EE_Parameter+633808 1da6 883F cpi r24,lo8(-8)3809 1da8 00F0 brlo .L3623810 1daa EFEF ldi r30,lo8(255)3811 1dac F0E0 ldi r31,hi8(255)3812 1dae E81B sub r30,r243813 1db0 F109 sbc r31,__zero_reg__3814 1db2 E050 subi r30,lo8(-(Poti))3815 1db4 F040 sbci r31,hi8(-(Poti))3816 1db6 8081 ld r24,Z3817 .L362:3818 1db8 8093 0000 sts Parameter_AchsKopplung2,r243819 1dbc 8091 0000 lds r24,EE_Parameter+643820 1dc0 883F cpi r24,lo8(-8)3821 1dc2 00F0 brlo .L3633822 1dc4 EFEF ldi r30,lo8(255)3823 1dc6 F0E0 ldi r31,hi8(255)3824 1dc8 E81B sub r30,r243825 1dca F109 sbc r31,__zero_reg__3826 1dcc E050 subi r30,lo8(-(Poti))3827 1dce F040 sbci r31,hi8(-(Poti))3828 1dd0 8081 ld r24,Z3829 .L363:3830 1dd2 8093 0000 sts Parameter_CouplingYawCorrection,r243831 1dd6 8091 0000 lds r24,EE_Parameter+1043832 1dda 883F cpi r24,lo8(-8)3833 1ddc 00F0 brlo .L3643834 1dde EFEF ldi r30,lo8(255)3835 1de0 F0E0 ldi r31,hi8(255)3836 1de2 E81B sub r30,r243837 1de4 F109 sbc r31,__zero_reg__3838 1de6 E050 subi r30,lo8(-(Poti))3839 1de8 F040 sbci r31,hi8(-(Poti))3840 1dea 8081 ld r24,Z3841 .L364:3842 1dec 8093 0000 sts Parameter_MaximumAltitude,r243843 1df0 9091 0000 lds r25,NC_To_FC_MaxAltitude3844 1df4 9923 tst r253845 1df6 01F0 breq .L3053846 1df8 8091 0000 lds r24,Parameter_MaximumAltitude3847 1dfc 9817 cp r25,r243848 1dfe 00F0 brlo .L3043849 .L305:3850 1e00 8091 0000 lds r24,Parameter_MaximumAltitude3851 1e04 8823 tst r243852 1e06 01F4 brne .L3033853 .L304:3854 1e08 9093 0000 sts Parameter_MaximumAltitude,r253855 .L303:3856 1e0c 8091 0000 lds r24,EE_Parameter+133857 1e10 8093 0000 sts Parameter_GlobalConfig,r243858 1e14 8091 0000 lds r24,EE_Parameter+1103859 1e18 8093 0000 sts Parameter_ExtraConfig,r243860 1e1c 8091 0000 lds r24,EE_Parameter+693861 1e20 883F cpi r24,lo8(-8)3862 1e22 00F0 brlo .L3653863 1e24 EFEF ldi r30,lo8(255)3864 1e26 F0E0 ldi r31,hi8(255)3865 1e28 E81B sub r30,r243866 1e2a F109 sbc r31,__zero_reg__3867 1e2c E050 subi r30,lo8(-(Poti))3868 1e2e F040 sbci r31,hi8(-(Poti))3869 1e30 8081 ld r24,Z3870 .L365:3871 1e32 8093 0000 sts Parameter_DynamicStability,r243872 1e36 8091 0000 lds r24,EE_Parameter+973873 1e3a 883F cpi r24,lo8(-8)3874 1e3c 00F0 brlo .L3663875 1e3e EFEF ldi r30,lo8(255)3876 1e40 F0E0 ldi r31,hi8(255)3877 1e42 E81B sub r30,r243878 1e44 F109 sbc r31,__zero_reg__3879 1e46 E050 subi r30,lo8(-(Poti))3880 1e48 F040 sbci r31,hi8(-(Poti))3881 1e4a 8081 ld r24,Z3882 .L366:3883 1e4c 8093 0000 sts Parameter_ExternalControl,r243884 1e50 8091 0000 lds r24,Parameter_I_Faktor3885 1e54 282F mov r18,r243886 1e56 3327 clr r193887 1e58 2F5F subi r18,lo8(-(1))3888 1e5a 3F4F sbci r19,hi8(-(1))3889 1e5c 8CE3 ldi r24,lo8(10300)3890 1e5e 98E2 ldi r25,hi8(10300)3891 1e60 B901 movw r22,r183892 1e62 0E94 0000 call __divmodhi43893 1e66 7093 0000 sts (Ki)+1,r233894 1e6a 6093 0000 sts Ki,r223895 1e6e 8091 0000 lds r24,EE_Parameter+273896 1e72 8093 0000 sts MAX_GAS,r243897 1e76 8091 0000 lds r24,EE_Parameter+263898 1e7a 8093 0000 sts MIN_GAS,r243899 1e7e 9091 0000 lds r25,EE_Parameter+993900 1e82 9333 cpi r25,lo8(51)3901 1e84 00F4 brsh .+23902 1e86 00C0 rjmp .L3103903 1e88 81E0 ldi r24,lo8(1)3904 1e8a 8093 0000 sts CareFree,r243905 1e8e 983F cpi r25,lo8(-8)3906 1e90 00F0 brlo .L3113907 1e92 EFEF ldi r30,lo8(255)3908 1e94 F0E0 ldi r31,hi8(255)3909 1e96 E91B sub r30,r253910 1e98 F109 sbc r31,__zero_reg__3911 1e9a E050 subi r30,lo8(-(Poti))3912 1e9c F040 sbci r31,hi8(-(Poti))3913 1e9e 8081 ld r24,Z3914 1ea0 8233 cpi r24,lo8(50)3915 1ea2 00F4 brsh .L3113916 1ea4 1092 0000 sts CareFree,__zero_reg__3917 .L311:3918 1ea8 8091 0000 lds r24,carefree_old3919 1eac 2091 0000 lds r18,CareFree3920 1eb0 8217 cp r24,r183921 1eb2 01F0 breq .L3123922 1eb4 8330 cpi r24,lo8(3)3923 1eb6 00F4 brsh .L3133924 1eb8 3091 0000 lds r19,SpeakHoTT3925 1ebc 2223 tst r183926 1ebe 01F0 breq .L3143927 1ec0 8CED ldi r24,lo8(1500)3928 1ec2 95E0 ldi r25,hi8(1500)3929 1ec4 9093 0000 sts (beeptime)+1,r253930 1ec8 8093 0000 sts beeptime,r243931 1ecc 3323 tst r193932 1ece 01F4 brne .L3163933 1ed0 8EE2 ldi r24,lo8(46)3934 1ed2 00C0 rjmp .L3673935 .L314:3936 1ed4 88EC ldi r24,lo8(200)3937 1ed6 90E0 ldi r25,hi8(200)3938 1ed8 9093 0000 sts (beeptime)+1,r253939 1edc 8093 0000 sts beeptime,r243940 1ee0 3323 tst r193941 1ee2 01F4 brne .L3163942 1ee4 87E1 ldi r24,lo8(23)3943 .L367:3944 1ee6 8093 0000 sts SpeakHoTT,r243945 .L316:3946 1eea 85E0 ldi r24,lo8(5)3947 1eec 8093 0000 sts NeueKompassRichtungMerken,r243948 1ef0 2093 0000 sts carefree_old,r183949 1ef4 00C0 rjmp .L3123950 .L313:3951 1ef6 8150 subi r24,lo8(-(-1))3952 1ef8 8093 0000 sts carefree_old,r243953 .L312:3954 1efc 8091 0000 lds r24,FromNaviCtrl+73955 1f00 9091 0000 lds r25,(FromNaviCtrl+7)+13956 1f04 97FF sbrs r25,73957 1f06 00C0 rjmp .L3203958 1f08 8091 0000 lds r24,CareFree3959 1f0c 8823 tst r243960 1f0e 01F0 breq .L3203961 1f10 8091 0000 lds r24,VersionInfo+53962 1f14 8068 ori r24,lo8(-128)3963 1f16 8093 0000 sts VersionInfo+5,r243964 1f1a 00C0 rjmp .L3203965 .L310:3966 1f1c 1092 0000 sts CareFree,__zero_reg__3967 1f20 8AE0 ldi r24,lo8(10)3968 1f22 8093 0000 sts carefree_old,r243969 .L320:3970 1f26 8091 0000 lds r24,FromNaviCtrl+73971 1f2a 9091 0000 lds r25,(FromNaviCtrl+7)+13972 1f2e 97FF sbrs r25,73973 1f30 00C0 rjmp .L3213974 1f32 8091 0000 lds r24,MotorenEin3975 1f36 8823 tst r243976 1f38 01F0 breq .L3213977 1f3a 8091 0000 lds r24,CareFree3978 1f3e 8823 tst r243979 1f40 01F0 breq .L3213980 1f42 8091 0000 lds r24,BeepMuster3981 1f46 9091 0000 lds r25,(BeepMuster)+13982 1f4a 8F5F subi r24,lo8(-1)3983 1f4c 9F4F sbci r25,hi8(-1)3984 1f4e 01F4 brne .L3213985 1f50 88E9 ldi r24,lo8(15000)3986 1f52 9AE3 ldi r25,hi8(15000)3987 1f54 9093 0000 sts (beeptime)+1,r253988 1f58 8093 0000 sts beeptime,r243989 1f5c 80E0 ldi r24,lo8(-23552)3990 1f5e 94EA ldi r25,hi8(-23552)3991 1f60 9093 0000 sts (BeepMuster)+1,r253992 1f64 8093 0000 sts BeepMuster,r243993 1f68 1092 0000 sts CareFree,__zero_reg__3994 .L321:3995 1f6c 8091 0000 lds r24,CareFree3996 1f70 8823 tst r243997 1f72 01F0 breq .L3223998 1f74 8091 0000 lds r24,FC_StatusFlags23999 1f78 8160 ori r24,lo8(1)4000 1f7a 8093 0000 sts FC_StatusFlags2,r244001 1f7e 8091 0000 lds r24,Parameter_AchsKopplung14002 1f82 823D cpi r24,lo8(-46)4003 1f84 00F4 brsh .L1904004 1f86 825E subi r24,lo8(-(30))4005 1f88 8093 0000 sts Parameter_AchsKopplung1,r244006 1f8c 00C0 rjmp .L1904007 .L322:4008 1f8e 8091 0000 lds r24,FC_StatusFlags24009 1f92 8E7F andi r24,lo8(-2)4010 1f94 8093 0000 sts FC_StatusFlags2,r244011 .L190:4012 /* epilogue: frame size=0 */4013 1f98 DF91 pop r294014 1f9a CF91 pop r284015 1f9c 0895 ret4016 /* epilogue end (size=3) */4017 /* function ParameterZuordnung size 798 (793) */4019 .lcomm sollGier.0,44020 .lcomm tmp_long.1,44021 .lcomm tmp_long2.2,44022 .lcomm IntegralFehlerNick.3,44023 .lcomm IntegralFehlerRoll.4,44024 .lcomm RcLostTimer.5,24025 .lcomm delay_neutral.6,14026 .lcomm delay_einschalten.7,14027 .lcomm delay_ausschalten.8,14028 .lcomm move_safety_switch.9,14029 .lcomm ausgleichNick.10,44030 .lcomm ausgleichRoll.11,44031 .lcomm stick_nick.12,24032 .lcomm stick_roll.13,24033 .lcomm cnt.14,24034 .lcomm last_n_p.15,14035 .lcomm last_n_n.16,14036 .lcomm last_r_p.17,14037 .lcomm last_r_n.18,14038 .lcomm MittelIntegralNick_Alt.19,44039 .lcomm MittelIntegralRoll_Alt.20,44040 .lcomm HeightTrimming.21,24041 .lcomm FilterHCGas.22,24042 .lcomm HoverGasFilter.23,44043 .data4046 delay.24:4047 0051 64 .byte 1004048 .lcomm BaroAtUpperLimit.25,14049 .lcomm BaroAtLowerLimit.26,14050 .text4051 .global MotorRegler4053 MotorRegler:4054 /* prologue: frame size=23 */4055 1f9e A7E1 ldi r26,lo8(23)4056 1fa0 B0E0 ldi r27,hi8(23)4057 1fa2 E0E0 ldi r30,pm_lo8(1f)4058 1fa4 F0E0 ldi r31,pm_hi8(1f)4059 1fa6 0C94 0000 jmp __prologue_saves__+04060 1:4061 /* prologue end (size=6) */4062 1faa 0E94 0000 call Mittelwert4063 1fae 8091 0000 lds r24,FC_StatusFlags4064 1fb2 9927 clr r254065 1fb4 8471 andi r24,lo8(20)4066 1fb6 9070 andi r25,hi8(20)4067 1fb8 892B or r24,r254068 1fba 01F4 brne .L3714069 1fbc 8091 0000 lds r24,EE_Parameter+1114070 1fc0 82FF sbrs r24,24071 1fc2 00C0 rjmp .L3724072 1fc4 8091 0000 lds r24,HoverGas4073 1fc8 9091 0000 lds r25,(HoverGas)+14074 1fcc 0097 sbiw r24,04075 1fce 01F0 breq .L3734076 1fd0 02E0 ldi r16,hi8(600)4077 1fd2 8835 cpi r24,lo8(600)4078 1fd4 9007 cpc r25,r164079 1fd6 04F4 brge .L3734080 1fd8 9C01 movw r18,r244081 1fda 97FF sbrs r25,74082 1fdc 00C0 rjmp .L3744083 1fde 2D5F subi r18,lo8(-(3))4084 1fe0 3F4F sbci r19,hi8(-(3))4085 .L374:4086 1fe2 3595 asr r194087 1fe4 2795 ror r184088 1fe6 3595 asr r194089 1fe8 2795 ror r184090 1fea 8091 0000 lds r24,EE_Parameter+374091 1fee 9927 clr r254092 1ff0 289F mul r18,r244093 1ff2 A001 movw r20,r04094 1ff4 299F mul r18,r254095 1ff6 500D add r21,r04096 1ff8 389F mul r19,r244097 1ffa 500D add r21,r04098 1ffc 1124 clr r14099 1ffe CA01 movw r24,r204100 2000 64E6 ldi r22,lo8(100)4101 2002 70E0 ldi r23,hi8(100)4102 2004 0E94 0000 call __divmodhi44103 2008 CB01 movw r24,r224104 200a 00C0 rjmp .L8934105 .L373:4106 200c 8DE2 ldi r24,lo8(45)4107 200e 90E0 ldi r25,hi8(45)4108 2010 00C0 rjmp .L8934109 .L372:4110 2012 8091 0000 lds r24,EE_Parameter+374111 2016 9927 clr r254112 .L893:4113 2018 9093 0000 sts (HooverGasEmergencyPercent)+1,r254114 201c 8093 0000 sts HooverGasEmergencyPercent,r244115 .L371:4116 2020 2091 0000 lds r18,GasIsZeroCnt4117 2024 3091 0000 lds r19,(GasIsZeroCnt)+14118 2028 55E7 ldi r21,hi8(30000)4119 202a 2033 cpi r18,lo8(30000)4120 202c 3507 cpc r19,r214121 202e 01F4 brne .L3774122 2030 1092 0000 sts (StickGas)+1,__zero_reg__4123 2034 1092 0000 sts StickGas,__zero_reg__4124 2038 8091 0000 lds r24,MIN_GAS4125 203c 9927 clr r254126 203e 9093 0000 sts (HooverGasEmergencyPercent)+1,r254127 2042 8093 0000 sts HooverGasEmergencyPercent,r244128 .L377:4129 2046 6091 0000 lds r22,StickGas4130 204a 7091 0000 lds r23,(StickGas)+14131 204e 7A83 std Y+2,r234132 2050 6983 std Y+1,r224133 2052 8091 0000 lds r24,MIN_GAS4134 2056 9927 clr r254135 2058 0A96 adiw r24,104136 205a 6817 cp r22,r244137 205c 7907 cpc r23,r254138 205e 04F4 brge .L3784139 2060 9A83 std Y+2,r254140 2062 8983 std Y+1,r244141 .L378:4142 2064 8091 0000 lds r24,SenderOkay4143 2068 8436 cpi r24,lo8(100)4144 206a 00F0 brlo .+24145 206c 00C0 rjmp .L3794146 206e 8091 0000 lds r24,FC_StatusFlags24147 2072 82FD sbrc r24,24148 2074 00C0 rjmp .L3794149 2076 8091 0000 lds r24,RcLostTimer.54150 207a 9091 0000 lds r25,(RcLostTimer.5)+14151 207e 0097 sbiw r24,04152 2080 01F0 breq .L3804153 2082 0197 sbiw r24,14154 2084 9093 0000 sts (RcLostTimer.5)+1,r254155 2088 8093 0000 sts RcLostTimer.5,r244156 208c 00C0 rjmp .L3814157 .L380:4158 208e 1092 0000 sts MotorenEin,__zero_reg__4159 2092 9093 0000 sts (modell_fliegt)+1,r254160 2096 8093 0000 sts modell_fliegt,r244161 209a 8091 0000 lds r24,FC_StatusFlags4162 209e 8D7E andi r24,lo8(-19)4163 20a0 8093 0000 sts FC_StatusFlags,r244164 .L381:4165 20a4 8091 0000 lds r24,PlatinenVersion4166 20a8 8A30 cpi r24,lo8(10)4167 20aa 01F0 breq .L3834168 20ac 8431 cpi r24,lo8(20)4169 20ae 00F0 brlo .L3824170 .L383:4171 20b0 289A sbi 37-0x20,04172 20b2 00C0 rjmp .L3844173 .L382:4174 20b4 2898 cbi 37-0x20,04175 .L384:4176 20b6 8091 0000 lds r24,modell_fliegt4177 20ba 9091 0000 lds r25,(modell_fliegt)+14178 20be 895E subi r24,lo8(1001)4179 20c0 9340 sbci r25,hi8(1001)4180 20c2 00F0 brlo .L3854181 20c4 8091 0000 lds r24,Capacity+64182 20c8 8536 cpi r24,lo8(101)4183 20ca 00F0 brlo .L3854184 20cc 8091 0000 lds r24,HooverGasEmergencyPercent4185 20d0 9091 0000 lds r25,(HooverGasEmergencyPercent)+14186 20d4 9A83 std Y+2,r254187 20d6 8983 std Y+1,r244188 20d8 8091 0000 lds r24,FC_StatusFlags4189 20dc 8061 ori r24,lo8(16)4190 20de 8093 0000 sts FC_StatusFlags,r244191 20e2 8091 0000 lds r24,EE_Parameter+14192 20e6 A82F mov r26,r244193 20e8 BB27 clr r274194 20ea AA0F add r26,r264195 20ec BB1F adc r27,r274196 20ee FD01 movw r30,r264197 20f0 E050 subi r30,lo8(-(PPM_diff))4198 20f2 F040 sbci r31,hi8(-(PPM_diff))4199 20f4 1182 std Z+1,__zero_reg__4200 20f6 1082 st Z,__zero_reg__4201 20f8 8091 0000 lds r24,EE_Parameter+24202 20fc 282F mov r18,r244203 20fe 3327 clr r194204 2100 220F add r18,r184205 2102 331F adc r19,r194206 2104 C901 movw r24,r184207 2106 8050 subi r24,lo8(-(PPM_diff))4208 2108 9040 sbci r25,hi8(-(PPM_diff))4209 210a FC01 movw r30,r244210 210c 1182 std Z+1,__zero_reg__4211 210e 1082 st Z,__zero_reg__4212 2110 A050 subi r26,lo8(-(PPM_in))4213 2112 B040 sbci r27,hi8(-(PPM_in))4214 2114 1196 adiw r26,14215 2116 1C92 st X,__zero_reg__4216 2118 1E92 st -X,__zero_reg__4217 211a 2050 subi r18,lo8(-(PPM_in))4218 211c 3040 sbci r19,hi8(-(PPM_in))4219 211e D901 movw r26,r184220 2120 1196 adiw r26,14221 2122 1C92 st X,__zero_reg__4222 2124 1E92 st -X,__zero_reg__4223 2126 8091 0000 lds r24,EE_Parameter+44224 212a E82F mov r30,r244225 212c FF27 clr r314226 212e EE0F add r30,r304227 2130 FF1F adc r31,r314228 2132 E050 subi r30,lo8(-(PPM_in))4229 2134 F040 sbci r31,hi8(-(PPM_in))4230 2136 1182 std Z+1,__zero_reg__4231 2138 1082 st Z,__zero_reg__4232 213a 00C0 rjmp .L3874233 .L385:4234 213c 1092 0000 sts MotorenEin,__zero_reg__4235 2140 00C0 rjmp .L3874236 .L379:4237 2142 8091 0000 lds r24,SenderOkay4238 2146 8D38 cpi r24,lo8(-115)4239 2148 00F4 brsh .+24240 214a 00C0 rjmp .L3884241 214c 8091 0000 lds r24,FC_StatusFlags4242 2150 8F7E andi r24,lo8(-17)4243 2152 8093 0000 sts FC_StatusFlags,r244244 2156 9091 0000 lds r25,EE_Parameter+384245 215a 82E3 ldi r24,lo8(50)4246 215c 989F mul r25,r244247 215e C001 movw r24,r04248 2160 1124 clr r14249 2162 9093 0000 sts (RcLostTimer.5)+1,r254250 2166 8093 0000 sts RcLostTimer.5,r244251 216a E981 ldd r30,Y+14252 216c FA81 ldd r31,Y+24253 216e B997 sbiw r30,414254 2170 04F0 brlt .L3894255 2172 8091 0000 lds r24,MotorenEin4256 2176 8823 tst r244257 2178 01F0 breq .L3894258 217a 8091 0000 lds r24,modell_fliegt4259 217e 9091 0000 lds r25,(modell_fliegt)+14260 2182 FFEF ldi r31,hi8(-1)4261 2184 8F3F cpi r24,lo8(-1)4262 2186 9F07 cpc r25,r314263 2188 01F0 breq .L3894264 218a 0196 adiw r24,14265 218c 9093 0000 sts (modell_fliegt)+1,r254266 2190 8093 0000 sts modell_fliegt,r244267 .L389:4268 2194 8091 0000 lds r24,modell_fliegt4269 2198 9091 0000 lds r25,(modell_fliegt)+14270 219c 8F3F cpi r24,2554271 219e 9105 cpc r25,__zero_reg__4272 21a0 01F0 breq .+24273 21a2 00F4 brsh .L3914274 21a4 1092 0000 sts SummeNick,__zero_reg__4275 21a8 1092 0000 sts (SummeNick)+1,__zero_reg__4276 21ac 1092 0000 sts (SummeNick)+2,__zero_reg__4277 21b0 1092 0000 sts (SummeNick)+3,__zero_reg__4278 21b4 1092 0000 sts SummeRoll,__zero_reg__4279 21b8 1092 0000 sts (SummeRoll)+1,__zero_reg__4280 21bc 1092 0000 sts (SummeRoll)+2,__zero_reg__4281 21c0 1092 0000 sts (SummeRoll)+3,__zero_reg__4282 21c4 1092 0000 sts sollGier.0,__zero_reg__4283 21c8 1092 0000 sts (sollGier.0)+1,__zero_reg__4284 21cc 1092 0000 sts (sollGier.0)+2,__zero_reg__4285 21d0 1092 0000 sts (sollGier.0)+3,__zero_reg__4286 21d4 1092 0000 sts Mess_Integral_Gier,__zero_reg__4287 21d8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4288 21dc 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4289 21e0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4290 21e4 00C0 rjmp .L3924291 .L391:4292 21e6 8091 0000 lds r24,FC_StatusFlags4293 21ea 8260 ori r24,lo8(2)4294 21ec 8093 0000 sts FC_StatusFlags,r244295 .L392:4296 21f0 8091 0000 lds r24,EE_Parameter+34297 21f4 E82F mov r30,r244298 21f6 FF27 clr r314299 21f8 EE0F add r30,r304300 21fa FF1F adc r31,r314301 21fc E050 subi r30,lo8(-(PPM_in))4302 21fe F040 sbci r31,hi8(-(PPM_in))4303 2200 8081 ld r24,Z4304 2202 9181 ldd r25,Z+14305 2204 8135 cpi r24,814306 2206 9105 cpc r25,__zero_reg__4307 2208 04F4 brge .+24308 220a 00C0 rjmp .L3934309 220c 2091 0000 lds r18,MotorenEin4310 2210 2223 tst r184311 2212 01F0 breq .+24312 2214 00C0 rjmp .L3934313 2216 8091 0000 lds r24,EE_Parameter+44314 221a E82F mov r30,r244315 221c FF27 clr r314316 221e EE0F add r30,r304317 2220 FF1F adc r31,r314318 2222 E050 subi r30,lo8(-(PPM_in))4319 2224 F040 sbci r31,hi8(-(PPM_in))4320 2226 8081 ld r24,Z4321 2228 9181 ldd r25,Z+14322 222a 8C34 cpi r24,764323 222c 9105 cpc r25,__zero_reg__4324 222e 04F4 brge .+24325 2230 00C0 rjmp .L3944326 2232 8091 0000 lds r24,delay_neutral.64327 2236 8F5F subi r24,lo8(-(1))4328 2238 8093 0000 sts delay_neutral.6,r244329 223c 893C cpi r24,lo8(-55)4330 223e 00F4 brsh .+24331 2240 00C0 rjmp .L3934332 2242 2093 0000 sts delay_neutral.6,r184333 2246 1092 0000 sts (modell_fliegt)+1,__zero_reg__4334 224a 1092 0000 sts modell_fliegt,__zero_reg__4335 224e 3091 0000 lds r19,EE_Parameter+14336 2252 E32F mov r30,r194337 2254 FF27 clr r314338 2256 EE0F add r30,r304339 2258 FF1F adc r31,r314340 225a E050 subi r30,lo8(-(PPM_in))4341 225c F040 sbci r31,hi8(-(PPM_in))4342 225e 8081 ld r24,Z4343 2260 9181 ldd r25,Z+14344 2262 8734 cpi r24,714345 2264 9105 cpc r25,__zero_reg__4346 2266 04F4 brge .L3974347 2268 8091 0000 lds r24,EE_Parameter+24348 226c E82F mov r30,r244349 226e FF27 clr r314350 2270 EE0F add r30,r304351 2272 FF1F adc r31,r314352 2274 E050 subi r30,lo8(-(PPM_in))4353 2276 F040 sbci r31,hi8(-(PPM_in))4354 2278 8081 ld r24,Z4355 227a 9181 ldd r25,Z+14356 227c 0190 ld __tmp_reg__,Z+4357 227e F081 ld r31,Z4358 2280 E02D mov r30,__tmp_reg__4359 2282 F7FF sbrs r31,74360 2284 00C0 rjmp .L3984361 2286 F095 com r314362 2288 E195 neg r304363 228a FF4F sbci r31,lo8(-1)4364 .L398:4365 228c E734 cpi r30,714366 228e F105 cpc r31,__zero_reg__4367 2290 04F4 brge .+24368 2292 00C0 rjmp .L3964369 .L397:4370 2294 41E0 ldi r20,lo8(1)4371 2296 2091 0000 lds r18,EE_Parameter+24372 229a A22F mov r26,r184373 229c BB27 clr r274374 229e AA0F add r26,r264375 22a0 BB1F adc r27,r274376 22a2 A050 subi r26,lo8(-(PPM_in))4377 22a4 B040 sbci r27,hi8(-(PPM_in))4378 22a6 8D91 ld r24,X+4379 22a8 9C91 ld r25,X4380 22aa 1197 sbiw r26,14381 22ac 8734 cpi r24,714382 22ae 9105 cpc r25,__zero_reg__4383 22b0 04F0 brlt .L3994384 22b2 E32F mov r30,r194385 22b4 FF27 clr r314386 22b6 EE0F add r30,r304387 22b8 FF1F adc r31,r314388 22ba E050 subi r30,lo8(-(PPM_in))4389 22bc F040 sbci r31,hi8(-(PPM_in))4390 22be 8081 ld r24,Z4391 22c0 9181 ldd r25,Z+14392 .L399:4393 22c2 8D91 ld r24,X+4394 22c4 9C91 ld r25,X4395 22c6 8734 cpi r24,714396 22c8 9105 cpc r25,__zero_reg__4397 22ca 04F0 brlt .L4004398 22cc 8091 0000 lds r24,EE_Parameter+14399 22d0 E82F mov r30,r244400 22d2 FF27 clr r314401 22d4 EE0F add r30,r304402 22d6 FF1F adc r31,r314403 22d8 E050 subi r30,lo8(-(PPM_in))4404 22da F040 sbci r31,hi8(-(PPM_in))4405 22dc 8081 ld r24,Z4406 22de 9181 ldd r25,Z+14407 22e0 8734 cpi r24,714408 22e2 9105 cpc r25,__zero_reg__4409 22e4 04F0 brlt .L4004410 22e6 42E0 ldi r20,lo8(2)4411 .L400:4412 22e8 E22F mov r30,r184413 22ea FF27 clr r314414 22ec EE0F add r30,r304415 22ee FF1F adc r31,r314416 22f0 E050 subi r30,lo8(-(PPM_in))4417 22f2 F040 sbci r31,hi8(-(PPM_in))4418 22f4 8081 ld r24,Z4419 22f6 9181 ldd r25,Z+14420 22f8 8634 cpi r24,704421 22fa 9105 cpc r25,__zero_reg__4422 22fc 04F4 brge .L4014423 22fe 8091 0000 lds r24,EE_Parameter+14424 2302 E82F mov r30,r244425 2304 FF27 clr r314426 2306 EE0F add r30,r304427 2308 FF1F adc r31,r314428 230a E050 subi r30,lo8(-(PPM_in))4429 230c F040 sbci r31,hi8(-(PPM_in))4430 230e 8081 ld r24,Z4431 2310 9181 ldd r25,Z+14432 2312 8734 cpi r24,714433 2314 9105 cpc r25,__zero_reg__4434 2316 04F0 brlt .L4014435 2318 43E0 ldi r20,lo8(3)4436 .L401:4437 231a E22F mov r30,r184438 231c FF27 clr r314439 231e EE0F add r30,r304440 2320 FF1F adc r31,r314441 2322 E050 subi r30,lo8(-(PPM_in))4442 2324 F040 sbci r31,hi8(-(PPM_in))4443 2326 8081 ld r24,Z4444 2328 9181 ldd r25,Z+14445 232a 8A5B subi r24,lo8(-70)4446 232c 9F4F sbci r25,hi8(-70)4447 232e 04F4 brge .L4024448 2330 8091 0000 lds r24,EE_Parameter+14449 2334 E82F mov r30,r244450 2336 FF27 clr r314451 2338 EE0F add r30,r304452 233a FF1F adc r31,r314453 233c E050 subi r30,lo8(-(PPM_in))4454 233e F040 sbci r31,hi8(-(PPM_in))4455 2340 8081 ld r24,Z4456 2342 9181 ldd r25,Z+14457 2344 8734 cpi r24,714458 2346 9105 cpc r25,__zero_reg__4459 2348 04F0 brlt .L4024460 234a 44E0 ldi r20,lo8(4)4461 .L402:4462 234c E22F mov r30,r184463 234e FF27 clr r314464 2350 EE0F add r30,r304465 2352 FF1F adc r31,r314466 2354 E050 subi r30,lo8(-(PPM_in))4467 2356 F040 sbci r31,hi8(-(PPM_in))4468 2358 8081 ld r24,Z4469 235a 9181 ldd r25,Z+14470 235c 8A5B subi r24,lo8(-70)4471 235e 9F4F sbci r25,hi8(-70)4472 2360 04F4 brge .L4034473 2362 8091 0000 lds r24,EE_Parameter+14474 2366 E82F mov r30,r244475 2368 FF27 clr r314476 236a EE0F add r30,r304477 236c FF1F adc r31,r314478 236e E050 subi r30,lo8(-(PPM_in))4479 2370 F040 sbci r31,hi8(-(PPM_in))4480 2372 8081 ld r24,Z4481 2374 9181 ldd r25,Z+14482 2376 8634 cpi r24,704483 2378 9105 cpc r25,__zero_reg__4484 237a 04F4 brge .L4034485 237c 45E0 ldi r20,lo8(5)4486 .L403:4487 237e 842F mov r24,r204488 2380 0E94 0000 call SetActiveParamSet4489 .L396:4490 2384 8091 0000 lds r24,EE_Parameter+24491 2388 E82F mov r30,r244492 238a FF27 clr r314493 238c EE0F add r30,r304494 238e FF1F adc r31,r314495 2390 E050 subi r30,lo8(-(PPM_in))4496 2392 F040 sbci r31,hi8(-(PPM_in))4497 2394 8081 ld r24,Z4498 2396 9181 ldd r25,Z+14499 2398 0190 ld __tmp_reg__,Z+4500 239a F081 ld r31,Z4501 239c E02D mov r30,__tmp_reg__4502 239e F7FF sbrs r31,74503 23a0 00C0 rjmp .L4054504 23a2 F095 com r314505 23a4 E195 neg r304506 23a6 FF4F sbci r31,lo8(-1)4507 .L405:4508 23a8 7E97 sbiw r30,304509 23aa 04F4 brge .L4044510 23ac 8091 0000 lds r24,EE_Parameter+14511 23b0 E82F mov r30,r244512 23b2 FF27 clr r314513 23b4 EE0F add r30,r304514 23b6 FF1F adc r31,r314515 23b8 E050 subi r30,lo8(-(PPM_in))4516 23ba F040 sbci r31,hi8(-(PPM_in))4517 23bc 8081 ld r24,Z4518 23be 9181 ldd r25,Z+14519 23c0 8A5B subi r24,lo8(-70)4520 23c2 9F4F sbci r25,hi8(-70)4521 23c4 04F4 brge .L4044522 23c6 81E0 ldi r24,lo8(1)4523 23c8 8093 0000 sts WinkelOut+6,r244524 23cc 1092 0000 sts CalibrationDone,__zero_reg__4525 23d0 88EE ldi r24,lo8(1000)4526 23d2 93E0 ldi r25,hi8(1000)4527 23d4 9093 0000 sts (beeptime)+1,r254528 23d8 8093 0000 sts beeptime,r244529 23dc 00C0 rjmp .L3934530 .L404:4531 23de 0E94 0000 call GetActiveParamSet4532 23e2 0E94 0000 call ParamSet_ReadFromEEProm4533 23e6 80E0 ldi r24,lo8(0)4534 23e8 0E94 0000 call LipoDetection4535 23ec 8091 0000 lds r24,EE_Parameter+394536 23f0 0E94 0000 call LIBFC_ReceiverInit4537 23f4 8091 0000 lds r24,Parameter_GlobalConfig4538 23f8 80FF sbrs r24,04539 23fa 00C0 rjmp .L4074540 23fc 8091 0000 lds r24,MessLuftdruck4541 2400 9091 0000 lds r25,(MessLuftdruck)+14542 2404 875B subi r24,lo8(951)4543 2406 9340 sbci r25,hi8(951)4544 2408 00F4 brsh .L4094545 240a 8091 0000 lds r24,MessLuftdruck4546 240e 9091 0000 lds r25,(MessLuftdruck)+14547 2412 8E5E subi r24,lo8(750)4548 2414 9240 sbci r25,hi8(750)4549 2416 00F4 brsh .L4074550 .L409:4551 2418 0E94 0000 call SucheLuftruckOffset4552 .L407:4553 241c 80E0 ldi r24,lo8(0)4554 241e 0E94 0000 call SetNeutral4555 2422 81E0 ldi r24,lo8(1)4556 2424 8093 0000 sts CalibrationDone,r244557 2428 8093 0000 sts ServoActive,r244558 242c 579A sbi 42-0x20,74559 242e 00C0 rjmp .L8944560 .L394:4561 2430 8081 ld r24,Z4562 2432 9181 ldd r25,Z+14563 2434 855B subi r24,lo8(-75)4564 2436 9F4F sbci r25,hi8(-75)4565 2438 04F4 brge .L4114566 243a 8091 0000 lds r24,delay_neutral.64567 243e 8F5F subi r24,lo8(-(1))4568 2440 8093 0000 sts delay_neutral.6,r244569 2444 893C cpi r24,lo8(-55)4570 2446 00F0 brlo .L3934571 2448 2093 0000 sts MotorenEin,r184572 244c 2093 0000 sts delay_neutral.6,r184573 2450 1092 0000 sts (modell_fliegt)+1,__zero_reg__4574 2454 1092 0000 sts modell_fliegt,__zero_reg__4575 2458 81E0 ldi r24,lo8(1)4576 245a 0E94 0000 call SetNeutral4577 245e 81E0 ldi r24,lo8(1)4578 2460 8093 0000 sts CalibrationDone,r244579 .L894:4580 2464 88E1 ldi r24,lo8(24)4581 2466 8093 0000 sts SpeakHoTT,r244582 246a 0E94 0000 call GetActiveParamSet4583 246e 68E7 ldi r22,lo8(120)4584 2470 70E0 ldi r23,hi8(120)4585 2472 0E94 0000 call Piep4586 2476 00C0 rjmp .L3934587 .L411:4588 2478 2093 0000 sts delay_neutral.6,r184589 .L393:4590 247c 8091 0000 lds r24,EE_Parameter+34591 2480 E82F mov r30,r244592 2482 FF27 clr r314593 2484 EE0F add r30,r304594 2486 FF1F adc r31,r314595 2488 E050 subi r30,lo8(-(PPM_in))4596 248a F040 sbci r31,hi8(-(PPM_in))4597 248c 8081 ld r24,Z4598 248e 9181 ldd r25,Z+14599 2490 8B5A subi r24,lo8(-85)4600 2492 9F4F sbci r25,hi8(-85)4601 2494 04F0 brlt .+24602 2496 00C0 rjmp .L4144603 2498 2091 0000 lds r18,EE_Parameter+1004604 249c E22F mov r30,r184605 249e FF27 clr r314606 24a0 EF77 andi r30,lo8(127)4607 24a2 F070 andi r31,hi8(127)4608 24a4 EE0F add r30,r304609 24a6 FF1F adc r31,r314610 24a8 E050 subi r30,lo8(-(PPM_diff))4611 24aa F040 sbci r31,hi8(-(PPM_diff))4612 24ac 8081 ld r24,Z4613 24ae 9181 ldd r25,Z+14614 24b0 0697 sbiw r24,64615 24b2 04F0 brlt .L4154616 24b4 84E6 ldi r24,lo8(100)4617 24b6 00C0 rjmp .L8954618 .L415:4619 24b8 8081 ld r24,Z4620 24ba 9181 ldd r25,Z+14621 24bc 8B5F subi r24,lo8(-5)4622 24be 9F4F sbci r25,hi8(-5)4623 24c0 04F4 brge .L4164624 24c2 8CE9 ldi r24,lo8(-100)4625 .L895:4626 24c4 8093 0000 sts move_safety_switch.9,r244627 .L416:4628 24c8 8091 0000 lds r24,MotorenEin4629 24cc E091 0000 lds r30,EE_Parameter+44630 24d0 8823 tst r244631 24d2 01F0 breq .+24632 24d4 00C0 rjmp .L4184633 24d6 FF27 clr r314634 24d8 EE0F add r30,r304635 24da FF1F adc r31,r314636 24dc E050 subi r30,lo8(-(PPM_in))4637 24de F040 sbci r31,hi8(-(PPM_in))4638 24e0 8081 ld r24,Z4639 24e2 9181 ldd r25,Z+14640 24e4 855B subi r24,lo8(-75)4641 24e6 9F4F sbci r25,hi8(-75)4642 24e8 04F4 brge .L4214643 24ea 8091 0000 lds r24,EE_Parameter+1114644 24ee 83FD sbrc r24,34645 24f0 00C0 rjmp .L4224646 24f2 E22F mov r30,r184647 24f4 FF27 clr r314648 24f6 EE0F add r30,r304649 24f8 FF1F adc r31,r314650 24fa E050 subi r30,lo8(-(PPM_in))4651 24fc F040 sbci r31,hi8(-(PPM_in))4652 24fe 8081 ld r24,Z4653 2500 9181 ldd r25,Z+14654 2502 855B subi r24,lo8(-75)4655 2504 9F4F sbci r25,hi8(-75)4656 2506 04F0 brlt .L4204657 .L422:4658 2508 8091 0000 lds r24,EE_Parameter+1004659 250c 8823 tst r244660 250e 01F0 breq .L4204661 .L421:4662 2510 8091 0000 lds r24,EE_Parameter+1114663 2514 83FF sbrs r24,34664 2516 00C0 rjmp .L4194665 2518 8091 0000 lds r24,EE_Parameter+1004666 251c E82F mov r30,r244667 251e FF27 clr r314668 2520 EE0F add r30,r304669 2522 FF1F adc r31,r314670 2524 E050 subi r30,lo8(-(PPM_in))4671 2526 F040 sbci r31,hi8(-(PPM_in))4672 2528 8081 ld r24,Z4673 252a 9181 ldd r25,Z+14674 252c 875F subi r24,lo8(-9)4675 252e 9F4F sbci r25,hi8(-9)4676 2530 04F4 brge .+24677 2532 00C0 rjmp .L4194678 2534 8091 0000 lds r24,move_safety_switch.94679 2538 8436 cpi r24,lo8(100)4680 253a 01F0 breq .+24681 253c 00C0 rjmp .L4194682 .L420:4683 253e 2091 0000 lds r18,CalibrationDone4684 2542 2223 tst r184685 2544 01F0 breq .L4234686 2546 8091 0000 lds r24,FC_StatusFlags4687 254a 8860 ori r24,lo8(8)4688 254c 8093 0000 sts FC_StatusFlags,r244689 .L423:4690 2550 8091 0000 lds r24,delay_einschalten.74691 2554 8F5F subi r24,lo8(-(1))4692 2556 8093 0000 sts delay_einschalten.7,r244693 255a 8E3F cpi r24,lo8(-2)4694 255c 00F4 brsh .+24695 255e 00C0 rjmp .L4294696 2560 1092 0000 sts delay_einschalten.7,__zero_reg__4697 2564 8091 0000 lds r24,VersionInfo+54698 2568 8823 tst r244699 256a 01F0 breq .+24700 256c 00C0 rjmp .L4254701 256e 2223 tst r184702 2570 01F4 brne .+24703 2572 00C0 rjmp .L4254704 2574 8091 0000 lds r24,NC_ErrorCode4705 2578 8823 tst r244706 257a 01F0 breq .+24707 257c 00C0 rjmp .L4254708 257e 81E0 ldi r24,lo8(1)4709 2580 90E0 ldi r25,hi8(1)4710 2582 9093 0000 sts (modell_fliegt)+1,r254711 2586 8093 0000 sts modell_fliegt,r244712 258a 81E0 ldi r24,lo8(1)4713 258c 8093 0000 sts MotorenEin,r244714 2590 1092 0000 sts sollGier.0,__zero_reg__4715 2594 1092 0000 sts (sollGier.0)+1,__zero_reg__4716 2598 1092 0000 sts (sollGier.0)+2,__zero_reg__4717 259c 1092 0000 sts (sollGier.0)+3,__zero_reg__4718 25a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__4719 25a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4720 25a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4721 25ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4722 25b0 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4723 25b4 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4724 25b8 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4725 25bc 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4726 25c0 8091 0000 lds r24,EE_Parameter+284727 25c4 E82E mov r14,r244728 25c6 FF24 clr r154729 25c8 0027 clr r164730 25ca 1127 clr r174731 25cc 8091 0000 lds r24,Mittelwert_AccNick4732 25d0 9091 0000 lds r25,(Mittelwert_AccNick)+14733 25d4 9C01 movw r18,r244734 25d6 4427 clr r204735 25d8 37FD sbrc r19,74736 25da 4095 com r204737 25dc 542F mov r21,r204738 25de C801 movw r24,r164739 25e0 B701 movw r22,r144740 25e2 0E94 0000 call __mulsi34741 25e6 DC01 movw r26,r244742 25e8 CB01 movw r24,r224743 25ea 8093 0000 sts Mess_IntegralNick,r244744 25ee 9093 0000 sts (Mess_IntegralNick)+1,r254745 25f2 A093 0000 sts (Mess_IntegralNick)+2,r264746 25f6 B093 0000 sts (Mess_IntegralNick)+3,r274747 25fa 8091 0000 lds r24,Mittelwert_AccRoll4748 25fe 9091 0000 lds r25,(Mittelwert_AccRoll)+14749 2602 9C01 movw r18,r244750 2604 4427 clr r204751 2606 37FD sbrc r19,74752 2608 4095 com r204753 260a 542F mov r21,r204754 260c C801 movw r24,r164755 260e B701 movw r22,r144756 2610 0E94 0000 call __mulsi34757 2614 DC01 movw r26,r244758 2616 CB01 movw r24,r224759 2618 8093 0000 sts Mess_IntegralRoll,r244760 261c 9093 0000 sts (Mess_IntegralRoll)+1,r254761 2620 A093 0000 sts (Mess_IntegralRoll)+2,r264762 2624 B093 0000 sts (Mess_IntegralRoll)+3,r274763 2628 8091 0000 lds r24,IntegralNick4764 262c 9091 0000 lds r25,(IntegralNick)+14765 2630 A091 0000 lds r26,(IntegralNick)+24766 2634 B091 0000 lds r27,(IntegralNick)+34767 2638 8093 0000 sts Mess_IntegralNick2,r244768 263c 9093 0000 sts (Mess_IntegralNick2)+1,r254769 2640 A093 0000 sts (Mess_IntegralNick2)+2,r264770 2644 B093 0000 sts (Mess_IntegralNick2)+3,r274771 2648 8091 0000 lds r24,IntegralRoll4772 264c 9091 0000 lds r25,(IntegralRoll)+14773 2650 A091 0000 lds r26,(IntegralRoll)+24774 2654 B091 0000 lds r27,(IntegralRoll)+34775 2658 8093 0000 sts Mess_IntegralRoll2,r244776 265c 9093 0000 sts (Mess_IntegralRoll2)+1,r254777 2660 A093 0000 sts (Mess_IntegralRoll2)+2,r264778 2664 B093 0000 sts (Mess_IntegralRoll2)+3,r274779 2668 1092 0000 sts SummeNick,__zero_reg__4780 266c 1092 0000 sts (SummeNick)+1,__zero_reg__4781 2670 1092 0000 sts (SummeNick)+2,__zero_reg__4782 2674 1092 0000 sts (SummeNick)+3,__zero_reg__4783 2678 1092 0000 sts SummeRoll,__zero_reg__4784 267c 1092 0000 sts (SummeRoll)+1,__zero_reg__4785 2680 1092 0000 sts (SummeRoll)+2,__zero_reg__4786 2684 1092 0000 sts (SummeRoll)+3,__zero_reg__4787 2688 84E6 ldi r24,lo8(100)4788 268a 8093 0000 sts NeueKompassRichtungMerken,r244789 268e 84E3 ldi r24,lo8(52)4790 2690 00C0 rjmp .L8964791 .L425:4792 2692 8CED ldi r24,lo8(1500)4793 2694 95E0 ldi r25,hi8(1500)4794 2696 9093 0000 sts (beeptime)+1,r254795 269a 8093 0000 sts beeptime,r244796 269e 2223 tst r184797 26a0 01F0 breq .+24798 26a2 00C0 rjmp .L4294799 26a4 81E0 ldi r24,lo8(1)4800 26a6 00C0 rjmp .L8964801 .L419:4802 26a8 1092 0000 sts delay_einschalten.7,__zero_reg__4803 26ac 00C0 rjmp .L4294804 .L418:4805 26ae FF27 clr r314806 26b0 EE0F add r30,r304807 26b2 FF1F adc r31,r314808 26b4 E050 subi r30,lo8(-(PPM_in))4809 26b6 F040 sbci r31,hi8(-(PPM_in))4810 26b8 8081 ld r24,Z4811 26ba 9181 ldd r25,Z+14812 26bc 8C34 cpi r24,764813 26be 9105 cpc r25,__zero_reg__4814 26c0 04F0 brlt .L4324815 26c2 8091 0000 lds r24,EE_Parameter+1114816 26c6 83FD sbrc r24,34817 26c8 00C0 rjmp .L4334818 26ca E22F mov r30,r184819 26cc FF27 clr r314820 26ce EE0F add r30,r304821 26d0 FF1F adc r31,r314822 26d2 E050 subi r30,lo8(-(PPM_in))4823 26d4 F040 sbci r31,hi8(-(PPM_in))4824 26d6 8081 ld r24,Z4825 26d8 9181 ldd r25,Z+14826 26da 855B subi r24,lo8(-75)4827 26dc 9F4F sbci r25,hi8(-75)4828 26de 04F0 brlt .L4314829 .L433:4830 26e0 8091 0000 lds r24,EE_Parameter+1004831 26e4 8823 tst r244832 26e6 01F0 breq .L4314833 .L432:4834 26e8 8091 0000 lds r24,EE_Parameter+1114835 26ec 83FF sbrs r24,34836 26ee 00C0 rjmp .L4304837 26f0 8091 0000 lds r24,EE_Parameter+1004838 26f4 E82F mov r30,r244839 26f6 FF27 clr r314840 26f8 EE0F add r30,r304841 26fa FF1F adc r31,r314842 26fc E050 subi r30,lo8(-(PPM_in))4843 26fe F040 sbci r31,hi8(-(PPM_in))4844 2700 8081 ld r24,Z4845 2702 9181 ldd r25,Z+14846 2704 8E5C subi r24,lo8(-50)4847 2706 9F4F sbci r25,hi8(-50)4848 2708 04F4 brge .L4304849 270a 8091 0000 lds r24,move_safety_switch.94850 270e 8C39 cpi r24,lo8(-100)4851 2710 01F4 brne .L4304852 .L431:4853 2712 8091 0000 lds r24,delay_ausschalten.84854 2716 8F5F subi r24,lo8(-(1))4855 2718 8093 0000 sts delay_ausschalten.8,r244856 271c 8B3F cpi r24,lo8(-5)4857 271e 00F0 brlo .L4294858 2720 1092 0000 sts MotorenEin,__zero_reg__4859 2724 1092 0000 sts delay_ausschalten.8,__zero_reg__4860 2728 1092 0000 sts (modell_fliegt)+1,__zero_reg__4861 272c 1092 0000 sts modell_fliegt,__zero_reg__4862 2730 86E2 ldi r24,lo8(38)4863 .L896:4864 2732 8093 0000 sts SpeakHoTT,r244865 2736 00C0 rjmp .L4294866 .L430:4867 2738 1092 0000 sts delay_ausschalten.8,__zero_reg__4868 .L429:4869 273c 8091 0000 lds r24,GasIsZeroCnt4870 2740 9091 0000 lds r25,(GasIsZeroCnt)+14871 2744 13E0 ldi r17,hi8(1000)4872 2746 883E cpi r24,lo8(1000)4873 2748 9107 cpc r25,r174874 274a 00F4 brsh .L3874875 274c 0196 adiw r24,14876 274e 9093 0000 sts (GasIsZeroCnt)+1,r254877 2752 8093 0000 sts GasIsZeroCnt,r244878 2756 00C0 rjmp .L3874879 .L414:4880 2758 1092 0000 sts move_safety_switch.9,__zero_reg__4881 275c 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4882 2760 1092 0000 sts GasIsZeroCnt,__zero_reg__4883 2764 00C0 rjmp .L3874884 .L388:4885 2766 2E5E subi r18,lo8(750)4886 2768 3240 sbci r19,hi8(750)4887 276a 00F0 brlo .L3874888 276c 8091 0000 lds r24,GPSInfo+44889 2770 9091 0000 lds r25,(GPSInfo+4)+14890 2774 8059 subi r24,lo8(400)4891 2776 9140 sbci r25,hi8(400)4892 2778 00F4 brsh .L3874893 277a 8091 0000 lds r24,HoehenWert4894 277e 9091 0000 lds r25,(HoehenWert)+14895 2782 A091 0000 lds r26,(HoehenWert)+24896 2786 B091 0000 lds r27,(HoehenWert)+34897 278a 8C5D subi r24,lo8(1500)4898 278c 9540 sbci r25,hi8(1500)4899 278e A040 sbci r26,hlo8(1500)4900 2790 B040 sbci r27,hhi8(1500)4901 2792 04F4 brge .L3874902 2794 80E3 ldi r24,lo8(30000)4903 2796 95E7 ldi r25,hi8(30000)4904 2798 9093 0000 sts (GasIsZeroCnt)+1,r254905 279c 8093 0000 sts GasIsZeroCnt,r244906 27a0 8091 0000 lds r24,modell_fliegt4907 27a4 9091 0000 lds r25,(modell_fliegt)+14908 27a8 8A5E subi r24,lo8(1002)4909 27aa 9340 sbci r25,hi8(1002)4910 27ac 00F0 brlo .L3874911 27ae 89EE ldi r24,lo8(1001)4912 27b0 93E0 ldi r25,hi8(1001)4913 27b2 9093 0000 sts (modell_fliegt)+1,r254914 27b6 8093 0000 sts modell_fliegt,r244915 .L387:4916 27ba 8091 0000 lds r24,NewPpmData4917 27be 8150 subi r24,lo8(-(-1))4918 27c0 8093 0000 sts NewPpmData,r244919 27c4 8091 0000 lds r24,NewPpmData4920 27c8 8F3F cpi r24,lo8(-1)4921 27ca 01F0 breq .L4434922 27cc 8091 0000 lds r24,FC_StatusFlags4923 27d0 84FF sbrs r24,44924 27d2 00C0 rjmp .L4424925 .L443:4926 27d4 0E94 0000 call ParameterZuordnung4927 27d8 B090 0000 lds r11,EE_Parameter+234928 27dc 8091 0000 lds r24,stick_nick.124929 27e0 9091 0000 lds r25,(stick_nick.12)+14930 27e4 9C01 movw r18,r244931 27e6 220F lsl r184932 27e8 331F rol r194933 27ea 280F add r18,r244934 27ec 391F adc r19,r254935 27ee C090 0000 lds r12,EE_Parameter+14936 27f2 AC2D mov r26,r124937 27f4 BB27 clr r274938 27f6 AA0F add r26,r264939 27f8 BB1F adc r27,r274940 27fa FD01 movw r30,r264941 27fc E050 subi r30,lo8(-(PPM_in))4942 27fe F040 sbci r31,hi8(-(PPM_in))4943 2800 4B2D mov r20,r114944 2802 5527 clr r214945 2804 8081 ld r24,Z4946 2806 9181 ldd r25,Z+14947 2808 849F mul r24,r204948 280a F001 movw r30,r04949 280c 859F mul r24,r214950 280e F00D add r31,r04951 2810 949F mul r25,r204952 2812 F00D add r31,r04953 2814 1124 clr r14954 2816 2E0F add r18,r304955 2818 3F1F adc r19,r314956 281a 37FF sbrs r19,74957 281c 00C0 rjmp .L4444958 281e 2D5F subi r18,lo8(-(3))4959 2820 3F4F sbci r19,hi8(-(3))4960 .L444:4961 2822 B901 movw r22,r184962 2824 7595 asr r234963 2826 6795 ror r224964 2828 7595 asr r234965 282a 6795 ror r224966 282c A050 subi r26,lo8(-(PPM_diff))4967 282e B040 sbci r27,hi8(-(PPM_diff))4968 2830 8091 0000 lds r24,EE_Parameter+244969 2834 082F mov r16,r244970 2836 1127 clr r174971 2838 8D91 ld r24,X+4972 283a 9C91 ld r25,X4973 283c 809F mul r24,r164974 283e 7001 movw r14,r04975 2840 819F mul r24,r174976 2842 F00C add r15,r04977 2844 909F mul r25,r164978 2846 F00C add r15,r04979 2848 1124 clr r14980 284a 6E0D add r22,r144981 284c 7F1D adc r23,r154982 284e 7093 0000 sts (stick_nick.12)+1,r234983 2852 6093 0000 sts stick_nick.12,r224984 2856 8091 0000 lds r24,stick_roll.134985 285a 9091 0000 lds r25,(stick_roll.13)+14986 285e 9C01 movw r18,r244987 2860 220F lsl r184988 2862 331F rol r194989 2864 280F add r18,r244990 2866 391F adc r19,r254991 2868 D090 0000 lds r13,EE_Parameter+24992 286c AD2D mov r26,r134993 286e BB27 clr r274994 2870 AA0F add r26,r264995 2872 BB1F adc r27,r274996 2874 FD01 movw r30,r264997 2876 E050 subi r30,lo8(-(PPM_in))4998 2878 F040 sbci r31,hi8(-(PPM_in))4999 287a 8081 ld r24,Z5000 287c 9181 ldd r25,Z+15001 287e 849F mul r24,r205002 2880 F001 movw r30,r05003 2882 859F mul r24,r215004 2884 F00D add r31,r05005 2886 949F mul r25,r205006 2888 F00D add r31,r05007 288a 1124 clr r15008 288c 2E0F add r18,r305009 288e 3F1F adc r19,r315010 2890 37FF sbrs r19,75011 2892 00C0 rjmp .L4455012 2894 2D5F subi r18,lo8(-(3))5013 2896 3F4F sbci r19,hi8(-(3))5014 .L445:5015 2898 A901 movw r20,r185016 289a 5595 asr r215017 289c 4795 ror r205018 289e 5595 asr r215019 28a0 4795 ror r205020 28a2 A050 subi r26,lo8(-(PPM_diff))5021 28a4 B040 sbci r27,hi8(-(PPM_diff))5022 28a6 8D91 ld r24,X+5023 28a8 9C91 ld r25,X5024 28aa 809F mul r24,r165025 28ac 7001 movw r14,r05026 28ae 819F mul r24,r175027 28b0 F00C add r15,r05028 28b2 909F mul r25,r165029 28b4 F00C add r15,r05030 28b6 1124 clr r15031 28b8 4E0D add r20,r145032 28ba 5F1D adc r21,r155033 28bc 5093 0000 sts (stick_roll.13)+1,r215034 28c0 4093 0000 sts stick_roll.13,r205035 28c4 8091 0000 lds r24,CareFree5036 28c8 8823 tst r245037 28ca 01F4 brne .+25038 28cc 00C0 rjmp .L4465039 28ce CB01 movw r24,r225040 28d0 77FD sbrc r23,75041 28d2 0396 adiw r24,35042 .L447:5043 28d4 DC01 movw r26,r245044 28d6 B595 asr r275045 28d8 A795 ror r265046 28da B595 asr r275047 28dc A795 ror r265048 28de CA01 movw r24,r205049 28e0 57FD sbrc r21,75050 28e2 0396 adiw r24,35051 .L448:5052 28e4 FC01 movw r30,r245053 28e6 F595 asr r315054 28e8 E795 ror r305055 28ea F595 asr r315056 28ec E795 ror r305057 28ee 8091 0000 lds r24,FromNC_Rotate_C5058 28f2 682F mov r22,r245059 28f4 7727 clr r235060 28f6 67FD sbrc r22,75061 28f8 7095 com r235062 28fa 6A9F mul r22,r265063 28fc 9001 movw r18,r05064 28fe 6B9F mul r22,r275065 2900 300D add r19,r05066 2902 7A9F mul r23,r265067 2904 300D add r19,r05068 2906 1124 clr r15069 2908 8091 0000 lds r24,FromNC_Rotate_S5070 290c 482F mov r20,r245071 290e 5527 clr r215072 2910 47FD sbrc r20,75073 2912 5095 com r215074 2914 4E9F mul r20,r305075 2916 C001 movw r24,r05076 2918 4F9F mul r20,r315077 291a 900D add r25,r05078 291c 5E9F mul r21,r305079 291e 900D add r25,r05080 2920 1124 clr r15081 2922 280F add r18,r245082 2924 391F adc r19,r255083 2926 37FF sbrs r19,75084 2928 00C0 rjmp .L4495085 292a 295F subi r18,lo8(-(7))5086 292c 3F4F sbci r19,hi8(-(7))5087 .L449:5088 292e 93E0 ldi r25,35089 2930 3595 1: asr r195090 2932 2795 ror r185091 2934 9A95 dec r255092 2936 01F4 brne 1b5093 2938 3093 0000 sts (StickNick)+1,r195094 293c 2093 0000 sts StickNick,r185095 2940 6E9F mul r22,r305096 2942 9001 movw r18,r05097 2944 6F9F mul r22,r315098 2946 300D add r19,r05099 2948 7E9F mul r23,r305100 294a 300D add r19,r05101 294c 1124 clr r15102 294e 4A9F mul r20,r265103 2950 C001 movw r24,r05104 2952 4B9F mul r20,r275105 2954 900D add r25,r05106 2956 5A9F mul r21,r265107 2958 900D add r25,r05108 295a 1124 clr r15109 295c 00C0 rjmp .L9255110 .L446:5111 295e 8091 0000 lds r24,EE_Parameter+985112 2962 E82F mov r30,r245113 2964 FF27 clr r315114 2966 E050 subi r30,lo8(-(sintab))5115 2968 F040 sbci r31,hi8(-(sintab))5116 296a 8681 ldd r24,Z+65117 296c 8093 0000 sts FromNC_Rotate_C,r245118 2970 9081 ld r25,Z5119 2972 9093 0000 sts FromNC_Rotate_S,r255120 2976 A82F mov r26,r245121 2978 BB27 clr r275122 297a A7FD sbrc r26,75123 297c B095 com r275124 297e A69F mul r26,r225125 2980 9001 movw r18,r05126 2982 A79F mul r26,r235127 2984 300D add r19,r05128 2986 B69F mul r27,r225129 2988 300D add r19,r05130 298a 1124 clr r15131 298c E92F mov r30,r255132 298e FF27 clr r315133 2990 E7FD sbrc r30,75134 2992 F095 com r315135 2994 E49F mul r30,r205136 2996 C001 movw r24,r05137 2998 E59F mul r30,r215138 299a 900D add r25,r05139 299c F49F mul r31,r205140 299e 900D add r25,r05141 29a0 1124 clr r15142 29a2 280F add r18,r245143 29a4 391F adc r19,r255144 29a6 37FF sbrs r19,75145 29a8 00C0 rjmp .L4525146 29aa 295F subi r18,lo8(-(7))5147 29ac 3F4F sbci r19,hi8(-(7))5148 .L452:5149 29ae 83E0 ldi r24,35150 29b0 3595 1: asr r195151 29b2 2795 ror r185152 29b4 8A95 dec r245153 29b6 01F4 brne 1b5154 29b8 3093 0000 sts (StickNick)+1,r195155 29bc 2093 0000 sts StickNick,r185156 29c0 A49F mul r26,r205157 29c2 9001 movw r18,r05158 29c4 A59F mul r26,r215159 29c6 300D add r19,r05160 29c8 B49F mul r27,r205161 29ca 300D add r19,r05162 29cc 1124 clr r15163 29ce E69F mul r30,r225164 29d0 C001 movw r24,r05165 29d2 E79F mul r30,r235166 29d4 900D add r25,r05167 29d6 F69F mul r31,r225168 29d8 900D add r25,r05169 29da 1124 clr r15170 .L925:5171 29dc 281B sub r18,r245172 29de 390B sbc r19,r255173 29e0 37FF sbrs r19,75174 29e2 00C0 rjmp .L4535175 29e4 295F subi r18,lo8(-(7))5176 29e6 3F4F sbci r19,hi8(-(7))5177 .L453:5178 29e8 03E0 ldi r16,35179 29ea 3595 1: asr r195180 29ec 2795 ror r185181 29ee 0A95 dec r165182 29f0 01F4 brne 1b5183 29f2 3093 0000 sts (StickRoll)+1,r195184 29f6 2093 0000 sts StickRoll,r185185 29fa 8091 0000 lds r24,EE_Parameter+45186 29fe E82F mov r30,r245187 2a00 FF27 clr r315188 2a02 EE0F add r30,r305189 2a04 FF1F adc r31,r315190 2a06 E050 subi r30,lo8(-(PPM_in))5191 2a08 F040 sbci r31,hi8(-(PPM_in))5192 2a0a 8081 ld r24,Z5193 2a0c 9181 ldd r25,Z+15194 2a0e 9095 com r255195 2a10 8195 neg r245196 2a12 9F4F sbci r25,lo8(-1)5197 2a14 9093 0000 sts (StickGier)+1,r255198 2a18 8093 0000 sts StickGier,r245199 2a1c 8530 cpi r24,55200 2a1e 9105 cpc r25,__zero_reg__5201 2a20 04F0 brlt .L4545202 2a22 0497 sbiw r24,45203 2a24 00C0 rjmp .L8975204 .L454:5205 2a26 0FEF ldi r16,hi8(-4)5206 2a28 8C3F cpi r24,lo8(-4)5207 2a2a 9007 cpc r25,r165208 2a2c 04F4 brge .L4565209 2a2e 0496 adiw r24,45210 .L897:5211 2a30 9093 0000 sts (StickGier)+1,r255212 2a34 8093 0000 sts StickGier,r245213 2a38 00C0 rjmp .L4555214 .L456:5215 2a3a 1092 0000 sts (StickGier)+1,__zero_reg__5216 2a3e 1092 0000 sts StickGier,__zero_reg__5217 .L455:5218 2a42 8091 0000 lds r24,GPS_Aid_StickMultiplikator5219 2a46 8823 tst r245220 2a48 01F4 brne .+25221 2a4a 00C0 rjmp .L4585222 2a4c 282F mov r18,r245223 2a4e 3327 clr r195224 2a50 8091 0000 lds r24,StickNick5225 2a54 9091 0000 lds r25,(StickNick)+15226 2a58 97FD sbrc r25,75227 2a5a 0796 adiw r24,75228 .L459:5229 2a5c 13E0 ldi r17,35230 2a5e 9595 1: asr r255231 2a60 8795 ror r245232 2a62 1A95 dec r175233 2a64 01F4 brne 1b5234 2a66 289F mul r18,r245235 2a68 A001 movw r20,r05236 2a6a 299F mul r18,r255237 2a6c 500D add r21,r05238 2a6e 389F mul r19,r245239 2a70 500D add r21,r05240 2a72 1124 clr r15241 2a74 CA01 movw r24,r205242 2a76 57FD sbrc r21,75243 2a78 0F96 adiw r24,155244 .L460:5245 2a7a B4E0 ldi r27,45246 2a7c 9595 1: asr r255247 2a7e 8795 ror r245248 2a80 BA95 dec r275249 2a82 01F4 brne 1b5250 2a84 9093 0000 sts (StickNick)+1,r255251 2a88 8093 0000 sts StickNick,r245252 2a8c 8091 0000 lds r24,StickRoll5253 2a90 9091 0000 lds r25,(StickRoll)+15254 2a94 97FD sbrc r25,75255 2a96 0796 adiw r24,75256 .L461:5257 2a98 A3E0 ldi r26,35258 2a9a 9595 1: asr r255259 2a9c 8795 ror r245260 2a9e AA95 dec r265261 2aa0 01F4 brne 1b5262 2aa2 289F mul r18,r245263 2aa4 B001 movw r22,r05264 2aa6 299F mul r18,r255265 2aa8 700D add r23,r05266 2aaa 389F mul r19,r245267 2aac 700D add r23,r05268 2aae 1124 clr r15269 2ab0 CB01 movw r24,r225270 2ab2 77FD sbrc r23,75271 2ab4 0F96 adiw r24,155272 .L462:5273 2ab6 F4E0 ldi r31,45274 2ab8 9595 1: asr r255275 2aba 8795 ror r245276 2abc FA95 dec r315277 2abe 01F4 brne 1b5278 2ac0 9093 0000 sts (StickRoll)+1,r255279 2ac4 8093 0000 sts StickRoll,r245280 .L458:5281 2ac8 8090 0000 lds r8,StickNick5282 2acc 9090 0000 lds r9,(StickNick)+15283 2ad0 8091 0000 lds r24,GPS_Nick5284 2ad4 9091 0000 lds r25,(GPS_Nick)+15285 2ad8 881A sub r8,r245286 2ada 990A sbc r9,r255287 2adc 9092 0000 sts (StickNick)+1,r95288 2ae0 8092 0000 sts StickNick,r85289 2ae4 0091 0000 lds r16,StickRoll5290 2ae8 1091 0000 lds r17,(StickRoll)+15291 2aec 8091 0000 lds r24,GPS_Roll5292 2af0 9091 0000 lds r25,(GPS_Roll)+15293 2af4 081B sub r16,r245294 2af6 190B sbc r17,r255295 2af8 1093 0000 sts (StickRoll)+1,r175296 2afc 0093 0000 sts StickRoll,r165297 2b00 8091 0000 lds r24,EE_Parameter+35298 2b04 E82F mov r30,r245299 2b06 FF27 clr r315300 2b08 EE0F add r30,r305301 2b0a FF1F adc r31,r315302 2b0c E050 subi r30,lo8(-(PPM_in))5303 2b0e F040 sbci r31,hi8(-(PPM_in))5304 2b10 E080 ld r14,Z5305 2b12 F180 ldd r15,Z+15306 2b14 8FE7 ldi r24,lo8(127)5307 2b16 90E0 ldi r25,hi8(127)5308 2b18 E80E add r14,r245309 2b1a F91E adc r15,r255310 2b1c F092 0000 sts (StickGas)+1,r155311 2b20 E092 0000 sts StickGas,r145312 2b24 8091 0000 lds r24,Parameter_Gyro_P5313 2b28 9927 clr r255314 2b2a AA27 clr r265315 2b2c 97FD sbrc r25,75316 2b2e A095 com r265317 2b30 BA2F mov r27,r265318 2b32 BC01 movw r22,r245319 2b34 CD01 movw r24,r265320 2b36 0E94 0000 call __floatsisf5321 2b3a DC01 movw r26,r245322 2b3c CB01 movw r24,r225323 2b3e 20E0 ldi r18,lo8(0x41200000)5324 2b40 30E0 ldi r19,hi8(0x41200000)5325 2b42 40E2 ldi r20,hlo8(0x41200000)5326 2b44 51E4 ldi r21,hhi8(0x41200000)5327 2b46 BC01 movw r22,r245328 2b48 CD01 movw r24,r265329 2b4a 0E94 0000 call __addsf35330 2b4e DC01 movw r26,r245331 2b50 CB01 movw r24,r225332 2b52 BC01 movw r22,r245333 2b54 CD01 movw r24,r265334 2b56 0E94 0000 call __fixunssfsi5335 2b5a DC01 movw r26,r245336 2b5c CB01 movw r24,r225337 2b5e 8093 0000 sts GyroFaktor,r245338 2b62 8091 0000 lds r24,Parameter_Gyro_I5339 2b66 8093 0000 sts IntegralFaktor,r245340 2b6a 8091 0000 lds r24,Parameter_Gyro_Gier_P5341 2b6e 9927 clr r255342 2b70 AA27 clr r265343 2b72 97FD sbrc r25,75344 2b74 A095 com r265345 2b76 BA2F mov r27,r265346 2b78 BC01 movw r22,r245347 2b7a CD01 movw r24,r265348 2b7c 0E94 0000 call __floatsisf5349 2b80 DC01 movw r26,r245350 2b82 CB01 movw r24,r225351 2b84 20E0 ldi r18,lo8(0x41200000)5352 2b86 30E0 ldi r19,hi8(0x41200000)5353 2b88 40E2 ldi r20,hlo8(0x41200000)5354 2b8a 51E4 ldi r21,hhi8(0x41200000)5355 2b8c BC01 movw r22,r245356 2b8e CD01 movw r24,r265357 2b90 0E94 0000 call __addsf35358 2b94 DC01 movw r26,r245359 2b96 CB01 movw r24,r225360 2b98 BC01 movw r22,r245361 2b9a CD01 movw r24,r265362 2b9c 0E94 0000 call __fixunssfsi5363 2ba0 DC01 movw r26,r245364 2ba2 CB01 movw r24,r225365 2ba4 8093 0000 sts GyroFaktorGier,r245366 2ba8 8091 0000 lds r24,Parameter_Gyro_Gier_I5367 2bac 8093 0000 sts IntegralFaktorGier,r245368 2bb0 8091 0000 lds r24,ExternControl+105369 2bb4 80FF sbrs r24,05370 2bb6 00C0 rjmp .L4635371 2bb8 8091 0000 lds r24,Parameter_ExternalControl5372 2bbc 8138 cpi r24,lo8(-127)5373 2bbe 00F4 brsh .+25374 2bc0 00C0 rjmp .L4635375 2bc2 8091 0000 lds r24,ExternControl+35376 2bc6 9927 clr r255377 2bc8 87FD sbrc r24,75378 2bca 9095 com r255379 2bcc 2B2D mov r18,r115380 2bce 3327 clr r195381 2bd0 829F mul r24,r185382 2bd2 D001 movw r26,r05383 2bd4 839F mul r24,r195384 2bd6 B00D add r27,r05385 2bd8 929F mul r25,r185386 2bda B00D add r27,r05387 2bdc 1124 clr r15388 2bde 8A0E add r8,r265389 2be0 9B1E adc r9,r275390 2be2 9092 0000 sts (StickNick)+1,r95391 2be6 8092 0000 sts StickNick,r85392 2bea 8091 0000 lds r24,ExternControl+45393 2bee 9927 clr r255394 2bf0 87FD sbrc r24,75395 2bf2 9095 com r255396 2bf4 829F mul r24,r185397 2bf6 F001 movw r30,r05398 2bf8 839F mul r24,r195399 2bfa F00D add r31,r05400 2bfc 929F mul r25,r185401 2bfe F00D add r31,r05402 2c00 1124 clr r15403 2c02 0E0F add r16,r305404 2c04 1F1F adc r17,r315405 2c06 1093 0000 sts (StickRoll)+1,r175406 2c0a 0093 0000 sts StickRoll,r165407 2c0e 8091 0000 lds r24,ExternControl+55408 2c12 282F mov r18,r245409 2c14 3327 clr r195410 2c16 27FD sbrc r18,75411 2c18 3095 com r195412 2c1a 8091 0000 lds r24,StickGier5413 2c1e 9091 0000 lds r25,(StickGier)+15414 2c22 820F add r24,r185415 2c24 931F adc r25,r195416 2c26 9093 0000 sts (StickGier)+1,r255417 2c2a 8093 0000 sts StickGier,r245418 2c2e 8091 0000 lds r24,ExternControl+75419 2c32 282F mov r18,r245420 2c34 3327 clr r195421 2c36 27FD sbrc r18,75422 2c38 3095 com r195423 2c3a 8091 0000 lds r24,EE_Parameter+185424 2c3e 9927 clr r255425 2c40 289F mul r18,r245426 2c42 8001 movw r16,r05427 2c44 299F mul r18,r255428 2c46 100D add r17,r05429 2c48 389F mul r19,r245430 2c4a 100D add r17,r05431 2c4c 1124 clr r15432 2c4e 1093 0000 sts (ExternHoehenValue)+1,r175433 2c52 0093 0000 sts ExternHoehenValue,r165434 2c56 8091 0000 lds r24,ExternControl+65435 2c5a 9927 clr r255436 2c5c 8E15 cp r24,r145437 2c5e 9F05 cpc r25,r155438 2c60 04F4 brge .L4635439 2c62 9093 0000 sts (StickGas)+1,r255440 2c66 8093 0000 sts StickGas,r245441 .L463:5442 2c6a 8091 0000 lds r24,StickGas5443 2c6e 9091 0000 lds r25,(StickGas)+15444 2c72 97FF sbrs r25,75445 2c74 00C0 rjmp .L4655446 2c76 1092 0000 sts (StickGas)+1,__zero_reg__5447 2c7a 1092 0000 sts StickGas,__zero_reg__5448 .L465:5449 2c7e 8091 0000 lds r24,Parameter_GlobalConfig5450 2c82 82FF sbrs r24,25451 2c84 00C0 rjmp .L4665452 2c86 1092 0000 sts IntegralFaktor,__zero_reg__5453 .L466:5454 2c8a 4091 0000 lds r20,StickNick5455 2c8e 5091 0000 lds r21,(StickNick)+15456 2c92 CA01 movw r24,r205457 2c94 57FD sbrc r21,75458 2c96 0396 adiw r24,35459 .L468:5460 2c98 9C01 movw r18,r245461 2c9a 3595 asr r195462 2c9c 2795 ror r185463 2c9e 3595 asr r195464 2ca0 2795 ror r185465 2ca2 37FF sbrs r19,75466 2ca4 00C0 rjmp .L4695467 2ca6 3095 com r195468 2ca8 2195 neg r185469 2caa 3F4F sbci r19,lo8(-1)5470 .L469:5471 2cac 8091 0000 lds r24,MaxStickNick5472 2cb0 9091 0000 lds r25,(MaxStickNick)+15473 2cb4 8217 cp r24,r185474 2cb6 9307 cpc r25,r195475 2cb8 04F4 brge .L4675476 2cba CA01 movw r24,r205477 2cbc 57FF sbrs r21,75478 2cbe 00C0 rjmp .L4705479 2cc0 9095 com r255480 2cc2 8195 neg r245481 2cc4 9F4F sbci r25,lo8(-1)5482 .L470:5483 2cc6 97FD sbrc r25,75484 2cc8 0396 adiw r24,35485 .L471:5486 2cca 9595 asr r255487 2ccc 8795 ror r245488 2cce 9595 asr r255489 2cd0 8795 ror r245490 2cd2 9093 0000 sts (MaxStickNick)+1,r255491 2cd6 8093 0000 sts MaxStickNick,r245492 2cda 8536 cpi r24,1015493 2cdc 9105 cpc r25,__zero_reg__5494 2cde 04F0 brlt .L4735495 2ce0 84E6 ldi r24,lo8(100)5496 2ce2 90E0 ldi r25,hi8(100)5497 2ce4 00C0 rjmp .L8985498 .L467:5499 2ce6 0197 sbiw r24,15500 .L898:5501 2ce8 9093 0000 sts (MaxStickNick)+1,r255502 2cec 8093 0000 sts MaxStickNick,r245503 .L473:5504 2cf0 4091 0000 lds r20,StickRoll5505 2cf4 5091 0000 lds r21,(StickRoll)+15506 2cf8 CA01 movw r24,r205507 2cfa 57FD sbrc r21,75508 2cfc 0396 adiw r24,35509 .L475:5510 2cfe 9C01 movw r18,r245511 2d00 3595 asr r195512 2d02 2795 ror r185513 2d04 3595 asr r195514 2d06 2795 ror r185515 2d08 37FF sbrs r19,75516 2d0a 00C0 rjmp .L4765517 2d0c 3095 com r195518 2d0e 2195 neg r185519 2d10 3F4F sbci r19,lo8(-1)5520 .L476:5521 2d12 8091 0000 lds r24,MaxStickRoll5522 2d16 9091 0000 lds r25,(MaxStickRoll)+15523 2d1a 8217 cp r24,r185524 2d1c 9307 cpc r25,r195525 2d1e 04F4 brge .L4745526 2d20 CA01 movw r24,r205527 2d22 57FF sbrs r21,75528 2d24 00C0 rjmp .L4775529 2d26 9095 com r255530 2d28 8195 neg r245531 2d2a 9F4F sbci r25,lo8(-1)5532 .L477:5533 2d2c 97FD sbrc r25,75534 2d2e 0396 adiw r24,35535 .L478:5536 2d30 9595 asr r255537 2d32 8795 ror r245538 2d34 9595 asr r255539 2d36 8795 ror r245540 2d38 9093 0000 sts (MaxStickRoll)+1,r255541 2d3c 8093 0000 sts MaxStickRoll,r245542 2d40 8536 cpi r24,1015543 2d42 9105 cpc r25,__zero_reg__5544 2d44 04F0 brlt .L4805545 2d46 84E6 ldi r24,lo8(100)5546 2d48 90E0 ldi r25,hi8(100)5547 2d4a 00C0 rjmp .L8995548 .L474:5549 2d4c 0197 sbiw r24,15550 .L899:5551 2d4e 9093 0000 sts (MaxStickRoll)+1,r255552 2d52 8093 0000 sts MaxStickRoll,r245553 .L480:5554 2d56 8091 0000 lds r24,FC_StatusFlags5555 2d5a 84FF sbrs r24,45556 2d5c 00C0 rjmp .L4815557 2d5e 1092 0000 sts (MaxStickNick)+1,__zero_reg__5558 2d62 1092 0000 sts MaxStickNick,__zero_reg__5559 2d66 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5560 2d6a 1092 0000 sts MaxStickRoll,__zero_reg__5561 .L481:5562 2d6e ED2D mov r30,r135563 2d70 FF27 clr r315564 2d72 EE0F add r30,r305565 2d74 FF1F adc r31,r315566 2d76 E050 subi r30,lo8(-(PPM_in))5567 2d78 F040 sbci r31,hi8(-(PPM_in))5568 2d7a 4091 0000 lds r20,EE_Parameter+605569 2d7e 242F mov r18,r205570 2d80 3327 clr r195571 2d82 8081 ld r24,Z5572 2d84 9181 ldd r25,Z+15573 2d86 2817 cp r18,r245574 2d88 3907 cpc r19,r255575 2d8a 04F4 brge .L4825576 2d8c 8091 0000 lds r24,EE_Parameter+1085577 2d90 82FF sbrs r24,25578 2d92 00C0 rjmp .L4825579 2d94 81E0 ldi r24,lo8(1)5580 2d96 8093 0000 sts Looping_Links,r245581 2d9a 00C0 rjmp .L4835582 .L482:5583 2d9c ED2D mov r30,r135584 2d9e FF27 clr r315585 2da0 EE0F add r30,r305586 2da2 FF1F adc r31,r315587 2da4 E050 subi r30,lo8(-(PPM_in))5588 2da6 F040 sbci r31,hi8(-(PPM_in))5589 2da8 842F mov r24,r205590 2daa 9927 clr r255591 2dac 2091 0000 lds r18,EE_Parameter+615592 2db0 821B sub r24,r185593 2db2 9109 sbc r25,__zero_reg__5594 2db4 2081 ld r18,Z5595 2db6 3181 ldd r19,Z+15596 2db8 2817 cp r18,r245597 2dba 3907 cpc r19,r255598 2dbc 04F4 brge .L4835599 2dbe 1092 0000 sts Looping_Links,__zero_reg__5600 .L483:5601 2dc2 4091 0000 lds r20,EE_Parameter+25602 2dc6 E42F mov r30,r205603 2dc8 FF27 clr r315604 2dca EE0F add r30,r305605 2dcc FF1F adc r31,r315606 2dce E050 subi r30,lo8(-(PPM_in))5607 2dd0 F040 sbci r31,hi8(-(PPM_in))5608 2dd2 5091 0000 lds r21,EE_Parameter+605609 2dd6 852F mov r24,r215610 2dd8 9927 clr r255611 2dda 2227 clr r185612 2ddc 3327 clr r195613 2dde 281B sub r18,r245614 2de0 390B sbc r19,r255615 2de2 8081 ld r24,Z5616 2de4 9181 ldd r25,Z+15617 2de6 8217 cp r24,r185618 2de8 9307 cpc r25,r195619 2dea 04F4 brge .L4855620 2dec 8091 0000 lds r24,EE_Parameter+1085621 2df0 83FF sbrs r24,35622 2df2 00C0 rjmp .L4855623 2df4 81E0 ldi r24,lo8(1)5624 2df6 8093 0000 sts Looping_Rechts,r245625 2dfa 00C0 rjmp .L4865626 .L485:5627 2dfc 8091 0000 lds r24,Looping_Rechts5628 2e00 8823 tst r245629 2e02 01F0 breq .L4865630 2e04 E42F mov r30,r205631 2e06 FF27 clr r315632 2e08 EE0F add r30,r305633 2e0a FF1F adc r31,r315634 2e0c E050 subi r30,lo8(-(PPM_in))5635 2e0e F040 sbci r31,hi8(-(PPM_in))5636 2e10 8091 0000 lds r24,EE_Parameter+615637 2e14 9927 clr r255638 2e16 851B sub r24,r215639 2e18 9109 sbc r25,__zero_reg__5640 2e1a 2081 ld r18,Z5641 2e1c 3181 ldd r19,Z+15642 2e1e 8217 cp r24,r185643 2e20 9307 cpc r25,r195644 2e22 04F4 brge .L4865645 2e24 1092 0000 sts Looping_Rechts,__zero_reg__5646 .L486:5647 2e28 EC2D mov r30,r125648 2e2a FF27 clr r315649 2e2c EE0F add r30,r305650 2e2e FF1F adc r31,r315651 2e30 E050 subi r30,lo8(-(PPM_in))5652 2e32 F040 sbci r31,hi8(-(PPM_in))5653 2e34 4091 0000 lds r20,EE_Parameter+605654 2e38 242F mov r18,r205655 2e3a 3327 clr r195656 2e3c 8081 ld r24,Z5657 2e3e 9181 ldd r25,Z+15658 2e40 2817 cp r18,r245659 2e42 3907 cpc r19,r255660 2e44 04F4 brge .L4895661 2e46 8091 0000 lds r24,EE_Parameter+1085662 2e4a 80FF sbrs r24,05663 2e4c 00C0 rjmp .L4895664 2e4e 81E0 ldi r24,lo8(1)5665 2e50 8093 0000 sts Looping_Oben,r245666 2e54 00C0 rjmp .L4905667 .L489:5668 2e56 8091 0000 lds r24,Looping_Oben5669 2e5a 8823 tst r245670 2e5c 01F0 breq .L4905671 2e5e EC2D mov r30,r125672 2e60 FF27 clr r315673 2e62 EE0F add r30,r305674 2e64 FF1F adc r31,r315675 2e66 E050 subi r30,lo8(-(PPM_in))5676 2e68 F040 sbci r31,hi8(-(PPM_in))5677 2e6a 842F mov r24,r205678 2e6c 9927 clr r255679 2e6e 2091 0000 lds r18,EE_Parameter+615680 2e72 821B sub r24,r185681 2e74 9109 sbc r25,__zero_reg__5682 2e76 2081 ld r18,Z5683 2e78 3181 ldd r19,Z+15684 2e7a 2817 cp r18,r245685 2e7c 3907 cpc r19,r255686 2e7e 04F4 brge .L4905687 2e80 1092 0000 sts Looping_Oben,__zero_reg__5688 .L490:5689 2e84 4091 0000 lds r20,EE_Parameter+15690 2e88 E42F mov r30,r205691 2e8a FF27 clr r315692 2e8c EE0F add r30,r305693 2e8e FF1F adc r31,r315694 2e90 E050 subi r30,lo8(-(PPM_in))5695 2e92 F040 sbci r31,hi8(-(PPM_in))5696 2e94 5091 0000 lds r21,EE_Parameter+605697 2e98 852F mov r24,r215698 2e9a 9927 clr r255699 2e9c 2227 clr r185700 2e9e 3327 clr r195701 2ea0 281B sub r18,r245702 2ea2 390B sbc r19,r255703 2ea4 8081 ld r24,Z5704 2ea6 9181 ldd r25,Z+15705 2ea8 8217 cp r24,r185706 2eaa 9307 cpc r25,r195707 2eac 04F4 brge .L4935708 2eae 8091 0000 lds r24,EE_Parameter+1085709 2eb2 81FF sbrs r24,15710 2eb4 00C0 rjmp .L4935711 2eb6 81E0 ldi r24,lo8(1)5712 2eb8 8093 0000 sts Looping_Unten,r245713 2ebc 00C0 rjmp .L4945714 .L493:5715 2ebe 8091 0000 lds r24,Looping_Unten5716 2ec2 8823 tst r245717 2ec4 01F0 breq .L4945718 2ec6 E42F mov r30,r205719 2ec8 FF27 clr r315720 2eca EE0F add r30,r305721 2ecc FF1F adc r31,r315722 2ece E050 subi r30,lo8(-(PPM_in))5723 2ed0 F040 sbci r31,hi8(-(PPM_in))5724 2ed2 8091 0000 lds r24,EE_Parameter+615725 2ed6 9927 clr r255726 2ed8 851B sub r24,r215727 2eda 9109 sbc r25,__zero_reg__5728 2edc 2081 ld r18,Z5729 2ede 3181 ldd r19,Z+15730 2ee0 8217 cp r24,r185731 2ee2 9307 cpc r25,r195732 2ee4 04F4 brge .L4945733 2ee6 1092 0000 sts Looping_Unten,__zero_reg__5734 .L494:5735 2eea 8091 0000 lds r24,Looping_Links5736 2eee 8823 tst r245737 2ef0 01F4 brne .L4985738 2ef2 8091 0000 lds r24,Looping_Rechts5739 2ef6 8111 cpse r24,__zero_reg__5740 .L498:5741 2ef8 81E0 ldi r24,lo8(1)5742 .L497:5743 2efa 8093 0000 sts Looping_Roll,r245744 2efe 8091 0000 lds r24,Looping_Oben5745 2f02 8823 tst r245746 2f04 01F4 brne .L5015747 2f06 8091 0000 lds r24,Looping_Unten5748 2f0a 8823 tst r245749 2f0c 01F0 breq .L5005750 .L501:5751 2f0e 81E0 ldi r24,lo8(1)5752 2f10 8093 0000 sts Looping_Nick,r245753 2f14 1092 0000 sts Looping_Roll,__zero_reg__5754 2f18 1092 0000 sts Looping_Links,__zero_reg__5755 2f1c 1092 0000 sts Looping_Rechts,__zero_reg__5756 2f20 00C0 rjmp .L4425757 .L500:5758 2f22 8093 0000 sts Looping_Nick,r245759 .L442:5760 2f26 8091 0000 lds r24,Looping_Roll5761 2f2a 8823 tst r245762 2f2c 01F4 brne .L5045763 2f2e 8091 0000 lds r24,Looping_Nick5764 2f32 8823 tst r245765 2f34 01F0 breq .L5035766 .L504:5767 2f36 8091 0000 lds r24,EE_Parameter+595768 2f3a 9927 clr r255769 2f3c 2981 ldd r18,Y+15770 2f3e 3A81 ldd r19,Y+25771 2f40 8217 cp r24,r185772 2f42 9307 cpc r25,r195773 2f44 04F4 brge .L5055774 2f46 9A83 std Y+2,r255775 2f48 8983 std Y+1,r245776 .L505:5777 2f4a 81E0 ldi r24,lo8(1)5778 2f4c 8093 0000 sts TrichterFlug,r245779 .L503:5780 2f50 8091 0000 lds r24,FC_StatusFlags25781 2f54 9927 clr r255782 2f56 9C01 movw r18,r245783 2f58 2470 andi r18,lo8(4)5784 2f5a 3070 andi r19,hi8(4)5785 2f5c 82FF sbrs r24,25786 2f5e 00C0 rjmp .L5065787 2f60 8091 0000 lds r24,GPS_Nick5788 2f64 9091 0000 lds r25,(GPS_Nick)+15789 2f68 9095 com r255790 2f6a 8195 neg r245791 2f6c 9F4F sbci r25,lo8(-1)5792 2f6e 9093 0000 sts (StickNick)+1,r255793 2f72 8093 0000 sts StickNick,r245794 2f76 8091 0000 lds r24,GPS_Roll5795 2f7a 9091 0000 lds r25,(GPS_Roll)+15796 2f7e 9095 com r255797 2f80 8195 neg r245798 2f82 9F4F sbci r25,lo8(-1)5799 2f84 9093 0000 sts (StickRoll)+1,r255800 2f88 8093 0000 sts StickRoll,r245801 2f8c 8091 0000 lds r24,StickGasHover5802 2f90 9091 0000 lds r25,(StickGasHover)+15803 2f94 9093 0000 sts (StickGas)+1,r255804 2f98 8093 0000 sts StickGas,r245805 2f9c 8091 0000 lds r24,Parameter_GlobalConfig5806 2fa0 8B77 andi r24,lo8(123)5807 2fa2 8B66 ori r24,lo8(107)5808 2fa4 8093 0000 sts Parameter_GlobalConfig,r245809 2fa8 8091 0000 lds r24,Parameter_ExtraConfig5810 2fac 8C7B andi r24,lo8(-68)5811 2fae 8093 0000 sts Parameter_ExtraConfig,r245812 2fb2 88EC ldi r24,lo8(-56)5813 2fb4 8093 0000 sts Parameter_HoehenSchalter,r245814 2fb8 00C0 rjmp .L5075815 .L506:5816 2fba 8091 0000 lds r24,FC_StatusFlags5817 2fbe 84FF sbrs r24,45818 2fc0 00C0 rjmp .L5075819 2fc2 3093 0000 sts (StickGier)+1,r195820 2fc6 2093 0000 sts StickGier,r185821 2fca 3093 0000 sts (StickNick)+1,r195822 2fce 2093 0000 sts StickNick,r185823 2fd2 3093 0000 sts (StickRoll)+1,r195824 2fd6 2093 0000 sts StickRoll,r185825 2fda 9AE5 ldi r25,lo8(90)5826 2fdc 9093 0000 sts GyroFaktor,r255827 2fe0 88E7 ldi r24,lo8(120)5828 2fe2 8093 0000 sts IntegralFaktor,r245829 2fe6 9093 0000 sts GyroFaktorGier,r255830 2fea 8093 0000 sts IntegralFaktorGier,r245831 2fee 1092 0000 sts Looping_Roll,__zero_reg__5832 2ff2 1092 0000 sts Looping_Nick,__zero_reg__5833 .L507:5834 2ff6 8091 0000 lds r24,MittelIntegralNick5835 2ffa 9091 0000 lds r25,(MittelIntegralNick)+15836 2ffe A091 0000 lds r26,(MittelIntegralNick)+25837 3002 B091 0000 lds r27,(MittelIntegralNick)+35838 3006 2091 0000 lds r18,IntegralNick5839 300a 3091 0000 lds r19,(IntegralNick)+15840 300e 4091 0000 lds r20,(IntegralNick)+25841 3012 5091 0000 lds r21,(IntegralNick)+35842 3016 820F add r24,r185843 3018 931F adc r25,r195844 301a A41F adc r26,r205845 301c B51F adc r27,r215846 301e 8093 0000 sts MittelIntegralNick,r245847 3022 9093 0000 sts (MittelIntegralNick)+1,r255848 3026 A093 0000 sts (MittelIntegralNick)+2,r265849 302a B093 0000 sts (MittelIntegralNick)+3,r275850 302e 8091 0000 lds r24,MittelIntegralRoll5851 3032 9091 0000 lds r25,(MittelIntegralRoll)+15852 3036 A091 0000 lds r26,(MittelIntegralRoll)+25853 303a B091 0000 lds r27,(MittelIntegralRoll)+35854 303e E090 0000 lds r14,IntegralRoll5855 3042 F090 0000 lds r15,(IntegralRoll)+15856 3046 0091 0000 lds r16,(IntegralRoll)+25857 304a 1091 0000 lds r17,(IntegralRoll)+35858 304e EB82 std Y+3,r145859 3050 FC82 std Y+4,r155860 3052 0D83 std Y+5,r165861 3054 1E83 std Y+6,r175862 3056 8E0D add r24,r145863 3058 9F1D adc r25,r155864 305a A01F adc r26,r165865 305c B11F adc r27,r175866 305e 8093 0000 sts MittelIntegralRoll,r245867 3062 9093 0000 sts (MittelIntegralRoll)+1,r255868 3066 A093 0000 sts (MittelIntegralRoll)+2,r265869 306a B093 0000 sts (MittelIntegralRoll)+3,r275870 306e 8091 0000 lds r24,MittelIntegralNick25871 3072 9091 0000 lds r25,(MittelIntegralNick2)+15872 3076 A091 0000 lds r26,(MittelIntegralNick2)+25873 307a B091 0000 lds r27,(MittelIntegralNick2)+35874 307e E090 0000 lds r14,IntegralNick25875 3082 F090 0000 lds r15,(IntegralNick2)+15876 3086 0091 0000 lds r16,(IntegralNick2)+25877 308a 1091 0000 lds r17,(IntegralNick2)+35878 308e EF82 std Y+7,r145879 3090 F886 std Y+8,r155880 3092 0987 std Y+9,r165881 3094 1A87 std Y+10,r175882 3096 8E0D add r24,r145883 3098 9F1D adc r25,r155884 309a A01F adc r26,r165885 309c B11F adc r27,r175886 309e 8093 0000 sts MittelIntegralNick2,r245887 30a2 9093 0000 sts (MittelIntegralNick2)+1,r255888 30a6 A093 0000 sts (MittelIntegralNick2)+2,r265889 30aa B093 0000 sts (MittelIntegralNick2)+3,r275890 30ae 8091 0000 lds r24,MittelIntegralRoll25891 30b2 9091 0000 lds r25,(MittelIntegralRoll2)+15892 30b6 A091 0000 lds r26,(MittelIntegralRoll2)+25893 30ba B091 0000 lds r27,(MittelIntegralRoll2)+35894 30be E090 0000 lds r14,IntegralRoll25895 30c2 F090 0000 lds r15,(IntegralRoll2)+15896 30c6 0091 0000 lds r16,(IntegralRoll2)+25897 30ca 1091 0000 lds r17,(IntegralRoll2)+35898 30ce EB86 std Y+11,r145899 30d0 FC86 std Y+12,r155900 30d2 0D87 std Y+13,r165901 30d4 1E87 std Y+14,r175902 30d6 8E0D add r24,r145903 30d8 9F1D adc r25,r155904 30da A01F adc r26,r165905 30dc B11F adc r27,r175906 30de 8093 0000 sts MittelIntegralRoll2,r245907 30e2 9093 0000 sts (MittelIntegralRoll2)+1,r255908 30e6 A093 0000 sts (MittelIntegralRoll2)+2,r265909 30ea B093 0000 sts (MittelIntegralRoll2)+3,r275910 30ee F090 0000 lds r15,Looping_Nick5911 30f2 FF86 std Y+15,r155912 30f4 FF20 tst r155913 30f6 01F4 brne .L5105914 30f8 8091 0000 lds r24,Looping_Roll5915 30fc 8823 tst r245916 30fe 01F4 brne .+25917 3100 00C0 rjmp .L8925918 .L510:5919 3102 1092 0000 sts IntegralAccNick,__zero_reg__5920 3106 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5921 310a 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5922 310e 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5923 3112 1092 0000 sts IntegralAccRoll,__zero_reg__5924 3116 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5925 311a 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5926 311e 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5927 3122 1092 0000 sts MittelIntegralNick,__zero_reg__5928 3126 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5929 312a 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5930 312e 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5931 3132 1092 0000 sts MittelIntegralRoll,__zero_reg__5932 3136 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5933 313a 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5934 313e 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5935 3142 1092 0000 sts MittelIntegralNick2,__zero_reg__5936 3146 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5937 314a 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5938 314e 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5939 3152 1092 0000 sts MittelIntegralRoll2,__zero_reg__5940 3156 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5941 315a 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5942 315e 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5943 3162 8091 0000 lds r24,Mess_IntegralNick5944 3166 9091 0000 lds r25,(Mess_IntegralNick)+15945 316a A091 0000 lds r26,(Mess_IntegralNick)+25946 316e B091 0000 lds r27,(Mess_IntegralNick)+35947 3172 8093 0000 sts Mess_IntegralNick2,r245948 3176 9093 0000 sts (Mess_IntegralNick2)+1,r255949 317a A093 0000 sts (Mess_IntegralNick2)+2,r265950 317e B093 0000 sts (Mess_IntegralNick2)+3,r275951 3182 8091 0000 lds r24,Mess_IntegralRoll5952 3186 9091 0000 lds r25,(Mess_IntegralRoll)+15953 318a A091 0000 lds r26,(Mess_IntegralRoll)+25954 318e B091 0000 lds r27,(Mess_IntegralRoll)+35955 3192 8093 0000 sts Mess_IntegralRoll2,r245956 3196 9093 0000 sts (Mess_IntegralRoll2)+1,r255957 319a A093 0000 sts (Mess_IntegralRoll2)+2,r265958 319e B093 0000 sts (Mess_IntegralRoll2)+3,r275959 31a2 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5960 31a6 1092 0000 sts ZaehlMessungen,__zero_reg__5961 31aa 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5962 31ae 1092 0000 sts LageKorrekturNick,__zero_reg__5963 31b2 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5964 31b6 1092 0000 sts LageKorrekturRoll,__zero_reg__5965 31ba 0F85 ldd r16,Y+155966 31bc 0023 tst r165967 31be 01F0 breq .+25968 31c0 00C0 rjmp .L5115969 .L892:5970 31c2 8091 0000 lds r24,Looping_Roll5971 31c6 8823 tst r245972 31c8 01F0 breq .+25973 31ca 00C0 rjmp .L5115974 31cc 8091 0000 lds r24,Aktuell_az5975 31d0 9091 0000 lds r25,(Aktuell_az)+15976 31d4 8150 subi r24,lo8(513)5977 31d6 9240 sbci r25,hi8(513)5978 31d8 04F4 brge .L5125979 31da 8091 0000 lds r24,MotorenEin5980 31de 8823 tst r245981 31e0 01F4 brne .+25982 31e2 00C0 rjmp .L5115983 .L512:5984 31e4 9090 0000 lds r9,FromNaviCtrl_Value5985 31e8 A090 0000 lds r10,EE_Parameter+285986 31ec 2090 0000 lds r2,Mittelwert_AccNick5987 31f0 3090 0000 lds r3,(Mittelwert_AccNick)+15988 31f4 4090 0000 lds r4,Mittelwert_AccRoll5989 31f8 5090 0000 lds r5,(Mittelwert_AccRoll)+15990 31fc 1914 cp __zero_reg__,r95991 31fe 04F0 brlt .+25992 3200 00C0 rjmp .L5135993 3202 BB24 clr r115994 3204 CC24 clr r125995 3206 DD24 clr r135996 3208 CA01 movw r24,r205997 320a B901 movw r22,r185998 320c A601 movw r20,r125999 320e 9501 movw r18,r106000 3210 0E94 0000 call __divmodsi46001 3214 7901 movw r14,r186002 3216 8A01 movw r16,r206003 3218 8091 0000 lds r24,FromNaviCtrl+96004 321c 9091 0000 lds r25,(FromNaviCtrl+9)+16005 3220 281A sub r2,r246006 3222 390A sbc r3,r256007 3224 C101 movw r24,r26008 3226 AA27 clr r266009 3228 97FD sbrc r25,76010 322a A095 com r266011 322c BA2F mov r27,r266012 322e E81A sub r14,r246013 3230 F90A sbc r15,r256014 3232 0A0B sbc r16,r266015 3234 1B0B sbc r17,r276016 3236 6B81 ldd r22,Y+36017 3238 7C81 ldd r23,Y+46018 323a 8D81 ldd r24,Y+56019 323c 9E81 ldd r25,Y+66020 323e A601 movw r20,r126021 3240 9501 movw r18,r106022 3242 0E94 0000 call __divmodsi46023 3246 5901 movw r10,r186024 3248 6A01 movw r12,r206025 324a 8091 0000 lds r24,FromNaviCtrl+116026 324e 9091 0000 lds r25,(FromNaviCtrl+11)+16027 3252 481A sub r4,r246028 3254 590A sbc r5,r256029 3256 C201 movw r24,r46030 3258 AA27 clr r266031 325a 97FD sbrc r25,76032 325c A095 com r266033 325e BA2F mov r27,r266034 3260 A81A sub r10,r246035 3262 B90A sbc r11,r256036 3264 CA0A sbc r12,r266037 3266 DB0A sbc r13,r276038 3268 292C mov r2,r96039 326a 3324 clr r36040 326c 27FC sbrc r2,76041 326e 3094 com r36042 3270 432C mov r4,r36043 3272 532C mov r5,r36044 3274 C801 movw r24,r166045 3276 B701 movw r22,r146046 3278 A201 movw r20,r46047 327a 9101 movw r18,r26048 327c 0E94 0000 call __mulsi36049 3280 97FF sbrs r25,76050 3282 00C0 rjmp .L5146051 3284 6150 subi r22,lo8(-(511))6052 3286 7E4F sbci r23,hi8(-(511))6053 3288 8F4F sbci r24,hlo8(-(511))6054 328a 9F4F sbci r25,hhi8(-(511))6055 .L514:6056 328c 3B01 movw r6,r226057 328e 4C01 movw r8,r246058 3290 09E0 ldi r16,96059 3292 9594 1: asr r96060 3294 8794 ror r86061 3296 7794 ror r76062 3298 6794 ror r66063 329a 0A95 dec r166064 329c 01F4 brne 1b6065 329e C601 movw r24,r126066 32a0 B501 movw r22,r106067 32a2 A201 movw r20,r46068 32a4 9101 movw r18,r26069 32a6 0E94 0000 call __mulsi36070 32aa 97FF sbrs r25,76071 32ac 00C0 rjmp .L5156072 32ae 6150 subi r22,lo8(-(511))6073 32b0 7E4F sbci r23,hi8(-(511))6074 32b2 8F4F sbci r24,hlo8(-(511))6075 32b4 9F4F sbci r25,hhi8(-(511))6076 .L515:6077 32b6 5B01 movw r10,r226078 32b8 6C01 movw r12,r246079 32ba 19E0 ldi r17,96080 32bc D594 1: asr r136081 32be C794 ror r126082 32c0 B794 ror r116083 32c2 A794 ror r106084 32c4 1A95 dec r176085 32c6 01F4 brne 1b6086 32c8 8091 0000 lds r24,MaxStickNick6087 32cc 9091 0000 lds r25,(MaxStickNick)+16088 32d0 8134 cpi r24,656089 32d2 9105 cpc r25,__zero_reg__6090 32d4 04F4 brge .L5176091 32d6 8091 0000 lds r24,MaxStickRoll6092 32da 9091 0000 lds r25,(MaxStickRoll)+16093 32de 8134 cpi r24,656094 32e0 9105 cpc r25,__zero_reg__6095 32e2 04F0 brlt .L5166096 .L517:6097 32e4 D401 movw r26,r86098 32e6 C301 movw r24,r66099 32e8 97FE sbrs r9,76100 32ea 00C0 rjmp .L5186101 32ec 0196 adiw r24,16102 32ee A11D adc r26,__zero_reg__6103 32f0 B11D adc r27,__zero_reg__6104 .L518:6105 32f2 3C01 movw r6,r246106 32f4 4D01 movw r8,r266107 32f6 9594 asr r96108 32f8 8794 ror r86109 32fa 7794 ror r76110 32fc 6794 ror r66111 32fe D601 movw r26,r126112 3300 C501 movw r24,r106113 3302 D7FE sbrs r13,76114 3304 00C0 rjmp .L5196115 3306 0196 adiw r24,16116 3308 A11D adc r26,__zero_reg__6117 330a B11D adc r27,__zero_reg__6118 .L519:6119 330c 5C01 movw r10,r246120 330e 6D01 movw r12,r266121 3310 D594 asr r136122 3312 C794 ror r126123 3314 B794 ror r116124 3316 A794 ror r106125 .L516:6126 3318 8091 0000 lds r24,FromNaviCtrl_Value+26127 331c 282F mov r18,r246128 331e 3327 clr r196129 3320 27FD sbrc r18,76130 3322 3095 com r196131 3324 432F mov r20,r196132 3326 532F mov r21,r196133 3328 2615 cp r18,r66134 332a 3705 cpc r19,r76135 332c 4805 cpc r20,r86136 332e 5905 cpc r21,r96137 3330 04F4 brge .L5206138 3332 3901 movw r6,r186139 3334 4A01 movw r8,r206140 .L520:6141 3336 9927 clr r256142 3338 87FD sbrc r24,76143 333a 9095 com r256144 333c 9095 com r256145 333e 8195 neg r246146 3340 9F4F sbci r25,lo8(-1)6147 3342 AA27 clr r266148 3344 97FD sbrc r25,76149 3346 A095 com r266150 3348 BA2F mov r27,r266151 334a 6816 cp r6,r246152 334c 7906 cpc r7,r256153 334e 8A06 cpc r8,r266154 3350 9B06 cpc r9,r276155 3352 04F4 brge .L5216156 3354 3C01 movw r6,r246157 3356 4D01 movw r8,r266158 .L521:6159 3358 2A15 cp r18,r106160 335a 3B05 cpc r19,r116161 335c 4C05 cpc r20,r126162 335e 5D05 cpc r21,r136163 3360 04F4 brge .L5226164 3362 5901 movw r10,r186165 3364 6A01 movw r12,r206166 .L522:6167 3366 A816 cp r10,r246168 3368 B906 cpc r11,r256169 336a CA06 cpc r12,r266170 336c DB06 cpc r13,r276171 336e 04F0 brlt .+26172 3370 00C0 rjmp .L5246173 3372 5C01 movw r10,r246174 3374 6D01 movw r12,r266175 3376 00C0 rjmp .L5246176 .L513:6177 3378 EA2C mov r14,r106178 337a FF24 clr r156179 337c 0027 clr r166180 337e 1127 clr r176181 3380 CA01 movw r24,r206182 3382 B901 movw r22,r186183 3384 A801 movw r20,r166184 3386 9701 movw r18,r146185 3388 0E94 0000 call __divmodsi46186 338c 3901 movw r6,r186187 338e 4A01 movw r8,r206188 3390 C101 movw r24,r26189 3392 AA27 clr r266190 3394 97FD sbrc r25,76191 3396 A095 com r266192 3398 BA2F mov r27,r266193 339a 681A sub r6,r246194 339c 790A sbc r7,r256195 339e 8A0A sbc r8,r266196 33a0 9B0A sbc r9,r276197 33a2 6B81 ldd r22,Y+36198 33a4 7C81 ldd r23,Y+46199 33a6 8D81 ldd r24,Y+56200 33a8 9E81 ldd r25,Y+66201 33aa A801 movw r20,r166202 33ac 9701 movw r18,r146203 33ae 0E94 0000 call __divmodsi46204 33b2 5901 movw r10,r186205 33b4 6A01 movw r12,r206206 33b6 C201 movw r24,r46207 33b8 AA27 clr r266208 33ba 97FD sbrc r25,76209 33bc A095 com r266210 33be BA2F mov r27,r266211 33c0 A81A sub r10,r246212 33c2 B90A sbc r11,r256213 33c4 CA0A sbc r12,r266214 33c6 DB0A sbc r13,r276215 33c8 D401 movw r26,r86216 33ca C301 movw r24,r66217 33cc 97FE sbrs r9,76218 33ce 00C0 rjmp .L5256219 33d0 0F96 adiw r24,156220 33d2 A11D adc r26,__zero_reg__6221 33d4 B11D adc r27,__zero_reg__6222 .L525:6223 33d6 3C01 movw r6,r246224 33d8 4D01 movw r8,r266225 33da F4E0 ldi r31,46226 33dc 9594 1: asr r96227 33de 8794 ror r86228 33e0 7794 ror r76229 33e2 6794 ror r66230 33e4 FA95 dec r316231 33e6 01F4 brne 1b6232 33e8 D601 movw r26,r126233 33ea C501 movw r24,r106234 33ec D7FE sbrs r13,76235 33ee 00C0 rjmp .L5266236 33f0 0F96 adiw r24,156237 33f2 A11D adc r26,__zero_reg__6238 33f4 B11D adc r27,__zero_reg__6239 .L526:6240 33f6 5C01 movw r10,r246241 33f8 6D01 movw r12,r266242 33fa E4E0 ldi r30,46243 33fc D594 1: asr r136244 33fe C794 ror r126245 3400 B794 ror r116246 3402 A794 ror r106247 3404 EA95 dec r306248 3406 01F4 brne 1b6249 3408 8091 0000 lds r24,MaxStickNick6250 340c 9091 0000 lds r25,(MaxStickNick)+16251 3410 8134 cpi r24,656252 3412 9105 cpc r25,__zero_reg__6253 3414 04F4 brge .L5286254 3416 8091 0000 lds r24,MaxStickRoll6255 341a 9091 0000 lds r25,(MaxStickRoll)+16256 341e 8134 cpi r24,656257 3420 9105 cpc r25,__zero_reg__6258 3422 04F0 brlt .L5276259 .L528:6260 3424 C401 movw r24,r86261 3426 B301 movw r22,r66262 3428 23E0 ldi r18,lo8(3)6263 342a 30E0 ldi r19,hi8(3)6264 342c 40E0 ldi r20,hlo8(3)6265 342e 50E0 ldi r21,hhi8(3)6266 3430 0E94 0000 call __divmodsi46267 3434 3901 movw r6,r186268 3436 4A01 movw r8,r206269 3438 C601 movw r24,r126270 343a B501 movw r22,r106271 343c 23E0 ldi r18,lo8(3)6272 343e 30E0 ldi r19,hi8(3)6273 3440 40E0 ldi r20,hlo8(3)6274 3442 50E0 ldi r21,hhi8(3)6275 3444 0E94 0000 call __divmodsi46276 3448 5901 movw r10,r186277 344a 6A01 movw r12,r206278 .L527:6279 344c 8091 0000 lds r24,EE_Parameter+46280 3450 E82F mov r30,r246281 3452 FF27 clr r316282 3454 EE0F add r30,r306283 3456 FF1F adc r31,r316284 3458 E050 subi r30,lo8(-(PPM_in))6285 345a F040 sbci r31,hi8(-(PPM_in))6286 345c 8081 ld r24,Z6287 345e 9181 ldd r25,Z+16288 3460 0190 ld __tmp_reg__,Z+6289 3462 F081 ld r31,Z6290 3464 E02D mov r30,__tmp_reg__6291 3466 F7FF sbrs r31,76292 3468 00C0 rjmp .L5306293 346a F095 com r316294 346c E195 neg r306295 346e FF4F sbci r31,lo8(-1)6296 .L530:6297 3470 7A97 sbiw r30,266298 3472 04F0 brlt .L5296299 3474 C401 movw r24,r86300 3476 B301 movw r22,r66301 3478 23E0 ldi r18,lo8(3)6302 347a 30E0 ldi r19,hi8(3)6303 347c 40E0 ldi r20,hlo8(3)6304 347e 50E0 ldi r21,hhi8(3)6305 3480 0E94 0000 call __divmodsi46306 3484 3901 movw r6,r186307 3486 4A01 movw r8,r206308 3488 C601 movw r24,r126309 348a B501 movw r22,r106310 348c 23E0 ldi r18,lo8(3)6311 348e 30E0 ldi r19,hi8(3)6312 3490 40E0 ldi r20,hlo8(3)6313 3492 50E0 ldi r21,hhi8(3)6314 3494 0E94 0000 call __divmodsi46315 3498 5901 movw r10,r186316 349a 6A01 movw r12,r206317 .L529:6318 349c 89E1 ldi r24,lo8(25)6319 349e 8093 0000 sts KompassFusion,r246320 34a2 21E2 ldi r18,lo8(33)6321 34a4 6216 cp r6,r186322 34a6 7104 cpc r7,__zero_reg__6323 34a8 8104 cpc r8,__zero_reg__6324 34aa 9104 cpc r9,__zero_reg__6325 34ac 04F0 brlt .L5316326 34ae 70E2 ldi r23,lo8(32)6327 34b0 672E mov r6,r236328 34b2 712C mov r7,__zero_reg__6329 34b4 812C mov r8,__zero_reg__6330 34b6 912C mov r9,__zero_reg__6331 .L531:6332 34b8 30EE ldi r19,lo8(-32)6333 34ba 6316 cp r6,r196334 34bc 3FEF ldi r19,hi8(-32)6335 34be 7306 cpc r7,r196336 34c0 3FEF ldi r19,hlo8(-32)6337 34c2 8306 cpc r8,r196338 34c4 3FEF ldi r19,hhi8(-32)6339 34c6 9306 cpc r9,r196340 34c8 04F4 brge .L5326341 34ca 60EE ldi r22,lo8(-32)6342 34cc 662E mov r6,r226343 34ce 6FEF ldi r22,hi8(-32)6344 34d0 762E mov r7,r226345 34d2 6FEF ldi r22,hlo8(-32)6346 34d4 862E mov r8,r226347 34d6 6FEF ldi r22,hhi8(-32)6348 34d8 962E mov r9,r226349 .L532:6350 34da 41E2 ldi r20,lo8(33)6351 34dc A416 cp r10,r206352 34de B104 cpc r11,__zero_reg__6353 34e0 C104 cpc r12,__zero_reg__6354 34e2 D104 cpc r13,__zero_reg__6355 34e4 04F0 brlt .L5336356 34e6 50E2 ldi r21,lo8(32)6357 34e8 A52E mov r10,r216358 34ea B12C mov r11,__zero_reg__6359 34ec C12C mov r12,__zero_reg__6360 34ee D12C mov r13,__zero_reg__6361 .L533:6362 34f0 50EE ldi r21,lo8(-32)6363 34f2 A516 cp r10,r216364 34f4 5FEF ldi r21,hi8(-32)6365 34f6 B506 cpc r11,r216366 34f8 5FEF ldi r21,hlo8(-32)6367 34fa C506 cpc r12,r216368 34fc 5FEF ldi r21,hhi8(-32)6369 34fe D506 cpc r13,r216370 3500 04F4 brge .L5246371 3502 40EE ldi r20,lo8(-32)6372 3504 A42E mov r10,r206373 3506 4FEF ldi r20,hi8(-32)6374 3508 B42E mov r11,r206375 350a 4FEF ldi r20,hlo8(-32)6376 350c C42E mov r12,r206377 350e 4FEF ldi r20,hhi8(-32)6378 3510 D42E mov r13,r206379 .L524:6380 3512 8091 0000 lds r24,Mess_IntegralNick6381 3516 9091 0000 lds r25,(Mess_IntegralNick)+16382 351a A091 0000 lds r26,(Mess_IntegralNick)+26383 351e B091 0000 lds r27,(Mess_IntegralNick)+36384 3522 8619 sub r24,r66385 3524 9709 sbc r25,r76386 3526 A809 sbc r26,r86387 3528 B909 sbc r27,r96388 352a 8093 0000 sts Mess_IntegralNick,r246389 352e 9093 0000 sts (Mess_IntegralNick)+1,r256390 3532 A093 0000 sts (Mess_IntegralNick)+2,r266391 3536 B093 0000 sts (Mess_IntegralNick)+3,r276392 353a 8091 0000 lds r24,Mess_IntegralRoll6393 353e 9091 0000 lds r25,(Mess_IntegralRoll)+16394 3542 A091 0000 lds r26,(Mess_IntegralRoll)+26395 3546 B091 0000 lds r27,(Mess_IntegralRoll)+36396 354a 8A19 sub r24,r106397 354c 9B09 sbc r25,r116398 354e AC09 sbc r26,r126399 3550 BD09 sbc r27,r136400 3552 8093 0000 sts Mess_IntegralRoll,r246401 3556 9093 0000 sts (Mess_IntegralRoll)+1,r256402 355a A093 0000 sts (Mess_IntegralRoll)+2,r266403 355e B093 0000 sts (Mess_IntegralRoll)+3,r276404 .L511:6405 3562 8091 0000 lds r24,ZaehlMessungen6406 3566 9091 0000 lds r25,(ZaehlMessungen)+16407 356a 8F3F cpi r24,2556408 356c 9105 cpc r25,__zero_reg__6409 356e 01F0 breq .+26410 3570 00F4 brsh .+26411 3572 00C0 rjmp .L5356412 3574 6F85 ldd r22,Y+156413 3576 6623 tst r226414 3578 01F0 breq .+26415 357a 00C0 rjmp .L5366416 357c 8091 0000 lds r24,Looping_Roll6417 3580 8823 tst r246418 3582 01F0 breq .+26419 3584 00C0 rjmp .L5366420 3586 8091 0000 lds r24,TrichterFlug6421 358a 8823 tst r246422 358c 01F0 breq .+26423 358e 00C0 rjmp .L5366424 3590 7091 0000 lds r23,EE_Parameter+686425 3594 788B std Y+16,r236426 3596 7723 tst r236427 3598 01F4 brne .+26428 359a 00C0 rjmp .L5366429 359c 8091 0000 lds r24,MittelIntegralNick6430 35a0 9091 0000 lds r25,(MittelIntegralNick)+16431 35a4 A091 0000 lds r26,(MittelIntegralNick)+26432 35a8 B091 0000 lds r27,(MittelIntegralNick)+36433 35ac B7FF sbrs r27,76434 35ae 00C0 rjmp .L5376435 35b0 8150 subi r24,lo8(-(255))6436 35b2 9F4F sbci r25,hi8(-(255))6437 35b4 AF4F sbci r26,hlo8(-(255))6438 35b6 BF4F sbci r27,hhi8(-(255))6439 .L537:6440 35b8 E92E mov r14,r256441 35ba FA2E mov r15,r266442 35bc 0B2F mov r16,r276443 35be 1127 clr r176444 35c0 07FD sbrc r16,76445 35c2 1A95 dec r176446 35c4 E092 0000 sts MittelIntegralNick,r146447 35c8 F092 0000 sts (MittelIntegralNick)+1,r156448 35cc 0093 0000 sts (MittelIntegralNick)+2,r166449 35d0 1093 0000 sts (MittelIntegralNick)+3,r176450 35d4 8091 0000 lds r24,MittelIntegralRoll6451 35d8 9091 0000 lds r25,(MittelIntegralRoll)+16452 35dc A091 0000 lds r26,(MittelIntegralRoll)+26453 35e0 B091 0000 lds r27,(MittelIntegralRoll)+36454 35e4 B7FF sbrs r27,76455 35e6 00C0 rjmp .L5386456 35e8 8150 subi r24,lo8(-(255))6457 35ea 9F4F sbci r25,hi8(-(255))6458 35ec AF4F sbci r26,hlo8(-(255))6459 35ee BF4F sbci r27,hhi8(-(255))6460 .L538:6461 35f0 892F mov r24,r256462 35f2 9A2F mov r25,r266463 35f4 AB2F mov r26,r276464 35f6 BB27 clr r276465 35f8 A7FD sbrc r26,76466 35fa BA95 dec r276467 35fc 898B std Y+17,r246468 35fe 9A8B std Y+18,r256469 3600 AB8B std Y+19,r266470 3602 BC8B std Y+20,r276471 3604 8093 0000 sts MittelIntegralRoll,r246472 3608 9093 0000 sts (MittelIntegralRoll)+1,r256473 360c A093 0000 sts (MittelIntegralRoll)+2,r266474 3610 B093 0000 sts (MittelIntegralRoll)+3,r276475 3614 8091 0000 lds r24,EE_Parameter+286476 3618 A82E mov r10,r246477 361a BB24 clr r116478 361c CC24 clr r126479 361e DD24 clr r136480 3620 2091 0000 lds r18,IntegralAccNick6481 3624 3091 0000 lds r19,(IntegralAccNick)+16482 3628 4091 0000 lds r20,(IntegralAccNick)+26483 362c 5091 0000 lds r21,(IntegralAccNick)+36484 3630 C601 movw r24,r126485 3632 B501 movw r22,r106486 3634 0E94 0000 call __mulsi36487 3638 97FF sbrs r25,76488 363a 00C0 rjmp .L5396489 363c 6150 subi r22,lo8(-(255))6490 363e 7F4F sbci r23,hi8(-(255))6491 3640 8F4F sbci r24,hlo8(-(255))6492 3642 9F4F sbci r25,hhi8(-(255))6493 .L539:6494 3644 672E mov r6,r236495 3646 782E mov r7,r246496 3648 892E mov r8,r256497 364a 9924 clr r96498 364c 87FC sbrc r8,76499 364e 9A94 dec r96500 3650 6092 0000 sts IntegralAccNick,r66501 3654 7092 0000 sts (IntegralAccNick)+1,r76502 3658 8092 0000 sts (IntegralAccNick)+2,r86503 365c 9092 0000 sts (IntegralAccNick)+3,r96504 3660 2091 0000 lds r18,IntegralAccRoll6505 3664 3091 0000 lds r19,(IntegralAccRoll)+16506 3668 4091 0000 lds r20,(IntegralAccRoll)+26507 366c 5091 0000 lds r21,(IntegralAccRoll)+36508 3670 C601 movw r24,r126509 3672 B501 movw r22,r106510 3674 0E94 0000 call __mulsi36511 3678 97FF sbrs r25,76512 367a 00C0 rjmp .L5406513 367c 6150 subi r22,lo8(-(255))6514 367e 7F4F sbci r23,hi8(-(255))6515 3680 8F4F sbci r24,hlo8(-(255))6516 3682 9F4F sbci r25,hhi8(-(255))6517 .L540:6518 3684 272E mov r2,r236519 3686 382E mov r3,r246520 3688 492E mov r4,r256521 368a 5524 clr r56522 368c 47FC sbrc r4,76523 368e 5A94 dec r56524 3690 2092 0000 sts IntegralAccRoll,r26525 3694 3092 0000 sts (IntegralAccRoll)+1,r36526 3698 4092 0000 sts (IntegralAccRoll)+2,r46527 369c 5092 0000 sts (IntegralAccRoll)+3,r56528 36a0 8091 0000 lds r24,IntegralAccZ6529 36a4 9091 0000 lds r25,(IntegralAccZ)+16530 36a8 A091 0000 lds r26,(IntegralAccZ)+26531 36ac B091 0000 lds r27,(IntegralAccZ)+36532 36b0 B7FF sbrs r27,76533 36b2 00C0 rjmp .L5416534 36b4 8150 subi r24,lo8(-(255))6535 36b6 9F4F sbci r25,hi8(-(255))6536 36b8 AF4F sbci r26,hlo8(-(255))6537 36ba BF4F sbci r27,hhi8(-(255))6538 .L541:6539 36bc 892F mov r24,r256540 36be 9A2F mov r25,r266541 36c0 AB2F mov r26,r276542 36c2 BB27 clr r276543 36c4 A7FD sbrc r26,76544 36c6 BA95 dec r276545 36c8 8093 0000 sts IntegralAccZ,r246546 36cc 9093 0000 sts (IntegralAccZ)+1,r256547 36d0 A093 0000 sts (IntegralAccZ)+2,r266548 36d4 B093 0000 sts (IntegralAccZ)+3,r276549 36d8 D801 movw r26,r166550 36da C701 movw r24,r146551 36dc 8619 sub r24,r66552 36de 9709 sbc r25,r76553 36e0 A809 sbc r26,r86554 36e2 B909 sbc r27,r96555 36e4 8093 0000 sts IntegralFehlerNick.3,r246556 36e8 9093 0000 sts (IntegralFehlerNick.3)+1,r256557 36ec A093 0000 sts (IntegralFehlerNick.3)+2,r266558 36f0 B093 0000 sts (IntegralFehlerNick.3)+3,r276559 36f4 2091 0000 lds r18,EE_Parameter+676560 36f8 E22E mov r14,r186561 36fa FF24 clr r156562 36fc 0027 clr r166563 36fe 1127 clr r176564 3700 BC01 movw r22,r246565 3702 CD01 movw r24,r266566 3704 A801 movw r20,r166567 3706 9701 movw r18,r146568 3708 0E94 0000 call __divmodsi46569 370c 5901 movw r10,r186570 370e 6A01 movw r12,r206571 3710 2093 0000 sts ausgleichNick.10,r186572 3714 3093 0000 sts (ausgleichNick.10)+1,r196573 3718 4093 0000 sts (ausgleichNick.10)+2,r206574 371c 5093 0000 sts (ausgleichNick.10)+3,r216575 3720 8989 ldd r24,Y+176576 3722 9A89 ldd r25,Y+186577 3724 AB89 ldd r26,Y+196578 3726 BC89 ldd r27,Y+206579 3728 8219 sub r24,r26580 372a 9309 sbc r25,r36581 372c A409 sbc r26,r46582 372e B509 sbc r27,r56583 3730 8093 0000 sts IntegralFehlerRoll.4,r246584 3734 9093 0000 sts (IntegralFehlerRoll.4)+1,r256585 3738 A093 0000 sts (IntegralFehlerRoll.4)+2,r266586 373c B093 0000 sts (IntegralFehlerRoll.4)+3,r276587 3740 BC01 movw r22,r246588 3742 CD01 movw r24,r266589 3744 A801 movw r20,r166590 3746 9701 movw r18,r146591 3748 0E94 0000 call __divmodsi46592 374c 2093 0000 sts ausgleichRoll.11,r186593 3750 3093 0000 sts (ausgleichRoll.11)+1,r196594 3754 4093 0000 sts (ausgleichRoll.11)+2,r206595 3758 5093 0000 sts (ausgleichRoll.11)+3,r216596 375c D601 movw r26,r126597 375e C501 movw r24,r106598 3760 D7FE sbrs r13,76599 3762 00C0 rjmp .L5426600 3764 8150 subi r24,lo8(-(255))6601 3766 9F4F sbci r25,hi8(-(255))6602 3768 AF4F sbci r26,hlo8(-(255))6603 376a BF4F sbci r27,hhi8(-(255))6604 .L542:6605 376c 892F mov r24,r256606 376e 9A2F mov r25,r266607 3770 AB2F mov r26,r276608 3772 BB27 clr r276609 3774 A7FD sbrc r26,76610 3776 BA95 dec r276611 3778 9093 0000 sts (LageKorrekturNick)+1,r256612 377c 8093 0000 sts LageKorrekturNick,r246613 3780 57FF sbrs r21,76614 3782 00C0 rjmp .L5436615 3784 2150 subi r18,lo8(-(255))6616 3786 3F4F sbci r19,hi8(-(255))6617 3788 4F4F sbci r20,hlo8(-(255))6618 378a 5F4F sbci r21,hhi8(-(255))6619 .L543:6620 378c BB27 clr r276621 378e 57FD sbrc r21,76622 3790 BA95 dec r276623 3792 A52F mov r26,r216624 3794 942F mov r25,r206625 3796 832F mov r24,r196626 3798 9093 0000 sts (LageKorrekturRoll)+1,r256627 379c 8093 0000 sts LageKorrekturRoll,r246628 37a0 8091 0000 lds r24,MaxStickNick6629 37a4 9091 0000 lds r25,(MaxStickNick)+16630 37a8 8134 cpi r24,656631 37aa 9105 cpc r25,__zero_reg__6632 37ac 04F4 brge .L5456633 37ae 8091 0000 lds r24,MaxStickRoll6634 37b2 9091 0000 lds r25,(MaxStickRoll)+16635 37b6 8134 cpi r24,656636 37b8 9105 cpc r25,__zero_reg__6637 37ba 04F4 brge .L5456638 37bc 8091 0000 lds r24,EE_Parameter+46639 37c0 E82F mov r30,r246640 37c2 FF27 clr r316641 37c4 EE0F add r30,r306642 37c6 FF1F adc r31,r316643 37c8 E050 subi r30,lo8(-(PPM_in))6644 37ca F040 sbci r31,hi8(-(PPM_in))6645 37cc 8081 ld r24,Z6646 37ce 9181 ldd r25,Z+16647 37d0 0190 ld __tmp_reg__,Z+6648 37d2 F081 ld r31,Z6649 37d4 E02D mov r30,__tmp_reg__6650 37d6 F7FF sbrs r31,76651 37d8 00C0 rjmp .L5466652 37da F095 com r316653 37dc E195 neg r306654 37de FF4F sbci r31,lo8(-1)6655 .L546:6656 37e0 7A97 sbiw r30,266657 37e2 04F0 brlt .L5446658 .L545:6659 37e4 8091 0000 lds r24,FromNaviCtrl_Value6660 37e8 8F3F cpi r24,lo8(-1)6661 37ea 01F4 brne .L5446662 37ec 8091 0000 lds r24,LageKorrekturNick6663 37f0 9091 0000 lds r25,(LageKorrekturNick)+16664 37f4 97FD sbrc r25,76665 37f6 0196 adiw r24,16666 .L547:6667 37f8 9595 asr r256668 37fa 8795 ror r246669 37fc 9093 0000 sts (LageKorrekturNick)+1,r256670 3800 8093 0000 sts LageKorrekturNick,r246671 3804 8091 0000 lds r24,LageKorrekturRoll6672 3808 9091 0000 lds r25,(LageKorrekturRoll)+16673 380c 97FD sbrc r25,76674 380e 0196 adiw r24,16675 .L548:6676 3810 9595 asr r256677 3812 8795 ror r246678 3814 9093 0000 sts (LageKorrekturRoll)+1,r256679 3818 8093 0000 sts LageKorrekturRoll,r246680 .L544:6681 381c 8091 0000 lds r24,MittelIntegralNick26682 3820 9091 0000 lds r25,(MittelIntegralNick2)+16683 3824 A091 0000 lds r26,(MittelIntegralNick2)+26684 3828 B091 0000 lds r27,(MittelIntegralNick2)+36685 382c B7FF sbrs r27,76686 382e 00C0 rjmp .L5496687 3830 8150 subi r24,lo8(-(255))6688 3832 9F4F sbci r25,hi8(-(255))6689 3834 AF4F sbci r26,hlo8(-(255))6690 3836 BF4F sbci r27,hhi8(-(255))6691 .L549:6692 3838 892F mov r24,r256693 383a 9A2F mov r25,r266694 383c AB2F mov r26,r276695 383e BB27 clr r276696 3840 A7FD sbrc r26,76697 3842 BA95 dec r276698 3844 8093 0000 sts MittelIntegralNick2,r246699 3848 9093 0000 sts (MittelIntegralNick2)+1,r256700 384c A093 0000 sts (MittelIntegralNick2)+2,r266701 3850 B093 0000 sts (MittelIntegralNick2)+3,r276702 3854 8091 0000 lds r24,MittelIntegralRoll26703 3858 9091 0000 lds r25,(MittelIntegralRoll2)+16704 385c A091 0000 lds r26,(MittelIntegralRoll2)+26705 3860 B091 0000 lds r27,(MittelIntegralRoll2)+36706 3864 B7FF sbrs r27,76707 3866 00C0 rjmp .L5506708 3868 8150 subi r24,lo8(-(255))6709 386a 9F4F sbci r25,hi8(-(255))6710 386c AF4F sbci r26,hlo8(-(255))6711 386e BF4F sbci r27,hhi8(-(255))6712 .L550:6713 3870 892F mov r24,r256714 3872 9A2F mov r25,r266715 3874 AB2F mov r26,r276716 3876 BB27 clr r276717 3878 A7FD sbrc r26,76718 387a BA95 dec r276719 387c 8093 0000 sts MittelIntegralRoll2,r246720 3880 9093 0000 sts (MittelIntegralRoll2)+1,r256721 3884 A093 0000 sts (MittelIntegralRoll2)+2,r266722 3888 B093 0000 sts (MittelIntegralRoll2)+3,r276723 388c 8091 0000 lds r24,IntegralNick6724 3890 9091 0000 lds r25,(IntegralNick)+16725 3894 A091 0000 lds r26,(IntegralNick)+26726 3898 B091 0000 lds r27,(IntegralNick)+36727 389c 2F81 ldd r18,Y+76728 389e 3885 ldd r19,Y+86729 38a0 4985 ldd r20,Y+96730 38a2 5A85 ldd r21,Y+106731 38a4 281B sub r18,r246732 38a6 390B sbc r19,r256733 38a8 4A0B sbc r20,r266734 38aa 5B0B sbc r21,r276735 38ac 2093 0000 sts tmp_long.1,r186736 38b0 3093 0000 sts (tmp_long.1)+1,r196737 38b4 4093 0000 sts (tmp_long.1)+2,r206738 38b8 5093 0000 sts (tmp_long.1)+3,r216739 38bc 8091 0000 lds r24,IntegralRoll6740 38c0 9091 0000 lds r25,(IntegralRoll)+16741 38c4 A091 0000 lds r26,(IntegralRoll)+26742 38c8 B091 0000 lds r27,(IntegralRoll)+36743 38cc EB84 ldd r14,Y+116744 38ce FC84 ldd r15,Y+126745 38d0 0D85 ldd r16,Y+136746 38d2 1E85 ldd r17,Y+146747 38d4 E81A sub r14,r246748 38d6 F90A sbc r15,r256749 38d8 0A0B sbc r16,r266750 38da 1B0B sbc r17,r276751 38dc E092 0000 sts tmp_long2.2,r146752 38e0 F092 0000 sts (tmp_long2.2)+1,r156753 38e4 0093 0000 sts (tmp_long2.2)+2,r166754 38e8 1093 0000 sts (tmp_long2.2)+3,r176755 38ec 2093 0000 sts IntegralFehlerNick.3,r186756 38f0 3093 0000 sts (IntegralFehlerNick.3)+1,r196757 38f4 4093 0000 sts (IntegralFehlerNick.3)+2,r206758 38f8 5093 0000 sts (IntegralFehlerNick.3)+3,r216759 38fc E092 0000 sts IntegralFehlerRoll.4,r146760 3900 F092 0000 sts (IntegralFehlerRoll.4)+1,r156761 3904 0093 0000 sts (IntegralFehlerRoll.4)+2,r166762 3908 1093 0000 sts (IntegralFehlerRoll.4)+3,r176763 390c 8091 0000 lds r24,Mess_IntegralNick26764 3910 9091 0000 lds r25,(Mess_IntegralNick2)+16765 3914 A091 0000 lds r26,(Mess_IntegralNick2)+26766 3918 B091 0000 lds r27,(Mess_IntegralNick2)+36767 391c 821B sub r24,r186768 391e 930B sbc r25,r196769 3920 A40B sbc r26,r206770 3922 B50B sbc r27,r216771 3924 8093 0000 sts Mess_IntegralNick2,r246772 3928 9093 0000 sts (Mess_IntegralNick2)+1,r256773 392c A093 0000 sts (Mess_IntegralNick2)+2,r266774 3930 B093 0000 sts (Mess_IntegralNick2)+3,r276775 3934 8091 0000 lds r24,Mess_IntegralRoll26776 3938 9091 0000 lds r25,(Mess_IntegralRoll2)+16777 393c A091 0000 lds r26,(Mess_IntegralRoll2)+26778 3940 B091 0000 lds r27,(Mess_IntegralRoll2)+36779 3944 8E19 sub r24,r146780 3946 9F09 sbc r25,r156781 3948 A00B sbc r26,r166782 394a B10B sbc r27,r176783 394c 8093 0000 sts Mess_IntegralRoll2,r246784 3950 9093 0000 sts (Mess_IntegralRoll2)+1,r256785 3954 A093 0000 sts (Mess_IntegralRoll2)+2,r266786 3958 B093 0000 sts (Mess_IntegralRoll2)+3,r276787 395c 8889 ldd r24,Y+166788 395e 8823 tst r246789 3960 01F0 breq .L5516790 3962 2091 0000 lds r18,GierGyroFehler6791 3966 3091 0000 lds r19,(GierGyroFehler)+16792 396a 2138 cpi r18,1296793 396c 3105 cpc r19,__zero_reg__6794 396e 04F0 brlt .L5526795 3970 8091 0000 lds r24,AdNeutralGier6796 3974 9091 0000 lds r25,(AdNeutralGier)+16797 3978 0196 adiw r24,16798 397a 9093 0000 sts (AdNeutralGier)+1,r256799 397e 8093 0000 sts AdNeutralGier,r246800 .L552:6801 3982 2058 subi r18,lo8(-128)6802 3984 3F4F sbci r19,hi8(-128)6803 3986 04F4 brge .L5516804 3988 8091 0000 lds r24,AdNeutralGier6805 398c 9091 0000 lds r25,(AdNeutralGier)+16806 3990 0197 sbiw r24,16807 3992 9093 0000 sts (AdNeutralGier)+1,r256808 3996 8093 0000 sts AdNeutralGier,r246809 .L551:6810 399a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6811 399e 1092 0000 sts GierGyroFehler,__zero_reg__6812 39a2 81E0 ldi r24,lo8(1)6813 39a4 90E0 ldi r25,hi8(1)6814 39a6 9093 0000 sts (cnt.14)+1,r256815 39aa 8093 0000 sts cnt.14,r246816 39ae E090 0000 lds r14,IntegralFehlerNick.36817 39b2 F090 0000 lds r15,(IntegralFehlerNick.3)+16818 39b6 0091 0000 lds r16,(IntegralFehlerNick.3)+26819 39ba 1091 0000 lds r17,(IntegralFehlerNick.3)+36820 39be D801 movw r26,r166821 39c0 C701 movw r24,r146822 39c2 17FF sbrs r17,76823 39c4 00C0 rjmp .L5556824 39c6 8827 clr r246825 39c8 9927 clr r256826 39ca DC01 movw r26,r246827 39cc 8E19 sub r24,r146828 39ce 9F09 sbc r25,r156829 39d0 A00B sbc r26,r166830 39d2 B10B sbc r27,r176831 .L555:6832 39d4 8150 subi r24,lo8(513)6833 39d6 9240 sbci r25,hi8(513)6834 39d8 A040 sbci r26,hlo8(513)6835 39da B040 sbci r27,hhi8(513)6836 39dc 04F0 brlt .L5546837 39de 84E0 ldi r24,lo8(4)6838 39e0 90E0 ldi r25,hi8(4)6839 39e2 9093 0000 sts (cnt.14)+1,r256840 39e6 8093 0000 sts cnt.14,r246841 .L554:6842 39ea 8091 0000 lds r24,MittelIntegralNick_Alt.196843 39ee 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16844 39f2 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26845 39f6 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36846 39fa 2091 0000 lds r18,MittelIntegralNick6847 39fe 3091 0000 lds r19,(MittelIntegralNick)+16848 3a02 4091 0000 lds r20,(MittelIntegralNick)+26849 3a06 5091 0000 lds r21,(MittelIntegralNick)+36850 3a0a 821B sub r24,r186851 3a0c 930B sbc r25,r196852 3a0e A40B sbc r26,r206853 3a10 B50B sbc r27,r216854 3a12 815E subi r24,lo8(-(19999))6855 3a14 914B sbci r25,hi8(-(19999))6856 3a16 AF4F sbci r26,hlo8(-(19999))6857 3a18 BF4F sbci r27,hhi8(-(19999))6858 3a1a 8F53 subi r24,lo8(39999)6859 3a1c 9C49 sbci r25,hi8(39999)6860 3a1e A040 sbci r26,hlo8(39999)6861 3a20 B040 sbci r27,hhi8(39999)6862 3a22 00F0 brlo .L5576863 3a24 8091 0000 lds r24,FromNaviCtrl_Value+16864 3a28 8931 cpi r24,lo8(25)6865 3a2a 04F4 brge .+26866 3a2c 00C0 rjmp .L5566867 .L557:6868 3a2e 21E0 ldi r18,lo8(4097)6869 3a30 E216 cp r14,r186870 3a32 20E1 ldi r18,hi8(4097)6871 3a34 F206 cpc r15,r186872 3a36 20E0 ldi r18,hlo8(4097)6873 3a38 0207 cpc r16,r186874 3a3a 20E0 ldi r18,hhi8(4097)6875 3a3c 1207 cpc r17,r186876 3a3e 04F4 brge .+26877 3a40 00C0 rjmp .L5586878 3a42 8091 0000 lds r24,last_n_p.156879 3a46 8823 tst r246880 3a48 01F4 brne .+26881 3a4a 00C0 rjmp .L5596882 3a4c D801 movw r26,r166883 3a4e C701 movw r24,r146884 3a50 17FF sbrs r17,76885 3a52 00C0 rjmp .L5606886 3a54 8827 clr r246887 3a56 9927 clr r256888 3a58 DC01 movw r26,r246889 3a5a 8E19 sub r24,r146890 3a5c 9F09 sbc r25,r156891 3a5e A00B sbc r26,r166892 3a60 B10B sbc r27,r176893 .L560:6894 3a62 9C01 movw r18,r246895 3a64 AD01 movw r20,r266896 3a66 B7FF sbrs r27,76897 3a68 00C0 rjmp .L5616898 3a6a 2150 subi r18,lo8(-(511))6899 3a6c 3E4F sbci r19,hi8(-(511))6900 3a6e 4F4F sbci r20,hlo8(-(511))6901 3a70 5F4F sbci r21,hhi8(-(511))6902 .L561:6903 3a72 F9E0 ldi r31,96904 3a74 5595 1: asr r216905 3a76 4795 ror r206906 3a78 3795 ror r196907 3a7a 2795 ror r186908 3a7c FA95 dec r316909 3a7e 01F4 brne 1b6910 3a80 8091 0000 lds r24,cnt.146911 3a84 9091 0000 lds r25,(cnt.14)+16912 3a88 820F add r24,r186913 3a8a 931F adc r25,r196914 3a8c 9093 0000 sts (cnt.14)+1,r256915 3a90 8093 0000 sts cnt.14,r246916 3a94 D801 movw r26,r166917 3a96 C701 movw r24,r146918 3a98 17FF sbrs r17,76919 3a9a 00C0 rjmp .L5626920 3a9c 0796 adiw r24,76921 3a9e A11D adc r26,__zero_reg__6922 3aa0 B11D adc r27,__zero_reg__6923 .L562:6924 3aa2 E3E0 ldi r30,36925 3aa4 B595 1: asr r276926 3aa6 A795 ror r266927 3aa8 9795 ror r256928 3aaa 8795 ror r246929 3aac EA95 dec r306930 3aae 01F4 brne 1b6931 3ab0 8093 0000 sts ausgleichNick.10,r246932 3ab4 9093 0000 sts (ausgleichNick.10)+1,r256933 3ab8 A093 0000 sts (ausgleichNick.10)+2,r266934 3abc B093 0000 sts (ausgleichNick.10)+3,r276935 3ac0 8958 subi r24,lo8(5001)6936 3ac2 9341 sbci r25,hi8(5001)6937 3ac4 A040 sbci r26,hlo8(5001)6938 3ac6 B040 sbci r27,hhi8(5001)6939 3ac8 04F0 brlt .L5636940 3aca 88E8 ldi r24,lo8(5000)6941 3acc 93E1 ldi r25,hi8(5000)6942 3ace A0E0 ldi r26,hlo8(5000)6943 3ad0 B0E0 ldi r27,hhi8(5000)6944 3ad2 8093 0000 sts ausgleichNick.10,r246945 3ad6 9093 0000 sts (ausgleichNick.10)+1,r256946 3ada A093 0000 sts (ausgleichNick.10)+2,r266947 3ade B093 0000 sts (ausgleichNick.10)+3,r276948 .L563:6949 3ae2 2091 0000 lds r18,ausgleichNick.106950 3ae6 3091 0000 lds r19,(ausgleichNick.10)+16951 3aea 4091 0000 lds r20,(ausgleichNick.10)+26952 3aee 5091 0000 lds r21,(ausgleichNick.10)+36953 3af2 57FF sbrs r21,76954 3af4 00C0 rjmp .L5646955 3af6 2150 subi r18,lo8(-(255))6956 3af8 3F4F sbci r19,hi8(-(255))6957 3afa 4F4F sbci r20,hlo8(-(255))6958 3afc 5F4F sbci r21,hhi8(-(255))6959 .L564:6960 3afe 232F mov r18,r196961 3b00 342F mov r19,r206962 3b02 452F mov r20,r216963 3b04 5527 clr r216964 3b06 47FD sbrc r20,76965 3b08 5A95 dec r216966 3b0a 8091 0000 lds r24,LageKorrekturNick6967 3b0e 9091 0000 lds r25,(LageKorrekturNick)+16968 3b12 820F add r24,r186969 3b14 931F adc r25,r196970 3b16 9093 0000 sts (LageKorrekturNick)+1,r256971 3b1a 8093 0000 sts LageKorrekturNick,r246972 3b1e 00C0 rjmp .L5666973 .L559:6974 3b20 81E0 ldi r24,lo8(1)6975 3b22 8093 0000 sts last_n_p.15,r246976 3b26 00C0 rjmp .L5666977 .L558:6978 3b28 1092 0000 sts last_n_p.15,__zero_reg__6979 .L566:6980 3b2c 40E0 ldi r20,lo8(-4096)6981 3b2e E416 cp r14,r206982 3b30 40EF ldi r20,hi8(-4096)6983 3b32 F406 cpc r15,r206984 3b34 4FEF ldi r20,hlo8(-4096)6985 3b36 0407 cpc r16,r206986 3b38 4FEF ldi r20,hhi8(-4096)6987 3b3a 1407 cpc r17,r206988 3b3c 04F0 brlt .+26989 3b3e 00C0 rjmp .L5676990 3b40 8091 0000 lds r24,last_n_n.166991 3b44 8823 tst r246992 3b46 01F4 brne .+26993 3b48 00C0 rjmp .L5686994 3b4a D801 movw r26,r166995 3b4c C701 movw r24,r146996 3b4e 17FF sbrs r17,76997 3b50 00C0 rjmp .L5696998 3b52 8827 clr r246999 3b54 9927 clr r257000 3b56 DC01 movw r26,r247001 3b58 8E19 sub r24,r147002 3b5a 9F09 sbc r25,r157003 3b5c A00B sbc r26,r167004 3b5e B10B sbc r27,r177005 .L569:7006 3b60 9C01 movw r18,r247007 3b62 AD01 movw r20,r267008 3b64 B7FF sbrs r27,77009 3b66 00C0 rjmp .L5707010 3b68 2150 subi r18,lo8(-(511))7011 3b6a 3E4F sbci r19,hi8(-(511))7012 3b6c 4F4F sbci r20,hlo8(-(511))7013 3b6e 5F4F sbci r21,hhi8(-(511))7014 .L570:7015 3b70 69E0 ldi r22,97016 3b72 5595 1: asr r217017 3b74 4795 ror r207018 3b76 3795 ror r197019 3b78 2795 ror r187020 3b7a 6A95 dec r227021 3b7c 01F4 brne 1b7022 3b7e 8091 0000 lds r24,cnt.147023 3b82 9091 0000 lds r25,(cnt.14)+17024 3b86 820F add r24,r187025 3b88 931F adc r25,r197026 3b8a 9093 0000 sts (cnt.14)+1,r257027 3b8e 8093 0000 sts cnt.14,r247028 3b92 D801 movw r26,r167029 3b94 C701 movw r24,r147030 3b96 17FF sbrs r17,77031 3b98 00C0 rjmp .L5717032 3b9a 0796 adiw r24,77033 3b9c A11D adc r26,__zero_reg__7034 3b9e B11D adc r27,__zero_reg__7035 .L571:7036 3ba0 23E0 ldi r18,37037 3ba2 B595 1: asr r277038 3ba4 A795 ror r267039 3ba6 9795 ror r257040 3ba8 8795 ror r247041 3baa 2A95 dec r187042 3bac 01F4 brne 1b7043 3bae 8093 0000 sts ausgleichNick.10,r247044 3bb2 9093 0000 sts (ausgleichNick.10)+1,r257045 3bb6 A093 0000 sts (ausgleichNick.10)+2,r267046 3bba B093 0000 sts (ausgleichNick.10)+3,r277047 3bbe 8857 subi r24,lo8(-5000)7048 3bc0 9C4E sbci r25,hi8(-5000)7049 3bc2 AF4F sbci r26,hlo8(-5000)7050 3bc4 BF4F sbci r27,hhi8(-5000)7051 3bc6 04F4 brge .L5727052 3bc8 88E7 ldi r24,lo8(-5000)7053 3bca 9CEE ldi r25,hi8(-5000)7054 3bcc AFEF ldi r26,hlo8(-5000)7055 3bce BFEF ldi r27,hhi8(-5000)7056 3bd0 8093 0000 sts ausgleichNick.10,r247057 3bd4 9093 0000 sts (ausgleichNick.10)+1,r257058 3bd8 A093 0000 sts (ausgleichNick.10)+2,r267059 3bdc B093 0000 sts (ausgleichNick.10)+3,r277060 .L572:7061 3be0 2091 0000 lds r18,ausgleichNick.107062 3be4 3091 0000 lds r19,(ausgleichNick.10)+17063 3be8 4091 0000 lds r20,(ausgleichNick.10)+27064 3bec 5091 0000 lds r21,(ausgleichNick.10)+37065 3bf0 57FF sbrs r21,77066 3bf2 00C0 rjmp .L5737067 3bf4 2150 subi r18,lo8(-(255))7068 3bf6 3F4F sbci r19,hi8(-(255))7069 3bf8 4F4F sbci r20,hlo8(-(255))7070 3bfa 5F4F sbci r21,hhi8(-(255))7071 .L573:7072 3bfc 232F mov r18,r197073 3bfe 342F mov r19,r207074 3c00 452F mov r20,r217075 3c02 5527 clr r217076 3c04 47FD sbrc r20,77077 3c06 5A95 dec r217078 3c08 8091 0000 lds r24,LageKorrekturNick7079 3c0c 9091 0000 lds r25,(LageKorrekturNick)+17080 3c10 820F add r24,r187081 3c12 931F adc r25,r197082 3c14 9093 0000 sts (LageKorrekturNick)+1,r257083 3c18 8093 0000 sts LageKorrekturNick,r247084 3c1c 00C0 rjmp .L5767085 .L568:7086 3c1e 81E0 ldi r24,lo8(1)7087 3c20 8093 0000 sts last_n_n.16,r247088 3c24 00C0 rjmp .L5767089 .L567:7090 3c26 1092 0000 sts last_n_n.16,__zero_reg__7091 3c2a 00C0 rjmp .L5767092 .L556:7093 3c2c 1092 0000 sts (cnt.14)+1,__zero_reg__7094 3c30 1092 0000 sts cnt.14,__zero_reg__7095 3c34 84E6 ldi r24,lo8(100)7096 3c36 90E0 ldi r25,hi8(100)7097 3c38 9093 0000 sts (KompassSignalSchlecht)+1,r257098 3c3c 8093 0000 sts KompassSignalSchlecht,r247099 .L576:7100 3c40 6889 ldd r22,Y+167101 3c42 262F mov r18,r227102 3c44 3327 clr r197103 3c46 8091 0000 lds r24,cnt.147104 3c4a 9091 0000 lds r25,(cnt.14)+17105 3c4e 2817 cp r18,r247106 3c50 3907 cpc r19,r257107 3c52 04F4 brge .L5777108 3c54 3093 0000 sts (cnt.14)+1,r197109 3c58 2093 0000 sts cnt.14,r187110 .L577:7111 3c5c 1091 0000 lds r17,FromNaviCtrl_Value+17112 3c60 1123 tst r177113 3c62 01F0 breq .L5787114 3c64 212F mov r18,r177115 3c66 3327 clr r197116 3c68 27FD sbrc r18,77117 3c6a 3095 com r197118 3c6c 8091 0000 lds r24,cnt.147119 3c70 9091 0000 lds r25,(cnt.14)+17120 3c74 2817 cp r18,r247121 3c76 3907 cpc r19,r257122 3c78 04F4 brge .L5787123 3c7a 3093 0000 sts (cnt.14)+1,r197124 3c7e 2093 0000 sts cnt.14,r187125 .L578:7126 3c82 4091 0000 lds r20,IntegralFehlerNick.37127 3c86 5091 0000 lds r21,(IntegralFehlerNick.3)+17128 3c8a 6091 0000 lds r22,(IntegralFehlerNick.3)+27129 3c8e 7091 0000 lds r23,(IntegralFehlerNick.3)+37130 3c92 4138 cpi r20,lo8(129)7131 3c94 5105 cpc r21,__zero_reg__7132 3c96 6105 cpc r22,__zero_reg__7133 3c98 7105 cpc r23,__zero_reg__7134 3c9a 04F0 brlt .L5807135 3c9c 8091 0000 lds r24,AdNeutralNick7136 3ca0 9091 0000 lds r25,(AdNeutralNick)+17137 3ca4 2091 0000 lds r18,cnt.147138 3ca8 3091 0000 lds r19,(cnt.14)+17139 3cac 820F add r24,r187140 3cae 931F adc r25,r197141 3cb0 9093 0000 sts (AdNeutralNick)+1,r257142 3cb4 8093 0000 sts AdNeutralNick,r247143 .L580:7144 3cb8 4058 subi r20,lo8(-128)7145 3cba 5F4F sbci r21,hi8(-128)7146 3cbc 6F4F sbci r22,hlo8(-128)7147 3cbe 7F4F sbci r23,hhi8(-128)7148 3cc0 04F4 brge .L5817149 3cc2 8091 0000 lds r24,AdNeutralNick7150 3cc6 9091 0000 lds r25,(AdNeutralNick)+17151 3cca 2091 0000 lds r18,cnt.147152 3cce 3091 0000 lds r19,(cnt.14)+17153 3cd2 821B sub r24,r187154 3cd4 930B sbc r25,r197155 3cd6 9093 0000 sts (AdNeutralNick)+1,r257156 3cda 8093 0000 sts AdNeutralNick,r247157 .L581:7158 3cde 81E0 ldi r24,lo8(1)7159 3ce0 90E0 ldi r25,hi8(1)7160 3ce2 9093 0000 sts (cnt.14)+1,r257161 3ce6 8093 0000 sts cnt.14,r247162 3cea C090 0000 lds r12,IntegralFehlerRoll.47163 3cee D090 0000 lds r13,(IntegralFehlerRoll.4)+17164 3cf2 E090 0000 lds r14,(IntegralFehlerRoll.4)+27165 3cf6 F090 0000 lds r15,(IntegralFehlerRoll.4)+37166 3cfa D701 movw r26,r147167 3cfc C601 movw r24,r127168 3cfe F7FE sbrs r15,77169 3d00 00C0 rjmp .L5837170 3d02 8827 clr r247171 3d04 9927 clr r257172 3d06 DC01 movw r26,r247173 3d08 8C19 sub r24,r127174 3d0a 9D09 sbc r25,r137175 3d0c AE09 sbc r26,r147176 3d0e BF09 sbc r27,r157177 .L583:7178 3d10 8150 subi r24,lo8(513)7179 3d12 9240 sbci r25,hi8(513)7180 3d14 A040 sbci r26,hlo8(513)7181 3d16 B040 sbci r27,hhi8(513)7182 3d18 04F0 brlt .L5827183 3d1a 84E0 ldi r24,lo8(4)7184 3d1c 90E0 ldi r25,hi8(4)7185 3d1e 9093 0000 sts (cnt.14)+1,r257186 3d22 8093 0000 sts cnt.14,r247187 .L582:7188 3d26 8091 0000 lds r24,MittelIntegralRoll_Alt.207189 3d2a 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17190 3d2e A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27191 3d32 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37192 3d36 2091 0000 lds r18,MittelIntegralRoll7193 3d3a 3091 0000 lds r19,(MittelIntegralRoll)+17194 3d3e 4091 0000 lds r20,(MittelIntegralRoll)+27195 3d42 5091 0000 lds r21,(MittelIntegralRoll)+37196 3d46 821B sub r24,r187197 3d48 930B sbc r25,r197198 3d4a A40B sbc r26,r207199 3d4c B50B sbc r27,r217200 3d4e 815E subi r24,lo8(-(19999))7201 3d50 914B sbci r25,hi8(-(19999))7202 3d52 AF4F sbci r26,hlo8(-(19999))7203 3d54 BF4F sbci r27,hhi8(-(19999))7204 3d56 8F53 subi r24,lo8(39999)7205 3d58 9C49 sbci r25,hi8(39999)7206 3d5a A040 sbci r26,hlo8(39999)7207 3d5c B040 sbci r27,hhi8(39999)7208 3d5e 00F0 brlo .L5857209 3d60 1931 cpi r17,lo8(25)7210 3d62 04F4 brge .+27211 3d64 00C0 rjmp .L5847212 .L585:7213 3d66 01E0 ldi r16,lo8(4097)7214 3d68 C016 cp r12,r167215 3d6a 00E1 ldi r16,hi8(4097)7216 3d6c D006 cpc r13,r167217 3d6e 00E0 ldi r16,hlo8(4097)7218 3d70 E006 cpc r14,r167219 3d72 00E0 ldi r16,hhi8(4097)7220 3d74 F006 cpc r15,r167221 3d76 04F4 brge .+27222 3d78 00C0 rjmp .L5867223 3d7a 8091 0000 lds r24,last_r_p.177224 3d7e 8823 tst r247225 3d80 01F4 brne .+27226 3d82 00C0 rjmp .L5877227 3d84 D701 movw r26,r147228 3d86 C601 movw r24,r127229 3d88 F7FE sbrs r15,77230 3d8a 00C0 rjmp .L5887231 3d8c 8827 clr r247232 3d8e 9927 clr r257233 3d90 DC01 movw r26,r247234 3d92 8C19 sub r24,r127235 3d94 9D09 sbc r25,r137236 3d96 AE09 sbc r26,r147237 3d98 BF09 sbc r27,r157238 .L588:7239 3d9a 9C01 movw r18,r247240 3d9c AD01 movw r20,r267241 3d9e B7FF sbrs r27,77242 3da0 00C0 rjmp .L5897243 3da2 2150 subi r18,lo8(-(511))7244 3da4 3E4F sbci r19,hi8(-(511))7245 3da6 4F4F sbci r20,hlo8(-(511))7246 3da8 5F4F sbci r21,hhi8(-(511))7247 .L589:7248 3daa 09E0 ldi r16,97249 3dac 5595 1: asr r217250 3dae 4795 ror r207251 3db0 3795 ror r197252 3db2 2795 ror r187253 3db4 0A95 dec r167254 3db6 01F4 brne 1b7255 3db8 8091 0000 lds r24,cnt.147256 3dbc 9091 0000 lds r25,(cnt.14)+17257 3dc0 820F add r24,r187258 3dc2 931F adc r25,r197259 3dc4 9093 0000 sts (cnt.14)+1,r257260 3dc8 8093 0000 sts cnt.14,r247261 3dcc D701 movw r26,r147262 3dce C601 movw r24,r127263 3dd0 F7FE sbrs r15,77264 3dd2 00C0 rjmp .L5907265 3dd4 0796 adiw r24,77266 3dd6 A11D adc r26,__zero_reg__7267 3dd8 B11D adc r27,__zero_reg__7268 .L590:7269 3dda 13E0 ldi r17,37270 3ddc B595 1: asr r277271 3dde A795 ror r267272 3de0 9795 ror r257273 3de2 8795 ror r247274 3de4 1A95 dec r177275 3de6 01F4 brne 1b7276 3de8 8093 0000 sts ausgleichRoll.11,r247277 3dec 9093 0000 sts (ausgleichRoll.11)+1,r257278 3df0 A093 0000 sts (ausgleichRoll.11)+2,r267279 3df4 B093 0000 sts (ausgleichRoll.11)+3,r277280 3df8 8958 subi r24,lo8(5001)7281 3dfa 9341 sbci r25,hi8(5001)7282 3dfc A040 sbci r26,hlo8(5001)7283 3dfe B040 sbci r27,hhi8(5001)7284 3e00 04F0 brlt .L5917285 3e02 88E8 ldi r24,lo8(5000)7286 3e04 93E1 ldi r25,hi8(5000)7287 3e06 A0E0 ldi r26,hlo8(5000)7288 3e08 B0E0 ldi r27,hhi8(5000)7289 3e0a 8093 0000 sts ausgleichRoll.11,r247290 3e0e 9093 0000 sts (ausgleichRoll.11)+1,r257291 3e12 A093 0000 sts (ausgleichRoll.11)+2,r267292 3e16 B093 0000 sts (ausgleichRoll.11)+3,r277293 .L591:7294 3e1a 2091 0000 lds r18,ausgleichRoll.117295 3e1e 3091 0000 lds r19,(ausgleichRoll.11)+17296 3e22 4091 0000 lds r20,(ausgleichRoll.11)+27297 3e26 5091 0000 lds r21,(ausgleichRoll.11)+37298 3e2a 57FF sbrs r21,77299 3e2c 00C0 rjmp .L5927300 3e2e 2150 subi r18,lo8(-(255))7301 3e30 3F4F sbci r19,hi8(-(255))7302 3e32 4F4F sbci r20,hlo8(-(255))7303 3e34 5F4F sbci r21,hhi8(-(255))7304 .L592:7305 3e36 232F mov r18,r197306 3e38 342F mov r19,r207307 3e3a 452F mov r20,r217308 3e3c 5527 clr r217309 3e3e 47FD sbrc r20,77310 3e40 5A95 dec r217311 3e42 8091 0000 lds r24,LageKorrekturRoll7312 3e46 9091 0000 lds r25,(LageKorrekturRoll)+17313 3e4a 820F add r24,r187314 3e4c 931F adc r25,r197315 3e4e 9093 0000 sts (LageKorrekturRoll)+1,r257316 3e52 8093 0000 sts LageKorrekturRoll,r247317 3e56 00C0 rjmp .L5947318 .L587:7319 3e58 81E0 ldi r24,lo8(1)7320 3e5a 8093 0000 sts last_r_p.17,r247321 3e5e 00C0 rjmp .L5947322 .L586:7323 3e60 1092 0000 sts last_r_p.17,__zero_reg__7324 .L594:7325 3e64 20E0 ldi r18,lo8(-4096)7326 3e66 C216 cp r12,r187327 3e68 20EF ldi r18,hi8(-4096)7328 3e6a D206 cpc r13,r187329 3e6c 2FEF ldi r18,hlo8(-4096)7330 3e6e E206 cpc r14,r187331 3e70 2FEF ldi r18,hhi8(-4096)7332 3e72 F206 cpc r15,r187333 3e74 04F0 brlt .+27334 3e76 00C0 rjmp .L5957335 3e78 8091 0000 lds r24,last_r_n.187336 3e7c 8823 tst r247337 3e7e 01F4 brne .+27338 3e80 00C0 rjmp .L5967339 3e82 D701 movw r26,r147340 3e84 C601 movw r24,r127341 3e86 F7FE sbrs r15,77342 3e88 00C0 rjmp .L5977343 3e8a 8827 clr r247344 3e8c 9927 clr r257345 3e8e DC01 movw r26,r247346 3e90 8C19 sub r24,r127347 3e92 9D09 sbc r25,r137348 3e94 AE09 sbc r26,r147349 3e96 BF09 sbc r27,r157350 .L597:7351 3e98 9C01 movw r18,r247352 3e9a AD01 movw r20,r267353 3e9c B7FF sbrs r27,77354 3e9e 00C0 rjmp .L5987355 3ea0 2150 subi r18,lo8(-(511))7356 3ea2 3E4F sbci r19,hi8(-(511))7357 3ea4 4F4F sbci r20,hlo8(-(511))7358 3ea6 5F4F sbci r21,hhi8(-(511))7359 .L598:7360 3ea8 E9E0 ldi r30,97361 3eaa 5595 1: asr r217362 3eac 4795 ror r207363 3eae 3795 ror r197364 3eb0 2795 ror r187365 3eb2 EA95 dec r307366 3eb4 01F4 brne 1b7367 3eb6 8091 0000 lds r24,cnt.147368 3eba 9091 0000 lds r25,(cnt.14)+17369 3ebe 820F add r24,r187370 3ec0 931F adc r25,r197371 3ec2 9093 0000 sts (cnt.14)+1,r257372 3ec6 8093 0000 sts cnt.14,r247373 3eca D701 movw r26,r147374 3ecc C601 movw r24,r127375 3ece F7FE sbrs r15,77376 3ed0 00C0 rjmp .L5997377 3ed2 0796 adiw r24,77378 3ed4 A11D adc r26,__zero_reg__7379 3ed6 B11D adc r27,__zero_reg__7380 .L599:7381 3ed8 73E0 ldi r23,37382 3eda B595 1: asr r277383 3edc A795 ror r267384 3ede 9795 ror r257385 3ee0 8795 ror r247386 3ee2 7A95 dec r237387 3ee4 01F4 brne 1b7388 3ee6 8093 0000 sts ausgleichRoll.11,r247389 3eea 9093 0000 sts (ausgleichRoll.11)+1,r257390 3eee A093 0000 sts (ausgleichRoll.11)+2,r267391 3ef2 B093 0000 sts (ausgleichRoll.11)+3,r277392 3ef6 8857 subi r24,lo8(-5000)7393 3ef8 9C4E sbci r25,hi8(-5000)7394 3efa AF4F sbci r26,hlo8(-5000)7395 3efc BF4F sbci r27,hhi8(-5000)7396 3efe 04F4 brge .L6007397 3f00 88E7 ldi r24,lo8(-5000)7398 3f02 9CEE ldi r25,hi8(-5000)7399 3f04 AFEF ldi r26,hlo8(-5000)7400 3f06 BFEF ldi r27,hhi8(-5000)7401 3f08 8093 0000 sts ausgleichRoll.11,r247402 3f0c 9093 0000 sts (ausgleichRoll.11)+1,r257403 3f10 A093 0000 sts (ausgleichRoll.11)+2,r267404 3f14 B093 0000 sts (ausgleichRoll.11)+3,r277405 .L600:7406 3f18 2091 0000 lds r18,ausgleichRoll.117407 3f1c 3091 0000 lds r19,(ausgleichRoll.11)+17408 3f20 4091 0000 lds r20,(ausgleichRoll.11)+27409 3f24 5091 0000 lds r21,(ausgleichRoll.11)+37410 3f28 57FF sbrs r21,77411 3f2a 00C0 rjmp .L6017412 3f2c 2150 subi r18,lo8(-(255))7413 3f2e 3F4F sbci r19,hi8(-(255))7414 3f30 4F4F sbci r20,hlo8(-(255))7415 3f32 5F4F sbci r21,hhi8(-(255))7416 .L601:7417 3f34 232F mov r18,r197418 3f36 342F mov r19,r207419 3f38 452F mov r20,r217420 3f3a 5527 clr r217421 3f3c 47FD sbrc r20,77422 3f3e 5A95 dec r217423 3f40 8091 0000 lds r24,LageKorrekturRoll7424 3f44 9091 0000 lds r25,(LageKorrekturRoll)+17425 3f48 820F add r24,r187426 3f4a 931F adc r25,r197427 3f4c 9093 0000 sts (LageKorrekturRoll)+1,r257428 3f50 8093 0000 sts LageKorrekturRoll,r247429 3f54 00C0 rjmp .L6047430 .L596:7431 3f56 81E0 ldi r24,lo8(1)7432 3f58 8093 0000 sts last_r_n.18,r247433 3f5c 00C0 rjmp .L6047434 .L595:7435 3f5e 1092 0000 sts last_r_n.18,__zero_reg__7436 3f62 00C0 rjmp .L6047437 .L584:7438 3f64 1092 0000 sts (cnt.14)+1,__zero_reg__7439 3f68 1092 0000 sts cnt.14,__zero_reg__7440 3f6c 84E6 ldi r24,lo8(100)7441 3f6e 90E0 ldi r25,hi8(100)7442 3f70 9093 0000 sts (KompassSignalSchlecht)+1,r257443 3f74 8093 0000 sts KompassSignalSchlecht,r247444 .L604:7445 3f78 4889 ldd r20,Y+167446 3f7a 242F mov r18,r207447 3f7c 3327 clr r197448 3f7e 8091 0000 lds r24,cnt.147449 3f82 9091 0000 lds r25,(cnt.14)+17450 3f86 2817 cp r18,r247451 3f88 3907 cpc r19,r257452 3f8a 04F4 brge .L6057453 3f8c 3093 0000 sts (cnt.14)+1,r197454 3f90 2093 0000 sts cnt.14,r187455 .L605:7456 3f94 8091 0000 lds r24,FromNaviCtrl_Value+17457 3f98 8823 tst r247458 3f9a 01F0 breq .L6067459 3f9c 282F mov r18,r247460 3f9e 3327 clr r197461 3fa0 27FD sbrc r18,77462 3fa2 3095 com r197463 3fa4 8091 0000 lds r24,cnt.147464 3fa8 9091 0000 lds r25,(cnt.14)+17465 3fac 2817 cp r18,r247466 3fae 3907 cpc r19,r257467 3fb0 04F4 brge .L6067468 3fb2 3093 0000 sts (cnt.14)+1,r197469 3fb6 2093 0000 sts cnt.14,r187470 .L606:7471 3fba 4091 0000 lds r20,IntegralFehlerRoll.47472 3fbe 5091 0000 lds r21,(IntegralFehlerRoll.4)+17473 3fc2 6091 0000 lds r22,(IntegralFehlerRoll.4)+27474 3fc6 7091 0000 lds r23,(IntegralFehlerRoll.4)+37475 3fca 4138 cpi r20,lo8(129)7476 3fcc 5105 cpc r21,__zero_reg__7477 3fce 6105 cpc r22,__zero_reg__7478 3fd0 7105 cpc r23,__zero_reg__7479 3fd2 04F0 brlt .L6087480 3fd4 8091 0000 lds r24,AdNeutralRoll7481 3fd8 9091 0000 lds r25,(AdNeutralRoll)+17482 3fdc 2091 0000 lds r18,cnt.147483 3fe0 3091 0000 lds r19,(cnt.14)+17484 3fe4 820F add r24,r187485 3fe6 931F adc r25,r197486 3fe8 9093 0000 sts (AdNeutralRoll)+1,r257487 3fec 8093 0000 sts AdNeutralRoll,r247488 .L608:7489 3ff0 4058 subi r20,lo8(-128)7490 3ff2 5F4F sbci r21,hi8(-128)7491 3ff4 6F4F sbci r22,hlo8(-128)7492 3ff6 7F4F sbci r23,hhi8(-128)7493 3ff8 04F4 brge .L6107494 3ffa 8091 0000 lds r24,AdNeutralRoll7495 3ffe 9091 0000 lds r25,(AdNeutralRoll)+17496 4002 2091 0000 lds r18,cnt.147497 4006 3091 0000 lds r19,(cnt.14)+17498 400a 821B sub r24,r187499 400c 930B sbc r25,r197500 400e 9093 0000 sts (AdNeutralRoll)+1,r257501 4012 8093 0000 sts AdNeutralRoll,r247502 4016 00C0 rjmp .L6107503 .L536:7504 4018 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7505 401c 1092 0000 sts LageKorrekturRoll,__zero_reg__7506 4020 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7507 4024 1092 0000 sts LageKorrekturNick,__zero_reg__7508 4028 1092 0000 sts TrichterFlug,__zero_reg__7509 .L610:7510 402c 8091 0000 lds r24,IntegralFaktor7511 4030 8823 tst r247512 4032 01F4 brne .L6117513 4034 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7514 4038 1092 0000 sts LageKorrekturRoll,__zero_reg__7515 403c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7516 4040 1092 0000 sts LageKorrekturNick,__zero_reg__7517 .L611:7518 4044 8091 0000 lds r24,MittelIntegralNick7519 4048 9091 0000 lds r25,(MittelIntegralNick)+17520 404c A091 0000 lds r26,(MittelIntegralNick)+27521 4050 B091 0000 lds r27,(MittelIntegralNick)+37522 4054 8093 0000 sts MittelIntegralNick_Alt.19,r247523 4058 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257524 405c A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267525 4060 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277526 4064 8091 0000 lds r24,MittelIntegralRoll7527 4068 9091 0000 lds r25,(MittelIntegralRoll)+17528 406c A091 0000 lds r26,(MittelIntegralRoll)+27529 4070 B091 0000 lds r27,(MittelIntegralRoll)+37530 4074 8093 0000 sts MittelIntegralRoll_Alt.20,r247531 4078 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257532 407c A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267533 4080 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277534 4084 1092 0000 sts IntegralAccNick,__zero_reg__7535 4088 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7536 408c 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7537 4090 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7538 4094 1092 0000 sts IntegralAccRoll,__zero_reg__7539 4098 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7540 409c 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7541 40a0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7542 40a4 1092 0000 sts IntegralAccZ,__zero_reg__7543 40a8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7544 40ac 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7545 40b0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7546 40b4 1092 0000 sts MittelIntegralNick,__zero_reg__7547 40b8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7548 40bc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7549 40c0 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7550 40c4 1092 0000 sts MittelIntegralRoll,__zero_reg__7551 40c8 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7552 40cc 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7553 40d0 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7554 40d4 1092 0000 sts MittelIntegralNick2,__zero_reg__7555 40d8 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7556 40dc 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7557 40e0 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7558 40e4 1092 0000 sts MittelIntegralRoll2,__zero_reg__7559 40e8 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7560 40ec 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7561 40f0 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7562 40f4 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7563 40f8 1092 0000 sts ZaehlMessungen,__zero_reg__7564 .L535:7565 40fc E090 0000 lds r14,StickGier7566 4100 F090 0000 lds r15,(StickGier)+17567 4104 C701 movw r24,r147568 4106 F7FE sbrs r15,77569 4108 00C0 rjmp .L6137570 410a 8827 clr r247571 410c 9927 clr r257572 410e 8E19 sub r24,r147573 4110 9F09 sbc r25,r157574 .L613:7575 4112 0497 sbiw r24,47576 4114 04F0 brlt .L6127577 4116 8091 0000 lds r24,Parameter_GlobalConfig7578 411a 84FD sbrc r24,47579 411c 00C0 rjmp .L6127580 411e 82E3 ldi r24,lo8(50)7581 4120 8093 0000 sts NeueKompassRichtungMerken,r247582 .L612:7583 4124 1091 0000 lds r17,EE_Parameter+257584 4128 A12E mov r10,r177585 412a BB24 clr r117586 412c CC24 clr r127587 412e DD24 clr r137588 4130 B701 movw r22,r147589 4132 8827 clr r247590 4134 77FD sbrc r23,77591 4136 8095 com r247592 4138 982F mov r25,r247593 413a 9701 movw r18,r147594 413c F7FE sbrs r15,77595 413e 00C0 rjmp .L6157596 4140 2227 clr r187597 4142 3327 clr r197598 4144 2E19 sub r18,r147599 4146 3F09 sbc r19,r157600 .L615:7601 4148 4427 clr r207602 414a 37FD sbrc r19,77603 414c 4095 com r207604 414e 542F mov r21,r207605 4150 0E94 0000 call __mulsi37606 4154 9B01 movw r18,r227607 4156 AC01 movw r20,r247608 4158 C601 movw r24,r127609 415a B501 movw r22,r107610 415c 0E94 0000 call __mulsi37611 4160 97FF sbrs r25,77612 4162 00C0 rjmp .L6167613 4164 6150 subi r22,lo8(-(511))7614 4166 7E4F sbci r23,hi8(-(511))7615 4168 8F4F sbci r24,hlo8(-(511))7616 416a 9F4F sbci r25,hhi8(-(511))7617 .L616:7618 416c 59E0 ldi r21,97619 416e 9595 1: asr r257620 4170 8795 ror r247621 4172 7795 ror r237622 4174 6795 ror r227623 4176 5A95 dec r217624 4178 01F4 brne 1b7625 417a 9B01 movw r18,r227626 417c 812F mov r24,r177627 417e 9927 clr r257628 4180 8E9D mul r24,r147629 4182 D001 movw r26,r07630 4184 8F9D mul r24,r157631 4186 B00D add r27,r07632 4188 9E9D mul r25,r147633 418a B00D add r27,r07634 418c 1124 clr r17635 418e CD01 movw r24,r267636 4190 B7FD sbrc r27,77637 4192 0396 adiw r24,37638 .L617:7639 4194 9595 asr r257640 4196 8795 ror r247641 4198 9595 asr r257642 419a 8795 ror r247643 419c 280F add r18,r247644 419e 391F adc r19,r257645 41a0 8091 0000 lds r24,CompassGierSetpoint7646 41a4 9091 0000 lds r25,(CompassGierSetpoint)+17647 41a8 280F add r18,r247648 41aa 391F adc r19,r257649 41ac 4427 clr r207650 41ae 37FD sbrc r19,77651 41b0 4095 com r207652 41b2 542F mov r21,r207653 41b4 2093 0000 sts sollGier.0,r187654 41b8 3093 0000 sts (sollGier.0)+1,r197655 41bc 4093 0000 sts (sollGier.0)+2,r207656 41c0 5093 0000 sts (sollGier.0)+3,r217657 41c4 8091 0000 lds r24,Mess_Integral_Gier7658 41c8 9091 0000 lds r25,(Mess_Integral_Gier)+17659 41cc A091 0000 lds r26,(Mess_Integral_Gier)+27660 41d0 B091 0000 lds r27,(Mess_Integral_Gier)+37661 41d4 821B sub r24,r187662 41d6 930B sbc r25,r197663 41d8 A40B sbc r26,r207664 41da B50B sbc r27,r217665 41dc 8093 0000 sts Mess_Integral_Gier,r247666 41e0 9093 0000 sts (Mess_Integral_Gier)+1,r257667 41e4 A093 0000 sts (Mess_Integral_Gier)+2,r267668 41e8 B093 0000 sts (Mess_Integral_Gier)+3,r277669 41ec 8155 subi r24,lo8(50001)7670 41ee 934C sbci r25,hi8(50001)7671 41f0 A040 sbci r26,hlo8(50001)7672 41f2 B040 sbci r27,hhi8(50001)7673 41f4 04F0 brlt .L6187674 41f6 80E5 ldi r24,lo8(50000)7675 41f8 93EC ldi r25,hi8(50000)7676 41fa A0E0 ldi r26,hlo8(50000)7677 41fc B0E0 ldi r27,hhi8(50000)7678 41fe 8093 0000 sts Mess_Integral_Gier,r247679 4202 9093 0000 sts (Mess_Integral_Gier)+1,r257680 4206 A093 0000 sts (Mess_Integral_Gier)+2,r267681 420a B093 0000 sts (Mess_Integral_Gier)+3,r277682 .L618:7683 420e 8091 0000 lds r24,Mess_Integral_Gier7684 4212 9091 0000 lds r25,(Mess_Integral_Gier)+17685 4216 A091 0000 lds r26,(Mess_Integral_Gier)+27686 421a B091 0000 lds r27,(Mess_Integral_Gier)+37687 421e 805B subi r24,lo8(-50000)7688 4220 9C43 sbci r25,hi8(-50000)7689 4222 AF4F sbci r26,hlo8(-50000)7690 4224 BF4F sbci r27,hhi8(-50000)7691 4226 04F4 brge .L6197692 4228 80EB ldi r24,lo8(-50000)7693 422a 9CE3 ldi r25,hi8(-50000)7694 422c AFEF ldi r26,hlo8(-50000)7695 422e BFEF ldi r27,hhi8(-50000)7696 4230 8093 0000 sts Mess_Integral_Gier,r247697 4234 9093 0000 sts (Mess_Integral_Gier)+1,r257698 4238 A093 0000 sts (Mess_Integral_Gier)+2,r267699 423c B093 0000 sts (Mess_Integral_Gier)+3,r277700 .L619:7701 4240 0091 0000 lds r16,KompassValue7702 4244 1091 0000 lds r17,(KompassValue)+17703 4248 17FD sbrc r17,77704 424a 00C0 rjmp .L6207705 424c 8091 0000 lds r24,Parameter_GlobalConfig7706 4250 83FF sbrs r24,37707 4252 00C0 rjmp .L6207708 4254 8091 0000 lds r24,CalculateCompassTimer7709 4258 8150 subi r24,lo8(-(-1))7710 425a 8093 0000 sts CalculateCompassTimer,r247711 425e 8823 tst r247712 4260 01F0 breq .+27713 4262 00C0 rjmp .L6377714 4264 8DE0 ldi r24,lo8(13)7715 4266 8093 0000 sts CalculateCompassTimer,r247716 426a 8091 0000 lds r24,IntegralNick7717 426e 9091 0000 lds r25,(IntegralNick)+17718 4272 A091 0000 lds r26,(IntegralNick)+27719 4276 B091 0000 lds r27,(IntegralNick)+37720 427a B7FF sbrs r27,77721 427c 00C0 rjmp .L6227722 427e 8150 subi r24,lo8(-(511))7723 4280 9E4F sbci r25,hi8(-(511))7724 4282 AF4F sbci r26,hlo8(-(511))7725 4284 BF4F sbci r27,hhi8(-(511))7726 .L622:7727 4286 39E0 ldi r19,97728 4288 B595 1: asr r277729 428a A795 ror r267730 428c 9795 ror r257731 428e 8795 ror r247732 4290 3A95 dec r197733 4292 01F4 brne 1b7734 4294 7C01 movw r14,r247735 4296 97FF sbrs r25,77736 4298 00C0 rjmp .L6237737 429a F094 com r157738 429c E194 neg r147739 429e F108 sbc r15,__zero_reg__7740 42a0 F394 inc r157741 .L623:7742 42a2 8091 0000 lds r24,IntegralRoll7743 42a6 9091 0000 lds r25,(IntegralRoll)+17744 42aa A091 0000 lds r26,(IntegralRoll)+27745 42ae B091 0000 lds r27,(IntegralRoll)+37746 42b2 B7FF sbrs r27,77747 42b4 00C0 rjmp .L6247748 42b6 8150 subi r24,lo8(-(511))7749 42b8 9E4F sbci r25,hi8(-(511))7750 42ba AF4F sbci r26,hlo8(-(511))7751 42bc BF4F sbci r27,hhi8(-(511))7752 .L624:7753 42be 29E0 ldi r18,97754 42c0 B595 1: asr r277755 42c2 A795 ror r267756 42c4 9795 ror r257757 42c6 8795 ror r247758 42c8 2A95 dec r187759 42ca 01F4 brne 1b7760 42cc 9C01 movw r18,r247761 42ce 97FF sbrs r25,77762 42d0 00C0 rjmp .L6257763 42d2 3095 com r197764 42d4 2195 neg r187765 42d6 3F4F sbci r19,lo8(-1)7766 .L625:7767 42d8 E216 cp r14,r187768 42da F306 cpc r15,r197769 42dc 04F4 brge .L6267770 42de 7901 movw r14,r187771 .L626:7772 42e0 B701 movw r22,r147773 42e2 F7FE sbrs r15,77774 42e4 00C0 rjmp .L6277775 42e6 695F subi r22,lo8(-(7))7776 42e8 7F4F sbci r23,hi8(-(7))7777 .L627:7778 42ea 2B01 movw r4,r227779 42ec A3E0 ldi r26,37780 42ee 5594 1: asr r57781 42f0 4794 ror r47782 42f2 AA95 dec r267783 42f4 01F4 brne 1b7784 42f6 22E0 ldi r18,lo8(2)7785 42f8 30E0 ldi r19,hi8(2)7786 42fa 420E add r4,r187787 42fc 531E adc r5,r197788 42fe 6090 0000 lds r6,ErsatzKompass7789 4302 7090 0000 lds r7,(ErsatzKompass)+17790 4306 8090 0000 lds r8,(ErsatzKompass)+27791 430a 9090 0000 lds r9,(ErsatzKompass)+37792 430e 2091 0000 lds r18,GIER_GRAD_FAKTOR7793 4312 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17794 4316 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27795 431a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37796 431e C401 movw r24,r87797 4320 B301 movw r22,r67798 4322 0E94 0000 call __divmodsi47799 4326 5901 movw r10,r187800 4328 6A01 movw r12,r207801 432a 3093 0000 sts (ErsatzKompassInGrad)+1,r197802 432e 2093 0000 sts ErsatzKompassInGrad,r187803 4332 021B sub r16,r187804 4334 130B sbc r17,r197805 4336 C801 movw r24,r167806 4338 845E subi r24,lo8(-(540))7807 433a 9D4F sbci r25,hi8(-(540))7808 433c 68E6 ldi r22,lo8(360)7809 433e 71E0 ldi r23,hi8(360)7810 4340 0E94 0000 call __divmodhi47811 4344 9C01 movw r18,r247812 4346 245B subi r18,lo8(-(-180))7813 4348 3040 sbci r19,hi8(-(-180))7814 434a 8091 0000 lds r24,KompassSignalSchlecht7815 434e 9091 0000 lds r25,(KompassSignalSchlecht)+17816 4352 0097 sbiw r24,07817 4354 01F0 breq .L6287818 4356 0197 sbiw r24,17819 4358 9093 0000 sts (KompassSignalSchlecht)+1,r257820 435c 8093 0000 sts KompassSignalSchlecht,r247821 4360 00C0 rjmp .L6297822 .L628:7823 4362 49E1 ldi r20,lo8(25)7824 4364 E416 cp r14,r207825 4366 F104 cpc r15,__zero_reg__7826 4368 04F4 brge .L6297827 436a 8091 0000 lds r24,GierGyroFehler7828 436e 9091 0000 lds r25,(GierGyroFehler)+17829 4372 820F add r24,r187830 4374 931F adc r25,r197831 4376 9093 0000 sts (GierGyroFehler)+1,r257832 437a 8093 0000 sts GierGyroFehler,r247833 437e 8091 0000 lds r24,NeueKompassRichtungMerken7834 4382 8823 tst r247835 4384 01F0 breq .L6297836 4386 8150 subi r24,lo8(-(-1))7837 4388 8093 0000 sts NeueKompassRichtungMerken,r247838 438c 8823 tst r247839 438e 01F4 brne .L6297840 4390 B092 0000 sts (KompassSollWert)+1,r117841 4394 A092 0000 sts KompassSollWert,r107842 .L629:7843 4398 8091 0000 lds r24,KompassSignalSchlecht7844 439c 9091 0000 lds r25,(KompassSignalSchlecht)+17845 43a0 892B or r24,r257846 43a2 01F4 brne .L6337847 43a4 8091 0000 lds r24,KompassFusion7848 43a8 9927 clr r257849 43aa 289F mul r18,r247850 43ac B001 movw r22,r07851 43ae 299F mul r18,r257852 43b0 700D add r23,r07853 43b2 389F mul r19,r247854 43b4 700D add r23,r07855 43b6 1124 clr r17856 43b8 CB01 movw r24,r227857 43ba B201 movw r22,r47858 43bc 0E94 0000 call __divmodhi47859 43c0 CB01 movw r24,r227860 43c2 AA27 clr r267861 43c4 97FD sbrc r25,77862 43c6 A095 com r267863 43c8 BA2F mov r27,r267864 43ca 680E add r6,r247865 43cc 791E adc r7,r257866 43ce 8A1E adc r8,r267867 43d0 9B1E adc r9,r277868 43d2 6092 0000 sts ErsatzKompass,r67869 43d6 7092 0000 sts (ErsatzKompass)+1,r77870 43da 8092 0000 sts (ErsatzKompass)+2,r87871 43de 9092 0000 sts (ErsatzKompass)+3,r97872 .L633:7873 43e2 8091 0000 lds r24,NeueKompassRichtungMerken7874 43e6 8823 tst r247875 43e8 01F4 brne .L6207876 43ea 8091 0000 lds r24,KompassSollWert7877 43ee 9091 0000 lds r25,(KompassSollWert)+17878 43f2 2091 0000 lds r18,ErsatzKompassInGrad7879 43f6 3091 0000 lds r19,(ErsatzKompassInGrad)+17880 43fa 821B sub r24,r187881 43fc 930B sbc r25,r197882 43fe 845E subi r24,lo8(-(540))7883 4400 9D4F sbci r25,hi8(-(540))7884 4402 68E6 ldi r22,lo8(360)7885 4404 71E0 ldi r23,hi8(360)7886 4406 0E94 0000 call __divmodhi47887 440a 9C01 movw r18,r247888 440c 245B subi r18,lo8(-(-180))7889 440e 3040 sbci r19,hi8(-(-180))7890 4410 8091 0000 lds r24,Parameter_KompassWirkung7891 4414 8695 lsr r247892 4416 9927 clr r257893 4418 289F mul r18,r247894 441a D001 movw r26,r07895 441c 299F mul r18,r257896 441e B00D add r27,r07897 4420 389F mul r19,r247898 4422 B00D add r27,r07899 4424 1124 clr r17900 4426 9D01 movw r18,r267901 4428 B7FF sbrs r27,77902 442a 00C0 rjmp .L6357903 442c 215F subi r18,lo8(-(15))7904 442e 3F4F sbci r19,hi8(-(15))7905 .L635:7906 4430 F4E0 ldi r31,47907 4432 3595 1: asr r197908 4434 2795 ror r187909 4436 FA95 dec r317910 4438 01F4 brne 1b7911 443a 3093 0000 sts (CompassGierSetpoint)+1,r197912 443e 2093 0000 sts CompassGierSetpoint,r187913 4442 00C0 rjmp .L6377914 .L620:7915 4444 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7916 4448 1092 0000 sts CompassGierSetpoint,__zero_reg__7917 .L637:7918 444c 8091 0000 lds r24,TrichterFlug7919 4450 8823 tst r247920 4452 01F0 breq .L6387921 4454 1092 0000 sts SummeRoll,__zero_reg__7922 4458 1092 0000 sts (SummeRoll)+1,__zero_reg__7923 445c 1092 0000 sts (SummeRoll)+2,__zero_reg__7924 4460 1092 0000 sts (SummeRoll)+3,__zero_reg__7925 4464 1092 0000 sts SummeNick,__zero_reg__7926 4468 1092 0000 sts (SummeNick)+1,__zero_reg__7927 446c 1092 0000 sts (SummeNick)+2,__zero_reg__7928 4470 1092 0000 sts (SummeNick)+3,__zero_reg__7929 .L638:7930 4474 F090 0000 lds r15,Looping_Nick7931 4478 FF20 tst r157932 447a 01F4 brne .L6397933 447c 8091 0000 lds r24,IntegralFaktor7934 4480 282F mov r18,r247935 4482 3327 clr r197936 4484 4427 clr r207937 4486 5527 clr r217938 4488 8091 0000 lds r24,IntegralNick7939 448c 9091 0000 lds r25,(IntegralNick)+17940 4490 A091 0000 lds r26,(IntegralNick)+27941 4494 B091 0000 lds r27,(IntegralNick)+37942 4498 BC01 movw r22,r247943 449a CD01 movw r24,r267944 449c 0E94 0000 call __mulsi37945 44a0 DC01 movw r26,r247946 44a2 CB01 movw r24,r227947 44a4 BC01 movw r22,r247948 44a6 CD01 movw r24,r267949 44a8 28EF ldi r18,lo8(11000)7950 44aa 3AE2 ldi r19,hi8(11000)7951 44ac 40E0 ldi r20,hlo8(11000)7952 44ae 50E0 ldi r21,hhi8(11000)7953 44b0 0E94 0000 call __divmodsi47954 44b4 3901 movw r6,r187955 44b6 00C0 rjmp .L6407956 .L639:7957 44b8 6624 clr r67958 44ba 7724 clr r77959 .L640:7960 44bc E090 0000 lds r14,Looping_Roll7961 44c0 EE20 tst r147962 44c2 01F4 brne .L6417963 44c4 8091 0000 lds r24,IntegralFaktor7964 44c8 282F mov r18,r247965 44ca 3327 clr r197966 44cc 4427 clr r207967 44ce 5527 clr r217968 44d0 8091 0000 lds r24,IntegralRoll7969 44d4 9091 0000 lds r25,(IntegralRoll)+17970 44d8 A091 0000 lds r26,(IntegralRoll)+27971 44dc B091 0000 lds r27,(IntegralRoll)+37972 44e0 BC01 movw r22,r247973 44e2 CD01 movw r24,r267974 44e4 0E94 0000 call __mulsi37975 44e8 DC01 movw r26,r247976 44ea CB01 movw r24,r227977 44ec BC01 movw r22,r247978 44ee CD01 movw r24,r267979 44f0 28EF ldi r18,lo8(11000)7980 44f2 3AE2 ldi r19,hi8(11000)7981 44f4 40E0 ldi r20,hlo8(11000)7982 44f6 50E0 ldi r21,hhi8(11000)7983 44f8 0E94 0000 call __divmodsi47984 44fc 2901 movw r4,r187985 44fe 00C0 rjmp .L6427986 .L641:7987 4500 4424 clr r47988 4502 5524 clr r57989 .L642:7990 4504 8091 0000 lds r24,TrimNick7991 4508 9091 0000 lds r25,(TrimNick)+17992 450c 893C cpi r24,2017993 450e 9105 cpc r25,__zero_reg__7994 4510 04F0 brlt .L6437995 4512 88EC ldi r24,lo8(200)7996 4514 90E0 ldi r25,hi8(200)7997 4516 00C0 rjmp .L9007998 .L643:7999 4518 8853 subi r24,lo8(-200)8000 451a 9F4F sbci r25,hi8(-200)8001 451c 04F4 brge .L6448002 451e 88E3 ldi r24,lo8(-200)8003 4520 9FEF ldi r25,hi8(-200)8004 .L900:8005 4522 9093 0000 sts (TrimNick)+1,r258006 4526 8093 0000 sts TrimNick,r248007 .L644:8008 452a 8091 0000 lds r24,TrimRoll8009 452e 9091 0000 lds r25,(TrimRoll)+18010 4532 893C cpi r24,2018011 4534 9105 cpc r25,__zero_reg__8012 4536 04F0 brlt .L6468013 4538 88EC ldi r24,lo8(200)8014 453a 90E0 ldi r25,hi8(200)8015 453c 00C0 rjmp .L9018016 .L646:8017 453e 8853 subi r24,lo8(-200)8018 4540 9F4F sbci r25,hi8(-200)8019 4542 04F4 brge .L6478020 4544 88E3 ldi r24,lo8(-200)8021 4546 9FEF ldi r25,hi8(-200)8022 .L901:8023 4548 9093 0000 sts (TrimRoll)+1,r258024 454c 8093 0000 sts TrimRoll,r248025 .L647:8026 4550 8091 0000 lds r24,MesswertNick8027 4554 9091 0000 lds r25,(MesswertNick)+18028 4558 AA27 clr r268029 455a 97FD sbrc r25,78030 455c A095 com r268031 455e BA2F mov r27,r268032 4560 2091 0000 lds r18,GyroFaktor8033 4564 A22E mov r10,r188034 4566 BB24 clr r118035 4568 CC24 clr r128036 456a DD24 clr r138037 456c BC01 movw r22,r248038 456e CD01 movw r24,r268039 4570 A601 movw r20,r128040 4572 9501 movw r18,r108041 4574 0E94 0000 call __mulsi38042 4578 9B01 movw r18,r228043 457a AC01 movw r20,r248044 457c 8091 0000 lds r24,TrimNick8045 4580 9091 0000 lds r25,(TrimNick)+18046 4584 AA27 clr r268047 4586 97FD sbrc r25,78048 4588 A095 com r268049 458a BA2F mov r27,r268050 458c E7E0 ldi r30,78051 458e 880F 1: lsl r248052 4590 991F rol r258053 4592 AA1F rol r268054 4594 BB1F rol r278055 4596 EA95 dec r308056 4598 01F4 brne 1b8057 459a 280F add r18,r248058 459c 391F adc r19,r258059 459e 4A1F adc r20,r268060 45a0 5B1F adc r21,r278061 45a2 57FF sbrs r21,78062 45a4 00C0 rjmp .L6498063 45a6 215C subi r18,lo8(-(63))8064 45a8 3F4F sbci r19,hi8(-(63))8065 45aa 4F4F sbci r20,hlo8(-(63))8066 45ac 5F4F sbci r21,hhi8(-(63))8067 .L649:8068 45ae 76E0 ldi r23,68069 45b0 5595 1: asr r218070 45b2 4795 ror r208071 45b4 3795 ror r198072 45b6 2795 ror r188073 45b8 7A95 dec r238074 45ba 01F4 brne 1b8075 45bc 8301 movw r16,r68076 45be 020F add r16,r188077 45c0 131F adc r17,r198078 45c2 1093 0000 sts (MesswertNick)+1,r178079 45c6 0093 0000 sts MesswertNick,r168080 45ca 8091 0000 lds r24,MesswertRoll8081 45ce 9091 0000 lds r25,(MesswertRoll)+18082 45d2 AA27 clr r268083 45d4 97FD sbrc r25,78084 45d6 A095 com r268085 45d8 BA2F mov r27,r268086 45da BC01 movw r22,r248087 45dc CD01 movw r24,r268088 45de A601 movw r20,r128089 45e0 9501 movw r18,r108090 45e2 0E94 0000 call __mulsi38091 45e6 9B01 movw r18,r228092 45e8 AC01 movw r20,r248093 45ea 8091 0000 lds r24,TrimRoll8094 45ee 9091 0000 lds r25,(TrimRoll)+18095 45f2 AA27 clr r268096 45f4 97FD sbrc r25,78097 45f6 A095 com r268098 45f8 BA2F mov r27,r268099 45fa 67E0 ldi r22,78100 45fc 880F 1: lsl r248101 45fe 991F rol r258102 4600 AA1F rol r268103 4602 BB1F rol r278104 4604 6A95 dec r228105 4606 01F4 brne 1b8106 4608 280F add r18,r248107 460a 391F adc r19,r258108 460c 4A1F adc r20,r268109 460e 5B1F adc r21,r278110 4610 57FF sbrs r21,78111 4612 00C0 rjmp .L6508112 4614 215C subi r18,lo8(-(63))8113 4616 3F4F sbci r19,hi8(-(63))8114 4618 4F4F sbci r20,hlo8(-(63))8115 461a 5F4F sbci r21,hhi8(-(63))8116 .L650:8117 461c F6E0 ldi r31,68118 461e 5595 1: asr r218119 4620 4795 ror r208120 4622 3795 ror r198121 4624 2795 ror r188122 4626 FA95 dec r318123 4628 01F4 brne 1b8124 462a 4201 movw r8,r48125 462c 820E add r8,r188126 462e 931E adc r9,r198127 4630 9092 0000 sts (MesswertRoll)+1,r98128 4634 8092 0000 sts MesswertRoll,r88129 4638 8091 0000 lds r24,MesswertGier8130 463c 9091 0000 lds r25,(MesswertGier)+18131 4640 880F add r24,r248132 4642 991F adc r25,r258133 4644 AA27 clr r268134 4646 97FD sbrc r25,78135 4648 A095 com r268136 464a BA2F mov r27,r268137 464c 2091 0000 lds r18,GyroFaktorGier8138 4650 3327 clr r198139 4652 4427 clr r208140 4654 5527 clr r218141 4656 BC01 movw r22,r248142 4658 CD01 movw r24,r268143 465a 0E94 0000 call __mulsi38144 465e 5B01 movw r10,r228145 4660 6C01 movw r12,r248146 4662 97FF sbrs r25,78147 4664 00C0 rjmp .L6518148 4666 2FE3 ldi r18,lo8(63)8149 4668 30E0 ldi r19,hi8(63)8150 466a 40E0 ldi r20,hlo8(63)8151 466c 50E0 ldi r21,hhi8(63)8152 466e A20E add r10,r188153 4670 B31E adc r11,r198154 4672 C41E adc r12,r208155 4674 D51E adc r13,r218156 .L651:8157 4676 E6E0 ldi r30,68158 4678 D594 1: asr r138159 467a C794 ror r128160 467c B794 ror r118161 467e A794 ror r108162 4680 EA95 dec r308163 4682 01F4 brne 1b8164 4684 8091 0000 lds r24,IntegralFaktorGier8165 4688 282F mov r18,r248166 468a 3327 clr r198167 468c 4427 clr r208168 468e 5527 clr r218169 4690 8091 0000 lds r24,Integral_Gier8170 4694 9091 0000 lds r25,(Integral_Gier)+18171 4698 A091 0000 lds r26,(Integral_Gier)+28172 469c B091 0000 lds r27,(Integral_Gier)+38173 46a0 BC01 movw r22,r248174 46a2 CD01 movw r24,r268175 46a4 0E94 0000 call __mulsi38176 46a8 DC01 movw r26,r248177 46aa CB01 movw r24,r228178 46ac BC01 movw r22,r248179 46ae CD01 movw r24,r268180 46b0 20EF ldi r18,lo8(22000)8181 46b2 35E5 ldi r19,hi8(22000)8182 46b4 40E0 ldi r20,hlo8(22000)8183 46b6 50E0 ldi r21,hhi8(22000)8184 46b8 0E94 0000 call __divmodsi48185 46bc B501 movw r22,r108186 46be 620F add r22,r188187 46c0 731F adc r23,r198188 46c2 7093 0000 sts (MesswertGier)+1,r238189 46c6 6093 0000 sts MesswertGier,r228190 46ca 0150 subi r16,lo8(4097)8191 46cc 1041 sbci r17,hi8(4097)8192 46ce 04F0 brlt .L6528193 46d0 80E0 ldi r24,lo8(4096)8194 46d2 90E1 ldi r25,hi8(4096)8195 46d4 9093 0000 sts (MesswertNick)+1,r258196 46d8 8093 0000 sts MesswertNick,r248197 .L652:8198 46dc 8091 0000 lds r24,MesswertNick8199 46e0 9091 0000 lds r25,(MesswertNick)+18200 46e4 8050 subi r24,lo8(-4096)8201 46e6 904F sbci r25,hi8(-4096)8202 46e8 04F4 brge .L6538203 46ea 80E0 ldi r24,lo8(-4096)8204 46ec 90EF ldi r25,hi8(-4096)8205 46ee 9093 0000 sts (MesswertNick)+1,r258206 46f2 8093 0000 sts MesswertNick,r248207 .L653:8208 46f6 51E0 ldi r21,lo8(4097)8209 46f8 8516 cp r8,r218210 46fa 50E1 ldi r21,hi8(4097)8211 46fc 9506 cpc r9,r218212 46fe 04F0 brlt .L6548213 4700 80E0 ldi r24,lo8(4096)8214 4702 90E1 ldi r25,hi8(4096)8215 4704 9093 0000 sts (MesswertRoll)+1,r258216 4708 8093 0000 sts MesswertRoll,r248217 .L654:8218 470c 8091 0000 lds r24,MesswertRoll8219 4710 9091 0000 lds r25,(MesswertRoll)+18220 4714 8050 subi r24,lo8(-4096)8221 4716 904F sbci r25,hi8(-4096)8222 4718 04F4 brge .L6558223 471a 80E0 ldi r24,lo8(-4096)8224 471c 90EF ldi r25,hi8(-4096)8225 471e 9093 0000 sts (MesswertRoll)+1,r258226 4722 8093 0000 sts MesswertRoll,r248227 .L655:8228 4726 6150 subi r22,lo8(4097)8229 4728 7041 sbci r23,hi8(4097)8230 472a 04F0 brlt .L6568231 472c 80E0 ldi r24,lo8(4096)8232 472e 90E1 ldi r25,hi8(4096)8233 4730 9093 0000 sts (MesswertGier)+1,r258234 4734 8093 0000 sts MesswertGier,r248235 .L656:8236 4738 8091 0000 lds r24,MesswertGier8237 473c 9091 0000 lds r25,(MesswertGier)+18238 4740 8050 subi r24,lo8(-4096)8239 4742 904F sbci r25,hi8(-4096)8240 4744 04F4 brge .L6578241 4746 80E0 ldi r24,lo8(-4096)8242 4748 90EF ldi r25,hi8(-4096)8243 474a 9093 0000 sts (MesswertGier)+1,r258244 474e 8093 0000 sts MesswertGier,r248245 .L657:8246 4752 8091 0000 lds r24,BattLowVoltageWarning8247 4756 482F mov r20,r248248 4758 5527 clr r218249 475a 8091 0000 lds r24,UBat8250 475e 9091 0000 lds r25,(UBat)+18251 4762 4817 cp r20,r248252 4764 5907 cpc r21,r258253 4766 04F4 brge .L6588254 4768 2091 0000 lds r18,UBat8255 476c 3091 0000 lds r19,(UBat)+18256 4770 0981 ldd r16,Y+18257 4772 1A81 ldd r17,Y+28258 4774 049F mul r16,r208259 4776 C001 movw r24,r08260 4778 059F mul r16,r218261 477a 900D add r25,r08262 477c 149F mul r17,r208263 477e 900D add r25,r08264 4780 1124 clr r18265 4782 B901 movw r22,r188266 4784 0E94 0000 call __udivmodhi48267 4788 7A83 std Y+2,r238268 478a 6983 std Y+1,r228269 .L658:8270 478c 2981 ldd r18,Y+18271 478e 3A81 ldd r19,Y+28272 4790 220F lsl r188273 4792 331F rol r198274 4794 220F lsl r188275 4796 331F rol r198276 4798 3A83 std Y+2,r198277 479a 2983 std Y+1,r188278 479c 4091 0000 lds r20,Parameter_GlobalConfig8279 47a0 40FD sbrc r20,08280 47a2 00C0 rjmp .+48281 47a4 0C94 0000 jmp .L6598282 47a8 EE20 tst r148283 47aa 01F0 breq .+48284 47ac 0C94 0000 jmp .L6598285 47b0 FF20 tst r158286 47b2 01F0 breq .+48287 47b4 0C94 0000 jmp .L6598288 47b8 00E0 ldi r16,lo8(0)8289 47ba 10E0 ldi r17,hi8(0)8290 47bc 4801 movw r8,r168291 47be 8091 0000 lds r24,HoverGas8292 47c2 9091 0000 lds r25,(HoverGas)+18293 47c6 9093 0000 sts (DebugOut+44)+1,r258294 47ca 8093 0000 sts DebugOut+44,r248295 47ce 2091 0000 lds r18,BaroExpandActive8296 47d2 3091 0000 lds r19,(BaroExpandActive)+18297 47d6 2115 cp r18,__zero_reg__8298 47d8 3105 cpc r19,__zero_reg__8299 47da 01F0 breq .+28300 47dc 00C0 rjmp .L6608301 47de 8091 0000 lds r24,MessLuftdruck8302 47e2 9091 0000 lds r25,(MessLuftdruck)+18303 47e6 8959 subi r24,lo8(921)8304 47e8 9340 sbci r25,hi8(921)8305 47ea 00F0 brlo .L6618306 47ec 87B5 in r24,71-0x208307 47ee 803F cpi r24,lo8(-16)8308 47f0 00F4 brsh .L6628309 47f2 8091 0000 lds r24,ExpandBaro8310 47f6 8150 subi r24,lo8(-(-1))8311 47f8 00C0 rjmp .L9028312 .L662:8313 47fa 81E0 ldi r24,lo8(1)8314 47fc 8093 0000 sts BaroAtLowerLimit.26,r248315 4800 00C0 rjmp .L6698316 .L661:8317 4802 8091 0000 lds r24,MessLuftdruck8318 4806 9091 0000 lds r25,(MessLuftdruck)+18319 480a 8436 cpi r24,1008320 480c 9105 cpc r25,__zero_reg__8321 480e 00F4 brsh .L6658322 4810 87B5 in r24,71-0x208323 4812 8031 cpi r24,lo8(16)8324 4814 00F0 brlo .L6668325 4816 8091 0000 lds r24,ExpandBaro8326 481a 8F5F subi r24,lo8(-(1))8327 .L902:8328 481c 8093 0000 sts ExpandBaro,r248329 4820 9FE0 ldi r25,lo8(15)8330 4822 8902 muls r24,r258331 4824 9001 movw r18,r08332 4826 1124 clr r18333 4828 8091 0000 lds r24,DruckOffsetSetting8334 482c 821B sub r24,r188335 482e 87BD out 71-0x20,r248336 4830 8CE2 ldi r24,lo8(300)8337 4832 91E0 ldi r25,hi8(300)8338 4834 9093 0000 sts (beeptime)+1,r258339 4838 8093 0000 sts beeptime,r248340 483c 8EE5 ldi r24,lo8(350)8341 483e 91E0 ldi r25,hi8(350)8342 4840 9093 0000 sts (BaroExpandActive)+1,r258343 4844 8093 0000 sts BaroExpandActive,r248344 4848 00C0 rjmp .L6698345 .L666:8346 484a 81E0 ldi r24,lo8(1)8347 484c 8093 0000 sts BaroAtUpperLimit.25,r248348 4850 00C0 rjmp .L6698349 .L665:8350 4852 F092 0000 sts BaroAtUpperLimit.25,r158351 4856 F092 0000 sts BaroAtLowerLimit.26,r158352 485a 00C0 rjmp .L6698353 .L660:8354 485c 8091 0000 lds r24,HoehenWert8355 4860 9091 0000 lds r25,(HoehenWert)+18356 4864 A091 0000 lds r26,(HoehenWert)+28357 4868 B091 0000 lds r27,(HoehenWert)+38358 486c 64E0 ldi r22,48359 486e 880F 1: lsl r248360 4870 991F rol r258361 4872 AA1F rol r268362 4874 BB1F rol r278363 4876 6A95 dec r228364 4878 01F4 brne 1b8365 487a 8093 0000 sts SummenHoehe,r248366 487e 9093 0000 sts (SummenHoehe)+1,r258367 4882 A093 0000 sts (SummenHoehe)+2,r268368 4886 B093 0000 sts (SummenHoehe)+3,r278369 488a 1093 0000 sts (VarioMeter)+1,r178370 488e 0093 0000 sts VarioMeter,r168371 4892 2150 subi r18,lo8(-(-1))8372 4894 3040 sbci r19,hi8(-(-1))8373 4896 3093 0000 sts (BaroExpandActive)+1,r198374 489a 2093 0000 sts BaroExpandActive,r188375 .L669:8376 489e 2091 0000 lds r18,Parameter_HoehenSchalter8377 48a2 41FF sbrs r20,18378 48a4 00C0 rjmp .L6708379 48a6 2233 cpi r18,lo8(50)8380 48a8 00F4 brsh .L6718381 48aa 8091 0000 lds r24,delay.248382 48ae 8150 subi r24,lo8(-(-1))8383 48b0 8093 0000 sts delay.24,r248384 48b4 8F3F cpi r24,lo8(-1)8385 48b6 01F0 breq .+28386 48b8 00C0 rjmp .L6778387 48ba 8091 0000 lds r24,SpeakHoTT8388 48be 8823 tst r248389 48c0 01F4 brne .L6738390 48c2 8091 0000 lds r24,HoehenReglerAktiv8391 48c6 8823 tst r248392 48c8 01F0 breq .L6738393 48ca 88E2 ldi r24,lo8(40)8394 48cc 8093 0000 sts SpeakHoTT,r248395 .L673:8396 48d0 1092 0000 sts HoehenReglerAktiv,__zero_reg__8397 48d4 8091 0000 lds r24,HoehenWert8398 48d8 9091 0000 lds r25,(HoehenWert)+18399 48dc A091 0000 lds r26,(HoehenWert)+28400 48e0 B091 0000 lds r27,(HoehenWert)+38401 48e4 8093 0000 sts SollHoehe,r248402 48e8 9093 0000 sts (SollHoehe)+1,r258403 48ec A093 0000 sts (SollHoehe)+2,r268404 48f0 B093 0000 sts (SollHoehe)+3,r278405 48f4 81E0 ldi r24,lo8(1)8406 48f6 8093 0000 sts delay.24,r248407 48fa 00C0 rjmp .L6778408 .L671:8409 48fc 2734 cpi r18,lo8(71)8410 48fe 00F0 brlo .L6778411 4900 8091 0000 lds r24,SpeakHoTT8412 4904 8823 tst r248413 4906 01F4 brne .L6768414 4908 8091 0000 lds r24,HoehenReglerAktiv8415 490c 8823 tst r248416 490e 01F4 brne .L6768417 4910 87E2 ldi r24,lo8(39)8418 4912 8093 0000 sts SpeakHoTT,r248419 .L676:8420 4916 88EC ldi r24,lo8(-56)8421 4918 8093 0000 sts delay.24,r248422 491c 00C0 rjmp .L9038423 .L670:8424 491e 8091 0000 lds r24,ExternHoehenValue8425 4922 9091 0000 lds r25,(ExternHoehenValue)+18426 4926 820F add r24,r188427 4928 911D adc r25,__zero_reg__8428 492a 2091 0000 lds r18,EE_Parameter+188429 492e 3327 clr r198430 4930 829F mul r24,r188431 4932 A001 movw r20,r08432 4934 839F mul r24,r198433 4936 500D add r21,r08434 4938 929F mul r25,r188435 493a 500D add r21,r08436 493c 1124 clr r18437 493e CA01 movw r24,r208438 4940 AA27 clr r268439 4942 97FD sbrc r25,78440 4944 A095 com r268441 4946 BA2F mov r27,r268442 4948 8093 0000 sts SollHoehe,r248443 494c 9093 0000 sts (SollHoehe)+1,r258444 4950 A093 0000 sts (SollHoehe)+2,r268445 4954 B093 0000 sts (SollHoehe)+3,r278446 .L903:8447 4958 81E0 ldi r24,lo8(1)8448 495a 8093 0000 sts HoehenReglerAktiv,r248449 .L677:8450 495e 8091 0000 lds r24,IntegralNick8451 4962 9091 0000 lds r25,(IntegralNick)+18452 4966 A091 0000 lds r26,(IntegralNick)+28453 496a B091 0000 lds r27,(IntegralNick)+38454 496e E090 0000 lds r14,GIER_GRAD_FAKTOR8455 4972 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18456 4976 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28457 497a 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38458 497e BC01 movw r22,r248459 4980 CD01 movw r24,r268460 4982 A801 movw r20,r168461 4984 9701 movw r18,r148462 4986 0E94 0000 call __divmodsi48463 498a 5901 movw r10,r188464 498c 6A01 movw r12,r208465 498e 8091 0000 lds r24,IntegralRoll8466 4992 9091 0000 lds r25,(IntegralRoll)+18467 4996 A091 0000 lds r26,(IntegralRoll)+28468 499a B091 0000 lds r27,(IntegralRoll)+38469 499e BC01 movw r22,r248470 49a0 CD01 movw r24,r268471 49a2 A801 movw r20,r168472 49a4 9701 movw r18,r148473 49a6 0E94 0000 call __divmodsi48474 49aa B901 movw r22,r188475 49ac C501 movw r24,r108476 49ae 0E94 0000 call ihypot8477 49b2 5C01 movw r10,r248478 49b4 CC97 sbiw r24,608479 49b6 04F0 brlt .L6788480 49b8 5CE3 ldi r21,lo8(60)8481 49ba A52E mov r10,r218482 49bc B12C mov r11,__zero_reg__8483 .L678:8484 49be C501 movw r24,r108485 49c0 0E94 0000 call c_cos_81928486 49c4 5C01 movw r10,r248487 49c6 80E2 ldi r24,lo8(32)8488 49c8 8093 0000 sts VarioCharacter,r248489 49cc 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8490 49d0 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8491 49d4 8091 0000 lds r24,HoehenReglerAktiv8492 49d8 8823 tst r248493 49da 01F4 brne .+28494 49dc 00C0 rjmp .L6798495 49de 8091 0000 lds r24,FC_StatusFlags8496 49e2 9927 clr r258497 49e4 9C01 movw r18,r248498 49e6 2071 andi r18,lo8(16)8499 49e8 3070 andi r19,hi8(16)8500 49ea 84FD sbrc r24,48501 49ec 00C0 rjmp .L6798502 49ee 8091 0000 lds r24,FC_StatusFlags28503 49f2 8260 ori r24,lo8(2)8504 49f4 8093 0000 sts FC_StatusFlags2,r248505 49f8 7091 0000 lds r23,Parameter_ExtraConfig8506 49fc 872F mov r24,r238507 49fe 9927 clr r258508 4a00 41E0 ldi r20,lo8(1)8509 4a02 C42E mov r12,r208510 4a04 D12C mov r13,__zero_reg__8511 4a06 C822 and r12,r248512 4a08 D922 and r13,r258513 4a0a 80FD sbrc r24,08514 4a0c 00C0 rjmp .L6818515 4a0e 8091 0000 lds r24,Parameter_GlobalConfig8516 4a12 81FD sbrc r24,18517 4a14 00C0 rjmp .L6808518 .L681:8519 4a16 C980 ldd r12,Y+18520 4a18 DA80 ldd r13,Y+28521 4a1a 3093 0000 sts (HeightTrimming.21)+1,r198522 4a1e 2093 0000 sts HeightTrimming.21,r188523 4a22 3093 0000 sts (AltitudeSetpointTrimming)+1,r198524 4a26 2093 0000 sts AltitudeSetpointTrimming,r188525 4a2a 8091 0000 lds r24,FC_StatusFlags8526 4a2e 806C ori r24,lo8(-64)8527 4a30 8093 0000 sts FC_StatusFlags,r248528 4a34 00C0 rjmp .L6828529 .L680:8530 4a36 8091 0000 lds r24,FC_StatusFlags8531 4a3a 81FF sbrs r24,18532 4a3c 00C0 rjmp .L6838533 4a3e 0091 0000 lds r16,StickGasHover8534 4a42 1091 0000 lds r17,(StickGasHover)+18535 4a46 C801 movw r24,r168536 4a48 0F96 adiw r24,158537 4a4a 2090 0000 lds r2,StickGas8538 4a4e 3090 0000 lds r3,(StickGas)+18539 4a52 8215 cp r24,r28540 4a54 9305 cpc r25,r38541 4a56 04F0 brlt .+28542 4a58 00C0 rjmp .L6848543 4a5a 8091 0000 lds r24,BaroAtUpperLimit.258544 4a5e 8823 tst r248545 4a60 01F0 breq .+28546 4a62 00C0 rjmp .L6848547 4a64 8091 0000 lds r24,FC_StatusFlags8548 4a68 87FF sbrs r24,78549 4a6a 00C0 rjmp .L6858550 4a6c 8091 0000 lds r24,FC_StatusFlags8551 4a70 8F77 andi r24,lo8(127)8552 4a72 8093 0000 sts FC_StatusFlags,r248553 4a76 8091 0000 lds r24,HoehenWert8554 4a7a 9091 0000 lds r25,(HoehenWert)+18555 4a7e A091 0000 lds r26,(HoehenWert)+28556 4a82 B091 0000 lds r27,(HoehenWert)+38557 4a86 8093 0000 sts SollHoehe,r248558 4a8a 9093 0000 sts (SollHoehe)+1,r258559 4a8e A093 0000 sts (SollHoehe)+2,r268560 4a92 B093 0000 sts (SollHoehe)+3,r278561 .L685:8562 4a96 8091 0000 lds r24,FC_StatusFlags8563 4a9a 8064 ori r24,lo8(64)8564 4a9c 8093 0000 sts FC_StatusFlags,r248565 4aa0 E090 0000 lds r14,Parameter_MaximumAltitude8566 4aa4 EE20 tst r148567 4aa6 01F0 breq .L6868568 4aa8 8091 0000 lds r24,SollHoehe8569 4aac 9091 0000 lds r25,(SollHoehe)+18570 4ab0 A091 0000 lds r26,(SollHoehe)+28571 4ab4 B091 0000 lds r27,(SollHoehe)+38572 4ab8 BC01 movw r22,r248573 4aba CD01 movw r24,r268574 4abc 24E6 ldi r18,lo8(100)8575 4abe 30E0 ldi r19,hi8(100)8576 4ac0 40E0 ldi r20,hlo8(100)8577 4ac2 50E0 ldi r21,hhi8(100)8578 4ac4 0E94 0000 call __divmodsi48579 4ac8 8E2D mov r24,r148580 4aca 9927 clr r258581 4acc AA27 clr r268582 4ace BB27 clr r278583 4ad0 8217 cp r24,r188584 4ad2 9307 cpc r25,r198585 4ad4 A407 cpc r26,r208586 4ad6 B507 cpc r27,r218587 4ad8 04F4 brge .L6868588 4ada D092 0000 sts (AltitudeSetpointTrimming)+1,r138589 4ade C092 0000 sts AltitudeSetpointTrimming,r128590 4ae2 00C0 rjmp .L6878591 .L686:8592 4ae4 C101 movw r24,r28593 4ae6 801B sub r24,r168594 4ae8 910B sbc r25,r178595 4aea 0F97 sbiw r24,158596 4aec 97FF sbrs r25,78597 4aee 00C0 rjmp .L6888598 4af0 9095 com r258599 4af2 8195 neg r248600 4af4 9F4F sbci r25,lo8(-1)8601 .L688:8602 4af6 9093 0000 sts (AltitudeSetpointTrimming)+1,r258603 4afa 8093 0000 sts AltitudeSetpointTrimming,r248604 4afe 8BE2 ldi r24,lo8(43)8605 4b00 8093 0000 sts VarioCharacter,r248606 .L687:8607 4b04 1092 0000 sts WaypointTrimming,__zero_reg__8608 4b08 00C0 rjmp .L6898609 .L684:8610 4b0a C801 movw r24,r168611 4b0c 0F97 sbiw r24,158612 4b0e 2816 cp r2,r248613 4b10 3906 cpc r3,r258614 4b12 04F4 brge .L6908615 4b14 2091 0000 lds r18,BaroAtLowerLimit.268616 4b18 2223 tst r188617 4b1a 01F4 brne .L6908618 4b1c 8091 0000 lds r24,FC_StatusFlags8619 4b20 86FF sbrs r24,68620 4b22 00C0 rjmp .L6918621 4b24 8091 0000 lds r24,FC_StatusFlags8622 4b28 8F7B andi r24,lo8(-65)8623 4b2a 8093 0000 sts FC_StatusFlags,r248624 4b2e 8091 0000 lds r24,HoehenWert8625 4b32 9091 0000 lds r25,(HoehenWert)+18626 4b36 A091 0000 lds r26,(HoehenWert)+28627 4b3a B091 0000 lds r27,(HoehenWert)+38628 4b3e 8093 0000 sts SollHoehe,r248629 4b42 9093 0000 sts (SollHoehe)+1,r258630 4b46 A093 0000 sts (SollHoehe)+2,r268631 4b4a B093 0000 sts (SollHoehe)+3,r278632 .L691:8633 4b4e 8091 0000 lds r24,FC_StatusFlags8634 4b52 8068 ori r24,lo8(-128)8635 4b54 8093 0000 sts FC_StatusFlags,r248636 4b58 C101 movw r24,r28637 4b5a 801B sub r24,r168638 4b5c 910B sbc r25,r178639 4b5e 0F96 adiw r24,158640 4b60 97FF sbrs r25,78641 4b62 00C0 rjmp .L6928642 4b64 9095 com r258643 4b66 8195 neg r248644 4b68 9F4F sbci r25,lo8(-1)8645 .L692:8646 4b6a 9095 com r258647 4b6c 8195 neg r248648 4b6e 9F4F sbci r25,lo8(-1)8649 4b70 9093 0000 sts (AltitudeSetpointTrimming)+1,r258650 4b74 8093 0000 sts AltitudeSetpointTrimming,r248651 4b78 8DE2 ldi r24,lo8(45)8652 4b7a 8093 0000 sts VarioCharacter,r248653 4b7e 2093 0000 sts WaypointTrimming,r188654 4b82 00C0 rjmp .L6898655 .L690:8656 4b84 8DE3 ldi r24,lo8(61)8657 4b86 8093 0000 sts VarioCharacter,r248658 4b8a 6091 0000 lds r22,FromNC_AltitudeSpeed8659 4b8e 6623 tst r228660 4b90 01F0 breq .L6948661 4b92 2091 0000 lds r18,FromNC_AltitudeSetpoint8662 4b96 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18663 4b9a 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28664 4b9e 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38665 4ba2 8091 0000 lds r24,SollHoehe8666 4ba6 9091 0000 lds r25,(SollHoehe)+18667 4baa A091 0000 lds r26,(SollHoehe)+28668 4bae B091 0000 lds r27,(SollHoehe)+38669 4bb2 8217 cp r24,r188670 4bb4 9307 cpc r25,r198671 4bb6 A407 cpc r26,r208672 4bb8 B507 cpc r27,r218673 4bba 04F4 brge .L6948674 4bbc 8091 0000 lds r24,FC_StatusFlags8675 4bc0 8064 ori r24,lo8(64)8676 4bc2 8093 0000 sts FC_StatusFlags,r248677 4bc6 862F mov r24,r228678 4bc8 9927 clr r258679 4bca 9093 0000 sts (AltitudeSetpointTrimming)+1,r258680 4bce 8093 0000 sts AltitudeSetpointTrimming,r248681 4bd2 8AE0 ldi r24,lo8(10)8682 4bd4 8093 0000 sts WaypointTrimming,r248683 4bd8 8EE5 ldi r24,lo8(94)8684 4bda 8093 0000 sts VarioCharacter,r248685 4bde 8091 0000 lds r24,FC_StatusFlags8686 4be2 87FF sbrs r24,78687 4be4 00C0 rjmp .L6898688 4be6 8091 0000 lds r24,FC_StatusFlags8689 4bea 8F77 andi r24,lo8(127)8690 4bec 00C0 rjmp .L9058691 .L694:8692 4bee 6623 tst r228693 4bf0 01F4 brne .+28694 4bf2 00C0 rjmp .L6978695 4bf4 2091 0000 lds r18,FromNC_AltitudeSetpoint8696 4bf8 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18697 4bfc 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28698 4c00 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38699 4c04 8091 0000 lds r24,SollHoehe8700 4c08 9091 0000 lds r25,(SollHoehe)+18701 4c0c A091 0000 lds r26,(SollHoehe)+28702 4c10 B091 0000 lds r27,(SollHoehe)+38703 4c14 2817 cp r18,r248704 4c16 3907 cpc r19,r258705 4c18 4A07 cpc r20,r268706 4c1a 5B07 cpc r21,r278707 4c1c 04F4 brge .L6978708 4c1e 8091 0000 lds r24,FC_StatusFlags8709 4c22 8068 ori r24,lo8(-128)8710 4c24 8093 0000 sts FC_StatusFlags,r248711 4c28 862F mov r24,r228712 4c2a 9927 clr r258713 4c2c 9095 com r258714 4c2e 8195 neg r248715 4c30 9F4F sbci r25,lo8(-1)8716 4c32 9093 0000 sts (AltitudeSetpointTrimming)+1,r258717 4c36 8093 0000 sts AltitudeSetpointTrimming,r248718 4c3a 86EF ldi r24,lo8(-10)8719 4c3c 8093 0000 sts WaypointTrimming,r248720 4c40 86E7 ldi r24,lo8(118)8721 4c42 8093 0000 sts VarioCharacter,r248722 4c46 8091 0000 lds r24,FC_StatusFlags8723 4c4a 86FF sbrs r24,68724 4c4c 00C0 rjmp .L6898725 4c4e 8091 0000 lds r24,FC_StatusFlags8726 4c52 8F7B andi r24,lo8(-65)8727 .L905:8728 4c54 8093 0000 sts FC_StatusFlags,r248729 4c58 8091 0000 lds r24,HoehenWert8730 4c5c 9091 0000 lds r25,(HoehenWert)+18731 4c60 A091 0000 lds r26,(HoehenWert)+28732 4c64 B091 0000 lds r27,(HoehenWert)+38733 4c68 8093 0000 sts SollHoehe,r248734 4c6c 9093 0000 sts (SollHoehe)+1,r258735 4c70 A093 0000 sts (SollHoehe)+2,r268736 4c74 B093 0000 sts (SollHoehe)+3,r278737 4c78 00C0 rjmp .L6898738 .L697:8739 4c7a 8091 0000 lds r24,FC_StatusFlags8740 4c7e 807C andi r24,lo8(-64)8741 4c80 01F4 brne .+28742 4c82 00C0 rjmp .L6898743 4c84 8091 0000 lds r24,WaypointTrimming8744 4c88 8823 tst r248745 4c8a 01F4 brne .L7018746 4c8c E090 0000 lds r14,HoehenWert8747 4c90 F090 0000 lds r15,(HoehenWert)+18748 4c94 0091 0000 lds r16,(HoehenWert)+28749 4c98 1091 0000 lds r17,(HoehenWert)+38750 4c9c D801 movw r26,r168751 4c9e C701 movw r24,r148752 4ca0 8058 subi r24,lo8(-(-128))8753 4ca2 9040 sbci r25,hi8(-(-128))8754 4ca4 A040 sbci r26,hlo8(-(-128))8755 4ca6 B040 sbci r27,hhi8(-(-128))8756 4ca8 2091 0000 lds r18,SollHoehe8757 4cac 3091 0000 lds r19,(SollHoehe)+18758 4cb0 4091 0000 lds r20,(SollHoehe)+28759 4cb4 5091 0000 lds r21,(SollHoehe)+38760 4cb8 8217 cp r24,r188761 4cba 9307 cpc r25,r198762 4cbc A407 cpc r26,r208763 4cbe B507 cpc r27,r218764 4cc0 04F4 brge .L9048765 4cc2 D801 movw r26,r168766 4cc4 C701 movw r24,r148767 4cc6 8058 subi r24,lo8(-(128))8768 4cc8 9F4F sbci r25,hi8(-(128))8769 4cca AF4F sbci r26,hlo8(-(128))8770 4ccc BF4F sbci r27,hhi8(-(128))8771 4cce 2817 cp r18,r248772 4cd0 3907 cpc r19,r258773 4cd2 4A07 cpc r20,r268774 4cd4 5B07 cpc r21,r278775 4cd6 04F0 brlt .L7058776 .L904:8777 4cd8 8093 0000 sts SollHoehe,r248778 4cdc 9093 0000 sts (SollHoehe)+1,r258779 4ce0 A093 0000 sts (SollHoehe)+2,r268780 4ce4 B093 0000 sts (SollHoehe)+3,r278781 4ce8 00C0 rjmp .L7058782 .L701:8783 4cea 1092 0000 sts WaypointTrimming,__zero_reg__8784 .L705:8785 4cee 8091 0000 lds r24,FC_StatusFlags8786 4cf2 8F73 andi r24,lo8(63)8787 4cf4 8093 0000 sts FC_StatusFlags,r248788 4cf8 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8789 4cfc 1092 0000 sts HeightTrimming.21,__zero_reg__8790 4d00 71FF sbrs r23,18791 4d02 00C0 rjmp .L7068792 4d04 84EF ldi r24,lo8(500)8793 4d06 91E0 ldi r25,hi8(500)8794 4d08 9093 0000 sts (beeptime)+1,r258795 4d0c 8093 0000 sts beeptime,r248796 .L706:8797 4d10 8091 0000 lds r24,StartTrigger8798 4d14 8823 tst r248799 4d16 01F4 brne .L6898800 4d18 8091 0000 lds r24,HoehenWert8801 4d1c 9091 0000 lds r25,(HoehenWert)+18802 4d20 A091 0000 lds r26,(HoehenWert)+28803 4d24 B091 0000 lds r27,(HoehenWert)+38804 4d28 C397 sbiw r24,518805 4d2a A105 cpc r26,__zero_reg__8806 4d2c B105 cpc r27,__zero_reg__8807 4d2e 04F0 brlt .L6898808 4d30 81E0 ldi r24,lo8(1)8809 4d32 8093 0000 sts StartTrigger,r248810 .L689:8811 4d36 6091 0000 lds r22,HeightTrimming.218812 4d3a 7091 0000 lds r23,(HeightTrimming.21)+18813 4d3e 8091 0000 lds r24,AltitudeSetpointTrimming8814 4d42 9091 0000 lds r25,(AltitudeSetpointTrimming)+18815 4d46 680F add r22,r248816 4d48 791F adc r23,r258817 4d4a 7093 0000 sts (HeightTrimming.21)+1,r238818 4d4e 6093 0000 sts HeightTrimming.21,r228819 4d52 CB01 movw r24,r228820 4d54 77FF sbrs r23,78821 4d56 00C0 rjmp .L7098822 4d58 8827 clr r248823 4d5a 9927 clr r258824 4d5c 861B sub r24,r228825 4d5e 970B sbc r25,r238826 .L709:8827 4d60 855F subi r24,lo8(501)8828 4d62 9140 sbci r25,hi8(501)8829 4d64 04F4 brge .+28830 4d66 00C0 rjmp .L7088831 4d68 4091 0000 lds r20,WaypointTrimming8832 4d6c 4423 tst r208833 4d6e 01F0 breq .L7108834 4d70 8091 0000 lds r24,FromNC_AltitudeSetpoint8835 4d74 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18836 4d78 2091 0000 lds r18,SollHoehe8837 4d7c 3091 0000 lds r19,(SollHoehe)+18838 4d80 821B sub r24,r188839 4d82 930B sbc r25,r198840 4d84 0996 adiw r24,98841 4d86 4397 sbiw r24,198842 4d88 00F4 brsh .L7118843 4d8a 8091 0000 lds r24,FromNC_AltitudeSetpoint8844 4d8e 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18845 4d92 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28846 4d96 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38847 4d9a 00C0 rjmp .L9078848 .L711:8849 4d9c 242F mov r18,r208850 4d9e 3327 clr r198851 4da0 27FD sbrc r18,78852 4da2 3095 com r198853 4da4 432F mov r20,r198854 4da6 532F mov r21,r198855 4da8 8091 0000 lds r24,SollHoehe8856 4dac 9091 0000 lds r25,(SollHoehe)+18857 4db0 A091 0000 lds r26,(SollHoehe)+28858 4db4 B091 0000 lds r27,(SollHoehe)+38859 4db8 820F add r24,r188860 4dba 931F adc r25,r198861 4dbc A41F adc r26,r208862 4dbe B51F adc r27,r218863 .L907:8864 4dc0 8093 0000 sts SollHoehe,r248865 4dc4 9093 0000 sts (SollHoehe)+1,r258866 4dc8 A093 0000 sts (SollHoehe)+2,r268867 4dcc B093 0000 sts (SollHoehe)+3,r278868 4dd0 00C0 rjmp .L7138869 .L710:8870 4dd2 8091 0000 lds r24,EE_Parameter+188871 4dd6 2091 0000 lds r18,SollHoehe8872 4dda 3091 0000 lds r19,(SollHoehe)+18873 4dde 4091 0000 lds r20,(SollHoehe)+28874 4de2 5091 0000 lds r21,(SollHoehe)+38875 4de6 1616 cp __zero_reg__,r228876 4de8 1706 cpc __zero_reg__,r238877 4dea 04F4 brge .L7148878 4dec 63E0 ldi r22,lo8(3)8879 4dee 0E94 0000 call __udivmodqi48880 4df2 280F add r18,r248881 4df4 311D adc r19,__zero_reg__8882 4df6 411D adc r20,__zero_reg__8883 4df8 511D adc r21,__zero_reg__8884 4dfa 00C0 rjmp .L9068885 .L714:8886 4dfc 63E0 ldi r22,lo8(3)8887 4dfe 0E94 0000 call __udivmodqi48888 4e02 281B sub r18,r248889 4e04 3109 sbc r19,__zero_reg__8890 4e06 4109 sbc r20,__zero_reg__8891 4e08 5109 sbc r21,__zero_reg__8892 .L906:8893 4e0a 2093 0000 sts SollHoehe,r188894 4e0e 3093 0000 sts (SollHoehe)+1,r198895 4e12 4093 0000 sts (SollHoehe)+2,r208896 4e16 5093 0000 sts (SollHoehe)+3,r218897 .L713:8898 4e1a 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8899 4e1e 1092 0000 sts HeightTrimming.21,__zero_reg__8900 4e22 E090 0000 lds r14,HoehenWert8901 4e26 F090 0000 lds r15,(HoehenWert)+18902 4e2a 0091 0000 lds r16,(HoehenWert)+28903 4e2e 1091 0000 lds r17,(HoehenWert)+38904 4e32 D801 movw r26,r168905 4e34 C701 movw r24,r148906 4e36 8050 subi r24,lo8(-(-1024))8907 4e38 9440 sbci r25,hi8(-(-1024))8908 4e3a A040 sbci r26,hlo8(-(-1024))8909 4e3c B040 sbci r27,hhi8(-(-1024))8910 4e3e 2091 0000 lds r18,SollHoehe8911 4e42 3091 0000 lds r19,(SollHoehe)+18912 4e46 4091 0000 lds r20,(SollHoehe)+28913 4e4a 5091 0000 lds r21,(SollHoehe)+38914 4e4e 8217 cp r24,r188915 4e50 9307 cpc r25,r198916 4e52 A407 cpc r26,r208917 4e54 B507 cpc r27,r218918 4e56 04F4 brge .L9088919 4e58 D801 movw r26,r168920 4e5a C701 movw r24,r148921 4e5c 8050 subi r24,lo8(-(1024))8922 4e5e 9C4F sbci r25,hi8(-(1024))8923 4e60 AF4F sbci r26,hlo8(-(1024))8924 4e62 BF4F sbci r27,hhi8(-(1024))8925 4e64 2817 cp r18,r248926 4e66 3907 cpc r19,r258927 4e68 4A07 cpc r20,r268928 4e6a 5B07 cpc r21,r278929 4e6c 04F0 brlt .L7178930 .L908:8931 4e6e 8093 0000 sts SollHoehe,r248932 4e72 9093 0000 sts (SollHoehe)+1,r258933 4e76 A093 0000 sts (SollHoehe)+2,r268934 4e7a B093 0000 sts (SollHoehe)+3,r278935 .L717:8936 4e7e 8091 0000 lds r24,Parameter_ExtraConfig8937 4e82 81FF sbrs r24,18938 4e84 00C0 rjmp .L7198939 4e86 84E6 ldi r24,lo8(100)8940 4e88 90E0 ldi r25,hi8(100)8941 4e8a 9093 0000 sts (beeptime)+1,r258942 4e8e 8093 0000 sts beeptime,r248943 .L719:8944 4e92 8091 0000 lds r24,EE_Parameter+228945 4e96 8823 tst r248946 4e98 01F4 brne .L7088947 4e9a 8091 0000 lds r24,FromNC_AltitudeSpeed8948 4e9e 8823 tst r248949 4ea0 01F4 brne .L7088950 4ea2 4091 0000 lds r20,HoverGas8951 4ea6 5091 0000 lds r21,(HoverGas)+18952 4eaa 57FF sbrs r21,78953 4eac 00C0 rjmp .L7218954 4eae 4D5F subi r20,lo8(-(3))8955 4eb0 5F4F sbci r21,hi8(-(3))8956 .L721:8957 4eb2 5595 asr r218958 4eb4 4795 ror r208959 4eb6 5595 asr r218960 4eb8 4795 ror r208961 4eba 8091 0000 lds r24,UBat8962 4ebe 9091 0000 lds r25,(UBat)+18963 4ec2 2091 0000 lds r18,BattLowVoltageWarning8964 4ec6 3327 clr r198965 4ec8 489F mul r20,r248966 4eca F001 movw r30,r08967 4ecc 499F mul r20,r258968 4ece F00D add r31,r08969 4ed0 589F mul r21,r248970 4ed2 F00D add r31,r08971 4ed4 1124 clr r18972 4ed6 CF01 movw r24,r308973 4ed8 B901 movw r22,r188974 4eda 0E94 0000 call __divmodhi48975 4ede 7093 0000 sts (StickGasHover)+1,r238976 4ee2 6093 0000 sts StickGasHover,r228977 4ee6 6634 cpi r22,708978 4ee8 7105 cpc r23,__zero_reg__8979 4eea 04F4 brge .L7228980 4eec 86E4 ldi r24,lo8(70)8981 4eee 90E0 ldi r25,hi8(70)8982 4ef0 00C0 rjmp .L9098983 .L722:8984 4ef2 6739 cpi r22,1518985 4ef4 7105 cpc r23,__zero_reg__8986 4ef6 04F0 brlt .L7088987 4ef8 86E9 ldi r24,lo8(150)8988 4efa 90E0 ldi r25,hi8(150)8989 .L909:8990 4efc 9093 0000 sts (StickGasHover)+1,r258991 4f00 8093 0000 sts StickGasHover,r248992 .L708:8993 4f04 8091 0000 lds r24,BaroExpandActive8994 4f08 9091 0000 lds r25,(BaroExpandActive)+18995 4f0c 892B or r24,r258996 4f0e 01F0 breq .L7268997 4f10 8091 0000 lds r24,HoehenWert8998 4f14 9091 0000 lds r25,(HoehenWert)+18999 4f18 A091 0000 lds r26,(HoehenWert)+29000 4f1c B091 0000 lds r27,(HoehenWert)+39001 4f20 8093 0000 sts SollHoehe,r249002 4f24 9093 0000 sts (SollHoehe)+1,r259003 4f28 A093 0000 sts (SollHoehe)+2,r269004 4f2c B093 0000 sts (SollHoehe)+3,r279005 4f30 00C0 rjmp .L7269006 .L683:9007 4f32 8091 0000 lds r24,HoehenWert9008 4f36 9091 0000 lds r25,(HoehenWert)+19009 4f3a A091 0000 lds r26,(HoehenWert)+29010 4f3e B091 0000 lds r27,(HoehenWert)+39011 4f42 8059 subi r24,lo8(-(-400))9012 4f44 9140 sbci r25,hi8(-(-400))9013 4f46 A040 sbci r26,hlo8(-(-400))9014 4f48 B040 sbci r27,hhi8(-(-400))9015 4f4a 8093 0000 sts SollHoehe,r249016 4f4e 9093 0000 sts (SollHoehe)+1,r259017 4f52 A093 0000 sts (SollHoehe)+2,r269018 4f56 B093 0000 sts (SollHoehe)+3,r279019 4f5a 8091 0000 lds r24,EE_Parameter+229020 4f5e 8823 tst r249021 4f60 01F0 breq .L7279022 4f62 9927 clr r259023 4f64 00C0 rjmp .L9109024 .L727:9025 4f66 88E7 ldi r24,lo8(120)9026 4f68 90E0 ldi r25,hi8(120)9027 .L910:9028 4f6a 9093 0000 sts (StickGasHover)+1,r259029 4f6e 8093 0000 sts StickGasHover,r249030 4f72 E980 ldd r14,Y+19031 4f74 FA80 ldd r15,Y+29032 4f76 F092 0000 sts (HoverGas)+1,r159033 4f7a E092 0000 sts HoverGas,r149034 4f7e 8EE2 ldi r24,lo8(46)9035 4f80 8093 0000 sts VarioCharacter,r249036 .L726:9037 4f84 C090 0000 lds r12,HoverGas9038 4f88 D090 0000 lds r13,(HoverGas)+19039 .L682:9040 4f8c E090 0000 lds r14,HoehenWert9041 4f90 F090 0000 lds r15,(HoehenWert)+19042 4f94 0091 0000 lds r16,(HoehenWert)+29043 4f98 1091 0000 lds r17,(HoehenWert)+39044 4f9c 2091 0000 lds r18,SollHoehe9045 4fa0 3091 0000 lds r19,(SollHoehe)+19046 4fa4 4091 0000 lds r20,(SollHoehe)+29047 4fa8 5091 0000 lds r21,(SollHoehe)+39048 4fac 2E15 cp r18,r149049 4fae 3F05 cpc r19,r159050 4fb0 4007 cpc r20,r169051 4fb2 5107 cpc r21,r179052 4fb4 04F0 brlt .L7309053 4fb6 8091 0000 lds r24,Parameter_ExtraConfig9054 4fba 80FD sbrc r24,09055 4fbc 00C0 rjmp .L7889056 .L730:9057 4fbe 8091 0000 lds r24,BaroExpandActive9058 4fc2 9091 0000 lds r25,(BaroExpandActive)+19059 4fc6 892B or r24,r259060 4fc8 01F0 breq .L7319061 4fca C090 0000 lds r12,HoverGas9062 4fce D090 0000 lds r13,(HoverGas)+19063 4fd2 00E0 ldi r16,lo8(0)9064 4fd4 10E0 ldi r17,hi8(0)9065 4fd6 00C0 rjmp .L7329066 .L731:9067 4fd8 D801 movw r26,r169068 4fda C701 movw r24,r149069 4fdc 821B sub r24,r189070 4fde 930B sbc r25,r199071 4fe0 A40B sbc r26,r209072 4fe2 B50B sbc r27,r219073 4fe4 8093 0000 sts tmp_long.1,r249074 4fe8 9093 0000 sts (tmp_long.1)+1,r259075 4fec A093 0000 sts (tmp_long.1)+2,r269076 4ff0 B093 0000 sts (tmp_long.1)+3,r279077 4ff4 8230 cpi r24,lo8(-32766)9078 4ff6 00E8 ldi r16,hi8(-32766)9079 4ff8 9007 cpc r25,r169080 4ffa 0FEF ldi r16,hlo8(-32766)9081 4ffc A007 cpc r26,r169082 4ffe 0FEF ldi r16,hhi8(-32766)9083 5000 B007 cpc r27,r169084 5002 04F4 brge .L7339085 5004 81E0 ldi r24,lo8(-32767)9086 5006 90E8 ldi r25,hi8(-32767)9087 5008 AFEF ldi r26,hlo8(-32767)9088 500a BFEF ldi r27,hhi8(-32767)9089 500c 00C0 rjmp .L9119090 .L733:9091 500e 8F5F subi r24,lo8(32767)9092 5010 9F47 sbci r25,hi8(32767)9093 5012 A040 sbci r26,hlo8(32767)9094 5014 B040 sbci r27,hhi8(32767)9095 5016 04F0 brlt .L7349096 5018 8FEF ldi r24,lo8(32767)9097 501a 9FE7 ldi r25,hi8(32767)9098 501c A0E0 ldi r26,hlo8(32767)9099 501e B0E0 ldi r27,hhi8(32767)9100 .L911:9101 5020 8093 0000 sts tmp_long.1,r249102 5024 9093 0000 sts (tmp_long.1)+1,r259103 5028 A093 0000 sts (tmp_long.1)+2,r269104 502c B093 0000 sts (tmp_long.1)+3,r279105 .L734:9106 5030 0091 0000 lds r16,tmp_long.19107 5034 1091 0000 lds r17,(tmp_long.1)+19108 5038 8091 0000 lds r24,Parameter_Hoehe_P9109 503c 282F mov r18,r249110 503e 3327 clr r199111 5040 4427 clr r209112 5042 5527 clr r219113 5044 8091 0000 lds r24,tmp_long.19114 5048 9091 0000 lds r25,(tmp_long.1)+19115 504c A091 0000 lds r26,(tmp_long.1)+29116 5050 B091 0000 lds r27,(tmp_long.1)+39117 5054 BC01 movw r22,r249118 5056 CD01 movw r24,r269119 5058 0E94 0000 call __mulsi39120 505c 97FF sbrs r25,79121 505e 00C0 rjmp .L7369122 5060 615E subi r22,lo8(-(31))9123 5062 7F4F sbci r23,hi8(-(31))9124 5064 8F4F sbci r24,hlo8(-(31))9125 5066 9F4F sbci r25,hhi8(-(31))9126 .L736:9127 5068 25E0 ldi r18,59128 506a 9595 1: asr r259129 506c 8795 ror r249130 506e 7795 ror r239131 5070 6795 ror r229132 5072 2A95 dec r189133 5074 01F4 brne 1b9134 5076 6093 0000 sts tmp_long.1,r229135 507a 7093 0000 sts (tmp_long.1)+1,r239136 507e 8093 0000 sts (tmp_long.1)+2,r249137 5082 9093 0000 sts (tmp_long.1)+3,r259138 5086 6530 cpi r22,lo8(-507)9139 5088 2EEF ldi r18,hi8(-507)9140 508a 7207 cpc r23,r189141 508c 2FEF ldi r18,hlo8(-507)9142 508e 8207 cpc r24,r189143 5090 2FEF ldi r18,hhi8(-507)9144 5092 9207 cpc r25,r189145 5094 04F4 brge .L7379146 5096 84E0 ldi r24,lo8(-508)9147 5098 9EEF ldi r25,hi8(-508)9148 509a AFEF ldi r26,hlo8(-508)9149 509c BFEF ldi r27,hhi8(-508)9150 509e 00C0 rjmp .L9129151 .L737:9152 50a0 6050 subi r22,lo8(1024)9153 50a2 7440 sbci r23,hi8(1024)9154 50a4 8040 sbci r24,hlo8(1024)9155 50a6 9040 sbci r25,hhi8(1024)9156 50a8 04F0 brlt .L7389157 50aa 80E0 ldi r24,lo8(1024)9158 50ac 94E0 ldi r25,hi8(1024)9159 50ae A0E0 ldi r26,hlo8(1024)9160 50b0 B0E0 ldi r27,hhi8(1024)9161 .L912:9162 50b2 8093 0000 sts tmp_long.1,r249163 50b6 9093 0000 sts (tmp_long.1)+1,r259164 50ba A093 0000 sts (tmp_long.1)+2,r269165 50be B093 0000 sts (tmp_long.1)+3,r279166 .L738:9167 50c2 8090 0000 lds r8,tmp_long.19168 50c6 9090 0000 lds r9,(tmp_long.1)+19169 50ca 2091 0000 lds r18,VarioMeter9170 50ce 3091 0000 lds r19,(VarioMeter)+19171 50d2 37FF sbrs r19,79172 50d4 00C0 rjmp .L7409173 50d6 295F subi r18,lo8(-(7))9174 50d8 3F4F sbci r19,hi8(-(7))9175 .L740:9176 50da 83E0 ldi r24,39177 50dc 3595 1: asr r199178 50de 2795 ror r189179 50e0 8A95 dec r249180 50e2 01F4 brne 1b9181 50e4 4FEF ldi r20,hi8(-126)9182 50e6 2238 cpi r18,lo8(-126)9183 50e8 3407 cpc r19,r209184 50ea 04F4 brge .L7419185 50ec 21E8 ldi r18,lo8(-127)9186 50ee 3FEF ldi r19,hi8(-127)9187 50f0 00C0 rjmp .L7429188 .L741:9189 50f2 2038 cpi r18,1289190 50f4 3105 cpc r19,__zero_reg__9191 50f6 04F0 brlt .L7429192 50f8 20E8 ldi r18,lo8(128)9193 50fa 30E0 ldi r19,hi8(128)9194 .L742:9195 50fc C901 movw r24,r189196 50fe AA27 clr r269197 5100 97FD sbrc r25,79198 5102 A095 com r269199 5104 BA2F mov r27,r269200 5106 2091 0000 lds r18,Parameter_Luftdruck_D9201 510a 3327 clr r199202 510c 4427 clr r209203 510e 5527 clr r219204 5110 BC01 movw r22,r249205 5112 CD01 movw r24,r269206 5114 0E94 0000 call __mulsi39207 5118 97FF sbrs r25,79208 511a 00C0 rjmp .L7449209 511c 6D5F subi r22,lo8(-(3))9210 511e 7F4F sbci r23,hi8(-(3))9211 5120 8F4F sbci r24,hlo8(-(3))9212 5122 9F4F sbci r25,hhi8(-(3))9213 .L744:9214 5124 B2E0 ldi r27,29215 5126 9595 1: asr r259216 5128 8795 ror r249217 512a 7795 ror r239218 512c 6795 ror r229219 512e BA95 dec r279220 5130 01F4 brne 1b9221 5132 9B01 movw r18,r229222 5134 5FEF ldi r21,hi8(-255)9223 5136 6130 cpi r22,lo8(-255)9224 5138 7507 cpc r23,r219225 513a 04F4 brge .L7459226 513c 20E0 ldi r18,lo8(-256)9227 513e 3FEF ldi r19,hi8(-256)9228 5140 00C0 rjmp .L7469229 .L745:9230 5142 6F3F cpi r22,2559231 5144 7105 cpc r23,__zero_reg__9232 5146 01F0 breq .L7469233 5148 04F0 brlt .L7469234 514a 20E0 ldi r18,lo8(256)9235 514c 31E0 ldi r19,hi8(256)9236 .L746:9237 514e 8091 0000 lds r24,FC_StatusFlags9238 5152 807C andi r24,lo8(-64)9239 5154 01F0 breq .L7489240 5156 C901 movw r24,r189241 5158 37FD sbrc r19,79242 515a 0396 adiw r24,39243 .L749:9244 515c 9C01 movw r18,r249245 515e 3595 asr r199246 5160 2795 ror r189247 5162 3595 asr r199248 5164 2795 ror r189249 5166 00C0 rjmp .L7509250 .L748:9251 5168 8091 0000 lds r24,Parameter_ExtraConfig9252 516c 80FF sbrs r24,09253 516e 00C0 rjmp .L7509254 5170 C901 movw r24,r189255 5172 37FD sbrc r19,79256 5174 0796 adiw r24,79257 .L752:9258 5176 9C01 movw r18,r249259 5178 F3E0 ldi r31,39260 517a 3595 1: asr r199261 517c 2795 ror r189262 517e FA95 dec r319263 5180 01F4 brne 1b9264 .L750:9265 5182 820E add r8,r189266 5184 931E adc r9,r199267 .L732:9268 5186 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9269 518a 2223 tst r189270 518c 01F4 brne .+29271 518e 00C0 rjmp .L7539272 5190 6091 0000 lds r22,Mess_Integral_Hoch9273 5194 7091 0000 lds r23,(Mess_Integral_Hoch)+19274 5198 8091 0000 lds r24,(Mess_Integral_Hoch)+29275 519c 9091 0000 lds r25,(Mess_Integral_Hoch)+39276 51a0 97FF sbrs r25,79277 51a2 00C0 rjmp .L7549278 51a4 6158 subi r22,lo8(-(127))9279 51a6 7F4F sbci r23,hi8(-(127))9280 51a8 8F4F sbci r24,hlo8(-(127))9281 51aa 9F4F sbci r25,hhi8(-(127))9282 .L754:9283 51ac E7E0 ldi r30,79284 51ae 9595 1: asr r259285 51b0 8795 ror r249286 51b2 7795 ror r239287 51b4 6795 ror r229288 51b6 EA95 dec r309289 51b8 01F4 brne 1b9290 51ba 3327 clr r199291 51bc 4427 clr r209292 51be 5527 clr r219293 51c0 0E94 0000 call __mulsi39294 51c4 97FF sbrs r25,79295 51c6 00C0 rjmp .L7559296 51c8 615E subi r22,lo8(-(31))9297 51ca 7F4F sbci r23,hi8(-(31))9298 51cc 8F4F sbci r24,hlo8(-(31))9299 51ce 9F4F sbci r25,hhi8(-(31))9300 .L755:9301 51d0 55E0 ldi r21,59302 51d2 9595 1: asr r259303 51d4 8795 ror r249304 51d6 7795 ror r239305 51d8 6795 ror r229306 51da 5A95 dec r219307 51dc 01F4 brne 1b9308 51de 6093 0000 sts tmp_long.1,r229309 51e2 7093 0000 sts (tmp_long.1)+1,r239310 51e6 8093 0000 sts (tmp_long.1)+2,r249311 51ea 9093 0000 sts (tmp_long.1)+3,r259312 51ee 6138 cpi r22,lo8(-127)9313 51f0 AFEF ldi r26,hi8(-127)9314 51f2 7A07 cpc r23,r269315 51f4 AFEF ldi r26,hlo8(-127)9316 51f6 8A07 cpc r24,r269317 51f8 AFEF ldi r26,hhi8(-127)9318 51fa 9A07 cpc r25,r269319 51fc 04F4 brge .L7569320 51fe 80E8 ldi r24,lo8(-128)9321 5200 9FEF ldi r25,hi8(-128)9322 5202 AFEF ldi r26,hlo8(-128)9323 5204 BFEF ldi r27,hhi8(-128)9324 5206 00C0 rjmp .L9139325 .L756:9326 5208 6F3F cpi r22,lo8(255)9327 520a 7105 cpc r23,__zero_reg__9328 520c 8105 cpc r24,__zero_reg__9329 520e 9105 cpc r25,__zero_reg__9330 5210 01F0 breq .L7579331 5212 04F0 brlt .L7579332 5214 80E0 ldi r24,lo8(256)9333 5216 91E0 ldi r25,hi8(256)9334 5218 A0E0 ldi r26,hlo8(256)9335 521a B0E0 ldi r27,hhi8(256)9336 .L913:9337 521c 8093 0000 sts tmp_long.1,r249338 5220 9093 0000 sts (tmp_long.1)+1,r259339 5224 A093 0000 sts (tmp_long.1)+2,r269340 5228 B093 0000 sts (tmp_long.1)+3,r279341 .L757:9342 522c 8091 0000 lds r24,tmp_long.19343 5230 9091 0000 lds r25,(tmp_long.1)+19344 5234 880E add r8,r249345 5236 991E adc r9,r259346 .L753:9347 5238 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9348 523c 282F mov r18,r249349 523e 3327 clr r199350 5240 8091 0000 lds r24,FromNaviCtrl_Value+49351 5244 9927 clr r259352 5246 87FD sbrc r24,79353 5248 9095 com r259354 524a 289F mul r18,r249355 524c F001 movw r30,r09356 524e 299F mul r18,r259357 5250 F00D add r31,r09358 5252 389F mul r19,r249359 5254 F00D add r31,r09360 5256 1124 clr r19361 5258 9F01 movw r18,r309362 525a F7FF sbrs r31,79363 525c 00C0 rjmp .L7599364 525e 2158 subi r18,lo8(-(127))9365 5260 3F4F sbci r19,hi8(-(127))9366 .L759:9367 5262 220F lsl r189368 5264 232F mov r18,r199369 5266 221F rol r189370 5268 330B sbc r19,r199371 526a FFEF ldi r31,hi8(-127)9372 526c 2138 cpi r18,lo8(-127)9373 526e 3F07 cpc r19,r319374 5270 04F4 brge .L7609375 5272 20E8 ldi r18,lo8(-128)9376 5274 3FEF ldi r19,hi8(-128)9377 5276 00C0 rjmp .L7619378 .L760:9379 5278 2F3F cpi r18,2559380 527a 3105 cpc r19,__zero_reg__9381 527c 01F0 breq .L7619382 527e 04F0 brlt .L7619383 5280 20E0 ldi r18,lo8(256)9384 5282 31E0 ldi r19,hi8(256)9385 .L761:9386 5284 820E add r8,r189387 5286 931E adc r9,r199388 5288 C401 movw r24,r89389 528a AA27 clr r269390 528c 97FD sbrc r25,79391 528e A095 com r269392 5290 BA2F mov r27,r269393 5292 E090 0000 lds r14,HoverGas9394 5296 F090 0000 lds r15,(HoverGas)+19395 529a 9701 movw r18,r149396 529c 4427 clr r209397 529e 37FD sbrc r19,79398 52a0 4095 com r209399 52a2 542F mov r21,r209400 52a4 BC01 movw r22,r249401 52a6 CD01 movw r24,r269402 52a8 0E94 0000 call __mulsi39403 52ac 97FF sbrs r25,79404 52ae 00C0 rjmp .L7639405 52b0 6150 subi r22,lo8(-(511))9406 52b2 7E4F sbci r23,hi8(-(511))9407 52b4 8F4F sbci r24,hlo8(-(511))9408 52b6 9F4F sbci r25,hhi8(-(511))9409 .L763:9410 52b8 29E0 ldi r18,99411 52ba 9595 1: asr r259412 52bc 8795 ror r249413 52be 7795 ror r239414 52c0 6795 ror r229415 52c2 2A95 dec r189416 52c4 01F4 brne 1b9417 52c6 C61A sub r12,r229418 52c8 D70A sbc r13,r239419 52ca 8091 0000 lds r24,AltitudeSetpointTrimming9420 52ce 9091 0000 lds r25,(AltitudeSetpointTrimming)+19421 52d2 892B or r24,r259422 52d4 01F0 breq .+29423 52d6 00C0 rjmp .L7649424 52d8 1E14 cp __zero_reg__,r149425 52da 1F04 cpc __zero_reg__,r159426 52dc 04F0 brlt .+29427 52de 00C0 rjmp .L7649428 52e0 9801 movw r18,r169429 52e2 17FF sbrs r17,79430 52e4 00C0 rjmp .L7659431 52e6 3095 com r199432 52e8 2195 neg r189433 52ea 3F4F sbci r19,lo8(-1)9434 .L765:9435 52ec 2D33 cpi r18,619436 52ee 3105 cpc r19,__zero_reg__9437 52f0 00F4 brsh .L7669438 52f2 8091 0000 lds r24,HoverGasMin9439 52f6 9091 0000 lds r25,(HoverGasMin)+19440 52fa 8C15 cp r24,r129441 52fc 9D05 cpc r25,r139442 52fe 04F4 brge .L9159443 5300 00C0 rjmp .L9249444 .L766:9445 5302 2C53 subi r18,lo8(-(-60))9446 5304 3040 sbci r19,hi8(-(-60))9447 5306 85E0 ldi r24,59448 5308 3695 1: lsr r199449 530a 2795 ror r189450 530c 8A95 dec r249451 530e 01F4 brne 1b9452 5310 2031 cpi r18,169453 5312 3105 cpc r19,__zero_reg__9454 5314 00F0 brlo .L7719455 5316 2FE0 ldi r18,lo8(15)9456 5318 30E0 ldi r19,hi8(15)9457 .L771:9458 531a 4091 0000 lds r20,HoverGasMin9459 531e 5091 0000 lds r21,(HoverGasMin)+19460 5322 1016 cp __zero_reg__,r169461 5324 1106 cpc __zero_reg__,r179462 5326 04F4 brge .L7729463 5328 80E1 ldi r24,lo8(16)9464 532a 90E0 ldi r25,hi8(16)9465 532c 821B sub r24,r189466 532e 930B sbc r25,r199467 5330 489F mul r20,r249468 5332 9001 movw r18,r09469 5334 499F mul r20,r259470 5336 300D add r19,r09471 5338 589F mul r21,r249472 533a 300D add r19,r09473 533c 1124 clr r19474 533e B4E0 ldi r27,49475 5340 3695 1: lsr r199476 5342 2795 ror r189477 5344 BA95 dec r279478 5346 01F4 brne 1b9479 5348 2C15 cp r18,r129480 534a 3D05 cpc r19,r139481 534c 00F4 brsh .L9149482 .L924:9483 534e 8091 0000 lds r24,HoverGasMax9484 5352 9091 0000 lds r25,(HoverGasMax)+19485 5356 C816 cp r12,r249486 5358 D906 cpc r13,r259487 535a 04F0 brlt .L7649488 .L915:9489 535c 6C01 movw r12,r249490 535e 00C0 rjmp .L7649491 .L772:9492 5360 205F subi r18,lo8(-(16))9493 5362 3F4F sbci r19,hi8(-(16))9494 5364 8091 0000 lds r24,HoverGasMax9495 5368 9091 0000 lds r25,(HoverGasMax)+19496 536c 829F mul r24,r189497 536e 8001 movw r16,r09498 5370 839F mul r24,r199499 5372 100D add r17,r09500 5374 929F mul r25,r189501 5376 100D add r17,r09502 5378 1124 clr r19503 537a 9801 movw r18,r169504 537c A4E0 ldi r26,49505 537e 3695 1: lsr r199506 5380 2795 ror r189507 5382 AA95 dec r269508 5384 01F4 brne 1b9509 5386 4C15 cp r20,r129510 5388 5D05 cpc r21,r139511 538a 04F0 brlt .L7779512 538c 6A01 movw r12,r209513 538e 00C0 rjmp .L7649514 .L777:9515 5390 C216 cp r12,r189516 5392 D306 cpc r13,r199517 5394 00F0 brlo .L7649518 .L914:9519 5396 6901 movw r12,r189520 .L764:9521 5398 C601 movw r24,r129522 539a AA27 clr r269523 539c 97FD sbrc r25,79524 539e A095 com r269525 53a0 BA2F mov r27,r269526 53a2 FDE0 ldi r31,139527 53a4 880F 1: lsl r249528 53a6 991F rol r259529 53a8 AA1F rol r269530 53aa BB1F rol r279531 53ac FA95 dec r319532 53ae 01F4 brne 1b9533 53b0 9501 movw r18,r109534 53b2 4427 clr r209535 53b4 37FD sbrc r19,79536 53b6 4095 com r209537 53b8 542F mov r21,r209538 53ba BC01 movw r22,r249539 53bc CD01 movw r24,r269540 53be 0E94 0000 call __divmodsi49541 53c2 2093 0000 sts tmp_long2.2,r189542 53c6 3093 0000 sts (tmp_long2.2)+1,r199543 53ca 4093 0000 sts (tmp_long2.2)+2,r209544 53ce 5093 0000 sts (tmp_long2.2)+3,r219545 53d2 C090 0000 lds r12,tmp_long2.29546 53d6 D090 0000 lds r13,(tmp_long2.2)+19547 53da 8091 0000 lds r24,FilterHCGas.229548 53de 9091 0000 lds r25,(FilterHCGas.22)+19549 53e2 9C01 movw r18,r249550 53e4 220F lsl r189551 53e6 331F rol r199552 53e8 280F add r18,r249553 53ea 391F adc r19,r259554 53ec 2C0D add r18,r129555 53ee 3D1D adc r19,r139556 53f0 37FF sbrs r19,79557 53f2 00C0 rjmp .L7809558 53f4 2D5F subi r18,lo8(-(3))9559 53f6 3F4F sbci r19,hi8(-(3))9560 .L780:9561 53f8 A901 movw r20,r189562 53fa 5595 asr r219563 53fc 4795 ror r209564 53fe 5595 asr r219565 5400 4795 ror r209566 5402 5093 0000 sts (FilterHCGas.22)+1,r219567 5406 4093 0000 sts FilterHCGas.22,r209568 540a 8091 0000 lds r24,EE_Parameter+149569 540e 282F mov r18,r249570 5410 3327 clr r199571 5412 220F lsl r189572 5414 331F rol r199573 5416 220F lsl r189574 5418 331F rol r199575 541a 2417 cp r18,r209576 541c 3507 cpc r19,r219577 541e 04F4 brge .L9169578 5420 8091 0000 lds r24,MAX_GAS9579 5424 282F mov r18,r249580 5426 3327 clr r199581 5428 220F lsl r189582 542a 331F rol r199583 542c 220F lsl r189584 542e 331F rol r199585 5430 2055 subi r18,lo8(-(-80))9586 5432 3040 sbci r19,hi8(-(-80))9587 5434 4217 cp r20,r189588 5436 5307 cpc r21,r199589 5438 04F0 brlt .L7829590 .L916:9591 543a 3093 0000 sts (FilterHCGas.22)+1,r199592 543e 2093 0000 sts FilterHCGas.22,r189593 .L782:9594 5442 8091 0000 lds r24,Parameter_ExtraConfig9595 5446 80FF sbrs r24,09596 5448 00C0 rjmp .L7849597 544a 8091 0000 lds r24,FilterHCGas.229598 544e 9091 0000 lds r25,(FilterHCGas.22)+19599 5452 2981 ldd r18,Y+19600 5454 3A81 ldd r19,Y+29601 5456 8217 cp r24,r189602 5458 9307 cpc r25,r199603 545a 04F0 brlt .L7859604 545c 3093 0000 sts (FilterHCGas.22)+1,r199605 5460 2093 0000 sts FilterHCGas.22,r189606 .L785:9607 5464 4091 0000 lds r20,FilterHCGas.229608 5468 5091 0000 lds r21,(FilterHCGas.22)+19609 546c 5A83 std Y+2,r219610 546e 4983 std Y+1,r209611 5470 00C0 rjmp .L7889612 .L784:9613 5472 2981 ldd r18,Y+19614 5474 3A81 ldd r19,Y+29615 5476 2E19 sub r18,r149616 5478 3F09 sbc r19,r159617 547a 37FF sbrs r19,79618 547c 00C0 rjmp .L7879619 547e 2D5F subi r18,lo8(-(3))9620 5480 3F4F sbci r19,hi8(-(3))9621 .L787:9622 5482 3595 asr r199623 5484 2795 ror r189624 5486 3595 asr r199625 5488 2795 ror r189626 548a 6091 0000 lds r22,FilterHCGas.229627 548e 7091 0000 lds r23,(FilterHCGas.22)+19628 5492 620F add r22,r189629 5494 731F adc r23,r199630 5496 7A83 std Y+2,r239631 5498 6983 std Y+1,r229632 549a 00C0 rjmp .L7889633 .L679:9634 549c 8091 0000 lds r24,EE_Parameter+229635 54a0 8823 tst r249636 54a2 01F4 brne .L7899637 54a4 6091 0000 lds r22,HoverGas9638 54a8 7091 0000 lds r23,(HoverGas)+19639 54ac 77FF sbrs r23,79640 54ae 00C0 rjmp .L7909641 54b0 6D5F subi r22,lo8(-(3))9642 54b2 7F4F sbci r23,hi8(-(3))9643 .L790:9644 54b4 7595 asr r239645 54b6 6795 ror r229646 54b8 7595 asr r239647 54ba 6795 ror r229648 54bc 4091 0000 lds r20,UBat9649 54c0 5091 0000 lds r21,(UBat)+19650 54c4 8091 0000 lds r24,BattLowVoltageWarning9651 54c8 282F mov r18,r249652 54ca 3327 clr r199653 54cc 649F mul r22,r209654 54ce C001 movw r24,r09655 54d0 659F mul r22,r219656 54d2 900D add r25,r09657 54d4 749F mul r23,r209658 54d6 900D add r25,r09659 54d8 1124 clr r19660 54da B901 movw r22,r189661 54dc 0E94 0000 call __divmodhi49662 54e0 CB01 movw r24,r229663 54e2 00C0 rjmp .L9179664 .L789:9665 54e4 9927 clr r259666 .L917:9667 54e6 9093 0000 sts (StickGasHover)+1,r259668 54ea 8093 0000 sts StickGasHover,r249669 54ee 8091 0000 lds r24,StickGasHover9670 54f2 9091 0000 lds r25,(StickGasHover)+19671 54f6 8734 cpi r24,719672 54f8 9105 cpc r25,__zero_reg__9673 54fa 04F4 brge .L7929674 54fc 86E4 ldi r24,lo8(70)9675 54fe 90E0 ldi r25,hi8(70)9676 5500 00C0 rjmp .L9189677 .L792:9678 5502 8639 cpi r24,1509679 5504 9105 cpc r25,__zero_reg__9680 5506 04F0 brlt .L7939681 5508 86E9 ldi r24,lo8(150)9682 550a 90E0 ldi r25,hi8(150)9683 .L918:9684 550c 9093 0000 sts (StickGasHover)+1,r259685 5510 8093 0000 sts StickGasHover,r249686 .L793:9687 5514 8981 ldd r24,Y+19688 5516 9A81 ldd r25,Y+29689 5518 9093 0000 sts (FilterHCGas.22)+1,r259690 551c 8093 0000 sts FilterHCGas.22,r249691 5520 8091 0000 lds r24,FC_StatusFlags9692 5524 806C ori r24,lo8(-64)9693 5526 8093 0000 sts FC_StatusFlags,r249694 552a 8091 0000 lds r24,FC_StatusFlags29695 552e 8D7F andi r24,lo8(-3)9696 5530 8093 0000 sts FC_StatusFlags2,r249697 .L788:9698 5534 8091 0000 lds r24,FC_StatusFlags9699 5538 9927 clr r259700 553a 9C01 movw r18,r249701 553c 2270 andi r18,lo8(2)9702 553e 3070 andi r19,hi8(2)9703 5540 81FF sbrs r24,19704 5542 00C0 rjmp .L7959705 5544 8091 0000 lds r24,HoverGasFilter.239706 5548 9091 0000 lds r25,(HoverGasFilter.23)+19707 554c A091 0000 lds r26,(HoverGasFilter.23)+29708 5550 B091 0000 lds r27,(HoverGasFilter.23)+39709 5554 0097 sbiw r24,09710 5556 A105 cpc r26,__zero_reg__9711 5558 B105 cpc r27,__zero_reg__9712 555a 01F0 breq .L7979713 555c 8091 0000 lds r24,StartTrigger9714 5560 8130 cpi r24,lo8(1)9715 5562 01F4 brne .L7969716 .L797:9717 5564 E981 ldd r30,Y+19718 5566 FA81 ldd r31,Y+29719 5568 CF01 movw r24,r309720 556a AA27 clr r269721 556c 97FD sbrc r25,79722 556e A095 com r269723 5570 BA2F mov r27,r269724 5572 1EE0 ldi r17,149725 5574 880F 1: lsl r249726 5576 991F rol r259727 5578 AA1F rol r269728 557a BB1F rol r279729 557c 1A95 dec r179730 557e 01F4 brne 1b9731 5580 8093 0000 sts HoverGasFilter.23,r249732 5584 9093 0000 sts (HoverGasFilter.23)+1,r259733 5588 A093 0000 sts (HoverGasFilter.23)+2,r269734 558c B093 0000 sts (HoverGasFilter.23)+3,r279735 .L796:9736 5590 8091 0000 lds r24,StartTrigger9737 5594 8130 cpi r24,lo8(1)9738 5596 01F4 brne .L7989739 5598 82E0 ldi r24,lo8(2)9740 559a 8093 0000 sts StartTrigger,r249741 .L798:9742 559e E980 ldd r14,Y+19743 55a0 FA80 ldd r15,Y+29744 55a2 C701 movw r24,r149745 55a4 AA27 clr r269746 55a6 97FD sbrc r25,79747 55a8 A095 com r269748 55aa BA2F mov r27,r269749 55ac 9501 movw r18,r109750 55ae 4427 clr r209751 55b0 37FD sbrc r19,79752 55b2 4095 com r209753 55b4 542F mov r21,r209754 55b6 BC01 movw r22,r249755 55b8 CD01 movw r24,r269756 55ba 0E94 0000 call __mulsi39757 55be DC01 movw r26,r249758 55c0 CB01 movw r24,r229759 55c2 8093 0000 sts tmp_long2.2,r249760 55c6 9093 0000 sts (tmp_long2.2)+1,r259761 55ca A093 0000 sts (tmp_long2.2)+2,r269762 55ce B093 0000 sts (tmp_long2.2)+3,r279763 55d2 B7FF sbrs r27,79764 55d4 00C0 rjmp .L7999765 55d6 8150 subi r24,lo8(-(8191))9766 55d8 904E sbci r25,hi8(-(8191))9767 55da AF4F sbci r26,hlo8(-(8191))9768 55dc BF4F sbci r27,hhi8(-(8191))9769 .L799:9770 55de 7C01 movw r14,r249771 55e0 8D01 movw r16,r269772 55e2 ADE0 ldi r26,139773 55e4 1595 1: asr r179774 55e6 0795 ror r169775 55e8 F794 ror r159776 55ea E794 ror r149777 55ec AA95 dec r269778 55ee 01F4 brne 1b9779 55f0 E092 0000 sts tmp_long2.2,r149780 55f4 F092 0000 sts (tmp_long2.2)+1,r159781 55f8 0093 0000 sts (tmp_long2.2)+2,r169782 55fc 1093 0000 sts (tmp_long2.2)+3,r179783 5600 6091 0000 lds r22,modell_fliegt9784 5604 7091 0000 lds r23,(modell_fliegt)+19785 5608 2FE0 ldi r18,hi8(4000)9786 560a 603A cpi r22,lo8(4000)9787 560c 7207 cpc r23,r189788 560e 00F4 brsh .L8009789 5610 8091 0000 lds r24,HoverGasFilter.239790 5614 9091 0000 lds r25,(HoverGasFilter.23)+19791 5618 A091 0000 lds r26,(HoverGasFilter.23)+29792 561c B091 0000 lds r27,(HoverGasFilter.23)+39793 5620 9C01 movw r18,r249794 5622 AD01 movw r20,r269795 5624 FAE0 ldi r31,109796 5626 5695 1: lsr r219797 5628 4795 ror r209798 562a 3795 ror r199799 562c 2795 ror r189800 562e FA95 dec r319801 5630 01F4 brne 1b9802 5632 821B sub r24,r189803 5634 930B sbc r25,r199804 5636 A40B sbc r26,r209805 5638 B50B sbc r27,r219806 563a A801 movw r20,r169807 563c 9701 movw r18,r149808 563e E4E0 ldi r30,49809 5640 220F 1: lsl r189810 5642 331F rol r199811 5644 441F rol r209812 5646 551F rol r219813 5648 EA95 dec r309814 564a 01F4 brne 1b9815 564c 820F add r24,r189816 564e 931F adc r25,r199817 5650 A41F adc r26,r209818 5652 B51F adc r27,r219819 5654 8093 0000 sts HoverGasFilter.23,r249820 5658 9093 0000 sts (HoverGasFilter.23)+1,r259821 565c A093 0000 sts (HoverGasFilter.23)+2,r269822 5660 B093 0000 sts (HoverGasFilter.23)+3,r279823 .L800:9824 5664 6054 subi r22,lo8(8000)9825 5666 7F41 sbci r23,hi8(8000)9826 5668 00F4 brsh .L8019827 566a 8091 0000 lds r24,HoverGasFilter.239828 566e 9091 0000 lds r25,(HoverGasFilter.23)+19829 5672 A091 0000 lds r26,(HoverGasFilter.23)+29830 5676 B091 0000 lds r27,(HoverGasFilter.23)+39831 567a 9C01 movw r18,r249832 567c AD01 movw r20,r269833 567e 6CE0 ldi r22,129834 5680 5695 1: lsr r219835 5682 4795 ror r209836 5684 3795 ror r199837 5686 2795 ror r189838 5688 6A95 dec r229839 568a 01F4 brne 1b9840 568c 821B sub r24,r189841 568e 930B sbc r25,r199842 5690 A40B sbc r26,r209843 5692 B50B sbc r27,r219844 5694 A801 movw r20,r169845 5696 9701 movw r18,r149846 5698 F2E0 ldi r31,29847 569a 220F 1: lsl r189848 569c 331F rol r199849 569e 441F rol r209850 56a0 551F rol r219851 56a2 FA95 dec r319852 56a4 01F4 brne 1b9853 56a6 820F add r24,r189854 56a8 931F adc r25,r199855 56aa A41F adc r26,r209856 56ac B51F adc r27,r219857 56ae 00C0 rjmp .L9199858 .L801:9859 56b0 8091 0000 lds r24,VarioMeter9860 56b4 9091 0000 lds r25,(VarioMeter)+19861 56b8 8091 0000 lds r24,VarioMeter9862 56bc 9091 0000 lds r25,(VarioMeter)+19863 56c0 97FF sbrs r25,79864 56c2 00C0 rjmp .L8049865 56c4 9095 com r259866 56c6 8195 neg r249867 56c8 9F4F sbci r25,lo8(-1)9868 .L804:9869 56ca 8436 cpi r24,1009870 56cc 9105 cpc r25,__zero_reg__9871 56ce 04F4 brge .L8029872 56d0 8091 0000 lds r24,HoehenWert9873 56d4 9091 0000 lds r25,(HoehenWert)+19874 56d8 2091 0000 lds r18,SollHoehe9875 56dc 3091 0000 lds r19,(SollHoehe)+19876 56e0 821B sub r24,r189877 56e2 930B sbc r25,r199878 56e4 8150 subi r24,lo8(-(255))9879 56e6 9F4F sbci r25,hi8(-(255))9880 56e8 8F5F subi r24,lo8(511)9881 56ea 9140 sbci r25,hi8(511)9882 56ec 00F4 brsh .L8029883 56ee 8091 0000 lds r24,HoverGasFilter.239884 56f2 9091 0000 lds r25,(HoverGasFilter.23)+19885 56f6 A091 0000 lds r26,(HoverGasFilter.23)+29886 56fa B091 0000 lds r27,(HoverGasFilter.23)+39887 56fe 9C01 movw r18,r249888 5700 AD01 movw r20,r269889 5702 EEE0 ldi r30,149890 5704 5695 1: lsr r219891 5706 4795 ror r209892 5708 3795 ror r199893 570a 2795 ror r189894 570c EA95 dec r309895 570e 01F4 brne 1b9896 5710 821B sub r24,r189897 5712 930B sbc r25,r199898 5714 A40B sbc r26,r209899 5716 B50B sbc r27,r219900 5718 8E0D add r24,r149901 571a 9F1D adc r25,r159902 571c A01F adc r26,r169903 571e B11F adc r27,r179904 .L919:9905 5720 8093 0000 sts HoverGasFilter.23,r249906 5724 9093 0000 sts (HoverGasFilter.23)+1,r259907 5728 A093 0000 sts (HoverGasFilter.23)+2,r269908 572c B093 0000 sts (HoverGasFilter.23)+3,r279909 .L802:9910 5730 8091 0000 lds r24,HoverGasFilter.239911 5734 9091 0000 lds r25,(HoverGasFilter.23)+19912 5738 A091 0000 lds r26,(HoverGasFilter.23)+29913 573c B091 0000 lds r27,(HoverGasFilter.23)+39914 5740 7EE0 ldi r23,149915 5742 B695 1: lsr r279916 5744 A795 ror r269917 5746 9795 ror r259918 5748 8795 ror r249919 574a 7A95 dec r239920 574c 01F4 brne 1b9921 574e 9093 0000 sts (HoverGas)+1,r259922 5752 8093 0000 sts HoverGas,r249923 5756 4091 0000 lds r20,EE_Parameter+209924 575a 4423 tst r209925 575c 01F0 breq .L8059926 575e 5527 clr r219927 5760 9C01 movw r18,r249928 5762 BA01 movw r22,r209929 5764 0E94 0000 call __divmodhi49930 5768 C901 movw r24,r189931 576a 861B sub r24,r229932 576c 970B sbc r25,r239933 576e 9093 0000 sts (HoverGasMin)+1,r259934 5772 8093 0000 sts HoverGasMin,r249935 5776 260F add r18,r229936 5778 371F adc r19,r239937 577a 3093 0000 sts (HoverGasMax)+1,r199938 577e 2093 0000 sts HoverGasMax,r189939 5782 00C0 rjmp .L8089940 .L805:9941 5784 1092 0000 sts (HoverGasMin)+1,__zero_reg__9942 5788 1092 0000 sts HoverGasMin,__zero_reg__9943 578c 8FEF ldi r24,lo8(1023)9944 578e 93E0 ldi r25,hi8(1023)9945 5790 9093 0000 sts (HoverGasMax)+1,r259946 5794 8093 0000 sts HoverGasMax,r249947 5798 00C0 rjmp .L8089948 .L795:9949 579a 1092 0000 sts StartTrigger,__zero_reg__9950 579e 1092 0000 sts HoverGasFilter.23,__zero_reg__9951 57a2 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9952 57a6 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9953 57aa 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9954 57ae 3093 0000 sts (HoverGas)+1,r199955 57b2 2093 0000 sts HoverGas,r189956 57b6 00C0 rjmp .L8089957 .L659:9958 57b8 8091 0000 lds r24,FC_StatusFlags9959 57bc 806C ori r24,lo8(-64)9960 57be 8093 0000 sts FC_StatusFlags,r249961 .L808:9962 57c2 8091 0000 lds r24,NC_To_FC_Flags9963 57c6 81FF sbrs r24,19964 57c8 00C0 rjmp .L8099965 57ca 8981 ldd r24,Y+19966 57cc 9A81 ldd r25,Y+29967 57ce 97FD sbrc r25,79968 57d0 0396 adiw r24,39969 .L811:9970 57d2 9595 asr r259971 57d4 8795 ror r249972 57d6 9595 asr r259973 57d8 8795 ror r249974 57da 2091 0000 lds r18,HooverGasEmergencyPercent9975 57de 3091 0000 lds r19,(HooverGasEmergencyPercent)+19976 57e2 2817 cp r18,r249977 57e4 3907 cpc r19,r259978 57e6 00F4 brsh .L8109979 57e8 8091 0000 lds r24,HoverGas9980 57ec 9091 0000 lds r25,(HoverGas)+19981 57f0 892B or r24,r259982 57f2 01F0 breq .L8109983 57f4 220F lsl r189984 57f6 331F rol r199985 57f8 220F lsl r189986 57fa 331F rol r199987 57fc 3A83 std Y+2,r199988 57fe 2983 std Y+1,r189989 .L810:9990 5800 8091 0000 lds r24,HoehenWert9991 5804 9091 0000 lds r25,(HoehenWert)+19992 5808 A091 0000 lds r26,(HoehenWert)+29993 580c B091 0000 lds r27,(HoehenWert)+39994 5810 8093 0000 sts SollHoehe,r249995 5814 9093 0000 sts (SollHoehe)+1,r259996 5818 A093 0000 sts (SollHoehe)+2,r269997 581c B093 0000 sts (SollHoehe)+3,r279998 5820 88E9 ldi r24,lo8(15000)9999 5822 9AE3 ldi r25,hi8(15000)10000 5824 9093 0000 sts (beeptime)+1,r2510001 5828 8093 0000 sts beeptime,r2410002 582c 80E0 ldi r24,lo8(3584)10003 582e 9EE0 ldi r25,hi8(3584)10004 5830 9093 0000 sts (BeepMuster)+1,r2510005 5834 8093 0000 sts BeepMuster,r2410006 .L809:10007 5838 2091 0000 lds r18,MIN_GAS10008 583c 822F mov r24,r1810009 583e 9927 clr r2510010 5840 880F lsl r2410011 5842 991F rol r2510012 5844 880F lsl r2410013 5846 991F rol r2510014 5848 8896 adiw r24,4010015 584a 6981 ldd r22,Y+110016 584c 7A81 ldd r23,Y+210017 584e 8617 cp r24,r2210018 5850 9707 cpc r25,r2310019 5852 04F0 brlt .L81210020 5854 9A83 std Y+2,r2510021 5856 8983 std Y+1,r2410022 .L812:10023 5858 7091 0000 lds r23,MAX_GAS10024 585c 7D8B std Y+21,r2310025 585e 872F mov r24,r2310026 5860 9927 clr r2510027 5862 880F lsl r2410028 5864 991F rol r2510029 5866 880F lsl r2410030 5868 991F rol r2510031 586a 8055 subi r24,lo8(-(-80))10032 586c 9040 sbci r25,hi8(-(-80))10033 586e A981 ldd r26,Y+110034 5870 BA81 ldd r27,Y+210035 5872 8A17 cp r24,r2610036 5874 9B07 cpc r25,r2710037 5876 04F4 brge .L81310038 5878 9A83 std Y+2,r2510039 587a 8983 std Y+1,r2410040 .L813:10041 587c 8091 0000 lds r24,MissingMotor10042 5880 8823 tst r2410043 5882 01F4 brne .L81510044 5884 8091 0000 lds r24,Capacity+610045 5888 8F3F cpi r24,lo8(-1)10046 588a 01F4 brne .L81510047 588c 8091 0000 lds r24,NC_ErrorCode10048 5890 8823 tst r2410049 5892 01F0 breq .L81410050 .L815:10051 5894 8091 0000 lds r24,modell_fliegt10052 5898 9091 0000 lds r25,(modell_fliegt)+110053 589c 0297 sbiw r24,210054 589e C097 sbiw r24,4810055 58a0 00F4 brsh .L81410056 58a2 E981 ldd r30,Y+110057 58a4 FA81 ldd r31,Y+210058 58a6 1E16 cp __zero_reg__,r3010059 58a8 1F06 cpc __zero_reg__,r3110060 58aa 04F4 brge .L81410061 58ac 81E0 ldi r24,lo8(1)10062 58ae 90E0 ldi r25,hi8(1)10063 58b0 9093 0000 sts (modell_fliegt)+1,r2510064 58b4 8093 0000 sts modell_fliegt,r2410065 58b8 E22E mov r14,r1810066 58ba FF24 clr r1510067 58bc EE0C lsl r1410068 58be FF1C rol r1510069 58c0 EE0C lsl r1410070 58c2 FF1C rol r1510071 58c4 8701 movw r16,r1410072 58c6 085D subi r16,lo8(-(40))10073 58c8 1F4F sbci r17,hi8(-(40))10074 58ca 1A83 std Y+2,r1710075 58cc 0983 std Y+1,r1610076 .L814:10077 58ce 2981 ldd r18,Y+110078 58d0 3A81 ldd r19,Y+210079 58d2 3093 0000 sts (DebugOut+16)+1,r1910080 58d6 2093 0000 sts DebugOut+16,r1810081 58da 8091 0000 lds r24,sollGier.010082 58de 9091 0000 lds r25,(sollGier.0)+110083 58e2 A091 0000 lds r26,(sollGier.0)+210084 58e6 B091 0000 lds r27,(sollGier.0)+310085 58ea 12E0 ldi r17,210086 58ec 880F 1: lsl r2410087 58ee 991F rol r2510088 58f0 AA1F rol r2610089 58f2 BB1F rol r2710090 58f4 1A95 dec r1710091 58f6 01F4 brne 1b10092 58f8 0091 0000 lds r16,MesswertGier10093 58fc 1091 0000 lds r17,(MesswertGier)+110094 5900 081B sub r16,r2410095 5902 190B sbc r17,r2510096 5904 213A cpi r18,16110097 5906 3105 cpc r19,__zero_reg__10098 5908 04F0 brlt .L81710099 590a C901 movw r24,r1810100 590c 37FD sbrc r19,710101 590e 0196 adiw r24,110102 .L819:10103 5910 9595 asr r2510104 5912 8795 ror r2410105 5914 8017 cp r24,r1610106 5916 9107 cpc r25,r1710107 5918 04F4 brge .L81810108 591a 8C01 movw r16,r2410109 .L818:10110 591c 9095 com r2510111 591e 8195 neg r2410112 5920 9F4F sbci r25,lo8(-1)10113 5922 0817 cp r16,r2410114 5924 1907 cpc r17,r2510115 5926 04F4 brge .L82410116 5928 8C01 movw r16,r2410117 592a 00C0 rjmp .L82410118 .L817:10119 592c 0135 cpi r16,8110120 592e 1105 cpc r17,__zero_reg__10121 5930 04F0 brlt .L82510122 5932 00E5 ldi r16,lo8(80)10123 5934 10E0 ldi r17,hi8(80)10124 .L825:10125 5936 3FEF ldi r19,hi8(-80)10126 5938 003B cpi r16,lo8(-80)10127 593a 1307 cpc r17,r1910128 593c 04F4 brge .L82410129 593e 00EB ldi r16,lo8(-80)10130 5940 1FEF ldi r17,hi8(-80)10131 .L824:10132 5942 4D89 ldd r20,Y+2110133 5944 242F mov r18,r2010134 5946 3327 clr r1910135 5948 220F lsl r1810136 594a 331F rol r1910137 594c 220F lsl r1810138 594e 331F rol r1910139 5950 C901 movw r24,r1810140 5952 6981 ldd r22,Y+110141 5954 7A81 ldd r23,Y+210142 5956 861B sub r24,r2210143 5958 970B sbc r25,r2310144 595a 8017 cp r24,r1610145 595c 9107 cpc r25,r1710146 595e 04F4 brge .L82710147 5960 8C01 movw r16,r2410148 .L827:10149 5962 8981 ldd r24,Y+110150 5964 9A81 ldd r25,Y+210151 5966 821B sub r24,r1810152 5968 930B sbc r25,r1910153 596a 0817 cp r16,r2410154 596c 1907 cpc r17,r2510155 596e 04F4 brge .L82810156 5970 8C01 movw r16,r2410157 .L828:10158 5972 8091 0000 lds r24,MesswertNick10159 5976 9091 0000 lds r25,(MesswertNick)+110160 597a 6091 0000 lds r22,StickNick10161 597e 7091 0000 lds r23,(StickNick)+110162 5982 861B sub r24,r2210163 5984 970B sbc r25,r2310164 5986 9093 0000 sts (DiffNick)+1,r2510165 598a 8093 0000 sts DiffNick,r2410166 598e D090 0000 lds r13,IntegralFaktor10167 5992 2091 0000 lds r18,SummeNick10168 5996 3091 0000 lds r19,(SummeNick)+110169 599a 4091 0000 lds r20,(SummeNick)+210170 599e 5091 0000 lds r21,(SummeNick)+310171 59a2 DD20 tst r1310172 59a4 01F0 breq .L82910173 59a6 661A sub r6,r2210174 59a8 770A sbc r7,r2310175 59aa C301 movw r24,r610176 59ac AA27 clr r2610177 59ae 97FD sbrc r25,710178 59b0 A095 com r2610179 59b2 BA2F mov r27,r2610180 59b4 00C0 rjmp .L92010181 .L829:10182 59b6 AA27 clr r2610183 59b8 97FD sbrc r25,710184 59ba A095 com r2610185 59bc BA2F mov r27,r2610186 .L920:10187 59be 280F add r18,r2410188 59c0 391F adc r19,r2510189 59c2 4A1F adc r20,r2610190 59c4 5B1F adc r21,r2710191 59c6 2093 0000 sts SummeNick,r1810192 59ca 3093 0000 sts (SummeNick)+1,r1910193 59ce 4093 0000 sts (SummeNick)+2,r2010194 59d2 5093 0000 sts (SummeNick)+3,r2110195 59d6 8091 0000 lds r24,SummeNick10196 59da 9091 0000 lds r25,(SummeNick)+110197 59de A091 0000 lds r26,(SummeNick)+210198 59e2 B091 0000 lds r27,(SummeNick)+310199 59e6 8150 subi r24,lo8(64001)10200 59e8 9A4F sbci r25,hi8(64001)10201 59ea A040 sbci r26,hlo8(64001)10202 59ec B040 sbci r27,hhi8(64001)10203 59ee 04F0 brlt .L83110204 59f0 80E0 ldi r24,lo8(64000)10205 59f2 9AEF ldi r25,hi8(64000)10206 59f4 A0E0 ldi r26,hlo8(64000)10207 59f6 B0E0 ldi r27,hhi8(64000)10208 59f8 8093 0000 sts SummeNick,r2410209 59fc 9093 0000 sts (SummeNick)+1,r2510210 5a00 A093 0000 sts (SummeNick)+2,r2610211 5a04 B093 0000 sts (SummeNick)+3,r2710212 .L831:10213 5a08 8091 0000 lds r24,SummeNick10214 5a0c 9091 0000 lds r25,(SummeNick)+110215 5a10 A091 0000 lds r26,(SummeNick)+210216 5a14 B091 0000 lds r27,(SummeNick)+310217 5a18 8050 subi r24,lo8(-64000)10218 5a1a 9640 sbci r25,hi8(-64000)10219 5a1c AF4F sbci r26,hlo8(-64000)10220 5a1e BF4F sbci r27,hhi8(-64000)10221 5a20 04F4 brge .L83210222 5a22 80E0 ldi r24,lo8(-64000)10223 5a24 96E0 ldi r25,hi8(-64000)10224 5a26 AFEF ldi r26,hlo8(-64000)10225 5a28 BFEF ldi r27,hhi8(-64000)10226 5a2a 8093 0000 sts SummeNick,r2410227 5a2e 9093 0000 sts (SummeNick)+1,r2510228 5a32 A093 0000 sts (SummeNick)+2,r2610229 5a36 B093 0000 sts (SummeNick)+3,r2710230 .L832:10231 5a3a C090 0000 lds r12,EE_Parameter+3510232 5a3e 2091 0000 lds r18,DiffNick10233 5a42 3091 0000 lds r19,(DiffNick)+110234 5a46 78E0 ldi r23,lo8(8)10235 5a48 E72E mov r14,r2310236 5a4a EC14 cp r14,r1210237 5a4c 00F0 brlo .L83310238 5a4e 8C2D mov r24,r1210239 5a50 9927 clr r2510240 5a52 829F mul r24,r1810241 5a54 A001 movw r20,r010242 5a56 839F mul r24,r1910243 5a58 500D add r21,r010244 5a5a 929F mul r25,r1810245 5a5c 500D add r21,r010246 5a5e 1124 clr r110247 5a60 CA01 movw r24,r2010248 5a62 57FD sbrc r21,710249 5a64 0796 adiw r24,710250 .L834:10251 5a66 7C01 movw r14,r2410252 5a68 63E0 ldi r22,310253 5a6a F594 1: asr r1510254 5a6c E794 ror r1410255 5a6e 6A95 dec r2210256 5a70 01F4 brne 1b10257 5a72 00C0 rjmp .L83510258 .L833:10259 5a74 8C2D mov r24,r1210260 5a76 8695 lsr r2410261 5a78 9927 clr r2510262 5a7a 829F mul r24,r1810263 5a7c B001 movw r22,r010264 5a7e 839F mul r24,r1910265 5a80 700D add r23,r010266 5a82 929F mul r25,r1810267 5a84 700D add r23,r010268 5a86 1124 clr r110269 5a88 CB01 movw r24,r2210270 5a8a 77FD sbrc r23,710271 5a8c 0396 adiw r24,310272 .L836:10273 5a8e 7C01 movw r14,r2410274 5a90 F594 asr r1510275 5a92 E794 ror r1410276 5a94 F594 asr r1510277 5a96 E794 ror r1410278 .L835:10279 5a98 A090 0000 lds r10,Ki10280 5a9c B090 0000 lds r11,(Ki)+110281 5aa0 9501 movw r18,r1010282 5aa2 4427 clr r2010283 5aa4 37FD sbrc r19,710284 5aa6 4095 com r2010285 5aa8 542F mov r21,r2010286 5aaa 8091 0000 lds r24,SummeNick10287 5aae 9091 0000 lds r25,(SummeNick)+110288 5ab2 A091 0000 lds r26,(SummeNick)+210289 5ab6 B091 0000 lds r27,(SummeNick)+310290 5aba BC01 movw r22,r2410291 5abc CD01 movw r24,r2610292 5abe 0E94 0000 call __divmodsi410293 5ac2 E20E add r14,r1810294 5ac4 F31E adc r15,r1910295 5ac6 9090 0000 lds r9,Parameter_DynamicStability10296 5aca 692D mov r22,r910297 5acc 7727 clr r2310298 5ace 8827 clr r2410299 5ad0 9927 clr r2510300 5ad2 9801 movw r18,r1610301 5ad4 17FF sbrs r17,710302 5ad6 00C0 rjmp .L83710303 5ad8 2227 clr r1810304 5ada 3327 clr r1910305 5adc 201B sub r18,r1610306 5ade 310B sbc r19,r1710307 .L837:10308 5ae0 37FF sbrs r19,710309 5ae2 00C0 rjmp .L83810310 5ae4 2F5F subi r18,lo8(-(1))10311 5ae6 3F4F sbci r19,hi8(-(1))10312 .L838:10313 5ae8 3595 asr r1910314 5aea 2795 ror r1810315 5aec A981 ldd r26,Y+110316 5aee BA81 ldd r27,Y+210317 5af0 2A0F add r18,r2610318 5af2 3B1F adc r19,r2710319 5af4 4427 clr r2010320 5af6 37FD sbrc r19,710321 5af8 4095 com r2010322 5afa 542F mov r21,r2010323 5afc 0E94 0000 call __mulsi310324 5b00 97FF sbrs r25,710325 5b02 00C0 rjmp .L83910326 5b04 615C subi r22,lo8(-(63))10327 5b06 7F4F sbci r23,hi8(-(63))10328 5b08 8F4F sbci r24,hlo8(-(63))10329 5b0a 9F4F sbci r25,hhi8(-(63))10330 .L839:10331 5b0c 26E0 ldi r18,610332 5b0e 9595 1: asr r2510333 5b10 8795 ror r2410334 5b12 7795 ror r2310335 5b14 6795 ror r2210336 5b16 2A95 dec r1810337 5b18 01F4 brne 1b10338 5b1a 9B01 movw r18,r2210339 5b1c 6E15 cp r22,r1410340 5b1e 7F05 cpc r23,r1510341 5b20 04F4 brge .L84010342 5b22 7B01 movw r14,r2210343 .L840:10344 5b24 3095 com r1910345 5b26 2195 neg r1810346 5b28 3F4F sbci r19,lo8(-1)10347 5b2a E216 cp r14,r1810348 5b2c F306 cpc r15,r1910349 5b2e 04F4 brge .L84110350 5b30 7901 movw r14,r1810351 .L841:10352 5b32 8091 0000 lds r24,MesswertRoll10353 5b36 9091 0000 lds r25,(MesswertRoll)+110354 5b3a 6091 0000 lds r22,StickRoll10355 5b3e 7091 0000 lds r23,(StickRoll)+110356 5b42 861B sub r24,r2210357 5b44 970B sbc r25,r2310358 5b46 9093 0000 sts (DiffRoll)+1,r2510359 5b4a 8093 0000 sts DiffRoll,r2410360 5b4e 2091 0000 lds r18,SummeRoll10361 5b52 3091 0000 lds r19,(SummeRoll)+110362 5b56 4091 0000 lds r20,(SummeRoll)+210363 5b5a 5091 0000 lds r21,(SummeRoll)+310364 5b5e DD20 tst r1310365 5b60 01F0 breq .L84210366 5b62 461A sub r4,r2210367 5b64 570A sbc r5,r2310368 5b66 C201 movw r24,r410369 5b68 AA27 clr r2610370 5b6a 97FD sbrc r25,710371 5b6c A095 com r2610372 5b6e BA2F mov r27,r2610373 5b70 00C0 rjmp .L92110374 .L842:10375 5b72 AA27 clr r2610376 5b74 97FD sbrc r25,710377 5b76 A095 com r2610378 5b78 BA2F mov r27,r2610379 .L921:10380 5b7a 280F add r18,r2410381 5b7c 391F adc r19,r2510382 5b7e 4A1F adc r20,r2610383 5b80 5B1F adc r21,r2710384 5b82 2093 0000 sts SummeRoll,r1810385 5b86 3093 0000 sts (SummeRoll)+1,r1910386 5b8a 4093 0000 sts (SummeRoll)+2,r2010387 5b8e 5093 0000 sts (SummeRoll)+3,r2110388 5b92 8091 0000 lds r24,SummeRoll10389 5b96 9091 0000 lds r25,(SummeRoll)+110390 5b9a A091 0000 lds r26,(SummeRoll)+210391 5b9e B091 0000 lds r27,(SummeRoll)+310392 5ba2 8150 subi r24,lo8(64001)10393 5ba4 9A4F sbci r25,hi8(64001)10394 5ba6 A040 sbci r26,hlo8(64001)10395 5ba8 B040 sbci r27,hhi8(64001)10396 5baa 04F0 brlt .L84410397 5bac 80E0 ldi r24,lo8(64000)10398 5bae 9AEF ldi r25,hi8(64000)10399 5bb0 A0E0 ldi r26,hlo8(64000)10400 5bb2 B0E0 ldi r27,hhi8(64000)10401 5bb4 8093 0000 sts SummeRoll,r2410402 5bb8 9093 0000 sts (SummeRoll)+1,r2510403 5bbc A093 0000 sts (SummeRoll)+2,r2610404 5bc0 B093 0000 sts (SummeRoll)+3,r2710405 .L844:10406 5bc4 8091 0000 lds r24,SummeRoll10407 5bc8 9091 0000 lds r25,(SummeRoll)+110408 5bcc A091 0000 lds r26,(SummeRoll)+210409 5bd0 B091 0000 lds r27,(SummeRoll)+310410 5bd4 8050 subi r24,lo8(-64000)10411 5bd6 9640 sbci r25,hi8(-64000)10412 5bd8 AF4F sbci r26,hlo8(-64000)10413 5bda BF4F sbci r27,hhi8(-64000)10414 5bdc 04F4 brge .L84510415 5bde 80E0 ldi r24,lo8(-64000)10416 5be0 96E0 ldi r25,hi8(-64000)10417 5be2 AFEF ldi r26,hlo8(-64000)10418 5be4 BFEF ldi r27,hhi8(-64000)10419 5be6 8093 0000 sts SummeRoll,r2410420 5bea 9093 0000 sts (SummeRoll)+1,r2510421 5bee A093 0000 sts (SummeRoll)+2,r2610422 5bf2 B093 0000 sts (SummeRoll)+3,r2710423 .L845:10424 5bf6 2091 0000 lds r18,DiffRoll10425 5bfa 3091 0000 lds r19,(DiffRoll)+110426 5bfe 48E0 ldi r20,lo8(8)10427 5c00 4C15 cp r20,r1210428 5c02 00F0 brlo .L84610429 5c04 8C2D mov r24,r1210430 5c06 9927 clr r2510431 5c08 829F mul r24,r1810432 5c0a B001 movw r22,r010433 5c0c 839F mul r24,r1910434 5c0e 700D add r23,r010435 5c10 929F mul r25,r1810436 5c12 700D add r23,r010437 5c14 1124 clr r110438 5c16 CB01 movw r24,r2210439 5c18 77FD sbrc r23,710440 5c1a 0796 adiw r24,710441 .L847:10442 5c1c 6C01 movw r12,r2410443 5c1e B3E0 ldi r27,310444 5c20 D594 1: asr r1310445 5c22 C794 ror r1210446 5c24 BA95 dec r2710447 5c26 01F4 brne 1b10448 5c28 00C0 rjmp .L84810449 .L846:10450 5c2a C694 lsr r1210451 5c2c 8C2D mov r24,r1210452 5c2e 9927 clr r2510453 5c30 829F mul r24,r1810454 5c32 D001 movw r26,r010455 5c34 839F mul r24,r1910456 5c36 B00D add r27,r010457 5c38 929F mul r25,r1810458 5c3a B00D add r27,r010459 5c3c 1124 clr r110460 5c3e CD01 movw r24,r2610461 5c40 B7FD sbrc r27,710462 5c42 0396 adiw r24,310463 .L849:10464 5c44 6C01 movw r12,r2410465 5c46 D594 asr r1310466 5c48 C794 ror r1210467 5c4a D594 asr r1310468 5c4c C794 ror r1210469 .L848:10470 5c4e 9501 movw r18,r1010471 5c50 4427 clr r2010472 5c52 37FD sbrc r19,710473 5c54 4095 com r2010474 5c56 542F mov r21,r2010475 5c58 8091 0000 lds r24,SummeRoll10476 5c5c 9091 0000 lds r25,(SummeRoll)+110477 5c60 A091 0000 lds r26,(SummeRoll)+210478 5c64 B091 0000 lds r27,(SummeRoll)+310479 5c68 BC01 movw r22,r2410480 5c6a CD01 movw r24,r2610481 5c6c 0E94 0000 call __divmodsi410482 5c70 C20E add r12,r1810483 5c72 D31E adc r13,r1910484 5c74 692D mov r22,r910485 5c76 7727 clr r2310486 5c78 8827 clr r2410487 5c7a 9927 clr r2510488 5c7c 9801 movw r18,r1610489 5c7e 17FF sbrs r17,710490 5c80 00C0 rjmp .L85010491 5c82 2227 clr r1810492 5c84 3327 clr r1910493 5c86 201B sub r18,r1610494 5c88 310B sbc r19,r1710495 .L850:10496 5c8a 37FF sbrs r19,710497 5c8c 00C0 rjmp .L85110498 5c8e 2F5F subi r18,lo8(-(1))10499 5c90 3F4F sbci r19,hi8(-(1))10500 .L851:10501 5c92 3595 asr r1910502 5c94 2795 ror r1810503 5c96 E981 ldd r30,Y+110504 5c98 FA81 ldd r31,Y+210505 5c9a 2E0F add r18,r3010506 5c9c 3F1F adc r19,r3110507 5c9e 4427 clr r2010508 5ca0 37FD sbrc r19,710509 5ca2 4095 com r2010510 5ca4 542F mov r21,r2010511 5ca6 0E94 0000 call __mulsi310512 5caa 97FF sbrs r25,710513 5cac 00C0 rjmp .L85210514 5cae 615C subi r22,lo8(-(63))10515 5cb0 7F4F sbci r23,hi8(-(63))10516 5cb2 8F4F sbci r24,hlo8(-(63))10517 5cb4 9F4F sbci r25,hhi8(-(63))10518 .L852:10519 5cb6 E6E0 ldi r30,610520 5cb8 9595 1: asr r2510521 5cba 8795 ror r2410522 5cbc 7795 ror r2310523 5cbe 6795 ror r2210524 5cc0 EA95 dec r3010525 5cc2 01F4 brne 1b10526 5cc4 9B01 movw r18,r2210527 5cc6 6C15 cp r22,r1210528 5cc8 7D05 cpc r23,r1310529 5cca 04F4 brge .L85310530 5ccc 6B01 movw r12,r2210531 .L853:10532 5cce 3095 com r1910533 5cd0 2195 neg r1810534 5cd2 3F4F sbci r19,lo8(-1)10535 5cd4 C216 cp r12,r1810536 5cd6 D306 cpc r13,r1910537 5cd8 04F4 brge .L85410538 5cda 6901 movw r12,r1810539 .L854:10540 5cdc 8091 0000 lds r24,MIN_GAS10541 5ce0 282E mov r2,r2410542 5ce2 3324 clr r310543 5ce4 5090 0000 lds r5,EE_Parameter+10110544 5ce8 60E0 ldi r22,lo8(Motor)10545 5cea 862E mov r8,r2210546 5cec 60E0 ldi r22,hi8(Motor)10547 5cee 962E mov r9,r2210548 5cf0 50E0 ldi r21,lo8(Mixer+13)10549 5cf2 A52E mov r10,r2110550 5cf4 50E0 ldi r21,hi8(Mixer+13)10551 5cf6 B52E mov r11,r2110552 5cf8 4BE0 ldi r20,lo8(11)10553 5cfa 442E mov r4,r2010554 5cfc 30E0 ldi r19,lo8(tmp_motorwert)10555 5cfe 632E mov r6,r1910556 5d00 30E0 ldi r19,hi8(tmp_motorwert)10557 5d02 732E mov r7,r1910558 .L889:10559 5d04 D501 movw r26,r1010560 5d06 2C91 ld r18,X10561 5d08 1216 cp __zero_reg__,r1810562 5d0a 04F0 brlt .+210563 5d0c 00C0 rjmp .L85810564 5d0e 2034 cpi r18,lo8(64)10565 5d10 01F4 brne .L85910566 5d12 E981 ldd r30,Y+110567 5d14 FA81 ldd r31,Y+210568 5d16 FF8B std Y+23,r3110569 5d18 EE8B std Y+22,r3010570 5d1a 00C0 rjmp .L86010571 .L859:10572 5d1c 4981 ldd r20,Y+110573 5d1e 5A81 ldd r21,Y+210574 5d20 CA01 movw r24,r2010575 5d22 AA27 clr r2610576 5d24 97FD sbrc r25,710577 5d26 A095 com r2610578 5d28 BA2F mov r27,r2610579 5d2a 3327 clr r1910580 5d2c 27FD sbrc r18,710581 5d2e 3095 com r1910582 5d30 432F mov r20,r1910583 5d32 532F mov r21,r1910584 5d34 BC01 movw r22,r2410585 5d36 CD01 movw r24,r2610586 5d38 0E94 0000 call __mulsi310587 5d3c 97FF sbrs r25,710588 5d3e 00C0 rjmp .L86110589 5d40 615C subi r22,lo8(-(63))10590 5d42 7F4F sbci r23,hi8(-(63))10591 5d44 8F4F sbci r24,hlo8(-(63))10592 5d46 9F4F sbci r25,hhi8(-(63))10593 .L861:10594 5d48 26E0 ldi r18,610595 5d4a 9595 1: asr r2510596 5d4c 8795 ror r2410597 5d4e 7795 ror r2310598 5d50 6795 ror r2210599 5d52 2A95 dec r1810600 5d54 01F4 brne 1b10601 5d56 7F8B std Y+23,r2310602 5d58 6E8B std Y+22,r2210603 .L860:10604 5d5a F501 movw r30,r1010605 5d5c 2181 ldd r18,Z+110606 5d5e 2034 cpi r18,lo8(64)10607 5d60 01F4 brne .L86210608 5d62 2E89 ldd r18,Y+2210609 5d64 3F89 ldd r19,Y+2310610 5d66 2E0D add r18,r1410611 5d68 3F1D adc r19,r1510612 5d6a 3F8B std Y+23,r1910613 5d6c 2E8B std Y+22,r1810614 5d6e 00C0 rjmp .L86310615 .L862:10616 5d70 203C cpi r18,lo8(-64)10617 5d72 01F4 brne .L86410618 5d74 4E89 ldd r20,Y+2210619 5d76 5F89 ldd r21,Y+2310620 5d78 4E19 sub r20,r1410621 5d7a 5F09 sbc r21,r1510622 5d7c 5F8B std Y+23,r2110623 5d7e 4E8B std Y+22,r2010624 5d80 00C0 rjmp .L86310625 .L864:10626 5d82 C701 movw r24,r1410627 5d84 AA27 clr r2610628 5d86 97FD sbrc r25,710629 5d88 A095 com r2610630 5d8a BA2F mov r27,r2610631 5d8c 3327 clr r1910632 5d8e 27FD sbrc r18,710633 5d90 3095 com r1910634 5d92 432F mov r20,r1910635 5d94 532F mov r21,r1910636 5d96 BC01 movw r22,r2410637 5d98 CD01 movw r24,r2610638 5d9a 0E94 0000 call __mulsi310639 5d9e 97FF sbrs r25,710640 5da0 00C0 rjmp .L86610641 5da2 615C subi r22,lo8(-(63))10642 5da4 7F4F sbci r23,hi8(-(63))10643 5da6 8F4F sbci r24,hlo8(-(63))10644 5da8 9F4F sbci r25,hhi8(-(63))10645 .L866:10646 5daa B6E0 ldi r27,610647 5dac 9595 1: asr r2510648 5dae 8795 ror r2410649 5db0 7795 ror r2310650 5db2 6795 ror r2210651 5db4 BA95 dec r2710652 5db6 01F4 brne 1b10653 5db8 AE89 ldd r26,Y+2210654 5dba BF89 ldd r27,Y+2310655 5dbc A60F add r26,r2210656 5dbe B71F adc r27,r2310657 5dc0 BF8B std Y+23,r2710658 5dc2 AE8B std Y+22,r2610659 .L863:10660 5dc4 F501 movw r30,r1010661 5dc6 2281 ldd r18,Z+210662 5dc8 2034 cpi r18,lo8(64)10663 5dca 01F4 brne .L86710664 5dcc 2E89 ldd r18,Y+2210665 5dce 3F89 ldd r19,Y+2310666 5dd0 2C0D add r18,r1210667 5dd2 3D1D adc r19,r1310668 5dd4 3F8B std Y+23,r1910669 5dd6 2E8B std Y+22,r1810670 5dd8 00C0 rjmp .L86810671 .L867:10672 5dda 203C cpi r18,lo8(-64)10673 5ddc 01F4 brne .L86910674 5dde 4E89 ldd r20,Y+2210675 5de0 5F89 ldd r21,Y+2310676 5de2 4C19 sub r20,r1210677 5de4 5D09 sbc r21,r1310678 5de6 5F8B std Y+23,r2110679 5de8 4E8B std Y+22,r2010680 5dea 00C0 rjmp .L86810681 .L869:10682 5dec C601 movw r24,r1210683 5dee AA27 clr r2610684 5df0 97FD sbrc r25,710685 5df2 A095 com r2610686 5df4 BA2F mov r27,r2610687 5df6 3327 clr r1910688 5df8 27FD sbrc r18,710689 5dfa 3095 com r1910690 5dfc 432F mov r20,r1910691 5dfe 532F mov r21,r1910692 5e00 BC01 movw r22,r2410693 5e02 CD01 movw r24,r2610694 5e04 0E94 0000 call __mulsi310695 5e08 97FF sbrs r25,710696 5e0a 00C0 rjmp .L87110697 5e0c 615C subi r22,lo8(-(63))10698 5e0e 7F4F sbci r23,hi8(-(63))10699 5e10 8F4F sbci r24,hlo8(-(63))10700 5e12 9F4F sbci r25,hhi8(-(63))10701 .L871:10702 5e14 A6E0 ldi r26,610703 5e16 9595 1: asr r2510704 5e18 8795 ror r2410705 5e1a 7795 ror r2310706 5e1c 6795 ror r2210707 5e1e AA95 dec r2610708 5e20 01F4 brne 1b10709 5e22 AE89 ldd r26,Y+2210710 5e24 BF89 ldd r27,Y+2310711 5e26 A60F add r26,r2210712 5e28 B71F adc r27,r2310713 5e2a BF8B std Y+23,r2710714 5e2c AE8B std Y+22,r2610715 .L868:10716 5e2e F501 movw r30,r1010717 5e30 2381 ldd r18,Z+310718 5e32 2034 cpi r18,lo8(64)10719 5e34 01F4 brne .L87210720 5e36 2E89 ldd r18,Y+2210721 5e38 3F89 ldd r19,Y+2310722 5e3a 200F add r18,r1610723 5e3c 311F adc r19,r1710724 5e3e 3F8B std Y+23,r1910725 5e40 2E8B std Y+22,r1810726 5e42 00C0 rjmp .L87310727 .L872:10728 5e44 203C cpi r18,lo8(-64)10729 5e46 01F4 brne .L87410730 5e48 4E89 ldd r20,Y+2210731 5e4a 5F89 ldd r21,Y+2310732 5e4c 401B sub r20,r1610733 5e4e 510B sbc r21,r1710734 5e50 5F8B std Y+23,r2110735 5e52 4E8B std Y+22,r2010736 5e54 00C0 rjmp .L87310737 .L874:10738 5e56 C801 movw r24,r1610739 5e58 AA27 clr r2610740 5e5a 97FD sbrc r25,710741 5e5c A095 com r2610742 5e5e BA2F mov r27,r2610743 5e60 3327 clr r1910744 5e62 27FD sbrc r18,710745 5e64 3095 com r1910746 5e66 432F mov r20,r1910747 5e68 532F mov r21,r1910748 5e6a BC01 movw r22,r2410749 5e6c CD01 movw r24,r2610750 5e6e 0E94 0000 call __mulsi310751 5e72 97FF sbrs r25,710752 5e74 00C0 rjmp .L87610753 5e76 615C subi r22,lo8(-(63))10754 5e78 7F4F sbci r23,hi8(-(63))10755 5e7a 8F4F sbci r24,hlo8(-(63))10756 5e7c 9F4F sbci r25,hhi8(-(63))10757 .L876:10758 5e7e F6E0 ldi r31,610759 5e80 9595 1: asr r2510760 5e82 8795 ror r2410761 5e84 7795 ror r2310762 5e86 6795 ror r2210763 5e88 FA95 dec r3110764 5e8a 01F4 brne 1b10765 5e8c AE89 ldd r26,Y+2210766 5e8e BF89 ldd r27,Y+2310767 5e90 A60F add r26,r2210768 5e92 B71F adc r27,r2310769 5e94 BF8B std Y+23,r2710770 5e96 AE8B std Y+22,r2610771 .L873:10772 5e98 F301 movw r30,r610773 5e9a 8081 ld r24,Z10774 5e9c 9181 ldd r25,Z+110775 5e9e 2E89 ldd r18,Y+2210776 5ea0 3F89 ldd r19,Y+2310777 5ea2 8217 cp r24,r1810778 5ea4 9307 cpc r25,r1910779 5ea6 04F4 brge .L87710780 5ea8 B901 movw r22,r1810781 5eaa 680F add r22,r2410782 5eac 791F adc r23,r2510783 5eae 77FF sbrs r23,710784 5eb0 00C0 rjmp .L87810785 5eb2 6F5F subi r22,lo8(-(1))10786 5eb4 7F4F sbci r23,hi8(-(1))10787 .L878:10788 5eb6 7595 asr r2310789 5eb8 6795 ror r2210790 5eba 7F8B std Y+23,r2310791 5ebc 6E8B std Y+22,r2210792 5ebe 00C0 rjmp .L87910793 .L877:10794 5ec0 5520 tst r510795 5ec2 01F4 brne .L88010796 5ec4 4E89 ldd r20,Y+2210797 5ec6 5F89 ldd r21,Y+2310798 5ec8 440F add r20,r2010799 5eca 551F adc r21,r2110800 5ecc 481B sub r20,r2410801 5ece 590B sbc r21,r2510802 5ed0 5F8B std Y+23,r2110803 5ed2 4E8B std Y+22,r2010804 5ed4 00C0 rjmp .L87910805 .L880:10806 5ed6 51E0 ldi r21,lo8(1)10807 5ed8 5515 cp r21,r510808 5eda 00F4 brsh .L87910809 5edc 252D mov r18,r510810 5ede 3327 clr r1910811 5ee0 6E89 ldd r22,Y+2210812 5ee2 7F89 ldd r23,Y+2310813 5ee4 861B sub r24,r2210814 5ee6 970B sbc r25,r2310815 5ee8 B901 movw r22,r1810816 5eea 0E94 0000 call __divmodhi410817 5eee AE89 ldd r26,Y+2210818 5ef0 BF89 ldd r27,Y+2310819 5ef2 A60F add r26,r2210820 5ef4 B71F adc r27,r2310821 5ef6 BF8B std Y+23,r2710822 5ef8 AE8B std Y+22,r2610823 .L879:10824 5efa C101 movw r24,r210825 5efc 880F lsl r2410826 5efe 991F rol r2510827 5f00 880F lsl r2410828 5f02 991F rol r2510829 5f04 EE89 ldd r30,Y+2210830 5f06 FF89 ldd r31,Y+2310831 5f08 8E17 cp r24,r3010832 5f0a 9F07 cpc r25,r3110833 5f0c 04F4 brge .L92210834 5f0e FD89 ldd r31,Y+2110835 5f10 8F2F mov r24,r3110836 5f12 9927 clr r2510837 5f14 880F lsl r2410838 5f16 991F rol r2510839 5f18 880F lsl r2410840 5f1a 991F rol r2510841 5f1c 2E89 ldd r18,Y+2210842 5f1e 3F89 ldd r19,Y+2310843 5f20 2817 cp r18,r2410844 5f22 3907 cpc r19,r2510845 5f24 04F0 brlt .L88410846 .L922:10847 5f26 9F8B std Y+23,r2510848 5f28 8E8B std Y+22,r2410849 .L884:10850 5f2a 8E89 ldd r24,Y+2210851 5f2c 9F89 ldd r25,Y+2310852 5f2e 97FD sbrc r25,710853 5f30 0396 adiw r24,310854 .L886:10855 5f32 9595 asr r2510856 5f34 8795 ror r2410857 5f36 9595 asr r2510858 5f38 8795 ror r2410859 5f3a F401 movw r30,r810860 5f3c 8183 std Z+1,r2410861 5f3e 880F lsl r2410862 5f40 991F rol r2510863 5f42 880F lsl r2410864 5f44 991F rol r2510865 5f46 2E89 ldd r18,Y+2210866 5f48 3F89 ldd r19,Y+2310867 5f4a 281B sub r18,r2410868 5f4c 390B sbc r19,r2510869 5f4e C901 movw r24,r1810870 5f50 880F lsl r2410871 5f52 8283 std Z+2,r2410872 5f54 EE89 ldd r30,Y+2210873 5f56 FF89 ldd r31,Y+2310874 5f58 D301 movw r26,r610875 5f5a ED93 st X+,r3010876 5f5c FC93 st X,r3110877 5f5e 00C0 rjmp .L85710878 .L858:10879 5f60 F401 movw r30,r810880 5f62 1182 std Z+1,__zero_reg__10881 5f64 1282 std Z+2,__zero_reg__10882 .L857:10883 5f66 4A94 dec r410884 5f68 22E0 ldi r18,lo8(2)10885 5f6a 30E0 ldi r19,hi8(2)10886 5f6c 620E add r6,r1810887 5f6e 731E adc r7,r1910888 5f70 44E0 ldi r20,lo8(4)10889 5f72 50E0 ldi r21,hi8(4)10890 5f74 A40E add r10,r2010891 5f76 B51E adc r11,r2110892 5f78 68E0 ldi r22,lo8(8)10893 5f7a 70E0 ldi r23,hi8(8)10894 5f7c 860E add r8,r2210895 5f7e 971E adc r9,r2310896 5f80 47FE sbrs r4,710897 5f82 00C0 rjmp .L88910898 /* epilogue: frame size=23 */10899 5f84 E2E1 ldi r30,1810900 5f86 C95E subi r28,-2310901 5f88 0C94 0000 jmp __epilogue_restores__+010902 /* epilogue end (size=4) */10903 /* function MotorRegler size 8305 (8295) */10905 .comm TrimNick,2,110906 .comm TrimRoll,2,110907 .comm ErsatzKompass,4,110908 .comm ErsatzKompassInGrad,2,110909 .comm MesswertNick,2,110910 .comm MesswertRoll,2,110911 .comm MesswertGier,2,110912 .comm Mittelwert_AccNick,2,110913 .comm Mittelwert_AccRoll,2,110914 .comm NaviAccNick,2,110915 .comm NaviAccRoll,2,110916 .comm h,1,110917 .comm m,1,110918 .comm s,1,110919 .comm DiffNick,2,110920 .comm DiffRoll,2,110921 .comm Parameter_Servo3,1,110922 .comm Parameter_Servo4,1,110923 .comm Parameter_Servo5,1,110924 .comm Parameter_J16Bitmask,1,110925 .comm Parameter_J16Timing,1,110926 .comm Parameter_J17Bitmask,1,110927 .comm Parameter_J17Timing,1,110928 .comm Parameter_GlobalConfig,1,110929 .comm Parameter_ExtraConfig,1,110930 .comm MesswertGierBias,2,110931 .comm RohMesswertNick,2,110932 .comm RohMesswertRoll,2,110933 .comm MittelIntegralNick,4,110934 .comm MittelIntegralRoll,4,110935 .comm MittelIntegralNick2,4,110936 .comm MittelIntegralRoll2,4,110937 .comm MAX_GAS,1,110938 .comm MIN_GAS,1,110939 .comm GyroFaktor,1,110940 .comm GyroFaktorGier,1,110941 .comm IntegralFaktor,1,110942 .comm IntegralFaktorGier,1,110943 .comm Parameter_NaviGpsModeControl,1,110944 .comm Parameter_NaviGpsGain,1,110945 .comm Parameter_NaviGpsP,1,110946 .comm Parameter_NaviGpsI,1,110947 .comm Parameter_NaviGpsD,1,110948 .comm Parameter_NaviGpsACC,1,110949 .comm Parameter_NaviOperatingRadius,1,110950 .comm Parameter_NaviWindCorrection,1,110951 .comm Parameter_NaviSpeedCompensation,1,110952 .comm Parameter_ExternalControl,1,110953 .comm Parameter_MaximumAltitude,1,110954 .comm KopplungsteilNickRoll,2,110955 .comm KopplungsteilRollNick,2,110956 .comm tmp_motorwert,24,110957 /* File "fc.c": code 12397 = 0x306d (12336), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/ccfR0jIT.s:3 *ABS*:0000003f __SREG__C:\Temp/ccfR0jIT.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccfR0jIT.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccfR0jIT.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccfR0jIT.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccfR0jIT.s:15 .bss:00000000 GasIsZeroCntC:\Temp/ccfR0jIT.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/ccfR0jIT.s:27 .data:00000000 VarioCharacterC:\Temp/ccfR0jIT.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/ccfR0jIT.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/ccfR0jIT.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/ccfR0jIT.s:51 .bss:00000006 modell_fliegtC:\Temp/ccfR0jIT.s:57 .bss:00000008 MaxStickRollC:\Temp/ccfR0jIT.s:63 .bss:0000000a MaxStickNickC:\Temp/ccfR0jIT.s:69 .data:00000005 ExternHoehenValueC:\Temp/ccfR0jIT.s:76 .bss:0000000c ExternStickGierC:\Temp/ccfR0jIT.s:82 .bss:0000000e ExternStickRollC:\Temp/ccfR0jIT.s:88 .bss:00000010 ExternStickNickC:\Temp/ccfR0jIT.s:94 .data:00000007 sintabC:\Temp/ccfR0jIT.s:131 .bss:00000012 CareFreeC:\Temp/ccfR0jIT.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/ccfR0jIT.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/ccfR0jIT.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/ccfR0jIT.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/ccfR0jIT.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/ccfR0jIT.s:162 .data:0000002b Parameter_ServoRollCompC:\Temp/ccfR0jIT.s:167 .data:0000002c Parameter_ServoNickCompC:\Temp/ccfR0jIT.s:172 .data:0000002d Parameter_ServoRollControlC:\Temp/ccfR0jIT.s:177 .data:0000002e Parameter_ServoNickControlC:\Temp/ccfR0jIT.s:184 .bss:00000013 Parameter_UserParam8C:\Temp/ccfR0jIT.s:190 .bss:00000014 Parameter_UserParam7C:\Temp/ccfR0jIT.s:196 .bss:00000015 Parameter_UserParam6C:\Temp/ccfR0jIT.s:202 .bss:00000016 Parameter_UserParam5C:\Temp/ccfR0jIT.s:208 .bss:00000017 Parameter_UserParam4C:\Temp/ccfR0jIT.s:214 .bss:00000018 Parameter_UserParam3C:\Temp/ccfR0jIT.s:220 .bss:00000019 Parameter_UserParam2C:\Temp/ccfR0jIT.s:226 .bss:0000001a Parameter_UserParam1C:\Temp/ccfR0jIT.s:232 .data:0000002f Parameter_I_FaktorC:\Temp/ccfR0jIT.s:237 .data:00000030 Parameter_Gier_PC:\Temp/ccfR0jIT.s:242 .data:00000031 Parameter_Gyro_Gier_IC:\Temp/ccfR0jIT.s:247 .data:00000032 Parameter_Gyro_Gier_PC:\Temp/ccfR0jIT.s:252 .data:00000033 Parameter_Gyro_IC:\Temp/ccfR0jIT.s:257 .data:00000034 Parameter_Gyro_PC:\Temp/ccfR0jIT.s:262 .data:00000035 Parameter_Gyro_DC:\Temp/ccfR0jIT.s:267 .data:00000036 Parameter_Hoehe_GPS_ZC:\Temp/ccfR0jIT.s:272 .data:00000037 Parameter_KompassWirkungC:\Temp/ccfR0jIT.s:277 .data:00000038 Parameter_Hoehe_ACC_WirkungC:\Temp/ccfR0jIT.s:282 .data:00000039 Parameter_Hoehe_PC:\Temp/ccfR0jIT.s:287 .data:0000003a Parameter_HoehenSchalterC:\Temp/ccfR0jIT.s:292 .data:0000003b Parameter_Luftdruck_DC:\Temp/ccfR0jIT.s:299 .bss:0000001b Looping_ObenC:\Temp/ccfR0jIT.s:305 .bss:0000001c Looping_UntenC:\Temp/ccfR0jIT.s:311 .bss:0000001d Looping_RechtsC:\Temp/ccfR0jIT.s:317 .bss:0000001e Looping_LinksC:\Temp/ccfR0jIT.s:323 .bss:0000001f Looping_RollC:\Temp/ccfR0jIT.s:329 .bss:00000020 Looping_NickC:\Temp/ccfR0jIT.s:335 .data:0000003c KiC:\Temp/ccfR0jIT.s:342 .bss:00000021 HoverGasC:\Temp/ccfR0jIT.s:348 .bss:00000023 LageKorrekturNickC:\Temp/ccfR0jIT.s:354 .bss:00000025 LageKorrekturRollC:\Temp/ccfR0jIT.s:360 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/ccfR0jIT.s:366 .bss:00000028 CalibrationDoneC:\Temp/ccfR0jIT.s:372 .bss:00000029 CompassGierSetpointC:\Temp/ccfR0jIT.s:378 .bss:0000002b WaypointTrimmingC:\Temp/ccfR0jIT.s:384 .data:0000003e carefree_oldC:\Temp/ccfR0jIT.s:391 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/ccfR0jIT.s:397 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/ccfR0jIT.s:403 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/ccfR0jIT.s:409 .bss:00000033 SollHoeheC:\Temp/ccfR0jIT.s:415 .bss:00000037 HoehenWertC:\Temp/ccfR0jIT.s:421 .bss:0000003b StartTriggerC:\Temp/ccfR0jIT.s:427 .bss:0000003c MotorenEinC:\Temp/ccfR0jIT.s:433 .bss:0000003d SenderOkayC:\Temp/ccfR0jIT.s:439 .bss:0000003e PotiC:\Temp/ccfR0jIT.s:445 .bss:00000047 StickGasC:\Temp/ccfR0jIT.s:451 .bss:00000049 StickGierC:\Temp/ccfR0jIT.s:457 .bss:0000004b StickRollC:\Temp/ccfR0jIT.s:463 .bss:0000004d StickNickC:\Temp/ccfR0jIT.s:469 .data:0000003f HoverGasMaxC:\Temp/ccfR0jIT.s:476 .bss:0000004f HoverGasMinC:\Temp/ccfR0jIT.s:482 .data:00000041 StickGasHoverC:\Temp/ccfR0jIT.s:489 .bss:00000051 GierGyroFehlerC:\Temp/ccfR0jIT.s:495 .data:00000043 Umschlag180RollC:\Temp/ccfR0jIT.s:500 .data:00000047 Umschlag180NickC:\Temp/ccfR0jIT.s:507 .bss:00000053 TrichterFlugC:\Temp/ccfR0jIT.s:513 .bss:00000054 HoehenReglerAktivC:\Temp/ccfR0jIT.s:519 .data:0000004b KompassSignalSchlechtC:\Temp/ccfR0jIT.s:524 .data:0000004d KompassFusionC:\Temp/ccfR0jIT.s:529 .data:0000004e CalculateCompassTimerC:\Temp/ccfR0jIT.s:536 .bss:00000055 KompassSollWertC:\Temp/ccfR0jIT.s:542 .data:0000004f KompassValueC:\Temp/ccfR0jIT.s:549 .bss:00000057 Mess_Integral_HochC:\Temp/ccfR0jIT.s:555 .bss:0000005b SummeRollC:\Temp/ccfR0jIT.s:561 .bss:0000005f SummeNickC:\Temp/ccfR0jIT.s:567 .bss:00000063 Mess_Integral_Gier2C:\Temp/ccfR0jIT.s:573 .bss:00000067 Mess_Integral_GierC:\Temp/ccfR0jIT.s:579 .bss:0000006b Mess_IntegralRoll2C:\Temp/ccfR0jIT.s:585 .bss:0000006f Mess_IntegralRollC:\Temp/ccfR0jIT.s:591 .bss:00000073 Mess_IntegralNick2C:\Temp/ccfR0jIT.s:597 .bss:00000077 Mess_IntegralNickC:\Temp/ccfR0jIT.s:603 .bss:0000007b Integral_GierC:\Temp/ccfR0jIT.s:609 .bss:0000007f IntegralAccZC:\Temp/ccfR0jIT.s:615 .bss:00000083 IntegralAccRollC:\Temp/ccfR0jIT.s:621 .bss:00000087 IntegralAccNickC:\Temp/ccfR0jIT.s:627 .bss:0000008b IntegralRoll2C:\Temp/ccfR0jIT.s:633 .bss:0000008f IntegralRollC:\Temp/ccfR0jIT.s:639 .bss:00000093 IntegralNick2C:\Temp/ccfR0jIT.s:645 .bss:00000097 IntegralNickC:\Temp/ccfR0jIT.s:651 .bss:0000009b ControlHeadingC:\Temp/ccfR0jIT.s:657 .bss:0000009c NeutralAccZC:\Temp/ccfR0jIT.s:663 .bss:0000009e NaviCntAccC:\Temp/ccfR0jIT.s:669 .bss:000000a0 NeutralAccYC:\Temp/ccfR0jIT.s:675 .bss:000000a2 NeutralAccXC:\Temp/ccfR0jIT.s:681 .bss:000000a4 StartNeutralNickC:\Temp/ccfR0jIT.s:687 .bss:000000a6 StartNeutralRollC:\Temp/ccfR0jIT.s:693 .bss:000000a8 AdNeutralGierC:\Temp/ccfR0jIT.s:699 .bss:000000aa AdNeutralRollC:\Temp/ccfR0jIT.s:705 .bss:000000ac AdNeutralNickC:\Temp/ccfR0jIT.s:711 .bss:000000ae BaroExpandActiveC:\Temp/ccfR0jIT.s:716 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000004 ErsatzKompassC:\Temp/ccfR0jIT.s:912 .text:00000254 PiepC:\Temp/ccfR0jIT.s:986 .text:000002da CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/ccfR0jIT.s:1128 .progmem.data:00000000 __c.35C:\Temp/ccfR0jIT.s:1133 .text:0000041c SetNeutral.bss:000000b0 tmpl.27C:\Temp/ccfR0jIT.s:1641 .bss:000000b4 tmpl2.28C:\Temp/ccfR0jIT.s:1642 .bss:000000b8 tmpl3.29C:\Temp/ccfR0jIT.s:1643 .bss:000000bc tmpl4.30C:\Temp/ccfR0jIT.s:1644 .bss:000000c0 oldNick.31C:\Temp/ccfR0jIT.s:1645 .bss:000000c2 oldRoll.32C:\Temp/ccfR0jIT.s:1646 .bss:000000c4 d2Roll.33C:\Temp/ccfR0jIT.s:1647 .bss:000000c6 d2Nick.34C:\Temp/ccfR0jIT.s:1651 .text:00000988 Mittelwert*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRoll*COM*:00000001 Parameter_GlobalConfig*COM*:00000002 KopplungsteilNickRoll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\Temp/ccfR0jIT.s:3216 .text:000018ec SendMotorDataC:\Temp/ccfR0jIT.s:3276 .text:00001966 ParameterZuordnung*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_Servo3*COM*:00000001 Parameter_Servo4*COM*:00000001 Parameter_Servo5*COM*:00000001 Parameter_MaximumAltitude*COM*:00000001 Parameter_ExtraConfig*COM*:00000001 Parameter_ExternalControl*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\Temp/ccfR0jIT.s:1648 .bss:000000c8 sollGier.0C:\Temp/ccfR0jIT.s:4019 .bss:000000cc tmp_long.1C:\Temp/ccfR0jIT.s:4020 .bss:000000d0 tmp_long2.2C:\Temp/ccfR0jIT.s:4021 .bss:000000d4 IntegralFehlerNick.3C:\Temp/ccfR0jIT.s:4022 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/ccfR0jIT.s:4023 .bss:000000dc RcLostTimer.5C:\Temp/ccfR0jIT.s:4024 .bss:000000de delay_neutral.6C:\Temp/ccfR0jIT.s:4025 .bss:000000df delay_einschalten.7C:\Temp/ccfR0jIT.s:4026 .bss:000000e0 delay_ausschalten.8C:\Temp/ccfR0jIT.s:4027 .bss:000000e1 move_safety_switch.9C:\Temp/ccfR0jIT.s:4028 .bss:000000e2 ausgleichNick.10C:\Temp/ccfR0jIT.s:4029 .bss:000000e6 ausgleichRoll.11C:\Temp/ccfR0jIT.s:4030 .bss:000000ea stick_nick.12C:\Temp/ccfR0jIT.s:4031 .bss:000000ec stick_roll.13C:\Temp/ccfR0jIT.s:4032 .bss:000000ee cnt.14C:\Temp/ccfR0jIT.s:4033 .bss:000000f0 last_n_p.15C:\Temp/ccfR0jIT.s:4034 .bss:000000f1 last_n_n.16C:\Temp/ccfR0jIT.s:4035 .bss:000000f2 last_r_p.17C:\Temp/ccfR0jIT.s:4036 .bss:000000f3 last_r_n.18C:\Temp/ccfR0jIT.s:4037 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/ccfR0jIT.s:4038 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/ccfR0jIT.s:4039 .bss:000000fc HeightTrimming.21C:\Temp/ccfR0jIT.s:4040 .bss:000000fe FilterHCGas.22C:\Temp/ccfR0jIT.s:4041 .bss:00000100 HoverGasFilter.23C:\Temp/ccfR0jIT.s:4046 .data:00000051 delay.24C:\Temp/ccfR0jIT.s:4042 .bss:00000104 BaroAtUpperLimit.25C:\Temp/ccfR0jIT.s:4048 .bss:00000105 BaroAtLowerLimit.26C:\Temp/ccfR0jIT.s:4053 .text:00001f9e MotorRegler*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 IntegralFaktorGier*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2*COM*:00000002 ErsatzKompassInGrad*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000018 tmp_motorwert*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsModeControl*COM*:00000001 Parameter_NaviGpsGain*COM*:00000001 Parameter_NaviGpsP*COM*:00000001 Parameter_NaviGpsI*COM*:00000001 Parameter_NaviGpsD*COM*:00000001 Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED SYMBOLS__do_copy_data__do_clear_bssEE_Parameter__divmodsi4DebugOutAdWertGierAdWertAccHochUBatMotorCapacityServoNickValueGPS_NickGPS_RollVersionInfoPlatinenVersionbeeptimeUpdateMotorLIBFC_PollingSucheGyroOffsetAdWertNickAdWertRollAdWertAccNickAdWertAccRollPPM_in__mulsi3__prologue_saves__ExpandBaroDelay_ms_MessMessLuftdruckSucheLuftruckOffset__divmodhi4Aktuell_azSetParamWordGetParamWorduart_putchar_printf_PLuftdruckStartLuftdruckVarioMeterLED_InitFromNaviCtrl_ValueServoActiveNickServoValueLIBFC_HoTT_Clear__epilogue_restores__AdWertNickFilterAdWertRollFilterAdReadyHiResNickHiResRollMotorTestPC_MotortestActiveI2C_TransferActivemotor_writetwi_stateBLFlagsNC_To_FC_MaxAltitudeSpeakHoTTFromNaviCtrlBeepMusterPPM_diffSetActiveParamSetWinkelOutGetActiveParamSetParamSet_ReadFromEEPromLipoDetectionLIBFC_ReceiverInitNC_ErrorCodeGPSInfoNewPpmDataFromNC_Rotate_CFromNC_Rotate_SGPS_Aid_StickMultiplikator__floatsisf__addsf3__fixunssfsiExternControlZaehlMessungenBattLowVoltageWarning__udivmodhi4DruckOffsetSettingSummenHoeheihypotc_cos_8192__udivmodqi4NC_To_FC_FlagsMissingMotorMixer