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1 .file "fc.c"2 .arch atmega1284p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global GasIsZeroCnt11 .global GasIsZeroCnt12 .section .bss15 GasIsZeroCnt:16 0000 0000 .skip 2,017 .global HooverGasEmergencyPercent18 .global HooverGasEmergencyPercent21 HooverGasEmergencyPercent:22 0002 0000 .skip 2,023 .global VarioCharacter24 .data27 VarioCharacter:28 0000 20 .byte 3229 .global GIER_GRAD_FAKTOR32 GIER_GRAD_FAKTOR:33 0001 0B05 0000 .long 129134 .global FC_StatusFlags235 .global FC_StatusFlags236 .section .bss39 FC_StatusFlags2:40 0004 00 .skip 1,041 .global FC_StatusFlags42 .global FC_StatusFlags45 FC_StatusFlags:46 0005 00 .skip 1,047 .global modell_fliegt48 .global modell_fliegt51 modell_fliegt:52 0006 0000 .skip 2,053 .global MaxStickRoll54 .global MaxStickRoll57 MaxStickRoll:58 0008 0000 .skip 2,059 .global MaxStickNick60 .global MaxStickNick63 MaxStickNick:64 000a 0000 .skip 2,065 .global ExternHoehenValue66 .data69 ExternHoehenValue:70 0005 ECFF .word -2071 .global ExternStickGier72 .global ExternStickGier73 .section .bss76 ExternStickGier:77 000c 0000 .skip 2,078 .global ExternStickRoll79 .global ExternStickRoll82 ExternStickRoll:83 000e 0000 .skip 2,084 .global ExternStickNick85 .global ExternStickNick88 ExternStickNick:89 0010 0000 .skip 2,090 .global sintab91 .data94 sintab:95 0007 00 .byte 096 0008 02 .byte 297 0009 04 .byte 498 000a 06 .byte 699 000b 07 .byte 7100 000c 08 .byte 8101 000d 08 .byte 8102 000e 08 .byte 8103 000f 07 .byte 7104 0010 06 .byte 6105 0011 04 .byte 4106 0012 02 .byte 2107 0013 00 .byte 0108 0014 FE .byte -2109 0015 FC .byte -4110 0016 FA .byte -6111 0017 F9 .byte -7112 0018 F8 .byte -8113 0019 F8 .byte -8114 001a F8 .byte -8115 001b F9 .byte -7116 001c FA .byte -6117 001d FC .byte -4118 001e FE .byte -2119 001f 00 .byte 0120 0020 02 .byte 2121 0021 04 .byte 4122 0022 06 .byte 6123 0023 07 .byte 7124 0024 08 .byte 8125 0025 08 .byte 8126 .global CareFree127 .global CareFree128 .section .bss131 CareFree:132 0012 00 .skip 1,0133 .global Parameter_DynamicStability134 .data137 Parameter_DynamicStability:138 0026 64 .byte 100139 .global Parameter_CouplingYawCorrection142 Parameter_CouplingYawCorrection:143 0027 40 .byte 64144 .global Parameter_AchsKopplung2147 Parameter_AchsKopplung2:148 0028 41 .byte 65149 .global Parameter_AchsKopplung1152 Parameter_AchsKopplung1:153 0029 5A .byte 90154 .global Parameter_LoopGasLimit157 Parameter_LoopGasLimit:158 002a 46 .byte 70159 .global Parameter_ServoRollControl162 Parameter_ServoRollControl:163 002b 64 .byte 100164 .global Parameter_ServoNickControl167 Parameter_ServoNickControl:168 002c 64 .byte 100169 .global Parameter_UserParam8170 .global Parameter_UserParam8171 .section .bss174 Parameter_UserParam8:175 0013 00 .skip 1,0176 .global Parameter_UserParam7177 .global Parameter_UserParam7180 Parameter_UserParam7:181 0014 00 .skip 1,0182 .global Parameter_UserParam6183 .global Parameter_UserParam6186 Parameter_UserParam6:187 0015 00 .skip 1,0188 .global Parameter_UserParam5189 .global Parameter_UserParam5192 Parameter_UserParam5:193 0016 00 .skip 1,0194 .global Parameter_UserParam4195 .global Parameter_UserParam4198 Parameter_UserParam4:199 0017 00 .skip 1,0200 .global Parameter_UserParam3201 .global Parameter_UserParam3204 Parameter_UserParam3:205 0018 00 .skip 1,0206 .global Parameter_UserParam2207 .global Parameter_UserParam2210 Parameter_UserParam2:211 0019 00 .skip 1,0212 .global Parameter_UserParam1213 .global Parameter_UserParam1216 Parameter_UserParam1:217 001a 00 .skip 1,0218 .global Parameter_I_Faktor219 .data222 Parameter_I_Faktor:223 002d 0A .byte 10224 .global Parameter_Gier_P227 Parameter_Gier_P:228 002e 02 .byte 2229 .global Parameter_Gyro_Gier_I232 Parameter_Gyro_Gier_I:233 002f 96 .byte -106234 .global Parameter_Gyro_Gier_P237 Parameter_Gyro_Gier_P:238 0030 96 .byte -106239 .global Parameter_Gyro_I242 Parameter_Gyro_I:243 0031 96 .byte -106244 .global Parameter_Gyro_P247 Parameter_Gyro_P:248 0032 96 .byte -106249 .global Parameter_Gyro_D252 Parameter_Gyro_D:253 0033 08 .byte 8254 .global Parameter_Hoehe_GPS_Z257 Parameter_Hoehe_GPS_Z:258 0034 40 .byte 64259 .global Parameter_KompassWirkung262 Parameter_KompassWirkung:263 0035 40 .byte 64264 .global Parameter_Hoehe_ACC_Wirkung267 Parameter_Hoehe_ACC_Wirkung:268 0036 3A .byte 58269 .global Parameter_Hoehe_P272 Parameter_Hoehe_P:273 0037 10 .byte 16274 .global Parameter_HoehenSchalter277 Parameter_HoehenSchalter:278 0038 FB .byte -5279 .global Parameter_Luftdruck_D282 Parameter_Luftdruck_D:283 0039 30 .byte 48284 .global Looping_Oben285 .global Looping_Oben286 .section .bss289 Looping_Oben:290 001b 00 .skip 1,0291 .global Looping_Unten292 .global Looping_Unten295 Looping_Unten:296 001c 00 .skip 1,0297 .global Looping_Rechts298 .global Looping_Rechts301 Looping_Rechts:302 001d 00 .skip 1,0303 .global Looping_Links304 .global Looping_Links307 Looping_Links:308 001e 00 .skip 1,0309 .global Looping_Roll310 .global Looping_Roll313 Looping_Roll:314 001f 00 .skip 1,0315 .global Looping_Nick316 .global Looping_Nick319 Looping_Nick:320 0020 00 .skip 1,0321 .global Ki322 .data325 Ki:326 003a 3801 .word 312327 .global HoverGas328 .global HoverGas329 .section .bss332 HoverGas:333 0021 0000 .skip 2,0334 .global LageKorrekturNick335 .global LageKorrekturNick338 LageKorrekturNick:339 0023 0000 .skip 2,0340 .global LageKorrekturRoll341 .global LageKorrekturRoll344 LageKorrekturRoll:345 0025 0000 .skip 2,0346 .global NeueKompassRichtungMerken347 .global NeueKompassRichtungMerken350 NeueKompassRichtungMerken:351 0027 00 .skip 1,0352 .global CalibrationDone353 .global CalibrationDone356 CalibrationDone:357 0028 00 .skip 1,0358 .global CompassGierSetpoint359 .global CompassGierSetpoint362 CompassGierSetpoint:363 0029 0000 .skip 2,0364 .global WaypointTrimming365 .global WaypointTrimming368 WaypointTrimming:369 002b 00 .skip 1,0370 .global carefree_old371 .data374 carefree_old:375 003c 32 .byte 50376 .global FromNC_AltitudeSpeed377 .global FromNC_AltitudeSpeed378 .section .bss381 FromNC_AltitudeSpeed:382 002c 00 .skip 1,0383 .global FromNC_AltitudeSetpoint384 .global FromNC_AltitudeSetpoint387 FromNC_AltitudeSetpoint:388 002d 0000 0000 .skip 4,0389 .global AltitudeSetpointTrimming390 .global AltitudeSetpointTrimming393 AltitudeSetpointTrimming:394 0031 0000 .skip 2,0395 .global SollHoehe396 .global SollHoehe399 SollHoehe:400 0033 0000 0000 .skip 4,0401 .global HoehenWert402 .global HoehenWert405 HoehenWert:406 0037 0000 0000 .skip 4,0407 .global StartTrigger408 .global StartTrigger411 StartTrigger:412 003b 00 .skip 1,0413 .global MotorenEin414 .global MotorenEin417 MotorenEin:418 003c 00 .skip 1,0419 .global SenderOkay420 .global SenderOkay423 SenderOkay:424 003d 00 .skip 1,0425 .global Poti426 .global Poti429 Poti:430 003e 0000 0000 .skip 9,0430 0000 0000430 00431 .global StickGas432 .global StickGas435 StickGas:436 0047 0000 .skip 2,0437 .global StickGier438 .global StickGier441 StickGier:442 0049 0000 .skip 2,0443 .global StickRoll444 .global StickRoll447 StickRoll:448 004b 0000 .skip 2,0449 .global StickNick450 .global StickNick453 StickNick:454 004d 0000 .skip 2,0455 .global HoverGasMax456 .data459 HoverGasMax:460 003d FF03 .word 1023461 .global HoverGasMin462 .global HoverGasMin463 .section .bss466 HoverGasMin:467 004f 0000 .skip 2,0468 .global StickGasHover469 .data472 StickGasHover:473 003f 7800 .word 120474 .global GierGyroFehler475 .global GierGyroFehler476 .section .bss479 GierGyroFehler:480 0051 0000 .skip 2,0481 .global Umschlag180Roll482 .data485 Umschlag180Roll:486 0041 90D0 0300 .long 250000487 .global Umschlag180Nick490 Umschlag180Nick:491 0045 90D0 0300 .long 250000492 .global TrichterFlug493 .global TrichterFlug494 .section .bss497 TrichterFlug:498 0053 00 .skip 1,0499 .global HoehenReglerAktiv500 .global HoehenReglerAktiv503 HoehenReglerAktiv:504 0054 00 .skip 1,0505 .global KompassSignalSchlecht506 .data509 KompassSignalSchlecht:510 0049 3200 .word 50511 .global KompassFusion514 KompassFusion:515 004b 20 .byte 32516 .global CalculateCompassTimer519 CalculateCompassTimer:520 004c 64 .byte 100521 .global KompassSollWert522 .global KompassSollWert523 .section .bss526 KompassSollWert:527 0055 0000 .skip 2,0528 .global KompassValue529 .data532 KompassValue:533 004d FFFF .word -1534 .global Mess_Integral_Hoch535 .global Mess_Integral_Hoch536 .section .bss539 Mess_Integral_Hoch:540 0057 0000 0000 .skip 4,0541 .global SummeRoll542 .global SummeRoll545 SummeRoll:546 005b 0000 0000 .skip 4,0547 .global SummeNick548 .global SummeNick551 SummeNick:552 005f 0000 0000 .skip 4,0553 .global Mess_Integral_Gier2554 .global Mess_Integral_Gier2557 Mess_Integral_Gier2:558 0063 0000 0000 .skip 4,0559 .global Mess_Integral_Gier560 .global Mess_Integral_Gier563 Mess_Integral_Gier:564 0067 0000 0000 .skip 4,0565 .global Mess_IntegralRoll2566 .global Mess_IntegralRoll2569 Mess_IntegralRoll2:570 006b 0000 0000 .skip 4,0571 .global Mess_IntegralRoll572 .global Mess_IntegralRoll575 Mess_IntegralRoll:576 006f 0000 0000 .skip 4,0577 .global Mess_IntegralNick2578 .global Mess_IntegralNick2581 Mess_IntegralNick2:582 0073 0000 0000 .skip 4,0583 .global Mess_IntegralNick584 .global Mess_IntegralNick587 Mess_IntegralNick:588 0077 0000 0000 .skip 4,0589 .global Integral_Gier590 .global Integral_Gier593 Integral_Gier:594 007b 0000 0000 .skip 4,0595 .global IntegralAccZ596 .global IntegralAccZ599 IntegralAccZ:600 007f 0000 0000 .skip 4,0601 .global IntegralAccRoll602 .global IntegralAccRoll605 IntegralAccRoll:606 0083 0000 0000 .skip 4,0607 .global IntegralAccNick608 .global IntegralAccNick611 IntegralAccNick:612 0087 0000 0000 .skip 4,0613 .global IntegralRoll2614 .global IntegralRoll2617 IntegralRoll2:618 008b 0000 0000 .skip 4,0619 .global IntegralRoll620 .global IntegralRoll623 IntegralRoll:624 008f 0000 0000 .skip 4,0625 .global IntegralNick2626 .global IntegralNick2629 IntegralNick2:630 0093 0000 0000 .skip 4,0631 .global IntegralNick632 .global IntegralNick635 IntegralNick:636 0097 0000 0000 .skip 4,0637 .global ControlHeading638 .global ControlHeading641 ControlHeading:642 009b 00 .skip 1,0643 .global NeutralAccZ644 .global NeutralAccZ647 NeutralAccZ:648 009c 0000 .skip 2,0649 .global NaviCntAcc650 .global NaviCntAcc653 NaviCntAcc:654 009e 0000 .skip 2,0655 .global NeutralAccY656 .global NeutralAccY659 NeutralAccY:660 00a0 0000 .skip 2,0661 .global NeutralAccX662 .global NeutralAccX665 NeutralAccX:666 00a2 0000 .skip 2,0667 .global StartNeutralNick668 .global StartNeutralNick671 StartNeutralNick:672 00a4 0000 .skip 2,0673 .global StartNeutralRoll674 .global StartNeutralRoll677 StartNeutralRoll:678 00a6 0000 .skip 2,0679 .global AdNeutralGier680 .global AdNeutralGier683 AdNeutralGier:684 00a8 0000 .skip 2,0685 .global AdNeutralRoll686 .global AdNeutralRoll689 AdNeutralRoll:690 00aa 0000 .skip 2,0691 .global AdNeutralNick692 .global AdNeutralNick695 AdNeutralNick:696 00ac 0000 .skip 2,0697 .global BaroExpandActive698 .global BaroExpandActive701 BaroExpandActive:702 00ae 0000 .skip 2,0703 .text704 .global CopyDebugValues706 CopyDebugValues:707 /* prologue: frame size=0 */708 0000 EF92 push r14709 0002 FF92 push r15710 0004 0F93 push r16711 0006 1F93 push r17712 /* prologue end (size=4) */713 0008 8091 0000 lds r24,EE_Parameter+28714 000c 9927 clr r25715 000e 880F lsl r24716 0010 991F rol r25717 0012 880F lsl r24718 0014 991F rol r25719 0016 7C01 movw r14,r24720 0018 0027 clr r16721 001a F7FC sbrc r15,7722 001c 0095 com r16723 001e 102F mov r17,r16724 0020 8091 0000 lds r24,IntegralNick725 0024 9091 0000 lds r25,(IntegralNick)+1726 0028 A091 0000 lds r26,(IntegralNick)+2727 002c B091 0000 lds r27,(IntegralNick)+3728 0030 BC01 movw r22,r24729 0032 CD01 movw r24,r26730 0034 A801 movw r20,r16731 0036 9701 movw r18,r14732 0038 0E94 0000 call __divmodsi4733 003c 3093 0000 sts (DebugOut+2)+1,r19734 0040 2093 0000 sts DebugOut+2,r18735 0044 8091 0000 lds r24,IntegralRoll736 0048 9091 0000 lds r25,(IntegralRoll)+1737 004c A091 0000 lds r26,(IntegralRoll)+2738 0050 B091 0000 lds r27,(IntegralRoll)+3739 0054 BC01 movw r22,r24740 0056 CD01 movw r24,r26741 0058 A801 movw r20,r16742 005a 9701 movw r18,r14743 005c 0E94 0000 call __divmodsi4744 0060 3093 0000 sts (DebugOut+4)+1,r19745 0064 2093 0000 sts DebugOut+4,r18746 0068 8091 0000 lds r24,Mittelwert_AccNick747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1748 0070 97FD sbrc r25,7749 0072 0396 adiw r24,3750 .L2:751 0074 9595 asr r25752 0076 8795 ror r24753 0078 9595 asr r25754 007a 8795 ror r24755 007c 9093 0000 sts (DebugOut+6)+1,r25756 0080 8093 0000 sts DebugOut+6,r24757 0084 8091 0000 lds r24,Mittelwert_AccRoll758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1759 008c 97FD sbrc r25,7760 008e 0396 adiw r24,3761 .L3:762 0090 9595 asr r25763 0092 8795 ror r24764 0094 9595 asr r25765 0096 8795 ror r24766 0098 9093 0000 sts (DebugOut+8)+1,r25767 009c 8093 0000 sts DebugOut+8,r24768 00a0 8091 0000 lds r24,SollHoehe769 00a4 9091 0000 lds r25,(SollHoehe)+1770 00a8 A091 0000 lds r26,(SollHoehe)+2771 00ac B091 0000 lds r27,(SollHoehe)+3772 00b0 BC01 movw r22,r24773 00b2 CD01 movw r24,r26774 00b4 25E0 ldi r18,lo8(5)775 00b6 30E0 ldi r19,hi8(5)776 00b8 40E0 ldi r20,hlo8(5)777 00ba 50E0 ldi r21,hhi8(5)778 00bc 0E94 0000 call __divmodsi4779 00c0 3093 0000 sts (DebugOut+10)+1,r19780 00c4 2093 0000 sts DebugOut+10,r18781 00c8 8091 0000 lds r24,HoehenWert782 00cc 9091 0000 lds r25,(HoehenWert)+1783 00d0 A091 0000 lds r26,(HoehenWert)+2784 00d4 B091 0000 lds r27,(HoehenWert)+3785 00d8 BC01 movw r22,r24786 00da CD01 movw r24,r26787 00dc 25E0 ldi r18,lo8(5)788 00de 30E0 ldi r19,hi8(5)789 00e0 40E0 ldi r20,hlo8(5)790 00e2 50E0 ldi r21,hhi8(5)791 00e4 0E94 0000 call __divmodsi4792 00e8 3093 0000 sts (DebugOut+12)+1,r19793 00ec 2093 0000 sts DebugOut+12,r18794 00f0 8091 0000 lds r24,KompassValue795 00f4 9091 0000 lds r25,(KompassValue)+1796 00f8 9093 0000 sts (DebugOut+14)+1,r25797 00fc 8093 0000 sts DebugOut+14,r24798 0100 8091 0000 lds r24,KompassSollWert799 0104 9091 0000 lds r25,(KompassSollWert)+1800 0108 9093 0000 sts (DebugOut+16)+1,r25801 010c 8093 0000 sts DebugOut+16,r24802 0110 8091 0000 lds r24,Capacity803 0114 9091 0000 lds r25,(Capacity)+1804 0118 9093 0000 sts (DebugOut+18)+1,r25805 011c 8093 0000 sts DebugOut+18,r24806 0120 8091 0000 lds r24,UBat807 0124 9091 0000 lds r25,(UBat)+1808 0128 9093 0000 sts (DebugOut+20)+1,r25809 012c 8093 0000 sts DebugOut+20,r24810 0130 8091 0000 lds r24,Motor+1811 0134 9927 clr r25812 0136 9093 0000 sts (DebugOut+22)+1,r25813 013a 8093 0000 sts DebugOut+22,r24814 013e 8091 0000 lds r24,Motor+9815 0142 9927 clr r25816 0144 9093 0000 sts (DebugOut+24)+1,r25817 0148 8093 0000 sts DebugOut+24,r24818 014c 8091 0000 lds r24,Motor+17819 0150 9927 clr r25820 0152 9093 0000 sts (DebugOut+26)+1,r25821 0156 8093 0000 sts DebugOut+26,r24822 015a 8091 0000 lds r24,Motor+25823 015e 9927 clr r25824 0160 9093 0000 sts (DebugOut+28)+1,r25825 0164 8093 0000 sts DebugOut+28,r24826 0168 8091 0000 lds r24,Motor+33827 016c 9927 clr r25828 016e 9093 0000 sts (DebugOut+30)+1,r25829 0172 8093 0000 sts DebugOut+30,r24830 0176 8091 0000 lds r24,Motor+41831 017a 9927 clr r25832 017c 9093 0000 sts (DebugOut+32)+1,r25833 0180 8093 0000 sts DebugOut+32,r24834 0184 8091 0000 lds r24,SenderOkay835 0188 9927 clr r25836 018a 9093 0000 sts (DebugOut+34)+1,r25837 018e 8093 0000 sts DebugOut+34,r24838 0192 8091 0000 lds r24,ErsatzKompass839 0196 9091 0000 lds r25,(ErsatzKompass)+1840 019a A091 0000 lds r26,(ErsatzKompass)+2841 019e B091 0000 lds r27,(ErsatzKompass)+3842 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR843 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1844 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2845 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3846 01b2 BC01 movw r22,r24847 01b4 CD01 movw r24,r26848 01b6 0E94 0000 call __divmodsi4849 01ba 3093 0000 sts (DebugOut+36)+1,r19850 01be 2093 0000 sts DebugOut+36,r18851 01c2 8091 0000 lds r24,AdNeutralGier852 01c6 9091 0000 lds r25,(AdNeutralGier)+1853 01ca 2091 0000 lds r18,AdWertGier854 01ce 3091 0000 lds r19,(AdWertGier)+1855 01d2 821B sub r24,r18856 01d4 930B sbc r25,r19857 01d6 9093 0000 sts (DebugOut+38)+1,r25858 01da 8093 0000 sts DebugOut+38,r24859 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__860 01e2 1092 0000 sts DebugOut+40,__zero_reg__861 01e6 8091 0000 lds r24,ServoNickValue862 01ea 9091 0000 lds r25,(ServoNickValue)+1863 01ee 9093 0000 sts (DebugOut+42)+1,r25864 01f2 8093 0000 sts DebugOut+42,r24865 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__866 01fa 1092 0000 sts DebugOut+44,__zero_reg__867 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__868 0202 1092 0000 sts DebugOut+46,__zero_reg__869 0206 8091 0000 lds r24,Capacity+4870 020a 9091 0000 lds r25,(Capacity+4)+1871 020e 9093 0000 sts (DebugOut+48)+1,r25872 0212 8093 0000 sts DebugOut+48,r24873 0216 8091 0000 lds r24,Capacity+6874 021a 9927 clr r25875 021c 9093 0000 sts (DebugOut+50)+1,r25876 0220 8093 0000 sts DebugOut+50,r24877 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__878 0228 1092 0000 sts DebugOut+52,__zero_reg__879 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__880 0230 1092 0000 sts DebugOut+54,__zero_reg__881 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__882 0238 1092 0000 sts DebugOut+56,__zero_reg__883 023c 8091 0000 lds r24,AdWertAccHoch884 0240 9091 0000 lds r25,(AdWertAccHoch)+1885 0244 9093 0000 sts (DebugOut+58)+1,r25886 0248 8093 0000 sts DebugOut+58,r24887 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__888 0250 1092 0000 sts DebugOut+60,__zero_reg__889 0254 8091 0000 lds r24,GPS_Nick890 0258 9091 0000 lds r25,(GPS_Nick)+1891 025c 9093 0000 sts (DebugOut+62)+1,r25892 0260 8093 0000 sts DebugOut+62,r24893 0264 8091 0000 lds r24,GPS_Roll894 0268 9091 0000 lds r25,(GPS_Roll)+1895 026c 9093 0000 sts (DebugOut+64)+1,r25896 0270 8093 0000 sts DebugOut+64,r24897 0274 8091 0000 lds r24,VersionInfo+5898 0278 8823 tst r24899 027a 01F4 brne .L5900 027c 8091 0000 lds r24,VersionInfo+6901 0280 8823 tst r24902 0282 01F0 breq .L4903 .L5:904 0284 8091 0000 lds r24,DebugOut+1905 0288 8160 ori r24,lo8(1)906 028a 00C0 rjmp .L7907 .L4:908 028c 8091 0000 lds r24,DebugOut+1909 0290 8E7F andi r24,lo8(-2)910 .L7:911 0292 8093 0000 sts DebugOut+1,r24912 /* epilogue: frame size=0 */913 0296 1F91 pop r17914 0298 0F91 pop r16915 029a FF90 pop r15916 029c EF90 pop r14917 029e 0895 ret918 /* epilogue end (size=5) */919 /* function CopyDebugValues size 338 (329) */921 .global Piep923 Piep:924 /* prologue: frame size=0 */925 02a0 EF92 push r14926 02a2 FF92 push r15927 02a4 1F93 push r17928 02a6 CF93 push r28929 02a8 DF93 push r29930 /* prologue end (size=5) */931 02aa 182F mov r17,r24932 02ac 7B01 movw r14,r22933 02ae 8091 0000 lds r24,MotorenEin934 02b2 8823 tst r24935 02b4 01F4 brne .L8936 02b6 8091 0000 lds r24,PlatinenVersion937 02ba 8C30 cpi r24,lo8(12)938 02bc 00F0 brlo .L11939 02be 8631 cpi r24,lo8(22)940 02c0 01F4 brne .L10941 .L11:942 02c2 2998 cbi 37-0x20,1943 02c4 00C0 rjmp .L12944 .L10:945 02c6 299A sbi 37-0x20,1946 .L12:947 02c8 1150 subi r17,lo8(-(-1))948 02ca 1F3F cpi r17,lo8(-1)949 02cc 01F0 breq .L26950 02ce F092 0000 sts (beeptime)+1,r15951 02d2 E092 0000 sts beeptime,r14952 02d6 E701 movw r28,r14953 .L34:954 02d8 8091 0000 lds r24,beeptime955 02dc 9091 0000 lds r25,(beeptime)+1956 02e0 892B or r24,r25957 02e2 01F4 brne .L31958 02e4 2097 sbiw r28,0959 02e6 01F0 breq .L12960 .L31:961 02e8 8091 0000 lds r24,UpdateMotor962 02ec 8823 tst r24963 02ee 01F0 breq .L34964 02f0 1092 0000 sts UpdateMotor,__zero_reg__965 02f4 8091 0000 lds r24,beeptime966 02f8 9091 0000 lds r25,(beeptime)+1967 02fc 892B or r24,r25968 02fe 01F4 brne .L19969 0300 2197 sbiw r28,1970 .L19:971 0302 0E94 0000 call LIBFC_Polling972 0306 00C0 rjmp .L34973 .L26:974 0308 8091 0000 lds r24,PlatinenVersion975 030c 8C30 cpi r24,lo8(12)976 030e 00F0 brlo .L23977 0310 8631 cpi r24,lo8(22)978 0312 01F4 brne .L22979 .L23:980 0314 299A sbi 37-0x20,1981 0316 00C0 rjmp .L8982 .L22:983 0318 2998 cbi 37-0x20,1984 .L8:985 /* epilogue: frame size=0 */986 031a DF91 pop r29987 031c CF91 pop r28988 031e 1F91 pop r17989 0320 FF90 pop r15990 0322 EF90 pop r14991 0324 0895 ret992 /* epilogue end (size=6) */993 /* function Piep size 67 (56) */995 .global CalibrierMittelwert997 CalibrierMittelwert:998 /* prologue: frame size=0 */999 0326 CF93 push r281000 0328 DF93 push r291001 /* prologue end (size=2) */1002 032a 8091 0000 lds r24,PlatinenVersion1003 032e 8D30 cpi r24,lo8(13)1004 0330 01F4 brne .L361005 0332 0E94 0000 call SucheGyroOffset1006 .L36:1007 0336 1092 7A00 sts 122,__zero_reg__1008 033a 8091 0000 lds r24,AdWertNick1009 033e 9091 0000 lds r25,(AdWertNick)+11010 0342 9093 0000 sts (MesswertNick)+1,r251011 0346 8093 0000 sts MesswertNick,r241012 034a 8091 0000 lds r24,AdWertRoll1013 034e 9091 0000 lds r25,(AdWertRoll)+11014 0352 9093 0000 sts (MesswertRoll)+1,r251015 0356 8093 0000 sts MesswertRoll,r241016 035a 8091 0000 lds r24,AdWertGier1017 035e 9091 0000 lds r25,(AdWertGier)+11018 0362 9093 0000 sts (MesswertGier)+1,r251019 0366 8093 0000 sts MesswertGier,r241020 036a 2091 0000 lds r18,AdWertAccNick1021 036e 3091 0000 lds r19,(AdWertAccNick)+11022 0372 C901 movw r24,r181023 0374 880F lsl r241024 0376 991F rol r251025 0378 880F lsl r241026 037a 991F rol r251027 037c 820F add r24,r181028 037e 931F adc r25,r191029 0380 820F add r24,r181030 0382 931F adc r25,r191031 0384 9093 0000 sts (Mittelwert_AccNick)+1,r251032 0388 8093 0000 sts Mittelwert_AccNick,r241033 038c 2091 0000 lds r18,AdWertAccRoll1034 0390 3091 0000 lds r19,(AdWertAccRoll)+11035 0394 C901 movw r24,r181036 0396 880F lsl r241037 0398 991F rol r251038 039a 880F lsl r241039 039c 991F rol r251040 039e 820F add r24,r181041 03a0 931F adc r25,r191042 03a2 820F add r24,r181043 03a4 931F adc r25,r191044 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r251045 03aa 8093 0000 sts Mittelwert_AccRoll,r241046 03ae 8FEC ldi r24,lo8(-49)1047 03b0 8093 7A00 sts 122,r241048 03b4 A0E0 ldi r26,lo8(Poti)1049 03b6 B0E0 ldi r27,hi8(Poti)1050 03b8 C0E0 ldi r28,lo8(EE_Parameter+5)1051 03ba D0E0 ldi r29,hi8(EE_Parameter+5)1052 03bc 97E0 ldi r25,lo8(7)1053 .L46:1054 03be 8991 ld r24,Y+1055 03c0 E82F mov r30,r241056 03c2 FF27 clr r311057 03c4 EE0F add r30,r301058 03c6 FF1F adc r31,r311059 03c8 E050 subi r30,lo8(-(PPM_in))1060 03ca F040 sbci r31,hi8(-(PPM_in))1061 03cc 0190 ld __tmp_reg__,Z+1062 03ce F081 ld r31,Z1063 03d0 E02D mov r30,__tmp_reg__1064 03d2 E158 subi r30,lo8(-(127))1065 03d4 FF4F sbci r31,hi8(-(127))1066 03d6 1E16 cp __zero_reg__,r301067 03d8 1F06 cpc __zero_reg__,r311068 03da 04F0 brlt .L401069 03dc E0E0 ldi r30,lo8(0)1070 03de F0E0 ldi r31,hi8(0)1071 03e0 00C0 rjmp .L411072 .L40:1073 03e2 EF3F cpi r30,2551074 03e4 F105 cpc r31,__zero_reg__1075 03e6 04F0 brlt .L411076 03e8 EFEF ldi r30,lo8(255)1077 03ea F0E0 ldi r31,hi8(255)1078 .L41:1079 03ec 8C91 ld r24,X1080 03ee 282F mov r18,r241081 03f0 3327 clr r191082 03f2 E217 cp r30,r181083 03f4 F307 cpc r31,r191084 03f6 04F4 brge .L431085 03f8 8150 subi r24,lo8(-(-1))1086 03fa 00C0 rjmp .L491087 .L43:1088 03fc 2E17 cp r18,r301089 03fe 3F07 cpc r19,r311090 0400 04F4 brge .L391091 0402 8F5F subi r24,lo8(-(1))1092 .L49:1093 0404 8C93 st X,r241094 .L39:1095 0406 9150 subi r25,lo8(-(-1))1096 0408 1196 adiw r26,11097 040a 97FF sbrs r25,71098 040c 00C0 rjmp .L461099 040e 8091 0000 lds r24,EE_Parameter+651100 0412 9927 clr r251101 0414 AA27 clr r261102 0416 BB27 clr r271103 0418 BC01 movw r22,r241104 041a CD01 movw r24,r261105 041c 24EC ldi r18,lo8(2500)1106 041e 39E0 ldi r19,hi8(2500)1107 0420 40E0 ldi r20,hlo8(2500)1108 0422 50E0 ldi r21,hhi8(2500)1109 0424 0E94 0000 call __mulsi31110 0428 DC01 movw r26,r241111 042a CB01 movw r24,r221112 042c 8093 0000 sts Umschlag180Nick,r241113 0430 9093 0000 sts (Umschlag180Nick)+1,r251114 0434 A093 0000 sts (Umschlag180Nick)+2,r261115 0438 B093 0000 sts (Umschlag180Nick)+3,r271116 043c 8091 0000 lds r24,EE_Parameter+661117 0440 9927 clr r251118 0442 AA27 clr r261119 0444 BB27 clr r271120 0446 BC01 movw r22,r241121 0448 CD01 movw r24,r261122 044a 0E94 0000 call __mulsi31123 044e DC01 movw r26,r241124 0450 CB01 movw r24,r221125 0452 8093 0000 sts Umschlag180Roll,r241126 0456 9093 0000 sts (Umschlag180Roll)+1,r251127 045a A093 0000 sts (Umschlag180Roll)+2,r261128 045e B093 0000 sts (Umschlag180Roll)+3,r271129 /* epilogue: frame size=0 */1130 0462 DF91 pop r291131 0464 CF91 pop r281132 0466 0895 ret1133 /* epilogue end (size=3) */1134 /* function CalibrierMittelwert size 161 (156) */1136 .section .progmem.data,"a",@progbits1139 __c.35:1140 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1140 4320 6E6F1140 7420 63611140 6C69 62721140 6174 65641141 .text1142 .global SetNeutral1144 SetNeutral:1145 /* prologue: frame size=0 */1146 0468 A0E0 ldi r26,lo8(0)1147 046a B0E0 ldi r27,hi8(0)1148 046c E0E0 ldi r30,pm_lo8(1f)1149 046e F0E0 ldi r31,pm_hi8(1f)1150 0470 0C94 0000 jmp __prologue_saves__+121151 1:1152 /* prologue end (size=6) */1153 0474 882E mov r8,r241154 0476 C0E0 ldi r28,lo8(0)1155 0478 D0E0 ldi r29,hi8(0)1156 047a 7E01 movw r14,r281157 047c 6E01 movw r12,r281158 047e 1092 0000 sts VersionInfo+5,__zero_reg__1159 0482 D093 0000 sts (NeutralAccX)+1,r291160 0486 C093 0000 sts NeutralAccX,r281161 048a D093 0000 sts (NeutralAccY)+1,r291162 048e C093 0000 sts NeutralAccY,r281163 0492 D093 0000 sts (NeutralAccZ)+1,r291164 0496 C093 0000 sts NeutralAccZ,r281165 049a D093 0000 sts (AdNeutralNick)+1,r291166 049e C093 0000 sts AdNeutralNick,r281167 04a2 D093 0000 sts (AdNeutralRoll)+1,r291168 04a6 C093 0000 sts AdNeutralRoll,r281169 04aa D093 0000 sts (AdNeutralGier)+1,r291170 04ae C093 0000 sts AdNeutralGier,r281171 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1172 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1173 04ba 1092 0000 sts ExpandBaro,__zero_reg__1174 04be 0E94 0000 call CalibrierMittelwert1175 04c2 84E6 ldi r24,lo8(100)1176 04c4 90E0 ldi r25,hi8(100)1177 04c6 0E94 0000 call Delay_ms_Mess1178 04ca 0E94 0000 call CalibrierMittelwert1179 04ce 8091 0000 lds r24,EE_Parameter+131180 04d2 80FF sbrs r24,01181 04d4 00C0 rjmp .L511182 04d6 8091 0000 lds r24,MessLuftdruck1183 04da 9091 0000 lds r25,(MessLuftdruck)+11184 04de 875B subi r24,lo8(951)1185 04e0 9340 sbci r25,hi8(951)1186 04e2 00F4 brsh .L531187 04e4 8091 0000 lds r24,MessLuftdruck1188 04e8 9091 0000 lds r25,(MessLuftdruck)+11189 04ec 8E5E subi r24,lo8(750)1190 04ee 9240 sbci r25,hi8(750)1191 04f0 00F4 brsh .L511192 .L53:1193 04f2 0E94 0000 call SucheLuftruckOffset1194 .L51:1195 04f6 0FE1 ldi r16,lo8(31)1196 .L57:1197 04f8 8AE0 ldi r24,lo8(10)1198 04fa 90E0 ldi r25,hi8(10)1199 04fc 0E94 0000 call Delay_ms_Mess1200 0500 8091 0000 lds r24,AdWertGier1201 0504 9091 0000 lds r25,(AdWertGier)+11202 0508 C80F add r28,r241203 050a D91F adc r29,r251204 050c 8091 0000 lds r24,AdWertNick1205 0510 9091 0000 lds r25,(AdWertNick)+11206 0514 E80E add r14,r241207 0516 F91E adc r15,r251208 0518 8091 0000 lds r24,AdWertRoll1209 051c 9091 0000 lds r25,(AdWertRoll)+11210 0520 C80E add r12,r241211 0522 D91E adc r13,r251212 0524 0150 subi r16,lo8(-(-1))1213 0526 07FF sbrs r16,71214 0528 00C0 rjmp .L571215 052a 9701 movw r18,r141216 052c 205F subi r18,lo8(-(16))1217 052e 3F4F sbci r19,hi8(-(16))1218 0530 3695 lsr r191219 0532 2795 ror r181220 0534 3695 lsr r191221 0536 2795 ror r181222 0538 3093 0000 sts (AdNeutralNick)+1,r191223 053c 2093 0000 sts AdNeutralNick,r181224 0540 C601 movw r24,r121225 0542 4096 adiw r24,161226 0544 9695 lsr r251227 0546 8795 ror r241228 0548 9695 lsr r251229 054a 8795 ror r241230 054c 9093 0000 sts (AdNeutralRoll)+1,r251231 0550 8093 0000 sts AdNeutralRoll,r241232 0554 6096 adiw r28,161233 0556 F5E0 ldi r31,51234 0558 D695 1: lsr r291235 055a C795 ror r281236 055c FA95 dec r311237 055e 01F4 brne 1b1238 0560 D093 0000 sts (AdNeutralGier)+1,r291239 0564 C093 0000 sts AdNeutralGier,r281240 0568 9093 0000 sts (StartNeutralRoll)+1,r251241 056c 8093 0000 sts StartNeutralRoll,r241242 0570 3093 0000 sts (StartNeutralNick)+1,r191243 0574 2093 0000 sts StartNeutralNick,r181244 0578 8820 tst r81245 057a 01F4 brne .+21246 057c 00C0 rjmp .L581247 057e 8091 0000 lds r24,Mittelwert_AccNick1248 0582 9091 0000 lds r25,(Mittelwert_AccNick)+11249 0586 97FF sbrs r25,71250 0588 00C0 rjmp .L591251 058a 9095 com r251252 058c 8195 neg r241253 058e 9F4F sbci r25,lo8(-1)1254 .L59:1255 0590 6CE0 ldi r22,lo8(12)1256 0592 70E0 ldi r23,hi8(12)1257 0594 0E94 0000 call __divmodhi41258 0598 9B01 movw r18,r221259 059a 7093 0000 sts (NeutralAccX)+1,r231260 059e 6093 0000 sts NeutralAccX,r221261 05a2 8091 0000 lds r24,Mittelwert_AccRoll1262 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+11263 05aa 97FF sbrs r25,71264 05ac 00C0 rjmp .L601265 05ae 9095 com r251266 05b0 8195 neg r241267 05b2 9F4F sbci r25,lo8(-1)1268 .L60:1269 05b4 6CE0 ldi r22,lo8(12)1270 05b6 70E0 ldi r23,hi8(12)1271 05b8 0E94 0000 call __divmodhi41272 05bc 7093 0000 sts (NeutralAccY)+1,r231273 05c0 6093 0000 sts NeutralAccY,r221274 05c4 8091 0000 lds r24,Aktuell_az1275 05c8 9091 0000 lds r25,(Aktuell_az)+11276 05cc 9093 0000 sts (NeutralAccZ)+1,r251277 05d0 8093 0000 sts NeutralAccZ,r241278 05d4 B901 movw r22,r181279 05d6 84E0 ldi r24,lo8(4)1280 05d8 90E0 ldi r25,hi8(4)1281 05da 0E94 0000 call SetParamWord1282 05de 6091 0000 lds r22,NeutralAccY1283 05e2 7091 0000 lds r23,(NeutralAccY)+11284 05e6 86E0 ldi r24,lo8(6)1285 05e8 90E0 ldi r25,hi8(6)1286 05ea 0E94 0000 call SetParamWord1287 05ee 6091 0000 lds r22,NeutralAccZ1288 05f2 7091 0000 lds r23,(NeutralAccZ)+11289 05f6 88E0 ldi r24,lo8(8)1290 05f8 90E0 ldi r25,hi8(8)1291 05fa 0E94 0000 call SetParamWord1292 05fe 00C0 rjmp .L611293 .L58:1294 0600 84E0 ldi r24,lo8(4)1295 0602 90E0 ldi r25,hi8(4)1296 0604 0E94 0000 call GetParamWord1297 0608 9093 0000 sts (NeutralAccX)+1,r251298 060c 8093 0000 sts NeutralAccX,r241299 0610 86E0 ldi r24,lo8(6)1300 0612 90E0 ldi r25,hi8(6)1301 0614 0E94 0000 call GetParamWord1302 0618 9093 0000 sts (NeutralAccY)+1,r251303 061c 8093 0000 sts NeutralAccY,r241304 0620 88E0 ldi r24,lo8(8)1305 0622 90E0 ldi r25,hi8(8)1306 0624 0E94 0000 call GetParamWord1307 0628 9C01 movw r18,r241308 062a 9093 0000 sts (NeutralAccZ)+1,r251309 062e 8093 0000 sts NeutralAccZ,r241310 0632 8091 0000 lds r24,NeutralAccX1311 0636 9091 0000 lds r25,(NeutralAccX)+11312 063a 8150 subi r24,lo8(2049)1313 063c 9840 sbci r25,hi8(2049)1314 063e 00F4 brsh .L631315 0640 8091 0000 lds r24,NeutralAccY1316 0644 9091 0000 lds r25,(NeutralAccY)+11317 0648 8150 subi r24,lo8(2049)1318 064a 9840 sbci r25,hi8(2049)1319 064c 00F4 brsh .L631320 064e 2150 subi r18,lo8(1025)1321 0650 3440 sbci r19,hi8(1025)1322 0652 00F0 brlo .L611323 .L63:1324 0654 80E0 ldi r24,lo8(__c.35)1325 0656 90E0 ldi r25,hi8(__c.35)1326 0658 9F93 push r251327 065a 8F93 push r241328 065c 80E0 ldi r24,lo8(pm(uart_putchar))1329 065e 90E0 ldi r25,hi8(pm(uart_putchar))1330 0660 9F93 push r251331 0662 8F93 push r241332 0664 E091 0000 lds r30,_printf_P1333 0668 F091 0000 lds r31,(_printf_P)+11334 066c 0995 icall1335 066e 8091 0000 lds r24,Mittelwert_AccNick1336 0672 9091 0000 lds r25,(Mittelwert_AccNick)+11337 0676 97FF sbrs r25,71338 0678 00C0 rjmp .L641339 067a 9095 com r251340 067c 8195 neg r241341 067e 9F4F sbci r25,lo8(-1)1342 .L64:1343 0680 6CE0 ldi r22,lo8(12)1344 0682 70E0 ldi r23,hi8(12)1345 0684 0E94 0000 call __divmodhi41346 0688 7093 0000 sts (NeutralAccX)+1,r231347 068c 6093 0000 sts NeutralAccX,r221348 0690 8091 0000 lds r24,Mittelwert_AccRoll1349 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+11350 0698 97FF sbrs r25,71351 069a 00C0 rjmp .L651352 069c 9095 com r251353 069e 8195 neg r241354 06a0 9F4F sbci r25,lo8(-1)1355 .L65:1356 06a2 6CE0 ldi r22,lo8(12)1357 06a4 70E0 ldi r23,hi8(12)1358 06a6 0E94 0000 call __divmodhi41359 06aa 7093 0000 sts (NeutralAccY)+1,r231360 06ae 6093 0000 sts NeutralAccY,r221361 06b2 8091 0000 lds r24,Aktuell_az1362 06b6 9091 0000 lds r25,(Aktuell_az)+11363 06ba 9093 0000 sts (NeutralAccZ)+1,r251364 06be 8093 0000 sts NeutralAccZ,r241365 06c2 0F90 pop __tmp_reg__1366 06c4 0F90 pop __tmp_reg__1367 06c6 0F90 pop __tmp_reg__1368 06c8 0F90 pop __tmp_reg__1369 .L61:1370 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__1371 06ce 1092 0000 sts MesswertNick,__zero_reg__1372 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__1373 06d6 1092 0000 sts MesswertRoll,__zero_reg__1374 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__1375 06de 1092 0000 sts MesswertGier,__zero_reg__1376 06e2 84E6 ldi r24,lo8(100)1377 06e4 90E0 ldi r25,hi8(100)1378 06e6 0E94 0000 call Delay_ms_Mess1379 06ea 8091 0000 lds r24,AdWertAccNick1380 06ee 9091 0000 lds r25,(AdWertAccNick)+11381 06f2 9C01 movw r18,r241382 06f4 220F lsl r181383 06f6 331F rol r191384 06f8 220F lsl r181385 06fa 331F rol r191386 06fc 280F add r18,r241387 06fe 391F adc r19,r251388 0700 280F add r18,r241389 0702 391F adc r19,r251390 0704 3093 0000 sts (Mittelwert_AccNick)+1,r191391 0708 2093 0000 sts Mittelwert_AccNick,r181392 070c 8091 0000 lds r24,AdWertAccRoll1393 0710 9091 0000 lds r25,(AdWertAccRoll)+11394 0714 8C01 movw r16,r241395 0716 000F lsl r161396 0718 111F rol r171397 071a 000F lsl r161398 071c 111F rol r171399 071e 080F add r16,r241400 0720 191F adc r17,r251401 0722 080F add r16,r241402 0724 191F adc r17,r251403 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r171404 072a 0093 0000 sts Mittelwert_AccRoll,r161405 072e 8091 0000 lds r24,EE_Parameter+281406 0732 C82E mov r12,r241407 0734 DD24 clr r131408 0736 EE24 clr r141409 0738 FF24 clr r151410 073a 4427 clr r201411 073c 37FD sbrc r19,71412 073e 4095 com r201413 0740 542F mov r21,r201414 0742 C701 movw r24,r141415 0744 B601 movw r22,r121416 0746 0E94 0000 call __mulsi31417 074a 4B01 movw r8,r221418 074c 5C01 movw r10,r241419 074e 6093 0000 sts IntegralNick,r221420 0752 7093 0000 sts (IntegralNick)+1,r231421 0756 8093 0000 sts (IntegralNick)+2,r241422 075a 9093 0000 sts (IntegralNick)+3,r251423 075e 9801 movw r18,r161424 0760 4427 clr r201425 0762 37FD sbrc r19,71426 0764 4095 com r201427 0766 542F mov r21,r201428 0768 C701 movw r24,r141429 076a B601 movw r22,r121430 076c 0E94 0000 call __mulsi31431 0770 DC01 movw r26,r241432 0772 CB01 movw r24,r221433 0774 8093 0000 sts IntegralRoll,r241434 0778 9093 0000 sts (IntegralRoll)+1,r251435 077c A093 0000 sts (IntegralRoll)+2,r261436 0780 B093 0000 sts (IntegralRoll)+3,r271437 0784 8092 0000 sts Mess_IntegralNick,r81438 0788 9092 0000 sts (Mess_IntegralNick)+1,r91439 078c A092 0000 sts (Mess_IntegralNick)+2,r101440 0790 B092 0000 sts (Mess_IntegralNick)+3,r111441 0794 8093 0000 sts Mess_IntegralRoll,r241442 0798 9093 0000 sts (Mess_IntegralRoll)+1,r251443 079c A093 0000 sts (Mess_IntegralRoll)+2,r261444 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r271445 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__1446 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1447 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1448 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1449 07b4 8091 0000 lds r24,Luftdruck1450 07b8 9091 0000 lds r25,(Luftdruck)+11451 07bc A091 0000 lds r26,(Luftdruck)+21452 07c0 B091 0000 lds r27,(Luftdruck)+31453 07c4 9093 0000 sts (StartLuftdruck)+1,r251454 07c8 8093 0000 sts StartLuftdruck,r241455 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__1456 07d0 1092 0000 sts VarioMeter,__zero_reg__1457 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1458 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1459 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1460 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1461 07e4 0091 0000 lds r16,KompassValue1462 07e8 1091 0000 lds r17,(KompassValue)+11463 07ec 1093 0000 sts (KompassSollWert)+1,r171464 07f0 0093 0000 sts KompassSollWert,r161465 07f4 84E6 ldi r24,lo8(100)1466 07f6 90E0 ldi r25,hi8(100)1467 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r251468 07fc 8093 0000 sts KompassSignalSchlecht,r241469 0800 82E3 ldi r24,lo8(50)1470 0802 90E0 ldi r25,hi8(50)1471 0804 9093 0000 sts (beeptime)+1,r251472 0808 8093 0000 sts beeptime,r241473 080c 8091 0000 lds r24,EE_Parameter+651474 0810 9927 clr r251475 0812 AA27 clr r261476 0814 BB27 clr r271477 0816 BC01 movw r22,r241478 0818 CD01 movw r24,r261479 081a 24EC ldi r18,lo8(2500)1480 081c 39E0 ldi r19,hi8(2500)1481 081e 40E0 ldi r20,hlo8(2500)1482 0820 50E0 ldi r21,hhi8(2500)1483 0822 0E94 0000 call __mulsi31484 0826 DC01 movw r26,r241485 0828 CB01 movw r24,r221486 082a 8856 subi r24,lo8(-(15000))1487 082c 954C sbci r25,hi8(-(15000))1488 082e AF4F sbci r26,hlo8(-(15000))1489 0830 BF4F sbci r27,hhi8(-(15000))1490 0832 8093 0000 sts Umschlag180Nick,r241491 0836 9093 0000 sts (Umschlag180Nick)+1,r251492 083a A093 0000 sts (Umschlag180Nick)+2,r261493 083e B093 0000 sts (Umschlag180Nick)+3,r271494 0842 8091 0000 lds r24,EE_Parameter+661495 0846 9927 clr r251496 0848 AA27 clr r261497 084a BB27 clr r271498 084c BC01 movw r22,r241499 084e CD01 movw r24,r261500 0850 0E94 0000 call __mulsi31501 0854 DC01 movw r26,r241502 0856 CB01 movw r24,r221503 0858 8856 subi r24,lo8(-(15000))1504 085a 954C sbci r25,hi8(-(15000))1505 085c AF4F sbci r26,hlo8(-(15000))1506 085e BF4F sbci r27,hhi8(-(15000))1507 0860 8093 0000 sts Umschlag180Roll,r241508 0864 9093 0000 sts (Umschlag180Roll)+1,r251509 0868 A093 0000 sts (Umschlag180Roll)+2,r261510 086c B093 0000 sts (Umschlag180Roll)+3,r271511 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1512 0874 1092 0000 sts ExternHoehenValue,__zero_reg__1513 0878 C801 movw r24,r161514 087a AA27 clr r261515 087c 97FD sbrc r25,71516 087e A095 com r261517 0880 BA2F mov r27,r261518 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR1519 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11520 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21521 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31522 0892 BC01 movw r22,r241523 0894 CD01 movw r24,r261524 0896 0E94 0000 call __mulsi31525 089a DC01 movw r26,r241526 089c CB01 movw r24,r221527 089e 8093 0000 sts ErsatzKompass,r241528 08a2 9093 0000 sts (ErsatzKompass)+1,r251529 08a6 A093 0000 sts (ErsatzKompass)+2,r261530 08aa B093 0000 sts (ErsatzKompass)+3,r271531 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1532 08b2 1092 0000 sts GierGyroFehler,__zero_reg__1533 08b6 0E94 0000 call LED_Init1534 08ba 8091 0000 lds r24,FC_StatusFlags1535 08be 8460 ori r24,lo8(4)1536 08c0 8093 0000 sts FC_StatusFlags,r241537 08c4 8FEF ldi r24,lo8(-1)1538 08c6 8093 0000 sts FromNaviCtrl_Value,r241539 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1540 08ce 80E2 ldi r24,lo8(32)1541 08d0 8093 0000 sts FromNaviCtrl_Value+2,r241542 08d4 C0E0 ldi r28,lo8(Poti)1543 08d6 D0E0 ldi r29,hi8(Poti)1544 08d8 A0E0 ldi r26,lo8(EE_Parameter+5)1545 08da B0E0 ldi r27,hi8(EE_Parameter+5)1546 08dc 07E0 ldi r16,lo8(7)1547 .L69:1548 08de 8D91 ld r24,X+1549 08e0 E82F mov r30,r241550 08e2 FF27 clr r311551 08e4 EE0F add r30,r301552 08e6 FF1F adc r31,r311553 08e8 E050 subi r30,lo8(-(PPM_in))1554 08ea F040 sbci r31,hi8(-(PPM_in))1555 08ec 8081 ld r24,Z1556 08ee 9181 ldd r25,Z+11557 08f0 8158 subi r24,lo8(-(127))1558 08f2 8993 st Y+,r241559 08f4 0150 subi r16,lo8(-(-1))1560 08f6 07FF sbrs r16,71561 08f8 00C0 rjmp .L691562 08fa 84E6 ldi r24,lo8(100)1563 08fc 8093 0000 sts SenderOkay,r241564 0900 8091 0000 lds r24,ServoActive1565 0904 8823 tst r241566 0906 01F0 breq .L701567 0908 579A sbi 42-0x20,71568 090a 00C0 rjmp .L711569 .L70:1570 090c 80E0 ldi r24,lo8(4352)1571 090e 91E1 ldi r25,hi8(4352)1572 0910 9093 0000 sts (NickServoValue)+1,r251573 0914 8093 0000 sts NickServoValue,r241574 .L71:1575 0918 8091 0000 lds r24,AdNeutralNick1576 091c 9091 0000 lds r25,(AdNeutralNick)+11577 0920 8056 subi r24,lo8(-(-2400))1578 0922 9940 sbci r25,hi8(-(-2400))1579 0924 815C subi r24,lo8(11201)1580 0926 9B42 sbci r25,hi8(11201)1581 0928 00F0 brlo .L721582 092a 8091 0000 lds r24,VersionInfo+51583 092e 8160 ori r24,lo8(1)1584 0930 8093 0000 sts VersionInfo+5,r241585 .L72:1586 0934 8091 0000 lds r24,AdNeutralRoll1587 0938 9091 0000 lds r25,(AdNeutralRoll)+11588 093c 8056 subi r24,lo8(-(-2400))1589 093e 9940 sbci r25,hi8(-(-2400))1590 0940 815C subi r24,lo8(11201)1591 0942 9B42 sbci r25,hi8(11201)1592 0944 00F0 brlo .L731593 0946 8091 0000 lds r24,VersionInfo+51594 094a 8260 ori r24,lo8(2)1595 094c 8093 0000 sts VersionInfo+5,r241596 .L73:1597 0950 8091 0000 lds r24,AdNeutralGier1598 0954 9091 0000 lds r25,(AdNeutralGier)+11599 0958 8C52 subi r24,lo8(-(-300))1600 095a 9140 sbci r25,hi8(-(-300))1601 095c 8957 subi r24,lo8(1401)1602 095e 9540 sbci r25,hi8(1401)1603 0960 00F0 brlo .L741604 0962 8091 0000 lds r24,VersionInfo+51605 0966 8460 ori r24,lo8(4)1606 0968 8093 0000 sts VersionInfo+5,r241607 .L74:1608 096c 8091 0000 lds r24,NeutralAccX1609 0970 9091 0000 lds r25,(NeutralAccX)+11610 0974 8C52 subi r24,lo8(-(-300))1611 0976 9140 sbci r25,hi8(-(-300))1612 0978 835C subi r24,lo8(451)1613 097a 9140 sbci r25,hi8(451)1614 097c 00F0 brlo .L751615 097e 8091 0000 lds r24,VersionInfo+51616 0982 8860 ori r24,lo8(8)1617 0984 8093 0000 sts VersionInfo+5,r241618 .L75:1619 0988 8091 0000 lds r24,NeutralAccY1620 098c 9091 0000 lds r25,(NeutralAccY)+11621 0990 8C52 subi r24,lo8(-(-300))1622 0992 9140 sbci r25,hi8(-(-300))1623 0994 835C subi r24,lo8(451)1624 0996 9140 sbci r25,hi8(451)1625 0998 00F0 brlo .L761626 099a 8091 0000 lds r24,VersionInfo+51627 099e 8061 ori r24,lo8(16)1628 09a0 8093 0000 sts VersionInfo+5,r241629 .L76:1630 09a4 8091 0000 lds r24,NeutralAccZ1631 09a8 9091 0000 lds r25,(NeutralAccZ)+11632 09ac 8050 subi r24,lo8(-(-512))1633 09ae 9240 sbci r25,hi8(-(-512))1634 09b0 8355 subi r24,lo8(339)1635 09b2 9140 sbci r25,hi8(339)1636 09b4 00F0 brlo .L771637 09b6 8091 0000 lds r24,VersionInfo+51638 09ba 8062 ori r24,lo8(32)1639 09bc 8093 0000 sts VersionInfo+5,r241640 .L77:1641 09c0 86E4 ldi r24,lo8(70)1642 09c2 8093 0000 sts carefree_old,r241643 09c6 0E94 0000 call LIBFC_HoTT_Clear1644 /* epilogue: frame size=0 */1645 09ca ECE0 ldi r30,121646 09cc CDB7 in r28,__SP_L__1647 09ce DEB7 in r29,__SP_H__1648 09d0 0C94 0000 jmp __epilogue_restores__+121649 /* epilogue end (size=5) */1650 /* function SetNeutral size 705 (694) */1652 .lcomm tmpl.27,41653 .lcomm tmpl2.28,41654 .lcomm tmpl3.29,41655 .lcomm tmpl4.30,41656 .lcomm oldNick.31,21657 .lcomm oldRoll.32,21658 .lcomm d2Roll.33,21659 .lcomm d2Nick.34,21660 .global Mittelwert1662 Mittelwert:1663 /* prologue: frame size=19 */1664 09d4 A3E1 ldi r26,lo8(19)1665 09d6 B0E0 ldi r27,hi8(19)1666 09d8 E0E0 ldi r30,pm_lo8(1f)1667 09da F0E0 ldi r31,pm_hi8(1f)1668 09dc 0C94 0000 jmp __prologue_saves__+01669 1:1670 /* prologue end (size=6) */1671 09e0 8091 0000 lds r24,AdNeutralGier1672 09e4 9091 0000 lds r25,(AdNeutralGier)+11673 09e8 2091 0000 lds r18,AdWertGier1674 09ec 3091 0000 lds r19,(AdWertGier)+11675 09f0 821B sub r24,r181676 09f2 930B sbc r25,r191677 09f4 9093 0000 sts (MesswertGier)+1,r251678 09f8 8093 0000 sts MesswertGier,r241679 09fc 8091 0000 lds r24,AdWertNickFilter1680 0a00 9091 0000 lds r25,(AdWertNickFilter)+11681 0a04 97FD sbrc r25,71682 0a06 0796 adiw r24,71683 .L83:1684 0a08 9C01 movw r18,r241685 0a0a 13E0 ldi r17,31686 0a0c 3595 1: asr r191687 0a0e 2795 ror r181688 0a10 1A95 dec r171689 0a12 01F4 brne 1b1690 0a14 3093 0000 sts (MesswertNick)+1,r191691 0a18 2093 0000 sts MesswertNick,r181692 0a1c 8091 0000 lds r24,AdWertRollFilter1693 0a20 9091 0000 lds r25,(AdWertRollFilter)+11694 0a24 97FD sbrc r25,71695 0a26 0796 adiw r24,71696 .L84:1697 0a28 B3E0 ldi r27,31698 0a2a 9595 1: asr r251699 0a2c 8795 ror r241700 0a2e BA95 dec r271701 0a30 01F4 brne 1b1702 0a32 9093 0000 sts (MesswertRoll)+1,r251703 0a36 8093 0000 sts MesswertRoll,r241704 0a3a 3093 0000 sts (RohMesswertNick)+1,r191705 0a3e 2093 0000 sts RohMesswertNick,r181706 0a42 9093 0000 sts (RohMesswertRoll)+1,r251707 0a46 8093 0000 sts RohMesswertRoll,r241708 0a4a 8091 0000 lds r24,Mittelwert_AccNick1709 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+11710 0a52 AC01 movw r20,r241711 0a54 440F lsl r201712 0a56 551F rol r211713 0a58 480F add r20,r241714 0a5a 591F adc r21,r251715 0a5c 2091 0000 lds r18,AdWertAccNick1716 0a60 3091 0000 lds r19,(AdWertAccNick)+11717 0a64 C901 movw r24,r181718 0a66 880F lsl r241719 0a68 991F rol r251720 0a6a 880F lsl r241721 0a6c 991F rol r251722 0a6e 820F add r24,r181723 0a70 931F adc r25,r191724 0a72 820F add r24,r181725 0a74 931F adc r25,r191726 0a76 480F add r20,r241727 0a78 591F adc r21,r251728 0a7a 57FF sbrs r21,71729 0a7c 00C0 rjmp .L851730 0a7e 4D5F subi r20,lo8(-(3))1731 0a80 5F4F sbci r21,hi8(-(3))1732 .L85:1733 0a82 5595 asr r211734 0a84 4795 ror r201735 0a86 5595 asr r211736 0a88 4795 ror r201737 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r211738 0a8e 4093 0000 sts Mittelwert_AccNick,r201739 0a92 8091 0000 lds r24,Mittelwert_AccRoll1740 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+11741 0a9a AC01 movw r20,r241742 0a9c 440F lsl r201743 0a9e 551F rol r211744 0aa0 480F add r20,r241745 0aa2 591F adc r21,r251746 0aa4 2091 0000 lds r18,AdWertAccRoll1747 0aa8 3091 0000 lds r19,(AdWertAccRoll)+11748 0aac C901 movw r24,r181749 0aae 880F lsl r241750 0ab0 991F rol r251751 0ab2 880F lsl r241752 0ab4 991F rol r251753 0ab6 820F add r24,r181754 0ab8 931F adc r25,r191755 0aba 820F add r24,r181756 0abc 931F adc r25,r191757 0abe 480F add r20,r241758 0ac0 591F adc r21,r251759 0ac2 57FF sbrs r21,71760 0ac4 00C0 rjmp .L861761 0ac6 4D5F subi r20,lo8(-(3))1762 0ac8 5F4F sbci r21,hi8(-(3))1763 .L86:1764 0aca 5595 asr r211765 0acc 4795 ror r201766 0ace 5595 asr r211767 0ad0 4795 ror r201768 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r211769 0ad6 4093 0000 sts Mittelwert_AccRoll,r201770 0ada 2091 0000 lds r18,AdWertAccNick1771 0ade 3091 0000 lds r19,(AdWertAccNick)+11772 0ae2 C901 movw r24,r181773 0ae4 880F lsl r241774 0ae6 991F rol r251775 0ae8 880F lsl r241776 0aea 991F rol r251777 0aec 820F add r24,r181778 0aee 931F adc r25,r191779 0af0 820F add r24,r181780 0af2 931F adc r25,r191781 0af4 9C01 movw r18,r241782 0af6 4427 clr r201783 0af8 37FD sbrc r19,71784 0afa 4095 com r201785 0afc 542F mov r21,r201786 0afe 8091 0000 lds r24,IntegralAccNick1787 0b02 9091 0000 lds r25,(IntegralAccNick)+11788 0b06 A091 0000 lds r26,(IntegralAccNick)+21789 0b0a B091 0000 lds r27,(IntegralAccNick)+31790 0b0e 820F add r24,r181791 0b10 931F adc r25,r191792 0b12 A41F adc r26,r201793 0b14 B51F adc r27,r211794 0b16 8093 0000 sts IntegralAccNick,r241795 0b1a 9093 0000 sts (IntegralAccNick)+1,r251796 0b1e A093 0000 sts (IntegralAccNick)+2,r261797 0b22 B093 0000 sts (IntegralAccNick)+3,r271798 0b26 2091 0000 lds r18,AdWertAccRoll1799 0b2a 3091 0000 lds r19,(AdWertAccRoll)+11800 0b2e C901 movw r24,r181801 0b30 880F lsl r241802 0b32 991F rol r251803 0b34 880F lsl r241804 0b36 991F rol r251805 0b38 820F add r24,r181806 0b3a 931F adc r25,r191807 0b3c 820F add r24,r181808 0b3e 931F adc r25,r191809 0b40 9C01 movw r18,r241810 0b42 4427 clr r201811 0b44 37FD sbrc r19,71812 0b46 4095 com r201813 0b48 542F mov r21,r201814 0b4a 8091 0000 lds r24,IntegralAccRoll1815 0b4e 9091 0000 lds r25,(IntegralAccRoll)+11816 0b52 A091 0000 lds r26,(IntegralAccRoll)+21817 0b56 B091 0000 lds r27,(IntegralAccRoll)+31818 0b5a 820F add r24,r181819 0b5c 931F adc r25,r191820 0b5e A41F adc r26,r201821 0b60 B51F adc r27,r211822 0b62 8093 0000 sts IntegralAccRoll,r241823 0b66 9093 0000 sts (IntegralAccRoll)+1,r251824 0b6a A093 0000 sts (IntegralAccRoll)+2,r261825 0b6e B093 0000 sts (IntegralAccRoll)+3,r271826 0b72 8091 0000 lds r24,NaviAccNick1827 0b76 9091 0000 lds r25,(NaviAccNick)+11828 0b7a 2091 0000 lds r18,AdWertAccNick1829 0b7e 3091 0000 lds r19,(AdWertAccNick)+11830 0b82 820F add r24,r181831 0b84 931F adc r25,r191832 0b86 9093 0000 sts (NaviAccNick)+1,r251833 0b8a 8093 0000 sts NaviAccNick,r241834 0b8e 8091 0000 lds r24,NaviAccRoll1835 0b92 9091 0000 lds r25,(NaviAccRoll)+11836 0b96 2091 0000 lds r18,AdWertAccRoll1837 0b9a 3091 0000 lds r19,(AdWertAccRoll)+11838 0b9e 820F add r24,r181839 0ba0 931F adc r25,r191840 0ba2 9093 0000 sts (NaviAccRoll)+1,r251841 0ba6 8093 0000 sts NaviAccRoll,r241842 0baa 8091 0000 lds r24,NaviCntAcc1843 0bae 9091 0000 lds r25,(NaviCntAcc)+11844 0bb2 0196 adiw r24,11845 0bb4 9093 0000 sts (NaviCntAcc)+1,r251846 0bb8 8093 0000 sts NaviCntAcc,r241847 0bbc 8091 0000 lds r24,Aktuell_az1848 0bc0 9091 0000 lds r25,(Aktuell_az)+11849 0bc4 2091 0000 lds r18,NeutralAccZ1850 0bc8 3091 0000 lds r19,(NeutralAccZ)+11851 0bcc 821B sub r24,r181852 0bce 930B sbc r25,r191853 0bd0 9C01 movw r18,r241854 0bd2 4427 clr r201855 0bd4 37FD sbrc r19,71856 0bd6 4095 com r201857 0bd8 542F mov r21,r201858 0bda 8091 0000 lds r24,IntegralAccZ1859 0bde 9091 0000 lds r25,(IntegralAccZ)+11860 0be2 A091 0000 lds r26,(IntegralAccZ)+21861 0be6 B091 0000 lds r27,(IntegralAccZ)+31862 0bea 820F add r24,r181863 0bec 931F adc r25,r191864 0bee A41F adc r26,r201865 0bf0 B51F adc r27,r211866 0bf2 8093 0000 sts IntegralAccZ,r241867 0bf6 9093 0000 sts (IntegralAccZ)+1,r251868 0bfa A093 0000 sts (IntegralAccZ)+2,r261869 0bfe B093 0000 sts (IntegralAccZ)+3,r271870 0c02 8FEC ldi r24,lo8(-49)1871 0c04 8093 7A00 sts 122,r241872 0c08 1092 0000 sts AdReady,__zero_reg__1873 0c0c 2091 0000 lds r18,Mess_IntegralRoll1874 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+11875 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+21876 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+31877 0c1c 2987 std Y+9,r181878 0c1e 3A87 std Y+10,r191879 0c20 4B87 std Y+11,r201880 0c22 5C87 std Y+12,r211881 0c24 2954 subi r18,lo8(93001)1882 0c26 3B46 sbci r19,hi8(93001)1883 0c28 4140 sbci r20,hlo8(93001)1884 0c2a 5040 sbci r21,hhi8(93001)1885 0c2c 04F0 brlt .L871886 0c2e 28E4 ldi r18,lo8(93000)1887 0c30 3BE6 ldi r19,hi8(93000)1888 0c32 41E0 ldi r20,hlo8(93000)1889 0c34 50E0 ldi r21,hhi8(93000)1890 0c36 00C0 rjmp .L1671891 .L87:1892 0c38 8985 ldd r24,Y+91893 0c3a 9A85 ldd r25,Y+101894 0c3c AB85 ldd r26,Y+111895 0c3e BC85 ldd r27,Y+121896 0c40 885B subi r24,lo8(-93000)1897 0c42 9449 sbci r25,hi8(-93000)1898 0c44 AE4F sbci r26,hlo8(-93000)1899 0c46 BF4F sbci r27,hhi8(-93000)1900 0c48 04F4 brge .L891901 0c4a 28EB ldi r18,lo8(-93000)1902 0c4c 34E9 ldi r19,hi8(-93000)1903 0c4e 4EEF ldi r20,hlo8(-93000)1904 0c50 5FEF ldi r21,hhi8(-93000)1905 .L167:1906 0c52 2D83 std Y+5,r181907 0c54 3E83 std Y+6,r191908 0c56 4F83 std Y+7,r201909 0c58 5887 std Y+8,r211910 0c5a 00C0 rjmp .L881911 .L89:1912 0c5c 8985 ldd r24,Y+91913 0c5e 9A85 ldd r25,Y+101914 0c60 AB85 ldd r26,Y+111915 0c62 BC85 ldd r27,Y+121916 0c64 8D83 std Y+5,r241917 0c66 9E83 std Y+6,r251918 0c68 AF83 std Y+7,r261919 0c6a B887 std Y+8,r271920 .L88:1921 0c6c 2091 0000 lds r18,Mess_IntegralNick1922 0c70 3091 0000 lds r19,(Mess_IntegralNick)+11923 0c74 4091 0000 lds r20,(Mess_IntegralNick)+21924 0c78 5091 0000 lds r21,(Mess_IntegralNick)+31925 0c7c 2D87 std Y+13,r181926 0c7e 3E87 std Y+14,r191927 0c80 4F87 std Y+15,r201928 0c82 588B std Y+16,r211929 0c84 2954 subi r18,lo8(93001)1930 0c86 3B46 sbci r19,hi8(93001)1931 0c88 4140 sbci r20,hlo8(93001)1932 0c8a 5040 sbci r21,hhi8(93001)1933 0c8c 04F0 brlt .L911934 0c8e 28E4 ldi r18,lo8(93000)1935 0c90 3BE6 ldi r19,hi8(93000)1936 0c92 41E0 ldi r20,hlo8(93000)1937 0c94 50E0 ldi r21,hhi8(93000)1938 0c96 00C0 rjmp .L1681939 .L91:1940 0c98 8D85 ldd r24,Y+131941 0c9a 9E85 ldd r25,Y+141942 0c9c AF85 ldd r26,Y+151943 0c9e B889 ldd r27,Y+161944 0ca0 885B subi r24,lo8(-93000)1945 0ca2 9449 sbci r25,hi8(-93000)1946 0ca4 AE4F sbci r26,hlo8(-93000)1947 0ca6 BF4F sbci r27,hhi8(-93000)1948 0ca8 04F4 brge .L931949 0caa 28EB ldi r18,lo8(-93000)1950 0cac 34E9 ldi r19,hi8(-93000)1951 0cae 4EEF ldi r20,hlo8(-93000)1952 0cb0 5FEF ldi r21,hhi8(-93000)1953 .L168:1954 0cb2 2983 std Y+1,r181955 0cb4 3A83 std Y+2,r191956 0cb6 4B83 std Y+3,r201957 0cb8 5C83 std Y+4,r211958 0cba 00C0 rjmp .L921959 .L93:1960 0cbc 8D85 ldd r24,Y+131961 0cbe 9E85 ldd r25,Y+141962 0cc0 AF85 ldd r26,Y+151963 0cc2 B889 ldd r27,Y+161964 0cc4 8983 std Y+1,r241965 0cc6 9A83 std Y+2,r251966 0cc8 AB83 std Y+3,r261967 0cca BC83 std Y+4,r271968 .L92:1969 0ccc A091 0000 lds r26,MesswertGier1970 0cd0 B091 0000 lds r27,(MesswertGier)+11971 0cd4 BB8B std Y+19,r271972 0cd6 AA8B std Y+18,r261973 0cd8 FD01 movw r30,r261974 0cda CF01 movw r24,r301975 0cdc AA27 clr r261976 0cde 97FD sbrc r25,71977 0ce0 A095 com r261978 0ce2 BA2F mov r27,r261979 0ce4 A090 0000 lds r10,Mess_Integral_Gier1980 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+11981 0cec C090 0000 lds r12,(Mess_Integral_Gier)+21982 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+31983 0cf4 A80E add r10,r241984 0cf6 B91E adc r11,r251985 0cf8 CA1E adc r12,r261986 0cfa DB1E adc r13,r271987 0cfc A092 0000 sts Mess_Integral_Gier,r101988 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r111989 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r121990 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r131991 0d0c E090 0000 lds r14,ErsatzKompass1992 0d10 F090 0000 lds r15,(ErsatzKompass)+11993 0d14 0091 0000 lds r16,(ErsatzKompass)+21994 0d18 1091 0000 lds r17,(ErsatzKompass)+31995 0d1c E80E add r14,r241996 0d1e F91E adc r15,r251997 0d20 0A1F adc r16,r261998 0d22 1B1F adc r17,r271999 0d24 E092 0000 sts ErsatzKompass,r142000 0d28 F092 0000 sts (ErsatzKompass)+1,r152001 0d2c 0093 0000 sts (ErsatzKompass)+2,r162002 0d30 1093 0000 sts (ErsatzKompass)+3,r172003 0d34 F091 0000 lds r31,Looping_Nick2004 0d38 F98B std Y+17,r312005 0d3a FF23 tst r312006 0d3c 01F0 breq .+22007 0d3e 00C0 rjmp .L952008 0d40 8091 0000 lds r24,Looping_Roll2009 0d44 8823 tst r242010 0d46 01F0 breq .+22011 0d48 00C0 rjmp .L952012 0d4a 8091 0000 lds r24,Parameter_GlobalConfig2013 0d4e 86FF sbrs r24,62014 0d50 00C0 rjmp .L952015 0d52 8091 0000 lds r24,MesswertRoll2016 0d56 9091 0000 lds r25,(MesswertRoll)+12017 0d5a AA27 clr r262018 0d5c 97FD sbrc r25,72019 0d5e A095 com r262020 0d60 BA2F mov r27,r262021 0d62 BC01 movw r22,r242022 0d64 CD01 movw r24,r262023 0d66 2981 ldd r18,Y+12024 0d68 3A81 ldd r19,Y+22025 0d6a 4B81 ldd r20,Y+32026 0d6c 5C81 ldd r21,Y+42027 0d6e 0E94 0000 call __mulsi32028 0d72 9B01 movw r18,r222029 0d74 AC01 movw r20,r242030 0d76 97FF sbrs r25,72031 0d78 00C0 rjmp .L962032 0d7a 2150 subi r18,lo8(-(2047))2033 0d7c 384F sbci r19,hi8(-(2047))2034 0d7e 4F4F sbci r20,hlo8(-(2047))2035 0d80 5F4F sbci r21,hhi8(-(2047))2036 .L96:2037 0d82 BBE0 ldi r27,112038 0d84 5595 1: asr r212039 0d86 4795 ror r202040 0d88 3795 ror r192041 0d8a 2795 ror r182042 0d8c BA95 dec r272043 0d8e 01F4 brne 1b2044 0d90 8091 0000 lds r24,Parameter_AchsKopplung22045 0d94 682E mov r6,r242046 0d96 7724 clr r72047 0d98 8824 clr r82048 0d9a 9924 clr r92049 0d9c CA01 movw r24,r202050 0d9e B901 movw r22,r182051 0da0 A401 movw r20,r82052 0da2 9301 movw r18,r62053 0da4 0E94 0000 call __mulsi32054 0da8 DC01 movw r26,r242055 0daa CB01 movw r24,r222056 0dac 8093 0000 sts tmpl3.29,r242057 0db0 9093 0000 sts (tmpl3.29)+1,r252058 0db4 A093 0000 sts (tmpl3.29)+2,r262059 0db8 B093 0000 sts (tmpl3.29)+3,r272060 0dbc B7FF sbrs r27,72061 0dbe 00C0 rjmp .L972062 0dc0 8150 subi r24,lo8(-(4095))2063 0dc2 904F sbci r25,hi8(-(4095))2064 0dc4 AF4F sbci r26,hlo8(-(4095))2065 0dc6 BF4F sbci r27,hhi8(-(4095))2066 .L97:2067 0dc8 1C01 movw r2,r242068 0dca 2D01 movw r4,r262069 0dcc ACE0 ldi r26,122070 0dce 5594 1: asr r52071 0dd0 4794 ror r42072 0dd2 3794 ror r32073 0dd4 2794 ror r22074 0dd6 AA95 dec r262075 0dd8 01F4 brne 1b2076 0dda 2092 0000 sts tmpl3.29,r22077 0dde 3092 0000 sts (tmpl3.29)+1,r32078 0de2 4092 0000 sts (tmpl3.29)+2,r42079 0de6 5092 0000 sts (tmpl3.29)+3,r52080 0dea 8091 0000 lds r24,MesswertNick2081 0dee 9091 0000 lds r25,(MesswertNick)+12082 0df2 AA27 clr r262083 0df4 97FD sbrc r25,72084 0df6 A095 com r262085 0df8 BA2F mov r27,r262086 0dfa BC01 movw r22,r242087 0dfc CD01 movw r24,r262088 0dfe 2D81 ldd r18,Y+52089 0e00 3E81 ldd r19,Y+62090 0e02 4F81 ldd r20,Y+72091 0e04 5885 ldd r21,Y+82092 0e06 0E94 0000 call __mulsi32093 0e0a 97FF sbrs r25,72094 0e0c 00C0 rjmp .L982095 0e0e 6150 subi r22,lo8(-(2047))2096 0e10 784F sbci r23,hi8(-(2047))2097 0e12 8F4F sbci r24,hlo8(-(2047))2098 0e14 9F4F sbci r25,hhi8(-(2047))2099 .L98:2100 0e16 FBE0 ldi r31,112101 0e18 9595 1: asr r252102 0e1a 8795 ror r242103 0e1c 7795 ror r232104 0e1e 6795 ror r222105 0e20 FA95 dec r312106 0e22 01F4 brne 1b2107 0e24 A401 movw r20,r82108 0e26 9301 movw r18,r62109 0e28 0E94 0000 call __mulsi32110 0e2c DC01 movw r26,r242111 0e2e CB01 movw r24,r222112 0e30 8093 0000 sts tmpl4.30,r242113 0e34 9093 0000 sts (tmpl4.30)+1,r252114 0e38 A093 0000 sts (tmpl4.30)+2,r262115 0e3c B093 0000 sts (tmpl4.30)+3,r272116 0e40 B7FF sbrs r27,72117 0e42 00C0 rjmp .L992118 0e44 8150 subi r24,lo8(-(4095))2119 0e46 904F sbci r25,hi8(-(4095))2120 0e48 AF4F sbci r26,hlo8(-(4095))2121 0e4a BF4F sbci r27,hhi8(-(4095))2122 .L99:2123 0e4c 9C01 movw r18,r242124 0e4e AD01 movw r20,r262125 0e50 ECE0 ldi r30,122126 0e52 5595 1: asr r212127 0e54 4795 ror r202128 0e56 3795 ror r192129 0e58 2795 ror r182130 0e5a EA95 dec r302131 0e5c 01F4 brne 1b2132 0e5e 2093 0000 sts tmpl4.30,r182133 0e62 3093 0000 sts (tmpl4.30)+1,r192134 0e66 4093 0000 sts (tmpl4.30)+2,r202135 0e6a 5093 0000 sts (tmpl4.30)+3,r212136 0e6e 8091 0000 lds r24,tmpl3.292137 0e72 9091 0000 lds r25,(tmpl3.29)+12138 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r252139 0e7a 8093 0000 sts KopplungsteilNickRoll,r242140 0e7e 8091 0000 lds r24,tmpl4.302141 0e82 9091 0000 lds r25,(tmpl4.30)+12142 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r252143 0e8a 8093 0000 sts KopplungsteilRollNick,r242144 0e8e 2219 sub r18,r22145 0e90 3309 sbc r19,r32146 0e92 4409 sbc r20,r42147 0e94 5509 sbc r21,r52148 0e96 2093 0000 sts tmpl4.30,r182149 0e9a 3093 0000 sts (tmpl4.30)+1,r192150 0e9e 4093 0000 sts (tmpl4.30)+2,r202151 0ea2 5093 0000 sts (tmpl4.30)+3,r212152 0ea6 E20E add r14,r182153 0ea8 F31E adc r15,r192154 0eaa 041F adc r16,r202155 0eac 151F adc r17,r212156 0eae E092 0000 sts ErsatzKompass,r142157 0eb2 F092 0000 sts (ErsatzKompass)+1,r152158 0eb6 0093 0000 sts (ErsatzKompass)+2,r162159 0eba 1093 0000 sts (ErsatzKompass)+3,r172160 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection2161 0ec2 8823 tst r242162 0ec4 01F4 brne .L1002163 0ec6 57FF sbrs r21,72164 0ec8 00C0 rjmp .L1012165 0eca 2F5F subi r18,lo8(-(1))2166 0ecc 3F4F sbci r19,hi8(-(1))2167 0ece 4F4F sbci r20,hlo8(-(1))2168 0ed0 5F4F sbci r21,hhi8(-(1))2169 .L101:2170 0ed2 5595 asr r212171 0ed4 4795 ror r202172 0ed6 3795 ror r192173 0ed8 2795 ror r182174 0eda A21A sub r10,r182175 0edc B30A sbc r11,r192176 0ede C40A sbc r12,r202177 0ee0 D50A sbc r13,r212178 0ee2 A092 0000 sts Mess_Integral_Gier,r102179 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r112180 0eea C092 0000 sts (Mess_Integral_Gier)+2,r122181 0eee D092 0000 sts (Mess_Integral_Gier)+3,r132182 .L100:2183 0ef2 2A89 ldd r18,Y+182184 0ef4 3B89 ldd r19,Y+192185 0ef6 7901 movw r14,r182186 0ef8 0027 clr r162187 0efa F7FC sbrc r15,72188 0efc 0095 com r162189 0efe 102F mov r17,r162190 0f00 8091 0000 lds r24,tmpl4.302191 0f04 9091 0000 lds r25,(tmpl4.30)+12192 0f08 A091 0000 lds r26,(tmpl4.30)+22193 0f0c B091 0000 lds r27,(tmpl4.30)+32194 0f10 E80E add r14,r242195 0f12 F91E adc r15,r252196 0f14 0A1F adc r16,r262197 0f16 1B1F adc r17,r272198 0f18 C801 movw r24,r162199 0f1a B701 movw r22,r142200 0f1c 2981 ldd r18,Y+12201 0f1e 3A81 ldd r19,Y+22202 0f20 4B81 ldd r20,Y+32203 0f22 5C81 ldd r21,Y+42204 0f24 0E94 0000 call __mulsi32205 0f28 9B01 movw r18,r222206 0f2a AC01 movw r20,r242207 0f2c 97FF sbrs r25,72208 0f2e 00C0 rjmp .L1022209 0f30 2150 subi r18,lo8(-(2047))2210 0f32 384F sbci r19,hi8(-(2047))2211 0f34 4F4F sbci r20,hlo8(-(2047))2212 0f36 5F4F sbci r21,hhi8(-(2047))2213 .L102:2214 0f38 6BE0 ldi r22,112215 0f3a 5595 1: asr r212216 0f3c 4795 ror r202217 0f3e 3795 ror r192218 0f40 2795 ror r182219 0f42 6A95 dec r222220 0f44 01F4 brne 1b2221 0f46 8091 0000 lds r24,Parameter_AchsKopplung12222 0f4a A82E mov r10,r242223 0f4c BB24 clr r112224 0f4e CC24 clr r122225 0f50 DD24 clr r132226 0f52 CA01 movw r24,r202227 0f54 B901 movw r22,r182228 0f56 A601 movw r20,r122229 0f58 9501 movw r18,r102230 0f5a 0E94 0000 call __mulsi32231 0f5e DC01 movw r26,r242232 0f60 CB01 movw r24,r222233 0f62 8093 0000 sts tmpl.27,r242234 0f66 9093 0000 sts (tmpl.27)+1,r252235 0f6a A093 0000 sts (tmpl.27)+2,r262236 0f6e B093 0000 sts (tmpl.27)+3,r272237 0f72 B7FF sbrs r27,72238 0f74 00C0 rjmp .L1032239 0f76 8150 subi r24,lo8(-(4095))2240 0f78 904F sbci r25,hi8(-(4095))2241 0f7a AF4F sbci r26,hlo8(-(4095))2242 0f7c BF4F sbci r27,hhi8(-(4095))2243 .L103:2244 0f7e 3C01 movw r6,r242245 0f80 4D01 movw r8,r262246 0f82 3CE0 ldi r19,122247 0f84 9594 1: asr r92248 0f86 8794 ror r82249 0f88 7794 ror r72250 0f8a 6794 ror r62251 0f8c 3A95 dec r192252 0f8e 01F4 brne 1b2253 0f90 6092 0000 sts tmpl.27,r62254 0f94 7092 0000 sts (tmpl.27)+1,r72255 0f98 8092 0000 sts (tmpl.27)+2,r82256 0f9c 9092 0000 sts (tmpl.27)+3,r92257 0fa0 C801 movw r24,r162258 0fa2 B701 movw r22,r142259 0fa4 2D81 ldd r18,Y+52260 0fa6 3E81 ldd r19,Y+62261 0fa8 4F81 ldd r20,Y+72262 0faa 5885 ldd r21,Y+82263 0fac 0E94 0000 call __mulsi32264 0fb0 97FF sbrs r25,72265 0fb2 00C0 rjmp .L1042266 0fb4 6150 subi r22,lo8(-(2047))2267 0fb6 784F sbci r23,hi8(-(2047))2268 0fb8 8F4F sbci r24,hlo8(-(2047))2269 0fba 9F4F sbci r25,hhi8(-(2047))2270 .L104:2271 0fbc 2BE0 ldi r18,112272 0fbe 9595 1: asr r252273 0fc0 8795 ror r242274 0fc2 7795 ror r232275 0fc4 6795 ror r222276 0fc6 2A95 dec r182277 0fc8 01F4 brne 1b2278 0fca A601 movw r20,r122279 0fcc 9501 movw r18,r102280 0fce 0E94 0000 call __mulsi32281 0fd2 DC01 movw r26,r242282 0fd4 CB01 movw r24,r222283 0fd6 8093 0000 sts tmpl2.28,r242284 0fda 9093 0000 sts (tmpl2.28)+1,r252285 0fde A093 0000 sts (tmpl2.28)+2,r262286 0fe2 B093 0000 sts (tmpl2.28)+3,r272287 0fe6 B7FF sbrs r27,72288 0fe8 00C0 rjmp .L1052289 0fea 8150 subi r24,lo8(-(4095))2290 0fec 904F sbci r25,hi8(-(4095))2291 0fee AF4F sbci r26,hlo8(-(4095))2292 0ff0 BF4F sbci r27,hhi8(-(4095))2293 .L105:2294 0ff2 AC01 movw r20,r242295 0ff4 BD01 movw r22,r262296 0ff6 8CE0 ldi r24,122297 0ff8 7595 1: asr r232298 0ffa 6795 ror r222299 0ffc 5795 ror r212300 0ffe 4795 ror r202301 1000 8A95 dec r242302 1002 01F4 brne 1b2303 1004 4093 0000 sts tmpl2.28,r202304 1008 5093 0000 sts (tmpl2.28)+1,r212305 100c 6093 0000 sts (tmpl2.28)+2,r222306 1010 7093 0000 sts (tmpl2.28)+3,r232307 1014 2A89 ldd r18,Y+182308 1016 3B89 ldd r19,Y+192309 1018 37FF sbrs r19,72310 101a 00C0 rjmp .L1072311 101c 3095 com r192312 101e 2195 neg r182313 1020 3F4F sbci r19,lo8(-1)2314 .L107:2315 1022 2134 cpi r18,652316 1024 3105 cpc r19,__zero_reg__2317 1026 04F0 brlt .L1122318 1028 D401 movw r26,r82319 102a C301 movw r24,r62320 102c 97FE sbrs r9,72321 102e 00C0 rjmp .L1102322 1030 B095 com r272323 1032 A095 com r262324 1034 9095 com r252325 1036 8195 neg r242326 1038 9F4F sbci r25,lo8(-1)2327 103a AF4F sbci r26,lo8(-1)2328 103c BF4F sbci r27,lo8(-1)2329 .L110:2330 103e 8138 cpi r24,lo8(129)2331 1040 9105 cpc r25,__zero_reg__2332 1042 A105 cpc r26,__zero_reg__2333 1044 B105 cpc r27,__zero_reg__2334 1046 04F4 brge .L1092335 1048 DB01 movw r26,r222336 104a CA01 movw r24,r202337 104c 77FF sbrs r23,72338 104e 00C0 rjmp .L1112339 1050 B095 com r272340 1052 A095 com r262341 1054 9095 com r252342 1056 8195 neg r242343 1058 9F4F sbci r25,lo8(-1)2344 105a AF4F sbci r26,lo8(-1)2345 105c BF4F sbci r27,lo8(-1)2346 .L111:2347 105e 8138 cpi r24,lo8(129)2348 1060 9105 cpc r25,__zero_reg__2349 1062 A105 cpc r26,__zero_reg__2350 1064 B105 cpc r27,__zero_reg__2351 1066 04F0 brlt .L1122352 .L109:2353 1068 81E0 ldi r24,lo8(1)2354 106a 8093 0000 sts TrichterFlug,r242355 106e 00C0 rjmp .L1122356 .L95:2357 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2358 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__2359 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2360 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2361 1080 1092 0000 sts tmpl2.28,__zero_reg__2362 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__2363 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__2364 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__2365 1090 1092 0000 sts tmpl.27,__zero_reg__2366 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__2367 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__2368 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__2369 .L112:2370 10a0 8091 0000 lds r24,tmpl2.282371 10a4 9091 0000 lds r25,(tmpl2.28)+12372 10a8 A091 0000 lds r26,(tmpl2.28)+22373 10ac B091 0000 lds r27,(tmpl2.28)+32374 10b0 BC01 movw r22,r242375 10b2 CD01 movw r24,r262376 10b4 24E6 ldi r18,lo8(100)2377 10b6 30E0 ldi r19,hi8(100)2378 10b8 40E0 ldi r20,hlo8(100)2379 10ba 50E0 ldi r21,hhi8(100)2380 10bc 0E94 0000 call __divmodsi42381 10c0 E090 0000 lds r14,tmpl.272382 10c4 F090 0000 lds r15,(tmpl.27)+12383 10c8 E21A sub r14,r182384 10ca F30A sbc r15,r192385 10cc F092 0000 sts (TrimRoll)+1,r152386 10d0 E092 0000 sts TrimRoll,r142387 10d4 8091 0000 lds r24,tmpl.272388 10d8 9091 0000 lds r25,(tmpl.27)+12389 10dc A091 0000 lds r26,(tmpl.27)+22390 10e0 B091 0000 lds r27,(tmpl.27)+32391 10e4 BC01 movw r22,r242392 10e6 CD01 movw r24,r262393 10e8 24E6 ldi r18,lo8(100)2394 10ea 30E0 ldi r19,hi8(100)2395 10ec 40E0 ldi r20,hlo8(100)2396 10ee 50E0 ldi r21,hhi8(100)2397 10f0 0E94 0000 call __divmodsi42398 10f4 DA01 movw r26,r202399 10f6 C901 movw r24,r182400 10f8 2091 0000 lds r18,tmpl2.282401 10fc 3091 0000 lds r19,(tmpl2.28)+12402 1100 8C01 movw r16,r242403 1102 021B sub r16,r182404 1104 130B sbc r17,r192405 1106 1093 0000 sts (TrimNick)+1,r172406 110a 0093 0000 sts TrimNick,r162407 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR2408 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12409 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22410 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32411 111e BC01 movw r22,r242412 1120 CD01 movw r24,r262413 1122 28E6 ldi r18,lo8(360)2414 1124 31E0 ldi r19,hi8(360)2415 1126 40E0 ldi r20,hlo8(360)2416 1128 50E0 ldi r21,hhi8(360)2417 112a 0E94 0000 call __mulsi32418 112e 2091 0000 lds r18,ErsatzKompass2419 1132 3091 0000 lds r19,(ErsatzKompass)+12420 1136 4091 0000 lds r20,(ErsatzKompass)+22421 113a 5091 0000 lds r21,(ErsatzKompass)+32422 113e 2617 cp r18,r222423 1140 3707 cpc r19,r232424 1142 4807 cpc r20,r242425 1144 5907 cpc r21,r252426 1146 04F0 brlt .L1132427 1148 261B sub r18,r222428 114a 370B sbc r19,r232429 114c 480B sbc r20,r242430 114e 590B sbc r21,r252431 1150 2093 0000 sts ErsatzKompass,r182432 1154 3093 0000 sts (ErsatzKompass)+1,r192433 1158 4093 0000 sts (ErsatzKompass)+2,r202434 115c 5093 0000 sts (ErsatzKompass)+3,r212435 .L113:2436 1160 2091 0000 lds r18,ErsatzKompass2437 1164 3091 0000 lds r19,(ErsatzKompass)+12438 1168 4091 0000 lds r20,(ErsatzKompass)+22439 116c 5091 0000 lds r21,(ErsatzKompass)+32440 1170 57FF sbrs r21,72441 1172 00C0 rjmp .L1142442 1174 260F add r18,r222443 1176 371F adc r19,r232444 1178 481F adc r20,r242445 117a 591F adc r21,r252446 117c 2093 0000 sts ErsatzKompass,r182447 1180 3093 0000 sts (ErsatzKompass)+1,r192448 1184 4093 0000 sts (ErsatzKompass)+2,r202449 1188 5093 0000 sts (ErsatzKompass)+3,r212450 .L114:2451 118c 6091 0000 lds r22,MesswertRoll2452 1190 7091 0000 lds r23,(MesswertRoll)+12453 1194 6E0D add r22,r142454 1196 7F1D adc r23,r152455 1198 9B01 movw r18,r222456 119a 4427 clr r202457 119c 37FD sbrc r19,72458 119e 4095 com r202459 11a0 542F mov r21,r202460 11a2 8091 0000 lds r24,Mess_IntegralRoll22461 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+12462 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+22463 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+32464 11b2 820F add r24,r182465 11b4 931F adc r25,r192466 11b6 A41F adc r26,r202467 11b8 B51F adc r27,r212468 11ba 8093 0000 sts Mess_IntegralRoll2,r242469 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r252470 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r262471 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r272472 11ca 8091 0000 lds r24,LageKorrekturRoll2473 11ce 9091 0000 lds r25,(LageKorrekturRoll)+12474 11d2 681B sub r22,r242475 11d4 790B sbc r23,r252476 11d6 CB01 movw r24,r222477 11d8 AA27 clr r262478 11da 97FD sbrc r25,72479 11dc A095 com r262480 11de BA2F mov r27,r262481 11e0 2985 ldd r18,Y+92482 11e2 3A85 ldd r19,Y+102483 11e4 4B85 ldd r20,Y+112484 11e6 5C85 ldd r21,Y+122485 11e8 820F add r24,r182486 11ea 931F adc r25,r192487 11ec A41F adc r26,r202488 11ee B51F adc r27,r212489 11f0 8093 0000 sts Mess_IntegralRoll,r242490 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r252491 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r262492 11fc B093 0000 sts (Mess_IntegralRoll)+3,r272493 1200 C090 0000 lds r12,Umschlag180Roll2494 1204 D090 0000 lds r13,(Umschlag180Roll)+12495 1208 E090 0000 lds r14,(Umschlag180Roll)+22496 120c F090 0000 lds r15,(Umschlag180Roll)+32497 1210 C816 cp r12,r242498 1212 D906 cpc r13,r252499 1214 EA06 cpc r14,r262500 1216 FB06 cpc r15,r272501 1218 04F4 brge .L1152502 121a 88EA ldi r24,lo8(25000)2503 121c 91E6 ldi r25,hi8(25000)2504 121e A0E0 ldi r26,hlo8(25000)2505 1220 B0E0 ldi r27,hhi8(25000)2506 1222 8C19 sub r24,r122507 1224 9D09 sbc r25,r132508 1226 AE09 sbc r26,r142509 1228 BF09 sbc r27,r152510 122a 8093 0000 sts Mess_IntegralRoll,r242511 122e 9093 0000 sts (Mess_IntegralRoll)+1,r252512 1232 A093 0000 sts (Mess_IntegralRoll)+2,r262513 1236 B093 0000 sts (Mess_IntegralRoll)+3,r272514 123a 8093 0000 sts Mess_IntegralRoll2,r242515 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r252516 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r262517 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r272518 .L115:2519 124a 2227 clr r182520 124c 3327 clr r192521 124e A901 movw r20,r182522 1250 2C19 sub r18,r122523 1252 3D09 sbc r19,r132524 1254 4E09 sbc r20,r142525 1256 5F09 sbc r21,r152526 1258 8091 0000 lds r24,Mess_IntegralRoll2527 125c 9091 0000 lds r25,(Mess_IntegralRoll)+12528 1260 A091 0000 lds r26,(Mess_IntegralRoll)+22529 1264 B091 0000 lds r27,(Mess_IntegralRoll)+32530 1268 8217 cp r24,r182531 126a 9307 cpc r25,r192532 126c A407 cpc r26,r202533 126e B507 cpc r27,r212534 1270 04F4 brge .L1162535 1272 D701 movw r26,r142536 1274 C601 movw r24,r122537 1276 885A subi r24,lo8(-(-25000))2538 1278 9146 sbci r25,hi8(-(-25000))2539 127a A040 sbci r26,hlo8(-(-25000))2540 127c B040 sbci r27,hhi8(-(-25000))2541 127e 8093 0000 sts Mess_IntegralRoll,r242542 1282 9093 0000 sts (Mess_IntegralRoll)+1,r252543 1286 A093 0000 sts (Mess_IntegralRoll)+2,r262544 128a B093 0000 sts (Mess_IntegralRoll)+3,r272545 128e 8093 0000 sts Mess_IntegralRoll2,r242546 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r252547 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r262548 129a B093 0000 sts (Mess_IntegralRoll2)+3,r272549 .L116:2550 129e 6091 0000 lds r22,MesswertNick2551 12a2 7091 0000 lds r23,(MesswertNick)+12552 12a6 600F add r22,r162553 12a8 711F adc r23,r172554 12aa 9B01 movw r18,r222555 12ac 4427 clr r202556 12ae 37FD sbrc r19,72557 12b0 4095 com r202558 12b2 542F mov r21,r202559 12b4 8091 0000 lds r24,Mess_IntegralNick22560 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+12561 12bc A091 0000 lds r26,(Mess_IntegralNick2)+22562 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+32563 12c4 820F add r24,r182564 12c6 931F adc r25,r192565 12c8 A41F adc r26,r202566 12ca B51F adc r27,r212567 12cc 8093 0000 sts Mess_IntegralNick2,r242568 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r252569 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r262570 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r272571 12dc 8091 0000 lds r24,LageKorrekturNick2572 12e0 9091 0000 lds r25,(LageKorrekturNick)+12573 12e4 681B sub r22,r242574 12e6 790B sbc r23,r252575 12e8 CB01 movw r24,r222576 12ea AA27 clr r262577 12ec 97FD sbrc r25,72578 12ee A095 com r262579 12f0 BA2F mov r27,r262580 12f2 2D85 ldd r18,Y+132581 12f4 3E85 ldd r19,Y+142582 12f6 4F85 ldd r20,Y+152583 12f8 5889 ldd r21,Y+162584 12fa 820F add r24,r182585 12fc 931F adc r25,r192586 12fe A41F adc r26,r202587 1300 B51F adc r27,r212588 1302 8093 0000 sts Mess_IntegralNick,r242589 1306 9093 0000 sts (Mess_IntegralNick)+1,r252590 130a A093 0000 sts (Mess_IntegralNick)+2,r262591 130e B093 0000 sts (Mess_IntegralNick)+3,r272592 1312 E090 0000 lds r14,Umschlag180Nick2593 1316 F090 0000 lds r15,(Umschlag180Nick)+12594 131a 0091 0000 lds r16,(Umschlag180Nick)+22595 131e 1091 0000 lds r17,(Umschlag180Nick)+32596 1322 E816 cp r14,r242597 1324 F906 cpc r15,r252598 1326 0A07 cpc r16,r262599 1328 1B07 cpc r17,r272600 132a 04F4 brge .L1172601 132c 88EA ldi r24,lo8(25000)2602 132e 91E6 ldi r25,hi8(25000)2603 1330 A0E0 ldi r26,hlo8(25000)2604 1332 B0E0 ldi r27,hhi8(25000)2605 1334 8E19 sub r24,r142606 1336 9F09 sbc r25,r152607 1338 A00B sbc r26,r162608 133a B10B sbc r27,r172609 133c 8093 0000 sts Mess_IntegralNick,r242610 1340 9093 0000 sts (Mess_IntegralNick)+1,r252611 1344 A093 0000 sts (Mess_IntegralNick)+2,r262612 1348 B093 0000 sts (Mess_IntegralNick)+3,r272613 134c 8093 0000 sts Mess_IntegralNick2,r242614 1350 9093 0000 sts (Mess_IntegralNick2)+1,r252615 1354 A093 0000 sts (Mess_IntegralNick2)+2,r262616 1358 B093 0000 sts (Mess_IntegralNick2)+3,r272617 .L117:2618 135c 2227 clr r182619 135e 3327 clr r192620 1360 A901 movw r20,r182621 1362 2E19 sub r18,r142622 1364 3F09 sbc r19,r152623 1366 400B sbc r20,r162624 1368 510B sbc r21,r172625 136a 8091 0000 lds r24,Mess_IntegralNick2626 136e 9091 0000 lds r25,(Mess_IntegralNick)+12627 1372 A091 0000 lds r26,(Mess_IntegralNick)+22628 1376 B091 0000 lds r27,(Mess_IntegralNick)+32629 137a 8217 cp r24,r182630 137c 9307 cpc r25,r192631 137e A407 cpc r26,r202632 1380 B507 cpc r27,r212633 1382 04F4 brge .L1182634 1384 D801 movw r26,r162635 1386 C701 movw r24,r142636 1388 885A subi r24,lo8(-(-25000))2637 138a 9146 sbci r25,hi8(-(-25000))2638 138c A040 sbci r26,hlo8(-(-25000))2639 138e B040 sbci r27,hhi8(-(-25000))2640 1390 8093 0000 sts Mess_IntegralNick,r242641 1394 9093 0000 sts (Mess_IntegralNick)+1,r252642 1398 A093 0000 sts (Mess_IntegralNick)+2,r262643 139c B093 0000 sts (Mess_IntegralNick)+3,r272644 13a0 8093 0000 sts Mess_IntegralNick2,r242645 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r252646 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r262647 13ac B093 0000 sts (Mess_IntegralNick2)+3,r272648 .L118:2649 13b0 8091 0000 lds r24,Mess_Integral_Gier2650 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+12651 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+22652 13bc B091 0000 lds r27,(Mess_Integral_Gier)+32653 13c0 8093 0000 sts Integral_Gier,r242654 13c4 9093 0000 sts (Integral_Gier)+1,r252655 13c8 A093 0000 sts (Integral_Gier)+2,r262656 13cc B093 0000 sts (Integral_Gier)+3,r272657 13d0 8091 0000 lds r24,Mess_IntegralNick2658 13d4 9091 0000 lds r25,(Mess_IntegralNick)+12659 13d8 A091 0000 lds r26,(Mess_IntegralNick)+22660 13dc B091 0000 lds r27,(Mess_IntegralNick)+32661 13e0 8093 0000 sts IntegralNick,r242662 13e4 9093 0000 sts (IntegralNick)+1,r252663 13e8 A093 0000 sts (IntegralNick)+2,r262664 13ec B093 0000 sts (IntegralNick)+3,r272665 13f0 8091 0000 lds r24,Mess_IntegralRoll2666 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+12667 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+22668 13fc B091 0000 lds r27,(Mess_IntegralRoll)+32669 1400 8093 0000 sts IntegralRoll,r242670 1404 9093 0000 sts (IntegralRoll)+1,r252671 1408 A093 0000 sts (IntegralRoll)+2,r262672 140c B093 0000 sts (IntegralRoll)+3,r272673 1410 8091 0000 lds r24,Mess_IntegralNick22674 1414 9091 0000 lds r25,(Mess_IntegralNick2)+12675 1418 A091 0000 lds r26,(Mess_IntegralNick2)+22676 141c B091 0000 lds r27,(Mess_IntegralNick2)+32677 1420 8093 0000 sts IntegralNick2,r242678 1424 9093 0000 sts (IntegralNick2)+1,r252679 1428 A093 0000 sts (IntegralNick2)+2,r262680 142c B093 0000 sts (IntegralNick2)+3,r272681 1430 8091 0000 lds r24,Mess_IntegralRoll22682 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+12683 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+22684 143c B091 0000 lds r27,(Mess_IntegralRoll2)+32685 1440 8093 0000 sts IntegralRoll2,r242686 1444 9093 0000 sts (IntegralRoll2)+1,r252687 1448 A093 0000 sts (IntegralRoll2)+2,r262688 144c B093 0000 sts (IntegralRoll2)+3,r272689 1450 8091 0000 lds r24,HiResNick2690 1454 9091 0000 lds r25,(HiResNick)+12691 1458 97FD sbrc r25,72692 145a 0796 adiw r24,72693 .L119:2694 145c 03E0 ldi r16,32695 145e 9595 1: asr r252696 1460 8795 ror r242697 1462 0A95 dec r162698 1464 01F4 brne 1b2699 1466 9093 0000 sts (MesswertNick)+1,r252700 146a 8093 0000 sts MesswertNick,r242701 146e 8091 0000 lds r24,HiResRoll2702 1472 9091 0000 lds r25,(HiResRoll)+12703 1476 97FD sbrc r25,72704 1478 0796 adiw r24,72705 .L120:2706 147a 13E0 ldi r17,32707 147c 9595 1: asr r252708 147e 8795 ror r242709 1480 1A95 dec r172710 1482 01F4 brne 1b2711 1484 9093 0000 sts (MesswertRoll)+1,r252712 1488 8093 0000 sts MesswertRoll,r242713 148c 8091 0000 lds r24,AdWertNick2714 1490 9091 0000 lds r25,(AdWertNick)+12715 1494 0F97 sbiw r24,152716 1496 04F4 brge .L1212717 1498 88E1 ldi r24,lo8(-1000)2718 149a 9CEF ldi r25,hi8(-1000)2719 149c 9093 0000 sts (MesswertNick)+1,r252720 14a0 8093 0000 sts MesswertNick,r242721 .L121:2722 14a4 8091 0000 lds r24,AdWertNick2723 14a8 9091 0000 lds r25,(AdWertNick)+12724 14ac 0797 sbiw r24,72725 14ae 04F4 brge .L1222726 14b0 80E3 ldi r24,lo8(-2000)2727 14b2 98EF ldi r25,hi8(-2000)2728 14b4 9093 0000 sts (MesswertNick)+1,r252729 14b8 8093 0000 sts MesswertNick,r242730 .L122:2731 14bc 2091 0000 lds r18,PlatinenVersion2732 14c0 2A30 cpi r18,lo8(10)2733 14c2 01F4 brne .L1232734 14c4 8091 0000 lds r24,AdWertNick2735 14c8 9091 0000 lds r25,(AdWertNick)+12736 14cc 835F subi r24,lo8(1011)2737 14ce 9340 sbci r25,hi8(1011)2738 14d0 04F0 brlt .L1242739 14d2 88EE ldi r24,lo8(1000)2740 14d4 93E0 ldi r25,hi8(1000)2741 14d6 9093 0000 sts (MesswertNick)+1,r252742 14da 8093 0000 sts MesswertNick,r242743 .L124:2744 14de 8091 0000 lds r24,AdWertNick2745 14e2 9091 0000 lds r25,(AdWertNick)+12746 14e6 8A5F subi r24,lo8(1018)2747 14e8 9340 sbci r25,hi8(1018)2748 14ea 04F0 brlt .L1262749 14ec 00C0 rjmp .L1692750 .L123:2751 14ee 8091 0000 lds r24,AdWertNick2752 14f2 9091 0000 lds r25,(AdWertNick)+12753 14f6 815D subi r24,lo8(2001)2754 14f8 9740 sbci r25,hi8(2001)2755 14fa 04F0 brlt .L1272756 14fc 88EE ldi r24,lo8(1000)2757 14fe 93E0 ldi r25,hi8(1000)2758 1500 9093 0000 sts (MesswertNick)+1,r252759 1504 8093 0000 sts MesswertNick,r242760 .L127:2761 1508 8091 0000 lds r24,AdWertNick2762 150c 9091 0000 lds r25,(AdWertNick)+12763 1510 805E subi r24,lo8(2016)2764 1512 9740 sbci r25,hi8(2016)2765 1514 04F0 brlt .L1262766 .L169:2767 1516 80ED ldi r24,lo8(2000)2768 1518 97E0 ldi r25,hi8(2000)2769 151a 9093 0000 sts (MesswertNick)+1,r252770 151e 8093 0000 sts MesswertNick,r242771 .L126:2772 1522 8091 0000 lds r24,AdWertRoll2773 1526 9091 0000 lds r25,(AdWertRoll)+12774 152a 0F97 sbiw r24,152775 152c 04F4 brge .L1292776 152e 88E1 ldi r24,lo8(-1000)2777 1530 9CEF ldi r25,hi8(-1000)2778 1532 9093 0000 sts (MesswertRoll)+1,r252779 1536 8093 0000 sts MesswertRoll,r242780 .L129:2781 153a 8091 0000 lds r24,AdWertRoll2782 153e 9091 0000 lds r25,(AdWertRoll)+12783 1542 0797 sbiw r24,72784 1544 04F4 brge .L1302785 1546 80E3 ldi r24,lo8(-2000)2786 1548 98EF ldi r25,hi8(-2000)2787 154a 9093 0000 sts (MesswertRoll)+1,r252788 154e 8093 0000 sts MesswertRoll,r242789 .L130:2790 1552 2A30 cpi r18,lo8(10)2791 1554 01F4 brne .L1312792 1556 8091 0000 lds r24,AdWertRoll2793 155a 9091 0000 lds r25,(AdWertRoll)+12794 155e 835F subi r24,lo8(1011)2795 1560 9340 sbci r25,hi8(1011)2796 1562 04F0 brlt .L1322797 1564 88EE ldi r24,lo8(1000)2798 1566 93E0 ldi r25,hi8(1000)2799 1568 9093 0000 sts (MesswertRoll)+1,r252800 156c 8093 0000 sts MesswertRoll,r242801 .L132:2802 1570 8091 0000 lds r24,AdWertRoll2803 1574 9091 0000 lds r25,(AdWertRoll)+12804 1578 8A5F subi r24,lo8(1018)2805 157a 9340 sbci r25,hi8(1018)2806 157c 04F0 brlt .L1342807 157e 00C0 rjmp .L1702808 .L131:2809 1580 8091 0000 lds r24,AdWertRoll2810 1584 9091 0000 lds r25,(AdWertRoll)+12811 1588 815D subi r24,lo8(2001)2812 158a 9740 sbci r25,hi8(2001)2813 158c 04F0 brlt .L1352814 158e 88EE ldi r24,lo8(1000)2815 1590 93E0 ldi r25,hi8(1000)2816 1592 9093 0000 sts (MesswertRoll)+1,r252817 1596 8093 0000 sts MesswertRoll,r242818 .L135:2819 159a 8091 0000 lds r24,AdWertRoll2820 159e 9091 0000 lds r25,(AdWertRoll)+12821 15a2 805E subi r24,lo8(2016)2822 15a4 9740 sbci r25,hi8(2016)2823 15a6 04F0 brlt .L1342824 .L170:2825 15a8 80ED ldi r24,lo8(2000)2826 15aa 97E0 ldi r25,hi8(2000)2827 15ac 9093 0000 sts (MesswertRoll)+1,r252828 15b0 8093 0000 sts MesswertRoll,r242829 .L134:2830 15b4 6091 0000 lds r22,Parameter_Gyro_D2831 15b8 6623 tst r222832 15ba 01F4 brne .+22833 15bc 00C0 rjmp .L1372834 15be 4091 0000 lds r20,HiResNick2835 15c2 5091 0000 lds r21,(HiResNick)+12836 15c6 8091 0000 lds r24,oldNick.312837 15ca 9091 0000 lds r25,(oldNick.31)+12838 15ce 481B sub r20,r242839 15d0 590B sbc r21,r252840 15d2 5093 0000 sts (d2Nick.34)+1,r212841 15d6 4093 0000 sts d2Nick.34,r202842 15da 2091 0000 lds r18,HiResNick2843 15de 3091 0000 lds r19,(HiResNick)+12844 15e2 280F add r18,r242845 15e4 391F adc r19,r252846 15e6 37FF sbrs r19,72847 15e8 00C0 rjmp .L1382848 15ea 2F5F subi r18,lo8(-(1))2849 15ec 3F4F sbci r19,hi8(-(1))2850 .L138:2851 15ee 3595 asr r192852 15f0 2795 ror r182853 15f2 3093 0000 sts (oldNick.31)+1,r192854 15f6 2093 0000 sts oldNick.31,r182855 15fa 4138 cpi r20,1292856 15fc 5105 cpc r21,__zero_reg__2857 15fe 04F0 brlt .L1392858 1600 80E8 ldi r24,lo8(128)2859 1602 90E0 ldi r25,hi8(128)2860 1604 00C0 rjmp .L1712861 .L139:2862 1606 4058 subi r20,lo8(-128)2863 1608 5F4F sbci r21,hi8(-128)2864 160a 04F4 brge .L1402865 160c 80E8 ldi r24,lo8(-128)2866 160e 9FEF ldi r25,hi8(-128)2867 .L171:2868 1610 9093 0000 sts (d2Nick.34)+1,r252869 1614 8093 0000 sts d2Nick.34,r242870 .L140:2871 1618 4091 0000 lds r20,HiResRoll2872 161c 5091 0000 lds r21,(HiResRoll)+12873 1620 8091 0000 lds r24,oldRoll.322874 1624 9091 0000 lds r25,(oldRoll.32)+12875 1628 481B sub r20,r242876 162a 590B sbc r21,r252877 162c 5093 0000 sts (d2Roll.33)+1,r212878 1630 4093 0000 sts d2Roll.33,r202879 1634 2091 0000 lds r18,HiResRoll2880 1638 3091 0000 lds r19,(HiResRoll)+12881 163c 280F add r18,r242882 163e 391F adc r19,r252883 1640 37FF sbrs r19,72884 1642 00C0 rjmp .L1422885 1644 2F5F subi r18,lo8(-(1))2886 1646 3F4F sbci r19,hi8(-(1))2887 .L142:2888 1648 3595 asr r192889 164a 2795 ror r182890 164c 3093 0000 sts (oldRoll.32)+1,r192891 1650 2093 0000 sts oldRoll.32,r182892 1654 4138 cpi r20,1292893 1656 5105 cpc r21,__zero_reg__2894 1658 04F0 brlt .L1432895 165a 80E8 ldi r24,lo8(128)2896 165c 90E0 ldi r25,hi8(128)2897 165e 00C0 rjmp .L1722898 .L143:2899 1660 4058 subi r20,lo8(-128)2900 1662 5F4F sbci r21,hi8(-128)2901 1664 04F4 brge .L1442902 1666 80E8 ldi r24,lo8(-128)2903 1668 9FEF ldi r25,hi8(-128)2904 .L172:2905 166a 9093 0000 sts (d2Roll.33)+1,r252906 166e 8093 0000 sts d2Roll.33,r242907 .L144:2908 1672 462F mov r20,r222909 1674 5527 clr r212910 1676 8091 0000 lds r24,d2Nick.342911 167a 9091 0000 lds r25,(d2Nick.34)+12912 167e 849F mul r24,r202913 1680 B001 movw r22,r02914 1682 859F mul r24,r212915 1684 700D add r23,r02916 1686 949F mul r25,r202917 1688 700D add r23,r02918 168a 1124 clr r12919 168c 9B01 movw r18,r222920 168e 77FF sbrs r23,72921 1690 00C0 rjmp .L1462922 1692 215F subi r18,lo8(-(15))2923 1694 3F4F sbci r19,hi8(-(15))2924 .L146:2925 1696 F4E0 ldi r31,42926 1698 3595 1: asr r192927 169a 2795 ror r182928 169c FA95 dec r312929 169e 01F4 brne 1b2930 16a0 8091 0000 lds r24,MesswertNick2931 16a4 9091 0000 lds r25,(MesswertNick)+12932 16a8 820F add r24,r182933 16aa 931F adc r25,r192934 16ac 9093 0000 sts (MesswertNick)+1,r252935 16b0 8093 0000 sts MesswertNick,r242936 16b4 8091 0000 lds r24,d2Roll.332937 16b8 9091 0000 lds r25,(d2Roll.33)+12938 16bc 849F mul r24,r202939 16be D001 movw r26,r02940 16c0 859F mul r24,r212941 16c2 B00D add r27,r02942 16c4 949F mul r25,r202943 16c6 B00D add r27,r02944 16c8 1124 clr r12945 16ca AD01 movw r20,r262946 16cc 9D01 movw r18,r262947 16ce B7FF sbrs r27,72948 16d0 00C0 rjmp .L1472949 16d2 215F subi r18,lo8(-(15))2950 16d4 3F4F sbci r19,hi8(-(15))2951 .L147:2952 16d6 E4E0 ldi r30,42953 16d8 3595 1: asr r192954 16da 2795 ror r182955 16dc EA95 dec r302956 16de 01F4 brne 1b2957 16e0 8091 0000 lds r24,MesswertRoll2958 16e4 9091 0000 lds r25,(MesswertRoll)+12959 16e8 820F add r24,r182960 16ea 931F adc r25,r192961 16ec 9093 0000 sts (MesswertRoll)+1,r252962 16f0 8093 0000 sts MesswertRoll,r242963 16f4 8091 0000 lds r24,HiResNick2964 16f8 9091 0000 lds r25,(HiResNick)+12965 16fc 860F add r24,r222966 16fe 971F adc r25,r232967 1700 9093 0000 sts (HiResNick)+1,r252968 1704 8093 0000 sts HiResNick,r242969 1708 8091 0000 lds r24,HiResRoll2970 170c 9091 0000 lds r25,(HiResRoll)+12971 1710 840F add r24,r202972 1712 951F adc r25,r212973 1714 9093 0000 sts (HiResRoll)+1,r252974 1718 8093 0000 sts HiResRoll,r242975 .L137:2976 171c 0091 0000 lds r16,RohMesswertRoll2977 1720 1091 0000 lds r17,(RohMesswertRoll)+12978 1724 8091 0000 lds r24,KopplungsteilNickRoll2979 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+12980 172c 1016 cp __zero_reg__,r162981 172e 1106 cpc __zero_reg__,r172982 1730 04F4 brge .L1482983 1732 9C01 movw r18,r242984 1734 97FF sbrs r25,72985 1736 00C0 rjmp .L1492986 1738 2227 clr r182987 173a 3327 clr r192988 173c 281B sub r18,r242989 173e 390B sbc r19,r252990 .L149:2991 1740 C901 movw r24,r182992 1742 AA27 clr r262993 1744 97FD sbrc r25,72994 1746 A095 com r262995 1748 BA2F mov r27,r262996 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection2997 174e 3327 clr r192998 1750 4427 clr r202999 1752 5527 clr r213000 1754 BC01 movw r22,r243001 1756 CD01 movw r24,r263002 1758 0E94 0000 call __mulsi33003 175c 9B01 movw r18,r223004 175e AC01 movw r20,r243005 1760 97FF sbrs r25,73006 1762 00C0 rjmp .L1503007 1764 215C subi r18,lo8(-(63))3008 1766 3F4F sbci r19,hi8(-(63))3009 1768 4F4F sbci r20,hlo8(-(63))3010 176a 5F4F sbci r21,hhi8(-(63))3011 .L150:3012 176c 76E0 ldi r23,63013 176e 5595 1: asr r213014 1770 4795 ror r203015 1772 3795 ror r193016 1774 2795 ror r183017 1776 7A95 dec r233018 1778 01F4 brne 1b3019 177a 8091 0000 lds r24,TrimRoll3020 177e 9091 0000 lds r25,(TrimRoll)+13021 1782 820F add r24,r183022 1784 931F adc r25,r193023 1786 00C0 rjmp .L1733024 .L148:3025 1788 97FF sbrs r25,73026 178a 00C0 rjmp .L1523027 178c 9095 com r253028 178e 8195 neg r243029 1790 9F4F sbci r25,lo8(-1)3030 .L152:3031 1792 AA27 clr r263032 1794 97FD sbrc r25,73033 1796 A095 com r263034 1798 BA2F mov r27,r263035 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection3036 179e 3327 clr r193037 17a0 4427 clr r203038 17a2 5527 clr r213039 17a4 BC01 movw r22,r243040 17a6 CD01 movw r24,r263041 17a8 0E94 0000 call __mulsi33042 17ac 9B01 movw r18,r223043 17ae AC01 movw r20,r243044 17b0 97FF sbrs r25,73045 17b2 00C0 rjmp .L1533046 17b4 215C subi r18,lo8(-(63))3047 17b6 3F4F sbci r19,hi8(-(63))3048 17b8 4F4F sbci r20,hlo8(-(63))3049 17ba 5F4F sbci r21,hhi8(-(63))3050 .L153:3051 17bc 66E0 ldi r22,63052 17be 5595 1: asr r213053 17c0 4795 ror r203054 17c2 3795 ror r193055 17c4 2795 ror r183056 17c6 6A95 dec r223057 17c8 01F4 brne 1b3058 17ca 8091 0000 lds r24,TrimRoll3059 17ce 9091 0000 lds r25,(TrimRoll)+13060 17d2 821B sub r24,r183061 17d4 930B sbc r25,r193062 .L173:3063 17d6 9093 0000 sts (TrimRoll)+1,r253064 17da 8093 0000 sts TrimRoll,r243065 17de E090 0000 lds r14,RohMesswertNick3066 17e2 F090 0000 lds r15,(RohMesswertNick)+13067 17e6 8091 0000 lds r24,KopplungsteilRollNick3068 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+13069 17ee 1E14 cp __zero_reg__,r143070 17f0 1F04 cpc __zero_reg__,r153071 17f2 04F4 brge .L1543072 17f4 9C01 movw r18,r243073 17f6 97FF sbrs r25,73074 17f8 00C0 rjmp .L1553075 17fa 2227 clr r183076 17fc 3327 clr r193077 17fe 281B sub r18,r243078 1800 390B sbc r19,r253079 .L155:3080 1802 C901 movw r24,r183081 1804 AA27 clr r263082 1806 97FD sbrc r25,73083 1808 A095 com r263084 180a BA2F mov r27,r263085 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection3086 1810 3327 clr r193087 1812 4427 clr r203088 1814 5527 clr r213089 1816 BC01 movw r22,r243090 1818 CD01 movw r24,r263091 181a 0E94 0000 call __mulsi33092 181e 9B01 movw r18,r223093 1820 AC01 movw r20,r243094 1822 97FF sbrs r25,73095 1824 00C0 rjmp .L1563096 1826 215C subi r18,lo8(-(63))3097 1828 3F4F sbci r19,hi8(-(63))3098 182a 4F4F sbci r20,hlo8(-(63))3099 182c 5F4F sbci r21,hhi8(-(63))3100 .L156:3101 182e 96E0 ldi r25,63102 1830 5595 1: asr r213103 1832 4795 ror r203104 1834 3795 ror r193105 1836 2795 ror r183106 1838 9A95 dec r253107 183a 01F4 brne 1b3108 183c 8091 0000 lds r24,TrimNick3109 1840 9091 0000 lds r25,(TrimNick)+13110 1844 820F add r24,r183111 1846 931F adc r25,r193112 1848 00C0 rjmp .L1743113 .L154:3114 184a 97FF sbrs r25,73115 184c 00C0 rjmp .L1583116 184e 9095 com r253117 1850 8195 neg r243118 1852 9F4F sbci r25,lo8(-1)3119 .L158:3120 1854 AA27 clr r263121 1856 97FD sbrc r25,73122 1858 A095 com r263123 185a BA2F mov r27,r263124 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection3125 1860 3327 clr r193126 1862 4427 clr r203127 1864 5527 clr r213128 1866 BC01 movw r22,r243129 1868 CD01 movw r24,r263130 186a 0E94 0000 call __mulsi33131 186e 9B01 movw r18,r223132 1870 AC01 movw r20,r243133 1872 97FF sbrs r25,73134 1874 00C0 rjmp .L1593135 1876 215C subi r18,lo8(-(63))3136 1878 3F4F sbci r19,hi8(-(63))3137 187a 4F4F sbci r20,hlo8(-(63))3138 187c 5F4F sbci r21,hhi8(-(63))3139 .L159:3140 187e 86E0 ldi r24,63141 1880 5595 1: asr r213142 1882 4795 ror r203143 1884 3795 ror r193144 1886 2795 ror r183145 1888 8A95 dec r243146 188a 01F4 brne 1b3147 188c 8091 0000 lds r24,TrimNick3148 1890 9091 0000 lds r25,(TrimNick)+13149 1894 821B sub r24,r183150 1896 930B sbc r25,r193151 .L174:3152 1898 9093 0000 sts (TrimNick)+1,r253153 189c 8093 0000 sts TrimNick,r243154 18a0 8091 0000 lds r24,Parameter_GlobalConfig3155 18a4 87FF sbrs r24,73156 18a6 00C0 rjmp .L823157 18a8 B989 ldd r27,Y+173158 18aa BB23 tst r273159 18ac 01F0 breq .+23160 18ae 00C0 rjmp .L823161 18b0 8091 0000 lds r24,Looping_Roll3162 18b4 8823 tst r243163 18b6 01F4 brne .L823164 18b8 E1E0 ldi r30,lo8(257)3165 18ba EE16 cp r14,r303166 18bc E1E0 ldi r30,hi8(257)3167 18be FE06 cpc r15,r303168 18c0 04F0 brlt .L1613169 18c2 8091 0000 lds r24,MesswertNick3170 18c6 9091 0000 lds r25,(MesswertNick)+13171 18ca 8E0D add r24,r143172 18cc 9F1D adc r25,r153173 18ce 8050 subi r24,lo8(-(-256))3174 18d0 9140 sbci r25,hi8(-(-256))3175 18d2 00C0 rjmp .L1753176 .L161:3177 18d4 F0E0 ldi r31,lo8(-256)3178 18d6 EF16 cp r14,r313179 18d8 FFEF ldi r31,hi8(-256)3180 18da FF06 cpc r15,r313181 18dc 04F4 brge .L1623182 18de 8091 0000 lds r24,MesswertNick3183 18e2 9091 0000 lds r25,(MesswertNick)+13184 18e6 8E0D add r24,r143185 18e8 9F1D adc r25,r153186 18ea 8050 subi r24,lo8(-(256))3187 18ec 9F4F sbci r25,hi8(-(256))3188 .L175:3189 18ee 9093 0000 sts (MesswertNick)+1,r253190 18f2 8093 0000 sts MesswertNick,r243191 .L162:3192 18f6 21E0 ldi r18,hi8(257)3193 18f8 0130 cpi r16,lo8(257)3194 18fa 1207 cpc r17,r183195 18fc 04F0 brlt .L1643196 18fe 8091 0000 lds r24,MesswertRoll3197 1902 9091 0000 lds r25,(MesswertRoll)+13198 1906 800F add r24,r163199 1908 911F adc r25,r173200 190a 8050 subi r24,lo8(-(-256))3201 190c 9140 sbci r25,hi8(-(-256))3202 190e 00C0 rjmp .L1763203 .L164:3204 1910 3FEF ldi r19,hi8(-256)3205 1912 0030 cpi r16,lo8(-256)3206 1914 1307 cpc r17,r193207 1916 04F4 brge .L823208 1918 8091 0000 lds r24,MesswertRoll3209 191c 9091 0000 lds r25,(MesswertRoll)+13210 1920 800F add r24,r163211 1922 911F adc r25,r173212 1924 8050 subi r24,lo8(-(256))3213 1926 9F4F sbci r25,hi8(-(256))3214 .L176:3215 1928 9093 0000 sts (MesswertRoll)+1,r253216 192c 8093 0000 sts MesswertRoll,r243217 .L82:3218 /* epilogue: frame size=19 */3219 1930 E2E1 ldi r30,183220 1932 CD5E subi r28,-193221 1934 0C94 0000 jmp __epilogue_restores__+03222 /* epilogue end (size=4) */3223 /* function Mittelwert size 2000 (1990) */3225 .global SendMotorData3227 SendMotorData:3228 /* prologue: frame size=0 */3229 /* prologue end (size=0) */3230 1938 8091 0000 lds r24,MotorenEin3231 193c 8823 tst r243232 193e 01F4 brne .L1783233 1940 8091 0000 lds r24,FC_StatusFlags3234 1944 8C7F andi r24,lo8(-4)3235 1946 8093 0000 sts FC_StatusFlags,r243236 194a A0E0 ldi r26,lo8(MotorTest)3237 194c B0E0 ldi r27,hi8(MotorTest)3238 194e E0E0 ldi r30,lo8(Motor)3239 1950 F0E0 ldi r31,hi8(Motor)3240 1952 9BE0 ldi r25,lo8(11)3241 .L183:3242 1954 8091 0000 lds r24,PC_MotortestActive3243 1958 8823 tst r243244 195a 01F4 brne .L1823245 195c 8C93 st X,r243246 .L182:3247 195e 8D91 ld r24,X+3248 1960 8183 std Z+1,r243249 1962 1282 std Z+2,__zero_reg__3250 1964 9150 subi r25,lo8(-(-1))3251 1966 3896 adiw r30,83252 1968 97FF sbrs r25,73253 196a 00C0 rjmp .L1833254 196c 8091 0000 lds r24,PC_MotortestActive3255 1970 8823 tst r243256 1972 01F0 breq .L1853257 1974 8091 0000 lds r24,PC_MotortestActive3258 1978 8150 subi r24,lo8(-(-1))3259 197a 8093 0000 sts PC_MotortestActive,r243260 197e 00C0 rjmp .L1853261 .L178:3262 1980 8091 0000 lds r24,FC_StatusFlags3263 1984 8160 ori r24,lo8(1)3264 1986 8093 0000 sts FC_StatusFlags,r243265 .L185:3266 198a 8091 0000 lds r24,I2C_TransferActive3267 198e 8823 tst r243268 1990 01F0 breq .L1863269 1992 1092 0000 sts I2C_TransferActive,__zero_reg__3270 1996 0895 ret3271 .L186:3272 1998 8093 0000 sts motor_write,r243273 199c 8093 0000 sts twi_state,r243274 19a0 8091 0000 lds r24,BLFlags3275 19a4 8E7F andi r24,lo8(-2)3276 19a6 8093 0000 sts BLFlags,r243277 19aa 85EA ldi r24,lo8(-91)3278 19ac 8093 BC00 sts 188,r243279 19b0 0895 ret3280 /* epilogue: frame size=0 */3281 /* epilogue: noreturn */3282 /* epilogue end (size=0) */3283 /* function SendMotorData size 61 (61) */3285 .global ParameterZuordnung3287 ParameterZuordnung:3288 /* prologue: frame size=0 */3289 19b2 CF93 push r283290 19b4 DF93 push r293291 /* prologue end (size=2) */3292 19b6 A0E0 ldi r26,lo8(Poti)3293 19b8 B0E0 ldi r27,hi8(Poti)3294 19ba C0E0 ldi r28,lo8(EE_Parameter+5)3295 19bc D0E0 ldi r29,hi8(EE_Parameter+5)3296 19be 57E0 ldi r21,lo8(7)3297 .L203:3298 19c0 9991 ld r25,Y+3299 19c2 E92F mov r30,r253300 19c4 FF27 clr r313301 19c6 EE0F add r30,r303302 19c8 FF1F adc r31,r313303 19ca E050 subi r30,lo8(-(PPM_in))3304 19cc F040 sbci r31,hi8(-(PPM_in))3305 19ce 0190 ld __tmp_reg__,Z+3306 19d0 F081 ld r31,Z3307 19d2 E02D mov r30,__tmp_reg__3308 19d4 E158 subi r30,lo8(-(127))3309 19d6 FF4F sbci r31,hi8(-(127))3310 19d8 EF3F cpi r30,2553311 19da F105 cpc r31,__zero_reg__3312 19dc 01F0 breq .L1943313 19de 04F0 brlt .L1943314 19e0 EFEF ldi r30,lo8(255)3315 19e2 F0E0 ldi r31,hi8(255)3316 19e4 00C0 rjmp .L1953317 .L194:3318 19e6 F7FF sbrs r31,73319 19e8 00C0 rjmp .L1953320 19ea E0E0 ldi r30,lo8(0)3321 19ec F0E0 ldi r31,hi8(0)3322 .L195:3323 19ee 9931 cpi r25,lo8(25)3324 19f0 01F4 brne .L1973325 19f2 EC93 st X,r303326 19f4 00C0 rjmp .L1933327 .L197:3328 19f6 4C91 ld r20,X3329 19f8 242F mov r18,r203330 19fa 3327 clr r193331 19fc E217 cp r30,r183332 19fe F307 cpc r31,r193333 1a00 01F0 breq .L1933334 1a02 CF01 movw r24,r303335 1a04 821B sub r24,r183336 1a06 930B sbc r25,r193337 1a08 97FD sbrc r25,73338 1a0a 0396 adiw r24,33339 .L200:3340 1a0c 9595 asr r253341 1a0e 8795 ror r243342 1a10 9595 asr r253343 1a12 8795 ror r243344 1a14 242F mov r18,r203345 1a16 280F add r18,r243346 1a18 2C93 st X,r183347 1a1a 822F mov r24,r183348 1a1c 9927 clr r253349 1a1e E817 cp r30,r243350 1a20 F907 cpc r31,r253351 1a22 04F4 brge .L2013352 1a24 2150 subi r18,lo8(-(-1))3353 1a26 00C0 rjmp .L3233354 .L201:3355 1a28 2F5F subi r18,lo8(-(1))3356 .L323:3357 1a2a 2C93 st X,r183358 .L193:3359 1a2c 5150 subi r21,lo8(-(-1))3360 1a2e 1196 adiw r26,13361 1a30 57FF sbrs r21,73362 1a32 00C0 rjmp .L2033363 1a34 8091 0000 lds r24,EE_Parameter+153364 1a38 883F cpi r24,lo8(-8)3365 1a3a 00F0 brlo .L3243366 1a3c EFEF ldi r30,lo8(255)3367 1a3e F0E0 ldi r31,hi8(255)3368 1a40 E81B sub r30,r243369 1a42 F109 sbc r31,__zero_reg__3370 1a44 E050 subi r30,lo8(-(Poti))3371 1a46 F040 sbci r31,hi8(-(Poti))3372 1a48 8081 ld r24,Z3373 .L324:3374 1a4a 8093 0000 sts Parameter_Luftdruck_D,r243375 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D3376 1a52 8823 tst r243377 1a54 01F0 breq .L2073378 1a56 8436 cpi r24,lo8(100)3379 1a58 00F0 brlo .L2073380 1a5a 84E6 ldi r24,lo8(100)3381 1a5c 8093 0000 sts Parameter_Luftdruck_D,r243382 .L207:3383 1a60 8091 0000 lds r24,EE_Parameter+173384 1a64 883F cpi r24,lo8(-8)3385 1a66 00F0 brlo .L3253386 1a68 EFEF ldi r30,lo8(255)3387 1a6a F0E0 ldi r31,hi8(255)3388 1a6c E81B sub r30,r243389 1a6e F109 sbc r31,__zero_reg__3390 1a70 E050 subi r30,lo8(-(Poti))3391 1a72 F040 sbci r31,hi8(-(Poti))3392 1a74 8081 ld r24,Z3393 .L325:3394 1a76 8093 0000 sts Parameter_Hoehe_P,r243395 1a7a 8091 0000 lds r24,Parameter_Hoehe_P3396 1a7e 8823 tst r243397 1a80 01F0 breq .L2123398 1a82 8436 cpi r24,lo8(100)3399 1a84 00F0 brlo .L2123400 1a86 84E6 ldi r24,lo8(100)3401 1a88 8093 0000 sts Parameter_Hoehe_P,r243402 .L212:3403 1a8c 8091 0000 lds r24,EE_Parameter+303404 1a90 883F cpi r24,lo8(-8)3405 1a92 00F0 brlo .L3263406 1a94 EFEF ldi r30,lo8(255)3407 1a96 F0E0 ldi r31,hi8(255)3408 1a98 E81B sub r30,r243409 1a9a F109 sbc r31,__zero_reg__3410 1a9c E050 subi r30,lo8(-(Poti))3411 1a9e F040 sbci r31,hi8(-(Poti))3412 1aa0 8081 ld r24,Z3413 .L326:3414 1aa2 8093 0000 sts Parameter_Gyro_P,r243415 1aa6 8091 0000 lds r24,Parameter_Gyro_P3416 1aaa 8B30 cpi r24,lo8(11)3417 1aac 00F4 brsh .L2163418 1aae 8AE0 ldi r24,lo8(10)3419 1ab0 00C0 rjmp .L3273420 .L216:3421 1ab2 8F3F cpi r24,lo8(-1)3422 1ab4 01F4 brne .L2173423 .L327:3424 1ab6 8093 0000 sts Parameter_Gyro_P,r243425 .L217:3426 1aba 8091 0000 lds r24,EE_Parameter+753427 1abe 883F cpi r24,lo8(-8)3428 1ac0 00F0 brlo .L3283429 1ac2 EFEF ldi r30,lo8(255)3430 1ac4 F0E0 ldi r31,hi8(255)3431 1ac6 E81B sub r30,r243432 1ac8 F109 sbc r31,__zero_reg__3433 1aca E050 subi r30,lo8(-(Poti))3434 1acc F040 sbci r31,hi8(-(Poti))3435 1ace 8081 ld r24,Z3436 .L328:3437 1ad0 8093 0000 sts Parameter_J16Timing,r243438 1ad4 8091 0000 lds r24,Parameter_J16Timing3439 1ad8 8630 cpi r24,lo8(6)3440 1ada 00F4 brsh .L2213441 1adc 85E0 ldi r24,lo8(5)3442 1ade 00C0 rjmp .L3293443 .L221:3444 1ae0 8F3F cpi r24,lo8(-1)3445 1ae2 01F4 brne .L2223446 .L329:3447 1ae4 8093 0000 sts Parameter_J16Timing,r243448 .L222:3449 1ae8 8091 0000 lds r24,EE_Parameter+773450 1aec 883F cpi r24,lo8(-8)3451 1aee 00F0 brlo .L3303452 1af0 EFEF ldi r30,lo8(255)3453 1af2 F0E0 ldi r31,hi8(255)3454 1af4 E81B sub r30,r243455 1af6 F109 sbc r31,__zero_reg__3456 1af8 E050 subi r30,lo8(-(Poti))3457 1afa F040 sbci r31,hi8(-(Poti))3458 1afc 8081 ld r24,Z3459 .L330:3460 1afe 8093 0000 sts Parameter_J17Timing,r243461 1b02 8091 0000 lds r24,Parameter_J17Timing3462 1b06 8630 cpi r24,lo8(6)3463 1b08 00F4 brsh .L2263464 1b0a 85E0 ldi r24,lo8(5)3465 1b0c 00C0 rjmp .L3313466 .L226:3467 1b0e 8F3F cpi r24,lo8(-1)3468 1b10 01F4 brne .L2273469 .L331:3470 1b12 8093 0000 sts Parameter_J17Timing,r243471 .L227:3472 1b16 8091 0000 lds r24,EE_Parameter+563473 1b1a 873F cpi r24,lo8(-9)3474 1b1c 01F4 brne .L2293475 1b1e 4299 sbic 40-0x20,23476 1b20 00C0 rjmp .L3623477 1b22 00C0 rjmp .L2343478 .L229:3479 1b24 863F cpi r24,lo8(-10)3480 1b26 01F4 brne .L2333481 1b28 439B sbis 40-0x20,33482 1b2a 00C0 rjmp .L2343483 .L362:3484 1b2c 8CE8 ldi r24,lo8(-116)3485 1b2e 00C0 rjmp .L3323486 .L234:3487 1b30 86E4 ldi r24,lo8(70)3488 1b32 00C0 rjmp .L3323489 .L233:3490 1b34 883F cpi r24,lo8(-8)3491 1b36 00F0 brlo .L3323492 1b38 EFEF ldi r30,lo8(255)3493 1b3a F0E0 ldi r31,hi8(255)3494 1b3c E81B sub r30,r243495 1b3e F109 sbc r31,__zero_reg__3496 1b40 E050 subi r30,lo8(-(Poti))3497 1b42 F040 sbci r31,hi8(-(Poti))3498 1b44 8081 ld r24,Z3499 .L332:3500 1b46 8093 0000 sts Parameter_Servo3,r243501 1b4a 8091 0000 lds r24,EE_Parameter+573502 1b4e 873F cpi r24,lo8(-9)3503 1b50 01F4 brne .L2393504 1b52 4299 sbic 40-0x20,23505 1b54 00C0 rjmp .L3633506 1b56 00C0 rjmp .L2443507 .L239:3508 1b58 863F cpi r24,lo8(-10)3509 1b5a 01F4 brne .L2433510 1b5c 439B sbis 40-0x20,33511 1b5e 00C0 rjmp .L2443512 .L363:3513 1b60 8CE8 ldi r24,lo8(-116)3514 1b62 00C0 rjmp .L3333515 .L244:3516 1b64 86E4 ldi r24,lo8(70)3517 1b66 00C0 rjmp .L3333518 .L243:3519 1b68 883F cpi r24,lo8(-8)3520 1b6a 00F0 brlo .L3333521 1b6c EFEF ldi r30,lo8(255)3522 1b6e F0E0 ldi r31,hi8(255)3523 1b70 E81B sub r30,r243524 1b72 F109 sbc r31,__zero_reg__3525 1b74 E050 subi r30,lo8(-(Poti))3526 1b76 F040 sbci r31,hi8(-(Poti))3527 1b78 8081 ld r24,Z3528 .L333:3529 1b7a 8093 0000 sts Parameter_Servo4,r243530 1b7e 8091 0000 lds r24,EE_Parameter+583531 1b82 883F cpi r24,lo8(-8)3532 1b84 00F0 brlo .L3343533 1b86 EFEF ldi r30,lo8(255)3534 1b88 F0E0 ldi r31,hi8(255)3535 1b8a E81B sub r30,r243536 1b8c F109 sbc r31,__zero_reg__3537 1b8e E050 subi r30,lo8(-(Poti))3538 1b90 F040 sbci r31,hi8(-(Poti))3539 1b92 8081 ld r24,Z3540 .L334:3541 1b94 8093 0000 sts Parameter_Servo5,r243542 1b98 8091 0000 lds r24,EE_Parameter+163543 1b9c 883F cpi r24,lo8(-8)3544 1b9e 00F0 brlo .L3353545 1ba0 EFEF ldi r30,lo8(255)3546 1ba2 F0E0 ldi r31,hi8(255)3547 1ba4 E81B sub r30,r243548 1ba6 F109 sbc r31,__zero_reg__3549 1ba8 E050 subi r30,lo8(-(Poti))3550 1baa F040 sbci r31,hi8(-(Poti))3551 1bac 8081 ld r24,Z3552 .L335:3553 1bae 8093 0000 sts Parameter_HoehenSchalter,r243554 1bb2 8091 0000 lds r24,EE_Parameter+193555 1bb6 883F cpi r24,lo8(-8)3556 1bb8 00F0 brlo .L3363557 1bba EFEF ldi r30,lo8(255)3558 1bbc F0E0 ldi r31,hi8(255)3559 1bbe E81B sub r30,r243560 1bc0 F109 sbc r31,__zero_reg__3561 1bc2 E050 subi r30,lo8(-(Poti))3562 1bc4 F040 sbci r31,hi8(-(Poti))3563 1bc6 8081 ld r24,Z3564 .L336:3565 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243566 1bcc 8091 0000 lds r24,EE_Parameter+213567 1bd0 883F cpi r24,lo8(-8)3568 1bd2 00F0 brlo .L3373569 1bd4 EFEF ldi r30,lo8(255)3570 1bd6 F0E0 ldi r31,hi8(255)3571 1bd8 E81B sub r30,r243572 1bda F109 sbc r31,__zero_reg__3573 1bdc E050 subi r30,lo8(-(Poti))3574 1bde F040 sbci r31,hi8(-(Poti))3575 1be0 8081 ld r24,Z3576 .L337:3577 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r243578 1be6 8091 0000 lds r24,EE_Parameter+293579 1bea 883F cpi r24,lo8(-8)3580 1bec 00F0 brlo .L3383581 1bee EFEF ldi r30,lo8(255)3582 1bf0 F0E0 ldi r31,hi8(255)3583 1bf2 E81B sub r30,r243584 1bf4 F109 sbc r31,__zero_reg__3585 1bf6 E050 subi r30,lo8(-(Poti))3586 1bf8 F040 sbci r31,hi8(-(Poti))3587 1bfa 8081 ld r24,Z3588 .L338:3589 1bfc 8093 0000 sts Parameter_KompassWirkung,r243590 1c00 8091 0000 lds r24,EE_Parameter+313591 1c04 883F cpi r24,lo8(-8)3592 1c06 00F0 brlo .L3393593 1c08 EFEF ldi r30,lo8(255)3594 1c0a F0E0 ldi r31,hi8(255)3595 1c0c E81B sub r30,r243596 1c0e F109 sbc r31,__zero_reg__3597 1c10 E050 subi r30,lo8(-(Poti))3598 1c12 F040 sbci r31,hi8(-(Poti))3599 1c14 8081 ld r24,Z3600 .L339:3601 1c16 8093 0000 sts Parameter_Gyro_I,r243602 1c1a 8091 0000 lds r24,EE_Parameter+323603 1c1e 883F cpi r24,lo8(-8)3604 1c20 00F0 brlo .L3403605 1c22 EFEF ldi r30,lo8(255)3606 1c24 F0E0 ldi r31,hi8(255)3607 1c26 E81B sub r30,r243608 1c28 F109 sbc r31,__zero_reg__3609 1c2a E050 subi r30,lo8(-(Poti))3610 1c2c F040 sbci r31,hi8(-(Poti))3611 1c2e 8081 ld r24,Z3612 .L340:3613 1c30 8093 0000 sts Parameter_Gyro_D,r243614 1c34 8091 0000 lds r24,EE_Parameter+333615 1c38 883F cpi r24,lo8(-8)3616 1c3a 00F0 brlo .L3413617 1c3c EFEF ldi r30,lo8(255)3618 1c3e F0E0 ldi r31,hi8(255)3619 1c40 E81B sub r30,r243620 1c42 F109 sbc r31,__zero_reg__3621 1c44 E050 subi r30,lo8(-(Poti))3622 1c46 F040 sbci r31,hi8(-(Poti))3623 1c48 8081 ld r24,Z3624 .L341:3625 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r243626 1c4e 8091 0000 lds r24,EE_Parameter+343627 1c52 883F cpi r24,lo8(-8)3628 1c54 00F0 brlo .L3423629 1c56 EFEF ldi r30,lo8(255)3630 1c58 F0E0 ldi r31,hi8(255)3631 1c5a E81B sub r30,r243632 1c5c F109 sbc r31,__zero_reg__3633 1c5e E050 subi r30,lo8(-(Poti))3634 1c60 F040 sbci r31,hi8(-(Poti))3635 1c62 8081 ld r24,Z3636 .L342:3637 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r243638 1c68 8091 0000 lds r24,EE_Parameter+403639 1c6c 883F cpi r24,lo8(-8)3640 1c6e 00F0 brlo .L3433641 1c70 EFEF ldi r30,lo8(255)3642 1c72 F0E0 ldi r31,hi8(255)3643 1c74 E81B sub r30,r243644 1c76 F109 sbc r31,__zero_reg__3645 1c78 E050 subi r30,lo8(-(Poti))3646 1c7a F040 sbci r31,hi8(-(Poti))3647 1c7c 8081 ld r24,Z3648 .L343:3649 1c7e 8093 0000 sts Parameter_I_Faktor,r243650 1c82 8091 0000 lds r24,EE_Parameter+413651 1c86 883F cpi r24,lo8(-8)3652 1c88 00F0 brlo .L3443653 1c8a EFEF ldi r30,lo8(255)3654 1c8c F0E0 ldi r31,hi8(255)3655 1c8e E81B sub r30,r243656 1c90 F109 sbc r31,__zero_reg__3657 1c92 E050 subi r30,lo8(-(Poti))3658 1c94 F040 sbci r31,hi8(-(Poti))3659 1c96 8081 ld r24,Z3660 .L344:3661 1c98 8093 0000 sts Parameter_UserParam1,r243662 1c9c 8091 0000 lds r24,EE_Parameter+423663 1ca0 883F cpi r24,lo8(-8)3664 1ca2 00F0 brlo .L3453665 1ca4 EFEF ldi r30,lo8(255)3666 1ca6 F0E0 ldi r31,hi8(255)3667 1ca8 E81B sub r30,r243668 1caa F109 sbc r31,__zero_reg__3669 1cac E050 subi r30,lo8(-(Poti))3670 1cae F040 sbci r31,hi8(-(Poti))3671 1cb0 8081 ld r24,Z3672 .L345:3673 1cb2 8093 0000 sts Parameter_UserParam2,r243674 1cb6 8091 0000 lds r24,EE_Parameter+433675 1cba 883F cpi r24,lo8(-8)3676 1cbc 00F0 brlo .L3463677 1cbe EFEF ldi r30,lo8(255)3678 1cc0 F0E0 ldi r31,hi8(255)3679 1cc2 E81B sub r30,r243680 1cc4 F109 sbc r31,__zero_reg__3681 1cc6 E050 subi r30,lo8(-(Poti))3682 1cc8 F040 sbci r31,hi8(-(Poti))3683 1cca 8081 ld r24,Z3684 .L346:3685 1ccc 8093 0000 sts Parameter_UserParam3,r243686 1cd0 8091 0000 lds r24,EE_Parameter+443687 1cd4 883F cpi r24,lo8(-8)3688 1cd6 00F0 brlo .L3473689 1cd8 EFEF ldi r30,lo8(255)3690 1cda F0E0 ldi r31,hi8(255)3691 1cdc E81B sub r30,r243692 1cde F109 sbc r31,__zero_reg__3693 1ce0 E050 subi r30,lo8(-(Poti))3694 1ce2 F040 sbci r31,hi8(-(Poti))3695 1ce4 8081 ld r24,Z3696 .L347:3697 1ce6 8093 0000 sts Parameter_UserParam4,r243698 1cea 8091 0000 lds r24,EE_Parameter+703699 1cee 883F cpi r24,lo8(-8)3700 1cf0 00F0 brlo .L3483701 1cf2 EFEF ldi r30,lo8(255)3702 1cf4 F0E0 ldi r31,hi8(255)3703 1cf6 E81B sub r30,r243704 1cf8 F109 sbc r31,__zero_reg__3705 1cfa E050 subi r30,lo8(-(Poti))3706 1cfc F040 sbci r31,hi8(-(Poti))3707 1cfe 8081 ld r24,Z3708 .L348:3709 1d00 8093 0000 sts Parameter_UserParam5,r243710 1d04 8091 0000 lds r24,EE_Parameter+713711 1d08 883F cpi r24,lo8(-8)3712 1d0a 00F0 brlo .L3493713 1d0c EFEF ldi r30,lo8(255)3714 1d0e F0E0 ldi r31,hi8(255)3715 1d10 E81B sub r30,r243716 1d12 F109 sbc r31,__zero_reg__3717 1d14 E050 subi r30,lo8(-(Poti))3718 1d16 F040 sbci r31,hi8(-(Poti))3719 1d18 8081 ld r24,Z3720 .L349:3721 1d1a 8093 0000 sts Parameter_UserParam6,r243722 1d1e 8091 0000 lds r24,EE_Parameter+723723 1d22 883F cpi r24,lo8(-8)3724 1d24 00F0 brlo .L3503725 1d26 EFEF ldi r30,lo8(255)3726 1d28 F0E0 ldi r31,hi8(255)3727 1d2a E81B sub r30,r243728 1d2c F109 sbc r31,__zero_reg__3729 1d2e E050 subi r30,lo8(-(Poti))3730 1d30 F040 sbci r31,hi8(-(Poti))3731 1d32 8081 ld r24,Z3732 .L350:3733 1d34 8093 0000 sts Parameter_UserParam7,r243734 1d38 8091 0000 lds r24,EE_Parameter+733735 1d3c 883F cpi r24,lo8(-8)3736 1d3e 00F0 brlo .L3513737 1d40 EFEF ldi r30,lo8(255)3738 1d42 F0E0 ldi r31,hi8(255)3739 1d44 E81B sub r30,r243740 1d46 F109 sbc r31,__zero_reg__3741 1d48 E050 subi r30,lo8(-(Poti))3742 1d4a F040 sbci r31,hi8(-(Poti))3743 1d4c 8081 ld r24,Z3744 .L351:3745 1d4e 8093 0000 sts Parameter_UserParam8,r243746 1d52 8091 0000 lds r24,EE_Parameter+453747 1d56 883F cpi r24,lo8(-8)3748 1d58 00F0 brlo .L3523749 1d5a EFEF ldi r30,lo8(255)3750 1d5c F0E0 ldi r31,hi8(255)3751 1d5e E81B sub r30,r243752 1d60 F109 sbc r31,__zero_reg__3753 1d62 E050 subi r30,lo8(-(Poti))3754 1d64 F040 sbci r31,hi8(-(Poti))3755 1d66 8081 ld r24,Z3756 .L352:3757 1d68 8093 0000 sts Parameter_ServoNickControl,r243758 1d6c 8091 0000 lds r24,EE_Parameter+493759 1d70 883F cpi r24,lo8(-8)3760 1d72 00F0 brlo .L3533761 1d74 EFEF ldi r30,lo8(255)3762 1d76 F0E0 ldi r31,hi8(255)3763 1d78 E81B sub r30,r243764 1d7a F109 sbc r31,__zero_reg__3765 1d7c E050 subi r30,lo8(-(Poti))3766 1d7e F040 sbci r31,hi8(-(Poti))3767 1d80 8081 ld r24,Z3768 .L353:3769 1d82 8093 0000 sts Parameter_ServoRollControl,r243770 1d86 8091 0000 lds r24,EE_Parameter+593771 1d8a 883F cpi r24,lo8(-8)3772 1d8c 00F0 brlo .L3543773 1d8e EFEF ldi r30,lo8(255)3774 1d90 F0E0 ldi r31,hi8(255)3775 1d92 E81B sub r30,r243776 1d94 F109 sbc r31,__zero_reg__3777 1d96 E050 subi r30,lo8(-(Poti))3778 1d98 F040 sbci r31,hi8(-(Poti))3779 1d9a 8081 ld r24,Z3780 .L354:3781 1d9c 8093 0000 sts Parameter_LoopGasLimit,r243782 1da0 8091 0000 lds r24,EE_Parameter+623783 1da4 883F cpi r24,lo8(-8)3784 1da6 00F0 brlo .L3553785 1da8 EFEF ldi r30,lo8(255)3786 1daa F0E0 ldi r31,hi8(255)3787 1dac E81B sub r30,r243788 1dae F109 sbc r31,__zero_reg__3789 1db0 E050 subi r30,lo8(-(Poti))3790 1db2 F040 sbci r31,hi8(-(Poti))3791 1db4 8081 ld r24,Z3792 .L355:3793 1db6 8093 0000 sts Parameter_AchsKopplung1,r243794 1dba 8091 0000 lds r24,EE_Parameter+633795 1dbe 883F cpi r24,lo8(-8)3796 1dc0 00F0 brlo .L3563797 1dc2 EFEF ldi r30,lo8(255)3798 1dc4 F0E0 ldi r31,hi8(255)3799 1dc6 E81B sub r30,r243800 1dc8 F109 sbc r31,__zero_reg__3801 1dca E050 subi r30,lo8(-(Poti))3802 1dcc F040 sbci r31,hi8(-(Poti))3803 1dce 8081 ld r24,Z3804 .L356:3805 1dd0 8093 0000 sts Parameter_AchsKopplung2,r243806 1dd4 8091 0000 lds r24,EE_Parameter+643807 1dd8 883F cpi r24,lo8(-8)3808 1dda 00F0 brlo .L3573809 1ddc EFEF ldi r30,lo8(255)3810 1dde F0E0 ldi r31,hi8(255)3811 1de0 E81B sub r30,r243812 1de2 F109 sbc r31,__zero_reg__3813 1de4 E050 subi r30,lo8(-(Poti))3814 1de6 F040 sbci r31,hi8(-(Poti))3815 1de8 8081 ld r24,Z3816 .L357:3817 1dea 8093 0000 sts Parameter_CouplingYawCorrection,r243818 1dee 8091 0000 lds r24,EE_Parameter+1043819 1df2 883F cpi r24,lo8(-8)3820 1df4 00F0 brlo .L3583821 1df6 EFEF ldi r30,lo8(255)3822 1df8 F0E0 ldi r31,hi8(255)3823 1dfa E81B sub r30,r243824 1dfc F109 sbc r31,__zero_reg__3825 1dfe E050 subi r30,lo8(-(Poti))3826 1e00 F040 sbci r31,hi8(-(Poti))3827 1e02 8081 ld r24,Z3828 .L358:3829 1e04 8093 0000 sts Parameter_MaximumAltitude,r243830 1e08 9091 0000 lds r25,NC_To_FC_MaxAltitude3831 1e0c 9923 tst r253832 1e0e 01F0 breq .L3013833 1e10 8091 0000 lds r24,Parameter_MaximumAltitude3834 1e14 9817 cp r25,r243835 1e16 00F0 brlo .L3003836 .L301:3837 1e18 8091 0000 lds r24,Parameter_MaximumAltitude3838 1e1c 8823 tst r243839 1e1e 01F4 brne .L2993840 .L300:3841 1e20 9093 0000 sts Parameter_MaximumAltitude,r253842 .L299:3843 1e24 8091 0000 lds r24,EE_Parameter+133844 1e28 8093 0000 sts Parameter_GlobalConfig,r243845 1e2c 8091 0000 lds r24,EE_Parameter+1103846 1e30 8093 0000 sts Parameter_ExtraConfig,r243847 1e34 8091 0000 lds r24,EE_Parameter+693848 1e38 883F cpi r24,lo8(-8)3849 1e3a 00F0 brlo .L3593850 1e3c EFEF ldi r30,lo8(255)3851 1e3e F0E0 ldi r31,hi8(255)3852 1e40 E81B sub r30,r243853 1e42 F109 sbc r31,__zero_reg__3854 1e44 E050 subi r30,lo8(-(Poti))3855 1e46 F040 sbci r31,hi8(-(Poti))3856 1e48 8081 ld r24,Z3857 .L359:3858 1e4a 8093 0000 sts Parameter_DynamicStability,r243859 1e4e 8091 0000 lds r24,EE_Parameter+973860 1e52 883F cpi r24,lo8(-8)3861 1e54 00F0 brlo .L3603862 1e56 EFEF ldi r30,lo8(255)3863 1e58 F0E0 ldi r31,hi8(255)3864 1e5a E81B sub r30,r243865 1e5c F109 sbc r31,__zero_reg__3866 1e5e E050 subi r30,lo8(-(Poti))3867 1e60 F040 sbci r31,hi8(-(Poti))3868 1e62 8081 ld r24,Z3869 .L360:3870 1e64 8093 0000 sts Parameter_ExternalControl,r243871 1e68 8091 0000 lds r24,Parameter_I_Faktor3872 1e6c 282F mov r18,r243873 1e6e 3327 clr r193874 1e70 2F5F subi r18,lo8(-(1))3875 1e72 3F4F sbci r19,hi8(-(1))3876 1e74 8CE3 ldi r24,lo8(10300)3877 1e76 98E2 ldi r25,hi8(10300)3878 1e78 B901 movw r22,r183879 1e7a 0E94 0000 call __divmodhi43880 1e7e 7093 0000 sts (Ki)+1,r233881 1e82 6093 0000 sts Ki,r223882 1e86 8091 0000 lds r24,EE_Parameter+273883 1e8a 8093 0000 sts MAX_GAS,r243884 1e8e 8091 0000 lds r24,EE_Parameter+263885 1e92 8093 0000 sts MIN_GAS,r243886 1e96 9091 0000 lds r25,EE_Parameter+993887 1e9a 9333 cpi r25,lo8(51)3888 1e9c 00F4 brsh .+23889 1e9e 00C0 rjmp .L3063890 1ea0 81E0 ldi r24,lo8(1)3891 1ea2 8093 0000 sts CareFree,r243892 1ea6 983F cpi r25,lo8(-8)3893 1ea8 00F0 brlo .L3073894 1eaa EFEF ldi r30,lo8(255)3895 1eac F0E0 ldi r31,hi8(255)3896 1eae E91B sub r30,r253897 1eb0 F109 sbc r31,__zero_reg__3898 1eb2 E050 subi r30,lo8(-(Poti))3899 1eb4 F040 sbci r31,hi8(-(Poti))3900 1eb6 8081 ld r24,Z3901 1eb8 8233 cpi r24,lo8(50)3902 1eba 00F4 brsh .L3073903 1ebc 1092 0000 sts CareFree,__zero_reg__3904 .L307:3905 1ec0 8091 0000 lds r24,carefree_old3906 1ec4 2091 0000 lds r18,CareFree3907 1ec8 8217 cp r24,r183908 1eca 01F0 breq .L3083909 1ecc 8330 cpi r24,lo8(3)3910 1ece 00F4 brsh .L3093911 1ed0 3091 0000 lds r19,SpeakHoTT3912 1ed4 2223 tst r183913 1ed6 01F0 breq .L3103914 1ed8 8CED ldi r24,lo8(1500)3915 1eda 95E0 ldi r25,hi8(1500)3916 1edc 9093 0000 sts (beeptime)+1,r253917 1ee0 8093 0000 sts beeptime,r243918 1ee4 3323 tst r193919 1ee6 01F4 brne .L3123920 1ee8 8EE2 ldi r24,lo8(46)3921 1eea 00C0 rjmp .L3613922 .L310:3923 1eec 88EC ldi r24,lo8(200)3924 1eee 90E0 ldi r25,hi8(200)3925 1ef0 9093 0000 sts (beeptime)+1,r253926 1ef4 8093 0000 sts beeptime,r243927 1ef8 3323 tst r193928 1efa 01F4 brne .L3123929 1efc 87E1 ldi r24,lo8(23)3930 .L361:3931 1efe 8093 0000 sts SpeakHoTT,r243932 .L312:3933 1f02 85E0 ldi r24,lo8(5)3934 1f04 8093 0000 sts NeueKompassRichtungMerken,r243935 1f08 2093 0000 sts carefree_old,r183936 1f0c 00C0 rjmp .L3083937 .L309:3938 1f0e 8150 subi r24,lo8(-(-1))3939 1f10 8093 0000 sts carefree_old,r243940 .L308:3941 1f14 8091 0000 lds r24,FromNaviCtrl+73942 1f18 9091 0000 lds r25,(FromNaviCtrl+7)+13943 1f1c 97FF sbrs r25,73944 1f1e 00C0 rjmp .L3163945 1f20 8091 0000 lds r24,CareFree3946 1f24 8823 tst r243947 1f26 01F0 breq .L3163948 1f28 8091 0000 lds r24,VersionInfo+53949 1f2c 8068 ori r24,lo8(-128)3950 1f2e 8093 0000 sts VersionInfo+5,r243951 1f32 00C0 rjmp .L3163952 .L306:3953 1f34 1092 0000 sts CareFree,__zero_reg__3954 1f38 8AE0 ldi r24,lo8(10)3955 1f3a 8093 0000 sts carefree_old,r243956 .L316:3957 1f3e 8091 0000 lds r24,FromNaviCtrl+73958 1f42 9091 0000 lds r25,(FromNaviCtrl+7)+13959 1f46 97FF sbrs r25,73960 1f48 00C0 rjmp .L3173961 1f4a 8091 0000 lds r24,MotorenEin3962 1f4e 8823 tst r243963 1f50 01F0 breq .L3173964 1f52 8091 0000 lds r24,CareFree3965 1f56 8823 tst r243966 1f58 01F0 breq .L3173967 1f5a 8091 0000 lds r24,BeepMuster3968 1f5e 9091 0000 lds r25,(BeepMuster)+13969 1f62 8F5F subi r24,lo8(-1)3970 1f64 9F4F sbci r25,hi8(-1)3971 1f66 01F4 brne .L3173972 1f68 88E9 ldi r24,lo8(15000)3973 1f6a 9AE3 ldi r25,hi8(15000)3974 1f6c 9093 0000 sts (beeptime)+1,r253975 1f70 8093 0000 sts beeptime,r243976 1f74 80E0 ldi r24,lo8(-23552)3977 1f76 94EA ldi r25,hi8(-23552)3978 1f78 9093 0000 sts (BeepMuster)+1,r253979 1f7c 8093 0000 sts BeepMuster,r243980 1f80 1092 0000 sts CareFree,__zero_reg__3981 .L317:3982 1f84 8091 0000 lds r24,CareFree3983 1f88 8823 tst r243984 1f8a 01F0 breq .L3183985 1f8c 8091 0000 lds r24,FC_StatusFlags23986 1f90 8160 ori r24,lo8(1)3987 1f92 8093 0000 sts FC_StatusFlags2,r243988 1f96 8091 0000 lds r24,Parameter_AchsKopplung13989 1f9a 823D cpi r24,lo8(-46)3990 1f9c 00F4 brsh .L1903991 1f9e 825E subi r24,lo8(-(30))3992 1fa0 8093 0000 sts Parameter_AchsKopplung1,r243993 1fa4 00C0 rjmp .L1903994 .L318:3995 1fa6 8091 0000 lds r24,FC_StatusFlags23996 1faa 8E7F andi r24,lo8(-2)3997 1fac 8093 0000 sts FC_StatusFlags2,r243998 .L190:3999 /* epilogue: frame size=0 */4000 1fb0 DF91 pop r294001 1fb2 CF91 pop r284002 1fb4 0895 ret4003 /* epilogue end (size=3) */4004 /* function ParameterZuordnung size 772 (767) */4006 .lcomm sollGier.0,44007 .lcomm tmp_long.1,44008 .lcomm tmp_long2.2,44009 .lcomm IntegralFehlerNick.3,44010 .lcomm IntegralFehlerRoll.4,44011 .lcomm RcLostTimer.5,24012 .lcomm delay_neutral.6,14013 .lcomm delay_einschalten.7,14014 .lcomm delay_ausschalten.8,14015 .lcomm move_safety_switch.9,14016 .lcomm ausgleichNick.10,44017 .lcomm ausgleichRoll.11,44018 .lcomm stick_nick.12,24019 .lcomm stick_roll.13,24020 .lcomm cnt.14,24021 .lcomm last_n_p.15,14022 .lcomm last_n_n.16,14023 .lcomm last_r_p.17,14024 .lcomm last_r_n.18,14025 .lcomm MittelIntegralNick_Alt.19,44026 .lcomm MittelIntegralRoll_Alt.20,44027 .lcomm HeightTrimming.21,24028 .lcomm FilterHCGas.22,24029 .lcomm HoverGasFilter.23,44030 .data4033 delay.24:4034 004f 64 .byte 1004035 .lcomm BaroAtUpperLimit.25,14036 .lcomm BaroAtLowerLimit.26,14037 .text4038 .global MotorRegler4040 MotorRegler:4041 /* prologue: frame size=23 */4042 1fb6 A7E1 ldi r26,lo8(23)4043 1fb8 B0E0 ldi r27,hi8(23)4044 1fba E0E0 ldi r30,pm_lo8(1f)4045 1fbc F0E0 ldi r31,pm_hi8(1f)4046 1fbe 0C94 0000 jmp __prologue_saves__+04047 1:4048 /* prologue end (size=6) */4049 1fc2 0E94 0000 call Mittelwert4050 1fc6 8091 0000 lds r24,FC_StatusFlags4051 1fca 9927 clr r254052 1fcc 8471 andi r24,lo8(20)4053 1fce 9070 andi r25,hi8(20)4054 1fd0 892B or r24,r254055 1fd2 01F4 brne .L3654056 1fd4 8091 0000 lds r24,EE_Parameter+1114057 1fd8 82FF sbrs r24,24058 1fda 00C0 rjmp .L3664059 1fdc 8091 0000 lds r24,HoverGas4060 1fe0 9091 0000 lds r25,(HoverGas)+14061 1fe4 0097 sbiw r24,04062 1fe6 01F0 breq .L3674063 1fe8 02E0 ldi r16,hi8(600)4064 1fea 8835 cpi r24,lo8(600)4065 1fec 9007 cpc r25,r164066 1fee 04F4 brge .L3674067 1ff0 9C01 movw r18,r244068 1ff2 97FF sbrs r25,74069 1ff4 00C0 rjmp .L3684070 1ff6 2D5F subi r18,lo8(-(3))4071 1ff8 3F4F sbci r19,hi8(-(3))4072 .L368:4073 1ffa 3595 asr r194074 1ffc 2795 ror r184075 1ffe 3595 asr r194076 2000 2795 ror r184077 2002 8091 0000 lds r24,EE_Parameter+374078 2006 9927 clr r254079 2008 289F mul r18,r244080 200a A001 movw r20,r04081 200c 299F mul r18,r254082 200e 500D add r21,r04083 2010 389F mul r19,r244084 2012 500D add r21,r04085 2014 1124 clr r14086 2016 CA01 movw r24,r204087 2018 64E6 ldi r22,lo8(100)4088 201a 70E0 ldi r23,hi8(100)4089 201c 0E94 0000 call __divmodhi44090 2020 CB01 movw r24,r224091 2022 00C0 rjmp .L8874092 .L367:4093 2024 8DE2 ldi r24,lo8(45)4094 2026 90E0 ldi r25,hi8(45)4095 2028 00C0 rjmp .L8874096 .L366:4097 202a 8091 0000 lds r24,EE_Parameter+374098 202e 9927 clr r254099 .L887:4100 2030 9093 0000 sts (HooverGasEmergencyPercent)+1,r254101 2034 8093 0000 sts HooverGasEmergencyPercent,r244102 .L365:4103 2038 2091 0000 lds r18,GasIsZeroCnt4104 203c 3091 0000 lds r19,(GasIsZeroCnt)+14105 2040 55E7 ldi r21,hi8(30000)4106 2042 2033 cpi r18,lo8(30000)4107 2044 3507 cpc r19,r214108 2046 01F4 brne .L3714109 2048 1092 0000 sts (StickGas)+1,__zero_reg__4110 204c 1092 0000 sts StickGas,__zero_reg__4111 2050 8091 0000 lds r24,MIN_GAS4112 2054 9927 clr r254113 2056 9093 0000 sts (HooverGasEmergencyPercent)+1,r254114 205a 8093 0000 sts HooverGasEmergencyPercent,r244115 .L371:4116 205e 6091 0000 lds r22,StickGas4117 2062 7091 0000 lds r23,(StickGas)+14118 2066 7A83 std Y+2,r234119 2068 6983 std Y+1,r224120 206a 8091 0000 lds r24,MIN_GAS4121 206e 9927 clr r254122 2070 0A96 adiw r24,104123 2072 6817 cp r22,r244124 2074 7907 cpc r23,r254125 2076 04F4 brge .L3724126 2078 9A83 std Y+2,r254127 207a 8983 std Y+1,r244128 .L372:4129 207c 8091 0000 lds r24,SenderOkay4130 2080 8436 cpi r24,lo8(100)4131 2082 00F0 brlo .+24132 2084 00C0 rjmp .L3734133 2086 8091 0000 lds r24,FC_StatusFlags24134 208a 82FD sbrc r24,24135 208c 00C0 rjmp .L3734136 208e 8091 0000 lds r24,RcLostTimer.54137 2092 9091 0000 lds r25,(RcLostTimer.5)+14138 2096 0097 sbiw r24,04139 2098 01F0 breq .L3744140 209a 0197 sbiw r24,14141 209c 9093 0000 sts (RcLostTimer.5)+1,r254142 20a0 8093 0000 sts RcLostTimer.5,r244143 20a4 00C0 rjmp .L3754144 .L374:4145 20a6 1092 0000 sts MotorenEin,__zero_reg__4146 20aa 9093 0000 sts (modell_fliegt)+1,r254147 20ae 8093 0000 sts modell_fliegt,r244148 20b2 8091 0000 lds r24,FC_StatusFlags4149 20b6 8D7E andi r24,lo8(-19)4150 20b8 8093 0000 sts FC_StatusFlags,r244151 .L375:4152 20bc 8091 0000 lds r24,PlatinenVersion4153 20c0 8A30 cpi r24,lo8(10)4154 20c2 01F0 breq .L3774155 20c4 8431 cpi r24,lo8(20)4156 20c6 00F0 brlo .L3764157 .L377:4158 20c8 289A sbi 37-0x20,04159 20ca 00C0 rjmp .L3784160 .L376:4161 20cc 2898 cbi 37-0x20,04162 .L378:4163 20ce 8091 0000 lds r24,modell_fliegt4164 20d2 9091 0000 lds r25,(modell_fliegt)+14165 20d6 895E subi r24,lo8(1001)4166 20d8 9340 sbci r25,hi8(1001)4167 20da 00F0 brlo .L3794168 20dc 8091 0000 lds r24,Capacity+64169 20e0 8536 cpi r24,lo8(101)4170 20e2 00F0 brlo .L3794171 20e4 8091 0000 lds r24,HooverGasEmergencyPercent4172 20e8 9091 0000 lds r25,(HooverGasEmergencyPercent)+14173 20ec 9A83 std Y+2,r254174 20ee 8983 std Y+1,r244175 20f0 8091 0000 lds r24,FC_StatusFlags4176 20f4 8061 ori r24,lo8(16)4177 20f6 8093 0000 sts FC_StatusFlags,r244178 20fa 8091 0000 lds r24,EE_Parameter+14179 20fe A82F mov r26,r244180 2100 BB27 clr r274181 2102 AA0F add r26,r264182 2104 BB1F adc r27,r274183 2106 FD01 movw r30,r264184 2108 E050 subi r30,lo8(-(PPM_diff))4185 210a F040 sbci r31,hi8(-(PPM_diff))4186 210c 1182 std Z+1,__zero_reg__4187 210e 1082 st Z,__zero_reg__4188 2110 8091 0000 lds r24,EE_Parameter+24189 2114 282F mov r18,r244190 2116 3327 clr r194191 2118 220F add r18,r184192 211a 331F adc r19,r194193 211c C901 movw r24,r184194 211e 8050 subi r24,lo8(-(PPM_diff))4195 2120 9040 sbci r25,hi8(-(PPM_diff))4196 2122 FC01 movw r30,r244197 2124 1182 std Z+1,__zero_reg__4198 2126 1082 st Z,__zero_reg__4199 2128 A050 subi r26,lo8(-(PPM_in))4200 212a B040 sbci r27,hi8(-(PPM_in))4201 212c 1196 adiw r26,14202 212e 1C92 st X,__zero_reg__4203 2130 1E92 st -X,__zero_reg__4204 2132 2050 subi r18,lo8(-(PPM_in))4205 2134 3040 sbci r19,hi8(-(PPM_in))4206 2136 D901 movw r26,r184207 2138 1196 adiw r26,14208 213a 1C92 st X,__zero_reg__4209 213c 1E92 st -X,__zero_reg__4210 213e 8091 0000 lds r24,EE_Parameter+44211 2142 E82F mov r30,r244212 2144 FF27 clr r314213 2146 EE0F add r30,r304214 2148 FF1F adc r31,r314215 214a E050 subi r30,lo8(-(PPM_in))4216 214c F040 sbci r31,hi8(-(PPM_in))4217 214e 1182 std Z+1,__zero_reg__4218 2150 1082 st Z,__zero_reg__4219 2152 00C0 rjmp .L3814220 .L379:4221 2154 1092 0000 sts MotorenEin,__zero_reg__4222 2158 00C0 rjmp .L3814223 .L373:4224 215a 8091 0000 lds r24,SenderOkay4225 215e 8D38 cpi r24,lo8(-115)4226 2160 00F4 brsh .+24227 2162 00C0 rjmp .L3824228 2164 8091 0000 lds r24,FC_StatusFlags4229 2168 8F7E andi r24,lo8(-17)4230 216a 8093 0000 sts FC_StatusFlags,r244231 216e 9091 0000 lds r25,EE_Parameter+384232 2172 82E3 ldi r24,lo8(50)4233 2174 989F mul r25,r244234 2176 C001 movw r24,r04235 2178 1124 clr r14236 217a 9093 0000 sts (RcLostTimer.5)+1,r254237 217e 8093 0000 sts RcLostTimer.5,r244238 2182 E981 ldd r30,Y+14239 2184 FA81 ldd r31,Y+24240 2186 B997 sbiw r30,414241 2188 04F0 brlt .L3834242 218a 8091 0000 lds r24,MotorenEin4243 218e 8823 tst r244244 2190 01F0 breq .L3834245 2192 8091 0000 lds r24,modell_fliegt4246 2196 9091 0000 lds r25,(modell_fliegt)+14247 219a FFEF ldi r31,hi8(-1)4248 219c 8F3F cpi r24,lo8(-1)4249 219e 9F07 cpc r25,r314250 21a0 01F0 breq .L3834251 21a2 0196 adiw r24,14252 21a4 9093 0000 sts (modell_fliegt)+1,r254253 21a8 8093 0000 sts modell_fliegt,r244254 .L383:4255 21ac 8091 0000 lds r24,modell_fliegt4256 21b0 9091 0000 lds r25,(modell_fliegt)+14257 21b4 8F3F cpi r24,2554258 21b6 9105 cpc r25,__zero_reg__4259 21b8 01F0 breq .+24260 21ba 00F4 brsh .L3854261 21bc 1092 0000 sts SummeNick,__zero_reg__4262 21c0 1092 0000 sts (SummeNick)+1,__zero_reg__4263 21c4 1092 0000 sts (SummeNick)+2,__zero_reg__4264 21c8 1092 0000 sts (SummeNick)+3,__zero_reg__4265 21cc 1092 0000 sts SummeRoll,__zero_reg__4266 21d0 1092 0000 sts (SummeRoll)+1,__zero_reg__4267 21d4 1092 0000 sts (SummeRoll)+2,__zero_reg__4268 21d8 1092 0000 sts (SummeRoll)+3,__zero_reg__4269 21dc 1092 0000 sts sollGier.0,__zero_reg__4270 21e0 1092 0000 sts (sollGier.0)+1,__zero_reg__4271 21e4 1092 0000 sts (sollGier.0)+2,__zero_reg__4272 21e8 1092 0000 sts (sollGier.0)+3,__zero_reg__4273 21ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__4274 21f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4275 21f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4276 21f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4277 21fc 00C0 rjmp .L3864278 .L385:4279 21fe 8091 0000 lds r24,FC_StatusFlags4280 2202 8260 ori r24,lo8(2)4281 2204 8093 0000 sts FC_StatusFlags,r244282 .L386:4283 2208 8091 0000 lds r24,EE_Parameter+34284 220c E82F mov r30,r244285 220e FF27 clr r314286 2210 EE0F add r30,r304287 2212 FF1F adc r31,r314288 2214 E050 subi r30,lo8(-(PPM_in))4289 2216 F040 sbci r31,hi8(-(PPM_in))4290 2218 8081 ld r24,Z4291 221a 9181 ldd r25,Z+14292 221c 8135 cpi r24,814293 221e 9105 cpc r25,__zero_reg__4294 2220 04F4 brge .+24295 2222 00C0 rjmp .L3874296 2224 2091 0000 lds r18,MotorenEin4297 2228 2223 tst r184298 222a 01F0 breq .+24299 222c 00C0 rjmp .L3874300 222e 8091 0000 lds r24,EE_Parameter+44301 2232 E82F mov r30,r244302 2234 FF27 clr r314303 2236 EE0F add r30,r304304 2238 FF1F adc r31,r314305 223a E050 subi r30,lo8(-(PPM_in))4306 223c F040 sbci r31,hi8(-(PPM_in))4307 223e 8081 ld r24,Z4308 2240 9181 ldd r25,Z+14309 2242 8C34 cpi r24,764310 2244 9105 cpc r25,__zero_reg__4311 2246 04F4 brge .+24312 2248 00C0 rjmp .L3884313 224a 8091 0000 lds r24,delay_neutral.64314 224e 8F5F subi r24,lo8(-(1))4315 2250 8093 0000 sts delay_neutral.6,r244316 2254 893C cpi r24,lo8(-55)4317 2256 00F4 brsh .+24318 2258 00C0 rjmp .L3874319 225a 2093 0000 sts delay_neutral.6,r184320 225e 1092 0000 sts (modell_fliegt)+1,__zero_reg__4321 2262 1092 0000 sts modell_fliegt,__zero_reg__4322 2266 3091 0000 lds r19,EE_Parameter+14323 226a E32F mov r30,r194324 226c FF27 clr r314325 226e EE0F add r30,r304326 2270 FF1F adc r31,r314327 2272 E050 subi r30,lo8(-(PPM_in))4328 2274 F040 sbci r31,hi8(-(PPM_in))4329 2276 8081 ld r24,Z4330 2278 9181 ldd r25,Z+14331 227a 8734 cpi r24,714332 227c 9105 cpc r25,__zero_reg__4333 227e 04F4 brge .L3914334 2280 8091 0000 lds r24,EE_Parameter+24335 2284 E82F mov r30,r244336 2286 FF27 clr r314337 2288 EE0F add r30,r304338 228a FF1F adc r31,r314339 228c E050 subi r30,lo8(-(PPM_in))4340 228e F040 sbci r31,hi8(-(PPM_in))4341 2290 8081 ld r24,Z4342 2292 9181 ldd r25,Z+14343 2294 0190 ld __tmp_reg__,Z+4344 2296 F081 ld r31,Z4345 2298 E02D mov r30,__tmp_reg__4346 229a F7FF sbrs r31,74347 229c 00C0 rjmp .L3924348 229e F095 com r314349 22a0 E195 neg r304350 22a2 FF4F sbci r31,lo8(-1)4351 .L392:4352 22a4 E734 cpi r30,714353 22a6 F105 cpc r31,__zero_reg__4354 22a8 04F4 brge .+24355 22aa 00C0 rjmp .L3904356 .L391:4357 22ac 41E0 ldi r20,lo8(1)4358 22ae 2091 0000 lds r18,EE_Parameter+24359 22b2 A22F mov r26,r184360 22b4 BB27 clr r274361 22b6 AA0F add r26,r264362 22b8 BB1F adc r27,r274363 22ba A050 subi r26,lo8(-(PPM_in))4364 22bc B040 sbci r27,hi8(-(PPM_in))4365 22be 8D91 ld r24,X+4366 22c0 9C91 ld r25,X4367 22c2 1197 sbiw r26,14368 22c4 8734 cpi r24,714369 22c6 9105 cpc r25,__zero_reg__4370 22c8 04F0 brlt .L3934371 22ca E32F mov r30,r194372 22cc FF27 clr r314373 22ce EE0F add r30,r304374 22d0 FF1F adc r31,r314375 22d2 E050 subi r30,lo8(-(PPM_in))4376 22d4 F040 sbci r31,hi8(-(PPM_in))4377 22d6 8081 ld r24,Z4378 22d8 9181 ldd r25,Z+14379 .L393:4380 22da 8D91 ld r24,X+4381 22dc 9C91 ld r25,X4382 22de 8734 cpi r24,714383 22e0 9105 cpc r25,__zero_reg__4384 22e2 04F0 brlt .L3944385 22e4 8091 0000 lds r24,EE_Parameter+14386 22e8 E82F mov r30,r244387 22ea FF27 clr r314388 22ec EE0F add r30,r304389 22ee FF1F adc r31,r314390 22f0 E050 subi r30,lo8(-(PPM_in))4391 22f2 F040 sbci r31,hi8(-(PPM_in))4392 22f4 8081 ld r24,Z4393 22f6 9181 ldd r25,Z+14394 22f8 8734 cpi r24,714395 22fa 9105 cpc r25,__zero_reg__4396 22fc 04F0 brlt .L3944397 22fe 42E0 ldi r20,lo8(2)4398 .L394:4399 2300 E22F mov r30,r184400 2302 FF27 clr r314401 2304 EE0F add r30,r304402 2306 FF1F adc r31,r314403 2308 E050 subi r30,lo8(-(PPM_in))4404 230a F040 sbci r31,hi8(-(PPM_in))4405 230c 8081 ld r24,Z4406 230e 9181 ldd r25,Z+14407 2310 8634 cpi r24,704408 2312 9105 cpc r25,__zero_reg__4409 2314 04F4 brge .L3954410 2316 8091 0000 lds r24,EE_Parameter+14411 231a E82F mov r30,r244412 231c FF27 clr r314413 231e EE0F add r30,r304414 2320 FF1F adc r31,r314415 2322 E050 subi r30,lo8(-(PPM_in))4416 2324 F040 sbci r31,hi8(-(PPM_in))4417 2326 8081 ld r24,Z4418 2328 9181 ldd r25,Z+14419 232a 8734 cpi r24,714420 232c 9105 cpc r25,__zero_reg__4421 232e 04F0 brlt .L3954422 2330 43E0 ldi r20,lo8(3)4423 .L395:4424 2332 E22F mov r30,r184425 2334 FF27 clr r314426 2336 EE0F add r30,r304427 2338 FF1F adc r31,r314428 233a E050 subi r30,lo8(-(PPM_in))4429 233c F040 sbci r31,hi8(-(PPM_in))4430 233e 8081 ld r24,Z4431 2340 9181 ldd r25,Z+14432 2342 8A5B subi r24,lo8(-70)4433 2344 9F4F sbci r25,hi8(-70)4434 2346 04F4 brge .L3964435 2348 8091 0000 lds r24,EE_Parameter+14436 234c E82F mov r30,r244437 234e FF27 clr r314438 2350 EE0F add r30,r304439 2352 FF1F adc r31,r314440 2354 E050 subi r30,lo8(-(PPM_in))4441 2356 F040 sbci r31,hi8(-(PPM_in))4442 2358 8081 ld r24,Z4443 235a 9181 ldd r25,Z+14444 235c 8734 cpi r24,714445 235e 9105 cpc r25,__zero_reg__4446 2360 04F0 brlt .L3964447 2362 44E0 ldi r20,lo8(4)4448 .L396:4449 2364 E22F mov r30,r184450 2366 FF27 clr r314451 2368 EE0F add r30,r304452 236a FF1F adc r31,r314453 236c E050 subi r30,lo8(-(PPM_in))4454 236e F040 sbci r31,hi8(-(PPM_in))4455 2370 8081 ld r24,Z4456 2372 9181 ldd r25,Z+14457 2374 8A5B subi r24,lo8(-70)4458 2376 9F4F sbci r25,hi8(-70)4459 2378 04F4 brge .L3974460 237a 8091 0000 lds r24,EE_Parameter+14461 237e E82F mov r30,r244462 2380 FF27 clr r314463 2382 EE0F add r30,r304464 2384 FF1F adc r31,r314465 2386 E050 subi r30,lo8(-(PPM_in))4466 2388 F040 sbci r31,hi8(-(PPM_in))4467 238a 8081 ld r24,Z4468 238c 9181 ldd r25,Z+14469 238e 8634 cpi r24,704470 2390 9105 cpc r25,__zero_reg__4471 2392 04F4 brge .L3974472 2394 45E0 ldi r20,lo8(5)4473 .L397:4474 2396 842F mov r24,r204475 2398 0E94 0000 call SetActiveParamSet4476 .L390:4477 239c 8091 0000 lds r24,EE_Parameter+24478 23a0 E82F mov r30,r244479 23a2 FF27 clr r314480 23a4 EE0F add r30,r304481 23a6 FF1F adc r31,r314482 23a8 E050 subi r30,lo8(-(PPM_in))4483 23aa F040 sbci r31,hi8(-(PPM_in))4484 23ac 8081 ld r24,Z4485 23ae 9181 ldd r25,Z+14486 23b0 0190 ld __tmp_reg__,Z+4487 23b2 F081 ld r31,Z4488 23b4 E02D mov r30,__tmp_reg__4489 23b6 F7FF sbrs r31,74490 23b8 00C0 rjmp .L3994491 23ba F095 com r314492 23bc E195 neg r304493 23be FF4F sbci r31,lo8(-1)4494 .L399:4495 23c0 7E97 sbiw r30,304496 23c2 04F4 brge .L3984497 23c4 8091 0000 lds r24,EE_Parameter+14498 23c8 E82F mov r30,r244499 23ca FF27 clr r314500 23cc EE0F add r30,r304501 23ce FF1F adc r31,r314502 23d0 E050 subi r30,lo8(-(PPM_in))4503 23d2 F040 sbci r31,hi8(-(PPM_in))4504 23d4 8081 ld r24,Z4505 23d6 9181 ldd r25,Z+14506 23d8 8A5B subi r24,lo8(-70)4507 23da 9F4F sbci r25,hi8(-70)4508 23dc 04F4 brge .L3984509 23de 81E0 ldi r24,lo8(1)4510 23e0 8093 0000 sts WinkelOut+6,r244511 23e4 1092 0000 sts CalibrationDone,__zero_reg__4512 23e8 88EE ldi r24,lo8(1000)4513 23ea 93E0 ldi r25,hi8(1000)4514 23ec 9093 0000 sts (beeptime)+1,r254515 23f0 8093 0000 sts beeptime,r244516 23f4 00C0 rjmp .L3874517 .L398:4518 23f6 0E94 0000 call GetActiveParamSet4519 23fa 0E94 0000 call ParamSet_ReadFromEEProm4520 23fe 80E0 ldi r24,lo8(0)4521 2400 0E94 0000 call LipoDetection4522 2404 8091 0000 lds r24,EE_Parameter+394523 2408 0E94 0000 call LIBFC_ReceiverInit4524 240c 8091 0000 lds r24,Parameter_GlobalConfig4525 2410 80FF sbrs r24,04526 2412 00C0 rjmp .L4014527 2414 8091 0000 lds r24,MessLuftdruck4528 2418 9091 0000 lds r25,(MessLuftdruck)+14529 241c 875B subi r24,lo8(951)4530 241e 9340 sbci r25,hi8(951)4531 2420 00F4 brsh .L4034532 2422 8091 0000 lds r24,MessLuftdruck4533 2426 9091 0000 lds r25,(MessLuftdruck)+14534 242a 8E5E subi r24,lo8(750)4535 242c 9240 sbci r25,hi8(750)4536 242e 00F4 brsh .L4014537 .L403:4538 2430 0E94 0000 call SucheLuftruckOffset4539 .L401:4540 2434 80E0 ldi r24,lo8(0)4541 2436 0E94 0000 call SetNeutral4542 243a 81E0 ldi r24,lo8(1)4543 243c 8093 0000 sts CalibrationDone,r244544 2440 8093 0000 sts ServoActive,r244545 2444 579A sbi 42-0x20,74546 2446 00C0 rjmp .L8884547 .L388:4548 2448 8081 ld r24,Z4549 244a 9181 ldd r25,Z+14550 244c 855B subi r24,lo8(-75)4551 244e 9F4F sbci r25,hi8(-75)4552 2450 04F4 brge .L4054553 2452 8091 0000 lds r24,delay_neutral.64554 2456 8F5F subi r24,lo8(-(1))4555 2458 8093 0000 sts delay_neutral.6,r244556 245c 893C cpi r24,lo8(-55)4557 245e 00F0 brlo .L3874558 2460 2093 0000 sts MotorenEin,r184559 2464 2093 0000 sts delay_neutral.6,r184560 2468 1092 0000 sts (modell_fliegt)+1,__zero_reg__4561 246c 1092 0000 sts modell_fliegt,__zero_reg__4562 2470 81E0 ldi r24,lo8(1)4563 2472 0E94 0000 call SetNeutral4564 2476 81E0 ldi r24,lo8(1)4565 2478 8093 0000 sts CalibrationDone,r244566 .L888:4567 247c 88E1 ldi r24,lo8(24)4568 247e 8093 0000 sts SpeakHoTT,r244569 2482 0E94 0000 call GetActiveParamSet4570 2486 68E7 ldi r22,lo8(120)4571 2488 70E0 ldi r23,hi8(120)4572 248a 0E94 0000 call Piep4573 248e 00C0 rjmp .L3874574 .L405:4575 2490 2093 0000 sts delay_neutral.6,r184576 .L387:4577 2494 8091 0000 lds r24,EE_Parameter+34578 2498 E82F mov r30,r244579 249a FF27 clr r314580 249c EE0F add r30,r304581 249e FF1F adc r31,r314582 24a0 E050 subi r30,lo8(-(PPM_in))4583 24a2 F040 sbci r31,hi8(-(PPM_in))4584 24a4 8081 ld r24,Z4585 24a6 9181 ldd r25,Z+14586 24a8 8B5A subi r24,lo8(-85)4587 24aa 9F4F sbci r25,hi8(-85)4588 24ac 04F0 brlt .+24589 24ae 00C0 rjmp .L4084590 24b0 2091 0000 lds r18,EE_Parameter+1004591 24b4 E22F mov r30,r184592 24b6 FF27 clr r314593 24b8 EF77 andi r30,lo8(127)4594 24ba F070 andi r31,hi8(127)4595 24bc EE0F add r30,r304596 24be FF1F adc r31,r314597 24c0 E050 subi r30,lo8(-(PPM_diff))4598 24c2 F040 sbci r31,hi8(-(PPM_diff))4599 24c4 8081 ld r24,Z4600 24c6 9181 ldd r25,Z+14601 24c8 0697 sbiw r24,64602 24ca 04F0 brlt .L4094603 24cc 84E6 ldi r24,lo8(100)4604 24ce 00C0 rjmp .L8894605 .L409:4606 24d0 8081 ld r24,Z4607 24d2 9181 ldd r25,Z+14608 24d4 8B5F subi r24,lo8(-5)4609 24d6 9F4F sbci r25,hi8(-5)4610 24d8 04F4 brge .L4104611 24da 8CE9 ldi r24,lo8(-100)4612 .L889:4613 24dc 8093 0000 sts move_safety_switch.9,r244614 .L410:4615 24e0 8091 0000 lds r24,MotorenEin4616 24e4 E091 0000 lds r30,EE_Parameter+44617 24e8 8823 tst r244618 24ea 01F0 breq .+24619 24ec 00C0 rjmp .L4124620 24ee FF27 clr r314621 24f0 EE0F add r30,r304622 24f2 FF1F adc r31,r314623 24f4 E050 subi r30,lo8(-(PPM_in))4624 24f6 F040 sbci r31,hi8(-(PPM_in))4625 24f8 8081 ld r24,Z4626 24fa 9181 ldd r25,Z+14627 24fc 855B subi r24,lo8(-75)4628 24fe 9F4F sbci r25,hi8(-75)4629 2500 04F4 brge .L4154630 2502 8091 0000 lds r24,EE_Parameter+1114631 2506 83FD sbrc r24,34632 2508 00C0 rjmp .L4164633 250a E22F mov r30,r184634 250c FF27 clr r314635 250e EE0F add r30,r304636 2510 FF1F adc r31,r314637 2512 E050 subi r30,lo8(-(PPM_in))4638 2514 F040 sbci r31,hi8(-(PPM_in))4639 2516 8081 ld r24,Z4640 2518 9181 ldd r25,Z+14641 251a 855B subi r24,lo8(-75)4642 251c 9F4F sbci r25,hi8(-75)4643 251e 04F0 brlt .L4144644 .L416:4645 2520 8091 0000 lds r24,EE_Parameter+1004646 2524 8823 tst r244647 2526 01F0 breq .L4144648 .L415:4649 2528 8091 0000 lds r24,EE_Parameter+1114650 252c 83FF sbrs r24,34651 252e 00C0 rjmp .L4134652 2530 8091 0000 lds r24,EE_Parameter+1004653 2534 E82F mov r30,r244654 2536 FF27 clr r314655 2538 EE0F add r30,r304656 253a FF1F adc r31,r314657 253c E050 subi r30,lo8(-(PPM_in))4658 253e F040 sbci r31,hi8(-(PPM_in))4659 2540 8081 ld r24,Z4660 2542 9181 ldd r25,Z+14661 2544 875F subi r24,lo8(-9)4662 2546 9F4F sbci r25,hi8(-9)4663 2548 04F4 brge .+24664 254a 00C0 rjmp .L4134665 254c 8091 0000 lds r24,move_safety_switch.94666 2550 8436 cpi r24,lo8(100)4667 2552 01F0 breq .+24668 2554 00C0 rjmp .L4134669 .L414:4670 2556 2091 0000 lds r18,CalibrationDone4671 255a 2223 tst r184672 255c 01F0 breq .L4174673 255e 8091 0000 lds r24,FC_StatusFlags4674 2562 8860 ori r24,lo8(8)4675 2564 8093 0000 sts FC_StatusFlags,r244676 .L417:4677 2568 8091 0000 lds r24,delay_einschalten.74678 256c 8F5F subi r24,lo8(-(1))4679 256e 8093 0000 sts delay_einschalten.7,r244680 2572 8E3F cpi r24,lo8(-2)4681 2574 00F4 brsh .+24682 2576 00C0 rjmp .L4234683 2578 1092 0000 sts delay_einschalten.7,__zero_reg__4684 257c 8091 0000 lds r24,VersionInfo+54685 2580 8823 tst r244686 2582 01F0 breq .+24687 2584 00C0 rjmp .L4194688 2586 2223 tst r184689 2588 01F4 brne .+24690 258a 00C0 rjmp .L4194691 258c 8091 0000 lds r24,NC_ErrorCode4692 2590 8823 tst r244693 2592 01F0 breq .+24694 2594 00C0 rjmp .L4194695 2596 81E0 ldi r24,lo8(1)4696 2598 90E0 ldi r25,hi8(1)4697 259a 9093 0000 sts (modell_fliegt)+1,r254698 259e 8093 0000 sts modell_fliegt,r244699 25a2 81E0 ldi r24,lo8(1)4700 25a4 8093 0000 sts MotorenEin,r244701 25a8 1092 0000 sts sollGier.0,__zero_reg__4702 25ac 1092 0000 sts (sollGier.0)+1,__zero_reg__4703 25b0 1092 0000 sts (sollGier.0)+2,__zero_reg__4704 25b4 1092 0000 sts (sollGier.0)+3,__zero_reg__4705 25b8 1092 0000 sts Mess_Integral_Gier,__zero_reg__4706 25bc 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4707 25c0 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4708 25c4 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4709 25c8 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4710 25cc 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4711 25d0 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4712 25d4 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4713 25d8 8091 0000 lds r24,EE_Parameter+284714 25dc E82E mov r14,r244715 25de FF24 clr r154716 25e0 0027 clr r164717 25e2 1127 clr r174718 25e4 8091 0000 lds r24,Mittelwert_AccNick4719 25e8 9091 0000 lds r25,(Mittelwert_AccNick)+14720 25ec 9C01 movw r18,r244721 25ee 4427 clr r204722 25f0 37FD sbrc r19,74723 25f2 4095 com r204724 25f4 542F mov r21,r204725 25f6 C801 movw r24,r164726 25f8 B701 movw r22,r144727 25fa 0E94 0000 call __mulsi34728 25fe DC01 movw r26,r244729 2600 CB01 movw r24,r224730 2602 8093 0000 sts Mess_IntegralNick,r244731 2606 9093 0000 sts (Mess_IntegralNick)+1,r254732 260a A093 0000 sts (Mess_IntegralNick)+2,r264733 260e B093 0000 sts (Mess_IntegralNick)+3,r274734 2612 8091 0000 lds r24,Mittelwert_AccRoll4735 2616 9091 0000 lds r25,(Mittelwert_AccRoll)+14736 261a 9C01 movw r18,r244737 261c 4427 clr r204738 261e 37FD sbrc r19,74739 2620 4095 com r204740 2622 542F mov r21,r204741 2624 C801 movw r24,r164742 2626 B701 movw r22,r144743 2628 0E94 0000 call __mulsi34744 262c DC01 movw r26,r244745 262e CB01 movw r24,r224746 2630 8093 0000 sts Mess_IntegralRoll,r244747 2634 9093 0000 sts (Mess_IntegralRoll)+1,r254748 2638 A093 0000 sts (Mess_IntegralRoll)+2,r264749 263c B093 0000 sts (Mess_IntegralRoll)+3,r274750 2640 8091 0000 lds r24,IntegralNick4751 2644 9091 0000 lds r25,(IntegralNick)+14752 2648 A091 0000 lds r26,(IntegralNick)+24753 264c B091 0000 lds r27,(IntegralNick)+34754 2650 8093 0000 sts Mess_IntegralNick2,r244755 2654 9093 0000 sts (Mess_IntegralNick2)+1,r254756 2658 A093 0000 sts (Mess_IntegralNick2)+2,r264757 265c B093 0000 sts (Mess_IntegralNick2)+3,r274758 2660 8091 0000 lds r24,IntegralRoll4759 2664 9091 0000 lds r25,(IntegralRoll)+14760 2668 A091 0000 lds r26,(IntegralRoll)+24761 266c B091 0000 lds r27,(IntegralRoll)+34762 2670 8093 0000 sts Mess_IntegralRoll2,r244763 2674 9093 0000 sts (Mess_IntegralRoll2)+1,r254764 2678 A093 0000 sts (Mess_IntegralRoll2)+2,r264765 267c B093 0000 sts (Mess_IntegralRoll2)+3,r274766 2680 1092 0000 sts SummeNick,__zero_reg__4767 2684 1092 0000 sts (SummeNick)+1,__zero_reg__4768 2688 1092 0000 sts (SummeNick)+2,__zero_reg__4769 268c 1092 0000 sts (SummeNick)+3,__zero_reg__4770 2690 1092 0000 sts SummeRoll,__zero_reg__4771 2694 1092 0000 sts (SummeRoll)+1,__zero_reg__4772 2698 1092 0000 sts (SummeRoll)+2,__zero_reg__4773 269c 1092 0000 sts (SummeRoll)+3,__zero_reg__4774 26a0 84E6 ldi r24,lo8(100)4775 26a2 8093 0000 sts NeueKompassRichtungMerken,r244776 26a6 84E3 ldi r24,lo8(52)4777 26a8 00C0 rjmp .L8904778 .L419:4779 26aa 8CED ldi r24,lo8(1500)4780 26ac 95E0 ldi r25,hi8(1500)4781 26ae 9093 0000 sts (beeptime)+1,r254782 26b2 8093 0000 sts beeptime,r244783 26b6 2223 tst r184784 26b8 01F0 breq .+24785 26ba 00C0 rjmp .L4234786 26bc 81E0 ldi r24,lo8(1)4787 26be 00C0 rjmp .L8904788 .L413:4789 26c0 1092 0000 sts delay_einschalten.7,__zero_reg__4790 26c4 00C0 rjmp .L4234791 .L412:4792 26c6 FF27 clr r314793 26c8 EE0F add r30,r304794 26ca FF1F adc r31,r314795 26cc E050 subi r30,lo8(-(PPM_in))4796 26ce F040 sbci r31,hi8(-(PPM_in))4797 26d0 8081 ld r24,Z4798 26d2 9181 ldd r25,Z+14799 26d4 8C34 cpi r24,764800 26d6 9105 cpc r25,__zero_reg__4801 26d8 04F0 brlt .L4264802 26da 8091 0000 lds r24,EE_Parameter+1114803 26de 83FD sbrc r24,34804 26e0 00C0 rjmp .L4274805 26e2 E22F mov r30,r184806 26e4 FF27 clr r314807 26e6 EE0F add r30,r304808 26e8 FF1F adc r31,r314809 26ea E050 subi r30,lo8(-(PPM_in))4810 26ec F040 sbci r31,hi8(-(PPM_in))4811 26ee 8081 ld r24,Z4812 26f0 9181 ldd r25,Z+14813 26f2 855B subi r24,lo8(-75)4814 26f4 9F4F sbci r25,hi8(-75)4815 26f6 04F0 brlt .L4254816 .L427:4817 26f8 8091 0000 lds r24,EE_Parameter+1004818 26fc 8823 tst r244819 26fe 01F0 breq .L4254820 .L426:4821 2700 8091 0000 lds r24,EE_Parameter+1114822 2704 83FF sbrs r24,34823 2706 00C0 rjmp .L4244824 2708 8091 0000 lds r24,EE_Parameter+1004825 270c E82F mov r30,r244826 270e FF27 clr r314827 2710 EE0F add r30,r304828 2712 FF1F adc r31,r314829 2714 E050 subi r30,lo8(-(PPM_in))4830 2716 F040 sbci r31,hi8(-(PPM_in))4831 2718 8081 ld r24,Z4832 271a 9181 ldd r25,Z+14833 271c 8E5C subi r24,lo8(-50)4834 271e 9F4F sbci r25,hi8(-50)4835 2720 04F4 brge .L4244836 2722 8091 0000 lds r24,move_safety_switch.94837 2726 8C39 cpi r24,lo8(-100)4838 2728 01F4 brne .L4244839 .L425:4840 272a 8091 0000 lds r24,delay_ausschalten.84841 272e 8F5F subi r24,lo8(-(1))4842 2730 8093 0000 sts delay_ausschalten.8,r244843 2734 8B3F cpi r24,lo8(-5)4844 2736 00F0 brlo .L4234845 2738 1092 0000 sts MotorenEin,__zero_reg__4846 273c 1092 0000 sts delay_ausschalten.8,__zero_reg__4847 2740 1092 0000 sts (modell_fliegt)+1,__zero_reg__4848 2744 1092 0000 sts modell_fliegt,__zero_reg__4849 2748 86E2 ldi r24,lo8(38)4850 .L890:4851 274a 8093 0000 sts SpeakHoTT,r244852 274e 00C0 rjmp .L4234853 .L424:4854 2750 1092 0000 sts delay_ausschalten.8,__zero_reg__4855 .L423:4856 2754 8091 0000 lds r24,GasIsZeroCnt4857 2758 9091 0000 lds r25,(GasIsZeroCnt)+14858 275c 13E0 ldi r17,hi8(1000)4859 275e 883E cpi r24,lo8(1000)4860 2760 9107 cpc r25,r174861 2762 00F4 brsh .L3814862 2764 0196 adiw r24,14863 2766 9093 0000 sts (GasIsZeroCnt)+1,r254864 276a 8093 0000 sts GasIsZeroCnt,r244865 276e 00C0 rjmp .L3814866 .L408:4867 2770 1092 0000 sts move_safety_switch.9,__zero_reg__4868 2774 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__4869 2778 1092 0000 sts GasIsZeroCnt,__zero_reg__4870 277c 00C0 rjmp .L3814871 .L382:4872 277e 2E5E subi r18,lo8(750)4873 2780 3240 sbci r19,hi8(750)4874 2782 00F0 brlo .L3814875 2784 8091 0000 lds r24,GPSInfo+44876 2788 9091 0000 lds r25,(GPSInfo+4)+14877 278c 8059 subi r24,lo8(400)4878 278e 9140 sbci r25,hi8(400)4879 2790 00F4 brsh .L3814880 2792 8091 0000 lds r24,HoehenWert4881 2796 9091 0000 lds r25,(HoehenWert)+14882 279a A091 0000 lds r26,(HoehenWert)+24883 279e B091 0000 lds r27,(HoehenWert)+34884 27a2 8C5D subi r24,lo8(1500)4885 27a4 9540 sbci r25,hi8(1500)4886 27a6 A040 sbci r26,hlo8(1500)4887 27a8 B040 sbci r27,hhi8(1500)4888 27aa 04F4 brge .L3814889 27ac 80E3 ldi r24,lo8(30000)4890 27ae 95E7 ldi r25,hi8(30000)4891 27b0 9093 0000 sts (GasIsZeroCnt)+1,r254892 27b4 8093 0000 sts GasIsZeroCnt,r244893 27b8 8091 0000 lds r24,modell_fliegt4894 27bc 9091 0000 lds r25,(modell_fliegt)+14895 27c0 8A5E subi r24,lo8(1002)4896 27c2 9340 sbci r25,hi8(1002)4897 27c4 00F0 brlo .L3814898 27c6 89EE ldi r24,lo8(1001)4899 27c8 93E0 ldi r25,hi8(1001)4900 27ca 9093 0000 sts (modell_fliegt)+1,r254901 27ce 8093 0000 sts modell_fliegt,r244902 .L381:4903 27d2 8091 0000 lds r24,NewPpmData4904 27d6 8150 subi r24,lo8(-(-1))4905 27d8 8093 0000 sts NewPpmData,r244906 27dc 8091 0000 lds r24,NewPpmData4907 27e0 8F3F cpi r24,lo8(-1)4908 27e2 01F0 breq .L4374909 27e4 8091 0000 lds r24,FC_StatusFlags4910 27e8 84FF sbrs r24,44911 27ea 00C0 rjmp .L4364912 .L437:4913 27ec 0E94 0000 call ParameterZuordnung4914 27f0 B090 0000 lds r11,EE_Parameter+234915 27f4 8091 0000 lds r24,stick_nick.124916 27f8 9091 0000 lds r25,(stick_nick.12)+14917 27fc 9C01 movw r18,r244918 27fe 220F lsl r184919 2800 331F rol r194920 2802 280F add r18,r244921 2804 391F adc r19,r254922 2806 C090 0000 lds r12,EE_Parameter+14923 280a AC2D mov r26,r124924 280c BB27 clr r274925 280e AA0F add r26,r264926 2810 BB1F adc r27,r274927 2812 FD01 movw r30,r264928 2814 E050 subi r30,lo8(-(PPM_in))4929 2816 F040 sbci r31,hi8(-(PPM_in))4930 2818 4B2D mov r20,r114931 281a 5527 clr r214932 281c 8081 ld r24,Z4933 281e 9181 ldd r25,Z+14934 2820 849F mul r24,r204935 2822 F001 movw r30,r04936 2824 859F mul r24,r214937 2826 F00D add r31,r04938 2828 949F mul r25,r204939 282a F00D add r31,r04940 282c 1124 clr r14941 282e 2E0F add r18,r304942 2830 3F1F adc r19,r314943 2832 37FF sbrs r19,74944 2834 00C0 rjmp .L4384945 2836 2D5F subi r18,lo8(-(3))4946 2838 3F4F sbci r19,hi8(-(3))4947 .L438:4948 283a B901 movw r22,r184949 283c 7595 asr r234950 283e 6795 ror r224951 2840 7595 asr r234952 2842 6795 ror r224953 2844 A050 subi r26,lo8(-(PPM_diff))4954 2846 B040 sbci r27,hi8(-(PPM_diff))4955 2848 8091 0000 lds r24,EE_Parameter+244956 284c 082F mov r16,r244957 284e 1127 clr r174958 2850 8D91 ld r24,X+4959 2852 9C91 ld r25,X4960 2854 809F mul r24,r164961 2856 7001 movw r14,r04962 2858 819F mul r24,r174963 285a F00C add r15,r04964 285c 909F mul r25,r164965 285e F00C add r15,r04966 2860 1124 clr r14967 2862 6E0D add r22,r144968 2864 7F1D adc r23,r154969 2866 7093 0000 sts (stick_nick.12)+1,r234970 286a 6093 0000 sts stick_nick.12,r224971 286e 8091 0000 lds r24,stick_roll.134972 2872 9091 0000 lds r25,(stick_roll.13)+14973 2876 9C01 movw r18,r244974 2878 220F lsl r184975 287a 331F rol r194976 287c 280F add r18,r244977 287e 391F adc r19,r254978 2880 D090 0000 lds r13,EE_Parameter+24979 2884 AD2D mov r26,r134980 2886 BB27 clr r274981 2888 AA0F add r26,r264982 288a BB1F adc r27,r274983 288c FD01 movw r30,r264984 288e E050 subi r30,lo8(-(PPM_in))4985 2890 F040 sbci r31,hi8(-(PPM_in))4986 2892 8081 ld r24,Z4987 2894 9181 ldd r25,Z+14988 2896 849F mul r24,r204989 2898 F001 movw r30,r04990 289a 859F mul r24,r214991 289c F00D add r31,r04992 289e 949F mul r25,r204993 28a0 F00D add r31,r04994 28a2 1124 clr r14995 28a4 2E0F add r18,r304996 28a6 3F1F adc r19,r314997 28a8 37FF sbrs r19,74998 28aa 00C0 rjmp .L4394999 28ac 2D5F subi r18,lo8(-(3))5000 28ae 3F4F sbci r19,hi8(-(3))5001 .L439:5002 28b0 A901 movw r20,r185003 28b2 5595 asr r215004 28b4 4795 ror r205005 28b6 5595 asr r215006 28b8 4795 ror r205007 28ba A050 subi r26,lo8(-(PPM_diff))5008 28bc B040 sbci r27,hi8(-(PPM_diff))5009 28be 8D91 ld r24,X+5010 28c0 9C91 ld r25,X5011 28c2 809F mul r24,r165012 28c4 7001 movw r14,r05013 28c6 819F mul r24,r175014 28c8 F00C add r15,r05015 28ca 909F mul r25,r165016 28cc F00C add r15,r05017 28ce 1124 clr r15018 28d0 4E0D add r20,r145019 28d2 5F1D adc r21,r155020 28d4 5093 0000 sts (stick_roll.13)+1,r215021 28d8 4093 0000 sts stick_roll.13,r205022 28dc 8091 0000 lds r24,CareFree5023 28e0 8823 tst r245024 28e2 01F4 brne .+25025 28e4 00C0 rjmp .L4405026 28e6 CB01 movw r24,r225027 28e8 77FD sbrc r23,75028 28ea 0396 adiw r24,35029 .L441:5030 28ec DC01 movw r26,r245031 28ee B595 asr r275032 28f0 A795 ror r265033 28f2 B595 asr r275034 28f4 A795 ror r265035 28f6 CA01 movw r24,r205036 28f8 57FD sbrc r21,75037 28fa 0396 adiw r24,35038 .L442:5039 28fc FC01 movw r30,r245040 28fe F595 asr r315041 2900 E795 ror r305042 2902 F595 asr r315043 2904 E795 ror r305044 2906 8091 0000 lds r24,FromNC_Rotate_C5045 290a 682F mov r22,r245046 290c 7727 clr r235047 290e 67FD sbrc r22,75048 2910 7095 com r235049 2912 6A9F mul r22,r265050 2914 9001 movw r18,r05051 2916 6B9F mul r22,r275052 2918 300D add r19,r05053 291a 7A9F mul r23,r265054 291c 300D add r19,r05055 291e 1124 clr r15056 2920 8091 0000 lds r24,FromNC_Rotate_S5057 2924 482F mov r20,r245058 2926 5527 clr r215059 2928 47FD sbrc r20,75060 292a 5095 com r215061 292c 4E9F mul r20,r305062 292e C001 movw r24,r05063 2930 4F9F mul r20,r315064 2932 900D add r25,r05065 2934 5E9F mul r21,r305066 2936 900D add r25,r05067 2938 1124 clr r15068 293a 280F add r18,r245069 293c 391F adc r19,r255070 293e 37FF sbrs r19,75071 2940 00C0 rjmp .L4435072 2942 295F subi r18,lo8(-(7))5073 2944 3F4F sbci r19,hi8(-(7))5074 .L443:5075 2946 93E0 ldi r25,35076 2948 3595 1: asr r195077 294a 2795 ror r185078 294c 9A95 dec r255079 294e 01F4 brne 1b5080 2950 3093 0000 sts (StickNick)+1,r195081 2954 2093 0000 sts StickNick,r185082 2958 6E9F mul r22,r305083 295a 9001 movw r18,r05084 295c 6F9F mul r22,r315085 295e 300D add r19,r05086 2960 7E9F mul r23,r305087 2962 300D add r19,r05088 2964 1124 clr r15089 2966 4A9F mul r20,r265090 2968 C001 movw r24,r05091 296a 4B9F mul r20,r275092 296c 900D add r25,r05093 296e 5A9F mul r21,r265094 2970 900D add r25,r05095 2972 1124 clr r15096 2974 00C0 rjmp .L9195097 .L440:5098 2976 8091 0000 lds r24,EE_Parameter+985099 297a E82F mov r30,r245100 297c FF27 clr r315101 297e E050 subi r30,lo8(-(sintab))5102 2980 F040 sbci r31,hi8(-(sintab))5103 2982 8681 ldd r24,Z+65104 2984 8093 0000 sts FromNC_Rotate_C,r245105 2988 9081 ld r25,Z5106 298a 9093 0000 sts FromNC_Rotate_S,r255107 298e A82F mov r26,r245108 2990 BB27 clr r275109 2992 A7FD sbrc r26,75110 2994 B095 com r275111 2996 A69F mul r26,r225112 2998 9001 movw r18,r05113 299a A79F mul r26,r235114 299c 300D add r19,r05115 299e B69F mul r27,r225116 29a0 300D add r19,r05117 29a2 1124 clr r15118 29a4 E92F mov r30,r255119 29a6 FF27 clr r315120 29a8 E7FD sbrc r30,75121 29aa F095 com r315122 29ac E49F mul r30,r205123 29ae C001 movw r24,r05124 29b0 E59F mul r30,r215125 29b2 900D add r25,r05126 29b4 F49F mul r31,r205127 29b6 900D add r25,r05128 29b8 1124 clr r15129 29ba 280F add r18,r245130 29bc 391F adc r19,r255131 29be 37FF sbrs r19,75132 29c0 00C0 rjmp .L4465133 29c2 295F subi r18,lo8(-(7))5134 29c4 3F4F sbci r19,hi8(-(7))5135 .L446:5136 29c6 83E0 ldi r24,35137 29c8 3595 1: asr r195138 29ca 2795 ror r185139 29cc 8A95 dec r245140 29ce 01F4 brne 1b5141 29d0 3093 0000 sts (StickNick)+1,r195142 29d4 2093 0000 sts StickNick,r185143 29d8 A49F mul r26,r205144 29da 9001 movw r18,r05145 29dc A59F mul r26,r215146 29de 300D add r19,r05147 29e0 B49F mul r27,r205148 29e2 300D add r19,r05149 29e4 1124 clr r15150 29e6 E69F mul r30,r225151 29e8 C001 movw r24,r05152 29ea E79F mul r30,r235153 29ec 900D add r25,r05154 29ee F69F mul r31,r225155 29f0 900D add r25,r05156 29f2 1124 clr r15157 .L919:5158 29f4 281B sub r18,r245159 29f6 390B sbc r19,r255160 29f8 37FF sbrs r19,75161 29fa 00C0 rjmp .L4475162 29fc 295F subi r18,lo8(-(7))5163 29fe 3F4F sbci r19,hi8(-(7))5164 .L447:5165 2a00 03E0 ldi r16,35166 2a02 3595 1: asr r195167 2a04 2795 ror r185168 2a06 0A95 dec r165169 2a08 01F4 brne 1b5170 2a0a 3093 0000 sts (StickRoll)+1,r195171 2a0e 2093 0000 sts StickRoll,r185172 2a12 8091 0000 lds r24,EE_Parameter+45173 2a16 E82F mov r30,r245174 2a18 FF27 clr r315175 2a1a EE0F add r30,r305176 2a1c FF1F adc r31,r315177 2a1e E050 subi r30,lo8(-(PPM_in))5178 2a20 F040 sbci r31,hi8(-(PPM_in))5179 2a22 8081 ld r24,Z5180 2a24 9181 ldd r25,Z+15181 2a26 9095 com r255182 2a28 8195 neg r245183 2a2a 9F4F sbci r25,lo8(-1)5184 2a2c 9093 0000 sts (StickGier)+1,r255185 2a30 8093 0000 sts StickGier,r245186 2a34 8530 cpi r24,55187 2a36 9105 cpc r25,__zero_reg__5188 2a38 04F0 brlt .L4485189 2a3a 0497 sbiw r24,45190 2a3c 00C0 rjmp .L8915191 .L448:5192 2a3e 0FEF ldi r16,hi8(-4)5193 2a40 8C3F cpi r24,lo8(-4)5194 2a42 9007 cpc r25,r165195 2a44 04F4 brge .L4505196 2a46 0496 adiw r24,45197 .L891:5198 2a48 9093 0000 sts (StickGier)+1,r255199 2a4c 8093 0000 sts StickGier,r245200 2a50 00C0 rjmp .L4495201 .L450:5202 2a52 1092 0000 sts (StickGier)+1,__zero_reg__5203 2a56 1092 0000 sts StickGier,__zero_reg__5204 .L449:5205 2a5a 8091 0000 lds r24,GPS_Aid_StickMultiplikator5206 2a5e 8823 tst r245207 2a60 01F4 brne .+25208 2a62 00C0 rjmp .L4525209 2a64 282F mov r18,r245210 2a66 3327 clr r195211 2a68 8091 0000 lds r24,StickNick5212 2a6c 9091 0000 lds r25,(StickNick)+15213 2a70 97FD sbrc r25,75214 2a72 0796 adiw r24,75215 .L453:5216 2a74 13E0 ldi r17,35217 2a76 9595 1: asr r255218 2a78 8795 ror r245219 2a7a 1A95 dec r175220 2a7c 01F4 brne 1b5221 2a7e 289F mul r18,r245222 2a80 A001 movw r20,r05223 2a82 299F mul r18,r255224 2a84 500D add r21,r05225 2a86 389F mul r19,r245226 2a88 500D add r21,r05227 2a8a 1124 clr r15228 2a8c CA01 movw r24,r205229 2a8e 57FD sbrc r21,75230 2a90 0F96 adiw r24,155231 .L454:5232 2a92 B4E0 ldi r27,45233 2a94 9595 1: asr r255234 2a96 8795 ror r245235 2a98 BA95 dec r275236 2a9a 01F4 brne 1b5237 2a9c 9093 0000 sts (StickNick)+1,r255238 2aa0 8093 0000 sts StickNick,r245239 2aa4 8091 0000 lds r24,StickRoll5240 2aa8 9091 0000 lds r25,(StickRoll)+15241 2aac 97FD sbrc r25,75242 2aae 0796 adiw r24,75243 .L455:5244 2ab0 A3E0 ldi r26,35245 2ab2 9595 1: asr r255246 2ab4 8795 ror r245247 2ab6 AA95 dec r265248 2ab8 01F4 brne 1b5249 2aba 289F mul r18,r245250 2abc B001 movw r22,r05251 2abe 299F mul r18,r255252 2ac0 700D add r23,r05253 2ac2 389F mul r19,r245254 2ac4 700D add r23,r05255 2ac6 1124 clr r15256 2ac8 CB01 movw r24,r225257 2aca 77FD sbrc r23,75258 2acc 0F96 adiw r24,155259 .L456:5260 2ace F4E0 ldi r31,45261 2ad0 9595 1: asr r255262 2ad2 8795 ror r245263 2ad4 FA95 dec r315264 2ad6 01F4 brne 1b5265 2ad8 9093 0000 sts (StickRoll)+1,r255266 2adc 8093 0000 sts StickRoll,r245267 .L452:5268 2ae0 8090 0000 lds r8,StickNick5269 2ae4 9090 0000 lds r9,(StickNick)+15270 2ae8 8091 0000 lds r24,GPS_Nick5271 2aec 9091 0000 lds r25,(GPS_Nick)+15272 2af0 881A sub r8,r245273 2af2 990A sbc r9,r255274 2af4 9092 0000 sts (StickNick)+1,r95275 2af8 8092 0000 sts StickNick,r85276 2afc 0091 0000 lds r16,StickRoll5277 2b00 1091 0000 lds r17,(StickRoll)+15278 2b04 8091 0000 lds r24,GPS_Roll5279 2b08 9091 0000 lds r25,(GPS_Roll)+15280 2b0c 081B sub r16,r245281 2b0e 190B sbc r17,r255282 2b10 1093 0000 sts (StickRoll)+1,r175283 2b14 0093 0000 sts StickRoll,r165284 2b18 8091 0000 lds r24,EE_Parameter+35285 2b1c E82F mov r30,r245286 2b1e FF27 clr r315287 2b20 EE0F add r30,r305288 2b22 FF1F adc r31,r315289 2b24 E050 subi r30,lo8(-(PPM_in))5290 2b26 F040 sbci r31,hi8(-(PPM_in))5291 2b28 E080 ld r14,Z5292 2b2a F180 ldd r15,Z+15293 2b2c 8FE7 ldi r24,lo8(127)5294 2b2e 90E0 ldi r25,hi8(127)5295 2b30 E80E add r14,r245296 2b32 F91E adc r15,r255297 2b34 F092 0000 sts (StickGas)+1,r155298 2b38 E092 0000 sts StickGas,r145299 2b3c 8091 0000 lds r24,Parameter_Gyro_P5300 2b40 9927 clr r255301 2b42 AA27 clr r265302 2b44 97FD sbrc r25,75303 2b46 A095 com r265304 2b48 BA2F mov r27,r265305 2b4a BC01 movw r22,r245306 2b4c CD01 movw r24,r265307 2b4e 0E94 0000 call __floatsisf5308 2b52 DC01 movw r26,r245309 2b54 CB01 movw r24,r225310 2b56 20E0 ldi r18,lo8(0x41200000)5311 2b58 30E0 ldi r19,hi8(0x41200000)5312 2b5a 40E2 ldi r20,hlo8(0x41200000)5313 2b5c 51E4 ldi r21,hhi8(0x41200000)5314 2b5e BC01 movw r22,r245315 2b60 CD01 movw r24,r265316 2b62 0E94 0000 call __addsf35317 2b66 DC01 movw r26,r245318 2b68 CB01 movw r24,r225319 2b6a BC01 movw r22,r245320 2b6c CD01 movw r24,r265321 2b6e 0E94 0000 call __fixunssfsi5322 2b72 DC01 movw r26,r245323 2b74 CB01 movw r24,r225324 2b76 8093 0000 sts GyroFaktor,r245325 2b7a 8091 0000 lds r24,Parameter_Gyro_I5326 2b7e 8093 0000 sts IntegralFaktor,r245327 2b82 8091 0000 lds r24,Parameter_Gyro_Gier_P5328 2b86 9927 clr r255329 2b88 AA27 clr r265330 2b8a 97FD sbrc r25,75331 2b8c A095 com r265332 2b8e BA2F mov r27,r265333 2b90 BC01 movw r22,r245334 2b92 CD01 movw r24,r265335 2b94 0E94 0000 call __floatsisf5336 2b98 DC01 movw r26,r245337 2b9a CB01 movw r24,r225338 2b9c 20E0 ldi r18,lo8(0x41200000)5339 2b9e 30E0 ldi r19,hi8(0x41200000)5340 2ba0 40E2 ldi r20,hlo8(0x41200000)5341 2ba2 51E4 ldi r21,hhi8(0x41200000)5342 2ba4 BC01 movw r22,r245343 2ba6 CD01 movw r24,r265344 2ba8 0E94 0000 call __addsf35345 2bac DC01 movw r26,r245346 2bae CB01 movw r24,r225347 2bb0 BC01 movw r22,r245348 2bb2 CD01 movw r24,r265349 2bb4 0E94 0000 call __fixunssfsi5350 2bb8 DC01 movw r26,r245351 2bba CB01 movw r24,r225352 2bbc 8093 0000 sts GyroFaktorGier,r245353 2bc0 8091 0000 lds r24,Parameter_Gyro_Gier_I5354 2bc4 8093 0000 sts IntegralFaktorGier,r245355 2bc8 8091 0000 lds r24,ExternControl+105356 2bcc 80FF sbrs r24,05357 2bce 00C0 rjmp .L4575358 2bd0 8091 0000 lds r24,Parameter_ExternalControl5359 2bd4 8138 cpi r24,lo8(-127)5360 2bd6 00F4 brsh .+25361 2bd8 00C0 rjmp .L4575362 2bda 8091 0000 lds r24,ExternControl+35363 2bde 9927 clr r255364 2be0 87FD sbrc r24,75365 2be2 9095 com r255366 2be4 2B2D mov r18,r115367 2be6 3327 clr r195368 2be8 829F mul r24,r185369 2bea D001 movw r26,r05370 2bec 839F mul r24,r195371 2bee B00D add r27,r05372 2bf0 929F mul r25,r185373 2bf2 B00D add r27,r05374 2bf4 1124 clr r15375 2bf6 8A0E add r8,r265376 2bf8 9B1E adc r9,r275377 2bfa 9092 0000 sts (StickNick)+1,r95378 2bfe 8092 0000 sts StickNick,r85379 2c02 8091 0000 lds r24,ExternControl+45380 2c06 9927 clr r255381 2c08 87FD sbrc r24,75382 2c0a 9095 com r255383 2c0c 829F mul r24,r185384 2c0e F001 movw r30,r05385 2c10 839F mul r24,r195386 2c12 F00D add r31,r05387 2c14 929F mul r25,r185388 2c16 F00D add r31,r05389 2c18 1124 clr r15390 2c1a 0E0F add r16,r305391 2c1c 1F1F adc r17,r315392 2c1e 1093 0000 sts (StickRoll)+1,r175393 2c22 0093 0000 sts StickRoll,r165394 2c26 8091 0000 lds r24,ExternControl+55395 2c2a 282F mov r18,r245396 2c2c 3327 clr r195397 2c2e 27FD sbrc r18,75398 2c30 3095 com r195399 2c32 8091 0000 lds r24,StickGier5400 2c36 9091 0000 lds r25,(StickGier)+15401 2c3a 820F add r24,r185402 2c3c 931F adc r25,r195403 2c3e 9093 0000 sts (StickGier)+1,r255404 2c42 8093 0000 sts StickGier,r245405 2c46 8091 0000 lds r24,ExternControl+75406 2c4a 282F mov r18,r245407 2c4c 3327 clr r195408 2c4e 27FD sbrc r18,75409 2c50 3095 com r195410 2c52 8091 0000 lds r24,EE_Parameter+185411 2c56 9927 clr r255412 2c58 289F mul r18,r245413 2c5a 8001 movw r16,r05414 2c5c 299F mul r18,r255415 2c5e 100D add r17,r05416 2c60 389F mul r19,r245417 2c62 100D add r17,r05418 2c64 1124 clr r15419 2c66 1093 0000 sts (ExternHoehenValue)+1,r175420 2c6a 0093 0000 sts ExternHoehenValue,r165421 2c6e 8091 0000 lds r24,ExternControl+65422 2c72 9927 clr r255423 2c74 8E15 cp r24,r145424 2c76 9F05 cpc r25,r155425 2c78 04F4 brge .L4575426 2c7a 9093 0000 sts (StickGas)+1,r255427 2c7e 8093 0000 sts StickGas,r245428 .L457:5429 2c82 8091 0000 lds r24,StickGas5430 2c86 9091 0000 lds r25,(StickGas)+15431 2c8a 97FF sbrs r25,75432 2c8c 00C0 rjmp .L4595433 2c8e 1092 0000 sts (StickGas)+1,__zero_reg__5434 2c92 1092 0000 sts StickGas,__zero_reg__5435 .L459:5436 2c96 8091 0000 lds r24,Parameter_GlobalConfig5437 2c9a 82FF sbrs r24,25438 2c9c 00C0 rjmp .L4605439 2c9e 1092 0000 sts IntegralFaktor,__zero_reg__5440 .L460:5441 2ca2 4091 0000 lds r20,StickNick5442 2ca6 5091 0000 lds r21,(StickNick)+15443 2caa CA01 movw r24,r205444 2cac 57FD sbrc r21,75445 2cae 0396 adiw r24,35446 .L462:5447 2cb0 9C01 movw r18,r245448 2cb2 3595 asr r195449 2cb4 2795 ror r185450 2cb6 3595 asr r195451 2cb8 2795 ror r185452 2cba 37FF sbrs r19,75453 2cbc 00C0 rjmp .L4635454 2cbe 3095 com r195455 2cc0 2195 neg r185456 2cc2 3F4F sbci r19,lo8(-1)5457 .L463:5458 2cc4 8091 0000 lds r24,MaxStickNick5459 2cc8 9091 0000 lds r25,(MaxStickNick)+15460 2ccc 8217 cp r24,r185461 2cce 9307 cpc r25,r195462 2cd0 04F4 brge .L4615463 2cd2 CA01 movw r24,r205464 2cd4 57FF sbrs r21,75465 2cd6 00C0 rjmp .L4645466 2cd8 9095 com r255467 2cda 8195 neg r245468 2cdc 9F4F sbci r25,lo8(-1)5469 .L464:5470 2cde 97FD sbrc r25,75471 2ce0 0396 adiw r24,35472 .L465:5473 2ce2 9595 asr r255474 2ce4 8795 ror r245475 2ce6 9595 asr r255476 2ce8 8795 ror r245477 2cea 9093 0000 sts (MaxStickNick)+1,r255478 2cee 8093 0000 sts MaxStickNick,r245479 2cf2 8536 cpi r24,1015480 2cf4 9105 cpc r25,__zero_reg__5481 2cf6 04F0 brlt .L4675482 2cf8 84E6 ldi r24,lo8(100)5483 2cfa 90E0 ldi r25,hi8(100)5484 2cfc 00C0 rjmp .L8925485 .L461:5486 2cfe 0197 sbiw r24,15487 .L892:5488 2d00 9093 0000 sts (MaxStickNick)+1,r255489 2d04 8093 0000 sts MaxStickNick,r245490 .L467:5491 2d08 4091 0000 lds r20,StickRoll5492 2d0c 5091 0000 lds r21,(StickRoll)+15493 2d10 CA01 movw r24,r205494 2d12 57FD sbrc r21,75495 2d14 0396 adiw r24,35496 .L469:5497 2d16 9C01 movw r18,r245498 2d18 3595 asr r195499 2d1a 2795 ror r185500 2d1c 3595 asr r195501 2d1e 2795 ror r185502 2d20 37FF sbrs r19,75503 2d22 00C0 rjmp .L4705504 2d24 3095 com r195505 2d26 2195 neg r185506 2d28 3F4F sbci r19,lo8(-1)5507 .L470:5508 2d2a 8091 0000 lds r24,MaxStickRoll5509 2d2e 9091 0000 lds r25,(MaxStickRoll)+15510 2d32 8217 cp r24,r185511 2d34 9307 cpc r25,r195512 2d36 04F4 brge .L4685513 2d38 CA01 movw r24,r205514 2d3a 57FF sbrs r21,75515 2d3c 00C0 rjmp .L4715516 2d3e 9095 com r255517 2d40 8195 neg r245518 2d42 9F4F sbci r25,lo8(-1)5519 .L471:5520 2d44 97FD sbrc r25,75521 2d46 0396 adiw r24,35522 .L472:5523 2d48 9595 asr r255524 2d4a 8795 ror r245525 2d4c 9595 asr r255526 2d4e 8795 ror r245527 2d50 9093 0000 sts (MaxStickRoll)+1,r255528 2d54 8093 0000 sts MaxStickRoll,r245529 2d58 8536 cpi r24,1015530 2d5a 9105 cpc r25,__zero_reg__5531 2d5c 04F0 brlt .L4745532 2d5e 84E6 ldi r24,lo8(100)5533 2d60 90E0 ldi r25,hi8(100)5534 2d62 00C0 rjmp .L8935535 .L468:5536 2d64 0197 sbiw r24,15537 .L893:5538 2d66 9093 0000 sts (MaxStickRoll)+1,r255539 2d6a 8093 0000 sts MaxStickRoll,r245540 .L474:5541 2d6e 8091 0000 lds r24,FC_StatusFlags5542 2d72 84FF sbrs r24,45543 2d74 00C0 rjmp .L4755544 2d76 1092 0000 sts (MaxStickNick)+1,__zero_reg__5545 2d7a 1092 0000 sts MaxStickNick,__zero_reg__5546 2d7e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5547 2d82 1092 0000 sts MaxStickRoll,__zero_reg__5548 .L475:5549 2d86 ED2D mov r30,r135550 2d88 FF27 clr r315551 2d8a EE0F add r30,r305552 2d8c FF1F adc r31,r315553 2d8e E050 subi r30,lo8(-(PPM_in))5554 2d90 F040 sbci r31,hi8(-(PPM_in))5555 2d92 4091 0000 lds r20,EE_Parameter+605556 2d96 242F mov r18,r205557 2d98 3327 clr r195558 2d9a 8081 ld r24,Z5559 2d9c 9181 ldd r25,Z+15560 2d9e 2817 cp r18,r245561 2da0 3907 cpc r19,r255562 2da2 04F4 brge .L4765563 2da4 8091 0000 lds r24,EE_Parameter+1085564 2da8 82FF sbrs r24,25565 2daa 00C0 rjmp .L4765566 2dac 81E0 ldi r24,lo8(1)5567 2dae 8093 0000 sts Looping_Links,r245568 2db2 00C0 rjmp .L4775569 .L476:5570 2db4 ED2D mov r30,r135571 2db6 FF27 clr r315572 2db8 EE0F add r30,r305573 2dba FF1F adc r31,r315574 2dbc E050 subi r30,lo8(-(PPM_in))5575 2dbe F040 sbci r31,hi8(-(PPM_in))5576 2dc0 842F mov r24,r205577 2dc2 9927 clr r255578 2dc4 2091 0000 lds r18,EE_Parameter+615579 2dc8 821B sub r24,r185580 2dca 9109 sbc r25,__zero_reg__5581 2dcc 2081 ld r18,Z5582 2dce 3181 ldd r19,Z+15583 2dd0 2817 cp r18,r245584 2dd2 3907 cpc r19,r255585 2dd4 04F4 brge .L4775586 2dd6 1092 0000 sts Looping_Links,__zero_reg__5587 .L477:5588 2dda 4091 0000 lds r20,EE_Parameter+25589 2dde E42F mov r30,r205590 2de0 FF27 clr r315591 2de2 EE0F add r30,r305592 2de4 FF1F adc r31,r315593 2de6 E050 subi r30,lo8(-(PPM_in))5594 2de8 F040 sbci r31,hi8(-(PPM_in))5595 2dea 5091 0000 lds r21,EE_Parameter+605596 2dee 852F mov r24,r215597 2df0 9927 clr r255598 2df2 2227 clr r185599 2df4 3327 clr r195600 2df6 281B sub r18,r245601 2df8 390B sbc r19,r255602 2dfa 8081 ld r24,Z5603 2dfc 9181 ldd r25,Z+15604 2dfe 8217 cp r24,r185605 2e00 9307 cpc r25,r195606 2e02 04F4 brge .L4795607 2e04 8091 0000 lds r24,EE_Parameter+1085608 2e08 83FF sbrs r24,35609 2e0a 00C0 rjmp .L4795610 2e0c 81E0 ldi r24,lo8(1)5611 2e0e 8093 0000 sts Looping_Rechts,r245612 2e12 00C0 rjmp .L4805613 .L479:5614 2e14 8091 0000 lds r24,Looping_Rechts5615 2e18 8823 tst r245616 2e1a 01F0 breq .L4805617 2e1c E42F mov r30,r205618 2e1e FF27 clr r315619 2e20 EE0F add r30,r305620 2e22 FF1F adc r31,r315621 2e24 E050 subi r30,lo8(-(PPM_in))5622 2e26 F040 sbci r31,hi8(-(PPM_in))5623 2e28 8091 0000 lds r24,EE_Parameter+615624 2e2c 9927 clr r255625 2e2e 851B sub r24,r215626 2e30 9109 sbc r25,__zero_reg__5627 2e32 2081 ld r18,Z5628 2e34 3181 ldd r19,Z+15629 2e36 8217 cp r24,r185630 2e38 9307 cpc r25,r195631 2e3a 04F4 brge .L4805632 2e3c 1092 0000 sts Looping_Rechts,__zero_reg__5633 .L480:5634 2e40 EC2D mov r30,r125635 2e42 FF27 clr r315636 2e44 EE0F add r30,r305637 2e46 FF1F adc r31,r315638 2e48 E050 subi r30,lo8(-(PPM_in))5639 2e4a F040 sbci r31,hi8(-(PPM_in))5640 2e4c 4091 0000 lds r20,EE_Parameter+605641 2e50 242F mov r18,r205642 2e52 3327 clr r195643 2e54 8081 ld r24,Z5644 2e56 9181 ldd r25,Z+15645 2e58 2817 cp r18,r245646 2e5a 3907 cpc r19,r255647 2e5c 04F4 brge .L4835648 2e5e 8091 0000 lds r24,EE_Parameter+1085649 2e62 80FF sbrs r24,05650 2e64 00C0 rjmp .L4835651 2e66 81E0 ldi r24,lo8(1)5652 2e68 8093 0000 sts Looping_Oben,r245653 2e6c 00C0 rjmp .L4845654 .L483:5655 2e6e 8091 0000 lds r24,Looping_Oben5656 2e72 8823 tst r245657 2e74 01F0 breq .L4845658 2e76 EC2D mov r30,r125659 2e78 FF27 clr r315660 2e7a EE0F add r30,r305661 2e7c FF1F adc r31,r315662 2e7e E050 subi r30,lo8(-(PPM_in))5663 2e80 F040 sbci r31,hi8(-(PPM_in))5664 2e82 842F mov r24,r205665 2e84 9927 clr r255666 2e86 2091 0000 lds r18,EE_Parameter+615667 2e8a 821B sub r24,r185668 2e8c 9109 sbc r25,__zero_reg__5669 2e8e 2081 ld r18,Z5670 2e90 3181 ldd r19,Z+15671 2e92 2817 cp r18,r245672 2e94 3907 cpc r19,r255673 2e96 04F4 brge .L4845674 2e98 1092 0000 sts Looping_Oben,__zero_reg__5675 .L484:5676 2e9c 4091 0000 lds r20,EE_Parameter+15677 2ea0 E42F mov r30,r205678 2ea2 FF27 clr r315679 2ea4 EE0F add r30,r305680 2ea6 FF1F adc r31,r315681 2ea8 E050 subi r30,lo8(-(PPM_in))5682 2eaa F040 sbci r31,hi8(-(PPM_in))5683 2eac 5091 0000 lds r21,EE_Parameter+605684 2eb0 852F mov r24,r215685 2eb2 9927 clr r255686 2eb4 2227 clr r185687 2eb6 3327 clr r195688 2eb8 281B sub r18,r245689 2eba 390B sbc r19,r255690 2ebc 8081 ld r24,Z5691 2ebe 9181 ldd r25,Z+15692 2ec0 8217 cp r24,r185693 2ec2 9307 cpc r25,r195694 2ec4 04F4 brge .L4875695 2ec6 8091 0000 lds r24,EE_Parameter+1085696 2eca 81FF sbrs r24,15697 2ecc 00C0 rjmp .L4875698 2ece 81E0 ldi r24,lo8(1)5699 2ed0 8093 0000 sts Looping_Unten,r245700 2ed4 00C0 rjmp .L4885701 .L487:5702 2ed6 8091 0000 lds r24,Looping_Unten5703 2eda 8823 tst r245704 2edc 01F0 breq .L4885705 2ede E42F mov r30,r205706 2ee0 FF27 clr r315707 2ee2 EE0F add r30,r305708 2ee4 FF1F adc r31,r315709 2ee6 E050 subi r30,lo8(-(PPM_in))5710 2ee8 F040 sbci r31,hi8(-(PPM_in))5711 2eea 8091 0000 lds r24,EE_Parameter+615712 2eee 9927 clr r255713 2ef0 851B sub r24,r215714 2ef2 9109 sbc r25,__zero_reg__5715 2ef4 2081 ld r18,Z5716 2ef6 3181 ldd r19,Z+15717 2ef8 8217 cp r24,r185718 2efa 9307 cpc r25,r195719 2efc 04F4 brge .L4885720 2efe 1092 0000 sts Looping_Unten,__zero_reg__5721 .L488:5722 2f02 8091 0000 lds r24,Looping_Links5723 2f06 8823 tst r245724 2f08 01F4 brne .L4925725 2f0a 8091 0000 lds r24,Looping_Rechts5726 2f0e 8111 cpse r24,__zero_reg__5727 .L492:5728 2f10 81E0 ldi r24,lo8(1)5729 .L491:5730 2f12 8093 0000 sts Looping_Roll,r245731 2f16 8091 0000 lds r24,Looping_Oben5732 2f1a 8823 tst r245733 2f1c 01F4 brne .L4955734 2f1e 8091 0000 lds r24,Looping_Unten5735 2f22 8823 tst r245736 2f24 01F0 breq .L4945737 .L495:5738 2f26 81E0 ldi r24,lo8(1)5739 2f28 8093 0000 sts Looping_Nick,r245740 2f2c 1092 0000 sts Looping_Roll,__zero_reg__5741 2f30 1092 0000 sts Looping_Links,__zero_reg__5742 2f34 1092 0000 sts Looping_Rechts,__zero_reg__5743 2f38 00C0 rjmp .L4365744 .L494:5745 2f3a 8093 0000 sts Looping_Nick,r245746 .L436:5747 2f3e 8091 0000 lds r24,Looping_Roll5748 2f42 8823 tst r245749 2f44 01F4 brne .L4985750 2f46 8091 0000 lds r24,Looping_Nick5751 2f4a 8823 tst r245752 2f4c 01F0 breq .L4975753 .L498:5754 2f4e 8091 0000 lds r24,EE_Parameter+595755 2f52 9927 clr r255756 2f54 2981 ldd r18,Y+15757 2f56 3A81 ldd r19,Y+25758 2f58 8217 cp r24,r185759 2f5a 9307 cpc r25,r195760 2f5c 04F4 brge .L4995761 2f5e 9A83 std Y+2,r255762 2f60 8983 std Y+1,r245763 .L499:5764 2f62 81E0 ldi r24,lo8(1)5765 2f64 8093 0000 sts TrichterFlug,r245766 .L497:5767 2f68 8091 0000 lds r24,FC_StatusFlags25768 2f6c 9927 clr r255769 2f6e 9C01 movw r18,r245770 2f70 2470 andi r18,lo8(4)5771 2f72 3070 andi r19,hi8(4)5772 2f74 82FF sbrs r24,25773 2f76 00C0 rjmp .L5005774 2f78 8091 0000 lds r24,GPS_Nick5775 2f7c 9091 0000 lds r25,(GPS_Nick)+15776 2f80 9095 com r255777 2f82 8195 neg r245778 2f84 9F4F sbci r25,lo8(-1)5779 2f86 9093 0000 sts (StickNick)+1,r255780 2f8a 8093 0000 sts StickNick,r245781 2f8e 8091 0000 lds r24,GPS_Roll5782 2f92 9091 0000 lds r25,(GPS_Roll)+15783 2f96 9095 com r255784 2f98 8195 neg r245785 2f9a 9F4F sbci r25,lo8(-1)5786 2f9c 9093 0000 sts (StickRoll)+1,r255787 2fa0 8093 0000 sts StickRoll,r245788 2fa4 8091 0000 lds r24,StickGasHover5789 2fa8 9091 0000 lds r25,(StickGasHover)+15790 2fac 9093 0000 sts (StickGas)+1,r255791 2fb0 8093 0000 sts StickGas,r245792 2fb4 8091 0000 lds r24,Parameter_GlobalConfig5793 2fb8 8B77 andi r24,lo8(123)5794 2fba 8B66 ori r24,lo8(107)5795 2fbc 8093 0000 sts Parameter_GlobalConfig,r245796 2fc0 8091 0000 lds r24,Parameter_ExtraConfig5797 2fc4 8C7B andi r24,lo8(-68)5798 2fc6 8093 0000 sts Parameter_ExtraConfig,r245799 2fca 88EC ldi r24,lo8(-56)5800 2fcc 8093 0000 sts Parameter_HoehenSchalter,r245801 2fd0 00C0 rjmp .L5015802 .L500:5803 2fd2 8091 0000 lds r24,FC_StatusFlags5804 2fd6 84FF sbrs r24,45805 2fd8 00C0 rjmp .L5015806 2fda 3093 0000 sts (StickGier)+1,r195807 2fde 2093 0000 sts StickGier,r185808 2fe2 3093 0000 sts (StickNick)+1,r195809 2fe6 2093 0000 sts StickNick,r185810 2fea 3093 0000 sts (StickRoll)+1,r195811 2fee 2093 0000 sts StickRoll,r185812 2ff2 9AE5 ldi r25,lo8(90)5813 2ff4 9093 0000 sts GyroFaktor,r255814 2ff8 88E7 ldi r24,lo8(120)5815 2ffa 8093 0000 sts IntegralFaktor,r245816 2ffe 9093 0000 sts GyroFaktorGier,r255817 3002 8093 0000 sts IntegralFaktorGier,r245818 3006 1092 0000 sts Looping_Roll,__zero_reg__5819 300a 1092 0000 sts Looping_Nick,__zero_reg__5820 .L501:5821 300e 8091 0000 lds r24,MittelIntegralNick5822 3012 9091 0000 lds r25,(MittelIntegralNick)+15823 3016 A091 0000 lds r26,(MittelIntegralNick)+25824 301a B091 0000 lds r27,(MittelIntegralNick)+35825 301e 2091 0000 lds r18,IntegralNick5826 3022 3091 0000 lds r19,(IntegralNick)+15827 3026 4091 0000 lds r20,(IntegralNick)+25828 302a 5091 0000 lds r21,(IntegralNick)+35829 302e 820F add r24,r185830 3030 931F adc r25,r195831 3032 A41F adc r26,r205832 3034 B51F adc r27,r215833 3036 8093 0000 sts MittelIntegralNick,r245834 303a 9093 0000 sts (MittelIntegralNick)+1,r255835 303e A093 0000 sts (MittelIntegralNick)+2,r265836 3042 B093 0000 sts (MittelIntegralNick)+3,r275837 3046 8091 0000 lds r24,MittelIntegralRoll5838 304a 9091 0000 lds r25,(MittelIntegralRoll)+15839 304e A091 0000 lds r26,(MittelIntegralRoll)+25840 3052 B091 0000 lds r27,(MittelIntegralRoll)+35841 3056 E090 0000 lds r14,IntegralRoll5842 305a F090 0000 lds r15,(IntegralRoll)+15843 305e 0091 0000 lds r16,(IntegralRoll)+25844 3062 1091 0000 lds r17,(IntegralRoll)+35845 3066 EB82 std Y+3,r145846 3068 FC82 std Y+4,r155847 306a 0D83 std Y+5,r165848 306c 1E83 std Y+6,r175849 306e 8E0D add r24,r145850 3070 9F1D adc r25,r155851 3072 A01F adc r26,r165852 3074 B11F adc r27,r175853 3076 8093 0000 sts MittelIntegralRoll,r245854 307a 9093 0000 sts (MittelIntegralRoll)+1,r255855 307e A093 0000 sts (MittelIntegralRoll)+2,r265856 3082 B093 0000 sts (MittelIntegralRoll)+3,r275857 3086 8091 0000 lds r24,MittelIntegralNick25858 308a 9091 0000 lds r25,(MittelIntegralNick2)+15859 308e A091 0000 lds r26,(MittelIntegralNick2)+25860 3092 B091 0000 lds r27,(MittelIntegralNick2)+35861 3096 E090 0000 lds r14,IntegralNick25862 309a F090 0000 lds r15,(IntegralNick2)+15863 309e 0091 0000 lds r16,(IntegralNick2)+25864 30a2 1091 0000 lds r17,(IntegralNick2)+35865 30a6 EF82 std Y+7,r145866 30a8 F886 std Y+8,r155867 30aa 0987 std Y+9,r165868 30ac 1A87 std Y+10,r175869 30ae 8E0D add r24,r145870 30b0 9F1D adc r25,r155871 30b2 A01F adc r26,r165872 30b4 B11F adc r27,r175873 30b6 8093 0000 sts MittelIntegralNick2,r245874 30ba 9093 0000 sts (MittelIntegralNick2)+1,r255875 30be A093 0000 sts (MittelIntegralNick2)+2,r265876 30c2 B093 0000 sts (MittelIntegralNick2)+3,r275877 30c6 8091 0000 lds r24,MittelIntegralRoll25878 30ca 9091 0000 lds r25,(MittelIntegralRoll2)+15879 30ce A091 0000 lds r26,(MittelIntegralRoll2)+25880 30d2 B091 0000 lds r27,(MittelIntegralRoll2)+35881 30d6 E090 0000 lds r14,IntegralRoll25882 30da F090 0000 lds r15,(IntegralRoll2)+15883 30de 0091 0000 lds r16,(IntegralRoll2)+25884 30e2 1091 0000 lds r17,(IntegralRoll2)+35885 30e6 EB86 std Y+11,r145886 30e8 FC86 std Y+12,r155887 30ea 0D87 std Y+13,r165888 30ec 1E87 std Y+14,r175889 30ee 8E0D add r24,r145890 30f0 9F1D adc r25,r155891 30f2 A01F adc r26,r165892 30f4 B11F adc r27,r175893 30f6 8093 0000 sts MittelIntegralRoll2,r245894 30fa 9093 0000 sts (MittelIntegralRoll2)+1,r255895 30fe A093 0000 sts (MittelIntegralRoll2)+2,r265896 3102 B093 0000 sts (MittelIntegralRoll2)+3,r275897 3106 F090 0000 lds r15,Looping_Nick5898 310a FF86 std Y+15,r155899 310c FF20 tst r155900 310e 01F4 brne .L5045901 3110 8091 0000 lds r24,Looping_Roll5902 3114 8823 tst r245903 3116 01F4 brne .+25904 3118 00C0 rjmp .L8865905 .L504:5906 311a 1092 0000 sts IntegralAccNick,__zero_reg__5907 311e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5908 3122 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5909 3126 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5910 312a 1092 0000 sts IntegralAccRoll,__zero_reg__5911 312e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5912 3132 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5913 3136 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5914 313a 1092 0000 sts MittelIntegralNick,__zero_reg__5915 313e 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5916 3142 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5917 3146 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5918 314a 1092 0000 sts MittelIntegralRoll,__zero_reg__5919 314e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5920 3152 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5921 3156 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5922 315a 1092 0000 sts MittelIntegralNick2,__zero_reg__5923 315e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5924 3162 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5925 3166 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5926 316a 1092 0000 sts MittelIntegralRoll2,__zero_reg__5927 316e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5928 3172 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5929 3176 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5930 317a 8091 0000 lds r24,Mess_IntegralNick5931 317e 9091 0000 lds r25,(Mess_IntegralNick)+15932 3182 A091 0000 lds r26,(Mess_IntegralNick)+25933 3186 B091 0000 lds r27,(Mess_IntegralNick)+35934 318a 8093 0000 sts Mess_IntegralNick2,r245935 318e 9093 0000 sts (Mess_IntegralNick2)+1,r255936 3192 A093 0000 sts (Mess_IntegralNick2)+2,r265937 3196 B093 0000 sts (Mess_IntegralNick2)+3,r275938 319a 8091 0000 lds r24,Mess_IntegralRoll5939 319e 9091 0000 lds r25,(Mess_IntegralRoll)+15940 31a2 A091 0000 lds r26,(Mess_IntegralRoll)+25941 31a6 B091 0000 lds r27,(Mess_IntegralRoll)+35942 31aa 8093 0000 sts Mess_IntegralRoll2,r245943 31ae 9093 0000 sts (Mess_IntegralRoll2)+1,r255944 31b2 A093 0000 sts (Mess_IntegralRoll2)+2,r265945 31b6 B093 0000 sts (Mess_IntegralRoll2)+3,r275946 31ba 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5947 31be 1092 0000 sts ZaehlMessungen,__zero_reg__5948 31c2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5949 31c6 1092 0000 sts LageKorrekturNick,__zero_reg__5950 31ca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5951 31ce 1092 0000 sts LageKorrekturRoll,__zero_reg__5952 31d2 0F85 ldd r16,Y+155953 31d4 0023 tst r165954 31d6 01F0 breq .+25955 31d8 00C0 rjmp .L5055956 .L886:5957 31da 8091 0000 lds r24,Looping_Roll5958 31de 8823 tst r245959 31e0 01F0 breq .+25960 31e2 00C0 rjmp .L5055961 31e4 8091 0000 lds r24,Aktuell_az5962 31e8 9091 0000 lds r25,(Aktuell_az)+15963 31ec 8150 subi r24,lo8(513)5964 31ee 9240 sbci r25,hi8(513)5965 31f0 04F4 brge .L5065966 31f2 8091 0000 lds r24,MotorenEin5967 31f6 8823 tst r245968 31f8 01F4 brne .+25969 31fa 00C0 rjmp .L5055970 .L506:5971 31fc 9090 0000 lds r9,FromNaviCtrl_Value5972 3200 A090 0000 lds r10,EE_Parameter+285973 3204 2090 0000 lds r2,Mittelwert_AccNick5974 3208 3090 0000 lds r3,(Mittelwert_AccNick)+15975 320c 4090 0000 lds r4,Mittelwert_AccRoll5976 3210 5090 0000 lds r5,(Mittelwert_AccRoll)+15977 3214 1914 cp __zero_reg__,r95978 3216 04F0 brlt .+25979 3218 00C0 rjmp .L5075980 321a BB24 clr r115981 321c CC24 clr r125982 321e DD24 clr r135983 3220 CA01 movw r24,r205984 3222 B901 movw r22,r185985 3224 A601 movw r20,r125986 3226 9501 movw r18,r105987 3228 0E94 0000 call __divmodsi45988 322c 7901 movw r14,r185989 322e 8A01 movw r16,r205990 3230 8091 0000 lds r24,FromNaviCtrl+95991 3234 9091 0000 lds r25,(FromNaviCtrl+9)+15992 3238 281A sub r2,r245993 323a 390A sbc r3,r255994 323c C101 movw r24,r25995 323e AA27 clr r265996 3240 97FD sbrc r25,75997 3242 A095 com r265998 3244 BA2F mov r27,r265999 3246 E81A sub r14,r246000 3248 F90A sbc r15,r256001 324a 0A0B sbc r16,r266002 324c 1B0B sbc r17,r276003 324e 6B81 ldd r22,Y+36004 3250 7C81 ldd r23,Y+46005 3252 8D81 ldd r24,Y+56006 3254 9E81 ldd r25,Y+66007 3256 A601 movw r20,r126008 3258 9501 movw r18,r106009 325a 0E94 0000 call __divmodsi46010 325e 5901 movw r10,r186011 3260 6A01 movw r12,r206012 3262 8091 0000 lds r24,FromNaviCtrl+116013 3266 9091 0000 lds r25,(FromNaviCtrl+11)+16014 326a 481A sub r4,r246015 326c 590A sbc r5,r256016 326e C201 movw r24,r46017 3270 AA27 clr r266018 3272 97FD sbrc r25,76019 3274 A095 com r266020 3276 BA2F mov r27,r266021 3278 A81A sub r10,r246022 327a B90A sbc r11,r256023 327c CA0A sbc r12,r266024 327e DB0A sbc r13,r276025 3280 292C mov r2,r96026 3282 3324 clr r36027 3284 27FC sbrc r2,76028 3286 3094 com r36029 3288 432C mov r4,r36030 328a 532C mov r5,r36031 328c C801 movw r24,r166032 328e B701 movw r22,r146033 3290 A201 movw r20,r46034 3292 9101 movw r18,r26035 3294 0E94 0000 call __mulsi36036 3298 97FF sbrs r25,76037 329a 00C0 rjmp .L5086038 329c 6150 subi r22,lo8(-(511))6039 329e 7E4F sbci r23,hi8(-(511))6040 32a0 8F4F sbci r24,hlo8(-(511))6041 32a2 9F4F sbci r25,hhi8(-(511))6042 .L508:6043 32a4 3B01 movw r6,r226044 32a6 4C01 movw r8,r246045 32a8 09E0 ldi r16,96046 32aa 9594 1: asr r96047 32ac 8794 ror r86048 32ae 7794 ror r76049 32b0 6794 ror r66050 32b2 0A95 dec r166051 32b4 01F4 brne 1b6052 32b6 C601 movw r24,r126053 32b8 B501 movw r22,r106054 32ba A201 movw r20,r46055 32bc 9101 movw r18,r26056 32be 0E94 0000 call __mulsi36057 32c2 97FF sbrs r25,76058 32c4 00C0 rjmp .L5096059 32c6 6150 subi r22,lo8(-(511))6060 32c8 7E4F sbci r23,hi8(-(511))6061 32ca 8F4F sbci r24,hlo8(-(511))6062 32cc 9F4F sbci r25,hhi8(-(511))6063 .L509:6064 32ce 5B01 movw r10,r226065 32d0 6C01 movw r12,r246066 32d2 19E0 ldi r17,96067 32d4 D594 1: asr r136068 32d6 C794 ror r126069 32d8 B794 ror r116070 32da A794 ror r106071 32dc 1A95 dec r176072 32de 01F4 brne 1b6073 32e0 8091 0000 lds r24,MaxStickNick6074 32e4 9091 0000 lds r25,(MaxStickNick)+16075 32e8 8134 cpi r24,656076 32ea 9105 cpc r25,__zero_reg__6077 32ec 04F4 brge .L5116078 32ee 8091 0000 lds r24,MaxStickRoll6079 32f2 9091 0000 lds r25,(MaxStickRoll)+16080 32f6 8134 cpi r24,656081 32f8 9105 cpc r25,__zero_reg__6082 32fa 04F0 brlt .L5106083 .L511:6084 32fc D401 movw r26,r86085 32fe C301 movw r24,r66086 3300 97FE sbrs r9,76087 3302 00C0 rjmp .L5126088 3304 0196 adiw r24,16089 3306 A11D adc r26,__zero_reg__6090 3308 B11D adc r27,__zero_reg__6091 .L512:6092 330a 3C01 movw r6,r246093 330c 4D01 movw r8,r266094 330e 9594 asr r96095 3310 8794 ror r86096 3312 7794 ror r76097 3314 6794 ror r66098 3316 D601 movw r26,r126099 3318 C501 movw r24,r106100 331a D7FE sbrs r13,76101 331c 00C0 rjmp .L5136102 331e 0196 adiw r24,16103 3320 A11D adc r26,__zero_reg__6104 3322 B11D adc r27,__zero_reg__6105 .L513:6106 3324 5C01 movw r10,r246107 3326 6D01 movw r12,r266108 3328 D594 asr r136109 332a C794 ror r126110 332c B794 ror r116111 332e A794 ror r106112 .L510:6113 3330 8091 0000 lds r24,FromNaviCtrl_Value+26114 3334 282F mov r18,r246115 3336 3327 clr r196116 3338 27FD sbrc r18,76117 333a 3095 com r196118 333c 432F mov r20,r196119 333e 532F mov r21,r196120 3340 2615 cp r18,r66121 3342 3705 cpc r19,r76122 3344 4805 cpc r20,r86123 3346 5905 cpc r21,r96124 3348 04F4 brge .L5146125 334a 3901 movw r6,r186126 334c 4A01 movw r8,r206127 .L514:6128 334e 9927 clr r256129 3350 87FD sbrc r24,76130 3352 9095 com r256131 3354 9095 com r256132 3356 8195 neg r246133 3358 9F4F sbci r25,lo8(-1)6134 335a AA27 clr r266135 335c 97FD sbrc r25,76136 335e A095 com r266137 3360 BA2F mov r27,r266138 3362 6816 cp r6,r246139 3364 7906 cpc r7,r256140 3366 8A06 cpc r8,r266141 3368 9B06 cpc r9,r276142 336a 04F4 brge .L5156143 336c 3C01 movw r6,r246144 336e 4D01 movw r8,r266145 .L515:6146 3370 2A15 cp r18,r106147 3372 3B05 cpc r19,r116148 3374 4C05 cpc r20,r126149 3376 5D05 cpc r21,r136150 3378 04F4 brge .L5166151 337a 5901 movw r10,r186152 337c 6A01 movw r12,r206153 .L516:6154 337e A816 cp r10,r246155 3380 B906 cpc r11,r256156 3382 CA06 cpc r12,r266157 3384 DB06 cpc r13,r276158 3386 04F0 brlt .+26159 3388 00C0 rjmp .L5186160 338a 5C01 movw r10,r246161 338c 6D01 movw r12,r266162 338e 00C0 rjmp .L5186163 .L507:6164 3390 EA2C mov r14,r106165 3392 FF24 clr r156166 3394 0027 clr r166167 3396 1127 clr r176168 3398 CA01 movw r24,r206169 339a B901 movw r22,r186170 339c A801 movw r20,r166171 339e 9701 movw r18,r146172 33a0 0E94 0000 call __divmodsi46173 33a4 3901 movw r6,r186174 33a6 4A01 movw r8,r206175 33a8 C101 movw r24,r26176 33aa AA27 clr r266177 33ac 97FD sbrc r25,76178 33ae A095 com r266179 33b0 BA2F mov r27,r266180 33b2 681A sub r6,r246181 33b4 790A sbc r7,r256182 33b6 8A0A sbc r8,r266183 33b8 9B0A sbc r9,r276184 33ba 6B81 ldd r22,Y+36185 33bc 7C81 ldd r23,Y+46186 33be 8D81 ldd r24,Y+56187 33c0 9E81 ldd r25,Y+66188 33c2 A801 movw r20,r166189 33c4 9701 movw r18,r146190 33c6 0E94 0000 call __divmodsi46191 33ca 5901 movw r10,r186192 33cc 6A01 movw r12,r206193 33ce C201 movw r24,r46194 33d0 AA27 clr r266195 33d2 97FD sbrc r25,76196 33d4 A095 com r266197 33d6 BA2F mov r27,r266198 33d8 A81A sub r10,r246199 33da B90A sbc r11,r256200 33dc CA0A sbc r12,r266201 33de DB0A sbc r13,r276202 33e0 D401 movw r26,r86203 33e2 C301 movw r24,r66204 33e4 97FE sbrs r9,76205 33e6 00C0 rjmp .L5196206 33e8 0F96 adiw r24,156207 33ea A11D adc r26,__zero_reg__6208 33ec B11D adc r27,__zero_reg__6209 .L519:6210 33ee 3C01 movw r6,r246211 33f0 4D01 movw r8,r266212 33f2 F4E0 ldi r31,46213 33f4 9594 1: asr r96214 33f6 8794 ror r86215 33f8 7794 ror r76216 33fa 6794 ror r66217 33fc FA95 dec r316218 33fe 01F4 brne 1b6219 3400 D601 movw r26,r126220 3402 C501 movw r24,r106221 3404 D7FE sbrs r13,76222 3406 00C0 rjmp .L5206223 3408 0F96 adiw r24,156224 340a A11D adc r26,__zero_reg__6225 340c B11D adc r27,__zero_reg__6226 .L520:6227 340e 5C01 movw r10,r246228 3410 6D01 movw r12,r266229 3412 E4E0 ldi r30,46230 3414 D594 1: asr r136231 3416 C794 ror r126232 3418 B794 ror r116233 341a A794 ror r106234 341c EA95 dec r306235 341e 01F4 brne 1b6236 3420 8091 0000 lds r24,MaxStickNick6237 3424 9091 0000 lds r25,(MaxStickNick)+16238 3428 8134 cpi r24,656239 342a 9105 cpc r25,__zero_reg__6240 342c 04F4 brge .L5226241 342e 8091 0000 lds r24,MaxStickRoll6242 3432 9091 0000 lds r25,(MaxStickRoll)+16243 3436 8134 cpi r24,656244 3438 9105 cpc r25,__zero_reg__6245 343a 04F0 brlt .L5216246 .L522:6247 343c C401 movw r24,r86248 343e B301 movw r22,r66249 3440 23E0 ldi r18,lo8(3)6250 3442 30E0 ldi r19,hi8(3)6251 3444 40E0 ldi r20,hlo8(3)6252 3446 50E0 ldi r21,hhi8(3)6253 3448 0E94 0000 call __divmodsi46254 344c 3901 movw r6,r186255 344e 4A01 movw r8,r206256 3450 C601 movw r24,r126257 3452 B501 movw r22,r106258 3454 23E0 ldi r18,lo8(3)6259 3456 30E0 ldi r19,hi8(3)6260 3458 40E0 ldi r20,hlo8(3)6261 345a 50E0 ldi r21,hhi8(3)6262 345c 0E94 0000 call __divmodsi46263 3460 5901 movw r10,r186264 3462 6A01 movw r12,r206265 .L521:6266 3464 8091 0000 lds r24,EE_Parameter+46267 3468 E82F mov r30,r246268 346a FF27 clr r316269 346c EE0F add r30,r306270 346e FF1F adc r31,r316271 3470 E050 subi r30,lo8(-(PPM_in))6272 3472 F040 sbci r31,hi8(-(PPM_in))6273 3474 8081 ld r24,Z6274 3476 9181 ldd r25,Z+16275 3478 0190 ld __tmp_reg__,Z+6276 347a F081 ld r31,Z6277 347c E02D mov r30,__tmp_reg__6278 347e F7FF sbrs r31,76279 3480 00C0 rjmp .L5246280 3482 F095 com r316281 3484 E195 neg r306282 3486 FF4F sbci r31,lo8(-1)6283 .L524:6284 3488 7A97 sbiw r30,266285 348a 04F0 brlt .L5236286 348c C401 movw r24,r86287 348e B301 movw r22,r66288 3490 23E0 ldi r18,lo8(3)6289 3492 30E0 ldi r19,hi8(3)6290 3494 40E0 ldi r20,hlo8(3)6291 3496 50E0 ldi r21,hhi8(3)6292 3498 0E94 0000 call __divmodsi46293 349c 3901 movw r6,r186294 349e 4A01 movw r8,r206295 34a0 C601 movw r24,r126296 34a2 B501 movw r22,r106297 34a4 23E0 ldi r18,lo8(3)6298 34a6 30E0 ldi r19,hi8(3)6299 34a8 40E0 ldi r20,hlo8(3)6300 34aa 50E0 ldi r21,hhi8(3)6301 34ac 0E94 0000 call __divmodsi46302 34b0 5901 movw r10,r186303 34b2 6A01 movw r12,r206304 .L523:6305 34b4 89E1 ldi r24,lo8(25)6306 34b6 8093 0000 sts KompassFusion,r246307 34ba 21E2 ldi r18,lo8(33)6308 34bc 6216 cp r6,r186309 34be 7104 cpc r7,__zero_reg__6310 34c0 8104 cpc r8,__zero_reg__6311 34c2 9104 cpc r9,__zero_reg__6312 34c4 04F0 brlt .L5256313 34c6 70E2 ldi r23,lo8(32)6314 34c8 672E mov r6,r236315 34ca 712C mov r7,__zero_reg__6316 34cc 812C mov r8,__zero_reg__6317 34ce 912C mov r9,__zero_reg__6318 .L525:6319 34d0 30EE ldi r19,lo8(-32)6320 34d2 6316 cp r6,r196321 34d4 3FEF ldi r19,hi8(-32)6322 34d6 7306 cpc r7,r196323 34d8 3FEF ldi r19,hlo8(-32)6324 34da 8306 cpc r8,r196325 34dc 3FEF ldi r19,hhi8(-32)6326 34de 9306 cpc r9,r196327 34e0 04F4 brge .L5266328 34e2 60EE ldi r22,lo8(-32)6329 34e4 662E mov r6,r226330 34e6 6FEF ldi r22,hi8(-32)6331 34e8 762E mov r7,r226332 34ea 6FEF ldi r22,hlo8(-32)6333 34ec 862E mov r8,r226334 34ee 6FEF ldi r22,hhi8(-32)6335 34f0 962E mov r9,r226336 .L526:6337 34f2 41E2 ldi r20,lo8(33)6338 34f4 A416 cp r10,r206339 34f6 B104 cpc r11,__zero_reg__6340 34f8 C104 cpc r12,__zero_reg__6341 34fa D104 cpc r13,__zero_reg__6342 34fc 04F0 brlt .L5276343 34fe 50E2 ldi r21,lo8(32)6344 3500 A52E mov r10,r216345 3502 B12C mov r11,__zero_reg__6346 3504 C12C mov r12,__zero_reg__6347 3506 D12C mov r13,__zero_reg__6348 .L527:6349 3508 50EE ldi r21,lo8(-32)6350 350a A516 cp r10,r216351 350c 5FEF ldi r21,hi8(-32)6352 350e B506 cpc r11,r216353 3510 5FEF ldi r21,hlo8(-32)6354 3512 C506 cpc r12,r216355 3514 5FEF ldi r21,hhi8(-32)6356 3516 D506 cpc r13,r216357 3518 04F4 brge .L5186358 351a 40EE ldi r20,lo8(-32)6359 351c A42E mov r10,r206360 351e 4FEF ldi r20,hi8(-32)6361 3520 B42E mov r11,r206362 3522 4FEF ldi r20,hlo8(-32)6363 3524 C42E mov r12,r206364 3526 4FEF ldi r20,hhi8(-32)6365 3528 D42E mov r13,r206366 .L518:6367 352a 8091 0000 lds r24,Mess_IntegralNick6368 352e 9091 0000 lds r25,(Mess_IntegralNick)+16369 3532 A091 0000 lds r26,(Mess_IntegralNick)+26370 3536 B091 0000 lds r27,(Mess_IntegralNick)+36371 353a 8619 sub r24,r66372 353c 9709 sbc r25,r76373 353e A809 sbc r26,r86374 3540 B909 sbc r27,r96375 3542 8093 0000 sts Mess_IntegralNick,r246376 3546 9093 0000 sts (Mess_IntegralNick)+1,r256377 354a A093 0000 sts (Mess_IntegralNick)+2,r266378 354e B093 0000 sts (Mess_IntegralNick)+3,r276379 3552 8091 0000 lds r24,Mess_IntegralRoll6380 3556 9091 0000 lds r25,(Mess_IntegralRoll)+16381 355a A091 0000 lds r26,(Mess_IntegralRoll)+26382 355e B091 0000 lds r27,(Mess_IntegralRoll)+36383 3562 8A19 sub r24,r106384 3564 9B09 sbc r25,r116385 3566 AC09 sbc r26,r126386 3568 BD09 sbc r27,r136387 356a 8093 0000 sts Mess_IntegralRoll,r246388 356e 9093 0000 sts (Mess_IntegralRoll)+1,r256389 3572 A093 0000 sts (Mess_IntegralRoll)+2,r266390 3576 B093 0000 sts (Mess_IntegralRoll)+3,r276391 .L505:6392 357a 8091 0000 lds r24,ZaehlMessungen6393 357e 9091 0000 lds r25,(ZaehlMessungen)+16394 3582 8F3F cpi r24,2556395 3584 9105 cpc r25,__zero_reg__6396 3586 01F0 breq .+26397 3588 00F4 brsh .+26398 358a 00C0 rjmp .L5296399 358c 6F85 ldd r22,Y+156400 358e 6623 tst r226401 3590 01F0 breq .+26402 3592 00C0 rjmp .L5306403 3594 8091 0000 lds r24,Looping_Roll6404 3598 8823 tst r246405 359a 01F0 breq .+26406 359c 00C0 rjmp .L5306407 359e 8091 0000 lds r24,TrichterFlug6408 35a2 8823 tst r246409 35a4 01F0 breq .+26410 35a6 00C0 rjmp .L5306411 35a8 7091 0000 lds r23,EE_Parameter+686412 35ac 788B std Y+16,r236413 35ae 7723 tst r236414 35b0 01F4 brne .+26415 35b2 00C0 rjmp .L5306416 35b4 8091 0000 lds r24,MittelIntegralNick6417 35b8 9091 0000 lds r25,(MittelIntegralNick)+16418 35bc A091 0000 lds r26,(MittelIntegralNick)+26419 35c0 B091 0000 lds r27,(MittelIntegralNick)+36420 35c4 B7FF sbrs r27,76421 35c6 00C0 rjmp .L5316422 35c8 8150 subi r24,lo8(-(255))6423 35ca 9F4F sbci r25,hi8(-(255))6424 35cc AF4F sbci r26,hlo8(-(255))6425 35ce BF4F sbci r27,hhi8(-(255))6426 .L531:6427 35d0 E92E mov r14,r256428 35d2 FA2E mov r15,r266429 35d4 0B2F mov r16,r276430 35d6 1127 clr r176431 35d8 07FD sbrc r16,76432 35da 1A95 dec r176433 35dc E092 0000 sts MittelIntegralNick,r146434 35e0 F092 0000 sts (MittelIntegralNick)+1,r156435 35e4 0093 0000 sts (MittelIntegralNick)+2,r166436 35e8 1093 0000 sts (MittelIntegralNick)+3,r176437 35ec 8091 0000 lds r24,MittelIntegralRoll6438 35f0 9091 0000 lds r25,(MittelIntegralRoll)+16439 35f4 A091 0000 lds r26,(MittelIntegralRoll)+26440 35f8 B091 0000 lds r27,(MittelIntegralRoll)+36441 35fc B7FF sbrs r27,76442 35fe 00C0 rjmp .L5326443 3600 8150 subi r24,lo8(-(255))6444 3602 9F4F sbci r25,hi8(-(255))6445 3604 AF4F sbci r26,hlo8(-(255))6446 3606 BF4F sbci r27,hhi8(-(255))6447 .L532:6448 3608 892F mov r24,r256449 360a 9A2F mov r25,r266450 360c AB2F mov r26,r276451 360e BB27 clr r276452 3610 A7FD sbrc r26,76453 3612 BA95 dec r276454 3614 898B std Y+17,r246455 3616 9A8B std Y+18,r256456 3618 AB8B std Y+19,r266457 361a BC8B std Y+20,r276458 361c 8093 0000 sts MittelIntegralRoll,r246459 3620 9093 0000 sts (MittelIntegralRoll)+1,r256460 3624 A093 0000 sts (MittelIntegralRoll)+2,r266461 3628 B093 0000 sts (MittelIntegralRoll)+3,r276462 362c 8091 0000 lds r24,EE_Parameter+286463 3630 A82E mov r10,r246464 3632 BB24 clr r116465 3634 CC24 clr r126466 3636 DD24 clr r136467 3638 2091 0000 lds r18,IntegralAccNick6468 363c 3091 0000 lds r19,(IntegralAccNick)+16469 3640 4091 0000 lds r20,(IntegralAccNick)+26470 3644 5091 0000 lds r21,(IntegralAccNick)+36471 3648 C601 movw r24,r126472 364a B501 movw r22,r106473 364c 0E94 0000 call __mulsi36474 3650 97FF sbrs r25,76475 3652 00C0 rjmp .L5336476 3654 6150 subi r22,lo8(-(255))6477 3656 7F4F sbci r23,hi8(-(255))6478 3658 8F4F sbci r24,hlo8(-(255))6479 365a 9F4F sbci r25,hhi8(-(255))6480 .L533:6481 365c 672E mov r6,r236482 365e 782E mov r7,r246483 3660 892E mov r8,r256484 3662 9924 clr r96485 3664 87FC sbrc r8,76486 3666 9A94 dec r96487 3668 6092 0000 sts IntegralAccNick,r66488 366c 7092 0000 sts (IntegralAccNick)+1,r76489 3670 8092 0000 sts (IntegralAccNick)+2,r86490 3674 9092 0000 sts (IntegralAccNick)+3,r96491 3678 2091 0000 lds r18,IntegralAccRoll6492 367c 3091 0000 lds r19,(IntegralAccRoll)+16493 3680 4091 0000 lds r20,(IntegralAccRoll)+26494 3684 5091 0000 lds r21,(IntegralAccRoll)+36495 3688 C601 movw r24,r126496 368a B501 movw r22,r106497 368c 0E94 0000 call __mulsi36498 3690 97FF sbrs r25,76499 3692 00C0 rjmp .L5346500 3694 6150 subi r22,lo8(-(255))6501 3696 7F4F sbci r23,hi8(-(255))6502 3698 8F4F sbci r24,hlo8(-(255))6503 369a 9F4F sbci r25,hhi8(-(255))6504 .L534:6505 369c 272E mov r2,r236506 369e 382E mov r3,r246507 36a0 492E mov r4,r256508 36a2 5524 clr r56509 36a4 47FC sbrc r4,76510 36a6 5A94 dec r56511 36a8 2092 0000 sts IntegralAccRoll,r26512 36ac 3092 0000 sts (IntegralAccRoll)+1,r36513 36b0 4092 0000 sts (IntegralAccRoll)+2,r46514 36b4 5092 0000 sts (IntegralAccRoll)+3,r56515 36b8 8091 0000 lds r24,IntegralAccZ6516 36bc 9091 0000 lds r25,(IntegralAccZ)+16517 36c0 A091 0000 lds r26,(IntegralAccZ)+26518 36c4 B091 0000 lds r27,(IntegralAccZ)+36519 36c8 B7FF sbrs r27,76520 36ca 00C0 rjmp .L5356521 36cc 8150 subi r24,lo8(-(255))6522 36ce 9F4F sbci r25,hi8(-(255))6523 36d0 AF4F sbci r26,hlo8(-(255))6524 36d2 BF4F sbci r27,hhi8(-(255))6525 .L535:6526 36d4 892F mov r24,r256527 36d6 9A2F mov r25,r266528 36d8 AB2F mov r26,r276529 36da BB27 clr r276530 36dc A7FD sbrc r26,76531 36de BA95 dec r276532 36e0 8093 0000 sts IntegralAccZ,r246533 36e4 9093 0000 sts (IntegralAccZ)+1,r256534 36e8 A093 0000 sts (IntegralAccZ)+2,r266535 36ec B093 0000 sts (IntegralAccZ)+3,r276536 36f0 D801 movw r26,r166537 36f2 C701 movw r24,r146538 36f4 8619 sub r24,r66539 36f6 9709 sbc r25,r76540 36f8 A809 sbc r26,r86541 36fa B909 sbc r27,r96542 36fc 8093 0000 sts IntegralFehlerNick.3,r246543 3700 9093 0000 sts (IntegralFehlerNick.3)+1,r256544 3704 A093 0000 sts (IntegralFehlerNick.3)+2,r266545 3708 B093 0000 sts (IntegralFehlerNick.3)+3,r276546 370c 2091 0000 lds r18,EE_Parameter+676547 3710 E22E mov r14,r186548 3712 FF24 clr r156549 3714 0027 clr r166550 3716 1127 clr r176551 3718 BC01 movw r22,r246552 371a CD01 movw r24,r266553 371c A801 movw r20,r166554 371e 9701 movw r18,r146555 3720 0E94 0000 call __divmodsi46556 3724 5901 movw r10,r186557 3726 6A01 movw r12,r206558 3728 2093 0000 sts ausgleichNick.10,r186559 372c 3093 0000 sts (ausgleichNick.10)+1,r196560 3730 4093 0000 sts (ausgleichNick.10)+2,r206561 3734 5093 0000 sts (ausgleichNick.10)+3,r216562 3738 8989 ldd r24,Y+176563 373a 9A89 ldd r25,Y+186564 373c AB89 ldd r26,Y+196565 373e BC89 ldd r27,Y+206566 3740 8219 sub r24,r26567 3742 9309 sbc r25,r36568 3744 A409 sbc r26,r46569 3746 B509 sbc r27,r56570 3748 8093 0000 sts IntegralFehlerRoll.4,r246571 374c 9093 0000 sts (IntegralFehlerRoll.4)+1,r256572 3750 A093 0000 sts (IntegralFehlerRoll.4)+2,r266573 3754 B093 0000 sts (IntegralFehlerRoll.4)+3,r276574 3758 BC01 movw r22,r246575 375a CD01 movw r24,r266576 375c A801 movw r20,r166577 375e 9701 movw r18,r146578 3760 0E94 0000 call __divmodsi46579 3764 2093 0000 sts ausgleichRoll.11,r186580 3768 3093 0000 sts (ausgleichRoll.11)+1,r196581 376c 4093 0000 sts (ausgleichRoll.11)+2,r206582 3770 5093 0000 sts (ausgleichRoll.11)+3,r216583 3774 D601 movw r26,r126584 3776 C501 movw r24,r106585 3778 D7FE sbrs r13,76586 377a 00C0 rjmp .L5366587 377c 8150 subi r24,lo8(-(255))6588 377e 9F4F sbci r25,hi8(-(255))6589 3780 AF4F sbci r26,hlo8(-(255))6590 3782 BF4F sbci r27,hhi8(-(255))6591 .L536:6592 3784 892F mov r24,r256593 3786 9A2F mov r25,r266594 3788 AB2F mov r26,r276595 378a BB27 clr r276596 378c A7FD sbrc r26,76597 378e BA95 dec r276598 3790 9093 0000 sts (LageKorrekturNick)+1,r256599 3794 8093 0000 sts LageKorrekturNick,r246600 3798 57FF sbrs r21,76601 379a 00C0 rjmp .L5376602 379c 2150 subi r18,lo8(-(255))6603 379e 3F4F sbci r19,hi8(-(255))6604 37a0 4F4F sbci r20,hlo8(-(255))6605 37a2 5F4F sbci r21,hhi8(-(255))6606 .L537:6607 37a4 BB27 clr r276608 37a6 57FD sbrc r21,76609 37a8 BA95 dec r276610 37aa A52F mov r26,r216611 37ac 942F mov r25,r206612 37ae 832F mov r24,r196613 37b0 9093 0000 sts (LageKorrekturRoll)+1,r256614 37b4 8093 0000 sts LageKorrekturRoll,r246615 37b8 8091 0000 lds r24,MaxStickNick6616 37bc 9091 0000 lds r25,(MaxStickNick)+16617 37c0 8134 cpi r24,656618 37c2 9105 cpc r25,__zero_reg__6619 37c4 04F4 brge .L5396620 37c6 8091 0000 lds r24,MaxStickRoll6621 37ca 9091 0000 lds r25,(MaxStickRoll)+16622 37ce 8134 cpi r24,656623 37d0 9105 cpc r25,__zero_reg__6624 37d2 04F4 brge .L5396625 37d4 8091 0000 lds r24,EE_Parameter+46626 37d8 E82F mov r30,r246627 37da FF27 clr r316628 37dc EE0F add r30,r306629 37de FF1F adc r31,r316630 37e0 E050 subi r30,lo8(-(PPM_in))6631 37e2 F040 sbci r31,hi8(-(PPM_in))6632 37e4 8081 ld r24,Z6633 37e6 9181 ldd r25,Z+16634 37e8 0190 ld __tmp_reg__,Z+6635 37ea F081 ld r31,Z6636 37ec E02D mov r30,__tmp_reg__6637 37ee F7FF sbrs r31,76638 37f0 00C0 rjmp .L5406639 37f2 F095 com r316640 37f4 E195 neg r306641 37f6 FF4F sbci r31,lo8(-1)6642 .L540:6643 37f8 7A97 sbiw r30,266644 37fa 04F0 brlt .L5386645 .L539:6646 37fc 8091 0000 lds r24,FromNaviCtrl_Value6647 3800 8F3F cpi r24,lo8(-1)6648 3802 01F4 brne .L5386649 3804 8091 0000 lds r24,LageKorrekturNick6650 3808 9091 0000 lds r25,(LageKorrekturNick)+16651 380c 97FD sbrc r25,76652 380e 0196 adiw r24,16653 .L541:6654 3810 9595 asr r256655 3812 8795 ror r246656 3814 9093 0000 sts (LageKorrekturNick)+1,r256657 3818 8093 0000 sts LageKorrekturNick,r246658 381c 8091 0000 lds r24,LageKorrekturRoll6659 3820 9091 0000 lds r25,(LageKorrekturRoll)+16660 3824 97FD sbrc r25,76661 3826 0196 adiw r24,16662 .L542:6663 3828 9595 asr r256664 382a 8795 ror r246665 382c 9093 0000 sts (LageKorrekturRoll)+1,r256666 3830 8093 0000 sts LageKorrekturRoll,r246667 .L538:6668 3834 8091 0000 lds r24,MittelIntegralNick26669 3838 9091 0000 lds r25,(MittelIntegralNick2)+16670 383c A091 0000 lds r26,(MittelIntegralNick2)+26671 3840 B091 0000 lds r27,(MittelIntegralNick2)+36672 3844 B7FF sbrs r27,76673 3846 00C0 rjmp .L5436674 3848 8150 subi r24,lo8(-(255))6675 384a 9F4F sbci r25,hi8(-(255))6676 384c AF4F sbci r26,hlo8(-(255))6677 384e BF4F sbci r27,hhi8(-(255))6678 .L543:6679 3850 892F mov r24,r256680 3852 9A2F mov r25,r266681 3854 AB2F mov r26,r276682 3856 BB27 clr r276683 3858 A7FD sbrc r26,76684 385a BA95 dec r276685 385c 8093 0000 sts MittelIntegralNick2,r246686 3860 9093 0000 sts (MittelIntegralNick2)+1,r256687 3864 A093 0000 sts (MittelIntegralNick2)+2,r266688 3868 B093 0000 sts (MittelIntegralNick2)+3,r276689 386c 8091 0000 lds r24,MittelIntegralRoll26690 3870 9091 0000 lds r25,(MittelIntegralRoll2)+16691 3874 A091 0000 lds r26,(MittelIntegralRoll2)+26692 3878 B091 0000 lds r27,(MittelIntegralRoll2)+36693 387c B7FF sbrs r27,76694 387e 00C0 rjmp .L5446695 3880 8150 subi r24,lo8(-(255))6696 3882 9F4F sbci r25,hi8(-(255))6697 3884 AF4F sbci r26,hlo8(-(255))6698 3886 BF4F sbci r27,hhi8(-(255))6699 .L544:6700 3888 892F mov r24,r256701 388a 9A2F mov r25,r266702 388c AB2F mov r26,r276703 388e BB27 clr r276704 3890 A7FD sbrc r26,76705 3892 BA95 dec r276706 3894 8093 0000 sts MittelIntegralRoll2,r246707 3898 9093 0000 sts (MittelIntegralRoll2)+1,r256708 389c A093 0000 sts (MittelIntegralRoll2)+2,r266709 38a0 B093 0000 sts (MittelIntegralRoll2)+3,r276710 38a4 8091 0000 lds r24,IntegralNick6711 38a8 9091 0000 lds r25,(IntegralNick)+16712 38ac A091 0000 lds r26,(IntegralNick)+26713 38b0 B091 0000 lds r27,(IntegralNick)+36714 38b4 2F81 ldd r18,Y+76715 38b6 3885 ldd r19,Y+86716 38b8 4985 ldd r20,Y+96717 38ba 5A85 ldd r21,Y+106718 38bc 281B sub r18,r246719 38be 390B sbc r19,r256720 38c0 4A0B sbc r20,r266721 38c2 5B0B sbc r21,r276722 38c4 2093 0000 sts tmp_long.1,r186723 38c8 3093 0000 sts (tmp_long.1)+1,r196724 38cc 4093 0000 sts (tmp_long.1)+2,r206725 38d0 5093 0000 sts (tmp_long.1)+3,r216726 38d4 8091 0000 lds r24,IntegralRoll6727 38d8 9091 0000 lds r25,(IntegralRoll)+16728 38dc A091 0000 lds r26,(IntegralRoll)+26729 38e0 B091 0000 lds r27,(IntegralRoll)+36730 38e4 EB84 ldd r14,Y+116731 38e6 FC84 ldd r15,Y+126732 38e8 0D85 ldd r16,Y+136733 38ea 1E85 ldd r17,Y+146734 38ec E81A sub r14,r246735 38ee F90A sbc r15,r256736 38f0 0A0B sbc r16,r266737 38f2 1B0B sbc r17,r276738 38f4 E092 0000 sts tmp_long2.2,r146739 38f8 F092 0000 sts (tmp_long2.2)+1,r156740 38fc 0093 0000 sts (tmp_long2.2)+2,r166741 3900 1093 0000 sts (tmp_long2.2)+3,r176742 3904 2093 0000 sts IntegralFehlerNick.3,r186743 3908 3093 0000 sts (IntegralFehlerNick.3)+1,r196744 390c 4093 0000 sts (IntegralFehlerNick.3)+2,r206745 3910 5093 0000 sts (IntegralFehlerNick.3)+3,r216746 3914 E092 0000 sts IntegralFehlerRoll.4,r146747 3918 F092 0000 sts (IntegralFehlerRoll.4)+1,r156748 391c 0093 0000 sts (IntegralFehlerRoll.4)+2,r166749 3920 1093 0000 sts (IntegralFehlerRoll.4)+3,r176750 3924 8091 0000 lds r24,Mess_IntegralNick26751 3928 9091 0000 lds r25,(Mess_IntegralNick2)+16752 392c A091 0000 lds r26,(Mess_IntegralNick2)+26753 3930 B091 0000 lds r27,(Mess_IntegralNick2)+36754 3934 821B sub r24,r186755 3936 930B sbc r25,r196756 3938 A40B sbc r26,r206757 393a B50B sbc r27,r216758 393c 8093 0000 sts Mess_IntegralNick2,r246759 3940 9093 0000 sts (Mess_IntegralNick2)+1,r256760 3944 A093 0000 sts (Mess_IntegralNick2)+2,r266761 3948 B093 0000 sts (Mess_IntegralNick2)+3,r276762 394c 8091 0000 lds r24,Mess_IntegralRoll26763 3950 9091 0000 lds r25,(Mess_IntegralRoll2)+16764 3954 A091 0000 lds r26,(Mess_IntegralRoll2)+26765 3958 B091 0000 lds r27,(Mess_IntegralRoll2)+36766 395c 8E19 sub r24,r146767 395e 9F09 sbc r25,r156768 3960 A00B sbc r26,r166769 3962 B10B sbc r27,r176770 3964 8093 0000 sts Mess_IntegralRoll2,r246771 3968 9093 0000 sts (Mess_IntegralRoll2)+1,r256772 396c A093 0000 sts (Mess_IntegralRoll2)+2,r266773 3970 B093 0000 sts (Mess_IntegralRoll2)+3,r276774 3974 8889 ldd r24,Y+166775 3976 8823 tst r246776 3978 01F0 breq .L5456777 397a 2091 0000 lds r18,GierGyroFehler6778 397e 3091 0000 lds r19,(GierGyroFehler)+16779 3982 2138 cpi r18,1296780 3984 3105 cpc r19,__zero_reg__6781 3986 04F0 brlt .L5466782 3988 8091 0000 lds r24,AdNeutralGier6783 398c 9091 0000 lds r25,(AdNeutralGier)+16784 3990 0196 adiw r24,16785 3992 9093 0000 sts (AdNeutralGier)+1,r256786 3996 8093 0000 sts AdNeutralGier,r246787 .L546:6788 399a 2058 subi r18,lo8(-128)6789 399c 3F4F sbci r19,hi8(-128)6790 399e 04F4 brge .L5456791 39a0 8091 0000 lds r24,AdNeutralGier6792 39a4 9091 0000 lds r25,(AdNeutralGier)+16793 39a8 0197 sbiw r24,16794 39aa 9093 0000 sts (AdNeutralGier)+1,r256795 39ae 8093 0000 sts AdNeutralGier,r246796 .L545:6797 39b2 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6798 39b6 1092 0000 sts GierGyroFehler,__zero_reg__6799 39ba 81E0 ldi r24,lo8(1)6800 39bc 90E0 ldi r25,hi8(1)6801 39be 9093 0000 sts (cnt.14)+1,r256802 39c2 8093 0000 sts cnt.14,r246803 39c6 E090 0000 lds r14,IntegralFehlerNick.36804 39ca F090 0000 lds r15,(IntegralFehlerNick.3)+16805 39ce 0091 0000 lds r16,(IntegralFehlerNick.3)+26806 39d2 1091 0000 lds r17,(IntegralFehlerNick.3)+36807 39d6 D801 movw r26,r166808 39d8 C701 movw r24,r146809 39da 17FF sbrs r17,76810 39dc 00C0 rjmp .L5496811 39de 8827 clr r246812 39e0 9927 clr r256813 39e2 DC01 movw r26,r246814 39e4 8E19 sub r24,r146815 39e6 9F09 sbc r25,r156816 39e8 A00B sbc r26,r166817 39ea B10B sbc r27,r176818 .L549:6819 39ec 8150 subi r24,lo8(513)6820 39ee 9240 sbci r25,hi8(513)6821 39f0 A040 sbci r26,hlo8(513)6822 39f2 B040 sbci r27,hhi8(513)6823 39f4 04F0 brlt .L5486824 39f6 84E0 ldi r24,lo8(4)6825 39f8 90E0 ldi r25,hi8(4)6826 39fa 9093 0000 sts (cnt.14)+1,r256827 39fe 8093 0000 sts cnt.14,r246828 .L548:6829 3a02 8091 0000 lds r24,MittelIntegralNick_Alt.196830 3a06 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+16831 3a0a A091 0000 lds r26,(MittelIntegralNick_Alt.19)+26832 3a0e B091 0000 lds r27,(MittelIntegralNick_Alt.19)+36833 3a12 2091 0000 lds r18,MittelIntegralNick6834 3a16 3091 0000 lds r19,(MittelIntegralNick)+16835 3a1a 4091 0000 lds r20,(MittelIntegralNick)+26836 3a1e 5091 0000 lds r21,(MittelIntegralNick)+36837 3a22 821B sub r24,r186838 3a24 930B sbc r25,r196839 3a26 A40B sbc r26,r206840 3a28 B50B sbc r27,r216841 3a2a 815E subi r24,lo8(-(19999))6842 3a2c 914B sbci r25,hi8(-(19999))6843 3a2e AF4F sbci r26,hlo8(-(19999))6844 3a30 BF4F sbci r27,hhi8(-(19999))6845 3a32 8F53 subi r24,lo8(39999)6846 3a34 9C49 sbci r25,hi8(39999)6847 3a36 A040 sbci r26,hlo8(39999)6848 3a38 B040 sbci r27,hhi8(39999)6849 3a3a 00F0 brlo .L5516850 3a3c 8091 0000 lds r24,FromNaviCtrl_Value+16851 3a40 8931 cpi r24,lo8(25)6852 3a42 04F4 brge .+26853 3a44 00C0 rjmp .L5506854 .L551:6855 3a46 21E0 ldi r18,lo8(4097)6856 3a48 E216 cp r14,r186857 3a4a 20E1 ldi r18,hi8(4097)6858 3a4c F206 cpc r15,r186859 3a4e 20E0 ldi r18,hlo8(4097)6860 3a50 0207 cpc r16,r186861 3a52 20E0 ldi r18,hhi8(4097)6862 3a54 1207 cpc r17,r186863 3a56 04F4 brge .+26864 3a58 00C0 rjmp .L5526865 3a5a 8091 0000 lds r24,last_n_p.156866 3a5e 8823 tst r246867 3a60 01F4 brne .+26868 3a62 00C0 rjmp .L5536869 3a64 D801 movw r26,r166870 3a66 C701 movw r24,r146871 3a68 17FF sbrs r17,76872 3a6a 00C0 rjmp .L5546873 3a6c 8827 clr r246874 3a6e 9927 clr r256875 3a70 DC01 movw r26,r246876 3a72 8E19 sub r24,r146877 3a74 9F09 sbc r25,r156878 3a76 A00B sbc r26,r166879 3a78 B10B sbc r27,r176880 .L554:6881 3a7a 9C01 movw r18,r246882 3a7c AD01 movw r20,r266883 3a7e B7FF sbrs r27,76884 3a80 00C0 rjmp .L5556885 3a82 2150 subi r18,lo8(-(511))6886 3a84 3E4F sbci r19,hi8(-(511))6887 3a86 4F4F sbci r20,hlo8(-(511))6888 3a88 5F4F sbci r21,hhi8(-(511))6889 .L555:6890 3a8a F9E0 ldi r31,96891 3a8c 5595 1: asr r216892 3a8e 4795 ror r206893 3a90 3795 ror r196894 3a92 2795 ror r186895 3a94 FA95 dec r316896 3a96 01F4 brne 1b6897 3a98 8091 0000 lds r24,cnt.146898 3a9c 9091 0000 lds r25,(cnt.14)+16899 3aa0 820F add r24,r186900 3aa2 931F adc r25,r196901 3aa4 9093 0000 sts (cnt.14)+1,r256902 3aa8 8093 0000 sts cnt.14,r246903 3aac D801 movw r26,r166904 3aae C701 movw r24,r146905 3ab0 17FF sbrs r17,76906 3ab2 00C0 rjmp .L5566907 3ab4 0796 adiw r24,76908 3ab6 A11D adc r26,__zero_reg__6909 3ab8 B11D adc r27,__zero_reg__6910 .L556:6911 3aba E3E0 ldi r30,36912 3abc B595 1: asr r276913 3abe A795 ror r266914 3ac0 9795 ror r256915 3ac2 8795 ror r246916 3ac4 EA95 dec r306917 3ac6 01F4 brne 1b6918 3ac8 8093 0000 sts ausgleichNick.10,r246919 3acc 9093 0000 sts (ausgleichNick.10)+1,r256920 3ad0 A093 0000 sts (ausgleichNick.10)+2,r266921 3ad4 B093 0000 sts (ausgleichNick.10)+3,r276922 3ad8 8958 subi r24,lo8(5001)6923 3ada 9341 sbci r25,hi8(5001)6924 3adc A040 sbci r26,hlo8(5001)6925 3ade B040 sbci r27,hhi8(5001)6926 3ae0 04F0 brlt .L5576927 3ae2 88E8 ldi r24,lo8(5000)6928 3ae4 93E1 ldi r25,hi8(5000)6929 3ae6 A0E0 ldi r26,hlo8(5000)6930 3ae8 B0E0 ldi r27,hhi8(5000)6931 3aea 8093 0000 sts ausgleichNick.10,r246932 3aee 9093 0000 sts (ausgleichNick.10)+1,r256933 3af2 A093 0000 sts (ausgleichNick.10)+2,r266934 3af6 B093 0000 sts (ausgleichNick.10)+3,r276935 .L557:6936 3afa 2091 0000 lds r18,ausgleichNick.106937 3afe 3091 0000 lds r19,(ausgleichNick.10)+16938 3b02 4091 0000 lds r20,(ausgleichNick.10)+26939 3b06 5091 0000 lds r21,(ausgleichNick.10)+36940 3b0a 57FF sbrs r21,76941 3b0c 00C0 rjmp .L5586942 3b0e 2150 subi r18,lo8(-(255))6943 3b10 3F4F sbci r19,hi8(-(255))6944 3b12 4F4F sbci r20,hlo8(-(255))6945 3b14 5F4F sbci r21,hhi8(-(255))6946 .L558:6947 3b16 232F mov r18,r196948 3b18 342F mov r19,r206949 3b1a 452F mov r20,r216950 3b1c 5527 clr r216951 3b1e 47FD sbrc r20,76952 3b20 5A95 dec r216953 3b22 8091 0000 lds r24,LageKorrekturNick6954 3b26 9091 0000 lds r25,(LageKorrekturNick)+16955 3b2a 820F add r24,r186956 3b2c 931F adc r25,r196957 3b2e 9093 0000 sts (LageKorrekturNick)+1,r256958 3b32 8093 0000 sts LageKorrekturNick,r246959 3b36 00C0 rjmp .L5606960 .L553:6961 3b38 81E0 ldi r24,lo8(1)6962 3b3a 8093 0000 sts last_n_p.15,r246963 3b3e 00C0 rjmp .L5606964 .L552:6965 3b40 1092 0000 sts last_n_p.15,__zero_reg__6966 .L560:6967 3b44 40E0 ldi r20,lo8(-4096)6968 3b46 E416 cp r14,r206969 3b48 40EF ldi r20,hi8(-4096)6970 3b4a F406 cpc r15,r206971 3b4c 4FEF ldi r20,hlo8(-4096)6972 3b4e 0407 cpc r16,r206973 3b50 4FEF ldi r20,hhi8(-4096)6974 3b52 1407 cpc r17,r206975 3b54 04F0 brlt .+26976 3b56 00C0 rjmp .L5616977 3b58 8091 0000 lds r24,last_n_n.166978 3b5c 8823 tst r246979 3b5e 01F4 brne .+26980 3b60 00C0 rjmp .L5626981 3b62 D801 movw r26,r166982 3b64 C701 movw r24,r146983 3b66 17FF sbrs r17,76984 3b68 00C0 rjmp .L5636985 3b6a 8827 clr r246986 3b6c 9927 clr r256987 3b6e DC01 movw r26,r246988 3b70 8E19 sub r24,r146989 3b72 9F09 sbc r25,r156990 3b74 A00B sbc r26,r166991 3b76 B10B sbc r27,r176992 .L563:6993 3b78 9C01 movw r18,r246994 3b7a AD01 movw r20,r266995 3b7c B7FF sbrs r27,76996 3b7e 00C0 rjmp .L5646997 3b80 2150 subi r18,lo8(-(511))6998 3b82 3E4F sbci r19,hi8(-(511))6999 3b84 4F4F sbci r20,hlo8(-(511))7000 3b86 5F4F sbci r21,hhi8(-(511))7001 .L564:7002 3b88 69E0 ldi r22,97003 3b8a 5595 1: asr r217004 3b8c 4795 ror r207005 3b8e 3795 ror r197006 3b90 2795 ror r187007 3b92 6A95 dec r227008 3b94 01F4 brne 1b7009 3b96 8091 0000 lds r24,cnt.147010 3b9a 9091 0000 lds r25,(cnt.14)+17011 3b9e 820F add r24,r187012 3ba0 931F adc r25,r197013 3ba2 9093 0000 sts (cnt.14)+1,r257014 3ba6 8093 0000 sts cnt.14,r247015 3baa D801 movw r26,r167016 3bac C701 movw r24,r147017 3bae 17FF sbrs r17,77018 3bb0 00C0 rjmp .L5657019 3bb2 0796 adiw r24,77020 3bb4 A11D adc r26,__zero_reg__7021 3bb6 B11D adc r27,__zero_reg__7022 .L565:7023 3bb8 23E0 ldi r18,37024 3bba B595 1: asr r277025 3bbc A795 ror r267026 3bbe 9795 ror r257027 3bc0 8795 ror r247028 3bc2 2A95 dec r187029 3bc4 01F4 brne 1b7030 3bc6 8093 0000 sts ausgleichNick.10,r247031 3bca 9093 0000 sts (ausgleichNick.10)+1,r257032 3bce A093 0000 sts (ausgleichNick.10)+2,r267033 3bd2 B093 0000 sts (ausgleichNick.10)+3,r277034 3bd6 8857 subi r24,lo8(-5000)7035 3bd8 9C4E sbci r25,hi8(-5000)7036 3bda AF4F sbci r26,hlo8(-5000)7037 3bdc BF4F sbci r27,hhi8(-5000)7038 3bde 04F4 brge .L5667039 3be0 88E7 ldi r24,lo8(-5000)7040 3be2 9CEE ldi r25,hi8(-5000)7041 3be4 AFEF ldi r26,hlo8(-5000)7042 3be6 BFEF ldi r27,hhi8(-5000)7043 3be8 8093 0000 sts ausgleichNick.10,r247044 3bec 9093 0000 sts (ausgleichNick.10)+1,r257045 3bf0 A093 0000 sts (ausgleichNick.10)+2,r267046 3bf4 B093 0000 sts (ausgleichNick.10)+3,r277047 .L566:7048 3bf8 2091 0000 lds r18,ausgleichNick.107049 3bfc 3091 0000 lds r19,(ausgleichNick.10)+17050 3c00 4091 0000 lds r20,(ausgleichNick.10)+27051 3c04 5091 0000 lds r21,(ausgleichNick.10)+37052 3c08 57FF sbrs r21,77053 3c0a 00C0 rjmp .L5677054 3c0c 2150 subi r18,lo8(-(255))7055 3c0e 3F4F sbci r19,hi8(-(255))7056 3c10 4F4F sbci r20,hlo8(-(255))7057 3c12 5F4F sbci r21,hhi8(-(255))7058 .L567:7059 3c14 232F mov r18,r197060 3c16 342F mov r19,r207061 3c18 452F mov r20,r217062 3c1a 5527 clr r217063 3c1c 47FD sbrc r20,77064 3c1e 5A95 dec r217065 3c20 8091 0000 lds r24,LageKorrekturNick7066 3c24 9091 0000 lds r25,(LageKorrekturNick)+17067 3c28 820F add r24,r187068 3c2a 931F adc r25,r197069 3c2c 9093 0000 sts (LageKorrekturNick)+1,r257070 3c30 8093 0000 sts LageKorrekturNick,r247071 3c34 00C0 rjmp .L5707072 .L562:7073 3c36 81E0 ldi r24,lo8(1)7074 3c38 8093 0000 sts last_n_n.16,r247075 3c3c 00C0 rjmp .L5707076 .L561:7077 3c3e 1092 0000 sts last_n_n.16,__zero_reg__7078 3c42 00C0 rjmp .L5707079 .L550:7080 3c44 1092 0000 sts (cnt.14)+1,__zero_reg__7081 3c48 1092 0000 sts cnt.14,__zero_reg__7082 3c4c 84E6 ldi r24,lo8(100)7083 3c4e 90E0 ldi r25,hi8(100)7084 3c50 9093 0000 sts (KompassSignalSchlecht)+1,r257085 3c54 8093 0000 sts KompassSignalSchlecht,r247086 .L570:7087 3c58 6889 ldd r22,Y+167088 3c5a 262F mov r18,r227089 3c5c 3327 clr r197090 3c5e 8091 0000 lds r24,cnt.147091 3c62 9091 0000 lds r25,(cnt.14)+17092 3c66 2817 cp r18,r247093 3c68 3907 cpc r19,r257094 3c6a 04F4 brge .L5717095 3c6c 3093 0000 sts (cnt.14)+1,r197096 3c70 2093 0000 sts cnt.14,r187097 .L571:7098 3c74 1091 0000 lds r17,FromNaviCtrl_Value+17099 3c78 1123 tst r177100 3c7a 01F0 breq .L5727101 3c7c 212F mov r18,r177102 3c7e 3327 clr r197103 3c80 27FD sbrc r18,77104 3c82 3095 com r197105 3c84 8091 0000 lds r24,cnt.147106 3c88 9091 0000 lds r25,(cnt.14)+17107 3c8c 2817 cp r18,r247108 3c8e 3907 cpc r19,r257109 3c90 04F4 brge .L5727110 3c92 3093 0000 sts (cnt.14)+1,r197111 3c96 2093 0000 sts cnt.14,r187112 .L572:7113 3c9a 4091 0000 lds r20,IntegralFehlerNick.37114 3c9e 5091 0000 lds r21,(IntegralFehlerNick.3)+17115 3ca2 6091 0000 lds r22,(IntegralFehlerNick.3)+27116 3ca6 7091 0000 lds r23,(IntegralFehlerNick.3)+37117 3caa 4138 cpi r20,lo8(129)7118 3cac 5105 cpc r21,__zero_reg__7119 3cae 6105 cpc r22,__zero_reg__7120 3cb0 7105 cpc r23,__zero_reg__7121 3cb2 04F0 brlt .L5747122 3cb4 8091 0000 lds r24,AdNeutralNick7123 3cb8 9091 0000 lds r25,(AdNeutralNick)+17124 3cbc 2091 0000 lds r18,cnt.147125 3cc0 3091 0000 lds r19,(cnt.14)+17126 3cc4 820F add r24,r187127 3cc6 931F adc r25,r197128 3cc8 9093 0000 sts (AdNeutralNick)+1,r257129 3ccc 8093 0000 sts AdNeutralNick,r247130 .L574:7131 3cd0 4058 subi r20,lo8(-128)7132 3cd2 5F4F sbci r21,hi8(-128)7133 3cd4 6F4F sbci r22,hlo8(-128)7134 3cd6 7F4F sbci r23,hhi8(-128)7135 3cd8 04F4 brge .L5757136 3cda 8091 0000 lds r24,AdNeutralNick7137 3cde 9091 0000 lds r25,(AdNeutralNick)+17138 3ce2 2091 0000 lds r18,cnt.147139 3ce6 3091 0000 lds r19,(cnt.14)+17140 3cea 821B sub r24,r187141 3cec 930B sbc r25,r197142 3cee 9093 0000 sts (AdNeutralNick)+1,r257143 3cf2 8093 0000 sts AdNeutralNick,r247144 .L575:7145 3cf6 81E0 ldi r24,lo8(1)7146 3cf8 90E0 ldi r25,hi8(1)7147 3cfa 9093 0000 sts (cnt.14)+1,r257148 3cfe 8093 0000 sts cnt.14,r247149 3d02 C090 0000 lds r12,IntegralFehlerRoll.47150 3d06 D090 0000 lds r13,(IntegralFehlerRoll.4)+17151 3d0a E090 0000 lds r14,(IntegralFehlerRoll.4)+27152 3d0e F090 0000 lds r15,(IntegralFehlerRoll.4)+37153 3d12 D701 movw r26,r147154 3d14 C601 movw r24,r127155 3d16 F7FE sbrs r15,77156 3d18 00C0 rjmp .L5777157 3d1a 8827 clr r247158 3d1c 9927 clr r257159 3d1e DC01 movw r26,r247160 3d20 8C19 sub r24,r127161 3d22 9D09 sbc r25,r137162 3d24 AE09 sbc r26,r147163 3d26 BF09 sbc r27,r157164 .L577:7165 3d28 8150 subi r24,lo8(513)7166 3d2a 9240 sbci r25,hi8(513)7167 3d2c A040 sbci r26,hlo8(513)7168 3d2e B040 sbci r27,hhi8(513)7169 3d30 04F0 brlt .L5767170 3d32 84E0 ldi r24,lo8(4)7171 3d34 90E0 ldi r25,hi8(4)7172 3d36 9093 0000 sts (cnt.14)+1,r257173 3d3a 8093 0000 sts cnt.14,r247174 .L576:7175 3d3e 8091 0000 lds r24,MittelIntegralRoll_Alt.207176 3d42 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+17177 3d46 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+27178 3d4a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+37179 3d4e 2091 0000 lds r18,MittelIntegralRoll7180 3d52 3091 0000 lds r19,(MittelIntegralRoll)+17181 3d56 4091 0000 lds r20,(MittelIntegralRoll)+27182 3d5a 5091 0000 lds r21,(MittelIntegralRoll)+37183 3d5e 821B sub r24,r187184 3d60 930B sbc r25,r197185 3d62 A40B sbc r26,r207186 3d64 B50B sbc r27,r217187 3d66 815E subi r24,lo8(-(19999))7188 3d68 914B sbci r25,hi8(-(19999))7189 3d6a AF4F sbci r26,hlo8(-(19999))7190 3d6c BF4F sbci r27,hhi8(-(19999))7191 3d6e 8F53 subi r24,lo8(39999)7192 3d70 9C49 sbci r25,hi8(39999)7193 3d72 A040 sbci r26,hlo8(39999)7194 3d74 B040 sbci r27,hhi8(39999)7195 3d76 00F0 brlo .L5797196 3d78 1931 cpi r17,lo8(25)7197 3d7a 04F4 brge .+27198 3d7c 00C0 rjmp .L5787199 .L579:7200 3d7e 01E0 ldi r16,lo8(4097)7201 3d80 C016 cp r12,r167202 3d82 00E1 ldi r16,hi8(4097)7203 3d84 D006 cpc r13,r167204 3d86 00E0 ldi r16,hlo8(4097)7205 3d88 E006 cpc r14,r167206 3d8a 00E0 ldi r16,hhi8(4097)7207 3d8c F006 cpc r15,r167208 3d8e 04F4 brge .+27209 3d90 00C0 rjmp .L5807210 3d92 8091 0000 lds r24,last_r_p.177211 3d96 8823 tst r247212 3d98 01F4 brne .+27213 3d9a 00C0 rjmp .L5817214 3d9c D701 movw r26,r147215 3d9e C601 movw r24,r127216 3da0 F7FE sbrs r15,77217 3da2 00C0 rjmp .L5827218 3da4 8827 clr r247219 3da6 9927 clr r257220 3da8 DC01 movw r26,r247221 3daa 8C19 sub r24,r127222 3dac 9D09 sbc r25,r137223 3dae AE09 sbc r26,r147224 3db0 BF09 sbc r27,r157225 .L582:7226 3db2 9C01 movw r18,r247227 3db4 AD01 movw r20,r267228 3db6 B7FF sbrs r27,77229 3db8 00C0 rjmp .L5837230 3dba 2150 subi r18,lo8(-(511))7231 3dbc 3E4F sbci r19,hi8(-(511))7232 3dbe 4F4F sbci r20,hlo8(-(511))7233 3dc0 5F4F sbci r21,hhi8(-(511))7234 .L583:7235 3dc2 09E0 ldi r16,97236 3dc4 5595 1: asr r217237 3dc6 4795 ror r207238 3dc8 3795 ror r197239 3dca 2795 ror r187240 3dcc 0A95 dec r167241 3dce 01F4 brne 1b7242 3dd0 8091 0000 lds r24,cnt.147243 3dd4 9091 0000 lds r25,(cnt.14)+17244 3dd8 820F add r24,r187245 3dda 931F adc r25,r197246 3ddc 9093 0000 sts (cnt.14)+1,r257247 3de0 8093 0000 sts cnt.14,r247248 3de4 D701 movw r26,r147249 3de6 C601 movw r24,r127250 3de8 F7FE sbrs r15,77251 3dea 00C0 rjmp .L5847252 3dec 0796 adiw r24,77253 3dee A11D adc r26,__zero_reg__7254 3df0 B11D adc r27,__zero_reg__7255 .L584:7256 3df2 13E0 ldi r17,37257 3df4 B595 1: asr r277258 3df6 A795 ror r267259 3df8 9795 ror r257260 3dfa 8795 ror r247261 3dfc 1A95 dec r177262 3dfe 01F4 brne 1b7263 3e00 8093 0000 sts ausgleichRoll.11,r247264 3e04 9093 0000 sts (ausgleichRoll.11)+1,r257265 3e08 A093 0000 sts (ausgleichRoll.11)+2,r267266 3e0c B093 0000 sts (ausgleichRoll.11)+3,r277267 3e10 8958 subi r24,lo8(5001)7268 3e12 9341 sbci r25,hi8(5001)7269 3e14 A040 sbci r26,hlo8(5001)7270 3e16 B040 sbci r27,hhi8(5001)7271 3e18 04F0 brlt .L5857272 3e1a 88E8 ldi r24,lo8(5000)7273 3e1c 93E1 ldi r25,hi8(5000)7274 3e1e A0E0 ldi r26,hlo8(5000)7275 3e20 B0E0 ldi r27,hhi8(5000)7276 3e22 8093 0000 sts ausgleichRoll.11,r247277 3e26 9093 0000 sts (ausgleichRoll.11)+1,r257278 3e2a A093 0000 sts (ausgleichRoll.11)+2,r267279 3e2e B093 0000 sts (ausgleichRoll.11)+3,r277280 .L585:7281 3e32 2091 0000 lds r18,ausgleichRoll.117282 3e36 3091 0000 lds r19,(ausgleichRoll.11)+17283 3e3a 4091 0000 lds r20,(ausgleichRoll.11)+27284 3e3e 5091 0000 lds r21,(ausgleichRoll.11)+37285 3e42 57FF sbrs r21,77286 3e44 00C0 rjmp .L5867287 3e46 2150 subi r18,lo8(-(255))7288 3e48 3F4F sbci r19,hi8(-(255))7289 3e4a 4F4F sbci r20,hlo8(-(255))7290 3e4c 5F4F sbci r21,hhi8(-(255))7291 .L586:7292 3e4e 232F mov r18,r197293 3e50 342F mov r19,r207294 3e52 452F mov r20,r217295 3e54 5527 clr r217296 3e56 47FD sbrc r20,77297 3e58 5A95 dec r217298 3e5a 8091 0000 lds r24,LageKorrekturRoll7299 3e5e 9091 0000 lds r25,(LageKorrekturRoll)+17300 3e62 820F add r24,r187301 3e64 931F adc r25,r197302 3e66 9093 0000 sts (LageKorrekturRoll)+1,r257303 3e6a 8093 0000 sts LageKorrekturRoll,r247304 3e6e 00C0 rjmp .L5887305 .L581:7306 3e70 81E0 ldi r24,lo8(1)7307 3e72 8093 0000 sts last_r_p.17,r247308 3e76 00C0 rjmp .L5887309 .L580:7310 3e78 1092 0000 sts last_r_p.17,__zero_reg__7311 .L588:7312 3e7c 20E0 ldi r18,lo8(-4096)7313 3e7e C216 cp r12,r187314 3e80 20EF ldi r18,hi8(-4096)7315 3e82 D206 cpc r13,r187316 3e84 2FEF ldi r18,hlo8(-4096)7317 3e86 E206 cpc r14,r187318 3e88 2FEF ldi r18,hhi8(-4096)7319 3e8a F206 cpc r15,r187320 3e8c 04F0 brlt .+27321 3e8e 00C0 rjmp .L5897322 3e90 8091 0000 lds r24,last_r_n.187323 3e94 8823 tst r247324 3e96 01F4 brne .+27325 3e98 00C0 rjmp .L5907326 3e9a D701 movw r26,r147327 3e9c C601 movw r24,r127328 3e9e F7FE sbrs r15,77329 3ea0 00C0 rjmp .L5917330 3ea2 8827 clr r247331 3ea4 9927 clr r257332 3ea6 DC01 movw r26,r247333 3ea8 8C19 sub r24,r127334 3eaa 9D09 sbc r25,r137335 3eac AE09 sbc r26,r147336 3eae BF09 sbc r27,r157337 .L591:7338 3eb0 9C01 movw r18,r247339 3eb2 AD01 movw r20,r267340 3eb4 B7FF sbrs r27,77341 3eb6 00C0 rjmp .L5927342 3eb8 2150 subi r18,lo8(-(511))7343 3eba 3E4F sbci r19,hi8(-(511))7344 3ebc 4F4F sbci r20,hlo8(-(511))7345 3ebe 5F4F sbci r21,hhi8(-(511))7346 .L592:7347 3ec0 E9E0 ldi r30,97348 3ec2 5595 1: asr r217349 3ec4 4795 ror r207350 3ec6 3795 ror r197351 3ec8 2795 ror r187352 3eca EA95 dec r307353 3ecc 01F4 brne 1b7354 3ece 8091 0000 lds r24,cnt.147355 3ed2 9091 0000 lds r25,(cnt.14)+17356 3ed6 820F add r24,r187357 3ed8 931F adc r25,r197358 3eda 9093 0000 sts (cnt.14)+1,r257359 3ede 8093 0000 sts cnt.14,r247360 3ee2 D701 movw r26,r147361 3ee4 C601 movw r24,r127362 3ee6 F7FE sbrs r15,77363 3ee8 00C0 rjmp .L5937364 3eea 0796 adiw r24,77365 3eec A11D adc r26,__zero_reg__7366 3eee B11D adc r27,__zero_reg__7367 .L593:7368 3ef0 73E0 ldi r23,37369 3ef2 B595 1: asr r277370 3ef4 A795 ror r267371 3ef6 9795 ror r257372 3ef8 8795 ror r247373 3efa 7A95 dec r237374 3efc 01F4 brne 1b7375 3efe 8093 0000 sts ausgleichRoll.11,r247376 3f02 9093 0000 sts (ausgleichRoll.11)+1,r257377 3f06 A093 0000 sts (ausgleichRoll.11)+2,r267378 3f0a B093 0000 sts (ausgleichRoll.11)+3,r277379 3f0e 8857 subi r24,lo8(-5000)7380 3f10 9C4E sbci r25,hi8(-5000)7381 3f12 AF4F sbci r26,hlo8(-5000)7382 3f14 BF4F sbci r27,hhi8(-5000)7383 3f16 04F4 brge .L5947384 3f18 88E7 ldi r24,lo8(-5000)7385 3f1a 9CEE ldi r25,hi8(-5000)7386 3f1c AFEF ldi r26,hlo8(-5000)7387 3f1e BFEF ldi r27,hhi8(-5000)7388 3f20 8093 0000 sts ausgleichRoll.11,r247389 3f24 9093 0000 sts (ausgleichRoll.11)+1,r257390 3f28 A093 0000 sts (ausgleichRoll.11)+2,r267391 3f2c B093 0000 sts (ausgleichRoll.11)+3,r277392 .L594:7393 3f30 2091 0000 lds r18,ausgleichRoll.117394 3f34 3091 0000 lds r19,(ausgleichRoll.11)+17395 3f38 4091 0000 lds r20,(ausgleichRoll.11)+27396 3f3c 5091 0000 lds r21,(ausgleichRoll.11)+37397 3f40 57FF sbrs r21,77398 3f42 00C0 rjmp .L5957399 3f44 2150 subi r18,lo8(-(255))7400 3f46 3F4F sbci r19,hi8(-(255))7401 3f48 4F4F sbci r20,hlo8(-(255))7402 3f4a 5F4F sbci r21,hhi8(-(255))7403 .L595:7404 3f4c 232F mov r18,r197405 3f4e 342F mov r19,r207406 3f50 452F mov r20,r217407 3f52 5527 clr r217408 3f54 47FD sbrc r20,77409 3f56 5A95 dec r217410 3f58 8091 0000 lds r24,LageKorrekturRoll7411 3f5c 9091 0000 lds r25,(LageKorrekturRoll)+17412 3f60 820F add r24,r187413 3f62 931F adc r25,r197414 3f64 9093 0000 sts (LageKorrekturRoll)+1,r257415 3f68 8093 0000 sts LageKorrekturRoll,r247416 3f6c 00C0 rjmp .L5987417 .L590:7418 3f6e 81E0 ldi r24,lo8(1)7419 3f70 8093 0000 sts last_r_n.18,r247420 3f74 00C0 rjmp .L5987421 .L589:7422 3f76 1092 0000 sts last_r_n.18,__zero_reg__7423 3f7a 00C0 rjmp .L5987424 .L578:7425 3f7c 1092 0000 sts (cnt.14)+1,__zero_reg__7426 3f80 1092 0000 sts cnt.14,__zero_reg__7427 3f84 84E6 ldi r24,lo8(100)7428 3f86 90E0 ldi r25,hi8(100)7429 3f88 9093 0000 sts (KompassSignalSchlecht)+1,r257430 3f8c 8093 0000 sts KompassSignalSchlecht,r247431 .L598:7432 3f90 4889 ldd r20,Y+167433 3f92 242F mov r18,r207434 3f94 3327 clr r197435 3f96 8091 0000 lds r24,cnt.147436 3f9a 9091 0000 lds r25,(cnt.14)+17437 3f9e 2817 cp r18,r247438 3fa0 3907 cpc r19,r257439 3fa2 04F4 brge .L5997440 3fa4 3093 0000 sts (cnt.14)+1,r197441 3fa8 2093 0000 sts cnt.14,r187442 .L599:7443 3fac 8091 0000 lds r24,FromNaviCtrl_Value+17444 3fb0 8823 tst r247445 3fb2 01F0 breq .L6007446 3fb4 282F mov r18,r247447 3fb6 3327 clr r197448 3fb8 27FD sbrc r18,77449 3fba 3095 com r197450 3fbc 8091 0000 lds r24,cnt.147451 3fc0 9091 0000 lds r25,(cnt.14)+17452 3fc4 2817 cp r18,r247453 3fc6 3907 cpc r19,r257454 3fc8 04F4 brge .L6007455 3fca 3093 0000 sts (cnt.14)+1,r197456 3fce 2093 0000 sts cnt.14,r187457 .L600:7458 3fd2 4091 0000 lds r20,IntegralFehlerRoll.47459 3fd6 5091 0000 lds r21,(IntegralFehlerRoll.4)+17460 3fda 6091 0000 lds r22,(IntegralFehlerRoll.4)+27461 3fde 7091 0000 lds r23,(IntegralFehlerRoll.4)+37462 3fe2 4138 cpi r20,lo8(129)7463 3fe4 5105 cpc r21,__zero_reg__7464 3fe6 6105 cpc r22,__zero_reg__7465 3fe8 7105 cpc r23,__zero_reg__7466 3fea 04F0 brlt .L6027467 3fec 8091 0000 lds r24,AdNeutralRoll7468 3ff0 9091 0000 lds r25,(AdNeutralRoll)+17469 3ff4 2091 0000 lds r18,cnt.147470 3ff8 3091 0000 lds r19,(cnt.14)+17471 3ffc 820F add r24,r187472 3ffe 931F adc r25,r197473 4000 9093 0000 sts (AdNeutralRoll)+1,r257474 4004 8093 0000 sts AdNeutralRoll,r247475 .L602:7476 4008 4058 subi r20,lo8(-128)7477 400a 5F4F sbci r21,hi8(-128)7478 400c 6F4F sbci r22,hlo8(-128)7479 400e 7F4F sbci r23,hhi8(-128)7480 4010 04F4 brge .L6047481 4012 8091 0000 lds r24,AdNeutralRoll7482 4016 9091 0000 lds r25,(AdNeutralRoll)+17483 401a 2091 0000 lds r18,cnt.147484 401e 3091 0000 lds r19,(cnt.14)+17485 4022 821B sub r24,r187486 4024 930B sbc r25,r197487 4026 9093 0000 sts (AdNeutralRoll)+1,r257488 402a 8093 0000 sts AdNeutralRoll,r247489 402e 00C0 rjmp .L6047490 .L530:7491 4030 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7492 4034 1092 0000 sts LageKorrekturRoll,__zero_reg__7493 4038 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7494 403c 1092 0000 sts LageKorrekturNick,__zero_reg__7495 4040 1092 0000 sts TrichterFlug,__zero_reg__7496 .L604:7497 4044 8091 0000 lds r24,IntegralFaktor7498 4048 8823 tst r247499 404a 01F4 brne .L6057500 404c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7501 4050 1092 0000 sts LageKorrekturRoll,__zero_reg__7502 4054 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7503 4058 1092 0000 sts LageKorrekturNick,__zero_reg__7504 .L605:7505 405c 8091 0000 lds r24,MittelIntegralNick7506 4060 9091 0000 lds r25,(MittelIntegralNick)+17507 4064 A091 0000 lds r26,(MittelIntegralNick)+27508 4068 B091 0000 lds r27,(MittelIntegralNick)+37509 406c 8093 0000 sts MittelIntegralNick_Alt.19,r247510 4070 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r257511 4074 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r267512 4078 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r277513 407c 8091 0000 lds r24,MittelIntegralRoll7514 4080 9091 0000 lds r25,(MittelIntegralRoll)+17515 4084 A091 0000 lds r26,(MittelIntegralRoll)+27516 4088 B091 0000 lds r27,(MittelIntegralRoll)+37517 408c 8093 0000 sts MittelIntegralRoll_Alt.20,r247518 4090 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r257519 4094 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r267520 4098 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r277521 409c 1092 0000 sts IntegralAccNick,__zero_reg__7522 40a0 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7523 40a4 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7524 40a8 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7525 40ac 1092 0000 sts IntegralAccRoll,__zero_reg__7526 40b0 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7527 40b4 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7528 40b8 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7529 40bc 1092 0000 sts IntegralAccZ,__zero_reg__7530 40c0 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7531 40c4 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7532 40c8 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7533 40cc 1092 0000 sts MittelIntegralNick,__zero_reg__7534 40d0 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7535 40d4 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7536 40d8 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7537 40dc 1092 0000 sts MittelIntegralRoll,__zero_reg__7538 40e0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7539 40e4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7540 40e8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7541 40ec 1092 0000 sts MittelIntegralNick2,__zero_reg__7542 40f0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7543 40f4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7544 40f8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7545 40fc 1092 0000 sts MittelIntegralRoll2,__zero_reg__7546 4100 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7547 4104 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7548 4108 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7549 410c 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7550 4110 1092 0000 sts ZaehlMessungen,__zero_reg__7551 .L529:7552 4114 E090 0000 lds r14,StickGier7553 4118 F090 0000 lds r15,(StickGier)+17554 411c C701 movw r24,r147555 411e F7FE sbrs r15,77556 4120 00C0 rjmp .L6077557 4122 8827 clr r247558 4124 9927 clr r257559 4126 8E19 sub r24,r147560 4128 9F09 sbc r25,r157561 .L607:7562 412a 0497 sbiw r24,47563 412c 04F0 brlt .L6067564 412e 8091 0000 lds r24,Parameter_GlobalConfig7565 4132 84FD sbrc r24,47566 4134 00C0 rjmp .L6067567 4136 82E3 ldi r24,lo8(50)7568 4138 8093 0000 sts NeueKompassRichtungMerken,r247569 .L606:7570 413c 1091 0000 lds r17,EE_Parameter+257571 4140 A12E mov r10,r177572 4142 BB24 clr r117573 4144 CC24 clr r127574 4146 DD24 clr r137575 4148 B701 movw r22,r147576 414a 8827 clr r247577 414c 77FD sbrc r23,77578 414e 8095 com r247579 4150 982F mov r25,r247580 4152 9701 movw r18,r147581 4154 F7FE sbrs r15,77582 4156 00C0 rjmp .L6097583 4158 2227 clr r187584 415a 3327 clr r197585 415c 2E19 sub r18,r147586 415e 3F09 sbc r19,r157587 .L609:7588 4160 4427 clr r207589 4162 37FD sbrc r19,77590 4164 4095 com r207591 4166 542F mov r21,r207592 4168 0E94 0000 call __mulsi37593 416c 9B01 movw r18,r227594 416e AC01 movw r20,r247595 4170 C601 movw r24,r127596 4172 B501 movw r22,r107597 4174 0E94 0000 call __mulsi37598 4178 97FF sbrs r25,77599 417a 00C0 rjmp .L6107600 417c 6150 subi r22,lo8(-(511))7601 417e 7E4F sbci r23,hi8(-(511))7602 4180 8F4F sbci r24,hlo8(-(511))7603 4182 9F4F sbci r25,hhi8(-(511))7604 .L610:7605 4184 59E0 ldi r21,97606 4186 9595 1: asr r257607 4188 8795 ror r247608 418a 7795 ror r237609 418c 6795 ror r227610 418e 5A95 dec r217611 4190 01F4 brne 1b7612 4192 9B01 movw r18,r227613 4194 812F mov r24,r177614 4196 9927 clr r257615 4198 8E9D mul r24,r147616 419a D001 movw r26,r07617 419c 8F9D mul r24,r157618 419e B00D add r27,r07619 41a0 9E9D mul r25,r147620 41a2 B00D add r27,r07621 41a4 1124 clr r17622 41a6 CD01 movw r24,r267623 41a8 B7FD sbrc r27,77624 41aa 0396 adiw r24,37625 .L611:7626 41ac 9595 asr r257627 41ae 8795 ror r247628 41b0 9595 asr r257629 41b2 8795 ror r247630 41b4 280F add r18,r247631 41b6 391F adc r19,r257632 41b8 8091 0000 lds r24,CompassGierSetpoint7633 41bc 9091 0000 lds r25,(CompassGierSetpoint)+17634 41c0 280F add r18,r247635 41c2 391F adc r19,r257636 41c4 4427 clr r207637 41c6 37FD sbrc r19,77638 41c8 4095 com r207639 41ca 542F mov r21,r207640 41cc 2093 0000 sts sollGier.0,r187641 41d0 3093 0000 sts (sollGier.0)+1,r197642 41d4 4093 0000 sts (sollGier.0)+2,r207643 41d8 5093 0000 sts (sollGier.0)+3,r217644 41dc 8091 0000 lds r24,Mess_Integral_Gier7645 41e0 9091 0000 lds r25,(Mess_Integral_Gier)+17646 41e4 A091 0000 lds r26,(Mess_Integral_Gier)+27647 41e8 B091 0000 lds r27,(Mess_Integral_Gier)+37648 41ec 821B sub r24,r187649 41ee 930B sbc r25,r197650 41f0 A40B sbc r26,r207651 41f2 B50B sbc r27,r217652 41f4 8093 0000 sts Mess_Integral_Gier,r247653 41f8 9093 0000 sts (Mess_Integral_Gier)+1,r257654 41fc A093 0000 sts (Mess_Integral_Gier)+2,r267655 4200 B093 0000 sts (Mess_Integral_Gier)+3,r277656 4204 8155 subi r24,lo8(50001)7657 4206 934C sbci r25,hi8(50001)7658 4208 A040 sbci r26,hlo8(50001)7659 420a B040 sbci r27,hhi8(50001)7660 420c 04F0 brlt .L6127661 420e 80E5 ldi r24,lo8(50000)7662 4210 93EC ldi r25,hi8(50000)7663 4212 A0E0 ldi r26,hlo8(50000)7664 4214 B0E0 ldi r27,hhi8(50000)7665 4216 8093 0000 sts Mess_Integral_Gier,r247666 421a 9093 0000 sts (Mess_Integral_Gier)+1,r257667 421e A093 0000 sts (Mess_Integral_Gier)+2,r267668 4222 B093 0000 sts (Mess_Integral_Gier)+3,r277669 .L612:7670 4226 8091 0000 lds r24,Mess_Integral_Gier7671 422a 9091 0000 lds r25,(Mess_Integral_Gier)+17672 422e A091 0000 lds r26,(Mess_Integral_Gier)+27673 4232 B091 0000 lds r27,(Mess_Integral_Gier)+37674 4236 805B subi r24,lo8(-50000)7675 4238 9C43 sbci r25,hi8(-50000)7676 423a AF4F sbci r26,hlo8(-50000)7677 423c BF4F sbci r27,hhi8(-50000)7678 423e 04F4 brge .L6137679 4240 80EB ldi r24,lo8(-50000)7680 4242 9CE3 ldi r25,hi8(-50000)7681 4244 AFEF ldi r26,hlo8(-50000)7682 4246 BFEF ldi r27,hhi8(-50000)7683 4248 8093 0000 sts Mess_Integral_Gier,r247684 424c 9093 0000 sts (Mess_Integral_Gier)+1,r257685 4250 A093 0000 sts (Mess_Integral_Gier)+2,r267686 4254 B093 0000 sts (Mess_Integral_Gier)+3,r277687 .L613:7688 4258 0091 0000 lds r16,KompassValue7689 425c 1091 0000 lds r17,(KompassValue)+17690 4260 17FD sbrc r17,77691 4262 00C0 rjmp .L6147692 4264 8091 0000 lds r24,Parameter_GlobalConfig7693 4268 83FF sbrs r24,37694 426a 00C0 rjmp .L6147695 426c 8091 0000 lds r24,CalculateCompassTimer7696 4270 8150 subi r24,lo8(-(-1))7697 4272 8093 0000 sts CalculateCompassTimer,r247698 4276 8823 tst r247699 4278 01F0 breq .+27700 427a 00C0 rjmp .L6317701 427c 8DE0 ldi r24,lo8(13)7702 427e 8093 0000 sts CalculateCompassTimer,r247703 4282 8091 0000 lds r24,IntegralNick7704 4286 9091 0000 lds r25,(IntegralNick)+17705 428a A091 0000 lds r26,(IntegralNick)+27706 428e B091 0000 lds r27,(IntegralNick)+37707 4292 B7FF sbrs r27,77708 4294 00C0 rjmp .L6167709 4296 8150 subi r24,lo8(-(511))7710 4298 9E4F sbci r25,hi8(-(511))7711 429a AF4F sbci r26,hlo8(-(511))7712 429c BF4F sbci r27,hhi8(-(511))7713 .L616:7714 429e 39E0 ldi r19,97715 42a0 B595 1: asr r277716 42a2 A795 ror r267717 42a4 9795 ror r257718 42a6 8795 ror r247719 42a8 3A95 dec r197720 42aa 01F4 brne 1b7721 42ac 7C01 movw r14,r247722 42ae 97FF sbrs r25,77723 42b0 00C0 rjmp .L6177724 42b2 F094 com r157725 42b4 E194 neg r147726 42b6 F108 sbc r15,__zero_reg__7727 42b8 F394 inc r157728 .L617:7729 42ba 8091 0000 lds r24,IntegralRoll7730 42be 9091 0000 lds r25,(IntegralRoll)+17731 42c2 A091 0000 lds r26,(IntegralRoll)+27732 42c6 B091 0000 lds r27,(IntegralRoll)+37733 42ca B7FF sbrs r27,77734 42cc 00C0 rjmp .L6187735 42ce 8150 subi r24,lo8(-(511))7736 42d0 9E4F sbci r25,hi8(-(511))7737 42d2 AF4F sbci r26,hlo8(-(511))7738 42d4 BF4F sbci r27,hhi8(-(511))7739 .L618:7740 42d6 29E0 ldi r18,97741 42d8 B595 1: asr r277742 42da A795 ror r267743 42dc 9795 ror r257744 42de 8795 ror r247745 42e0 2A95 dec r187746 42e2 01F4 brne 1b7747 42e4 9C01 movw r18,r247748 42e6 97FF sbrs r25,77749 42e8 00C0 rjmp .L6197750 42ea 3095 com r197751 42ec 2195 neg r187752 42ee 3F4F sbci r19,lo8(-1)7753 .L619:7754 42f0 E216 cp r14,r187755 42f2 F306 cpc r15,r197756 42f4 04F4 brge .L6207757 42f6 7901 movw r14,r187758 .L620:7759 42f8 B701 movw r22,r147760 42fa F7FE sbrs r15,77761 42fc 00C0 rjmp .L6217762 42fe 695F subi r22,lo8(-(7))7763 4300 7F4F sbci r23,hi8(-(7))7764 .L621:7765 4302 2B01 movw r4,r227766 4304 A3E0 ldi r26,37767 4306 5594 1: asr r57768 4308 4794 ror r47769 430a AA95 dec r267770 430c 01F4 brne 1b7771 430e 22E0 ldi r18,lo8(2)7772 4310 30E0 ldi r19,hi8(2)7773 4312 420E add r4,r187774 4314 531E adc r5,r197775 4316 6090 0000 lds r6,ErsatzKompass7776 431a 7090 0000 lds r7,(ErsatzKompass)+17777 431e 8090 0000 lds r8,(ErsatzKompass)+27778 4322 9090 0000 lds r9,(ErsatzKompass)+37779 4326 2091 0000 lds r18,GIER_GRAD_FAKTOR7780 432a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+17781 432e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+27782 4332 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+37783 4336 C401 movw r24,r87784 4338 B301 movw r22,r67785 433a 0E94 0000 call __divmodsi47786 433e 5901 movw r10,r187787 4340 6A01 movw r12,r207788 4342 3093 0000 sts (ErsatzKompassInGrad)+1,r197789 4346 2093 0000 sts ErsatzKompassInGrad,r187790 434a 021B sub r16,r187791 434c 130B sbc r17,r197792 434e C801 movw r24,r167793 4350 845E subi r24,lo8(-(540))7794 4352 9D4F sbci r25,hi8(-(540))7795 4354 68E6 ldi r22,lo8(360)7796 4356 71E0 ldi r23,hi8(360)7797 4358 0E94 0000 call __divmodhi47798 435c 9C01 movw r18,r247799 435e 245B subi r18,lo8(-(-180))7800 4360 3040 sbci r19,hi8(-(-180))7801 4362 8091 0000 lds r24,KompassSignalSchlecht7802 4366 9091 0000 lds r25,(KompassSignalSchlecht)+17803 436a 0097 sbiw r24,07804 436c 01F0 breq .L6227805 436e 0197 sbiw r24,17806 4370 9093 0000 sts (KompassSignalSchlecht)+1,r257807 4374 8093 0000 sts KompassSignalSchlecht,r247808 4378 00C0 rjmp .L6237809 .L622:7810 437a 49E1 ldi r20,lo8(25)7811 437c E416 cp r14,r207812 437e F104 cpc r15,__zero_reg__7813 4380 04F4 brge .L6237814 4382 8091 0000 lds r24,GierGyroFehler7815 4386 9091 0000 lds r25,(GierGyroFehler)+17816 438a 820F add r24,r187817 438c 931F adc r25,r197818 438e 9093 0000 sts (GierGyroFehler)+1,r257819 4392 8093 0000 sts GierGyroFehler,r247820 4396 8091 0000 lds r24,NeueKompassRichtungMerken7821 439a 8823 tst r247822 439c 01F0 breq .L6237823 439e 8150 subi r24,lo8(-(-1))7824 43a0 8093 0000 sts NeueKompassRichtungMerken,r247825 43a4 8823 tst r247826 43a6 01F4 brne .L6237827 43a8 B092 0000 sts (KompassSollWert)+1,r117828 43ac A092 0000 sts KompassSollWert,r107829 .L623:7830 43b0 8091 0000 lds r24,KompassSignalSchlecht7831 43b4 9091 0000 lds r25,(KompassSignalSchlecht)+17832 43b8 892B or r24,r257833 43ba 01F4 brne .L6277834 43bc 8091 0000 lds r24,KompassFusion7835 43c0 9927 clr r257836 43c2 289F mul r18,r247837 43c4 B001 movw r22,r07838 43c6 299F mul r18,r257839 43c8 700D add r23,r07840 43ca 389F mul r19,r247841 43cc 700D add r23,r07842 43ce 1124 clr r17843 43d0 CB01 movw r24,r227844 43d2 B201 movw r22,r47845 43d4 0E94 0000 call __divmodhi47846 43d8 CB01 movw r24,r227847 43da AA27 clr r267848 43dc 97FD sbrc r25,77849 43de A095 com r267850 43e0 BA2F mov r27,r267851 43e2 680E add r6,r247852 43e4 791E adc r7,r257853 43e6 8A1E adc r8,r267854 43e8 9B1E adc r9,r277855 43ea 6092 0000 sts ErsatzKompass,r67856 43ee 7092 0000 sts (ErsatzKompass)+1,r77857 43f2 8092 0000 sts (ErsatzKompass)+2,r87858 43f6 9092 0000 sts (ErsatzKompass)+3,r97859 .L627:7860 43fa 8091 0000 lds r24,NeueKompassRichtungMerken7861 43fe 8823 tst r247862 4400 01F4 brne .L6147863 4402 8091 0000 lds r24,KompassSollWert7864 4406 9091 0000 lds r25,(KompassSollWert)+17865 440a 2091 0000 lds r18,ErsatzKompassInGrad7866 440e 3091 0000 lds r19,(ErsatzKompassInGrad)+17867 4412 821B sub r24,r187868 4414 930B sbc r25,r197869 4416 845E subi r24,lo8(-(540))7870 4418 9D4F sbci r25,hi8(-(540))7871 441a 68E6 ldi r22,lo8(360)7872 441c 71E0 ldi r23,hi8(360)7873 441e 0E94 0000 call __divmodhi47874 4422 9C01 movw r18,r247875 4424 245B subi r18,lo8(-(-180))7876 4426 3040 sbci r19,hi8(-(-180))7877 4428 8091 0000 lds r24,Parameter_KompassWirkung7878 442c 8695 lsr r247879 442e 9927 clr r257880 4430 289F mul r18,r247881 4432 D001 movw r26,r07882 4434 299F mul r18,r257883 4436 B00D add r27,r07884 4438 389F mul r19,r247885 443a B00D add r27,r07886 443c 1124 clr r17887 443e 9D01 movw r18,r267888 4440 B7FF sbrs r27,77889 4442 00C0 rjmp .L6297890 4444 215F subi r18,lo8(-(15))7891 4446 3F4F sbci r19,hi8(-(15))7892 .L629:7893 4448 F4E0 ldi r31,47894 444a 3595 1: asr r197895 444c 2795 ror r187896 444e FA95 dec r317897 4450 01F4 brne 1b7898 4452 3093 0000 sts (CompassGierSetpoint)+1,r197899 4456 2093 0000 sts CompassGierSetpoint,r187900 445a 00C0 rjmp .L6317901 .L614:7902 445c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__7903 4460 1092 0000 sts CompassGierSetpoint,__zero_reg__7904 .L631:7905 4464 8091 0000 lds r24,TrichterFlug7906 4468 8823 tst r247907 446a 01F0 breq .L6327908 446c 1092 0000 sts SummeRoll,__zero_reg__7909 4470 1092 0000 sts (SummeRoll)+1,__zero_reg__7910 4474 1092 0000 sts (SummeRoll)+2,__zero_reg__7911 4478 1092 0000 sts (SummeRoll)+3,__zero_reg__7912 447c 1092 0000 sts SummeNick,__zero_reg__7913 4480 1092 0000 sts (SummeNick)+1,__zero_reg__7914 4484 1092 0000 sts (SummeNick)+2,__zero_reg__7915 4488 1092 0000 sts (SummeNick)+3,__zero_reg__7916 .L632:7917 448c F090 0000 lds r15,Looping_Nick7918 4490 FF20 tst r157919 4492 01F4 brne .L6337920 4494 8091 0000 lds r24,IntegralFaktor7921 4498 282F mov r18,r247922 449a 3327 clr r197923 449c 4427 clr r207924 449e 5527 clr r217925 44a0 8091 0000 lds r24,IntegralNick7926 44a4 9091 0000 lds r25,(IntegralNick)+17927 44a8 A091 0000 lds r26,(IntegralNick)+27928 44ac B091 0000 lds r27,(IntegralNick)+37929 44b0 BC01 movw r22,r247930 44b2 CD01 movw r24,r267931 44b4 0E94 0000 call __mulsi37932 44b8 DC01 movw r26,r247933 44ba CB01 movw r24,r227934 44bc BC01 movw r22,r247935 44be CD01 movw r24,r267936 44c0 28EF ldi r18,lo8(11000)7937 44c2 3AE2 ldi r19,hi8(11000)7938 44c4 40E0 ldi r20,hlo8(11000)7939 44c6 50E0 ldi r21,hhi8(11000)7940 44c8 0E94 0000 call __divmodsi47941 44cc 3901 movw r6,r187942 44ce 00C0 rjmp .L6347943 .L633:7944 44d0 6624 clr r67945 44d2 7724 clr r77946 .L634:7947 44d4 E090 0000 lds r14,Looping_Roll7948 44d8 EE20 tst r147949 44da 01F4 brne .L6357950 44dc 8091 0000 lds r24,IntegralFaktor7951 44e0 282F mov r18,r247952 44e2 3327 clr r197953 44e4 4427 clr r207954 44e6 5527 clr r217955 44e8 8091 0000 lds r24,IntegralRoll7956 44ec 9091 0000 lds r25,(IntegralRoll)+17957 44f0 A091 0000 lds r26,(IntegralRoll)+27958 44f4 B091 0000 lds r27,(IntegralRoll)+37959 44f8 BC01 movw r22,r247960 44fa CD01 movw r24,r267961 44fc 0E94 0000 call __mulsi37962 4500 DC01 movw r26,r247963 4502 CB01 movw r24,r227964 4504 BC01 movw r22,r247965 4506 CD01 movw r24,r267966 4508 28EF ldi r18,lo8(11000)7967 450a 3AE2 ldi r19,hi8(11000)7968 450c 40E0 ldi r20,hlo8(11000)7969 450e 50E0 ldi r21,hhi8(11000)7970 4510 0E94 0000 call __divmodsi47971 4514 2901 movw r4,r187972 4516 00C0 rjmp .L6367973 .L635:7974 4518 4424 clr r47975 451a 5524 clr r57976 .L636:7977 451c 8091 0000 lds r24,TrimNick7978 4520 9091 0000 lds r25,(TrimNick)+17979 4524 893C cpi r24,2017980 4526 9105 cpc r25,__zero_reg__7981 4528 04F0 brlt .L6377982 452a 88EC ldi r24,lo8(200)7983 452c 90E0 ldi r25,hi8(200)7984 452e 00C0 rjmp .L8947985 .L637:7986 4530 8853 subi r24,lo8(-200)7987 4532 9F4F sbci r25,hi8(-200)7988 4534 04F4 brge .L6387989 4536 88E3 ldi r24,lo8(-200)7990 4538 9FEF ldi r25,hi8(-200)7991 .L894:7992 453a 9093 0000 sts (TrimNick)+1,r257993 453e 8093 0000 sts TrimNick,r247994 .L638:7995 4542 8091 0000 lds r24,TrimRoll7996 4546 9091 0000 lds r25,(TrimRoll)+17997 454a 893C cpi r24,2017998 454c 9105 cpc r25,__zero_reg__7999 454e 04F0 brlt .L6408000 4550 88EC ldi r24,lo8(200)8001 4552 90E0 ldi r25,hi8(200)8002 4554 00C0 rjmp .L8958003 .L640:8004 4556 8853 subi r24,lo8(-200)8005 4558 9F4F sbci r25,hi8(-200)8006 455a 04F4 brge .L6418007 455c 88E3 ldi r24,lo8(-200)8008 455e 9FEF ldi r25,hi8(-200)8009 .L895:8010 4560 9093 0000 sts (TrimRoll)+1,r258011 4564 8093 0000 sts TrimRoll,r248012 .L641:8013 4568 8091 0000 lds r24,MesswertNick8014 456c 9091 0000 lds r25,(MesswertNick)+18015 4570 AA27 clr r268016 4572 97FD sbrc r25,78017 4574 A095 com r268018 4576 BA2F mov r27,r268019 4578 2091 0000 lds r18,GyroFaktor8020 457c A22E mov r10,r188021 457e BB24 clr r118022 4580 CC24 clr r128023 4582 DD24 clr r138024 4584 BC01 movw r22,r248025 4586 CD01 movw r24,r268026 4588 A601 movw r20,r128027 458a 9501 movw r18,r108028 458c 0E94 0000 call __mulsi38029 4590 9B01 movw r18,r228030 4592 AC01 movw r20,r248031 4594 8091 0000 lds r24,TrimNick8032 4598 9091 0000 lds r25,(TrimNick)+18033 459c AA27 clr r268034 459e 97FD sbrc r25,78035 45a0 A095 com r268036 45a2 BA2F mov r27,r268037 45a4 E7E0 ldi r30,78038 45a6 880F 1: lsl r248039 45a8 991F rol r258040 45aa AA1F rol r268041 45ac BB1F rol r278042 45ae EA95 dec r308043 45b0 01F4 brne 1b8044 45b2 280F add r18,r248045 45b4 391F adc r19,r258046 45b6 4A1F adc r20,r268047 45b8 5B1F adc r21,r278048 45ba 57FF sbrs r21,78049 45bc 00C0 rjmp .L6438050 45be 215C subi r18,lo8(-(63))8051 45c0 3F4F sbci r19,hi8(-(63))8052 45c2 4F4F sbci r20,hlo8(-(63))8053 45c4 5F4F sbci r21,hhi8(-(63))8054 .L643:8055 45c6 76E0 ldi r23,68056 45c8 5595 1: asr r218057 45ca 4795 ror r208058 45cc 3795 ror r198059 45ce 2795 ror r188060 45d0 7A95 dec r238061 45d2 01F4 brne 1b8062 45d4 8301 movw r16,r68063 45d6 020F add r16,r188064 45d8 131F adc r17,r198065 45da 1093 0000 sts (MesswertNick)+1,r178066 45de 0093 0000 sts MesswertNick,r168067 45e2 8091 0000 lds r24,MesswertRoll8068 45e6 9091 0000 lds r25,(MesswertRoll)+18069 45ea AA27 clr r268070 45ec 97FD sbrc r25,78071 45ee A095 com r268072 45f0 BA2F mov r27,r268073 45f2 BC01 movw r22,r248074 45f4 CD01 movw r24,r268075 45f6 A601 movw r20,r128076 45f8 9501 movw r18,r108077 45fa 0E94 0000 call __mulsi38078 45fe 9B01 movw r18,r228079 4600 AC01 movw r20,r248080 4602 8091 0000 lds r24,TrimRoll8081 4606 9091 0000 lds r25,(TrimRoll)+18082 460a AA27 clr r268083 460c 97FD sbrc r25,78084 460e A095 com r268085 4610 BA2F mov r27,r268086 4612 67E0 ldi r22,78087 4614 880F 1: lsl r248088 4616 991F rol r258089 4618 AA1F rol r268090 461a BB1F rol r278091 461c 6A95 dec r228092 461e 01F4 brne 1b8093 4620 280F add r18,r248094 4622 391F adc r19,r258095 4624 4A1F adc r20,r268096 4626 5B1F adc r21,r278097 4628 57FF sbrs r21,78098 462a 00C0 rjmp .L6448099 462c 215C subi r18,lo8(-(63))8100 462e 3F4F sbci r19,hi8(-(63))8101 4630 4F4F sbci r20,hlo8(-(63))8102 4632 5F4F sbci r21,hhi8(-(63))8103 .L644:8104 4634 F6E0 ldi r31,68105 4636 5595 1: asr r218106 4638 4795 ror r208107 463a 3795 ror r198108 463c 2795 ror r188109 463e FA95 dec r318110 4640 01F4 brne 1b8111 4642 4201 movw r8,r48112 4644 820E add r8,r188113 4646 931E adc r9,r198114 4648 9092 0000 sts (MesswertRoll)+1,r98115 464c 8092 0000 sts MesswertRoll,r88116 4650 8091 0000 lds r24,MesswertGier8117 4654 9091 0000 lds r25,(MesswertGier)+18118 4658 880F add r24,r248119 465a 991F adc r25,r258120 465c AA27 clr r268121 465e 97FD sbrc r25,78122 4660 A095 com r268123 4662 BA2F mov r27,r268124 4664 2091 0000 lds r18,GyroFaktorGier8125 4668 3327 clr r198126 466a 4427 clr r208127 466c 5527 clr r218128 466e BC01 movw r22,r248129 4670 CD01 movw r24,r268130 4672 0E94 0000 call __mulsi38131 4676 5B01 movw r10,r228132 4678 6C01 movw r12,r248133 467a 97FF sbrs r25,78134 467c 00C0 rjmp .L6458135 467e 2FE3 ldi r18,lo8(63)8136 4680 30E0 ldi r19,hi8(63)8137 4682 40E0 ldi r20,hlo8(63)8138 4684 50E0 ldi r21,hhi8(63)8139 4686 A20E add r10,r188140 4688 B31E adc r11,r198141 468a C41E adc r12,r208142 468c D51E adc r13,r218143 .L645:8144 468e E6E0 ldi r30,68145 4690 D594 1: asr r138146 4692 C794 ror r128147 4694 B794 ror r118148 4696 A794 ror r108149 4698 EA95 dec r308150 469a 01F4 brne 1b8151 469c 8091 0000 lds r24,IntegralFaktorGier8152 46a0 282F mov r18,r248153 46a2 3327 clr r198154 46a4 4427 clr r208155 46a6 5527 clr r218156 46a8 8091 0000 lds r24,Integral_Gier8157 46ac 9091 0000 lds r25,(Integral_Gier)+18158 46b0 A091 0000 lds r26,(Integral_Gier)+28159 46b4 B091 0000 lds r27,(Integral_Gier)+38160 46b8 BC01 movw r22,r248161 46ba CD01 movw r24,r268162 46bc 0E94 0000 call __mulsi38163 46c0 DC01 movw r26,r248164 46c2 CB01 movw r24,r228165 46c4 BC01 movw r22,r248166 46c6 CD01 movw r24,r268167 46c8 20EF ldi r18,lo8(22000)8168 46ca 35E5 ldi r19,hi8(22000)8169 46cc 40E0 ldi r20,hlo8(22000)8170 46ce 50E0 ldi r21,hhi8(22000)8171 46d0 0E94 0000 call __divmodsi48172 46d4 B501 movw r22,r108173 46d6 620F add r22,r188174 46d8 731F adc r23,r198175 46da 7093 0000 sts (MesswertGier)+1,r238176 46de 6093 0000 sts MesswertGier,r228177 46e2 0150 subi r16,lo8(4097)8178 46e4 1041 sbci r17,hi8(4097)8179 46e6 04F0 brlt .L6468180 46e8 80E0 ldi r24,lo8(4096)8181 46ea 90E1 ldi r25,hi8(4096)8182 46ec 9093 0000 sts (MesswertNick)+1,r258183 46f0 8093 0000 sts MesswertNick,r248184 .L646:8185 46f4 8091 0000 lds r24,MesswertNick8186 46f8 9091 0000 lds r25,(MesswertNick)+18187 46fc 8050 subi r24,lo8(-4096)8188 46fe 904F sbci r25,hi8(-4096)8189 4700 04F4 brge .L6478190 4702 80E0 ldi r24,lo8(-4096)8191 4704 90EF ldi r25,hi8(-4096)8192 4706 9093 0000 sts (MesswertNick)+1,r258193 470a 8093 0000 sts MesswertNick,r248194 .L647:8195 470e 51E0 ldi r21,lo8(4097)8196 4710 8516 cp r8,r218197 4712 50E1 ldi r21,hi8(4097)8198 4714 9506 cpc r9,r218199 4716 04F0 brlt .L6488200 4718 80E0 ldi r24,lo8(4096)8201 471a 90E1 ldi r25,hi8(4096)8202 471c 9093 0000 sts (MesswertRoll)+1,r258203 4720 8093 0000 sts MesswertRoll,r248204 .L648:8205 4724 8091 0000 lds r24,MesswertRoll8206 4728 9091 0000 lds r25,(MesswertRoll)+18207 472c 8050 subi r24,lo8(-4096)8208 472e 904F sbci r25,hi8(-4096)8209 4730 04F4 brge .L6498210 4732 80E0 ldi r24,lo8(-4096)8211 4734 90EF ldi r25,hi8(-4096)8212 4736 9093 0000 sts (MesswertRoll)+1,r258213 473a 8093 0000 sts MesswertRoll,r248214 .L649:8215 473e 6150 subi r22,lo8(4097)8216 4740 7041 sbci r23,hi8(4097)8217 4742 04F0 brlt .L6508218 4744 80E0 ldi r24,lo8(4096)8219 4746 90E1 ldi r25,hi8(4096)8220 4748 9093 0000 sts (MesswertGier)+1,r258221 474c 8093 0000 sts MesswertGier,r248222 .L650:8223 4750 8091 0000 lds r24,MesswertGier8224 4754 9091 0000 lds r25,(MesswertGier)+18225 4758 8050 subi r24,lo8(-4096)8226 475a 904F sbci r25,hi8(-4096)8227 475c 04F4 brge .L6518228 475e 80E0 ldi r24,lo8(-4096)8229 4760 90EF ldi r25,hi8(-4096)8230 4762 9093 0000 sts (MesswertGier)+1,r258231 4766 8093 0000 sts MesswertGier,r248232 .L651:8233 476a 8091 0000 lds r24,BattLowVoltageWarning8234 476e 482F mov r20,r248235 4770 5527 clr r218236 4772 8091 0000 lds r24,UBat8237 4776 9091 0000 lds r25,(UBat)+18238 477a 4817 cp r20,r248239 477c 5907 cpc r21,r258240 477e 04F4 brge .L6528241 4780 2091 0000 lds r18,UBat8242 4784 3091 0000 lds r19,(UBat)+18243 4788 0981 ldd r16,Y+18244 478a 1A81 ldd r17,Y+28245 478c 049F mul r16,r208246 478e C001 movw r24,r08247 4790 059F mul r16,r218248 4792 900D add r25,r08249 4794 149F mul r17,r208250 4796 900D add r25,r08251 4798 1124 clr r18252 479a B901 movw r22,r188253 479c 0E94 0000 call __udivmodhi48254 47a0 7A83 std Y+2,r238255 47a2 6983 std Y+1,r228256 .L652:8257 47a4 2981 ldd r18,Y+18258 47a6 3A81 ldd r19,Y+28259 47a8 220F lsl r188260 47aa 331F rol r198261 47ac 220F lsl r188262 47ae 331F rol r198263 47b0 3A83 std Y+2,r198264 47b2 2983 std Y+1,r188265 47b4 4091 0000 lds r20,Parameter_GlobalConfig8266 47b8 40FD sbrc r20,08267 47ba 00C0 rjmp .+48268 47bc 0C94 0000 jmp .L6538269 47c0 EE20 tst r148270 47c2 01F0 breq .+48271 47c4 0C94 0000 jmp .L6538272 47c8 FF20 tst r158273 47ca 01F0 breq .+48274 47cc 0C94 0000 jmp .L6538275 47d0 00E0 ldi r16,lo8(0)8276 47d2 10E0 ldi r17,hi8(0)8277 47d4 4801 movw r8,r168278 47d6 8091 0000 lds r24,HoverGas8279 47da 9091 0000 lds r25,(HoverGas)+18280 47de 9093 0000 sts (DebugOut+44)+1,r258281 47e2 8093 0000 sts DebugOut+44,r248282 47e6 2091 0000 lds r18,BaroExpandActive8283 47ea 3091 0000 lds r19,(BaroExpandActive)+18284 47ee 2115 cp r18,__zero_reg__8285 47f0 3105 cpc r19,__zero_reg__8286 47f2 01F0 breq .+28287 47f4 00C0 rjmp .L6548288 47f6 8091 0000 lds r24,MessLuftdruck8289 47fa 9091 0000 lds r25,(MessLuftdruck)+18290 47fe 8959 subi r24,lo8(921)8291 4800 9340 sbci r25,hi8(921)8292 4802 00F0 brlo .L6558293 4804 87B5 in r24,71-0x208294 4806 803F cpi r24,lo8(-16)8295 4808 00F4 brsh .L6568296 480a 8091 0000 lds r24,ExpandBaro8297 480e 8150 subi r24,lo8(-(-1))8298 4810 00C0 rjmp .L8968299 .L656:8300 4812 81E0 ldi r24,lo8(1)8301 4814 8093 0000 sts BaroAtLowerLimit.26,r248302 4818 00C0 rjmp .L6638303 .L655:8304 481a 8091 0000 lds r24,MessLuftdruck8305 481e 9091 0000 lds r25,(MessLuftdruck)+18306 4822 8436 cpi r24,1008307 4824 9105 cpc r25,__zero_reg__8308 4826 00F4 brsh .L6598309 4828 87B5 in r24,71-0x208310 482a 8031 cpi r24,lo8(16)8311 482c 00F0 brlo .L6608312 482e 8091 0000 lds r24,ExpandBaro8313 4832 8F5F subi r24,lo8(-(1))8314 .L896:8315 4834 8093 0000 sts ExpandBaro,r248316 4838 9FE0 ldi r25,lo8(15)8317 483a 8902 muls r24,r258318 483c 9001 movw r18,r08319 483e 1124 clr r18320 4840 8091 0000 lds r24,DruckOffsetSetting8321 4844 821B sub r24,r188322 4846 87BD out 71-0x20,r248323 4848 8CE2 ldi r24,lo8(300)8324 484a 91E0 ldi r25,hi8(300)8325 484c 9093 0000 sts (beeptime)+1,r258326 4850 8093 0000 sts beeptime,r248327 4854 8EE5 ldi r24,lo8(350)8328 4856 91E0 ldi r25,hi8(350)8329 4858 9093 0000 sts (BaroExpandActive)+1,r258330 485c 8093 0000 sts BaroExpandActive,r248331 4860 00C0 rjmp .L6638332 .L660:8333 4862 81E0 ldi r24,lo8(1)8334 4864 8093 0000 sts BaroAtUpperLimit.25,r248335 4868 00C0 rjmp .L6638336 .L659:8337 486a F092 0000 sts BaroAtUpperLimit.25,r158338 486e F092 0000 sts BaroAtLowerLimit.26,r158339 4872 00C0 rjmp .L6638340 .L654:8341 4874 8091 0000 lds r24,HoehenWert8342 4878 9091 0000 lds r25,(HoehenWert)+18343 487c A091 0000 lds r26,(HoehenWert)+28344 4880 B091 0000 lds r27,(HoehenWert)+38345 4884 64E0 ldi r22,48346 4886 880F 1: lsl r248347 4888 991F rol r258348 488a AA1F rol r268349 488c BB1F rol r278350 488e 6A95 dec r228351 4890 01F4 brne 1b8352 4892 8093 0000 sts SummenHoehe,r248353 4896 9093 0000 sts (SummenHoehe)+1,r258354 489a A093 0000 sts (SummenHoehe)+2,r268355 489e B093 0000 sts (SummenHoehe)+3,r278356 48a2 1093 0000 sts (VarioMeter)+1,r178357 48a6 0093 0000 sts VarioMeter,r168358 48aa 2150 subi r18,lo8(-(-1))8359 48ac 3040 sbci r19,hi8(-(-1))8360 48ae 3093 0000 sts (BaroExpandActive)+1,r198361 48b2 2093 0000 sts BaroExpandActive,r188362 .L663:8363 48b6 2091 0000 lds r18,Parameter_HoehenSchalter8364 48ba 41FF sbrs r20,18365 48bc 00C0 rjmp .L6648366 48be 2233 cpi r18,lo8(50)8367 48c0 00F4 brsh .L6658368 48c2 8091 0000 lds r24,delay.248369 48c6 8150 subi r24,lo8(-(-1))8370 48c8 8093 0000 sts delay.24,r248371 48cc 8F3F cpi r24,lo8(-1)8372 48ce 01F0 breq .+28373 48d0 00C0 rjmp .L6718374 48d2 8091 0000 lds r24,SpeakHoTT8375 48d6 8823 tst r248376 48d8 01F4 brne .L6678377 48da 8091 0000 lds r24,HoehenReglerAktiv8378 48de 8823 tst r248379 48e0 01F0 breq .L6678380 48e2 88E2 ldi r24,lo8(40)8381 48e4 8093 0000 sts SpeakHoTT,r248382 .L667:8383 48e8 1092 0000 sts HoehenReglerAktiv,__zero_reg__8384 48ec 8091 0000 lds r24,HoehenWert8385 48f0 9091 0000 lds r25,(HoehenWert)+18386 48f4 A091 0000 lds r26,(HoehenWert)+28387 48f8 B091 0000 lds r27,(HoehenWert)+38388 48fc 8093 0000 sts SollHoehe,r248389 4900 9093 0000 sts (SollHoehe)+1,r258390 4904 A093 0000 sts (SollHoehe)+2,r268391 4908 B093 0000 sts (SollHoehe)+3,r278392 490c 81E0 ldi r24,lo8(1)8393 490e 8093 0000 sts delay.24,r248394 4912 00C0 rjmp .L6718395 .L665:8396 4914 2734 cpi r18,lo8(71)8397 4916 00F0 brlo .L6718398 4918 8091 0000 lds r24,SpeakHoTT8399 491c 8823 tst r248400 491e 01F4 brne .L6708401 4920 8091 0000 lds r24,HoehenReglerAktiv8402 4924 8823 tst r248403 4926 01F4 brne .L6708404 4928 87E2 ldi r24,lo8(39)8405 492a 8093 0000 sts SpeakHoTT,r248406 .L670:8407 492e 88EC ldi r24,lo8(-56)8408 4930 8093 0000 sts delay.24,r248409 4934 00C0 rjmp .L8978410 .L664:8411 4936 8091 0000 lds r24,ExternHoehenValue8412 493a 9091 0000 lds r25,(ExternHoehenValue)+18413 493e 820F add r24,r188414 4940 911D adc r25,__zero_reg__8415 4942 2091 0000 lds r18,EE_Parameter+188416 4946 3327 clr r198417 4948 829F mul r24,r188418 494a A001 movw r20,r08419 494c 839F mul r24,r198420 494e 500D add r21,r08421 4950 929F mul r25,r188422 4952 500D add r21,r08423 4954 1124 clr r18424 4956 CA01 movw r24,r208425 4958 AA27 clr r268426 495a 97FD sbrc r25,78427 495c A095 com r268428 495e BA2F mov r27,r268429 4960 8093 0000 sts SollHoehe,r248430 4964 9093 0000 sts (SollHoehe)+1,r258431 4968 A093 0000 sts (SollHoehe)+2,r268432 496c B093 0000 sts (SollHoehe)+3,r278433 .L897:8434 4970 81E0 ldi r24,lo8(1)8435 4972 8093 0000 sts HoehenReglerAktiv,r248436 .L671:8437 4976 8091 0000 lds r24,IntegralNick8438 497a 9091 0000 lds r25,(IntegralNick)+18439 497e A091 0000 lds r26,(IntegralNick)+28440 4982 B091 0000 lds r27,(IntegralNick)+38441 4986 E090 0000 lds r14,GIER_GRAD_FAKTOR8442 498a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18443 498e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28444 4992 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38445 4996 BC01 movw r22,r248446 4998 CD01 movw r24,r268447 499a A801 movw r20,r168448 499c 9701 movw r18,r148449 499e 0E94 0000 call __divmodsi48450 49a2 5901 movw r10,r188451 49a4 6A01 movw r12,r208452 49a6 8091 0000 lds r24,IntegralRoll8453 49aa 9091 0000 lds r25,(IntegralRoll)+18454 49ae A091 0000 lds r26,(IntegralRoll)+28455 49b2 B091 0000 lds r27,(IntegralRoll)+38456 49b6 BC01 movw r22,r248457 49b8 CD01 movw r24,r268458 49ba A801 movw r20,r168459 49bc 9701 movw r18,r148460 49be 0E94 0000 call __divmodsi48461 49c2 B901 movw r22,r188462 49c4 C501 movw r24,r108463 49c6 0E94 0000 call ihypot8464 49ca 5C01 movw r10,r248465 49cc CC97 sbiw r24,608466 49ce 04F0 brlt .L6728467 49d0 5CE3 ldi r21,lo8(60)8468 49d2 A52E mov r10,r218469 49d4 B12C mov r11,__zero_reg__8470 .L672:8471 49d6 C501 movw r24,r108472 49d8 0E94 0000 call c_cos_81928473 49dc 5C01 movw r10,r248474 49de 80E2 ldi r24,lo8(32)8475 49e0 8093 0000 sts VarioCharacter,r248476 49e4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__8477 49e8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__8478 49ec 8091 0000 lds r24,HoehenReglerAktiv8479 49f0 8823 tst r248480 49f2 01F4 brne .+28481 49f4 00C0 rjmp .L6738482 49f6 8091 0000 lds r24,FC_StatusFlags8483 49fa 9927 clr r258484 49fc 9C01 movw r18,r248485 49fe 2071 andi r18,lo8(16)8486 4a00 3070 andi r19,hi8(16)8487 4a02 84FD sbrc r24,48488 4a04 00C0 rjmp .L6738489 4a06 8091 0000 lds r24,FC_StatusFlags28490 4a0a 8260 ori r24,lo8(2)8491 4a0c 8093 0000 sts FC_StatusFlags2,r248492 4a10 7091 0000 lds r23,Parameter_ExtraConfig8493 4a14 872F mov r24,r238494 4a16 9927 clr r258495 4a18 41E0 ldi r20,lo8(1)8496 4a1a C42E mov r12,r208497 4a1c D12C mov r13,__zero_reg__8498 4a1e C822 and r12,r248499 4a20 D922 and r13,r258500 4a22 80FD sbrc r24,08501 4a24 00C0 rjmp .L6758502 4a26 8091 0000 lds r24,Parameter_GlobalConfig8503 4a2a 81FD sbrc r24,18504 4a2c 00C0 rjmp .L6748505 .L675:8506 4a2e C980 ldd r12,Y+18507 4a30 DA80 ldd r13,Y+28508 4a32 3093 0000 sts (HeightTrimming.21)+1,r198509 4a36 2093 0000 sts HeightTrimming.21,r188510 4a3a 3093 0000 sts (AltitudeSetpointTrimming)+1,r198511 4a3e 2093 0000 sts AltitudeSetpointTrimming,r188512 4a42 8091 0000 lds r24,FC_StatusFlags8513 4a46 806C ori r24,lo8(-64)8514 4a48 8093 0000 sts FC_StatusFlags,r248515 4a4c 00C0 rjmp .L6768516 .L674:8517 4a4e 8091 0000 lds r24,FC_StatusFlags8518 4a52 81FF sbrs r24,18519 4a54 00C0 rjmp .L6778520 4a56 0091 0000 lds r16,StickGasHover8521 4a5a 1091 0000 lds r17,(StickGasHover)+18522 4a5e C801 movw r24,r168523 4a60 0F96 adiw r24,158524 4a62 2090 0000 lds r2,StickGas8525 4a66 3090 0000 lds r3,(StickGas)+18526 4a6a 8215 cp r24,r28527 4a6c 9305 cpc r25,r38528 4a6e 04F0 brlt .+28529 4a70 00C0 rjmp .L6788530 4a72 8091 0000 lds r24,BaroAtUpperLimit.258531 4a76 8823 tst r248532 4a78 01F0 breq .+28533 4a7a 00C0 rjmp .L6788534 4a7c 8091 0000 lds r24,FC_StatusFlags8535 4a80 87FF sbrs r24,78536 4a82 00C0 rjmp .L6798537 4a84 8091 0000 lds r24,FC_StatusFlags8538 4a88 8F77 andi r24,lo8(127)8539 4a8a 8093 0000 sts FC_StatusFlags,r248540 4a8e 8091 0000 lds r24,HoehenWert8541 4a92 9091 0000 lds r25,(HoehenWert)+18542 4a96 A091 0000 lds r26,(HoehenWert)+28543 4a9a B091 0000 lds r27,(HoehenWert)+38544 4a9e 8093 0000 sts SollHoehe,r248545 4aa2 9093 0000 sts (SollHoehe)+1,r258546 4aa6 A093 0000 sts (SollHoehe)+2,r268547 4aaa B093 0000 sts (SollHoehe)+3,r278548 .L679:8549 4aae 8091 0000 lds r24,FC_StatusFlags8550 4ab2 8064 ori r24,lo8(64)8551 4ab4 8093 0000 sts FC_StatusFlags,r248552 4ab8 E090 0000 lds r14,Parameter_MaximumAltitude8553 4abc EE20 tst r148554 4abe 01F0 breq .L6808555 4ac0 8091 0000 lds r24,SollHoehe8556 4ac4 9091 0000 lds r25,(SollHoehe)+18557 4ac8 A091 0000 lds r26,(SollHoehe)+28558 4acc B091 0000 lds r27,(SollHoehe)+38559 4ad0 BC01 movw r22,r248560 4ad2 CD01 movw r24,r268561 4ad4 24E6 ldi r18,lo8(100)8562 4ad6 30E0 ldi r19,hi8(100)8563 4ad8 40E0 ldi r20,hlo8(100)8564 4ada 50E0 ldi r21,hhi8(100)8565 4adc 0E94 0000 call __divmodsi48566 4ae0 8E2D mov r24,r148567 4ae2 9927 clr r258568 4ae4 AA27 clr r268569 4ae6 BB27 clr r278570 4ae8 8217 cp r24,r188571 4aea 9307 cpc r25,r198572 4aec A407 cpc r26,r208573 4aee B507 cpc r27,r218574 4af0 04F4 brge .L6808575 4af2 D092 0000 sts (AltitudeSetpointTrimming)+1,r138576 4af6 C092 0000 sts AltitudeSetpointTrimming,r128577 4afa 00C0 rjmp .L6818578 .L680:8579 4afc C101 movw r24,r28580 4afe 801B sub r24,r168581 4b00 910B sbc r25,r178582 4b02 0F97 sbiw r24,158583 4b04 97FF sbrs r25,78584 4b06 00C0 rjmp .L6828585 4b08 9095 com r258586 4b0a 8195 neg r248587 4b0c 9F4F sbci r25,lo8(-1)8588 .L682:8589 4b0e 9093 0000 sts (AltitudeSetpointTrimming)+1,r258590 4b12 8093 0000 sts AltitudeSetpointTrimming,r248591 4b16 8BE2 ldi r24,lo8(43)8592 4b18 8093 0000 sts VarioCharacter,r248593 .L681:8594 4b1c 1092 0000 sts WaypointTrimming,__zero_reg__8595 4b20 00C0 rjmp .L6838596 .L678:8597 4b22 C801 movw r24,r168598 4b24 0F97 sbiw r24,158599 4b26 2816 cp r2,r248600 4b28 3906 cpc r3,r258601 4b2a 04F4 brge .L6848602 4b2c 2091 0000 lds r18,BaroAtLowerLimit.268603 4b30 2223 tst r188604 4b32 01F4 brne .L6848605 4b34 8091 0000 lds r24,FC_StatusFlags8606 4b38 86FF sbrs r24,68607 4b3a 00C0 rjmp .L6858608 4b3c 8091 0000 lds r24,FC_StatusFlags8609 4b40 8F7B andi r24,lo8(-65)8610 4b42 8093 0000 sts FC_StatusFlags,r248611 4b46 8091 0000 lds r24,HoehenWert8612 4b4a 9091 0000 lds r25,(HoehenWert)+18613 4b4e A091 0000 lds r26,(HoehenWert)+28614 4b52 B091 0000 lds r27,(HoehenWert)+38615 4b56 8093 0000 sts SollHoehe,r248616 4b5a 9093 0000 sts (SollHoehe)+1,r258617 4b5e A093 0000 sts (SollHoehe)+2,r268618 4b62 B093 0000 sts (SollHoehe)+3,r278619 .L685:8620 4b66 8091 0000 lds r24,FC_StatusFlags8621 4b6a 8068 ori r24,lo8(-128)8622 4b6c 8093 0000 sts FC_StatusFlags,r248623 4b70 C101 movw r24,r28624 4b72 801B sub r24,r168625 4b74 910B sbc r25,r178626 4b76 0F96 adiw r24,158627 4b78 97FF sbrs r25,78628 4b7a 00C0 rjmp .L6868629 4b7c 9095 com r258630 4b7e 8195 neg r248631 4b80 9F4F sbci r25,lo8(-1)8632 .L686:8633 4b82 9095 com r258634 4b84 8195 neg r248635 4b86 9F4F sbci r25,lo8(-1)8636 4b88 9093 0000 sts (AltitudeSetpointTrimming)+1,r258637 4b8c 8093 0000 sts AltitudeSetpointTrimming,r248638 4b90 8DE2 ldi r24,lo8(45)8639 4b92 8093 0000 sts VarioCharacter,r248640 4b96 2093 0000 sts WaypointTrimming,r188641 4b9a 00C0 rjmp .L6838642 .L684:8643 4b9c 8DE3 ldi r24,lo8(61)8644 4b9e 8093 0000 sts VarioCharacter,r248645 4ba2 6091 0000 lds r22,FromNC_AltitudeSpeed8646 4ba6 6623 tst r228647 4ba8 01F0 breq .L6888648 4baa 2091 0000 lds r18,FromNC_AltitudeSetpoint8649 4bae 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18650 4bb2 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28651 4bb6 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38652 4bba 8091 0000 lds r24,SollHoehe8653 4bbe 9091 0000 lds r25,(SollHoehe)+18654 4bc2 A091 0000 lds r26,(SollHoehe)+28655 4bc6 B091 0000 lds r27,(SollHoehe)+38656 4bca 8217 cp r24,r188657 4bcc 9307 cpc r25,r198658 4bce A407 cpc r26,r208659 4bd0 B507 cpc r27,r218660 4bd2 04F4 brge .L6888661 4bd4 8091 0000 lds r24,FC_StatusFlags8662 4bd8 8064 ori r24,lo8(64)8663 4bda 8093 0000 sts FC_StatusFlags,r248664 4bde 862F mov r24,r228665 4be0 9927 clr r258666 4be2 9093 0000 sts (AltitudeSetpointTrimming)+1,r258667 4be6 8093 0000 sts AltitudeSetpointTrimming,r248668 4bea 8AE0 ldi r24,lo8(10)8669 4bec 8093 0000 sts WaypointTrimming,r248670 4bf0 8EE5 ldi r24,lo8(94)8671 4bf2 8093 0000 sts VarioCharacter,r248672 4bf6 8091 0000 lds r24,FC_StatusFlags8673 4bfa 87FF sbrs r24,78674 4bfc 00C0 rjmp .L6838675 4bfe 8091 0000 lds r24,FC_StatusFlags8676 4c02 8F77 andi r24,lo8(127)8677 4c04 00C0 rjmp .L8998678 .L688:8679 4c06 6623 tst r228680 4c08 01F4 brne .+28681 4c0a 00C0 rjmp .L6918682 4c0c 2091 0000 lds r18,FromNC_AltitudeSetpoint8683 4c10 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+18684 4c14 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+28685 4c18 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+38686 4c1c 8091 0000 lds r24,SollHoehe8687 4c20 9091 0000 lds r25,(SollHoehe)+18688 4c24 A091 0000 lds r26,(SollHoehe)+28689 4c28 B091 0000 lds r27,(SollHoehe)+38690 4c2c 2817 cp r18,r248691 4c2e 3907 cpc r19,r258692 4c30 4A07 cpc r20,r268693 4c32 5B07 cpc r21,r278694 4c34 04F4 brge .L6918695 4c36 8091 0000 lds r24,FC_StatusFlags8696 4c3a 8068 ori r24,lo8(-128)8697 4c3c 8093 0000 sts FC_StatusFlags,r248698 4c40 862F mov r24,r228699 4c42 9927 clr r258700 4c44 9095 com r258701 4c46 8195 neg r248702 4c48 9F4F sbci r25,lo8(-1)8703 4c4a 9093 0000 sts (AltitudeSetpointTrimming)+1,r258704 4c4e 8093 0000 sts AltitudeSetpointTrimming,r248705 4c52 86EF ldi r24,lo8(-10)8706 4c54 8093 0000 sts WaypointTrimming,r248707 4c58 86E7 ldi r24,lo8(118)8708 4c5a 8093 0000 sts VarioCharacter,r248709 4c5e 8091 0000 lds r24,FC_StatusFlags8710 4c62 86FF sbrs r24,68711 4c64 00C0 rjmp .L6838712 4c66 8091 0000 lds r24,FC_StatusFlags8713 4c6a 8F7B andi r24,lo8(-65)8714 .L899:8715 4c6c 8093 0000 sts FC_StatusFlags,r248716 4c70 8091 0000 lds r24,HoehenWert8717 4c74 9091 0000 lds r25,(HoehenWert)+18718 4c78 A091 0000 lds r26,(HoehenWert)+28719 4c7c B091 0000 lds r27,(HoehenWert)+38720 4c80 8093 0000 sts SollHoehe,r248721 4c84 9093 0000 sts (SollHoehe)+1,r258722 4c88 A093 0000 sts (SollHoehe)+2,r268723 4c8c B093 0000 sts (SollHoehe)+3,r278724 4c90 00C0 rjmp .L6838725 .L691:8726 4c92 8091 0000 lds r24,FC_StatusFlags8727 4c96 807C andi r24,lo8(-64)8728 4c98 01F4 brne .+28729 4c9a 00C0 rjmp .L6838730 4c9c 8091 0000 lds r24,WaypointTrimming8731 4ca0 8823 tst r248732 4ca2 01F4 brne .L6958733 4ca4 E090 0000 lds r14,HoehenWert8734 4ca8 F090 0000 lds r15,(HoehenWert)+18735 4cac 0091 0000 lds r16,(HoehenWert)+28736 4cb0 1091 0000 lds r17,(HoehenWert)+38737 4cb4 D801 movw r26,r168738 4cb6 C701 movw r24,r148739 4cb8 8058 subi r24,lo8(-(-128))8740 4cba 9040 sbci r25,hi8(-(-128))8741 4cbc A040 sbci r26,hlo8(-(-128))8742 4cbe B040 sbci r27,hhi8(-(-128))8743 4cc0 2091 0000 lds r18,SollHoehe8744 4cc4 3091 0000 lds r19,(SollHoehe)+18745 4cc8 4091 0000 lds r20,(SollHoehe)+28746 4ccc 5091 0000 lds r21,(SollHoehe)+38747 4cd0 8217 cp r24,r188748 4cd2 9307 cpc r25,r198749 4cd4 A407 cpc r26,r208750 4cd6 B507 cpc r27,r218751 4cd8 04F4 brge .L8988752 4cda D801 movw r26,r168753 4cdc C701 movw r24,r148754 4cde 8058 subi r24,lo8(-(128))8755 4ce0 9F4F sbci r25,hi8(-(128))8756 4ce2 AF4F sbci r26,hlo8(-(128))8757 4ce4 BF4F sbci r27,hhi8(-(128))8758 4ce6 2817 cp r18,r248759 4ce8 3907 cpc r19,r258760 4cea 4A07 cpc r20,r268761 4cec 5B07 cpc r21,r278762 4cee 04F0 brlt .L6998763 .L898:8764 4cf0 8093 0000 sts SollHoehe,r248765 4cf4 9093 0000 sts (SollHoehe)+1,r258766 4cf8 A093 0000 sts (SollHoehe)+2,r268767 4cfc B093 0000 sts (SollHoehe)+3,r278768 4d00 00C0 rjmp .L6998769 .L695:8770 4d02 1092 0000 sts WaypointTrimming,__zero_reg__8771 .L699:8772 4d06 8091 0000 lds r24,FC_StatusFlags8773 4d0a 8F73 andi r24,lo8(63)8774 4d0c 8093 0000 sts FC_StatusFlags,r248775 4d10 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8776 4d14 1092 0000 sts HeightTrimming.21,__zero_reg__8777 4d18 71FF sbrs r23,18778 4d1a 00C0 rjmp .L7008779 4d1c 84EF ldi r24,lo8(500)8780 4d1e 91E0 ldi r25,hi8(500)8781 4d20 9093 0000 sts (beeptime)+1,r258782 4d24 8093 0000 sts beeptime,r248783 .L700:8784 4d28 8091 0000 lds r24,StartTrigger8785 4d2c 8823 tst r248786 4d2e 01F4 brne .L6838787 4d30 8091 0000 lds r24,HoehenWert8788 4d34 9091 0000 lds r25,(HoehenWert)+18789 4d38 A091 0000 lds r26,(HoehenWert)+28790 4d3c B091 0000 lds r27,(HoehenWert)+38791 4d40 C397 sbiw r24,518792 4d42 A105 cpc r26,__zero_reg__8793 4d44 B105 cpc r27,__zero_reg__8794 4d46 04F0 brlt .L6838795 4d48 81E0 ldi r24,lo8(1)8796 4d4a 8093 0000 sts StartTrigger,r248797 .L683:8798 4d4e 6091 0000 lds r22,HeightTrimming.218799 4d52 7091 0000 lds r23,(HeightTrimming.21)+18800 4d56 8091 0000 lds r24,AltitudeSetpointTrimming8801 4d5a 9091 0000 lds r25,(AltitudeSetpointTrimming)+18802 4d5e 680F add r22,r248803 4d60 791F adc r23,r258804 4d62 7093 0000 sts (HeightTrimming.21)+1,r238805 4d66 6093 0000 sts HeightTrimming.21,r228806 4d6a CB01 movw r24,r228807 4d6c 77FF sbrs r23,78808 4d6e 00C0 rjmp .L7038809 4d70 8827 clr r248810 4d72 9927 clr r258811 4d74 861B sub r24,r228812 4d76 970B sbc r25,r238813 .L703:8814 4d78 855F subi r24,lo8(501)8815 4d7a 9140 sbci r25,hi8(501)8816 4d7c 04F4 brge .+28817 4d7e 00C0 rjmp .L7028818 4d80 4091 0000 lds r20,WaypointTrimming8819 4d84 4423 tst r208820 4d86 01F0 breq .L7048821 4d88 8091 0000 lds r24,FromNC_AltitudeSetpoint8822 4d8c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18823 4d90 2091 0000 lds r18,SollHoehe8824 4d94 3091 0000 lds r19,(SollHoehe)+18825 4d98 821B sub r24,r188826 4d9a 930B sbc r25,r198827 4d9c 0996 adiw r24,98828 4d9e 4397 sbiw r24,198829 4da0 00F4 brsh .L7058830 4da2 8091 0000 lds r24,FromNC_AltitudeSetpoint8831 4da6 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+18832 4daa A091 0000 lds r26,(FromNC_AltitudeSetpoint)+28833 4dae B091 0000 lds r27,(FromNC_AltitudeSetpoint)+38834 4db2 00C0 rjmp .L9018835 .L705:8836 4db4 242F mov r18,r208837 4db6 3327 clr r198838 4db8 27FD sbrc r18,78839 4dba 3095 com r198840 4dbc 432F mov r20,r198841 4dbe 532F mov r21,r198842 4dc0 8091 0000 lds r24,SollHoehe8843 4dc4 9091 0000 lds r25,(SollHoehe)+18844 4dc8 A091 0000 lds r26,(SollHoehe)+28845 4dcc B091 0000 lds r27,(SollHoehe)+38846 4dd0 820F add r24,r188847 4dd2 931F adc r25,r198848 4dd4 A41F adc r26,r208849 4dd6 B51F adc r27,r218850 .L901:8851 4dd8 8093 0000 sts SollHoehe,r248852 4ddc 9093 0000 sts (SollHoehe)+1,r258853 4de0 A093 0000 sts (SollHoehe)+2,r268854 4de4 B093 0000 sts (SollHoehe)+3,r278855 4de8 00C0 rjmp .L7078856 .L704:8857 4dea 8091 0000 lds r24,EE_Parameter+188858 4dee 2091 0000 lds r18,SollHoehe8859 4df2 3091 0000 lds r19,(SollHoehe)+18860 4df6 4091 0000 lds r20,(SollHoehe)+28861 4dfa 5091 0000 lds r21,(SollHoehe)+38862 4dfe 1616 cp __zero_reg__,r228863 4e00 1706 cpc __zero_reg__,r238864 4e02 04F4 brge .L7088865 4e04 63E0 ldi r22,lo8(3)8866 4e06 0E94 0000 call __udivmodqi48867 4e0a 280F add r18,r248868 4e0c 311D adc r19,__zero_reg__8869 4e0e 411D adc r20,__zero_reg__8870 4e10 511D adc r21,__zero_reg__8871 4e12 00C0 rjmp .L9008872 .L708:8873 4e14 63E0 ldi r22,lo8(3)8874 4e16 0E94 0000 call __udivmodqi48875 4e1a 281B sub r18,r248876 4e1c 3109 sbc r19,__zero_reg__8877 4e1e 4109 sbc r20,__zero_reg__8878 4e20 5109 sbc r21,__zero_reg__8879 .L900:8880 4e22 2093 0000 sts SollHoehe,r188881 4e26 3093 0000 sts (SollHoehe)+1,r198882 4e2a 4093 0000 sts (SollHoehe)+2,r208883 4e2e 5093 0000 sts (SollHoehe)+3,r218884 .L707:8885 4e32 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__8886 4e36 1092 0000 sts HeightTrimming.21,__zero_reg__8887 4e3a E090 0000 lds r14,HoehenWert8888 4e3e F090 0000 lds r15,(HoehenWert)+18889 4e42 0091 0000 lds r16,(HoehenWert)+28890 4e46 1091 0000 lds r17,(HoehenWert)+38891 4e4a D801 movw r26,r168892 4e4c C701 movw r24,r148893 4e4e 8050 subi r24,lo8(-(-1024))8894 4e50 9440 sbci r25,hi8(-(-1024))8895 4e52 A040 sbci r26,hlo8(-(-1024))8896 4e54 B040 sbci r27,hhi8(-(-1024))8897 4e56 2091 0000 lds r18,SollHoehe8898 4e5a 3091 0000 lds r19,(SollHoehe)+18899 4e5e 4091 0000 lds r20,(SollHoehe)+28900 4e62 5091 0000 lds r21,(SollHoehe)+38901 4e66 8217 cp r24,r188902 4e68 9307 cpc r25,r198903 4e6a A407 cpc r26,r208904 4e6c B507 cpc r27,r218905 4e6e 04F4 brge .L9028906 4e70 D801 movw r26,r168907 4e72 C701 movw r24,r148908 4e74 8050 subi r24,lo8(-(1024))8909 4e76 9C4F sbci r25,hi8(-(1024))8910 4e78 AF4F sbci r26,hlo8(-(1024))8911 4e7a BF4F sbci r27,hhi8(-(1024))8912 4e7c 2817 cp r18,r248913 4e7e 3907 cpc r19,r258914 4e80 4A07 cpc r20,r268915 4e82 5B07 cpc r21,r278916 4e84 04F0 brlt .L7118917 .L902:8918 4e86 8093 0000 sts SollHoehe,r248919 4e8a 9093 0000 sts (SollHoehe)+1,r258920 4e8e A093 0000 sts (SollHoehe)+2,r268921 4e92 B093 0000 sts (SollHoehe)+3,r278922 .L711:8923 4e96 8091 0000 lds r24,Parameter_ExtraConfig8924 4e9a 81FF sbrs r24,18925 4e9c 00C0 rjmp .L7138926 4e9e 84E6 ldi r24,lo8(100)8927 4ea0 90E0 ldi r25,hi8(100)8928 4ea2 9093 0000 sts (beeptime)+1,r258929 4ea6 8093 0000 sts beeptime,r248930 .L713:8931 4eaa 8091 0000 lds r24,EE_Parameter+228932 4eae 8823 tst r248933 4eb0 01F4 brne .L7028934 4eb2 8091 0000 lds r24,FromNC_AltitudeSpeed8935 4eb6 8823 tst r248936 4eb8 01F4 brne .L7028937 4eba 4091 0000 lds r20,HoverGas8938 4ebe 5091 0000 lds r21,(HoverGas)+18939 4ec2 57FF sbrs r21,78940 4ec4 00C0 rjmp .L7158941 4ec6 4D5F subi r20,lo8(-(3))8942 4ec8 5F4F sbci r21,hi8(-(3))8943 .L715:8944 4eca 5595 asr r218945 4ecc 4795 ror r208946 4ece 5595 asr r218947 4ed0 4795 ror r208948 4ed2 8091 0000 lds r24,UBat8949 4ed6 9091 0000 lds r25,(UBat)+18950 4eda 2091 0000 lds r18,BattLowVoltageWarning8951 4ede 3327 clr r198952 4ee0 489F mul r20,r248953 4ee2 F001 movw r30,r08954 4ee4 499F mul r20,r258955 4ee6 F00D add r31,r08956 4ee8 589F mul r21,r248957 4eea F00D add r31,r08958 4eec 1124 clr r18959 4eee CF01 movw r24,r308960 4ef0 B901 movw r22,r188961 4ef2 0E94 0000 call __divmodhi48962 4ef6 7093 0000 sts (StickGasHover)+1,r238963 4efa 6093 0000 sts StickGasHover,r228964 4efe 6634 cpi r22,708965 4f00 7105 cpc r23,__zero_reg__8966 4f02 04F4 brge .L7168967 4f04 86E4 ldi r24,lo8(70)8968 4f06 90E0 ldi r25,hi8(70)8969 4f08 00C0 rjmp .L9038970 .L716:8971 4f0a 6739 cpi r22,1518972 4f0c 7105 cpc r23,__zero_reg__8973 4f0e 04F0 brlt .L7028974 4f10 86E9 ldi r24,lo8(150)8975 4f12 90E0 ldi r25,hi8(150)8976 .L903:8977 4f14 9093 0000 sts (StickGasHover)+1,r258978 4f18 8093 0000 sts StickGasHover,r248979 .L702:8980 4f1c 8091 0000 lds r24,BaroExpandActive8981 4f20 9091 0000 lds r25,(BaroExpandActive)+18982 4f24 892B or r24,r258983 4f26 01F0 breq .L7208984 4f28 8091 0000 lds r24,HoehenWert8985 4f2c 9091 0000 lds r25,(HoehenWert)+18986 4f30 A091 0000 lds r26,(HoehenWert)+28987 4f34 B091 0000 lds r27,(HoehenWert)+38988 4f38 8093 0000 sts SollHoehe,r248989 4f3c 9093 0000 sts (SollHoehe)+1,r258990 4f40 A093 0000 sts (SollHoehe)+2,r268991 4f44 B093 0000 sts (SollHoehe)+3,r278992 4f48 00C0 rjmp .L7208993 .L677:8994 4f4a 8091 0000 lds r24,HoehenWert8995 4f4e 9091 0000 lds r25,(HoehenWert)+18996 4f52 A091 0000 lds r26,(HoehenWert)+28997 4f56 B091 0000 lds r27,(HoehenWert)+38998 4f5a 8059 subi r24,lo8(-(-400))8999 4f5c 9140 sbci r25,hi8(-(-400))9000 4f5e A040 sbci r26,hlo8(-(-400))9001 4f60 B040 sbci r27,hhi8(-(-400))9002 4f62 8093 0000 sts SollHoehe,r249003 4f66 9093 0000 sts (SollHoehe)+1,r259004 4f6a A093 0000 sts (SollHoehe)+2,r269005 4f6e B093 0000 sts (SollHoehe)+3,r279006 4f72 8091 0000 lds r24,EE_Parameter+229007 4f76 8823 tst r249008 4f78 01F0 breq .L7219009 4f7a 9927 clr r259010 4f7c 00C0 rjmp .L9049011 .L721:9012 4f7e 88E7 ldi r24,lo8(120)9013 4f80 90E0 ldi r25,hi8(120)9014 .L904:9015 4f82 9093 0000 sts (StickGasHover)+1,r259016 4f86 8093 0000 sts StickGasHover,r249017 4f8a E980 ldd r14,Y+19018 4f8c FA80 ldd r15,Y+29019 4f8e F092 0000 sts (HoverGas)+1,r159020 4f92 E092 0000 sts HoverGas,r149021 4f96 8EE2 ldi r24,lo8(46)9022 4f98 8093 0000 sts VarioCharacter,r249023 .L720:9024 4f9c C090 0000 lds r12,HoverGas9025 4fa0 D090 0000 lds r13,(HoverGas)+19026 .L676:9027 4fa4 E090 0000 lds r14,HoehenWert9028 4fa8 F090 0000 lds r15,(HoehenWert)+19029 4fac 0091 0000 lds r16,(HoehenWert)+29030 4fb0 1091 0000 lds r17,(HoehenWert)+39031 4fb4 2091 0000 lds r18,SollHoehe9032 4fb8 3091 0000 lds r19,(SollHoehe)+19033 4fbc 4091 0000 lds r20,(SollHoehe)+29034 4fc0 5091 0000 lds r21,(SollHoehe)+39035 4fc4 2E15 cp r18,r149036 4fc6 3F05 cpc r19,r159037 4fc8 4007 cpc r20,r169038 4fca 5107 cpc r21,r179039 4fcc 04F0 brlt .L7249040 4fce 8091 0000 lds r24,Parameter_ExtraConfig9041 4fd2 80FD sbrc r24,09042 4fd4 00C0 rjmp .L7829043 .L724:9044 4fd6 8091 0000 lds r24,BaroExpandActive9045 4fda 9091 0000 lds r25,(BaroExpandActive)+19046 4fde 892B or r24,r259047 4fe0 01F0 breq .L7259048 4fe2 C090 0000 lds r12,HoverGas9049 4fe6 D090 0000 lds r13,(HoverGas)+19050 4fea 00E0 ldi r16,lo8(0)9051 4fec 10E0 ldi r17,hi8(0)9052 4fee 00C0 rjmp .L7269053 .L725:9054 4ff0 D801 movw r26,r169055 4ff2 C701 movw r24,r149056 4ff4 821B sub r24,r189057 4ff6 930B sbc r25,r199058 4ff8 A40B sbc r26,r209059 4ffa B50B sbc r27,r219060 4ffc 8093 0000 sts tmp_long.1,r249061 5000 9093 0000 sts (tmp_long.1)+1,r259062 5004 A093 0000 sts (tmp_long.1)+2,r269063 5008 B093 0000 sts (tmp_long.1)+3,r279064 500c 8230 cpi r24,lo8(-32766)9065 500e 00E8 ldi r16,hi8(-32766)9066 5010 9007 cpc r25,r169067 5012 0FEF ldi r16,hlo8(-32766)9068 5014 A007 cpc r26,r169069 5016 0FEF ldi r16,hhi8(-32766)9070 5018 B007 cpc r27,r169071 501a 04F4 brge .L7279072 501c 81E0 ldi r24,lo8(-32767)9073 501e 90E8 ldi r25,hi8(-32767)9074 5020 AFEF ldi r26,hlo8(-32767)9075 5022 BFEF ldi r27,hhi8(-32767)9076 5024 00C0 rjmp .L9059077 .L727:9078 5026 8F5F subi r24,lo8(32767)9079 5028 9F47 sbci r25,hi8(32767)9080 502a A040 sbci r26,hlo8(32767)9081 502c B040 sbci r27,hhi8(32767)9082 502e 04F0 brlt .L7289083 5030 8FEF ldi r24,lo8(32767)9084 5032 9FE7 ldi r25,hi8(32767)9085 5034 A0E0 ldi r26,hlo8(32767)9086 5036 B0E0 ldi r27,hhi8(32767)9087 .L905:9088 5038 8093 0000 sts tmp_long.1,r249089 503c 9093 0000 sts (tmp_long.1)+1,r259090 5040 A093 0000 sts (tmp_long.1)+2,r269091 5044 B093 0000 sts (tmp_long.1)+3,r279092 .L728:9093 5048 0091 0000 lds r16,tmp_long.19094 504c 1091 0000 lds r17,(tmp_long.1)+19095 5050 8091 0000 lds r24,Parameter_Hoehe_P9096 5054 282F mov r18,r249097 5056 3327 clr r199098 5058 4427 clr r209099 505a 5527 clr r219100 505c 8091 0000 lds r24,tmp_long.19101 5060 9091 0000 lds r25,(tmp_long.1)+19102 5064 A091 0000 lds r26,(tmp_long.1)+29103 5068 B091 0000 lds r27,(tmp_long.1)+39104 506c BC01 movw r22,r249105 506e CD01 movw r24,r269106 5070 0E94 0000 call __mulsi39107 5074 97FF sbrs r25,79108 5076 00C0 rjmp .L7309109 5078 615E subi r22,lo8(-(31))9110 507a 7F4F sbci r23,hi8(-(31))9111 507c 8F4F sbci r24,hlo8(-(31))9112 507e 9F4F sbci r25,hhi8(-(31))9113 .L730:9114 5080 25E0 ldi r18,59115 5082 9595 1: asr r259116 5084 8795 ror r249117 5086 7795 ror r239118 5088 6795 ror r229119 508a 2A95 dec r189120 508c 01F4 brne 1b9121 508e 6093 0000 sts tmp_long.1,r229122 5092 7093 0000 sts (tmp_long.1)+1,r239123 5096 8093 0000 sts (tmp_long.1)+2,r249124 509a 9093 0000 sts (tmp_long.1)+3,r259125 509e 6530 cpi r22,lo8(-507)9126 50a0 2EEF ldi r18,hi8(-507)9127 50a2 7207 cpc r23,r189128 50a4 2FEF ldi r18,hlo8(-507)9129 50a6 8207 cpc r24,r189130 50a8 2FEF ldi r18,hhi8(-507)9131 50aa 9207 cpc r25,r189132 50ac 04F4 brge .L7319133 50ae 84E0 ldi r24,lo8(-508)9134 50b0 9EEF ldi r25,hi8(-508)9135 50b2 AFEF ldi r26,hlo8(-508)9136 50b4 BFEF ldi r27,hhi8(-508)9137 50b6 00C0 rjmp .L9069138 .L731:9139 50b8 6050 subi r22,lo8(1024)9140 50ba 7440 sbci r23,hi8(1024)9141 50bc 8040 sbci r24,hlo8(1024)9142 50be 9040 sbci r25,hhi8(1024)9143 50c0 04F0 brlt .L7329144 50c2 80E0 ldi r24,lo8(1024)9145 50c4 94E0 ldi r25,hi8(1024)9146 50c6 A0E0 ldi r26,hlo8(1024)9147 50c8 B0E0 ldi r27,hhi8(1024)9148 .L906:9149 50ca 8093 0000 sts tmp_long.1,r249150 50ce 9093 0000 sts (tmp_long.1)+1,r259151 50d2 A093 0000 sts (tmp_long.1)+2,r269152 50d6 B093 0000 sts (tmp_long.1)+3,r279153 .L732:9154 50da 8090 0000 lds r8,tmp_long.19155 50de 9090 0000 lds r9,(tmp_long.1)+19156 50e2 2091 0000 lds r18,VarioMeter9157 50e6 3091 0000 lds r19,(VarioMeter)+19158 50ea 37FF sbrs r19,79159 50ec 00C0 rjmp .L7349160 50ee 295F subi r18,lo8(-(7))9161 50f0 3F4F sbci r19,hi8(-(7))9162 .L734:9163 50f2 83E0 ldi r24,39164 50f4 3595 1: asr r199165 50f6 2795 ror r189166 50f8 8A95 dec r249167 50fa 01F4 brne 1b9168 50fc 4FEF ldi r20,hi8(-126)9169 50fe 2238 cpi r18,lo8(-126)9170 5100 3407 cpc r19,r209171 5102 04F4 brge .L7359172 5104 21E8 ldi r18,lo8(-127)9173 5106 3FEF ldi r19,hi8(-127)9174 5108 00C0 rjmp .L7369175 .L735:9176 510a 2038 cpi r18,1289177 510c 3105 cpc r19,__zero_reg__9178 510e 04F0 brlt .L7369179 5110 20E8 ldi r18,lo8(128)9180 5112 30E0 ldi r19,hi8(128)9181 .L736:9182 5114 C901 movw r24,r189183 5116 AA27 clr r269184 5118 97FD sbrc r25,79185 511a A095 com r269186 511c BA2F mov r27,r269187 511e 2091 0000 lds r18,Parameter_Luftdruck_D9188 5122 3327 clr r199189 5124 4427 clr r209190 5126 5527 clr r219191 5128 BC01 movw r22,r249192 512a CD01 movw r24,r269193 512c 0E94 0000 call __mulsi39194 5130 97FF sbrs r25,79195 5132 00C0 rjmp .L7389196 5134 6D5F subi r22,lo8(-(3))9197 5136 7F4F sbci r23,hi8(-(3))9198 5138 8F4F sbci r24,hlo8(-(3))9199 513a 9F4F sbci r25,hhi8(-(3))9200 .L738:9201 513c B2E0 ldi r27,29202 513e 9595 1: asr r259203 5140 8795 ror r249204 5142 7795 ror r239205 5144 6795 ror r229206 5146 BA95 dec r279207 5148 01F4 brne 1b9208 514a 9B01 movw r18,r229209 514c 5FEF ldi r21,hi8(-255)9210 514e 6130 cpi r22,lo8(-255)9211 5150 7507 cpc r23,r219212 5152 04F4 brge .L7399213 5154 20E0 ldi r18,lo8(-256)9214 5156 3FEF ldi r19,hi8(-256)9215 5158 00C0 rjmp .L7409216 .L739:9217 515a 6F3F cpi r22,2559218 515c 7105 cpc r23,__zero_reg__9219 515e 01F0 breq .L7409220 5160 04F0 brlt .L7409221 5162 20E0 ldi r18,lo8(256)9222 5164 31E0 ldi r19,hi8(256)9223 .L740:9224 5166 8091 0000 lds r24,FC_StatusFlags9225 516a 807C andi r24,lo8(-64)9226 516c 01F0 breq .L7429227 516e C901 movw r24,r189228 5170 37FD sbrc r19,79229 5172 0396 adiw r24,39230 .L743:9231 5174 9C01 movw r18,r249232 5176 3595 asr r199233 5178 2795 ror r189234 517a 3595 asr r199235 517c 2795 ror r189236 517e 00C0 rjmp .L7449237 .L742:9238 5180 8091 0000 lds r24,Parameter_ExtraConfig9239 5184 80FF sbrs r24,09240 5186 00C0 rjmp .L7449241 5188 C901 movw r24,r189242 518a 37FD sbrc r19,79243 518c 0796 adiw r24,79244 .L746:9245 518e 9C01 movw r18,r249246 5190 F3E0 ldi r31,39247 5192 3595 1: asr r199248 5194 2795 ror r189249 5196 FA95 dec r319250 5198 01F4 brne 1b9251 .L744:9252 519a 820E add r8,r189253 519c 931E adc r9,r199254 .L726:9255 519e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung9256 51a2 2223 tst r189257 51a4 01F4 brne .+29258 51a6 00C0 rjmp .L7479259 51a8 6091 0000 lds r22,Mess_Integral_Hoch9260 51ac 7091 0000 lds r23,(Mess_Integral_Hoch)+19261 51b0 8091 0000 lds r24,(Mess_Integral_Hoch)+29262 51b4 9091 0000 lds r25,(Mess_Integral_Hoch)+39263 51b8 97FF sbrs r25,79264 51ba 00C0 rjmp .L7489265 51bc 6158 subi r22,lo8(-(127))9266 51be 7F4F sbci r23,hi8(-(127))9267 51c0 8F4F sbci r24,hlo8(-(127))9268 51c2 9F4F sbci r25,hhi8(-(127))9269 .L748:9270 51c4 E7E0 ldi r30,79271 51c6 9595 1: asr r259272 51c8 8795 ror r249273 51ca 7795 ror r239274 51cc 6795 ror r229275 51ce EA95 dec r309276 51d0 01F4 brne 1b9277 51d2 3327 clr r199278 51d4 4427 clr r209279 51d6 5527 clr r219280 51d8 0E94 0000 call __mulsi39281 51dc 97FF sbrs r25,79282 51de 00C0 rjmp .L7499283 51e0 615E subi r22,lo8(-(31))9284 51e2 7F4F sbci r23,hi8(-(31))9285 51e4 8F4F sbci r24,hlo8(-(31))9286 51e6 9F4F sbci r25,hhi8(-(31))9287 .L749:9288 51e8 55E0 ldi r21,59289 51ea 9595 1: asr r259290 51ec 8795 ror r249291 51ee 7795 ror r239292 51f0 6795 ror r229293 51f2 5A95 dec r219294 51f4 01F4 brne 1b9295 51f6 6093 0000 sts tmp_long.1,r229296 51fa 7093 0000 sts (tmp_long.1)+1,r239297 51fe 8093 0000 sts (tmp_long.1)+2,r249298 5202 9093 0000 sts (tmp_long.1)+3,r259299 5206 6138 cpi r22,lo8(-127)9300 5208 AFEF ldi r26,hi8(-127)9301 520a 7A07 cpc r23,r269302 520c AFEF ldi r26,hlo8(-127)9303 520e 8A07 cpc r24,r269304 5210 AFEF ldi r26,hhi8(-127)9305 5212 9A07 cpc r25,r269306 5214 04F4 brge .L7509307 5216 80E8 ldi r24,lo8(-128)9308 5218 9FEF ldi r25,hi8(-128)9309 521a AFEF ldi r26,hlo8(-128)9310 521c BFEF ldi r27,hhi8(-128)9311 521e 00C0 rjmp .L9079312 .L750:9313 5220 6F3F cpi r22,lo8(255)9314 5222 7105 cpc r23,__zero_reg__9315 5224 8105 cpc r24,__zero_reg__9316 5226 9105 cpc r25,__zero_reg__9317 5228 01F0 breq .L7519318 522a 04F0 brlt .L7519319 522c 80E0 ldi r24,lo8(256)9320 522e 91E0 ldi r25,hi8(256)9321 5230 A0E0 ldi r26,hlo8(256)9322 5232 B0E0 ldi r27,hhi8(256)9323 .L907:9324 5234 8093 0000 sts tmp_long.1,r249325 5238 9093 0000 sts (tmp_long.1)+1,r259326 523c A093 0000 sts (tmp_long.1)+2,r269327 5240 B093 0000 sts (tmp_long.1)+3,r279328 .L751:9329 5244 8091 0000 lds r24,tmp_long.19330 5248 9091 0000 lds r25,(tmp_long.1)+19331 524c 880E add r8,r249332 524e 991E adc r9,r259333 .L747:9334 5250 8091 0000 lds r24,Parameter_Hoehe_GPS_Z9335 5254 282F mov r18,r249336 5256 3327 clr r199337 5258 8091 0000 lds r24,FromNaviCtrl_Value+49338 525c 9927 clr r259339 525e 87FD sbrc r24,79340 5260 9095 com r259341 5262 289F mul r18,r249342 5264 F001 movw r30,r09343 5266 299F mul r18,r259344 5268 F00D add r31,r09345 526a 389F mul r19,r249346 526c F00D add r31,r09347 526e 1124 clr r19348 5270 9F01 movw r18,r309349 5272 F7FF sbrs r31,79350 5274 00C0 rjmp .L7539351 5276 2158 subi r18,lo8(-(127))9352 5278 3F4F sbci r19,hi8(-(127))9353 .L753:9354 527a 220F lsl r189355 527c 232F mov r18,r199356 527e 221F rol r189357 5280 330B sbc r19,r199358 5282 FFEF ldi r31,hi8(-127)9359 5284 2138 cpi r18,lo8(-127)9360 5286 3F07 cpc r19,r319361 5288 04F4 brge .L7549362 528a 20E8 ldi r18,lo8(-128)9363 528c 3FEF ldi r19,hi8(-128)9364 528e 00C0 rjmp .L7559365 .L754:9366 5290 2F3F cpi r18,2559367 5292 3105 cpc r19,__zero_reg__9368 5294 01F0 breq .L7559369 5296 04F0 brlt .L7559370 5298 20E0 ldi r18,lo8(256)9371 529a 31E0 ldi r19,hi8(256)9372 .L755:9373 529c 820E add r8,r189374 529e 931E adc r9,r199375 52a0 C401 movw r24,r89376 52a2 AA27 clr r269377 52a4 97FD sbrc r25,79378 52a6 A095 com r269379 52a8 BA2F mov r27,r269380 52aa E090 0000 lds r14,HoverGas9381 52ae F090 0000 lds r15,(HoverGas)+19382 52b2 9701 movw r18,r149383 52b4 4427 clr r209384 52b6 37FD sbrc r19,79385 52b8 4095 com r209386 52ba 542F mov r21,r209387 52bc BC01 movw r22,r249388 52be CD01 movw r24,r269389 52c0 0E94 0000 call __mulsi39390 52c4 97FF sbrs r25,79391 52c6 00C0 rjmp .L7579392 52c8 6150 subi r22,lo8(-(511))9393 52ca 7E4F sbci r23,hi8(-(511))9394 52cc 8F4F sbci r24,hlo8(-(511))9395 52ce 9F4F sbci r25,hhi8(-(511))9396 .L757:9397 52d0 29E0 ldi r18,99398 52d2 9595 1: asr r259399 52d4 8795 ror r249400 52d6 7795 ror r239401 52d8 6795 ror r229402 52da 2A95 dec r189403 52dc 01F4 brne 1b9404 52de C61A sub r12,r229405 52e0 D70A sbc r13,r239406 52e2 8091 0000 lds r24,AltitudeSetpointTrimming9407 52e6 9091 0000 lds r25,(AltitudeSetpointTrimming)+19408 52ea 892B or r24,r259409 52ec 01F0 breq .+29410 52ee 00C0 rjmp .L7589411 52f0 1E14 cp __zero_reg__,r149412 52f2 1F04 cpc __zero_reg__,r159413 52f4 04F0 brlt .+29414 52f6 00C0 rjmp .L7589415 52f8 9801 movw r18,r169416 52fa 17FF sbrs r17,79417 52fc 00C0 rjmp .L7599418 52fe 3095 com r199419 5300 2195 neg r189420 5302 3F4F sbci r19,lo8(-1)9421 .L759:9422 5304 2D33 cpi r18,619423 5306 3105 cpc r19,__zero_reg__9424 5308 00F4 brsh .L7609425 530a 8091 0000 lds r24,HoverGasMin9426 530e 9091 0000 lds r25,(HoverGasMin)+19427 5312 8C15 cp r24,r129428 5314 9D05 cpc r25,r139429 5316 04F4 brge .L9099430 5318 00C0 rjmp .L9189431 .L760:9432 531a 2C53 subi r18,lo8(-(-60))9433 531c 3040 sbci r19,hi8(-(-60))9434 531e 85E0 ldi r24,59435 5320 3695 1: lsr r199436 5322 2795 ror r189437 5324 8A95 dec r249438 5326 01F4 brne 1b9439 5328 2031 cpi r18,169440 532a 3105 cpc r19,__zero_reg__9441 532c 00F0 brlo .L7659442 532e 2FE0 ldi r18,lo8(15)9443 5330 30E0 ldi r19,hi8(15)9444 .L765:9445 5332 4091 0000 lds r20,HoverGasMin9446 5336 5091 0000 lds r21,(HoverGasMin)+19447 533a 1016 cp __zero_reg__,r169448 533c 1106 cpc __zero_reg__,r179449 533e 04F4 brge .L7669450 5340 80E1 ldi r24,lo8(16)9451 5342 90E0 ldi r25,hi8(16)9452 5344 821B sub r24,r189453 5346 930B sbc r25,r199454 5348 489F mul r20,r249455 534a 9001 movw r18,r09456 534c 499F mul r20,r259457 534e 300D add r19,r09458 5350 589F mul r21,r249459 5352 300D add r19,r09460 5354 1124 clr r19461 5356 B4E0 ldi r27,49462 5358 3695 1: lsr r199463 535a 2795 ror r189464 535c BA95 dec r279465 535e 01F4 brne 1b9466 5360 2C15 cp r18,r129467 5362 3D05 cpc r19,r139468 5364 00F4 brsh .L9089469 .L918:9470 5366 8091 0000 lds r24,HoverGasMax9471 536a 9091 0000 lds r25,(HoverGasMax)+19472 536e C816 cp r12,r249473 5370 D906 cpc r13,r259474 5372 04F0 brlt .L7589475 .L909:9476 5374 6C01 movw r12,r249477 5376 00C0 rjmp .L7589478 .L766:9479 5378 205F subi r18,lo8(-(16))9480 537a 3F4F sbci r19,hi8(-(16))9481 537c 8091 0000 lds r24,HoverGasMax9482 5380 9091 0000 lds r25,(HoverGasMax)+19483 5384 829F mul r24,r189484 5386 8001 movw r16,r09485 5388 839F mul r24,r199486 538a 100D add r17,r09487 538c 929F mul r25,r189488 538e 100D add r17,r09489 5390 1124 clr r19490 5392 9801 movw r18,r169491 5394 A4E0 ldi r26,49492 5396 3695 1: lsr r199493 5398 2795 ror r189494 539a AA95 dec r269495 539c 01F4 brne 1b9496 539e 4C15 cp r20,r129497 53a0 5D05 cpc r21,r139498 53a2 04F0 brlt .L7719499 53a4 6A01 movw r12,r209500 53a6 00C0 rjmp .L7589501 .L771:9502 53a8 C216 cp r12,r189503 53aa D306 cpc r13,r199504 53ac 00F0 brlo .L7589505 .L908:9506 53ae 6901 movw r12,r189507 .L758:9508 53b0 C601 movw r24,r129509 53b2 AA27 clr r269510 53b4 97FD sbrc r25,79511 53b6 A095 com r269512 53b8 BA2F mov r27,r269513 53ba FDE0 ldi r31,139514 53bc 880F 1: lsl r249515 53be 991F rol r259516 53c0 AA1F rol r269517 53c2 BB1F rol r279518 53c4 FA95 dec r319519 53c6 01F4 brne 1b9520 53c8 9501 movw r18,r109521 53ca 4427 clr r209522 53cc 37FD sbrc r19,79523 53ce 4095 com r209524 53d0 542F mov r21,r209525 53d2 BC01 movw r22,r249526 53d4 CD01 movw r24,r269527 53d6 0E94 0000 call __divmodsi49528 53da 2093 0000 sts tmp_long2.2,r189529 53de 3093 0000 sts (tmp_long2.2)+1,r199530 53e2 4093 0000 sts (tmp_long2.2)+2,r209531 53e6 5093 0000 sts (tmp_long2.2)+3,r219532 53ea C090 0000 lds r12,tmp_long2.29533 53ee D090 0000 lds r13,(tmp_long2.2)+19534 53f2 8091 0000 lds r24,FilterHCGas.229535 53f6 9091 0000 lds r25,(FilterHCGas.22)+19536 53fa 9C01 movw r18,r249537 53fc 220F lsl r189538 53fe 331F rol r199539 5400 280F add r18,r249540 5402 391F adc r19,r259541 5404 2C0D add r18,r129542 5406 3D1D adc r19,r139543 5408 37FF sbrs r19,79544 540a 00C0 rjmp .L7749545 540c 2D5F subi r18,lo8(-(3))9546 540e 3F4F sbci r19,hi8(-(3))9547 .L774:9548 5410 A901 movw r20,r189549 5412 5595 asr r219550 5414 4795 ror r209551 5416 5595 asr r219552 5418 4795 ror r209553 541a 5093 0000 sts (FilterHCGas.22)+1,r219554 541e 4093 0000 sts FilterHCGas.22,r209555 5422 8091 0000 lds r24,EE_Parameter+149556 5426 282F mov r18,r249557 5428 3327 clr r199558 542a 220F lsl r189559 542c 331F rol r199560 542e 220F lsl r189561 5430 331F rol r199562 5432 2417 cp r18,r209563 5434 3507 cpc r19,r219564 5436 04F4 brge .L9109565 5438 8091 0000 lds r24,MAX_GAS9566 543c 282F mov r18,r249567 543e 3327 clr r199568 5440 220F lsl r189569 5442 331F rol r199570 5444 220F lsl r189571 5446 331F rol r199572 5448 2055 subi r18,lo8(-(-80))9573 544a 3040 sbci r19,hi8(-(-80))9574 544c 4217 cp r20,r189575 544e 5307 cpc r21,r199576 5450 04F0 brlt .L7769577 .L910:9578 5452 3093 0000 sts (FilterHCGas.22)+1,r199579 5456 2093 0000 sts FilterHCGas.22,r189580 .L776:9581 545a 8091 0000 lds r24,Parameter_ExtraConfig9582 545e 80FF sbrs r24,09583 5460 00C0 rjmp .L7789584 5462 8091 0000 lds r24,FilterHCGas.229585 5466 9091 0000 lds r25,(FilterHCGas.22)+19586 546a 2981 ldd r18,Y+19587 546c 3A81 ldd r19,Y+29588 546e 8217 cp r24,r189589 5470 9307 cpc r25,r199590 5472 04F0 brlt .L7799591 5474 3093 0000 sts (FilterHCGas.22)+1,r199592 5478 2093 0000 sts FilterHCGas.22,r189593 .L779:9594 547c 4091 0000 lds r20,FilterHCGas.229595 5480 5091 0000 lds r21,(FilterHCGas.22)+19596 5484 5A83 std Y+2,r219597 5486 4983 std Y+1,r209598 5488 00C0 rjmp .L7829599 .L778:9600 548a 2981 ldd r18,Y+19601 548c 3A81 ldd r19,Y+29602 548e 2E19 sub r18,r149603 5490 3F09 sbc r19,r159604 5492 37FF sbrs r19,79605 5494 00C0 rjmp .L7819606 5496 2D5F subi r18,lo8(-(3))9607 5498 3F4F sbci r19,hi8(-(3))9608 .L781:9609 549a 3595 asr r199610 549c 2795 ror r189611 549e 3595 asr r199612 54a0 2795 ror r189613 54a2 6091 0000 lds r22,FilterHCGas.229614 54a6 7091 0000 lds r23,(FilterHCGas.22)+19615 54aa 620F add r22,r189616 54ac 731F adc r23,r199617 54ae 7A83 std Y+2,r239618 54b0 6983 std Y+1,r229619 54b2 00C0 rjmp .L7829620 .L673:9621 54b4 8091 0000 lds r24,EE_Parameter+229622 54b8 8823 tst r249623 54ba 01F4 brne .L7839624 54bc 6091 0000 lds r22,HoverGas9625 54c0 7091 0000 lds r23,(HoverGas)+19626 54c4 77FF sbrs r23,79627 54c6 00C0 rjmp .L7849628 54c8 6D5F subi r22,lo8(-(3))9629 54ca 7F4F sbci r23,hi8(-(3))9630 .L784:9631 54cc 7595 asr r239632 54ce 6795 ror r229633 54d0 7595 asr r239634 54d2 6795 ror r229635 54d4 4091 0000 lds r20,UBat9636 54d8 5091 0000 lds r21,(UBat)+19637 54dc 8091 0000 lds r24,BattLowVoltageWarning9638 54e0 282F mov r18,r249639 54e2 3327 clr r199640 54e4 649F mul r22,r209641 54e6 C001 movw r24,r09642 54e8 659F mul r22,r219643 54ea 900D add r25,r09644 54ec 749F mul r23,r209645 54ee 900D add r25,r09646 54f0 1124 clr r19647 54f2 B901 movw r22,r189648 54f4 0E94 0000 call __divmodhi49649 54f8 CB01 movw r24,r229650 54fa 00C0 rjmp .L9119651 .L783:9652 54fc 9927 clr r259653 .L911:9654 54fe 9093 0000 sts (StickGasHover)+1,r259655 5502 8093 0000 sts StickGasHover,r249656 5506 8091 0000 lds r24,StickGasHover9657 550a 9091 0000 lds r25,(StickGasHover)+19658 550e 8734 cpi r24,719659 5510 9105 cpc r25,__zero_reg__9660 5512 04F4 brge .L7869661 5514 86E4 ldi r24,lo8(70)9662 5516 90E0 ldi r25,hi8(70)9663 5518 00C0 rjmp .L9129664 .L786:9665 551a 8639 cpi r24,1509666 551c 9105 cpc r25,__zero_reg__9667 551e 04F0 brlt .L7879668 5520 86E9 ldi r24,lo8(150)9669 5522 90E0 ldi r25,hi8(150)9670 .L912:9671 5524 9093 0000 sts (StickGasHover)+1,r259672 5528 8093 0000 sts StickGasHover,r249673 .L787:9674 552c 8981 ldd r24,Y+19675 552e 9A81 ldd r25,Y+29676 5530 9093 0000 sts (FilterHCGas.22)+1,r259677 5534 8093 0000 sts FilterHCGas.22,r249678 5538 8091 0000 lds r24,FC_StatusFlags9679 553c 806C ori r24,lo8(-64)9680 553e 8093 0000 sts FC_StatusFlags,r249681 5542 8091 0000 lds r24,FC_StatusFlags29682 5546 8D7F andi r24,lo8(-3)9683 5548 8093 0000 sts FC_StatusFlags2,r249684 .L782:9685 554c 8091 0000 lds r24,FC_StatusFlags9686 5550 9927 clr r259687 5552 9C01 movw r18,r249688 5554 2270 andi r18,lo8(2)9689 5556 3070 andi r19,hi8(2)9690 5558 81FF sbrs r24,19691 555a 00C0 rjmp .L7899692 555c 8091 0000 lds r24,HoverGasFilter.239693 5560 9091 0000 lds r25,(HoverGasFilter.23)+19694 5564 A091 0000 lds r26,(HoverGasFilter.23)+29695 5568 B091 0000 lds r27,(HoverGasFilter.23)+39696 556c 0097 sbiw r24,09697 556e A105 cpc r26,__zero_reg__9698 5570 B105 cpc r27,__zero_reg__9699 5572 01F0 breq .L7919700 5574 8091 0000 lds r24,StartTrigger9701 5578 8130 cpi r24,lo8(1)9702 557a 01F4 brne .L7909703 .L791:9704 557c E981 ldd r30,Y+19705 557e FA81 ldd r31,Y+29706 5580 CF01 movw r24,r309707 5582 AA27 clr r269708 5584 97FD sbrc r25,79709 5586 A095 com r269710 5588 BA2F mov r27,r269711 558a 1EE0 ldi r17,149712 558c 880F 1: lsl r249713 558e 991F rol r259714 5590 AA1F rol r269715 5592 BB1F rol r279716 5594 1A95 dec r179717 5596 01F4 brne 1b9718 5598 8093 0000 sts HoverGasFilter.23,r249719 559c 9093 0000 sts (HoverGasFilter.23)+1,r259720 55a0 A093 0000 sts (HoverGasFilter.23)+2,r269721 55a4 B093 0000 sts (HoverGasFilter.23)+3,r279722 .L790:9723 55a8 8091 0000 lds r24,StartTrigger9724 55ac 8130 cpi r24,lo8(1)9725 55ae 01F4 brne .L7929726 55b0 82E0 ldi r24,lo8(2)9727 55b2 8093 0000 sts StartTrigger,r249728 .L792:9729 55b6 E980 ldd r14,Y+19730 55b8 FA80 ldd r15,Y+29731 55ba C701 movw r24,r149732 55bc AA27 clr r269733 55be 97FD sbrc r25,79734 55c0 A095 com r269735 55c2 BA2F mov r27,r269736 55c4 9501 movw r18,r109737 55c6 4427 clr r209738 55c8 37FD sbrc r19,79739 55ca 4095 com r209740 55cc 542F mov r21,r209741 55ce BC01 movw r22,r249742 55d0 CD01 movw r24,r269743 55d2 0E94 0000 call __mulsi39744 55d6 DC01 movw r26,r249745 55d8 CB01 movw r24,r229746 55da 8093 0000 sts tmp_long2.2,r249747 55de 9093 0000 sts (tmp_long2.2)+1,r259748 55e2 A093 0000 sts (tmp_long2.2)+2,r269749 55e6 B093 0000 sts (tmp_long2.2)+3,r279750 55ea B7FF sbrs r27,79751 55ec 00C0 rjmp .L7939752 55ee 8150 subi r24,lo8(-(8191))9753 55f0 904E sbci r25,hi8(-(8191))9754 55f2 AF4F sbci r26,hlo8(-(8191))9755 55f4 BF4F sbci r27,hhi8(-(8191))9756 .L793:9757 55f6 7C01 movw r14,r249758 55f8 8D01 movw r16,r269759 55fa ADE0 ldi r26,139760 55fc 1595 1: asr r179761 55fe 0795 ror r169762 5600 F794 ror r159763 5602 E794 ror r149764 5604 AA95 dec r269765 5606 01F4 brne 1b9766 5608 E092 0000 sts tmp_long2.2,r149767 560c F092 0000 sts (tmp_long2.2)+1,r159768 5610 0093 0000 sts (tmp_long2.2)+2,r169769 5614 1093 0000 sts (tmp_long2.2)+3,r179770 5618 6091 0000 lds r22,modell_fliegt9771 561c 7091 0000 lds r23,(modell_fliegt)+19772 5620 2FE0 ldi r18,hi8(4000)9773 5622 603A cpi r22,lo8(4000)9774 5624 7207 cpc r23,r189775 5626 00F4 brsh .L7949776 5628 8091 0000 lds r24,HoverGasFilter.239777 562c 9091 0000 lds r25,(HoverGasFilter.23)+19778 5630 A091 0000 lds r26,(HoverGasFilter.23)+29779 5634 B091 0000 lds r27,(HoverGasFilter.23)+39780 5638 9C01 movw r18,r249781 563a AD01 movw r20,r269782 563c FAE0 ldi r31,109783 563e 5695 1: lsr r219784 5640 4795 ror r209785 5642 3795 ror r199786 5644 2795 ror r189787 5646 FA95 dec r319788 5648 01F4 brne 1b9789 564a 821B sub r24,r189790 564c 930B sbc r25,r199791 564e A40B sbc r26,r209792 5650 B50B sbc r27,r219793 5652 A801 movw r20,r169794 5654 9701 movw r18,r149795 5656 E4E0 ldi r30,49796 5658 220F 1: lsl r189797 565a 331F rol r199798 565c 441F rol r209799 565e 551F rol r219800 5660 EA95 dec r309801 5662 01F4 brne 1b9802 5664 820F add r24,r189803 5666 931F adc r25,r199804 5668 A41F adc r26,r209805 566a B51F adc r27,r219806 566c 8093 0000 sts HoverGasFilter.23,r249807 5670 9093 0000 sts (HoverGasFilter.23)+1,r259808 5674 A093 0000 sts (HoverGasFilter.23)+2,r269809 5678 B093 0000 sts (HoverGasFilter.23)+3,r279810 .L794:9811 567c 6054 subi r22,lo8(8000)9812 567e 7F41 sbci r23,hi8(8000)9813 5680 00F4 brsh .L7959814 5682 8091 0000 lds r24,HoverGasFilter.239815 5686 9091 0000 lds r25,(HoverGasFilter.23)+19816 568a A091 0000 lds r26,(HoverGasFilter.23)+29817 568e B091 0000 lds r27,(HoverGasFilter.23)+39818 5692 9C01 movw r18,r249819 5694 AD01 movw r20,r269820 5696 6CE0 ldi r22,129821 5698 5695 1: lsr r219822 569a 4795 ror r209823 569c 3795 ror r199824 569e 2795 ror r189825 56a0 6A95 dec r229826 56a2 01F4 brne 1b9827 56a4 821B sub r24,r189828 56a6 930B sbc r25,r199829 56a8 A40B sbc r26,r209830 56aa B50B sbc r27,r219831 56ac A801 movw r20,r169832 56ae 9701 movw r18,r149833 56b0 F2E0 ldi r31,29834 56b2 220F 1: lsl r189835 56b4 331F rol r199836 56b6 441F rol r209837 56b8 551F rol r219838 56ba FA95 dec r319839 56bc 01F4 brne 1b9840 56be 820F add r24,r189841 56c0 931F adc r25,r199842 56c2 A41F adc r26,r209843 56c4 B51F adc r27,r219844 56c6 00C0 rjmp .L9139845 .L795:9846 56c8 8091 0000 lds r24,VarioMeter9847 56cc 9091 0000 lds r25,(VarioMeter)+19848 56d0 8091 0000 lds r24,VarioMeter9849 56d4 9091 0000 lds r25,(VarioMeter)+19850 56d8 97FF sbrs r25,79851 56da 00C0 rjmp .L7989852 56dc 9095 com r259853 56de 8195 neg r249854 56e0 9F4F sbci r25,lo8(-1)9855 .L798:9856 56e2 8436 cpi r24,1009857 56e4 9105 cpc r25,__zero_reg__9858 56e6 04F4 brge .L7969859 56e8 8091 0000 lds r24,HoehenWert9860 56ec 9091 0000 lds r25,(HoehenWert)+19861 56f0 2091 0000 lds r18,SollHoehe9862 56f4 3091 0000 lds r19,(SollHoehe)+19863 56f8 821B sub r24,r189864 56fa 930B sbc r25,r199865 56fc 8150 subi r24,lo8(-(255))9866 56fe 9F4F sbci r25,hi8(-(255))9867 5700 8F5F subi r24,lo8(511)9868 5702 9140 sbci r25,hi8(511)9869 5704 00F4 brsh .L7969870 5706 8091 0000 lds r24,HoverGasFilter.239871 570a 9091 0000 lds r25,(HoverGasFilter.23)+19872 570e A091 0000 lds r26,(HoverGasFilter.23)+29873 5712 B091 0000 lds r27,(HoverGasFilter.23)+39874 5716 9C01 movw r18,r249875 5718 AD01 movw r20,r269876 571a EEE0 ldi r30,149877 571c 5695 1: lsr r219878 571e 4795 ror r209879 5720 3795 ror r199880 5722 2795 ror r189881 5724 EA95 dec r309882 5726 01F4 brne 1b9883 5728 821B sub r24,r189884 572a 930B sbc r25,r199885 572c A40B sbc r26,r209886 572e B50B sbc r27,r219887 5730 8E0D add r24,r149888 5732 9F1D adc r25,r159889 5734 A01F adc r26,r169890 5736 B11F adc r27,r179891 .L913:9892 5738 8093 0000 sts HoverGasFilter.23,r249893 573c 9093 0000 sts (HoverGasFilter.23)+1,r259894 5740 A093 0000 sts (HoverGasFilter.23)+2,r269895 5744 B093 0000 sts (HoverGasFilter.23)+3,r279896 .L796:9897 5748 8091 0000 lds r24,HoverGasFilter.239898 574c 9091 0000 lds r25,(HoverGasFilter.23)+19899 5750 A091 0000 lds r26,(HoverGasFilter.23)+29900 5754 B091 0000 lds r27,(HoverGasFilter.23)+39901 5758 7EE0 ldi r23,149902 575a B695 1: lsr r279903 575c A795 ror r269904 575e 9795 ror r259905 5760 8795 ror r249906 5762 7A95 dec r239907 5764 01F4 brne 1b9908 5766 9093 0000 sts (HoverGas)+1,r259909 576a 8093 0000 sts HoverGas,r249910 576e 4091 0000 lds r20,EE_Parameter+209911 5772 4423 tst r209912 5774 01F0 breq .L7999913 5776 5527 clr r219914 5778 9C01 movw r18,r249915 577a BA01 movw r22,r209916 577c 0E94 0000 call __divmodhi49917 5780 C901 movw r24,r189918 5782 861B sub r24,r229919 5784 970B sbc r25,r239920 5786 9093 0000 sts (HoverGasMin)+1,r259921 578a 8093 0000 sts HoverGasMin,r249922 578e 260F add r18,r229923 5790 371F adc r19,r239924 5792 3093 0000 sts (HoverGasMax)+1,r199925 5796 2093 0000 sts HoverGasMax,r189926 579a 00C0 rjmp .L8029927 .L799:9928 579c 1092 0000 sts (HoverGasMin)+1,__zero_reg__9929 57a0 1092 0000 sts HoverGasMin,__zero_reg__9930 57a4 8FEF ldi r24,lo8(1023)9931 57a6 93E0 ldi r25,hi8(1023)9932 57a8 9093 0000 sts (HoverGasMax)+1,r259933 57ac 8093 0000 sts HoverGasMax,r249934 57b0 00C0 rjmp .L8029935 .L789:9936 57b2 1092 0000 sts StartTrigger,__zero_reg__9937 57b6 1092 0000 sts HoverGasFilter.23,__zero_reg__9938 57ba 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__9939 57be 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__9940 57c2 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__9941 57c6 3093 0000 sts (HoverGas)+1,r199942 57ca 2093 0000 sts HoverGas,r189943 57ce 00C0 rjmp .L8029944 .L653:9945 57d0 8091 0000 lds r24,FC_StatusFlags9946 57d4 806C ori r24,lo8(-64)9947 57d6 8093 0000 sts FC_StatusFlags,r249948 .L802:9949 57da 8091 0000 lds r24,NC_To_FC_Flags9950 57de 81FF sbrs r24,19951 57e0 00C0 rjmp .L8039952 57e2 8981 ldd r24,Y+19953 57e4 9A81 ldd r25,Y+29954 57e6 97FD sbrc r25,79955 57e8 0396 adiw r24,39956 .L805:9957 57ea 9595 asr r259958 57ec 8795 ror r249959 57ee 9595 asr r259960 57f0 8795 ror r249961 57f2 2091 0000 lds r18,HooverGasEmergencyPercent9962 57f6 3091 0000 lds r19,(HooverGasEmergencyPercent)+19963 57fa 2817 cp r18,r249964 57fc 3907 cpc r19,r259965 57fe 00F4 brsh .L8049966 5800 8091 0000 lds r24,HoverGas9967 5804 9091 0000 lds r25,(HoverGas)+19968 5808 892B or r24,r259969 580a 01F0 breq .L8049970 580c 220F lsl r189971 580e 331F rol r199972 5810 220F lsl r189973 5812 331F rol r199974 5814 3A83 std Y+2,r199975 5816 2983 std Y+1,r189976 .L804:9977 5818 8091 0000 lds r24,HoehenWert9978 581c 9091 0000 lds r25,(HoehenWert)+19979 5820 A091 0000 lds r26,(HoehenWert)+29980 5824 B091 0000 lds r27,(HoehenWert)+39981 5828 8093 0000 sts SollHoehe,r249982 582c 9093 0000 sts (SollHoehe)+1,r259983 5830 A093 0000 sts (SollHoehe)+2,r269984 5834 B093 0000 sts (SollHoehe)+3,r279985 5838 88E9 ldi r24,lo8(15000)9986 583a 9AE3 ldi r25,hi8(15000)9987 583c 9093 0000 sts (beeptime)+1,r259988 5840 8093 0000 sts beeptime,r249989 5844 80E0 ldi r24,lo8(3584)9990 5846 9EE0 ldi r25,hi8(3584)9991 5848 9093 0000 sts (BeepMuster)+1,r259992 584c 8093 0000 sts BeepMuster,r249993 .L803:9994 5850 2091 0000 lds r18,MIN_GAS9995 5854 822F mov r24,r189996 5856 9927 clr r259997 5858 880F lsl r249998 585a 991F rol r259999 585c 880F lsl r2410000 585e 991F rol r2510001 5860 8896 adiw r24,4010002 5862 6981 ldd r22,Y+110003 5864 7A81 ldd r23,Y+210004 5866 8617 cp r24,r2210005 5868 9707 cpc r25,r2310006 586a 04F0 brlt .L80610007 586c 9A83 std Y+2,r2510008 586e 8983 std Y+1,r2410009 .L806:10010 5870 7091 0000 lds r23,MAX_GAS10011 5874 7D8B std Y+21,r2310012 5876 872F mov r24,r2310013 5878 9927 clr r2510014 587a 880F lsl r2410015 587c 991F rol r2510016 587e 880F lsl r2410017 5880 991F rol r2510018 5882 8055 subi r24,lo8(-(-80))10019 5884 9040 sbci r25,hi8(-(-80))10020 5886 A981 ldd r26,Y+110021 5888 BA81 ldd r27,Y+210022 588a 8A17 cp r24,r2610023 588c 9B07 cpc r25,r2710024 588e 04F4 brge .L80710025 5890 9A83 std Y+2,r2510026 5892 8983 std Y+1,r2410027 .L807:10028 5894 8091 0000 lds r24,MissingMotor10029 5898 8823 tst r2410030 589a 01F4 brne .L80910031 589c 8091 0000 lds r24,Capacity+610032 58a0 8F3F cpi r24,lo8(-1)10033 58a2 01F4 brne .L80910034 58a4 8091 0000 lds r24,NC_ErrorCode10035 58a8 8823 tst r2410036 58aa 01F0 breq .L80810037 .L809:10038 58ac 8091 0000 lds r24,modell_fliegt10039 58b0 9091 0000 lds r25,(modell_fliegt)+110040 58b4 0297 sbiw r24,210041 58b6 C097 sbiw r24,4810042 58b8 00F4 brsh .L80810043 58ba E981 ldd r30,Y+110044 58bc FA81 ldd r31,Y+210045 58be 1E16 cp __zero_reg__,r3010046 58c0 1F06 cpc __zero_reg__,r3110047 58c2 04F4 brge .L80810048 58c4 81E0 ldi r24,lo8(1)10049 58c6 90E0 ldi r25,hi8(1)10050 58c8 9093 0000 sts (modell_fliegt)+1,r2510051 58cc 8093 0000 sts modell_fliegt,r2410052 58d0 E22E mov r14,r1810053 58d2 FF24 clr r1510054 58d4 EE0C lsl r1410055 58d6 FF1C rol r1510056 58d8 EE0C lsl r1410057 58da FF1C rol r1510058 58dc 8701 movw r16,r1410059 58de 085D subi r16,lo8(-(40))10060 58e0 1F4F sbci r17,hi8(-(40))10061 58e2 1A83 std Y+2,r1710062 58e4 0983 std Y+1,r1610063 .L808:10064 58e6 2981 ldd r18,Y+110065 58e8 3A81 ldd r19,Y+210066 58ea 3093 0000 sts (DebugOut+16)+1,r1910067 58ee 2093 0000 sts DebugOut+16,r1810068 58f2 8091 0000 lds r24,sollGier.010069 58f6 9091 0000 lds r25,(sollGier.0)+110070 58fa A091 0000 lds r26,(sollGier.0)+210071 58fe B091 0000 lds r27,(sollGier.0)+310072 5902 12E0 ldi r17,210073 5904 880F 1: lsl r2410074 5906 991F rol r2510075 5908 AA1F rol r2610076 590a BB1F rol r2710077 590c 1A95 dec r1710078 590e 01F4 brne 1b10079 5910 0091 0000 lds r16,MesswertGier10080 5914 1091 0000 lds r17,(MesswertGier)+110081 5918 081B sub r16,r2410082 591a 190B sbc r17,r2510083 591c 213A cpi r18,16110084 591e 3105 cpc r19,__zero_reg__10085 5920 04F0 brlt .L81110086 5922 C901 movw r24,r1810087 5924 37FD sbrc r19,710088 5926 0196 adiw r24,110089 .L813:10090 5928 9595 asr r2510091 592a 8795 ror r2410092 592c 8017 cp r24,r1610093 592e 9107 cpc r25,r1710094 5930 04F4 brge .L81210095 5932 8C01 movw r16,r2410096 .L812:10097 5934 9095 com r2510098 5936 8195 neg r2410099 5938 9F4F sbci r25,lo8(-1)10100 593a 0817 cp r16,r2410101 593c 1907 cpc r17,r2510102 593e 04F4 brge .L81810103 5940 8C01 movw r16,r2410104 5942 00C0 rjmp .L81810105 .L811:10106 5944 0135 cpi r16,8110107 5946 1105 cpc r17,__zero_reg__10108 5948 04F0 brlt .L81910109 594a 00E5 ldi r16,lo8(80)10110 594c 10E0 ldi r17,hi8(80)10111 .L819:10112 594e 3FEF ldi r19,hi8(-80)10113 5950 003B cpi r16,lo8(-80)10114 5952 1307 cpc r17,r1910115 5954 04F4 brge .L81810116 5956 00EB ldi r16,lo8(-80)10117 5958 1FEF ldi r17,hi8(-80)10118 .L818:10119 595a 4D89 ldd r20,Y+2110120 595c 242F mov r18,r2010121 595e 3327 clr r1910122 5960 220F lsl r1810123 5962 331F rol r1910124 5964 220F lsl r1810125 5966 331F rol r1910126 5968 C901 movw r24,r1810127 596a 6981 ldd r22,Y+110128 596c 7A81 ldd r23,Y+210129 596e 861B sub r24,r2210130 5970 970B sbc r25,r2310131 5972 8017 cp r24,r1610132 5974 9107 cpc r25,r1710133 5976 04F4 brge .L82110134 5978 8C01 movw r16,r2410135 .L821:10136 597a 8981 ldd r24,Y+110137 597c 9A81 ldd r25,Y+210138 597e 821B sub r24,r1810139 5980 930B sbc r25,r1910140 5982 0817 cp r16,r2410141 5984 1907 cpc r17,r2510142 5986 04F4 brge .L82210143 5988 8C01 movw r16,r2410144 .L822:10145 598a 8091 0000 lds r24,MesswertNick10146 598e 9091 0000 lds r25,(MesswertNick)+110147 5992 6091 0000 lds r22,StickNick10148 5996 7091 0000 lds r23,(StickNick)+110149 599a 861B sub r24,r2210150 599c 970B sbc r25,r2310151 599e 9093 0000 sts (DiffNick)+1,r2510152 59a2 8093 0000 sts DiffNick,r2410153 59a6 D090 0000 lds r13,IntegralFaktor10154 59aa 2091 0000 lds r18,SummeNick10155 59ae 3091 0000 lds r19,(SummeNick)+110156 59b2 4091 0000 lds r20,(SummeNick)+210157 59b6 5091 0000 lds r21,(SummeNick)+310158 59ba DD20 tst r1310159 59bc 01F0 breq .L82310160 59be 661A sub r6,r2210161 59c0 770A sbc r7,r2310162 59c2 C301 movw r24,r610163 59c4 AA27 clr r2610164 59c6 97FD sbrc r25,710165 59c8 A095 com r2610166 59ca BA2F mov r27,r2610167 59cc 00C0 rjmp .L91410168 .L823:10169 59ce AA27 clr r2610170 59d0 97FD sbrc r25,710171 59d2 A095 com r2610172 59d4 BA2F mov r27,r2610173 .L914:10174 59d6 280F add r18,r2410175 59d8 391F adc r19,r2510176 59da 4A1F adc r20,r2610177 59dc 5B1F adc r21,r2710178 59de 2093 0000 sts SummeNick,r1810179 59e2 3093 0000 sts (SummeNick)+1,r1910180 59e6 4093 0000 sts (SummeNick)+2,r2010181 59ea 5093 0000 sts (SummeNick)+3,r2110182 59ee 8091 0000 lds r24,SummeNick10183 59f2 9091 0000 lds r25,(SummeNick)+110184 59f6 A091 0000 lds r26,(SummeNick)+210185 59fa B091 0000 lds r27,(SummeNick)+310186 59fe 8150 subi r24,lo8(64001)10187 5a00 9A4F sbci r25,hi8(64001)10188 5a02 A040 sbci r26,hlo8(64001)10189 5a04 B040 sbci r27,hhi8(64001)10190 5a06 04F0 brlt .L82510191 5a08 80E0 ldi r24,lo8(64000)10192 5a0a 9AEF ldi r25,hi8(64000)10193 5a0c A0E0 ldi r26,hlo8(64000)10194 5a0e B0E0 ldi r27,hhi8(64000)10195 5a10 8093 0000 sts SummeNick,r2410196 5a14 9093 0000 sts (SummeNick)+1,r2510197 5a18 A093 0000 sts (SummeNick)+2,r2610198 5a1c B093 0000 sts (SummeNick)+3,r2710199 .L825:10200 5a20 8091 0000 lds r24,SummeNick10201 5a24 9091 0000 lds r25,(SummeNick)+110202 5a28 A091 0000 lds r26,(SummeNick)+210203 5a2c B091 0000 lds r27,(SummeNick)+310204 5a30 8050 subi r24,lo8(-64000)10205 5a32 9640 sbci r25,hi8(-64000)10206 5a34 AF4F sbci r26,hlo8(-64000)10207 5a36 BF4F sbci r27,hhi8(-64000)10208 5a38 04F4 brge .L82610209 5a3a 80E0 ldi r24,lo8(-64000)10210 5a3c 96E0 ldi r25,hi8(-64000)10211 5a3e AFEF ldi r26,hlo8(-64000)10212 5a40 BFEF ldi r27,hhi8(-64000)10213 5a42 8093 0000 sts SummeNick,r2410214 5a46 9093 0000 sts (SummeNick)+1,r2510215 5a4a A093 0000 sts (SummeNick)+2,r2610216 5a4e B093 0000 sts (SummeNick)+3,r2710217 .L826:10218 5a52 C090 0000 lds r12,EE_Parameter+3510219 5a56 2091 0000 lds r18,DiffNick10220 5a5a 3091 0000 lds r19,(DiffNick)+110221 5a5e 78E0 ldi r23,lo8(8)10222 5a60 E72E mov r14,r2310223 5a62 EC14 cp r14,r1210224 5a64 00F0 brlo .L82710225 5a66 8C2D mov r24,r1210226 5a68 9927 clr r2510227 5a6a 829F mul r24,r1810228 5a6c A001 movw r20,r010229 5a6e 839F mul r24,r1910230 5a70 500D add r21,r010231 5a72 929F mul r25,r1810232 5a74 500D add r21,r010233 5a76 1124 clr r110234 5a78 CA01 movw r24,r2010235 5a7a 57FD sbrc r21,710236 5a7c 0796 adiw r24,710237 .L828:10238 5a7e 7C01 movw r14,r2410239 5a80 63E0 ldi r22,310240 5a82 F594 1: asr r1510241 5a84 E794 ror r1410242 5a86 6A95 dec r2210243 5a88 01F4 brne 1b10244 5a8a 00C0 rjmp .L82910245 .L827:10246 5a8c 8C2D mov r24,r1210247 5a8e 8695 lsr r2410248 5a90 9927 clr r2510249 5a92 829F mul r24,r1810250 5a94 B001 movw r22,r010251 5a96 839F mul r24,r1910252 5a98 700D add r23,r010253 5a9a 929F mul r25,r1810254 5a9c 700D add r23,r010255 5a9e 1124 clr r110256 5aa0 CB01 movw r24,r2210257 5aa2 77FD sbrc r23,710258 5aa4 0396 adiw r24,310259 .L830:10260 5aa6 7C01 movw r14,r2410261 5aa8 F594 asr r1510262 5aaa E794 ror r1410263 5aac F594 asr r1510264 5aae E794 ror r1410265 .L829:10266 5ab0 A090 0000 lds r10,Ki10267 5ab4 B090 0000 lds r11,(Ki)+110268 5ab8 9501 movw r18,r1010269 5aba 4427 clr r2010270 5abc 37FD sbrc r19,710271 5abe 4095 com r2010272 5ac0 542F mov r21,r2010273 5ac2 8091 0000 lds r24,SummeNick10274 5ac6 9091 0000 lds r25,(SummeNick)+110275 5aca A091 0000 lds r26,(SummeNick)+210276 5ace B091 0000 lds r27,(SummeNick)+310277 5ad2 BC01 movw r22,r2410278 5ad4 CD01 movw r24,r2610279 5ad6 0E94 0000 call __divmodsi410280 5ada E20E add r14,r1810281 5adc F31E adc r15,r1910282 5ade 9090 0000 lds r9,Parameter_DynamicStability10283 5ae2 692D mov r22,r910284 5ae4 7727 clr r2310285 5ae6 8827 clr r2410286 5ae8 9927 clr r2510287 5aea 9801 movw r18,r1610288 5aec 17FF sbrs r17,710289 5aee 00C0 rjmp .L83110290 5af0 2227 clr r1810291 5af2 3327 clr r1910292 5af4 201B sub r18,r1610293 5af6 310B sbc r19,r1710294 .L831:10295 5af8 37FF sbrs r19,710296 5afa 00C0 rjmp .L83210297 5afc 2F5F subi r18,lo8(-(1))10298 5afe 3F4F sbci r19,hi8(-(1))10299 .L832:10300 5b00 3595 asr r1910301 5b02 2795 ror r1810302 5b04 A981 ldd r26,Y+110303 5b06 BA81 ldd r27,Y+210304 5b08 2A0F add r18,r2610305 5b0a 3B1F adc r19,r2710306 5b0c 4427 clr r2010307 5b0e 37FD sbrc r19,710308 5b10 4095 com r2010309 5b12 542F mov r21,r2010310 5b14 0E94 0000 call __mulsi310311 5b18 97FF sbrs r25,710312 5b1a 00C0 rjmp .L83310313 5b1c 615C subi r22,lo8(-(63))10314 5b1e 7F4F sbci r23,hi8(-(63))10315 5b20 8F4F sbci r24,hlo8(-(63))10316 5b22 9F4F sbci r25,hhi8(-(63))10317 .L833:10318 5b24 26E0 ldi r18,610319 5b26 9595 1: asr r2510320 5b28 8795 ror r2410321 5b2a 7795 ror r2310322 5b2c 6795 ror r2210323 5b2e 2A95 dec r1810324 5b30 01F4 brne 1b10325 5b32 9B01 movw r18,r2210326 5b34 6E15 cp r22,r1410327 5b36 7F05 cpc r23,r1510328 5b38 04F4 brge .L83410329 5b3a 7B01 movw r14,r2210330 .L834:10331 5b3c 3095 com r1910332 5b3e 2195 neg r1810333 5b40 3F4F sbci r19,lo8(-1)10334 5b42 E216 cp r14,r1810335 5b44 F306 cpc r15,r1910336 5b46 04F4 brge .L83510337 5b48 7901 movw r14,r1810338 .L835:10339 5b4a 8091 0000 lds r24,MesswertRoll10340 5b4e 9091 0000 lds r25,(MesswertRoll)+110341 5b52 6091 0000 lds r22,StickRoll10342 5b56 7091 0000 lds r23,(StickRoll)+110343 5b5a 861B sub r24,r2210344 5b5c 970B sbc r25,r2310345 5b5e 9093 0000 sts (DiffRoll)+1,r2510346 5b62 8093 0000 sts DiffRoll,r2410347 5b66 2091 0000 lds r18,SummeRoll10348 5b6a 3091 0000 lds r19,(SummeRoll)+110349 5b6e 4091 0000 lds r20,(SummeRoll)+210350 5b72 5091 0000 lds r21,(SummeRoll)+310351 5b76 DD20 tst r1310352 5b78 01F0 breq .L83610353 5b7a 461A sub r4,r2210354 5b7c 570A sbc r5,r2310355 5b7e C201 movw r24,r410356 5b80 AA27 clr r2610357 5b82 97FD sbrc r25,710358 5b84 A095 com r2610359 5b86 BA2F mov r27,r2610360 5b88 00C0 rjmp .L91510361 .L836:10362 5b8a AA27 clr r2610363 5b8c 97FD sbrc r25,710364 5b8e A095 com r2610365 5b90 BA2F mov r27,r2610366 .L915:10367 5b92 280F add r18,r2410368 5b94 391F adc r19,r2510369 5b96 4A1F adc r20,r2610370 5b98 5B1F adc r21,r2710371 5b9a 2093 0000 sts SummeRoll,r1810372 5b9e 3093 0000 sts (SummeRoll)+1,r1910373 5ba2 4093 0000 sts (SummeRoll)+2,r2010374 5ba6 5093 0000 sts (SummeRoll)+3,r2110375 5baa 8091 0000 lds r24,SummeRoll10376 5bae 9091 0000 lds r25,(SummeRoll)+110377 5bb2 A091 0000 lds r26,(SummeRoll)+210378 5bb6 B091 0000 lds r27,(SummeRoll)+310379 5bba 8150 subi r24,lo8(64001)10380 5bbc 9A4F sbci r25,hi8(64001)10381 5bbe A040 sbci r26,hlo8(64001)10382 5bc0 B040 sbci r27,hhi8(64001)10383 5bc2 04F0 brlt .L83810384 5bc4 80E0 ldi r24,lo8(64000)10385 5bc6 9AEF ldi r25,hi8(64000)10386 5bc8 A0E0 ldi r26,hlo8(64000)10387 5bca B0E0 ldi r27,hhi8(64000)10388 5bcc 8093 0000 sts SummeRoll,r2410389 5bd0 9093 0000 sts (SummeRoll)+1,r2510390 5bd4 A093 0000 sts (SummeRoll)+2,r2610391 5bd8 B093 0000 sts (SummeRoll)+3,r2710392 .L838:10393 5bdc 8091 0000 lds r24,SummeRoll10394 5be0 9091 0000 lds r25,(SummeRoll)+110395 5be4 A091 0000 lds r26,(SummeRoll)+210396 5be8 B091 0000 lds r27,(SummeRoll)+310397 5bec 8050 subi r24,lo8(-64000)10398 5bee 9640 sbci r25,hi8(-64000)10399 5bf0 AF4F sbci r26,hlo8(-64000)10400 5bf2 BF4F sbci r27,hhi8(-64000)10401 5bf4 04F4 brge .L83910402 5bf6 80E0 ldi r24,lo8(-64000)10403 5bf8 96E0 ldi r25,hi8(-64000)10404 5bfa AFEF ldi r26,hlo8(-64000)10405 5bfc BFEF ldi r27,hhi8(-64000)10406 5bfe 8093 0000 sts SummeRoll,r2410407 5c02 9093 0000 sts (SummeRoll)+1,r2510408 5c06 A093 0000 sts (SummeRoll)+2,r2610409 5c0a B093 0000 sts (SummeRoll)+3,r2710410 .L839:10411 5c0e 2091 0000 lds r18,DiffRoll10412 5c12 3091 0000 lds r19,(DiffRoll)+110413 5c16 48E0 ldi r20,lo8(8)10414 5c18 4C15 cp r20,r1210415 5c1a 00F0 brlo .L84010416 5c1c 8C2D mov r24,r1210417 5c1e 9927 clr r2510418 5c20 829F mul r24,r1810419 5c22 B001 movw r22,r010420 5c24 839F mul r24,r1910421 5c26 700D add r23,r010422 5c28 929F mul r25,r1810423 5c2a 700D add r23,r010424 5c2c 1124 clr r110425 5c2e CB01 movw r24,r2210426 5c30 77FD sbrc r23,710427 5c32 0796 adiw r24,710428 .L841:10429 5c34 6C01 movw r12,r2410430 5c36 B3E0 ldi r27,310431 5c38 D594 1: asr r1310432 5c3a C794 ror r1210433 5c3c BA95 dec r2710434 5c3e 01F4 brne 1b10435 5c40 00C0 rjmp .L84210436 .L840:10437 5c42 C694 lsr r1210438 5c44 8C2D mov r24,r1210439 5c46 9927 clr r2510440 5c48 829F mul r24,r1810441 5c4a D001 movw r26,r010442 5c4c 839F mul r24,r1910443 5c4e B00D add r27,r010444 5c50 929F mul r25,r1810445 5c52 B00D add r27,r010446 5c54 1124 clr r110447 5c56 CD01 movw r24,r2610448 5c58 B7FD sbrc r27,710449 5c5a 0396 adiw r24,310450 .L843:10451 5c5c 6C01 movw r12,r2410452 5c5e D594 asr r1310453 5c60 C794 ror r1210454 5c62 D594 asr r1310455 5c64 C794 ror r1210456 .L842:10457 5c66 9501 movw r18,r1010458 5c68 4427 clr r2010459 5c6a 37FD sbrc r19,710460 5c6c 4095 com r2010461 5c6e 542F mov r21,r2010462 5c70 8091 0000 lds r24,SummeRoll10463 5c74 9091 0000 lds r25,(SummeRoll)+110464 5c78 A091 0000 lds r26,(SummeRoll)+210465 5c7c B091 0000 lds r27,(SummeRoll)+310466 5c80 BC01 movw r22,r2410467 5c82 CD01 movw r24,r2610468 5c84 0E94 0000 call __divmodsi410469 5c88 C20E add r12,r1810470 5c8a D31E adc r13,r1910471 5c8c 692D mov r22,r910472 5c8e 7727 clr r2310473 5c90 8827 clr r2410474 5c92 9927 clr r2510475 5c94 9801 movw r18,r1610476 5c96 17FF sbrs r17,710477 5c98 00C0 rjmp .L84410478 5c9a 2227 clr r1810479 5c9c 3327 clr r1910480 5c9e 201B sub r18,r1610481 5ca0 310B sbc r19,r1710482 .L844:10483 5ca2 37FF sbrs r19,710484 5ca4 00C0 rjmp .L84510485 5ca6 2F5F subi r18,lo8(-(1))10486 5ca8 3F4F sbci r19,hi8(-(1))10487 .L845:10488 5caa 3595 asr r1910489 5cac 2795 ror r1810490 5cae E981 ldd r30,Y+110491 5cb0 FA81 ldd r31,Y+210492 5cb2 2E0F add r18,r3010493 5cb4 3F1F adc r19,r3110494 5cb6 4427 clr r2010495 5cb8 37FD sbrc r19,710496 5cba 4095 com r2010497 5cbc 542F mov r21,r2010498 5cbe 0E94 0000 call __mulsi310499 5cc2 97FF sbrs r25,710500 5cc4 00C0 rjmp .L84610501 5cc6 615C subi r22,lo8(-(63))10502 5cc8 7F4F sbci r23,hi8(-(63))10503 5cca 8F4F sbci r24,hlo8(-(63))10504 5ccc 9F4F sbci r25,hhi8(-(63))10505 .L846:10506 5cce E6E0 ldi r30,610507 5cd0 9595 1: asr r2510508 5cd2 8795 ror r2410509 5cd4 7795 ror r2310510 5cd6 6795 ror r2210511 5cd8 EA95 dec r3010512 5cda 01F4 brne 1b10513 5cdc 9B01 movw r18,r2210514 5cde 6C15 cp r22,r1210515 5ce0 7D05 cpc r23,r1310516 5ce2 04F4 brge .L84710517 5ce4 6B01 movw r12,r2210518 .L847:10519 5ce6 3095 com r1910520 5ce8 2195 neg r1810521 5cea 3F4F sbci r19,lo8(-1)10522 5cec C216 cp r12,r1810523 5cee D306 cpc r13,r1910524 5cf0 04F4 brge .L84810525 5cf2 6901 movw r12,r1810526 .L848:10527 5cf4 8091 0000 lds r24,MIN_GAS10528 5cf8 282E mov r2,r2410529 5cfa 3324 clr r310530 5cfc 5090 0000 lds r5,EE_Parameter+10110531 5d00 60E0 ldi r22,lo8(Motor)10532 5d02 862E mov r8,r2210533 5d04 60E0 ldi r22,hi8(Motor)10534 5d06 962E mov r9,r2210535 5d08 50E0 ldi r21,lo8(Mixer+13)10536 5d0a A52E mov r10,r2110537 5d0c 50E0 ldi r21,hi8(Mixer+13)10538 5d0e B52E mov r11,r2110539 5d10 4BE0 ldi r20,lo8(11)10540 5d12 442E mov r4,r2010541 5d14 30E0 ldi r19,lo8(tmp_motorwert)10542 5d16 632E mov r6,r1910543 5d18 30E0 ldi r19,hi8(tmp_motorwert)10544 5d1a 732E mov r7,r1910545 .L883:10546 5d1c D501 movw r26,r1010547 5d1e 2C91 ld r18,X10548 5d20 1216 cp __zero_reg__,r1810549 5d22 04F0 brlt .+210550 5d24 00C0 rjmp .L85210551 5d26 2034 cpi r18,lo8(64)10552 5d28 01F4 brne .L85310553 5d2a E981 ldd r30,Y+110554 5d2c FA81 ldd r31,Y+210555 5d2e FF8B std Y+23,r3110556 5d30 EE8B std Y+22,r3010557 5d32 00C0 rjmp .L85410558 .L853:10559 5d34 4981 ldd r20,Y+110560 5d36 5A81 ldd r21,Y+210561 5d38 CA01 movw r24,r2010562 5d3a AA27 clr r2610563 5d3c 97FD sbrc r25,710564 5d3e A095 com r2610565 5d40 BA2F mov r27,r2610566 5d42 3327 clr r1910567 5d44 27FD sbrc r18,710568 5d46 3095 com r1910569 5d48 432F mov r20,r1910570 5d4a 532F mov r21,r1910571 5d4c BC01 movw r22,r2410572 5d4e CD01 movw r24,r2610573 5d50 0E94 0000 call __mulsi310574 5d54 97FF sbrs r25,710575 5d56 00C0 rjmp .L85510576 5d58 615C subi r22,lo8(-(63))10577 5d5a 7F4F sbci r23,hi8(-(63))10578 5d5c 8F4F sbci r24,hlo8(-(63))10579 5d5e 9F4F sbci r25,hhi8(-(63))10580 .L855:10581 5d60 26E0 ldi r18,610582 5d62 9595 1: asr r2510583 5d64 8795 ror r2410584 5d66 7795 ror r2310585 5d68 6795 ror r2210586 5d6a 2A95 dec r1810587 5d6c 01F4 brne 1b10588 5d6e 7F8B std Y+23,r2310589 5d70 6E8B std Y+22,r2210590 .L854:10591 5d72 F501 movw r30,r1010592 5d74 2181 ldd r18,Z+110593 5d76 2034 cpi r18,lo8(64)10594 5d78 01F4 brne .L85610595 5d7a 2E89 ldd r18,Y+2210596 5d7c 3F89 ldd r19,Y+2310597 5d7e 2E0D add r18,r1410598 5d80 3F1D adc r19,r1510599 5d82 3F8B std Y+23,r1910600 5d84 2E8B std Y+22,r1810601 5d86 00C0 rjmp .L85710602 .L856:10603 5d88 203C cpi r18,lo8(-64)10604 5d8a 01F4 brne .L85810605 5d8c 4E89 ldd r20,Y+2210606 5d8e 5F89 ldd r21,Y+2310607 5d90 4E19 sub r20,r1410608 5d92 5F09 sbc r21,r1510609 5d94 5F8B std Y+23,r2110610 5d96 4E8B std Y+22,r2010611 5d98 00C0 rjmp .L85710612 .L858:10613 5d9a C701 movw r24,r1410614 5d9c AA27 clr r2610615 5d9e 97FD sbrc r25,710616 5da0 A095 com r2610617 5da2 BA2F mov r27,r2610618 5da4 3327 clr r1910619 5da6 27FD sbrc r18,710620 5da8 3095 com r1910621 5daa 432F mov r20,r1910622 5dac 532F mov r21,r1910623 5dae BC01 movw r22,r2410624 5db0 CD01 movw r24,r2610625 5db2 0E94 0000 call __mulsi310626 5db6 97FF sbrs r25,710627 5db8 00C0 rjmp .L86010628 5dba 615C subi r22,lo8(-(63))10629 5dbc 7F4F sbci r23,hi8(-(63))10630 5dbe 8F4F sbci r24,hlo8(-(63))10631 5dc0 9F4F sbci r25,hhi8(-(63))10632 .L860:10633 5dc2 B6E0 ldi r27,610634 5dc4 9595 1: asr r2510635 5dc6 8795 ror r2410636 5dc8 7795 ror r2310637 5dca 6795 ror r2210638 5dcc BA95 dec r2710639 5dce 01F4 brne 1b10640 5dd0 AE89 ldd r26,Y+2210641 5dd2 BF89 ldd r27,Y+2310642 5dd4 A60F add r26,r2210643 5dd6 B71F adc r27,r2310644 5dd8 BF8B std Y+23,r2710645 5dda AE8B std Y+22,r2610646 .L857:10647 5ddc F501 movw r30,r1010648 5dde 2281 ldd r18,Z+210649 5de0 2034 cpi r18,lo8(64)10650 5de2 01F4 brne .L86110651 5de4 2E89 ldd r18,Y+2210652 5de6 3F89 ldd r19,Y+2310653 5de8 2C0D add r18,r1210654 5dea 3D1D adc r19,r1310655 5dec 3F8B std Y+23,r1910656 5dee 2E8B std Y+22,r1810657 5df0 00C0 rjmp .L86210658 .L861:10659 5df2 203C cpi r18,lo8(-64)10660 5df4 01F4 brne .L86310661 5df6 4E89 ldd r20,Y+2210662 5df8 5F89 ldd r21,Y+2310663 5dfa 4C19 sub r20,r1210664 5dfc 5D09 sbc r21,r1310665 5dfe 5F8B std Y+23,r2110666 5e00 4E8B std Y+22,r2010667 5e02 00C0 rjmp .L86210668 .L863:10669 5e04 C601 movw r24,r1210670 5e06 AA27 clr r2610671 5e08 97FD sbrc r25,710672 5e0a A095 com r2610673 5e0c BA2F mov r27,r2610674 5e0e 3327 clr r1910675 5e10 27FD sbrc r18,710676 5e12 3095 com r1910677 5e14 432F mov r20,r1910678 5e16 532F mov r21,r1910679 5e18 BC01 movw r22,r2410680 5e1a CD01 movw r24,r2610681 5e1c 0E94 0000 call __mulsi310682 5e20 97FF sbrs r25,710683 5e22 00C0 rjmp .L86510684 5e24 615C subi r22,lo8(-(63))10685 5e26 7F4F sbci r23,hi8(-(63))10686 5e28 8F4F sbci r24,hlo8(-(63))10687 5e2a 9F4F sbci r25,hhi8(-(63))10688 .L865:10689 5e2c A6E0 ldi r26,610690 5e2e 9595 1: asr r2510691 5e30 8795 ror r2410692 5e32 7795 ror r2310693 5e34 6795 ror r2210694 5e36 AA95 dec r2610695 5e38 01F4 brne 1b10696 5e3a AE89 ldd r26,Y+2210697 5e3c BF89 ldd r27,Y+2310698 5e3e A60F add r26,r2210699 5e40 B71F adc r27,r2310700 5e42 BF8B std Y+23,r2710701 5e44 AE8B std Y+22,r2610702 .L862:10703 5e46 F501 movw r30,r1010704 5e48 2381 ldd r18,Z+310705 5e4a 2034 cpi r18,lo8(64)10706 5e4c 01F4 brne .L86610707 5e4e 2E89 ldd r18,Y+2210708 5e50 3F89 ldd r19,Y+2310709 5e52 200F add r18,r1610710 5e54 311F adc r19,r1710711 5e56 3F8B std Y+23,r1910712 5e58 2E8B std Y+22,r1810713 5e5a 00C0 rjmp .L86710714 .L866:10715 5e5c 203C cpi r18,lo8(-64)10716 5e5e 01F4 brne .L86810717 5e60 4E89 ldd r20,Y+2210718 5e62 5F89 ldd r21,Y+2310719 5e64 401B sub r20,r1610720 5e66 510B sbc r21,r1710721 5e68 5F8B std Y+23,r2110722 5e6a 4E8B std Y+22,r2010723 5e6c 00C0 rjmp .L86710724 .L868:10725 5e6e C801 movw r24,r1610726 5e70 AA27 clr r2610727 5e72 97FD sbrc r25,710728 5e74 A095 com r2610729 5e76 BA2F mov r27,r2610730 5e78 3327 clr r1910731 5e7a 27FD sbrc r18,710732 5e7c 3095 com r1910733 5e7e 432F mov r20,r1910734 5e80 532F mov r21,r1910735 5e82 BC01 movw r22,r2410736 5e84 CD01 movw r24,r2610737 5e86 0E94 0000 call __mulsi310738 5e8a 97FF sbrs r25,710739 5e8c 00C0 rjmp .L87010740 5e8e 615C subi r22,lo8(-(63))10741 5e90 7F4F sbci r23,hi8(-(63))10742 5e92 8F4F sbci r24,hlo8(-(63))10743 5e94 9F4F sbci r25,hhi8(-(63))10744 .L870:10745 5e96 F6E0 ldi r31,610746 5e98 9595 1: asr r2510747 5e9a 8795 ror r2410748 5e9c 7795 ror r2310749 5e9e 6795 ror r2210750 5ea0 FA95 dec r3110751 5ea2 01F4 brne 1b10752 5ea4 AE89 ldd r26,Y+2210753 5ea6 BF89 ldd r27,Y+2310754 5ea8 A60F add r26,r2210755 5eaa B71F adc r27,r2310756 5eac BF8B std Y+23,r2710757 5eae AE8B std Y+22,r2610758 .L867:10759 5eb0 F301 movw r30,r610760 5eb2 8081 ld r24,Z10761 5eb4 9181 ldd r25,Z+110762 5eb6 2E89 ldd r18,Y+2210763 5eb8 3F89 ldd r19,Y+2310764 5eba 8217 cp r24,r1810765 5ebc 9307 cpc r25,r1910766 5ebe 04F4 brge .L87110767 5ec0 B901 movw r22,r1810768 5ec2 680F add r22,r2410769 5ec4 791F adc r23,r2510770 5ec6 77FF sbrs r23,710771 5ec8 00C0 rjmp .L87210772 5eca 6F5F subi r22,lo8(-(1))10773 5ecc 7F4F sbci r23,hi8(-(1))10774 .L872:10775 5ece 7595 asr r2310776 5ed0 6795 ror r2210777 5ed2 7F8B std Y+23,r2310778 5ed4 6E8B std Y+22,r2210779 5ed6 00C0 rjmp .L87310780 .L871:10781 5ed8 5520 tst r510782 5eda 01F4 brne .L87410783 5edc 4E89 ldd r20,Y+2210784 5ede 5F89 ldd r21,Y+2310785 5ee0 440F add r20,r2010786 5ee2 551F adc r21,r2110787 5ee4 481B sub r20,r2410788 5ee6 590B sbc r21,r2510789 5ee8 5F8B std Y+23,r2110790 5eea 4E8B std Y+22,r2010791 5eec 00C0 rjmp .L87310792 .L874:10793 5eee 51E0 ldi r21,lo8(1)10794 5ef0 5515 cp r21,r510795 5ef2 00F4 brsh .L87310796 5ef4 252D mov r18,r510797 5ef6 3327 clr r1910798 5ef8 6E89 ldd r22,Y+2210799 5efa 7F89 ldd r23,Y+2310800 5efc 861B sub r24,r2210801 5efe 970B sbc r25,r2310802 5f00 B901 movw r22,r1810803 5f02 0E94 0000 call __divmodhi410804 5f06 AE89 ldd r26,Y+2210805 5f08 BF89 ldd r27,Y+2310806 5f0a A60F add r26,r2210807 5f0c B71F adc r27,r2310808 5f0e BF8B std Y+23,r2710809 5f10 AE8B std Y+22,r2610810 .L873:10811 5f12 C101 movw r24,r210812 5f14 880F lsl r2410813 5f16 991F rol r2510814 5f18 880F lsl r2410815 5f1a 991F rol r2510816 5f1c EE89 ldd r30,Y+2210817 5f1e FF89 ldd r31,Y+2310818 5f20 8E17 cp r24,r3010819 5f22 9F07 cpc r25,r3110820 5f24 04F4 brge .L91610821 5f26 FD89 ldd r31,Y+2110822 5f28 8F2F mov r24,r3110823 5f2a 9927 clr r2510824 5f2c 880F lsl r2410825 5f2e 991F rol r2510826 5f30 880F lsl r2410827 5f32 991F rol r2510828 5f34 2E89 ldd r18,Y+2210829 5f36 3F89 ldd r19,Y+2310830 5f38 2817 cp r18,r2410831 5f3a 3907 cpc r19,r2510832 5f3c 04F0 brlt .L87810833 .L916:10834 5f3e 9F8B std Y+23,r2510835 5f40 8E8B std Y+22,r2410836 .L878:10837 5f42 8E89 ldd r24,Y+2210838 5f44 9F89 ldd r25,Y+2310839 5f46 97FD sbrc r25,710840 5f48 0396 adiw r24,310841 .L880:10842 5f4a 9595 asr r2510843 5f4c 8795 ror r2410844 5f4e 9595 asr r2510845 5f50 8795 ror r2410846 5f52 F401 movw r30,r810847 5f54 8183 std Z+1,r2410848 5f56 880F lsl r2410849 5f58 991F rol r2510850 5f5a 880F lsl r2410851 5f5c 991F rol r2510852 5f5e 2E89 ldd r18,Y+2210853 5f60 3F89 ldd r19,Y+2310854 5f62 281B sub r18,r2410855 5f64 390B sbc r19,r2510856 5f66 C901 movw r24,r1810857 5f68 880F lsl r2410858 5f6a 8283 std Z+2,r2410859 5f6c EE89 ldd r30,Y+2210860 5f6e FF89 ldd r31,Y+2310861 5f70 D301 movw r26,r610862 5f72 ED93 st X+,r3010863 5f74 FC93 st X,r3110864 5f76 00C0 rjmp .L85110865 .L852:10866 5f78 F401 movw r30,r810867 5f7a 1182 std Z+1,__zero_reg__10868 5f7c 1282 std Z+2,__zero_reg__10869 .L851:10870 5f7e 4A94 dec r410871 5f80 22E0 ldi r18,lo8(2)10872 5f82 30E0 ldi r19,hi8(2)10873 5f84 620E add r6,r1810874 5f86 731E adc r7,r1910875 5f88 44E0 ldi r20,lo8(4)10876 5f8a 50E0 ldi r21,hi8(4)10877 5f8c A40E add r10,r2010878 5f8e B51E adc r11,r2110879 5f90 68E0 ldi r22,lo8(8)10880 5f92 70E0 ldi r23,hi8(8)10881 5f94 860E add r8,r2210882 5f96 971E adc r9,r2310883 5f98 47FE sbrs r4,710884 5f9a 00C0 rjmp .L88310885 /* epilogue: frame size=23 */10886 5f9c E2E1 ldi r30,1810887 5f9e C95E subi r28,-2310888 5fa0 0C94 0000 jmp __epilogue_restores__+010889 /* epilogue end (size=4) */10890 /* function MotorRegler size 8305 (8295) */10892 .comm TrimNick,2,110893 .comm TrimRoll,2,110894 .comm ErsatzKompass,4,110895 .comm ErsatzKompassInGrad,2,110896 .comm MesswertNick,2,110897 .comm MesswertRoll,2,110898 .comm MesswertGier,2,110899 .comm Mittelwert_AccNick,2,110900 .comm Mittelwert_AccRoll,2,110901 .comm NaviAccNick,2,110902 .comm NaviAccRoll,2,110903 .comm h,1,110904 .comm m,1,110905 .comm s,1,110906 .comm DiffNick,2,110907 .comm DiffRoll,2,110908 .comm Parameter_Servo3,1,110909 .comm Parameter_Servo4,1,110910 .comm Parameter_Servo5,1,110911 .comm Parameter_J16Bitmask,1,110912 .comm Parameter_J16Timing,1,110913 .comm Parameter_J17Bitmask,1,110914 .comm Parameter_J17Timing,1,110915 .comm Parameter_GlobalConfig,1,110916 .comm Parameter_ExtraConfig,1,110917 .comm MesswertGierBias,2,110918 .comm RohMesswertNick,2,110919 .comm RohMesswertRoll,2,110920 .comm MittelIntegralNick,4,110921 .comm MittelIntegralRoll,4,110922 .comm MittelIntegralNick2,4,110923 .comm MittelIntegralRoll2,4,110924 .comm MAX_GAS,1,110925 .comm MIN_GAS,1,110926 .comm GyroFaktor,1,110927 .comm GyroFaktorGier,1,110928 .comm IntegralFaktor,1,110929 .comm IntegralFaktorGier,1,110930 .comm Parameter_NaviGpsModeControl,1,110931 .comm Parameter_NaviGpsGain,1,110932 .comm Parameter_NaviGpsP,1,110933 .comm Parameter_NaviGpsI,1,110934 .comm Parameter_NaviGpsD,1,110935 .comm Parameter_NaviGpsACC,1,110936 .comm Parameter_NaviOperatingRadius,1,110937 .comm Parameter_NaviWindCorrection,1,110938 .comm Parameter_NaviSpeedCompensation,1,110939 .comm Parameter_ExternalControl,1,110940 .comm Parameter_MaximumAltitude,1,110941 .comm KopplungsteilNickRoll,2,110942 .comm KopplungsteilRollNick,2,110943 .comm tmp_motorwert,24,110944 /* File "fc.c": code 12409 = 0x3079 (12348), prologues 31, epilogues 30 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Temp/ccjSs5Dt.s:3 *ABS*:0000003f __SREG__C:\Temp/ccjSs5Dt.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccjSs5Dt.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccjSs5Dt.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccjSs5Dt.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccjSs5Dt.s:15 .bss:00000000 GasIsZeroCntC:\Temp/ccjSs5Dt.s:21 .bss:00000002 HooverGasEmergencyPercentC:\Temp/ccjSs5Dt.s:27 .data:00000000 VarioCharacterC:\Temp/ccjSs5Dt.s:32 .data:00000001 GIER_GRAD_FAKTORC:\Temp/ccjSs5Dt.s:39 .bss:00000004 FC_StatusFlags2C:\Temp/ccjSs5Dt.s:45 .bss:00000005 FC_StatusFlagsC:\Temp/ccjSs5Dt.s:51 .bss:00000006 modell_fliegtC:\Temp/ccjSs5Dt.s:57 .bss:00000008 MaxStickRollC:\Temp/ccjSs5Dt.s:63 .bss:0000000a MaxStickNickC:\Temp/ccjSs5Dt.s:69 .data:00000005 ExternHoehenValueC:\Temp/ccjSs5Dt.s:76 .bss:0000000c ExternStickGierC:\Temp/ccjSs5Dt.s:82 .bss:0000000e ExternStickRollC:\Temp/ccjSs5Dt.s:88 .bss:00000010 ExternStickNickC:\Temp/ccjSs5Dt.s:94 .data:00000007 sintabC:\Temp/ccjSs5Dt.s:131 .bss:00000012 CareFreeC:\Temp/ccjSs5Dt.s:137 .data:00000026 Parameter_DynamicStabilityC:\Temp/ccjSs5Dt.s:142 .data:00000027 Parameter_CouplingYawCorrectionC:\Temp/ccjSs5Dt.s:147 .data:00000028 Parameter_AchsKopplung2C:\Temp/ccjSs5Dt.s:152 .data:00000029 Parameter_AchsKopplung1C:\Temp/ccjSs5Dt.s:157 .data:0000002a Parameter_LoopGasLimitC:\Temp/ccjSs5Dt.s:162 .data:0000002b Parameter_ServoRollControlC:\Temp/ccjSs5Dt.s:167 .data:0000002c Parameter_ServoNickControlC:\Temp/ccjSs5Dt.s:174 .bss:00000013 Parameter_UserParam8C:\Temp/ccjSs5Dt.s:180 .bss:00000014 Parameter_UserParam7C:\Temp/ccjSs5Dt.s:186 .bss:00000015 Parameter_UserParam6C:\Temp/ccjSs5Dt.s:192 .bss:00000016 Parameter_UserParam5C:\Temp/ccjSs5Dt.s:198 .bss:00000017 Parameter_UserParam4C:\Temp/ccjSs5Dt.s:204 .bss:00000018 Parameter_UserParam3C:\Temp/ccjSs5Dt.s:210 .bss:00000019 Parameter_UserParam2C:\Temp/ccjSs5Dt.s:216 .bss:0000001a Parameter_UserParam1C:\Temp/ccjSs5Dt.s:222 .data:0000002d Parameter_I_FaktorC:\Temp/ccjSs5Dt.s:227 .data:0000002e Parameter_Gier_PC:\Temp/ccjSs5Dt.s:232 .data:0000002f Parameter_Gyro_Gier_IC:\Temp/ccjSs5Dt.s:237 .data:00000030 Parameter_Gyro_Gier_PC:\Temp/ccjSs5Dt.s:242 .data:00000031 Parameter_Gyro_IC:\Temp/ccjSs5Dt.s:247 .data:00000032 Parameter_Gyro_PC:\Temp/ccjSs5Dt.s:252 .data:00000033 Parameter_Gyro_DC:\Temp/ccjSs5Dt.s:257 .data:00000034 Parameter_Hoehe_GPS_ZC:\Temp/ccjSs5Dt.s:262 .data:00000035 Parameter_KompassWirkungC:\Temp/ccjSs5Dt.s:267 .data:00000036 Parameter_Hoehe_ACC_WirkungC:\Temp/ccjSs5Dt.s:272 .data:00000037 Parameter_Hoehe_PC:\Temp/ccjSs5Dt.s:277 .data:00000038 Parameter_HoehenSchalterC:\Temp/ccjSs5Dt.s:282 .data:00000039 Parameter_Luftdruck_DC:\Temp/ccjSs5Dt.s:289 .bss:0000001b Looping_ObenC:\Temp/ccjSs5Dt.s:295 .bss:0000001c Looping_UntenC:\Temp/ccjSs5Dt.s:301 .bss:0000001d Looping_RechtsC:\Temp/ccjSs5Dt.s:307 .bss:0000001e Looping_LinksC:\Temp/ccjSs5Dt.s:313 .bss:0000001f Looping_RollC:\Temp/ccjSs5Dt.s:319 .bss:00000020 Looping_NickC:\Temp/ccjSs5Dt.s:325 .data:0000003a KiC:\Temp/ccjSs5Dt.s:332 .bss:00000021 HoverGasC:\Temp/ccjSs5Dt.s:338 .bss:00000023 LageKorrekturNickC:\Temp/ccjSs5Dt.s:344 .bss:00000025 LageKorrekturRollC:\Temp/ccjSs5Dt.s:350 .bss:00000027 NeueKompassRichtungMerkenC:\Temp/ccjSs5Dt.s:356 .bss:00000028 CalibrationDoneC:\Temp/ccjSs5Dt.s:362 .bss:00000029 CompassGierSetpointC:\Temp/ccjSs5Dt.s:368 .bss:0000002b WaypointTrimmingC:\Temp/ccjSs5Dt.s:374 .data:0000003c carefree_oldC:\Temp/ccjSs5Dt.s:381 .bss:0000002c FromNC_AltitudeSpeedC:\Temp/ccjSs5Dt.s:387 .bss:0000002d FromNC_AltitudeSetpointC:\Temp/ccjSs5Dt.s:393 .bss:00000031 AltitudeSetpointTrimmingC:\Temp/ccjSs5Dt.s:399 .bss:00000033 SollHoeheC:\Temp/ccjSs5Dt.s:405 .bss:00000037 HoehenWertC:\Temp/ccjSs5Dt.s:411 .bss:0000003b StartTriggerC:\Temp/ccjSs5Dt.s:417 .bss:0000003c MotorenEinC:\Temp/ccjSs5Dt.s:423 .bss:0000003d SenderOkayC:\Temp/ccjSs5Dt.s:429 .bss:0000003e PotiC:\Temp/ccjSs5Dt.s:435 .bss:00000047 StickGasC:\Temp/ccjSs5Dt.s:441 .bss:00000049 StickGierC:\Temp/ccjSs5Dt.s:447 .bss:0000004b StickRollC:\Temp/ccjSs5Dt.s:453 .bss:0000004d StickNickC:\Temp/ccjSs5Dt.s:459 .data:0000003d HoverGasMaxC:\Temp/ccjSs5Dt.s:466 .bss:0000004f HoverGasMinC:\Temp/ccjSs5Dt.s:472 .data:0000003f StickGasHoverC:\Temp/ccjSs5Dt.s:479 .bss:00000051 GierGyroFehlerC:\Temp/ccjSs5Dt.s:485 .data:00000041 Umschlag180RollC:\Temp/ccjSs5Dt.s:490 .data:00000045 Umschlag180NickC:\Temp/ccjSs5Dt.s:497 .bss:00000053 TrichterFlugC:\Temp/ccjSs5Dt.s:503 .bss:00000054 HoehenReglerAktivC:\Temp/ccjSs5Dt.s:509 .data:00000049 KompassSignalSchlechtC:\Temp/ccjSs5Dt.s:514 .data:0000004b KompassFusionC:\Temp/ccjSs5Dt.s:519 .data:0000004c CalculateCompassTimerC:\Temp/ccjSs5Dt.s:526 .bss:00000055 KompassSollWertC:\Temp/ccjSs5Dt.s:532 .data:0000004d KompassValueC:\Temp/ccjSs5Dt.s:539 .bss:00000057 Mess_Integral_HochC:\Temp/ccjSs5Dt.s:545 .bss:0000005b SummeRollC:\Temp/ccjSs5Dt.s:551 .bss:0000005f SummeNickC:\Temp/ccjSs5Dt.s:557 .bss:00000063 Mess_Integral_Gier2C:\Temp/ccjSs5Dt.s:563 .bss:00000067 Mess_Integral_GierC:\Temp/ccjSs5Dt.s:569 .bss:0000006b Mess_IntegralRoll2C:\Temp/ccjSs5Dt.s:575 .bss:0000006f Mess_IntegralRollC:\Temp/ccjSs5Dt.s:581 .bss:00000073 Mess_IntegralNick2C:\Temp/ccjSs5Dt.s:587 .bss:00000077 Mess_IntegralNickC:\Temp/ccjSs5Dt.s:593 .bss:0000007b Integral_GierC:\Temp/ccjSs5Dt.s:599 .bss:0000007f IntegralAccZC:\Temp/ccjSs5Dt.s:605 .bss:00000083 IntegralAccRollC:\Temp/ccjSs5Dt.s:611 .bss:00000087 IntegralAccNickC:\Temp/ccjSs5Dt.s:617 .bss:0000008b IntegralRoll2C:\Temp/ccjSs5Dt.s:623 .bss:0000008f IntegralRollC:\Temp/ccjSs5Dt.s:629 .bss:00000093 IntegralNick2C:\Temp/ccjSs5Dt.s:635 .bss:00000097 IntegralNickC:\Temp/ccjSs5Dt.s:641 .bss:0000009b ControlHeadingC:\Temp/ccjSs5Dt.s:647 .bss:0000009c NeutralAccZC:\Temp/ccjSs5Dt.s:653 .bss:0000009e NaviCntAccC:\Temp/ccjSs5Dt.s:659 .bss:000000a0 NeutralAccYC:\Temp/ccjSs5Dt.s:665 .bss:000000a2 NeutralAccXC:\Temp/ccjSs5Dt.s:671 .bss:000000a4 StartNeutralNickC:\Temp/ccjSs5Dt.s:677 .bss:000000a6 StartNeutralRollC:\Temp/ccjSs5Dt.s:683 .bss:000000a8 AdNeutralGierC:\Temp/ccjSs5Dt.s:689 .bss:000000aa AdNeutralRollC:\Temp/ccjSs5Dt.s:695 .bss:000000ac AdNeutralNickC:\Temp/ccjSs5Dt.s:701 .bss:000000ae BaroExpandActiveC:\Temp/ccjSs5Dt.s:706 .text:00000000 CopyDebugValues*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000004 ErsatzKompassC:\Temp/ccjSs5Dt.s:923 .text:000002a0 PiepC:\Temp/ccjSs5Dt.s:997 .text:00000326 CalibrierMittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGierC:\Temp/ccjSs5Dt.s:1139 .progmem.data:00000000 __c.35C:\Temp/ccjSs5Dt.s:1144 .text:00000468 SetNeutral.bss:000000b0 tmpl.27C:\Temp/ccjSs5Dt.s:1652 .bss:000000b4 tmpl2.28C:\Temp/ccjSs5Dt.s:1653 .bss:000000b8 tmpl3.29C:\Temp/ccjSs5Dt.s:1654 .bss:000000bc tmpl4.30C:\Temp/ccjSs5Dt.s:1655 .bss:000000c0 oldNick.31C:\Temp/ccjSs5Dt.s:1656 .bss:000000c2 oldRoll.32C:\Temp/ccjSs5Dt.s:1657 .bss:000000c4 d2Roll.33C:\Temp/ccjSs5Dt.s:1658 .bss:000000c6 d2Nick.34C:\Temp/ccjSs5Dt.s:1662 .text:000009d4 Mittelwert*COM*:00000002 RohMesswertNick*COM*:00000002 RohMesswertRoll*COM*:00000002 NaviAccNick*COM*:00000002 NaviAccRoll*COM*:00000001 Parameter_GlobalConfig*COM*:00000002 KopplungsteilNickRoll*COM*:00000002 KopplungsteilRollNick*COM*:00000002 TrimRoll*COM*:00000002 TrimNickC:\Temp/ccjSs5Dt.s:3227 .text:00001938 SendMotorDataC:\Temp/ccjSs5Dt.s:3287 .text:000019b2 ParameterZuordnung*COM*:00000001 Parameter_J16Timing*COM*:00000001 Parameter_J17Timing*COM*:00000001 Parameter_Servo3*COM*:00000001 Parameter_Servo4*COM*:00000001 Parameter_Servo5*COM*:00000001 Parameter_MaximumAltitude*COM*:00000001 Parameter_ExtraConfig*COM*:00000001 Parameter_ExternalControl*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\Temp/ccjSs5Dt.s:1659 .bss:000000c8 sollGier.0C:\Temp/ccjSs5Dt.s:4006 .bss:000000cc tmp_long.1C:\Temp/ccjSs5Dt.s:4007 .bss:000000d0 tmp_long2.2C:\Temp/ccjSs5Dt.s:4008 .bss:000000d4 IntegralFehlerNick.3C:\Temp/ccjSs5Dt.s:4009 .bss:000000d8 IntegralFehlerRoll.4C:\Temp/ccjSs5Dt.s:4010 .bss:000000dc RcLostTimer.5C:\Temp/ccjSs5Dt.s:4011 .bss:000000de delay_neutral.6C:\Temp/ccjSs5Dt.s:4012 .bss:000000df delay_einschalten.7C:\Temp/ccjSs5Dt.s:4013 .bss:000000e0 delay_ausschalten.8C:\Temp/ccjSs5Dt.s:4014 .bss:000000e1 move_safety_switch.9C:\Temp/ccjSs5Dt.s:4015 .bss:000000e2 ausgleichNick.10C:\Temp/ccjSs5Dt.s:4016 .bss:000000e6 ausgleichRoll.11C:\Temp/ccjSs5Dt.s:4017 .bss:000000ea stick_nick.12C:\Temp/ccjSs5Dt.s:4018 .bss:000000ec stick_roll.13C:\Temp/ccjSs5Dt.s:4019 .bss:000000ee cnt.14C:\Temp/ccjSs5Dt.s:4020 .bss:000000f0 last_n_p.15C:\Temp/ccjSs5Dt.s:4021 .bss:000000f1 last_n_n.16C:\Temp/ccjSs5Dt.s:4022 .bss:000000f2 last_r_p.17C:\Temp/ccjSs5Dt.s:4023 .bss:000000f3 last_r_n.18C:\Temp/ccjSs5Dt.s:4024 .bss:000000f4 MittelIntegralNick_Alt.19C:\Temp/ccjSs5Dt.s:4025 .bss:000000f8 MittelIntegralRoll_Alt.20C:\Temp/ccjSs5Dt.s:4026 .bss:000000fc HeightTrimming.21C:\Temp/ccjSs5Dt.s:4027 .bss:000000fe FilterHCGas.22C:\Temp/ccjSs5Dt.s:4028 .bss:00000100 HoverGasFilter.23C:\Temp/ccjSs5Dt.s:4033 .data:0000004f delay.24C:\Temp/ccjSs5Dt.s:4029 .bss:00000104 BaroAtUpperLimit.25C:\Temp/ccjSs5Dt.s:4035 .bss:00000105 BaroAtLowerLimit.26C:\Temp/ccjSs5Dt.s:4040 .text:00001fb6 MotorRegler*COM*:00000001 GyroFaktor*COM*:00000001 IntegralFaktor*COM*:00000001 GyroFaktorGier*COM*:00000001 IntegralFaktorGier*COM*:00000004 MittelIntegralNick*COM*:00000004 MittelIntegralRoll*COM*:00000004 MittelIntegralNick2*COM*:00000004 MittelIntegralRoll2*COM*:00000002 ErsatzKompassInGrad*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000018 tmp_motorwert*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Parameter_J16Bitmask*COM*:00000001 Parameter_J17Bitmask*COM*:00000002 MesswertGierBias*COM*:00000001 Parameter_NaviGpsModeControl*COM*:00000001 Parameter_NaviGpsGain*COM*:00000001 Parameter_NaviGpsP*COM*:00000001 Parameter_NaviGpsI*COM*:00000001 Parameter_NaviGpsD*COM*:00000001 Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED SYMBOLS__do_copy_data__do_clear_bssEE_Parameter__divmodsi4DebugOutCapacityUBatMotorAdWertGierServoNickValueAdWertAccHochGPS_NickGPS_RollVersionInfoPlatinenVersionbeeptimeUpdateMotorLIBFC_PollingSucheGyroOffsetAdWertNickAdWertRollAdWertAccNickAdWertAccRollPPM_in__mulsi3__prologue_saves__ExpandBaroDelay_ms_MessMessLuftdruckSucheLuftruckOffset__divmodhi4Aktuell_azSetParamWordGetParamWorduart_putchar_printf_PLuftdruckStartLuftdruckVarioMeterLED_InitFromNaviCtrl_ValueServoActiveNickServoValueLIBFC_HoTT_Clear__epilogue_restores__AdWertNickFilterAdWertRollFilterAdReadyHiResNickHiResRollMotorTestPC_MotortestActiveI2C_TransferActivemotor_writetwi_stateBLFlagsNC_To_FC_MaxAltitudeSpeakHoTTFromNaviCtrlBeepMusterPPM_diffSetActiveParamSetWinkelOutGetActiveParamSetParamSet_ReadFromEEPromLipoDetectionLIBFC_ReceiverInitNC_ErrorCodeGPSInfoNewPpmDataFromNC_Rotate_CFromNC_Rotate_SGPS_Aid_StickMultiplikator__floatsisf__addsf3__fixunssfsiExternControlZaehlMessungenBattLowVoltageWarning__udivmodhi4DruckOffsetSettingSummenHoeheihypotc_cos_8192__udivmodqi4NC_To_FC_FlagsMissingMotorMixer