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   1                            .file   "main.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __tmp_reg__ = 0
   6                    __zero_reg__ = 1
   7                            .global __do_copy_data
   8                            .global __do_clear_bss
   9                            .text
  10                    .global LipoDetection
  12                    LipoDetection:
  13                    /* prologue: frame size=0 */
  14 0000 1F93                  push r17
  15 0002 CF93                  push r28
  16 0004 DF93                  push r29
  17                    /* prologue end (size=3) */
  18 0006 182F                  mov r17,r24
  19 0008 8823                  tst r24
  20 000a 01F0                  breq .L2
  21 000c E091 0000             lds r30,_printf_P
  22 0010 F091 0000             lds r31,(_printf_P)+1
  23 0014 80E0                  ldi r24,lo8(__c.2504)
  24 0016 90E0                  ldi r25,hi8(__c.2504)
  25 0018 9F93                  push r25
  26 001a 8F93                  push r24
  27 001c 80E0                  ldi r24,lo8(gs(uart_putchar))
  28 001e 90E0                  ldi r25,hi8(gs(uart_putchar))
  29 0020 9F93                  push r25
  30 0022 8F93                  push r24
  31 0024 0995                  icall
  32 0026 0F90                  pop __tmp_reg__
  33 0028 0F90                  pop __tmp_reg__
  34 002a 0F90                  pop __tmp_reg__
  35 002c 0F90                  pop __tmp_reg__
  36                    .L2:
  37 002e 8091 0000             lds r24,EE_Parameter+36
  38 0032 8233                  cpi r24,lo8(50)
  39 0034 00F0                  brlo .+2
  40 0036 00C0                  rjmp .L4
  41 0038 84EF                  ldi r24,lo8(500)
  42 003a 91E0                  ldi r25,hi8(500)
  43 003c 0E94 0000             call SetDelay
  44 0040 EC01                  movw r28,r24
  45 0042 1123                  tst r17
  46 0044 01F0                  breq .L6
  47                    .L15:
  48 0046 CE01                  movw r24,r28
  49 0048 0E94 0000             call CheckDelay
  50 004c 8823                  tst r24
  51 004e 01F0                  breq .L15
  52                    .L6:
  53 0050 C2E0                  ldi r28,lo8(2)
  54 0052 D0E0                  ldi r29,hi8(2)
  55 0054 26E5                  ldi r18,lo8(86)
  56 0056 30E0                  ldi r19,hi8(86)
  57                    .L8:
  58 0058 8091 0000             lds r24,UBat
  59 005c 9091 0000             lds r25,(UBat)+1
  60 0060 8217                  cp r24,r18
  61 0062 9307                  cpc r25,r19
  62 0064 00F0                  brlo .L9
  63 0066 2196                  adiw r28,1
  64 0068 255D                  subi r18,lo8(-(43))
  65 006a 3F4F                  sbci r19,hi8(-(43))
  66 006c C730                  cpi r28,7
  67 006e D105                  cpc r29,__zero_reg__
  68 0070 01F4                  brne .L8
  69                    .L9:
  70 0072 8091 0000             lds r24,EE_Parameter+36
  71 0076 90E0                  ldi r25,lo8(0)
  72 0078 9C01                  movw r18,r24
  73 007a C29F                  mul r28,r18
  74 007c C001                  movw r24,r0
  75 007e C39F                  mul r28,r19
  76 0080 900D                  add r25,r0
  77 0082 D29F                  mul r29,r18
  78 0084 900D                  add r25,r0
  79 0086 1124                  clr r1
  80 0088 8093 0000             sts BattLowVoltageWarning,r24
  81 008c 1123                  tst r17
  82 008e 01F4                  brne .+2
  83 0090 00C0                  rjmp .L14
  84 0092 68EC                  ldi r22,lo8(200)
  85 0094 70E0                  ldi r23,hi8(200)
  86 0096 8C2F                  mov r24,r28
  87 0098 0E94 0000             call Piep
  88 009c E091 0000             lds r30,_printf_P
  89 00a0 F091 0000             lds r31,(_printf_P)+1
  90 00a4 DF93                  push r29
  91 00a6 CF93                  push r28
  92 00a8 80E0                  ldi r24,lo8(__c.2512)
  93 00aa 90E0                  ldi r25,hi8(__c.2512)
  94 00ac 9F93                  push r25
  95 00ae 8F93                  push r24
  96 00b0 80E0                  ldi r24,lo8(gs(uart_putchar))
  97 00b2 90E0                  ldi r25,hi8(gs(uart_putchar))
  98 00b4 9F93                  push r25
  99 00b6 8F93                  push r24
 100 00b8 0995                  icall
 101 00ba 8DB7                  in r24,__SP_L__
 102 00bc 9EB7                  in r25,__SP_H__
 103 00be 0696                  adiw r24,6
 104 00c0 8DBF                  out __SP_L__,r24
 105 00c2 00C0                  rjmp .L13
 106                    .L4:
 107 00c4 8093 0000             sts BattLowVoltageWarning,r24
 108 00c8 1123                  tst r17
 109 00ca 01F0                  breq .L14
 110                    .L13:
 111 00cc E091 0000             lds r30,_printf_P
 112 00d0 F091 0000             lds r31,(_printf_P)+1
 113 00d4 4091 0000             lds r20,BattLowVoltageWarning
 114 00d8 842F                  mov r24,r20
 115 00da 6AE0                  ldi r22,lo8(10)
 116 00dc 0E94 0000             call __udivmodqi4
 117 00e0 292F                  mov r18,r25
 118 00e2 30E0                  ldi r19,lo8(0)
 119 00e4 842F                  mov r24,r20
 120 00e6 0E94 0000             call __udivmodqi4
 121 00ea 90E0                  ldi r25,lo8(0)
 122 00ec 3F93                  push r19
 123 00ee 2F93                  push r18
 124 00f0 9F93                  push r25
 125 00f2 8F93                  push r24
 126 00f4 80E0                  ldi r24,lo8(__c.2514)
 127 00f6 90E0                  ldi r25,hi8(__c.2514)
 128 00f8 9F93                  push r25
 129 00fa 8F93                  push r24
 130 00fc 80E0                  ldi r24,lo8(gs(uart_putchar))
 131 00fe 90E0                  ldi r25,hi8(gs(uart_putchar))
 132 0100 9F93                  push r25
 133 0102 8F93                  push r24
 134 0104 0995                  icall
 135 0106 2DB7                  in r18,__SP_L__
 136 0108 3EB7                  in r19,__SP_H__
 137 010a 285F                  subi r18,lo8(-(8))
 138 010c 3F4F                  sbci r19,hi8(-(8))
 139 010e 2DBF                  out __SP_L__,r18
 140                    .L14:
 141                    /* epilogue: frame size=0 */
 142 0110 DF91                  pop r29
 143 0112 CF91                  pop r28
 144 0114 1F91                  pop r17
 145 0116 0895                  ret
 146                    /* epilogue end (size=4) */
 147                    /* function LipoDetection size 139 (132) */
 149                    .global CalMk3Mag
 151                    CalMk3Mag:
 152                    /* prologue: frame size=0 */
 153                    /* prologue end (size=0) */
 154 0118 8091 0000             lds r24,EE_Parameter+1
 155 011c E82F                  mov r30,r24
 156 011e F0E0                  ldi r31,lo8(0)
 157 0120 EE0F                  lsl r30
 158 0122 FF1F                  rol r31
 159 0124 E050                  subi r30,lo8(-(PPM_in))
 160 0126 F040                  sbci r31,hi8(-(PPM_in))
 161 0128 8081                  ld r24,Z
 162 012a 9181                  ldd r25,Z+1
 163 012c 8D5E                  subi r24,lo8(-19)
 164 012e 9F4F                  sbci r25,hi8(-19)
 165 0130 04F0                  brlt .L19
 166 0132 1092 0000             sts stick.2490,__zero_reg__
 167                    .L19:
 168 0136 8081                  ld r24,Z
 169 0138 9181                  ldd r25,Z+1
 170 013a 8A5B                  subi r24,lo8(-70)
 171 013c 9F4F                  sbci r25,hi8(-70)
 172 013e 04F4                  brge .L21
 173 0140 8091 0000             lds r24,stick.2490
 174 0144 8823                  tst r24
 175 0146 01F4                  brne .L21
 176 0148 81E0                  ldi r24,lo8(1)
 177 014a 8093 0000             sts stick.2490,r24
 178 014e 8091 0000             lds r24,WinkelOut+6
 179 0152 8F5F                  subi r24,lo8(-(1))
 180 0154 8093 0000             sts WinkelOut+6,r24
 181 0158 8530                  cpi r24,lo8(5)
 182 015a 00F0                  brlo .L24
 183 015c 88EE                  ldi r24,lo8(1000)
 184 015e 93E0                  ldi r25,hi8(1000)
 185 0160 9093 0000             sts (beeptime)+1,r25
 186 0164 8093 0000             sts beeptime,r24
 187 0168 00C0                  rjmp .L21
 188                    .L24:
 189 016a 66E9                  ldi r22,lo8(150)
 190 016c 70E0                  ldi r23,hi8(150)
 191 016e 0E94 0000             call Piep
 192                    .L21:
 193 0172 8091 0000             lds r24,WinkelOut+6
 194 0176 90E0                  ldi r25,lo8(0)
 195 0178 9093 0000             sts (DebugOut+40)+1,r25
 196 017c 8093 0000             sts DebugOut+40,r24
 197                    /* epilogue: frame size=0 */
 198 0180 0895                  ret
 199                    /* epilogue end (size=1) */
 200                    /* function CalMk3Mag size 55 (54) */
 202                    .global main
 204                    main:
 205                    /* prologue: frame size=0 */
 206 0182 A0E0                  ldi r26,lo8(0)
 207 0184 B0E0                  ldi r27,hi8(0)
 208 0186 E0E0                  ldi r30,pm_lo8(1f)
 209 0188 F0E0                  ldi r31,pm_hi8(1f)
 210 018a 0C94 0000             jmp __prologue_saves__+4
 211                    1:
 212                    /* prologue end (size=6) */
 213 018e 14B8                  out 36-0x20,__zero_reg__
 214 0190 15B8                  out 37-0x20,__zero_reg__
 215 0192 189B                  sbis 35-0x20,0
 216 0194 00C0                  rjmp .L28
 217 0196 199B                  sbis 35-0x20,1
 218 0198 00C0                  rjmp .L30
 219 019a 8DE0                  ldi r24,lo8(13)
 220 019c 00C0                  rjmp .L164
 221                    .L30:
 222 019e 8BE0                  ldi r24,lo8(11)
 223 01a0 00C0                  rjmp .L164
 224                    .L28:
 225 01a2 199B                  sbis 35-0x20,1
 226 01a4 00C0                  rjmp .L33
 227 01a6 84E1                  ldi r24,lo8(20)
 228 01a8 00C0                  rjmp .L164
 229                    .L33:
 230 01aa 8AE0                  ldi r24,lo8(10)
 231                    .L164:
 232 01ac 8093 0000             sts PlatinenVersion,r24
 233 01b0 81E8                  ldi r24,lo8(-127)
 234 01b2 87B9                  out 39-0x20,r24
 235 01b4 3E9A                  sbi 39-0x20,6
 236 01b6 8FEF                  ldi r24,lo8(-1)
 237 01b8 88B9                  out 40-0x20,r24
 238 01ba 8BE1                  ldi r24,lo8(27)
 239 01bc 84B9                  out 36-0x20,r24
 240 01be 81E0                  ldi r24,lo8(1)
 241 01c0 85B9                  out 37-0x20,r24
 242 01c2 8EE3                  ldi r24,lo8(62)
 243 01c4 8AB9                  out 42-0x20,r24
 244 01c6 87E4                  ldi r24,lo8(71)
 245 01c8 8BB9                  out 43-0x20,r24
 246 01ca 469A                  sbi 40-0x20,6
 247 01cc 84B7                  in r24,84-0x20
 248 01ce 877F                  andi r24,lo8(-9)
 249 01d0 84BF                  out 84-0x20,r24
 250 01d2 8091 6000             lds r24,96
 251 01d6 8861                  ori r24,lo8(24)
 252 01d8 8093 6000             sts 96,r24
 253 01dc 1092 6000             sts 96,__zero_reg__
 254 01e0 84EC                  ldi r24,lo8(2500)
 255 01e2 99E0                  ldi r25,hi8(2500)
 256 01e4 9093 0000             sts (beeptime)+1,r25
 257 01e8 8093 0000             sts beeptime,r24
 258 01ec 1092 0000             sts (StickGier)+1,__zero_reg__
 259 01f0 1092 0000             sts StickGier,__zero_reg__
 260 01f4 1092 0000             sts (PPM_in+4)+1,__zero_reg__
 261 01f8 1092 0000             sts PPM_in+4,__zero_reg__
 262 01fc 1092 0000             sts (StickRoll)+1,__zero_reg__
 263 0200 1092 0000             sts StickRoll,__zero_reg__
 264 0204 1092 0000             sts (StickNick)+1,__zero_reg__
 265 0208 1092 0000             sts StickNick,__zero_reg__
 266 020c 2091 0000             lds r18,PlatinenVersion
 267 0210 2431                  cpi r18,lo8(20)
 268 0212 00F0                  brlo .L35
 269 0214 84EC                  ldi r24,lo8(1220)
 270 0216 94E0                  ldi r25,hi8(1220)
 271 0218 A0E0                  ldi r26,hlo8(1220)
 272 021a B0E0                  ldi r27,hhi8(1220)
 273 021c 00C0                  rjmp .L165
 274                    .L35:
 275 021e 8BE0                  ldi r24,lo8(1291)
 276 0220 95E0                  ldi r25,hi8(1291)
 277 0222 A0E0                  ldi r26,hlo8(1291)
 278 0224 B0E0                  ldi r27,hhi8(1291)
 279                    .L165:
 280 0226 8093 0000             sts GIER_GRAD_FAKTOR,r24
 281 022a 9093 0000             sts (GIER_GRAD_FAKTOR)+1,r25
 282 022e A093 0000             sts (GIER_GRAD_FAKTOR)+2,r26
 283 0232 B093 0000             sts (GIER_GRAD_FAKTOR)+3,r27
 284 0236 2A30                  cpi r18,lo8(10)
 285 0238 01F0                  breq .L38
 286 023a 2431                  cpi r18,lo8(20)
 287 023c 00F0                  brlo .L40
 288                    .L38:
 289 023e 2898                  cbi 37-0x20,0
 290 0240 00C0                  rjmp .L41
 291                    .L40:
 292 0242 289A                  sbi 37-0x20,0
 293                    .L41:
 294 0244 0E94 0000             call Timer_Init
 295 0248 0E94 0000             call TIMER2_Init
 296 024c 0E94 0000             call UART_Init
 297 0250 0E94 0000             call rc_sum_init
 298 0254 0E94 0000             call ADC_Init
 299 0258 81E0                  ldi r24,lo8(1)
 300 025a 0E94 0000             call I2C_Init
 301 025e 0E94 0000             call SPI_MasterInit
 302 0262 0E94 0000             call Capacity_Init
 303 0266 0E94 0000             call LIBFC_Init
 304 026a 8091 0000             lds r24,PlatinenVersion
 305 026e 8C30                  cpi r24,lo8(12)
 306 0270 00F4                  brsh .L42
 307 0272 299A                  sbi 37-0x20,1
 308 0274 00C0                  rjmp .L44
 309                    .L42:
 310 0276 2998                  cbi 37-0x20,1
 311                    .L44:
 312                    /* #APP */
 313 0278 7894                  sei
 314                    /* #NOAPP */
 315 027a 0E94 0000             call ParamSet_Init
 316 027e E091 0000             lds r30,_printf_P
 317 0282 F091 0000             lds r31,(_printf_P)+1
 318 0286 80E0                  ldi r24,lo8(__c.2542)
 319 0288 90E0                  ldi r25,hi8(__c.2542)
 320 028a 9F93                  push r25
 321 028c 8F93                  push r24
 322 028e 80E0                  ldi r24,lo8(gs(uart_putchar))
 323 0290 90E0                  ldi r25,hi8(gs(uart_putchar))
 324 0292 9F93                  push r25
 325 0294 8F93                  push r24
 326 0296 0995                  icall
 327 0298 8091 0000             lds r24,BLFlags
 328 029c 8260                  ori r24,lo8(2)
 329 029e 8093 0000             sts BLFlags,r24
 330 02a2 1092 0000             sts motor_read,__zero_reg__
 331 02a6 0E94 0000             call SendMotorData
 332 02aa 84EF                  ldi r24,lo8(500)
 333 02ac 91E0                  ldi r25,hi8(500)
 334 02ae 0E94 0000             call SetDelay
 335 02b2 EC01                  movw r28,r24
 336 02b4 0F90                  pop __tmp_reg__
 337 02b6 0F90                  pop __tmp_reg__
 338 02b8 0F90                  pop __tmp_reg__
 339 02ba 0F90                  pop __tmp_reg__
 340                    .L45:
 341 02bc 8091 0000             lds r24,BLFlags
 342 02c0 80FD                  sbrc r24,0
 343 02c2 00C0                  rjmp .L46
 344 02c4 CE01                  movw r24,r28
 345 02c6 0E94 0000             call CheckDelay
 346 02ca 8823                  tst r24
 347 02cc 01F0                  breq .L45
 348                    .L46:
 349 02ce E091 0000             lds r30,_printf_P
 350 02d2 F091 0000             lds r31,(_printf_P)+1
 351 02d6 80E0                  ldi r24,lo8(__c.2547)
 352 02d8 90E0                  ldi r25,hi8(__c.2547)
 353 02da 9F93                  push r25
 354 02dc 8F93                  push r24
 355 02de 00E0                  ldi r16,lo8(gs(uart_putchar))
 356 02e0 10E0                  ldi r17,hi8(gs(uart_putchar))
 357 02e2 1F93                  push r17
 358 02e4 0F93                  push r16
 359 02e6 0995                  icall
 360 02e8 80EA                  ldi r24,lo8(4000)
 361 02ea 9FE0                  ldi r25,hi8(4000)
 362 02ec 0E94 0000             call SetDelay
 363 02f0 EC01                  movw r28,r24
 364 02f2 F0E0                  ldi r31,lo8(Motor+3)
 365 02f4 AF2E                  mov r10,r31
 366 02f6 F0E0                  ldi r31,hi8(Motor+3)
 367 02f8 BF2E                  mov r11,r31
 368 02fa E0E0                  ldi r30,lo8(Mixer+13)
 369 02fc 6E2E                  mov r6,r30
 370 02fe E0E0                  ldi r30,hi8(Mixer+13)
 371 0300 7E2E                  mov r7,r30
 372 0302 6501                  movw r12,r10
 373 0304 4301                  movw r8,r6
 374 0306 71E0                  ldi r23,lo8(1)
 375 0308 E72E                  mov r14,r23
 376 030a F12C                  mov r15,__zero_reg__
 377 030c 0F90                  pop __tmp_reg__
 378 030e 0F90                  pop __tmp_reg__
 379 0310 0F90                  pop __tmp_reg__
 380 0312 0F90                  pop __tmp_reg__
 381 0314 60E0                  ldi r22,lo8(__c.2558)
 382 0316 462E                  mov r4,r22
 383 0318 60E0                  ldi r22,hi8(__c.2558)
 384 031a 562E                  mov r5,r22
 385                    .L48:
 386 031c 0E94 0000             call SendMotorData
 387                    .L49:
 388 0320 8091 0000             lds r24,BLFlags
 389 0324 80FD                  sbrc r24,0
 390 0326 00C0                  rjmp .L50
 391 0328 CE01                  movw r24,r28
 392 032a 0E94 0000             call CheckDelay
 393 032e 8823                  tst r24
 394 0330 01F0                  breq .L49
 395                    .L50:
 396 0332 F401                  movw r30,r8
 397 0334 8081                  ld r24,Z
 398 0336 1816                  cp __zero_reg__,r24
 399 0338 04F0                  brlt .L169
 400 033a 00C0                  rjmp .L53
 401                    .L54:
 402 033c 0E94 0000             call SendMotorData
 403                    .L55:
 404 0340 8091 0000             lds r24,BLFlags
 405 0344 80FD                  sbrc r24,0
 406 0346 00C0                  rjmp .L169
 407 0348 CE01                  movw r24,r28
 408 034a 0E94 0000             call CheckDelay
 409 034e 8823                  tst r24
 410 0350 01F0                  breq .L55
 411                    .L169:
 412 0352 CE01                  movw r24,r28
 413 0354 0E94 0000             call CheckDelay
 414 0358 8823                  tst r24
 415 035a 01F4                  brne .L53
 416 035c F601                  movw r30,r12
 417 035e 8081                  ld r24,Z
 418 0360 87FF                  sbrs r24,7
 419 0362 00C0                  rjmp .L54
 420                    .L53:
 421 0364 F601                  movw r30,r12
 422 0366 8081                  ld r24,Z
 423 0368 87FF                  sbrs r24,7
 424 036a 00C0                  rjmp .L58
 425 036c E091 0000             lds r30,_printf_P
 426 0370 F091 0000             lds r31,(_printf_P)+1
 427 0374 FF92                  push r15
 428 0376 EF92                  push r14
 429 0378 5F92                  push r5
 430 037a 4F92                  push r4
 431 037c 1F93                  push r17
 432 037e 0F93                  push r16
 433 0380 0995                  icall
 434 0382 8091 0000             lds r24,FoundMotors
 435 0386 8F5F                  subi r24,lo8(-(1))
 436 0388 8093 0000             sts FoundMotors,r24
 437 038c 2DB7                  in r18,__SP_L__
 438 038e 3EB7                  in r19,__SP_H__
 439 0390 2A5F                  subi r18,lo8(-(6))
 440 0392 3F4F                  sbci r19,hi8(-(6))
 441 0394 2DBF                  out __SP_L__,r18
 442                    .L58:
 443 0396 0894                  sec
 444 0398 E11C                  adc r14,__zero_reg__
 445 039a F11C                  adc r15,__zero_reg__
 446 039c 88E0                  ldi r24,lo8(8)
 447 039e 90E0                  ldi r25,hi8(8)
 448 03a0 C80E                  add r12,r24
 449 03a2 D91E                  adc r13,r25
 450 03a4 E4E0                  ldi r30,lo8(4)
 451 03a6 F0E0                  ldi r31,hi8(4)
 452 03a8 8E0E                  add r8,r30
 453 03aa 9F1E                  adc r9,r31
 454 03ac FDE0                  ldi r31,lo8(13)
 455 03ae EF16                  cp r14,r31
 456 03b0 F104                  cpc r15,__zero_reg__
 457 03b2 01F0                  breq .+2
 458 03b4 00C0                  rjmp .L48
 459 03b6 C1E0                  ldi r28,lo8(1)
 460 03b8 D0E0                  ldi r29,hi8(1)
 461 03ba 50E0                  ldi r21,lo8(__c.2563)
 462 03bc E52E                  mov r14,r21
 463 03be 50E0                  ldi r21,hi8(__c.2563)
 464 03c0 F52E                  mov r15,r21
 465 03c2 00E0                  ldi r16,lo8(gs(uart_putchar))
 466 03c4 10E0                  ldi r17,hi8(gs(uart_putchar))
 467                    .L61:
 468 03c6 F501                  movw r30,r10
 469 03c8 8081                  ld r24,Z
 470 03ca 87FD                  sbrc r24,7
 471 03cc 00C0                  rjmp .L62
 472 03ce F301                  movw r30,r6
 473 03d0 8081                  ld r24,Z
 474 03d2 1816                  cp __zero_reg__,r24
 475 03d4 04F4                  brge .L62
 476 03d6 E091 0000             lds r30,_printf_P
 477 03da F091 0000             lds r31,(_printf_P)+1
 478 03de DF93                  push r29
 479 03e0 CF93                  push r28
 480 03e2 FF92                  push r15
 481 03e4 EF92                  push r14
 482 03e6 1F93                  push r17
 483 03e8 0F93                  push r16
 484 03ea 0995                  icall
 485 03ec 82E0                  ldi r24,lo8(2)
 486 03ee 8093 0000             sts ServoActive,r24
 487 03f2 2DB7                  in r18,__SP_L__
 488 03f4 3EB7                  in r19,__SP_H__
 489 03f6 2A5F                  subi r18,lo8(-(6))
 490 03f8 3F4F                  sbci r19,hi8(-(6))
 491 03fa 2DBF                  out __SP_L__,r18
 492                    .L62:
 493 03fc F501                  movw r30,r10
 494 03fe 8081                  ld r24,Z
 495 0400 8078                  andi r24,lo8(-128)
 496 0402 8083                  st Z,r24
 497 0404 2196                  adiw r28,1
 498 0406 28E0                  ldi r18,lo8(8)
 499 0408 30E0                  ldi r19,hi8(8)
 500 040a A20E                  add r10,r18
 501 040c B31E                  adc r11,r19
 502 040e 84E0                  ldi r24,lo8(4)
 503 0410 90E0                  ldi r25,hi8(4)
 504 0412 680E                  add r6,r24
 505 0414 791E                  adc r7,r25
 506 0416 CD30                  cpi r28,13
 507 0418 D105                  cpc r29,__zero_reg__
 508 041a 01F4                  brne .L61
 509 041c E091 0000             lds r30,_printf_P
 510 0420 F091 0000             lds r31,(_printf_P)+1
 511 0424 80E0                  ldi r24,lo8(__c.2568)
 512 0426 90E0                  ldi r25,hi8(__c.2568)
 513 0428 9F93                  push r25
 514 042a 8F93                  push r24
 515 042c C0E0                  ldi r28,lo8(gs(uart_putchar))
 516 042e D0E0                  ldi r29,hi8(gs(uart_putchar))
 517 0430 DF93                  push r29
 518 0432 CF93                  push r28
 519 0434 0995                  icall
 520 0436 0F90                  pop __tmp_reg__
 521 0438 0F90                  pop __tmp_reg__
 522 043a 0F90                  pop __tmp_reg__
 523 043c 0F90                  pop __tmp_reg__
 524 043e 9091 0000             lds r25,RequiredMotors
 525 0442 8091 0000             lds r24,FoundMotors
 526 0446 9817                  cp r25,r24
 527 0448 00F4                  brsh .L66
 528 044a 8091 0000             lds r24,VersionInfo+6
 529 044e 8061                  ori r24,lo8(16)
 530 0450 8093 0000             sts VersionInfo+6,r24
 531                    .L66:
 532 0454 E091 0000             lds r30,_printf_P
 533 0458 F091 0000             lds r31,(_printf_P)+1
 534 045c 80E0                  ldi r24,lo8(__c.2570)
 535 045e 90E0                  ldi r25,hi8(__c.2570)
 536 0460 9F93                  push r25
 537 0462 8F93                  push r24
 538 0464 DF93                  push r29
 539 0466 CF93                  push r28
 540 0468 0995                  icall
 541 046a 88EE                  ldi r24,lo8(1000)
 542 046c 93E0                  ldi r25,hi8(1000)
 543 046e 0E94 0000             call SetDelay
 544 0472 EC01                  movw r28,r24
 545 0474 0F90                  pop __tmp_reg__
 546 0476 0F90                  pop __tmp_reg__
 547 0478 0F90                  pop __tmp_reg__
 548 047a 0F90                  pop __tmp_reg__
 549                    .L68:
 550 047c CE01                  movw r24,r28
 551 047e 0E94 0000             call CheckDelay
 552 0482 8823                  tst r24
 553 0484 01F0                  breq .L68
 554 0486 E091 0000             lds r30,_printf_P
 555 048a F091 0000             lds r31,(_printf_P)+1
 556 048e 80E0                  ldi r24,lo8(__c.2575)
 557 0490 90E0                  ldi r25,hi8(__c.2575)
 558 0492 9F93                  push r25
 559 0494 8F93                  push r24
 560 0496 80E0                  ldi r24,lo8(gs(uart_putchar))
 561 0498 90E0                  ldi r25,hi8(gs(uart_putchar))
 562 049a 9F93                  push r25
 563 049c 8F93                  push r24
 564 049e 0995                  icall
 565 04a0 80E0                  ldi r24,lo8(0)
 566 04a2 0E94 0000             call SetNeutral
 567 04a6 8091 0000             lds r24,PlatinenVersion
 568 04aa 0F90                  pop __tmp_reg__
 569 04ac 0F90                  pop __tmp_reg__
 570 04ae 0F90                  pop __tmp_reg__
 571 04b0 0F90                  pop __tmp_reg__
 572 04b2 8A30                  cpi r24,lo8(10)
 573 04b4 01F0                  breq .L70
 574 04b6 8431                  cpi r24,lo8(20)
 575 04b8 00F0                  brlo .L72
 576                    .L70:
 577 04ba 2898                  cbi 37-0x20,0
 578 04bc 00C0                  rjmp .L73
 579                    .L72:
 580 04be 289A                  sbi 37-0x20,0
 581                    .L73:
 582 04c0 80ED                  ldi r24,lo8(2000)
 583 04c2 97E0                  ldi r25,hi8(2000)
 584 04c4 9093 0000             sts (beeptime)+1,r25
 585 04c8 8093 0000             sts beeptime,r24
 586 04cc 85E5                  ldi r24,lo8(85)
 587 04ce 8093 0000             sts ExternControl,r24
 588 04d2 8EE0                  ldi r24,lo8(14)
 589 04d4 90E0                  ldi r25,hi8(14)
 590 04d6 0E94 0000             call GetParamByte
 591 04da 082F                  mov r16,r24
 592 04dc 8FE0                  ldi r24,lo8(15)
 593 04de 90E0                  ldi r25,hi8(15)
 594 04e0 0E94 0000             call GetParamByte
 595 04e4 10E0                  ldi r17,lo8(0)
 596 04e6 102F                  mov r17,r16
 597 04e8 0027                  clr r16
 598 04ea 080F                  add r16,r24
 599 04ec 111D                  adc r17,__zero_reg__
 600 04ee 1093 0000             sts (FlugMinuten)+1,r17
 601 04f2 0093 0000             sts FlugMinuten,r16
 602 04f6 8AE0                  ldi r24,lo8(10)
 603 04f8 90E0                  ldi r25,hi8(10)
 604 04fa 0E94 0000             call GetParamByte
 605 04fe 082F                  mov r16,r24
 606 0500 8BE0                  ldi r24,lo8(11)
 607 0502 90E0                  ldi r25,hi8(11)
 608 0504 0E94 0000             call GetParamByte
 609 0508 10E0                  ldi r17,lo8(0)
 610 050a 102F                  mov r17,r16
 611 050c 0027                  clr r16
 612 050e 080F                  add r16,r24
 613 0510 111D                  adc r17,__zero_reg__
 614 0512 1093 0000             sts (FlugMinutenGesamt)+1,r17
 615 0516 0093 0000             sts FlugMinutenGesamt,r16
 616 051a 0F5F                  subi r16,lo8(-1)
 617 051c 1F4F                  sbci r17,hi8(-1)
 618 051e 01F0                  breq .L74
 619 0520 8091 0000             lds r24,FlugMinuten
 620 0524 9091 0000             lds r25,(FlugMinuten)+1
 621 0528 8F5F                  subi r24,lo8(-1)
 622 052a 9F4F                  sbci r25,hi8(-1)
 623 052c 01F4                  brne .L76
 624                    .L74:
 625 052e 1092 0000             sts (FlugMinuten)+1,__zero_reg__
 626 0532 1092 0000             sts FlugMinuten,__zero_reg__
 627 0536 1092 0000             sts (FlugMinutenGesamt)+1,__zero_reg__
 628 053a 1092 0000             sts FlugMinutenGesamt,__zero_reg__
 629                    .L76:
 630 053e E091 0000             lds r30,_printf_P
 631 0542 F091 0000             lds r31,(_printf_P)+1
 632 0546 8091 0000             lds r24,FlugMinutenGesamt
 633 054a 9091 0000             lds r25,(FlugMinutenGesamt)+1
 634 054e 2091 0000             lds r18,FlugMinuten
 635 0552 3091 0000             lds r19,(FlugMinuten)+1
 636 0556 9F93                  push r25
 637 0558 8F93                  push r24
 638 055a 3F93                  push r19
 639 055c 2F93                  push r18
 640 055e 80E0                  ldi r24,lo8(__c.2577)
 641 0560 90E0                  ldi r25,hi8(__c.2577)
 642 0562 9F93                  push r25
 643 0564 8F93                  push r24
 644 0566 C0E0                  ldi r28,lo8(gs(uart_putchar))
 645 0568 D0E0                  ldi r29,hi8(gs(uart_putchar))
 646 056a DF93                  push r29
 647 056c CF93                  push r28
 648 056e 0995                  icall
 649 0570 E091 0000             lds r30,_printf_P
 650 0574 F091 0000             lds r31,(_printf_P)+1
 651 0578 80E0                  ldi r24,lo8(__c.2579)
 652 057a 90E0                  ldi r25,hi8(__c.2579)
 653 057c 9F93                  push r25
 654 057e 8F93                  push r24
 655 0580 DF93                  push r29
 656 0582 CF93                  push r28
 657 0584 0995                  icall
 658 0586 8091 0000             lds r24,EE_Parameter+13
 659 058a 2DB7                  in r18,__SP_L__
 660 058c 3EB7                  in r19,__SP_H__
 661 058e 245F                  subi r18,lo8(-(12))
 662 0590 3F4F                  sbci r19,hi8(-(12))
 663 0592 2DBF                  out __SP_L__,r18
 664 0594 E091 0000             lds r30,_printf_P
 665 0598 F091 0000             lds r31,(_printf_P)+1
 666 059c 82FF                  sbrs r24,2
 667 059e 00C0                  rjmp .L77
 668 05a0 80E0                  ldi r24,lo8(__c.2581)
 669 05a2 90E0                  ldi r25,hi8(__c.2581)
 670 05a4 00C0                  rjmp .L166
 671                    .L77:
 672 05a6 80E0                  ldi r24,lo8(__c.2583)
 673 05a8 90E0                  ldi r25,hi8(__c.2583)
 674                    .L166:
 675 05aa 9F93                  push r25
 676 05ac 8F93                  push r24
 677 05ae DF93                  push r29
 678 05b0 CF93                  push r28
 679 05b2 0995                  icall
 680 05b4 0F90                  pop __tmp_reg__
 681 05b6 0F90                  pop __tmp_reg__
 682 05b8 0F90                  pop __tmp_reg__
 683 05ba 0F90                  pop __tmp_reg__
 684 05bc 0E94 0000             call LcdClear
 685 05c0 88E8                  ldi r24,lo8(5000)
 686 05c2 93E1                  ldi r25,hi8(5000)
 687 05c4 9093 0000             sts (I2CTimeout)+1,r25
 688 05c8 8093 0000             sts I2CTimeout,r24
 689 05cc 81E0                  ldi r24,lo8(1)
 690 05ce 8093 0000             sts WinkelOut+7,r24
 691 05d2 0E94 0000             call LipoDetection
 692 05d6 8091 0000             lds r24,EE_Parameter+39
 693 05da 0E94 0000             call LIBFC_ReceiverInit
 694 05de E091 0000             lds r30,_printf_P
 695 05e2 F091 0000             lds r31,(_printf_P)+1
 696 05e6 80E0                  ldi r24,lo8(__c.2585)
 697 05e8 90E0                  ldi r25,hi8(__c.2585)
 698 05ea 9F93                  push r25
 699 05ec 8F93                  push r24
 700 05ee 80E0                  ldi r24,lo8(gs(uart_putchar))
 701 05f0 90E0                  ldi r25,hi8(gs(uart_putchar))
 702 05f2 9F93                  push r25
 703 05f4 8F93                  push r24
 704 05f6 0995                  icall
 705 05f8 80ED                  ldi r24,lo8(2000)
 706 05fa 97E0                  ldi r25,hi8(2000)
 707 05fc 0E94 0000             call SetDelay
 708 0600 EC01                  movw r28,r24
 709 0602 8AEF                  ldi r24,lo8(250)
 710 0604 90E0                  ldi r25,hi8(250)
 711 0606 0E94 0000             call SetDelay
 712 060a 7C01                  movw r14,r24
 713 060c 83E0                  ldi r24,lo8(3)
 714 060e 8093 0000             sts DebugOut,r24
 715 0612 00E0                  ldi r16,lo8(0)
 716 0614 10E0                  ldi r17,hi8(0)
 717 0616 0F90                  pop __tmp_reg__
 718 0618 0F90                  pop __tmp_reg__
 719 061a 0F90                  pop __tmp_reg__
 720 061c 0F90                  pop __tmp_reg__
 721                    .L170:
 722 061e 8091 0000             lds r24,JetiUpdateModeActive
 723 0622 8111                  cpse r24,__zero_reg__
 724                    .L161:
 725 0624 00C0                  rjmp .L161
 726                    .L81:
 727 0626 C701                  movw r24,r14
 728 0628 0E94 0000             call CheckDelay
 729 062c 8823                  tst r24
 730 062e 01F0                  breq .L83
 731 0630 84E6                  ldi r24,lo8(100)
 732 0632 90E0                  ldi r25,hi8(100)
 733 0634 0E94 0000             call SetDelay
 734 0638 7C01                  movw r14,r24
 735 063a 0E94 0000             call LIBFC_Polling
 736                    .L83:
 737 063e 8091 0000             lds r24,UpdateMotor
 738 0642 8823                  tst r24
 739 0644 01F4                  brne .+2
 740 0646 00C0                  rjmp .L85
 741 0648 8091 0000             lds r24,AdReady
 742 064c 8823                  tst r24
 743 064e 01F4                  brne .+2
 744 0650 00C0                  rjmp .L85
 745 0652 1092 0000             sts UpdateMotor,__zero_reg__
 746 0656 8091 0000             lds r24,WinkelOut+6
 747 065a 8823                  tst r24
 748 065c 01F0                  breq .L88
 749 065e 0E94 0000             call CalMk3Mag
 750 0662 00C0                  rjmp .L90
 751                    .L88:
 752 0664 0E94 0000             call MotorRegler
 753                    .L90:
 754 0668 0E94 0000             call SendMotorData
 755 066c 2091 0000             lds r18,PlatinenVersion
 756 0670 2A30                  cpi r18,lo8(10)
 757 0672 01F0                  breq .L91
 758 0674 2431                  cpi r18,lo8(20)
 759 0676 00F0                  brlo .L93
 760                    .L91:
 761 0678 2898                  cbi 37-0x20,0
 762 067a 00C0                  rjmp .L94
 763                    .L93:
 764 067c 289A                  sbi 37-0x20,0
 765                    .L94:
 766 067e 8091 0000             lds r24,SenderOkay
 767 0682 9091 0000             lds r25,VersionInfo+6
 768 0686 8823                  tst r24
 769 0688 01F0                  breq .L95
 770 068a 8091 0000             lds r24,SenderOkay
 771 068e 8150                  subi r24,lo8(-(-1))
 772 0690 8093 0000             sts SenderOkay,r24
 773 0694 977F                  andi r25,lo8(-9)
 774 0696 00C0                  rjmp .L167
 775                    .L95:
 776 0698 8091 6F00             lds r24,111
 777 069c 8062                  ori r24,lo8(32)
 778 069e 8093 6F00             sts 111,r24
 779 06a2 1092 0000             sts (PPM_in)+1,__zero_reg__
 780 06a6 1092 0000             sts PPM_in,__zero_reg__
 781 06aa 9860                  ori r25,lo8(8)
 782                    .L167:
 783 06ac 9093 0000             sts VersionInfo+6,r25
 784 06b0 8091 0000             lds r24,I2CTimeout
 785 06b4 9091 0000             lds r25,(I2CTimeout)+1
 786 06b8 0197                  sbiw r24,1
 787 06ba 9093 0000             sts (I2CTimeout)+1,r25
 788 06be 8093 0000             sts I2CTimeout,r24
 789 06c2 8091 0000             lds r24,I2CTimeout
 790 06c6 9091 0000             lds r25,(I2CTimeout)+1
 791 06ca 892B                  or r24,r25
 792 06cc 01F0                  breq .L98
 793 06ce 8091 0000             lds r24,MissingMotor
 794 06d2 8823                  tst r24
 795 06d4 01F0                  breq .L100
 796                    .L98:
 797 06d6 8091 0000             lds r24,I2CTimeout
 798 06da 9091 0000             lds r25,(I2CTimeout)+1
 799 06de 892B                  or r24,r25
 800 06e0 01F4                  brne .L101
 801 06e2 0E94 0000             call I2C_Reset
 802 06e6 85E0                  ldi r24,lo8(5)
 803 06e8 90E0                  ldi r25,hi8(5)
 804 06ea 9093 0000             sts (I2CTimeout)+1,r25
 805 06ee 8093 0000             sts I2CTimeout,r24
 806 06f2 8091 0000             lds r24,DebugOut+58
 807 06f6 9091 0000             lds r25,(DebugOut+58)+1
 808 06fa 0196                  adiw r24,1
 809 06fc 9093 0000             sts (DebugOut+58)+1,r25
 810 0700 8093 0000             sts DebugOut+58,r24
 811 0704 8091 0000             lds r24,VersionInfo+6
 812 0708 8160                  ori r24,lo8(1)
 813 070a 8093 0000             sts VersionInfo+6,r24
 814 070e 8091 0000             lds r24,DebugOut+1
 815 0712 8260                  ori r24,lo8(2)
 816 0714 8093 0000             sts DebugOut+1,r24
 817                    .L101:
 818 0718 8091 0000             lds r24,BeepMuster
 819 071c 9091 0000             lds r25,(BeepMuster)+1
 820 0720 8F5F                  subi r24,lo8(-1)
 821 0722 9F4F                  sbci r25,hi8(-1)
 822 0724 01F4                  brne .L103
 823 0726 8091 0000             lds r24,MotorenEin
 824 072a 8823                  tst r24
 825 072c 01F0                  breq .L103
 826 072e 80E1                  ldi r24,lo8(10000)
 827 0730 97E2                  ldi r25,hi8(10000)
 828 0732 9093 0000             sts (beeptime)+1,r25
 829 0736 8093 0000             sts beeptime,r24
 830 073a 80E8                  ldi r24,lo8(128)
 831 073c 90E0                  ldi r25,hi8(128)
 832 073e 9093 0000             sts (BeepMuster)+1,r25
 833 0742 8093 0000             sts BeepMuster,r24
 834 0746 00C0                  rjmp .L103
 835                    .L100:
 836 0748 2A30                  cpi r18,lo8(10)
 837 074a 01F0                  breq .L106
 838 074c 2431                  cpi r18,lo8(20)
 839 074e 00F0                  brlo .L108
 840                    .L106:
 841 0750 2898                  cbi 37-0x20,0
 842 0752 00C0                  rjmp .L109
 843                    .L108:
 844 0754 289A                  sbi 37-0x20,0
 845                    .L109:
 846 0756 8091 0000             lds r24,beeptime
 847 075a 9091 0000             lds r25,(beeptime)+1
 848 075e 892B                  or r24,r25
 849 0760 01F4                  brne .L103
 850 0762 8091 0000             lds r24,VersionInfo+6
 851 0766 8E7F                  andi r24,lo8(-2)
 852 0768 8093 0000             sts VersionInfo+6,r24
 853                    .L103:
 854 076c 8091 0000             lds r24,UpdateMotor
 855 0770 8823                  tst r24
 856 0772 01F0                  breq .+2
 857 0774 00C0                  rjmp .L85
 858 0776 8091 0000             lds r24,CalculateServoSignals
 859 077a 8823                  tst r24
 860 077c 01F0                  breq .L112
 861 077e 0E94 0000             call CalculateServo
 862                    .L112:
 863 0782 0E94 0000             call DatenUebertragung
 864 0786 0E94 0000             call BearbeiteRxDaten
 865 078a CE01                  movw r24,r28
 866 078c 0E94 0000             call CheckDelay
 867 0790 8823                  tst r24
 868 0792 01F4                  brne .+2
 869 0794 00C0                  rjmp .L114
 870 0796 8091 0000             lds r24,MissingMotor
 871 079a 9091 0000             lds r25,VersionInfo+6
 872 079e 8823                  tst r24
 873 07a0 01F0                  breq .L116
 874 07a2 9260                  ori r25,lo8(2)
 875 07a4 9093 0000             sts VersionInfo+6,r25
 876 07a8 8091 0000             lds r24,DebugOut+1
 877 07ac 8260                  ori r24,lo8(2)
 878 07ae 00C0                  rjmp .L168
 879                    .L116:
 880 07b0 9D7F                  andi r25,lo8(-3)
 881 07b2 9093 0000             sts VersionInfo+6,r25
 882 07b6 8091 0000             lds r24,I2CTimeout
 883 07ba 9091 0000             lds r25,(I2CTimeout)+1
 884 07be 0797                  sbiw r24,7
 885 07c0 00F0                  brlo .L118
 886 07c2 8091 0000             lds r24,DebugOut+1
 887 07c6 8D7F                  andi r24,lo8(-3)
 888                    .L168:
 889 07c8 8093 0000             sts DebugOut+1,r24
 890                    .L118:
 891 07cc 8091 0000             lds r24,I2CTimeout
 892 07d0 9091 0000             lds r25,(I2CTimeout)+1
 893 07d4 0797                  sbiw r24,7
 894 07d6 00F0                  brlo .L120
 895 07d8 8091 0000             lds r24,VersionInfo+6
 896 07dc 8E7F                  andi r24,lo8(-2)
 897 07de 8093 0000             sts VersionInfo+6,r24
 898                    .L120:
 899 07e2 8091 0000             lds r24,PcZugriff
 900 07e6 8823                  tst r24
 901 07e8 01F0                  breq .L122
 902 07ea 8150                  subi r24,lo8(-(-1))
 903 07ec 8093 0000             sts PcZugriff,r24
 904 07f0 00C0                  rjmp .L124
 905                    .L122:
 906 07f2 1092 0000             sts ExternControl+10,__zero_reg__
 907 07f6 1092 0000             sts (ExternStickNick)+1,__zero_reg__
 908 07fa 1092 0000             sts ExternStickNick,__zero_reg__
 909 07fe 1092 0000             sts (ExternStickRoll)+1,__zero_reg__
 910 0802 1092 0000             sts ExternStickRoll,__zero_reg__
 911 0806 1092 0000             sts (ExternStickGier)+1,__zero_reg__
 912 080a 1092 0000             sts ExternStickGier,__zero_reg__
 913 080e 8091 0000             lds r24,BeepMuster
 914 0812 9091 0000             lds r25,(BeepMuster)+1
 915 0816 8F5F                  subi r24,lo8(-1)
 916 0818 9F4F                  sbci r25,hi8(-1)
 917 081a 01F4                  brne .L124
 918 081c 8091 0000             lds r24,SenderOkay
 919 0820 8823                  tst r24
 920 0822 01F4                  brne .L124
 921 0824 88E9                  ldi r24,lo8(15000)
 922 0826 9AE3                  ldi r25,hi8(15000)
 923 0828 9093 0000             sts (beeptime)+1,r25
 924 082c 8093 0000             sts beeptime,r24
 925 0830 80E0                  ldi r24,lo8(3072)
 926 0832 9CE0                  ldi r25,hi8(3072)
 927 0834 9093 0000             sts (BeepMuster)+1,r25
 928 0838 8093 0000             sts BeepMuster,r24
 929                    .L124:
 930 083c 8091 0000             lds r24,NaviDataOkay
 931 0840 893C                  cpi r24,lo8(-55)
 932 0842 00F0                  brlo .L127
 933 0844 8150                  subi r24,lo8(-(-1))
 934 0846 8093 0000             sts NaviDataOkay,r24
 935 084a 8091 0000             lds r24,VersionInfo+6
 936 084e 8B7F                  andi r24,lo8(-5)
 937 0850 8093 0000             sts VersionInfo+6,r24
 938 0854 00C0                  rjmp .L129
 939                    .L127:
 940 0856 8091 0000             lds r24,NC_Version+3
 941 085a 8823                  tst r24
 942 085c 01F0                  breq .L130
 943 085e 8091 0000             lds r24,VersionInfo+6
 944 0862 8460                  ori r24,lo8(4)
 945 0864 8093 0000             sts VersionInfo+6,r24
 946 0868 8091 0000             lds r24,BeepMuster
 947 086c 9091 0000             lds r25,(BeepMuster)+1
 948 0870 8F5F                  subi r24,lo8(-1)
 949 0872 9F4F                  sbci r25,hi8(-1)
 950 0874 01F4                  brne .L130
 951 0876 8091 0000             lds r24,MotorenEin
 952 087a 8823                  tst r24
 953 087c 01F0                  breq .L130
 954 087e 88E9                  ldi r24,lo8(15000)
 955 0880 9AE3                  ldi r25,hi8(15000)
 956 0882 9093 0000             sts (beeptime)+1,r25
 957 0886 8093 0000             sts beeptime,r24
 958 088a 80E0                  ldi r24,lo8(-22528)
 959 088c 98EA                  ldi r25,hi8(-22528)
 960 088e 9093 0000             sts (BeepMuster)+1,r25
 961 0892 8093 0000             sts BeepMuster,r24
 962                    .L130:
 963 0896 1092 0000             sts (GPS_Nick)+1,__zero_reg__
 964 089a 1092 0000             sts GPS_Nick,__zero_reg__
 965 089e 1092 0000             sts (GPS_Roll)+1,__zero_reg__
 966 08a2 1092 0000             sts GPS_Roll,__zero_reg__
 967 08a6 8FEF                  ldi r24,lo8(-1)
 968 08a8 9FEF                  ldi r25,hi8(-1)
 969 08aa 9093 0000             sts (FromNaviCtrl+7)+1,r25
 970 08ae 8093 0000             sts FromNaviCtrl+7,r24
 971 08b2 1092 0000             sts NaviDataOkay,__zero_reg__
 972                    .L129:
 973 08b6 2091 0000             lds r18,UBat
 974 08ba 3091 0000             lds r19,(UBat)+1
 975 08be 8091 0000             lds r24,BattLowVoltageWarning
 976 08c2 90E0                  ldi r25,lo8(0)
 977 08c4 2817                  cp r18,r24
 978 08c6 3907                  cpc r19,r25
 979 08c8 04F4                  brge .L134
 980 08ca 8091 0000             lds r24,FC_StatusFlags
 981 08ce 8062                  ori r24,lo8(32)
 982 08d0 8093 0000             sts FC_StatusFlags,r24
 983 08d4 8091 0000             lds r24,BeepMuster
 984 08d8 9091 0000             lds r25,(BeepMuster)+1
 985 08dc 8F5F                  subi r24,lo8(-1)
 986 08de 9F4F                  sbci r25,hi8(-1)
 987 08e0 01F4                  brne .L136
 988 08e2 80E7                  ldi r24,lo8(6000)
 989 08e4 97E1                  ldi r25,hi8(6000)
 990 08e6 9093 0000             sts (beeptime)+1,r25
 991 08ea 8093 0000             sts beeptime,r24
 992 08ee 80E0                  ldi r24,lo8(768)
 993 08f0 93E0                  ldi r25,hi8(768)
 994 08f2 9093 0000             sts (BeepMuster)+1,r25
 995 08f6 8093 0000             sts BeepMuster,r24
 996 08fa 00C0                  rjmp .L136
 997                    .L134:
 998 08fc 8091 0000             lds r24,beeptime
 999 0900 9091 0000             lds r25,(beeptime)+1
 1000 0904 892B                 or r24,r25
 1001 0906 01F4                 brne .L136
 1002 0908 8091 0000            lds r24,FC_StatusFlags
 1003 090c 8F7D                 andi r24,lo8(-33)
 1004 090e 8093 0000            sts FC_StatusFlags,r24
 1005                   .L136:
 1006 0912 0E94 0000            call SPI_StartTransmitPacket
 1007 0916 84E0                 ldi r24,lo8(4)
 1008 0918 8093 0000            sts SendSPI,r24
 1009 091c 8091 0000            lds r24,MotorenEin
 1010 0920 8823                 tst r24
 1011 0922 01F4                 brne .L139
 1012 0924 0AEA                 ldi r16,lo8(1450)
 1013 0926 15E0                 ldi r17,hi8(1450)
 1014 0928 00C0                 rjmp .L141
 1015                   .L139:
 1016 092a 8091 0000            lds r24,second.2588
 1017 092e 8F5F                 subi r24,lo8(-(1))
 1018 0930 8093 0000            sts second.2588,r24
 1019 0934 8133                 cpi r24,lo8(49)
 1020 0936 01F4                 brne .L141
 1021 0938 1092 0000            sts second.2588,__zero_reg__
 1022 093c 8091 0000            lds r24,FlugSekunden
 1023 0940 9091 0000            lds r25,(FlugSekunden)+1
 1024 0944 0196                 adiw r24,1
 1025 0946 9093 0000            sts (FlugSekunden)+1,r25
 1026 094a 8093 0000            sts FlugSekunden,r24
 1027                   .L141:
 1028 094e 0F5F                 subi r16,lo8(-(1))
 1029 0950 1F4F                 sbci r17,hi8(-(1))
 1030 0952 3BE0                 ldi r19,hi8(2930)
 1031 0954 0237                 cpi r16,lo8(2930)
 1032 0956 1307                 cpc r17,r19
 1033 0958 01F0                 breq .L143
 1034 095a 6496                 adiw r28,20
 1035 095c 00C0                 rjmp .L114
 1036                   .L143:
 1037 095e 6091 0000            lds r22,FlugMinuten
 1038 0962 7091 0000            lds r23,(FlugMinuten)+1
 1039 0966 6F5F                 subi r22,lo8(-(1))
 1040 0968 7F4F                 sbci r23,hi8(-(1))
 1041 096a 7093 0000            sts (FlugMinuten)+1,r23
 1042 096e 6093 0000            sts FlugMinuten,r22
 1043 0972 8091 0000            lds r24,FlugMinutenGesamt
 1044 0976 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1045 097a 0196                 adiw r24,1
 1046 097c 9093 0000            sts (FlugMinutenGesamt)+1,r25
 1047 0980 8093 0000            sts FlugMinutenGesamt,r24
 1048 0984 672F                 mov r22,r23
 1049 0986 7727                 clr r23
 1050 0988 8EE0                 ldi r24,lo8(14)
 1051 098a 90E0                 ldi r25,hi8(14)
 1052 098c 0E94 0000            call SetParamByte
 1053 0990 6091 0000            lds r22,FlugMinuten
 1054 0994 8FE0                 ldi r24,lo8(15)
 1055 0996 90E0                 ldi r25,hi8(15)
 1056 0998 0E94 0000            call SetParamByte
 1057 099c 6091 0000            lds r22,FlugMinutenGesamt
 1058 09a0 7091 0000            lds r23,(FlugMinutenGesamt)+1
 1059 09a4 672F                 mov r22,r23
 1060 09a6 7727                 clr r23
 1061 09a8 8AE0                 ldi r24,lo8(10)
 1062 09aa 90E0                 ldi r25,hi8(10)
 1063 09ac 0E94 0000            call SetParamByte
 1064 09b0 6091 0000            lds r22,FlugMinutenGesamt
 1065 09b4 8BE0                 ldi r24,lo8(11)
 1066 09b6 90E0                 ldi r25,hi8(11)
 1067 09b8 0E94 0000            call SetParamByte
 1068 09bc 84E1                 ldi r24,lo8(20)
 1069 09be 90E0                 ldi r25,hi8(20)
 1070 09c0 0E94 0000            call SetDelay
 1071 09c4 EC01                 movw r28,r24
 1072 09c6 00E0                 ldi r16,lo8(0)
 1073 09c8 10E0                 ldi r17,hi8(0)
 1074                   .L114:
 1075 09ca 0E94 0000            call LED_Update
 1076 09ce 0E94 0000            call Capacity_Update
 1077                   .L85:
 1078 09d2 8091 0000            lds r24,SendSPI
 1079 09d6 8823                 tst r24
 1080 09d8 01F0                 breq .+2
 1081 09da 00C0                 rjmp .L170
 1082 09dc 0E94 0000            call SPI_TransmitByte
 1083 09e0 00C0                 rjmp .L170
 1084                   /* epilogue: frame size=0 */
 1085                   /* epilogue: noreturn */
 1086                   /* epilogue end (size=0) */
 1087                   /* function main size 1082 (1076) */
 1089                   .global PlatinenVersion
 1090                           .data
 1093                   PlatinenVersion:
 1094 0000 0A                   .byte   10
 1095                   .global SendVersionToNavi
 1098                   SendVersionToNavi:
 1099 0001 01                   .byte   1
 1100                   .global BattLowVoltageWarning
 1103                   BattLowVoltageWarning:
 1104 0002 5E                   .byte   94
 1105                   .global FlugMinuten
 1106                   .global FlugMinuten
 1107                           .section .bss
 1110                   FlugMinuten:
 1111 0000 0000                 .skip 2,0
 1112                   .global FlugMinutenGesamt
 1113                   .global FlugMinutenGesamt
 1116                   FlugMinutenGesamt:
 1117 0002 0000                 .skip 2,0
 1118                   .global FlugSekunden
 1119                   .global FlugSekunden
 1122                   FlugSekunden:
 1123 0004 0000                 .skip 2,0
 1124                   .global FoundMotors
 1125                   .global FoundMotors
 1128                   FoundMotors:
 1129 0006 00                   .skip 1,0
 1130                           .lcomm second.2588,1
 1131                           .section        .progmem.data,"a",@progbits
 1134                   __c.2585:
 1135 0000 0A0D 3D3D            .string "\n\r===================================\n\r"
 1135      3D3D 3D3D 
 1135      3D3D 3D3D 
 1135      3D3D 3D3D 
 1135      3D3D 3D3D 
 1138                   __c.2583:
 1139 0028 4E6F 726D            .string "Normal (ACC-Mode)"
 1139      616C 2028 
 1139      4143 432D 
 1139      4D6F 6465 
 1139      2900 
 1142                   __c.2581:
 1143 003a 4865 6164            .string "HeadingHold"
 1143      696E 6748 
 1143      6F6C 6400 
 1146                   __c.2579:
 1147 0046 0A0D 436F            .string "\n\rControl: "
 1147      6E74 726F 
 1147      6C3A 2000 
 1150                   __c.2577:
 1151 0052 0A0D 466C            .string "\n\rFlight-time %u min  Total:%u min"
 1151      6967 6874 
 1151      2D74 696D 
 1151      6520 2575 
 1151      206D 696E 
 1154                   __c.2575:
 1155 0075 4F4B 0A0D            .string "OK\n\r"
 1155      00
 1158                   __c.2570:
 1159 007a 0A0D 4361            .string "\n\rCalibrating IR sensor.."
 1159      6C69 6272 
 1159      6174 696E 
 1159      6720 4952 
 1159      2073 656E 
 1162                   __c.2568:
 1163 0094 0A0D 3D3D            .string "\n\r==================================="
 1163      3D3D 3D3D 
 1163      3D3D 3D3D 
 1163      3D3D 3D3D 
 1163      3D3D 3D3D 
 1166                   __c.2563:
 1167 00ba 0A0D 0A0D            .string "\n\r\n\r!! MISSING BL-CTRL: %d !!"
 1167      2121 204D 
 1167      4953 5349 
 1167      4E47 2042 
 1167      4C2D 4354 
 1170                   __c.2558:
 1171 00d8 2564 00              .string "%d"
 1174                   __c.2547:
 1175 00db 0A0D 466F            .string "\n\rFound BL-Ctrl: "
 1175      756E 6420 
 1175      424C 2D43 
 1175      7472 6C3A 
 1175      2000 
 1178                   __c.2542:
 1179 00ed 0A0D 496E            .string "\n\rInitialised:\n\r"
 1179      6974 6961 
 1179      6C69 7365 
 1179      643A 0A0D 
 1179      00
 1182                   __c.2514:
 1183 00fe 204C 6F77            .string " Low warning level: %d.%d"
 1183      2077 6172 
 1183      6E69 6E67 
 1183      206C 6576 
 1183      656C 3A20 
 1186                   __c.2512:
 1187 0118 2025 6420            .string " %d Cells "
 1187      4365 6C6C 
 1187      7320 00
 1190                   __c.2504:
 1191 0123 0A0D 4261            .string "\n\rBatt:"
 1191      7474 3A00 
 1192                           .data
 1195                   stick.2490:
 1196 0003 01                   .byte   1
 1197                           .comm _printf_P,2,1
 1198                   /* File "main.c": code 1276 = 0x04fc (1262), prologues   9, epilogues   5 */
DEFINED SYMBOLS
                            *ABS*:00000000 main.c
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:2      *ABS*:0000003f __SREG__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:3      *ABS*:0000003e __SP_H__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:4      *ABS*:0000003d __SP_L__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:5      *ABS*:00000000 __tmp_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:6      *ABS*:00000001 __zero_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:12     .text:00000000 LipoDetection
                            *COM*:00000002 _printf_P
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1190   .progmem.data:00000123 __c.2504
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1103   .data:00000002 BattLowVoltageWarning
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1186   .progmem.data:00000118 __c.2512
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1182   .progmem.data:000000fe __c.2514
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:151    .text:00000118 CalMk3Mag
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1195   .data:00000003 stick.2490
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:204    .text:00000182 main
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1093   .data:00000000 PlatinenVersion
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1178   .progmem.data:000000ed __c.2542
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1174   .progmem.data:000000db __c.2547
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1170   .progmem.data:000000d8 __c.2558
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1128   .bss:00000006 FoundMotors
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1166   .progmem.data:000000ba __c.2563
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1162   .progmem.data:00000094 __c.2568
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1158   .progmem.data:0000007a __c.2570
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1154   .progmem.data:00000075 __c.2575
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1110   .bss:00000000 FlugMinuten
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1116   .bss:00000002 FlugMinutenGesamt
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1150   .progmem.data:00000052 __c.2577
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1146   .progmem.data:00000046 __c.2579
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1142   .progmem.data:0000003a __c.2581
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1138   .progmem.data:00000028 __c.2583
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1134   .progmem.data:00000000 __c.2585
                             .bss:00000007 second.2588
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1122   .bss:00000004 FlugSekunden
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1098   .data:00000001 SendVersionToNavi

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
uart_putchar
EE_Parameter
SetDelay
CheckDelay
UBat
Piep
__udivmodqi4
PPM_in
WinkelOut
beeptime
DebugOut
__prologue_saves__
StickGier
StickRoll
StickNick
GIER_GRAD_FAKTOR
Timer_Init
TIMER2_Init
UART_Init
rc_sum_init
ADC_Init
I2C_Init
SPI_MasterInit
Capacity_Init
LIBFC_Init
ParamSet_Init
BLFlags
motor_read
SendMotorData
Motor
Mixer
ServoActive
RequiredMotors
VersionInfo
SetNeutral
ExternControl
GetParamByte
LcdClear
I2CTimeout
LIBFC_ReceiverInit
JetiUpdateModeActive
LIBFC_Polling
UpdateMotor
AdReady
MotorRegler
SenderOkay
MissingMotor
I2C_Reset
BeepMuster
MotorenEin
CalculateServoSignals
CalculateServo
DatenUebertragung
BearbeiteRxDaten
PcZugriff
ExternStickNick
ExternStickRoll
ExternStickGier
NaviDataOkay
NC_Version
GPS_Nick
GPS_Roll
FromNaviCtrl
FC_StatusFlags
SPI_StartTransmitPacket
SendSPI
SetParamByte
LED_Update
Capacity_Update
SPI_TransmitByte