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   1                            .file   "spi.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 SPI_MasterInit
  12                    SPI_MasterInit:
  13                    /* prologue: frame size=0 */
  14                    /* prologue end (size=0) */
  15 0000 84B1                  in r24,36-0x20
  16 0002 806A                  ori r24,lo8(-96)
  17 0004 84B9                  out 36-0x20,r24
  18 0006 3D9A                  sbi 39-0x20,5
  19 0008 82E5                  ldi r24,lo8(82)
  20 000a 8CBD                  out 76-0x20,r24
  21 000c 1DBC                  out 77-0x20,__zero_reg__
  22 000e 459A                  sbi 40-0x20,5
  23 0010 81E0                  ldi r24,lo8(1)
  24 0012 8093 0000             sts SPITransferCompleted,r24
  25 0016 8AEA                  ldi r24,lo8(-86)
  26 0018 8093 0000             sts ToNaviCtrl,r24
  27 001c 83E8                  ldi r24,lo8(-125)
  28 001e 8093 0000             sts ToNaviCtrl+1,r24
  29 0022 8AE0                  ldi r24,lo8(10)
  30 0024 8093 0000             sts ToNaviCtrl+2,r24
  31 0028 1092 0000             sts (ToNaviCtrl+3)+1,__zero_reg__
  32 002c 1092 0000             sts ToNaviCtrl+3,__zero_reg__
  33 0030 1092 0000             sts (ToNaviCtrl+5)+1,__zero_reg__
  34 0034 1092 0000             sts ToNaviCtrl+5,__zero_reg__
  35 0038 1092 0000             sts FromNaviCtrl_Value+3,__zero_reg__
  36 003c 1092 0000             sts SPI_RxDataValid,__zero_reg__
  37                    /* epilogue: frame size=0 */
  38 0040 0895                  ret
  39                    /* epilogue end (size=1) */
  40                    /* function SPI_MasterInit size 33 (32) */
  42                    .global UpdateSPI_Buffer
  44                    UpdateSPI_Buffer:
  45                    /* prologue: frame size=0 */
  46 0042 EF92                  push r14
  47 0044 FF92                  push r15
  48 0046 0F93                  push r16
  49 0048 1F93                  push r17
  50                    /* prologue end (size=4) */
  51 004a E090 0000             lds r14,EE_Parameter+28
  52 004e FF24                  clr r15
  53 0050 EE0C                  lsl r14
  54 0052 FF1C                  rol r15
  55 0054 EE0C                  lsl r14
  56 0056 FF1C                  rol r15
  57 0058 0027                  clr r16
  58 005a F7FC                  sbrc r15,7
  59 005c 0095                  com r16
  60 005e 102F                  mov r17,r16
  61 0060 6091 0000             lds r22,IntegralNick
  62 0064 7091 0000             lds r23,(IntegralNick)+1
  63 0068 8091 0000             lds r24,(IntegralNick)+2
  64 006c 9091 0000             lds r25,(IntegralNick)+3
  65 0070 A801                  movw r20,r16
  66 0072 9701                  movw r18,r14
  67 0074 0E94 0000             call __divmodsi4
  68 0078 3093 0000             sts (ToNaviCtrl+3)+1,r19
  69 007c 2093 0000             sts ToNaviCtrl+3,r18
  70 0080 6091 0000             lds r22,IntegralRoll
  71 0084 7091 0000             lds r23,(IntegralRoll)+1
  72 0088 8091 0000             lds r24,(IntegralRoll)+2
  73 008c 9091 0000             lds r25,(IntegralRoll)+3
  74 0090 A801                  movw r20,r16
  75 0092 9701                  movw r18,r14
  76 0094 0E94 0000             call __divmodsi4
  77 0098 3093 0000             sts (ToNaviCtrl+5)+1,r19
  78 009c 2093 0000             sts ToNaviCtrl+5,r18
  79 00a0 6091 0000             lds r22,ErsatzKompass
  80 00a4 7091 0000             lds r23,(ErsatzKompass)+1
  81 00a8 8091 0000             lds r24,(ErsatzKompass)+2
  82 00ac 9091 0000             lds r25,(ErsatzKompass)+3
  83 00b0 2AE0                  ldi r18,lo8(10)
  84 00b2 30E0                  ldi r19,hi8(10)
  85 00b4 40E0                  ldi r20,hlo8(10)
  86 00b6 50E0                  ldi r21,hhi8(10)
  87 00b8 0E94 0000             call __mulsi3
  88 00bc 2091 0000             lds r18,GIER_GRAD_FAKTOR
  89 00c0 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
  90 00c4 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
  91 00c8 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
  92 00cc 0E94 0000             call __divmodsi4
  93 00d0 3093 0000             sts (ToNaviCtrl+11)+1,r19
  94 00d4 2093 0000             sts ToNaviCtrl+11,r18
  95 00d8 2091 0000             lds r18,AdWertGier
  96 00dc 3091 0000             lds r19,(AdWertGier)+1
  97 00e0 8091 0000             lds r24,AdNeutralGier
  98 00e4 9091 0000             lds r25,(AdNeutralGier)+1
  99 00e8 821B                  sub r24,r18
 100 00ea 930B                  sbc r25,r19
 101 00ec 9093 0000             sts (ToNaviCtrl+17)+1,r25
 102 00f0 8093 0000             sts ToNaviCtrl+17,r24
 103 00f4 2091 0000             lds r18,NaviCntAcc
 104 00f8 3091 0000             lds r19,(NaviCntAcc)+1
 105 00fc 8091 0000             lds r24,NaviAccNick
 106 0100 9091 0000             lds r25,(NaviAccNick)+1
 107 0104 B901                  movw r22,r18
 108 0106 0E94 0000             call __divmodhi4
 109 010a CB01                  movw r24,r22
 110 010c 880F                  lsl r24
 111 010e 991F                  rol r25
 112 0110 860F                  add r24,r22
 113 0112 971F                  adc r25,r23
 114 0114 880F                  lsl r24
 115 0116 991F                  rol r25
 116 0118 64E0                  ldi r22,lo8(4)
 117 011a 70E0                  ldi r23,hi8(4)
 118 011c 0E94 0000             call __divmodhi4
 119 0120 7093 0000             sts (ToNaviCtrl+7)+1,r23
 120 0124 6093 0000             sts ToNaviCtrl+7,r22
 121 0128 8091 0000             lds r24,NaviAccRoll
 122 012c 9091 0000             lds r25,(NaviAccRoll)+1
 123 0130 B901                  movw r22,r18
 124 0132 0E94 0000             call __divmodhi4
 125 0136 CB01                  movw r24,r22
 126 0138 880F                  lsl r24
 127 013a 991F                  rol r25
 128 013c 860F                  add r24,r22
 129 013e 971F                  adc r25,r23
 130 0140 880F                  lsl r24
 131 0142 991F                  rol r25
 132 0144 64E0                  ldi r22,lo8(4)
 133 0146 70E0                  ldi r23,hi8(4)
 134 0148 0E94 0000             call __divmodhi4
 135 014c 7093 0000             sts (ToNaviCtrl+9)+1,r23
 136 0150 6093 0000             sts ToNaviCtrl+9,r22
 137 0154 1092 0000             sts (NaviCntAcc)+1,__zero_reg__
 138 0158 1092 0000             sts NaviCntAcc,__zero_reg__
 139 015c 1092 0000             sts (NaviAccNick)+1,__zero_reg__
 140 0160 1092 0000             sts NaviAccNick,__zero_reg__
 141 0164 1092 0000             sts (NaviAccRoll)+1,__zero_reg__
 142 0168 1092 0000             sts NaviAccRoll,__zero_reg__
 143 016c 8091 0000             lds r24,ToNaviCtrl+2
 144 0170 8D30                  cpi r24,lo8(13)
 145 0172 01F4                  brne .+2
 146 0174 00C0                  rjmp .L8
 147 0176 8E30                  cpi r24,lo8(14)
 148 0178 00F4                  brsh .L12
 149 017a 8B30                  cpi r24,lo8(11)
 150 017c 01F4                  brne .+2
 151 017e 00C0                  rjmp .L6
 152 0180 8C30                  cpi r24,lo8(12)
 153 0182 00F0                  brlo .+2
 154 0184 00C0                  rjmp .L7
 155 0186 8A30                  cpi r24,lo8(10)
 156 0188 01F0                  breq .+2
 157 018a 00C0                  rjmp .L4
 158 018c 00C0                  rjmp .L5
 159                    .L12:
 160 018e 8F30                  cpi r24,lo8(15)
 161 0190 01F4                  brne .+2
 162 0192 00C0                  rjmp .L10
 163 0194 8F30                  cpi r24,lo8(15)
 164 0196 00F4                  brsh .+2
 165 0198 00C0                  rjmp .L9
 166 019a 8031                  cpi r24,lo8(16)
 167 019c 01F0                  breq .+2
 168 019e 00C0                  rjmp .L4
 169 01a0 00C0                  rjmp .L11
 170                    .L5:
 171 01a2 8091 0000             lds r24,Parameter_UserParam1
 172 01a6 8093 0000             sts ToNaviCtrl+19,r24
 173 01aa 8091 0000             lds r24,Parameter_UserParam2
 174 01ae 8093 0000             sts ToNaviCtrl+20,r24
 175 01b2 8091 0000             lds r24,Parameter_UserParam3
 176 01b6 8093 0000             sts ToNaviCtrl+21,r24
 177 01ba 8091 0000             lds r24,Parameter_UserParam4
 178 01be 8093 0000             sts ToNaviCtrl+22,r24
 179 01c2 8091 0000             lds r24,Parameter_UserParam5
 180 01c6 8093 0000             sts ToNaviCtrl+23,r24
 181 01ca 8091 0000             lds r24,Parameter_UserParam6
 182 01ce 8093 0000             sts ToNaviCtrl+24,r24
 183 01d2 8091 0000             lds r24,Parameter_UserParam7
 184 01d6 8093 0000             sts ToNaviCtrl+25,r24
 185 01da 8091 0000             lds r24,Parameter_UserParam8
 186 01de 8093 0000             sts ToNaviCtrl+26,r24
 187 01e2 8091 0000             lds r24,FC_StatusFlags
 188 01e6 8093 0000             sts ToNaviCtrl+27,r24
 189 01ea 8091 0000             lds r24,FC_StatusFlags
 190 01ee 837F                  andi r24,lo8(-13)
 191 01f0 8093 0000             sts FC_StatusFlags,r24
 192 01f4 0E94 0000             call GetActiveParamSet
 193 01f8 8093 0000             sts ToNaviCtrl+28,r24
 194 01fc 8091 0000             lds r24,ControlHeading
 195 0200 8093 0000             sts ToNaviCtrl+29,r24
 196 0204 00C0                  rjmp .L4
 197                    .L11:
 198 0206 8091 0000             lds r24,Capacity
 199 020a 9091 0000             lds r25,(Capacity)+1
 200 020e 9093 0000             sts (ToNaviCtrl+19)+1,r25
 201 0212 8093 0000             sts ToNaviCtrl+19,r24
 202 0216 8091 0000             lds r24,Capacity+4
 203 021a 9091 0000             lds r25,(Capacity+4)+1
 204 021e 9093 0000             sts (ToNaviCtrl+21)+1,r25
 205 0222 8093 0000             sts ToNaviCtrl+21,r24
 206 0226 8091 0000             lds r24,UBat
 207 022a 9091 0000             lds r25,(UBat)+1
 208 022e 8093 0000             sts ToNaviCtrl+23,r24
 209 0232 8091 0000             lds r24,BattLowVoltageWarning
 210 0236 8093 0000             sts ToNaviCtrl+24,r24
 211 023a 00C0                  rjmp .L4
 212                    .L8:
 213 023c 8091 0000             lds r24,EE_Parameter+80
 214 0240 8093 0000             sts ToNaviCtrl+19,r24
 215 0244 8091 0000             lds r24,EE_Parameter+81
 216 0248 8093 0000             sts ToNaviCtrl+20,r24
 217 024c 8091 0000             lds r24,EE_Parameter+82
 218 0250 8093 0000             sts ToNaviCtrl+21,r24
 219 0254 8091 0000             lds r24,EE_Parameter+83
 220 0258 8093 0000             sts ToNaviCtrl+22,r24
 221 025c 8091 0000             lds r24,EE_Parameter+84
 222 0260 8093 0000             sts ToNaviCtrl+23,r24
 223 0264 8091 0000             lds r24,EE_Parameter+88
 224 0268 8093 0000             sts ToNaviCtrl+24,r24
 225 026c 8091 0000             lds r24,EE_Parameter+89
 226 0270 8093 0000             sts ToNaviCtrl+25,r24
 227 0274 8091 0000             lds r24,EE_Parameter+90
 228 0278 8093 0000             sts ToNaviCtrl+26,r24
 229 027c 8091 0000             lds r24,EE_Parameter+93
 230 0280 8093 0000             sts ToNaviCtrl+27,r24
 231 0284 8091 0000             lds r24,EE_Parameter+91
 232 0288 8093 0000             sts ToNaviCtrl+28,r24
 233 028c 8091 0000             lds r24,EE_Parameter+92
 234 0290 8093 0000             sts ToNaviCtrl+29,r24
 235 0294 8091 0000             lds r24,EE_Parameter+94
 236 0298 00C0                  rjmp .L40
 237                    .L6:
 238                    /* #APP */
 239 029a F894                  cli
 240                    /* #NOAPP */
 241 029c E091 0000             lds r30,EE_Parameter+3
 242 02a0 F0E0                  ldi r31,lo8(0)
 243 02a2 EE0F                  lsl r30
 244 02a4 FF1F                  rol r31
 245 02a6 E050                  subi r30,lo8(-(PPM_in))
 246 02a8 F040                  sbci r31,hi8(-(PPM_in))
 247 02aa 0190                  ld __tmp_reg__,Z+
 248 02ac F081                  ld r31,Z
 249 02ae E02D                  mov r30,__tmp_reg__
 250 02b0 2FEF                  ldi r18,hi8(-127)
 251 02b2 E138                  cpi r30,lo8(-127)
 252 02b4 F207                  cpc r31,r18
 253 02b6 04F4                  brge .L13
 254 02b8 E1E8                  ldi r30,lo8(-127)
 255 02ba FFEF                  ldi r31,hi8(-127)
 256                    .L13:
 257 02bc E038                  cpi r30,128
 258 02be F105                  cpc r31,__zero_reg__
 259 02c0 04F0                  brlt .L14
 260 02c2 EFE7                  ldi r30,lo8(127)
 261 02c4 F0E0                  ldi r31,hi8(127)
 262                    .L14:
 263 02c6 E093 0000             sts ToNaviCtrl+19,r30
 264 02ca E091 0000             lds r30,EE_Parameter+4
 265 02ce F0E0                  ldi r31,lo8(0)
 266 02d0 EE0F                  lsl r30
 267 02d2 FF1F                  rol r31
 268 02d4 E050                  subi r30,lo8(-(PPM_in))
 269 02d6 F040                  sbci r31,hi8(-(PPM_in))
 270 02d8 0190                  ld __tmp_reg__,Z+
 271 02da F081                  ld r31,Z
 272 02dc E02D                  mov r30,__tmp_reg__
 273 02de 6FEF                  ldi r22,hi8(-127)
 274 02e0 E138                  cpi r30,lo8(-127)
 275 02e2 F607                  cpc r31,r22
 276 02e4 04F4                  brge .L15
 277 02e6 E1E8                  ldi r30,lo8(-127)
 278 02e8 FFEF                  ldi r31,hi8(-127)
 279                    .L15:
 280 02ea E038                  cpi r30,128
 281 02ec F105                  cpc r31,__zero_reg__
 282 02ee 04F0                  brlt .L16
 283 02f0 EFE7                  ldi r30,lo8(127)
 284 02f2 F0E0                  ldi r31,hi8(127)
 285                    .L16:
 286 02f4 E093 0000             sts ToNaviCtrl+20,r30
 287 02f8 E091 0000             lds r30,EE_Parameter+2
 288 02fc F0E0                  ldi r31,lo8(0)
 289 02fe EE0F                  lsl r30
 290 0300 FF1F                  rol r31
 291 0302 E050                  subi r30,lo8(-(PPM_in))
 292 0304 F040                  sbci r31,hi8(-(PPM_in))
 293 0306 0190                  ld __tmp_reg__,Z+
 294 0308 F081                  ld r31,Z
 295 030a E02D                  mov r30,__tmp_reg__
 296 030c 8FEF                  ldi r24,hi8(-127)
 297 030e E138                  cpi r30,lo8(-127)
 298 0310 F807                  cpc r31,r24
 299 0312 04F4                  brge .L17
 300 0314 E1E8                  ldi r30,lo8(-127)
 301 0316 FFEF                  ldi r31,hi8(-127)
 302                    .L17:
 303 0318 E038                  cpi r30,128
 304 031a F105                  cpc r31,__zero_reg__
 305 031c 04F0                  brlt .L18
 306 031e EFE7                  ldi r30,lo8(127)
 307 0320 F0E0                  ldi r31,hi8(127)
 308                    .L18:
 309 0322 E093 0000             sts ToNaviCtrl+21,r30
 310 0326 E091 0000             lds r30,EE_Parameter+1
 311 032a F0E0                  ldi r31,lo8(0)
 312 032c EE0F                  lsl r30
 313 032e FF1F                  rol r31
 314 0330 E050                  subi r30,lo8(-(PPM_in))
 315 0332 F040                  sbci r31,hi8(-(PPM_in))
 316 0334 0190                  ld __tmp_reg__,Z+
 317 0336 F081                  ld r31,Z
 318 0338 E02D                  mov r30,__tmp_reg__
 319 033a 2FEF                  ldi r18,hi8(-127)
 320 033c E138                  cpi r30,lo8(-127)
 321 033e F207                  cpc r31,r18
 322 0340 04F4                  brge .L19
 323 0342 E1E8                  ldi r30,lo8(-127)
 324 0344 FFEF                  ldi r31,hi8(-127)
 325                    .L19:
 326                    /* #APP */
 327 0346 7894                  sei
 328                    /* #NOAPP */
 329 0348 E038                  cpi r30,128
 330 034a F105                  cpc r31,__zero_reg__
 331 034c 04F0                  brlt .L20
 332 034e EFE7                  ldi r30,lo8(127)
 333 0350 F0E0                  ldi r31,hi8(127)
 334                    .L20:
 335 0352 E093 0000             sts ToNaviCtrl+22,r30
 336 0356 8091 0000             lds r24,Poti
 337 035a 8093 0000             sts ToNaviCtrl+23,r24
 338 035e 8091 0000             lds r24,Poti+1
 339 0362 8093 0000             sts ToNaviCtrl+24,r24
 340 0366 8091 0000             lds r24,Poti+2
 341 036a 8093 0000             sts ToNaviCtrl+25,r24
 342 036e 8091 0000             lds r24,Poti+3
 343 0372 8093 0000             sts ToNaviCtrl+26,r24
 344 0376 8091 0000             lds r24,Poti+4
 345 037a 8093 0000             sts ToNaviCtrl+27,r24
 346 037e 8091 0000             lds r24,Poti+5
 347 0382 8093 0000             sts ToNaviCtrl+28,r24
 348 0386 8091 0000             lds r24,Poti+6
 349 038a 8093 0000             sts ToNaviCtrl+29,r24
 350 038e 8091 0000             lds r24,Poti+7
 351                    .L40:
 352 0392 8093 0000             sts ToNaviCtrl+30,r24
 353 0396 00C0                  rjmp .L4
 354                    .L7:
 355 0398 8091 0000             lds r24,WinkelOut+6
 356 039c 8630                  cpi r24,lo8(6)
 357 039e 00F0                  brlo .L21
 358 03a0 1092 0000             sts WinkelOut+6,__zero_reg__
 359 03a4 85E0                  ldi r24,lo8(5)
 360                    .L21:
 361 03a6 8093 0000             sts ToNaviCtrl+19,r24
 362 03aa 8091 0000             lds r24,EE_Parameter+95
 363 03ae 8093 0000             sts ToNaviCtrl+20,r24
 364 03b2 6091 0000             lds r22,HoehenWert
 365 03b6 7091 0000             lds r23,(HoehenWert)+1
 366 03ba 8091 0000             lds r24,(HoehenWert)+2
 367 03be 9091 0000             lds r25,(HoehenWert)+3
 368 03c2 25E0                  ldi r18,lo8(5)
 369 03c4 30E0                  ldi r19,hi8(5)
 370 03c6 40E0                  ldi r20,hlo8(5)
 371 03c8 50E0                  ldi r21,hhi8(5)
 372 03ca 0E94 0000             call __divmodsi4
 373 03ce 3093 0000             sts (ToNaviCtrl+21)+1,r19
 374 03d2 2093 0000             sts ToNaviCtrl+21,r18
 375 03d6 6091 0000             lds r22,SollHoehe
 376 03da 7091 0000             lds r23,(SollHoehe)+1
 377 03de 8091 0000             lds r24,(SollHoehe)+2
 378 03e2 9091 0000             lds r25,(SollHoehe)+3
 379 03e6 25E0                  ldi r18,lo8(5)
 380 03e8 30E0                  ldi r19,hi8(5)
 381 03ea 40E0                  ldi r20,hlo8(5)
 382 03ec 50E0                  ldi r21,hhi8(5)
 383 03ee 0E94 0000             call __divmodsi4
 384 03f2 3093 0000             sts (ToNaviCtrl+23)+1,r19
 385 03f6 2093 0000             sts ToNaviCtrl+23,r18
 386 03fa 8091 0000             lds r24,EE_Parameter+85
 387 03fe 8093 0000             sts ToNaviCtrl+25,r24
 388 0402 8091 0000             lds r24,EE_Parameter+86
 389 0406 8093 0000             sts ToNaviCtrl+26,r24
 390 040a 8091 0000             lds r24,EE_Parameter+87
 391 040e 8093 0000             sts ToNaviCtrl+27,r24
 392 0412 8091 0000             lds r24,SenderOkay
 393 0416 8093 0000             sts ToNaviCtrl+28,r24
 394 041a 8091 0000             lds r24,PPM_in
 395 041e 9091 0000             lds r25,(PPM_in)+1
 396 0422 8093 0000             sts ToNaviCtrl+29,r24
 397 0426 8091 0000             lds r24,DebugOut+16
 398 042a 9091 0000             lds r25,(DebugOut+16)+1
 399 042e 64E0                  ldi r22,lo8(4)
 400 0430 70E0                  ldi r23,hi8(4)
 401 0432 0E94 0000             call __divmodhi4
 402 0436 6093 0000             sts ToNaviCtrl+30,r22
 403 043a 00C0                  rjmp .L4
 404                    .L9:
 405 043c 1092 0000             sts ToNaviCtrl+19,__zero_reg__
 406 0440 82E5                  ldi r24,lo8(82)
 407 0442 8093 0000             sts ToNaviCtrl+20,r24
 408 0446 1092 0000             sts ToNaviCtrl+21,__zero_reg__
 409 044a 80E1                  ldi r24,lo8(16)
 410 044c 8093 0000             sts ToNaviCtrl+22,r24
 411 0450 8091 0000             lds r24,PlatinenVersion
 412 0454 8093 0000             sts ToNaviCtrl+23,r24
 413 0458 8091 0000             lds r24,VersionInfo+5
 414 045c 8093 0000             sts ToNaviCtrl+24,r24
 415 0460 8091 0000             lds r24,VersionInfo+6
 416 0464 8093 0000             sts ToNaviCtrl+25,r24
 417 0468 8091 0000             lds r24,VersionInfo+7
 418 046c 8093 0000             sts ToNaviCtrl+26,r24
 419 0470 8091 0000             lds r24,VersionInfo+8
 420 0474 8093 0000             sts ToNaviCtrl+27,r24
 421 0478 8091 0000             lds r24,VersionInfo+9
 422 047c 00C0                  rjmp .L41
 423                    .L10:
 424 047e 8091 0000             lds r24,EE_Parameter+53
 425 0482 8093 0000             sts ToNaviCtrl+19,r24
 426 0486 8091 0000             lds r24,EE_Parameter+101
 427 048a 8093 0000             sts ToNaviCtrl+20,r24
 428 048e 8091 0000             lds r24,Parameter_ServoNickControl
 429 0492 8093 0000             sts ToNaviCtrl+21,r24
 430 0496 8091 0000             lds r24,EE_Parameter+46
 431 049a 8093 0000             sts ToNaviCtrl+22,r24
 432 049e 8091 0000             lds r24,EE_Parameter+47
 433 04a2 8093 0000             sts ToNaviCtrl+23,r24
 434 04a6 8091 0000             lds r24,EE_Parameter+48
 435 04aa 8093 0000             sts ToNaviCtrl+24,r24
 436 04ae 8091 0000             lds r24,Parameter_ServoRollControl
 437 04b2 8093 0000             sts ToNaviCtrl+25,r24
 438 04b6 8091 0000             lds r24,EE_Parameter+50
 439 04ba 8093 0000             sts ToNaviCtrl+26,r24
 440 04be 8091 0000             lds r24,EE_Parameter+51
 441 04c2 8093 0000             sts ToNaviCtrl+27,r24
 442 04c6 8091 0000             lds r24,EE_Parameter+52
 443                    .L41:
 444 04ca 8093 0000             sts ToNaviCtrl+28,r24
 445                    .L4:
 446 04ce 8091 0000             lds r24,SPI_RxDataValid
 447 04d2 8823                  tst r24
 448 04d4 01F4                  brne .+2
 449 04d6 00C0                  rjmp .L24
 450 04d8 8AEF                  ldi r24,lo8(-6)
 451 04da 8093 0000             sts NaviDataOkay,r24
 452 04de 4091 0000             lds r20,FromNaviCtrl+1
 453 04e2 5091 0000             lds r21,(FromNaviCtrl+1)+1
 454 04e6 CA01                  movw r24,r20
 455 04e8 8150                  subi r24,lo8(-(511))
 456 04ea 9E4F                  sbci r25,hi8(-(511))
 457 04ec 8F5F                  subi r24,lo8(1023)
 458 04ee 9340                  sbci r25,hi8(1023)
 459 04f0 00F4                  brsh .L26
 460 04f2 2091 0000             lds r18,FromNaviCtrl+3
 461 04f6 3091 0000             lds r19,(FromNaviCtrl+3)+1
 462 04fa C901                  movw r24,r18
 463 04fc 8150                  subi r24,lo8(-(511))
 464 04fe 9E4F                  sbci r25,hi8(-(511))
 465 0500 8F5F                  subi r24,lo8(1023)
 466 0502 9340                  sbci r25,hi8(1023)
 467 0504 00F4                  brsh .L26
 468 0506 8091 0000             lds r24,EE_Parameter+13
 469 050a 85FF                  sbrs r24,5
 470 050c 00C0                  rjmp .L26
 471 050e 5093 0000             sts (GPS_Nick)+1,r21
 472 0512 4093 0000             sts GPS_Nick,r20
 473 0516 3093 0000             sts (GPS_Roll)+1,r19
 474 051a 2093 0000             sts GPS_Roll,r18
 475                    .L26:
 476 051e 8091 0000             lds r24,FromNaviCtrl+7
 477 0522 9091 0000             lds r25,(FromNaviCtrl+7)+1
 478 0526 21E0                  ldi r18,hi8(361)
 479 0528 8936                  cpi r24,lo8(361)
 480 052a 9207                  cpc r25,r18
 481 052c 04F4                  brge .L30
 482 052e 9093 0000             sts (KompassValue)+1,r25
 483 0532 8093 0000             sts KompassValue,r24
 484                    .L30:
 485 0536 8091 0000             lds r24,KompassValue
 486 053a 9091 0000             lds r25,(KompassValue)+1
 487 053e 845E                  subi r24,lo8(-(540))
 488 0540 9D4F                  sbci r25,hi8(-(540))
 489 0542 2091 0000             lds r18,KompassStartwert
 490 0546 3091 0000             lds r19,(KompassStartwert)+1
 491 054a 821B                  sub r24,r18
 492 054c 930B                  sbc r25,r19
 493 054e 68E6                  ldi r22,lo8(360)
 494 0550 71E0                  ldi r23,hi8(360)
 495 0552 0E94 0000             call __divmodhi4
 496 0556 845B                  subi r24,lo8(-(-180))
 497 0558 9040                  sbci r25,hi8(-(-180))
 498 055a 9093 0000             sts (KompassRichtung)+1,r25
 499 055e 8093 0000             sts KompassRichtung,r24
 500 0562 2091 0000             lds r18,FromNaviCtrl+11
 501 0566 3091 0000             lds r19,(FromNaviCtrl+11)+1
 502 056a 8091 0000             lds r24,beeptime
 503 056e 9091 0000             lds r25,(beeptime)+1
 504 0572 8217                  cp r24,r18
 505 0574 9307                  cpc r25,r19
 506 0576 00F4                  brsh .L32
 507 0578 8091 0000             lds r24,WinkelOut+6
 508 057c 8823                  tst r24
 509 057e 01F4                  brne .L32
 510 0580 3093 0000             sts (beeptime)+1,r19
 511 0584 2093 0000             sts beeptime,r18
 512                    .L32:
 513 0588 8091 0000             lds r24,FromNaviCtrl
 514 058c 8836                  cpi r24,lo8(104)
 515 058e 01F0                  breq .L37
 516 0590 8936                  cpi r24,lo8(105)
 517 0592 01F4                  brne .+2
 518 0594 00C0                  rjmp .L38
 519 0596 8736                  cpi r24,lo8(103)
 520 0598 01F0                  breq .+2
 521 059a 00C0                  rjmp .L39
 522 059c 8091 0000             lds r24,FromNaviCtrl+13
 523 05a0 8093 0000             sts FromNaviCtrl_Value,r24
 524 05a4 8091 0000             lds r24,FromNaviCtrl+14
 525 05a8 8093 0000             sts FromNaviCtrl_Value+2,r24
 526 05ac 8091 0000             lds r24,FromNaviCtrl+15
 527 05b0 8093 0000             sts FromNaviCtrl_Value+1,r24
 528 05b4 8091 0000             lds r24,FromNaviCtrl+16
 529 05b8 8093 0000             sts FromNaviCtrl_Value+3,r24
 530 05bc 8091 0000             lds r24,FromNaviCtrl+17
 531 05c0 8093 0000             sts FromNaviCtrl_Value+4,r24
 532 05c4 8091 0000             lds r24,FromNaviCtrl+18
 533 05c8 8093 0000             sts FromNC_Rotate_C,r24
 534 05cc 8091 0000             lds r24,FromNaviCtrl+19
 535 05d0 8093 0000             sts FromNC_Rotate_S,r24
 536 05d4 00C0                  rjmp .L39
 537                    .L37:
 538 05d6 8091 0000             lds r24,FromNaviCtrl+13
 539 05da 8093 0000             sts NC_Version,r24
 540 05de 8091 0000             lds r24,FromNaviCtrl+14
 541 05e2 8093 0000             sts NC_Version+1,r24
 542 05e6 8091 0000             lds r24,FromNaviCtrl+15
 543 05ea 8093 0000             sts NC_Version+2,r24
 544 05ee 8091 0000             lds r24,FromNaviCtrl+16
 545 05f2 8093 0000             sts NC_Version+3,r24
 546 05f6 8091 0000             lds r24,FromNaviCtrl+17
 547 05fa 8093 0000             sts NC_Version+4,r24
 548 05fe 8091 0000             lds r24,FromNaviCtrl+18
 549 0602 9091 0000             lds r25,DebugOut
 550 0606 892B                  or r24,r25
 551 0608 8093 0000             sts DebugOut,r24
 552 060c 9091 0000             lds r25,FromNaviCtrl+19
 553 0610 9093 0000             sts NC_ErrorCode,r25
 554 0614 9C70                  andi r25,lo8(12)
 555 0616 8091 0000             lds r24,DebugOut+1
 556 061a 8370                  andi r24,lo8(3)
 557 061c 982B                  or r25,r24
 558 061e 9093 0000             sts DebugOut+1,r25
 559 0622 00C0                  rjmp .L39
 560                    .L38:
 561 0624 8091 0000             lds r24,FromNaviCtrl+13
 562 0628 8093 0000             sts GPSInfo,r24
 563 062c 8091 0000             lds r24,FromNaviCtrl+14
 564 0630 8093 0000             sts GPSInfo+1,r24
 565 0634 8091 0000             lds r24,FromNaviCtrl+15
 566 0638 8093 0000             sts GPSInfo+2,r24
 567 063c 8091 0000             lds r24,FromNaviCtrl+16
 568 0640 8093 0000             sts GPSInfo+3,r24
 569 0644 8091 0000             lds r24,FromNaviCtrl+17
 570 0648 9091 0000             lds r25,(FromNaviCtrl+17)+1
 571 064c 9093 0000             sts (GPSInfo+4)+1,r25
 572 0650 8093 0000             sts GPSInfo+4,r24
 573 0654 8091 0000             lds r24,FromNaviCtrl+19
 574 0658 9091 0000             lds r25,(FromNaviCtrl+19)+1
 575 065c 9093 0000             sts (GPSInfo+6)+1,r25
 576 0660 8093 0000             sts GPSInfo+6,r24
 577 0664 8091 0000             lds r24,FromNaviCtrl+21
 578 0668 9927                  clr r25
 579 066a 87FD                  sbrc r24,7
 580 066c 9095                  com r25
 581 066e 9093 0000             sts (PPM_in+50)+1,r25
 582 0672 8093 0000             sts PPM_in+50,r24
 583 0676 00C0                  rjmp .L39
 584                    .L24:
 585 0678 1092 0000             sts (GPS_Nick)+1,__zero_reg__
 586 067c 1092 0000             sts GPS_Nick,__zero_reg__
 587 0680 1092 0000             sts (GPS_Roll)+1,__zero_reg__
 588 0684 1092 0000             sts GPS_Roll,__zero_reg__
 589                    .L39:
 590                    /* epilogue: frame size=0 */
 591 0688 1F91                  pop r17
 592 068a 0F91                  pop r16
 593 068c FF90                  pop r15
 594 068e EF90                  pop r14
 595 0690 0895                  ret
 596                    /* epilogue end (size=5) */
 597                    /* function UpdateSPI_Buffer size 812 (803) */
 599                    .global SPI_StartTransmitPacket
 601                    SPI_StartTransmitPacket:
 602                    /* prologue: frame size=0 */
 603                    /* prologue end (size=0) */
 604 0692 8091 0000             lds r24,SPITransferCompleted
 605 0696 8823                  tst r24
 606 0698 01F4                  brne .+2
 607 069a 00C0                  rjmp .L47
 608 069c 4598                  cbi 40-0x20,5
 609 069e 80E0                  ldi r24,lo8(ToNaviCtrl)
 610 06a0 90E0                  ldi r25,hi8(ToNaviCtrl)
 611 06a2 9093 0000             sts (SPI_TX_Buffer)+1,r25
 612 06a6 8093 0000             sts SPI_TX_Buffer,r24
 613 06aa 9091 0000             lds r25,SPI_CommandCounter
 614 06ae E92F                  mov r30,r25
 615 06b0 F0E0                  ldi r31,lo8(0)
 616 06b2 E050                  subi r30,lo8(-(SPI_CommandSequence))
 617 06b4 F040                  sbci r31,hi8(-(SPI_CommandSequence))
 618 06b6 8081                  ld r24,Z
 619 06b8 8093 0000             sts ToNaviCtrl+2,r24
 620 06bc 9F5F                  subi r25,lo8(-(1))
 621 06be 9093 0000             sts SPI_CommandCounter,r25
 622 06c2 9930                  cpi r25,lo8(9)
 623 06c4 00F0                  brlo .L45
 624 06c6 1092 0000             sts SPI_CommandCounter,__zero_reg__
 625                    .L45:
 626 06ca 1092 0000             sts SPITransferCompleted,__zero_reg__
 627 06ce 0E94 0000             call UpdateSPI_Buffer
 628 06d2 81E0                  ldi r24,lo8(1)
 629 06d4 8093 0000             sts SPI_BufferIndex,r24
 630                    /* #APP */
 631 06d8 0000                  nop
 632 06da 0000                  nop
 633 06dc 0000                  nop
 634 06de 0000                  nop
 635 06e0 0000                  nop
 636 06e2 0000                  nop
 637 06e4 0000                  nop
 638 06e6 0000                  nop
 639 06e8 0000                  nop
 640 06ea 0000                  nop
 641 06ec 0000                  nop
 642 06ee 0000                  nop
 643 06f0 0000                  nop
 644 06f2 0000                  nop
 645 06f4 0000                  nop
 646 06f6 0000                  nop
 647 06f8 0000                  nop
 648 06fa 0000                  nop
 649 06fc 0000                  nop
 650 06fe 0000                  nop
 651 0700 0000                  nop
 652 0702 0000                  nop
 653 0704 0000                  nop
 654 0706 0000                  nop
 655                    /* #NOAPP */
 656 0708 8091 0000             lds r24,ToNaviCtrl
 657 070c 8093 0000             sts ToNaviCtrl+31,r24
 658 0710 8EBD                  out 78-0x20,r24
 659                    .L47:
 660 0712 0895                  ret
 661                    /* epilogue: frame size=0 */
 662                    /* epilogue: noreturn */
 663                    /* epilogue end (size=0) */
 664                    /* function SPI_StartTransmitPacket size 89 (89) */
 666                    .global SPI_TransmitByte
 668                    SPI_TransmitByte:
 669                    /* prologue: frame size=0 */
 670                    /* prologue end (size=0) */
 671 0714 8091 0000             lds r24,SPITransferCompleted
 672 0718 8823                  tst r24
 673 071a 01F0                  breq .+2
 674 071c 00C0                  rjmp .L68
 675 071e 0DB4                  in __tmp_reg__,77-0x20
 676 0720 07FE                  sbrs __tmp_reg__,7
 677 0722 00C0                  rjmp .L68
 678 0724 84E0                  ldi r24,lo8(4)
 679 0726 8093 0000             sts SendSPI,r24
 680 072a 459A                  sbi 40-0x20,5
 681 072c 2EB5                  in r18,78-0x20
 682 072e 8091 0000             lds r24,SPI_RXState.2528
 683 0732 8130                  cpi r24,lo8(1)
 684 0734 01F0                  breq .L54
 685 0736 8130                  cpi r24,lo8(1)
 686 0738 00F0                  brlo .L53
 687 073a 8230                  cpi r24,lo8(2)
 688 073c 01F4                  brne .L52
 689 073e 00C0                  rjmp .L55
 690                    .L53:
 691 0740 1092 0000             sts SPI_RxBufferIndex,__zero_reg__
 692 0744 2093 0000             sts rxchksum.2530,r18
 693 0748 2138                  cpi r18,lo8(-127)
 694 074a 01F4                  brne .L52
 695 074c 81E0                  ldi r24,lo8(1)
 696 074e 00C0                  rjmp .L71
 697                    .L54:
 698 0750 2535                  cpi r18,lo8(85)
 699 0752 01F4                  brne .L64
 700 0754 8091 0000             lds r24,rxchksum.2530
 701 0758 8B5A                  subi r24,lo8(-(85))
 702 075a 8093 0000             sts rxchksum.2530,r24
 703 075e 82E0                  ldi r24,lo8(2)
 704                    .L71:
 705 0760 8093 0000             sts SPI_RXState.2528,r24
 706 0764 00C0                  rjmp .L52
 707                    .L55:
 708 0766 8091 0000             lds r24,SPI_RxBufferIndex
 709 076a E82F                  mov r30,r24
 710 076c F0E0                  ldi r31,lo8(0)
 711 076e E050                  subi r30,lo8(-(SPI_Buffer))
 712 0770 F040                  sbci r31,hi8(-(SPI_Buffer))
 713 0772 2083                  st Z,r18
 714 0774 8F5F                  subi r24,lo8(-(1))
 715 0776 8093 0000             sts SPI_RxBufferIndex,r24
 716 077a 9091 0000             lds r25,rxchksum.2530
 717 077e 8A31                  cpi r24,lo8(26)
 718 0780 00F0                  brlo .L59
 719 0782 2917                  cp r18,r25
 720 0784 01F4                  brne .L61
 721 0786 A0E0                  ldi r26,lo8(FromNaviCtrl)
 722 0788 B0E0                  ldi r27,hi8(FromNaviCtrl)
 723 078a E0E0                  ldi r30,lo8(SPI_Buffer)
 724 078c F0E0                  ldi r31,hi8(SPI_Buffer)
 725 078e 8AE1                  ldi r24,lo8(26)
 726                    .L63:
 727 0790 0190                  ld r0,Z+
 728 0792 0D92                  st X+,r0
 729 0794 8150                  subi r24,lo8(-(-1))
 730 0796 01F4                  brne .L63
 731 0798 81E0                  ldi r24,lo8(1)
 732 079a 8093 0000             sts SPI_RxDataValid,r24
 733 079e 00C0                  rjmp .L64
 734                    .L61:
 735 07a0 1092 0000             sts SPI_RxDataValid,__zero_reg__
 736                    .L64:
 737 07a4 1092 0000             sts SPI_RXState.2528,__zero_reg__
 738 07a8 00C0                  rjmp .L52
 739                    .L59:
 740 07aa 920F                  add r25,r18
 741 07ac 9093 0000             sts rxchksum.2530,r25
 742                    .L52:
 743 07b0 2091 0000             lds r18,SPI_BufferIndex
 744 07b4 2032                  cpi r18,lo8(32)
 745 07b6 00F0                  brlo .+2
 746 07b8 00C0                  rjmp .L65
 747 07ba 4598                  cbi 40-0x20,5
 748                    /* #APP */
 749 07bc 0000                  nop
 750 07be 0000                  nop
 751 07c0 0000                  nop
 752 07c2 0000                  nop
 753 07c4 0000                  nop
 754 07c6 0000                  nop
 755 07c8 0000                  nop
 756 07ca 0000                  nop
 757 07cc 0000                  nop
 758 07ce 0000                  nop
 759 07d0 0000                  nop
 760 07d2 0000                  nop
 761 07d4 0000                  nop
 762 07d6 0000                  nop
 763 07d8 0000                  nop
 764 07da 0000                  nop
 765 07dc 0000                  nop
 766 07de 0000                  nop
 767 07e0 0000                  nop
 768 07e2 0000                  nop
 769 07e4 0000                  nop
 770 07e6 0000                  nop
 771 07e8 0000                  nop
 772 07ea 0000                  nop
 773                    /* #NOAPP */
 774 07ec E091 0000             lds r30,SPI_TX_Buffer
 775 07f0 F091 0000             lds r31,(SPI_TX_Buffer)+1
 776 07f4 E20F                  add r30,r18
 777 07f6 F11D                  adc r31,__zero_reg__
 778 07f8 8081                  ld r24,Z
 779 07fa 8EBD                  out 78-0x20,r24
 780 07fc 8081                  ld r24,Z
 781 07fe 9091 0000             lds r25,ToNaviCtrl+31
 782 0802 890F                  add r24,r25
 783 0804 8093 0000             sts ToNaviCtrl+31,r24
 784 0808 00C0                  rjmp .L67
 785                    .L65:
 786 080a 81E0                  ldi r24,lo8(1)
 787 080c 8093 0000             sts SPITransferCompleted,r24
 788                    .L67:
 789 0810 2F5F                  subi r18,lo8(-(1))
 790 0812 2093 0000             sts SPI_BufferIndex,r18
 791                    .L68:
 792 0816 0895                  ret
 793                    /* epilogue: frame size=0 */
 794                    /* epilogue: noreturn */
 795                    /* epilogue end (size=0) */
 796                    /* function SPI_TransmitByte size 155 (155) */
 798                    .global FromNC_Rotate_C
 799                            .data
 802                    FromNC_Rotate_C:
 803 0000 20                    .byte   32
 804                    .global FromNC_Rotate_S
 805                    .global FromNC_Rotate_S
 806                            .section .bss
 809                    FromNC_Rotate_S:
 810 0000 00                    .skip 1,0
 811                    .global NaviDataOkay
 812                            .data
 815                    NaviDataOkay:
 816 0001 FA                    .byte   -6
 817                    .global SPI_CommandSequence
 820                    SPI_CommandSequence:
 821 0002 0B                    .byte   11
 822 0003 0A                    .byte   10
 823 0004 0D                    .byte   13
 824 0005 0B                    .byte   11
 825 0006 0C                    .byte   12
 826 0007 0E                    .byte   14
 827 0008 0B                    .byte   11
 828 0009 0F                    .byte   15
 829 000a 10                    .byte   16
 830                    .global SPI_CommandCounter
 831                    .global SPI_CommandCounter
 832                            .section .bss
 835                    SPI_CommandCounter:
 836 0001 00                    .skip 1,0
 837                    .global NC_ErrorCode
 838                    .global NC_ErrorCode
 841                    NC_ErrorCode:
 842 0002 00                    .skip 1,0
 843                            .lcomm rxchksum.2530,1
 844                            .lcomm SPI_RXState.2528,1
 845                            .comm GPSInfo,8,1
 846                            .comm NC_Version,5,1
 847                            .comm FromNaviCtrl_Value,5,1
 848                            .comm ToNaviCtrl,32,1
 849                            .comm FromNaviCtrl,26,1
 850                            .comm SPI_BufferIndex,1,1
 851                            .comm SPI_RxBufferIndex,1,1
 852                            .comm SPI_Buffer,26,1
 853                            .comm SPI_TX_Buffer,2,1
 854                            .comm SPITransferCompleted,1,1
 855                            .comm SPI_ChkSum,1,1
 856                            .comm SPI_RxDataValid,1,1
 857                    /* File "spi.c": code 1089 = 0x0441 (1079), prologues   4, epilogues   6 */
DEFINED SYMBOLS
                            *ABS*:00000000 spi.c
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:2      *ABS*:0000003f __SREG__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:3      *ABS*:0000003e __SP_H__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:4      *ABS*:0000003d __SP_L__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:5      *ABS*:00000000 __tmp_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:6      *ABS*:00000001 __zero_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:12     .text:00000000 SPI_MasterInit
                            *COM*:00000001 SPITransferCompleted
                            *COM*:00000020 ToNaviCtrl
                            *COM*:00000005 FromNaviCtrl_Value
                            *COM*:00000001 SPI_RxDataValid
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:44     .text:00000042 UpdateSPI_Buffer
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:815    .data:00000001 NaviDataOkay
                            *COM*:0000001a FromNaviCtrl
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:802    .data:00000000 FromNC_Rotate_C
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:809    .bss:00000000 FromNC_Rotate_S
                            *COM*:00000005 NC_Version
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:841    .bss:00000002 NC_ErrorCode
                            *COM*:00000008 GPSInfo
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:601    .text:00000692 SPI_StartTransmitPacket
                            *COM*:00000002 SPI_TX_Buffer
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:835    .bss:00000001 SPI_CommandCounter
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:820    .data:00000002 SPI_CommandSequence
                            *COM*:00000001 SPI_BufferIndex
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:668    .text:00000714 SPI_TransmitByte
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:843    .bss:00000004 SPI_RXState.2528
                            *COM*:00000001 SPI_RxBufferIndex
                             .bss:00000003 rxchksum.2530
                            *COM*:0000001a SPI_Buffer
                            *COM*:00000001 SPI_ChkSum

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
IntegralNick
__divmodsi4
IntegralRoll
ErsatzKompass
__mulsi3
GIER_GRAD_FAKTOR
AdWertGier
AdNeutralGier
NaviCntAcc
NaviAccNick
__divmodhi4
NaviAccRoll
Parameter_UserParam1
Parameter_UserParam2
Parameter_UserParam3
Parameter_UserParam4
Parameter_UserParam5
Parameter_UserParam6
Parameter_UserParam7
Parameter_UserParam8
FC_StatusFlags
GetActiveParamSet
ControlHeading
Capacity
UBat
BattLowVoltageWarning
PPM_in
Poti
WinkelOut
HoehenWert
SollHoehe
SenderOkay
DebugOut
PlatinenVersion
VersionInfo
Parameter_ServoNickControl
Parameter_ServoRollControl
GPS_Nick
GPS_Roll
KompassValue
KompassStartwert
KompassRichtung
beeptime
SendSPI