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   1                            .file   "timer0.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 __vector_18
  12                    __vector_18:
  13                    /* prologue: frame size=0 */
  14 0000 1F92                  push __zero_reg__
  15 0002 0F92                  push __tmp_reg__
  16 0004 0FB6                  in __tmp_reg__,__SREG__
  17 0006 0F92                  push __tmp_reg__
  18 0008 1124                  clr __zero_reg__
  19 000a 2F93                  push r18
  20 000c 3F93                  push r19
  21 000e 5F93                  push r21
  22 0010 6F93                  push r22
  23 0012 7F93                  push r23
  24 0014 8F93                  push r24
  25 0016 9F93                  push r25
  26 0018 AF93                  push r26
  27 001a BF93                  push r27
  28                    /* prologue end (size=14) */
  29 001c 8091 0000             lds r24,SendSPI
  30 0020 8823                  tst r24
  31 0022 01F0                  breq .L2
  32 0024 8091 0000             lds r24,SendSPI
  33 0028 8150                  subi r24,lo8(-(-1))
  34 002a 8093 0000             sts SendSPI,r24
  35                    .L2:
  36 002e 8091 0000             lds r24,SpektrumTimer
  37 0032 8823                  tst r24
  38 0034 01F0                  breq .L4
  39 0036 8150                  subi r24,lo8(-(-1))
  40 0038 8093 0000             sts SpektrumTimer,r24
  41                    .L4:
  42 003c 8091 0000             lds r24,cnt.2508
  43 0040 8150                  subi r24,lo8(-(-1))
  44 0042 8093 0000             sts cnt.2508,r24
  45 0046 8F3F                  cpi r24,lo8(-1)
  46 0048 01F0                  breq .+2
  47 004a 00C0                  rjmp .L6
  48 004c 89E0                  ldi r24,lo8(9)
  49 004e 8093 0000             sts cnt.2508,r24
  50 0052 8091 0000             lds r24,CountMilliseconds
  51 0056 9091 0000             lds r25,(CountMilliseconds)+1
  52 005a 0196                  adiw r24,1
  53 005c 9093 0000             sts (CountMilliseconds)+1,r25
  54 0060 8093 0000             sts CountMilliseconds,r24
  55 0064 8091 0000             lds r24,cnt_1ms.2507
  56 0068 8F5F                  subi r24,lo8(-(1))
  57 006a 8170                  andi r24,lo8(1)
  58 006c 8093 0000             sts cnt_1ms.2507,r24
  59 0070 8823                  tst r24
  60 0072 01F4                  brne .L8
  61 0074 81E0                  ldi r24,lo8(1)
  62 0076 8093 0000             sts UpdateMotor,r24
  63                    .L8:
  64 007a 3499                  sbic 38-0x20,4
  65 007c 00C0                  rjmp .L10
  66 007e 81E0                  ldi r24,lo8(1)
  67 0080 8093 0000             sts compass_active.2509,r24
  68                    .L10:
  69 0084 8091 0000             lds r24,beeptime
  70 0088 9091 0000             lds r25,(beeptime)+1
  71 008c 892B                  or r24,r25
  72 008e 01F0                  breq .L12
  73 0090 8091 0000             lds r24,beeptime
  74 0094 9091 0000             lds r25,(beeptime)+1
  75 0098 0B97                  sbiw r24,11
  76 009a 00F0                  brlo .L14
  77 009c 8091 0000             lds r24,beeptime
  78 00a0 9091 0000             lds r25,(beeptime)+1
  79 00a4 0A97                  sbiw r24,10
  80 00a6 9093 0000             sts (beeptime)+1,r25
  81 00aa 8093 0000             sts beeptime,r24
  82 00ae 00C0                  rjmp .L16
  83                    .L14:
  84 00b0 1092 0000             sts (beeptime)+1,__zero_reg__
  85 00b4 1092 0000             sts beeptime,__zero_reg__
  86                    .L16:
  87 00b8 8091 0000             lds r24,beeptime
  88 00bc 9091 0000             lds r25,(beeptime)+1
  89 00c0 2091 0000             lds r18,BeepMuster
  90 00c4 3091 0000             lds r19,(BeepMuster)+1
  91 00c8 8223                  and r24,r18
  92 00ca 9323                  and r25,r19
  93 00cc 892B                  or r24,r25
  94 00ce 01F0                  breq .+2
  95 00d0 00C0                  rjmp .L17
  96 00d2 00C0                  rjmp .L18
  97                    .L12:
  98 00d4 8FEF                  ldi r24,lo8(-1)
  99 00d6 9FEF                  ldi r25,hi8(-1)
 100 00d8 9093 0000             sts (BeepMuster)+1,r25
 101 00dc 8093 0000             sts BeepMuster,r24
 102                    .L18:
 103 00e0 8091 0000             lds r24,PlatinenVersion
 104 00e4 8A30                  cpi r24,lo8(10)
 105 00e6 01F4                  brne .L37
 106 00e8 00C0                  rjmp .L19
 107                    .L21:
 108 00ea 5A9A                  sbi 43-0x20,2
 109 00ec 00C0                  rjmp .L6
 110                    .L38:
 111 00ee 479A                  sbi 40-0x20,7
 112 00f0 00C0                  rjmp .L6
 113                    .L19:
 114 00f2 5A98                  cbi 43-0x20,2
 115 00f4 00C0                  rjmp .L6
 116                    .L37:
 117 00f6 4798                  cbi 40-0x20,7
 118                    .L6:
 119 00f8 8091 0000             lds r24,compass_active.2509
 120 00fc 8823                  tst r24
 121 00fe 01F4                  brne .+2
 122 0100 00C0                  rjmp .L36
 123 0102 8091 0000             lds r24,NaviDataOkay
 124 0106 8823                  tst r24
 125 0108 01F0                  breq .+2
 126 010a 00C0                  rjmp .L36
 127 010c 8091 0000             lds r24,EE_Parameter+13
 128 0110 83FF                  sbrs r24,3
 129 0112 00C0                  rjmp .L36
 130 0114 349B                  sbis 38-0x20,4
 131 0116 00C0                  rjmp .L27
 132 0118 8091 0000             lds r24,cntKompass
 133 011c 9091 0000             lds r25,(cntKompass)+1
 134 0120 0196                  adiw r24,1
 135 0122 9093 0000             sts (cntKompass)+1,r25
 136 0126 8093 0000             sts cntKompass,r24
 137 012a 8091 0000             lds r24,cntKompass
 138 012e 9091 0000             lds r25,(cntKompass)+1
 139 0132 895E                  subi r24,lo8(1001)
 140 0134 9340                  sbci r25,hi8(1001)
 141 0136 00F4                  brsh .+2
 142 0138 00C0                  rjmp .L36
 143 013a 1092 0000             sts compass_active.2509,__zero_reg__
 144 013e 00C0                  rjmp .L36
 145                    .L27:
 146 0140 8091 0000             lds r24,cntKompass
 147 0144 9091 0000             lds r25,(cntKompass)+1
 148 0148 892B                  or r24,r25
 149 014a 01F4                  brne .+2
 150 014c 00C0                  rjmp .L30
 151 014e 8091 0000             lds r24,cntKompass
 152 0152 9091 0000             lds r25,(cntKompass)+1
 153 0156 8A56                  subi r24,lo8(362)
 154 0158 9140                  sbci r25,hi8(362)
 155 015a 00F4                  brsh .L30
 156 015c 2091 0000             lds r18,cntKompass
 157 0160 3091 0000             lds r19,(cntKompass)+1
 158 0164 8091 0000             lds r24,cntKompass
 159 0168 9091 0000             lds r25,(cntKompass)+1
 160 016c 69E2                  ldi r22,lo8(41)
 161 016e 70E0                  ldi r23,hi8(41)
 162 0170 0E94 0000             call __udivmodhi4
 163 0174 260F                  add r18,r22
 164 0176 371F                  adc r19,r23
 165 0178 3093 0000             sts (cntKompass)+1,r19
 166 017c 2093 0000             sts cntKompass,r18
 167 0180 8091 0000             lds r24,cntKompass
 168 0184 9091 0000             lds r25,(cntKompass)+1
 169 0188 0B97                  sbiw r24,11
 170 018a 00F0                  brlo .L33
 171 018c 8091 0000             lds r24,cntKompass
 172 0190 9091 0000             lds r25,(cntKompass)+1
 173 0194 0A97                  sbiw r24,10
 174 0196 9093 0000             sts (KompassValue)+1,r25
 175 019a 8093 0000             sts KompassValue,r24
 176 019e 00C0                  rjmp .L35
 177                    .L33:
 178 01a0 1092 0000             sts (KompassValue)+1,__zero_reg__
 179 01a4 1092 0000             sts KompassValue,__zero_reg__
 180                    .L35:
 181 01a8 8091 0000             lds r24,KompassValue
 182 01ac 9091 0000             lds r25,(KompassValue)+1
 183 01b0 845E                  subi r24,lo8(-(540))
 184 01b2 9D4F                  sbci r25,hi8(-(540))
 185 01b4 2091 0000             lds r18,KompassStartwert
 186 01b8 3091 0000             lds r19,(KompassStartwert)+1
 187 01bc 821B                  sub r24,r18
 188 01be 930B                  sbc r25,r19
 189 01c0 68E6                  ldi r22,lo8(360)
 190 01c2 71E0                  ldi r23,hi8(360)
 191 01c4 0E94 0000             call __divmodhi4
 192 01c8 845B                  subi r24,lo8(-(-180))
 193 01ca 9040                  sbci r25,hi8(-(-180))
 194 01cc 9093 0000             sts (KompassRichtung)+1,r25
 195 01d0 8093 0000             sts KompassRichtung,r24
 196                    .L30:
 197 01d4 1092 0000             sts (cntKompass)+1,__zero_reg__
 198 01d8 1092 0000             sts cntKompass,__zero_reg__
 199 01dc 00C0                  rjmp .L36
 200                    .L17:
 201 01de 8091 0000             lds r24,PlatinenVersion
 202 01e2 8A30                  cpi r24,lo8(10)
 203 01e4 01F0                  breq .+2
 204 01e6 00C0                  rjmp .L38
 205 01e8 00C0                  rjmp .L21
 206                    .L36:
 207                    /* epilogue: frame size=0 */
 208 01ea BF91                  pop r27
 209 01ec AF91                  pop r26
 210 01ee 9F91                  pop r25
 211 01f0 8F91                  pop r24
 212 01f2 7F91                  pop r23
 213 01f4 6F91                  pop r22
 214 01f6 5F91                  pop r21
 215 01f8 3F91                  pop r19
 216 01fa 2F91                  pop r18
 217 01fc 0F90                  pop __tmp_reg__
 218 01fe 0FBE                  out __SREG__,__tmp_reg__
 219 0200 0F90                  pop __tmp_reg__
 220 0202 1F90                  pop __zero_reg__
 221 0204 1895                  reti
 222                    /* epilogue end (size=14) */
 223                    /* function __vector_18 size 263 (235) */
 225                    .global SetDelay
 227                    SetDelay:
 228                    /* prologue: frame size=0 */
 229                    /* prologue end (size=0) */
 230 0206 2091 0000             lds r18,CountMilliseconds
 231 020a 3091 0000             lds r19,(CountMilliseconds)+1
 232 020e 2F5F                  subi r18,lo8(-(1))
 233 0210 3F4F                  sbci r19,hi8(-(1))
 234 0212 820F                  add r24,r18
 235 0214 931F                  adc r25,r19
 236                    /* epilogue: frame size=0 */
 237 0216 0895                  ret
 238                    /* epilogue end (size=1) */
 239                    /* function SetDelay size 9 (8) */
 241                    .global CheckDelay
 243                    CheckDelay:
 244                    /* prologue: frame size=0 */
 245                    /* prologue end (size=0) */
 246 0218 2091 0000             lds r18,CountMilliseconds
 247 021c 3091 0000             lds r19,(CountMilliseconds)+1
 248 0220 821B                  sub r24,r18
 249 0222 930B                  sbc r25,r19
 250 0224 892F                  mov r24,r25
 251 0226 9927                  clr r25
 252 0228 8695                  lsr r24
 253 022a 8074                  andi r24,lo8(64)
 254 022c 90E0                  ldi r25,lo8(0)
 255                    /* epilogue: frame size=0 */
 256 022e 0895                  ret
 257                    /* epilogue end (size=1) */
 258                    /* function CheckDelay size 12 (11) */
 260                    .global TIMER2_Init
 262                    TIMER2_Init:
 263                    /* prologue: frame size=0 */
 264                    /* prologue end (size=0) */
 265 0230 9FB7                  in r25,95-0x20
 266                    /* #APP */
 267 0232 F894                  cli
 268                    /* #NOAPP */
 269 0234 5F98                  cbi 43-0x20,7
 270 0236 3E9A                  sbi 39-0x20,6
 271 0238 469A                  sbi 40-0x20,6
 272 023a A0EB                  ldi r26,lo8(176)
 273 023c B0E0                  ldi r27,hi8(176)
 274 023e 8C91                  ld r24,X
 275 0240 8F70                  andi r24,lo8(15)
 276 0242 8C93                  st X,r24
 277 0244 8C91                  ld r24,X
 278 0246 8360                  ori r24,lo8(3)
 279 0248 8C93                  st X,r24
 280 024a E1EB                  ldi r30,lo8(177)
 281 024c F0E0                  ldi r31,hi8(177)
 282 024e 8081                  ld r24,Z
 283 0250 8B73                  andi r24,lo8(59)
 284 0252 8083                  st Z,r24
 285 0254 8081                  ld r24,Z
 286 0256 8B60                  ori r24,lo8(11)
 287 0258 8083                  st Z,r24
 288 025a 1092 B200             sts 178,__zero_reg__
 289 025e 8FEF                  ldi r24,lo8(-1)
 290 0260 8093 B300             sts 179,r24
 291 0264 8C91                  ld r24,X
 292 0266 8068                  ori r24,lo8(-128)
 293 0268 8C93                  st X,r24
 294 026a E0E7                  ldi r30,lo8(112)
 295 026c F0E0                  ldi r31,hi8(112)
 296 026e 8081                  ld r24,Z
 297 0270 8A7F                  andi r24,lo8(-6)
 298 0272 8083                  st Z,r24
 299 0274 8081                  ld r24,Z
 300 0276 8260                  ori r24,lo8(2)
 301 0278 8083                  st Z,r24
 302 027a 9FBF                  out 95-0x20,r25
 303                    /* epilogue: frame size=0 */
 304 027c 0895                  ret
 305                    /* epilogue end (size=1) */
 306                    /* function TIMER2_Init size 40 (39) */
 308                    .global CalculateServo
 310                    CalculateServo:
 311                    /* prologue: frame size=2 */
 312 027e A2E0                  ldi r26,lo8(2)
 313 0280 B0E0                  ldi r27,hi8(2)
 314 0282 E0E0                  ldi r30,pm_lo8(1f)
 315 0284 F0E0                  ldi r31,pm_hi8(1f)
 316 0286 0C94 0000             jmp __prologue_saves__+0
 317                    1:
 318                    /* prologue end (size=6) */
 319 028a E091 0000             lds r30,EE_Parameter+55
 320 028e F0E0                  ldi r31,lo8(0)
 321 0290 E050                  subi r30,lo8(-(sintab))
 322 0292 F040                  sbci r31,hi8(-(sintab))
 323 0294 8681                  ldd r24,Z+6
 324 0296 9081                  ld r25,Z
 325 0298 2091 0000             lds r18,CalculateServoSignals
 326 029c 482F                  mov r20,r24
 327 029e 5527                  clr r21
 328 02a0 47FD                  sbrc r20,7
 329 02a2 5095                  com r21
 330 02a4 652F                  mov r22,r21
 331 02a6 752F                  mov r23,r21
 332 02a8 6090 0000             lds r6,IntegralNick
 333 02ac 7090 0000             lds r7,(IntegralNick)+1
 334 02b0 8090 0000             lds r8,(IntegralNick)+2
 335 02b4 9090 0000             lds r9,(IntegralNick)+3
 336 02b8 292E                  mov r2,r25
 337 02ba 3324                  clr r3
 338 02bc 27FC                  sbrc r2,7
 339 02be 3094                  com r3
 340 02c0 432C                  mov r4,r3
 341 02c2 532C                  mov r5,r3
 342 02c4 A090 0000             lds r10,IntegralRoll
 343 02c8 B090 0000             lds r11,(IntegralRoll)+1
 344 02cc C090 0000             lds r12,(IntegralRoll)+2
 345 02d0 D090 0000             lds r13,(IntegralRoll)+3
 346 02d4 8091 0000             lds r24,EE_Parameter+54
 347 02d8 8983                  std Y+1,r24
 348 02da E091 0000             lds r30,EE_Parameter+101
 349 02de EA83                  std Y+2,r30
 350 02e0 2130                  cpi r18,lo8(1)
 351 02e2 01F0                  breq .+2
 352 02e4 00C0                  rjmp .L46
 353 02e6 CB01                  movw r24,r22
 354 02e8 BA01                  movw r22,r20
 355 02ea A401                  movw r20,r8
 356 02ec 9301                  movw r18,r6
 357 02ee 0E94 0000             call __mulsi3
 358 02f2 20E8                  ldi r18,lo8(128)
 359 02f4 30E0                  ldi r19,hi8(128)
 360 02f6 40E0                  ldi r20,hlo8(128)
 361 02f8 50E0                  ldi r21,hhi8(128)
 362 02fa 0E94 0000             call __divmodsi4
 363 02fe 7901                  movw r14,r18
 364 0300 8A01                  movw r16,r20
 365 0302 C201                  movw r24,r4
 366 0304 B101                  movw r22,r2
 367 0306 A601                  movw r20,r12
 368 0308 9501                  movw r18,r10
 369 030a 0E94 0000             call __mulsi3
 370 030e 20E8                  ldi r18,lo8(128)
 371 0310 30E0                  ldi r19,hi8(128)
 372 0312 40E0                  ldi r20,hlo8(128)
 373 0314 50E0                  ldi r21,hhi8(128)
 374 0316 0E94 0000             call __divmodsi4
 375 031a E21A                  sub r14,r18
 376 031c F30A                  sbc r15,r19
 377 031e 040B                  sbc r16,r20
 378 0320 150B                  sbc r17,r21
 379 0322 2091 0000             lds r18,EE_Parameter+46
 380 0326 30E0                  ldi r19,lo8(0)
 381 0328 40E0                  ldi r20,lo8(0)
 382 032a 50E0                  ldi r21,hi8(0)
 383 032c C801                  movw r24,r16
 384 032e B701                  movw r22,r14
 385 0330 0E94 0000             call __mulsi3
 386 0334 20E0                  ldi r18,lo8(512)
 387 0336 32E0                  ldi r19,hi8(512)
 388 0338 40E0                  ldi r20,hlo8(512)
 389 033a 50E0                  ldi r21,hhi8(512)
 390 033c 0E94 0000             call __divmodsi4
 391 0340 5901                  movw r10,r18
 392 0342 6A01                  movw r12,r20
 393 0344 2091 0000             lds r18,ServoNickOffset
 394 0348 3091 0000             lds r19,(ServoNickOffset)+1
 395 034c 4091 0000             lds r20,ServoNickOffset
 396 0350 5091 0000             lds r21,(ServoNickOffset)+1
 397 0354 8091 0000             lds r24,Parameter_ServoNickControl
 398 0358 90E0                  ldi r25,lo8(0)
 399 035a F6E0                  ldi r31,6
 400 035c 880F          1:      lsl r24
 401 035e 991F                  rol r25
 402 0360 FA95                  dec r31
 403 0362 01F4                  brne 1b
 404 0364 F981                  ldd r31,Y+1
 405 0366 6F2F                  mov r22,r31
 406 0368 70E0                  ldi r23,lo8(0)
 407 036a 841B                  sub r24,r20
 408 036c 950B                  sbc r25,r21
 409 036e 0E94 0000             call __divmodhi4
 410 0372 260F                  add r18,r22
 411 0374 371F                  adc r19,r23
 412 0376 3093 0000             sts (ServoNickOffset)+1,r19
 413 037a 2093 0000             sts ServoNickOffset,r18
 414 037e 8091 0000             lds r24,ServoNickOffset
 415 0382 9091 0000             lds r25,(ServoNickOffset)+1
 416 0386 60E1                  ldi r22,lo8(16)
 417 0388 70E0                  ldi r23,hi8(16)
 418 038a 0E94 0000             call __divmodhi4
 419 038e 7093 0000             sts (ServoNickValue)+1,r23
 420 0392 6093 0000             sts ServoNickValue,r22
 421 0396 8A81                  ldd r24,Y+2
 422 0398 80FF                  sbrs r24,0
 423 039a 00C0                  rjmp .L48
 424 039c 8091 0000             lds r24,ServoNickValue
 425 03a0 9091 0000             lds r25,(ServoNickValue)+1
 426 03a4 8A0D                  add r24,r10
 427 03a6 9B1D                  adc r25,r11
 428 03a8 00C0                  rjmp .L66
 429                    .L48:
 430 03aa 8091 0000             lds r24,ServoNickValue
 431 03ae 9091 0000             lds r25,(ServoNickValue)+1
 432 03b2 8A19                  sub r24,r10
 433 03b4 9B09                  sbc r25,r11
 434                    .L66:
 435 03b6 9093 0000             sts (ServoNickValue)+1,r25
 436 03ba 8093 0000             sts ServoNickValue,r24
 437 03be 2091 0000             lds r18,ServoNickValue
 438 03c2 3091 0000             lds r19,(ServoNickValue)+1
 439 03c6 8091 0000             lds r24,EE_Parameter+47
 440 03ca 90E0                  ldi r25,lo8(0)
 441 03cc 880F                  lsl r24
 442 03ce 991F                  rol r25
 443 03d0 880F                  lsl r24
 444 03d2 991F                  rol r25
 445 03d4 2817                  cp r18,r24
 446 03d6 3907                  cpc r19,r25
 447 03d8 04F0                  brlt .L67
 448 03da 2091 0000             lds r18,ServoNickValue
 449 03de 3091 0000             lds r19,(ServoNickValue)+1
 450 03e2 8091 0000             lds r24,EE_Parameter+48
 451 03e6 90E0                  ldi r25,lo8(0)
 452 03e8 880F                  lsl r24
 453 03ea 991F                  rol r25
 454 03ec 880F                  lsl r24
 455 03ee 991F                  rol r25
 456 03f0 8217                  cp r24,r18
 457 03f2 9307                  cpc r25,r19
 458 03f4 04F4                  brge .L53
 459                    .L67:
 460 03f6 9093 0000             sts (ServoNickValue)+1,r25
 461 03fa 8093 0000             sts ServoNickValue,r24
 462                    .L53:
 463 03fe 8091 0000             lds r24,PlatinenVersion
 464 0402 8431                  cpi r24,lo8(20)
 465 0404 00F4                  brsh .+2
 466 0406 00C0                  rjmp .L63
 467 0408 8091 0000             lds r24,CalculateServoSignals
 468 040c 8F5F                  subi r24,lo8(-(1))
 469 040e 8093 0000             sts CalculateServoSignals,r24
 470 0412 00C0                  rjmp .L65
 471                    .L46:
 472 0414 CB01                  movw r24,r22
 473 0416 BA01                  movw r22,r20
 474 0418 A601                  movw r20,r12
 475 041a 9501                  movw r18,r10
 476 041c 0E94 0000             call __mulsi3
 477 0420 20E8                  ldi r18,lo8(128)
 478 0422 30E0                  ldi r19,hi8(128)
 479 0424 40E0                  ldi r20,hlo8(128)
 480 0426 50E0                  ldi r21,hhi8(128)
 481 0428 0E94 0000             call __divmodsi4
 482 042c 7901                  movw r14,r18
 483 042e 8A01                  movw r16,r20
 484 0430 C201                  movw r24,r4
 485 0432 B101                  movw r22,r2
 486 0434 A401                  movw r20,r8
 487 0436 9301                  movw r18,r6
 488 0438 0E94 0000             call __mulsi3
 489 043c 20E8                  ldi r18,lo8(128)
 490 043e 30E0                  ldi r19,hi8(128)
 491 0440 40E0                  ldi r20,hlo8(128)
 492 0442 50E0                  ldi r21,hhi8(128)
 493 0444 0E94 0000             call __divmodsi4
 494 0448 E20E                  add r14,r18
 495 044a F31E                  adc r15,r19
 496 044c 041F                  adc r16,r20
 497 044e 151F                  adc r17,r21
 498 0450 2091 0000             lds r18,EE_Parameter+50
 499 0454 30E0                  ldi r19,lo8(0)
 500 0456 40E0                  ldi r20,lo8(0)
 501 0458 50E0                  ldi r21,hi8(0)
 502 045a C801                  movw r24,r16
 503 045c B701                  movw r22,r14
 504 045e 0E94 0000             call __mulsi3
 505 0462 20E0                  ldi r18,lo8(512)
 506 0464 32E0                  ldi r19,hi8(512)
 507 0466 40E0                  ldi r20,hlo8(512)
 508 0468 50E0                  ldi r21,hhi8(512)
 509 046a 0E94 0000             call __divmodsi4
 510 046e 5901                  movw r10,r18
 511 0470 6A01                  movw r12,r20
 512 0472 2091 0000             lds r18,ServoRollOffset
 513 0476 3091 0000             lds r19,(ServoRollOffset)+1
 514 047a 4091 0000             lds r20,ServoRollOffset
 515 047e 5091 0000             lds r21,(ServoRollOffset)+1
 516 0482 8091 0000             lds r24,Parameter_ServoRollControl
 517 0486 90E0                  ldi r25,lo8(0)
 518 0488 66E0                  ldi r22,6
 519 048a 880F          1:      lsl r24
 520 048c 991F                  rol r25
 521 048e 6A95                  dec r22
 522 0490 01F4                  brne 1b
 523 0492 E981                  ldd r30,Y+1
 524 0494 6E2F                  mov r22,r30
 525 0496 70E0                  ldi r23,lo8(0)
 526 0498 841B                  sub r24,r20
 527 049a 950B                  sbc r25,r21
 528 049c 0E94 0000             call __divmodhi4
 529 04a0 260F                  add r18,r22
 530 04a2 371F                  adc r19,r23
 531 04a4 3093 0000             sts (ServoRollOffset)+1,r19
 532 04a8 2093 0000             sts ServoRollOffset,r18
 533 04ac 8091 0000             lds r24,ServoRollOffset
 534 04b0 9091 0000             lds r25,(ServoRollOffset)+1
 535 04b4 60E1                  ldi r22,lo8(16)
 536 04b6 70E0                  ldi r23,hi8(16)
 537 04b8 0E94 0000             call __divmodhi4
 538 04bc 7093 0000             sts (ServoRollValue)+1,r23
 539 04c0 6093 0000             sts ServoRollValue,r22
 540 04c4 FA81                  ldd r31,Y+2
 541 04c6 F1FF                  sbrs r31,1
 542 04c8 00C0                  rjmp .L58
 543 04ca 8091 0000             lds r24,ServoRollValue
 544 04ce 9091 0000             lds r25,(ServoRollValue)+1
 545 04d2 8A0D                  add r24,r10
 546 04d4 9B1D                  adc r25,r11
 547 04d6 00C0                  rjmp .L68
 548                    .L58:
 549 04d8 8091 0000             lds r24,ServoRollValue
 550 04dc 9091 0000             lds r25,(ServoRollValue)+1
 551 04e0 8A19                  sub r24,r10
 552 04e2 9B09                  sbc r25,r11
 553                    .L68:
 554 04e4 9093 0000             sts (ServoRollValue)+1,r25
 555 04e8 8093 0000             sts ServoRollValue,r24
 556 04ec 2091 0000             lds r18,ServoRollValue
 557 04f0 3091 0000             lds r19,(ServoRollValue)+1
 558 04f4 8091 0000             lds r24,EE_Parameter+51
 559 04f8 90E0                  ldi r25,lo8(0)
 560 04fa 880F                  lsl r24
 561 04fc 991F                  rol r25
 562 04fe 880F                  lsl r24
 563 0500 991F                  rol r25
 564 0502 2817                  cp r18,r24
 565 0504 3907                  cpc r19,r25
 566 0506 04F0                  brlt .L69
 567 0508 2091 0000             lds r18,ServoRollValue
 568 050c 3091 0000             lds r19,(ServoRollValue)+1
 569 0510 8091 0000             lds r24,EE_Parameter+52
 570 0514 90E0                  ldi r25,lo8(0)
 571 0516 880F                  lsl r24
 572 0518 991F                  rol r25
 573 051a 880F                  lsl r24
 574 051c 991F                  rol r25
 575 051e 8217                  cp r24,r18
 576 0520 9307                  cpc r25,r19
 577 0522 04F4                  brge .L63
 578                    .L69:
 579 0524 9093 0000             sts (ServoRollValue)+1,r25
 580 0528 8093 0000             sts ServoRollValue,r24
 581                    .L63:
 582 052c 1092 0000             sts CalculateServoSignals,__zero_reg__
 583                    .L65:
 584                    /* epilogue: frame size=2 */
 585 0530 E2E1                  ldi r30,18
 586 0532 CE5F                  subi r28,-2
 587 0534 0C94 0000             jmp __epilogue_restores__+0
 588                    /* epilogue end (size=4) */
 589                    /* function CalculateServo size 349 (339) */
 591                    .global __vector_9
 593                    __vector_9:
 594                    /* prologue: frame size=0 */
 595 0538 1F92                  push __zero_reg__
 596 053a 0F92                  push __tmp_reg__
 597 053c 0FB6                  in __tmp_reg__,__SREG__
 598 053e 0F92                  push __tmp_reg__
 599 0540 1124                  clr __zero_reg__
 600 0542 2F93                  push r18
 601 0544 3F93                  push r19
 602 0546 4F93                  push r20
 603 0548 5F93                  push r21
 604 054a 8F93                  push r24
 605 054c 9F93                  push r25
 606 054e EF93                  push r30
 607 0550 FF93                  push r31
 608                    /* prologue end (size=13) */
 609 0552 8091 0000             lds r24,PlatinenVersion
 610 0556 9091 0000             lds r25,PulseOutput.2750
 611 055a 8431                  cpi r24,lo8(20)
 612 055c 00F0                  brlo .+2
 613 055e 00C0                  rjmp .L71
 614 0560 9923                  tst r25
 615 0562 01F0                  breq .+2
 616 0564 00C0                  rjmp .L73
 617 0566 8091 B000             lds r24,176
 618 056a 86FF                  sbrs r24,6
 619 056c 00C0                  rjmp .L75
 620 056e 8091 B000             lds r24,176
 621 0572 8F7B                  andi r24,lo8(-65)
 622 0574 8093 B000             sts 176,r24
 623 0578 8091 0000             lds r24,ServoNickValue
 624 057c 9091 0000             lds r25,(ServoNickValue)+1
 625 0580 8755                  subi r24,lo8(-(425))
 626 0582 9E4F                  sbci r25,hi8(-(425))
 627 0584 9093 0000             sts (RemainingPulse)+1,r25
 628 0588 8093 0000             sts RemainingPulse,r24
 629 058c 25E0                  ldi r18,hi8(1501)
 630 058e 8D3D                  cpi r24,lo8(1501)
 631 0590 9207                  cpc r25,r18
 632 0592 00F0                  brlo .L77
 633 0594 8CED                  ldi r24,lo8(1500)
 634 0596 95E0                  ldi r25,hi8(1500)
 635 0598 00C0                  rjmp .L114
 636                    .L77:
 637 059a 8757                  subi r24,lo8(375)
 638 059c 9140                  sbci r25,hi8(375)
 639 059e 00F4                  brsh .L79
 640 05a0 87E7                  ldi r24,lo8(375)
 641 05a2 91E0                  ldi r25,hi8(375)
 642                    .L114:
 643 05a4 9093 0000             sts (RemainingPulse)+1,r25
 644 05a8 8093 0000             sts RemainingPulse,r24
 645                    .L79:
 646 05ac 8091 0000             lds r24,RemainingPulse
 647 05b0 9091 0000             lds r25,(RemainingPulse)+1
 648 05b4 00C0                  rjmp .L119
 649                    .L75:
 650 05b6 8091 B000             lds r24,176
 651 05ba 8064                  ori r24,lo8(64)
 652 05bc 8093 B000             sts 176,r24
 653 05c0 8091 0000             lds r24,EE_Parameter+53
 654 05c4 90E0                  ldi r25,lo8(0)
 655 05c6 2DED                  ldi r18,lo8(1757)
 656 05c8 36E0                  ldi r19,hi8(1757)
 657 05ca AC01                  movw r20,r24
 658 05cc 429F                  mul r20,r18
 659 05ce C001                  movw r24,r0
 660 05d0 439F                  mul r20,r19
 661 05d2 900D                  add r25,r0
 662 05d4 529F                  mul r21,r18
 663 05d6 900D                  add r25,r0
 664 05d8 1124                  clr r1
 665 05da 2091 0000             lds r18,ServoFrameTime.2751
 666 05de 3091 0000             lds r19,(ServoFrameTime.2751)+1
 667 05e2 821B                  sub r24,r18
 668 05e4 930B                  sbc r25,r19
 669 05e6 9093 0000             sts (RemainingPulse)+1,r25
 670 05ea 8093 0000             sts RemainingPulse,r24
 671 05ee 81E0                  ldi r24,lo8(1)
 672 05f0 8093 0000             sts CalculateServoSignals,r24
 673 05f4 00C0                  rjmp .L87
 674                    .L71:
 675 05f6 9923                  tst r25
 676 05f8 01F0                  breq .+2
 677 05fa 00C0                  rjmp .L73
 678 05fc 8091 B000             lds r24,176
 679 0600 86FF                  sbrs r24,6
 680 0602 00C0                  rjmp .L83
 681 0604 8091 B000             lds r24,176
 682 0608 8F7B                  andi r24,lo8(-65)
 683 060a 8093 B000             sts 176,r24
 684 060e E091 0000             lds r30,ServoIndex.2752
 685 0612 EE23                  tst r30
 686 0614 01F4                  brne .L85
 687 0616 8091 0000             lds r24,EE_Parameter+53
 688 061a 90E0                  ldi r25,lo8(0)
 689 061c 2DED                  ldi r18,lo8(1757)
 690 061e 36E0                  ldi r19,hi8(1757)
 691 0620 AC01                  movw r20,r24
 692 0622 429F                  mul r20,r18
 693 0624 C001                  movw r24,r0
 694 0626 439F                  mul r20,r19
 695 0628 900D                  add r25,r0
 696 062a 529F                  mul r21,r18
 697 062c 900D                  add r25,r0
 698 062e 1124                  clr r1
 699 0630 2091 0000             lds r18,ServoFrameTime.2751
 700 0634 3091 0000             lds r19,(ServoFrameTime.2751)+1
 701 0638 821B                  sub r24,r18
 702 063a 930B                  sbc r25,r19
 703 063c 9093 0000             sts (RemainingPulse)+1,r25
 704 0640 8093 0000             sts RemainingPulse,r24
 705 0644 1092 0000             sts (ServoFrameTime.2751)+1,__zero_reg__
 706 0648 1092 0000             sts ServoFrameTime.2751,__zero_reg__
 707 064c 469A                  sbi 40-0x20,6
 708 064e 00C0                  rjmp .L87
 709                    .L85:
 710 0650 89EA                  ldi r24,lo8(937)
 711 0652 93E0                  ldi r25,hi8(937)
 712 0654 9093 0000             sts (RemainingPulse)+1,r25
 713 0658 8093 0000             sts RemainingPulse,r24
 714 065c E330                  cpi r30,lo8(3)
 715 065e 01F0                  breq .L91
 716 0660 E430                  cpi r30,lo8(4)
 717 0662 00F4                  brsh .L94
 718 0664 E130                  cpi r30,lo8(1)
 719 0666 01F0                  breq .L89
 720 0668 E230                  cpi r30,lo8(2)
 721 066a 01F4                  brne .L88
 722 066c 00C0                  rjmp .L90
 723                    .L94:
 724 066e E430                  cpi r30,lo8(4)
 725 0670 01F0                  breq .L92
 726 0672 E530                  cpi r30,lo8(5)
 727 0674 01F4                  brne .L88
 728 0676 00C0                  rjmp .L93
 729                    .L89:
 730 0678 8091 0000             lds r24,ServoNickValue
 731 067c 9091 0000             lds r25,(ServoNickValue)+1
 732 0680 00C0                  rjmp .L118
 733                    .L90:
 734 0682 8091 0000             lds r24,ServoRollValue
 735 0686 9091 0000             lds r25,(ServoRollValue)+1
 736 068a 00C0                  rjmp .L118
 737                    .L91:
 738 068c 8091 0000             lds r24,Parameter_Servo3
 739 0690 00C0                  rjmp .L120
 740                    .L92:
 741 0692 8091 0000             lds r24,Parameter_Servo4
 742 0696 00C0                  rjmp .L120
 743                    .L93:
 744 0698 8091 0000             lds r24,Parameter_Servo5
 745                    .L120:
 746 069c 90E0                  ldi r25,lo8(0)
 747 069e 880F                  lsl r24
 748 06a0 991F                  rol r25
 749 06a2 880F                  lsl r24
 750 06a4 991F                  rol r25
 751                    .L118:
 752 06a6 8755                  subi r24,lo8(-(425))
 753 06a8 9E4F                  sbci r25,hi8(-(425))
 754 06aa 00C0                  rjmp .L115
 755                    .L88:
 756 06ac F0E0                  ldi r31,lo8(0)
 757 06ae EE0F                  lsl r30
 758 06b0 FF1F                  rol r31
 759 06b2 E050                  subi r30,lo8(-(PPM_in))
 760 06b4 F040                  sbci r31,hi8(-(PPM_in))
 761 06b6 8081                  ld r24,Z
 762 06b8 9181                  ldd r25,Z+1
 763 06ba 880F                  lsl r24
 764 06bc 991F                  rol r25
 765 06be 8755                  subi r24,lo8(-(937))
 766 06c0 9C4F                  sbci r25,hi8(-(937))
 767                    .L115:
 768 06c2 9093 0000             sts (RemainingPulse)+1,r25
 769 06c6 8093 0000             sts RemainingPulse,r24
 770 06ca 8091 0000             lds r24,RemainingPulse
 771 06ce 9091 0000             lds r25,(RemainingPulse)+1
 772 06d2 55E0                  ldi r21,hi8(1501)
 773 06d4 8D3D                  cpi r24,lo8(1501)
 774 06d6 9507                  cpc r25,r21
 775 06d8 00F0                  brlo .L96
 776 06da 8CED                  ldi r24,lo8(1500)
 777 06dc 95E0                  ldi r25,hi8(1500)
 778 06de 00C0                  rjmp .L116
 779                    .L96:
 780 06e0 8757                  subi r24,lo8(375)
 781 06e2 9140                  sbci r25,hi8(375)
 782 06e4 00F4                  brsh .L98
 783 06e6 87E7                  ldi r24,lo8(375)
 784 06e8 91E0                  ldi r25,hi8(375)
 785                    .L116:
 786 06ea 9093 0000             sts (RemainingPulse)+1,r25
 787 06ee 8093 0000             sts RemainingPulse,r24
 788                    .L98:
 789 06f2 2091 0000             lds r18,RemainingPulse
 790 06f6 3091 0000             lds r19,(RemainingPulse)+1
 791 06fa 2C5B                  subi r18,lo8(-(-188))
 792 06fc 3040                  sbci r19,hi8(-(-188))
 793 06fe 3093 0000             sts (RemainingPulse)+1,r19
 794 0702 2093 0000             sts RemainingPulse,r18
 795 0706 8091 0000             lds r24,ServoFrameTime.2751
 796 070a 9091 0000             lds r25,(ServoFrameTime.2751)+1
 797 070e 820F                  add r24,r18
 798 0710 931F                  adc r25,r19
 799                    .L119:
 800 0712 9093 0000             sts (ServoFrameTime.2751)+1,r25
 801 0716 8093 0000             sts ServoFrameTime.2751,r24
 802 071a 00C0                  rjmp .L87
 803                    .L83:
 804 071c 8091 B000             lds r24,176
 805 0720 8064                  ori r24,lo8(64)
 806 0722 8093 B000             sts 176,r24
 807 0726 8CEB                  ldi r24,lo8(188)
 808 0728 90E0                  ldi r25,hi8(188)
 809 072a 9093 0000             sts (RemainingPulse)+1,r25
 810 072e 8093 0000             sts RemainingPulse,r24
 811 0732 8091 0000             lds r24,ServoFrameTime.2751
 812 0736 9091 0000             lds r25,(ServoFrameTime.2751)+1
 813 073a 8454                  subi r24,lo8(-(188))
 814 073c 9F4F                  sbci r25,hi8(-(188))
 815 073e 9093 0000             sts (ServoFrameTime.2751)+1,r25
 816 0742 8093 0000             sts ServoFrameTime.2751,r24
 817 0746 8091 0000             lds r24,ServoActive
 818 074a 8823                  tst r24
 819 074c 01F0                  breq .L100
 820 074e 8091 0000             lds r24,SenderOkay
 821 0752 8333                  cpi r24,lo8(51)
 822 0754 00F4                  brsh .L102
 823                    .L100:
 824 0756 8091 0000             lds r24,ServoActive
 825 075a 8230                  cpi r24,lo8(2)
 826 075c 01F4                  brne .L103
 827                    .L102:
 828 075e 4698                  cbi 40-0x20,6
 829 0760 00C0                  rjmp .L104
 830                    .L103:
 831 0762 469A                  sbi 40-0x20,6
 832                    .L104:
 833 0764 8091 0000             lds r24,ServoIndex.2752
 834 0768 8F5F                  subi r24,lo8(-(1))
 835 076a 8093 0000             sts ServoIndex.2752,r24
 836 076e 9091 0000             lds r25,EE_Parameter+53
 837 0772 9817                  cp r25,r24
 838 0774 00F4                  brsh .L87
 839 0776 81E0                  ldi r24,lo8(1)
 840 0778 8093 0000             sts CalculateServoSignals,r24
 841 077c 1092 0000             sts ServoIndex.2752,__zero_reg__
 842                    .L87:
 843 0780 81E0                  ldi r24,lo8(1)
 844 0782 8093 0000             sts PulseOutput.2750,r24
 845                    .L73:
 846 0786 2091 0000             lds r18,RemainingPulse
 847 078a 3091 0000             lds r19,(RemainingPulse)+1
 848 078e 41E0                  ldi r20,hi8(383)
 849 0790 2F37                  cpi r18,lo8(383)
 850 0792 3407                  cpc r19,r20
 851 0794 00F0                  brlo .L106
 852 0796 8FEF                  ldi r24,lo8(-1)
 853 0798 8093 B300             sts 179,r24
 854 079c 2F5F                  subi r18,lo8(-(-255))
 855 079e 3040                  sbci r19,hi8(-(-255))
 856 07a0 00C0                  rjmp .L117
 857                    .L106:
 858 07a2 2F3F                  cpi r18,255
 859 07a4 3105                  cpc r19,__zero_reg__
 860 07a6 01F0                  breq .L109
 861 07a8 00F0                  brlo .L109
 862 07aa 51E0                  ldi r21,hi8(382)
 863 07ac 2E37                  cpi r18,lo8(382)
 864 07ae 3507                  cpc r19,r21
 865 07b0 01F0                  breq .L111
 866 07b2 80E8                  ldi r24,lo8(-128)
 867 07b4 8093 B300             sts 179,r24
 868 07b8 2058                  subi r18,lo8(-(-128))
 869 07ba 3040                  sbci r19,hi8(-(-128))
 870                    .L117:
 871 07bc 3093 0000             sts (RemainingPulse)+1,r19
 872 07c0 2093 0000             sts RemainingPulse,r18
 873 07c4 00C0                  rjmp .L113
 874                    .L111:
 875 07c6 8FEF                  ldi r24,lo8(-1)
 876 07c8 8093 B300             sts 179,r24
 877 07cc 8FE7                  ldi r24,lo8(127)
 878 07ce 90E0                  ldi r25,hi8(127)
 879 07d0 9093 0000             sts (RemainingPulse)+1,r25
 880 07d4 8093 0000             sts RemainingPulse,r24
 881 07d8 00C0                  rjmp .L113
 882                    .L109:
 883 07da 2093 B300             sts 179,r18
 884 07de 1092 0000             sts (RemainingPulse)+1,__zero_reg__
 885 07e2 1092 0000             sts RemainingPulse,__zero_reg__
 886 07e6 1092 0000             sts PulseOutput.2750,__zero_reg__
 887                    .L113:
 888                    /* epilogue: frame size=0 */
 889 07ea FF91                  pop r31
 890 07ec EF91                  pop r30
 891 07ee 9F91                  pop r25
 892 07f0 8F91                  pop r24
 893 07f2 5F91                  pop r21
 894 07f4 4F91                  pop r20
 895 07f6 3F91                  pop r19
 896 07f8 2F91                  pop r18
 897 07fa 0F90                  pop __tmp_reg__
 898 07fc 0FBE                  out __SREG__,__tmp_reg__
 899 07fe 0F90                  pop __tmp_reg__
 900 0800 1F90                  pop __zero_reg__
 901 0802 1895                  reti
 902                    /* epilogue end (size=13) */
 903                    /* function __vector_9 size 360 (334) */
 905                    .global Timer_Init
 907                    Timer_Init:
 908                    /* prologue: frame size=0 */
 909                    /* prologue end (size=0) */
 910 0804 8091 0000             lds r24,CountMilliseconds
 911 0808 9091 0000             lds r25,(CountMilliseconds)+1
 912 080c 0B96                  adiw r24,11
 913 080e 9093 0000             sts (tim_main)+1,r25
 914 0812 8093 0000             sts tim_main,r24
 915 0816 82E0                  ldi r24,lo8(2)
 916 0818 85BD                  out 69-0x20,r24
 917 081a 83EA                  ldi r24,lo8(-93)
 918 081c 84BD                  out 68-0x20,r24
 919 081e 17BC                  out 71-0x20,__zero_reg__
 920 0820 84EB                  ldi r24,lo8(-76)
 921 0822 88BD                  out 72-0x20,r24
 922 0824 86E0                  ldi r24,lo8(6)
 923 0826 86BD                  out 70-0x20,r24
 924 0828 EEE6                  ldi r30,lo8(110)
 925 082a F0E0                  ldi r31,hi8(110)
 926 082c 8081                  ld r24,Z
 927 082e 8160                  ori r24,lo8(1)
 928 0830 8083                  st Z,r24
 929                    /* epilogue: frame size=0 */
 930 0832 0895                  ret
 931                    /* epilogue end (size=1) */
 932                    /* function Timer_Init size 24 (23) */
 934                    .global Delay_ms_Mess
 936                    Delay_ms_Mess:
 937                    /* prologue: frame size=0 */
 938                    /* prologue end (size=0) */
 939 0834 AC01                  movw r20,r24
 940 0836 2091 0000             lds r18,CountMilliseconds
 941 083a 3091 0000             lds r19,(CountMilliseconds)+1
 942 083e 2F5F                  subi r18,lo8(-(1))
 943 0840 3F4F                  sbci r19,hi8(-(1))
 944 0842 00C0                  rjmp .L132
 945                    .L125:
 946 0844 8091 0000             lds r24,AdReady
 947 0848 8823                  tst r24
 948 084a 01F0                  breq .L132
 949 084c 1092 0000             sts AdReady,__zero_reg__
 950 0850 8FEC                  ldi r24,lo8(-49)
 951 0852 8093 7A00             sts 122,r24
 952                    .L132:
 953 0856 8091 0000             lds r24,CountMilliseconds
 954 085a 9091 0000             lds r25,(CountMilliseconds)+1
 955 085e B901                  movw r22,r18
 956 0860 681B                  sub r22,r24
 957 0862 790B                  sbc r23,r25
 958 0864 CB01                  movw r24,r22
 959 0866 840F                  add r24,r20
 960 0868 951F                  adc r25,r21
 961 086a 8070                  andi r24,lo8(-32768)
 962 086c 9078                  andi r25,hi8(-32768)
 963 086e 892F                  mov r24,r25
 964 0870 9927                  clr r25
 965 0872 8695                  lsr r24
 966 0874 8823                  tst r24
 967 0876 01F0                  breq .L125
 968                    /* epilogue: frame size=0 */
 969 0878 0895                  ret
 970                    /* epilogue end (size=1) */
 971                    /* function Delay_ms_Mess size 35 (34) */
 973                    .global Delay_ms
 975                    Delay_ms:
 976                    /* prologue: frame size=0 */
 977                    /* prologue end (size=0) */
 978 087a AC01                  movw r20,r24
 979 087c 2091 0000             lds r18,CountMilliseconds
 980 0880 3091 0000             lds r19,(CountMilliseconds)+1
 981 0884 2F5F                  subi r18,lo8(-(1))
 982 0886 3F4F                  sbci r19,hi8(-(1))
 983                    .L134:
 984 0888 8091 0000             lds r24,CountMilliseconds
 985 088c 9091 0000             lds r25,(CountMilliseconds)+1
 986 0890 B901                  movw r22,r18
 987 0892 681B                  sub r22,r24
 988 0894 790B                  sbc r23,r25
 989 0896 CB01                  movw r24,r22
 990 0898 840F                  add r24,r20
 991 089a 951F                  adc r25,r21
 992 089c 8070                  andi r24,lo8(-32768)
 993 089e 9078                  andi r25,hi8(-32768)
 994 08a0 892F                  mov r24,r25
 995 08a2 9927                  clr r25
 996 08a4 8695                  lsr r24
 997 08a6 8823                  tst r24
 998 08a8 01F0                  breq .L134
 999                    /* epilogue: frame size=0 */
 1000 08aa 0895                 ret
 1001                   /* epilogue end (size=1) */
 1002                   /* function Delay_ms size 25 (24) */
 1004                   .global CountMilliseconds
 1005                   .global CountMilliseconds
 1006                           .section .bss
 1009                   CountMilliseconds:
 1010 0000 0000                 .skip 2,0
 1011                   .global UpdateMotor
 1012                   .global UpdateMotor
 1015                   UpdateMotor:
 1016 0002 00                   .skip 1,0
 1017                   .global cntKompass
 1018                   .global cntKompass
 1021                   cntKompass:
 1022 0003 0000                 .skip 2,0
 1023                   .global beeptime
 1024                   .global beeptime
 1027                   beeptime:
 1028 0005 0000                 .skip 2,0
 1029                   .global SendSPI
 1030                   .global SendSPI
 1033                   SendSPI:
 1034 0007 00                   .skip 1,0
 1035                   .global ServoActive
 1036                   .global ServoActive
 1039                   ServoActive:
 1040 0008 00                   .skip 1,0
 1041                   .global CalculateServoSignals
 1042                           .data
 1045                   CalculateServoSignals:
 1046 0000 01                   .byte   1
 1047                   .global RemainingPulse
 1048                   .global RemainingPulse
 1049                           .section .bss
 1052                   RemainingPulse:
 1053 0009 0000                 .skip 2,0
 1054                   .global ServoNickOffset
 1055                           .data
 1058                   ServoNickOffset:
 1059 0001 C01F                 .word   8128
 1060                   .global ServoRollOffset
 1063                   ServoRollOffset:
 1064 0003 C01F                 .word   8128
 1065                   .global BeepMuster
 1068                   BeepMuster:
 1069 0005 FFFF                 .word   -1
 1070                   .global ServoNickValue
 1071                   .global ServoNickValue
 1072                           .section .bss
 1075                   ServoNickValue:
 1076 000b 0000                 .skip 2,0
 1077                   .global ServoRollValue
 1078                   .global ServoRollValue
 1081                   ServoRollValue:
 1082 000d 0000                 .skip 2,0
 1083                           .lcomm ServoIndex.2752,1
 1084                           .lcomm ServoFrameTime.2751,2
 1085                           .lcomm PulseOutput.2750,1
 1086                           .lcomm compass_active.2509,1
 1087                           .lcomm cnt.2508,1
 1088                           .data
 1091                   cnt_1ms.2507:
 1092 0007 01                   .byte   1
 1093                           .lcomm tim_main,2
 1094                   /* File "timer0.c": code 1117 = 0x045d (1047), prologues  33, epilogues  37 */
DEFINED SYMBOLS
                            *ABS*:00000000 timer0.c
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:2      *ABS*:0000003f __SREG__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:3      *ABS*:0000003e __SP_H__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:4      *ABS*:0000003d __SP_L__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:5      *ABS*:00000000 __tmp_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:6      *ABS*:00000001 __zero_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:12     .text:00000000 __vector_18
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1033   .bss:00000007 SendSPI
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1086   .bss:00000014 cnt.2508
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1009   .bss:00000000 CountMilliseconds
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1091   .data:00000007 cnt_1ms.2507
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1015   .bss:00000002 UpdateMotor
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1085   .bss:00000013 compass_active.2509
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1027   .bss:00000005 beeptime
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1068   .data:00000005 BeepMuster
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1021   .bss:00000003 cntKompass
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:227    .text:00000206 SetDelay
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:243    .text:00000218 CheckDelay
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:262    .text:00000230 TIMER2_Init
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:310    .text:0000027e CalculateServo
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1045   .data:00000000 CalculateServoSignals
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1058   .data:00000001 ServoNickOffset
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1075   .bss:0000000b ServoNickValue
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1063   .data:00000003 ServoRollOffset
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1081   .bss:0000000d ServoRollValue
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:593    .text:00000538 __vector_9
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1084   .bss:00000012 PulseOutput.2750
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1052   .bss:00000009 RemainingPulse
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1083   .bss:00000010 ServoFrameTime.2751
                             .bss:0000000f ServoIndex.2752
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1039   .bss:00000008 ServoActive
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:907    .text:00000804 Timer_Init
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1087   .bss:00000015 tim_main
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:936    .text:00000834 Delay_ms_Mess
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:975    .text:0000087a Delay_ms

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
SpektrumTimer
PlatinenVersion
NaviDataOkay
EE_Parameter
__udivmodhi4
KompassValue
KompassStartwert
__divmodhi4
KompassRichtung
__prologue_saves__
sintab
IntegralNick
IntegralRoll
__mulsi3
__divmodsi4
Parameter_ServoNickControl
Parameter_ServoRollControl
__epilogue_restores__
Parameter_Servo3
Parameter_Servo4
Parameter_Servo5
PPM_in
SenderOkay
AdReady