1 .file "fc.c" 2 .arch atmega644p 3 __SREG__ = 0x3f 4 __SP_H__ = 0x3e 5 __SP_L__ = 0x3d 6 __tmp_reg__ = 0 7 __zero_reg__ = 1 8 .global __do_copy_data 9 .global __do_clear_bss 10 .global VarioCharacter 11 .data 14 VarioCharacter: 15 0000 20 .byte 32 16 .global GIER_GRAD_FAKTOR 19 GIER_GRAD_FAKTOR: 20 0001 0B05 0000 .long 1291 21 .global FCFlags 22 .global FCFlags 23 .section .bss 26 FCFlags: 27 0000 00 .skip 1,0 28 .global modell_fliegt 29 .global modell_fliegt 32 modell_fliegt: 33 0001 0000 .skip 2,0 34 .global MaxStickRoll 35 .global MaxStickRoll 38 MaxStickRoll: 39 0003 0000 .skip 2,0 40 .global MaxStickNick 41 .global MaxStickNick 44 MaxStickNick: 45 0005 0000 .skip 2,0 46 .global ExternHoehenValue 47 .data 50 ExternHoehenValue: 51 0005 ECFF .word -20 52 .global ExternStickGier 53 .global ExternStickGier 54 .section .bss 57 ExternStickGier: 58 0007 0000 .skip 2,0 59 .global ExternStickRoll 60 .global ExternStickRoll 63 ExternStickRoll: 64 0009 0000 .skip 2,0 65 .global ExternStickNick 66 .global ExternStickNick 69 ExternStickNick: 70 000b 0000 .skip 2,0 71 .global CareFree 72 .global CareFree 75 CareFree: 76 000d 00 .skip 1,0 77 .global Parameter_DynamicStability 78 .data 81 Parameter_DynamicStability: 82 0007 64 .byte 100 83 .global Parameter_CouplingYawCorrection 86 Parameter_CouplingYawCorrection: 87 0008 40 .byte 64 88 .global Parameter_AchsKopplung2 91 Parameter_AchsKopplung2: 92 0009 41 .byte 65 93 .global Parameter_AchsKopplung1 96 Parameter_AchsKopplung1: 97 000a 5A .byte 90 98 .global Parameter_LoopGasLimit 101 Parameter_LoopGasLimit: 102 000b 46 .byte 70 103 .global Parameter_ServoRollControl 106 Parameter_ServoRollControl: 107 000c 64 .byte 100 108 .global Parameter_ServoNickControl 111 Parameter_ServoNickControl: 112 000d 64 .byte 100 113 .global Parameter_UserParam8 114 .global Parameter_UserParam8 115 .section .bss 118 Parameter_UserParam8: 119 000e 00 .skip 1,0 120 .global Parameter_UserParam7 121 .global Parameter_UserParam7 124 Parameter_UserParam7: 125 000f 00 .skip 1,0 126 .global Parameter_UserParam6 127 .global Parameter_UserParam6 130 Parameter_UserParam6: 131 0010 00 .skip 1,0 132 .global Parameter_UserParam5 133 .global Parameter_UserParam5 136 Parameter_UserParam5: 137 0011 00 .skip 1,0 138 .global Parameter_UserParam4 139 .global Parameter_UserParam4 142 Parameter_UserParam4: 143 0012 00 .skip 1,0 144 .global Parameter_UserParam3 145 .global Parameter_UserParam3 148 Parameter_UserParam3: 149 0013 00 .skip 1,0 150 .global Parameter_UserParam2 151 .global Parameter_UserParam2 154 Parameter_UserParam2: 155 0014 00 .skip 1,0 156 .global Parameter_UserParam1 157 .global Parameter_UserParam1 160 Parameter_UserParam1: 161 0015 00 .skip 1,0 162 .global Parameter_I_Faktor 163 .data 166 Parameter_I_Faktor: 167 000e 0A .byte 10 168 .global Parameter_Gier_P 171 Parameter_Gier_P: 172 000f 02 .byte 2 173 .global Parameter_Gyro_Gier_I 176 Parameter_Gyro_Gier_I: 177 0010 96 .byte -106 178 .global Parameter_Gyro_Gier_P 181 Parameter_Gyro_Gier_P: 182 0011 96 .byte -106 183 .global Parameter_Gyro_I 186 Parameter_Gyro_I: 187 0012 96 .byte -106 188 .global Parameter_Gyro_P 191 Parameter_Gyro_P: 192 0013 96 .byte -106 193 .global Parameter_Gyro_D 196 Parameter_Gyro_D: 197 0014 08 .byte 8 198 .global Parameter_Hoehe_GPS_Z 201 Parameter_Hoehe_GPS_Z: 202 0015 40 .byte 64 203 .global Parameter_KompassWirkung 206 Parameter_KompassWirkung: 207 0016 40 .byte 64 208 .global Parameter_Hoehe_ACC_Wirkung 211 Parameter_Hoehe_ACC_Wirkung: 212 0017 3A .byte 58 213 .global Parameter_Hoehe_P 216 Parameter_Hoehe_P: 217 0018 10 .byte 16 218 .global Parameter_MaxHoehe 221 Parameter_MaxHoehe: 222 0019 FB .byte -5 223 .global Parameter_Luftdruck_D 226 Parameter_Luftdruck_D: 227 001a 30 .byte 48 228 .global Looping_Oben 229 .global Looping_Oben 230 .section .bss 233 Looping_Oben: 234 0016 00 .skip 1,0 235 .global Looping_Unten 236 .global Looping_Unten 239 Looping_Unten: 240 0017 00 .skip 1,0 241 .global Looping_Rechts 242 .global Looping_Rechts 245 Looping_Rechts: 246 0018 00 .skip 1,0 247 .global Looping_Links 248 .global Looping_Links 251 Looping_Links: 252 0019 00 .skip 1,0 253 .global Looping_Roll 254 .global Looping_Roll 257 Looping_Roll: 258 001a 00 .skip 1,0 259 .global Looping_Nick 260 .global Looping_Nick 263 Looping_Nick: 264 001b 00 .skip 1,0 265 .global Ki 266 .data 269 Ki: 270 001b 3801 .word 312 271 .global HoverGas 272 .global HoverGas 273 .section .bss 276 HoverGas: 277 001c 0000 .skip 2,0 278 .global LageKorrekturNick 279 .global LageKorrekturNick 282 LageKorrekturNick: 283 001e 0000 .skip 2,0 284 .global LageKorrekturRoll 285 .global LageKorrekturRoll 288 LageKorrekturRoll: 289 0020 0000 .skip 2,0 290 .global SollHoehe 291 .global SollHoehe 294 SollHoehe: 295 0022 0000 0000 .skip 4,0 296 .global HoehenWert 297 .global HoehenWert 300 HoehenWert: 301 0026 0000 0000 .skip 4,0 302 .global StartTrigger 303 .global StartTrigger 306 StartTrigger: 307 002a 00 .skip 1,0 308 .global MotorenEin 309 .global MotorenEin 312 MotorenEin: 313 002b 00 .skip 1,0 314 .global StickGas 315 .global StickGas 318 StickGas: 319 002c 0000 .skip 2,0 320 .global StickGier 321 .global StickGier 324 StickGier: 325 002e 0000 .skip 2,0 326 .global StickRoll 327 .global StickRoll 330 StickRoll: 331 0030 0000 .skip 2,0 332 .global StickNick 333 .global StickNick 336 StickNick: 337 0032 0000 .skip 2,0 338 .global SenderOkay 339 .global SenderOkay 342 SenderOkay: 343 0034 00 .skip 1,0 344 .global Poti 345 .global Poti 348 Poti: 349 0035 0000 0000 .skip 9,0 349 0000 0000 349 00 350 .global GierGyroFehler 351 .global GierGyroFehler 354 GierGyroFehler: 355 003e 0000 .skip 2,0 356 .global Umschlag180Roll 357 .data 360 Umschlag180Roll: 361 001d 90D0 0300 .long 250000 362 .global Umschlag180Nick 365 Umschlag180Nick: 366 0021 90D0 0300 .long 250000 367 .global TrichterFlug 368 .global TrichterFlug 369 .section .bss 372 TrichterFlug: 373 0040 00 .skip 1,0 374 .global HoehenReglerAktiv 375 .global HoehenReglerAktiv 378 HoehenReglerAktiv: 379 0041 00 .skip 1,0 380 .global KompassSignalSchlecht 381 .data 384 KompassSignalSchlecht: 385 0025 F401 .word 500 386 .global KompassRichtung 387 .global KompassRichtung 388 .section .bss 391 KompassRichtung: 392 0042 0000 .skip 2,0 393 .global KompassStartwert 394 .global KompassStartwert 397 KompassStartwert: 398 0044 0000 .skip 2,0 399 .global KompassValue 400 .global KompassValue 403 KompassValue: 404 0046 0000 .skip 2,0 405 .global Mess_Integral_Hoch 406 .global Mess_Integral_Hoch 409 Mess_Integral_Hoch: 410 0048 0000 0000 .skip 4,0 411 .global SummeRoll 412 .global SummeRoll 415 SummeRoll: 416 004c 0000 0000 .skip 4,0 417 .global SummeNick 418 .global SummeNick 421 SummeNick: 422 0050 0000 0000 .skip 4,0 423 .global Mess_Integral_Gier2 424 .global Mess_Integral_Gier2 427 Mess_Integral_Gier2: 428 0054 0000 0000 .skip 4,0 429 .global Mess_Integral_Gier 430 .global Mess_Integral_Gier 433 Mess_Integral_Gier: 434 0058 0000 0000 .skip 4,0 435 .global Mess_IntegralRoll2 436 .global Mess_IntegralRoll2 439 Mess_IntegralRoll2: 440 005c 0000 0000 .skip 4,0 441 .global Mess_IntegralRoll 442 .global Mess_IntegralRoll 445 Mess_IntegralRoll: 446 0060 0000 0000 .skip 4,0 447 .global Mess_IntegralNick2 448 .global Mess_IntegralNick2 451 Mess_IntegralNick2: 452 0064 0000 0000 .skip 4,0 453 .global Mess_IntegralNick 454 .global Mess_IntegralNick 457 Mess_IntegralNick: 458 0068 0000 0000 .skip 4,0 459 .global Integral_Gier 460 .global Integral_Gier 463 Integral_Gier: 464 006c 0000 0000 .skip 4,0 465 .global IntegralAccZ 466 .global IntegralAccZ 469 IntegralAccZ: 470 0070 0000 0000 .skip 4,0 471 .global IntegralAccRoll 472 .global IntegralAccRoll 475 IntegralAccRoll: 476 0074 0000 0000 .skip 4,0 477 .global IntegralAccNick 478 .global IntegralAccNick 481 IntegralAccNick: 482 0078 0000 0000 .skip 4,0 483 .global IntegralRoll2 484 .global IntegralRoll2 487 IntegralRoll2: 488 007c 0000 0000 .skip 4,0 489 .global IntegralRoll 490 .global IntegralRoll 493 IntegralRoll: 494 0080 0000 0000 .skip 4,0 495 .global IntegralNick2 496 .global IntegralNick2 499 IntegralNick2: 500 0084 0000 0000 .skip 4,0 501 .global IntegralNick 502 .global IntegralNick 505 IntegralNick: 506 0088 0000 0000 .skip 4,0 507 .global ControlHeading 508 .global ControlHeading 511 ControlHeading: 512 008c 00 .skip 1,0 513 .global NeutralAccZ 514 .global NeutralAccZ 517 NeutralAccZ: 518 008d 0000 .skip 2,0 519 .global NaviCntAcc 520 .global NaviCntAcc 523 NaviCntAcc: 524 008f 0000 .skip 2,0 525 .global NeutralAccY 526 .global NeutralAccY 529 NeutralAccY: 530 0091 0000 .skip 2,0 531 .global NeutralAccX 532 .global NeutralAccX 535 NeutralAccX: 536 0093 0000 .skip 2,0 537 .global StartNeutralNick 538 .global StartNeutralNick 541 StartNeutralNick: 542 0095 0000 .skip 2,0 543 .global StartNeutralRoll 544 .global StartNeutralRoll 547 StartNeutralRoll: 548 0097 0000 .skip 2,0 549 .global AdNeutralGier 550 .global AdNeutralGier 553 AdNeutralGier: 554 0099 0000 .skip 2,0 555 .global AdNeutralRoll 556 .global AdNeutralRoll 559 AdNeutralRoll: 560 009b 0000 .skip 2,0 561 .global AdNeutralNick 562 .global AdNeutralNick 565 AdNeutralNick: 566 009d 0000 .skip 2,0 567 .global BaroExpandActive 568 .global BaroExpandActive 571 BaroExpandActive: 572 009f 0000 .skip 2,0 573 .text 574 .global CopyDebugValues 576 CopyDebugValues: 577 /* prologue: frame size=0 */ 578 0000 EF92 push r14 579 0002 FF92 push r15 580 0004 0F93 push r16 581 0006 1F93 push r17 582 /* prologue end (size=4) */ 583 0008 8091 0000 lds r24,EE_Parameter+28 584 000c 9927 clr r25 585 000e 880F lsl r24 586 0010 991F rol r25 587 0012 880F lsl r24 588 0014 991F rol r25 589 0016 7C01 movw r14,r24 590 0018 0027 clr r16 591 001a F7FC sbrc r15,7 592 001c 0095 com r16 593 001e 102F mov r17,r16 594 0020 8091 0000 lds r24,IntegralNick 595 0024 9091 0000 lds r25,(IntegralNick)+1 596 0028 A091 0000 lds r26,(IntegralNick)+2 597 002c B091 0000 lds r27,(IntegralNick)+3 598 0030 BC01 movw r22,r24 599 0032 CD01 movw r24,r26 600 0034 A801 movw r20,r16 601 0036 9701 movw r18,r14 602 0038 0E94 0000 call __divmodsi4 603 003c 3093 0000 sts (DebugOut+2)+1,r19 604 0040 2093 0000 sts DebugOut+2,r18 605 0044 8091 0000 lds r24,IntegralRoll 606 0048 9091 0000 lds r25,(IntegralRoll)+1 607 004c A091 0000 lds r26,(IntegralRoll)+2 608 0050 B091 0000 lds r27,(IntegralRoll)+3 609 0054 BC01 movw r22,r24 610 0056 CD01 movw r24,r26 611 0058 A801 movw r20,r16 612 005a 9701 movw r18,r14 613 005c 0E94 0000 call __divmodsi4 614 0060 3093 0000 sts (DebugOut+4)+1,r19 615 0064 2093 0000 sts DebugOut+4,r18 616 0068 8091 0000 lds r24,Mittelwert_AccNick 617 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 618 0070 97FD sbrc r25,7 619 0072 0396 adiw r24,3 620 .L2: 621 0074 9595 asr r25 622 0076 8795 ror r24 623 0078 9595 asr r25 624 007a 8795 ror r24 625 007c 9093 0000 sts (DebugOut+6)+1,r25 626 0080 8093 0000 sts DebugOut+6,r24 627 0084 8091 0000 lds r24,Mittelwert_AccRoll 628 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 629 008c 97FD sbrc r25,7 630 008e 0396 adiw r24,3 631 .L3: 632 0090 9595 asr r25 633 0092 8795 ror r24 634 0094 9595 asr r25 635 0096 8795 ror r24 636 0098 9093 0000 sts (DebugOut+8)+1,r25 637 009c 8093 0000 sts DebugOut+8,r24 638 00a0 8091 0000 lds r24,AdNeutralGier 639 00a4 9091 0000 lds r25,(AdNeutralGier)+1 640 00a8 2091 0000 lds r18,AdWertGier 641 00ac 3091 0000 lds r19,(AdWertGier)+1 642 00b0 821B sub r24,r18 643 00b2 930B sbc r25,r19 644 00b4 9093 0000 sts (DebugOut+10)+1,r25 645 00b8 8093 0000 sts DebugOut+10,r24 646 00bc 8091 0000 lds r24,HoehenWert 647 00c0 9091 0000 lds r25,(HoehenWert)+1 648 00c4 A091 0000 lds r26,(HoehenWert)+2 649 00c8 B091 0000 lds r27,(HoehenWert)+3 650 00cc BC01 movw r22,r24 651 00ce CD01 movw r24,r26 652 00d0 25E0 ldi r18,lo8(5) 653 00d2 30E0 ldi r19,hi8(5) 654 00d4 40E0 ldi r20,hlo8(5) 655 00d6 50E0 ldi r21,hhi8(5) 656 00d8 0E94 0000 call __divmodsi4 657 00dc 3093 0000 sts (DebugOut+12)+1,r19 658 00e0 2093 0000 sts DebugOut+12,r18 659 00e4 8091 0000 lds r24,AdWertAccHoch 660 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 661 00ec 9093 0000 sts (DebugOut+14)+1,r25 662 00f0 8093 0000 sts DebugOut+14,r24 663 00f4 8091 0000 lds r24,KompassValue 664 00f8 9091 0000 lds r25,(KompassValue)+1 665 00fc 9093 0000 sts (DebugOut+18)+1,r25 666 0100 8093 0000 sts DebugOut+18,r24 667 0104 8091 0000 lds r24,UBat 668 0108 9091 0000 lds r25,(UBat)+1 669 010c 9093 0000 sts (DebugOut+20)+1,r25 670 0110 8093 0000 sts DebugOut+20,r24 671 0114 8091 0000 lds r24,SenderOkay 672 0118 9927 clr r25 673 011a 9093 0000 sts (DebugOut+22)+1,r25 674 011e 8093 0000 sts DebugOut+22,r24 675 0122 8091 0000 lds r24,ErsatzKompass 676 0126 9091 0000 lds r25,(ErsatzKompass)+1 677 012a A091 0000 lds r26,(ErsatzKompass)+2 678 012e B091 0000 lds r27,(ErsatzKompass)+3 679 0132 2091 0000 lds r18,GIER_GRAD_FAKTOR 680 0136 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 681 013a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 682 013e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 683 0142 BC01 movw r22,r24 684 0144 CD01 movw r24,r26 685 0146 0E94 0000 call __divmodsi4 686 014a 3093 0000 sts (DebugOut+24)+1,r19 687 014e 2093 0000 sts DebugOut+24,r18 688 0152 8091 0000 lds r24,Motor+1 689 0156 9927 clr r25 690 0158 9093 0000 sts (DebugOut+26)+1,r25 691 015c 8093 0000 sts DebugOut+26,r24 692 0160 8091 0000 lds r24,Motor+9 693 0164 9927 clr r25 694 0166 9093 0000 sts (DebugOut+28)+1,r25 695 016a 8093 0000 sts DebugOut+28,r24 696 016e 8091 0000 lds r24,Motor+17 697 0172 9927 clr r25 698 0174 9093 0000 sts (DebugOut+30)+1,r25 699 0178 8093 0000 sts DebugOut+30,r24 700 017c 8091 0000 lds r24,Motor+25 701 0180 9927 clr r25 702 0182 9093 0000 sts (DebugOut+32)+1,r25 703 0186 8093 0000 sts DebugOut+32,r24 704 018a 8091 0000 lds r24,ServoNickValue 705 018e 9091 0000 lds r25,(ServoNickValue)+1 706 0192 9093 0000 sts (DebugOut+42)+1,r25 707 0196 8093 0000 sts DebugOut+42,r24 708 019a 8091 0000 lds r24,Capacity 709 019e 9091 0000 lds r25,(Capacity)+1 710 01a2 9093 0000 sts (DebugOut+46)+1,r25 711 01a6 8093 0000 sts DebugOut+46,r24 712 01aa 8091 0000 lds r24,Capacity+4 713 01ae 9091 0000 lds r25,(Capacity+4)+1 714 01b2 9093 0000 sts (DebugOut+48)+1,r25 715 01b6 8093 0000 sts DebugOut+48,r24 716 01ba 8091 0000 lds r24,Capacity+6 717 01be 9927 clr r25 718 01c0 9093 0000 sts (DebugOut+60)+1,r25 719 01c4 8093 0000 sts DebugOut+60,r24 720 01c8 8091 0000 lds r24,GPS_Nick 721 01cc 9091 0000 lds r25,(GPS_Nick)+1 722 01d0 9093 0000 sts (DebugOut+62)+1,r25 723 01d4 8093 0000 sts DebugOut+62,r24 724 01d8 8091 0000 lds r24,GPS_Roll 725 01dc 9091 0000 lds r25,(GPS_Roll)+1 726 01e0 9093 0000 sts (DebugOut+64)+1,r25 727 01e4 8093 0000 sts DebugOut+64,r24 728 01e8 8091 0000 lds r24,VersionInfo+5 729 01ec 8823 tst r24 730 01ee 21F4 brne .L5 731 01f0 8091 0000 lds r24,VersionInfo+6 732 01f4 8823 tst r24 733 01f6 21F0 breq .L4 734 .L5: 735 01f8 8091 0000 lds r24,DebugOut+1 736 01fc 8160 ori r24,lo8(1) 737 01fe 03C0 rjmp .L7 738 .L4: 739 0200 8091 0000 lds r24,DebugOut+1 740 0204 8E7F andi r24,lo8(-2) 741 .L7: 742 0206 8093 0000 sts DebugOut+1,r24 743 /* epilogue: frame size=0 */ 744 020a 1F91 pop r17 745 020c 0F91 pop r16 746 020e FF90 pop r15 747 0210 EF90 pop r14 748 0212 0895 ret 749 /* epilogue end (size=5) */ 750 /* function CopyDebugValues size 268 (259) */ 752 .global Piep 754 Piep: 755 /* prologue: frame size=0 */ 756 0214 1F93 push r17 757 0216 CF93 push r28 758 0218 DF93 push r29 759 /* prologue end (size=3) */ 760 021a 182F mov r17,r24 761 021c EB01 movw r28,r22 762 021e 8091 0000 lds r24,MotorenEin 763 0222 8823 tst r24 764 0224 A1F4 brne .L8 765 0226 1150 subi r17,lo8(-(-1)) 766 0228 1F3F cpi r17,lo8(-1) 767 022a 89F0 breq .L8 768 .L15: 769 022c D093 0000 sts (beeptime)+1,r29 770 0230 C093 0000 sts beeptime,r28 771 .L12: 772 0234 8091 0000 lds r24,beeptime 773 0238 9091 0000 lds r25,(beeptime)+1 774 023c 892B or r24,r25 775 023e D1F7 brne .L12 776 0240 CE01 movw r24,r28 777 0242 8C0F add r24,r28 778 0244 9D1F adc r25,r29 779 0246 0E94 0000 call Delay_ms 780 024a 1150 subi r17,1 781 024c 78F7 brcc .L15 782 .L8: 783 /* epilogue: frame size=0 */ 784 024e DF91 pop r29 785 0250 CF91 pop r28 786 0252 1F91 pop r17 787 0254 0895 ret 788 /* epilogue end (size=4) */ 789 /* function Piep size 34 (27) */ 791 .global CalibrierMittelwert 793 CalibrierMittelwert: 794 /* prologue: frame size=0 */ 795 0256 CF93 push r28 796 0258 DF93 push r29 797 /* prologue end (size=2) */ 798 025a 8091 0000 lds r24,PlatinenVersion 799 025e 8D30 cpi r24,lo8(13) 800 0260 11F4 brne .L18 801 0262 0E94 0000 call SucheGyroOffset 802 .L18: 803 0266 1092 7A00 sts 122,__zero_reg__ 804 026a 8091 0000 lds r24,AdWertNick 805 026e 9091 0000 lds r25,(AdWertNick)+1 806 0272 9093 0000 sts (MesswertNick)+1,r25 807 0276 8093 0000 sts MesswertNick,r24 808 027a 8091 0000 lds r24,AdWertRoll 809 027e 9091 0000 lds r25,(AdWertRoll)+1 810 0282 9093 0000 sts (MesswertRoll)+1,r25 811 0286 8093 0000 sts MesswertRoll,r24 812 028a 8091 0000 lds r24,AdWertGier 813 028e 9091 0000 lds r25,(AdWertGier)+1 814 0292 9093 0000 sts (MesswertGier)+1,r25 815 0296 8093 0000 sts MesswertGier,r24 816 029a 2091 0000 lds r18,AdWertAccNick 817 029e 3091 0000 lds r19,(AdWertAccNick)+1 818 02a2 C901 movw r24,r18 819 02a4 880F lsl r24 820 02a6 991F rol r25 821 02a8 880F lsl r24 822 02aa 991F rol r25 823 02ac 820F add r24,r18 824 02ae 931F adc r25,r19 825 02b0 820F add r24,r18 826 02b2 931F adc r25,r19 827 02b4 9093 0000 sts (Mittelwert_AccNick)+1,r25 828 02b8 8093 0000 sts Mittelwert_AccNick,r24 829 02bc 2091 0000 lds r18,AdWertAccRoll 830 02c0 3091 0000 lds r19,(AdWertAccRoll)+1 831 02c4 C901 movw r24,r18 832 02c6 880F lsl r24 833 02c8 991F rol r25 834 02ca 880F lsl r24 835 02cc 991F rol r25 836 02ce 820F add r24,r18 837 02d0 931F adc r25,r19 838 02d2 820F add r24,r18 839 02d4 931F adc r25,r19 840 02d6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 841 02da 8093 0000 sts Mittelwert_AccRoll,r24 842 02de 8FEC ldi r24,lo8(-49) 843 02e0 8093 7A00 sts 122,r24 844 02e4 A0E0 ldi r26,lo8(Poti) 845 02e6 B0E0 ldi r27,hi8(Poti) 846 02e8 C0E0 ldi r28,lo8(EE_Parameter+5) 847 02ea D0E0 ldi r29,hi8(EE_Parameter+5) 848 02ec 97E0 ldi r25,lo8(7) 849 .L28: 850 02ee 8991 ld r24,Y+ 851 02f0 E82F mov r30,r24 852 02f2 FF27 clr r31 853 02f4 EE0F add r30,r30 854 02f6 FF1F adc r31,r31 855 02f8 E050 subi r30,lo8(-(PPM_in)) 856 02fa F040 sbci r31,hi8(-(PPM_in)) 857 02fc 0190 ld __tmp_reg__,Z+ 858 02fe F081 ld r31,Z 859 0300 E02D mov r30,__tmp_reg__ 860 0302 E259 subi r30,lo8(-(110)) 861 0304 FF4F sbci r31,hi8(-(110)) 862 0306 1E16 cp __zero_reg__,r30 863 0308 1F06 cpc __zero_reg__,r31 864 030a 1CF0 brlt .L22 865 030c E0E0 ldi r30,lo8(0) 866 030e F0E0 ldi r31,hi8(0) 867 0310 05C0 rjmp .L23 868 .L22: 869 0312 EF3F cpi r30,255 870 0314 F105 cpc r31,__zero_reg__ 871 0316 14F0 brlt .L23 872 0318 EFEF ldi r30,lo8(255) 873 031a F0E0 ldi r31,hi8(255) 874 .L23: 875 031c 8C91 ld r24,X 876 031e 282F mov r18,r24 877 0320 3327 clr r19 878 0322 E217 cp r30,r18 879 0324 F307 cpc r31,r19 880 0326 14F4 brge .L25 881 0328 8150 subi r24,lo8(-(-1)) 882 032a 04C0 rjmp .L31 883 .L25: 884 032c 2E17 cp r18,r30 885 032e 3F07 cpc r19,r31 886 0330 14F4 brge .L21 887 0332 8F5F subi r24,lo8(-(1)) 888 .L31: 889 0334 8C93 st X,r24 890 .L21: 891 0336 9150 subi r25,lo8(-(-1)) 892 0338 1196 adiw r26,1 893 033a 97FF sbrs r25,7 894 033c D8CF rjmp .L28 895 033e 8091 0000 lds r24,EE_Parameter+63 896 0342 9927 clr r25 897 0344 AA27 clr r26 898 0346 BB27 clr r27 899 0348 BC01 movw r22,r24 900 034a CD01 movw r24,r26 901 034c 24EC ldi r18,lo8(2500) 902 034e 39E0 ldi r19,hi8(2500) 903 0350 40E0 ldi r20,hlo8(2500) 904 0352 50E0 ldi r21,hhi8(2500) 905 0354 0E94 0000 call __mulsi3 906 0358 DC01 movw r26,r24 907 035a CB01 movw r24,r22 908 035c 8093 0000 sts Umschlag180Nick,r24 909 0360 9093 0000 sts (Umschlag180Nick)+1,r25 910 0364 A093 0000 sts (Umschlag180Nick)+2,r26 911 0368 B093 0000 sts (Umschlag180Nick)+3,r27 912 036c 8091 0000 lds r24,EE_Parameter+64 913 0370 9927 clr r25 914 0372 AA27 clr r26 915 0374 BB27 clr r27 916 0376 BC01 movw r22,r24 917 0378 CD01 movw r24,r26 918 037a 0E94 0000 call __mulsi3 919 037e DC01 movw r26,r24 920 0380 CB01 movw r24,r22 921 0382 8093 0000 sts Umschlag180Roll,r24 922 0386 9093 0000 sts (Umschlag180Roll)+1,r25 923 038a A093 0000 sts (Umschlag180Roll)+2,r26 924 038e B093 0000 sts (Umschlag180Roll)+3,r27 925 /* epilogue: frame size=0 */ 926 0392 DF91 pop r29 927 0394 CF91 pop r28 928 0396 0895 ret 929 /* epilogue end (size=3) */ 930 /* function CalibrierMittelwert size 161 (156) */ 932 .section .progmem.data,"a",@progbits 935 __c.40: 936 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 936 4320 6E6F 936 7420 6361 936 6C69 6272 936 6174 6564 937 .text 938 .global SetNeutral 940 SetNeutral: 941 /* prologue: frame size=0 */ 942 0398 A0E0 ldi r26,lo8(0) 943 039a B0E0 ldi r27,hi8(0) 944 039c E0E0 ldi r30,pm_lo8(1f) 945 039e F0E0 ldi r31,pm_hi8(1f) 946 03a0 0C94 0000 jmp __prologue_saves__+12 947 1: 948 /* prologue end (size=6) */ 949 03a4 882E mov r8,r24 950 03a6 C0E0 ldi r28,lo8(0) 951 03a8 D0E0 ldi r29,hi8(0) 952 03aa 7E01 movw r14,r28 953 03ac 6E01 movw r12,r28 954 03ae 1092 0000 sts VersionInfo+5,__zero_reg__ 955 03b2 469A sbi 40-0x20,6 956 03b4 D093 0000 sts (NeutralAccX)+1,r29 957 03b8 C093 0000 sts NeutralAccX,r28 958 03bc D093 0000 sts (NeutralAccY)+1,r29 959 03c0 C093 0000 sts NeutralAccY,r28 960 03c4 D093 0000 sts (NeutralAccZ)+1,r29 961 03c8 C093 0000 sts NeutralAccZ,r28 962 03cc D093 0000 sts (AdNeutralNick)+1,r29 963 03d0 C093 0000 sts AdNeutralNick,r28 964 03d4 D093 0000 sts (AdNeutralRoll)+1,r29 965 03d8 C093 0000 sts AdNeutralRoll,r28 966 03dc D093 0000 sts (AdNeutralGier)+1,r29 967 03e0 C093 0000 sts AdNeutralGier,r28 968 03e4 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 969 03e8 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 970 03ec 1092 0000 sts ExpandBaro,__zero_reg__ 971 03f0 0E94 0000 call CalibrierMittelwert 972 03f4 84E6 ldi r24,lo8(100) 973 03f6 90E0 ldi r25,hi8(100) 974 03f8 0E94 0000 call Delay_ms_Mess 975 03fc 0E94 0000 call CalibrierMittelwert 976 0400 8091 0000 lds r24,EE_Parameter+13 977 0404 80FF sbrs r24,0 978 0406 10C0 rjmp .L33 979 0408 8091 0000 lds r24,MessLuftdruck 980 040c 9091 0000 lds r25,(MessLuftdruck)+1 981 0410 875B subi r24,lo8(951) 982 0412 9340 sbci r25,hi8(951) 983 0414 38F4 brsh .L35 984 0416 8091 0000 lds r24,MessLuftdruck 985 041a 9091 0000 lds r25,(MessLuftdruck)+1 986 041e 8E5E subi r24,lo8(750) 987 0420 9240 sbci r25,hi8(750) 988 0422 10F4 brsh .L33 989 .L35: 990 0424 0E94 0000 call SucheLuftruckOffset 991 .L33: 992 0428 0FE1 ldi r16,lo8(31) 993 .L39: 994 042a 8AE0 ldi r24,lo8(10) 995 042c 90E0 ldi r25,hi8(10) 996 042e 0E94 0000 call Delay_ms_Mess 997 0432 8091 0000 lds r24,AdWertGier 998 0436 9091 0000 lds r25,(AdWertGier)+1 999 043a C80F add r28,r24 1000 043c D91F adc r29,r25 1001 043e 8091 0000 lds r24,AdWertNick 1002 0442 9091 0000 lds r25,(AdWertNick)+1 1003 0446 E80E add r14,r24 1004 0448 F91E adc r15,r25 1005 044a 8091 0000 lds r24,AdWertRoll 1006 044e 9091 0000 lds r25,(AdWertRoll)+1 1007 0452 C80E add r12,r24 1008 0454 D91E adc r13,r25 1009 0456 0150 subi r16,lo8(-(-1)) 1010 0458 07FF sbrs r16,7 1011 045a E7CF rjmp .L39 1012 045c 9701 movw r18,r14 1013 045e 205F subi r18,lo8(-(16)) 1014 0460 3F4F sbci r19,hi8(-(16)) 1015 0462 3695 lsr r19 1016 0464 2795 ror r18 1017 0466 3695 lsr r19 1018 0468 2795 ror r18 1019 046a 3093 0000 sts (AdNeutralNick)+1,r19 1020 046e 2093 0000 sts AdNeutralNick,r18 1021 0472 C601 movw r24,r12 1022 0474 4096 adiw r24,16 1023 0476 9695 lsr r25 1024 0478 8795 ror r24 1025 047a 9695 lsr r25 1026 047c 8795 ror r24 1027 047e 9093 0000 sts (AdNeutralRoll)+1,r25 1028 0482 8093 0000 sts AdNeutralRoll,r24 1029 0486 6096 adiw r28,16 1030 0488 F5E0 ldi r31,5 1031 048a D695 1: lsr r29 1032 048c C795 ror r28 1033 048e FA95 dec r31 1034 0490 E1F7 brne 1b 1035 0492 D093 0000 sts (AdNeutralGier)+1,r29 1036 0496 C093 0000 sts AdNeutralGier,r28 1037 049a 9093 0000 sts (StartNeutralRoll)+1,r25 1038 049e 8093 0000 sts StartNeutralRoll,r24 1039 04a2 3093 0000 sts (StartNeutralNick)+1,r19 1040 04a6 2093 0000 sts StartNeutralNick,r18 1041 04aa 8820 tst r8 1042 04ac 09F4 brne .+2 1043 04ae 41C0 rjmp .L40 1044 04b0 8091 0000 lds r24,Mittelwert_AccNick 1045 04b4 9091 0000 lds r25,(Mittelwert_AccNick)+1 1046 04b8 97FF sbrs r25,7 1047 04ba 03C0 rjmp .L41 1048 04bc 9095 com r25 1049 04be 8195 neg r24 1050 04c0 9F4F sbci r25,lo8(-1) 1051 .L41: 1052 04c2 6CE0 ldi r22,lo8(12) 1053 04c4 70E0 ldi r23,hi8(12) 1054 04c6 0E94 0000 call __divmodhi4 1055 04ca 9B01 movw r18,r22 1056 04cc 7093 0000 sts (NeutralAccX)+1,r23 1057 04d0 6093 0000 sts NeutralAccX,r22 1058 04d4 8091 0000 lds r24,Mittelwert_AccRoll 1059 04d8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1060 04dc 97FF sbrs r25,7 1061 04de 03C0 rjmp .L42 1062 04e0 9095 com r25 1063 04e2 8195 neg r24 1064 04e4 9F4F sbci r25,lo8(-1) 1065 .L42: 1066 04e6 6CE0 ldi r22,lo8(12) 1067 04e8 70E0 ldi r23,hi8(12) 1068 04ea 0E94 0000 call __divmodhi4 1069 04ee 7093 0000 sts (NeutralAccY)+1,r23 1070 04f2 6093 0000 sts NeutralAccY,r22 1071 04f6 8091 0000 lds r24,Aktuell_az 1072 04fa 9091 0000 lds r25,(Aktuell_az)+1 1073 04fe 9093 0000 sts (NeutralAccZ)+1,r25 1074 0502 8093 0000 sts NeutralAccZ,r24 1075 0506 B901 movw r22,r18 1076 0508 84E0 ldi r24,lo8(4) 1077 050a 90E0 ldi r25,hi8(4) 1078 050c 0E94 0000 call SetParamWord 1079 0510 6091 0000 lds r22,NeutralAccY 1080 0514 7091 0000 lds r23,(NeutralAccY)+1 1081 0518 86E0 ldi r24,lo8(6) 1082 051a 90E0 ldi r25,hi8(6) 1083 051c 0E94 0000 call SetParamWord 1084 0520 6091 0000 lds r22,NeutralAccZ 1085 0524 7091 0000 lds r23,(NeutralAccZ)+1 1086 0528 88E0 ldi r24,lo8(8) 1087 052a 90E0 ldi r25,hi8(8) 1088 052c 0E94 0000 call SetParamWord 1089 0530 65C0 rjmp .L43 1090 .L40: 1091 0532 84E0 ldi r24,lo8(4) 1092 0534 90E0 ldi r25,hi8(4) 1093 0536 0E94 0000 call GetParamWord 1094 053a 9093 0000 sts (NeutralAccX)+1,r25 1095 053e 8093 0000 sts NeutralAccX,r24 1096 0542 86E0 ldi r24,lo8(6) 1097 0544 90E0 ldi r25,hi8(6) 1098 0546 0E94 0000 call GetParamWord 1099 054a 9093 0000 sts (NeutralAccY)+1,r25 1100 054e 8093 0000 sts NeutralAccY,r24 1101 0552 88E0 ldi r24,lo8(8) 1102 0554 90E0 ldi r25,hi8(8) 1103 0556 0E94 0000 call GetParamWord 1104 055a 9C01 movw r18,r24 1105 055c 9093 0000 sts (NeutralAccZ)+1,r25 1106 0560 8093 0000 sts NeutralAccZ,r24 1107 0564 8091 0000 lds r24,NeutralAccX 1108 0568 9091 0000 lds r25,(NeutralAccX)+1 1109 056c 8150 subi r24,lo8(2049) 1110 056e 9840 sbci r25,hi8(2049) 1111 0570 50F4 brsh .L45 1112 0572 8091 0000 lds r24,NeutralAccY 1113 0576 9091 0000 lds r25,(NeutralAccY)+1 1114 057a 8150 subi r24,lo8(2049) 1115 057c 9840 sbci r25,hi8(2049) 1116 057e 18F4 brsh .L45 1117 0580 2150 subi r18,lo8(1025) 1118 0582 3440 sbci r19,hi8(1025) 1119 0584 D8F1 brlo .L43 1120 .L45: 1121 0586 80E0 ldi r24,lo8(__c.40) 1122 0588 90E0 ldi r25,hi8(__c.40) 1123 058a 9F93 push r25 1124 058c 8F93 push r24 1125 058e 80E0 ldi r24,lo8(pm(uart_putchar)) 1126 0590 90E0 ldi r25,hi8(pm(uart_putchar)) 1127 0592 9F93 push r25 1128 0594 8F93 push r24 1129 0596 E091 0000 lds r30,_printf_P 1130 059a F091 0000 lds r31,(_printf_P)+1 1131 059e 0995 icall 1132 05a0 8091 0000 lds r24,Mittelwert_AccNick 1133 05a4 9091 0000 lds r25,(Mittelwert_AccNick)+1 1134 05a8 97FF sbrs r25,7 1135 05aa 03C0 rjmp .L46 1136 05ac 9095 com r25 1137 05ae 8195 neg r24 1138 05b0 9F4F sbci r25,lo8(-1) 1139 .L46: 1140 05b2 6CE0 ldi r22,lo8(12) 1141 05b4 70E0 ldi r23,hi8(12) 1142 05b6 0E94 0000 call __divmodhi4 1143 05ba 7093 0000 sts (NeutralAccX)+1,r23 1144 05be 6093 0000 sts NeutralAccX,r22 1145 05c2 8091 0000 lds r24,Mittelwert_AccRoll 1146 05c6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1147 05ca 97FF sbrs r25,7 1148 05cc 03C0 rjmp .L47 1149 05ce 9095 com r25 1150 05d0 8195 neg r24 1151 05d2 9F4F sbci r25,lo8(-1) 1152 .L47: 1153 05d4 6CE0 ldi r22,lo8(12) 1154 05d6 70E0 ldi r23,hi8(12) 1155 05d8 0E94 0000 call __divmodhi4 1156 05dc 7093 0000 sts (NeutralAccY)+1,r23 1157 05e0 6093 0000 sts NeutralAccY,r22 1158 05e4 8091 0000 lds r24,Aktuell_az 1159 05e8 9091 0000 lds r25,(Aktuell_az)+1 1160 05ec 9093 0000 sts (NeutralAccZ)+1,r25 1161 05f0 8093 0000 sts NeutralAccZ,r24 1162 05f4 0F90 pop __tmp_reg__ 1163 05f6 0F90 pop __tmp_reg__ 1164 05f8 0F90 pop __tmp_reg__ 1165 05fa 0F90 pop __tmp_reg__ 1166 .L43: 1167 05fc 1092 0000 sts (MesswertNick)+1,__zero_reg__ 1168 0600 1092 0000 sts MesswertNick,__zero_reg__ 1169 0604 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 1170 0608 1092 0000 sts MesswertRoll,__zero_reg__ 1171 060c 1092 0000 sts (MesswertGier)+1,__zero_reg__ 1172 0610 1092 0000 sts MesswertGier,__zero_reg__ 1173 0614 84E6 ldi r24,lo8(100) 1174 0616 90E0 ldi r25,hi8(100) 1175 0618 0E94 0000 call Delay_ms_Mess 1176 061c 8091 0000 lds r24,AdWertAccNick 1177 0620 9091 0000 lds r25,(AdWertAccNick)+1 1178 0624 9C01 movw r18,r24 1179 0626 220F lsl r18 1180 0628 331F rol r19 1181 062a 220F lsl r18 1182 062c 331F rol r19 1183 062e 280F add r18,r24 1184 0630 391F adc r19,r25 1185 0632 280F add r18,r24 1186 0634 391F adc r19,r25 1187 0636 3093 0000 sts (Mittelwert_AccNick)+1,r19 1188 063a 2093 0000 sts Mittelwert_AccNick,r18 1189 063e 8091 0000 lds r24,AdWertAccRoll 1190 0642 9091 0000 lds r25,(AdWertAccRoll)+1 1191 0646 8C01 movw r16,r24 1192 0648 000F lsl r16 1193 064a 111F rol r17 1194 064c 000F lsl r16 1195 064e 111F rol r17 1196 0650 080F add r16,r24 1197 0652 191F adc r17,r25 1198 0654 080F add r16,r24 1199 0656 191F adc r17,r25 1200 0658 1093 0000 sts (Mittelwert_AccRoll)+1,r17 1201 065c 0093 0000 sts Mittelwert_AccRoll,r16 1202 0660 8091 0000 lds r24,EE_Parameter+28 1203 0664 C82E mov r12,r24 1204 0666 DD24 clr r13 1205 0668 EE24 clr r14 1206 066a FF24 clr r15 1207 066c 4427 clr r20 1208 066e 37FD sbrc r19,7 1209 0670 4095 com r20 1210 0672 542F mov r21,r20 1211 0674 C701 movw r24,r14 1212 0676 B601 movw r22,r12 1213 0678 0E94 0000 call __mulsi3 1214 067c 4B01 movw r8,r22 1215 067e 5C01 movw r10,r24 1216 0680 6093 0000 sts IntegralNick,r22 1217 0684 7093 0000 sts (IntegralNick)+1,r23 1218 0688 8093 0000 sts (IntegralNick)+2,r24 1219 068c 9093 0000 sts (IntegralNick)+3,r25 1220 0690 9801 movw r18,r16 1221 0692 4427 clr r20 1222 0694 37FD sbrc r19,7 1223 0696 4095 com r20 1224 0698 542F mov r21,r20 1225 069a C701 movw r24,r14 1226 069c B601 movw r22,r12 1227 069e 0E94 0000 call __mulsi3 1228 06a2 DC01 movw r26,r24 1229 06a4 CB01 movw r24,r22 1230 06a6 8093 0000 sts IntegralRoll,r24 1231 06aa 9093 0000 sts (IntegralRoll)+1,r25 1232 06ae A093 0000 sts (IntegralRoll)+2,r26 1233 06b2 B093 0000 sts (IntegralRoll)+3,r27 1234 06b6 8092 0000 sts Mess_IntegralNick2,r8 1235 06ba 9092 0000 sts (Mess_IntegralNick2)+1,r9 1236 06be A092 0000 sts (Mess_IntegralNick2)+2,r10 1237 06c2 B092 0000 sts (Mess_IntegralNick2)+3,r11 1238 06c6 8093 0000 sts Mess_IntegralRoll2,r24 1239 06ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 1240 06ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 1241 06d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 1242 06d6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 1243 06da 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 1244 06de 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 1245 06e2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 1246 06e6 8091 0000 lds r24,Luftdruck 1247 06ea 9091 0000 lds r25,(Luftdruck)+1 1248 06ee A091 0000 lds r26,(Luftdruck)+2 1249 06f2 B091 0000 lds r27,(Luftdruck)+3 1250 06f6 9093 0000 sts (StartLuftdruck)+1,r25 1251 06fa 8093 0000 sts StartLuftdruck,r24 1252 06fe 1092 0000 sts (VarioMeter)+1,__zero_reg__ 1253 0702 1092 0000 sts VarioMeter,__zero_reg__ 1254 0706 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 1255 070a 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 1256 070e 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 1257 0712 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 1258 0716 8091 0000 lds r24,KompassValue 1259 071a 9091 0000 lds r25,(KompassValue)+1 1260 071e 9093 0000 sts (KompassStartwert)+1,r25 1261 0722 8093 0000 sts KompassStartwert,r24 1262 0726 0E94 0000 call GPS_Neutral 1263 072a 82E3 ldi r24,lo8(50) 1264 072c 90E0 ldi r25,hi8(50) 1265 072e 9093 0000 sts (beeptime)+1,r25 1266 0732 8093 0000 sts beeptime,r24 1267 0736 8091 0000 lds r24,EE_Parameter+63 1268 073a 9927 clr r25 1269 073c AA27 clr r26 1270 073e BB27 clr r27 1271 0740 BC01 movw r22,r24 1272 0742 CD01 movw r24,r26 1273 0744 24EC ldi r18,lo8(2500) 1274 0746 39E0 ldi r19,hi8(2500) 1275 0748 40E0 ldi r20,hlo8(2500) 1276 074a 50E0 ldi r21,hhi8(2500) 1277 074c 0E94 0000 call __mulsi3 1278 0750 DC01 movw r26,r24 1279 0752 CB01 movw r24,r22 1280 0754 8856 subi r24,lo8(-(15000)) 1281 0756 954C sbci r25,hi8(-(15000)) 1282 0758 AF4F sbci r26,hlo8(-(15000)) 1283 075a BF4F sbci r27,hhi8(-(15000)) 1284 075c 8093 0000 sts Umschlag180Nick,r24 1285 0760 9093 0000 sts (Umschlag180Nick)+1,r25 1286 0764 A093 0000 sts (Umschlag180Nick)+2,r26 1287 0768 B093 0000 sts (Umschlag180Nick)+3,r27 1288 076c 8091 0000 lds r24,EE_Parameter+64 1289 0770 9927 clr r25 1290 0772 AA27 clr r26 1291 0774 BB27 clr r27 1292 0776 BC01 movw r22,r24 1293 0778 CD01 movw r24,r26 1294 077a 0E94 0000 call __mulsi3 1295 077e DC01 movw r26,r24 1296 0780 CB01 movw r24,r22 1297 0782 8856 subi r24,lo8(-(15000)) 1298 0784 954C sbci r25,hi8(-(15000)) 1299 0786 AF4F sbci r26,hlo8(-(15000)) 1300 0788 BF4F sbci r27,hhi8(-(15000)) 1301 078a 8093 0000 sts Umschlag180Roll,r24 1302 078e 9093 0000 sts (Umschlag180Roll)+1,r25 1303 0792 A093 0000 sts (Umschlag180Roll)+2,r26 1304 0796 B093 0000 sts (Umschlag180Roll)+3,r27 1305 079a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 1306 079e 1092 0000 sts ExternHoehenValue,__zero_reg__ 1307 07a2 8091 0000 lds r24,KompassValue 1308 07a6 9091 0000 lds r25,(KompassValue)+1 1309 07aa AA27 clr r26 1310 07ac 97FD sbrc r25,7 1311 07ae A095 com r26 1312 07b0 BA2F mov r27,r26 1313 07b2 2091 0000 lds r18,GIER_GRAD_FAKTOR 1314 07b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 1315 07ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 1316 07be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 1317 07c2 BC01 movw r22,r24 1318 07c4 CD01 movw r24,r26 1319 07c6 0E94 0000 call __mulsi3 1320 07ca DC01 movw r26,r24 1321 07cc CB01 movw r24,r22 1322 07ce 8093 0000 sts ErsatzKompass,r24 1323 07d2 9093 0000 sts (ErsatzKompass)+1,r25 1324 07d6 A093 0000 sts (ErsatzKompass)+2,r26 1325 07da B093 0000 sts (ErsatzKompass)+3,r27 1326 07de 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 1327 07e2 1092 0000 sts GierGyroFehler,__zero_reg__ 1328 07e6 81E0 ldi r24,lo8(1) 1329 07e8 8093 0000 sts SendVersionToNavi,r24 1330 07ec 0E94 0000 call LED_Init 1331 07f0 8091 0000 lds r24,FCFlags 1332 07f4 8460 ori r24,lo8(4) 1333 07f6 8093 0000 sts FCFlags,r24 1334 07fa 8FEF ldi r24,lo8(-1) 1335 07fc 8093 0000 sts FromNaviCtrl_Value,r24 1336 0800 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 1337 0804 80E2 ldi r24,lo8(32) 1338 0806 8093 0000 sts FromNaviCtrl_Value+2,r24 1339 080a C0E0 ldi r28,lo8(Poti) 1340 080c D0E0 ldi r29,hi8(Poti) 1341 080e A0E0 ldi r26,lo8(EE_Parameter+5) 1342 0810 B0E0 ldi r27,hi8(EE_Parameter+5) 1343 0812 07E0 ldi r16,lo8(7) 1344 .L51: 1345 0814 8D91 ld r24,X+ 1346 0816 E82F mov r30,r24 1347 0818 FF27 clr r31 1348 081a EE0F add r30,r30 1349 081c FF1F adc r31,r31 1350 081e E050 subi r30,lo8(-(PPM_in)) 1351 0820 F040 sbci r31,hi8(-(PPM_in)) 1352 0822 8081 ld r24,Z 1353 0824 9181 ldd r25,Z+1 1354 0826 8259 subi r24,lo8(-(110)) 1355 0828 8993 st Y+,r24 1356 082a 0150 subi r16,lo8(-(-1)) 1357 082c 07FF sbrs r16,7 1358 082e F2CF rjmp .L51 1359 0830 84E6 ldi r24,lo8(100) 1360 0832 8093 0000 sts SenderOkay,r24 1361 0836 8091 0000 lds r24,ServoActive 1362 083a 8823 tst r24 1363 083c 11F0 breq .L52 1364 083e 469A sbi 40-0x20,6 1365 0840 579A sbi 42-0x20,7 1366 .L52: 1367 0842 8091 0000 lds r24,AdNeutralNick 1368 0846 9091 0000 lds r25,(AdNeutralNick)+1 1369 084a 8056 subi r24,lo8(-(-2400)) 1370 084c 9940 sbci r25,hi8(-(-2400)) 1371 084e 815C subi r24,lo8(11201) 1372 0850 9B42 sbci r25,hi8(11201) 1373 0852 28F0 brlo .L53 1374 0854 8091 0000 lds r24,VersionInfo+5 1375 0858 8160 ori r24,lo8(1) 1376 085a 8093 0000 sts VersionInfo+5,r24 1377 .L53: 1378 085e 8091 0000 lds r24,AdNeutralRoll 1379 0862 9091 0000 lds r25,(AdNeutralRoll)+1 1380 0866 8056 subi r24,lo8(-(-2400)) 1381 0868 9940 sbci r25,hi8(-(-2400)) 1382 086a 815C subi r24,lo8(11201) 1383 086c 9B42 sbci r25,hi8(11201) 1384 086e 28F0 brlo .L54 1385 0870 8091 0000 lds r24,VersionInfo+5 1386 0874 8260 ori r24,lo8(2) 1387 0876 8093 0000 sts VersionInfo+5,r24 1388 .L54: 1389 087a 8091 0000 lds r24,AdNeutralGier 1390 087e 9091 0000 lds r25,(AdNeutralGier)+1 1391 0882 8C52 subi r24,lo8(-(-300)) 1392 0884 9140 sbci r25,hi8(-(-300)) 1393 0886 8957 subi r24,lo8(1401) 1394 0888 9540 sbci r25,hi8(1401) 1395 088a 28F0 brlo .L55 1396 088c 8091 0000 lds r24,VersionInfo+5 1397 0890 8460 ori r24,lo8(4) 1398 0892 8093 0000 sts VersionInfo+5,r24 1399 .L55: 1400 0896 8091 0000 lds r24,NeutralAccX 1401 089a 9091 0000 lds r25,(NeutralAccX)+1 1402 089e 8C52 subi r24,lo8(-(-300)) 1403 08a0 9140 sbci r25,hi8(-(-300)) 1404 08a2 835C subi r24,lo8(451) 1405 08a4 9140 sbci r25,hi8(451) 1406 08a6 28F0 brlo .L56 1407 08a8 8091 0000 lds r24,VersionInfo+5 1408 08ac 8860 ori r24,lo8(8) 1409 08ae 8093 0000 sts VersionInfo+5,r24 1410 .L56: 1411 08b2 8091 0000 lds r24,NeutralAccY 1412 08b6 9091 0000 lds r25,(NeutralAccY)+1 1413 08ba 8C52 subi r24,lo8(-(-300)) 1414 08bc 9140 sbci r25,hi8(-(-300)) 1415 08be 835C subi r24,lo8(451) 1416 08c0 9140 sbci r25,hi8(451) 1417 08c2 28F0 brlo .L57 1418 08c4 8091 0000 lds r24,VersionInfo+5 1419 08c8 8061 ori r24,lo8(16) 1420 08ca 8093 0000 sts VersionInfo+5,r24 1421 .L57: 1422 08ce 8091 0000 lds r24,NeutralAccZ 1423 08d2 9091 0000 lds r25,(NeutralAccZ)+1 1424 08d6 8050 subi r24,lo8(-(-512)) 1425 08d8 9240 sbci r25,hi8(-(-512)) 1426 08da 8355 subi r24,lo8(339) 1427 08dc 9140 sbci r25,hi8(339) 1428 08de 28F0 brlo .L32 1429 08e0 8091 0000 lds r24,VersionInfo+5 1430 08e4 8062 ori r24,lo8(32) 1431 08e6 8093 0000 sts VersionInfo+5,r24 1432 .L32: 1433 /* epilogue: frame size=0 */ 1434 08ea ECE0 ldi r30,12 1435 08ec CDB7 in r28,__SP_L__ 1436 08ee DEB7 in r29,__SP_H__ 1437 08f0 0C94 0000 jmp __epilogue_restores__+12 1438 /* epilogue end (size=5) */ 1439 /* function SetNeutral size 697 (686) */ 1441 .lcomm tmpl.32,4 1442 .lcomm tmpl2.33,4 1443 .lcomm tmpl3.34,4 1444 .lcomm tmpl4.35,4 1445 .lcomm oldNick.36,2 1446 .lcomm oldRoll.37,2 1447 .lcomm d2Roll.38,2 1448 .lcomm d2Nick.39,2 1449 .global Mittelwert 1451 Mittelwert: 1452 /* prologue: frame size=19 */ 1453 08f4 A3E1 ldi r26,lo8(19) 1454 08f6 B0E0 ldi r27,hi8(19) 1455 08f8 E0E0 ldi r30,pm_lo8(1f) 1456 08fa F0E0 ldi r31,pm_hi8(1f) 1457 08fc 0C94 0000 jmp __prologue_saves__+0 1458 1: 1459 /* prologue end (size=6) */ 1460 0900 8091 0000 lds r24,AdNeutralGier 1461 0904 9091 0000 lds r25,(AdNeutralGier)+1 1462 0908 2091 0000 lds r18,AdWertGier 1463 090c 3091 0000 lds r19,(AdWertGier)+1 1464 0910 821B sub r24,r18 1465 0912 930B sbc r25,r19 1466 0914 9093 0000 sts (MesswertGier)+1,r25 1467 0918 8093 0000 sts MesswertGier,r24 1468 091c 8091 0000 lds r24,AdWertNickFilter 1469 0920 9091 0000 lds r25,(AdWertNickFilter)+1 1470 0924 97FD sbrc r25,7 1471 0926 0796 adiw r24,7 1472 .L64: 1473 0928 9C01 movw r18,r24 1474 092a 53E0 ldi r21,3 1475 092c 3595 1: asr r19 1476 092e 2795 ror r18 1477 0930 5A95 dec r21 1478 0932 E1F7 brne 1b 1479 0934 3093 0000 sts (MesswertNick)+1,r19 1480 0938 2093 0000 sts MesswertNick,r18 1481 093c 8091 0000 lds r24,AdWertRollFilter 1482 0940 9091 0000 lds r25,(AdWertRollFilter)+1 1483 0944 97FD sbrc r25,7 1484 0946 0796 adiw r24,7 1485 .L65: 1486 0948 43E0 ldi r20,3 1487 094a 9595 1: asr r25 1488 094c 8795 ror r24 1489 094e 4A95 dec r20 1490 0950 E1F7 brne 1b 1491 0952 9093 0000 sts (MesswertRoll)+1,r25 1492 0956 8093 0000 sts MesswertRoll,r24 1493 095a 3093 0000 sts (RohMesswertNick)+1,r19 1494 095e 2093 0000 sts RohMesswertNick,r18 1495 0962 9093 0000 sts (RohMesswertRoll)+1,r25 1496 0966 8093 0000 sts RohMesswertRoll,r24 1497 096a 8091 0000 lds r24,Mittelwert_AccNick 1498 096e 9091 0000 lds r25,(Mittelwert_AccNick)+1 1499 0972 AC01 movw r20,r24 1500 0974 440F lsl r20 1501 0976 551F rol r21 1502 0978 480F add r20,r24 1503 097a 591F adc r21,r25 1504 097c 2091 0000 lds r18,AdWertAccNick 1505 0980 3091 0000 lds r19,(AdWertAccNick)+1 1506 0984 C901 movw r24,r18 1507 0986 880F lsl r24 1508 0988 991F rol r25 1509 098a 880F lsl r24 1510 098c 991F rol r25 1511 098e 820F add r24,r18 1512 0990 931F adc r25,r19 1513 0992 820F add r24,r18 1514 0994 931F adc r25,r19 1515 0996 480F add r20,r24 1516 0998 591F adc r21,r25 1517 099a 57FF sbrs r21,7 1518 099c 02C0 rjmp .L66 1519 099e 4D5F subi r20,lo8(-(3)) 1520 09a0 5F4F sbci r21,hi8(-(3)) 1521 .L66: 1522 09a2 5595 asr r21 1523 09a4 4795 ror r20 1524 09a6 5595 asr r21 1525 09a8 4795 ror r20 1526 09aa 5093 0000 sts (Mittelwert_AccNick)+1,r21 1527 09ae 4093 0000 sts Mittelwert_AccNick,r20 1528 09b2 8091 0000 lds r24,Mittelwert_AccRoll 1529 09b6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1530 09ba AC01 movw r20,r24 1531 09bc 440F lsl r20 1532 09be 551F rol r21 1533 09c0 480F add r20,r24 1534 09c2 591F adc r21,r25 1535 09c4 2091 0000 lds r18,AdWertAccRoll 1536 09c8 3091 0000 lds r19,(AdWertAccRoll)+1 1537 09cc C901 movw r24,r18 1538 09ce 880F lsl r24 1539 09d0 991F rol r25 1540 09d2 880F lsl r24 1541 09d4 991F rol r25 1542 09d6 820F add r24,r18 1543 09d8 931F adc r25,r19 1544 09da 820F add r24,r18 1545 09dc 931F adc r25,r19 1546 09de 480F add r20,r24 1547 09e0 591F adc r21,r25 1548 09e2 57FF sbrs r21,7 1549 09e4 02C0 rjmp .L67 1550 09e6 4D5F subi r20,lo8(-(3)) 1551 09e8 5F4F sbci r21,hi8(-(3)) 1552 .L67: 1553 09ea 5595 asr r21 1554 09ec 4795 ror r20 1555 09ee 5595 asr r21 1556 09f0 4795 ror r20 1557 09f2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 1558 09f6 4093 0000 sts Mittelwert_AccRoll,r20 1559 09fa 2091 0000 lds r18,AdWertAccNick 1560 09fe 3091 0000 lds r19,(AdWertAccNick)+1 1561 0a02 C901 movw r24,r18 1562 0a04 880F lsl r24 1563 0a06 991F rol r25 1564 0a08 880F lsl r24 1565 0a0a 991F rol r25 1566 0a0c 820F add r24,r18 1567 0a0e 931F adc r25,r19 1568 0a10 820F add r24,r18 1569 0a12 931F adc r25,r19 1570 0a14 9C01 movw r18,r24 1571 0a16 4427 clr r20 1572 0a18 37FD sbrc r19,7 1573 0a1a 4095 com r20 1574 0a1c 542F mov r21,r20 1575 0a1e 8091 0000 lds r24,IntegralAccNick 1576 0a22 9091 0000 lds r25,(IntegralAccNick)+1 1577 0a26 A091 0000 lds r26,(IntegralAccNick)+2 1578 0a2a B091 0000 lds r27,(IntegralAccNick)+3 1579 0a2e 820F add r24,r18 1580 0a30 931F adc r25,r19 1581 0a32 A41F adc r26,r20 1582 0a34 B51F adc r27,r21 1583 0a36 8093 0000 sts IntegralAccNick,r24 1584 0a3a 9093 0000 sts (IntegralAccNick)+1,r25 1585 0a3e A093 0000 sts (IntegralAccNick)+2,r26 1586 0a42 B093 0000 sts (IntegralAccNick)+3,r27 1587 0a46 2091 0000 lds r18,AdWertAccRoll 1588 0a4a 3091 0000 lds r19,(AdWertAccRoll)+1 1589 0a4e C901 movw r24,r18 1590 0a50 880F lsl r24 1591 0a52 991F rol r25 1592 0a54 880F lsl r24 1593 0a56 991F rol r25 1594 0a58 820F add r24,r18 1595 0a5a 931F adc r25,r19 1596 0a5c 820F add r24,r18 1597 0a5e 931F adc r25,r19 1598 0a60 9C01 movw r18,r24 1599 0a62 4427 clr r20 1600 0a64 37FD sbrc r19,7 1601 0a66 4095 com r20 1602 0a68 542F mov r21,r20 1603 0a6a 8091 0000 lds r24,IntegralAccRoll 1604 0a6e 9091 0000 lds r25,(IntegralAccRoll)+1 1605 0a72 A091 0000 lds r26,(IntegralAccRoll)+2 1606 0a76 B091 0000 lds r27,(IntegralAccRoll)+3 1607 0a7a 820F add r24,r18 1608 0a7c 931F adc r25,r19 1609 0a7e A41F adc r26,r20 1610 0a80 B51F adc r27,r21 1611 0a82 8093 0000 sts IntegralAccRoll,r24 1612 0a86 9093 0000 sts (IntegralAccRoll)+1,r25 1613 0a8a A093 0000 sts (IntegralAccRoll)+2,r26 1614 0a8e B093 0000 sts (IntegralAccRoll)+3,r27 1615 0a92 8091 0000 lds r24,NaviAccNick 1616 0a96 9091 0000 lds r25,(NaviAccNick)+1 1617 0a9a 2091 0000 lds r18,AdWertAccNick 1618 0a9e 3091 0000 lds r19,(AdWertAccNick)+1 1619 0aa2 820F add r24,r18 1620 0aa4 931F adc r25,r19 1621 0aa6 9093 0000 sts (NaviAccNick)+1,r25 1622 0aaa 8093 0000 sts NaviAccNick,r24 1623 0aae 8091 0000 lds r24,NaviAccRoll 1624 0ab2 9091 0000 lds r25,(NaviAccRoll)+1 1625 0ab6 2091 0000 lds r18,AdWertAccRoll 1626 0aba 3091 0000 lds r19,(AdWertAccRoll)+1 1627 0abe 820F add r24,r18 1628 0ac0 931F adc r25,r19 1629 0ac2 9093 0000 sts (NaviAccRoll)+1,r25 1630 0ac6 8093 0000 sts NaviAccRoll,r24 1631 0aca 8091 0000 lds r24,NaviCntAcc 1632 0ace 9091 0000 lds r25,(NaviCntAcc)+1 1633 0ad2 0196 adiw r24,1 1634 0ad4 9093 0000 sts (NaviCntAcc)+1,r25 1635 0ad8 8093 0000 sts NaviCntAcc,r24 1636 0adc 8091 0000 lds r24,Aktuell_az 1637 0ae0 9091 0000 lds r25,(Aktuell_az)+1 1638 0ae4 2091 0000 lds r18,NeutralAccZ 1639 0ae8 3091 0000 lds r19,(NeutralAccZ)+1 1640 0aec 821B sub r24,r18 1641 0aee 930B sbc r25,r19 1642 0af0 9C01 movw r18,r24 1643 0af2 4427 clr r20 1644 0af4 37FD sbrc r19,7 1645 0af6 4095 com r20 1646 0af8 542F mov r21,r20 1647 0afa 8091 0000 lds r24,IntegralAccZ 1648 0afe 9091 0000 lds r25,(IntegralAccZ)+1 1649 0b02 A091 0000 lds r26,(IntegralAccZ)+2 1650 0b06 B091 0000 lds r27,(IntegralAccZ)+3 1651 0b0a 820F add r24,r18 1652 0b0c 931F adc r25,r19 1653 0b0e A41F adc r26,r20 1654 0b10 B51F adc r27,r21 1655 0b12 8093 0000 sts IntegralAccZ,r24 1656 0b16 9093 0000 sts (IntegralAccZ)+1,r25 1657 0b1a A093 0000 sts (IntegralAccZ)+2,r26 1658 0b1e B093 0000 sts (IntegralAccZ)+3,r27 1659 0b22 8FEC ldi r24,lo8(-49) 1660 0b24 8093 7A00 sts 122,r24 1661 0b28 1092 0000 sts AdReady,__zero_reg__ 1662 0b2c 2091 0000 lds r18,Mess_IntegralRoll 1663 0b30 3091 0000 lds r19,(Mess_IntegralRoll)+1 1664 0b34 4091 0000 lds r20,(Mess_IntegralRoll)+2 1665 0b38 5091 0000 lds r21,(Mess_IntegralRoll)+3 1666 0b3c 2987 std Y+9,r18 1667 0b3e 3A87 std Y+10,r19 1668 0b40 4B87 std Y+11,r20 1669 0b42 5C87 std Y+12,r21 1670 0b44 2954 subi r18,lo8(93001) 1671 0b46 3B46 sbci r19,hi8(93001) 1672 0b48 4140 sbci r20,hlo8(93001) 1673 0b4a 5040 sbci r21,hhi8(93001) 1674 0b4c 2CF0 brlt .L68 1675 0b4e 28E4 ldi r18,lo8(93000) 1676 0b50 3BE6 ldi r19,hi8(93000) 1677 0b52 41E0 ldi r20,hlo8(93000) 1678 0b54 50E0 ldi r21,hhi8(93000) 1679 0b56 0DC0 rjmp .L161 1680 .L68: 1681 0b58 8985 ldd r24,Y+9 1682 0b5a 9A85 ldd r25,Y+10 1683 0b5c AB85 ldd r26,Y+11 1684 0b5e BC85 ldd r27,Y+12 1685 0b60 885B subi r24,lo8(-93000) 1686 0b62 9449 sbci r25,hi8(-93000) 1687 0b64 AE4F sbci r26,hlo8(-93000) 1688 0b66 BF4F sbci r27,hhi8(-93000) 1689 0b68 4CF4 brge .L70 1690 0b6a 28EB ldi r18,lo8(-93000) 1691 0b6c 34E9 ldi r19,hi8(-93000) 1692 0b6e 4EEF ldi r20,hlo8(-93000) 1693 0b70 5FEF ldi r21,hhi8(-93000) 1694 .L161: 1695 0b72 2D83 std Y+5,r18 1696 0b74 3E83 std Y+6,r19 1697 0b76 4F83 std Y+7,r20 1698 0b78 5887 std Y+8,r21 1699 0b7a 08C0 rjmp .L69 1700 .L70: 1701 0b7c 8985 ldd r24,Y+9 1702 0b7e 9A85 ldd r25,Y+10 1703 0b80 AB85 ldd r26,Y+11 1704 0b82 BC85 ldd r27,Y+12 1705 0b84 8D83 std Y+5,r24 1706 0b86 9E83 std Y+6,r25 1707 0b88 AF83 std Y+7,r26 1708 0b8a B887 std Y+8,r27 1709 .L69: 1710 0b8c 2091 0000 lds r18,Mess_IntegralNick 1711 0b90 3091 0000 lds r19,(Mess_IntegralNick)+1 1712 0b94 4091 0000 lds r20,(Mess_IntegralNick)+2 1713 0b98 5091 0000 lds r21,(Mess_IntegralNick)+3 1714 0b9c 2D87 std Y+13,r18 1715 0b9e 3E87 std Y+14,r19 1716 0ba0 4F87 std Y+15,r20 1717 0ba2 588B std Y+16,r21 1718 0ba4 2954 subi r18,lo8(93001) 1719 0ba6 3B46 sbci r19,hi8(93001) 1720 0ba8 4140 sbci r20,hlo8(93001) 1721 0baa 5040 sbci r21,hhi8(93001) 1722 0bac 2CF0 brlt .L72 1723 0bae 28E4 ldi r18,lo8(93000) 1724 0bb0 3BE6 ldi r19,hi8(93000) 1725 0bb2 41E0 ldi r20,hlo8(93000) 1726 0bb4 50E0 ldi r21,hhi8(93000) 1727 0bb6 0DC0 rjmp .L162 1728 .L72: 1729 0bb8 8D85 ldd r24,Y+13 1730 0bba 9E85 ldd r25,Y+14 1731 0bbc AF85 ldd r26,Y+15 1732 0bbe B889 ldd r27,Y+16 1733 0bc0 885B subi r24,lo8(-93000) 1734 0bc2 9449 sbci r25,hi8(-93000) 1735 0bc4 AE4F sbci r26,hlo8(-93000) 1736 0bc6 BF4F sbci r27,hhi8(-93000) 1737 0bc8 4CF4 brge .L74 1738 0bca 28EB ldi r18,lo8(-93000) 1739 0bcc 34E9 ldi r19,hi8(-93000) 1740 0bce 4EEF ldi r20,hlo8(-93000) 1741 0bd0 5FEF ldi r21,hhi8(-93000) 1742 .L162: 1743 0bd2 2983 std Y+1,r18 1744 0bd4 3A83 std Y+2,r19 1745 0bd6 4B83 std Y+3,r20 1746 0bd8 5C83 std Y+4,r21 1747 0bda 08C0 rjmp .L73 1748 .L74: 1749 0bdc 8D85 ldd r24,Y+13 1750 0bde 9E85 ldd r25,Y+14 1751 0be0 AF85 ldd r26,Y+15 1752 0be2 B889 ldd r27,Y+16 1753 0be4 8983 std Y+1,r24 1754 0be6 9A83 std Y+2,r25 1755 0be8 AB83 std Y+3,r26 1756 0bea BC83 std Y+4,r27 1757 .L73: 1758 0bec A091 0000 lds r26,MesswertGier 1759 0bf0 B091 0000 lds r27,(MesswertGier)+1 1760 0bf4 BB8B std Y+19,r27 1761 0bf6 AA8B std Y+18,r26 1762 0bf8 FD01 movw r30,r26 1763 0bfa CF01 movw r24,r30 1764 0bfc AA27 clr r26 1765 0bfe 97FD sbrc r25,7 1766 0c00 A095 com r26 1767 0c02 BA2F mov r27,r26 1768 0c04 A090 0000 lds r10,Mess_Integral_Gier 1769 0c08 B090 0000 lds r11,(Mess_Integral_Gier)+1 1770 0c0c C090 0000 lds r12,(Mess_Integral_Gier)+2 1771 0c10 D090 0000 lds r13,(Mess_Integral_Gier)+3 1772 0c14 A80E add r10,r24 1773 0c16 B91E adc r11,r25 1774 0c18 CA1E adc r12,r26 1775 0c1a DB1E adc r13,r27 1776 0c1c A092 0000 sts Mess_Integral_Gier,r10 1777 0c20 B092 0000 sts (Mess_Integral_Gier)+1,r11 1778 0c24 C092 0000 sts (Mess_Integral_Gier)+2,r12 1779 0c28 D092 0000 sts (Mess_Integral_Gier)+3,r13 1780 0c2c E090 0000 lds r14,ErsatzKompass 1781 0c30 F090 0000 lds r15,(ErsatzKompass)+1 1782 0c34 0091 0000 lds r16,(ErsatzKompass)+2 1783 0c38 1091 0000 lds r17,(ErsatzKompass)+3 1784 0c3c E80E add r14,r24 1785 0c3e F91E adc r15,r25 1786 0c40 0A1F adc r16,r26 1787 0c42 1B1F adc r17,r27 1788 0c44 E092 0000 sts ErsatzKompass,r14 1789 0c48 F092 0000 sts (ErsatzKompass)+1,r15 1790 0c4c 0093 0000 sts (ErsatzKompass)+2,r16 1791 0c50 1093 0000 sts (ErsatzKompass)+3,r17 1792 0c54 F091 0000 lds r31,Looping_Nick 1793 0c58 F98B std Y+17,r31 1794 0c5a FF23 tst r31 1795 0c5c 09F0 breq .+2 1796 0c5e 98C1 rjmp .L76 1797 0c60 8091 0000 lds r24,Looping_Roll 1798 0c64 8823 tst r24 1799 0c66 09F0 breq .+2 1800 0c68 93C1 rjmp .L76 1801 0c6a 8091 0000 lds r24,EE_Parameter+13 1802 0c6e 86FF sbrs r24,6 1803 0c70 8FC1 rjmp .L76 1804 0c72 8091 0000 lds r24,MesswertRoll 1805 0c76 9091 0000 lds r25,(MesswertRoll)+1 1806 0c7a AA27 clr r26 1807 0c7c 97FD sbrc r25,7 1808 0c7e A095 com r26 1809 0c80 BA2F mov r27,r26 1810 0c82 BC01 movw r22,r24 1811 0c84 CD01 movw r24,r26 1812 0c86 2981 ldd r18,Y+1 1813 0c88 3A81 ldd r19,Y+2 1814 0c8a 4B81 ldd r20,Y+3 1815 0c8c 5C81 ldd r21,Y+4 1816 0c8e 0E94 0000 call __mulsi3 1817 0c92 9B01 movw r18,r22 1818 0c94 AC01 movw r20,r24 1819 0c96 97FF sbrs r25,7 1820 0c98 04C0 rjmp .L77 1821 0c9a 2150 subi r18,lo8(-(2047)) 1822 0c9c 384F sbci r19,hi8(-(2047)) 1823 0c9e 4F4F sbci r20,hlo8(-(2047)) 1824 0ca0 5F4F sbci r21,hhi8(-(2047)) 1825 .L77: 1826 0ca2 6BE0 ldi r22,11 1827 0ca4 5595 1: asr r21 1828 0ca6 4795 ror r20 1829 0ca8 3795 ror r19 1830 0caa 2795 ror r18 1831 0cac 6A95 dec r22 1832 0cae D1F7 brne 1b 1833 0cb0 8091 0000 lds r24,Parameter_AchsKopplung2 1834 0cb4 682E mov r6,r24 1835 0cb6 7724 clr r7 1836 0cb8 8824 clr r8 1837 0cba 9924 clr r9 1838 0cbc CA01 movw r24,r20 1839 0cbe B901 movw r22,r18 1840 0cc0 A401 movw r20,r8 1841 0cc2 9301 movw r18,r6 1842 0cc4 0E94 0000 call __mulsi3 1843 0cc8 DC01 movw r26,r24 1844 0cca CB01 movw r24,r22 1845 0ccc 8093 0000 sts tmpl3.34,r24 1846 0cd0 9093 0000 sts (tmpl3.34)+1,r25 1847 0cd4 A093 0000 sts (tmpl3.34)+2,r26 1848 0cd8 B093 0000 sts (tmpl3.34)+3,r27 1849 0cdc B7FF sbrs r27,7 1850 0cde 04C0 rjmp .L78 1851 0ce0 8150 subi r24,lo8(-(4095)) 1852 0ce2 904F sbci r25,hi8(-(4095)) 1853 0ce4 AF4F sbci r26,hlo8(-(4095)) 1854 0ce6 BF4F sbci r27,hhi8(-(4095)) 1855 .L78: 1856 0ce8 1C01 movw r2,r24 1857 0cea 2D01 movw r4,r26 1858 0cec 3CE0 ldi r19,12 1859 0cee 5594 1: asr r5 1860 0cf0 4794 ror r4 1861 0cf2 3794 ror r3 1862 0cf4 2794 ror r2 1863 0cf6 3A95 dec r19 1864 0cf8 D1F7 brne 1b 1865 0cfa 2092 0000 sts tmpl3.34,r2 1866 0cfe 3092 0000 sts (tmpl3.34)+1,r3 1867 0d02 4092 0000 sts (tmpl3.34)+2,r4 1868 0d06 5092 0000 sts (tmpl3.34)+3,r5 1869 0d0a 8091 0000 lds r24,MesswertNick 1870 0d0e 9091 0000 lds r25,(MesswertNick)+1 1871 0d12 AA27 clr r26 1872 0d14 97FD sbrc r25,7 1873 0d16 A095 com r26 1874 0d18 BA2F mov r27,r26 1875 0d1a BC01 movw r22,r24 1876 0d1c CD01 movw r24,r26 1877 0d1e 2D81 ldd r18,Y+5 1878 0d20 3E81 ldd r19,Y+6 1879 0d22 4F81 ldd r20,Y+7 1880 0d24 5885 ldd r21,Y+8 1881 0d26 0E94 0000 call __mulsi3 1882 0d2a 97FF sbrs r25,7 1883 0d2c 04C0 rjmp .L79 1884 0d2e 6150 subi r22,lo8(-(2047)) 1885 0d30 784F sbci r23,hi8(-(2047)) 1886 0d32 8F4F sbci r24,hlo8(-(2047)) 1887 0d34 9F4F sbci r25,hhi8(-(2047)) 1888 .L79: 1889 0d36 2BE0 ldi r18,11 1890 0d38 9595 1: asr r25 1891 0d3a 8795 ror r24 1892 0d3c 7795 ror r23 1893 0d3e 6795 ror r22 1894 0d40 2A95 dec r18 1895 0d42 D1F7 brne 1b 1896 0d44 A401 movw r20,r8 1897 0d46 9301 movw r18,r6 1898 0d48 0E94 0000 call __mulsi3 1899 0d4c DC01 movw r26,r24 1900 0d4e CB01 movw r24,r22 1901 0d50 8093 0000 sts tmpl4.35,r24 1902 0d54 9093 0000 sts (tmpl4.35)+1,r25 1903 0d58 A093 0000 sts (tmpl4.35)+2,r26 1904 0d5c B093 0000 sts (tmpl4.35)+3,r27 1905 0d60 B7FF sbrs r27,7 1906 0d62 04C0 rjmp .L80 1907 0d64 8150 subi r24,lo8(-(4095)) 1908 0d66 904F sbci r25,hi8(-(4095)) 1909 0d68 AF4F sbci r26,hlo8(-(4095)) 1910 0d6a BF4F sbci r27,hhi8(-(4095)) 1911 .L80: 1912 0d6c 9C01 movw r18,r24 1913 0d6e AD01 movw r20,r26 1914 0d70 8CE0 ldi r24,12 1915 0d72 5595 1: asr r21 1916 0d74 4795 ror r20 1917 0d76 3795 ror r19 1918 0d78 2795 ror r18 1919 0d7a 8A95 dec r24 1920 0d7c D1F7 brne 1b 1921 0d7e 2093 0000 sts tmpl4.35,r18 1922 0d82 3093 0000 sts (tmpl4.35)+1,r19 1923 0d86 4093 0000 sts (tmpl4.35)+2,r20 1924 0d8a 5093 0000 sts (tmpl4.35)+3,r21 1925 0d8e 8091 0000 lds r24,tmpl3.34 1926 0d92 9091 0000 lds r25,(tmpl3.34)+1 1927 0d96 9093 0000 sts (KopplungsteilNickRoll)+1,r25 1928 0d9a 8093 0000 sts KopplungsteilNickRoll,r24 1929 0d9e 8091 0000 lds r24,tmpl4.35 1930 0da2 9091 0000 lds r25,(tmpl4.35)+1 1931 0da6 9093 0000 sts (KopplungsteilRollNick)+1,r25 1932 0daa 8093 0000 sts KopplungsteilRollNick,r24 1933 0dae 2219 sub r18,r2 1934 0db0 3309 sbc r19,r3 1935 0db2 4409 sbc r20,r4 1936 0db4 5509 sbc r21,r5 1937 0db6 2093 0000 sts tmpl4.35,r18 1938 0dba 3093 0000 sts (tmpl4.35)+1,r19 1939 0dbe 4093 0000 sts (tmpl4.35)+2,r20 1940 0dc2 5093 0000 sts (tmpl4.35)+3,r21 1941 0dc6 E20E add r14,r18 1942 0dc8 F31E adc r15,r19 1943 0dca 041F adc r16,r20 1944 0dcc 151F adc r17,r21 1945 0dce E092 0000 sts ErsatzKompass,r14 1946 0dd2 F092 0000 sts (ErsatzKompass)+1,r15 1947 0dd6 0093 0000 sts (ErsatzKompass)+2,r16 1948 0dda 1093 0000 sts (ErsatzKompass)+3,r17 1949 0dde 8091 0000 lds r24,Parameter_CouplingYawCorrection 1950 0de2 8823 tst r24 1951 0de4 B1F4 brne .L81 1952 0de6 57FF sbrs r21,7 1953 0de8 04C0 rjmp .L82 1954 0dea 2F5F subi r18,lo8(-(1)) 1955 0dec 3F4F sbci r19,hi8(-(1)) 1956 0dee 4F4F sbci r20,hlo8(-(1)) 1957 0df0 5F4F sbci r21,hhi8(-(1)) 1958 .L82: 1959 0df2 5595 asr r21 1960 0df4 4795 ror r20 1961 0df6 3795 ror r19 1962 0df8 2795 ror r18 1963 0dfa A21A sub r10,r18 1964 0dfc B30A sbc r11,r19 1965 0dfe C40A sbc r12,r20 1966 0e00 D50A sbc r13,r21 1967 0e02 A092 0000 sts Mess_Integral_Gier,r10 1968 0e06 B092 0000 sts (Mess_Integral_Gier)+1,r11 1969 0e0a C092 0000 sts (Mess_Integral_Gier)+2,r12 1970 0e0e D092 0000 sts (Mess_Integral_Gier)+3,r13 1971 .L81: 1972 0e12 2A89 ldd r18,Y+18 1973 0e14 3B89 ldd r19,Y+19 1974 0e16 7901 movw r14,r18 1975 0e18 0027 clr r16 1976 0e1a F7FC sbrc r15,7 1977 0e1c 0095 com r16 1978 0e1e 102F mov r17,r16 1979 0e20 8091 0000 lds r24,tmpl4.35 1980 0e24 9091 0000 lds r25,(tmpl4.35)+1 1981 0e28 A091 0000 lds r26,(tmpl4.35)+2 1982 0e2c B091 0000 lds r27,(tmpl4.35)+3 1983 0e30 E80E add r14,r24 1984 0e32 F91E adc r15,r25 1985 0e34 0A1F adc r16,r26 1986 0e36 1B1F adc r17,r27 1987 0e38 C801 movw r24,r16 1988 0e3a B701 movw r22,r14 1989 0e3c 2981 ldd r18,Y+1 1990 0e3e 3A81 ldd r19,Y+2 1991 0e40 4B81 ldd r20,Y+3 1992 0e42 5C81 ldd r21,Y+4 1993 0e44 0E94 0000 call __mulsi3 1994 0e48 9B01 movw r18,r22 1995 0e4a AC01 movw r20,r24 1996 0e4c 97FF sbrs r25,7 1997 0e4e 04C0 rjmp .L83 1998 0e50 2150 subi r18,lo8(-(2047)) 1999 0e52 384F sbci r19,hi8(-(2047)) 2000 0e54 4F4F sbci r20,hlo8(-(2047)) 2001 0e56 5F4F sbci r21,hhi8(-(2047)) 2002 .L83: 2003 0e58 BBE0 ldi r27,11 2004 0e5a 5595 1: asr r21 2005 0e5c 4795 ror r20 2006 0e5e 3795 ror r19 2007 0e60 2795 ror r18 2008 0e62 BA95 dec r27 2009 0e64 D1F7 brne 1b 2010 0e66 8091 0000 lds r24,Parameter_AchsKopplung1 2011 0e6a A82E mov r10,r24 2012 0e6c BB24 clr r11 2013 0e6e CC24 clr r12 2014 0e70 DD24 clr r13 2015 0e72 CA01 movw r24,r20 2016 0e74 B901 movw r22,r18 2017 0e76 A601 movw r20,r12 2018 0e78 9501 movw r18,r10 2019 0e7a 0E94 0000 call __mulsi3 2020 0e7e DC01 movw r26,r24 2021 0e80 CB01 movw r24,r22 2022 0e82 8093 0000 sts tmpl.32,r24 2023 0e86 9093 0000 sts (tmpl.32)+1,r25 2024 0e8a A093 0000 sts (tmpl.32)+2,r26 2025 0e8e B093 0000 sts (tmpl.32)+3,r27 2026 0e92 B7FF sbrs r27,7 2027 0e94 04C0 rjmp .L84 2028 0e96 8150 subi r24,lo8(-(4095)) 2029 0e98 904F sbci r25,hi8(-(4095)) 2030 0e9a AF4F sbci r26,hlo8(-(4095)) 2031 0e9c BF4F sbci r27,hhi8(-(4095)) 2032 .L84: 2033 0e9e 3C01 movw r6,r24 2034 0ea0 4D01 movw r8,r26 2035 0ea2 ACE0 ldi r26,12 2036 0ea4 9594 1: asr r9 2037 0ea6 8794 ror r8 2038 0ea8 7794 ror r7 2039 0eaa 6794 ror r6 2040 0eac AA95 dec r26 2041 0eae D1F7 brne 1b 2042 0eb0 6092 0000 sts tmpl.32,r6 2043 0eb4 7092 0000 sts (tmpl.32)+1,r7 2044 0eb8 8092 0000 sts (tmpl.32)+2,r8 2045 0ebc 9092 0000 sts (tmpl.32)+3,r9 2046 0ec0 C801 movw r24,r16 2047 0ec2 B701 movw r22,r14 2048 0ec4 2D81 ldd r18,Y+5 2049 0ec6 3E81 ldd r19,Y+6 2050 0ec8 4F81 ldd r20,Y+7 2051 0eca 5885 ldd r21,Y+8 2052 0ecc 0E94 0000 call __mulsi3 2053 0ed0 97FF sbrs r25,7 2054 0ed2 04C0 rjmp .L85 2055 0ed4 6150 subi r22,lo8(-(2047)) 2056 0ed6 784F sbci r23,hi8(-(2047)) 2057 0ed8 8F4F sbci r24,hlo8(-(2047)) 2058 0eda 9F4F sbci r25,hhi8(-(2047)) 2059 .L85: 2060 0edc FBE0 ldi r31,11 2061 0ede 9595 1: asr r25 2062 0ee0 8795 ror r24 2063 0ee2 7795 ror r23 2064 0ee4 6795 ror r22 2065 0ee6 FA95 dec r31 2066 0ee8 D1F7 brne 1b 2067 0eea A601 movw r20,r12 2068 0eec 9501 movw r18,r10 2069 0eee 0E94 0000 call __mulsi3 2070 0ef2 DC01 movw r26,r24 2071 0ef4 CB01 movw r24,r22 2072 0ef6 8093 0000 sts tmpl2.33,r24 2073 0efa 9093 0000 sts (tmpl2.33)+1,r25 2074 0efe A093 0000 sts (tmpl2.33)+2,r26 2075 0f02 B093 0000 sts (tmpl2.33)+3,r27 2076 0f06 B7FF sbrs r27,7 2077 0f08 04C0 rjmp .L86 2078 0f0a 8150 subi r24,lo8(-(4095)) 2079 0f0c 904F sbci r25,hi8(-(4095)) 2080 0f0e AF4F sbci r26,hlo8(-(4095)) 2081 0f10 BF4F sbci r27,hhi8(-(4095)) 2082 .L86: 2083 0f12 AC01 movw r20,r24 2084 0f14 BD01 movw r22,r26 2085 0f16 ECE0 ldi r30,12 2086 0f18 7595 1: asr r23 2087 0f1a 6795 ror r22 2088 0f1c 5795 ror r21 2089 0f1e 4795 ror r20 2090 0f20 EA95 dec r30 2091 0f22 D1F7 brne 1b 2092 0f24 4093 0000 sts tmpl2.33,r20 2093 0f28 5093 0000 sts (tmpl2.33)+1,r21 2094 0f2c 6093 0000 sts (tmpl2.33)+2,r22 2095 0f30 7093 0000 sts (tmpl2.33)+3,r23 2096 0f34 2A89 ldd r18,Y+18 2097 0f36 3B89 ldd r19,Y+19 2098 0f38 37FF sbrs r19,7 2099 0f3a 03C0 rjmp .L88 2100 0f3c 3095 com r19 2101 0f3e 2195 neg r18 2102 0f40 3F4F sbci r19,lo8(-1) 2103 .L88: 2104 0f42 2134 cpi r18,65 2105 0f44 3105 cpc r19,__zero_reg__ 2106 0f46 E4F1 brlt .L93 2107 0f48 D401 movw r26,r8 2108 0f4a C301 movw r24,r6 2109 0f4c 97FE sbrs r9,7 2110 0f4e 07C0 rjmp .L91 2111 0f50 B095 com r27 2112 0f52 A095 com r26 2113 0f54 9095 com r25 2114 0f56 8195 neg r24 2115 0f58 9F4F sbci r25,lo8(-1) 2116 0f5a AF4F sbci r26,lo8(-1) 2117 0f5c BF4F sbci r27,lo8(-1) 2118 .L91: 2119 0f5e 8138 cpi r24,lo8(129) 2120 0f60 9105 cpc r25,__zero_reg__ 2121 0f62 A105 cpc r26,__zero_reg__ 2122 0f64 B105 cpc r27,__zero_reg__ 2123 0f66 84F4 brge .L90 2124 0f68 DB01 movw r26,r22 2125 0f6a CA01 movw r24,r20 2126 0f6c 77FF sbrs r23,7 2127 0f6e 07C0 rjmp .L92 2128 0f70 B095 com r27 2129 0f72 A095 com r26 2130 0f74 9095 com r25 2131 0f76 8195 neg r24 2132 0f78 9F4F sbci r25,lo8(-1) 2133 0f7a AF4F sbci r26,lo8(-1) 2134 0f7c BF4F sbci r27,lo8(-1) 2135 .L92: 2136 0f7e 8138 cpi r24,lo8(129) 2137 0f80 9105 cpc r25,__zero_reg__ 2138 0f82 A105 cpc r26,__zero_reg__ 2139 0f84 B105 cpc r27,__zero_reg__ 2140 0f86 E4F0 brlt .L93 2141 .L90: 2142 0f88 81E0 ldi r24,lo8(1) 2143 0f8a 8093 0000 sts TrichterFlug,r24 2144 0f8e 18C0 rjmp .L93 2145 .L76: 2146 0f90 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 2147 0f94 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 2148 0f98 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 2149 0f9c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 2150 0fa0 1092 0000 sts tmpl2.33,__zero_reg__ 2151 0fa4 1092 0000 sts (tmpl2.33)+1,__zero_reg__ 2152 0fa8 1092 0000 sts (tmpl2.33)+2,__zero_reg__ 2153 0fac 1092 0000 sts (tmpl2.33)+3,__zero_reg__ 2154 0fb0 1092 0000 sts tmpl.32,__zero_reg__ 2155 0fb4 1092 0000 sts (tmpl.32)+1,__zero_reg__ 2156 0fb8 1092 0000 sts (tmpl.32)+2,__zero_reg__ 2157 0fbc 1092 0000 sts (tmpl.32)+3,__zero_reg__ 2158 .L93: 2159 0fc0 8091 0000 lds r24,tmpl2.33 2160 0fc4 9091 0000 lds r25,(tmpl2.33)+1 2161 0fc8 A091 0000 lds r26,(tmpl2.33)+2 2162 0fcc B091 0000 lds r27,(tmpl2.33)+3 2163 0fd0 BC01 movw r22,r24 2164 0fd2 CD01 movw r24,r26 2165 0fd4 24E6 ldi r18,lo8(100) 2166 0fd6 30E0 ldi r19,hi8(100) 2167 0fd8 40E0 ldi r20,hlo8(100) 2168 0fda 50E0 ldi r21,hhi8(100) 2169 0fdc 0E94 0000 call __divmodsi4 2170 0fe0 E090 0000 lds r14,tmpl.32 2171 0fe4 F090 0000 lds r15,(tmpl.32)+1 2172 0fe8 E21A sub r14,r18 2173 0fea F30A sbc r15,r19 2174 0fec F092 0000 sts (TrimRoll)+1,r15 2175 0ff0 E092 0000 sts TrimRoll,r14 2176 0ff4 8091 0000 lds r24,tmpl.32 2177 0ff8 9091 0000 lds r25,(tmpl.32)+1 2178 0ffc A091 0000 lds r26,(tmpl.32)+2 2179 1000 B091 0000 lds r27,(tmpl.32)+3 2180 1004 BC01 movw r22,r24 2181 1006 CD01 movw r24,r26 2182 1008 24E6 ldi r18,lo8(100) 2183 100a 30E0 ldi r19,hi8(100) 2184 100c 40E0 ldi r20,hlo8(100) 2185 100e 50E0 ldi r21,hhi8(100) 2186 1010 0E94 0000 call __divmodsi4 2187 1014 DA01 movw r26,r20 2188 1016 C901 movw r24,r18 2189 1018 2091 0000 lds r18,tmpl2.33 2190 101c 3091 0000 lds r19,(tmpl2.33)+1 2191 1020 8C01 movw r16,r24 2192 1022 021B sub r16,r18 2193 1024 130B sbc r17,r19 2194 1026 1093 0000 sts (TrimNick)+1,r17 2195 102a 0093 0000 sts TrimNick,r16 2196 102e 8091 0000 lds r24,GIER_GRAD_FAKTOR 2197 1032 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 2198 1036 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 2199 103a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 2200 103e BC01 movw r22,r24 2201 1040 CD01 movw r24,r26 2202 1042 28E6 ldi r18,lo8(360) 2203 1044 31E0 ldi r19,hi8(360) 2204 1046 40E0 ldi r20,hlo8(360) 2205 1048 50E0 ldi r21,hhi8(360) 2206 104a 0E94 0000 call __mulsi3 2207 104e 2091 0000 lds r18,ErsatzKompass 2208 1052 3091 0000 lds r19,(ErsatzKompass)+1 2209 1056 4091 0000 lds r20,(ErsatzKompass)+2 2210 105a 5091 0000 lds r21,(ErsatzKompass)+3 2211 105e 2617 cp r18,r22 2212 1060 3707 cpc r19,r23 2213 1062 4807 cpc r20,r24 2214 1064 5907 cpc r21,r25 2215 1066 64F0 brlt .L94 2216 1068 261B sub r18,r22 2217 106a 370B sbc r19,r23 2218 106c 480B sbc r20,r24 2219 106e 590B sbc r21,r25 2220 1070 2093 0000 sts ErsatzKompass,r18 2221 1074 3093 0000 sts (ErsatzKompass)+1,r19 2222 1078 4093 0000 sts (ErsatzKompass)+2,r20 2223 107c 5093 0000 sts (ErsatzKompass)+3,r21 2224 .L94: 2225 1080 2091 0000 lds r18,ErsatzKompass 2226 1084 3091 0000 lds r19,(ErsatzKompass)+1 2227 1088 4091 0000 lds r20,(ErsatzKompass)+2 2228 108c 5091 0000 lds r21,(ErsatzKompass)+3 2229 1090 57FF sbrs r21,7 2230 1092 0CC0 rjmp .L95 2231 1094 260F add r18,r22 2232 1096 371F adc r19,r23 2233 1098 481F adc r20,r24 2234 109a 591F adc r21,r25 2235 109c 2093 0000 sts ErsatzKompass,r18 2236 10a0 3093 0000 sts (ErsatzKompass)+1,r19 2237 10a4 4093 0000 sts (ErsatzKompass)+2,r20 2238 10a8 5093 0000 sts (ErsatzKompass)+3,r21 2239 .L95: 2240 10ac 6091 0000 lds r22,MesswertRoll 2241 10b0 7091 0000 lds r23,(MesswertRoll)+1 2242 10b4 6E0D add r22,r14 2243 10b6 7F1D adc r23,r15 2244 10b8 9B01 movw r18,r22 2245 10ba 4427 clr r20 2246 10bc 37FD sbrc r19,7 2247 10be 4095 com r20 2248 10c0 542F mov r21,r20 2249 10c2 8091 0000 lds r24,Mess_IntegralRoll2 2250 10c6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2251 10ca A091 0000 lds r26,(Mess_IntegralRoll2)+2 2252 10ce B091 0000 lds r27,(Mess_IntegralRoll2)+3 2253 10d2 820F add r24,r18 2254 10d4 931F adc r25,r19 2255 10d6 A41F adc r26,r20 2256 10d8 B51F adc r27,r21 2257 10da 8093 0000 sts Mess_IntegralRoll2,r24 2258 10de 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2259 10e2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2260 10e6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2261 10ea 8091 0000 lds r24,LageKorrekturRoll 2262 10ee 9091 0000 lds r25,(LageKorrekturRoll)+1 2263 10f2 681B sub r22,r24 2264 10f4 790B sbc r23,r25 2265 10f6 CB01 movw r24,r22 2266 10f8 AA27 clr r26 2267 10fa 97FD sbrc r25,7 2268 10fc A095 com r26 2269 10fe BA2F mov r27,r26 2270 1100 2985 ldd r18,Y+9 2271 1102 3A85 ldd r19,Y+10 2272 1104 4B85 ldd r20,Y+11 2273 1106 5C85 ldd r21,Y+12 2274 1108 820F add r24,r18 2275 110a 931F adc r25,r19 2276 110c A41F adc r26,r20 2277 110e B51F adc r27,r21 2278 1110 8093 0000 sts Mess_IntegralRoll,r24 2279 1114 9093 0000 sts (Mess_IntegralRoll)+1,r25 2280 1118 A093 0000 sts (Mess_IntegralRoll)+2,r26 2281 111c B093 0000 sts (Mess_IntegralRoll)+3,r27 2282 1120 C090 0000 lds r12,Umschlag180Roll 2283 1124 D090 0000 lds r13,(Umschlag180Roll)+1 2284 1128 E090 0000 lds r14,(Umschlag180Roll)+2 2285 112c F090 0000 lds r15,(Umschlag180Roll)+3 2286 1130 C816 cp r12,r24 2287 1132 D906 cpc r13,r25 2288 1134 EA06 cpc r14,r26 2289 1136 FB06 cpc r15,r27 2290 1138 C4F4 brge .L96 2291 113a 88EA ldi r24,lo8(25000) 2292 113c 91E6 ldi r25,hi8(25000) 2293 113e A0E0 ldi r26,hlo8(25000) 2294 1140 B0E0 ldi r27,hhi8(25000) 2295 1142 8C19 sub r24,r12 2296 1144 9D09 sbc r25,r13 2297 1146 AE09 sbc r26,r14 2298 1148 BF09 sbc r27,r15 2299 114a 8093 0000 sts Mess_IntegralRoll,r24 2300 114e 9093 0000 sts (Mess_IntegralRoll)+1,r25 2301 1152 A093 0000 sts (Mess_IntegralRoll)+2,r26 2302 1156 B093 0000 sts (Mess_IntegralRoll)+3,r27 2303 115a 8093 0000 sts Mess_IntegralRoll2,r24 2304 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2305 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2306 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2307 .L96: 2308 116a 2227 clr r18 2309 116c 3327 clr r19 2310 116e A901 movw r20,r18 2311 1170 2C19 sub r18,r12 2312 1172 3D09 sbc r19,r13 2313 1174 4E09 sbc r20,r14 2314 1176 5F09 sbc r21,r15 2315 1178 8091 0000 lds r24,Mess_IntegralRoll 2316 117c 9091 0000 lds r25,(Mess_IntegralRoll)+1 2317 1180 A091 0000 lds r26,(Mess_IntegralRoll)+2 2318 1184 B091 0000 lds r27,(Mess_IntegralRoll)+3 2319 1188 8217 cp r24,r18 2320 118a 9307 cpc r25,r19 2321 118c A407 cpc r26,r20 2322 118e B507 cpc r27,r21 2323 1190 B4F4 brge .L97 2324 1192 D701 movw r26,r14 2325 1194 C601 movw r24,r12 2326 1196 885A subi r24,lo8(-(-25000)) 2327 1198 9146 sbci r25,hi8(-(-25000)) 2328 119a A040 sbci r26,hlo8(-(-25000)) 2329 119c B040 sbci r27,hhi8(-(-25000)) 2330 119e 8093 0000 sts Mess_IntegralRoll,r24 2331 11a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 2332 11a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 2333 11aa B093 0000 sts (Mess_IntegralRoll)+3,r27 2334 11ae 8093 0000 sts Mess_IntegralRoll2,r24 2335 11b2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2336 11b6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2337 11ba B093 0000 sts (Mess_IntegralRoll2)+3,r27 2338 .L97: 2339 11be 6091 0000 lds r22,MesswertNick 2340 11c2 7091 0000 lds r23,(MesswertNick)+1 2341 11c6 600F add r22,r16 2342 11c8 711F adc r23,r17 2343 11ca 9B01 movw r18,r22 2344 11cc 4427 clr r20 2345 11ce 37FD sbrc r19,7 2346 11d0 4095 com r20 2347 11d2 542F mov r21,r20 2348 11d4 8091 0000 lds r24,Mess_IntegralNick2 2349 11d8 9091 0000 lds r25,(Mess_IntegralNick2)+1 2350 11dc A091 0000 lds r26,(Mess_IntegralNick2)+2 2351 11e0 B091 0000 lds r27,(Mess_IntegralNick2)+3 2352 11e4 820F add r24,r18 2353 11e6 931F adc r25,r19 2354 11e8 A41F adc r26,r20 2355 11ea B51F adc r27,r21 2356 11ec 8093 0000 sts Mess_IntegralNick2,r24 2357 11f0 9093 0000 sts (Mess_IntegralNick2)+1,r25 2358 11f4 A093 0000 sts (Mess_IntegralNick2)+2,r26 2359 11f8 B093 0000 sts (Mess_IntegralNick2)+3,r27 2360 11fc 8091 0000 lds r24,LageKorrekturNick 2361 1200 9091 0000 lds r25,(LageKorrekturNick)+1 2362 1204 681B sub r22,r24 2363 1206 790B sbc r23,r25 2364 1208 CB01 movw r24,r22 2365 120a AA27 clr r26 2366 120c 97FD sbrc r25,7 2367 120e A095 com r26 2368 1210 BA2F mov r27,r26 2369 1212 2D85 ldd r18,Y+13 2370 1214 3E85 ldd r19,Y+14 2371 1216 4F85 ldd r20,Y+15 2372 1218 5889 ldd r21,Y+16 2373 121a 820F add r24,r18 2374 121c 931F adc r25,r19 2375 121e A41F adc r26,r20 2376 1220 B51F adc r27,r21 2377 1222 8093 0000 sts Mess_IntegralNick,r24 2378 1226 9093 0000 sts (Mess_IntegralNick)+1,r25 2379 122a A093 0000 sts (Mess_IntegralNick)+2,r26 2380 122e B093 0000 sts (Mess_IntegralNick)+3,r27 2381 1232 E090 0000 lds r14,Umschlag180Nick 2382 1236 F090 0000 lds r15,(Umschlag180Nick)+1 2383 123a 0091 0000 lds r16,(Umschlag180Nick)+2 2384 123e 1091 0000 lds r17,(Umschlag180Nick)+3 2385 1242 E816 cp r14,r24 2386 1244 F906 cpc r15,r25 2387 1246 0A07 cpc r16,r26 2388 1248 1B07 cpc r17,r27 2389 124a C4F4 brge .L98 2390 124c 88EA ldi r24,lo8(25000) 2391 124e 91E6 ldi r25,hi8(25000) 2392 1250 A0E0 ldi r26,hlo8(25000) 2393 1252 B0E0 ldi r27,hhi8(25000) 2394 1254 8E19 sub r24,r14 2395 1256 9F09 sbc r25,r15 2396 1258 A00B sbc r26,r16 2397 125a B10B sbc r27,r17 2398 125c 8093 0000 sts Mess_IntegralNick,r24 2399 1260 9093 0000 sts (Mess_IntegralNick)+1,r25 2400 1264 A093 0000 sts (Mess_IntegralNick)+2,r26 2401 1268 B093 0000 sts (Mess_IntegralNick)+3,r27 2402 126c 8093 0000 sts Mess_IntegralNick2,r24 2403 1270 9093 0000 sts (Mess_IntegralNick2)+1,r25 2404 1274 A093 0000 sts (Mess_IntegralNick2)+2,r26 2405 1278 B093 0000 sts (Mess_IntegralNick2)+3,r27 2406 .L98: 2407 127c 2227 clr r18 2408 127e 3327 clr r19 2409 1280 A901 movw r20,r18 2410 1282 2E19 sub r18,r14 2411 1284 3F09 sbc r19,r15 2412 1286 400B sbc r20,r16 2413 1288 510B sbc r21,r17 2414 128a 8091 0000 lds r24,Mess_IntegralNick 2415 128e 9091 0000 lds r25,(Mess_IntegralNick)+1 2416 1292 A091 0000 lds r26,(Mess_IntegralNick)+2 2417 1296 B091 0000 lds r27,(Mess_IntegralNick)+3 2418 129a 8217 cp r24,r18 2419 129c 9307 cpc r25,r19 2420 129e A407 cpc r26,r20 2421 12a0 B507 cpc r27,r21 2422 12a2 B4F4 brge .L99 2423 12a4 D801 movw r26,r16 2424 12a6 C701 movw r24,r14 2425 12a8 885A subi r24,lo8(-(-25000)) 2426 12aa 9146 sbci r25,hi8(-(-25000)) 2427 12ac A040 sbci r26,hlo8(-(-25000)) 2428 12ae B040 sbci r27,hhi8(-(-25000)) 2429 12b0 8093 0000 sts Mess_IntegralNick,r24 2430 12b4 9093 0000 sts (Mess_IntegralNick)+1,r25 2431 12b8 A093 0000 sts (Mess_IntegralNick)+2,r26 2432 12bc B093 0000 sts (Mess_IntegralNick)+3,r27 2433 12c0 8093 0000 sts Mess_IntegralNick2,r24 2434 12c4 9093 0000 sts (Mess_IntegralNick2)+1,r25 2435 12c8 A093 0000 sts (Mess_IntegralNick2)+2,r26 2436 12cc B093 0000 sts (Mess_IntegralNick2)+3,r27 2437 .L99: 2438 12d0 8091 0000 lds r24,Mess_Integral_Gier 2439 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+1 2440 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+2 2441 12dc B091 0000 lds r27,(Mess_Integral_Gier)+3 2442 12e0 8093 0000 sts Integral_Gier,r24 2443 12e4 9093 0000 sts (Integral_Gier)+1,r25 2444 12e8 A093 0000 sts (Integral_Gier)+2,r26 2445 12ec B093 0000 sts (Integral_Gier)+3,r27 2446 12f0 8091 0000 lds r24,Mess_IntegralNick 2447 12f4 9091 0000 lds r25,(Mess_IntegralNick)+1 2448 12f8 A091 0000 lds r26,(Mess_IntegralNick)+2 2449 12fc B091 0000 lds r27,(Mess_IntegralNick)+3 2450 1300 8093 0000 sts IntegralNick,r24 2451 1304 9093 0000 sts (IntegralNick)+1,r25 2452 1308 A093 0000 sts (IntegralNick)+2,r26 2453 130c B093 0000 sts (IntegralNick)+3,r27 2454 1310 8091 0000 lds r24,Mess_IntegralRoll 2455 1314 9091 0000 lds r25,(Mess_IntegralRoll)+1 2456 1318 A091 0000 lds r26,(Mess_IntegralRoll)+2 2457 131c B091 0000 lds r27,(Mess_IntegralRoll)+3 2458 1320 8093 0000 sts IntegralRoll,r24 2459 1324 9093 0000 sts (IntegralRoll)+1,r25 2460 1328 A093 0000 sts (IntegralRoll)+2,r26 2461 132c B093 0000 sts (IntegralRoll)+3,r27 2462 1330 8091 0000 lds r24,Mess_IntegralNick2 2463 1334 9091 0000 lds r25,(Mess_IntegralNick2)+1 2464 1338 A091 0000 lds r26,(Mess_IntegralNick2)+2 2465 133c B091 0000 lds r27,(Mess_IntegralNick2)+3 2466 1340 8093 0000 sts IntegralNick2,r24 2467 1344 9093 0000 sts (IntegralNick2)+1,r25 2468 1348 A093 0000 sts (IntegralNick2)+2,r26 2469 134c B093 0000 sts (IntegralNick2)+3,r27 2470 1350 8091 0000 lds r24,Mess_IntegralRoll2 2471 1354 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2472 1358 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2473 135c B091 0000 lds r27,(Mess_IntegralRoll2)+3 2474 1360 8093 0000 sts IntegralRoll2,r24 2475 1364 9093 0000 sts (IntegralRoll2)+1,r25 2476 1368 A093 0000 sts (IntegralRoll2)+2,r26 2477 136c B093 0000 sts (IntegralRoll2)+3,r27 2478 1370 8091 0000 lds r24,HiResNick 2479 1374 9091 0000 lds r25,(HiResNick)+1 2480 1378 97FD sbrc r25,7 2481 137a 0796 adiw r24,7 2482 .L100: 2483 137c 33E0 ldi r19,3 2484 137e 9595 1: asr r25 2485 1380 8795 ror r24 2486 1382 3A95 dec r19 2487 1384 E1F7 brne 1b 2488 1386 9093 0000 sts (MesswertNick)+1,r25 2489 138a 8093 0000 sts MesswertNick,r24 2490 138e 8091 0000 lds r24,HiResRoll 2491 1392 9091 0000 lds r25,(HiResRoll)+1 2492 1396 97FD sbrc r25,7 2493 1398 0796 adiw r24,7 2494 .L101: 2495 139a 23E0 ldi r18,3 2496 139c 9595 1: asr r25 2497 139e 8795 ror r24 2498 13a0 2A95 dec r18 2499 13a2 E1F7 brne 1b 2500 13a4 9093 0000 sts (MesswertRoll)+1,r25 2501 13a8 8093 0000 sts MesswertRoll,r24 2502 13ac 8091 0000 lds r24,AdWertNick 2503 13b0 9091 0000 lds r25,(AdWertNick)+1 2504 13b4 0F97 sbiw r24,15 2505 13b6 34F4 brge .L102 2506 13b8 88E1 ldi r24,lo8(-1000) 2507 13ba 9CEF ldi r25,hi8(-1000) 2508 13bc 9093 0000 sts (MesswertNick)+1,r25 2509 13c0 8093 0000 sts MesswertNick,r24 2510 .L102: 2511 13c4 8091 0000 lds r24,AdWertNick 2512 13c8 9091 0000 lds r25,(AdWertNick)+1 2513 13cc 0797 sbiw r24,7 2514 13ce 34F4 brge .L103 2515 13d0 80E3 ldi r24,lo8(-2000) 2516 13d2 98EF ldi r25,hi8(-2000) 2517 13d4 9093 0000 sts (MesswertNick)+1,r25 2518 13d8 8093 0000 sts MesswertNick,r24 2519 .L103: 2520 13dc 2091 0000 lds r18,PlatinenVersion 2521 13e0 2A30 cpi r18,lo8(10) 2522 13e2 A9F4 brne .L104 2523 13e4 8091 0000 lds r24,AdWertNick 2524 13e8 9091 0000 lds r25,(AdWertNick)+1 2525 13ec 835F subi r24,lo8(1011) 2526 13ee 9340 sbci r25,hi8(1011) 2527 13f0 34F0 brlt .L105 2528 13f2 88EE ldi r24,lo8(1000) 2529 13f4 93E0 ldi r25,hi8(1000) 2530 13f6 9093 0000 sts (MesswertNick)+1,r25 2531 13fa 8093 0000 sts MesswertNick,r24 2532 .L105: 2533 13fe 8091 0000 lds r24,AdWertNick 2534 1402 9091 0000 lds r25,(AdWertNick)+1 2535 1406 8A5F subi r24,lo8(1018) 2536 1408 9340 sbci r25,hi8(1018) 2537 140a DCF0 brlt .L107 2538 140c 14C0 rjmp .L163 2539 .L104: 2540 140e 8091 0000 lds r24,AdWertNick 2541 1412 9091 0000 lds r25,(AdWertNick)+1 2542 1416 815D subi r24,lo8(2001) 2543 1418 9740 sbci r25,hi8(2001) 2544 141a 34F0 brlt .L108 2545 141c 88EE ldi r24,lo8(1000) 2546 141e 93E0 ldi r25,hi8(1000) 2547 1420 9093 0000 sts (MesswertNick)+1,r25 2548 1424 8093 0000 sts MesswertNick,r24 2549 .L108: 2550 1428 8091 0000 lds r24,AdWertNick 2551 142c 9091 0000 lds r25,(AdWertNick)+1 2552 1430 805E subi r24,lo8(2016) 2553 1432 9740 sbci r25,hi8(2016) 2554 1434 34F0 brlt .L107 2555 .L163: 2556 1436 80ED ldi r24,lo8(2000) 2557 1438 97E0 ldi r25,hi8(2000) 2558 143a 9093 0000 sts (MesswertNick)+1,r25 2559 143e 8093 0000 sts MesswertNick,r24 2560 .L107: 2561 1442 8091 0000 lds r24,AdWertRoll 2562 1446 9091 0000 lds r25,(AdWertRoll)+1 2563 144a 0F97 sbiw r24,15 2564 144c 34F4 brge .L110 2565 144e 88E1 ldi r24,lo8(-1000) 2566 1450 9CEF ldi r25,hi8(-1000) 2567 1452 9093 0000 sts (MesswertRoll)+1,r25 2568 1456 8093 0000 sts MesswertRoll,r24 2569 .L110: 2570 145a 8091 0000 lds r24,AdWertRoll 2571 145e 9091 0000 lds r25,(AdWertRoll)+1 2572 1462 0797 sbiw r24,7 2573 1464 34F4 brge .L111 2574 1466 80E3 ldi r24,lo8(-2000) 2575 1468 98EF ldi r25,hi8(-2000) 2576 146a 9093 0000 sts (MesswertRoll)+1,r25 2577 146e 8093 0000 sts MesswertRoll,r24 2578 .L111: 2579 1472 2A30 cpi r18,lo8(10) 2580 1474 A9F4 brne .L112 2581 1476 8091 0000 lds r24,AdWertRoll 2582 147a 9091 0000 lds r25,(AdWertRoll)+1 2583 147e 835F subi r24,lo8(1011) 2584 1480 9340 sbci r25,hi8(1011) 2585 1482 34F0 brlt .L113 2586 1484 88EE ldi r24,lo8(1000) 2587 1486 93E0 ldi r25,hi8(1000) 2588 1488 9093 0000 sts (MesswertRoll)+1,r25 2589 148c 8093 0000 sts MesswertRoll,r24 2590 .L113: 2591 1490 8091 0000 lds r24,AdWertRoll 2592 1494 9091 0000 lds r25,(AdWertRoll)+1 2593 1498 8A5F subi r24,lo8(1018) 2594 149a 9340 sbci r25,hi8(1018) 2595 149c DCF0 brlt .L115 2596 149e 14C0 rjmp .L164 2597 .L112: 2598 14a0 8091 0000 lds r24,AdWertRoll 2599 14a4 9091 0000 lds r25,(AdWertRoll)+1 2600 14a8 815D subi r24,lo8(2001) 2601 14aa 9740 sbci r25,hi8(2001) 2602 14ac 34F0 brlt .L116 2603 14ae 88EE ldi r24,lo8(1000) 2604 14b0 93E0 ldi r25,hi8(1000) 2605 14b2 9093 0000 sts (MesswertRoll)+1,r25 2606 14b6 8093 0000 sts MesswertRoll,r24 2607 .L116: 2608 14ba 8091 0000 lds r24,AdWertRoll 2609 14be 9091 0000 lds r25,(AdWertRoll)+1 2610 14c2 805E subi r24,lo8(2016) 2611 14c4 9740 sbci r25,hi8(2016) 2612 14c6 34F0 brlt .L115 2613 .L164: 2614 14c8 80ED ldi r24,lo8(2000) 2615 14ca 97E0 ldi r25,hi8(2000) 2616 14cc 9093 0000 sts (MesswertRoll)+1,r25 2617 14d0 8093 0000 sts MesswertRoll,r24 2618 .L115: 2619 14d4 E091 0000 lds r30,Parameter_Gyro_D 2620 14d8 EE23 tst r30 2621 14da 09F4 brne .+2 2622 14dc B7C0 rjmp .L118 2623 14de 4091 0000 lds r20,HiResNick 2624 14e2 5091 0000 lds r21,(HiResNick)+1 2625 14e6 8091 0000 lds r24,oldNick.36 2626 14ea 9091 0000 lds r25,(oldNick.36)+1 2627 14ee 481B sub r20,r24 2628 14f0 590B sbc r21,r25 2629 14f2 5093 0000 sts (d2Nick.39)+1,r21 2630 14f6 4093 0000 sts d2Nick.39,r20 2631 14fa 2091 0000 lds r18,HiResNick 2632 14fe 3091 0000 lds r19,(HiResNick)+1 2633 1502 280F add r18,r24 2634 1504 391F adc r19,r25 2635 1506 37FF sbrs r19,7 2636 1508 02C0 rjmp .L119 2637 150a 2F5F subi r18,lo8(-(1)) 2638 150c 3F4F sbci r19,hi8(-(1)) 2639 .L119: 2640 150e 3595 asr r19 2641 1510 2795 ror r18 2642 1512 3093 0000 sts (oldNick.36)+1,r19 2643 1516 2093 0000 sts oldNick.36,r18 2644 151a 4138 cpi r20,129 2645 151c 5105 cpc r21,__zero_reg__ 2646 151e 1CF0 brlt .L120 2647 1520 80E8 ldi r24,lo8(128) 2648 1522 90E0 ldi r25,hi8(128) 2649 1524 05C0 rjmp .L165 2650 .L120: 2651 1526 4058 subi r20,lo8(-128) 2652 1528 5F4F sbci r21,hi8(-128) 2653 152a 34F4 brge .L121 2654 152c 80E8 ldi r24,lo8(-128) 2655 152e 9FEF ldi r25,hi8(-128) 2656 .L165: 2657 1530 9093 0000 sts (d2Nick.39)+1,r25 2658 1534 8093 0000 sts d2Nick.39,r24 2659 .L121: 2660 1538 8E2F mov r24,r30 2661 153a 9927 clr r25 2662 153c A091 0000 lds r26,d2Nick.39 2663 1540 B091 0000 lds r27,(d2Nick.39)+1 2664 1544 A89F mul r26,r24 2665 1546 A001 movw r20,r0 2666 1548 A99F mul r26,r25 2667 154a 500D add r21,r0 2668 154c B89F mul r27,r24 2669 154e 500D add r21,r0 2670 1550 1124 clr r1 2671 1552 57FF sbrs r21,7 2672 1554 02C0 rjmp .L123 2673 1556 415F subi r20,lo8(-(15)) 2674 1558 5F4F sbci r21,hi8(-(15)) 2675 .L123: 2676 155a 14E0 ldi r17,4 2677 155c 5595 1: asr r21 2678 155e 4795 ror r20 2679 1560 1A95 dec r17 2680 1562 E1F7 brne 1b 2681 1564 8091 0000 lds r24,MesswertNick 2682 1568 9091 0000 lds r25,(MesswertNick)+1 2683 156c 840F add r24,r20 2684 156e 951F adc r25,r21 2685 1570 9093 0000 sts (MesswertNick)+1,r25 2686 1574 8093 0000 sts MesswertNick,r24 2687 1578 6091 0000 lds r22,HiResRoll 2688 157c 7091 0000 lds r23,(HiResRoll)+1 2689 1580 8091 0000 lds r24,oldRoll.37 2690 1584 9091 0000 lds r25,(oldRoll.37)+1 2691 1588 681B sub r22,r24 2692 158a 790B sbc r23,r25 2693 158c 7093 0000 sts (d2Roll.38)+1,r23 2694 1590 6093 0000 sts d2Roll.38,r22 2695 1594 4091 0000 lds r20,HiResRoll 2696 1598 5091 0000 lds r21,(HiResRoll)+1 2697 159c 480F add r20,r24 2698 159e 591F adc r21,r25 2699 15a0 57FF sbrs r21,7 2700 15a2 02C0 rjmp .L124 2701 15a4 4F5F subi r20,lo8(-(1)) 2702 15a6 5F4F sbci r21,hi8(-(1)) 2703 .L124: 2704 15a8 5595 asr r21 2705 15aa 4795 ror r20 2706 15ac 5093 0000 sts (oldRoll.37)+1,r21 2707 15b0 4093 0000 sts oldRoll.37,r20 2708 15b4 6138 cpi r22,129 2709 15b6 7105 cpc r23,__zero_reg__ 2710 15b8 1CF0 brlt .L125 2711 15ba 80E8 ldi r24,lo8(128) 2712 15bc 90E0 ldi r25,hi8(128) 2713 15be 05C0 rjmp .L166 2714 .L125: 2715 15c0 6058 subi r22,lo8(-128) 2716 15c2 7F4F sbci r23,hi8(-128) 2717 15c4 34F4 brge .L126 2718 15c6 80E8 ldi r24,lo8(-128) 2719 15c8 9FEF ldi r25,hi8(-128) 2720 .L166: 2721 15ca 9093 0000 sts (d2Roll.38)+1,r25 2722 15ce 8093 0000 sts d2Roll.38,r24 2723 .L126: 2724 15d2 2E2F mov r18,r30 2725 15d4 3327 clr r19 2726 15d6 8091 0000 lds r24,d2Roll.38 2727 15da 9091 0000 lds r25,(d2Roll.38)+1 2728 15de 829F mul r24,r18 2729 15e0 B001 movw r22,r0 2730 15e2 839F mul r24,r19 2731 15e4 700D add r23,r0 2732 15e6 929F mul r25,r18 2733 15e8 700D add r23,r0 2734 15ea 1124 clr r1 2735 15ec AB01 movw r20,r22 2736 15ee 77FF sbrs r23,7 2737 15f0 02C0 rjmp .L128 2738 15f2 415F subi r20,lo8(-(15)) 2739 15f4 5F4F sbci r21,hi8(-(15)) 2740 .L128: 2741 15f6 E4E0 ldi r30,4 2742 15f8 5595 1: asr r21 2743 15fa 4795 ror r20 2744 15fc EA95 dec r30 2745 15fe E1F7 brne 1b 2746 1600 8091 0000 lds r24,MesswertRoll 2747 1604 9091 0000 lds r25,(MesswertRoll)+1 2748 1608 840F add r24,r20 2749 160a 951F adc r25,r21 2750 160c 9093 0000 sts (MesswertRoll)+1,r25 2751 1610 8093 0000 sts MesswertRoll,r24 2752 1614 A29F mul r26,r18 2753 1616 C001 movw r24,r0 2754 1618 A39F mul r26,r19 2755 161a 900D add r25,r0 2756 161c B29F mul r27,r18 2757 161e 900D add r25,r0 2758 1620 1124 clr r1 2759 1622 9C01 movw r18,r24 2760 1624 8091 0000 lds r24,HiResNick 2761 1628 9091 0000 lds r25,(HiResNick)+1 2762 162c 820F add r24,r18 2763 162e 931F adc r25,r19 2764 1630 9093 0000 sts (HiResNick)+1,r25 2765 1634 8093 0000 sts HiResNick,r24 2766 1638 8091 0000 lds r24,HiResRoll 2767 163c 9091 0000 lds r25,(HiResRoll)+1 2768 1640 860F add r24,r22 2769 1642 971F adc r25,r23 2770 1644 9093 0000 sts (HiResRoll)+1,r25 2771 1648 8093 0000 sts HiResRoll,r24 2772 .L118: 2773 164c 0091 0000 lds r16,RohMesswertRoll 2774 1650 1091 0000 lds r17,(RohMesswertRoll)+1 2775 1654 8091 0000 lds r24,KopplungsteilNickRoll 2776 1658 9091 0000 lds r25,(KopplungsteilNickRoll)+1 2777 165c 1016 cp __zero_reg__,r16 2778 165e 1106 cpc __zero_reg__,r17 2779 1660 5CF5 brge .L129 2780 1662 9C01 movw r18,r24 2781 1664 97FF sbrs r25,7 2782 1666 04C0 rjmp .L130 2783 1668 2227 clr r18 2784 166a 3327 clr r19 2785 166c 281B sub r18,r24 2786 166e 390B sbc r19,r25 2787 .L130: 2788 1670 C901 movw r24,r18 2789 1672 AA27 clr r26 2790 1674 97FD sbrc r25,7 2791 1676 A095 com r26 2792 1678 BA2F mov r27,r26 2793 167a 2091 0000 lds r18,Parameter_CouplingYawCorrection 2794 167e 3327 clr r19 2795 1680 4427 clr r20 2796 1682 5527 clr r21 2797 1684 BC01 movw r22,r24 2798 1686 CD01 movw r24,r26 2799 1688 0E94 0000 call __mulsi3 2800 168c 9B01 movw r18,r22 2801 168e AC01 movw r20,r24 2802 1690 97FF sbrs r25,7 2803 1692 04C0 rjmp .L131 2804 1694 215C subi r18,lo8(-(63)) 2805 1696 3F4F sbci r19,hi8(-(63)) 2806 1698 4F4F sbci r20,hlo8(-(63)) 2807 169a 5F4F sbci r21,hhi8(-(63)) 2808 .L131: 2809 169c 76E0 ldi r23,6 2810 169e 5595 1: asr r21 2811 16a0 4795 ror r20 2812 16a2 3795 ror r19 2813 16a4 2795 ror r18 2814 16a6 7A95 dec r23 2815 16a8 D1F7 brne 1b 2816 16aa 8091 0000 lds r24,TrimRoll 2817 16ae 9091 0000 lds r25,(TrimRoll)+1 2818 16b2 820F add r24,r18 2819 16b4 931F adc r25,r19 2820 16b6 27C0 rjmp .L167 2821 .L129: 2822 16b8 97FF sbrs r25,7 2823 16ba 03C0 rjmp .L133 2824 16bc 9095 com r25 2825 16be 8195 neg r24 2826 16c0 9F4F sbci r25,lo8(-1) 2827 .L133: 2828 16c2 AA27 clr r26 2829 16c4 97FD sbrc r25,7 2830 16c6 A095 com r26 2831 16c8 BA2F mov r27,r26 2832 16ca 2091 0000 lds r18,Parameter_CouplingYawCorrection 2833 16ce 3327 clr r19 2834 16d0 4427 clr r20 2835 16d2 5527 clr r21 2836 16d4 BC01 movw r22,r24 2837 16d6 CD01 movw r24,r26 2838 16d8 0E94 0000 call __mulsi3 2839 16dc 9B01 movw r18,r22 2840 16de AC01 movw r20,r24 2841 16e0 97FF sbrs r25,7 2842 16e2 04C0 rjmp .L134 2843 16e4 215C subi r18,lo8(-(63)) 2844 16e6 3F4F sbci r19,hi8(-(63)) 2845 16e8 4F4F sbci r20,hlo8(-(63)) 2846 16ea 5F4F sbci r21,hhi8(-(63)) 2847 .L134: 2848 16ec 66E0 ldi r22,6 2849 16ee 5595 1: asr r21 2850 16f0 4795 ror r20 2851 16f2 3795 ror r19 2852 16f4 2795 ror r18 2853 16f6 6A95 dec r22 2854 16f8 D1F7 brne 1b 2855 16fa 8091 0000 lds r24,TrimRoll 2856 16fe 9091 0000 lds r25,(TrimRoll)+1 2857 1702 821B sub r24,r18 2858 1704 930B sbc r25,r19 2859 .L167: 2860 1706 9093 0000 sts (TrimRoll)+1,r25 2861 170a 8093 0000 sts TrimRoll,r24 2862 170e E090 0000 lds r14,RohMesswertNick 2863 1712 F090 0000 lds r15,(RohMesswertNick)+1 2864 1716 8091 0000 lds r24,KopplungsteilRollNick 2865 171a 9091 0000 lds r25,(KopplungsteilRollNick)+1 2866 171e 1E14 cp __zero_reg__,r14 2867 1720 1F04 cpc __zero_reg__,r15 2868 1722 5CF5 brge .L135 2869 1724 9C01 movw r18,r24 2870 1726 97FF sbrs r25,7 2871 1728 04C0 rjmp .L136 2872 172a 2227 clr r18 2873 172c 3327 clr r19 2874 172e 281B sub r18,r24 2875 1730 390B sbc r19,r25 2876 .L136: 2877 1732 C901 movw r24,r18 2878 1734 AA27 clr r26 2879 1736 97FD sbrc r25,7 2880 1738 A095 com r26 2881 173a BA2F mov r27,r26 2882 173c 2091 0000 lds r18,Parameter_CouplingYawCorrection 2883 1740 3327 clr r19 2884 1742 4427 clr r20 2885 1744 5527 clr r21 2886 1746 BC01 movw r22,r24 2887 1748 CD01 movw r24,r26 2888 174a 0E94 0000 call __mulsi3 2889 174e 9B01 movw r18,r22 2890 1750 AC01 movw r20,r24 2891 1752 97FF sbrs r25,7 2892 1754 04C0 rjmp .L137 2893 1756 215C subi r18,lo8(-(63)) 2894 1758 3F4F sbci r19,hi8(-(63)) 2895 175a 4F4F sbci r20,hlo8(-(63)) 2896 175c 5F4F sbci r21,hhi8(-(63)) 2897 .L137: 2898 175e 96E0 ldi r25,6 2899 1760 5595 1: asr r21 2900 1762 4795 ror r20 2901 1764 3795 ror r19 2902 1766 2795 ror r18 2903 1768 9A95 dec r25 2904 176a D1F7 brne 1b 2905 176c 8091 0000 lds r24,TrimNick 2906 1770 9091 0000 lds r25,(TrimNick)+1 2907 1774 820F add r24,r18 2908 1776 931F adc r25,r19 2909 1778 27C0 rjmp .L168 2910 .L135: 2911 177a 97FF sbrs r25,7 2912 177c 03C0 rjmp .L139 2913 177e 9095 com r25 2914 1780 8195 neg r24 2915 1782 9F4F sbci r25,lo8(-1) 2916 .L139: 2917 1784 AA27 clr r26 2918 1786 97FD sbrc r25,7 2919 1788 A095 com r26 2920 178a BA2F mov r27,r26 2921 178c 2091 0000 lds r18,Parameter_CouplingYawCorrection 2922 1790 3327 clr r19 2923 1792 4427 clr r20 2924 1794 5527 clr r21 2925 1796 BC01 movw r22,r24 2926 1798 CD01 movw r24,r26 2927 179a 0E94 0000 call __mulsi3 2928 179e 9B01 movw r18,r22 2929 17a0 AC01 movw r20,r24 2930 17a2 97FF sbrs r25,7 2931 17a4 04C0 rjmp .L140 2932 17a6 215C subi r18,lo8(-(63)) 2933 17a8 3F4F sbci r19,hi8(-(63)) 2934 17aa 4F4F sbci r20,hlo8(-(63)) 2935 17ac 5F4F sbci r21,hhi8(-(63)) 2936 .L140: 2937 17ae 86E0 ldi r24,6 2938 17b0 5595 1: asr r21 2939 17b2 4795 ror r20 2940 17b4 3795 ror r19 2941 17b6 2795 ror r18 2942 17b8 8A95 dec r24 2943 17ba D1F7 brne 1b 2944 17bc 8091 0000 lds r24,TrimNick 2945 17c0 9091 0000 lds r25,(TrimNick)+1 2946 17c4 821B sub r24,r18 2947 17c6 930B sbc r25,r19 2948 .L168: 2949 17c8 9093 0000 sts (TrimNick)+1,r25 2950 17cc 8093 0000 sts TrimNick,r24 2951 17d0 8091 0000 lds r24,EE_Parameter+13 2952 17d4 87FF sbrs r24,7 2953 17d6 44C0 rjmp .L141 2954 17d8 9989 ldd r25,Y+17 2955 17da 9923 tst r25 2956 17dc 09F0 breq .+2 2957 17de 40C0 rjmp .L141 2958 17e0 8091 0000 lds r24,Looping_Roll 2959 17e4 8823 tst r24 2960 17e6 E1F5 brne .L141 2961 17e8 A1E0 ldi r26,lo8(257) 2962 17ea EA16 cp r14,r26 2963 17ec A1E0 ldi r26,hi8(257) 2964 17ee FA06 cpc r15,r26 2965 17f0 4CF0 brlt .L142 2966 17f2 8091 0000 lds r24,MesswertNick 2967 17f6 9091 0000 lds r25,(MesswertNick)+1 2968 17fa 8E0D add r24,r14 2969 17fc 9F1D adc r25,r15 2970 17fe 8050 subi r24,lo8(-(-256)) 2971 1800 9140 sbci r25,hi8(-(-256)) 2972 1802 0DC0 rjmp .L169 2973 .L142: 2974 1804 B0E0 ldi r27,lo8(-256) 2975 1806 EB16 cp r14,r27 2976 1808 BFEF ldi r27,hi8(-256) 2977 180a FB06 cpc r15,r27 2978 180c 64F4 brge .L143 2979 180e 8091 0000 lds r24,MesswertNick 2980 1812 9091 0000 lds r25,(MesswertNick)+1 2981 1816 8E0D add r24,r14 2982 1818 9F1D adc r25,r15 2983 181a 8050 subi r24,lo8(-(256)) 2984 181c 9F4F sbci r25,hi8(-(256)) 2985 .L169: 2986 181e 9093 0000 sts (MesswertNick)+1,r25 2987 1822 8093 0000 sts MesswertNick,r24 2988 .L143: 2989 1826 E1E0 ldi r30,hi8(257) 2990 1828 0130 cpi r16,lo8(257) 2991 182a 1E07 cpc r17,r30 2992 182c 4CF0 brlt .L145 2993 182e 8091 0000 lds r24,MesswertRoll 2994 1832 9091 0000 lds r25,(MesswertRoll)+1 2995 1836 800F add r24,r16 2996 1838 911F adc r25,r17 2997 183a 8050 subi r24,lo8(-(-256)) 2998 183c 9140 sbci r25,hi8(-(-256)) 2999 183e 0CC0 rjmp .L170 3000 .L145: 3001 1840 FFEF ldi r31,hi8(-256) 3002 1842 0030 cpi r16,lo8(-256) 3003 1844 1F07 cpc r17,r31 3004 1846 64F4 brge .L141 3005 1848 8091 0000 lds r24,MesswertRoll 3006 184c 9091 0000 lds r25,(MesswertRoll)+1 3007 1850 800F add r24,r16 3008 1852 911F adc r25,r17 3009 1854 8050 subi r24,lo8(-(256)) 3010 1856 9F4F sbci r25,hi8(-(256)) 3011 .L170: 3012 1858 9093 0000 sts (MesswertRoll)+1,r25 3013 185c 8093 0000 sts MesswertRoll,r24 3014 .L141: 3015 1860 A0E0 ldi r26,lo8(Poti) 3016 1862 B0E0 ldi r27,hi8(Poti) 3017 1864 60E0 ldi r22,lo8(EE_Parameter+5) 3018 1866 70E0 ldi r23,hi8(EE_Parameter+5) 3019 1868 57E0 ldi r21,lo8(7) 3020 .L158: 3021 186a FB01 movw r30,r22 3022 186c 8191 ld r24,Z+ 3023 186e BF01 movw r22,r30 3024 1870 E82F mov r30,r24 3025 1872 FF27 clr r31 3026 1874 EE0F add r30,r30 3027 1876 FF1F adc r31,r31 3028 1878 E050 subi r30,lo8(-(PPM_in)) 3029 187a F040 sbci r31,hi8(-(PPM_in)) 3030 187c 0190 ld __tmp_reg__,Z+ 3031 187e F081 ld r31,Z 3032 1880 E02D mov r30,__tmp_reg__ 3033 1882 E259 subi r30,lo8(-(110)) 3034 1884 FF4F sbci r31,hi8(-(110)) 3035 1886 EF3F cpi r30,255 3036 1888 F105 cpc r31,__zero_reg__ 3037 188a 21F0 breq .L151 3038 188c 1CF0 brlt .L151 3039 188e EFEF ldi r30,lo8(255) 3040 1890 F0E0 ldi r31,hi8(255) 3041 1892 04C0 rjmp .L152 3042 .L151: 3043 1894 F7FF sbrs r31,7 3044 1896 02C0 rjmp .L152 3045 1898 E0E0 ldi r30,lo8(0) 3046 189a F0E0 ldi r31,hi8(0) 3047 .L152: 3048 189c 4C91 ld r20,X 3049 189e 242F mov r18,r20 3050 18a0 3327 clr r19 3051 18a2 E217 cp r30,r18 3052 18a4 F307 cpc r31,r19 3053 18a6 B1F0 breq .L150 3054 18a8 CF01 movw r24,r30 3055 18aa 821B sub r24,r18 3056 18ac 930B sbc r25,r19 3057 18ae 97FD sbrc r25,7 3058 18b0 0796 adiw r24,7 3059 .L155: 3060 18b2 13E0 ldi r17,3 3061 18b4 9595 1: asr r25 3062 18b6 8795 ror r24 3063 18b8 1A95 dec r17 3064 18ba E1F7 brne 1b 3065 18bc 242F mov r18,r20 3066 18be 280F add r18,r24 3067 18c0 2C93 st X,r18 3068 18c2 822F mov r24,r18 3069 18c4 9927 clr r25 3070 18c6 E817 cp r30,r24 3071 18c8 F907 cpc r31,r25 3072 18ca 14F4 brge .L156 3073 18cc 2150 subi r18,lo8(-(-1)) 3074 18ce 01C0 rjmp .L171 3075 .L156: 3076 18d0 2F5F subi r18,lo8(-(1)) 3077 .L171: 3078 18d2 2C93 st X,r18 3079 .L150: 3080 18d4 5150 subi r21,lo8(-(-1)) 3081 18d6 1196 adiw r26,1 3082 18d8 57FF sbrs r21,7 3083 18da C7CF rjmp .L158 3084 /* epilogue: frame size=19 */ 3085 18dc E2E1 ldi r30,18 3086 18de CD5E subi r28,-19 3087 18e0 0C94 0000 jmp __epilogue_restores__+0 3088 /* epilogue end (size=4) */ 3089 /* function Mittelwert size 2071 (2061) */ 3091 .global SendMotorData 3093 SendMotorData: 3094 /* prologue: frame size=0 */ 3095 /* prologue end (size=0) */ 3096 18e4 8091 0000 lds r24,MotorenEin 3097 18e8 8823 tst r24 3098 18ea 01F5 brne .L173 3099 18ec 8091 0000 lds r24,FCFlags 3100 18f0 8C7F andi r24,lo8(-4) 3101 18f2 8093 0000 sts FCFlags,r24 3102 18f6 A0E0 ldi r26,lo8(MotorTest) 3103 18f8 B0E0 ldi r27,hi8(MotorTest) 3104 18fa E0E0 ldi r30,lo8(Motor) 3105 18fc F0E0 ldi r31,hi8(Motor) 3106 18fe 9BE0 ldi r25,lo8(11) 3107 .L178: 3108 1900 8091 0000 lds r24,PC_MotortestActive 3109 1904 8823 tst r24 3110 1906 09F4 brne .L177 3111 1908 8C93 st X,r24 3112 .L177: 3113 190a 8D91 ld r24,X+ 3114 190c 8183 std Z+1,r24 3115 190e 1282 std Z+2,__zero_reg__ 3116 1910 9150 subi r25,lo8(-(-1)) 3117 1912 3896 adiw r30,8 3118 1914 97FF sbrs r25,7 3119 1916 F4CF rjmp .L178 3120 1918 8091 0000 lds r24,PC_MotortestActive 3121 191c 8823 tst r24 3122 191e 59F0 breq .L180 3123 1920 8091 0000 lds r24,PC_MotortestActive 3124 1924 8150 subi r24,lo8(-(-1)) 3125 1926 8093 0000 sts PC_MotortestActive,r24 3126 192a 05C0 rjmp .L180 3127 .L173: 3128 192c 8091 0000 lds r24,FCFlags 3129 1930 8160 ori r24,lo8(1) 3130 1932 8093 0000 sts FCFlags,r24 3131 .L180: 3132 1936 1092 0000 sts motor_write,__zero_reg__ 3133 193a 1092 0000 sts twi_state,__zero_reg__ 3134 193e 8091 0000 lds r24,BLFlags 3135 1942 8E7F andi r24,lo8(-2) 3136 1944 8093 0000 sts BLFlags,r24 3137 1948 85EA ldi r24,lo8(-91) 3138 194a 8093 BC00 sts 188,r24 3139 /* epilogue: frame size=0 */ 3140 194e 0895 ret 3141 /* epilogue end (size=1) */ 3142 /* function SendMotorData size 54 (53) */ 3144 .global ParameterZuordnung 3146 ParameterZuordnung: 3147 /* prologue: frame size=0 */ 3148 /* prologue end (size=0) */ 3149 1950 8091 0000 lds r24,EE_Parameter+15 3150 1954 883F cpi r24,lo8(-8) 3151 1956 38F0 brlo .L275 3152 1958 EFEF ldi r30,lo8(255) 3153 195a F0E0 ldi r31,hi8(255) 3154 195c E81B sub r30,r24 3155 195e F109 sbc r31,__zero_reg__ 3156 1960 E050 subi r30,lo8(-(Poti)) 3157 1962 F040 sbci r31,hi8(-(Poti)) 3158 1964 8081 ld r24,Z 3159 .L275: 3160 1966 8093 0000 sts Parameter_Luftdruck_D,r24 3161 196a 8091 0000 lds r24,Parameter_Luftdruck_D 3162 196e 8823 tst r24 3163 1970 29F0 breq .L187 3164 1972 8436 cpi r24,lo8(100) 3165 1974 18F0 brlo .L187 3166 1976 84E6 ldi r24,lo8(100) 3167 1978 8093 0000 sts Parameter_Luftdruck_D,r24 3168 .L187: 3169 197c 8091 0000 lds r24,EE_Parameter+17 3170 1980 883F cpi r24,lo8(-8) 3171 1982 38F0 brlo .L276 3172 1984 EFEF ldi r30,lo8(255) 3173 1986 F0E0 ldi r31,hi8(255) 3174 1988 E81B sub r30,r24 3175 198a F109 sbc r31,__zero_reg__ 3176 198c E050 subi r30,lo8(-(Poti)) 3177 198e F040 sbci r31,hi8(-(Poti)) 3178 1990 8081 ld r24,Z 3179 .L276: 3180 1992 8093 0000 sts Parameter_Hoehe_P,r24 3181 1996 8091 0000 lds r24,Parameter_Hoehe_P 3182 199a 8823 tst r24 3183 199c 29F0 breq .L192 3184 199e 8436 cpi r24,lo8(100) 3185 19a0 18F0 brlo .L192 3186 19a2 84E6 ldi r24,lo8(100) 3187 19a4 8093 0000 sts Parameter_Hoehe_P,r24 3188 .L192: 3189 19a8 8091 0000 lds r24,EE_Parameter+30 3190 19ac 883F cpi r24,lo8(-8) 3191 19ae 38F0 brlo .L277 3192 19b0 EFEF ldi r30,lo8(255) 3193 19b2 F0E0 ldi r31,hi8(255) 3194 19b4 E81B sub r30,r24 3195 19b6 F109 sbc r31,__zero_reg__ 3196 19b8 E050 subi r30,lo8(-(Poti)) 3197 19ba F040 sbci r31,hi8(-(Poti)) 3198 19bc 8081 ld r24,Z 3199 .L277: 3200 19be 8093 0000 sts Parameter_Gyro_P,r24 3201 19c2 8091 0000 lds r24,Parameter_Gyro_P 3202 19c6 8B30 cpi r24,lo8(11) 3203 19c8 10F4 brsh .L196 3204 19ca 8AE0 ldi r24,lo8(10) 3205 19cc 02C0 rjmp .L278 3206 .L196: 3207 19ce 8F3F cpi r24,lo8(-1) 3208 19d0 11F4 brne .L197 3209 .L278: 3210 19d2 8093 0000 sts Parameter_Gyro_P,r24 3211 .L197: 3212 19d6 8091 0000 lds r24,EE_Parameter+73 3213 19da 883F cpi r24,lo8(-8) 3214 19dc 38F0 brlo .L279 3215 19de EFEF ldi r30,lo8(255) 3216 19e0 F0E0 ldi r31,hi8(255) 3217 19e2 E81B sub r30,r24 3218 19e4 F109 sbc r31,__zero_reg__ 3219 19e6 E050 subi r30,lo8(-(Poti)) 3220 19e8 F040 sbci r31,hi8(-(Poti)) 3221 19ea 8081 ld r24,Z 3222 .L279: 3223 19ec 8093 0000 sts Parameter_J16Timing,r24 3224 19f0 8091 0000 lds r24,Parameter_J16Timing 3225 19f4 8230 cpi r24,lo8(2) 3226 19f6 10F4 brsh .L201 3227 19f8 81E0 ldi r24,lo8(1) 3228 19fa 02C0 rjmp .L280 3229 .L201: 3230 19fc 8F3F cpi r24,lo8(-1) 3231 19fe 11F4 brne .L202 3232 .L280: 3233 1a00 8093 0000 sts Parameter_J16Timing,r24 3234 .L202: 3235 1a04 8091 0000 lds r24,EE_Parameter+75 3236 1a08 883F cpi r24,lo8(-8) 3237 1a0a 38F0 brlo .L281 3238 1a0c EFEF ldi r30,lo8(255) 3239 1a0e F0E0 ldi r31,hi8(255) 3240 1a10 E81B sub r30,r24 3241 1a12 F109 sbc r31,__zero_reg__ 3242 1a14 E050 subi r30,lo8(-(Poti)) 3243 1a16 F040 sbci r31,hi8(-(Poti)) 3244 1a18 8081 ld r24,Z 3245 .L281: 3246 1a1a 8093 0000 sts Parameter_J17Timing,r24 3247 1a1e 8091 0000 lds r24,Parameter_J17Timing 3248 1a22 8230 cpi r24,lo8(2) 3249 1a24 10F4 brsh .L206 3250 1a26 81E0 ldi r24,lo8(1) 3251 1a28 02C0 rjmp .L282 3252 .L206: 3253 1a2a 8F3F cpi r24,lo8(-1) 3254 1a2c 11F4 brne .L207 3255 .L282: 3256 1a2e 8093 0000 sts Parameter_J17Timing,r24 3257 .L207: 3258 1a32 8091 0000 lds r24,EE_Parameter+54 3259 1a36 883F cpi r24,lo8(-8) 3260 1a38 38F0 brlo .L283 3261 1a3a EFEF ldi r30,lo8(255) 3262 1a3c F0E0 ldi r31,hi8(255) 3263 1a3e E81B sub r30,r24 3264 1a40 F109 sbc r31,__zero_reg__ 3265 1a42 E050 subi r30,lo8(-(Poti)) 3266 1a44 F040 sbci r31,hi8(-(Poti)) 3267 1a46 8081 ld r24,Z 3268 .L283: 3269 1a48 8093 0000 sts Parameter_Servo3,r24 3270 1a4c 8091 0000 lds r24,EE_Parameter+55 3271 1a50 883F cpi r24,lo8(-8) 3272 1a52 38F0 brlo .L284 3273 1a54 EFEF ldi r30,lo8(255) 3274 1a56 F0E0 ldi r31,hi8(255) 3275 1a58 E81B sub r30,r24 3276 1a5a F109 sbc r31,__zero_reg__ 3277 1a5c E050 subi r30,lo8(-(Poti)) 3278 1a5e F040 sbci r31,hi8(-(Poti)) 3279 1a60 8081 ld r24,Z 3280 .L284: 3281 1a62 8093 0000 sts Parameter_Servo4,r24 3282 1a66 8091 0000 lds r24,EE_Parameter+56 3283 1a6a 883F cpi r24,lo8(-8) 3284 1a6c 38F0 brlo .L285 3285 1a6e EFEF ldi r30,lo8(255) 3286 1a70 F0E0 ldi r31,hi8(255) 3287 1a72 E81B sub r30,r24 3288 1a74 F109 sbc r31,__zero_reg__ 3289 1a76 E050 subi r30,lo8(-(Poti)) 3290 1a78 F040 sbci r31,hi8(-(Poti)) 3291 1a7a 8081 ld r24,Z 3292 .L285: 3293 1a7c 8093 0000 sts Parameter_Servo5,r24 3294 1a80 9091 0000 lds r25,EE_Parameter+16 3295 1a84 983F cpi r25,lo8(-8) 3296 1a86 18F4 brsh .L215 3297 1a88 9093 0000 sts Parameter_MaxHoehe,r25 3298 1a8c 09C0 rjmp .L216 3299 .L215: 3300 1a8e EFEF ldi r30,lo8(255) 3301 1a90 F0E0 ldi r31,hi8(255) 3302 1a92 E91B sub r30,r25 3303 1a94 F109 sbc r31,__zero_reg__ 3304 1a96 E050 subi r30,lo8(-(Poti)) 3305 1a98 F040 sbci r31,hi8(-(Poti)) 3306 1a9a 8081 ld r24,Z 3307 1a9c 8093 0000 sts Parameter_MaxHoehe,r24 3308 .L216: 3309 1aa0 983F cpi r25,lo8(-8) 3310 1aa2 18F4 brsh .L217 3311 1aa4 9093 0000 sts Parameter_MaxHoehe,r25 3312 1aa8 09C0 rjmp .L218 3313 .L217: 3314 1aaa EFEF ldi r30,lo8(255) 3315 1aac F0E0 ldi r31,hi8(255) 3316 1aae E91B sub r30,r25 3317 1ab0 F109 sbc r31,__zero_reg__ 3318 1ab2 E050 subi r30,lo8(-(Poti)) 3319 1ab4 F040 sbci r31,hi8(-(Poti)) 3320 1ab6 8081 ld r24,Z 3321 1ab8 8093 0000 sts Parameter_MaxHoehe,r24 3322 .L218: 3323 1abc 8091 0000 lds r24,EE_Parameter+19 3324 1ac0 883F cpi r24,lo8(-8) 3325 1ac2 38F0 brlo .L286 3326 1ac4 EFEF ldi r30,lo8(255) 3327 1ac6 F0E0 ldi r31,hi8(255) 3328 1ac8 E81B sub r30,r24 3329 1aca F109 sbc r31,__zero_reg__ 3330 1acc E050 subi r30,lo8(-(Poti)) 3331 1ace F040 sbci r31,hi8(-(Poti)) 3332 1ad0 8081 ld r24,Z 3333 .L286: 3334 1ad2 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 3335 1ad6 8091 0000 lds r24,EE_Parameter+21 3336 1ada 883F cpi r24,lo8(-8) 3337 1adc 38F0 brlo .L287 3338 1ade EFEF ldi r30,lo8(255) 3339 1ae0 F0E0 ldi r31,hi8(255) 3340 1ae2 E81B sub r30,r24 3341 1ae4 F109 sbc r31,__zero_reg__ 3342 1ae6 E050 subi r30,lo8(-(Poti)) 3343 1ae8 F040 sbci r31,hi8(-(Poti)) 3344 1aea 8081 ld r24,Z 3345 .L287: 3346 1aec 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 3347 1af0 8091 0000 lds r24,EE_Parameter+29 3348 1af4 883F cpi r24,lo8(-8) 3349 1af6 38F0 brlo .L288 3350 1af8 EFEF ldi r30,lo8(255) 3351 1afa F0E0 ldi r31,hi8(255) 3352 1afc E81B sub r30,r24 3353 1afe F109 sbc r31,__zero_reg__ 3354 1b00 E050 subi r30,lo8(-(Poti)) 3355 1b02 F040 sbci r31,hi8(-(Poti)) 3356 1b04 8081 ld r24,Z 3357 .L288: 3358 1b06 8093 0000 sts Parameter_KompassWirkung,r24 3359 1b0a 8091 0000 lds r24,EE_Parameter+31 3360 1b0e 883F cpi r24,lo8(-8) 3361 1b10 38F0 brlo .L289 3362 1b12 EFEF ldi r30,lo8(255) 3363 1b14 F0E0 ldi r31,hi8(255) 3364 1b16 E81B sub r30,r24 3365 1b18 F109 sbc r31,__zero_reg__ 3366 1b1a E050 subi r30,lo8(-(Poti)) 3367 1b1c F040 sbci r31,hi8(-(Poti)) 3368 1b1e 8081 ld r24,Z 3369 .L289: 3370 1b20 8093 0000 sts Parameter_Gyro_I,r24 3371 1b24 8091 0000 lds r24,EE_Parameter+32 3372 1b28 883F cpi r24,lo8(-8) 3373 1b2a 38F0 brlo .L290 3374 1b2c EFEF ldi r30,lo8(255) 3375 1b2e F0E0 ldi r31,hi8(255) 3376 1b30 E81B sub r30,r24 3377 1b32 F109 sbc r31,__zero_reg__ 3378 1b34 E050 subi r30,lo8(-(Poti)) 3379 1b36 F040 sbci r31,hi8(-(Poti)) 3380 1b38 8081 ld r24,Z 3381 .L290: 3382 1b3a 8093 0000 sts Parameter_Gyro_D,r24 3383 1b3e 8091 0000 lds r24,EE_Parameter+33 3384 1b42 883F cpi r24,lo8(-8) 3385 1b44 38F0 brlo .L291 3386 1b46 EFEF ldi r30,lo8(255) 3387 1b48 F0E0 ldi r31,hi8(255) 3388 1b4a E81B sub r30,r24 3389 1b4c F109 sbc r31,__zero_reg__ 3390 1b4e E050 subi r30,lo8(-(Poti)) 3391 1b50 F040 sbci r31,hi8(-(Poti)) 3392 1b52 8081 ld r24,Z 3393 .L291: 3394 1b54 8093 0000 sts Parameter_Gyro_Gier_P,r24 3395 1b58 8091 0000 lds r24,EE_Parameter+34 3396 1b5c 883F cpi r24,lo8(-8) 3397 1b5e 38F0 brlo .L292 3398 1b60 EFEF ldi r30,lo8(255) 3399 1b62 F0E0 ldi r31,hi8(255) 3400 1b64 E81B sub r30,r24 3401 1b66 F109 sbc r31,__zero_reg__ 3402 1b68 E050 subi r30,lo8(-(Poti)) 3403 1b6a F040 sbci r31,hi8(-(Poti)) 3404 1b6c 8081 ld r24,Z 3405 .L292: 3406 1b6e 8093 0000 sts Parameter_Gyro_Gier_I,r24 3407 1b72 8091 0000 lds r24,EE_Parameter+40 3408 1b76 883F cpi r24,lo8(-8) 3409 1b78 38F0 brlo .L293 3410 1b7a EFEF ldi r30,lo8(255) 3411 1b7c F0E0 ldi r31,hi8(255) 3412 1b7e E81B sub r30,r24 3413 1b80 F109 sbc r31,__zero_reg__ 3414 1b82 E050 subi r30,lo8(-(Poti)) 3415 1b84 F040 sbci r31,hi8(-(Poti)) 3416 1b86 8081 ld r24,Z 3417 .L293: 3418 1b88 8093 0000 sts Parameter_I_Faktor,r24 3419 1b8c 8091 0000 lds r24,EE_Parameter+41 3420 1b90 883F cpi r24,lo8(-8) 3421 1b92 38F0 brlo .L294 3422 1b94 EFEF ldi r30,lo8(255) 3423 1b96 F0E0 ldi r31,hi8(255) 3424 1b98 E81B sub r30,r24 3425 1b9a F109 sbc r31,__zero_reg__ 3426 1b9c E050 subi r30,lo8(-(Poti)) 3427 1b9e F040 sbci r31,hi8(-(Poti)) 3428 1ba0 8081 ld r24,Z 3429 .L294: 3430 1ba2 8093 0000 sts Parameter_UserParam1,r24 3431 1ba6 8091 0000 lds r24,EE_Parameter+42 3432 1baa 883F cpi r24,lo8(-8) 3433 1bac 38F0 brlo .L295 3434 1bae EFEF ldi r30,lo8(255) 3435 1bb0 F0E0 ldi r31,hi8(255) 3436 1bb2 E81B sub r30,r24 3437 1bb4 F109 sbc r31,__zero_reg__ 3438 1bb6 E050 subi r30,lo8(-(Poti)) 3439 1bb8 F040 sbci r31,hi8(-(Poti)) 3440 1bba 8081 ld r24,Z 3441 .L295: 3442 1bbc 8093 0000 sts Parameter_UserParam2,r24 3443 1bc0 8091 0000 lds r24,EE_Parameter+43 3444 1bc4 883F cpi r24,lo8(-8) 3445 1bc6 38F0 brlo .L296 3446 1bc8 EFEF ldi r30,lo8(255) 3447 1bca F0E0 ldi r31,hi8(255) 3448 1bcc E81B sub r30,r24 3449 1bce F109 sbc r31,__zero_reg__ 3450 1bd0 E050 subi r30,lo8(-(Poti)) 3451 1bd2 F040 sbci r31,hi8(-(Poti)) 3452 1bd4 8081 ld r24,Z 3453 .L296: 3454 1bd6 8093 0000 sts Parameter_UserParam3,r24 3455 1bda 8091 0000 lds r24,EE_Parameter+44 3456 1bde 883F cpi r24,lo8(-8) 3457 1be0 38F0 brlo .L297 3458 1be2 EFEF ldi r30,lo8(255) 3459 1be4 F0E0 ldi r31,hi8(255) 3460 1be6 E81B sub r30,r24 3461 1be8 F109 sbc r31,__zero_reg__ 3462 1bea E050 subi r30,lo8(-(Poti)) 3463 1bec F040 sbci r31,hi8(-(Poti)) 3464 1bee 8081 ld r24,Z 3465 .L297: 3466 1bf0 8093 0000 sts Parameter_UserParam4,r24 3467 1bf4 8091 0000 lds r24,EE_Parameter+68 3468 1bf8 883F cpi r24,lo8(-8) 3469 1bfa 38F0 brlo .L298 3470 1bfc EFEF ldi r30,lo8(255) 3471 1bfe F0E0 ldi r31,hi8(255) 3472 1c00 E81B sub r30,r24 3473 1c02 F109 sbc r31,__zero_reg__ 3474 1c04 E050 subi r30,lo8(-(Poti)) 3475 1c06 F040 sbci r31,hi8(-(Poti)) 3476 1c08 8081 ld r24,Z 3477 .L298: 3478 1c0a 8093 0000 sts Parameter_UserParam5,r24 3479 1c0e 8091 0000 lds r24,EE_Parameter+69 3480 1c12 883F cpi r24,lo8(-8) 3481 1c14 38F0 brlo .L299 3482 1c16 EFEF ldi r30,lo8(255) 3483 1c18 F0E0 ldi r31,hi8(255) 3484 1c1a E81B sub r30,r24 3485 1c1c F109 sbc r31,__zero_reg__ 3486 1c1e E050 subi r30,lo8(-(Poti)) 3487 1c20 F040 sbci r31,hi8(-(Poti)) 3488 1c22 8081 ld r24,Z 3489 .L299: 3490 1c24 8093 0000 sts Parameter_UserParam6,r24 3491 1c28 8091 0000 lds r24,EE_Parameter+70 3492 1c2c 883F cpi r24,lo8(-8) 3493 1c2e 38F0 brlo .L300 3494 1c30 EFEF ldi r30,lo8(255) 3495 1c32 F0E0 ldi r31,hi8(255) 3496 1c34 E81B sub r30,r24 3497 1c36 F109 sbc r31,__zero_reg__ 3498 1c38 E050 subi r30,lo8(-(Poti)) 3499 1c3a F040 sbci r31,hi8(-(Poti)) 3500 1c3c 8081 ld r24,Z 3501 .L300: 3502 1c3e 8093 0000 sts Parameter_UserParam7,r24 3503 1c42 8091 0000 lds r24,EE_Parameter+71 3504 1c46 883F cpi r24,lo8(-8) 3505 1c48 38F0 brlo .L301 3506 1c4a EFEF ldi r30,lo8(255) 3507 1c4c F0E0 ldi r31,hi8(255) 3508 1c4e E81B sub r30,r24 3509 1c50 F109 sbc r31,__zero_reg__ 3510 1c52 E050 subi r30,lo8(-(Poti)) 3511 1c54 F040 sbci r31,hi8(-(Poti)) 3512 1c56 8081 ld r24,Z 3513 .L301: 3514 1c58 8093 0000 sts Parameter_UserParam8,r24 3515 1c5c 8091 0000 lds r24,EE_Parameter+45 3516 1c60 883F cpi r24,lo8(-8) 3517 1c62 38F0 brlo .L302 3518 1c64 EFEF ldi r30,lo8(255) 3519 1c66 F0E0 ldi r31,hi8(255) 3520 1c68 E81B sub r30,r24 3521 1c6a F109 sbc r31,__zero_reg__ 3522 1c6c E050 subi r30,lo8(-(Poti)) 3523 1c6e F040 sbci r31,hi8(-(Poti)) 3524 1c70 8081 ld r24,Z 3525 .L302: 3526 1c72 8093 0000 sts Parameter_ServoNickControl,r24 3527 1c76 8091 0000 lds r24,EE_Parameter+49 3528 1c7a 883F cpi r24,lo8(-8) 3529 1c7c 38F0 brlo .L303 3530 1c7e EFEF ldi r30,lo8(255) 3531 1c80 F0E0 ldi r31,hi8(255) 3532 1c82 E81B sub r30,r24 3533 1c84 F109 sbc r31,__zero_reg__ 3534 1c86 E050 subi r30,lo8(-(Poti)) 3535 1c88 F040 sbci r31,hi8(-(Poti)) 3536 1c8a 8081 ld r24,Z 3537 .L303: 3538 1c8c 8093 0000 sts Parameter_ServoRollControl,r24 3539 1c90 8091 0000 lds r24,EE_Parameter+57 3540 1c94 883F cpi r24,lo8(-8) 3541 1c96 38F0 brlo .L304 3542 1c98 EFEF ldi r30,lo8(255) 3543 1c9a F0E0 ldi r31,hi8(255) 3544 1c9c E81B sub r30,r24 3545 1c9e F109 sbc r31,__zero_reg__ 3546 1ca0 E050 subi r30,lo8(-(Poti)) 3547 1ca2 F040 sbci r31,hi8(-(Poti)) 3548 1ca4 8081 ld r24,Z 3549 .L304: 3550 1ca6 8093 0000 sts Parameter_LoopGasLimit,r24 3551 1caa 8091 0000 lds r24,EE_Parameter+60 3552 1cae 883F cpi r24,lo8(-8) 3553 1cb0 38F0 brlo .L305 3554 1cb2 EFEF ldi r30,lo8(255) 3555 1cb4 F0E0 ldi r31,hi8(255) 3556 1cb6 E81B sub r30,r24 3557 1cb8 F109 sbc r31,__zero_reg__ 3558 1cba E050 subi r30,lo8(-(Poti)) 3559 1cbc F040 sbci r31,hi8(-(Poti)) 3560 1cbe 8081 ld r24,Z 3561 .L305: 3562 1cc0 8093 0000 sts Parameter_AchsKopplung1,r24 3563 1cc4 8091 0000 lds r24,EE_Parameter+61 3564 1cc8 883F cpi r24,lo8(-8) 3565 1cca 38F0 brlo .L306 3566 1ccc EFEF ldi r30,lo8(255) 3567 1cce F0E0 ldi r31,hi8(255) 3568 1cd0 E81B sub r30,r24 3569 1cd2 F109 sbc r31,__zero_reg__ 3570 1cd4 E050 subi r30,lo8(-(Poti)) 3571 1cd6 F040 sbci r31,hi8(-(Poti)) 3572 1cd8 8081 ld r24,Z 3573 .L306: 3574 1cda 8093 0000 sts Parameter_AchsKopplung2,r24 3575 1cde 8091 0000 lds r24,EE_Parameter+62 3576 1ce2 883F cpi r24,lo8(-8) 3577 1ce4 38F0 brlo .L307 3578 1ce6 EFEF ldi r30,lo8(255) 3579 1ce8 F0E0 ldi r31,hi8(255) 3580 1cea E81B sub r30,r24 3581 1cec F109 sbc r31,__zero_reg__ 3582 1cee E050 subi r30,lo8(-(Poti)) 3583 1cf0 F040 sbci r31,hi8(-(Poti)) 3584 1cf2 8081 ld r24,Z 3585 .L307: 3586 1cf4 8093 0000 sts Parameter_CouplingYawCorrection,r24 3587 1cf8 8091 0000 lds r24,EE_Parameter+67 3588 1cfc 883F cpi r24,lo8(-8) 3589 1cfe 38F0 brlo .L308 3590 1d00 EFEF ldi r30,lo8(255) 3591 1d02 F0E0 ldi r31,hi8(255) 3592 1d04 E81B sub r30,r24 3593 1d06 F109 sbc r31,__zero_reg__ 3594 1d08 E050 subi r30,lo8(-(Poti)) 3595 1d0a F040 sbci r31,hi8(-(Poti)) 3596 1d0c 8081 ld r24,Z 3597 .L308: 3598 1d0e 8093 0000 sts Parameter_DynamicStability,r24 3599 1d12 8091 0000 lds r24,EE_Parameter+94 3600 1d16 883F cpi r24,lo8(-8) 3601 1d18 38F0 brlo .L309 3602 1d1a EFEF ldi r30,lo8(255) 3603 1d1c F0E0 ldi r31,hi8(255) 3604 1d1e E81B sub r30,r24 3605 1d20 F109 sbc r31,__zero_reg__ 3606 1d22 E050 subi r30,lo8(-(Poti)) 3607 1d24 F040 sbci r31,hi8(-(Poti)) 3608 1d26 8081 ld r24,Z 3609 .L309: 3610 1d28 8093 0000 sts Parameter_ExternalControl,r24 3611 1d2c 8091 0000 lds r24,Parameter_I_Faktor 3612 1d30 282F mov r18,r24 3613 1d32 3327 clr r19 3614 1d34 2F5F subi r18,lo8(-(1)) 3615 1d36 3F4F sbci r19,hi8(-(1)) 3616 1d38 8CE3 ldi r24,lo8(10300) 3617 1d3a 98E2 ldi r25,hi8(10300) 3618 1d3c B901 movw r22,r18 3619 1d3e 0E94 0000 call __divmodhi4 3620 1d42 7093 0000 sts (Ki)+1,r23 3621 1d46 6093 0000 sts Ki,r22 3622 1d4a 8091 0000 lds r24,EE_Parameter+27 3623 1d4e 8093 0000 sts MAX_GAS,r24 3624 1d52 8091 0000 lds r24,EE_Parameter+26 3625 1d56 8093 0000 sts MIN_GAS,r24 3626 1d5a 9091 0000 lds r25,EE_Parameter+96 3627 1d5e 9333 cpi r25,lo8(51) 3628 1d60 20F1 brlo .L267 3629 1d62 81E0 ldi r24,lo8(1) 3630 1d64 8093 0000 sts CareFree,r24 3631 1d68 983F cpi r25,lo8(-8) 3632 1d6a 58F0 brlo .L268 3633 1d6c EFEF ldi r30,lo8(255) 3634 1d6e F0E0 ldi r31,hi8(255) 3635 1d70 E91B sub r30,r25 3636 1d72 F109 sbc r31,__zero_reg__ 3637 1d74 E050 subi r30,lo8(-(Poti)) 3638 1d76 F040 sbci r31,hi8(-(Poti)) 3639 1d78 8081 ld r24,Z 3640 1d7a 8233 cpi r24,lo8(50) 3641 1d7c 10F4 brsh .L268 3642 1d7e 1092 0000 sts CareFree,__zero_reg__ 3643 .L268: 3644 1d82 8091 0000 lds r24,FromNaviCtrl+7 3645 1d86 9091 0000 lds r25,(FromNaviCtrl+7)+1 3646 1d8a 97FF sbrs r25,7 3647 1d8c 08C0 rjmp .L269 3648 1d8e 8091 0000 lds r24,CareFree 3649 1d92 8823 tst r24 3650 1d94 21F0 breq .L269 3651 1d96 8091 0000 lds r24,VersionInfo+5 3652 1d9a 8068 ori r24,lo8(-128) 3653 1d9c 03C0 rjmp .L310 3654 .L269: 3655 1d9e 8091 0000 lds r24,VersionInfo+5 3656 1da2 8F77 andi r24,lo8(127) 3657 .L310: 3658 1da4 8093 0000 sts VersionInfo+5,r24 3659 1da8 02C0 rjmp .L271 3660 .L267: 3661 1daa 1092 0000 sts CareFree,__zero_reg__ 3662 .L271: 3663 1dae 8091 0000 lds r24,FromNaviCtrl+7 3664 1db2 9091 0000 lds r25,(FromNaviCtrl+7)+1 3665 1db6 97FF sbrs r25,7 3666 1db8 1DC0 rjmp .L272 3667 1dba 8091 0000 lds r24,MotorenEin 3668 1dbe 8823 tst r24 3669 1dc0 C9F0 breq .L272 3670 1dc2 8091 0000 lds r24,CareFree 3671 1dc6 8823 tst r24 3672 1dc8 A9F0 breq .L272 3673 1dca 8091 0000 lds r24,BeepMuster 3674 1dce 9091 0000 lds r25,(BeepMuster)+1 3675 1dd2 8F5F subi r24,lo8(-1) 3676 1dd4 9F4F sbci r25,hi8(-1) 3677 1dd6 71F4 brne .L272 3678 1dd8 88E9 ldi r24,lo8(15000) 3679 1dda 9AE3 ldi r25,hi8(15000) 3680 1ddc 9093 0000 sts (beeptime)+1,r25 3681 1de0 8093 0000 sts beeptime,r24 3682 1de4 80E0 ldi r24,lo8(-23552) 3683 1de6 94EA ldi r25,hi8(-23552) 3684 1de8 9093 0000 sts (BeepMuster)+1,r25 3685 1dec 8093 0000 sts BeepMuster,r24 3686 1df0 1092 0000 sts CareFree,__zero_reg__ 3687 .L272: 3688 1df4 8091 0000 lds r24,CareFree 3689 1df8 8823 tst r24 3690 1dfa 39F0 breq .L183 3691 1dfc 8091 0000 lds r24,Parameter_AchsKopplung1 3692 1e00 823D cpi r24,lo8(-46) 3693 1e02 18F4 brsh .L183 3694 1e04 825E subi r24,lo8(-(30)) 3695 1e06 8093 0000 sts Parameter_AchsKopplung1,r24 3696 .L183: 3697 1e0a 0895 ret 3698 /* epilogue: frame size=0 */ 3699 /* epilogue: noreturn */ 3700 /* epilogue end (size=0) */ 3701 /* function ParameterZuordnung size 607 (607) */ 3703 .lcomm sollGier.0,4 3704 .lcomm tmp_long.1,4 3705 .lcomm tmp_long2.2,4 3706 .lcomm IntegralFehlerNick.3,4 3707 .lcomm IntegralFehlerRoll.4,4 3708 .lcomm RcLostTimer.5,2 3709 .lcomm delay_neutral.6,1 3710 .lcomm delay_einschalten.7,1 3711 .lcomm delay_ausschalten.8,1 3712 .lcomm calibration_done.9,1 3713 .lcomm NeueKompassRichtungMerken.10,1 3714 .lcomm ausgleichNick.11,4 3715 .lcomm ausgleichRoll.12,4 3716 .lcomm stick_nick.13,2 3717 .lcomm stick_roll.14,2 3718 .lcomm cnt.15,2 3719 .lcomm last_n_p.16,1 3720 .lcomm last_n_n.17,1 3721 .lcomm last_r_p.18,1 3722 .lcomm last_r_n.19,1 3723 .lcomm MittelIntegralNick_Alt.20,4 3724 .lcomm MittelIntegralRoll_Alt.21,4 3725 .lcomm HeightTrimming.22,2 3726 .lcomm FilterHCGas.23,2 3727 .data 3730 StickGasHover.24: 3731 0027 7800 .word 120 3732 .lcomm HoverGasMin.25,2 3735 HoverGasMax.26: 3736 0029 FF03 .word 1023 3737 .lcomm HoverGasFilter.27,4 3740 delay.28: 3741 002b 64 .byte 100 3742 .lcomm BaroAtUpperLimit.29,1 3743 .lcomm BaroAtLowerLimit.30,1 3744 .lcomm HeightTrimmingFlag.31,1 3745 .LC0: 3746 002c 00 .byte 0 3747 002d 02 .byte 2 3748 002e 04 .byte 4 3749 002f 06 .byte 6 3750 0030 07 .byte 7 3751 0031 08 .byte 8 3752 0032 08 .byte 8 3753 0033 08 .byte 8 3754 0034 07 .byte 7 3755 0035 06 .byte 6 3756 0036 04 .byte 4 3757 0037 02 .byte 2 3758 0038 00 .byte 0 3759 0039 FE .byte -2 3760 003a FC .byte -4 3761 003b FA .byte -6 3762 003c F9 .byte -7 3763 003d F8 .byte -8 3764 003e F8 .byte -8 3765 003f F8 .byte -8 3766 0040 F9 .byte -7 3767 0041 FA .byte -6 3768 0042 FC .byte -4 3769 0043 FE .byte -2 3770 0044 00 .byte 0 3771 0045 02 .byte 2 3772 0046 04 .byte 4 3773 0047 06 .byte 6 3774 0048 07 .byte 7 3775 0049 08 .byte 8 3776 004a 08 .byte 8 3777 .text 3778 .global MotorRegler 3780 MotorRegler: 3781 /* prologue: frame size=53 */ 3782 1e0c A5E3 ldi r26,lo8(53) 3783 1e0e B0E0 ldi r27,hi8(53) 3784 1e10 E0E0 ldi r30,pm_lo8(1f) 3785 1e12 F0E0 ldi r31,pm_hi8(1f) 3786 1e14 0C94 0000 jmp __prologue_saves__+0 3787 1: 3788 /* prologue end (size=6) */ 3789 1e18 0E94 0000 call Mittelwert 3790 1e1c 3091 0000 lds r19,PlatinenVersion 3791 1e20 3C30 cpi r19,lo8(12) 3792 1e22 10F4 brsh .L312 3793 1e24 299A sbi 37-0x20,1 3794 1e26 01C0 rjmp .L313 3795 .L312: 3796 1e28 2998 cbi 37-0x20,1 3797 .L313: 3798 1e2a E090 0000 lds r14,StickGas 3799 1e2e F090 0000 lds r15,(StickGas)+1 3800 1e32 F9A2 std Y+33,r15 3801 1e34 E8A2 std Y+32,r14 3802 1e36 8091 0000 lds r24,MIN_GAS 3803 1e3a 9927 clr r25 3804 1e3c 0A96 adiw r24,10 3805 1e3e E816 cp r14,r24 3806 1e40 F906 cpc r15,r25 3807 1e42 14F4 brge .L314 3808 1e44 99A3 std Y+33,r25 3809 1e46 88A3 std Y+32,r24 3810 .L314: 3811 1e48 8091 0000 lds r24,SenderOkay 3812 1e4c 8436 cpi r24,lo8(100) 3813 1e4e 08F0 brlo .+2 3814 1e50 5CC0 rjmp .L315 3815 1e52 8091 0000 lds r24,RcLostTimer.5 3816 1e56 9091 0000 lds r25,(RcLostTimer.5)+1 3817 1e5a 0097 sbiw r24,0 3818 1e5c 31F0 breq .L316 3819 1e5e 0197 sbiw r24,1 3820 1e60 9093 0000 sts (RcLostTimer.5)+1,r25 3821 1e64 8093 0000 sts RcLostTimer.5,r24 3822 1e68 07C0 rjmp .L317 3823 .L316: 3824 1e6a 1092 0000 sts MotorenEin,__zero_reg__ 3825 1e6e 8091 0000 lds r24,FCFlags 3826 1e72 8F7E andi r24,lo8(-17) 3827 1e74 8093 0000 sts FCFlags,r24 3828 .L317: 3829 1e78 3A30 cpi r19,lo8(10) 3830 1e7a 11F0 breq .L319 3831 1e7c 3431 cpi r19,lo8(20) 3832 1e7e 10F0 brlo .L318 3833 .L319: 3834 1e80 289A sbi 37-0x20,0 3835 1e82 01C0 rjmp .L320 3836 .L318: 3837 1e84 2898 cbi 37-0x20,0 3838 .L320: 3839 1e86 8091 0000 lds r24,modell_fliegt 3840 1e8a 9091 0000 lds r25,(modell_fliegt)+1 3841 1e8e 895E subi r24,lo8(1001) 3842 1e90 9340 sbci r25,hi8(1001) 3843 1e92 C0F1 brlo .L321 3844 1e94 8091 0000 lds r24,EE_Parameter+37 3845 1e98 282F mov r18,r24 3846 1e9a 3327 clr r19 3847 1e9c 39A3 std Y+33,r19 3848 1e9e 28A3 std Y+32,r18 3849 1ea0 8091 0000 lds r24,FCFlags 3850 1ea4 8061 ori r24,lo8(16) 3851 1ea6 8093 0000 sts FCFlags,r24 3852 1eaa 8091 0000 lds r24,EE_Parameter+1 3853 1eae A82F mov r26,r24 3854 1eb0 BB27 clr r27 3855 1eb2 AA0F add r26,r26 3856 1eb4 BB1F adc r27,r27 3857 1eb6 FD01 movw r30,r26 3858 1eb8 E050 subi r30,lo8(-(PPM_diff)) 3859 1eba F040 sbci r31,hi8(-(PPM_diff)) 3860 1ebc 1182 std Z+1,__zero_reg__ 3861 1ebe 1082 st Z,__zero_reg__ 3862 1ec0 8091 0000 lds r24,EE_Parameter+2 3863 1ec4 282F mov r18,r24 3864 1ec6 3327 clr r19 3865 1ec8 220F add r18,r18 3866 1eca 331F adc r19,r19 3867 1ecc C901 movw r24,r18 3868 1ece 8050 subi r24,lo8(-(PPM_diff)) 3869 1ed0 9040 sbci r25,hi8(-(PPM_diff)) 3870 1ed2 FC01 movw r30,r24 3871 1ed4 1182 std Z+1,__zero_reg__ 3872 1ed6 1082 st Z,__zero_reg__ 3873 1ed8 A050 subi r26,lo8(-(PPM_in)) 3874 1eda B040 sbci r27,hi8(-(PPM_in)) 3875 1edc 1196 adiw r26,1 3876 1ede 1C92 st X,__zero_reg__ 3877 1ee0 1E92 st -X,__zero_reg__ 3878 1ee2 2050 subi r18,lo8(-(PPM_in)) 3879 1ee4 3040 sbci r19,hi8(-(PPM_in)) 3880 1ee6 D901 movw r26,r18 3881 1ee8 1196 adiw r26,1 3882 1eea 1C92 st X,__zero_reg__ 3883 1eec 1E92 st -X,__zero_reg__ 3884 1eee 8091 0000 lds r24,EE_Parameter+4 3885 1ef2 E82F mov r30,r24 3886 1ef4 FF27 clr r31 3887 1ef6 EE0F add r30,r30 3888 1ef8 FF1F adc r31,r31 3889 1efa E050 subi r30,lo8(-(PPM_in)) 3890 1efc F040 sbci r31,hi8(-(PPM_in)) 3891 1efe 1182 std Z+1,__zero_reg__ 3892 1f00 1082 st Z,__zero_reg__ 3893 1f02 AAC2 rjmp .L323 3894 .L321: 3895 1f04 1092 0000 sts MotorenEin,__zero_reg__ 3896 1f08 A7C2 rjmp .L323 3897 .L315: 3898 1f0a 8091 0000 lds r24,SenderOkay 3899 1f0e 8D38 cpi r24,lo8(-115) 3900 1f10 08F4 brsh .+2 3901 1f12 A2C2 rjmp .L323 3902 1f14 8091 0000 lds r24,FCFlags 3903 1f18 8F7E andi r24,lo8(-17) 3904 1f1a 8093 0000 sts FCFlags,r24 3905 1f1e 9091 0000 lds r25,EE_Parameter+38 3906 1f22 82E3 ldi r24,lo8(50) 3907 1f24 989F mul r25,r24 3908 1f26 C001 movw r24,r0 3909 1f28 1124 clr r1 3910 1f2a 9093 0000 sts (RcLostTimer.5)+1,r25 3911 1f2e 8093 0000 sts RcLostTimer.5,r24 3912 1f32 E8A1 ldd r30,Y+32 3913 1f34 F9A1 ldd r31,Y+33 3914 1f36 B997 sbiw r30,41 3915 1f38 8CF0 brlt .L325 3916 1f3a 8091 0000 lds r24,MotorenEin 3917 1f3e 8823 tst r24 3918 1f40 69F0 breq .L325 3919 1f42 8091 0000 lds r24,modell_fliegt 3920 1f46 9091 0000 lds r25,(modell_fliegt)+1 3921 1f4a FFEF ldi r31,hi8(-1) 3922 1f4c 8F3F cpi r24,lo8(-1) 3923 1f4e 9F07 cpc r25,r31 3924 1f50 29F0 breq .L325 3925 1f52 0196 adiw r24,1 3926 1f54 9093 0000 sts (modell_fliegt)+1,r25 3927 1f58 8093 0000 sts modell_fliegt,r24 3928 .L325: 3929 1f5c 8091 0000 lds r24,modell_fliegt 3930 1f60 9091 0000 lds r25,(modell_fliegt)+1 3931 1f64 8F3F cpi r24,255 3932 1f66 9105 cpc r25,__zero_reg__ 3933 1f68 09F0 breq .+2 3934 1f6a 38F5 brsh .L327 3935 1f6c 1092 0000 sts SummeNick,__zero_reg__ 3936 1f70 1092 0000 sts (SummeNick)+1,__zero_reg__ 3937 1f74 1092 0000 sts (SummeNick)+2,__zero_reg__ 3938 1f78 1092 0000 sts (SummeNick)+3,__zero_reg__ 3939 1f7c 1092 0000 sts SummeRoll,__zero_reg__ 3940 1f80 1092 0000 sts (SummeRoll)+1,__zero_reg__ 3941 1f84 1092 0000 sts (SummeRoll)+2,__zero_reg__ 3942 1f88 1092 0000 sts (SummeRoll)+3,__zero_reg__ 3943 1f8c 1092 0000 sts sollGier.0,__zero_reg__ 3944 1f90 1092 0000 sts (sollGier.0)+1,__zero_reg__ 3945 1f94 1092 0000 sts (sollGier.0)+2,__zero_reg__ 3946 1f98 1092 0000 sts (sollGier.0)+3,__zero_reg__ 3947 1f9c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 3948 1fa0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 3949 1fa4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 3950 1fa8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 3951 1fac 8A3F cpi r24,250 3952 1fae 9105 cpc r25,__zero_reg__ 3953 1fb0 49F4 brne .L329 3954 1fb2 81E0 ldi r24,lo8(1) 3955 1fb4 8093 0000 sts NeueKompassRichtungMerken.10,r24 3956 1fb8 05C0 rjmp .L329 3957 .L327: 3958 1fba 8091 0000 lds r24,FCFlags 3959 1fbe 8260 ori r24,lo8(2) 3960 1fc0 8093 0000 sts FCFlags,r24 3961 .L329: 3962 1fc4 8091 0000 lds r24,EE_Parameter+3 3963 1fc8 E82F mov r30,r24 3964 1fca FF27 clr r31 3965 1fcc EE0F add r30,r30 3966 1fce FF1F adc r31,r31 3967 1fd0 E050 subi r30,lo8(-(PPM_in)) 3968 1fd2 F040 sbci r31,hi8(-(PPM_in)) 3969 1fd4 8081 ld r24,Z 3970 1fd6 9181 ldd r25,Z+1 3971 1fd8 8135 cpi r24,81 3972 1fda 9105 cpc r25,__zero_reg__ 3973 1fdc 0CF4 brge .+2 3974 1fde 41C1 rjmp .L330 3975 1fe0 2091 0000 lds r18,MotorenEin 3976 1fe4 2223 tst r18 3977 1fe6 09F0 breq .+2 3978 1fe8 3CC1 rjmp .L330 3979 1fea 8091 0000 lds r24,EE_Parameter+4 3980 1fee E82F mov r30,r24 3981 1ff0 FF27 clr r31 3982 1ff2 EE0F add r30,r30 3983 1ff4 FF1F adc r31,r31 3984 1ff6 E050 subi r30,lo8(-(PPM_in)) 3985 1ff8 F040 sbci r31,hi8(-(PPM_in)) 3986 1ffa 8081 ld r24,Z 3987 1ffc 9181 ldd r25,Z+1 3988 1ffe 8C34 cpi r24,76 3989 2000 9105 cpc r25,__zero_reg__ 3990 2002 0CF4 brge .+2 3991 2004 06C1 rjmp .L331 3992 2006 8091 0000 lds r24,delay_neutral.6 3993 200a 8F5F subi r24,lo8(-(1)) 3994 200c 8093 0000 sts delay_neutral.6,r24 3995 2010 893C cpi r24,lo8(-55) 3996 2012 08F4 brsh .+2 3997 2014 26C1 rjmp .L330 3998 2016 3C30 cpi r19,lo8(12) 3999 2018 10F4 brsh .L333 4000 201a 2998 cbi 37-0x20,1 4001 201c 01C0 rjmp .L334 4002 .L333: 4003 201e 299A sbi 37-0x20,1 4004 .L334: 4005 2020 1092 0000 sts MotorenEin,__zero_reg__ 4006 2024 1092 0000 sts delay_neutral.6,__zero_reg__ 4007 2028 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4008 202c 1092 0000 sts modell_fliegt,__zero_reg__ 4009 2030 3091 0000 lds r19,EE_Parameter+1 4010 2034 E32F mov r30,r19 4011 2036 FF27 clr r31 4012 2038 EE0F add r30,r30 4013 203a FF1F adc r31,r31 4014 203c E050 subi r30,lo8(-(PPM_in)) 4015 203e F040 sbci r31,hi8(-(PPM_in)) 4016 2040 8081 ld r24,Z 4017 2042 9181 ldd r25,Z+1 4018 2044 8734 cpi r24,71 4019 2046 9105 cpc r25,__zero_reg__ 4020 2048 B4F4 brge .L336 4021 204a 8091 0000 lds r24,EE_Parameter+2 4022 204e E82F mov r30,r24 4023 2050 FF27 clr r31 4024 2052 EE0F add r30,r30 4025 2054 FF1F adc r31,r31 4026 2056 E050 subi r30,lo8(-(PPM_in)) 4027 2058 F040 sbci r31,hi8(-(PPM_in)) 4028 205a 8081 ld r24,Z 4029 205c 9181 ldd r25,Z+1 4030 205e 0190 ld __tmp_reg__,Z+ 4031 2060 F081 ld r31,Z 4032 2062 E02D mov r30,__tmp_reg__ 4033 2064 F7FF sbrs r31,7 4034 2066 03C0 rjmp .L337 4035 2068 F095 com r31 4036 206a E195 neg r30 4037 206c FF4F sbci r31,lo8(-1) 4038 .L337: 4039 206e E734 cpi r30,71 4040 2070 F105 cpc r31,__zero_reg__ 4041 2072 0CF4 brge .+2 4042 2074 78C0 rjmp .L335 4043 .L336: 4044 2076 41E0 ldi r20,lo8(1) 4045 2078 2091 0000 lds r18,EE_Parameter+2 4046 207c A22F mov r26,r18 4047 207e BB27 clr r27 4048 2080 AA0F add r26,r26 4049 2082 BB1F adc r27,r27 4050 2084 A050 subi r26,lo8(-(PPM_in)) 4051 2086 B040 sbci r27,hi8(-(PPM_in)) 4052 2088 8D91 ld r24,X+ 4053 208a 9C91 ld r25,X 4054 208c 1197 sbiw r26,1 4055 208e 8734 cpi r24,71 4056 2090 9105 cpc r25,__zero_reg__ 4057 2092 44F0 brlt .L338 4058 2094 E32F mov r30,r19 4059 2096 FF27 clr r31 4060 2098 EE0F add r30,r30 4061 209a FF1F adc r31,r31 4062 209c E050 subi r30,lo8(-(PPM_in)) 4063 209e F040 sbci r31,hi8(-(PPM_in)) 4064 20a0 8081 ld r24,Z 4065 20a2 9181 ldd r25,Z+1 4066 .L338: 4067 20a4 8D91 ld r24,X+ 4068 20a6 9C91 ld r25,X 4069 20a8 8734 cpi r24,71 4070 20aa 9105 cpc r25,__zero_reg__ 4071 20ac 74F0 brlt .L339 4072 20ae 8091 0000 lds r24,EE_Parameter+1 4073 20b2 E82F mov r30,r24 4074 20b4 FF27 clr r31 4075 20b6 EE0F add r30,r30 4076 20b8 FF1F adc r31,r31 4077 20ba E050 subi r30,lo8(-(PPM_in)) 4078 20bc F040 sbci r31,hi8(-(PPM_in)) 4079 20be 8081 ld r24,Z 4080 20c0 9181 ldd r25,Z+1 4081 20c2 8734 cpi r24,71 4082 20c4 9105 cpc r25,__zero_reg__ 4083 20c6 0CF0 brlt .L339 4084 20c8 42E0 ldi r20,lo8(2) 4085 .L339: 4086 20ca E22F mov r30,r18 4087 20cc FF27 clr r31 4088 20ce EE0F add r30,r30 4089 20d0 FF1F adc r31,r31 4090 20d2 E050 subi r30,lo8(-(PPM_in)) 4091 20d4 F040 sbci r31,hi8(-(PPM_in)) 4092 20d6 8081 ld r24,Z 4093 20d8 9181 ldd r25,Z+1 4094 20da 8634 cpi r24,70 4095 20dc 9105 cpc r25,__zero_reg__ 4096 20de 74F4 brge .L340 4097 20e0 8091 0000 lds r24,EE_Parameter+1 4098 20e4 E82F mov r30,r24 4099 20e6 FF27 clr r31 4100 20e8 EE0F add r30,r30 4101 20ea FF1F adc r31,r31 4102 20ec E050 subi r30,lo8(-(PPM_in)) 4103 20ee F040 sbci r31,hi8(-(PPM_in)) 4104 20f0 8081 ld r24,Z 4105 20f2 9181 ldd r25,Z+1 4106 20f4 8734 cpi r24,71 4107 20f6 9105 cpc r25,__zero_reg__ 4108 20f8 0CF0 brlt .L340 4109 20fa 43E0 ldi r20,lo8(3) 4110 .L340: 4111 20fc E22F mov r30,r18 4112 20fe FF27 clr r31 4113 2100 EE0F add r30,r30 4114 2102 FF1F adc r31,r31 4115 2104 E050 subi r30,lo8(-(PPM_in)) 4116 2106 F040 sbci r31,hi8(-(PPM_in)) 4117 2108 8081 ld r24,Z 4118 210a 9181 ldd r25,Z+1 4119 210c 8A5B subi r24,lo8(-70) 4120 210e 9F4F sbci r25,hi8(-70) 4121 2110 74F4 brge .L341 4122 2112 8091 0000 lds r24,EE_Parameter+1 4123 2116 E82F mov r30,r24 4124 2118 FF27 clr r31 4125 211a EE0F add r30,r30 4126 211c FF1F adc r31,r31 4127 211e E050 subi r30,lo8(-(PPM_in)) 4128 2120 F040 sbci r31,hi8(-(PPM_in)) 4129 2122 8081 ld r24,Z 4130 2124 9181 ldd r25,Z+1 4131 2126 8734 cpi r24,71 4132 2128 9105 cpc r25,__zero_reg__ 4133 212a 0CF0 brlt .L341 4134 212c 44E0 ldi r20,lo8(4) 4135 .L341: 4136 212e E22F mov r30,r18 4137 2130 FF27 clr r31 4138 2132 EE0F add r30,r30 4139 2134 FF1F adc r31,r31 4140 2136 E050 subi r30,lo8(-(PPM_in)) 4141 2138 F040 sbci r31,hi8(-(PPM_in)) 4142 213a 8081 ld r24,Z 4143 213c 9181 ldd r25,Z+1 4144 213e 8A5B subi r24,lo8(-70) 4145 2140 9F4F sbci r25,hi8(-70) 4146 2142 74F4 brge .L342 4147 2144 8091 0000 lds r24,EE_Parameter+1 4148 2148 E82F mov r30,r24 4149 214a FF27 clr r31 4150 214c EE0F add r30,r30 4151 214e FF1F adc r31,r31 4152 2150 E050 subi r30,lo8(-(PPM_in)) 4153 2152 F040 sbci r31,hi8(-(PPM_in)) 4154 2154 8081 ld r24,Z 4155 2156 9181 ldd r25,Z+1 4156 2158 8634 cpi r24,70 4157 215a 9105 cpc r25,__zero_reg__ 4158 215c 0CF4 brge .L342 4159 215e 45E0 ldi r20,lo8(5) 4160 .L342: 4161 2160 842F mov r24,r20 4162 2162 0E94 0000 call SetActiveParamSet 4163 .L335: 4164 2166 8091 0000 lds r24,EE_Parameter+2 4165 216a E82F mov r30,r24 4166 216c FF27 clr r31 4167 216e EE0F add r30,r30 4168 2170 FF1F adc r31,r31 4169 2172 E050 subi r30,lo8(-(PPM_in)) 4170 2174 F040 sbci r31,hi8(-(PPM_in)) 4171 2176 8081 ld r24,Z 4172 2178 9181 ldd r25,Z+1 4173 217a 0190 ld __tmp_reg__,Z+ 4174 217c F081 ld r31,Z 4175 217e E02D mov r30,__tmp_reg__ 4176 2180 F7FF sbrs r31,7 4177 2182 03C0 rjmp .L344 4178 2184 F095 com r31 4179 2186 E195 neg r30 4180 2188 FF4F sbci r31,lo8(-1) 4181 .L344: 4182 218a 7E97 sbiw r30,30 4183 218c BCF4 brge .L343 4184 218e 8091 0000 lds r24,EE_Parameter+1 4185 2192 E82F mov r30,r24 4186 2194 FF27 clr r31 4187 2196 EE0F add r30,r30 4188 2198 FF1F adc r31,r31 4189 219a E050 subi r30,lo8(-(PPM_in)) 4190 219c F040 sbci r31,hi8(-(PPM_in)) 4191 219e 8081 ld r24,Z 4192 21a0 9181 ldd r25,Z+1 4193 21a2 8A5B subi r24,lo8(-70) 4194 21a4 9F4F sbci r25,hi8(-70) 4195 21a6 54F4 brge .L343 4196 21a8 81E0 ldi r24,lo8(1) 4197 21aa 8093 0000 sts WinkelOut+6,r24 4198 21ae 88EE ldi r24,lo8(1000) 4199 21b0 93E0 ldi r25,hi8(1000) 4200 21b2 9093 0000 sts (beeptime)+1,r25 4201 21b6 8093 0000 sts beeptime,r24 4202 21ba 53C0 rjmp .L330 4203 .L343: 4204 21bc 0E94 0000 call GetActiveParamSet 4205 21c0 0E94 0000 call ParamSet_ReadFromEEProm 4206 21c4 80E0 ldi r24,lo8(0) 4207 21c6 0E94 0000 call LipoDetection 4208 21ca 8091 0000 lds r24,EE_Parameter+39 4209 21ce 0E94 0000 call LIBFC_ReceiverInit 4210 21d2 8091 0000 lds r24,EE_Parameter+13 4211 21d6 80FF sbrs r24,0 4212 21d8 10C0 rjmp .L346 4213 21da 8091 0000 lds r24,MessLuftdruck 4214 21de 9091 0000 lds r25,(MessLuftdruck)+1 4215 21e2 875B subi r24,lo8(951) 4216 21e4 9340 sbci r25,hi8(951) 4217 21e6 38F4 brsh .L348 4218 21e8 8091 0000 lds r24,MessLuftdruck 4219 21ec 9091 0000 lds r25,(MessLuftdruck)+1 4220 21f0 8E5E subi r24,lo8(750) 4221 21f2 9240 sbci r25,hi8(750) 4222 21f4 10F4 brsh .L346 4223 .L348: 4224 21f6 0E94 0000 call SucheLuftruckOffset 4225 .L346: 4226 21fa 1092 0000 sts ServoActive,__zero_reg__ 4227 21fe 80E0 ldi r24,lo8(0) 4228 2200 0E94 0000 call SetNeutral 4229 2204 81E0 ldi r24,lo8(1) 4230 2206 8093 0000 sts calibration_done.9,r24 4231 220a 8093 0000 sts ServoActive,r24 4232 220e 579A sbi 42-0x20,7 4233 2210 1FC0 rjmp .L777 4234 .L331: 4235 2212 8081 ld r24,Z 4236 2214 9181 ldd r25,Z+1 4237 2216 855B subi r24,lo8(-75) 4238 2218 9F4F sbci r25,hi8(-75) 4239 221a 0CF5 brge .L350 4240 221c 8091 0000 lds r24,delay_neutral.6 4241 2220 8F5F subi r24,lo8(-(1)) 4242 2222 8093 0000 sts delay_neutral.6,r24 4243 2226 893C cpi r24,lo8(-55) 4244 2228 E0F0 brlo .L330 4245 222a 3C30 cpi r19,lo8(12) 4246 222c 10F4 brsh .L352 4247 222e 2998 cbi 37-0x20,1 4248 2230 01C0 rjmp .L353 4249 .L352: 4250 2232 299A sbi 37-0x20,1 4251 .L353: 4252 2234 1092 0000 sts MotorenEin,__zero_reg__ 4253 2238 1092 0000 sts delay_neutral.6,__zero_reg__ 4254 223c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4255 2240 1092 0000 sts modell_fliegt,__zero_reg__ 4256 2244 81E0 ldi r24,lo8(1) 4257 2246 0E94 0000 call SetNeutral 4258 224a 81E0 ldi r24,lo8(1) 4259 224c 8093 0000 sts calibration_done.9,r24 4260 .L777: 4261 2250 0E94 0000 call GetActiveParamSet 4262 2254 68E7 ldi r22,lo8(120) 4263 2256 70E0 ldi r23,hi8(120) 4264 2258 0E94 0000 call Piep 4265 225c 02C0 rjmp .L330 4266 .L350: 4267 225e 2093 0000 sts delay_neutral.6,r18 4268 .L330: 4269 2262 8091 0000 lds r24,EE_Parameter+3 4270 2266 E82F mov r30,r24 4271 2268 FF27 clr r31 4272 226a EE0F add r30,r30 4273 226c FF1F adc r31,r31 4274 226e E050 subi r30,lo8(-(PPM_in)) 4275 2270 F040 sbci r31,hi8(-(PPM_in)) 4276 2272 8081 ld r24,Z 4277 2274 9181 ldd r25,Z+1 4278 2276 8B5A subi r24,lo8(-85) 4279 2278 9F4F sbci r25,hi8(-85) 4280 227a 0CF0 brlt .+2 4281 227c EDC0 rjmp .L323 4282 227e 2091 0000 lds r18,MotorenEin 4283 2282 E091 0000 lds r30,EE_Parameter+4 4284 2286 2223 tst r18 4285 2288 09F0 breq .+2 4286 228a CAC0 rjmp .L356 4287 228c FF27 clr r31 4288 228e EE0F add r30,r30 4289 2290 FF1F adc r31,r31 4290 2292 E050 subi r30,lo8(-(PPM_in)) 4291 2294 F040 sbci r31,hi8(-(PPM_in)) 4292 2296 8081 ld r24,Z 4293 2298 9181 ldd r25,Z+1 4294 229a 855B subi r24,lo8(-75) 4295 229c 9F4F sbci r25,hi8(-75) 4296 229e 0CF0 brlt .+2 4297 22a0 BCC0 rjmp .L357 4298 22a2 8091 0000 lds r24,delay_einschalten.7 4299 22a6 8F5F subi r24,lo8(-(1)) 4300 22a8 8093 0000 sts delay_einschalten.7,r24 4301 22ac 893C cpi r24,lo8(-55) 4302 22ae 08F4 brsh .+2 4303 22b0 D3C0 rjmp .L323 4304 22b2 2093 0000 sts delay_einschalten.7,r18 4305 22b6 8091 0000 lds r24,VersionInfo+5 4306 22ba 8823 tst r24 4307 22bc 09F0 breq .+2 4308 22be A6C0 rjmp .L359 4309 22c0 8091 0000 lds r24,calibration_done.9 4310 22c4 8823 tst r24 4311 22c6 09F4 brne .+2 4312 22c8 A1C0 rjmp .L359 4313 22ca 81E0 ldi r24,lo8(1) 4314 22cc 90E0 ldi r25,hi8(1) 4315 22ce 9093 0000 sts (modell_fliegt)+1,r25 4316 22d2 8093 0000 sts modell_fliegt,r24 4317 22d6 81E0 ldi r24,lo8(1) 4318 22d8 8093 0000 sts MotorenEin,r24 4319 22dc 1092 0000 sts sollGier.0,__zero_reg__ 4320 22e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4321 22e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4322 22e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4323 22ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4324 22f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4325 22f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4326 22f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4327 22fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 4328 2300 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 4329 2304 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 4330 2308 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 4331 230c 8091 0000 lds r24,EE_Parameter+28 4332 2310 E82E mov r14,r24 4333 2312 FF24 clr r15 4334 2314 0027 clr r16 4335 2316 1127 clr r17 4336 2318 8091 0000 lds r24,Mittelwert_AccNick 4337 231c 9091 0000 lds r25,(Mittelwert_AccNick)+1 4338 2320 9C01 movw r18,r24 4339 2322 4427 clr r20 4340 2324 37FD sbrc r19,7 4341 2326 4095 com r20 4342 2328 542F mov r21,r20 4343 232a C801 movw r24,r16 4344 232c B701 movw r22,r14 4345 232e 0E94 0000 call __mulsi3 4346 2332 DC01 movw r26,r24 4347 2334 CB01 movw r24,r22 4348 2336 8093 0000 sts Mess_IntegralNick,r24 4349 233a 9093 0000 sts (Mess_IntegralNick)+1,r25 4350 233e A093 0000 sts (Mess_IntegralNick)+2,r26 4351 2342 B093 0000 sts (Mess_IntegralNick)+3,r27 4352 2346 8091 0000 lds r24,Mittelwert_AccRoll 4353 234a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 4354 234e 9C01 movw r18,r24 4355 2350 4427 clr r20 4356 2352 37FD sbrc r19,7 4357 2354 4095 com r20 4358 2356 542F mov r21,r20 4359 2358 C801 movw r24,r16 4360 235a B701 movw r22,r14 4361 235c 0E94 0000 call __mulsi3 4362 2360 DC01 movw r26,r24 4363 2362 CB01 movw r24,r22 4364 2364 8093 0000 sts Mess_IntegralRoll,r24 4365 2368 9093 0000 sts (Mess_IntegralRoll)+1,r25 4366 236c A093 0000 sts (Mess_IntegralRoll)+2,r26 4367 2370 B093 0000 sts (Mess_IntegralRoll)+3,r27 4368 2374 8091 0000 lds r24,IntegralNick 4369 2378 9091 0000 lds r25,(IntegralNick)+1 4370 237c A091 0000 lds r26,(IntegralNick)+2 4371 2380 B091 0000 lds r27,(IntegralNick)+3 4372 2384 8093 0000 sts Mess_IntegralNick2,r24 4373 2388 9093 0000 sts (Mess_IntegralNick2)+1,r25 4374 238c A093 0000 sts (Mess_IntegralNick2)+2,r26 4375 2390 B093 0000 sts (Mess_IntegralNick2)+3,r27 4376 2394 8091 0000 lds r24,IntegralRoll 4377 2398 9091 0000 lds r25,(IntegralRoll)+1 4378 239c A091 0000 lds r26,(IntegralRoll)+2 4379 23a0 B091 0000 lds r27,(IntegralRoll)+3 4380 23a4 8093 0000 sts Mess_IntegralRoll2,r24 4381 23a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4382 23ac A093 0000 sts (Mess_IntegralRoll2)+2,r26 4383 23b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4384 23b4 1092 0000 sts SummeNick,__zero_reg__ 4385 23b8 1092 0000 sts (SummeNick)+1,__zero_reg__ 4386 23bc 1092 0000 sts (SummeNick)+2,__zero_reg__ 4387 23c0 1092 0000 sts (SummeNick)+3,__zero_reg__ 4388 23c4 1092 0000 sts SummeRoll,__zero_reg__ 4389 23c8 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4390 23cc 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4391 23d0 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4392 23d4 8091 0000 lds r24,FCFlags 4393 23d8 8860 ori r24,lo8(8) 4394 23da 8093 0000 sts FCFlags,r24 4395 23de 9091 0000 lds r25,EE_Parameter+95 4396 23e2 8FE0 ldi r24,lo8(15) 4397 23e4 989F mul r25,r24 4398 23e6 9001 movw r18,r0 4399 23e8 1124 clr r1 4400 23ea 8091 0000 lds r24,KompassValue 4401 23ee 9091 0000 lds r25,(KompassValue)+1 4402 23f2 820F add r24,r18 4403 23f4 931F adc r25,r19 4404 23f6 68E6 ldi r22,lo8(360) 4405 23f8 71E0 ldi r23,hi8(360) 4406 23fa 0E94 0000 call __divmodhi4 4407 23fe 97FD sbrc r25,7 4408 2400 0196 adiw r24,1 4409 .L360: 4410 2402 9595 asr r25 4411 2404 8795 ror r24 4412 2406 8093 0000 sts ControlHeading,r24 4413 240a 26C0 rjmp .L323 4414 .L359: 4415 240c 8CED ldi r24,lo8(1500) 4416 240e 95E0 ldi r25,hi8(1500) 4417 2410 9093 0000 sts (beeptime)+1,r25 4418 2414 8093 0000 sts beeptime,r24 4419 2418 1FC0 rjmp .L323 4420 .L357: 4421 241a 2093 0000 sts delay_einschalten.7,r18 4422 241e 1CC0 rjmp .L323 4423 .L356: 4424 2420 FF27 clr r31 4425 2422 EE0F add r30,r30 4426 2424 FF1F adc r31,r31 4427 2426 E050 subi r30,lo8(-(PPM_in)) 4428 2428 F040 sbci r31,hi8(-(PPM_in)) 4429 242a 8081 ld r24,Z 4430 242c 9181 ldd r25,Z+1 4431 242e 8C34 cpi r24,76 4432 2430 9105 cpc r25,__zero_reg__ 4433 2432 84F0 brlt .L364 4434 2434 8091 0000 lds r24,delay_ausschalten.8 4435 2438 8F5F subi r24,lo8(-(1)) 4436 243a 8093 0000 sts delay_ausschalten.8,r24 4437 243e 893C cpi r24,lo8(-55) 4438 2440 58F0 brlo .L323 4439 2442 1092 0000 sts MotorenEin,__zero_reg__ 4440 2446 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4441 244a 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4442 244e 1092 0000 sts modell_fliegt,__zero_reg__ 4443 2452 02C0 rjmp .L323 4444 .L364: 4445 2454 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4446 .L323: 4447 2458 8091 0000 lds r24,NewPpmData 4448 245c 8150 subi r24,lo8(-(-1)) 4449 245e 8093 0000 sts NewPpmData,r24 4450 2462 8091 0000 lds r24,NewPpmData 4451 2466 8F3F cpi r24,lo8(-1) 4452 2468 21F0 breq .L368 4453 246a 8091 0000 lds r24,FCFlags 4454 246e 84FF sbrs r24,4 4455 2470 82C3 rjmp .L367 4456 .L368: 4457 2472 0E94 0000 call ParameterZuordnung 4458 2476 8091 0000 lds r24,stick_nick.13 4459 247a 9091 0000 lds r25,(stick_nick.13)+1 4460 247e 9C01 movw r18,r24 4461 2480 220F lsl r18 4462 2482 331F rol r19 4463 2484 280F add r18,r24 4464 2486 391F adc r19,r25 4465 2488 A090 0000 lds r10,EE_Parameter+1 4466 248c AA2D mov r26,r10 4467 248e BB27 clr r27 4468 2490 AA0F add r26,r26 4469 2492 BB1F adc r27,r27 4470 2494 FD01 movw r30,r26 4471 2496 E050 subi r30,lo8(-(PPM_in)) 4472 2498 F040 sbci r31,hi8(-(PPM_in)) 4473 249a 9090 0000 lds r9,EE_Parameter+23 4474 249e 492D mov r20,r9 4475 24a0 5527 clr r21 4476 24a2 8081 ld r24,Z 4477 24a4 9181 ldd r25,Z+1 4478 24a6 849F mul r24,r20 4479 24a8 F001 movw r30,r0 4480 24aa 859F mul r24,r21 4481 24ac F00D add r31,r0 4482 24ae 949F mul r25,r20 4483 24b0 F00D add r31,r0 4484 24b2 1124 clr r1 4485 24b4 2E0F add r18,r30 4486 24b6 3F1F adc r19,r31 4487 24b8 37FF sbrs r19,7 4488 24ba 02C0 rjmp .L369 4489 24bc 2D5F subi r18,lo8(-(3)) 4490 24be 3F4F sbci r19,hi8(-(3)) 4491 .L369: 4492 24c0 B901 movw r22,r18 4493 24c2 7595 asr r23 4494 24c4 6795 ror r22 4495 24c6 7595 asr r23 4496 24c8 6795 ror r22 4497 24ca A050 subi r26,lo8(-(PPM_diff)) 4498 24cc B040 sbci r27,hi8(-(PPM_diff)) 4499 24ce 8091 0000 lds r24,EE_Parameter+24 4500 24d2 082F mov r16,r24 4501 24d4 1127 clr r17 4502 24d6 8D91 ld r24,X+ 4503 24d8 9C91 ld r25,X 4504 24da 809F mul r24,r16 4505 24dc 7001 movw r14,r0 4506 24de 819F mul r24,r17 4507 24e0 F00C add r15,r0 4508 24e2 909F mul r25,r16 4509 24e4 F00C add r15,r0 4510 24e6 1124 clr r1 4511 24e8 6E0D add r22,r14 4512 24ea 7F1D adc r23,r15 4513 24ec 7093 0000 sts (stick_nick.13)+1,r23 4514 24f0 6093 0000 sts stick_nick.13,r22 4515 24f4 8091 0000 lds r24,stick_roll.14 4516 24f8 9091 0000 lds r25,(stick_roll.14)+1 4517 24fc 9C01 movw r18,r24 4518 24fe 220F lsl r18 4519 2500 331F rol r19 4520 2502 280F add r18,r24 4521 2504 391F adc r19,r25 4522 2506 B090 0000 lds r11,EE_Parameter+2 4523 250a AB2D mov r26,r11 4524 250c BB27 clr r27 4525 250e AA0F add r26,r26 4526 2510 BB1F adc r27,r27 4527 2512 FD01 movw r30,r26 4528 2514 E050 subi r30,lo8(-(PPM_in)) 4529 2516 F040 sbci r31,hi8(-(PPM_in)) 4530 2518 8081 ld r24,Z 4531 251a 9181 ldd r25,Z+1 4532 251c 849F mul r24,r20 4533 251e F001 movw r30,r0 4534 2520 859F mul r24,r21 4535 2522 F00D add r31,r0 4536 2524 949F mul r25,r20 4537 2526 F00D add r31,r0 4538 2528 1124 clr r1 4539 252a 2E0F add r18,r30 4540 252c 3F1F adc r19,r31 4541 252e 37FF sbrs r19,7 4542 2530 02C0 rjmp .L370 4543 2532 2D5F subi r18,lo8(-(3)) 4544 2534 3F4F sbci r19,hi8(-(3)) 4545 .L370: 4546 2536 A901 movw r20,r18 4547 2538 5595 asr r21 4548 253a 4795 ror r20 4549 253c 5595 asr r21 4550 253e 4795 ror r20 4551 2540 A050 subi r26,lo8(-(PPM_diff)) 4552 2542 B040 sbci r27,hi8(-(PPM_diff)) 4553 2544 8D91 ld r24,X+ 4554 2546 9C91 ld r25,X 4555 2548 809F mul r24,r16 4556 254a 7001 movw r14,r0 4557 254c 819F mul r24,r17 4558 254e F00C add r15,r0 4559 2550 909F mul r25,r16 4560 2552 F00C add r15,r0 4561 2554 1124 clr r1 4562 2556 4E0D add r20,r14 4563 2558 5F1D adc r21,r15 4564 255a 5093 0000 sts (stick_roll.14)+1,r21 4565 255e 4093 0000 sts stick_roll.14,r20 4566 2562 9E01 movw r18,r28 4567 2564 2F5F subi r18,lo8(-(1)) 4568 2566 3F4F sbci r19,hi8(-(1)) 4569 2568 8FE1 ldi r24,lo8(31) 4570 256a E0E0 ldi r30,lo8(.LC0) 4571 256c F0E0 ldi r31,hi8(.LC0) 4572 256e D901 movw r26,r18 4573 2570 0190 ld __tmp_reg__,Z+ 4574 2572 0D92 st X+,__tmp_reg__ 4575 2574 8A95 dec r24 4576 2576 E1F7 brne .-8 4577 2578 8091 0000 lds r24,CareFree 4578 257c 8823 tst r24 4579 257e 09F4 brne .+2 4580 2580 48C0 rjmp .L371 4581 2582 CB01 movw r24,r22 4582 2584 77FD sbrc r23,7 4583 2586 0396 adiw r24,3 4584 .L372: 4585 2588 DC01 movw r26,r24 4586 258a B595 asr r27 4587 258c A795 ror r26 4588 258e B595 asr r27 4589 2590 A795 ror r26 4590 2592 CA01 movw r24,r20 4591 2594 57FD sbrc r21,7 4592 2596 0396 adiw r24,3 4593 .L373: 4594 2598 FC01 movw r30,r24 4595 259a F595 asr r31 4596 259c E795 ror r30 4597 259e F595 asr r31 4598 25a0 E795 ror r30 4599 25a2 8091 0000 lds r24,FromNC_Rotate_C 4600 25a6 682F mov r22,r24 4601 25a8 7727 clr r23 4602 25aa 67FD sbrc r22,7 4603 25ac 7095 com r23 4604 25ae 6A9F mul r22,r26 4605 25b0 9001 movw r18,r0 4606 25b2 6B9F mul r22,r27 4607 25b4 300D add r19,r0 4608 25b6 7A9F mul r23,r26 4609 25b8 300D add r19,r0 4610 25ba 1124 clr r1 4611 25bc 8091 0000 lds r24,FromNC_Rotate_S 4612 25c0 482F mov r20,r24 4613 25c2 5527 clr r21 4614 25c4 47FD sbrc r20,7 4615 25c6 5095 com r21 4616 25c8 4E9F mul r20,r30 4617 25ca C001 movw r24,r0 4618 25cc 4F9F mul r20,r31 4619 25ce 900D add r25,r0 4620 25d0 5E9F mul r21,r30 4621 25d2 900D add r25,r0 4622 25d4 1124 clr r1 4623 25d6 280F add r18,r24 4624 25d8 391F adc r19,r25 4625 25da 37FF sbrs r19,7 4626 25dc 02C0 rjmp .L374 4627 25de 295F subi r18,lo8(-(7)) 4628 25e0 3F4F sbci r19,hi8(-(7)) 4629 .L374: 4630 25e2 03E0 ldi r16,3 4631 25e4 3595 1: asr r19 4632 25e6 2795 ror r18 4633 25e8 0A95 dec r16 4634 25ea E1F7 brne 1b 4635 25ec 3093 0000 sts (StickNick)+1,r19 4636 25f0 2093 0000 sts StickNick,r18 4637 25f4 6E9F mul r22,r30 4638 25f6 9001 movw r18,r0 4639 25f8 6F9F mul r22,r31 4640 25fa 300D add r19,r0 4641 25fc 7E9F mul r23,r30 4642 25fe 300D add r19,r0 4643 2600 1124 clr r1 4644 2602 4A9F mul r20,r26 4645 2604 C001 movw r24,r0 4646 2606 4B9F mul r20,r27 4647 2608 900D add r25,r0 4648 260a 5A9F mul r21,r26 4649 260c 900D add r25,r0 4650 260e 1124 clr r1 4651 2610 44C0 rjmp .L803 4652 .L371: 4653 2612 8091 0000 lds r24,EE_Parameter+95 4654 2616 082F mov r16,r24 4655 2618 1127 clr r17 4656 261a DE01 movw r26,r28 4657 261c A00F add r26,r16 4658 261e B11F adc r27,r17 4659 2620 FD01 movw r30,r26 4660 2622 9781 ldd r25,Z+7 4661 2624 9093 0000 sts FromNC_Rotate_C,r25 4662 2628 020F add r16,r18 4663 262a 131F adc r17,r19 4664 262c D801 movw r26,r16 4665 262e 8C91 ld r24,X 4666 2630 8093 0000 sts FromNC_Rotate_S,r24 4667 2634 A92F mov r26,r25 4668 2636 BB27 clr r27 4669 2638 A7FD sbrc r26,7 4670 263a B095 com r27 4671 263c A69F mul r26,r22 4672 263e 9001 movw r18,r0 4673 2640 A79F mul r26,r23 4674 2642 300D add r19,r0 4675 2644 B69F mul r27,r22 4676 2646 300D add r19,r0 4677 2648 1124 clr r1 4678 264a E82F mov r30,r24 4679 264c FF27 clr r31 4680 264e E7FD sbrc r30,7 4681 2650 F095 com r31 4682 2652 E49F mul r30,r20 4683 2654 C001 movw r24,r0 4684 2656 E59F mul r30,r21 4685 2658 900D add r25,r0 4686 265a F49F mul r31,r20 4687 265c 900D add r25,r0 4688 265e 1124 clr r1 4689 2660 280F add r18,r24 4690 2662 391F adc r19,r25 4691 2664 37FF sbrs r19,7 4692 2666 02C0 rjmp .L377 4693 2668 295F subi r18,lo8(-(7)) 4694 266a 3F4F sbci r19,hi8(-(7)) 4695 .L377: 4696 266c 13E0 ldi r17,3 4697 266e 3595 1: asr r19 4698 2670 2795 ror r18 4699 2672 1A95 dec r17 4700 2674 E1F7 brne 1b 4701 2676 3093 0000 sts (StickNick)+1,r19 4702 267a 2093 0000 sts StickNick,r18 4703 267e A49F mul r26,r20 4704 2680 9001 movw r18,r0 4705 2682 A59F mul r26,r21 4706 2684 300D add r19,r0 4707 2686 B49F mul r27,r20 4708 2688 300D add r19,r0 4709 268a 1124 clr r1 4710 268c E69F mul r30,r22 4711 268e C001 movw r24,r0 4712 2690 E79F mul r30,r23 4713 2692 900D add r25,r0 4714 2694 F69F mul r31,r22 4715 2696 900D add r25,r0 4716 2698 1124 clr r1 4717 .L803: 4718 269a 281B sub r18,r24 4719 269c 390B sbc r19,r25 4720 269e 37FF sbrs r19,7 4721 26a0 02C0 rjmp .L378 4722 26a2 295F subi r18,lo8(-(7)) 4723 26a4 3F4F sbci r19,hi8(-(7)) 4724 .L378: 4725 26a6 F3E0 ldi r31,3 4726 26a8 3595 1: asr r19 4727 26aa 2795 ror r18 4728 26ac FA95 dec r31 4729 26ae E1F7 brne 1b 4730 26b0 3093 0000 sts (StickRoll)+1,r19 4731 26b4 2093 0000 sts StickRoll,r18 4732 26b8 8091 0000 lds r24,EE_Parameter+4 4733 26bc E82F mov r30,r24 4734 26be FF27 clr r31 4735 26c0 EE0F add r30,r30 4736 26c2 FF1F adc r31,r31 4737 26c4 E050 subi r30,lo8(-(PPM_in)) 4738 26c6 F040 sbci r31,hi8(-(PPM_in)) 4739 26c8 8081 ld r24,Z 4740 26ca 9181 ldd r25,Z+1 4741 26cc 9095 com r25 4742 26ce 8195 neg r24 4743 26d0 9F4F sbci r25,lo8(-1) 4744 26d2 9093 0000 sts (StickGier)+1,r25 4745 26d6 8093 0000 sts StickGier,r24 4746 26da 8330 cpi r24,3 4747 26dc 9105 cpc r25,__zero_reg__ 4748 26de 14F0 brlt .L379 4749 26e0 0297 sbiw r24,2 4750 26e2 05C0 rjmp .L778 4751 .L379: 4752 26e4 BFEF ldi r27,hi8(-2) 4753 26e6 8E3F cpi r24,lo8(-2) 4754 26e8 9B07 cpc r25,r27 4755 26ea 34F4 brge .L381 4756 26ec 0296 adiw r24,2 4757 .L778: 4758 26ee 9093 0000 sts (StickGier)+1,r25 4759 26f2 8093 0000 sts StickGier,r24 4760 26f6 04C0 rjmp .L380 4761 .L381: 4762 26f8 1092 0000 sts (StickGier)+1,__zero_reg__ 4763 26fc 1092 0000 sts StickGier,__zero_reg__ 4764 .L380: 4765 2700 8091 0000 lds r24,GPS_Nick 4766 2704 9091 0000 lds r25,(GPS_Nick)+1 4767 2708 2091 0000 lds r18,GPS_Nick2 4768 270c 3091 0000 lds r19,(GPS_Nick2)+1 4769 2710 820F add r24,r18 4770 2712 931F adc r25,r19 4771 2714 C090 0000 lds r12,StickNick 4772 2718 D090 0000 lds r13,(StickNick)+1 4773 271c C81A sub r12,r24 4774 271e D90A sbc r13,r25 4775 2720 D092 0000 sts (StickNick)+1,r13 4776 2724 C092 0000 sts StickNick,r12 4777 2728 8091 0000 lds r24,GPS_Roll 4778 272c 9091 0000 lds r25,(GPS_Roll)+1 4779 2730 2091 0000 lds r18,GPS_Roll2 4780 2734 3091 0000 lds r19,(GPS_Roll2)+1 4781 2738 820F add r24,r18 4782 273a 931F adc r25,r19 4783 273c 0091 0000 lds r16,StickRoll 4784 2740 1091 0000 lds r17,(StickRoll)+1 4785 2744 081B sub r16,r24 4786 2746 190B sbc r17,r25 4787 2748 1093 0000 sts (StickRoll)+1,r17 4788 274c 0093 0000 sts StickRoll,r16 4789 2750 8091 0000 lds r24,EE_Parameter+3 4790 2754 E82F mov r30,r24 4791 2756 FF27 clr r31 4792 2758 EE0F add r30,r30 4793 275a FF1F adc r31,r31 4794 275c E050 subi r30,lo8(-(PPM_in)) 4795 275e F040 sbci r31,hi8(-(PPM_in)) 4796 2760 E080 ld r14,Z 4797 2762 F180 ldd r15,Z+1 4798 2764 E8E7 ldi r30,lo8(120) 4799 2766 F0E0 ldi r31,hi8(120) 4800 2768 EE0E add r14,r30 4801 276a FF1E adc r15,r31 4802 276c F092 0000 sts (StickGas)+1,r15 4803 2770 E092 0000 sts StickGas,r14 4804 2774 8091 0000 lds r24,Parameter_Gyro_P 4805 2778 9927 clr r25 4806 277a AA27 clr r26 4807 277c 97FD sbrc r25,7 4808 277e A095 com r26 4809 2780 BA2F mov r27,r26 4810 2782 BC01 movw r22,r24 4811 2784 CD01 movw r24,r26 4812 2786 0E94 0000 call __floatsisf 4813 278a DC01 movw r26,r24 4814 278c CB01 movw r24,r22 4815 278e 20E0 ldi r18,lo8(0x41200000) 4816 2790 30E0 ldi r19,hi8(0x41200000) 4817 2792 40E2 ldi r20,hlo8(0x41200000) 4818 2794 51E4 ldi r21,hhi8(0x41200000) 4819 2796 BC01 movw r22,r24 4820 2798 CD01 movw r24,r26 4821 279a 0E94 0000 call __addsf3 4822 279e DC01 movw r26,r24 4823 27a0 CB01 movw r24,r22 4824 27a2 BC01 movw r22,r24 4825 27a4 CD01 movw r24,r26 4826 27a6 0E94 0000 call __fixunssfsi 4827 27aa DC01 movw r26,r24 4828 27ac CB01 movw r24,r22 4829 27ae 8093 0000 sts GyroFaktor,r24 4830 27b2 8091 0000 lds r24,Parameter_Gyro_I 4831 27b6 8093 0000 sts IntegralFaktor,r24 4832 27ba 8091 0000 lds r24,Parameter_Gyro_Gier_P 4833 27be 9927 clr r25 4834 27c0 AA27 clr r26 4835 27c2 97FD sbrc r25,7 4836 27c4 A095 com r26 4837 27c6 BA2F mov r27,r26 4838 27c8 BC01 movw r22,r24 4839 27ca CD01 movw r24,r26 4840 27cc 0E94 0000 call __floatsisf 4841 27d0 DC01 movw r26,r24 4842 27d2 CB01 movw r24,r22 4843 27d4 20E0 ldi r18,lo8(0x41200000) 4844 27d6 30E0 ldi r19,hi8(0x41200000) 4845 27d8 40E2 ldi r20,hlo8(0x41200000) 4846 27da 51E4 ldi r21,hhi8(0x41200000) 4847 27dc BC01 movw r22,r24 4848 27de CD01 movw r24,r26 4849 27e0 0E94 0000 call __addsf3 4850 27e4 DC01 movw r26,r24 4851 27e6 CB01 movw r24,r22 4852 27e8 BC01 movw r22,r24 4853 27ea CD01 movw r24,r26 4854 27ec 0E94 0000 call __fixunssfsi 4855 27f0 DC01 movw r26,r24 4856 27f2 CB01 movw r24,r22 4857 27f4 8093 0000 sts GyroFaktorGier,r24 4858 27f8 8091 0000 lds r24,Parameter_Gyro_Gier_I 4859 27fc 8093 0000 sts IntegralFaktorGier,r24 4860 2800 8091 0000 lds r24,ExternControl+10 4861 2804 80FF sbrs r24,0 4862 2806 59C0 rjmp .L383 4863 2808 8091 0000 lds r24,Parameter_ExternalControl 4864 280c 8138 cpi r24,lo8(-127) 4865 280e 08F4 brsh .+2 4866 2810 54C0 rjmp .L383 4867 2812 8091 0000 lds r24,ExternControl+3 4868 2816 9927 clr r25 4869 2818 87FD sbrc r24,7 4870 281a 9095 com r25 4871 281c 292D mov r18,r9 4872 281e 3327 clr r19 4873 2820 829F mul r24,r18 4874 2822 A001 movw r20,r0 4875 2824 839F mul r24,r19 4876 2826 500D add r21,r0 4877 2828 929F mul r25,r18 4878 282a 500D add r21,r0 4879 282c 1124 clr r1 4880 282e C40E add r12,r20 4881 2830 D51E adc r13,r21 4882 2832 D092 0000 sts (StickNick)+1,r13 4883 2836 C092 0000 sts StickNick,r12 4884 283a 8091 0000 lds r24,ExternControl+4 4885 283e 9927 clr r25 4886 2840 87FD sbrc r24,7 4887 2842 9095 com r25 4888 2844 829F mul r24,r18 4889 2846 B001 movw r22,r0 4890 2848 839F mul r24,r19 4891 284a 700D add r23,r0 4892 284c 929F mul r25,r18 4893 284e 700D add r23,r0 4894 2850 1124 clr r1 4895 2852 060F add r16,r22 4896 2854 171F adc r17,r23 4897 2856 1093 0000 sts (StickRoll)+1,r17 4898 285a 0093 0000 sts StickRoll,r16 4899 285e 8091 0000 lds r24,ExternControl+5 4900 2862 282F mov r18,r24 4901 2864 3327 clr r19 4902 2866 27FD sbrc r18,7 4903 2868 3095 com r19 4904 286a 8091 0000 lds r24,StickGier 4905 286e 9091 0000 lds r25,(StickGier)+1 4906 2872 820F add r24,r18 4907 2874 931F adc r25,r19 4908 2876 9093 0000 sts (StickGier)+1,r25 4909 287a 8093 0000 sts StickGier,r24 4910 287e 8091 0000 lds r24,ExternControl+7 4911 2882 282F mov r18,r24 4912 2884 3327 clr r19 4913 2886 27FD sbrc r18,7 4914 2888 3095 com r19 4915 288a 8091 0000 lds r24,EE_Parameter+18 4916 288e 9927 clr r25 4917 2890 289F mul r18,r24 4918 2892 D001 movw r26,r0 4919 2894 299F mul r18,r25 4920 2896 B00D add r27,r0 4921 2898 389F mul r19,r24 4922 289a B00D add r27,r0 4923 289c 1124 clr r1 4924 289e B093 0000 sts (ExternHoehenValue)+1,r27 4925 28a2 A093 0000 sts ExternHoehenValue,r26 4926 28a6 8091 0000 lds r24,ExternControl+6 4927 28aa 9927 clr r25 4928 28ac 8E15 cp r24,r14 4929 28ae 9F05 cpc r25,r15 4930 28b0 24F4 brge .L383 4931 28b2 9093 0000 sts (StickGas)+1,r25 4932 28b6 8093 0000 sts StickGas,r24 4933 .L383: 4934 28ba 8091 0000 lds r24,StickGas 4935 28be 9091 0000 lds r25,(StickGas)+1 4936 28c2 97FF sbrs r25,7 4937 28c4 04C0 rjmp .L385 4938 28c6 1092 0000 sts (StickGas)+1,__zero_reg__ 4939 28ca 1092 0000 sts StickGas,__zero_reg__ 4940 .L385: 4941 28ce 8091 0000 lds r24,EE_Parameter+13 4942 28d2 82FF sbrs r24,2 4943 28d4 02C0 rjmp .L386 4944 28d6 1092 0000 sts IntegralFaktor,__zero_reg__ 4945 .L386: 4946 28da 4091 0000 lds r20,StickNick 4947 28de 5091 0000 lds r21,(StickNick)+1 4948 28e2 CA01 movw r24,r20 4949 28e4 57FD sbrc r21,7 4950 28e6 0396 adiw r24,3 4951 .L388: 4952 28e8 9C01 movw r18,r24 4953 28ea 3595 asr r19 4954 28ec 2795 ror r18 4955 28ee 3595 asr r19 4956 28f0 2795 ror r18 4957 28f2 37FF sbrs r19,7 4958 28f4 03C0 rjmp .L389 4959 28f6 3095 com r19 4960 28f8 2195 neg r18 4961 28fa 3F4F sbci r19,lo8(-1) 4962 .L389: 4963 28fc 8091 0000 lds r24,MaxStickNick 4964 2900 9091 0000 lds r25,(MaxStickNick)+1 4965 2904 8217 cp r24,r18 4966 2906 9307 cpc r25,r19 4967 2908 B4F4 brge .L387 4968 290a CA01 movw r24,r20 4969 290c 57FF sbrs r21,7 4970 290e 03C0 rjmp .L390 4971 2910 9095 com r25 4972 2912 8195 neg r24 4973 2914 9F4F sbci r25,lo8(-1) 4974 .L390: 4975 2916 97FD sbrc r25,7 4976 2918 0396 adiw r24,3 4977 .L391: 4978 291a 9595 asr r25 4979 291c 8795 ror r24 4980 291e 9595 asr r25 4981 2920 8795 ror r24 4982 2922 9093 0000 sts (MaxStickNick)+1,r25 4983 2926 8093 0000 sts MaxStickNick,r24 4984 292a 8536 cpi r24,101 4985 292c 9105 cpc r25,__zero_reg__ 4986 292e 44F0 brlt .L393 4987 2930 84E6 ldi r24,lo8(100) 4988 2932 90E0 ldi r25,hi8(100) 4989 2934 01C0 rjmp .L779 4990 .L387: 4991 2936 0197 sbiw r24,1 4992 .L779: 4993 2938 9093 0000 sts (MaxStickNick)+1,r25 4994 293c 8093 0000 sts MaxStickNick,r24 4995 .L393: 4996 2940 4091 0000 lds r20,StickRoll 4997 2944 5091 0000 lds r21,(StickRoll)+1 4998 2948 CA01 movw r24,r20 4999 294a 57FD sbrc r21,7 5000 294c 0396 adiw r24,3 5001 .L395: 5002 294e 9C01 movw r18,r24 5003 2950 3595 asr r19 5004 2952 2795 ror r18 5005 2954 3595 asr r19 5006 2956 2795 ror r18 5007 2958 37FF sbrs r19,7 5008 295a 03C0 rjmp .L396 5009 295c 3095 com r19 5010 295e 2195 neg r18 5011 2960 3F4F sbci r19,lo8(-1) 5012 .L396: 5013 2962 8091 0000 lds r24,MaxStickRoll 5014 2966 9091 0000 lds r25,(MaxStickRoll)+1 5015 296a 8217 cp r24,r18 5016 296c 9307 cpc r25,r19 5017 296e B4F4 brge .L394 5018 2970 CA01 movw r24,r20 5019 2972 57FF sbrs r21,7 5020 2974 03C0 rjmp .L397 5021 2976 9095 com r25 5022 2978 8195 neg r24 5023 297a 9F4F sbci r25,lo8(-1) 5024 .L397: 5025 297c 97FD sbrc r25,7 5026 297e 0396 adiw r24,3 5027 .L398: 5028 2980 9595 asr r25 5029 2982 8795 ror r24 5030 2984 9595 asr r25 5031 2986 8795 ror r24 5032 2988 9093 0000 sts (MaxStickRoll)+1,r25 5033 298c 8093 0000 sts MaxStickRoll,r24 5034 2990 8536 cpi r24,101 5035 2992 9105 cpc r25,__zero_reg__ 5036 2994 44F0 brlt .L400 5037 2996 84E6 ldi r24,lo8(100) 5038 2998 90E0 ldi r25,hi8(100) 5039 299a 01C0 rjmp .L780 5040 .L394: 5041 299c 0197 sbiw r24,1 5042 .L780: 5043 299e 9093 0000 sts (MaxStickRoll)+1,r25 5044 29a2 8093 0000 sts MaxStickRoll,r24 5045 .L400: 5046 29a6 8091 0000 lds r24,FCFlags 5047 29aa 84FF sbrs r24,4 5048 29ac 08C0 rjmp .L401 5049 29ae 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5050 29b2 1092 0000 sts MaxStickNick,__zero_reg__ 5051 29b6 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5052 29ba 1092 0000 sts MaxStickRoll,__zero_reg__ 5053 .L401: 5054 29be EB2D mov r30,r11 5055 29c0 FF27 clr r31 5056 29c2 EE0F add r30,r30 5057 29c4 FF1F adc r31,r31 5058 29c6 E050 subi r30,lo8(-(PPM_in)) 5059 29c8 F040 sbci r31,hi8(-(PPM_in)) 5060 29ca 4091 0000 lds r20,EE_Parameter+58 5061 29ce 242F mov r18,r20 5062 29d0 3327 clr r19 5063 29d2 8081 ld r24,Z 5064 29d4 9181 ldd r25,Z+1 5065 29d6 2817 cp r18,r24 5066 29d8 3907 cpc r19,r25 5067 29da 44F4 brge .L402 5068 29dc 8091 0000 lds r24,EE_Parameter+97 5069 29e0 82FF sbrs r24,2 5070 29e2 04C0 rjmp .L402 5071 29e4 81E0 ldi r24,lo8(1) 5072 29e6 8093 0000 sts Looping_Links,r24 5073 29ea 13C0 rjmp .L403 5074 .L402: 5075 29ec EB2D mov r30,r11 5076 29ee FF27 clr r31 5077 29f0 EE0F add r30,r30 5078 29f2 FF1F adc r31,r31 5079 29f4 E050 subi r30,lo8(-(PPM_in)) 5080 29f6 F040 sbci r31,hi8(-(PPM_in)) 5081 29f8 842F mov r24,r20 5082 29fa 9927 clr r25 5083 29fc 2091 0000 lds r18,EE_Parameter+59 5084 2a00 821B sub r24,r18 5085 2a02 9109 sbc r25,__zero_reg__ 5086 2a04 2081 ld r18,Z 5087 2a06 3181 ldd r19,Z+1 5088 2a08 2817 cp r18,r24 5089 2a0a 3907 cpc r19,r25 5090 2a0c 14F4 brge .L403 5091 2a0e 1092 0000 sts Looping_Links,__zero_reg__ 5092 .L403: 5093 2a12 4091 0000 lds r20,EE_Parameter+2 5094 2a16 E42F mov r30,r20 5095 2a18 FF27 clr r31 5096 2a1a EE0F add r30,r30 5097 2a1c FF1F adc r31,r31 5098 2a1e E050 subi r30,lo8(-(PPM_in)) 5099 2a20 F040 sbci r31,hi8(-(PPM_in)) 5100 2a22 5091 0000 lds r21,EE_Parameter+58 5101 2a26 852F mov r24,r21 5102 2a28 9927 clr r25 5103 2a2a 2227 clr r18 5104 2a2c 3327 clr r19 5105 2a2e 281B sub r18,r24 5106 2a30 390B sbc r19,r25 5107 2a32 8081 ld r24,Z 5108 2a34 9181 ldd r25,Z+1 5109 2a36 8217 cp r24,r18 5110 2a38 9307 cpc r25,r19 5111 2a3a 44F4 brge .L405 5112 2a3c 8091 0000 lds r24,EE_Parameter+97 5113 2a40 83FF sbrs r24,3 5114 2a42 04C0 rjmp .L405 5115 2a44 81E0 ldi r24,lo8(1) 5116 2a46 8093 0000 sts Looping_Rechts,r24 5117 2a4a 16C0 rjmp .L406 5118 .L405: 5119 2a4c 8091 0000 lds r24,Looping_Rechts 5120 2a50 8823 tst r24 5121 2a52 91F0 breq .L406 5122 2a54 E42F mov r30,r20 5123 2a56 FF27 clr r31 5124 2a58 EE0F add r30,r30 5125 2a5a FF1F adc r31,r31 5126 2a5c E050 subi r30,lo8(-(PPM_in)) 5127 2a5e F040 sbci r31,hi8(-(PPM_in)) 5128 2a60 8091 0000 lds r24,EE_Parameter+59 5129 2a64 9927 clr r25 5130 2a66 851B sub r24,r21 5131 2a68 9109 sbc r25,__zero_reg__ 5132 2a6a 2081 ld r18,Z 5133 2a6c 3181 ldd r19,Z+1 5134 2a6e 8217 cp r24,r18 5135 2a70 9307 cpc r25,r19 5136 2a72 14F4 brge .L406 5137 2a74 1092 0000 sts Looping_Rechts,__zero_reg__ 5138 .L406: 5139 2a78 EA2D mov r30,r10 5140 2a7a FF27 clr r31 5141 2a7c EE0F add r30,r30 5142 2a7e FF1F adc r31,r31 5143 2a80 E050 subi r30,lo8(-(PPM_in)) 5144 2a82 F040 sbci r31,hi8(-(PPM_in)) 5145 2a84 4091 0000 lds r20,EE_Parameter+58 5146 2a88 242F mov r18,r20 5147 2a8a 3327 clr r19 5148 2a8c 8081 ld r24,Z 5149 2a8e 9181 ldd r25,Z+1 5150 2a90 2817 cp r18,r24 5151 2a92 3907 cpc r19,r25 5152 2a94 44F4 brge .L409 5153 2a96 8091 0000 lds r24,EE_Parameter+97 5154 2a9a 80FF sbrs r24,0 5155 2a9c 04C0 rjmp .L409 5156 2a9e 81E0 ldi r24,lo8(1) 5157 2aa0 8093 0000 sts Looping_Oben,r24 5158 2aa4 17C0 rjmp .L410 5159 .L409: 5160 2aa6 8091 0000 lds r24,Looping_Oben 5161 2aaa 8823 tst r24 5162 2aac 99F0 breq .L410 5163 2aae EA2D mov r30,r10 5164 2ab0 FF27 clr r31 5165 2ab2 EE0F add r30,r30 5166 2ab4 FF1F adc r31,r31 5167 2ab6 E050 subi r30,lo8(-(PPM_in)) 5168 2ab8 F040 sbci r31,hi8(-(PPM_in)) 5169 2aba 842F mov r24,r20 5170 2abc 9927 clr r25 5171 2abe 2091 0000 lds r18,EE_Parameter+59 5172 2ac2 821B sub r24,r18 5173 2ac4 9109 sbc r25,__zero_reg__ 5174 2ac6 2081 ld r18,Z 5175 2ac8 3181 ldd r19,Z+1 5176 2aca 2817 cp r18,r24 5177 2acc 3907 cpc r19,r25 5178 2ace 14F4 brge .L410 5179 2ad0 1092 0000 sts Looping_Oben,__zero_reg__ 5180 .L410: 5181 2ad4 4091 0000 lds r20,EE_Parameter+1 5182 2ad8 E42F mov r30,r20 5183 2ada FF27 clr r31 5184 2adc EE0F add r30,r30 5185 2ade FF1F adc r31,r31 5186 2ae0 E050 subi r30,lo8(-(PPM_in)) 5187 2ae2 F040 sbci r31,hi8(-(PPM_in)) 5188 2ae4 5091 0000 lds r21,EE_Parameter+58 5189 2ae8 852F mov r24,r21 5190 2aea 9927 clr r25 5191 2aec 2227 clr r18 5192 2aee 3327 clr r19 5193 2af0 281B sub r18,r24 5194 2af2 390B sbc r19,r25 5195 2af4 8081 ld r24,Z 5196 2af6 9181 ldd r25,Z+1 5197 2af8 8217 cp r24,r18 5198 2afa 9307 cpc r25,r19 5199 2afc 44F4 brge .L413 5200 2afe 8091 0000 lds r24,EE_Parameter+97 5201 2b02 81FF sbrs r24,1 5202 2b04 04C0 rjmp .L413 5203 2b06 81E0 ldi r24,lo8(1) 5204 2b08 8093 0000 sts Looping_Unten,r24 5205 2b0c 16C0 rjmp .L414 5206 .L413: 5207 2b0e 8091 0000 lds r24,Looping_Unten 5208 2b12 8823 tst r24 5209 2b14 91F0 breq .L414 5210 2b16 E42F mov r30,r20 5211 2b18 FF27 clr r31 5212 2b1a EE0F add r30,r30 5213 2b1c FF1F adc r31,r31 5214 2b1e E050 subi r30,lo8(-(PPM_in)) 5215 2b20 F040 sbci r31,hi8(-(PPM_in)) 5216 2b22 8091 0000 lds r24,EE_Parameter+59 5217 2b26 9927 clr r25 5218 2b28 851B sub r24,r21 5219 2b2a 9109 sbc r25,__zero_reg__ 5220 2b2c 2081 ld r18,Z 5221 2b2e 3181 ldd r19,Z+1 5222 2b30 8217 cp r24,r18 5223 2b32 9307 cpc r25,r19 5224 2b34 14F4 brge .L414 5225 2b36 1092 0000 sts Looping_Unten,__zero_reg__ 5226 .L414: 5227 2b3a 8091 0000 lds r24,Looping_Links 5228 2b3e 8823 tst r24 5229 2b40 19F4 brne .L418 5230 2b42 8091 0000 lds r24,Looping_Rechts 5231 2b46 8111 cpse r24,__zero_reg__ 5232 .L418: 5233 2b48 81E0 ldi r24,lo8(1) 5234 .L417: 5235 2b4a 8093 0000 sts Looping_Roll,r24 5236 2b4e 8091 0000 lds r24,Looping_Oben 5237 2b52 8823 tst r24 5238 2b54 21F4 brne .L421 5239 2b56 8091 0000 lds r24,Looping_Unten 5240 2b5a 8823 tst r24 5241 2b5c 51F0 breq .L420 5242 .L421: 5243 2b5e 81E0 ldi r24,lo8(1) 5244 2b60 8093 0000 sts Looping_Nick,r24 5245 2b64 1092 0000 sts Looping_Roll,__zero_reg__ 5246 2b68 1092 0000 sts Looping_Links,__zero_reg__ 5247 2b6c 1092 0000 sts Looping_Rechts,__zero_reg__ 5248 2b70 02C0 rjmp .L367 5249 .L420: 5250 2b72 8093 0000 sts Looping_Nick,r24 5251 .L367: 5252 2b76 8091 0000 lds r24,Looping_Roll 5253 2b7a 8823 tst r24 5254 2b7c 21F4 brne .L424 5255 2b7e 8091 0000 lds r24,Looping_Nick 5256 2b82 8823 tst r24 5257 2b84 69F0 breq .L423 5258 .L424: 5259 2b86 8091 0000 lds r24,EE_Parameter+57 5260 2b8a 9927 clr r25 5261 2b8c E8A1 ldd r30,Y+32 5262 2b8e F9A1 ldd r31,Y+33 5263 2b90 8E17 cp r24,r30 5264 2b92 9F07 cpc r25,r31 5265 2b94 14F4 brge .L425 5266 2b96 99A3 std Y+33,r25 5267 2b98 88A3 std Y+32,r24 5268 .L425: 5269 2b9a 81E0 ldi r24,lo8(1) 5270 2b9c 8093 0000 sts TrichterFlug,r24 5271 .L423: 5272 2ba0 8091 0000 lds r24,FCFlags 5273 2ba4 84FF sbrs r24,4 5274 2ba6 1AC0 rjmp .L426 5275 2ba8 1092 0000 sts (StickGier)+1,__zero_reg__ 5276 2bac 1092 0000 sts StickGier,__zero_reg__ 5277 2bb0 1092 0000 sts (StickNick)+1,__zero_reg__ 5278 2bb4 1092 0000 sts StickNick,__zero_reg__ 5279 2bb8 1092 0000 sts (StickRoll)+1,__zero_reg__ 5280 2bbc 1092 0000 sts StickRoll,__zero_reg__ 5281 2bc0 9AE5 ldi r25,lo8(90) 5282 2bc2 9093 0000 sts GyroFaktor,r25 5283 2bc6 88E7 ldi r24,lo8(120) 5284 2bc8 8093 0000 sts IntegralFaktor,r24 5285 2bcc 9093 0000 sts GyroFaktorGier,r25 5286 2bd0 8093 0000 sts IntegralFaktorGier,r24 5287 2bd4 1092 0000 sts Looping_Roll,__zero_reg__ 5288 2bd8 1092 0000 sts Looping_Nick,__zero_reg__ 5289 .L426: 5290 2bdc 8091 0000 lds r24,MittelIntegralNick 5291 2be0 9091 0000 lds r25,(MittelIntegralNick)+1 5292 2be4 A091 0000 lds r26,(MittelIntegralNick)+2 5293 2be8 B091 0000 lds r27,(MittelIntegralNick)+3 5294 2bec 2091 0000 lds r18,IntegralNick 5295 2bf0 3091 0000 lds r19,(IntegralNick)+1 5296 2bf4 4091 0000 lds r20,(IntegralNick)+2 5297 2bf8 5091 0000 lds r21,(IntegralNick)+3 5298 2bfc 820F add r24,r18 5299 2bfe 931F adc r25,r19 5300 2c00 A41F adc r26,r20 5301 2c02 B51F adc r27,r21 5302 2c04 8093 0000 sts MittelIntegralNick,r24 5303 2c08 9093 0000 sts (MittelIntegralNick)+1,r25 5304 2c0c A093 0000 sts (MittelIntegralNick)+2,r26 5305 2c10 B093 0000 sts (MittelIntegralNick)+3,r27 5306 2c14 8091 0000 lds r24,MittelIntegralRoll 5307 2c18 9091 0000 lds r25,(MittelIntegralRoll)+1 5308 2c1c A091 0000 lds r26,(MittelIntegralRoll)+2 5309 2c20 B091 0000 lds r27,(MittelIntegralRoll)+3 5310 2c24 2090 0000 lds r2,IntegralRoll 5311 2c28 3090 0000 lds r3,(IntegralRoll)+1 5312 2c2c 4090 0000 lds r4,(IntegralRoll)+2 5313 2c30 5090 0000 lds r5,(IntegralRoll)+3 5314 2c34 820D add r24,r2 5315 2c36 931D adc r25,r3 5316 2c38 A41D adc r26,r4 5317 2c3a B51D adc r27,r5 5318 2c3c 8093 0000 sts MittelIntegralRoll,r24 5319 2c40 9093 0000 sts (MittelIntegralRoll)+1,r25 5320 2c44 A093 0000 sts (MittelIntegralRoll)+2,r26 5321 2c48 B093 0000 sts (MittelIntegralRoll)+3,r27 5322 2c4c 8091 0000 lds r24,MittelIntegralNick2 5323 2c50 9091 0000 lds r25,(MittelIntegralNick2)+1 5324 2c54 A091 0000 lds r26,(MittelIntegralNick2)+2 5325 2c58 B091 0000 lds r27,(MittelIntegralNick2)+3 5326 2c5c E090 0000 lds r14,IntegralNick2 5327 2c60 F090 0000 lds r15,(IntegralNick2)+1 5328 2c64 0091 0000 lds r16,(IntegralNick2)+2 5329 2c68 1091 0000 lds r17,(IntegralNick2)+3 5330 2c6c EAA2 std Y+34,r14 5331 2c6e FBA2 std Y+35,r15 5332 2c70 0CA3 std Y+36,r16 5333 2c72 1DA3 std Y+37,r17 5334 2c74 8E0D add r24,r14 5335 2c76 9F1D adc r25,r15 5336 2c78 A01F adc r26,r16 5337 2c7a B11F adc r27,r17 5338 2c7c 8093 0000 sts MittelIntegralNick2,r24 5339 2c80 9093 0000 sts (MittelIntegralNick2)+1,r25 5340 2c84 A093 0000 sts (MittelIntegralNick2)+2,r26 5341 2c88 B093 0000 sts (MittelIntegralNick2)+3,r27 5342 2c8c 8091 0000 lds r24,MittelIntegralRoll2 5343 2c90 9091 0000 lds r25,(MittelIntegralRoll2)+1 5344 2c94 A091 0000 lds r26,(MittelIntegralRoll2)+2 5345 2c98 B091 0000 lds r27,(MittelIntegralRoll2)+3 5346 2c9c E090 0000 lds r14,IntegralRoll2 5347 2ca0 F090 0000 lds r15,(IntegralRoll2)+1 5348 2ca4 0091 0000 lds r16,(IntegralRoll2)+2 5349 2ca8 1091 0000 lds r17,(IntegralRoll2)+3 5350 2cac EEA2 std Y+38,r14 5351 2cae FFA2 std Y+39,r15 5352 2cb0 08A7 std Y+40,r16 5353 2cb2 19A7 std Y+41,r17 5354 2cb4 8E0D add r24,r14 5355 2cb6 9F1D adc r25,r15 5356 2cb8 A01F adc r26,r16 5357 2cba B11F adc r27,r17 5358 2cbc 8093 0000 sts MittelIntegralRoll2,r24 5359 2cc0 9093 0000 sts (MittelIntegralRoll2)+1,r25 5360 2cc4 A093 0000 sts (MittelIntegralRoll2)+2,r26 5361 2cc8 B093 0000 sts (MittelIntegralRoll2)+3,r27 5362 2ccc F090 0000 lds r15,Looping_Nick 5363 2cd0 FAA6 std Y+42,r15 5364 2cd2 FF20 tst r15 5365 2cd4 29F4 brne .L428 5366 2cd6 8091 0000 lds r24,Looping_Roll 5367 2cda 8823 tst r24 5368 2cdc 09F4 brne .+2 5369 2cde 60C0 rjmp .L775 5370 .L428: 5371 2ce0 1092 0000 sts IntegralAccNick,__zero_reg__ 5372 2ce4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5373 2ce8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5374 2cec 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5375 2cf0 1092 0000 sts IntegralAccRoll,__zero_reg__ 5376 2cf4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5377 2cf8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5378 2cfc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5379 2d00 1092 0000 sts MittelIntegralNick,__zero_reg__ 5380 2d04 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5381 2d08 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5382 2d0c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5383 2d10 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5384 2d14 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5385 2d18 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5386 2d1c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5387 2d20 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5388 2d24 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5389 2d28 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5390 2d2c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5391 2d30 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5392 2d34 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5393 2d38 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5394 2d3c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5395 2d40 8091 0000 lds r24,Mess_IntegralNick 5396 2d44 9091 0000 lds r25,(Mess_IntegralNick)+1 5397 2d48 A091 0000 lds r26,(Mess_IntegralNick)+2 5398 2d4c B091 0000 lds r27,(Mess_IntegralNick)+3 5399 2d50 8093 0000 sts Mess_IntegralNick2,r24 5400 2d54 9093 0000 sts (Mess_IntegralNick2)+1,r25 5401 2d58 A093 0000 sts (Mess_IntegralNick2)+2,r26 5402 2d5c B093 0000 sts (Mess_IntegralNick2)+3,r27 5403 2d60 8091 0000 lds r24,Mess_IntegralRoll 5404 2d64 9091 0000 lds r25,(Mess_IntegralRoll)+1 5405 2d68 A091 0000 lds r26,(Mess_IntegralRoll)+2 5406 2d6c B091 0000 lds r27,(Mess_IntegralRoll)+3 5407 2d70 8093 0000 sts Mess_IntegralRoll2,r24 5408 2d74 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5409 2d78 A093 0000 sts (Mess_IntegralRoll2)+2,r26 5410 2d7c B093 0000 sts (Mess_IntegralRoll2)+3,r27 5411 2d80 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5412 2d84 1092 0000 sts ZaehlMessungen,__zero_reg__ 5413 2d88 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5414 2d8c 1092 0000 sts LageKorrekturNick,__zero_reg__ 5415 2d90 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5416 2d94 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5417 2d98 0AA5 ldd r16,Y+42 5418 2d9a 0023 tst r16 5419 2d9c 09F0 breq .+2 5420 2d9e F2C1 rjmp .L429 5421 .L775: 5422 2da0 8091 0000 lds r24,Looping_Roll 5423 2da4 8823 tst r24 5424 2da6 09F0 breq .+2 5425 2da8 EDC1 rjmp .L429 5426 2daa 8091 0000 lds r24,Aktuell_az 5427 2dae 9091 0000 lds r25,(Aktuell_az)+1 5428 2db2 8150 subi r24,lo8(513) 5429 2db4 9240 sbci r25,hi8(513) 5430 2db6 2CF4 brge .L430 5431 2db8 8091 0000 lds r24,MotorenEin 5432 2dbc 8823 tst r24 5433 2dbe 09F4 brne .+2 5434 2dc0 E1C1 rjmp .L429 5435 .L430: 5436 2dc2 9090 0000 lds r9,FromNaviCtrl_Value 5437 2dc6 A090 0000 lds r10,EE_Parameter+28 5438 2dca 6091 0000 lds r22,Mittelwert_AccNick 5439 2dce 7091 0000 lds r23,(Mittelwert_AccNick)+1 5440 2dd2 7BAB std Y+51,r23 5441 2dd4 6AAB std Y+50,r22 5442 2dd6 8091 0000 lds r24,Mittelwert_AccRoll 5443 2dda 9091 0000 lds r25,(Mittelwert_AccRoll)+1 5444 2dde 9DAB std Y+53,r25 5445 2de0 8CAB std Y+52,r24 5446 2de2 9FEF ldi r25,lo8(-1) 5447 2de4 9916 cp r9,r25 5448 2de6 09F4 brne .+2 5449 2de8 D9C0 rjmp .L431 5450 2dea BB24 clr r11 5451 2dec CC24 clr r12 5452 2dee DD24 clr r13 5453 2df0 CA01 movw r24,r20 5454 2df2 B901 movw r22,r18 5455 2df4 A601 movw r20,r12 5456 2df6 9501 movw r18,r10 5457 2df8 0E94 0000 call __divmodsi4 5458 2dfc 7901 movw r14,r18 5459 2dfe 8A01 movw r16,r20 5460 2e00 EAA9 ldd r30,Y+50 5461 2e02 FBA9 ldd r31,Y+51 5462 2e04 CF01 movw r24,r30 5463 2e06 AA27 clr r26 5464 2e08 97FD sbrc r25,7 5465 2e0a A095 com r26 5466 2e0c BA2F mov r27,r26 5467 2e0e E81A sub r14,r24 5468 2e10 F90A sbc r15,r25 5469 2e12 0A0B sbc r16,r26 5470 2e14 1B0B sbc r17,r27 5471 2e16 C201 movw r24,r4 5472 2e18 B101 movw r22,r2 5473 2e1a A601 movw r20,r12 5474 2e1c 9501 movw r18,r10 5475 2e1e 0E94 0000 call __divmodsi4 5476 2e22 5901 movw r10,r18 5477 2e24 6A01 movw r12,r20 5478 2e26 2CA9 ldd r18,Y+52 5479 2e28 3DA9 ldd r19,Y+53 5480 2e2a C901 movw r24,r18 5481 2e2c AA27 clr r26 5482 2e2e 97FD sbrc r25,7 5483 2e30 A095 com r26 5484 2e32 BA2F mov r27,r26 5485 2e34 A81A sub r10,r24 5486 2e36 B90A sbc r11,r25 5487 2e38 CA0A sbc r12,r26 5488 2e3a DB0A sbc r13,r27 5489 2e3c 292C mov r2,r9 5490 2e3e 3324 clr r3 5491 2e40 27FC sbrc r2,7 5492 2e42 3094 com r3 5493 2e44 432C mov r4,r3 5494 2e46 532C mov r5,r3 5495 2e48 C801 movw r24,r16 5496 2e4a B701 movw r22,r14 5497 2e4c A201 movw r20,r4 5498 2e4e 9101 movw r18,r2 5499 2e50 0E94 0000 call __mulsi3 5500 2e54 97FF sbrs r25,7 5501 2e56 04C0 rjmp .L432 5502 2e58 6150 subi r22,lo8(-(511)) 5503 2e5a 7E4F sbci r23,hi8(-(511)) 5504 2e5c 8F4F sbci r24,hlo8(-(511)) 5505 2e5e 9F4F sbci r25,hhi8(-(511)) 5506 .L432: 5507 2e60 3B01 movw r6,r22 5508 2e62 4C01 movw r8,r24 5509 2e64 09E0 ldi r16,9 5510 2e66 9594 1: asr r9 5511 2e68 8794 ror r8 5512 2e6a 7794 ror r7 5513 2e6c 6794 ror r6 5514 2e6e 0A95 dec r16 5515 2e70 D1F7 brne 1b 5516 2e72 C601 movw r24,r12 5517 2e74 B501 movw r22,r10 5518 2e76 A201 movw r20,r4 5519 2e78 9101 movw r18,r2 5520 2e7a 0E94 0000 call __mulsi3 5521 2e7e 97FF sbrs r25,7 5522 2e80 04C0 rjmp .L433 5523 2e82 6150 subi r22,lo8(-(511)) 5524 2e84 7E4F sbci r23,hi8(-(511)) 5525 2e86 8F4F sbci r24,hlo8(-(511)) 5526 2e88 9F4F sbci r25,hhi8(-(511)) 5527 .L433: 5528 2e8a 5B01 movw r10,r22 5529 2e8c 6C01 movw r12,r24 5530 2e8e 19E0 ldi r17,9 5531 2e90 D594 1: asr r13 5532 2e92 C794 ror r12 5533 2e94 B794 ror r11 5534 2e96 A794 ror r10 5535 2e98 1A95 dec r17 5536 2e9a D1F7 brne 1b 5537 2e9c 8091 0000 lds r24,MaxStickNick 5538 2ea0 9091 0000 lds r25,(MaxStickNick)+1 5539 2ea4 8134 cpi r24,65 5540 2ea6 9105 cpc r25,__zero_reg__ 5541 2ea8 3CF4 brge .L435 5542 2eaa 8091 0000 lds r24,MaxStickRoll 5543 2eae 9091 0000 lds r25,(MaxStickRoll)+1 5544 2eb2 8134 cpi r24,65 5545 2eb4 9105 cpc r25,__zero_reg__ 5546 2eb6 D4F0 brlt .L434 5547 .L435: 5548 2eb8 D401 movw r26,r8 5549 2eba C301 movw r24,r6 5550 2ebc 97FE sbrs r9,7 5551 2ebe 03C0 rjmp .L436 5552 2ec0 0196 adiw r24,1 5553 2ec2 A11D adc r26,__zero_reg__ 5554 2ec4 B11D adc r27,__zero_reg__ 5555 .L436: 5556 2ec6 3C01 movw r6,r24 5557 2ec8 4D01 movw r8,r26 5558 2eca 9594 asr r9 5559 2ecc 8794 ror r8 5560 2ece 7794 ror r7 5561 2ed0 6794 ror r6 5562 2ed2 D601 movw r26,r12 5563 2ed4 C501 movw r24,r10 5564 2ed6 D7FE sbrs r13,7 5565 2ed8 03C0 rjmp .L437 5566 2eda 0196 adiw r24,1 5567 2edc A11D adc r26,__zero_reg__ 5568 2ede B11D adc r27,__zero_reg__ 5569 .L437: 5570 2ee0 5C01 movw r10,r24 5571 2ee2 6D01 movw r12,r26 5572 2ee4 D594 asr r13 5573 2ee6 C794 ror r12 5574 2ee8 B794 ror r11 5575 2eea A794 ror r10 5576 .L434: 5577 2eec 8091 0000 lds r24,EE_Parameter+4 5578 2ef0 E82F mov r30,r24 5579 2ef2 FF27 clr r31 5580 2ef4 EE0F add r30,r30 5581 2ef6 FF1F adc r31,r31 5582 2ef8 E050 subi r30,lo8(-(PPM_in)) 5583 2efa F040 sbci r31,hi8(-(PPM_in)) 5584 2efc 8081 ld r24,Z 5585 2efe 9181 ldd r25,Z+1 5586 2f00 0190 ld __tmp_reg__,Z+ 5587 2f02 F081 ld r31,Z 5588 2f04 E02D mov r30,__tmp_reg__ 5589 2f06 F7FF sbrs r31,7 5590 2f08 03C0 rjmp .L439 5591 2f0a F095 com r31 5592 2f0c E195 neg r30 5593 2f0e FF4F sbci r31,lo8(-1) 5594 .L439: 5595 2f10 7A97 sbiw r30,26 5596 2f12 A4F0 brlt .L438 5597 2f14 C401 movw r24,r8 5598 2f16 B301 movw r22,r6 5599 2f18 23E0 ldi r18,lo8(3) 5600 2f1a 30E0 ldi r19,hi8(3) 5601 2f1c 40E0 ldi r20,hlo8(3) 5602 2f1e 50E0 ldi r21,hhi8(3) 5603 2f20 0E94 0000 call __divmodsi4 5604 2f24 3901 movw r6,r18 5605 2f26 4A01 movw r8,r20 5606 2f28 C601 movw r24,r12 5607 2f2a B501 movw r22,r10 5608 2f2c 23E0 ldi r18,lo8(3) 5609 2f2e 30E0 ldi r19,hi8(3) 5610 2f30 40E0 ldi r20,hlo8(3) 5611 2f32 50E0 ldi r21,hhi8(3) 5612 2f34 0E94 0000 call __divmodsi4 5613 2f38 5901 movw r10,r18 5614 2f3a 6A01 movw r12,r20 5615 .L438: 5616 2f3c 8091 0000 lds r24,FromNaviCtrl_Value+2 5617 2f40 282F mov r18,r24 5618 2f42 3327 clr r19 5619 2f44 27FD sbrc r18,7 5620 2f46 3095 com r19 5621 2f48 432F mov r20,r19 5622 2f4a 532F mov r21,r19 5623 2f4c 2615 cp r18,r6 5624 2f4e 3705 cpc r19,r7 5625 2f50 4805 cpc r20,r8 5626 2f52 5905 cpc r21,r9 5627 2f54 14F4 brge .L440 5628 2f56 3901 movw r6,r18 5629 2f58 4A01 movw r8,r20 5630 .L440: 5631 2f5a 9927 clr r25 5632 2f5c 87FD sbrc r24,7 5633 2f5e 9095 com r25 5634 2f60 9095 com r25 5635 2f62 8195 neg r24 5636 2f64 9F4F sbci r25,lo8(-1) 5637 2f66 AA27 clr r26 5638 2f68 97FD sbrc r25,7 5639 2f6a A095 com r26 5640 2f6c BA2F mov r27,r26 5641 2f6e 6816 cp r6,r24 5642 2f70 7906 cpc r7,r25 5643 2f72 8A06 cpc r8,r26 5644 2f74 9B06 cpc r9,r27 5645 2f76 14F4 brge .L441 5646 2f78 3C01 movw r6,r24 5647 2f7a 4D01 movw r8,r26 5648 .L441: 5649 2f7c 2A15 cp r18,r10 5650 2f7e 3B05 cpc r19,r11 5651 2f80 4C05 cpc r20,r12 5652 2f82 5D05 cpc r21,r13 5653 2f84 14F4 brge .L442 5654 2f86 5901 movw r10,r18 5655 2f88 6A01 movw r12,r20 5656 .L442: 5657 2f8a A816 cp r10,r24 5658 2f8c B906 cpc r11,r25 5659 2f8e CA06 cpc r12,r26 5660 2f90 DB06 cpc r13,r27 5661 2f92 0CF0 brlt .+2 5662 2f94 CFC0 rjmp .L444 5663 2f96 5C01 movw r10,r24 5664 2f98 6D01 movw r12,r26 5665 2f9a CCC0 rjmp .L444 5666 .L431: 5667 2f9c EA2C mov r14,r10 5668 2f9e FF24 clr r15 5669 2fa0 0027 clr r16 5670 2fa2 1127 clr r17 5671 2fa4 CA01 movw r24,r20 5672 2fa6 B901 movw r22,r18 5673 2fa8 A801 movw r20,r16 5674 2faa 9701 movw r18,r14 5675 2fac 0E94 0000 call __divmodsi4 5676 2fb0 3901 movw r6,r18 5677 2fb2 4A01 movw r8,r20 5678 2fb4 4AA9 ldd r20,Y+50 5679 2fb6 5BA9 ldd r21,Y+51 5680 2fb8 CA01 movw r24,r20 5681 2fba AA27 clr r26 5682 2fbc 97FD sbrc r25,7 5683 2fbe A095 com r26 5684 2fc0 BA2F mov r27,r26 5685 2fc2 681A sub r6,r24 5686 2fc4 790A sbc r7,r25 5687 2fc6 8A0A sbc r8,r26 5688 2fc8 9B0A sbc r9,r27 5689 2fca C201 movw r24,r4 5690 2fcc B101 movw r22,r2 5691 2fce A801 movw r20,r16 5692 2fd0 9701 movw r18,r14 5693 2fd2 0E94 0000 call __divmodsi4 5694 2fd6 5901 movw r10,r18 5695 2fd8 6A01 movw r12,r20 5696 2fda 6CA9 ldd r22,Y+52 5697 2fdc 7DA9 ldd r23,Y+53 5698 2fde CB01 movw r24,r22 5699 2fe0 AA27 clr r26 5700 2fe2 97FD sbrc r25,7 5701 2fe4 A095 com r26 5702 2fe6 BA2F mov r27,r26 5703 2fe8 A81A sub r10,r24 5704 2fea B90A sbc r11,r25 5705 2fec CA0A sbc r12,r26 5706 2fee DB0A sbc r13,r27 5707 2ff0 D401 movw r26,r8 5708 2ff2 C301 movw r24,r6 5709 2ff4 97FE sbrs r9,7 5710 2ff6 03C0 rjmp .L445 5711 2ff8 0F96 adiw r24,15 5712 2ffa A11D adc r26,__zero_reg__ 5713 2ffc B11D adc r27,__zero_reg__ 5714 .L445: 5715 2ffe 3C01 movw r6,r24 5716 3000 4D01 movw r8,r26 5717 3002 F4E0 ldi r31,4 5718 3004 9594 1: asr r9 5719 3006 8794 ror r8 5720 3008 7794 ror r7 5721 300a 6794 ror r6 5722 300c FA95 dec r31 5723 300e D1F7 brne 1b 5724 3010 D601 movw r26,r12 5725 3012 C501 movw r24,r10 5726 3014 D7FE sbrs r13,7 5727 3016 03C0 rjmp .L446 5728 3018 0F96 adiw r24,15 5729 301a A11D adc r26,__zero_reg__ 5730 301c B11D adc r27,__zero_reg__ 5731 .L446: 5732 301e 5C01 movw r10,r24 5733 3020 6D01 movw r12,r26 5734 3022 E4E0 ldi r30,4 5735 3024 D594 1: asr r13 5736 3026 C794 ror r12 5737 3028 B794 ror r11 5738 302a A794 ror r10 5739 302c EA95 dec r30 5740 302e D1F7 brne 1b 5741 3030 8091 0000 lds r24,MaxStickNick 5742 3034 9091 0000 lds r25,(MaxStickNick)+1 5743 3038 8134 cpi r24,65 5744 303a 9105 cpc r25,__zero_reg__ 5745 303c 3CF4 brge .L448 5746 303e 8091 0000 lds r24,MaxStickRoll 5747 3042 9091 0000 lds r25,(MaxStickRoll)+1 5748 3046 8134 cpi r24,65 5749 3048 9105 cpc r25,__zero_reg__ 5750 304a A4F0 brlt .L447 5751 .L448: 5752 304c C401 movw r24,r8 5753 304e B301 movw r22,r6 5754 3050 23E0 ldi r18,lo8(3) 5755 3052 30E0 ldi r19,hi8(3) 5756 3054 40E0 ldi r20,hlo8(3) 5757 3056 50E0 ldi r21,hhi8(3) 5758 3058 0E94 0000 call __divmodsi4 5759 305c 3901 movw r6,r18 5760 305e 4A01 movw r8,r20 5761 3060 C601 movw r24,r12 5762 3062 B501 movw r22,r10 5763 3064 23E0 ldi r18,lo8(3) 5764 3066 30E0 ldi r19,hi8(3) 5765 3068 40E0 ldi r20,hlo8(3) 5766 306a 50E0 ldi r21,hhi8(3) 5767 306c 0E94 0000 call __divmodsi4 5768 3070 5901 movw r10,r18 5769 3072 6A01 movw r12,r20 5770 .L447: 5771 3074 8091 0000 lds r24,EE_Parameter+4 5772 3078 E82F mov r30,r24 5773 307a FF27 clr r31 5774 307c EE0F add r30,r30 5775 307e FF1F adc r31,r31 5776 3080 E050 subi r30,lo8(-(PPM_in)) 5777 3082 F040 sbci r31,hi8(-(PPM_in)) 5778 3084 8081 ld r24,Z 5779 3086 9181 ldd r25,Z+1 5780 3088 0190 ld __tmp_reg__,Z+ 5781 308a F081 ld r31,Z 5782 308c E02D mov r30,__tmp_reg__ 5783 308e F7FF sbrs r31,7 5784 3090 03C0 rjmp .L450 5785 3092 F095 com r31 5786 3094 E195 neg r30 5787 3096 FF4F sbci r31,lo8(-1) 5788 .L450: 5789 3098 7A97 sbiw r30,26 5790 309a A4F0 brlt .L449 5791 309c C401 movw r24,r8 5792 309e B301 movw r22,r6 5793 30a0 23E0 ldi r18,lo8(3) 5794 30a2 30E0 ldi r19,hi8(3) 5795 30a4 40E0 ldi r20,hlo8(3) 5796 30a6 50E0 ldi r21,hhi8(3) 5797 30a8 0E94 0000 call __divmodsi4 5798 30ac 3901 movw r6,r18 5799 30ae 4A01 movw r8,r20 5800 30b0 C601 movw r24,r12 5801 30b2 B501 movw r22,r10 5802 30b4 23E0 ldi r18,lo8(3) 5803 30b6 30E0 ldi r19,hi8(3) 5804 30b8 40E0 ldi r20,hlo8(3) 5805 30ba 50E0 ldi r21,hhi8(3) 5806 30bc 0E94 0000 call __divmodsi4 5807 30c0 5901 movw r10,r18 5808 30c2 6A01 movw r12,r20 5809 .L449: 5810 30c4 71E2 ldi r23,lo8(33) 5811 30c6 6716 cp r6,r23 5812 30c8 7104 cpc r7,__zero_reg__ 5813 30ca 8104 cpc r8,__zero_reg__ 5814 30cc 9104 cpc r9,__zero_reg__ 5815 30ce 2CF0 brlt .L451 5816 30d0 70E2 ldi r23,lo8(32) 5817 30d2 672E mov r6,r23 5818 30d4 712C mov r7,__zero_reg__ 5819 30d6 812C mov r8,__zero_reg__ 5820 30d8 912C mov r9,__zero_reg__ 5821 .L451: 5822 30da 80EE ldi r24,lo8(-32) 5823 30dc 6816 cp r6,r24 5824 30de 8FEF ldi r24,hi8(-32) 5825 30e0 7806 cpc r7,r24 5826 30e2 8FEF ldi r24,hlo8(-32) 5827 30e4 8806 cpc r8,r24 5828 30e6 8FEF ldi r24,hhi8(-32) 5829 30e8 9806 cpc r9,r24 5830 30ea 44F4 brge .L452 5831 30ec 60EE ldi r22,lo8(-32) 5832 30ee 662E mov r6,r22 5833 30f0 6FEF ldi r22,hi8(-32) 5834 30f2 762E mov r7,r22 5835 30f4 6FEF ldi r22,hlo8(-32) 5836 30f6 862E mov r8,r22 5837 30f8 6FEF ldi r22,hhi8(-32) 5838 30fa 962E mov r9,r22 5839 .L452: 5840 30fc 91E2 ldi r25,lo8(33) 5841 30fe A916 cp r10,r25 5842 3100 B104 cpc r11,__zero_reg__ 5843 3102 C104 cpc r12,__zero_reg__ 5844 3104 D104 cpc r13,__zero_reg__ 5845 3106 2CF0 brlt .L453 5846 3108 50E2 ldi r21,lo8(32) 5847 310a A52E mov r10,r21 5848 310c B12C mov r11,__zero_reg__ 5849 310e C12C mov r12,__zero_reg__ 5850 3110 D12C mov r13,__zero_reg__ 5851 .L453: 5852 3112 A0EE ldi r26,lo8(-32) 5853 3114 AA16 cp r10,r26 5854 3116 AFEF ldi r26,hi8(-32) 5855 3118 BA06 cpc r11,r26 5856 311a AFEF ldi r26,hlo8(-32) 5857 311c CA06 cpc r12,r26 5858 311e AFEF ldi r26,hhi8(-32) 5859 3120 DA06 cpc r13,r26 5860 3122 44F4 brge .L444 5861 3124 40EE ldi r20,lo8(-32) 5862 3126 A42E mov r10,r20 5863 3128 4FEF ldi r20,hi8(-32) 5864 312a B42E mov r11,r20 5865 312c 4FEF ldi r20,hlo8(-32) 5866 312e C42E mov r12,r20 5867 3130 4FEF ldi r20,hhi8(-32) 5868 3132 D42E mov r13,r20 5869 .L444: 5870 3134 8091 0000 lds r24,Mess_IntegralNick 5871 3138 9091 0000 lds r25,(Mess_IntegralNick)+1 5872 313c A091 0000 lds r26,(Mess_IntegralNick)+2 5873 3140 B091 0000 lds r27,(Mess_IntegralNick)+3 5874 3144 8619 sub r24,r6 5875 3146 9709 sbc r25,r7 5876 3148 A809 sbc r26,r8 5877 314a B909 sbc r27,r9 5878 314c 8093 0000 sts Mess_IntegralNick,r24 5879 3150 9093 0000 sts (Mess_IntegralNick)+1,r25 5880 3154 A093 0000 sts (Mess_IntegralNick)+2,r26 5881 3158 B093 0000 sts (Mess_IntegralNick)+3,r27 5882 315c 8091 0000 lds r24,Mess_IntegralRoll 5883 3160 9091 0000 lds r25,(Mess_IntegralRoll)+1 5884 3164 A091 0000 lds r26,(Mess_IntegralRoll)+2 5885 3168 B091 0000 lds r27,(Mess_IntegralRoll)+3 5886 316c 8A19 sub r24,r10 5887 316e 9B09 sbc r25,r11 5888 3170 AC09 sbc r26,r12 5889 3172 BD09 sbc r27,r13 5890 3174 8093 0000 sts Mess_IntegralRoll,r24 5891 3178 9093 0000 sts (Mess_IntegralRoll)+1,r25 5892 317c A093 0000 sts (Mess_IntegralRoll)+2,r26 5893 3180 B093 0000 sts (Mess_IntegralRoll)+3,r27 5894 .L429: 5895 3184 8091 0000 lds r24,ZaehlMessungen 5896 3188 9091 0000 lds r25,(ZaehlMessungen)+1 5897 318c 8F3F cpi r24,255 5898 318e 9105 cpc r25,__zero_reg__ 5899 3190 09F0 breq .+2 5900 3192 08F4 brsh .+2 5901 3194 C4C5 rjmp .L455 5902 3196 BAA5 ldd r27,Y+42 5903 3198 BB23 tst r27 5904 319a 09F0 breq .+2 5905 319c 4EC5 rjmp .L456 5906 319e 8091 0000 lds r24,Looping_Roll 5907 31a2 8823 tst r24 5908 31a4 09F0 breq .+2 5909 31a6 49C5 rjmp .L456 5910 31a8 8091 0000 lds r24,TrichterFlug 5911 31ac 8823 tst r24 5912 31ae 09F0 breq .+2 5913 31b0 44C5 rjmp .L456 5914 31b2 E091 0000 lds r30,EE_Parameter+66 5915 31b6 EBA7 std Y+43,r30 5916 31b8 EE23 tst r30 5917 31ba 09F4 brne .+2 5918 31bc 3EC5 rjmp .L456 5919 31be 8091 0000 lds r24,MittelIntegralNick 5920 31c2 9091 0000 lds r25,(MittelIntegralNick)+1 5921 31c6 A091 0000 lds r26,(MittelIntegralNick)+2 5922 31ca B091 0000 lds r27,(MittelIntegralNick)+3 5923 31ce B7FF sbrs r27,7 5924 31d0 04C0 rjmp .L457 5925 31d2 8150 subi r24,lo8(-(255)) 5926 31d4 9F4F sbci r25,hi8(-(255)) 5927 31d6 AF4F sbci r26,hlo8(-(255)) 5928 31d8 BF4F sbci r27,hhi8(-(255)) 5929 .L457: 5930 31da E92E mov r14,r25 5931 31dc FA2E mov r15,r26 5932 31de 0B2F mov r16,r27 5933 31e0 1127 clr r17 5934 31e2 07FD sbrc r16,7 5935 31e4 1A95 dec r17 5936 31e6 E092 0000 sts MittelIntegralNick,r14 5937 31ea F092 0000 sts (MittelIntegralNick)+1,r15 5938 31ee 0093 0000 sts (MittelIntegralNick)+2,r16 5939 31f2 1093 0000 sts (MittelIntegralNick)+3,r17 5940 31f6 8091 0000 lds r24,MittelIntegralRoll 5941 31fa 9091 0000 lds r25,(MittelIntegralRoll)+1 5942 31fe A091 0000 lds r26,(MittelIntegralRoll)+2 5943 3202 B091 0000 lds r27,(MittelIntegralRoll)+3 5944 3206 B7FF sbrs r27,7 5945 3208 04C0 rjmp .L458 5946 320a 8150 subi r24,lo8(-(255)) 5947 320c 9F4F sbci r25,hi8(-(255)) 5948 320e AF4F sbci r26,hlo8(-(255)) 5949 3210 BF4F sbci r27,hhi8(-(255)) 5950 .L458: 5951 3212 892F mov r24,r25 5952 3214 9A2F mov r25,r26 5953 3216 AB2F mov r26,r27 5954 3218 BB27 clr r27 5955 321a A7FD sbrc r26,7 5956 321c BA95 dec r27 5957 321e 8CA7 std Y+44,r24 5958 3220 9DA7 std Y+45,r25 5959 3222 AEA7 std Y+46,r26 5960 3224 BFA7 std Y+47,r27 5961 3226 8093 0000 sts MittelIntegralRoll,r24 5962 322a 9093 0000 sts (MittelIntegralRoll)+1,r25 5963 322e A093 0000 sts (MittelIntegralRoll)+2,r26 5964 3232 B093 0000 sts (MittelIntegralRoll)+3,r27 5965 3236 8091 0000 lds r24,EE_Parameter+28 5966 323a A82E mov r10,r24 5967 323c BB24 clr r11 5968 323e CC24 clr r12 5969 3240 DD24 clr r13 5970 3242 2091 0000 lds r18,IntegralAccNick 5971 3246 3091 0000 lds r19,(IntegralAccNick)+1 5972 324a 4091 0000 lds r20,(IntegralAccNick)+2 5973 324e 5091 0000 lds r21,(IntegralAccNick)+3 5974 3252 C601 movw r24,r12 5975 3254 B501 movw r22,r10 5976 3256 0E94 0000 call __mulsi3 5977 325a 97FF sbrs r25,7 5978 325c 04C0 rjmp .L459 5979 325e 6150 subi r22,lo8(-(255)) 5980 3260 7F4F sbci r23,hi8(-(255)) 5981 3262 8F4F sbci r24,hlo8(-(255)) 5982 3264 9F4F sbci r25,hhi8(-(255)) 5983 .L459: 5984 3266 672E mov r6,r23 5985 3268 782E mov r7,r24 5986 326a 892E mov r8,r25 5987 326c 9924 clr r9 5988 326e 87FC sbrc r8,7 5989 3270 9A94 dec r9 5990 3272 6092 0000 sts IntegralAccNick,r6 5991 3276 7092 0000 sts (IntegralAccNick)+1,r7 5992 327a 8092 0000 sts (IntegralAccNick)+2,r8 5993 327e 9092 0000 sts (IntegralAccNick)+3,r9 5994 3282 2091 0000 lds r18,IntegralAccRoll 5995 3286 3091 0000 lds r19,(IntegralAccRoll)+1 5996 328a 4091 0000 lds r20,(IntegralAccRoll)+2 5997 328e 5091 0000 lds r21,(IntegralAccRoll)+3 5998 3292 C601 movw r24,r12 5999 3294 B501 movw r22,r10 6000 3296 0E94 0000 call __mulsi3 6001 329a 97FF sbrs r25,7 6002 329c 04C0 rjmp .L460 6003 329e 6150 subi r22,lo8(-(255)) 6004 32a0 7F4F sbci r23,hi8(-(255)) 6005 32a2 8F4F sbci r24,hlo8(-(255)) 6006 32a4 9F4F sbci r25,hhi8(-(255)) 6007 .L460: 6008 32a6 272E mov r2,r23 6009 32a8 382E mov r3,r24 6010 32aa 492E mov r4,r25 6011 32ac 5524 clr r5 6012 32ae 47FC sbrc r4,7 6013 32b0 5A94 dec r5 6014 32b2 2092 0000 sts IntegralAccRoll,r2 6015 32b6 3092 0000 sts (IntegralAccRoll)+1,r3 6016 32ba 4092 0000 sts (IntegralAccRoll)+2,r4 6017 32be 5092 0000 sts (IntegralAccRoll)+3,r5 6018 32c2 8091 0000 lds r24,IntegralAccZ 6019 32c6 9091 0000 lds r25,(IntegralAccZ)+1 6020 32ca A091 0000 lds r26,(IntegralAccZ)+2 6021 32ce B091 0000 lds r27,(IntegralAccZ)+3 6022 32d2 B7FF sbrs r27,7 6023 32d4 04C0 rjmp .L461 6024 32d6 8150 subi r24,lo8(-(255)) 6025 32d8 9F4F sbci r25,hi8(-(255)) 6026 32da AF4F sbci r26,hlo8(-(255)) 6027 32dc BF4F sbci r27,hhi8(-(255)) 6028 .L461: 6029 32de 892F mov r24,r25 6030 32e0 9A2F mov r25,r26 6031 32e2 AB2F mov r26,r27 6032 32e4 BB27 clr r27 6033 32e6 A7FD sbrc r26,7 6034 32e8 BA95 dec r27 6035 32ea 8093 0000 sts IntegralAccZ,r24 6036 32ee 9093 0000 sts (IntegralAccZ)+1,r25 6037 32f2 A093 0000 sts (IntegralAccZ)+2,r26 6038 32f6 B093 0000 sts (IntegralAccZ)+3,r27 6039 32fa D801 movw r26,r16 6040 32fc C701 movw r24,r14 6041 32fe 8619 sub r24,r6 6042 3300 9709 sbc r25,r7 6043 3302 A809 sbc r26,r8 6044 3304 B909 sbc r27,r9 6045 3306 8093 0000 sts IntegralFehlerNick.3,r24 6046 330a 9093 0000 sts (IntegralFehlerNick.3)+1,r25 6047 330e A093 0000 sts (IntegralFehlerNick.3)+2,r26 6048 3312 B093 0000 sts (IntegralFehlerNick.3)+3,r27 6049 3316 2091 0000 lds r18,EE_Parameter+65 6050 331a E22E mov r14,r18 6051 331c FF24 clr r15 6052 331e 0027 clr r16 6053 3320 1127 clr r17 6054 3322 BC01 movw r22,r24 6055 3324 CD01 movw r24,r26 6056 3326 A801 movw r20,r16 6057 3328 9701 movw r18,r14 6058 332a 0E94 0000 call __divmodsi4 6059 332e 5901 movw r10,r18 6060 3330 6A01 movw r12,r20 6061 3332 2093 0000 sts ausgleichNick.11,r18 6062 3336 3093 0000 sts (ausgleichNick.11)+1,r19 6063 333a 4093 0000 sts (ausgleichNick.11)+2,r20 6064 333e 5093 0000 sts (ausgleichNick.11)+3,r21 6065 3342 8CA5 ldd r24,Y+44 6066 3344 9DA5 ldd r25,Y+45 6067 3346 AEA5 ldd r26,Y+46 6068 3348 BFA5 ldd r27,Y+47 6069 334a 8219 sub r24,r2 6070 334c 9309 sbc r25,r3 6071 334e A409 sbc r26,r4 6072 3350 B509 sbc r27,r5 6073 3352 8093 0000 sts IntegralFehlerRoll.4,r24 6074 3356 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 6075 335a A093 0000 sts (IntegralFehlerRoll.4)+2,r26 6076 335e B093 0000 sts (IntegralFehlerRoll.4)+3,r27 6077 3362 BC01 movw r22,r24 6078 3364 CD01 movw r24,r26 6079 3366 A801 movw r20,r16 6080 3368 9701 movw r18,r14 6081 336a 0E94 0000 call __divmodsi4 6082 336e 2093 0000 sts ausgleichRoll.12,r18 6083 3372 3093 0000 sts (ausgleichRoll.12)+1,r19 6084 3376 4093 0000 sts (ausgleichRoll.12)+2,r20 6085 337a 5093 0000 sts (ausgleichRoll.12)+3,r21 6086 337e D601 movw r26,r12 6087 3380 C501 movw r24,r10 6088 3382 D7FE sbrs r13,7 6089 3384 04C0 rjmp .L462 6090 3386 8150 subi r24,lo8(-(255)) 6091 3388 9F4F sbci r25,hi8(-(255)) 6092 338a AF4F sbci r26,hlo8(-(255)) 6093 338c BF4F sbci r27,hhi8(-(255)) 6094 .L462: 6095 338e 892F mov r24,r25 6096 3390 9A2F mov r25,r26 6097 3392 AB2F mov r26,r27 6098 3394 BB27 clr r27 6099 3396 A7FD sbrc r26,7 6100 3398 BA95 dec r27 6101 339a 9093 0000 sts (LageKorrekturNick)+1,r25 6102 339e 8093 0000 sts LageKorrekturNick,r24 6103 33a2 57FF sbrs r21,7 6104 33a4 04C0 rjmp .L463 6105 33a6 2150 subi r18,lo8(-(255)) 6106 33a8 3F4F sbci r19,hi8(-(255)) 6107 33aa 4F4F sbci r20,hlo8(-(255)) 6108 33ac 5F4F sbci r21,hhi8(-(255)) 6109 .L463: 6110 33ae BB27 clr r27 6111 33b0 57FD sbrc r21,7 6112 33b2 BA95 dec r27 6113 33b4 A52F mov r26,r21 6114 33b6 942F mov r25,r20 6115 33b8 832F mov r24,r19 6116 33ba 9093 0000 sts (LageKorrekturRoll)+1,r25 6117 33be 8093 0000 sts LageKorrekturRoll,r24 6118 33c2 8091 0000 lds r24,MaxStickNick 6119 33c6 9091 0000 lds r25,(MaxStickNick)+1 6120 33ca 8134 cpi r24,65 6121 33cc 9105 cpc r25,__zero_reg__ 6122 33ce DCF4 brge .L465 6123 33d0 8091 0000 lds r24,MaxStickRoll 6124 33d4 9091 0000 lds r25,(MaxStickRoll)+1 6125 33d8 8134 cpi r24,65 6126 33da 9105 cpc r25,__zero_reg__ 6127 33dc A4F4 brge .L465 6128 33de 8091 0000 lds r24,EE_Parameter+4 6129 33e2 E82F mov r30,r24 6130 33e4 FF27 clr r31 6131 33e6 EE0F add r30,r30 6132 33e8 FF1F adc r31,r31 6133 33ea E050 subi r30,lo8(-(PPM_in)) 6134 33ec F040 sbci r31,hi8(-(PPM_in)) 6135 33ee 8081 ld r24,Z 6136 33f0 9181 ldd r25,Z+1 6137 33f2 0190 ld __tmp_reg__,Z+ 6138 33f4 F081 ld r31,Z 6139 33f6 E02D mov r30,__tmp_reg__ 6140 33f8 F7FF sbrs r31,7 6141 33fa 03C0 rjmp .L466 6142 33fc F095 com r31 6143 33fe E195 neg r30 6144 3400 FF4F sbci r31,lo8(-1) 6145 .L466: 6146 3402 7A97 sbiw r30,26 6147 3404 E4F0 brlt .L464 6148 .L465: 6149 3406 8091 0000 lds r24,FromNaviCtrl_Value 6150 340a 8F3F cpi r24,lo8(-1) 6151 340c C1F4 brne .L464 6152 340e 8091 0000 lds r24,LageKorrekturNick 6153 3412 9091 0000 lds r25,(LageKorrekturNick)+1 6154 3416 97FD sbrc r25,7 6155 3418 0196 adiw r24,1 6156 .L467: 6157 341a 9595 asr r25 6158 341c 8795 ror r24 6159 341e 9093 0000 sts (LageKorrekturNick)+1,r25 6160 3422 8093 0000 sts LageKorrekturNick,r24 6161 3426 8091 0000 lds r24,LageKorrekturRoll 6162 342a 9091 0000 lds r25,(LageKorrekturRoll)+1 6163 342e 97FD sbrc r25,7 6164 3430 0196 adiw r24,1 6165 .L468: 6166 3432 9595 asr r25 6167 3434 8795 ror r24 6168 3436 9093 0000 sts (LageKorrekturRoll)+1,r25 6169 343a 8093 0000 sts LageKorrekturRoll,r24 6170 .L464: 6171 343e 8091 0000 lds r24,MittelIntegralNick2 6172 3442 9091 0000 lds r25,(MittelIntegralNick2)+1 6173 3446 A091 0000 lds r26,(MittelIntegralNick2)+2 6174 344a B091 0000 lds r27,(MittelIntegralNick2)+3 6175 344e B7FF sbrs r27,7 6176 3450 04C0 rjmp .L469 6177 3452 8150 subi r24,lo8(-(255)) 6178 3454 9F4F sbci r25,hi8(-(255)) 6179 3456 AF4F sbci r26,hlo8(-(255)) 6180 3458 BF4F sbci r27,hhi8(-(255)) 6181 .L469: 6182 345a 892F mov r24,r25 6183 345c 9A2F mov r25,r26 6184 345e AB2F mov r26,r27 6185 3460 BB27 clr r27 6186 3462 A7FD sbrc r26,7 6187 3464 BA95 dec r27 6188 3466 8093 0000 sts MittelIntegralNick2,r24 6189 346a 9093 0000 sts (MittelIntegralNick2)+1,r25 6190 346e A093 0000 sts (MittelIntegralNick2)+2,r26 6191 3472 B093 0000 sts (MittelIntegralNick2)+3,r27 6192 3476 8091 0000 lds r24,MittelIntegralRoll2 6193 347a 9091 0000 lds r25,(MittelIntegralRoll2)+1 6194 347e A091 0000 lds r26,(MittelIntegralRoll2)+2 6195 3482 B091 0000 lds r27,(MittelIntegralRoll2)+3 6196 3486 B7FF sbrs r27,7 6197 3488 04C0 rjmp .L470 6198 348a 8150 subi r24,lo8(-(255)) 6199 348c 9F4F sbci r25,hi8(-(255)) 6200 348e AF4F sbci r26,hlo8(-(255)) 6201 3490 BF4F sbci r27,hhi8(-(255)) 6202 .L470: 6203 3492 892F mov r24,r25 6204 3494 9A2F mov r25,r26 6205 3496 AB2F mov r26,r27 6206 3498 BB27 clr r27 6207 349a A7FD sbrc r26,7 6208 349c BA95 dec r27 6209 349e 8093 0000 sts MittelIntegralRoll2,r24 6210 34a2 9093 0000 sts (MittelIntegralRoll2)+1,r25 6211 34a6 A093 0000 sts (MittelIntegralRoll2)+2,r26 6212 34aa B093 0000 sts (MittelIntegralRoll2)+3,r27 6213 34ae 8091 0000 lds r24,IntegralNick 6214 34b2 9091 0000 lds r25,(IntegralNick)+1 6215 34b6 A091 0000 lds r26,(IntegralNick)+2 6216 34ba B091 0000 lds r27,(IntegralNick)+3 6217 34be 2AA1 ldd r18,Y+34 6218 34c0 3BA1 ldd r19,Y+35 6219 34c2 4CA1 ldd r20,Y+36 6220 34c4 5DA1 ldd r21,Y+37 6221 34c6 281B sub r18,r24 6222 34c8 390B sbc r19,r25 6223 34ca 4A0B sbc r20,r26 6224 34cc 5B0B sbc r21,r27 6225 34ce 2093 0000 sts tmp_long.1,r18 6226 34d2 3093 0000 sts (tmp_long.1)+1,r19 6227 34d6 4093 0000 sts (tmp_long.1)+2,r20 6228 34da 5093 0000 sts (tmp_long.1)+3,r21 6229 34de 8091 0000 lds r24,IntegralRoll 6230 34e2 9091 0000 lds r25,(IntegralRoll)+1 6231 34e6 A091 0000 lds r26,(IntegralRoll)+2 6232 34ea B091 0000 lds r27,(IntegralRoll)+3 6233 34ee EEA0 ldd r14,Y+38 6234 34f0 FFA0 ldd r15,Y+39 6235 34f2 08A5 ldd r16,Y+40 6236 34f4 19A5 ldd r17,Y+41 6237 34f6 E81A sub r14,r24 6238 34f8 F90A sbc r15,r25 6239 34fa 0A0B sbc r16,r26 6240 34fc 1B0B sbc r17,r27 6241 34fe E092 0000 sts tmp_long2.2,r14 6242 3502 F092 0000 sts (tmp_long2.2)+1,r15 6243 3506 0093 0000 sts (tmp_long2.2)+2,r16 6244 350a 1093 0000 sts (tmp_long2.2)+3,r17 6245 350e 2093 0000 sts IntegralFehlerNick.3,r18 6246 3512 3093 0000 sts (IntegralFehlerNick.3)+1,r19 6247 3516 4093 0000 sts (IntegralFehlerNick.3)+2,r20 6248 351a 5093 0000 sts (IntegralFehlerNick.3)+3,r21 6249 351e E092 0000 sts IntegralFehlerRoll.4,r14 6250 3522 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 6251 3526 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 6252 352a 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 6253 352e 8091 0000 lds r24,Mess_IntegralNick2 6254 3532 9091 0000 lds r25,(Mess_IntegralNick2)+1 6255 3536 A091 0000 lds r26,(Mess_IntegralNick2)+2 6256 353a B091 0000 lds r27,(Mess_IntegralNick2)+3 6257 353e 821B sub r24,r18 6258 3540 930B sbc r25,r19 6259 3542 A40B sbc r26,r20 6260 3544 B50B sbc r27,r21 6261 3546 8093 0000 sts Mess_IntegralNick2,r24 6262 354a 9093 0000 sts (Mess_IntegralNick2)+1,r25 6263 354e A093 0000 sts (Mess_IntegralNick2)+2,r26 6264 3552 B093 0000 sts (Mess_IntegralNick2)+3,r27 6265 3556 8091 0000 lds r24,Mess_IntegralRoll2 6266 355a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 6267 355e A091 0000 lds r26,(Mess_IntegralRoll2)+2 6268 3562 B091 0000 lds r27,(Mess_IntegralRoll2)+3 6269 3566 8E19 sub r24,r14 6270 3568 9F09 sbc r25,r15 6271 356a A00B sbc r26,r16 6272 356c B10B sbc r27,r17 6273 356e 8093 0000 sts Mess_IntegralRoll2,r24 6274 3572 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6275 3576 A093 0000 sts (Mess_IntegralRoll2)+2,r26 6276 357a B093 0000 sts (Mess_IntegralRoll2)+3,r27 6277 357e FBA5 ldd r31,Y+43 6278 3580 FF23 tst r31 6279 3582 E1F0 breq .L471 6280 3584 2091 0000 lds r18,GierGyroFehler 6281 3588 3091 0000 lds r19,(GierGyroFehler)+1 6282 358c 2138 cpi r18,129 6283 358e 3105 cpc r19,__zero_reg__ 6284 3590 4CF0 brlt .L472 6285 3592 8091 0000 lds r24,AdNeutralGier 6286 3596 9091 0000 lds r25,(AdNeutralGier)+1 6287 359a 0196 adiw r24,1 6288 359c 9093 0000 sts (AdNeutralGier)+1,r25 6289 35a0 8093 0000 sts AdNeutralGier,r24 6290 .L472: 6291 35a4 2058 subi r18,lo8(-128) 6292 35a6 3F4F sbci r19,hi8(-128) 6293 35a8 4CF4 brge .L471 6294 35aa 8091 0000 lds r24,AdNeutralGier 6295 35ae 9091 0000 lds r25,(AdNeutralGier)+1 6296 35b2 0197 sbiw r24,1 6297 35b4 9093 0000 sts (AdNeutralGier)+1,r25 6298 35b8 8093 0000 sts AdNeutralGier,r24 6299 .L471: 6300 35bc 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 6301 35c0 1092 0000 sts GierGyroFehler,__zero_reg__ 6302 35c4 81E0 ldi r24,lo8(1) 6303 35c6 90E0 ldi r25,hi8(1) 6304 35c8 9093 0000 sts (cnt.15)+1,r25 6305 35cc 8093 0000 sts cnt.15,r24 6306 35d0 A090 0000 lds r10,IntegralFehlerNick.3 6307 35d4 B090 0000 lds r11,(IntegralFehlerNick.3)+1 6308 35d8 C090 0000 lds r12,(IntegralFehlerNick.3)+2 6309 35dc D090 0000 lds r13,(IntegralFehlerNick.3)+3 6310 35e0 D601 movw r26,r12 6311 35e2 C501 movw r24,r10 6312 35e4 D7FE sbrs r13,7 6313 35e6 07C0 rjmp .L475 6314 35e8 8827 clr r24 6315 35ea 9927 clr r25 6316 35ec DC01 movw r26,r24 6317 35ee 8A19 sub r24,r10 6318 35f0 9B09 sbc r25,r11 6319 35f2 AC09 sbc r26,r12 6320 35f4 BD09 sbc r27,r13 6321 .L475: 6322 35f6 8150 subi r24,lo8(513) 6323 35f8 9240 sbci r25,hi8(513) 6324 35fa A040 sbci r26,hlo8(513) 6325 35fc B040 sbci r27,hhi8(513) 6326 35fe 34F0 brlt .L474 6327 3600 84E0 ldi r24,lo8(4) 6328 3602 90E0 ldi r25,hi8(4) 6329 3604 9093 0000 sts (cnt.15)+1,r25 6330 3608 8093 0000 sts cnt.15,r24 6331 .L474: 6332 360c 8091 0000 lds r24,MittelIntegralNick_Alt.20 6333 3610 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+1 6334 3614 A091 0000 lds r26,(MittelIntegralNick_Alt.20)+2 6335 3618 B091 0000 lds r27,(MittelIntegralNick_Alt.20)+3 6336 361c 2091 0000 lds r18,MittelIntegralNick 6337 3620 3091 0000 lds r19,(MittelIntegralNick)+1 6338 3624 4091 0000 lds r20,(MittelIntegralNick)+2 6339 3628 5091 0000 lds r21,(MittelIntegralNick)+3 6340 362c 821B sub r24,r18 6341 362e 930B sbc r25,r19 6342 3630 A40B sbc r26,r20 6343 3632 B50B sbc r27,r21 6344 3634 815E subi r24,lo8(-(19999)) 6345 3636 914B sbci r25,hi8(-(19999)) 6346 3638 AF4F sbci r26,hlo8(-(19999)) 6347 363a BF4F sbci r27,hhi8(-(19999)) 6348 363c 8F53 subi r24,lo8(39999) 6349 363e 9C49 sbci r25,hi8(39999) 6350 3640 A040 sbci r26,hlo8(39999) 6351 3642 B040 sbci r27,hhi8(39999) 6352 3644 28F0 brlo .L477 6353 3646 8091 0000 lds r24,FromNaviCtrl_Value+1 6354 364a 8931 cpi r24,lo8(25) 6355 364c 0CF4 brge .+2 6356 364e FFC0 rjmp .L476 6357 .L477: 6358 3650 31E0 ldi r19,lo8(4097) 6359 3652 A316 cp r10,r19 6360 3654 30E1 ldi r19,hi8(4097) 6361 3656 B306 cpc r11,r19 6362 3658 30E0 ldi r19,hlo8(4097) 6363 365a C306 cpc r12,r19 6364 365c 30E0 ldi r19,hhi8(4097) 6365 365e D306 cpc r13,r19 6366 3660 0CF4 brge .+2 6367 3662 73C0 rjmp .L478 6368 3664 8091 0000 lds r24,last_n_p.16 6369 3668 8823 tst r24 6370 366a 09F4 brne .+2 6371 366c 6AC0 rjmp .L479 6372 366e D601 movw r26,r12 6373 3670 C501 movw r24,r10 6374 3672 D7FE sbrs r13,7 6375 3674 07C0 rjmp .L480 6376 3676 8827 clr r24 6377 3678 9927 clr r25 6378 367a DC01 movw r26,r24 6379 367c 8A19 sub r24,r10 6380 367e 9B09 sbc r25,r11 6381 3680 AC09 sbc r26,r12 6382 3682 BD09 sbc r27,r13 6383 .L480: 6384 3684 9C01 movw r18,r24 6385 3686 AD01 movw r20,r26 6386 3688 B7FF sbrs r27,7 6387 368a 04C0 rjmp .L481 6388 368c 2150 subi r18,lo8(-(511)) 6389 368e 3E4F sbci r19,hi8(-(511)) 6390 3690 4F4F sbci r20,hlo8(-(511)) 6391 3692 5F4F sbci r21,hhi8(-(511)) 6392 .L481: 6393 3694 09E0 ldi r16,9 6394 3696 5595 1: asr r21 6395 3698 4795 ror r20 6396 369a 3795 ror r19 6397 369c 2795 ror r18 6398 369e 0A95 dec r16 6399 36a0 D1F7 brne 1b 6400 36a2 8091 0000 lds r24,cnt.15 6401 36a6 9091 0000 lds r25,(cnt.15)+1 6402 36aa 820F add r24,r18 6403 36ac 931F adc r25,r19 6404 36ae 9093 0000 sts (cnt.15)+1,r25 6405 36b2 8093 0000 sts cnt.15,r24 6406 36b6 D601 movw r26,r12 6407 36b8 C501 movw r24,r10 6408 36ba D7FE sbrs r13,7 6409 36bc 03C0 rjmp .L482 6410 36be 0796 adiw r24,7 6411 36c0 A11D adc r26,__zero_reg__ 6412 36c2 B11D adc r27,__zero_reg__ 6413 .L482: 6414 36c4 13E0 ldi r17,3 6415 36c6 B595 1: asr r27 6416 36c8 A795 ror r26 6417 36ca 9795 ror r25 6418 36cc 8795 ror r24 6419 36ce 1A95 dec r17 6420 36d0 D1F7 brne 1b 6421 36d2 8093 0000 sts ausgleichNick.11,r24 6422 36d6 9093 0000 sts (ausgleichNick.11)+1,r25 6423 36da A093 0000 sts (ausgleichNick.11)+2,r26 6424 36de B093 0000 sts (ausgleichNick.11)+3,r27 6425 36e2 8958 subi r24,lo8(5001) 6426 36e4 9341 sbci r25,hi8(5001) 6427 36e6 A040 sbci r26,hlo8(5001) 6428 36e8 B040 sbci r27,hhi8(5001) 6429 36ea 64F0 brlt .L483 6430 36ec 88E8 ldi r24,lo8(5000) 6431 36ee 93E1 ldi r25,hi8(5000) 6432 36f0 A0E0 ldi r26,hlo8(5000) 6433 36f2 B0E0 ldi r27,hhi8(5000) 6434 36f4 8093 0000 sts ausgleichNick.11,r24 6435 36f8 9093 0000 sts (ausgleichNick.11)+1,r25 6436 36fc A093 0000 sts (ausgleichNick.11)+2,r26 6437 3700 B093 0000 sts (ausgleichNick.11)+3,r27 6438 .L483: 6439 3704 2091 0000 lds r18,ausgleichNick.11 6440 3708 3091 0000 lds r19,(ausgleichNick.11)+1 6441 370c 4091 0000 lds r20,(ausgleichNick.11)+2 6442 3710 5091 0000 lds r21,(ausgleichNick.11)+3 6443 3714 57FF sbrs r21,7 6444 3716 04C0 rjmp .L484 6445 3718 2150 subi r18,lo8(-(255)) 6446 371a 3F4F sbci r19,hi8(-(255)) 6447 371c 4F4F sbci r20,hlo8(-(255)) 6448 371e 5F4F sbci r21,hhi8(-(255)) 6449 .L484: 6450 3720 232F mov r18,r19 6451 3722 342F mov r19,r20 6452 3724 452F mov r20,r21 6453 3726 5527 clr r21 6454 3728 47FD sbrc r20,7 6455 372a 5A95 dec r21 6456 372c 8091 0000 lds r24,LageKorrekturNick 6457 3730 9091 0000 lds r25,(LageKorrekturNick)+1 6458 3734 820F add r24,r18 6459 3736 931F adc r25,r19 6460 3738 9093 0000 sts (LageKorrekturNick)+1,r25 6461 373c 8093 0000 sts LageKorrekturNick,r24 6462 3740 06C0 rjmp .L486 6463 .L479: 6464 3742 81E0 ldi r24,lo8(1) 6465 3744 8093 0000 sts last_n_p.16,r24 6466 3748 02C0 rjmp .L486 6467 .L478: 6468 374a 1092 0000 sts last_n_p.16,__zero_reg__ 6469 .L486: 6470 374e 50E0 ldi r21,lo8(-4096) 6471 3750 A516 cp r10,r21 6472 3752 50EF ldi r21,hi8(-4096) 6473 3754 B506 cpc r11,r21 6474 3756 5FEF ldi r21,hlo8(-4096) 6475 3758 C506 cpc r12,r21 6476 375a 5FEF ldi r21,hhi8(-4096) 6477 375c D506 cpc r13,r21 6478 375e 0CF0 brlt .+2 6479 3760 73C0 rjmp .L487 6480 3762 8091 0000 lds r24,last_n_n.17 6481 3766 8823 tst r24 6482 3768 09F4 brne .+2 6483 376a 6AC0 rjmp .L488 6484 376c D601 movw r26,r12 6485 376e C501 movw r24,r10 6486 3770 D7FE sbrs r13,7 6487 3772 07C0 rjmp .L489 6488 3774 8827 clr r24 6489 3776 9927 clr r25 6490 3778 DC01 movw r26,r24 6491 377a 8A19 sub r24,r10 6492 377c 9B09 sbc r25,r11 6493 377e AC09 sbc r26,r12 6494 3780 BD09 sbc r27,r13 6495 .L489: 6496 3782 9C01 movw r18,r24 6497 3784 AD01 movw r20,r26 6498 3786 B7FF sbrs r27,7 6499 3788 04C0 rjmp .L490 6500 378a 2150 subi r18,lo8(-(511)) 6501 378c 3E4F sbci r19,hi8(-(511)) 6502 378e 4F4F sbci r20,hlo8(-(511)) 6503 3790 5F4F sbci r21,hhi8(-(511)) 6504 .L490: 6505 3792 F9E0 ldi r31,9 6506 3794 5595 1: asr r21 6507 3796 4795 ror r20 6508 3798 3795 ror r19 6509 379a 2795 ror r18 6510 379c FA95 dec r31 6511 379e D1F7 brne 1b 6512 37a0 8091 0000 lds r24,cnt.15 6513 37a4 9091 0000 lds r25,(cnt.15)+1 6514 37a8 820F add r24,r18 6515 37aa 931F adc r25,r19 6516 37ac 9093 0000 sts (cnt.15)+1,r25 6517 37b0 8093 0000 sts cnt.15,r24 6518 37b4 D601 movw r26,r12 6519 37b6 C501 movw r24,r10 6520 37b8 D7FE sbrs r13,7 6521 37ba 03C0 rjmp .L491 6522 37bc 0796 adiw r24,7 6523 37be A11D adc r26,__zero_reg__ 6524 37c0 B11D adc r27,__zero_reg__ 6525 .L491: 6526 37c2 E3E0 ldi r30,3 6527 37c4 B595 1: asr r27 6528 37c6 A795 ror r26 6529 37c8 9795 ror r25 6530 37ca 8795 ror r24 6531 37cc EA95 dec r30 6532 37ce D1F7 brne 1b 6533 37d0 8093 0000 sts ausgleichNick.11,r24 6534 37d4 9093 0000 sts (ausgleichNick.11)+1,r25 6535 37d8 A093 0000 sts (ausgleichNick.11)+2,r26 6536 37dc B093 0000 sts (ausgleichNick.11)+3,r27 6537 37e0 8857 subi r24,lo8(-5000) 6538 37e2 9C4E sbci r25,hi8(-5000) 6539 37e4 AF4F sbci r26,hlo8(-5000) 6540 37e6 BF4F sbci r27,hhi8(-5000) 6541 37e8 64F4 brge .L492 6542 37ea 88E7 ldi r24,lo8(-5000) 6543 37ec 9CEE ldi r25,hi8(-5000) 6544 37ee AFEF ldi r26,hlo8(-5000) 6545 37f0 BFEF ldi r27,hhi8(-5000) 6546 37f2 8093 0000 sts ausgleichNick.11,r24 6547 37f6 9093 0000 sts (ausgleichNick.11)+1,r25 6548 37fa A093 0000 sts (ausgleichNick.11)+2,r26 6549 37fe B093 0000 sts (ausgleichNick.11)+3,r27 6550 .L492: 6551 3802 2091 0000 lds r18,ausgleichNick.11 6552 3806 3091 0000 lds r19,(ausgleichNick.11)+1 6553 380a 4091 0000 lds r20,(ausgleichNick.11)+2 6554 380e 5091 0000 lds r21,(ausgleichNick.11)+3 6555 3812 57FF sbrs r21,7 6556 3814 04C0 rjmp .L493 6557 3816 2150 subi r18,lo8(-(255)) 6558 3818 3F4F sbci r19,hi8(-(255)) 6559 381a 4F4F sbci r20,hlo8(-(255)) 6560 381c 5F4F sbci r21,hhi8(-(255)) 6561 .L493: 6562 381e 232F mov r18,r19 6563 3820 342F mov r19,r20 6564 3822 452F mov r20,r21 6565 3824 5527 clr r21 6566 3826 47FD sbrc r20,7 6567 3828 5A95 dec r21 6568 382a 8091 0000 lds r24,LageKorrekturNick 6569 382e 9091 0000 lds r25,(LageKorrekturNick)+1 6570 3832 820F add r24,r18 6571 3834 931F adc r25,r19 6572 3836 9093 0000 sts (LageKorrekturNick)+1,r25 6573 383a 8093 0000 sts LageKorrekturNick,r24 6574 383e 11C0 rjmp .L496 6575 .L488: 6576 3840 81E0 ldi r24,lo8(1) 6577 3842 8093 0000 sts last_n_n.17,r24 6578 3846 0DC0 rjmp .L496 6579 .L487: 6580 3848 1092 0000 sts last_n_n.17,__zero_reg__ 6581 384c 0AC0 rjmp .L496 6582 .L476: 6583 384e 1092 0000 sts (cnt.15)+1,__zero_reg__ 6584 3852 1092 0000 sts cnt.15,__zero_reg__ 6585 3856 88EE ldi r24,lo8(1000) 6586 3858 93E0 ldi r25,hi8(1000) 6587 385a 9093 0000 sts (KompassSignalSchlecht)+1,r25 6588 385e 8093 0000 sts KompassSignalSchlecht,r24 6589 .L496: 6590 3862 7BA5 ldd r23,Y+43 6591 3864 272F mov r18,r23 6592 3866 3327 clr r19 6593 3868 8091 0000 lds r24,cnt.15 6594 386c 9091 0000 lds r25,(cnt.15)+1 6595 3870 2817 cp r18,r24 6596 3872 3907 cpc r19,r25 6597 3874 24F4 brge .L497 6598 3876 3093 0000 sts (cnt.15)+1,r19 6599 387a 2093 0000 sts cnt.15,r18 6600 .L497: 6601 387e E091 0000 lds r30,FromNaviCtrl_Value+1 6602 3882 EE23 tst r30 6603 3884 79F0 breq .L498 6604 3886 2E2F mov r18,r30 6605 3888 3327 clr r19 6606 388a 27FD sbrc r18,7 6607 388c 3095 com r19 6608 388e 8091 0000 lds r24,cnt.15 6609 3892 9091 0000 lds r25,(cnt.15)+1 6610 3896 2817 cp r18,r24 6611 3898 3907 cpc r19,r25 6612 389a 24F4 brge .L498 6613 389c 3093 0000 sts (cnt.15)+1,r19 6614 38a0 2093 0000 sts cnt.15,r18 6615 .L498: 6616 38a4 4091 0000 lds r20,IntegralFehlerNick.3 6617 38a8 5091 0000 lds r21,(IntegralFehlerNick.3)+1 6618 38ac 6091 0000 lds r22,(IntegralFehlerNick.3)+2 6619 38b0 7091 0000 lds r23,(IntegralFehlerNick.3)+3 6620 38b4 4138 cpi r20,lo8(129) 6621 38b6 5105 cpc r21,__zero_reg__ 6622 38b8 6105 cpc r22,__zero_reg__ 6623 38ba 7105 cpc r23,__zero_reg__ 6624 38bc 74F0 brlt .L500 6625 38be 8091 0000 lds r24,AdNeutralNick 6626 38c2 9091 0000 lds r25,(AdNeutralNick)+1 6627 38c6 2091 0000 lds r18,cnt.15 6628 38ca 3091 0000 lds r19,(cnt.15)+1 6629 38ce 820F add r24,r18 6630 38d0 931F adc r25,r19 6631 38d2 9093 0000 sts (AdNeutralNick)+1,r25 6632 38d6 8093 0000 sts AdNeutralNick,r24 6633 .L500: 6634 38da 4058 subi r20,lo8(-128) 6635 38dc 5F4F sbci r21,hi8(-128) 6636 38de 6F4F sbci r22,hlo8(-128) 6637 38e0 7F4F sbci r23,hhi8(-128) 6638 38e2 74F4 brge .L501 6639 38e4 8091 0000 lds r24,AdNeutralNick 6640 38e8 9091 0000 lds r25,(AdNeutralNick)+1 6641 38ec 2091 0000 lds r18,cnt.15 6642 38f0 3091 0000 lds r19,(cnt.15)+1 6643 38f4 821B sub r24,r18 6644 38f6 930B sbc r25,r19 6645 38f8 9093 0000 sts (AdNeutralNick)+1,r25 6646 38fc 8093 0000 sts AdNeutralNick,r24 6647 .L501: 6648 3900 81E0 ldi r24,lo8(1) 6649 3902 90E0 ldi r25,hi8(1) 6650 3904 9093 0000 sts (cnt.15)+1,r25 6651 3908 8093 0000 sts cnt.15,r24 6652 390c A090 0000 lds r10,IntegralFehlerRoll.4 6653 3910 B090 0000 lds r11,(IntegralFehlerRoll.4)+1 6654 3914 C090 0000 lds r12,(IntegralFehlerRoll.4)+2 6655 3918 D090 0000 lds r13,(IntegralFehlerRoll.4)+3 6656 391c D601 movw r26,r12 6657 391e C501 movw r24,r10 6658 3920 D7FE sbrs r13,7 6659 3922 07C0 rjmp .L503 6660 3924 8827 clr r24 6661 3926 9927 clr r25 6662 3928 DC01 movw r26,r24 6663 392a 8A19 sub r24,r10 6664 392c 9B09 sbc r25,r11 6665 392e AC09 sbc r26,r12 6666 3930 BD09 sbc r27,r13 6667 .L503: 6668 3932 8150 subi r24,lo8(513) 6669 3934 9240 sbci r25,hi8(513) 6670 3936 A040 sbci r26,hlo8(513) 6671 3938 B040 sbci r27,hhi8(513) 6672 393a 34F0 brlt .L502 6673 393c 84E0 ldi r24,lo8(4) 6674 393e 90E0 ldi r25,hi8(4) 6675 3940 9093 0000 sts (cnt.15)+1,r25 6676 3944 8093 0000 sts cnt.15,r24 6677 .L502: 6678 3948 8091 0000 lds r24,MittelIntegralRoll_Alt.21 6679 394c 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+1 6680 3950 A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+2 6681 3954 B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+3 6682 3958 2091 0000 lds r18,MittelIntegralRoll 6683 395c 3091 0000 lds r19,(MittelIntegralRoll)+1 6684 3960 4091 0000 lds r20,(MittelIntegralRoll)+2 6685 3964 5091 0000 lds r21,(MittelIntegralRoll)+3 6686 3968 821B sub r24,r18 6687 396a 930B sbc r25,r19 6688 396c A40B sbc r26,r20 6689 396e B50B sbc r27,r21 6690 3970 815E subi r24,lo8(-(19999)) 6691 3972 914B sbci r25,hi8(-(19999)) 6692 3974 AF4F sbci r26,hlo8(-(19999)) 6693 3976 BF4F sbci r27,hhi8(-(19999)) 6694 3978 8F53 subi r24,lo8(39999) 6695 397a 9C49 sbci r25,hi8(39999) 6696 397c A040 sbci r26,hlo8(39999) 6697 397e B040 sbci r27,hhi8(39999) 6698 3980 18F0 brlo .L505 6699 3982 E931 cpi r30,lo8(25) 6700 3984 0CF4 brge .+2 6701 3986 FFC0 rjmp .L504 6702 .L505: 6703 3988 11E0 ldi r17,lo8(4097) 6704 398a A116 cp r10,r17 6705 398c 10E1 ldi r17,hi8(4097) 6706 398e B106 cpc r11,r17 6707 3990 10E0 ldi r17,hlo8(4097) 6708 3992 C106 cpc r12,r17 6709 3994 10E0 ldi r17,hhi8(4097) 6710 3996 D106 cpc r13,r17 6711 3998 0CF4 brge .+2 6712 399a 73C0 rjmp .L506 6713 399c 8091 0000 lds r24,last_r_p.18 6714 39a0 8823 tst r24 6715 39a2 09F4 brne .+2 6716 39a4 6AC0 rjmp .L507 6717 39a6 D601 movw r26,r12 6718 39a8 C501 movw r24,r10 6719 39aa D7FE sbrs r13,7 6720 39ac 07C0 rjmp .L508 6721 39ae 8827 clr r24 6722 39b0 9927 clr r25 6723 39b2 DC01 movw r26,r24 6724 39b4 8A19 sub r24,r10 6725 39b6 9B09 sbc r25,r11 6726 39b8 AC09 sbc r26,r12 6727 39ba BD09 sbc r27,r13 6728 .L508: 6729 39bc 9C01 movw r18,r24 6730 39be AD01 movw r20,r26 6731 39c0 B7FF sbrs r27,7 6732 39c2 04C0 rjmp .L509 6733 39c4 2150 subi r18,lo8(-(511)) 6734 39c6 3E4F sbci r19,hi8(-(511)) 6735 39c8 4F4F sbci r20,hlo8(-(511)) 6736 39ca 5F4F sbci r21,hhi8(-(511)) 6737 .L509: 6738 39cc 69E0 ldi r22,9 6739 39ce 5595 1: asr r21 6740 39d0 4795 ror r20 6741 39d2 3795 ror r19 6742 39d4 2795 ror r18 6743 39d6 6A95 dec r22 6744 39d8 D1F7 brne 1b 6745 39da 8091 0000 lds r24,cnt.15 6746 39de 9091 0000 lds r25,(cnt.15)+1 6747 39e2 820F add r24,r18 6748 39e4 931F adc r25,r19 6749 39e6 9093 0000 sts (cnt.15)+1,r25 6750 39ea 8093 0000 sts cnt.15,r24 6751 39ee D601 movw r26,r12 6752 39f0 C501 movw r24,r10 6753 39f2 D7FE sbrs r13,7 6754 39f4 03C0 rjmp .L510 6755 39f6 0796 adiw r24,7 6756 39f8 A11D adc r26,__zero_reg__ 6757 39fa B11D adc r27,__zero_reg__ 6758 .L510: 6759 39fc 23E0 ldi r18,3 6760 39fe B595 1: asr r27 6761 3a00 A795 ror r26 6762 3a02 9795 ror r25 6763 3a04 8795 ror r24 6764 3a06 2A95 dec r18 6765 3a08 D1F7 brne 1b 6766 3a0a 8093 0000 sts ausgleichRoll.12,r24 6767 3a0e 9093 0000 sts (ausgleichRoll.12)+1,r25 6768 3a12 A093 0000 sts (ausgleichRoll.12)+2,r26 6769 3a16 B093 0000 sts (ausgleichRoll.12)+3,r27 6770 3a1a 8958 subi r24,lo8(5001) 6771 3a1c 9341 sbci r25,hi8(5001) 6772 3a1e A040 sbci r26,hlo8(5001) 6773 3a20 B040 sbci r27,hhi8(5001) 6774 3a22 64F0 brlt .L511 6775 3a24 88E8 ldi r24,lo8(5000) 6776 3a26 93E1 ldi r25,hi8(5000) 6777 3a28 A0E0 ldi r26,hlo8(5000) 6778 3a2a B0E0 ldi r27,hhi8(5000) 6779 3a2c 8093 0000 sts ausgleichRoll.12,r24 6780 3a30 9093 0000 sts (ausgleichRoll.12)+1,r25 6781 3a34 A093 0000 sts (ausgleichRoll.12)+2,r26 6782 3a38 B093 0000 sts (ausgleichRoll.12)+3,r27 6783 .L511: 6784 3a3c 2091 0000 lds r18,ausgleichRoll.12 6785 3a40 3091 0000 lds r19,(ausgleichRoll.12)+1 6786 3a44 4091 0000 lds r20,(ausgleichRoll.12)+2 6787 3a48 5091 0000 lds r21,(ausgleichRoll.12)+3 6788 3a4c 57FF sbrs r21,7 6789 3a4e 04C0 rjmp .L512 6790 3a50 2150 subi r18,lo8(-(255)) 6791 3a52 3F4F sbci r19,hi8(-(255)) 6792 3a54 4F4F sbci r20,hlo8(-(255)) 6793 3a56 5F4F sbci r21,hhi8(-(255)) 6794 .L512: 6795 3a58 232F mov r18,r19 6796 3a5a 342F mov r19,r20 6797 3a5c 452F mov r20,r21 6798 3a5e 5527 clr r21 6799 3a60 47FD sbrc r20,7 6800 3a62 5A95 dec r21 6801 3a64 8091 0000 lds r24,LageKorrekturRoll 6802 3a68 9091 0000 lds r25,(LageKorrekturRoll)+1 6803 3a6c 820F add r24,r18 6804 3a6e 931F adc r25,r19 6805 3a70 9093 0000 sts (LageKorrekturRoll)+1,r25 6806 3a74 8093 0000 sts LageKorrekturRoll,r24 6807 3a78 06C0 rjmp .L514 6808 .L507: 6809 3a7a 81E0 ldi r24,lo8(1) 6810 3a7c 8093 0000 sts last_r_p.18,r24 6811 3a80 02C0 rjmp .L514 6812 .L506: 6813 3a82 1092 0000 sts last_r_p.18,__zero_reg__ 6814 .L514: 6815 3a86 30E0 ldi r19,lo8(-4096) 6816 3a88 A316 cp r10,r19 6817 3a8a 30EF ldi r19,hi8(-4096) 6818 3a8c B306 cpc r11,r19 6819 3a8e 3FEF ldi r19,hlo8(-4096) 6820 3a90 C306 cpc r12,r19 6821 3a92 3FEF ldi r19,hhi8(-4096) 6822 3a94 D306 cpc r13,r19 6823 3a96 0CF0 brlt .+2 6824 3a98 73C0 rjmp .L515 6825 3a9a 8091 0000 lds r24,last_r_n.19 6826 3a9e 8823 tst r24 6827 3aa0 09F4 brne .+2 6828 3aa2 6AC0 rjmp .L516 6829 3aa4 D601 movw r26,r12 6830 3aa6 C501 movw r24,r10 6831 3aa8 D7FE sbrs r13,7 6832 3aaa 07C0 rjmp .L517 6833 3aac 8827 clr r24 6834 3aae 9927 clr r25 6835 3ab0 DC01 movw r26,r24 6836 3ab2 8A19 sub r24,r10 6837 3ab4 9B09 sbc r25,r11 6838 3ab6 AC09 sbc r26,r12 6839 3ab8 BD09 sbc r27,r13 6840 .L517: 6841 3aba 9C01 movw r18,r24 6842 3abc AD01 movw r20,r26 6843 3abe B7FF sbrs r27,7 6844 3ac0 04C0 rjmp .L518 6845 3ac2 2150 subi r18,lo8(-(511)) 6846 3ac4 3E4F sbci r19,hi8(-(511)) 6847 3ac6 4F4F sbci r20,hlo8(-(511)) 6848 3ac8 5F4F sbci r21,hhi8(-(511)) 6849 .L518: 6850 3aca 09E0 ldi r16,9 6851 3acc 5595 1: asr r21 6852 3ace 4795 ror r20 6853 3ad0 3795 ror r19 6854 3ad2 2795 ror r18 6855 3ad4 0A95 dec r16 6856 3ad6 D1F7 brne 1b 6857 3ad8 8091 0000 lds r24,cnt.15 6858 3adc 9091 0000 lds r25,(cnt.15)+1 6859 3ae0 820F add r24,r18 6860 3ae2 931F adc r25,r19 6861 3ae4 9093 0000 sts (cnt.15)+1,r25 6862 3ae8 8093 0000 sts cnt.15,r24 6863 3aec D601 movw r26,r12 6864 3aee C501 movw r24,r10 6865 3af0 D7FE sbrs r13,7 6866 3af2 03C0 rjmp .L519 6867 3af4 0796 adiw r24,7 6868 3af6 A11D adc r26,__zero_reg__ 6869 3af8 B11D adc r27,__zero_reg__ 6870 .L519: 6871 3afa 13E0 ldi r17,3 6872 3afc B595 1: asr r27 6873 3afe A795 ror r26 6874 3b00 9795 ror r25 6875 3b02 8795 ror r24 6876 3b04 1A95 dec r17 6877 3b06 D1F7 brne 1b 6878 3b08 8093 0000 sts ausgleichRoll.12,r24 6879 3b0c 9093 0000 sts (ausgleichRoll.12)+1,r25 6880 3b10 A093 0000 sts (ausgleichRoll.12)+2,r26 6881 3b14 B093 0000 sts (ausgleichRoll.12)+3,r27 6882 3b18 8857 subi r24,lo8(-5000) 6883 3b1a 9C4E sbci r25,hi8(-5000) 6884 3b1c AF4F sbci r26,hlo8(-5000) 6885 3b1e BF4F sbci r27,hhi8(-5000) 6886 3b20 64F4 brge .L520 6887 3b22 88E7 ldi r24,lo8(-5000) 6888 3b24 9CEE ldi r25,hi8(-5000) 6889 3b26 AFEF ldi r26,hlo8(-5000) 6890 3b28 BFEF ldi r27,hhi8(-5000) 6891 3b2a 8093 0000 sts ausgleichRoll.12,r24 6892 3b2e 9093 0000 sts (ausgleichRoll.12)+1,r25 6893 3b32 A093 0000 sts (ausgleichRoll.12)+2,r26 6894 3b36 B093 0000 sts (ausgleichRoll.12)+3,r27 6895 .L520: 6896 3b3a 2091 0000 lds r18,ausgleichRoll.12 6897 3b3e 3091 0000 lds r19,(ausgleichRoll.12)+1 6898 3b42 4091 0000 lds r20,(ausgleichRoll.12)+2 6899 3b46 5091 0000 lds r21,(ausgleichRoll.12)+3 6900 3b4a 57FF sbrs r21,7 6901 3b4c 04C0 rjmp .L521 6902 3b4e 2150 subi r18,lo8(-(255)) 6903 3b50 3F4F sbci r19,hi8(-(255)) 6904 3b52 4F4F sbci r20,hlo8(-(255)) 6905 3b54 5F4F sbci r21,hhi8(-(255)) 6906 .L521: 6907 3b56 232F mov r18,r19 6908 3b58 342F mov r19,r20 6909 3b5a 452F mov r20,r21 6910 3b5c 5527 clr r21 6911 3b5e 47FD sbrc r20,7 6912 3b60 5A95 dec r21 6913 3b62 8091 0000 lds r24,LageKorrekturRoll 6914 3b66 9091 0000 lds r25,(LageKorrekturRoll)+1 6915 3b6a 820F add r24,r18 6916 3b6c 931F adc r25,r19 6917 3b6e 9093 0000 sts (LageKorrekturRoll)+1,r25 6918 3b72 8093 0000 sts LageKorrekturRoll,r24 6919 3b76 11C0 rjmp .L524 6920 .L516: 6921 3b78 81E0 ldi r24,lo8(1) 6922 3b7a 8093 0000 sts last_r_n.19,r24 6923 3b7e 0DC0 rjmp .L524 6924 .L515: 6925 3b80 1092 0000 sts last_r_n.19,__zero_reg__ 6926 3b84 0AC0 rjmp .L524 6927 .L504: 6928 3b86 1092 0000 sts (cnt.15)+1,__zero_reg__ 6929 3b8a 1092 0000 sts cnt.15,__zero_reg__ 6930 3b8e 88EE ldi r24,lo8(1000) 6931 3b90 93E0 ldi r25,hi8(1000) 6932 3b92 9093 0000 sts (KompassSignalSchlecht)+1,r25 6933 3b96 8093 0000 sts KompassSignalSchlecht,r24 6934 .L524: 6935 3b9a 5BA5 ldd r21,Y+43 6936 3b9c 252F mov r18,r21 6937 3b9e 3327 clr r19 6938 3ba0 8091 0000 lds r24,cnt.15 6939 3ba4 9091 0000 lds r25,(cnt.15)+1 6940 3ba8 2817 cp r18,r24 6941 3baa 3907 cpc r19,r25 6942 3bac 24F4 brge .L525 6943 3bae 3093 0000 sts (cnt.15)+1,r19 6944 3bb2 2093 0000 sts cnt.15,r18 6945 .L525: 6946 3bb6 8091 0000 lds r24,FromNaviCtrl_Value+1 6947 3bba 8823 tst r24 6948 3bbc 79F0 breq .L526 6949 3bbe 282F mov r18,r24 6950 3bc0 3327 clr r19 6951 3bc2 27FD sbrc r18,7 6952 3bc4 3095 com r19 6953 3bc6 8091 0000 lds r24,cnt.15 6954 3bca 9091 0000 lds r25,(cnt.15)+1 6955 3bce 2817 cp r18,r24 6956 3bd0 3907 cpc r19,r25 6957 3bd2 24F4 brge .L526 6958 3bd4 3093 0000 sts (cnt.15)+1,r19 6959 3bd8 2093 0000 sts cnt.15,r18 6960 .L526: 6961 3bdc 4091 0000 lds r20,IntegralFehlerRoll.4 6962 3be0 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 6963 3be4 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 6964 3be8 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 6965 3bec 4138 cpi r20,lo8(129) 6966 3bee 5105 cpc r21,__zero_reg__ 6967 3bf0 6105 cpc r22,__zero_reg__ 6968 3bf2 7105 cpc r23,__zero_reg__ 6969 3bf4 74F0 brlt .L528 6970 3bf6 8091 0000 lds r24,AdNeutralRoll 6971 3bfa 9091 0000 lds r25,(AdNeutralRoll)+1 6972 3bfe 2091 0000 lds r18,cnt.15 6973 3c02 3091 0000 lds r19,(cnt.15)+1 6974 3c06 820F add r24,r18 6975 3c08 931F adc r25,r19 6976 3c0a 9093 0000 sts (AdNeutralRoll)+1,r25 6977 3c0e 8093 0000 sts AdNeutralRoll,r24 6978 .L528: 6979 3c12 4058 subi r20,lo8(-128) 6980 3c14 5F4F sbci r21,hi8(-128) 6981 3c16 6F4F sbci r22,hlo8(-128) 6982 3c18 7F4F sbci r23,hhi8(-128) 6983 3c1a CCF4 brge .L530 6984 3c1c 8091 0000 lds r24,AdNeutralRoll 6985 3c20 9091 0000 lds r25,(AdNeutralRoll)+1 6986 3c24 2091 0000 lds r18,cnt.15 6987 3c28 3091 0000 lds r19,(cnt.15)+1 6988 3c2c 821B sub r24,r18 6989 3c2e 930B sbc r25,r19 6990 3c30 9093 0000 sts (AdNeutralRoll)+1,r25 6991 3c34 8093 0000 sts AdNeutralRoll,r24 6992 3c38 0AC0 rjmp .L530 6993 .L456: 6994 3c3a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 6995 3c3e 1092 0000 sts LageKorrekturRoll,__zero_reg__ 6996 3c42 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 6997 3c46 1092 0000 sts LageKorrekturNick,__zero_reg__ 6998 3c4a 1092 0000 sts TrichterFlug,__zero_reg__ 6999 .L530: 7000 3c4e 8091 0000 lds r24,IntegralFaktor 7001 3c52 8823 tst r24 7002 3c54 41F4 brne .L531 7003 3c56 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7004 3c5a 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7005 3c5e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7006 3c62 1092 0000 sts LageKorrekturNick,__zero_reg__ 7007 .L531: 7008 3c66 8091 0000 lds r24,MittelIntegralNick 7009 3c6a 9091 0000 lds r25,(MittelIntegralNick)+1 7010 3c6e A091 0000 lds r26,(MittelIntegralNick)+2 7011 3c72 B091 0000 lds r27,(MittelIntegralNick)+3 7012 3c76 8093 0000 sts MittelIntegralNick_Alt.20,r24 7013 3c7a 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r25 7014 3c7e A093 0000 sts (MittelIntegralNick_Alt.20)+2,r26 7015 3c82 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r27 7016 3c86 8091 0000 lds r24,MittelIntegralRoll 7017 3c8a 9091 0000 lds r25,(MittelIntegralRoll)+1 7018 3c8e A091 0000 lds r26,(MittelIntegralRoll)+2 7019 3c92 B091 0000 lds r27,(MittelIntegralRoll)+3 7020 3c96 8093 0000 sts MittelIntegralRoll_Alt.21,r24 7021 3c9a 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r25 7022 3c9e A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r26 7023 3ca2 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r27 7024 3ca6 1092 0000 sts IntegralAccNick,__zero_reg__ 7025 3caa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 7026 3cae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 7027 3cb2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 7028 3cb6 1092 0000 sts IntegralAccRoll,__zero_reg__ 7029 3cba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 7030 3cbe 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 7031 3cc2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 7032 3cc6 1092 0000 sts IntegralAccZ,__zero_reg__ 7033 3cca 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 7034 3cce 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 7035 3cd2 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 7036 3cd6 1092 0000 sts MittelIntegralNick,__zero_reg__ 7037 3cda 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 7038 3cde 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 7039 3ce2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 7040 3ce6 1092 0000 sts MittelIntegralRoll,__zero_reg__ 7041 3cea 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 7042 3cee 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 7043 3cf2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 7044 3cf6 1092 0000 sts MittelIntegralNick2,__zero_reg__ 7045 3cfa 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 7046 3cfe 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 7047 3d02 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 7048 3d06 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 7049 3d0a 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 7050 3d0e 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 7051 3d12 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 7052 3d16 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 7053 3d1a 1092 0000 sts ZaehlMessungen,__zero_reg__ 7054 .L455: 7055 3d1e 0091 0000 lds r16,StickGier 7056 3d22 1091 0000 lds r17,(StickGier)+1 7057 3d26 C801 movw r24,r16 7058 3d28 17FF sbrs r17,7 7059 3d2a 04C0 rjmp .L533 7060 3d2c 8827 clr r24 7061 3d2e 9927 clr r25 7062 3d30 801B sub r24,r16 7063 3d32 910B sbc r25,r17 7064 .L533: 7065 3d34 4097 sbiw r24,16 7066 3d36 6CF0 brlt .L532 7067 3d38 88EE ldi r24,lo8(1000) 7068 3d3a 93E0 ldi r25,hi8(1000) 7069 3d3c 9093 0000 sts (KompassSignalSchlecht)+1,r25 7070 3d40 8093 0000 sts KompassSignalSchlecht,r24 7071 3d44 8091 0000 lds r24,EE_Parameter+13 7072 3d48 84FD sbrc r24,4 7073 3d4a 03C0 rjmp .L532 7074 3d4c 81E0 ldi r24,lo8(1) 7075 3d4e 8093 0000 sts NeueKompassRichtungMerken.10,r24 7076 .L532: 7077 3d52 F090 0000 lds r15,EE_Parameter+25 7078 3d56 AF2C mov r10,r15 7079 3d58 BB24 clr r11 7080 3d5a CC24 clr r12 7081 3d5c DD24 clr r13 7082 3d5e B801 movw r22,r16 7083 3d60 8827 clr r24 7084 3d62 77FD sbrc r23,7 7085 3d64 8095 com r24 7086 3d66 982F mov r25,r24 7087 3d68 9801 movw r18,r16 7088 3d6a 17FF sbrs r17,7 7089 3d6c 04C0 rjmp .L535 7090 3d6e 2227 clr r18 7091 3d70 3327 clr r19 7092 3d72 201B sub r18,r16 7093 3d74 310B sbc r19,r17 7094 .L535: 7095 3d76 4427 clr r20 7096 3d78 37FD sbrc r19,7 7097 3d7a 4095 com r20 7098 3d7c 542F mov r21,r20 7099 3d7e 0E94 0000 call __mulsi3 7100 3d82 9B01 movw r18,r22 7101 3d84 AC01 movw r20,r24 7102 3d86 C601 movw r24,r12 7103 3d88 B501 movw r22,r10 7104 3d8a 0E94 0000 call __mulsi3 7105 3d8e 97FF sbrs r25,7 7106 3d90 04C0 rjmp .L536 7107 3d92 6150 subi r22,lo8(-(511)) 7108 3d94 7E4F sbci r23,hi8(-(511)) 7109 3d96 8F4F sbci r24,hlo8(-(511)) 7110 3d98 9F4F sbci r25,hhi8(-(511)) 7111 .L536: 7112 3d9a F9E0 ldi r31,9 7113 3d9c 9595 1: asr r25 7114 3d9e 8795 ror r24 7115 3da0 7795 ror r23 7116 3da2 6795 ror r22 7117 3da4 FA95 dec r31 7118 3da6 D1F7 brne 1b 7119 3da8 9B01 movw r18,r22 7120 3daa 8F2D mov r24,r15 7121 3dac 9927 clr r25 7122 3dae 809F mul r24,r16 7123 3db0 D001 movw r26,r0 7124 3db2 819F mul r24,r17 7125 3db4 B00D add r27,r0 7126 3db6 909F mul r25,r16 7127 3db8 B00D add r27,r0 7128 3dba 1124 clr r1 7129 3dbc CD01 movw r24,r26 7130 3dbe B7FD sbrc r27,7 7131 3dc0 0396 adiw r24,3 7132 .L537: 7133 3dc2 9595 asr r25 7134 3dc4 8795 ror r24 7135 3dc6 9595 asr r25 7136 3dc8 8795 ror r24 7137 3dca 280F add r18,r24 7138 3dcc 391F adc r19,r25 7139 3dce 4427 clr r20 7140 3dd0 37FD sbrc r19,7 7141 3dd2 4095 com r20 7142 3dd4 542F mov r21,r20 7143 3dd6 2093 0000 sts sollGier.0,r18 7144 3dda 3093 0000 sts (sollGier.0)+1,r19 7145 3dde 4093 0000 sts (sollGier.0)+2,r20 7146 3de2 5093 0000 sts (sollGier.0)+3,r21 7147 3de6 8091 0000 lds r24,Mess_Integral_Gier 7148 3dea 9091 0000 lds r25,(Mess_Integral_Gier)+1 7149 3dee A091 0000 lds r26,(Mess_Integral_Gier)+2 7150 3df2 B091 0000 lds r27,(Mess_Integral_Gier)+3 7151 3df6 821B sub r24,r18 7152 3df8 930B sbc r25,r19 7153 3dfa A40B sbc r26,r20 7154 3dfc B50B sbc r27,r21 7155 3dfe 8093 0000 sts Mess_Integral_Gier,r24 7156 3e02 9093 0000 sts (Mess_Integral_Gier)+1,r25 7157 3e06 A093 0000 sts (Mess_Integral_Gier)+2,r26 7158 3e0a B093 0000 sts (Mess_Integral_Gier)+3,r27 7159 3e0e 8155 subi r24,lo8(50001) 7160 3e10 934C sbci r25,hi8(50001) 7161 3e12 A040 sbci r26,hlo8(50001) 7162 3e14 B040 sbci r27,hhi8(50001) 7163 3e16 64F0 brlt .L538 7164 3e18 80E5 ldi r24,lo8(50000) 7165 3e1a 93EC ldi r25,hi8(50000) 7166 3e1c A0E0 ldi r26,hlo8(50000) 7167 3e1e B0E0 ldi r27,hhi8(50000) 7168 3e20 8093 0000 sts Mess_Integral_Gier,r24 7169 3e24 9093 0000 sts (Mess_Integral_Gier)+1,r25 7170 3e28 A093 0000 sts (Mess_Integral_Gier)+2,r26 7171 3e2c B093 0000 sts (Mess_Integral_Gier)+3,r27 7172 .L538: 7173 3e30 8091 0000 lds r24,Mess_Integral_Gier 7174 3e34 9091 0000 lds r25,(Mess_Integral_Gier)+1 7175 3e38 A091 0000 lds r26,(Mess_Integral_Gier)+2 7176 3e3c B091 0000 lds r27,(Mess_Integral_Gier)+3 7177 3e40 805B subi r24,lo8(-50000) 7178 3e42 9C43 sbci r25,hi8(-50000) 7179 3e44 AF4F sbci r26,hlo8(-50000) 7180 3e46 BF4F sbci r27,hhi8(-50000) 7181 3e48 64F4 brge .L539 7182 3e4a 80EB ldi r24,lo8(-50000) 7183 3e4c 9CE3 ldi r25,hi8(-50000) 7184 3e4e AFEF ldi r26,hlo8(-50000) 7185 3e50 BFEF ldi r27,hhi8(-50000) 7186 3e52 8093 0000 sts Mess_Integral_Gier,r24 7187 3e56 9093 0000 sts (Mess_Integral_Gier)+1,r25 7188 3e5a A093 0000 sts (Mess_Integral_Gier)+2,r26 7189 3e5e B093 0000 sts (Mess_Integral_Gier)+3,r27 7190 .L539: 7191 3e62 A090 0000 lds r10,KompassValue 7192 3e66 B090 0000 lds r11,(KompassValue)+1 7193 3e6a A114 cp r10,__zero_reg__ 7194 3e6c B104 cpc r11,__zero_reg__ 7195 3e6e 09F4 brne .+2 7196 3e70 78C1 rjmp .L540 7197 3e72 8091 0000 lds r24,EE_Parameter+13 7198 3e76 83FF sbrs r24,3 7199 3e78 74C1 rjmp .L540 7200 3e7a 8091 0000 lds r24,IntegralNick 7201 3e7e 9091 0000 lds r25,(IntegralNick)+1 7202 3e82 A091 0000 lds r26,(IntegralNick)+2 7203 3e86 B091 0000 lds r27,(IntegralNick)+3 7204 3e8a B7FF sbrs r27,7 7205 3e8c 04C0 rjmp .L541 7206 3e8e 8150 subi r24,lo8(-(511)) 7207 3e90 9E4F sbci r25,hi8(-(511)) 7208 3e92 AF4F sbci r26,hlo8(-(511)) 7209 3e94 BF4F sbci r27,hhi8(-(511)) 7210 .L541: 7211 3e96 79E0 ldi r23,9 7212 3e98 B595 1: asr r27 7213 3e9a A795 ror r26 7214 3e9c 9795 ror r25 7215 3e9e 8795 ror r24 7216 3ea0 7A95 dec r23 7217 3ea2 D1F7 brne 1b 7218 3ea4 6C01 movw r12,r24 7219 3ea6 97FF sbrs r25,7 7220 3ea8 04C0 rjmp .L542 7221 3eaa D094 com r13 7222 3eac C194 neg r12 7223 3eae D108 sbc r13,__zero_reg__ 7224 3eb0 D394 inc r13 7225 .L542: 7226 3eb2 8091 0000 lds r24,IntegralRoll 7227 3eb6 9091 0000 lds r25,(IntegralRoll)+1 7228 3eba A091 0000 lds r26,(IntegralRoll)+2 7229 3ebe B091 0000 lds r27,(IntegralRoll)+3 7230 3ec2 B7FF sbrs r27,7 7231 3ec4 04C0 rjmp .L543 7232 3ec6 8150 subi r24,lo8(-(511)) 7233 3ec8 9E4F sbci r25,hi8(-(511)) 7234 3eca AF4F sbci r26,hlo8(-(511)) 7235 3ecc BF4F sbci r27,hhi8(-(511)) 7236 .L543: 7237 3ece 69E0 ldi r22,9 7238 3ed0 B595 1: asr r27 7239 3ed2 A795 ror r26 7240 3ed4 9795 ror r25 7241 3ed6 8795 ror r24 7242 3ed8 6A95 dec r22 7243 3eda D1F7 brne 1b 7244 3edc BC01 movw r22,r24 7245 3ede 97FF sbrs r25,7 7246 3ee0 03C0 rjmp .L544 7247 3ee2 7095 com r23 7248 3ee4 6195 neg r22 7249 3ee6 7F4F sbci r23,lo8(-1) 7250 .L544: 7251 3ee8 C616 cp r12,r22 7252 3eea D706 cpc r13,r23 7253 3eec 0CF4 brge .L545 7254 3eee 6B01 movw r12,r22 7255 .L545: 7256 3ef0 B601 movw r22,r12 7257 3ef2 D7FE sbrs r13,7 7258 3ef4 02C0 rjmp .L546 7259 3ef6 695F subi r22,lo8(-(7)) 7260 3ef8 7F4F sbci r23,hi8(-(7)) 7261 .L546: 7262 3efa 2B01 movw r4,r22 7263 3efc 53E0 ldi r21,3 7264 3efe 5594 1: asr r5 7265 3f00 4794 ror r4 7266 3f02 5A95 dec r21 7267 3f04 E1F7 brne 1b 7268 3f06 42E0 ldi r20,lo8(2) 7269 3f08 E42E mov r14,r20 7270 3f0a F12C mov r15,__zero_reg__ 7271 3f0c 4E0C add r4,r14 7272 3f0e 5F1C adc r5,r15 7273 3f10 0CE1 ldi r16,lo8(540) 7274 3f12 12E0 ldi r17,hi8(540) 7275 3f14 A00E add r10,r16 7276 3f16 B11E adc r11,r17 7277 3f18 7501 movw r14,r10 7278 3f1a 0027 clr r16 7279 3f1c F7FC sbrc r15,7 7280 3f1e 0095 com r16 7281 3f20 102F mov r17,r16 7282 3f22 24EE ldi r18,lo8(-540) 7283 3f24 3DEF ldi r19,hi8(-540) 7284 3f26 A20E add r10,r18 7285 3f28 B31E adc r11,r19 7286 3f2a 8091 0000 lds r24,ErsatzKompass 7287 3f2e 9091 0000 lds r25,(ErsatzKompass)+1 7288 3f32 A091 0000 lds r26,(ErsatzKompass)+2 7289 3f36 B091 0000 lds r27,(ErsatzKompass)+3 7290 3f3a 6090 0000 lds r6,GIER_GRAD_FAKTOR 7291 3f3e 7090 0000 lds r7,(GIER_GRAD_FAKTOR)+1 7292 3f42 8090 0000 lds r8,(GIER_GRAD_FAKTOR)+2 7293 3f46 9090 0000 lds r9,(GIER_GRAD_FAKTOR)+3 7294 3f4a BC01 movw r22,r24 7295 3f4c CD01 movw r24,r26 7296 3f4e A401 movw r20,r8 7297 3f50 9301 movw r18,r6 7298 3f52 0E94 0000 call __divmodsi4 7299 3f56 E21A sub r14,r18 7300 3f58 F30A sbc r15,r19 7301 3f5a 040B sbc r16,r20 7302 3f5c 150B sbc r17,r21 7303 3f5e C801 movw r24,r16 7304 3f60 B701 movw r22,r14 7305 3f62 28E6 ldi r18,lo8(360) 7306 3f64 31E0 ldi r19,hi8(360) 7307 3f66 40E0 ldi r20,hlo8(360) 7308 3f68 50E0 ldi r21,hhi8(360) 7309 3f6a 0E94 0000 call __divmodsi4 7310 3f6e DC01 movw r26,r24 7311 3f70 CB01 movw r24,r22 7312 3f72 3CE4 ldi r19,lo8(-180) 7313 3f74 E32E mov r14,r19 7314 3f76 3FEF ldi r19,hi8(-180) 7315 3f78 F32E mov r15,r19 7316 3f7a E80E add r14,r24 7317 3f7c F91E adc r15,r25 7318 3f7e 0091 0000 lds r16,KompassSignalSchlecht 7319 3f82 1091 0000 lds r17,(KompassSignalSchlecht)+1 7320 3f86 0115 cp r16,__zero_reg__ 7321 3f88 1105 cpc r17,__zero_reg__ 7322 3f8a 89F5 brne .L547 7323 3f8c 39E1 ldi r19,lo8(25) 7324 3f8e C316 cp r12,r19 7325 3f90 D104 cpc r13,__zero_reg__ 7326 3f92 6CF5 brge .L547 7327 3f94 8091 0000 lds r24,GierGyroFehler 7328 3f98 9091 0000 lds r25,(GierGyroFehler)+1 7329 3f9c 8E0D add r24,r14 7330 3f9e 9F1D adc r25,r15 7331 3fa0 9093 0000 sts (GierGyroFehler)+1,r25 7332 3fa4 8093 0000 sts GierGyroFehler,r24 7333 3fa8 8091 0000 lds r24,NeueKompassRichtungMerken.10 7334 3fac 8823 tst r24 7335 3fae F9F0 breq .L547 7336 3fb0 C501 movw r24,r10 7337 3fb2 AA27 clr r26 7338 3fb4 97FD sbrc r25,7 7339 3fb6 A095 com r26 7340 3fb8 BA2F mov r27,r26 7341 3fba BC01 movw r22,r24 7342 3fbc CD01 movw r24,r26 7343 3fbe A401 movw r20,r8 7344 3fc0 9301 movw r18,r6 7345 3fc2 0E94 0000 call __mulsi3 7346 3fc6 DC01 movw r26,r24 7347 3fc8 CB01 movw r24,r22 7348 3fca 8093 0000 sts ErsatzKompass,r24 7349 3fce 9093 0000 sts (ErsatzKompass)+1,r25 7350 3fd2 A093 0000 sts (ErsatzKompass)+2,r26 7351 3fd6 B093 0000 sts (ErsatzKompass)+3,r27 7352 3fda BC01 movw r22,r24 7353 3fdc CD01 movw r24,r26 7354 3fde 0E94 0000 call __divmodsi4 7355 3fe2 3093 0000 sts (KompassStartwert)+1,r19 7356 3fe6 2093 0000 sts KompassStartwert,r18 7357 3fea 1092 0000 sts NeueKompassRichtungMerken.10,__zero_reg__ 7358 .L547: 7359 3fee C701 movw r24,r14 7360 3ff0 24E0 ldi r18,4 7361 3ff2 880F 1: lsl r24 7362 3ff4 991F rol r25 7363 3ff6 2A95 dec r18 7364 3ff8 E1F7 brne 1b 7365 3ffa B201 movw r22,r4 7366 3ffc 0E94 0000 call __divmodhi4 7367 4000 CB01 movw r24,r22 7368 4002 AA27 clr r26 7369 4004 97FD sbrc r25,7 7370 4006 A095 com r26 7371 4008 BA2F mov r27,r26 7372 400a 2091 0000 lds r18,ErsatzKompass 7373 400e 3091 0000 lds r19,(ErsatzKompass)+1 7374 4012 4091 0000 lds r20,(ErsatzKompass)+2 7375 4016 5091 0000 lds r21,(ErsatzKompass)+3 7376 401a 280F add r18,r24 7377 401c 391F adc r19,r25 7378 401e 4A1F adc r20,r26 7379 4020 5B1F adc r21,r27 7380 4022 2093 0000 sts ErsatzKompass,r18 7381 4026 3093 0000 sts (ErsatzKompass)+1,r19 7382 402a 4093 0000 sts (ErsatzKompass)+2,r20 7383 402e 5093 0000 sts (ErsatzKompass)+3,r21 7384 4032 F090 0000 lds r15,Parameter_KompassWirkung 7385 4036 6F2D mov r22,r15 7386 4038 7727 clr r23 7387 403a C69E mul r12,r22 7388 403c C001 movw r24,r0 7389 403e C79E mul r12,r23 7390 4040 900D add r25,r0 7391 4042 D69E mul r13,r22 7392 4044 900D add r25,r0 7393 4046 1124 clr r1 7394 4048 97FD sbrc r25,7 7395 404a 4F96 adiw r24,31 7396 .L549: 7397 404c 6C01 movw r12,r24 7398 404e 95E0 ldi r25,5 7399 4050 D594 1: asr r13 7400 4052 C794 ror r12 7401 4054 9A95 dec r25 7402 4056 E1F7 brne 1b 7403 4058 6C19 sub r22,r12 7404 405a 7D09 sbc r23,r13 7405 405c 6B01 movw r12,r22 7406 405e 77FD sbrc r23,7 7407 4060 7AC0 rjmp .L550 7408 4062 0115 cp r16,__zero_reg__ 7409 4064 1105 cpc r17,__zero_reg__ 7410 4066 09F0 breq .+2 7411 4068 6FC0 rjmp .L776 7412 406a 0091 0000 lds r16,MaxStickNick 7413 406e 1091 0000 lds r17,(MaxStickNick)+1 7414 4072 8091 0000 lds r24,MaxStickRoll 7415 4076 9091 0000 lds r25,(MaxStickRoll)+1 7416 407a 080F add r16,r24 7417 407c 191F adc r17,r25 7418 407e 17FF sbrs r17,7 7419 4080 02C0 rjmp .L552 7420 4082 095F subi r16,lo8(-(7)) 7421 4084 1F4F sbci r17,hi8(-(7)) 7422 .L552: 7423 4086 83E0 ldi r24,3 7424 4088 1595 1: asr r17 7425 408a 0795 ror r16 7426 408c 8A95 dec r24 7427 408e E1F7 brne 1b 7428 4090 005C subi r16,lo8(-(64)) 7429 4092 1F4F sbci r17,hi8(-(64)) 7430 4094 CA01 movw r24,r20 7431 4096 B901 movw r22,r18 7432 4098 A401 movw r20,r8 7433 409a 9301 movw r18,r6 7434 409c 0E94 0000 call __divmodsi4 7435 40a0 DA01 movw r26,r20 7436 40a2 C901 movw r24,r18 7437 40a4 2091 0000 lds r18,KompassStartwert 7438 40a8 3091 0000 lds r19,(KompassStartwert)+1 7439 40ac 4427 clr r20 7440 40ae 37FD sbrc r19,7 7441 40b0 4095 com r20 7442 40b2 542F mov r21,r20 7443 40b4 821B sub r24,r18 7444 40b6 930B sbc r25,r19 7445 40b8 A40B sbc r26,r20 7446 40ba B50B sbc r27,r21 7447 40bc 845E subi r24,lo8(-(540)) 7448 40be 9D4F sbci r25,hi8(-(540)) 7449 40c0 AF4F sbci r26,hlo8(-(540)) 7450 40c2 BF4F sbci r27,hhi8(-(540)) 7451 40c4 BC01 movw r22,r24 7452 40c6 CD01 movw r24,r26 7453 40c8 28E6 ldi r18,lo8(360) 7454 40ca 31E0 ldi r19,hi8(360) 7455 40cc 40E0 ldi r20,hlo8(360) 7456 40ce 50E0 ldi r21,hhi8(360) 7457 40d0 0E94 0000 call __divmodsi4 7458 40d4 DC01 movw r26,r24 7459 40d6 CB01 movw r24,r22 7460 40d8 845B subi r24,lo8(-(-180)) 7461 40da 9040 sbci r25,hi8(-(-180)) 7462 40dc 8C9D mul r24,r12 7463 40de A001 movw r20,r0 7464 40e0 8D9D mul r24,r13 7465 40e2 500D add r21,r0 7466 40e4 9C9D mul r25,r12 7467 40e6 500D add r21,r0 7468 40e8 1124 clr r1 7469 40ea CA01 movw r24,r20 7470 40ec B801 movw r22,r16 7471 40ee 0E94 0000 call __divmodhi4 7472 40f2 83E0 ldi r24,lo8(3) 7473 40f4 F89E mul r15,r24 7474 40f6 6001 movw r12,r0 7475 40f8 1124 clr r1 7476 40fa C616 cp r12,r22 7477 40fc D706 cpc r13,r23 7478 40fe 14F4 brge .L553 7479 4100 B601 movw r22,r12 7480 4102 08C0 rjmp .L554 7481 .L553: 7482 4104 8827 clr r24 7483 4106 9927 clr r25 7484 4108 8C19 sub r24,r12 7485 410a 9D09 sbc r25,r13 7486 410c 6817 cp r22,r24 7487 410e 7907 cpc r23,r25 7488 4110 0CF4 brge .L554 7489 4112 BC01 movw r22,r24 7490 .L554: 7491 4114 9B01 movw r18,r22 7492 4116 4427 clr r20 7493 4118 37FD sbrc r19,7 7494 411a 4095 com r20 7495 411c 542F mov r21,r20 7496 411e 8091 0000 lds r24,Mess_Integral_Gier 7497 4122 9091 0000 lds r25,(Mess_Integral_Gier)+1 7498 4126 A091 0000 lds r26,(Mess_Integral_Gier)+2 7499 412a B091 0000 lds r27,(Mess_Integral_Gier)+3 7500 412e 820F add r24,r18 7501 4130 931F adc r25,r19 7502 4132 A41F adc r26,r20 7503 4134 B51F adc r27,r21 7504 4136 8093 0000 sts Mess_Integral_Gier,r24 7505 413a 9093 0000 sts (Mess_Integral_Gier)+1,r25 7506 413e A093 0000 sts (Mess_Integral_Gier)+2,r26 7507 4142 B093 0000 sts (Mess_Integral_Gier)+3,r27 7508 4146 0DC0 rjmp .L540 7509 .L776: 7510 4148 0150 subi r16,lo8(-(-1)) 7511 414a 1040 sbci r17,hi8(-(-1)) 7512 414c 1093 0000 sts (KompassSignalSchlecht)+1,r17 7513 4150 0093 0000 sts KompassSignalSchlecht,r16 7514 4154 06C0 rjmp .L540 7515 .L550: 7516 4156 84EF ldi r24,lo8(500) 7517 4158 91E0 ldi r25,hi8(500) 7518 415a 9093 0000 sts (KompassSignalSchlecht)+1,r25 7519 415e 8093 0000 sts KompassSignalSchlecht,r24 7520 .L540: 7521 4162 8091 0000 lds r24,TrichterFlug 7522 4166 8823 tst r24 7523 4168 81F0 breq .L558 7524 416a 1092 0000 sts SummeRoll,__zero_reg__ 7525 416e 1092 0000 sts (SummeRoll)+1,__zero_reg__ 7526 4172 1092 0000 sts (SummeRoll)+2,__zero_reg__ 7527 4176 1092 0000 sts (SummeRoll)+3,__zero_reg__ 7528 417a 1092 0000 sts SummeNick,__zero_reg__ 7529 417e 1092 0000 sts (SummeNick)+1,__zero_reg__ 7530 4182 1092 0000 sts (SummeNick)+2,__zero_reg__ 7531 4186 1092 0000 sts (SummeNick)+3,__zero_reg__ 7532 .L558: 7533 418a 7090 0000 lds r7,Looping_Nick 7534 418e 7720 tst r7 7535 4190 F1F4 brne .L559 7536 4192 8091 0000 lds r24,IntegralFaktor 7537 4196 282F mov r18,r24 7538 4198 3327 clr r19 7539 419a 4427 clr r20 7540 419c 5527 clr r21 7541 419e 8091 0000 lds r24,IntegralNick 7542 41a2 9091 0000 lds r25,(IntegralNick)+1 7543 41a6 A091 0000 lds r26,(IntegralNick)+2 7544 41aa B091 0000 lds r27,(IntegralNick)+3 7545 41ae BC01 movw r22,r24 7546 41b0 CD01 movw r24,r26 7547 41b2 0E94 0000 call __mulsi3 7548 41b6 DC01 movw r26,r24 7549 41b8 CB01 movw r24,r22 7550 41ba BC01 movw r22,r24 7551 41bc CD01 movw r24,r26 7552 41be 28EF ldi r18,lo8(11000) 7553 41c0 3AE2 ldi r19,hi8(11000) 7554 41c2 40E0 ldi r20,hlo8(11000) 7555 41c4 50E0 ldi r21,hhi8(11000) 7556 41c6 0E94 0000 call __divmodsi4 7557 41ca 2901 movw r4,r18 7558 41cc 02C0 rjmp .L560 7559 .L559: 7560 41ce 4424 clr r4 7561 41d0 5524 clr r5 7562 .L560: 7563 41d2 9090 0000 lds r9,Looping_Roll 7564 41d6 9920 tst r9 7565 41d8 F1F4 brne .L561 7566 41da 8091 0000 lds r24,IntegralFaktor 7567 41de 282F mov r18,r24 7568 41e0 3327 clr r19 7569 41e2 4427 clr r20 7570 41e4 5527 clr r21 7571 41e6 8091 0000 lds r24,IntegralRoll 7572 41ea 9091 0000 lds r25,(IntegralRoll)+1 7573 41ee A091 0000 lds r26,(IntegralRoll)+2 7574 41f2 B091 0000 lds r27,(IntegralRoll)+3 7575 41f6 BC01 movw r22,r24 7576 41f8 CD01 movw r24,r26 7577 41fa 0E94 0000 call __mulsi3 7578 41fe DC01 movw r26,r24 7579 4200 CB01 movw r24,r22 7580 4202 BC01 movw r22,r24 7581 4204 CD01 movw r24,r26 7582 4206 28EF ldi r18,lo8(11000) 7583 4208 3AE2 ldi r19,hi8(11000) 7584 420a 40E0 ldi r20,hlo8(11000) 7585 420c 50E0 ldi r21,hhi8(11000) 7586 420e 0E94 0000 call __divmodsi4 7587 4212 1901 movw r2,r18 7588 4214 02C0 rjmp .L562 7589 .L561: 7590 4216 2224 clr r2 7591 4218 3324 clr r3 7592 .L562: 7593 421a 8091 0000 lds r24,TrimNick 7594 421e 9091 0000 lds r25,(TrimNick)+1 7595 4222 893C cpi r24,201 7596 4224 9105 cpc r25,__zero_reg__ 7597 4226 1CF0 brlt .L563 7598 4228 88EC ldi r24,lo8(200) 7599 422a 90E0 ldi r25,hi8(200) 7600 422c 05C0 rjmp .L781 7601 .L563: 7602 422e 8853 subi r24,lo8(-200) 7603 4230 9F4F sbci r25,hi8(-200) 7604 4232 34F4 brge .L564 7605 4234 88E3 ldi r24,lo8(-200) 7606 4236 9FEF ldi r25,hi8(-200) 7607 .L781: 7608 4238 9093 0000 sts (TrimNick)+1,r25 7609 423c 8093 0000 sts TrimNick,r24 7610 .L564: 7611 4240 8091 0000 lds r24,TrimRoll 7612 4244 9091 0000 lds r25,(TrimRoll)+1 7613 4248 893C cpi r24,201 7614 424a 9105 cpc r25,__zero_reg__ 7615 424c 1CF0 brlt .L566 7616 424e 88EC ldi r24,lo8(200) 7617 4250 90E0 ldi r25,hi8(200) 7618 4252 05C0 rjmp .L782 7619 .L566: 7620 4254 8853 subi r24,lo8(-200) 7621 4256 9F4F sbci r25,hi8(-200) 7622 4258 34F4 brge .L567 7623 425a 88E3 ldi r24,lo8(-200) 7624 425c 9FEF ldi r25,hi8(-200) 7625 .L782: 7626 425e 9093 0000 sts (TrimRoll)+1,r25 7627 4262 8093 0000 sts TrimRoll,r24 7628 .L567: 7629 4266 8091 0000 lds r24,MesswertNick 7630 426a 9091 0000 lds r25,(MesswertNick)+1 7631 426e AA27 clr r26 7632 4270 97FD sbrc r25,7 7633 4272 A095 com r26 7634 4274 BA2F mov r27,r26 7635 4276 2091 0000 lds r18,GyroFaktor 7636 427a A22E mov r10,r18 7637 427c BB24 clr r11 7638 427e CC24 clr r12 7639 4280 DD24 clr r13 7640 4282 BC01 movw r22,r24 7641 4284 CD01 movw r24,r26 7642 4286 A601 movw r20,r12 7643 4288 9501 movw r18,r10 7644 428a 0E94 0000 call __mulsi3 7645 428e 9B01 movw r18,r22 7646 4290 AC01 movw r20,r24 7647 4292 8091 0000 lds r24,TrimNick 7648 4296 9091 0000 lds r25,(TrimNick)+1 7649 429a AA27 clr r26 7650 429c 97FD sbrc r25,7 7651 429e A095 com r26 7652 42a0 BA2F mov r27,r26 7653 42a2 17E0 ldi r17,7 7654 42a4 880F 1: lsl r24 7655 42a6 991F rol r25 7656 42a8 AA1F rol r26 7657 42aa BB1F rol r27 7658 42ac 1A95 dec r17 7659 42ae D1F7 brne 1b 7660 42b0 280F add r18,r24 7661 42b2 391F adc r19,r25 7662 42b4 4A1F adc r20,r26 7663 42b6 5B1F adc r21,r27 7664 42b8 57FF sbrs r21,7 7665 42ba 04C0 rjmp .L569 7666 42bc 215C subi r18,lo8(-(63)) 7667 42be 3F4F sbci r19,hi8(-(63)) 7668 42c0 4F4F sbci r20,hlo8(-(63)) 7669 42c2 5F4F sbci r21,hhi8(-(63)) 7670 .L569: 7671 42c4 A6E0 ldi r26,6 7672 42c6 5595 1: asr r21 7673 42c8 4795 ror r20 7674 42ca 3795 ror r19 7675 42cc 2795 ror r18 7676 42ce AA95 dec r26 7677 42d0 D1F7 brne 1b 7678 42d2 7201 movw r14,r4 7679 42d4 E20E add r14,r18 7680 42d6 F31E adc r15,r19 7681 42d8 F092 0000 sts (MesswertNick)+1,r15 7682 42dc E092 0000 sts MesswertNick,r14 7683 42e0 8091 0000 lds r24,MesswertRoll 7684 42e4 9091 0000 lds r25,(MesswertRoll)+1 7685 42e8 AA27 clr r26 7686 42ea 97FD sbrc r25,7 7687 42ec A095 com r26 7688 42ee BA2F mov r27,r26 7689 42f0 BC01 movw r22,r24 7690 42f2 CD01 movw r24,r26 7691 42f4 A601 movw r20,r12 7692 42f6 9501 movw r18,r10 7693 42f8 0E94 0000 call __mulsi3 7694 42fc 9B01 movw r18,r22 7695 42fe AC01 movw r20,r24 7696 4300 8091 0000 lds r24,TrimRoll 7697 4304 9091 0000 lds r25,(TrimRoll)+1 7698 4308 AA27 clr r26 7699 430a 97FD sbrc r25,7 7700 430c A095 com r26 7701 430e BA2F mov r27,r26 7702 4310 F7E0 ldi r31,7 7703 4312 880F 1: lsl r24 7704 4314 991F rol r25 7705 4316 AA1F rol r26 7706 4318 BB1F rol r27 7707 431a FA95 dec r31 7708 431c D1F7 brne 1b 7709 431e 280F add r18,r24 7710 4320 391F adc r19,r25 7711 4322 4A1F adc r20,r26 7712 4324 5B1F adc r21,r27 7713 4326 57FF sbrs r21,7 7714 4328 04C0 rjmp .L570 7715 432a 215C subi r18,lo8(-(63)) 7716 432c 3F4F sbci r19,hi8(-(63)) 7717 432e 4F4F sbci r20,hlo8(-(63)) 7718 4330 5F4F sbci r21,hhi8(-(63)) 7719 .L570: 7720 4332 E6E0 ldi r30,6 7721 4334 5595 1: asr r21 7722 4336 4795 ror r20 7723 4338 3795 ror r19 7724 433a 2795 ror r18 7725 433c EA95 dec r30 7726 433e D1F7 brne 1b 7727 4340 8101 movw r16,r2 7728 4342 020F add r16,r18 7729 4344 131F adc r17,r19 7730 4346 1093 0000 sts (MesswertRoll)+1,r17 7731 434a 0093 0000 sts MesswertRoll,r16 7732 434e 8091 0000 lds r24,MesswertGier 7733 4352 9091 0000 lds r25,(MesswertGier)+1 7734 4356 880F add r24,r24 7735 4358 991F adc r25,r25 7736 435a AA27 clr r26 7737 435c 97FD sbrc r25,7 7738 435e A095 com r26 7739 4360 BA2F mov r27,r26 7740 4362 2091 0000 lds r18,GyroFaktorGier 7741 4366 3327 clr r19 7742 4368 4427 clr r20 7743 436a 5527 clr r21 7744 436c BC01 movw r22,r24 7745 436e CD01 movw r24,r26 7746 4370 0E94 0000 call __mulsi3 7747 4374 5B01 movw r10,r22 7748 4376 6C01 movw r12,r24 7749 4378 97FF sbrs r25,7 7750 437a 08C0 rjmp .L571 7751 437c 8FE3 ldi r24,lo8(63) 7752 437e 90E0 ldi r25,hi8(63) 7753 4380 A0E0 ldi r26,hlo8(63) 7754 4382 B0E0 ldi r27,hhi8(63) 7755 4384 A80E add r10,r24 7756 4386 B91E adc r11,r25 7757 4388 CA1E adc r12,r26 7758 438a DB1E adc r13,r27 7759 .L571: 7760 438c 76E0 ldi r23,6 7761 438e D594 1: asr r13 7762 4390 C794 ror r12 7763 4392 B794 ror r11 7764 4394 A794 ror r10 7765 4396 7A95 dec r23 7766 4398 D1F7 brne 1b 7767 439a 8091 0000 lds r24,IntegralFaktorGier 7768 439e 282F mov r18,r24 7769 43a0 3327 clr r19 7770 43a2 4427 clr r20 7771 43a4 5527 clr r21 7772 43a6 8091 0000 lds r24,Integral_Gier 7773 43aa 9091 0000 lds r25,(Integral_Gier)+1 7774 43ae A091 0000 lds r26,(Integral_Gier)+2 7775 43b2 B091 0000 lds r27,(Integral_Gier)+3 7776 43b6 BC01 movw r22,r24 7777 43b8 CD01 movw r24,r26 7778 43ba 0E94 0000 call __mulsi3 7779 43be DC01 movw r26,r24 7780 43c0 CB01 movw r24,r22 7781 43c2 BC01 movw r22,r24 7782 43c4 CD01 movw r24,r26 7783 43c6 20EF ldi r18,lo8(22000) 7784 43c8 35E5 ldi r19,hi8(22000) 7785 43ca 40E0 ldi r20,hlo8(22000) 7786 43cc 50E0 ldi r21,hhi8(22000) 7787 43ce 0E94 0000 call __divmodsi4 7788 43d2 B501 movw r22,r10 7789 43d4 620F add r22,r18 7790 43d6 731F adc r23,r19 7791 43d8 7093 0000 sts (MesswertGier)+1,r23 7792 43dc 6093 0000 sts MesswertGier,r22 7793 43e0 91E0 ldi r25,lo8(4097) 7794 43e2 E916 cp r14,r25 7795 43e4 90E1 ldi r25,hi8(4097) 7796 43e6 F906 cpc r15,r25 7797 43e8 34F0 brlt .L572 7798 43ea 80E0 ldi r24,lo8(4096) 7799 43ec 90E1 ldi r25,hi8(4096) 7800 43ee 9093 0000 sts (MesswertNick)+1,r25 7801 43f2 8093 0000 sts MesswertNick,r24 7802 .L572: 7803 43f6 8091 0000 lds r24,MesswertNick 7804 43fa 9091 0000 lds r25,(MesswertNick)+1 7805 43fe 8050 subi r24,lo8(-4096) 7806 4400 904F sbci r25,hi8(-4096) 7807 4402 34F4 brge .L573 7808 4404 80E0 ldi r24,lo8(-4096) 7809 4406 90EF ldi r25,hi8(-4096) 7810 4408 9093 0000 sts (MesswertNick)+1,r25 7811 440c 8093 0000 sts MesswertNick,r24 7812 .L573: 7813 4410 0150 subi r16,lo8(4097) 7814 4412 1041 sbci r17,hi8(4097) 7815 4414 34F0 brlt .L574 7816 4416 80E0 ldi r24,lo8(4096) 7817 4418 90E1 ldi r25,hi8(4096) 7818 441a 9093 0000 sts (MesswertRoll)+1,r25 7819 441e 8093 0000 sts MesswertRoll,r24 7820 .L574: 7821 4422 8091 0000 lds r24,MesswertRoll 7822 4426 9091 0000 lds r25,(MesswertRoll)+1 7823 442a 8050 subi r24,lo8(-4096) 7824 442c 904F sbci r25,hi8(-4096) 7825 442e 34F4 brge .L575 7826 4430 80E0 ldi r24,lo8(-4096) 7827 4432 90EF ldi r25,hi8(-4096) 7828 4434 9093 0000 sts (MesswertRoll)+1,r25 7829 4438 8093 0000 sts MesswertRoll,r24 7830 .L575: 7831 443c 6150 subi r22,lo8(4097) 7832 443e 7041 sbci r23,hi8(4097) 7833 4440 34F0 brlt .L576 7834 4442 80E0 ldi r24,lo8(4096) 7835 4444 90E1 ldi r25,hi8(4096) 7836 4446 9093 0000 sts (MesswertGier)+1,r25 7837 444a 8093 0000 sts MesswertGier,r24 7838 .L576: 7839 444e 8091 0000 lds r24,MesswertGier 7840 4452 9091 0000 lds r25,(MesswertGier)+1 7841 4456 8050 subi r24,lo8(-4096) 7842 4458 904F sbci r25,hi8(-4096) 7843 445a 34F4 brge .L577 7844 445c 80E0 ldi r24,lo8(-4096) 7845 445e 90EF ldi r25,hi8(-4096) 7846 4460 9093 0000 sts (MesswertGier)+1,r25 7847 4464 8093 0000 sts MesswertGier,r24 7848 .L577: 7849 4468 8091 0000 lds r24,BattLowVoltageWarning 7850 446c 482F mov r20,r24 7851 446e 5527 clr r21 7852 4470 8091 0000 lds r24,UBat 7853 4474 9091 0000 lds r25,(UBat)+1 7854 4478 4817 cp r20,r24 7855 447a 5907 cpc r21,r25 7856 447c 94F4 brge .L578 7857 447e 2091 0000 lds r18,UBat 7858 4482 3091 0000 lds r19,(UBat)+1 7859 4486 68A1 ldd r22,Y+32 7860 4488 79A1 ldd r23,Y+33 7861 448a 649F mul r22,r20 7862 448c C001 movw r24,r0 7863 448e 659F mul r22,r21 7864 4490 900D add r25,r0 7865 4492 749F mul r23,r20 7866 4494 900D add r25,r0 7867 4496 1124 clr r1 7868 4498 B901 movw r22,r18 7869 449a 0E94 0000 call __udivmodhi4 7870 449e 79A3 std Y+33,r23 7871 44a0 68A3 std Y+32,r22 7872 .L578: 7873 44a2 88A1 ldd r24,Y+32 7874 44a4 99A1 ldd r25,Y+33 7875 44a6 880F lsl r24 7876 44a8 991F rol r25 7877 44aa 880F lsl r24 7878 44ac 991F rol r25 7879 44ae 99A3 std Y+33,r25 7880 44b0 88A3 std Y+32,r24 7881 44b2 4091 0000 lds r20,EE_Parameter+13 7882 44b6 40FF sbrs r20,0 7883 44b8 92C6 rjmp .L579 7884 44ba 9920 tst r9 7885 44bc 09F0 breq .+2 7886 44be 8FC6 rjmp .L579 7887 44c0 7720 tst r7 7888 44c2 09F0 breq .+2 7889 44c4 8CC6 rjmp .L579 7890 44c6 CC24 clr r12 7891 44c8 DD24 clr r13 7892 44ca 4601 movw r8,r12 7893 44cc 8091 0000 lds r24,HoverGas 7894 44d0 9091 0000 lds r25,(HoverGas)+1 7895 44d4 9093 0000 sts (DebugOut+44)+1,r25 7896 44d8 8093 0000 sts DebugOut+44,r24 7897 44dc 2091 0000 lds r18,BaroExpandActive 7898 44e0 3091 0000 lds r19,(BaroExpandActive)+1 7899 44e4 2115 cp r18,__zero_reg__ 7900 44e6 3105 cpc r19,__zero_reg__ 7901 44e8 09F0 breq .+2 7902 44ea 3FC0 rjmp .L580 7903 44ec 8091 0000 lds r24,MessLuftdruck 7904 44f0 9091 0000 lds r25,(MessLuftdruck)+1 7905 44f4 8959 subi r24,lo8(921) 7906 44f6 9340 sbci r25,hi8(921) 7907 44f8 58F0 brlo .L581 7908 44fa 87B5 in r24,71-0x20 7909 44fc 853F cpi r24,lo8(-11) 7910 44fe 20F4 brsh .L582 7911 4500 8091 0000 lds r24,ExpandBaro 7912 4504 8150 subi r24,lo8(-(-1)) 7913 4506 11C0 rjmp .L783 7914 .L582: 7915 4508 81E0 ldi r24,lo8(1) 7916 450a 8093 0000 sts BaroAtLowerLimit.30,r24 7917 450e 4EC0 rjmp .L589 7918 .L581: 7919 4510 8091 0000 lds r24,MessLuftdruck 7920 4514 9091 0000 lds r25,(MessLuftdruck)+1 7921 4518 8436 cpi r24,100 7922 451a 9105 cpc r25,__zero_reg__ 7923 451c 08F5 brsh .L585 7924 451e 87B5 in r24,71-0x20 7925 4520 8B30 cpi r24,lo8(11) 7926 4522 D0F0 brlo .L586 7927 4524 8091 0000 lds r24,ExpandBaro 7928 4528 8F5F subi r24,lo8(-(1)) 7929 .L783: 7930 452a 8093 0000 sts ExpandBaro,r24 7931 452e 9AE0 ldi r25,lo8(10) 7932 4530 8902 muls r24,r25 7933 4532 9001 movw r18,r0 7934 4534 1124 clr r1 7935 4536 8091 0000 lds r24,DruckOffsetSetting 7936 453a 821B sub r24,r18 7937 453c 87BD out 71-0x20,r24 7938 453e 8CE2 ldi r24,lo8(300) 7939 4540 91E0 ldi r25,hi8(300) 7940 4542 9093 0000 sts (beeptime)+1,r25 7941 4546 8093 0000 sts beeptime,r24 7942 454a 8EE5 ldi r24,lo8(350) 7943 454c 91E0 ldi r25,hi8(350) 7944 454e 9093 0000 sts (BaroExpandActive)+1,r25 7945 4552 8093 0000 sts BaroExpandActive,r24 7946 4556 2AC0 rjmp .L589 7947 .L586: 7948 4558 81E0 ldi r24,lo8(1) 7949 455a 8093 0000 sts BaroAtUpperLimit.29,r24 7950 455e 26C0 rjmp .L589 7951 .L585: 7952 4560 7092 0000 sts BaroAtUpperLimit.29,r7 7953 4564 7092 0000 sts BaroAtLowerLimit.30,r7 7954 4568 21C0 rjmp .L589 7955 .L580: 7956 456a 8091 0000 lds r24,HoehenWert 7957 456e 9091 0000 lds r25,(HoehenWert)+1 7958 4572 A091 0000 lds r26,(HoehenWert)+2 7959 4576 B091 0000 lds r27,(HoehenWert)+3 7960 457a 54E0 ldi r21,4 7961 457c 880F 1: lsl r24 7962 457e 991F rol r25 7963 4580 AA1F rol r26 7964 4582 BB1F rol r27 7965 4584 5A95 dec r21 7966 4586 D1F7 brne 1b 7967 4588 8093 0000 sts SummenHoehe,r24 7968 458c 9093 0000 sts (SummenHoehe)+1,r25 7969 4590 A093 0000 sts (SummenHoehe)+2,r26 7970 4594 B093 0000 sts (SummenHoehe)+3,r27 7971 4598 D092 0000 sts (VarioMeter)+1,r13 7972 459c C092 0000 sts VarioMeter,r12 7973 45a0 2150 subi r18,lo8(-(-1)) 7974 45a2 3040 sbci r19,hi8(-(-1)) 7975 45a4 3093 0000 sts (BaroExpandActive)+1,r19 7976 45a8 2093 0000 sts BaroExpandActive,r18 7977 .L589: 7978 45ac 2091 0000 lds r18,Parameter_MaxHoehe 7979 45b0 41FF sbrs r20,1 7980 45b2 24C0 rjmp .L590 7981 45b4 2233 cpi r18,lo8(50) 7982 45b6 D8F4 brsh .L591 7983 45b8 8091 0000 lds r24,delay.28 7984 45bc 8150 subi r24,lo8(-(-1)) 7985 45be 8093 0000 sts delay.28,r24 7986 45c2 8F3F cpi r24,lo8(-1) 7987 45c4 D9F5 brne .L594 7988 45c6 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 7989 45ca 8091 0000 lds r24,HoehenWert 7990 45ce 9091 0000 lds r25,(HoehenWert)+1 7991 45d2 A091 0000 lds r26,(HoehenWert)+2 7992 45d6 B091 0000 lds r27,(HoehenWert)+3 7993 45da 8093 0000 sts SollHoehe,r24 7994 45de 9093 0000 sts (SollHoehe)+1,r25 7995 45e2 A093 0000 sts (SollHoehe)+2,r26 7996 45e6 B093 0000 sts (SollHoehe)+3,r27 7997 45ea 81E0 ldi r24,lo8(1) 7998 45ec 04C0 rjmp .L784 7999 .L591: 8000 45ee 81E0 ldi r24,lo8(1) 8001 45f0 8093 0000 sts HoehenReglerAktiv,r24 8002 45f4 88EC ldi r24,lo8(-56) 8003 .L784: 8004 45f6 8093 0000 sts delay.28,r24 8005 45fa 20C0 rjmp .L594 8006 .L590: 8007 45fc 8091 0000 lds r24,ExternHoehenValue 8008 4600 9091 0000 lds r25,(ExternHoehenValue)+1 8009 4604 820F add r24,r18 8010 4606 911D adc r25,__zero_reg__ 8011 4608 2091 0000 lds r18,EE_Parameter+18 8012 460c 3327 clr r19 8013 460e 829F mul r24,r18 8014 4610 F001 movw r30,r0 8015 4612 839F mul r24,r19 8016 4614 F00D add r31,r0 8017 4616 929F mul r25,r18 8018 4618 F00D add r31,r0 8019 461a 1124 clr r1 8020 461c CF01 movw r24,r30 8021 461e AA27 clr r26 8022 4620 97FD sbrc r25,7 8023 4622 A095 com r26 8024 4624 BA2F mov r27,r26 8025 4626 8093 0000 sts SollHoehe,r24 8026 462a 9093 0000 sts (SollHoehe)+1,r25 8027 462e A093 0000 sts (SollHoehe)+2,r26 8028 4632 B093 0000 sts (SollHoehe)+3,r27 8029 4636 81E0 ldi r24,lo8(1) 8030 4638 8093 0000 sts HoehenReglerAktiv,r24 8031 .L594: 8032 463c 8091 0000 lds r24,IntegralNick 8033 4640 9091 0000 lds r25,(IntegralNick)+1 8034 4644 A091 0000 lds r26,(IntegralNick)+2 8035 4648 B091 0000 lds r27,(IntegralNick)+3 8036 464c E090 0000 lds r14,GIER_GRAD_FAKTOR 8037 4650 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 8038 4654 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 8039 4658 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 8040 465c BC01 movw r22,r24 8041 465e CD01 movw r24,r26 8042 4660 A801 movw r20,r16 8043 4662 9701 movw r18,r14 8044 4664 0E94 0000 call __divmodsi4 8045 4668 5901 movw r10,r18 8046 466a 6A01 movw r12,r20 8047 466c 8091 0000 lds r24,IntegralRoll 8048 4670 9091 0000 lds r25,(IntegralRoll)+1 8049 4674 A091 0000 lds r26,(IntegralRoll)+2 8050 4678 B091 0000 lds r27,(IntegralRoll)+3 8051 467c BC01 movw r22,r24 8052 467e CD01 movw r24,r26 8053 4680 A801 movw r20,r16 8054 4682 9701 movw r18,r14 8055 4684 0E94 0000 call __divmodsi4 8056 4688 B901 movw r22,r18 8057 468a C501 movw r24,r10 8058 468c 0E94 0000 call ihypot 8059 4690 3C01 movw r6,r24 8060 4692 CC97 sbiw r24,60 8061 4694 1CF0 brlt .L595 8062 4696 4CE3 ldi r20,lo8(60) 8063 4698 642E mov r6,r20 8064 469a 712C mov r7,__zero_reg__ 8065 .L595: 8066 469c C301 movw r24,r6 8067 469e 0E94 0000 call c_cos_8192 8068 46a2 3C01 movw r6,r24 8069 46a4 80E2 ldi r24,lo8(32) 8070 46a6 8093 0000 sts VarioCharacter,r24 8071 46aa 8091 0000 lds r24,HoehenReglerAktiv 8072 46ae 8823 tst r24 8073 46b0 09F4 brne .+2 8074 46b2 21C4 rjmp .L596 8075 46b4 8091 0000 lds r24,FCFlags 8076 46b8 9927 clr r25 8077 46ba 9C01 movw r18,r24 8078 46bc 2071 andi r18,lo8(16) 8079 46be 3070 andi r19,hi8(16) 8080 46c0 84FD sbrc r24,4 8081 46c2 19C4 rjmp .L596 8082 46c4 6091 0000 lds r22,EE_Parameter+99 8083 46c8 60FD sbrc r22,0 8084 46ca 04C0 rjmp .L598 8085 46cc 8091 0000 lds r24,EE_Parameter+13 8086 46d0 81FD sbrc r24,1 8087 46d2 07C0 rjmp .L597 8088 .L598: 8089 46d4 08A1 ldd r16,Y+32 8090 46d6 19A1 ldd r17,Y+33 8091 46d8 3093 0000 sts (HeightTrimming.22)+1,r19 8092 46dc 2093 0000 sts HeightTrimming.22,r18 8093 46e0 97C1 rjmp .L599 8094 .L597: 8095 46e2 8091 0000 lds r24,FCFlags 8096 46e6 81FF sbrs r24,1 8097 46e8 69C1 rjmp .L600 8098 46ea 4091 0000 lds r20,StickGasHover.24 8099 46ee 5091 0000 lds r21,(StickGasHover.24)+1 8100 46f2 CA01 movw r24,r20 8101 46f4 0F96 adiw r24,15 8102 46f6 2091 0000 lds r18,StickGas 8103 46fa 3091 0000 lds r19,(StickGas)+1 8104 46fe 8217 cp r24,r18 8105 4700 9307 cpc r25,r19 8106 4702 ACF5 brge .L601 8107 4704 8091 0000 lds r24,BaroAtUpperLimit.29 8108 4708 8823 tst r24 8109 470a 89F5 brne .L601 8110 470c 8091 0000 lds r24,HeightTrimmingFlag.31 8111 4710 81FF sbrs r24,1 8112 4712 13C0 rjmp .L602 8113 4714 8D7F andi r24,lo8(-3) 8114 4716 8093 0000 sts HeightTrimmingFlag.31,r24 8115 471a 8091 0000 lds r24,HoehenWert 8116 471e 9091 0000 lds r25,(HoehenWert)+1 8117 4722 A091 0000 lds r26,(HoehenWert)+2 8118 4726 B091 0000 lds r27,(HoehenWert)+3 8119 472a 8093 0000 sts SollHoehe,r24 8120 472e 9093 0000 sts (SollHoehe)+1,r25 8121 4732 A093 0000 sts (SollHoehe)+2,r26 8122 4736 B093 0000 sts (SollHoehe)+3,r27 8123 .L602: 8124 473a 8091 0000 lds r24,HeightTrimmingFlag.31 8125 473e 8160 ori r24,lo8(1) 8126 4740 8093 0000 sts HeightTrimmingFlag.31,r24 8127 4744 241B sub r18,r20 8128 4746 350B sbc r19,r21 8129 4748 2F50 subi r18,lo8(-(-15)) 8130 474a 3040 sbci r19,hi8(-(-15)) 8131 474c 37FF sbrs r19,7 8132 474e 03C0 rjmp .L603 8133 4750 3095 com r19 8134 4752 2195 neg r18 8135 4754 3F4F sbci r19,lo8(-1) 8136 .L603: 8137 4756 8091 0000 lds r24,HeightTrimming.22 8138 475a 9091 0000 lds r25,(HeightTrimming.22)+1 8139 475e 820F add r24,r18 8140 4760 931F adc r25,r19 8141 4762 9093 0000 sts (HeightTrimming.22)+1,r25 8142 4766 8093 0000 sts HeightTrimming.22,r24 8143 476a 8BE2 ldi r24,lo8(43) 8144 476c 6EC0 rjmp .L785 8145 .L601: 8146 476e CA01 movw r24,r20 8147 4770 0F97 sbiw r24,15 8148 4772 2817 cp r18,r24 8149 4774 3907 cpc r19,r25 8150 4776 ACF5 brge .L605 8151 4778 8091 0000 lds r24,BaroAtLowerLimit.30 8152 477c 8823 tst r24 8153 477e 89F5 brne .L605 8154 4780 8091 0000 lds r24,HeightTrimmingFlag.31 8155 4784 80FF sbrs r24,0 8156 4786 13C0 rjmp .L606 8157 4788 8E7F andi r24,lo8(-2) 8158 478a 8093 0000 sts HeightTrimmingFlag.31,r24 8159 478e 8091 0000 lds r24,HoehenWert 8160 4792 9091 0000 lds r25,(HoehenWert)+1 8161 4796 A091 0000 lds r26,(HoehenWert)+2 8162 479a B091 0000 lds r27,(HoehenWert)+3 8163 479e 8093 0000 sts SollHoehe,r24 8164 47a2 9093 0000 sts (SollHoehe)+1,r25 8165 47a6 A093 0000 sts (SollHoehe)+2,r26 8166 47aa B093 0000 sts (SollHoehe)+3,r27 8167 .L606: 8168 47ae 8091 0000 lds r24,HeightTrimmingFlag.31 8169 47b2 8260 ori r24,lo8(2) 8170 47b4 8093 0000 sts HeightTrimmingFlag.31,r24 8171 47b8 241B sub r18,r20 8172 47ba 350B sbc r19,r21 8173 47bc 215F subi r18,lo8(-(15)) 8174 47be 3F4F sbci r19,hi8(-(15)) 8175 47c0 37FF sbrs r19,7 8176 47c2 03C0 rjmp .L607 8177 47c4 3095 com r19 8178 47c6 2195 neg r18 8179 47c8 3F4F sbci r19,lo8(-1) 8180 .L607: 8181 47ca 8091 0000 lds r24,HeightTrimming.22 8182 47ce 9091 0000 lds r25,(HeightTrimming.22)+1 8183 47d2 821B sub r24,r18 8184 47d4 930B sbc r25,r19 8185 47d6 9093 0000 sts (HeightTrimming.22)+1,r25 8186 47da 8093 0000 sts HeightTrimming.22,r24 8187 47de 8DE2 ldi r24,lo8(45) 8188 47e0 34C0 rjmp .L785 8189 .L605: 8190 47e2 2091 0000 lds r18,HeightTrimmingFlag.31 8191 47e6 822F mov r24,r18 8192 47e8 9927 clr r25 8193 47ea 8370 andi r24,lo8(3) 8194 47ec 9070 andi r25,hi8(3) 8195 47ee 892B or r24,r25 8196 47f0 59F1 breq .L609 8197 47f2 2C7F andi r18,lo8(-4) 8198 47f4 2093 0000 sts HeightTrimmingFlag.31,r18 8199 47f8 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ 8200 47fc 1092 0000 sts HeightTrimming.22,__zero_reg__ 8201 4800 2091 0000 lds r18,HoehenWert 8202 4804 3091 0000 lds r19,(HoehenWert)+1 8203 4808 4091 0000 lds r20,(HoehenWert)+2 8204 480c 5091 0000 lds r21,(HoehenWert)+3 8205 4810 2093 0000 sts SollHoehe,r18 8206 4814 3093 0000 sts (SollHoehe)+1,r19 8207 4818 4093 0000 sts (SollHoehe)+2,r20 8208 481c 5093 0000 sts (SollHoehe)+3,r21 8209 4820 61FF sbrs r22,1 8210 4822 06C0 rjmp .L610 8211 4824 84EF ldi r24,lo8(500) 8212 4826 91E0 ldi r25,hi8(500) 8213 4828 9093 0000 sts (beeptime)+1,r25 8214 482c 8093 0000 sts beeptime,r24 8215 .L610: 8216 4830 8091 0000 lds r24,StartTrigger 8217 4834 8823 tst r24 8218 4836 41F4 brne .L609 8219 4838 2333 cpi r18,lo8(51) 8220 483a 3105 cpc r19,__zero_reg__ 8221 483c 4105 cpc r20,__zero_reg__ 8222 483e 5105 cpc r21,__zero_reg__ 8223 4840 1CF0 brlt .L609 8224 4842 81E0 ldi r24,lo8(1) 8225 4844 8093 0000 sts StartTrigger,r24 8226 .L609: 8227 4848 8DE3 ldi r24,lo8(61) 8228 .L785: 8229 484a 8093 0000 sts VarioCharacter,r24 8230 484e 2091 0000 lds r18,HeightTrimming.22 8231 4852 3091 0000 lds r19,(HeightTrimming.22)+1 8232 4856 C901 movw r24,r18 8233 4858 37FF sbrs r19,7 8234 485a 04C0 rjmp .L613 8235 485c 8827 clr r24 8236 485e 9927 clr r25 8237 4860 821B sub r24,r18 8238 4862 930B sbc r25,r19 8239 .L613: 8240 4864 8150 subi r24,lo8(513) 8241 4866 9240 sbci r25,hi8(513) 8242 4868 0CF4 brge .+2 8243 486a 91C0 rjmp .L612 8244 486c 8091 0000 lds r24,EE_Parameter+18 8245 4870 9927 clr r25 8246 4872 289F mul r18,r24 8247 4874 A001 movw r20,r0 8248 4876 299F mul r18,r25 8249 4878 500D add r21,r0 8250 487a 389F mul r19,r24 8251 487c 500D add r21,r0 8252 487e 1124 clr r1 8253 4880 CA01 movw r24,r20 8254 4882 60E0 ldi r22,lo8(1280) 8255 4884 75E0 ldi r23,hi8(1280) 8256 4886 0E94 0000 call __divmodhi4 8257 488a CB01 movw r24,r22 8258 488c AA27 clr r26 8259 488e 97FD sbrc r25,7 8260 4890 A095 com r26 8261 4892 BA2F mov r27,r26 8262 4894 2091 0000 lds r18,SollHoehe 8263 4898 3091 0000 lds r19,(SollHoehe)+1 8264 489c 4091 0000 lds r20,(SollHoehe)+2 8265 48a0 5091 0000 lds r21,(SollHoehe)+3 8266 48a4 280F add r18,r24 8267 48a6 391F adc r19,r25 8268 48a8 4A1F adc r20,r26 8269 48aa 5B1F adc r21,r27 8270 48ac 2093 0000 sts SollHoehe,r18 8271 48b0 3093 0000 sts (SollHoehe)+1,r19 8272 48b4 4093 0000 sts (SollHoehe)+2,r20 8273 48b8 5093 0000 sts (SollHoehe)+3,r21 8274 48bc 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ 8275 48c0 1092 0000 sts HeightTrimming.22,__zero_reg__ 8276 48c4 A090 0000 lds r10,HoehenWert 8277 48c8 B090 0000 lds r11,(HoehenWert)+1 8278 48cc C090 0000 lds r12,(HoehenWert)+2 8279 48d0 D090 0000 lds r13,(HoehenWert)+3 8280 48d4 D601 movw r26,r12 8281 48d6 C501 movw r24,r10 8282 48d8 8050 subi r24,lo8(-(-1024)) 8283 48da 9440 sbci r25,hi8(-(-1024)) 8284 48dc A040 sbci r26,hlo8(-(-1024)) 8285 48de B040 sbci r27,hhi8(-(-1024)) 8286 48e0 8217 cp r24,r18 8287 48e2 9307 cpc r25,r19 8288 48e4 A407 cpc r26,r20 8289 48e6 B507 cpc r27,r21 8290 48e8 5CF4 brge .L786 8291 48ea D601 movw r26,r12 8292 48ec C501 movw r24,r10 8293 48ee 8050 subi r24,lo8(-(1024)) 8294 48f0 9C4F sbci r25,hi8(-(1024)) 8295 48f2 AF4F sbci r26,hlo8(-(1024)) 8296 48f4 BF4F sbci r27,hhi8(-(1024)) 8297 48f6 2817 cp r18,r24 8298 48f8 3907 cpc r19,r25 8299 48fa 4A07 cpc r20,r26 8300 48fc 5B07 cpc r21,r27 8301 48fe 44F0 brlt .L615 8302 .L786: 8303 4900 8093 0000 sts SollHoehe,r24 8304 4904 9093 0000 sts (SollHoehe)+1,r25 8305 4908 A093 0000 sts (SollHoehe)+2,r26 8306 490c B093 0000 sts (SollHoehe)+3,r27 8307 .L615: 8308 4910 8091 0000 lds r24,EE_Parameter+99 8309 4914 81FF sbrs r24,1 8310 4916 06C0 rjmp .L617 8311 4918 8BE4 ldi r24,lo8(75) 8312 491a 90E0 ldi r25,hi8(75) 8313 491c 9093 0000 sts (beeptime)+1,r25 8314 4920 8093 0000 sts beeptime,r24 8315 .L617: 8316 4924 8091 0000 lds r24,EE_Parameter+22 8317 4928 8823 tst r24 8318 492a 89F5 brne .L612 8319 492c 4091 0000 lds r20,HoverGas 8320 4930 5091 0000 lds r21,(HoverGas)+1 8321 4934 57FF sbrs r21,7 8322 4936 02C0 rjmp .L619 8323 4938 4D5F subi r20,lo8(-(3)) 8324 493a 5F4F sbci r21,hi8(-(3)) 8325 .L619: 8326 493c 5595 asr r21 8327 493e 4795 ror r20 8328 4940 5595 asr r21 8329 4942 4795 ror r20 8330 4944 8091 0000 lds r24,UBat 8331 4948 9091 0000 lds r25,(UBat)+1 8332 494c 2091 0000 lds r18,BattLowVoltageWarning 8333 4950 3327 clr r19 8334 4952 489F mul r20,r24 8335 4954 B001 movw r22,r0 8336 4956 499F mul r20,r25 8337 4958 700D add r23,r0 8338 495a 589F mul r21,r24 8339 495c 700D add r23,r0 8340 495e 1124 clr r1 8341 4960 CB01 movw r24,r22 8342 4962 B901 movw r22,r18 8343 4964 0E94 0000 call __divmodhi4 8344 4968 7093 0000 sts (StickGasHover.24)+1,r23 8345 496c 6093 0000 sts StickGasHover.24,r22 8346 4970 6634 cpi r22,70 8347 4972 7105 cpc r23,__zero_reg__ 8348 4974 1CF4 brge .L620 8349 4976 86E4 ldi r24,lo8(70) 8350 4978 90E0 ldi r25,hi8(70) 8351 497a 05C0 rjmp .L787 8352 .L620: 8353 497c 6739 cpi r22,151 8354 497e 7105 cpc r23,__zero_reg__ 8355 4980 34F0 brlt .L612 8356 4982 86E9 ldi r24,lo8(150) 8357 4984 90E0 ldi r25,hi8(150) 8358 .L787: 8359 4986 9093 0000 sts (StickGasHover.24)+1,r25 8360 498a 8093 0000 sts StickGasHover.24,r24 8361 .L612: 8362 498e 8091 0000 lds r24,BaroExpandActive 8363 4992 9091 0000 lds r25,(BaroExpandActive)+1 8364 4996 892B or r24,r25 8365 4998 B9F1 breq .L624 8366 499a 8091 0000 lds r24,HoehenWert 8367 499e 9091 0000 lds r25,(HoehenWert)+1 8368 49a2 A091 0000 lds r26,(HoehenWert)+2 8369 49a6 B091 0000 lds r27,(HoehenWert)+3 8370 49aa 8093 0000 sts SollHoehe,r24 8371 49ae 9093 0000 sts (SollHoehe)+1,r25 8372 49b2 A093 0000 sts (SollHoehe)+2,r26 8373 49b6 B093 0000 sts (SollHoehe)+3,r27 8374 49ba 26C0 rjmp .L624 8375 .L600: 8376 49bc 8091 0000 lds r24,HoehenWert 8377 49c0 9091 0000 lds r25,(HoehenWert)+1 8378 49c4 A091 0000 lds r26,(HoehenWert)+2 8379 49c8 B091 0000 lds r27,(HoehenWert)+3 8380 49cc 8059 subi r24,lo8(-(-400)) 8381 49ce 9140 sbci r25,hi8(-(-400)) 8382 49d0 A040 sbci r26,hlo8(-(-400)) 8383 49d2 B040 sbci r27,hhi8(-(-400)) 8384 49d4 8093 0000 sts SollHoehe,r24 8385 49d8 9093 0000 sts (SollHoehe)+1,r25 8386 49dc A093 0000 sts (SollHoehe)+2,r26 8387 49e0 B093 0000 sts (SollHoehe)+3,r27 8388 49e4 8091 0000 lds r24,EE_Parameter+22 8389 49e8 8823 tst r24 8390 49ea 11F0 breq .L625 8391 49ec 9927 clr r25 8392 49ee 02C0 rjmp .L788 8393 .L625: 8394 49f0 88E7 ldi r24,lo8(120) 8395 49f2 90E0 ldi r25,hi8(120) 8396 .L788: 8397 49f4 9093 0000 sts (StickGasHover.24)+1,r25 8398 49f8 8093 0000 sts StickGasHover.24,r24 8399 49fc 88A1 ldd r24,Y+32 8400 49fe 99A1 ldd r25,Y+33 8401 4a00 9093 0000 sts (HoverGas)+1,r25 8402 4a04 8093 0000 sts HoverGas,r24 8403 .L624: 8404 4a08 0091 0000 lds r16,HoverGas 8405 4a0c 1091 0000 lds r17,(HoverGas)+1 8406 .L599: 8407 4a10 A090 0000 lds r10,HoehenWert 8408 4a14 B090 0000 lds r11,(HoehenWert)+1 8409 4a18 C090 0000 lds r12,(HoehenWert)+2 8410 4a1c D090 0000 lds r13,(HoehenWert)+3 8411 4a20 2091 0000 lds r18,SollHoehe 8412 4a24 3091 0000 lds r19,(SollHoehe)+1 8413 4a28 4091 0000 lds r20,(SollHoehe)+2 8414 4a2c 5091 0000 lds r21,(SollHoehe)+3 8415 4a30 2A15 cp r18,r10 8416 4a32 3B05 cpc r19,r11 8417 4a34 4C05 cpc r20,r12 8418 4a36 5D05 cpc r21,r13 8419 4a38 24F0 brlt .L628 8420 4a3a 8091 0000 lds r24,EE_Parameter+99 8421 4a3e 80FD sbrc r24,0 8422 4a40 9CC2 rjmp .L682 8423 .L628: 8424 4a42 8091 0000 lds r24,BaroExpandActive 8425 4a46 9091 0000 lds r25,(BaroExpandActive)+1 8426 4a4a 892B or r24,r25 8427 4a4c 39F0 breq .L629 8428 4a4e 0091 0000 lds r16,HoverGas 8429 4a52 1091 0000 lds r17,(HoverGas)+1 8430 4a56 CC24 clr r12 8431 4a58 DD24 clr r13 8432 4a5a C9C0 rjmp .L630 8433 .L629: 8434 4a5c D601 movw r26,r12 8435 4a5e C501 movw r24,r10 8436 4a60 821B sub r24,r18 8437 4a62 930B sbc r25,r19 8438 4a64 A40B sbc r26,r20 8439 4a66 B50B sbc r27,r21 8440 4a68 8093 0000 sts tmp_long.1,r24 8441 4a6c 9093 0000 sts (tmp_long.1)+1,r25 8442 4a70 A093 0000 sts (tmp_long.1)+2,r26 8443 4a74 B093 0000 sts (tmp_long.1)+3,r27 8444 4a78 8230 cpi r24,lo8(-32766) 8445 4a7a E0E8 ldi r30,hi8(-32766) 8446 4a7c 9E07 cpc r25,r30 8447 4a7e EFEF ldi r30,hlo8(-32766) 8448 4a80 AE07 cpc r26,r30 8449 4a82 EFEF ldi r30,hhi8(-32766) 8450 4a84 BE07 cpc r27,r30 8451 4a86 2CF4 brge .L631 8452 4a88 81E0 ldi r24,lo8(-32767) 8453 4a8a 90E8 ldi r25,hi8(-32767) 8454 4a8c AFEF ldi r26,hlo8(-32767) 8455 4a8e BFEF ldi r27,hhi8(-32767) 8456 4a90 09C0 rjmp .L789 8457 .L631: 8458 4a92 8F5F subi r24,lo8(32767) 8459 4a94 9F47 sbci r25,hi8(32767) 8460 4a96 A040 sbci r26,hlo8(32767) 8461 4a98 B040 sbci r27,hhi8(32767) 8462 4a9a 64F0 brlt .L632 8463 4a9c 8FEF ldi r24,lo8(32767) 8464 4a9e 9FE7 ldi r25,hi8(32767) 8465 4aa0 A0E0 ldi r26,hlo8(32767) 8466 4aa2 B0E0 ldi r27,hhi8(32767) 8467 .L789: 8468 4aa4 8093 0000 sts tmp_long.1,r24 8469 4aa8 9093 0000 sts (tmp_long.1)+1,r25 8470 4aac A093 0000 sts (tmp_long.1)+2,r26 8471 4ab0 B093 0000 sts (tmp_long.1)+3,r27 8472 .L632: 8473 4ab4 C090 0000 lds r12,tmp_long.1 8474 4ab8 D090 0000 lds r13,(tmp_long.1)+1 8475 4abc 8091 0000 lds r24,Parameter_Hoehe_P 8476 4ac0 282F mov r18,r24 8477 4ac2 3327 clr r19 8478 4ac4 4427 clr r20 8479 4ac6 5527 clr r21 8480 4ac8 8091 0000 lds r24,tmp_long.1 8481 4acc 9091 0000 lds r25,(tmp_long.1)+1 8482 4ad0 A091 0000 lds r26,(tmp_long.1)+2 8483 4ad4 B091 0000 lds r27,(tmp_long.1)+3 8484 4ad8 BC01 movw r22,r24 8485 4ada CD01 movw r24,r26 8486 4adc 0E94 0000 call __mulsi3 8487 4ae0 97FF sbrs r25,7 8488 4ae2 04C0 rjmp .L634 8489 4ae4 615E subi r22,lo8(-(31)) 8490 4ae6 7F4F sbci r23,hi8(-(31)) 8491 4ae8 8F4F sbci r24,hlo8(-(31)) 8492 4aea 9F4F sbci r25,hhi8(-(31)) 8493 .L634: 8494 4aec 25E0 ldi r18,5 8495 4aee 9595 1: asr r25 8496 4af0 8795 ror r24 8497 4af2 7795 ror r23 8498 4af4 6795 ror r22 8499 4af6 2A95 dec r18 8500 4af8 D1F7 brne 1b 8501 4afa 6093 0000 sts tmp_long.1,r22 8502 4afe 7093 0000 sts (tmp_long.1)+1,r23 8503 4b02 8093 0000 sts (tmp_long.1)+2,r24 8504 4b06 9093 0000 sts (tmp_long.1)+3,r25 8505 4b0a 6530 cpi r22,lo8(-507) 8506 4b0c 2EEF ldi r18,hi8(-507) 8507 4b0e 7207 cpc r23,r18 8508 4b10 2FEF ldi r18,hlo8(-507) 8509 4b12 8207 cpc r24,r18 8510 4b14 2FEF ldi r18,hhi8(-507) 8511 4b16 9207 cpc r25,r18 8512 4b18 2CF4 brge .L635 8513 4b1a 84E0 ldi r24,lo8(-508) 8514 4b1c 9EEF ldi r25,hi8(-508) 8515 4b1e AFEF ldi r26,hlo8(-508) 8516 4b20 BFEF ldi r27,hhi8(-508) 8517 4b22 09C0 rjmp .L790 8518 .L635: 8519 4b24 6050 subi r22,lo8(1024) 8520 4b26 7440 sbci r23,hi8(1024) 8521 4b28 8040 sbci r24,hlo8(1024) 8522 4b2a 9040 sbci r25,hhi8(1024) 8523 4b2c 64F0 brlt .L636 8524 4b2e 80E0 ldi r24,lo8(1024) 8525 4b30 94E0 ldi r25,hi8(1024) 8526 4b32 A0E0 ldi r26,hlo8(1024) 8527 4b34 B0E0 ldi r27,hhi8(1024) 8528 .L790: 8529 4b36 8093 0000 sts tmp_long.1,r24 8530 4b3a 9093 0000 sts (tmp_long.1)+1,r25 8531 4b3e A093 0000 sts (tmp_long.1)+2,r26 8532 4b42 B093 0000 sts (tmp_long.1)+3,r27 8533 .L636: 8534 4b46 8090 0000 lds r8,tmp_long.1 8535 4b4a 9090 0000 lds r9,(tmp_long.1)+1 8536 4b4e 2091 0000 lds r18,VarioMeter 8537 4b52 3091 0000 lds r19,(VarioMeter)+1 8538 4b56 37FF sbrs r19,7 8539 4b58 02C0 rjmp .L638 8540 4b5a 295F subi r18,lo8(-(7)) 8541 4b5c 3F4F sbci r19,hi8(-(7)) 8542 .L638: 8543 4b5e 83E0 ldi r24,3 8544 4b60 3595 1: asr r19 8545 4b62 2795 ror r18 8546 4b64 8A95 dec r24 8547 4b66 E1F7 brne 1b 8548 4b68 4FEF ldi r20,hi8(-126) 8549 4b6a 2238 cpi r18,lo8(-126) 8550 4b6c 3407 cpc r19,r20 8551 4b6e 1CF4 brge .L639 8552 4b70 21E8 ldi r18,lo8(-127) 8553 4b72 3FEF ldi r19,hi8(-127) 8554 4b74 05C0 rjmp .L640 8555 .L639: 8556 4b76 2038 cpi r18,128 8557 4b78 3105 cpc r19,__zero_reg__ 8558 4b7a 14F0 brlt .L640 8559 4b7c 20E8 ldi r18,lo8(128) 8560 4b7e 30E0 ldi r19,hi8(128) 8561 .L640: 8562 4b80 C901 movw r24,r18 8563 4b82 AA27 clr r26 8564 4b84 97FD sbrc r25,7 8565 4b86 A095 com r26 8566 4b88 BA2F mov r27,r26 8567 4b8a 2091 0000 lds r18,Parameter_Luftdruck_D 8568 4b8e 3327 clr r19 8569 4b90 4427 clr r20 8570 4b92 5527 clr r21 8571 4b94 BC01 movw r22,r24 8572 4b96 CD01 movw r24,r26 8573 4b98 0E94 0000 call __mulsi3 8574 4b9c 97FF sbrs r25,7 8575 4b9e 04C0 rjmp .L642 8576 4ba0 6D5F subi r22,lo8(-(3)) 8577 4ba2 7F4F sbci r23,hi8(-(3)) 8578 4ba4 8F4F sbci r24,hlo8(-(3)) 8579 4ba6 9F4F sbci r25,hhi8(-(3)) 8580 .L642: 8581 4ba8 B2E0 ldi r27,2 8582 4baa 9595 1: asr r25 8583 4bac 8795 ror r24 8584 4bae 7795 ror r23 8585 4bb0 6795 ror r22 8586 4bb2 BA95 dec r27 8587 4bb4 D1F7 brne 1b 8588 4bb6 9B01 movw r18,r22 8589 4bb8 5FEF ldi r21,hi8(-255) 8590 4bba 6130 cpi r22,lo8(-255) 8591 4bbc 7507 cpc r23,r21 8592 4bbe 1CF4 brge .L643 8593 4bc0 20E0 ldi r18,lo8(-256) 8594 4bc2 3FEF ldi r19,hi8(-256) 8595 4bc4 06C0 rjmp .L644 8596 .L643: 8597 4bc6 6F3F cpi r22,255 8598 4bc8 7105 cpc r23,__zero_reg__ 8599 4bca 19F0 breq .L644 8600 4bcc 14F0 brlt .L644 8601 4bce 20E0 ldi r18,lo8(256) 8602 4bd0 31E0 ldi r19,hi8(256) 8603 .L644: 8604 4bd2 8091 0000 lds r24,HeightTrimmingFlag.31 8605 4bd6 8823 tst r24 8606 4bd8 41F0 breq .L646 8607 4bda C901 movw r24,r18 8608 4bdc 37FD sbrc r19,7 8609 4bde 0396 adiw r24,3 8610 .L647: 8611 4be0 9C01 movw r18,r24 8612 4be2 3595 asr r19 8613 4be4 2795 ror r18 8614 4be6 3595 asr r19 8615 4be8 2795 ror r18 8616 .L646: 8617 4bea 820E add r8,r18 8618 4bec 931E adc r9,r19 8619 .L630: 8620 4bee 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 8621 4bf2 2223 tst r18 8622 4bf4 09F4 brne .+2 8623 4bf6 54C0 rjmp .L648 8624 4bf8 6091 0000 lds r22,Mess_Integral_Hoch 8625 4bfc 7091 0000 lds r23,(Mess_Integral_Hoch)+1 8626 4c00 8091 0000 lds r24,(Mess_Integral_Hoch)+2 8627 4c04 9091 0000 lds r25,(Mess_Integral_Hoch)+3 8628 4c08 97FF sbrs r25,7 8629 4c0a 04C0 rjmp .L649 8630 4c0c 6158 subi r22,lo8(-(127)) 8631 4c0e 7F4F sbci r23,hi8(-(127)) 8632 4c10 8F4F sbci r24,hlo8(-(127)) 8633 4c12 9F4F sbci r25,hhi8(-(127)) 8634 .L649: 8635 4c14 F7E0 ldi r31,7 8636 4c16 9595 1: asr r25 8637 4c18 8795 ror r24 8638 4c1a 7795 ror r23 8639 4c1c 6795 ror r22 8640 4c1e FA95 dec r31 8641 4c20 D1F7 brne 1b 8642 4c22 3327 clr r19 8643 4c24 4427 clr r20 8644 4c26 5527 clr r21 8645 4c28 0E94 0000 call __mulsi3 8646 4c2c 97FF sbrs r25,7 8647 4c2e 04C0 rjmp .L650 8648 4c30 615E subi r22,lo8(-(31)) 8649 4c32 7F4F sbci r23,hi8(-(31)) 8650 4c34 8F4F sbci r24,hlo8(-(31)) 8651 4c36 9F4F sbci r25,hhi8(-(31)) 8652 .L650: 8653 4c38 E5E0 ldi r30,5 8654 4c3a 9595 1: asr r25 8655 4c3c 8795 ror r24 8656 4c3e 7795 ror r23 8657 4c40 6795 ror r22 8658 4c42 EA95 dec r30 8659 4c44 D1F7 brne 1b 8660 4c46 6093 0000 sts tmp_long.1,r22 8661 4c4a 7093 0000 sts (tmp_long.1)+1,r23 8662 4c4e 8093 0000 sts (tmp_long.1)+2,r24 8663 4c52 9093 0000 sts (tmp_long.1)+3,r25 8664 4c56 6138 cpi r22,lo8(-127) 8665 4c58 AFEF ldi r26,hi8(-127) 8666 4c5a 7A07 cpc r23,r26 8667 4c5c AFEF ldi r26,hlo8(-127) 8668 4c5e 8A07 cpc r24,r26 8669 4c60 AFEF ldi r26,hhi8(-127) 8670 4c62 9A07 cpc r25,r26 8671 4c64 2CF4 brge .L651 8672 4c66 80E8 ldi r24,lo8(-128) 8673 4c68 9FEF ldi r25,hi8(-128) 8674 4c6a AFEF ldi r26,hlo8(-128) 8675 4c6c BFEF ldi r27,hhi8(-128) 8676 4c6e 0AC0 rjmp .L791 8677 .L651: 8678 4c70 6F3F cpi r22,lo8(255) 8679 4c72 7105 cpc r23,__zero_reg__ 8680 4c74 8105 cpc r24,__zero_reg__ 8681 4c76 9105 cpc r25,__zero_reg__ 8682 4c78 69F0 breq .L652 8683 4c7a 64F0 brlt .L652 8684 4c7c 80E0 ldi r24,lo8(256) 8685 4c7e 91E0 ldi r25,hi8(256) 8686 4c80 A0E0 ldi r26,hlo8(256) 8687 4c82 B0E0 ldi r27,hhi8(256) 8688 .L791: 8689 4c84 8093 0000 sts tmp_long.1,r24 8690 4c88 9093 0000 sts (tmp_long.1)+1,r25 8691 4c8c A093 0000 sts (tmp_long.1)+2,r26 8692 4c90 B093 0000 sts (tmp_long.1)+3,r27 8693 .L652: 8694 4c94 8091 0000 lds r24,tmp_long.1 8695 4c98 9091 0000 lds r25,(tmp_long.1)+1 8696 4c9c 880E add r8,r24 8697 4c9e 991E adc r9,r25 8698 .L648: 8699 4ca0 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 8700 4ca4 282F mov r18,r24 8701 4ca6 3327 clr r19 8702 4ca8 8091 0000 lds r24,FromNaviCtrl_Value+4 8703 4cac 9927 clr r25 8704 4cae 87FD sbrc r24,7 8705 4cb0 9095 com r25 8706 4cb2 289F mul r18,r24 8707 4cb4 F001 movw r30,r0 8708 4cb6 299F mul r18,r25 8709 4cb8 F00D add r31,r0 8710 4cba 389F mul r19,r24 8711 4cbc F00D add r31,r0 8712 4cbe 1124 clr r1 8713 4cc0 9F01 movw r18,r30 8714 4cc2 F7FF sbrs r31,7 8715 4cc4 02C0 rjmp .L654 8716 4cc6 2158 subi r18,lo8(-(127)) 8717 4cc8 3F4F sbci r19,hi8(-(127)) 8718 .L654: 8719 4cca 220F lsl r18 8720 4ccc 232F mov r18,r19 8721 4cce 221F rol r18 8722 4cd0 330B sbc r19,r19 8723 4cd2 FFEF ldi r31,hi8(-127) 8724 4cd4 2138 cpi r18,lo8(-127) 8725 4cd6 3F07 cpc r19,r31 8726 4cd8 1CF4 brge .L655 8727 4cda 20E8 ldi r18,lo8(-128) 8728 4cdc 3FEF ldi r19,hi8(-128) 8729 4cde 06C0 rjmp .L656 8730 .L655: 8731 4ce0 2F3F cpi r18,255 8732 4ce2 3105 cpc r19,__zero_reg__ 8733 4ce4 19F0 breq .L656 8734 4ce6 14F0 brlt .L656 8735 4ce8 20E0 ldi r18,lo8(256) 8736 4cea 31E0 ldi r19,hi8(256) 8737 .L656: 8738 4cec 820E add r8,r18 8739 4cee 931E adc r9,r19 8740 4cf0 C401 movw r24,r8 8741 4cf2 AA27 clr r26 8742 4cf4 97FD sbrc r25,7 8743 4cf6 A095 com r26 8744 4cf8 BA2F mov r27,r26 8745 4cfa E090 0000 lds r14,HoverGas 8746 4cfe F090 0000 lds r15,(HoverGas)+1 8747 4d02 9701 movw r18,r14 8748 4d04 4427 clr r20 8749 4d06 37FD sbrc r19,7 8750 4d08 4095 com r20 8751 4d0a 542F mov r21,r20 8752 4d0c BC01 movw r22,r24 8753 4d0e CD01 movw r24,r26 8754 4d10 0E94 0000 call __mulsi3 8755 4d14 97FF sbrs r25,7 8756 4d16 04C0 rjmp .L658 8757 4d18 6150 subi r22,lo8(-(511)) 8758 4d1a 7E4F sbci r23,hi8(-(511)) 8759 4d1c 8F4F sbci r24,hlo8(-(511)) 8760 4d1e 9F4F sbci r25,hhi8(-(511)) 8761 .L658: 8762 4d20 59E0 ldi r21,9 8763 4d22 9595 1: asr r25 8764 4d24 8795 ror r24 8765 4d26 7795 ror r23 8766 4d28 6795 ror r22 8767 4d2a 5A95 dec r21 8768 4d2c D1F7 brne 1b 8769 4d2e 061B sub r16,r22 8770 4d30 170B sbc r17,r23 8771 4d32 8091 0000 lds r24,HeightTrimming.22 8772 4d36 9091 0000 lds r25,(HeightTrimming.22)+1 8773 4d3a 892B or r24,r25 8774 4d3c 09F0 breq .+2 8775 4d3e 60C0 rjmp .L659 8776 4d40 1E14 cp __zero_reg__,r14 8777 4d42 1F04 cpc __zero_reg__,r15 8778 4d44 0CF0 brlt .+2 8779 4d46 5CC0 rjmp .L659 8780 4d48 9601 movw r18,r12 8781 4d4a D7FE sbrs r13,7 8782 4d4c 03C0 rjmp .L660 8783 4d4e 3095 com r19 8784 4d50 2195 neg r18 8785 4d52 3F4F sbci r19,lo8(-1) 8786 .L660: 8787 4d54 2D33 cpi r18,61 8788 4d56 3105 cpc r19,__zero_reg__ 8789 4d58 40F4 brsh .L661 8790 4d5a 8091 0000 lds r24,HoverGasMin.25 8791 4d5e 9091 0000 lds r25,(HoverGasMin.25)+1 8792 4d62 8017 cp r24,r16 8793 4d64 9107 cpc r25,r17 8794 4d66 74F5 brge .L793 8795 4d68 26C0 rjmp .L802 8796 .L661: 8797 4d6a 2C53 subi r18,lo8(-(-60)) 8798 4d6c 3040 sbci r19,hi8(-(-60)) 8799 4d6e 45E0 ldi r20,5 8800 4d70 3695 1: lsr r19 8801 4d72 2795 ror r18 8802 4d74 4A95 dec r20 8803 4d76 E1F7 brne 1b 8804 4d78 2031 cpi r18,16 8805 4d7a 3105 cpc r19,__zero_reg__ 8806 4d7c 10F0 brlo .L666 8807 4d7e 2FE0 ldi r18,lo8(15) 8808 4d80 30E0 ldi r19,hi8(15) 8809 .L666: 8810 4d82 4091 0000 lds r20,HoverGasMin.25 8811 4d86 5091 0000 lds r21,(HoverGasMin.25)+1 8812 4d8a 1C14 cp __zero_reg__,r12 8813 4d8c 1D04 cpc __zero_reg__,r13 8814 4d8e E4F4 brge .L667 8815 4d90 80E1 ldi r24,lo8(16) 8816 4d92 90E0 ldi r25,hi8(16) 8817 4d94 821B sub r24,r18 8818 4d96 930B sbc r25,r19 8819 4d98 489F mul r20,r24 8820 4d9a 9001 movw r18,r0 8821 4d9c 499F mul r20,r25 8822 4d9e 300D add r19,r0 8823 4da0 589F mul r21,r24 8824 4da2 300D add r19,r0 8825 4da4 1124 clr r1 8826 4da6 94E0 ldi r25,4 8827 4da8 3695 1: lsr r19 8828 4daa 2795 ror r18 8829 4dac 9A95 dec r25 8830 4dae E1F7 brne 1b 8831 4db0 2017 cp r18,r16 8832 4db2 3107 cpc r19,r17 8833 4db4 20F5 brsh .L792 8834 .L802: 8835 4db6 8091 0000 lds r24,HoverGasMax.26 8836 4dba 9091 0000 lds r25,(HoverGasMax.26)+1 8837 4dbe 0817 cp r16,r24 8838 4dc0 1907 cpc r17,r25 8839 4dc2 F4F0 brlt .L659 8840 .L793: 8841 4dc4 8C01 movw r16,r24 8842 4dc6 1CC0 rjmp .L659 8843 .L667: 8844 4dc8 205F subi r18,lo8(-(16)) 8845 4dca 3F4F sbci r19,hi8(-(16)) 8846 4dcc 8091 0000 lds r24,HoverGasMax.26 8847 4dd0 9091 0000 lds r25,(HoverGasMax.26)+1 8848 4dd4 829F mul r24,r18 8849 4dd6 B001 movw r22,r0 8850 4dd8 839F mul r24,r19 8851 4dda 700D add r23,r0 8852 4ddc 929F mul r25,r18 8853 4dde 700D add r23,r0 8854 4de0 1124 clr r1 8855 4de2 9B01 movw r18,r22 8856 4de4 84E0 ldi r24,4 8857 4de6 3695 1: lsr r19 8858 4de8 2795 ror r18 8859 4dea 8A95 dec r24 8860 4dec E1F7 brne 1b 8861 4dee 4017 cp r20,r16 8862 4df0 5107 cpc r21,r17 8863 4df2 14F0 brlt .L672 8864 4df4 8A01 movw r16,r20 8865 4df6 04C0 rjmp .L659 8866 .L672: 8867 4df8 0217 cp r16,r18 8868 4dfa 1307 cpc r17,r19 8869 4dfc 08F0 brlo .L659 8870 .L792: 8871 4dfe 8901 movw r16,r18 8872 .L659: 8873 4e00 C801 movw r24,r16 8874 4e02 AA27 clr r26 8875 4e04 97FD sbrc r25,7 8876 4e06 A095 com r26 8877 4e08 BA2F mov r27,r26 8878 4e0a 1DE0 ldi r17,13 8879 4e0c 880F 1: lsl r24 8880 4e0e 991F rol r25 8881 4e10 AA1F rol r26 8882 4e12 BB1F rol r27 8883 4e14 1A95 dec r17 8884 4e16 D1F7 brne 1b 8885 4e18 9301 movw r18,r6 8886 4e1a 4427 clr r20 8887 4e1c 37FD sbrc r19,7 8888 4e1e 4095 com r20 8889 4e20 542F mov r21,r20 8890 4e22 BC01 movw r22,r24 8891 4e24 CD01 movw r24,r26 8892 4e26 0E94 0000 call __divmodsi4 8893 4e2a 2093 0000 sts tmp_long2.2,r18 8894 4e2e 3093 0000 sts (tmp_long2.2)+1,r19 8895 4e32 4093 0000 sts (tmp_long2.2)+2,r20 8896 4e36 5093 0000 sts (tmp_long2.2)+3,r21 8897 4e3a 0091 0000 lds r16,tmp_long2.2 8898 4e3e 1091 0000 lds r17,(tmp_long2.2)+1 8899 4e42 8091 0000 lds r24,FilterHCGas.23 8900 4e46 9091 0000 lds r25,(FilterHCGas.23)+1 8901 4e4a 9C01 movw r18,r24 8902 4e4c 220F lsl r18 8903 4e4e 331F rol r19 8904 4e50 280F add r18,r24 8905 4e52 391F adc r19,r25 8906 4e54 200F add r18,r16 8907 4e56 311F adc r19,r17 8908 4e58 37FF sbrs r19,7 8909 4e5a 02C0 rjmp .L675 8910 4e5c 2D5F subi r18,lo8(-(3)) 8911 4e5e 3F4F sbci r19,hi8(-(3)) 8912 .L675: 8913 4e60 A901 movw r20,r18 8914 4e62 5595 asr r21 8915 4e64 4795 ror r20 8916 4e66 5595 asr r21 8917 4e68 4795 ror r20 8918 4e6a 5093 0000 sts (FilterHCGas.23)+1,r21 8919 4e6e 4093 0000 sts FilterHCGas.23,r20 8920 4e72 8091 0000 lds r24,EE_Parameter+14 8921 4e76 282F mov r18,r24 8922 4e78 3327 clr r19 8923 4e7a 220F lsl r18 8924 4e7c 331F rol r19 8925 4e7e 220F lsl r18 8926 4e80 331F rol r19 8927 4e82 2417 cp r18,r20 8928 4e84 3507 cpc r19,r21 8929 4e86 6CF4 brge .L794 8930 4e88 8091 0000 lds r24,MAX_GAS 8931 4e8c 282F mov r18,r24 8932 4e8e 3327 clr r19 8933 4e90 220F lsl r18 8934 4e92 331F rol r19 8935 4e94 220F lsl r18 8936 4e96 331F rol r19 8937 4e98 2055 subi r18,lo8(-(-80)) 8938 4e9a 3040 sbci r19,hi8(-(-80)) 8939 4e9c 4217 cp r20,r18 8940 4e9e 5307 cpc r21,r19 8941 4ea0 24F0 brlt .L677 8942 .L794: 8943 4ea2 3093 0000 sts (FilterHCGas.23)+1,r19 8944 4ea6 2093 0000 sts FilterHCGas.23,r18 8945 .L677: 8946 4eaa 8091 0000 lds r24,EE_Parameter+99 8947 4eae 80FF sbrs r24,0 8948 4eb0 0DC0 rjmp .L679 8949 4eb2 8091 0000 lds r24,FilterHCGas.23 8950 4eb6 9091 0000 lds r25,(FilterHCGas.23)+1 8951 4eba A8A1 ldd r26,Y+32 8952 4ebc B9A1 ldd r27,Y+33 8953 4ebe 8A17 cp r24,r26 8954 4ec0 9B07 cpc r25,r27 8955 4ec2 24F0 brlt .L679 8956 4ec4 B093 0000 sts (FilterHCGas.23)+1,r27 8957 4ec8 A093 0000 sts FilterHCGas.23,r26 8958 .L679: 8959 4ecc 28A1 ldd r18,Y+32 8960 4ece 39A1 ldd r19,Y+33 8961 4ed0 2E19 sub r18,r14 8962 4ed2 3F09 sbc r19,r15 8963 4ed4 37FF sbrs r19,7 8964 4ed6 02C0 rjmp .L681 8965 4ed8 2D5F subi r18,lo8(-(3)) 8966 4eda 3F4F sbci r19,hi8(-(3)) 8967 .L681: 8968 4edc 3595 asr r19 8969 4ede 2795 ror r18 8970 4ee0 3595 asr r19 8971 4ee2 2795 ror r18 8972 4ee4 E091 0000 lds r30,FilterHCGas.23 8973 4ee8 F091 0000 lds r31,(FilterHCGas.23)+1 8974 4eec E20F add r30,r18 8975 4eee F31F adc r31,r19 8976 4ef0 F9A3 std Y+33,r31 8977 4ef2 E8A3 std Y+32,r30 8978 4ef4 42C0 rjmp .L682 8979 .L596: 8980 4ef6 8091 0000 lds r24,EE_Parameter+22 8981 4efa 8823 tst r24 8982 4efc 01F5 brne .L683 8983 4efe 6091 0000 lds r22,HoverGas 8984 4f02 7091 0000 lds r23,(HoverGas)+1 8985 4f06 77FF sbrs r23,7 8986 4f08 02C0 rjmp .L684 8987 4f0a 6D5F subi r22,lo8(-(3)) 8988 4f0c 7F4F sbci r23,hi8(-(3)) 8989 .L684: 8990 4f0e 7595 asr r23 8991 4f10 6795 ror r22 8992 4f12 7595 asr r23 8993 4f14 6795 ror r22 8994 4f16 4091 0000 lds r20,UBat 8995 4f1a 5091 0000 lds r21,(UBat)+1 8996 4f1e 8091 0000 lds r24,BattLowVoltageWarning 8997 4f22 282F mov r18,r24 8998 4f24 3327 clr r19 8999 4f26 649F mul r22,r20 9000 4f28 C001 movw r24,r0 9001 4f2a 659F mul r22,r21 9002 4f2c 900D add r25,r0 9003 4f2e 749F mul r23,r20 9004 4f30 900D add r25,r0 9005 4f32 1124 clr r1 9006 4f34 B901 movw r22,r18 9007 4f36 0E94 0000 call __divmodhi4 9008 4f3a CB01 movw r24,r22 9009 4f3c 01C0 rjmp .L795 9010 .L683: 9011 4f3e 9927 clr r25 9012 .L795: 9013 4f40 9093 0000 sts (StickGasHover.24)+1,r25 9014 4f44 8093 0000 sts StickGasHover.24,r24 9015 4f48 8091 0000 lds r24,StickGasHover.24 9016 4f4c 9091 0000 lds r25,(StickGasHover.24)+1 9017 4f50 8734 cpi r24,71 9018 4f52 9105 cpc r25,__zero_reg__ 9019 4f54 1CF4 brge .L686 9020 4f56 86E4 ldi r24,lo8(70) 9021 4f58 90E0 ldi r25,hi8(70) 9022 4f5a 05C0 rjmp .L796 9023 .L686: 9024 4f5c 8639 cpi r24,150 9025 4f5e 9105 cpc r25,__zero_reg__ 9026 4f60 34F0 brlt .L687 9027 4f62 86E9 ldi r24,lo8(150) 9028 4f64 90E0 ldi r25,hi8(150) 9029 .L796: 9030 4f66 9093 0000 sts (StickGasHover.24)+1,r25 9031 4f6a 8093 0000 sts StickGasHover.24,r24 9032 .L687: 9033 4f6e E8A0 ldd r14,Y+32 9034 4f70 F9A0 ldd r15,Y+33 9035 4f72 F092 0000 sts (FilterHCGas.23)+1,r15 9036 4f76 E092 0000 sts FilterHCGas.23,r14 9037 .L682: 9038 4f7a 8091 0000 lds r24,FCFlags 9039 4f7e 9927 clr r25 9040 4f80 9C01 movw r18,r24 9041 4f82 2270 andi r18,lo8(2) 9042 4f84 3070 andi r19,hi8(2) 9043 4f86 81FF sbrs r24,1 9044 4f88 1CC1 rjmp .L689 9045 4f8a 8091 0000 lds r24,HoverGasFilter.27 9046 4f8e 9091 0000 lds r25,(HoverGasFilter.27)+1 9047 4f92 A091 0000 lds r26,(HoverGasFilter.27)+2 9048 4f96 B091 0000 lds r27,(HoverGasFilter.27)+3 9049 4f9a 0097 sbiw r24,0 9050 4f9c A105 cpc r26,__zero_reg__ 9051 4f9e B105 cpc r27,__zero_reg__ 9052 4fa0 21F0 breq .L691 9053 4fa2 8091 0000 lds r24,StartTrigger 9054 4fa6 8130 cpi r24,lo8(1) 9055 4fa8 B1F4 brne .L690 9056 .L691: 9057 4faa 08A1 ldd r16,Y+32 9058 4fac 19A1 ldd r17,Y+33 9059 4fae C801 movw r24,r16 9060 4fb0 AA27 clr r26 9061 4fb2 97FD sbrc r25,7 9062 4fb4 A095 com r26 9063 4fb6 BA2F mov r27,r26 9064 4fb8 2EE0 ldi r18,14 9065 4fba 880F 1: lsl r24 9066 4fbc 991F rol r25 9067 4fbe AA1F rol r26 9068 4fc0 BB1F rol r27 9069 4fc2 2A95 dec r18 9070 4fc4 D1F7 brne 1b 9071 4fc6 8093 0000 sts HoverGasFilter.27,r24 9072 4fca 9093 0000 sts (HoverGasFilter.27)+1,r25 9073 4fce A093 0000 sts (HoverGasFilter.27)+2,r26 9074 4fd2 B093 0000 sts (HoverGasFilter.27)+3,r27 9075 .L690: 9076 4fd6 8091 0000 lds r24,StartTrigger 9077 4fda 8130 cpi r24,lo8(1) 9078 4fdc 19F4 brne .L692 9079 4fde 82E0 ldi r24,lo8(2) 9080 4fe0 8093 0000 sts StartTrigger,r24 9081 .L692: 9082 4fe4 28A1 ldd r18,Y+32 9083 4fe6 39A1 ldd r19,Y+33 9084 4fe8 C901 movw r24,r18 9085 4fea AA27 clr r26 9086 4fec 97FD sbrc r25,7 9087 4fee A095 com r26 9088 4ff0 BA2F mov r27,r26 9089 4ff2 9301 movw r18,r6 9090 4ff4 4427 clr r20 9091 4ff6 37FD sbrc r19,7 9092 4ff8 4095 com r20 9093 4ffa 542F mov r21,r20 9094 4ffc BC01 movw r22,r24 9095 4ffe CD01 movw r24,r26 9096 5000 0E94 0000 call __mulsi3 9097 5004 DC01 movw r26,r24 9098 5006 CB01 movw r24,r22 9099 5008 8093 0000 sts tmp_long2.2,r24 9100 500c 9093 0000 sts (tmp_long2.2)+1,r25 9101 5010 A093 0000 sts (tmp_long2.2)+2,r26 9102 5014 B093 0000 sts (tmp_long2.2)+3,r27 9103 5018 B7FF sbrs r27,7 9104 501a 04C0 rjmp .L693 9105 501c 8150 subi r24,lo8(-(8191)) 9106 501e 904E sbci r25,hi8(-(8191)) 9107 5020 AF4F sbci r26,hlo8(-(8191)) 9108 5022 BF4F sbci r27,hhi8(-(8191)) 9109 .L693: 9110 5024 5C01 movw r10,r24 9111 5026 6D01 movw r12,r26 9112 5028 0DE0 ldi r16,13 9113 502a D594 1: asr r13 9114 502c C794 ror r12 9115 502e B794 ror r11 9116 5030 A794 ror r10 9117 5032 0A95 dec r16 9118 5034 D1F7 brne 1b 9119 5036 A092 0000 sts tmp_long2.2,r10 9120 503a B092 0000 sts (tmp_long2.2)+1,r11 9121 503e C092 0000 sts (tmp_long2.2)+2,r12 9122 5042 D092 0000 sts (tmp_long2.2)+3,r13 9123 5046 6091 0000 lds r22,modell_fliegt 9124 504a 7091 0000 lds r23,(modell_fliegt)+1 9125 504e 3FE0 ldi r19,hi8(4000) 9126 5050 603A cpi r22,lo8(4000) 9127 5052 7307 cpc r23,r19 9128 5054 50F5 brsh .L694 9129 5056 8091 0000 lds r24,HoverGasFilter.27 9130 505a 9091 0000 lds r25,(HoverGasFilter.27)+1 9131 505e A091 0000 lds r26,(HoverGasFilter.27)+2 9132 5062 B091 0000 lds r27,(HoverGasFilter.27)+3 9133 5066 9C01 movw r18,r24 9134 5068 AD01 movw r20,r26 9135 506a 1AE0 ldi r17,10 9136 506c 5695 1: lsr r21 9137 506e 4795 ror r20 9138 5070 3795 ror r19 9139 5072 2795 ror r18 9140 5074 1A95 dec r17 9141 5076 D1F7 brne 1b 9142 5078 821B sub r24,r18 9143 507a 930B sbc r25,r19 9144 507c A40B sbc r26,r20 9145 507e B50B sbc r27,r21 9146 5080 A601 movw r20,r12 9147 5082 9501 movw r18,r10 9148 5084 F4E0 ldi r31,4 9149 5086 220F 1: lsl r18 9150 5088 331F rol r19 9151 508a 441F rol r20 9152 508c 551F rol r21 9153 508e FA95 dec r31 9154 5090 D1F7 brne 1b 9155 5092 820F add r24,r18 9156 5094 931F adc r25,r19 9157 5096 A41F adc r26,r20 9158 5098 B51F adc r27,r21 9159 509a 8093 0000 sts HoverGasFilter.27,r24 9160 509e 9093 0000 sts (HoverGasFilter.27)+1,r25 9161 50a2 A093 0000 sts (HoverGasFilter.27)+2,r26 9162 50a6 B093 0000 sts (HoverGasFilter.27)+3,r27 9163 .L694: 9164 50aa 6054 subi r22,lo8(8000) 9165 50ac 7F41 sbci r23,hi8(8000) 9166 50ae 18F5 brsh .L695 9167 50b0 8091 0000 lds r24,HoverGasFilter.27 9168 50b4 9091 0000 lds r25,(HoverGasFilter.27)+1 9169 50b8 A091 0000 lds r26,(HoverGasFilter.27)+2 9170 50bc B091 0000 lds r27,(HoverGasFilter.27)+3 9171 50c0 9C01 movw r18,r24 9172 50c2 AD01 movw r20,r26 9173 50c4 ECE0 ldi r30,12 9174 50c6 5695 1: lsr r21 9175 50c8 4795 ror r20 9176 50ca 3795 ror r19 9177 50cc 2795 ror r18 9178 50ce EA95 dec r30 9179 50d0 D1F7 brne 1b 9180 50d2 821B sub r24,r18 9181 50d4 930B sbc r25,r19 9182 50d6 A40B sbc r26,r20 9183 50d8 B50B sbc r27,r21 9184 50da A601 movw r20,r12 9185 50dc 9501 movw r18,r10 9186 50de 72E0 ldi r23,2 9187 50e0 220F 1: lsl r18 9188 50e2 331F rol r19 9189 50e4 441F rol r20 9190 50e6 551F rol r21 9191 50e8 7A95 dec r23 9192 50ea D1F7 brne 1b 9193 50ec 820F add r24,r18 9194 50ee 931F adc r25,r19 9195 50f0 A41F adc r26,r20 9196 50f2 B51F adc r27,r21 9197 50f4 29C0 rjmp .L797 9198 .L695: 9199 50f6 8091 0000 lds r24,VarioMeter 9200 50fa 9091 0000 lds r25,(VarioMeter)+1 9201 50fe 8091 0000 lds r24,VarioMeter 9202 5102 9091 0000 lds r25,(VarioMeter)+1 9203 5106 97FF sbrs r25,7 9204 5108 03C0 rjmp .L698 9205 510a 9095 com r25 9206 510c 8195 neg r24 9207 510e 9F4F sbci r25,lo8(-1) 9208 .L698: 9209 5110 8436 cpi r24,100 9210 5112 9105 cpc r25,__zero_reg__ 9211 5114 0CF5 brge .L696 9212 5116 8091 0000 lds r24,HoverGasFilter.27 9213 511a 9091 0000 lds r25,(HoverGasFilter.27)+1 9214 511e A091 0000 lds r26,(HoverGasFilter.27)+2 9215 5122 B091 0000 lds r27,(HoverGasFilter.27)+3 9216 5126 9C01 movw r18,r24 9217 5128 AD01 movw r20,r26 9218 512a 6EE0 ldi r22,14 9219 512c 5695 1: lsr r21 9220 512e 4795 ror r20 9221 5130 3795 ror r19 9222 5132 2795 ror r18 9223 5134 6A95 dec r22 9224 5136 D1F7 brne 1b 9225 5138 821B sub r24,r18 9226 513a 930B sbc r25,r19 9227 513c A40B sbc r26,r20 9228 513e B50B sbc r27,r21 9229 5140 8A0D add r24,r10 9230 5142 9B1D adc r25,r11 9231 5144 AC1D adc r26,r12 9232 5146 BD1D adc r27,r13 9233 .L797: 9234 5148 8093 0000 sts HoverGasFilter.27,r24 9235 514c 9093 0000 sts (HoverGasFilter.27)+1,r25 9236 5150 A093 0000 sts (HoverGasFilter.27)+2,r26 9237 5154 B093 0000 sts (HoverGasFilter.27)+3,r27 9238 .L696: 9239 5158 8091 0000 lds r24,HoverGasFilter.27 9240 515c 9091 0000 lds r25,(HoverGasFilter.27)+1 9241 5160 A091 0000 lds r26,(HoverGasFilter.27)+2 9242 5164 B091 0000 lds r27,(HoverGasFilter.27)+3 9243 5168 2EE0 ldi r18,14 9244 516a B695 1: lsr r27 9245 516c A795 ror r26 9246 516e 9795 ror r25 9247 5170 8795 ror r24 9248 5172 2A95 dec r18 9249 5174 D1F7 brne 1b 9250 5176 9093 0000 sts (HoverGas)+1,r25 9251 517a 8093 0000 sts HoverGas,r24 9252 517e 4091 0000 lds r20,EE_Parameter+20 9253 5182 4423 tst r20 9254 5184 99F0 breq .L699 9255 5186 5527 clr r21 9256 5188 9C01 movw r18,r24 9257 518a BA01 movw r22,r20 9258 518c 0E94 0000 call __divmodhi4 9259 5190 C901 movw r24,r18 9260 5192 861B sub r24,r22 9261 5194 970B sbc r25,r23 9262 5196 9093 0000 sts (HoverGasMin.25)+1,r25 9263 519a 8093 0000 sts HoverGasMin.25,r24 9264 519e 260F add r18,r22 9265 51a0 371F adc r19,r23 9266 51a2 3093 0000 sts (HoverGasMax.26)+1,r19 9267 51a6 2093 0000 sts HoverGasMax.26,r18 9268 51aa 19C0 rjmp .L579 9269 .L699: 9270 51ac 1092 0000 sts (HoverGasMin.25)+1,__zero_reg__ 9271 51b0 1092 0000 sts HoverGasMin.25,__zero_reg__ 9272 51b4 8FEF ldi r24,lo8(1023) 9273 51b6 93E0 ldi r25,hi8(1023) 9274 51b8 9093 0000 sts (HoverGasMax.26)+1,r25 9275 51bc 8093 0000 sts HoverGasMax.26,r24 9276 51c0 0EC0 rjmp .L579 9277 .L689: 9278 51c2 1092 0000 sts StartTrigger,__zero_reg__ 9279 51c6 1092 0000 sts HoverGasFilter.27,__zero_reg__ 9280 51ca 1092 0000 sts (HoverGasFilter.27)+1,__zero_reg__ 9281 51ce 1092 0000 sts (HoverGasFilter.27)+2,__zero_reg__ 9282 51d2 1092 0000 sts (HoverGasFilter.27)+3,__zero_reg__ 9283 51d6 3093 0000 sts (HoverGas)+1,r19 9284 51da 2093 0000 sts HoverGas,r18 9285 .L579: 9286 51de 5091 0000 lds r21,MIN_GAS 9287 51e2 58AB std Y+48,r21 9288 51e4 252F mov r18,r21 9289 51e6 3327 clr r19 9290 51e8 220F lsl r18 9291 51ea 331F rol r19 9292 51ec 220F lsl r18 9293 51ee 331F rol r19 9294 51f0 285D subi r18,lo8(-(40)) 9295 51f2 3F4F sbci r19,hi8(-(40)) 9296 51f4 68A1 ldd r22,Y+32 9297 51f6 79A1 ldd r23,Y+33 9298 51f8 2617 cp r18,r22 9299 51fa 3707 cpc r19,r23 9300 51fc 14F0 brlt .L702 9301 51fe 39A3 std Y+33,r19 9302 5200 28A3 std Y+32,r18 9303 .L702: 9304 5202 7091 0000 lds r23,MAX_GAS 9305 5206 79AB std Y+49,r23 9306 5208 872F mov r24,r23 9307 520a 9927 clr r25 9308 520c 880F lsl r24 9309 520e 991F rol r25 9310 5210 880F lsl r24 9311 5212 991F rol r25 9312 5214 8055 subi r24,lo8(-(-80)) 9313 5216 9040 sbci r25,hi8(-(-80)) 9314 5218 A8A1 ldd r26,Y+32 9315 521a B9A1 ldd r27,Y+33 9316 521c 8A17 cp r24,r26 9317 521e 9B07 cpc r25,r27 9318 5220 14F4 brge .L703 9319 5222 99A3 std Y+33,r25 9320 5224 88A3 std Y+32,r24 9321 .L703: 9322 5226 8091 0000 lds r24,MissingMotor 9323 522a 8823 tst r24 9324 522c 21F4 brne .L705 9325 522e 8091 0000 lds r24,Capacity+6 9326 5232 8F3F cpi r24,lo8(-1) 9327 5234 A1F0 breq .L704 9328 .L705: 9329 5236 8091 0000 lds r24,modell_fliegt 9330 523a 9091 0000 lds r25,(modell_fliegt)+1 9331 523e 0297 sbiw r24,2 9332 5240 C097 sbiw r24,48 9333 5242 68F4 brsh .L704 9334 5244 E8A1 ldd r30,Y+32 9335 5246 F9A1 ldd r31,Y+33 9336 5248 1E16 cp __zero_reg__,r30 9337 524a 1F06 cpc __zero_reg__,r31 9338 524c 44F4 brge .L704 9339 524e 81E0 ldi r24,lo8(1) 9340 5250 90E0 ldi r25,hi8(1) 9341 5252 9093 0000 sts (modell_fliegt)+1,r25 9342 5256 8093 0000 sts modell_fliegt,r24 9343 525a 39A3 std Y+33,r19 9344 525c 28A3 std Y+32,r18 9345 .L704: 9346 525e E8A0 ldd r14,Y+32 9347 5260 F9A0 ldd r15,Y+33 9348 5262 F092 0000 sts (DebugOut+16)+1,r15 9349 5266 E092 0000 sts DebugOut+16,r14 9350 526a 8091 0000 lds r24,sollGier.0 9351 526e 9091 0000 lds r25,(sollGier.0)+1 9352 5272 A091 0000 lds r26,(sollGier.0)+2 9353 5276 B091 0000 lds r27,(sollGier.0)+3 9354 527a 12E0 ldi r17,2 9355 527c 880F 1: lsl r24 9356 527e 991F rol r25 9357 5280 AA1F rol r26 9358 5282 BB1F rol r27 9359 5284 1A95 dec r17 9360 5286 D1F7 brne 1b 9361 5288 C090 0000 lds r12,MesswertGier 9362 528c D090 0000 lds r13,(MesswertGier)+1 9363 5290 C81A sub r12,r24 9364 5292 D90A sbc r13,r25 9365 5294 8701 movw r16,r14 9366 5296 013A cpi r16,161 9367 5298 1105 cpc r17,__zero_reg__ 9368 529a 8CF0 brlt .L707 9369 529c C701 movw r24,r14 9370 529e F7FC sbrc r15,7 9371 52a0 0196 adiw r24,1 9372 .L709: 9373 52a2 9595 asr r25 9374 52a4 8795 ror r24 9375 52a6 8C15 cp r24,r12 9376 52a8 9D05 cpc r25,r13 9377 52aa 0CF4 brge .L708 9378 52ac 6C01 movw r12,r24 9379 .L708: 9380 52ae 9095 com r25 9381 52b0 8195 neg r24 9382 52b2 9F4F sbci r25,lo8(-1) 9383 52b4 C816 cp r12,r24 9384 52b6 D906 cpc r13,r25 9385 52b8 94F4 brge .L714 9386 52ba 6C01 movw r12,r24 9387 52bc 10C0 rjmp .L714 9388 .L707: 9389 52be 11E5 ldi r17,lo8(81) 9390 52c0 C116 cp r12,r17 9391 52c2 D104 cpc r13,__zero_reg__ 9392 52c4 1CF0 brlt .L715 9393 52c6 E0E5 ldi r30,lo8(80) 9394 52c8 CE2E mov r12,r30 9395 52ca D12C mov r13,__zero_reg__ 9396 .L715: 9397 52cc 20EB ldi r18,lo8(-80) 9398 52ce C216 cp r12,r18 9399 52d0 2FEF ldi r18,hi8(-80) 9400 52d2 D206 cpc r13,r18 9401 52d4 24F4 brge .L714 9402 52d6 70EB ldi r23,lo8(-80) 9403 52d8 C72E mov r12,r23 9404 52da 7FEF ldi r23,hi8(-80) 9405 52dc D72E mov r13,r23 9406 .L714: 9407 52de 49A9 ldd r20,Y+49 9408 52e0 242F mov r18,r20 9409 52e2 3327 clr r19 9410 52e4 220F lsl r18 9411 52e6 331F rol r19 9412 52e8 220F lsl r18 9413 52ea 331F rol r19 9414 52ec C901 movw r24,r18 9415 52ee 68A1 ldd r22,Y+32 9416 52f0 79A1 ldd r23,Y+33 9417 52f2 861B sub r24,r22 9418 52f4 970B sbc r25,r23 9419 52f6 8C15 cp r24,r12 9420 52f8 9D05 cpc r25,r13 9421 52fa 0CF4 brge .L717 9422 52fc 6C01 movw r12,r24 9423 .L717: 9424 52fe 88A1 ldd r24,Y+32 9425 5300 99A1 ldd r25,Y+33 9426 5302 821B sub r24,r18 9427 5304 930B sbc r25,r19 9428 5306 C816 cp r12,r24 9429 5308 D906 cpc r13,r25 9430 530a 0CF4 brge .L718 9431 530c 6C01 movw r12,r24 9432 .L718: 9433 530e 8091 0000 lds r24,MesswertNick 9434 5312 9091 0000 lds r25,(MesswertNick)+1 9435 5316 6091 0000 lds r22,StickNick 9436 531a 7091 0000 lds r23,(StickNick)+1 9437 531e 861B sub r24,r22 9438 5320 970B sbc r25,r23 9439 5322 9093 0000 sts (DiffNick)+1,r25 9440 5326 8093 0000 sts DiffNick,r24 9441 532a A090 0000 lds r10,IntegralFaktor 9442 532e 2091 0000 lds r18,SummeNick 9443 5332 3091 0000 lds r19,(SummeNick)+1 9444 5336 4091 0000 lds r20,(SummeNick)+2 9445 533a 5091 0000 lds r21,(SummeNick)+3 9446 533e AA20 tst r10 9447 5340 41F0 breq .L719 9448 5342 461A sub r4,r22 9449 5344 570A sbc r5,r23 9450 5346 C201 movw r24,r4 9451 5348 AA27 clr r26 9452 534a 97FD sbrc r25,7 9453 534c A095 com r26 9454 534e BA2F mov r27,r26 9455 5350 04C0 rjmp .L798 9456 .L719: 9457 5352 AA27 clr r26 9458 5354 97FD sbrc r25,7 9459 5356 A095 com r26 9460 5358 BA2F mov r27,r26 9461 .L798: 9462 535a 280F add r18,r24 9463 535c 391F adc r19,r25 9464 535e 4A1F adc r20,r26 9465 5360 5B1F adc r21,r27 9466 5362 2093 0000 sts SummeNick,r18 9467 5366 3093 0000 sts (SummeNick)+1,r19 9468 536a 4093 0000 sts (SummeNick)+2,r20 9469 536e 5093 0000 sts (SummeNick)+3,r21 9470 5372 8091 0000 lds r24,SummeNick 9471 5376 9091 0000 lds r25,(SummeNick)+1 9472 537a A091 0000 lds r26,(SummeNick)+2 9473 537e B091 0000 lds r27,(SummeNick)+3 9474 5382 8150 subi r24,lo8(64001) 9475 5384 9A4F sbci r25,hi8(64001) 9476 5386 A040 sbci r26,hlo8(64001) 9477 5388 B040 sbci r27,hhi8(64001) 9478 538a 64F0 brlt .L721 9479 538c 80E0 ldi r24,lo8(64000) 9480 538e 9AEF ldi r25,hi8(64000) 9481 5390 A0E0 ldi r26,hlo8(64000) 9482 5392 B0E0 ldi r27,hhi8(64000) 9483 5394 8093 0000 sts SummeNick,r24 9484 5398 9093 0000 sts (SummeNick)+1,r25 9485 539c A093 0000 sts (SummeNick)+2,r26 9486 53a0 B093 0000 sts (SummeNick)+3,r27 9487 .L721: 9488 53a4 8091 0000 lds r24,SummeNick 9489 53a8 9091 0000 lds r25,(SummeNick)+1 9490 53ac A091 0000 lds r26,(SummeNick)+2 9491 53b0 B091 0000 lds r27,(SummeNick)+3 9492 53b4 8050 subi r24,lo8(-64000) 9493 53b6 9640 sbci r25,hi8(-64000) 9494 53b8 AF4F sbci r26,hlo8(-64000) 9495 53ba BF4F sbci r27,hhi8(-64000) 9496 53bc 64F4 brge .L722 9497 53be 80E0 ldi r24,lo8(-64000) 9498 53c0 96E0 ldi r25,hi8(-64000) 9499 53c2 AFEF ldi r26,hlo8(-64000) 9500 53c4 BFEF ldi r27,hhi8(-64000) 9501 53c6 8093 0000 sts SummeNick,r24 9502 53ca 9093 0000 sts (SummeNick)+1,r25 9503 53ce A093 0000 sts (SummeNick)+2,r26 9504 53d2 B093 0000 sts (SummeNick)+3,r27 9505 .L722: 9506 53d6 B090 0000 lds r11,EE_Parameter+35 9507 53da 2B2D mov r18,r11 9508 53dc 3327 clr r19 9509 53de 8091 0000 lds r24,DiffNick 9510 53e2 9091 0000 lds r25,(DiffNick)+1 9511 53e6 289F mul r18,r24 9512 53e8 7001 movw r14,r0 9513 53ea 299F mul r18,r25 9514 53ec F00C add r15,r0 9515 53ee 389F mul r19,r24 9516 53f0 F00C add r15,r0 9517 53f2 1124 clr r1 9518 53f4 9701 movw r18,r14 9519 53f6 F7FE sbrs r15,7 9520 53f8 02C0 rjmp .L723 9521 53fa 295F subi r18,lo8(-(7)) 9522 53fc 3F4F sbci r19,hi8(-(7)) 9523 .L723: 9524 53fe 7901 movw r14,r18 9525 5400 53E0 ldi r21,3 9526 5402 F594 1: asr r15 9527 5404 E794 ror r14 9528 5406 5A95 dec r21 9529 5408 E1F7 brne 1b 9530 540a 0091 0000 lds r16,Ki 9531 540e 1091 0000 lds r17,(Ki)+1 9532 5412 9801 movw r18,r16 9533 5414 4427 clr r20 9534 5416 37FD sbrc r19,7 9535 5418 4095 com r20 9536 541a 542F mov r21,r20 9537 541c 8091 0000 lds r24,SummeNick 9538 5420 9091 0000 lds r25,(SummeNick)+1 9539 5424 A091 0000 lds r26,(SummeNick)+2 9540 5428 B091 0000 lds r27,(SummeNick)+3 9541 542c BC01 movw r22,r24 9542 542e CD01 movw r24,r26 9543 5430 0E94 0000 call __divmodsi4 9544 5434 E20E add r14,r18 9545 5436 F31E adc r15,r19 9546 5438 9090 0000 lds r9,Parameter_DynamicStability 9547 543c 692D mov r22,r9 9548 543e 7727 clr r23 9549 5440 8827 clr r24 9550 5442 9927 clr r25 9551 5444 9601 movw r18,r12 9552 5446 D7FE sbrs r13,7 9553 5448 04C0 rjmp .L724 9554 544a 2227 clr r18 9555 544c 3327 clr r19 9556 544e 2C19 sub r18,r12 9557 5450 3D09 sbc r19,r13 9558 .L724: 9559 5452 37FF sbrs r19,7 9560 5454 02C0 rjmp .L725 9561 5456 2F5F subi r18,lo8(-(1)) 9562 5458 3F4F sbci r19,hi8(-(1)) 9563 .L725: 9564 545a 3595 asr r19 9565 545c 2795 ror r18 9566 545e 48A1 ldd r20,Y+32 9567 5460 59A1 ldd r21,Y+33 9568 5462 240F add r18,r20 9569 5464 351F adc r19,r21 9570 5466 4427 clr r20 9571 5468 37FD sbrc r19,7 9572 546a 4095 com r20 9573 546c 542F mov r21,r20 9574 546e 0E94 0000 call __mulsi3 9575 5472 97FF sbrs r25,7 9576 5474 04C0 rjmp .L726 9577 5476 615C subi r22,lo8(-(63)) 9578 5478 7F4F sbci r23,hi8(-(63)) 9579 547a 8F4F sbci r24,hlo8(-(63)) 9580 547c 9F4F sbci r25,hhi8(-(63)) 9581 .L726: 9582 547e 26E0 ldi r18,6 9583 5480 9595 1: asr r25 9584 5482 8795 ror r24 9585 5484 7795 ror r23 9586 5486 6795 ror r22 9587 5488 2A95 dec r18 9588 548a D1F7 brne 1b 9589 548c 9B01 movw r18,r22 9590 548e 6E15 cp r22,r14 9591 5490 7F05 cpc r23,r15 9592 5492 0CF4 brge .L727 9593 5494 7B01 movw r14,r22 9594 .L727: 9595 5496 3095 com r19 9596 5498 2195 neg r18 9597 549a 3F4F sbci r19,lo8(-1) 9598 549c E216 cp r14,r18 9599 549e F306 cpc r15,r19 9600 54a0 0CF4 brge .L728 9601 54a2 7901 movw r14,r18 9602 .L728: 9603 54a4 8091 0000 lds r24,MesswertRoll 9604 54a8 9091 0000 lds r25,(MesswertRoll)+1 9605 54ac 6091 0000 lds r22,StickRoll 9606 54b0 7091 0000 lds r23,(StickRoll)+1 9607 54b4 861B sub r24,r22 9608 54b6 970B sbc r25,r23 9609 54b8 9093 0000 sts (DiffRoll)+1,r25 9610 54bc 8093 0000 sts DiffRoll,r24 9611 54c0 2091 0000 lds r18,SummeRoll 9612 54c4 3091 0000 lds r19,(SummeRoll)+1 9613 54c8 4091 0000 lds r20,(SummeRoll)+2 9614 54cc 5091 0000 lds r21,(SummeRoll)+3 9615 54d0 AA20 tst r10 9616 54d2 41F0 breq .L729 9617 54d4 261A sub r2,r22 9618 54d6 370A sbc r3,r23 9619 54d8 C101 movw r24,r2 9620 54da AA27 clr r26 9621 54dc 97FD sbrc r25,7 9622 54de A095 com r26 9623 54e0 BA2F mov r27,r26 9624 54e2 04C0 rjmp .L799 9625 .L729: 9626 54e4 AA27 clr r26 9627 54e6 97FD sbrc r25,7 9628 54e8 A095 com r26 9629 54ea BA2F mov r27,r26 9630 .L799: 9631 54ec 280F add r18,r24 9632 54ee 391F adc r19,r25 9633 54f0 4A1F adc r20,r26 9634 54f2 5B1F adc r21,r27 9635 54f4 2093 0000 sts SummeRoll,r18 9636 54f8 3093 0000 sts (SummeRoll)+1,r19 9637 54fc 4093 0000 sts (SummeRoll)+2,r20 9638 5500 5093 0000 sts (SummeRoll)+3,r21 9639 5504 8091 0000 lds r24,SummeRoll 9640 5508 9091 0000 lds r25,(SummeRoll)+1 9641 550c A091 0000 lds r26,(SummeRoll)+2 9642 5510 B091 0000 lds r27,(SummeRoll)+3 9643 5514 8150 subi r24,lo8(64001) 9644 5516 9A4F sbci r25,hi8(64001) 9645 5518 A040 sbci r26,hlo8(64001) 9646 551a B040 sbci r27,hhi8(64001) 9647 551c 64F0 brlt .L731 9648 551e 80E0 ldi r24,lo8(64000) 9649 5520 9AEF ldi r25,hi8(64000) 9650 5522 A0E0 ldi r26,hlo8(64000) 9651 5524 B0E0 ldi r27,hhi8(64000) 9652 5526 8093 0000 sts SummeRoll,r24 9653 552a 9093 0000 sts (SummeRoll)+1,r25 9654 552e A093 0000 sts (SummeRoll)+2,r26 9655 5532 B093 0000 sts (SummeRoll)+3,r27 9656 .L731: 9657 5536 8091 0000 lds r24,SummeRoll 9658 553a 9091 0000 lds r25,(SummeRoll)+1 9659 553e A091 0000 lds r26,(SummeRoll)+2 9660 5542 B091 0000 lds r27,(SummeRoll)+3 9661 5546 8050 subi r24,lo8(-64000) 9662 5548 9640 sbci r25,hi8(-64000) 9663 554a AF4F sbci r26,hlo8(-64000) 9664 554c BF4F sbci r27,hhi8(-64000) 9665 554e 64F4 brge .L732 9666 5550 80E0 ldi r24,lo8(-64000) 9667 5552 96E0 ldi r25,hi8(-64000) 9668 5554 AFEF ldi r26,hlo8(-64000) 9669 5556 BFEF ldi r27,hhi8(-64000) 9670 5558 8093 0000 sts SummeRoll,r24 9671 555c 9093 0000 sts (SummeRoll)+1,r25 9672 5560 A093 0000 sts (SummeRoll)+2,r26 9673 5564 B093 0000 sts (SummeRoll)+3,r27 9674 .L732: 9675 5568 2B2D mov r18,r11 9676 556a 3327 clr r19 9677 556c 8091 0000 lds r24,DiffRoll 9678 5570 9091 0000 lds r25,(DiffRoll)+1 9679 5574 289F mul r18,r24 9680 5576 D001 movw r26,r0 9681 5578 299F mul r18,r25 9682 557a B00D add r27,r0 9683 557c 389F mul r19,r24 9684 557e B00D add r27,r0 9685 5580 1124 clr r1 9686 5582 9D01 movw r18,r26 9687 5584 B7FF sbrs r27,7 9688 5586 02C0 rjmp .L733 9689 5588 295F subi r18,lo8(-(7)) 9690 558a 3F4F sbci r19,hi8(-(7)) 9691 .L733: 9692 558c 5901 movw r10,r18 9693 558e B3E0 ldi r27,3 9694 5590 B594 1: asr r11 9695 5592 A794 ror r10 9696 5594 BA95 dec r27 9697 5596 E1F7 brne 1b 9698 5598 9801 movw r18,r16 9699 559a 4427 clr r20 9700 559c 37FD sbrc r19,7 9701 559e 4095 com r20 9702 55a0 542F mov r21,r20 9703 55a2 8091 0000 lds r24,SummeRoll 9704 55a6 9091 0000 lds r25,(SummeRoll)+1 9705 55aa A091 0000 lds r26,(SummeRoll)+2 9706 55ae B091 0000 lds r27,(SummeRoll)+3 9707 55b2 BC01 movw r22,r24 9708 55b4 CD01 movw r24,r26 9709 55b6 0E94 0000 call __divmodsi4 9710 55ba A20E add r10,r18 9711 55bc B31E adc r11,r19 9712 55be 692D mov r22,r9 9713 55c0 7727 clr r23 9714 55c2 8827 clr r24 9715 55c4 9927 clr r25 9716 55c6 9601 movw r18,r12 9717 55c8 D7FE sbrs r13,7 9718 55ca 04C0 rjmp .L734 9719 55cc 2227 clr r18 9720 55ce 3327 clr r19 9721 55d0 2C19 sub r18,r12 9722 55d2 3D09 sbc r19,r13 9723 .L734: 9724 55d4 37FF sbrs r19,7 9725 55d6 02C0 rjmp .L735 9726 55d8 2F5F subi r18,lo8(-(1)) 9727 55da 3F4F sbci r19,hi8(-(1)) 9728 .L735: 9729 55dc 3595 asr r19 9730 55de 2795 ror r18 9731 55e0 E8A1 ldd r30,Y+32 9732 55e2 F9A1 ldd r31,Y+33 9733 55e4 2E0F add r18,r30 9734 55e6 3F1F adc r19,r31 9735 55e8 4427 clr r20 9736 55ea 37FD sbrc r19,7 9737 55ec 4095 com r20 9738 55ee 542F mov r21,r20 9739 55f0 0E94 0000 call __mulsi3 9740 55f4 97FF sbrs r25,7 9741 55f6 04C0 rjmp .L736 9742 55f8 615C subi r22,lo8(-(63)) 9743 55fa 7F4F sbci r23,hi8(-(63)) 9744 55fc 8F4F sbci r24,hlo8(-(63)) 9745 55fe 9F4F sbci r25,hhi8(-(63)) 9746 .L736: 9747 5600 F6E0 ldi r31,6 9748 5602 9595 1: asr r25 9749 5604 8795 ror r24 9750 5606 7795 ror r23 9751 5608 6795 ror r22 9752 560a FA95 dec r31 9753 560c D1F7 brne 1b 9754 560e 9B01 movw r18,r22 9755 5610 6A15 cp r22,r10 9756 5612 7B05 cpc r23,r11 9757 5614 0CF4 brge .L737 9758 5616 5B01 movw r10,r22 9759 .L737: 9760 5618 3095 com r19 9761 561a 2195 neg r18 9762 561c 3F4F sbci r19,lo8(-1) 9763 561e A216 cp r10,r18 9764 5620 B306 cpc r11,r19 9765 5622 0CF4 brge .L738 9766 5624 5901 movw r10,r18 9767 .L738: 9768 5626 2090 0000 lds r2,Parameter_UserParam7 9769 562a E0E0 ldi r30,lo8(Motor) 9770 562c 6E2E mov r6,r30 9771 562e E0E0 ldi r30,hi8(Motor) 9772 5630 7E2E mov r7,r30 9773 5632 70E0 ldi r23,lo8(Mixer+13) 9774 5634 872E mov r8,r23 9775 5636 70E0 ldi r23,hi8(Mixer+13) 9776 5638 972E mov r9,r23 9777 563a 6BE0 ldi r22,lo8(11) 9778 563c 362E mov r3,r22 9779 563e 50E0 ldi r21,lo8(tmp_motorwert) 9780 5640 452E mov r4,r21 9781 5642 50E0 ldi r21,hi8(tmp_motorwert) 9782 5644 552E mov r5,r21 9783 .L772: 9784 5646 D401 movw r26,r8 9785 5648 2C91 ld r18,X 9786 564a 1216 cp __zero_reg__,r18 9787 564c 0CF0 brlt .+2 9788 564e ECC0 rjmp .L742 9789 5650 2034 cpi r18,lo8(64) 9790 5652 19F4 brne .L743 9791 5654 08A1 ldd r16,Y+32 9792 5656 19A1 ldd r17,Y+33 9793 5658 1EC0 rjmp .L744 9794 .L743: 9795 565a E8A1 ldd r30,Y+32 9796 565c F9A1 ldd r31,Y+33 9797 565e CF01 movw r24,r30 9798 5660 AA27 clr r26 9799 5662 97FD sbrc r25,7 9800 5664 A095 com r26 9801 5666 BA2F mov r27,r26 9802 5668 3327 clr r19 9803 566a 27FD sbrc r18,7 9804 566c 3095 com r19 9805 566e 432F mov r20,r19 9806 5670 532F mov r21,r19 9807 5672 BC01 movw r22,r24 9808 5674 CD01 movw r24,r26 9809 5676 0E94 0000 call __mulsi3 9810 567a 97FF sbrs r25,7 9811 567c 04C0 rjmp .L745 9812 567e 615C subi r22,lo8(-(63)) 9813 5680 7F4F sbci r23,hi8(-(63)) 9814 5682 8F4F sbci r24,hlo8(-(63)) 9815 5684 9F4F sbci r25,hhi8(-(63)) 9816 .L745: 9817 5686 46E0 ldi r20,6 9818 5688 9595 1: asr r25 9819 568a 8795 ror r24 9820 568c 7795 ror r23 9821 568e 6795 ror r22 9822 5690 4A95 dec r20 9823 5692 D1F7 brne 1b 9824 5694 8B01 movw r16,r22 9825 .L744: 9826 5696 F401 movw r30,r8 9827 5698 2181 ldd r18,Z+1 9828 569a 2034 cpi r18,lo8(64) 9829 569c 19F4 brne .L746 9830 569e 0E0D add r16,r14 9831 56a0 1F1D adc r17,r15 9832 56a2 22C0 rjmp .L747 9833 .L746: 9834 56a4 203C cpi r18,lo8(-64) 9835 56a6 19F4 brne .L748 9836 56a8 0E19 sub r16,r14 9837 56aa 1F09 sbc r17,r15 9838 56ac 1DC0 rjmp .L747 9839 .L748: 9840 56ae C701 movw r24,r14 9841 56b0 AA27 clr r26 9842 56b2 97FD sbrc r25,7 9843 56b4 A095 com r26 9844 56b6 BA2F mov r27,r26 9845 56b8 3327 clr r19 9846 56ba 27FD sbrc r18,7 9847 56bc 3095 com r19 9848 56be 432F mov r20,r19 9849 56c0 532F mov r21,r19 9850 56c2 BC01 movw r22,r24 9851 56c4 CD01 movw r24,r26 9852 56c6 0E94 0000 call __mulsi3 9853 56ca 97FF sbrs r25,7 9854 56cc 04C0 rjmp .L750 9855 56ce 615C subi r22,lo8(-(63)) 9856 56d0 7F4F sbci r23,hi8(-(63)) 9857 56d2 8F4F sbci r24,hlo8(-(63)) 9858 56d4 9F4F sbci r25,hhi8(-(63)) 9859 .L750: 9860 56d6 36E0 ldi r19,6 9861 56d8 9595 1: asr r25 9862 56da 8795 ror r24 9863 56dc 7795 ror r23 9864 56de 6795 ror r22 9865 56e0 3A95 dec r19 9866 56e2 D1F7 brne 1b 9867 56e4 060F add r16,r22 9868 56e6 171F adc r17,r23 9869 .L747: 9870 56e8 F401 movw r30,r8 9871 56ea 2281 ldd r18,Z+2 9872 56ec 2034 cpi r18,lo8(64) 9873 56ee 19F4 brne .L751 9874 56f0 0A0D add r16,r10 9875 56f2 1B1D adc r17,r11 9876 56f4 22C0 rjmp .L752 9877 .L751: 9878 56f6 203C cpi r18,lo8(-64) 9879 56f8 19F4 brne .L753 9880 56fa 0A19 sub r16,r10 9881 56fc 1B09 sbc r17,r11 9882 56fe 1DC0 rjmp .L752 9883 .L753: 9884 5700 C501 movw r24,r10 9885 5702 AA27 clr r26 9886 5704 97FD sbrc r25,7 9887 5706 A095 com r26 9888 5708 BA2F mov r27,r26 9889 570a 3327 clr r19 9890 570c 27FD sbrc r18,7 9891 570e 3095 com r19 9892 5710 432F mov r20,r19 9893 5712 532F mov r21,r19 9894 5714 BC01 movw r22,r24 9895 5716 CD01 movw r24,r26 9896 5718 0E94 0000 call __mulsi3 9897 571c 97FF sbrs r25,7 9898 571e 04C0 rjmp .L755 9899 5720 615C subi r22,lo8(-(63)) 9900 5722 7F4F sbci r23,hi8(-(63)) 9901 5724 8F4F sbci r24,hlo8(-(63)) 9902 5726 9F4F sbci r25,hhi8(-(63)) 9903 .L755: 9904 5728 26E0 ldi r18,6 9905 572a 9595 1: asr r25 9906 572c 8795 ror r24 9907 572e 7795 ror r23 9908 5730 6795 ror r22 9909 5732 2A95 dec r18 9910 5734 D1F7 brne 1b 9911 5736 060F add r16,r22 9912 5738 171F adc r17,r23 9913 .L752: 9914 573a F401 movw r30,r8 9915 573c 2381 ldd r18,Z+3 9916 573e 2034 cpi r18,lo8(64) 9917 5740 19F4 brne .L756 9918 5742 0C0D add r16,r12 9919 5744 1D1D adc r17,r13 9920 5746 22C0 rjmp .L757 9921 .L756: 9922 5748 203C cpi r18,lo8(-64) 9923 574a 19F4 brne .L758 9924 574c 0C19 sub r16,r12 9925 574e 1D09 sbc r17,r13 9926 5750 1DC0 rjmp .L757 9927 .L758: 9928 5752 C601 movw r24,r12 9929 5754 AA27 clr r26 9930 5756 97FD sbrc r25,7 9931 5758 A095 com r26 9932 575a BA2F mov r27,r26 9933 575c 3327 clr r19 9934 575e 27FD sbrc r18,7 9935 5760 3095 com r19 9936 5762 432F mov r20,r19 9937 5764 532F mov r21,r19 9938 5766 BC01 movw r22,r24 9939 5768 CD01 movw r24,r26 9940 576a 0E94 0000 call __mulsi3 9941 576e 97FF sbrs r25,7 9942 5770 04C0 rjmp .L760 9943 5772 615C subi r22,lo8(-(63)) 9944 5774 7F4F sbci r23,hi8(-(63)) 9945 5776 8F4F sbci r24,hlo8(-(63)) 9946 5778 9F4F sbci r25,hhi8(-(63)) 9947 .L760: 9948 577a B6E0 ldi r27,6 9949 577c 9595 1: asr r25 9950 577e 8795 ror r24 9951 5780 7795 ror r23 9952 5782 6795 ror r22 9953 5784 BA95 dec r27 9954 5786 D1F7 brne 1b 9955 5788 060F add r16,r22 9956 578a 171F adc r17,r23 9957 .L757: 9958 578c D201 movw r26,r4 9959 578e 8D91 ld r24,X+ 9960 5790 9C91 ld r25,X 9961 5792 8017 cp r24,r16 9962 5794 9107 cpc r25,r17 9963 5796 5CF4 brge .L761 9964 5798 BC01 movw r22,r24 9965 579a 600F add r22,r16 9966 579c 711F adc r23,r17 9967 579e 77FF sbrs r23,7 9968 57a0 02C0 rjmp .L762 9969 57a2 6F5F subi r22,lo8(-(1)) 9970 57a4 7F4F sbci r23,hi8(-(1)) 9971 .L762: 9972 57a6 8B01 movw r16,r22 9973 57a8 1595 asr r17 9974 57aa 0795 ror r16 9975 57ac 11C0 rjmp .L763 9976 .L761: 9977 57ae B1E0 ldi r27,lo8(1) 9978 57b0 B215 cp r27,r2 9979 57b2 28F0 brlo .L764 9980 57b4 000F add r16,r16 9981 57b6 111F adc r17,r17 9982 57b8 081B sub r16,r24 9983 57ba 190B sbc r17,r25 9984 57bc 09C0 rjmp .L763 9985 .L764: 9986 57be 222D mov r18,r2 9987 57c0 3327 clr r19 9988 57c2 801B sub r24,r16 9989 57c4 910B sbc r25,r17 9990 57c6 B901 movw r22,r18 9991 57c8 0E94 0000 call __divmodhi4 9992 57cc 060F add r16,r22 9993 57ce 171F adc r17,r23 9994 .L763: 9995 57d0 E8A9 ldd r30,Y+48 9996 57d2 8E2F mov r24,r30 9997 57d4 9927 clr r25 9998 57d6 880F lsl r24 9999 57d8 991F rol r25 10000 57da 880F lsl r24 10001 57dc 991F rol r25 10002 57de 8017 cp r24,r16 10003 57e0 9107 cpc r25,r17 10004 57e2 54F4 brge .L800 10005 57e4 F9A9 ldd r31,Y+49 10006 57e6 8F2F mov r24,r31 10007 57e8 9927 clr r25 10008 57ea 880F lsl r24 10009 57ec 991F rol r25 10010 57ee 880F lsl r24 10011 57f0 991F rol r25 10012 57f2 0817 cp r16,r24 10013 57f4 1907 cpc r17,r25 10014 57f6 0CF0 brlt .L767 10015 .L800: 10016 57f8 8C01 movw r16,r24 10017 .L767: 10018 57fa C801 movw r24,r16 10019 57fc 17FD sbrc r17,7 10020 57fe 0396 adiw r24,3 10021 .L769: 10022 5800 9595 asr r25 10023 5802 8795 ror r24 10024 5804 9595 asr r25 10025 5806 8795 ror r24 10026 5808 F301 movw r30,r6 10027 580a 8183 std Z+1,r24 10028 580c 880F lsl r24 10029 580e 991F rol r25 10030 5810 880F lsl r24 10031 5812 991F rol r25 10032 5814 9801 movw r18,r16 10033 5816 281B sub r18,r24 10034 5818 390B sbc r19,r25 10035 581a C901 movw r24,r18 10036 581c 880F lsl r24 10037 581e 8283 std Z+2,r24 10038 5820 D201 movw r26,r4 10039 5822 0D93 st X+,r16 10040 5824 1C93 st X,r17 10041 5826 03C0 rjmp .L741 10042 .L742: 10043 5828 F301 movw r30,r6 10044 582a 1182 std Z+1,__zero_reg__ 10045 582c 1282 std Z+2,__zero_reg__ 10046 .L741: 10047 582e 3A94 dec r3 10048 5830 02E0 ldi r16,lo8(2) 10049 5832 10E0 ldi r17,hi8(2) 10050 5834 400E add r4,r16 10051 5836 511E adc r5,r17 10052 5838 24E0 ldi r18,lo8(4) 10053 583a 30E0 ldi r19,hi8(4) 10054 583c 820E add r8,r18 10055 583e 931E adc r9,r19 10056 5840 48E0 ldi r20,lo8(8) 10057 5842 50E0 ldi r21,hi8(8) 10058 5844 640E add r6,r20 10059 5846 751E adc r7,r21 10060 5848 37FE sbrs r3,7 10061 584a FDCE rjmp .L772 10062 /* epilogue: frame size=53 */ 10063 584c E2E1 ldi r30,18 10064 584e CB5C subi r28,-53 10065 5850 0C94 0000 jmp __epilogue_restores__+0 10066 /* epilogue end (size=4) */ 10067 /* function MotorRegler size 7558 (7548) */ 10069 .comm TrimNick,2,1 10070 .comm TrimRoll,2,1 10071 .comm ErsatzKompass,4,1 10072 .comm ErsatzKompassInGrad,2,1 10073 .comm MesswertNick,2,1 10074 .comm MesswertRoll,2,1 10075 .comm MesswertGier,2,1 10076 .comm Mittelwert_AccNick,2,1 10077 .comm Mittelwert_AccRoll,2,1 10078 .comm NaviAccNick,2,1 10079 .comm NaviAccRoll,2,1 10080 .comm h,1,1 10081 .comm m,1,1 10082 .comm s,1,1 10083 .comm DiffNick,2,1 10084 .comm DiffRoll,2,1 10085 .comm Parameter_Servo3,1,1 10086 .comm Parameter_Servo4,1,1 10087 .comm Parameter_Servo5,1,1 10088 .comm Parameter_J16Bitmask,1,1 10089 .comm Parameter_J16Timing,1,1 10090 .comm Parameter_J17Bitmask,1,1 10091 .comm Parameter_J17Timing,1,1 10092 .comm MesswertGierBias,2,1 10093 .comm RohMesswertNick,2,1 10094 .comm RohMesswertRoll,2,1 10095 .comm MittelIntegralNick,4,1 10096 .comm MittelIntegralRoll,4,1 10097 .comm MittelIntegralNick2,4,1 10098 .comm MittelIntegralRoll2,4,1 10099 .comm MAX_GAS,1,1 10100 .comm MIN_GAS,1,1 10101 .comm GyroFaktor,1,1 10102 .comm GyroFaktorGier,1,1 10103 .comm IntegralFaktor,1,1 10104 .comm IntegralFaktorGier,1,1 10105 .comm Parameter_NaviGpsModeControl,1,1 10106 .comm Parameter_NaviGpsGain,1,1 10107 .comm Parameter_NaviGpsP,1,1 10108 .comm Parameter_NaviGpsI,1,1 10109 .comm Parameter_NaviGpsD,1,1 10110 .comm Parameter_NaviGpsACC,1,1 10111 .comm Parameter_NaviOperatingRadius,1,1 10112 .comm Parameter_NaviWindCorrection,1,1 10113 .comm Parameter_NaviSpeedCompensation,1,1 10114 .comm Parameter_ExternalControl,1,1 10115 .comm KopplungsteilNickRoll,2,1 10116 .comm KopplungsteilRollNick,2,1 10117 .comm tmp_motorwert,24,1 10118 /* File "fc.c": code 11450 = 0x2cba (11397), prologues 27, epilogues 26 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3 *ABS*:0000003f __SREG__ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:4 *ABS*:0000003e __SP_H__ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:5 *ABS*:0000003d __SP_L__ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:6 *ABS*:00000000 __tmp_reg__ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:7 *ABS*:00000001 __zero_reg__ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:14 .data:00000000 VarioCharacter C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:19 .data:00000001 GIER_GRAD_FAKTOR C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:26 .bss:00000000 FCFlags C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:32 .bss:00000001 modell_fliegt C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:38 .bss:00000003 MaxStickRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:44 .bss:00000005 MaxStickNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:50 .data:00000005 ExternHoehenValue C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:57 .bss:00000007 ExternStickGier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:63 .bss:00000009 ExternStickRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:69 .bss:0000000b ExternStickNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:75 .bss:0000000d CareFree C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:81 .data:00000007 Parameter_DynamicStability C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:86 .data:00000008 Parameter_CouplingYawCorrection C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:91 .data:00000009 Parameter_AchsKopplung2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:96 .data:0000000a Parameter_AchsKopplung1 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:101 .data:0000000b Parameter_LoopGasLimit C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:106 .data:0000000c Parameter_ServoRollControl C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:111 .data:0000000d Parameter_ServoNickControl C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:118 .bss:0000000e Parameter_UserParam8 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:124 .bss:0000000f Parameter_UserParam7 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:130 .bss:00000010 Parameter_UserParam6 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:136 .bss:00000011 Parameter_UserParam5 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:142 .bss:00000012 Parameter_UserParam4 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:148 .bss:00000013 Parameter_UserParam3 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:154 .bss:00000014 Parameter_UserParam2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:160 .bss:00000015 Parameter_UserParam1 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:166 .data:0000000e Parameter_I_Faktor C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:171 .data:0000000f Parameter_Gier_P C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:176 .data:00000010 Parameter_Gyro_Gier_I C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:181 .data:00000011 Parameter_Gyro_Gier_P C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:186 .data:00000012 Parameter_Gyro_I C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:191 .data:00000013 Parameter_Gyro_P C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:196 .data:00000014 Parameter_Gyro_D C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:201 .data:00000015 Parameter_Hoehe_GPS_Z C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:206 .data:00000016 Parameter_KompassWirkung C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:211 .data:00000017 Parameter_Hoehe_ACC_Wirkung C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:216 .data:00000018 Parameter_Hoehe_P C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:221 .data:00000019 Parameter_MaxHoehe C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:226 .data:0000001a Parameter_Luftdruck_D C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:233 .bss:00000016 Looping_Oben C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:239 .bss:00000017 Looping_Unten C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:245 .bss:00000018 Looping_Rechts C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:251 .bss:00000019 Looping_Links C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:257 .bss:0000001a Looping_Roll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:263 .bss:0000001b Looping_Nick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:269 .data:0000001b Ki C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:276 .bss:0000001c HoverGas C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:282 .bss:0000001e LageKorrekturNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:288 .bss:00000020 LageKorrekturRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:294 .bss:00000022 SollHoehe C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:300 .bss:00000026 HoehenWert C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:306 .bss:0000002a StartTrigger C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:312 .bss:0000002b MotorenEin C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:318 .bss:0000002c StickGas C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:324 .bss:0000002e StickGier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:330 .bss:00000030 StickRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:336 .bss:00000032 StickNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:342 .bss:00000034 SenderOkay C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:348 .bss:00000035 Poti C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:354 .bss:0000003e GierGyroFehler C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:360 .data:0000001d Umschlag180Roll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:365 .data:00000021 Umschlag180Nick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:372 .bss:00000040 TrichterFlug C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:378 .bss:00000041 HoehenReglerAktiv C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:384 .data:00000025 KompassSignalSchlecht C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:391 .bss:00000042 KompassRichtung C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:397 .bss:00000044 KompassStartwert C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:403 .bss:00000046 KompassValue C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:409 .bss:00000048 Mess_Integral_Hoch C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:415 .bss:0000004c SummeRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:421 .bss:00000050 SummeNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:427 .bss:00000054 Mess_Integral_Gier2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:433 .bss:00000058 Mess_Integral_Gier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:439 .bss:0000005c Mess_IntegralRoll2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:445 .bss:00000060 Mess_IntegralRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:451 .bss:00000064 Mess_IntegralNick2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:457 .bss:00000068 Mess_IntegralNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:463 .bss:0000006c Integral_Gier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:469 .bss:00000070 IntegralAccZ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:475 .bss:00000074 IntegralAccRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:481 .bss:00000078 IntegralAccNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:487 .bss:0000007c IntegralRoll2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:493 .bss:00000080 IntegralRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:499 .bss:00000084 IntegralNick2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:505 .bss:00000088 IntegralNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:511 .bss:0000008c ControlHeading C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:517 .bss:0000008d NeutralAccZ C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:523 .bss:0000008f NaviCntAcc C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:529 .bss:00000091 NeutralAccY C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:535 .bss:00000093 NeutralAccX C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:541 .bss:00000095 StartNeutralNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:547 .bss:00000097 StartNeutralRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:553 .bss:00000099 AdNeutralGier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:559 .bss:0000009b AdNeutralRoll C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:565 .bss:0000009d AdNeutralNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:571 .bss:0000009f BaroExpandActive C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:576 .text:00000000 CopyDebugValues *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000004 ErsatzKompass C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:754 .text:00000214 Piep C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:793 .text:00000256 CalibrierMittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:935 .progmem.data:00000000 __c.40 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:940 .text:00000398 SetNeutral .bss:000000a1 tmpl.32 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1441 .bss:000000a5 tmpl2.33 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1442 .bss:000000a9 tmpl3.34 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1443 .bss:000000ad tmpl4.35 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1444 .bss:000000b1 oldNick.36 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1445 .bss:000000b3 oldRoll.37 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1446 .bss:000000b5 d2Roll.38 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1447 .bss:000000b7 d2Nick.39 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1451 .text:000008f4 Mittelwert *COM*:00000002 RohMesswertNick *COM*:00000002 RohMesswertRoll *COM*:00000002 NaviAccNick *COM*:00000002 NaviAccRoll *COM*:00000002 KopplungsteilNickRoll *COM*:00000002 KopplungsteilRollNick *COM*:00000002 TrimRoll *COM*:00000002 TrimNick C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3093 .text:000018e4 SendMotorData C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3146 .text:00001950 ParameterZuordnung *COM*:00000001 Parameter_J16Timing *COM*:00000001 Parameter_J17Timing *COM*:00000001 Parameter_Servo3 *COM*:00000001 Parameter_Servo4 *COM*:00000001 Parameter_Servo5 *COM*:00000001 Parameter_ExternalControl *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1448 .bss:000000b9 sollGier.0 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3703 .bss:000000bd tmp_long.1 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3704 .bss:000000c1 tmp_long2.2 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3705 .bss:000000c5 IntegralFehlerNick.3 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3706 .bss:000000c9 IntegralFehlerRoll.4 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3707 .bss:000000cd RcLostTimer.5 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3708 .bss:000000cf delay_neutral.6 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3709 .bss:000000d0 delay_einschalten.7 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3710 .bss:000000d1 delay_ausschalten.8 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3711 .bss:000000d2 calibration_done.9 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3712 .bss:000000d3 NeueKompassRichtungMerken.10 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3713 .bss:000000d4 ausgleichNick.11 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3714 .bss:000000d8 ausgleichRoll.12 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3715 .bss:000000dc stick_nick.13 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3716 .bss:000000de stick_roll.14 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3717 .bss:000000e0 cnt.15 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3718 .bss:000000e2 last_n_p.16 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3719 .bss:000000e3 last_n_n.17 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3720 .bss:000000e4 last_r_p.18 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3721 .bss:000000e5 last_r_n.19 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3722 .bss:000000e6 MittelIntegralNick_Alt.20 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3723 .bss:000000ea MittelIntegralRoll_Alt.21 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3724 .bss:000000ee HeightTrimming.22 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3725 .bss:000000f0 FilterHCGas.23 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3730 .data:00000027 StickGasHover.24 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3726 .bss:000000f2 HoverGasMin.25 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3735 .data:00000029 HoverGasMax.26 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3732 .bss:000000f4 HoverGasFilter.27 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3740 .data:0000002b delay.28 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3737 .bss:000000f8 BaroAtUpperLimit.29 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3742 .bss:000000f9 BaroAtLowerLimit.30 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3743 .bss:000000fa HeightTrimmingFlag.31 C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3780 .text:00001e0c MotorRegler *COM*:00000001 GyroFaktor *COM*:00000001 IntegralFaktor *COM*:00000001 GyroFaktorGier *COM*:00000001 IntegralFaktorGier *COM*:00000004 MittelIntegralNick *COM*:00000004 MittelIntegralRoll *COM*:00000004 MittelIntegralNick2 *COM*:00000004 MittelIntegralRoll2 *COM*:00000002 DiffNick *COM*:00000002 DiffRoll *COM*:00000018 tmp_motorwert *COM*:00000002 ErsatzKompassInGrad *COM*:00000001 h *COM*:00000001 m *COM*:00000001 s *COM*:00000001 Parameter_J16Bitmask *COM*:00000001 Parameter_J17Bitmask *COM*:00000002 MesswertGierBias *COM*:00000001 Parameter_NaviGpsModeControl *COM*:00000001 Parameter_NaviGpsGain *COM*:00000001 Parameter_NaviGpsP *COM*:00000001 Parameter_NaviGpsI *COM*:00000001 Parameter_NaviGpsD *COM*:00000001 Parameter_NaviGpsACC *COM*:00000001 Parameter_NaviOperatingRadius *COM*:00000001 Parameter_NaviWindCorrection *COM*:00000001 Parameter_NaviSpeedCompensation UNDEFINED SYMBOLS __do_copy_data __do_clear_bss EE_Parameter __divmodsi4 DebugOut AdWertGier AdWertAccHoch UBat Motor ServoNickValue Capacity GPS_Nick GPS_Roll VersionInfo beeptime Delay_ms PlatinenVersion SucheGyroOffset AdWertNick AdWertRoll AdWertAccNick AdWertAccRoll PPM_in __mulsi3 __prologue_saves__ ExpandBaro Delay_ms_Mess MessLuftdruck SucheLuftruckOffset __divmodhi4 Aktuell_az SetParamWord GetParamWord uart_putchar _printf_P Luftdruck StartLuftdruck VarioMeter GPS_Neutral SendVersionToNavi LED_Init FromNaviCtrl_Value ServoActive __epilogue_restores__ AdWertNickFilter AdWertRollFilter AdReady HiResNick HiResRoll MotorTest PC_MotortestActive motor_write twi_state BLFlags FromNaviCtrl BeepMuster PPM_diff SetActiveParamSet WinkelOut GetActiveParamSet ParamSet_ReadFromEEProm LipoDetection LIBFC_ReceiverInit NewPpmData FromNC_Rotate_C FromNC_Rotate_S GPS_Nick2 GPS_Roll2 __floatsisf __addsf3 __fixunssfsi ExternControl ZaehlMessungen BattLowVoltageWarning __udivmodhi4 DruckOffsetSetting SummenHoehe ihypot c_cos_8192 MissingMotor Mixer