1 .file "fc.c" 2 .arch atmega1284p 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 GasIsZeroCnt 11 .global GasIsZeroCnt 12 .section .bss 15 GasIsZeroCnt: 16 0000 0000 .skip 2,0 17 .global HooverGasEmergencyPercent 18 .global HooverGasEmergencyPercent 21 HooverGasEmergencyPercent: 22 0002 0000 .skip 2,0 23 .global VarioCharacter 24 .data 27 VarioCharacter: 28 0000 20 .byte 32 29 .global GIER_GRAD_FAKTOR 32 GIER_GRAD_FAKTOR: 33 0001 0B05 0000 .long 1291 34 .global FC_StatusFlags2 35 .global FC_StatusFlags2 36 .section .bss 39 FC_StatusFlags2: 40 0004 00 .skip 1,0 41 .global FC_StatusFlags 42 .global FC_StatusFlags 45 FC_StatusFlags: 46 0005 00 .skip 1,0 47 .global modell_fliegt 48 .global modell_fliegt 51 modell_fliegt: 52 0006 0000 .skip 2,0 53 .global MaxStickRoll 54 .global MaxStickRoll 57 MaxStickRoll: 58 0008 0000 .skip 2,0 59 .global MaxStickNick 60 .global MaxStickNick 63 MaxStickNick: 64 000a 0000 .skip 2,0 65 .global ExternHoehenValue 66 .data 69 ExternHoehenValue: 70 0005 ECFF .word -20 71 .global ExternStickGier 72 .global ExternStickGier 73 .section .bss 76 ExternStickGier: 77 000c 0000 .skip 2,0 78 .global ExternStickRoll 79 .global ExternStickRoll 82 ExternStickRoll: 83 000e 0000 .skip 2,0 84 .global ExternStickNick 85 .global ExternStickNick 88 ExternStickNick: 89 0010 0000 .skip 2,0 90 .global sintab 91 .data 94 sintab: 95 0007 00 .byte 0 96 0008 02 .byte 2 97 0009 04 .byte 4 98 000a 06 .byte 6 99 000b 07 .byte 7 100 000c 08 .byte 8 101 000d 08 .byte 8 102 000e 08 .byte 8 103 000f 07 .byte 7 104 0010 06 .byte 6 105 0011 04 .byte 4 106 0012 02 .byte 2 107 0013 00 .byte 0 108 0014 FE .byte -2 109 0015 FC .byte -4 110 0016 FA .byte -6 111 0017 F9 .byte -7 112 0018 F8 .byte -8 113 0019 F8 .byte -8 114 001a F8 .byte -8 115 001b F9 .byte -7 116 001c FA .byte -6 117 001d FC .byte -4 118 001e FE .byte -2 119 001f 00 .byte 0 120 0020 02 .byte 2 121 0021 04 .byte 4 122 0022 06 .byte 6 123 0023 07 .byte 7 124 0024 08 .byte 8 125 0025 08 .byte 8 126 .global CareFree 127 .global CareFree 128 .section .bss 131 CareFree: 132 0012 00 .skip 1,0 133 .global Parameter_DynamicStability 134 .data 137 Parameter_DynamicStability: 138 0026 64 .byte 100 139 .global Parameter_CouplingYawCorrection 142 Parameter_CouplingYawCorrection: 143 0027 40 .byte 64 144 .global Parameter_AchsKopplung2 147 Parameter_AchsKopplung2: 148 0028 41 .byte 65 149 .global Parameter_AchsKopplung1 152 Parameter_AchsKopplung1: 153 0029 5A .byte 90 154 .global Parameter_LoopGasLimit 157 Parameter_LoopGasLimit: 158 002a 46 .byte 70 159 .global Parameter_ServoRollControl 162 Parameter_ServoRollControl: 163 002b 64 .byte 100 164 .global Parameter_ServoNickControl 167 Parameter_ServoNickControl: 168 002c 64 .byte 100 169 .global Parameter_UserParam8 170 .global Parameter_UserParam8 171 .section .bss 174 Parameter_UserParam8: 175 0013 00 .skip 1,0 176 .global Parameter_UserParam7 177 .global Parameter_UserParam7 180 Parameter_UserParam7: 181 0014 00 .skip 1,0 182 .global Parameter_UserParam6 183 .global Parameter_UserParam6 186 Parameter_UserParam6: 187 0015 00 .skip 1,0 188 .global Parameter_UserParam5 189 .global Parameter_UserParam5 192 Parameter_UserParam5: 193 0016 00 .skip 1,0 194 .global Parameter_UserParam4 195 .global Parameter_UserParam4 198 Parameter_UserParam4: 199 0017 00 .skip 1,0 200 .global Parameter_UserParam3 201 .global Parameter_UserParam3 204 Parameter_UserParam3: 205 0018 00 .skip 1,0 206 .global Parameter_UserParam2 207 .global Parameter_UserParam2 210 Parameter_UserParam2: 211 0019 00 .skip 1,0 212 .global Parameter_UserParam1 213 .global Parameter_UserParam1 216 Parameter_UserParam1: 217 001a 00 .skip 1,0 218 .global Parameter_I_Faktor 219 .data 222 Parameter_I_Faktor: 223 002d 0A .byte 10 224 .global Parameter_Gier_P 227 Parameter_Gier_P: 228 002e 02 .byte 2 229 .global Parameter_Gyro_Gier_I 232 Parameter_Gyro_Gier_I: 233 002f 96 .byte -106 234 .global Parameter_Gyro_Gier_P 237 Parameter_Gyro_Gier_P: 238 0030 96 .byte -106 239 .global Parameter_Gyro_I 242 Parameter_Gyro_I: 243 0031 96 .byte -106 244 .global Parameter_Gyro_P 247 Parameter_Gyro_P: 248 0032 96 .byte -106 249 .global Parameter_Gyro_D 252 Parameter_Gyro_D: 253 0033 08 .byte 8 254 .global Parameter_Hoehe_GPS_Z 257 Parameter_Hoehe_GPS_Z: 258 0034 40 .byte 64 259 .global Parameter_KompassWirkung 262 Parameter_KompassWirkung: 263 0035 40 .byte 64 264 .global Parameter_Hoehe_ACC_Wirkung 267 Parameter_Hoehe_ACC_Wirkung: 268 0036 3A .byte 58 269 .global Parameter_Hoehe_P 272 Parameter_Hoehe_P: 273 0037 10 .byte 16 274 .global Parameter_HoehenSchalter 277 Parameter_HoehenSchalter: 278 0038 FB .byte -5 279 .global Parameter_Luftdruck_D 282 Parameter_Luftdruck_D: 283 0039 30 .byte 48 284 .global Looping_Oben 285 .global Looping_Oben 286 .section .bss 289 Looping_Oben: 290 001b 00 .skip 1,0 291 .global Looping_Unten 292 .global Looping_Unten 295 Looping_Unten: 296 001c 00 .skip 1,0 297 .global Looping_Rechts 298 .global Looping_Rechts 301 Looping_Rechts: 302 001d 00 .skip 1,0 303 .global Looping_Links 304 .global Looping_Links 307 Looping_Links: 308 001e 00 .skip 1,0 309 .global Looping_Roll 310 .global Looping_Roll 313 Looping_Roll: 314 001f 00 .skip 1,0 315 .global Looping_Nick 316 .global Looping_Nick 319 Looping_Nick: 320 0020 00 .skip 1,0 321 .global Ki 322 .data 325 Ki: 326 003a 3801 .word 312 327 .global HoverGas 328 .global HoverGas 329 .section .bss 332 HoverGas: 333 0021 0000 .skip 2,0 334 .global LageKorrekturNick 335 .global LageKorrekturNick 338 LageKorrekturNick: 339 0023 0000 .skip 2,0 340 .global LageKorrekturRoll 341 .global LageKorrekturRoll 344 LageKorrekturRoll: 345 0025 0000 .skip 2,0 346 .global NeueKompassRichtungMerken 347 .global NeueKompassRichtungMerken 350 NeueKompassRichtungMerken: 351 0027 00 .skip 1,0 352 .global CalibrationDone 353 .global CalibrationDone 356 CalibrationDone: 357 0028 00 .skip 1,0 358 .global CompassGierSetpoint 359 .global CompassGierSetpoint 362 CompassGierSetpoint: 363 0029 0000 .skip 2,0 364 .global WaypointTrimming 365 .global WaypointTrimming 368 WaypointTrimming: 369 002b 00 .skip 1,0 370 .global carefree_old 371 .data 374 carefree_old: 375 003c 32 .byte 50 376 .global FromNC_AltitudeSpeed 377 .global FromNC_AltitudeSpeed 378 .section .bss 381 FromNC_AltitudeSpeed: 382 002c 00 .skip 1,0 383 .global FromNC_AltitudeSetpoint 384 .global FromNC_AltitudeSetpoint 387 FromNC_AltitudeSetpoint: 388 002d 0000 0000 .skip 4,0 389 .global AltitudeSetpointTrimming 390 .global AltitudeSetpointTrimming 393 AltitudeSetpointTrimming: 394 0031 0000 .skip 2,0 395 .global SollHoehe 396 .global SollHoehe 399 SollHoehe: 400 0033 0000 0000 .skip 4,0 401 .global HoehenWert 402 .global HoehenWert 405 HoehenWert: 406 0037 0000 0000 .skip 4,0 407 .global StartTrigger 408 .global StartTrigger 411 StartTrigger: 412 003b 00 .skip 1,0 413 .global MotorenEin 414 .global MotorenEin 417 MotorenEin: 418 003c 00 .skip 1,0 419 .global SenderOkay 420 .global SenderOkay 423 SenderOkay: 424 003d 00 .skip 1,0 425 .global Poti 426 .global Poti 429 Poti: 430 003e 0000 0000 .skip 9,0 430 0000 0000 430 00 431 .global StickGas 432 .global StickGas 435 StickGas: 436 0047 0000 .skip 2,0 437 .global StickGier 438 .global StickGier 441 StickGier: 442 0049 0000 .skip 2,0 443 .global StickRoll 444 .global StickRoll 447 StickRoll: 448 004b 0000 .skip 2,0 449 .global StickNick 450 .global StickNick 453 StickNick: 454 004d 0000 .skip 2,0 455 .global HoverGasMax 456 .data 459 HoverGasMax: 460 003d FF03 .word 1023 461 .global HoverGasMin 462 .global HoverGasMin 463 .section .bss 466 HoverGasMin: 467 004f 0000 .skip 2,0 468 .global StickGasHover 469 .data 472 StickGasHover: 473 003f 7800 .word 120 474 .global GierGyroFehler 475 .global GierGyroFehler 476 .section .bss 479 GierGyroFehler: 480 0051 0000 .skip 2,0 481 .global Umschlag180Roll 482 .data 485 Umschlag180Roll: 486 0041 90D0 0300 .long 250000 487 .global Umschlag180Nick 490 Umschlag180Nick: 491 0045 90D0 0300 .long 250000 492 .global TrichterFlug 493 .global TrichterFlug 494 .section .bss 497 TrichterFlug: 498 0053 00 .skip 1,0 499 .global HoehenReglerAktiv 500 .global HoehenReglerAktiv 503 HoehenReglerAktiv: 504 0054 00 .skip 1,0 505 .global KompassSignalSchlecht 506 .data 509 KompassSignalSchlecht: 510 0049 3200 .word 50 511 .global KompassFusion 514 KompassFusion: 515 004b 20 .byte 32 516 .global CalculateCompassTimer 519 CalculateCompassTimer: 520 004c 64 .byte 100 521 .global KompassSollWert 522 .global KompassSollWert 523 .section .bss 526 KompassSollWert: 527 0055 0000 .skip 2,0 528 .global KompassValue 529 .data 532 KompassValue: 533 004d FFFF .word -1 534 .global Mess_Integral_Hoch 535 .global Mess_Integral_Hoch 536 .section .bss 539 Mess_Integral_Hoch: 540 0057 0000 0000 .skip 4,0 541 .global SummeRoll 542 .global SummeRoll 545 SummeRoll: 546 005b 0000 0000 .skip 4,0 547 .global SummeNick 548 .global SummeNick 551 SummeNick: 552 005f 0000 0000 .skip 4,0 553 .global Mess_Integral_Gier2 554 .global Mess_Integral_Gier2 557 Mess_Integral_Gier2: 558 0063 0000 0000 .skip 4,0 559 .global Mess_Integral_Gier 560 .global Mess_Integral_Gier 563 Mess_Integral_Gier: 564 0067 0000 0000 .skip 4,0 565 .global Mess_IntegralRoll2 566 .global Mess_IntegralRoll2 569 Mess_IntegralRoll2: 570 006b 0000 0000 .skip 4,0 571 .global Mess_IntegralRoll 572 .global Mess_IntegralRoll 575 Mess_IntegralRoll: 576 006f 0000 0000 .skip 4,0 577 .global Mess_IntegralNick2 578 .global Mess_IntegralNick2 581 Mess_IntegralNick2: 582 0073 0000 0000 .skip 4,0 583 .global Mess_IntegralNick 584 .global Mess_IntegralNick 587 Mess_IntegralNick: 588 0077 0000 0000 .skip 4,0 589 .global Integral_Gier 590 .global Integral_Gier 593 Integral_Gier: 594 007b 0000 0000 .skip 4,0 595 .global IntegralAccZ 596 .global IntegralAccZ 599 IntegralAccZ: 600 007f 0000 0000 .skip 4,0 601 .global IntegralAccRoll 602 .global IntegralAccRoll 605 IntegralAccRoll: 606 0083 0000 0000 .skip 4,0 607 .global IntegralAccNick 608 .global IntegralAccNick 611 IntegralAccNick: 612 0087 0000 0000 .skip 4,0 613 .global IntegralRoll2 614 .global IntegralRoll2 617 IntegralRoll2: 618 008b 0000 0000 .skip 4,0 619 .global IntegralRoll 620 .global IntegralRoll 623 IntegralRoll: 624 008f 0000 0000 .skip 4,0 625 .global IntegralNick2 626 .global IntegralNick2 629 IntegralNick2: 630 0093 0000 0000 .skip 4,0 631 .global IntegralNick 632 .global IntegralNick 635 IntegralNick: 636 0097 0000 0000 .skip 4,0 637 .global ControlHeading 638 .global ControlHeading 641 ControlHeading: 642 009b 00 .skip 1,0 643 .global NeutralAccZ 644 .global NeutralAccZ 647 NeutralAccZ: 648 009c 0000 .skip 2,0 649 .global NaviCntAcc 650 .global NaviCntAcc 653 NaviCntAcc: 654 009e 0000 .skip 2,0 655 .global NeutralAccY 656 .global NeutralAccY 659 NeutralAccY: 660 00a0 0000 .skip 2,0 661 .global NeutralAccX 662 .global NeutralAccX 665 NeutralAccX: 666 00a2 0000 .skip 2,0 667 .global StartNeutralNick 668 .global StartNeutralNick 671 StartNeutralNick: 672 00a4 0000 .skip 2,0 673 .global StartNeutralRoll 674 .global StartNeutralRoll 677 StartNeutralRoll: 678 00a6 0000 .skip 2,0 679 .global AdNeutralGier 680 .global AdNeutralGier 683 AdNeutralGier: 684 00a8 0000 .skip 2,0 685 .global AdNeutralRoll 686 .global AdNeutralRoll 689 AdNeutralRoll: 690 00aa 0000 .skip 2,0 691 .global AdNeutralNick 692 .global AdNeutralNick 695 AdNeutralNick: 696 00ac 0000 .skip 2,0 697 .global BaroExpandActive 698 .global BaroExpandActive 701 BaroExpandActive: 702 00ae 0000 .skip 2,0 703 .text 704 .global CopyDebugValues 706 CopyDebugValues: 707 /* prologue: frame size=0 */ 708 0000 EF92 push r14 709 0002 FF92 push r15 710 0004 0F93 push r16 711 0006 1F93 push r17 712 /* prologue end (size=4) */ 713 0008 8091 0000 lds r24,EE_Parameter+28 714 000c 9927 clr r25 715 000e 880F lsl r24 716 0010 991F rol r25 717 0012 880F lsl r24 718 0014 991F rol r25 719 0016 7C01 movw r14,r24 720 0018 0027 clr r16 721 001a F7FC sbrc r15,7 722 001c 0095 com r16 723 001e 102F mov r17,r16 724 0020 8091 0000 lds r24,IntegralNick 725 0024 9091 0000 lds r25,(IntegralNick)+1 726 0028 A091 0000 lds r26,(IntegralNick)+2 727 002c B091 0000 lds r27,(IntegralNick)+3 728 0030 BC01 movw r22,r24 729 0032 CD01 movw r24,r26 730 0034 A801 movw r20,r16 731 0036 9701 movw r18,r14 732 0038 0E94 0000 call __divmodsi4 733 003c 3093 0000 sts (DebugOut+2)+1,r19 734 0040 2093 0000 sts DebugOut+2,r18 735 0044 8091 0000 lds r24,IntegralRoll 736 0048 9091 0000 lds r25,(IntegralRoll)+1 737 004c A091 0000 lds r26,(IntegralRoll)+2 738 0050 B091 0000 lds r27,(IntegralRoll)+3 739 0054 BC01 movw r22,r24 740 0056 CD01 movw r24,r26 741 0058 A801 movw r20,r16 742 005a 9701 movw r18,r14 743 005c 0E94 0000 call __divmodsi4 744 0060 3093 0000 sts (DebugOut+4)+1,r19 745 0064 2093 0000 sts DebugOut+4,r18 746 0068 8091 0000 lds r24,Mittelwert_AccNick 747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 748 0070 97FD sbrc r25,7 749 0072 0396 adiw r24,3 750 .L2: 751 0074 9595 asr r25 752 0076 8795 ror r24 753 0078 9595 asr r25 754 007a 8795 ror r24 755 007c 9093 0000 sts (DebugOut+6)+1,r25 756 0080 8093 0000 sts DebugOut+6,r24 757 0084 8091 0000 lds r24,Mittelwert_AccRoll 758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 759 008c 97FD sbrc r25,7 760 008e 0396 adiw r24,3 761 .L3: 762 0090 9595 asr r25 763 0092 8795 ror r24 764 0094 9595 asr r25 765 0096 8795 ror r24 766 0098 9093 0000 sts (DebugOut+8)+1,r25 767 009c 8093 0000 sts DebugOut+8,r24 768 00a0 8091 0000 lds r24,AdNeutralGier 769 00a4 9091 0000 lds r25,(AdNeutralGier)+1 770 00a8 2091 0000 lds r18,AdWertGier 771 00ac 3091 0000 lds r19,(AdWertGier)+1 772 00b0 821B sub r24,r18 773 00b2 930B sbc r25,r19 774 00b4 9093 0000 sts (DebugOut+10)+1,r25 775 00b8 8093 0000 sts DebugOut+10,r24 776 00bc 8091 0000 lds r24,HoehenWert 777 00c0 9091 0000 lds r25,(HoehenWert)+1 778 00c4 A091 0000 lds r26,(HoehenWert)+2 779 00c8 B091 0000 lds r27,(HoehenWert)+3 780 00cc BC01 movw r22,r24 781 00ce CD01 movw r24,r26 782 00d0 25E0 ldi r18,lo8(5) 783 00d2 30E0 ldi r19,hi8(5) 784 00d4 40E0 ldi r20,hlo8(5) 785 00d6 50E0 ldi r21,hhi8(5) 786 00d8 0E94 0000 call __divmodsi4 787 00dc 3093 0000 sts (DebugOut+12)+1,r19 788 00e0 2093 0000 sts DebugOut+12,r18 789 00e4 8091 0000 lds r24,AdWertAccHoch 790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 791 00ec 9093 0000 sts (DebugOut+14)+1,r25 792 00f0 8093 0000 sts DebugOut+14,r24 793 00f4 8091 0000 lds r24,KompassValue 794 00f8 9091 0000 lds r25,(KompassValue)+1 795 00fc 9093 0000 sts (DebugOut+18)+1,r25 796 0100 8093 0000 sts DebugOut+18,r24 797 0104 8091 0000 lds r24,UBat 798 0108 9091 0000 lds r25,(UBat)+1 799 010c 9093 0000 sts (DebugOut+20)+1,r25 800 0110 8093 0000 sts DebugOut+20,r24 801 0114 8091 0000 lds r24,SenderOkay 802 0118 9927 clr r25 803 011a 9093 0000 sts (DebugOut+22)+1,r25 804 011e 8093 0000 sts DebugOut+22,r24 805 0122 8091 0000 lds r24,ErsatzKompassInGrad 806 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1 807 012a 9093 0000 sts (DebugOut+24)+1,r25 808 012e 8093 0000 sts DebugOut+24,r24 809 0132 8091 0000 lds r24,Motor+1 810 0136 9927 clr r25 811 0138 9093 0000 sts (DebugOut+26)+1,r25 812 013c 8093 0000 sts DebugOut+26,r24 813 0140 8091 0000 lds r24,Motor+9 814 0144 9927 clr r25 815 0146 9093 0000 sts (DebugOut+28)+1,r25 816 014a 8093 0000 sts DebugOut+28,r24 817 014e 8091 0000 lds r24,Motor+17 818 0152 9927 clr r25 819 0154 9093 0000 sts (DebugOut+30)+1,r25 820 0158 8093 0000 sts DebugOut+30,r24 821 015c 8091 0000 lds r24,Motor+25 822 0160 9927 clr r25 823 0162 9093 0000 sts (DebugOut+32)+1,r25 824 0166 8093 0000 sts DebugOut+32,r24 825 016a 8091 0000 lds r24,ServoNickValue 826 016e 9091 0000 lds r25,(ServoNickValue)+1 827 0172 9093 0000 sts (DebugOut+42)+1,r25 828 0176 8093 0000 sts DebugOut+42,r24 829 017a 8091 0000 lds r24,Capacity 830 017e 9091 0000 lds r25,(Capacity)+1 831 0182 9093 0000 sts (DebugOut+46)+1,r25 832 0186 8093 0000 sts DebugOut+46,r24 833 018a 8091 0000 lds r24,Capacity+4 834 018e 9091 0000 lds r25,(Capacity+4)+1 835 0192 9093 0000 sts (DebugOut+48)+1,r25 836 0196 8093 0000 sts DebugOut+48,r24 837 019a 8091 0000 lds r24,SollHoehe 838 019e 9091 0000 lds r25,(SollHoehe)+1 839 01a2 A091 0000 lds r26,(SollHoehe)+2 840 01a6 B091 0000 lds r27,(SollHoehe)+3 841 01aa BC01 movw r22,r24 842 01ac CD01 movw r24,r26 843 01ae 25E0 ldi r18,lo8(5) 844 01b0 30E0 ldi r19,hi8(5) 845 01b2 40E0 ldi r20,hlo8(5) 846 01b4 50E0 ldi r21,hhi8(5) 847 01b6 0E94 0000 call __divmodsi4 848 01ba 3093 0000 sts (DebugOut+50)+1,r19 849 01be 2093 0000 sts DebugOut+50,r18 850 01c2 8091 0000 lds r24,KompassSollWert 851 01c6 9091 0000 lds r25,(KompassSollWert)+1 852 01ca 9093 0000 sts (DebugOut+56)+1,r25 853 01ce 8093 0000 sts DebugOut+56,r24 854 01d2 8091 0000 lds r24,Capacity+6 855 01d6 9927 clr r25 856 01d8 9093 0000 sts (DebugOut+60)+1,r25 857 01dc 8093 0000 sts DebugOut+60,r24 858 01e0 8091 0000 lds r24,GPS_Nick 859 01e4 9091 0000 lds r25,(GPS_Nick)+1 860 01e8 9093 0000 sts (DebugOut+62)+1,r25 861 01ec 8093 0000 sts DebugOut+62,r24 862 01f0 8091 0000 lds r24,GPS_Roll 863 01f4 9091 0000 lds r25,(GPS_Roll)+1 864 01f8 9093 0000 sts (DebugOut+64)+1,r25 865 01fc 8093 0000 sts DebugOut+64,r24 866 0200 8091 0000 lds r24,VersionInfo+5 867 0204 8823 tst r24 868 0206 01F4 brne .L5 869 0208 8091 0000 lds r24,VersionInfo+6 870 020c 8823 tst r24 871 020e 01F0 breq .L4 872 .L5: 873 0210 8091 0000 lds r24,DebugOut+1 874 0214 8160 ori r24,lo8(1) 875 0216 00C0 rjmp .L7 876 .L4: 877 0218 8091 0000 lds r24,DebugOut+1 878 021c 8E7F andi r24,lo8(-2) 879 .L7: 880 021e 8093 0000 sts DebugOut+1,r24 881 /* epilogue: frame size=0 */ 882 0222 1F91 pop r17 883 0224 0F91 pop r16 884 0226 FF90 pop r15 885 0228 EF90 pop r14 886 022a 0895 ret 887 /* epilogue end (size=5) */ 888 /* function CopyDebugValues size 280 (271) */ 890 .global Piep 892 Piep: 893 /* prologue: frame size=0 */ 894 022c EF92 push r14 895 022e FF92 push r15 896 0230 1F93 push r17 897 0232 CF93 push r28 898 0234 DF93 push r29 899 /* prologue end (size=5) */ 900 0236 182F mov r17,r24 901 0238 7B01 movw r14,r22 902 023a 8091 0000 lds r24,MotorenEin 903 023e 8823 tst r24 904 0240 01F4 brne .L8 905 0242 8091 0000 lds r24,PlatinenVersion 906 0246 8C30 cpi r24,lo8(12) 907 0248 00F0 brlo .L11 908 024a 8631 cpi r24,lo8(22) 909 024c 01F4 brne .L10 910 .L11: 911 024e 2998 cbi 37-0x20,1 912 0250 00C0 rjmp .L12 913 .L10: 914 0252 299A sbi 37-0x20,1 915 .L12: 916 0254 1150 subi r17,lo8(-(-1)) 917 0256 1F3F cpi r17,lo8(-1) 918 0258 01F0 breq .L26 919 025a F092 0000 sts (beeptime)+1,r15 920 025e E092 0000 sts beeptime,r14 921 0262 E701 movw r28,r14 922 .L34: 923 0264 8091 0000 lds r24,beeptime 924 0268 9091 0000 lds r25,(beeptime)+1 925 026c 892B or r24,r25 926 026e 01F4 brne .L31 927 0270 2097 sbiw r28,0 928 0272 01F0 breq .L12 929 .L31: 930 0274 8091 0000 lds r24,UpdateMotor 931 0278 8823 tst r24 932 027a 01F0 breq .L34 933 027c 1092 0000 sts UpdateMotor,__zero_reg__ 934 0280 8091 0000 lds r24,beeptime 935 0284 9091 0000 lds r25,(beeptime)+1 936 0288 892B or r24,r25 937 028a 01F4 brne .L19 938 028c 2197 sbiw r28,1 939 .L19: 940 028e 0E94 0000 call LIBFC_Polling 941 0292 00C0 rjmp .L34 942 .L26: 943 0294 8091 0000 lds r24,PlatinenVersion 944 0298 8C30 cpi r24,lo8(12) 945 029a 00F0 brlo .L23 946 029c 8631 cpi r24,lo8(22) 947 029e 01F4 brne .L22 948 .L23: 949 02a0 299A sbi 37-0x20,1 950 02a2 00C0 rjmp .L8 951 .L22: 952 02a4 2998 cbi 37-0x20,1 953 .L8: 954 /* epilogue: frame size=0 */ 955 02a6 DF91 pop r29 956 02a8 CF91 pop r28 957 02aa 1F91 pop r17 958 02ac FF90 pop r15 959 02ae EF90 pop r14 960 02b0 0895 ret 961 /* epilogue end (size=6) */ 962 /* function Piep size 67 (56) */ 964 .global CalibrierMittelwert 966 CalibrierMittelwert: 967 /* prologue: frame size=0 */ 968 02b2 CF93 push r28 969 02b4 DF93 push r29 970 /* prologue end (size=2) */ 971 02b6 8091 0000 lds r24,PlatinenVersion 972 02ba 8D30 cpi r24,lo8(13) 973 02bc 01F4 brne .L36 974 02be 0E94 0000 call SucheGyroOffset 975 .L36: 976 02c2 1092 7A00 sts 122,__zero_reg__ 977 02c6 8091 0000 lds r24,AdWertNick 978 02ca 9091 0000 lds r25,(AdWertNick)+1 979 02ce 9093 0000 sts (MesswertNick)+1,r25 980 02d2 8093 0000 sts MesswertNick,r24 981 02d6 8091 0000 lds r24,AdWertRoll 982 02da 9091 0000 lds r25,(AdWertRoll)+1 983 02de 9093 0000 sts (MesswertRoll)+1,r25 984 02e2 8093 0000 sts MesswertRoll,r24 985 02e6 8091 0000 lds r24,AdWertGier 986 02ea 9091 0000 lds r25,(AdWertGier)+1 987 02ee 9093 0000 sts (MesswertGier)+1,r25 988 02f2 8093 0000 sts MesswertGier,r24 989 02f6 2091 0000 lds r18,AdWertAccNick 990 02fa 3091 0000 lds r19,(AdWertAccNick)+1 991 02fe C901 movw r24,r18 992 0300 880F lsl r24 993 0302 991F rol r25 994 0304 880F lsl r24 995 0306 991F rol r25 996 0308 820F add r24,r18 997 030a 931F adc r25,r19 998 030c 820F add r24,r18 999 030e 931F adc r25,r19 1000 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25 1001 0314 8093 0000 sts Mittelwert_AccNick,r24 1002 0318 2091 0000 lds r18,AdWertAccRoll 1003 031c 3091 0000 lds r19,(AdWertAccRoll)+1 1004 0320 C901 movw r24,r18 1005 0322 880F lsl r24 1006 0324 991F rol r25 1007 0326 880F lsl r24 1008 0328 991F rol r25 1009 032a 820F add r24,r18 1010 032c 931F adc r25,r19 1011 032e 820F add r24,r18 1012 0330 931F adc r25,r19 1013 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25 1014 0336 8093 0000 sts Mittelwert_AccRoll,r24 1015 033a 8FEC ldi r24,lo8(-49) 1016 033c 8093 7A00 sts 122,r24 1017 0340 A0E0 ldi r26,lo8(Poti) 1018 0342 B0E0 ldi r27,hi8(Poti) 1019 0344 C0E0 ldi r28,lo8(EE_Parameter+5) 1020 0346 D0E0 ldi r29,hi8(EE_Parameter+5) 1021 0348 97E0 ldi r25,lo8(7) 1022 .L46: 1023 034a 8991 ld r24,Y+ 1024 034c E82F mov r30,r24 1025 034e FF27 clr r31 1026 0350 EE0F add r30,r30 1027 0352 FF1F adc r31,r31 1028 0354 E050 subi r30,lo8(-(PPM_in)) 1029 0356 F040 sbci r31,hi8(-(PPM_in)) 1030 0358 0190 ld __tmp_reg__,Z+ 1031 035a F081 ld r31,Z 1032 035c E02D mov r30,__tmp_reg__ 1033 035e E158 subi r30,lo8(-(127)) 1034 0360 FF4F sbci r31,hi8(-(127)) 1035 0362 1E16 cp __zero_reg__,r30 1036 0364 1F06 cpc __zero_reg__,r31 1037 0366 04F0 brlt .L40 1038 0368 E0E0 ldi r30,lo8(0) 1039 036a F0E0 ldi r31,hi8(0) 1040 036c 00C0 rjmp .L41 1041 .L40: 1042 036e EF3F cpi r30,255 1043 0370 F105 cpc r31,__zero_reg__ 1044 0372 04F0 brlt .L41 1045 0374 EFEF ldi r30,lo8(255) 1046 0376 F0E0 ldi r31,hi8(255) 1047 .L41: 1048 0378 8C91 ld r24,X 1049 037a 282F mov r18,r24 1050 037c 3327 clr r19 1051 037e E217 cp r30,r18 1052 0380 F307 cpc r31,r19 1053 0382 04F4 brge .L43 1054 0384 8150 subi r24,lo8(-(-1)) 1055 0386 00C0 rjmp .L49 1056 .L43: 1057 0388 2E17 cp r18,r30 1058 038a 3F07 cpc r19,r31 1059 038c 04F4 brge .L39 1060 038e 8F5F subi r24,lo8(-(1)) 1061 .L49: 1062 0390 8C93 st X,r24 1063 .L39: 1064 0392 9150 subi r25,lo8(-(-1)) 1065 0394 1196 adiw r26,1 1066 0396 97FF sbrs r25,7 1067 0398 00C0 rjmp .L46 1068 039a 8091 0000 lds r24,EE_Parameter+65 1069 039e 9927 clr r25 1070 03a0 AA27 clr r26 1071 03a2 BB27 clr r27 1072 03a4 BC01 movw r22,r24 1073 03a6 CD01 movw r24,r26 1074 03a8 24EC ldi r18,lo8(2500) 1075 03aa 39E0 ldi r19,hi8(2500) 1076 03ac 40E0 ldi r20,hlo8(2500) 1077 03ae 50E0 ldi r21,hhi8(2500) 1078 03b0 0E94 0000 call __mulsi3 1079 03b4 DC01 movw r26,r24 1080 03b6 CB01 movw r24,r22 1081 03b8 8093 0000 sts Umschlag180Nick,r24 1082 03bc 9093 0000 sts (Umschlag180Nick)+1,r25 1083 03c0 A093 0000 sts (Umschlag180Nick)+2,r26 1084 03c4 B093 0000 sts (Umschlag180Nick)+3,r27 1085 03c8 8091 0000 lds r24,EE_Parameter+66 1086 03cc 9927 clr r25 1087 03ce AA27 clr r26 1088 03d0 BB27 clr r27 1089 03d2 BC01 movw r22,r24 1090 03d4 CD01 movw r24,r26 1091 03d6 0E94 0000 call __mulsi3 1092 03da DC01 movw r26,r24 1093 03dc CB01 movw r24,r22 1094 03de 8093 0000 sts Umschlag180Roll,r24 1095 03e2 9093 0000 sts (Umschlag180Roll)+1,r25 1096 03e6 A093 0000 sts (Umschlag180Roll)+2,r26 1097 03ea B093 0000 sts (Umschlag180Roll)+3,r27 1098 /* epilogue: frame size=0 */ 1099 03ee DF91 pop r29 1100 03f0 CF91 pop r28 1101 03f2 0895 ret 1102 /* epilogue end (size=3) */ 1103 /* function CalibrierMittelwert size 161 (156) */ 1105 .section .progmem.data,"a",@progbits 1108 __c.35: 1109 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 1109 4320 6E6F 1109 7420 6361 1109 6C69 6272 1109 6174 6564 1110 .text 1111 .global SetNeutral 1113 SetNeutral: 1114 /* prologue: frame size=0 */ 1115 03f4 A0E0 ldi r26,lo8(0) 1116 03f6 B0E0 ldi r27,hi8(0) 1117 03f8 E0E0 ldi r30,pm_lo8(1f) 1118 03fa F0E0 ldi r31,pm_hi8(1f) 1119 03fc 0C94 0000 jmp __prologue_saves__+12 1120 1: 1121 /* prologue end (size=6) */ 1122 0400 882E mov r8,r24 1123 0402 C0E0 ldi r28,lo8(0) 1124 0404 D0E0 ldi r29,hi8(0) 1125 0406 7E01 movw r14,r28 1126 0408 6E01 movw r12,r28 1127 040a 1092 0000 sts VersionInfo+5,__zero_reg__ 1128 040e D093 0000 sts (NeutralAccX)+1,r29 1129 0412 C093 0000 sts NeutralAccX,r28 1130 0416 D093 0000 sts (NeutralAccY)+1,r29 1131 041a C093 0000 sts NeutralAccY,r28 1132 041e D093 0000 sts (NeutralAccZ)+1,r29 1133 0422 C093 0000 sts NeutralAccZ,r28 1134 0426 D093 0000 sts (AdNeutralNick)+1,r29 1135 042a C093 0000 sts AdNeutralNick,r28 1136 042e D093 0000 sts (AdNeutralRoll)+1,r29 1137 0432 C093 0000 sts AdNeutralRoll,r28 1138 0436 D093 0000 sts (AdNeutralGier)+1,r29 1139 043a C093 0000 sts AdNeutralGier,r28 1140 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 1141 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 1142 0446 1092 0000 sts ExpandBaro,__zero_reg__ 1143 044a 0E94 0000 call CalibrierMittelwert 1144 044e 84E6 ldi r24,lo8(100) 1145 0450 90E0 ldi r25,hi8(100) 1146 0452 0E94 0000 call Delay_ms_Mess 1147 0456 0E94 0000 call CalibrierMittelwert 1148 045a 8091 0000 lds r24,EE_Parameter+13 1149 045e 80FF sbrs r24,0 1150 0460 00C0 rjmp .L51 1151 0462 8091 0000 lds r24,MessLuftdruck 1152 0466 9091 0000 lds r25,(MessLuftdruck)+1 1153 046a 875B subi r24,lo8(951) 1154 046c 9340 sbci r25,hi8(951) 1155 046e 00F4 brsh .L53 1156 0470 8091 0000 lds r24,MessLuftdruck 1157 0474 9091 0000 lds r25,(MessLuftdruck)+1 1158 0478 8E5E subi r24,lo8(750) 1159 047a 9240 sbci r25,hi8(750) 1160 047c 00F4 brsh .L51 1161 .L53: 1162 047e 0E94 0000 call SucheLuftruckOffset 1163 .L51: 1164 0482 0FE1 ldi r16,lo8(31) 1165 .L57: 1166 0484 8AE0 ldi r24,lo8(10) 1167 0486 90E0 ldi r25,hi8(10) 1168 0488 0E94 0000 call Delay_ms_Mess 1169 048c 8091 0000 lds r24,AdWertGier 1170 0490 9091 0000 lds r25,(AdWertGier)+1 1171 0494 C80F add r28,r24 1172 0496 D91F adc r29,r25 1173 0498 8091 0000 lds r24,AdWertNick 1174 049c 9091 0000 lds r25,(AdWertNick)+1 1175 04a0 E80E add r14,r24 1176 04a2 F91E adc r15,r25 1177 04a4 8091 0000 lds r24,AdWertRoll 1178 04a8 9091 0000 lds r25,(AdWertRoll)+1 1179 04ac C80E add r12,r24 1180 04ae D91E adc r13,r25 1181 04b0 0150 subi r16,lo8(-(-1)) 1182 04b2 07FF sbrs r16,7 1183 04b4 00C0 rjmp .L57 1184 04b6 9701 movw r18,r14 1185 04b8 205F subi r18,lo8(-(16)) 1186 04ba 3F4F sbci r19,hi8(-(16)) 1187 04bc 3695 lsr r19 1188 04be 2795 ror r18 1189 04c0 3695 lsr r19 1190 04c2 2795 ror r18 1191 04c4 3093 0000 sts (AdNeutralNick)+1,r19 1192 04c8 2093 0000 sts AdNeutralNick,r18 1193 04cc C601 movw r24,r12 1194 04ce 4096 adiw r24,16 1195 04d0 9695 lsr r25 1196 04d2 8795 ror r24 1197 04d4 9695 lsr r25 1198 04d6 8795 ror r24 1199 04d8 9093 0000 sts (AdNeutralRoll)+1,r25 1200 04dc 8093 0000 sts AdNeutralRoll,r24 1201 04e0 6096 adiw r28,16 1202 04e2 F5E0 ldi r31,5 1203 04e4 D695 1: lsr r29 1204 04e6 C795 ror r28 1205 04e8 FA95 dec r31 1206 04ea 01F4 brne 1b 1207 04ec D093 0000 sts (AdNeutralGier)+1,r29 1208 04f0 C093 0000 sts AdNeutralGier,r28 1209 04f4 9093 0000 sts (StartNeutralRoll)+1,r25 1210 04f8 8093 0000 sts StartNeutralRoll,r24 1211 04fc 3093 0000 sts (StartNeutralNick)+1,r19 1212 0500 2093 0000 sts StartNeutralNick,r18 1213 0504 8820 tst r8 1214 0506 01F4 brne .+2 1215 0508 00C0 rjmp .L58 1216 050a 8091 0000 lds r24,Mittelwert_AccNick 1217 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1 1218 0512 97FF sbrs r25,7 1219 0514 00C0 rjmp .L59 1220 0516 9095 com r25 1221 0518 8195 neg r24 1222 051a 9F4F sbci r25,lo8(-1) 1223 .L59: 1224 051c 6CE0 ldi r22,lo8(12) 1225 051e 70E0 ldi r23,hi8(12) 1226 0520 0E94 0000 call __divmodhi4 1227 0524 9B01 movw r18,r22 1228 0526 7093 0000 sts (NeutralAccX)+1,r23 1229 052a 6093 0000 sts NeutralAccX,r22 1230 052e 8091 0000 lds r24,Mittelwert_AccRoll 1231 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1232 0536 97FF sbrs r25,7 1233 0538 00C0 rjmp .L60 1234 053a 9095 com r25 1235 053c 8195 neg r24 1236 053e 9F4F sbci r25,lo8(-1) 1237 .L60: 1238 0540 6CE0 ldi r22,lo8(12) 1239 0542 70E0 ldi r23,hi8(12) 1240 0544 0E94 0000 call __divmodhi4 1241 0548 7093 0000 sts (NeutralAccY)+1,r23 1242 054c 6093 0000 sts NeutralAccY,r22 1243 0550 8091 0000 lds r24,Aktuell_az 1244 0554 9091 0000 lds r25,(Aktuell_az)+1 1245 0558 9093 0000 sts (NeutralAccZ)+1,r25 1246 055c 8093 0000 sts NeutralAccZ,r24 1247 0560 B901 movw r22,r18 1248 0562 84E0 ldi r24,lo8(4) 1249 0564 90E0 ldi r25,hi8(4) 1250 0566 0E94 0000 call SetParamWord 1251 056a 6091 0000 lds r22,NeutralAccY 1252 056e 7091 0000 lds r23,(NeutralAccY)+1 1253 0572 86E0 ldi r24,lo8(6) 1254 0574 90E0 ldi r25,hi8(6) 1255 0576 0E94 0000 call SetParamWord 1256 057a 6091 0000 lds r22,NeutralAccZ 1257 057e 7091 0000 lds r23,(NeutralAccZ)+1 1258 0582 88E0 ldi r24,lo8(8) 1259 0584 90E0 ldi r25,hi8(8) 1260 0586 0E94 0000 call SetParamWord 1261 058a 00C0 rjmp .L61 1262 .L58: 1263 058c 84E0 ldi r24,lo8(4) 1264 058e 90E0 ldi r25,hi8(4) 1265 0590 0E94 0000 call GetParamWord 1266 0594 9093 0000 sts (NeutralAccX)+1,r25 1267 0598 8093 0000 sts NeutralAccX,r24 1268 059c 86E0 ldi r24,lo8(6) 1269 059e 90E0 ldi r25,hi8(6) 1270 05a0 0E94 0000 call GetParamWord 1271 05a4 9093 0000 sts (NeutralAccY)+1,r25 1272 05a8 8093 0000 sts NeutralAccY,r24 1273 05ac 88E0 ldi r24,lo8(8) 1274 05ae 90E0 ldi r25,hi8(8) 1275 05b0 0E94 0000 call GetParamWord 1276 05b4 9C01 movw r18,r24 1277 05b6 9093 0000 sts (NeutralAccZ)+1,r25 1278 05ba 8093 0000 sts NeutralAccZ,r24 1279 05be 8091 0000 lds r24,NeutralAccX 1280 05c2 9091 0000 lds r25,(NeutralAccX)+1 1281 05c6 8150 subi r24,lo8(2049) 1282 05c8 9840 sbci r25,hi8(2049) 1283 05ca 00F4 brsh .L63 1284 05cc 8091 0000 lds r24,NeutralAccY 1285 05d0 9091 0000 lds r25,(NeutralAccY)+1 1286 05d4 8150 subi r24,lo8(2049) 1287 05d6 9840 sbci r25,hi8(2049) 1288 05d8 00F4 brsh .L63 1289 05da 2150 subi r18,lo8(1025) 1290 05dc 3440 sbci r19,hi8(1025) 1291 05de 00F0 brlo .L61 1292 .L63: 1293 05e0 80E0 ldi r24,lo8(__c.35) 1294 05e2 90E0 ldi r25,hi8(__c.35) 1295 05e4 9F93 push r25 1296 05e6 8F93 push r24 1297 05e8 80E0 ldi r24,lo8(pm(uart_putchar)) 1298 05ea 90E0 ldi r25,hi8(pm(uart_putchar)) 1299 05ec 9F93 push r25 1300 05ee 8F93 push r24 1301 05f0 E091 0000 lds r30,_printf_P 1302 05f4 F091 0000 lds r31,(_printf_P)+1 1303 05f8 0995 icall 1304 05fa 8091 0000 lds r24,Mittelwert_AccNick 1305 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1 1306 0602 97FF sbrs r25,7 1307 0604 00C0 rjmp .L64 1308 0606 9095 com r25 1309 0608 8195 neg r24 1310 060a 9F4F sbci r25,lo8(-1) 1311 .L64: 1312 060c 6CE0 ldi r22,lo8(12) 1313 060e 70E0 ldi r23,hi8(12) 1314 0610 0E94 0000 call __divmodhi4 1315 0614 7093 0000 sts (NeutralAccX)+1,r23 1316 0618 6093 0000 sts NeutralAccX,r22 1317 061c 8091 0000 lds r24,Mittelwert_AccRoll 1318 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1319 0624 97FF sbrs r25,7 1320 0626 00C0 rjmp .L65 1321 0628 9095 com r25 1322 062a 8195 neg r24 1323 062c 9F4F sbci r25,lo8(-1) 1324 .L65: 1325 062e 6CE0 ldi r22,lo8(12) 1326 0630 70E0 ldi r23,hi8(12) 1327 0632 0E94 0000 call __divmodhi4 1328 0636 7093 0000 sts (NeutralAccY)+1,r23 1329 063a 6093 0000 sts NeutralAccY,r22 1330 063e 8091 0000 lds r24,Aktuell_az 1331 0642 9091 0000 lds r25,(Aktuell_az)+1 1332 0646 9093 0000 sts (NeutralAccZ)+1,r25 1333 064a 8093 0000 sts NeutralAccZ,r24 1334 064e 0F90 pop __tmp_reg__ 1335 0650 0F90 pop __tmp_reg__ 1336 0652 0F90 pop __tmp_reg__ 1337 0654 0F90 pop __tmp_reg__ 1338 .L61: 1339 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__ 1340 065a 1092 0000 sts MesswertNick,__zero_reg__ 1341 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 1342 0662 1092 0000 sts MesswertRoll,__zero_reg__ 1343 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__ 1344 066a 1092 0000 sts MesswertGier,__zero_reg__ 1345 066e 84E6 ldi r24,lo8(100) 1346 0670 90E0 ldi r25,hi8(100) 1347 0672 0E94 0000 call Delay_ms_Mess 1348 0676 8091 0000 lds r24,AdWertAccNick 1349 067a 9091 0000 lds r25,(AdWertAccNick)+1 1350 067e 9C01 movw r18,r24 1351 0680 220F lsl r18 1352 0682 331F rol r19 1353 0684 220F lsl r18 1354 0686 331F rol r19 1355 0688 280F add r18,r24 1356 068a 391F adc r19,r25 1357 068c 280F add r18,r24 1358 068e 391F adc r19,r25 1359 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19 1360 0694 2093 0000 sts Mittelwert_AccNick,r18 1361 0698 8091 0000 lds r24,AdWertAccRoll 1362 069c 9091 0000 lds r25,(AdWertAccRoll)+1 1363 06a0 8C01 movw r16,r24 1364 06a2 000F lsl r16 1365 06a4 111F rol r17 1366 06a6 000F lsl r16 1367 06a8 111F rol r17 1368 06aa 080F add r16,r24 1369 06ac 191F adc r17,r25 1370 06ae 080F add r16,r24 1371 06b0 191F adc r17,r25 1372 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17 1373 06b6 0093 0000 sts Mittelwert_AccRoll,r16 1374 06ba 8091 0000 lds r24,EE_Parameter+28 1375 06be C82E mov r12,r24 1376 06c0 DD24 clr r13 1377 06c2 EE24 clr r14 1378 06c4 FF24 clr r15 1379 06c6 4427 clr r20 1380 06c8 37FD sbrc r19,7 1381 06ca 4095 com r20 1382 06cc 542F mov r21,r20 1383 06ce C701 movw r24,r14 1384 06d0 B601 movw r22,r12 1385 06d2 0E94 0000 call __mulsi3 1386 06d6 4B01 movw r8,r22 1387 06d8 5C01 movw r10,r24 1388 06da 6093 0000 sts IntegralNick,r22 1389 06de 7093 0000 sts (IntegralNick)+1,r23 1390 06e2 8093 0000 sts (IntegralNick)+2,r24 1391 06e6 9093 0000 sts (IntegralNick)+3,r25 1392 06ea 9801 movw r18,r16 1393 06ec 4427 clr r20 1394 06ee 37FD sbrc r19,7 1395 06f0 4095 com r20 1396 06f2 542F mov r21,r20 1397 06f4 C701 movw r24,r14 1398 06f6 B601 movw r22,r12 1399 06f8 0E94 0000 call __mulsi3 1400 06fc DC01 movw r26,r24 1401 06fe CB01 movw r24,r22 1402 0700 8093 0000 sts IntegralRoll,r24 1403 0704 9093 0000 sts (IntegralRoll)+1,r25 1404 0708 A093 0000 sts (IntegralRoll)+2,r26 1405 070c B093 0000 sts (IntegralRoll)+3,r27 1406 0710 8092 0000 sts Mess_IntegralNick,r8 1407 0714 9092 0000 sts (Mess_IntegralNick)+1,r9 1408 0718 A092 0000 sts (Mess_IntegralNick)+2,r10 1409 071c B092 0000 sts (Mess_IntegralNick)+3,r11 1410 0720 8093 0000 sts Mess_IntegralRoll,r24 1411 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25 1412 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26 1413 072c B093 0000 sts (Mess_IntegralRoll)+3,r27 1414 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 1415 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 1416 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 1417 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 1418 0740 8091 0000 lds r24,Luftdruck 1419 0744 9091 0000 lds r25,(Luftdruck)+1 1420 0748 A091 0000 lds r26,(Luftdruck)+2 1421 074c B091 0000 lds r27,(Luftdruck)+3 1422 0750 9093 0000 sts (StartLuftdruck)+1,r25 1423 0754 8093 0000 sts StartLuftdruck,r24 1424 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__ 1425 075c 1092 0000 sts VarioMeter,__zero_reg__ 1426 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 1427 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 1428 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 1429 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 1430 0770 0091 0000 lds r16,KompassValue 1431 0774 1091 0000 lds r17,(KompassValue)+1 1432 0778 1093 0000 sts (KompassSollWert)+1,r17 1433 077c 0093 0000 sts KompassSollWert,r16 1434 0780 84E6 ldi r24,lo8(100) 1435 0782 90E0 ldi r25,hi8(100) 1436 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25 1437 0788 8093 0000 sts KompassSignalSchlecht,r24 1438 078c 82E3 ldi r24,lo8(50) 1439 078e 90E0 ldi r25,hi8(50) 1440 0790 9093 0000 sts (beeptime)+1,r25 1441 0794 8093 0000 sts beeptime,r24 1442 0798 8091 0000 lds r24,EE_Parameter+65 1443 079c 9927 clr r25 1444 079e AA27 clr r26 1445 07a0 BB27 clr r27 1446 07a2 BC01 movw r22,r24 1447 07a4 CD01 movw r24,r26 1448 07a6 24EC ldi r18,lo8(2500) 1449 07a8 39E0 ldi r19,hi8(2500) 1450 07aa 40E0 ldi r20,hlo8(2500) 1451 07ac 50E0 ldi r21,hhi8(2500) 1452 07ae 0E94 0000 call __mulsi3 1453 07b2 DC01 movw r26,r24 1454 07b4 CB01 movw r24,r22 1455 07b6 8856 subi r24,lo8(-(15000)) 1456 07b8 954C sbci r25,hi8(-(15000)) 1457 07ba AF4F sbci r26,hlo8(-(15000)) 1458 07bc BF4F sbci r27,hhi8(-(15000)) 1459 07be 8093 0000 sts Umschlag180Nick,r24 1460 07c2 9093 0000 sts (Umschlag180Nick)+1,r25 1461 07c6 A093 0000 sts (Umschlag180Nick)+2,r26 1462 07ca B093 0000 sts (Umschlag180Nick)+3,r27 1463 07ce 8091 0000 lds r24,EE_Parameter+66 1464 07d2 9927 clr r25 1465 07d4 AA27 clr r26 1466 07d6 BB27 clr r27 1467 07d8 BC01 movw r22,r24 1468 07da CD01 movw r24,r26 1469 07dc 0E94 0000 call __mulsi3 1470 07e0 DC01 movw r26,r24 1471 07e2 CB01 movw r24,r22 1472 07e4 8856 subi r24,lo8(-(15000)) 1473 07e6 954C sbci r25,hi8(-(15000)) 1474 07e8 AF4F sbci r26,hlo8(-(15000)) 1475 07ea BF4F sbci r27,hhi8(-(15000)) 1476 07ec 8093 0000 sts Umschlag180Roll,r24 1477 07f0 9093 0000 sts (Umschlag180Roll)+1,r25 1478 07f4 A093 0000 sts (Umschlag180Roll)+2,r26 1479 07f8 B093 0000 sts (Umschlag180Roll)+3,r27 1480 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 1481 0800 1092 0000 sts ExternHoehenValue,__zero_reg__ 1482 0804 C801 movw r24,r16 1483 0806 AA27 clr r26 1484 0808 97FD sbrc r25,7 1485 080a A095 com r26 1486 080c BA2F mov r27,r26 1487 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR 1488 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 1489 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 1490 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 1491 081e BC01 movw r22,r24 1492 0820 CD01 movw r24,r26 1493 0822 0E94 0000 call __mulsi3 1494 0826 DC01 movw r26,r24 1495 0828 CB01 movw r24,r22 1496 082a 8093 0000 sts ErsatzKompass,r24 1497 082e 9093 0000 sts (ErsatzKompass)+1,r25 1498 0832 A093 0000 sts (ErsatzKompass)+2,r26 1499 0836 B093 0000 sts (ErsatzKompass)+3,r27 1500 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 1501 083e 1092 0000 sts GierGyroFehler,__zero_reg__ 1502 0842 0E94 0000 call LED_Init 1503 0846 8091 0000 lds r24,FC_StatusFlags 1504 084a 8460 ori r24,lo8(4) 1505 084c 8093 0000 sts FC_StatusFlags,r24 1506 0850 8FEF ldi r24,lo8(-1) 1507 0852 8093 0000 sts FromNaviCtrl_Value,r24 1508 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 1509 085a 80E2 ldi r24,lo8(32) 1510 085c 8093 0000 sts FromNaviCtrl_Value+2,r24 1511 0860 C0E0 ldi r28,lo8(Poti) 1512 0862 D0E0 ldi r29,hi8(Poti) 1513 0864 A0E0 ldi r26,lo8(EE_Parameter+5) 1514 0866 B0E0 ldi r27,hi8(EE_Parameter+5) 1515 0868 07E0 ldi r16,lo8(7) 1516 .L69: 1517 086a 8D91 ld r24,X+ 1518 086c E82F mov r30,r24 1519 086e FF27 clr r31 1520 0870 EE0F add r30,r30 1521 0872 FF1F adc r31,r31 1522 0874 E050 subi r30,lo8(-(PPM_in)) 1523 0876 F040 sbci r31,hi8(-(PPM_in)) 1524 0878 8081 ld r24,Z 1525 087a 9181 ldd r25,Z+1 1526 087c 8158 subi r24,lo8(-(127)) 1527 087e 8993 st Y+,r24 1528 0880 0150 subi r16,lo8(-(-1)) 1529 0882 07FF sbrs r16,7 1530 0884 00C0 rjmp .L69 1531 0886 84E6 ldi r24,lo8(100) 1532 0888 8093 0000 sts SenderOkay,r24 1533 088c 8091 0000 lds r24,ServoActive 1534 0890 8823 tst r24 1535 0892 01F0 breq .L70 1536 0894 579A sbi 42-0x20,7 1537 0896 00C0 rjmp .L71 1538 .L70: 1539 0898 80E0 ldi r24,lo8(4352) 1540 089a 91E1 ldi r25,hi8(4352) 1541 089c 9093 0000 sts (NickServoValue)+1,r25 1542 08a0 8093 0000 sts NickServoValue,r24 1543 .L71: 1544 08a4 8091 0000 lds r24,AdNeutralNick 1545 08a8 9091 0000 lds r25,(AdNeutralNick)+1 1546 08ac 8056 subi r24,lo8(-(-2400)) 1547 08ae 9940 sbci r25,hi8(-(-2400)) 1548 08b0 815C subi r24,lo8(11201) 1549 08b2 9B42 sbci r25,hi8(11201) 1550 08b4 00F0 brlo .L72 1551 08b6 8091 0000 lds r24,VersionInfo+5 1552 08ba 8160 ori r24,lo8(1) 1553 08bc 8093 0000 sts VersionInfo+5,r24 1554 .L72: 1555 08c0 8091 0000 lds r24,AdNeutralRoll 1556 08c4 9091 0000 lds r25,(AdNeutralRoll)+1 1557 08c8 8056 subi r24,lo8(-(-2400)) 1558 08ca 9940 sbci r25,hi8(-(-2400)) 1559 08cc 815C subi r24,lo8(11201) 1560 08ce 9B42 sbci r25,hi8(11201) 1561 08d0 00F0 brlo .L73 1562 08d2 8091 0000 lds r24,VersionInfo+5 1563 08d6 8260 ori r24,lo8(2) 1564 08d8 8093 0000 sts VersionInfo+5,r24 1565 .L73: 1566 08dc 8091 0000 lds r24,AdNeutralGier 1567 08e0 9091 0000 lds r25,(AdNeutralGier)+1 1568 08e4 8C52 subi r24,lo8(-(-300)) 1569 08e6 9140 sbci r25,hi8(-(-300)) 1570 08e8 8957 subi r24,lo8(1401) 1571 08ea 9540 sbci r25,hi8(1401) 1572 08ec 00F0 brlo .L74 1573 08ee 8091 0000 lds r24,VersionInfo+5 1574 08f2 8460 ori r24,lo8(4) 1575 08f4 8093 0000 sts VersionInfo+5,r24 1576 .L74: 1577 08f8 8091 0000 lds r24,NeutralAccX 1578 08fc 9091 0000 lds r25,(NeutralAccX)+1 1579 0900 8C52 subi r24,lo8(-(-300)) 1580 0902 9140 sbci r25,hi8(-(-300)) 1581 0904 835C subi r24,lo8(451) 1582 0906 9140 sbci r25,hi8(451) 1583 0908 00F0 brlo .L75 1584 090a 8091 0000 lds r24,VersionInfo+5 1585 090e 8860 ori r24,lo8(8) 1586 0910 8093 0000 sts VersionInfo+5,r24 1587 .L75: 1588 0914 8091 0000 lds r24,NeutralAccY 1589 0918 9091 0000 lds r25,(NeutralAccY)+1 1590 091c 8C52 subi r24,lo8(-(-300)) 1591 091e 9140 sbci r25,hi8(-(-300)) 1592 0920 835C subi r24,lo8(451) 1593 0922 9140 sbci r25,hi8(451) 1594 0924 00F0 brlo .L76 1595 0926 8091 0000 lds r24,VersionInfo+5 1596 092a 8061 ori r24,lo8(16) 1597 092c 8093 0000 sts VersionInfo+5,r24 1598 .L76: 1599 0930 8091 0000 lds r24,NeutralAccZ 1600 0934 9091 0000 lds r25,(NeutralAccZ)+1 1601 0938 8050 subi r24,lo8(-(-512)) 1602 093a 9240 sbci r25,hi8(-(-512)) 1603 093c 8355 subi r24,lo8(339) 1604 093e 9140 sbci r25,hi8(339) 1605 0940 00F0 brlo .L77 1606 0942 8091 0000 lds r24,VersionInfo+5 1607 0946 8062 ori r24,lo8(32) 1608 0948 8093 0000 sts VersionInfo+5,r24 1609 .L77: 1610 094c 86E4 ldi r24,lo8(70) 1611 094e 8093 0000 sts carefree_old,r24 1612 0952 0E94 0000 call LIBFC_HoTT_Clear 1613 /* epilogue: frame size=0 */ 1614 0956 ECE0 ldi r30,12 1615 0958 CDB7 in r28,__SP_L__ 1616 095a DEB7 in r29,__SP_H__ 1617 095c 0C94 0000 jmp __epilogue_restores__+12 1618 /* epilogue end (size=5) */ 1619 /* function SetNeutral size 705 (694) */ 1621 .lcomm tmpl.27,4 1622 .lcomm tmpl2.28,4 1623 .lcomm tmpl3.29,4 1624 .lcomm tmpl4.30,4 1625 .lcomm oldNick.31,2 1626 .lcomm oldRoll.32,2 1627 .lcomm d2Roll.33,2 1628 .lcomm d2Nick.34,2 1629 .global Mittelwert 1631 Mittelwert: 1632 /* prologue: frame size=19 */ 1633 0960 A3E1 ldi r26,lo8(19) 1634 0962 B0E0 ldi r27,hi8(19) 1635 0964 E0E0 ldi r30,pm_lo8(1f) 1636 0966 F0E0 ldi r31,pm_hi8(1f) 1637 0968 0C94 0000 jmp __prologue_saves__+0 1638 1: 1639 /* prologue end (size=6) */ 1640 096c 8091 0000 lds r24,AdNeutralGier 1641 0970 9091 0000 lds r25,(AdNeutralGier)+1 1642 0974 2091 0000 lds r18,AdWertGier 1643 0978 3091 0000 lds r19,(AdWertGier)+1 1644 097c 821B sub r24,r18 1645 097e 930B sbc r25,r19 1646 0980 9093 0000 sts (MesswertGier)+1,r25 1647 0984 8093 0000 sts MesswertGier,r24 1648 0988 8091 0000 lds r24,AdWertNickFilter 1649 098c 9091 0000 lds r25,(AdWertNickFilter)+1 1650 0990 97FD sbrc r25,7 1651 0992 0796 adiw r24,7 1652 .L83: 1653 0994 9C01 movw r18,r24 1654 0996 13E0 ldi r17,3 1655 0998 3595 1: asr r19 1656 099a 2795 ror r18 1657 099c 1A95 dec r17 1658 099e 01F4 brne 1b 1659 09a0 3093 0000 sts (MesswertNick)+1,r19 1660 09a4 2093 0000 sts MesswertNick,r18 1661 09a8 8091 0000 lds r24,AdWertRollFilter 1662 09ac 9091 0000 lds r25,(AdWertRollFilter)+1 1663 09b0 97FD sbrc r25,7 1664 09b2 0796 adiw r24,7 1665 .L84: 1666 09b4 B3E0 ldi r27,3 1667 09b6 9595 1: asr r25 1668 09b8 8795 ror r24 1669 09ba BA95 dec r27 1670 09bc 01F4 brne 1b 1671 09be 9093 0000 sts (MesswertRoll)+1,r25 1672 09c2 8093 0000 sts MesswertRoll,r24 1673 09c6 3093 0000 sts (RohMesswertNick)+1,r19 1674 09ca 2093 0000 sts RohMesswertNick,r18 1675 09ce 9093 0000 sts (RohMesswertRoll)+1,r25 1676 09d2 8093 0000 sts RohMesswertRoll,r24 1677 09d6 8091 0000 lds r24,Mittelwert_AccNick 1678 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1 1679 09de AC01 movw r20,r24 1680 09e0 440F lsl r20 1681 09e2 551F rol r21 1682 09e4 480F add r20,r24 1683 09e6 591F adc r21,r25 1684 09e8 2091 0000 lds r18,AdWertAccNick 1685 09ec 3091 0000 lds r19,(AdWertAccNick)+1 1686 09f0 C901 movw r24,r18 1687 09f2 880F lsl r24 1688 09f4 991F rol r25 1689 09f6 880F lsl r24 1690 09f8 991F rol r25 1691 09fa 820F add r24,r18 1692 09fc 931F adc r25,r19 1693 09fe 820F add r24,r18 1694 0a00 931F adc r25,r19 1695 0a02 480F add r20,r24 1696 0a04 591F adc r21,r25 1697 0a06 57FF sbrs r21,7 1698 0a08 00C0 rjmp .L85 1699 0a0a 4D5F subi r20,lo8(-(3)) 1700 0a0c 5F4F sbci r21,hi8(-(3)) 1701 .L85: 1702 0a0e 5595 asr r21 1703 0a10 4795 ror r20 1704 0a12 5595 asr r21 1705 0a14 4795 ror r20 1706 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21 1707 0a1a 4093 0000 sts Mittelwert_AccNick,r20 1708 0a1e 8091 0000 lds r24,Mittelwert_AccRoll 1709 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1710 0a26 AC01 movw r20,r24 1711 0a28 440F lsl r20 1712 0a2a 551F rol r21 1713 0a2c 480F add r20,r24 1714 0a2e 591F adc r21,r25 1715 0a30 2091 0000 lds r18,AdWertAccRoll 1716 0a34 3091 0000 lds r19,(AdWertAccRoll)+1 1717 0a38 C901 movw r24,r18 1718 0a3a 880F lsl r24 1719 0a3c 991F rol r25 1720 0a3e 880F lsl r24 1721 0a40 991F rol r25 1722 0a42 820F add r24,r18 1723 0a44 931F adc r25,r19 1724 0a46 820F add r24,r18 1725 0a48 931F adc r25,r19 1726 0a4a 480F add r20,r24 1727 0a4c 591F adc r21,r25 1728 0a4e 57FF sbrs r21,7 1729 0a50 00C0 rjmp .L86 1730 0a52 4D5F subi r20,lo8(-(3)) 1731 0a54 5F4F sbci r21,hi8(-(3)) 1732 .L86: 1733 0a56 5595 asr r21 1734 0a58 4795 ror r20 1735 0a5a 5595 asr r21 1736 0a5c 4795 ror r20 1737 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21 1738 0a62 4093 0000 sts Mittelwert_AccRoll,r20 1739 0a66 2091 0000 lds r18,AdWertAccNick 1740 0a6a 3091 0000 lds r19,(AdWertAccNick)+1 1741 0a6e C901 movw r24,r18 1742 0a70 880F lsl r24 1743 0a72 991F rol r25 1744 0a74 880F lsl r24 1745 0a76 991F rol r25 1746 0a78 820F add r24,r18 1747 0a7a 931F adc r25,r19 1748 0a7c 820F add r24,r18 1749 0a7e 931F adc r25,r19 1750 0a80 9C01 movw r18,r24 1751 0a82 4427 clr r20 1752 0a84 37FD sbrc r19,7 1753 0a86 4095 com r20 1754 0a88 542F mov r21,r20 1755 0a8a 8091 0000 lds r24,IntegralAccNick 1756 0a8e 9091 0000 lds r25,(IntegralAccNick)+1 1757 0a92 A091 0000 lds r26,(IntegralAccNick)+2 1758 0a96 B091 0000 lds r27,(IntegralAccNick)+3 1759 0a9a 820F add r24,r18 1760 0a9c 931F adc r25,r19 1761 0a9e A41F adc r26,r20 1762 0aa0 B51F adc r27,r21 1763 0aa2 8093 0000 sts IntegralAccNick,r24 1764 0aa6 9093 0000 sts (IntegralAccNick)+1,r25 1765 0aaa A093 0000 sts (IntegralAccNick)+2,r26 1766 0aae B093 0000 sts (IntegralAccNick)+3,r27 1767 0ab2 2091 0000 lds r18,AdWertAccRoll 1768 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1 1769 0aba C901 movw r24,r18 1770 0abc 880F lsl r24 1771 0abe 991F rol r25 1772 0ac0 880F lsl r24 1773 0ac2 991F rol r25 1774 0ac4 820F add r24,r18 1775 0ac6 931F adc r25,r19 1776 0ac8 820F add r24,r18 1777 0aca 931F adc r25,r19 1778 0acc 9C01 movw r18,r24 1779 0ace 4427 clr r20 1780 0ad0 37FD sbrc r19,7 1781 0ad2 4095 com r20 1782 0ad4 542F mov r21,r20 1783 0ad6 8091 0000 lds r24,IntegralAccRoll 1784 0ada 9091 0000 lds r25,(IntegralAccRoll)+1 1785 0ade A091 0000 lds r26,(IntegralAccRoll)+2 1786 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3 1787 0ae6 820F add r24,r18 1788 0ae8 931F adc r25,r19 1789 0aea A41F adc r26,r20 1790 0aec B51F adc r27,r21 1791 0aee 8093 0000 sts IntegralAccRoll,r24 1792 0af2 9093 0000 sts (IntegralAccRoll)+1,r25 1793 0af6 A093 0000 sts (IntegralAccRoll)+2,r26 1794 0afa B093 0000 sts (IntegralAccRoll)+3,r27 1795 0afe 8091 0000 lds r24,NaviAccNick 1796 0b02 9091 0000 lds r25,(NaviAccNick)+1 1797 0b06 2091 0000 lds r18,AdWertAccNick 1798 0b0a 3091 0000 lds r19,(AdWertAccNick)+1 1799 0b0e 820F add r24,r18 1800 0b10 931F adc r25,r19 1801 0b12 9093 0000 sts (NaviAccNick)+1,r25 1802 0b16 8093 0000 sts NaviAccNick,r24 1803 0b1a 8091 0000 lds r24,NaviAccRoll 1804 0b1e 9091 0000 lds r25,(NaviAccRoll)+1 1805 0b22 2091 0000 lds r18,AdWertAccRoll 1806 0b26 3091 0000 lds r19,(AdWertAccRoll)+1 1807 0b2a 820F add r24,r18 1808 0b2c 931F adc r25,r19 1809 0b2e 9093 0000 sts (NaviAccRoll)+1,r25 1810 0b32 8093 0000 sts NaviAccRoll,r24 1811 0b36 8091 0000 lds r24,NaviCntAcc 1812 0b3a 9091 0000 lds r25,(NaviCntAcc)+1 1813 0b3e 0196 adiw r24,1 1814 0b40 9093 0000 sts (NaviCntAcc)+1,r25 1815 0b44 8093 0000 sts NaviCntAcc,r24 1816 0b48 8091 0000 lds r24,Aktuell_az 1817 0b4c 9091 0000 lds r25,(Aktuell_az)+1 1818 0b50 2091 0000 lds r18,NeutralAccZ 1819 0b54 3091 0000 lds r19,(NeutralAccZ)+1 1820 0b58 821B sub r24,r18 1821 0b5a 930B sbc r25,r19 1822 0b5c 9C01 movw r18,r24 1823 0b5e 4427 clr r20 1824 0b60 37FD sbrc r19,7 1825 0b62 4095 com r20 1826 0b64 542F mov r21,r20 1827 0b66 8091 0000 lds r24,IntegralAccZ 1828 0b6a 9091 0000 lds r25,(IntegralAccZ)+1 1829 0b6e A091 0000 lds r26,(IntegralAccZ)+2 1830 0b72 B091 0000 lds r27,(IntegralAccZ)+3 1831 0b76 820F add r24,r18 1832 0b78 931F adc r25,r19 1833 0b7a A41F adc r26,r20 1834 0b7c B51F adc r27,r21 1835 0b7e 8093 0000 sts IntegralAccZ,r24 1836 0b82 9093 0000 sts (IntegralAccZ)+1,r25 1837 0b86 A093 0000 sts (IntegralAccZ)+2,r26 1838 0b8a B093 0000 sts (IntegralAccZ)+3,r27 1839 0b8e 8FEC ldi r24,lo8(-49) 1840 0b90 8093 7A00 sts 122,r24 1841 0b94 1092 0000 sts AdReady,__zero_reg__ 1842 0b98 2091 0000 lds r18,Mess_IntegralRoll 1843 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1 1844 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2 1845 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3 1846 0ba8 2987 std Y+9,r18 1847 0baa 3A87 std Y+10,r19 1848 0bac 4B87 std Y+11,r20 1849 0bae 5C87 std Y+12,r21 1850 0bb0 2954 subi r18,lo8(93001) 1851 0bb2 3B46 sbci r19,hi8(93001) 1852 0bb4 4140 sbci r20,hlo8(93001) 1853 0bb6 5040 sbci r21,hhi8(93001) 1854 0bb8 04F0 brlt .L87 1855 0bba 28E4 ldi r18,lo8(93000) 1856 0bbc 3BE6 ldi r19,hi8(93000) 1857 0bbe 41E0 ldi r20,hlo8(93000) 1858 0bc0 50E0 ldi r21,hhi8(93000) 1859 0bc2 00C0 rjmp .L167 1860 .L87: 1861 0bc4 8985 ldd r24,Y+9 1862 0bc6 9A85 ldd r25,Y+10 1863 0bc8 AB85 ldd r26,Y+11 1864 0bca BC85 ldd r27,Y+12 1865 0bcc 885B subi r24,lo8(-93000) 1866 0bce 9449 sbci r25,hi8(-93000) 1867 0bd0 AE4F sbci r26,hlo8(-93000) 1868 0bd2 BF4F sbci r27,hhi8(-93000) 1869 0bd4 04F4 brge .L89 1870 0bd6 28EB ldi r18,lo8(-93000) 1871 0bd8 34E9 ldi r19,hi8(-93000) 1872 0bda 4EEF ldi r20,hlo8(-93000) 1873 0bdc 5FEF ldi r21,hhi8(-93000) 1874 .L167: 1875 0bde 2D83 std Y+5,r18 1876 0be0 3E83 std Y+6,r19 1877 0be2 4F83 std Y+7,r20 1878 0be4 5887 std Y+8,r21 1879 0be6 00C0 rjmp .L88 1880 .L89: 1881 0be8 8985 ldd r24,Y+9 1882 0bea 9A85 ldd r25,Y+10 1883 0bec AB85 ldd r26,Y+11 1884 0bee BC85 ldd r27,Y+12 1885 0bf0 8D83 std Y+5,r24 1886 0bf2 9E83 std Y+6,r25 1887 0bf4 AF83 std Y+7,r26 1888 0bf6 B887 std Y+8,r27 1889 .L88: 1890 0bf8 2091 0000 lds r18,Mess_IntegralNick 1891 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1 1892 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2 1893 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3 1894 0c08 2D87 std Y+13,r18 1895 0c0a 3E87 std Y+14,r19 1896 0c0c 4F87 std Y+15,r20 1897 0c0e 588B std Y+16,r21 1898 0c10 2954 subi r18,lo8(93001) 1899 0c12 3B46 sbci r19,hi8(93001) 1900 0c14 4140 sbci r20,hlo8(93001) 1901 0c16 5040 sbci r21,hhi8(93001) 1902 0c18 04F0 brlt .L91 1903 0c1a 28E4 ldi r18,lo8(93000) 1904 0c1c 3BE6 ldi r19,hi8(93000) 1905 0c1e 41E0 ldi r20,hlo8(93000) 1906 0c20 50E0 ldi r21,hhi8(93000) 1907 0c22 00C0 rjmp .L168 1908 .L91: 1909 0c24 8D85 ldd r24,Y+13 1910 0c26 9E85 ldd r25,Y+14 1911 0c28 AF85 ldd r26,Y+15 1912 0c2a B889 ldd r27,Y+16 1913 0c2c 885B subi r24,lo8(-93000) 1914 0c2e 9449 sbci r25,hi8(-93000) 1915 0c30 AE4F sbci r26,hlo8(-93000) 1916 0c32 BF4F sbci r27,hhi8(-93000) 1917 0c34 04F4 brge .L93 1918 0c36 28EB ldi r18,lo8(-93000) 1919 0c38 34E9 ldi r19,hi8(-93000) 1920 0c3a 4EEF ldi r20,hlo8(-93000) 1921 0c3c 5FEF ldi r21,hhi8(-93000) 1922 .L168: 1923 0c3e 2983 std Y+1,r18 1924 0c40 3A83 std Y+2,r19 1925 0c42 4B83 std Y+3,r20 1926 0c44 5C83 std Y+4,r21 1927 0c46 00C0 rjmp .L92 1928 .L93: 1929 0c48 8D85 ldd r24,Y+13 1930 0c4a 9E85 ldd r25,Y+14 1931 0c4c AF85 ldd r26,Y+15 1932 0c4e B889 ldd r27,Y+16 1933 0c50 8983 std Y+1,r24 1934 0c52 9A83 std Y+2,r25 1935 0c54 AB83 std Y+3,r26 1936 0c56 BC83 std Y+4,r27 1937 .L92: 1938 0c58 A091 0000 lds r26,MesswertGier 1939 0c5c B091 0000 lds r27,(MesswertGier)+1 1940 0c60 BB8B std Y+19,r27 1941 0c62 AA8B std Y+18,r26 1942 0c64 FD01 movw r30,r26 1943 0c66 CF01 movw r24,r30 1944 0c68 AA27 clr r26 1945 0c6a 97FD sbrc r25,7 1946 0c6c A095 com r26 1947 0c6e BA2F mov r27,r26 1948 0c70 A090 0000 lds r10,Mess_Integral_Gier 1949 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1 1950 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2 1951 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3 1952 0c80 A80E add r10,r24 1953 0c82 B91E adc r11,r25 1954 0c84 CA1E adc r12,r26 1955 0c86 DB1E adc r13,r27 1956 0c88 A092 0000 sts Mess_Integral_Gier,r10 1957 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11 1958 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12 1959 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13 1960 0c98 E090 0000 lds r14,ErsatzKompass 1961 0c9c F090 0000 lds r15,(ErsatzKompass)+1 1962 0ca0 0091 0000 lds r16,(ErsatzKompass)+2 1963 0ca4 1091 0000 lds r17,(ErsatzKompass)+3 1964 0ca8 E80E add r14,r24 1965 0caa F91E adc r15,r25 1966 0cac 0A1F adc r16,r26 1967 0cae 1B1F adc r17,r27 1968 0cb0 E092 0000 sts ErsatzKompass,r14 1969 0cb4 F092 0000 sts (ErsatzKompass)+1,r15 1970 0cb8 0093 0000 sts (ErsatzKompass)+2,r16 1971 0cbc 1093 0000 sts (ErsatzKompass)+3,r17 1972 0cc0 F091 0000 lds r31,Looping_Nick 1973 0cc4 F98B std Y+17,r31 1974 0cc6 FF23 tst r31 1975 0cc8 01F0 breq .+2 1976 0cca 00C0 rjmp .L95 1977 0ccc 8091 0000 lds r24,Looping_Roll 1978 0cd0 8823 tst r24 1979 0cd2 01F0 breq .+2 1980 0cd4 00C0 rjmp .L95 1981 0cd6 8091 0000 lds r24,Parameter_GlobalConfig 1982 0cda 86FF sbrs r24,6 1983 0cdc 00C0 rjmp .L95 1984 0cde 8091 0000 lds r24,MesswertRoll 1985 0ce2 9091 0000 lds r25,(MesswertRoll)+1 1986 0ce6 AA27 clr r26 1987 0ce8 97FD sbrc r25,7 1988 0cea A095 com r26 1989 0cec BA2F mov r27,r26 1990 0cee BC01 movw r22,r24 1991 0cf0 CD01 movw r24,r26 1992 0cf2 2981 ldd r18,Y+1 1993 0cf4 3A81 ldd r19,Y+2 1994 0cf6 4B81 ldd r20,Y+3 1995 0cf8 5C81 ldd r21,Y+4 1996 0cfa 0E94 0000 call __mulsi3 1997 0cfe 9B01 movw r18,r22 1998 0d00 AC01 movw r20,r24 1999 0d02 97FF sbrs r25,7 2000 0d04 00C0 rjmp .L96 2001 0d06 2150 subi r18,lo8(-(2047)) 2002 0d08 384F sbci r19,hi8(-(2047)) 2003 0d0a 4F4F sbci r20,hlo8(-(2047)) 2004 0d0c 5F4F sbci r21,hhi8(-(2047)) 2005 .L96: 2006 0d0e BBE0 ldi r27,11 2007 0d10 5595 1: asr r21 2008 0d12 4795 ror r20 2009 0d14 3795 ror r19 2010 0d16 2795 ror r18 2011 0d18 BA95 dec r27 2012 0d1a 01F4 brne 1b 2013 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2 2014 0d20 682E mov r6,r24 2015 0d22 7724 clr r7 2016 0d24 8824 clr r8 2017 0d26 9924 clr r9 2018 0d28 CA01 movw r24,r20 2019 0d2a B901 movw r22,r18 2020 0d2c A401 movw r20,r8 2021 0d2e 9301 movw r18,r6 2022 0d30 0E94 0000 call __mulsi3 2023 0d34 DC01 movw r26,r24 2024 0d36 CB01 movw r24,r22 2025 0d38 8093 0000 sts tmpl3.29,r24 2026 0d3c 9093 0000 sts (tmpl3.29)+1,r25 2027 0d40 A093 0000 sts (tmpl3.29)+2,r26 2028 0d44 B093 0000 sts (tmpl3.29)+3,r27 2029 0d48 B7FF sbrs r27,7 2030 0d4a 00C0 rjmp .L97 2031 0d4c 8150 subi r24,lo8(-(4095)) 2032 0d4e 904F sbci r25,hi8(-(4095)) 2033 0d50 AF4F sbci r26,hlo8(-(4095)) 2034 0d52 BF4F sbci r27,hhi8(-(4095)) 2035 .L97: 2036 0d54 1C01 movw r2,r24 2037 0d56 2D01 movw r4,r26 2038 0d58 ACE0 ldi r26,12 2039 0d5a 5594 1: asr r5 2040 0d5c 4794 ror r4 2041 0d5e 3794 ror r3 2042 0d60 2794 ror r2 2043 0d62 AA95 dec r26 2044 0d64 01F4 brne 1b 2045 0d66 2092 0000 sts tmpl3.29,r2 2046 0d6a 3092 0000 sts (tmpl3.29)+1,r3 2047 0d6e 4092 0000 sts (tmpl3.29)+2,r4 2048 0d72 5092 0000 sts (tmpl3.29)+3,r5 2049 0d76 8091 0000 lds r24,MesswertNick 2050 0d7a 9091 0000 lds r25,(MesswertNick)+1 2051 0d7e AA27 clr r26 2052 0d80 97FD sbrc r25,7 2053 0d82 A095 com r26 2054 0d84 BA2F mov r27,r26 2055 0d86 BC01 movw r22,r24 2056 0d88 CD01 movw r24,r26 2057 0d8a 2D81 ldd r18,Y+5 2058 0d8c 3E81 ldd r19,Y+6 2059 0d8e 4F81 ldd r20,Y+7 2060 0d90 5885 ldd r21,Y+8 2061 0d92 0E94 0000 call __mulsi3 2062 0d96 97FF sbrs r25,7 2063 0d98 00C0 rjmp .L98 2064 0d9a 6150 subi r22,lo8(-(2047)) 2065 0d9c 784F sbci r23,hi8(-(2047)) 2066 0d9e 8F4F sbci r24,hlo8(-(2047)) 2067 0da0 9F4F sbci r25,hhi8(-(2047)) 2068 .L98: 2069 0da2 FBE0 ldi r31,11 2070 0da4 9595 1: asr r25 2071 0da6 8795 ror r24 2072 0da8 7795 ror r23 2073 0daa 6795 ror r22 2074 0dac FA95 dec r31 2075 0dae 01F4 brne 1b 2076 0db0 A401 movw r20,r8 2077 0db2 9301 movw r18,r6 2078 0db4 0E94 0000 call __mulsi3 2079 0db8 DC01 movw r26,r24 2080 0dba CB01 movw r24,r22 2081 0dbc 8093 0000 sts tmpl4.30,r24 2082 0dc0 9093 0000 sts (tmpl4.30)+1,r25 2083 0dc4 A093 0000 sts (tmpl4.30)+2,r26 2084 0dc8 B093 0000 sts (tmpl4.30)+3,r27 2085 0dcc B7FF sbrs r27,7 2086 0dce 00C0 rjmp .L99 2087 0dd0 8150 subi r24,lo8(-(4095)) 2088 0dd2 904F sbci r25,hi8(-(4095)) 2089 0dd4 AF4F sbci r26,hlo8(-(4095)) 2090 0dd6 BF4F sbci r27,hhi8(-(4095)) 2091 .L99: 2092 0dd8 9C01 movw r18,r24 2093 0dda AD01 movw r20,r26 2094 0ddc ECE0 ldi r30,12 2095 0dde 5595 1: asr r21 2096 0de0 4795 ror r20 2097 0de2 3795 ror r19 2098 0de4 2795 ror r18 2099 0de6 EA95 dec r30 2100 0de8 01F4 brne 1b 2101 0dea 2093 0000 sts tmpl4.30,r18 2102 0dee 3093 0000 sts (tmpl4.30)+1,r19 2103 0df2 4093 0000 sts (tmpl4.30)+2,r20 2104 0df6 5093 0000 sts (tmpl4.30)+3,r21 2105 0dfa 8091 0000 lds r24,tmpl3.29 2106 0dfe 9091 0000 lds r25,(tmpl3.29)+1 2107 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25 2108 0e06 8093 0000 sts KopplungsteilNickRoll,r24 2109 0e0a 8091 0000 lds r24,tmpl4.30 2110 0e0e 9091 0000 lds r25,(tmpl4.30)+1 2111 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25 2112 0e16 8093 0000 sts KopplungsteilRollNick,r24 2113 0e1a 2219 sub r18,r2 2114 0e1c 3309 sbc r19,r3 2115 0e1e 4409 sbc r20,r4 2116 0e20 5509 sbc r21,r5 2117 0e22 2093 0000 sts tmpl4.30,r18 2118 0e26 3093 0000 sts (tmpl4.30)+1,r19 2119 0e2a 4093 0000 sts (tmpl4.30)+2,r20 2120 0e2e 5093 0000 sts (tmpl4.30)+3,r21 2121 0e32 E20E add r14,r18 2122 0e34 F31E adc r15,r19 2123 0e36 041F adc r16,r20 2124 0e38 151F adc r17,r21 2125 0e3a E092 0000 sts ErsatzKompass,r14 2126 0e3e F092 0000 sts (ErsatzKompass)+1,r15 2127 0e42 0093 0000 sts (ErsatzKompass)+2,r16 2128 0e46 1093 0000 sts (ErsatzKompass)+3,r17 2129 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection 2130 0e4e 8823 tst r24 2131 0e50 01F4 brne .L100 2132 0e52 57FF sbrs r21,7 2133 0e54 00C0 rjmp .L101 2134 0e56 2F5F subi r18,lo8(-(1)) 2135 0e58 3F4F sbci r19,hi8(-(1)) 2136 0e5a 4F4F sbci r20,hlo8(-(1)) 2137 0e5c 5F4F sbci r21,hhi8(-(1)) 2138 .L101: 2139 0e5e 5595 asr r21 2140 0e60 4795 ror r20 2141 0e62 3795 ror r19 2142 0e64 2795 ror r18 2143 0e66 A21A sub r10,r18 2144 0e68 B30A sbc r11,r19 2145 0e6a C40A sbc r12,r20 2146 0e6c D50A sbc r13,r21 2147 0e6e A092 0000 sts Mess_Integral_Gier,r10 2148 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11 2149 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12 2150 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13 2151 .L100: 2152 0e7e 2A89 ldd r18,Y+18 2153 0e80 3B89 ldd r19,Y+19 2154 0e82 7901 movw r14,r18 2155 0e84 0027 clr r16 2156 0e86 F7FC sbrc r15,7 2157 0e88 0095 com r16 2158 0e8a 102F mov r17,r16 2159 0e8c 8091 0000 lds r24,tmpl4.30 2160 0e90 9091 0000 lds r25,(tmpl4.30)+1 2161 0e94 A091 0000 lds r26,(tmpl4.30)+2 2162 0e98 B091 0000 lds r27,(tmpl4.30)+3 2163 0e9c E80E add r14,r24 2164 0e9e F91E adc r15,r25 2165 0ea0 0A1F adc r16,r26 2166 0ea2 1B1F adc r17,r27 2167 0ea4 C801 movw r24,r16 2168 0ea6 B701 movw r22,r14 2169 0ea8 2981 ldd r18,Y+1 2170 0eaa 3A81 ldd r19,Y+2 2171 0eac 4B81 ldd r20,Y+3 2172 0eae 5C81 ldd r21,Y+4 2173 0eb0 0E94 0000 call __mulsi3 2174 0eb4 9B01 movw r18,r22 2175 0eb6 AC01 movw r20,r24 2176 0eb8 97FF sbrs r25,7 2177 0eba 00C0 rjmp .L102 2178 0ebc 2150 subi r18,lo8(-(2047)) 2179 0ebe 384F sbci r19,hi8(-(2047)) 2180 0ec0 4F4F sbci r20,hlo8(-(2047)) 2181 0ec2 5F4F sbci r21,hhi8(-(2047)) 2182 .L102: 2183 0ec4 6BE0 ldi r22,11 2184 0ec6 5595 1: asr r21 2185 0ec8 4795 ror r20 2186 0eca 3795 ror r19 2187 0ecc 2795 ror r18 2188 0ece 6A95 dec r22 2189 0ed0 01F4 brne 1b 2190 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1 2191 0ed6 A82E mov r10,r24 2192 0ed8 BB24 clr r11 2193 0eda CC24 clr r12 2194 0edc DD24 clr r13 2195 0ede CA01 movw r24,r20 2196 0ee0 B901 movw r22,r18 2197 0ee2 A601 movw r20,r12 2198 0ee4 9501 movw r18,r10 2199 0ee6 0E94 0000 call __mulsi3 2200 0eea DC01 movw r26,r24 2201 0eec CB01 movw r24,r22 2202 0eee 8093 0000 sts tmpl.27,r24 2203 0ef2 9093 0000 sts (tmpl.27)+1,r25 2204 0ef6 A093 0000 sts (tmpl.27)+2,r26 2205 0efa B093 0000 sts (tmpl.27)+3,r27 2206 0efe B7FF sbrs r27,7 2207 0f00 00C0 rjmp .L103 2208 0f02 8150 subi r24,lo8(-(4095)) 2209 0f04 904F sbci r25,hi8(-(4095)) 2210 0f06 AF4F sbci r26,hlo8(-(4095)) 2211 0f08 BF4F sbci r27,hhi8(-(4095)) 2212 .L103: 2213 0f0a 3C01 movw r6,r24 2214 0f0c 4D01 movw r8,r26 2215 0f0e 3CE0 ldi r19,12 2216 0f10 9594 1: asr r9 2217 0f12 8794 ror r8 2218 0f14 7794 ror r7 2219 0f16 6794 ror r6 2220 0f18 3A95 dec r19 2221 0f1a 01F4 brne 1b 2222 0f1c 6092 0000 sts tmpl.27,r6 2223 0f20 7092 0000 sts (tmpl.27)+1,r7 2224 0f24 8092 0000 sts (tmpl.27)+2,r8 2225 0f28 9092 0000 sts (tmpl.27)+3,r9 2226 0f2c C801 movw r24,r16 2227 0f2e B701 movw r22,r14 2228 0f30 2D81 ldd r18,Y+5 2229 0f32 3E81 ldd r19,Y+6 2230 0f34 4F81 ldd r20,Y+7 2231 0f36 5885 ldd r21,Y+8 2232 0f38 0E94 0000 call __mulsi3 2233 0f3c 97FF sbrs r25,7 2234 0f3e 00C0 rjmp .L104 2235 0f40 6150 subi r22,lo8(-(2047)) 2236 0f42 784F sbci r23,hi8(-(2047)) 2237 0f44 8F4F sbci r24,hlo8(-(2047)) 2238 0f46 9F4F sbci r25,hhi8(-(2047)) 2239 .L104: 2240 0f48 2BE0 ldi r18,11 2241 0f4a 9595 1: asr r25 2242 0f4c 8795 ror r24 2243 0f4e 7795 ror r23 2244 0f50 6795 ror r22 2245 0f52 2A95 dec r18 2246 0f54 01F4 brne 1b 2247 0f56 A601 movw r20,r12 2248 0f58 9501 movw r18,r10 2249 0f5a 0E94 0000 call __mulsi3 2250 0f5e DC01 movw r26,r24 2251 0f60 CB01 movw r24,r22 2252 0f62 8093 0000 sts tmpl2.28,r24 2253 0f66 9093 0000 sts (tmpl2.28)+1,r25 2254 0f6a A093 0000 sts (tmpl2.28)+2,r26 2255 0f6e B093 0000 sts (tmpl2.28)+3,r27 2256 0f72 B7FF sbrs r27,7 2257 0f74 00C0 rjmp .L105 2258 0f76 8150 subi r24,lo8(-(4095)) 2259 0f78 904F sbci r25,hi8(-(4095)) 2260 0f7a AF4F sbci r26,hlo8(-(4095)) 2261 0f7c BF4F sbci r27,hhi8(-(4095)) 2262 .L105: 2263 0f7e AC01 movw r20,r24 2264 0f80 BD01 movw r22,r26 2265 0f82 8CE0 ldi r24,12 2266 0f84 7595 1: asr r23 2267 0f86 6795 ror r22 2268 0f88 5795 ror r21 2269 0f8a 4795 ror r20 2270 0f8c 8A95 dec r24 2271 0f8e 01F4 brne 1b 2272 0f90 4093 0000 sts tmpl2.28,r20 2273 0f94 5093 0000 sts (tmpl2.28)+1,r21 2274 0f98 6093 0000 sts (tmpl2.28)+2,r22 2275 0f9c 7093 0000 sts (tmpl2.28)+3,r23 2276 0fa0 2A89 ldd r18,Y+18 2277 0fa2 3B89 ldd r19,Y+19 2278 0fa4 37FF sbrs r19,7 2279 0fa6 00C0 rjmp .L107 2280 0fa8 3095 com r19 2281 0faa 2195 neg r18 2282 0fac 3F4F sbci r19,lo8(-1) 2283 .L107: 2284 0fae 2134 cpi r18,65 2285 0fb0 3105 cpc r19,__zero_reg__ 2286 0fb2 04F0 brlt .L112 2287 0fb4 D401 movw r26,r8 2288 0fb6 C301 movw r24,r6 2289 0fb8 97FE sbrs r9,7 2290 0fba 00C0 rjmp .L110 2291 0fbc B095 com r27 2292 0fbe A095 com r26 2293 0fc0 9095 com r25 2294 0fc2 8195 neg r24 2295 0fc4 9F4F sbci r25,lo8(-1) 2296 0fc6 AF4F sbci r26,lo8(-1) 2297 0fc8 BF4F sbci r27,lo8(-1) 2298 .L110: 2299 0fca 8138 cpi r24,lo8(129) 2300 0fcc 9105 cpc r25,__zero_reg__ 2301 0fce A105 cpc r26,__zero_reg__ 2302 0fd0 B105 cpc r27,__zero_reg__ 2303 0fd2 04F4 brge .L109 2304 0fd4 DB01 movw r26,r22 2305 0fd6 CA01 movw r24,r20 2306 0fd8 77FF sbrs r23,7 2307 0fda 00C0 rjmp .L111 2308 0fdc B095 com r27 2309 0fde A095 com r26 2310 0fe0 9095 com r25 2311 0fe2 8195 neg r24 2312 0fe4 9F4F sbci r25,lo8(-1) 2313 0fe6 AF4F sbci r26,lo8(-1) 2314 0fe8 BF4F sbci r27,lo8(-1) 2315 .L111: 2316 0fea 8138 cpi r24,lo8(129) 2317 0fec 9105 cpc r25,__zero_reg__ 2318 0fee A105 cpc r26,__zero_reg__ 2319 0ff0 B105 cpc r27,__zero_reg__ 2320 0ff2 04F0 brlt .L112 2321 .L109: 2322 0ff4 81E0 ldi r24,lo8(1) 2323 0ff6 8093 0000 sts TrichterFlug,r24 2324 0ffa 00C0 rjmp .L112 2325 .L95: 2326 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 2327 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 2328 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 2329 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 2330 100c 1092 0000 sts tmpl2.28,__zero_reg__ 2331 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__ 2332 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__ 2333 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__ 2334 101c 1092 0000 sts tmpl.27,__zero_reg__ 2335 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__ 2336 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__ 2337 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__ 2338 .L112: 2339 102c 8091 0000 lds r24,tmpl2.28 2340 1030 9091 0000 lds r25,(tmpl2.28)+1 2341 1034 A091 0000 lds r26,(tmpl2.28)+2 2342 1038 B091 0000 lds r27,(tmpl2.28)+3 2343 103c BC01 movw r22,r24 2344 103e CD01 movw r24,r26 2345 1040 24E6 ldi r18,lo8(100) 2346 1042 30E0 ldi r19,hi8(100) 2347 1044 40E0 ldi r20,hlo8(100) 2348 1046 50E0 ldi r21,hhi8(100) 2349 1048 0E94 0000 call __divmodsi4 2350 104c E090 0000 lds r14,tmpl.27 2351 1050 F090 0000 lds r15,(tmpl.27)+1 2352 1054 E21A sub r14,r18 2353 1056 F30A sbc r15,r19 2354 1058 F092 0000 sts (TrimRoll)+1,r15 2355 105c E092 0000 sts TrimRoll,r14 2356 1060 8091 0000 lds r24,tmpl.27 2357 1064 9091 0000 lds r25,(tmpl.27)+1 2358 1068 A091 0000 lds r26,(tmpl.27)+2 2359 106c B091 0000 lds r27,(tmpl.27)+3 2360 1070 BC01 movw r22,r24 2361 1072 CD01 movw r24,r26 2362 1074 24E6 ldi r18,lo8(100) 2363 1076 30E0 ldi r19,hi8(100) 2364 1078 40E0 ldi r20,hlo8(100) 2365 107a 50E0 ldi r21,hhi8(100) 2366 107c 0E94 0000 call __divmodsi4 2367 1080 DA01 movw r26,r20 2368 1082 C901 movw r24,r18 2369 1084 2091 0000 lds r18,tmpl2.28 2370 1088 3091 0000 lds r19,(tmpl2.28)+1 2371 108c 8C01 movw r16,r24 2372 108e 021B sub r16,r18 2373 1090 130B sbc r17,r19 2374 1092 1093 0000 sts (TrimNick)+1,r17 2375 1096 0093 0000 sts TrimNick,r16 2376 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR 2377 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 2378 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 2379 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 2380 10aa BC01 movw r22,r24 2381 10ac CD01 movw r24,r26 2382 10ae 28E6 ldi r18,lo8(360) 2383 10b0 31E0 ldi r19,hi8(360) 2384 10b2 40E0 ldi r20,hlo8(360) 2385 10b4 50E0 ldi r21,hhi8(360) 2386 10b6 0E94 0000 call __mulsi3 2387 10ba 2091 0000 lds r18,ErsatzKompass 2388 10be 3091 0000 lds r19,(ErsatzKompass)+1 2389 10c2 4091 0000 lds r20,(ErsatzKompass)+2 2390 10c6 5091 0000 lds r21,(ErsatzKompass)+3 2391 10ca 2617 cp r18,r22 2392 10cc 3707 cpc r19,r23 2393 10ce 4807 cpc r20,r24 2394 10d0 5907 cpc r21,r25 2395 10d2 04F0 brlt .L113 2396 10d4 261B sub r18,r22 2397 10d6 370B sbc r19,r23 2398 10d8 480B sbc r20,r24 2399 10da 590B sbc r21,r25 2400 10dc 2093 0000 sts ErsatzKompass,r18 2401 10e0 3093 0000 sts (ErsatzKompass)+1,r19 2402 10e4 4093 0000 sts (ErsatzKompass)+2,r20 2403 10e8 5093 0000 sts (ErsatzKompass)+3,r21 2404 .L113: 2405 10ec 2091 0000 lds r18,ErsatzKompass 2406 10f0 3091 0000 lds r19,(ErsatzKompass)+1 2407 10f4 4091 0000 lds r20,(ErsatzKompass)+2 2408 10f8 5091 0000 lds r21,(ErsatzKompass)+3 2409 10fc 57FF sbrs r21,7 2410 10fe 00C0 rjmp .L114 2411 1100 260F add r18,r22 2412 1102 371F adc r19,r23 2413 1104 481F adc r20,r24 2414 1106 591F adc r21,r25 2415 1108 2093 0000 sts ErsatzKompass,r18 2416 110c 3093 0000 sts (ErsatzKompass)+1,r19 2417 1110 4093 0000 sts (ErsatzKompass)+2,r20 2418 1114 5093 0000 sts (ErsatzKompass)+3,r21 2419 .L114: 2420 1118 6091 0000 lds r22,MesswertRoll 2421 111c 7091 0000 lds r23,(MesswertRoll)+1 2422 1120 6E0D add r22,r14 2423 1122 7F1D adc r23,r15 2424 1124 9B01 movw r18,r22 2425 1126 4427 clr r20 2426 1128 37FD sbrc r19,7 2427 112a 4095 com r20 2428 112c 542F mov r21,r20 2429 112e 8091 0000 lds r24,Mess_IntegralRoll2 2430 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2431 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2432 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3 2433 113e 820F add r24,r18 2434 1140 931F adc r25,r19 2435 1142 A41F adc r26,r20 2436 1144 B51F adc r27,r21 2437 1146 8093 0000 sts Mess_IntegralRoll2,r24 2438 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2439 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26 2440 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2441 1156 8091 0000 lds r24,LageKorrekturRoll 2442 115a 9091 0000 lds r25,(LageKorrekturRoll)+1 2443 115e 681B sub r22,r24 2444 1160 790B sbc r23,r25 2445 1162 CB01 movw r24,r22 2446 1164 AA27 clr r26 2447 1166 97FD sbrc r25,7 2448 1168 A095 com r26 2449 116a BA2F mov r27,r26 2450 116c 2985 ldd r18,Y+9 2451 116e 3A85 ldd r19,Y+10 2452 1170 4B85 ldd r20,Y+11 2453 1172 5C85 ldd r21,Y+12 2454 1174 820F add r24,r18 2455 1176 931F adc r25,r19 2456 1178 A41F adc r26,r20 2457 117a B51F adc r27,r21 2458 117c 8093 0000 sts Mess_IntegralRoll,r24 2459 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25 2460 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26 2461 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27 2462 118c C090 0000 lds r12,Umschlag180Roll 2463 1190 D090 0000 lds r13,(Umschlag180Roll)+1 2464 1194 E090 0000 lds r14,(Umschlag180Roll)+2 2465 1198 F090 0000 lds r15,(Umschlag180Roll)+3 2466 119c C816 cp r12,r24 2467 119e D906 cpc r13,r25 2468 11a0 EA06 cpc r14,r26 2469 11a2 FB06 cpc r15,r27 2470 11a4 04F4 brge .L115 2471 11a6 88EA ldi r24,lo8(25000) 2472 11a8 91E6 ldi r25,hi8(25000) 2473 11aa A0E0 ldi r26,hlo8(25000) 2474 11ac B0E0 ldi r27,hhi8(25000) 2475 11ae 8C19 sub r24,r12 2476 11b0 9D09 sbc r25,r13 2477 11b2 AE09 sbc r26,r14 2478 11b4 BF09 sbc r27,r15 2479 11b6 8093 0000 sts Mess_IntegralRoll,r24 2480 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25 2481 11be A093 0000 sts (Mess_IntegralRoll)+2,r26 2482 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27 2483 11c6 8093 0000 sts Mess_IntegralRoll2,r24 2484 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2485 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 2486 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2487 .L115: 2488 11d6 2227 clr r18 2489 11d8 3327 clr r19 2490 11da A901 movw r20,r18 2491 11dc 2C19 sub r18,r12 2492 11de 3D09 sbc r19,r13 2493 11e0 4E09 sbc r20,r14 2494 11e2 5F09 sbc r21,r15 2495 11e4 8091 0000 lds r24,Mess_IntegralRoll 2496 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1 2497 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2 2498 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3 2499 11f4 8217 cp r24,r18 2500 11f6 9307 cpc r25,r19 2501 11f8 A407 cpc r26,r20 2502 11fa B507 cpc r27,r21 2503 11fc 04F4 brge .L116 2504 11fe D701 movw r26,r14 2505 1200 C601 movw r24,r12 2506 1202 885A subi r24,lo8(-(-25000)) 2507 1204 9146 sbci r25,hi8(-(-25000)) 2508 1206 A040 sbci r26,hlo8(-(-25000)) 2509 1208 B040 sbci r27,hhi8(-(-25000)) 2510 120a 8093 0000 sts Mess_IntegralRoll,r24 2511 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25 2512 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26 2513 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27 2514 121a 8093 0000 sts Mess_IntegralRoll2,r24 2515 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2516 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2517 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2518 .L116: 2519 122a 6091 0000 lds r22,MesswertNick 2520 122e 7091 0000 lds r23,(MesswertNick)+1 2521 1232 600F add r22,r16 2522 1234 711F adc r23,r17 2523 1236 9B01 movw r18,r22 2524 1238 4427 clr r20 2525 123a 37FD sbrc r19,7 2526 123c 4095 com r20 2527 123e 542F mov r21,r20 2528 1240 8091 0000 lds r24,Mess_IntegralNick2 2529 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1 2530 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2 2531 124c B091 0000 lds r27,(Mess_IntegralNick2)+3 2532 1250 820F add r24,r18 2533 1252 931F adc r25,r19 2534 1254 A41F adc r26,r20 2535 1256 B51F adc r27,r21 2536 1258 8093 0000 sts Mess_IntegralNick2,r24 2537 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25 2538 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26 2539 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27 2540 1268 8091 0000 lds r24,LageKorrekturNick 2541 126c 9091 0000 lds r25,(LageKorrekturNick)+1 2542 1270 681B sub r22,r24 2543 1272 790B sbc r23,r25 2544 1274 CB01 movw r24,r22 2545 1276 AA27 clr r26 2546 1278 97FD sbrc r25,7 2547 127a A095 com r26 2548 127c BA2F mov r27,r26 2549 127e 2D85 ldd r18,Y+13 2550 1280 3E85 ldd r19,Y+14 2551 1282 4F85 ldd r20,Y+15 2552 1284 5889 ldd r21,Y+16 2553 1286 820F add r24,r18 2554 1288 931F adc r25,r19 2555 128a A41F adc r26,r20 2556 128c B51F adc r27,r21 2557 128e 8093 0000 sts Mess_IntegralNick,r24 2558 1292 9093 0000 sts (Mess_IntegralNick)+1,r25 2559 1296 A093 0000 sts (Mess_IntegralNick)+2,r26 2560 129a B093 0000 sts (Mess_IntegralNick)+3,r27 2561 129e E090 0000 lds r14,Umschlag180Nick 2562 12a2 F090 0000 lds r15,(Umschlag180Nick)+1 2563 12a6 0091 0000 lds r16,(Umschlag180Nick)+2 2564 12aa 1091 0000 lds r17,(Umschlag180Nick)+3 2565 12ae E816 cp r14,r24 2566 12b0 F906 cpc r15,r25 2567 12b2 0A07 cpc r16,r26 2568 12b4 1B07 cpc r17,r27 2569 12b6 04F4 brge .L117 2570 12b8 88EA ldi r24,lo8(25000) 2571 12ba 91E6 ldi r25,hi8(25000) 2572 12bc A0E0 ldi r26,hlo8(25000) 2573 12be B0E0 ldi r27,hhi8(25000) 2574 12c0 8E19 sub r24,r14 2575 12c2 9F09 sbc r25,r15 2576 12c4 A00B sbc r26,r16 2577 12c6 B10B sbc r27,r17 2578 12c8 8093 0000 sts Mess_IntegralNick,r24 2579 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25 2580 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26 2581 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27 2582 12d8 8093 0000 sts Mess_IntegralNick2,r24 2583 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25 2584 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26 2585 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27 2586 .L117: 2587 12e8 2227 clr r18 2588 12ea 3327 clr r19 2589 12ec A901 movw r20,r18 2590 12ee 2E19 sub r18,r14 2591 12f0 3F09 sbc r19,r15 2592 12f2 400B sbc r20,r16 2593 12f4 510B sbc r21,r17 2594 12f6 8091 0000 lds r24,Mess_IntegralNick 2595 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1 2596 12fe A091 0000 lds r26,(Mess_IntegralNick)+2 2597 1302 B091 0000 lds r27,(Mess_IntegralNick)+3 2598 1306 8217 cp r24,r18 2599 1308 9307 cpc r25,r19 2600 130a A407 cpc r26,r20 2601 130c B507 cpc r27,r21 2602 130e 04F4 brge .L118 2603 1310 D801 movw r26,r16 2604 1312 C701 movw r24,r14 2605 1314 885A subi r24,lo8(-(-25000)) 2606 1316 9146 sbci r25,hi8(-(-25000)) 2607 1318 A040 sbci r26,hlo8(-(-25000)) 2608 131a B040 sbci r27,hhi8(-(-25000)) 2609 131c 8093 0000 sts Mess_IntegralNick,r24 2610 1320 9093 0000 sts (Mess_IntegralNick)+1,r25 2611 1324 A093 0000 sts (Mess_IntegralNick)+2,r26 2612 1328 B093 0000 sts (Mess_IntegralNick)+3,r27 2613 132c 8093 0000 sts Mess_IntegralNick2,r24 2614 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25 2615 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26 2616 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27 2617 .L118: 2618 133c 8091 0000 lds r24,Mess_Integral_Gier 2619 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1 2620 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2 2621 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3 2622 134c 8093 0000 sts Integral_Gier,r24 2623 1350 9093 0000 sts (Integral_Gier)+1,r25 2624 1354 A093 0000 sts (Integral_Gier)+2,r26 2625 1358 B093 0000 sts (Integral_Gier)+3,r27 2626 135c 8091 0000 lds r24,Mess_IntegralNick 2627 1360 9091 0000 lds r25,(Mess_IntegralNick)+1 2628 1364 A091 0000 lds r26,(Mess_IntegralNick)+2 2629 1368 B091 0000 lds r27,(Mess_IntegralNick)+3 2630 136c 8093 0000 sts IntegralNick,r24 2631 1370 9093 0000 sts (IntegralNick)+1,r25 2632 1374 A093 0000 sts (IntegralNick)+2,r26 2633 1378 B093 0000 sts (IntegralNick)+3,r27 2634 137c 8091 0000 lds r24,Mess_IntegralRoll 2635 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1 2636 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2 2637 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3 2638 138c 8093 0000 sts IntegralRoll,r24 2639 1390 9093 0000 sts (IntegralRoll)+1,r25 2640 1394 A093 0000 sts (IntegralRoll)+2,r26 2641 1398 B093 0000 sts (IntegralRoll)+3,r27 2642 139c 8091 0000 lds r24,Mess_IntegralNick2 2643 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1 2644 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2 2645 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3 2646 13ac 8093 0000 sts IntegralNick2,r24 2647 13b0 9093 0000 sts (IntegralNick2)+1,r25 2648 13b4 A093 0000 sts (IntegralNick2)+2,r26 2649 13b8 B093 0000 sts (IntegralNick2)+3,r27 2650 13bc 8091 0000 lds r24,Mess_IntegralRoll2 2651 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2652 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2653 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3 2654 13cc 8093 0000 sts IntegralRoll2,r24 2655 13d0 9093 0000 sts (IntegralRoll2)+1,r25 2656 13d4 A093 0000 sts (IntegralRoll2)+2,r26 2657 13d8 B093 0000 sts (IntegralRoll2)+3,r27 2658 13dc 8091 0000 lds r24,HiResNick 2659 13e0 9091 0000 lds r25,(HiResNick)+1 2660 13e4 97FD sbrc r25,7 2661 13e6 0796 adiw r24,7 2662 .L119: 2663 13e8 03E0 ldi r16,3 2664 13ea 9595 1: asr r25 2665 13ec 8795 ror r24 2666 13ee 0A95 dec r16 2667 13f0 01F4 brne 1b 2668 13f2 9093 0000 sts (MesswertNick)+1,r25 2669 13f6 8093 0000 sts MesswertNick,r24 2670 13fa 8091 0000 lds r24,HiResRoll 2671 13fe 9091 0000 lds r25,(HiResRoll)+1 2672 1402 97FD sbrc r25,7 2673 1404 0796 adiw r24,7 2674 .L120: 2675 1406 13E0 ldi r17,3 2676 1408 9595 1: asr r25 2677 140a 8795 ror r24 2678 140c 1A95 dec r17 2679 140e 01F4 brne 1b 2680 1410 9093 0000 sts (MesswertRoll)+1,r25 2681 1414 8093 0000 sts MesswertRoll,r24 2682 1418 8091 0000 lds r24,AdWertNick 2683 141c 9091 0000 lds r25,(AdWertNick)+1 2684 1420 0F97 sbiw r24,15 2685 1422 04F4 brge .L121 2686 1424 88E1 ldi r24,lo8(-1000) 2687 1426 9CEF ldi r25,hi8(-1000) 2688 1428 9093 0000 sts (MesswertNick)+1,r25 2689 142c 8093 0000 sts MesswertNick,r24 2690 .L121: 2691 1430 8091 0000 lds r24,AdWertNick 2692 1434 9091 0000 lds r25,(AdWertNick)+1 2693 1438 0797 sbiw r24,7 2694 143a 04F4 brge .L122 2695 143c 80E3 ldi r24,lo8(-2000) 2696 143e 98EF ldi r25,hi8(-2000) 2697 1440 9093 0000 sts (MesswertNick)+1,r25 2698 1444 8093 0000 sts MesswertNick,r24 2699 .L122: 2700 1448 2091 0000 lds r18,PlatinenVersion 2701 144c 2A30 cpi r18,lo8(10) 2702 144e 01F4 brne .L123 2703 1450 8091 0000 lds r24,AdWertNick 2704 1454 9091 0000 lds r25,(AdWertNick)+1 2705 1458 835F subi r24,lo8(1011) 2706 145a 9340 sbci r25,hi8(1011) 2707 145c 04F0 brlt .L124 2708 145e 88EE ldi r24,lo8(1000) 2709 1460 93E0 ldi r25,hi8(1000) 2710 1462 9093 0000 sts (MesswertNick)+1,r25 2711 1466 8093 0000 sts MesswertNick,r24 2712 .L124: 2713 146a 8091 0000 lds r24,AdWertNick 2714 146e 9091 0000 lds r25,(AdWertNick)+1 2715 1472 8A5F subi r24,lo8(1018) 2716 1474 9340 sbci r25,hi8(1018) 2717 1476 04F0 brlt .L126 2718 1478 00C0 rjmp .L169 2719 .L123: 2720 147a 8091 0000 lds r24,AdWertNick 2721 147e 9091 0000 lds r25,(AdWertNick)+1 2722 1482 815D subi r24,lo8(2001) 2723 1484 9740 sbci r25,hi8(2001) 2724 1486 04F0 brlt .L127 2725 1488 88EE ldi r24,lo8(1000) 2726 148a 93E0 ldi r25,hi8(1000) 2727 148c 9093 0000 sts (MesswertNick)+1,r25 2728 1490 8093 0000 sts MesswertNick,r24 2729 .L127: 2730 1494 8091 0000 lds r24,AdWertNick 2731 1498 9091 0000 lds r25,(AdWertNick)+1 2732 149c 805E subi r24,lo8(2016) 2733 149e 9740 sbci r25,hi8(2016) 2734 14a0 04F0 brlt .L126 2735 .L169: 2736 14a2 80ED ldi r24,lo8(2000) 2737 14a4 97E0 ldi r25,hi8(2000) 2738 14a6 9093 0000 sts (MesswertNick)+1,r25 2739 14aa 8093 0000 sts MesswertNick,r24 2740 .L126: 2741 14ae 8091 0000 lds r24,AdWertRoll 2742 14b2 9091 0000 lds r25,(AdWertRoll)+1 2743 14b6 0F97 sbiw r24,15 2744 14b8 04F4 brge .L129 2745 14ba 88E1 ldi r24,lo8(-1000) 2746 14bc 9CEF ldi r25,hi8(-1000) 2747 14be 9093 0000 sts (MesswertRoll)+1,r25 2748 14c2 8093 0000 sts MesswertRoll,r24 2749 .L129: 2750 14c6 8091 0000 lds r24,AdWertRoll 2751 14ca 9091 0000 lds r25,(AdWertRoll)+1 2752 14ce 0797 sbiw r24,7 2753 14d0 04F4 brge .L130 2754 14d2 80E3 ldi r24,lo8(-2000) 2755 14d4 98EF ldi r25,hi8(-2000) 2756 14d6 9093 0000 sts (MesswertRoll)+1,r25 2757 14da 8093 0000 sts MesswertRoll,r24 2758 .L130: 2759 14de 2A30 cpi r18,lo8(10) 2760 14e0 01F4 brne .L131 2761 14e2 8091 0000 lds r24,AdWertRoll 2762 14e6 9091 0000 lds r25,(AdWertRoll)+1 2763 14ea 835F subi r24,lo8(1011) 2764 14ec 9340 sbci r25,hi8(1011) 2765 14ee 04F0 brlt .L132 2766 14f0 88EE ldi r24,lo8(1000) 2767 14f2 93E0 ldi r25,hi8(1000) 2768 14f4 9093 0000 sts (MesswertRoll)+1,r25 2769 14f8 8093 0000 sts MesswertRoll,r24 2770 .L132: 2771 14fc 8091 0000 lds r24,AdWertRoll 2772 1500 9091 0000 lds r25,(AdWertRoll)+1 2773 1504 8A5F subi r24,lo8(1018) 2774 1506 9340 sbci r25,hi8(1018) 2775 1508 04F0 brlt .L134 2776 150a 00C0 rjmp .L170 2777 .L131: 2778 150c 8091 0000 lds r24,AdWertRoll 2779 1510 9091 0000 lds r25,(AdWertRoll)+1 2780 1514 815D subi r24,lo8(2001) 2781 1516 9740 sbci r25,hi8(2001) 2782 1518 04F0 brlt .L135 2783 151a 88EE ldi r24,lo8(1000) 2784 151c 93E0 ldi r25,hi8(1000) 2785 151e 9093 0000 sts (MesswertRoll)+1,r25 2786 1522 8093 0000 sts MesswertRoll,r24 2787 .L135: 2788 1526 8091 0000 lds r24,AdWertRoll 2789 152a 9091 0000 lds r25,(AdWertRoll)+1 2790 152e 805E subi r24,lo8(2016) 2791 1530 9740 sbci r25,hi8(2016) 2792 1532 04F0 brlt .L134 2793 .L170: 2794 1534 80ED ldi r24,lo8(2000) 2795 1536 97E0 ldi r25,hi8(2000) 2796 1538 9093 0000 sts (MesswertRoll)+1,r25 2797 153c 8093 0000 sts MesswertRoll,r24 2798 .L134: 2799 1540 6091 0000 lds r22,Parameter_Gyro_D 2800 1544 6623 tst r22 2801 1546 01F4 brne .+2 2802 1548 00C0 rjmp .L137 2803 154a 4091 0000 lds r20,HiResNick 2804 154e 5091 0000 lds r21,(HiResNick)+1 2805 1552 8091 0000 lds r24,oldNick.31 2806 1556 9091 0000 lds r25,(oldNick.31)+1 2807 155a 481B sub r20,r24 2808 155c 590B sbc r21,r25 2809 155e 5093 0000 sts (d2Nick.34)+1,r21 2810 1562 4093 0000 sts d2Nick.34,r20 2811 1566 2091 0000 lds r18,HiResNick 2812 156a 3091 0000 lds r19,(HiResNick)+1 2813 156e 280F add r18,r24 2814 1570 391F adc r19,r25 2815 1572 37FF sbrs r19,7 2816 1574 00C0 rjmp .L138 2817 1576 2F5F subi r18,lo8(-(1)) 2818 1578 3F4F sbci r19,hi8(-(1)) 2819 .L138: 2820 157a 3595 asr r19 2821 157c 2795 ror r18 2822 157e 3093 0000 sts (oldNick.31)+1,r19 2823 1582 2093 0000 sts oldNick.31,r18 2824 1586 4138 cpi r20,129 2825 1588 5105 cpc r21,__zero_reg__ 2826 158a 04F0 brlt .L139 2827 158c 80E8 ldi r24,lo8(128) 2828 158e 90E0 ldi r25,hi8(128) 2829 1590 00C0 rjmp .L171 2830 .L139: 2831 1592 4058 subi r20,lo8(-128) 2832 1594 5F4F sbci r21,hi8(-128) 2833 1596 04F4 brge .L140 2834 1598 80E8 ldi r24,lo8(-128) 2835 159a 9FEF ldi r25,hi8(-128) 2836 .L171: 2837 159c 9093 0000 sts (d2Nick.34)+1,r25 2838 15a0 8093 0000 sts d2Nick.34,r24 2839 .L140: 2840 15a4 4091 0000 lds r20,HiResRoll 2841 15a8 5091 0000 lds r21,(HiResRoll)+1 2842 15ac 8091 0000 lds r24,oldRoll.32 2843 15b0 9091 0000 lds r25,(oldRoll.32)+1 2844 15b4 481B sub r20,r24 2845 15b6 590B sbc r21,r25 2846 15b8 5093 0000 sts (d2Roll.33)+1,r21 2847 15bc 4093 0000 sts d2Roll.33,r20 2848 15c0 2091 0000 lds r18,HiResRoll 2849 15c4 3091 0000 lds r19,(HiResRoll)+1 2850 15c8 280F add r18,r24 2851 15ca 391F adc r19,r25 2852 15cc 37FF sbrs r19,7 2853 15ce 00C0 rjmp .L142 2854 15d0 2F5F subi r18,lo8(-(1)) 2855 15d2 3F4F sbci r19,hi8(-(1)) 2856 .L142: 2857 15d4 3595 asr r19 2858 15d6 2795 ror r18 2859 15d8 3093 0000 sts (oldRoll.32)+1,r19 2860 15dc 2093 0000 sts oldRoll.32,r18 2861 15e0 4138 cpi r20,129 2862 15e2 5105 cpc r21,__zero_reg__ 2863 15e4 04F0 brlt .L143 2864 15e6 80E8 ldi r24,lo8(128) 2865 15e8 90E0 ldi r25,hi8(128) 2866 15ea 00C0 rjmp .L172 2867 .L143: 2868 15ec 4058 subi r20,lo8(-128) 2869 15ee 5F4F sbci r21,hi8(-128) 2870 15f0 04F4 brge .L144 2871 15f2 80E8 ldi r24,lo8(-128) 2872 15f4 9FEF ldi r25,hi8(-128) 2873 .L172: 2874 15f6 9093 0000 sts (d2Roll.33)+1,r25 2875 15fa 8093 0000 sts d2Roll.33,r24 2876 .L144: 2877 15fe 462F mov r20,r22 2878 1600 5527 clr r21 2879 1602 8091 0000 lds r24,d2Nick.34 2880 1606 9091 0000 lds r25,(d2Nick.34)+1 2881 160a 849F mul r24,r20 2882 160c B001 movw r22,r0 2883 160e 859F mul r24,r21 2884 1610 700D add r23,r0 2885 1612 949F mul r25,r20 2886 1614 700D add r23,r0 2887 1616 1124 clr r1 2888 1618 9B01 movw r18,r22 2889 161a 77FF sbrs r23,7 2890 161c 00C0 rjmp .L146 2891 161e 215F subi r18,lo8(-(15)) 2892 1620 3F4F sbci r19,hi8(-(15)) 2893 .L146: 2894 1622 F4E0 ldi r31,4 2895 1624 3595 1: asr r19 2896 1626 2795 ror r18 2897 1628 FA95 dec r31 2898 162a 01F4 brne 1b 2899 162c 8091 0000 lds r24,MesswertNick 2900 1630 9091 0000 lds r25,(MesswertNick)+1 2901 1634 820F add r24,r18 2902 1636 931F adc r25,r19 2903 1638 9093 0000 sts (MesswertNick)+1,r25 2904 163c 8093 0000 sts MesswertNick,r24 2905 1640 8091 0000 lds r24,d2Roll.33 2906 1644 9091 0000 lds r25,(d2Roll.33)+1 2907 1648 849F mul r24,r20 2908 164a D001 movw r26,r0 2909 164c 859F mul r24,r21 2910 164e B00D add r27,r0 2911 1650 949F mul r25,r20 2912 1652 B00D add r27,r0 2913 1654 1124 clr r1 2914 1656 AD01 movw r20,r26 2915 1658 9D01 movw r18,r26 2916 165a B7FF sbrs r27,7 2917 165c 00C0 rjmp .L147 2918 165e 215F subi r18,lo8(-(15)) 2919 1660 3F4F sbci r19,hi8(-(15)) 2920 .L147: 2921 1662 E4E0 ldi r30,4 2922 1664 3595 1: asr r19 2923 1666 2795 ror r18 2924 1668 EA95 dec r30 2925 166a 01F4 brne 1b 2926 166c 8091 0000 lds r24,MesswertRoll 2927 1670 9091 0000 lds r25,(MesswertRoll)+1 2928 1674 820F add r24,r18 2929 1676 931F adc r25,r19 2930 1678 9093 0000 sts (MesswertRoll)+1,r25 2931 167c 8093 0000 sts MesswertRoll,r24 2932 1680 8091 0000 lds r24,HiResNick 2933 1684 9091 0000 lds r25,(HiResNick)+1 2934 1688 860F add r24,r22 2935 168a 971F adc r25,r23 2936 168c 9093 0000 sts (HiResNick)+1,r25 2937 1690 8093 0000 sts HiResNick,r24 2938 1694 8091 0000 lds r24,HiResRoll 2939 1698 9091 0000 lds r25,(HiResRoll)+1 2940 169c 840F add r24,r20 2941 169e 951F adc r25,r21 2942 16a0 9093 0000 sts (HiResRoll)+1,r25 2943 16a4 8093 0000 sts HiResRoll,r24 2944 .L137: 2945 16a8 0091 0000 lds r16,RohMesswertRoll 2946 16ac 1091 0000 lds r17,(RohMesswertRoll)+1 2947 16b0 8091 0000 lds r24,KopplungsteilNickRoll 2948 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1 2949 16b8 1016 cp __zero_reg__,r16 2950 16ba 1106 cpc __zero_reg__,r17 2951 16bc 04F4 brge .L148 2952 16be 9C01 movw r18,r24 2953 16c0 97FF sbrs r25,7 2954 16c2 00C0 rjmp .L149 2955 16c4 2227 clr r18 2956 16c6 3327 clr r19 2957 16c8 281B sub r18,r24 2958 16ca 390B sbc r19,r25 2959 .L149: 2960 16cc C901 movw r24,r18 2961 16ce AA27 clr r26 2962 16d0 97FD sbrc r25,7 2963 16d2 A095 com r26 2964 16d4 BA2F mov r27,r26 2965 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection 2966 16da 3327 clr r19 2967 16dc 4427 clr r20 2968 16de 5527 clr r21 2969 16e0 BC01 movw r22,r24 2970 16e2 CD01 movw r24,r26 2971 16e4 0E94 0000 call __mulsi3 2972 16e8 9B01 movw r18,r22 2973 16ea AC01 movw r20,r24 2974 16ec 97FF sbrs r25,7 2975 16ee 00C0 rjmp .L150 2976 16f0 215C subi r18,lo8(-(63)) 2977 16f2 3F4F sbci r19,hi8(-(63)) 2978 16f4 4F4F sbci r20,hlo8(-(63)) 2979 16f6 5F4F sbci r21,hhi8(-(63)) 2980 .L150: 2981 16f8 76E0 ldi r23,6 2982 16fa 5595 1: asr r21 2983 16fc 4795 ror r20 2984 16fe 3795 ror r19 2985 1700 2795 ror r18 2986 1702 7A95 dec r23 2987 1704 01F4 brne 1b 2988 1706 8091 0000 lds r24,TrimRoll 2989 170a 9091 0000 lds r25,(TrimRoll)+1 2990 170e 820F add r24,r18 2991 1710 931F adc r25,r19 2992 1712 00C0 rjmp .L173 2993 .L148: 2994 1714 97FF sbrs r25,7 2995 1716 00C0 rjmp .L152 2996 1718 9095 com r25 2997 171a 8195 neg r24 2998 171c 9F4F sbci r25,lo8(-1) 2999 .L152: 3000 171e AA27 clr r26 3001 1720 97FD sbrc r25,7 3002 1722 A095 com r26 3003 1724 BA2F mov r27,r26 3004 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection 3005 172a 3327 clr r19 3006 172c 4427 clr r20 3007 172e 5527 clr r21 3008 1730 BC01 movw r22,r24 3009 1732 CD01 movw r24,r26 3010 1734 0E94 0000 call __mulsi3 3011 1738 9B01 movw r18,r22 3012 173a AC01 movw r20,r24 3013 173c 97FF sbrs r25,7 3014 173e 00C0 rjmp .L153 3015 1740 215C subi r18,lo8(-(63)) 3016 1742 3F4F sbci r19,hi8(-(63)) 3017 1744 4F4F sbci r20,hlo8(-(63)) 3018 1746 5F4F sbci r21,hhi8(-(63)) 3019 .L153: 3020 1748 66E0 ldi r22,6 3021 174a 5595 1: asr r21 3022 174c 4795 ror r20 3023 174e 3795 ror r19 3024 1750 2795 ror r18 3025 1752 6A95 dec r22 3026 1754 01F4 brne 1b 3027 1756 8091 0000 lds r24,TrimRoll 3028 175a 9091 0000 lds r25,(TrimRoll)+1 3029 175e 821B sub r24,r18 3030 1760 930B sbc r25,r19 3031 .L173: 3032 1762 9093 0000 sts (TrimRoll)+1,r25 3033 1766 8093 0000 sts TrimRoll,r24 3034 176a E090 0000 lds r14,RohMesswertNick 3035 176e F090 0000 lds r15,(RohMesswertNick)+1 3036 1772 8091 0000 lds r24,KopplungsteilRollNick 3037 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1 3038 177a 1E14 cp __zero_reg__,r14 3039 177c 1F04 cpc __zero_reg__,r15 3040 177e 04F4 brge .L154 3041 1780 9C01 movw r18,r24 3042 1782 97FF sbrs r25,7 3043 1784 00C0 rjmp .L155 3044 1786 2227 clr r18 3045 1788 3327 clr r19 3046 178a 281B sub r18,r24 3047 178c 390B sbc r19,r25 3048 .L155: 3049 178e C901 movw r24,r18 3050 1790 AA27 clr r26 3051 1792 97FD sbrc r25,7 3052 1794 A095 com r26 3053 1796 BA2F mov r27,r26 3054 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection 3055 179c 3327 clr r19 3056 179e 4427 clr r20 3057 17a0 5527 clr r21 3058 17a2 BC01 movw r22,r24 3059 17a4 CD01 movw r24,r26 3060 17a6 0E94 0000 call __mulsi3 3061 17aa 9B01 movw r18,r22 3062 17ac AC01 movw r20,r24 3063 17ae 97FF sbrs r25,7 3064 17b0 00C0 rjmp .L156 3065 17b2 215C subi r18,lo8(-(63)) 3066 17b4 3F4F sbci r19,hi8(-(63)) 3067 17b6 4F4F sbci r20,hlo8(-(63)) 3068 17b8 5F4F sbci r21,hhi8(-(63)) 3069 .L156: 3070 17ba 96E0 ldi r25,6 3071 17bc 5595 1: asr r21 3072 17be 4795 ror r20 3073 17c0 3795 ror r19 3074 17c2 2795 ror r18 3075 17c4 9A95 dec r25 3076 17c6 01F4 brne 1b 3077 17c8 8091 0000 lds r24,TrimNick 3078 17cc 9091 0000 lds r25,(TrimNick)+1 3079 17d0 820F add r24,r18 3080 17d2 931F adc r25,r19 3081 17d4 00C0 rjmp .L174 3082 .L154: 3083 17d6 97FF sbrs r25,7 3084 17d8 00C0 rjmp .L158 3085 17da 9095 com r25 3086 17dc 8195 neg r24 3087 17de 9F4F sbci r25,lo8(-1) 3088 .L158: 3089 17e0 AA27 clr r26 3090 17e2 97FD sbrc r25,7 3091 17e4 A095 com r26 3092 17e6 BA2F mov r27,r26 3093 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection 3094 17ec 3327 clr r19 3095 17ee 4427 clr r20 3096 17f0 5527 clr r21 3097 17f2 BC01 movw r22,r24 3098 17f4 CD01 movw r24,r26 3099 17f6 0E94 0000 call __mulsi3 3100 17fa 9B01 movw r18,r22 3101 17fc AC01 movw r20,r24 3102 17fe 97FF sbrs r25,7 3103 1800 00C0 rjmp .L159 3104 1802 215C subi r18,lo8(-(63)) 3105 1804 3F4F sbci r19,hi8(-(63)) 3106 1806 4F4F sbci r20,hlo8(-(63)) 3107 1808 5F4F sbci r21,hhi8(-(63)) 3108 .L159: 3109 180a 86E0 ldi r24,6 3110 180c 5595 1: asr r21 3111 180e 4795 ror r20 3112 1810 3795 ror r19 3113 1812 2795 ror r18 3114 1814 8A95 dec r24 3115 1816 01F4 brne 1b 3116 1818 8091 0000 lds r24,TrimNick 3117 181c 9091 0000 lds r25,(TrimNick)+1 3118 1820 821B sub r24,r18 3119 1822 930B sbc r25,r19 3120 .L174: 3121 1824 9093 0000 sts (TrimNick)+1,r25 3122 1828 8093 0000 sts TrimNick,r24 3123 182c 8091 0000 lds r24,Parameter_GlobalConfig 3124 1830 87FF sbrs r24,7 3125 1832 00C0 rjmp .L82 3126 1834 B989 ldd r27,Y+17 3127 1836 BB23 tst r27 3128 1838 01F0 breq .+2 3129 183a 00C0 rjmp .L82 3130 183c 8091 0000 lds r24,Looping_Roll 3131 1840 8823 tst r24 3132 1842 01F4 brne .L82 3133 1844 E1E0 ldi r30,lo8(257) 3134 1846 EE16 cp r14,r30 3135 1848 E1E0 ldi r30,hi8(257) 3136 184a FE06 cpc r15,r30 3137 184c 04F0 brlt .L161 3138 184e 8091 0000 lds r24,MesswertNick 3139 1852 9091 0000 lds r25,(MesswertNick)+1 3140 1856 8E0D add r24,r14 3141 1858 9F1D adc r25,r15 3142 185a 8050 subi r24,lo8(-(-256)) 3143 185c 9140 sbci r25,hi8(-(-256)) 3144 185e 00C0 rjmp .L175 3145 .L161: 3146 1860 F0E0 ldi r31,lo8(-256) 3147 1862 EF16 cp r14,r31 3148 1864 FFEF ldi r31,hi8(-256) 3149 1866 FF06 cpc r15,r31 3150 1868 04F4 brge .L162 3151 186a 8091 0000 lds r24,MesswertNick 3152 186e 9091 0000 lds r25,(MesswertNick)+1 3153 1872 8E0D add r24,r14 3154 1874 9F1D adc r25,r15 3155 1876 8050 subi r24,lo8(-(256)) 3156 1878 9F4F sbci r25,hi8(-(256)) 3157 .L175: 3158 187a 9093 0000 sts (MesswertNick)+1,r25 3159 187e 8093 0000 sts MesswertNick,r24 3160 .L162: 3161 1882 21E0 ldi r18,hi8(257) 3162 1884 0130 cpi r16,lo8(257) 3163 1886 1207 cpc r17,r18 3164 1888 04F0 brlt .L164 3165 188a 8091 0000 lds r24,MesswertRoll 3166 188e 9091 0000 lds r25,(MesswertRoll)+1 3167 1892 800F add r24,r16 3168 1894 911F adc r25,r17 3169 1896 8050 subi r24,lo8(-(-256)) 3170 1898 9140 sbci r25,hi8(-(-256)) 3171 189a 00C0 rjmp .L176 3172 .L164: 3173 189c 3FEF ldi r19,hi8(-256) 3174 189e 0030 cpi r16,lo8(-256) 3175 18a0 1307 cpc r17,r19 3176 18a2 04F4 brge .L82 3177 18a4 8091 0000 lds r24,MesswertRoll 3178 18a8 9091 0000 lds r25,(MesswertRoll)+1 3179 18ac 800F add r24,r16 3180 18ae 911F adc r25,r17 3181 18b0 8050 subi r24,lo8(-(256)) 3182 18b2 9F4F sbci r25,hi8(-(256)) 3183 .L176: 3184 18b4 9093 0000 sts (MesswertRoll)+1,r25 3185 18b8 8093 0000 sts MesswertRoll,r24 3186 .L82: 3187 /* epilogue: frame size=19 */ 3188 18bc E2E1 ldi r30,18 3189 18be CD5E subi r28,-19 3190 18c0 0C94 0000 jmp __epilogue_restores__+0 3191 /* epilogue end (size=4) */ 3192 /* function Mittelwert size 2000 (1990) */ 3194 .global SendMotorData 3196 SendMotorData: 3197 /* prologue: frame size=0 */ 3198 /* prologue end (size=0) */ 3199 18c4 8091 0000 lds r24,MotorenEin 3200 18c8 8823 tst r24 3201 18ca 01F4 brne .L178 3202 18cc 8091 0000 lds r24,FC_StatusFlags 3203 18d0 8C7F andi r24,lo8(-4) 3204 18d2 8093 0000 sts FC_StatusFlags,r24 3205 18d6 A0E0 ldi r26,lo8(MotorTest) 3206 18d8 B0E0 ldi r27,hi8(MotorTest) 3207 18da E0E0 ldi r30,lo8(Motor) 3208 18dc F0E0 ldi r31,hi8(Motor) 3209 18de 9BE0 ldi r25,lo8(11) 3210 .L183: 3211 18e0 8091 0000 lds r24,PC_MotortestActive 3212 18e4 8823 tst r24 3213 18e6 01F4 brne .L182 3214 18e8 8C93 st X,r24 3215 .L182: 3216 18ea 8D91 ld r24,X+ 3217 18ec 8183 std Z+1,r24 3218 18ee 1282 std Z+2,__zero_reg__ 3219 18f0 9150 subi r25,lo8(-(-1)) 3220 18f2 3896 adiw r30,8 3221 18f4 97FF sbrs r25,7 3222 18f6 00C0 rjmp .L183 3223 18f8 8091 0000 lds r24,PC_MotortestActive 3224 18fc 8823 tst r24 3225 18fe 01F0 breq .L185 3226 1900 8091 0000 lds r24,PC_MotortestActive 3227 1904 8150 subi r24,lo8(-(-1)) 3228 1906 8093 0000 sts PC_MotortestActive,r24 3229 190a 00C0 rjmp .L185 3230 .L178: 3231 190c 8091 0000 lds r24,FC_StatusFlags 3232 1910 8160 ori r24,lo8(1) 3233 1912 8093 0000 sts FC_StatusFlags,r24 3234 .L185: 3235 1916 8091 0000 lds r24,I2C_TransferActive 3236 191a 8823 tst r24 3237 191c 01F0 breq .L186 3238 191e 1092 0000 sts I2C_TransferActive,__zero_reg__ 3239 1922 0895 ret 3240 .L186: 3241 1924 8093 0000 sts motor_write,r24 3242 1928 8093 0000 sts twi_state,r24 3243 192c 8091 0000 lds r24,BLFlags 3244 1930 8E7F andi r24,lo8(-2) 3245 1932 8093 0000 sts BLFlags,r24 3246 1936 85EA ldi r24,lo8(-91) 3247 1938 8093 BC00 sts 188,r24 3248 193c 0895 ret 3249 /* epilogue: frame size=0 */ 3250 /* epilogue: noreturn */ 3251 /* epilogue end (size=0) */ 3252 /* function SendMotorData size 61 (61) */ 3254 .global ParameterZuordnung 3256 ParameterZuordnung: 3257 /* prologue: frame size=0 */ 3258 193e CF93 push r28 3259 1940 DF93 push r29 3260 /* prologue end (size=2) */ 3261 1942 A0E0 ldi r26,lo8(Poti) 3262 1944 B0E0 ldi r27,hi8(Poti) 3263 1946 C0E0 ldi r28,lo8(EE_Parameter+5) 3264 1948 D0E0 ldi r29,hi8(EE_Parameter+5) 3265 194a 57E0 ldi r21,lo8(7) 3266 .L203: 3267 194c 9991 ld r25,Y+ 3268 194e E92F mov r30,r25 3269 1950 FF27 clr r31 3270 1952 EE0F add r30,r30 3271 1954 FF1F adc r31,r31 3272 1956 E050 subi r30,lo8(-(PPM_in)) 3273 1958 F040 sbci r31,hi8(-(PPM_in)) 3274 195a 0190 ld __tmp_reg__,Z+ 3275 195c F081 ld r31,Z 3276 195e E02D mov r30,__tmp_reg__ 3277 1960 E158 subi r30,lo8(-(127)) 3278 1962 FF4F sbci r31,hi8(-(127)) 3279 1964 EF3F cpi r30,255 3280 1966 F105 cpc r31,__zero_reg__ 3281 1968 01F0 breq .L194 3282 196a 04F0 brlt .L194 3283 196c EFEF ldi r30,lo8(255) 3284 196e F0E0 ldi r31,hi8(255) 3285 1970 00C0 rjmp .L195 3286 .L194: 3287 1972 F7FF sbrs r31,7 3288 1974 00C0 rjmp .L195 3289 1976 E0E0 ldi r30,lo8(0) 3290 1978 F0E0 ldi r31,hi8(0) 3291 .L195: 3292 197a 9931 cpi r25,lo8(25) 3293 197c 01F4 brne .L197 3294 197e EC93 st X,r30 3295 1980 00C0 rjmp .L193 3296 .L197: 3297 1982 4C91 ld r20,X 3298 1984 242F mov r18,r20 3299 1986 3327 clr r19 3300 1988 E217 cp r30,r18 3301 198a F307 cpc r31,r19 3302 198c 01F0 breq .L193 3303 198e CF01 movw r24,r30 3304 1990 821B sub r24,r18 3305 1992 930B sbc r25,r19 3306 1994 97FD sbrc r25,7 3307 1996 0396 adiw r24,3 3308 .L200: 3309 1998 9595 asr r25 3310 199a 8795 ror r24 3311 199c 9595 asr r25 3312 199e 8795 ror r24 3313 19a0 242F mov r18,r20 3314 19a2 280F add r18,r24 3315 19a4 2C93 st X,r18 3316 19a6 822F mov r24,r18 3317 19a8 9927 clr r25 3318 19aa E817 cp r30,r24 3319 19ac F907 cpc r31,r25 3320 19ae 04F4 brge .L201 3321 19b0 2150 subi r18,lo8(-(-1)) 3322 19b2 00C0 rjmp .L323 3323 .L201: 3324 19b4 2F5F subi r18,lo8(-(1)) 3325 .L323: 3326 19b6 2C93 st X,r18 3327 .L193: 3328 19b8 5150 subi r21,lo8(-(-1)) 3329 19ba 1196 adiw r26,1 3330 19bc 57FF sbrs r21,7 3331 19be 00C0 rjmp .L203 3332 19c0 8091 0000 lds r24,EE_Parameter+15 3333 19c4 883F cpi r24,lo8(-8) 3334 19c6 00F0 brlo .L324 3335 19c8 EFEF ldi r30,lo8(255) 3336 19ca F0E0 ldi r31,hi8(255) 3337 19cc E81B sub r30,r24 3338 19ce F109 sbc r31,__zero_reg__ 3339 19d0 E050 subi r30,lo8(-(Poti)) 3340 19d2 F040 sbci r31,hi8(-(Poti)) 3341 19d4 8081 ld r24,Z 3342 .L324: 3343 19d6 8093 0000 sts Parameter_Luftdruck_D,r24 3344 19da 8091 0000 lds r24,Parameter_Luftdruck_D 3345 19de 8823 tst r24 3346 19e0 01F0 breq .L207 3347 19e2 8436 cpi r24,lo8(100) 3348 19e4 00F0 brlo .L207 3349 19e6 84E6 ldi r24,lo8(100) 3350 19e8 8093 0000 sts Parameter_Luftdruck_D,r24 3351 .L207: 3352 19ec 8091 0000 lds r24,EE_Parameter+17 3353 19f0 883F cpi r24,lo8(-8) 3354 19f2 00F0 brlo .L325 3355 19f4 EFEF ldi r30,lo8(255) 3356 19f6 F0E0 ldi r31,hi8(255) 3357 19f8 E81B sub r30,r24 3358 19fa F109 sbc r31,__zero_reg__ 3359 19fc E050 subi r30,lo8(-(Poti)) 3360 19fe F040 sbci r31,hi8(-(Poti)) 3361 1a00 8081 ld r24,Z 3362 .L325: 3363 1a02 8093 0000 sts Parameter_Hoehe_P,r24 3364 1a06 8091 0000 lds r24,Parameter_Hoehe_P 3365 1a0a 8823 tst r24 3366 1a0c 01F0 breq .L212 3367 1a0e 8436 cpi r24,lo8(100) 3368 1a10 00F0 brlo .L212 3369 1a12 84E6 ldi r24,lo8(100) 3370 1a14 8093 0000 sts Parameter_Hoehe_P,r24 3371 .L212: 3372 1a18 8091 0000 lds r24,EE_Parameter+30 3373 1a1c 883F cpi r24,lo8(-8) 3374 1a1e 00F0 brlo .L326 3375 1a20 EFEF ldi r30,lo8(255) 3376 1a22 F0E0 ldi r31,hi8(255) 3377 1a24 E81B sub r30,r24 3378 1a26 F109 sbc r31,__zero_reg__ 3379 1a28 E050 subi r30,lo8(-(Poti)) 3380 1a2a F040 sbci r31,hi8(-(Poti)) 3381 1a2c 8081 ld r24,Z 3382 .L326: 3383 1a2e 8093 0000 sts Parameter_Gyro_P,r24 3384 1a32 8091 0000 lds r24,Parameter_Gyro_P 3385 1a36 8B30 cpi r24,lo8(11) 3386 1a38 00F4 brsh .L216 3387 1a3a 8AE0 ldi r24,lo8(10) 3388 1a3c 00C0 rjmp .L327 3389 .L216: 3390 1a3e 8F3F cpi r24,lo8(-1) 3391 1a40 01F4 brne .L217 3392 .L327: 3393 1a42 8093 0000 sts Parameter_Gyro_P,r24 3394 .L217: 3395 1a46 8091 0000 lds r24,EE_Parameter+75 3396 1a4a 883F cpi r24,lo8(-8) 3397 1a4c 00F0 brlo .L328 3398 1a4e EFEF ldi r30,lo8(255) 3399 1a50 F0E0 ldi r31,hi8(255) 3400 1a52 E81B sub r30,r24 3401 1a54 F109 sbc r31,__zero_reg__ 3402 1a56 E050 subi r30,lo8(-(Poti)) 3403 1a58 F040 sbci r31,hi8(-(Poti)) 3404 1a5a 8081 ld r24,Z 3405 .L328: 3406 1a5c 8093 0000 sts Parameter_J16Timing,r24 3407 1a60 8091 0000 lds r24,Parameter_J16Timing 3408 1a64 8630 cpi r24,lo8(6) 3409 1a66 00F4 brsh .L221 3410 1a68 85E0 ldi r24,lo8(5) 3411 1a6a 00C0 rjmp .L329 3412 .L221: 3413 1a6c 8F3F cpi r24,lo8(-1) 3414 1a6e 01F4 brne .L222 3415 .L329: 3416 1a70 8093 0000 sts Parameter_J16Timing,r24 3417 .L222: 3418 1a74 8091 0000 lds r24,EE_Parameter+77 3419 1a78 883F cpi r24,lo8(-8) 3420 1a7a 00F0 brlo .L330 3421 1a7c EFEF ldi r30,lo8(255) 3422 1a7e F0E0 ldi r31,hi8(255) 3423 1a80 E81B sub r30,r24 3424 1a82 F109 sbc r31,__zero_reg__ 3425 1a84 E050 subi r30,lo8(-(Poti)) 3426 1a86 F040 sbci r31,hi8(-(Poti)) 3427 1a88 8081 ld r24,Z 3428 .L330: 3429 1a8a 8093 0000 sts Parameter_J17Timing,r24 3430 1a8e 8091 0000 lds r24,Parameter_J17Timing 3431 1a92 8630 cpi r24,lo8(6) 3432 1a94 00F4 brsh .L226 3433 1a96 85E0 ldi r24,lo8(5) 3434 1a98 00C0 rjmp .L331 3435 .L226: 3436 1a9a 8F3F cpi r24,lo8(-1) 3437 1a9c 01F4 brne .L227 3438 .L331: 3439 1a9e 8093 0000 sts Parameter_J17Timing,r24 3440 .L227: 3441 1aa2 8091 0000 lds r24,EE_Parameter+56 3442 1aa6 873F cpi r24,lo8(-9) 3443 1aa8 01F4 brne .L229 3444 1aaa 4299 sbic 40-0x20,2 3445 1aac 00C0 rjmp .L362 3446 1aae 00C0 rjmp .L234 3447 .L229: 3448 1ab0 863F cpi r24,lo8(-10) 3449 1ab2 01F4 brne .L233 3450 1ab4 439B sbis 40-0x20,3 3451 1ab6 00C0 rjmp .L234 3452 .L362: 3453 1ab8 8CE8 ldi r24,lo8(-116) 3454 1aba 00C0 rjmp .L332 3455 .L234: 3456 1abc 86E4 ldi r24,lo8(70) 3457 1abe 00C0 rjmp .L332 3458 .L233: 3459 1ac0 883F cpi r24,lo8(-8) 3460 1ac2 00F0 brlo .L332 3461 1ac4 EFEF ldi r30,lo8(255) 3462 1ac6 F0E0 ldi r31,hi8(255) 3463 1ac8 E81B sub r30,r24 3464 1aca F109 sbc r31,__zero_reg__ 3465 1acc E050 subi r30,lo8(-(Poti)) 3466 1ace F040 sbci r31,hi8(-(Poti)) 3467 1ad0 8081 ld r24,Z 3468 .L332: 3469 1ad2 8093 0000 sts Parameter_Servo3,r24 3470 1ad6 8091 0000 lds r24,EE_Parameter+57 3471 1ada 873F cpi r24,lo8(-9) 3472 1adc 01F4 brne .L239 3473 1ade 4299 sbic 40-0x20,2 3474 1ae0 00C0 rjmp .L363 3475 1ae2 00C0 rjmp .L244 3476 .L239: 3477 1ae4 863F cpi r24,lo8(-10) 3478 1ae6 01F4 brne .L243 3479 1ae8 439B sbis 40-0x20,3 3480 1aea 00C0 rjmp .L244 3481 .L363: 3482 1aec 8CE8 ldi r24,lo8(-116) 3483 1aee 00C0 rjmp .L333 3484 .L244: 3485 1af0 86E4 ldi r24,lo8(70) 3486 1af2 00C0 rjmp .L333 3487 .L243: 3488 1af4 883F cpi r24,lo8(-8) 3489 1af6 00F0 brlo .L333 3490 1af8 EFEF ldi r30,lo8(255) 3491 1afa F0E0 ldi r31,hi8(255) 3492 1afc E81B sub r30,r24 3493 1afe F109 sbc r31,__zero_reg__ 3494 1b00 E050 subi r30,lo8(-(Poti)) 3495 1b02 F040 sbci r31,hi8(-(Poti)) 3496 1b04 8081 ld r24,Z 3497 .L333: 3498 1b06 8093 0000 sts Parameter_Servo4,r24 3499 1b0a 8091 0000 lds r24,EE_Parameter+58 3500 1b0e 883F cpi r24,lo8(-8) 3501 1b10 00F0 brlo .L334 3502 1b12 EFEF ldi r30,lo8(255) 3503 1b14 F0E0 ldi r31,hi8(255) 3504 1b16 E81B sub r30,r24 3505 1b18 F109 sbc r31,__zero_reg__ 3506 1b1a E050 subi r30,lo8(-(Poti)) 3507 1b1c F040 sbci r31,hi8(-(Poti)) 3508 1b1e 8081 ld r24,Z 3509 .L334: 3510 1b20 8093 0000 sts Parameter_Servo5,r24 3511 1b24 8091 0000 lds r24,EE_Parameter+16 3512 1b28 883F cpi r24,lo8(-8) 3513 1b2a 00F0 brlo .L335 3514 1b2c EFEF ldi r30,lo8(255) 3515 1b2e F0E0 ldi r31,hi8(255) 3516 1b30 E81B sub r30,r24 3517 1b32 F109 sbc r31,__zero_reg__ 3518 1b34 E050 subi r30,lo8(-(Poti)) 3519 1b36 F040 sbci r31,hi8(-(Poti)) 3520 1b38 8081 ld r24,Z 3521 .L335: 3522 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24 3523 1b3e 8091 0000 lds r24,EE_Parameter+19 3524 1b42 883F cpi r24,lo8(-8) 3525 1b44 00F0 brlo .L336 3526 1b46 EFEF ldi r30,lo8(255) 3527 1b48 F0E0 ldi r31,hi8(255) 3528 1b4a E81B sub r30,r24 3529 1b4c F109 sbc r31,__zero_reg__ 3530 1b4e E050 subi r30,lo8(-(Poti)) 3531 1b50 F040 sbci r31,hi8(-(Poti)) 3532 1b52 8081 ld r24,Z 3533 .L336: 3534 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 3535 1b58 8091 0000 lds r24,EE_Parameter+21 3536 1b5c 883F cpi r24,lo8(-8) 3537 1b5e 00F0 brlo .L337 3538 1b60 EFEF ldi r30,lo8(255) 3539 1b62 F0E0 ldi r31,hi8(255) 3540 1b64 E81B sub r30,r24 3541 1b66 F109 sbc r31,__zero_reg__ 3542 1b68 E050 subi r30,lo8(-(Poti)) 3543 1b6a F040 sbci r31,hi8(-(Poti)) 3544 1b6c 8081 ld r24,Z 3545 .L337: 3546 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 3547 1b72 8091 0000 lds r24,EE_Parameter+29 3548 1b76 883F cpi r24,lo8(-8) 3549 1b78 00F0 brlo .L338 3550 1b7a EFEF ldi r30,lo8(255) 3551 1b7c F0E0 ldi r31,hi8(255) 3552 1b7e E81B sub r30,r24 3553 1b80 F109 sbc r31,__zero_reg__ 3554 1b82 E050 subi r30,lo8(-(Poti)) 3555 1b84 F040 sbci r31,hi8(-(Poti)) 3556 1b86 8081 ld r24,Z 3557 .L338: 3558 1b88 8093 0000 sts Parameter_KompassWirkung,r24 3559 1b8c 8091 0000 lds r24,EE_Parameter+31 3560 1b90 883F cpi r24,lo8(-8) 3561 1b92 00F0 brlo .L339 3562 1b94 EFEF ldi r30,lo8(255) 3563 1b96 F0E0 ldi r31,hi8(255) 3564 1b98 E81B sub r30,r24 3565 1b9a F109 sbc r31,__zero_reg__ 3566 1b9c E050 subi r30,lo8(-(Poti)) 3567 1b9e F040 sbci r31,hi8(-(Poti)) 3568 1ba0 8081 ld r24,Z 3569 .L339: 3570 1ba2 8093 0000 sts Parameter_Gyro_I,r24 3571 1ba6 8091 0000 lds r24,EE_Parameter+32 3572 1baa 883F cpi r24,lo8(-8) 3573 1bac 00F0 brlo .L340 3574 1bae EFEF ldi r30,lo8(255) 3575 1bb0 F0E0 ldi r31,hi8(255) 3576 1bb2 E81B sub r30,r24 3577 1bb4 F109 sbc r31,__zero_reg__ 3578 1bb6 E050 subi r30,lo8(-(Poti)) 3579 1bb8 F040 sbci r31,hi8(-(Poti)) 3580 1bba 8081 ld r24,Z 3581 .L340: 3582 1bbc 8093 0000 sts Parameter_Gyro_D,r24 3583 1bc0 8091 0000 lds r24,EE_Parameter+33 3584 1bc4 883F cpi r24,lo8(-8) 3585 1bc6 00F0 brlo .L341 3586 1bc8 EFEF ldi r30,lo8(255) 3587 1bca F0E0 ldi r31,hi8(255) 3588 1bcc E81B sub r30,r24 3589 1bce F109 sbc r31,__zero_reg__ 3590 1bd0 E050 subi r30,lo8(-(Poti)) 3591 1bd2 F040 sbci r31,hi8(-(Poti)) 3592 1bd4 8081 ld r24,Z 3593 .L341: 3594 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24 3595 1bda 8091 0000 lds r24,EE_Parameter+34 3596 1bde 883F cpi r24,lo8(-8) 3597 1be0 00F0 brlo .L342 3598 1be2 EFEF ldi r30,lo8(255) 3599 1be4 F0E0 ldi r31,hi8(255) 3600 1be6 E81B sub r30,r24 3601 1be8 F109 sbc r31,__zero_reg__ 3602 1bea E050 subi r30,lo8(-(Poti)) 3603 1bec F040 sbci r31,hi8(-(Poti)) 3604 1bee 8081 ld r24,Z 3605 .L342: 3606 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24 3607 1bf4 8091 0000 lds r24,EE_Parameter+40 3608 1bf8 883F cpi r24,lo8(-8) 3609 1bfa 00F0 brlo .L343 3610 1bfc EFEF ldi r30,lo8(255) 3611 1bfe F0E0 ldi r31,hi8(255) 3612 1c00 E81B sub r30,r24 3613 1c02 F109 sbc r31,__zero_reg__ 3614 1c04 E050 subi r30,lo8(-(Poti)) 3615 1c06 F040 sbci r31,hi8(-(Poti)) 3616 1c08 8081 ld r24,Z 3617 .L343: 3618 1c0a 8093 0000 sts Parameter_I_Faktor,r24 3619 1c0e 8091 0000 lds r24,EE_Parameter+41 3620 1c12 883F cpi r24,lo8(-8) 3621 1c14 00F0 brlo .L344 3622 1c16 EFEF ldi r30,lo8(255) 3623 1c18 F0E0 ldi r31,hi8(255) 3624 1c1a E81B sub r30,r24 3625 1c1c F109 sbc r31,__zero_reg__ 3626 1c1e E050 subi r30,lo8(-(Poti)) 3627 1c20 F040 sbci r31,hi8(-(Poti)) 3628 1c22 8081 ld r24,Z 3629 .L344: 3630 1c24 8093 0000 sts Parameter_UserParam1,r24 3631 1c28 8091 0000 lds r24,EE_Parameter+42 3632 1c2c 883F cpi r24,lo8(-8) 3633 1c2e 00F0 brlo .L345 3634 1c30 EFEF ldi r30,lo8(255) 3635 1c32 F0E0 ldi r31,hi8(255) 3636 1c34 E81B sub r30,r24 3637 1c36 F109 sbc r31,__zero_reg__ 3638 1c38 E050 subi r30,lo8(-(Poti)) 3639 1c3a F040 sbci r31,hi8(-(Poti)) 3640 1c3c 8081 ld r24,Z 3641 .L345: 3642 1c3e 8093 0000 sts Parameter_UserParam2,r24 3643 1c42 8091 0000 lds r24,EE_Parameter+43 3644 1c46 883F cpi r24,lo8(-8) 3645 1c48 00F0 brlo .L346 3646 1c4a EFEF ldi r30,lo8(255) 3647 1c4c F0E0 ldi r31,hi8(255) 3648 1c4e E81B sub r30,r24 3649 1c50 F109 sbc r31,__zero_reg__ 3650 1c52 E050 subi r30,lo8(-(Poti)) 3651 1c54 F040 sbci r31,hi8(-(Poti)) 3652 1c56 8081 ld r24,Z 3653 .L346: 3654 1c58 8093 0000 sts Parameter_UserParam3,r24 3655 1c5c 8091 0000 lds r24,EE_Parameter+44 3656 1c60 883F cpi r24,lo8(-8) 3657 1c62 00F0 brlo .L347 3658 1c64 EFEF ldi r30,lo8(255) 3659 1c66 F0E0 ldi r31,hi8(255) 3660 1c68 E81B sub r30,r24 3661 1c6a F109 sbc r31,__zero_reg__ 3662 1c6c E050 subi r30,lo8(-(Poti)) 3663 1c6e F040 sbci r31,hi8(-(Poti)) 3664 1c70 8081 ld r24,Z 3665 .L347: 3666 1c72 8093 0000 sts Parameter_UserParam4,r24 3667 1c76 8091 0000 lds r24,EE_Parameter+70 3668 1c7a 883F cpi r24,lo8(-8) 3669 1c7c 00F0 brlo .L348 3670 1c7e EFEF ldi r30,lo8(255) 3671 1c80 F0E0 ldi r31,hi8(255) 3672 1c82 E81B sub r30,r24 3673 1c84 F109 sbc r31,__zero_reg__ 3674 1c86 E050 subi r30,lo8(-(Poti)) 3675 1c88 F040 sbci r31,hi8(-(Poti)) 3676 1c8a 8081 ld r24,Z 3677 .L348: 3678 1c8c 8093 0000 sts Parameter_UserParam5,r24 3679 1c90 8091 0000 lds r24,EE_Parameter+71 3680 1c94 883F cpi r24,lo8(-8) 3681 1c96 00F0 brlo .L349 3682 1c98 EFEF ldi r30,lo8(255) 3683 1c9a F0E0 ldi r31,hi8(255) 3684 1c9c E81B sub r30,r24 3685 1c9e F109 sbc r31,__zero_reg__ 3686 1ca0 E050 subi r30,lo8(-(Poti)) 3687 1ca2 F040 sbci r31,hi8(-(Poti)) 3688 1ca4 8081 ld r24,Z 3689 .L349: 3690 1ca6 8093 0000 sts Parameter_UserParam6,r24 3691 1caa 8091 0000 lds r24,EE_Parameter+72 3692 1cae 883F cpi r24,lo8(-8) 3693 1cb0 00F0 brlo .L350 3694 1cb2 EFEF ldi r30,lo8(255) 3695 1cb4 F0E0 ldi r31,hi8(255) 3696 1cb6 E81B sub r30,r24 3697 1cb8 F109 sbc r31,__zero_reg__ 3698 1cba E050 subi r30,lo8(-(Poti)) 3699 1cbc F040 sbci r31,hi8(-(Poti)) 3700 1cbe 8081 ld r24,Z 3701 .L350: 3702 1cc0 8093 0000 sts Parameter_UserParam7,r24 3703 1cc4 8091 0000 lds r24,EE_Parameter+73 3704 1cc8 883F cpi r24,lo8(-8) 3705 1cca 00F0 brlo .L351 3706 1ccc EFEF ldi r30,lo8(255) 3707 1cce F0E0 ldi r31,hi8(255) 3708 1cd0 E81B sub r30,r24 3709 1cd2 F109 sbc r31,__zero_reg__ 3710 1cd4 E050 subi r30,lo8(-(Poti)) 3711 1cd6 F040 sbci r31,hi8(-(Poti)) 3712 1cd8 8081 ld r24,Z 3713 .L351: 3714 1cda 8093 0000 sts Parameter_UserParam8,r24 3715 1cde 8091 0000 lds r24,EE_Parameter+45 3716 1ce2 883F cpi r24,lo8(-8) 3717 1ce4 00F0 brlo .L352 3718 1ce6 EFEF ldi r30,lo8(255) 3719 1ce8 F0E0 ldi r31,hi8(255) 3720 1cea E81B sub r30,r24 3721 1cec F109 sbc r31,__zero_reg__ 3722 1cee E050 subi r30,lo8(-(Poti)) 3723 1cf0 F040 sbci r31,hi8(-(Poti)) 3724 1cf2 8081 ld r24,Z 3725 .L352: 3726 1cf4 8093 0000 sts Parameter_ServoNickControl,r24 3727 1cf8 8091 0000 lds r24,EE_Parameter+49 3728 1cfc 883F cpi r24,lo8(-8) 3729 1cfe 00F0 brlo .L353 3730 1d00 EFEF ldi r30,lo8(255) 3731 1d02 F0E0 ldi r31,hi8(255) 3732 1d04 E81B sub r30,r24 3733 1d06 F109 sbc r31,__zero_reg__ 3734 1d08 E050 subi r30,lo8(-(Poti)) 3735 1d0a F040 sbci r31,hi8(-(Poti)) 3736 1d0c 8081 ld r24,Z 3737 .L353: 3738 1d0e 8093 0000 sts Parameter_ServoRollControl,r24 3739 1d12 8091 0000 lds r24,EE_Parameter+59 3740 1d16 883F cpi r24,lo8(-8) 3741 1d18 00F0 brlo .L354 3742 1d1a EFEF ldi r30,lo8(255) 3743 1d1c F0E0 ldi r31,hi8(255) 3744 1d1e E81B sub r30,r24 3745 1d20 F109 sbc r31,__zero_reg__ 3746 1d22 E050 subi r30,lo8(-(Poti)) 3747 1d24 F040 sbci r31,hi8(-(Poti)) 3748 1d26 8081 ld r24,Z 3749 .L354: 3750 1d28 8093 0000 sts Parameter_LoopGasLimit,r24 3751 1d2c 8091 0000 lds r24,EE_Parameter+62 3752 1d30 883F cpi r24,lo8(-8) 3753 1d32 00F0 brlo .L355 3754 1d34 EFEF ldi r30,lo8(255) 3755 1d36 F0E0 ldi r31,hi8(255) 3756 1d38 E81B sub r30,r24 3757 1d3a F109 sbc r31,__zero_reg__ 3758 1d3c E050 subi r30,lo8(-(Poti)) 3759 1d3e F040 sbci r31,hi8(-(Poti)) 3760 1d40 8081 ld r24,Z 3761 .L355: 3762 1d42 8093 0000 sts Parameter_AchsKopplung1,r24 3763 1d46 8091 0000 lds r24,EE_Parameter+63 3764 1d4a 883F cpi r24,lo8(-8) 3765 1d4c 00F0 brlo .L356 3766 1d4e EFEF ldi r30,lo8(255) 3767 1d50 F0E0 ldi r31,hi8(255) 3768 1d52 E81B sub r30,r24 3769 1d54 F109 sbc r31,__zero_reg__ 3770 1d56 E050 subi r30,lo8(-(Poti)) 3771 1d58 F040 sbci r31,hi8(-(Poti)) 3772 1d5a 8081 ld r24,Z 3773 .L356: 3774 1d5c 8093 0000 sts Parameter_AchsKopplung2,r24 3775 1d60 8091 0000 lds r24,EE_Parameter+64 3776 1d64 883F cpi r24,lo8(-8) 3777 1d66 00F0 brlo .L357 3778 1d68 EFEF ldi r30,lo8(255) 3779 1d6a F0E0 ldi r31,hi8(255) 3780 1d6c E81B sub r30,r24 3781 1d6e F109 sbc r31,__zero_reg__ 3782 1d70 E050 subi r30,lo8(-(Poti)) 3783 1d72 F040 sbci r31,hi8(-(Poti)) 3784 1d74 8081 ld r24,Z 3785 .L357: 3786 1d76 8093 0000 sts Parameter_CouplingYawCorrection,r24 3787 1d7a 8091 0000 lds r24,EE_Parameter+104 3788 1d7e 883F cpi r24,lo8(-8) 3789 1d80 00F0 brlo .L358 3790 1d82 EFEF ldi r30,lo8(255) 3791 1d84 F0E0 ldi r31,hi8(255) 3792 1d86 E81B sub r30,r24 3793 1d88 F109 sbc r31,__zero_reg__ 3794 1d8a E050 subi r30,lo8(-(Poti)) 3795 1d8c F040 sbci r31,hi8(-(Poti)) 3796 1d8e 8081 ld r24,Z 3797 .L358: 3798 1d90 8093 0000 sts Parameter_MaximumAltitude,r24 3799 1d94 9091 0000 lds r25,NC_To_FC_MaxAltitude 3800 1d98 9923 tst r25 3801 1d9a 01F0 breq .L301 3802 1d9c 8091 0000 lds r24,Parameter_MaximumAltitude 3803 1da0 9817 cp r25,r24 3804 1da2 00F0 brlo .L300 3805 .L301: 3806 1da4 8091 0000 lds r24,Parameter_MaximumAltitude 3807 1da8 8823 tst r24 3808 1daa 01F4 brne .L299 3809 .L300: 3810 1dac 9093 0000 sts Parameter_MaximumAltitude,r25 3811 .L299: 3812 1db0 8091 0000 lds r24,EE_Parameter+13 3813 1db4 8093 0000 sts Parameter_GlobalConfig,r24 3814 1db8 8091 0000 lds r24,EE_Parameter+110 3815 1dbc 8093 0000 sts Parameter_ExtraConfig,r24 3816 1dc0 8091 0000 lds r24,EE_Parameter+69 3817 1dc4 883F cpi r24,lo8(-8) 3818 1dc6 00F0 brlo .L359 3819 1dc8 EFEF ldi r30,lo8(255) 3820 1dca F0E0 ldi r31,hi8(255) 3821 1dcc E81B sub r30,r24 3822 1dce F109 sbc r31,__zero_reg__ 3823 1dd0 E050 subi r30,lo8(-(Poti)) 3824 1dd2 F040 sbci r31,hi8(-(Poti)) 3825 1dd4 8081 ld r24,Z 3826 .L359: 3827 1dd6 8093 0000 sts Parameter_DynamicStability,r24 3828 1dda 8091 0000 lds r24,EE_Parameter+97 3829 1dde 883F cpi r24,lo8(-8) 3830 1de0 00F0 brlo .L360 3831 1de2 EFEF ldi r30,lo8(255) 3832 1de4 F0E0 ldi r31,hi8(255) 3833 1de6 E81B sub r30,r24 3834 1de8 F109 sbc r31,__zero_reg__ 3835 1dea E050 subi r30,lo8(-(Poti)) 3836 1dec F040 sbci r31,hi8(-(Poti)) 3837 1dee 8081 ld r24,Z 3838 .L360: 3839 1df0 8093 0000 sts Parameter_ExternalControl,r24 3840 1df4 8091 0000 lds r24,Parameter_I_Faktor 3841 1df8 282F mov r18,r24 3842 1dfa 3327 clr r19 3843 1dfc 2F5F subi r18,lo8(-(1)) 3844 1dfe 3F4F sbci r19,hi8(-(1)) 3845 1e00 8CE3 ldi r24,lo8(10300) 3846 1e02 98E2 ldi r25,hi8(10300) 3847 1e04 B901 movw r22,r18 3848 1e06 0E94 0000 call __divmodhi4 3849 1e0a 7093 0000 sts (Ki)+1,r23 3850 1e0e 6093 0000 sts Ki,r22 3851 1e12 8091 0000 lds r24,EE_Parameter+27 3852 1e16 8093 0000 sts MAX_GAS,r24 3853 1e1a 8091 0000 lds r24,EE_Parameter+26 3854 1e1e 8093 0000 sts MIN_GAS,r24 3855 1e22 9091 0000 lds r25,EE_Parameter+99 3856 1e26 9333 cpi r25,lo8(51) 3857 1e28 00F4 brsh .+2 3858 1e2a 00C0 rjmp .L306 3859 1e2c 81E0 ldi r24,lo8(1) 3860 1e2e 8093 0000 sts CareFree,r24 3861 1e32 983F cpi r25,lo8(-8) 3862 1e34 00F0 brlo .L307 3863 1e36 EFEF ldi r30,lo8(255) 3864 1e38 F0E0 ldi r31,hi8(255) 3865 1e3a E91B sub r30,r25 3866 1e3c F109 sbc r31,__zero_reg__ 3867 1e3e E050 subi r30,lo8(-(Poti)) 3868 1e40 F040 sbci r31,hi8(-(Poti)) 3869 1e42 8081 ld r24,Z 3870 1e44 8233 cpi r24,lo8(50) 3871 1e46 00F4 brsh .L307 3872 1e48 1092 0000 sts CareFree,__zero_reg__ 3873 .L307: 3874 1e4c 8091 0000 lds r24,carefree_old 3875 1e50 2091 0000 lds r18,CareFree 3876 1e54 8217 cp r24,r18 3877 1e56 01F0 breq .L308 3878 1e58 8330 cpi r24,lo8(3) 3879 1e5a 00F4 brsh .L309 3880 1e5c 3091 0000 lds r19,SpeakHoTT 3881 1e60 2223 tst r18 3882 1e62 01F0 breq .L310 3883 1e64 8CED ldi r24,lo8(1500) 3884 1e66 95E0 ldi r25,hi8(1500) 3885 1e68 9093 0000 sts (beeptime)+1,r25 3886 1e6c 8093 0000 sts beeptime,r24 3887 1e70 3323 tst r19 3888 1e72 01F4 brne .L312 3889 1e74 8EE2 ldi r24,lo8(46) 3890 1e76 00C0 rjmp .L361 3891 .L310: 3892 1e78 88EC ldi r24,lo8(200) 3893 1e7a 90E0 ldi r25,hi8(200) 3894 1e7c 9093 0000 sts (beeptime)+1,r25 3895 1e80 8093 0000 sts beeptime,r24 3896 1e84 3323 tst r19 3897 1e86 01F4 brne .L312 3898 1e88 87E1 ldi r24,lo8(23) 3899 .L361: 3900 1e8a 8093 0000 sts SpeakHoTT,r24 3901 .L312: 3902 1e8e 85E0 ldi r24,lo8(5) 3903 1e90 8093 0000 sts NeueKompassRichtungMerken,r24 3904 1e94 2093 0000 sts carefree_old,r18 3905 1e98 00C0 rjmp .L308 3906 .L309: 3907 1e9a 8150 subi r24,lo8(-(-1)) 3908 1e9c 8093 0000 sts carefree_old,r24 3909 .L308: 3910 1ea0 8091 0000 lds r24,FromNaviCtrl+7 3911 1ea4 9091 0000 lds r25,(FromNaviCtrl+7)+1 3912 1ea8 97FF sbrs r25,7 3913 1eaa 00C0 rjmp .L316 3914 1eac 8091 0000 lds r24,CareFree 3915 1eb0 8823 tst r24 3916 1eb2 01F0 breq .L316 3917 1eb4 8091 0000 lds r24,VersionInfo+5 3918 1eb8 8068 ori r24,lo8(-128) 3919 1eba 8093 0000 sts VersionInfo+5,r24 3920 1ebe 00C0 rjmp .L316 3921 .L306: 3922 1ec0 1092 0000 sts CareFree,__zero_reg__ 3923 1ec4 8AE0 ldi r24,lo8(10) 3924 1ec6 8093 0000 sts carefree_old,r24 3925 .L316: 3926 1eca 8091 0000 lds r24,FromNaviCtrl+7 3927 1ece 9091 0000 lds r25,(FromNaviCtrl+7)+1 3928 1ed2 97FF sbrs r25,7 3929 1ed4 00C0 rjmp .L317 3930 1ed6 8091 0000 lds r24,MotorenEin 3931 1eda 8823 tst r24 3932 1edc 01F0 breq .L317 3933 1ede 8091 0000 lds r24,CareFree 3934 1ee2 8823 tst r24 3935 1ee4 01F0 breq .L317 3936 1ee6 8091 0000 lds r24,BeepMuster 3937 1eea 9091 0000 lds r25,(BeepMuster)+1 3938 1eee 8F5F subi r24,lo8(-1) 3939 1ef0 9F4F sbci r25,hi8(-1) 3940 1ef2 01F4 brne .L317 3941 1ef4 88E9 ldi r24,lo8(15000) 3942 1ef6 9AE3 ldi r25,hi8(15000) 3943 1ef8 9093 0000 sts (beeptime)+1,r25 3944 1efc 8093 0000 sts beeptime,r24 3945 1f00 80E0 ldi r24,lo8(-23552) 3946 1f02 94EA ldi r25,hi8(-23552) 3947 1f04 9093 0000 sts (BeepMuster)+1,r25 3948 1f08 8093 0000 sts BeepMuster,r24 3949 1f0c 1092 0000 sts CareFree,__zero_reg__ 3950 .L317: 3951 1f10 8091 0000 lds r24,CareFree 3952 1f14 8823 tst r24 3953 1f16 01F0 breq .L318 3954 1f18 8091 0000 lds r24,FC_StatusFlags2 3955 1f1c 8160 ori r24,lo8(1) 3956 1f1e 8093 0000 sts FC_StatusFlags2,r24 3957 1f22 8091 0000 lds r24,Parameter_AchsKopplung1 3958 1f26 823D cpi r24,lo8(-46) 3959 1f28 00F4 brsh .L190 3960 1f2a 825E subi r24,lo8(-(30)) 3961 1f2c 8093 0000 sts Parameter_AchsKopplung1,r24 3962 1f30 00C0 rjmp .L190 3963 .L318: 3964 1f32 8091 0000 lds r24,FC_StatusFlags2 3965 1f36 8E7F andi r24,lo8(-2) 3966 1f38 8093 0000 sts FC_StatusFlags2,r24 3967 .L190: 3968 /* epilogue: frame size=0 */ 3969 1f3c DF91 pop r29 3970 1f3e CF91 pop r28 3971 1f40 0895 ret 3972 /* epilogue end (size=3) */ 3973 /* function ParameterZuordnung size 772 (767) */ 3975 .lcomm sollGier.0,4 3976 .lcomm tmp_long.1,4 3977 .lcomm tmp_long2.2,4 3978 .lcomm IntegralFehlerNick.3,4 3979 .lcomm IntegralFehlerRoll.4,4 3980 .lcomm RcLostTimer.5,2 3981 .lcomm delay_neutral.6,1 3982 .lcomm delay_einschalten.7,1 3983 .lcomm delay_ausschalten.8,1 3984 .lcomm move_safety_switch.9,1 3985 .lcomm ausgleichNick.10,4 3986 .lcomm ausgleichRoll.11,4 3987 .lcomm stick_nick.12,2 3988 .lcomm stick_roll.13,2 3989 .lcomm cnt.14,2 3990 .lcomm last_n_p.15,1 3991 .lcomm last_n_n.16,1 3992 .lcomm last_r_p.17,1 3993 .lcomm last_r_n.18,1 3994 .lcomm MittelIntegralNick_Alt.19,4 3995 .lcomm MittelIntegralRoll_Alt.20,4 3996 .lcomm HeightTrimming.21,2 3997 .lcomm FilterHCGas.22,2 3998 .lcomm HoverGasFilter.23,4 3999 .data 4002 delay.24: 4003 004f 64 .byte 100 4004 .lcomm BaroAtUpperLimit.25,1 4005 .lcomm BaroAtLowerLimit.26,1 4006 .text 4007 .global MotorRegler 4009 MotorRegler: 4010 /* prologue: frame size=23 */ 4011 1f42 A7E1 ldi r26,lo8(23) 4012 1f44 B0E0 ldi r27,hi8(23) 4013 1f46 E0E0 ldi r30,pm_lo8(1f) 4014 1f48 F0E0 ldi r31,pm_hi8(1f) 4015 1f4a 0C94 0000 jmp __prologue_saves__+0 4016 1: 4017 /* prologue end (size=6) */ 4018 1f4e 0E94 0000 call Mittelwert 4019 1f52 8091 0000 lds r24,FC_StatusFlags 4020 1f56 9927 clr r25 4021 1f58 8471 andi r24,lo8(20) 4022 1f5a 9070 andi r25,hi8(20) 4023 1f5c 892B or r24,r25 4024 1f5e 01F4 brne .L365 4025 1f60 8091 0000 lds r24,EE_Parameter+111 4026 1f64 82FF sbrs r24,2 4027 1f66 00C0 rjmp .L366 4028 1f68 8091 0000 lds r24,HoverGas 4029 1f6c 9091 0000 lds r25,(HoverGas)+1 4030 1f70 0097 sbiw r24,0 4031 1f72 01F0 breq .L367 4032 1f74 02E0 ldi r16,hi8(600) 4033 1f76 8835 cpi r24,lo8(600) 4034 1f78 9007 cpc r25,r16 4035 1f7a 04F4 brge .L367 4036 1f7c 9C01 movw r18,r24 4037 1f7e 97FF sbrs r25,7 4038 1f80 00C0 rjmp .L368 4039 1f82 2D5F subi r18,lo8(-(3)) 4040 1f84 3F4F sbci r19,hi8(-(3)) 4041 .L368: 4042 1f86 3595 asr r19 4043 1f88 2795 ror r18 4044 1f8a 3595 asr r19 4045 1f8c 2795 ror r18 4046 1f8e 8091 0000 lds r24,EE_Parameter+37 4047 1f92 9927 clr r25 4048 1f94 289F mul r18,r24 4049 1f96 A001 movw r20,r0 4050 1f98 299F mul r18,r25 4051 1f9a 500D add r21,r0 4052 1f9c 389F mul r19,r24 4053 1f9e 500D add r21,r0 4054 1fa0 1124 clr r1 4055 1fa2 CA01 movw r24,r20 4056 1fa4 64E6 ldi r22,lo8(100) 4057 1fa6 70E0 ldi r23,hi8(100) 4058 1fa8 0E94 0000 call __divmodhi4 4059 1fac CB01 movw r24,r22 4060 1fae 00C0 rjmp .L887 4061 .L367: 4062 1fb0 8DE2 ldi r24,lo8(45) 4063 1fb2 90E0 ldi r25,hi8(45) 4064 1fb4 00C0 rjmp .L887 4065 .L366: 4066 1fb6 8091 0000 lds r24,EE_Parameter+37 4067 1fba 9927 clr r25 4068 .L887: 4069 1fbc 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4070 1fc0 8093 0000 sts HooverGasEmergencyPercent,r24 4071 .L365: 4072 1fc4 2091 0000 lds r18,GasIsZeroCnt 4073 1fc8 3091 0000 lds r19,(GasIsZeroCnt)+1 4074 1fcc 55E7 ldi r21,hi8(30000) 4075 1fce 2033 cpi r18,lo8(30000) 4076 1fd0 3507 cpc r19,r21 4077 1fd2 01F4 brne .L371 4078 1fd4 1092 0000 sts (StickGas)+1,__zero_reg__ 4079 1fd8 1092 0000 sts StickGas,__zero_reg__ 4080 1fdc 8091 0000 lds r24,MIN_GAS 4081 1fe0 9927 clr r25 4082 1fe2 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4083 1fe6 8093 0000 sts HooverGasEmergencyPercent,r24 4084 .L371: 4085 1fea 6091 0000 lds r22,StickGas 4086 1fee 7091 0000 lds r23,(StickGas)+1 4087 1ff2 7A83 std Y+2,r23 4088 1ff4 6983 std Y+1,r22 4089 1ff6 8091 0000 lds r24,MIN_GAS 4090 1ffa 9927 clr r25 4091 1ffc 0A96 adiw r24,10 4092 1ffe 6817 cp r22,r24 4093 2000 7907 cpc r23,r25 4094 2002 04F4 brge .L372 4095 2004 9A83 std Y+2,r25 4096 2006 8983 std Y+1,r24 4097 .L372: 4098 2008 8091 0000 lds r24,SenderOkay 4099 200c 8436 cpi r24,lo8(100) 4100 200e 00F0 brlo .+2 4101 2010 00C0 rjmp .L373 4102 2012 8091 0000 lds r24,FC_StatusFlags2 4103 2016 82FD sbrc r24,2 4104 2018 00C0 rjmp .L373 4105 201a 8091 0000 lds r24,RcLostTimer.5 4106 201e 9091 0000 lds r25,(RcLostTimer.5)+1 4107 2022 0097 sbiw r24,0 4108 2024 01F0 breq .L374 4109 2026 0197 sbiw r24,1 4110 2028 9093 0000 sts (RcLostTimer.5)+1,r25 4111 202c 8093 0000 sts RcLostTimer.5,r24 4112 2030 00C0 rjmp .L375 4113 .L374: 4114 2032 1092 0000 sts MotorenEin,__zero_reg__ 4115 2036 9093 0000 sts (modell_fliegt)+1,r25 4116 203a 8093 0000 sts modell_fliegt,r24 4117 203e 8091 0000 lds r24,FC_StatusFlags 4118 2042 8D7E andi r24,lo8(-19) 4119 2044 8093 0000 sts FC_StatusFlags,r24 4120 .L375: 4121 2048 8091 0000 lds r24,PlatinenVersion 4122 204c 8A30 cpi r24,lo8(10) 4123 204e 01F0 breq .L377 4124 2050 8431 cpi r24,lo8(20) 4125 2052 00F0 brlo .L376 4126 .L377: 4127 2054 289A sbi 37-0x20,0 4128 2056 00C0 rjmp .L378 4129 .L376: 4130 2058 2898 cbi 37-0x20,0 4131 .L378: 4132 205a 8091 0000 lds r24,modell_fliegt 4133 205e 9091 0000 lds r25,(modell_fliegt)+1 4134 2062 895E subi r24,lo8(1001) 4135 2064 9340 sbci r25,hi8(1001) 4136 2066 00F0 brlo .L379 4137 2068 8091 0000 lds r24,Capacity+6 4138 206c 8536 cpi r24,lo8(101) 4139 206e 00F0 brlo .L379 4140 2070 8091 0000 lds r24,HooverGasEmergencyPercent 4141 2074 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 4142 2078 9A83 std Y+2,r25 4143 207a 8983 std Y+1,r24 4144 207c 8091 0000 lds r24,FC_StatusFlags 4145 2080 8061 ori r24,lo8(16) 4146 2082 8093 0000 sts FC_StatusFlags,r24 4147 2086 8091 0000 lds r24,EE_Parameter+1 4148 208a A82F mov r26,r24 4149 208c BB27 clr r27 4150 208e AA0F add r26,r26 4151 2090 BB1F adc r27,r27 4152 2092 FD01 movw r30,r26 4153 2094 E050 subi r30,lo8(-(PPM_diff)) 4154 2096 F040 sbci r31,hi8(-(PPM_diff)) 4155 2098 1182 std Z+1,__zero_reg__ 4156 209a 1082 st Z,__zero_reg__ 4157 209c 8091 0000 lds r24,EE_Parameter+2 4158 20a0 282F mov r18,r24 4159 20a2 3327 clr r19 4160 20a4 220F add r18,r18 4161 20a6 331F adc r19,r19 4162 20a8 C901 movw r24,r18 4163 20aa 8050 subi r24,lo8(-(PPM_diff)) 4164 20ac 9040 sbci r25,hi8(-(PPM_diff)) 4165 20ae FC01 movw r30,r24 4166 20b0 1182 std Z+1,__zero_reg__ 4167 20b2 1082 st Z,__zero_reg__ 4168 20b4 A050 subi r26,lo8(-(PPM_in)) 4169 20b6 B040 sbci r27,hi8(-(PPM_in)) 4170 20b8 1196 adiw r26,1 4171 20ba 1C92 st X,__zero_reg__ 4172 20bc 1E92 st -X,__zero_reg__ 4173 20be 2050 subi r18,lo8(-(PPM_in)) 4174 20c0 3040 sbci r19,hi8(-(PPM_in)) 4175 20c2 D901 movw r26,r18 4176 20c4 1196 adiw r26,1 4177 20c6 1C92 st X,__zero_reg__ 4178 20c8 1E92 st -X,__zero_reg__ 4179 20ca 8091 0000 lds r24,EE_Parameter+4 4180 20ce E82F mov r30,r24 4181 20d0 FF27 clr r31 4182 20d2 EE0F add r30,r30 4183 20d4 FF1F adc r31,r31 4184 20d6 E050 subi r30,lo8(-(PPM_in)) 4185 20d8 F040 sbci r31,hi8(-(PPM_in)) 4186 20da 1182 std Z+1,__zero_reg__ 4187 20dc 1082 st Z,__zero_reg__ 4188 20de 00C0 rjmp .L381 4189 .L379: 4190 20e0 1092 0000 sts MotorenEin,__zero_reg__ 4191 20e4 00C0 rjmp .L381 4192 .L373: 4193 20e6 8091 0000 lds r24,SenderOkay 4194 20ea 8D38 cpi r24,lo8(-115) 4195 20ec 00F4 brsh .+2 4196 20ee 00C0 rjmp .L382 4197 20f0 8091 0000 lds r24,FC_StatusFlags 4198 20f4 8F7E andi r24,lo8(-17) 4199 20f6 8093 0000 sts FC_StatusFlags,r24 4200 20fa 9091 0000 lds r25,EE_Parameter+38 4201 20fe 82E3 ldi r24,lo8(50) 4202 2100 989F mul r25,r24 4203 2102 C001 movw r24,r0 4204 2104 1124 clr r1 4205 2106 9093 0000 sts (RcLostTimer.5)+1,r25 4206 210a 8093 0000 sts RcLostTimer.5,r24 4207 210e E981 ldd r30,Y+1 4208 2110 FA81 ldd r31,Y+2 4209 2112 B997 sbiw r30,41 4210 2114 04F0 brlt .L383 4211 2116 8091 0000 lds r24,MotorenEin 4212 211a 8823 tst r24 4213 211c 01F0 breq .L383 4214 211e 8091 0000 lds r24,modell_fliegt 4215 2122 9091 0000 lds r25,(modell_fliegt)+1 4216 2126 FFEF ldi r31,hi8(-1) 4217 2128 8F3F cpi r24,lo8(-1) 4218 212a 9F07 cpc r25,r31 4219 212c 01F0 breq .L383 4220 212e 0196 adiw r24,1 4221 2130 9093 0000 sts (modell_fliegt)+1,r25 4222 2134 8093 0000 sts modell_fliegt,r24 4223 .L383: 4224 2138 8091 0000 lds r24,modell_fliegt 4225 213c 9091 0000 lds r25,(modell_fliegt)+1 4226 2140 8F3F cpi r24,255 4227 2142 9105 cpc r25,__zero_reg__ 4228 2144 01F0 breq .+2 4229 2146 00F4 brsh .L385 4230 2148 1092 0000 sts SummeNick,__zero_reg__ 4231 214c 1092 0000 sts (SummeNick)+1,__zero_reg__ 4232 2150 1092 0000 sts (SummeNick)+2,__zero_reg__ 4233 2154 1092 0000 sts (SummeNick)+3,__zero_reg__ 4234 2158 1092 0000 sts SummeRoll,__zero_reg__ 4235 215c 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4236 2160 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4237 2164 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4238 2168 1092 0000 sts sollGier.0,__zero_reg__ 4239 216c 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4240 2170 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4241 2174 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4242 2178 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4243 217c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4244 2180 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4245 2184 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4246 2188 00C0 rjmp .L386 4247 .L385: 4248 218a 8091 0000 lds r24,FC_StatusFlags 4249 218e 8260 ori r24,lo8(2) 4250 2190 8093 0000 sts FC_StatusFlags,r24 4251 .L386: 4252 2194 8091 0000 lds r24,EE_Parameter+3 4253 2198 E82F mov r30,r24 4254 219a FF27 clr r31 4255 219c EE0F add r30,r30 4256 219e FF1F adc r31,r31 4257 21a0 E050 subi r30,lo8(-(PPM_in)) 4258 21a2 F040 sbci r31,hi8(-(PPM_in)) 4259 21a4 8081 ld r24,Z 4260 21a6 9181 ldd r25,Z+1 4261 21a8 8135 cpi r24,81 4262 21aa 9105 cpc r25,__zero_reg__ 4263 21ac 04F4 brge .+2 4264 21ae 00C0 rjmp .L387 4265 21b0 2091 0000 lds r18,MotorenEin 4266 21b4 2223 tst r18 4267 21b6 01F0 breq .+2 4268 21b8 00C0 rjmp .L387 4269 21ba 8091 0000 lds r24,EE_Parameter+4 4270 21be E82F mov r30,r24 4271 21c0 FF27 clr r31 4272 21c2 EE0F add r30,r30 4273 21c4 FF1F adc r31,r31 4274 21c6 E050 subi r30,lo8(-(PPM_in)) 4275 21c8 F040 sbci r31,hi8(-(PPM_in)) 4276 21ca 8081 ld r24,Z 4277 21cc 9181 ldd r25,Z+1 4278 21ce 8C34 cpi r24,76 4279 21d0 9105 cpc r25,__zero_reg__ 4280 21d2 04F4 brge .+2 4281 21d4 00C0 rjmp .L388 4282 21d6 8091 0000 lds r24,delay_neutral.6 4283 21da 8F5F subi r24,lo8(-(1)) 4284 21dc 8093 0000 sts delay_neutral.6,r24 4285 21e0 893C cpi r24,lo8(-55) 4286 21e2 00F4 brsh .+2 4287 21e4 00C0 rjmp .L387 4288 21e6 2093 0000 sts delay_neutral.6,r18 4289 21ea 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4290 21ee 1092 0000 sts modell_fliegt,__zero_reg__ 4291 21f2 3091 0000 lds r19,EE_Parameter+1 4292 21f6 E32F mov r30,r19 4293 21f8 FF27 clr r31 4294 21fa EE0F add r30,r30 4295 21fc FF1F adc r31,r31 4296 21fe E050 subi r30,lo8(-(PPM_in)) 4297 2200 F040 sbci r31,hi8(-(PPM_in)) 4298 2202 8081 ld r24,Z 4299 2204 9181 ldd r25,Z+1 4300 2206 8734 cpi r24,71 4301 2208 9105 cpc r25,__zero_reg__ 4302 220a 04F4 brge .L391 4303 220c 8091 0000 lds r24,EE_Parameter+2 4304 2210 E82F mov r30,r24 4305 2212 FF27 clr r31 4306 2214 EE0F add r30,r30 4307 2216 FF1F adc r31,r31 4308 2218 E050 subi r30,lo8(-(PPM_in)) 4309 221a F040 sbci r31,hi8(-(PPM_in)) 4310 221c 8081 ld r24,Z 4311 221e 9181 ldd r25,Z+1 4312 2220 0190 ld __tmp_reg__,Z+ 4313 2222 F081 ld r31,Z 4314 2224 E02D mov r30,__tmp_reg__ 4315 2226 F7FF sbrs r31,7 4316 2228 00C0 rjmp .L392 4317 222a F095 com r31 4318 222c E195 neg r30 4319 222e FF4F sbci r31,lo8(-1) 4320 .L392: 4321 2230 E734 cpi r30,71 4322 2232 F105 cpc r31,__zero_reg__ 4323 2234 04F4 brge .+2 4324 2236 00C0 rjmp .L390 4325 .L391: 4326 2238 41E0 ldi r20,lo8(1) 4327 223a 2091 0000 lds r18,EE_Parameter+2 4328 223e A22F mov r26,r18 4329 2240 BB27 clr r27 4330 2242 AA0F add r26,r26 4331 2244 BB1F adc r27,r27 4332 2246 A050 subi r26,lo8(-(PPM_in)) 4333 2248 B040 sbci r27,hi8(-(PPM_in)) 4334 224a 8D91 ld r24,X+ 4335 224c 9C91 ld r25,X 4336 224e 1197 sbiw r26,1 4337 2250 8734 cpi r24,71 4338 2252 9105 cpc r25,__zero_reg__ 4339 2254 04F0 brlt .L393 4340 2256 E32F mov r30,r19 4341 2258 FF27 clr r31 4342 225a EE0F add r30,r30 4343 225c FF1F adc r31,r31 4344 225e E050 subi r30,lo8(-(PPM_in)) 4345 2260 F040 sbci r31,hi8(-(PPM_in)) 4346 2262 8081 ld r24,Z 4347 2264 9181 ldd r25,Z+1 4348 .L393: 4349 2266 8D91 ld r24,X+ 4350 2268 9C91 ld r25,X 4351 226a 8734 cpi r24,71 4352 226c 9105 cpc r25,__zero_reg__ 4353 226e 04F0 brlt .L394 4354 2270 8091 0000 lds r24,EE_Parameter+1 4355 2274 E82F mov r30,r24 4356 2276 FF27 clr r31 4357 2278 EE0F add r30,r30 4358 227a FF1F adc r31,r31 4359 227c E050 subi r30,lo8(-(PPM_in)) 4360 227e F040 sbci r31,hi8(-(PPM_in)) 4361 2280 8081 ld r24,Z 4362 2282 9181 ldd r25,Z+1 4363 2284 8734 cpi r24,71 4364 2286 9105 cpc r25,__zero_reg__ 4365 2288 04F0 brlt .L394 4366 228a 42E0 ldi r20,lo8(2) 4367 .L394: 4368 228c E22F mov r30,r18 4369 228e FF27 clr r31 4370 2290 EE0F add r30,r30 4371 2292 FF1F adc r31,r31 4372 2294 E050 subi r30,lo8(-(PPM_in)) 4373 2296 F040 sbci r31,hi8(-(PPM_in)) 4374 2298 8081 ld r24,Z 4375 229a 9181 ldd r25,Z+1 4376 229c 8634 cpi r24,70 4377 229e 9105 cpc r25,__zero_reg__ 4378 22a0 04F4 brge .L395 4379 22a2 8091 0000 lds r24,EE_Parameter+1 4380 22a6 E82F mov r30,r24 4381 22a8 FF27 clr r31 4382 22aa EE0F add r30,r30 4383 22ac FF1F adc r31,r31 4384 22ae E050 subi r30,lo8(-(PPM_in)) 4385 22b0 F040 sbci r31,hi8(-(PPM_in)) 4386 22b2 8081 ld r24,Z 4387 22b4 9181 ldd r25,Z+1 4388 22b6 8734 cpi r24,71 4389 22b8 9105 cpc r25,__zero_reg__ 4390 22ba 04F0 brlt .L395 4391 22bc 43E0 ldi r20,lo8(3) 4392 .L395: 4393 22be E22F mov r30,r18 4394 22c0 FF27 clr r31 4395 22c2 EE0F add r30,r30 4396 22c4 FF1F adc r31,r31 4397 22c6 E050 subi r30,lo8(-(PPM_in)) 4398 22c8 F040 sbci r31,hi8(-(PPM_in)) 4399 22ca 8081 ld r24,Z 4400 22cc 9181 ldd r25,Z+1 4401 22ce 8A5B subi r24,lo8(-70) 4402 22d0 9F4F sbci r25,hi8(-70) 4403 22d2 04F4 brge .L396 4404 22d4 8091 0000 lds r24,EE_Parameter+1 4405 22d8 E82F mov r30,r24 4406 22da FF27 clr r31 4407 22dc EE0F add r30,r30 4408 22de FF1F adc r31,r31 4409 22e0 E050 subi r30,lo8(-(PPM_in)) 4410 22e2 F040 sbci r31,hi8(-(PPM_in)) 4411 22e4 8081 ld r24,Z 4412 22e6 9181 ldd r25,Z+1 4413 22e8 8734 cpi r24,71 4414 22ea 9105 cpc r25,__zero_reg__ 4415 22ec 04F0 brlt .L396 4416 22ee 44E0 ldi r20,lo8(4) 4417 .L396: 4418 22f0 E22F mov r30,r18 4419 22f2 FF27 clr r31 4420 22f4 EE0F add r30,r30 4421 22f6 FF1F adc r31,r31 4422 22f8 E050 subi r30,lo8(-(PPM_in)) 4423 22fa F040 sbci r31,hi8(-(PPM_in)) 4424 22fc 8081 ld r24,Z 4425 22fe 9181 ldd r25,Z+1 4426 2300 8A5B subi r24,lo8(-70) 4427 2302 9F4F sbci r25,hi8(-70) 4428 2304 04F4 brge .L397 4429 2306 8091 0000 lds r24,EE_Parameter+1 4430 230a E82F mov r30,r24 4431 230c FF27 clr r31 4432 230e EE0F add r30,r30 4433 2310 FF1F adc r31,r31 4434 2312 E050 subi r30,lo8(-(PPM_in)) 4435 2314 F040 sbci r31,hi8(-(PPM_in)) 4436 2316 8081 ld r24,Z 4437 2318 9181 ldd r25,Z+1 4438 231a 8634 cpi r24,70 4439 231c 9105 cpc r25,__zero_reg__ 4440 231e 04F4 brge .L397 4441 2320 45E0 ldi r20,lo8(5) 4442 .L397: 4443 2322 842F mov r24,r20 4444 2324 0E94 0000 call SetActiveParamSet 4445 .L390: 4446 2328 8091 0000 lds r24,EE_Parameter+2 4447 232c E82F mov r30,r24 4448 232e FF27 clr r31 4449 2330 EE0F add r30,r30 4450 2332 FF1F adc r31,r31 4451 2334 E050 subi r30,lo8(-(PPM_in)) 4452 2336 F040 sbci r31,hi8(-(PPM_in)) 4453 2338 8081 ld r24,Z 4454 233a 9181 ldd r25,Z+1 4455 233c 0190 ld __tmp_reg__,Z+ 4456 233e F081 ld r31,Z 4457 2340 E02D mov r30,__tmp_reg__ 4458 2342 F7FF sbrs r31,7 4459 2344 00C0 rjmp .L399 4460 2346 F095 com r31 4461 2348 E195 neg r30 4462 234a FF4F sbci r31,lo8(-1) 4463 .L399: 4464 234c 7E97 sbiw r30,30 4465 234e 04F4 brge .L398 4466 2350 8091 0000 lds r24,EE_Parameter+1 4467 2354 E82F mov r30,r24 4468 2356 FF27 clr r31 4469 2358 EE0F add r30,r30 4470 235a FF1F adc r31,r31 4471 235c E050 subi r30,lo8(-(PPM_in)) 4472 235e F040 sbci r31,hi8(-(PPM_in)) 4473 2360 8081 ld r24,Z 4474 2362 9181 ldd r25,Z+1 4475 2364 8A5B subi r24,lo8(-70) 4476 2366 9F4F sbci r25,hi8(-70) 4477 2368 04F4 brge .L398 4478 236a 81E0 ldi r24,lo8(1) 4479 236c 8093 0000 sts WinkelOut+6,r24 4480 2370 1092 0000 sts CalibrationDone,__zero_reg__ 4481 2374 88EE ldi r24,lo8(1000) 4482 2376 93E0 ldi r25,hi8(1000) 4483 2378 9093 0000 sts (beeptime)+1,r25 4484 237c 8093 0000 sts beeptime,r24 4485 2380 00C0 rjmp .L387 4486 .L398: 4487 2382 0E94 0000 call GetActiveParamSet 4488 2386 0E94 0000 call ParamSet_ReadFromEEProm 4489 238a 80E0 ldi r24,lo8(0) 4490 238c 0E94 0000 call LipoDetection 4491 2390 8091 0000 lds r24,EE_Parameter+39 4492 2394 0E94 0000 call LIBFC_ReceiverInit 4493 2398 8091 0000 lds r24,Parameter_GlobalConfig 4494 239c 80FF sbrs r24,0 4495 239e 00C0 rjmp .L401 4496 23a0 8091 0000 lds r24,MessLuftdruck 4497 23a4 9091 0000 lds r25,(MessLuftdruck)+1 4498 23a8 875B subi r24,lo8(951) 4499 23aa 9340 sbci r25,hi8(951) 4500 23ac 00F4 brsh .L403 4501 23ae 8091 0000 lds r24,MessLuftdruck 4502 23b2 9091 0000 lds r25,(MessLuftdruck)+1 4503 23b6 8E5E subi r24,lo8(750) 4504 23b8 9240 sbci r25,hi8(750) 4505 23ba 00F4 brsh .L401 4506 .L403: 4507 23bc 0E94 0000 call SucheLuftruckOffset 4508 .L401: 4509 23c0 80E0 ldi r24,lo8(0) 4510 23c2 0E94 0000 call SetNeutral 4511 23c6 81E0 ldi r24,lo8(1) 4512 23c8 8093 0000 sts CalibrationDone,r24 4513 23cc 8093 0000 sts ServoActive,r24 4514 23d0 579A sbi 42-0x20,7 4515 23d2 00C0 rjmp .L888 4516 .L388: 4517 23d4 8081 ld r24,Z 4518 23d6 9181 ldd r25,Z+1 4519 23d8 855B subi r24,lo8(-75) 4520 23da 9F4F sbci r25,hi8(-75) 4521 23dc 04F4 brge .L405 4522 23de 8091 0000 lds r24,delay_neutral.6 4523 23e2 8F5F subi r24,lo8(-(1)) 4524 23e4 8093 0000 sts delay_neutral.6,r24 4525 23e8 893C cpi r24,lo8(-55) 4526 23ea 00F0 brlo .L387 4527 23ec 2093 0000 sts MotorenEin,r18 4528 23f0 2093 0000 sts delay_neutral.6,r18 4529 23f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4530 23f8 1092 0000 sts modell_fliegt,__zero_reg__ 4531 23fc 81E0 ldi r24,lo8(1) 4532 23fe 0E94 0000 call SetNeutral 4533 2402 81E0 ldi r24,lo8(1) 4534 2404 8093 0000 sts CalibrationDone,r24 4535 .L888: 4536 2408 88E1 ldi r24,lo8(24) 4537 240a 8093 0000 sts SpeakHoTT,r24 4538 240e 0E94 0000 call GetActiveParamSet 4539 2412 68E7 ldi r22,lo8(120) 4540 2414 70E0 ldi r23,hi8(120) 4541 2416 0E94 0000 call Piep 4542 241a 00C0 rjmp .L387 4543 .L405: 4544 241c 2093 0000 sts delay_neutral.6,r18 4545 .L387: 4546 2420 8091 0000 lds r24,EE_Parameter+3 4547 2424 E82F mov r30,r24 4548 2426 FF27 clr r31 4549 2428 EE0F add r30,r30 4550 242a FF1F adc r31,r31 4551 242c E050 subi r30,lo8(-(PPM_in)) 4552 242e F040 sbci r31,hi8(-(PPM_in)) 4553 2430 8081 ld r24,Z 4554 2432 9181 ldd r25,Z+1 4555 2434 8B5A subi r24,lo8(-85) 4556 2436 9F4F sbci r25,hi8(-85) 4557 2438 04F0 brlt .+2 4558 243a 00C0 rjmp .L408 4559 243c 2091 0000 lds r18,EE_Parameter+100 4560 2440 E22F mov r30,r18 4561 2442 FF27 clr r31 4562 2444 EF77 andi r30,lo8(127) 4563 2446 F070 andi r31,hi8(127) 4564 2448 EE0F add r30,r30 4565 244a FF1F adc r31,r31 4566 244c E050 subi r30,lo8(-(PPM_diff)) 4567 244e F040 sbci r31,hi8(-(PPM_diff)) 4568 2450 8081 ld r24,Z 4569 2452 9181 ldd r25,Z+1 4570 2454 0697 sbiw r24,6 4571 2456 04F0 brlt .L409 4572 2458 84E6 ldi r24,lo8(100) 4573 245a 00C0 rjmp .L889 4574 .L409: 4575 245c 8081 ld r24,Z 4576 245e 9181 ldd r25,Z+1 4577 2460 8B5F subi r24,lo8(-5) 4578 2462 9F4F sbci r25,hi8(-5) 4579 2464 04F4 brge .L410 4580 2466 8CE9 ldi r24,lo8(-100) 4581 .L889: 4582 2468 8093 0000 sts move_safety_switch.9,r24 4583 .L410: 4584 246c 8091 0000 lds r24,MotorenEin 4585 2470 E091 0000 lds r30,EE_Parameter+4 4586 2474 8823 tst r24 4587 2476 01F0 breq .+2 4588 2478 00C0 rjmp .L412 4589 247a FF27 clr r31 4590 247c EE0F add r30,r30 4591 247e FF1F adc r31,r31 4592 2480 E050 subi r30,lo8(-(PPM_in)) 4593 2482 F040 sbci r31,hi8(-(PPM_in)) 4594 2484 8081 ld r24,Z 4595 2486 9181 ldd r25,Z+1 4596 2488 855B subi r24,lo8(-75) 4597 248a 9F4F sbci r25,hi8(-75) 4598 248c 04F4 brge .L415 4599 248e 8091 0000 lds r24,EE_Parameter+111 4600 2492 83FD sbrc r24,3 4601 2494 00C0 rjmp .L416 4602 2496 E22F mov r30,r18 4603 2498 FF27 clr r31 4604 249a EE0F add r30,r30 4605 249c FF1F adc r31,r31 4606 249e E050 subi r30,lo8(-(PPM_in)) 4607 24a0 F040 sbci r31,hi8(-(PPM_in)) 4608 24a2 8081 ld r24,Z 4609 24a4 9181 ldd r25,Z+1 4610 24a6 855B subi r24,lo8(-75) 4611 24a8 9F4F sbci r25,hi8(-75) 4612 24aa 04F0 brlt .L414 4613 .L416: 4614 24ac 8091 0000 lds r24,EE_Parameter+100 4615 24b0 8823 tst r24 4616 24b2 01F0 breq .L414 4617 .L415: 4618 24b4 8091 0000 lds r24,EE_Parameter+111 4619 24b8 83FF sbrs r24,3 4620 24ba 00C0 rjmp .L413 4621 24bc 8091 0000 lds r24,EE_Parameter+100 4622 24c0 E82F mov r30,r24 4623 24c2 FF27 clr r31 4624 24c4 EE0F add r30,r30 4625 24c6 FF1F adc r31,r31 4626 24c8 E050 subi r30,lo8(-(PPM_in)) 4627 24ca F040 sbci r31,hi8(-(PPM_in)) 4628 24cc 8081 ld r24,Z 4629 24ce 9181 ldd r25,Z+1 4630 24d0 875F subi r24,lo8(-9) 4631 24d2 9F4F sbci r25,hi8(-9) 4632 24d4 04F4 brge .+2 4633 24d6 00C0 rjmp .L413 4634 24d8 8091 0000 lds r24,move_safety_switch.9 4635 24dc 8436 cpi r24,lo8(100) 4636 24de 01F0 breq .+2 4637 24e0 00C0 rjmp .L413 4638 .L414: 4639 24e2 2091 0000 lds r18,CalibrationDone 4640 24e6 2223 tst r18 4641 24e8 01F0 breq .L417 4642 24ea 8091 0000 lds r24,FC_StatusFlags 4643 24ee 8860 ori r24,lo8(8) 4644 24f0 8093 0000 sts FC_StatusFlags,r24 4645 .L417: 4646 24f4 8091 0000 lds r24,delay_einschalten.7 4647 24f8 8F5F subi r24,lo8(-(1)) 4648 24fa 8093 0000 sts delay_einschalten.7,r24 4649 24fe 8E3F cpi r24,lo8(-2) 4650 2500 00F4 brsh .+2 4651 2502 00C0 rjmp .L423 4652 2504 1092 0000 sts delay_einschalten.7,__zero_reg__ 4653 2508 8091 0000 lds r24,VersionInfo+5 4654 250c 8823 tst r24 4655 250e 01F0 breq .+2 4656 2510 00C0 rjmp .L419 4657 2512 2223 tst r18 4658 2514 01F4 brne .+2 4659 2516 00C0 rjmp .L419 4660 2518 8091 0000 lds r24,NC_ErrorCode 4661 251c 8823 tst r24 4662 251e 01F0 breq .+2 4663 2520 00C0 rjmp .L419 4664 2522 81E0 ldi r24,lo8(1) 4665 2524 90E0 ldi r25,hi8(1) 4666 2526 9093 0000 sts (modell_fliegt)+1,r25 4667 252a 8093 0000 sts modell_fliegt,r24 4668 252e 81E0 ldi r24,lo8(1) 4669 2530 8093 0000 sts MotorenEin,r24 4670 2534 1092 0000 sts sollGier.0,__zero_reg__ 4671 2538 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4672 253c 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4673 2540 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4674 2544 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4675 2548 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4676 254c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4677 2550 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4678 2554 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 4679 2558 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 4680 255c 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 4681 2560 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 4682 2564 8091 0000 lds r24,EE_Parameter+28 4683 2568 E82E mov r14,r24 4684 256a FF24 clr r15 4685 256c 0027 clr r16 4686 256e 1127 clr r17 4687 2570 8091 0000 lds r24,Mittelwert_AccNick 4688 2574 9091 0000 lds r25,(Mittelwert_AccNick)+1 4689 2578 9C01 movw r18,r24 4690 257a 4427 clr r20 4691 257c 37FD sbrc r19,7 4692 257e 4095 com r20 4693 2580 542F mov r21,r20 4694 2582 C801 movw r24,r16 4695 2584 B701 movw r22,r14 4696 2586 0E94 0000 call __mulsi3 4697 258a DC01 movw r26,r24 4698 258c CB01 movw r24,r22 4699 258e 8093 0000 sts Mess_IntegralNick,r24 4700 2592 9093 0000 sts (Mess_IntegralNick)+1,r25 4701 2596 A093 0000 sts (Mess_IntegralNick)+2,r26 4702 259a B093 0000 sts (Mess_IntegralNick)+3,r27 4703 259e 8091 0000 lds r24,Mittelwert_AccRoll 4704 25a2 9091 0000 lds r25,(Mittelwert_AccRoll)+1 4705 25a6 9C01 movw r18,r24 4706 25a8 4427 clr r20 4707 25aa 37FD sbrc r19,7 4708 25ac 4095 com r20 4709 25ae 542F mov r21,r20 4710 25b0 C801 movw r24,r16 4711 25b2 B701 movw r22,r14 4712 25b4 0E94 0000 call __mulsi3 4713 25b8 DC01 movw r26,r24 4714 25ba CB01 movw r24,r22 4715 25bc 8093 0000 sts Mess_IntegralRoll,r24 4716 25c0 9093 0000 sts (Mess_IntegralRoll)+1,r25 4717 25c4 A093 0000 sts (Mess_IntegralRoll)+2,r26 4718 25c8 B093 0000 sts (Mess_IntegralRoll)+3,r27 4719 25cc 8091 0000 lds r24,IntegralNick 4720 25d0 9091 0000 lds r25,(IntegralNick)+1 4721 25d4 A091 0000 lds r26,(IntegralNick)+2 4722 25d8 B091 0000 lds r27,(IntegralNick)+3 4723 25dc 8093 0000 sts Mess_IntegralNick2,r24 4724 25e0 9093 0000 sts (Mess_IntegralNick2)+1,r25 4725 25e4 A093 0000 sts (Mess_IntegralNick2)+2,r26 4726 25e8 B093 0000 sts (Mess_IntegralNick2)+3,r27 4727 25ec 8091 0000 lds r24,IntegralRoll 4728 25f0 9091 0000 lds r25,(IntegralRoll)+1 4729 25f4 A091 0000 lds r26,(IntegralRoll)+2 4730 25f8 B091 0000 lds r27,(IntegralRoll)+3 4731 25fc 8093 0000 sts Mess_IntegralRoll2,r24 4732 2600 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4733 2604 A093 0000 sts (Mess_IntegralRoll2)+2,r26 4734 2608 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4735 260c 1092 0000 sts SummeNick,__zero_reg__ 4736 2610 1092 0000 sts (SummeNick)+1,__zero_reg__ 4737 2614 1092 0000 sts (SummeNick)+2,__zero_reg__ 4738 2618 1092 0000 sts (SummeNick)+3,__zero_reg__ 4739 261c 1092 0000 sts SummeRoll,__zero_reg__ 4740 2620 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4741 2624 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4742 2628 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4743 262c 84E6 ldi r24,lo8(100) 4744 262e 8093 0000 sts NeueKompassRichtungMerken,r24 4745 2632 84E3 ldi r24,lo8(52) 4746 2634 00C0 rjmp .L890 4747 .L419: 4748 2636 8CED ldi r24,lo8(1500) 4749 2638 95E0 ldi r25,hi8(1500) 4750 263a 9093 0000 sts (beeptime)+1,r25 4751 263e 8093 0000 sts beeptime,r24 4752 2642 2223 tst r18 4753 2644 01F0 breq .+2 4754 2646 00C0 rjmp .L423 4755 2648 81E0 ldi r24,lo8(1) 4756 264a 00C0 rjmp .L890 4757 .L413: 4758 264c 1092 0000 sts delay_einschalten.7,__zero_reg__ 4759 2650 00C0 rjmp .L423 4760 .L412: 4761 2652 FF27 clr r31 4762 2654 EE0F add r30,r30 4763 2656 FF1F adc r31,r31 4764 2658 E050 subi r30,lo8(-(PPM_in)) 4765 265a F040 sbci r31,hi8(-(PPM_in)) 4766 265c 8081 ld r24,Z 4767 265e 9181 ldd r25,Z+1 4768 2660 8C34 cpi r24,76 4769 2662 9105 cpc r25,__zero_reg__ 4770 2664 04F0 brlt .L426 4771 2666 8091 0000 lds r24,EE_Parameter+111 4772 266a 83FD sbrc r24,3 4773 266c 00C0 rjmp .L427 4774 266e E22F mov r30,r18 4775 2670 FF27 clr r31 4776 2672 EE0F add r30,r30 4777 2674 FF1F adc r31,r31 4778 2676 E050 subi r30,lo8(-(PPM_in)) 4779 2678 F040 sbci r31,hi8(-(PPM_in)) 4780 267a 8081 ld r24,Z 4781 267c 9181 ldd r25,Z+1 4782 267e 855B subi r24,lo8(-75) 4783 2680 9F4F sbci r25,hi8(-75) 4784 2682 04F0 brlt .L425 4785 .L427: 4786 2684 8091 0000 lds r24,EE_Parameter+100 4787 2688 8823 tst r24 4788 268a 01F0 breq .L425 4789 .L426: 4790 268c 8091 0000 lds r24,EE_Parameter+111 4791 2690 83FF sbrs r24,3 4792 2692 00C0 rjmp .L424 4793 2694 8091 0000 lds r24,EE_Parameter+100 4794 2698 E82F mov r30,r24 4795 269a FF27 clr r31 4796 269c EE0F add r30,r30 4797 269e FF1F adc r31,r31 4798 26a0 E050 subi r30,lo8(-(PPM_in)) 4799 26a2 F040 sbci r31,hi8(-(PPM_in)) 4800 26a4 8081 ld r24,Z 4801 26a6 9181 ldd r25,Z+1 4802 26a8 8E5C subi r24,lo8(-50) 4803 26aa 9F4F sbci r25,hi8(-50) 4804 26ac 04F4 brge .L424 4805 26ae 8091 0000 lds r24,move_safety_switch.9 4806 26b2 8C39 cpi r24,lo8(-100) 4807 26b4 01F4 brne .L424 4808 .L425: 4809 26b6 8091 0000 lds r24,delay_ausschalten.8 4810 26ba 8F5F subi r24,lo8(-(1)) 4811 26bc 8093 0000 sts delay_ausschalten.8,r24 4812 26c0 8B3F cpi r24,lo8(-5) 4813 26c2 00F0 brlo .L423 4814 26c4 1092 0000 sts MotorenEin,__zero_reg__ 4815 26c8 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4816 26cc 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4817 26d0 1092 0000 sts modell_fliegt,__zero_reg__ 4818 26d4 86E2 ldi r24,lo8(38) 4819 .L890: 4820 26d6 8093 0000 sts SpeakHoTT,r24 4821 26da 00C0 rjmp .L423 4822 .L424: 4823 26dc 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4824 .L423: 4825 26e0 8091 0000 lds r24,GasIsZeroCnt 4826 26e4 9091 0000 lds r25,(GasIsZeroCnt)+1 4827 26e8 13E0 ldi r17,hi8(1000) 4828 26ea 883E cpi r24,lo8(1000) 4829 26ec 9107 cpc r25,r17 4830 26ee 00F4 brsh .L381 4831 26f0 0196 adiw r24,1 4832 26f2 9093 0000 sts (GasIsZeroCnt)+1,r25 4833 26f6 8093 0000 sts GasIsZeroCnt,r24 4834 26fa 00C0 rjmp .L381 4835 .L408: 4836 26fc 1092 0000 sts move_safety_switch.9,__zero_reg__ 4837 2700 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ 4838 2704 1092 0000 sts GasIsZeroCnt,__zero_reg__ 4839 2708 00C0 rjmp .L381 4840 .L382: 4841 270a 2E5E subi r18,lo8(750) 4842 270c 3240 sbci r19,hi8(750) 4843 270e 00F0 brlo .L381 4844 2710 8091 0000 lds r24,GPSInfo+4 4845 2714 9091 0000 lds r25,(GPSInfo+4)+1 4846 2718 8059 subi r24,lo8(400) 4847 271a 9140 sbci r25,hi8(400) 4848 271c 00F4 brsh .L381 4849 271e 8091 0000 lds r24,HoehenWert 4850 2722 9091 0000 lds r25,(HoehenWert)+1 4851 2726 A091 0000 lds r26,(HoehenWert)+2 4852 272a B091 0000 lds r27,(HoehenWert)+3 4853 272e 8C5D subi r24,lo8(1500) 4854 2730 9540 sbci r25,hi8(1500) 4855 2732 A040 sbci r26,hlo8(1500) 4856 2734 B040 sbci r27,hhi8(1500) 4857 2736 04F4 brge .L381 4858 2738 80E3 ldi r24,lo8(30000) 4859 273a 95E7 ldi r25,hi8(30000) 4860 273c 9093 0000 sts (GasIsZeroCnt)+1,r25 4861 2740 8093 0000 sts GasIsZeroCnt,r24 4862 2744 8091 0000 lds r24,modell_fliegt 4863 2748 9091 0000 lds r25,(modell_fliegt)+1 4864 274c 8A5E subi r24,lo8(1002) 4865 274e 9340 sbci r25,hi8(1002) 4866 2750 00F0 brlo .L381 4867 2752 89EE ldi r24,lo8(1001) 4868 2754 93E0 ldi r25,hi8(1001) 4869 2756 9093 0000 sts (modell_fliegt)+1,r25 4870 275a 8093 0000 sts modell_fliegt,r24 4871 .L381: 4872 275e 8091 0000 lds r24,NewPpmData 4873 2762 8150 subi r24,lo8(-(-1)) 4874 2764 8093 0000 sts NewPpmData,r24 4875 2768 8091 0000 lds r24,NewPpmData 4876 276c 8F3F cpi r24,lo8(-1) 4877 276e 01F0 breq .L437 4878 2770 8091 0000 lds r24,FC_StatusFlags 4879 2774 84FF sbrs r24,4 4880 2776 00C0 rjmp .L436 4881 .L437: 4882 2778 0E94 0000 call ParameterZuordnung 4883 277c B090 0000 lds r11,EE_Parameter+23 4884 2780 8091 0000 lds r24,stick_nick.12 4885 2784 9091 0000 lds r25,(stick_nick.12)+1 4886 2788 9C01 movw r18,r24 4887 278a 220F lsl r18 4888 278c 331F rol r19 4889 278e 280F add r18,r24 4890 2790 391F adc r19,r25 4891 2792 C090 0000 lds r12,EE_Parameter+1 4892 2796 AC2D mov r26,r12 4893 2798 BB27 clr r27 4894 279a AA0F add r26,r26 4895 279c BB1F adc r27,r27 4896 279e FD01 movw r30,r26 4897 27a0 E050 subi r30,lo8(-(PPM_in)) 4898 27a2 F040 sbci r31,hi8(-(PPM_in)) 4899 27a4 4B2D mov r20,r11 4900 27a6 5527 clr r21 4901 27a8 8081 ld r24,Z 4902 27aa 9181 ldd r25,Z+1 4903 27ac 849F mul r24,r20 4904 27ae F001 movw r30,r0 4905 27b0 859F mul r24,r21 4906 27b2 F00D add r31,r0 4907 27b4 949F mul r25,r20 4908 27b6 F00D add r31,r0 4909 27b8 1124 clr r1 4910 27ba 2E0F add r18,r30 4911 27bc 3F1F adc r19,r31 4912 27be 37FF sbrs r19,7 4913 27c0 00C0 rjmp .L438 4914 27c2 2D5F subi r18,lo8(-(3)) 4915 27c4 3F4F sbci r19,hi8(-(3)) 4916 .L438: 4917 27c6 B901 movw r22,r18 4918 27c8 7595 asr r23 4919 27ca 6795 ror r22 4920 27cc 7595 asr r23 4921 27ce 6795 ror r22 4922 27d0 A050 subi r26,lo8(-(PPM_diff)) 4923 27d2 B040 sbci r27,hi8(-(PPM_diff)) 4924 27d4 8091 0000 lds r24,EE_Parameter+24 4925 27d8 082F mov r16,r24 4926 27da 1127 clr r17 4927 27dc 8D91 ld r24,X+ 4928 27de 9C91 ld r25,X 4929 27e0 809F mul r24,r16 4930 27e2 7001 movw r14,r0 4931 27e4 819F mul r24,r17 4932 27e6 F00C add r15,r0 4933 27e8 909F mul r25,r16 4934 27ea F00C add r15,r0 4935 27ec 1124 clr r1 4936 27ee 6E0D add r22,r14 4937 27f0 7F1D adc r23,r15 4938 27f2 7093 0000 sts (stick_nick.12)+1,r23 4939 27f6 6093 0000 sts stick_nick.12,r22 4940 27fa 8091 0000 lds r24,stick_roll.13 4941 27fe 9091 0000 lds r25,(stick_roll.13)+1 4942 2802 9C01 movw r18,r24 4943 2804 220F lsl r18 4944 2806 331F rol r19 4945 2808 280F add r18,r24 4946 280a 391F adc r19,r25 4947 280c D090 0000 lds r13,EE_Parameter+2 4948 2810 AD2D mov r26,r13 4949 2812 BB27 clr r27 4950 2814 AA0F add r26,r26 4951 2816 BB1F adc r27,r27 4952 2818 FD01 movw r30,r26 4953 281a E050 subi r30,lo8(-(PPM_in)) 4954 281c F040 sbci r31,hi8(-(PPM_in)) 4955 281e 8081 ld r24,Z 4956 2820 9181 ldd r25,Z+1 4957 2822 849F mul r24,r20 4958 2824 F001 movw r30,r0 4959 2826 859F mul r24,r21 4960 2828 F00D add r31,r0 4961 282a 949F mul r25,r20 4962 282c F00D add r31,r0 4963 282e 1124 clr r1 4964 2830 2E0F add r18,r30 4965 2832 3F1F adc r19,r31 4966 2834 37FF sbrs r19,7 4967 2836 00C0 rjmp .L439 4968 2838 2D5F subi r18,lo8(-(3)) 4969 283a 3F4F sbci r19,hi8(-(3)) 4970 .L439: 4971 283c A901 movw r20,r18 4972 283e 5595 asr r21 4973 2840 4795 ror r20 4974 2842 5595 asr r21 4975 2844 4795 ror r20 4976 2846 A050 subi r26,lo8(-(PPM_diff)) 4977 2848 B040 sbci r27,hi8(-(PPM_diff)) 4978 284a 8D91 ld r24,X+ 4979 284c 9C91 ld r25,X 4980 284e 809F mul r24,r16 4981 2850 7001 movw r14,r0 4982 2852 819F mul r24,r17 4983 2854 F00C add r15,r0 4984 2856 909F mul r25,r16 4985 2858 F00C add r15,r0 4986 285a 1124 clr r1 4987 285c 4E0D add r20,r14 4988 285e 5F1D adc r21,r15 4989 2860 5093 0000 sts (stick_roll.13)+1,r21 4990 2864 4093 0000 sts stick_roll.13,r20 4991 2868 8091 0000 lds r24,CareFree 4992 286c 8823 tst r24 4993 286e 01F4 brne .+2 4994 2870 00C0 rjmp .L440 4995 2872 CB01 movw r24,r22 4996 2874 77FD sbrc r23,7 4997 2876 0396 adiw r24,3 4998 .L441: 4999 2878 DC01 movw r26,r24 5000 287a B595 asr r27 5001 287c A795 ror r26 5002 287e B595 asr r27 5003 2880 A795 ror r26 5004 2882 CA01 movw r24,r20 5005 2884 57FD sbrc r21,7 5006 2886 0396 adiw r24,3 5007 .L442: 5008 2888 FC01 movw r30,r24 5009 288a F595 asr r31 5010 288c E795 ror r30 5011 288e F595 asr r31 5012 2890 E795 ror r30 5013 2892 8091 0000 lds r24,FromNC_Rotate_C 5014 2896 682F mov r22,r24 5015 2898 7727 clr r23 5016 289a 67FD sbrc r22,7 5017 289c 7095 com r23 5018 289e 6A9F mul r22,r26 5019 28a0 9001 movw r18,r0 5020 28a2 6B9F mul r22,r27 5021 28a4 300D add r19,r0 5022 28a6 7A9F mul r23,r26 5023 28a8 300D add r19,r0 5024 28aa 1124 clr r1 5025 28ac 8091 0000 lds r24,FromNC_Rotate_S 5026 28b0 482F mov r20,r24 5027 28b2 5527 clr r21 5028 28b4 47FD sbrc r20,7 5029 28b6 5095 com r21 5030 28b8 4E9F mul r20,r30 5031 28ba C001 movw r24,r0 5032 28bc 4F9F mul r20,r31 5033 28be 900D add r25,r0 5034 28c0 5E9F mul r21,r30 5035 28c2 900D add r25,r0 5036 28c4 1124 clr r1 5037 28c6 280F add r18,r24 5038 28c8 391F adc r19,r25 5039 28ca 37FF sbrs r19,7 5040 28cc 00C0 rjmp .L443 5041 28ce 295F subi r18,lo8(-(7)) 5042 28d0 3F4F sbci r19,hi8(-(7)) 5043 .L443: 5044 28d2 93E0 ldi r25,3 5045 28d4 3595 1: asr r19 5046 28d6 2795 ror r18 5047 28d8 9A95 dec r25 5048 28da 01F4 brne 1b 5049 28dc 3093 0000 sts (StickNick)+1,r19 5050 28e0 2093 0000 sts StickNick,r18 5051 28e4 6E9F mul r22,r30 5052 28e6 9001 movw r18,r0 5053 28e8 6F9F mul r22,r31 5054 28ea 300D add r19,r0 5055 28ec 7E9F mul r23,r30 5056 28ee 300D add r19,r0 5057 28f0 1124 clr r1 5058 28f2 4A9F mul r20,r26 5059 28f4 C001 movw r24,r0 5060 28f6 4B9F mul r20,r27 5061 28f8 900D add r25,r0 5062 28fa 5A9F mul r21,r26 5063 28fc 900D add r25,r0 5064 28fe 1124 clr r1 5065 2900 00C0 rjmp .L919 5066 .L440: 5067 2902 8091 0000 lds r24,EE_Parameter+98 5068 2906 E82F mov r30,r24 5069 2908 FF27 clr r31 5070 290a E050 subi r30,lo8(-(sintab)) 5071 290c F040 sbci r31,hi8(-(sintab)) 5072 290e 8681 ldd r24,Z+6 5073 2910 8093 0000 sts FromNC_Rotate_C,r24 5074 2914 9081 ld r25,Z 5075 2916 9093 0000 sts FromNC_Rotate_S,r25 5076 291a A82F mov r26,r24 5077 291c BB27 clr r27 5078 291e A7FD sbrc r26,7 5079 2920 B095 com r27 5080 2922 A69F mul r26,r22 5081 2924 9001 movw r18,r0 5082 2926 A79F mul r26,r23 5083 2928 300D add r19,r0 5084 292a B69F mul r27,r22 5085 292c 300D add r19,r0 5086 292e 1124 clr r1 5087 2930 E92F mov r30,r25 5088 2932 FF27 clr r31 5089 2934 E7FD sbrc r30,7 5090 2936 F095 com r31 5091 2938 E49F mul r30,r20 5092 293a C001 movw r24,r0 5093 293c E59F mul r30,r21 5094 293e 900D add r25,r0 5095 2940 F49F mul r31,r20 5096 2942 900D add r25,r0 5097 2944 1124 clr r1 5098 2946 280F add r18,r24 5099 2948 391F adc r19,r25 5100 294a 37FF sbrs r19,7 5101 294c 00C0 rjmp .L446 5102 294e 295F subi r18,lo8(-(7)) 5103 2950 3F4F sbci r19,hi8(-(7)) 5104 .L446: 5105 2952 83E0 ldi r24,3 5106 2954 3595 1: asr r19 5107 2956 2795 ror r18 5108 2958 8A95 dec r24 5109 295a 01F4 brne 1b 5110 295c 3093 0000 sts (StickNick)+1,r19 5111 2960 2093 0000 sts StickNick,r18 5112 2964 A49F mul r26,r20 5113 2966 9001 movw r18,r0 5114 2968 A59F mul r26,r21 5115 296a 300D add r19,r0 5116 296c B49F mul r27,r20 5117 296e 300D add r19,r0 5118 2970 1124 clr r1 5119 2972 E69F mul r30,r22 5120 2974 C001 movw r24,r0 5121 2976 E79F mul r30,r23 5122 2978 900D add r25,r0 5123 297a F69F mul r31,r22 5124 297c 900D add r25,r0 5125 297e 1124 clr r1 5126 .L919: 5127 2980 281B sub r18,r24 5128 2982 390B sbc r19,r25 5129 2984 37FF sbrs r19,7 5130 2986 00C0 rjmp .L447 5131 2988 295F subi r18,lo8(-(7)) 5132 298a 3F4F sbci r19,hi8(-(7)) 5133 .L447: 5134 298c 03E0 ldi r16,3 5135 298e 3595 1: asr r19 5136 2990 2795 ror r18 5137 2992 0A95 dec r16 5138 2994 01F4 brne 1b 5139 2996 3093 0000 sts (StickRoll)+1,r19 5140 299a 2093 0000 sts StickRoll,r18 5141 299e 8091 0000 lds r24,EE_Parameter+4 5142 29a2 E82F mov r30,r24 5143 29a4 FF27 clr r31 5144 29a6 EE0F add r30,r30 5145 29a8 FF1F adc r31,r31 5146 29aa E050 subi r30,lo8(-(PPM_in)) 5147 29ac F040 sbci r31,hi8(-(PPM_in)) 5148 29ae 8081 ld r24,Z 5149 29b0 9181 ldd r25,Z+1 5150 29b2 9095 com r25 5151 29b4 8195 neg r24 5152 29b6 9F4F sbci r25,lo8(-1) 5153 29b8 9093 0000 sts (StickGier)+1,r25 5154 29bc 8093 0000 sts StickGier,r24 5155 29c0 8530 cpi r24,5 5156 29c2 9105 cpc r25,__zero_reg__ 5157 29c4 04F0 brlt .L448 5158 29c6 0497 sbiw r24,4 5159 29c8 00C0 rjmp .L891 5160 .L448: 5161 29ca 0FEF ldi r16,hi8(-4) 5162 29cc 8C3F cpi r24,lo8(-4) 5163 29ce 9007 cpc r25,r16 5164 29d0 04F4 brge .L450 5165 29d2 0496 adiw r24,4 5166 .L891: 5167 29d4 9093 0000 sts (StickGier)+1,r25 5168 29d8 8093 0000 sts StickGier,r24 5169 29dc 00C0 rjmp .L449 5170 .L450: 5171 29de 1092 0000 sts (StickGier)+1,__zero_reg__ 5172 29e2 1092 0000 sts StickGier,__zero_reg__ 5173 .L449: 5174 29e6 8091 0000 lds r24,GPS_Aid_StickMultiplikator 5175 29ea 8823 tst r24 5176 29ec 01F4 brne .+2 5177 29ee 00C0 rjmp .L452 5178 29f0 282F mov r18,r24 5179 29f2 3327 clr r19 5180 29f4 8091 0000 lds r24,StickNick 5181 29f8 9091 0000 lds r25,(StickNick)+1 5182 29fc 97FD sbrc r25,7 5183 29fe 0796 adiw r24,7 5184 .L453: 5185 2a00 13E0 ldi r17,3 5186 2a02 9595 1: asr r25 5187 2a04 8795 ror r24 5188 2a06 1A95 dec r17 5189 2a08 01F4 brne 1b 5190 2a0a 289F mul r18,r24 5191 2a0c A001 movw r20,r0 5192 2a0e 299F mul r18,r25 5193 2a10 500D add r21,r0 5194 2a12 389F mul r19,r24 5195 2a14 500D add r21,r0 5196 2a16 1124 clr r1 5197 2a18 CA01 movw r24,r20 5198 2a1a 57FD sbrc r21,7 5199 2a1c 0F96 adiw r24,15 5200 .L454: 5201 2a1e B4E0 ldi r27,4 5202 2a20 9595 1: asr r25 5203 2a22 8795 ror r24 5204 2a24 BA95 dec r27 5205 2a26 01F4 brne 1b 5206 2a28 9093 0000 sts (StickNick)+1,r25 5207 2a2c 8093 0000 sts StickNick,r24 5208 2a30 8091 0000 lds r24,StickRoll 5209 2a34 9091 0000 lds r25,(StickRoll)+1 5210 2a38 97FD sbrc r25,7 5211 2a3a 0796 adiw r24,7 5212 .L455: 5213 2a3c A3E0 ldi r26,3 5214 2a3e 9595 1: asr r25 5215 2a40 8795 ror r24 5216 2a42 AA95 dec r26 5217 2a44 01F4 brne 1b 5218 2a46 289F mul r18,r24 5219 2a48 B001 movw r22,r0 5220 2a4a 299F mul r18,r25 5221 2a4c 700D add r23,r0 5222 2a4e 389F mul r19,r24 5223 2a50 700D add r23,r0 5224 2a52 1124 clr r1 5225 2a54 CB01 movw r24,r22 5226 2a56 77FD sbrc r23,7 5227 2a58 0F96 adiw r24,15 5228 .L456: 5229 2a5a F4E0 ldi r31,4 5230 2a5c 9595 1: asr r25 5231 2a5e 8795 ror r24 5232 2a60 FA95 dec r31 5233 2a62 01F4 brne 1b 5234 2a64 9093 0000 sts (StickRoll)+1,r25 5235 2a68 8093 0000 sts StickRoll,r24 5236 .L452: 5237 2a6c 8090 0000 lds r8,StickNick 5238 2a70 9090 0000 lds r9,(StickNick)+1 5239 2a74 8091 0000 lds r24,GPS_Nick 5240 2a78 9091 0000 lds r25,(GPS_Nick)+1 5241 2a7c 881A sub r8,r24 5242 2a7e 990A sbc r9,r25 5243 2a80 9092 0000 sts (StickNick)+1,r9 5244 2a84 8092 0000 sts StickNick,r8 5245 2a88 0091 0000 lds r16,StickRoll 5246 2a8c 1091 0000 lds r17,(StickRoll)+1 5247 2a90 8091 0000 lds r24,GPS_Roll 5248 2a94 9091 0000 lds r25,(GPS_Roll)+1 5249 2a98 081B sub r16,r24 5250 2a9a 190B sbc r17,r25 5251 2a9c 1093 0000 sts (StickRoll)+1,r17 5252 2aa0 0093 0000 sts StickRoll,r16 5253 2aa4 8091 0000 lds r24,EE_Parameter+3 5254 2aa8 E82F mov r30,r24 5255 2aaa FF27 clr r31 5256 2aac EE0F add r30,r30 5257 2aae FF1F adc r31,r31 5258 2ab0 E050 subi r30,lo8(-(PPM_in)) 5259 2ab2 F040 sbci r31,hi8(-(PPM_in)) 5260 2ab4 E080 ld r14,Z 5261 2ab6 F180 ldd r15,Z+1 5262 2ab8 8FE7 ldi r24,lo8(127) 5263 2aba 90E0 ldi r25,hi8(127) 5264 2abc E80E add r14,r24 5265 2abe F91E adc r15,r25 5266 2ac0 F092 0000 sts (StickGas)+1,r15 5267 2ac4 E092 0000 sts StickGas,r14 5268 2ac8 8091 0000 lds r24,Parameter_Gyro_P 5269 2acc 9927 clr r25 5270 2ace AA27 clr r26 5271 2ad0 97FD sbrc r25,7 5272 2ad2 A095 com r26 5273 2ad4 BA2F mov r27,r26 5274 2ad6 BC01 movw r22,r24 5275 2ad8 CD01 movw r24,r26 5276 2ada 0E94 0000 call __floatsisf 5277 2ade DC01 movw r26,r24 5278 2ae0 CB01 movw r24,r22 5279 2ae2 20E0 ldi r18,lo8(0x41200000) 5280 2ae4 30E0 ldi r19,hi8(0x41200000) 5281 2ae6 40E2 ldi r20,hlo8(0x41200000) 5282 2ae8 51E4 ldi r21,hhi8(0x41200000) 5283 2aea BC01 movw r22,r24 5284 2aec CD01 movw r24,r26 5285 2aee 0E94 0000 call __addsf3 5286 2af2 DC01 movw r26,r24 5287 2af4 CB01 movw r24,r22 5288 2af6 BC01 movw r22,r24 5289 2af8 CD01 movw r24,r26 5290 2afa 0E94 0000 call __fixunssfsi 5291 2afe DC01 movw r26,r24 5292 2b00 CB01 movw r24,r22 5293 2b02 8093 0000 sts GyroFaktor,r24 5294 2b06 8091 0000 lds r24,Parameter_Gyro_I 5295 2b0a 8093 0000 sts IntegralFaktor,r24 5296 2b0e 8091 0000 lds r24,Parameter_Gyro_Gier_P 5297 2b12 9927 clr r25 5298 2b14 AA27 clr r26 5299 2b16 97FD sbrc r25,7 5300 2b18 A095 com r26 5301 2b1a BA2F mov r27,r26 5302 2b1c BC01 movw r22,r24 5303 2b1e CD01 movw r24,r26 5304 2b20 0E94 0000 call __floatsisf 5305 2b24 DC01 movw r26,r24 5306 2b26 CB01 movw r24,r22 5307 2b28 20E0 ldi r18,lo8(0x41200000) 5308 2b2a 30E0 ldi r19,hi8(0x41200000) 5309 2b2c 40E2 ldi r20,hlo8(0x41200000) 5310 2b2e 51E4 ldi r21,hhi8(0x41200000) 5311 2b30 BC01 movw r22,r24 5312 2b32 CD01 movw r24,r26 5313 2b34 0E94 0000 call __addsf3 5314 2b38 DC01 movw r26,r24 5315 2b3a CB01 movw r24,r22 5316 2b3c BC01 movw r22,r24 5317 2b3e CD01 movw r24,r26 5318 2b40 0E94 0000 call __fixunssfsi 5319 2b44 DC01 movw r26,r24 5320 2b46 CB01 movw r24,r22 5321 2b48 8093 0000 sts GyroFaktorGier,r24 5322 2b4c 8091 0000 lds r24,Parameter_Gyro_Gier_I 5323 2b50 8093 0000 sts IntegralFaktorGier,r24 5324 2b54 8091 0000 lds r24,ExternControl+10 5325 2b58 80FF sbrs r24,0 5326 2b5a 00C0 rjmp .L457 5327 2b5c 8091 0000 lds r24,Parameter_ExternalControl 5328 2b60 8138 cpi r24,lo8(-127) 5329 2b62 00F4 brsh .+2 5330 2b64 00C0 rjmp .L457 5331 2b66 8091 0000 lds r24,ExternControl+3 5332 2b6a 9927 clr r25 5333 2b6c 87FD sbrc r24,7 5334 2b6e 9095 com r25 5335 2b70 2B2D mov r18,r11 5336 2b72 3327 clr r19 5337 2b74 829F mul r24,r18 5338 2b76 D001 movw r26,r0 5339 2b78 839F mul r24,r19 5340 2b7a B00D add r27,r0 5341 2b7c 929F mul r25,r18 5342 2b7e B00D add r27,r0 5343 2b80 1124 clr r1 5344 2b82 8A0E add r8,r26 5345 2b84 9B1E adc r9,r27 5346 2b86 9092 0000 sts (StickNick)+1,r9 5347 2b8a 8092 0000 sts StickNick,r8 5348 2b8e 8091 0000 lds r24,ExternControl+4 5349 2b92 9927 clr r25 5350 2b94 87FD sbrc r24,7 5351 2b96 9095 com r25 5352 2b98 829F mul r24,r18 5353 2b9a F001 movw r30,r0 5354 2b9c 839F mul r24,r19 5355 2b9e F00D add r31,r0 5356 2ba0 929F mul r25,r18 5357 2ba2 F00D add r31,r0 5358 2ba4 1124 clr r1 5359 2ba6 0E0F add r16,r30 5360 2ba8 1F1F adc r17,r31 5361 2baa 1093 0000 sts (StickRoll)+1,r17 5362 2bae 0093 0000 sts StickRoll,r16 5363 2bb2 8091 0000 lds r24,ExternControl+5 5364 2bb6 282F mov r18,r24 5365 2bb8 3327 clr r19 5366 2bba 27FD sbrc r18,7 5367 2bbc 3095 com r19 5368 2bbe 8091 0000 lds r24,StickGier 5369 2bc2 9091 0000 lds r25,(StickGier)+1 5370 2bc6 820F add r24,r18 5371 2bc8 931F adc r25,r19 5372 2bca 9093 0000 sts (StickGier)+1,r25 5373 2bce 8093 0000 sts StickGier,r24 5374 2bd2 8091 0000 lds r24,ExternControl+7 5375 2bd6 282F mov r18,r24 5376 2bd8 3327 clr r19 5377 2bda 27FD sbrc r18,7 5378 2bdc 3095 com r19 5379 2bde 8091 0000 lds r24,EE_Parameter+18 5380 2be2 9927 clr r25 5381 2be4 289F mul r18,r24 5382 2be6 8001 movw r16,r0 5383 2be8 299F mul r18,r25 5384 2bea 100D add r17,r0 5385 2bec 389F mul r19,r24 5386 2bee 100D add r17,r0 5387 2bf0 1124 clr r1 5388 2bf2 1093 0000 sts (ExternHoehenValue)+1,r17 5389 2bf6 0093 0000 sts ExternHoehenValue,r16 5390 2bfa 8091 0000 lds r24,ExternControl+6 5391 2bfe 9927 clr r25 5392 2c00 8E15 cp r24,r14 5393 2c02 9F05 cpc r25,r15 5394 2c04 04F4 brge .L457 5395 2c06 9093 0000 sts (StickGas)+1,r25 5396 2c0a 8093 0000 sts StickGas,r24 5397 .L457: 5398 2c0e 8091 0000 lds r24,StickGas 5399 2c12 9091 0000 lds r25,(StickGas)+1 5400 2c16 97FF sbrs r25,7 5401 2c18 00C0 rjmp .L459 5402 2c1a 1092 0000 sts (StickGas)+1,__zero_reg__ 5403 2c1e 1092 0000 sts StickGas,__zero_reg__ 5404 .L459: 5405 2c22 8091 0000 lds r24,Parameter_GlobalConfig 5406 2c26 82FF sbrs r24,2 5407 2c28 00C0 rjmp .L460 5408 2c2a 1092 0000 sts IntegralFaktor,__zero_reg__ 5409 .L460: 5410 2c2e 4091 0000 lds r20,StickNick 5411 2c32 5091 0000 lds r21,(StickNick)+1 5412 2c36 CA01 movw r24,r20 5413 2c38 57FD sbrc r21,7 5414 2c3a 0396 adiw r24,3 5415 .L462: 5416 2c3c 9C01 movw r18,r24 5417 2c3e 3595 asr r19 5418 2c40 2795 ror r18 5419 2c42 3595 asr r19 5420 2c44 2795 ror r18 5421 2c46 37FF sbrs r19,7 5422 2c48 00C0 rjmp .L463 5423 2c4a 3095 com r19 5424 2c4c 2195 neg r18 5425 2c4e 3F4F sbci r19,lo8(-1) 5426 .L463: 5427 2c50 8091 0000 lds r24,MaxStickNick 5428 2c54 9091 0000 lds r25,(MaxStickNick)+1 5429 2c58 8217 cp r24,r18 5430 2c5a 9307 cpc r25,r19 5431 2c5c 04F4 brge .L461 5432 2c5e CA01 movw r24,r20 5433 2c60 57FF sbrs r21,7 5434 2c62 00C0 rjmp .L464 5435 2c64 9095 com r25 5436 2c66 8195 neg r24 5437 2c68 9F4F sbci r25,lo8(-1) 5438 .L464: 5439 2c6a 97FD sbrc r25,7 5440 2c6c 0396 adiw r24,3 5441 .L465: 5442 2c6e 9595 asr r25 5443 2c70 8795 ror r24 5444 2c72 9595 asr r25 5445 2c74 8795 ror r24 5446 2c76 9093 0000 sts (MaxStickNick)+1,r25 5447 2c7a 8093 0000 sts MaxStickNick,r24 5448 2c7e 8536 cpi r24,101 5449 2c80 9105 cpc r25,__zero_reg__ 5450 2c82 04F0 brlt .L467 5451 2c84 84E6 ldi r24,lo8(100) 5452 2c86 90E0 ldi r25,hi8(100) 5453 2c88 00C0 rjmp .L892 5454 .L461: 5455 2c8a 0197 sbiw r24,1 5456 .L892: 5457 2c8c 9093 0000 sts (MaxStickNick)+1,r25 5458 2c90 8093 0000 sts MaxStickNick,r24 5459 .L467: 5460 2c94 4091 0000 lds r20,StickRoll 5461 2c98 5091 0000 lds r21,(StickRoll)+1 5462 2c9c CA01 movw r24,r20 5463 2c9e 57FD sbrc r21,7 5464 2ca0 0396 adiw r24,3 5465 .L469: 5466 2ca2 9C01 movw r18,r24 5467 2ca4 3595 asr r19 5468 2ca6 2795 ror r18 5469 2ca8 3595 asr r19 5470 2caa 2795 ror r18 5471 2cac 37FF sbrs r19,7 5472 2cae 00C0 rjmp .L470 5473 2cb0 3095 com r19 5474 2cb2 2195 neg r18 5475 2cb4 3F4F sbci r19,lo8(-1) 5476 .L470: 5477 2cb6 8091 0000 lds r24,MaxStickRoll 5478 2cba 9091 0000 lds r25,(MaxStickRoll)+1 5479 2cbe 8217 cp r24,r18 5480 2cc0 9307 cpc r25,r19 5481 2cc2 04F4 brge .L468 5482 2cc4 CA01 movw r24,r20 5483 2cc6 57FF sbrs r21,7 5484 2cc8 00C0 rjmp .L471 5485 2cca 9095 com r25 5486 2ccc 8195 neg r24 5487 2cce 9F4F sbci r25,lo8(-1) 5488 .L471: 5489 2cd0 97FD sbrc r25,7 5490 2cd2 0396 adiw r24,3 5491 .L472: 5492 2cd4 9595 asr r25 5493 2cd6 8795 ror r24 5494 2cd8 9595 asr r25 5495 2cda 8795 ror r24 5496 2cdc 9093 0000 sts (MaxStickRoll)+1,r25 5497 2ce0 8093 0000 sts MaxStickRoll,r24 5498 2ce4 8536 cpi r24,101 5499 2ce6 9105 cpc r25,__zero_reg__ 5500 2ce8 04F0 brlt .L474 5501 2cea 84E6 ldi r24,lo8(100) 5502 2cec 90E0 ldi r25,hi8(100) 5503 2cee 00C0 rjmp .L893 5504 .L468: 5505 2cf0 0197 sbiw r24,1 5506 .L893: 5507 2cf2 9093 0000 sts (MaxStickRoll)+1,r25 5508 2cf6 8093 0000 sts MaxStickRoll,r24 5509 .L474: 5510 2cfa 8091 0000 lds r24,FC_StatusFlags 5511 2cfe 84FF sbrs r24,4 5512 2d00 00C0 rjmp .L475 5513 2d02 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5514 2d06 1092 0000 sts MaxStickNick,__zero_reg__ 5515 2d0a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5516 2d0e 1092 0000 sts MaxStickRoll,__zero_reg__ 5517 .L475: 5518 2d12 ED2D mov r30,r13 5519 2d14 FF27 clr r31 5520 2d16 EE0F add r30,r30 5521 2d18 FF1F adc r31,r31 5522 2d1a E050 subi r30,lo8(-(PPM_in)) 5523 2d1c F040 sbci r31,hi8(-(PPM_in)) 5524 2d1e 4091 0000 lds r20,EE_Parameter+60 5525 2d22 242F mov r18,r20 5526 2d24 3327 clr r19 5527 2d26 8081 ld r24,Z 5528 2d28 9181 ldd r25,Z+1 5529 2d2a 2817 cp r18,r24 5530 2d2c 3907 cpc r19,r25 5531 2d2e 04F4 brge .L476 5532 2d30 8091 0000 lds r24,EE_Parameter+108 5533 2d34 82FF sbrs r24,2 5534 2d36 00C0 rjmp .L476 5535 2d38 81E0 ldi r24,lo8(1) 5536 2d3a 8093 0000 sts Looping_Links,r24 5537 2d3e 00C0 rjmp .L477 5538 .L476: 5539 2d40 ED2D mov r30,r13 5540 2d42 FF27 clr r31 5541 2d44 EE0F add r30,r30 5542 2d46 FF1F adc r31,r31 5543 2d48 E050 subi r30,lo8(-(PPM_in)) 5544 2d4a F040 sbci r31,hi8(-(PPM_in)) 5545 2d4c 842F mov r24,r20 5546 2d4e 9927 clr r25 5547 2d50 2091 0000 lds r18,EE_Parameter+61 5548 2d54 821B sub r24,r18 5549 2d56 9109 sbc r25,__zero_reg__ 5550 2d58 2081 ld r18,Z 5551 2d5a 3181 ldd r19,Z+1 5552 2d5c 2817 cp r18,r24 5553 2d5e 3907 cpc r19,r25 5554 2d60 04F4 brge .L477 5555 2d62 1092 0000 sts Looping_Links,__zero_reg__ 5556 .L477: 5557 2d66 4091 0000 lds r20,EE_Parameter+2 5558 2d6a E42F mov r30,r20 5559 2d6c FF27 clr r31 5560 2d6e EE0F add r30,r30 5561 2d70 FF1F adc r31,r31 5562 2d72 E050 subi r30,lo8(-(PPM_in)) 5563 2d74 F040 sbci r31,hi8(-(PPM_in)) 5564 2d76 5091 0000 lds r21,EE_Parameter+60 5565 2d7a 852F mov r24,r21 5566 2d7c 9927 clr r25 5567 2d7e 2227 clr r18 5568 2d80 3327 clr r19 5569 2d82 281B sub r18,r24 5570 2d84 390B sbc r19,r25 5571 2d86 8081 ld r24,Z 5572 2d88 9181 ldd r25,Z+1 5573 2d8a 8217 cp r24,r18 5574 2d8c 9307 cpc r25,r19 5575 2d8e 04F4 brge .L479 5576 2d90 8091 0000 lds r24,EE_Parameter+108 5577 2d94 83FF sbrs r24,3 5578 2d96 00C0 rjmp .L479 5579 2d98 81E0 ldi r24,lo8(1) 5580 2d9a 8093 0000 sts Looping_Rechts,r24 5581 2d9e 00C0 rjmp .L480 5582 .L479: 5583 2da0 8091 0000 lds r24,Looping_Rechts 5584 2da4 8823 tst r24 5585 2da6 01F0 breq .L480 5586 2da8 E42F mov r30,r20 5587 2daa FF27 clr r31 5588 2dac EE0F add r30,r30 5589 2dae FF1F adc r31,r31 5590 2db0 E050 subi r30,lo8(-(PPM_in)) 5591 2db2 F040 sbci r31,hi8(-(PPM_in)) 5592 2db4 8091 0000 lds r24,EE_Parameter+61 5593 2db8 9927 clr r25 5594 2dba 851B sub r24,r21 5595 2dbc 9109 sbc r25,__zero_reg__ 5596 2dbe 2081 ld r18,Z 5597 2dc0 3181 ldd r19,Z+1 5598 2dc2 8217 cp r24,r18 5599 2dc4 9307 cpc r25,r19 5600 2dc6 04F4 brge .L480 5601 2dc8 1092 0000 sts Looping_Rechts,__zero_reg__ 5602 .L480: 5603 2dcc EC2D mov r30,r12 5604 2dce FF27 clr r31 5605 2dd0 EE0F add r30,r30 5606 2dd2 FF1F adc r31,r31 5607 2dd4 E050 subi r30,lo8(-(PPM_in)) 5608 2dd6 F040 sbci r31,hi8(-(PPM_in)) 5609 2dd8 4091 0000 lds r20,EE_Parameter+60 5610 2ddc 242F mov r18,r20 5611 2dde 3327 clr r19 5612 2de0 8081 ld r24,Z 5613 2de2 9181 ldd r25,Z+1 5614 2de4 2817 cp r18,r24 5615 2de6 3907 cpc r19,r25 5616 2de8 04F4 brge .L483 5617 2dea 8091 0000 lds r24,EE_Parameter+108 5618 2dee 80FF sbrs r24,0 5619 2df0 00C0 rjmp .L483 5620 2df2 81E0 ldi r24,lo8(1) 5621 2df4 8093 0000 sts Looping_Oben,r24 5622 2df8 00C0 rjmp .L484 5623 .L483: 5624 2dfa 8091 0000 lds r24,Looping_Oben 5625 2dfe 8823 tst r24 5626 2e00 01F0 breq .L484 5627 2e02 EC2D mov r30,r12 5628 2e04 FF27 clr r31 5629 2e06 EE0F add r30,r30 5630 2e08 FF1F adc r31,r31 5631 2e0a E050 subi r30,lo8(-(PPM_in)) 5632 2e0c F040 sbci r31,hi8(-(PPM_in)) 5633 2e0e 842F mov r24,r20 5634 2e10 9927 clr r25 5635 2e12 2091 0000 lds r18,EE_Parameter+61 5636 2e16 821B sub r24,r18 5637 2e18 9109 sbc r25,__zero_reg__ 5638 2e1a 2081 ld r18,Z 5639 2e1c 3181 ldd r19,Z+1 5640 2e1e 2817 cp r18,r24 5641 2e20 3907 cpc r19,r25 5642 2e22 04F4 brge .L484 5643 2e24 1092 0000 sts Looping_Oben,__zero_reg__ 5644 .L484: 5645 2e28 4091 0000 lds r20,EE_Parameter+1 5646 2e2c E42F mov r30,r20 5647 2e2e FF27 clr r31 5648 2e30 EE0F add r30,r30 5649 2e32 FF1F adc r31,r31 5650 2e34 E050 subi r30,lo8(-(PPM_in)) 5651 2e36 F040 sbci r31,hi8(-(PPM_in)) 5652 2e38 5091 0000 lds r21,EE_Parameter+60 5653 2e3c 852F mov r24,r21 5654 2e3e 9927 clr r25 5655 2e40 2227 clr r18 5656 2e42 3327 clr r19 5657 2e44 281B sub r18,r24 5658 2e46 390B sbc r19,r25 5659 2e48 8081 ld r24,Z 5660 2e4a 9181 ldd r25,Z+1 5661 2e4c 8217 cp r24,r18 5662 2e4e 9307 cpc r25,r19 5663 2e50 04F4 brge .L487 5664 2e52 8091 0000 lds r24,EE_Parameter+108 5665 2e56 81FF sbrs r24,1 5666 2e58 00C0 rjmp .L487 5667 2e5a 81E0 ldi r24,lo8(1) 5668 2e5c 8093 0000 sts Looping_Unten,r24 5669 2e60 00C0 rjmp .L488 5670 .L487: 5671 2e62 8091 0000 lds r24,Looping_Unten 5672 2e66 8823 tst r24 5673 2e68 01F0 breq .L488 5674 2e6a E42F mov r30,r20 5675 2e6c FF27 clr r31 5676 2e6e EE0F add r30,r30 5677 2e70 FF1F adc r31,r31 5678 2e72 E050 subi r30,lo8(-(PPM_in)) 5679 2e74 F040 sbci r31,hi8(-(PPM_in)) 5680 2e76 8091 0000 lds r24,EE_Parameter+61 5681 2e7a 9927 clr r25 5682 2e7c 851B sub r24,r21 5683 2e7e 9109 sbc r25,__zero_reg__ 5684 2e80 2081 ld r18,Z 5685 2e82 3181 ldd r19,Z+1 5686 2e84 8217 cp r24,r18 5687 2e86 9307 cpc r25,r19 5688 2e88 04F4 brge .L488 5689 2e8a 1092 0000 sts Looping_Unten,__zero_reg__ 5690 .L488: 5691 2e8e 8091 0000 lds r24,Looping_Links 5692 2e92 8823 tst r24 5693 2e94 01F4 brne .L492 5694 2e96 8091 0000 lds r24,Looping_Rechts 5695 2e9a 8111 cpse r24,__zero_reg__ 5696 .L492: 5697 2e9c 81E0 ldi r24,lo8(1) 5698 .L491: 5699 2e9e 8093 0000 sts Looping_Roll,r24 5700 2ea2 8091 0000 lds r24,Looping_Oben 5701 2ea6 8823 tst r24 5702 2ea8 01F4 brne .L495 5703 2eaa 8091 0000 lds r24,Looping_Unten 5704 2eae 8823 tst r24 5705 2eb0 01F0 breq .L494 5706 .L495: 5707 2eb2 81E0 ldi r24,lo8(1) 5708 2eb4 8093 0000 sts Looping_Nick,r24 5709 2eb8 1092 0000 sts Looping_Roll,__zero_reg__ 5710 2ebc 1092 0000 sts Looping_Links,__zero_reg__ 5711 2ec0 1092 0000 sts Looping_Rechts,__zero_reg__ 5712 2ec4 00C0 rjmp .L436 5713 .L494: 5714 2ec6 8093 0000 sts Looping_Nick,r24 5715 .L436: 5716 2eca 8091 0000 lds r24,Looping_Roll 5717 2ece 8823 tst r24 5718 2ed0 01F4 brne .L498 5719 2ed2 8091 0000 lds r24,Looping_Nick 5720 2ed6 8823 tst r24 5721 2ed8 01F0 breq .L497 5722 .L498: 5723 2eda 8091 0000 lds r24,EE_Parameter+59 5724 2ede 9927 clr r25 5725 2ee0 2981 ldd r18,Y+1 5726 2ee2 3A81 ldd r19,Y+2 5727 2ee4 8217 cp r24,r18 5728 2ee6 9307 cpc r25,r19 5729 2ee8 04F4 brge .L499 5730 2eea 9A83 std Y+2,r25 5731 2eec 8983 std Y+1,r24 5732 .L499: 5733 2eee 81E0 ldi r24,lo8(1) 5734 2ef0 8093 0000 sts TrichterFlug,r24 5735 .L497: 5736 2ef4 8091 0000 lds r24,FC_StatusFlags2 5737 2ef8 9927 clr r25 5738 2efa 9C01 movw r18,r24 5739 2efc 2470 andi r18,lo8(4) 5740 2efe 3070 andi r19,hi8(4) 5741 2f00 82FF sbrs r24,2 5742 2f02 00C0 rjmp .L500 5743 2f04 8091 0000 lds r24,GPS_Nick 5744 2f08 9091 0000 lds r25,(GPS_Nick)+1 5745 2f0c 9095 com r25 5746 2f0e 8195 neg r24 5747 2f10 9F4F sbci r25,lo8(-1) 5748 2f12 9093 0000 sts (StickNick)+1,r25 5749 2f16 8093 0000 sts StickNick,r24 5750 2f1a 8091 0000 lds r24,GPS_Roll 5751 2f1e 9091 0000 lds r25,(GPS_Roll)+1 5752 2f22 9095 com r25 5753 2f24 8195 neg r24 5754 2f26 9F4F sbci r25,lo8(-1) 5755 2f28 9093 0000 sts (StickRoll)+1,r25 5756 2f2c 8093 0000 sts StickRoll,r24 5757 2f30 8091 0000 lds r24,StickGasHover 5758 2f34 9091 0000 lds r25,(StickGasHover)+1 5759 2f38 9093 0000 sts (StickGas)+1,r25 5760 2f3c 8093 0000 sts StickGas,r24 5761 2f40 8091 0000 lds r24,Parameter_GlobalConfig 5762 2f44 8B77 andi r24,lo8(123) 5763 2f46 8B66 ori r24,lo8(107) 5764 2f48 8093 0000 sts Parameter_GlobalConfig,r24 5765 2f4c 8091 0000 lds r24,Parameter_ExtraConfig 5766 2f50 8C7B andi r24,lo8(-68) 5767 2f52 8093 0000 sts Parameter_ExtraConfig,r24 5768 2f56 88EC ldi r24,lo8(-56) 5769 2f58 8093 0000 sts Parameter_HoehenSchalter,r24 5770 2f5c 00C0 rjmp .L501 5771 .L500: 5772 2f5e 8091 0000 lds r24,FC_StatusFlags 5773 2f62 84FF sbrs r24,4 5774 2f64 00C0 rjmp .L501 5775 2f66 3093 0000 sts (StickGier)+1,r19 5776 2f6a 2093 0000 sts StickGier,r18 5777 2f6e 3093 0000 sts (StickNick)+1,r19 5778 2f72 2093 0000 sts StickNick,r18 5779 2f76 3093 0000 sts (StickRoll)+1,r19 5780 2f7a 2093 0000 sts StickRoll,r18 5781 2f7e 9AE5 ldi r25,lo8(90) 5782 2f80 9093 0000 sts GyroFaktor,r25 5783 2f84 88E7 ldi r24,lo8(120) 5784 2f86 8093 0000 sts IntegralFaktor,r24 5785 2f8a 9093 0000 sts GyroFaktorGier,r25 5786 2f8e 8093 0000 sts IntegralFaktorGier,r24 5787 2f92 1092 0000 sts Looping_Roll,__zero_reg__ 5788 2f96 1092 0000 sts Looping_Nick,__zero_reg__ 5789 .L501: 5790 2f9a 8091 0000 lds r24,MittelIntegralNick 5791 2f9e 9091 0000 lds r25,(MittelIntegralNick)+1 5792 2fa2 A091 0000 lds r26,(MittelIntegralNick)+2 5793 2fa6 B091 0000 lds r27,(MittelIntegralNick)+3 5794 2faa 2091 0000 lds r18,IntegralNick 5795 2fae 3091 0000 lds r19,(IntegralNick)+1 5796 2fb2 4091 0000 lds r20,(IntegralNick)+2 5797 2fb6 5091 0000 lds r21,(IntegralNick)+3 5798 2fba 820F add r24,r18 5799 2fbc 931F adc r25,r19 5800 2fbe A41F adc r26,r20 5801 2fc0 B51F adc r27,r21 5802 2fc2 8093 0000 sts MittelIntegralNick,r24 5803 2fc6 9093 0000 sts (MittelIntegralNick)+1,r25 5804 2fca A093 0000 sts (MittelIntegralNick)+2,r26 5805 2fce B093 0000 sts (MittelIntegralNick)+3,r27 5806 2fd2 8091 0000 lds r24,MittelIntegralRoll 5807 2fd6 9091 0000 lds r25,(MittelIntegralRoll)+1 5808 2fda A091 0000 lds r26,(MittelIntegralRoll)+2 5809 2fde B091 0000 lds r27,(MittelIntegralRoll)+3 5810 2fe2 E090 0000 lds r14,IntegralRoll 5811 2fe6 F090 0000 lds r15,(IntegralRoll)+1 5812 2fea 0091 0000 lds r16,(IntegralRoll)+2 5813 2fee 1091 0000 lds r17,(IntegralRoll)+3 5814 2ff2 EB82 std Y+3,r14 5815 2ff4 FC82 std Y+4,r15 5816 2ff6 0D83 std Y+5,r16 5817 2ff8 1E83 std Y+6,r17 5818 2ffa 8E0D add r24,r14 5819 2ffc 9F1D adc r25,r15 5820 2ffe A01F adc r26,r16 5821 3000 B11F adc r27,r17 5822 3002 8093 0000 sts MittelIntegralRoll,r24 5823 3006 9093 0000 sts (MittelIntegralRoll)+1,r25 5824 300a A093 0000 sts (MittelIntegralRoll)+2,r26 5825 300e B093 0000 sts (MittelIntegralRoll)+3,r27 5826 3012 8091 0000 lds r24,MittelIntegralNick2 5827 3016 9091 0000 lds r25,(MittelIntegralNick2)+1 5828 301a A091 0000 lds r26,(MittelIntegralNick2)+2 5829 301e B091 0000 lds r27,(MittelIntegralNick2)+3 5830 3022 E090 0000 lds r14,IntegralNick2 5831 3026 F090 0000 lds r15,(IntegralNick2)+1 5832 302a 0091 0000 lds r16,(IntegralNick2)+2 5833 302e 1091 0000 lds r17,(IntegralNick2)+3 5834 3032 EF82 std Y+7,r14 5835 3034 F886 std Y+8,r15 5836 3036 0987 std Y+9,r16 5837 3038 1A87 std Y+10,r17 5838 303a 8E0D add r24,r14 5839 303c 9F1D adc r25,r15 5840 303e A01F adc r26,r16 5841 3040 B11F adc r27,r17 5842 3042 8093 0000 sts MittelIntegralNick2,r24 5843 3046 9093 0000 sts (MittelIntegralNick2)+1,r25 5844 304a A093 0000 sts (MittelIntegralNick2)+2,r26 5845 304e B093 0000 sts (MittelIntegralNick2)+3,r27 5846 3052 8091 0000 lds r24,MittelIntegralRoll2 5847 3056 9091 0000 lds r25,(MittelIntegralRoll2)+1 5848 305a A091 0000 lds r26,(MittelIntegralRoll2)+2 5849 305e B091 0000 lds r27,(MittelIntegralRoll2)+3 5850 3062 E090 0000 lds r14,IntegralRoll2 5851 3066 F090 0000 lds r15,(IntegralRoll2)+1 5852 306a 0091 0000 lds r16,(IntegralRoll2)+2 5853 306e 1091 0000 lds r17,(IntegralRoll2)+3 5854 3072 EB86 std Y+11,r14 5855 3074 FC86 std Y+12,r15 5856 3076 0D87 std Y+13,r16 5857 3078 1E87 std Y+14,r17 5858 307a 8E0D add r24,r14 5859 307c 9F1D adc r25,r15 5860 307e A01F adc r26,r16 5861 3080 B11F adc r27,r17 5862 3082 8093 0000 sts MittelIntegralRoll2,r24 5863 3086 9093 0000 sts (MittelIntegralRoll2)+1,r25 5864 308a A093 0000 sts (MittelIntegralRoll2)+2,r26 5865 308e B093 0000 sts (MittelIntegralRoll2)+3,r27 5866 3092 F090 0000 lds r15,Looping_Nick 5867 3096 FF86 std Y+15,r15 5868 3098 FF20 tst r15 5869 309a 01F4 brne .L504 5870 309c 8091 0000 lds r24,Looping_Roll 5871 30a0 8823 tst r24 5872 30a2 01F4 brne .+2 5873 30a4 00C0 rjmp .L886 5874 .L504: 5875 30a6 1092 0000 sts IntegralAccNick,__zero_reg__ 5876 30aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5877 30ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5878 30b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5879 30b6 1092 0000 sts IntegralAccRoll,__zero_reg__ 5880 30ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5881 30be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5882 30c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5883 30c6 1092 0000 sts MittelIntegralNick,__zero_reg__ 5884 30ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5885 30ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5886 30d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5887 30d6 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5888 30da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5889 30de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5890 30e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5891 30e6 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5892 30ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5893 30ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5894 30f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5895 30f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5896 30fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5897 30fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5898 3102 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5899 3106 8091 0000 lds r24,Mess_IntegralNick 5900 310a 9091 0000 lds r25,(Mess_IntegralNick)+1 5901 310e A091 0000 lds r26,(Mess_IntegralNick)+2 5902 3112 B091 0000 lds r27,(Mess_IntegralNick)+3 5903 3116 8093 0000 sts Mess_IntegralNick2,r24 5904 311a 9093 0000 sts (Mess_IntegralNick2)+1,r25 5905 311e A093 0000 sts (Mess_IntegralNick2)+2,r26 5906 3122 B093 0000 sts (Mess_IntegralNick2)+3,r27 5907 3126 8091 0000 lds r24,Mess_IntegralRoll 5908 312a 9091 0000 lds r25,(Mess_IntegralRoll)+1 5909 312e A091 0000 lds r26,(Mess_IntegralRoll)+2 5910 3132 B091 0000 lds r27,(Mess_IntegralRoll)+3 5911 3136 8093 0000 sts Mess_IntegralRoll2,r24 5912 313a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5913 313e A093 0000 sts (Mess_IntegralRoll2)+2,r26 5914 3142 B093 0000 sts (Mess_IntegralRoll2)+3,r27 5915 3146 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5916 314a 1092 0000 sts ZaehlMessungen,__zero_reg__ 5917 314e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5918 3152 1092 0000 sts LageKorrekturNick,__zero_reg__ 5919 3156 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5920 315a 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5921 315e 0F85 ldd r16,Y+15 5922 3160 0023 tst r16 5923 3162 01F0 breq .+2 5924 3164 00C0 rjmp .L505 5925 .L886: 5926 3166 8091 0000 lds r24,Looping_Roll 5927 316a 8823 tst r24 5928 316c 01F0 breq .+2 5929 316e 00C0 rjmp .L505 5930 3170 8091 0000 lds r24,Aktuell_az 5931 3174 9091 0000 lds r25,(Aktuell_az)+1 5932 3178 8150 subi r24,lo8(513) 5933 317a 9240 sbci r25,hi8(513) 5934 317c 04F4 brge .L506 5935 317e 8091 0000 lds r24,MotorenEin 5936 3182 8823 tst r24 5937 3184 01F4 brne .+2 5938 3186 00C0 rjmp .L505 5939 .L506: 5940 3188 9090 0000 lds r9,FromNaviCtrl_Value 5941 318c A090 0000 lds r10,EE_Parameter+28 5942 3190 2090 0000 lds r2,Mittelwert_AccNick 5943 3194 3090 0000 lds r3,(Mittelwert_AccNick)+1 5944 3198 4090 0000 lds r4,Mittelwert_AccRoll 5945 319c 5090 0000 lds r5,(Mittelwert_AccRoll)+1 5946 31a0 1914 cp __zero_reg__,r9 5947 31a2 04F0 brlt .+2 5948 31a4 00C0 rjmp .L507 5949 31a6 BB24 clr r11 5950 31a8 CC24 clr r12 5951 31aa DD24 clr r13 5952 31ac CA01 movw r24,r20 5953 31ae B901 movw r22,r18 5954 31b0 A601 movw r20,r12 5955 31b2 9501 movw r18,r10 5956 31b4 0E94 0000 call __divmodsi4 5957 31b8 7901 movw r14,r18 5958 31ba 8A01 movw r16,r20 5959 31bc 8091 0000 lds r24,FromNaviCtrl+9 5960 31c0 9091 0000 lds r25,(FromNaviCtrl+9)+1 5961 31c4 281A sub r2,r24 5962 31c6 390A sbc r3,r25 5963 31c8 C101 movw r24,r2 5964 31ca AA27 clr r26 5965 31cc 97FD sbrc r25,7 5966 31ce A095 com r26 5967 31d0 BA2F mov r27,r26 5968 31d2 E81A sub r14,r24 5969 31d4 F90A sbc r15,r25 5970 31d6 0A0B sbc r16,r26 5971 31d8 1B0B sbc r17,r27 5972 31da 6B81 ldd r22,Y+3 5973 31dc 7C81 ldd r23,Y+4 5974 31de 8D81 ldd r24,Y+5 5975 31e0 9E81 ldd r25,Y+6 5976 31e2 A601 movw r20,r12 5977 31e4 9501 movw r18,r10 5978 31e6 0E94 0000 call __divmodsi4 5979 31ea 5901 movw r10,r18 5980 31ec 6A01 movw r12,r20 5981 31ee 8091 0000 lds r24,FromNaviCtrl+11 5982 31f2 9091 0000 lds r25,(FromNaviCtrl+11)+1 5983 31f6 481A sub r4,r24 5984 31f8 590A sbc r5,r25 5985 31fa C201 movw r24,r4 5986 31fc AA27 clr r26 5987 31fe 97FD sbrc r25,7 5988 3200 A095 com r26 5989 3202 BA2F mov r27,r26 5990 3204 A81A sub r10,r24 5991 3206 B90A sbc r11,r25 5992 3208 CA0A sbc r12,r26 5993 320a DB0A sbc r13,r27 5994 320c 292C mov r2,r9 5995 320e 3324 clr r3 5996 3210 27FC sbrc r2,7 5997 3212 3094 com r3 5998 3214 432C mov r4,r3 5999 3216 532C mov r5,r3 6000 3218 C801 movw r24,r16 6001 321a B701 movw r22,r14 6002 321c A201 movw r20,r4 6003 321e 9101 movw r18,r2 6004 3220 0E94 0000 call __mulsi3 6005 3224 97FF sbrs r25,7 6006 3226 00C0 rjmp .L508 6007 3228 6150 subi r22,lo8(-(511)) 6008 322a 7E4F sbci r23,hi8(-(511)) 6009 322c 8F4F sbci r24,hlo8(-(511)) 6010 322e 9F4F sbci r25,hhi8(-(511)) 6011 .L508: 6012 3230 3B01 movw r6,r22 6013 3232 4C01 movw r8,r24 6014 3234 09E0 ldi r16,9 6015 3236 9594 1: asr r9 6016 3238 8794 ror r8 6017 323a 7794 ror r7 6018 323c 6794 ror r6 6019 323e 0A95 dec r16 6020 3240 01F4 brne 1b 6021 3242 C601 movw r24,r12 6022 3244 B501 movw r22,r10 6023 3246 A201 movw r20,r4 6024 3248 9101 movw r18,r2 6025 324a 0E94 0000 call __mulsi3 6026 324e 97FF sbrs r25,7 6027 3250 00C0 rjmp .L509 6028 3252 6150 subi r22,lo8(-(511)) 6029 3254 7E4F sbci r23,hi8(-(511)) 6030 3256 8F4F sbci r24,hlo8(-(511)) 6031 3258 9F4F sbci r25,hhi8(-(511)) 6032 .L509: 6033 325a 5B01 movw r10,r22 6034 325c 6C01 movw r12,r24 6035 325e 19E0 ldi r17,9 6036 3260 D594 1: asr r13 6037 3262 C794 ror r12 6038 3264 B794 ror r11 6039 3266 A794 ror r10 6040 3268 1A95 dec r17 6041 326a 01F4 brne 1b 6042 326c 8091 0000 lds r24,MaxStickNick 6043 3270 9091 0000 lds r25,(MaxStickNick)+1 6044 3274 8134 cpi r24,65 6045 3276 9105 cpc r25,__zero_reg__ 6046 3278 04F4 brge .L511 6047 327a 8091 0000 lds r24,MaxStickRoll 6048 327e 9091 0000 lds r25,(MaxStickRoll)+1 6049 3282 8134 cpi r24,65 6050 3284 9105 cpc r25,__zero_reg__ 6051 3286 04F0 brlt .L510 6052 .L511: 6053 3288 D401 movw r26,r8 6054 328a C301 movw r24,r6 6055 328c 97FE sbrs r9,7 6056 328e 00C0 rjmp .L512 6057 3290 0196 adiw r24,1 6058 3292 A11D adc r26,__zero_reg__ 6059 3294 B11D adc r27,__zero_reg__ 6060 .L512: 6061 3296 3C01 movw r6,r24 6062 3298 4D01 movw r8,r26 6063 329a 9594 asr r9 6064 329c 8794 ror r8 6065 329e 7794 ror r7 6066 32a0 6794 ror r6 6067 32a2 D601 movw r26,r12 6068 32a4 C501 movw r24,r10 6069 32a6 D7FE sbrs r13,7 6070 32a8 00C0 rjmp .L513 6071 32aa 0196 adiw r24,1 6072 32ac A11D adc r26,__zero_reg__ 6073 32ae B11D adc r27,__zero_reg__ 6074 .L513: 6075 32b0 5C01 movw r10,r24 6076 32b2 6D01 movw r12,r26 6077 32b4 D594 asr r13 6078 32b6 C794 ror r12 6079 32b8 B794 ror r11 6080 32ba A794 ror r10 6081 .L510: 6082 32bc 8091 0000 lds r24,FromNaviCtrl_Value+2 6083 32c0 282F mov r18,r24 6084 32c2 3327 clr r19 6085 32c4 27FD sbrc r18,7 6086 32c6 3095 com r19 6087 32c8 432F mov r20,r19 6088 32ca 532F mov r21,r19 6089 32cc 2615 cp r18,r6 6090 32ce 3705 cpc r19,r7 6091 32d0 4805 cpc r20,r8 6092 32d2 5905 cpc r21,r9 6093 32d4 04F4 brge .L514 6094 32d6 3901 movw r6,r18 6095 32d8 4A01 movw r8,r20 6096 .L514: 6097 32da 9927 clr r25 6098 32dc 87FD sbrc r24,7 6099 32de 9095 com r25 6100 32e0 9095 com r25 6101 32e2 8195 neg r24 6102 32e4 9F4F sbci r25,lo8(-1) 6103 32e6 AA27 clr r26 6104 32e8 97FD sbrc r25,7 6105 32ea A095 com r26 6106 32ec BA2F mov r27,r26 6107 32ee 6816 cp r6,r24 6108 32f0 7906 cpc r7,r25 6109 32f2 8A06 cpc r8,r26 6110 32f4 9B06 cpc r9,r27 6111 32f6 04F4 brge .L515 6112 32f8 3C01 movw r6,r24 6113 32fa 4D01 movw r8,r26 6114 .L515: 6115 32fc 2A15 cp r18,r10 6116 32fe 3B05 cpc r19,r11 6117 3300 4C05 cpc r20,r12 6118 3302 5D05 cpc r21,r13 6119 3304 04F4 brge .L516 6120 3306 5901 movw r10,r18 6121 3308 6A01 movw r12,r20 6122 .L516: 6123 330a A816 cp r10,r24 6124 330c B906 cpc r11,r25 6125 330e CA06 cpc r12,r26 6126 3310 DB06 cpc r13,r27 6127 3312 04F0 brlt .+2 6128 3314 00C0 rjmp .L518 6129 3316 5C01 movw r10,r24 6130 3318 6D01 movw r12,r26 6131 331a 00C0 rjmp .L518 6132 .L507: 6133 331c EA2C mov r14,r10 6134 331e FF24 clr r15 6135 3320 0027 clr r16 6136 3322 1127 clr r17 6137 3324 CA01 movw r24,r20 6138 3326 B901 movw r22,r18 6139 3328 A801 movw r20,r16 6140 332a 9701 movw r18,r14 6141 332c 0E94 0000 call __divmodsi4 6142 3330 3901 movw r6,r18 6143 3332 4A01 movw r8,r20 6144 3334 C101 movw r24,r2 6145 3336 AA27 clr r26 6146 3338 97FD sbrc r25,7 6147 333a A095 com r26 6148 333c BA2F mov r27,r26 6149 333e 681A sub r6,r24 6150 3340 790A sbc r7,r25 6151 3342 8A0A sbc r8,r26 6152 3344 9B0A sbc r9,r27 6153 3346 6B81 ldd r22,Y+3 6154 3348 7C81 ldd r23,Y+4 6155 334a 8D81 ldd r24,Y+5 6156 334c 9E81 ldd r25,Y+6 6157 334e A801 movw r20,r16 6158 3350 9701 movw r18,r14 6159 3352 0E94 0000 call __divmodsi4 6160 3356 5901 movw r10,r18 6161 3358 6A01 movw r12,r20 6162 335a C201 movw r24,r4 6163 335c AA27 clr r26 6164 335e 97FD sbrc r25,7 6165 3360 A095 com r26 6166 3362 BA2F mov r27,r26 6167 3364 A81A sub r10,r24 6168 3366 B90A sbc r11,r25 6169 3368 CA0A sbc r12,r26 6170 336a DB0A sbc r13,r27 6171 336c D401 movw r26,r8 6172 336e C301 movw r24,r6 6173 3370 97FE sbrs r9,7 6174 3372 00C0 rjmp .L519 6175 3374 0F96 adiw r24,15 6176 3376 A11D adc r26,__zero_reg__ 6177 3378 B11D adc r27,__zero_reg__ 6178 .L519: 6179 337a 3C01 movw r6,r24 6180 337c 4D01 movw r8,r26 6181 337e F4E0 ldi r31,4 6182 3380 9594 1: asr r9 6183 3382 8794 ror r8 6184 3384 7794 ror r7 6185 3386 6794 ror r6 6186 3388 FA95 dec r31 6187 338a 01F4 brne 1b 6188 338c D601 movw r26,r12 6189 338e C501 movw r24,r10 6190 3390 D7FE sbrs r13,7 6191 3392 00C0 rjmp .L520 6192 3394 0F96 adiw r24,15 6193 3396 A11D adc r26,__zero_reg__ 6194 3398 B11D adc r27,__zero_reg__ 6195 .L520: 6196 339a 5C01 movw r10,r24 6197 339c 6D01 movw r12,r26 6198 339e E4E0 ldi r30,4 6199 33a0 D594 1: asr r13 6200 33a2 C794 ror r12 6201 33a4 B794 ror r11 6202 33a6 A794 ror r10 6203 33a8 EA95 dec r30 6204 33aa 01F4 brne 1b 6205 33ac 8091 0000 lds r24,MaxStickNick 6206 33b0 9091 0000 lds r25,(MaxStickNick)+1 6207 33b4 8134 cpi r24,65 6208 33b6 9105 cpc r25,__zero_reg__ 6209 33b8 04F4 brge .L522 6210 33ba 8091 0000 lds r24,MaxStickRoll 6211 33be 9091 0000 lds r25,(MaxStickRoll)+1 6212 33c2 8134 cpi r24,65 6213 33c4 9105 cpc r25,__zero_reg__ 6214 33c6 04F0 brlt .L521 6215 .L522: 6216 33c8 C401 movw r24,r8 6217 33ca B301 movw r22,r6 6218 33cc 23E0 ldi r18,lo8(3) 6219 33ce 30E0 ldi r19,hi8(3) 6220 33d0 40E0 ldi r20,hlo8(3) 6221 33d2 50E0 ldi r21,hhi8(3) 6222 33d4 0E94 0000 call __divmodsi4 6223 33d8 3901 movw r6,r18 6224 33da 4A01 movw r8,r20 6225 33dc C601 movw r24,r12 6226 33de B501 movw r22,r10 6227 33e0 23E0 ldi r18,lo8(3) 6228 33e2 30E0 ldi r19,hi8(3) 6229 33e4 40E0 ldi r20,hlo8(3) 6230 33e6 50E0 ldi r21,hhi8(3) 6231 33e8 0E94 0000 call __divmodsi4 6232 33ec 5901 movw r10,r18 6233 33ee 6A01 movw r12,r20 6234 .L521: 6235 33f0 8091 0000 lds r24,EE_Parameter+4 6236 33f4 E82F mov r30,r24 6237 33f6 FF27 clr r31 6238 33f8 EE0F add r30,r30 6239 33fa FF1F adc r31,r31 6240 33fc E050 subi r30,lo8(-(PPM_in)) 6241 33fe F040 sbci r31,hi8(-(PPM_in)) 6242 3400 8081 ld r24,Z 6243 3402 9181 ldd r25,Z+1 6244 3404 0190 ld __tmp_reg__,Z+ 6245 3406 F081 ld r31,Z 6246 3408 E02D mov r30,__tmp_reg__ 6247 340a F7FF sbrs r31,7 6248 340c 00C0 rjmp .L524 6249 340e F095 com r31 6250 3410 E195 neg r30 6251 3412 FF4F sbci r31,lo8(-1) 6252 .L524: 6253 3414 7A97 sbiw r30,26 6254 3416 04F0 brlt .L523 6255 3418 C401 movw r24,r8 6256 341a B301 movw r22,r6 6257 341c 23E0 ldi r18,lo8(3) 6258 341e 30E0 ldi r19,hi8(3) 6259 3420 40E0 ldi r20,hlo8(3) 6260 3422 50E0 ldi r21,hhi8(3) 6261 3424 0E94 0000 call __divmodsi4 6262 3428 3901 movw r6,r18 6263 342a 4A01 movw r8,r20 6264 342c C601 movw r24,r12 6265 342e B501 movw r22,r10 6266 3430 23E0 ldi r18,lo8(3) 6267 3432 30E0 ldi r19,hi8(3) 6268 3434 40E0 ldi r20,hlo8(3) 6269 3436 50E0 ldi r21,hhi8(3) 6270 3438 0E94 0000 call __divmodsi4 6271 343c 5901 movw r10,r18 6272 343e 6A01 movw r12,r20 6273 .L523: 6274 3440 89E1 ldi r24,lo8(25) 6275 3442 8093 0000 sts KompassFusion,r24 6276 3446 21E2 ldi r18,lo8(33) 6277 3448 6216 cp r6,r18 6278 344a 7104 cpc r7,__zero_reg__ 6279 344c 8104 cpc r8,__zero_reg__ 6280 344e 9104 cpc r9,__zero_reg__ 6281 3450 04F0 brlt .L525 6282 3452 70E2 ldi r23,lo8(32) 6283 3454 672E mov r6,r23 6284 3456 712C mov r7,__zero_reg__ 6285 3458 812C mov r8,__zero_reg__ 6286 345a 912C mov r9,__zero_reg__ 6287 .L525: 6288 345c 30EE ldi r19,lo8(-32) 6289 345e 6316 cp r6,r19 6290 3460 3FEF ldi r19,hi8(-32) 6291 3462 7306 cpc r7,r19 6292 3464 3FEF ldi r19,hlo8(-32) 6293 3466 8306 cpc r8,r19 6294 3468 3FEF ldi r19,hhi8(-32) 6295 346a 9306 cpc r9,r19 6296 346c 04F4 brge .L526 6297 346e 60EE ldi r22,lo8(-32) 6298 3470 662E mov r6,r22 6299 3472 6FEF ldi r22,hi8(-32) 6300 3474 762E mov r7,r22 6301 3476 6FEF ldi r22,hlo8(-32) 6302 3478 862E mov r8,r22 6303 347a 6FEF ldi r22,hhi8(-32) 6304 347c 962E mov r9,r22 6305 .L526: 6306 347e 41E2 ldi r20,lo8(33) 6307 3480 A416 cp r10,r20 6308 3482 B104 cpc r11,__zero_reg__ 6309 3484 C104 cpc r12,__zero_reg__ 6310 3486 D104 cpc r13,__zero_reg__ 6311 3488 04F0 brlt .L527 6312 348a 50E2 ldi r21,lo8(32) 6313 348c A52E mov r10,r21 6314 348e B12C mov r11,__zero_reg__ 6315 3490 C12C mov r12,__zero_reg__ 6316 3492 D12C mov r13,__zero_reg__ 6317 .L527: 6318 3494 50EE ldi r21,lo8(-32) 6319 3496 A516 cp r10,r21 6320 3498 5FEF ldi r21,hi8(-32) 6321 349a B506 cpc r11,r21 6322 349c 5FEF ldi r21,hlo8(-32) 6323 349e C506 cpc r12,r21 6324 34a0 5FEF ldi r21,hhi8(-32) 6325 34a2 D506 cpc r13,r21 6326 34a4 04F4 brge .L518 6327 34a6 40EE ldi r20,lo8(-32) 6328 34a8 A42E mov r10,r20 6329 34aa 4FEF ldi r20,hi8(-32) 6330 34ac B42E mov r11,r20 6331 34ae 4FEF ldi r20,hlo8(-32) 6332 34b0 C42E mov r12,r20 6333 34b2 4FEF ldi r20,hhi8(-32) 6334 34b4 D42E mov r13,r20 6335 .L518: 6336 34b6 8091 0000 lds r24,Mess_IntegralNick 6337 34ba 9091 0000 lds r25,(Mess_IntegralNick)+1 6338 34be A091 0000 lds r26,(Mess_IntegralNick)+2 6339 34c2 B091 0000 lds r27,(Mess_IntegralNick)+3 6340 34c6 8619 sub r24,r6 6341 34c8 9709 sbc r25,r7 6342 34ca A809 sbc r26,r8 6343 34cc B909 sbc r27,r9 6344 34ce 8093 0000 sts Mess_IntegralNick,r24 6345 34d2 9093 0000 sts (Mess_IntegralNick)+1,r25 6346 34d6 A093 0000 sts (Mess_IntegralNick)+2,r26 6347 34da B093 0000 sts (Mess_IntegralNick)+3,r27 6348 34de 8091 0000 lds r24,Mess_IntegralRoll 6349 34e2 9091 0000 lds r25,(Mess_IntegralRoll)+1 6350 34e6 A091 0000 lds r26,(Mess_IntegralRoll)+2 6351 34ea B091 0000 lds r27,(Mess_IntegralRoll)+3 6352 34ee 8A19 sub r24,r10 6353 34f0 9B09 sbc r25,r11 6354 34f2 AC09 sbc r26,r12 6355 34f4 BD09 sbc r27,r13 6356 34f6 8093 0000 sts Mess_IntegralRoll,r24 6357 34fa 9093 0000 sts (Mess_IntegralRoll)+1,r25 6358 34fe A093 0000 sts (Mess_IntegralRoll)+2,r26 6359 3502 B093 0000 sts (Mess_IntegralRoll)+3,r27 6360 .L505: 6361 3506 8091 0000 lds r24,ZaehlMessungen 6362 350a 9091 0000 lds r25,(ZaehlMessungen)+1 6363 350e 8F3F cpi r24,255 6364 3510 9105 cpc r25,__zero_reg__ 6365 3512 01F0 breq .+2 6366 3514 00F4 brsh .+2 6367 3516 00C0 rjmp .L529 6368 3518 6F85 ldd r22,Y+15 6369 351a 6623 tst r22 6370 351c 01F0 breq .+2 6371 351e 00C0 rjmp .L530 6372 3520 8091 0000 lds r24,Looping_Roll 6373 3524 8823 tst r24 6374 3526 01F0 breq .+2 6375 3528 00C0 rjmp .L530 6376 352a 8091 0000 lds r24,TrichterFlug 6377 352e 8823 tst r24 6378 3530 01F0 breq .+2 6379 3532 00C0 rjmp .L530 6380 3534 7091 0000 lds r23,EE_Parameter+68 6381 3538 788B std Y+16,r23 6382 353a 7723 tst r23 6383 353c 01F4 brne .+2 6384 353e 00C0 rjmp .L530 6385 3540 8091 0000 lds r24,MittelIntegralNick 6386 3544 9091 0000 lds r25,(MittelIntegralNick)+1 6387 3548 A091 0000 lds r26,(MittelIntegralNick)+2 6388 354c B091 0000 lds r27,(MittelIntegralNick)+3 6389 3550 B7FF sbrs r27,7 6390 3552 00C0 rjmp .L531 6391 3554 8150 subi r24,lo8(-(255)) 6392 3556 9F4F sbci r25,hi8(-(255)) 6393 3558 AF4F sbci r26,hlo8(-(255)) 6394 355a BF4F sbci r27,hhi8(-(255)) 6395 .L531: 6396 355c E92E mov r14,r25 6397 355e FA2E mov r15,r26 6398 3560 0B2F mov r16,r27 6399 3562 1127 clr r17 6400 3564 07FD sbrc r16,7 6401 3566 1A95 dec r17 6402 3568 E092 0000 sts MittelIntegralNick,r14 6403 356c F092 0000 sts (MittelIntegralNick)+1,r15 6404 3570 0093 0000 sts (MittelIntegralNick)+2,r16 6405 3574 1093 0000 sts (MittelIntegralNick)+3,r17 6406 3578 8091 0000 lds r24,MittelIntegralRoll 6407 357c 9091 0000 lds r25,(MittelIntegralRoll)+1 6408 3580 A091 0000 lds r26,(MittelIntegralRoll)+2 6409 3584 B091 0000 lds r27,(MittelIntegralRoll)+3 6410 3588 B7FF sbrs r27,7 6411 358a 00C0 rjmp .L532 6412 358c 8150 subi r24,lo8(-(255)) 6413 358e 9F4F sbci r25,hi8(-(255)) 6414 3590 AF4F sbci r26,hlo8(-(255)) 6415 3592 BF4F sbci r27,hhi8(-(255)) 6416 .L532: 6417 3594 892F mov r24,r25 6418 3596 9A2F mov r25,r26 6419 3598 AB2F mov r26,r27 6420 359a BB27 clr r27 6421 359c A7FD sbrc r26,7 6422 359e BA95 dec r27 6423 35a0 898B std Y+17,r24 6424 35a2 9A8B std Y+18,r25 6425 35a4 AB8B std Y+19,r26 6426 35a6 BC8B std Y+20,r27 6427 35a8 8093 0000 sts MittelIntegralRoll,r24 6428 35ac 9093 0000 sts (MittelIntegralRoll)+1,r25 6429 35b0 A093 0000 sts (MittelIntegralRoll)+2,r26 6430 35b4 B093 0000 sts (MittelIntegralRoll)+3,r27 6431 35b8 8091 0000 lds r24,EE_Parameter+28 6432 35bc A82E mov r10,r24 6433 35be BB24 clr r11 6434 35c0 CC24 clr r12 6435 35c2 DD24 clr r13 6436 35c4 2091 0000 lds r18,IntegralAccNick 6437 35c8 3091 0000 lds r19,(IntegralAccNick)+1 6438 35cc 4091 0000 lds r20,(IntegralAccNick)+2 6439 35d0 5091 0000 lds r21,(IntegralAccNick)+3 6440 35d4 C601 movw r24,r12 6441 35d6 B501 movw r22,r10 6442 35d8 0E94 0000 call __mulsi3 6443 35dc 97FF sbrs r25,7 6444 35de 00C0 rjmp .L533 6445 35e0 6150 subi r22,lo8(-(255)) 6446 35e2 7F4F sbci r23,hi8(-(255)) 6447 35e4 8F4F sbci r24,hlo8(-(255)) 6448 35e6 9F4F sbci r25,hhi8(-(255)) 6449 .L533: 6450 35e8 672E mov r6,r23 6451 35ea 782E mov r7,r24 6452 35ec 892E mov r8,r25 6453 35ee 9924 clr r9 6454 35f0 87FC sbrc r8,7 6455 35f2 9A94 dec r9 6456 35f4 6092 0000 sts IntegralAccNick,r6 6457 35f8 7092 0000 sts (IntegralAccNick)+1,r7 6458 35fc 8092 0000 sts (IntegralAccNick)+2,r8 6459 3600 9092 0000 sts (IntegralAccNick)+3,r9 6460 3604 2091 0000 lds r18,IntegralAccRoll 6461 3608 3091 0000 lds r19,(IntegralAccRoll)+1 6462 360c 4091 0000 lds r20,(IntegralAccRoll)+2 6463 3610 5091 0000 lds r21,(IntegralAccRoll)+3 6464 3614 C601 movw r24,r12 6465 3616 B501 movw r22,r10 6466 3618 0E94 0000 call __mulsi3 6467 361c 97FF sbrs r25,7 6468 361e 00C0 rjmp .L534 6469 3620 6150 subi r22,lo8(-(255)) 6470 3622 7F4F sbci r23,hi8(-(255)) 6471 3624 8F4F sbci r24,hlo8(-(255)) 6472 3626 9F4F sbci r25,hhi8(-(255)) 6473 .L534: 6474 3628 272E mov r2,r23 6475 362a 382E mov r3,r24 6476 362c 492E mov r4,r25 6477 362e 5524 clr r5 6478 3630 47FC sbrc r4,7 6479 3632 5A94 dec r5 6480 3634 2092 0000 sts IntegralAccRoll,r2 6481 3638 3092 0000 sts (IntegralAccRoll)+1,r3 6482 363c 4092 0000 sts (IntegralAccRoll)+2,r4 6483 3640 5092 0000 sts (IntegralAccRoll)+3,r5 6484 3644 8091 0000 lds r24,IntegralAccZ 6485 3648 9091 0000 lds r25,(IntegralAccZ)+1 6486 364c A091 0000 lds r26,(IntegralAccZ)+2 6487 3650 B091 0000 lds r27,(IntegralAccZ)+3 6488 3654 B7FF sbrs r27,7 6489 3656 00C0 rjmp .L535 6490 3658 8150 subi r24,lo8(-(255)) 6491 365a 9F4F sbci r25,hi8(-(255)) 6492 365c AF4F sbci r26,hlo8(-(255)) 6493 365e BF4F sbci r27,hhi8(-(255)) 6494 .L535: 6495 3660 892F mov r24,r25 6496 3662 9A2F mov r25,r26 6497 3664 AB2F mov r26,r27 6498 3666 BB27 clr r27 6499 3668 A7FD sbrc r26,7 6500 366a BA95 dec r27 6501 366c 8093 0000 sts IntegralAccZ,r24 6502 3670 9093 0000 sts (IntegralAccZ)+1,r25 6503 3674 A093 0000 sts (IntegralAccZ)+2,r26 6504 3678 B093 0000 sts (IntegralAccZ)+3,r27 6505 367c D801 movw r26,r16 6506 367e C701 movw r24,r14 6507 3680 8619 sub r24,r6 6508 3682 9709 sbc r25,r7 6509 3684 A809 sbc r26,r8 6510 3686 B909 sbc r27,r9 6511 3688 8093 0000 sts IntegralFehlerNick.3,r24 6512 368c 9093 0000 sts (IntegralFehlerNick.3)+1,r25 6513 3690 A093 0000 sts (IntegralFehlerNick.3)+2,r26 6514 3694 B093 0000 sts (IntegralFehlerNick.3)+3,r27 6515 3698 2091 0000 lds r18,EE_Parameter+67 6516 369c E22E mov r14,r18 6517 369e FF24 clr r15 6518 36a0 0027 clr r16 6519 36a2 1127 clr r17 6520 36a4 BC01 movw r22,r24 6521 36a6 CD01 movw r24,r26 6522 36a8 A801 movw r20,r16 6523 36aa 9701 movw r18,r14 6524 36ac 0E94 0000 call __divmodsi4 6525 36b0 5901 movw r10,r18 6526 36b2 6A01 movw r12,r20 6527 36b4 2093 0000 sts ausgleichNick.10,r18 6528 36b8 3093 0000 sts (ausgleichNick.10)+1,r19 6529 36bc 4093 0000 sts (ausgleichNick.10)+2,r20 6530 36c0 5093 0000 sts (ausgleichNick.10)+3,r21 6531 36c4 8989 ldd r24,Y+17 6532 36c6 9A89 ldd r25,Y+18 6533 36c8 AB89 ldd r26,Y+19 6534 36ca BC89 ldd r27,Y+20 6535 36cc 8219 sub r24,r2 6536 36ce 9309 sbc r25,r3 6537 36d0 A409 sbc r26,r4 6538 36d2 B509 sbc r27,r5 6539 36d4 8093 0000 sts IntegralFehlerRoll.4,r24 6540 36d8 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 6541 36dc A093 0000 sts (IntegralFehlerRoll.4)+2,r26 6542 36e0 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 6543 36e4 BC01 movw r22,r24 6544 36e6 CD01 movw r24,r26 6545 36e8 A801 movw r20,r16 6546 36ea 9701 movw r18,r14 6547 36ec 0E94 0000 call __divmodsi4 6548 36f0 2093 0000 sts ausgleichRoll.11,r18 6549 36f4 3093 0000 sts (ausgleichRoll.11)+1,r19 6550 36f8 4093 0000 sts (ausgleichRoll.11)+2,r20 6551 36fc 5093 0000 sts (ausgleichRoll.11)+3,r21 6552 3700 D601 movw r26,r12 6553 3702 C501 movw r24,r10 6554 3704 D7FE sbrs r13,7 6555 3706 00C0 rjmp .L536 6556 3708 8150 subi r24,lo8(-(255)) 6557 370a 9F4F sbci r25,hi8(-(255)) 6558 370c AF4F sbci r26,hlo8(-(255)) 6559 370e BF4F sbci r27,hhi8(-(255)) 6560 .L536: 6561 3710 892F mov r24,r25 6562 3712 9A2F mov r25,r26 6563 3714 AB2F mov r26,r27 6564 3716 BB27 clr r27 6565 3718 A7FD sbrc r26,7 6566 371a BA95 dec r27 6567 371c 9093 0000 sts (LageKorrekturNick)+1,r25 6568 3720 8093 0000 sts LageKorrekturNick,r24 6569 3724 57FF sbrs r21,7 6570 3726 00C0 rjmp .L537 6571 3728 2150 subi r18,lo8(-(255)) 6572 372a 3F4F sbci r19,hi8(-(255)) 6573 372c 4F4F sbci r20,hlo8(-(255)) 6574 372e 5F4F sbci r21,hhi8(-(255)) 6575 .L537: 6576 3730 BB27 clr r27 6577 3732 57FD sbrc r21,7 6578 3734 BA95 dec r27 6579 3736 A52F mov r26,r21 6580 3738 942F mov r25,r20 6581 373a 832F mov r24,r19 6582 373c 9093 0000 sts (LageKorrekturRoll)+1,r25 6583 3740 8093 0000 sts LageKorrekturRoll,r24 6584 3744 8091 0000 lds r24,MaxStickNick 6585 3748 9091 0000 lds r25,(MaxStickNick)+1 6586 374c 8134 cpi r24,65 6587 374e 9105 cpc r25,__zero_reg__ 6588 3750 04F4 brge .L539 6589 3752 8091 0000 lds r24,MaxStickRoll 6590 3756 9091 0000 lds r25,(MaxStickRoll)+1 6591 375a 8134 cpi r24,65 6592 375c 9105 cpc r25,__zero_reg__ 6593 375e 04F4 brge .L539 6594 3760 8091 0000 lds r24,EE_Parameter+4 6595 3764 E82F mov r30,r24 6596 3766 FF27 clr r31 6597 3768 EE0F add r30,r30 6598 376a FF1F adc r31,r31 6599 376c E050 subi r30,lo8(-(PPM_in)) 6600 376e F040 sbci r31,hi8(-(PPM_in)) 6601 3770 8081 ld r24,Z 6602 3772 9181 ldd r25,Z+1 6603 3774 0190 ld __tmp_reg__,Z+ 6604 3776 F081 ld r31,Z 6605 3778 E02D mov r30,__tmp_reg__ 6606 377a F7FF sbrs r31,7 6607 377c 00C0 rjmp .L540 6608 377e F095 com r31 6609 3780 E195 neg r30 6610 3782 FF4F sbci r31,lo8(-1) 6611 .L540: 6612 3784 7A97 sbiw r30,26 6613 3786 04F0 brlt .L538 6614 .L539: 6615 3788 8091 0000 lds r24,FromNaviCtrl_Value 6616 378c 8F3F cpi r24,lo8(-1) 6617 378e 01F4 brne .L538 6618 3790 8091 0000 lds r24,LageKorrekturNick 6619 3794 9091 0000 lds r25,(LageKorrekturNick)+1 6620 3798 97FD sbrc r25,7 6621 379a 0196 adiw r24,1 6622 .L541: 6623 379c 9595 asr r25 6624 379e 8795 ror r24 6625 37a0 9093 0000 sts (LageKorrekturNick)+1,r25 6626 37a4 8093 0000 sts LageKorrekturNick,r24 6627 37a8 8091 0000 lds r24,LageKorrekturRoll 6628 37ac 9091 0000 lds r25,(LageKorrekturRoll)+1 6629 37b0 97FD sbrc r25,7 6630 37b2 0196 adiw r24,1 6631 .L542: 6632 37b4 9595 asr r25 6633 37b6 8795 ror r24 6634 37b8 9093 0000 sts (LageKorrekturRoll)+1,r25 6635 37bc 8093 0000 sts LageKorrekturRoll,r24 6636 .L538: 6637 37c0 8091 0000 lds r24,MittelIntegralNick2 6638 37c4 9091 0000 lds r25,(MittelIntegralNick2)+1 6639 37c8 A091 0000 lds r26,(MittelIntegralNick2)+2 6640 37cc B091 0000 lds r27,(MittelIntegralNick2)+3 6641 37d0 B7FF sbrs r27,7 6642 37d2 00C0 rjmp .L543 6643 37d4 8150 subi r24,lo8(-(255)) 6644 37d6 9F4F sbci r25,hi8(-(255)) 6645 37d8 AF4F sbci r26,hlo8(-(255)) 6646 37da BF4F sbci r27,hhi8(-(255)) 6647 .L543: 6648 37dc 892F mov r24,r25 6649 37de 9A2F mov r25,r26 6650 37e0 AB2F mov r26,r27 6651 37e2 BB27 clr r27 6652 37e4 A7FD sbrc r26,7 6653 37e6 BA95 dec r27 6654 37e8 8093 0000 sts MittelIntegralNick2,r24 6655 37ec 9093 0000 sts (MittelIntegralNick2)+1,r25 6656 37f0 A093 0000 sts (MittelIntegralNick2)+2,r26 6657 37f4 B093 0000 sts (MittelIntegralNick2)+3,r27 6658 37f8 8091 0000 lds r24,MittelIntegralRoll2 6659 37fc 9091 0000 lds r25,(MittelIntegralRoll2)+1 6660 3800 A091 0000 lds r26,(MittelIntegralRoll2)+2 6661 3804 B091 0000 lds r27,(MittelIntegralRoll2)+3 6662 3808 B7FF sbrs r27,7 6663 380a 00C0 rjmp .L544 6664 380c 8150 subi r24,lo8(-(255)) 6665 380e 9F4F sbci r25,hi8(-(255)) 6666 3810 AF4F sbci r26,hlo8(-(255)) 6667 3812 BF4F sbci r27,hhi8(-(255)) 6668 .L544: 6669 3814 892F mov r24,r25 6670 3816 9A2F mov r25,r26 6671 3818 AB2F mov r26,r27 6672 381a BB27 clr r27 6673 381c A7FD sbrc r26,7 6674 381e BA95 dec r27 6675 3820 8093 0000 sts MittelIntegralRoll2,r24 6676 3824 9093 0000 sts (MittelIntegralRoll2)+1,r25 6677 3828 A093 0000 sts (MittelIntegralRoll2)+2,r26 6678 382c B093 0000 sts (MittelIntegralRoll2)+3,r27 6679 3830 8091 0000 lds r24,IntegralNick 6680 3834 9091 0000 lds r25,(IntegralNick)+1 6681 3838 A091 0000 lds r26,(IntegralNick)+2 6682 383c B091 0000 lds r27,(IntegralNick)+3 6683 3840 2F81 ldd r18,Y+7 6684 3842 3885 ldd r19,Y+8 6685 3844 4985 ldd r20,Y+9 6686 3846 5A85 ldd r21,Y+10 6687 3848 281B sub r18,r24 6688 384a 390B sbc r19,r25 6689 384c 4A0B sbc r20,r26 6690 384e 5B0B sbc r21,r27 6691 3850 2093 0000 sts tmp_long.1,r18 6692 3854 3093 0000 sts (tmp_long.1)+1,r19 6693 3858 4093 0000 sts (tmp_long.1)+2,r20 6694 385c 5093 0000 sts (tmp_long.1)+3,r21 6695 3860 8091 0000 lds r24,IntegralRoll 6696 3864 9091 0000 lds r25,(IntegralRoll)+1 6697 3868 A091 0000 lds r26,(IntegralRoll)+2 6698 386c B091 0000 lds r27,(IntegralRoll)+3 6699 3870 EB84 ldd r14,Y+11 6700 3872 FC84 ldd r15,Y+12 6701 3874 0D85 ldd r16,Y+13 6702 3876 1E85 ldd r17,Y+14 6703 3878 E81A sub r14,r24 6704 387a F90A sbc r15,r25 6705 387c 0A0B sbc r16,r26 6706 387e 1B0B sbc r17,r27 6707 3880 E092 0000 sts tmp_long2.2,r14 6708 3884 F092 0000 sts (tmp_long2.2)+1,r15 6709 3888 0093 0000 sts (tmp_long2.2)+2,r16 6710 388c 1093 0000 sts (tmp_long2.2)+3,r17 6711 3890 2093 0000 sts IntegralFehlerNick.3,r18 6712 3894 3093 0000 sts (IntegralFehlerNick.3)+1,r19 6713 3898 4093 0000 sts (IntegralFehlerNick.3)+2,r20 6714 389c 5093 0000 sts (IntegralFehlerNick.3)+3,r21 6715 38a0 E092 0000 sts IntegralFehlerRoll.4,r14 6716 38a4 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 6717 38a8 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 6718 38ac 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 6719 38b0 8091 0000 lds r24,Mess_IntegralNick2 6720 38b4 9091 0000 lds r25,(Mess_IntegralNick2)+1 6721 38b8 A091 0000 lds r26,(Mess_IntegralNick2)+2 6722 38bc B091 0000 lds r27,(Mess_IntegralNick2)+3 6723 38c0 821B sub r24,r18 6724 38c2 930B sbc r25,r19 6725 38c4 A40B sbc r26,r20 6726 38c6 B50B sbc r27,r21 6727 38c8 8093 0000 sts Mess_IntegralNick2,r24 6728 38cc 9093 0000 sts (Mess_IntegralNick2)+1,r25 6729 38d0 A093 0000 sts (Mess_IntegralNick2)+2,r26 6730 38d4 B093 0000 sts (Mess_IntegralNick2)+3,r27 6731 38d8 8091 0000 lds r24,Mess_IntegralRoll2 6732 38dc 9091 0000 lds r25,(Mess_IntegralRoll2)+1 6733 38e0 A091 0000 lds r26,(Mess_IntegralRoll2)+2 6734 38e4 B091 0000 lds r27,(Mess_IntegralRoll2)+3 6735 38e8 8E19 sub r24,r14 6736 38ea 9F09 sbc r25,r15 6737 38ec A00B sbc r26,r16 6738 38ee B10B sbc r27,r17 6739 38f0 8093 0000 sts Mess_IntegralRoll2,r24 6740 38f4 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6741 38f8 A093 0000 sts (Mess_IntegralRoll2)+2,r26 6742 38fc B093 0000 sts (Mess_IntegralRoll2)+3,r27 6743 3900 8889 ldd r24,Y+16 6744 3902 8823 tst r24 6745 3904 01F0 breq .L545 6746 3906 2091 0000 lds r18,GierGyroFehler 6747 390a 3091 0000 lds r19,(GierGyroFehler)+1 6748 390e 2138 cpi r18,129 6749 3910 3105 cpc r19,__zero_reg__ 6750 3912 04F0 brlt .L546 6751 3914 8091 0000 lds r24,AdNeutralGier 6752 3918 9091 0000 lds r25,(AdNeutralGier)+1 6753 391c 0196 adiw r24,1 6754 391e 9093 0000 sts (AdNeutralGier)+1,r25 6755 3922 8093 0000 sts AdNeutralGier,r24 6756 .L546: 6757 3926 2058 subi r18,lo8(-128) 6758 3928 3F4F sbci r19,hi8(-128) 6759 392a 04F4 brge .L545 6760 392c 8091 0000 lds r24,AdNeutralGier 6761 3930 9091 0000 lds r25,(AdNeutralGier)+1 6762 3934 0197 sbiw r24,1 6763 3936 9093 0000 sts (AdNeutralGier)+1,r25 6764 393a 8093 0000 sts AdNeutralGier,r24 6765 .L545: 6766 393e 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 6767 3942 1092 0000 sts GierGyroFehler,__zero_reg__ 6768 3946 81E0 ldi r24,lo8(1) 6769 3948 90E0 ldi r25,hi8(1) 6770 394a 9093 0000 sts (cnt.14)+1,r25 6771 394e 8093 0000 sts cnt.14,r24 6772 3952 E090 0000 lds r14,IntegralFehlerNick.3 6773 3956 F090 0000 lds r15,(IntegralFehlerNick.3)+1 6774 395a 0091 0000 lds r16,(IntegralFehlerNick.3)+2 6775 395e 1091 0000 lds r17,(IntegralFehlerNick.3)+3 6776 3962 D801 movw r26,r16 6777 3964 C701 movw r24,r14 6778 3966 17FF sbrs r17,7 6779 3968 00C0 rjmp .L549 6780 396a 8827 clr r24 6781 396c 9927 clr r25 6782 396e DC01 movw r26,r24 6783 3970 8E19 sub r24,r14 6784 3972 9F09 sbc r25,r15 6785 3974 A00B sbc r26,r16 6786 3976 B10B sbc r27,r17 6787 .L549: 6788 3978 8150 subi r24,lo8(513) 6789 397a 9240 sbci r25,hi8(513) 6790 397c A040 sbci r26,hlo8(513) 6791 397e B040 sbci r27,hhi8(513) 6792 3980 04F0 brlt .L548 6793 3982 84E0 ldi r24,lo8(4) 6794 3984 90E0 ldi r25,hi8(4) 6795 3986 9093 0000 sts (cnt.14)+1,r25 6796 398a 8093 0000 sts cnt.14,r24 6797 .L548: 6798 398e 8091 0000 lds r24,MittelIntegralNick_Alt.19 6799 3992 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 6800 3996 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 6801 399a B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 6802 399e 2091 0000 lds r18,MittelIntegralNick 6803 39a2 3091 0000 lds r19,(MittelIntegralNick)+1 6804 39a6 4091 0000 lds r20,(MittelIntegralNick)+2 6805 39aa 5091 0000 lds r21,(MittelIntegralNick)+3 6806 39ae 821B sub r24,r18 6807 39b0 930B sbc r25,r19 6808 39b2 A40B sbc r26,r20 6809 39b4 B50B sbc r27,r21 6810 39b6 815E subi r24,lo8(-(19999)) 6811 39b8 914B sbci r25,hi8(-(19999)) 6812 39ba AF4F sbci r26,hlo8(-(19999)) 6813 39bc BF4F sbci r27,hhi8(-(19999)) 6814 39be 8F53 subi r24,lo8(39999) 6815 39c0 9C49 sbci r25,hi8(39999) 6816 39c2 A040 sbci r26,hlo8(39999) 6817 39c4 B040 sbci r27,hhi8(39999) 6818 39c6 00F0 brlo .L551 6819 39c8 8091 0000 lds r24,FromNaviCtrl_Value+1 6820 39cc 8931 cpi r24,lo8(25) 6821 39ce 04F4 brge .+2 6822 39d0 00C0 rjmp .L550 6823 .L551: 6824 39d2 21E0 ldi r18,lo8(4097) 6825 39d4 E216 cp r14,r18 6826 39d6 20E1 ldi r18,hi8(4097) 6827 39d8 F206 cpc r15,r18 6828 39da 20E0 ldi r18,hlo8(4097) 6829 39dc 0207 cpc r16,r18 6830 39de 20E0 ldi r18,hhi8(4097) 6831 39e0 1207 cpc r17,r18 6832 39e2 04F4 brge .+2 6833 39e4 00C0 rjmp .L552 6834 39e6 8091 0000 lds r24,last_n_p.15 6835 39ea 8823 tst r24 6836 39ec 01F4 brne .+2 6837 39ee 00C0 rjmp .L553 6838 39f0 D801 movw r26,r16 6839 39f2 C701 movw r24,r14 6840 39f4 17FF sbrs r17,7 6841 39f6 00C0 rjmp .L554 6842 39f8 8827 clr r24 6843 39fa 9927 clr r25 6844 39fc DC01 movw r26,r24 6845 39fe 8E19 sub r24,r14 6846 3a00 9F09 sbc r25,r15 6847 3a02 A00B sbc r26,r16 6848 3a04 B10B sbc r27,r17 6849 .L554: 6850 3a06 9C01 movw r18,r24 6851 3a08 AD01 movw r20,r26 6852 3a0a B7FF sbrs r27,7 6853 3a0c 00C0 rjmp .L555 6854 3a0e 2150 subi r18,lo8(-(511)) 6855 3a10 3E4F sbci r19,hi8(-(511)) 6856 3a12 4F4F sbci r20,hlo8(-(511)) 6857 3a14 5F4F sbci r21,hhi8(-(511)) 6858 .L555: 6859 3a16 F9E0 ldi r31,9 6860 3a18 5595 1: asr r21 6861 3a1a 4795 ror r20 6862 3a1c 3795 ror r19 6863 3a1e 2795 ror r18 6864 3a20 FA95 dec r31 6865 3a22 01F4 brne 1b 6866 3a24 8091 0000 lds r24,cnt.14 6867 3a28 9091 0000 lds r25,(cnt.14)+1 6868 3a2c 820F add r24,r18 6869 3a2e 931F adc r25,r19 6870 3a30 9093 0000 sts (cnt.14)+1,r25 6871 3a34 8093 0000 sts cnt.14,r24 6872 3a38 D801 movw r26,r16 6873 3a3a C701 movw r24,r14 6874 3a3c 17FF sbrs r17,7 6875 3a3e 00C0 rjmp .L556 6876 3a40 0796 adiw r24,7 6877 3a42 A11D adc r26,__zero_reg__ 6878 3a44 B11D adc r27,__zero_reg__ 6879 .L556: 6880 3a46 E3E0 ldi r30,3 6881 3a48 B595 1: asr r27 6882 3a4a A795 ror r26 6883 3a4c 9795 ror r25 6884 3a4e 8795 ror r24 6885 3a50 EA95 dec r30 6886 3a52 01F4 brne 1b 6887 3a54 8093 0000 sts ausgleichNick.10,r24 6888 3a58 9093 0000 sts (ausgleichNick.10)+1,r25 6889 3a5c A093 0000 sts (ausgleichNick.10)+2,r26 6890 3a60 B093 0000 sts (ausgleichNick.10)+3,r27 6891 3a64 8958 subi r24,lo8(5001) 6892 3a66 9341 sbci r25,hi8(5001) 6893 3a68 A040 sbci r26,hlo8(5001) 6894 3a6a B040 sbci r27,hhi8(5001) 6895 3a6c 04F0 brlt .L557 6896 3a6e 88E8 ldi r24,lo8(5000) 6897 3a70 93E1 ldi r25,hi8(5000) 6898 3a72 A0E0 ldi r26,hlo8(5000) 6899 3a74 B0E0 ldi r27,hhi8(5000) 6900 3a76 8093 0000 sts ausgleichNick.10,r24 6901 3a7a 9093 0000 sts (ausgleichNick.10)+1,r25 6902 3a7e A093 0000 sts (ausgleichNick.10)+2,r26 6903 3a82 B093 0000 sts (ausgleichNick.10)+3,r27 6904 .L557: 6905 3a86 2091 0000 lds r18,ausgleichNick.10 6906 3a8a 3091 0000 lds r19,(ausgleichNick.10)+1 6907 3a8e 4091 0000 lds r20,(ausgleichNick.10)+2 6908 3a92 5091 0000 lds r21,(ausgleichNick.10)+3 6909 3a96 57FF sbrs r21,7 6910 3a98 00C0 rjmp .L558 6911 3a9a 2150 subi r18,lo8(-(255)) 6912 3a9c 3F4F sbci r19,hi8(-(255)) 6913 3a9e 4F4F sbci r20,hlo8(-(255)) 6914 3aa0 5F4F sbci r21,hhi8(-(255)) 6915 .L558: 6916 3aa2 232F mov r18,r19 6917 3aa4 342F mov r19,r20 6918 3aa6 452F mov r20,r21 6919 3aa8 5527 clr r21 6920 3aaa 47FD sbrc r20,7 6921 3aac 5A95 dec r21 6922 3aae 8091 0000 lds r24,LageKorrekturNick 6923 3ab2 9091 0000 lds r25,(LageKorrekturNick)+1 6924 3ab6 820F add r24,r18 6925 3ab8 931F adc r25,r19 6926 3aba 9093 0000 sts (LageKorrekturNick)+1,r25 6927 3abe 8093 0000 sts LageKorrekturNick,r24 6928 3ac2 00C0 rjmp .L560 6929 .L553: 6930 3ac4 81E0 ldi r24,lo8(1) 6931 3ac6 8093 0000 sts last_n_p.15,r24 6932 3aca 00C0 rjmp .L560 6933 .L552: 6934 3acc 1092 0000 sts last_n_p.15,__zero_reg__ 6935 .L560: 6936 3ad0 40E0 ldi r20,lo8(-4096) 6937 3ad2 E416 cp r14,r20 6938 3ad4 40EF ldi r20,hi8(-4096) 6939 3ad6 F406 cpc r15,r20 6940 3ad8 4FEF ldi r20,hlo8(-4096) 6941 3ada 0407 cpc r16,r20 6942 3adc 4FEF ldi r20,hhi8(-4096) 6943 3ade 1407 cpc r17,r20 6944 3ae0 04F0 brlt .+2 6945 3ae2 00C0 rjmp .L561 6946 3ae4 8091 0000 lds r24,last_n_n.16 6947 3ae8 8823 tst r24 6948 3aea 01F4 brne .+2 6949 3aec 00C0 rjmp .L562 6950 3aee D801 movw r26,r16 6951 3af0 C701 movw r24,r14 6952 3af2 17FF sbrs r17,7 6953 3af4 00C0 rjmp .L563 6954 3af6 8827 clr r24 6955 3af8 9927 clr r25 6956 3afa DC01 movw r26,r24 6957 3afc 8E19 sub r24,r14 6958 3afe 9F09 sbc r25,r15 6959 3b00 A00B sbc r26,r16 6960 3b02 B10B sbc r27,r17 6961 .L563: 6962 3b04 9C01 movw r18,r24 6963 3b06 AD01 movw r20,r26 6964 3b08 B7FF sbrs r27,7 6965 3b0a 00C0 rjmp .L564 6966 3b0c 2150 subi r18,lo8(-(511)) 6967 3b0e 3E4F sbci r19,hi8(-(511)) 6968 3b10 4F4F sbci r20,hlo8(-(511)) 6969 3b12 5F4F sbci r21,hhi8(-(511)) 6970 .L564: 6971 3b14 69E0 ldi r22,9 6972 3b16 5595 1: asr r21 6973 3b18 4795 ror r20 6974 3b1a 3795 ror r19 6975 3b1c 2795 ror r18 6976 3b1e 6A95 dec r22 6977 3b20 01F4 brne 1b 6978 3b22 8091 0000 lds r24,cnt.14 6979 3b26 9091 0000 lds r25,(cnt.14)+1 6980 3b2a 820F add r24,r18 6981 3b2c 931F adc r25,r19 6982 3b2e 9093 0000 sts (cnt.14)+1,r25 6983 3b32 8093 0000 sts cnt.14,r24 6984 3b36 D801 movw r26,r16 6985 3b38 C701 movw r24,r14 6986 3b3a 17FF sbrs r17,7 6987 3b3c 00C0 rjmp .L565 6988 3b3e 0796 adiw r24,7 6989 3b40 A11D adc r26,__zero_reg__ 6990 3b42 B11D adc r27,__zero_reg__ 6991 .L565: 6992 3b44 23E0 ldi r18,3 6993 3b46 B595 1: asr r27 6994 3b48 A795 ror r26 6995 3b4a 9795 ror r25 6996 3b4c 8795 ror r24 6997 3b4e 2A95 dec r18 6998 3b50 01F4 brne 1b 6999 3b52 8093 0000 sts ausgleichNick.10,r24 7000 3b56 9093 0000 sts (ausgleichNick.10)+1,r25 7001 3b5a A093 0000 sts (ausgleichNick.10)+2,r26 7002 3b5e B093 0000 sts (ausgleichNick.10)+3,r27 7003 3b62 8857 subi r24,lo8(-5000) 7004 3b64 9C4E sbci r25,hi8(-5000) 7005 3b66 AF4F sbci r26,hlo8(-5000) 7006 3b68 BF4F sbci r27,hhi8(-5000) 7007 3b6a 04F4 brge .L566 7008 3b6c 88E7 ldi r24,lo8(-5000) 7009 3b6e 9CEE ldi r25,hi8(-5000) 7010 3b70 AFEF ldi r26,hlo8(-5000) 7011 3b72 BFEF ldi r27,hhi8(-5000) 7012 3b74 8093 0000 sts ausgleichNick.10,r24 7013 3b78 9093 0000 sts (ausgleichNick.10)+1,r25 7014 3b7c A093 0000 sts (ausgleichNick.10)+2,r26 7015 3b80 B093 0000 sts (ausgleichNick.10)+3,r27 7016 .L566: 7017 3b84 2091 0000 lds r18,ausgleichNick.10 7018 3b88 3091 0000 lds r19,(ausgleichNick.10)+1 7019 3b8c 4091 0000 lds r20,(ausgleichNick.10)+2 7020 3b90 5091 0000 lds r21,(ausgleichNick.10)+3 7021 3b94 57FF sbrs r21,7 7022 3b96 00C0 rjmp .L567 7023 3b98 2150 subi r18,lo8(-(255)) 7024 3b9a 3F4F sbci r19,hi8(-(255)) 7025 3b9c 4F4F sbci r20,hlo8(-(255)) 7026 3b9e 5F4F sbci r21,hhi8(-(255)) 7027 .L567: 7028 3ba0 232F mov r18,r19 7029 3ba2 342F mov r19,r20 7030 3ba4 452F mov r20,r21 7031 3ba6 5527 clr r21 7032 3ba8 47FD sbrc r20,7 7033 3baa 5A95 dec r21 7034 3bac 8091 0000 lds r24,LageKorrekturNick 7035 3bb0 9091 0000 lds r25,(LageKorrekturNick)+1 7036 3bb4 820F add r24,r18 7037 3bb6 931F adc r25,r19 7038 3bb8 9093 0000 sts (LageKorrekturNick)+1,r25 7039 3bbc 8093 0000 sts LageKorrekturNick,r24 7040 3bc0 00C0 rjmp .L570 7041 .L562: 7042 3bc2 81E0 ldi r24,lo8(1) 7043 3bc4 8093 0000 sts last_n_n.16,r24 7044 3bc8 00C0 rjmp .L570 7045 .L561: 7046 3bca 1092 0000 sts last_n_n.16,__zero_reg__ 7047 3bce 00C0 rjmp .L570 7048 .L550: 7049 3bd0 1092 0000 sts (cnt.14)+1,__zero_reg__ 7050 3bd4 1092 0000 sts cnt.14,__zero_reg__ 7051 3bd8 84E6 ldi r24,lo8(100) 7052 3bda 90E0 ldi r25,hi8(100) 7053 3bdc 9093 0000 sts (KompassSignalSchlecht)+1,r25 7054 3be0 8093 0000 sts KompassSignalSchlecht,r24 7055 .L570: 7056 3be4 6889 ldd r22,Y+16 7057 3be6 262F mov r18,r22 7058 3be8 3327 clr r19 7059 3bea 8091 0000 lds r24,cnt.14 7060 3bee 9091 0000 lds r25,(cnt.14)+1 7061 3bf2 2817 cp r18,r24 7062 3bf4 3907 cpc r19,r25 7063 3bf6 04F4 brge .L571 7064 3bf8 3093 0000 sts (cnt.14)+1,r19 7065 3bfc 2093 0000 sts cnt.14,r18 7066 .L571: 7067 3c00 1091 0000 lds r17,FromNaviCtrl_Value+1 7068 3c04 1123 tst r17 7069 3c06 01F0 breq .L572 7070 3c08 212F mov r18,r17 7071 3c0a 3327 clr r19 7072 3c0c 27FD sbrc r18,7 7073 3c0e 3095 com r19 7074 3c10 8091 0000 lds r24,cnt.14 7075 3c14 9091 0000 lds r25,(cnt.14)+1 7076 3c18 2817 cp r18,r24 7077 3c1a 3907 cpc r19,r25 7078 3c1c 04F4 brge .L572 7079 3c1e 3093 0000 sts (cnt.14)+1,r19 7080 3c22 2093 0000 sts cnt.14,r18 7081 .L572: 7082 3c26 4091 0000 lds r20,IntegralFehlerNick.3 7083 3c2a 5091 0000 lds r21,(IntegralFehlerNick.3)+1 7084 3c2e 6091 0000 lds r22,(IntegralFehlerNick.3)+2 7085 3c32 7091 0000 lds r23,(IntegralFehlerNick.3)+3 7086 3c36 4138 cpi r20,lo8(129) 7087 3c38 5105 cpc r21,__zero_reg__ 7088 3c3a 6105 cpc r22,__zero_reg__ 7089 3c3c 7105 cpc r23,__zero_reg__ 7090 3c3e 04F0 brlt .L574 7091 3c40 8091 0000 lds r24,AdNeutralNick 7092 3c44 9091 0000 lds r25,(AdNeutralNick)+1 7093 3c48 2091 0000 lds r18,cnt.14 7094 3c4c 3091 0000 lds r19,(cnt.14)+1 7095 3c50 820F add r24,r18 7096 3c52 931F adc r25,r19 7097 3c54 9093 0000 sts (AdNeutralNick)+1,r25 7098 3c58 8093 0000 sts AdNeutralNick,r24 7099 .L574: 7100 3c5c 4058 subi r20,lo8(-128) 7101 3c5e 5F4F sbci r21,hi8(-128) 7102 3c60 6F4F sbci r22,hlo8(-128) 7103 3c62 7F4F sbci r23,hhi8(-128) 7104 3c64 04F4 brge .L575 7105 3c66 8091 0000 lds r24,AdNeutralNick 7106 3c6a 9091 0000 lds r25,(AdNeutralNick)+1 7107 3c6e 2091 0000 lds r18,cnt.14 7108 3c72 3091 0000 lds r19,(cnt.14)+1 7109 3c76 821B sub r24,r18 7110 3c78 930B sbc r25,r19 7111 3c7a 9093 0000 sts (AdNeutralNick)+1,r25 7112 3c7e 8093 0000 sts AdNeutralNick,r24 7113 .L575: 7114 3c82 81E0 ldi r24,lo8(1) 7115 3c84 90E0 ldi r25,hi8(1) 7116 3c86 9093 0000 sts (cnt.14)+1,r25 7117 3c8a 8093 0000 sts cnt.14,r24 7118 3c8e C090 0000 lds r12,IntegralFehlerRoll.4 7119 3c92 D090 0000 lds r13,(IntegralFehlerRoll.4)+1 7120 3c96 E090 0000 lds r14,(IntegralFehlerRoll.4)+2 7121 3c9a F090 0000 lds r15,(IntegralFehlerRoll.4)+3 7122 3c9e D701 movw r26,r14 7123 3ca0 C601 movw r24,r12 7124 3ca2 F7FE sbrs r15,7 7125 3ca4 00C0 rjmp .L577 7126 3ca6 8827 clr r24 7127 3ca8 9927 clr r25 7128 3caa DC01 movw r26,r24 7129 3cac 8C19 sub r24,r12 7130 3cae 9D09 sbc r25,r13 7131 3cb0 AE09 sbc r26,r14 7132 3cb2 BF09 sbc r27,r15 7133 .L577: 7134 3cb4 8150 subi r24,lo8(513) 7135 3cb6 9240 sbci r25,hi8(513) 7136 3cb8 A040 sbci r26,hlo8(513) 7137 3cba B040 sbci r27,hhi8(513) 7138 3cbc 04F0 brlt .L576 7139 3cbe 84E0 ldi r24,lo8(4) 7140 3cc0 90E0 ldi r25,hi8(4) 7141 3cc2 9093 0000 sts (cnt.14)+1,r25 7142 3cc6 8093 0000 sts cnt.14,r24 7143 .L576: 7144 3cca 8091 0000 lds r24,MittelIntegralRoll_Alt.20 7145 3cce 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 7146 3cd2 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 7147 3cd6 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 7148 3cda 2091 0000 lds r18,MittelIntegralRoll 7149 3cde 3091 0000 lds r19,(MittelIntegralRoll)+1 7150 3ce2 4091 0000 lds r20,(MittelIntegralRoll)+2 7151 3ce6 5091 0000 lds r21,(MittelIntegralRoll)+3 7152 3cea 821B sub r24,r18 7153 3cec 930B sbc r25,r19 7154 3cee A40B sbc r26,r20 7155 3cf0 B50B sbc r27,r21 7156 3cf2 815E subi r24,lo8(-(19999)) 7157 3cf4 914B sbci r25,hi8(-(19999)) 7158 3cf6 AF4F sbci r26,hlo8(-(19999)) 7159 3cf8 BF4F sbci r27,hhi8(-(19999)) 7160 3cfa 8F53 subi r24,lo8(39999) 7161 3cfc 9C49 sbci r25,hi8(39999) 7162 3cfe A040 sbci r26,hlo8(39999) 7163 3d00 B040 sbci r27,hhi8(39999) 7164 3d02 00F0 brlo .L579 7165 3d04 1931 cpi r17,lo8(25) 7166 3d06 04F4 brge .+2 7167 3d08 00C0 rjmp .L578 7168 .L579: 7169 3d0a 01E0 ldi r16,lo8(4097) 7170 3d0c C016 cp r12,r16 7171 3d0e 00E1 ldi r16,hi8(4097) 7172 3d10 D006 cpc r13,r16 7173 3d12 00E0 ldi r16,hlo8(4097) 7174 3d14 E006 cpc r14,r16 7175 3d16 00E0 ldi r16,hhi8(4097) 7176 3d18 F006 cpc r15,r16 7177 3d1a 04F4 brge .+2 7178 3d1c 00C0 rjmp .L580 7179 3d1e 8091 0000 lds r24,last_r_p.17 7180 3d22 8823 tst r24 7181 3d24 01F4 brne .+2 7182 3d26 00C0 rjmp .L581 7183 3d28 D701 movw r26,r14 7184 3d2a C601 movw r24,r12 7185 3d2c F7FE sbrs r15,7 7186 3d2e 00C0 rjmp .L582 7187 3d30 8827 clr r24 7188 3d32 9927 clr r25 7189 3d34 DC01 movw r26,r24 7190 3d36 8C19 sub r24,r12 7191 3d38 9D09 sbc r25,r13 7192 3d3a AE09 sbc r26,r14 7193 3d3c BF09 sbc r27,r15 7194 .L582: 7195 3d3e 9C01 movw r18,r24 7196 3d40 AD01 movw r20,r26 7197 3d42 B7FF sbrs r27,7 7198 3d44 00C0 rjmp .L583 7199 3d46 2150 subi r18,lo8(-(511)) 7200 3d48 3E4F sbci r19,hi8(-(511)) 7201 3d4a 4F4F sbci r20,hlo8(-(511)) 7202 3d4c 5F4F sbci r21,hhi8(-(511)) 7203 .L583: 7204 3d4e 09E0 ldi r16,9 7205 3d50 5595 1: asr r21 7206 3d52 4795 ror r20 7207 3d54 3795 ror r19 7208 3d56 2795 ror r18 7209 3d58 0A95 dec r16 7210 3d5a 01F4 brne 1b 7211 3d5c 8091 0000 lds r24,cnt.14 7212 3d60 9091 0000 lds r25,(cnt.14)+1 7213 3d64 820F add r24,r18 7214 3d66 931F adc r25,r19 7215 3d68 9093 0000 sts (cnt.14)+1,r25 7216 3d6c 8093 0000 sts cnt.14,r24 7217 3d70 D701 movw r26,r14 7218 3d72 C601 movw r24,r12 7219 3d74 F7FE sbrs r15,7 7220 3d76 00C0 rjmp .L584 7221 3d78 0796 adiw r24,7 7222 3d7a A11D adc r26,__zero_reg__ 7223 3d7c B11D adc r27,__zero_reg__ 7224 .L584: 7225 3d7e 13E0 ldi r17,3 7226 3d80 B595 1: asr r27 7227 3d82 A795 ror r26 7228 3d84 9795 ror r25 7229 3d86 8795 ror r24 7230 3d88 1A95 dec r17 7231 3d8a 01F4 brne 1b 7232 3d8c 8093 0000 sts ausgleichRoll.11,r24 7233 3d90 9093 0000 sts (ausgleichRoll.11)+1,r25 7234 3d94 A093 0000 sts (ausgleichRoll.11)+2,r26 7235 3d98 B093 0000 sts (ausgleichRoll.11)+3,r27 7236 3d9c 8958 subi r24,lo8(5001) 7237 3d9e 9341 sbci r25,hi8(5001) 7238 3da0 A040 sbci r26,hlo8(5001) 7239 3da2 B040 sbci r27,hhi8(5001) 7240 3da4 04F0 brlt .L585 7241 3da6 88E8 ldi r24,lo8(5000) 7242 3da8 93E1 ldi r25,hi8(5000) 7243 3daa A0E0 ldi r26,hlo8(5000) 7244 3dac B0E0 ldi r27,hhi8(5000) 7245 3dae 8093 0000 sts ausgleichRoll.11,r24 7246 3db2 9093 0000 sts (ausgleichRoll.11)+1,r25 7247 3db6 A093 0000 sts (ausgleichRoll.11)+2,r26 7248 3dba B093 0000 sts (ausgleichRoll.11)+3,r27 7249 .L585: 7250 3dbe 2091 0000 lds r18,ausgleichRoll.11 7251 3dc2 3091 0000 lds r19,(ausgleichRoll.11)+1 7252 3dc6 4091 0000 lds r20,(ausgleichRoll.11)+2 7253 3dca 5091 0000 lds r21,(ausgleichRoll.11)+3 7254 3dce 57FF sbrs r21,7 7255 3dd0 00C0 rjmp .L586 7256 3dd2 2150 subi r18,lo8(-(255)) 7257 3dd4 3F4F sbci r19,hi8(-(255)) 7258 3dd6 4F4F sbci r20,hlo8(-(255)) 7259 3dd8 5F4F sbci r21,hhi8(-(255)) 7260 .L586: 7261 3dda 232F mov r18,r19 7262 3ddc 342F mov r19,r20 7263 3dde 452F mov r20,r21 7264 3de0 5527 clr r21 7265 3de2 47FD sbrc r20,7 7266 3de4 5A95 dec r21 7267 3de6 8091 0000 lds r24,LageKorrekturRoll 7268 3dea 9091 0000 lds r25,(LageKorrekturRoll)+1 7269 3dee 820F add r24,r18 7270 3df0 931F adc r25,r19 7271 3df2 9093 0000 sts (LageKorrekturRoll)+1,r25 7272 3df6 8093 0000 sts LageKorrekturRoll,r24 7273 3dfa 00C0 rjmp .L588 7274 .L581: 7275 3dfc 81E0 ldi r24,lo8(1) 7276 3dfe 8093 0000 sts last_r_p.17,r24 7277 3e02 00C0 rjmp .L588 7278 .L580: 7279 3e04 1092 0000 sts last_r_p.17,__zero_reg__ 7280 .L588: 7281 3e08 20E0 ldi r18,lo8(-4096) 7282 3e0a C216 cp r12,r18 7283 3e0c 20EF ldi r18,hi8(-4096) 7284 3e0e D206 cpc r13,r18 7285 3e10 2FEF ldi r18,hlo8(-4096) 7286 3e12 E206 cpc r14,r18 7287 3e14 2FEF ldi r18,hhi8(-4096) 7288 3e16 F206 cpc r15,r18 7289 3e18 04F0 brlt .+2 7290 3e1a 00C0 rjmp .L589 7291 3e1c 8091 0000 lds r24,last_r_n.18 7292 3e20 8823 tst r24 7293 3e22 01F4 brne .+2 7294 3e24 00C0 rjmp .L590 7295 3e26 D701 movw r26,r14 7296 3e28 C601 movw r24,r12 7297 3e2a F7FE sbrs r15,7 7298 3e2c 00C0 rjmp .L591 7299 3e2e 8827 clr r24 7300 3e30 9927 clr r25 7301 3e32 DC01 movw r26,r24 7302 3e34 8C19 sub r24,r12 7303 3e36 9D09 sbc r25,r13 7304 3e38 AE09 sbc r26,r14 7305 3e3a BF09 sbc r27,r15 7306 .L591: 7307 3e3c 9C01 movw r18,r24 7308 3e3e AD01 movw r20,r26 7309 3e40 B7FF sbrs r27,7 7310 3e42 00C0 rjmp .L592 7311 3e44 2150 subi r18,lo8(-(511)) 7312 3e46 3E4F sbci r19,hi8(-(511)) 7313 3e48 4F4F sbci r20,hlo8(-(511)) 7314 3e4a 5F4F sbci r21,hhi8(-(511)) 7315 .L592: 7316 3e4c E9E0 ldi r30,9 7317 3e4e 5595 1: asr r21 7318 3e50 4795 ror r20 7319 3e52 3795 ror r19 7320 3e54 2795 ror r18 7321 3e56 EA95 dec r30 7322 3e58 01F4 brne 1b 7323 3e5a 8091 0000 lds r24,cnt.14 7324 3e5e 9091 0000 lds r25,(cnt.14)+1 7325 3e62 820F add r24,r18 7326 3e64 931F adc r25,r19 7327 3e66 9093 0000 sts (cnt.14)+1,r25 7328 3e6a 8093 0000 sts cnt.14,r24 7329 3e6e D701 movw r26,r14 7330 3e70 C601 movw r24,r12 7331 3e72 F7FE sbrs r15,7 7332 3e74 00C0 rjmp .L593 7333 3e76 0796 adiw r24,7 7334 3e78 A11D adc r26,__zero_reg__ 7335 3e7a B11D adc r27,__zero_reg__ 7336 .L593: 7337 3e7c 73E0 ldi r23,3 7338 3e7e B595 1: asr r27 7339 3e80 A795 ror r26 7340 3e82 9795 ror r25 7341 3e84 8795 ror r24 7342 3e86 7A95 dec r23 7343 3e88 01F4 brne 1b 7344 3e8a 8093 0000 sts ausgleichRoll.11,r24 7345 3e8e 9093 0000 sts (ausgleichRoll.11)+1,r25 7346 3e92 A093 0000 sts (ausgleichRoll.11)+2,r26 7347 3e96 B093 0000 sts (ausgleichRoll.11)+3,r27 7348 3e9a 8857 subi r24,lo8(-5000) 7349 3e9c 9C4E sbci r25,hi8(-5000) 7350 3e9e AF4F sbci r26,hlo8(-5000) 7351 3ea0 BF4F sbci r27,hhi8(-5000) 7352 3ea2 04F4 brge .L594 7353 3ea4 88E7 ldi r24,lo8(-5000) 7354 3ea6 9CEE ldi r25,hi8(-5000) 7355 3ea8 AFEF ldi r26,hlo8(-5000) 7356 3eaa BFEF ldi r27,hhi8(-5000) 7357 3eac 8093 0000 sts ausgleichRoll.11,r24 7358 3eb0 9093 0000 sts (ausgleichRoll.11)+1,r25 7359 3eb4 A093 0000 sts (ausgleichRoll.11)+2,r26 7360 3eb8 B093 0000 sts (ausgleichRoll.11)+3,r27 7361 .L594: 7362 3ebc 2091 0000 lds r18,ausgleichRoll.11 7363 3ec0 3091 0000 lds r19,(ausgleichRoll.11)+1 7364 3ec4 4091 0000 lds r20,(ausgleichRoll.11)+2 7365 3ec8 5091 0000 lds r21,(ausgleichRoll.11)+3 7366 3ecc 57FF sbrs r21,7 7367 3ece 00C0 rjmp .L595 7368 3ed0 2150 subi r18,lo8(-(255)) 7369 3ed2 3F4F sbci r19,hi8(-(255)) 7370 3ed4 4F4F sbci r20,hlo8(-(255)) 7371 3ed6 5F4F sbci r21,hhi8(-(255)) 7372 .L595: 7373 3ed8 232F mov r18,r19 7374 3eda 342F mov r19,r20 7375 3edc 452F mov r20,r21 7376 3ede 5527 clr r21 7377 3ee0 47FD sbrc r20,7 7378 3ee2 5A95 dec r21 7379 3ee4 8091 0000 lds r24,LageKorrekturRoll 7380 3ee8 9091 0000 lds r25,(LageKorrekturRoll)+1 7381 3eec 820F add r24,r18 7382 3eee 931F adc r25,r19 7383 3ef0 9093 0000 sts (LageKorrekturRoll)+1,r25 7384 3ef4 8093 0000 sts LageKorrekturRoll,r24 7385 3ef8 00C0 rjmp .L598 7386 .L590: 7387 3efa 81E0 ldi r24,lo8(1) 7388 3efc 8093 0000 sts last_r_n.18,r24 7389 3f00 00C0 rjmp .L598 7390 .L589: 7391 3f02 1092 0000 sts last_r_n.18,__zero_reg__ 7392 3f06 00C0 rjmp .L598 7393 .L578: 7394 3f08 1092 0000 sts (cnt.14)+1,__zero_reg__ 7395 3f0c 1092 0000 sts cnt.14,__zero_reg__ 7396 3f10 84E6 ldi r24,lo8(100) 7397 3f12 90E0 ldi r25,hi8(100) 7398 3f14 9093 0000 sts (KompassSignalSchlecht)+1,r25 7399 3f18 8093 0000 sts KompassSignalSchlecht,r24 7400 .L598: 7401 3f1c 4889 ldd r20,Y+16 7402 3f1e 242F mov r18,r20 7403 3f20 3327 clr r19 7404 3f22 8091 0000 lds r24,cnt.14 7405 3f26 9091 0000 lds r25,(cnt.14)+1 7406 3f2a 2817 cp r18,r24 7407 3f2c 3907 cpc r19,r25 7408 3f2e 04F4 brge .L599 7409 3f30 3093 0000 sts (cnt.14)+1,r19 7410 3f34 2093 0000 sts cnt.14,r18 7411 .L599: 7412 3f38 8091 0000 lds r24,FromNaviCtrl_Value+1 7413 3f3c 8823 tst r24 7414 3f3e 01F0 breq .L600 7415 3f40 282F mov r18,r24 7416 3f42 3327 clr r19 7417 3f44 27FD sbrc r18,7 7418 3f46 3095 com r19 7419 3f48 8091 0000 lds r24,cnt.14 7420 3f4c 9091 0000 lds r25,(cnt.14)+1 7421 3f50 2817 cp r18,r24 7422 3f52 3907 cpc r19,r25 7423 3f54 04F4 brge .L600 7424 3f56 3093 0000 sts (cnt.14)+1,r19 7425 3f5a 2093 0000 sts cnt.14,r18 7426 .L600: 7427 3f5e 4091 0000 lds r20,IntegralFehlerRoll.4 7428 3f62 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 7429 3f66 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 7430 3f6a 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 7431 3f6e 4138 cpi r20,lo8(129) 7432 3f70 5105 cpc r21,__zero_reg__ 7433 3f72 6105 cpc r22,__zero_reg__ 7434 3f74 7105 cpc r23,__zero_reg__ 7435 3f76 04F0 brlt .L602 7436 3f78 8091 0000 lds r24,AdNeutralRoll 7437 3f7c 9091 0000 lds r25,(AdNeutralRoll)+1 7438 3f80 2091 0000 lds r18,cnt.14 7439 3f84 3091 0000 lds r19,(cnt.14)+1 7440 3f88 820F add r24,r18 7441 3f8a 931F adc r25,r19 7442 3f8c 9093 0000 sts (AdNeutralRoll)+1,r25 7443 3f90 8093 0000 sts AdNeutralRoll,r24 7444 .L602: 7445 3f94 4058 subi r20,lo8(-128) 7446 3f96 5F4F sbci r21,hi8(-128) 7447 3f98 6F4F sbci r22,hlo8(-128) 7448 3f9a 7F4F sbci r23,hhi8(-128) 7449 3f9c 04F4 brge .L604 7450 3f9e 8091 0000 lds r24,AdNeutralRoll 7451 3fa2 9091 0000 lds r25,(AdNeutralRoll)+1 7452 3fa6 2091 0000 lds r18,cnt.14 7453 3faa 3091 0000 lds r19,(cnt.14)+1 7454 3fae 821B sub r24,r18 7455 3fb0 930B sbc r25,r19 7456 3fb2 9093 0000 sts (AdNeutralRoll)+1,r25 7457 3fb6 8093 0000 sts AdNeutralRoll,r24 7458 3fba 00C0 rjmp .L604 7459 .L530: 7460 3fbc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7461 3fc0 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7462 3fc4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7463 3fc8 1092 0000 sts LageKorrekturNick,__zero_reg__ 7464 3fcc 1092 0000 sts TrichterFlug,__zero_reg__ 7465 .L604: 7466 3fd0 8091 0000 lds r24,IntegralFaktor 7467 3fd4 8823 tst r24 7468 3fd6 01F4 brne .L605 7469 3fd8 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7470 3fdc 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7471 3fe0 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7472 3fe4 1092 0000 sts LageKorrekturNick,__zero_reg__ 7473 .L605: 7474 3fe8 8091 0000 lds r24,MittelIntegralNick 7475 3fec 9091 0000 lds r25,(MittelIntegralNick)+1 7476 3ff0 A091 0000 lds r26,(MittelIntegralNick)+2 7477 3ff4 B091 0000 lds r27,(MittelIntegralNick)+3 7478 3ff8 8093 0000 sts MittelIntegralNick_Alt.19,r24 7479 3ffc 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 7480 4000 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 7481 4004 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 7482 4008 8091 0000 lds r24,MittelIntegralRoll 7483 400c 9091 0000 lds r25,(MittelIntegralRoll)+1 7484 4010 A091 0000 lds r26,(MittelIntegralRoll)+2 7485 4014 B091 0000 lds r27,(MittelIntegralRoll)+3 7486 4018 8093 0000 sts MittelIntegralRoll_Alt.20,r24 7487 401c 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 7488 4020 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 7489 4024 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 7490 4028 1092 0000 sts IntegralAccNick,__zero_reg__ 7491 402c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 7492 4030 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 7493 4034 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 7494 4038 1092 0000 sts IntegralAccRoll,__zero_reg__ 7495 403c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 7496 4040 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 7497 4044 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 7498 4048 1092 0000 sts IntegralAccZ,__zero_reg__ 7499 404c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 7500 4050 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 7501 4054 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 7502 4058 1092 0000 sts MittelIntegralNick,__zero_reg__ 7503 405c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 7504 4060 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 7505 4064 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 7506 4068 1092 0000 sts MittelIntegralRoll,__zero_reg__ 7507 406c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 7508 4070 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 7509 4074 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 7510 4078 1092 0000 sts MittelIntegralNick2,__zero_reg__ 7511 407c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 7512 4080 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 7513 4084 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 7514 4088 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 7515 408c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 7516 4090 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 7517 4094 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 7518 4098 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 7519 409c 1092 0000 sts ZaehlMessungen,__zero_reg__ 7520 .L529: 7521 40a0 E090 0000 lds r14,StickGier 7522 40a4 F090 0000 lds r15,(StickGier)+1 7523 40a8 C701 movw r24,r14 7524 40aa F7FE sbrs r15,7 7525 40ac 00C0 rjmp .L607 7526 40ae 8827 clr r24 7527 40b0 9927 clr r25 7528 40b2 8E19 sub r24,r14 7529 40b4 9F09 sbc r25,r15 7530 .L607: 7531 40b6 0497 sbiw r24,4 7532 40b8 04F0 brlt .L606 7533 40ba 8091 0000 lds r24,Parameter_GlobalConfig 7534 40be 84FD sbrc r24,4 7535 40c0 00C0 rjmp .L606 7536 40c2 82E3 ldi r24,lo8(50) 7537 40c4 8093 0000 sts NeueKompassRichtungMerken,r24 7538 .L606: 7539 40c8 1091 0000 lds r17,EE_Parameter+25 7540 40cc A12E mov r10,r17 7541 40ce BB24 clr r11 7542 40d0 CC24 clr r12 7543 40d2 DD24 clr r13 7544 40d4 B701 movw r22,r14 7545 40d6 8827 clr r24 7546 40d8 77FD sbrc r23,7 7547 40da 8095 com r24 7548 40dc 982F mov r25,r24 7549 40de 9701 movw r18,r14 7550 40e0 F7FE sbrs r15,7 7551 40e2 00C0 rjmp .L609 7552 40e4 2227 clr r18 7553 40e6 3327 clr r19 7554 40e8 2E19 sub r18,r14 7555 40ea 3F09 sbc r19,r15 7556 .L609: 7557 40ec 4427 clr r20 7558 40ee 37FD sbrc r19,7 7559 40f0 4095 com r20 7560 40f2 542F mov r21,r20 7561 40f4 0E94 0000 call __mulsi3 7562 40f8 9B01 movw r18,r22 7563 40fa AC01 movw r20,r24 7564 40fc C601 movw r24,r12 7565 40fe B501 movw r22,r10 7566 4100 0E94 0000 call __mulsi3 7567 4104 97FF sbrs r25,7 7568 4106 00C0 rjmp .L610 7569 4108 6150 subi r22,lo8(-(511)) 7570 410a 7E4F sbci r23,hi8(-(511)) 7571 410c 8F4F sbci r24,hlo8(-(511)) 7572 410e 9F4F sbci r25,hhi8(-(511)) 7573 .L610: 7574 4110 59E0 ldi r21,9 7575 4112 9595 1: asr r25 7576 4114 8795 ror r24 7577 4116 7795 ror r23 7578 4118 6795 ror r22 7579 411a 5A95 dec r21 7580 411c 01F4 brne 1b 7581 411e 9B01 movw r18,r22 7582 4120 812F mov r24,r17 7583 4122 9927 clr r25 7584 4124 8E9D mul r24,r14 7585 4126 D001 movw r26,r0 7586 4128 8F9D mul r24,r15 7587 412a B00D add r27,r0 7588 412c 9E9D mul r25,r14 7589 412e B00D add r27,r0 7590 4130 1124 clr r1 7591 4132 CD01 movw r24,r26 7592 4134 B7FD sbrc r27,7 7593 4136 0396 adiw r24,3 7594 .L611: 7595 4138 9595 asr r25 7596 413a 8795 ror r24 7597 413c 9595 asr r25 7598 413e 8795 ror r24 7599 4140 280F add r18,r24 7600 4142 391F adc r19,r25 7601 4144 8091 0000 lds r24,CompassGierSetpoint 7602 4148 9091 0000 lds r25,(CompassGierSetpoint)+1 7603 414c 280F add r18,r24 7604 414e 391F adc r19,r25 7605 4150 4427 clr r20 7606 4152 37FD sbrc r19,7 7607 4154 4095 com r20 7608 4156 542F mov r21,r20 7609 4158 2093 0000 sts sollGier.0,r18 7610 415c 3093 0000 sts (sollGier.0)+1,r19 7611 4160 4093 0000 sts (sollGier.0)+2,r20 7612 4164 5093 0000 sts (sollGier.0)+3,r21 7613 4168 8091 0000 lds r24,Mess_Integral_Gier 7614 416c 9091 0000 lds r25,(Mess_Integral_Gier)+1 7615 4170 A091 0000 lds r26,(Mess_Integral_Gier)+2 7616 4174 B091 0000 lds r27,(Mess_Integral_Gier)+3 7617 4178 821B sub r24,r18 7618 417a 930B sbc r25,r19 7619 417c A40B sbc r26,r20 7620 417e B50B sbc r27,r21 7621 4180 8093 0000 sts Mess_Integral_Gier,r24 7622 4184 9093 0000 sts (Mess_Integral_Gier)+1,r25 7623 4188 A093 0000 sts (Mess_Integral_Gier)+2,r26 7624 418c B093 0000 sts (Mess_Integral_Gier)+3,r27 7625 4190 8155 subi r24,lo8(50001) 7626 4192 934C sbci r25,hi8(50001) 7627 4194 A040 sbci r26,hlo8(50001) 7628 4196 B040 sbci r27,hhi8(50001) 7629 4198 04F0 brlt .L612 7630 419a 80E5 ldi r24,lo8(50000) 7631 419c 93EC ldi r25,hi8(50000) 7632 419e A0E0 ldi r26,hlo8(50000) 7633 41a0 B0E0 ldi r27,hhi8(50000) 7634 41a2 8093 0000 sts Mess_Integral_Gier,r24 7635 41a6 9093 0000 sts (Mess_Integral_Gier)+1,r25 7636 41aa A093 0000 sts (Mess_Integral_Gier)+2,r26 7637 41ae B093 0000 sts (Mess_Integral_Gier)+3,r27 7638 .L612: 7639 41b2 8091 0000 lds r24,Mess_Integral_Gier 7640 41b6 9091 0000 lds r25,(Mess_Integral_Gier)+1 7641 41ba A091 0000 lds r26,(Mess_Integral_Gier)+2 7642 41be B091 0000 lds r27,(Mess_Integral_Gier)+3 7643 41c2 805B subi r24,lo8(-50000) 7644 41c4 9C43 sbci r25,hi8(-50000) 7645 41c6 AF4F sbci r26,hlo8(-50000) 7646 41c8 BF4F sbci r27,hhi8(-50000) 7647 41ca 04F4 brge .L613 7648 41cc 80EB ldi r24,lo8(-50000) 7649 41ce 9CE3 ldi r25,hi8(-50000) 7650 41d0 AFEF ldi r26,hlo8(-50000) 7651 41d2 BFEF ldi r27,hhi8(-50000) 7652 41d4 8093 0000 sts Mess_Integral_Gier,r24 7653 41d8 9093 0000 sts (Mess_Integral_Gier)+1,r25 7654 41dc A093 0000 sts (Mess_Integral_Gier)+2,r26 7655 41e0 B093 0000 sts (Mess_Integral_Gier)+3,r27 7656 .L613: 7657 41e4 0091 0000 lds r16,KompassValue 7658 41e8 1091 0000 lds r17,(KompassValue)+1 7659 41ec 17FD sbrc r17,7 7660 41ee 00C0 rjmp .L614 7661 41f0 8091 0000 lds r24,Parameter_GlobalConfig 7662 41f4 83FF sbrs r24,3 7663 41f6 00C0 rjmp .L614 7664 41f8 8091 0000 lds r24,CalculateCompassTimer 7665 41fc 8150 subi r24,lo8(-(-1)) 7666 41fe 8093 0000 sts CalculateCompassTimer,r24 7667 4202 8823 tst r24 7668 4204 01F0 breq .+2 7669 4206 00C0 rjmp .L631 7670 4208 8DE0 ldi r24,lo8(13) 7671 420a 8093 0000 sts CalculateCompassTimer,r24 7672 420e 8091 0000 lds r24,IntegralNick 7673 4212 9091 0000 lds r25,(IntegralNick)+1 7674 4216 A091 0000 lds r26,(IntegralNick)+2 7675 421a B091 0000 lds r27,(IntegralNick)+3 7676 421e B7FF sbrs r27,7 7677 4220 00C0 rjmp .L616 7678 4222 8150 subi r24,lo8(-(511)) 7679 4224 9E4F sbci r25,hi8(-(511)) 7680 4226 AF4F sbci r26,hlo8(-(511)) 7681 4228 BF4F sbci r27,hhi8(-(511)) 7682 .L616: 7683 422a 39E0 ldi r19,9 7684 422c B595 1: asr r27 7685 422e A795 ror r26 7686 4230 9795 ror r25 7687 4232 8795 ror r24 7688 4234 3A95 dec r19 7689 4236 01F4 brne 1b 7690 4238 7C01 movw r14,r24 7691 423a 97FF sbrs r25,7 7692 423c 00C0 rjmp .L617 7693 423e F094 com r15 7694 4240 E194 neg r14 7695 4242 F108 sbc r15,__zero_reg__ 7696 4244 F394 inc r15 7697 .L617: 7698 4246 8091 0000 lds r24,IntegralRoll 7699 424a 9091 0000 lds r25,(IntegralRoll)+1 7700 424e A091 0000 lds r26,(IntegralRoll)+2 7701 4252 B091 0000 lds r27,(IntegralRoll)+3 7702 4256 B7FF sbrs r27,7 7703 4258 00C0 rjmp .L618 7704 425a 8150 subi r24,lo8(-(511)) 7705 425c 9E4F sbci r25,hi8(-(511)) 7706 425e AF4F sbci r26,hlo8(-(511)) 7707 4260 BF4F sbci r27,hhi8(-(511)) 7708 .L618: 7709 4262 29E0 ldi r18,9 7710 4264 B595 1: asr r27 7711 4266 A795 ror r26 7712 4268 9795 ror r25 7713 426a 8795 ror r24 7714 426c 2A95 dec r18 7715 426e 01F4 brne 1b 7716 4270 9C01 movw r18,r24 7717 4272 97FF sbrs r25,7 7718 4274 00C0 rjmp .L619 7719 4276 3095 com r19 7720 4278 2195 neg r18 7721 427a 3F4F sbci r19,lo8(-1) 7722 .L619: 7723 427c E216 cp r14,r18 7724 427e F306 cpc r15,r19 7725 4280 04F4 brge .L620 7726 4282 7901 movw r14,r18 7727 .L620: 7728 4284 B701 movw r22,r14 7729 4286 F7FE sbrs r15,7 7730 4288 00C0 rjmp .L621 7731 428a 695F subi r22,lo8(-(7)) 7732 428c 7F4F sbci r23,hi8(-(7)) 7733 .L621: 7734 428e 2B01 movw r4,r22 7735 4290 A3E0 ldi r26,3 7736 4292 5594 1: asr r5 7737 4294 4794 ror r4 7738 4296 AA95 dec r26 7739 4298 01F4 brne 1b 7740 429a 22E0 ldi r18,lo8(2) 7741 429c 30E0 ldi r19,hi8(2) 7742 429e 420E add r4,r18 7743 42a0 531E adc r5,r19 7744 42a2 6090 0000 lds r6,ErsatzKompass 7745 42a6 7090 0000 lds r7,(ErsatzKompass)+1 7746 42aa 8090 0000 lds r8,(ErsatzKompass)+2 7747 42ae 9090 0000 lds r9,(ErsatzKompass)+3 7748 42b2 2091 0000 lds r18,GIER_GRAD_FAKTOR 7749 42b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 7750 42ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 7751 42be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 7752 42c2 C401 movw r24,r8 7753 42c4 B301 movw r22,r6 7754 42c6 0E94 0000 call __divmodsi4 7755 42ca 5901 movw r10,r18 7756 42cc 6A01 movw r12,r20 7757 42ce 3093 0000 sts (ErsatzKompassInGrad)+1,r19 7758 42d2 2093 0000 sts ErsatzKompassInGrad,r18 7759 42d6 021B sub r16,r18 7760 42d8 130B sbc r17,r19 7761 42da C801 movw r24,r16 7762 42dc 845E subi r24,lo8(-(540)) 7763 42de 9D4F sbci r25,hi8(-(540)) 7764 42e0 68E6 ldi r22,lo8(360) 7765 42e2 71E0 ldi r23,hi8(360) 7766 42e4 0E94 0000 call __divmodhi4 7767 42e8 9C01 movw r18,r24 7768 42ea 245B subi r18,lo8(-(-180)) 7769 42ec 3040 sbci r19,hi8(-(-180)) 7770 42ee 8091 0000 lds r24,KompassSignalSchlecht 7771 42f2 9091 0000 lds r25,(KompassSignalSchlecht)+1 7772 42f6 0097 sbiw r24,0 7773 42f8 01F0 breq .L622 7774 42fa 0197 sbiw r24,1 7775 42fc 9093 0000 sts (KompassSignalSchlecht)+1,r25 7776 4300 8093 0000 sts KompassSignalSchlecht,r24 7777 4304 00C0 rjmp .L623 7778 .L622: 7779 4306 49E1 ldi r20,lo8(25) 7780 4308 E416 cp r14,r20 7781 430a F104 cpc r15,__zero_reg__ 7782 430c 04F4 brge .L623 7783 430e 8091 0000 lds r24,GierGyroFehler 7784 4312 9091 0000 lds r25,(GierGyroFehler)+1 7785 4316 820F add r24,r18 7786 4318 931F adc r25,r19 7787 431a 9093 0000 sts (GierGyroFehler)+1,r25 7788 431e 8093 0000 sts GierGyroFehler,r24 7789 4322 8091 0000 lds r24,NeueKompassRichtungMerken 7790 4326 8823 tst r24 7791 4328 01F0 breq .L623 7792 432a 8150 subi r24,lo8(-(-1)) 7793 432c 8093 0000 sts NeueKompassRichtungMerken,r24 7794 4330 8823 tst r24 7795 4332 01F4 brne .L623 7796 4334 B092 0000 sts (KompassSollWert)+1,r11 7797 4338 A092 0000 sts KompassSollWert,r10 7798 .L623: 7799 433c 8091 0000 lds r24,KompassSignalSchlecht 7800 4340 9091 0000 lds r25,(KompassSignalSchlecht)+1 7801 4344 892B or r24,r25 7802 4346 01F4 brne .L627 7803 4348 8091 0000 lds r24,KompassFusion 7804 434c 9927 clr r25 7805 434e 289F mul r18,r24 7806 4350 B001 movw r22,r0 7807 4352 299F mul r18,r25 7808 4354 700D add r23,r0 7809 4356 389F mul r19,r24 7810 4358 700D add r23,r0 7811 435a 1124 clr r1 7812 435c CB01 movw r24,r22 7813 435e B201 movw r22,r4 7814 4360 0E94 0000 call __divmodhi4 7815 4364 CB01 movw r24,r22 7816 4366 AA27 clr r26 7817 4368 97FD sbrc r25,7 7818 436a A095 com r26 7819 436c BA2F mov r27,r26 7820 436e 680E add r6,r24 7821 4370 791E adc r7,r25 7822 4372 8A1E adc r8,r26 7823 4374 9B1E adc r9,r27 7824 4376 6092 0000 sts ErsatzKompass,r6 7825 437a 7092 0000 sts (ErsatzKompass)+1,r7 7826 437e 8092 0000 sts (ErsatzKompass)+2,r8 7827 4382 9092 0000 sts (ErsatzKompass)+3,r9 7828 .L627: 7829 4386 8091 0000 lds r24,NeueKompassRichtungMerken 7830 438a 8823 tst r24 7831 438c 01F4 brne .L614 7832 438e 8091 0000 lds r24,KompassSollWert 7833 4392 9091 0000 lds r25,(KompassSollWert)+1 7834 4396 2091 0000 lds r18,ErsatzKompassInGrad 7835 439a 3091 0000 lds r19,(ErsatzKompassInGrad)+1 7836 439e 821B sub r24,r18 7837 43a0 930B sbc r25,r19 7838 43a2 845E subi r24,lo8(-(540)) 7839 43a4 9D4F sbci r25,hi8(-(540)) 7840 43a6 68E6 ldi r22,lo8(360) 7841 43a8 71E0 ldi r23,hi8(360) 7842 43aa 0E94 0000 call __divmodhi4 7843 43ae 9C01 movw r18,r24 7844 43b0 245B subi r18,lo8(-(-180)) 7845 43b2 3040 sbci r19,hi8(-(-180)) 7846 43b4 8091 0000 lds r24,Parameter_KompassWirkung 7847 43b8 8695 lsr r24 7848 43ba 9927 clr r25 7849 43bc 289F mul r18,r24 7850 43be D001 movw r26,r0 7851 43c0 299F mul r18,r25 7852 43c2 B00D add r27,r0 7853 43c4 389F mul r19,r24 7854 43c6 B00D add r27,r0 7855 43c8 1124 clr r1 7856 43ca 9D01 movw r18,r26 7857 43cc B7FF sbrs r27,7 7858 43ce 00C0 rjmp .L629 7859 43d0 215F subi r18,lo8(-(15)) 7860 43d2 3F4F sbci r19,hi8(-(15)) 7861 .L629: 7862 43d4 F4E0 ldi r31,4 7863 43d6 3595 1: asr r19 7864 43d8 2795 ror r18 7865 43da FA95 dec r31 7866 43dc 01F4 brne 1b 7867 43de 3093 0000 sts (CompassGierSetpoint)+1,r19 7868 43e2 2093 0000 sts CompassGierSetpoint,r18 7869 43e6 00C0 rjmp .L631 7870 .L614: 7871 43e8 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ 7872 43ec 1092 0000 sts CompassGierSetpoint,__zero_reg__ 7873 .L631: 7874 43f0 8091 0000 lds r24,TrichterFlug 7875 43f4 8823 tst r24 7876 43f6 01F0 breq .L632 7877 43f8 1092 0000 sts SummeRoll,__zero_reg__ 7878 43fc 1092 0000 sts (SummeRoll)+1,__zero_reg__ 7879 4400 1092 0000 sts (SummeRoll)+2,__zero_reg__ 7880 4404 1092 0000 sts (SummeRoll)+3,__zero_reg__ 7881 4408 1092 0000 sts SummeNick,__zero_reg__ 7882 440c 1092 0000 sts (SummeNick)+1,__zero_reg__ 7883 4410 1092 0000 sts (SummeNick)+2,__zero_reg__ 7884 4414 1092 0000 sts (SummeNick)+3,__zero_reg__ 7885 .L632: 7886 4418 F090 0000 lds r15,Looping_Nick 7887 441c FF20 tst r15 7888 441e 01F4 brne .L633 7889 4420 8091 0000 lds r24,IntegralFaktor 7890 4424 282F mov r18,r24 7891 4426 3327 clr r19 7892 4428 4427 clr r20 7893 442a 5527 clr r21 7894 442c 8091 0000 lds r24,IntegralNick 7895 4430 9091 0000 lds r25,(IntegralNick)+1 7896 4434 A091 0000 lds r26,(IntegralNick)+2 7897 4438 B091 0000 lds r27,(IntegralNick)+3 7898 443c BC01 movw r22,r24 7899 443e CD01 movw r24,r26 7900 4440 0E94 0000 call __mulsi3 7901 4444 DC01 movw r26,r24 7902 4446 CB01 movw r24,r22 7903 4448 BC01 movw r22,r24 7904 444a CD01 movw r24,r26 7905 444c 28EF ldi r18,lo8(11000) 7906 444e 3AE2 ldi r19,hi8(11000) 7907 4450 40E0 ldi r20,hlo8(11000) 7908 4452 50E0 ldi r21,hhi8(11000) 7909 4454 0E94 0000 call __divmodsi4 7910 4458 3901 movw r6,r18 7911 445a 00C0 rjmp .L634 7912 .L633: 7913 445c 6624 clr r6 7914 445e 7724 clr r7 7915 .L634: 7916 4460 E090 0000 lds r14,Looping_Roll 7917 4464 EE20 tst r14 7918 4466 01F4 brne .L635 7919 4468 8091 0000 lds r24,IntegralFaktor 7920 446c 282F mov r18,r24 7921 446e 3327 clr r19 7922 4470 4427 clr r20 7923 4472 5527 clr r21 7924 4474 8091 0000 lds r24,IntegralRoll 7925 4478 9091 0000 lds r25,(IntegralRoll)+1 7926 447c A091 0000 lds r26,(IntegralRoll)+2 7927 4480 B091 0000 lds r27,(IntegralRoll)+3 7928 4484 BC01 movw r22,r24 7929 4486 CD01 movw r24,r26 7930 4488 0E94 0000 call __mulsi3 7931 448c DC01 movw r26,r24 7932 448e CB01 movw r24,r22 7933 4490 BC01 movw r22,r24 7934 4492 CD01 movw r24,r26 7935 4494 28EF ldi r18,lo8(11000) 7936 4496 3AE2 ldi r19,hi8(11000) 7937 4498 40E0 ldi r20,hlo8(11000) 7938 449a 50E0 ldi r21,hhi8(11000) 7939 449c 0E94 0000 call __divmodsi4 7940 44a0 2901 movw r4,r18 7941 44a2 00C0 rjmp .L636 7942 .L635: 7943 44a4 4424 clr r4 7944 44a6 5524 clr r5 7945 .L636: 7946 44a8 8091 0000 lds r24,TrimNick 7947 44ac 9091 0000 lds r25,(TrimNick)+1 7948 44b0 893C cpi r24,201 7949 44b2 9105 cpc r25,__zero_reg__ 7950 44b4 04F0 brlt .L637 7951 44b6 88EC ldi r24,lo8(200) 7952 44b8 90E0 ldi r25,hi8(200) 7953 44ba 00C0 rjmp .L894 7954 .L637: 7955 44bc 8853 subi r24,lo8(-200) 7956 44be 9F4F sbci r25,hi8(-200) 7957 44c0 04F4 brge .L638 7958 44c2 88E3 ldi r24,lo8(-200) 7959 44c4 9FEF ldi r25,hi8(-200) 7960 .L894: 7961 44c6 9093 0000 sts (TrimNick)+1,r25 7962 44ca 8093 0000 sts TrimNick,r24 7963 .L638: 7964 44ce 8091 0000 lds r24,TrimRoll 7965 44d2 9091 0000 lds r25,(TrimRoll)+1 7966 44d6 893C cpi r24,201 7967 44d8 9105 cpc r25,__zero_reg__ 7968 44da 04F0 brlt .L640 7969 44dc 88EC ldi r24,lo8(200) 7970 44de 90E0 ldi r25,hi8(200) 7971 44e0 00C0 rjmp .L895 7972 .L640: 7973 44e2 8853 subi r24,lo8(-200) 7974 44e4 9F4F sbci r25,hi8(-200) 7975 44e6 04F4 brge .L641 7976 44e8 88E3 ldi r24,lo8(-200) 7977 44ea 9FEF ldi r25,hi8(-200) 7978 .L895: 7979 44ec 9093 0000 sts (TrimRoll)+1,r25 7980 44f0 8093 0000 sts TrimRoll,r24 7981 .L641: 7982 44f4 8091 0000 lds r24,MesswertNick 7983 44f8 9091 0000 lds r25,(MesswertNick)+1 7984 44fc AA27 clr r26 7985 44fe 97FD sbrc r25,7 7986 4500 A095 com r26 7987 4502 BA2F mov r27,r26 7988 4504 2091 0000 lds r18,GyroFaktor 7989 4508 A22E mov r10,r18 7990 450a BB24 clr r11 7991 450c CC24 clr r12 7992 450e DD24 clr r13 7993 4510 BC01 movw r22,r24 7994 4512 CD01 movw r24,r26 7995 4514 A601 movw r20,r12 7996 4516 9501 movw r18,r10 7997 4518 0E94 0000 call __mulsi3 7998 451c 9B01 movw r18,r22 7999 451e AC01 movw r20,r24 8000 4520 8091 0000 lds r24,TrimNick 8001 4524 9091 0000 lds r25,(TrimNick)+1 8002 4528 AA27 clr r26 8003 452a 97FD sbrc r25,7 8004 452c A095 com r26 8005 452e BA2F mov r27,r26 8006 4530 E7E0 ldi r30,7 8007 4532 880F 1: lsl r24 8008 4534 991F rol r25 8009 4536 AA1F rol r26 8010 4538 BB1F rol r27 8011 453a EA95 dec r30 8012 453c 01F4 brne 1b 8013 453e 280F add r18,r24 8014 4540 391F adc r19,r25 8015 4542 4A1F adc r20,r26 8016 4544 5B1F adc r21,r27 8017 4546 57FF sbrs r21,7 8018 4548 00C0 rjmp .L643 8019 454a 215C subi r18,lo8(-(63)) 8020 454c 3F4F sbci r19,hi8(-(63)) 8021 454e 4F4F sbci r20,hlo8(-(63)) 8022 4550 5F4F sbci r21,hhi8(-(63)) 8023 .L643: 8024 4552 76E0 ldi r23,6 8025 4554 5595 1: asr r21 8026 4556 4795 ror r20 8027 4558 3795 ror r19 8028 455a 2795 ror r18 8029 455c 7A95 dec r23 8030 455e 01F4 brne 1b 8031 4560 8301 movw r16,r6 8032 4562 020F add r16,r18 8033 4564 131F adc r17,r19 8034 4566 1093 0000 sts (MesswertNick)+1,r17 8035 456a 0093 0000 sts MesswertNick,r16 8036 456e 8091 0000 lds r24,MesswertRoll 8037 4572 9091 0000 lds r25,(MesswertRoll)+1 8038 4576 AA27 clr r26 8039 4578 97FD sbrc r25,7 8040 457a A095 com r26 8041 457c BA2F mov r27,r26 8042 457e BC01 movw r22,r24 8043 4580 CD01 movw r24,r26 8044 4582 A601 movw r20,r12 8045 4584 9501 movw r18,r10 8046 4586 0E94 0000 call __mulsi3 8047 458a 9B01 movw r18,r22 8048 458c AC01 movw r20,r24 8049 458e 8091 0000 lds r24,TrimRoll 8050 4592 9091 0000 lds r25,(TrimRoll)+1 8051 4596 AA27 clr r26 8052 4598 97FD sbrc r25,7 8053 459a A095 com r26 8054 459c BA2F mov r27,r26 8055 459e 67E0 ldi r22,7 8056 45a0 880F 1: lsl r24 8057 45a2 991F rol r25 8058 45a4 AA1F rol r26 8059 45a6 BB1F rol r27 8060 45a8 6A95 dec r22 8061 45aa 01F4 brne 1b 8062 45ac 280F add r18,r24 8063 45ae 391F adc r19,r25 8064 45b0 4A1F adc r20,r26 8065 45b2 5B1F adc r21,r27 8066 45b4 57FF sbrs r21,7 8067 45b6 00C0 rjmp .L644 8068 45b8 215C subi r18,lo8(-(63)) 8069 45ba 3F4F sbci r19,hi8(-(63)) 8070 45bc 4F4F sbci r20,hlo8(-(63)) 8071 45be 5F4F sbci r21,hhi8(-(63)) 8072 .L644: 8073 45c0 F6E0 ldi r31,6 8074 45c2 5595 1: asr r21 8075 45c4 4795 ror r20 8076 45c6 3795 ror r19 8077 45c8 2795 ror r18 8078 45ca FA95 dec r31 8079 45cc 01F4 brne 1b 8080 45ce 4201 movw r8,r4 8081 45d0 820E add r8,r18 8082 45d2 931E adc r9,r19 8083 45d4 9092 0000 sts (MesswertRoll)+1,r9 8084 45d8 8092 0000 sts MesswertRoll,r8 8085 45dc 8091 0000 lds r24,MesswertGier 8086 45e0 9091 0000 lds r25,(MesswertGier)+1 8087 45e4 880F add r24,r24 8088 45e6 991F adc r25,r25 8089 45e8 AA27 clr r26 8090 45ea 97FD sbrc r25,7 8091 45ec A095 com r26 8092 45ee BA2F mov r27,r26 8093 45f0 2091 0000 lds r18,GyroFaktorGier 8094 45f4 3327 clr r19 8095 45f6 4427 clr r20 8096 45f8 5527 clr r21 8097 45fa BC01 movw r22,r24 8098 45fc CD01 movw r24,r26 8099 45fe 0E94 0000 call __mulsi3 8100 4602 5B01 movw r10,r22 8101 4604 6C01 movw r12,r24 8102 4606 97FF sbrs r25,7 8103 4608 00C0 rjmp .L645 8104 460a 2FE3 ldi r18,lo8(63) 8105 460c 30E0 ldi r19,hi8(63) 8106 460e 40E0 ldi r20,hlo8(63) 8107 4610 50E0 ldi r21,hhi8(63) 8108 4612 A20E add r10,r18 8109 4614 B31E adc r11,r19 8110 4616 C41E adc r12,r20 8111 4618 D51E adc r13,r21 8112 .L645: 8113 461a E6E0 ldi r30,6 8114 461c D594 1: asr r13 8115 461e C794 ror r12 8116 4620 B794 ror r11 8117 4622 A794 ror r10 8118 4624 EA95 dec r30 8119 4626 01F4 brne 1b 8120 4628 8091 0000 lds r24,IntegralFaktorGier 8121 462c 282F mov r18,r24 8122 462e 3327 clr r19 8123 4630 4427 clr r20 8124 4632 5527 clr r21 8125 4634 8091 0000 lds r24,Integral_Gier 8126 4638 9091 0000 lds r25,(Integral_Gier)+1 8127 463c A091 0000 lds r26,(Integral_Gier)+2 8128 4640 B091 0000 lds r27,(Integral_Gier)+3 8129 4644 BC01 movw r22,r24 8130 4646 CD01 movw r24,r26 8131 4648 0E94 0000 call __mulsi3 8132 464c DC01 movw r26,r24 8133 464e CB01 movw r24,r22 8134 4650 BC01 movw r22,r24 8135 4652 CD01 movw r24,r26 8136 4654 20EF ldi r18,lo8(22000) 8137 4656 35E5 ldi r19,hi8(22000) 8138 4658 40E0 ldi r20,hlo8(22000) 8139 465a 50E0 ldi r21,hhi8(22000) 8140 465c 0E94 0000 call __divmodsi4 8141 4660 B501 movw r22,r10 8142 4662 620F add r22,r18 8143 4664 731F adc r23,r19 8144 4666 7093 0000 sts (MesswertGier)+1,r23 8145 466a 6093 0000 sts MesswertGier,r22 8146 466e 0150 subi r16,lo8(4097) 8147 4670 1041 sbci r17,hi8(4097) 8148 4672 04F0 brlt .L646 8149 4674 80E0 ldi r24,lo8(4096) 8150 4676 90E1 ldi r25,hi8(4096) 8151 4678 9093 0000 sts (MesswertNick)+1,r25 8152 467c 8093 0000 sts MesswertNick,r24 8153 .L646: 8154 4680 8091 0000 lds r24,MesswertNick 8155 4684 9091 0000 lds r25,(MesswertNick)+1 8156 4688 8050 subi r24,lo8(-4096) 8157 468a 904F sbci r25,hi8(-4096) 8158 468c 04F4 brge .L647 8159 468e 80E0 ldi r24,lo8(-4096) 8160 4690 90EF ldi r25,hi8(-4096) 8161 4692 9093 0000 sts (MesswertNick)+1,r25 8162 4696 8093 0000 sts MesswertNick,r24 8163 .L647: 8164 469a 51E0 ldi r21,lo8(4097) 8165 469c 8516 cp r8,r21 8166 469e 50E1 ldi r21,hi8(4097) 8167 46a0 9506 cpc r9,r21 8168 46a2 04F0 brlt .L648 8169 46a4 80E0 ldi r24,lo8(4096) 8170 46a6 90E1 ldi r25,hi8(4096) 8171 46a8 9093 0000 sts (MesswertRoll)+1,r25 8172 46ac 8093 0000 sts MesswertRoll,r24 8173 .L648: 8174 46b0 8091 0000 lds r24,MesswertRoll 8175 46b4 9091 0000 lds r25,(MesswertRoll)+1 8176 46b8 8050 subi r24,lo8(-4096) 8177 46ba 904F sbci r25,hi8(-4096) 8178 46bc 04F4 brge .L649 8179 46be 80E0 ldi r24,lo8(-4096) 8180 46c0 90EF ldi r25,hi8(-4096) 8181 46c2 9093 0000 sts (MesswertRoll)+1,r25 8182 46c6 8093 0000 sts MesswertRoll,r24 8183 .L649: 8184 46ca 6150 subi r22,lo8(4097) 8185 46cc 7041 sbci r23,hi8(4097) 8186 46ce 04F0 brlt .L650 8187 46d0 80E0 ldi r24,lo8(4096) 8188 46d2 90E1 ldi r25,hi8(4096) 8189 46d4 9093 0000 sts (MesswertGier)+1,r25 8190 46d8 8093 0000 sts MesswertGier,r24 8191 .L650: 8192 46dc 8091 0000 lds r24,MesswertGier 8193 46e0 9091 0000 lds r25,(MesswertGier)+1 8194 46e4 8050 subi r24,lo8(-4096) 8195 46e6 904F sbci r25,hi8(-4096) 8196 46e8 04F4 brge .L651 8197 46ea 80E0 ldi r24,lo8(-4096) 8198 46ec 90EF ldi r25,hi8(-4096) 8199 46ee 9093 0000 sts (MesswertGier)+1,r25 8200 46f2 8093 0000 sts MesswertGier,r24 8201 .L651: 8202 46f6 8091 0000 lds r24,BattLowVoltageWarning 8203 46fa 482F mov r20,r24 8204 46fc 5527 clr r21 8205 46fe 8091 0000 lds r24,UBat 8206 4702 9091 0000 lds r25,(UBat)+1 8207 4706 4817 cp r20,r24 8208 4708 5907 cpc r21,r25 8209 470a 04F4 brge .L652 8210 470c 2091 0000 lds r18,UBat 8211 4710 3091 0000 lds r19,(UBat)+1 8212 4714 0981 ldd r16,Y+1 8213 4716 1A81 ldd r17,Y+2 8214 4718 049F mul r16,r20 8215 471a C001 movw r24,r0 8216 471c 059F mul r16,r21 8217 471e 900D add r25,r0 8218 4720 149F mul r17,r20 8219 4722 900D add r25,r0 8220 4724 1124 clr r1 8221 4726 B901 movw r22,r18 8222 4728 0E94 0000 call __udivmodhi4 8223 472c 7A83 std Y+2,r23 8224 472e 6983 std Y+1,r22 8225 .L652: 8226 4730 2981 ldd r18,Y+1 8227 4732 3A81 ldd r19,Y+2 8228 4734 220F lsl r18 8229 4736 331F rol r19 8230 4738 220F lsl r18 8231 473a 331F rol r19 8232 473c 3A83 std Y+2,r19 8233 473e 2983 std Y+1,r18 8234 4740 4091 0000 lds r20,Parameter_GlobalConfig 8235 4744 40FD sbrc r20,0 8236 4746 00C0 rjmp .+4 8237 4748 0C94 0000 jmp .L653 8238 474c EE20 tst r14 8239 474e 01F0 breq .+4 8240 4750 0C94 0000 jmp .L653 8241 4754 FF20 tst r15 8242 4756 01F0 breq .+4 8243 4758 0C94 0000 jmp .L653 8244 475c 00E0 ldi r16,lo8(0) 8245 475e 10E0 ldi r17,hi8(0) 8246 4760 4801 movw r8,r16 8247 4762 8091 0000 lds r24,HoverGas 8248 4766 9091 0000 lds r25,(HoverGas)+1 8249 476a 9093 0000 sts (DebugOut+44)+1,r25 8250 476e 8093 0000 sts DebugOut+44,r24 8251 4772 2091 0000 lds r18,BaroExpandActive 8252 4776 3091 0000 lds r19,(BaroExpandActive)+1 8253 477a 2115 cp r18,__zero_reg__ 8254 477c 3105 cpc r19,__zero_reg__ 8255 477e 01F0 breq .+2 8256 4780 00C0 rjmp .L654 8257 4782 8091 0000 lds r24,MessLuftdruck 8258 4786 9091 0000 lds r25,(MessLuftdruck)+1 8259 478a 8959 subi r24,lo8(921) 8260 478c 9340 sbci r25,hi8(921) 8261 478e 00F0 brlo .L655 8262 4790 87B5 in r24,71-0x20 8263 4792 803F cpi r24,lo8(-16) 8264 4794 00F4 brsh .L656 8265 4796 8091 0000 lds r24,ExpandBaro 8266 479a 8150 subi r24,lo8(-(-1)) 8267 479c 00C0 rjmp .L896 8268 .L656: 8269 479e 81E0 ldi r24,lo8(1) 8270 47a0 8093 0000 sts BaroAtLowerLimit.26,r24 8271 47a4 00C0 rjmp .L663 8272 .L655: 8273 47a6 8091 0000 lds r24,MessLuftdruck 8274 47aa 9091 0000 lds r25,(MessLuftdruck)+1 8275 47ae 8436 cpi r24,100 8276 47b0 9105 cpc r25,__zero_reg__ 8277 47b2 00F4 brsh .L659 8278 47b4 87B5 in r24,71-0x20 8279 47b6 8031 cpi r24,lo8(16) 8280 47b8 00F0 brlo .L660 8281 47ba 8091 0000 lds r24,ExpandBaro 8282 47be 8F5F subi r24,lo8(-(1)) 8283 .L896: 8284 47c0 8093 0000 sts ExpandBaro,r24 8285 47c4 9FE0 ldi r25,lo8(15) 8286 47c6 8902 muls r24,r25 8287 47c8 9001 movw r18,r0 8288 47ca 1124 clr r1 8289 47cc 8091 0000 lds r24,DruckOffsetSetting 8290 47d0 821B sub r24,r18 8291 47d2 87BD out 71-0x20,r24 8292 47d4 8CE2 ldi r24,lo8(300) 8293 47d6 91E0 ldi r25,hi8(300) 8294 47d8 9093 0000 sts (beeptime)+1,r25 8295 47dc 8093 0000 sts beeptime,r24 8296 47e0 8EE5 ldi r24,lo8(350) 8297 47e2 91E0 ldi r25,hi8(350) 8298 47e4 9093 0000 sts (BaroExpandActive)+1,r25 8299 47e8 8093 0000 sts BaroExpandActive,r24 8300 47ec 00C0 rjmp .L663 8301 .L660: 8302 47ee 81E0 ldi r24,lo8(1) 8303 47f0 8093 0000 sts BaroAtUpperLimit.25,r24 8304 47f4 00C0 rjmp .L663 8305 .L659: 8306 47f6 F092 0000 sts BaroAtUpperLimit.25,r15 8307 47fa F092 0000 sts BaroAtLowerLimit.26,r15 8308 47fe 00C0 rjmp .L663 8309 .L654: 8310 4800 8091 0000 lds r24,HoehenWert 8311 4804 9091 0000 lds r25,(HoehenWert)+1 8312 4808 A091 0000 lds r26,(HoehenWert)+2 8313 480c B091 0000 lds r27,(HoehenWert)+3 8314 4810 64E0 ldi r22,4 8315 4812 880F 1: lsl r24 8316 4814 991F rol r25 8317 4816 AA1F rol r26 8318 4818 BB1F rol r27 8319 481a 6A95 dec r22 8320 481c 01F4 brne 1b 8321 481e 8093 0000 sts SummenHoehe,r24 8322 4822 9093 0000 sts (SummenHoehe)+1,r25 8323 4826 A093 0000 sts (SummenHoehe)+2,r26 8324 482a B093 0000 sts (SummenHoehe)+3,r27 8325 482e 1093 0000 sts (VarioMeter)+1,r17 8326 4832 0093 0000 sts VarioMeter,r16 8327 4836 2150 subi r18,lo8(-(-1)) 8328 4838 3040 sbci r19,hi8(-(-1)) 8329 483a 3093 0000 sts (BaroExpandActive)+1,r19 8330 483e 2093 0000 sts BaroExpandActive,r18 8331 .L663: 8332 4842 2091 0000 lds r18,Parameter_HoehenSchalter 8333 4846 41FF sbrs r20,1 8334 4848 00C0 rjmp .L664 8335 484a 2233 cpi r18,lo8(50) 8336 484c 00F4 brsh .L665 8337 484e 8091 0000 lds r24,delay.24 8338 4852 8150 subi r24,lo8(-(-1)) 8339 4854 8093 0000 sts delay.24,r24 8340 4858 8F3F cpi r24,lo8(-1) 8341 485a 01F0 breq .+2 8342 485c 00C0 rjmp .L671 8343 485e 8091 0000 lds r24,SpeakHoTT 8344 4862 8823 tst r24 8345 4864 01F4 brne .L667 8346 4866 8091 0000 lds r24,HoehenReglerAktiv 8347 486a 8823 tst r24 8348 486c 01F0 breq .L667 8349 486e 88E2 ldi r24,lo8(40) 8350 4870 8093 0000 sts SpeakHoTT,r24 8351 .L667: 8352 4874 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 8353 4878 8091 0000 lds r24,HoehenWert 8354 487c 9091 0000 lds r25,(HoehenWert)+1 8355 4880 A091 0000 lds r26,(HoehenWert)+2 8356 4884 B091 0000 lds r27,(HoehenWert)+3 8357 4888 8093 0000 sts SollHoehe,r24 8358 488c 9093 0000 sts (SollHoehe)+1,r25 8359 4890 A093 0000 sts (SollHoehe)+2,r26 8360 4894 B093 0000 sts (SollHoehe)+3,r27 8361 4898 81E0 ldi r24,lo8(1) 8362 489a 8093 0000 sts delay.24,r24 8363 489e 00C0 rjmp .L671 8364 .L665: 8365 48a0 2734 cpi r18,lo8(71) 8366 48a2 00F0 brlo .L671 8367 48a4 8091 0000 lds r24,SpeakHoTT 8368 48a8 8823 tst r24 8369 48aa 01F4 brne .L670 8370 48ac 8091 0000 lds r24,HoehenReglerAktiv 8371 48b0 8823 tst r24 8372 48b2 01F4 brne .L670 8373 48b4 87E2 ldi r24,lo8(39) 8374 48b6 8093 0000 sts SpeakHoTT,r24 8375 .L670: 8376 48ba 88EC ldi r24,lo8(-56) 8377 48bc 8093 0000 sts delay.24,r24 8378 48c0 00C0 rjmp .L897 8379 .L664: 8380 48c2 8091 0000 lds r24,ExternHoehenValue 8381 48c6 9091 0000 lds r25,(ExternHoehenValue)+1 8382 48ca 820F add r24,r18 8383 48cc 911D adc r25,__zero_reg__ 8384 48ce 2091 0000 lds r18,EE_Parameter+18 8385 48d2 3327 clr r19 8386 48d4 829F mul r24,r18 8387 48d6 A001 movw r20,r0 8388 48d8 839F mul r24,r19 8389 48da 500D add r21,r0 8390 48dc 929F mul r25,r18 8391 48de 500D add r21,r0 8392 48e0 1124 clr r1 8393 48e2 CA01 movw r24,r20 8394 48e4 AA27 clr r26 8395 48e6 97FD sbrc r25,7 8396 48e8 A095 com r26 8397 48ea BA2F mov r27,r26 8398 48ec 8093 0000 sts SollHoehe,r24 8399 48f0 9093 0000 sts (SollHoehe)+1,r25 8400 48f4 A093 0000 sts (SollHoehe)+2,r26 8401 48f8 B093 0000 sts (SollHoehe)+3,r27 8402 .L897: 8403 48fc 81E0 ldi r24,lo8(1) 8404 48fe 8093 0000 sts HoehenReglerAktiv,r24 8405 .L671: 8406 4902 8091 0000 lds r24,IntegralNick 8407 4906 9091 0000 lds r25,(IntegralNick)+1 8408 490a A091 0000 lds r26,(IntegralNick)+2 8409 490e B091 0000 lds r27,(IntegralNick)+3 8410 4912 E090 0000 lds r14,GIER_GRAD_FAKTOR 8411 4916 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 8412 491a 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 8413 491e 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 8414 4922 BC01 movw r22,r24 8415 4924 CD01 movw r24,r26 8416 4926 A801 movw r20,r16 8417 4928 9701 movw r18,r14 8418 492a 0E94 0000 call __divmodsi4 8419 492e 5901 movw r10,r18 8420 4930 6A01 movw r12,r20 8421 4932 8091 0000 lds r24,IntegralRoll 8422 4936 9091 0000 lds r25,(IntegralRoll)+1 8423 493a A091 0000 lds r26,(IntegralRoll)+2 8424 493e B091 0000 lds r27,(IntegralRoll)+3 8425 4942 BC01 movw r22,r24 8426 4944 CD01 movw r24,r26 8427 4946 A801 movw r20,r16 8428 4948 9701 movw r18,r14 8429 494a 0E94 0000 call __divmodsi4 8430 494e B901 movw r22,r18 8431 4950 C501 movw r24,r10 8432 4952 0E94 0000 call ihypot 8433 4956 5C01 movw r10,r24 8434 4958 CC97 sbiw r24,60 8435 495a 04F0 brlt .L672 8436 495c 5CE3 ldi r21,lo8(60) 8437 495e A52E mov r10,r21 8438 4960 B12C mov r11,__zero_reg__ 8439 .L672: 8440 4962 C501 movw r24,r10 8441 4964 0E94 0000 call c_cos_8192 8442 4968 5C01 movw r10,r24 8443 496a 80E2 ldi r24,lo8(32) 8444 496c 8093 0000 sts VarioCharacter,r24 8445 4970 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ 8446 4974 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ 8447 4978 8091 0000 lds r24,HoehenReglerAktiv 8448 497c 8823 tst r24 8449 497e 01F4 brne .+2 8450 4980 00C0 rjmp .L673 8451 4982 8091 0000 lds r24,FC_StatusFlags 8452 4986 9927 clr r25 8453 4988 9C01 movw r18,r24 8454 498a 2071 andi r18,lo8(16) 8455 498c 3070 andi r19,hi8(16) 8456 498e 84FD sbrc r24,4 8457 4990 00C0 rjmp .L673 8458 4992 8091 0000 lds r24,FC_StatusFlags2 8459 4996 8260 ori r24,lo8(2) 8460 4998 8093 0000 sts FC_StatusFlags2,r24 8461 499c 7091 0000 lds r23,Parameter_ExtraConfig 8462 49a0 872F mov r24,r23 8463 49a2 9927 clr r25 8464 49a4 41E0 ldi r20,lo8(1) 8465 49a6 C42E mov r12,r20 8466 49a8 D12C mov r13,__zero_reg__ 8467 49aa C822 and r12,r24 8468 49ac D922 and r13,r25 8469 49ae 80FD sbrc r24,0 8470 49b0 00C0 rjmp .L675 8471 49b2 8091 0000 lds r24,Parameter_GlobalConfig 8472 49b6 81FD sbrc r24,1 8473 49b8 00C0 rjmp .L674 8474 .L675: 8475 49ba C980 ldd r12,Y+1 8476 49bc DA80 ldd r13,Y+2 8477 49be 3093 0000 sts (HeightTrimming.21)+1,r19 8478 49c2 2093 0000 sts HeightTrimming.21,r18 8479 49c6 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 8480 49ca 2093 0000 sts AltitudeSetpointTrimming,r18 8481 49ce 8091 0000 lds r24,FC_StatusFlags 8482 49d2 806C ori r24,lo8(-64) 8483 49d4 8093 0000 sts FC_StatusFlags,r24 8484 49d8 00C0 rjmp .L676 8485 .L674: 8486 49da 8091 0000 lds r24,FC_StatusFlags 8487 49de 81FF sbrs r24,1 8488 49e0 00C0 rjmp .L677 8489 49e2 0091 0000 lds r16,StickGasHover 8490 49e6 1091 0000 lds r17,(StickGasHover)+1 8491 49ea C801 movw r24,r16 8492 49ec 0F96 adiw r24,15 8493 49ee 2090 0000 lds r2,StickGas 8494 49f2 3090 0000 lds r3,(StickGas)+1 8495 49f6 8215 cp r24,r2 8496 49f8 9305 cpc r25,r3 8497 49fa 04F0 brlt .+2 8498 49fc 00C0 rjmp .L678 8499 49fe 8091 0000 lds r24,BaroAtUpperLimit.25 8500 4a02 8823 tst r24 8501 4a04 01F0 breq .+2 8502 4a06 00C0 rjmp .L678 8503 4a08 8091 0000 lds r24,FC_StatusFlags 8504 4a0c 87FF sbrs r24,7 8505 4a0e 00C0 rjmp .L679 8506 4a10 8091 0000 lds r24,FC_StatusFlags 8507 4a14 8F77 andi r24,lo8(127) 8508 4a16 8093 0000 sts FC_StatusFlags,r24 8509 4a1a 8091 0000 lds r24,HoehenWert 8510 4a1e 9091 0000 lds r25,(HoehenWert)+1 8511 4a22 A091 0000 lds r26,(HoehenWert)+2 8512 4a26 B091 0000 lds r27,(HoehenWert)+3 8513 4a2a 8093 0000 sts SollHoehe,r24 8514 4a2e 9093 0000 sts (SollHoehe)+1,r25 8515 4a32 A093 0000 sts (SollHoehe)+2,r26 8516 4a36 B093 0000 sts (SollHoehe)+3,r27 8517 .L679: 8518 4a3a 8091 0000 lds r24,FC_StatusFlags 8519 4a3e 8064 ori r24,lo8(64) 8520 4a40 8093 0000 sts FC_StatusFlags,r24 8521 4a44 E090 0000 lds r14,Parameter_MaximumAltitude 8522 4a48 EE20 tst r14 8523 4a4a 01F0 breq .L680 8524 4a4c 8091 0000 lds r24,SollHoehe 8525 4a50 9091 0000 lds r25,(SollHoehe)+1 8526 4a54 A091 0000 lds r26,(SollHoehe)+2 8527 4a58 B091 0000 lds r27,(SollHoehe)+3 8528 4a5c BC01 movw r22,r24 8529 4a5e CD01 movw r24,r26 8530 4a60 24E6 ldi r18,lo8(100) 8531 4a62 30E0 ldi r19,hi8(100) 8532 4a64 40E0 ldi r20,hlo8(100) 8533 4a66 50E0 ldi r21,hhi8(100) 8534 4a68 0E94 0000 call __divmodsi4 8535 4a6c 8E2D mov r24,r14 8536 4a6e 9927 clr r25 8537 4a70 AA27 clr r26 8538 4a72 BB27 clr r27 8539 4a74 8217 cp r24,r18 8540 4a76 9307 cpc r25,r19 8541 4a78 A407 cpc r26,r20 8542 4a7a B507 cpc r27,r21 8543 4a7c 04F4 brge .L680 8544 4a7e D092 0000 sts (AltitudeSetpointTrimming)+1,r13 8545 4a82 C092 0000 sts AltitudeSetpointTrimming,r12 8546 4a86 00C0 rjmp .L681 8547 .L680: 8548 4a88 C101 movw r24,r2 8549 4a8a 801B sub r24,r16 8550 4a8c 910B sbc r25,r17 8551 4a8e 0F97 sbiw r24,15 8552 4a90 97FF sbrs r25,7 8553 4a92 00C0 rjmp .L682 8554 4a94 9095 com r25 8555 4a96 8195 neg r24 8556 4a98 9F4F sbci r25,lo8(-1) 8557 .L682: 8558 4a9a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8559 4a9e 8093 0000 sts AltitudeSetpointTrimming,r24 8560 4aa2 8BE2 ldi r24,lo8(43) 8561 4aa4 8093 0000 sts VarioCharacter,r24 8562 .L681: 8563 4aa8 1092 0000 sts WaypointTrimming,__zero_reg__ 8564 4aac 00C0 rjmp .L683 8565 .L678: 8566 4aae C801 movw r24,r16 8567 4ab0 0F97 sbiw r24,15 8568 4ab2 2816 cp r2,r24 8569 4ab4 3906 cpc r3,r25 8570 4ab6 04F4 brge .L684 8571 4ab8 2091 0000 lds r18,BaroAtLowerLimit.26 8572 4abc 2223 tst r18 8573 4abe 01F4 brne .L684 8574 4ac0 8091 0000 lds r24,FC_StatusFlags 8575 4ac4 86FF sbrs r24,6 8576 4ac6 00C0 rjmp .L685 8577 4ac8 8091 0000 lds r24,FC_StatusFlags 8578 4acc 8F7B andi r24,lo8(-65) 8579 4ace 8093 0000 sts FC_StatusFlags,r24 8580 4ad2 8091 0000 lds r24,HoehenWert 8581 4ad6 9091 0000 lds r25,(HoehenWert)+1 8582 4ada A091 0000 lds r26,(HoehenWert)+2 8583 4ade B091 0000 lds r27,(HoehenWert)+3 8584 4ae2 8093 0000 sts SollHoehe,r24 8585 4ae6 9093 0000 sts (SollHoehe)+1,r25 8586 4aea A093 0000 sts (SollHoehe)+2,r26 8587 4aee B093 0000 sts (SollHoehe)+3,r27 8588 .L685: 8589 4af2 8091 0000 lds r24,FC_StatusFlags 8590 4af6 8068 ori r24,lo8(-128) 8591 4af8 8093 0000 sts FC_StatusFlags,r24 8592 4afc C101 movw r24,r2 8593 4afe 801B sub r24,r16 8594 4b00 910B sbc r25,r17 8595 4b02 0F96 adiw r24,15 8596 4b04 97FF sbrs r25,7 8597 4b06 00C0 rjmp .L686 8598 4b08 9095 com r25 8599 4b0a 8195 neg r24 8600 4b0c 9F4F sbci r25,lo8(-1) 8601 .L686: 8602 4b0e 9095 com r25 8603 4b10 8195 neg r24 8604 4b12 9F4F sbci r25,lo8(-1) 8605 4b14 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8606 4b18 8093 0000 sts AltitudeSetpointTrimming,r24 8607 4b1c 8DE2 ldi r24,lo8(45) 8608 4b1e 8093 0000 sts VarioCharacter,r24 8609 4b22 2093 0000 sts WaypointTrimming,r18 8610 4b26 00C0 rjmp .L683 8611 .L684: 8612 4b28 8DE3 ldi r24,lo8(61) 8613 4b2a 8093 0000 sts VarioCharacter,r24 8614 4b2e 6091 0000 lds r22,FromNC_AltitudeSpeed 8615 4b32 6623 tst r22 8616 4b34 01F0 breq .L688 8617 4b36 2091 0000 lds r18,FromNC_AltitudeSetpoint 8618 4b3a 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8619 4b3e 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8620 4b42 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8621 4b46 8091 0000 lds r24,SollHoehe 8622 4b4a 9091 0000 lds r25,(SollHoehe)+1 8623 4b4e A091 0000 lds r26,(SollHoehe)+2 8624 4b52 B091 0000 lds r27,(SollHoehe)+3 8625 4b56 8217 cp r24,r18 8626 4b58 9307 cpc r25,r19 8627 4b5a A407 cpc r26,r20 8628 4b5c B507 cpc r27,r21 8629 4b5e 04F4 brge .L688 8630 4b60 8091 0000 lds r24,FC_StatusFlags 8631 4b64 8064 ori r24,lo8(64) 8632 4b66 8093 0000 sts FC_StatusFlags,r24 8633 4b6a 862F mov r24,r22 8634 4b6c 9927 clr r25 8635 4b6e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8636 4b72 8093 0000 sts AltitudeSetpointTrimming,r24 8637 4b76 8AE0 ldi r24,lo8(10) 8638 4b78 8093 0000 sts WaypointTrimming,r24 8639 4b7c 8EE5 ldi r24,lo8(94) 8640 4b7e 8093 0000 sts VarioCharacter,r24 8641 4b82 8091 0000 lds r24,FC_StatusFlags 8642 4b86 87FF sbrs r24,7 8643 4b88 00C0 rjmp .L683 8644 4b8a 8091 0000 lds r24,FC_StatusFlags 8645 4b8e 8F77 andi r24,lo8(127) 8646 4b90 00C0 rjmp .L899 8647 .L688: 8648 4b92 6623 tst r22 8649 4b94 01F4 brne .+2 8650 4b96 00C0 rjmp .L691 8651 4b98 2091 0000 lds r18,FromNC_AltitudeSetpoint 8652 4b9c 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8653 4ba0 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8654 4ba4 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8655 4ba8 8091 0000 lds r24,SollHoehe 8656 4bac 9091 0000 lds r25,(SollHoehe)+1 8657 4bb0 A091 0000 lds r26,(SollHoehe)+2 8658 4bb4 B091 0000 lds r27,(SollHoehe)+3 8659 4bb8 2817 cp r18,r24 8660 4bba 3907 cpc r19,r25 8661 4bbc 4A07 cpc r20,r26 8662 4bbe 5B07 cpc r21,r27 8663 4bc0 04F4 brge .L691 8664 4bc2 8091 0000 lds r24,FC_StatusFlags 8665 4bc6 8068 ori r24,lo8(-128) 8666 4bc8 8093 0000 sts FC_StatusFlags,r24 8667 4bcc 862F mov r24,r22 8668 4bce 9927 clr r25 8669 4bd0 9095 com r25 8670 4bd2 8195 neg r24 8671 4bd4 9F4F sbci r25,lo8(-1) 8672 4bd6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8673 4bda 8093 0000 sts AltitudeSetpointTrimming,r24 8674 4bde 86EF ldi r24,lo8(-10) 8675 4be0 8093 0000 sts WaypointTrimming,r24 8676 4be4 86E7 ldi r24,lo8(118) 8677 4be6 8093 0000 sts VarioCharacter,r24 8678 4bea 8091 0000 lds r24,FC_StatusFlags 8679 4bee 86FF sbrs r24,6 8680 4bf0 00C0 rjmp .L683 8681 4bf2 8091 0000 lds r24,FC_StatusFlags 8682 4bf6 8F7B andi r24,lo8(-65) 8683 .L899: 8684 4bf8 8093 0000 sts FC_StatusFlags,r24 8685 4bfc 8091 0000 lds r24,HoehenWert 8686 4c00 9091 0000 lds r25,(HoehenWert)+1 8687 4c04 A091 0000 lds r26,(HoehenWert)+2 8688 4c08 B091 0000 lds r27,(HoehenWert)+3 8689 4c0c 8093 0000 sts SollHoehe,r24 8690 4c10 9093 0000 sts (SollHoehe)+1,r25 8691 4c14 A093 0000 sts (SollHoehe)+2,r26 8692 4c18 B093 0000 sts (SollHoehe)+3,r27 8693 4c1c 00C0 rjmp .L683 8694 .L691: 8695 4c1e 8091 0000 lds r24,FC_StatusFlags 8696 4c22 807C andi r24,lo8(-64) 8697 4c24 01F4 brne .+2 8698 4c26 00C0 rjmp .L683 8699 4c28 8091 0000 lds r24,WaypointTrimming 8700 4c2c 8823 tst r24 8701 4c2e 01F4 brne .L695 8702 4c30 E090 0000 lds r14,HoehenWert 8703 4c34 F090 0000 lds r15,(HoehenWert)+1 8704 4c38 0091 0000 lds r16,(HoehenWert)+2 8705 4c3c 1091 0000 lds r17,(HoehenWert)+3 8706 4c40 D801 movw r26,r16 8707 4c42 C701 movw r24,r14 8708 4c44 8058 subi r24,lo8(-(-128)) 8709 4c46 9040 sbci r25,hi8(-(-128)) 8710 4c48 A040 sbci r26,hlo8(-(-128)) 8711 4c4a B040 sbci r27,hhi8(-(-128)) 8712 4c4c 2091 0000 lds r18,SollHoehe 8713 4c50 3091 0000 lds r19,(SollHoehe)+1 8714 4c54 4091 0000 lds r20,(SollHoehe)+2 8715 4c58 5091 0000 lds r21,(SollHoehe)+3 8716 4c5c 8217 cp r24,r18 8717 4c5e 9307 cpc r25,r19 8718 4c60 A407 cpc r26,r20 8719 4c62 B507 cpc r27,r21 8720 4c64 04F4 brge .L898 8721 4c66 D801 movw r26,r16 8722 4c68 C701 movw r24,r14 8723 4c6a 8058 subi r24,lo8(-(128)) 8724 4c6c 9F4F sbci r25,hi8(-(128)) 8725 4c6e AF4F sbci r26,hlo8(-(128)) 8726 4c70 BF4F sbci r27,hhi8(-(128)) 8727 4c72 2817 cp r18,r24 8728 4c74 3907 cpc r19,r25 8729 4c76 4A07 cpc r20,r26 8730 4c78 5B07 cpc r21,r27 8731 4c7a 04F0 brlt .L699 8732 .L898: 8733 4c7c 8093 0000 sts SollHoehe,r24 8734 4c80 9093 0000 sts (SollHoehe)+1,r25 8735 4c84 A093 0000 sts (SollHoehe)+2,r26 8736 4c88 B093 0000 sts (SollHoehe)+3,r27 8737 4c8c 00C0 rjmp .L699 8738 .L695: 8739 4c8e 1092 0000 sts WaypointTrimming,__zero_reg__ 8740 .L699: 8741 4c92 8091 0000 lds r24,FC_StatusFlags 8742 4c96 8F73 andi r24,lo8(63) 8743 4c98 8093 0000 sts FC_StatusFlags,r24 8744 4c9c 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8745 4ca0 1092 0000 sts HeightTrimming.21,__zero_reg__ 8746 4ca4 71FF sbrs r23,1 8747 4ca6 00C0 rjmp .L700 8748 4ca8 84EF ldi r24,lo8(500) 8749 4caa 91E0 ldi r25,hi8(500) 8750 4cac 9093 0000 sts (beeptime)+1,r25 8751 4cb0 8093 0000 sts beeptime,r24 8752 .L700: 8753 4cb4 8091 0000 lds r24,StartTrigger 8754 4cb8 8823 tst r24 8755 4cba 01F4 brne .L683 8756 4cbc 8091 0000 lds r24,HoehenWert 8757 4cc0 9091 0000 lds r25,(HoehenWert)+1 8758 4cc4 A091 0000 lds r26,(HoehenWert)+2 8759 4cc8 B091 0000 lds r27,(HoehenWert)+3 8760 4ccc C397 sbiw r24,51 8761 4cce A105 cpc r26,__zero_reg__ 8762 4cd0 B105 cpc r27,__zero_reg__ 8763 4cd2 04F0 brlt .L683 8764 4cd4 81E0 ldi r24,lo8(1) 8765 4cd6 8093 0000 sts StartTrigger,r24 8766 .L683: 8767 4cda 6091 0000 lds r22,HeightTrimming.21 8768 4cde 7091 0000 lds r23,(HeightTrimming.21)+1 8769 4ce2 8091 0000 lds r24,AltitudeSetpointTrimming 8770 4ce6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 8771 4cea 680F add r22,r24 8772 4cec 791F adc r23,r25 8773 4cee 7093 0000 sts (HeightTrimming.21)+1,r23 8774 4cf2 6093 0000 sts HeightTrimming.21,r22 8775 4cf6 CB01 movw r24,r22 8776 4cf8 77FF sbrs r23,7 8777 4cfa 00C0 rjmp .L703 8778 4cfc 8827 clr r24 8779 4cfe 9927 clr r25 8780 4d00 861B sub r24,r22 8781 4d02 970B sbc r25,r23 8782 .L703: 8783 4d04 855F subi r24,lo8(501) 8784 4d06 9140 sbci r25,hi8(501) 8785 4d08 04F4 brge .+2 8786 4d0a 00C0 rjmp .L702 8787 4d0c 4091 0000 lds r20,WaypointTrimming 8788 4d10 4423 tst r20 8789 4d12 01F0 breq .L704 8790 4d14 8091 0000 lds r24,FromNC_AltitudeSetpoint 8791 4d18 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8792 4d1c 2091 0000 lds r18,SollHoehe 8793 4d20 3091 0000 lds r19,(SollHoehe)+1 8794 4d24 821B sub r24,r18 8795 4d26 930B sbc r25,r19 8796 4d28 0996 adiw r24,9 8797 4d2a 4397 sbiw r24,19 8798 4d2c 00F4 brsh .L705 8799 4d2e 8091 0000 lds r24,FromNC_AltitudeSetpoint 8800 4d32 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8801 4d36 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 8802 4d3a B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 8803 4d3e 00C0 rjmp .L901 8804 .L705: 8805 4d40 242F mov r18,r20 8806 4d42 3327 clr r19 8807 4d44 27FD sbrc r18,7 8808 4d46 3095 com r19 8809 4d48 432F mov r20,r19 8810 4d4a 532F mov r21,r19 8811 4d4c 8091 0000 lds r24,SollHoehe 8812 4d50 9091 0000 lds r25,(SollHoehe)+1 8813 4d54 A091 0000 lds r26,(SollHoehe)+2 8814 4d58 B091 0000 lds r27,(SollHoehe)+3 8815 4d5c 820F add r24,r18 8816 4d5e 931F adc r25,r19 8817 4d60 A41F adc r26,r20 8818 4d62 B51F adc r27,r21 8819 .L901: 8820 4d64 8093 0000 sts SollHoehe,r24 8821 4d68 9093 0000 sts (SollHoehe)+1,r25 8822 4d6c A093 0000 sts (SollHoehe)+2,r26 8823 4d70 B093 0000 sts (SollHoehe)+3,r27 8824 4d74 00C0 rjmp .L707 8825 .L704: 8826 4d76 8091 0000 lds r24,EE_Parameter+18 8827 4d7a 2091 0000 lds r18,SollHoehe 8828 4d7e 3091 0000 lds r19,(SollHoehe)+1 8829 4d82 4091 0000 lds r20,(SollHoehe)+2 8830 4d86 5091 0000 lds r21,(SollHoehe)+3 8831 4d8a 1616 cp __zero_reg__,r22 8832 4d8c 1706 cpc __zero_reg__,r23 8833 4d8e 04F4 brge .L708 8834 4d90 63E0 ldi r22,lo8(3) 8835 4d92 0E94 0000 call __udivmodqi4 8836 4d96 280F add r18,r24 8837 4d98 311D adc r19,__zero_reg__ 8838 4d9a 411D adc r20,__zero_reg__ 8839 4d9c 511D adc r21,__zero_reg__ 8840 4d9e 00C0 rjmp .L900 8841 .L708: 8842 4da0 63E0 ldi r22,lo8(3) 8843 4da2 0E94 0000 call __udivmodqi4 8844 4da6 281B sub r18,r24 8845 4da8 3109 sbc r19,__zero_reg__ 8846 4daa 4109 sbc r20,__zero_reg__ 8847 4dac 5109 sbc r21,__zero_reg__ 8848 .L900: 8849 4dae 2093 0000 sts SollHoehe,r18 8850 4db2 3093 0000 sts (SollHoehe)+1,r19 8851 4db6 4093 0000 sts (SollHoehe)+2,r20 8852 4dba 5093 0000 sts (SollHoehe)+3,r21 8853 .L707: 8854 4dbe 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8855 4dc2 1092 0000 sts HeightTrimming.21,__zero_reg__ 8856 4dc6 E090 0000 lds r14,HoehenWert 8857 4dca F090 0000 lds r15,(HoehenWert)+1 8858 4dce 0091 0000 lds r16,(HoehenWert)+2 8859 4dd2 1091 0000 lds r17,(HoehenWert)+3 8860 4dd6 D801 movw r26,r16 8861 4dd8 C701 movw r24,r14 8862 4dda 8050 subi r24,lo8(-(-1024)) 8863 4ddc 9440 sbci r25,hi8(-(-1024)) 8864 4dde A040 sbci r26,hlo8(-(-1024)) 8865 4de0 B040 sbci r27,hhi8(-(-1024)) 8866 4de2 2091 0000 lds r18,SollHoehe 8867 4de6 3091 0000 lds r19,(SollHoehe)+1 8868 4dea 4091 0000 lds r20,(SollHoehe)+2 8869 4dee 5091 0000 lds r21,(SollHoehe)+3 8870 4df2 8217 cp r24,r18 8871 4df4 9307 cpc r25,r19 8872 4df6 A407 cpc r26,r20 8873 4df8 B507 cpc r27,r21 8874 4dfa 04F4 brge .L902 8875 4dfc D801 movw r26,r16 8876 4dfe C701 movw r24,r14 8877 4e00 8050 subi r24,lo8(-(1024)) 8878 4e02 9C4F sbci r25,hi8(-(1024)) 8879 4e04 AF4F sbci r26,hlo8(-(1024)) 8880 4e06 BF4F sbci r27,hhi8(-(1024)) 8881 4e08 2817 cp r18,r24 8882 4e0a 3907 cpc r19,r25 8883 4e0c 4A07 cpc r20,r26 8884 4e0e 5B07 cpc r21,r27 8885 4e10 04F0 brlt .L711 8886 .L902: 8887 4e12 8093 0000 sts SollHoehe,r24 8888 4e16 9093 0000 sts (SollHoehe)+1,r25 8889 4e1a A093 0000 sts (SollHoehe)+2,r26 8890 4e1e B093 0000 sts (SollHoehe)+3,r27 8891 .L711: 8892 4e22 8091 0000 lds r24,Parameter_ExtraConfig 8893 4e26 81FF sbrs r24,1 8894 4e28 00C0 rjmp .L713 8895 4e2a 84E6 ldi r24,lo8(100) 8896 4e2c 90E0 ldi r25,hi8(100) 8897 4e2e 9093 0000 sts (beeptime)+1,r25 8898 4e32 8093 0000 sts beeptime,r24 8899 .L713: 8900 4e36 8091 0000 lds r24,EE_Parameter+22 8901 4e3a 8823 tst r24 8902 4e3c 01F4 brne .L702 8903 4e3e 8091 0000 lds r24,FromNC_AltitudeSpeed 8904 4e42 8823 tst r24 8905 4e44 01F4 brne .L702 8906 4e46 4091 0000 lds r20,HoverGas 8907 4e4a 5091 0000 lds r21,(HoverGas)+1 8908 4e4e 57FF sbrs r21,7 8909 4e50 00C0 rjmp .L715 8910 4e52 4D5F subi r20,lo8(-(3)) 8911 4e54 5F4F sbci r21,hi8(-(3)) 8912 .L715: 8913 4e56 5595 asr r21 8914 4e58 4795 ror r20 8915 4e5a 5595 asr r21 8916 4e5c 4795 ror r20 8917 4e5e 8091 0000 lds r24,UBat 8918 4e62 9091 0000 lds r25,(UBat)+1 8919 4e66 2091 0000 lds r18,BattLowVoltageWarning 8920 4e6a 3327 clr r19 8921 4e6c 489F mul r20,r24 8922 4e6e F001 movw r30,r0 8923 4e70 499F mul r20,r25 8924 4e72 F00D add r31,r0 8925 4e74 589F mul r21,r24 8926 4e76 F00D add r31,r0 8927 4e78 1124 clr r1 8928 4e7a CF01 movw r24,r30 8929 4e7c B901 movw r22,r18 8930 4e7e 0E94 0000 call __divmodhi4 8931 4e82 7093 0000 sts (StickGasHover)+1,r23 8932 4e86 6093 0000 sts StickGasHover,r22 8933 4e8a 6634 cpi r22,70 8934 4e8c 7105 cpc r23,__zero_reg__ 8935 4e8e 04F4 brge .L716 8936 4e90 86E4 ldi r24,lo8(70) 8937 4e92 90E0 ldi r25,hi8(70) 8938 4e94 00C0 rjmp .L903 8939 .L716: 8940 4e96 6739 cpi r22,151 8941 4e98 7105 cpc r23,__zero_reg__ 8942 4e9a 04F0 brlt .L702 8943 4e9c 86E9 ldi r24,lo8(150) 8944 4e9e 90E0 ldi r25,hi8(150) 8945 .L903: 8946 4ea0 9093 0000 sts (StickGasHover)+1,r25 8947 4ea4 8093 0000 sts StickGasHover,r24 8948 .L702: 8949 4ea8 8091 0000 lds r24,BaroExpandActive 8950 4eac 9091 0000 lds r25,(BaroExpandActive)+1 8951 4eb0 892B or r24,r25 8952 4eb2 01F0 breq .L720 8953 4eb4 8091 0000 lds r24,HoehenWert 8954 4eb8 9091 0000 lds r25,(HoehenWert)+1 8955 4ebc A091 0000 lds r26,(HoehenWert)+2 8956 4ec0 B091 0000 lds r27,(HoehenWert)+3 8957 4ec4 8093 0000 sts SollHoehe,r24 8958 4ec8 9093 0000 sts (SollHoehe)+1,r25 8959 4ecc A093 0000 sts (SollHoehe)+2,r26 8960 4ed0 B093 0000 sts (SollHoehe)+3,r27 8961 4ed4 00C0 rjmp .L720 8962 .L677: 8963 4ed6 8091 0000 lds r24,HoehenWert 8964 4eda 9091 0000 lds r25,(HoehenWert)+1 8965 4ede A091 0000 lds r26,(HoehenWert)+2 8966 4ee2 B091 0000 lds r27,(HoehenWert)+3 8967 4ee6 8059 subi r24,lo8(-(-400)) 8968 4ee8 9140 sbci r25,hi8(-(-400)) 8969 4eea A040 sbci r26,hlo8(-(-400)) 8970 4eec B040 sbci r27,hhi8(-(-400)) 8971 4eee 8093 0000 sts SollHoehe,r24 8972 4ef2 9093 0000 sts (SollHoehe)+1,r25 8973 4ef6 A093 0000 sts (SollHoehe)+2,r26 8974 4efa B093 0000 sts (SollHoehe)+3,r27 8975 4efe 8091 0000 lds r24,EE_Parameter+22 8976 4f02 8823 tst r24 8977 4f04 01F0 breq .L721 8978 4f06 9927 clr r25 8979 4f08 00C0 rjmp .L904 8980 .L721: 8981 4f0a 88E7 ldi r24,lo8(120) 8982 4f0c 90E0 ldi r25,hi8(120) 8983 .L904: 8984 4f0e 9093 0000 sts (StickGasHover)+1,r25 8985 4f12 8093 0000 sts StickGasHover,r24 8986 4f16 E980 ldd r14,Y+1 8987 4f18 FA80 ldd r15,Y+2 8988 4f1a F092 0000 sts (HoverGas)+1,r15 8989 4f1e E092 0000 sts HoverGas,r14 8990 4f22 8EE2 ldi r24,lo8(46) 8991 4f24 8093 0000 sts VarioCharacter,r24 8992 .L720: 8993 4f28 C090 0000 lds r12,HoverGas 8994 4f2c D090 0000 lds r13,(HoverGas)+1 8995 .L676: 8996 4f30 E090 0000 lds r14,HoehenWert 8997 4f34 F090 0000 lds r15,(HoehenWert)+1 8998 4f38 0091 0000 lds r16,(HoehenWert)+2 8999 4f3c 1091 0000 lds r17,(HoehenWert)+3 9000 4f40 2091 0000 lds r18,SollHoehe 9001 4f44 3091 0000 lds r19,(SollHoehe)+1 9002 4f48 4091 0000 lds r20,(SollHoehe)+2 9003 4f4c 5091 0000 lds r21,(SollHoehe)+3 9004 4f50 2E15 cp r18,r14 9005 4f52 3F05 cpc r19,r15 9006 4f54 4007 cpc r20,r16 9007 4f56 5107 cpc r21,r17 9008 4f58 04F0 brlt .L724 9009 4f5a 8091 0000 lds r24,Parameter_ExtraConfig 9010 4f5e 80FD sbrc r24,0 9011 4f60 00C0 rjmp .L782 9012 .L724: 9013 4f62 8091 0000 lds r24,BaroExpandActive 9014 4f66 9091 0000 lds r25,(BaroExpandActive)+1 9015 4f6a 892B or r24,r25 9016 4f6c 01F0 breq .L725 9017 4f6e C090 0000 lds r12,HoverGas 9018 4f72 D090 0000 lds r13,(HoverGas)+1 9019 4f76 00E0 ldi r16,lo8(0) 9020 4f78 10E0 ldi r17,hi8(0) 9021 4f7a 00C0 rjmp .L726 9022 .L725: 9023 4f7c D801 movw r26,r16 9024 4f7e C701 movw r24,r14 9025 4f80 821B sub r24,r18 9026 4f82 930B sbc r25,r19 9027 4f84 A40B sbc r26,r20 9028 4f86 B50B sbc r27,r21 9029 4f88 8093 0000 sts tmp_long.1,r24 9030 4f8c 9093 0000 sts (tmp_long.1)+1,r25 9031 4f90 A093 0000 sts (tmp_long.1)+2,r26 9032 4f94 B093 0000 sts (tmp_long.1)+3,r27 9033 4f98 8230 cpi r24,lo8(-32766) 9034 4f9a 00E8 ldi r16,hi8(-32766) 9035 4f9c 9007 cpc r25,r16 9036 4f9e 0FEF ldi r16,hlo8(-32766) 9037 4fa0 A007 cpc r26,r16 9038 4fa2 0FEF ldi r16,hhi8(-32766) 9039 4fa4 B007 cpc r27,r16 9040 4fa6 04F4 brge .L727 9041 4fa8 81E0 ldi r24,lo8(-32767) 9042 4faa 90E8 ldi r25,hi8(-32767) 9043 4fac AFEF ldi r26,hlo8(-32767) 9044 4fae BFEF ldi r27,hhi8(-32767) 9045 4fb0 00C0 rjmp .L905 9046 .L727: 9047 4fb2 8F5F subi r24,lo8(32767) 9048 4fb4 9F47 sbci r25,hi8(32767) 9049 4fb6 A040 sbci r26,hlo8(32767) 9050 4fb8 B040 sbci r27,hhi8(32767) 9051 4fba 04F0 brlt .L728 9052 4fbc 8FEF ldi r24,lo8(32767) 9053 4fbe 9FE7 ldi r25,hi8(32767) 9054 4fc0 A0E0 ldi r26,hlo8(32767) 9055 4fc2 B0E0 ldi r27,hhi8(32767) 9056 .L905: 9057 4fc4 8093 0000 sts tmp_long.1,r24 9058 4fc8 9093 0000 sts (tmp_long.1)+1,r25 9059 4fcc A093 0000 sts (tmp_long.1)+2,r26 9060 4fd0 B093 0000 sts (tmp_long.1)+3,r27 9061 .L728: 9062 4fd4 0091 0000 lds r16,tmp_long.1 9063 4fd8 1091 0000 lds r17,(tmp_long.1)+1 9064 4fdc 8091 0000 lds r24,Parameter_Hoehe_P 9065 4fe0 282F mov r18,r24 9066 4fe2 3327 clr r19 9067 4fe4 4427 clr r20 9068 4fe6 5527 clr r21 9069 4fe8 8091 0000 lds r24,tmp_long.1 9070 4fec 9091 0000 lds r25,(tmp_long.1)+1 9071 4ff0 A091 0000 lds r26,(tmp_long.1)+2 9072 4ff4 B091 0000 lds r27,(tmp_long.1)+3 9073 4ff8 BC01 movw r22,r24 9074 4ffa CD01 movw r24,r26 9075 4ffc 0E94 0000 call __mulsi3 9076 5000 97FF sbrs r25,7 9077 5002 00C0 rjmp .L730 9078 5004 615E subi r22,lo8(-(31)) 9079 5006 7F4F sbci r23,hi8(-(31)) 9080 5008 8F4F sbci r24,hlo8(-(31)) 9081 500a 9F4F sbci r25,hhi8(-(31)) 9082 .L730: 9083 500c 25E0 ldi r18,5 9084 500e 9595 1: asr r25 9085 5010 8795 ror r24 9086 5012 7795 ror r23 9087 5014 6795 ror r22 9088 5016 2A95 dec r18 9089 5018 01F4 brne 1b 9090 501a 6093 0000 sts tmp_long.1,r22 9091 501e 7093 0000 sts (tmp_long.1)+1,r23 9092 5022 8093 0000 sts (tmp_long.1)+2,r24 9093 5026 9093 0000 sts (tmp_long.1)+3,r25 9094 502a 6530 cpi r22,lo8(-507) 9095 502c 2EEF ldi r18,hi8(-507) 9096 502e 7207 cpc r23,r18 9097 5030 2FEF ldi r18,hlo8(-507) 9098 5032 8207 cpc r24,r18 9099 5034 2FEF ldi r18,hhi8(-507) 9100 5036 9207 cpc r25,r18 9101 5038 04F4 brge .L731 9102 503a 84E0 ldi r24,lo8(-508) 9103 503c 9EEF ldi r25,hi8(-508) 9104 503e AFEF ldi r26,hlo8(-508) 9105 5040 BFEF ldi r27,hhi8(-508) 9106 5042 00C0 rjmp .L906 9107 .L731: 9108 5044 6050 subi r22,lo8(1024) 9109 5046 7440 sbci r23,hi8(1024) 9110 5048 8040 sbci r24,hlo8(1024) 9111 504a 9040 sbci r25,hhi8(1024) 9112 504c 04F0 brlt .L732 9113 504e 80E0 ldi r24,lo8(1024) 9114 5050 94E0 ldi r25,hi8(1024) 9115 5052 A0E0 ldi r26,hlo8(1024) 9116 5054 B0E0 ldi r27,hhi8(1024) 9117 .L906: 9118 5056 8093 0000 sts tmp_long.1,r24 9119 505a 9093 0000 sts (tmp_long.1)+1,r25 9120 505e A093 0000 sts (tmp_long.1)+2,r26 9121 5062 B093 0000 sts (tmp_long.1)+3,r27 9122 .L732: 9123 5066 8090 0000 lds r8,tmp_long.1 9124 506a 9090 0000 lds r9,(tmp_long.1)+1 9125 506e 2091 0000 lds r18,VarioMeter 9126 5072 3091 0000 lds r19,(VarioMeter)+1 9127 5076 37FF sbrs r19,7 9128 5078 00C0 rjmp .L734 9129 507a 295F subi r18,lo8(-(7)) 9130 507c 3F4F sbci r19,hi8(-(7)) 9131 .L734: 9132 507e 83E0 ldi r24,3 9133 5080 3595 1: asr r19 9134 5082 2795 ror r18 9135 5084 8A95 dec r24 9136 5086 01F4 brne 1b 9137 5088 4FEF ldi r20,hi8(-126) 9138 508a 2238 cpi r18,lo8(-126) 9139 508c 3407 cpc r19,r20 9140 508e 04F4 brge .L735 9141 5090 21E8 ldi r18,lo8(-127) 9142 5092 3FEF ldi r19,hi8(-127) 9143 5094 00C0 rjmp .L736 9144 .L735: 9145 5096 2038 cpi r18,128 9146 5098 3105 cpc r19,__zero_reg__ 9147 509a 04F0 brlt .L736 9148 509c 20E8 ldi r18,lo8(128) 9149 509e 30E0 ldi r19,hi8(128) 9150 .L736: 9151 50a0 C901 movw r24,r18 9152 50a2 AA27 clr r26 9153 50a4 97FD sbrc r25,7 9154 50a6 A095 com r26 9155 50a8 BA2F mov r27,r26 9156 50aa 2091 0000 lds r18,Parameter_Luftdruck_D 9157 50ae 3327 clr r19 9158 50b0 4427 clr r20 9159 50b2 5527 clr r21 9160 50b4 BC01 movw r22,r24 9161 50b6 CD01 movw r24,r26 9162 50b8 0E94 0000 call __mulsi3 9163 50bc 97FF sbrs r25,7 9164 50be 00C0 rjmp .L738 9165 50c0 6D5F subi r22,lo8(-(3)) 9166 50c2 7F4F sbci r23,hi8(-(3)) 9167 50c4 8F4F sbci r24,hlo8(-(3)) 9168 50c6 9F4F sbci r25,hhi8(-(3)) 9169 .L738: 9170 50c8 B2E0 ldi r27,2 9171 50ca 9595 1: asr r25 9172 50cc 8795 ror r24 9173 50ce 7795 ror r23 9174 50d0 6795 ror r22 9175 50d2 BA95 dec r27 9176 50d4 01F4 brne 1b 9177 50d6 9B01 movw r18,r22 9178 50d8 5FEF ldi r21,hi8(-255) 9179 50da 6130 cpi r22,lo8(-255) 9180 50dc 7507 cpc r23,r21 9181 50de 04F4 brge .L739 9182 50e0 20E0 ldi r18,lo8(-256) 9183 50e2 3FEF ldi r19,hi8(-256) 9184 50e4 00C0 rjmp .L740 9185 .L739: 9186 50e6 6F3F cpi r22,255 9187 50e8 7105 cpc r23,__zero_reg__ 9188 50ea 01F0 breq .L740 9189 50ec 04F0 brlt .L740 9190 50ee 20E0 ldi r18,lo8(256) 9191 50f0 31E0 ldi r19,hi8(256) 9192 .L740: 9193 50f2 8091 0000 lds r24,FC_StatusFlags 9194 50f6 807C andi r24,lo8(-64) 9195 50f8 01F0 breq .L742 9196 50fa C901 movw r24,r18 9197 50fc 37FD sbrc r19,7 9198 50fe 0396 adiw r24,3 9199 .L743: 9200 5100 9C01 movw r18,r24 9201 5102 3595 asr r19 9202 5104 2795 ror r18 9203 5106 3595 asr r19 9204 5108 2795 ror r18 9205 510a 00C0 rjmp .L744 9206 .L742: 9207 510c 8091 0000 lds r24,Parameter_ExtraConfig 9208 5110 80FF sbrs r24,0 9209 5112 00C0 rjmp .L744 9210 5114 C901 movw r24,r18 9211 5116 37FD sbrc r19,7 9212 5118 0796 adiw r24,7 9213 .L746: 9214 511a 9C01 movw r18,r24 9215 511c F3E0 ldi r31,3 9216 511e 3595 1: asr r19 9217 5120 2795 ror r18 9218 5122 FA95 dec r31 9219 5124 01F4 brne 1b 9220 .L744: 9221 5126 820E add r8,r18 9222 5128 931E adc r9,r19 9223 .L726: 9224 512a 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 9225 512e 2223 tst r18 9226 5130 01F4 brne .+2 9227 5132 00C0 rjmp .L747 9228 5134 6091 0000 lds r22,Mess_Integral_Hoch 9229 5138 7091 0000 lds r23,(Mess_Integral_Hoch)+1 9230 513c 8091 0000 lds r24,(Mess_Integral_Hoch)+2 9231 5140 9091 0000 lds r25,(Mess_Integral_Hoch)+3 9232 5144 97FF sbrs r25,7 9233 5146 00C0 rjmp .L748 9234 5148 6158 subi r22,lo8(-(127)) 9235 514a 7F4F sbci r23,hi8(-(127)) 9236 514c 8F4F sbci r24,hlo8(-(127)) 9237 514e 9F4F sbci r25,hhi8(-(127)) 9238 .L748: 9239 5150 E7E0 ldi r30,7 9240 5152 9595 1: asr r25 9241 5154 8795 ror r24 9242 5156 7795 ror r23 9243 5158 6795 ror r22 9244 515a EA95 dec r30 9245 515c 01F4 brne 1b 9246 515e 3327 clr r19 9247 5160 4427 clr r20 9248 5162 5527 clr r21 9249 5164 0E94 0000 call __mulsi3 9250 5168 97FF sbrs r25,7 9251 516a 00C0 rjmp .L749 9252 516c 615E subi r22,lo8(-(31)) 9253 516e 7F4F sbci r23,hi8(-(31)) 9254 5170 8F4F sbci r24,hlo8(-(31)) 9255 5172 9F4F sbci r25,hhi8(-(31)) 9256 .L749: 9257 5174 55E0 ldi r21,5 9258 5176 9595 1: asr r25 9259 5178 8795 ror r24 9260 517a 7795 ror r23 9261 517c 6795 ror r22 9262 517e 5A95 dec r21 9263 5180 01F4 brne 1b 9264 5182 6093 0000 sts tmp_long.1,r22 9265 5186 7093 0000 sts (tmp_long.1)+1,r23 9266 518a 8093 0000 sts (tmp_long.1)+2,r24 9267 518e 9093 0000 sts (tmp_long.1)+3,r25 9268 5192 6138 cpi r22,lo8(-127) 9269 5194 AFEF ldi r26,hi8(-127) 9270 5196 7A07 cpc r23,r26 9271 5198 AFEF ldi r26,hlo8(-127) 9272 519a 8A07 cpc r24,r26 9273 519c AFEF ldi r26,hhi8(-127) 9274 519e 9A07 cpc r25,r26 9275 51a0 04F4 brge .L750 9276 51a2 80E8 ldi r24,lo8(-128) 9277 51a4 9FEF ldi r25,hi8(-128) 9278 51a6 AFEF ldi r26,hlo8(-128) 9279 51a8 BFEF ldi r27,hhi8(-128) 9280 51aa 00C0 rjmp .L907 9281 .L750: 9282 51ac 6F3F cpi r22,lo8(255) 9283 51ae 7105 cpc r23,__zero_reg__ 9284 51b0 8105 cpc r24,__zero_reg__ 9285 51b2 9105 cpc r25,__zero_reg__ 9286 51b4 01F0 breq .L751 9287 51b6 04F0 brlt .L751 9288 51b8 80E0 ldi r24,lo8(256) 9289 51ba 91E0 ldi r25,hi8(256) 9290 51bc A0E0 ldi r26,hlo8(256) 9291 51be B0E0 ldi r27,hhi8(256) 9292 .L907: 9293 51c0 8093 0000 sts tmp_long.1,r24 9294 51c4 9093 0000 sts (tmp_long.1)+1,r25 9295 51c8 A093 0000 sts (tmp_long.1)+2,r26 9296 51cc B093 0000 sts (tmp_long.1)+3,r27 9297 .L751: 9298 51d0 8091 0000 lds r24,tmp_long.1 9299 51d4 9091 0000 lds r25,(tmp_long.1)+1 9300 51d8 880E add r8,r24 9301 51da 991E adc r9,r25 9302 .L747: 9303 51dc 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 9304 51e0 282F mov r18,r24 9305 51e2 3327 clr r19 9306 51e4 8091 0000 lds r24,FromNaviCtrl_Value+4 9307 51e8 9927 clr r25 9308 51ea 87FD sbrc r24,7 9309 51ec 9095 com r25 9310 51ee 289F mul r18,r24 9311 51f0 F001 movw r30,r0 9312 51f2 299F mul r18,r25 9313 51f4 F00D add r31,r0 9314 51f6 389F mul r19,r24 9315 51f8 F00D add r31,r0 9316 51fa 1124 clr r1 9317 51fc 9F01 movw r18,r30 9318 51fe F7FF sbrs r31,7 9319 5200 00C0 rjmp .L753 9320 5202 2158 subi r18,lo8(-(127)) 9321 5204 3F4F sbci r19,hi8(-(127)) 9322 .L753: 9323 5206 220F lsl r18 9324 5208 232F mov r18,r19 9325 520a 221F rol r18 9326 520c 330B sbc r19,r19 9327 520e FFEF ldi r31,hi8(-127) 9328 5210 2138 cpi r18,lo8(-127) 9329 5212 3F07 cpc r19,r31 9330 5214 04F4 brge .L754 9331 5216 20E8 ldi r18,lo8(-128) 9332 5218 3FEF ldi r19,hi8(-128) 9333 521a 00C0 rjmp .L755 9334 .L754: 9335 521c 2F3F cpi r18,255 9336 521e 3105 cpc r19,__zero_reg__ 9337 5220 01F0 breq .L755 9338 5222 04F0 brlt .L755 9339 5224 20E0 ldi r18,lo8(256) 9340 5226 31E0 ldi r19,hi8(256) 9341 .L755: 9342 5228 820E add r8,r18 9343 522a 931E adc r9,r19 9344 522c C401 movw r24,r8 9345 522e AA27 clr r26 9346 5230 97FD sbrc r25,7 9347 5232 A095 com r26 9348 5234 BA2F mov r27,r26 9349 5236 E090 0000 lds r14,HoverGas 9350 523a F090 0000 lds r15,(HoverGas)+1 9351 523e 9701 movw r18,r14 9352 5240 4427 clr r20 9353 5242 37FD sbrc r19,7 9354 5244 4095 com r20 9355 5246 542F mov r21,r20 9356 5248 BC01 movw r22,r24 9357 524a CD01 movw r24,r26 9358 524c 0E94 0000 call __mulsi3 9359 5250 97FF sbrs r25,7 9360 5252 00C0 rjmp .L757 9361 5254 6150 subi r22,lo8(-(511)) 9362 5256 7E4F sbci r23,hi8(-(511)) 9363 5258 8F4F sbci r24,hlo8(-(511)) 9364 525a 9F4F sbci r25,hhi8(-(511)) 9365 .L757: 9366 525c 29E0 ldi r18,9 9367 525e 9595 1: asr r25 9368 5260 8795 ror r24 9369 5262 7795 ror r23 9370 5264 6795 ror r22 9371 5266 2A95 dec r18 9372 5268 01F4 brne 1b 9373 526a C61A sub r12,r22 9374 526c D70A sbc r13,r23 9375 526e 8091 0000 lds r24,AltitudeSetpointTrimming 9376 5272 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 9377 5276 892B or r24,r25 9378 5278 01F0 breq .+2 9379 527a 00C0 rjmp .L758 9380 527c 1E14 cp __zero_reg__,r14 9381 527e 1F04 cpc __zero_reg__,r15 9382 5280 04F0 brlt .+2 9383 5282 00C0 rjmp .L758 9384 5284 9801 movw r18,r16 9385 5286 17FF sbrs r17,7 9386 5288 00C0 rjmp .L759 9387 528a 3095 com r19 9388 528c 2195 neg r18 9389 528e 3F4F sbci r19,lo8(-1) 9390 .L759: 9391 5290 2D33 cpi r18,61 9392 5292 3105 cpc r19,__zero_reg__ 9393 5294 00F4 brsh .L760 9394 5296 8091 0000 lds r24,HoverGasMin 9395 529a 9091 0000 lds r25,(HoverGasMin)+1 9396 529e 8C15 cp r24,r12 9397 52a0 9D05 cpc r25,r13 9398 52a2 04F4 brge .L909 9399 52a4 00C0 rjmp .L918 9400 .L760: 9401 52a6 2C53 subi r18,lo8(-(-60)) 9402 52a8 3040 sbci r19,hi8(-(-60)) 9403 52aa 85E0 ldi r24,5 9404 52ac 3695 1: lsr r19 9405 52ae 2795 ror r18 9406 52b0 8A95 dec r24 9407 52b2 01F4 brne 1b 9408 52b4 2031 cpi r18,16 9409 52b6 3105 cpc r19,__zero_reg__ 9410 52b8 00F0 brlo .L765 9411 52ba 2FE0 ldi r18,lo8(15) 9412 52bc 30E0 ldi r19,hi8(15) 9413 .L765: 9414 52be 4091 0000 lds r20,HoverGasMin 9415 52c2 5091 0000 lds r21,(HoverGasMin)+1 9416 52c6 1016 cp __zero_reg__,r16 9417 52c8 1106 cpc __zero_reg__,r17 9418 52ca 04F4 brge .L766 9419 52cc 80E1 ldi r24,lo8(16) 9420 52ce 90E0 ldi r25,hi8(16) 9421 52d0 821B sub r24,r18 9422 52d2 930B sbc r25,r19 9423 52d4 489F mul r20,r24 9424 52d6 9001 movw r18,r0 9425 52d8 499F mul r20,r25 9426 52da 300D add r19,r0 9427 52dc 589F mul r21,r24 9428 52de 300D add r19,r0 9429 52e0 1124 clr r1 9430 52e2 B4E0 ldi r27,4 9431 52e4 3695 1: lsr r19 9432 52e6 2795 ror r18 9433 52e8 BA95 dec r27 9434 52ea 01F4 brne 1b 9435 52ec 2C15 cp r18,r12 9436 52ee 3D05 cpc r19,r13 9437 52f0 00F4 brsh .L908 9438 .L918: 9439 52f2 8091 0000 lds r24,HoverGasMax 9440 52f6 9091 0000 lds r25,(HoverGasMax)+1 9441 52fa C816 cp r12,r24 9442 52fc D906 cpc r13,r25 9443 52fe 04F0 brlt .L758 9444 .L909: 9445 5300 6C01 movw r12,r24 9446 5302 00C0 rjmp .L758 9447 .L766: 9448 5304 205F subi r18,lo8(-(16)) 9449 5306 3F4F sbci r19,hi8(-(16)) 9450 5308 8091 0000 lds r24,HoverGasMax 9451 530c 9091 0000 lds r25,(HoverGasMax)+1 9452 5310 829F mul r24,r18 9453 5312 8001 movw r16,r0 9454 5314 839F mul r24,r19 9455 5316 100D add r17,r0 9456 5318 929F mul r25,r18 9457 531a 100D add r17,r0 9458 531c 1124 clr r1 9459 531e 9801 movw r18,r16 9460 5320 A4E0 ldi r26,4 9461 5322 3695 1: lsr r19 9462 5324 2795 ror r18 9463 5326 AA95 dec r26 9464 5328 01F4 brne 1b 9465 532a 4C15 cp r20,r12 9466 532c 5D05 cpc r21,r13 9467 532e 04F0 brlt .L771 9468 5330 6A01 movw r12,r20 9469 5332 00C0 rjmp .L758 9470 .L771: 9471 5334 C216 cp r12,r18 9472 5336 D306 cpc r13,r19 9473 5338 00F0 brlo .L758 9474 .L908: 9475 533a 6901 movw r12,r18 9476 .L758: 9477 533c C601 movw r24,r12 9478 533e AA27 clr r26 9479 5340 97FD sbrc r25,7 9480 5342 A095 com r26 9481 5344 BA2F mov r27,r26 9482 5346 FDE0 ldi r31,13 9483 5348 880F 1: lsl r24 9484 534a 991F rol r25 9485 534c AA1F rol r26 9486 534e BB1F rol r27 9487 5350 FA95 dec r31 9488 5352 01F4 brne 1b 9489 5354 9501 movw r18,r10 9490 5356 4427 clr r20 9491 5358 37FD sbrc r19,7 9492 535a 4095 com r20 9493 535c 542F mov r21,r20 9494 535e BC01 movw r22,r24 9495 5360 CD01 movw r24,r26 9496 5362 0E94 0000 call __divmodsi4 9497 5366 2093 0000 sts tmp_long2.2,r18 9498 536a 3093 0000 sts (tmp_long2.2)+1,r19 9499 536e 4093 0000 sts (tmp_long2.2)+2,r20 9500 5372 5093 0000 sts (tmp_long2.2)+3,r21 9501 5376 C090 0000 lds r12,tmp_long2.2 9502 537a D090 0000 lds r13,(tmp_long2.2)+1 9503 537e 8091 0000 lds r24,FilterHCGas.22 9504 5382 9091 0000 lds r25,(FilterHCGas.22)+1 9505 5386 9C01 movw r18,r24 9506 5388 220F lsl r18 9507 538a 331F rol r19 9508 538c 280F add r18,r24 9509 538e 391F adc r19,r25 9510 5390 2C0D add r18,r12 9511 5392 3D1D adc r19,r13 9512 5394 37FF sbrs r19,7 9513 5396 00C0 rjmp .L774 9514 5398 2D5F subi r18,lo8(-(3)) 9515 539a 3F4F sbci r19,hi8(-(3)) 9516 .L774: 9517 539c A901 movw r20,r18 9518 539e 5595 asr r21 9519 53a0 4795 ror r20 9520 53a2 5595 asr r21 9521 53a4 4795 ror r20 9522 53a6 5093 0000 sts (FilterHCGas.22)+1,r21 9523 53aa 4093 0000 sts FilterHCGas.22,r20 9524 53ae 8091 0000 lds r24,EE_Parameter+14 9525 53b2 282F mov r18,r24 9526 53b4 3327 clr r19 9527 53b6 220F lsl r18 9528 53b8 331F rol r19 9529 53ba 220F lsl r18 9530 53bc 331F rol r19 9531 53be 2417 cp r18,r20 9532 53c0 3507 cpc r19,r21 9533 53c2 04F4 brge .L910 9534 53c4 8091 0000 lds r24,MAX_GAS 9535 53c8 282F mov r18,r24 9536 53ca 3327 clr r19 9537 53cc 220F lsl r18 9538 53ce 331F rol r19 9539 53d0 220F lsl r18 9540 53d2 331F rol r19 9541 53d4 2055 subi r18,lo8(-(-80)) 9542 53d6 3040 sbci r19,hi8(-(-80)) 9543 53d8 4217 cp r20,r18 9544 53da 5307 cpc r21,r19 9545 53dc 04F0 brlt .L776 9546 .L910: 9547 53de 3093 0000 sts (FilterHCGas.22)+1,r19 9548 53e2 2093 0000 sts FilterHCGas.22,r18 9549 .L776: 9550 53e6 8091 0000 lds r24,Parameter_ExtraConfig 9551 53ea 80FF sbrs r24,0 9552 53ec 00C0 rjmp .L778 9553 53ee 8091 0000 lds r24,FilterHCGas.22 9554 53f2 9091 0000 lds r25,(FilterHCGas.22)+1 9555 53f6 2981 ldd r18,Y+1 9556 53f8 3A81 ldd r19,Y+2 9557 53fa 8217 cp r24,r18 9558 53fc 9307 cpc r25,r19 9559 53fe 04F0 brlt .L779 9560 5400 3093 0000 sts (FilterHCGas.22)+1,r19 9561 5404 2093 0000 sts FilterHCGas.22,r18 9562 .L779: 9563 5408 4091 0000 lds r20,FilterHCGas.22 9564 540c 5091 0000 lds r21,(FilterHCGas.22)+1 9565 5410 5A83 std Y+2,r21 9566 5412 4983 std Y+1,r20 9567 5414 00C0 rjmp .L782 9568 .L778: 9569 5416 2981 ldd r18,Y+1 9570 5418 3A81 ldd r19,Y+2 9571 541a 2E19 sub r18,r14 9572 541c 3F09 sbc r19,r15 9573 541e 37FF sbrs r19,7 9574 5420 00C0 rjmp .L781 9575 5422 2D5F subi r18,lo8(-(3)) 9576 5424 3F4F sbci r19,hi8(-(3)) 9577 .L781: 9578 5426 3595 asr r19 9579 5428 2795 ror r18 9580 542a 3595 asr r19 9581 542c 2795 ror r18 9582 542e 6091 0000 lds r22,FilterHCGas.22 9583 5432 7091 0000 lds r23,(FilterHCGas.22)+1 9584 5436 620F add r22,r18 9585 5438 731F adc r23,r19 9586 543a 7A83 std Y+2,r23 9587 543c 6983 std Y+1,r22 9588 543e 00C0 rjmp .L782 9589 .L673: 9590 5440 8091 0000 lds r24,EE_Parameter+22 9591 5444 8823 tst r24 9592 5446 01F4 brne .L783 9593 5448 6091 0000 lds r22,HoverGas 9594 544c 7091 0000 lds r23,(HoverGas)+1 9595 5450 77FF sbrs r23,7 9596 5452 00C0 rjmp .L784 9597 5454 6D5F subi r22,lo8(-(3)) 9598 5456 7F4F sbci r23,hi8(-(3)) 9599 .L784: 9600 5458 7595 asr r23 9601 545a 6795 ror r22 9602 545c 7595 asr r23 9603 545e 6795 ror r22 9604 5460 4091 0000 lds r20,UBat 9605 5464 5091 0000 lds r21,(UBat)+1 9606 5468 8091 0000 lds r24,BattLowVoltageWarning 9607 546c 282F mov r18,r24 9608 546e 3327 clr r19 9609 5470 649F mul r22,r20 9610 5472 C001 movw r24,r0 9611 5474 659F mul r22,r21 9612 5476 900D add r25,r0 9613 5478 749F mul r23,r20 9614 547a 900D add r25,r0 9615 547c 1124 clr r1 9616 547e B901 movw r22,r18 9617 5480 0E94 0000 call __divmodhi4 9618 5484 CB01 movw r24,r22 9619 5486 00C0 rjmp .L911 9620 .L783: 9621 5488 9927 clr r25 9622 .L911: 9623 548a 9093 0000 sts (StickGasHover)+1,r25 9624 548e 8093 0000 sts StickGasHover,r24 9625 5492 8091 0000 lds r24,StickGasHover 9626 5496 9091 0000 lds r25,(StickGasHover)+1 9627 549a 8734 cpi r24,71 9628 549c 9105 cpc r25,__zero_reg__ 9629 549e 04F4 brge .L786 9630 54a0 86E4 ldi r24,lo8(70) 9631 54a2 90E0 ldi r25,hi8(70) 9632 54a4 00C0 rjmp .L912 9633 .L786: 9634 54a6 8639 cpi r24,150 9635 54a8 9105 cpc r25,__zero_reg__ 9636 54aa 04F0 brlt .L787 9637 54ac 86E9 ldi r24,lo8(150) 9638 54ae 90E0 ldi r25,hi8(150) 9639 .L912: 9640 54b0 9093 0000 sts (StickGasHover)+1,r25 9641 54b4 8093 0000 sts StickGasHover,r24 9642 .L787: 9643 54b8 8981 ldd r24,Y+1 9644 54ba 9A81 ldd r25,Y+2 9645 54bc 9093 0000 sts (FilterHCGas.22)+1,r25 9646 54c0 8093 0000 sts FilterHCGas.22,r24 9647 54c4 8091 0000 lds r24,FC_StatusFlags 9648 54c8 806C ori r24,lo8(-64) 9649 54ca 8093 0000 sts FC_StatusFlags,r24 9650 54ce 8091 0000 lds r24,FC_StatusFlags2 9651 54d2 8D7F andi r24,lo8(-3) 9652 54d4 8093 0000 sts FC_StatusFlags2,r24 9653 .L782: 9654 54d8 8091 0000 lds r24,FC_StatusFlags 9655 54dc 9927 clr r25 9656 54de 9C01 movw r18,r24 9657 54e0 2270 andi r18,lo8(2) 9658 54e2 3070 andi r19,hi8(2) 9659 54e4 81FF sbrs r24,1 9660 54e6 00C0 rjmp .L789 9661 54e8 8091 0000 lds r24,HoverGasFilter.23 9662 54ec 9091 0000 lds r25,(HoverGasFilter.23)+1 9663 54f0 A091 0000 lds r26,(HoverGasFilter.23)+2 9664 54f4 B091 0000 lds r27,(HoverGasFilter.23)+3 9665 54f8 0097 sbiw r24,0 9666 54fa A105 cpc r26,__zero_reg__ 9667 54fc B105 cpc r27,__zero_reg__ 9668 54fe 01F0 breq .L791 9669 5500 8091 0000 lds r24,StartTrigger 9670 5504 8130 cpi r24,lo8(1) 9671 5506 01F4 brne .L790 9672 .L791: 9673 5508 E981 ldd r30,Y+1 9674 550a FA81 ldd r31,Y+2 9675 550c CF01 movw r24,r30 9676 550e AA27 clr r26 9677 5510 97FD sbrc r25,7 9678 5512 A095 com r26 9679 5514 BA2F mov r27,r26 9680 5516 1EE0 ldi r17,14 9681 5518 880F 1: lsl r24 9682 551a 991F rol r25 9683 551c AA1F rol r26 9684 551e BB1F rol r27 9685 5520 1A95 dec r17 9686 5522 01F4 brne 1b 9687 5524 8093 0000 sts HoverGasFilter.23,r24 9688 5528 9093 0000 sts (HoverGasFilter.23)+1,r25 9689 552c A093 0000 sts (HoverGasFilter.23)+2,r26 9690 5530 B093 0000 sts (HoverGasFilter.23)+3,r27 9691 .L790: 9692 5534 8091 0000 lds r24,StartTrigger 9693 5538 8130 cpi r24,lo8(1) 9694 553a 01F4 brne .L792 9695 553c 82E0 ldi r24,lo8(2) 9696 553e 8093 0000 sts StartTrigger,r24 9697 .L792: 9698 5542 E980 ldd r14,Y+1 9699 5544 FA80 ldd r15,Y+2 9700 5546 C701 movw r24,r14 9701 5548 AA27 clr r26 9702 554a 97FD sbrc r25,7 9703 554c A095 com r26 9704 554e BA2F mov r27,r26 9705 5550 9501 movw r18,r10 9706 5552 4427 clr r20 9707 5554 37FD sbrc r19,7 9708 5556 4095 com r20 9709 5558 542F mov r21,r20 9710 555a BC01 movw r22,r24 9711 555c CD01 movw r24,r26 9712 555e 0E94 0000 call __mulsi3 9713 5562 DC01 movw r26,r24 9714 5564 CB01 movw r24,r22 9715 5566 8093 0000 sts tmp_long2.2,r24 9716 556a 9093 0000 sts (tmp_long2.2)+1,r25 9717 556e A093 0000 sts (tmp_long2.2)+2,r26 9718 5572 B093 0000 sts (tmp_long2.2)+3,r27 9719 5576 B7FF sbrs r27,7 9720 5578 00C0 rjmp .L793 9721 557a 8150 subi r24,lo8(-(8191)) 9722 557c 904E sbci r25,hi8(-(8191)) 9723 557e AF4F sbci r26,hlo8(-(8191)) 9724 5580 BF4F sbci r27,hhi8(-(8191)) 9725 .L793: 9726 5582 7C01 movw r14,r24 9727 5584 8D01 movw r16,r26 9728 5586 ADE0 ldi r26,13 9729 5588 1595 1: asr r17 9730 558a 0795 ror r16 9731 558c F794 ror r15 9732 558e E794 ror r14 9733 5590 AA95 dec r26 9734 5592 01F4 brne 1b 9735 5594 E092 0000 sts tmp_long2.2,r14 9736 5598 F092 0000 sts (tmp_long2.2)+1,r15 9737 559c 0093 0000 sts (tmp_long2.2)+2,r16 9738 55a0 1093 0000 sts (tmp_long2.2)+3,r17 9739 55a4 6091 0000 lds r22,modell_fliegt 9740 55a8 7091 0000 lds r23,(modell_fliegt)+1 9741 55ac 2FE0 ldi r18,hi8(4000) 9742 55ae 603A cpi r22,lo8(4000) 9743 55b0 7207 cpc r23,r18 9744 55b2 00F4 brsh .L794 9745 55b4 8091 0000 lds r24,HoverGasFilter.23 9746 55b8 9091 0000 lds r25,(HoverGasFilter.23)+1 9747 55bc A091 0000 lds r26,(HoverGasFilter.23)+2 9748 55c0 B091 0000 lds r27,(HoverGasFilter.23)+3 9749 55c4 9C01 movw r18,r24 9750 55c6 AD01 movw r20,r26 9751 55c8 FAE0 ldi r31,10 9752 55ca 5695 1: lsr r21 9753 55cc 4795 ror r20 9754 55ce 3795 ror r19 9755 55d0 2795 ror r18 9756 55d2 FA95 dec r31 9757 55d4 01F4 brne 1b 9758 55d6 821B sub r24,r18 9759 55d8 930B sbc r25,r19 9760 55da A40B sbc r26,r20 9761 55dc B50B sbc r27,r21 9762 55de A801 movw r20,r16 9763 55e0 9701 movw r18,r14 9764 55e2 E4E0 ldi r30,4 9765 55e4 220F 1: lsl r18 9766 55e6 331F rol r19 9767 55e8 441F rol r20 9768 55ea 551F rol r21 9769 55ec EA95 dec r30 9770 55ee 01F4 brne 1b 9771 55f0 820F add r24,r18 9772 55f2 931F adc r25,r19 9773 55f4 A41F adc r26,r20 9774 55f6 B51F adc r27,r21 9775 55f8 8093 0000 sts HoverGasFilter.23,r24 9776 55fc 9093 0000 sts (HoverGasFilter.23)+1,r25 9777 5600 A093 0000 sts (HoverGasFilter.23)+2,r26 9778 5604 B093 0000 sts (HoverGasFilter.23)+3,r27 9779 .L794: 9780 5608 6054 subi r22,lo8(8000) 9781 560a 7F41 sbci r23,hi8(8000) 9782 560c 00F4 brsh .L795 9783 560e 8091 0000 lds r24,HoverGasFilter.23 9784 5612 9091 0000 lds r25,(HoverGasFilter.23)+1 9785 5616 A091 0000 lds r26,(HoverGasFilter.23)+2 9786 561a B091 0000 lds r27,(HoverGasFilter.23)+3 9787 561e 9C01 movw r18,r24 9788 5620 AD01 movw r20,r26 9789 5622 6CE0 ldi r22,12 9790 5624 5695 1: lsr r21 9791 5626 4795 ror r20 9792 5628 3795 ror r19 9793 562a 2795 ror r18 9794 562c 6A95 dec r22 9795 562e 01F4 brne 1b 9796 5630 821B sub r24,r18 9797 5632 930B sbc r25,r19 9798 5634 A40B sbc r26,r20 9799 5636 B50B sbc r27,r21 9800 5638 A801 movw r20,r16 9801 563a 9701 movw r18,r14 9802 563c F2E0 ldi r31,2 9803 563e 220F 1: lsl r18 9804 5640 331F rol r19 9805 5642 441F rol r20 9806 5644 551F rol r21 9807 5646 FA95 dec r31 9808 5648 01F4 brne 1b 9809 564a 820F add r24,r18 9810 564c 931F adc r25,r19 9811 564e A41F adc r26,r20 9812 5650 B51F adc r27,r21 9813 5652 00C0 rjmp .L913 9814 .L795: 9815 5654 8091 0000 lds r24,VarioMeter 9816 5658 9091 0000 lds r25,(VarioMeter)+1 9817 565c 8091 0000 lds r24,VarioMeter 9818 5660 9091 0000 lds r25,(VarioMeter)+1 9819 5664 97FF sbrs r25,7 9820 5666 00C0 rjmp .L798 9821 5668 9095 com r25 9822 566a 8195 neg r24 9823 566c 9F4F sbci r25,lo8(-1) 9824 .L798: 9825 566e 8436 cpi r24,100 9826 5670 9105 cpc r25,__zero_reg__ 9827 5672 04F4 brge .L796 9828 5674 8091 0000 lds r24,HoehenWert 9829 5678 9091 0000 lds r25,(HoehenWert)+1 9830 567c 2091 0000 lds r18,SollHoehe 9831 5680 3091 0000 lds r19,(SollHoehe)+1 9832 5684 821B sub r24,r18 9833 5686 930B sbc r25,r19 9834 5688 8150 subi r24,lo8(-(255)) 9835 568a 9F4F sbci r25,hi8(-(255)) 9836 568c 8F5F subi r24,lo8(511) 9837 568e 9140 sbci r25,hi8(511) 9838 5690 00F4 brsh .L796 9839 5692 8091 0000 lds r24,HoverGasFilter.23 9840 5696 9091 0000 lds r25,(HoverGasFilter.23)+1 9841 569a A091 0000 lds r26,(HoverGasFilter.23)+2 9842 569e B091 0000 lds r27,(HoverGasFilter.23)+3 9843 56a2 9C01 movw r18,r24 9844 56a4 AD01 movw r20,r26 9845 56a6 EEE0 ldi r30,14 9846 56a8 5695 1: lsr r21 9847 56aa 4795 ror r20 9848 56ac 3795 ror r19 9849 56ae 2795 ror r18 9850 56b0 EA95 dec r30 9851 56b2 01F4 brne 1b 9852 56b4 821B sub r24,r18 9853 56b6 930B sbc r25,r19 9854 56b8 A40B sbc r26,r20 9855 56ba B50B sbc r27,r21 9856 56bc 8E0D add r24,r14 9857 56be 9F1D adc r25,r15 9858 56c0 A01F adc r26,r16 9859 56c2 B11F adc r27,r17 9860 .L913: 9861 56c4 8093 0000 sts HoverGasFilter.23,r24 9862 56c8 9093 0000 sts (HoverGasFilter.23)+1,r25 9863 56cc A093 0000 sts (HoverGasFilter.23)+2,r26 9864 56d0 B093 0000 sts (HoverGasFilter.23)+3,r27 9865 .L796: 9866 56d4 8091 0000 lds r24,HoverGasFilter.23 9867 56d8 9091 0000 lds r25,(HoverGasFilter.23)+1 9868 56dc A091 0000 lds r26,(HoverGasFilter.23)+2 9869 56e0 B091 0000 lds r27,(HoverGasFilter.23)+3 9870 56e4 7EE0 ldi r23,14 9871 56e6 B695 1: lsr r27 9872 56e8 A795 ror r26 9873 56ea 9795 ror r25 9874 56ec 8795 ror r24 9875 56ee 7A95 dec r23 9876 56f0 01F4 brne 1b 9877 56f2 9093 0000 sts (HoverGas)+1,r25 9878 56f6 8093 0000 sts HoverGas,r24 9879 56fa 4091 0000 lds r20,EE_Parameter+20 9880 56fe 4423 tst r20 9881 5700 01F0 breq .L799 9882 5702 5527 clr r21 9883 5704 9C01 movw r18,r24 9884 5706 BA01 movw r22,r20 9885 5708 0E94 0000 call __divmodhi4 9886 570c C901 movw r24,r18 9887 570e 861B sub r24,r22 9888 5710 970B sbc r25,r23 9889 5712 9093 0000 sts (HoverGasMin)+1,r25 9890 5716 8093 0000 sts HoverGasMin,r24 9891 571a 260F add r18,r22 9892 571c 371F adc r19,r23 9893 571e 3093 0000 sts (HoverGasMax)+1,r19 9894 5722 2093 0000 sts HoverGasMax,r18 9895 5726 00C0 rjmp .L802 9896 .L799: 9897 5728 1092 0000 sts (HoverGasMin)+1,__zero_reg__ 9898 572c 1092 0000 sts HoverGasMin,__zero_reg__ 9899 5730 8FEF ldi r24,lo8(1023) 9900 5732 93E0 ldi r25,hi8(1023) 9901 5734 9093 0000 sts (HoverGasMax)+1,r25 9902 5738 8093 0000 sts HoverGasMax,r24 9903 573c 00C0 rjmp .L802 9904 .L789: 9905 573e 1092 0000 sts StartTrigger,__zero_reg__ 9906 5742 1092 0000 sts HoverGasFilter.23,__zero_reg__ 9907 5746 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ 9908 574a 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ 9909 574e 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ 9910 5752 3093 0000 sts (HoverGas)+1,r19 9911 5756 2093 0000 sts HoverGas,r18 9912 575a 00C0 rjmp .L802 9913 .L653: 9914 575c 8091 0000 lds r24,FC_StatusFlags 9915 5760 806C ori r24,lo8(-64) 9916 5762 8093 0000 sts FC_StatusFlags,r24 9917 .L802: 9918 5766 8091 0000 lds r24,NC_To_FC_Flags 9919 576a 81FF sbrs r24,1 9920 576c 00C0 rjmp .L803 9921 576e 8981 ldd r24,Y+1 9922 5770 9A81 ldd r25,Y+2 9923 5772 97FD sbrc r25,7 9924 5774 0396 adiw r24,3 9925 .L805: 9926 5776 9595 asr r25 9927 5778 8795 ror r24 9928 577a 9595 asr r25 9929 577c 8795 ror r24 9930 577e 2091 0000 lds r18,HooverGasEmergencyPercent 9931 5782 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 9932 5786 2817 cp r18,r24 9933 5788 3907 cpc r19,r25 9934 578a 00F4 brsh .L804 9935 578c 8091 0000 lds r24,HoverGas 9936 5790 9091 0000 lds r25,(HoverGas)+1 9937 5794 892B or r24,r25 9938 5796 01F0 breq .L804 9939 5798 220F lsl r18 9940 579a 331F rol r19 9941 579c 220F lsl r18 9942 579e 331F rol r19 9943 57a0 3A83 std Y+2,r19 9944 57a2 2983 std Y+1,r18 9945 .L804: 9946 57a4 8091 0000 lds r24,HoehenWert 9947 57a8 9091 0000 lds r25,(HoehenWert)+1 9948 57ac A091 0000 lds r26,(HoehenWert)+2 9949 57b0 B091 0000 lds r27,(HoehenWert)+3 9950 57b4 8093 0000 sts SollHoehe,r24 9951 57b8 9093 0000 sts (SollHoehe)+1,r25 9952 57bc A093 0000 sts (SollHoehe)+2,r26 9953 57c0 B093 0000 sts (SollHoehe)+3,r27 9954 57c4 88E9 ldi r24,lo8(15000) 9955 57c6 9AE3 ldi r25,hi8(15000) 9956 57c8 9093 0000 sts (beeptime)+1,r25 9957 57cc 8093 0000 sts beeptime,r24 9958 57d0 80E0 ldi r24,lo8(3584) 9959 57d2 9EE0 ldi r25,hi8(3584) 9960 57d4 9093 0000 sts (BeepMuster)+1,r25 9961 57d8 8093 0000 sts BeepMuster,r24 9962 .L803: 9963 57dc 2091 0000 lds r18,MIN_GAS 9964 57e0 822F mov r24,r18 9965 57e2 9927 clr r25 9966 57e4 880F lsl r24 9967 57e6 991F rol r25 9968 57e8 880F lsl r24 9969 57ea 991F rol r25 9970 57ec 8896 adiw r24,40 9971 57ee 6981 ldd r22,Y+1 9972 57f0 7A81 ldd r23,Y+2 9973 57f2 8617 cp r24,r22 9974 57f4 9707 cpc r25,r23 9975 57f6 04F0 brlt .L806 9976 57f8 9A83 std Y+2,r25 9977 57fa 8983 std Y+1,r24 9978 .L806: 9979 57fc 7091 0000 lds r23,MAX_GAS 9980 5800 7D8B std Y+21,r23 9981 5802 872F mov r24,r23 9982 5804 9927 clr r25 9983 5806 880F lsl r24 9984 5808 991F rol r25 9985 580a 880F lsl r24 9986 580c 991F rol r25 9987 580e 8055 subi r24,lo8(-(-80)) 9988 5810 9040 sbci r25,hi8(-(-80)) 9989 5812 A981 ldd r26,Y+1 9990 5814 BA81 ldd r27,Y+2 9991 5816 8A17 cp r24,r26 9992 5818 9B07 cpc r25,r27 9993 581a 04F4 brge .L807 9994 581c 9A83 std Y+2,r25 9995 581e 8983 std Y+1,r24 9996 .L807: 9997 5820 8091 0000 lds r24,MissingMotor 9998 5824 8823 tst r24 9999 5826 01F4 brne .L809 10000 5828 8091 0000 lds r24,Capacity+6 10001 582c 8F3F cpi r24,lo8(-1) 10002 582e 01F4 brne .L809 10003 5830 8091 0000 lds r24,NC_ErrorCode 10004 5834 8823 tst r24 10005 5836 01F0 breq .L808 10006 .L809: 10007 5838 8091 0000 lds r24,modell_fliegt 10008 583c 9091 0000 lds r25,(modell_fliegt)+1 10009 5840 0297 sbiw r24,2 10010 5842 C097 sbiw r24,48 10011 5844 00F4 brsh .L808 10012 5846 E981 ldd r30,Y+1 10013 5848 FA81 ldd r31,Y+2 10014 584a 1E16 cp __zero_reg__,r30 10015 584c 1F06 cpc __zero_reg__,r31 10016 584e 04F4 brge .L808 10017 5850 81E0 ldi r24,lo8(1) 10018 5852 90E0 ldi r25,hi8(1) 10019 5854 9093 0000 sts (modell_fliegt)+1,r25 10020 5858 8093 0000 sts modell_fliegt,r24 10021 585c E22E mov r14,r18 10022 585e FF24 clr r15 10023 5860 EE0C lsl r14 10024 5862 FF1C rol r15 10025 5864 EE0C lsl r14 10026 5866 FF1C rol r15 10027 5868 8701 movw r16,r14 10028 586a 085D subi r16,lo8(-(40)) 10029 586c 1F4F sbci r17,hi8(-(40)) 10030 586e 1A83 std Y+2,r17 10031 5870 0983 std Y+1,r16 10032 .L808: 10033 5872 2981 ldd r18,Y+1 10034 5874 3A81 ldd r19,Y+2 10035 5876 3093 0000 sts (DebugOut+16)+1,r19 10036 587a 2093 0000 sts DebugOut+16,r18 10037 587e 8091 0000 lds r24,sollGier.0 10038 5882 9091 0000 lds r25,(sollGier.0)+1 10039 5886 A091 0000 lds r26,(sollGier.0)+2 10040 588a B091 0000 lds r27,(sollGier.0)+3 10041 588e 12E0 ldi r17,2 10042 5890 880F 1: lsl r24 10043 5892 991F rol r25 10044 5894 AA1F rol r26 10045 5896 BB1F rol r27 10046 5898 1A95 dec r17 10047 589a 01F4 brne 1b 10048 589c 0091 0000 lds r16,MesswertGier 10049 58a0 1091 0000 lds r17,(MesswertGier)+1 10050 58a4 081B sub r16,r24 10051 58a6 190B sbc r17,r25 10052 58a8 213A cpi r18,161 10053 58aa 3105 cpc r19,__zero_reg__ 10054 58ac 04F0 brlt .L811 10055 58ae C901 movw r24,r18 10056 58b0 37FD sbrc r19,7 10057 58b2 0196 adiw r24,1 10058 .L813: 10059 58b4 9595 asr r25 10060 58b6 8795 ror r24 10061 58b8 8017 cp r24,r16 10062 58ba 9107 cpc r25,r17 10063 58bc 04F4 brge .L812 10064 58be 8C01 movw r16,r24 10065 .L812: 10066 58c0 9095 com r25 10067 58c2 8195 neg r24 10068 58c4 9F4F sbci r25,lo8(-1) 10069 58c6 0817 cp r16,r24 10070 58c8 1907 cpc r17,r25 10071 58ca 04F4 brge .L818 10072 58cc 8C01 movw r16,r24 10073 58ce 00C0 rjmp .L818 10074 .L811: 10075 58d0 0135 cpi r16,81 10076 58d2 1105 cpc r17,__zero_reg__ 10077 58d4 04F0 brlt .L819 10078 58d6 00E5 ldi r16,lo8(80) 10079 58d8 10E0 ldi r17,hi8(80) 10080 .L819: 10081 58da 3FEF ldi r19,hi8(-80) 10082 58dc 003B cpi r16,lo8(-80) 10083 58de 1307 cpc r17,r19 10084 58e0 04F4 brge .L818 10085 58e2 00EB ldi r16,lo8(-80) 10086 58e4 1FEF ldi r17,hi8(-80) 10087 .L818: 10088 58e6 4D89 ldd r20,Y+21 10089 58e8 242F mov r18,r20 10090 58ea 3327 clr r19 10091 58ec 220F lsl r18 10092 58ee 331F rol r19 10093 58f0 220F lsl r18 10094 58f2 331F rol r19 10095 58f4 C901 movw r24,r18 10096 58f6 6981 ldd r22,Y+1 10097 58f8 7A81 ldd r23,Y+2 10098 58fa 861B sub r24,r22 10099 58fc 970B sbc r25,r23 10100 58fe 8017 cp r24,r16 10101 5900 9107 cpc r25,r17 10102 5902 04F4 brge .L821 10103 5904 8C01 movw r16,r24 10104 .L821: 10105 5906 8981 ldd r24,Y+1 10106 5908 9A81 ldd r25,Y+2 10107 590a 821B sub r24,r18 10108 590c 930B sbc r25,r19 10109 590e 0817 cp r16,r24 10110 5910 1907 cpc r17,r25 10111 5912 04F4 brge .L822 10112 5914 8C01 movw r16,r24 10113 .L822: 10114 5916 8091 0000 lds r24,MesswertNick 10115 591a 9091 0000 lds r25,(MesswertNick)+1 10116 591e 6091 0000 lds r22,StickNick 10117 5922 7091 0000 lds r23,(StickNick)+1 10118 5926 861B sub r24,r22 10119 5928 970B sbc r25,r23 10120 592a 9093 0000 sts (DiffNick)+1,r25 10121 592e 8093 0000 sts DiffNick,r24 10122 5932 D090 0000 lds r13,IntegralFaktor 10123 5936 2091 0000 lds r18,SummeNick 10124 593a 3091 0000 lds r19,(SummeNick)+1 10125 593e 4091 0000 lds r20,(SummeNick)+2 10126 5942 5091 0000 lds r21,(SummeNick)+3 10127 5946 DD20 tst r13 10128 5948 01F0 breq .L823 10129 594a 661A sub r6,r22 10130 594c 770A sbc r7,r23 10131 594e C301 movw r24,r6 10132 5950 AA27 clr r26 10133 5952 97FD sbrc r25,7 10134 5954 A095 com r26 10135 5956 BA2F mov r27,r26 10136 5958 00C0 rjmp .L914 10137 .L823: 10138 595a AA27 clr r26 10139 595c 97FD sbrc r25,7 10140 595e A095 com r26 10141 5960 BA2F mov r27,r26 10142 .L914: 10143 5962 280F add r18,r24 10144 5964 391F adc r19,r25 10145 5966 4A1F adc r20,r26 10146 5968 5B1F adc r21,r27 10147 596a 2093 0000 sts SummeNick,r18 10148 596e 3093 0000 sts (SummeNick)+1,r19 10149 5972 4093 0000 sts (SummeNick)+2,r20 10150 5976 5093 0000 sts (SummeNick)+3,r21 10151 597a 8091 0000 lds r24,SummeNick 10152 597e 9091 0000 lds r25,(SummeNick)+1 10153 5982 A091 0000 lds r26,(SummeNick)+2 10154 5986 B091 0000 lds r27,(SummeNick)+3 10155 598a 8150 subi r24,lo8(64001) 10156 598c 9A4F sbci r25,hi8(64001) 10157 598e A040 sbci r26,hlo8(64001) 10158 5990 B040 sbci r27,hhi8(64001) 10159 5992 04F0 brlt .L825 10160 5994 80E0 ldi r24,lo8(64000) 10161 5996 9AEF ldi r25,hi8(64000) 10162 5998 A0E0 ldi r26,hlo8(64000) 10163 599a B0E0 ldi r27,hhi8(64000) 10164 599c 8093 0000 sts SummeNick,r24 10165 59a0 9093 0000 sts (SummeNick)+1,r25 10166 59a4 A093 0000 sts (SummeNick)+2,r26 10167 59a8 B093 0000 sts (SummeNick)+3,r27 10168 .L825: 10169 59ac 8091 0000 lds r24,SummeNick 10170 59b0 9091 0000 lds r25,(SummeNick)+1 10171 59b4 A091 0000 lds r26,(SummeNick)+2 10172 59b8 B091 0000 lds r27,(SummeNick)+3 10173 59bc 8050 subi r24,lo8(-64000) 10174 59be 9640 sbci r25,hi8(-64000) 10175 59c0 AF4F sbci r26,hlo8(-64000) 10176 59c2 BF4F sbci r27,hhi8(-64000) 10177 59c4 04F4 brge .L826 10178 59c6 80E0 ldi r24,lo8(-64000) 10179 59c8 96E0 ldi r25,hi8(-64000) 10180 59ca AFEF ldi r26,hlo8(-64000) 10181 59cc BFEF ldi r27,hhi8(-64000) 10182 59ce 8093 0000 sts SummeNick,r24 10183 59d2 9093 0000 sts (SummeNick)+1,r25 10184 59d6 A093 0000 sts (SummeNick)+2,r26 10185 59da B093 0000 sts (SummeNick)+3,r27 10186 .L826: 10187 59de C090 0000 lds r12,EE_Parameter+35 10188 59e2 2091 0000 lds r18,DiffNick 10189 59e6 3091 0000 lds r19,(DiffNick)+1 10190 59ea 78E0 ldi r23,lo8(8) 10191 59ec E72E mov r14,r23 10192 59ee EC14 cp r14,r12 10193 59f0 00F0 brlo .L827 10194 59f2 8C2D mov r24,r12 10195 59f4 9927 clr r25 10196 59f6 829F mul r24,r18 10197 59f8 A001 movw r20,r0 10198 59fa 839F mul r24,r19 10199 59fc 500D add r21,r0 10200 59fe 929F mul r25,r18 10201 5a00 500D add r21,r0 10202 5a02 1124 clr r1 10203 5a04 CA01 movw r24,r20 10204 5a06 57FD sbrc r21,7 10205 5a08 0796 adiw r24,7 10206 .L828: 10207 5a0a 7C01 movw r14,r24 10208 5a0c 63E0 ldi r22,3 10209 5a0e F594 1: asr r15 10210 5a10 E794 ror r14 10211 5a12 6A95 dec r22 10212 5a14 01F4 brne 1b 10213 5a16 00C0 rjmp .L829 10214 .L827: 10215 5a18 8C2D mov r24,r12 10216 5a1a 8695 lsr r24 10217 5a1c 9927 clr r25 10218 5a1e 829F mul r24,r18 10219 5a20 B001 movw r22,r0 10220 5a22 839F mul r24,r19 10221 5a24 700D add r23,r0 10222 5a26 929F mul r25,r18 10223 5a28 700D add r23,r0 10224 5a2a 1124 clr r1 10225 5a2c CB01 movw r24,r22 10226 5a2e 77FD sbrc r23,7 10227 5a30 0396 adiw r24,3 10228 .L830: 10229 5a32 7C01 movw r14,r24 10230 5a34 F594 asr r15 10231 5a36 E794 ror r14 10232 5a38 F594 asr r15 10233 5a3a E794 ror r14 10234 .L829: 10235 5a3c A090 0000 lds r10,Ki 10236 5a40 B090 0000 lds r11,(Ki)+1 10237 5a44 9501 movw r18,r10 10238 5a46 4427 clr r20 10239 5a48 37FD sbrc r19,7 10240 5a4a 4095 com r20 10241 5a4c 542F mov r21,r20 10242 5a4e 8091 0000 lds r24,SummeNick 10243 5a52 9091 0000 lds r25,(SummeNick)+1 10244 5a56 A091 0000 lds r26,(SummeNick)+2 10245 5a5a B091 0000 lds r27,(SummeNick)+3 10246 5a5e BC01 movw r22,r24 10247 5a60 CD01 movw r24,r26 10248 5a62 0E94 0000 call __divmodsi4 10249 5a66 E20E add r14,r18 10250 5a68 F31E adc r15,r19 10251 5a6a 9090 0000 lds r9,Parameter_DynamicStability 10252 5a6e 692D mov r22,r9 10253 5a70 7727 clr r23 10254 5a72 8827 clr r24 10255 5a74 9927 clr r25 10256 5a76 9801 movw r18,r16 10257 5a78 17FF sbrs r17,7 10258 5a7a 00C0 rjmp .L831 10259 5a7c 2227 clr r18 10260 5a7e 3327 clr r19 10261 5a80 201B sub r18,r16 10262 5a82 310B sbc r19,r17 10263 .L831: 10264 5a84 37FF sbrs r19,7 10265 5a86 00C0 rjmp .L832 10266 5a88 2F5F subi r18,lo8(-(1)) 10267 5a8a 3F4F sbci r19,hi8(-(1)) 10268 .L832: 10269 5a8c 3595 asr r19 10270 5a8e 2795 ror r18 10271 5a90 A981 ldd r26,Y+1 10272 5a92 BA81 ldd r27,Y+2 10273 5a94 2A0F add r18,r26 10274 5a96 3B1F adc r19,r27 10275 5a98 4427 clr r20 10276 5a9a 37FD sbrc r19,7 10277 5a9c 4095 com r20 10278 5a9e 542F mov r21,r20 10279 5aa0 0E94 0000 call __mulsi3 10280 5aa4 97FF sbrs r25,7 10281 5aa6 00C0 rjmp .L833 10282 5aa8 615C subi r22,lo8(-(63)) 10283 5aaa 7F4F sbci r23,hi8(-(63)) 10284 5aac 8F4F sbci r24,hlo8(-(63)) 10285 5aae 9F4F sbci r25,hhi8(-(63)) 10286 .L833: 10287 5ab0 26E0 ldi r18,6 10288 5ab2 9595 1: asr r25 10289 5ab4 8795 ror r24 10290 5ab6 7795 ror r23 10291 5ab8 6795 ror r22 10292 5aba 2A95 dec r18 10293 5abc 01F4 brne 1b 10294 5abe 9B01 movw r18,r22 10295 5ac0 6E15 cp r22,r14 10296 5ac2 7F05 cpc r23,r15 10297 5ac4 04F4 brge .L834 10298 5ac6 7B01 movw r14,r22 10299 .L834: 10300 5ac8 3095 com r19 10301 5aca 2195 neg r18 10302 5acc 3F4F sbci r19,lo8(-1) 10303 5ace E216 cp r14,r18 10304 5ad0 F306 cpc r15,r19 10305 5ad2 04F4 brge .L835 10306 5ad4 7901 movw r14,r18 10307 .L835: 10308 5ad6 8091 0000 lds r24,MesswertRoll 10309 5ada 9091 0000 lds r25,(MesswertRoll)+1 10310 5ade 6091 0000 lds r22,StickRoll 10311 5ae2 7091 0000 lds r23,(StickRoll)+1 10312 5ae6 861B sub r24,r22 10313 5ae8 970B sbc r25,r23 10314 5aea 9093 0000 sts (DiffRoll)+1,r25 10315 5aee 8093 0000 sts DiffRoll,r24 10316 5af2 2091 0000 lds r18,SummeRoll 10317 5af6 3091 0000 lds r19,(SummeRoll)+1 10318 5afa 4091 0000 lds r20,(SummeRoll)+2 10319 5afe 5091 0000 lds r21,(SummeRoll)+3 10320 5b02 DD20 tst r13 10321 5b04 01F0 breq .L836 10322 5b06 461A sub r4,r22 10323 5b08 570A sbc r5,r23 10324 5b0a C201 movw r24,r4 10325 5b0c AA27 clr r26 10326 5b0e 97FD sbrc r25,7 10327 5b10 A095 com r26 10328 5b12 BA2F mov r27,r26 10329 5b14 00C0 rjmp .L915 10330 .L836: 10331 5b16 AA27 clr r26 10332 5b18 97FD sbrc r25,7 10333 5b1a A095 com r26 10334 5b1c BA2F mov r27,r26 10335 .L915: 10336 5b1e 280F add r18,r24 10337 5b20 391F adc r19,r25 10338 5b22 4A1F adc r20,r26 10339 5b24 5B1F adc r21,r27 10340 5b26 2093 0000 sts SummeRoll,r18 10341 5b2a 3093 0000 sts (SummeRoll)+1,r19 10342 5b2e 4093 0000 sts (SummeRoll)+2,r20 10343 5b32 5093 0000 sts (SummeRoll)+3,r21 10344 5b36 8091 0000 lds r24,SummeRoll 10345 5b3a 9091 0000 lds r25,(SummeRoll)+1 10346 5b3e A091 0000 lds r26,(SummeRoll)+2 10347 5b42 B091 0000 lds r27,(SummeRoll)+3 10348 5b46 8150 subi r24,lo8(64001) 10349 5b48 9A4F sbci r25,hi8(64001) 10350 5b4a A040 sbci r26,hlo8(64001) 10351 5b4c B040 sbci r27,hhi8(64001) 10352 5b4e 04F0 brlt .L838 10353 5b50 80E0 ldi r24,lo8(64000) 10354 5b52 9AEF ldi r25,hi8(64000) 10355 5b54 A0E0 ldi r26,hlo8(64000) 10356 5b56 B0E0 ldi r27,hhi8(64000) 10357 5b58 8093 0000 sts SummeRoll,r24 10358 5b5c 9093 0000 sts (SummeRoll)+1,r25 10359 5b60 A093 0000 sts (SummeRoll)+2,r26 10360 5b64 B093 0000 sts (SummeRoll)+3,r27 10361 .L838: 10362 5b68 8091 0000 lds r24,SummeRoll 10363 5b6c 9091 0000 lds r25,(SummeRoll)+1 10364 5b70 A091 0000 lds r26,(SummeRoll)+2 10365 5b74 B091 0000 lds r27,(SummeRoll)+3 10366 5b78 8050 subi r24,lo8(-64000) 10367 5b7a 9640 sbci r25,hi8(-64000) 10368 5b7c AF4F sbci r26,hlo8(-64000) 10369 5b7e BF4F sbci r27,hhi8(-64000) 10370 5b80 04F4 brge .L839 10371 5b82 80E0 ldi r24,lo8(-64000) 10372 5b84 96E0 ldi r25,hi8(-64000) 10373 5b86 AFEF ldi r26,hlo8(-64000) 10374 5b88 BFEF ldi r27,hhi8(-64000) 10375 5b8a 8093 0000 sts SummeRoll,r24 10376 5b8e 9093 0000 sts (SummeRoll)+1,r25 10377 5b92 A093 0000 sts (SummeRoll)+2,r26 10378 5b96 B093 0000 sts (SummeRoll)+3,r27 10379 .L839: 10380 5b9a 2091 0000 lds r18,DiffRoll 10381 5b9e 3091 0000 lds r19,(DiffRoll)+1 10382 5ba2 48E0 ldi r20,lo8(8) 10383 5ba4 4C15 cp r20,r12 10384 5ba6 00F0 brlo .L840 10385 5ba8 8C2D mov r24,r12 10386 5baa 9927 clr r25 10387 5bac 829F mul r24,r18 10388 5bae B001 movw r22,r0 10389 5bb0 839F mul r24,r19 10390 5bb2 700D add r23,r0 10391 5bb4 929F mul r25,r18 10392 5bb6 700D add r23,r0 10393 5bb8 1124 clr r1 10394 5bba CB01 movw r24,r22 10395 5bbc 77FD sbrc r23,7 10396 5bbe 0796 adiw r24,7 10397 .L841: 10398 5bc0 6C01 movw r12,r24 10399 5bc2 B3E0 ldi r27,3 10400 5bc4 D594 1: asr r13 10401 5bc6 C794 ror r12 10402 5bc8 BA95 dec r27 10403 5bca 01F4 brne 1b 10404 5bcc 00C0 rjmp .L842 10405 .L840: 10406 5bce C694 lsr r12 10407 5bd0 8C2D mov r24,r12 10408 5bd2 9927 clr r25 10409 5bd4 829F mul r24,r18 10410 5bd6 D001 movw r26,r0 10411 5bd8 839F mul r24,r19 10412 5bda B00D add r27,r0 10413 5bdc 929F mul r25,r18 10414 5bde B00D add r27,r0 10415 5be0 1124 clr r1 10416 5be2 CD01 movw r24,r26 10417 5be4 B7FD sbrc r27,7 10418 5be6 0396 adiw r24,3 10419 .L843: 10420 5be8 6C01 movw r12,r24 10421 5bea D594 asr r13 10422 5bec C794 ror r12 10423 5bee D594 asr r13 10424 5bf0 C794 ror r12 10425 .L842: 10426 5bf2 9501 movw r18,r10 10427 5bf4 4427 clr r20 10428 5bf6 37FD sbrc r19,7 10429 5bf8 4095 com r20 10430 5bfa 542F mov r21,r20 10431 5bfc 8091 0000 lds r24,SummeRoll 10432 5c00 9091 0000 lds r25,(SummeRoll)+1 10433 5c04 A091 0000 lds r26,(SummeRoll)+2 10434 5c08 B091 0000 lds r27,(SummeRoll)+3 10435 5c0c BC01 movw r22,r24 10436 5c0e CD01 movw r24,r26 10437 5c10 0E94 0000 call __divmodsi4 10438 5c14 C20E add r12,r18 10439 5c16 D31E adc r13,r19 10440 5c18 692D mov r22,r9 10441 5c1a 7727 clr r23 10442 5c1c 8827 clr r24 10443 5c1e 9927 clr r25 10444 5c20 9801 movw r18,r16 10445 5c22 17FF sbrs r17,7 10446 5c24 00C0 rjmp .L844 10447 5c26 2227 clr r18 10448 5c28 3327 clr r19 10449 5c2a 201B sub r18,r16 10450 5c2c 310B sbc r19,r17 10451 .L844: 10452 5c2e 37FF sbrs r19,7 10453 5c30 00C0 rjmp .L845 10454 5c32 2F5F subi r18,lo8(-(1)) 10455 5c34 3F4F sbci r19,hi8(-(1)) 10456 .L845: 10457 5c36 3595 asr r19 10458 5c38 2795 ror r18 10459 5c3a E981 ldd r30,Y+1 10460 5c3c FA81 ldd r31,Y+2 10461 5c3e 2E0F add r18,r30 10462 5c40 3F1F adc r19,r31 10463 5c42 4427 clr r20 10464 5c44 37FD sbrc r19,7 10465 5c46 4095 com r20 10466 5c48 542F mov r21,r20 10467 5c4a 0E94 0000 call __mulsi3 10468 5c4e 97FF sbrs r25,7 10469 5c50 00C0 rjmp .L846 10470 5c52 615C subi r22,lo8(-(63)) 10471 5c54 7F4F sbci r23,hi8(-(63)) 10472 5c56 8F4F sbci r24,hlo8(-(63)) 10473 5c58 9F4F sbci r25,hhi8(-(63)) 10474 .L846: 10475 5c5a E6E0 ldi r30,6 10476 5c5c 9595 1: asr r25 10477 5c5e 8795 ror r24 10478 5c60 7795 ror r23 10479 5c62 6795 ror r22 10480 5c64 EA95 dec r30 10481 5c66 01F4 brne 1b 10482 5c68 9B01 movw r18,r22 10483 5c6a 6C15 cp r22,r12 10484 5c6c 7D05 cpc r23,r13 10485 5c6e 04F4 brge .L847 10486 5c70 6B01 movw r12,r22 10487 .L847: 10488 5c72 3095 com r19 10489 5c74 2195 neg r18 10490 5c76 3F4F sbci r19,lo8(-1) 10491 5c78 C216 cp r12,r18 10492 5c7a D306 cpc r13,r19 10493 5c7c 04F4 brge .L848 10494 5c7e 6901 movw r12,r18 10495 .L848: 10496 5c80 8091 0000 lds r24,MIN_GAS 10497 5c84 282E mov r2,r24 10498 5c86 3324 clr r3 10499 5c88 5090 0000 lds r5,EE_Parameter+101 10500 5c8c 60E0 ldi r22,lo8(Motor) 10501 5c8e 862E mov r8,r22 10502 5c90 60E0 ldi r22,hi8(Motor) 10503 5c92 962E mov r9,r22 10504 5c94 50E0 ldi r21,lo8(Mixer+13) 10505 5c96 A52E mov r10,r21 10506 5c98 50E0 ldi r21,hi8(Mixer+13) 10507 5c9a B52E mov r11,r21 10508 5c9c 4BE0 ldi r20,lo8(11) 10509 5c9e 442E mov r4,r20 10510 5ca0 30E0 ldi r19,lo8(tmp_motorwert) 10511 5ca2 632E mov r6,r19 10512 5ca4 30E0 ldi r19,hi8(tmp_motorwert) 10513 5ca6 732E mov r7,r19 10514 .L883: 10515 5ca8 D501 movw r26,r10 10516 5caa 2C91 ld r18,X 10517 5cac 1216 cp __zero_reg__,r18 10518 5cae 04F0 brlt .+2 10519 5cb0 00C0 rjmp .L852 10520 5cb2 2034 cpi r18,lo8(64) 10521 5cb4 01F4 brne .L853 10522 5cb6 E981 ldd r30,Y+1 10523 5cb8 FA81 ldd r31,Y+2 10524 5cba FF8B std Y+23,r31 10525 5cbc EE8B std Y+22,r30 10526 5cbe 00C0 rjmp .L854 10527 .L853: 10528 5cc0 4981 ldd r20,Y+1 10529 5cc2 5A81 ldd r21,Y+2 10530 5cc4 CA01 movw r24,r20 10531 5cc6 AA27 clr r26 10532 5cc8 97FD sbrc r25,7 10533 5cca A095 com r26 10534 5ccc BA2F mov r27,r26 10535 5cce 3327 clr r19 10536 5cd0 27FD sbrc r18,7 10537 5cd2 3095 com r19 10538 5cd4 432F mov r20,r19 10539 5cd6 532F mov r21,r19 10540 5cd8 BC01 movw r22,r24 10541 5cda CD01 movw r24,r26 10542 5cdc 0E94 0000 call __mulsi3 10543 5ce0 97FF sbrs r25,7 10544 5ce2 00C0 rjmp .L855 10545 5ce4 615C subi r22,lo8(-(63)) 10546 5ce6 7F4F sbci r23,hi8(-(63)) 10547 5ce8 8F4F sbci r24,hlo8(-(63)) 10548 5cea 9F4F sbci r25,hhi8(-(63)) 10549 .L855: 10550 5cec 26E0 ldi r18,6 10551 5cee 9595 1: asr r25 10552 5cf0 8795 ror r24 10553 5cf2 7795 ror r23 10554 5cf4 6795 ror r22 10555 5cf6 2A95 dec r18 10556 5cf8 01F4 brne 1b 10557 5cfa 7F8B std Y+23,r23 10558 5cfc 6E8B std Y+22,r22 10559 .L854: 10560 5cfe F501 movw r30,r10 10561 5d00 2181 ldd r18,Z+1 10562 5d02 2034 cpi r18,lo8(64) 10563 5d04 01F4 brne .L856 10564 5d06 2E89 ldd r18,Y+22 10565 5d08 3F89 ldd r19,Y+23 10566 5d0a 2E0D add r18,r14 10567 5d0c 3F1D adc r19,r15 10568 5d0e 3F8B std Y+23,r19 10569 5d10 2E8B std Y+22,r18 10570 5d12 00C0 rjmp .L857 10571 .L856: 10572 5d14 203C cpi r18,lo8(-64) 10573 5d16 01F4 brne .L858 10574 5d18 4E89 ldd r20,Y+22 10575 5d1a 5F89 ldd r21,Y+23 10576 5d1c 4E19 sub r20,r14 10577 5d1e 5F09 sbc r21,r15 10578 5d20 5F8B std Y+23,r21 10579 5d22 4E8B std Y+22,r20 10580 5d24 00C0 rjmp .L857 10581 .L858: 10582 5d26 C701 movw r24,r14 10583 5d28 AA27 clr r26 10584 5d2a 97FD sbrc r25,7 10585 5d2c A095 com r26 10586 5d2e BA2F mov r27,r26 10587 5d30 3327 clr r19 10588 5d32 27FD sbrc r18,7 10589 5d34 3095 com r19 10590 5d36 432F mov r20,r19 10591 5d38 532F mov r21,r19 10592 5d3a BC01 movw r22,r24 10593 5d3c CD01 movw r24,r26 10594 5d3e 0E94 0000 call __mulsi3 10595 5d42 97FF sbrs r25,7 10596 5d44 00C0 rjmp .L860 10597 5d46 615C subi r22,lo8(-(63)) 10598 5d48 7F4F sbci r23,hi8(-(63)) 10599 5d4a 8F4F sbci r24,hlo8(-(63)) 10600 5d4c 9F4F sbci r25,hhi8(-(63)) 10601 .L860: 10602 5d4e B6E0 ldi r27,6 10603 5d50 9595 1: asr r25 10604 5d52 8795 ror r24 10605 5d54 7795 ror r23 10606 5d56 6795 ror r22 10607 5d58 BA95 dec r27 10608 5d5a 01F4 brne 1b 10609 5d5c AE89 ldd r26,Y+22 10610 5d5e BF89 ldd r27,Y+23 10611 5d60 A60F add r26,r22 10612 5d62 B71F adc r27,r23 10613 5d64 BF8B std Y+23,r27 10614 5d66 AE8B std Y+22,r26 10615 .L857: 10616 5d68 F501 movw r30,r10 10617 5d6a 2281 ldd r18,Z+2 10618 5d6c 2034 cpi r18,lo8(64) 10619 5d6e 01F4 brne .L861 10620 5d70 2E89 ldd r18,Y+22 10621 5d72 3F89 ldd r19,Y+23 10622 5d74 2C0D add r18,r12 10623 5d76 3D1D adc r19,r13 10624 5d78 3F8B std Y+23,r19 10625 5d7a 2E8B std Y+22,r18 10626 5d7c 00C0 rjmp .L862 10627 .L861: 10628 5d7e 203C cpi r18,lo8(-64) 10629 5d80 01F4 brne .L863 10630 5d82 4E89 ldd r20,Y+22 10631 5d84 5F89 ldd r21,Y+23 10632 5d86 4C19 sub r20,r12 10633 5d88 5D09 sbc r21,r13 10634 5d8a 5F8B std Y+23,r21 10635 5d8c 4E8B std Y+22,r20 10636 5d8e 00C0 rjmp .L862 10637 .L863: 10638 5d90 C601 movw r24,r12 10639 5d92 AA27 clr r26 10640 5d94 97FD sbrc r25,7 10641 5d96 A095 com r26 10642 5d98 BA2F mov r27,r26 10643 5d9a 3327 clr r19 10644 5d9c 27FD sbrc r18,7 10645 5d9e 3095 com r19 10646 5da0 432F mov r20,r19 10647 5da2 532F mov r21,r19 10648 5da4 BC01 movw r22,r24 10649 5da6 CD01 movw r24,r26 10650 5da8 0E94 0000 call __mulsi3 10651 5dac 97FF sbrs r25,7 10652 5dae 00C0 rjmp .L865 10653 5db0 615C subi r22,lo8(-(63)) 10654 5db2 7F4F sbci r23,hi8(-(63)) 10655 5db4 8F4F sbci r24,hlo8(-(63)) 10656 5db6 9F4F sbci r25,hhi8(-(63)) 10657 .L865: 10658 5db8 A6E0 ldi r26,6 10659 5dba 9595 1: asr r25 10660 5dbc 8795 ror r24 10661 5dbe 7795 ror r23 10662 5dc0 6795 ror r22 10663 5dc2 AA95 dec r26 10664 5dc4 01F4 brne 1b 10665 5dc6 AE89 ldd r26,Y+22 10666 5dc8 BF89 ldd r27,Y+23 10667 5dca A60F add r26,r22 10668 5dcc B71F adc r27,r23 10669 5dce BF8B std Y+23,r27 10670 5dd0 AE8B std Y+22,r26 10671 .L862: 10672 5dd2 F501 movw r30,r10 10673 5dd4 2381 ldd r18,Z+3 10674 5dd6 2034 cpi r18,lo8(64) 10675 5dd8 01F4 brne .L866 10676 5dda 2E89 ldd r18,Y+22 10677 5ddc 3F89 ldd r19,Y+23 10678 5dde 200F add r18,r16 10679 5de0 311F adc r19,r17 10680 5de2 3F8B std Y+23,r19 10681 5de4 2E8B std Y+22,r18 10682 5de6 00C0 rjmp .L867 10683 .L866: 10684 5de8 203C cpi r18,lo8(-64) 10685 5dea 01F4 brne .L868 10686 5dec 4E89 ldd r20,Y+22 10687 5dee 5F89 ldd r21,Y+23 10688 5df0 401B sub r20,r16 10689 5df2 510B sbc r21,r17 10690 5df4 5F8B std Y+23,r21 10691 5df6 4E8B std Y+22,r20 10692 5df8 00C0 rjmp .L867 10693 .L868: 10694 5dfa C801 movw r24,r16 10695 5dfc AA27 clr r26 10696 5dfe 97FD sbrc r25,7 10697 5e00 A095 com r26 10698 5e02 BA2F mov r27,r26 10699 5e04 3327 clr r19 10700 5e06 27FD sbrc r18,7 10701 5e08 3095 com r19 10702 5e0a 432F mov r20,r19 10703 5e0c 532F mov r21,r19 10704 5e0e BC01 movw r22,r24 10705 5e10 CD01 movw r24,r26 10706 5e12 0E94 0000 call __mulsi3 10707 5e16 97FF sbrs r25,7 10708 5e18 00C0 rjmp .L870 10709 5e1a 615C subi r22,lo8(-(63)) 10710 5e1c 7F4F sbci r23,hi8(-(63)) 10711 5e1e 8F4F sbci r24,hlo8(-(63)) 10712 5e20 9F4F sbci r25,hhi8(-(63)) 10713 .L870: 10714 5e22 F6E0 ldi r31,6 10715 5e24 9595 1: asr r25 10716 5e26 8795 ror r24 10717 5e28 7795 ror r23 10718 5e2a 6795 ror r22 10719 5e2c FA95 dec r31 10720 5e2e 01F4 brne 1b 10721 5e30 AE89 ldd r26,Y+22 10722 5e32 BF89 ldd r27,Y+23 10723 5e34 A60F add r26,r22 10724 5e36 B71F adc r27,r23 10725 5e38 BF8B std Y+23,r27 10726 5e3a AE8B std Y+22,r26 10727 .L867: 10728 5e3c F301 movw r30,r6 10729 5e3e 8081 ld r24,Z 10730 5e40 9181 ldd r25,Z+1 10731 5e42 2E89 ldd r18,Y+22 10732 5e44 3F89 ldd r19,Y+23 10733 5e46 8217 cp r24,r18 10734 5e48 9307 cpc r25,r19 10735 5e4a 04F4 brge .L871 10736 5e4c B901 movw r22,r18 10737 5e4e 680F add r22,r24 10738 5e50 791F adc r23,r25 10739 5e52 77FF sbrs r23,7 10740 5e54 00C0 rjmp .L872 10741 5e56 6F5F subi r22,lo8(-(1)) 10742 5e58 7F4F sbci r23,hi8(-(1)) 10743 .L872: 10744 5e5a 7595 asr r23 10745 5e5c 6795 ror r22 10746 5e5e 7F8B std Y+23,r23 10747 5e60 6E8B std Y+22,r22 10748 5e62 00C0 rjmp .L873 10749 .L871: 10750 5e64 5520 tst r5 10751 5e66 01F4 brne .L874 10752 5e68 4E89 ldd r20,Y+22 10753 5e6a 5F89 ldd r21,Y+23 10754 5e6c 440F add r20,r20 10755 5e6e 551F adc r21,r21 10756 5e70 481B sub r20,r24 10757 5e72 590B sbc r21,r25 10758 5e74 5F8B std Y+23,r21 10759 5e76 4E8B std Y+22,r20 10760 5e78 00C0 rjmp .L873 10761 .L874: 10762 5e7a 51E0 ldi r21,lo8(1) 10763 5e7c 5515 cp r21,r5 10764 5e7e 00F4 brsh .L873 10765 5e80 252D mov r18,r5 10766 5e82 3327 clr r19 10767 5e84 6E89 ldd r22,Y+22 10768 5e86 7F89 ldd r23,Y+23 10769 5e88 861B sub r24,r22 10770 5e8a 970B sbc r25,r23 10771 5e8c B901 movw r22,r18 10772 5e8e 0E94 0000 call __divmodhi4 10773 5e92 AE89 ldd r26,Y+22 10774 5e94 BF89 ldd r27,Y+23 10775 5e96 A60F add r26,r22 10776 5e98 B71F adc r27,r23 10777 5e9a BF8B std Y+23,r27 10778 5e9c AE8B std Y+22,r26 10779 .L873: 10780 5e9e C101 movw r24,r2 10781 5ea0 880F lsl r24 10782 5ea2 991F rol r25 10783 5ea4 880F lsl r24 10784 5ea6 991F rol r25 10785 5ea8 EE89 ldd r30,Y+22 10786 5eaa FF89 ldd r31,Y+23 10787 5eac 8E17 cp r24,r30 10788 5eae 9F07 cpc r25,r31 10789 5eb0 04F4 brge .L916 10790 5eb2 FD89 ldd r31,Y+21 10791 5eb4 8F2F mov r24,r31 10792 5eb6 9927 clr r25 10793 5eb8 880F lsl r24 10794 5eba 991F rol r25 10795 5ebc 880F lsl r24 10796 5ebe 991F rol r25 10797 5ec0 2E89 ldd r18,Y+22 10798 5ec2 3F89 ldd r19,Y+23 10799 5ec4 2817 cp r18,r24 10800 5ec6 3907 cpc r19,r25 10801 5ec8 04F0 brlt .L878 10802 .L916: 10803 5eca 9F8B std Y+23,r25 10804 5ecc 8E8B std Y+22,r24 10805 .L878: 10806 5ece 8E89 ldd r24,Y+22 10807 5ed0 9F89 ldd r25,Y+23 10808 5ed2 97FD sbrc r25,7 10809 5ed4 0396 adiw r24,3 10810 .L880: 10811 5ed6 9595 asr r25 10812 5ed8 8795 ror r24 10813 5eda 9595 asr r25 10814 5edc 8795 ror r24 10815 5ede F401 movw r30,r8 10816 5ee0 8183 std Z+1,r24 10817 5ee2 880F lsl r24 10818 5ee4 991F rol r25 10819 5ee6 880F lsl r24 10820 5ee8 991F rol r25 10821 5eea 2E89 ldd r18,Y+22 10822 5eec 3F89 ldd r19,Y+23 10823 5eee 281B sub r18,r24 10824 5ef0 390B sbc r19,r25 10825 5ef2 C901 movw r24,r18 10826 5ef4 880F lsl r24 10827 5ef6 8283 std Z+2,r24 10828 5ef8 EE89 ldd r30,Y+22 10829 5efa FF89 ldd r31,Y+23 10830 5efc D301 movw r26,r6 10831 5efe ED93 st X+,r30 10832 5f00 FC93 st X,r31 10833 5f02 00C0 rjmp .L851 10834 .L852: 10835 5f04 F401 movw r30,r8 10836 5f06 1182 std Z+1,__zero_reg__ 10837 5f08 1282 std Z+2,__zero_reg__ 10838 .L851: 10839 5f0a 4A94 dec r4 10840 5f0c 22E0 ldi r18,lo8(2) 10841 5f0e 30E0 ldi r19,hi8(2) 10842 5f10 620E add r6,r18 10843 5f12 731E adc r7,r19 10844 5f14 44E0 ldi r20,lo8(4) 10845 5f16 50E0 ldi r21,hi8(4) 10846 5f18 A40E add r10,r20 10847 5f1a B51E adc r11,r21 10848 5f1c 68E0 ldi r22,lo8(8) 10849 5f1e 70E0 ldi r23,hi8(8) 10850 5f20 860E add r8,r22 10851 5f22 971E adc r9,r23 10852 5f24 47FE sbrs r4,7 10853 5f26 00C0 rjmp .L883 10854 /* epilogue: frame size=23 */ 10855 5f28 E2E1 ldi r30,18 10856 5f2a C95E subi r28,-23 10857 5f2c 0C94 0000 jmp __epilogue_restores__+0 10858 /* epilogue end (size=4) */ 10859 /* function MotorRegler size 8305 (8295) */ 10861 .comm TrimNick,2,1 10862 .comm TrimRoll,2,1 10863 .comm ErsatzKompass,4,1 10864 .comm ErsatzKompassInGrad,2,1 10865 .comm MesswertNick,2,1 10866 .comm MesswertRoll,2,1 10867 .comm MesswertGier,2,1 10868 .comm Mittelwert_AccNick,2,1 10869 .comm Mittelwert_AccRoll,2,1 10870 .comm NaviAccNick,2,1 10871 .comm NaviAccRoll,2,1 10872 .comm h,1,1 10873 .comm m,1,1 10874 .comm s,1,1 10875 .comm DiffNick,2,1 10876 .comm DiffRoll,2,1 10877 .comm Parameter_Servo3,1,1 10878 .comm Parameter_Servo4,1,1 10879 .comm Parameter_Servo5,1,1 10880 .comm Parameter_J16Bitmask,1,1 10881 .comm Parameter_J16Timing,1,1 10882 .comm Parameter_J17Bitmask,1,1 10883 .comm Parameter_J17Timing,1,1 10884 .comm Parameter_GlobalConfig,1,1 10885 .comm Parameter_ExtraConfig,1,1 10886 .comm MesswertGierBias,2,1 10887 .comm RohMesswertNick,2,1 10888 .comm RohMesswertRoll,2,1 10889 .comm MittelIntegralNick,4,1 10890 .comm MittelIntegralRoll,4,1 10891 .comm MittelIntegralNick2,4,1 10892 .comm MittelIntegralRoll2,4,1 10893 .comm MAX_GAS,1,1 10894 .comm MIN_GAS,1,1 10895 .comm GyroFaktor,1,1 10896 .comm GyroFaktorGier,1,1 10897 .comm IntegralFaktor,1,1 10898 .comm IntegralFaktorGier,1,1 10899 .comm Parameter_NaviGpsModeControl,1,1 10900 .comm Parameter_NaviGpsGain,1,1 10901 .comm Parameter_NaviGpsP,1,1 10902 .comm Parameter_NaviGpsI,1,1 10903 .comm Parameter_NaviGpsD,1,1 10904 .comm Parameter_NaviGpsACC,1,1 10905 .comm Parameter_NaviOperatingRadius,1,1 10906 .comm Parameter_NaviWindCorrection,1,1 10907 .comm Parameter_NaviSpeedCompensation,1,1 10908 .comm Parameter_ExternalControl,1,1 10909 .comm Parameter_MaximumAltitude,1,1 10910 .comm KopplungsteilNickRoll,2,1 10911 .comm KopplungsteilRollNick,2,1 10912 .comm tmp_motorwert,24,1 10913 /* File "fc.c": code 12351 = 0x303f (12290), prologues 31, epilogues 30 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\Temp/ccqfRHGa.s:3 *ABS*:0000003f __SREG__ C:\Temp/ccqfRHGa.s:4 *ABS*:0000003e __SP_H__ C:\Temp/ccqfRHGa.s:5 *ABS*:0000003d __SP_L__ C:\Temp/ccqfRHGa.s:6 *ABS*:00000000 __tmp_reg__ C:\Temp/ccqfRHGa.s:7 *ABS*:00000001 __zero_reg__ C:\Temp/ccqfRHGa.s:15 .bss:00000000 GasIsZeroCnt C:\Temp/ccqfRHGa.s:21 .bss:00000002 HooverGasEmergencyPercent C:\Temp/ccqfRHGa.s:27 .data:00000000 VarioCharacter C:\Temp/ccqfRHGa.s:32 .data:00000001 GIER_GRAD_FAKTOR C:\Temp/ccqfRHGa.s:39 .bss:00000004 FC_StatusFlags2 C:\Temp/ccqfRHGa.s:45 .bss:00000005 FC_StatusFlags C:\Temp/ccqfRHGa.s:51 .bss:00000006 modell_fliegt C:\Temp/ccqfRHGa.s:57 .bss:00000008 MaxStickRoll C:\Temp/ccqfRHGa.s:63 .bss:0000000a MaxStickNick C:\Temp/ccqfRHGa.s:69 .data:00000005 ExternHoehenValue C:\Temp/ccqfRHGa.s:76 .bss:0000000c ExternStickGier C:\Temp/ccqfRHGa.s:82 .bss:0000000e ExternStickRoll C:\Temp/ccqfRHGa.s:88 .bss:00000010 ExternStickNick C:\Temp/ccqfRHGa.s:94 .data:00000007 sintab C:\Temp/ccqfRHGa.s:131 .bss:00000012 CareFree C:\Temp/ccqfRHGa.s:137 .data:00000026 Parameter_DynamicStability C:\Temp/ccqfRHGa.s:142 .data:00000027 Parameter_CouplingYawCorrection C:\Temp/ccqfRHGa.s:147 .data:00000028 Parameter_AchsKopplung2 C:\Temp/ccqfRHGa.s:152 .data:00000029 Parameter_AchsKopplung1 C:\Temp/ccqfRHGa.s:157 .data:0000002a Parameter_LoopGasLimit C:\Temp/ccqfRHGa.s:162 .data:0000002b Parameter_ServoRollControl C:\Temp/ccqfRHGa.s:167 .data:0000002c Parameter_ServoNickControl C:\Temp/ccqfRHGa.s:174 .bss:00000013 Parameter_UserParam8 C:\Temp/ccqfRHGa.s:180 .bss:00000014 Parameter_UserParam7 C:\Temp/ccqfRHGa.s:186 .bss:00000015 Parameter_UserParam6 C:\Temp/ccqfRHGa.s:192 .bss:00000016 Parameter_UserParam5 C:\Temp/ccqfRHGa.s:198 .bss:00000017 Parameter_UserParam4 C:\Temp/ccqfRHGa.s:204 .bss:00000018 Parameter_UserParam3 C:\Temp/ccqfRHGa.s:210 .bss:00000019 Parameter_UserParam2 C:\Temp/ccqfRHGa.s:216 .bss:0000001a Parameter_UserParam1 C:\Temp/ccqfRHGa.s:222 .data:0000002d Parameter_I_Faktor C:\Temp/ccqfRHGa.s:227 .data:0000002e Parameter_Gier_P C:\Temp/ccqfRHGa.s:232 .data:0000002f Parameter_Gyro_Gier_I C:\Temp/ccqfRHGa.s:237 .data:00000030 Parameter_Gyro_Gier_P C:\Temp/ccqfRHGa.s:242 .data:00000031 Parameter_Gyro_I C:\Temp/ccqfRHGa.s:247 .data:00000032 Parameter_Gyro_P C:\Temp/ccqfRHGa.s:252 .data:00000033 Parameter_Gyro_D C:\Temp/ccqfRHGa.s:257 .data:00000034 Parameter_Hoehe_GPS_Z C:\Temp/ccqfRHGa.s:262 .data:00000035 Parameter_KompassWirkung C:\Temp/ccqfRHGa.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung C:\Temp/ccqfRHGa.s:272 .data:00000037 Parameter_Hoehe_P C:\Temp/ccqfRHGa.s:277 .data:00000038 Parameter_HoehenSchalter C:\Temp/ccqfRHGa.s:282 .data:00000039 Parameter_Luftdruck_D C:\Temp/ccqfRHGa.s:289 .bss:0000001b Looping_Oben C:\Temp/ccqfRHGa.s:295 .bss:0000001c Looping_Unten C:\Temp/ccqfRHGa.s:301 .bss:0000001d Looping_Rechts C:\Temp/ccqfRHGa.s:307 .bss:0000001e Looping_Links C:\Temp/ccqfRHGa.s:313 .bss:0000001f Looping_Roll C:\Temp/ccqfRHGa.s:319 .bss:00000020 Looping_Nick C:\Temp/ccqfRHGa.s:325 .data:0000003a Ki C:\Temp/ccqfRHGa.s:332 .bss:00000021 HoverGas C:\Temp/ccqfRHGa.s:338 .bss:00000023 LageKorrekturNick C:\Temp/ccqfRHGa.s:344 .bss:00000025 LageKorrekturRoll C:\Temp/ccqfRHGa.s:350 .bss:00000027 NeueKompassRichtungMerken C:\Temp/ccqfRHGa.s:356 .bss:00000028 CalibrationDone C:\Temp/ccqfRHGa.s:362 .bss:00000029 CompassGierSetpoint C:\Temp/ccqfRHGa.s:368 .bss:0000002b WaypointTrimming C:\Temp/ccqfRHGa.s:374 .data:0000003c carefree_old C:\Temp/ccqfRHGa.s:381 .bss:0000002c FromNC_AltitudeSpeed C:\Temp/ccqfRHGa.s:387 .bss:0000002d FromNC_AltitudeSetpoint C:\Temp/ccqfRHGa.s:393 .bss:00000031 AltitudeSetpointTrimming C:\Temp/ccqfRHGa.s:399 .bss:00000033 SollHoehe C:\Temp/ccqfRHGa.s:405 .bss:00000037 HoehenWert C:\Temp/ccqfRHGa.s:411 .bss:0000003b StartTrigger C:\Temp/ccqfRHGa.s:417 .bss:0000003c MotorenEin C:\Temp/ccqfRHGa.s:423 .bss:0000003d SenderOkay C:\Temp/ccqfRHGa.s:429 .bss:0000003e Poti C:\Temp/ccqfRHGa.s:435 .bss:00000047 StickGas C:\Temp/ccqfRHGa.s:441 .bss:00000049 StickGier C:\Temp/ccqfRHGa.s:447 .bss:0000004b StickRoll C:\Temp/ccqfRHGa.s:453 .bss:0000004d StickNick C:\Temp/ccqfRHGa.s:459 .data:0000003d HoverGasMax C:\Temp/ccqfRHGa.s:466 .bss:0000004f HoverGasMin C:\Temp/ccqfRHGa.s:472 .data:0000003f StickGasHover C:\Temp/ccqfRHGa.s:479 .bss:00000051 GierGyroFehler C:\Temp/ccqfRHGa.s:485 .data:00000041 Umschlag180Roll C:\Temp/ccqfRHGa.s:490 .data:00000045 Umschlag180Nick C:\Temp/ccqfRHGa.s:497 .bss:00000053 TrichterFlug C:\Temp/ccqfRHGa.s:503 .bss:00000054 HoehenReglerAktiv C:\Temp/ccqfRHGa.s:509 .data:00000049 KompassSignalSchlecht C:\Temp/ccqfRHGa.s:514 .data:0000004b KompassFusion C:\Temp/ccqfRHGa.s:519 .data:0000004c CalculateCompassTimer C:\Temp/ccqfRHGa.s:526 .bss:00000055 KompassSollWert C:\Temp/ccqfRHGa.s:532 .data:0000004d KompassValue C:\Temp/ccqfRHGa.s:539 .bss:00000057 Mess_Integral_Hoch C:\Temp/ccqfRHGa.s:545 .bss:0000005b SummeRoll C:\Temp/ccqfRHGa.s:551 .bss:0000005f SummeNick C:\Temp/ccqfRHGa.s:557 .bss:00000063 Mess_Integral_Gier2 C:\Temp/ccqfRHGa.s:563 .bss:00000067 Mess_Integral_Gier C:\Temp/ccqfRHGa.s:569 .bss:0000006b Mess_IntegralRoll2 C:\Temp/ccqfRHGa.s:575 .bss:0000006f Mess_IntegralRoll C:\Temp/ccqfRHGa.s:581 .bss:00000073 Mess_IntegralNick2 C:\Temp/ccqfRHGa.s:587 .bss:00000077 Mess_IntegralNick C:\Temp/ccqfRHGa.s:593 .bss:0000007b Integral_Gier C:\Temp/ccqfRHGa.s:599 .bss:0000007f IntegralAccZ C:\Temp/ccqfRHGa.s:605 .bss:00000083 IntegralAccRoll C:\Temp/ccqfRHGa.s:611 .bss:00000087 IntegralAccNick C:\Temp/ccqfRHGa.s:617 .bss:0000008b IntegralRoll2 C:\Temp/ccqfRHGa.s:623 .bss:0000008f IntegralRoll C:\Temp/ccqfRHGa.s:629 .bss:00000093 IntegralNick2 C:\Temp/ccqfRHGa.s:635 .bss:00000097 IntegralNick C:\Temp/ccqfRHGa.s:641 .bss:0000009b ControlHeading C:\Temp/ccqfRHGa.s:647 .bss:0000009c NeutralAccZ C:\Temp/ccqfRHGa.s:653 .bss:0000009e NaviCntAcc C:\Temp/ccqfRHGa.s:659 .bss:000000a0 NeutralAccY C:\Temp/ccqfRHGa.s:665 .bss:000000a2 NeutralAccX C:\Temp/ccqfRHGa.s:671 .bss:000000a4 StartNeutralNick C:\Temp/ccqfRHGa.s:677 .bss:000000a6 StartNeutralRoll C:\Temp/ccqfRHGa.s:683 .bss:000000a8 AdNeutralGier C:\Temp/ccqfRHGa.s:689 .bss:000000aa AdNeutralRoll C:\Temp/ccqfRHGa.s:695 .bss:000000ac AdNeutralNick C:\Temp/ccqfRHGa.s:701 .bss:000000ae BaroExpandActive C:\Temp/ccqfRHGa.s:706 .text:00000000 CopyDebugValues *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000002 ErsatzKompassInGrad C:\Temp/ccqfRHGa.s:892 .text:0000022c Piep C:\Temp/ccqfRHGa.s:966 .text:000002b2 CalibrierMittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier C:\Temp/ccqfRHGa.s:1108 .progmem.data:00000000 __c.35 C:\Temp/ccqfRHGa.s:1113 .text:000003f4 SetNeutral *COM*:00000004 ErsatzKompass .bss:000000b0 tmpl.27 C:\Temp/ccqfRHGa.s:1621 .bss:000000b4 tmpl2.28 C:\Temp/ccqfRHGa.s:1622 .bss:000000b8 tmpl3.29 C:\Temp/ccqfRHGa.s:1623 .bss:000000bc tmpl4.30 C:\Temp/ccqfRHGa.s:1624 .bss:000000c0 oldNick.31 C:\Temp/ccqfRHGa.s:1625 .bss:000000c2 oldRoll.32 C:\Temp/ccqfRHGa.s:1626 .bss:000000c4 d2Roll.33 C:\Temp/ccqfRHGa.s:1627 .bss:000000c6 d2Nick.34 C:\Temp/ccqfRHGa.s:1631 .text:00000960 Mittelwert *COM*:00000002 RohMesswertNick *COM*:00000002 RohMesswertRoll *COM*:00000002 NaviAccNick *COM*:00000002 NaviAccRoll *COM*:00000001 Parameter_GlobalConfig *COM*:00000002 KopplungsteilNickRoll *COM*:00000002 KopplungsteilRollNick *COM*:00000002 TrimRoll *COM*:00000002 TrimNick C:\Temp/ccqfRHGa.s:3196 .text:000018c4 SendMotorData C:\Temp/ccqfRHGa.s:3256 .text:0000193e ParameterZuordnung *COM*:00000001 Parameter_J16Timing *COM*:00000001 Parameter_J17Timing *COM*:00000001 Parameter_Servo3 *COM*:00000001 Parameter_Servo4 *COM*:00000001 Parameter_Servo5 *COM*:00000001 Parameter_MaximumAltitude *COM*:00000001 Parameter_ExtraConfig *COM*:00000001 Parameter_ExternalControl *COM*:00000001 MAX_GAS *COM*:00000001 MIN_GAS C:\Temp/ccqfRHGa.s:1628 .bss:000000c8 sollGier.0 C:\Temp/ccqfRHGa.s:3975 .bss:000000cc tmp_long.1 C:\Temp/ccqfRHGa.s:3976 .bss:000000d0 tmp_long2.2 C:\Temp/ccqfRHGa.s:3977 .bss:000000d4 IntegralFehlerNick.3 C:\Temp/ccqfRHGa.s:3978 .bss:000000d8 IntegralFehlerRoll.4 C:\Temp/ccqfRHGa.s:3979 .bss:000000dc RcLostTimer.5 C:\Temp/ccqfRHGa.s:3980 .bss:000000de delay_neutral.6 C:\Temp/ccqfRHGa.s:3981 .bss:000000df delay_einschalten.7 C:\Temp/ccqfRHGa.s:3982 .bss:000000e0 delay_ausschalten.8 C:\Temp/ccqfRHGa.s:3983 .bss:000000e1 move_safety_switch.9 C:\Temp/ccqfRHGa.s:3984 .bss:000000e2 ausgleichNick.10 C:\Temp/ccqfRHGa.s:3985 .bss:000000e6 ausgleichRoll.11 C:\Temp/ccqfRHGa.s:3986 .bss:000000ea stick_nick.12 C:\Temp/ccqfRHGa.s:3987 .bss:000000ec stick_roll.13 C:\Temp/ccqfRHGa.s:3988 .bss:000000ee cnt.14 C:\Temp/ccqfRHGa.s:3989 .bss:000000f0 last_n_p.15 C:\Temp/ccqfRHGa.s:3990 .bss:000000f1 last_n_n.16 C:\Temp/ccqfRHGa.s:3991 .bss:000000f2 last_r_p.17 C:\Temp/ccqfRHGa.s:3992 .bss:000000f3 last_r_n.18 C:\Temp/ccqfRHGa.s:3993 .bss:000000f4 MittelIntegralNick_Alt.19 C:\Temp/ccqfRHGa.s:3994 .bss:000000f8 MittelIntegralRoll_Alt.20 C:\Temp/ccqfRHGa.s:3995 .bss:000000fc HeightTrimming.21 C:\Temp/ccqfRHGa.s:3996 .bss:000000fe FilterHCGas.22 C:\Temp/ccqfRHGa.s:3997 .bss:00000100 HoverGasFilter.23 C:\Temp/ccqfRHGa.s:4002 .data:0000004f delay.24 C:\Temp/ccqfRHGa.s:3998 .bss:00000104 BaroAtUpperLimit.25 C:\Temp/ccqfRHGa.s:4004 .bss:00000105 BaroAtLowerLimit.26 C:\Temp/ccqfRHGa.s:4009 .text:00001f42 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*: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 PlatinenVersion beeptime UpdateMotor LIBFC_Polling 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 LED_Init FromNaviCtrl_Value ServoActive NickServoValue LIBFC_HoTT_Clear __epilogue_restores__ AdWertNickFilter AdWertRollFilter AdReady HiResNick HiResRoll MotorTest PC_MotortestActive I2C_TransferActive motor_write twi_state BLFlags NC_To_FC_MaxAltitude SpeakHoTT FromNaviCtrl BeepMuster PPM_diff SetActiveParamSet WinkelOut GetActiveParamSet ParamSet_ReadFromEEProm LipoDetection LIBFC_ReceiverInit NC_ErrorCode GPSInfo NewPpmData FromNC_Rotate_C FromNC_Rotate_S GPS_Aid_StickMultiplikator __floatsisf __addsf3 __fixunssfsi ExternControl ZaehlMessungen BattLowVoltageWarning __udivmodhi4 DruckOffsetSetting SummenHoehe ihypot c_cos_8192 __udivmodqi4 NC_To_FC_Flags MissingMotor Mixer