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_ServoRollComp 162 Parameter_ServoRollComp: 163 002b 55 .byte 85 164 .global Parameter_ServoNickComp 167 Parameter_ServoNickComp: 168 002c 32 .byte 50 169 .global Parameter_ServoRollControl 172 Parameter_ServoRollControl: 173 002d 64 .byte 100 174 .global Parameter_ServoNickControl 177 Parameter_ServoNickControl: 178 002e 64 .byte 100 179 .global Parameter_UserParam8 180 .global Parameter_UserParam8 181 .section .bss 184 Parameter_UserParam8: 185 0013 00 .skip 1,0 186 .global Parameter_UserParam7 187 .global Parameter_UserParam7 190 Parameter_UserParam7: 191 0014 00 .skip 1,0 192 .global Parameter_UserParam6 193 .global Parameter_UserParam6 196 Parameter_UserParam6: 197 0015 00 .skip 1,0 198 .global Parameter_UserParam5 199 .global Parameter_UserParam5 202 Parameter_UserParam5: 203 0016 00 .skip 1,0 204 .global Parameter_UserParam4 205 .global Parameter_UserParam4 208 Parameter_UserParam4: 209 0017 00 .skip 1,0 210 .global Parameter_UserParam3 211 .global Parameter_UserParam3 214 Parameter_UserParam3: 215 0018 00 .skip 1,0 216 .global Parameter_UserParam2 217 .global Parameter_UserParam2 220 Parameter_UserParam2: 221 0019 00 .skip 1,0 222 .global Parameter_UserParam1 223 .global Parameter_UserParam1 226 Parameter_UserParam1: 227 001a 00 .skip 1,0 228 .global Parameter_I_Faktor 229 .data 232 Parameter_I_Faktor: 233 002f 0A .byte 10 234 .global Parameter_Gier_P 237 Parameter_Gier_P: 238 0030 02 .byte 2 239 .global Parameter_Gyro_Gier_I 242 Parameter_Gyro_Gier_I: 243 0031 96 .byte -106 244 .global Parameter_Gyro_Gier_P 247 Parameter_Gyro_Gier_P: 248 0032 96 .byte -106 249 .global Parameter_Gyro_I 252 Parameter_Gyro_I: 253 0033 96 .byte -106 254 .global Parameter_Gyro_P 257 Parameter_Gyro_P: 258 0034 96 .byte -106 259 .global Parameter_Gyro_D 262 Parameter_Gyro_D: 263 0035 08 .byte 8 264 .global Parameter_Hoehe_GPS_Z 267 Parameter_Hoehe_GPS_Z: 268 0036 40 .byte 64 269 .global Parameter_KompassWirkung 272 Parameter_KompassWirkung: 273 0037 40 .byte 64 274 .global Parameter_Hoehe_ACC_Wirkung 277 Parameter_Hoehe_ACC_Wirkung: 278 0038 3A .byte 58 279 .global Parameter_Hoehe_P 282 Parameter_Hoehe_P: 283 0039 10 .byte 16 284 .global Parameter_HoehenSchalter 287 Parameter_HoehenSchalter: 288 003a FB .byte -5 289 .global Parameter_Luftdruck_D 292 Parameter_Luftdruck_D: 293 003b 30 .byte 48 294 .global Looping_Oben 295 .global Looping_Oben 296 .section .bss 299 Looping_Oben: 300 001b 00 .skip 1,0 301 .global Looping_Unten 302 .global Looping_Unten 305 Looping_Unten: 306 001c 00 .skip 1,0 307 .global Looping_Rechts 308 .global Looping_Rechts 311 Looping_Rechts: 312 001d 00 .skip 1,0 313 .global Looping_Links 314 .global Looping_Links 317 Looping_Links: 318 001e 00 .skip 1,0 319 .global Looping_Roll 320 .global Looping_Roll 323 Looping_Roll: 324 001f 00 .skip 1,0 325 .global Looping_Nick 326 .global Looping_Nick 329 Looping_Nick: 330 0020 00 .skip 1,0 331 .global Ki 332 .data 335 Ki: 336 003c 3801 .word 312 337 .global HoverGas 338 .global HoverGas 339 .section .bss 342 HoverGas: 343 0021 0000 .skip 2,0 344 .global LageKorrekturNick 345 .global LageKorrekturNick 348 LageKorrekturNick: 349 0023 0000 .skip 2,0 350 .global LageKorrekturRoll 351 .global LageKorrekturRoll 354 LageKorrekturRoll: 355 0025 0000 .skip 2,0 356 .global NeueKompassRichtungMerken 357 .global NeueKompassRichtungMerken 360 NeueKompassRichtungMerken: 361 0027 00 .skip 1,0 362 .global CalibrationDone 363 .global CalibrationDone 366 CalibrationDone: 367 0028 00 .skip 1,0 368 .global CompassGierSetpoint 369 .global CompassGierSetpoint 372 CompassGierSetpoint: 373 0029 0000 .skip 2,0 374 .global WaypointTrimming 375 .global WaypointTrimming 378 WaypointTrimming: 379 002b 00 .skip 1,0 380 .global carefree_old 381 .data 384 carefree_old: 385 003e 32 .byte 50 386 .global FromNC_AltitudeSpeed 387 .global FromNC_AltitudeSpeed 388 .section .bss 391 FromNC_AltitudeSpeed: 392 002c 00 .skip 1,0 393 .global FromNC_AltitudeSetpoint 394 .global FromNC_AltitudeSetpoint 397 FromNC_AltitudeSetpoint: 398 002d 0000 0000 .skip 4,0 399 .global AltitudeSetpointTrimming 400 .global AltitudeSetpointTrimming 403 AltitudeSetpointTrimming: 404 0031 0000 .skip 2,0 405 .global SollHoehe 406 .global SollHoehe 409 SollHoehe: 410 0033 0000 0000 .skip 4,0 411 .global HoehenWert 412 .global HoehenWert 415 HoehenWert: 416 0037 0000 0000 .skip 4,0 417 .global StartTrigger 418 .global StartTrigger 421 StartTrigger: 422 003b 00 .skip 1,0 423 .global MotorenEin 424 .global MotorenEin 427 MotorenEin: 428 003c 00 .skip 1,0 429 .global SenderOkay 430 .global SenderOkay 433 SenderOkay: 434 003d 00 .skip 1,0 435 .global Poti 436 .global Poti 439 Poti: 440 003e 0000 0000 .skip 9,0 440 0000 0000 440 00 441 .global StickGas 442 .global StickGas 445 StickGas: 446 0047 0000 .skip 2,0 447 .global StickGier 448 .global StickGier 451 StickGier: 452 0049 0000 .skip 2,0 453 .global StickRoll 454 .global StickRoll 457 StickRoll: 458 004b 0000 .skip 2,0 459 .global StickNick 460 .global StickNick 463 StickNick: 464 004d 0000 .skip 2,0 465 .global HoverGasMax 466 .data 469 HoverGasMax: 470 003f FF03 .word 1023 471 .global HoverGasMin 472 .global HoverGasMin 473 .section .bss 476 HoverGasMin: 477 004f 0000 .skip 2,0 478 .global StickGasHover 479 .data 482 StickGasHover: 483 0041 7800 .word 120 484 .global GierGyroFehler 485 .global GierGyroFehler 486 .section .bss 489 GierGyroFehler: 490 0051 0000 .skip 2,0 491 .global Umschlag180Roll 492 .data 495 Umschlag180Roll: 496 0043 90D0 0300 .long 250000 497 .global Umschlag180Nick 500 Umschlag180Nick: 501 0047 90D0 0300 .long 250000 502 .global TrichterFlug 503 .global TrichterFlug 504 .section .bss 507 TrichterFlug: 508 0053 00 .skip 1,0 509 .global HoehenReglerAktiv 510 .global HoehenReglerAktiv 513 HoehenReglerAktiv: 514 0054 00 .skip 1,0 515 .global KompassSignalSchlecht 516 .data 519 KompassSignalSchlecht: 520 004b 3200 .word 50 521 .global KompassFusion 524 KompassFusion: 525 004d 20 .byte 32 526 .global CalculateCompassTimer 529 CalculateCompassTimer: 530 004e 64 .byte 100 531 .global KompassSollWert 532 .global KompassSollWert 533 .section .bss 536 KompassSollWert: 537 0055 0000 .skip 2,0 538 .global KompassValue 539 .data 542 KompassValue: 543 004f FFFF .word -1 544 .global Mess_Integral_Hoch 545 .global Mess_Integral_Hoch 546 .section .bss 549 Mess_Integral_Hoch: 550 0057 0000 0000 .skip 4,0 551 .global SummeRoll 552 .global SummeRoll 555 SummeRoll: 556 005b 0000 0000 .skip 4,0 557 .global SummeNick 558 .global SummeNick 561 SummeNick: 562 005f 0000 0000 .skip 4,0 563 .global Mess_Integral_Gier2 564 .global Mess_Integral_Gier2 567 Mess_Integral_Gier2: 568 0063 0000 0000 .skip 4,0 569 .global Mess_Integral_Gier 570 .global Mess_Integral_Gier 573 Mess_Integral_Gier: 574 0067 0000 0000 .skip 4,0 575 .global Mess_IntegralRoll2 576 .global Mess_IntegralRoll2 579 Mess_IntegralRoll2: 580 006b 0000 0000 .skip 4,0 581 .global Mess_IntegralRoll 582 .global Mess_IntegralRoll 585 Mess_IntegralRoll: 586 006f 0000 0000 .skip 4,0 587 .global Mess_IntegralNick2 588 .global Mess_IntegralNick2 591 Mess_IntegralNick2: 592 0073 0000 0000 .skip 4,0 593 .global Mess_IntegralNick 594 .global Mess_IntegralNick 597 Mess_IntegralNick: 598 0077 0000 0000 .skip 4,0 599 .global Integral_Gier 600 .global Integral_Gier 603 Integral_Gier: 604 007b 0000 0000 .skip 4,0 605 .global IntegralAccZ 606 .global IntegralAccZ 609 IntegralAccZ: 610 007f 0000 0000 .skip 4,0 611 .global IntegralAccRoll 612 .global IntegralAccRoll 615 IntegralAccRoll: 616 0083 0000 0000 .skip 4,0 617 .global IntegralAccNick 618 .global IntegralAccNick 621 IntegralAccNick: 622 0087 0000 0000 .skip 4,0 623 .global IntegralRoll2 624 .global IntegralRoll2 627 IntegralRoll2: 628 008b 0000 0000 .skip 4,0 629 .global IntegralRoll 630 .global IntegralRoll 633 IntegralRoll: 634 008f 0000 0000 .skip 4,0 635 .global IntegralNick2 636 .global IntegralNick2 639 IntegralNick2: 640 0093 0000 0000 .skip 4,0 641 .global IntegralNick 642 .global IntegralNick 645 IntegralNick: 646 0097 0000 0000 .skip 4,0 647 .global ControlHeading 648 .global ControlHeading 651 ControlHeading: 652 009b 00 .skip 1,0 653 .global NeutralAccZ 654 .global NeutralAccZ 657 NeutralAccZ: 658 009c 0000 .skip 2,0 659 .global NaviCntAcc 660 .global NaviCntAcc 663 NaviCntAcc: 664 009e 0000 .skip 2,0 665 .global NeutralAccY 666 .global NeutralAccY 669 NeutralAccY: 670 00a0 0000 .skip 2,0 671 .global NeutralAccX 672 .global NeutralAccX 675 NeutralAccX: 676 00a2 0000 .skip 2,0 677 .global StartNeutralNick 678 .global StartNeutralNick 681 StartNeutralNick: 682 00a4 0000 .skip 2,0 683 .global StartNeutralRoll 684 .global StartNeutralRoll 687 StartNeutralRoll: 688 00a6 0000 .skip 2,0 689 .global AdNeutralGier 690 .global AdNeutralGier 693 AdNeutralGier: 694 00a8 0000 .skip 2,0 695 .global AdNeutralRoll 696 .global AdNeutralRoll 699 AdNeutralRoll: 700 00aa 0000 .skip 2,0 701 .global AdNeutralNick 702 .global AdNeutralNick 705 AdNeutralNick: 706 00ac 0000 .skip 2,0 707 .global BaroExpandActive 708 .global BaroExpandActive 711 BaroExpandActive: 712 00ae 0000 .skip 2,0 713 .text 714 .global CopyDebugValues 716 CopyDebugValues: 717 /* prologue: frame size=0 */ 718 0000 EF92 push r14 719 0002 FF92 push r15 720 0004 0F93 push r16 721 0006 1F93 push r17 722 /* prologue end (size=4) */ 723 0008 8091 0000 lds r24,EE_Parameter+28 724 000c 9927 clr r25 725 000e 880F lsl r24 726 0010 991F rol r25 727 0012 880F lsl r24 728 0014 991F rol r25 729 0016 7C01 movw r14,r24 730 0018 0027 clr r16 731 001a F7FC sbrc r15,7 732 001c 0095 com r16 733 001e 102F mov r17,r16 734 0020 8091 0000 lds r24,IntegralNick 735 0024 9091 0000 lds r25,(IntegralNick)+1 736 0028 A091 0000 lds r26,(IntegralNick)+2 737 002c B091 0000 lds r27,(IntegralNick)+3 738 0030 BC01 movw r22,r24 739 0032 CD01 movw r24,r26 740 0034 A801 movw r20,r16 741 0036 9701 movw r18,r14 742 0038 0E94 0000 call __divmodsi4 743 003c 3093 0000 sts (DebugOut+2)+1,r19 744 0040 2093 0000 sts DebugOut+2,r18 745 0044 8091 0000 lds r24,IntegralRoll 746 0048 9091 0000 lds r25,(IntegralRoll)+1 747 004c A091 0000 lds r26,(IntegralRoll)+2 748 0050 B091 0000 lds r27,(IntegralRoll)+3 749 0054 BC01 movw r22,r24 750 0056 CD01 movw r24,r26 751 0058 A801 movw r20,r16 752 005a 9701 movw r18,r14 753 005c 0E94 0000 call __divmodsi4 754 0060 3093 0000 sts (DebugOut+4)+1,r19 755 0064 2093 0000 sts DebugOut+4,r18 756 0068 8091 0000 lds r24,Mittelwert_AccNick 757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 758 0070 97FD sbrc r25,7 759 0072 0396 adiw r24,3 760 .L2: 761 0074 9595 asr r25 762 0076 8795 ror r24 763 0078 9595 asr r25 764 007a 8795 ror r24 765 007c 9093 0000 sts (DebugOut+6)+1,r25 766 0080 8093 0000 sts DebugOut+6,r24 767 0084 8091 0000 lds r24,Mittelwert_AccRoll 768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 769 008c 97FD sbrc r25,7 770 008e 0396 adiw r24,3 771 .L3: 772 0090 9595 asr r25 773 0092 8795 ror r24 774 0094 9595 asr r25 775 0096 8795 ror r24 776 0098 9093 0000 sts (DebugOut+8)+1,r25 777 009c 8093 0000 sts DebugOut+8,r24 778 00a0 8091 0000 lds r24,AdNeutralGier 779 00a4 9091 0000 lds r25,(AdNeutralGier)+1 780 00a8 2091 0000 lds r18,AdWertGier 781 00ac 3091 0000 lds r19,(AdWertGier)+1 782 00b0 821B sub r24,r18 783 00b2 930B sbc r25,r19 784 00b4 9093 0000 sts (DebugOut+10)+1,r25 785 00b8 8093 0000 sts DebugOut+10,r24 786 00bc 8091 0000 lds r24,HoehenWert 787 00c0 9091 0000 lds r25,(HoehenWert)+1 788 00c4 A091 0000 lds r26,(HoehenWert)+2 789 00c8 B091 0000 lds r27,(HoehenWert)+3 790 00cc BC01 movw r22,r24 791 00ce CD01 movw r24,r26 792 00d0 25E0 ldi r18,lo8(5) 793 00d2 30E0 ldi r19,hi8(5) 794 00d4 40E0 ldi r20,hlo8(5) 795 00d6 50E0 ldi r21,hhi8(5) 796 00d8 0E94 0000 call __divmodsi4 797 00dc 3093 0000 sts (DebugOut+12)+1,r19 798 00e0 2093 0000 sts DebugOut+12,r18 799 00e4 8091 0000 lds r24,AdWertAccHoch 800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 801 00ec 9093 0000 sts (DebugOut+14)+1,r25 802 00f0 8093 0000 sts DebugOut+14,r24 803 00f4 8091 0000 lds r24,KompassValue 804 00f8 9091 0000 lds r25,(KompassValue)+1 805 00fc 9093 0000 sts (DebugOut+18)+1,r25 806 0100 8093 0000 sts DebugOut+18,r24 807 0104 8091 0000 lds r24,UBat 808 0108 9091 0000 lds r25,(UBat)+1 809 010c 9093 0000 sts (DebugOut+20)+1,r25 810 0110 8093 0000 sts DebugOut+20,r24 811 0114 8091 0000 lds r24,SenderOkay 812 0118 9927 clr r25 813 011a 9093 0000 sts (DebugOut+22)+1,r25 814 011e 8093 0000 sts DebugOut+22,r24 815 0122 8091 0000 lds r24,ErsatzKompassInGrad 816 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1 817 012a 9093 0000 sts (DebugOut+24)+1,r25 818 012e 8093 0000 sts DebugOut+24,r24 819 0132 8091 0000 lds r24,Motor+1 820 0136 9927 clr r25 821 0138 9093 0000 sts (DebugOut+26)+1,r25 822 013c 8093 0000 sts DebugOut+26,r24 823 0140 8091 0000 lds r24,Motor+9 824 0144 9927 clr r25 825 0146 9093 0000 sts (DebugOut+28)+1,r25 826 014a 8093 0000 sts DebugOut+28,r24 827 014e 8091 0000 lds r24,Motor+17 828 0152 9927 clr r25 829 0154 9093 0000 sts (DebugOut+30)+1,r25 830 0158 8093 0000 sts DebugOut+30,r24 831 015c 8091 0000 lds r24,Motor+25 832 0160 9927 clr r25 833 0162 9093 0000 sts (DebugOut+32)+1,r25 834 0166 8093 0000 sts DebugOut+32,r24 835 016a 8091 0000 lds r24,ServoNickValue 836 016e 9091 0000 lds r25,(ServoNickValue)+1 837 0172 9093 0000 sts (DebugOut+42)+1,r25 838 0176 8093 0000 sts DebugOut+42,r24 839 017a 8091 0000 lds r24,Capacity 840 017e 9091 0000 lds r25,(Capacity)+1 841 0182 9093 0000 sts (DebugOut+46)+1,r25 842 0186 8093 0000 sts DebugOut+46,r24 843 018a 8091 0000 lds r24,Capacity+4 844 018e 9091 0000 lds r25,(Capacity+4)+1 845 0192 9093 0000 sts (DebugOut+48)+1,r25 846 0196 8093 0000 sts DebugOut+48,r24 847 019a 8091 0000 lds r24,SollHoehe 848 019e 9091 0000 lds r25,(SollHoehe)+1 849 01a2 A091 0000 lds r26,(SollHoehe)+2 850 01a6 B091 0000 lds r27,(SollHoehe)+3 851 01aa BC01 movw r22,r24 852 01ac CD01 movw r24,r26 853 01ae 25E0 ldi r18,lo8(5) 854 01b0 30E0 ldi r19,hi8(5) 855 01b2 40E0 ldi r20,hlo8(5) 856 01b4 50E0 ldi r21,hhi8(5) 857 01b6 0E94 0000 call __divmodsi4 858 01ba 3093 0000 sts (DebugOut+50)+1,r19 859 01be 2093 0000 sts DebugOut+50,r18 860 01c2 8091 0000 lds r24,KompassSollWert 861 01c6 9091 0000 lds r25,(KompassSollWert)+1 862 01ca 9093 0000 sts (DebugOut+56)+1,r25 863 01ce 8093 0000 sts DebugOut+56,r24 864 01d2 8091 0000 lds r24,Capacity+6 865 01d6 9927 clr r25 866 01d8 9093 0000 sts (DebugOut+60)+1,r25 867 01dc 8093 0000 sts DebugOut+60,r24 868 01e0 8091 0000 lds r24,GPS_Nick 869 01e4 9091 0000 lds r25,(GPS_Nick)+1 870 01e8 9093 0000 sts (DebugOut+62)+1,r25 871 01ec 8093 0000 sts DebugOut+62,r24 872 01f0 8091 0000 lds r24,GPS_Roll 873 01f4 9091 0000 lds r25,(GPS_Roll)+1 874 01f8 9093 0000 sts (DebugOut+64)+1,r25 875 01fc 8093 0000 sts DebugOut+64,r24 876 0200 8091 0000 lds r24,VersionInfo+5 877 0204 8823 tst r24 878 0206 01F4 brne .L5 879 0208 8091 0000 lds r24,VersionInfo+6 880 020c 8823 tst r24 881 020e 01F0 breq .L4 882 .L5: 883 0210 8091 0000 lds r24,DebugOut+1 884 0214 8160 ori r24,lo8(1) 885 0216 00C0 rjmp .L7 886 .L4: 887 0218 8091 0000 lds r24,DebugOut+1 888 021c 8E7F andi r24,lo8(-2) 889 .L7: 890 021e 8093 0000 sts DebugOut+1,r24 891 /* epilogue: frame size=0 */ 892 0222 1F91 pop r17 893 0224 0F91 pop r16 894 0226 FF90 pop r15 895 0228 EF90 pop r14 896 022a 0895 ret 897 /* epilogue end (size=5) */ 898 /* function CopyDebugValues size 280 (271) */ 900 .global Piep 902 Piep: 903 /* prologue: frame size=0 */ 904 022c EF92 push r14 905 022e FF92 push r15 906 0230 1F93 push r17 907 0232 CF93 push r28 908 0234 DF93 push r29 909 /* prologue end (size=5) */ 910 0236 182F mov r17,r24 911 0238 7B01 movw r14,r22 912 023a 8091 0000 lds r24,MotorenEin 913 023e 8823 tst r24 914 0240 01F4 brne .L8 915 0242 8091 0000 lds r24,PlatinenVersion 916 0246 8C30 cpi r24,lo8(12) 917 0248 00F0 brlo .L11 918 024a 8631 cpi r24,lo8(22) 919 024c 01F4 brne .L10 920 .L11: 921 024e 2998 cbi 37-0x20,1 922 0250 00C0 rjmp .L12 923 .L10: 924 0252 299A sbi 37-0x20,1 925 .L12: 926 0254 1150 subi r17,lo8(-(-1)) 927 0256 1F3F cpi r17,lo8(-1) 928 0258 01F0 breq .L26 929 025a F092 0000 sts (beeptime)+1,r15 930 025e E092 0000 sts beeptime,r14 931 0262 E701 movw r28,r14 932 .L34: 933 0264 8091 0000 lds r24,beeptime 934 0268 9091 0000 lds r25,(beeptime)+1 935 026c 892B or r24,r25 936 026e 01F4 brne .L31 937 0270 2097 sbiw r28,0 938 0272 01F0 breq .L12 939 .L31: 940 0274 8091 0000 lds r24,UpdateMotor 941 0278 8823 tst r24 942 027a 01F0 breq .L34 943 027c 1092 0000 sts UpdateMotor,__zero_reg__ 944 0280 8091 0000 lds r24,beeptime 945 0284 9091 0000 lds r25,(beeptime)+1 946 0288 892B or r24,r25 947 028a 01F4 brne .L19 948 028c 2197 sbiw r28,1 949 .L19: 950 028e 0E94 0000 call LIBFC_Polling 951 0292 00C0 rjmp .L34 952 .L26: 953 0294 8091 0000 lds r24,PlatinenVersion 954 0298 8C30 cpi r24,lo8(12) 955 029a 00F0 brlo .L23 956 029c 8631 cpi r24,lo8(22) 957 029e 01F4 brne .L22 958 .L23: 959 02a0 299A sbi 37-0x20,1 960 02a2 00C0 rjmp .L8 961 .L22: 962 02a4 2998 cbi 37-0x20,1 963 .L8: 964 /* epilogue: frame size=0 */ 965 02a6 DF91 pop r29 966 02a8 CF91 pop r28 967 02aa 1F91 pop r17 968 02ac FF90 pop r15 969 02ae EF90 pop r14 970 02b0 0895 ret 971 /* epilogue end (size=6) */ 972 /* function Piep size 67 (56) */ 974 .global CalibrierMittelwert 976 CalibrierMittelwert: 977 /* prologue: frame size=0 */ 978 02b2 CF93 push r28 979 02b4 DF93 push r29 980 /* prologue end (size=2) */ 981 02b6 8091 0000 lds r24,PlatinenVersion 982 02ba 8D30 cpi r24,lo8(13) 983 02bc 01F4 brne .L36 984 02be 0E94 0000 call SucheGyroOffset 985 .L36: 986 02c2 1092 7A00 sts 122,__zero_reg__ 987 02c6 8091 0000 lds r24,AdWertNick 988 02ca 9091 0000 lds r25,(AdWertNick)+1 989 02ce 9093 0000 sts (MesswertNick)+1,r25 990 02d2 8093 0000 sts MesswertNick,r24 991 02d6 8091 0000 lds r24,AdWertRoll 992 02da 9091 0000 lds r25,(AdWertRoll)+1 993 02de 9093 0000 sts (MesswertRoll)+1,r25 994 02e2 8093 0000 sts MesswertRoll,r24 995 02e6 8091 0000 lds r24,AdWertGier 996 02ea 9091 0000 lds r25,(AdWertGier)+1 997 02ee 9093 0000 sts (MesswertGier)+1,r25 998 02f2 8093 0000 sts MesswertGier,r24 999 02f6 2091 0000 lds r18,AdWertAccNick 1000 02fa 3091 0000 lds r19,(AdWertAccNick)+1 1001 02fe C901 movw r24,r18 1002 0300 880F lsl r24 1003 0302 991F rol r25 1004 0304 880F lsl r24 1005 0306 991F rol r25 1006 0308 820F add r24,r18 1007 030a 931F adc r25,r19 1008 030c 820F add r24,r18 1009 030e 931F adc r25,r19 1010 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25 1011 0314 8093 0000 sts Mittelwert_AccNick,r24 1012 0318 2091 0000 lds r18,AdWertAccRoll 1013 031c 3091 0000 lds r19,(AdWertAccRoll)+1 1014 0320 C901 movw r24,r18 1015 0322 880F lsl r24 1016 0324 991F rol r25 1017 0326 880F lsl r24 1018 0328 991F rol r25 1019 032a 820F add r24,r18 1020 032c 931F adc r25,r19 1021 032e 820F add r24,r18 1022 0330 931F adc r25,r19 1023 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25 1024 0336 8093 0000 sts Mittelwert_AccRoll,r24 1025 033a 8FEC ldi r24,lo8(-49) 1026 033c 8093 7A00 sts 122,r24 1027 0340 A0E0 ldi r26,lo8(Poti) 1028 0342 B0E0 ldi r27,hi8(Poti) 1029 0344 C0E0 ldi r28,lo8(EE_Parameter+5) 1030 0346 D0E0 ldi r29,hi8(EE_Parameter+5) 1031 0348 97E0 ldi r25,lo8(7) 1032 .L46: 1033 034a 8991 ld r24,Y+ 1034 034c E82F mov r30,r24 1035 034e FF27 clr r31 1036 0350 EE0F add r30,r30 1037 0352 FF1F adc r31,r31 1038 0354 E050 subi r30,lo8(-(PPM_in)) 1039 0356 F040 sbci r31,hi8(-(PPM_in)) 1040 0358 0190 ld __tmp_reg__,Z+ 1041 035a F081 ld r31,Z 1042 035c E02D mov r30,__tmp_reg__ 1043 035e E158 subi r30,lo8(-(127)) 1044 0360 FF4F sbci r31,hi8(-(127)) 1045 0362 1E16 cp __zero_reg__,r30 1046 0364 1F06 cpc __zero_reg__,r31 1047 0366 04F0 brlt .L40 1048 0368 E0E0 ldi r30,lo8(0) 1049 036a F0E0 ldi r31,hi8(0) 1050 036c 00C0 rjmp .L41 1051 .L40: 1052 036e EF3F cpi r30,255 1053 0370 F105 cpc r31,__zero_reg__ 1054 0372 04F0 brlt .L41 1055 0374 EFEF ldi r30,lo8(255) 1056 0376 F0E0 ldi r31,hi8(255) 1057 .L41: 1058 0378 8C91 ld r24,X 1059 037a 282F mov r18,r24 1060 037c 3327 clr r19 1061 037e E217 cp r30,r18 1062 0380 F307 cpc r31,r19 1063 0382 04F4 brge .L43 1064 0384 8150 subi r24,lo8(-(-1)) 1065 0386 00C0 rjmp .L49 1066 .L43: 1067 0388 2E17 cp r18,r30 1068 038a 3F07 cpc r19,r31 1069 038c 04F4 brge .L39 1070 038e 8F5F subi r24,lo8(-(1)) 1071 .L49: 1072 0390 8C93 st X,r24 1073 .L39: 1074 0392 9150 subi r25,lo8(-(-1)) 1075 0394 1196 adiw r26,1 1076 0396 97FF sbrs r25,7 1077 0398 00C0 rjmp .L46 1078 039a 8091 0000 lds r24,EE_Parameter+65 1079 039e 9927 clr r25 1080 03a0 AA27 clr r26 1081 03a2 BB27 clr r27 1082 03a4 BC01 movw r22,r24 1083 03a6 CD01 movw r24,r26 1084 03a8 24EC ldi r18,lo8(2500) 1085 03aa 39E0 ldi r19,hi8(2500) 1086 03ac 40E0 ldi r20,hlo8(2500) 1087 03ae 50E0 ldi r21,hhi8(2500) 1088 03b0 0E94 0000 call __mulsi3 1089 03b4 DC01 movw r26,r24 1090 03b6 CB01 movw r24,r22 1091 03b8 8093 0000 sts Umschlag180Nick,r24 1092 03bc 9093 0000 sts (Umschlag180Nick)+1,r25 1093 03c0 A093 0000 sts (Umschlag180Nick)+2,r26 1094 03c4 B093 0000 sts (Umschlag180Nick)+3,r27 1095 03c8 8091 0000 lds r24,EE_Parameter+66 1096 03cc 9927 clr r25 1097 03ce AA27 clr r26 1098 03d0 BB27 clr r27 1099 03d2 BC01 movw r22,r24 1100 03d4 CD01 movw r24,r26 1101 03d6 0E94 0000 call __mulsi3 1102 03da DC01 movw r26,r24 1103 03dc CB01 movw r24,r22 1104 03de 8093 0000 sts Umschlag180Roll,r24 1105 03e2 9093 0000 sts (Umschlag180Roll)+1,r25 1106 03e6 A093 0000 sts (Umschlag180Roll)+2,r26 1107 03ea B093 0000 sts (Umschlag180Roll)+3,r27 1108 /* epilogue: frame size=0 */ 1109 03ee DF91 pop r29 1110 03f0 CF91 pop r28 1111 03f2 0895 ret 1112 /* epilogue end (size=3) */ 1113 /* function CalibrierMittelwert size 161 (156) */ 1115 .section .progmem.data,"a",@progbits 1118 __c.35: 1119 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 1119 4320 6E6F 1119 7420 6361 1119 6C69 6272 1119 6174 6564 1120 .text 1121 .global SetNeutral 1123 SetNeutral: 1124 /* prologue: frame size=0 */ 1125 03f4 A0E0 ldi r26,lo8(0) 1126 03f6 B0E0 ldi r27,hi8(0) 1127 03f8 E0E0 ldi r30,pm_lo8(1f) 1128 03fa F0E0 ldi r31,pm_hi8(1f) 1129 03fc 0C94 0000 jmp __prologue_saves__+12 1130 1: 1131 /* prologue end (size=6) */ 1132 0400 882E mov r8,r24 1133 0402 C0E0 ldi r28,lo8(0) 1134 0404 D0E0 ldi r29,hi8(0) 1135 0406 7E01 movw r14,r28 1136 0408 6E01 movw r12,r28 1137 040a 1092 0000 sts VersionInfo+5,__zero_reg__ 1138 040e D093 0000 sts (NeutralAccX)+1,r29 1139 0412 C093 0000 sts NeutralAccX,r28 1140 0416 D093 0000 sts (NeutralAccY)+1,r29 1141 041a C093 0000 sts NeutralAccY,r28 1142 041e D093 0000 sts (NeutralAccZ)+1,r29 1143 0422 C093 0000 sts NeutralAccZ,r28 1144 0426 D093 0000 sts (AdNeutralNick)+1,r29 1145 042a C093 0000 sts AdNeutralNick,r28 1146 042e D093 0000 sts (AdNeutralRoll)+1,r29 1147 0432 C093 0000 sts AdNeutralRoll,r28 1148 0436 D093 0000 sts (AdNeutralGier)+1,r29 1149 043a C093 0000 sts AdNeutralGier,r28 1150 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 1151 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 1152 0446 1092 0000 sts ExpandBaro,__zero_reg__ 1153 044a 0E94 0000 call CalibrierMittelwert 1154 044e 84E6 ldi r24,lo8(100) 1155 0450 90E0 ldi r25,hi8(100) 1156 0452 0E94 0000 call Delay_ms_Mess 1157 0456 0E94 0000 call CalibrierMittelwert 1158 045a 8091 0000 lds r24,EE_Parameter+13 1159 045e 80FF sbrs r24,0 1160 0460 00C0 rjmp .L51 1161 0462 8091 0000 lds r24,MessLuftdruck 1162 0466 9091 0000 lds r25,(MessLuftdruck)+1 1163 046a 875B subi r24,lo8(951) 1164 046c 9340 sbci r25,hi8(951) 1165 046e 00F4 brsh .L53 1166 0470 8091 0000 lds r24,MessLuftdruck 1167 0474 9091 0000 lds r25,(MessLuftdruck)+1 1168 0478 8E5E subi r24,lo8(750) 1169 047a 9240 sbci r25,hi8(750) 1170 047c 00F4 brsh .L51 1171 .L53: 1172 047e 0E94 0000 call SucheLuftruckOffset 1173 .L51: 1174 0482 0FE1 ldi r16,lo8(31) 1175 .L57: 1176 0484 8AE0 ldi r24,lo8(10) 1177 0486 90E0 ldi r25,hi8(10) 1178 0488 0E94 0000 call Delay_ms_Mess 1179 048c 8091 0000 lds r24,AdWertGier 1180 0490 9091 0000 lds r25,(AdWertGier)+1 1181 0494 C80F add r28,r24 1182 0496 D91F adc r29,r25 1183 0498 8091 0000 lds r24,AdWertNick 1184 049c 9091 0000 lds r25,(AdWertNick)+1 1185 04a0 E80E add r14,r24 1186 04a2 F91E adc r15,r25 1187 04a4 8091 0000 lds r24,AdWertRoll 1188 04a8 9091 0000 lds r25,(AdWertRoll)+1 1189 04ac C80E add r12,r24 1190 04ae D91E adc r13,r25 1191 04b0 0150 subi r16,lo8(-(-1)) 1192 04b2 07FF sbrs r16,7 1193 04b4 00C0 rjmp .L57 1194 04b6 9701 movw r18,r14 1195 04b8 205F subi r18,lo8(-(16)) 1196 04ba 3F4F sbci r19,hi8(-(16)) 1197 04bc 3695 lsr r19 1198 04be 2795 ror r18 1199 04c0 3695 lsr r19 1200 04c2 2795 ror r18 1201 04c4 3093 0000 sts (AdNeutralNick)+1,r19 1202 04c8 2093 0000 sts AdNeutralNick,r18 1203 04cc C601 movw r24,r12 1204 04ce 4096 adiw r24,16 1205 04d0 9695 lsr r25 1206 04d2 8795 ror r24 1207 04d4 9695 lsr r25 1208 04d6 8795 ror r24 1209 04d8 9093 0000 sts (AdNeutralRoll)+1,r25 1210 04dc 8093 0000 sts AdNeutralRoll,r24 1211 04e0 6096 adiw r28,16 1212 04e2 F5E0 ldi r31,5 1213 04e4 D695 1: lsr r29 1214 04e6 C795 ror r28 1215 04e8 FA95 dec r31 1216 04ea 01F4 brne 1b 1217 04ec D093 0000 sts (AdNeutralGier)+1,r29 1218 04f0 C093 0000 sts AdNeutralGier,r28 1219 04f4 9093 0000 sts (StartNeutralRoll)+1,r25 1220 04f8 8093 0000 sts StartNeutralRoll,r24 1221 04fc 3093 0000 sts (StartNeutralNick)+1,r19 1222 0500 2093 0000 sts StartNeutralNick,r18 1223 0504 8820 tst r8 1224 0506 01F4 brne .+2 1225 0508 00C0 rjmp .L58 1226 050a 8091 0000 lds r24,Mittelwert_AccNick 1227 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1 1228 0512 97FF sbrs r25,7 1229 0514 00C0 rjmp .L59 1230 0516 9095 com r25 1231 0518 8195 neg r24 1232 051a 9F4F sbci r25,lo8(-1) 1233 .L59: 1234 051c 6CE0 ldi r22,lo8(12) 1235 051e 70E0 ldi r23,hi8(12) 1236 0520 0E94 0000 call __divmodhi4 1237 0524 9B01 movw r18,r22 1238 0526 7093 0000 sts (NeutralAccX)+1,r23 1239 052a 6093 0000 sts NeutralAccX,r22 1240 052e 8091 0000 lds r24,Mittelwert_AccRoll 1241 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1242 0536 97FF sbrs r25,7 1243 0538 00C0 rjmp .L60 1244 053a 9095 com r25 1245 053c 8195 neg r24 1246 053e 9F4F sbci r25,lo8(-1) 1247 .L60: 1248 0540 6CE0 ldi r22,lo8(12) 1249 0542 70E0 ldi r23,hi8(12) 1250 0544 0E94 0000 call __divmodhi4 1251 0548 7093 0000 sts (NeutralAccY)+1,r23 1252 054c 6093 0000 sts NeutralAccY,r22 1253 0550 8091 0000 lds r24,Aktuell_az 1254 0554 9091 0000 lds r25,(Aktuell_az)+1 1255 0558 9093 0000 sts (NeutralAccZ)+1,r25 1256 055c 8093 0000 sts NeutralAccZ,r24 1257 0560 B901 movw r22,r18 1258 0562 84E0 ldi r24,lo8(4) 1259 0564 90E0 ldi r25,hi8(4) 1260 0566 0E94 0000 call SetParamWord 1261 056a 6091 0000 lds r22,NeutralAccY 1262 056e 7091 0000 lds r23,(NeutralAccY)+1 1263 0572 86E0 ldi r24,lo8(6) 1264 0574 90E0 ldi r25,hi8(6) 1265 0576 0E94 0000 call SetParamWord 1266 057a 6091 0000 lds r22,NeutralAccZ 1267 057e 7091 0000 lds r23,(NeutralAccZ)+1 1268 0582 88E0 ldi r24,lo8(8) 1269 0584 90E0 ldi r25,hi8(8) 1270 0586 0E94 0000 call SetParamWord 1271 058a 00C0 rjmp .L61 1272 .L58: 1273 058c 84E0 ldi r24,lo8(4) 1274 058e 90E0 ldi r25,hi8(4) 1275 0590 0E94 0000 call GetParamWord 1276 0594 9093 0000 sts (NeutralAccX)+1,r25 1277 0598 8093 0000 sts NeutralAccX,r24 1278 059c 86E0 ldi r24,lo8(6) 1279 059e 90E0 ldi r25,hi8(6) 1280 05a0 0E94 0000 call GetParamWord 1281 05a4 9093 0000 sts (NeutralAccY)+1,r25 1282 05a8 8093 0000 sts NeutralAccY,r24 1283 05ac 88E0 ldi r24,lo8(8) 1284 05ae 90E0 ldi r25,hi8(8) 1285 05b0 0E94 0000 call GetParamWord 1286 05b4 9C01 movw r18,r24 1287 05b6 9093 0000 sts (NeutralAccZ)+1,r25 1288 05ba 8093 0000 sts NeutralAccZ,r24 1289 05be 8091 0000 lds r24,NeutralAccX 1290 05c2 9091 0000 lds r25,(NeutralAccX)+1 1291 05c6 8150 subi r24,lo8(2049) 1292 05c8 9840 sbci r25,hi8(2049) 1293 05ca 00F4 brsh .L63 1294 05cc 8091 0000 lds r24,NeutralAccY 1295 05d0 9091 0000 lds r25,(NeutralAccY)+1 1296 05d4 8150 subi r24,lo8(2049) 1297 05d6 9840 sbci r25,hi8(2049) 1298 05d8 00F4 brsh .L63 1299 05da 2150 subi r18,lo8(1025) 1300 05dc 3440 sbci r19,hi8(1025) 1301 05de 00F0 brlo .L61 1302 .L63: 1303 05e0 80E0 ldi r24,lo8(__c.35) 1304 05e2 90E0 ldi r25,hi8(__c.35) 1305 05e4 9F93 push r25 1306 05e6 8F93 push r24 1307 05e8 80E0 ldi r24,lo8(pm(uart_putchar)) 1308 05ea 90E0 ldi r25,hi8(pm(uart_putchar)) 1309 05ec 9F93 push r25 1310 05ee 8F93 push r24 1311 05f0 E091 0000 lds r30,_printf_P 1312 05f4 F091 0000 lds r31,(_printf_P)+1 1313 05f8 0995 icall 1314 05fa 8091 0000 lds r24,Mittelwert_AccNick 1315 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1 1316 0602 97FF sbrs r25,7 1317 0604 00C0 rjmp .L64 1318 0606 9095 com r25 1319 0608 8195 neg r24 1320 060a 9F4F sbci r25,lo8(-1) 1321 .L64: 1322 060c 6CE0 ldi r22,lo8(12) 1323 060e 70E0 ldi r23,hi8(12) 1324 0610 0E94 0000 call __divmodhi4 1325 0614 7093 0000 sts (NeutralAccX)+1,r23 1326 0618 6093 0000 sts NeutralAccX,r22 1327 061c 8091 0000 lds r24,Mittelwert_AccRoll 1328 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1329 0624 97FF sbrs r25,7 1330 0626 00C0 rjmp .L65 1331 0628 9095 com r25 1332 062a 8195 neg r24 1333 062c 9F4F sbci r25,lo8(-1) 1334 .L65: 1335 062e 6CE0 ldi r22,lo8(12) 1336 0630 70E0 ldi r23,hi8(12) 1337 0632 0E94 0000 call __divmodhi4 1338 0636 7093 0000 sts (NeutralAccY)+1,r23 1339 063a 6093 0000 sts NeutralAccY,r22 1340 063e 8091 0000 lds r24,Aktuell_az 1341 0642 9091 0000 lds r25,(Aktuell_az)+1 1342 0646 9093 0000 sts (NeutralAccZ)+1,r25 1343 064a 8093 0000 sts NeutralAccZ,r24 1344 064e 0F90 pop __tmp_reg__ 1345 0650 0F90 pop __tmp_reg__ 1346 0652 0F90 pop __tmp_reg__ 1347 0654 0F90 pop __tmp_reg__ 1348 .L61: 1349 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__ 1350 065a 1092 0000 sts MesswertNick,__zero_reg__ 1351 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 1352 0662 1092 0000 sts MesswertRoll,__zero_reg__ 1353 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__ 1354 066a 1092 0000 sts MesswertGier,__zero_reg__ 1355 066e 84E6 ldi r24,lo8(100) 1356 0670 90E0 ldi r25,hi8(100) 1357 0672 0E94 0000 call Delay_ms_Mess 1358 0676 8091 0000 lds r24,AdWertAccNick 1359 067a 9091 0000 lds r25,(AdWertAccNick)+1 1360 067e 9C01 movw r18,r24 1361 0680 220F lsl r18 1362 0682 331F rol r19 1363 0684 220F lsl r18 1364 0686 331F rol r19 1365 0688 280F add r18,r24 1366 068a 391F adc r19,r25 1367 068c 280F add r18,r24 1368 068e 391F adc r19,r25 1369 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19 1370 0694 2093 0000 sts Mittelwert_AccNick,r18 1371 0698 8091 0000 lds r24,AdWertAccRoll 1372 069c 9091 0000 lds r25,(AdWertAccRoll)+1 1373 06a0 8C01 movw r16,r24 1374 06a2 000F lsl r16 1375 06a4 111F rol r17 1376 06a6 000F lsl r16 1377 06a8 111F rol r17 1378 06aa 080F add r16,r24 1379 06ac 191F adc r17,r25 1380 06ae 080F add r16,r24 1381 06b0 191F adc r17,r25 1382 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17 1383 06b6 0093 0000 sts Mittelwert_AccRoll,r16 1384 06ba 8091 0000 lds r24,EE_Parameter+28 1385 06be C82E mov r12,r24 1386 06c0 DD24 clr r13 1387 06c2 EE24 clr r14 1388 06c4 FF24 clr r15 1389 06c6 4427 clr r20 1390 06c8 37FD sbrc r19,7 1391 06ca 4095 com r20 1392 06cc 542F mov r21,r20 1393 06ce C701 movw r24,r14 1394 06d0 B601 movw r22,r12 1395 06d2 0E94 0000 call __mulsi3 1396 06d6 4B01 movw r8,r22 1397 06d8 5C01 movw r10,r24 1398 06da 6093 0000 sts IntegralNick,r22 1399 06de 7093 0000 sts (IntegralNick)+1,r23 1400 06e2 8093 0000 sts (IntegralNick)+2,r24 1401 06e6 9093 0000 sts (IntegralNick)+3,r25 1402 06ea 9801 movw r18,r16 1403 06ec 4427 clr r20 1404 06ee 37FD sbrc r19,7 1405 06f0 4095 com r20 1406 06f2 542F mov r21,r20 1407 06f4 C701 movw r24,r14 1408 06f6 B601 movw r22,r12 1409 06f8 0E94 0000 call __mulsi3 1410 06fc DC01 movw r26,r24 1411 06fe CB01 movw r24,r22 1412 0700 8093 0000 sts IntegralRoll,r24 1413 0704 9093 0000 sts (IntegralRoll)+1,r25 1414 0708 A093 0000 sts (IntegralRoll)+2,r26 1415 070c B093 0000 sts (IntegralRoll)+3,r27 1416 0710 8092 0000 sts Mess_IntegralNick,r8 1417 0714 9092 0000 sts (Mess_IntegralNick)+1,r9 1418 0718 A092 0000 sts (Mess_IntegralNick)+2,r10 1419 071c B092 0000 sts (Mess_IntegralNick)+3,r11 1420 0720 8093 0000 sts Mess_IntegralRoll,r24 1421 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25 1422 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26 1423 072c B093 0000 sts (Mess_IntegralRoll)+3,r27 1424 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 1425 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 1426 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 1427 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 1428 0740 8091 0000 lds r24,Luftdruck 1429 0744 9091 0000 lds r25,(Luftdruck)+1 1430 0748 A091 0000 lds r26,(Luftdruck)+2 1431 074c B091 0000 lds r27,(Luftdruck)+3 1432 0750 9093 0000 sts (StartLuftdruck)+1,r25 1433 0754 8093 0000 sts StartLuftdruck,r24 1434 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__ 1435 075c 1092 0000 sts VarioMeter,__zero_reg__ 1436 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 1437 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 1438 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 1439 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 1440 0770 0091 0000 lds r16,KompassValue 1441 0774 1091 0000 lds r17,(KompassValue)+1 1442 0778 1093 0000 sts (KompassSollWert)+1,r17 1443 077c 0093 0000 sts KompassSollWert,r16 1444 0780 84E6 ldi r24,lo8(100) 1445 0782 90E0 ldi r25,hi8(100) 1446 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25 1447 0788 8093 0000 sts KompassSignalSchlecht,r24 1448 078c 82E3 ldi r24,lo8(50) 1449 078e 90E0 ldi r25,hi8(50) 1450 0790 9093 0000 sts (beeptime)+1,r25 1451 0794 8093 0000 sts beeptime,r24 1452 0798 8091 0000 lds r24,EE_Parameter+65 1453 079c 9927 clr r25 1454 079e AA27 clr r26 1455 07a0 BB27 clr r27 1456 07a2 BC01 movw r22,r24 1457 07a4 CD01 movw r24,r26 1458 07a6 24EC ldi r18,lo8(2500) 1459 07a8 39E0 ldi r19,hi8(2500) 1460 07aa 40E0 ldi r20,hlo8(2500) 1461 07ac 50E0 ldi r21,hhi8(2500) 1462 07ae 0E94 0000 call __mulsi3 1463 07b2 DC01 movw r26,r24 1464 07b4 CB01 movw r24,r22 1465 07b6 8856 subi r24,lo8(-(15000)) 1466 07b8 954C sbci r25,hi8(-(15000)) 1467 07ba AF4F sbci r26,hlo8(-(15000)) 1468 07bc BF4F sbci r27,hhi8(-(15000)) 1469 07be 8093 0000 sts Umschlag180Nick,r24 1470 07c2 9093 0000 sts (Umschlag180Nick)+1,r25 1471 07c6 A093 0000 sts (Umschlag180Nick)+2,r26 1472 07ca B093 0000 sts (Umschlag180Nick)+3,r27 1473 07ce 8091 0000 lds r24,EE_Parameter+66 1474 07d2 9927 clr r25 1475 07d4 AA27 clr r26 1476 07d6 BB27 clr r27 1477 07d8 BC01 movw r22,r24 1478 07da CD01 movw r24,r26 1479 07dc 0E94 0000 call __mulsi3 1480 07e0 DC01 movw r26,r24 1481 07e2 CB01 movw r24,r22 1482 07e4 8856 subi r24,lo8(-(15000)) 1483 07e6 954C sbci r25,hi8(-(15000)) 1484 07e8 AF4F sbci r26,hlo8(-(15000)) 1485 07ea BF4F sbci r27,hhi8(-(15000)) 1486 07ec 8093 0000 sts Umschlag180Roll,r24 1487 07f0 9093 0000 sts (Umschlag180Roll)+1,r25 1488 07f4 A093 0000 sts (Umschlag180Roll)+2,r26 1489 07f8 B093 0000 sts (Umschlag180Roll)+3,r27 1490 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 1491 0800 1092 0000 sts ExternHoehenValue,__zero_reg__ 1492 0804 C801 movw r24,r16 1493 0806 AA27 clr r26 1494 0808 97FD sbrc r25,7 1495 080a A095 com r26 1496 080c BA2F mov r27,r26 1497 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR 1498 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 1499 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 1500 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 1501 081e BC01 movw r22,r24 1502 0820 CD01 movw r24,r26 1503 0822 0E94 0000 call __mulsi3 1504 0826 DC01 movw r26,r24 1505 0828 CB01 movw r24,r22 1506 082a 8093 0000 sts ErsatzKompass,r24 1507 082e 9093 0000 sts (ErsatzKompass)+1,r25 1508 0832 A093 0000 sts (ErsatzKompass)+2,r26 1509 0836 B093 0000 sts (ErsatzKompass)+3,r27 1510 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 1511 083e 1092 0000 sts GierGyroFehler,__zero_reg__ 1512 0842 0E94 0000 call LED_Init 1513 0846 8091 0000 lds r24,FC_StatusFlags 1514 084a 8460 ori r24,lo8(4) 1515 084c 8093 0000 sts FC_StatusFlags,r24 1516 0850 8FEF ldi r24,lo8(-1) 1517 0852 8093 0000 sts FromNaviCtrl_Value,r24 1518 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 1519 085a 80E2 ldi r24,lo8(32) 1520 085c 8093 0000 sts FromNaviCtrl_Value+2,r24 1521 0860 C0E0 ldi r28,lo8(Poti) 1522 0862 D0E0 ldi r29,hi8(Poti) 1523 0864 A0E0 ldi r26,lo8(EE_Parameter+5) 1524 0866 B0E0 ldi r27,hi8(EE_Parameter+5) 1525 0868 07E0 ldi r16,lo8(7) 1526 .L69: 1527 086a 8D91 ld r24,X+ 1528 086c E82F mov r30,r24 1529 086e FF27 clr r31 1530 0870 EE0F add r30,r30 1531 0872 FF1F adc r31,r31 1532 0874 E050 subi r30,lo8(-(PPM_in)) 1533 0876 F040 sbci r31,hi8(-(PPM_in)) 1534 0878 8081 ld r24,Z 1535 087a 9181 ldd r25,Z+1 1536 087c 8158 subi r24,lo8(-(127)) 1537 087e 8993 st Y+,r24 1538 0880 0150 subi r16,lo8(-(-1)) 1539 0882 07FF sbrs r16,7 1540 0884 00C0 rjmp .L69 1541 0886 84E6 ldi r24,lo8(100) 1542 0888 8093 0000 sts SenderOkay,r24 1543 088c 8091 0000 lds r24,ServoActive 1544 0890 8823 tst r24 1545 0892 01F0 breq .L70 1546 0894 579A sbi 42-0x20,7 1547 0896 00C0 rjmp .L71 1548 .L70: 1549 0898 80E0 ldi r24,lo8(4352) 1550 089a 91E1 ldi r25,hi8(4352) 1551 089c 9093 0000 sts (NickServoValue)+1,r25 1552 08a0 8093 0000 sts NickServoValue,r24 1553 .L71: 1554 08a4 8091 0000 lds r24,AdNeutralNick 1555 08a8 9091 0000 lds r25,(AdNeutralNick)+1 1556 08ac 8056 subi r24,lo8(-(-2400)) 1557 08ae 9940 sbci r25,hi8(-(-2400)) 1558 08b0 815C subi r24,lo8(11201) 1559 08b2 9B42 sbci r25,hi8(11201) 1560 08b4 00F0 brlo .L72 1561 08b6 8091 0000 lds r24,VersionInfo+5 1562 08ba 8160 ori r24,lo8(1) 1563 08bc 8093 0000 sts VersionInfo+5,r24 1564 .L72: 1565 08c0 8091 0000 lds r24,AdNeutralRoll 1566 08c4 9091 0000 lds r25,(AdNeutralRoll)+1 1567 08c8 8056 subi r24,lo8(-(-2400)) 1568 08ca 9940 sbci r25,hi8(-(-2400)) 1569 08cc 815C subi r24,lo8(11201) 1570 08ce 9B42 sbci r25,hi8(11201) 1571 08d0 00F0 brlo .L73 1572 08d2 8091 0000 lds r24,VersionInfo+5 1573 08d6 8260 ori r24,lo8(2) 1574 08d8 8093 0000 sts VersionInfo+5,r24 1575 .L73: 1576 08dc 8091 0000 lds r24,AdNeutralGier 1577 08e0 9091 0000 lds r25,(AdNeutralGier)+1 1578 08e4 8C52 subi r24,lo8(-(-300)) 1579 08e6 9140 sbci r25,hi8(-(-300)) 1580 08e8 8957 subi r24,lo8(1401) 1581 08ea 9540 sbci r25,hi8(1401) 1582 08ec 00F0 brlo .L74 1583 08ee 8091 0000 lds r24,VersionInfo+5 1584 08f2 8460 ori r24,lo8(4) 1585 08f4 8093 0000 sts VersionInfo+5,r24 1586 .L74: 1587 08f8 8091 0000 lds r24,NeutralAccX 1588 08fc 9091 0000 lds r25,(NeutralAccX)+1 1589 0900 8C52 subi r24,lo8(-(-300)) 1590 0902 9140 sbci r25,hi8(-(-300)) 1591 0904 835C subi r24,lo8(451) 1592 0906 9140 sbci r25,hi8(451) 1593 0908 00F0 brlo .L75 1594 090a 8091 0000 lds r24,VersionInfo+5 1595 090e 8860 ori r24,lo8(8) 1596 0910 8093 0000 sts VersionInfo+5,r24 1597 .L75: 1598 0914 8091 0000 lds r24,NeutralAccY 1599 0918 9091 0000 lds r25,(NeutralAccY)+1 1600 091c 8C52 subi r24,lo8(-(-300)) 1601 091e 9140 sbci r25,hi8(-(-300)) 1602 0920 835C subi r24,lo8(451) 1603 0922 9140 sbci r25,hi8(451) 1604 0924 00F0 brlo .L76 1605 0926 8091 0000 lds r24,VersionInfo+5 1606 092a 8061 ori r24,lo8(16) 1607 092c 8093 0000 sts VersionInfo+5,r24 1608 .L76: 1609 0930 8091 0000 lds r24,NeutralAccZ 1610 0934 9091 0000 lds r25,(NeutralAccZ)+1 1611 0938 8050 subi r24,lo8(-(-512)) 1612 093a 9240 sbci r25,hi8(-(-512)) 1613 093c 8355 subi r24,lo8(339) 1614 093e 9140 sbci r25,hi8(339) 1615 0940 00F0 brlo .L77 1616 0942 8091 0000 lds r24,VersionInfo+5 1617 0946 8062 ori r24,lo8(32) 1618 0948 8093 0000 sts VersionInfo+5,r24 1619 .L77: 1620 094c 86E4 ldi r24,lo8(70) 1621 094e 8093 0000 sts carefree_old,r24 1622 0952 0E94 0000 call LIBFC_HoTT_Clear 1623 /* epilogue: frame size=0 */ 1624 0956 ECE0 ldi r30,12 1625 0958 CDB7 in r28,__SP_L__ 1626 095a DEB7 in r29,__SP_H__ 1627 095c 0C94 0000 jmp __epilogue_restores__+12 1628 /* epilogue end (size=5) */ 1629 /* function SetNeutral size 705 (694) */ 1631 .lcomm tmpl.27,4 1632 .lcomm tmpl2.28,4 1633 .lcomm tmpl3.29,4 1634 .lcomm tmpl4.30,4 1635 .lcomm oldNick.31,2 1636 .lcomm oldRoll.32,2 1637 .lcomm d2Roll.33,2 1638 .lcomm d2Nick.34,2 1639 .global Mittelwert 1641 Mittelwert: 1642 /* prologue: frame size=19 */ 1643 0960 A3E1 ldi r26,lo8(19) 1644 0962 B0E0 ldi r27,hi8(19) 1645 0964 E0E0 ldi r30,pm_lo8(1f) 1646 0966 F0E0 ldi r31,pm_hi8(1f) 1647 0968 0C94 0000 jmp __prologue_saves__+0 1648 1: 1649 /* prologue end (size=6) */ 1650 096c 8091 0000 lds r24,AdNeutralGier 1651 0970 9091 0000 lds r25,(AdNeutralGier)+1 1652 0974 2091 0000 lds r18,AdWertGier 1653 0978 3091 0000 lds r19,(AdWertGier)+1 1654 097c 821B sub r24,r18 1655 097e 930B sbc r25,r19 1656 0980 9093 0000 sts (MesswertGier)+1,r25 1657 0984 8093 0000 sts MesswertGier,r24 1658 0988 8091 0000 lds r24,AdWertNickFilter 1659 098c 9091 0000 lds r25,(AdWertNickFilter)+1 1660 0990 97FD sbrc r25,7 1661 0992 0796 adiw r24,7 1662 .L83: 1663 0994 9C01 movw r18,r24 1664 0996 13E0 ldi r17,3 1665 0998 3595 1: asr r19 1666 099a 2795 ror r18 1667 099c 1A95 dec r17 1668 099e 01F4 brne 1b 1669 09a0 3093 0000 sts (MesswertNick)+1,r19 1670 09a4 2093 0000 sts MesswertNick,r18 1671 09a8 8091 0000 lds r24,AdWertRollFilter 1672 09ac 9091 0000 lds r25,(AdWertRollFilter)+1 1673 09b0 97FD sbrc r25,7 1674 09b2 0796 adiw r24,7 1675 .L84: 1676 09b4 B3E0 ldi r27,3 1677 09b6 9595 1: asr r25 1678 09b8 8795 ror r24 1679 09ba BA95 dec r27 1680 09bc 01F4 brne 1b 1681 09be 9093 0000 sts (MesswertRoll)+1,r25 1682 09c2 8093 0000 sts MesswertRoll,r24 1683 09c6 3093 0000 sts (RohMesswertNick)+1,r19 1684 09ca 2093 0000 sts RohMesswertNick,r18 1685 09ce 9093 0000 sts (RohMesswertRoll)+1,r25 1686 09d2 8093 0000 sts RohMesswertRoll,r24 1687 09d6 8091 0000 lds r24,Mittelwert_AccNick 1688 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1 1689 09de AC01 movw r20,r24 1690 09e0 440F lsl r20 1691 09e2 551F rol r21 1692 09e4 480F add r20,r24 1693 09e6 591F adc r21,r25 1694 09e8 2091 0000 lds r18,AdWertAccNick 1695 09ec 3091 0000 lds r19,(AdWertAccNick)+1 1696 09f0 C901 movw r24,r18 1697 09f2 880F lsl r24 1698 09f4 991F rol r25 1699 09f6 880F lsl r24 1700 09f8 991F rol r25 1701 09fa 820F add r24,r18 1702 09fc 931F adc r25,r19 1703 09fe 820F add r24,r18 1704 0a00 931F adc r25,r19 1705 0a02 480F add r20,r24 1706 0a04 591F adc r21,r25 1707 0a06 57FF sbrs r21,7 1708 0a08 00C0 rjmp .L85 1709 0a0a 4D5F subi r20,lo8(-(3)) 1710 0a0c 5F4F sbci r21,hi8(-(3)) 1711 .L85: 1712 0a0e 5595 asr r21 1713 0a10 4795 ror r20 1714 0a12 5595 asr r21 1715 0a14 4795 ror r20 1716 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21 1717 0a1a 4093 0000 sts Mittelwert_AccNick,r20 1718 0a1e 8091 0000 lds r24,Mittelwert_AccRoll 1719 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1720 0a26 AC01 movw r20,r24 1721 0a28 440F lsl r20 1722 0a2a 551F rol r21 1723 0a2c 480F add r20,r24 1724 0a2e 591F adc r21,r25 1725 0a30 2091 0000 lds r18,AdWertAccRoll 1726 0a34 3091 0000 lds r19,(AdWertAccRoll)+1 1727 0a38 C901 movw r24,r18 1728 0a3a 880F lsl r24 1729 0a3c 991F rol r25 1730 0a3e 880F lsl r24 1731 0a40 991F rol r25 1732 0a42 820F add r24,r18 1733 0a44 931F adc r25,r19 1734 0a46 820F add r24,r18 1735 0a48 931F adc r25,r19 1736 0a4a 480F add r20,r24 1737 0a4c 591F adc r21,r25 1738 0a4e 57FF sbrs r21,7 1739 0a50 00C0 rjmp .L86 1740 0a52 4D5F subi r20,lo8(-(3)) 1741 0a54 5F4F sbci r21,hi8(-(3)) 1742 .L86: 1743 0a56 5595 asr r21 1744 0a58 4795 ror r20 1745 0a5a 5595 asr r21 1746 0a5c 4795 ror r20 1747 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21 1748 0a62 4093 0000 sts Mittelwert_AccRoll,r20 1749 0a66 2091 0000 lds r18,AdWertAccNick 1750 0a6a 3091 0000 lds r19,(AdWertAccNick)+1 1751 0a6e C901 movw r24,r18 1752 0a70 880F lsl r24 1753 0a72 991F rol r25 1754 0a74 880F lsl r24 1755 0a76 991F rol r25 1756 0a78 820F add r24,r18 1757 0a7a 931F adc r25,r19 1758 0a7c 820F add r24,r18 1759 0a7e 931F adc r25,r19 1760 0a80 9C01 movw r18,r24 1761 0a82 4427 clr r20 1762 0a84 37FD sbrc r19,7 1763 0a86 4095 com r20 1764 0a88 542F mov r21,r20 1765 0a8a 8091 0000 lds r24,IntegralAccNick 1766 0a8e 9091 0000 lds r25,(IntegralAccNick)+1 1767 0a92 A091 0000 lds r26,(IntegralAccNick)+2 1768 0a96 B091 0000 lds r27,(IntegralAccNick)+3 1769 0a9a 820F add r24,r18 1770 0a9c 931F adc r25,r19 1771 0a9e A41F adc r26,r20 1772 0aa0 B51F adc r27,r21 1773 0aa2 8093 0000 sts IntegralAccNick,r24 1774 0aa6 9093 0000 sts (IntegralAccNick)+1,r25 1775 0aaa A093 0000 sts (IntegralAccNick)+2,r26 1776 0aae B093 0000 sts (IntegralAccNick)+3,r27 1777 0ab2 2091 0000 lds r18,AdWertAccRoll 1778 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1 1779 0aba C901 movw r24,r18 1780 0abc 880F lsl r24 1781 0abe 991F rol r25 1782 0ac0 880F lsl r24 1783 0ac2 991F rol r25 1784 0ac4 820F add r24,r18 1785 0ac6 931F adc r25,r19 1786 0ac8 820F add r24,r18 1787 0aca 931F adc r25,r19 1788 0acc 9C01 movw r18,r24 1789 0ace 4427 clr r20 1790 0ad0 37FD sbrc r19,7 1791 0ad2 4095 com r20 1792 0ad4 542F mov r21,r20 1793 0ad6 8091 0000 lds r24,IntegralAccRoll 1794 0ada 9091 0000 lds r25,(IntegralAccRoll)+1 1795 0ade A091 0000 lds r26,(IntegralAccRoll)+2 1796 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3 1797 0ae6 820F add r24,r18 1798 0ae8 931F adc r25,r19 1799 0aea A41F adc r26,r20 1800 0aec B51F adc r27,r21 1801 0aee 8093 0000 sts IntegralAccRoll,r24 1802 0af2 9093 0000 sts (IntegralAccRoll)+1,r25 1803 0af6 A093 0000 sts (IntegralAccRoll)+2,r26 1804 0afa B093 0000 sts (IntegralAccRoll)+3,r27 1805 0afe 8091 0000 lds r24,NaviAccNick 1806 0b02 9091 0000 lds r25,(NaviAccNick)+1 1807 0b06 2091 0000 lds r18,AdWertAccNick 1808 0b0a 3091 0000 lds r19,(AdWertAccNick)+1 1809 0b0e 820F add r24,r18 1810 0b10 931F adc r25,r19 1811 0b12 9093 0000 sts (NaviAccNick)+1,r25 1812 0b16 8093 0000 sts NaviAccNick,r24 1813 0b1a 8091 0000 lds r24,NaviAccRoll 1814 0b1e 9091 0000 lds r25,(NaviAccRoll)+1 1815 0b22 2091 0000 lds r18,AdWertAccRoll 1816 0b26 3091 0000 lds r19,(AdWertAccRoll)+1 1817 0b2a 820F add r24,r18 1818 0b2c 931F adc r25,r19 1819 0b2e 9093 0000 sts (NaviAccRoll)+1,r25 1820 0b32 8093 0000 sts NaviAccRoll,r24 1821 0b36 8091 0000 lds r24,NaviCntAcc 1822 0b3a 9091 0000 lds r25,(NaviCntAcc)+1 1823 0b3e 0196 adiw r24,1 1824 0b40 9093 0000 sts (NaviCntAcc)+1,r25 1825 0b44 8093 0000 sts NaviCntAcc,r24 1826 0b48 8091 0000 lds r24,Aktuell_az 1827 0b4c 9091 0000 lds r25,(Aktuell_az)+1 1828 0b50 2091 0000 lds r18,NeutralAccZ 1829 0b54 3091 0000 lds r19,(NeutralAccZ)+1 1830 0b58 821B sub r24,r18 1831 0b5a 930B sbc r25,r19 1832 0b5c 9C01 movw r18,r24 1833 0b5e 4427 clr r20 1834 0b60 37FD sbrc r19,7 1835 0b62 4095 com r20 1836 0b64 542F mov r21,r20 1837 0b66 8091 0000 lds r24,IntegralAccZ 1838 0b6a 9091 0000 lds r25,(IntegralAccZ)+1 1839 0b6e A091 0000 lds r26,(IntegralAccZ)+2 1840 0b72 B091 0000 lds r27,(IntegralAccZ)+3 1841 0b76 820F add r24,r18 1842 0b78 931F adc r25,r19 1843 0b7a A41F adc r26,r20 1844 0b7c B51F adc r27,r21 1845 0b7e 8093 0000 sts IntegralAccZ,r24 1846 0b82 9093 0000 sts (IntegralAccZ)+1,r25 1847 0b86 A093 0000 sts (IntegralAccZ)+2,r26 1848 0b8a B093 0000 sts (IntegralAccZ)+3,r27 1849 0b8e 8FEC ldi r24,lo8(-49) 1850 0b90 8093 7A00 sts 122,r24 1851 0b94 1092 0000 sts AdReady,__zero_reg__ 1852 0b98 2091 0000 lds r18,Mess_IntegralRoll 1853 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1 1854 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2 1855 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3 1856 0ba8 2987 std Y+9,r18 1857 0baa 3A87 std Y+10,r19 1858 0bac 4B87 std Y+11,r20 1859 0bae 5C87 std Y+12,r21 1860 0bb0 2954 subi r18,lo8(93001) 1861 0bb2 3B46 sbci r19,hi8(93001) 1862 0bb4 4140 sbci r20,hlo8(93001) 1863 0bb6 5040 sbci r21,hhi8(93001) 1864 0bb8 04F0 brlt .L87 1865 0bba 28E4 ldi r18,lo8(93000) 1866 0bbc 3BE6 ldi r19,hi8(93000) 1867 0bbe 41E0 ldi r20,hlo8(93000) 1868 0bc0 50E0 ldi r21,hhi8(93000) 1869 0bc2 00C0 rjmp .L167 1870 .L87: 1871 0bc4 8985 ldd r24,Y+9 1872 0bc6 9A85 ldd r25,Y+10 1873 0bc8 AB85 ldd r26,Y+11 1874 0bca BC85 ldd r27,Y+12 1875 0bcc 885B subi r24,lo8(-93000) 1876 0bce 9449 sbci r25,hi8(-93000) 1877 0bd0 AE4F sbci r26,hlo8(-93000) 1878 0bd2 BF4F sbci r27,hhi8(-93000) 1879 0bd4 04F4 brge .L89 1880 0bd6 28EB ldi r18,lo8(-93000) 1881 0bd8 34E9 ldi r19,hi8(-93000) 1882 0bda 4EEF ldi r20,hlo8(-93000) 1883 0bdc 5FEF ldi r21,hhi8(-93000) 1884 .L167: 1885 0bde 2D83 std Y+5,r18 1886 0be0 3E83 std Y+6,r19 1887 0be2 4F83 std Y+7,r20 1888 0be4 5887 std Y+8,r21 1889 0be6 00C0 rjmp .L88 1890 .L89: 1891 0be8 8985 ldd r24,Y+9 1892 0bea 9A85 ldd r25,Y+10 1893 0bec AB85 ldd r26,Y+11 1894 0bee BC85 ldd r27,Y+12 1895 0bf0 8D83 std Y+5,r24 1896 0bf2 9E83 std Y+6,r25 1897 0bf4 AF83 std Y+7,r26 1898 0bf6 B887 std Y+8,r27 1899 .L88: 1900 0bf8 2091 0000 lds r18,Mess_IntegralNick 1901 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1 1902 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2 1903 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3 1904 0c08 2D87 std Y+13,r18 1905 0c0a 3E87 std Y+14,r19 1906 0c0c 4F87 std Y+15,r20 1907 0c0e 588B std Y+16,r21 1908 0c10 2954 subi r18,lo8(93001) 1909 0c12 3B46 sbci r19,hi8(93001) 1910 0c14 4140 sbci r20,hlo8(93001) 1911 0c16 5040 sbci r21,hhi8(93001) 1912 0c18 04F0 brlt .L91 1913 0c1a 28E4 ldi r18,lo8(93000) 1914 0c1c 3BE6 ldi r19,hi8(93000) 1915 0c1e 41E0 ldi r20,hlo8(93000) 1916 0c20 50E0 ldi r21,hhi8(93000) 1917 0c22 00C0 rjmp .L168 1918 .L91: 1919 0c24 8D85 ldd r24,Y+13 1920 0c26 9E85 ldd r25,Y+14 1921 0c28 AF85 ldd r26,Y+15 1922 0c2a B889 ldd r27,Y+16 1923 0c2c 885B subi r24,lo8(-93000) 1924 0c2e 9449 sbci r25,hi8(-93000) 1925 0c30 AE4F sbci r26,hlo8(-93000) 1926 0c32 BF4F sbci r27,hhi8(-93000) 1927 0c34 04F4 brge .L93 1928 0c36 28EB ldi r18,lo8(-93000) 1929 0c38 34E9 ldi r19,hi8(-93000) 1930 0c3a 4EEF ldi r20,hlo8(-93000) 1931 0c3c 5FEF ldi r21,hhi8(-93000) 1932 .L168: 1933 0c3e 2983 std Y+1,r18 1934 0c40 3A83 std Y+2,r19 1935 0c42 4B83 std Y+3,r20 1936 0c44 5C83 std Y+4,r21 1937 0c46 00C0 rjmp .L92 1938 .L93: 1939 0c48 8D85 ldd r24,Y+13 1940 0c4a 9E85 ldd r25,Y+14 1941 0c4c AF85 ldd r26,Y+15 1942 0c4e B889 ldd r27,Y+16 1943 0c50 8983 std Y+1,r24 1944 0c52 9A83 std Y+2,r25 1945 0c54 AB83 std Y+3,r26 1946 0c56 BC83 std Y+4,r27 1947 .L92: 1948 0c58 A091 0000 lds r26,MesswertGier 1949 0c5c B091 0000 lds r27,(MesswertGier)+1 1950 0c60 BB8B std Y+19,r27 1951 0c62 AA8B std Y+18,r26 1952 0c64 FD01 movw r30,r26 1953 0c66 CF01 movw r24,r30 1954 0c68 AA27 clr r26 1955 0c6a 97FD sbrc r25,7 1956 0c6c A095 com r26 1957 0c6e BA2F mov r27,r26 1958 0c70 A090 0000 lds r10,Mess_Integral_Gier 1959 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1 1960 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2 1961 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3 1962 0c80 A80E add r10,r24 1963 0c82 B91E adc r11,r25 1964 0c84 CA1E adc r12,r26 1965 0c86 DB1E adc r13,r27 1966 0c88 A092 0000 sts Mess_Integral_Gier,r10 1967 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11 1968 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12 1969 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13 1970 0c98 E090 0000 lds r14,ErsatzKompass 1971 0c9c F090 0000 lds r15,(ErsatzKompass)+1 1972 0ca0 0091 0000 lds r16,(ErsatzKompass)+2 1973 0ca4 1091 0000 lds r17,(ErsatzKompass)+3 1974 0ca8 E80E add r14,r24 1975 0caa F91E adc r15,r25 1976 0cac 0A1F adc r16,r26 1977 0cae 1B1F adc r17,r27 1978 0cb0 E092 0000 sts ErsatzKompass,r14 1979 0cb4 F092 0000 sts (ErsatzKompass)+1,r15 1980 0cb8 0093 0000 sts (ErsatzKompass)+2,r16 1981 0cbc 1093 0000 sts (ErsatzKompass)+3,r17 1982 0cc0 F091 0000 lds r31,Looping_Nick 1983 0cc4 F98B std Y+17,r31 1984 0cc6 FF23 tst r31 1985 0cc8 01F0 breq .+2 1986 0cca 00C0 rjmp .L95 1987 0ccc 8091 0000 lds r24,Looping_Roll 1988 0cd0 8823 tst r24 1989 0cd2 01F0 breq .+2 1990 0cd4 00C0 rjmp .L95 1991 0cd6 8091 0000 lds r24,Parameter_GlobalConfig 1992 0cda 86FF sbrs r24,6 1993 0cdc 00C0 rjmp .L95 1994 0cde 8091 0000 lds r24,MesswertRoll 1995 0ce2 9091 0000 lds r25,(MesswertRoll)+1 1996 0ce6 AA27 clr r26 1997 0ce8 97FD sbrc r25,7 1998 0cea A095 com r26 1999 0cec BA2F mov r27,r26 2000 0cee BC01 movw r22,r24 2001 0cf0 CD01 movw r24,r26 2002 0cf2 2981 ldd r18,Y+1 2003 0cf4 3A81 ldd r19,Y+2 2004 0cf6 4B81 ldd r20,Y+3 2005 0cf8 5C81 ldd r21,Y+4 2006 0cfa 0E94 0000 call __mulsi3 2007 0cfe 9B01 movw r18,r22 2008 0d00 AC01 movw r20,r24 2009 0d02 97FF sbrs r25,7 2010 0d04 00C0 rjmp .L96 2011 0d06 2150 subi r18,lo8(-(2047)) 2012 0d08 384F sbci r19,hi8(-(2047)) 2013 0d0a 4F4F sbci r20,hlo8(-(2047)) 2014 0d0c 5F4F sbci r21,hhi8(-(2047)) 2015 .L96: 2016 0d0e BBE0 ldi r27,11 2017 0d10 5595 1: asr r21 2018 0d12 4795 ror r20 2019 0d14 3795 ror r19 2020 0d16 2795 ror r18 2021 0d18 BA95 dec r27 2022 0d1a 01F4 brne 1b 2023 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2 2024 0d20 682E mov r6,r24 2025 0d22 7724 clr r7 2026 0d24 8824 clr r8 2027 0d26 9924 clr r9 2028 0d28 CA01 movw r24,r20 2029 0d2a B901 movw r22,r18 2030 0d2c A401 movw r20,r8 2031 0d2e 9301 movw r18,r6 2032 0d30 0E94 0000 call __mulsi3 2033 0d34 DC01 movw r26,r24 2034 0d36 CB01 movw r24,r22 2035 0d38 8093 0000 sts tmpl3.29,r24 2036 0d3c 9093 0000 sts (tmpl3.29)+1,r25 2037 0d40 A093 0000 sts (tmpl3.29)+2,r26 2038 0d44 B093 0000 sts (tmpl3.29)+3,r27 2039 0d48 B7FF sbrs r27,7 2040 0d4a 00C0 rjmp .L97 2041 0d4c 8150 subi r24,lo8(-(4095)) 2042 0d4e 904F sbci r25,hi8(-(4095)) 2043 0d50 AF4F sbci r26,hlo8(-(4095)) 2044 0d52 BF4F sbci r27,hhi8(-(4095)) 2045 .L97: 2046 0d54 1C01 movw r2,r24 2047 0d56 2D01 movw r4,r26 2048 0d58 ACE0 ldi r26,12 2049 0d5a 5594 1: asr r5 2050 0d5c 4794 ror r4 2051 0d5e 3794 ror r3 2052 0d60 2794 ror r2 2053 0d62 AA95 dec r26 2054 0d64 01F4 brne 1b 2055 0d66 2092 0000 sts tmpl3.29,r2 2056 0d6a 3092 0000 sts (tmpl3.29)+1,r3 2057 0d6e 4092 0000 sts (tmpl3.29)+2,r4 2058 0d72 5092 0000 sts (tmpl3.29)+3,r5 2059 0d76 8091 0000 lds r24,MesswertNick 2060 0d7a 9091 0000 lds r25,(MesswertNick)+1 2061 0d7e AA27 clr r26 2062 0d80 97FD sbrc r25,7 2063 0d82 A095 com r26 2064 0d84 BA2F mov r27,r26 2065 0d86 BC01 movw r22,r24 2066 0d88 CD01 movw r24,r26 2067 0d8a 2D81 ldd r18,Y+5 2068 0d8c 3E81 ldd r19,Y+6 2069 0d8e 4F81 ldd r20,Y+7 2070 0d90 5885 ldd r21,Y+8 2071 0d92 0E94 0000 call __mulsi3 2072 0d96 97FF sbrs r25,7 2073 0d98 00C0 rjmp .L98 2074 0d9a 6150 subi r22,lo8(-(2047)) 2075 0d9c 784F sbci r23,hi8(-(2047)) 2076 0d9e 8F4F sbci r24,hlo8(-(2047)) 2077 0da0 9F4F sbci r25,hhi8(-(2047)) 2078 .L98: 2079 0da2 FBE0 ldi r31,11 2080 0da4 9595 1: asr r25 2081 0da6 8795 ror r24 2082 0da8 7795 ror r23 2083 0daa 6795 ror r22 2084 0dac FA95 dec r31 2085 0dae 01F4 brne 1b 2086 0db0 A401 movw r20,r8 2087 0db2 9301 movw r18,r6 2088 0db4 0E94 0000 call __mulsi3 2089 0db8 DC01 movw r26,r24 2090 0dba CB01 movw r24,r22 2091 0dbc 8093 0000 sts tmpl4.30,r24 2092 0dc0 9093 0000 sts (tmpl4.30)+1,r25 2093 0dc4 A093 0000 sts (tmpl4.30)+2,r26 2094 0dc8 B093 0000 sts (tmpl4.30)+3,r27 2095 0dcc B7FF sbrs r27,7 2096 0dce 00C0 rjmp .L99 2097 0dd0 8150 subi r24,lo8(-(4095)) 2098 0dd2 904F sbci r25,hi8(-(4095)) 2099 0dd4 AF4F sbci r26,hlo8(-(4095)) 2100 0dd6 BF4F sbci r27,hhi8(-(4095)) 2101 .L99: 2102 0dd8 9C01 movw r18,r24 2103 0dda AD01 movw r20,r26 2104 0ddc ECE0 ldi r30,12 2105 0dde 5595 1: asr r21 2106 0de0 4795 ror r20 2107 0de2 3795 ror r19 2108 0de4 2795 ror r18 2109 0de6 EA95 dec r30 2110 0de8 01F4 brne 1b 2111 0dea 2093 0000 sts tmpl4.30,r18 2112 0dee 3093 0000 sts (tmpl4.30)+1,r19 2113 0df2 4093 0000 sts (tmpl4.30)+2,r20 2114 0df6 5093 0000 sts (tmpl4.30)+3,r21 2115 0dfa 8091 0000 lds r24,tmpl3.29 2116 0dfe 9091 0000 lds r25,(tmpl3.29)+1 2117 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25 2118 0e06 8093 0000 sts KopplungsteilNickRoll,r24 2119 0e0a 8091 0000 lds r24,tmpl4.30 2120 0e0e 9091 0000 lds r25,(tmpl4.30)+1 2121 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25 2122 0e16 8093 0000 sts KopplungsteilRollNick,r24 2123 0e1a 2219 sub r18,r2 2124 0e1c 3309 sbc r19,r3 2125 0e1e 4409 sbc r20,r4 2126 0e20 5509 sbc r21,r5 2127 0e22 2093 0000 sts tmpl4.30,r18 2128 0e26 3093 0000 sts (tmpl4.30)+1,r19 2129 0e2a 4093 0000 sts (tmpl4.30)+2,r20 2130 0e2e 5093 0000 sts (tmpl4.30)+3,r21 2131 0e32 E20E add r14,r18 2132 0e34 F31E adc r15,r19 2133 0e36 041F adc r16,r20 2134 0e38 151F adc r17,r21 2135 0e3a E092 0000 sts ErsatzKompass,r14 2136 0e3e F092 0000 sts (ErsatzKompass)+1,r15 2137 0e42 0093 0000 sts (ErsatzKompass)+2,r16 2138 0e46 1093 0000 sts (ErsatzKompass)+3,r17 2139 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection 2140 0e4e 8823 tst r24 2141 0e50 01F4 brne .L100 2142 0e52 57FF sbrs r21,7 2143 0e54 00C0 rjmp .L101 2144 0e56 2F5F subi r18,lo8(-(1)) 2145 0e58 3F4F sbci r19,hi8(-(1)) 2146 0e5a 4F4F sbci r20,hlo8(-(1)) 2147 0e5c 5F4F sbci r21,hhi8(-(1)) 2148 .L101: 2149 0e5e 5595 asr r21 2150 0e60 4795 ror r20 2151 0e62 3795 ror r19 2152 0e64 2795 ror r18 2153 0e66 A21A sub r10,r18 2154 0e68 B30A sbc r11,r19 2155 0e6a C40A sbc r12,r20 2156 0e6c D50A sbc r13,r21 2157 0e6e A092 0000 sts Mess_Integral_Gier,r10 2158 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11 2159 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12 2160 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13 2161 .L100: 2162 0e7e 2A89 ldd r18,Y+18 2163 0e80 3B89 ldd r19,Y+19 2164 0e82 7901 movw r14,r18 2165 0e84 0027 clr r16 2166 0e86 F7FC sbrc r15,7 2167 0e88 0095 com r16 2168 0e8a 102F mov r17,r16 2169 0e8c 8091 0000 lds r24,tmpl4.30 2170 0e90 9091 0000 lds r25,(tmpl4.30)+1 2171 0e94 A091 0000 lds r26,(tmpl4.30)+2 2172 0e98 B091 0000 lds r27,(tmpl4.30)+3 2173 0e9c E80E add r14,r24 2174 0e9e F91E adc r15,r25 2175 0ea0 0A1F adc r16,r26 2176 0ea2 1B1F adc r17,r27 2177 0ea4 C801 movw r24,r16 2178 0ea6 B701 movw r22,r14 2179 0ea8 2981 ldd r18,Y+1 2180 0eaa 3A81 ldd r19,Y+2 2181 0eac 4B81 ldd r20,Y+3 2182 0eae 5C81 ldd r21,Y+4 2183 0eb0 0E94 0000 call __mulsi3 2184 0eb4 9B01 movw r18,r22 2185 0eb6 AC01 movw r20,r24 2186 0eb8 97FF sbrs r25,7 2187 0eba 00C0 rjmp .L102 2188 0ebc 2150 subi r18,lo8(-(2047)) 2189 0ebe 384F sbci r19,hi8(-(2047)) 2190 0ec0 4F4F sbci r20,hlo8(-(2047)) 2191 0ec2 5F4F sbci r21,hhi8(-(2047)) 2192 .L102: 2193 0ec4 6BE0 ldi r22,11 2194 0ec6 5595 1: asr r21 2195 0ec8 4795 ror r20 2196 0eca 3795 ror r19 2197 0ecc 2795 ror r18 2198 0ece 6A95 dec r22 2199 0ed0 01F4 brne 1b 2200 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1 2201 0ed6 A82E mov r10,r24 2202 0ed8 BB24 clr r11 2203 0eda CC24 clr r12 2204 0edc DD24 clr r13 2205 0ede CA01 movw r24,r20 2206 0ee0 B901 movw r22,r18 2207 0ee2 A601 movw r20,r12 2208 0ee4 9501 movw r18,r10 2209 0ee6 0E94 0000 call __mulsi3 2210 0eea DC01 movw r26,r24 2211 0eec CB01 movw r24,r22 2212 0eee 8093 0000 sts tmpl.27,r24 2213 0ef2 9093 0000 sts (tmpl.27)+1,r25 2214 0ef6 A093 0000 sts (tmpl.27)+2,r26 2215 0efa B093 0000 sts (tmpl.27)+3,r27 2216 0efe B7FF sbrs r27,7 2217 0f00 00C0 rjmp .L103 2218 0f02 8150 subi r24,lo8(-(4095)) 2219 0f04 904F sbci r25,hi8(-(4095)) 2220 0f06 AF4F sbci r26,hlo8(-(4095)) 2221 0f08 BF4F sbci r27,hhi8(-(4095)) 2222 .L103: 2223 0f0a 3C01 movw r6,r24 2224 0f0c 4D01 movw r8,r26 2225 0f0e 3CE0 ldi r19,12 2226 0f10 9594 1: asr r9 2227 0f12 8794 ror r8 2228 0f14 7794 ror r7 2229 0f16 6794 ror r6 2230 0f18 3A95 dec r19 2231 0f1a 01F4 brne 1b 2232 0f1c 6092 0000 sts tmpl.27,r6 2233 0f20 7092 0000 sts (tmpl.27)+1,r7 2234 0f24 8092 0000 sts (tmpl.27)+2,r8 2235 0f28 9092 0000 sts (tmpl.27)+3,r9 2236 0f2c C801 movw r24,r16 2237 0f2e B701 movw r22,r14 2238 0f30 2D81 ldd r18,Y+5 2239 0f32 3E81 ldd r19,Y+6 2240 0f34 4F81 ldd r20,Y+7 2241 0f36 5885 ldd r21,Y+8 2242 0f38 0E94 0000 call __mulsi3 2243 0f3c 97FF sbrs r25,7 2244 0f3e 00C0 rjmp .L104 2245 0f40 6150 subi r22,lo8(-(2047)) 2246 0f42 784F sbci r23,hi8(-(2047)) 2247 0f44 8F4F sbci r24,hlo8(-(2047)) 2248 0f46 9F4F sbci r25,hhi8(-(2047)) 2249 .L104: 2250 0f48 2BE0 ldi r18,11 2251 0f4a 9595 1: asr r25 2252 0f4c 8795 ror r24 2253 0f4e 7795 ror r23 2254 0f50 6795 ror r22 2255 0f52 2A95 dec r18 2256 0f54 01F4 brne 1b 2257 0f56 A601 movw r20,r12 2258 0f58 9501 movw r18,r10 2259 0f5a 0E94 0000 call __mulsi3 2260 0f5e DC01 movw r26,r24 2261 0f60 CB01 movw r24,r22 2262 0f62 8093 0000 sts tmpl2.28,r24 2263 0f66 9093 0000 sts (tmpl2.28)+1,r25 2264 0f6a A093 0000 sts (tmpl2.28)+2,r26 2265 0f6e B093 0000 sts (tmpl2.28)+3,r27 2266 0f72 B7FF sbrs r27,7 2267 0f74 00C0 rjmp .L105 2268 0f76 8150 subi r24,lo8(-(4095)) 2269 0f78 904F sbci r25,hi8(-(4095)) 2270 0f7a AF4F sbci r26,hlo8(-(4095)) 2271 0f7c BF4F sbci r27,hhi8(-(4095)) 2272 .L105: 2273 0f7e AC01 movw r20,r24 2274 0f80 BD01 movw r22,r26 2275 0f82 8CE0 ldi r24,12 2276 0f84 7595 1: asr r23 2277 0f86 6795 ror r22 2278 0f88 5795 ror r21 2279 0f8a 4795 ror r20 2280 0f8c 8A95 dec r24 2281 0f8e 01F4 brne 1b 2282 0f90 4093 0000 sts tmpl2.28,r20 2283 0f94 5093 0000 sts (tmpl2.28)+1,r21 2284 0f98 6093 0000 sts (tmpl2.28)+2,r22 2285 0f9c 7093 0000 sts (tmpl2.28)+3,r23 2286 0fa0 2A89 ldd r18,Y+18 2287 0fa2 3B89 ldd r19,Y+19 2288 0fa4 37FF sbrs r19,7 2289 0fa6 00C0 rjmp .L107 2290 0fa8 3095 com r19 2291 0faa 2195 neg r18 2292 0fac 3F4F sbci r19,lo8(-1) 2293 .L107: 2294 0fae 2134 cpi r18,65 2295 0fb0 3105 cpc r19,__zero_reg__ 2296 0fb2 04F0 brlt .L112 2297 0fb4 D401 movw r26,r8 2298 0fb6 C301 movw r24,r6 2299 0fb8 97FE sbrs r9,7 2300 0fba 00C0 rjmp .L110 2301 0fbc B095 com r27 2302 0fbe A095 com r26 2303 0fc0 9095 com r25 2304 0fc2 8195 neg r24 2305 0fc4 9F4F sbci r25,lo8(-1) 2306 0fc6 AF4F sbci r26,lo8(-1) 2307 0fc8 BF4F sbci r27,lo8(-1) 2308 .L110: 2309 0fca 8138 cpi r24,lo8(129) 2310 0fcc 9105 cpc r25,__zero_reg__ 2311 0fce A105 cpc r26,__zero_reg__ 2312 0fd0 B105 cpc r27,__zero_reg__ 2313 0fd2 04F4 brge .L109 2314 0fd4 DB01 movw r26,r22 2315 0fd6 CA01 movw r24,r20 2316 0fd8 77FF sbrs r23,7 2317 0fda 00C0 rjmp .L111 2318 0fdc B095 com r27 2319 0fde A095 com r26 2320 0fe0 9095 com r25 2321 0fe2 8195 neg r24 2322 0fe4 9F4F sbci r25,lo8(-1) 2323 0fe6 AF4F sbci r26,lo8(-1) 2324 0fe8 BF4F sbci r27,lo8(-1) 2325 .L111: 2326 0fea 8138 cpi r24,lo8(129) 2327 0fec 9105 cpc r25,__zero_reg__ 2328 0fee A105 cpc r26,__zero_reg__ 2329 0ff0 B105 cpc r27,__zero_reg__ 2330 0ff2 04F0 brlt .L112 2331 .L109: 2332 0ff4 81E0 ldi r24,lo8(1) 2333 0ff6 8093 0000 sts TrichterFlug,r24 2334 0ffa 00C0 rjmp .L112 2335 .L95: 2336 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 2337 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 2338 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 2339 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 2340 100c 1092 0000 sts tmpl2.28,__zero_reg__ 2341 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__ 2342 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__ 2343 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__ 2344 101c 1092 0000 sts tmpl.27,__zero_reg__ 2345 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__ 2346 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__ 2347 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__ 2348 .L112: 2349 102c 8091 0000 lds r24,tmpl2.28 2350 1030 9091 0000 lds r25,(tmpl2.28)+1 2351 1034 A091 0000 lds r26,(tmpl2.28)+2 2352 1038 B091 0000 lds r27,(tmpl2.28)+3 2353 103c BC01 movw r22,r24 2354 103e CD01 movw r24,r26 2355 1040 24E6 ldi r18,lo8(100) 2356 1042 30E0 ldi r19,hi8(100) 2357 1044 40E0 ldi r20,hlo8(100) 2358 1046 50E0 ldi r21,hhi8(100) 2359 1048 0E94 0000 call __divmodsi4 2360 104c E090 0000 lds r14,tmpl.27 2361 1050 F090 0000 lds r15,(tmpl.27)+1 2362 1054 E21A sub r14,r18 2363 1056 F30A sbc r15,r19 2364 1058 F092 0000 sts (TrimRoll)+1,r15 2365 105c E092 0000 sts TrimRoll,r14 2366 1060 8091 0000 lds r24,tmpl.27 2367 1064 9091 0000 lds r25,(tmpl.27)+1 2368 1068 A091 0000 lds r26,(tmpl.27)+2 2369 106c B091 0000 lds r27,(tmpl.27)+3 2370 1070 BC01 movw r22,r24 2371 1072 CD01 movw r24,r26 2372 1074 24E6 ldi r18,lo8(100) 2373 1076 30E0 ldi r19,hi8(100) 2374 1078 40E0 ldi r20,hlo8(100) 2375 107a 50E0 ldi r21,hhi8(100) 2376 107c 0E94 0000 call __divmodsi4 2377 1080 DA01 movw r26,r20 2378 1082 C901 movw r24,r18 2379 1084 2091 0000 lds r18,tmpl2.28 2380 1088 3091 0000 lds r19,(tmpl2.28)+1 2381 108c 8C01 movw r16,r24 2382 108e 021B sub r16,r18 2383 1090 130B sbc r17,r19 2384 1092 1093 0000 sts (TrimNick)+1,r17 2385 1096 0093 0000 sts TrimNick,r16 2386 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR 2387 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 2388 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 2389 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 2390 10aa BC01 movw r22,r24 2391 10ac CD01 movw r24,r26 2392 10ae 28E6 ldi r18,lo8(360) 2393 10b0 31E0 ldi r19,hi8(360) 2394 10b2 40E0 ldi r20,hlo8(360) 2395 10b4 50E0 ldi r21,hhi8(360) 2396 10b6 0E94 0000 call __mulsi3 2397 10ba 2091 0000 lds r18,ErsatzKompass 2398 10be 3091 0000 lds r19,(ErsatzKompass)+1 2399 10c2 4091 0000 lds r20,(ErsatzKompass)+2 2400 10c6 5091 0000 lds r21,(ErsatzKompass)+3 2401 10ca 2617 cp r18,r22 2402 10cc 3707 cpc r19,r23 2403 10ce 4807 cpc r20,r24 2404 10d0 5907 cpc r21,r25 2405 10d2 04F0 brlt .L113 2406 10d4 261B sub r18,r22 2407 10d6 370B sbc r19,r23 2408 10d8 480B sbc r20,r24 2409 10da 590B sbc r21,r25 2410 10dc 2093 0000 sts ErsatzKompass,r18 2411 10e0 3093 0000 sts (ErsatzKompass)+1,r19 2412 10e4 4093 0000 sts (ErsatzKompass)+2,r20 2413 10e8 5093 0000 sts (ErsatzKompass)+3,r21 2414 .L113: 2415 10ec 2091 0000 lds r18,ErsatzKompass 2416 10f0 3091 0000 lds r19,(ErsatzKompass)+1 2417 10f4 4091 0000 lds r20,(ErsatzKompass)+2 2418 10f8 5091 0000 lds r21,(ErsatzKompass)+3 2419 10fc 57FF sbrs r21,7 2420 10fe 00C0 rjmp .L114 2421 1100 260F add r18,r22 2422 1102 371F adc r19,r23 2423 1104 481F adc r20,r24 2424 1106 591F adc r21,r25 2425 1108 2093 0000 sts ErsatzKompass,r18 2426 110c 3093 0000 sts (ErsatzKompass)+1,r19 2427 1110 4093 0000 sts (ErsatzKompass)+2,r20 2428 1114 5093 0000 sts (ErsatzKompass)+3,r21 2429 .L114: 2430 1118 6091 0000 lds r22,MesswertRoll 2431 111c 7091 0000 lds r23,(MesswertRoll)+1 2432 1120 6E0D add r22,r14 2433 1122 7F1D adc r23,r15 2434 1124 9B01 movw r18,r22 2435 1126 4427 clr r20 2436 1128 37FD sbrc r19,7 2437 112a 4095 com r20 2438 112c 542F mov r21,r20 2439 112e 8091 0000 lds r24,Mess_IntegralRoll2 2440 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2441 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2442 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3 2443 113e 820F add r24,r18 2444 1140 931F adc r25,r19 2445 1142 A41F adc r26,r20 2446 1144 B51F adc r27,r21 2447 1146 8093 0000 sts Mess_IntegralRoll2,r24 2448 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2449 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26 2450 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2451 1156 8091 0000 lds r24,LageKorrekturRoll 2452 115a 9091 0000 lds r25,(LageKorrekturRoll)+1 2453 115e 681B sub r22,r24 2454 1160 790B sbc r23,r25 2455 1162 CB01 movw r24,r22 2456 1164 AA27 clr r26 2457 1166 97FD sbrc r25,7 2458 1168 A095 com r26 2459 116a BA2F mov r27,r26 2460 116c 2985 ldd r18,Y+9 2461 116e 3A85 ldd r19,Y+10 2462 1170 4B85 ldd r20,Y+11 2463 1172 5C85 ldd r21,Y+12 2464 1174 820F add r24,r18 2465 1176 931F adc r25,r19 2466 1178 A41F adc r26,r20 2467 117a B51F adc r27,r21 2468 117c 8093 0000 sts Mess_IntegralRoll,r24 2469 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25 2470 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26 2471 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27 2472 118c C090 0000 lds r12,Umschlag180Roll 2473 1190 D090 0000 lds r13,(Umschlag180Roll)+1 2474 1194 E090 0000 lds r14,(Umschlag180Roll)+2 2475 1198 F090 0000 lds r15,(Umschlag180Roll)+3 2476 119c C816 cp r12,r24 2477 119e D906 cpc r13,r25 2478 11a0 EA06 cpc r14,r26 2479 11a2 FB06 cpc r15,r27 2480 11a4 04F4 brge .L115 2481 11a6 88EA ldi r24,lo8(25000) 2482 11a8 91E6 ldi r25,hi8(25000) 2483 11aa A0E0 ldi r26,hlo8(25000) 2484 11ac B0E0 ldi r27,hhi8(25000) 2485 11ae 8C19 sub r24,r12 2486 11b0 9D09 sbc r25,r13 2487 11b2 AE09 sbc r26,r14 2488 11b4 BF09 sbc r27,r15 2489 11b6 8093 0000 sts Mess_IntegralRoll,r24 2490 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25 2491 11be A093 0000 sts (Mess_IntegralRoll)+2,r26 2492 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27 2493 11c6 8093 0000 sts Mess_IntegralRoll2,r24 2494 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2495 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 2496 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2497 .L115: 2498 11d6 2227 clr r18 2499 11d8 3327 clr r19 2500 11da A901 movw r20,r18 2501 11dc 2C19 sub r18,r12 2502 11de 3D09 sbc r19,r13 2503 11e0 4E09 sbc r20,r14 2504 11e2 5F09 sbc r21,r15 2505 11e4 8091 0000 lds r24,Mess_IntegralRoll 2506 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1 2507 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2 2508 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3 2509 11f4 8217 cp r24,r18 2510 11f6 9307 cpc r25,r19 2511 11f8 A407 cpc r26,r20 2512 11fa B507 cpc r27,r21 2513 11fc 04F4 brge .L116 2514 11fe D701 movw r26,r14 2515 1200 C601 movw r24,r12 2516 1202 885A subi r24,lo8(-(-25000)) 2517 1204 9146 sbci r25,hi8(-(-25000)) 2518 1206 A040 sbci r26,hlo8(-(-25000)) 2519 1208 B040 sbci r27,hhi8(-(-25000)) 2520 120a 8093 0000 sts Mess_IntegralRoll,r24 2521 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25 2522 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26 2523 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27 2524 121a 8093 0000 sts Mess_IntegralRoll2,r24 2525 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2526 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2527 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2528 .L116: 2529 122a 6091 0000 lds r22,MesswertNick 2530 122e 7091 0000 lds r23,(MesswertNick)+1 2531 1232 600F add r22,r16 2532 1234 711F adc r23,r17 2533 1236 9B01 movw r18,r22 2534 1238 4427 clr r20 2535 123a 37FD sbrc r19,7 2536 123c 4095 com r20 2537 123e 542F mov r21,r20 2538 1240 8091 0000 lds r24,Mess_IntegralNick2 2539 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1 2540 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2 2541 124c B091 0000 lds r27,(Mess_IntegralNick2)+3 2542 1250 820F add r24,r18 2543 1252 931F adc r25,r19 2544 1254 A41F adc r26,r20 2545 1256 B51F adc r27,r21 2546 1258 8093 0000 sts Mess_IntegralNick2,r24 2547 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25 2548 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26 2549 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27 2550 1268 8091 0000 lds r24,LageKorrekturNick 2551 126c 9091 0000 lds r25,(LageKorrekturNick)+1 2552 1270 681B sub r22,r24 2553 1272 790B sbc r23,r25 2554 1274 CB01 movw r24,r22 2555 1276 AA27 clr r26 2556 1278 97FD sbrc r25,7 2557 127a A095 com r26 2558 127c BA2F mov r27,r26 2559 127e 2D85 ldd r18,Y+13 2560 1280 3E85 ldd r19,Y+14 2561 1282 4F85 ldd r20,Y+15 2562 1284 5889 ldd r21,Y+16 2563 1286 820F add r24,r18 2564 1288 931F adc r25,r19 2565 128a A41F adc r26,r20 2566 128c B51F adc r27,r21 2567 128e 8093 0000 sts Mess_IntegralNick,r24 2568 1292 9093 0000 sts (Mess_IntegralNick)+1,r25 2569 1296 A093 0000 sts (Mess_IntegralNick)+2,r26 2570 129a B093 0000 sts (Mess_IntegralNick)+3,r27 2571 129e E090 0000 lds r14,Umschlag180Nick 2572 12a2 F090 0000 lds r15,(Umschlag180Nick)+1 2573 12a6 0091 0000 lds r16,(Umschlag180Nick)+2 2574 12aa 1091 0000 lds r17,(Umschlag180Nick)+3 2575 12ae E816 cp r14,r24 2576 12b0 F906 cpc r15,r25 2577 12b2 0A07 cpc r16,r26 2578 12b4 1B07 cpc r17,r27 2579 12b6 04F4 brge .L117 2580 12b8 88EA ldi r24,lo8(25000) 2581 12ba 91E6 ldi r25,hi8(25000) 2582 12bc A0E0 ldi r26,hlo8(25000) 2583 12be B0E0 ldi r27,hhi8(25000) 2584 12c0 8E19 sub r24,r14 2585 12c2 9F09 sbc r25,r15 2586 12c4 A00B sbc r26,r16 2587 12c6 B10B sbc r27,r17 2588 12c8 8093 0000 sts Mess_IntegralNick,r24 2589 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25 2590 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26 2591 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27 2592 12d8 8093 0000 sts Mess_IntegralNick2,r24 2593 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25 2594 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26 2595 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27 2596 .L117: 2597 12e8 2227 clr r18 2598 12ea 3327 clr r19 2599 12ec A901 movw r20,r18 2600 12ee 2E19 sub r18,r14 2601 12f0 3F09 sbc r19,r15 2602 12f2 400B sbc r20,r16 2603 12f4 510B sbc r21,r17 2604 12f6 8091 0000 lds r24,Mess_IntegralNick 2605 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1 2606 12fe A091 0000 lds r26,(Mess_IntegralNick)+2 2607 1302 B091 0000 lds r27,(Mess_IntegralNick)+3 2608 1306 8217 cp r24,r18 2609 1308 9307 cpc r25,r19 2610 130a A407 cpc r26,r20 2611 130c B507 cpc r27,r21 2612 130e 04F4 brge .L118 2613 1310 D801 movw r26,r16 2614 1312 C701 movw r24,r14 2615 1314 885A subi r24,lo8(-(-25000)) 2616 1316 9146 sbci r25,hi8(-(-25000)) 2617 1318 A040 sbci r26,hlo8(-(-25000)) 2618 131a B040 sbci r27,hhi8(-(-25000)) 2619 131c 8093 0000 sts Mess_IntegralNick,r24 2620 1320 9093 0000 sts (Mess_IntegralNick)+1,r25 2621 1324 A093 0000 sts (Mess_IntegralNick)+2,r26 2622 1328 B093 0000 sts (Mess_IntegralNick)+3,r27 2623 132c 8093 0000 sts Mess_IntegralNick2,r24 2624 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25 2625 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26 2626 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27 2627 .L118: 2628 133c 8091 0000 lds r24,Mess_Integral_Gier 2629 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1 2630 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2 2631 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3 2632 134c 8093 0000 sts Integral_Gier,r24 2633 1350 9093 0000 sts (Integral_Gier)+1,r25 2634 1354 A093 0000 sts (Integral_Gier)+2,r26 2635 1358 B093 0000 sts (Integral_Gier)+3,r27 2636 135c 8091 0000 lds r24,Mess_IntegralNick 2637 1360 9091 0000 lds r25,(Mess_IntegralNick)+1 2638 1364 A091 0000 lds r26,(Mess_IntegralNick)+2 2639 1368 B091 0000 lds r27,(Mess_IntegralNick)+3 2640 136c 8093 0000 sts IntegralNick,r24 2641 1370 9093 0000 sts (IntegralNick)+1,r25 2642 1374 A093 0000 sts (IntegralNick)+2,r26 2643 1378 B093 0000 sts (IntegralNick)+3,r27 2644 137c 8091 0000 lds r24,Mess_IntegralRoll 2645 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1 2646 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2 2647 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3 2648 138c 8093 0000 sts IntegralRoll,r24 2649 1390 9093 0000 sts (IntegralRoll)+1,r25 2650 1394 A093 0000 sts (IntegralRoll)+2,r26 2651 1398 B093 0000 sts (IntegralRoll)+3,r27 2652 139c 8091 0000 lds r24,Mess_IntegralNick2 2653 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1 2654 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2 2655 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3 2656 13ac 8093 0000 sts IntegralNick2,r24 2657 13b0 9093 0000 sts (IntegralNick2)+1,r25 2658 13b4 A093 0000 sts (IntegralNick2)+2,r26 2659 13b8 B093 0000 sts (IntegralNick2)+3,r27 2660 13bc 8091 0000 lds r24,Mess_IntegralRoll2 2661 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2662 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2663 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3 2664 13cc 8093 0000 sts IntegralRoll2,r24 2665 13d0 9093 0000 sts (IntegralRoll2)+1,r25 2666 13d4 A093 0000 sts (IntegralRoll2)+2,r26 2667 13d8 B093 0000 sts (IntegralRoll2)+3,r27 2668 13dc 8091 0000 lds r24,HiResNick 2669 13e0 9091 0000 lds r25,(HiResNick)+1 2670 13e4 97FD sbrc r25,7 2671 13e6 0796 adiw r24,7 2672 .L119: 2673 13e8 03E0 ldi r16,3 2674 13ea 9595 1: asr r25 2675 13ec 8795 ror r24 2676 13ee 0A95 dec r16 2677 13f0 01F4 brne 1b 2678 13f2 9093 0000 sts (MesswertNick)+1,r25 2679 13f6 8093 0000 sts MesswertNick,r24 2680 13fa 8091 0000 lds r24,HiResRoll 2681 13fe 9091 0000 lds r25,(HiResRoll)+1 2682 1402 97FD sbrc r25,7 2683 1404 0796 adiw r24,7 2684 .L120: 2685 1406 13E0 ldi r17,3 2686 1408 9595 1: asr r25 2687 140a 8795 ror r24 2688 140c 1A95 dec r17 2689 140e 01F4 brne 1b 2690 1410 9093 0000 sts (MesswertRoll)+1,r25 2691 1414 8093 0000 sts MesswertRoll,r24 2692 1418 8091 0000 lds r24,AdWertNick 2693 141c 9091 0000 lds r25,(AdWertNick)+1 2694 1420 0F97 sbiw r24,15 2695 1422 04F4 brge .L121 2696 1424 88E1 ldi r24,lo8(-1000) 2697 1426 9CEF ldi r25,hi8(-1000) 2698 1428 9093 0000 sts (MesswertNick)+1,r25 2699 142c 8093 0000 sts MesswertNick,r24 2700 .L121: 2701 1430 8091 0000 lds r24,AdWertNick 2702 1434 9091 0000 lds r25,(AdWertNick)+1 2703 1438 0797 sbiw r24,7 2704 143a 04F4 brge .L122 2705 143c 80E3 ldi r24,lo8(-2000) 2706 143e 98EF ldi r25,hi8(-2000) 2707 1440 9093 0000 sts (MesswertNick)+1,r25 2708 1444 8093 0000 sts MesswertNick,r24 2709 .L122: 2710 1448 2091 0000 lds r18,PlatinenVersion 2711 144c 2A30 cpi r18,lo8(10) 2712 144e 01F4 brne .L123 2713 1450 8091 0000 lds r24,AdWertNick 2714 1454 9091 0000 lds r25,(AdWertNick)+1 2715 1458 835F subi r24,lo8(1011) 2716 145a 9340 sbci r25,hi8(1011) 2717 145c 04F0 brlt .L124 2718 145e 88EE ldi r24,lo8(1000) 2719 1460 93E0 ldi r25,hi8(1000) 2720 1462 9093 0000 sts (MesswertNick)+1,r25 2721 1466 8093 0000 sts MesswertNick,r24 2722 .L124: 2723 146a 8091 0000 lds r24,AdWertNick 2724 146e 9091 0000 lds r25,(AdWertNick)+1 2725 1472 8A5F subi r24,lo8(1018) 2726 1474 9340 sbci r25,hi8(1018) 2727 1476 04F0 brlt .L126 2728 1478 00C0 rjmp .L169 2729 .L123: 2730 147a 8091 0000 lds r24,AdWertNick 2731 147e 9091 0000 lds r25,(AdWertNick)+1 2732 1482 815D subi r24,lo8(2001) 2733 1484 9740 sbci r25,hi8(2001) 2734 1486 04F0 brlt .L127 2735 1488 88EE ldi r24,lo8(1000) 2736 148a 93E0 ldi r25,hi8(1000) 2737 148c 9093 0000 sts (MesswertNick)+1,r25 2738 1490 8093 0000 sts MesswertNick,r24 2739 .L127: 2740 1494 8091 0000 lds r24,AdWertNick 2741 1498 9091 0000 lds r25,(AdWertNick)+1 2742 149c 805E subi r24,lo8(2016) 2743 149e 9740 sbci r25,hi8(2016) 2744 14a0 04F0 brlt .L126 2745 .L169: 2746 14a2 80ED ldi r24,lo8(2000) 2747 14a4 97E0 ldi r25,hi8(2000) 2748 14a6 9093 0000 sts (MesswertNick)+1,r25 2749 14aa 8093 0000 sts MesswertNick,r24 2750 .L126: 2751 14ae 8091 0000 lds r24,AdWertRoll 2752 14b2 9091 0000 lds r25,(AdWertRoll)+1 2753 14b6 0F97 sbiw r24,15 2754 14b8 04F4 brge .L129 2755 14ba 88E1 ldi r24,lo8(-1000) 2756 14bc 9CEF ldi r25,hi8(-1000) 2757 14be 9093 0000 sts (MesswertRoll)+1,r25 2758 14c2 8093 0000 sts MesswertRoll,r24 2759 .L129: 2760 14c6 8091 0000 lds r24,AdWertRoll 2761 14ca 9091 0000 lds r25,(AdWertRoll)+1 2762 14ce 0797 sbiw r24,7 2763 14d0 04F4 brge .L130 2764 14d2 80E3 ldi r24,lo8(-2000) 2765 14d4 98EF ldi r25,hi8(-2000) 2766 14d6 9093 0000 sts (MesswertRoll)+1,r25 2767 14da 8093 0000 sts MesswertRoll,r24 2768 .L130: 2769 14de 2A30 cpi r18,lo8(10) 2770 14e0 01F4 brne .L131 2771 14e2 8091 0000 lds r24,AdWertRoll 2772 14e6 9091 0000 lds r25,(AdWertRoll)+1 2773 14ea 835F subi r24,lo8(1011) 2774 14ec 9340 sbci r25,hi8(1011) 2775 14ee 04F0 brlt .L132 2776 14f0 88EE ldi r24,lo8(1000) 2777 14f2 93E0 ldi r25,hi8(1000) 2778 14f4 9093 0000 sts (MesswertRoll)+1,r25 2779 14f8 8093 0000 sts MesswertRoll,r24 2780 .L132: 2781 14fc 8091 0000 lds r24,AdWertRoll 2782 1500 9091 0000 lds r25,(AdWertRoll)+1 2783 1504 8A5F subi r24,lo8(1018) 2784 1506 9340 sbci r25,hi8(1018) 2785 1508 04F0 brlt .L134 2786 150a 00C0 rjmp .L170 2787 .L131: 2788 150c 8091 0000 lds r24,AdWertRoll 2789 1510 9091 0000 lds r25,(AdWertRoll)+1 2790 1514 815D subi r24,lo8(2001) 2791 1516 9740 sbci r25,hi8(2001) 2792 1518 04F0 brlt .L135 2793 151a 88EE ldi r24,lo8(1000) 2794 151c 93E0 ldi r25,hi8(1000) 2795 151e 9093 0000 sts (MesswertRoll)+1,r25 2796 1522 8093 0000 sts MesswertRoll,r24 2797 .L135: 2798 1526 8091 0000 lds r24,AdWertRoll 2799 152a 9091 0000 lds r25,(AdWertRoll)+1 2800 152e 805E subi r24,lo8(2016) 2801 1530 9740 sbci r25,hi8(2016) 2802 1532 04F0 brlt .L134 2803 .L170: 2804 1534 80ED ldi r24,lo8(2000) 2805 1536 97E0 ldi r25,hi8(2000) 2806 1538 9093 0000 sts (MesswertRoll)+1,r25 2807 153c 8093 0000 sts MesswertRoll,r24 2808 .L134: 2809 1540 6091 0000 lds r22,Parameter_Gyro_D 2810 1544 6623 tst r22 2811 1546 01F4 brne .+2 2812 1548 00C0 rjmp .L137 2813 154a 4091 0000 lds r20,HiResNick 2814 154e 5091 0000 lds r21,(HiResNick)+1 2815 1552 8091 0000 lds r24,oldNick.31 2816 1556 9091 0000 lds r25,(oldNick.31)+1 2817 155a 481B sub r20,r24 2818 155c 590B sbc r21,r25 2819 155e 5093 0000 sts (d2Nick.34)+1,r21 2820 1562 4093 0000 sts d2Nick.34,r20 2821 1566 2091 0000 lds r18,HiResNick 2822 156a 3091 0000 lds r19,(HiResNick)+1 2823 156e 280F add r18,r24 2824 1570 391F adc r19,r25 2825 1572 37FF sbrs r19,7 2826 1574 00C0 rjmp .L138 2827 1576 2F5F subi r18,lo8(-(1)) 2828 1578 3F4F sbci r19,hi8(-(1)) 2829 .L138: 2830 157a 3595 asr r19 2831 157c 2795 ror r18 2832 157e 3093 0000 sts (oldNick.31)+1,r19 2833 1582 2093 0000 sts oldNick.31,r18 2834 1586 4138 cpi r20,129 2835 1588 5105 cpc r21,__zero_reg__ 2836 158a 04F0 brlt .L139 2837 158c 80E8 ldi r24,lo8(128) 2838 158e 90E0 ldi r25,hi8(128) 2839 1590 00C0 rjmp .L171 2840 .L139: 2841 1592 4058 subi r20,lo8(-128) 2842 1594 5F4F sbci r21,hi8(-128) 2843 1596 04F4 brge .L140 2844 1598 80E8 ldi r24,lo8(-128) 2845 159a 9FEF ldi r25,hi8(-128) 2846 .L171: 2847 159c 9093 0000 sts (d2Nick.34)+1,r25 2848 15a0 8093 0000 sts d2Nick.34,r24 2849 .L140: 2850 15a4 4091 0000 lds r20,HiResRoll 2851 15a8 5091 0000 lds r21,(HiResRoll)+1 2852 15ac 8091 0000 lds r24,oldRoll.32 2853 15b0 9091 0000 lds r25,(oldRoll.32)+1 2854 15b4 481B sub r20,r24 2855 15b6 590B sbc r21,r25 2856 15b8 5093 0000 sts (d2Roll.33)+1,r21 2857 15bc 4093 0000 sts d2Roll.33,r20 2858 15c0 2091 0000 lds r18,HiResRoll 2859 15c4 3091 0000 lds r19,(HiResRoll)+1 2860 15c8 280F add r18,r24 2861 15ca 391F adc r19,r25 2862 15cc 37FF sbrs r19,7 2863 15ce 00C0 rjmp .L142 2864 15d0 2F5F subi r18,lo8(-(1)) 2865 15d2 3F4F sbci r19,hi8(-(1)) 2866 .L142: 2867 15d4 3595 asr r19 2868 15d6 2795 ror r18 2869 15d8 3093 0000 sts (oldRoll.32)+1,r19 2870 15dc 2093 0000 sts oldRoll.32,r18 2871 15e0 4138 cpi r20,129 2872 15e2 5105 cpc r21,__zero_reg__ 2873 15e4 04F0 brlt .L143 2874 15e6 80E8 ldi r24,lo8(128) 2875 15e8 90E0 ldi r25,hi8(128) 2876 15ea 00C0 rjmp .L172 2877 .L143: 2878 15ec 4058 subi r20,lo8(-128) 2879 15ee 5F4F sbci r21,hi8(-128) 2880 15f0 04F4 brge .L144 2881 15f2 80E8 ldi r24,lo8(-128) 2882 15f4 9FEF ldi r25,hi8(-128) 2883 .L172: 2884 15f6 9093 0000 sts (d2Roll.33)+1,r25 2885 15fa 8093 0000 sts d2Roll.33,r24 2886 .L144: 2887 15fe 462F mov r20,r22 2888 1600 5527 clr r21 2889 1602 8091 0000 lds r24,d2Nick.34 2890 1606 9091 0000 lds r25,(d2Nick.34)+1 2891 160a 849F mul r24,r20 2892 160c B001 movw r22,r0 2893 160e 859F mul r24,r21 2894 1610 700D add r23,r0 2895 1612 949F mul r25,r20 2896 1614 700D add r23,r0 2897 1616 1124 clr r1 2898 1618 9B01 movw r18,r22 2899 161a 77FF sbrs r23,7 2900 161c 00C0 rjmp .L146 2901 161e 215F subi r18,lo8(-(15)) 2902 1620 3F4F sbci r19,hi8(-(15)) 2903 .L146: 2904 1622 F4E0 ldi r31,4 2905 1624 3595 1: asr r19 2906 1626 2795 ror r18 2907 1628 FA95 dec r31 2908 162a 01F4 brne 1b 2909 162c 8091 0000 lds r24,MesswertNick 2910 1630 9091 0000 lds r25,(MesswertNick)+1 2911 1634 820F add r24,r18 2912 1636 931F adc r25,r19 2913 1638 9093 0000 sts (MesswertNick)+1,r25 2914 163c 8093 0000 sts MesswertNick,r24 2915 1640 8091 0000 lds r24,d2Roll.33 2916 1644 9091 0000 lds r25,(d2Roll.33)+1 2917 1648 849F mul r24,r20 2918 164a D001 movw r26,r0 2919 164c 859F mul r24,r21 2920 164e B00D add r27,r0 2921 1650 949F mul r25,r20 2922 1652 B00D add r27,r0 2923 1654 1124 clr r1 2924 1656 AD01 movw r20,r26 2925 1658 9D01 movw r18,r26 2926 165a B7FF sbrs r27,7 2927 165c 00C0 rjmp .L147 2928 165e 215F subi r18,lo8(-(15)) 2929 1660 3F4F sbci r19,hi8(-(15)) 2930 .L147: 2931 1662 E4E0 ldi r30,4 2932 1664 3595 1: asr r19 2933 1666 2795 ror r18 2934 1668 EA95 dec r30 2935 166a 01F4 brne 1b 2936 166c 8091 0000 lds r24,MesswertRoll 2937 1670 9091 0000 lds r25,(MesswertRoll)+1 2938 1674 820F add r24,r18 2939 1676 931F adc r25,r19 2940 1678 9093 0000 sts (MesswertRoll)+1,r25 2941 167c 8093 0000 sts MesswertRoll,r24 2942 1680 8091 0000 lds r24,HiResNick 2943 1684 9091 0000 lds r25,(HiResNick)+1 2944 1688 860F add r24,r22 2945 168a 971F adc r25,r23 2946 168c 9093 0000 sts (HiResNick)+1,r25 2947 1690 8093 0000 sts HiResNick,r24 2948 1694 8091 0000 lds r24,HiResRoll 2949 1698 9091 0000 lds r25,(HiResRoll)+1 2950 169c 840F add r24,r20 2951 169e 951F adc r25,r21 2952 16a0 9093 0000 sts (HiResRoll)+1,r25 2953 16a4 8093 0000 sts HiResRoll,r24 2954 .L137: 2955 16a8 0091 0000 lds r16,RohMesswertRoll 2956 16ac 1091 0000 lds r17,(RohMesswertRoll)+1 2957 16b0 8091 0000 lds r24,KopplungsteilNickRoll 2958 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1 2959 16b8 1016 cp __zero_reg__,r16 2960 16ba 1106 cpc __zero_reg__,r17 2961 16bc 04F4 brge .L148 2962 16be 9C01 movw r18,r24 2963 16c0 97FF sbrs r25,7 2964 16c2 00C0 rjmp .L149 2965 16c4 2227 clr r18 2966 16c6 3327 clr r19 2967 16c8 281B sub r18,r24 2968 16ca 390B sbc r19,r25 2969 .L149: 2970 16cc C901 movw r24,r18 2971 16ce AA27 clr r26 2972 16d0 97FD sbrc r25,7 2973 16d2 A095 com r26 2974 16d4 BA2F mov r27,r26 2975 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection 2976 16da 3327 clr r19 2977 16dc 4427 clr r20 2978 16de 5527 clr r21 2979 16e0 BC01 movw r22,r24 2980 16e2 CD01 movw r24,r26 2981 16e4 0E94 0000 call __mulsi3 2982 16e8 9B01 movw r18,r22 2983 16ea AC01 movw r20,r24 2984 16ec 97FF sbrs r25,7 2985 16ee 00C0 rjmp .L150 2986 16f0 215C subi r18,lo8(-(63)) 2987 16f2 3F4F sbci r19,hi8(-(63)) 2988 16f4 4F4F sbci r20,hlo8(-(63)) 2989 16f6 5F4F sbci r21,hhi8(-(63)) 2990 .L150: 2991 16f8 76E0 ldi r23,6 2992 16fa 5595 1: asr r21 2993 16fc 4795 ror r20 2994 16fe 3795 ror r19 2995 1700 2795 ror r18 2996 1702 7A95 dec r23 2997 1704 01F4 brne 1b 2998 1706 8091 0000 lds r24,TrimRoll 2999 170a 9091 0000 lds r25,(TrimRoll)+1 3000 170e 820F add r24,r18 3001 1710 931F adc r25,r19 3002 1712 00C0 rjmp .L173 3003 .L148: 3004 1714 97FF sbrs r25,7 3005 1716 00C0 rjmp .L152 3006 1718 9095 com r25 3007 171a 8195 neg r24 3008 171c 9F4F sbci r25,lo8(-1) 3009 .L152: 3010 171e AA27 clr r26 3011 1720 97FD sbrc r25,7 3012 1722 A095 com r26 3013 1724 BA2F mov r27,r26 3014 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection 3015 172a 3327 clr r19 3016 172c 4427 clr r20 3017 172e 5527 clr r21 3018 1730 BC01 movw r22,r24 3019 1732 CD01 movw r24,r26 3020 1734 0E94 0000 call __mulsi3 3021 1738 9B01 movw r18,r22 3022 173a AC01 movw r20,r24 3023 173c 97FF sbrs r25,7 3024 173e 00C0 rjmp .L153 3025 1740 215C subi r18,lo8(-(63)) 3026 1742 3F4F sbci r19,hi8(-(63)) 3027 1744 4F4F sbci r20,hlo8(-(63)) 3028 1746 5F4F sbci r21,hhi8(-(63)) 3029 .L153: 3030 1748 66E0 ldi r22,6 3031 174a 5595 1: asr r21 3032 174c 4795 ror r20 3033 174e 3795 ror r19 3034 1750 2795 ror r18 3035 1752 6A95 dec r22 3036 1754 01F4 brne 1b 3037 1756 8091 0000 lds r24,TrimRoll 3038 175a 9091 0000 lds r25,(TrimRoll)+1 3039 175e 821B sub r24,r18 3040 1760 930B sbc r25,r19 3041 .L173: 3042 1762 9093 0000 sts (TrimRoll)+1,r25 3043 1766 8093 0000 sts TrimRoll,r24 3044 176a E090 0000 lds r14,RohMesswertNick 3045 176e F090 0000 lds r15,(RohMesswertNick)+1 3046 1772 8091 0000 lds r24,KopplungsteilRollNick 3047 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1 3048 177a 1E14 cp __zero_reg__,r14 3049 177c 1F04 cpc __zero_reg__,r15 3050 177e 04F4 brge .L154 3051 1780 9C01 movw r18,r24 3052 1782 97FF sbrs r25,7 3053 1784 00C0 rjmp .L155 3054 1786 2227 clr r18 3055 1788 3327 clr r19 3056 178a 281B sub r18,r24 3057 178c 390B sbc r19,r25 3058 .L155: 3059 178e C901 movw r24,r18 3060 1790 AA27 clr r26 3061 1792 97FD sbrc r25,7 3062 1794 A095 com r26 3063 1796 BA2F mov r27,r26 3064 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection 3065 179c 3327 clr r19 3066 179e 4427 clr r20 3067 17a0 5527 clr r21 3068 17a2 BC01 movw r22,r24 3069 17a4 CD01 movw r24,r26 3070 17a6 0E94 0000 call __mulsi3 3071 17aa 9B01 movw r18,r22 3072 17ac AC01 movw r20,r24 3073 17ae 97FF sbrs r25,7 3074 17b0 00C0 rjmp .L156 3075 17b2 215C subi r18,lo8(-(63)) 3076 17b4 3F4F sbci r19,hi8(-(63)) 3077 17b6 4F4F sbci r20,hlo8(-(63)) 3078 17b8 5F4F sbci r21,hhi8(-(63)) 3079 .L156: 3080 17ba 96E0 ldi r25,6 3081 17bc 5595 1: asr r21 3082 17be 4795 ror r20 3083 17c0 3795 ror r19 3084 17c2 2795 ror r18 3085 17c4 9A95 dec r25 3086 17c6 01F4 brne 1b 3087 17c8 8091 0000 lds r24,TrimNick 3088 17cc 9091 0000 lds r25,(TrimNick)+1 3089 17d0 820F add r24,r18 3090 17d2 931F adc r25,r19 3091 17d4 00C0 rjmp .L174 3092 .L154: 3093 17d6 97FF sbrs r25,7 3094 17d8 00C0 rjmp .L158 3095 17da 9095 com r25 3096 17dc 8195 neg r24 3097 17de 9F4F sbci r25,lo8(-1) 3098 .L158: 3099 17e0 AA27 clr r26 3100 17e2 97FD sbrc r25,7 3101 17e4 A095 com r26 3102 17e6 BA2F mov r27,r26 3103 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection 3104 17ec 3327 clr r19 3105 17ee 4427 clr r20 3106 17f0 5527 clr r21 3107 17f2 BC01 movw r22,r24 3108 17f4 CD01 movw r24,r26 3109 17f6 0E94 0000 call __mulsi3 3110 17fa 9B01 movw r18,r22 3111 17fc AC01 movw r20,r24 3112 17fe 97FF sbrs r25,7 3113 1800 00C0 rjmp .L159 3114 1802 215C subi r18,lo8(-(63)) 3115 1804 3F4F sbci r19,hi8(-(63)) 3116 1806 4F4F sbci r20,hlo8(-(63)) 3117 1808 5F4F sbci r21,hhi8(-(63)) 3118 .L159: 3119 180a 86E0 ldi r24,6 3120 180c 5595 1: asr r21 3121 180e 4795 ror r20 3122 1810 3795 ror r19 3123 1812 2795 ror r18 3124 1814 8A95 dec r24 3125 1816 01F4 brne 1b 3126 1818 8091 0000 lds r24,TrimNick 3127 181c 9091 0000 lds r25,(TrimNick)+1 3128 1820 821B sub r24,r18 3129 1822 930B sbc r25,r19 3130 .L174: 3131 1824 9093 0000 sts (TrimNick)+1,r25 3132 1828 8093 0000 sts TrimNick,r24 3133 182c 8091 0000 lds r24,Parameter_GlobalConfig 3134 1830 87FF sbrs r24,7 3135 1832 00C0 rjmp .L82 3136 1834 B989 ldd r27,Y+17 3137 1836 BB23 tst r27 3138 1838 01F0 breq .+2 3139 183a 00C0 rjmp .L82 3140 183c 8091 0000 lds r24,Looping_Roll 3141 1840 8823 tst r24 3142 1842 01F4 brne .L82 3143 1844 E1E0 ldi r30,lo8(257) 3144 1846 EE16 cp r14,r30 3145 1848 E1E0 ldi r30,hi8(257) 3146 184a FE06 cpc r15,r30 3147 184c 04F0 brlt .L161 3148 184e 8091 0000 lds r24,MesswertNick 3149 1852 9091 0000 lds r25,(MesswertNick)+1 3150 1856 8E0D add r24,r14 3151 1858 9F1D adc r25,r15 3152 185a 8050 subi r24,lo8(-(-256)) 3153 185c 9140 sbci r25,hi8(-(-256)) 3154 185e 00C0 rjmp .L175 3155 .L161: 3156 1860 F0E0 ldi r31,lo8(-256) 3157 1862 EF16 cp r14,r31 3158 1864 FFEF ldi r31,hi8(-256) 3159 1866 FF06 cpc r15,r31 3160 1868 04F4 brge .L162 3161 186a 8091 0000 lds r24,MesswertNick 3162 186e 9091 0000 lds r25,(MesswertNick)+1 3163 1872 8E0D add r24,r14 3164 1874 9F1D adc r25,r15 3165 1876 8050 subi r24,lo8(-(256)) 3166 1878 9F4F sbci r25,hi8(-(256)) 3167 .L175: 3168 187a 9093 0000 sts (MesswertNick)+1,r25 3169 187e 8093 0000 sts MesswertNick,r24 3170 .L162: 3171 1882 21E0 ldi r18,hi8(257) 3172 1884 0130 cpi r16,lo8(257) 3173 1886 1207 cpc r17,r18 3174 1888 04F0 brlt .L164 3175 188a 8091 0000 lds r24,MesswertRoll 3176 188e 9091 0000 lds r25,(MesswertRoll)+1 3177 1892 800F add r24,r16 3178 1894 911F adc r25,r17 3179 1896 8050 subi r24,lo8(-(-256)) 3180 1898 9140 sbci r25,hi8(-(-256)) 3181 189a 00C0 rjmp .L176 3182 .L164: 3183 189c 3FEF ldi r19,hi8(-256) 3184 189e 0030 cpi r16,lo8(-256) 3185 18a0 1307 cpc r17,r19 3186 18a2 04F4 brge .L82 3187 18a4 8091 0000 lds r24,MesswertRoll 3188 18a8 9091 0000 lds r25,(MesswertRoll)+1 3189 18ac 800F add r24,r16 3190 18ae 911F adc r25,r17 3191 18b0 8050 subi r24,lo8(-(256)) 3192 18b2 9F4F sbci r25,hi8(-(256)) 3193 .L176: 3194 18b4 9093 0000 sts (MesswertRoll)+1,r25 3195 18b8 8093 0000 sts MesswertRoll,r24 3196 .L82: 3197 /* epilogue: frame size=19 */ 3198 18bc E2E1 ldi r30,18 3199 18be CD5E subi r28,-19 3200 18c0 0C94 0000 jmp __epilogue_restores__+0 3201 /* epilogue end (size=4) */ 3202 /* function Mittelwert size 2000 (1990) */ 3204 .global SendMotorData 3206 SendMotorData: 3207 /* prologue: frame size=0 */ 3208 /* prologue end (size=0) */ 3209 18c4 8091 0000 lds r24,MotorenEin 3210 18c8 8823 tst r24 3211 18ca 01F4 brne .L178 3212 18cc 8091 0000 lds r24,FC_StatusFlags 3213 18d0 8C7F andi r24,lo8(-4) 3214 18d2 8093 0000 sts FC_StatusFlags,r24 3215 18d6 A0E0 ldi r26,lo8(MotorTest) 3216 18d8 B0E0 ldi r27,hi8(MotorTest) 3217 18da E0E0 ldi r30,lo8(Motor) 3218 18dc F0E0 ldi r31,hi8(Motor) 3219 18de 9BE0 ldi r25,lo8(11) 3220 .L183: 3221 18e0 8091 0000 lds r24,PC_MotortestActive 3222 18e4 8823 tst r24 3223 18e6 01F4 brne .L182 3224 18e8 8C93 st X,r24 3225 .L182: 3226 18ea 8D91 ld r24,X+ 3227 18ec 8183 std Z+1,r24 3228 18ee 1282 std Z+2,__zero_reg__ 3229 18f0 9150 subi r25,lo8(-(-1)) 3230 18f2 3896 adiw r30,8 3231 18f4 97FF sbrs r25,7 3232 18f6 00C0 rjmp .L183 3233 18f8 8091 0000 lds r24,PC_MotortestActive 3234 18fc 8823 tst r24 3235 18fe 01F0 breq .L185 3236 1900 8091 0000 lds r24,PC_MotortestActive 3237 1904 8150 subi r24,lo8(-(-1)) 3238 1906 8093 0000 sts PC_MotortestActive,r24 3239 190a 00C0 rjmp .L185 3240 .L178: 3241 190c 8091 0000 lds r24,FC_StatusFlags 3242 1910 8160 ori r24,lo8(1) 3243 1912 8093 0000 sts FC_StatusFlags,r24 3244 .L185: 3245 1916 8091 0000 lds r24,I2C_TransferActive 3246 191a 8823 tst r24 3247 191c 01F0 breq .L186 3248 191e 1092 0000 sts I2C_TransferActive,__zero_reg__ 3249 1922 0895 ret 3250 .L186: 3251 1924 8093 0000 sts motor_write,r24 3252 1928 8093 0000 sts twi_state,r24 3253 192c 8091 0000 lds r24,BLFlags 3254 1930 8E7F andi r24,lo8(-2) 3255 1932 8093 0000 sts BLFlags,r24 3256 1936 85EA ldi r24,lo8(-91) 3257 1938 8093 BC00 sts 188,r24 3258 193c 0895 ret 3259 /* epilogue: frame size=0 */ 3260 /* epilogue: noreturn */ 3261 /* epilogue end (size=0) */ 3262 /* function SendMotorData size 61 (61) */ 3264 .global ParameterZuordnung 3266 ParameterZuordnung: 3267 /* prologue: frame size=0 */ 3268 193e CF93 push r28 3269 1940 DF93 push r29 3270 /* prologue end (size=2) */ 3271 1942 A0E0 ldi r26,lo8(Poti) 3272 1944 B0E0 ldi r27,hi8(Poti) 3273 1946 C0E0 ldi r28,lo8(EE_Parameter+5) 3274 1948 D0E0 ldi r29,hi8(EE_Parameter+5) 3275 194a 57E0 ldi r21,lo8(7) 3276 .L203: 3277 194c 9991 ld r25,Y+ 3278 194e E92F mov r30,r25 3279 1950 FF27 clr r31 3280 1952 EE0F add r30,r30 3281 1954 FF1F adc r31,r31 3282 1956 E050 subi r30,lo8(-(PPM_in)) 3283 1958 F040 sbci r31,hi8(-(PPM_in)) 3284 195a 0190 ld __tmp_reg__,Z+ 3285 195c F081 ld r31,Z 3286 195e E02D mov r30,__tmp_reg__ 3287 1960 E158 subi r30,lo8(-(127)) 3288 1962 FF4F sbci r31,hi8(-(127)) 3289 1964 EF3F cpi r30,255 3290 1966 F105 cpc r31,__zero_reg__ 3291 1968 01F0 breq .L194 3292 196a 04F0 brlt .L194 3293 196c EFEF ldi r30,lo8(255) 3294 196e F0E0 ldi r31,hi8(255) 3295 1970 00C0 rjmp .L195 3296 .L194: 3297 1972 F7FF sbrs r31,7 3298 1974 00C0 rjmp .L195 3299 1976 E0E0 ldi r30,lo8(0) 3300 1978 F0E0 ldi r31,hi8(0) 3301 .L195: 3302 197a 9931 cpi r25,lo8(25) 3303 197c 01F4 brne .L197 3304 197e EC93 st X,r30 3305 1980 00C0 rjmp .L193 3306 .L197: 3307 1982 4C91 ld r20,X 3308 1984 242F mov r18,r20 3309 1986 3327 clr r19 3310 1988 E217 cp r30,r18 3311 198a F307 cpc r31,r19 3312 198c 01F0 breq .L193 3313 198e CF01 movw r24,r30 3314 1990 821B sub r24,r18 3315 1992 930B sbc r25,r19 3316 1994 97FD sbrc r25,7 3317 1996 0396 adiw r24,3 3318 .L200: 3319 1998 9595 asr r25 3320 199a 8795 ror r24 3321 199c 9595 asr r25 3322 199e 8795 ror r24 3323 19a0 242F mov r18,r20 3324 19a2 280F add r18,r24 3325 19a4 2C93 st X,r18 3326 19a6 822F mov r24,r18 3327 19a8 9927 clr r25 3328 19aa E817 cp r30,r24 3329 19ac F907 cpc r31,r25 3330 19ae 04F4 brge .L201 3331 19b0 2150 subi r18,lo8(-(-1)) 3332 19b2 00C0 rjmp .L327 3333 .L201: 3334 19b4 2F5F subi r18,lo8(-(1)) 3335 .L327: 3336 19b6 2C93 st X,r18 3337 .L193: 3338 19b8 5150 subi r21,lo8(-(-1)) 3339 19ba 1196 adiw r26,1 3340 19bc 57FF sbrs r21,7 3341 19be 00C0 rjmp .L203 3342 19c0 8091 0000 lds r24,EE_Parameter+15 3343 19c4 883F cpi r24,lo8(-8) 3344 19c6 00F0 brlo .L328 3345 19c8 EFEF ldi r30,lo8(255) 3346 19ca F0E0 ldi r31,hi8(255) 3347 19cc E81B sub r30,r24 3348 19ce F109 sbc r31,__zero_reg__ 3349 19d0 E050 subi r30,lo8(-(Poti)) 3350 19d2 F040 sbci r31,hi8(-(Poti)) 3351 19d4 8081 ld r24,Z 3352 .L328: 3353 19d6 8093 0000 sts Parameter_Luftdruck_D,r24 3354 19da 8091 0000 lds r24,Parameter_Luftdruck_D 3355 19de 8823 tst r24 3356 19e0 01F0 breq .L207 3357 19e2 8436 cpi r24,lo8(100) 3358 19e4 00F0 brlo .L207 3359 19e6 84E6 ldi r24,lo8(100) 3360 19e8 8093 0000 sts Parameter_Luftdruck_D,r24 3361 .L207: 3362 19ec 8091 0000 lds r24,EE_Parameter+17 3363 19f0 883F cpi r24,lo8(-8) 3364 19f2 00F0 brlo .L329 3365 19f4 EFEF ldi r30,lo8(255) 3366 19f6 F0E0 ldi r31,hi8(255) 3367 19f8 E81B sub r30,r24 3368 19fa F109 sbc r31,__zero_reg__ 3369 19fc E050 subi r30,lo8(-(Poti)) 3370 19fe F040 sbci r31,hi8(-(Poti)) 3371 1a00 8081 ld r24,Z 3372 .L329: 3373 1a02 8093 0000 sts Parameter_Hoehe_P,r24 3374 1a06 8091 0000 lds r24,Parameter_Hoehe_P 3375 1a0a 8823 tst r24 3376 1a0c 01F0 breq .L212 3377 1a0e 8436 cpi r24,lo8(100) 3378 1a10 00F0 brlo .L212 3379 1a12 84E6 ldi r24,lo8(100) 3380 1a14 8093 0000 sts Parameter_Hoehe_P,r24 3381 .L212: 3382 1a18 8091 0000 lds r24,EE_Parameter+30 3383 1a1c 883F cpi r24,lo8(-8) 3384 1a1e 00F0 brlo .L330 3385 1a20 EFEF ldi r30,lo8(255) 3386 1a22 F0E0 ldi r31,hi8(255) 3387 1a24 E81B sub r30,r24 3388 1a26 F109 sbc r31,__zero_reg__ 3389 1a28 E050 subi r30,lo8(-(Poti)) 3390 1a2a F040 sbci r31,hi8(-(Poti)) 3391 1a2c 8081 ld r24,Z 3392 .L330: 3393 1a2e 8093 0000 sts Parameter_Gyro_P,r24 3394 1a32 8091 0000 lds r24,Parameter_Gyro_P 3395 1a36 8B30 cpi r24,lo8(11) 3396 1a38 00F4 brsh .L216 3397 1a3a 8AE0 ldi r24,lo8(10) 3398 1a3c 00C0 rjmp .L331 3399 .L216: 3400 1a3e 8F3F cpi r24,lo8(-1) 3401 1a40 01F4 brne .L217 3402 .L331: 3403 1a42 8093 0000 sts Parameter_Gyro_P,r24 3404 .L217: 3405 1a46 8091 0000 lds r24,EE_Parameter+75 3406 1a4a 883F cpi r24,lo8(-8) 3407 1a4c 00F0 brlo .L332 3408 1a4e EFEF ldi r30,lo8(255) 3409 1a50 F0E0 ldi r31,hi8(255) 3410 1a52 E81B sub r30,r24 3411 1a54 F109 sbc r31,__zero_reg__ 3412 1a56 E050 subi r30,lo8(-(Poti)) 3413 1a58 F040 sbci r31,hi8(-(Poti)) 3414 1a5a 8081 ld r24,Z 3415 .L332: 3416 1a5c 8093 0000 sts Parameter_J16Timing,r24 3417 1a60 8091 0000 lds r24,Parameter_J16Timing 3418 1a64 8630 cpi r24,lo8(6) 3419 1a66 00F4 brsh .L221 3420 1a68 85E0 ldi r24,lo8(5) 3421 1a6a 00C0 rjmp .L333 3422 .L221: 3423 1a6c 8F3F cpi r24,lo8(-1) 3424 1a6e 01F4 brne .L222 3425 .L333: 3426 1a70 8093 0000 sts Parameter_J16Timing,r24 3427 .L222: 3428 1a74 8091 0000 lds r24,EE_Parameter+77 3429 1a78 883F cpi r24,lo8(-8) 3430 1a7a 00F0 brlo .L334 3431 1a7c EFEF ldi r30,lo8(255) 3432 1a7e F0E0 ldi r31,hi8(255) 3433 1a80 E81B sub r30,r24 3434 1a82 F109 sbc r31,__zero_reg__ 3435 1a84 E050 subi r30,lo8(-(Poti)) 3436 1a86 F040 sbci r31,hi8(-(Poti)) 3437 1a88 8081 ld r24,Z 3438 .L334: 3439 1a8a 8093 0000 sts Parameter_J17Timing,r24 3440 1a8e 8091 0000 lds r24,Parameter_J17Timing 3441 1a92 8630 cpi r24,lo8(6) 3442 1a94 00F4 brsh .L226 3443 1a96 85E0 ldi r24,lo8(5) 3444 1a98 00C0 rjmp .L335 3445 .L226: 3446 1a9a 8F3F cpi r24,lo8(-1) 3447 1a9c 01F4 brne .L227 3448 .L335: 3449 1a9e 8093 0000 sts Parameter_J17Timing,r24 3450 .L227: 3451 1aa2 8091 0000 lds r24,EE_Parameter+56 3452 1aa6 873F cpi r24,lo8(-9) 3453 1aa8 01F4 brne .L229 3454 1aaa 4299 sbic 40-0x20,2 3455 1aac 00C0 rjmp .L368 3456 1aae 00C0 rjmp .L234 3457 .L229: 3458 1ab0 863F cpi r24,lo8(-10) 3459 1ab2 01F4 brne .L233 3460 1ab4 439B sbis 40-0x20,3 3461 1ab6 00C0 rjmp .L234 3462 .L368: 3463 1ab8 8CE8 ldi r24,lo8(-116) 3464 1aba 00C0 rjmp .L336 3465 .L234: 3466 1abc 86E4 ldi r24,lo8(70) 3467 1abe 00C0 rjmp .L336 3468 .L233: 3469 1ac0 883F cpi r24,lo8(-8) 3470 1ac2 00F0 brlo .L336 3471 1ac4 EFEF ldi r30,lo8(255) 3472 1ac6 F0E0 ldi r31,hi8(255) 3473 1ac8 E81B sub r30,r24 3474 1aca F109 sbc r31,__zero_reg__ 3475 1acc E050 subi r30,lo8(-(Poti)) 3476 1ace F040 sbci r31,hi8(-(Poti)) 3477 1ad0 8081 ld r24,Z 3478 .L336: 3479 1ad2 8093 0000 sts Parameter_Servo3,r24 3480 1ad6 8091 0000 lds r24,EE_Parameter+57 3481 1ada 873F cpi r24,lo8(-9) 3482 1adc 01F4 brne .L239 3483 1ade 4299 sbic 40-0x20,2 3484 1ae0 00C0 rjmp .L369 3485 1ae2 00C0 rjmp .L244 3486 .L239: 3487 1ae4 863F cpi r24,lo8(-10) 3488 1ae6 01F4 brne .L243 3489 1ae8 439B sbis 40-0x20,3 3490 1aea 00C0 rjmp .L244 3491 .L369: 3492 1aec 8CE8 ldi r24,lo8(-116) 3493 1aee 00C0 rjmp .L337 3494 .L244: 3495 1af0 86E4 ldi r24,lo8(70) 3496 1af2 00C0 rjmp .L337 3497 .L243: 3498 1af4 883F cpi r24,lo8(-8) 3499 1af6 00F0 brlo .L337 3500 1af8 EFEF ldi r30,lo8(255) 3501 1afa F0E0 ldi r31,hi8(255) 3502 1afc E81B sub r30,r24 3503 1afe F109 sbc r31,__zero_reg__ 3504 1b00 E050 subi r30,lo8(-(Poti)) 3505 1b02 F040 sbci r31,hi8(-(Poti)) 3506 1b04 8081 ld r24,Z 3507 .L337: 3508 1b06 8093 0000 sts Parameter_Servo4,r24 3509 1b0a 8091 0000 lds r24,EE_Parameter+58 3510 1b0e 883F cpi r24,lo8(-8) 3511 1b10 00F0 brlo .L338 3512 1b12 EFEF ldi r30,lo8(255) 3513 1b14 F0E0 ldi r31,hi8(255) 3514 1b16 E81B sub r30,r24 3515 1b18 F109 sbc r31,__zero_reg__ 3516 1b1a E050 subi r30,lo8(-(Poti)) 3517 1b1c F040 sbci r31,hi8(-(Poti)) 3518 1b1e 8081 ld r24,Z 3519 .L338: 3520 1b20 8093 0000 sts Parameter_Servo5,r24 3521 1b24 8091 0000 lds r24,EE_Parameter+16 3522 1b28 883F cpi r24,lo8(-8) 3523 1b2a 00F0 brlo .L339 3524 1b2c EFEF ldi r30,lo8(255) 3525 1b2e F0E0 ldi r31,hi8(255) 3526 1b30 E81B sub r30,r24 3527 1b32 F109 sbc r31,__zero_reg__ 3528 1b34 E050 subi r30,lo8(-(Poti)) 3529 1b36 F040 sbci r31,hi8(-(Poti)) 3530 1b38 8081 ld r24,Z 3531 .L339: 3532 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24 3533 1b3e 8091 0000 lds r24,EE_Parameter+19 3534 1b42 883F cpi r24,lo8(-8) 3535 1b44 00F0 brlo .L340 3536 1b46 EFEF ldi r30,lo8(255) 3537 1b48 F0E0 ldi r31,hi8(255) 3538 1b4a E81B sub r30,r24 3539 1b4c F109 sbc r31,__zero_reg__ 3540 1b4e E050 subi r30,lo8(-(Poti)) 3541 1b50 F040 sbci r31,hi8(-(Poti)) 3542 1b52 8081 ld r24,Z 3543 .L340: 3544 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 3545 1b58 8091 0000 lds r24,EE_Parameter+21 3546 1b5c 883F cpi r24,lo8(-8) 3547 1b5e 00F0 brlo .L341 3548 1b60 EFEF ldi r30,lo8(255) 3549 1b62 F0E0 ldi r31,hi8(255) 3550 1b64 E81B sub r30,r24 3551 1b66 F109 sbc r31,__zero_reg__ 3552 1b68 E050 subi r30,lo8(-(Poti)) 3553 1b6a F040 sbci r31,hi8(-(Poti)) 3554 1b6c 8081 ld r24,Z 3555 .L341: 3556 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 3557 1b72 8091 0000 lds r24,EE_Parameter+29 3558 1b76 883F cpi r24,lo8(-8) 3559 1b78 00F0 brlo .L342 3560 1b7a EFEF ldi r30,lo8(255) 3561 1b7c F0E0 ldi r31,hi8(255) 3562 1b7e E81B sub r30,r24 3563 1b80 F109 sbc r31,__zero_reg__ 3564 1b82 E050 subi r30,lo8(-(Poti)) 3565 1b84 F040 sbci r31,hi8(-(Poti)) 3566 1b86 8081 ld r24,Z 3567 .L342: 3568 1b88 8093 0000 sts Parameter_KompassWirkung,r24 3569 1b8c 8091 0000 lds r24,EE_Parameter+31 3570 1b90 883F cpi r24,lo8(-8) 3571 1b92 00F0 brlo .L343 3572 1b94 EFEF ldi r30,lo8(255) 3573 1b96 F0E0 ldi r31,hi8(255) 3574 1b98 E81B sub r30,r24 3575 1b9a F109 sbc r31,__zero_reg__ 3576 1b9c E050 subi r30,lo8(-(Poti)) 3577 1b9e F040 sbci r31,hi8(-(Poti)) 3578 1ba0 8081 ld r24,Z 3579 .L343: 3580 1ba2 8093 0000 sts Parameter_Gyro_I,r24 3581 1ba6 8091 0000 lds r24,EE_Parameter+32 3582 1baa 883F cpi r24,lo8(-8) 3583 1bac 00F0 brlo .L344 3584 1bae EFEF ldi r30,lo8(255) 3585 1bb0 F0E0 ldi r31,hi8(255) 3586 1bb2 E81B sub r30,r24 3587 1bb4 F109 sbc r31,__zero_reg__ 3588 1bb6 E050 subi r30,lo8(-(Poti)) 3589 1bb8 F040 sbci r31,hi8(-(Poti)) 3590 1bba 8081 ld r24,Z 3591 .L344: 3592 1bbc 8093 0000 sts Parameter_Gyro_D,r24 3593 1bc0 8091 0000 lds r24,EE_Parameter+33 3594 1bc4 883F cpi r24,lo8(-8) 3595 1bc6 00F0 brlo .L345 3596 1bc8 EFEF ldi r30,lo8(255) 3597 1bca F0E0 ldi r31,hi8(255) 3598 1bcc E81B sub r30,r24 3599 1bce F109 sbc r31,__zero_reg__ 3600 1bd0 E050 subi r30,lo8(-(Poti)) 3601 1bd2 F040 sbci r31,hi8(-(Poti)) 3602 1bd4 8081 ld r24,Z 3603 .L345: 3604 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24 3605 1bda 8091 0000 lds r24,EE_Parameter+34 3606 1bde 883F cpi r24,lo8(-8) 3607 1be0 00F0 brlo .L346 3608 1be2 EFEF ldi r30,lo8(255) 3609 1be4 F0E0 ldi r31,hi8(255) 3610 1be6 E81B sub r30,r24 3611 1be8 F109 sbc r31,__zero_reg__ 3612 1bea E050 subi r30,lo8(-(Poti)) 3613 1bec F040 sbci r31,hi8(-(Poti)) 3614 1bee 8081 ld r24,Z 3615 .L346: 3616 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24 3617 1bf4 8091 0000 lds r24,EE_Parameter+40 3618 1bf8 883F cpi r24,lo8(-8) 3619 1bfa 00F0 brlo .L347 3620 1bfc EFEF ldi r30,lo8(255) 3621 1bfe F0E0 ldi r31,hi8(255) 3622 1c00 E81B sub r30,r24 3623 1c02 F109 sbc r31,__zero_reg__ 3624 1c04 E050 subi r30,lo8(-(Poti)) 3625 1c06 F040 sbci r31,hi8(-(Poti)) 3626 1c08 8081 ld r24,Z 3627 .L347: 3628 1c0a 8093 0000 sts Parameter_I_Faktor,r24 3629 1c0e 8091 0000 lds r24,EE_Parameter+41 3630 1c12 883F cpi r24,lo8(-8) 3631 1c14 00F0 brlo .L348 3632 1c16 EFEF ldi r30,lo8(255) 3633 1c18 F0E0 ldi r31,hi8(255) 3634 1c1a E81B sub r30,r24 3635 1c1c F109 sbc r31,__zero_reg__ 3636 1c1e E050 subi r30,lo8(-(Poti)) 3637 1c20 F040 sbci r31,hi8(-(Poti)) 3638 1c22 8081 ld r24,Z 3639 .L348: 3640 1c24 8093 0000 sts Parameter_UserParam1,r24 3641 1c28 8091 0000 lds r24,EE_Parameter+42 3642 1c2c 883F cpi r24,lo8(-8) 3643 1c2e 00F0 brlo .L349 3644 1c30 EFEF ldi r30,lo8(255) 3645 1c32 F0E0 ldi r31,hi8(255) 3646 1c34 E81B sub r30,r24 3647 1c36 F109 sbc r31,__zero_reg__ 3648 1c38 E050 subi r30,lo8(-(Poti)) 3649 1c3a F040 sbci r31,hi8(-(Poti)) 3650 1c3c 8081 ld r24,Z 3651 .L349: 3652 1c3e 8093 0000 sts Parameter_UserParam2,r24 3653 1c42 8091 0000 lds r24,EE_Parameter+43 3654 1c46 883F cpi r24,lo8(-8) 3655 1c48 00F0 brlo .L350 3656 1c4a EFEF ldi r30,lo8(255) 3657 1c4c F0E0 ldi r31,hi8(255) 3658 1c4e E81B sub r30,r24 3659 1c50 F109 sbc r31,__zero_reg__ 3660 1c52 E050 subi r30,lo8(-(Poti)) 3661 1c54 F040 sbci r31,hi8(-(Poti)) 3662 1c56 8081 ld r24,Z 3663 .L350: 3664 1c58 8093 0000 sts Parameter_UserParam3,r24 3665 1c5c 8091 0000 lds r24,EE_Parameter+44 3666 1c60 883F cpi r24,lo8(-8) 3667 1c62 00F0 brlo .L351 3668 1c64 EFEF ldi r30,lo8(255) 3669 1c66 F0E0 ldi r31,hi8(255) 3670 1c68 E81B sub r30,r24 3671 1c6a F109 sbc r31,__zero_reg__ 3672 1c6c E050 subi r30,lo8(-(Poti)) 3673 1c6e F040 sbci r31,hi8(-(Poti)) 3674 1c70 8081 ld r24,Z 3675 .L351: 3676 1c72 8093 0000 sts Parameter_UserParam4,r24 3677 1c76 8091 0000 lds r24,EE_Parameter+70 3678 1c7a 883F cpi r24,lo8(-8) 3679 1c7c 00F0 brlo .L352 3680 1c7e EFEF ldi r30,lo8(255) 3681 1c80 F0E0 ldi r31,hi8(255) 3682 1c82 E81B sub r30,r24 3683 1c84 F109 sbc r31,__zero_reg__ 3684 1c86 E050 subi r30,lo8(-(Poti)) 3685 1c88 F040 sbci r31,hi8(-(Poti)) 3686 1c8a 8081 ld r24,Z 3687 .L352: 3688 1c8c 8093 0000 sts Parameter_UserParam5,r24 3689 1c90 8091 0000 lds r24,EE_Parameter+71 3690 1c94 883F cpi r24,lo8(-8) 3691 1c96 00F0 brlo .L353 3692 1c98 EFEF ldi r30,lo8(255) 3693 1c9a F0E0 ldi r31,hi8(255) 3694 1c9c E81B sub r30,r24 3695 1c9e F109 sbc r31,__zero_reg__ 3696 1ca0 E050 subi r30,lo8(-(Poti)) 3697 1ca2 F040 sbci r31,hi8(-(Poti)) 3698 1ca4 8081 ld r24,Z 3699 .L353: 3700 1ca6 8093 0000 sts Parameter_UserParam6,r24 3701 1caa 8091 0000 lds r24,EE_Parameter+72 3702 1cae 883F cpi r24,lo8(-8) 3703 1cb0 00F0 brlo .L354 3704 1cb2 EFEF ldi r30,lo8(255) 3705 1cb4 F0E0 ldi r31,hi8(255) 3706 1cb6 E81B sub r30,r24 3707 1cb8 F109 sbc r31,__zero_reg__ 3708 1cba E050 subi r30,lo8(-(Poti)) 3709 1cbc F040 sbci r31,hi8(-(Poti)) 3710 1cbe 8081 ld r24,Z 3711 .L354: 3712 1cc0 8093 0000 sts Parameter_UserParam7,r24 3713 1cc4 8091 0000 lds r24,EE_Parameter+73 3714 1cc8 883F cpi r24,lo8(-8) 3715 1cca 00F0 brlo .L355 3716 1ccc EFEF ldi r30,lo8(255) 3717 1cce F0E0 ldi r31,hi8(255) 3718 1cd0 E81B sub r30,r24 3719 1cd2 F109 sbc r31,__zero_reg__ 3720 1cd4 E050 subi r30,lo8(-(Poti)) 3721 1cd6 F040 sbci r31,hi8(-(Poti)) 3722 1cd8 8081 ld r24,Z 3723 .L355: 3724 1cda 8093 0000 sts Parameter_UserParam8,r24 3725 1cde 8091 0000 lds r24,EE_Parameter+45 3726 1ce2 883F cpi r24,lo8(-8) 3727 1ce4 00F0 brlo .L356 3728 1ce6 EFEF ldi r30,lo8(255) 3729 1ce8 F0E0 ldi r31,hi8(255) 3730 1cea E81B sub r30,r24 3731 1cec F109 sbc r31,__zero_reg__ 3732 1cee E050 subi r30,lo8(-(Poti)) 3733 1cf0 F040 sbci r31,hi8(-(Poti)) 3734 1cf2 8081 ld r24,Z 3735 .L356: 3736 1cf4 8093 0000 sts Parameter_ServoNickControl,r24 3737 1cf8 8091 0000 lds r24,EE_Parameter+49 3738 1cfc 883F cpi r24,lo8(-8) 3739 1cfe 00F0 brlo .L357 3740 1d00 EFEF ldi r30,lo8(255) 3741 1d02 F0E0 ldi r31,hi8(255) 3742 1d04 E81B sub r30,r24 3743 1d06 F109 sbc r31,__zero_reg__ 3744 1d08 E050 subi r30,lo8(-(Poti)) 3745 1d0a F040 sbci r31,hi8(-(Poti)) 3746 1d0c 8081 ld r24,Z 3747 .L357: 3748 1d0e 8093 0000 sts Parameter_ServoRollControl,r24 3749 1d12 8091 0000 lds r24,EE_Parameter+46 3750 1d16 883F cpi r24,lo8(-8) 3751 1d18 00F0 brlo .L358 3752 1d1a EFEF ldi r30,lo8(255) 3753 1d1c F0E0 ldi r31,hi8(255) 3754 1d1e E81B sub r30,r24 3755 1d20 F109 sbc r31,__zero_reg__ 3756 1d22 E050 subi r30,lo8(-(Poti)) 3757 1d24 F040 sbci r31,hi8(-(Poti)) 3758 1d26 8081 ld r24,Z 3759 .L358: 3760 1d28 8093 0000 sts Parameter_ServoNickComp,r24 3761 1d2c 8091 0000 lds r24,EE_Parameter+50 3762 1d30 883F cpi r24,lo8(-8) 3763 1d32 00F0 brlo .L359 3764 1d34 EFEF ldi r30,lo8(255) 3765 1d36 F0E0 ldi r31,hi8(255) 3766 1d38 E81B sub r30,r24 3767 1d3a F109 sbc r31,__zero_reg__ 3768 1d3c E050 subi r30,lo8(-(Poti)) 3769 1d3e F040 sbci r31,hi8(-(Poti)) 3770 1d40 8081 ld r24,Z 3771 .L359: 3772 1d42 8093 0000 sts Parameter_ServoRollComp,r24 3773 1d46 8091 0000 lds r24,EE_Parameter+59 3774 1d4a 883F cpi r24,lo8(-8) 3775 1d4c 00F0 brlo .L360 3776 1d4e EFEF ldi r30,lo8(255) 3777 1d50 F0E0 ldi r31,hi8(255) 3778 1d52 E81B sub r30,r24 3779 1d54 F109 sbc r31,__zero_reg__ 3780 1d56 E050 subi r30,lo8(-(Poti)) 3781 1d58 F040 sbci r31,hi8(-(Poti)) 3782 1d5a 8081 ld r24,Z 3783 .L360: 3784 1d5c 8093 0000 sts Parameter_LoopGasLimit,r24 3785 1d60 8091 0000 lds r24,EE_Parameter+62 3786 1d64 883F cpi r24,lo8(-8) 3787 1d66 00F0 brlo .L361 3788 1d68 EFEF ldi r30,lo8(255) 3789 1d6a F0E0 ldi r31,hi8(255) 3790 1d6c E81B sub r30,r24 3791 1d6e F109 sbc r31,__zero_reg__ 3792 1d70 E050 subi r30,lo8(-(Poti)) 3793 1d72 F040 sbci r31,hi8(-(Poti)) 3794 1d74 8081 ld r24,Z 3795 .L361: 3796 1d76 8093 0000 sts Parameter_AchsKopplung1,r24 3797 1d7a 8091 0000 lds r24,EE_Parameter+63 3798 1d7e 883F cpi r24,lo8(-8) 3799 1d80 00F0 brlo .L362 3800 1d82 EFEF ldi r30,lo8(255) 3801 1d84 F0E0 ldi r31,hi8(255) 3802 1d86 E81B sub r30,r24 3803 1d88 F109 sbc r31,__zero_reg__ 3804 1d8a E050 subi r30,lo8(-(Poti)) 3805 1d8c F040 sbci r31,hi8(-(Poti)) 3806 1d8e 8081 ld r24,Z 3807 .L362: 3808 1d90 8093 0000 sts Parameter_AchsKopplung2,r24 3809 1d94 8091 0000 lds r24,EE_Parameter+64 3810 1d98 883F cpi r24,lo8(-8) 3811 1d9a 00F0 brlo .L363 3812 1d9c EFEF ldi r30,lo8(255) 3813 1d9e F0E0 ldi r31,hi8(255) 3814 1da0 E81B sub r30,r24 3815 1da2 F109 sbc r31,__zero_reg__ 3816 1da4 E050 subi r30,lo8(-(Poti)) 3817 1da6 F040 sbci r31,hi8(-(Poti)) 3818 1da8 8081 ld r24,Z 3819 .L363: 3820 1daa 8093 0000 sts Parameter_CouplingYawCorrection,r24 3821 1dae 8091 0000 lds r24,EE_Parameter+104 3822 1db2 883F cpi r24,lo8(-8) 3823 1db4 00F0 brlo .L364 3824 1db6 EFEF ldi r30,lo8(255) 3825 1db8 F0E0 ldi r31,hi8(255) 3826 1dba E81B sub r30,r24 3827 1dbc F109 sbc r31,__zero_reg__ 3828 1dbe E050 subi r30,lo8(-(Poti)) 3829 1dc0 F040 sbci r31,hi8(-(Poti)) 3830 1dc2 8081 ld r24,Z 3831 .L364: 3832 1dc4 8093 0000 sts Parameter_MaximumAltitude,r24 3833 1dc8 9091 0000 lds r25,NC_To_FC_MaxAltitude 3834 1dcc 9923 tst r25 3835 1dce 01F0 breq .L305 3836 1dd0 8091 0000 lds r24,Parameter_MaximumAltitude 3837 1dd4 9817 cp r25,r24 3838 1dd6 00F0 brlo .L304 3839 .L305: 3840 1dd8 8091 0000 lds r24,Parameter_MaximumAltitude 3841 1ddc 8823 tst r24 3842 1dde 01F4 brne .L303 3843 .L304: 3844 1de0 9093 0000 sts Parameter_MaximumAltitude,r25 3845 .L303: 3846 1de4 8091 0000 lds r24,EE_Parameter+13 3847 1de8 8093 0000 sts Parameter_GlobalConfig,r24 3848 1dec 8091 0000 lds r24,EE_Parameter+110 3849 1df0 8093 0000 sts Parameter_ExtraConfig,r24 3850 1df4 8091 0000 lds r24,EE_Parameter+69 3851 1df8 883F cpi r24,lo8(-8) 3852 1dfa 00F0 brlo .L365 3853 1dfc EFEF ldi r30,lo8(255) 3854 1dfe F0E0 ldi r31,hi8(255) 3855 1e00 E81B sub r30,r24 3856 1e02 F109 sbc r31,__zero_reg__ 3857 1e04 E050 subi r30,lo8(-(Poti)) 3858 1e06 F040 sbci r31,hi8(-(Poti)) 3859 1e08 8081 ld r24,Z 3860 .L365: 3861 1e0a 8093 0000 sts Parameter_DynamicStability,r24 3862 1e0e 8091 0000 lds r24,EE_Parameter+97 3863 1e12 883F cpi r24,lo8(-8) 3864 1e14 00F0 brlo .L366 3865 1e16 EFEF ldi r30,lo8(255) 3866 1e18 F0E0 ldi r31,hi8(255) 3867 1e1a E81B sub r30,r24 3868 1e1c F109 sbc r31,__zero_reg__ 3869 1e1e E050 subi r30,lo8(-(Poti)) 3870 1e20 F040 sbci r31,hi8(-(Poti)) 3871 1e22 8081 ld r24,Z 3872 .L366: 3873 1e24 8093 0000 sts Parameter_ExternalControl,r24 3874 1e28 8091 0000 lds r24,Parameter_I_Faktor 3875 1e2c 282F mov r18,r24 3876 1e2e 3327 clr r19 3877 1e30 2F5F subi r18,lo8(-(1)) 3878 1e32 3F4F sbci r19,hi8(-(1)) 3879 1e34 8CE3 ldi r24,lo8(10300) 3880 1e36 98E2 ldi r25,hi8(10300) 3881 1e38 B901 movw r22,r18 3882 1e3a 0E94 0000 call __divmodhi4 3883 1e3e 7093 0000 sts (Ki)+1,r23 3884 1e42 6093 0000 sts Ki,r22 3885 1e46 8091 0000 lds r24,EE_Parameter+27 3886 1e4a 8093 0000 sts MAX_GAS,r24 3887 1e4e 8091 0000 lds r24,EE_Parameter+26 3888 1e52 8093 0000 sts MIN_GAS,r24 3889 1e56 9091 0000 lds r25,EE_Parameter+99 3890 1e5a 9333 cpi r25,lo8(51) 3891 1e5c 00F4 brsh .+2 3892 1e5e 00C0 rjmp .L310 3893 1e60 81E0 ldi r24,lo8(1) 3894 1e62 8093 0000 sts CareFree,r24 3895 1e66 983F cpi r25,lo8(-8) 3896 1e68 00F0 brlo .L311 3897 1e6a EFEF ldi r30,lo8(255) 3898 1e6c F0E0 ldi r31,hi8(255) 3899 1e6e E91B sub r30,r25 3900 1e70 F109 sbc r31,__zero_reg__ 3901 1e72 E050 subi r30,lo8(-(Poti)) 3902 1e74 F040 sbci r31,hi8(-(Poti)) 3903 1e76 8081 ld r24,Z 3904 1e78 8233 cpi r24,lo8(50) 3905 1e7a 00F4 brsh .L311 3906 1e7c 1092 0000 sts CareFree,__zero_reg__ 3907 .L311: 3908 1e80 8091 0000 lds r24,carefree_old 3909 1e84 2091 0000 lds r18,CareFree 3910 1e88 8217 cp r24,r18 3911 1e8a 01F0 breq .L312 3912 1e8c 8330 cpi r24,lo8(3) 3913 1e8e 00F4 brsh .L313 3914 1e90 3091 0000 lds r19,SpeakHoTT 3915 1e94 2223 tst r18 3916 1e96 01F0 breq .L314 3917 1e98 8CED ldi r24,lo8(1500) 3918 1e9a 95E0 ldi r25,hi8(1500) 3919 1e9c 9093 0000 sts (beeptime)+1,r25 3920 1ea0 8093 0000 sts beeptime,r24 3921 1ea4 3323 tst r19 3922 1ea6 01F4 brne .L316 3923 1ea8 8EE2 ldi r24,lo8(46) 3924 1eaa 00C0 rjmp .L367 3925 .L314: 3926 1eac 88EC ldi r24,lo8(200) 3927 1eae 90E0 ldi r25,hi8(200) 3928 1eb0 9093 0000 sts (beeptime)+1,r25 3929 1eb4 8093 0000 sts beeptime,r24 3930 1eb8 3323 tst r19 3931 1eba 01F4 brne .L316 3932 1ebc 87E1 ldi r24,lo8(23) 3933 .L367: 3934 1ebe 8093 0000 sts SpeakHoTT,r24 3935 .L316: 3936 1ec2 85E0 ldi r24,lo8(5) 3937 1ec4 8093 0000 sts NeueKompassRichtungMerken,r24 3938 1ec8 2093 0000 sts carefree_old,r18 3939 1ecc 00C0 rjmp .L312 3940 .L313: 3941 1ece 8150 subi r24,lo8(-(-1)) 3942 1ed0 8093 0000 sts carefree_old,r24 3943 .L312: 3944 1ed4 8091 0000 lds r24,FromNaviCtrl+7 3945 1ed8 9091 0000 lds r25,(FromNaviCtrl+7)+1 3946 1edc 97FF sbrs r25,7 3947 1ede 00C0 rjmp .L320 3948 1ee0 8091 0000 lds r24,CareFree 3949 1ee4 8823 tst r24 3950 1ee6 01F0 breq .L320 3951 1ee8 8091 0000 lds r24,VersionInfo+5 3952 1eec 8068 ori r24,lo8(-128) 3953 1eee 8093 0000 sts VersionInfo+5,r24 3954 1ef2 00C0 rjmp .L320 3955 .L310: 3956 1ef4 1092 0000 sts CareFree,__zero_reg__ 3957 1ef8 8AE0 ldi r24,lo8(10) 3958 1efa 8093 0000 sts carefree_old,r24 3959 .L320: 3960 1efe 8091 0000 lds r24,FromNaviCtrl+7 3961 1f02 9091 0000 lds r25,(FromNaviCtrl+7)+1 3962 1f06 97FF sbrs r25,7 3963 1f08 00C0 rjmp .L321 3964 1f0a 8091 0000 lds r24,MotorenEin 3965 1f0e 8823 tst r24 3966 1f10 01F0 breq .L321 3967 1f12 8091 0000 lds r24,CareFree 3968 1f16 8823 tst r24 3969 1f18 01F0 breq .L321 3970 1f1a 8091 0000 lds r24,BeepMuster 3971 1f1e 9091 0000 lds r25,(BeepMuster)+1 3972 1f22 8F5F subi r24,lo8(-1) 3973 1f24 9F4F sbci r25,hi8(-1) 3974 1f26 01F4 brne .L321 3975 1f28 88E9 ldi r24,lo8(15000) 3976 1f2a 9AE3 ldi r25,hi8(15000) 3977 1f2c 9093 0000 sts (beeptime)+1,r25 3978 1f30 8093 0000 sts beeptime,r24 3979 1f34 80E0 ldi r24,lo8(-23552) 3980 1f36 94EA ldi r25,hi8(-23552) 3981 1f38 9093 0000 sts (BeepMuster)+1,r25 3982 1f3c 8093 0000 sts BeepMuster,r24 3983 1f40 1092 0000 sts CareFree,__zero_reg__ 3984 .L321: 3985 1f44 8091 0000 lds r24,CareFree 3986 1f48 8823 tst r24 3987 1f4a 01F0 breq .L322 3988 1f4c 8091 0000 lds r24,FC_StatusFlags2 3989 1f50 8160 ori r24,lo8(1) 3990 1f52 8093 0000 sts FC_StatusFlags2,r24 3991 1f56 8091 0000 lds r24,Parameter_AchsKopplung1 3992 1f5a 823D cpi r24,lo8(-46) 3993 1f5c 00F4 brsh .L190 3994 1f5e 825E subi r24,lo8(-(30)) 3995 1f60 8093 0000 sts Parameter_AchsKopplung1,r24 3996 1f64 00C0 rjmp .L190 3997 .L322: 3998 1f66 8091 0000 lds r24,FC_StatusFlags2 3999 1f6a 8E7F andi r24,lo8(-2) 4000 1f6c 8093 0000 sts FC_StatusFlags2,r24 4001 .L190: 4002 /* epilogue: frame size=0 */ 4003 1f70 DF91 pop r29 4004 1f72 CF91 pop r28 4005 1f74 0895 ret 4006 /* epilogue end (size=3) */ 4007 /* function ParameterZuordnung size 798 (793) */ 4009 .lcomm sollGier.0,4 4010 .lcomm tmp_long.1,4 4011 .lcomm tmp_long2.2,4 4012 .lcomm IntegralFehlerNick.3,4 4013 .lcomm IntegralFehlerRoll.4,4 4014 .lcomm RcLostTimer.5,2 4015 .lcomm delay_neutral.6,1 4016 .lcomm delay_einschalten.7,1 4017 .lcomm delay_ausschalten.8,1 4018 .lcomm move_safety_switch.9,1 4019 .lcomm ausgleichNick.10,4 4020 .lcomm ausgleichRoll.11,4 4021 .lcomm stick_nick.12,2 4022 .lcomm stick_roll.13,2 4023 .lcomm cnt.14,2 4024 .lcomm last_n_p.15,1 4025 .lcomm last_n_n.16,1 4026 .lcomm last_r_p.17,1 4027 .lcomm last_r_n.18,1 4028 .lcomm MittelIntegralNick_Alt.19,4 4029 .lcomm MittelIntegralRoll_Alt.20,4 4030 .lcomm HeightTrimming.21,2 4031 .lcomm FilterHCGas.22,2 4032 .lcomm HoverGasFilter.23,4 4033 .data 4036 delay.24: 4037 0051 64 .byte 100 4038 .lcomm BaroAtUpperLimit.25,1 4039 .lcomm BaroAtLowerLimit.26,1 4040 .text 4041 .global MotorRegler 4043 MotorRegler: 4044 /* prologue: frame size=23 */ 4045 1f76 A7E1 ldi r26,lo8(23) 4046 1f78 B0E0 ldi r27,hi8(23) 4047 1f7a E0E0 ldi r30,pm_lo8(1f) 4048 1f7c F0E0 ldi r31,pm_hi8(1f) 4049 1f7e 0C94 0000 jmp __prologue_saves__+0 4050 1: 4051 /* prologue end (size=6) */ 4052 1f82 0E94 0000 call Mittelwert 4053 1f86 8091 0000 lds r24,FC_StatusFlags 4054 1f8a 9927 clr r25 4055 1f8c 8471 andi r24,lo8(20) 4056 1f8e 9070 andi r25,hi8(20) 4057 1f90 892B or r24,r25 4058 1f92 01F4 brne .L371 4059 1f94 8091 0000 lds r24,EE_Parameter+111 4060 1f98 82FF sbrs r24,2 4061 1f9a 00C0 rjmp .L372 4062 1f9c 8091 0000 lds r24,HoverGas 4063 1fa0 9091 0000 lds r25,(HoverGas)+1 4064 1fa4 0097 sbiw r24,0 4065 1fa6 01F0 breq .L373 4066 1fa8 02E0 ldi r16,hi8(600) 4067 1faa 8835 cpi r24,lo8(600) 4068 1fac 9007 cpc r25,r16 4069 1fae 04F4 brge .L373 4070 1fb0 9C01 movw r18,r24 4071 1fb2 97FF sbrs r25,7 4072 1fb4 00C0 rjmp .L374 4073 1fb6 2D5F subi r18,lo8(-(3)) 4074 1fb8 3F4F sbci r19,hi8(-(3)) 4075 .L374: 4076 1fba 3595 asr r19 4077 1fbc 2795 ror r18 4078 1fbe 3595 asr r19 4079 1fc0 2795 ror r18 4080 1fc2 8091 0000 lds r24,EE_Parameter+37 4081 1fc6 9927 clr r25 4082 1fc8 289F mul r18,r24 4083 1fca A001 movw r20,r0 4084 1fcc 299F mul r18,r25 4085 1fce 500D add r21,r0 4086 1fd0 389F mul r19,r24 4087 1fd2 500D add r21,r0 4088 1fd4 1124 clr r1 4089 1fd6 CA01 movw r24,r20 4090 1fd8 64E6 ldi r22,lo8(100) 4091 1fda 70E0 ldi r23,hi8(100) 4092 1fdc 0E94 0000 call __divmodhi4 4093 1fe0 CB01 movw r24,r22 4094 1fe2 00C0 rjmp .L893 4095 .L373: 4096 1fe4 8DE2 ldi r24,lo8(45) 4097 1fe6 90E0 ldi r25,hi8(45) 4098 1fe8 00C0 rjmp .L893 4099 .L372: 4100 1fea 8091 0000 lds r24,EE_Parameter+37 4101 1fee 9927 clr r25 4102 .L893: 4103 1ff0 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4104 1ff4 8093 0000 sts HooverGasEmergencyPercent,r24 4105 .L371: 4106 1ff8 2091 0000 lds r18,GasIsZeroCnt 4107 1ffc 3091 0000 lds r19,(GasIsZeroCnt)+1 4108 2000 55E7 ldi r21,hi8(30000) 4109 2002 2033 cpi r18,lo8(30000) 4110 2004 3507 cpc r19,r21 4111 2006 01F4 brne .L377 4112 2008 1092 0000 sts (StickGas)+1,__zero_reg__ 4113 200c 1092 0000 sts StickGas,__zero_reg__ 4114 2010 8091 0000 lds r24,MIN_GAS 4115 2014 9927 clr r25 4116 2016 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4117 201a 8093 0000 sts HooverGasEmergencyPercent,r24 4118 .L377: 4119 201e 6091 0000 lds r22,StickGas 4120 2022 7091 0000 lds r23,(StickGas)+1 4121 2026 7A83 std Y+2,r23 4122 2028 6983 std Y+1,r22 4123 202a 8091 0000 lds r24,MIN_GAS 4124 202e 9927 clr r25 4125 2030 0A96 adiw r24,10 4126 2032 6817 cp r22,r24 4127 2034 7907 cpc r23,r25 4128 2036 04F4 brge .L378 4129 2038 9A83 std Y+2,r25 4130 203a 8983 std Y+1,r24 4131 .L378: 4132 203c 8091 0000 lds r24,SenderOkay 4133 2040 8436 cpi r24,lo8(100) 4134 2042 00F0 brlo .+2 4135 2044 00C0 rjmp .L379 4136 2046 8091 0000 lds r24,FC_StatusFlags2 4137 204a 82FD sbrc r24,2 4138 204c 00C0 rjmp .L379 4139 204e 8091 0000 lds r24,RcLostTimer.5 4140 2052 9091 0000 lds r25,(RcLostTimer.5)+1 4141 2056 0097 sbiw r24,0 4142 2058 01F0 breq .L380 4143 205a 0197 sbiw r24,1 4144 205c 9093 0000 sts (RcLostTimer.5)+1,r25 4145 2060 8093 0000 sts RcLostTimer.5,r24 4146 2064 00C0 rjmp .L381 4147 .L380: 4148 2066 1092 0000 sts MotorenEin,__zero_reg__ 4149 206a 9093 0000 sts (modell_fliegt)+1,r25 4150 206e 8093 0000 sts modell_fliegt,r24 4151 2072 8091 0000 lds r24,FC_StatusFlags 4152 2076 8D7E andi r24,lo8(-19) 4153 2078 8093 0000 sts FC_StatusFlags,r24 4154 .L381: 4155 207c 8091 0000 lds r24,PlatinenVersion 4156 2080 8A30 cpi r24,lo8(10) 4157 2082 01F0 breq .L383 4158 2084 8431 cpi r24,lo8(20) 4159 2086 00F0 brlo .L382 4160 .L383: 4161 2088 289A sbi 37-0x20,0 4162 208a 00C0 rjmp .L384 4163 .L382: 4164 208c 2898 cbi 37-0x20,0 4165 .L384: 4166 208e 8091 0000 lds r24,modell_fliegt 4167 2092 9091 0000 lds r25,(modell_fliegt)+1 4168 2096 895E subi r24,lo8(1001) 4169 2098 9340 sbci r25,hi8(1001) 4170 209a 00F0 brlo .L385 4171 209c 8091 0000 lds r24,Capacity+6 4172 20a0 8536 cpi r24,lo8(101) 4173 20a2 00F0 brlo .L385 4174 20a4 8091 0000 lds r24,HooverGasEmergencyPercent 4175 20a8 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 4176 20ac 9A83 std Y+2,r25 4177 20ae 8983 std Y+1,r24 4178 20b0 8091 0000 lds r24,FC_StatusFlags 4179 20b4 8061 ori r24,lo8(16) 4180 20b6 8093 0000 sts FC_StatusFlags,r24 4181 20ba 8091 0000 lds r24,EE_Parameter+1 4182 20be A82F mov r26,r24 4183 20c0 BB27 clr r27 4184 20c2 AA0F add r26,r26 4185 20c4 BB1F adc r27,r27 4186 20c6 FD01 movw r30,r26 4187 20c8 E050 subi r30,lo8(-(PPM_diff)) 4188 20ca F040 sbci r31,hi8(-(PPM_diff)) 4189 20cc 1182 std Z+1,__zero_reg__ 4190 20ce 1082 st Z,__zero_reg__ 4191 20d0 8091 0000 lds r24,EE_Parameter+2 4192 20d4 282F mov r18,r24 4193 20d6 3327 clr r19 4194 20d8 220F add r18,r18 4195 20da 331F adc r19,r19 4196 20dc C901 movw r24,r18 4197 20de 8050 subi r24,lo8(-(PPM_diff)) 4198 20e0 9040 sbci r25,hi8(-(PPM_diff)) 4199 20e2 FC01 movw r30,r24 4200 20e4 1182 std Z+1,__zero_reg__ 4201 20e6 1082 st Z,__zero_reg__ 4202 20e8 A050 subi r26,lo8(-(PPM_in)) 4203 20ea B040 sbci r27,hi8(-(PPM_in)) 4204 20ec 1196 adiw r26,1 4205 20ee 1C92 st X,__zero_reg__ 4206 20f0 1E92 st -X,__zero_reg__ 4207 20f2 2050 subi r18,lo8(-(PPM_in)) 4208 20f4 3040 sbci r19,hi8(-(PPM_in)) 4209 20f6 D901 movw r26,r18 4210 20f8 1196 adiw r26,1 4211 20fa 1C92 st X,__zero_reg__ 4212 20fc 1E92 st -X,__zero_reg__ 4213 20fe 8091 0000 lds r24,EE_Parameter+4 4214 2102 E82F mov r30,r24 4215 2104 FF27 clr r31 4216 2106 EE0F add r30,r30 4217 2108 FF1F adc r31,r31 4218 210a E050 subi r30,lo8(-(PPM_in)) 4219 210c F040 sbci r31,hi8(-(PPM_in)) 4220 210e 1182 std Z+1,__zero_reg__ 4221 2110 1082 st Z,__zero_reg__ 4222 2112 00C0 rjmp .L387 4223 .L385: 4224 2114 1092 0000 sts MotorenEin,__zero_reg__ 4225 2118 00C0 rjmp .L387 4226 .L379: 4227 211a 8091 0000 lds r24,SenderOkay 4228 211e 8D38 cpi r24,lo8(-115) 4229 2120 00F4 brsh .+2 4230 2122 00C0 rjmp .L388 4231 2124 8091 0000 lds r24,FC_StatusFlags 4232 2128 8F7E andi r24,lo8(-17) 4233 212a 8093 0000 sts FC_StatusFlags,r24 4234 212e 9091 0000 lds r25,EE_Parameter+38 4235 2132 82E3 ldi r24,lo8(50) 4236 2134 989F mul r25,r24 4237 2136 C001 movw r24,r0 4238 2138 1124 clr r1 4239 213a 9093 0000 sts (RcLostTimer.5)+1,r25 4240 213e 8093 0000 sts RcLostTimer.5,r24 4241 2142 E981 ldd r30,Y+1 4242 2144 FA81 ldd r31,Y+2 4243 2146 B997 sbiw r30,41 4244 2148 04F0 brlt .L389 4245 214a 8091 0000 lds r24,MotorenEin 4246 214e 8823 tst r24 4247 2150 01F0 breq .L389 4248 2152 8091 0000 lds r24,modell_fliegt 4249 2156 9091 0000 lds r25,(modell_fliegt)+1 4250 215a FFEF ldi r31,hi8(-1) 4251 215c 8F3F cpi r24,lo8(-1) 4252 215e 9F07 cpc r25,r31 4253 2160 01F0 breq .L389 4254 2162 0196 adiw r24,1 4255 2164 9093 0000 sts (modell_fliegt)+1,r25 4256 2168 8093 0000 sts modell_fliegt,r24 4257 .L389: 4258 216c 8091 0000 lds r24,modell_fliegt 4259 2170 9091 0000 lds r25,(modell_fliegt)+1 4260 2174 8F3F cpi r24,255 4261 2176 9105 cpc r25,__zero_reg__ 4262 2178 01F0 breq .+2 4263 217a 00F4 brsh .L391 4264 217c 1092 0000 sts SummeNick,__zero_reg__ 4265 2180 1092 0000 sts (SummeNick)+1,__zero_reg__ 4266 2184 1092 0000 sts (SummeNick)+2,__zero_reg__ 4267 2188 1092 0000 sts (SummeNick)+3,__zero_reg__ 4268 218c 1092 0000 sts SummeRoll,__zero_reg__ 4269 2190 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4270 2194 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4271 2198 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4272 219c 1092 0000 sts sollGier.0,__zero_reg__ 4273 21a0 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4274 21a4 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4275 21a8 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4276 21ac 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4277 21b0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4278 21b4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4279 21b8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4280 21bc 00C0 rjmp .L392 4281 .L391: 4282 21be 8091 0000 lds r24,FC_StatusFlags 4283 21c2 8260 ori r24,lo8(2) 4284 21c4 8093 0000 sts FC_StatusFlags,r24 4285 .L392: 4286 21c8 8091 0000 lds r24,EE_Parameter+3 4287 21cc E82F mov r30,r24 4288 21ce FF27 clr r31 4289 21d0 EE0F add r30,r30 4290 21d2 FF1F adc r31,r31 4291 21d4 E050 subi r30,lo8(-(PPM_in)) 4292 21d6 F040 sbci r31,hi8(-(PPM_in)) 4293 21d8 8081 ld r24,Z 4294 21da 9181 ldd r25,Z+1 4295 21dc 8135 cpi r24,81 4296 21de 9105 cpc r25,__zero_reg__ 4297 21e0 04F4 brge .+2 4298 21e2 00C0 rjmp .L393 4299 21e4 2091 0000 lds r18,MotorenEin 4300 21e8 2223 tst r18 4301 21ea 01F0 breq .+2 4302 21ec 00C0 rjmp .L393 4303 21ee 8091 0000 lds r24,EE_Parameter+4 4304 21f2 E82F mov r30,r24 4305 21f4 FF27 clr r31 4306 21f6 EE0F add r30,r30 4307 21f8 FF1F adc r31,r31 4308 21fa E050 subi r30,lo8(-(PPM_in)) 4309 21fc F040 sbci r31,hi8(-(PPM_in)) 4310 21fe 8081 ld r24,Z 4311 2200 9181 ldd r25,Z+1 4312 2202 8C34 cpi r24,76 4313 2204 9105 cpc r25,__zero_reg__ 4314 2206 04F4 brge .+2 4315 2208 00C0 rjmp .L394 4316 220a 8091 0000 lds r24,delay_neutral.6 4317 220e 8F5F subi r24,lo8(-(1)) 4318 2210 8093 0000 sts delay_neutral.6,r24 4319 2214 893C cpi r24,lo8(-55) 4320 2216 00F4 brsh .+2 4321 2218 00C0 rjmp .L393 4322 221a 2093 0000 sts delay_neutral.6,r18 4323 221e 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4324 2222 1092 0000 sts modell_fliegt,__zero_reg__ 4325 2226 3091 0000 lds r19,EE_Parameter+1 4326 222a E32F mov r30,r19 4327 222c FF27 clr r31 4328 222e EE0F add r30,r30 4329 2230 FF1F adc r31,r31 4330 2232 E050 subi r30,lo8(-(PPM_in)) 4331 2234 F040 sbci r31,hi8(-(PPM_in)) 4332 2236 8081 ld r24,Z 4333 2238 9181 ldd r25,Z+1 4334 223a 8734 cpi r24,71 4335 223c 9105 cpc r25,__zero_reg__ 4336 223e 04F4 brge .L397 4337 2240 8091 0000 lds r24,EE_Parameter+2 4338 2244 E82F mov r30,r24 4339 2246 FF27 clr r31 4340 2248 EE0F add r30,r30 4341 224a FF1F adc r31,r31 4342 224c E050 subi r30,lo8(-(PPM_in)) 4343 224e F040 sbci r31,hi8(-(PPM_in)) 4344 2250 8081 ld r24,Z 4345 2252 9181 ldd r25,Z+1 4346 2254 0190 ld __tmp_reg__,Z+ 4347 2256 F081 ld r31,Z 4348 2258 E02D mov r30,__tmp_reg__ 4349 225a F7FF sbrs r31,7 4350 225c 00C0 rjmp .L398 4351 225e F095 com r31 4352 2260 E195 neg r30 4353 2262 FF4F sbci r31,lo8(-1) 4354 .L398: 4355 2264 E734 cpi r30,71 4356 2266 F105 cpc r31,__zero_reg__ 4357 2268 04F4 brge .+2 4358 226a 00C0 rjmp .L396 4359 .L397: 4360 226c 41E0 ldi r20,lo8(1) 4361 226e 2091 0000 lds r18,EE_Parameter+2 4362 2272 A22F mov r26,r18 4363 2274 BB27 clr r27 4364 2276 AA0F add r26,r26 4365 2278 BB1F adc r27,r27 4366 227a A050 subi r26,lo8(-(PPM_in)) 4367 227c B040 sbci r27,hi8(-(PPM_in)) 4368 227e 8D91 ld r24,X+ 4369 2280 9C91 ld r25,X 4370 2282 1197 sbiw r26,1 4371 2284 8734 cpi r24,71 4372 2286 9105 cpc r25,__zero_reg__ 4373 2288 04F0 brlt .L399 4374 228a E32F mov r30,r19 4375 228c FF27 clr r31 4376 228e EE0F add r30,r30 4377 2290 FF1F adc r31,r31 4378 2292 E050 subi r30,lo8(-(PPM_in)) 4379 2294 F040 sbci r31,hi8(-(PPM_in)) 4380 2296 8081 ld r24,Z 4381 2298 9181 ldd r25,Z+1 4382 .L399: 4383 229a 8D91 ld r24,X+ 4384 229c 9C91 ld r25,X 4385 229e 8734 cpi r24,71 4386 22a0 9105 cpc r25,__zero_reg__ 4387 22a2 04F0 brlt .L400 4388 22a4 8091 0000 lds r24,EE_Parameter+1 4389 22a8 E82F mov r30,r24 4390 22aa FF27 clr r31 4391 22ac EE0F add r30,r30 4392 22ae FF1F adc r31,r31 4393 22b0 E050 subi r30,lo8(-(PPM_in)) 4394 22b2 F040 sbci r31,hi8(-(PPM_in)) 4395 22b4 8081 ld r24,Z 4396 22b6 9181 ldd r25,Z+1 4397 22b8 8734 cpi r24,71 4398 22ba 9105 cpc r25,__zero_reg__ 4399 22bc 04F0 brlt .L400 4400 22be 42E0 ldi r20,lo8(2) 4401 .L400: 4402 22c0 E22F mov r30,r18 4403 22c2 FF27 clr r31 4404 22c4 EE0F add r30,r30 4405 22c6 FF1F adc r31,r31 4406 22c8 E050 subi r30,lo8(-(PPM_in)) 4407 22ca F040 sbci r31,hi8(-(PPM_in)) 4408 22cc 8081 ld r24,Z 4409 22ce 9181 ldd r25,Z+1 4410 22d0 8634 cpi r24,70 4411 22d2 9105 cpc r25,__zero_reg__ 4412 22d4 04F4 brge .L401 4413 22d6 8091 0000 lds r24,EE_Parameter+1 4414 22da E82F mov r30,r24 4415 22dc FF27 clr r31 4416 22de EE0F add r30,r30 4417 22e0 FF1F adc r31,r31 4418 22e2 E050 subi r30,lo8(-(PPM_in)) 4419 22e4 F040 sbci r31,hi8(-(PPM_in)) 4420 22e6 8081 ld r24,Z 4421 22e8 9181 ldd r25,Z+1 4422 22ea 8734 cpi r24,71 4423 22ec 9105 cpc r25,__zero_reg__ 4424 22ee 04F0 brlt .L401 4425 22f0 43E0 ldi r20,lo8(3) 4426 .L401: 4427 22f2 E22F mov r30,r18 4428 22f4 FF27 clr r31 4429 22f6 EE0F add r30,r30 4430 22f8 FF1F adc r31,r31 4431 22fa E050 subi r30,lo8(-(PPM_in)) 4432 22fc F040 sbci r31,hi8(-(PPM_in)) 4433 22fe 8081 ld r24,Z 4434 2300 9181 ldd r25,Z+1 4435 2302 8A5B subi r24,lo8(-70) 4436 2304 9F4F sbci r25,hi8(-70) 4437 2306 04F4 brge .L402 4438 2308 8091 0000 lds r24,EE_Parameter+1 4439 230c E82F mov r30,r24 4440 230e FF27 clr r31 4441 2310 EE0F add r30,r30 4442 2312 FF1F adc r31,r31 4443 2314 E050 subi r30,lo8(-(PPM_in)) 4444 2316 F040 sbci r31,hi8(-(PPM_in)) 4445 2318 8081 ld r24,Z 4446 231a 9181 ldd r25,Z+1 4447 231c 8734 cpi r24,71 4448 231e 9105 cpc r25,__zero_reg__ 4449 2320 04F0 brlt .L402 4450 2322 44E0 ldi r20,lo8(4) 4451 .L402: 4452 2324 E22F mov r30,r18 4453 2326 FF27 clr r31 4454 2328 EE0F add r30,r30 4455 232a FF1F adc r31,r31 4456 232c E050 subi r30,lo8(-(PPM_in)) 4457 232e F040 sbci r31,hi8(-(PPM_in)) 4458 2330 8081 ld r24,Z 4459 2332 9181 ldd r25,Z+1 4460 2334 8A5B subi r24,lo8(-70) 4461 2336 9F4F sbci r25,hi8(-70) 4462 2338 04F4 brge .L403 4463 233a 8091 0000 lds r24,EE_Parameter+1 4464 233e E82F mov r30,r24 4465 2340 FF27 clr r31 4466 2342 EE0F add r30,r30 4467 2344 FF1F adc r31,r31 4468 2346 E050 subi r30,lo8(-(PPM_in)) 4469 2348 F040 sbci r31,hi8(-(PPM_in)) 4470 234a 8081 ld r24,Z 4471 234c 9181 ldd r25,Z+1 4472 234e 8634 cpi r24,70 4473 2350 9105 cpc r25,__zero_reg__ 4474 2352 04F4 brge .L403 4475 2354 45E0 ldi r20,lo8(5) 4476 .L403: 4477 2356 842F mov r24,r20 4478 2358 0E94 0000 call SetActiveParamSet 4479 .L396: 4480 235c 8091 0000 lds r24,EE_Parameter+2 4481 2360 E82F mov r30,r24 4482 2362 FF27 clr r31 4483 2364 EE0F add r30,r30 4484 2366 FF1F adc r31,r31 4485 2368 E050 subi r30,lo8(-(PPM_in)) 4486 236a F040 sbci r31,hi8(-(PPM_in)) 4487 236c 8081 ld r24,Z 4488 236e 9181 ldd r25,Z+1 4489 2370 0190 ld __tmp_reg__,Z+ 4490 2372 F081 ld r31,Z 4491 2374 E02D mov r30,__tmp_reg__ 4492 2376 F7FF sbrs r31,7 4493 2378 00C0 rjmp .L405 4494 237a F095 com r31 4495 237c E195 neg r30 4496 237e FF4F sbci r31,lo8(-1) 4497 .L405: 4498 2380 7E97 sbiw r30,30 4499 2382 04F4 brge .L404 4500 2384 8091 0000 lds r24,EE_Parameter+1 4501 2388 E82F mov r30,r24 4502 238a FF27 clr r31 4503 238c EE0F add r30,r30 4504 238e FF1F adc r31,r31 4505 2390 E050 subi r30,lo8(-(PPM_in)) 4506 2392 F040 sbci r31,hi8(-(PPM_in)) 4507 2394 8081 ld r24,Z 4508 2396 9181 ldd r25,Z+1 4509 2398 8A5B subi r24,lo8(-70) 4510 239a 9F4F sbci r25,hi8(-70) 4511 239c 04F4 brge .L404 4512 239e 81E0 ldi r24,lo8(1) 4513 23a0 8093 0000 sts WinkelOut+6,r24 4514 23a4 1092 0000 sts CalibrationDone,__zero_reg__ 4515 23a8 88EE ldi r24,lo8(1000) 4516 23aa 93E0 ldi r25,hi8(1000) 4517 23ac 9093 0000 sts (beeptime)+1,r25 4518 23b0 8093 0000 sts beeptime,r24 4519 23b4 00C0 rjmp .L393 4520 .L404: 4521 23b6 0E94 0000 call GetActiveParamSet 4522 23ba 0E94 0000 call ParamSet_ReadFromEEProm 4523 23be 80E0 ldi r24,lo8(0) 4524 23c0 0E94 0000 call LipoDetection 4525 23c4 8091 0000 lds r24,EE_Parameter+39 4526 23c8 0E94 0000 call LIBFC_ReceiverInit 4527 23cc 8091 0000 lds r24,Parameter_GlobalConfig 4528 23d0 80FF sbrs r24,0 4529 23d2 00C0 rjmp .L407 4530 23d4 8091 0000 lds r24,MessLuftdruck 4531 23d8 9091 0000 lds r25,(MessLuftdruck)+1 4532 23dc 875B subi r24,lo8(951) 4533 23de 9340 sbci r25,hi8(951) 4534 23e0 00F4 brsh .L409 4535 23e2 8091 0000 lds r24,MessLuftdruck 4536 23e6 9091 0000 lds r25,(MessLuftdruck)+1 4537 23ea 8E5E subi r24,lo8(750) 4538 23ec 9240 sbci r25,hi8(750) 4539 23ee 00F4 brsh .L407 4540 .L409: 4541 23f0 0E94 0000 call SucheLuftruckOffset 4542 .L407: 4543 23f4 80E0 ldi r24,lo8(0) 4544 23f6 0E94 0000 call SetNeutral 4545 23fa 81E0 ldi r24,lo8(1) 4546 23fc 8093 0000 sts CalibrationDone,r24 4547 2400 8093 0000 sts ServoActive,r24 4548 2404 579A sbi 42-0x20,7 4549 2406 00C0 rjmp .L894 4550 .L394: 4551 2408 8081 ld r24,Z 4552 240a 9181 ldd r25,Z+1 4553 240c 855B subi r24,lo8(-75) 4554 240e 9F4F sbci r25,hi8(-75) 4555 2410 04F4 brge .L411 4556 2412 8091 0000 lds r24,delay_neutral.6 4557 2416 8F5F subi r24,lo8(-(1)) 4558 2418 8093 0000 sts delay_neutral.6,r24 4559 241c 893C cpi r24,lo8(-55) 4560 241e 00F0 brlo .L393 4561 2420 2093 0000 sts MotorenEin,r18 4562 2424 2093 0000 sts delay_neutral.6,r18 4563 2428 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4564 242c 1092 0000 sts modell_fliegt,__zero_reg__ 4565 2430 81E0 ldi r24,lo8(1) 4566 2432 0E94 0000 call SetNeutral 4567 2436 81E0 ldi r24,lo8(1) 4568 2438 8093 0000 sts CalibrationDone,r24 4569 .L894: 4570 243c 88E1 ldi r24,lo8(24) 4571 243e 8093 0000 sts SpeakHoTT,r24 4572 2442 0E94 0000 call GetActiveParamSet 4573 2446 68E7 ldi r22,lo8(120) 4574 2448 70E0 ldi r23,hi8(120) 4575 244a 0E94 0000 call Piep 4576 244e 00C0 rjmp .L393 4577 .L411: 4578 2450 2093 0000 sts delay_neutral.6,r18 4579 .L393: 4580 2454 8091 0000 lds r24,EE_Parameter+3 4581 2458 E82F mov r30,r24 4582 245a FF27 clr r31 4583 245c EE0F add r30,r30 4584 245e FF1F adc r31,r31 4585 2460 E050 subi r30,lo8(-(PPM_in)) 4586 2462 F040 sbci r31,hi8(-(PPM_in)) 4587 2464 8081 ld r24,Z 4588 2466 9181 ldd r25,Z+1 4589 2468 8B5A subi r24,lo8(-85) 4590 246a 9F4F sbci r25,hi8(-85) 4591 246c 04F0 brlt .+2 4592 246e 00C0 rjmp .L414 4593 2470 2091 0000 lds r18,EE_Parameter+100 4594 2474 E22F mov r30,r18 4595 2476 FF27 clr r31 4596 2478 EF77 andi r30,lo8(127) 4597 247a F070 andi r31,hi8(127) 4598 247c EE0F add r30,r30 4599 247e FF1F adc r31,r31 4600 2480 E050 subi r30,lo8(-(PPM_diff)) 4601 2482 F040 sbci r31,hi8(-(PPM_diff)) 4602 2484 8081 ld r24,Z 4603 2486 9181 ldd r25,Z+1 4604 2488 0697 sbiw r24,6 4605 248a 04F0 brlt .L415 4606 248c 84E6 ldi r24,lo8(100) 4607 248e 00C0 rjmp .L895 4608 .L415: 4609 2490 8081 ld r24,Z 4610 2492 9181 ldd r25,Z+1 4611 2494 8B5F subi r24,lo8(-5) 4612 2496 9F4F sbci r25,hi8(-5) 4613 2498 04F4 brge .L416 4614 249a 8CE9 ldi r24,lo8(-100) 4615 .L895: 4616 249c 8093 0000 sts move_safety_switch.9,r24 4617 .L416: 4618 24a0 8091 0000 lds r24,MotorenEin 4619 24a4 E091 0000 lds r30,EE_Parameter+4 4620 24a8 8823 tst r24 4621 24aa 01F0 breq .+2 4622 24ac 00C0 rjmp .L418 4623 24ae FF27 clr r31 4624 24b0 EE0F add r30,r30 4625 24b2 FF1F adc r31,r31 4626 24b4 E050 subi r30,lo8(-(PPM_in)) 4627 24b6 F040 sbci r31,hi8(-(PPM_in)) 4628 24b8 8081 ld r24,Z 4629 24ba 9181 ldd r25,Z+1 4630 24bc 855B subi r24,lo8(-75) 4631 24be 9F4F sbci r25,hi8(-75) 4632 24c0 04F4 brge .L421 4633 24c2 8091 0000 lds r24,EE_Parameter+111 4634 24c6 83FD sbrc r24,3 4635 24c8 00C0 rjmp .L422 4636 24ca E22F mov r30,r18 4637 24cc FF27 clr r31 4638 24ce EE0F add r30,r30 4639 24d0 FF1F adc r31,r31 4640 24d2 E050 subi r30,lo8(-(PPM_in)) 4641 24d4 F040 sbci r31,hi8(-(PPM_in)) 4642 24d6 8081 ld r24,Z 4643 24d8 9181 ldd r25,Z+1 4644 24da 855B subi r24,lo8(-75) 4645 24dc 9F4F sbci r25,hi8(-75) 4646 24de 04F0 brlt .L420 4647 .L422: 4648 24e0 8091 0000 lds r24,EE_Parameter+100 4649 24e4 8823 tst r24 4650 24e6 01F0 breq .L420 4651 .L421: 4652 24e8 8091 0000 lds r24,EE_Parameter+111 4653 24ec 83FF sbrs r24,3 4654 24ee 00C0 rjmp .L419 4655 24f0 8091 0000 lds r24,EE_Parameter+100 4656 24f4 E82F mov r30,r24 4657 24f6 FF27 clr r31 4658 24f8 EE0F add r30,r30 4659 24fa FF1F adc r31,r31 4660 24fc E050 subi r30,lo8(-(PPM_in)) 4661 24fe F040 sbci r31,hi8(-(PPM_in)) 4662 2500 8081 ld r24,Z 4663 2502 9181 ldd r25,Z+1 4664 2504 875F subi r24,lo8(-9) 4665 2506 9F4F sbci r25,hi8(-9) 4666 2508 04F4 brge .+2 4667 250a 00C0 rjmp .L419 4668 250c 8091 0000 lds r24,move_safety_switch.9 4669 2510 8436 cpi r24,lo8(100) 4670 2512 01F0 breq .+2 4671 2514 00C0 rjmp .L419 4672 .L420: 4673 2516 2091 0000 lds r18,CalibrationDone 4674 251a 2223 tst r18 4675 251c 01F0 breq .L423 4676 251e 8091 0000 lds r24,FC_StatusFlags 4677 2522 8860 ori r24,lo8(8) 4678 2524 8093 0000 sts FC_StatusFlags,r24 4679 .L423: 4680 2528 8091 0000 lds r24,delay_einschalten.7 4681 252c 8F5F subi r24,lo8(-(1)) 4682 252e 8093 0000 sts delay_einschalten.7,r24 4683 2532 8E3F cpi r24,lo8(-2) 4684 2534 00F4 brsh .+2 4685 2536 00C0 rjmp .L429 4686 2538 1092 0000 sts delay_einschalten.7,__zero_reg__ 4687 253c 8091 0000 lds r24,VersionInfo+5 4688 2540 8823 tst r24 4689 2542 01F0 breq .+2 4690 2544 00C0 rjmp .L425 4691 2546 2223 tst r18 4692 2548 01F4 brne .+2 4693 254a 00C0 rjmp .L425 4694 254c 8091 0000 lds r24,NC_ErrorCode 4695 2550 8823 tst r24 4696 2552 01F0 breq .+2 4697 2554 00C0 rjmp .L425 4698 2556 81E0 ldi r24,lo8(1) 4699 2558 90E0 ldi r25,hi8(1) 4700 255a 9093 0000 sts (modell_fliegt)+1,r25 4701 255e 8093 0000 sts modell_fliegt,r24 4702 2562 81E0 ldi r24,lo8(1) 4703 2564 8093 0000 sts MotorenEin,r24 4704 2568 1092 0000 sts sollGier.0,__zero_reg__ 4705 256c 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4706 2570 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4707 2574 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4708 2578 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4709 257c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4710 2580 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4711 2584 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4712 2588 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 4713 258c 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 4714 2590 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 4715 2594 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 4716 2598 8091 0000 lds r24,EE_Parameter+28 4717 259c E82E mov r14,r24 4718 259e FF24 clr r15 4719 25a0 0027 clr r16 4720 25a2 1127 clr r17 4721 25a4 8091 0000 lds r24,Mittelwert_AccNick 4722 25a8 9091 0000 lds r25,(Mittelwert_AccNick)+1 4723 25ac 9C01 movw r18,r24 4724 25ae 4427 clr r20 4725 25b0 37FD sbrc r19,7 4726 25b2 4095 com r20 4727 25b4 542F mov r21,r20 4728 25b6 C801 movw r24,r16 4729 25b8 B701 movw r22,r14 4730 25ba 0E94 0000 call __mulsi3 4731 25be DC01 movw r26,r24 4732 25c0 CB01 movw r24,r22 4733 25c2 8093 0000 sts Mess_IntegralNick,r24 4734 25c6 9093 0000 sts (Mess_IntegralNick)+1,r25 4735 25ca A093 0000 sts (Mess_IntegralNick)+2,r26 4736 25ce B093 0000 sts (Mess_IntegralNick)+3,r27 4737 25d2 8091 0000 lds r24,Mittelwert_AccRoll 4738 25d6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 4739 25da 9C01 movw r18,r24 4740 25dc 4427 clr r20 4741 25de 37FD sbrc r19,7 4742 25e0 4095 com r20 4743 25e2 542F mov r21,r20 4744 25e4 C801 movw r24,r16 4745 25e6 B701 movw r22,r14 4746 25e8 0E94 0000 call __mulsi3 4747 25ec DC01 movw r26,r24 4748 25ee CB01 movw r24,r22 4749 25f0 8093 0000 sts Mess_IntegralRoll,r24 4750 25f4 9093 0000 sts (Mess_IntegralRoll)+1,r25 4751 25f8 A093 0000 sts (Mess_IntegralRoll)+2,r26 4752 25fc B093 0000 sts (Mess_IntegralRoll)+3,r27 4753 2600 8091 0000 lds r24,IntegralNick 4754 2604 9091 0000 lds r25,(IntegralNick)+1 4755 2608 A091 0000 lds r26,(IntegralNick)+2 4756 260c B091 0000 lds r27,(IntegralNick)+3 4757 2610 8093 0000 sts Mess_IntegralNick2,r24 4758 2614 9093 0000 sts (Mess_IntegralNick2)+1,r25 4759 2618 A093 0000 sts (Mess_IntegralNick2)+2,r26 4760 261c B093 0000 sts (Mess_IntegralNick2)+3,r27 4761 2620 8091 0000 lds r24,IntegralRoll 4762 2624 9091 0000 lds r25,(IntegralRoll)+1 4763 2628 A091 0000 lds r26,(IntegralRoll)+2 4764 262c B091 0000 lds r27,(IntegralRoll)+3 4765 2630 8093 0000 sts Mess_IntegralRoll2,r24 4766 2634 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4767 2638 A093 0000 sts (Mess_IntegralRoll2)+2,r26 4768 263c B093 0000 sts (Mess_IntegralRoll2)+3,r27 4769 2640 1092 0000 sts SummeNick,__zero_reg__ 4770 2644 1092 0000 sts (SummeNick)+1,__zero_reg__ 4771 2648 1092 0000 sts (SummeNick)+2,__zero_reg__ 4772 264c 1092 0000 sts (SummeNick)+3,__zero_reg__ 4773 2650 1092 0000 sts SummeRoll,__zero_reg__ 4774 2654 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4775 2658 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4776 265c 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4777 2660 84E6 ldi r24,lo8(100) 4778 2662 8093 0000 sts NeueKompassRichtungMerken,r24 4779 2666 84E3 ldi r24,lo8(52) 4780 2668 00C0 rjmp .L896 4781 .L425: 4782 266a 8CED ldi r24,lo8(1500) 4783 266c 95E0 ldi r25,hi8(1500) 4784 266e 9093 0000 sts (beeptime)+1,r25 4785 2672 8093 0000 sts beeptime,r24 4786 2676 2223 tst r18 4787 2678 01F0 breq .+2 4788 267a 00C0 rjmp .L429 4789 267c 81E0 ldi r24,lo8(1) 4790 267e 00C0 rjmp .L896 4791 .L419: 4792 2680 1092 0000 sts delay_einschalten.7,__zero_reg__ 4793 2684 00C0 rjmp .L429 4794 .L418: 4795 2686 FF27 clr r31 4796 2688 EE0F add r30,r30 4797 268a FF1F adc r31,r31 4798 268c E050 subi r30,lo8(-(PPM_in)) 4799 268e F040 sbci r31,hi8(-(PPM_in)) 4800 2690 8081 ld r24,Z 4801 2692 9181 ldd r25,Z+1 4802 2694 8C34 cpi r24,76 4803 2696 9105 cpc r25,__zero_reg__ 4804 2698 04F0 brlt .L432 4805 269a 8091 0000 lds r24,EE_Parameter+111 4806 269e 83FD sbrc r24,3 4807 26a0 00C0 rjmp .L433 4808 26a2 E22F mov r30,r18 4809 26a4 FF27 clr r31 4810 26a6 EE0F add r30,r30 4811 26a8 FF1F adc r31,r31 4812 26aa E050 subi r30,lo8(-(PPM_in)) 4813 26ac F040 sbci r31,hi8(-(PPM_in)) 4814 26ae 8081 ld r24,Z 4815 26b0 9181 ldd r25,Z+1 4816 26b2 855B subi r24,lo8(-75) 4817 26b4 9F4F sbci r25,hi8(-75) 4818 26b6 04F0 brlt .L431 4819 .L433: 4820 26b8 8091 0000 lds r24,EE_Parameter+100 4821 26bc 8823 tst r24 4822 26be 01F0 breq .L431 4823 .L432: 4824 26c0 8091 0000 lds r24,EE_Parameter+111 4825 26c4 83FF sbrs r24,3 4826 26c6 00C0 rjmp .L430 4827 26c8 8091 0000 lds r24,EE_Parameter+100 4828 26cc E82F mov r30,r24 4829 26ce FF27 clr r31 4830 26d0 EE0F add r30,r30 4831 26d2 FF1F adc r31,r31 4832 26d4 E050 subi r30,lo8(-(PPM_in)) 4833 26d6 F040 sbci r31,hi8(-(PPM_in)) 4834 26d8 8081 ld r24,Z 4835 26da 9181 ldd r25,Z+1 4836 26dc 8E5C subi r24,lo8(-50) 4837 26de 9F4F sbci r25,hi8(-50) 4838 26e0 04F4 brge .L430 4839 26e2 8091 0000 lds r24,move_safety_switch.9 4840 26e6 8C39 cpi r24,lo8(-100) 4841 26e8 01F4 brne .L430 4842 .L431: 4843 26ea 8091 0000 lds r24,delay_ausschalten.8 4844 26ee 8F5F subi r24,lo8(-(1)) 4845 26f0 8093 0000 sts delay_ausschalten.8,r24 4846 26f4 8B3F cpi r24,lo8(-5) 4847 26f6 00F0 brlo .L429 4848 26f8 1092 0000 sts MotorenEin,__zero_reg__ 4849 26fc 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4850 2700 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4851 2704 1092 0000 sts modell_fliegt,__zero_reg__ 4852 2708 86E2 ldi r24,lo8(38) 4853 .L896: 4854 270a 8093 0000 sts SpeakHoTT,r24 4855 270e 00C0 rjmp .L429 4856 .L430: 4857 2710 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4858 .L429: 4859 2714 8091 0000 lds r24,GasIsZeroCnt 4860 2718 9091 0000 lds r25,(GasIsZeroCnt)+1 4861 271c 13E0 ldi r17,hi8(1000) 4862 271e 883E cpi r24,lo8(1000) 4863 2720 9107 cpc r25,r17 4864 2722 00F4 brsh .L387 4865 2724 0196 adiw r24,1 4866 2726 9093 0000 sts (GasIsZeroCnt)+1,r25 4867 272a 8093 0000 sts GasIsZeroCnt,r24 4868 272e 00C0 rjmp .L387 4869 .L414: 4870 2730 1092 0000 sts move_safety_switch.9,__zero_reg__ 4871 2734 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ 4872 2738 1092 0000 sts GasIsZeroCnt,__zero_reg__ 4873 273c 00C0 rjmp .L387 4874 .L388: 4875 273e 2E5E subi r18,lo8(750) 4876 2740 3240 sbci r19,hi8(750) 4877 2742 00F0 brlo .L387 4878 2744 8091 0000 lds r24,GPSInfo+4 4879 2748 9091 0000 lds r25,(GPSInfo+4)+1 4880 274c 8059 subi r24,lo8(400) 4881 274e 9140 sbci r25,hi8(400) 4882 2750 00F4 brsh .L387 4883 2752 8091 0000 lds r24,HoehenWert 4884 2756 9091 0000 lds r25,(HoehenWert)+1 4885 275a A091 0000 lds r26,(HoehenWert)+2 4886 275e B091 0000 lds r27,(HoehenWert)+3 4887 2762 8C5D subi r24,lo8(1500) 4888 2764 9540 sbci r25,hi8(1500) 4889 2766 A040 sbci r26,hlo8(1500) 4890 2768 B040 sbci r27,hhi8(1500) 4891 276a 04F4 brge .L387 4892 276c 80E3 ldi r24,lo8(30000) 4893 276e 95E7 ldi r25,hi8(30000) 4894 2770 9093 0000 sts (GasIsZeroCnt)+1,r25 4895 2774 8093 0000 sts GasIsZeroCnt,r24 4896 2778 8091 0000 lds r24,modell_fliegt 4897 277c 9091 0000 lds r25,(modell_fliegt)+1 4898 2780 8A5E subi r24,lo8(1002) 4899 2782 9340 sbci r25,hi8(1002) 4900 2784 00F0 brlo .L387 4901 2786 89EE ldi r24,lo8(1001) 4902 2788 93E0 ldi r25,hi8(1001) 4903 278a 9093 0000 sts (modell_fliegt)+1,r25 4904 278e 8093 0000 sts modell_fliegt,r24 4905 .L387: 4906 2792 8091 0000 lds r24,NewPpmData 4907 2796 8150 subi r24,lo8(-(-1)) 4908 2798 8093 0000 sts NewPpmData,r24 4909 279c 8091 0000 lds r24,NewPpmData 4910 27a0 8F3F cpi r24,lo8(-1) 4911 27a2 01F0 breq .L443 4912 27a4 8091 0000 lds r24,FC_StatusFlags 4913 27a8 84FF sbrs r24,4 4914 27aa 00C0 rjmp .L442 4915 .L443: 4916 27ac 0E94 0000 call ParameterZuordnung 4917 27b0 B090 0000 lds r11,EE_Parameter+23 4918 27b4 8091 0000 lds r24,stick_nick.12 4919 27b8 9091 0000 lds r25,(stick_nick.12)+1 4920 27bc 9C01 movw r18,r24 4921 27be 220F lsl r18 4922 27c0 331F rol r19 4923 27c2 280F add r18,r24 4924 27c4 391F adc r19,r25 4925 27c6 C090 0000 lds r12,EE_Parameter+1 4926 27ca AC2D mov r26,r12 4927 27cc BB27 clr r27 4928 27ce AA0F add r26,r26 4929 27d0 BB1F adc r27,r27 4930 27d2 FD01 movw r30,r26 4931 27d4 E050 subi r30,lo8(-(PPM_in)) 4932 27d6 F040 sbci r31,hi8(-(PPM_in)) 4933 27d8 4B2D mov r20,r11 4934 27da 5527 clr r21 4935 27dc 8081 ld r24,Z 4936 27de 9181 ldd r25,Z+1 4937 27e0 849F mul r24,r20 4938 27e2 F001 movw r30,r0 4939 27e4 859F mul r24,r21 4940 27e6 F00D add r31,r0 4941 27e8 949F mul r25,r20 4942 27ea F00D add r31,r0 4943 27ec 1124 clr r1 4944 27ee 2E0F add r18,r30 4945 27f0 3F1F adc r19,r31 4946 27f2 37FF sbrs r19,7 4947 27f4 00C0 rjmp .L444 4948 27f6 2D5F subi r18,lo8(-(3)) 4949 27f8 3F4F sbci r19,hi8(-(3)) 4950 .L444: 4951 27fa B901 movw r22,r18 4952 27fc 7595 asr r23 4953 27fe 6795 ror r22 4954 2800 7595 asr r23 4955 2802 6795 ror r22 4956 2804 A050 subi r26,lo8(-(PPM_diff)) 4957 2806 B040 sbci r27,hi8(-(PPM_diff)) 4958 2808 8091 0000 lds r24,EE_Parameter+24 4959 280c 082F mov r16,r24 4960 280e 1127 clr r17 4961 2810 8D91 ld r24,X+ 4962 2812 9C91 ld r25,X 4963 2814 809F mul r24,r16 4964 2816 7001 movw r14,r0 4965 2818 819F mul r24,r17 4966 281a F00C add r15,r0 4967 281c 909F mul r25,r16 4968 281e F00C add r15,r0 4969 2820 1124 clr r1 4970 2822 6E0D add r22,r14 4971 2824 7F1D adc r23,r15 4972 2826 7093 0000 sts (stick_nick.12)+1,r23 4973 282a 6093 0000 sts stick_nick.12,r22 4974 282e 8091 0000 lds r24,stick_roll.13 4975 2832 9091 0000 lds r25,(stick_roll.13)+1 4976 2836 9C01 movw r18,r24 4977 2838 220F lsl r18 4978 283a 331F rol r19 4979 283c 280F add r18,r24 4980 283e 391F adc r19,r25 4981 2840 D090 0000 lds r13,EE_Parameter+2 4982 2844 AD2D mov r26,r13 4983 2846 BB27 clr r27 4984 2848 AA0F add r26,r26 4985 284a BB1F adc r27,r27 4986 284c FD01 movw r30,r26 4987 284e E050 subi r30,lo8(-(PPM_in)) 4988 2850 F040 sbci r31,hi8(-(PPM_in)) 4989 2852 8081 ld r24,Z 4990 2854 9181 ldd r25,Z+1 4991 2856 849F mul r24,r20 4992 2858 F001 movw r30,r0 4993 285a 859F mul r24,r21 4994 285c F00D add r31,r0 4995 285e 949F mul r25,r20 4996 2860 F00D add r31,r0 4997 2862 1124 clr r1 4998 2864 2E0F add r18,r30 4999 2866 3F1F adc r19,r31 5000 2868 37FF sbrs r19,7 5001 286a 00C0 rjmp .L445 5002 286c 2D5F subi r18,lo8(-(3)) 5003 286e 3F4F sbci r19,hi8(-(3)) 5004 .L445: 5005 2870 A901 movw r20,r18 5006 2872 5595 asr r21 5007 2874 4795 ror r20 5008 2876 5595 asr r21 5009 2878 4795 ror r20 5010 287a A050 subi r26,lo8(-(PPM_diff)) 5011 287c B040 sbci r27,hi8(-(PPM_diff)) 5012 287e 8D91 ld r24,X+ 5013 2880 9C91 ld r25,X 5014 2882 809F mul r24,r16 5015 2884 7001 movw r14,r0 5016 2886 819F mul r24,r17 5017 2888 F00C add r15,r0 5018 288a 909F mul r25,r16 5019 288c F00C add r15,r0 5020 288e 1124 clr r1 5021 2890 4E0D add r20,r14 5022 2892 5F1D adc r21,r15 5023 2894 5093 0000 sts (stick_roll.13)+1,r21 5024 2898 4093 0000 sts stick_roll.13,r20 5025 289c 8091 0000 lds r24,CareFree 5026 28a0 8823 tst r24 5027 28a2 01F4 brne .+2 5028 28a4 00C0 rjmp .L446 5029 28a6 CB01 movw r24,r22 5030 28a8 77FD sbrc r23,7 5031 28aa 0396 adiw r24,3 5032 .L447: 5033 28ac DC01 movw r26,r24 5034 28ae B595 asr r27 5035 28b0 A795 ror r26 5036 28b2 B595 asr r27 5037 28b4 A795 ror r26 5038 28b6 CA01 movw r24,r20 5039 28b8 57FD sbrc r21,7 5040 28ba 0396 adiw r24,3 5041 .L448: 5042 28bc FC01 movw r30,r24 5043 28be F595 asr r31 5044 28c0 E795 ror r30 5045 28c2 F595 asr r31 5046 28c4 E795 ror r30 5047 28c6 8091 0000 lds r24,FromNC_Rotate_C 5048 28ca 682F mov r22,r24 5049 28cc 7727 clr r23 5050 28ce 67FD sbrc r22,7 5051 28d0 7095 com r23 5052 28d2 6A9F mul r22,r26 5053 28d4 9001 movw r18,r0 5054 28d6 6B9F mul r22,r27 5055 28d8 300D add r19,r0 5056 28da 7A9F mul r23,r26 5057 28dc 300D add r19,r0 5058 28de 1124 clr r1 5059 28e0 8091 0000 lds r24,FromNC_Rotate_S 5060 28e4 482F mov r20,r24 5061 28e6 5527 clr r21 5062 28e8 47FD sbrc r20,7 5063 28ea 5095 com r21 5064 28ec 4E9F mul r20,r30 5065 28ee C001 movw r24,r0 5066 28f0 4F9F mul r20,r31 5067 28f2 900D add r25,r0 5068 28f4 5E9F mul r21,r30 5069 28f6 900D add r25,r0 5070 28f8 1124 clr r1 5071 28fa 280F add r18,r24 5072 28fc 391F adc r19,r25 5073 28fe 37FF sbrs r19,7 5074 2900 00C0 rjmp .L449 5075 2902 295F subi r18,lo8(-(7)) 5076 2904 3F4F sbci r19,hi8(-(7)) 5077 .L449: 5078 2906 93E0 ldi r25,3 5079 2908 3595 1: asr r19 5080 290a 2795 ror r18 5081 290c 9A95 dec r25 5082 290e 01F4 brne 1b 5083 2910 3093 0000 sts (StickNick)+1,r19 5084 2914 2093 0000 sts StickNick,r18 5085 2918 6E9F mul r22,r30 5086 291a 9001 movw r18,r0 5087 291c 6F9F mul r22,r31 5088 291e 300D add r19,r0 5089 2920 7E9F mul r23,r30 5090 2922 300D add r19,r0 5091 2924 1124 clr r1 5092 2926 4A9F mul r20,r26 5093 2928 C001 movw r24,r0 5094 292a 4B9F mul r20,r27 5095 292c 900D add r25,r0 5096 292e 5A9F mul r21,r26 5097 2930 900D add r25,r0 5098 2932 1124 clr r1 5099 2934 00C0 rjmp .L925 5100 .L446: 5101 2936 8091 0000 lds r24,EE_Parameter+98 5102 293a E82F mov r30,r24 5103 293c FF27 clr r31 5104 293e E050 subi r30,lo8(-(sintab)) 5105 2940 F040 sbci r31,hi8(-(sintab)) 5106 2942 8681 ldd r24,Z+6 5107 2944 8093 0000 sts FromNC_Rotate_C,r24 5108 2948 9081 ld r25,Z 5109 294a 9093 0000 sts FromNC_Rotate_S,r25 5110 294e A82F mov r26,r24 5111 2950 BB27 clr r27 5112 2952 A7FD sbrc r26,7 5113 2954 B095 com r27 5114 2956 A69F mul r26,r22 5115 2958 9001 movw r18,r0 5116 295a A79F mul r26,r23 5117 295c 300D add r19,r0 5118 295e B69F mul r27,r22 5119 2960 300D add r19,r0 5120 2962 1124 clr r1 5121 2964 E92F mov r30,r25 5122 2966 FF27 clr r31 5123 2968 E7FD sbrc r30,7 5124 296a F095 com r31 5125 296c E49F mul r30,r20 5126 296e C001 movw r24,r0 5127 2970 E59F mul r30,r21 5128 2972 900D add r25,r0 5129 2974 F49F mul r31,r20 5130 2976 900D add r25,r0 5131 2978 1124 clr r1 5132 297a 280F add r18,r24 5133 297c 391F adc r19,r25 5134 297e 37FF sbrs r19,7 5135 2980 00C0 rjmp .L452 5136 2982 295F subi r18,lo8(-(7)) 5137 2984 3F4F sbci r19,hi8(-(7)) 5138 .L452: 5139 2986 83E0 ldi r24,3 5140 2988 3595 1: asr r19 5141 298a 2795 ror r18 5142 298c 8A95 dec r24 5143 298e 01F4 brne 1b 5144 2990 3093 0000 sts (StickNick)+1,r19 5145 2994 2093 0000 sts StickNick,r18 5146 2998 A49F mul r26,r20 5147 299a 9001 movw r18,r0 5148 299c A59F mul r26,r21 5149 299e 300D add r19,r0 5150 29a0 B49F mul r27,r20 5151 29a2 300D add r19,r0 5152 29a4 1124 clr r1 5153 29a6 E69F mul r30,r22 5154 29a8 C001 movw r24,r0 5155 29aa E79F mul r30,r23 5156 29ac 900D add r25,r0 5157 29ae F69F mul r31,r22 5158 29b0 900D add r25,r0 5159 29b2 1124 clr r1 5160 .L925: 5161 29b4 281B sub r18,r24 5162 29b6 390B sbc r19,r25 5163 29b8 37FF sbrs r19,7 5164 29ba 00C0 rjmp .L453 5165 29bc 295F subi r18,lo8(-(7)) 5166 29be 3F4F sbci r19,hi8(-(7)) 5167 .L453: 5168 29c0 03E0 ldi r16,3 5169 29c2 3595 1: asr r19 5170 29c4 2795 ror r18 5171 29c6 0A95 dec r16 5172 29c8 01F4 brne 1b 5173 29ca 3093 0000 sts (StickRoll)+1,r19 5174 29ce 2093 0000 sts StickRoll,r18 5175 29d2 8091 0000 lds r24,EE_Parameter+4 5176 29d6 E82F mov r30,r24 5177 29d8 FF27 clr r31 5178 29da EE0F add r30,r30 5179 29dc FF1F adc r31,r31 5180 29de E050 subi r30,lo8(-(PPM_in)) 5181 29e0 F040 sbci r31,hi8(-(PPM_in)) 5182 29e2 8081 ld r24,Z 5183 29e4 9181 ldd r25,Z+1 5184 29e6 9095 com r25 5185 29e8 8195 neg r24 5186 29ea 9F4F sbci r25,lo8(-1) 5187 29ec 9093 0000 sts (StickGier)+1,r25 5188 29f0 8093 0000 sts StickGier,r24 5189 29f4 8530 cpi r24,5 5190 29f6 9105 cpc r25,__zero_reg__ 5191 29f8 04F0 brlt .L454 5192 29fa 0497 sbiw r24,4 5193 29fc 00C0 rjmp .L897 5194 .L454: 5195 29fe 0FEF ldi r16,hi8(-4) 5196 2a00 8C3F cpi r24,lo8(-4) 5197 2a02 9007 cpc r25,r16 5198 2a04 04F4 brge .L456 5199 2a06 0496 adiw r24,4 5200 .L897: 5201 2a08 9093 0000 sts (StickGier)+1,r25 5202 2a0c 8093 0000 sts StickGier,r24 5203 2a10 00C0 rjmp .L455 5204 .L456: 5205 2a12 1092 0000 sts (StickGier)+1,__zero_reg__ 5206 2a16 1092 0000 sts StickGier,__zero_reg__ 5207 .L455: 5208 2a1a 8091 0000 lds r24,GPS_Aid_StickMultiplikator 5209 2a1e 8823 tst r24 5210 2a20 01F4 brne .+2 5211 2a22 00C0 rjmp .L458 5212 2a24 282F mov r18,r24 5213 2a26 3327 clr r19 5214 2a28 8091 0000 lds r24,StickNick 5215 2a2c 9091 0000 lds r25,(StickNick)+1 5216 2a30 97FD sbrc r25,7 5217 2a32 0796 adiw r24,7 5218 .L459: 5219 2a34 13E0 ldi r17,3 5220 2a36 9595 1: asr r25 5221 2a38 8795 ror r24 5222 2a3a 1A95 dec r17 5223 2a3c 01F4 brne 1b 5224 2a3e 289F mul r18,r24 5225 2a40 A001 movw r20,r0 5226 2a42 299F mul r18,r25 5227 2a44 500D add r21,r0 5228 2a46 389F mul r19,r24 5229 2a48 500D add r21,r0 5230 2a4a 1124 clr r1 5231 2a4c CA01 movw r24,r20 5232 2a4e 57FD sbrc r21,7 5233 2a50 0F96 adiw r24,15 5234 .L460: 5235 2a52 B4E0 ldi r27,4 5236 2a54 9595 1: asr r25 5237 2a56 8795 ror r24 5238 2a58 BA95 dec r27 5239 2a5a 01F4 brne 1b 5240 2a5c 9093 0000 sts (StickNick)+1,r25 5241 2a60 8093 0000 sts StickNick,r24 5242 2a64 8091 0000 lds r24,StickRoll 5243 2a68 9091 0000 lds r25,(StickRoll)+1 5244 2a6c 97FD sbrc r25,7 5245 2a6e 0796 adiw r24,7 5246 .L461: 5247 2a70 A3E0 ldi r26,3 5248 2a72 9595 1: asr r25 5249 2a74 8795 ror r24 5250 2a76 AA95 dec r26 5251 2a78 01F4 brne 1b 5252 2a7a 289F mul r18,r24 5253 2a7c B001 movw r22,r0 5254 2a7e 299F mul r18,r25 5255 2a80 700D add r23,r0 5256 2a82 389F mul r19,r24 5257 2a84 700D add r23,r0 5258 2a86 1124 clr r1 5259 2a88 CB01 movw r24,r22 5260 2a8a 77FD sbrc r23,7 5261 2a8c 0F96 adiw r24,15 5262 .L462: 5263 2a8e F4E0 ldi r31,4 5264 2a90 9595 1: asr r25 5265 2a92 8795 ror r24 5266 2a94 FA95 dec r31 5267 2a96 01F4 brne 1b 5268 2a98 9093 0000 sts (StickRoll)+1,r25 5269 2a9c 8093 0000 sts StickRoll,r24 5270 .L458: 5271 2aa0 8090 0000 lds r8,StickNick 5272 2aa4 9090 0000 lds r9,(StickNick)+1 5273 2aa8 8091 0000 lds r24,GPS_Nick 5274 2aac 9091 0000 lds r25,(GPS_Nick)+1 5275 2ab0 881A sub r8,r24 5276 2ab2 990A sbc r9,r25 5277 2ab4 9092 0000 sts (StickNick)+1,r9 5278 2ab8 8092 0000 sts StickNick,r8 5279 2abc 0091 0000 lds r16,StickRoll 5280 2ac0 1091 0000 lds r17,(StickRoll)+1 5281 2ac4 8091 0000 lds r24,GPS_Roll 5282 2ac8 9091 0000 lds r25,(GPS_Roll)+1 5283 2acc 081B sub r16,r24 5284 2ace 190B sbc r17,r25 5285 2ad0 1093 0000 sts (StickRoll)+1,r17 5286 2ad4 0093 0000 sts StickRoll,r16 5287 2ad8 8091 0000 lds r24,EE_Parameter+3 5288 2adc E82F mov r30,r24 5289 2ade FF27 clr r31 5290 2ae0 EE0F add r30,r30 5291 2ae2 FF1F adc r31,r31 5292 2ae4 E050 subi r30,lo8(-(PPM_in)) 5293 2ae6 F040 sbci r31,hi8(-(PPM_in)) 5294 2ae8 E080 ld r14,Z 5295 2aea F180 ldd r15,Z+1 5296 2aec 8FE7 ldi r24,lo8(127) 5297 2aee 90E0 ldi r25,hi8(127) 5298 2af0 E80E add r14,r24 5299 2af2 F91E adc r15,r25 5300 2af4 F092 0000 sts (StickGas)+1,r15 5301 2af8 E092 0000 sts StickGas,r14 5302 2afc 8091 0000 lds r24,Parameter_Gyro_P 5303 2b00 9927 clr r25 5304 2b02 AA27 clr r26 5305 2b04 97FD sbrc r25,7 5306 2b06 A095 com r26 5307 2b08 BA2F mov r27,r26 5308 2b0a BC01 movw r22,r24 5309 2b0c CD01 movw r24,r26 5310 2b0e 0E94 0000 call __floatsisf 5311 2b12 DC01 movw r26,r24 5312 2b14 CB01 movw r24,r22 5313 2b16 20E0 ldi r18,lo8(0x41200000) 5314 2b18 30E0 ldi r19,hi8(0x41200000) 5315 2b1a 40E2 ldi r20,hlo8(0x41200000) 5316 2b1c 51E4 ldi r21,hhi8(0x41200000) 5317 2b1e BC01 movw r22,r24 5318 2b20 CD01 movw r24,r26 5319 2b22 0E94 0000 call __addsf3 5320 2b26 DC01 movw r26,r24 5321 2b28 CB01 movw r24,r22 5322 2b2a BC01 movw r22,r24 5323 2b2c CD01 movw r24,r26 5324 2b2e 0E94 0000 call __fixunssfsi 5325 2b32 DC01 movw r26,r24 5326 2b34 CB01 movw r24,r22 5327 2b36 8093 0000 sts GyroFaktor,r24 5328 2b3a 8091 0000 lds r24,Parameter_Gyro_I 5329 2b3e 8093 0000 sts IntegralFaktor,r24 5330 2b42 8091 0000 lds r24,Parameter_Gyro_Gier_P 5331 2b46 9927 clr r25 5332 2b48 AA27 clr r26 5333 2b4a 97FD sbrc r25,7 5334 2b4c A095 com r26 5335 2b4e BA2F mov r27,r26 5336 2b50 BC01 movw r22,r24 5337 2b52 CD01 movw r24,r26 5338 2b54 0E94 0000 call __floatsisf 5339 2b58 DC01 movw r26,r24 5340 2b5a CB01 movw r24,r22 5341 2b5c 20E0 ldi r18,lo8(0x41200000) 5342 2b5e 30E0 ldi r19,hi8(0x41200000) 5343 2b60 40E2 ldi r20,hlo8(0x41200000) 5344 2b62 51E4 ldi r21,hhi8(0x41200000) 5345 2b64 BC01 movw r22,r24 5346 2b66 CD01 movw r24,r26 5347 2b68 0E94 0000 call __addsf3 5348 2b6c DC01 movw r26,r24 5349 2b6e CB01 movw r24,r22 5350 2b70 BC01 movw r22,r24 5351 2b72 CD01 movw r24,r26 5352 2b74 0E94 0000 call __fixunssfsi 5353 2b78 DC01 movw r26,r24 5354 2b7a CB01 movw r24,r22 5355 2b7c 8093 0000 sts GyroFaktorGier,r24 5356 2b80 8091 0000 lds r24,Parameter_Gyro_Gier_I 5357 2b84 8093 0000 sts IntegralFaktorGier,r24 5358 2b88 8091 0000 lds r24,ExternControl+10 5359 2b8c 80FF sbrs r24,0 5360 2b8e 00C0 rjmp .L463 5361 2b90 8091 0000 lds r24,Parameter_ExternalControl 5362 2b94 8138 cpi r24,lo8(-127) 5363 2b96 00F4 brsh .+2 5364 2b98 00C0 rjmp .L463 5365 2b9a 8091 0000 lds r24,ExternControl+3 5366 2b9e 9927 clr r25 5367 2ba0 87FD sbrc r24,7 5368 2ba2 9095 com r25 5369 2ba4 2B2D mov r18,r11 5370 2ba6 3327 clr r19 5371 2ba8 829F mul r24,r18 5372 2baa D001 movw r26,r0 5373 2bac 839F mul r24,r19 5374 2bae B00D add r27,r0 5375 2bb0 929F mul r25,r18 5376 2bb2 B00D add r27,r0 5377 2bb4 1124 clr r1 5378 2bb6 8A0E add r8,r26 5379 2bb8 9B1E adc r9,r27 5380 2bba 9092 0000 sts (StickNick)+1,r9 5381 2bbe 8092 0000 sts StickNick,r8 5382 2bc2 8091 0000 lds r24,ExternControl+4 5383 2bc6 9927 clr r25 5384 2bc8 87FD sbrc r24,7 5385 2bca 9095 com r25 5386 2bcc 829F mul r24,r18 5387 2bce F001 movw r30,r0 5388 2bd0 839F mul r24,r19 5389 2bd2 F00D add r31,r0 5390 2bd4 929F mul r25,r18 5391 2bd6 F00D add r31,r0 5392 2bd8 1124 clr r1 5393 2bda 0E0F add r16,r30 5394 2bdc 1F1F adc r17,r31 5395 2bde 1093 0000 sts (StickRoll)+1,r17 5396 2be2 0093 0000 sts StickRoll,r16 5397 2be6 8091 0000 lds r24,ExternControl+5 5398 2bea 282F mov r18,r24 5399 2bec 3327 clr r19 5400 2bee 27FD sbrc r18,7 5401 2bf0 3095 com r19 5402 2bf2 8091 0000 lds r24,StickGier 5403 2bf6 9091 0000 lds r25,(StickGier)+1 5404 2bfa 820F add r24,r18 5405 2bfc 931F adc r25,r19 5406 2bfe 9093 0000 sts (StickGier)+1,r25 5407 2c02 8093 0000 sts StickGier,r24 5408 2c06 8091 0000 lds r24,ExternControl+7 5409 2c0a 282F mov r18,r24 5410 2c0c 3327 clr r19 5411 2c0e 27FD sbrc r18,7 5412 2c10 3095 com r19 5413 2c12 8091 0000 lds r24,EE_Parameter+18 5414 2c16 9927 clr r25 5415 2c18 289F mul r18,r24 5416 2c1a 8001 movw r16,r0 5417 2c1c 299F mul r18,r25 5418 2c1e 100D add r17,r0 5419 2c20 389F mul r19,r24 5420 2c22 100D add r17,r0 5421 2c24 1124 clr r1 5422 2c26 1093 0000 sts (ExternHoehenValue)+1,r17 5423 2c2a 0093 0000 sts ExternHoehenValue,r16 5424 2c2e 8091 0000 lds r24,ExternControl+6 5425 2c32 9927 clr r25 5426 2c34 8E15 cp r24,r14 5427 2c36 9F05 cpc r25,r15 5428 2c38 04F4 brge .L463 5429 2c3a 9093 0000 sts (StickGas)+1,r25 5430 2c3e 8093 0000 sts StickGas,r24 5431 .L463: 5432 2c42 8091 0000 lds r24,StickGas 5433 2c46 9091 0000 lds r25,(StickGas)+1 5434 2c4a 97FF sbrs r25,7 5435 2c4c 00C0 rjmp .L465 5436 2c4e 1092 0000 sts (StickGas)+1,__zero_reg__ 5437 2c52 1092 0000 sts StickGas,__zero_reg__ 5438 .L465: 5439 2c56 8091 0000 lds r24,Parameter_GlobalConfig 5440 2c5a 82FF sbrs r24,2 5441 2c5c 00C0 rjmp .L466 5442 2c5e 1092 0000 sts IntegralFaktor,__zero_reg__ 5443 .L466: 5444 2c62 4091 0000 lds r20,StickNick 5445 2c66 5091 0000 lds r21,(StickNick)+1 5446 2c6a CA01 movw r24,r20 5447 2c6c 57FD sbrc r21,7 5448 2c6e 0396 adiw r24,3 5449 .L468: 5450 2c70 9C01 movw r18,r24 5451 2c72 3595 asr r19 5452 2c74 2795 ror r18 5453 2c76 3595 asr r19 5454 2c78 2795 ror r18 5455 2c7a 37FF sbrs r19,7 5456 2c7c 00C0 rjmp .L469 5457 2c7e 3095 com r19 5458 2c80 2195 neg r18 5459 2c82 3F4F sbci r19,lo8(-1) 5460 .L469: 5461 2c84 8091 0000 lds r24,MaxStickNick 5462 2c88 9091 0000 lds r25,(MaxStickNick)+1 5463 2c8c 8217 cp r24,r18 5464 2c8e 9307 cpc r25,r19 5465 2c90 04F4 brge .L467 5466 2c92 CA01 movw r24,r20 5467 2c94 57FF sbrs r21,7 5468 2c96 00C0 rjmp .L470 5469 2c98 9095 com r25 5470 2c9a 8195 neg r24 5471 2c9c 9F4F sbci r25,lo8(-1) 5472 .L470: 5473 2c9e 97FD sbrc r25,7 5474 2ca0 0396 adiw r24,3 5475 .L471: 5476 2ca2 9595 asr r25 5477 2ca4 8795 ror r24 5478 2ca6 9595 asr r25 5479 2ca8 8795 ror r24 5480 2caa 9093 0000 sts (MaxStickNick)+1,r25 5481 2cae 8093 0000 sts MaxStickNick,r24 5482 2cb2 8536 cpi r24,101 5483 2cb4 9105 cpc r25,__zero_reg__ 5484 2cb6 04F0 brlt .L473 5485 2cb8 84E6 ldi r24,lo8(100) 5486 2cba 90E0 ldi r25,hi8(100) 5487 2cbc 00C0 rjmp .L898 5488 .L467: 5489 2cbe 0197 sbiw r24,1 5490 .L898: 5491 2cc0 9093 0000 sts (MaxStickNick)+1,r25 5492 2cc4 8093 0000 sts MaxStickNick,r24 5493 .L473: 5494 2cc8 4091 0000 lds r20,StickRoll 5495 2ccc 5091 0000 lds r21,(StickRoll)+1 5496 2cd0 CA01 movw r24,r20 5497 2cd2 57FD sbrc r21,7 5498 2cd4 0396 adiw r24,3 5499 .L475: 5500 2cd6 9C01 movw r18,r24 5501 2cd8 3595 asr r19 5502 2cda 2795 ror r18 5503 2cdc 3595 asr r19 5504 2cde 2795 ror r18 5505 2ce0 37FF sbrs r19,7 5506 2ce2 00C0 rjmp .L476 5507 2ce4 3095 com r19 5508 2ce6 2195 neg r18 5509 2ce8 3F4F sbci r19,lo8(-1) 5510 .L476: 5511 2cea 8091 0000 lds r24,MaxStickRoll 5512 2cee 9091 0000 lds r25,(MaxStickRoll)+1 5513 2cf2 8217 cp r24,r18 5514 2cf4 9307 cpc r25,r19 5515 2cf6 04F4 brge .L474 5516 2cf8 CA01 movw r24,r20 5517 2cfa 57FF sbrs r21,7 5518 2cfc 00C0 rjmp .L477 5519 2cfe 9095 com r25 5520 2d00 8195 neg r24 5521 2d02 9F4F sbci r25,lo8(-1) 5522 .L477: 5523 2d04 97FD sbrc r25,7 5524 2d06 0396 adiw r24,3 5525 .L478: 5526 2d08 9595 asr r25 5527 2d0a 8795 ror r24 5528 2d0c 9595 asr r25 5529 2d0e 8795 ror r24 5530 2d10 9093 0000 sts (MaxStickRoll)+1,r25 5531 2d14 8093 0000 sts MaxStickRoll,r24 5532 2d18 8536 cpi r24,101 5533 2d1a 9105 cpc r25,__zero_reg__ 5534 2d1c 04F0 brlt .L480 5535 2d1e 84E6 ldi r24,lo8(100) 5536 2d20 90E0 ldi r25,hi8(100) 5537 2d22 00C0 rjmp .L899 5538 .L474: 5539 2d24 0197 sbiw r24,1 5540 .L899: 5541 2d26 9093 0000 sts (MaxStickRoll)+1,r25 5542 2d2a 8093 0000 sts MaxStickRoll,r24 5543 .L480: 5544 2d2e 8091 0000 lds r24,FC_StatusFlags 5545 2d32 84FF sbrs r24,4 5546 2d34 00C0 rjmp .L481 5547 2d36 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5548 2d3a 1092 0000 sts MaxStickNick,__zero_reg__ 5549 2d3e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5550 2d42 1092 0000 sts MaxStickRoll,__zero_reg__ 5551 .L481: 5552 2d46 ED2D mov r30,r13 5553 2d48 FF27 clr r31 5554 2d4a EE0F add r30,r30 5555 2d4c FF1F adc r31,r31 5556 2d4e E050 subi r30,lo8(-(PPM_in)) 5557 2d50 F040 sbci r31,hi8(-(PPM_in)) 5558 2d52 4091 0000 lds r20,EE_Parameter+60 5559 2d56 242F mov r18,r20 5560 2d58 3327 clr r19 5561 2d5a 8081 ld r24,Z 5562 2d5c 9181 ldd r25,Z+1 5563 2d5e 2817 cp r18,r24 5564 2d60 3907 cpc r19,r25 5565 2d62 04F4 brge .L482 5566 2d64 8091 0000 lds r24,EE_Parameter+108 5567 2d68 82FF sbrs r24,2 5568 2d6a 00C0 rjmp .L482 5569 2d6c 81E0 ldi r24,lo8(1) 5570 2d6e 8093 0000 sts Looping_Links,r24 5571 2d72 00C0 rjmp .L483 5572 .L482: 5573 2d74 ED2D mov r30,r13 5574 2d76 FF27 clr r31 5575 2d78 EE0F add r30,r30 5576 2d7a FF1F adc r31,r31 5577 2d7c E050 subi r30,lo8(-(PPM_in)) 5578 2d7e F040 sbci r31,hi8(-(PPM_in)) 5579 2d80 842F mov r24,r20 5580 2d82 9927 clr r25 5581 2d84 2091 0000 lds r18,EE_Parameter+61 5582 2d88 821B sub r24,r18 5583 2d8a 9109 sbc r25,__zero_reg__ 5584 2d8c 2081 ld r18,Z 5585 2d8e 3181 ldd r19,Z+1 5586 2d90 2817 cp r18,r24 5587 2d92 3907 cpc r19,r25 5588 2d94 04F4 brge .L483 5589 2d96 1092 0000 sts Looping_Links,__zero_reg__ 5590 .L483: 5591 2d9a 4091 0000 lds r20,EE_Parameter+2 5592 2d9e E42F mov r30,r20 5593 2da0 FF27 clr r31 5594 2da2 EE0F add r30,r30 5595 2da4 FF1F adc r31,r31 5596 2da6 E050 subi r30,lo8(-(PPM_in)) 5597 2da8 F040 sbci r31,hi8(-(PPM_in)) 5598 2daa 5091 0000 lds r21,EE_Parameter+60 5599 2dae 852F mov r24,r21 5600 2db0 9927 clr r25 5601 2db2 2227 clr r18 5602 2db4 3327 clr r19 5603 2db6 281B sub r18,r24 5604 2db8 390B sbc r19,r25 5605 2dba 8081 ld r24,Z 5606 2dbc 9181 ldd r25,Z+1 5607 2dbe 8217 cp r24,r18 5608 2dc0 9307 cpc r25,r19 5609 2dc2 04F4 brge .L485 5610 2dc4 8091 0000 lds r24,EE_Parameter+108 5611 2dc8 83FF sbrs r24,3 5612 2dca 00C0 rjmp .L485 5613 2dcc 81E0 ldi r24,lo8(1) 5614 2dce 8093 0000 sts Looping_Rechts,r24 5615 2dd2 00C0 rjmp .L486 5616 .L485: 5617 2dd4 8091 0000 lds r24,Looping_Rechts 5618 2dd8 8823 tst r24 5619 2dda 01F0 breq .L486 5620 2ddc E42F mov r30,r20 5621 2dde FF27 clr r31 5622 2de0 EE0F add r30,r30 5623 2de2 FF1F adc r31,r31 5624 2de4 E050 subi r30,lo8(-(PPM_in)) 5625 2de6 F040 sbci r31,hi8(-(PPM_in)) 5626 2de8 8091 0000 lds r24,EE_Parameter+61 5627 2dec 9927 clr r25 5628 2dee 851B sub r24,r21 5629 2df0 9109 sbc r25,__zero_reg__ 5630 2df2 2081 ld r18,Z 5631 2df4 3181 ldd r19,Z+1 5632 2df6 8217 cp r24,r18 5633 2df8 9307 cpc r25,r19 5634 2dfa 04F4 brge .L486 5635 2dfc 1092 0000 sts Looping_Rechts,__zero_reg__ 5636 .L486: 5637 2e00 EC2D mov r30,r12 5638 2e02 FF27 clr r31 5639 2e04 EE0F add r30,r30 5640 2e06 FF1F adc r31,r31 5641 2e08 E050 subi r30,lo8(-(PPM_in)) 5642 2e0a F040 sbci r31,hi8(-(PPM_in)) 5643 2e0c 4091 0000 lds r20,EE_Parameter+60 5644 2e10 242F mov r18,r20 5645 2e12 3327 clr r19 5646 2e14 8081 ld r24,Z 5647 2e16 9181 ldd r25,Z+1 5648 2e18 2817 cp r18,r24 5649 2e1a 3907 cpc r19,r25 5650 2e1c 04F4 brge .L489 5651 2e1e 8091 0000 lds r24,EE_Parameter+108 5652 2e22 80FF sbrs r24,0 5653 2e24 00C0 rjmp .L489 5654 2e26 81E0 ldi r24,lo8(1) 5655 2e28 8093 0000 sts Looping_Oben,r24 5656 2e2c 00C0 rjmp .L490 5657 .L489: 5658 2e2e 8091 0000 lds r24,Looping_Oben 5659 2e32 8823 tst r24 5660 2e34 01F0 breq .L490 5661 2e36 EC2D mov r30,r12 5662 2e38 FF27 clr r31 5663 2e3a EE0F add r30,r30 5664 2e3c FF1F adc r31,r31 5665 2e3e E050 subi r30,lo8(-(PPM_in)) 5666 2e40 F040 sbci r31,hi8(-(PPM_in)) 5667 2e42 842F mov r24,r20 5668 2e44 9927 clr r25 5669 2e46 2091 0000 lds r18,EE_Parameter+61 5670 2e4a 821B sub r24,r18 5671 2e4c 9109 sbc r25,__zero_reg__ 5672 2e4e 2081 ld r18,Z 5673 2e50 3181 ldd r19,Z+1 5674 2e52 2817 cp r18,r24 5675 2e54 3907 cpc r19,r25 5676 2e56 04F4 brge .L490 5677 2e58 1092 0000 sts Looping_Oben,__zero_reg__ 5678 .L490: 5679 2e5c 4091 0000 lds r20,EE_Parameter+1 5680 2e60 E42F mov r30,r20 5681 2e62 FF27 clr r31 5682 2e64 EE0F add r30,r30 5683 2e66 FF1F adc r31,r31 5684 2e68 E050 subi r30,lo8(-(PPM_in)) 5685 2e6a F040 sbci r31,hi8(-(PPM_in)) 5686 2e6c 5091 0000 lds r21,EE_Parameter+60 5687 2e70 852F mov r24,r21 5688 2e72 9927 clr r25 5689 2e74 2227 clr r18 5690 2e76 3327 clr r19 5691 2e78 281B sub r18,r24 5692 2e7a 390B sbc r19,r25 5693 2e7c 8081 ld r24,Z 5694 2e7e 9181 ldd r25,Z+1 5695 2e80 8217 cp r24,r18 5696 2e82 9307 cpc r25,r19 5697 2e84 04F4 brge .L493 5698 2e86 8091 0000 lds r24,EE_Parameter+108 5699 2e8a 81FF sbrs r24,1 5700 2e8c 00C0 rjmp .L493 5701 2e8e 81E0 ldi r24,lo8(1) 5702 2e90 8093 0000 sts Looping_Unten,r24 5703 2e94 00C0 rjmp .L494 5704 .L493: 5705 2e96 8091 0000 lds r24,Looping_Unten 5706 2e9a 8823 tst r24 5707 2e9c 01F0 breq .L494 5708 2e9e E42F mov r30,r20 5709 2ea0 FF27 clr r31 5710 2ea2 EE0F add r30,r30 5711 2ea4 FF1F adc r31,r31 5712 2ea6 E050 subi r30,lo8(-(PPM_in)) 5713 2ea8 F040 sbci r31,hi8(-(PPM_in)) 5714 2eaa 8091 0000 lds r24,EE_Parameter+61 5715 2eae 9927 clr r25 5716 2eb0 851B sub r24,r21 5717 2eb2 9109 sbc r25,__zero_reg__ 5718 2eb4 2081 ld r18,Z 5719 2eb6 3181 ldd r19,Z+1 5720 2eb8 8217 cp r24,r18 5721 2eba 9307 cpc r25,r19 5722 2ebc 04F4 brge .L494 5723 2ebe 1092 0000 sts Looping_Unten,__zero_reg__ 5724 .L494: 5725 2ec2 8091 0000 lds r24,Looping_Links 5726 2ec6 8823 tst r24 5727 2ec8 01F4 brne .L498 5728 2eca 8091 0000 lds r24,Looping_Rechts 5729 2ece 8111 cpse r24,__zero_reg__ 5730 .L498: 5731 2ed0 81E0 ldi r24,lo8(1) 5732 .L497: 5733 2ed2 8093 0000 sts Looping_Roll,r24 5734 2ed6 8091 0000 lds r24,Looping_Oben 5735 2eda 8823 tst r24 5736 2edc 01F4 brne .L501 5737 2ede 8091 0000 lds r24,Looping_Unten 5738 2ee2 8823 tst r24 5739 2ee4 01F0 breq .L500 5740 .L501: 5741 2ee6 81E0 ldi r24,lo8(1) 5742 2ee8 8093 0000 sts Looping_Nick,r24 5743 2eec 1092 0000 sts Looping_Roll,__zero_reg__ 5744 2ef0 1092 0000 sts Looping_Links,__zero_reg__ 5745 2ef4 1092 0000 sts Looping_Rechts,__zero_reg__ 5746 2ef8 00C0 rjmp .L442 5747 .L500: 5748 2efa 8093 0000 sts Looping_Nick,r24 5749 .L442: 5750 2efe 8091 0000 lds r24,Looping_Roll 5751 2f02 8823 tst r24 5752 2f04 01F4 brne .L504 5753 2f06 8091 0000 lds r24,Looping_Nick 5754 2f0a 8823 tst r24 5755 2f0c 01F0 breq .L503 5756 .L504: 5757 2f0e 8091 0000 lds r24,EE_Parameter+59 5758 2f12 9927 clr r25 5759 2f14 2981 ldd r18,Y+1 5760 2f16 3A81 ldd r19,Y+2 5761 2f18 8217 cp r24,r18 5762 2f1a 9307 cpc r25,r19 5763 2f1c 04F4 brge .L505 5764 2f1e 9A83 std Y+2,r25 5765 2f20 8983 std Y+1,r24 5766 .L505: 5767 2f22 81E0 ldi r24,lo8(1) 5768 2f24 8093 0000 sts TrichterFlug,r24 5769 .L503: 5770 2f28 8091 0000 lds r24,FC_StatusFlags2 5771 2f2c 9927 clr r25 5772 2f2e 9C01 movw r18,r24 5773 2f30 2470 andi r18,lo8(4) 5774 2f32 3070 andi r19,hi8(4) 5775 2f34 82FF sbrs r24,2 5776 2f36 00C0 rjmp .L506 5777 2f38 8091 0000 lds r24,GPS_Nick 5778 2f3c 9091 0000 lds r25,(GPS_Nick)+1 5779 2f40 9095 com r25 5780 2f42 8195 neg r24 5781 2f44 9F4F sbci r25,lo8(-1) 5782 2f46 9093 0000 sts (StickNick)+1,r25 5783 2f4a 8093 0000 sts StickNick,r24 5784 2f4e 8091 0000 lds r24,GPS_Roll 5785 2f52 9091 0000 lds r25,(GPS_Roll)+1 5786 2f56 9095 com r25 5787 2f58 8195 neg r24 5788 2f5a 9F4F sbci r25,lo8(-1) 5789 2f5c 9093 0000 sts (StickRoll)+1,r25 5790 2f60 8093 0000 sts StickRoll,r24 5791 2f64 8091 0000 lds r24,StickGasHover 5792 2f68 9091 0000 lds r25,(StickGasHover)+1 5793 2f6c 9093 0000 sts (StickGas)+1,r25 5794 2f70 8093 0000 sts StickGas,r24 5795 2f74 8091 0000 lds r24,Parameter_GlobalConfig 5796 2f78 8B77 andi r24,lo8(123) 5797 2f7a 8B66 ori r24,lo8(107) 5798 2f7c 8093 0000 sts Parameter_GlobalConfig,r24 5799 2f80 8091 0000 lds r24,Parameter_ExtraConfig 5800 2f84 8C7B andi r24,lo8(-68) 5801 2f86 8093 0000 sts Parameter_ExtraConfig,r24 5802 2f8a 88EC ldi r24,lo8(-56) 5803 2f8c 8093 0000 sts Parameter_HoehenSchalter,r24 5804 2f90 00C0 rjmp .L507 5805 .L506: 5806 2f92 8091 0000 lds r24,FC_StatusFlags 5807 2f96 84FF sbrs r24,4 5808 2f98 00C0 rjmp .L507 5809 2f9a 3093 0000 sts (StickGier)+1,r19 5810 2f9e 2093 0000 sts StickGier,r18 5811 2fa2 3093 0000 sts (StickNick)+1,r19 5812 2fa6 2093 0000 sts StickNick,r18 5813 2faa 3093 0000 sts (StickRoll)+1,r19 5814 2fae 2093 0000 sts StickRoll,r18 5815 2fb2 9AE5 ldi r25,lo8(90) 5816 2fb4 9093 0000 sts GyroFaktor,r25 5817 2fb8 88E7 ldi r24,lo8(120) 5818 2fba 8093 0000 sts IntegralFaktor,r24 5819 2fbe 9093 0000 sts GyroFaktorGier,r25 5820 2fc2 8093 0000 sts IntegralFaktorGier,r24 5821 2fc6 1092 0000 sts Looping_Roll,__zero_reg__ 5822 2fca 1092 0000 sts Looping_Nick,__zero_reg__ 5823 .L507: 5824 2fce 8091 0000 lds r24,MittelIntegralNick 5825 2fd2 9091 0000 lds r25,(MittelIntegralNick)+1 5826 2fd6 A091 0000 lds r26,(MittelIntegralNick)+2 5827 2fda B091 0000 lds r27,(MittelIntegralNick)+3 5828 2fde 2091 0000 lds r18,IntegralNick 5829 2fe2 3091 0000 lds r19,(IntegralNick)+1 5830 2fe6 4091 0000 lds r20,(IntegralNick)+2 5831 2fea 5091 0000 lds r21,(IntegralNick)+3 5832 2fee 820F add r24,r18 5833 2ff0 931F adc r25,r19 5834 2ff2 A41F adc r26,r20 5835 2ff4 B51F adc r27,r21 5836 2ff6 8093 0000 sts MittelIntegralNick,r24 5837 2ffa 9093 0000 sts (MittelIntegralNick)+1,r25 5838 2ffe A093 0000 sts (MittelIntegralNick)+2,r26 5839 3002 B093 0000 sts (MittelIntegralNick)+3,r27 5840 3006 8091 0000 lds r24,MittelIntegralRoll 5841 300a 9091 0000 lds r25,(MittelIntegralRoll)+1 5842 300e A091 0000 lds r26,(MittelIntegralRoll)+2 5843 3012 B091 0000 lds r27,(MittelIntegralRoll)+3 5844 3016 E090 0000 lds r14,IntegralRoll 5845 301a F090 0000 lds r15,(IntegralRoll)+1 5846 301e 0091 0000 lds r16,(IntegralRoll)+2 5847 3022 1091 0000 lds r17,(IntegralRoll)+3 5848 3026 EB82 std Y+3,r14 5849 3028 FC82 std Y+4,r15 5850 302a 0D83 std Y+5,r16 5851 302c 1E83 std Y+6,r17 5852 302e 8E0D add r24,r14 5853 3030 9F1D adc r25,r15 5854 3032 A01F adc r26,r16 5855 3034 B11F adc r27,r17 5856 3036 8093 0000 sts MittelIntegralRoll,r24 5857 303a 9093 0000 sts (MittelIntegralRoll)+1,r25 5858 303e A093 0000 sts (MittelIntegralRoll)+2,r26 5859 3042 B093 0000 sts (MittelIntegralRoll)+3,r27 5860 3046 8091 0000 lds r24,MittelIntegralNick2 5861 304a 9091 0000 lds r25,(MittelIntegralNick2)+1 5862 304e A091 0000 lds r26,(MittelIntegralNick2)+2 5863 3052 B091 0000 lds r27,(MittelIntegralNick2)+3 5864 3056 E090 0000 lds r14,IntegralNick2 5865 305a F090 0000 lds r15,(IntegralNick2)+1 5866 305e 0091 0000 lds r16,(IntegralNick2)+2 5867 3062 1091 0000 lds r17,(IntegralNick2)+3 5868 3066 EF82 std Y+7,r14 5869 3068 F886 std Y+8,r15 5870 306a 0987 std Y+9,r16 5871 306c 1A87 std Y+10,r17 5872 306e 8E0D add r24,r14 5873 3070 9F1D adc r25,r15 5874 3072 A01F adc r26,r16 5875 3074 B11F adc r27,r17 5876 3076 8093 0000 sts MittelIntegralNick2,r24 5877 307a 9093 0000 sts (MittelIntegralNick2)+1,r25 5878 307e A093 0000 sts (MittelIntegralNick2)+2,r26 5879 3082 B093 0000 sts (MittelIntegralNick2)+3,r27 5880 3086 8091 0000 lds r24,MittelIntegralRoll2 5881 308a 9091 0000 lds r25,(MittelIntegralRoll2)+1 5882 308e A091 0000 lds r26,(MittelIntegralRoll2)+2 5883 3092 B091 0000 lds r27,(MittelIntegralRoll2)+3 5884 3096 E090 0000 lds r14,IntegralRoll2 5885 309a F090 0000 lds r15,(IntegralRoll2)+1 5886 309e 0091 0000 lds r16,(IntegralRoll2)+2 5887 30a2 1091 0000 lds r17,(IntegralRoll2)+3 5888 30a6 EB86 std Y+11,r14 5889 30a8 FC86 std Y+12,r15 5890 30aa 0D87 std Y+13,r16 5891 30ac 1E87 std Y+14,r17 5892 30ae 8E0D add r24,r14 5893 30b0 9F1D adc r25,r15 5894 30b2 A01F adc r26,r16 5895 30b4 B11F adc r27,r17 5896 30b6 8093 0000 sts MittelIntegralRoll2,r24 5897 30ba 9093 0000 sts (MittelIntegralRoll2)+1,r25 5898 30be A093 0000 sts (MittelIntegralRoll2)+2,r26 5899 30c2 B093 0000 sts (MittelIntegralRoll2)+3,r27 5900 30c6 F090 0000 lds r15,Looping_Nick 5901 30ca FF86 std Y+15,r15 5902 30cc FF20 tst r15 5903 30ce 01F4 brne .L510 5904 30d0 8091 0000 lds r24,Looping_Roll 5905 30d4 8823 tst r24 5906 30d6 01F4 brne .+2 5907 30d8 00C0 rjmp .L892 5908 .L510: 5909 30da 1092 0000 sts IntegralAccNick,__zero_reg__ 5910 30de 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5911 30e2 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5912 30e6 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5913 30ea 1092 0000 sts IntegralAccRoll,__zero_reg__ 5914 30ee 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5915 30f2 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5916 30f6 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5917 30fa 1092 0000 sts MittelIntegralNick,__zero_reg__ 5918 30fe 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5919 3102 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5920 3106 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5921 310a 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5922 310e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5923 3112 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5924 3116 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5925 311a 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5926 311e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5927 3122 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5928 3126 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5929 312a 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5930 312e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5931 3132 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5932 3136 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5933 313a 8091 0000 lds r24,Mess_IntegralNick 5934 313e 9091 0000 lds r25,(Mess_IntegralNick)+1 5935 3142 A091 0000 lds r26,(Mess_IntegralNick)+2 5936 3146 B091 0000 lds r27,(Mess_IntegralNick)+3 5937 314a 8093 0000 sts Mess_IntegralNick2,r24 5938 314e 9093 0000 sts (Mess_IntegralNick2)+1,r25 5939 3152 A093 0000 sts (Mess_IntegralNick2)+2,r26 5940 3156 B093 0000 sts (Mess_IntegralNick2)+3,r27 5941 315a 8091 0000 lds r24,Mess_IntegralRoll 5942 315e 9091 0000 lds r25,(Mess_IntegralRoll)+1 5943 3162 A091 0000 lds r26,(Mess_IntegralRoll)+2 5944 3166 B091 0000 lds r27,(Mess_IntegralRoll)+3 5945 316a 8093 0000 sts Mess_IntegralRoll2,r24 5946 316e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5947 3172 A093 0000 sts (Mess_IntegralRoll2)+2,r26 5948 3176 B093 0000 sts (Mess_IntegralRoll2)+3,r27 5949 317a 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5950 317e 1092 0000 sts ZaehlMessungen,__zero_reg__ 5951 3182 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5952 3186 1092 0000 sts LageKorrekturNick,__zero_reg__ 5953 318a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5954 318e 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5955 3192 0F85 ldd r16,Y+15 5956 3194 0023 tst r16 5957 3196 01F0 breq .+2 5958 3198 00C0 rjmp .L511 5959 .L892: 5960 319a 8091 0000 lds r24,Looping_Roll 5961 319e 8823 tst r24 5962 31a0 01F0 breq .+2 5963 31a2 00C0 rjmp .L511 5964 31a4 8091 0000 lds r24,Aktuell_az 5965 31a8 9091 0000 lds r25,(Aktuell_az)+1 5966 31ac 8150 subi r24,lo8(513) 5967 31ae 9240 sbci r25,hi8(513) 5968 31b0 04F4 brge .L512 5969 31b2 8091 0000 lds r24,MotorenEin 5970 31b6 8823 tst r24 5971 31b8 01F4 brne .+2 5972 31ba 00C0 rjmp .L511 5973 .L512: 5974 31bc 9090 0000 lds r9,FromNaviCtrl_Value 5975 31c0 A090 0000 lds r10,EE_Parameter+28 5976 31c4 2090 0000 lds r2,Mittelwert_AccNick 5977 31c8 3090 0000 lds r3,(Mittelwert_AccNick)+1 5978 31cc 4090 0000 lds r4,Mittelwert_AccRoll 5979 31d0 5090 0000 lds r5,(Mittelwert_AccRoll)+1 5980 31d4 1914 cp __zero_reg__,r9 5981 31d6 04F0 brlt .+2 5982 31d8 00C0 rjmp .L513 5983 31da BB24 clr r11 5984 31dc CC24 clr r12 5985 31de DD24 clr r13 5986 31e0 CA01 movw r24,r20 5987 31e2 B901 movw r22,r18 5988 31e4 A601 movw r20,r12 5989 31e6 9501 movw r18,r10 5990 31e8 0E94 0000 call __divmodsi4 5991 31ec 7901 movw r14,r18 5992 31ee 8A01 movw r16,r20 5993 31f0 8091 0000 lds r24,FromNaviCtrl+9 5994 31f4 9091 0000 lds r25,(FromNaviCtrl+9)+1 5995 31f8 281A sub r2,r24 5996 31fa 390A sbc r3,r25 5997 31fc C101 movw r24,r2 5998 31fe AA27 clr r26 5999 3200 97FD sbrc r25,7 6000 3202 A095 com r26 6001 3204 BA2F mov r27,r26 6002 3206 E81A sub r14,r24 6003 3208 F90A sbc r15,r25 6004 320a 0A0B sbc r16,r26 6005 320c 1B0B sbc r17,r27 6006 320e 6B81 ldd r22,Y+3 6007 3210 7C81 ldd r23,Y+4 6008 3212 8D81 ldd r24,Y+5 6009 3214 9E81 ldd r25,Y+6 6010 3216 A601 movw r20,r12 6011 3218 9501 movw r18,r10 6012 321a 0E94 0000 call __divmodsi4 6013 321e 5901 movw r10,r18 6014 3220 6A01 movw r12,r20 6015 3222 8091 0000 lds r24,FromNaviCtrl+11 6016 3226 9091 0000 lds r25,(FromNaviCtrl+11)+1 6017 322a 481A sub r4,r24 6018 322c 590A sbc r5,r25 6019 322e C201 movw r24,r4 6020 3230 AA27 clr r26 6021 3232 97FD sbrc r25,7 6022 3234 A095 com r26 6023 3236 BA2F mov r27,r26 6024 3238 A81A sub r10,r24 6025 323a B90A sbc r11,r25 6026 323c CA0A sbc r12,r26 6027 323e DB0A sbc r13,r27 6028 3240 292C mov r2,r9 6029 3242 3324 clr r3 6030 3244 27FC sbrc r2,7 6031 3246 3094 com r3 6032 3248 432C mov r4,r3 6033 324a 532C mov r5,r3 6034 324c C801 movw r24,r16 6035 324e B701 movw r22,r14 6036 3250 A201 movw r20,r4 6037 3252 9101 movw r18,r2 6038 3254 0E94 0000 call __mulsi3 6039 3258 97FF sbrs r25,7 6040 325a 00C0 rjmp .L514 6041 325c 6150 subi r22,lo8(-(511)) 6042 325e 7E4F sbci r23,hi8(-(511)) 6043 3260 8F4F sbci r24,hlo8(-(511)) 6044 3262 9F4F sbci r25,hhi8(-(511)) 6045 .L514: 6046 3264 3B01 movw r6,r22 6047 3266 4C01 movw r8,r24 6048 3268 09E0 ldi r16,9 6049 326a 9594 1: asr r9 6050 326c 8794 ror r8 6051 326e 7794 ror r7 6052 3270 6794 ror r6 6053 3272 0A95 dec r16 6054 3274 01F4 brne 1b 6055 3276 C601 movw r24,r12 6056 3278 B501 movw r22,r10 6057 327a A201 movw r20,r4 6058 327c 9101 movw r18,r2 6059 327e 0E94 0000 call __mulsi3 6060 3282 97FF sbrs r25,7 6061 3284 00C0 rjmp .L515 6062 3286 6150 subi r22,lo8(-(511)) 6063 3288 7E4F sbci r23,hi8(-(511)) 6064 328a 8F4F sbci r24,hlo8(-(511)) 6065 328c 9F4F sbci r25,hhi8(-(511)) 6066 .L515: 6067 328e 5B01 movw r10,r22 6068 3290 6C01 movw r12,r24 6069 3292 19E0 ldi r17,9 6070 3294 D594 1: asr r13 6071 3296 C794 ror r12 6072 3298 B794 ror r11 6073 329a A794 ror r10 6074 329c 1A95 dec r17 6075 329e 01F4 brne 1b 6076 32a0 8091 0000 lds r24,MaxStickNick 6077 32a4 9091 0000 lds r25,(MaxStickNick)+1 6078 32a8 8134 cpi r24,65 6079 32aa 9105 cpc r25,__zero_reg__ 6080 32ac 04F4 brge .L517 6081 32ae 8091 0000 lds r24,MaxStickRoll 6082 32b2 9091 0000 lds r25,(MaxStickRoll)+1 6083 32b6 8134 cpi r24,65 6084 32b8 9105 cpc r25,__zero_reg__ 6085 32ba 04F0 brlt .L516 6086 .L517: 6087 32bc D401 movw r26,r8 6088 32be C301 movw r24,r6 6089 32c0 97FE sbrs r9,7 6090 32c2 00C0 rjmp .L518 6091 32c4 0196 adiw r24,1 6092 32c6 A11D adc r26,__zero_reg__ 6093 32c8 B11D adc r27,__zero_reg__ 6094 .L518: 6095 32ca 3C01 movw r6,r24 6096 32cc 4D01 movw r8,r26 6097 32ce 9594 asr r9 6098 32d0 8794 ror r8 6099 32d2 7794 ror r7 6100 32d4 6794 ror r6 6101 32d6 D601 movw r26,r12 6102 32d8 C501 movw r24,r10 6103 32da D7FE sbrs r13,7 6104 32dc 00C0 rjmp .L519 6105 32de 0196 adiw r24,1 6106 32e0 A11D adc r26,__zero_reg__ 6107 32e2 B11D adc r27,__zero_reg__ 6108 .L519: 6109 32e4 5C01 movw r10,r24 6110 32e6 6D01 movw r12,r26 6111 32e8 D594 asr r13 6112 32ea C794 ror r12 6113 32ec B794 ror r11 6114 32ee A794 ror r10 6115 .L516: 6116 32f0 8091 0000 lds r24,FromNaviCtrl_Value+2 6117 32f4 282F mov r18,r24 6118 32f6 3327 clr r19 6119 32f8 27FD sbrc r18,7 6120 32fa 3095 com r19 6121 32fc 432F mov r20,r19 6122 32fe 532F mov r21,r19 6123 3300 2615 cp r18,r6 6124 3302 3705 cpc r19,r7 6125 3304 4805 cpc r20,r8 6126 3306 5905 cpc r21,r9 6127 3308 04F4 brge .L520 6128 330a 3901 movw r6,r18 6129 330c 4A01 movw r8,r20 6130 .L520: 6131 330e 9927 clr r25 6132 3310 87FD sbrc r24,7 6133 3312 9095 com r25 6134 3314 9095 com r25 6135 3316 8195 neg r24 6136 3318 9F4F sbci r25,lo8(-1) 6137 331a AA27 clr r26 6138 331c 97FD sbrc r25,7 6139 331e A095 com r26 6140 3320 BA2F mov r27,r26 6141 3322 6816 cp r6,r24 6142 3324 7906 cpc r7,r25 6143 3326 8A06 cpc r8,r26 6144 3328 9B06 cpc r9,r27 6145 332a 04F4 brge .L521 6146 332c 3C01 movw r6,r24 6147 332e 4D01 movw r8,r26 6148 .L521: 6149 3330 2A15 cp r18,r10 6150 3332 3B05 cpc r19,r11 6151 3334 4C05 cpc r20,r12 6152 3336 5D05 cpc r21,r13 6153 3338 04F4 brge .L522 6154 333a 5901 movw r10,r18 6155 333c 6A01 movw r12,r20 6156 .L522: 6157 333e A816 cp r10,r24 6158 3340 B906 cpc r11,r25 6159 3342 CA06 cpc r12,r26 6160 3344 DB06 cpc r13,r27 6161 3346 04F0 brlt .+2 6162 3348 00C0 rjmp .L524 6163 334a 5C01 movw r10,r24 6164 334c 6D01 movw r12,r26 6165 334e 00C0 rjmp .L524 6166 .L513: 6167 3350 EA2C mov r14,r10 6168 3352 FF24 clr r15 6169 3354 0027 clr r16 6170 3356 1127 clr r17 6171 3358 CA01 movw r24,r20 6172 335a B901 movw r22,r18 6173 335c A801 movw r20,r16 6174 335e 9701 movw r18,r14 6175 3360 0E94 0000 call __divmodsi4 6176 3364 3901 movw r6,r18 6177 3366 4A01 movw r8,r20 6178 3368 C101 movw r24,r2 6179 336a AA27 clr r26 6180 336c 97FD sbrc r25,7 6181 336e A095 com r26 6182 3370 BA2F mov r27,r26 6183 3372 681A sub r6,r24 6184 3374 790A sbc r7,r25 6185 3376 8A0A sbc r8,r26 6186 3378 9B0A sbc r9,r27 6187 337a 6B81 ldd r22,Y+3 6188 337c 7C81 ldd r23,Y+4 6189 337e 8D81 ldd r24,Y+5 6190 3380 9E81 ldd r25,Y+6 6191 3382 A801 movw r20,r16 6192 3384 9701 movw r18,r14 6193 3386 0E94 0000 call __divmodsi4 6194 338a 5901 movw r10,r18 6195 338c 6A01 movw r12,r20 6196 338e C201 movw r24,r4 6197 3390 AA27 clr r26 6198 3392 97FD sbrc r25,7 6199 3394 A095 com r26 6200 3396 BA2F mov r27,r26 6201 3398 A81A sub r10,r24 6202 339a B90A sbc r11,r25 6203 339c CA0A sbc r12,r26 6204 339e DB0A sbc r13,r27 6205 33a0 D401 movw r26,r8 6206 33a2 C301 movw r24,r6 6207 33a4 97FE sbrs r9,7 6208 33a6 00C0 rjmp .L525 6209 33a8 0F96 adiw r24,15 6210 33aa A11D adc r26,__zero_reg__ 6211 33ac B11D adc r27,__zero_reg__ 6212 .L525: 6213 33ae 3C01 movw r6,r24 6214 33b0 4D01 movw r8,r26 6215 33b2 F4E0 ldi r31,4 6216 33b4 9594 1: asr r9 6217 33b6 8794 ror r8 6218 33b8 7794 ror r7 6219 33ba 6794 ror r6 6220 33bc FA95 dec r31 6221 33be 01F4 brne 1b 6222 33c0 D601 movw r26,r12 6223 33c2 C501 movw r24,r10 6224 33c4 D7FE sbrs r13,7 6225 33c6 00C0 rjmp .L526 6226 33c8 0F96 adiw r24,15 6227 33ca A11D adc r26,__zero_reg__ 6228 33cc B11D adc r27,__zero_reg__ 6229 .L526: 6230 33ce 5C01 movw r10,r24 6231 33d0 6D01 movw r12,r26 6232 33d2 E4E0 ldi r30,4 6233 33d4 D594 1: asr r13 6234 33d6 C794 ror r12 6235 33d8 B794 ror r11 6236 33da A794 ror r10 6237 33dc EA95 dec r30 6238 33de 01F4 brne 1b 6239 33e0 8091 0000 lds r24,MaxStickNick 6240 33e4 9091 0000 lds r25,(MaxStickNick)+1 6241 33e8 8134 cpi r24,65 6242 33ea 9105 cpc r25,__zero_reg__ 6243 33ec 04F4 brge .L528 6244 33ee 8091 0000 lds r24,MaxStickRoll 6245 33f2 9091 0000 lds r25,(MaxStickRoll)+1 6246 33f6 8134 cpi r24,65 6247 33f8 9105 cpc r25,__zero_reg__ 6248 33fa 04F0 brlt .L527 6249 .L528: 6250 33fc C401 movw r24,r8 6251 33fe B301 movw r22,r6 6252 3400 23E0 ldi r18,lo8(3) 6253 3402 30E0 ldi r19,hi8(3) 6254 3404 40E0 ldi r20,hlo8(3) 6255 3406 50E0 ldi r21,hhi8(3) 6256 3408 0E94 0000 call __divmodsi4 6257 340c 3901 movw r6,r18 6258 340e 4A01 movw r8,r20 6259 3410 C601 movw r24,r12 6260 3412 B501 movw r22,r10 6261 3414 23E0 ldi r18,lo8(3) 6262 3416 30E0 ldi r19,hi8(3) 6263 3418 40E0 ldi r20,hlo8(3) 6264 341a 50E0 ldi r21,hhi8(3) 6265 341c 0E94 0000 call __divmodsi4 6266 3420 5901 movw r10,r18 6267 3422 6A01 movw r12,r20 6268 .L527: 6269 3424 8091 0000 lds r24,EE_Parameter+4 6270 3428 E82F mov r30,r24 6271 342a FF27 clr r31 6272 342c EE0F add r30,r30 6273 342e FF1F adc r31,r31 6274 3430 E050 subi r30,lo8(-(PPM_in)) 6275 3432 F040 sbci r31,hi8(-(PPM_in)) 6276 3434 8081 ld r24,Z 6277 3436 9181 ldd r25,Z+1 6278 3438 0190 ld __tmp_reg__,Z+ 6279 343a F081 ld r31,Z 6280 343c E02D mov r30,__tmp_reg__ 6281 343e F7FF sbrs r31,7 6282 3440 00C0 rjmp .L530 6283 3442 F095 com r31 6284 3444 E195 neg r30 6285 3446 FF4F sbci r31,lo8(-1) 6286 .L530: 6287 3448 7A97 sbiw r30,26 6288 344a 04F0 brlt .L529 6289 344c C401 movw r24,r8 6290 344e B301 movw r22,r6 6291 3450 23E0 ldi r18,lo8(3) 6292 3452 30E0 ldi r19,hi8(3) 6293 3454 40E0 ldi r20,hlo8(3) 6294 3456 50E0 ldi r21,hhi8(3) 6295 3458 0E94 0000 call __divmodsi4 6296 345c 3901 movw r6,r18 6297 345e 4A01 movw r8,r20 6298 3460 C601 movw r24,r12 6299 3462 B501 movw r22,r10 6300 3464 23E0 ldi r18,lo8(3) 6301 3466 30E0 ldi r19,hi8(3) 6302 3468 40E0 ldi r20,hlo8(3) 6303 346a 50E0 ldi r21,hhi8(3) 6304 346c 0E94 0000 call __divmodsi4 6305 3470 5901 movw r10,r18 6306 3472 6A01 movw r12,r20 6307 .L529: 6308 3474 89E1 ldi r24,lo8(25) 6309 3476 8093 0000 sts KompassFusion,r24 6310 347a 21E2 ldi r18,lo8(33) 6311 347c 6216 cp r6,r18 6312 347e 7104 cpc r7,__zero_reg__ 6313 3480 8104 cpc r8,__zero_reg__ 6314 3482 9104 cpc r9,__zero_reg__ 6315 3484 04F0 brlt .L531 6316 3486 70E2 ldi r23,lo8(32) 6317 3488 672E mov r6,r23 6318 348a 712C mov r7,__zero_reg__ 6319 348c 812C mov r8,__zero_reg__ 6320 348e 912C mov r9,__zero_reg__ 6321 .L531: 6322 3490 30EE ldi r19,lo8(-32) 6323 3492 6316 cp r6,r19 6324 3494 3FEF ldi r19,hi8(-32) 6325 3496 7306 cpc r7,r19 6326 3498 3FEF ldi r19,hlo8(-32) 6327 349a 8306 cpc r8,r19 6328 349c 3FEF ldi r19,hhi8(-32) 6329 349e 9306 cpc r9,r19 6330 34a0 04F4 brge .L532 6331 34a2 60EE ldi r22,lo8(-32) 6332 34a4 662E mov r6,r22 6333 34a6 6FEF ldi r22,hi8(-32) 6334 34a8 762E mov r7,r22 6335 34aa 6FEF ldi r22,hlo8(-32) 6336 34ac 862E mov r8,r22 6337 34ae 6FEF ldi r22,hhi8(-32) 6338 34b0 962E mov r9,r22 6339 .L532: 6340 34b2 41E2 ldi r20,lo8(33) 6341 34b4 A416 cp r10,r20 6342 34b6 B104 cpc r11,__zero_reg__ 6343 34b8 C104 cpc r12,__zero_reg__ 6344 34ba D104 cpc r13,__zero_reg__ 6345 34bc 04F0 brlt .L533 6346 34be 50E2 ldi r21,lo8(32) 6347 34c0 A52E mov r10,r21 6348 34c2 B12C mov r11,__zero_reg__ 6349 34c4 C12C mov r12,__zero_reg__ 6350 34c6 D12C mov r13,__zero_reg__ 6351 .L533: 6352 34c8 50EE ldi r21,lo8(-32) 6353 34ca A516 cp r10,r21 6354 34cc 5FEF ldi r21,hi8(-32) 6355 34ce B506 cpc r11,r21 6356 34d0 5FEF ldi r21,hlo8(-32) 6357 34d2 C506 cpc r12,r21 6358 34d4 5FEF ldi r21,hhi8(-32) 6359 34d6 D506 cpc r13,r21 6360 34d8 04F4 brge .L524 6361 34da 40EE ldi r20,lo8(-32) 6362 34dc A42E mov r10,r20 6363 34de 4FEF ldi r20,hi8(-32) 6364 34e0 B42E mov r11,r20 6365 34e2 4FEF ldi r20,hlo8(-32) 6366 34e4 C42E mov r12,r20 6367 34e6 4FEF ldi r20,hhi8(-32) 6368 34e8 D42E mov r13,r20 6369 .L524: 6370 34ea 8091 0000 lds r24,Mess_IntegralNick 6371 34ee 9091 0000 lds r25,(Mess_IntegralNick)+1 6372 34f2 A091 0000 lds r26,(Mess_IntegralNick)+2 6373 34f6 B091 0000 lds r27,(Mess_IntegralNick)+3 6374 34fa 8619 sub r24,r6 6375 34fc 9709 sbc r25,r7 6376 34fe A809 sbc r26,r8 6377 3500 B909 sbc r27,r9 6378 3502 8093 0000 sts Mess_IntegralNick,r24 6379 3506 9093 0000 sts (Mess_IntegralNick)+1,r25 6380 350a A093 0000 sts (Mess_IntegralNick)+2,r26 6381 350e B093 0000 sts (Mess_IntegralNick)+3,r27 6382 3512 8091 0000 lds r24,Mess_IntegralRoll 6383 3516 9091 0000 lds r25,(Mess_IntegralRoll)+1 6384 351a A091 0000 lds r26,(Mess_IntegralRoll)+2 6385 351e B091 0000 lds r27,(Mess_IntegralRoll)+3 6386 3522 8A19 sub r24,r10 6387 3524 9B09 sbc r25,r11 6388 3526 AC09 sbc r26,r12 6389 3528 BD09 sbc r27,r13 6390 352a 8093 0000 sts Mess_IntegralRoll,r24 6391 352e 9093 0000 sts (Mess_IntegralRoll)+1,r25 6392 3532 A093 0000 sts (Mess_IntegralRoll)+2,r26 6393 3536 B093 0000 sts (Mess_IntegralRoll)+3,r27 6394 .L511: 6395 353a 8091 0000 lds r24,ZaehlMessungen 6396 353e 9091 0000 lds r25,(ZaehlMessungen)+1 6397 3542 8F3F cpi r24,255 6398 3544 9105 cpc r25,__zero_reg__ 6399 3546 01F0 breq .+2 6400 3548 00F4 brsh .+2 6401 354a 00C0 rjmp .L535 6402 354c 6F85 ldd r22,Y+15 6403 354e 6623 tst r22 6404 3550 01F0 breq .+2 6405 3552 00C0 rjmp .L536 6406 3554 8091 0000 lds r24,Looping_Roll 6407 3558 8823 tst r24 6408 355a 01F0 breq .+2 6409 355c 00C0 rjmp .L536 6410 355e 8091 0000 lds r24,TrichterFlug 6411 3562 8823 tst r24 6412 3564 01F0 breq .+2 6413 3566 00C0 rjmp .L536 6414 3568 7091 0000 lds r23,EE_Parameter+68 6415 356c 788B std Y+16,r23 6416 356e 7723 tst r23 6417 3570 01F4 brne .+2 6418 3572 00C0 rjmp .L536 6419 3574 8091 0000 lds r24,MittelIntegralNick 6420 3578 9091 0000 lds r25,(MittelIntegralNick)+1 6421 357c A091 0000 lds r26,(MittelIntegralNick)+2 6422 3580 B091 0000 lds r27,(MittelIntegralNick)+3 6423 3584 B7FF sbrs r27,7 6424 3586 00C0 rjmp .L537 6425 3588 8150 subi r24,lo8(-(255)) 6426 358a 9F4F sbci r25,hi8(-(255)) 6427 358c AF4F sbci r26,hlo8(-(255)) 6428 358e BF4F sbci r27,hhi8(-(255)) 6429 .L537: 6430 3590 E92E mov r14,r25 6431 3592 FA2E mov r15,r26 6432 3594 0B2F mov r16,r27 6433 3596 1127 clr r17 6434 3598 07FD sbrc r16,7 6435 359a 1A95 dec r17 6436 359c E092 0000 sts MittelIntegralNick,r14 6437 35a0 F092 0000 sts (MittelIntegralNick)+1,r15 6438 35a4 0093 0000 sts (MittelIntegralNick)+2,r16 6439 35a8 1093 0000 sts (MittelIntegralNick)+3,r17 6440 35ac 8091 0000 lds r24,MittelIntegralRoll 6441 35b0 9091 0000 lds r25,(MittelIntegralRoll)+1 6442 35b4 A091 0000 lds r26,(MittelIntegralRoll)+2 6443 35b8 B091 0000 lds r27,(MittelIntegralRoll)+3 6444 35bc B7FF sbrs r27,7 6445 35be 00C0 rjmp .L538 6446 35c0 8150 subi r24,lo8(-(255)) 6447 35c2 9F4F sbci r25,hi8(-(255)) 6448 35c4 AF4F sbci r26,hlo8(-(255)) 6449 35c6 BF4F sbci r27,hhi8(-(255)) 6450 .L538: 6451 35c8 892F mov r24,r25 6452 35ca 9A2F mov r25,r26 6453 35cc AB2F mov r26,r27 6454 35ce BB27 clr r27 6455 35d0 A7FD sbrc r26,7 6456 35d2 BA95 dec r27 6457 35d4 898B std Y+17,r24 6458 35d6 9A8B std Y+18,r25 6459 35d8 AB8B std Y+19,r26 6460 35da BC8B std Y+20,r27 6461 35dc 8093 0000 sts MittelIntegralRoll,r24 6462 35e0 9093 0000 sts (MittelIntegralRoll)+1,r25 6463 35e4 A093 0000 sts (MittelIntegralRoll)+2,r26 6464 35e8 B093 0000 sts (MittelIntegralRoll)+3,r27 6465 35ec 8091 0000 lds r24,EE_Parameter+28 6466 35f0 A82E mov r10,r24 6467 35f2 BB24 clr r11 6468 35f4 CC24 clr r12 6469 35f6 DD24 clr r13 6470 35f8 2091 0000 lds r18,IntegralAccNick 6471 35fc 3091 0000 lds r19,(IntegralAccNick)+1 6472 3600 4091 0000 lds r20,(IntegralAccNick)+2 6473 3604 5091 0000 lds r21,(IntegralAccNick)+3 6474 3608 C601 movw r24,r12 6475 360a B501 movw r22,r10 6476 360c 0E94 0000 call __mulsi3 6477 3610 97FF sbrs r25,7 6478 3612 00C0 rjmp .L539 6479 3614 6150 subi r22,lo8(-(255)) 6480 3616 7F4F sbci r23,hi8(-(255)) 6481 3618 8F4F sbci r24,hlo8(-(255)) 6482 361a 9F4F sbci r25,hhi8(-(255)) 6483 .L539: 6484 361c 672E mov r6,r23 6485 361e 782E mov r7,r24 6486 3620 892E mov r8,r25 6487 3622 9924 clr r9 6488 3624 87FC sbrc r8,7 6489 3626 9A94 dec r9 6490 3628 6092 0000 sts IntegralAccNick,r6 6491 362c 7092 0000 sts (IntegralAccNick)+1,r7 6492 3630 8092 0000 sts (IntegralAccNick)+2,r8 6493 3634 9092 0000 sts (IntegralAccNick)+3,r9 6494 3638 2091 0000 lds r18,IntegralAccRoll 6495 363c 3091 0000 lds r19,(IntegralAccRoll)+1 6496 3640 4091 0000 lds r20,(IntegralAccRoll)+2 6497 3644 5091 0000 lds r21,(IntegralAccRoll)+3 6498 3648 C601 movw r24,r12 6499 364a B501 movw r22,r10 6500 364c 0E94 0000 call __mulsi3 6501 3650 97FF sbrs r25,7 6502 3652 00C0 rjmp .L540 6503 3654 6150 subi r22,lo8(-(255)) 6504 3656 7F4F sbci r23,hi8(-(255)) 6505 3658 8F4F sbci r24,hlo8(-(255)) 6506 365a 9F4F sbci r25,hhi8(-(255)) 6507 .L540: 6508 365c 272E mov r2,r23 6509 365e 382E mov r3,r24 6510 3660 492E mov r4,r25 6511 3662 5524 clr r5 6512 3664 47FC sbrc r4,7 6513 3666 5A94 dec r5 6514 3668 2092 0000 sts IntegralAccRoll,r2 6515 366c 3092 0000 sts (IntegralAccRoll)+1,r3 6516 3670 4092 0000 sts (IntegralAccRoll)+2,r4 6517 3674 5092 0000 sts (IntegralAccRoll)+3,r5 6518 3678 8091 0000 lds r24,IntegralAccZ 6519 367c 9091 0000 lds r25,(IntegralAccZ)+1 6520 3680 A091 0000 lds r26,(IntegralAccZ)+2 6521 3684 B091 0000 lds r27,(IntegralAccZ)+3 6522 3688 B7FF sbrs r27,7 6523 368a 00C0 rjmp .L541 6524 368c 8150 subi r24,lo8(-(255)) 6525 368e 9F4F sbci r25,hi8(-(255)) 6526 3690 AF4F sbci r26,hlo8(-(255)) 6527 3692 BF4F sbci r27,hhi8(-(255)) 6528 .L541: 6529 3694 892F mov r24,r25 6530 3696 9A2F mov r25,r26 6531 3698 AB2F mov r26,r27 6532 369a BB27 clr r27 6533 369c A7FD sbrc r26,7 6534 369e BA95 dec r27 6535 36a0 8093 0000 sts IntegralAccZ,r24 6536 36a4 9093 0000 sts (IntegralAccZ)+1,r25 6537 36a8 A093 0000 sts (IntegralAccZ)+2,r26 6538 36ac B093 0000 sts (IntegralAccZ)+3,r27 6539 36b0 D801 movw r26,r16 6540 36b2 C701 movw r24,r14 6541 36b4 8619 sub r24,r6 6542 36b6 9709 sbc r25,r7 6543 36b8 A809 sbc r26,r8 6544 36ba B909 sbc r27,r9 6545 36bc 8093 0000 sts IntegralFehlerNick.3,r24 6546 36c0 9093 0000 sts (IntegralFehlerNick.3)+1,r25 6547 36c4 A093 0000 sts (IntegralFehlerNick.3)+2,r26 6548 36c8 B093 0000 sts (IntegralFehlerNick.3)+3,r27 6549 36cc 2091 0000 lds r18,EE_Parameter+67 6550 36d0 E22E mov r14,r18 6551 36d2 FF24 clr r15 6552 36d4 0027 clr r16 6553 36d6 1127 clr r17 6554 36d8 BC01 movw r22,r24 6555 36da CD01 movw r24,r26 6556 36dc A801 movw r20,r16 6557 36de 9701 movw r18,r14 6558 36e0 0E94 0000 call __divmodsi4 6559 36e4 5901 movw r10,r18 6560 36e6 6A01 movw r12,r20 6561 36e8 2093 0000 sts ausgleichNick.10,r18 6562 36ec 3093 0000 sts (ausgleichNick.10)+1,r19 6563 36f0 4093 0000 sts (ausgleichNick.10)+2,r20 6564 36f4 5093 0000 sts (ausgleichNick.10)+3,r21 6565 36f8 8989 ldd r24,Y+17 6566 36fa 9A89 ldd r25,Y+18 6567 36fc AB89 ldd r26,Y+19 6568 36fe BC89 ldd r27,Y+20 6569 3700 8219 sub r24,r2 6570 3702 9309 sbc r25,r3 6571 3704 A409 sbc r26,r4 6572 3706 B509 sbc r27,r5 6573 3708 8093 0000 sts IntegralFehlerRoll.4,r24 6574 370c 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 6575 3710 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 6576 3714 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 6577 3718 BC01 movw r22,r24 6578 371a CD01 movw r24,r26 6579 371c A801 movw r20,r16 6580 371e 9701 movw r18,r14 6581 3720 0E94 0000 call __divmodsi4 6582 3724 2093 0000 sts ausgleichRoll.11,r18 6583 3728 3093 0000 sts (ausgleichRoll.11)+1,r19 6584 372c 4093 0000 sts (ausgleichRoll.11)+2,r20 6585 3730 5093 0000 sts (ausgleichRoll.11)+3,r21 6586 3734 D601 movw r26,r12 6587 3736 C501 movw r24,r10 6588 3738 D7FE sbrs r13,7 6589 373a 00C0 rjmp .L542 6590 373c 8150 subi r24,lo8(-(255)) 6591 373e 9F4F sbci r25,hi8(-(255)) 6592 3740 AF4F sbci r26,hlo8(-(255)) 6593 3742 BF4F sbci r27,hhi8(-(255)) 6594 .L542: 6595 3744 892F mov r24,r25 6596 3746 9A2F mov r25,r26 6597 3748 AB2F mov r26,r27 6598 374a BB27 clr r27 6599 374c A7FD sbrc r26,7 6600 374e BA95 dec r27 6601 3750 9093 0000 sts (LageKorrekturNick)+1,r25 6602 3754 8093 0000 sts LageKorrekturNick,r24 6603 3758 57FF sbrs r21,7 6604 375a 00C0 rjmp .L543 6605 375c 2150 subi r18,lo8(-(255)) 6606 375e 3F4F sbci r19,hi8(-(255)) 6607 3760 4F4F sbci r20,hlo8(-(255)) 6608 3762 5F4F sbci r21,hhi8(-(255)) 6609 .L543: 6610 3764 BB27 clr r27 6611 3766 57FD sbrc r21,7 6612 3768 BA95 dec r27 6613 376a A52F mov r26,r21 6614 376c 942F mov r25,r20 6615 376e 832F mov r24,r19 6616 3770 9093 0000 sts (LageKorrekturRoll)+1,r25 6617 3774 8093 0000 sts LageKorrekturRoll,r24 6618 3778 8091 0000 lds r24,MaxStickNick 6619 377c 9091 0000 lds r25,(MaxStickNick)+1 6620 3780 8134 cpi r24,65 6621 3782 9105 cpc r25,__zero_reg__ 6622 3784 04F4 brge .L545 6623 3786 8091 0000 lds r24,MaxStickRoll 6624 378a 9091 0000 lds r25,(MaxStickRoll)+1 6625 378e 8134 cpi r24,65 6626 3790 9105 cpc r25,__zero_reg__ 6627 3792 04F4 brge .L545 6628 3794 8091 0000 lds r24,EE_Parameter+4 6629 3798 E82F mov r30,r24 6630 379a FF27 clr r31 6631 379c EE0F add r30,r30 6632 379e FF1F adc r31,r31 6633 37a0 E050 subi r30,lo8(-(PPM_in)) 6634 37a2 F040 sbci r31,hi8(-(PPM_in)) 6635 37a4 8081 ld r24,Z 6636 37a6 9181 ldd r25,Z+1 6637 37a8 0190 ld __tmp_reg__,Z+ 6638 37aa F081 ld r31,Z 6639 37ac E02D mov r30,__tmp_reg__ 6640 37ae F7FF sbrs r31,7 6641 37b0 00C0 rjmp .L546 6642 37b2 F095 com r31 6643 37b4 E195 neg r30 6644 37b6 FF4F sbci r31,lo8(-1) 6645 .L546: 6646 37b8 7A97 sbiw r30,26 6647 37ba 04F0 brlt .L544 6648 .L545: 6649 37bc 8091 0000 lds r24,FromNaviCtrl_Value 6650 37c0 8F3F cpi r24,lo8(-1) 6651 37c2 01F4 brne .L544 6652 37c4 8091 0000 lds r24,LageKorrekturNick 6653 37c8 9091 0000 lds r25,(LageKorrekturNick)+1 6654 37cc 97FD sbrc r25,7 6655 37ce 0196 adiw r24,1 6656 .L547: 6657 37d0 9595 asr r25 6658 37d2 8795 ror r24 6659 37d4 9093 0000 sts (LageKorrekturNick)+1,r25 6660 37d8 8093 0000 sts LageKorrekturNick,r24 6661 37dc 8091 0000 lds r24,LageKorrekturRoll 6662 37e0 9091 0000 lds r25,(LageKorrekturRoll)+1 6663 37e4 97FD sbrc r25,7 6664 37e6 0196 adiw r24,1 6665 .L548: 6666 37e8 9595 asr r25 6667 37ea 8795 ror r24 6668 37ec 9093 0000 sts (LageKorrekturRoll)+1,r25 6669 37f0 8093 0000 sts LageKorrekturRoll,r24 6670 .L544: 6671 37f4 8091 0000 lds r24,MittelIntegralNick2 6672 37f8 9091 0000 lds r25,(MittelIntegralNick2)+1 6673 37fc A091 0000 lds r26,(MittelIntegralNick2)+2 6674 3800 B091 0000 lds r27,(MittelIntegralNick2)+3 6675 3804 B7FF sbrs r27,7 6676 3806 00C0 rjmp .L549 6677 3808 8150 subi r24,lo8(-(255)) 6678 380a 9F4F sbci r25,hi8(-(255)) 6679 380c AF4F sbci r26,hlo8(-(255)) 6680 380e BF4F sbci r27,hhi8(-(255)) 6681 .L549: 6682 3810 892F mov r24,r25 6683 3812 9A2F mov r25,r26 6684 3814 AB2F mov r26,r27 6685 3816 BB27 clr r27 6686 3818 A7FD sbrc r26,7 6687 381a BA95 dec r27 6688 381c 8093 0000 sts MittelIntegralNick2,r24 6689 3820 9093 0000 sts (MittelIntegralNick2)+1,r25 6690 3824 A093 0000 sts (MittelIntegralNick2)+2,r26 6691 3828 B093 0000 sts (MittelIntegralNick2)+3,r27 6692 382c 8091 0000 lds r24,MittelIntegralRoll2 6693 3830 9091 0000 lds r25,(MittelIntegralRoll2)+1 6694 3834 A091 0000 lds r26,(MittelIntegralRoll2)+2 6695 3838 B091 0000 lds r27,(MittelIntegralRoll2)+3 6696 383c B7FF sbrs r27,7 6697 383e 00C0 rjmp .L550 6698 3840 8150 subi r24,lo8(-(255)) 6699 3842 9F4F sbci r25,hi8(-(255)) 6700 3844 AF4F sbci r26,hlo8(-(255)) 6701 3846 BF4F sbci r27,hhi8(-(255)) 6702 .L550: 6703 3848 892F mov r24,r25 6704 384a 9A2F mov r25,r26 6705 384c AB2F mov r26,r27 6706 384e BB27 clr r27 6707 3850 A7FD sbrc r26,7 6708 3852 BA95 dec r27 6709 3854 8093 0000 sts MittelIntegralRoll2,r24 6710 3858 9093 0000 sts (MittelIntegralRoll2)+1,r25 6711 385c A093 0000 sts (MittelIntegralRoll2)+2,r26 6712 3860 B093 0000 sts (MittelIntegralRoll2)+3,r27 6713 3864 8091 0000 lds r24,IntegralNick 6714 3868 9091 0000 lds r25,(IntegralNick)+1 6715 386c A091 0000 lds r26,(IntegralNick)+2 6716 3870 B091 0000 lds r27,(IntegralNick)+3 6717 3874 2F81 ldd r18,Y+7 6718 3876 3885 ldd r19,Y+8 6719 3878 4985 ldd r20,Y+9 6720 387a 5A85 ldd r21,Y+10 6721 387c 281B sub r18,r24 6722 387e 390B sbc r19,r25 6723 3880 4A0B sbc r20,r26 6724 3882 5B0B sbc r21,r27 6725 3884 2093 0000 sts tmp_long.1,r18 6726 3888 3093 0000 sts (tmp_long.1)+1,r19 6727 388c 4093 0000 sts (tmp_long.1)+2,r20 6728 3890 5093 0000 sts (tmp_long.1)+3,r21 6729 3894 8091 0000 lds r24,IntegralRoll 6730 3898 9091 0000 lds r25,(IntegralRoll)+1 6731 389c A091 0000 lds r26,(IntegralRoll)+2 6732 38a0 B091 0000 lds r27,(IntegralRoll)+3 6733 38a4 EB84 ldd r14,Y+11 6734 38a6 FC84 ldd r15,Y+12 6735 38a8 0D85 ldd r16,Y+13 6736 38aa 1E85 ldd r17,Y+14 6737 38ac E81A sub r14,r24 6738 38ae F90A sbc r15,r25 6739 38b0 0A0B sbc r16,r26 6740 38b2 1B0B sbc r17,r27 6741 38b4 E092 0000 sts tmp_long2.2,r14 6742 38b8 F092 0000 sts (tmp_long2.2)+1,r15 6743 38bc 0093 0000 sts (tmp_long2.2)+2,r16 6744 38c0 1093 0000 sts (tmp_long2.2)+3,r17 6745 38c4 2093 0000 sts IntegralFehlerNick.3,r18 6746 38c8 3093 0000 sts (IntegralFehlerNick.3)+1,r19 6747 38cc 4093 0000 sts (IntegralFehlerNick.3)+2,r20 6748 38d0 5093 0000 sts (IntegralFehlerNick.3)+3,r21 6749 38d4 E092 0000 sts IntegralFehlerRoll.4,r14 6750 38d8 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 6751 38dc 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 6752 38e0 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 6753 38e4 8091 0000 lds r24,Mess_IntegralNick2 6754 38e8 9091 0000 lds r25,(Mess_IntegralNick2)+1 6755 38ec A091 0000 lds r26,(Mess_IntegralNick2)+2 6756 38f0 B091 0000 lds r27,(Mess_IntegralNick2)+3 6757 38f4 821B sub r24,r18 6758 38f6 930B sbc r25,r19 6759 38f8 A40B sbc r26,r20 6760 38fa B50B sbc r27,r21 6761 38fc 8093 0000 sts Mess_IntegralNick2,r24 6762 3900 9093 0000 sts (Mess_IntegralNick2)+1,r25 6763 3904 A093 0000 sts (Mess_IntegralNick2)+2,r26 6764 3908 B093 0000 sts (Mess_IntegralNick2)+3,r27 6765 390c 8091 0000 lds r24,Mess_IntegralRoll2 6766 3910 9091 0000 lds r25,(Mess_IntegralRoll2)+1 6767 3914 A091 0000 lds r26,(Mess_IntegralRoll2)+2 6768 3918 B091 0000 lds r27,(Mess_IntegralRoll2)+3 6769 391c 8E19 sub r24,r14 6770 391e 9F09 sbc r25,r15 6771 3920 A00B sbc r26,r16 6772 3922 B10B sbc r27,r17 6773 3924 8093 0000 sts Mess_IntegralRoll2,r24 6774 3928 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6775 392c A093 0000 sts (Mess_IntegralRoll2)+2,r26 6776 3930 B093 0000 sts (Mess_IntegralRoll2)+3,r27 6777 3934 8889 ldd r24,Y+16 6778 3936 8823 tst r24 6779 3938 01F0 breq .L551 6780 393a 2091 0000 lds r18,GierGyroFehler 6781 393e 3091 0000 lds r19,(GierGyroFehler)+1 6782 3942 2138 cpi r18,129 6783 3944 3105 cpc r19,__zero_reg__ 6784 3946 04F0 brlt .L552 6785 3948 8091 0000 lds r24,AdNeutralGier 6786 394c 9091 0000 lds r25,(AdNeutralGier)+1 6787 3950 0196 adiw r24,1 6788 3952 9093 0000 sts (AdNeutralGier)+1,r25 6789 3956 8093 0000 sts AdNeutralGier,r24 6790 .L552: 6791 395a 2058 subi r18,lo8(-128) 6792 395c 3F4F sbci r19,hi8(-128) 6793 395e 04F4 brge .L551 6794 3960 8091 0000 lds r24,AdNeutralGier 6795 3964 9091 0000 lds r25,(AdNeutralGier)+1 6796 3968 0197 sbiw r24,1 6797 396a 9093 0000 sts (AdNeutralGier)+1,r25 6798 396e 8093 0000 sts AdNeutralGier,r24 6799 .L551: 6800 3972 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 6801 3976 1092 0000 sts GierGyroFehler,__zero_reg__ 6802 397a 81E0 ldi r24,lo8(1) 6803 397c 90E0 ldi r25,hi8(1) 6804 397e 9093 0000 sts (cnt.14)+1,r25 6805 3982 8093 0000 sts cnt.14,r24 6806 3986 E090 0000 lds r14,IntegralFehlerNick.3 6807 398a F090 0000 lds r15,(IntegralFehlerNick.3)+1 6808 398e 0091 0000 lds r16,(IntegralFehlerNick.3)+2 6809 3992 1091 0000 lds r17,(IntegralFehlerNick.3)+3 6810 3996 D801 movw r26,r16 6811 3998 C701 movw r24,r14 6812 399a 17FF sbrs r17,7 6813 399c 00C0 rjmp .L555 6814 399e 8827 clr r24 6815 39a0 9927 clr r25 6816 39a2 DC01 movw r26,r24 6817 39a4 8E19 sub r24,r14 6818 39a6 9F09 sbc r25,r15 6819 39a8 A00B sbc r26,r16 6820 39aa B10B sbc r27,r17 6821 .L555: 6822 39ac 8150 subi r24,lo8(513) 6823 39ae 9240 sbci r25,hi8(513) 6824 39b0 A040 sbci r26,hlo8(513) 6825 39b2 B040 sbci r27,hhi8(513) 6826 39b4 04F0 brlt .L554 6827 39b6 84E0 ldi r24,lo8(4) 6828 39b8 90E0 ldi r25,hi8(4) 6829 39ba 9093 0000 sts (cnt.14)+1,r25 6830 39be 8093 0000 sts cnt.14,r24 6831 .L554: 6832 39c2 8091 0000 lds r24,MittelIntegralNick_Alt.19 6833 39c6 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 6834 39ca A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 6835 39ce B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 6836 39d2 2091 0000 lds r18,MittelIntegralNick 6837 39d6 3091 0000 lds r19,(MittelIntegralNick)+1 6838 39da 4091 0000 lds r20,(MittelIntegralNick)+2 6839 39de 5091 0000 lds r21,(MittelIntegralNick)+3 6840 39e2 821B sub r24,r18 6841 39e4 930B sbc r25,r19 6842 39e6 A40B sbc r26,r20 6843 39e8 B50B sbc r27,r21 6844 39ea 815E subi r24,lo8(-(19999)) 6845 39ec 914B sbci r25,hi8(-(19999)) 6846 39ee AF4F sbci r26,hlo8(-(19999)) 6847 39f0 BF4F sbci r27,hhi8(-(19999)) 6848 39f2 8F53 subi r24,lo8(39999) 6849 39f4 9C49 sbci r25,hi8(39999) 6850 39f6 A040 sbci r26,hlo8(39999) 6851 39f8 B040 sbci r27,hhi8(39999) 6852 39fa 00F0 brlo .L557 6853 39fc 8091 0000 lds r24,FromNaviCtrl_Value+1 6854 3a00 8931 cpi r24,lo8(25) 6855 3a02 04F4 brge .+2 6856 3a04 00C0 rjmp .L556 6857 .L557: 6858 3a06 21E0 ldi r18,lo8(4097) 6859 3a08 E216 cp r14,r18 6860 3a0a 20E1 ldi r18,hi8(4097) 6861 3a0c F206 cpc r15,r18 6862 3a0e 20E0 ldi r18,hlo8(4097) 6863 3a10 0207 cpc r16,r18 6864 3a12 20E0 ldi r18,hhi8(4097) 6865 3a14 1207 cpc r17,r18 6866 3a16 04F4 brge .+2 6867 3a18 00C0 rjmp .L558 6868 3a1a 8091 0000 lds r24,last_n_p.15 6869 3a1e 8823 tst r24 6870 3a20 01F4 brne .+2 6871 3a22 00C0 rjmp .L559 6872 3a24 D801 movw r26,r16 6873 3a26 C701 movw r24,r14 6874 3a28 17FF sbrs r17,7 6875 3a2a 00C0 rjmp .L560 6876 3a2c 8827 clr r24 6877 3a2e 9927 clr r25 6878 3a30 DC01 movw r26,r24 6879 3a32 8E19 sub r24,r14 6880 3a34 9F09 sbc r25,r15 6881 3a36 A00B sbc r26,r16 6882 3a38 B10B sbc r27,r17 6883 .L560: 6884 3a3a 9C01 movw r18,r24 6885 3a3c AD01 movw r20,r26 6886 3a3e B7FF sbrs r27,7 6887 3a40 00C0 rjmp .L561 6888 3a42 2150 subi r18,lo8(-(511)) 6889 3a44 3E4F sbci r19,hi8(-(511)) 6890 3a46 4F4F sbci r20,hlo8(-(511)) 6891 3a48 5F4F sbci r21,hhi8(-(511)) 6892 .L561: 6893 3a4a F9E0 ldi r31,9 6894 3a4c 5595 1: asr r21 6895 3a4e 4795 ror r20 6896 3a50 3795 ror r19 6897 3a52 2795 ror r18 6898 3a54 FA95 dec r31 6899 3a56 01F4 brne 1b 6900 3a58 8091 0000 lds r24,cnt.14 6901 3a5c 9091 0000 lds r25,(cnt.14)+1 6902 3a60 820F add r24,r18 6903 3a62 931F adc r25,r19 6904 3a64 9093 0000 sts (cnt.14)+1,r25 6905 3a68 8093 0000 sts cnt.14,r24 6906 3a6c D801 movw r26,r16 6907 3a6e C701 movw r24,r14 6908 3a70 17FF sbrs r17,7 6909 3a72 00C0 rjmp .L562 6910 3a74 0796 adiw r24,7 6911 3a76 A11D adc r26,__zero_reg__ 6912 3a78 B11D adc r27,__zero_reg__ 6913 .L562: 6914 3a7a E3E0 ldi r30,3 6915 3a7c B595 1: asr r27 6916 3a7e A795 ror r26 6917 3a80 9795 ror r25 6918 3a82 8795 ror r24 6919 3a84 EA95 dec r30 6920 3a86 01F4 brne 1b 6921 3a88 8093 0000 sts ausgleichNick.10,r24 6922 3a8c 9093 0000 sts (ausgleichNick.10)+1,r25 6923 3a90 A093 0000 sts (ausgleichNick.10)+2,r26 6924 3a94 B093 0000 sts (ausgleichNick.10)+3,r27 6925 3a98 8958 subi r24,lo8(5001) 6926 3a9a 9341 sbci r25,hi8(5001) 6927 3a9c A040 sbci r26,hlo8(5001) 6928 3a9e B040 sbci r27,hhi8(5001) 6929 3aa0 04F0 brlt .L563 6930 3aa2 88E8 ldi r24,lo8(5000) 6931 3aa4 93E1 ldi r25,hi8(5000) 6932 3aa6 A0E0 ldi r26,hlo8(5000) 6933 3aa8 B0E0 ldi r27,hhi8(5000) 6934 3aaa 8093 0000 sts ausgleichNick.10,r24 6935 3aae 9093 0000 sts (ausgleichNick.10)+1,r25 6936 3ab2 A093 0000 sts (ausgleichNick.10)+2,r26 6937 3ab6 B093 0000 sts (ausgleichNick.10)+3,r27 6938 .L563: 6939 3aba 2091 0000 lds r18,ausgleichNick.10 6940 3abe 3091 0000 lds r19,(ausgleichNick.10)+1 6941 3ac2 4091 0000 lds r20,(ausgleichNick.10)+2 6942 3ac6 5091 0000 lds r21,(ausgleichNick.10)+3 6943 3aca 57FF sbrs r21,7 6944 3acc 00C0 rjmp .L564 6945 3ace 2150 subi r18,lo8(-(255)) 6946 3ad0 3F4F sbci r19,hi8(-(255)) 6947 3ad2 4F4F sbci r20,hlo8(-(255)) 6948 3ad4 5F4F sbci r21,hhi8(-(255)) 6949 .L564: 6950 3ad6 232F mov r18,r19 6951 3ad8 342F mov r19,r20 6952 3ada 452F mov r20,r21 6953 3adc 5527 clr r21 6954 3ade 47FD sbrc r20,7 6955 3ae0 5A95 dec r21 6956 3ae2 8091 0000 lds r24,LageKorrekturNick 6957 3ae6 9091 0000 lds r25,(LageKorrekturNick)+1 6958 3aea 820F add r24,r18 6959 3aec 931F adc r25,r19 6960 3aee 9093 0000 sts (LageKorrekturNick)+1,r25 6961 3af2 8093 0000 sts LageKorrekturNick,r24 6962 3af6 00C0 rjmp .L566 6963 .L559: 6964 3af8 81E0 ldi r24,lo8(1) 6965 3afa 8093 0000 sts last_n_p.15,r24 6966 3afe 00C0 rjmp .L566 6967 .L558: 6968 3b00 1092 0000 sts last_n_p.15,__zero_reg__ 6969 .L566: 6970 3b04 40E0 ldi r20,lo8(-4096) 6971 3b06 E416 cp r14,r20 6972 3b08 40EF ldi r20,hi8(-4096) 6973 3b0a F406 cpc r15,r20 6974 3b0c 4FEF ldi r20,hlo8(-4096) 6975 3b0e 0407 cpc r16,r20 6976 3b10 4FEF ldi r20,hhi8(-4096) 6977 3b12 1407 cpc r17,r20 6978 3b14 04F0 brlt .+2 6979 3b16 00C0 rjmp .L567 6980 3b18 8091 0000 lds r24,last_n_n.16 6981 3b1c 8823 tst r24 6982 3b1e 01F4 brne .+2 6983 3b20 00C0 rjmp .L568 6984 3b22 D801 movw r26,r16 6985 3b24 C701 movw r24,r14 6986 3b26 17FF sbrs r17,7 6987 3b28 00C0 rjmp .L569 6988 3b2a 8827 clr r24 6989 3b2c 9927 clr r25 6990 3b2e DC01 movw r26,r24 6991 3b30 8E19 sub r24,r14 6992 3b32 9F09 sbc r25,r15 6993 3b34 A00B sbc r26,r16 6994 3b36 B10B sbc r27,r17 6995 .L569: 6996 3b38 9C01 movw r18,r24 6997 3b3a AD01 movw r20,r26 6998 3b3c B7FF sbrs r27,7 6999 3b3e 00C0 rjmp .L570 7000 3b40 2150 subi r18,lo8(-(511)) 7001 3b42 3E4F sbci r19,hi8(-(511)) 7002 3b44 4F4F sbci r20,hlo8(-(511)) 7003 3b46 5F4F sbci r21,hhi8(-(511)) 7004 .L570: 7005 3b48 69E0 ldi r22,9 7006 3b4a 5595 1: asr r21 7007 3b4c 4795 ror r20 7008 3b4e 3795 ror r19 7009 3b50 2795 ror r18 7010 3b52 6A95 dec r22 7011 3b54 01F4 brne 1b 7012 3b56 8091 0000 lds r24,cnt.14 7013 3b5a 9091 0000 lds r25,(cnt.14)+1 7014 3b5e 820F add r24,r18 7015 3b60 931F adc r25,r19 7016 3b62 9093 0000 sts (cnt.14)+1,r25 7017 3b66 8093 0000 sts cnt.14,r24 7018 3b6a D801 movw r26,r16 7019 3b6c C701 movw r24,r14 7020 3b6e 17FF sbrs r17,7 7021 3b70 00C0 rjmp .L571 7022 3b72 0796 adiw r24,7 7023 3b74 A11D adc r26,__zero_reg__ 7024 3b76 B11D adc r27,__zero_reg__ 7025 .L571: 7026 3b78 23E0 ldi r18,3 7027 3b7a B595 1: asr r27 7028 3b7c A795 ror r26 7029 3b7e 9795 ror r25 7030 3b80 8795 ror r24 7031 3b82 2A95 dec r18 7032 3b84 01F4 brne 1b 7033 3b86 8093 0000 sts ausgleichNick.10,r24 7034 3b8a 9093 0000 sts (ausgleichNick.10)+1,r25 7035 3b8e A093 0000 sts (ausgleichNick.10)+2,r26 7036 3b92 B093 0000 sts (ausgleichNick.10)+3,r27 7037 3b96 8857 subi r24,lo8(-5000) 7038 3b98 9C4E sbci r25,hi8(-5000) 7039 3b9a AF4F sbci r26,hlo8(-5000) 7040 3b9c BF4F sbci r27,hhi8(-5000) 7041 3b9e 04F4 brge .L572 7042 3ba0 88E7 ldi r24,lo8(-5000) 7043 3ba2 9CEE ldi r25,hi8(-5000) 7044 3ba4 AFEF ldi r26,hlo8(-5000) 7045 3ba6 BFEF ldi r27,hhi8(-5000) 7046 3ba8 8093 0000 sts ausgleichNick.10,r24 7047 3bac 9093 0000 sts (ausgleichNick.10)+1,r25 7048 3bb0 A093 0000 sts (ausgleichNick.10)+2,r26 7049 3bb4 B093 0000 sts (ausgleichNick.10)+3,r27 7050 .L572: 7051 3bb8 2091 0000 lds r18,ausgleichNick.10 7052 3bbc 3091 0000 lds r19,(ausgleichNick.10)+1 7053 3bc0 4091 0000 lds r20,(ausgleichNick.10)+2 7054 3bc4 5091 0000 lds r21,(ausgleichNick.10)+3 7055 3bc8 57FF sbrs r21,7 7056 3bca 00C0 rjmp .L573 7057 3bcc 2150 subi r18,lo8(-(255)) 7058 3bce 3F4F sbci r19,hi8(-(255)) 7059 3bd0 4F4F sbci r20,hlo8(-(255)) 7060 3bd2 5F4F sbci r21,hhi8(-(255)) 7061 .L573: 7062 3bd4 232F mov r18,r19 7063 3bd6 342F mov r19,r20 7064 3bd8 452F mov r20,r21 7065 3bda 5527 clr r21 7066 3bdc 47FD sbrc r20,7 7067 3bde 5A95 dec r21 7068 3be0 8091 0000 lds r24,LageKorrekturNick 7069 3be4 9091 0000 lds r25,(LageKorrekturNick)+1 7070 3be8 820F add r24,r18 7071 3bea 931F adc r25,r19 7072 3bec 9093 0000 sts (LageKorrekturNick)+1,r25 7073 3bf0 8093 0000 sts LageKorrekturNick,r24 7074 3bf4 00C0 rjmp .L576 7075 .L568: 7076 3bf6 81E0 ldi r24,lo8(1) 7077 3bf8 8093 0000 sts last_n_n.16,r24 7078 3bfc 00C0 rjmp .L576 7079 .L567: 7080 3bfe 1092 0000 sts last_n_n.16,__zero_reg__ 7081 3c02 00C0 rjmp .L576 7082 .L556: 7083 3c04 1092 0000 sts (cnt.14)+1,__zero_reg__ 7084 3c08 1092 0000 sts cnt.14,__zero_reg__ 7085 3c0c 84E6 ldi r24,lo8(100) 7086 3c0e 90E0 ldi r25,hi8(100) 7087 3c10 9093 0000 sts (KompassSignalSchlecht)+1,r25 7088 3c14 8093 0000 sts KompassSignalSchlecht,r24 7089 .L576: 7090 3c18 6889 ldd r22,Y+16 7091 3c1a 262F mov r18,r22 7092 3c1c 3327 clr r19 7093 3c1e 8091 0000 lds r24,cnt.14 7094 3c22 9091 0000 lds r25,(cnt.14)+1 7095 3c26 2817 cp r18,r24 7096 3c28 3907 cpc r19,r25 7097 3c2a 04F4 brge .L577 7098 3c2c 3093 0000 sts (cnt.14)+1,r19 7099 3c30 2093 0000 sts cnt.14,r18 7100 .L577: 7101 3c34 1091 0000 lds r17,FromNaviCtrl_Value+1 7102 3c38 1123 tst r17 7103 3c3a 01F0 breq .L578 7104 3c3c 212F mov r18,r17 7105 3c3e 3327 clr r19 7106 3c40 27FD sbrc r18,7 7107 3c42 3095 com r19 7108 3c44 8091 0000 lds r24,cnt.14 7109 3c48 9091 0000 lds r25,(cnt.14)+1 7110 3c4c 2817 cp r18,r24 7111 3c4e 3907 cpc r19,r25 7112 3c50 04F4 brge .L578 7113 3c52 3093 0000 sts (cnt.14)+1,r19 7114 3c56 2093 0000 sts cnt.14,r18 7115 .L578: 7116 3c5a 4091 0000 lds r20,IntegralFehlerNick.3 7117 3c5e 5091 0000 lds r21,(IntegralFehlerNick.3)+1 7118 3c62 6091 0000 lds r22,(IntegralFehlerNick.3)+2 7119 3c66 7091 0000 lds r23,(IntegralFehlerNick.3)+3 7120 3c6a 4138 cpi r20,lo8(129) 7121 3c6c 5105 cpc r21,__zero_reg__ 7122 3c6e 6105 cpc r22,__zero_reg__ 7123 3c70 7105 cpc r23,__zero_reg__ 7124 3c72 04F0 brlt .L580 7125 3c74 8091 0000 lds r24,AdNeutralNick 7126 3c78 9091 0000 lds r25,(AdNeutralNick)+1 7127 3c7c 2091 0000 lds r18,cnt.14 7128 3c80 3091 0000 lds r19,(cnt.14)+1 7129 3c84 820F add r24,r18 7130 3c86 931F adc r25,r19 7131 3c88 9093 0000 sts (AdNeutralNick)+1,r25 7132 3c8c 8093 0000 sts AdNeutralNick,r24 7133 .L580: 7134 3c90 4058 subi r20,lo8(-128) 7135 3c92 5F4F sbci r21,hi8(-128) 7136 3c94 6F4F sbci r22,hlo8(-128) 7137 3c96 7F4F sbci r23,hhi8(-128) 7138 3c98 04F4 brge .L581 7139 3c9a 8091 0000 lds r24,AdNeutralNick 7140 3c9e 9091 0000 lds r25,(AdNeutralNick)+1 7141 3ca2 2091 0000 lds r18,cnt.14 7142 3ca6 3091 0000 lds r19,(cnt.14)+1 7143 3caa 821B sub r24,r18 7144 3cac 930B sbc r25,r19 7145 3cae 9093 0000 sts (AdNeutralNick)+1,r25 7146 3cb2 8093 0000 sts AdNeutralNick,r24 7147 .L581: 7148 3cb6 81E0 ldi r24,lo8(1) 7149 3cb8 90E0 ldi r25,hi8(1) 7150 3cba 9093 0000 sts (cnt.14)+1,r25 7151 3cbe 8093 0000 sts cnt.14,r24 7152 3cc2 C090 0000 lds r12,IntegralFehlerRoll.4 7153 3cc6 D090 0000 lds r13,(IntegralFehlerRoll.4)+1 7154 3cca E090 0000 lds r14,(IntegralFehlerRoll.4)+2 7155 3cce F090 0000 lds r15,(IntegralFehlerRoll.4)+3 7156 3cd2 D701 movw r26,r14 7157 3cd4 C601 movw r24,r12 7158 3cd6 F7FE sbrs r15,7 7159 3cd8 00C0 rjmp .L583 7160 3cda 8827 clr r24 7161 3cdc 9927 clr r25 7162 3cde DC01 movw r26,r24 7163 3ce0 8C19 sub r24,r12 7164 3ce2 9D09 sbc r25,r13 7165 3ce4 AE09 sbc r26,r14 7166 3ce6 BF09 sbc r27,r15 7167 .L583: 7168 3ce8 8150 subi r24,lo8(513) 7169 3cea 9240 sbci r25,hi8(513) 7170 3cec A040 sbci r26,hlo8(513) 7171 3cee B040 sbci r27,hhi8(513) 7172 3cf0 04F0 brlt .L582 7173 3cf2 84E0 ldi r24,lo8(4) 7174 3cf4 90E0 ldi r25,hi8(4) 7175 3cf6 9093 0000 sts (cnt.14)+1,r25 7176 3cfa 8093 0000 sts cnt.14,r24 7177 .L582: 7178 3cfe 8091 0000 lds r24,MittelIntegralRoll_Alt.20 7179 3d02 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 7180 3d06 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 7181 3d0a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 7182 3d0e 2091 0000 lds r18,MittelIntegralRoll 7183 3d12 3091 0000 lds r19,(MittelIntegralRoll)+1 7184 3d16 4091 0000 lds r20,(MittelIntegralRoll)+2 7185 3d1a 5091 0000 lds r21,(MittelIntegralRoll)+3 7186 3d1e 821B sub r24,r18 7187 3d20 930B sbc r25,r19 7188 3d22 A40B sbc r26,r20 7189 3d24 B50B sbc r27,r21 7190 3d26 815E subi r24,lo8(-(19999)) 7191 3d28 914B sbci r25,hi8(-(19999)) 7192 3d2a AF4F sbci r26,hlo8(-(19999)) 7193 3d2c BF4F sbci r27,hhi8(-(19999)) 7194 3d2e 8F53 subi r24,lo8(39999) 7195 3d30 9C49 sbci r25,hi8(39999) 7196 3d32 A040 sbci r26,hlo8(39999) 7197 3d34 B040 sbci r27,hhi8(39999) 7198 3d36 00F0 brlo .L585 7199 3d38 1931 cpi r17,lo8(25) 7200 3d3a 04F4 brge .+2 7201 3d3c 00C0 rjmp .L584 7202 .L585: 7203 3d3e 01E0 ldi r16,lo8(4097) 7204 3d40 C016 cp r12,r16 7205 3d42 00E1 ldi r16,hi8(4097) 7206 3d44 D006 cpc r13,r16 7207 3d46 00E0 ldi r16,hlo8(4097) 7208 3d48 E006 cpc r14,r16 7209 3d4a 00E0 ldi r16,hhi8(4097) 7210 3d4c F006 cpc r15,r16 7211 3d4e 04F4 brge .+2 7212 3d50 00C0 rjmp .L586 7213 3d52 8091 0000 lds r24,last_r_p.17 7214 3d56 8823 tst r24 7215 3d58 01F4 brne .+2 7216 3d5a 00C0 rjmp .L587 7217 3d5c D701 movw r26,r14 7218 3d5e C601 movw r24,r12 7219 3d60 F7FE sbrs r15,7 7220 3d62 00C0 rjmp .L588 7221 3d64 8827 clr r24 7222 3d66 9927 clr r25 7223 3d68 DC01 movw r26,r24 7224 3d6a 8C19 sub r24,r12 7225 3d6c 9D09 sbc r25,r13 7226 3d6e AE09 sbc r26,r14 7227 3d70 BF09 sbc r27,r15 7228 .L588: 7229 3d72 9C01 movw r18,r24 7230 3d74 AD01 movw r20,r26 7231 3d76 B7FF sbrs r27,7 7232 3d78 00C0 rjmp .L589 7233 3d7a 2150 subi r18,lo8(-(511)) 7234 3d7c 3E4F sbci r19,hi8(-(511)) 7235 3d7e 4F4F sbci r20,hlo8(-(511)) 7236 3d80 5F4F sbci r21,hhi8(-(511)) 7237 .L589: 7238 3d82 09E0 ldi r16,9 7239 3d84 5595 1: asr r21 7240 3d86 4795 ror r20 7241 3d88 3795 ror r19 7242 3d8a 2795 ror r18 7243 3d8c 0A95 dec r16 7244 3d8e 01F4 brne 1b 7245 3d90 8091 0000 lds r24,cnt.14 7246 3d94 9091 0000 lds r25,(cnt.14)+1 7247 3d98 820F add r24,r18 7248 3d9a 931F adc r25,r19 7249 3d9c 9093 0000 sts (cnt.14)+1,r25 7250 3da0 8093 0000 sts cnt.14,r24 7251 3da4 D701 movw r26,r14 7252 3da6 C601 movw r24,r12 7253 3da8 F7FE sbrs r15,7 7254 3daa 00C0 rjmp .L590 7255 3dac 0796 adiw r24,7 7256 3dae A11D adc r26,__zero_reg__ 7257 3db0 B11D adc r27,__zero_reg__ 7258 .L590: 7259 3db2 13E0 ldi r17,3 7260 3db4 B595 1: asr r27 7261 3db6 A795 ror r26 7262 3db8 9795 ror r25 7263 3dba 8795 ror r24 7264 3dbc 1A95 dec r17 7265 3dbe 01F4 brne 1b 7266 3dc0 8093 0000 sts ausgleichRoll.11,r24 7267 3dc4 9093 0000 sts (ausgleichRoll.11)+1,r25 7268 3dc8 A093 0000 sts (ausgleichRoll.11)+2,r26 7269 3dcc B093 0000 sts (ausgleichRoll.11)+3,r27 7270 3dd0 8958 subi r24,lo8(5001) 7271 3dd2 9341 sbci r25,hi8(5001) 7272 3dd4 A040 sbci r26,hlo8(5001) 7273 3dd6 B040 sbci r27,hhi8(5001) 7274 3dd8 04F0 brlt .L591 7275 3dda 88E8 ldi r24,lo8(5000) 7276 3ddc 93E1 ldi r25,hi8(5000) 7277 3dde A0E0 ldi r26,hlo8(5000) 7278 3de0 B0E0 ldi r27,hhi8(5000) 7279 3de2 8093 0000 sts ausgleichRoll.11,r24 7280 3de6 9093 0000 sts (ausgleichRoll.11)+1,r25 7281 3dea A093 0000 sts (ausgleichRoll.11)+2,r26 7282 3dee B093 0000 sts (ausgleichRoll.11)+3,r27 7283 .L591: 7284 3df2 2091 0000 lds r18,ausgleichRoll.11 7285 3df6 3091 0000 lds r19,(ausgleichRoll.11)+1 7286 3dfa 4091 0000 lds r20,(ausgleichRoll.11)+2 7287 3dfe 5091 0000 lds r21,(ausgleichRoll.11)+3 7288 3e02 57FF sbrs r21,7 7289 3e04 00C0 rjmp .L592 7290 3e06 2150 subi r18,lo8(-(255)) 7291 3e08 3F4F sbci r19,hi8(-(255)) 7292 3e0a 4F4F sbci r20,hlo8(-(255)) 7293 3e0c 5F4F sbci r21,hhi8(-(255)) 7294 .L592: 7295 3e0e 232F mov r18,r19 7296 3e10 342F mov r19,r20 7297 3e12 452F mov r20,r21 7298 3e14 5527 clr r21 7299 3e16 47FD sbrc r20,7 7300 3e18 5A95 dec r21 7301 3e1a 8091 0000 lds r24,LageKorrekturRoll 7302 3e1e 9091 0000 lds r25,(LageKorrekturRoll)+1 7303 3e22 820F add r24,r18 7304 3e24 931F adc r25,r19 7305 3e26 9093 0000 sts (LageKorrekturRoll)+1,r25 7306 3e2a 8093 0000 sts LageKorrekturRoll,r24 7307 3e2e 00C0 rjmp .L594 7308 .L587: 7309 3e30 81E0 ldi r24,lo8(1) 7310 3e32 8093 0000 sts last_r_p.17,r24 7311 3e36 00C0 rjmp .L594 7312 .L586: 7313 3e38 1092 0000 sts last_r_p.17,__zero_reg__ 7314 .L594: 7315 3e3c 20E0 ldi r18,lo8(-4096) 7316 3e3e C216 cp r12,r18 7317 3e40 20EF ldi r18,hi8(-4096) 7318 3e42 D206 cpc r13,r18 7319 3e44 2FEF ldi r18,hlo8(-4096) 7320 3e46 E206 cpc r14,r18 7321 3e48 2FEF ldi r18,hhi8(-4096) 7322 3e4a F206 cpc r15,r18 7323 3e4c 04F0 brlt .+2 7324 3e4e 00C0 rjmp .L595 7325 3e50 8091 0000 lds r24,last_r_n.18 7326 3e54 8823 tst r24 7327 3e56 01F4 brne .+2 7328 3e58 00C0 rjmp .L596 7329 3e5a D701 movw r26,r14 7330 3e5c C601 movw r24,r12 7331 3e5e F7FE sbrs r15,7 7332 3e60 00C0 rjmp .L597 7333 3e62 8827 clr r24 7334 3e64 9927 clr r25 7335 3e66 DC01 movw r26,r24 7336 3e68 8C19 sub r24,r12 7337 3e6a 9D09 sbc r25,r13 7338 3e6c AE09 sbc r26,r14 7339 3e6e BF09 sbc r27,r15 7340 .L597: 7341 3e70 9C01 movw r18,r24 7342 3e72 AD01 movw r20,r26 7343 3e74 B7FF sbrs r27,7 7344 3e76 00C0 rjmp .L598 7345 3e78 2150 subi r18,lo8(-(511)) 7346 3e7a 3E4F sbci r19,hi8(-(511)) 7347 3e7c 4F4F sbci r20,hlo8(-(511)) 7348 3e7e 5F4F sbci r21,hhi8(-(511)) 7349 .L598: 7350 3e80 E9E0 ldi r30,9 7351 3e82 5595 1: asr r21 7352 3e84 4795 ror r20 7353 3e86 3795 ror r19 7354 3e88 2795 ror r18 7355 3e8a EA95 dec r30 7356 3e8c 01F4 brne 1b 7357 3e8e 8091 0000 lds r24,cnt.14 7358 3e92 9091 0000 lds r25,(cnt.14)+1 7359 3e96 820F add r24,r18 7360 3e98 931F adc r25,r19 7361 3e9a 9093 0000 sts (cnt.14)+1,r25 7362 3e9e 8093 0000 sts cnt.14,r24 7363 3ea2 D701 movw r26,r14 7364 3ea4 C601 movw r24,r12 7365 3ea6 F7FE sbrs r15,7 7366 3ea8 00C0 rjmp .L599 7367 3eaa 0796 adiw r24,7 7368 3eac A11D adc r26,__zero_reg__ 7369 3eae B11D adc r27,__zero_reg__ 7370 .L599: 7371 3eb0 73E0 ldi r23,3 7372 3eb2 B595 1: asr r27 7373 3eb4 A795 ror r26 7374 3eb6 9795 ror r25 7375 3eb8 8795 ror r24 7376 3eba 7A95 dec r23 7377 3ebc 01F4 brne 1b 7378 3ebe 8093 0000 sts ausgleichRoll.11,r24 7379 3ec2 9093 0000 sts (ausgleichRoll.11)+1,r25 7380 3ec6 A093 0000 sts (ausgleichRoll.11)+2,r26 7381 3eca B093 0000 sts (ausgleichRoll.11)+3,r27 7382 3ece 8857 subi r24,lo8(-5000) 7383 3ed0 9C4E sbci r25,hi8(-5000) 7384 3ed2 AF4F sbci r26,hlo8(-5000) 7385 3ed4 BF4F sbci r27,hhi8(-5000) 7386 3ed6 04F4 brge .L600 7387 3ed8 88E7 ldi r24,lo8(-5000) 7388 3eda 9CEE ldi r25,hi8(-5000) 7389 3edc AFEF ldi r26,hlo8(-5000) 7390 3ede BFEF ldi r27,hhi8(-5000) 7391 3ee0 8093 0000 sts ausgleichRoll.11,r24 7392 3ee4 9093 0000 sts (ausgleichRoll.11)+1,r25 7393 3ee8 A093 0000 sts (ausgleichRoll.11)+2,r26 7394 3eec B093 0000 sts (ausgleichRoll.11)+3,r27 7395 .L600: 7396 3ef0 2091 0000 lds r18,ausgleichRoll.11 7397 3ef4 3091 0000 lds r19,(ausgleichRoll.11)+1 7398 3ef8 4091 0000 lds r20,(ausgleichRoll.11)+2 7399 3efc 5091 0000 lds r21,(ausgleichRoll.11)+3 7400 3f00 57FF sbrs r21,7 7401 3f02 00C0 rjmp .L601 7402 3f04 2150 subi r18,lo8(-(255)) 7403 3f06 3F4F sbci r19,hi8(-(255)) 7404 3f08 4F4F sbci r20,hlo8(-(255)) 7405 3f0a 5F4F sbci r21,hhi8(-(255)) 7406 .L601: 7407 3f0c 232F mov r18,r19 7408 3f0e 342F mov r19,r20 7409 3f10 452F mov r20,r21 7410 3f12 5527 clr r21 7411 3f14 47FD sbrc r20,7 7412 3f16 5A95 dec r21 7413 3f18 8091 0000 lds r24,LageKorrekturRoll 7414 3f1c 9091 0000 lds r25,(LageKorrekturRoll)+1 7415 3f20 820F add r24,r18 7416 3f22 931F adc r25,r19 7417 3f24 9093 0000 sts (LageKorrekturRoll)+1,r25 7418 3f28 8093 0000 sts LageKorrekturRoll,r24 7419 3f2c 00C0 rjmp .L604 7420 .L596: 7421 3f2e 81E0 ldi r24,lo8(1) 7422 3f30 8093 0000 sts last_r_n.18,r24 7423 3f34 00C0 rjmp .L604 7424 .L595: 7425 3f36 1092 0000 sts last_r_n.18,__zero_reg__ 7426 3f3a 00C0 rjmp .L604 7427 .L584: 7428 3f3c 1092 0000 sts (cnt.14)+1,__zero_reg__ 7429 3f40 1092 0000 sts cnt.14,__zero_reg__ 7430 3f44 84E6 ldi r24,lo8(100) 7431 3f46 90E0 ldi r25,hi8(100) 7432 3f48 9093 0000 sts (KompassSignalSchlecht)+1,r25 7433 3f4c 8093 0000 sts KompassSignalSchlecht,r24 7434 .L604: 7435 3f50 4889 ldd r20,Y+16 7436 3f52 242F mov r18,r20 7437 3f54 3327 clr r19 7438 3f56 8091 0000 lds r24,cnt.14 7439 3f5a 9091 0000 lds r25,(cnt.14)+1 7440 3f5e 2817 cp r18,r24 7441 3f60 3907 cpc r19,r25 7442 3f62 04F4 brge .L605 7443 3f64 3093 0000 sts (cnt.14)+1,r19 7444 3f68 2093 0000 sts cnt.14,r18 7445 .L605: 7446 3f6c 8091 0000 lds r24,FromNaviCtrl_Value+1 7447 3f70 8823 tst r24 7448 3f72 01F0 breq .L606 7449 3f74 282F mov r18,r24 7450 3f76 3327 clr r19 7451 3f78 27FD sbrc r18,7 7452 3f7a 3095 com r19 7453 3f7c 8091 0000 lds r24,cnt.14 7454 3f80 9091 0000 lds r25,(cnt.14)+1 7455 3f84 2817 cp r18,r24 7456 3f86 3907 cpc r19,r25 7457 3f88 04F4 brge .L606 7458 3f8a 3093 0000 sts (cnt.14)+1,r19 7459 3f8e 2093 0000 sts cnt.14,r18 7460 .L606: 7461 3f92 4091 0000 lds r20,IntegralFehlerRoll.4 7462 3f96 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 7463 3f9a 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 7464 3f9e 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 7465 3fa2 4138 cpi r20,lo8(129) 7466 3fa4 5105 cpc r21,__zero_reg__ 7467 3fa6 6105 cpc r22,__zero_reg__ 7468 3fa8 7105 cpc r23,__zero_reg__ 7469 3faa 04F0 brlt .L608 7470 3fac 8091 0000 lds r24,AdNeutralRoll 7471 3fb0 9091 0000 lds r25,(AdNeutralRoll)+1 7472 3fb4 2091 0000 lds r18,cnt.14 7473 3fb8 3091 0000 lds r19,(cnt.14)+1 7474 3fbc 820F add r24,r18 7475 3fbe 931F adc r25,r19 7476 3fc0 9093 0000 sts (AdNeutralRoll)+1,r25 7477 3fc4 8093 0000 sts AdNeutralRoll,r24 7478 .L608: 7479 3fc8 4058 subi r20,lo8(-128) 7480 3fca 5F4F sbci r21,hi8(-128) 7481 3fcc 6F4F sbci r22,hlo8(-128) 7482 3fce 7F4F sbci r23,hhi8(-128) 7483 3fd0 04F4 brge .L610 7484 3fd2 8091 0000 lds r24,AdNeutralRoll 7485 3fd6 9091 0000 lds r25,(AdNeutralRoll)+1 7486 3fda 2091 0000 lds r18,cnt.14 7487 3fde 3091 0000 lds r19,(cnt.14)+1 7488 3fe2 821B sub r24,r18 7489 3fe4 930B sbc r25,r19 7490 3fe6 9093 0000 sts (AdNeutralRoll)+1,r25 7491 3fea 8093 0000 sts AdNeutralRoll,r24 7492 3fee 00C0 rjmp .L610 7493 .L536: 7494 3ff0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7495 3ff4 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7496 3ff8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7497 3ffc 1092 0000 sts LageKorrekturNick,__zero_reg__ 7498 4000 1092 0000 sts TrichterFlug,__zero_reg__ 7499 .L610: 7500 4004 8091 0000 lds r24,IntegralFaktor 7501 4008 8823 tst r24 7502 400a 01F4 brne .L611 7503 400c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7504 4010 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7505 4014 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7506 4018 1092 0000 sts LageKorrekturNick,__zero_reg__ 7507 .L611: 7508 401c 8091 0000 lds r24,MittelIntegralNick 7509 4020 9091 0000 lds r25,(MittelIntegralNick)+1 7510 4024 A091 0000 lds r26,(MittelIntegralNick)+2 7511 4028 B091 0000 lds r27,(MittelIntegralNick)+3 7512 402c 8093 0000 sts MittelIntegralNick_Alt.19,r24 7513 4030 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 7514 4034 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 7515 4038 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 7516 403c 8091 0000 lds r24,MittelIntegralRoll 7517 4040 9091 0000 lds r25,(MittelIntegralRoll)+1 7518 4044 A091 0000 lds r26,(MittelIntegralRoll)+2 7519 4048 B091 0000 lds r27,(MittelIntegralRoll)+3 7520 404c 8093 0000 sts MittelIntegralRoll_Alt.20,r24 7521 4050 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 7522 4054 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 7523 4058 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 7524 405c 1092 0000 sts IntegralAccNick,__zero_reg__ 7525 4060 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 7526 4064 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 7527 4068 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 7528 406c 1092 0000 sts IntegralAccRoll,__zero_reg__ 7529 4070 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 7530 4074 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 7531 4078 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 7532 407c 1092 0000 sts IntegralAccZ,__zero_reg__ 7533 4080 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 7534 4084 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 7535 4088 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 7536 408c 1092 0000 sts MittelIntegralNick,__zero_reg__ 7537 4090 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 7538 4094 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 7539 4098 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 7540 409c 1092 0000 sts MittelIntegralRoll,__zero_reg__ 7541 40a0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 7542 40a4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 7543 40a8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 7544 40ac 1092 0000 sts MittelIntegralNick2,__zero_reg__ 7545 40b0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 7546 40b4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 7547 40b8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 7548 40bc 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 7549 40c0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 7550 40c4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 7551 40c8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 7552 40cc 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 7553 40d0 1092 0000 sts ZaehlMessungen,__zero_reg__ 7554 .L535: 7555 40d4 E090 0000 lds r14,StickGier 7556 40d8 F090 0000 lds r15,(StickGier)+1 7557 40dc C701 movw r24,r14 7558 40de F7FE sbrs r15,7 7559 40e0 00C0 rjmp .L613 7560 40e2 8827 clr r24 7561 40e4 9927 clr r25 7562 40e6 8E19 sub r24,r14 7563 40e8 9F09 sbc r25,r15 7564 .L613: 7565 40ea 0497 sbiw r24,4 7566 40ec 04F0 brlt .L612 7567 40ee 8091 0000 lds r24,Parameter_GlobalConfig 7568 40f2 84FD sbrc r24,4 7569 40f4 00C0 rjmp .L612 7570 40f6 82E3 ldi r24,lo8(50) 7571 40f8 8093 0000 sts NeueKompassRichtungMerken,r24 7572 .L612: 7573 40fc 1091 0000 lds r17,EE_Parameter+25 7574 4100 A12E mov r10,r17 7575 4102 BB24 clr r11 7576 4104 CC24 clr r12 7577 4106 DD24 clr r13 7578 4108 B701 movw r22,r14 7579 410a 8827 clr r24 7580 410c 77FD sbrc r23,7 7581 410e 8095 com r24 7582 4110 982F mov r25,r24 7583 4112 9701 movw r18,r14 7584 4114 F7FE sbrs r15,7 7585 4116 00C0 rjmp .L615 7586 4118 2227 clr r18 7587 411a 3327 clr r19 7588 411c 2E19 sub r18,r14 7589 411e 3F09 sbc r19,r15 7590 .L615: 7591 4120 4427 clr r20 7592 4122 37FD sbrc r19,7 7593 4124 4095 com r20 7594 4126 542F mov r21,r20 7595 4128 0E94 0000 call __mulsi3 7596 412c 9B01 movw r18,r22 7597 412e AC01 movw r20,r24 7598 4130 C601 movw r24,r12 7599 4132 B501 movw r22,r10 7600 4134 0E94 0000 call __mulsi3 7601 4138 97FF sbrs r25,7 7602 413a 00C0 rjmp .L616 7603 413c 6150 subi r22,lo8(-(511)) 7604 413e 7E4F sbci r23,hi8(-(511)) 7605 4140 8F4F sbci r24,hlo8(-(511)) 7606 4142 9F4F sbci r25,hhi8(-(511)) 7607 .L616: 7608 4144 59E0 ldi r21,9 7609 4146 9595 1: asr r25 7610 4148 8795 ror r24 7611 414a 7795 ror r23 7612 414c 6795 ror r22 7613 414e 5A95 dec r21 7614 4150 01F4 brne 1b 7615 4152 9B01 movw r18,r22 7616 4154 812F mov r24,r17 7617 4156 9927 clr r25 7618 4158 8E9D mul r24,r14 7619 415a D001 movw r26,r0 7620 415c 8F9D mul r24,r15 7621 415e B00D add r27,r0 7622 4160 9E9D mul r25,r14 7623 4162 B00D add r27,r0 7624 4164 1124 clr r1 7625 4166 CD01 movw r24,r26 7626 4168 B7FD sbrc r27,7 7627 416a 0396 adiw r24,3 7628 .L617: 7629 416c 9595 asr r25 7630 416e 8795 ror r24 7631 4170 9595 asr r25 7632 4172 8795 ror r24 7633 4174 280F add r18,r24 7634 4176 391F adc r19,r25 7635 4178 8091 0000 lds r24,CompassGierSetpoint 7636 417c 9091 0000 lds r25,(CompassGierSetpoint)+1 7637 4180 280F add r18,r24 7638 4182 391F adc r19,r25 7639 4184 4427 clr r20 7640 4186 37FD sbrc r19,7 7641 4188 4095 com r20 7642 418a 542F mov r21,r20 7643 418c 2093 0000 sts sollGier.0,r18 7644 4190 3093 0000 sts (sollGier.0)+1,r19 7645 4194 4093 0000 sts (sollGier.0)+2,r20 7646 4198 5093 0000 sts (sollGier.0)+3,r21 7647 419c 8091 0000 lds r24,Mess_Integral_Gier 7648 41a0 9091 0000 lds r25,(Mess_Integral_Gier)+1 7649 41a4 A091 0000 lds r26,(Mess_Integral_Gier)+2 7650 41a8 B091 0000 lds r27,(Mess_Integral_Gier)+3 7651 41ac 821B sub r24,r18 7652 41ae 930B sbc r25,r19 7653 41b0 A40B sbc r26,r20 7654 41b2 B50B sbc r27,r21 7655 41b4 8093 0000 sts Mess_Integral_Gier,r24 7656 41b8 9093 0000 sts (Mess_Integral_Gier)+1,r25 7657 41bc A093 0000 sts (Mess_Integral_Gier)+2,r26 7658 41c0 B093 0000 sts (Mess_Integral_Gier)+3,r27 7659 41c4 8155 subi r24,lo8(50001) 7660 41c6 934C sbci r25,hi8(50001) 7661 41c8 A040 sbci r26,hlo8(50001) 7662 41ca B040 sbci r27,hhi8(50001) 7663 41cc 04F0 brlt .L618 7664 41ce 80E5 ldi r24,lo8(50000) 7665 41d0 93EC ldi r25,hi8(50000) 7666 41d2 A0E0 ldi r26,hlo8(50000) 7667 41d4 B0E0 ldi r27,hhi8(50000) 7668 41d6 8093 0000 sts Mess_Integral_Gier,r24 7669 41da 9093 0000 sts (Mess_Integral_Gier)+1,r25 7670 41de A093 0000 sts (Mess_Integral_Gier)+2,r26 7671 41e2 B093 0000 sts (Mess_Integral_Gier)+3,r27 7672 .L618: 7673 41e6 8091 0000 lds r24,Mess_Integral_Gier 7674 41ea 9091 0000 lds r25,(Mess_Integral_Gier)+1 7675 41ee A091 0000 lds r26,(Mess_Integral_Gier)+2 7676 41f2 B091 0000 lds r27,(Mess_Integral_Gier)+3 7677 41f6 805B subi r24,lo8(-50000) 7678 41f8 9C43 sbci r25,hi8(-50000) 7679 41fa AF4F sbci r26,hlo8(-50000) 7680 41fc BF4F sbci r27,hhi8(-50000) 7681 41fe 04F4 brge .L619 7682 4200 80EB ldi r24,lo8(-50000) 7683 4202 9CE3 ldi r25,hi8(-50000) 7684 4204 AFEF ldi r26,hlo8(-50000) 7685 4206 BFEF ldi r27,hhi8(-50000) 7686 4208 8093 0000 sts Mess_Integral_Gier,r24 7687 420c 9093 0000 sts (Mess_Integral_Gier)+1,r25 7688 4210 A093 0000 sts (Mess_Integral_Gier)+2,r26 7689 4214 B093 0000 sts (Mess_Integral_Gier)+3,r27 7690 .L619: 7691 4218 0091 0000 lds r16,KompassValue 7692 421c 1091 0000 lds r17,(KompassValue)+1 7693 4220 17FD sbrc r17,7 7694 4222 00C0 rjmp .L620 7695 4224 8091 0000 lds r24,Parameter_GlobalConfig 7696 4228 83FF sbrs r24,3 7697 422a 00C0 rjmp .L620 7698 422c 8091 0000 lds r24,CalculateCompassTimer 7699 4230 8150 subi r24,lo8(-(-1)) 7700 4232 8093 0000 sts CalculateCompassTimer,r24 7701 4236 8823 tst r24 7702 4238 01F0 breq .+2 7703 423a 00C0 rjmp .L637 7704 423c 8DE0 ldi r24,lo8(13) 7705 423e 8093 0000 sts CalculateCompassTimer,r24 7706 4242 8091 0000 lds r24,IntegralNick 7707 4246 9091 0000 lds r25,(IntegralNick)+1 7708 424a A091 0000 lds r26,(IntegralNick)+2 7709 424e B091 0000 lds r27,(IntegralNick)+3 7710 4252 B7FF sbrs r27,7 7711 4254 00C0 rjmp .L622 7712 4256 8150 subi r24,lo8(-(511)) 7713 4258 9E4F sbci r25,hi8(-(511)) 7714 425a AF4F sbci r26,hlo8(-(511)) 7715 425c BF4F sbci r27,hhi8(-(511)) 7716 .L622: 7717 425e 39E0 ldi r19,9 7718 4260 B595 1: asr r27 7719 4262 A795 ror r26 7720 4264 9795 ror r25 7721 4266 8795 ror r24 7722 4268 3A95 dec r19 7723 426a 01F4 brne 1b 7724 426c 7C01 movw r14,r24 7725 426e 97FF sbrs r25,7 7726 4270 00C0 rjmp .L623 7727 4272 F094 com r15 7728 4274 E194 neg r14 7729 4276 F108 sbc r15,__zero_reg__ 7730 4278 F394 inc r15 7731 .L623: 7732 427a 8091 0000 lds r24,IntegralRoll 7733 427e 9091 0000 lds r25,(IntegralRoll)+1 7734 4282 A091 0000 lds r26,(IntegralRoll)+2 7735 4286 B091 0000 lds r27,(IntegralRoll)+3 7736 428a B7FF sbrs r27,7 7737 428c 00C0 rjmp .L624 7738 428e 8150 subi r24,lo8(-(511)) 7739 4290 9E4F sbci r25,hi8(-(511)) 7740 4292 AF4F sbci r26,hlo8(-(511)) 7741 4294 BF4F sbci r27,hhi8(-(511)) 7742 .L624: 7743 4296 29E0 ldi r18,9 7744 4298 B595 1: asr r27 7745 429a A795 ror r26 7746 429c 9795 ror r25 7747 429e 8795 ror r24 7748 42a0 2A95 dec r18 7749 42a2 01F4 brne 1b 7750 42a4 9C01 movw r18,r24 7751 42a6 97FF sbrs r25,7 7752 42a8 00C0 rjmp .L625 7753 42aa 3095 com r19 7754 42ac 2195 neg r18 7755 42ae 3F4F sbci r19,lo8(-1) 7756 .L625: 7757 42b0 E216 cp r14,r18 7758 42b2 F306 cpc r15,r19 7759 42b4 04F4 brge .L626 7760 42b6 7901 movw r14,r18 7761 .L626: 7762 42b8 B701 movw r22,r14 7763 42ba F7FE sbrs r15,7 7764 42bc 00C0 rjmp .L627 7765 42be 695F subi r22,lo8(-(7)) 7766 42c0 7F4F sbci r23,hi8(-(7)) 7767 .L627: 7768 42c2 2B01 movw r4,r22 7769 42c4 A3E0 ldi r26,3 7770 42c6 5594 1: asr r5 7771 42c8 4794 ror r4 7772 42ca AA95 dec r26 7773 42cc 01F4 brne 1b 7774 42ce 22E0 ldi r18,lo8(2) 7775 42d0 30E0 ldi r19,hi8(2) 7776 42d2 420E add r4,r18 7777 42d4 531E adc r5,r19 7778 42d6 6090 0000 lds r6,ErsatzKompass 7779 42da 7090 0000 lds r7,(ErsatzKompass)+1 7780 42de 8090 0000 lds r8,(ErsatzKompass)+2 7781 42e2 9090 0000 lds r9,(ErsatzKompass)+3 7782 42e6 2091 0000 lds r18,GIER_GRAD_FAKTOR 7783 42ea 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 7784 42ee 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 7785 42f2 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 7786 42f6 C401 movw r24,r8 7787 42f8 B301 movw r22,r6 7788 42fa 0E94 0000 call __divmodsi4 7789 42fe 5901 movw r10,r18 7790 4300 6A01 movw r12,r20 7791 4302 3093 0000 sts (ErsatzKompassInGrad)+1,r19 7792 4306 2093 0000 sts ErsatzKompassInGrad,r18 7793 430a 021B sub r16,r18 7794 430c 130B sbc r17,r19 7795 430e C801 movw r24,r16 7796 4310 845E subi r24,lo8(-(540)) 7797 4312 9D4F sbci r25,hi8(-(540)) 7798 4314 68E6 ldi r22,lo8(360) 7799 4316 71E0 ldi r23,hi8(360) 7800 4318 0E94 0000 call __divmodhi4 7801 431c 9C01 movw r18,r24 7802 431e 245B subi r18,lo8(-(-180)) 7803 4320 3040 sbci r19,hi8(-(-180)) 7804 4322 8091 0000 lds r24,KompassSignalSchlecht 7805 4326 9091 0000 lds r25,(KompassSignalSchlecht)+1 7806 432a 0097 sbiw r24,0 7807 432c 01F0 breq .L628 7808 432e 0197 sbiw r24,1 7809 4330 9093 0000 sts (KompassSignalSchlecht)+1,r25 7810 4334 8093 0000 sts KompassSignalSchlecht,r24 7811 4338 00C0 rjmp .L629 7812 .L628: 7813 433a 49E1 ldi r20,lo8(25) 7814 433c E416 cp r14,r20 7815 433e F104 cpc r15,__zero_reg__ 7816 4340 04F4 brge .L629 7817 4342 8091 0000 lds r24,GierGyroFehler 7818 4346 9091 0000 lds r25,(GierGyroFehler)+1 7819 434a 820F add r24,r18 7820 434c 931F adc r25,r19 7821 434e 9093 0000 sts (GierGyroFehler)+1,r25 7822 4352 8093 0000 sts GierGyroFehler,r24 7823 4356 8091 0000 lds r24,NeueKompassRichtungMerken 7824 435a 8823 tst r24 7825 435c 01F0 breq .L629 7826 435e 8150 subi r24,lo8(-(-1)) 7827 4360 8093 0000 sts NeueKompassRichtungMerken,r24 7828 4364 8823 tst r24 7829 4366 01F4 brne .L629 7830 4368 B092 0000 sts (KompassSollWert)+1,r11 7831 436c A092 0000 sts KompassSollWert,r10 7832 .L629: 7833 4370 8091 0000 lds r24,KompassSignalSchlecht 7834 4374 9091 0000 lds r25,(KompassSignalSchlecht)+1 7835 4378 892B or r24,r25 7836 437a 01F4 brne .L633 7837 437c 8091 0000 lds r24,KompassFusion 7838 4380 9927 clr r25 7839 4382 289F mul r18,r24 7840 4384 B001 movw r22,r0 7841 4386 299F mul r18,r25 7842 4388 700D add r23,r0 7843 438a 389F mul r19,r24 7844 438c 700D add r23,r0 7845 438e 1124 clr r1 7846 4390 CB01 movw r24,r22 7847 4392 B201 movw r22,r4 7848 4394 0E94 0000 call __divmodhi4 7849 4398 CB01 movw r24,r22 7850 439a AA27 clr r26 7851 439c 97FD sbrc r25,7 7852 439e A095 com r26 7853 43a0 BA2F mov r27,r26 7854 43a2 680E add r6,r24 7855 43a4 791E adc r7,r25 7856 43a6 8A1E adc r8,r26 7857 43a8 9B1E adc r9,r27 7858 43aa 6092 0000 sts ErsatzKompass,r6 7859 43ae 7092 0000 sts (ErsatzKompass)+1,r7 7860 43b2 8092 0000 sts (ErsatzKompass)+2,r8 7861 43b6 9092 0000 sts (ErsatzKompass)+3,r9 7862 .L633: 7863 43ba 8091 0000 lds r24,NeueKompassRichtungMerken 7864 43be 8823 tst r24 7865 43c0 01F4 brne .L620 7866 43c2 8091 0000 lds r24,KompassSollWert 7867 43c6 9091 0000 lds r25,(KompassSollWert)+1 7868 43ca 2091 0000 lds r18,ErsatzKompassInGrad 7869 43ce 3091 0000 lds r19,(ErsatzKompassInGrad)+1 7870 43d2 821B sub r24,r18 7871 43d4 930B sbc r25,r19 7872 43d6 845E subi r24,lo8(-(540)) 7873 43d8 9D4F sbci r25,hi8(-(540)) 7874 43da 68E6 ldi r22,lo8(360) 7875 43dc 71E0 ldi r23,hi8(360) 7876 43de 0E94 0000 call __divmodhi4 7877 43e2 9C01 movw r18,r24 7878 43e4 245B subi r18,lo8(-(-180)) 7879 43e6 3040 sbci r19,hi8(-(-180)) 7880 43e8 8091 0000 lds r24,Parameter_KompassWirkung 7881 43ec 8695 lsr r24 7882 43ee 9927 clr r25 7883 43f0 289F mul r18,r24 7884 43f2 D001 movw r26,r0 7885 43f4 299F mul r18,r25 7886 43f6 B00D add r27,r0 7887 43f8 389F mul r19,r24 7888 43fa B00D add r27,r0 7889 43fc 1124 clr r1 7890 43fe 9D01 movw r18,r26 7891 4400 B7FF sbrs r27,7 7892 4402 00C0 rjmp .L635 7893 4404 215F subi r18,lo8(-(15)) 7894 4406 3F4F sbci r19,hi8(-(15)) 7895 .L635: 7896 4408 F4E0 ldi r31,4 7897 440a 3595 1: asr r19 7898 440c 2795 ror r18 7899 440e FA95 dec r31 7900 4410 01F4 brne 1b 7901 4412 3093 0000 sts (CompassGierSetpoint)+1,r19 7902 4416 2093 0000 sts CompassGierSetpoint,r18 7903 441a 00C0 rjmp .L637 7904 .L620: 7905 441c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ 7906 4420 1092 0000 sts CompassGierSetpoint,__zero_reg__ 7907 .L637: 7908 4424 8091 0000 lds r24,TrichterFlug 7909 4428 8823 tst r24 7910 442a 01F0 breq .L638 7911 442c 1092 0000 sts SummeRoll,__zero_reg__ 7912 4430 1092 0000 sts (SummeRoll)+1,__zero_reg__ 7913 4434 1092 0000 sts (SummeRoll)+2,__zero_reg__ 7914 4438 1092 0000 sts (SummeRoll)+3,__zero_reg__ 7915 443c 1092 0000 sts SummeNick,__zero_reg__ 7916 4440 1092 0000 sts (SummeNick)+1,__zero_reg__ 7917 4444 1092 0000 sts (SummeNick)+2,__zero_reg__ 7918 4448 1092 0000 sts (SummeNick)+3,__zero_reg__ 7919 .L638: 7920 444c F090 0000 lds r15,Looping_Nick 7921 4450 FF20 tst r15 7922 4452 01F4 brne .L639 7923 4454 8091 0000 lds r24,IntegralFaktor 7924 4458 282F mov r18,r24 7925 445a 3327 clr r19 7926 445c 4427 clr r20 7927 445e 5527 clr r21 7928 4460 8091 0000 lds r24,IntegralNick 7929 4464 9091 0000 lds r25,(IntegralNick)+1 7930 4468 A091 0000 lds r26,(IntegralNick)+2 7931 446c B091 0000 lds r27,(IntegralNick)+3 7932 4470 BC01 movw r22,r24 7933 4472 CD01 movw r24,r26 7934 4474 0E94 0000 call __mulsi3 7935 4478 DC01 movw r26,r24 7936 447a CB01 movw r24,r22 7937 447c BC01 movw r22,r24 7938 447e CD01 movw r24,r26 7939 4480 28EF ldi r18,lo8(11000) 7940 4482 3AE2 ldi r19,hi8(11000) 7941 4484 40E0 ldi r20,hlo8(11000) 7942 4486 50E0 ldi r21,hhi8(11000) 7943 4488 0E94 0000 call __divmodsi4 7944 448c 3901 movw r6,r18 7945 448e 00C0 rjmp .L640 7946 .L639: 7947 4490 6624 clr r6 7948 4492 7724 clr r7 7949 .L640: 7950 4494 E090 0000 lds r14,Looping_Roll 7951 4498 EE20 tst r14 7952 449a 01F4 brne .L641 7953 449c 8091 0000 lds r24,IntegralFaktor 7954 44a0 282F mov r18,r24 7955 44a2 3327 clr r19 7956 44a4 4427 clr r20 7957 44a6 5527 clr r21 7958 44a8 8091 0000 lds r24,IntegralRoll 7959 44ac 9091 0000 lds r25,(IntegralRoll)+1 7960 44b0 A091 0000 lds r26,(IntegralRoll)+2 7961 44b4 B091 0000 lds r27,(IntegralRoll)+3 7962 44b8 BC01 movw r22,r24 7963 44ba CD01 movw r24,r26 7964 44bc 0E94 0000 call __mulsi3 7965 44c0 DC01 movw r26,r24 7966 44c2 CB01 movw r24,r22 7967 44c4 BC01 movw r22,r24 7968 44c6 CD01 movw r24,r26 7969 44c8 28EF ldi r18,lo8(11000) 7970 44ca 3AE2 ldi r19,hi8(11000) 7971 44cc 40E0 ldi r20,hlo8(11000) 7972 44ce 50E0 ldi r21,hhi8(11000) 7973 44d0 0E94 0000 call __divmodsi4 7974 44d4 2901 movw r4,r18 7975 44d6 00C0 rjmp .L642 7976 .L641: 7977 44d8 4424 clr r4 7978 44da 5524 clr r5 7979 .L642: 7980 44dc 8091 0000 lds r24,TrimNick 7981 44e0 9091 0000 lds r25,(TrimNick)+1 7982 44e4 893C cpi r24,201 7983 44e6 9105 cpc r25,__zero_reg__ 7984 44e8 04F0 brlt .L643 7985 44ea 88EC ldi r24,lo8(200) 7986 44ec 90E0 ldi r25,hi8(200) 7987 44ee 00C0 rjmp .L900 7988 .L643: 7989 44f0 8853 subi r24,lo8(-200) 7990 44f2 9F4F sbci r25,hi8(-200) 7991 44f4 04F4 brge .L644 7992 44f6 88E3 ldi r24,lo8(-200) 7993 44f8 9FEF ldi r25,hi8(-200) 7994 .L900: 7995 44fa 9093 0000 sts (TrimNick)+1,r25 7996 44fe 8093 0000 sts TrimNick,r24 7997 .L644: 7998 4502 8091 0000 lds r24,TrimRoll 7999 4506 9091 0000 lds r25,(TrimRoll)+1 8000 450a 893C cpi r24,201 8001 450c 9105 cpc r25,__zero_reg__ 8002 450e 04F0 brlt .L646 8003 4510 88EC ldi r24,lo8(200) 8004 4512 90E0 ldi r25,hi8(200) 8005 4514 00C0 rjmp .L901 8006 .L646: 8007 4516 8853 subi r24,lo8(-200) 8008 4518 9F4F sbci r25,hi8(-200) 8009 451a 04F4 brge .L647 8010 451c 88E3 ldi r24,lo8(-200) 8011 451e 9FEF ldi r25,hi8(-200) 8012 .L901: 8013 4520 9093 0000 sts (TrimRoll)+1,r25 8014 4524 8093 0000 sts TrimRoll,r24 8015 .L647: 8016 4528 8091 0000 lds r24,MesswertNick 8017 452c 9091 0000 lds r25,(MesswertNick)+1 8018 4530 AA27 clr r26 8019 4532 97FD sbrc r25,7 8020 4534 A095 com r26 8021 4536 BA2F mov r27,r26 8022 4538 2091 0000 lds r18,GyroFaktor 8023 453c A22E mov r10,r18 8024 453e BB24 clr r11 8025 4540 CC24 clr r12 8026 4542 DD24 clr r13 8027 4544 BC01 movw r22,r24 8028 4546 CD01 movw r24,r26 8029 4548 A601 movw r20,r12 8030 454a 9501 movw r18,r10 8031 454c 0E94 0000 call __mulsi3 8032 4550 9B01 movw r18,r22 8033 4552 AC01 movw r20,r24 8034 4554 8091 0000 lds r24,TrimNick 8035 4558 9091 0000 lds r25,(TrimNick)+1 8036 455c AA27 clr r26 8037 455e 97FD sbrc r25,7 8038 4560 A095 com r26 8039 4562 BA2F mov r27,r26 8040 4564 E7E0 ldi r30,7 8041 4566 880F 1: lsl r24 8042 4568 991F rol r25 8043 456a AA1F rol r26 8044 456c BB1F rol r27 8045 456e EA95 dec r30 8046 4570 01F4 brne 1b 8047 4572 280F add r18,r24 8048 4574 391F adc r19,r25 8049 4576 4A1F adc r20,r26 8050 4578 5B1F adc r21,r27 8051 457a 57FF sbrs r21,7 8052 457c 00C0 rjmp .L649 8053 457e 215C subi r18,lo8(-(63)) 8054 4580 3F4F sbci r19,hi8(-(63)) 8055 4582 4F4F sbci r20,hlo8(-(63)) 8056 4584 5F4F sbci r21,hhi8(-(63)) 8057 .L649: 8058 4586 76E0 ldi r23,6 8059 4588 5595 1: asr r21 8060 458a 4795 ror r20 8061 458c 3795 ror r19 8062 458e 2795 ror r18 8063 4590 7A95 dec r23 8064 4592 01F4 brne 1b 8065 4594 8301 movw r16,r6 8066 4596 020F add r16,r18 8067 4598 131F adc r17,r19 8068 459a 1093 0000 sts (MesswertNick)+1,r17 8069 459e 0093 0000 sts MesswertNick,r16 8070 45a2 8091 0000 lds r24,MesswertRoll 8071 45a6 9091 0000 lds r25,(MesswertRoll)+1 8072 45aa AA27 clr r26 8073 45ac 97FD sbrc r25,7 8074 45ae A095 com r26 8075 45b0 BA2F mov r27,r26 8076 45b2 BC01 movw r22,r24 8077 45b4 CD01 movw r24,r26 8078 45b6 A601 movw r20,r12 8079 45b8 9501 movw r18,r10 8080 45ba 0E94 0000 call __mulsi3 8081 45be 9B01 movw r18,r22 8082 45c0 AC01 movw r20,r24 8083 45c2 8091 0000 lds r24,TrimRoll 8084 45c6 9091 0000 lds r25,(TrimRoll)+1 8085 45ca AA27 clr r26 8086 45cc 97FD sbrc r25,7 8087 45ce A095 com r26 8088 45d0 BA2F mov r27,r26 8089 45d2 67E0 ldi r22,7 8090 45d4 880F 1: lsl r24 8091 45d6 991F rol r25 8092 45d8 AA1F rol r26 8093 45da BB1F rol r27 8094 45dc 6A95 dec r22 8095 45de 01F4 brne 1b 8096 45e0 280F add r18,r24 8097 45e2 391F adc r19,r25 8098 45e4 4A1F adc r20,r26 8099 45e6 5B1F adc r21,r27 8100 45e8 57FF sbrs r21,7 8101 45ea 00C0 rjmp .L650 8102 45ec 215C subi r18,lo8(-(63)) 8103 45ee 3F4F sbci r19,hi8(-(63)) 8104 45f0 4F4F sbci r20,hlo8(-(63)) 8105 45f2 5F4F sbci r21,hhi8(-(63)) 8106 .L650: 8107 45f4 F6E0 ldi r31,6 8108 45f6 5595 1: asr r21 8109 45f8 4795 ror r20 8110 45fa 3795 ror r19 8111 45fc 2795 ror r18 8112 45fe FA95 dec r31 8113 4600 01F4 brne 1b 8114 4602 4201 movw r8,r4 8115 4604 820E add r8,r18 8116 4606 931E adc r9,r19 8117 4608 9092 0000 sts (MesswertRoll)+1,r9 8118 460c 8092 0000 sts MesswertRoll,r8 8119 4610 8091 0000 lds r24,MesswertGier 8120 4614 9091 0000 lds r25,(MesswertGier)+1 8121 4618 880F add r24,r24 8122 461a 991F adc r25,r25 8123 461c AA27 clr r26 8124 461e 97FD sbrc r25,7 8125 4620 A095 com r26 8126 4622 BA2F mov r27,r26 8127 4624 2091 0000 lds r18,GyroFaktorGier 8128 4628 3327 clr r19 8129 462a 4427 clr r20 8130 462c 5527 clr r21 8131 462e BC01 movw r22,r24 8132 4630 CD01 movw r24,r26 8133 4632 0E94 0000 call __mulsi3 8134 4636 5B01 movw r10,r22 8135 4638 6C01 movw r12,r24 8136 463a 97FF sbrs r25,7 8137 463c 00C0 rjmp .L651 8138 463e 2FE3 ldi r18,lo8(63) 8139 4640 30E0 ldi r19,hi8(63) 8140 4642 40E0 ldi r20,hlo8(63) 8141 4644 50E0 ldi r21,hhi8(63) 8142 4646 A20E add r10,r18 8143 4648 B31E adc r11,r19 8144 464a C41E adc r12,r20 8145 464c D51E adc r13,r21 8146 .L651: 8147 464e E6E0 ldi r30,6 8148 4650 D594 1: asr r13 8149 4652 C794 ror r12 8150 4654 B794 ror r11 8151 4656 A794 ror r10 8152 4658 EA95 dec r30 8153 465a 01F4 brne 1b 8154 465c 8091 0000 lds r24,IntegralFaktorGier 8155 4660 282F mov r18,r24 8156 4662 3327 clr r19 8157 4664 4427 clr r20 8158 4666 5527 clr r21 8159 4668 8091 0000 lds r24,Integral_Gier 8160 466c 9091 0000 lds r25,(Integral_Gier)+1 8161 4670 A091 0000 lds r26,(Integral_Gier)+2 8162 4674 B091 0000 lds r27,(Integral_Gier)+3 8163 4678 BC01 movw r22,r24 8164 467a CD01 movw r24,r26 8165 467c 0E94 0000 call __mulsi3 8166 4680 DC01 movw r26,r24 8167 4682 CB01 movw r24,r22 8168 4684 BC01 movw r22,r24 8169 4686 CD01 movw r24,r26 8170 4688 20EF ldi r18,lo8(22000) 8171 468a 35E5 ldi r19,hi8(22000) 8172 468c 40E0 ldi r20,hlo8(22000) 8173 468e 50E0 ldi r21,hhi8(22000) 8174 4690 0E94 0000 call __divmodsi4 8175 4694 B501 movw r22,r10 8176 4696 620F add r22,r18 8177 4698 731F adc r23,r19 8178 469a 7093 0000 sts (MesswertGier)+1,r23 8179 469e 6093 0000 sts MesswertGier,r22 8180 46a2 0150 subi r16,lo8(4097) 8181 46a4 1041 sbci r17,hi8(4097) 8182 46a6 04F0 brlt .L652 8183 46a8 80E0 ldi r24,lo8(4096) 8184 46aa 90E1 ldi r25,hi8(4096) 8185 46ac 9093 0000 sts (MesswertNick)+1,r25 8186 46b0 8093 0000 sts MesswertNick,r24 8187 .L652: 8188 46b4 8091 0000 lds r24,MesswertNick 8189 46b8 9091 0000 lds r25,(MesswertNick)+1 8190 46bc 8050 subi r24,lo8(-4096) 8191 46be 904F sbci r25,hi8(-4096) 8192 46c0 04F4 brge .L653 8193 46c2 80E0 ldi r24,lo8(-4096) 8194 46c4 90EF ldi r25,hi8(-4096) 8195 46c6 9093 0000 sts (MesswertNick)+1,r25 8196 46ca 8093 0000 sts MesswertNick,r24 8197 .L653: 8198 46ce 51E0 ldi r21,lo8(4097) 8199 46d0 8516 cp r8,r21 8200 46d2 50E1 ldi r21,hi8(4097) 8201 46d4 9506 cpc r9,r21 8202 46d6 04F0 brlt .L654 8203 46d8 80E0 ldi r24,lo8(4096) 8204 46da 90E1 ldi r25,hi8(4096) 8205 46dc 9093 0000 sts (MesswertRoll)+1,r25 8206 46e0 8093 0000 sts MesswertRoll,r24 8207 .L654: 8208 46e4 8091 0000 lds r24,MesswertRoll 8209 46e8 9091 0000 lds r25,(MesswertRoll)+1 8210 46ec 8050 subi r24,lo8(-4096) 8211 46ee 904F sbci r25,hi8(-4096) 8212 46f0 04F4 brge .L655 8213 46f2 80E0 ldi r24,lo8(-4096) 8214 46f4 90EF ldi r25,hi8(-4096) 8215 46f6 9093 0000 sts (MesswertRoll)+1,r25 8216 46fa 8093 0000 sts MesswertRoll,r24 8217 .L655: 8218 46fe 6150 subi r22,lo8(4097) 8219 4700 7041 sbci r23,hi8(4097) 8220 4702 04F0 brlt .L656 8221 4704 80E0 ldi r24,lo8(4096) 8222 4706 90E1 ldi r25,hi8(4096) 8223 4708 9093 0000 sts (MesswertGier)+1,r25 8224 470c 8093 0000 sts MesswertGier,r24 8225 .L656: 8226 4710 8091 0000 lds r24,MesswertGier 8227 4714 9091 0000 lds r25,(MesswertGier)+1 8228 4718 8050 subi r24,lo8(-4096) 8229 471a 904F sbci r25,hi8(-4096) 8230 471c 04F4 brge .L657 8231 471e 80E0 ldi r24,lo8(-4096) 8232 4720 90EF ldi r25,hi8(-4096) 8233 4722 9093 0000 sts (MesswertGier)+1,r25 8234 4726 8093 0000 sts MesswertGier,r24 8235 .L657: 8236 472a 8091 0000 lds r24,BattLowVoltageWarning 8237 472e 482F mov r20,r24 8238 4730 5527 clr r21 8239 4732 8091 0000 lds r24,UBat 8240 4736 9091 0000 lds r25,(UBat)+1 8241 473a 4817 cp r20,r24 8242 473c 5907 cpc r21,r25 8243 473e 04F4 brge .L658 8244 4740 2091 0000 lds r18,UBat 8245 4744 3091 0000 lds r19,(UBat)+1 8246 4748 0981 ldd r16,Y+1 8247 474a 1A81 ldd r17,Y+2 8248 474c 049F mul r16,r20 8249 474e C001 movw r24,r0 8250 4750 059F mul r16,r21 8251 4752 900D add r25,r0 8252 4754 149F mul r17,r20 8253 4756 900D add r25,r0 8254 4758 1124 clr r1 8255 475a B901 movw r22,r18 8256 475c 0E94 0000 call __udivmodhi4 8257 4760 7A83 std Y+2,r23 8258 4762 6983 std Y+1,r22 8259 .L658: 8260 4764 2981 ldd r18,Y+1 8261 4766 3A81 ldd r19,Y+2 8262 4768 220F lsl r18 8263 476a 331F rol r19 8264 476c 220F lsl r18 8265 476e 331F rol r19 8266 4770 3A83 std Y+2,r19 8267 4772 2983 std Y+1,r18 8268 4774 4091 0000 lds r20,Parameter_GlobalConfig 8269 4778 40FD sbrc r20,0 8270 477a 00C0 rjmp .+4 8271 477c 0C94 0000 jmp .L659 8272 4780 EE20 tst r14 8273 4782 01F0 breq .+4 8274 4784 0C94 0000 jmp .L659 8275 4788 FF20 tst r15 8276 478a 01F0 breq .+4 8277 478c 0C94 0000 jmp .L659 8278 4790 00E0 ldi r16,lo8(0) 8279 4792 10E0 ldi r17,hi8(0) 8280 4794 4801 movw r8,r16 8281 4796 8091 0000 lds r24,HoverGas 8282 479a 9091 0000 lds r25,(HoverGas)+1 8283 479e 9093 0000 sts (DebugOut+44)+1,r25 8284 47a2 8093 0000 sts DebugOut+44,r24 8285 47a6 2091 0000 lds r18,BaroExpandActive 8286 47aa 3091 0000 lds r19,(BaroExpandActive)+1 8287 47ae 2115 cp r18,__zero_reg__ 8288 47b0 3105 cpc r19,__zero_reg__ 8289 47b2 01F0 breq .+2 8290 47b4 00C0 rjmp .L660 8291 47b6 8091 0000 lds r24,MessLuftdruck 8292 47ba 9091 0000 lds r25,(MessLuftdruck)+1 8293 47be 8959 subi r24,lo8(921) 8294 47c0 9340 sbci r25,hi8(921) 8295 47c2 00F0 brlo .L661 8296 47c4 87B5 in r24,71-0x20 8297 47c6 803F cpi r24,lo8(-16) 8298 47c8 00F4 brsh .L662 8299 47ca 8091 0000 lds r24,ExpandBaro 8300 47ce 8150 subi r24,lo8(-(-1)) 8301 47d0 00C0 rjmp .L902 8302 .L662: 8303 47d2 81E0 ldi r24,lo8(1) 8304 47d4 8093 0000 sts BaroAtLowerLimit.26,r24 8305 47d8 00C0 rjmp .L669 8306 .L661: 8307 47da 8091 0000 lds r24,MessLuftdruck 8308 47de 9091 0000 lds r25,(MessLuftdruck)+1 8309 47e2 8436 cpi r24,100 8310 47e4 9105 cpc r25,__zero_reg__ 8311 47e6 00F4 brsh .L665 8312 47e8 87B5 in r24,71-0x20 8313 47ea 8031 cpi r24,lo8(16) 8314 47ec 00F0 brlo .L666 8315 47ee 8091 0000 lds r24,ExpandBaro 8316 47f2 8F5F subi r24,lo8(-(1)) 8317 .L902: 8318 47f4 8093 0000 sts ExpandBaro,r24 8319 47f8 9FE0 ldi r25,lo8(15) 8320 47fa 8902 muls r24,r25 8321 47fc 9001 movw r18,r0 8322 47fe 1124 clr r1 8323 4800 8091 0000 lds r24,DruckOffsetSetting 8324 4804 821B sub r24,r18 8325 4806 87BD out 71-0x20,r24 8326 4808 8CE2 ldi r24,lo8(300) 8327 480a 91E0 ldi r25,hi8(300) 8328 480c 9093 0000 sts (beeptime)+1,r25 8329 4810 8093 0000 sts beeptime,r24 8330 4814 8EE5 ldi r24,lo8(350) 8331 4816 91E0 ldi r25,hi8(350) 8332 4818 9093 0000 sts (BaroExpandActive)+1,r25 8333 481c 8093 0000 sts BaroExpandActive,r24 8334 4820 00C0 rjmp .L669 8335 .L666: 8336 4822 81E0 ldi r24,lo8(1) 8337 4824 8093 0000 sts BaroAtUpperLimit.25,r24 8338 4828 00C0 rjmp .L669 8339 .L665: 8340 482a F092 0000 sts BaroAtUpperLimit.25,r15 8341 482e F092 0000 sts BaroAtLowerLimit.26,r15 8342 4832 00C0 rjmp .L669 8343 .L660: 8344 4834 8091 0000 lds r24,HoehenWert 8345 4838 9091 0000 lds r25,(HoehenWert)+1 8346 483c A091 0000 lds r26,(HoehenWert)+2 8347 4840 B091 0000 lds r27,(HoehenWert)+3 8348 4844 64E0 ldi r22,4 8349 4846 880F 1: lsl r24 8350 4848 991F rol r25 8351 484a AA1F rol r26 8352 484c BB1F rol r27 8353 484e 6A95 dec r22 8354 4850 01F4 brne 1b 8355 4852 8093 0000 sts SummenHoehe,r24 8356 4856 9093 0000 sts (SummenHoehe)+1,r25 8357 485a A093 0000 sts (SummenHoehe)+2,r26 8358 485e B093 0000 sts (SummenHoehe)+3,r27 8359 4862 1093 0000 sts (VarioMeter)+1,r17 8360 4866 0093 0000 sts VarioMeter,r16 8361 486a 2150 subi r18,lo8(-(-1)) 8362 486c 3040 sbci r19,hi8(-(-1)) 8363 486e 3093 0000 sts (BaroExpandActive)+1,r19 8364 4872 2093 0000 sts BaroExpandActive,r18 8365 .L669: 8366 4876 2091 0000 lds r18,Parameter_HoehenSchalter 8367 487a 41FF sbrs r20,1 8368 487c 00C0 rjmp .L670 8369 487e 2233 cpi r18,lo8(50) 8370 4880 00F4 brsh .L671 8371 4882 8091 0000 lds r24,delay.24 8372 4886 8150 subi r24,lo8(-(-1)) 8373 4888 8093 0000 sts delay.24,r24 8374 488c 8F3F cpi r24,lo8(-1) 8375 488e 01F0 breq .+2 8376 4890 00C0 rjmp .L677 8377 4892 8091 0000 lds r24,SpeakHoTT 8378 4896 8823 tst r24 8379 4898 01F4 brne .L673 8380 489a 8091 0000 lds r24,HoehenReglerAktiv 8381 489e 8823 tst r24 8382 48a0 01F0 breq .L673 8383 48a2 88E2 ldi r24,lo8(40) 8384 48a4 8093 0000 sts SpeakHoTT,r24 8385 .L673: 8386 48a8 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 8387 48ac 8091 0000 lds r24,HoehenWert 8388 48b0 9091 0000 lds r25,(HoehenWert)+1 8389 48b4 A091 0000 lds r26,(HoehenWert)+2 8390 48b8 B091 0000 lds r27,(HoehenWert)+3 8391 48bc 8093 0000 sts SollHoehe,r24 8392 48c0 9093 0000 sts (SollHoehe)+1,r25 8393 48c4 A093 0000 sts (SollHoehe)+2,r26 8394 48c8 B093 0000 sts (SollHoehe)+3,r27 8395 48cc 81E0 ldi r24,lo8(1) 8396 48ce 8093 0000 sts delay.24,r24 8397 48d2 00C0 rjmp .L677 8398 .L671: 8399 48d4 2734 cpi r18,lo8(71) 8400 48d6 00F0 brlo .L677 8401 48d8 8091 0000 lds r24,SpeakHoTT 8402 48dc 8823 tst r24 8403 48de 01F4 brne .L676 8404 48e0 8091 0000 lds r24,HoehenReglerAktiv 8405 48e4 8823 tst r24 8406 48e6 01F4 brne .L676 8407 48e8 87E2 ldi r24,lo8(39) 8408 48ea 8093 0000 sts SpeakHoTT,r24 8409 .L676: 8410 48ee 88EC ldi r24,lo8(-56) 8411 48f0 8093 0000 sts delay.24,r24 8412 48f4 00C0 rjmp .L903 8413 .L670: 8414 48f6 8091 0000 lds r24,ExternHoehenValue 8415 48fa 9091 0000 lds r25,(ExternHoehenValue)+1 8416 48fe 820F add r24,r18 8417 4900 911D adc r25,__zero_reg__ 8418 4902 2091 0000 lds r18,EE_Parameter+18 8419 4906 3327 clr r19 8420 4908 829F mul r24,r18 8421 490a A001 movw r20,r0 8422 490c 839F mul r24,r19 8423 490e 500D add r21,r0 8424 4910 929F mul r25,r18 8425 4912 500D add r21,r0 8426 4914 1124 clr r1 8427 4916 CA01 movw r24,r20 8428 4918 AA27 clr r26 8429 491a 97FD sbrc r25,7 8430 491c A095 com r26 8431 491e BA2F mov r27,r26 8432 4920 8093 0000 sts SollHoehe,r24 8433 4924 9093 0000 sts (SollHoehe)+1,r25 8434 4928 A093 0000 sts (SollHoehe)+2,r26 8435 492c B093 0000 sts (SollHoehe)+3,r27 8436 .L903: 8437 4930 81E0 ldi r24,lo8(1) 8438 4932 8093 0000 sts HoehenReglerAktiv,r24 8439 .L677: 8440 4936 8091 0000 lds r24,IntegralNick 8441 493a 9091 0000 lds r25,(IntegralNick)+1 8442 493e A091 0000 lds r26,(IntegralNick)+2 8443 4942 B091 0000 lds r27,(IntegralNick)+3 8444 4946 E090 0000 lds r14,GIER_GRAD_FAKTOR 8445 494a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 8446 494e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 8447 4952 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 8448 4956 BC01 movw r22,r24 8449 4958 CD01 movw r24,r26 8450 495a A801 movw r20,r16 8451 495c 9701 movw r18,r14 8452 495e 0E94 0000 call __divmodsi4 8453 4962 5901 movw r10,r18 8454 4964 6A01 movw r12,r20 8455 4966 8091 0000 lds r24,IntegralRoll 8456 496a 9091 0000 lds r25,(IntegralRoll)+1 8457 496e A091 0000 lds r26,(IntegralRoll)+2 8458 4972 B091 0000 lds r27,(IntegralRoll)+3 8459 4976 BC01 movw r22,r24 8460 4978 CD01 movw r24,r26 8461 497a A801 movw r20,r16 8462 497c 9701 movw r18,r14 8463 497e 0E94 0000 call __divmodsi4 8464 4982 B901 movw r22,r18 8465 4984 C501 movw r24,r10 8466 4986 0E94 0000 call ihypot 8467 498a 5C01 movw r10,r24 8468 498c CC97 sbiw r24,60 8469 498e 04F0 brlt .L678 8470 4990 5CE3 ldi r21,lo8(60) 8471 4992 A52E mov r10,r21 8472 4994 B12C mov r11,__zero_reg__ 8473 .L678: 8474 4996 C501 movw r24,r10 8475 4998 0E94 0000 call c_cos_8192 8476 499c 5C01 movw r10,r24 8477 499e 80E2 ldi r24,lo8(32) 8478 49a0 8093 0000 sts VarioCharacter,r24 8479 49a4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ 8480 49a8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ 8481 49ac 8091 0000 lds r24,HoehenReglerAktiv 8482 49b0 8823 tst r24 8483 49b2 01F4 brne .+2 8484 49b4 00C0 rjmp .L679 8485 49b6 8091 0000 lds r24,FC_StatusFlags 8486 49ba 9927 clr r25 8487 49bc 9C01 movw r18,r24 8488 49be 2071 andi r18,lo8(16) 8489 49c0 3070 andi r19,hi8(16) 8490 49c2 84FD sbrc r24,4 8491 49c4 00C0 rjmp .L679 8492 49c6 8091 0000 lds r24,FC_StatusFlags2 8493 49ca 8260 ori r24,lo8(2) 8494 49cc 8093 0000 sts FC_StatusFlags2,r24 8495 49d0 7091 0000 lds r23,Parameter_ExtraConfig 8496 49d4 872F mov r24,r23 8497 49d6 9927 clr r25 8498 49d8 41E0 ldi r20,lo8(1) 8499 49da C42E mov r12,r20 8500 49dc D12C mov r13,__zero_reg__ 8501 49de C822 and r12,r24 8502 49e0 D922 and r13,r25 8503 49e2 80FD sbrc r24,0 8504 49e4 00C0 rjmp .L681 8505 49e6 8091 0000 lds r24,Parameter_GlobalConfig 8506 49ea 81FD sbrc r24,1 8507 49ec 00C0 rjmp .L680 8508 .L681: 8509 49ee C980 ldd r12,Y+1 8510 49f0 DA80 ldd r13,Y+2 8511 49f2 3093 0000 sts (HeightTrimming.21)+1,r19 8512 49f6 2093 0000 sts HeightTrimming.21,r18 8513 49fa 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 8514 49fe 2093 0000 sts AltitudeSetpointTrimming,r18 8515 4a02 8091 0000 lds r24,FC_StatusFlags 8516 4a06 806C ori r24,lo8(-64) 8517 4a08 8093 0000 sts FC_StatusFlags,r24 8518 4a0c 00C0 rjmp .L682 8519 .L680: 8520 4a0e 8091 0000 lds r24,FC_StatusFlags 8521 4a12 81FF sbrs r24,1 8522 4a14 00C0 rjmp .L683 8523 4a16 0091 0000 lds r16,StickGasHover 8524 4a1a 1091 0000 lds r17,(StickGasHover)+1 8525 4a1e C801 movw r24,r16 8526 4a20 0F96 adiw r24,15 8527 4a22 2090 0000 lds r2,StickGas 8528 4a26 3090 0000 lds r3,(StickGas)+1 8529 4a2a 8215 cp r24,r2 8530 4a2c 9305 cpc r25,r3 8531 4a2e 04F0 brlt .+2 8532 4a30 00C0 rjmp .L684 8533 4a32 8091 0000 lds r24,BaroAtUpperLimit.25 8534 4a36 8823 tst r24 8535 4a38 01F0 breq .+2 8536 4a3a 00C0 rjmp .L684 8537 4a3c 8091 0000 lds r24,FC_StatusFlags 8538 4a40 87FF sbrs r24,7 8539 4a42 00C0 rjmp .L685 8540 4a44 8091 0000 lds r24,FC_StatusFlags 8541 4a48 8F77 andi r24,lo8(127) 8542 4a4a 8093 0000 sts FC_StatusFlags,r24 8543 4a4e 8091 0000 lds r24,HoehenWert 8544 4a52 9091 0000 lds r25,(HoehenWert)+1 8545 4a56 A091 0000 lds r26,(HoehenWert)+2 8546 4a5a B091 0000 lds r27,(HoehenWert)+3 8547 4a5e 8093 0000 sts SollHoehe,r24 8548 4a62 9093 0000 sts (SollHoehe)+1,r25 8549 4a66 A093 0000 sts (SollHoehe)+2,r26 8550 4a6a B093 0000 sts (SollHoehe)+3,r27 8551 .L685: 8552 4a6e 8091 0000 lds r24,FC_StatusFlags 8553 4a72 8064 ori r24,lo8(64) 8554 4a74 8093 0000 sts FC_StatusFlags,r24 8555 4a78 E090 0000 lds r14,Parameter_MaximumAltitude 8556 4a7c EE20 tst r14 8557 4a7e 01F0 breq .L686 8558 4a80 8091 0000 lds r24,SollHoehe 8559 4a84 9091 0000 lds r25,(SollHoehe)+1 8560 4a88 A091 0000 lds r26,(SollHoehe)+2 8561 4a8c B091 0000 lds r27,(SollHoehe)+3 8562 4a90 BC01 movw r22,r24 8563 4a92 CD01 movw r24,r26 8564 4a94 24E6 ldi r18,lo8(100) 8565 4a96 30E0 ldi r19,hi8(100) 8566 4a98 40E0 ldi r20,hlo8(100) 8567 4a9a 50E0 ldi r21,hhi8(100) 8568 4a9c 0E94 0000 call __divmodsi4 8569 4aa0 8E2D mov r24,r14 8570 4aa2 9927 clr r25 8571 4aa4 AA27 clr r26 8572 4aa6 BB27 clr r27 8573 4aa8 8217 cp r24,r18 8574 4aaa 9307 cpc r25,r19 8575 4aac A407 cpc r26,r20 8576 4aae B507 cpc r27,r21 8577 4ab0 04F4 brge .L686 8578 4ab2 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 8579 4ab6 C092 0000 sts AltitudeSetpointTrimming,r12 8580 4aba 00C0 rjmp .L687 8581 .L686: 8582 4abc C101 movw r24,r2 8583 4abe 801B sub r24,r16 8584 4ac0 910B sbc r25,r17 8585 4ac2 0F97 sbiw r24,15 8586 4ac4 97FF sbrs r25,7 8587 4ac6 00C0 rjmp .L688 8588 4ac8 9095 com r25 8589 4aca 8195 neg r24 8590 4acc 9F4F sbci r25,lo8(-1) 8591 .L688: 8592 4ace 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8593 4ad2 8093 0000 sts AltitudeSetpointTrimming,r24 8594 4ad6 8BE2 ldi r24,lo8(43) 8595 4ad8 8093 0000 sts VarioCharacter,r24 8596 .L687: 8597 4adc 1092 0000 sts WaypointTrimming,__zero_reg__ 8598 4ae0 00C0 rjmp .L689 8599 .L684: 8600 4ae2 C801 movw r24,r16 8601 4ae4 0F97 sbiw r24,15 8602 4ae6 2816 cp r2,r24 8603 4ae8 3906 cpc r3,r25 8604 4aea 04F4 brge .L690 8605 4aec 2091 0000 lds r18,BaroAtLowerLimit.26 8606 4af0 2223 tst r18 8607 4af2 01F4 brne .L690 8608 4af4 8091 0000 lds r24,FC_StatusFlags 8609 4af8 86FF sbrs r24,6 8610 4afa 00C0 rjmp .L691 8611 4afc 8091 0000 lds r24,FC_StatusFlags 8612 4b00 8F7B andi r24,lo8(-65) 8613 4b02 8093 0000 sts FC_StatusFlags,r24 8614 4b06 8091 0000 lds r24,HoehenWert 8615 4b0a 9091 0000 lds r25,(HoehenWert)+1 8616 4b0e A091 0000 lds r26,(HoehenWert)+2 8617 4b12 B091 0000 lds r27,(HoehenWert)+3 8618 4b16 8093 0000 sts SollHoehe,r24 8619 4b1a 9093 0000 sts (SollHoehe)+1,r25 8620 4b1e A093 0000 sts (SollHoehe)+2,r26 8621 4b22 B093 0000 sts (SollHoehe)+3,r27 8622 .L691: 8623 4b26 8091 0000 lds r24,FC_StatusFlags 8624 4b2a 8068 ori r24,lo8(-128) 8625 4b2c 8093 0000 sts FC_StatusFlags,r24 8626 4b30 C101 movw r24,r2 8627 4b32 801B sub r24,r16 8628 4b34 910B sbc r25,r17 8629 4b36 0F96 adiw r24,15 8630 4b38 97FF sbrs r25,7 8631 4b3a 00C0 rjmp .L692 8632 4b3c 9095 com r25 8633 4b3e 8195 neg r24 8634 4b40 9F4F sbci r25,lo8(-1) 8635 .L692: 8636 4b42 9095 com r25 8637 4b44 8195 neg r24 8638 4b46 9F4F sbci r25,lo8(-1) 8639 4b48 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8640 4b4c 8093 0000 sts AltitudeSetpointTrimming,r24 8641 4b50 8DE2 ldi r24,lo8(45) 8642 4b52 8093 0000 sts VarioCharacter,r24 8643 4b56 2093 0000 sts WaypointTrimming,r18 8644 4b5a 00C0 rjmp .L689 8645 .L690: 8646 4b5c 8DE3 ldi r24,lo8(61) 8647 4b5e 8093 0000 sts VarioCharacter,r24 8648 4b62 6091 0000 lds r22,FromNC_AltitudeSpeed 8649 4b66 6623 tst r22 8650 4b68 01F0 breq .L694 8651 4b6a 2091 0000 lds r18,FromNC_AltitudeSetpoint 8652 4b6e 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8653 4b72 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8654 4b76 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8655 4b7a 8091 0000 lds r24,SollHoehe 8656 4b7e 9091 0000 lds r25,(SollHoehe)+1 8657 4b82 A091 0000 lds r26,(SollHoehe)+2 8658 4b86 B091 0000 lds r27,(SollHoehe)+3 8659 4b8a 8217 cp r24,r18 8660 4b8c 9307 cpc r25,r19 8661 4b8e A407 cpc r26,r20 8662 4b90 B507 cpc r27,r21 8663 4b92 04F4 brge .L694 8664 4b94 8091 0000 lds r24,FC_StatusFlags 8665 4b98 8064 ori r24,lo8(64) 8666 4b9a 8093 0000 sts FC_StatusFlags,r24 8667 4b9e 862F mov r24,r22 8668 4ba0 9927 clr r25 8669 4ba2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8670 4ba6 8093 0000 sts AltitudeSetpointTrimming,r24 8671 4baa 8AE0 ldi r24,lo8(10) 8672 4bac 8093 0000 sts WaypointTrimming,r24 8673 4bb0 8EE5 ldi r24,lo8(94) 8674 4bb2 8093 0000 sts VarioCharacter,r24 8675 4bb6 8091 0000 lds r24,FC_StatusFlags 8676 4bba 87FF sbrs r24,7 8677 4bbc 00C0 rjmp .L689 8678 4bbe 8091 0000 lds r24,FC_StatusFlags 8679 4bc2 8F77 andi r24,lo8(127) 8680 4bc4 00C0 rjmp .L905 8681 .L694: 8682 4bc6 6623 tst r22 8683 4bc8 01F4 brne .+2 8684 4bca 00C0 rjmp .L697 8685 4bcc 2091 0000 lds r18,FromNC_AltitudeSetpoint 8686 4bd0 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8687 4bd4 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8688 4bd8 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8689 4bdc 8091 0000 lds r24,SollHoehe 8690 4be0 9091 0000 lds r25,(SollHoehe)+1 8691 4be4 A091 0000 lds r26,(SollHoehe)+2 8692 4be8 B091 0000 lds r27,(SollHoehe)+3 8693 4bec 2817 cp r18,r24 8694 4bee 3907 cpc r19,r25 8695 4bf0 4A07 cpc r20,r26 8696 4bf2 5B07 cpc r21,r27 8697 4bf4 04F4 brge .L697 8698 4bf6 8091 0000 lds r24,FC_StatusFlags 8699 4bfa 8068 ori r24,lo8(-128) 8700 4bfc 8093 0000 sts FC_StatusFlags,r24 8701 4c00 862F mov r24,r22 8702 4c02 9927 clr r25 8703 4c04 9095 com r25 8704 4c06 8195 neg r24 8705 4c08 9F4F sbci r25,lo8(-1) 8706 4c0a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8707 4c0e 8093 0000 sts AltitudeSetpointTrimming,r24 8708 4c12 86EF ldi r24,lo8(-10) 8709 4c14 8093 0000 sts WaypointTrimming,r24 8710 4c18 86E7 ldi r24,lo8(118) 8711 4c1a 8093 0000 sts VarioCharacter,r24 8712 4c1e 8091 0000 lds r24,FC_StatusFlags 8713 4c22 86FF sbrs r24,6 8714 4c24 00C0 rjmp .L689 8715 4c26 8091 0000 lds r24,FC_StatusFlags 8716 4c2a 8F7B andi r24,lo8(-65) 8717 .L905: 8718 4c2c 8093 0000 sts FC_StatusFlags,r24 8719 4c30 8091 0000 lds r24,HoehenWert 8720 4c34 9091 0000 lds r25,(HoehenWert)+1 8721 4c38 A091 0000 lds r26,(HoehenWert)+2 8722 4c3c B091 0000 lds r27,(HoehenWert)+3 8723 4c40 8093 0000 sts SollHoehe,r24 8724 4c44 9093 0000 sts (SollHoehe)+1,r25 8725 4c48 A093 0000 sts (SollHoehe)+2,r26 8726 4c4c B093 0000 sts (SollHoehe)+3,r27 8727 4c50 00C0 rjmp .L689 8728 .L697: 8729 4c52 8091 0000 lds r24,FC_StatusFlags 8730 4c56 807C andi r24,lo8(-64) 8731 4c58 01F4 brne .+2 8732 4c5a 00C0 rjmp .L689 8733 4c5c 8091 0000 lds r24,WaypointTrimming 8734 4c60 8823 tst r24 8735 4c62 01F4 brne .L701 8736 4c64 E090 0000 lds r14,HoehenWert 8737 4c68 F090 0000 lds r15,(HoehenWert)+1 8738 4c6c 0091 0000 lds r16,(HoehenWert)+2 8739 4c70 1091 0000 lds r17,(HoehenWert)+3 8740 4c74 D801 movw r26,r16 8741 4c76 C701 movw r24,r14 8742 4c78 8058 subi r24,lo8(-(-128)) 8743 4c7a 9040 sbci r25,hi8(-(-128)) 8744 4c7c A040 sbci r26,hlo8(-(-128)) 8745 4c7e B040 sbci r27,hhi8(-(-128)) 8746 4c80 2091 0000 lds r18,SollHoehe 8747 4c84 3091 0000 lds r19,(SollHoehe)+1 8748 4c88 4091 0000 lds r20,(SollHoehe)+2 8749 4c8c 5091 0000 lds r21,(SollHoehe)+3 8750 4c90 8217 cp r24,r18 8751 4c92 9307 cpc r25,r19 8752 4c94 A407 cpc r26,r20 8753 4c96 B507 cpc r27,r21 8754 4c98 04F4 brge .L904 8755 4c9a D801 movw r26,r16 8756 4c9c C701 movw r24,r14 8757 4c9e 8058 subi r24,lo8(-(128)) 8758 4ca0 9F4F sbci r25,hi8(-(128)) 8759 4ca2 AF4F sbci r26,hlo8(-(128)) 8760 4ca4 BF4F sbci r27,hhi8(-(128)) 8761 4ca6 2817 cp r18,r24 8762 4ca8 3907 cpc r19,r25 8763 4caa 4A07 cpc r20,r26 8764 4cac 5B07 cpc r21,r27 8765 4cae 04F0 brlt .L705 8766 .L904: 8767 4cb0 8093 0000 sts SollHoehe,r24 8768 4cb4 9093 0000 sts (SollHoehe)+1,r25 8769 4cb8 A093 0000 sts (SollHoehe)+2,r26 8770 4cbc B093 0000 sts (SollHoehe)+3,r27 8771 4cc0 00C0 rjmp .L705 8772 .L701: 8773 4cc2 1092 0000 sts WaypointTrimming,__zero_reg__ 8774 .L705: 8775 4cc6 8091 0000 lds r24,FC_StatusFlags 8776 4cca 8F73 andi r24,lo8(63) 8777 4ccc 8093 0000 sts FC_StatusFlags,r24 8778 4cd0 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8779 4cd4 1092 0000 sts HeightTrimming.21,__zero_reg__ 8780 4cd8 71FF sbrs r23,1 8781 4cda 00C0 rjmp .L706 8782 4cdc 84EF ldi r24,lo8(500) 8783 4cde 91E0 ldi r25,hi8(500) 8784 4ce0 9093 0000 sts (beeptime)+1,r25 8785 4ce4 8093 0000 sts beeptime,r24 8786 .L706: 8787 4ce8 8091 0000 lds r24,StartTrigger 8788 4cec 8823 tst r24 8789 4cee 01F4 brne .L689 8790 4cf0 8091 0000 lds r24,HoehenWert 8791 4cf4 9091 0000 lds r25,(HoehenWert)+1 8792 4cf8 A091 0000 lds r26,(HoehenWert)+2 8793 4cfc B091 0000 lds r27,(HoehenWert)+3 8794 4d00 C397 sbiw r24,51 8795 4d02 A105 cpc r26,__zero_reg__ 8796 4d04 B105 cpc r27,__zero_reg__ 8797 4d06 04F0 brlt .L689 8798 4d08 81E0 ldi r24,lo8(1) 8799 4d0a 8093 0000 sts StartTrigger,r24 8800 .L689: 8801 4d0e 6091 0000 lds r22,HeightTrimming.21 8802 4d12 7091 0000 lds r23,(HeightTrimming.21)+1 8803 4d16 8091 0000 lds r24,AltitudeSetpointTrimming 8804 4d1a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 8805 4d1e 680F add r22,r24 8806 4d20 791F adc r23,r25 8807 4d22 7093 0000 sts (HeightTrimming.21)+1,r23 8808 4d26 6093 0000 sts HeightTrimming.21,r22 8809 4d2a CB01 movw r24,r22 8810 4d2c 77FF sbrs r23,7 8811 4d2e 00C0 rjmp .L709 8812 4d30 8827 clr r24 8813 4d32 9927 clr r25 8814 4d34 861B sub r24,r22 8815 4d36 970B sbc r25,r23 8816 .L709: 8817 4d38 855F subi r24,lo8(501) 8818 4d3a 9140 sbci r25,hi8(501) 8819 4d3c 04F4 brge .+2 8820 4d3e 00C0 rjmp .L708 8821 4d40 4091 0000 lds r20,WaypointTrimming 8822 4d44 4423 tst r20 8823 4d46 01F0 breq .L710 8824 4d48 8091 0000 lds r24,FromNC_AltitudeSetpoint 8825 4d4c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8826 4d50 2091 0000 lds r18,SollHoehe 8827 4d54 3091 0000 lds r19,(SollHoehe)+1 8828 4d58 821B sub r24,r18 8829 4d5a 930B sbc r25,r19 8830 4d5c 0996 adiw r24,9 8831 4d5e 4397 sbiw r24,19 8832 4d60 00F4 brsh .L711 8833 4d62 8091 0000 lds r24,FromNC_AltitudeSetpoint 8834 4d66 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8835 4d6a A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 8836 4d6e B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 8837 4d72 00C0 rjmp .L907 8838 .L711: 8839 4d74 242F mov r18,r20 8840 4d76 3327 clr r19 8841 4d78 27FD sbrc r18,7 8842 4d7a 3095 com r19 8843 4d7c 432F mov r20,r19 8844 4d7e 532F mov r21,r19 8845 4d80 8091 0000 lds r24,SollHoehe 8846 4d84 9091 0000 lds r25,(SollHoehe)+1 8847 4d88 A091 0000 lds r26,(SollHoehe)+2 8848 4d8c B091 0000 lds r27,(SollHoehe)+3 8849 4d90 820F add r24,r18 8850 4d92 931F adc r25,r19 8851 4d94 A41F adc r26,r20 8852 4d96 B51F adc r27,r21 8853 .L907: 8854 4d98 8093 0000 sts SollHoehe,r24 8855 4d9c 9093 0000 sts (SollHoehe)+1,r25 8856 4da0 A093 0000 sts (SollHoehe)+2,r26 8857 4da4 B093 0000 sts (SollHoehe)+3,r27 8858 4da8 00C0 rjmp .L713 8859 .L710: 8860 4daa 8091 0000 lds r24,EE_Parameter+18 8861 4dae 2091 0000 lds r18,SollHoehe 8862 4db2 3091 0000 lds r19,(SollHoehe)+1 8863 4db6 4091 0000 lds r20,(SollHoehe)+2 8864 4dba 5091 0000 lds r21,(SollHoehe)+3 8865 4dbe 1616 cp __zero_reg__,r22 8866 4dc0 1706 cpc __zero_reg__,r23 8867 4dc2 04F4 brge .L714 8868 4dc4 63E0 ldi r22,lo8(3) 8869 4dc6 0E94 0000 call __udivmodqi4 8870 4dca 280F add r18,r24 8871 4dcc 311D adc r19,__zero_reg__ 8872 4dce 411D adc r20,__zero_reg__ 8873 4dd0 511D adc r21,__zero_reg__ 8874 4dd2 00C0 rjmp .L906 8875 .L714: 8876 4dd4 63E0 ldi r22,lo8(3) 8877 4dd6 0E94 0000 call __udivmodqi4 8878 4dda 281B sub r18,r24 8879 4ddc 3109 sbc r19,__zero_reg__ 8880 4dde 4109 sbc r20,__zero_reg__ 8881 4de0 5109 sbc r21,__zero_reg__ 8882 .L906: 8883 4de2 2093 0000 sts SollHoehe,r18 8884 4de6 3093 0000 sts (SollHoehe)+1,r19 8885 4dea 4093 0000 sts (SollHoehe)+2,r20 8886 4dee 5093 0000 sts (SollHoehe)+3,r21 8887 .L713: 8888 4df2 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8889 4df6 1092 0000 sts HeightTrimming.21,__zero_reg__ 8890 4dfa E090 0000 lds r14,HoehenWert 8891 4dfe F090 0000 lds r15,(HoehenWert)+1 8892 4e02 0091 0000 lds r16,(HoehenWert)+2 8893 4e06 1091 0000 lds r17,(HoehenWert)+3 8894 4e0a D801 movw r26,r16 8895 4e0c C701 movw r24,r14 8896 4e0e 8050 subi r24,lo8(-(-1024)) 8897 4e10 9440 sbci r25,hi8(-(-1024)) 8898 4e12 A040 sbci r26,hlo8(-(-1024)) 8899 4e14 B040 sbci r27,hhi8(-(-1024)) 8900 4e16 2091 0000 lds r18,SollHoehe 8901 4e1a 3091 0000 lds r19,(SollHoehe)+1 8902 4e1e 4091 0000 lds r20,(SollHoehe)+2 8903 4e22 5091 0000 lds r21,(SollHoehe)+3 8904 4e26 8217 cp r24,r18 8905 4e28 9307 cpc r25,r19 8906 4e2a A407 cpc r26,r20 8907 4e2c B507 cpc r27,r21 8908 4e2e 04F4 brge .L908 8909 4e30 D801 movw r26,r16 8910 4e32 C701 movw r24,r14 8911 4e34 8050 subi r24,lo8(-(1024)) 8912 4e36 9C4F sbci r25,hi8(-(1024)) 8913 4e38 AF4F sbci r26,hlo8(-(1024)) 8914 4e3a BF4F sbci r27,hhi8(-(1024)) 8915 4e3c 2817 cp r18,r24 8916 4e3e 3907 cpc r19,r25 8917 4e40 4A07 cpc r20,r26 8918 4e42 5B07 cpc r21,r27 8919 4e44 04F0 brlt .L717 8920 .L908: 8921 4e46 8093 0000 sts SollHoehe,r24 8922 4e4a 9093 0000 sts (SollHoehe)+1,r25 8923 4e4e A093 0000 sts (SollHoehe)+2,r26 8924 4e52 B093 0000 sts (SollHoehe)+3,r27 8925 .L717: 8926 4e56 8091 0000 lds r24,Parameter_ExtraConfig 8927 4e5a 81FF sbrs r24,1 8928 4e5c 00C0 rjmp .L719 8929 4e5e 84E6 ldi r24,lo8(100) 8930 4e60 90E0 ldi r25,hi8(100) 8931 4e62 9093 0000 sts (beeptime)+1,r25 8932 4e66 8093 0000 sts beeptime,r24 8933 .L719: 8934 4e6a 8091 0000 lds r24,EE_Parameter+22 8935 4e6e 8823 tst r24 8936 4e70 01F4 brne .L708 8937 4e72 8091 0000 lds r24,FromNC_AltitudeSpeed 8938 4e76 8823 tst r24 8939 4e78 01F4 brne .L708 8940 4e7a 4091 0000 lds r20,HoverGas 8941 4e7e 5091 0000 lds r21,(HoverGas)+1 8942 4e82 57FF sbrs r21,7 8943 4e84 00C0 rjmp .L721 8944 4e86 4D5F subi r20,lo8(-(3)) 8945 4e88 5F4F sbci r21,hi8(-(3)) 8946 .L721: 8947 4e8a 5595 asr r21 8948 4e8c 4795 ror r20 8949 4e8e 5595 asr r21 8950 4e90 4795 ror r20 8951 4e92 8091 0000 lds r24,UBat 8952 4e96 9091 0000 lds r25,(UBat)+1 8953 4e9a 2091 0000 lds r18,BattLowVoltageWarning 8954 4e9e 3327 clr r19 8955 4ea0 489F mul r20,r24 8956 4ea2 F001 movw r30,r0 8957 4ea4 499F mul r20,r25 8958 4ea6 F00D add r31,r0 8959 4ea8 589F mul r21,r24 8960 4eaa F00D add r31,r0 8961 4eac 1124 clr r1 8962 4eae CF01 movw r24,r30 8963 4eb0 B901 movw r22,r18 8964 4eb2 0E94 0000 call __divmodhi4 8965 4eb6 7093 0000 sts (StickGasHover)+1,r23 8966 4eba 6093 0000 sts StickGasHover,r22 8967 4ebe 6634 cpi r22,70 8968 4ec0 7105 cpc r23,__zero_reg__ 8969 4ec2 04F4 brge .L722 8970 4ec4 86E4 ldi r24,lo8(70) 8971 4ec6 90E0 ldi r25,hi8(70) 8972 4ec8 00C0 rjmp .L909 8973 .L722: 8974 4eca 6739 cpi r22,151 8975 4ecc 7105 cpc r23,__zero_reg__ 8976 4ece 04F0 brlt .L708 8977 4ed0 86E9 ldi r24,lo8(150) 8978 4ed2 90E0 ldi r25,hi8(150) 8979 .L909: 8980 4ed4 9093 0000 sts (StickGasHover)+1,r25 8981 4ed8 8093 0000 sts StickGasHover,r24 8982 .L708: 8983 4edc 8091 0000 lds r24,BaroExpandActive 8984 4ee0 9091 0000 lds r25,(BaroExpandActive)+1 8985 4ee4 892B or r24,r25 8986 4ee6 01F0 breq .L726 8987 4ee8 8091 0000 lds r24,HoehenWert 8988 4eec 9091 0000 lds r25,(HoehenWert)+1 8989 4ef0 A091 0000 lds r26,(HoehenWert)+2 8990 4ef4 B091 0000 lds r27,(HoehenWert)+3 8991 4ef8 8093 0000 sts SollHoehe,r24 8992 4efc 9093 0000 sts (SollHoehe)+1,r25 8993 4f00 A093 0000 sts (SollHoehe)+2,r26 8994 4f04 B093 0000 sts (SollHoehe)+3,r27 8995 4f08 00C0 rjmp .L726 8996 .L683: 8997 4f0a 8091 0000 lds r24,HoehenWert 8998 4f0e 9091 0000 lds r25,(HoehenWert)+1 8999 4f12 A091 0000 lds r26,(HoehenWert)+2 9000 4f16 B091 0000 lds r27,(HoehenWert)+3 9001 4f1a 8059 subi r24,lo8(-(-400)) 9002 4f1c 9140 sbci r25,hi8(-(-400)) 9003 4f1e A040 sbci r26,hlo8(-(-400)) 9004 4f20 B040 sbci r27,hhi8(-(-400)) 9005 4f22 8093 0000 sts SollHoehe,r24 9006 4f26 9093 0000 sts (SollHoehe)+1,r25 9007 4f2a A093 0000 sts (SollHoehe)+2,r26 9008 4f2e B093 0000 sts (SollHoehe)+3,r27 9009 4f32 8091 0000 lds r24,EE_Parameter+22 9010 4f36 8823 tst r24 9011 4f38 01F0 breq .L727 9012 4f3a 9927 clr r25 9013 4f3c 00C0 rjmp .L910 9014 .L727: 9015 4f3e 88E7 ldi r24,lo8(120) 9016 4f40 90E0 ldi r25,hi8(120) 9017 .L910: 9018 4f42 9093 0000 sts (StickGasHover)+1,r25 9019 4f46 8093 0000 sts StickGasHover,r24 9020 4f4a E980 ldd r14,Y+1 9021 4f4c FA80 ldd r15,Y+2 9022 4f4e F092 0000 sts (HoverGas)+1,r15 9023 4f52 E092 0000 sts HoverGas,r14 9024 4f56 8EE2 ldi r24,lo8(46) 9025 4f58 8093 0000 sts VarioCharacter,r24 9026 .L726: 9027 4f5c C090 0000 lds r12,HoverGas 9028 4f60 D090 0000 lds r13,(HoverGas)+1 9029 .L682: 9030 4f64 E090 0000 lds r14,HoehenWert 9031 4f68 F090 0000 lds r15,(HoehenWert)+1 9032 4f6c 0091 0000 lds r16,(HoehenWert)+2 9033 4f70 1091 0000 lds r17,(HoehenWert)+3 9034 4f74 2091 0000 lds r18,SollHoehe 9035 4f78 3091 0000 lds r19,(SollHoehe)+1 9036 4f7c 4091 0000 lds r20,(SollHoehe)+2 9037 4f80 5091 0000 lds r21,(SollHoehe)+3 9038 4f84 2E15 cp r18,r14 9039 4f86 3F05 cpc r19,r15 9040 4f88 4007 cpc r20,r16 9041 4f8a 5107 cpc r21,r17 9042 4f8c 04F0 brlt .L730 9043 4f8e 8091 0000 lds r24,Parameter_ExtraConfig 9044 4f92 80FD sbrc r24,0 9045 4f94 00C0 rjmp .L788 9046 .L730: 9047 4f96 8091 0000 lds r24,BaroExpandActive 9048 4f9a 9091 0000 lds r25,(BaroExpandActive)+1 9049 4f9e 892B or r24,r25 9050 4fa0 01F0 breq .L731 9051 4fa2 C090 0000 lds r12,HoverGas 9052 4fa6 D090 0000 lds r13,(HoverGas)+1 9053 4faa 00E0 ldi r16,lo8(0) 9054 4fac 10E0 ldi r17,hi8(0) 9055 4fae 00C0 rjmp .L732 9056 .L731: 9057 4fb0 D801 movw r26,r16 9058 4fb2 C701 movw r24,r14 9059 4fb4 821B sub r24,r18 9060 4fb6 930B sbc r25,r19 9061 4fb8 A40B sbc r26,r20 9062 4fba B50B sbc r27,r21 9063 4fbc 8093 0000 sts tmp_long.1,r24 9064 4fc0 9093 0000 sts (tmp_long.1)+1,r25 9065 4fc4 A093 0000 sts (tmp_long.1)+2,r26 9066 4fc8 B093 0000 sts (tmp_long.1)+3,r27 9067 4fcc 8230 cpi r24,lo8(-32766) 9068 4fce 00E8 ldi r16,hi8(-32766) 9069 4fd0 9007 cpc r25,r16 9070 4fd2 0FEF ldi r16,hlo8(-32766) 9071 4fd4 A007 cpc r26,r16 9072 4fd6 0FEF ldi r16,hhi8(-32766) 9073 4fd8 B007 cpc r27,r16 9074 4fda 04F4 brge .L733 9075 4fdc 81E0 ldi r24,lo8(-32767) 9076 4fde 90E8 ldi r25,hi8(-32767) 9077 4fe0 AFEF ldi r26,hlo8(-32767) 9078 4fe2 BFEF ldi r27,hhi8(-32767) 9079 4fe4 00C0 rjmp .L911 9080 .L733: 9081 4fe6 8F5F subi r24,lo8(32767) 9082 4fe8 9F47 sbci r25,hi8(32767) 9083 4fea A040 sbci r26,hlo8(32767) 9084 4fec B040 sbci r27,hhi8(32767) 9085 4fee 04F0 brlt .L734 9086 4ff0 8FEF ldi r24,lo8(32767) 9087 4ff2 9FE7 ldi r25,hi8(32767) 9088 4ff4 A0E0 ldi r26,hlo8(32767) 9089 4ff6 B0E0 ldi r27,hhi8(32767) 9090 .L911: 9091 4ff8 8093 0000 sts tmp_long.1,r24 9092 4ffc 9093 0000 sts (tmp_long.1)+1,r25 9093 5000 A093 0000 sts (tmp_long.1)+2,r26 9094 5004 B093 0000 sts (tmp_long.1)+3,r27 9095 .L734: 9096 5008 0091 0000 lds r16,tmp_long.1 9097 500c 1091 0000 lds r17,(tmp_long.1)+1 9098 5010 8091 0000 lds r24,Parameter_Hoehe_P 9099 5014 282F mov r18,r24 9100 5016 3327 clr r19 9101 5018 4427 clr r20 9102 501a 5527 clr r21 9103 501c 8091 0000 lds r24,tmp_long.1 9104 5020 9091 0000 lds r25,(tmp_long.1)+1 9105 5024 A091 0000 lds r26,(tmp_long.1)+2 9106 5028 B091 0000 lds r27,(tmp_long.1)+3 9107 502c BC01 movw r22,r24 9108 502e CD01 movw r24,r26 9109 5030 0E94 0000 call __mulsi3 9110 5034 97FF sbrs r25,7 9111 5036 00C0 rjmp .L736 9112 5038 615E subi r22,lo8(-(31)) 9113 503a 7F4F sbci r23,hi8(-(31)) 9114 503c 8F4F sbci r24,hlo8(-(31)) 9115 503e 9F4F sbci r25,hhi8(-(31)) 9116 .L736: 9117 5040 25E0 ldi r18,5 9118 5042 9595 1: asr r25 9119 5044 8795 ror r24 9120 5046 7795 ror r23 9121 5048 6795 ror r22 9122 504a 2A95 dec r18 9123 504c 01F4 brne 1b 9124 504e 6093 0000 sts tmp_long.1,r22 9125 5052 7093 0000 sts (tmp_long.1)+1,r23 9126 5056 8093 0000 sts (tmp_long.1)+2,r24 9127 505a 9093 0000 sts (tmp_long.1)+3,r25 9128 505e 6530 cpi r22,lo8(-507) 9129 5060 2EEF ldi r18,hi8(-507) 9130 5062 7207 cpc r23,r18 9131 5064 2FEF ldi r18,hlo8(-507) 9132 5066 8207 cpc r24,r18 9133 5068 2FEF ldi r18,hhi8(-507) 9134 506a 9207 cpc r25,r18 9135 506c 04F4 brge .L737 9136 506e 84E0 ldi r24,lo8(-508) 9137 5070 9EEF ldi r25,hi8(-508) 9138 5072 AFEF ldi r26,hlo8(-508) 9139 5074 BFEF ldi r27,hhi8(-508) 9140 5076 00C0 rjmp .L912 9141 .L737: 9142 5078 6050 subi r22,lo8(1024) 9143 507a 7440 sbci r23,hi8(1024) 9144 507c 8040 sbci r24,hlo8(1024) 9145 507e 9040 sbci r25,hhi8(1024) 9146 5080 04F0 brlt .L738 9147 5082 80E0 ldi r24,lo8(1024) 9148 5084 94E0 ldi r25,hi8(1024) 9149 5086 A0E0 ldi r26,hlo8(1024) 9150 5088 B0E0 ldi r27,hhi8(1024) 9151 .L912: 9152 508a 8093 0000 sts tmp_long.1,r24 9153 508e 9093 0000 sts (tmp_long.1)+1,r25 9154 5092 A093 0000 sts (tmp_long.1)+2,r26 9155 5096 B093 0000 sts (tmp_long.1)+3,r27 9156 .L738: 9157 509a 8090 0000 lds r8,tmp_long.1 9158 509e 9090 0000 lds r9,(tmp_long.1)+1 9159 50a2 2091 0000 lds r18,VarioMeter 9160 50a6 3091 0000 lds r19,(VarioMeter)+1 9161 50aa 37FF sbrs r19,7 9162 50ac 00C0 rjmp .L740 9163 50ae 295F subi r18,lo8(-(7)) 9164 50b0 3F4F sbci r19,hi8(-(7)) 9165 .L740: 9166 50b2 83E0 ldi r24,3 9167 50b4 3595 1: asr r19 9168 50b6 2795 ror r18 9169 50b8 8A95 dec r24 9170 50ba 01F4 brne 1b 9171 50bc 4FEF ldi r20,hi8(-126) 9172 50be 2238 cpi r18,lo8(-126) 9173 50c0 3407 cpc r19,r20 9174 50c2 04F4 brge .L741 9175 50c4 21E8 ldi r18,lo8(-127) 9176 50c6 3FEF ldi r19,hi8(-127) 9177 50c8 00C0 rjmp .L742 9178 .L741: 9179 50ca 2038 cpi r18,128 9180 50cc 3105 cpc r19,__zero_reg__ 9181 50ce 04F0 brlt .L742 9182 50d0 20E8 ldi r18,lo8(128) 9183 50d2 30E0 ldi r19,hi8(128) 9184 .L742: 9185 50d4 C901 movw r24,r18 9186 50d6 AA27 clr r26 9187 50d8 97FD sbrc r25,7 9188 50da A095 com r26 9189 50dc BA2F mov r27,r26 9190 50de 2091 0000 lds r18,Parameter_Luftdruck_D 9191 50e2 3327 clr r19 9192 50e4 4427 clr r20 9193 50e6 5527 clr r21 9194 50e8 BC01 movw r22,r24 9195 50ea CD01 movw r24,r26 9196 50ec 0E94 0000 call __mulsi3 9197 50f0 97FF sbrs r25,7 9198 50f2 00C0 rjmp .L744 9199 50f4 6D5F subi r22,lo8(-(3)) 9200 50f6 7F4F sbci r23,hi8(-(3)) 9201 50f8 8F4F sbci r24,hlo8(-(3)) 9202 50fa 9F4F sbci r25,hhi8(-(3)) 9203 .L744: 9204 50fc B2E0 ldi r27,2 9205 50fe 9595 1: asr r25 9206 5100 8795 ror r24 9207 5102 7795 ror r23 9208 5104 6795 ror r22 9209 5106 BA95 dec r27 9210 5108 01F4 brne 1b 9211 510a 9B01 movw r18,r22 9212 510c 5FEF ldi r21,hi8(-255) 9213 510e 6130 cpi r22,lo8(-255) 9214 5110 7507 cpc r23,r21 9215 5112 04F4 brge .L745 9216 5114 20E0 ldi r18,lo8(-256) 9217 5116 3FEF ldi r19,hi8(-256) 9218 5118 00C0 rjmp .L746 9219 .L745: 9220 511a 6F3F cpi r22,255 9221 511c 7105 cpc r23,__zero_reg__ 9222 511e 01F0 breq .L746 9223 5120 04F0 brlt .L746 9224 5122 20E0 ldi r18,lo8(256) 9225 5124 31E0 ldi r19,hi8(256) 9226 .L746: 9227 5126 8091 0000 lds r24,FC_StatusFlags 9228 512a 807C andi r24,lo8(-64) 9229 512c 01F0 breq .L748 9230 512e C901 movw r24,r18 9231 5130 37FD sbrc r19,7 9232 5132 0396 adiw r24,3 9233 .L749: 9234 5134 9C01 movw r18,r24 9235 5136 3595 asr r19 9236 5138 2795 ror r18 9237 513a 3595 asr r19 9238 513c 2795 ror r18 9239 513e 00C0 rjmp .L750 9240 .L748: 9241 5140 8091 0000 lds r24,Parameter_ExtraConfig 9242 5144 80FF sbrs r24,0 9243 5146 00C0 rjmp .L750 9244 5148 C901 movw r24,r18 9245 514a 37FD sbrc r19,7 9246 514c 0796 adiw r24,7 9247 .L752: 9248 514e 9C01 movw r18,r24 9249 5150 F3E0 ldi r31,3 9250 5152 3595 1: asr r19 9251 5154 2795 ror r18 9252 5156 FA95 dec r31 9253 5158 01F4 brne 1b 9254 .L750: 9255 515a 820E add r8,r18 9256 515c 931E adc r9,r19 9257 .L732: 9258 515e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 9259 5162 2223 tst r18 9260 5164 01F4 brne .+2 9261 5166 00C0 rjmp .L753 9262 5168 6091 0000 lds r22,Mess_Integral_Hoch 9263 516c 7091 0000 lds r23,(Mess_Integral_Hoch)+1 9264 5170 8091 0000 lds r24,(Mess_Integral_Hoch)+2 9265 5174 9091 0000 lds r25,(Mess_Integral_Hoch)+3 9266 5178 97FF sbrs r25,7 9267 517a 00C0 rjmp .L754 9268 517c 6158 subi r22,lo8(-(127)) 9269 517e 7F4F sbci r23,hi8(-(127)) 9270 5180 8F4F sbci r24,hlo8(-(127)) 9271 5182 9F4F sbci r25,hhi8(-(127)) 9272 .L754: 9273 5184 E7E0 ldi r30,7 9274 5186 9595 1: asr r25 9275 5188 8795 ror r24 9276 518a 7795 ror r23 9277 518c 6795 ror r22 9278 518e EA95 dec r30 9279 5190 01F4 brne 1b 9280 5192 3327 clr r19 9281 5194 4427 clr r20 9282 5196 5527 clr r21 9283 5198 0E94 0000 call __mulsi3 9284 519c 97FF sbrs r25,7 9285 519e 00C0 rjmp .L755 9286 51a0 615E subi r22,lo8(-(31)) 9287 51a2 7F4F sbci r23,hi8(-(31)) 9288 51a4 8F4F sbci r24,hlo8(-(31)) 9289 51a6 9F4F sbci r25,hhi8(-(31)) 9290 .L755: 9291 51a8 55E0 ldi r21,5 9292 51aa 9595 1: asr r25 9293 51ac 8795 ror r24 9294 51ae 7795 ror r23 9295 51b0 6795 ror r22 9296 51b2 5A95 dec r21 9297 51b4 01F4 brne 1b 9298 51b6 6093 0000 sts tmp_long.1,r22 9299 51ba 7093 0000 sts (tmp_long.1)+1,r23 9300 51be 8093 0000 sts (tmp_long.1)+2,r24 9301 51c2 9093 0000 sts (tmp_long.1)+3,r25 9302 51c6 6138 cpi r22,lo8(-127) 9303 51c8 AFEF ldi r26,hi8(-127) 9304 51ca 7A07 cpc r23,r26 9305 51cc AFEF ldi r26,hlo8(-127) 9306 51ce 8A07 cpc r24,r26 9307 51d0 AFEF ldi r26,hhi8(-127) 9308 51d2 9A07 cpc r25,r26 9309 51d4 04F4 brge .L756 9310 51d6 80E8 ldi r24,lo8(-128) 9311 51d8 9FEF ldi r25,hi8(-128) 9312 51da AFEF ldi r26,hlo8(-128) 9313 51dc BFEF ldi r27,hhi8(-128) 9314 51de 00C0 rjmp .L913 9315 .L756: 9316 51e0 6F3F cpi r22,lo8(255) 9317 51e2 7105 cpc r23,__zero_reg__ 9318 51e4 8105 cpc r24,__zero_reg__ 9319 51e6 9105 cpc r25,__zero_reg__ 9320 51e8 01F0 breq .L757 9321 51ea 04F0 brlt .L757 9322 51ec 80E0 ldi r24,lo8(256) 9323 51ee 91E0 ldi r25,hi8(256) 9324 51f0 A0E0 ldi r26,hlo8(256) 9325 51f2 B0E0 ldi r27,hhi8(256) 9326 .L913: 9327 51f4 8093 0000 sts tmp_long.1,r24 9328 51f8 9093 0000 sts (tmp_long.1)+1,r25 9329 51fc A093 0000 sts (tmp_long.1)+2,r26 9330 5200 B093 0000 sts (tmp_long.1)+3,r27 9331 .L757: 9332 5204 8091 0000 lds r24,tmp_long.1 9333 5208 9091 0000 lds r25,(tmp_long.1)+1 9334 520c 880E add r8,r24 9335 520e 991E adc r9,r25 9336 .L753: 9337 5210 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 9338 5214 282F mov r18,r24 9339 5216 3327 clr r19 9340 5218 8091 0000 lds r24,FromNaviCtrl_Value+4 9341 521c 9927 clr r25 9342 521e 87FD sbrc r24,7 9343 5220 9095 com r25 9344 5222 289F mul r18,r24 9345 5224 F001 movw r30,r0 9346 5226 299F mul r18,r25 9347 5228 F00D add r31,r0 9348 522a 389F mul r19,r24 9349 522c F00D add r31,r0 9350 522e 1124 clr r1 9351 5230 9F01 movw r18,r30 9352 5232 F7FF sbrs r31,7 9353 5234 00C0 rjmp .L759 9354 5236 2158 subi r18,lo8(-(127)) 9355 5238 3F4F sbci r19,hi8(-(127)) 9356 .L759: 9357 523a 220F lsl r18 9358 523c 232F mov r18,r19 9359 523e 221F rol r18 9360 5240 330B sbc r19,r19 9361 5242 FFEF ldi r31,hi8(-127) 9362 5244 2138 cpi r18,lo8(-127) 9363 5246 3F07 cpc r19,r31 9364 5248 04F4 brge .L760 9365 524a 20E8 ldi r18,lo8(-128) 9366 524c 3FEF ldi r19,hi8(-128) 9367 524e 00C0 rjmp .L761 9368 .L760: 9369 5250 2F3F cpi r18,255 9370 5252 3105 cpc r19,__zero_reg__ 9371 5254 01F0 breq .L761 9372 5256 04F0 brlt .L761 9373 5258 20E0 ldi r18,lo8(256) 9374 525a 31E0 ldi r19,hi8(256) 9375 .L761: 9376 525c 820E add r8,r18 9377 525e 931E adc r9,r19 9378 5260 C401 movw r24,r8 9379 5262 AA27 clr r26 9380 5264 97FD sbrc r25,7 9381 5266 A095 com r26 9382 5268 BA2F mov r27,r26 9383 526a E090 0000 lds r14,HoverGas 9384 526e F090 0000 lds r15,(HoverGas)+1 9385 5272 9701 movw r18,r14 9386 5274 4427 clr r20 9387 5276 37FD sbrc r19,7 9388 5278 4095 com r20 9389 527a 542F mov r21,r20 9390 527c BC01 movw r22,r24 9391 527e CD01 movw r24,r26 9392 5280 0E94 0000 call __mulsi3 9393 5284 97FF sbrs r25,7 9394 5286 00C0 rjmp .L763 9395 5288 6150 subi r22,lo8(-(511)) 9396 528a 7E4F sbci r23,hi8(-(511)) 9397 528c 8F4F sbci r24,hlo8(-(511)) 9398 528e 9F4F sbci r25,hhi8(-(511)) 9399 .L763: 9400 5290 29E0 ldi r18,9 9401 5292 9595 1: asr r25 9402 5294 8795 ror r24 9403 5296 7795 ror r23 9404 5298 6795 ror r22 9405 529a 2A95 dec r18 9406 529c 01F4 brne 1b 9407 529e C61A sub r12,r22 9408 52a0 D70A sbc r13,r23 9409 52a2 8091 0000 lds r24,AltitudeSetpointTrimming 9410 52a6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 9411 52aa 892B or r24,r25 9412 52ac 01F0 breq .+2 9413 52ae 00C0 rjmp .L764 9414 52b0 1E14 cp __zero_reg__,r14 9415 52b2 1F04 cpc __zero_reg__,r15 9416 52b4 04F0 brlt .+2 9417 52b6 00C0 rjmp .L764 9418 52b8 9801 movw r18,r16 9419 52ba 17FF sbrs r17,7 9420 52bc 00C0 rjmp .L765 9421 52be 3095 com r19 9422 52c0 2195 neg r18 9423 52c2 3F4F sbci r19,lo8(-1) 9424 .L765: 9425 52c4 2D33 cpi r18,61 9426 52c6 3105 cpc r19,__zero_reg__ 9427 52c8 00F4 brsh .L766 9428 52ca 8091 0000 lds r24,HoverGasMin 9429 52ce 9091 0000 lds r25,(HoverGasMin)+1 9430 52d2 8C15 cp r24,r12 9431 52d4 9D05 cpc r25,r13 9432 52d6 04F4 brge .L915 9433 52d8 00C0 rjmp .L924 9434 .L766: 9435 52da 2C53 subi r18,lo8(-(-60)) 9436 52dc 3040 sbci r19,hi8(-(-60)) 9437 52de 85E0 ldi r24,5 9438 52e0 3695 1: lsr r19 9439 52e2 2795 ror r18 9440 52e4 8A95 dec r24 9441 52e6 01F4 brne 1b 9442 52e8 2031 cpi r18,16 9443 52ea 3105 cpc r19,__zero_reg__ 9444 52ec 00F0 brlo .L771 9445 52ee 2FE0 ldi r18,lo8(15) 9446 52f0 30E0 ldi r19,hi8(15) 9447 .L771: 9448 52f2 4091 0000 lds r20,HoverGasMin 9449 52f6 5091 0000 lds r21,(HoverGasMin)+1 9450 52fa 1016 cp __zero_reg__,r16 9451 52fc 1106 cpc __zero_reg__,r17 9452 52fe 04F4 brge .L772 9453 5300 80E1 ldi r24,lo8(16) 9454 5302 90E0 ldi r25,hi8(16) 9455 5304 821B sub r24,r18 9456 5306 930B sbc r25,r19 9457 5308 489F mul r20,r24 9458 530a 9001 movw r18,r0 9459 530c 499F mul r20,r25 9460 530e 300D add r19,r0 9461 5310 589F mul r21,r24 9462 5312 300D add r19,r0 9463 5314 1124 clr r1 9464 5316 B4E0 ldi r27,4 9465 5318 3695 1: lsr r19 9466 531a 2795 ror r18 9467 531c BA95 dec r27 9468 531e 01F4 brne 1b 9469 5320 2C15 cp r18,r12 9470 5322 3D05 cpc r19,r13 9471 5324 00F4 brsh .L914 9472 .L924: 9473 5326 8091 0000 lds r24,HoverGasMax 9474 532a 9091 0000 lds r25,(HoverGasMax)+1 9475 532e C816 cp r12,r24 9476 5330 D906 cpc r13,r25 9477 5332 04F0 brlt .L764 9478 .L915: 9479 5334 6C01 movw r12,r24 9480 5336 00C0 rjmp .L764 9481 .L772: 9482 5338 205F subi r18,lo8(-(16)) 9483 533a 3F4F sbci r19,hi8(-(16)) 9484 533c 8091 0000 lds r24,HoverGasMax 9485 5340 9091 0000 lds r25,(HoverGasMax)+1 9486 5344 829F mul r24,r18 9487 5346 8001 movw r16,r0 9488 5348 839F mul r24,r19 9489 534a 100D add r17,r0 9490 534c 929F mul r25,r18 9491 534e 100D add r17,r0 9492 5350 1124 clr r1 9493 5352 9801 movw r18,r16 9494 5354 A4E0 ldi r26,4 9495 5356 3695 1: lsr r19 9496 5358 2795 ror r18 9497 535a AA95 dec r26 9498 535c 01F4 brne 1b 9499 535e 4C15 cp r20,r12 9500 5360 5D05 cpc r21,r13 9501 5362 04F0 brlt .L777 9502 5364 6A01 movw r12,r20 9503 5366 00C0 rjmp .L764 9504 .L777: 9505 5368 C216 cp r12,r18 9506 536a D306 cpc r13,r19 9507 536c 00F0 brlo .L764 9508 .L914: 9509 536e 6901 movw r12,r18 9510 .L764: 9511 5370 C601 movw r24,r12 9512 5372 AA27 clr r26 9513 5374 97FD sbrc r25,7 9514 5376 A095 com r26 9515 5378 BA2F mov r27,r26 9516 537a FDE0 ldi r31,13 9517 537c 880F 1: lsl r24 9518 537e 991F rol r25 9519 5380 AA1F rol r26 9520 5382 BB1F rol r27 9521 5384 FA95 dec r31 9522 5386 01F4 brne 1b 9523 5388 9501 movw r18,r10 9524 538a 4427 clr r20 9525 538c 37FD sbrc r19,7 9526 538e 4095 com r20 9527 5390 542F mov r21,r20 9528 5392 BC01 movw r22,r24 9529 5394 CD01 movw r24,r26 9530 5396 0E94 0000 call __divmodsi4 9531 539a 2093 0000 sts tmp_long2.2,r18 9532 539e 3093 0000 sts (tmp_long2.2)+1,r19 9533 53a2 4093 0000 sts (tmp_long2.2)+2,r20 9534 53a6 5093 0000 sts (tmp_long2.2)+3,r21 9535 53aa C090 0000 lds r12,tmp_long2.2 9536 53ae D090 0000 lds r13,(tmp_long2.2)+1 9537 53b2 8091 0000 lds r24,FilterHCGas.22 9538 53b6 9091 0000 lds r25,(FilterHCGas.22)+1 9539 53ba 9C01 movw r18,r24 9540 53bc 220F lsl r18 9541 53be 331F rol r19 9542 53c0 280F add r18,r24 9543 53c2 391F adc r19,r25 9544 53c4 2C0D add r18,r12 9545 53c6 3D1D adc r19,r13 9546 53c8 37FF sbrs r19,7 9547 53ca 00C0 rjmp .L780 9548 53cc 2D5F subi r18,lo8(-(3)) 9549 53ce 3F4F sbci r19,hi8(-(3)) 9550 .L780: 9551 53d0 A901 movw r20,r18 9552 53d2 5595 asr r21 9553 53d4 4795 ror r20 9554 53d6 5595 asr r21 9555 53d8 4795 ror r20 9556 53da 5093 0000 sts (FilterHCGas.22)+1,r21 9557 53de 4093 0000 sts FilterHCGas.22,r20 9558 53e2 8091 0000 lds r24,EE_Parameter+14 9559 53e6 282F mov r18,r24 9560 53e8 3327 clr r19 9561 53ea 220F lsl r18 9562 53ec 331F rol r19 9563 53ee 220F lsl r18 9564 53f0 331F rol r19 9565 53f2 2417 cp r18,r20 9566 53f4 3507 cpc r19,r21 9567 53f6 04F4 brge .L916 9568 53f8 8091 0000 lds r24,MAX_GAS 9569 53fc 282F mov r18,r24 9570 53fe 3327 clr r19 9571 5400 220F lsl r18 9572 5402 331F rol r19 9573 5404 220F lsl r18 9574 5406 331F rol r19 9575 5408 2055 subi r18,lo8(-(-80)) 9576 540a 3040 sbci r19,hi8(-(-80)) 9577 540c 4217 cp r20,r18 9578 540e 5307 cpc r21,r19 9579 5410 04F0 brlt .L782 9580 .L916: 9581 5412 3093 0000 sts (FilterHCGas.22)+1,r19 9582 5416 2093 0000 sts FilterHCGas.22,r18 9583 .L782: 9584 541a 8091 0000 lds r24,Parameter_ExtraConfig 9585 541e 80FF sbrs r24,0 9586 5420 00C0 rjmp .L784 9587 5422 8091 0000 lds r24,FilterHCGas.22 9588 5426 9091 0000 lds r25,(FilterHCGas.22)+1 9589 542a 2981 ldd r18,Y+1 9590 542c 3A81 ldd r19,Y+2 9591 542e 8217 cp r24,r18 9592 5430 9307 cpc r25,r19 9593 5432 04F0 brlt .L785 9594 5434 3093 0000 sts (FilterHCGas.22)+1,r19 9595 5438 2093 0000 sts FilterHCGas.22,r18 9596 .L785: 9597 543c 4091 0000 lds r20,FilterHCGas.22 9598 5440 5091 0000 lds r21,(FilterHCGas.22)+1 9599 5444 5A83 std Y+2,r21 9600 5446 4983 std Y+1,r20 9601 5448 00C0 rjmp .L788 9602 .L784: 9603 544a 2981 ldd r18,Y+1 9604 544c 3A81 ldd r19,Y+2 9605 544e 2E19 sub r18,r14 9606 5450 3F09 sbc r19,r15 9607 5452 37FF sbrs r19,7 9608 5454 00C0 rjmp .L787 9609 5456 2D5F subi r18,lo8(-(3)) 9610 5458 3F4F sbci r19,hi8(-(3)) 9611 .L787: 9612 545a 3595 asr r19 9613 545c 2795 ror r18 9614 545e 3595 asr r19 9615 5460 2795 ror r18 9616 5462 6091 0000 lds r22,FilterHCGas.22 9617 5466 7091 0000 lds r23,(FilterHCGas.22)+1 9618 546a 620F add r22,r18 9619 546c 731F adc r23,r19 9620 546e 7A83 std Y+2,r23 9621 5470 6983 std Y+1,r22 9622 5472 00C0 rjmp .L788 9623 .L679: 9624 5474 8091 0000 lds r24,EE_Parameter+22 9625 5478 8823 tst r24 9626 547a 01F4 brne .L789 9627 547c 6091 0000 lds r22,HoverGas 9628 5480 7091 0000 lds r23,(HoverGas)+1 9629 5484 77FF sbrs r23,7 9630 5486 00C0 rjmp .L790 9631 5488 6D5F subi r22,lo8(-(3)) 9632 548a 7F4F sbci r23,hi8(-(3)) 9633 .L790: 9634 548c 7595 asr r23 9635 548e 6795 ror r22 9636 5490 7595 asr r23 9637 5492 6795 ror r22 9638 5494 4091 0000 lds r20,UBat 9639 5498 5091 0000 lds r21,(UBat)+1 9640 549c 8091 0000 lds r24,BattLowVoltageWarning 9641 54a0 282F mov r18,r24 9642 54a2 3327 clr r19 9643 54a4 649F mul r22,r20 9644 54a6 C001 movw r24,r0 9645 54a8 659F mul r22,r21 9646 54aa 900D add r25,r0 9647 54ac 749F mul r23,r20 9648 54ae 900D add r25,r0 9649 54b0 1124 clr r1 9650 54b2 B901 movw r22,r18 9651 54b4 0E94 0000 call __divmodhi4 9652 54b8 CB01 movw r24,r22 9653 54ba 00C0 rjmp .L917 9654 .L789: 9655 54bc 9927 clr r25 9656 .L917: 9657 54be 9093 0000 sts (StickGasHover)+1,r25 9658 54c2 8093 0000 sts StickGasHover,r24 9659 54c6 8091 0000 lds r24,StickGasHover 9660 54ca 9091 0000 lds r25,(StickGasHover)+1 9661 54ce 8734 cpi r24,71 9662 54d0 9105 cpc r25,__zero_reg__ 9663 54d2 04F4 brge .L792 9664 54d4 86E4 ldi r24,lo8(70) 9665 54d6 90E0 ldi r25,hi8(70) 9666 54d8 00C0 rjmp .L918 9667 .L792: 9668 54da 8639 cpi r24,150 9669 54dc 9105 cpc r25,__zero_reg__ 9670 54de 04F0 brlt .L793 9671 54e0 86E9 ldi r24,lo8(150) 9672 54e2 90E0 ldi r25,hi8(150) 9673 .L918: 9674 54e4 9093 0000 sts (StickGasHover)+1,r25 9675 54e8 8093 0000 sts StickGasHover,r24 9676 .L793: 9677 54ec 8981 ldd r24,Y+1 9678 54ee 9A81 ldd r25,Y+2 9679 54f0 9093 0000 sts (FilterHCGas.22)+1,r25 9680 54f4 8093 0000 sts FilterHCGas.22,r24 9681 54f8 8091 0000 lds r24,FC_StatusFlags 9682 54fc 806C ori r24,lo8(-64) 9683 54fe 8093 0000 sts FC_StatusFlags,r24 9684 5502 8091 0000 lds r24,FC_StatusFlags2 9685 5506 8D7F andi r24,lo8(-3) 9686 5508 8093 0000 sts FC_StatusFlags2,r24 9687 .L788: 9688 550c 8091 0000 lds r24,FC_StatusFlags 9689 5510 9927 clr r25 9690 5512 9C01 movw r18,r24 9691 5514 2270 andi r18,lo8(2) 9692 5516 3070 andi r19,hi8(2) 9693 5518 81FF sbrs r24,1 9694 551a 00C0 rjmp .L795 9695 551c 8091 0000 lds r24,HoverGasFilter.23 9696 5520 9091 0000 lds r25,(HoverGasFilter.23)+1 9697 5524 A091 0000 lds r26,(HoverGasFilter.23)+2 9698 5528 B091 0000 lds r27,(HoverGasFilter.23)+3 9699 552c 0097 sbiw r24,0 9700 552e A105 cpc r26,__zero_reg__ 9701 5530 B105 cpc r27,__zero_reg__ 9702 5532 01F0 breq .L797 9703 5534 8091 0000 lds r24,StartTrigger 9704 5538 8130 cpi r24,lo8(1) 9705 553a 01F4 brne .L796 9706 .L797: 9707 553c E981 ldd r30,Y+1 9708 553e FA81 ldd r31,Y+2 9709 5540 CF01 movw r24,r30 9710 5542 AA27 clr r26 9711 5544 97FD sbrc r25,7 9712 5546 A095 com r26 9713 5548 BA2F mov r27,r26 9714 554a 1EE0 ldi r17,14 9715 554c 880F 1: lsl r24 9716 554e 991F rol r25 9717 5550 AA1F rol r26 9718 5552 BB1F rol r27 9719 5554 1A95 dec r17 9720 5556 01F4 brne 1b 9721 5558 8093 0000 sts HoverGasFilter.23,r24 9722 555c 9093 0000 sts (HoverGasFilter.23)+1,r25 9723 5560 A093 0000 sts (HoverGasFilter.23)+2,r26 9724 5564 B093 0000 sts (HoverGasFilter.23)+3,r27 9725 .L796: 9726 5568 8091 0000 lds r24,StartTrigger 9727 556c 8130 cpi r24,lo8(1) 9728 556e 01F4 brne .L798 9729 5570 82E0 ldi r24,lo8(2) 9730 5572 8093 0000 sts StartTrigger,r24 9731 .L798: 9732 5576 E980 ldd r14,Y+1 9733 5578 FA80 ldd r15,Y+2 9734 557a C701 movw r24,r14 9735 557c AA27 clr r26 9736 557e 97FD sbrc r25,7 9737 5580 A095 com r26 9738 5582 BA2F mov r27,r26 9739 5584 9501 movw r18,r10 9740 5586 4427 clr r20 9741 5588 37FD sbrc r19,7 9742 558a 4095 com r20 9743 558c 542F mov r21,r20 9744 558e BC01 movw r22,r24 9745 5590 CD01 movw r24,r26 9746 5592 0E94 0000 call __mulsi3 9747 5596 DC01 movw r26,r24 9748 5598 CB01 movw r24,r22 9749 559a 8093 0000 sts tmp_long2.2,r24 9750 559e 9093 0000 sts (tmp_long2.2)+1,r25 9751 55a2 A093 0000 sts (tmp_long2.2)+2,r26 9752 55a6 B093 0000 sts (tmp_long2.2)+3,r27 9753 55aa B7FF sbrs r27,7 9754 55ac 00C0 rjmp .L799 9755 55ae 8150 subi r24,lo8(-(8191)) 9756 55b0 904E sbci r25,hi8(-(8191)) 9757 55b2 AF4F sbci r26,hlo8(-(8191)) 9758 55b4 BF4F sbci r27,hhi8(-(8191)) 9759 .L799: 9760 55b6 7C01 movw r14,r24 9761 55b8 8D01 movw r16,r26 9762 55ba ADE0 ldi r26,13 9763 55bc 1595 1: asr r17 9764 55be 0795 ror r16 9765 55c0 F794 ror r15 9766 55c2 E794 ror r14 9767 55c4 AA95 dec r26 9768 55c6 01F4 brne 1b 9769 55c8 E092 0000 sts tmp_long2.2,r14 9770 55cc F092 0000 sts (tmp_long2.2)+1,r15 9771 55d0 0093 0000 sts (tmp_long2.2)+2,r16 9772 55d4 1093 0000 sts (tmp_long2.2)+3,r17 9773 55d8 6091 0000 lds r22,modell_fliegt 9774 55dc 7091 0000 lds r23,(modell_fliegt)+1 9775 55e0 2FE0 ldi r18,hi8(4000) 9776 55e2 603A cpi r22,lo8(4000) 9777 55e4 7207 cpc r23,r18 9778 55e6 00F4 brsh .L800 9779 55e8 8091 0000 lds r24,HoverGasFilter.23 9780 55ec 9091 0000 lds r25,(HoverGasFilter.23)+1 9781 55f0 A091 0000 lds r26,(HoverGasFilter.23)+2 9782 55f4 B091 0000 lds r27,(HoverGasFilter.23)+3 9783 55f8 9C01 movw r18,r24 9784 55fa AD01 movw r20,r26 9785 55fc FAE0 ldi r31,10 9786 55fe 5695 1: lsr r21 9787 5600 4795 ror r20 9788 5602 3795 ror r19 9789 5604 2795 ror r18 9790 5606 FA95 dec r31 9791 5608 01F4 brne 1b 9792 560a 821B sub r24,r18 9793 560c 930B sbc r25,r19 9794 560e A40B sbc r26,r20 9795 5610 B50B sbc r27,r21 9796 5612 A801 movw r20,r16 9797 5614 9701 movw r18,r14 9798 5616 E4E0 ldi r30,4 9799 5618 220F 1: lsl r18 9800 561a 331F rol r19 9801 561c 441F rol r20 9802 561e 551F rol r21 9803 5620 EA95 dec r30 9804 5622 01F4 brne 1b 9805 5624 820F add r24,r18 9806 5626 931F adc r25,r19 9807 5628 A41F adc r26,r20 9808 562a B51F adc r27,r21 9809 562c 8093 0000 sts HoverGasFilter.23,r24 9810 5630 9093 0000 sts (HoverGasFilter.23)+1,r25 9811 5634 A093 0000 sts (HoverGasFilter.23)+2,r26 9812 5638 B093 0000 sts (HoverGasFilter.23)+3,r27 9813 .L800: 9814 563c 6054 subi r22,lo8(8000) 9815 563e 7F41 sbci r23,hi8(8000) 9816 5640 00F4 brsh .L801 9817 5642 8091 0000 lds r24,HoverGasFilter.23 9818 5646 9091 0000 lds r25,(HoverGasFilter.23)+1 9819 564a A091 0000 lds r26,(HoverGasFilter.23)+2 9820 564e B091 0000 lds r27,(HoverGasFilter.23)+3 9821 5652 9C01 movw r18,r24 9822 5654 AD01 movw r20,r26 9823 5656 6CE0 ldi r22,12 9824 5658 5695 1: lsr r21 9825 565a 4795 ror r20 9826 565c 3795 ror r19 9827 565e 2795 ror r18 9828 5660 6A95 dec r22 9829 5662 01F4 brne 1b 9830 5664 821B sub r24,r18 9831 5666 930B sbc r25,r19 9832 5668 A40B sbc r26,r20 9833 566a B50B sbc r27,r21 9834 566c A801 movw r20,r16 9835 566e 9701 movw r18,r14 9836 5670 F2E0 ldi r31,2 9837 5672 220F 1: lsl r18 9838 5674 331F rol r19 9839 5676 441F rol r20 9840 5678 551F rol r21 9841 567a FA95 dec r31 9842 567c 01F4 brne 1b 9843 567e 820F add r24,r18 9844 5680 931F adc r25,r19 9845 5682 A41F adc r26,r20 9846 5684 B51F adc r27,r21 9847 5686 00C0 rjmp .L919 9848 .L801: 9849 5688 8091 0000 lds r24,VarioMeter 9850 568c 9091 0000 lds r25,(VarioMeter)+1 9851 5690 8091 0000 lds r24,VarioMeter 9852 5694 9091 0000 lds r25,(VarioMeter)+1 9853 5698 97FF sbrs r25,7 9854 569a 00C0 rjmp .L804 9855 569c 9095 com r25 9856 569e 8195 neg r24 9857 56a0 9F4F sbci r25,lo8(-1) 9858 .L804: 9859 56a2 8436 cpi r24,100 9860 56a4 9105 cpc r25,__zero_reg__ 9861 56a6 04F4 brge .L802 9862 56a8 8091 0000 lds r24,HoehenWert 9863 56ac 9091 0000 lds r25,(HoehenWert)+1 9864 56b0 2091 0000 lds r18,SollHoehe 9865 56b4 3091 0000 lds r19,(SollHoehe)+1 9866 56b8 821B sub r24,r18 9867 56ba 930B sbc r25,r19 9868 56bc 8150 subi r24,lo8(-(255)) 9869 56be 9F4F sbci r25,hi8(-(255)) 9870 56c0 8F5F subi r24,lo8(511) 9871 56c2 9140 sbci r25,hi8(511) 9872 56c4 00F4 brsh .L802 9873 56c6 8091 0000 lds r24,HoverGasFilter.23 9874 56ca 9091 0000 lds r25,(HoverGasFilter.23)+1 9875 56ce A091 0000 lds r26,(HoverGasFilter.23)+2 9876 56d2 B091 0000 lds r27,(HoverGasFilter.23)+3 9877 56d6 9C01 movw r18,r24 9878 56d8 AD01 movw r20,r26 9879 56da EEE0 ldi r30,14 9880 56dc 5695 1: lsr r21 9881 56de 4795 ror r20 9882 56e0 3795 ror r19 9883 56e2 2795 ror r18 9884 56e4 EA95 dec r30 9885 56e6 01F4 brne 1b 9886 56e8 821B sub r24,r18 9887 56ea 930B sbc r25,r19 9888 56ec A40B sbc r26,r20 9889 56ee B50B sbc r27,r21 9890 56f0 8E0D add r24,r14 9891 56f2 9F1D adc r25,r15 9892 56f4 A01F adc r26,r16 9893 56f6 B11F adc r27,r17 9894 .L919: 9895 56f8 8093 0000 sts HoverGasFilter.23,r24 9896 56fc 9093 0000 sts (HoverGasFilter.23)+1,r25 9897 5700 A093 0000 sts (HoverGasFilter.23)+2,r26 9898 5704 B093 0000 sts (HoverGasFilter.23)+3,r27 9899 .L802: 9900 5708 8091 0000 lds r24,HoverGasFilter.23 9901 570c 9091 0000 lds r25,(HoverGasFilter.23)+1 9902 5710 A091 0000 lds r26,(HoverGasFilter.23)+2 9903 5714 B091 0000 lds r27,(HoverGasFilter.23)+3 9904 5718 7EE0 ldi r23,14 9905 571a B695 1: lsr r27 9906 571c A795 ror r26 9907 571e 9795 ror r25 9908 5720 8795 ror r24 9909 5722 7A95 dec r23 9910 5724 01F4 brne 1b 9911 5726 9093 0000 sts (HoverGas)+1,r25 9912 572a 8093 0000 sts HoverGas,r24 9913 572e 4091 0000 lds r20,EE_Parameter+20 9914 5732 4423 tst r20 9915 5734 01F0 breq .L805 9916 5736 5527 clr r21 9917 5738 9C01 movw r18,r24 9918 573a BA01 movw r22,r20 9919 573c 0E94 0000 call __divmodhi4 9920 5740 C901 movw r24,r18 9921 5742 861B sub r24,r22 9922 5744 970B sbc r25,r23 9923 5746 9093 0000 sts (HoverGasMin)+1,r25 9924 574a 8093 0000 sts HoverGasMin,r24 9925 574e 260F add r18,r22 9926 5750 371F adc r19,r23 9927 5752 3093 0000 sts (HoverGasMax)+1,r19 9928 5756 2093 0000 sts HoverGasMax,r18 9929 575a 00C0 rjmp .L808 9930 .L805: 9931 575c 1092 0000 sts (HoverGasMin)+1,__zero_reg__ 9932 5760 1092 0000 sts HoverGasMin,__zero_reg__ 9933 5764 8FEF ldi r24,lo8(1023) 9934 5766 93E0 ldi r25,hi8(1023) 9935 5768 9093 0000 sts (HoverGasMax)+1,r25 9936 576c 8093 0000 sts HoverGasMax,r24 9937 5770 00C0 rjmp .L808 9938 .L795: 9939 5772 1092 0000 sts StartTrigger,__zero_reg__ 9940 5776 1092 0000 sts HoverGasFilter.23,__zero_reg__ 9941 577a 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ 9942 577e 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ 9943 5782 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ 9944 5786 3093 0000 sts (HoverGas)+1,r19 9945 578a 2093 0000 sts HoverGas,r18 9946 578e 00C0 rjmp .L808 9947 .L659: 9948 5790 8091 0000 lds r24,FC_StatusFlags 9949 5794 806C ori r24,lo8(-64) 9950 5796 8093 0000 sts FC_StatusFlags,r24 9951 .L808: 9952 579a 8091 0000 lds r24,NC_To_FC_Flags 9953 579e 81FF sbrs r24,1 9954 57a0 00C0 rjmp .L809 9955 57a2 8981 ldd r24,Y+1 9956 57a4 9A81 ldd r25,Y+2 9957 57a6 97FD sbrc r25,7 9958 57a8 0396 adiw r24,3 9959 .L811: 9960 57aa 9595 asr r25 9961 57ac 8795 ror r24 9962 57ae 9595 asr r25 9963 57b0 8795 ror r24 9964 57b2 2091 0000 lds r18,HooverGasEmergencyPercent 9965 57b6 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 9966 57ba 2817 cp r18,r24 9967 57bc 3907 cpc r19,r25 9968 57be 00F4 brsh .L810 9969 57c0 8091 0000 lds r24,HoverGas 9970 57c4 9091 0000 lds r25,(HoverGas)+1 9971 57c8 892B or r24,r25 9972 57ca 01F0 breq .L810 9973 57cc 220F lsl r18 9974 57ce 331F rol r19 9975 57d0 220F lsl r18 9976 57d2 331F rol r19 9977 57d4 3A83 std Y+2,r19 9978 57d6 2983 std Y+1,r18 9979 .L810: 9980 57d8 8091 0000 lds r24,HoehenWert 9981 57dc 9091 0000 lds r25,(HoehenWert)+1 9982 57e0 A091 0000 lds r26,(HoehenWert)+2 9983 57e4 B091 0000 lds r27,(HoehenWert)+3 9984 57e8 8093 0000 sts SollHoehe,r24 9985 57ec 9093 0000 sts (SollHoehe)+1,r25 9986 57f0 A093 0000 sts (SollHoehe)+2,r26 9987 57f4 B093 0000 sts (SollHoehe)+3,r27 9988 57f8 88E9 ldi r24,lo8(15000) 9989 57fa 9AE3 ldi r25,hi8(15000) 9990 57fc 9093 0000 sts (beeptime)+1,r25 9991 5800 8093 0000 sts beeptime,r24 9992 5804 80E0 ldi r24,lo8(3584) 9993 5806 9EE0 ldi r25,hi8(3584) 9994 5808 9093 0000 sts (BeepMuster)+1,r25 9995 580c 8093 0000 sts BeepMuster,r24 9996 .L809: 9997 5810 2091 0000 lds r18,MIN_GAS 9998 5814 822F mov r24,r18 9999 5816 9927 clr r25 10000 5818 880F lsl r24 10001 581a 991F rol r25 10002 581c 880F lsl r24 10003 581e 991F rol r25 10004 5820 8896 adiw r24,40 10005 5822 6981 ldd r22,Y+1 10006 5824 7A81 ldd r23,Y+2 10007 5826 8617 cp r24,r22 10008 5828 9707 cpc r25,r23 10009 582a 04F0 brlt .L812 10010 582c 9A83 std Y+2,r25 10011 582e 8983 std Y+1,r24 10012 .L812: 10013 5830 7091 0000 lds r23,MAX_GAS 10014 5834 7D8B std Y+21,r23 10015 5836 872F mov r24,r23 10016 5838 9927 clr r25 10017 583a 880F lsl r24 10018 583c 991F rol r25 10019 583e 880F lsl r24 10020 5840 991F rol r25 10021 5842 8055 subi r24,lo8(-(-80)) 10022 5844 9040 sbci r25,hi8(-(-80)) 10023 5846 A981 ldd r26,Y+1 10024 5848 BA81 ldd r27,Y+2 10025 584a 8A17 cp r24,r26 10026 584c 9B07 cpc r25,r27 10027 584e 04F4 brge .L813 10028 5850 9A83 std Y+2,r25 10029 5852 8983 std Y+1,r24 10030 .L813: 10031 5854 8091 0000 lds r24,MissingMotor 10032 5858 8823 tst r24 10033 585a 01F4 brne .L815 10034 585c 8091 0000 lds r24,Capacity+6 10035 5860 8F3F cpi r24,lo8(-1) 10036 5862 01F4 brne .L815 10037 5864 8091 0000 lds r24,NC_ErrorCode 10038 5868 8823 tst r24 10039 586a 01F0 breq .L814 10040 .L815: 10041 586c 8091 0000 lds r24,modell_fliegt 10042 5870 9091 0000 lds r25,(modell_fliegt)+1 10043 5874 0297 sbiw r24,2 10044 5876 C097 sbiw r24,48 10045 5878 00F4 brsh .L814 10046 587a E981 ldd r30,Y+1 10047 587c FA81 ldd r31,Y+2 10048 587e 1E16 cp __zero_reg__,r30 10049 5880 1F06 cpc __zero_reg__,r31 10050 5882 04F4 brge .L814 10051 5884 81E0 ldi r24,lo8(1) 10052 5886 90E0 ldi r25,hi8(1) 10053 5888 9093 0000 sts (modell_fliegt)+1,r25 10054 588c 8093 0000 sts modell_fliegt,r24 10055 5890 E22E mov r14,r18 10056 5892 FF24 clr r15 10057 5894 EE0C lsl r14 10058 5896 FF1C rol r15 10059 5898 EE0C lsl r14 10060 589a FF1C rol r15 10061 589c 8701 movw r16,r14 10062 589e 085D subi r16,lo8(-(40)) 10063 58a0 1F4F sbci r17,hi8(-(40)) 10064 58a2 1A83 std Y+2,r17 10065 58a4 0983 std Y+1,r16 10066 .L814: 10067 58a6 2981 ldd r18,Y+1 10068 58a8 3A81 ldd r19,Y+2 10069 58aa 3093 0000 sts (DebugOut+16)+1,r19 10070 58ae 2093 0000 sts DebugOut+16,r18 10071 58b2 8091 0000 lds r24,sollGier.0 10072 58b6 9091 0000 lds r25,(sollGier.0)+1 10073 58ba A091 0000 lds r26,(sollGier.0)+2 10074 58be B091 0000 lds r27,(sollGier.0)+3 10075 58c2 12E0 ldi r17,2 10076 58c4 880F 1: lsl r24 10077 58c6 991F rol r25 10078 58c8 AA1F rol r26 10079 58ca BB1F rol r27 10080 58cc 1A95 dec r17 10081 58ce 01F4 brne 1b 10082 58d0 0091 0000 lds r16,MesswertGier 10083 58d4 1091 0000 lds r17,(MesswertGier)+1 10084 58d8 081B sub r16,r24 10085 58da 190B sbc r17,r25 10086 58dc 213A cpi r18,161 10087 58de 3105 cpc r19,__zero_reg__ 10088 58e0 04F0 brlt .L817 10089 58e2 C901 movw r24,r18 10090 58e4 37FD sbrc r19,7 10091 58e6 0196 adiw r24,1 10092 .L819: 10093 58e8 9595 asr r25 10094 58ea 8795 ror r24 10095 58ec 8017 cp r24,r16 10096 58ee 9107 cpc r25,r17 10097 58f0 04F4 brge .L818 10098 58f2 8C01 movw r16,r24 10099 .L818: 10100 58f4 9095 com r25 10101 58f6 8195 neg r24 10102 58f8 9F4F sbci r25,lo8(-1) 10103 58fa 0817 cp r16,r24 10104 58fc 1907 cpc r17,r25 10105 58fe 04F4 brge .L824 10106 5900 8C01 movw r16,r24 10107 5902 00C0 rjmp .L824 10108 .L817: 10109 5904 0135 cpi r16,81 10110 5906 1105 cpc r17,__zero_reg__ 10111 5908 04F0 brlt .L825 10112 590a 00E5 ldi r16,lo8(80) 10113 590c 10E0 ldi r17,hi8(80) 10114 .L825: 10115 590e 3FEF ldi r19,hi8(-80) 10116 5910 003B cpi r16,lo8(-80) 10117 5912 1307 cpc r17,r19 10118 5914 04F4 brge .L824 10119 5916 00EB ldi r16,lo8(-80) 10120 5918 1FEF ldi r17,hi8(-80) 10121 .L824: 10122 591a 4D89 ldd r20,Y+21 10123 591c 242F mov r18,r20 10124 591e 3327 clr r19 10125 5920 220F lsl r18 10126 5922 331F rol r19 10127 5924 220F lsl r18 10128 5926 331F rol r19 10129 5928 C901 movw r24,r18 10130 592a 6981 ldd r22,Y+1 10131 592c 7A81 ldd r23,Y+2 10132 592e 861B sub r24,r22 10133 5930 970B sbc r25,r23 10134 5932 8017 cp r24,r16 10135 5934 9107 cpc r25,r17 10136 5936 04F4 brge .L827 10137 5938 8C01 movw r16,r24 10138 .L827: 10139 593a 8981 ldd r24,Y+1 10140 593c 9A81 ldd r25,Y+2 10141 593e 821B sub r24,r18 10142 5940 930B sbc r25,r19 10143 5942 0817 cp r16,r24 10144 5944 1907 cpc r17,r25 10145 5946 04F4 brge .L828 10146 5948 8C01 movw r16,r24 10147 .L828: 10148 594a 8091 0000 lds r24,MesswertNick 10149 594e 9091 0000 lds r25,(MesswertNick)+1 10150 5952 6091 0000 lds r22,StickNick 10151 5956 7091 0000 lds r23,(StickNick)+1 10152 595a 861B sub r24,r22 10153 595c 970B sbc r25,r23 10154 595e 9093 0000 sts (DiffNick)+1,r25 10155 5962 8093 0000 sts DiffNick,r24 10156 5966 D090 0000 lds r13,IntegralFaktor 10157 596a 2091 0000 lds r18,SummeNick 10158 596e 3091 0000 lds r19,(SummeNick)+1 10159 5972 4091 0000 lds r20,(SummeNick)+2 10160 5976 5091 0000 lds r21,(SummeNick)+3 10161 597a DD20 tst r13 10162 597c 01F0 breq .L829 10163 597e 661A sub r6,r22 10164 5980 770A sbc r7,r23 10165 5982 C301 movw r24,r6 10166 5984 AA27 clr r26 10167 5986 97FD sbrc r25,7 10168 5988 A095 com r26 10169 598a BA2F mov r27,r26 10170 598c 00C0 rjmp .L920 10171 .L829: 10172 598e AA27 clr r26 10173 5990 97FD sbrc r25,7 10174 5992 A095 com r26 10175 5994 BA2F mov r27,r26 10176 .L920: 10177 5996 280F add r18,r24 10178 5998 391F adc r19,r25 10179 599a 4A1F adc r20,r26 10180 599c 5B1F adc r21,r27 10181 599e 2093 0000 sts SummeNick,r18 10182 59a2 3093 0000 sts (SummeNick)+1,r19 10183 59a6 4093 0000 sts (SummeNick)+2,r20 10184 59aa 5093 0000 sts (SummeNick)+3,r21 10185 59ae 8091 0000 lds r24,SummeNick 10186 59b2 9091 0000 lds r25,(SummeNick)+1 10187 59b6 A091 0000 lds r26,(SummeNick)+2 10188 59ba B091 0000 lds r27,(SummeNick)+3 10189 59be 8150 subi r24,lo8(64001) 10190 59c0 9A4F sbci r25,hi8(64001) 10191 59c2 A040 sbci r26,hlo8(64001) 10192 59c4 B040 sbci r27,hhi8(64001) 10193 59c6 04F0 brlt .L831 10194 59c8 80E0 ldi r24,lo8(64000) 10195 59ca 9AEF ldi r25,hi8(64000) 10196 59cc A0E0 ldi r26,hlo8(64000) 10197 59ce B0E0 ldi r27,hhi8(64000) 10198 59d0 8093 0000 sts SummeNick,r24 10199 59d4 9093 0000 sts (SummeNick)+1,r25 10200 59d8 A093 0000 sts (SummeNick)+2,r26 10201 59dc B093 0000 sts (SummeNick)+3,r27 10202 .L831: 10203 59e0 8091 0000 lds r24,SummeNick 10204 59e4 9091 0000 lds r25,(SummeNick)+1 10205 59e8 A091 0000 lds r26,(SummeNick)+2 10206 59ec B091 0000 lds r27,(SummeNick)+3 10207 59f0 8050 subi r24,lo8(-64000) 10208 59f2 9640 sbci r25,hi8(-64000) 10209 59f4 AF4F sbci r26,hlo8(-64000) 10210 59f6 BF4F sbci r27,hhi8(-64000) 10211 59f8 04F4 brge .L832 10212 59fa 80E0 ldi r24,lo8(-64000) 10213 59fc 96E0 ldi r25,hi8(-64000) 10214 59fe AFEF ldi r26,hlo8(-64000) 10215 5a00 BFEF ldi r27,hhi8(-64000) 10216 5a02 8093 0000 sts SummeNick,r24 10217 5a06 9093 0000 sts (SummeNick)+1,r25 10218 5a0a A093 0000 sts (SummeNick)+2,r26 10219 5a0e B093 0000 sts (SummeNick)+3,r27 10220 .L832: 10221 5a12 C090 0000 lds r12,EE_Parameter+35 10222 5a16 2091 0000 lds r18,DiffNick 10223 5a1a 3091 0000 lds r19,(DiffNick)+1 10224 5a1e 78E0 ldi r23,lo8(8) 10225 5a20 E72E mov r14,r23 10226 5a22 EC14 cp r14,r12 10227 5a24 00F0 brlo .L833 10228 5a26 8C2D mov r24,r12 10229 5a28 9927 clr r25 10230 5a2a 829F mul r24,r18 10231 5a2c A001 movw r20,r0 10232 5a2e 839F mul r24,r19 10233 5a30 500D add r21,r0 10234 5a32 929F mul r25,r18 10235 5a34 500D add r21,r0 10236 5a36 1124 clr r1 10237 5a38 CA01 movw r24,r20 10238 5a3a 57FD sbrc r21,7 10239 5a3c 0796 adiw r24,7 10240 .L834: 10241 5a3e 7C01 movw r14,r24 10242 5a40 63E0 ldi r22,3 10243 5a42 F594 1: asr r15 10244 5a44 E794 ror r14 10245 5a46 6A95 dec r22 10246 5a48 01F4 brne 1b 10247 5a4a 00C0 rjmp .L835 10248 .L833: 10249 5a4c 8C2D mov r24,r12 10250 5a4e 8695 lsr r24 10251 5a50 9927 clr r25 10252 5a52 829F mul r24,r18 10253 5a54 B001 movw r22,r0 10254 5a56 839F mul r24,r19 10255 5a58 700D add r23,r0 10256 5a5a 929F mul r25,r18 10257 5a5c 700D add r23,r0 10258 5a5e 1124 clr r1 10259 5a60 CB01 movw r24,r22 10260 5a62 77FD sbrc r23,7 10261 5a64 0396 adiw r24,3 10262 .L836: 10263 5a66 7C01 movw r14,r24 10264 5a68 F594 asr r15 10265 5a6a E794 ror r14 10266 5a6c F594 asr r15 10267 5a6e E794 ror r14 10268 .L835: 10269 5a70 A090 0000 lds r10,Ki 10270 5a74 B090 0000 lds r11,(Ki)+1 10271 5a78 9501 movw r18,r10 10272 5a7a 4427 clr r20 10273 5a7c 37FD sbrc r19,7 10274 5a7e 4095 com r20 10275 5a80 542F mov r21,r20 10276 5a82 8091 0000 lds r24,SummeNick 10277 5a86 9091 0000 lds r25,(SummeNick)+1 10278 5a8a A091 0000 lds r26,(SummeNick)+2 10279 5a8e B091 0000 lds r27,(SummeNick)+3 10280 5a92 BC01 movw r22,r24 10281 5a94 CD01 movw r24,r26 10282 5a96 0E94 0000 call __divmodsi4 10283 5a9a E20E add r14,r18 10284 5a9c F31E adc r15,r19 10285 5a9e 9090 0000 lds r9,Parameter_DynamicStability 10286 5aa2 692D mov r22,r9 10287 5aa4 7727 clr r23 10288 5aa6 8827 clr r24 10289 5aa8 9927 clr r25 10290 5aaa 9801 movw r18,r16 10291 5aac 17FF sbrs r17,7 10292 5aae 00C0 rjmp .L837 10293 5ab0 2227 clr r18 10294 5ab2 3327 clr r19 10295 5ab4 201B sub r18,r16 10296 5ab6 310B sbc r19,r17 10297 .L837: 10298 5ab8 37FF sbrs r19,7 10299 5aba 00C0 rjmp .L838 10300 5abc 2F5F subi r18,lo8(-(1)) 10301 5abe 3F4F sbci r19,hi8(-(1)) 10302 .L838: 10303 5ac0 3595 asr r19 10304 5ac2 2795 ror r18 10305 5ac4 A981 ldd r26,Y+1 10306 5ac6 BA81 ldd r27,Y+2 10307 5ac8 2A0F add r18,r26 10308 5aca 3B1F adc r19,r27 10309 5acc 4427 clr r20 10310 5ace 37FD sbrc r19,7 10311 5ad0 4095 com r20 10312 5ad2 542F mov r21,r20 10313 5ad4 0E94 0000 call __mulsi3 10314 5ad8 97FF sbrs r25,7 10315 5ada 00C0 rjmp .L839 10316 5adc 615C subi r22,lo8(-(63)) 10317 5ade 7F4F sbci r23,hi8(-(63)) 10318 5ae0 8F4F sbci r24,hlo8(-(63)) 10319 5ae2 9F4F sbci r25,hhi8(-(63)) 10320 .L839: 10321 5ae4 26E0 ldi r18,6 10322 5ae6 9595 1: asr r25 10323 5ae8 8795 ror r24 10324 5aea 7795 ror r23 10325 5aec 6795 ror r22 10326 5aee 2A95 dec r18 10327 5af0 01F4 brne 1b 10328 5af2 9B01 movw r18,r22 10329 5af4 6E15 cp r22,r14 10330 5af6 7F05 cpc r23,r15 10331 5af8 04F4 brge .L840 10332 5afa 7B01 movw r14,r22 10333 .L840: 10334 5afc 3095 com r19 10335 5afe 2195 neg r18 10336 5b00 3F4F sbci r19,lo8(-1) 10337 5b02 E216 cp r14,r18 10338 5b04 F306 cpc r15,r19 10339 5b06 04F4 brge .L841 10340 5b08 7901 movw r14,r18 10341 .L841: 10342 5b0a 8091 0000 lds r24,MesswertRoll 10343 5b0e 9091 0000 lds r25,(MesswertRoll)+1 10344 5b12 6091 0000 lds r22,StickRoll 10345 5b16 7091 0000 lds r23,(StickRoll)+1 10346 5b1a 861B sub r24,r22 10347 5b1c 970B sbc r25,r23 10348 5b1e 9093 0000 sts (DiffRoll)+1,r25 10349 5b22 8093 0000 sts DiffRoll,r24 10350 5b26 2091 0000 lds r18,SummeRoll 10351 5b2a 3091 0000 lds r19,(SummeRoll)+1 10352 5b2e 4091 0000 lds r20,(SummeRoll)+2 10353 5b32 5091 0000 lds r21,(SummeRoll)+3 10354 5b36 DD20 tst r13 10355 5b38 01F0 breq .L842 10356 5b3a 461A sub r4,r22 10357 5b3c 570A sbc r5,r23 10358 5b3e C201 movw r24,r4 10359 5b40 AA27 clr r26 10360 5b42 97FD sbrc r25,7 10361 5b44 A095 com r26 10362 5b46 BA2F mov r27,r26 10363 5b48 00C0 rjmp .L921 10364 .L842: 10365 5b4a AA27 clr r26 10366 5b4c 97FD sbrc r25,7 10367 5b4e A095 com r26 10368 5b50 BA2F mov r27,r26 10369 .L921: 10370 5b52 280F add r18,r24 10371 5b54 391F adc r19,r25 10372 5b56 4A1F adc r20,r26 10373 5b58 5B1F adc r21,r27 10374 5b5a 2093 0000 sts SummeRoll,r18 10375 5b5e 3093 0000 sts (SummeRoll)+1,r19 10376 5b62 4093 0000 sts (SummeRoll)+2,r20 10377 5b66 5093 0000 sts (SummeRoll)+3,r21 10378 5b6a 8091 0000 lds r24,SummeRoll 10379 5b6e 9091 0000 lds r25,(SummeRoll)+1 10380 5b72 A091 0000 lds r26,(SummeRoll)+2 10381 5b76 B091 0000 lds r27,(SummeRoll)+3 10382 5b7a 8150 subi r24,lo8(64001) 10383 5b7c 9A4F sbci r25,hi8(64001) 10384 5b7e A040 sbci r26,hlo8(64001) 10385 5b80 B040 sbci r27,hhi8(64001) 10386 5b82 04F0 brlt .L844 10387 5b84 80E0 ldi r24,lo8(64000) 10388 5b86 9AEF ldi r25,hi8(64000) 10389 5b88 A0E0 ldi r26,hlo8(64000) 10390 5b8a B0E0 ldi r27,hhi8(64000) 10391 5b8c 8093 0000 sts SummeRoll,r24 10392 5b90 9093 0000 sts (SummeRoll)+1,r25 10393 5b94 A093 0000 sts (SummeRoll)+2,r26 10394 5b98 B093 0000 sts (SummeRoll)+3,r27 10395 .L844: 10396 5b9c 8091 0000 lds r24,SummeRoll 10397 5ba0 9091 0000 lds r25,(SummeRoll)+1 10398 5ba4 A091 0000 lds r26,(SummeRoll)+2 10399 5ba8 B091 0000 lds r27,(SummeRoll)+3 10400 5bac 8050 subi r24,lo8(-64000) 10401 5bae 9640 sbci r25,hi8(-64000) 10402 5bb0 AF4F sbci r26,hlo8(-64000) 10403 5bb2 BF4F sbci r27,hhi8(-64000) 10404 5bb4 04F4 brge .L845 10405 5bb6 80E0 ldi r24,lo8(-64000) 10406 5bb8 96E0 ldi r25,hi8(-64000) 10407 5bba AFEF ldi r26,hlo8(-64000) 10408 5bbc BFEF ldi r27,hhi8(-64000) 10409 5bbe 8093 0000 sts SummeRoll,r24 10410 5bc2 9093 0000 sts (SummeRoll)+1,r25 10411 5bc6 A093 0000 sts (SummeRoll)+2,r26 10412 5bca B093 0000 sts (SummeRoll)+3,r27 10413 .L845: 10414 5bce 2091 0000 lds r18,DiffRoll 10415 5bd2 3091 0000 lds r19,(DiffRoll)+1 10416 5bd6 48E0 ldi r20,lo8(8) 10417 5bd8 4C15 cp r20,r12 10418 5bda 00F0 brlo .L846 10419 5bdc 8C2D mov r24,r12 10420 5bde 9927 clr r25 10421 5be0 829F mul r24,r18 10422 5be2 B001 movw r22,r0 10423 5be4 839F mul r24,r19 10424 5be6 700D add r23,r0 10425 5be8 929F mul r25,r18 10426 5bea 700D add r23,r0 10427 5bec 1124 clr r1 10428 5bee CB01 movw r24,r22 10429 5bf0 77FD sbrc r23,7 10430 5bf2 0796 adiw r24,7 10431 .L847: 10432 5bf4 6C01 movw r12,r24 10433 5bf6 B3E0 ldi r27,3 10434 5bf8 D594 1: asr r13 10435 5bfa C794 ror r12 10436 5bfc BA95 dec r27 10437 5bfe 01F4 brne 1b 10438 5c00 00C0 rjmp .L848 10439 .L846: 10440 5c02 C694 lsr r12 10441 5c04 8C2D mov r24,r12 10442 5c06 9927 clr r25 10443 5c08 829F mul r24,r18 10444 5c0a D001 movw r26,r0 10445 5c0c 839F mul r24,r19 10446 5c0e B00D add r27,r0 10447 5c10 929F mul r25,r18 10448 5c12 B00D add r27,r0 10449 5c14 1124 clr r1 10450 5c16 CD01 movw r24,r26 10451 5c18 B7FD sbrc r27,7 10452 5c1a 0396 adiw r24,3 10453 .L849: 10454 5c1c 6C01 movw r12,r24 10455 5c1e D594 asr r13 10456 5c20 C794 ror r12 10457 5c22 D594 asr r13 10458 5c24 C794 ror r12 10459 .L848: 10460 5c26 9501 movw r18,r10 10461 5c28 4427 clr r20 10462 5c2a 37FD sbrc r19,7 10463 5c2c 4095 com r20 10464 5c2e 542F mov r21,r20 10465 5c30 8091 0000 lds r24,SummeRoll 10466 5c34 9091 0000 lds r25,(SummeRoll)+1 10467 5c38 A091 0000 lds r26,(SummeRoll)+2 10468 5c3c B091 0000 lds r27,(SummeRoll)+3 10469 5c40 BC01 movw r22,r24 10470 5c42 CD01 movw r24,r26 10471 5c44 0E94 0000 call __divmodsi4 10472 5c48 C20E add r12,r18 10473 5c4a D31E adc r13,r19 10474 5c4c 692D mov r22,r9 10475 5c4e 7727 clr r23 10476 5c50 8827 clr r24 10477 5c52 9927 clr r25 10478 5c54 9801 movw r18,r16 10479 5c56 17FF sbrs r17,7 10480 5c58 00C0 rjmp .L850 10481 5c5a 2227 clr r18 10482 5c5c 3327 clr r19 10483 5c5e 201B sub r18,r16 10484 5c60 310B sbc r19,r17 10485 .L850: 10486 5c62 37FF sbrs r19,7 10487 5c64 00C0 rjmp .L851 10488 5c66 2F5F subi r18,lo8(-(1)) 10489 5c68 3F4F sbci r19,hi8(-(1)) 10490 .L851: 10491 5c6a 3595 asr r19 10492 5c6c 2795 ror r18 10493 5c6e E981 ldd r30,Y+1 10494 5c70 FA81 ldd r31,Y+2 10495 5c72 2E0F add r18,r30 10496 5c74 3F1F adc r19,r31 10497 5c76 4427 clr r20 10498 5c78 37FD sbrc r19,7 10499 5c7a 4095 com r20 10500 5c7c 542F mov r21,r20 10501 5c7e 0E94 0000 call __mulsi3 10502 5c82 97FF sbrs r25,7 10503 5c84 00C0 rjmp .L852 10504 5c86 615C subi r22,lo8(-(63)) 10505 5c88 7F4F sbci r23,hi8(-(63)) 10506 5c8a 8F4F sbci r24,hlo8(-(63)) 10507 5c8c 9F4F sbci r25,hhi8(-(63)) 10508 .L852: 10509 5c8e E6E0 ldi r30,6 10510 5c90 9595 1: asr r25 10511 5c92 8795 ror r24 10512 5c94 7795 ror r23 10513 5c96 6795 ror r22 10514 5c98 EA95 dec r30 10515 5c9a 01F4 brne 1b 10516 5c9c 9B01 movw r18,r22 10517 5c9e 6C15 cp r22,r12 10518 5ca0 7D05 cpc r23,r13 10519 5ca2 04F4 brge .L853 10520 5ca4 6B01 movw r12,r22 10521 .L853: 10522 5ca6 3095 com r19 10523 5ca8 2195 neg r18 10524 5caa 3F4F sbci r19,lo8(-1) 10525 5cac C216 cp r12,r18 10526 5cae D306 cpc r13,r19 10527 5cb0 04F4 brge .L854 10528 5cb2 6901 movw r12,r18 10529 .L854: 10530 5cb4 8091 0000 lds r24,MIN_GAS 10531 5cb8 282E mov r2,r24 10532 5cba 3324 clr r3 10533 5cbc 5090 0000 lds r5,EE_Parameter+101 10534 5cc0 60E0 ldi r22,lo8(Motor) 10535 5cc2 862E mov r8,r22 10536 5cc4 60E0 ldi r22,hi8(Motor) 10537 5cc6 962E mov r9,r22 10538 5cc8 50E0 ldi r21,lo8(Mixer+13) 10539 5cca A52E mov r10,r21 10540 5ccc 50E0 ldi r21,hi8(Mixer+13) 10541 5cce B52E mov r11,r21 10542 5cd0 4BE0 ldi r20,lo8(11) 10543 5cd2 442E mov r4,r20 10544 5cd4 30E0 ldi r19,lo8(tmp_motorwert) 10545 5cd6 632E mov r6,r19 10546 5cd8 30E0 ldi r19,hi8(tmp_motorwert) 10547 5cda 732E mov r7,r19 10548 .L889: 10549 5cdc D501 movw r26,r10 10550 5cde 2C91 ld r18,X 10551 5ce0 1216 cp __zero_reg__,r18 10552 5ce2 04F0 brlt .+2 10553 5ce4 00C0 rjmp .L858 10554 5ce6 2034 cpi r18,lo8(64) 10555 5ce8 01F4 brne .L859 10556 5cea E981 ldd r30,Y+1 10557 5cec FA81 ldd r31,Y+2 10558 5cee FF8B std Y+23,r31 10559 5cf0 EE8B std Y+22,r30 10560 5cf2 00C0 rjmp .L860 10561 .L859: 10562 5cf4 4981 ldd r20,Y+1 10563 5cf6 5A81 ldd r21,Y+2 10564 5cf8 CA01 movw r24,r20 10565 5cfa AA27 clr r26 10566 5cfc 97FD sbrc r25,7 10567 5cfe A095 com r26 10568 5d00 BA2F mov r27,r26 10569 5d02 3327 clr r19 10570 5d04 27FD sbrc r18,7 10571 5d06 3095 com r19 10572 5d08 432F mov r20,r19 10573 5d0a 532F mov r21,r19 10574 5d0c BC01 movw r22,r24 10575 5d0e CD01 movw r24,r26 10576 5d10 0E94 0000 call __mulsi3 10577 5d14 97FF sbrs r25,7 10578 5d16 00C0 rjmp .L861 10579 5d18 615C subi r22,lo8(-(63)) 10580 5d1a 7F4F sbci r23,hi8(-(63)) 10581 5d1c 8F4F sbci r24,hlo8(-(63)) 10582 5d1e 9F4F sbci r25,hhi8(-(63)) 10583 .L861: 10584 5d20 26E0 ldi r18,6 10585 5d22 9595 1: asr r25 10586 5d24 8795 ror r24 10587 5d26 7795 ror r23 10588 5d28 6795 ror r22 10589 5d2a 2A95 dec r18 10590 5d2c 01F4 brne 1b 10591 5d2e 7F8B std Y+23,r23 10592 5d30 6E8B std Y+22,r22 10593 .L860: 10594 5d32 F501 movw r30,r10 10595 5d34 2181 ldd r18,Z+1 10596 5d36 2034 cpi r18,lo8(64) 10597 5d38 01F4 brne .L862 10598 5d3a 2E89 ldd r18,Y+22 10599 5d3c 3F89 ldd r19,Y+23 10600 5d3e 2E0D add r18,r14 10601 5d40 3F1D adc r19,r15 10602 5d42 3F8B std Y+23,r19 10603 5d44 2E8B std Y+22,r18 10604 5d46 00C0 rjmp .L863 10605 .L862: 10606 5d48 203C cpi r18,lo8(-64) 10607 5d4a 01F4 brne .L864 10608 5d4c 4E89 ldd r20,Y+22 10609 5d4e 5F89 ldd r21,Y+23 10610 5d50 4E19 sub r20,r14 10611 5d52 5F09 sbc r21,r15 10612 5d54 5F8B std Y+23,r21 10613 5d56 4E8B std Y+22,r20 10614 5d58 00C0 rjmp .L863 10615 .L864: 10616 5d5a C701 movw r24,r14 10617 5d5c AA27 clr r26 10618 5d5e 97FD sbrc r25,7 10619 5d60 A095 com r26 10620 5d62 BA2F mov r27,r26 10621 5d64 3327 clr r19 10622 5d66 27FD sbrc r18,7 10623 5d68 3095 com r19 10624 5d6a 432F mov r20,r19 10625 5d6c 532F mov r21,r19 10626 5d6e BC01 movw r22,r24 10627 5d70 CD01 movw r24,r26 10628 5d72 0E94 0000 call __mulsi3 10629 5d76 97FF sbrs r25,7 10630 5d78 00C0 rjmp .L866 10631 5d7a 615C subi r22,lo8(-(63)) 10632 5d7c 7F4F sbci r23,hi8(-(63)) 10633 5d7e 8F4F sbci r24,hlo8(-(63)) 10634 5d80 9F4F sbci r25,hhi8(-(63)) 10635 .L866: 10636 5d82 B6E0 ldi r27,6 10637 5d84 9595 1: asr r25 10638 5d86 8795 ror r24 10639 5d88 7795 ror r23 10640 5d8a 6795 ror r22 10641 5d8c BA95 dec r27 10642 5d8e 01F4 brne 1b 10643 5d90 AE89 ldd r26,Y+22 10644 5d92 BF89 ldd r27,Y+23 10645 5d94 A60F add r26,r22 10646 5d96 B71F adc r27,r23 10647 5d98 BF8B std Y+23,r27 10648 5d9a AE8B std Y+22,r26 10649 .L863: 10650 5d9c F501 movw r30,r10 10651 5d9e 2281 ldd r18,Z+2 10652 5da0 2034 cpi r18,lo8(64) 10653 5da2 01F4 brne .L867 10654 5da4 2E89 ldd r18,Y+22 10655 5da6 3F89 ldd r19,Y+23 10656 5da8 2C0D add r18,r12 10657 5daa 3D1D adc r19,r13 10658 5dac 3F8B std Y+23,r19 10659 5dae 2E8B std Y+22,r18 10660 5db0 00C0 rjmp .L868 10661 .L867: 10662 5db2 203C cpi r18,lo8(-64) 10663 5db4 01F4 brne .L869 10664 5db6 4E89 ldd r20,Y+22 10665 5db8 5F89 ldd r21,Y+23 10666 5dba 4C19 sub r20,r12 10667 5dbc 5D09 sbc r21,r13 10668 5dbe 5F8B std Y+23,r21 10669 5dc0 4E8B std Y+22,r20 10670 5dc2 00C0 rjmp .L868 10671 .L869: 10672 5dc4 C601 movw r24,r12 10673 5dc6 AA27 clr r26 10674 5dc8 97FD sbrc r25,7 10675 5dca A095 com r26 10676 5dcc BA2F mov r27,r26 10677 5dce 3327 clr r19 10678 5dd0 27FD sbrc r18,7 10679 5dd2 3095 com r19 10680 5dd4 432F mov r20,r19 10681 5dd6 532F mov r21,r19 10682 5dd8 BC01 movw r22,r24 10683 5dda CD01 movw r24,r26 10684 5ddc 0E94 0000 call __mulsi3 10685 5de0 97FF sbrs r25,7 10686 5de2 00C0 rjmp .L871 10687 5de4 615C subi r22,lo8(-(63)) 10688 5de6 7F4F sbci r23,hi8(-(63)) 10689 5de8 8F4F sbci r24,hlo8(-(63)) 10690 5dea 9F4F sbci r25,hhi8(-(63)) 10691 .L871: 10692 5dec A6E0 ldi r26,6 10693 5dee 9595 1: asr r25 10694 5df0 8795 ror r24 10695 5df2 7795 ror r23 10696 5df4 6795 ror r22 10697 5df6 AA95 dec r26 10698 5df8 01F4 brne 1b 10699 5dfa AE89 ldd r26,Y+22 10700 5dfc BF89 ldd r27,Y+23 10701 5dfe A60F add r26,r22 10702 5e00 B71F adc r27,r23 10703 5e02 BF8B std Y+23,r27 10704 5e04 AE8B std Y+22,r26 10705 .L868: 10706 5e06 F501 movw r30,r10 10707 5e08 2381 ldd r18,Z+3 10708 5e0a 2034 cpi r18,lo8(64) 10709 5e0c 01F4 brne .L872 10710 5e0e 2E89 ldd r18,Y+22 10711 5e10 3F89 ldd r19,Y+23 10712 5e12 200F add r18,r16 10713 5e14 311F adc r19,r17 10714 5e16 3F8B std Y+23,r19 10715 5e18 2E8B std Y+22,r18 10716 5e1a 00C0 rjmp .L873 10717 .L872: 10718 5e1c 203C cpi r18,lo8(-64) 10719 5e1e 01F4 brne .L874 10720 5e20 4E89 ldd r20,Y+22 10721 5e22 5F89 ldd r21,Y+23 10722 5e24 401B sub r20,r16 10723 5e26 510B sbc r21,r17 10724 5e28 5F8B std Y+23,r21 10725 5e2a 4E8B std Y+22,r20 10726 5e2c 00C0 rjmp .L873 10727 .L874: 10728 5e2e C801 movw r24,r16 10729 5e30 AA27 clr r26 10730 5e32 97FD sbrc r25,7 10731 5e34 A095 com r26 10732 5e36 BA2F mov r27,r26 10733 5e38 3327 clr r19 10734 5e3a 27FD sbrc r18,7 10735 5e3c 3095 com r19 10736 5e3e 432F mov r20,r19 10737 5e40 532F mov r21,r19 10738 5e42 BC01 movw r22,r24 10739 5e44 CD01 movw r24,r26 10740 5e46 0E94 0000 call __mulsi3 10741 5e4a 97FF sbrs r25,7 10742 5e4c 00C0 rjmp .L876 10743 5e4e 615C subi r22,lo8(-(63)) 10744 5e50 7F4F sbci r23,hi8(-(63)) 10745 5e52 8F4F sbci r24,hlo8(-(63)) 10746 5e54 9F4F sbci r25,hhi8(-(63)) 10747 .L876: 10748 5e56 F6E0 ldi r31,6 10749 5e58 9595 1: asr r25 10750 5e5a 8795 ror r24 10751 5e5c 7795 ror r23 10752 5e5e 6795 ror r22 10753 5e60 FA95 dec r31 10754 5e62 01F4 brne 1b 10755 5e64 AE89 ldd r26,Y+22 10756 5e66 BF89 ldd r27,Y+23 10757 5e68 A60F add r26,r22 10758 5e6a B71F adc r27,r23 10759 5e6c BF8B std Y+23,r27 10760 5e6e AE8B std Y+22,r26 10761 .L873: 10762 5e70 F301 movw r30,r6 10763 5e72 8081 ld r24,Z 10764 5e74 9181 ldd r25,Z+1 10765 5e76 2E89 ldd r18,Y+22 10766 5e78 3F89 ldd r19,Y+23 10767 5e7a 8217 cp r24,r18 10768 5e7c 9307 cpc r25,r19 10769 5e7e 04F4 brge .L877 10770 5e80 B901 movw r22,r18 10771 5e82 680F add r22,r24 10772 5e84 791F adc r23,r25 10773 5e86 77FF sbrs r23,7 10774 5e88 00C0 rjmp .L878 10775 5e8a 6F5F subi r22,lo8(-(1)) 10776 5e8c 7F4F sbci r23,hi8(-(1)) 10777 .L878: 10778 5e8e 7595 asr r23 10779 5e90 6795 ror r22 10780 5e92 7F8B std Y+23,r23 10781 5e94 6E8B std Y+22,r22 10782 5e96 00C0 rjmp .L879 10783 .L877: 10784 5e98 5520 tst r5 10785 5e9a 01F4 brne .L880 10786 5e9c 4E89 ldd r20,Y+22 10787 5e9e 5F89 ldd r21,Y+23 10788 5ea0 440F add r20,r20 10789 5ea2 551F adc r21,r21 10790 5ea4 481B sub r20,r24 10791 5ea6 590B sbc r21,r25 10792 5ea8 5F8B std Y+23,r21 10793 5eaa 4E8B std Y+22,r20 10794 5eac 00C0 rjmp .L879 10795 .L880: 10796 5eae 51E0 ldi r21,lo8(1) 10797 5eb0 5515 cp r21,r5 10798 5eb2 00F4 brsh .L879 10799 5eb4 252D mov r18,r5 10800 5eb6 3327 clr r19 10801 5eb8 6E89 ldd r22,Y+22 10802 5eba 7F89 ldd r23,Y+23 10803 5ebc 861B sub r24,r22 10804 5ebe 970B sbc r25,r23 10805 5ec0 B901 movw r22,r18 10806 5ec2 0E94 0000 call __divmodhi4 10807 5ec6 AE89 ldd r26,Y+22 10808 5ec8 BF89 ldd r27,Y+23 10809 5eca A60F add r26,r22 10810 5ecc B71F adc r27,r23 10811 5ece BF8B std Y+23,r27 10812 5ed0 AE8B std Y+22,r26 10813 .L879: 10814 5ed2 C101 movw r24,r2 10815 5ed4 880F lsl r24 10816 5ed6 991F rol r25 10817 5ed8 880F lsl r24 10818 5eda 991F rol r25 10819 5edc EE89 ldd r30,Y+22 10820 5ede FF89 ldd r31,Y+23 10821 5ee0 8E17 cp r24,r30 10822 5ee2 9F07 cpc r25,r31 10823 5ee4 04F4 brge .L922 10824 5ee6 FD89 ldd r31,Y+21 10825 5ee8 8F2F mov r24,r31 10826 5eea 9927 clr r25 10827 5eec 880F lsl r24 10828 5eee 991F rol r25 10829 5ef0 880F lsl r24 10830 5ef2 991F rol r25 10831 5ef4 2E89 ldd r18,Y+22 10832 5ef6 3F89 ldd r19,Y+23 10833 5ef8 2817 cp r18,r24 10834 5efa 3907 cpc r19,r25 10835 5efc 04F0 brlt .L884 10836 .L922: 10837 5efe 9F8B std Y+23,r25 10838 5f00 8E8B std Y+22,r24 10839 .L884: 10840 5f02 8E89 ldd r24,Y+22 10841 5f04 9F89 ldd r25,Y+23 10842 5f06 97FD sbrc r25,7 10843 5f08 0396 adiw r24,3 10844 .L886: 10845 5f0a 9595 asr r25 10846 5f0c 8795 ror r24 10847 5f0e 9595 asr r25 10848 5f10 8795 ror r24 10849 5f12 F401 movw r30,r8 10850 5f14 8183 std Z+1,r24 10851 5f16 880F lsl r24 10852 5f18 991F rol r25 10853 5f1a 880F lsl r24 10854 5f1c 991F rol r25 10855 5f1e 2E89 ldd r18,Y+22 10856 5f20 3F89 ldd r19,Y+23 10857 5f22 281B sub r18,r24 10858 5f24 390B sbc r19,r25 10859 5f26 C901 movw r24,r18 10860 5f28 880F lsl r24 10861 5f2a 8283 std Z+2,r24 10862 5f2c EE89 ldd r30,Y+22 10863 5f2e FF89 ldd r31,Y+23 10864 5f30 D301 movw r26,r6 10865 5f32 ED93 st X+,r30 10866 5f34 FC93 st X,r31 10867 5f36 00C0 rjmp .L857 10868 .L858: 10869 5f38 F401 movw r30,r8 10870 5f3a 1182 std Z+1,__zero_reg__ 10871 5f3c 1282 std Z+2,__zero_reg__ 10872 .L857: 10873 5f3e 4A94 dec r4 10874 5f40 22E0 ldi r18,lo8(2) 10875 5f42 30E0 ldi r19,hi8(2) 10876 5f44 620E add r6,r18 10877 5f46 731E adc r7,r19 10878 5f48 44E0 ldi r20,lo8(4) 10879 5f4a 50E0 ldi r21,hi8(4) 10880 5f4c A40E add r10,r20 10881 5f4e B51E adc r11,r21 10882 5f50 68E0 ldi r22,lo8(8) 10883 5f52 70E0 ldi r23,hi8(8) 10884 5f54 860E add r8,r22 10885 5f56 971E adc r9,r23 10886 5f58 47FE sbrs r4,7 10887 5f5a 00C0 rjmp .L889 10888 /* epilogue: frame size=23 */ 10889 5f5c E2E1 ldi r30,18 10890 5f5e C95E subi r28,-23 10891 5f60 0C94 0000 jmp __epilogue_restores__+0 10892 /* epilogue end (size=4) */ 10893 /* function MotorRegler size 8305 (8295) */ 10895 .comm TrimNick,2,1 10896 .comm TrimRoll,2,1 10897 .comm ErsatzKompass,4,1 10898 .comm ErsatzKompassInGrad,2,1 10899 .comm MesswertNick,2,1 10900 .comm MesswertRoll,2,1 10901 .comm MesswertGier,2,1 10902 .comm Mittelwert_AccNick,2,1 10903 .comm Mittelwert_AccRoll,2,1 10904 .comm NaviAccNick,2,1 10905 .comm NaviAccRoll,2,1 10906 .comm h,1,1 10907 .comm m,1,1 10908 .comm s,1,1 10909 .comm DiffNick,2,1 10910 .comm DiffRoll,2,1 10911 .comm Parameter_Servo3,1,1 10912 .comm Parameter_Servo4,1,1 10913 .comm Parameter_Servo5,1,1 10914 .comm Parameter_J16Bitmask,1,1 10915 .comm Parameter_J16Timing,1,1 10916 .comm Parameter_J17Bitmask,1,1 10917 .comm Parameter_J17Timing,1,1 10918 .comm Parameter_GlobalConfig,1,1 10919 .comm Parameter_ExtraConfig,1,1 10920 .comm MesswertGierBias,2,1 10921 .comm RohMesswertNick,2,1 10922 .comm RohMesswertRoll,2,1 10923 .comm MittelIntegralNick,4,1 10924 .comm MittelIntegralRoll,4,1 10925 .comm MittelIntegralNick2,4,1 10926 .comm MittelIntegralRoll2,4,1 10927 .comm MAX_GAS,1,1 10928 .comm MIN_GAS,1,1 10929 .comm GyroFaktor,1,1 10930 .comm GyroFaktorGier,1,1 10931 .comm IntegralFaktor,1,1 10932 .comm IntegralFaktorGier,1,1 10933 .comm Parameter_NaviGpsModeControl,1,1 10934 .comm Parameter_NaviGpsGain,1,1 10935 .comm Parameter_NaviGpsP,1,1 10936 .comm Parameter_NaviGpsI,1,1 10937 .comm Parameter_NaviGpsD,1,1 10938 .comm Parameter_NaviGpsACC,1,1 10939 .comm Parameter_NaviOperatingRadius,1,1 10940 .comm Parameter_NaviWindCorrection,1,1 10941 .comm Parameter_NaviSpeedCompensation,1,1 10942 .comm Parameter_ExternalControl,1,1 10943 .comm Parameter_MaximumAltitude,1,1 10944 .comm KopplungsteilNickRoll,2,1 10945 .comm KopplungsteilRollNick,2,1 10946 .comm tmp_motorwert,24,1 10947 /* File "fc.c": code 12377 = 0x3059 (12316), prologues 31, epilogues 30 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\Temp/cch19s1E.s:3 *ABS*:0000003f __SREG__ C:\Temp/cch19s1E.s:4 *ABS*:0000003e __SP_H__ C:\Temp/cch19s1E.s:5 *ABS*:0000003d __SP_L__ C:\Temp/cch19s1E.s:6 *ABS*:00000000 __tmp_reg__ C:\Temp/cch19s1E.s:7 *ABS*:00000001 __zero_reg__ C:\Temp/cch19s1E.s:15 .bss:00000000 GasIsZeroCnt C:\Temp/cch19s1E.s:21 .bss:00000002 HooverGasEmergencyPercent C:\Temp/cch19s1E.s:27 .data:00000000 VarioCharacter C:\Temp/cch19s1E.s:32 .data:00000001 GIER_GRAD_FAKTOR C:\Temp/cch19s1E.s:39 .bss:00000004 FC_StatusFlags2 C:\Temp/cch19s1E.s:45 .bss:00000005 FC_StatusFlags C:\Temp/cch19s1E.s:51 .bss:00000006 modell_fliegt C:\Temp/cch19s1E.s:57 .bss:00000008 MaxStickRoll C:\Temp/cch19s1E.s:63 .bss:0000000a MaxStickNick C:\Temp/cch19s1E.s:69 .data:00000005 ExternHoehenValue C:\Temp/cch19s1E.s:76 .bss:0000000c ExternStickGier C:\Temp/cch19s1E.s:82 .bss:0000000e ExternStickRoll C:\Temp/cch19s1E.s:88 .bss:00000010 ExternStickNick C:\Temp/cch19s1E.s:94 .data:00000007 sintab C:\Temp/cch19s1E.s:131 .bss:00000012 CareFree C:\Temp/cch19s1E.s:137 .data:00000026 Parameter_DynamicStability C:\Temp/cch19s1E.s:142 .data:00000027 Parameter_CouplingYawCorrection C:\Temp/cch19s1E.s:147 .data:00000028 Parameter_AchsKopplung2 C:\Temp/cch19s1E.s:152 .data:00000029 Parameter_AchsKopplung1 C:\Temp/cch19s1E.s:157 .data:0000002a Parameter_LoopGasLimit C:\Temp/cch19s1E.s:162 .data:0000002b Parameter_ServoRollComp C:\Temp/cch19s1E.s:167 .data:0000002c Parameter_ServoNickComp C:\Temp/cch19s1E.s:172 .data:0000002d Parameter_ServoRollControl C:\Temp/cch19s1E.s:177 .data:0000002e Parameter_ServoNickControl C:\Temp/cch19s1E.s:184 .bss:00000013 Parameter_UserParam8 C:\Temp/cch19s1E.s:190 .bss:00000014 Parameter_UserParam7 C:\Temp/cch19s1E.s:196 .bss:00000015 Parameter_UserParam6 C:\Temp/cch19s1E.s:202 .bss:00000016 Parameter_UserParam5 C:\Temp/cch19s1E.s:208 .bss:00000017 Parameter_UserParam4 C:\Temp/cch19s1E.s:214 .bss:00000018 Parameter_UserParam3 C:\Temp/cch19s1E.s:220 .bss:00000019 Parameter_UserParam2 C:\Temp/cch19s1E.s:226 .bss:0000001a Parameter_UserParam1 C:\Temp/cch19s1E.s:232 .data:0000002f Parameter_I_Faktor C:\Temp/cch19s1E.s:237 .data:00000030 Parameter_Gier_P C:\Temp/cch19s1E.s:242 .data:00000031 Parameter_Gyro_Gier_I C:\Temp/cch19s1E.s:247 .data:00000032 Parameter_Gyro_Gier_P C:\Temp/cch19s1E.s:252 .data:00000033 Parameter_Gyro_I C:\Temp/cch19s1E.s:257 .data:00000034 Parameter_Gyro_P C:\Temp/cch19s1E.s:262 .data:00000035 Parameter_Gyro_D C:\Temp/cch19s1E.s:267 .data:00000036 Parameter_Hoehe_GPS_Z C:\Temp/cch19s1E.s:272 .data:00000037 Parameter_KompassWirkung C:\Temp/cch19s1E.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung C:\Temp/cch19s1E.s:282 .data:00000039 Parameter_Hoehe_P C:\Temp/cch19s1E.s:287 .data:0000003a Parameter_HoehenSchalter C:\Temp/cch19s1E.s:292 .data:0000003b Parameter_Luftdruck_D C:\Temp/cch19s1E.s:299 .bss:0000001b Looping_Oben C:\Temp/cch19s1E.s:305 .bss:0000001c Looping_Unten C:\Temp/cch19s1E.s:311 .bss:0000001d Looping_Rechts C:\Temp/cch19s1E.s:317 .bss:0000001e Looping_Links C:\Temp/cch19s1E.s:323 .bss:0000001f Looping_Roll C:\Temp/cch19s1E.s:329 .bss:00000020 Looping_Nick C:\Temp/cch19s1E.s:335 .data:0000003c Ki C:\Temp/cch19s1E.s:342 .bss:00000021 HoverGas C:\Temp/cch19s1E.s:348 .bss:00000023 LageKorrekturNick C:\Temp/cch19s1E.s:354 .bss:00000025 LageKorrekturRoll C:\Temp/cch19s1E.s:360 .bss:00000027 NeueKompassRichtungMerken C:\Temp/cch19s1E.s:366 .bss:00000028 CalibrationDone C:\Temp/cch19s1E.s:372 .bss:00000029 CompassGierSetpoint C:\Temp/cch19s1E.s:378 .bss:0000002b WaypointTrimming C:\Temp/cch19s1E.s:384 .data:0000003e carefree_old C:\Temp/cch19s1E.s:391 .bss:0000002c FromNC_AltitudeSpeed C:\Temp/cch19s1E.s:397 .bss:0000002d FromNC_AltitudeSetpoint C:\Temp/cch19s1E.s:403 .bss:00000031 AltitudeSetpointTrimming C:\Temp/cch19s1E.s:409 .bss:00000033 SollHoehe C:\Temp/cch19s1E.s:415 .bss:00000037 HoehenWert C:\Temp/cch19s1E.s:421 .bss:0000003b StartTrigger C:\Temp/cch19s1E.s:427 .bss:0000003c MotorenEin C:\Temp/cch19s1E.s:433 .bss:0000003d SenderOkay C:\Temp/cch19s1E.s:439 .bss:0000003e Poti C:\Temp/cch19s1E.s:445 .bss:00000047 StickGas C:\Temp/cch19s1E.s:451 .bss:00000049 StickGier C:\Temp/cch19s1E.s:457 .bss:0000004b StickRoll C:\Temp/cch19s1E.s:463 .bss:0000004d StickNick C:\Temp/cch19s1E.s:469 .data:0000003f HoverGasMax C:\Temp/cch19s1E.s:476 .bss:0000004f HoverGasMin C:\Temp/cch19s1E.s:482 .data:00000041 StickGasHover C:\Temp/cch19s1E.s:489 .bss:00000051 GierGyroFehler C:\Temp/cch19s1E.s:495 .data:00000043 Umschlag180Roll C:\Temp/cch19s1E.s:500 .data:00000047 Umschlag180Nick C:\Temp/cch19s1E.s:507 .bss:00000053 TrichterFlug C:\Temp/cch19s1E.s:513 .bss:00000054 HoehenReglerAktiv C:\Temp/cch19s1E.s:519 .data:0000004b KompassSignalSchlecht C:\Temp/cch19s1E.s:524 .data:0000004d KompassFusion C:\Temp/cch19s1E.s:529 .data:0000004e CalculateCompassTimer C:\Temp/cch19s1E.s:536 .bss:00000055 KompassSollWert C:\Temp/cch19s1E.s:542 .data:0000004f KompassValue C:\Temp/cch19s1E.s:549 .bss:00000057 Mess_Integral_Hoch C:\Temp/cch19s1E.s:555 .bss:0000005b SummeRoll C:\Temp/cch19s1E.s:561 .bss:0000005f SummeNick C:\Temp/cch19s1E.s:567 .bss:00000063 Mess_Integral_Gier2 C:\Temp/cch19s1E.s:573 .bss:00000067 Mess_Integral_Gier C:\Temp/cch19s1E.s:579 .bss:0000006b Mess_IntegralRoll2 C:\Temp/cch19s1E.s:585 .bss:0000006f Mess_IntegralRoll C:\Temp/cch19s1E.s:591 .bss:00000073 Mess_IntegralNick2 C:\Temp/cch19s1E.s:597 .bss:00000077 Mess_IntegralNick C:\Temp/cch19s1E.s:603 .bss:0000007b Integral_Gier C:\Temp/cch19s1E.s:609 .bss:0000007f IntegralAccZ C:\Temp/cch19s1E.s:615 .bss:00000083 IntegralAccRoll C:\Temp/cch19s1E.s:621 .bss:00000087 IntegralAccNick C:\Temp/cch19s1E.s:627 .bss:0000008b IntegralRoll2 C:\Temp/cch19s1E.s:633 .bss:0000008f IntegralRoll C:\Temp/cch19s1E.s:639 .bss:00000093 IntegralNick2 C:\Temp/cch19s1E.s:645 .bss:00000097 IntegralNick C:\Temp/cch19s1E.s:651 .bss:0000009b ControlHeading C:\Temp/cch19s1E.s:657 .bss:0000009c NeutralAccZ C:\Temp/cch19s1E.s:663 .bss:0000009e NaviCntAcc C:\Temp/cch19s1E.s:669 .bss:000000a0 NeutralAccY C:\Temp/cch19s1E.s:675 .bss:000000a2 NeutralAccX C:\Temp/cch19s1E.s:681 .bss:000000a4 StartNeutralNick C:\Temp/cch19s1E.s:687 .bss:000000a6 StartNeutralRoll C:\Temp/cch19s1E.s:693 .bss:000000a8 AdNeutralGier C:\Temp/cch19s1E.s:699 .bss:000000aa AdNeutralRoll C:\Temp/cch19s1E.s:705 .bss:000000ac AdNeutralNick C:\Temp/cch19s1E.s:711 .bss:000000ae BaroExpandActive C:\Temp/cch19s1E.s:716 .text:00000000 CopyDebugValues *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000002 ErsatzKompassInGrad C:\Temp/cch19s1E.s:902 .text:0000022c Piep C:\Temp/cch19s1E.s:976 .text:000002b2 CalibrierMittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier C:\Temp/cch19s1E.s:1118 .progmem.data:00000000 __c.35 C:\Temp/cch19s1E.s:1123 .text:000003f4 SetNeutral *COM*:00000004 ErsatzKompass .bss:000000b0 tmpl.27 C:\Temp/cch19s1E.s:1631 .bss:000000b4 tmpl2.28 C:\Temp/cch19s1E.s:1632 .bss:000000b8 tmpl3.29 C:\Temp/cch19s1E.s:1633 .bss:000000bc tmpl4.30 C:\Temp/cch19s1E.s:1634 .bss:000000c0 oldNick.31 C:\Temp/cch19s1E.s:1635 .bss:000000c2 oldRoll.32 C:\Temp/cch19s1E.s:1636 .bss:000000c4 d2Roll.33 C:\Temp/cch19s1E.s:1637 .bss:000000c6 d2Nick.34 C:\Temp/cch19s1E.s:1641 .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/cch19s1E.s:3206 .text:000018c4 SendMotorData C:\Temp/cch19s1E.s:3266 .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/cch19s1E.s:1638 .bss:000000c8 sollGier.0 C:\Temp/cch19s1E.s:4009 .bss:000000cc tmp_long.1 C:\Temp/cch19s1E.s:4010 .bss:000000d0 tmp_long2.2 C:\Temp/cch19s1E.s:4011 .bss:000000d4 IntegralFehlerNick.3 C:\Temp/cch19s1E.s:4012 .bss:000000d8 IntegralFehlerRoll.4 C:\Temp/cch19s1E.s:4013 .bss:000000dc RcLostTimer.5 C:\Temp/cch19s1E.s:4014 .bss:000000de delay_neutral.6 C:\Temp/cch19s1E.s:4015 .bss:000000df delay_einschalten.7 C:\Temp/cch19s1E.s:4016 .bss:000000e0 delay_ausschalten.8 C:\Temp/cch19s1E.s:4017 .bss:000000e1 move_safety_switch.9 C:\Temp/cch19s1E.s:4018 .bss:000000e2 ausgleichNick.10 C:\Temp/cch19s1E.s:4019 .bss:000000e6 ausgleichRoll.11 C:\Temp/cch19s1E.s:4020 .bss:000000ea stick_nick.12 C:\Temp/cch19s1E.s:4021 .bss:000000ec stick_roll.13 C:\Temp/cch19s1E.s:4022 .bss:000000ee cnt.14 C:\Temp/cch19s1E.s:4023 .bss:000000f0 last_n_p.15 C:\Temp/cch19s1E.s:4024 .bss:000000f1 last_n_n.16 C:\Temp/cch19s1E.s:4025 .bss:000000f2 last_r_p.17 C:\Temp/cch19s1E.s:4026 .bss:000000f3 last_r_n.18 C:\Temp/cch19s1E.s:4027 .bss:000000f4 MittelIntegralNick_Alt.19 C:\Temp/cch19s1E.s:4028 .bss:000000f8 MittelIntegralRoll_Alt.20 C:\Temp/cch19s1E.s:4029 .bss:000000fc HeightTrimming.21 C:\Temp/cch19s1E.s:4030 .bss:000000fe FilterHCGas.22 C:\Temp/cch19s1E.s:4031 .bss:00000100 HoverGasFilter.23 C:\Temp/cch19s1E.s:4036 .data:00000051 delay.24 C:\Temp/cch19s1E.s:4032 .bss:00000104 BaroAtUpperLimit.25 C:\Temp/cch19s1E.s:4038 .bss:00000105 BaroAtLowerLimit.26 C:\Temp/cch19s1E.s:4043 .text:00001f76 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