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,SollHoehe 779 00a4 9091 0000 lds r25,(SollHoehe)+1 780 00a8 A091 0000 lds r26,(SollHoehe)+2 781 00ac B091 0000 lds r27,(SollHoehe)+3 782 00b0 BC01 movw r22,r24 783 00b2 CD01 movw r24,r26 784 00b4 25E0 ldi r18,lo8(5) 785 00b6 30E0 ldi r19,hi8(5) 786 00b8 40E0 ldi r20,hlo8(5) 787 00ba 50E0 ldi r21,hhi8(5) 788 00bc 0E94 0000 call __divmodsi4 789 00c0 3093 0000 sts (DebugOut+10)+1,r19 790 00c4 2093 0000 sts DebugOut+10,r18 791 00c8 8091 0000 lds r24,HoehenWert 792 00cc 9091 0000 lds r25,(HoehenWert)+1 793 00d0 A091 0000 lds r26,(HoehenWert)+2 794 00d4 B091 0000 lds r27,(HoehenWert)+3 795 00d8 BC01 movw r22,r24 796 00da CD01 movw r24,r26 797 00dc 25E0 ldi r18,lo8(5) 798 00de 30E0 ldi r19,hi8(5) 799 00e0 40E0 ldi r20,hlo8(5) 800 00e2 50E0 ldi r21,hhi8(5) 801 00e4 0E94 0000 call __divmodsi4 802 00e8 3093 0000 sts (DebugOut+12)+1,r19 803 00ec 2093 0000 sts DebugOut+12,r18 804 00f0 8091 0000 lds r24,KompassValue 805 00f4 9091 0000 lds r25,(KompassValue)+1 806 00f8 9093 0000 sts (DebugOut+14)+1,r25 807 00fc 8093 0000 sts DebugOut+14,r24 808 0100 8091 0000 lds r24,KompassSollWert 809 0104 9091 0000 lds r25,(KompassSollWert)+1 810 0108 9093 0000 sts (DebugOut+16)+1,r25 811 010c 8093 0000 sts DebugOut+16,r24 812 0110 8091 0000 lds r24,Capacity 813 0114 9091 0000 lds r25,(Capacity)+1 814 0118 9093 0000 sts (DebugOut+18)+1,r25 815 011c 8093 0000 sts DebugOut+18,r24 816 0120 8091 0000 lds r24,UBat 817 0124 9091 0000 lds r25,(UBat)+1 818 0128 9093 0000 sts (DebugOut+20)+1,r25 819 012c 8093 0000 sts DebugOut+20,r24 820 0130 8091 0000 lds r24,Motor+1 821 0134 9927 clr r25 822 0136 9093 0000 sts (DebugOut+22)+1,r25 823 013a 8093 0000 sts DebugOut+22,r24 824 013e 8091 0000 lds r24,Motor+9 825 0142 9927 clr r25 826 0144 9093 0000 sts (DebugOut+24)+1,r25 827 0148 8093 0000 sts DebugOut+24,r24 828 014c 8091 0000 lds r24,Motor+17 829 0150 9927 clr r25 830 0152 9093 0000 sts (DebugOut+26)+1,r25 831 0156 8093 0000 sts DebugOut+26,r24 832 015a 8091 0000 lds r24,Motor+25 833 015e 9927 clr r25 834 0160 9093 0000 sts (DebugOut+28)+1,r25 835 0164 8093 0000 sts DebugOut+28,r24 836 0168 8091 0000 lds r24,Motor+33 837 016c 9927 clr r25 838 016e 9093 0000 sts (DebugOut+30)+1,r25 839 0172 8093 0000 sts DebugOut+30,r24 840 0176 8091 0000 lds r24,Motor+41 841 017a 9927 clr r25 842 017c 9093 0000 sts (DebugOut+32)+1,r25 843 0180 8093 0000 sts DebugOut+32,r24 844 0184 8091 0000 lds r24,SenderOkay 845 0188 9927 clr r25 846 018a 9093 0000 sts (DebugOut+34)+1,r25 847 018e 8093 0000 sts DebugOut+34,r24 848 0192 8091 0000 lds r24,ErsatzKompass 849 0196 9091 0000 lds r25,(ErsatzKompass)+1 850 019a A091 0000 lds r26,(ErsatzKompass)+2 851 019e B091 0000 lds r27,(ErsatzKompass)+3 852 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR 853 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 854 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 855 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 856 01b2 BC01 movw r22,r24 857 01b4 CD01 movw r24,r26 858 01b6 0E94 0000 call __divmodsi4 859 01ba 3093 0000 sts (DebugOut+36)+1,r19 860 01be 2093 0000 sts DebugOut+36,r18 861 01c2 8091 0000 lds r24,AdNeutralGier 862 01c6 9091 0000 lds r25,(AdNeutralGier)+1 863 01ca 2091 0000 lds r18,AdWertGier 864 01ce 3091 0000 lds r19,(AdWertGier)+1 865 01d2 821B sub r24,r18 866 01d4 930B sbc r25,r19 867 01d6 9093 0000 sts (DebugOut+38)+1,r25 868 01da 8093 0000 sts DebugOut+38,r24 869 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__ 870 01e2 1092 0000 sts DebugOut+40,__zero_reg__ 871 01e6 8091 0000 lds r24,ServoNickValue 872 01ea 9091 0000 lds r25,(ServoNickValue)+1 873 01ee 9093 0000 sts (DebugOut+42)+1,r25 874 01f2 8093 0000 sts DebugOut+42,r24 875 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__ 876 01fa 1092 0000 sts DebugOut+44,__zero_reg__ 877 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__ 878 0202 1092 0000 sts DebugOut+46,__zero_reg__ 879 0206 8091 0000 lds r24,Capacity+4 880 020a 9091 0000 lds r25,(Capacity+4)+1 881 020e 9093 0000 sts (DebugOut+48)+1,r25 882 0212 8093 0000 sts DebugOut+48,r24 883 0216 8091 0000 lds r24,Capacity+6 884 021a 9927 clr r25 885 021c 9093 0000 sts (DebugOut+50)+1,r25 886 0220 8093 0000 sts DebugOut+50,r24 887 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__ 888 0228 1092 0000 sts DebugOut+52,__zero_reg__ 889 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__ 890 0230 1092 0000 sts DebugOut+54,__zero_reg__ 891 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__ 892 0238 1092 0000 sts DebugOut+56,__zero_reg__ 893 023c 8091 0000 lds r24,AdWertAccHoch 894 0240 9091 0000 lds r25,(AdWertAccHoch)+1 895 0244 9093 0000 sts (DebugOut+58)+1,r25 896 0248 8093 0000 sts DebugOut+58,r24 897 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__ 898 0250 1092 0000 sts DebugOut+60,__zero_reg__ 899 0254 8091 0000 lds r24,GPS_Nick 900 0258 9091 0000 lds r25,(GPS_Nick)+1 901 025c 9093 0000 sts (DebugOut+62)+1,r25 902 0260 8093 0000 sts DebugOut+62,r24 903 0264 8091 0000 lds r24,GPS_Roll 904 0268 9091 0000 lds r25,(GPS_Roll)+1 905 026c 9093 0000 sts (DebugOut+64)+1,r25 906 0270 8093 0000 sts DebugOut+64,r24 907 0274 8091 0000 lds r24,VersionInfo+5 908 0278 8823 tst r24 909 027a 01F4 brne .L5 910 027c 8091 0000 lds r24,VersionInfo+6 911 0280 8823 tst r24 912 0282 01F0 breq .L4 913 .L5: 914 0284 8091 0000 lds r24,DebugOut+1 915 0288 8160 ori r24,lo8(1) 916 028a 00C0 rjmp .L7 917 .L4: 918 028c 8091 0000 lds r24,DebugOut+1 919 0290 8E7F andi r24,lo8(-2) 920 .L7: 921 0292 8093 0000 sts DebugOut+1,r24 922 /* epilogue: frame size=0 */ 923 0296 1F91 pop r17 924 0298 0F91 pop r16 925 029a FF90 pop r15 926 029c EF90 pop r14 927 029e 0895 ret 928 /* epilogue end (size=5) */ 929 /* function CopyDebugValues size 338 (329) */ 931 .global Piep 933 Piep: 934 /* prologue: frame size=0 */ 935 02a0 EF92 push r14 936 02a2 FF92 push r15 937 02a4 1F93 push r17 938 02a6 CF93 push r28 939 02a8 DF93 push r29 940 /* prologue end (size=5) */ 941 02aa 182F mov r17,r24 942 02ac 7B01 movw r14,r22 943 02ae 8091 0000 lds r24,MotorenEin 944 02b2 8823 tst r24 945 02b4 01F4 brne .L8 946 02b6 8091 0000 lds r24,PlatinenVersion 947 02ba 8C30 cpi r24,lo8(12) 948 02bc 00F0 brlo .L11 949 02be 8631 cpi r24,lo8(22) 950 02c0 01F4 brne .L10 951 .L11: 952 02c2 2998 cbi 37-0x20,1 953 02c4 00C0 rjmp .L12 954 .L10: 955 02c6 299A sbi 37-0x20,1 956 .L12: 957 02c8 1150 subi r17,lo8(-(-1)) 958 02ca 1F3F cpi r17,lo8(-1) 959 02cc 01F0 breq .L26 960 02ce F092 0000 sts (beeptime)+1,r15 961 02d2 E092 0000 sts beeptime,r14 962 02d6 E701 movw r28,r14 963 .L34: 964 02d8 8091 0000 lds r24,beeptime 965 02dc 9091 0000 lds r25,(beeptime)+1 966 02e0 892B or r24,r25 967 02e2 01F4 brne .L31 968 02e4 2097 sbiw r28,0 969 02e6 01F0 breq .L12 970 .L31: 971 02e8 8091 0000 lds r24,UpdateMotor 972 02ec 8823 tst r24 973 02ee 01F0 breq .L34 974 02f0 1092 0000 sts UpdateMotor,__zero_reg__ 975 02f4 8091 0000 lds r24,beeptime 976 02f8 9091 0000 lds r25,(beeptime)+1 977 02fc 892B or r24,r25 978 02fe 01F4 brne .L19 979 0300 2197 sbiw r28,1 980 .L19: 981 0302 0E94 0000 call LIBFC_Polling 982 0306 00C0 rjmp .L34 983 .L26: 984 0308 8091 0000 lds r24,PlatinenVersion 985 030c 8C30 cpi r24,lo8(12) 986 030e 00F0 brlo .L23 987 0310 8631 cpi r24,lo8(22) 988 0312 01F4 brne .L22 989 .L23: 990 0314 299A sbi 37-0x20,1 991 0316 00C0 rjmp .L8 992 .L22: 993 0318 2998 cbi 37-0x20,1 994 .L8: 995 /* epilogue: frame size=0 */ 996 031a DF91 pop r29 997 031c CF91 pop r28 998 031e 1F91 pop r17 999 0320 FF90 pop r15 1000 0322 EF90 pop r14 1001 0324 0895 ret 1002 /* epilogue end (size=6) */ 1003 /* function Piep size 67 (56) */ 1005 .global CalibrierMittelwert 1007 CalibrierMittelwert: 1008 /* prologue: frame size=0 */ 1009 0326 CF93 push r28 1010 0328 DF93 push r29 1011 /* prologue end (size=2) */ 1012 032a 8091 0000 lds r24,PlatinenVersion 1013 032e 8D30 cpi r24,lo8(13) 1014 0330 01F4 brne .L36 1015 0332 0E94 0000 call SucheGyroOffset 1016 .L36: 1017 0336 1092 7A00 sts 122,__zero_reg__ 1018 033a 8091 0000 lds r24,AdWertNick 1019 033e 9091 0000 lds r25,(AdWertNick)+1 1020 0342 9093 0000 sts (MesswertNick)+1,r25 1021 0346 8093 0000 sts MesswertNick,r24 1022 034a 8091 0000 lds r24,AdWertRoll 1023 034e 9091 0000 lds r25,(AdWertRoll)+1 1024 0352 9093 0000 sts (MesswertRoll)+1,r25 1025 0356 8093 0000 sts MesswertRoll,r24 1026 035a 8091 0000 lds r24,AdWertGier 1027 035e 9091 0000 lds r25,(AdWertGier)+1 1028 0362 9093 0000 sts (MesswertGier)+1,r25 1029 0366 8093 0000 sts MesswertGier,r24 1030 036a 2091 0000 lds r18,AdWertAccNick 1031 036e 3091 0000 lds r19,(AdWertAccNick)+1 1032 0372 C901 movw r24,r18 1033 0374 880F lsl r24 1034 0376 991F rol r25 1035 0378 880F lsl r24 1036 037a 991F rol r25 1037 037c 820F add r24,r18 1038 037e 931F adc r25,r19 1039 0380 820F add r24,r18 1040 0382 931F adc r25,r19 1041 0384 9093 0000 sts (Mittelwert_AccNick)+1,r25 1042 0388 8093 0000 sts Mittelwert_AccNick,r24 1043 038c 2091 0000 lds r18,AdWertAccRoll 1044 0390 3091 0000 lds r19,(AdWertAccRoll)+1 1045 0394 C901 movw r24,r18 1046 0396 880F lsl r24 1047 0398 991F rol r25 1048 039a 880F lsl r24 1049 039c 991F rol r25 1050 039e 820F add r24,r18 1051 03a0 931F adc r25,r19 1052 03a2 820F add r24,r18 1053 03a4 931F adc r25,r19 1054 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 1055 03aa 8093 0000 sts Mittelwert_AccRoll,r24 1056 03ae 8FEC ldi r24,lo8(-49) 1057 03b0 8093 7A00 sts 122,r24 1058 03b4 A0E0 ldi r26,lo8(Poti) 1059 03b6 B0E0 ldi r27,hi8(Poti) 1060 03b8 C0E0 ldi r28,lo8(EE_Parameter+5) 1061 03ba D0E0 ldi r29,hi8(EE_Parameter+5) 1062 03bc 97E0 ldi r25,lo8(7) 1063 .L46: 1064 03be 8991 ld r24,Y+ 1065 03c0 E82F mov r30,r24 1066 03c2 FF27 clr r31 1067 03c4 EE0F add r30,r30 1068 03c6 FF1F adc r31,r31 1069 03c8 E050 subi r30,lo8(-(PPM_in)) 1070 03ca F040 sbci r31,hi8(-(PPM_in)) 1071 03cc 0190 ld __tmp_reg__,Z+ 1072 03ce F081 ld r31,Z 1073 03d0 E02D mov r30,__tmp_reg__ 1074 03d2 E158 subi r30,lo8(-(127)) 1075 03d4 FF4F sbci r31,hi8(-(127)) 1076 03d6 1E16 cp __zero_reg__,r30 1077 03d8 1F06 cpc __zero_reg__,r31 1078 03da 04F0 brlt .L40 1079 03dc E0E0 ldi r30,lo8(0) 1080 03de F0E0 ldi r31,hi8(0) 1081 03e0 00C0 rjmp .L41 1082 .L40: 1083 03e2 EF3F cpi r30,255 1084 03e4 F105 cpc r31,__zero_reg__ 1085 03e6 04F0 brlt .L41 1086 03e8 EFEF ldi r30,lo8(255) 1087 03ea F0E0 ldi r31,hi8(255) 1088 .L41: 1089 03ec 8C91 ld r24,X 1090 03ee 282F mov r18,r24 1091 03f0 3327 clr r19 1092 03f2 E217 cp r30,r18 1093 03f4 F307 cpc r31,r19 1094 03f6 04F4 brge .L43 1095 03f8 8150 subi r24,lo8(-(-1)) 1096 03fa 00C0 rjmp .L49 1097 .L43: 1098 03fc 2E17 cp r18,r30 1099 03fe 3F07 cpc r19,r31 1100 0400 04F4 brge .L39 1101 0402 8F5F subi r24,lo8(-(1)) 1102 .L49: 1103 0404 8C93 st X,r24 1104 .L39: 1105 0406 9150 subi r25,lo8(-(-1)) 1106 0408 1196 adiw r26,1 1107 040a 97FF sbrs r25,7 1108 040c 00C0 rjmp .L46 1109 040e 8091 0000 lds r24,EE_Parameter+65 1110 0412 9927 clr r25 1111 0414 AA27 clr r26 1112 0416 BB27 clr r27 1113 0418 BC01 movw r22,r24 1114 041a CD01 movw r24,r26 1115 041c 24EC ldi r18,lo8(2500) 1116 041e 39E0 ldi r19,hi8(2500) 1117 0420 40E0 ldi r20,hlo8(2500) 1118 0422 50E0 ldi r21,hhi8(2500) 1119 0424 0E94 0000 call __mulsi3 1120 0428 DC01 movw r26,r24 1121 042a CB01 movw r24,r22 1122 042c 8093 0000 sts Umschlag180Nick,r24 1123 0430 9093 0000 sts (Umschlag180Nick)+1,r25 1124 0434 A093 0000 sts (Umschlag180Nick)+2,r26 1125 0438 B093 0000 sts (Umschlag180Nick)+3,r27 1126 043c 8091 0000 lds r24,EE_Parameter+66 1127 0440 9927 clr r25 1128 0442 AA27 clr r26 1129 0444 BB27 clr r27 1130 0446 BC01 movw r22,r24 1131 0448 CD01 movw r24,r26 1132 044a 0E94 0000 call __mulsi3 1133 044e DC01 movw r26,r24 1134 0450 CB01 movw r24,r22 1135 0452 8093 0000 sts Umschlag180Roll,r24 1136 0456 9093 0000 sts (Umschlag180Roll)+1,r25 1137 045a A093 0000 sts (Umschlag180Roll)+2,r26 1138 045e B093 0000 sts (Umschlag180Roll)+3,r27 1139 /* epilogue: frame size=0 */ 1140 0462 DF91 pop r29 1141 0464 CF91 pop r28 1142 0466 0895 ret 1143 /* epilogue end (size=3) */ 1144 /* function CalibrierMittelwert size 161 (156) */ 1146 .section .progmem.data,"a",@progbits 1149 __c.35: 1150 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" 1150 4320 6E6F 1150 7420 6361 1150 6C69 6272 1150 6174 6564 1151 .text 1152 .global SetNeutral 1154 SetNeutral: 1155 /* prologue: frame size=0 */ 1156 0468 A0E0 ldi r26,lo8(0) 1157 046a B0E0 ldi r27,hi8(0) 1158 046c E0E0 ldi r30,pm_lo8(1f) 1159 046e F0E0 ldi r31,pm_hi8(1f) 1160 0470 0C94 0000 jmp __prologue_saves__+12 1161 1: 1162 /* prologue end (size=6) */ 1163 0474 882E mov r8,r24 1164 0476 C0E0 ldi r28,lo8(0) 1165 0478 D0E0 ldi r29,hi8(0) 1166 047a 7E01 movw r14,r28 1167 047c 6E01 movw r12,r28 1168 047e 1092 0000 sts VersionInfo+5,__zero_reg__ 1169 0482 D093 0000 sts (NeutralAccX)+1,r29 1170 0486 C093 0000 sts NeutralAccX,r28 1171 048a D093 0000 sts (NeutralAccY)+1,r29 1172 048e C093 0000 sts NeutralAccY,r28 1173 0492 D093 0000 sts (NeutralAccZ)+1,r29 1174 0496 C093 0000 sts NeutralAccZ,r28 1175 049a D093 0000 sts (AdNeutralNick)+1,r29 1176 049e C093 0000 sts AdNeutralNick,r28 1177 04a2 D093 0000 sts (AdNeutralRoll)+1,r29 1178 04a6 C093 0000 sts AdNeutralRoll,r28 1179 04aa D093 0000 sts (AdNeutralGier)+1,r29 1180 04ae C093 0000 sts AdNeutralGier,r28 1181 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ 1182 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ 1183 04ba 1092 0000 sts ExpandBaro,__zero_reg__ 1184 04be 0E94 0000 call CalibrierMittelwert 1185 04c2 84E6 ldi r24,lo8(100) 1186 04c4 90E0 ldi r25,hi8(100) 1187 04c6 0E94 0000 call Delay_ms_Mess 1188 04ca 0E94 0000 call CalibrierMittelwert 1189 04ce 8091 0000 lds r24,EE_Parameter+13 1190 04d2 80FF sbrs r24,0 1191 04d4 00C0 rjmp .L51 1192 04d6 8091 0000 lds r24,MessLuftdruck 1193 04da 9091 0000 lds r25,(MessLuftdruck)+1 1194 04de 875B subi r24,lo8(951) 1195 04e0 9340 sbci r25,hi8(951) 1196 04e2 00F4 brsh .L53 1197 04e4 8091 0000 lds r24,MessLuftdruck 1198 04e8 9091 0000 lds r25,(MessLuftdruck)+1 1199 04ec 8E5E subi r24,lo8(750) 1200 04ee 9240 sbci r25,hi8(750) 1201 04f0 00F4 brsh .L51 1202 .L53: 1203 04f2 0E94 0000 call SucheLuftruckOffset 1204 .L51: 1205 04f6 0FE1 ldi r16,lo8(31) 1206 .L57: 1207 04f8 8AE0 ldi r24,lo8(10) 1208 04fa 90E0 ldi r25,hi8(10) 1209 04fc 0E94 0000 call Delay_ms_Mess 1210 0500 8091 0000 lds r24,AdWertGier 1211 0504 9091 0000 lds r25,(AdWertGier)+1 1212 0508 C80F add r28,r24 1213 050a D91F adc r29,r25 1214 050c 8091 0000 lds r24,AdWertNick 1215 0510 9091 0000 lds r25,(AdWertNick)+1 1216 0514 E80E add r14,r24 1217 0516 F91E adc r15,r25 1218 0518 8091 0000 lds r24,AdWertRoll 1219 051c 9091 0000 lds r25,(AdWertRoll)+1 1220 0520 C80E add r12,r24 1221 0522 D91E adc r13,r25 1222 0524 0150 subi r16,lo8(-(-1)) 1223 0526 07FF sbrs r16,7 1224 0528 00C0 rjmp .L57 1225 052a 9701 movw r18,r14 1226 052c 205F subi r18,lo8(-(16)) 1227 052e 3F4F sbci r19,hi8(-(16)) 1228 0530 3695 lsr r19 1229 0532 2795 ror r18 1230 0534 3695 lsr r19 1231 0536 2795 ror r18 1232 0538 3093 0000 sts (AdNeutralNick)+1,r19 1233 053c 2093 0000 sts AdNeutralNick,r18 1234 0540 C601 movw r24,r12 1235 0542 4096 adiw r24,16 1236 0544 9695 lsr r25 1237 0546 8795 ror r24 1238 0548 9695 lsr r25 1239 054a 8795 ror r24 1240 054c 9093 0000 sts (AdNeutralRoll)+1,r25 1241 0550 8093 0000 sts AdNeutralRoll,r24 1242 0554 6096 adiw r28,16 1243 0556 F5E0 ldi r31,5 1244 0558 D695 1: lsr r29 1245 055a C795 ror r28 1246 055c FA95 dec r31 1247 055e 01F4 brne 1b 1248 0560 D093 0000 sts (AdNeutralGier)+1,r29 1249 0564 C093 0000 sts AdNeutralGier,r28 1250 0568 9093 0000 sts (StartNeutralRoll)+1,r25 1251 056c 8093 0000 sts StartNeutralRoll,r24 1252 0570 3093 0000 sts (StartNeutralNick)+1,r19 1253 0574 2093 0000 sts StartNeutralNick,r18 1254 0578 8820 tst r8 1255 057a 01F4 brne .+2 1256 057c 00C0 rjmp .L58 1257 057e 8091 0000 lds r24,Mittelwert_AccNick 1258 0582 9091 0000 lds r25,(Mittelwert_AccNick)+1 1259 0586 97FF sbrs r25,7 1260 0588 00C0 rjmp .L59 1261 058a 9095 com r25 1262 058c 8195 neg r24 1263 058e 9F4F sbci r25,lo8(-1) 1264 .L59: 1265 0590 6CE0 ldi r22,lo8(12) 1266 0592 70E0 ldi r23,hi8(12) 1267 0594 0E94 0000 call __divmodhi4 1268 0598 9B01 movw r18,r22 1269 059a 7093 0000 sts (NeutralAccX)+1,r23 1270 059e 6093 0000 sts NeutralAccX,r22 1271 05a2 8091 0000 lds r24,Mittelwert_AccRoll 1272 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1273 05aa 97FF sbrs r25,7 1274 05ac 00C0 rjmp .L60 1275 05ae 9095 com r25 1276 05b0 8195 neg r24 1277 05b2 9F4F sbci r25,lo8(-1) 1278 .L60: 1279 05b4 6CE0 ldi r22,lo8(12) 1280 05b6 70E0 ldi r23,hi8(12) 1281 05b8 0E94 0000 call __divmodhi4 1282 05bc 7093 0000 sts (NeutralAccY)+1,r23 1283 05c0 6093 0000 sts NeutralAccY,r22 1284 05c4 8091 0000 lds r24,Aktuell_az 1285 05c8 9091 0000 lds r25,(Aktuell_az)+1 1286 05cc 9093 0000 sts (NeutralAccZ)+1,r25 1287 05d0 8093 0000 sts NeutralAccZ,r24 1288 05d4 B901 movw r22,r18 1289 05d6 84E0 ldi r24,lo8(4) 1290 05d8 90E0 ldi r25,hi8(4) 1291 05da 0E94 0000 call SetParamWord 1292 05de 6091 0000 lds r22,NeutralAccY 1293 05e2 7091 0000 lds r23,(NeutralAccY)+1 1294 05e6 86E0 ldi r24,lo8(6) 1295 05e8 90E0 ldi r25,hi8(6) 1296 05ea 0E94 0000 call SetParamWord 1297 05ee 6091 0000 lds r22,NeutralAccZ 1298 05f2 7091 0000 lds r23,(NeutralAccZ)+1 1299 05f6 88E0 ldi r24,lo8(8) 1300 05f8 90E0 ldi r25,hi8(8) 1301 05fa 0E94 0000 call SetParamWord 1302 05fe 00C0 rjmp .L61 1303 .L58: 1304 0600 84E0 ldi r24,lo8(4) 1305 0602 90E0 ldi r25,hi8(4) 1306 0604 0E94 0000 call GetParamWord 1307 0608 9093 0000 sts (NeutralAccX)+1,r25 1308 060c 8093 0000 sts NeutralAccX,r24 1309 0610 86E0 ldi r24,lo8(6) 1310 0612 90E0 ldi r25,hi8(6) 1311 0614 0E94 0000 call GetParamWord 1312 0618 9093 0000 sts (NeutralAccY)+1,r25 1313 061c 8093 0000 sts NeutralAccY,r24 1314 0620 88E0 ldi r24,lo8(8) 1315 0622 90E0 ldi r25,hi8(8) 1316 0624 0E94 0000 call GetParamWord 1317 0628 9C01 movw r18,r24 1318 062a 9093 0000 sts (NeutralAccZ)+1,r25 1319 062e 8093 0000 sts NeutralAccZ,r24 1320 0632 8091 0000 lds r24,NeutralAccX 1321 0636 9091 0000 lds r25,(NeutralAccX)+1 1322 063a 8150 subi r24,lo8(2049) 1323 063c 9840 sbci r25,hi8(2049) 1324 063e 00F4 brsh .L63 1325 0640 8091 0000 lds r24,NeutralAccY 1326 0644 9091 0000 lds r25,(NeutralAccY)+1 1327 0648 8150 subi r24,lo8(2049) 1328 064a 9840 sbci r25,hi8(2049) 1329 064c 00F4 brsh .L63 1330 064e 2150 subi r18,lo8(1025) 1331 0650 3440 sbci r19,hi8(1025) 1332 0652 00F0 brlo .L61 1333 .L63: 1334 0654 80E0 ldi r24,lo8(__c.35) 1335 0656 90E0 ldi r25,hi8(__c.35) 1336 0658 9F93 push r25 1337 065a 8F93 push r24 1338 065c 80E0 ldi r24,lo8(pm(uart_putchar)) 1339 065e 90E0 ldi r25,hi8(pm(uart_putchar)) 1340 0660 9F93 push r25 1341 0662 8F93 push r24 1342 0664 E091 0000 lds r30,_printf_P 1343 0668 F091 0000 lds r31,(_printf_P)+1 1344 066c 0995 icall 1345 066e 8091 0000 lds r24,Mittelwert_AccNick 1346 0672 9091 0000 lds r25,(Mittelwert_AccNick)+1 1347 0676 97FF sbrs r25,7 1348 0678 00C0 rjmp .L64 1349 067a 9095 com r25 1350 067c 8195 neg r24 1351 067e 9F4F sbci r25,lo8(-1) 1352 .L64: 1353 0680 6CE0 ldi r22,lo8(12) 1354 0682 70E0 ldi r23,hi8(12) 1355 0684 0E94 0000 call __divmodhi4 1356 0688 7093 0000 sts (NeutralAccX)+1,r23 1357 068c 6093 0000 sts NeutralAccX,r22 1358 0690 8091 0000 lds r24,Mittelwert_AccRoll 1359 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1360 0698 97FF sbrs r25,7 1361 069a 00C0 rjmp .L65 1362 069c 9095 com r25 1363 069e 8195 neg r24 1364 06a0 9F4F sbci r25,lo8(-1) 1365 .L65: 1366 06a2 6CE0 ldi r22,lo8(12) 1367 06a4 70E0 ldi r23,hi8(12) 1368 06a6 0E94 0000 call __divmodhi4 1369 06aa 7093 0000 sts (NeutralAccY)+1,r23 1370 06ae 6093 0000 sts NeutralAccY,r22 1371 06b2 8091 0000 lds r24,Aktuell_az 1372 06b6 9091 0000 lds r25,(Aktuell_az)+1 1373 06ba 9093 0000 sts (NeutralAccZ)+1,r25 1374 06be 8093 0000 sts NeutralAccZ,r24 1375 06c2 0F90 pop __tmp_reg__ 1376 06c4 0F90 pop __tmp_reg__ 1377 06c6 0F90 pop __tmp_reg__ 1378 06c8 0F90 pop __tmp_reg__ 1379 .L61: 1380 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__ 1381 06ce 1092 0000 sts MesswertNick,__zero_reg__ 1382 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__ 1383 06d6 1092 0000 sts MesswertRoll,__zero_reg__ 1384 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__ 1385 06de 1092 0000 sts MesswertGier,__zero_reg__ 1386 06e2 84E6 ldi r24,lo8(100) 1387 06e4 90E0 ldi r25,hi8(100) 1388 06e6 0E94 0000 call Delay_ms_Mess 1389 06ea 8091 0000 lds r24,AdWertAccNick 1390 06ee 9091 0000 lds r25,(AdWertAccNick)+1 1391 06f2 9C01 movw r18,r24 1392 06f4 220F lsl r18 1393 06f6 331F rol r19 1394 06f8 220F lsl r18 1395 06fa 331F rol r19 1396 06fc 280F add r18,r24 1397 06fe 391F adc r19,r25 1398 0700 280F add r18,r24 1399 0702 391F adc r19,r25 1400 0704 3093 0000 sts (Mittelwert_AccNick)+1,r19 1401 0708 2093 0000 sts Mittelwert_AccNick,r18 1402 070c 8091 0000 lds r24,AdWertAccRoll 1403 0710 9091 0000 lds r25,(AdWertAccRoll)+1 1404 0714 8C01 movw r16,r24 1405 0716 000F lsl r16 1406 0718 111F rol r17 1407 071a 000F lsl r16 1408 071c 111F rol r17 1409 071e 080F add r16,r24 1410 0720 191F adc r17,r25 1411 0722 080F add r16,r24 1412 0724 191F adc r17,r25 1413 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r17 1414 072a 0093 0000 sts Mittelwert_AccRoll,r16 1415 072e 8091 0000 lds r24,EE_Parameter+28 1416 0732 C82E mov r12,r24 1417 0734 DD24 clr r13 1418 0736 EE24 clr r14 1419 0738 FF24 clr r15 1420 073a 4427 clr r20 1421 073c 37FD sbrc r19,7 1422 073e 4095 com r20 1423 0740 542F mov r21,r20 1424 0742 C701 movw r24,r14 1425 0744 B601 movw r22,r12 1426 0746 0E94 0000 call __mulsi3 1427 074a 4B01 movw r8,r22 1428 074c 5C01 movw r10,r24 1429 074e 6093 0000 sts IntegralNick,r22 1430 0752 7093 0000 sts (IntegralNick)+1,r23 1431 0756 8093 0000 sts (IntegralNick)+2,r24 1432 075a 9093 0000 sts (IntegralNick)+3,r25 1433 075e 9801 movw r18,r16 1434 0760 4427 clr r20 1435 0762 37FD sbrc r19,7 1436 0764 4095 com r20 1437 0766 542F mov r21,r20 1438 0768 C701 movw r24,r14 1439 076a B601 movw r22,r12 1440 076c 0E94 0000 call __mulsi3 1441 0770 DC01 movw r26,r24 1442 0772 CB01 movw r24,r22 1443 0774 8093 0000 sts IntegralRoll,r24 1444 0778 9093 0000 sts (IntegralRoll)+1,r25 1445 077c A093 0000 sts (IntegralRoll)+2,r26 1446 0780 B093 0000 sts (IntegralRoll)+3,r27 1447 0784 8092 0000 sts Mess_IntegralNick,r8 1448 0788 9092 0000 sts (Mess_IntegralNick)+1,r9 1449 078c A092 0000 sts (Mess_IntegralNick)+2,r10 1450 0790 B092 0000 sts (Mess_IntegralNick)+3,r11 1451 0794 8093 0000 sts Mess_IntegralRoll,r24 1452 0798 9093 0000 sts (Mess_IntegralRoll)+1,r25 1453 079c A093 0000 sts (Mess_IntegralRoll)+2,r26 1454 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r27 1455 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 1456 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 1457 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 1458 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 1459 07b4 8091 0000 lds r24,Luftdruck 1460 07b8 9091 0000 lds r25,(Luftdruck)+1 1461 07bc A091 0000 lds r26,(Luftdruck)+2 1462 07c0 B091 0000 lds r27,(Luftdruck)+3 1463 07c4 9093 0000 sts (StartLuftdruck)+1,r25 1464 07c8 8093 0000 sts StartLuftdruck,r24 1465 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__ 1466 07d0 1092 0000 sts VarioMeter,__zero_reg__ 1467 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ 1468 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ 1469 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ 1470 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ 1471 07e4 0091 0000 lds r16,KompassValue 1472 07e8 1091 0000 lds r17,(KompassValue)+1 1473 07ec 1093 0000 sts (KompassSollWert)+1,r17 1474 07f0 0093 0000 sts KompassSollWert,r16 1475 07f4 84E6 ldi r24,lo8(100) 1476 07f6 90E0 ldi r25,hi8(100) 1477 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r25 1478 07fc 8093 0000 sts KompassSignalSchlecht,r24 1479 0800 82E3 ldi r24,lo8(50) 1480 0802 90E0 ldi r25,hi8(50) 1481 0804 9093 0000 sts (beeptime)+1,r25 1482 0808 8093 0000 sts beeptime,r24 1483 080c 8091 0000 lds r24,EE_Parameter+65 1484 0810 9927 clr r25 1485 0812 AA27 clr r26 1486 0814 BB27 clr r27 1487 0816 BC01 movw r22,r24 1488 0818 CD01 movw r24,r26 1489 081a 24EC ldi r18,lo8(2500) 1490 081c 39E0 ldi r19,hi8(2500) 1491 081e 40E0 ldi r20,hlo8(2500) 1492 0820 50E0 ldi r21,hhi8(2500) 1493 0822 0E94 0000 call __mulsi3 1494 0826 DC01 movw r26,r24 1495 0828 CB01 movw r24,r22 1496 082a 8856 subi r24,lo8(-(15000)) 1497 082c 954C sbci r25,hi8(-(15000)) 1498 082e AF4F sbci r26,hlo8(-(15000)) 1499 0830 BF4F sbci r27,hhi8(-(15000)) 1500 0832 8093 0000 sts Umschlag180Nick,r24 1501 0836 9093 0000 sts (Umschlag180Nick)+1,r25 1502 083a A093 0000 sts (Umschlag180Nick)+2,r26 1503 083e B093 0000 sts (Umschlag180Nick)+3,r27 1504 0842 8091 0000 lds r24,EE_Parameter+66 1505 0846 9927 clr r25 1506 0848 AA27 clr r26 1507 084a BB27 clr r27 1508 084c BC01 movw r22,r24 1509 084e CD01 movw r24,r26 1510 0850 0E94 0000 call __mulsi3 1511 0854 DC01 movw r26,r24 1512 0856 CB01 movw r24,r22 1513 0858 8856 subi r24,lo8(-(15000)) 1514 085a 954C sbci r25,hi8(-(15000)) 1515 085c AF4F sbci r26,hlo8(-(15000)) 1516 085e BF4F sbci r27,hhi8(-(15000)) 1517 0860 8093 0000 sts Umschlag180Roll,r24 1518 0864 9093 0000 sts (Umschlag180Roll)+1,r25 1519 0868 A093 0000 sts (Umschlag180Roll)+2,r26 1520 086c B093 0000 sts (Umschlag180Roll)+3,r27 1521 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ 1522 0874 1092 0000 sts ExternHoehenValue,__zero_reg__ 1523 0878 C801 movw r24,r16 1524 087a AA27 clr r26 1525 087c 97FD sbrc r25,7 1526 087e A095 com r26 1527 0880 BA2F mov r27,r26 1528 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR 1529 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 1530 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 1531 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 1532 0892 BC01 movw r22,r24 1533 0894 CD01 movw r24,r26 1534 0896 0E94 0000 call __mulsi3 1535 089a DC01 movw r26,r24 1536 089c CB01 movw r24,r22 1537 089e 8093 0000 sts ErsatzKompass,r24 1538 08a2 9093 0000 sts (ErsatzKompass)+1,r25 1539 08a6 A093 0000 sts (ErsatzKompass)+2,r26 1540 08aa B093 0000 sts (ErsatzKompass)+3,r27 1541 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 1542 08b2 1092 0000 sts GierGyroFehler,__zero_reg__ 1543 08b6 0E94 0000 call LED_Init 1544 08ba 8091 0000 lds r24,FC_StatusFlags 1545 08be 8460 ori r24,lo8(4) 1546 08c0 8093 0000 sts FC_StatusFlags,r24 1547 08c4 8FEF ldi r24,lo8(-1) 1548 08c6 8093 0000 sts FromNaviCtrl_Value,r24 1549 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ 1550 08ce 80E2 ldi r24,lo8(32) 1551 08d0 8093 0000 sts FromNaviCtrl_Value+2,r24 1552 08d4 C0E0 ldi r28,lo8(Poti) 1553 08d6 D0E0 ldi r29,hi8(Poti) 1554 08d8 A0E0 ldi r26,lo8(EE_Parameter+5) 1555 08da B0E0 ldi r27,hi8(EE_Parameter+5) 1556 08dc 07E0 ldi r16,lo8(7) 1557 .L69: 1558 08de 8D91 ld r24,X+ 1559 08e0 E82F mov r30,r24 1560 08e2 FF27 clr r31 1561 08e4 EE0F add r30,r30 1562 08e6 FF1F adc r31,r31 1563 08e8 E050 subi r30,lo8(-(PPM_in)) 1564 08ea F040 sbci r31,hi8(-(PPM_in)) 1565 08ec 8081 ld r24,Z 1566 08ee 9181 ldd r25,Z+1 1567 08f0 8158 subi r24,lo8(-(127)) 1568 08f2 8993 st Y+,r24 1569 08f4 0150 subi r16,lo8(-(-1)) 1570 08f6 07FF sbrs r16,7 1571 08f8 00C0 rjmp .L69 1572 08fa 84E6 ldi r24,lo8(100) 1573 08fc 8093 0000 sts SenderOkay,r24 1574 0900 8091 0000 lds r24,ServoActive 1575 0904 8823 tst r24 1576 0906 01F0 breq .L70 1577 0908 579A sbi 42-0x20,7 1578 090a 00C0 rjmp .L71 1579 .L70: 1580 090c 80E0 ldi r24,lo8(4352) 1581 090e 91E1 ldi r25,hi8(4352) 1582 0910 9093 0000 sts (NickServoValue)+1,r25 1583 0914 8093 0000 sts NickServoValue,r24 1584 .L71: 1585 0918 8091 0000 lds r24,AdNeutralNick 1586 091c 9091 0000 lds r25,(AdNeutralNick)+1 1587 0920 8056 subi r24,lo8(-(-2400)) 1588 0922 9940 sbci r25,hi8(-(-2400)) 1589 0924 815C subi r24,lo8(11201) 1590 0926 9B42 sbci r25,hi8(11201) 1591 0928 00F0 brlo .L72 1592 092a 8091 0000 lds r24,VersionInfo+5 1593 092e 8160 ori r24,lo8(1) 1594 0930 8093 0000 sts VersionInfo+5,r24 1595 .L72: 1596 0934 8091 0000 lds r24,AdNeutralRoll 1597 0938 9091 0000 lds r25,(AdNeutralRoll)+1 1598 093c 8056 subi r24,lo8(-(-2400)) 1599 093e 9940 sbci r25,hi8(-(-2400)) 1600 0940 815C subi r24,lo8(11201) 1601 0942 9B42 sbci r25,hi8(11201) 1602 0944 00F0 brlo .L73 1603 0946 8091 0000 lds r24,VersionInfo+5 1604 094a 8260 ori r24,lo8(2) 1605 094c 8093 0000 sts VersionInfo+5,r24 1606 .L73: 1607 0950 8091 0000 lds r24,AdNeutralGier 1608 0954 9091 0000 lds r25,(AdNeutralGier)+1 1609 0958 8C52 subi r24,lo8(-(-300)) 1610 095a 9140 sbci r25,hi8(-(-300)) 1611 095c 8957 subi r24,lo8(1401) 1612 095e 9540 sbci r25,hi8(1401) 1613 0960 00F0 brlo .L74 1614 0962 8091 0000 lds r24,VersionInfo+5 1615 0966 8460 ori r24,lo8(4) 1616 0968 8093 0000 sts VersionInfo+5,r24 1617 .L74: 1618 096c 8091 0000 lds r24,NeutralAccX 1619 0970 9091 0000 lds r25,(NeutralAccX)+1 1620 0974 8C52 subi r24,lo8(-(-300)) 1621 0976 9140 sbci r25,hi8(-(-300)) 1622 0978 835C subi r24,lo8(451) 1623 097a 9140 sbci r25,hi8(451) 1624 097c 00F0 brlo .L75 1625 097e 8091 0000 lds r24,VersionInfo+5 1626 0982 8860 ori r24,lo8(8) 1627 0984 8093 0000 sts VersionInfo+5,r24 1628 .L75: 1629 0988 8091 0000 lds r24,NeutralAccY 1630 098c 9091 0000 lds r25,(NeutralAccY)+1 1631 0990 8C52 subi r24,lo8(-(-300)) 1632 0992 9140 sbci r25,hi8(-(-300)) 1633 0994 835C subi r24,lo8(451) 1634 0996 9140 sbci r25,hi8(451) 1635 0998 00F0 brlo .L76 1636 099a 8091 0000 lds r24,VersionInfo+5 1637 099e 8061 ori r24,lo8(16) 1638 09a0 8093 0000 sts VersionInfo+5,r24 1639 .L76: 1640 09a4 8091 0000 lds r24,NeutralAccZ 1641 09a8 9091 0000 lds r25,(NeutralAccZ)+1 1642 09ac 8050 subi r24,lo8(-(-512)) 1643 09ae 9240 sbci r25,hi8(-(-512)) 1644 09b0 8355 subi r24,lo8(339) 1645 09b2 9140 sbci r25,hi8(339) 1646 09b4 00F0 brlo .L77 1647 09b6 8091 0000 lds r24,VersionInfo+5 1648 09ba 8062 ori r24,lo8(32) 1649 09bc 8093 0000 sts VersionInfo+5,r24 1650 .L77: 1651 09c0 86E4 ldi r24,lo8(70) 1652 09c2 8093 0000 sts carefree_old,r24 1653 09c6 0E94 0000 call LIBFC_HoTT_Clear 1654 /* epilogue: frame size=0 */ 1655 09ca ECE0 ldi r30,12 1656 09cc CDB7 in r28,__SP_L__ 1657 09ce DEB7 in r29,__SP_H__ 1658 09d0 0C94 0000 jmp __epilogue_restores__+12 1659 /* epilogue end (size=5) */ 1660 /* function SetNeutral size 705 (694) */ 1662 .lcomm tmpl.27,4 1663 .lcomm tmpl2.28,4 1664 .lcomm tmpl3.29,4 1665 .lcomm tmpl4.30,4 1666 .lcomm oldNick.31,2 1667 .lcomm oldRoll.32,2 1668 .lcomm d2Roll.33,2 1669 .lcomm d2Nick.34,2 1670 .global Mittelwert 1672 Mittelwert: 1673 /* prologue: frame size=19 */ 1674 09d4 A3E1 ldi r26,lo8(19) 1675 09d6 B0E0 ldi r27,hi8(19) 1676 09d8 E0E0 ldi r30,pm_lo8(1f) 1677 09da F0E0 ldi r31,pm_hi8(1f) 1678 09dc 0C94 0000 jmp __prologue_saves__+0 1679 1: 1680 /* prologue end (size=6) */ 1681 09e0 8091 0000 lds r24,AdNeutralGier 1682 09e4 9091 0000 lds r25,(AdNeutralGier)+1 1683 09e8 2091 0000 lds r18,AdWertGier 1684 09ec 3091 0000 lds r19,(AdWertGier)+1 1685 09f0 821B sub r24,r18 1686 09f2 930B sbc r25,r19 1687 09f4 9093 0000 sts (MesswertGier)+1,r25 1688 09f8 8093 0000 sts MesswertGier,r24 1689 09fc 8091 0000 lds r24,AdWertNickFilter 1690 0a00 9091 0000 lds r25,(AdWertNickFilter)+1 1691 0a04 97FD sbrc r25,7 1692 0a06 0796 adiw r24,7 1693 .L83: 1694 0a08 9C01 movw r18,r24 1695 0a0a 13E0 ldi r17,3 1696 0a0c 3595 1: asr r19 1697 0a0e 2795 ror r18 1698 0a10 1A95 dec r17 1699 0a12 01F4 brne 1b 1700 0a14 3093 0000 sts (MesswertNick)+1,r19 1701 0a18 2093 0000 sts MesswertNick,r18 1702 0a1c 8091 0000 lds r24,AdWertRollFilter 1703 0a20 9091 0000 lds r25,(AdWertRollFilter)+1 1704 0a24 97FD sbrc r25,7 1705 0a26 0796 adiw r24,7 1706 .L84: 1707 0a28 B3E0 ldi r27,3 1708 0a2a 9595 1: asr r25 1709 0a2c 8795 ror r24 1710 0a2e BA95 dec r27 1711 0a30 01F4 brne 1b 1712 0a32 9093 0000 sts (MesswertRoll)+1,r25 1713 0a36 8093 0000 sts MesswertRoll,r24 1714 0a3a 3093 0000 sts (RohMesswertNick)+1,r19 1715 0a3e 2093 0000 sts RohMesswertNick,r18 1716 0a42 9093 0000 sts (RohMesswertRoll)+1,r25 1717 0a46 8093 0000 sts RohMesswertRoll,r24 1718 0a4a 8091 0000 lds r24,Mittelwert_AccNick 1719 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+1 1720 0a52 AC01 movw r20,r24 1721 0a54 440F lsl r20 1722 0a56 551F rol r21 1723 0a58 480F add r20,r24 1724 0a5a 591F adc r21,r25 1725 0a5c 2091 0000 lds r18,AdWertAccNick 1726 0a60 3091 0000 lds r19,(AdWertAccNick)+1 1727 0a64 C901 movw r24,r18 1728 0a66 880F lsl r24 1729 0a68 991F rol r25 1730 0a6a 880F lsl r24 1731 0a6c 991F rol r25 1732 0a6e 820F add r24,r18 1733 0a70 931F adc r25,r19 1734 0a72 820F add r24,r18 1735 0a74 931F adc r25,r19 1736 0a76 480F add r20,r24 1737 0a78 591F adc r21,r25 1738 0a7a 57FF sbrs r21,7 1739 0a7c 00C0 rjmp .L85 1740 0a7e 4D5F subi r20,lo8(-(3)) 1741 0a80 5F4F sbci r21,hi8(-(3)) 1742 .L85: 1743 0a82 5595 asr r21 1744 0a84 4795 ror r20 1745 0a86 5595 asr r21 1746 0a88 4795 ror r20 1747 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r21 1748 0a8e 4093 0000 sts Mittelwert_AccNick,r20 1749 0a92 8091 0000 lds r24,Mittelwert_AccRoll 1750 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+1 1751 0a9a AC01 movw r20,r24 1752 0a9c 440F lsl r20 1753 0a9e 551F rol r21 1754 0aa0 480F add r20,r24 1755 0aa2 591F adc r21,r25 1756 0aa4 2091 0000 lds r18,AdWertAccRoll 1757 0aa8 3091 0000 lds r19,(AdWertAccRoll)+1 1758 0aac C901 movw r24,r18 1759 0aae 880F lsl r24 1760 0ab0 991F rol r25 1761 0ab2 880F lsl r24 1762 0ab4 991F rol r25 1763 0ab6 820F add r24,r18 1764 0ab8 931F adc r25,r19 1765 0aba 820F add r24,r18 1766 0abc 931F adc r25,r19 1767 0abe 480F add r20,r24 1768 0ac0 591F adc r21,r25 1769 0ac2 57FF sbrs r21,7 1770 0ac4 00C0 rjmp .L86 1771 0ac6 4D5F subi r20,lo8(-(3)) 1772 0ac8 5F4F sbci r21,hi8(-(3)) 1773 .L86: 1774 0aca 5595 asr r21 1775 0acc 4795 ror r20 1776 0ace 5595 asr r21 1777 0ad0 4795 ror r20 1778 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 1779 0ad6 4093 0000 sts Mittelwert_AccRoll,r20 1780 0ada 2091 0000 lds r18,AdWertAccNick 1781 0ade 3091 0000 lds r19,(AdWertAccNick)+1 1782 0ae2 C901 movw r24,r18 1783 0ae4 880F lsl r24 1784 0ae6 991F rol r25 1785 0ae8 880F lsl r24 1786 0aea 991F rol r25 1787 0aec 820F add r24,r18 1788 0aee 931F adc r25,r19 1789 0af0 820F add r24,r18 1790 0af2 931F adc r25,r19 1791 0af4 9C01 movw r18,r24 1792 0af6 4427 clr r20 1793 0af8 37FD sbrc r19,7 1794 0afa 4095 com r20 1795 0afc 542F mov r21,r20 1796 0afe 8091 0000 lds r24,IntegralAccNick 1797 0b02 9091 0000 lds r25,(IntegralAccNick)+1 1798 0b06 A091 0000 lds r26,(IntegralAccNick)+2 1799 0b0a B091 0000 lds r27,(IntegralAccNick)+3 1800 0b0e 820F add r24,r18 1801 0b10 931F adc r25,r19 1802 0b12 A41F adc r26,r20 1803 0b14 B51F adc r27,r21 1804 0b16 8093 0000 sts IntegralAccNick,r24 1805 0b1a 9093 0000 sts (IntegralAccNick)+1,r25 1806 0b1e A093 0000 sts (IntegralAccNick)+2,r26 1807 0b22 B093 0000 sts (IntegralAccNick)+3,r27 1808 0b26 2091 0000 lds r18,AdWertAccRoll 1809 0b2a 3091 0000 lds r19,(AdWertAccRoll)+1 1810 0b2e C901 movw r24,r18 1811 0b30 880F lsl r24 1812 0b32 991F rol r25 1813 0b34 880F lsl r24 1814 0b36 991F rol r25 1815 0b38 820F add r24,r18 1816 0b3a 931F adc r25,r19 1817 0b3c 820F add r24,r18 1818 0b3e 931F adc r25,r19 1819 0b40 9C01 movw r18,r24 1820 0b42 4427 clr r20 1821 0b44 37FD sbrc r19,7 1822 0b46 4095 com r20 1823 0b48 542F mov r21,r20 1824 0b4a 8091 0000 lds r24,IntegralAccRoll 1825 0b4e 9091 0000 lds r25,(IntegralAccRoll)+1 1826 0b52 A091 0000 lds r26,(IntegralAccRoll)+2 1827 0b56 B091 0000 lds r27,(IntegralAccRoll)+3 1828 0b5a 820F add r24,r18 1829 0b5c 931F adc r25,r19 1830 0b5e A41F adc r26,r20 1831 0b60 B51F adc r27,r21 1832 0b62 8093 0000 sts IntegralAccRoll,r24 1833 0b66 9093 0000 sts (IntegralAccRoll)+1,r25 1834 0b6a A093 0000 sts (IntegralAccRoll)+2,r26 1835 0b6e B093 0000 sts (IntegralAccRoll)+3,r27 1836 0b72 8091 0000 lds r24,NaviAccNick 1837 0b76 9091 0000 lds r25,(NaviAccNick)+1 1838 0b7a 2091 0000 lds r18,AdWertAccNick 1839 0b7e 3091 0000 lds r19,(AdWertAccNick)+1 1840 0b82 820F add r24,r18 1841 0b84 931F adc r25,r19 1842 0b86 9093 0000 sts (NaviAccNick)+1,r25 1843 0b8a 8093 0000 sts NaviAccNick,r24 1844 0b8e 8091 0000 lds r24,NaviAccRoll 1845 0b92 9091 0000 lds r25,(NaviAccRoll)+1 1846 0b96 2091 0000 lds r18,AdWertAccRoll 1847 0b9a 3091 0000 lds r19,(AdWertAccRoll)+1 1848 0b9e 820F add r24,r18 1849 0ba0 931F adc r25,r19 1850 0ba2 9093 0000 sts (NaviAccRoll)+1,r25 1851 0ba6 8093 0000 sts NaviAccRoll,r24 1852 0baa 8091 0000 lds r24,NaviCntAcc 1853 0bae 9091 0000 lds r25,(NaviCntAcc)+1 1854 0bb2 0196 adiw r24,1 1855 0bb4 9093 0000 sts (NaviCntAcc)+1,r25 1856 0bb8 8093 0000 sts NaviCntAcc,r24 1857 0bbc 8091 0000 lds r24,Aktuell_az 1858 0bc0 9091 0000 lds r25,(Aktuell_az)+1 1859 0bc4 2091 0000 lds r18,NeutralAccZ 1860 0bc8 3091 0000 lds r19,(NeutralAccZ)+1 1861 0bcc 821B sub r24,r18 1862 0bce 930B sbc r25,r19 1863 0bd0 9C01 movw r18,r24 1864 0bd2 4427 clr r20 1865 0bd4 37FD sbrc r19,7 1866 0bd6 4095 com r20 1867 0bd8 542F mov r21,r20 1868 0bda 8091 0000 lds r24,IntegralAccZ 1869 0bde 9091 0000 lds r25,(IntegralAccZ)+1 1870 0be2 A091 0000 lds r26,(IntegralAccZ)+2 1871 0be6 B091 0000 lds r27,(IntegralAccZ)+3 1872 0bea 820F add r24,r18 1873 0bec 931F adc r25,r19 1874 0bee A41F adc r26,r20 1875 0bf0 B51F adc r27,r21 1876 0bf2 8093 0000 sts IntegralAccZ,r24 1877 0bf6 9093 0000 sts (IntegralAccZ)+1,r25 1878 0bfa A093 0000 sts (IntegralAccZ)+2,r26 1879 0bfe B093 0000 sts (IntegralAccZ)+3,r27 1880 0c02 8FEC ldi r24,lo8(-49) 1881 0c04 8093 7A00 sts 122,r24 1882 0c08 1092 0000 sts AdReady,__zero_reg__ 1883 0c0c 2091 0000 lds r18,Mess_IntegralRoll 1884 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+1 1885 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+2 1886 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+3 1887 0c1c 2987 std Y+9,r18 1888 0c1e 3A87 std Y+10,r19 1889 0c20 4B87 std Y+11,r20 1890 0c22 5C87 std Y+12,r21 1891 0c24 2954 subi r18,lo8(93001) 1892 0c26 3B46 sbci r19,hi8(93001) 1893 0c28 4140 sbci r20,hlo8(93001) 1894 0c2a 5040 sbci r21,hhi8(93001) 1895 0c2c 04F0 brlt .L87 1896 0c2e 28E4 ldi r18,lo8(93000) 1897 0c30 3BE6 ldi r19,hi8(93000) 1898 0c32 41E0 ldi r20,hlo8(93000) 1899 0c34 50E0 ldi r21,hhi8(93000) 1900 0c36 00C0 rjmp .L167 1901 .L87: 1902 0c38 8985 ldd r24,Y+9 1903 0c3a 9A85 ldd r25,Y+10 1904 0c3c AB85 ldd r26,Y+11 1905 0c3e BC85 ldd r27,Y+12 1906 0c40 885B subi r24,lo8(-93000) 1907 0c42 9449 sbci r25,hi8(-93000) 1908 0c44 AE4F sbci r26,hlo8(-93000) 1909 0c46 BF4F sbci r27,hhi8(-93000) 1910 0c48 04F4 brge .L89 1911 0c4a 28EB ldi r18,lo8(-93000) 1912 0c4c 34E9 ldi r19,hi8(-93000) 1913 0c4e 4EEF ldi r20,hlo8(-93000) 1914 0c50 5FEF ldi r21,hhi8(-93000) 1915 .L167: 1916 0c52 2D83 std Y+5,r18 1917 0c54 3E83 std Y+6,r19 1918 0c56 4F83 std Y+7,r20 1919 0c58 5887 std Y+8,r21 1920 0c5a 00C0 rjmp .L88 1921 .L89: 1922 0c5c 8985 ldd r24,Y+9 1923 0c5e 9A85 ldd r25,Y+10 1924 0c60 AB85 ldd r26,Y+11 1925 0c62 BC85 ldd r27,Y+12 1926 0c64 8D83 std Y+5,r24 1927 0c66 9E83 std Y+6,r25 1928 0c68 AF83 std Y+7,r26 1929 0c6a B887 std Y+8,r27 1930 .L88: 1931 0c6c 2091 0000 lds r18,Mess_IntegralNick 1932 0c70 3091 0000 lds r19,(Mess_IntegralNick)+1 1933 0c74 4091 0000 lds r20,(Mess_IntegralNick)+2 1934 0c78 5091 0000 lds r21,(Mess_IntegralNick)+3 1935 0c7c 2D87 std Y+13,r18 1936 0c7e 3E87 std Y+14,r19 1937 0c80 4F87 std Y+15,r20 1938 0c82 588B std Y+16,r21 1939 0c84 2954 subi r18,lo8(93001) 1940 0c86 3B46 sbci r19,hi8(93001) 1941 0c88 4140 sbci r20,hlo8(93001) 1942 0c8a 5040 sbci r21,hhi8(93001) 1943 0c8c 04F0 brlt .L91 1944 0c8e 28E4 ldi r18,lo8(93000) 1945 0c90 3BE6 ldi r19,hi8(93000) 1946 0c92 41E0 ldi r20,hlo8(93000) 1947 0c94 50E0 ldi r21,hhi8(93000) 1948 0c96 00C0 rjmp .L168 1949 .L91: 1950 0c98 8D85 ldd r24,Y+13 1951 0c9a 9E85 ldd r25,Y+14 1952 0c9c AF85 ldd r26,Y+15 1953 0c9e B889 ldd r27,Y+16 1954 0ca0 885B subi r24,lo8(-93000) 1955 0ca2 9449 sbci r25,hi8(-93000) 1956 0ca4 AE4F sbci r26,hlo8(-93000) 1957 0ca6 BF4F sbci r27,hhi8(-93000) 1958 0ca8 04F4 brge .L93 1959 0caa 28EB ldi r18,lo8(-93000) 1960 0cac 34E9 ldi r19,hi8(-93000) 1961 0cae 4EEF ldi r20,hlo8(-93000) 1962 0cb0 5FEF ldi r21,hhi8(-93000) 1963 .L168: 1964 0cb2 2983 std Y+1,r18 1965 0cb4 3A83 std Y+2,r19 1966 0cb6 4B83 std Y+3,r20 1967 0cb8 5C83 std Y+4,r21 1968 0cba 00C0 rjmp .L92 1969 .L93: 1970 0cbc 8D85 ldd r24,Y+13 1971 0cbe 9E85 ldd r25,Y+14 1972 0cc0 AF85 ldd r26,Y+15 1973 0cc2 B889 ldd r27,Y+16 1974 0cc4 8983 std Y+1,r24 1975 0cc6 9A83 std Y+2,r25 1976 0cc8 AB83 std Y+3,r26 1977 0cca BC83 std Y+4,r27 1978 .L92: 1979 0ccc A091 0000 lds r26,MesswertGier 1980 0cd0 B091 0000 lds r27,(MesswertGier)+1 1981 0cd4 BB8B std Y+19,r27 1982 0cd6 AA8B std Y+18,r26 1983 0cd8 FD01 movw r30,r26 1984 0cda CF01 movw r24,r30 1985 0cdc AA27 clr r26 1986 0cde 97FD sbrc r25,7 1987 0ce0 A095 com r26 1988 0ce2 BA2F mov r27,r26 1989 0ce4 A090 0000 lds r10,Mess_Integral_Gier 1990 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+1 1991 0cec C090 0000 lds r12,(Mess_Integral_Gier)+2 1992 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+3 1993 0cf4 A80E add r10,r24 1994 0cf6 B91E adc r11,r25 1995 0cf8 CA1E adc r12,r26 1996 0cfa DB1E adc r13,r27 1997 0cfc A092 0000 sts Mess_Integral_Gier,r10 1998 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r11 1999 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r12 2000 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r13 2001 0d0c E090 0000 lds r14,ErsatzKompass 2002 0d10 F090 0000 lds r15,(ErsatzKompass)+1 2003 0d14 0091 0000 lds r16,(ErsatzKompass)+2 2004 0d18 1091 0000 lds r17,(ErsatzKompass)+3 2005 0d1c E80E add r14,r24 2006 0d1e F91E adc r15,r25 2007 0d20 0A1F adc r16,r26 2008 0d22 1B1F adc r17,r27 2009 0d24 E092 0000 sts ErsatzKompass,r14 2010 0d28 F092 0000 sts (ErsatzKompass)+1,r15 2011 0d2c 0093 0000 sts (ErsatzKompass)+2,r16 2012 0d30 1093 0000 sts (ErsatzKompass)+3,r17 2013 0d34 F091 0000 lds r31,Looping_Nick 2014 0d38 F98B std Y+17,r31 2015 0d3a FF23 tst r31 2016 0d3c 01F0 breq .+2 2017 0d3e 00C0 rjmp .L95 2018 0d40 8091 0000 lds r24,Looping_Roll 2019 0d44 8823 tst r24 2020 0d46 01F0 breq .+2 2021 0d48 00C0 rjmp .L95 2022 0d4a 8091 0000 lds r24,Parameter_GlobalConfig 2023 0d4e 86FF sbrs r24,6 2024 0d50 00C0 rjmp .L95 2025 0d52 8091 0000 lds r24,MesswertRoll 2026 0d56 9091 0000 lds r25,(MesswertRoll)+1 2027 0d5a AA27 clr r26 2028 0d5c 97FD sbrc r25,7 2029 0d5e A095 com r26 2030 0d60 BA2F mov r27,r26 2031 0d62 BC01 movw r22,r24 2032 0d64 CD01 movw r24,r26 2033 0d66 2981 ldd r18,Y+1 2034 0d68 3A81 ldd r19,Y+2 2035 0d6a 4B81 ldd r20,Y+3 2036 0d6c 5C81 ldd r21,Y+4 2037 0d6e 0E94 0000 call __mulsi3 2038 0d72 9B01 movw r18,r22 2039 0d74 AC01 movw r20,r24 2040 0d76 97FF sbrs r25,7 2041 0d78 00C0 rjmp .L96 2042 0d7a 2150 subi r18,lo8(-(2047)) 2043 0d7c 384F sbci r19,hi8(-(2047)) 2044 0d7e 4F4F sbci r20,hlo8(-(2047)) 2045 0d80 5F4F sbci r21,hhi8(-(2047)) 2046 .L96: 2047 0d82 BBE0 ldi r27,11 2048 0d84 5595 1: asr r21 2049 0d86 4795 ror r20 2050 0d88 3795 ror r19 2051 0d8a 2795 ror r18 2052 0d8c BA95 dec r27 2053 0d8e 01F4 brne 1b 2054 0d90 8091 0000 lds r24,Parameter_AchsKopplung2 2055 0d94 682E mov r6,r24 2056 0d96 7724 clr r7 2057 0d98 8824 clr r8 2058 0d9a 9924 clr r9 2059 0d9c CA01 movw r24,r20 2060 0d9e B901 movw r22,r18 2061 0da0 A401 movw r20,r8 2062 0da2 9301 movw r18,r6 2063 0da4 0E94 0000 call __mulsi3 2064 0da8 DC01 movw r26,r24 2065 0daa CB01 movw r24,r22 2066 0dac 8093 0000 sts tmpl3.29,r24 2067 0db0 9093 0000 sts (tmpl3.29)+1,r25 2068 0db4 A093 0000 sts (tmpl3.29)+2,r26 2069 0db8 B093 0000 sts (tmpl3.29)+3,r27 2070 0dbc B7FF sbrs r27,7 2071 0dbe 00C0 rjmp .L97 2072 0dc0 8150 subi r24,lo8(-(4095)) 2073 0dc2 904F sbci r25,hi8(-(4095)) 2074 0dc4 AF4F sbci r26,hlo8(-(4095)) 2075 0dc6 BF4F sbci r27,hhi8(-(4095)) 2076 .L97: 2077 0dc8 1C01 movw r2,r24 2078 0dca 2D01 movw r4,r26 2079 0dcc ACE0 ldi r26,12 2080 0dce 5594 1: asr r5 2081 0dd0 4794 ror r4 2082 0dd2 3794 ror r3 2083 0dd4 2794 ror r2 2084 0dd6 AA95 dec r26 2085 0dd8 01F4 brne 1b 2086 0dda 2092 0000 sts tmpl3.29,r2 2087 0dde 3092 0000 sts (tmpl3.29)+1,r3 2088 0de2 4092 0000 sts (tmpl3.29)+2,r4 2089 0de6 5092 0000 sts (tmpl3.29)+3,r5 2090 0dea 8091 0000 lds r24,MesswertNick 2091 0dee 9091 0000 lds r25,(MesswertNick)+1 2092 0df2 AA27 clr r26 2093 0df4 97FD sbrc r25,7 2094 0df6 A095 com r26 2095 0df8 BA2F mov r27,r26 2096 0dfa BC01 movw r22,r24 2097 0dfc CD01 movw r24,r26 2098 0dfe 2D81 ldd r18,Y+5 2099 0e00 3E81 ldd r19,Y+6 2100 0e02 4F81 ldd r20,Y+7 2101 0e04 5885 ldd r21,Y+8 2102 0e06 0E94 0000 call __mulsi3 2103 0e0a 97FF sbrs r25,7 2104 0e0c 00C0 rjmp .L98 2105 0e0e 6150 subi r22,lo8(-(2047)) 2106 0e10 784F sbci r23,hi8(-(2047)) 2107 0e12 8F4F sbci r24,hlo8(-(2047)) 2108 0e14 9F4F sbci r25,hhi8(-(2047)) 2109 .L98: 2110 0e16 FBE0 ldi r31,11 2111 0e18 9595 1: asr r25 2112 0e1a 8795 ror r24 2113 0e1c 7795 ror r23 2114 0e1e 6795 ror r22 2115 0e20 FA95 dec r31 2116 0e22 01F4 brne 1b 2117 0e24 A401 movw r20,r8 2118 0e26 9301 movw r18,r6 2119 0e28 0E94 0000 call __mulsi3 2120 0e2c DC01 movw r26,r24 2121 0e2e CB01 movw r24,r22 2122 0e30 8093 0000 sts tmpl4.30,r24 2123 0e34 9093 0000 sts (tmpl4.30)+1,r25 2124 0e38 A093 0000 sts (tmpl4.30)+2,r26 2125 0e3c B093 0000 sts (tmpl4.30)+3,r27 2126 0e40 B7FF sbrs r27,7 2127 0e42 00C0 rjmp .L99 2128 0e44 8150 subi r24,lo8(-(4095)) 2129 0e46 904F sbci r25,hi8(-(4095)) 2130 0e48 AF4F sbci r26,hlo8(-(4095)) 2131 0e4a BF4F sbci r27,hhi8(-(4095)) 2132 .L99: 2133 0e4c 9C01 movw r18,r24 2134 0e4e AD01 movw r20,r26 2135 0e50 ECE0 ldi r30,12 2136 0e52 5595 1: asr r21 2137 0e54 4795 ror r20 2138 0e56 3795 ror r19 2139 0e58 2795 ror r18 2140 0e5a EA95 dec r30 2141 0e5c 01F4 brne 1b 2142 0e5e 2093 0000 sts tmpl4.30,r18 2143 0e62 3093 0000 sts (tmpl4.30)+1,r19 2144 0e66 4093 0000 sts (tmpl4.30)+2,r20 2145 0e6a 5093 0000 sts (tmpl4.30)+3,r21 2146 0e6e 8091 0000 lds r24,tmpl3.29 2147 0e72 9091 0000 lds r25,(tmpl3.29)+1 2148 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r25 2149 0e7a 8093 0000 sts KopplungsteilNickRoll,r24 2150 0e7e 8091 0000 lds r24,tmpl4.30 2151 0e82 9091 0000 lds r25,(tmpl4.30)+1 2152 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r25 2153 0e8a 8093 0000 sts KopplungsteilRollNick,r24 2154 0e8e 2219 sub r18,r2 2155 0e90 3309 sbc r19,r3 2156 0e92 4409 sbc r20,r4 2157 0e94 5509 sbc r21,r5 2158 0e96 2093 0000 sts tmpl4.30,r18 2159 0e9a 3093 0000 sts (tmpl4.30)+1,r19 2160 0e9e 4093 0000 sts (tmpl4.30)+2,r20 2161 0ea2 5093 0000 sts (tmpl4.30)+3,r21 2162 0ea6 E20E add r14,r18 2163 0ea8 F31E adc r15,r19 2164 0eaa 041F adc r16,r20 2165 0eac 151F adc r17,r21 2166 0eae E092 0000 sts ErsatzKompass,r14 2167 0eb2 F092 0000 sts (ErsatzKompass)+1,r15 2168 0eb6 0093 0000 sts (ErsatzKompass)+2,r16 2169 0eba 1093 0000 sts (ErsatzKompass)+3,r17 2170 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection 2171 0ec2 8823 tst r24 2172 0ec4 01F4 brne .L100 2173 0ec6 57FF sbrs r21,7 2174 0ec8 00C0 rjmp .L101 2175 0eca 2F5F subi r18,lo8(-(1)) 2176 0ecc 3F4F sbci r19,hi8(-(1)) 2177 0ece 4F4F sbci r20,hlo8(-(1)) 2178 0ed0 5F4F sbci r21,hhi8(-(1)) 2179 .L101: 2180 0ed2 5595 asr r21 2181 0ed4 4795 ror r20 2182 0ed6 3795 ror r19 2183 0ed8 2795 ror r18 2184 0eda A21A sub r10,r18 2185 0edc B30A sbc r11,r19 2186 0ede C40A sbc r12,r20 2187 0ee0 D50A sbc r13,r21 2188 0ee2 A092 0000 sts Mess_Integral_Gier,r10 2189 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r11 2190 0eea C092 0000 sts (Mess_Integral_Gier)+2,r12 2191 0eee D092 0000 sts (Mess_Integral_Gier)+3,r13 2192 .L100: 2193 0ef2 2A89 ldd r18,Y+18 2194 0ef4 3B89 ldd r19,Y+19 2195 0ef6 7901 movw r14,r18 2196 0ef8 0027 clr r16 2197 0efa F7FC sbrc r15,7 2198 0efc 0095 com r16 2199 0efe 102F mov r17,r16 2200 0f00 8091 0000 lds r24,tmpl4.30 2201 0f04 9091 0000 lds r25,(tmpl4.30)+1 2202 0f08 A091 0000 lds r26,(tmpl4.30)+2 2203 0f0c B091 0000 lds r27,(tmpl4.30)+3 2204 0f10 E80E add r14,r24 2205 0f12 F91E adc r15,r25 2206 0f14 0A1F adc r16,r26 2207 0f16 1B1F adc r17,r27 2208 0f18 C801 movw r24,r16 2209 0f1a B701 movw r22,r14 2210 0f1c 2981 ldd r18,Y+1 2211 0f1e 3A81 ldd r19,Y+2 2212 0f20 4B81 ldd r20,Y+3 2213 0f22 5C81 ldd r21,Y+4 2214 0f24 0E94 0000 call __mulsi3 2215 0f28 9B01 movw r18,r22 2216 0f2a AC01 movw r20,r24 2217 0f2c 97FF sbrs r25,7 2218 0f2e 00C0 rjmp .L102 2219 0f30 2150 subi r18,lo8(-(2047)) 2220 0f32 384F sbci r19,hi8(-(2047)) 2221 0f34 4F4F sbci r20,hlo8(-(2047)) 2222 0f36 5F4F sbci r21,hhi8(-(2047)) 2223 .L102: 2224 0f38 6BE0 ldi r22,11 2225 0f3a 5595 1: asr r21 2226 0f3c 4795 ror r20 2227 0f3e 3795 ror r19 2228 0f40 2795 ror r18 2229 0f42 6A95 dec r22 2230 0f44 01F4 brne 1b 2231 0f46 8091 0000 lds r24,Parameter_AchsKopplung1 2232 0f4a A82E mov r10,r24 2233 0f4c BB24 clr r11 2234 0f4e CC24 clr r12 2235 0f50 DD24 clr r13 2236 0f52 CA01 movw r24,r20 2237 0f54 B901 movw r22,r18 2238 0f56 A601 movw r20,r12 2239 0f58 9501 movw r18,r10 2240 0f5a 0E94 0000 call __mulsi3 2241 0f5e DC01 movw r26,r24 2242 0f60 CB01 movw r24,r22 2243 0f62 8093 0000 sts tmpl.27,r24 2244 0f66 9093 0000 sts (tmpl.27)+1,r25 2245 0f6a A093 0000 sts (tmpl.27)+2,r26 2246 0f6e B093 0000 sts (tmpl.27)+3,r27 2247 0f72 B7FF sbrs r27,7 2248 0f74 00C0 rjmp .L103 2249 0f76 8150 subi r24,lo8(-(4095)) 2250 0f78 904F sbci r25,hi8(-(4095)) 2251 0f7a AF4F sbci r26,hlo8(-(4095)) 2252 0f7c BF4F sbci r27,hhi8(-(4095)) 2253 .L103: 2254 0f7e 3C01 movw r6,r24 2255 0f80 4D01 movw r8,r26 2256 0f82 3CE0 ldi r19,12 2257 0f84 9594 1: asr r9 2258 0f86 8794 ror r8 2259 0f88 7794 ror r7 2260 0f8a 6794 ror r6 2261 0f8c 3A95 dec r19 2262 0f8e 01F4 brne 1b 2263 0f90 6092 0000 sts tmpl.27,r6 2264 0f94 7092 0000 sts (tmpl.27)+1,r7 2265 0f98 8092 0000 sts (tmpl.27)+2,r8 2266 0f9c 9092 0000 sts (tmpl.27)+3,r9 2267 0fa0 C801 movw r24,r16 2268 0fa2 B701 movw r22,r14 2269 0fa4 2D81 ldd r18,Y+5 2270 0fa6 3E81 ldd r19,Y+6 2271 0fa8 4F81 ldd r20,Y+7 2272 0faa 5885 ldd r21,Y+8 2273 0fac 0E94 0000 call __mulsi3 2274 0fb0 97FF sbrs r25,7 2275 0fb2 00C0 rjmp .L104 2276 0fb4 6150 subi r22,lo8(-(2047)) 2277 0fb6 784F sbci r23,hi8(-(2047)) 2278 0fb8 8F4F sbci r24,hlo8(-(2047)) 2279 0fba 9F4F sbci r25,hhi8(-(2047)) 2280 .L104: 2281 0fbc 2BE0 ldi r18,11 2282 0fbe 9595 1: asr r25 2283 0fc0 8795 ror r24 2284 0fc2 7795 ror r23 2285 0fc4 6795 ror r22 2286 0fc6 2A95 dec r18 2287 0fc8 01F4 brne 1b 2288 0fca A601 movw r20,r12 2289 0fcc 9501 movw r18,r10 2290 0fce 0E94 0000 call __mulsi3 2291 0fd2 DC01 movw r26,r24 2292 0fd4 CB01 movw r24,r22 2293 0fd6 8093 0000 sts tmpl2.28,r24 2294 0fda 9093 0000 sts (tmpl2.28)+1,r25 2295 0fde A093 0000 sts (tmpl2.28)+2,r26 2296 0fe2 B093 0000 sts (tmpl2.28)+3,r27 2297 0fe6 B7FF sbrs r27,7 2298 0fe8 00C0 rjmp .L105 2299 0fea 8150 subi r24,lo8(-(4095)) 2300 0fec 904F sbci r25,hi8(-(4095)) 2301 0fee AF4F sbci r26,hlo8(-(4095)) 2302 0ff0 BF4F sbci r27,hhi8(-(4095)) 2303 .L105: 2304 0ff2 AC01 movw r20,r24 2305 0ff4 BD01 movw r22,r26 2306 0ff6 8CE0 ldi r24,12 2307 0ff8 7595 1: asr r23 2308 0ffa 6795 ror r22 2309 0ffc 5795 ror r21 2310 0ffe 4795 ror r20 2311 1000 8A95 dec r24 2312 1002 01F4 brne 1b 2313 1004 4093 0000 sts tmpl2.28,r20 2314 1008 5093 0000 sts (tmpl2.28)+1,r21 2315 100c 6093 0000 sts (tmpl2.28)+2,r22 2316 1010 7093 0000 sts (tmpl2.28)+3,r23 2317 1014 2A89 ldd r18,Y+18 2318 1016 3B89 ldd r19,Y+19 2319 1018 37FF sbrs r19,7 2320 101a 00C0 rjmp .L107 2321 101c 3095 com r19 2322 101e 2195 neg r18 2323 1020 3F4F sbci r19,lo8(-1) 2324 .L107: 2325 1022 2134 cpi r18,65 2326 1024 3105 cpc r19,__zero_reg__ 2327 1026 04F0 brlt .L112 2328 1028 D401 movw r26,r8 2329 102a C301 movw r24,r6 2330 102c 97FE sbrs r9,7 2331 102e 00C0 rjmp .L110 2332 1030 B095 com r27 2333 1032 A095 com r26 2334 1034 9095 com r25 2335 1036 8195 neg r24 2336 1038 9F4F sbci r25,lo8(-1) 2337 103a AF4F sbci r26,lo8(-1) 2338 103c BF4F sbci r27,lo8(-1) 2339 .L110: 2340 103e 8138 cpi r24,lo8(129) 2341 1040 9105 cpc r25,__zero_reg__ 2342 1042 A105 cpc r26,__zero_reg__ 2343 1044 B105 cpc r27,__zero_reg__ 2344 1046 04F4 brge .L109 2345 1048 DB01 movw r26,r22 2346 104a CA01 movw r24,r20 2347 104c 77FF sbrs r23,7 2348 104e 00C0 rjmp .L111 2349 1050 B095 com r27 2350 1052 A095 com r26 2351 1054 9095 com r25 2352 1056 8195 neg r24 2353 1058 9F4F sbci r25,lo8(-1) 2354 105a AF4F sbci r26,lo8(-1) 2355 105c BF4F sbci r27,lo8(-1) 2356 .L111: 2357 105e 8138 cpi r24,lo8(129) 2358 1060 9105 cpc r25,__zero_reg__ 2359 1062 A105 cpc r26,__zero_reg__ 2360 1064 B105 cpc r27,__zero_reg__ 2361 1066 04F0 brlt .L112 2362 .L109: 2363 1068 81E0 ldi r24,lo8(1) 2364 106a 8093 0000 sts TrichterFlug,r24 2365 106e 00C0 rjmp .L112 2366 .L95: 2367 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ 2368 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__ 2369 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ 2370 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ 2371 1080 1092 0000 sts tmpl2.28,__zero_reg__ 2372 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__ 2373 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__ 2374 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__ 2375 1090 1092 0000 sts tmpl.27,__zero_reg__ 2376 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__ 2377 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__ 2378 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__ 2379 .L112: 2380 10a0 8091 0000 lds r24,tmpl2.28 2381 10a4 9091 0000 lds r25,(tmpl2.28)+1 2382 10a8 A091 0000 lds r26,(tmpl2.28)+2 2383 10ac B091 0000 lds r27,(tmpl2.28)+3 2384 10b0 BC01 movw r22,r24 2385 10b2 CD01 movw r24,r26 2386 10b4 24E6 ldi r18,lo8(100) 2387 10b6 30E0 ldi r19,hi8(100) 2388 10b8 40E0 ldi r20,hlo8(100) 2389 10ba 50E0 ldi r21,hhi8(100) 2390 10bc 0E94 0000 call __divmodsi4 2391 10c0 E090 0000 lds r14,tmpl.27 2392 10c4 F090 0000 lds r15,(tmpl.27)+1 2393 10c8 E21A sub r14,r18 2394 10ca F30A sbc r15,r19 2395 10cc F092 0000 sts (TrimRoll)+1,r15 2396 10d0 E092 0000 sts TrimRoll,r14 2397 10d4 8091 0000 lds r24,tmpl.27 2398 10d8 9091 0000 lds r25,(tmpl.27)+1 2399 10dc A091 0000 lds r26,(tmpl.27)+2 2400 10e0 B091 0000 lds r27,(tmpl.27)+3 2401 10e4 BC01 movw r22,r24 2402 10e6 CD01 movw r24,r26 2403 10e8 24E6 ldi r18,lo8(100) 2404 10ea 30E0 ldi r19,hi8(100) 2405 10ec 40E0 ldi r20,hlo8(100) 2406 10ee 50E0 ldi r21,hhi8(100) 2407 10f0 0E94 0000 call __divmodsi4 2408 10f4 DA01 movw r26,r20 2409 10f6 C901 movw r24,r18 2410 10f8 2091 0000 lds r18,tmpl2.28 2411 10fc 3091 0000 lds r19,(tmpl2.28)+1 2412 1100 8C01 movw r16,r24 2413 1102 021B sub r16,r18 2414 1104 130B sbc r17,r19 2415 1106 1093 0000 sts (TrimNick)+1,r17 2416 110a 0093 0000 sts TrimNick,r16 2417 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR 2418 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 2419 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 2420 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 2421 111e BC01 movw r22,r24 2422 1120 CD01 movw r24,r26 2423 1122 28E6 ldi r18,lo8(360) 2424 1124 31E0 ldi r19,hi8(360) 2425 1126 40E0 ldi r20,hlo8(360) 2426 1128 50E0 ldi r21,hhi8(360) 2427 112a 0E94 0000 call __mulsi3 2428 112e 2091 0000 lds r18,ErsatzKompass 2429 1132 3091 0000 lds r19,(ErsatzKompass)+1 2430 1136 4091 0000 lds r20,(ErsatzKompass)+2 2431 113a 5091 0000 lds r21,(ErsatzKompass)+3 2432 113e 2617 cp r18,r22 2433 1140 3707 cpc r19,r23 2434 1142 4807 cpc r20,r24 2435 1144 5907 cpc r21,r25 2436 1146 04F0 brlt .L113 2437 1148 261B sub r18,r22 2438 114a 370B sbc r19,r23 2439 114c 480B sbc r20,r24 2440 114e 590B sbc r21,r25 2441 1150 2093 0000 sts ErsatzKompass,r18 2442 1154 3093 0000 sts (ErsatzKompass)+1,r19 2443 1158 4093 0000 sts (ErsatzKompass)+2,r20 2444 115c 5093 0000 sts (ErsatzKompass)+3,r21 2445 .L113: 2446 1160 2091 0000 lds r18,ErsatzKompass 2447 1164 3091 0000 lds r19,(ErsatzKompass)+1 2448 1168 4091 0000 lds r20,(ErsatzKompass)+2 2449 116c 5091 0000 lds r21,(ErsatzKompass)+3 2450 1170 57FF sbrs r21,7 2451 1172 00C0 rjmp .L114 2452 1174 260F add r18,r22 2453 1176 371F adc r19,r23 2454 1178 481F adc r20,r24 2455 117a 591F adc r21,r25 2456 117c 2093 0000 sts ErsatzKompass,r18 2457 1180 3093 0000 sts (ErsatzKompass)+1,r19 2458 1184 4093 0000 sts (ErsatzKompass)+2,r20 2459 1188 5093 0000 sts (ErsatzKompass)+3,r21 2460 .L114: 2461 118c 6091 0000 lds r22,MesswertRoll 2462 1190 7091 0000 lds r23,(MesswertRoll)+1 2463 1194 6E0D add r22,r14 2464 1196 7F1D adc r23,r15 2465 1198 9B01 movw r18,r22 2466 119a 4427 clr r20 2467 119c 37FD sbrc r19,7 2468 119e 4095 com r20 2469 11a0 542F mov r21,r20 2470 11a2 8091 0000 lds r24,Mess_IntegralRoll2 2471 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2472 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+2 2473 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+3 2474 11b2 820F add r24,r18 2475 11b4 931F adc r25,r19 2476 11b6 A41F adc r26,r20 2477 11b8 B51F adc r27,r21 2478 11ba 8093 0000 sts Mess_IntegralRoll2,r24 2479 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2480 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2481 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2482 11ca 8091 0000 lds r24,LageKorrekturRoll 2483 11ce 9091 0000 lds r25,(LageKorrekturRoll)+1 2484 11d2 681B sub r22,r24 2485 11d4 790B sbc r23,r25 2486 11d6 CB01 movw r24,r22 2487 11d8 AA27 clr r26 2488 11da 97FD sbrc r25,7 2489 11dc A095 com r26 2490 11de BA2F mov r27,r26 2491 11e0 2985 ldd r18,Y+9 2492 11e2 3A85 ldd r19,Y+10 2493 11e4 4B85 ldd r20,Y+11 2494 11e6 5C85 ldd r21,Y+12 2495 11e8 820F add r24,r18 2496 11ea 931F adc r25,r19 2497 11ec A41F adc r26,r20 2498 11ee B51F adc r27,r21 2499 11f0 8093 0000 sts Mess_IntegralRoll,r24 2500 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r25 2501 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r26 2502 11fc B093 0000 sts (Mess_IntegralRoll)+3,r27 2503 1200 C090 0000 lds r12,Umschlag180Roll 2504 1204 D090 0000 lds r13,(Umschlag180Roll)+1 2505 1208 E090 0000 lds r14,(Umschlag180Roll)+2 2506 120c F090 0000 lds r15,(Umschlag180Roll)+3 2507 1210 C816 cp r12,r24 2508 1212 D906 cpc r13,r25 2509 1214 EA06 cpc r14,r26 2510 1216 FB06 cpc r15,r27 2511 1218 04F4 brge .L115 2512 121a 88EA ldi r24,lo8(25000) 2513 121c 91E6 ldi r25,hi8(25000) 2514 121e A0E0 ldi r26,hlo8(25000) 2515 1220 B0E0 ldi r27,hhi8(25000) 2516 1222 8C19 sub r24,r12 2517 1224 9D09 sbc r25,r13 2518 1226 AE09 sbc r26,r14 2519 1228 BF09 sbc r27,r15 2520 122a 8093 0000 sts Mess_IntegralRoll,r24 2521 122e 9093 0000 sts (Mess_IntegralRoll)+1,r25 2522 1232 A093 0000 sts (Mess_IntegralRoll)+2,r26 2523 1236 B093 0000 sts (Mess_IntegralRoll)+3,r27 2524 123a 8093 0000 sts Mess_IntegralRoll2,r24 2525 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2526 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2527 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r27 2528 .L115: 2529 124a 2227 clr r18 2530 124c 3327 clr r19 2531 124e A901 movw r20,r18 2532 1250 2C19 sub r18,r12 2533 1252 3D09 sbc r19,r13 2534 1254 4E09 sbc r20,r14 2535 1256 5F09 sbc r21,r15 2536 1258 8091 0000 lds r24,Mess_IntegralRoll 2537 125c 9091 0000 lds r25,(Mess_IntegralRoll)+1 2538 1260 A091 0000 lds r26,(Mess_IntegralRoll)+2 2539 1264 B091 0000 lds r27,(Mess_IntegralRoll)+3 2540 1268 8217 cp r24,r18 2541 126a 9307 cpc r25,r19 2542 126c A407 cpc r26,r20 2543 126e B507 cpc r27,r21 2544 1270 04F4 brge .L116 2545 1272 D701 movw r26,r14 2546 1274 C601 movw r24,r12 2547 1276 885A subi r24,lo8(-(-25000)) 2548 1278 9146 sbci r25,hi8(-(-25000)) 2549 127a A040 sbci r26,hlo8(-(-25000)) 2550 127c B040 sbci r27,hhi8(-(-25000)) 2551 127e 8093 0000 sts Mess_IntegralRoll,r24 2552 1282 9093 0000 sts (Mess_IntegralRoll)+1,r25 2553 1286 A093 0000 sts (Mess_IntegralRoll)+2,r26 2554 128a B093 0000 sts (Mess_IntegralRoll)+3,r27 2555 128e 8093 0000 sts Mess_IntegralRoll2,r24 2556 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r25 2557 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r26 2558 129a B093 0000 sts (Mess_IntegralRoll2)+3,r27 2559 .L116: 2560 129e 6091 0000 lds r22,MesswertNick 2561 12a2 7091 0000 lds r23,(MesswertNick)+1 2562 12a6 600F add r22,r16 2563 12a8 711F adc r23,r17 2564 12aa 9B01 movw r18,r22 2565 12ac 4427 clr r20 2566 12ae 37FD sbrc r19,7 2567 12b0 4095 com r20 2568 12b2 542F mov r21,r20 2569 12b4 8091 0000 lds r24,Mess_IntegralNick2 2570 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+1 2571 12bc A091 0000 lds r26,(Mess_IntegralNick2)+2 2572 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+3 2573 12c4 820F add r24,r18 2574 12c6 931F adc r25,r19 2575 12c8 A41F adc r26,r20 2576 12ca B51F adc r27,r21 2577 12cc 8093 0000 sts Mess_IntegralNick2,r24 2578 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r25 2579 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r26 2580 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r27 2581 12dc 8091 0000 lds r24,LageKorrekturNick 2582 12e0 9091 0000 lds r25,(LageKorrekturNick)+1 2583 12e4 681B sub r22,r24 2584 12e6 790B sbc r23,r25 2585 12e8 CB01 movw r24,r22 2586 12ea AA27 clr r26 2587 12ec 97FD sbrc r25,7 2588 12ee A095 com r26 2589 12f0 BA2F mov r27,r26 2590 12f2 2D85 ldd r18,Y+13 2591 12f4 3E85 ldd r19,Y+14 2592 12f6 4F85 ldd r20,Y+15 2593 12f8 5889 ldd r21,Y+16 2594 12fa 820F add r24,r18 2595 12fc 931F adc r25,r19 2596 12fe A41F adc r26,r20 2597 1300 B51F adc r27,r21 2598 1302 8093 0000 sts Mess_IntegralNick,r24 2599 1306 9093 0000 sts (Mess_IntegralNick)+1,r25 2600 130a A093 0000 sts (Mess_IntegralNick)+2,r26 2601 130e B093 0000 sts (Mess_IntegralNick)+3,r27 2602 1312 E090 0000 lds r14,Umschlag180Nick 2603 1316 F090 0000 lds r15,(Umschlag180Nick)+1 2604 131a 0091 0000 lds r16,(Umschlag180Nick)+2 2605 131e 1091 0000 lds r17,(Umschlag180Nick)+3 2606 1322 E816 cp r14,r24 2607 1324 F906 cpc r15,r25 2608 1326 0A07 cpc r16,r26 2609 1328 1B07 cpc r17,r27 2610 132a 04F4 brge .L117 2611 132c 88EA ldi r24,lo8(25000) 2612 132e 91E6 ldi r25,hi8(25000) 2613 1330 A0E0 ldi r26,hlo8(25000) 2614 1332 B0E0 ldi r27,hhi8(25000) 2615 1334 8E19 sub r24,r14 2616 1336 9F09 sbc r25,r15 2617 1338 A00B sbc r26,r16 2618 133a B10B sbc r27,r17 2619 133c 8093 0000 sts Mess_IntegralNick,r24 2620 1340 9093 0000 sts (Mess_IntegralNick)+1,r25 2621 1344 A093 0000 sts (Mess_IntegralNick)+2,r26 2622 1348 B093 0000 sts (Mess_IntegralNick)+3,r27 2623 134c 8093 0000 sts Mess_IntegralNick2,r24 2624 1350 9093 0000 sts (Mess_IntegralNick2)+1,r25 2625 1354 A093 0000 sts (Mess_IntegralNick2)+2,r26 2626 1358 B093 0000 sts (Mess_IntegralNick2)+3,r27 2627 .L117: 2628 135c 2227 clr r18 2629 135e 3327 clr r19 2630 1360 A901 movw r20,r18 2631 1362 2E19 sub r18,r14 2632 1364 3F09 sbc r19,r15 2633 1366 400B sbc r20,r16 2634 1368 510B sbc r21,r17 2635 136a 8091 0000 lds r24,Mess_IntegralNick 2636 136e 9091 0000 lds r25,(Mess_IntegralNick)+1 2637 1372 A091 0000 lds r26,(Mess_IntegralNick)+2 2638 1376 B091 0000 lds r27,(Mess_IntegralNick)+3 2639 137a 8217 cp r24,r18 2640 137c 9307 cpc r25,r19 2641 137e A407 cpc r26,r20 2642 1380 B507 cpc r27,r21 2643 1382 04F4 brge .L118 2644 1384 D801 movw r26,r16 2645 1386 C701 movw r24,r14 2646 1388 885A subi r24,lo8(-(-25000)) 2647 138a 9146 sbci r25,hi8(-(-25000)) 2648 138c A040 sbci r26,hlo8(-(-25000)) 2649 138e B040 sbci r27,hhi8(-(-25000)) 2650 1390 8093 0000 sts Mess_IntegralNick,r24 2651 1394 9093 0000 sts (Mess_IntegralNick)+1,r25 2652 1398 A093 0000 sts (Mess_IntegralNick)+2,r26 2653 139c B093 0000 sts (Mess_IntegralNick)+3,r27 2654 13a0 8093 0000 sts Mess_IntegralNick2,r24 2655 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r25 2656 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r26 2657 13ac B093 0000 sts (Mess_IntegralNick2)+3,r27 2658 .L118: 2659 13b0 8091 0000 lds r24,Mess_Integral_Gier 2660 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+1 2661 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+2 2662 13bc B091 0000 lds r27,(Mess_Integral_Gier)+3 2663 13c0 8093 0000 sts Integral_Gier,r24 2664 13c4 9093 0000 sts (Integral_Gier)+1,r25 2665 13c8 A093 0000 sts (Integral_Gier)+2,r26 2666 13cc B093 0000 sts (Integral_Gier)+3,r27 2667 13d0 8091 0000 lds r24,Mess_IntegralNick 2668 13d4 9091 0000 lds r25,(Mess_IntegralNick)+1 2669 13d8 A091 0000 lds r26,(Mess_IntegralNick)+2 2670 13dc B091 0000 lds r27,(Mess_IntegralNick)+3 2671 13e0 8093 0000 sts IntegralNick,r24 2672 13e4 9093 0000 sts (IntegralNick)+1,r25 2673 13e8 A093 0000 sts (IntegralNick)+2,r26 2674 13ec B093 0000 sts (IntegralNick)+3,r27 2675 13f0 8091 0000 lds r24,Mess_IntegralRoll 2676 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+1 2677 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+2 2678 13fc B091 0000 lds r27,(Mess_IntegralRoll)+3 2679 1400 8093 0000 sts IntegralRoll,r24 2680 1404 9093 0000 sts (IntegralRoll)+1,r25 2681 1408 A093 0000 sts (IntegralRoll)+2,r26 2682 140c B093 0000 sts (IntegralRoll)+3,r27 2683 1410 8091 0000 lds r24,Mess_IntegralNick2 2684 1414 9091 0000 lds r25,(Mess_IntegralNick2)+1 2685 1418 A091 0000 lds r26,(Mess_IntegralNick2)+2 2686 141c B091 0000 lds r27,(Mess_IntegralNick2)+3 2687 1420 8093 0000 sts IntegralNick2,r24 2688 1424 9093 0000 sts (IntegralNick2)+1,r25 2689 1428 A093 0000 sts (IntegralNick2)+2,r26 2690 142c B093 0000 sts (IntegralNick2)+3,r27 2691 1430 8091 0000 lds r24,Mess_IntegralRoll2 2692 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+1 2693 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+2 2694 143c B091 0000 lds r27,(Mess_IntegralRoll2)+3 2695 1440 8093 0000 sts IntegralRoll2,r24 2696 1444 9093 0000 sts (IntegralRoll2)+1,r25 2697 1448 A093 0000 sts (IntegralRoll2)+2,r26 2698 144c B093 0000 sts (IntegralRoll2)+3,r27 2699 1450 8091 0000 lds r24,HiResNick 2700 1454 9091 0000 lds r25,(HiResNick)+1 2701 1458 97FD sbrc r25,7 2702 145a 0796 adiw r24,7 2703 .L119: 2704 145c 03E0 ldi r16,3 2705 145e 9595 1: asr r25 2706 1460 8795 ror r24 2707 1462 0A95 dec r16 2708 1464 01F4 brne 1b 2709 1466 9093 0000 sts (MesswertNick)+1,r25 2710 146a 8093 0000 sts MesswertNick,r24 2711 146e 8091 0000 lds r24,HiResRoll 2712 1472 9091 0000 lds r25,(HiResRoll)+1 2713 1476 97FD sbrc r25,7 2714 1478 0796 adiw r24,7 2715 .L120: 2716 147a 13E0 ldi r17,3 2717 147c 9595 1: asr r25 2718 147e 8795 ror r24 2719 1480 1A95 dec r17 2720 1482 01F4 brne 1b 2721 1484 9093 0000 sts (MesswertRoll)+1,r25 2722 1488 8093 0000 sts MesswertRoll,r24 2723 148c 8091 0000 lds r24,AdWertNick 2724 1490 9091 0000 lds r25,(AdWertNick)+1 2725 1494 0F97 sbiw r24,15 2726 1496 04F4 brge .L121 2727 1498 88E1 ldi r24,lo8(-1000) 2728 149a 9CEF ldi r25,hi8(-1000) 2729 149c 9093 0000 sts (MesswertNick)+1,r25 2730 14a0 8093 0000 sts MesswertNick,r24 2731 .L121: 2732 14a4 8091 0000 lds r24,AdWertNick 2733 14a8 9091 0000 lds r25,(AdWertNick)+1 2734 14ac 0797 sbiw r24,7 2735 14ae 04F4 brge .L122 2736 14b0 80E3 ldi r24,lo8(-2000) 2737 14b2 98EF ldi r25,hi8(-2000) 2738 14b4 9093 0000 sts (MesswertNick)+1,r25 2739 14b8 8093 0000 sts MesswertNick,r24 2740 .L122: 2741 14bc 2091 0000 lds r18,PlatinenVersion 2742 14c0 2A30 cpi r18,lo8(10) 2743 14c2 01F4 brne .L123 2744 14c4 8091 0000 lds r24,AdWertNick 2745 14c8 9091 0000 lds r25,(AdWertNick)+1 2746 14cc 835F subi r24,lo8(1011) 2747 14ce 9340 sbci r25,hi8(1011) 2748 14d0 04F0 brlt .L124 2749 14d2 88EE ldi r24,lo8(1000) 2750 14d4 93E0 ldi r25,hi8(1000) 2751 14d6 9093 0000 sts (MesswertNick)+1,r25 2752 14da 8093 0000 sts MesswertNick,r24 2753 .L124: 2754 14de 8091 0000 lds r24,AdWertNick 2755 14e2 9091 0000 lds r25,(AdWertNick)+1 2756 14e6 8A5F subi r24,lo8(1018) 2757 14e8 9340 sbci r25,hi8(1018) 2758 14ea 04F0 brlt .L126 2759 14ec 00C0 rjmp .L169 2760 .L123: 2761 14ee 8091 0000 lds r24,AdWertNick 2762 14f2 9091 0000 lds r25,(AdWertNick)+1 2763 14f6 815D subi r24,lo8(2001) 2764 14f8 9740 sbci r25,hi8(2001) 2765 14fa 04F0 brlt .L127 2766 14fc 88EE ldi r24,lo8(1000) 2767 14fe 93E0 ldi r25,hi8(1000) 2768 1500 9093 0000 sts (MesswertNick)+1,r25 2769 1504 8093 0000 sts MesswertNick,r24 2770 .L127: 2771 1508 8091 0000 lds r24,AdWertNick 2772 150c 9091 0000 lds r25,(AdWertNick)+1 2773 1510 805E subi r24,lo8(2016) 2774 1512 9740 sbci r25,hi8(2016) 2775 1514 04F0 brlt .L126 2776 .L169: 2777 1516 80ED ldi r24,lo8(2000) 2778 1518 97E0 ldi r25,hi8(2000) 2779 151a 9093 0000 sts (MesswertNick)+1,r25 2780 151e 8093 0000 sts MesswertNick,r24 2781 .L126: 2782 1522 8091 0000 lds r24,AdWertRoll 2783 1526 9091 0000 lds r25,(AdWertRoll)+1 2784 152a 0F97 sbiw r24,15 2785 152c 04F4 brge .L129 2786 152e 88E1 ldi r24,lo8(-1000) 2787 1530 9CEF ldi r25,hi8(-1000) 2788 1532 9093 0000 sts (MesswertRoll)+1,r25 2789 1536 8093 0000 sts MesswertRoll,r24 2790 .L129: 2791 153a 8091 0000 lds r24,AdWertRoll 2792 153e 9091 0000 lds r25,(AdWertRoll)+1 2793 1542 0797 sbiw r24,7 2794 1544 04F4 brge .L130 2795 1546 80E3 ldi r24,lo8(-2000) 2796 1548 98EF ldi r25,hi8(-2000) 2797 154a 9093 0000 sts (MesswertRoll)+1,r25 2798 154e 8093 0000 sts MesswertRoll,r24 2799 .L130: 2800 1552 2A30 cpi r18,lo8(10) 2801 1554 01F4 brne .L131 2802 1556 8091 0000 lds r24,AdWertRoll 2803 155a 9091 0000 lds r25,(AdWertRoll)+1 2804 155e 835F subi r24,lo8(1011) 2805 1560 9340 sbci r25,hi8(1011) 2806 1562 04F0 brlt .L132 2807 1564 88EE ldi r24,lo8(1000) 2808 1566 93E0 ldi r25,hi8(1000) 2809 1568 9093 0000 sts (MesswertRoll)+1,r25 2810 156c 8093 0000 sts MesswertRoll,r24 2811 .L132: 2812 1570 8091 0000 lds r24,AdWertRoll 2813 1574 9091 0000 lds r25,(AdWertRoll)+1 2814 1578 8A5F subi r24,lo8(1018) 2815 157a 9340 sbci r25,hi8(1018) 2816 157c 04F0 brlt .L134 2817 157e 00C0 rjmp .L170 2818 .L131: 2819 1580 8091 0000 lds r24,AdWertRoll 2820 1584 9091 0000 lds r25,(AdWertRoll)+1 2821 1588 815D subi r24,lo8(2001) 2822 158a 9740 sbci r25,hi8(2001) 2823 158c 04F0 brlt .L135 2824 158e 88EE ldi r24,lo8(1000) 2825 1590 93E0 ldi r25,hi8(1000) 2826 1592 9093 0000 sts (MesswertRoll)+1,r25 2827 1596 8093 0000 sts MesswertRoll,r24 2828 .L135: 2829 159a 8091 0000 lds r24,AdWertRoll 2830 159e 9091 0000 lds r25,(AdWertRoll)+1 2831 15a2 805E subi r24,lo8(2016) 2832 15a4 9740 sbci r25,hi8(2016) 2833 15a6 04F0 brlt .L134 2834 .L170: 2835 15a8 80ED ldi r24,lo8(2000) 2836 15aa 97E0 ldi r25,hi8(2000) 2837 15ac 9093 0000 sts (MesswertRoll)+1,r25 2838 15b0 8093 0000 sts MesswertRoll,r24 2839 .L134: 2840 15b4 6091 0000 lds r22,Parameter_Gyro_D 2841 15b8 6623 tst r22 2842 15ba 01F4 brne .+2 2843 15bc 00C0 rjmp .L137 2844 15be 4091 0000 lds r20,HiResNick 2845 15c2 5091 0000 lds r21,(HiResNick)+1 2846 15c6 8091 0000 lds r24,oldNick.31 2847 15ca 9091 0000 lds r25,(oldNick.31)+1 2848 15ce 481B sub r20,r24 2849 15d0 590B sbc r21,r25 2850 15d2 5093 0000 sts (d2Nick.34)+1,r21 2851 15d6 4093 0000 sts d2Nick.34,r20 2852 15da 2091 0000 lds r18,HiResNick 2853 15de 3091 0000 lds r19,(HiResNick)+1 2854 15e2 280F add r18,r24 2855 15e4 391F adc r19,r25 2856 15e6 37FF sbrs r19,7 2857 15e8 00C0 rjmp .L138 2858 15ea 2F5F subi r18,lo8(-(1)) 2859 15ec 3F4F sbci r19,hi8(-(1)) 2860 .L138: 2861 15ee 3595 asr r19 2862 15f0 2795 ror r18 2863 15f2 3093 0000 sts (oldNick.31)+1,r19 2864 15f6 2093 0000 sts oldNick.31,r18 2865 15fa 4138 cpi r20,129 2866 15fc 5105 cpc r21,__zero_reg__ 2867 15fe 04F0 brlt .L139 2868 1600 80E8 ldi r24,lo8(128) 2869 1602 90E0 ldi r25,hi8(128) 2870 1604 00C0 rjmp .L171 2871 .L139: 2872 1606 4058 subi r20,lo8(-128) 2873 1608 5F4F sbci r21,hi8(-128) 2874 160a 04F4 brge .L140 2875 160c 80E8 ldi r24,lo8(-128) 2876 160e 9FEF ldi r25,hi8(-128) 2877 .L171: 2878 1610 9093 0000 sts (d2Nick.34)+1,r25 2879 1614 8093 0000 sts d2Nick.34,r24 2880 .L140: 2881 1618 4091 0000 lds r20,HiResRoll 2882 161c 5091 0000 lds r21,(HiResRoll)+1 2883 1620 8091 0000 lds r24,oldRoll.32 2884 1624 9091 0000 lds r25,(oldRoll.32)+1 2885 1628 481B sub r20,r24 2886 162a 590B sbc r21,r25 2887 162c 5093 0000 sts (d2Roll.33)+1,r21 2888 1630 4093 0000 sts d2Roll.33,r20 2889 1634 2091 0000 lds r18,HiResRoll 2890 1638 3091 0000 lds r19,(HiResRoll)+1 2891 163c 280F add r18,r24 2892 163e 391F adc r19,r25 2893 1640 37FF sbrs r19,7 2894 1642 00C0 rjmp .L142 2895 1644 2F5F subi r18,lo8(-(1)) 2896 1646 3F4F sbci r19,hi8(-(1)) 2897 .L142: 2898 1648 3595 asr r19 2899 164a 2795 ror r18 2900 164c 3093 0000 sts (oldRoll.32)+1,r19 2901 1650 2093 0000 sts oldRoll.32,r18 2902 1654 4138 cpi r20,129 2903 1656 5105 cpc r21,__zero_reg__ 2904 1658 04F0 brlt .L143 2905 165a 80E8 ldi r24,lo8(128) 2906 165c 90E0 ldi r25,hi8(128) 2907 165e 00C0 rjmp .L172 2908 .L143: 2909 1660 4058 subi r20,lo8(-128) 2910 1662 5F4F sbci r21,hi8(-128) 2911 1664 04F4 brge .L144 2912 1666 80E8 ldi r24,lo8(-128) 2913 1668 9FEF ldi r25,hi8(-128) 2914 .L172: 2915 166a 9093 0000 sts (d2Roll.33)+1,r25 2916 166e 8093 0000 sts d2Roll.33,r24 2917 .L144: 2918 1672 462F mov r20,r22 2919 1674 5527 clr r21 2920 1676 8091 0000 lds r24,d2Nick.34 2921 167a 9091 0000 lds r25,(d2Nick.34)+1 2922 167e 849F mul r24,r20 2923 1680 B001 movw r22,r0 2924 1682 859F mul r24,r21 2925 1684 700D add r23,r0 2926 1686 949F mul r25,r20 2927 1688 700D add r23,r0 2928 168a 1124 clr r1 2929 168c 9B01 movw r18,r22 2930 168e 77FF sbrs r23,7 2931 1690 00C0 rjmp .L146 2932 1692 215F subi r18,lo8(-(15)) 2933 1694 3F4F sbci r19,hi8(-(15)) 2934 .L146: 2935 1696 F4E0 ldi r31,4 2936 1698 3595 1: asr r19 2937 169a 2795 ror r18 2938 169c FA95 dec r31 2939 169e 01F4 brne 1b 2940 16a0 8091 0000 lds r24,MesswertNick 2941 16a4 9091 0000 lds r25,(MesswertNick)+1 2942 16a8 820F add r24,r18 2943 16aa 931F adc r25,r19 2944 16ac 9093 0000 sts (MesswertNick)+1,r25 2945 16b0 8093 0000 sts MesswertNick,r24 2946 16b4 8091 0000 lds r24,d2Roll.33 2947 16b8 9091 0000 lds r25,(d2Roll.33)+1 2948 16bc 849F mul r24,r20 2949 16be D001 movw r26,r0 2950 16c0 859F mul r24,r21 2951 16c2 B00D add r27,r0 2952 16c4 949F mul r25,r20 2953 16c6 B00D add r27,r0 2954 16c8 1124 clr r1 2955 16ca AD01 movw r20,r26 2956 16cc 9D01 movw r18,r26 2957 16ce B7FF sbrs r27,7 2958 16d0 00C0 rjmp .L147 2959 16d2 215F subi r18,lo8(-(15)) 2960 16d4 3F4F sbci r19,hi8(-(15)) 2961 .L147: 2962 16d6 E4E0 ldi r30,4 2963 16d8 3595 1: asr r19 2964 16da 2795 ror r18 2965 16dc EA95 dec r30 2966 16de 01F4 brne 1b 2967 16e0 8091 0000 lds r24,MesswertRoll 2968 16e4 9091 0000 lds r25,(MesswertRoll)+1 2969 16e8 820F add r24,r18 2970 16ea 931F adc r25,r19 2971 16ec 9093 0000 sts (MesswertRoll)+1,r25 2972 16f0 8093 0000 sts MesswertRoll,r24 2973 16f4 8091 0000 lds r24,HiResNick 2974 16f8 9091 0000 lds r25,(HiResNick)+1 2975 16fc 860F add r24,r22 2976 16fe 971F adc r25,r23 2977 1700 9093 0000 sts (HiResNick)+1,r25 2978 1704 8093 0000 sts HiResNick,r24 2979 1708 8091 0000 lds r24,HiResRoll 2980 170c 9091 0000 lds r25,(HiResRoll)+1 2981 1710 840F add r24,r20 2982 1712 951F adc r25,r21 2983 1714 9093 0000 sts (HiResRoll)+1,r25 2984 1718 8093 0000 sts HiResRoll,r24 2985 .L137: 2986 171c 0091 0000 lds r16,RohMesswertRoll 2987 1720 1091 0000 lds r17,(RohMesswertRoll)+1 2988 1724 8091 0000 lds r24,KopplungsteilNickRoll 2989 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+1 2990 172c 1016 cp __zero_reg__,r16 2991 172e 1106 cpc __zero_reg__,r17 2992 1730 04F4 brge .L148 2993 1732 9C01 movw r18,r24 2994 1734 97FF sbrs r25,7 2995 1736 00C0 rjmp .L149 2996 1738 2227 clr r18 2997 173a 3327 clr r19 2998 173c 281B sub r18,r24 2999 173e 390B sbc r19,r25 3000 .L149: 3001 1740 C901 movw r24,r18 3002 1742 AA27 clr r26 3003 1744 97FD sbrc r25,7 3004 1746 A095 com r26 3005 1748 BA2F mov r27,r26 3006 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection 3007 174e 3327 clr r19 3008 1750 4427 clr r20 3009 1752 5527 clr r21 3010 1754 BC01 movw r22,r24 3011 1756 CD01 movw r24,r26 3012 1758 0E94 0000 call __mulsi3 3013 175c 9B01 movw r18,r22 3014 175e AC01 movw r20,r24 3015 1760 97FF sbrs r25,7 3016 1762 00C0 rjmp .L150 3017 1764 215C subi r18,lo8(-(63)) 3018 1766 3F4F sbci r19,hi8(-(63)) 3019 1768 4F4F sbci r20,hlo8(-(63)) 3020 176a 5F4F sbci r21,hhi8(-(63)) 3021 .L150: 3022 176c 76E0 ldi r23,6 3023 176e 5595 1: asr r21 3024 1770 4795 ror r20 3025 1772 3795 ror r19 3026 1774 2795 ror r18 3027 1776 7A95 dec r23 3028 1778 01F4 brne 1b 3029 177a 8091 0000 lds r24,TrimRoll 3030 177e 9091 0000 lds r25,(TrimRoll)+1 3031 1782 820F add r24,r18 3032 1784 931F adc r25,r19 3033 1786 00C0 rjmp .L173 3034 .L148: 3035 1788 97FF sbrs r25,7 3036 178a 00C0 rjmp .L152 3037 178c 9095 com r25 3038 178e 8195 neg r24 3039 1790 9F4F sbci r25,lo8(-1) 3040 .L152: 3041 1792 AA27 clr r26 3042 1794 97FD sbrc r25,7 3043 1796 A095 com r26 3044 1798 BA2F mov r27,r26 3045 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection 3046 179e 3327 clr r19 3047 17a0 4427 clr r20 3048 17a2 5527 clr r21 3049 17a4 BC01 movw r22,r24 3050 17a6 CD01 movw r24,r26 3051 17a8 0E94 0000 call __mulsi3 3052 17ac 9B01 movw r18,r22 3053 17ae AC01 movw r20,r24 3054 17b0 97FF sbrs r25,7 3055 17b2 00C0 rjmp .L153 3056 17b4 215C subi r18,lo8(-(63)) 3057 17b6 3F4F sbci r19,hi8(-(63)) 3058 17b8 4F4F sbci r20,hlo8(-(63)) 3059 17ba 5F4F sbci r21,hhi8(-(63)) 3060 .L153: 3061 17bc 66E0 ldi r22,6 3062 17be 5595 1: asr r21 3063 17c0 4795 ror r20 3064 17c2 3795 ror r19 3065 17c4 2795 ror r18 3066 17c6 6A95 dec r22 3067 17c8 01F4 brne 1b 3068 17ca 8091 0000 lds r24,TrimRoll 3069 17ce 9091 0000 lds r25,(TrimRoll)+1 3070 17d2 821B sub r24,r18 3071 17d4 930B sbc r25,r19 3072 .L173: 3073 17d6 9093 0000 sts (TrimRoll)+1,r25 3074 17da 8093 0000 sts TrimRoll,r24 3075 17de E090 0000 lds r14,RohMesswertNick 3076 17e2 F090 0000 lds r15,(RohMesswertNick)+1 3077 17e6 8091 0000 lds r24,KopplungsteilRollNick 3078 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+1 3079 17ee 1E14 cp __zero_reg__,r14 3080 17f0 1F04 cpc __zero_reg__,r15 3081 17f2 04F4 brge .L154 3082 17f4 9C01 movw r18,r24 3083 17f6 97FF sbrs r25,7 3084 17f8 00C0 rjmp .L155 3085 17fa 2227 clr r18 3086 17fc 3327 clr r19 3087 17fe 281B sub r18,r24 3088 1800 390B sbc r19,r25 3089 .L155: 3090 1802 C901 movw r24,r18 3091 1804 AA27 clr r26 3092 1806 97FD sbrc r25,7 3093 1808 A095 com r26 3094 180a BA2F mov r27,r26 3095 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection 3096 1810 3327 clr r19 3097 1812 4427 clr r20 3098 1814 5527 clr r21 3099 1816 BC01 movw r22,r24 3100 1818 CD01 movw r24,r26 3101 181a 0E94 0000 call __mulsi3 3102 181e 9B01 movw r18,r22 3103 1820 AC01 movw r20,r24 3104 1822 97FF sbrs r25,7 3105 1824 00C0 rjmp .L156 3106 1826 215C subi r18,lo8(-(63)) 3107 1828 3F4F sbci r19,hi8(-(63)) 3108 182a 4F4F sbci r20,hlo8(-(63)) 3109 182c 5F4F sbci r21,hhi8(-(63)) 3110 .L156: 3111 182e 96E0 ldi r25,6 3112 1830 5595 1: asr r21 3113 1832 4795 ror r20 3114 1834 3795 ror r19 3115 1836 2795 ror r18 3116 1838 9A95 dec r25 3117 183a 01F4 brne 1b 3118 183c 8091 0000 lds r24,TrimNick 3119 1840 9091 0000 lds r25,(TrimNick)+1 3120 1844 820F add r24,r18 3121 1846 931F adc r25,r19 3122 1848 00C0 rjmp .L174 3123 .L154: 3124 184a 97FF sbrs r25,7 3125 184c 00C0 rjmp .L158 3126 184e 9095 com r25 3127 1850 8195 neg r24 3128 1852 9F4F sbci r25,lo8(-1) 3129 .L158: 3130 1854 AA27 clr r26 3131 1856 97FD sbrc r25,7 3132 1858 A095 com r26 3133 185a BA2F mov r27,r26 3134 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection 3135 1860 3327 clr r19 3136 1862 4427 clr r20 3137 1864 5527 clr r21 3138 1866 BC01 movw r22,r24 3139 1868 CD01 movw r24,r26 3140 186a 0E94 0000 call __mulsi3 3141 186e 9B01 movw r18,r22 3142 1870 AC01 movw r20,r24 3143 1872 97FF sbrs r25,7 3144 1874 00C0 rjmp .L159 3145 1876 215C subi r18,lo8(-(63)) 3146 1878 3F4F sbci r19,hi8(-(63)) 3147 187a 4F4F sbci r20,hlo8(-(63)) 3148 187c 5F4F sbci r21,hhi8(-(63)) 3149 .L159: 3150 187e 86E0 ldi r24,6 3151 1880 5595 1: asr r21 3152 1882 4795 ror r20 3153 1884 3795 ror r19 3154 1886 2795 ror r18 3155 1888 8A95 dec r24 3156 188a 01F4 brne 1b 3157 188c 8091 0000 lds r24,TrimNick 3158 1890 9091 0000 lds r25,(TrimNick)+1 3159 1894 821B sub r24,r18 3160 1896 930B sbc r25,r19 3161 .L174: 3162 1898 9093 0000 sts (TrimNick)+1,r25 3163 189c 8093 0000 sts TrimNick,r24 3164 18a0 8091 0000 lds r24,Parameter_GlobalConfig 3165 18a4 87FF sbrs r24,7 3166 18a6 00C0 rjmp .L82 3167 18a8 B989 ldd r27,Y+17 3168 18aa BB23 tst r27 3169 18ac 01F0 breq .+2 3170 18ae 00C0 rjmp .L82 3171 18b0 8091 0000 lds r24,Looping_Roll 3172 18b4 8823 tst r24 3173 18b6 01F4 brne .L82 3174 18b8 E1E0 ldi r30,lo8(257) 3175 18ba EE16 cp r14,r30 3176 18bc E1E0 ldi r30,hi8(257) 3177 18be FE06 cpc r15,r30 3178 18c0 04F0 brlt .L161 3179 18c2 8091 0000 lds r24,MesswertNick 3180 18c6 9091 0000 lds r25,(MesswertNick)+1 3181 18ca 8E0D add r24,r14 3182 18cc 9F1D adc r25,r15 3183 18ce 8050 subi r24,lo8(-(-256)) 3184 18d0 9140 sbci r25,hi8(-(-256)) 3185 18d2 00C0 rjmp .L175 3186 .L161: 3187 18d4 F0E0 ldi r31,lo8(-256) 3188 18d6 EF16 cp r14,r31 3189 18d8 FFEF ldi r31,hi8(-256) 3190 18da FF06 cpc r15,r31 3191 18dc 04F4 brge .L162 3192 18de 8091 0000 lds r24,MesswertNick 3193 18e2 9091 0000 lds r25,(MesswertNick)+1 3194 18e6 8E0D add r24,r14 3195 18e8 9F1D adc r25,r15 3196 18ea 8050 subi r24,lo8(-(256)) 3197 18ec 9F4F sbci r25,hi8(-(256)) 3198 .L175: 3199 18ee 9093 0000 sts (MesswertNick)+1,r25 3200 18f2 8093 0000 sts MesswertNick,r24 3201 .L162: 3202 18f6 21E0 ldi r18,hi8(257) 3203 18f8 0130 cpi r16,lo8(257) 3204 18fa 1207 cpc r17,r18 3205 18fc 04F0 brlt .L164 3206 18fe 8091 0000 lds r24,MesswertRoll 3207 1902 9091 0000 lds r25,(MesswertRoll)+1 3208 1906 800F add r24,r16 3209 1908 911F adc r25,r17 3210 190a 8050 subi r24,lo8(-(-256)) 3211 190c 9140 sbci r25,hi8(-(-256)) 3212 190e 00C0 rjmp .L176 3213 .L164: 3214 1910 3FEF ldi r19,hi8(-256) 3215 1912 0030 cpi r16,lo8(-256) 3216 1914 1307 cpc r17,r19 3217 1916 04F4 brge .L82 3218 1918 8091 0000 lds r24,MesswertRoll 3219 191c 9091 0000 lds r25,(MesswertRoll)+1 3220 1920 800F add r24,r16 3221 1922 911F adc r25,r17 3222 1924 8050 subi r24,lo8(-(256)) 3223 1926 9F4F sbci r25,hi8(-(256)) 3224 .L176: 3225 1928 9093 0000 sts (MesswertRoll)+1,r25 3226 192c 8093 0000 sts MesswertRoll,r24 3227 .L82: 3228 /* epilogue: frame size=19 */ 3229 1930 E2E1 ldi r30,18 3230 1932 CD5E subi r28,-19 3231 1934 0C94 0000 jmp __epilogue_restores__+0 3232 /* epilogue end (size=4) */ 3233 /* function Mittelwert size 2000 (1990) */ 3235 .global SendMotorData 3237 SendMotorData: 3238 /* prologue: frame size=0 */ 3239 /* prologue end (size=0) */ 3240 1938 8091 0000 lds r24,MotorenEin 3241 193c 8823 tst r24 3242 193e 01F4 brne .L178 3243 1940 8091 0000 lds r24,FC_StatusFlags 3244 1944 8C7F andi r24,lo8(-4) 3245 1946 8093 0000 sts FC_StatusFlags,r24 3246 194a A0E0 ldi r26,lo8(MotorTest) 3247 194c B0E0 ldi r27,hi8(MotorTest) 3248 194e E0E0 ldi r30,lo8(Motor) 3249 1950 F0E0 ldi r31,hi8(Motor) 3250 1952 9BE0 ldi r25,lo8(11) 3251 .L183: 3252 1954 8091 0000 lds r24,PC_MotortestActive 3253 1958 8823 tst r24 3254 195a 01F4 brne .L182 3255 195c 8C93 st X,r24 3256 .L182: 3257 195e 8D91 ld r24,X+ 3258 1960 8183 std Z+1,r24 3259 1962 1282 std Z+2,__zero_reg__ 3260 1964 9150 subi r25,lo8(-(-1)) 3261 1966 3896 adiw r30,8 3262 1968 97FF sbrs r25,7 3263 196a 00C0 rjmp .L183 3264 196c 8091 0000 lds r24,PC_MotortestActive 3265 1970 8823 tst r24 3266 1972 01F0 breq .L185 3267 1974 8091 0000 lds r24,PC_MotortestActive 3268 1978 8150 subi r24,lo8(-(-1)) 3269 197a 8093 0000 sts PC_MotortestActive,r24 3270 197e 00C0 rjmp .L185 3271 .L178: 3272 1980 8091 0000 lds r24,FC_StatusFlags 3273 1984 8160 ori r24,lo8(1) 3274 1986 8093 0000 sts FC_StatusFlags,r24 3275 .L185: 3276 198a 8091 0000 lds r24,I2C_TransferActive 3277 198e 8823 tst r24 3278 1990 01F0 breq .L186 3279 1992 1092 0000 sts I2C_TransferActive,__zero_reg__ 3280 1996 0895 ret 3281 .L186: 3282 1998 8093 0000 sts motor_write,r24 3283 199c 8093 0000 sts twi_state,r24 3284 19a0 8091 0000 lds r24,BLFlags 3285 19a4 8E7F andi r24,lo8(-2) 3286 19a6 8093 0000 sts BLFlags,r24 3287 19aa 85EA ldi r24,lo8(-91) 3288 19ac 8093 BC00 sts 188,r24 3289 19b0 0895 ret 3290 /* epilogue: frame size=0 */ 3291 /* epilogue: noreturn */ 3292 /* epilogue end (size=0) */ 3293 /* function SendMotorData size 61 (61) */ 3295 .global ParameterZuordnung 3297 ParameterZuordnung: 3298 /* prologue: frame size=0 */ 3299 19b2 CF93 push r28 3300 19b4 DF93 push r29 3301 /* prologue end (size=2) */ 3302 19b6 A0E0 ldi r26,lo8(Poti) 3303 19b8 B0E0 ldi r27,hi8(Poti) 3304 19ba C0E0 ldi r28,lo8(EE_Parameter+5) 3305 19bc D0E0 ldi r29,hi8(EE_Parameter+5) 3306 19be 57E0 ldi r21,lo8(7) 3307 .L203: 3308 19c0 9991 ld r25,Y+ 3309 19c2 E92F mov r30,r25 3310 19c4 FF27 clr r31 3311 19c6 EE0F add r30,r30 3312 19c8 FF1F adc r31,r31 3313 19ca E050 subi r30,lo8(-(PPM_in)) 3314 19cc F040 sbci r31,hi8(-(PPM_in)) 3315 19ce 0190 ld __tmp_reg__,Z+ 3316 19d0 F081 ld r31,Z 3317 19d2 E02D mov r30,__tmp_reg__ 3318 19d4 E158 subi r30,lo8(-(127)) 3319 19d6 FF4F sbci r31,hi8(-(127)) 3320 19d8 EF3F cpi r30,255 3321 19da F105 cpc r31,__zero_reg__ 3322 19dc 01F0 breq .L194 3323 19de 04F0 brlt .L194 3324 19e0 EFEF ldi r30,lo8(255) 3325 19e2 F0E0 ldi r31,hi8(255) 3326 19e4 00C0 rjmp .L195 3327 .L194: 3328 19e6 F7FF sbrs r31,7 3329 19e8 00C0 rjmp .L195 3330 19ea E0E0 ldi r30,lo8(0) 3331 19ec F0E0 ldi r31,hi8(0) 3332 .L195: 3333 19ee 9931 cpi r25,lo8(25) 3334 19f0 01F4 brne .L197 3335 19f2 EC93 st X,r30 3336 19f4 00C0 rjmp .L193 3337 .L197: 3338 19f6 4C91 ld r20,X 3339 19f8 242F mov r18,r20 3340 19fa 3327 clr r19 3341 19fc E217 cp r30,r18 3342 19fe F307 cpc r31,r19 3343 1a00 01F0 breq .L193 3344 1a02 CF01 movw r24,r30 3345 1a04 821B sub r24,r18 3346 1a06 930B sbc r25,r19 3347 1a08 97FD sbrc r25,7 3348 1a0a 0396 adiw r24,3 3349 .L200: 3350 1a0c 9595 asr r25 3351 1a0e 8795 ror r24 3352 1a10 9595 asr r25 3353 1a12 8795 ror r24 3354 1a14 242F mov r18,r20 3355 1a16 280F add r18,r24 3356 1a18 2C93 st X,r18 3357 1a1a 822F mov r24,r18 3358 1a1c 9927 clr r25 3359 1a1e E817 cp r30,r24 3360 1a20 F907 cpc r31,r25 3361 1a22 04F4 brge .L201 3362 1a24 2150 subi r18,lo8(-(-1)) 3363 1a26 00C0 rjmp .L327 3364 .L201: 3365 1a28 2F5F subi r18,lo8(-(1)) 3366 .L327: 3367 1a2a 2C93 st X,r18 3368 .L193: 3369 1a2c 5150 subi r21,lo8(-(-1)) 3370 1a2e 1196 adiw r26,1 3371 1a30 57FF sbrs r21,7 3372 1a32 00C0 rjmp .L203 3373 1a34 8091 0000 lds r24,EE_Parameter+15 3374 1a38 883F cpi r24,lo8(-8) 3375 1a3a 00F0 brlo .L328 3376 1a3c EFEF ldi r30,lo8(255) 3377 1a3e F0E0 ldi r31,hi8(255) 3378 1a40 E81B sub r30,r24 3379 1a42 F109 sbc r31,__zero_reg__ 3380 1a44 E050 subi r30,lo8(-(Poti)) 3381 1a46 F040 sbci r31,hi8(-(Poti)) 3382 1a48 8081 ld r24,Z 3383 .L328: 3384 1a4a 8093 0000 sts Parameter_Luftdruck_D,r24 3385 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D 3386 1a52 8823 tst r24 3387 1a54 01F0 breq .L207 3388 1a56 8436 cpi r24,lo8(100) 3389 1a58 00F0 brlo .L207 3390 1a5a 84E6 ldi r24,lo8(100) 3391 1a5c 8093 0000 sts Parameter_Luftdruck_D,r24 3392 .L207: 3393 1a60 8091 0000 lds r24,EE_Parameter+17 3394 1a64 883F cpi r24,lo8(-8) 3395 1a66 00F0 brlo .L329 3396 1a68 EFEF ldi r30,lo8(255) 3397 1a6a F0E0 ldi r31,hi8(255) 3398 1a6c E81B sub r30,r24 3399 1a6e F109 sbc r31,__zero_reg__ 3400 1a70 E050 subi r30,lo8(-(Poti)) 3401 1a72 F040 sbci r31,hi8(-(Poti)) 3402 1a74 8081 ld r24,Z 3403 .L329: 3404 1a76 8093 0000 sts Parameter_Hoehe_P,r24 3405 1a7a 8091 0000 lds r24,Parameter_Hoehe_P 3406 1a7e 8823 tst r24 3407 1a80 01F0 breq .L212 3408 1a82 8436 cpi r24,lo8(100) 3409 1a84 00F0 brlo .L212 3410 1a86 84E6 ldi r24,lo8(100) 3411 1a88 8093 0000 sts Parameter_Hoehe_P,r24 3412 .L212: 3413 1a8c 8091 0000 lds r24,EE_Parameter+30 3414 1a90 883F cpi r24,lo8(-8) 3415 1a92 00F0 brlo .L330 3416 1a94 EFEF ldi r30,lo8(255) 3417 1a96 F0E0 ldi r31,hi8(255) 3418 1a98 E81B sub r30,r24 3419 1a9a F109 sbc r31,__zero_reg__ 3420 1a9c E050 subi r30,lo8(-(Poti)) 3421 1a9e F040 sbci r31,hi8(-(Poti)) 3422 1aa0 8081 ld r24,Z 3423 .L330: 3424 1aa2 8093 0000 sts Parameter_Gyro_P,r24 3425 1aa6 8091 0000 lds r24,Parameter_Gyro_P 3426 1aaa 8B30 cpi r24,lo8(11) 3427 1aac 00F4 brsh .L216 3428 1aae 8AE0 ldi r24,lo8(10) 3429 1ab0 00C0 rjmp .L331 3430 .L216: 3431 1ab2 8F3F cpi r24,lo8(-1) 3432 1ab4 01F4 brne .L217 3433 .L331: 3434 1ab6 8093 0000 sts Parameter_Gyro_P,r24 3435 .L217: 3436 1aba 8091 0000 lds r24,EE_Parameter+75 3437 1abe 883F cpi r24,lo8(-8) 3438 1ac0 00F0 brlo .L332 3439 1ac2 EFEF ldi r30,lo8(255) 3440 1ac4 F0E0 ldi r31,hi8(255) 3441 1ac6 E81B sub r30,r24 3442 1ac8 F109 sbc r31,__zero_reg__ 3443 1aca E050 subi r30,lo8(-(Poti)) 3444 1acc F040 sbci r31,hi8(-(Poti)) 3445 1ace 8081 ld r24,Z 3446 .L332: 3447 1ad0 8093 0000 sts Parameter_J16Timing,r24 3448 1ad4 8091 0000 lds r24,Parameter_J16Timing 3449 1ad8 8630 cpi r24,lo8(6) 3450 1ada 00F4 brsh .L221 3451 1adc 85E0 ldi r24,lo8(5) 3452 1ade 00C0 rjmp .L333 3453 .L221: 3454 1ae0 8F3F cpi r24,lo8(-1) 3455 1ae2 01F4 brne .L222 3456 .L333: 3457 1ae4 8093 0000 sts Parameter_J16Timing,r24 3458 .L222: 3459 1ae8 8091 0000 lds r24,EE_Parameter+77 3460 1aec 883F cpi r24,lo8(-8) 3461 1aee 00F0 brlo .L334 3462 1af0 EFEF ldi r30,lo8(255) 3463 1af2 F0E0 ldi r31,hi8(255) 3464 1af4 E81B sub r30,r24 3465 1af6 F109 sbc r31,__zero_reg__ 3466 1af8 E050 subi r30,lo8(-(Poti)) 3467 1afa F040 sbci r31,hi8(-(Poti)) 3468 1afc 8081 ld r24,Z 3469 .L334: 3470 1afe 8093 0000 sts Parameter_J17Timing,r24 3471 1b02 8091 0000 lds r24,Parameter_J17Timing 3472 1b06 8630 cpi r24,lo8(6) 3473 1b08 00F4 brsh .L226 3474 1b0a 85E0 ldi r24,lo8(5) 3475 1b0c 00C0 rjmp .L335 3476 .L226: 3477 1b0e 8F3F cpi r24,lo8(-1) 3478 1b10 01F4 brne .L227 3479 .L335: 3480 1b12 8093 0000 sts Parameter_J17Timing,r24 3481 .L227: 3482 1b16 8091 0000 lds r24,EE_Parameter+56 3483 1b1a 873F cpi r24,lo8(-9) 3484 1b1c 01F4 brne .L229 3485 1b1e 4299 sbic 40-0x20,2 3486 1b20 00C0 rjmp .L368 3487 1b22 00C0 rjmp .L234 3488 .L229: 3489 1b24 863F cpi r24,lo8(-10) 3490 1b26 01F4 brne .L233 3491 1b28 439B sbis 40-0x20,3 3492 1b2a 00C0 rjmp .L234 3493 .L368: 3494 1b2c 8CE8 ldi r24,lo8(-116) 3495 1b2e 00C0 rjmp .L336 3496 .L234: 3497 1b30 86E4 ldi r24,lo8(70) 3498 1b32 00C0 rjmp .L336 3499 .L233: 3500 1b34 883F cpi r24,lo8(-8) 3501 1b36 00F0 brlo .L336 3502 1b38 EFEF ldi r30,lo8(255) 3503 1b3a F0E0 ldi r31,hi8(255) 3504 1b3c E81B sub r30,r24 3505 1b3e F109 sbc r31,__zero_reg__ 3506 1b40 E050 subi r30,lo8(-(Poti)) 3507 1b42 F040 sbci r31,hi8(-(Poti)) 3508 1b44 8081 ld r24,Z 3509 .L336: 3510 1b46 8093 0000 sts Parameter_Servo3,r24 3511 1b4a 8091 0000 lds r24,EE_Parameter+57 3512 1b4e 873F cpi r24,lo8(-9) 3513 1b50 01F4 brne .L239 3514 1b52 4299 sbic 40-0x20,2 3515 1b54 00C0 rjmp .L369 3516 1b56 00C0 rjmp .L244 3517 .L239: 3518 1b58 863F cpi r24,lo8(-10) 3519 1b5a 01F4 brne .L243 3520 1b5c 439B sbis 40-0x20,3 3521 1b5e 00C0 rjmp .L244 3522 .L369: 3523 1b60 8CE8 ldi r24,lo8(-116) 3524 1b62 00C0 rjmp .L337 3525 .L244: 3526 1b64 86E4 ldi r24,lo8(70) 3527 1b66 00C0 rjmp .L337 3528 .L243: 3529 1b68 883F cpi r24,lo8(-8) 3530 1b6a 00F0 brlo .L337 3531 1b6c EFEF ldi r30,lo8(255) 3532 1b6e F0E0 ldi r31,hi8(255) 3533 1b70 E81B sub r30,r24 3534 1b72 F109 sbc r31,__zero_reg__ 3535 1b74 E050 subi r30,lo8(-(Poti)) 3536 1b76 F040 sbci r31,hi8(-(Poti)) 3537 1b78 8081 ld r24,Z 3538 .L337: 3539 1b7a 8093 0000 sts Parameter_Servo4,r24 3540 1b7e 8091 0000 lds r24,EE_Parameter+58 3541 1b82 883F cpi r24,lo8(-8) 3542 1b84 00F0 brlo .L338 3543 1b86 EFEF ldi r30,lo8(255) 3544 1b88 F0E0 ldi r31,hi8(255) 3545 1b8a E81B sub r30,r24 3546 1b8c F109 sbc r31,__zero_reg__ 3547 1b8e E050 subi r30,lo8(-(Poti)) 3548 1b90 F040 sbci r31,hi8(-(Poti)) 3549 1b92 8081 ld r24,Z 3550 .L338: 3551 1b94 8093 0000 sts Parameter_Servo5,r24 3552 1b98 8091 0000 lds r24,EE_Parameter+16 3553 1b9c 883F cpi r24,lo8(-8) 3554 1b9e 00F0 brlo .L339 3555 1ba0 EFEF ldi r30,lo8(255) 3556 1ba2 F0E0 ldi r31,hi8(255) 3557 1ba4 E81B sub r30,r24 3558 1ba6 F109 sbc r31,__zero_reg__ 3559 1ba8 E050 subi r30,lo8(-(Poti)) 3560 1baa F040 sbci r31,hi8(-(Poti)) 3561 1bac 8081 ld r24,Z 3562 .L339: 3563 1bae 8093 0000 sts Parameter_HoehenSchalter,r24 3564 1bb2 8091 0000 lds r24,EE_Parameter+19 3565 1bb6 883F cpi r24,lo8(-8) 3566 1bb8 00F0 brlo .L340 3567 1bba EFEF ldi r30,lo8(255) 3568 1bbc F0E0 ldi r31,hi8(255) 3569 1bbe E81B sub r30,r24 3570 1bc0 F109 sbc r31,__zero_reg__ 3571 1bc2 E050 subi r30,lo8(-(Poti)) 3572 1bc4 F040 sbci r31,hi8(-(Poti)) 3573 1bc6 8081 ld r24,Z 3574 .L340: 3575 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 3576 1bcc 8091 0000 lds r24,EE_Parameter+21 3577 1bd0 883F cpi r24,lo8(-8) 3578 1bd2 00F0 brlo .L341 3579 1bd4 EFEF ldi r30,lo8(255) 3580 1bd6 F0E0 ldi r31,hi8(255) 3581 1bd8 E81B sub r30,r24 3582 1bda F109 sbc r31,__zero_reg__ 3583 1bdc E050 subi r30,lo8(-(Poti)) 3584 1bde F040 sbci r31,hi8(-(Poti)) 3585 1be0 8081 ld r24,Z 3586 .L341: 3587 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 3588 1be6 8091 0000 lds r24,EE_Parameter+29 3589 1bea 883F cpi r24,lo8(-8) 3590 1bec 00F0 brlo .L342 3591 1bee EFEF ldi r30,lo8(255) 3592 1bf0 F0E0 ldi r31,hi8(255) 3593 1bf2 E81B sub r30,r24 3594 1bf4 F109 sbc r31,__zero_reg__ 3595 1bf6 E050 subi r30,lo8(-(Poti)) 3596 1bf8 F040 sbci r31,hi8(-(Poti)) 3597 1bfa 8081 ld r24,Z 3598 .L342: 3599 1bfc 8093 0000 sts Parameter_KompassWirkung,r24 3600 1c00 8091 0000 lds r24,EE_Parameter+31 3601 1c04 883F cpi r24,lo8(-8) 3602 1c06 00F0 brlo .L343 3603 1c08 EFEF ldi r30,lo8(255) 3604 1c0a F0E0 ldi r31,hi8(255) 3605 1c0c E81B sub r30,r24 3606 1c0e F109 sbc r31,__zero_reg__ 3607 1c10 E050 subi r30,lo8(-(Poti)) 3608 1c12 F040 sbci r31,hi8(-(Poti)) 3609 1c14 8081 ld r24,Z 3610 .L343: 3611 1c16 8093 0000 sts Parameter_Gyro_I,r24 3612 1c1a 8091 0000 lds r24,EE_Parameter+32 3613 1c1e 883F cpi r24,lo8(-8) 3614 1c20 00F0 brlo .L344 3615 1c22 EFEF ldi r30,lo8(255) 3616 1c24 F0E0 ldi r31,hi8(255) 3617 1c26 E81B sub r30,r24 3618 1c28 F109 sbc r31,__zero_reg__ 3619 1c2a E050 subi r30,lo8(-(Poti)) 3620 1c2c F040 sbci r31,hi8(-(Poti)) 3621 1c2e 8081 ld r24,Z 3622 .L344: 3623 1c30 8093 0000 sts Parameter_Gyro_D,r24 3624 1c34 8091 0000 lds r24,EE_Parameter+33 3625 1c38 883F cpi r24,lo8(-8) 3626 1c3a 00F0 brlo .L345 3627 1c3c EFEF ldi r30,lo8(255) 3628 1c3e F0E0 ldi r31,hi8(255) 3629 1c40 E81B sub r30,r24 3630 1c42 F109 sbc r31,__zero_reg__ 3631 1c44 E050 subi r30,lo8(-(Poti)) 3632 1c46 F040 sbci r31,hi8(-(Poti)) 3633 1c48 8081 ld r24,Z 3634 .L345: 3635 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r24 3636 1c4e 8091 0000 lds r24,EE_Parameter+34 3637 1c52 883F cpi r24,lo8(-8) 3638 1c54 00F0 brlo .L346 3639 1c56 EFEF ldi r30,lo8(255) 3640 1c58 F0E0 ldi r31,hi8(255) 3641 1c5a E81B sub r30,r24 3642 1c5c F109 sbc r31,__zero_reg__ 3643 1c5e E050 subi r30,lo8(-(Poti)) 3644 1c60 F040 sbci r31,hi8(-(Poti)) 3645 1c62 8081 ld r24,Z 3646 .L346: 3647 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r24 3648 1c68 8091 0000 lds r24,EE_Parameter+40 3649 1c6c 883F cpi r24,lo8(-8) 3650 1c6e 00F0 brlo .L347 3651 1c70 EFEF ldi r30,lo8(255) 3652 1c72 F0E0 ldi r31,hi8(255) 3653 1c74 E81B sub r30,r24 3654 1c76 F109 sbc r31,__zero_reg__ 3655 1c78 E050 subi r30,lo8(-(Poti)) 3656 1c7a F040 sbci r31,hi8(-(Poti)) 3657 1c7c 8081 ld r24,Z 3658 .L347: 3659 1c7e 8093 0000 sts Parameter_I_Faktor,r24 3660 1c82 8091 0000 lds r24,EE_Parameter+41 3661 1c86 883F cpi r24,lo8(-8) 3662 1c88 00F0 brlo .L348 3663 1c8a EFEF ldi r30,lo8(255) 3664 1c8c F0E0 ldi r31,hi8(255) 3665 1c8e E81B sub r30,r24 3666 1c90 F109 sbc r31,__zero_reg__ 3667 1c92 E050 subi r30,lo8(-(Poti)) 3668 1c94 F040 sbci r31,hi8(-(Poti)) 3669 1c96 8081 ld r24,Z 3670 .L348: 3671 1c98 8093 0000 sts Parameter_UserParam1,r24 3672 1c9c 8091 0000 lds r24,EE_Parameter+42 3673 1ca0 883F cpi r24,lo8(-8) 3674 1ca2 00F0 brlo .L349 3675 1ca4 EFEF ldi r30,lo8(255) 3676 1ca6 F0E0 ldi r31,hi8(255) 3677 1ca8 E81B sub r30,r24 3678 1caa F109 sbc r31,__zero_reg__ 3679 1cac E050 subi r30,lo8(-(Poti)) 3680 1cae F040 sbci r31,hi8(-(Poti)) 3681 1cb0 8081 ld r24,Z 3682 .L349: 3683 1cb2 8093 0000 sts Parameter_UserParam2,r24 3684 1cb6 8091 0000 lds r24,EE_Parameter+43 3685 1cba 883F cpi r24,lo8(-8) 3686 1cbc 00F0 brlo .L350 3687 1cbe EFEF ldi r30,lo8(255) 3688 1cc0 F0E0 ldi r31,hi8(255) 3689 1cc2 E81B sub r30,r24 3690 1cc4 F109 sbc r31,__zero_reg__ 3691 1cc6 E050 subi r30,lo8(-(Poti)) 3692 1cc8 F040 sbci r31,hi8(-(Poti)) 3693 1cca 8081 ld r24,Z 3694 .L350: 3695 1ccc 8093 0000 sts Parameter_UserParam3,r24 3696 1cd0 8091 0000 lds r24,EE_Parameter+44 3697 1cd4 883F cpi r24,lo8(-8) 3698 1cd6 00F0 brlo .L351 3699 1cd8 EFEF ldi r30,lo8(255) 3700 1cda F0E0 ldi r31,hi8(255) 3701 1cdc E81B sub r30,r24 3702 1cde F109 sbc r31,__zero_reg__ 3703 1ce0 E050 subi r30,lo8(-(Poti)) 3704 1ce2 F040 sbci r31,hi8(-(Poti)) 3705 1ce4 8081 ld r24,Z 3706 .L351: 3707 1ce6 8093 0000 sts Parameter_UserParam4,r24 3708 1cea 8091 0000 lds r24,EE_Parameter+70 3709 1cee 883F cpi r24,lo8(-8) 3710 1cf0 00F0 brlo .L352 3711 1cf2 EFEF ldi r30,lo8(255) 3712 1cf4 F0E0 ldi r31,hi8(255) 3713 1cf6 E81B sub r30,r24 3714 1cf8 F109 sbc r31,__zero_reg__ 3715 1cfa E050 subi r30,lo8(-(Poti)) 3716 1cfc F040 sbci r31,hi8(-(Poti)) 3717 1cfe 8081 ld r24,Z 3718 .L352: 3719 1d00 8093 0000 sts Parameter_UserParam5,r24 3720 1d04 8091 0000 lds r24,EE_Parameter+71 3721 1d08 883F cpi r24,lo8(-8) 3722 1d0a 00F0 brlo .L353 3723 1d0c EFEF ldi r30,lo8(255) 3724 1d0e F0E0 ldi r31,hi8(255) 3725 1d10 E81B sub r30,r24 3726 1d12 F109 sbc r31,__zero_reg__ 3727 1d14 E050 subi r30,lo8(-(Poti)) 3728 1d16 F040 sbci r31,hi8(-(Poti)) 3729 1d18 8081 ld r24,Z 3730 .L353: 3731 1d1a 8093 0000 sts Parameter_UserParam6,r24 3732 1d1e 8091 0000 lds r24,EE_Parameter+72 3733 1d22 883F cpi r24,lo8(-8) 3734 1d24 00F0 brlo .L354 3735 1d26 EFEF ldi r30,lo8(255) 3736 1d28 F0E0 ldi r31,hi8(255) 3737 1d2a E81B sub r30,r24 3738 1d2c F109 sbc r31,__zero_reg__ 3739 1d2e E050 subi r30,lo8(-(Poti)) 3740 1d30 F040 sbci r31,hi8(-(Poti)) 3741 1d32 8081 ld r24,Z 3742 .L354: 3743 1d34 8093 0000 sts Parameter_UserParam7,r24 3744 1d38 8091 0000 lds r24,EE_Parameter+73 3745 1d3c 883F cpi r24,lo8(-8) 3746 1d3e 00F0 brlo .L355 3747 1d40 EFEF ldi r30,lo8(255) 3748 1d42 F0E0 ldi r31,hi8(255) 3749 1d44 E81B sub r30,r24 3750 1d46 F109 sbc r31,__zero_reg__ 3751 1d48 E050 subi r30,lo8(-(Poti)) 3752 1d4a F040 sbci r31,hi8(-(Poti)) 3753 1d4c 8081 ld r24,Z 3754 .L355: 3755 1d4e 8093 0000 sts Parameter_UserParam8,r24 3756 1d52 8091 0000 lds r24,EE_Parameter+45 3757 1d56 883F cpi r24,lo8(-8) 3758 1d58 00F0 brlo .L356 3759 1d5a EFEF ldi r30,lo8(255) 3760 1d5c F0E0 ldi r31,hi8(255) 3761 1d5e E81B sub r30,r24 3762 1d60 F109 sbc r31,__zero_reg__ 3763 1d62 E050 subi r30,lo8(-(Poti)) 3764 1d64 F040 sbci r31,hi8(-(Poti)) 3765 1d66 8081 ld r24,Z 3766 .L356: 3767 1d68 8093 0000 sts Parameter_ServoNickControl,r24 3768 1d6c 8091 0000 lds r24,EE_Parameter+49 3769 1d70 883F cpi r24,lo8(-8) 3770 1d72 00F0 brlo .L357 3771 1d74 EFEF ldi r30,lo8(255) 3772 1d76 F0E0 ldi r31,hi8(255) 3773 1d78 E81B sub r30,r24 3774 1d7a F109 sbc r31,__zero_reg__ 3775 1d7c E050 subi r30,lo8(-(Poti)) 3776 1d7e F040 sbci r31,hi8(-(Poti)) 3777 1d80 8081 ld r24,Z 3778 .L357: 3779 1d82 8093 0000 sts Parameter_ServoRollControl,r24 3780 1d86 8091 0000 lds r24,EE_Parameter+46 3781 1d8a 883F cpi r24,lo8(-8) 3782 1d8c 00F0 brlo .L358 3783 1d8e EFEF ldi r30,lo8(255) 3784 1d90 F0E0 ldi r31,hi8(255) 3785 1d92 E81B sub r30,r24 3786 1d94 F109 sbc r31,__zero_reg__ 3787 1d96 E050 subi r30,lo8(-(Poti)) 3788 1d98 F040 sbci r31,hi8(-(Poti)) 3789 1d9a 8081 ld r24,Z 3790 .L358: 3791 1d9c 8093 0000 sts Parameter_ServoNickComp,r24 3792 1da0 8091 0000 lds r24,EE_Parameter+50 3793 1da4 883F cpi r24,lo8(-8) 3794 1da6 00F0 brlo .L359 3795 1da8 EFEF ldi r30,lo8(255) 3796 1daa F0E0 ldi r31,hi8(255) 3797 1dac E81B sub r30,r24 3798 1dae F109 sbc r31,__zero_reg__ 3799 1db0 E050 subi r30,lo8(-(Poti)) 3800 1db2 F040 sbci r31,hi8(-(Poti)) 3801 1db4 8081 ld r24,Z 3802 .L359: 3803 1db6 8093 0000 sts Parameter_ServoRollComp,r24 3804 1dba 8091 0000 lds r24,EE_Parameter+59 3805 1dbe 883F cpi r24,lo8(-8) 3806 1dc0 00F0 brlo .L360 3807 1dc2 EFEF ldi r30,lo8(255) 3808 1dc4 F0E0 ldi r31,hi8(255) 3809 1dc6 E81B sub r30,r24 3810 1dc8 F109 sbc r31,__zero_reg__ 3811 1dca E050 subi r30,lo8(-(Poti)) 3812 1dcc F040 sbci r31,hi8(-(Poti)) 3813 1dce 8081 ld r24,Z 3814 .L360: 3815 1dd0 8093 0000 sts Parameter_LoopGasLimit,r24 3816 1dd4 8091 0000 lds r24,EE_Parameter+62 3817 1dd8 883F cpi r24,lo8(-8) 3818 1dda 00F0 brlo .L361 3819 1ddc EFEF ldi r30,lo8(255) 3820 1dde F0E0 ldi r31,hi8(255) 3821 1de0 E81B sub r30,r24 3822 1de2 F109 sbc r31,__zero_reg__ 3823 1de4 E050 subi r30,lo8(-(Poti)) 3824 1de6 F040 sbci r31,hi8(-(Poti)) 3825 1de8 8081 ld r24,Z 3826 .L361: 3827 1dea 8093 0000 sts Parameter_AchsKopplung1,r24 3828 1dee 8091 0000 lds r24,EE_Parameter+63 3829 1df2 883F cpi r24,lo8(-8) 3830 1df4 00F0 brlo .L362 3831 1df6 EFEF ldi r30,lo8(255) 3832 1df8 F0E0 ldi r31,hi8(255) 3833 1dfa E81B sub r30,r24 3834 1dfc F109 sbc r31,__zero_reg__ 3835 1dfe E050 subi r30,lo8(-(Poti)) 3836 1e00 F040 sbci r31,hi8(-(Poti)) 3837 1e02 8081 ld r24,Z 3838 .L362: 3839 1e04 8093 0000 sts Parameter_AchsKopplung2,r24 3840 1e08 8091 0000 lds r24,EE_Parameter+64 3841 1e0c 883F cpi r24,lo8(-8) 3842 1e0e 00F0 brlo .L363 3843 1e10 EFEF ldi r30,lo8(255) 3844 1e12 F0E0 ldi r31,hi8(255) 3845 1e14 E81B sub r30,r24 3846 1e16 F109 sbc r31,__zero_reg__ 3847 1e18 E050 subi r30,lo8(-(Poti)) 3848 1e1a F040 sbci r31,hi8(-(Poti)) 3849 1e1c 8081 ld r24,Z 3850 .L363: 3851 1e1e 8093 0000 sts Parameter_CouplingYawCorrection,r24 3852 1e22 8091 0000 lds r24,EE_Parameter+104 3853 1e26 883F cpi r24,lo8(-8) 3854 1e28 00F0 brlo .L364 3855 1e2a EFEF ldi r30,lo8(255) 3856 1e2c F0E0 ldi r31,hi8(255) 3857 1e2e E81B sub r30,r24 3858 1e30 F109 sbc r31,__zero_reg__ 3859 1e32 E050 subi r30,lo8(-(Poti)) 3860 1e34 F040 sbci r31,hi8(-(Poti)) 3861 1e36 8081 ld r24,Z 3862 .L364: 3863 1e38 8093 0000 sts Parameter_MaximumAltitude,r24 3864 1e3c 9091 0000 lds r25,NC_To_FC_MaxAltitude 3865 1e40 9923 tst r25 3866 1e42 01F0 breq .L305 3867 1e44 8091 0000 lds r24,Parameter_MaximumAltitude 3868 1e48 9817 cp r25,r24 3869 1e4a 00F0 brlo .L304 3870 .L305: 3871 1e4c 8091 0000 lds r24,Parameter_MaximumAltitude 3872 1e50 8823 tst r24 3873 1e52 01F4 brne .L303 3874 .L304: 3875 1e54 9093 0000 sts Parameter_MaximumAltitude,r25 3876 .L303: 3877 1e58 8091 0000 lds r24,EE_Parameter+13 3878 1e5c 8093 0000 sts Parameter_GlobalConfig,r24 3879 1e60 8091 0000 lds r24,EE_Parameter+110 3880 1e64 8093 0000 sts Parameter_ExtraConfig,r24 3881 1e68 8091 0000 lds r24,EE_Parameter+69 3882 1e6c 883F cpi r24,lo8(-8) 3883 1e6e 00F0 brlo .L365 3884 1e70 EFEF ldi r30,lo8(255) 3885 1e72 F0E0 ldi r31,hi8(255) 3886 1e74 E81B sub r30,r24 3887 1e76 F109 sbc r31,__zero_reg__ 3888 1e78 E050 subi r30,lo8(-(Poti)) 3889 1e7a F040 sbci r31,hi8(-(Poti)) 3890 1e7c 8081 ld r24,Z 3891 .L365: 3892 1e7e 8093 0000 sts Parameter_DynamicStability,r24 3893 1e82 8091 0000 lds r24,EE_Parameter+97 3894 1e86 883F cpi r24,lo8(-8) 3895 1e88 00F0 brlo .L366 3896 1e8a EFEF ldi r30,lo8(255) 3897 1e8c F0E0 ldi r31,hi8(255) 3898 1e8e E81B sub r30,r24 3899 1e90 F109 sbc r31,__zero_reg__ 3900 1e92 E050 subi r30,lo8(-(Poti)) 3901 1e94 F040 sbci r31,hi8(-(Poti)) 3902 1e96 8081 ld r24,Z 3903 .L366: 3904 1e98 8093 0000 sts Parameter_ExternalControl,r24 3905 1e9c 8091 0000 lds r24,Parameter_I_Faktor 3906 1ea0 282F mov r18,r24 3907 1ea2 3327 clr r19 3908 1ea4 2F5F subi r18,lo8(-(1)) 3909 1ea6 3F4F sbci r19,hi8(-(1)) 3910 1ea8 8CE3 ldi r24,lo8(10300) 3911 1eaa 98E2 ldi r25,hi8(10300) 3912 1eac B901 movw r22,r18 3913 1eae 0E94 0000 call __divmodhi4 3914 1eb2 7093 0000 sts (Ki)+1,r23 3915 1eb6 6093 0000 sts Ki,r22 3916 1eba 8091 0000 lds r24,EE_Parameter+27 3917 1ebe 8093 0000 sts MAX_GAS,r24 3918 1ec2 8091 0000 lds r24,EE_Parameter+26 3919 1ec6 8093 0000 sts MIN_GAS,r24 3920 1eca 9091 0000 lds r25,EE_Parameter+99 3921 1ece 9333 cpi r25,lo8(51) 3922 1ed0 00F4 brsh .+2 3923 1ed2 00C0 rjmp .L310 3924 1ed4 81E0 ldi r24,lo8(1) 3925 1ed6 8093 0000 sts CareFree,r24 3926 1eda 983F cpi r25,lo8(-8) 3927 1edc 00F0 brlo .L311 3928 1ede EFEF ldi r30,lo8(255) 3929 1ee0 F0E0 ldi r31,hi8(255) 3930 1ee2 E91B sub r30,r25 3931 1ee4 F109 sbc r31,__zero_reg__ 3932 1ee6 E050 subi r30,lo8(-(Poti)) 3933 1ee8 F040 sbci r31,hi8(-(Poti)) 3934 1eea 8081 ld r24,Z 3935 1eec 8233 cpi r24,lo8(50) 3936 1eee 00F4 brsh .L311 3937 1ef0 1092 0000 sts CareFree,__zero_reg__ 3938 .L311: 3939 1ef4 8091 0000 lds r24,carefree_old 3940 1ef8 2091 0000 lds r18,CareFree 3941 1efc 8217 cp r24,r18 3942 1efe 01F0 breq .L312 3943 1f00 8330 cpi r24,lo8(3) 3944 1f02 00F4 brsh .L313 3945 1f04 3091 0000 lds r19,SpeakHoTT 3946 1f08 2223 tst r18 3947 1f0a 01F0 breq .L314 3948 1f0c 8CED ldi r24,lo8(1500) 3949 1f0e 95E0 ldi r25,hi8(1500) 3950 1f10 9093 0000 sts (beeptime)+1,r25 3951 1f14 8093 0000 sts beeptime,r24 3952 1f18 3323 tst r19 3953 1f1a 01F4 brne .L316 3954 1f1c 8EE2 ldi r24,lo8(46) 3955 1f1e 00C0 rjmp .L367 3956 .L314: 3957 1f20 88EC ldi r24,lo8(200) 3958 1f22 90E0 ldi r25,hi8(200) 3959 1f24 9093 0000 sts (beeptime)+1,r25 3960 1f28 8093 0000 sts beeptime,r24 3961 1f2c 3323 tst r19 3962 1f2e 01F4 brne .L316 3963 1f30 87E1 ldi r24,lo8(23) 3964 .L367: 3965 1f32 8093 0000 sts SpeakHoTT,r24 3966 .L316: 3967 1f36 85E0 ldi r24,lo8(5) 3968 1f38 8093 0000 sts NeueKompassRichtungMerken,r24 3969 1f3c 2093 0000 sts carefree_old,r18 3970 1f40 00C0 rjmp .L312 3971 .L313: 3972 1f42 8150 subi r24,lo8(-(-1)) 3973 1f44 8093 0000 sts carefree_old,r24 3974 .L312: 3975 1f48 8091 0000 lds r24,FromNaviCtrl+7 3976 1f4c 9091 0000 lds r25,(FromNaviCtrl+7)+1 3977 1f50 97FF sbrs r25,7 3978 1f52 00C0 rjmp .L320 3979 1f54 8091 0000 lds r24,CareFree 3980 1f58 8823 tst r24 3981 1f5a 01F0 breq .L320 3982 1f5c 8091 0000 lds r24,VersionInfo+5 3983 1f60 8068 ori r24,lo8(-128) 3984 1f62 8093 0000 sts VersionInfo+5,r24 3985 1f66 00C0 rjmp .L320 3986 .L310: 3987 1f68 1092 0000 sts CareFree,__zero_reg__ 3988 1f6c 8AE0 ldi r24,lo8(10) 3989 1f6e 8093 0000 sts carefree_old,r24 3990 .L320: 3991 1f72 8091 0000 lds r24,FromNaviCtrl+7 3992 1f76 9091 0000 lds r25,(FromNaviCtrl+7)+1 3993 1f7a 97FF sbrs r25,7 3994 1f7c 00C0 rjmp .L321 3995 1f7e 8091 0000 lds r24,MotorenEin 3996 1f82 8823 tst r24 3997 1f84 01F0 breq .L321 3998 1f86 8091 0000 lds r24,CareFree 3999 1f8a 8823 tst r24 4000 1f8c 01F0 breq .L321 4001 1f8e 8091 0000 lds r24,BeepMuster 4002 1f92 9091 0000 lds r25,(BeepMuster)+1 4003 1f96 8F5F subi r24,lo8(-1) 4004 1f98 9F4F sbci r25,hi8(-1) 4005 1f9a 01F4 brne .L321 4006 1f9c 88E9 ldi r24,lo8(15000) 4007 1f9e 9AE3 ldi r25,hi8(15000) 4008 1fa0 9093 0000 sts (beeptime)+1,r25 4009 1fa4 8093 0000 sts beeptime,r24 4010 1fa8 80E0 ldi r24,lo8(-23552) 4011 1faa 94EA ldi r25,hi8(-23552) 4012 1fac 9093 0000 sts (BeepMuster)+1,r25 4013 1fb0 8093 0000 sts BeepMuster,r24 4014 1fb4 1092 0000 sts CareFree,__zero_reg__ 4015 .L321: 4016 1fb8 8091 0000 lds r24,CareFree 4017 1fbc 8823 tst r24 4018 1fbe 01F0 breq .L322 4019 1fc0 8091 0000 lds r24,FC_StatusFlags2 4020 1fc4 8160 ori r24,lo8(1) 4021 1fc6 8093 0000 sts FC_StatusFlags2,r24 4022 1fca 8091 0000 lds r24,Parameter_AchsKopplung1 4023 1fce 823D cpi r24,lo8(-46) 4024 1fd0 00F4 brsh .L190 4025 1fd2 825E subi r24,lo8(-(30)) 4026 1fd4 8093 0000 sts Parameter_AchsKopplung1,r24 4027 1fd8 00C0 rjmp .L190 4028 .L322: 4029 1fda 8091 0000 lds r24,FC_StatusFlags2 4030 1fde 8E7F andi r24,lo8(-2) 4031 1fe0 8093 0000 sts FC_StatusFlags2,r24 4032 .L190: 4033 /* epilogue: frame size=0 */ 4034 1fe4 DF91 pop r29 4035 1fe6 CF91 pop r28 4036 1fe8 0895 ret 4037 /* epilogue end (size=3) */ 4038 /* function ParameterZuordnung size 798 (793) */ 4040 .lcomm sollGier.0,4 4041 .lcomm tmp_long.1,4 4042 .lcomm tmp_long2.2,4 4043 .lcomm IntegralFehlerNick.3,4 4044 .lcomm IntegralFehlerRoll.4,4 4045 .lcomm RcLostTimer.5,2 4046 .lcomm delay_neutral.6,1 4047 .lcomm delay_einschalten.7,1 4048 .lcomm delay_ausschalten.8,1 4049 .lcomm move_safety_switch.9,1 4050 .lcomm ausgleichNick.10,4 4051 .lcomm ausgleichRoll.11,4 4052 .lcomm stick_nick.12,2 4053 .lcomm stick_roll.13,2 4054 .lcomm cnt.14,2 4055 .lcomm last_n_p.15,1 4056 .lcomm last_n_n.16,1 4057 .lcomm last_r_p.17,1 4058 .lcomm last_r_n.18,1 4059 .lcomm MittelIntegralNick_Alt.19,4 4060 .lcomm MittelIntegralRoll_Alt.20,4 4061 .lcomm HeightTrimming.21,2 4062 .lcomm FilterHCGas.22,2 4063 .lcomm HoverGasFilter.23,4 4064 .data 4067 delay.24: 4068 0051 64 .byte 100 4069 .lcomm BaroAtUpperLimit.25,1 4070 .lcomm BaroAtLowerLimit.26,1 4071 .text 4072 .global MotorRegler 4074 MotorRegler: 4075 /* prologue: frame size=23 */ 4076 1fea A7E1 ldi r26,lo8(23) 4077 1fec B0E0 ldi r27,hi8(23) 4078 1fee E0E0 ldi r30,pm_lo8(1f) 4079 1ff0 F0E0 ldi r31,pm_hi8(1f) 4080 1ff2 0C94 0000 jmp __prologue_saves__+0 4081 1: 4082 /* prologue end (size=6) */ 4083 1ff6 0E94 0000 call Mittelwert 4084 1ffa 8091 0000 lds r24,FC_StatusFlags 4085 1ffe 9927 clr r25 4086 2000 8471 andi r24,lo8(20) 4087 2002 9070 andi r25,hi8(20) 4088 2004 892B or r24,r25 4089 2006 01F4 brne .L371 4090 2008 8091 0000 lds r24,EE_Parameter+111 4091 200c 82FF sbrs r24,2 4092 200e 00C0 rjmp .L372 4093 2010 8091 0000 lds r24,HoverGas 4094 2014 9091 0000 lds r25,(HoverGas)+1 4095 2018 0097 sbiw r24,0 4096 201a 01F0 breq .L373 4097 201c 02E0 ldi r16,hi8(600) 4098 201e 8835 cpi r24,lo8(600) 4099 2020 9007 cpc r25,r16 4100 2022 04F4 brge .L373 4101 2024 9C01 movw r18,r24 4102 2026 97FF sbrs r25,7 4103 2028 00C0 rjmp .L374 4104 202a 2D5F subi r18,lo8(-(3)) 4105 202c 3F4F sbci r19,hi8(-(3)) 4106 .L374: 4107 202e 3595 asr r19 4108 2030 2795 ror r18 4109 2032 3595 asr r19 4110 2034 2795 ror r18 4111 2036 8091 0000 lds r24,EE_Parameter+37 4112 203a 9927 clr r25 4113 203c 289F mul r18,r24 4114 203e A001 movw r20,r0 4115 2040 299F mul r18,r25 4116 2042 500D add r21,r0 4117 2044 389F mul r19,r24 4118 2046 500D add r21,r0 4119 2048 1124 clr r1 4120 204a CA01 movw r24,r20 4121 204c 64E6 ldi r22,lo8(100) 4122 204e 70E0 ldi r23,hi8(100) 4123 2050 0E94 0000 call __divmodhi4 4124 2054 CB01 movw r24,r22 4125 2056 00C0 rjmp .L893 4126 .L373: 4127 2058 8DE2 ldi r24,lo8(45) 4128 205a 90E0 ldi r25,hi8(45) 4129 205c 00C0 rjmp .L893 4130 .L372: 4131 205e 8091 0000 lds r24,EE_Parameter+37 4132 2062 9927 clr r25 4133 .L893: 4134 2064 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4135 2068 8093 0000 sts HooverGasEmergencyPercent,r24 4136 .L371: 4137 206c 2091 0000 lds r18,GasIsZeroCnt 4138 2070 3091 0000 lds r19,(GasIsZeroCnt)+1 4139 2074 55E7 ldi r21,hi8(30000) 4140 2076 2033 cpi r18,lo8(30000) 4141 2078 3507 cpc r19,r21 4142 207a 01F4 brne .L377 4143 207c 1092 0000 sts (StickGas)+1,__zero_reg__ 4144 2080 1092 0000 sts StickGas,__zero_reg__ 4145 2084 8091 0000 lds r24,MIN_GAS 4146 2088 9927 clr r25 4147 208a 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 4148 208e 8093 0000 sts HooverGasEmergencyPercent,r24 4149 .L377: 4150 2092 6091 0000 lds r22,StickGas 4151 2096 7091 0000 lds r23,(StickGas)+1 4152 209a 7A83 std Y+2,r23 4153 209c 6983 std Y+1,r22 4154 209e 8091 0000 lds r24,MIN_GAS 4155 20a2 9927 clr r25 4156 20a4 0A96 adiw r24,10 4157 20a6 6817 cp r22,r24 4158 20a8 7907 cpc r23,r25 4159 20aa 04F4 brge .L378 4160 20ac 9A83 std Y+2,r25 4161 20ae 8983 std Y+1,r24 4162 .L378: 4163 20b0 8091 0000 lds r24,SenderOkay 4164 20b4 8436 cpi r24,lo8(100) 4165 20b6 00F0 brlo .+2 4166 20b8 00C0 rjmp .L379 4167 20ba 8091 0000 lds r24,FC_StatusFlags2 4168 20be 82FD sbrc r24,2 4169 20c0 00C0 rjmp .L379 4170 20c2 8091 0000 lds r24,RcLostTimer.5 4171 20c6 9091 0000 lds r25,(RcLostTimer.5)+1 4172 20ca 0097 sbiw r24,0 4173 20cc 01F0 breq .L380 4174 20ce 0197 sbiw r24,1 4175 20d0 9093 0000 sts (RcLostTimer.5)+1,r25 4176 20d4 8093 0000 sts RcLostTimer.5,r24 4177 20d8 00C0 rjmp .L381 4178 .L380: 4179 20da 1092 0000 sts MotorenEin,__zero_reg__ 4180 20de 9093 0000 sts (modell_fliegt)+1,r25 4181 20e2 8093 0000 sts modell_fliegt,r24 4182 20e6 8091 0000 lds r24,FC_StatusFlags 4183 20ea 8D7E andi r24,lo8(-19) 4184 20ec 8093 0000 sts FC_StatusFlags,r24 4185 .L381: 4186 20f0 8091 0000 lds r24,PlatinenVersion 4187 20f4 8A30 cpi r24,lo8(10) 4188 20f6 01F0 breq .L383 4189 20f8 8431 cpi r24,lo8(20) 4190 20fa 00F0 brlo .L382 4191 .L383: 4192 20fc 289A sbi 37-0x20,0 4193 20fe 00C0 rjmp .L384 4194 .L382: 4195 2100 2898 cbi 37-0x20,0 4196 .L384: 4197 2102 8091 0000 lds r24,modell_fliegt 4198 2106 9091 0000 lds r25,(modell_fliegt)+1 4199 210a 895E subi r24,lo8(1001) 4200 210c 9340 sbci r25,hi8(1001) 4201 210e 00F0 brlo .L385 4202 2110 8091 0000 lds r24,Capacity+6 4203 2114 8536 cpi r24,lo8(101) 4204 2116 00F0 brlo .L385 4205 2118 8091 0000 lds r24,HooverGasEmergencyPercent 4206 211c 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 4207 2120 9A83 std Y+2,r25 4208 2122 8983 std Y+1,r24 4209 2124 8091 0000 lds r24,FC_StatusFlags 4210 2128 8061 ori r24,lo8(16) 4211 212a 8093 0000 sts FC_StatusFlags,r24 4212 212e 8091 0000 lds r24,EE_Parameter+1 4213 2132 A82F mov r26,r24 4214 2134 BB27 clr r27 4215 2136 AA0F add r26,r26 4216 2138 BB1F adc r27,r27 4217 213a FD01 movw r30,r26 4218 213c E050 subi r30,lo8(-(PPM_diff)) 4219 213e F040 sbci r31,hi8(-(PPM_diff)) 4220 2140 1182 std Z+1,__zero_reg__ 4221 2142 1082 st Z,__zero_reg__ 4222 2144 8091 0000 lds r24,EE_Parameter+2 4223 2148 282F mov r18,r24 4224 214a 3327 clr r19 4225 214c 220F add r18,r18 4226 214e 331F adc r19,r19 4227 2150 C901 movw r24,r18 4228 2152 8050 subi r24,lo8(-(PPM_diff)) 4229 2154 9040 sbci r25,hi8(-(PPM_diff)) 4230 2156 FC01 movw r30,r24 4231 2158 1182 std Z+1,__zero_reg__ 4232 215a 1082 st Z,__zero_reg__ 4233 215c A050 subi r26,lo8(-(PPM_in)) 4234 215e B040 sbci r27,hi8(-(PPM_in)) 4235 2160 1196 adiw r26,1 4236 2162 1C92 st X,__zero_reg__ 4237 2164 1E92 st -X,__zero_reg__ 4238 2166 2050 subi r18,lo8(-(PPM_in)) 4239 2168 3040 sbci r19,hi8(-(PPM_in)) 4240 216a D901 movw r26,r18 4241 216c 1196 adiw r26,1 4242 216e 1C92 st X,__zero_reg__ 4243 2170 1E92 st -X,__zero_reg__ 4244 2172 8091 0000 lds r24,EE_Parameter+4 4245 2176 E82F mov r30,r24 4246 2178 FF27 clr r31 4247 217a EE0F add r30,r30 4248 217c FF1F adc r31,r31 4249 217e E050 subi r30,lo8(-(PPM_in)) 4250 2180 F040 sbci r31,hi8(-(PPM_in)) 4251 2182 1182 std Z+1,__zero_reg__ 4252 2184 1082 st Z,__zero_reg__ 4253 2186 00C0 rjmp .L387 4254 .L385: 4255 2188 1092 0000 sts MotorenEin,__zero_reg__ 4256 218c 00C0 rjmp .L387 4257 .L379: 4258 218e 8091 0000 lds r24,SenderOkay 4259 2192 8D38 cpi r24,lo8(-115) 4260 2194 00F4 brsh .+2 4261 2196 00C0 rjmp .L388 4262 2198 8091 0000 lds r24,FC_StatusFlags 4263 219c 8F7E andi r24,lo8(-17) 4264 219e 8093 0000 sts FC_StatusFlags,r24 4265 21a2 9091 0000 lds r25,EE_Parameter+38 4266 21a6 82E3 ldi r24,lo8(50) 4267 21a8 989F mul r25,r24 4268 21aa C001 movw r24,r0 4269 21ac 1124 clr r1 4270 21ae 9093 0000 sts (RcLostTimer.5)+1,r25 4271 21b2 8093 0000 sts RcLostTimer.5,r24 4272 21b6 E981 ldd r30,Y+1 4273 21b8 FA81 ldd r31,Y+2 4274 21ba B997 sbiw r30,41 4275 21bc 04F0 brlt .L389 4276 21be 8091 0000 lds r24,MotorenEin 4277 21c2 8823 tst r24 4278 21c4 01F0 breq .L389 4279 21c6 8091 0000 lds r24,modell_fliegt 4280 21ca 9091 0000 lds r25,(modell_fliegt)+1 4281 21ce FFEF ldi r31,hi8(-1) 4282 21d0 8F3F cpi r24,lo8(-1) 4283 21d2 9F07 cpc r25,r31 4284 21d4 01F0 breq .L389 4285 21d6 0196 adiw r24,1 4286 21d8 9093 0000 sts (modell_fliegt)+1,r25 4287 21dc 8093 0000 sts modell_fliegt,r24 4288 .L389: 4289 21e0 8091 0000 lds r24,modell_fliegt 4290 21e4 9091 0000 lds r25,(modell_fliegt)+1 4291 21e8 8F3F cpi r24,255 4292 21ea 9105 cpc r25,__zero_reg__ 4293 21ec 01F0 breq .+2 4294 21ee 00F4 brsh .L391 4295 21f0 1092 0000 sts SummeNick,__zero_reg__ 4296 21f4 1092 0000 sts (SummeNick)+1,__zero_reg__ 4297 21f8 1092 0000 sts (SummeNick)+2,__zero_reg__ 4298 21fc 1092 0000 sts (SummeNick)+3,__zero_reg__ 4299 2200 1092 0000 sts SummeRoll,__zero_reg__ 4300 2204 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4301 2208 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4302 220c 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4303 2210 1092 0000 sts sollGier.0,__zero_reg__ 4304 2214 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4305 2218 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4306 221c 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4307 2220 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4308 2224 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4309 2228 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4310 222c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4311 2230 00C0 rjmp .L392 4312 .L391: 4313 2232 8091 0000 lds r24,FC_StatusFlags 4314 2236 8260 ori r24,lo8(2) 4315 2238 8093 0000 sts FC_StatusFlags,r24 4316 .L392: 4317 223c 8091 0000 lds r24,EE_Parameter+3 4318 2240 E82F mov r30,r24 4319 2242 FF27 clr r31 4320 2244 EE0F add r30,r30 4321 2246 FF1F adc r31,r31 4322 2248 E050 subi r30,lo8(-(PPM_in)) 4323 224a F040 sbci r31,hi8(-(PPM_in)) 4324 224c 8081 ld r24,Z 4325 224e 9181 ldd r25,Z+1 4326 2250 8135 cpi r24,81 4327 2252 9105 cpc r25,__zero_reg__ 4328 2254 04F4 brge .+2 4329 2256 00C0 rjmp .L393 4330 2258 2091 0000 lds r18,MotorenEin 4331 225c 2223 tst r18 4332 225e 01F0 breq .+2 4333 2260 00C0 rjmp .L393 4334 2262 8091 0000 lds r24,EE_Parameter+4 4335 2266 E82F mov r30,r24 4336 2268 FF27 clr r31 4337 226a EE0F add r30,r30 4338 226c FF1F adc r31,r31 4339 226e E050 subi r30,lo8(-(PPM_in)) 4340 2270 F040 sbci r31,hi8(-(PPM_in)) 4341 2272 8081 ld r24,Z 4342 2274 9181 ldd r25,Z+1 4343 2276 8C34 cpi r24,76 4344 2278 9105 cpc r25,__zero_reg__ 4345 227a 04F4 brge .+2 4346 227c 00C0 rjmp .L394 4347 227e 8091 0000 lds r24,delay_neutral.6 4348 2282 8F5F subi r24,lo8(-(1)) 4349 2284 8093 0000 sts delay_neutral.6,r24 4350 2288 893C cpi r24,lo8(-55) 4351 228a 00F4 brsh .+2 4352 228c 00C0 rjmp .L393 4353 228e 2093 0000 sts delay_neutral.6,r18 4354 2292 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4355 2296 1092 0000 sts modell_fliegt,__zero_reg__ 4356 229a 3091 0000 lds r19,EE_Parameter+1 4357 229e E32F mov r30,r19 4358 22a0 FF27 clr r31 4359 22a2 EE0F add r30,r30 4360 22a4 FF1F adc r31,r31 4361 22a6 E050 subi r30,lo8(-(PPM_in)) 4362 22a8 F040 sbci r31,hi8(-(PPM_in)) 4363 22aa 8081 ld r24,Z 4364 22ac 9181 ldd r25,Z+1 4365 22ae 8734 cpi r24,71 4366 22b0 9105 cpc r25,__zero_reg__ 4367 22b2 04F4 brge .L397 4368 22b4 8091 0000 lds r24,EE_Parameter+2 4369 22b8 E82F mov r30,r24 4370 22ba FF27 clr r31 4371 22bc EE0F add r30,r30 4372 22be FF1F adc r31,r31 4373 22c0 E050 subi r30,lo8(-(PPM_in)) 4374 22c2 F040 sbci r31,hi8(-(PPM_in)) 4375 22c4 8081 ld r24,Z 4376 22c6 9181 ldd r25,Z+1 4377 22c8 0190 ld __tmp_reg__,Z+ 4378 22ca F081 ld r31,Z 4379 22cc E02D mov r30,__tmp_reg__ 4380 22ce F7FF sbrs r31,7 4381 22d0 00C0 rjmp .L398 4382 22d2 F095 com r31 4383 22d4 E195 neg r30 4384 22d6 FF4F sbci r31,lo8(-1) 4385 .L398: 4386 22d8 E734 cpi r30,71 4387 22da F105 cpc r31,__zero_reg__ 4388 22dc 04F4 brge .+2 4389 22de 00C0 rjmp .L396 4390 .L397: 4391 22e0 41E0 ldi r20,lo8(1) 4392 22e2 2091 0000 lds r18,EE_Parameter+2 4393 22e6 A22F mov r26,r18 4394 22e8 BB27 clr r27 4395 22ea AA0F add r26,r26 4396 22ec BB1F adc r27,r27 4397 22ee A050 subi r26,lo8(-(PPM_in)) 4398 22f0 B040 sbci r27,hi8(-(PPM_in)) 4399 22f2 8D91 ld r24,X+ 4400 22f4 9C91 ld r25,X 4401 22f6 1197 sbiw r26,1 4402 22f8 8734 cpi r24,71 4403 22fa 9105 cpc r25,__zero_reg__ 4404 22fc 04F0 brlt .L399 4405 22fe E32F mov r30,r19 4406 2300 FF27 clr r31 4407 2302 EE0F add r30,r30 4408 2304 FF1F adc r31,r31 4409 2306 E050 subi r30,lo8(-(PPM_in)) 4410 2308 F040 sbci r31,hi8(-(PPM_in)) 4411 230a 8081 ld r24,Z 4412 230c 9181 ldd r25,Z+1 4413 .L399: 4414 230e 8D91 ld r24,X+ 4415 2310 9C91 ld r25,X 4416 2312 8734 cpi r24,71 4417 2314 9105 cpc r25,__zero_reg__ 4418 2316 04F0 brlt .L400 4419 2318 8091 0000 lds r24,EE_Parameter+1 4420 231c E82F mov r30,r24 4421 231e FF27 clr r31 4422 2320 EE0F add r30,r30 4423 2322 FF1F adc r31,r31 4424 2324 E050 subi r30,lo8(-(PPM_in)) 4425 2326 F040 sbci r31,hi8(-(PPM_in)) 4426 2328 8081 ld r24,Z 4427 232a 9181 ldd r25,Z+1 4428 232c 8734 cpi r24,71 4429 232e 9105 cpc r25,__zero_reg__ 4430 2330 04F0 brlt .L400 4431 2332 42E0 ldi r20,lo8(2) 4432 .L400: 4433 2334 E22F mov r30,r18 4434 2336 FF27 clr r31 4435 2338 EE0F add r30,r30 4436 233a FF1F adc r31,r31 4437 233c E050 subi r30,lo8(-(PPM_in)) 4438 233e F040 sbci r31,hi8(-(PPM_in)) 4439 2340 8081 ld r24,Z 4440 2342 9181 ldd r25,Z+1 4441 2344 8634 cpi r24,70 4442 2346 9105 cpc r25,__zero_reg__ 4443 2348 04F4 brge .L401 4444 234a 8091 0000 lds r24,EE_Parameter+1 4445 234e E82F mov r30,r24 4446 2350 FF27 clr r31 4447 2352 EE0F add r30,r30 4448 2354 FF1F adc r31,r31 4449 2356 E050 subi r30,lo8(-(PPM_in)) 4450 2358 F040 sbci r31,hi8(-(PPM_in)) 4451 235a 8081 ld r24,Z 4452 235c 9181 ldd r25,Z+1 4453 235e 8734 cpi r24,71 4454 2360 9105 cpc r25,__zero_reg__ 4455 2362 04F0 brlt .L401 4456 2364 43E0 ldi r20,lo8(3) 4457 .L401: 4458 2366 E22F mov r30,r18 4459 2368 FF27 clr r31 4460 236a EE0F add r30,r30 4461 236c FF1F adc r31,r31 4462 236e E050 subi r30,lo8(-(PPM_in)) 4463 2370 F040 sbci r31,hi8(-(PPM_in)) 4464 2372 8081 ld r24,Z 4465 2374 9181 ldd r25,Z+1 4466 2376 8A5B subi r24,lo8(-70) 4467 2378 9F4F sbci r25,hi8(-70) 4468 237a 04F4 brge .L402 4469 237c 8091 0000 lds r24,EE_Parameter+1 4470 2380 E82F mov r30,r24 4471 2382 FF27 clr r31 4472 2384 EE0F add r30,r30 4473 2386 FF1F adc r31,r31 4474 2388 E050 subi r30,lo8(-(PPM_in)) 4475 238a F040 sbci r31,hi8(-(PPM_in)) 4476 238c 8081 ld r24,Z 4477 238e 9181 ldd r25,Z+1 4478 2390 8734 cpi r24,71 4479 2392 9105 cpc r25,__zero_reg__ 4480 2394 04F0 brlt .L402 4481 2396 44E0 ldi r20,lo8(4) 4482 .L402: 4483 2398 E22F mov r30,r18 4484 239a FF27 clr r31 4485 239c EE0F add r30,r30 4486 239e FF1F adc r31,r31 4487 23a0 E050 subi r30,lo8(-(PPM_in)) 4488 23a2 F040 sbci r31,hi8(-(PPM_in)) 4489 23a4 8081 ld r24,Z 4490 23a6 9181 ldd r25,Z+1 4491 23a8 8A5B subi r24,lo8(-70) 4492 23aa 9F4F sbci r25,hi8(-70) 4493 23ac 04F4 brge .L403 4494 23ae 8091 0000 lds r24,EE_Parameter+1 4495 23b2 E82F mov r30,r24 4496 23b4 FF27 clr r31 4497 23b6 EE0F add r30,r30 4498 23b8 FF1F adc r31,r31 4499 23ba E050 subi r30,lo8(-(PPM_in)) 4500 23bc F040 sbci r31,hi8(-(PPM_in)) 4501 23be 8081 ld r24,Z 4502 23c0 9181 ldd r25,Z+1 4503 23c2 8634 cpi r24,70 4504 23c4 9105 cpc r25,__zero_reg__ 4505 23c6 04F4 brge .L403 4506 23c8 45E0 ldi r20,lo8(5) 4507 .L403: 4508 23ca 842F mov r24,r20 4509 23cc 0E94 0000 call SetActiveParamSet 4510 .L396: 4511 23d0 8091 0000 lds r24,EE_Parameter+2 4512 23d4 E82F mov r30,r24 4513 23d6 FF27 clr r31 4514 23d8 EE0F add r30,r30 4515 23da FF1F adc r31,r31 4516 23dc E050 subi r30,lo8(-(PPM_in)) 4517 23de F040 sbci r31,hi8(-(PPM_in)) 4518 23e0 8081 ld r24,Z 4519 23e2 9181 ldd r25,Z+1 4520 23e4 0190 ld __tmp_reg__,Z+ 4521 23e6 F081 ld r31,Z 4522 23e8 E02D mov r30,__tmp_reg__ 4523 23ea F7FF sbrs r31,7 4524 23ec 00C0 rjmp .L405 4525 23ee F095 com r31 4526 23f0 E195 neg r30 4527 23f2 FF4F sbci r31,lo8(-1) 4528 .L405: 4529 23f4 7E97 sbiw r30,30 4530 23f6 04F4 brge .L404 4531 23f8 8091 0000 lds r24,EE_Parameter+1 4532 23fc E82F mov r30,r24 4533 23fe FF27 clr r31 4534 2400 EE0F add r30,r30 4535 2402 FF1F adc r31,r31 4536 2404 E050 subi r30,lo8(-(PPM_in)) 4537 2406 F040 sbci r31,hi8(-(PPM_in)) 4538 2408 8081 ld r24,Z 4539 240a 9181 ldd r25,Z+1 4540 240c 8A5B subi r24,lo8(-70) 4541 240e 9F4F sbci r25,hi8(-70) 4542 2410 04F4 brge .L404 4543 2412 81E0 ldi r24,lo8(1) 4544 2414 8093 0000 sts WinkelOut+6,r24 4545 2418 1092 0000 sts CalibrationDone,__zero_reg__ 4546 241c 88EE ldi r24,lo8(1000) 4547 241e 93E0 ldi r25,hi8(1000) 4548 2420 9093 0000 sts (beeptime)+1,r25 4549 2424 8093 0000 sts beeptime,r24 4550 2428 00C0 rjmp .L393 4551 .L404: 4552 242a 0E94 0000 call GetActiveParamSet 4553 242e 0E94 0000 call ParamSet_ReadFromEEProm 4554 2432 80E0 ldi r24,lo8(0) 4555 2434 0E94 0000 call LipoDetection 4556 2438 8091 0000 lds r24,EE_Parameter+39 4557 243c 0E94 0000 call LIBFC_ReceiverInit 4558 2440 8091 0000 lds r24,Parameter_GlobalConfig 4559 2444 80FF sbrs r24,0 4560 2446 00C0 rjmp .L407 4561 2448 8091 0000 lds r24,MessLuftdruck 4562 244c 9091 0000 lds r25,(MessLuftdruck)+1 4563 2450 875B subi r24,lo8(951) 4564 2452 9340 sbci r25,hi8(951) 4565 2454 00F4 brsh .L409 4566 2456 8091 0000 lds r24,MessLuftdruck 4567 245a 9091 0000 lds r25,(MessLuftdruck)+1 4568 245e 8E5E subi r24,lo8(750) 4569 2460 9240 sbci r25,hi8(750) 4570 2462 00F4 brsh .L407 4571 .L409: 4572 2464 0E94 0000 call SucheLuftruckOffset 4573 .L407: 4574 2468 80E0 ldi r24,lo8(0) 4575 246a 0E94 0000 call SetNeutral 4576 246e 81E0 ldi r24,lo8(1) 4577 2470 8093 0000 sts CalibrationDone,r24 4578 2474 8093 0000 sts ServoActive,r24 4579 2478 579A sbi 42-0x20,7 4580 247a 00C0 rjmp .L894 4581 .L394: 4582 247c 8081 ld r24,Z 4583 247e 9181 ldd r25,Z+1 4584 2480 855B subi r24,lo8(-75) 4585 2482 9F4F sbci r25,hi8(-75) 4586 2484 04F4 brge .L411 4587 2486 8091 0000 lds r24,delay_neutral.6 4588 248a 8F5F subi r24,lo8(-(1)) 4589 248c 8093 0000 sts delay_neutral.6,r24 4590 2490 893C cpi r24,lo8(-55) 4591 2492 00F0 brlo .L393 4592 2494 2093 0000 sts MotorenEin,r18 4593 2498 2093 0000 sts delay_neutral.6,r18 4594 249c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4595 24a0 1092 0000 sts modell_fliegt,__zero_reg__ 4596 24a4 81E0 ldi r24,lo8(1) 4597 24a6 0E94 0000 call SetNeutral 4598 24aa 81E0 ldi r24,lo8(1) 4599 24ac 8093 0000 sts CalibrationDone,r24 4600 .L894: 4601 24b0 88E1 ldi r24,lo8(24) 4602 24b2 8093 0000 sts SpeakHoTT,r24 4603 24b6 0E94 0000 call GetActiveParamSet 4604 24ba 68E7 ldi r22,lo8(120) 4605 24bc 70E0 ldi r23,hi8(120) 4606 24be 0E94 0000 call Piep 4607 24c2 00C0 rjmp .L393 4608 .L411: 4609 24c4 2093 0000 sts delay_neutral.6,r18 4610 .L393: 4611 24c8 8091 0000 lds r24,EE_Parameter+3 4612 24cc E82F mov r30,r24 4613 24ce FF27 clr r31 4614 24d0 EE0F add r30,r30 4615 24d2 FF1F adc r31,r31 4616 24d4 E050 subi r30,lo8(-(PPM_in)) 4617 24d6 F040 sbci r31,hi8(-(PPM_in)) 4618 24d8 8081 ld r24,Z 4619 24da 9181 ldd r25,Z+1 4620 24dc 8B5A subi r24,lo8(-85) 4621 24de 9F4F sbci r25,hi8(-85) 4622 24e0 04F0 brlt .+2 4623 24e2 00C0 rjmp .L414 4624 24e4 2091 0000 lds r18,EE_Parameter+100 4625 24e8 E22F mov r30,r18 4626 24ea FF27 clr r31 4627 24ec EF77 andi r30,lo8(127) 4628 24ee F070 andi r31,hi8(127) 4629 24f0 EE0F add r30,r30 4630 24f2 FF1F adc r31,r31 4631 24f4 E050 subi r30,lo8(-(PPM_diff)) 4632 24f6 F040 sbci r31,hi8(-(PPM_diff)) 4633 24f8 8081 ld r24,Z 4634 24fa 9181 ldd r25,Z+1 4635 24fc 0697 sbiw r24,6 4636 24fe 04F0 brlt .L415 4637 2500 84E6 ldi r24,lo8(100) 4638 2502 00C0 rjmp .L895 4639 .L415: 4640 2504 8081 ld r24,Z 4641 2506 9181 ldd r25,Z+1 4642 2508 8B5F subi r24,lo8(-5) 4643 250a 9F4F sbci r25,hi8(-5) 4644 250c 04F4 brge .L416 4645 250e 8CE9 ldi r24,lo8(-100) 4646 .L895: 4647 2510 8093 0000 sts move_safety_switch.9,r24 4648 .L416: 4649 2514 8091 0000 lds r24,MotorenEin 4650 2518 E091 0000 lds r30,EE_Parameter+4 4651 251c 8823 tst r24 4652 251e 01F0 breq .+2 4653 2520 00C0 rjmp .L418 4654 2522 FF27 clr r31 4655 2524 EE0F add r30,r30 4656 2526 FF1F adc r31,r31 4657 2528 E050 subi r30,lo8(-(PPM_in)) 4658 252a F040 sbci r31,hi8(-(PPM_in)) 4659 252c 8081 ld r24,Z 4660 252e 9181 ldd r25,Z+1 4661 2530 855B subi r24,lo8(-75) 4662 2532 9F4F sbci r25,hi8(-75) 4663 2534 04F4 brge .L421 4664 2536 8091 0000 lds r24,EE_Parameter+111 4665 253a 83FD sbrc r24,3 4666 253c 00C0 rjmp .L422 4667 253e E22F mov r30,r18 4668 2540 FF27 clr r31 4669 2542 EE0F add r30,r30 4670 2544 FF1F adc r31,r31 4671 2546 E050 subi r30,lo8(-(PPM_in)) 4672 2548 F040 sbci r31,hi8(-(PPM_in)) 4673 254a 8081 ld r24,Z 4674 254c 9181 ldd r25,Z+1 4675 254e 855B subi r24,lo8(-75) 4676 2550 9F4F sbci r25,hi8(-75) 4677 2552 04F0 brlt .L420 4678 .L422: 4679 2554 8091 0000 lds r24,EE_Parameter+100 4680 2558 8823 tst r24 4681 255a 01F0 breq .L420 4682 .L421: 4683 255c 8091 0000 lds r24,EE_Parameter+111 4684 2560 83FF sbrs r24,3 4685 2562 00C0 rjmp .L419 4686 2564 8091 0000 lds r24,EE_Parameter+100 4687 2568 E82F mov r30,r24 4688 256a FF27 clr r31 4689 256c EE0F add r30,r30 4690 256e FF1F adc r31,r31 4691 2570 E050 subi r30,lo8(-(PPM_in)) 4692 2572 F040 sbci r31,hi8(-(PPM_in)) 4693 2574 8081 ld r24,Z 4694 2576 9181 ldd r25,Z+1 4695 2578 875F subi r24,lo8(-9) 4696 257a 9F4F sbci r25,hi8(-9) 4697 257c 04F4 brge .+2 4698 257e 00C0 rjmp .L419 4699 2580 8091 0000 lds r24,move_safety_switch.9 4700 2584 8436 cpi r24,lo8(100) 4701 2586 01F0 breq .+2 4702 2588 00C0 rjmp .L419 4703 .L420: 4704 258a 2091 0000 lds r18,CalibrationDone 4705 258e 2223 tst r18 4706 2590 01F0 breq .L423 4707 2592 8091 0000 lds r24,FC_StatusFlags 4708 2596 8860 ori r24,lo8(8) 4709 2598 8093 0000 sts FC_StatusFlags,r24 4710 .L423: 4711 259c 8091 0000 lds r24,delay_einschalten.7 4712 25a0 8F5F subi r24,lo8(-(1)) 4713 25a2 8093 0000 sts delay_einschalten.7,r24 4714 25a6 8E3F cpi r24,lo8(-2) 4715 25a8 00F4 brsh .+2 4716 25aa 00C0 rjmp .L429 4717 25ac 1092 0000 sts delay_einschalten.7,__zero_reg__ 4718 25b0 8091 0000 lds r24,VersionInfo+5 4719 25b4 8823 tst r24 4720 25b6 01F0 breq .+2 4721 25b8 00C0 rjmp .L425 4722 25ba 2223 tst r18 4723 25bc 01F4 brne .+2 4724 25be 00C0 rjmp .L425 4725 25c0 8091 0000 lds r24,NC_ErrorCode 4726 25c4 8823 tst r24 4727 25c6 01F0 breq .+2 4728 25c8 00C0 rjmp .L425 4729 25ca 81E0 ldi r24,lo8(1) 4730 25cc 90E0 ldi r25,hi8(1) 4731 25ce 9093 0000 sts (modell_fliegt)+1,r25 4732 25d2 8093 0000 sts modell_fliegt,r24 4733 25d6 81E0 ldi r24,lo8(1) 4734 25d8 8093 0000 sts MotorenEin,r24 4735 25dc 1092 0000 sts sollGier.0,__zero_reg__ 4736 25e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ 4737 25e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ 4738 25e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ 4739 25ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ 4740 25f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ 4741 25f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ 4742 25f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ 4743 25fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ 4744 2600 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ 4745 2604 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ 4746 2608 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ 4747 260c 8091 0000 lds r24,EE_Parameter+28 4748 2610 E82E mov r14,r24 4749 2612 FF24 clr r15 4750 2614 0027 clr r16 4751 2616 1127 clr r17 4752 2618 8091 0000 lds r24,Mittelwert_AccNick 4753 261c 9091 0000 lds r25,(Mittelwert_AccNick)+1 4754 2620 9C01 movw r18,r24 4755 2622 4427 clr r20 4756 2624 37FD sbrc r19,7 4757 2626 4095 com r20 4758 2628 542F mov r21,r20 4759 262a C801 movw r24,r16 4760 262c B701 movw r22,r14 4761 262e 0E94 0000 call __mulsi3 4762 2632 DC01 movw r26,r24 4763 2634 CB01 movw r24,r22 4764 2636 8093 0000 sts Mess_IntegralNick,r24 4765 263a 9093 0000 sts (Mess_IntegralNick)+1,r25 4766 263e A093 0000 sts (Mess_IntegralNick)+2,r26 4767 2642 B093 0000 sts (Mess_IntegralNick)+3,r27 4768 2646 8091 0000 lds r24,Mittelwert_AccRoll 4769 264a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 4770 264e 9C01 movw r18,r24 4771 2650 4427 clr r20 4772 2652 37FD sbrc r19,7 4773 2654 4095 com r20 4774 2656 542F mov r21,r20 4775 2658 C801 movw r24,r16 4776 265a B701 movw r22,r14 4777 265c 0E94 0000 call __mulsi3 4778 2660 DC01 movw r26,r24 4779 2662 CB01 movw r24,r22 4780 2664 8093 0000 sts Mess_IntegralRoll,r24 4781 2668 9093 0000 sts (Mess_IntegralRoll)+1,r25 4782 266c A093 0000 sts (Mess_IntegralRoll)+2,r26 4783 2670 B093 0000 sts (Mess_IntegralRoll)+3,r27 4784 2674 8091 0000 lds r24,IntegralNick 4785 2678 9091 0000 lds r25,(IntegralNick)+1 4786 267c A091 0000 lds r26,(IntegralNick)+2 4787 2680 B091 0000 lds r27,(IntegralNick)+3 4788 2684 8093 0000 sts Mess_IntegralNick2,r24 4789 2688 9093 0000 sts (Mess_IntegralNick2)+1,r25 4790 268c A093 0000 sts (Mess_IntegralNick2)+2,r26 4791 2690 B093 0000 sts (Mess_IntegralNick2)+3,r27 4792 2694 8091 0000 lds r24,IntegralRoll 4793 2698 9091 0000 lds r25,(IntegralRoll)+1 4794 269c A091 0000 lds r26,(IntegralRoll)+2 4795 26a0 B091 0000 lds r27,(IntegralRoll)+3 4796 26a4 8093 0000 sts Mess_IntegralRoll2,r24 4797 26a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 4798 26ac A093 0000 sts (Mess_IntegralRoll2)+2,r26 4799 26b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 4800 26b4 1092 0000 sts SummeNick,__zero_reg__ 4801 26b8 1092 0000 sts (SummeNick)+1,__zero_reg__ 4802 26bc 1092 0000 sts (SummeNick)+2,__zero_reg__ 4803 26c0 1092 0000 sts (SummeNick)+3,__zero_reg__ 4804 26c4 1092 0000 sts SummeRoll,__zero_reg__ 4805 26c8 1092 0000 sts (SummeRoll)+1,__zero_reg__ 4806 26cc 1092 0000 sts (SummeRoll)+2,__zero_reg__ 4807 26d0 1092 0000 sts (SummeRoll)+3,__zero_reg__ 4808 26d4 84E6 ldi r24,lo8(100) 4809 26d6 8093 0000 sts NeueKompassRichtungMerken,r24 4810 26da 84E3 ldi r24,lo8(52) 4811 26dc 00C0 rjmp .L896 4812 .L425: 4813 26de 8CED ldi r24,lo8(1500) 4814 26e0 95E0 ldi r25,hi8(1500) 4815 26e2 9093 0000 sts (beeptime)+1,r25 4816 26e6 8093 0000 sts beeptime,r24 4817 26ea 2223 tst r18 4818 26ec 01F0 breq .+2 4819 26ee 00C0 rjmp .L429 4820 26f0 81E0 ldi r24,lo8(1) 4821 26f2 00C0 rjmp .L896 4822 .L419: 4823 26f4 1092 0000 sts delay_einschalten.7,__zero_reg__ 4824 26f8 00C0 rjmp .L429 4825 .L418: 4826 26fa FF27 clr r31 4827 26fc EE0F add r30,r30 4828 26fe FF1F adc r31,r31 4829 2700 E050 subi r30,lo8(-(PPM_in)) 4830 2702 F040 sbci r31,hi8(-(PPM_in)) 4831 2704 8081 ld r24,Z 4832 2706 9181 ldd r25,Z+1 4833 2708 8C34 cpi r24,76 4834 270a 9105 cpc r25,__zero_reg__ 4835 270c 04F0 brlt .L432 4836 270e 8091 0000 lds r24,EE_Parameter+111 4837 2712 83FD sbrc r24,3 4838 2714 00C0 rjmp .L433 4839 2716 E22F mov r30,r18 4840 2718 FF27 clr r31 4841 271a EE0F add r30,r30 4842 271c FF1F adc r31,r31 4843 271e E050 subi r30,lo8(-(PPM_in)) 4844 2720 F040 sbci r31,hi8(-(PPM_in)) 4845 2722 8081 ld r24,Z 4846 2724 9181 ldd r25,Z+1 4847 2726 855B subi r24,lo8(-75) 4848 2728 9F4F sbci r25,hi8(-75) 4849 272a 04F0 brlt .L431 4850 .L433: 4851 272c 8091 0000 lds r24,EE_Parameter+100 4852 2730 8823 tst r24 4853 2732 01F0 breq .L431 4854 .L432: 4855 2734 8091 0000 lds r24,EE_Parameter+111 4856 2738 83FF sbrs r24,3 4857 273a 00C0 rjmp .L430 4858 273c 8091 0000 lds r24,EE_Parameter+100 4859 2740 E82F mov r30,r24 4860 2742 FF27 clr r31 4861 2744 EE0F add r30,r30 4862 2746 FF1F adc r31,r31 4863 2748 E050 subi r30,lo8(-(PPM_in)) 4864 274a F040 sbci r31,hi8(-(PPM_in)) 4865 274c 8081 ld r24,Z 4866 274e 9181 ldd r25,Z+1 4867 2750 8E5C subi r24,lo8(-50) 4868 2752 9F4F sbci r25,hi8(-50) 4869 2754 04F4 brge .L430 4870 2756 8091 0000 lds r24,move_safety_switch.9 4871 275a 8C39 cpi r24,lo8(-100) 4872 275c 01F4 brne .L430 4873 .L431: 4874 275e 8091 0000 lds r24,delay_ausschalten.8 4875 2762 8F5F subi r24,lo8(-(1)) 4876 2764 8093 0000 sts delay_ausschalten.8,r24 4877 2768 8B3F cpi r24,lo8(-5) 4878 276a 00F0 brlo .L429 4879 276c 1092 0000 sts MotorenEin,__zero_reg__ 4880 2770 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4881 2774 1092 0000 sts (modell_fliegt)+1,__zero_reg__ 4882 2778 1092 0000 sts modell_fliegt,__zero_reg__ 4883 277c 86E2 ldi r24,lo8(38) 4884 .L896: 4885 277e 8093 0000 sts SpeakHoTT,r24 4886 2782 00C0 rjmp .L429 4887 .L430: 4888 2784 1092 0000 sts delay_ausschalten.8,__zero_reg__ 4889 .L429: 4890 2788 8091 0000 lds r24,GasIsZeroCnt 4891 278c 9091 0000 lds r25,(GasIsZeroCnt)+1 4892 2790 13E0 ldi r17,hi8(1000) 4893 2792 883E cpi r24,lo8(1000) 4894 2794 9107 cpc r25,r17 4895 2796 00F4 brsh .L387 4896 2798 0196 adiw r24,1 4897 279a 9093 0000 sts (GasIsZeroCnt)+1,r25 4898 279e 8093 0000 sts GasIsZeroCnt,r24 4899 27a2 00C0 rjmp .L387 4900 .L414: 4901 27a4 1092 0000 sts move_safety_switch.9,__zero_reg__ 4902 27a8 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ 4903 27ac 1092 0000 sts GasIsZeroCnt,__zero_reg__ 4904 27b0 00C0 rjmp .L387 4905 .L388: 4906 27b2 2E5E subi r18,lo8(750) 4907 27b4 3240 sbci r19,hi8(750) 4908 27b6 00F0 brlo .L387 4909 27b8 8091 0000 lds r24,GPSInfo+4 4910 27bc 9091 0000 lds r25,(GPSInfo+4)+1 4911 27c0 8059 subi r24,lo8(400) 4912 27c2 9140 sbci r25,hi8(400) 4913 27c4 00F4 brsh .L387 4914 27c6 8091 0000 lds r24,HoehenWert 4915 27ca 9091 0000 lds r25,(HoehenWert)+1 4916 27ce A091 0000 lds r26,(HoehenWert)+2 4917 27d2 B091 0000 lds r27,(HoehenWert)+3 4918 27d6 8C5D subi r24,lo8(1500) 4919 27d8 9540 sbci r25,hi8(1500) 4920 27da A040 sbci r26,hlo8(1500) 4921 27dc B040 sbci r27,hhi8(1500) 4922 27de 04F4 brge .L387 4923 27e0 80E3 ldi r24,lo8(30000) 4924 27e2 95E7 ldi r25,hi8(30000) 4925 27e4 9093 0000 sts (GasIsZeroCnt)+1,r25 4926 27e8 8093 0000 sts GasIsZeroCnt,r24 4927 27ec 8091 0000 lds r24,modell_fliegt 4928 27f0 9091 0000 lds r25,(modell_fliegt)+1 4929 27f4 8A5E subi r24,lo8(1002) 4930 27f6 9340 sbci r25,hi8(1002) 4931 27f8 00F0 brlo .L387 4932 27fa 89EE ldi r24,lo8(1001) 4933 27fc 93E0 ldi r25,hi8(1001) 4934 27fe 9093 0000 sts (modell_fliegt)+1,r25 4935 2802 8093 0000 sts modell_fliegt,r24 4936 .L387: 4937 2806 8091 0000 lds r24,NewPpmData 4938 280a 8150 subi r24,lo8(-(-1)) 4939 280c 8093 0000 sts NewPpmData,r24 4940 2810 8091 0000 lds r24,NewPpmData 4941 2814 8F3F cpi r24,lo8(-1) 4942 2816 01F0 breq .L443 4943 2818 8091 0000 lds r24,FC_StatusFlags 4944 281c 84FF sbrs r24,4 4945 281e 00C0 rjmp .L442 4946 .L443: 4947 2820 0E94 0000 call ParameterZuordnung 4948 2824 B090 0000 lds r11,EE_Parameter+23 4949 2828 8091 0000 lds r24,stick_nick.12 4950 282c 9091 0000 lds r25,(stick_nick.12)+1 4951 2830 9C01 movw r18,r24 4952 2832 220F lsl r18 4953 2834 331F rol r19 4954 2836 280F add r18,r24 4955 2838 391F adc r19,r25 4956 283a C090 0000 lds r12,EE_Parameter+1 4957 283e AC2D mov r26,r12 4958 2840 BB27 clr r27 4959 2842 AA0F add r26,r26 4960 2844 BB1F adc r27,r27 4961 2846 FD01 movw r30,r26 4962 2848 E050 subi r30,lo8(-(PPM_in)) 4963 284a F040 sbci r31,hi8(-(PPM_in)) 4964 284c 4B2D mov r20,r11 4965 284e 5527 clr r21 4966 2850 8081 ld r24,Z 4967 2852 9181 ldd r25,Z+1 4968 2854 849F mul r24,r20 4969 2856 F001 movw r30,r0 4970 2858 859F mul r24,r21 4971 285a F00D add r31,r0 4972 285c 949F mul r25,r20 4973 285e F00D add r31,r0 4974 2860 1124 clr r1 4975 2862 2E0F add r18,r30 4976 2864 3F1F adc r19,r31 4977 2866 37FF sbrs r19,7 4978 2868 00C0 rjmp .L444 4979 286a 2D5F subi r18,lo8(-(3)) 4980 286c 3F4F sbci r19,hi8(-(3)) 4981 .L444: 4982 286e B901 movw r22,r18 4983 2870 7595 asr r23 4984 2872 6795 ror r22 4985 2874 7595 asr r23 4986 2876 6795 ror r22 4987 2878 A050 subi r26,lo8(-(PPM_diff)) 4988 287a B040 sbci r27,hi8(-(PPM_diff)) 4989 287c 8091 0000 lds r24,EE_Parameter+24 4990 2880 082F mov r16,r24 4991 2882 1127 clr r17 4992 2884 8D91 ld r24,X+ 4993 2886 9C91 ld r25,X 4994 2888 809F mul r24,r16 4995 288a 7001 movw r14,r0 4996 288c 819F mul r24,r17 4997 288e F00C add r15,r0 4998 2890 909F mul r25,r16 4999 2892 F00C add r15,r0 5000 2894 1124 clr r1 5001 2896 6E0D add r22,r14 5002 2898 7F1D adc r23,r15 5003 289a 7093 0000 sts (stick_nick.12)+1,r23 5004 289e 6093 0000 sts stick_nick.12,r22 5005 28a2 8091 0000 lds r24,stick_roll.13 5006 28a6 9091 0000 lds r25,(stick_roll.13)+1 5007 28aa 9C01 movw r18,r24 5008 28ac 220F lsl r18 5009 28ae 331F rol r19 5010 28b0 280F add r18,r24 5011 28b2 391F adc r19,r25 5012 28b4 D090 0000 lds r13,EE_Parameter+2 5013 28b8 AD2D mov r26,r13 5014 28ba BB27 clr r27 5015 28bc AA0F add r26,r26 5016 28be BB1F adc r27,r27 5017 28c0 FD01 movw r30,r26 5018 28c2 E050 subi r30,lo8(-(PPM_in)) 5019 28c4 F040 sbci r31,hi8(-(PPM_in)) 5020 28c6 8081 ld r24,Z 5021 28c8 9181 ldd r25,Z+1 5022 28ca 849F mul r24,r20 5023 28cc F001 movw r30,r0 5024 28ce 859F mul r24,r21 5025 28d0 F00D add r31,r0 5026 28d2 949F mul r25,r20 5027 28d4 F00D add r31,r0 5028 28d6 1124 clr r1 5029 28d8 2E0F add r18,r30 5030 28da 3F1F adc r19,r31 5031 28dc 37FF sbrs r19,7 5032 28de 00C0 rjmp .L445 5033 28e0 2D5F subi r18,lo8(-(3)) 5034 28e2 3F4F sbci r19,hi8(-(3)) 5035 .L445: 5036 28e4 A901 movw r20,r18 5037 28e6 5595 asr r21 5038 28e8 4795 ror r20 5039 28ea 5595 asr r21 5040 28ec 4795 ror r20 5041 28ee A050 subi r26,lo8(-(PPM_diff)) 5042 28f0 B040 sbci r27,hi8(-(PPM_diff)) 5043 28f2 8D91 ld r24,X+ 5044 28f4 9C91 ld r25,X 5045 28f6 809F mul r24,r16 5046 28f8 7001 movw r14,r0 5047 28fa 819F mul r24,r17 5048 28fc F00C add r15,r0 5049 28fe 909F mul r25,r16 5050 2900 F00C add r15,r0 5051 2902 1124 clr r1 5052 2904 4E0D add r20,r14 5053 2906 5F1D adc r21,r15 5054 2908 5093 0000 sts (stick_roll.13)+1,r21 5055 290c 4093 0000 sts stick_roll.13,r20 5056 2910 8091 0000 lds r24,CareFree 5057 2914 8823 tst r24 5058 2916 01F4 brne .+2 5059 2918 00C0 rjmp .L446 5060 291a CB01 movw r24,r22 5061 291c 77FD sbrc r23,7 5062 291e 0396 adiw r24,3 5063 .L447: 5064 2920 DC01 movw r26,r24 5065 2922 B595 asr r27 5066 2924 A795 ror r26 5067 2926 B595 asr r27 5068 2928 A795 ror r26 5069 292a CA01 movw r24,r20 5070 292c 57FD sbrc r21,7 5071 292e 0396 adiw r24,3 5072 .L448: 5073 2930 FC01 movw r30,r24 5074 2932 F595 asr r31 5075 2934 E795 ror r30 5076 2936 F595 asr r31 5077 2938 E795 ror r30 5078 293a 8091 0000 lds r24,FromNC_Rotate_C 5079 293e 682F mov r22,r24 5080 2940 7727 clr r23 5081 2942 67FD sbrc r22,7 5082 2944 7095 com r23 5083 2946 6A9F mul r22,r26 5084 2948 9001 movw r18,r0 5085 294a 6B9F mul r22,r27 5086 294c 300D add r19,r0 5087 294e 7A9F mul r23,r26 5088 2950 300D add r19,r0 5089 2952 1124 clr r1 5090 2954 8091 0000 lds r24,FromNC_Rotate_S 5091 2958 482F mov r20,r24 5092 295a 5527 clr r21 5093 295c 47FD sbrc r20,7 5094 295e 5095 com r21 5095 2960 4E9F mul r20,r30 5096 2962 C001 movw r24,r0 5097 2964 4F9F mul r20,r31 5098 2966 900D add r25,r0 5099 2968 5E9F mul r21,r30 5100 296a 900D add r25,r0 5101 296c 1124 clr r1 5102 296e 280F add r18,r24 5103 2970 391F adc r19,r25 5104 2972 37FF sbrs r19,7 5105 2974 00C0 rjmp .L449 5106 2976 295F subi r18,lo8(-(7)) 5107 2978 3F4F sbci r19,hi8(-(7)) 5108 .L449: 5109 297a 93E0 ldi r25,3 5110 297c 3595 1: asr r19 5111 297e 2795 ror r18 5112 2980 9A95 dec r25 5113 2982 01F4 brne 1b 5114 2984 3093 0000 sts (StickNick)+1,r19 5115 2988 2093 0000 sts StickNick,r18 5116 298c 6E9F mul r22,r30 5117 298e 9001 movw r18,r0 5118 2990 6F9F mul r22,r31 5119 2992 300D add r19,r0 5120 2994 7E9F mul r23,r30 5121 2996 300D add r19,r0 5122 2998 1124 clr r1 5123 299a 4A9F mul r20,r26 5124 299c C001 movw r24,r0 5125 299e 4B9F mul r20,r27 5126 29a0 900D add r25,r0 5127 29a2 5A9F mul r21,r26 5128 29a4 900D add r25,r0 5129 29a6 1124 clr r1 5130 29a8 00C0 rjmp .L925 5131 .L446: 5132 29aa 8091 0000 lds r24,EE_Parameter+98 5133 29ae E82F mov r30,r24 5134 29b0 FF27 clr r31 5135 29b2 E050 subi r30,lo8(-(sintab)) 5136 29b4 F040 sbci r31,hi8(-(sintab)) 5137 29b6 8681 ldd r24,Z+6 5138 29b8 8093 0000 sts FromNC_Rotate_C,r24 5139 29bc 9081 ld r25,Z 5140 29be 9093 0000 sts FromNC_Rotate_S,r25 5141 29c2 A82F mov r26,r24 5142 29c4 BB27 clr r27 5143 29c6 A7FD sbrc r26,7 5144 29c8 B095 com r27 5145 29ca A69F mul r26,r22 5146 29cc 9001 movw r18,r0 5147 29ce A79F mul r26,r23 5148 29d0 300D add r19,r0 5149 29d2 B69F mul r27,r22 5150 29d4 300D add r19,r0 5151 29d6 1124 clr r1 5152 29d8 E92F mov r30,r25 5153 29da FF27 clr r31 5154 29dc E7FD sbrc r30,7 5155 29de F095 com r31 5156 29e0 E49F mul r30,r20 5157 29e2 C001 movw r24,r0 5158 29e4 E59F mul r30,r21 5159 29e6 900D add r25,r0 5160 29e8 F49F mul r31,r20 5161 29ea 900D add r25,r0 5162 29ec 1124 clr r1 5163 29ee 280F add r18,r24 5164 29f0 391F adc r19,r25 5165 29f2 37FF sbrs r19,7 5166 29f4 00C0 rjmp .L452 5167 29f6 295F subi r18,lo8(-(7)) 5168 29f8 3F4F sbci r19,hi8(-(7)) 5169 .L452: 5170 29fa 83E0 ldi r24,3 5171 29fc 3595 1: asr r19 5172 29fe 2795 ror r18 5173 2a00 8A95 dec r24 5174 2a02 01F4 brne 1b 5175 2a04 3093 0000 sts (StickNick)+1,r19 5176 2a08 2093 0000 sts StickNick,r18 5177 2a0c A49F mul r26,r20 5178 2a0e 9001 movw r18,r0 5179 2a10 A59F mul r26,r21 5180 2a12 300D add r19,r0 5181 2a14 B49F mul r27,r20 5182 2a16 300D add r19,r0 5183 2a18 1124 clr r1 5184 2a1a E69F mul r30,r22 5185 2a1c C001 movw r24,r0 5186 2a1e E79F mul r30,r23 5187 2a20 900D add r25,r0 5188 2a22 F69F mul r31,r22 5189 2a24 900D add r25,r0 5190 2a26 1124 clr r1 5191 .L925: 5192 2a28 281B sub r18,r24 5193 2a2a 390B sbc r19,r25 5194 2a2c 37FF sbrs r19,7 5195 2a2e 00C0 rjmp .L453 5196 2a30 295F subi r18,lo8(-(7)) 5197 2a32 3F4F sbci r19,hi8(-(7)) 5198 .L453: 5199 2a34 03E0 ldi r16,3 5200 2a36 3595 1: asr r19 5201 2a38 2795 ror r18 5202 2a3a 0A95 dec r16 5203 2a3c 01F4 brne 1b 5204 2a3e 3093 0000 sts (StickRoll)+1,r19 5205 2a42 2093 0000 sts StickRoll,r18 5206 2a46 8091 0000 lds r24,EE_Parameter+4 5207 2a4a E82F mov r30,r24 5208 2a4c FF27 clr r31 5209 2a4e EE0F add r30,r30 5210 2a50 FF1F adc r31,r31 5211 2a52 E050 subi r30,lo8(-(PPM_in)) 5212 2a54 F040 sbci r31,hi8(-(PPM_in)) 5213 2a56 8081 ld r24,Z 5214 2a58 9181 ldd r25,Z+1 5215 2a5a 9095 com r25 5216 2a5c 8195 neg r24 5217 2a5e 9F4F sbci r25,lo8(-1) 5218 2a60 9093 0000 sts (StickGier)+1,r25 5219 2a64 8093 0000 sts StickGier,r24 5220 2a68 8530 cpi r24,5 5221 2a6a 9105 cpc r25,__zero_reg__ 5222 2a6c 04F0 brlt .L454 5223 2a6e 0497 sbiw r24,4 5224 2a70 00C0 rjmp .L897 5225 .L454: 5226 2a72 0FEF ldi r16,hi8(-4) 5227 2a74 8C3F cpi r24,lo8(-4) 5228 2a76 9007 cpc r25,r16 5229 2a78 04F4 brge .L456 5230 2a7a 0496 adiw r24,4 5231 .L897: 5232 2a7c 9093 0000 sts (StickGier)+1,r25 5233 2a80 8093 0000 sts StickGier,r24 5234 2a84 00C0 rjmp .L455 5235 .L456: 5236 2a86 1092 0000 sts (StickGier)+1,__zero_reg__ 5237 2a8a 1092 0000 sts StickGier,__zero_reg__ 5238 .L455: 5239 2a8e 8091 0000 lds r24,GPS_Aid_StickMultiplikator 5240 2a92 8823 tst r24 5241 2a94 01F4 brne .+2 5242 2a96 00C0 rjmp .L458 5243 2a98 282F mov r18,r24 5244 2a9a 3327 clr r19 5245 2a9c 8091 0000 lds r24,StickNick 5246 2aa0 9091 0000 lds r25,(StickNick)+1 5247 2aa4 97FD sbrc r25,7 5248 2aa6 0796 adiw r24,7 5249 .L459: 5250 2aa8 13E0 ldi r17,3 5251 2aaa 9595 1: asr r25 5252 2aac 8795 ror r24 5253 2aae 1A95 dec r17 5254 2ab0 01F4 brne 1b 5255 2ab2 289F mul r18,r24 5256 2ab4 A001 movw r20,r0 5257 2ab6 299F mul r18,r25 5258 2ab8 500D add r21,r0 5259 2aba 389F mul r19,r24 5260 2abc 500D add r21,r0 5261 2abe 1124 clr r1 5262 2ac0 CA01 movw r24,r20 5263 2ac2 57FD sbrc r21,7 5264 2ac4 0F96 adiw r24,15 5265 .L460: 5266 2ac6 B4E0 ldi r27,4 5267 2ac8 9595 1: asr r25 5268 2aca 8795 ror r24 5269 2acc BA95 dec r27 5270 2ace 01F4 brne 1b 5271 2ad0 9093 0000 sts (StickNick)+1,r25 5272 2ad4 8093 0000 sts StickNick,r24 5273 2ad8 8091 0000 lds r24,StickRoll 5274 2adc 9091 0000 lds r25,(StickRoll)+1 5275 2ae0 97FD sbrc r25,7 5276 2ae2 0796 adiw r24,7 5277 .L461: 5278 2ae4 A3E0 ldi r26,3 5279 2ae6 9595 1: asr r25 5280 2ae8 8795 ror r24 5281 2aea AA95 dec r26 5282 2aec 01F4 brne 1b 5283 2aee 289F mul r18,r24 5284 2af0 B001 movw r22,r0 5285 2af2 299F mul r18,r25 5286 2af4 700D add r23,r0 5287 2af6 389F mul r19,r24 5288 2af8 700D add r23,r0 5289 2afa 1124 clr r1 5290 2afc CB01 movw r24,r22 5291 2afe 77FD sbrc r23,7 5292 2b00 0F96 adiw r24,15 5293 .L462: 5294 2b02 F4E0 ldi r31,4 5295 2b04 9595 1: asr r25 5296 2b06 8795 ror r24 5297 2b08 FA95 dec r31 5298 2b0a 01F4 brne 1b 5299 2b0c 9093 0000 sts (StickRoll)+1,r25 5300 2b10 8093 0000 sts StickRoll,r24 5301 .L458: 5302 2b14 8090 0000 lds r8,StickNick 5303 2b18 9090 0000 lds r9,(StickNick)+1 5304 2b1c 8091 0000 lds r24,GPS_Nick 5305 2b20 9091 0000 lds r25,(GPS_Nick)+1 5306 2b24 881A sub r8,r24 5307 2b26 990A sbc r9,r25 5308 2b28 9092 0000 sts (StickNick)+1,r9 5309 2b2c 8092 0000 sts StickNick,r8 5310 2b30 0091 0000 lds r16,StickRoll 5311 2b34 1091 0000 lds r17,(StickRoll)+1 5312 2b38 8091 0000 lds r24,GPS_Roll 5313 2b3c 9091 0000 lds r25,(GPS_Roll)+1 5314 2b40 081B sub r16,r24 5315 2b42 190B sbc r17,r25 5316 2b44 1093 0000 sts (StickRoll)+1,r17 5317 2b48 0093 0000 sts StickRoll,r16 5318 2b4c 8091 0000 lds r24,EE_Parameter+3 5319 2b50 E82F mov r30,r24 5320 2b52 FF27 clr r31 5321 2b54 EE0F add r30,r30 5322 2b56 FF1F adc r31,r31 5323 2b58 E050 subi r30,lo8(-(PPM_in)) 5324 2b5a F040 sbci r31,hi8(-(PPM_in)) 5325 2b5c E080 ld r14,Z 5326 2b5e F180 ldd r15,Z+1 5327 2b60 8FE7 ldi r24,lo8(127) 5328 2b62 90E0 ldi r25,hi8(127) 5329 2b64 E80E add r14,r24 5330 2b66 F91E adc r15,r25 5331 2b68 F092 0000 sts (StickGas)+1,r15 5332 2b6c E092 0000 sts StickGas,r14 5333 2b70 8091 0000 lds r24,Parameter_Gyro_P 5334 2b74 9927 clr r25 5335 2b76 AA27 clr r26 5336 2b78 97FD sbrc r25,7 5337 2b7a A095 com r26 5338 2b7c BA2F mov r27,r26 5339 2b7e BC01 movw r22,r24 5340 2b80 CD01 movw r24,r26 5341 2b82 0E94 0000 call __floatsisf 5342 2b86 DC01 movw r26,r24 5343 2b88 CB01 movw r24,r22 5344 2b8a 20E0 ldi r18,lo8(0x41200000) 5345 2b8c 30E0 ldi r19,hi8(0x41200000) 5346 2b8e 40E2 ldi r20,hlo8(0x41200000) 5347 2b90 51E4 ldi r21,hhi8(0x41200000) 5348 2b92 BC01 movw r22,r24 5349 2b94 CD01 movw r24,r26 5350 2b96 0E94 0000 call __addsf3 5351 2b9a DC01 movw r26,r24 5352 2b9c CB01 movw r24,r22 5353 2b9e BC01 movw r22,r24 5354 2ba0 CD01 movw r24,r26 5355 2ba2 0E94 0000 call __fixunssfsi 5356 2ba6 DC01 movw r26,r24 5357 2ba8 CB01 movw r24,r22 5358 2baa 8093 0000 sts GyroFaktor,r24 5359 2bae 8091 0000 lds r24,Parameter_Gyro_I 5360 2bb2 8093 0000 sts IntegralFaktor,r24 5361 2bb6 8091 0000 lds r24,Parameter_Gyro_Gier_P 5362 2bba 9927 clr r25 5363 2bbc AA27 clr r26 5364 2bbe 97FD sbrc r25,7 5365 2bc0 A095 com r26 5366 2bc2 BA2F mov r27,r26 5367 2bc4 BC01 movw r22,r24 5368 2bc6 CD01 movw r24,r26 5369 2bc8 0E94 0000 call __floatsisf 5370 2bcc DC01 movw r26,r24 5371 2bce CB01 movw r24,r22 5372 2bd0 20E0 ldi r18,lo8(0x41200000) 5373 2bd2 30E0 ldi r19,hi8(0x41200000) 5374 2bd4 40E2 ldi r20,hlo8(0x41200000) 5375 2bd6 51E4 ldi r21,hhi8(0x41200000) 5376 2bd8 BC01 movw r22,r24 5377 2bda CD01 movw r24,r26 5378 2bdc 0E94 0000 call __addsf3 5379 2be0 DC01 movw r26,r24 5380 2be2 CB01 movw r24,r22 5381 2be4 BC01 movw r22,r24 5382 2be6 CD01 movw r24,r26 5383 2be8 0E94 0000 call __fixunssfsi 5384 2bec DC01 movw r26,r24 5385 2bee CB01 movw r24,r22 5386 2bf0 8093 0000 sts GyroFaktorGier,r24 5387 2bf4 8091 0000 lds r24,Parameter_Gyro_Gier_I 5388 2bf8 8093 0000 sts IntegralFaktorGier,r24 5389 2bfc 8091 0000 lds r24,ExternControl+10 5390 2c00 80FF sbrs r24,0 5391 2c02 00C0 rjmp .L463 5392 2c04 8091 0000 lds r24,Parameter_ExternalControl 5393 2c08 8138 cpi r24,lo8(-127) 5394 2c0a 00F4 brsh .+2 5395 2c0c 00C0 rjmp .L463 5396 2c0e 8091 0000 lds r24,ExternControl+3 5397 2c12 9927 clr r25 5398 2c14 87FD sbrc r24,7 5399 2c16 9095 com r25 5400 2c18 2B2D mov r18,r11 5401 2c1a 3327 clr r19 5402 2c1c 829F mul r24,r18 5403 2c1e D001 movw r26,r0 5404 2c20 839F mul r24,r19 5405 2c22 B00D add r27,r0 5406 2c24 929F mul r25,r18 5407 2c26 B00D add r27,r0 5408 2c28 1124 clr r1 5409 2c2a 8A0E add r8,r26 5410 2c2c 9B1E adc r9,r27 5411 2c2e 9092 0000 sts (StickNick)+1,r9 5412 2c32 8092 0000 sts StickNick,r8 5413 2c36 8091 0000 lds r24,ExternControl+4 5414 2c3a 9927 clr r25 5415 2c3c 87FD sbrc r24,7 5416 2c3e 9095 com r25 5417 2c40 829F mul r24,r18 5418 2c42 F001 movw r30,r0 5419 2c44 839F mul r24,r19 5420 2c46 F00D add r31,r0 5421 2c48 929F mul r25,r18 5422 2c4a F00D add r31,r0 5423 2c4c 1124 clr r1 5424 2c4e 0E0F add r16,r30 5425 2c50 1F1F adc r17,r31 5426 2c52 1093 0000 sts (StickRoll)+1,r17 5427 2c56 0093 0000 sts StickRoll,r16 5428 2c5a 8091 0000 lds r24,ExternControl+5 5429 2c5e 282F mov r18,r24 5430 2c60 3327 clr r19 5431 2c62 27FD sbrc r18,7 5432 2c64 3095 com r19 5433 2c66 8091 0000 lds r24,StickGier 5434 2c6a 9091 0000 lds r25,(StickGier)+1 5435 2c6e 820F add r24,r18 5436 2c70 931F adc r25,r19 5437 2c72 9093 0000 sts (StickGier)+1,r25 5438 2c76 8093 0000 sts StickGier,r24 5439 2c7a 8091 0000 lds r24,ExternControl+7 5440 2c7e 282F mov r18,r24 5441 2c80 3327 clr r19 5442 2c82 27FD sbrc r18,7 5443 2c84 3095 com r19 5444 2c86 8091 0000 lds r24,EE_Parameter+18 5445 2c8a 9927 clr r25 5446 2c8c 289F mul r18,r24 5447 2c8e 8001 movw r16,r0 5448 2c90 299F mul r18,r25 5449 2c92 100D add r17,r0 5450 2c94 389F mul r19,r24 5451 2c96 100D add r17,r0 5452 2c98 1124 clr r1 5453 2c9a 1093 0000 sts (ExternHoehenValue)+1,r17 5454 2c9e 0093 0000 sts ExternHoehenValue,r16 5455 2ca2 8091 0000 lds r24,ExternControl+6 5456 2ca6 9927 clr r25 5457 2ca8 8E15 cp r24,r14 5458 2caa 9F05 cpc r25,r15 5459 2cac 04F4 brge .L463 5460 2cae 9093 0000 sts (StickGas)+1,r25 5461 2cb2 8093 0000 sts StickGas,r24 5462 .L463: 5463 2cb6 8091 0000 lds r24,StickGas 5464 2cba 9091 0000 lds r25,(StickGas)+1 5465 2cbe 97FF sbrs r25,7 5466 2cc0 00C0 rjmp .L465 5467 2cc2 1092 0000 sts (StickGas)+1,__zero_reg__ 5468 2cc6 1092 0000 sts StickGas,__zero_reg__ 5469 .L465: 5470 2cca 8091 0000 lds r24,Parameter_GlobalConfig 5471 2cce 82FF sbrs r24,2 5472 2cd0 00C0 rjmp .L466 5473 2cd2 1092 0000 sts IntegralFaktor,__zero_reg__ 5474 .L466: 5475 2cd6 4091 0000 lds r20,StickNick 5476 2cda 5091 0000 lds r21,(StickNick)+1 5477 2cde CA01 movw r24,r20 5478 2ce0 57FD sbrc r21,7 5479 2ce2 0396 adiw r24,3 5480 .L468: 5481 2ce4 9C01 movw r18,r24 5482 2ce6 3595 asr r19 5483 2ce8 2795 ror r18 5484 2cea 3595 asr r19 5485 2cec 2795 ror r18 5486 2cee 37FF sbrs r19,7 5487 2cf0 00C0 rjmp .L469 5488 2cf2 3095 com r19 5489 2cf4 2195 neg r18 5490 2cf6 3F4F sbci r19,lo8(-1) 5491 .L469: 5492 2cf8 8091 0000 lds r24,MaxStickNick 5493 2cfc 9091 0000 lds r25,(MaxStickNick)+1 5494 2d00 8217 cp r24,r18 5495 2d02 9307 cpc r25,r19 5496 2d04 04F4 brge .L467 5497 2d06 CA01 movw r24,r20 5498 2d08 57FF sbrs r21,7 5499 2d0a 00C0 rjmp .L470 5500 2d0c 9095 com r25 5501 2d0e 8195 neg r24 5502 2d10 9F4F sbci r25,lo8(-1) 5503 .L470: 5504 2d12 97FD sbrc r25,7 5505 2d14 0396 adiw r24,3 5506 .L471: 5507 2d16 9595 asr r25 5508 2d18 8795 ror r24 5509 2d1a 9595 asr r25 5510 2d1c 8795 ror r24 5511 2d1e 9093 0000 sts (MaxStickNick)+1,r25 5512 2d22 8093 0000 sts MaxStickNick,r24 5513 2d26 8536 cpi r24,101 5514 2d28 9105 cpc r25,__zero_reg__ 5515 2d2a 04F0 brlt .L473 5516 2d2c 84E6 ldi r24,lo8(100) 5517 2d2e 90E0 ldi r25,hi8(100) 5518 2d30 00C0 rjmp .L898 5519 .L467: 5520 2d32 0197 sbiw r24,1 5521 .L898: 5522 2d34 9093 0000 sts (MaxStickNick)+1,r25 5523 2d38 8093 0000 sts MaxStickNick,r24 5524 .L473: 5525 2d3c 4091 0000 lds r20,StickRoll 5526 2d40 5091 0000 lds r21,(StickRoll)+1 5527 2d44 CA01 movw r24,r20 5528 2d46 57FD sbrc r21,7 5529 2d48 0396 adiw r24,3 5530 .L475: 5531 2d4a 9C01 movw r18,r24 5532 2d4c 3595 asr r19 5533 2d4e 2795 ror r18 5534 2d50 3595 asr r19 5535 2d52 2795 ror r18 5536 2d54 37FF sbrs r19,7 5537 2d56 00C0 rjmp .L476 5538 2d58 3095 com r19 5539 2d5a 2195 neg r18 5540 2d5c 3F4F sbci r19,lo8(-1) 5541 .L476: 5542 2d5e 8091 0000 lds r24,MaxStickRoll 5543 2d62 9091 0000 lds r25,(MaxStickRoll)+1 5544 2d66 8217 cp r24,r18 5545 2d68 9307 cpc r25,r19 5546 2d6a 04F4 brge .L474 5547 2d6c CA01 movw r24,r20 5548 2d6e 57FF sbrs r21,7 5549 2d70 00C0 rjmp .L477 5550 2d72 9095 com r25 5551 2d74 8195 neg r24 5552 2d76 9F4F sbci r25,lo8(-1) 5553 .L477: 5554 2d78 97FD sbrc r25,7 5555 2d7a 0396 adiw r24,3 5556 .L478: 5557 2d7c 9595 asr r25 5558 2d7e 8795 ror r24 5559 2d80 9595 asr r25 5560 2d82 8795 ror r24 5561 2d84 9093 0000 sts (MaxStickRoll)+1,r25 5562 2d88 8093 0000 sts MaxStickRoll,r24 5563 2d8c 8536 cpi r24,101 5564 2d8e 9105 cpc r25,__zero_reg__ 5565 2d90 04F0 brlt .L480 5566 2d92 84E6 ldi r24,lo8(100) 5567 2d94 90E0 ldi r25,hi8(100) 5568 2d96 00C0 rjmp .L899 5569 .L474: 5570 2d98 0197 sbiw r24,1 5571 .L899: 5572 2d9a 9093 0000 sts (MaxStickRoll)+1,r25 5573 2d9e 8093 0000 sts MaxStickRoll,r24 5574 .L480: 5575 2da2 8091 0000 lds r24,FC_StatusFlags 5576 2da6 84FF sbrs r24,4 5577 2da8 00C0 rjmp .L481 5578 2daa 1092 0000 sts (MaxStickNick)+1,__zero_reg__ 5579 2dae 1092 0000 sts MaxStickNick,__zero_reg__ 5580 2db2 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ 5581 2db6 1092 0000 sts MaxStickRoll,__zero_reg__ 5582 .L481: 5583 2dba ED2D mov r30,r13 5584 2dbc FF27 clr r31 5585 2dbe EE0F add r30,r30 5586 2dc0 FF1F adc r31,r31 5587 2dc2 E050 subi r30,lo8(-(PPM_in)) 5588 2dc4 F040 sbci r31,hi8(-(PPM_in)) 5589 2dc6 4091 0000 lds r20,EE_Parameter+60 5590 2dca 242F mov r18,r20 5591 2dcc 3327 clr r19 5592 2dce 8081 ld r24,Z 5593 2dd0 9181 ldd r25,Z+1 5594 2dd2 2817 cp r18,r24 5595 2dd4 3907 cpc r19,r25 5596 2dd6 04F4 brge .L482 5597 2dd8 8091 0000 lds r24,EE_Parameter+108 5598 2ddc 82FF sbrs r24,2 5599 2dde 00C0 rjmp .L482 5600 2de0 81E0 ldi r24,lo8(1) 5601 2de2 8093 0000 sts Looping_Links,r24 5602 2de6 00C0 rjmp .L483 5603 .L482: 5604 2de8 ED2D mov r30,r13 5605 2dea FF27 clr r31 5606 2dec EE0F add r30,r30 5607 2dee FF1F adc r31,r31 5608 2df0 E050 subi r30,lo8(-(PPM_in)) 5609 2df2 F040 sbci r31,hi8(-(PPM_in)) 5610 2df4 842F mov r24,r20 5611 2df6 9927 clr r25 5612 2df8 2091 0000 lds r18,EE_Parameter+61 5613 2dfc 821B sub r24,r18 5614 2dfe 9109 sbc r25,__zero_reg__ 5615 2e00 2081 ld r18,Z 5616 2e02 3181 ldd r19,Z+1 5617 2e04 2817 cp r18,r24 5618 2e06 3907 cpc r19,r25 5619 2e08 04F4 brge .L483 5620 2e0a 1092 0000 sts Looping_Links,__zero_reg__ 5621 .L483: 5622 2e0e 4091 0000 lds r20,EE_Parameter+2 5623 2e12 E42F mov r30,r20 5624 2e14 FF27 clr r31 5625 2e16 EE0F add r30,r30 5626 2e18 FF1F adc r31,r31 5627 2e1a E050 subi r30,lo8(-(PPM_in)) 5628 2e1c F040 sbci r31,hi8(-(PPM_in)) 5629 2e1e 5091 0000 lds r21,EE_Parameter+60 5630 2e22 852F mov r24,r21 5631 2e24 9927 clr r25 5632 2e26 2227 clr r18 5633 2e28 3327 clr r19 5634 2e2a 281B sub r18,r24 5635 2e2c 390B sbc r19,r25 5636 2e2e 8081 ld r24,Z 5637 2e30 9181 ldd r25,Z+1 5638 2e32 8217 cp r24,r18 5639 2e34 9307 cpc r25,r19 5640 2e36 04F4 brge .L485 5641 2e38 8091 0000 lds r24,EE_Parameter+108 5642 2e3c 83FF sbrs r24,3 5643 2e3e 00C0 rjmp .L485 5644 2e40 81E0 ldi r24,lo8(1) 5645 2e42 8093 0000 sts Looping_Rechts,r24 5646 2e46 00C0 rjmp .L486 5647 .L485: 5648 2e48 8091 0000 lds r24,Looping_Rechts 5649 2e4c 8823 tst r24 5650 2e4e 01F0 breq .L486 5651 2e50 E42F mov r30,r20 5652 2e52 FF27 clr r31 5653 2e54 EE0F add r30,r30 5654 2e56 FF1F adc r31,r31 5655 2e58 E050 subi r30,lo8(-(PPM_in)) 5656 2e5a F040 sbci r31,hi8(-(PPM_in)) 5657 2e5c 8091 0000 lds r24,EE_Parameter+61 5658 2e60 9927 clr r25 5659 2e62 851B sub r24,r21 5660 2e64 9109 sbc r25,__zero_reg__ 5661 2e66 2081 ld r18,Z 5662 2e68 3181 ldd r19,Z+1 5663 2e6a 8217 cp r24,r18 5664 2e6c 9307 cpc r25,r19 5665 2e6e 04F4 brge .L486 5666 2e70 1092 0000 sts Looping_Rechts,__zero_reg__ 5667 .L486: 5668 2e74 EC2D mov r30,r12 5669 2e76 FF27 clr r31 5670 2e78 EE0F add r30,r30 5671 2e7a FF1F adc r31,r31 5672 2e7c E050 subi r30,lo8(-(PPM_in)) 5673 2e7e F040 sbci r31,hi8(-(PPM_in)) 5674 2e80 4091 0000 lds r20,EE_Parameter+60 5675 2e84 242F mov r18,r20 5676 2e86 3327 clr r19 5677 2e88 8081 ld r24,Z 5678 2e8a 9181 ldd r25,Z+1 5679 2e8c 2817 cp r18,r24 5680 2e8e 3907 cpc r19,r25 5681 2e90 04F4 brge .L489 5682 2e92 8091 0000 lds r24,EE_Parameter+108 5683 2e96 80FF sbrs r24,0 5684 2e98 00C0 rjmp .L489 5685 2e9a 81E0 ldi r24,lo8(1) 5686 2e9c 8093 0000 sts Looping_Oben,r24 5687 2ea0 00C0 rjmp .L490 5688 .L489: 5689 2ea2 8091 0000 lds r24,Looping_Oben 5690 2ea6 8823 tst r24 5691 2ea8 01F0 breq .L490 5692 2eaa EC2D mov r30,r12 5693 2eac FF27 clr r31 5694 2eae EE0F add r30,r30 5695 2eb0 FF1F adc r31,r31 5696 2eb2 E050 subi r30,lo8(-(PPM_in)) 5697 2eb4 F040 sbci r31,hi8(-(PPM_in)) 5698 2eb6 842F mov r24,r20 5699 2eb8 9927 clr r25 5700 2eba 2091 0000 lds r18,EE_Parameter+61 5701 2ebe 821B sub r24,r18 5702 2ec0 9109 sbc r25,__zero_reg__ 5703 2ec2 2081 ld r18,Z 5704 2ec4 3181 ldd r19,Z+1 5705 2ec6 2817 cp r18,r24 5706 2ec8 3907 cpc r19,r25 5707 2eca 04F4 brge .L490 5708 2ecc 1092 0000 sts Looping_Oben,__zero_reg__ 5709 .L490: 5710 2ed0 4091 0000 lds r20,EE_Parameter+1 5711 2ed4 E42F mov r30,r20 5712 2ed6 FF27 clr r31 5713 2ed8 EE0F add r30,r30 5714 2eda FF1F adc r31,r31 5715 2edc E050 subi r30,lo8(-(PPM_in)) 5716 2ede F040 sbci r31,hi8(-(PPM_in)) 5717 2ee0 5091 0000 lds r21,EE_Parameter+60 5718 2ee4 852F mov r24,r21 5719 2ee6 9927 clr r25 5720 2ee8 2227 clr r18 5721 2eea 3327 clr r19 5722 2eec 281B sub r18,r24 5723 2eee 390B sbc r19,r25 5724 2ef0 8081 ld r24,Z 5725 2ef2 9181 ldd r25,Z+1 5726 2ef4 8217 cp r24,r18 5727 2ef6 9307 cpc r25,r19 5728 2ef8 04F4 brge .L493 5729 2efa 8091 0000 lds r24,EE_Parameter+108 5730 2efe 81FF sbrs r24,1 5731 2f00 00C0 rjmp .L493 5732 2f02 81E0 ldi r24,lo8(1) 5733 2f04 8093 0000 sts Looping_Unten,r24 5734 2f08 00C0 rjmp .L494 5735 .L493: 5736 2f0a 8091 0000 lds r24,Looping_Unten 5737 2f0e 8823 tst r24 5738 2f10 01F0 breq .L494 5739 2f12 E42F mov r30,r20 5740 2f14 FF27 clr r31 5741 2f16 EE0F add r30,r30 5742 2f18 FF1F adc r31,r31 5743 2f1a E050 subi r30,lo8(-(PPM_in)) 5744 2f1c F040 sbci r31,hi8(-(PPM_in)) 5745 2f1e 8091 0000 lds r24,EE_Parameter+61 5746 2f22 9927 clr r25 5747 2f24 851B sub r24,r21 5748 2f26 9109 sbc r25,__zero_reg__ 5749 2f28 2081 ld r18,Z 5750 2f2a 3181 ldd r19,Z+1 5751 2f2c 8217 cp r24,r18 5752 2f2e 9307 cpc r25,r19 5753 2f30 04F4 brge .L494 5754 2f32 1092 0000 sts Looping_Unten,__zero_reg__ 5755 .L494: 5756 2f36 8091 0000 lds r24,Looping_Links 5757 2f3a 8823 tst r24 5758 2f3c 01F4 brne .L498 5759 2f3e 8091 0000 lds r24,Looping_Rechts 5760 2f42 8111 cpse r24,__zero_reg__ 5761 .L498: 5762 2f44 81E0 ldi r24,lo8(1) 5763 .L497: 5764 2f46 8093 0000 sts Looping_Roll,r24 5765 2f4a 8091 0000 lds r24,Looping_Oben 5766 2f4e 8823 tst r24 5767 2f50 01F4 brne .L501 5768 2f52 8091 0000 lds r24,Looping_Unten 5769 2f56 8823 tst r24 5770 2f58 01F0 breq .L500 5771 .L501: 5772 2f5a 81E0 ldi r24,lo8(1) 5773 2f5c 8093 0000 sts Looping_Nick,r24 5774 2f60 1092 0000 sts Looping_Roll,__zero_reg__ 5775 2f64 1092 0000 sts Looping_Links,__zero_reg__ 5776 2f68 1092 0000 sts Looping_Rechts,__zero_reg__ 5777 2f6c 00C0 rjmp .L442 5778 .L500: 5779 2f6e 8093 0000 sts Looping_Nick,r24 5780 .L442: 5781 2f72 8091 0000 lds r24,Looping_Roll 5782 2f76 8823 tst r24 5783 2f78 01F4 brne .L504 5784 2f7a 8091 0000 lds r24,Looping_Nick 5785 2f7e 8823 tst r24 5786 2f80 01F0 breq .L503 5787 .L504: 5788 2f82 8091 0000 lds r24,EE_Parameter+59 5789 2f86 9927 clr r25 5790 2f88 2981 ldd r18,Y+1 5791 2f8a 3A81 ldd r19,Y+2 5792 2f8c 8217 cp r24,r18 5793 2f8e 9307 cpc r25,r19 5794 2f90 04F4 brge .L505 5795 2f92 9A83 std Y+2,r25 5796 2f94 8983 std Y+1,r24 5797 .L505: 5798 2f96 81E0 ldi r24,lo8(1) 5799 2f98 8093 0000 sts TrichterFlug,r24 5800 .L503: 5801 2f9c 8091 0000 lds r24,FC_StatusFlags2 5802 2fa0 9927 clr r25 5803 2fa2 9C01 movw r18,r24 5804 2fa4 2470 andi r18,lo8(4) 5805 2fa6 3070 andi r19,hi8(4) 5806 2fa8 82FF sbrs r24,2 5807 2faa 00C0 rjmp .L506 5808 2fac 8091 0000 lds r24,GPS_Nick 5809 2fb0 9091 0000 lds r25,(GPS_Nick)+1 5810 2fb4 9095 com r25 5811 2fb6 8195 neg r24 5812 2fb8 9F4F sbci r25,lo8(-1) 5813 2fba 9093 0000 sts (StickNick)+1,r25 5814 2fbe 8093 0000 sts StickNick,r24 5815 2fc2 8091 0000 lds r24,GPS_Roll 5816 2fc6 9091 0000 lds r25,(GPS_Roll)+1 5817 2fca 9095 com r25 5818 2fcc 8195 neg r24 5819 2fce 9F4F sbci r25,lo8(-1) 5820 2fd0 9093 0000 sts (StickRoll)+1,r25 5821 2fd4 8093 0000 sts StickRoll,r24 5822 2fd8 8091 0000 lds r24,StickGasHover 5823 2fdc 9091 0000 lds r25,(StickGasHover)+1 5824 2fe0 9093 0000 sts (StickGas)+1,r25 5825 2fe4 8093 0000 sts StickGas,r24 5826 2fe8 8091 0000 lds r24,Parameter_GlobalConfig 5827 2fec 8B77 andi r24,lo8(123) 5828 2fee 8B66 ori r24,lo8(107) 5829 2ff0 8093 0000 sts Parameter_GlobalConfig,r24 5830 2ff4 8091 0000 lds r24,Parameter_ExtraConfig 5831 2ff8 8C7B andi r24,lo8(-68) 5832 2ffa 8093 0000 sts Parameter_ExtraConfig,r24 5833 2ffe 88EC ldi r24,lo8(-56) 5834 3000 8093 0000 sts Parameter_HoehenSchalter,r24 5835 3004 00C0 rjmp .L507 5836 .L506: 5837 3006 8091 0000 lds r24,FC_StatusFlags 5838 300a 84FF sbrs r24,4 5839 300c 00C0 rjmp .L507 5840 300e 3093 0000 sts (StickGier)+1,r19 5841 3012 2093 0000 sts StickGier,r18 5842 3016 3093 0000 sts (StickNick)+1,r19 5843 301a 2093 0000 sts StickNick,r18 5844 301e 3093 0000 sts (StickRoll)+1,r19 5845 3022 2093 0000 sts StickRoll,r18 5846 3026 9AE5 ldi r25,lo8(90) 5847 3028 9093 0000 sts GyroFaktor,r25 5848 302c 88E7 ldi r24,lo8(120) 5849 302e 8093 0000 sts IntegralFaktor,r24 5850 3032 9093 0000 sts GyroFaktorGier,r25 5851 3036 8093 0000 sts IntegralFaktorGier,r24 5852 303a 1092 0000 sts Looping_Roll,__zero_reg__ 5853 303e 1092 0000 sts Looping_Nick,__zero_reg__ 5854 .L507: 5855 3042 8091 0000 lds r24,MittelIntegralNick 5856 3046 9091 0000 lds r25,(MittelIntegralNick)+1 5857 304a A091 0000 lds r26,(MittelIntegralNick)+2 5858 304e B091 0000 lds r27,(MittelIntegralNick)+3 5859 3052 2091 0000 lds r18,IntegralNick 5860 3056 3091 0000 lds r19,(IntegralNick)+1 5861 305a 4091 0000 lds r20,(IntegralNick)+2 5862 305e 5091 0000 lds r21,(IntegralNick)+3 5863 3062 820F add r24,r18 5864 3064 931F adc r25,r19 5865 3066 A41F adc r26,r20 5866 3068 B51F adc r27,r21 5867 306a 8093 0000 sts MittelIntegralNick,r24 5868 306e 9093 0000 sts (MittelIntegralNick)+1,r25 5869 3072 A093 0000 sts (MittelIntegralNick)+2,r26 5870 3076 B093 0000 sts (MittelIntegralNick)+3,r27 5871 307a 8091 0000 lds r24,MittelIntegralRoll 5872 307e 9091 0000 lds r25,(MittelIntegralRoll)+1 5873 3082 A091 0000 lds r26,(MittelIntegralRoll)+2 5874 3086 B091 0000 lds r27,(MittelIntegralRoll)+3 5875 308a E090 0000 lds r14,IntegralRoll 5876 308e F090 0000 lds r15,(IntegralRoll)+1 5877 3092 0091 0000 lds r16,(IntegralRoll)+2 5878 3096 1091 0000 lds r17,(IntegralRoll)+3 5879 309a EB82 std Y+3,r14 5880 309c FC82 std Y+4,r15 5881 309e 0D83 std Y+5,r16 5882 30a0 1E83 std Y+6,r17 5883 30a2 8E0D add r24,r14 5884 30a4 9F1D adc r25,r15 5885 30a6 A01F adc r26,r16 5886 30a8 B11F adc r27,r17 5887 30aa 8093 0000 sts MittelIntegralRoll,r24 5888 30ae 9093 0000 sts (MittelIntegralRoll)+1,r25 5889 30b2 A093 0000 sts (MittelIntegralRoll)+2,r26 5890 30b6 B093 0000 sts (MittelIntegralRoll)+3,r27 5891 30ba 8091 0000 lds r24,MittelIntegralNick2 5892 30be 9091 0000 lds r25,(MittelIntegralNick2)+1 5893 30c2 A091 0000 lds r26,(MittelIntegralNick2)+2 5894 30c6 B091 0000 lds r27,(MittelIntegralNick2)+3 5895 30ca E090 0000 lds r14,IntegralNick2 5896 30ce F090 0000 lds r15,(IntegralNick2)+1 5897 30d2 0091 0000 lds r16,(IntegralNick2)+2 5898 30d6 1091 0000 lds r17,(IntegralNick2)+3 5899 30da EF82 std Y+7,r14 5900 30dc F886 std Y+8,r15 5901 30de 0987 std Y+9,r16 5902 30e0 1A87 std Y+10,r17 5903 30e2 8E0D add r24,r14 5904 30e4 9F1D adc r25,r15 5905 30e6 A01F adc r26,r16 5906 30e8 B11F adc r27,r17 5907 30ea 8093 0000 sts MittelIntegralNick2,r24 5908 30ee 9093 0000 sts (MittelIntegralNick2)+1,r25 5909 30f2 A093 0000 sts (MittelIntegralNick2)+2,r26 5910 30f6 B093 0000 sts (MittelIntegralNick2)+3,r27 5911 30fa 8091 0000 lds r24,MittelIntegralRoll2 5912 30fe 9091 0000 lds r25,(MittelIntegralRoll2)+1 5913 3102 A091 0000 lds r26,(MittelIntegralRoll2)+2 5914 3106 B091 0000 lds r27,(MittelIntegralRoll2)+3 5915 310a E090 0000 lds r14,IntegralRoll2 5916 310e F090 0000 lds r15,(IntegralRoll2)+1 5917 3112 0091 0000 lds r16,(IntegralRoll2)+2 5918 3116 1091 0000 lds r17,(IntegralRoll2)+3 5919 311a EB86 std Y+11,r14 5920 311c FC86 std Y+12,r15 5921 311e 0D87 std Y+13,r16 5922 3120 1E87 std Y+14,r17 5923 3122 8E0D add r24,r14 5924 3124 9F1D adc r25,r15 5925 3126 A01F adc r26,r16 5926 3128 B11F adc r27,r17 5927 312a 8093 0000 sts MittelIntegralRoll2,r24 5928 312e 9093 0000 sts (MittelIntegralRoll2)+1,r25 5929 3132 A093 0000 sts (MittelIntegralRoll2)+2,r26 5930 3136 B093 0000 sts (MittelIntegralRoll2)+3,r27 5931 313a F090 0000 lds r15,Looping_Nick 5932 313e FF86 std Y+15,r15 5933 3140 FF20 tst r15 5934 3142 01F4 brne .L510 5935 3144 8091 0000 lds r24,Looping_Roll 5936 3148 8823 tst r24 5937 314a 01F4 brne .+2 5938 314c 00C0 rjmp .L892 5939 .L510: 5940 314e 1092 0000 sts IntegralAccNick,__zero_reg__ 5941 3152 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 5942 3156 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 5943 315a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 5944 315e 1092 0000 sts IntegralAccRoll,__zero_reg__ 5945 3162 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 5946 3166 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 5947 316a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 5948 316e 1092 0000 sts MittelIntegralNick,__zero_reg__ 5949 3172 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 5950 3176 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 5951 317a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 5952 317e 1092 0000 sts MittelIntegralRoll,__zero_reg__ 5953 3182 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 5954 3186 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 5955 318a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 5956 318e 1092 0000 sts MittelIntegralNick2,__zero_reg__ 5957 3192 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 5958 3196 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 5959 319a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 5960 319e 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 5961 31a2 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 5962 31a6 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 5963 31aa 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 5964 31ae 8091 0000 lds r24,Mess_IntegralNick 5965 31b2 9091 0000 lds r25,(Mess_IntegralNick)+1 5966 31b6 A091 0000 lds r26,(Mess_IntegralNick)+2 5967 31ba B091 0000 lds r27,(Mess_IntegralNick)+3 5968 31be 8093 0000 sts Mess_IntegralNick2,r24 5969 31c2 9093 0000 sts (Mess_IntegralNick2)+1,r25 5970 31c6 A093 0000 sts (Mess_IntegralNick2)+2,r26 5971 31ca B093 0000 sts (Mess_IntegralNick2)+3,r27 5972 31ce 8091 0000 lds r24,Mess_IntegralRoll 5973 31d2 9091 0000 lds r25,(Mess_IntegralRoll)+1 5974 31d6 A091 0000 lds r26,(Mess_IntegralRoll)+2 5975 31da B091 0000 lds r27,(Mess_IntegralRoll)+3 5976 31de 8093 0000 sts Mess_IntegralRoll2,r24 5977 31e2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 5978 31e6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 5979 31ea B093 0000 sts (Mess_IntegralRoll2)+3,r27 5980 31ee 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 5981 31f2 1092 0000 sts ZaehlMessungen,__zero_reg__ 5982 31f6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 5983 31fa 1092 0000 sts LageKorrekturNick,__zero_reg__ 5984 31fe 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 5985 3202 1092 0000 sts LageKorrekturRoll,__zero_reg__ 5986 3206 0F85 ldd r16,Y+15 5987 3208 0023 tst r16 5988 320a 01F0 breq .+2 5989 320c 00C0 rjmp .L511 5990 .L892: 5991 320e 8091 0000 lds r24,Looping_Roll 5992 3212 8823 tst r24 5993 3214 01F0 breq .+2 5994 3216 00C0 rjmp .L511 5995 3218 8091 0000 lds r24,Aktuell_az 5996 321c 9091 0000 lds r25,(Aktuell_az)+1 5997 3220 8150 subi r24,lo8(513) 5998 3222 9240 sbci r25,hi8(513) 5999 3224 04F4 brge .L512 6000 3226 8091 0000 lds r24,MotorenEin 6001 322a 8823 tst r24 6002 322c 01F4 brne .+2 6003 322e 00C0 rjmp .L511 6004 .L512: 6005 3230 9090 0000 lds r9,FromNaviCtrl_Value 6006 3234 A090 0000 lds r10,EE_Parameter+28 6007 3238 2090 0000 lds r2,Mittelwert_AccNick 6008 323c 3090 0000 lds r3,(Mittelwert_AccNick)+1 6009 3240 4090 0000 lds r4,Mittelwert_AccRoll 6010 3244 5090 0000 lds r5,(Mittelwert_AccRoll)+1 6011 3248 1914 cp __zero_reg__,r9 6012 324a 04F0 brlt .+2 6013 324c 00C0 rjmp .L513 6014 324e BB24 clr r11 6015 3250 CC24 clr r12 6016 3252 DD24 clr r13 6017 3254 CA01 movw r24,r20 6018 3256 B901 movw r22,r18 6019 3258 A601 movw r20,r12 6020 325a 9501 movw r18,r10 6021 325c 0E94 0000 call __divmodsi4 6022 3260 7901 movw r14,r18 6023 3262 8A01 movw r16,r20 6024 3264 8091 0000 lds r24,FromNaviCtrl+9 6025 3268 9091 0000 lds r25,(FromNaviCtrl+9)+1 6026 326c 281A sub r2,r24 6027 326e 390A sbc r3,r25 6028 3270 C101 movw r24,r2 6029 3272 AA27 clr r26 6030 3274 97FD sbrc r25,7 6031 3276 A095 com r26 6032 3278 BA2F mov r27,r26 6033 327a E81A sub r14,r24 6034 327c F90A sbc r15,r25 6035 327e 0A0B sbc r16,r26 6036 3280 1B0B sbc r17,r27 6037 3282 6B81 ldd r22,Y+3 6038 3284 7C81 ldd r23,Y+4 6039 3286 8D81 ldd r24,Y+5 6040 3288 9E81 ldd r25,Y+6 6041 328a A601 movw r20,r12 6042 328c 9501 movw r18,r10 6043 328e 0E94 0000 call __divmodsi4 6044 3292 5901 movw r10,r18 6045 3294 6A01 movw r12,r20 6046 3296 8091 0000 lds r24,FromNaviCtrl+11 6047 329a 9091 0000 lds r25,(FromNaviCtrl+11)+1 6048 329e 481A sub r4,r24 6049 32a0 590A sbc r5,r25 6050 32a2 C201 movw r24,r4 6051 32a4 AA27 clr r26 6052 32a6 97FD sbrc r25,7 6053 32a8 A095 com r26 6054 32aa BA2F mov r27,r26 6055 32ac A81A sub r10,r24 6056 32ae B90A sbc r11,r25 6057 32b0 CA0A sbc r12,r26 6058 32b2 DB0A sbc r13,r27 6059 32b4 292C mov r2,r9 6060 32b6 3324 clr r3 6061 32b8 27FC sbrc r2,7 6062 32ba 3094 com r3 6063 32bc 432C mov r4,r3 6064 32be 532C mov r5,r3 6065 32c0 C801 movw r24,r16 6066 32c2 B701 movw r22,r14 6067 32c4 A201 movw r20,r4 6068 32c6 9101 movw r18,r2 6069 32c8 0E94 0000 call __mulsi3 6070 32cc 97FF sbrs r25,7 6071 32ce 00C0 rjmp .L514 6072 32d0 6150 subi r22,lo8(-(511)) 6073 32d2 7E4F sbci r23,hi8(-(511)) 6074 32d4 8F4F sbci r24,hlo8(-(511)) 6075 32d6 9F4F sbci r25,hhi8(-(511)) 6076 .L514: 6077 32d8 3B01 movw r6,r22 6078 32da 4C01 movw r8,r24 6079 32dc 09E0 ldi r16,9 6080 32de 9594 1: asr r9 6081 32e0 8794 ror r8 6082 32e2 7794 ror r7 6083 32e4 6794 ror r6 6084 32e6 0A95 dec r16 6085 32e8 01F4 brne 1b 6086 32ea C601 movw r24,r12 6087 32ec B501 movw r22,r10 6088 32ee A201 movw r20,r4 6089 32f0 9101 movw r18,r2 6090 32f2 0E94 0000 call __mulsi3 6091 32f6 97FF sbrs r25,7 6092 32f8 00C0 rjmp .L515 6093 32fa 6150 subi r22,lo8(-(511)) 6094 32fc 7E4F sbci r23,hi8(-(511)) 6095 32fe 8F4F sbci r24,hlo8(-(511)) 6096 3300 9F4F sbci r25,hhi8(-(511)) 6097 .L515: 6098 3302 5B01 movw r10,r22 6099 3304 6C01 movw r12,r24 6100 3306 19E0 ldi r17,9 6101 3308 D594 1: asr r13 6102 330a C794 ror r12 6103 330c B794 ror r11 6104 330e A794 ror r10 6105 3310 1A95 dec r17 6106 3312 01F4 brne 1b 6107 3314 8091 0000 lds r24,MaxStickNick 6108 3318 9091 0000 lds r25,(MaxStickNick)+1 6109 331c 8134 cpi r24,65 6110 331e 9105 cpc r25,__zero_reg__ 6111 3320 04F4 brge .L517 6112 3322 8091 0000 lds r24,MaxStickRoll 6113 3326 9091 0000 lds r25,(MaxStickRoll)+1 6114 332a 8134 cpi r24,65 6115 332c 9105 cpc r25,__zero_reg__ 6116 332e 04F0 brlt .L516 6117 .L517: 6118 3330 D401 movw r26,r8 6119 3332 C301 movw r24,r6 6120 3334 97FE sbrs r9,7 6121 3336 00C0 rjmp .L518 6122 3338 0196 adiw r24,1 6123 333a A11D adc r26,__zero_reg__ 6124 333c B11D adc r27,__zero_reg__ 6125 .L518: 6126 333e 3C01 movw r6,r24 6127 3340 4D01 movw r8,r26 6128 3342 9594 asr r9 6129 3344 8794 ror r8 6130 3346 7794 ror r7 6131 3348 6794 ror r6 6132 334a D601 movw r26,r12 6133 334c C501 movw r24,r10 6134 334e D7FE sbrs r13,7 6135 3350 00C0 rjmp .L519 6136 3352 0196 adiw r24,1 6137 3354 A11D adc r26,__zero_reg__ 6138 3356 B11D adc r27,__zero_reg__ 6139 .L519: 6140 3358 5C01 movw r10,r24 6141 335a 6D01 movw r12,r26 6142 335c D594 asr r13 6143 335e C794 ror r12 6144 3360 B794 ror r11 6145 3362 A794 ror r10 6146 .L516: 6147 3364 8091 0000 lds r24,FromNaviCtrl_Value+2 6148 3368 282F mov r18,r24 6149 336a 3327 clr r19 6150 336c 27FD sbrc r18,7 6151 336e 3095 com r19 6152 3370 432F mov r20,r19 6153 3372 532F mov r21,r19 6154 3374 2615 cp r18,r6 6155 3376 3705 cpc r19,r7 6156 3378 4805 cpc r20,r8 6157 337a 5905 cpc r21,r9 6158 337c 04F4 brge .L520 6159 337e 3901 movw r6,r18 6160 3380 4A01 movw r8,r20 6161 .L520: 6162 3382 9927 clr r25 6163 3384 87FD sbrc r24,7 6164 3386 9095 com r25 6165 3388 9095 com r25 6166 338a 8195 neg r24 6167 338c 9F4F sbci r25,lo8(-1) 6168 338e AA27 clr r26 6169 3390 97FD sbrc r25,7 6170 3392 A095 com r26 6171 3394 BA2F mov r27,r26 6172 3396 6816 cp r6,r24 6173 3398 7906 cpc r7,r25 6174 339a 8A06 cpc r8,r26 6175 339c 9B06 cpc r9,r27 6176 339e 04F4 brge .L521 6177 33a0 3C01 movw r6,r24 6178 33a2 4D01 movw r8,r26 6179 .L521: 6180 33a4 2A15 cp r18,r10 6181 33a6 3B05 cpc r19,r11 6182 33a8 4C05 cpc r20,r12 6183 33aa 5D05 cpc r21,r13 6184 33ac 04F4 brge .L522 6185 33ae 5901 movw r10,r18 6186 33b0 6A01 movw r12,r20 6187 .L522: 6188 33b2 A816 cp r10,r24 6189 33b4 B906 cpc r11,r25 6190 33b6 CA06 cpc r12,r26 6191 33b8 DB06 cpc r13,r27 6192 33ba 04F0 brlt .+2 6193 33bc 00C0 rjmp .L524 6194 33be 5C01 movw r10,r24 6195 33c0 6D01 movw r12,r26 6196 33c2 00C0 rjmp .L524 6197 .L513: 6198 33c4 EA2C mov r14,r10 6199 33c6 FF24 clr r15 6200 33c8 0027 clr r16 6201 33ca 1127 clr r17 6202 33cc CA01 movw r24,r20 6203 33ce B901 movw r22,r18 6204 33d0 A801 movw r20,r16 6205 33d2 9701 movw r18,r14 6206 33d4 0E94 0000 call __divmodsi4 6207 33d8 3901 movw r6,r18 6208 33da 4A01 movw r8,r20 6209 33dc C101 movw r24,r2 6210 33de AA27 clr r26 6211 33e0 97FD sbrc r25,7 6212 33e2 A095 com r26 6213 33e4 BA2F mov r27,r26 6214 33e6 681A sub r6,r24 6215 33e8 790A sbc r7,r25 6216 33ea 8A0A sbc r8,r26 6217 33ec 9B0A sbc r9,r27 6218 33ee 6B81 ldd r22,Y+3 6219 33f0 7C81 ldd r23,Y+4 6220 33f2 8D81 ldd r24,Y+5 6221 33f4 9E81 ldd r25,Y+6 6222 33f6 A801 movw r20,r16 6223 33f8 9701 movw r18,r14 6224 33fa 0E94 0000 call __divmodsi4 6225 33fe 5901 movw r10,r18 6226 3400 6A01 movw r12,r20 6227 3402 C201 movw r24,r4 6228 3404 AA27 clr r26 6229 3406 97FD sbrc r25,7 6230 3408 A095 com r26 6231 340a BA2F mov r27,r26 6232 340c A81A sub r10,r24 6233 340e B90A sbc r11,r25 6234 3410 CA0A sbc r12,r26 6235 3412 DB0A sbc r13,r27 6236 3414 D401 movw r26,r8 6237 3416 C301 movw r24,r6 6238 3418 97FE sbrs r9,7 6239 341a 00C0 rjmp .L525 6240 341c 0F96 adiw r24,15 6241 341e A11D adc r26,__zero_reg__ 6242 3420 B11D adc r27,__zero_reg__ 6243 .L525: 6244 3422 3C01 movw r6,r24 6245 3424 4D01 movw r8,r26 6246 3426 F4E0 ldi r31,4 6247 3428 9594 1: asr r9 6248 342a 8794 ror r8 6249 342c 7794 ror r7 6250 342e 6794 ror r6 6251 3430 FA95 dec r31 6252 3432 01F4 brne 1b 6253 3434 D601 movw r26,r12 6254 3436 C501 movw r24,r10 6255 3438 D7FE sbrs r13,7 6256 343a 00C0 rjmp .L526 6257 343c 0F96 adiw r24,15 6258 343e A11D adc r26,__zero_reg__ 6259 3440 B11D adc r27,__zero_reg__ 6260 .L526: 6261 3442 5C01 movw r10,r24 6262 3444 6D01 movw r12,r26 6263 3446 E4E0 ldi r30,4 6264 3448 D594 1: asr r13 6265 344a C794 ror r12 6266 344c B794 ror r11 6267 344e A794 ror r10 6268 3450 EA95 dec r30 6269 3452 01F4 brne 1b 6270 3454 8091 0000 lds r24,MaxStickNick 6271 3458 9091 0000 lds r25,(MaxStickNick)+1 6272 345c 8134 cpi r24,65 6273 345e 9105 cpc r25,__zero_reg__ 6274 3460 04F4 brge .L528 6275 3462 8091 0000 lds r24,MaxStickRoll 6276 3466 9091 0000 lds r25,(MaxStickRoll)+1 6277 346a 8134 cpi r24,65 6278 346c 9105 cpc r25,__zero_reg__ 6279 346e 04F0 brlt .L527 6280 .L528: 6281 3470 C401 movw r24,r8 6282 3472 B301 movw r22,r6 6283 3474 23E0 ldi r18,lo8(3) 6284 3476 30E0 ldi r19,hi8(3) 6285 3478 40E0 ldi r20,hlo8(3) 6286 347a 50E0 ldi r21,hhi8(3) 6287 347c 0E94 0000 call __divmodsi4 6288 3480 3901 movw r6,r18 6289 3482 4A01 movw r8,r20 6290 3484 C601 movw r24,r12 6291 3486 B501 movw r22,r10 6292 3488 23E0 ldi r18,lo8(3) 6293 348a 30E0 ldi r19,hi8(3) 6294 348c 40E0 ldi r20,hlo8(3) 6295 348e 50E0 ldi r21,hhi8(3) 6296 3490 0E94 0000 call __divmodsi4 6297 3494 5901 movw r10,r18 6298 3496 6A01 movw r12,r20 6299 .L527: 6300 3498 8091 0000 lds r24,EE_Parameter+4 6301 349c E82F mov r30,r24 6302 349e FF27 clr r31 6303 34a0 EE0F add r30,r30 6304 34a2 FF1F adc r31,r31 6305 34a4 E050 subi r30,lo8(-(PPM_in)) 6306 34a6 F040 sbci r31,hi8(-(PPM_in)) 6307 34a8 8081 ld r24,Z 6308 34aa 9181 ldd r25,Z+1 6309 34ac 0190 ld __tmp_reg__,Z+ 6310 34ae F081 ld r31,Z 6311 34b0 E02D mov r30,__tmp_reg__ 6312 34b2 F7FF sbrs r31,7 6313 34b4 00C0 rjmp .L530 6314 34b6 F095 com r31 6315 34b8 E195 neg r30 6316 34ba FF4F sbci r31,lo8(-1) 6317 .L530: 6318 34bc 7A97 sbiw r30,26 6319 34be 04F0 brlt .L529 6320 34c0 C401 movw r24,r8 6321 34c2 B301 movw r22,r6 6322 34c4 23E0 ldi r18,lo8(3) 6323 34c6 30E0 ldi r19,hi8(3) 6324 34c8 40E0 ldi r20,hlo8(3) 6325 34ca 50E0 ldi r21,hhi8(3) 6326 34cc 0E94 0000 call __divmodsi4 6327 34d0 3901 movw r6,r18 6328 34d2 4A01 movw r8,r20 6329 34d4 C601 movw r24,r12 6330 34d6 B501 movw r22,r10 6331 34d8 23E0 ldi r18,lo8(3) 6332 34da 30E0 ldi r19,hi8(3) 6333 34dc 40E0 ldi r20,hlo8(3) 6334 34de 50E0 ldi r21,hhi8(3) 6335 34e0 0E94 0000 call __divmodsi4 6336 34e4 5901 movw r10,r18 6337 34e6 6A01 movw r12,r20 6338 .L529: 6339 34e8 89E1 ldi r24,lo8(25) 6340 34ea 8093 0000 sts KompassFusion,r24 6341 34ee 21E2 ldi r18,lo8(33) 6342 34f0 6216 cp r6,r18 6343 34f2 7104 cpc r7,__zero_reg__ 6344 34f4 8104 cpc r8,__zero_reg__ 6345 34f6 9104 cpc r9,__zero_reg__ 6346 34f8 04F0 brlt .L531 6347 34fa 70E2 ldi r23,lo8(32) 6348 34fc 672E mov r6,r23 6349 34fe 712C mov r7,__zero_reg__ 6350 3500 812C mov r8,__zero_reg__ 6351 3502 912C mov r9,__zero_reg__ 6352 .L531: 6353 3504 30EE ldi r19,lo8(-32) 6354 3506 6316 cp r6,r19 6355 3508 3FEF ldi r19,hi8(-32) 6356 350a 7306 cpc r7,r19 6357 350c 3FEF ldi r19,hlo8(-32) 6358 350e 8306 cpc r8,r19 6359 3510 3FEF ldi r19,hhi8(-32) 6360 3512 9306 cpc r9,r19 6361 3514 04F4 brge .L532 6362 3516 60EE ldi r22,lo8(-32) 6363 3518 662E mov r6,r22 6364 351a 6FEF ldi r22,hi8(-32) 6365 351c 762E mov r7,r22 6366 351e 6FEF ldi r22,hlo8(-32) 6367 3520 862E mov r8,r22 6368 3522 6FEF ldi r22,hhi8(-32) 6369 3524 962E mov r9,r22 6370 .L532: 6371 3526 41E2 ldi r20,lo8(33) 6372 3528 A416 cp r10,r20 6373 352a B104 cpc r11,__zero_reg__ 6374 352c C104 cpc r12,__zero_reg__ 6375 352e D104 cpc r13,__zero_reg__ 6376 3530 04F0 brlt .L533 6377 3532 50E2 ldi r21,lo8(32) 6378 3534 A52E mov r10,r21 6379 3536 B12C mov r11,__zero_reg__ 6380 3538 C12C mov r12,__zero_reg__ 6381 353a D12C mov r13,__zero_reg__ 6382 .L533: 6383 353c 50EE ldi r21,lo8(-32) 6384 353e A516 cp r10,r21 6385 3540 5FEF ldi r21,hi8(-32) 6386 3542 B506 cpc r11,r21 6387 3544 5FEF ldi r21,hlo8(-32) 6388 3546 C506 cpc r12,r21 6389 3548 5FEF ldi r21,hhi8(-32) 6390 354a D506 cpc r13,r21 6391 354c 04F4 brge .L524 6392 354e 40EE ldi r20,lo8(-32) 6393 3550 A42E mov r10,r20 6394 3552 4FEF ldi r20,hi8(-32) 6395 3554 B42E mov r11,r20 6396 3556 4FEF ldi r20,hlo8(-32) 6397 3558 C42E mov r12,r20 6398 355a 4FEF ldi r20,hhi8(-32) 6399 355c D42E mov r13,r20 6400 .L524: 6401 355e 8091 0000 lds r24,Mess_IntegralNick 6402 3562 9091 0000 lds r25,(Mess_IntegralNick)+1 6403 3566 A091 0000 lds r26,(Mess_IntegralNick)+2 6404 356a B091 0000 lds r27,(Mess_IntegralNick)+3 6405 356e 8619 sub r24,r6 6406 3570 9709 sbc r25,r7 6407 3572 A809 sbc r26,r8 6408 3574 B909 sbc r27,r9 6409 3576 8093 0000 sts Mess_IntegralNick,r24 6410 357a 9093 0000 sts (Mess_IntegralNick)+1,r25 6411 357e A093 0000 sts (Mess_IntegralNick)+2,r26 6412 3582 B093 0000 sts (Mess_IntegralNick)+3,r27 6413 3586 8091 0000 lds r24,Mess_IntegralRoll 6414 358a 9091 0000 lds r25,(Mess_IntegralRoll)+1 6415 358e A091 0000 lds r26,(Mess_IntegralRoll)+2 6416 3592 B091 0000 lds r27,(Mess_IntegralRoll)+3 6417 3596 8A19 sub r24,r10 6418 3598 9B09 sbc r25,r11 6419 359a AC09 sbc r26,r12 6420 359c BD09 sbc r27,r13 6421 359e 8093 0000 sts Mess_IntegralRoll,r24 6422 35a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 6423 35a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 6424 35aa B093 0000 sts (Mess_IntegralRoll)+3,r27 6425 .L511: 6426 35ae 8091 0000 lds r24,ZaehlMessungen 6427 35b2 9091 0000 lds r25,(ZaehlMessungen)+1 6428 35b6 8F3F cpi r24,255 6429 35b8 9105 cpc r25,__zero_reg__ 6430 35ba 01F0 breq .+2 6431 35bc 00F4 brsh .+2 6432 35be 00C0 rjmp .L535 6433 35c0 6F85 ldd r22,Y+15 6434 35c2 6623 tst r22 6435 35c4 01F0 breq .+2 6436 35c6 00C0 rjmp .L536 6437 35c8 8091 0000 lds r24,Looping_Roll 6438 35cc 8823 tst r24 6439 35ce 01F0 breq .+2 6440 35d0 00C0 rjmp .L536 6441 35d2 8091 0000 lds r24,TrichterFlug 6442 35d6 8823 tst r24 6443 35d8 01F0 breq .+2 6444 35da 00C0 rjmp .L536 6445 35dc 7091 0000 lds r23,EE_Parameter+68 6446 35e0 788B std Y+16,r23 6447 35e2 7723 tst r23 6448 35e4 01F4 brne .+2 6449 35e6 00C0 rjmp .L536 6450 35e8 8091 0000 lds r24,MittelIntegralNick 6451 35ec 9091 0000 lds r25,(MittelIntegralNick)+1 6452 35f0 A091 0000 lds r26,(MittelIntegralNick)+2 6453 35f4 B091 0000 lds r27,(MittelIntegralNick)+3 6454 35f8 B7FF sbrs r27,7 6455 35fa 00C0 rjmp .L537 6456 35fc 8150 subi r24,lo8(-(255)) 6457 35fe 9F4F sbci r25,hi8(-(255)) 6458 3600 AF4F sbci r26,hlo8(-(255)) 6459 3602 BF4F sbci r27,hhi8(-(255)) 6460 .L537: 6461 3604 E92E mov r14,r25 6462 3606 FA2E mov r15,r26 6463 3608 0B2F mov r16,r27 6464 360a 1127 clr r17 6465 360c 07FD sbrc r16,7 6466 360e 1A95 dec r17 6467 3610 E092 0000 sts MittelIntegralNick,r14 6468 3614 F092 0000 sts (MittelIntegralNick)+1,r15 6469 3618 0093 0000 sts (MittelIntegralNick)+2,r16 6470 361c 1093 0000 sts (MittelIntegralNick)+3,r17 6471 3620 8091 0000 lds r24,MittelIntegralRoll 6472 3624 9091 0000 lds r25,(MittelIntegralRoll)+1 6473 3628 A091 0000 lds r26,(MittelIntegralRoll)+2 6474 362c B091 0000 lds r27,(MittelIntegralRoll)+3 6475 3630 B7FF sbrs r27,7 6476 3632 00C0 rjmp .L538 6477 3634 8150 subi r24,lo8(-(255)) 6478 3636 9F4F sbci r25,hi8(-(255)) 6479 3638 AF4F sbci r26,hlo8(-(255)) 6480 363a BF4F sbci r27,hhi8(-(255)) 6481 .L538: 6482 363c 892F mov r24,r25 6483 363e 9A2F mov r25,r26 6484 3640 AB2F mov r26,r27 6485 3642 BB27 clr r27 6486 3644 A7FD sbrc r26,7 6487 3646 BA95 dec r27 6488 3648 898B std Y+17,r24 6489 364a 9A8B std Y+18,r25 6490 364c AB8B std Y+19,r26 6491 364e BC8B std Y+20,r27 6492 3650 8093 0000 sts MittelIntegralRoll,r24 6493 3654 9093 0000 sts (MittelIntegralRoll)+1,r25 6494 3658 A093 0000 sts (MittelIntegralRoll)+2,r26 6495 365c B093 0000 sts (MittelIntegralRoll)+3,r27 6496 3660 8091 0000 lds r24,EE_Parameter+28 6497 3664 A82E mov r10,r24 6498 3666 BB24 clr r11 6499 3668 CC24 clr r12 6500 366a DD24 clr r13 6501 366c 2091 0000 lds r18,IntegralAccNick 6502 3670 3091 0000 lds r19,(IntegralAccNick)+1 6503 3674 4091 0000 lds r20,(IntegralAccNick)+2 6504 3678 5091 0000 lds r21,(IntegralAccNick)+3 6505 367c C601 movw r24,r12 6506 367e B501 movw r22,r10 6507 3680 0E94 0000 call __mulsi3 6508 3684 97FF sbrs r25,7 6509 3686 00C0 rjmp .L539 6510 3688 6150 subi r22,lo8(-(255)) 6511 368a 7F4F sbci r23,hi8(-(255)) 6512 368c 8F4F sbci r24,hlo8(-(255)) 6513 368e 9F4F sbci r25,hhi8(-(255)) 6514 .L539: 6515 3690 672E mov r6,r23 6516 3692 782E mov r7,r24 6517 3694 892E mov r8,r25 6518 3696 9924 clr r9 6519 3698 87FC sbrc r8,7 6520 369a 9A94 dec r9 6521 369c 6092 0000 sts IntegralAccNick,r6 6522 36a0 7092 0000 sts (IntegralAccNick)+1,r7 6523 36a4 8092 0000 sts (IntegralAccNick)+2,r8 6524 36a8 9092 0000 sts (IntegralAccNick)+3,r9 6525 36ac 2091 0000 lds r18,IntegralAccRoll 6526 36b0 3091 0000 lds r19,(IntegralAccRoll)+1 6527 36b4 4091 0000 lds r20,(IntegralAccRoll)+2 6528 36b8 5091 0000 lds r21,(IntegralAccRoll)+3 6529 36bc C601 movw r24,r12 6530 36be B501 movw r22,r10 6531 36c0 0E94 0000 call __mulsi3 6532 36c4 97FF sbrs r25,7 6533 36c6 00C0 rjmp .L540 6534 36c8 6150 subi r22,lo8(-(255)) 6535 36ca 7F4F sbci r23,hi8(-(255)) 6536 36cc 8F4F sbci r24,hlo8(-(255)) 6537 36ce 9F4F sbci r25,hhi8(-(255)) 6538 .L540: 6539 36d0 272E mov r2,r23 6540 36d2 382E mov r3,r24 6541 36d4 492E mov r4,r25 6542 36d6 5524 clr r5 6543 36d8 47FC sbrc r4,7 6544 36da 5A94 dec r5 6545 36dc 2092 0000 sts IntegralAccRoll,r2 6546 36e0 3092 0000 sts (IntegralAccRoll)+1,r3 6547 36e4 4092 0000 sts (IntegralAccRoll)+2,r4 6548 36e8 5092 0000 sts (IntegralAccRoll)+3,r5 6549 36ec 8091 0000 lds r24,IntegralAccZ 6550 36f0 9091 0000 lds r25,(IntegralAccZ)+1 6551 36f4 A091 0000 lds r26,(IntegralAccZ)+2 6552 36f8 B091 0000 lds r27,(IntegralAccZ)+3 6553 36fc B7FF sbrs r27,7 6554 36fe 00C0 rjmp .L541 6555 3700 8150 subi r24,lo8(-(255)) 6556 3702 9F4F sbci r25,hi8(-(255)) 6557 3704 AF4F sbci r26,hlo8(-(255)) 6558 3706 BF4F sbci r27,hhi8(-(255)) 6559 .L541: 6560 3708 892F mov r24,r25 6561 370a 9A2F mov r25,r26 6562 370c AB2F mov r26,r27 6563 370e BB27 clr r27 6564 3710 A7FD sbrc r26,7 6565 3712 BA95 dec r27 6566 3714 8093 0000 sts IntegralAccZ,r24 6567 3718 9093 0000 sts (IntegralAccZ)+1,r25 6568 371c A093 0000 sts (IntegralAccZ)+2,r26 6569 3720 B093 0000 sts (IntegralAccZ)+3,r27 6570 3724 D801 movw r26,r16 6571 3726 C701 movw r24,r14 6572 3728 8619 sub r24,r6 6573 372a 9709 sbc r25,r7 6574 372c A809 sbc r26,r8 6575 372e B909 sbc r27,r9 6576 3730 8093 0000 sts IntegralFehlerNick.3,r24 6577 3734 9093 0000 sts (IntegralFehlerNick.3)+1,r25 6578 3738 A093 0000 sts (IntegralFehlerNick.3)+2,r26 6579 373c B093 0000 sts (IntegralFehlerNick.3)+3,r27 6580 3740 2091 0000 lds r18,EE_Parameter+67 6581 3744 E22E mov r14,r18 6582 3746 FF24 clr r15 6583 3748 0027 clr r16 6584 374a 1127 clr r17 6585 374c BC01 movw r22,r24 6586 374e CD01 movw r24,r26 6587 3750 A801 movw r20,r16 6588 3752 9701 movw r18,r14 6589 3754 0E94 0000 call __divmodsi4 6590 3758 5901 movw r10,r18 6591 375a 6A01 movw r12,r20 6592 375c 2093 0000 sts ausgleichNick.10,r18 6593 3760 3093 0000 sts (ausgleichNick.10)+1,r19 6594 3764 4093 0000 sts (ausgleichNick.10)+2,r20 6595 3768 5093 0000 sts (ausgleichNick.10)+3,r21 6596 376c 8989 ldd r24,Y+17 6597 376e 9A89 ldd r25,Y+18 6598 3770 AB89 ldd r26,Y+19 6599 3772 BC89 ldd r27,Y+20 6600 3774 8219 sub r24,r2 6601 3776 9309 sbc r25,r3 6602 3778 A409 sbc r26,r4 6603 377a B509 sbc r27,r5 6604 377c 8093 0000 sts IntegralFehlerRoll.4,r24 6605 3780 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 6606 3784 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 6607 3788 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 6608 378c BC01 movw r22,r24 6609 378e CD01 movw r24,r26 6610 3790 A801 movw r20,r16 6611 3792 9701 movw r18,r14 6612 3794 0E94 0000 call __divmodsi4 6613 3798 2093 0000 sts ausgleichRoll.11,r18 6614 379c 3093 0000 sts (ausgleichRoll.11)+1,r19 6615 37a0 4093 0000 sts (ausgleichRoll.11)+2,r20 6616 37a4 5093 0000 sts (ausgleichRoll.11)+3,r21 6617 37a8 D601 movw r26,r12 6618 37aa C501 movw r24,r10 6619 37ac D7FE sbrs r13,7 6620 37ae 00C0 rjmp .L542 6621 37b0 8150 subi r24,lo8(-(255)) 6622 37b2 9F4F sbci r25,hi8(-(255)) 6623 37b4 AF4F sbci r26,hlo8(-(255)) 6624 37b6 BF4F sbci r27,hhi8(-(255)) 6625 .L542: 6626 37b8 892F mov r24,r25 6627 37ba 9A2F mov r25,r26 6628 37bc AB2F mov r26,r27 6629 37be BB27 clr r27 6630 37c0 A7FD sbrc r26,7 6631 37c2 BA95 dec r27 6632 37c4 9093 0000 sts (LageKorrekturNick)+1,r25 6633 37c8 8093 0000 sts LageKorrekturNick,r24 6634 37cc 57FF sbrs r21,7 6635 37ce 00C0 rjmp .L543 6636 37d0 2150 subi r18,lo8(-(255)) 6637 37d2 3F4F sbci r19,hi8(-(255)) 6638 37d4 4F4F sbci r20,hlo8(-(255)) 6639 37d6 5F4F sbci r21,hhi8(-(255)) 6640 .L543: 6641 37d8 BB27 clr r27 6642 37da 57FD sbrc r21,7 6643 37dc BA95 dec r27 6644 37de A52F mov r26,r21 6645 37e0 942F mov r25,r20 6646 37e2 832F mov r24,r19 6647 37e4 9093 0000 sts (LageKorrekturRoll)+1,r25 6648 37e8 8093 0000 sts LageKorrekturRoll,r24 6649 37ec 8091 0000 lds r24,MaxStickNick 6650 37f0 9091 0000 lds r25,(MaxStickNick)+1 6651 37f4 8134 cpi r24,65 6652 37f6 9105 cpc r25,__zero_reg__ 6653 37f8 04F4 brge .L545 6654 37fa 8091 0000 lds r24,MaxStickRoll 6655 37fe 9091 0000 lds r25,(MaxStickRoll)+1 6656 3802 8134 cpi r24,65 6657 3804 9105 cpc r25,__zero_reg__ 6658 3806 04F4 brge .L545 6659 3808 8091 0000 lds r24,EE_Parameter+4 6660 380c E82F mov r30,r24 6661 380e FF27 clr r31 6662 3810 EE0F add r30,r30 6663 3812 FF1F adc r31,r31 6664 3814 E050 subi r30,lo8(-(PPM_in)) 6665 3816 F040 sbci r31,hi8(-(PPM_in)) 6666 3818 8081 ld r24,Z 6667 381a 9181 ldd r25,Z+1 6668 381c 0190 ld __tmp_reg__,Z+ 6669 381e F081 ld r31,Z 6670 3820 E02D mov r30,__tmp_reg__ 6671 3822 F7FF sbrs r31,7 6672 3824 00C0 rjmp .L546 6673 3826 F095 com r31 6674 3828 E195 neg r30 6675 382a FF4F sbci r31,lo8(-1) 6676 .L546: 6677 382c 7A97 sbiw r30,26 6678 382e 04F0 brlt .L544 6679 .L545: 6680 3830 8091 0000 lds r24,FromNaviCtrl_Value 6681 3834 8F3F cpi r24,lo8(-1) 6682 3836 01F4 brne .L544 6683 3838 8091 0000 lds r24,LageKorrekturNick 6684 383c 9091 0000 lds r25,(LageKorrekturNick)+1 6685 3840 97FD sbrc r25,7 6686 3842 0196 adiw r24,1 6687 .L547: 6688 3844 9595 asr r25 6689 3846 8795 ror r24 6690 3848 9093 0000 sts (LageKorrekturNick)+1,r25 6691 384c 8093 0000 sts LageKorrekturNick,r24 6692 3850 8091 0000 lds r24,LageKorrekturRoll 6693 3854 9091 0000 lds r25,(LageKorrekturRoll)+1 6694 3858 97FD sbrc r25,7 6695 385a 0196 adiw r24,1 6696 .L548: 6697 385c 9595 asr r25 6698 385e 8795 ror r24 6699 3860 9093 0000 sts (LageKorrekturRoll)+1,r25 6700 3864 8093 0000 sts LageKorrekturRoll,r24 6701 .L544: 6702 3868 8091 0000 lds r24,MittelIntegralNick2 6703 386c 9091 0000 lds r25,(MittelIntegralNick2)+1 6704 3870 A091 0000 lds r26,(MittelIntegralNick2)+2 6705 3874 B091 0000 lds r27,(MittelIntegralNick2)+3 6706 3878 B7FF sbrs r27,7 6707 387a 00C0 rjmp .L549 6708 387c 8150 subi r24,lo8(-(255)) 6709 387e 9F4F sbci r25,hi8(-(255)) 6710 3880 AF4F sbci r26,hlo8(-(255)) 6711 3882 BF4F sbci r27,hhi8(-(255)) 6712 .L549: 6713 3884 892F mov r24,r25 6714 3886 9A2F mov r25,r26 6715 3888 AB2F mov r26,r27 6716 388a BB27 clr r27 6717 388c A7FD sbrc r26,7 6718 388e BA95 dec r27 6719 3890 8093 0000 sts MittelIntegralNick2,r24 6720 3894 9093 0000 sts (MittelIntegralNick2)+1,r25 6721 3898 A093 0000 sts (MittelIntegralNick2)+2,r26 6722 389c B093 0000 sts (MittelIntegralNick2)+3,r27 6723 38a0 8091 0000 lds r24,MittelIntegralRoll2 6724 38a4 9091 0000 lds r25,(MittelIntegralRoll2)+1 6725 38a8 A091 0000 lds r26,(MittelIntegralRoll2)+2 6726 38ac B091 0000 lds r27,(MittelIntegralRoll2)+3 6727 38b0 B7FF sbrs r27,7 6728 38b2 00C0 rjmp .L550 6729 38b4 8150 subi r24,lo8(-(255)) 6730 38b6 9F4F sbci r25,hi8(-(255)) 6731 38b8 AF4F sbci r26,hlo8(-(255)) 6732 38ba BF4F sbci r27,hhi8(-(255)) 6733 .L550: 6734 38bc 892F mov r24,r25 6735 38be 9A2F mov r25,r26 6736 38c0 AB2F mov r26,r27 6737 38c2 BB27 clr r27 6738 38c4 A7FD sbrc r26,7 6739 38c6 BA95 dec r27 6740 38c8 8093 0000 sts MittelIntegralRoll2,r24 6741 38cc 9093 0000 sts (MittelIntegralRoll2)+1,r25 6742 38d0 A093 0000 sts (MittelIntegralRoll2)+2,r26 6743 38d4 B093 0000 sts (MittelIntegralRoll2)+3,r27 6744 38d8 8091 0000 lds r24,IntegralNick 6745 38dc 9091 0000 lds r25,(IntegralNick)+1 6746 38e0 A091 0000 lds r26,(IntegralNick)+2 6747 38e4 B091 0000 lds r27,(IntegralNick)+3 6748 38e8 2F81 ldd r18,Y+7 6749 38ea 3885 ldd r19,Y+8 6750 38ec 4985 ldd r20,Y+9 6751 38ee 5A85 ldd r21,Y+10 6752 38f0 281B sub r18,r24 6753 38f2 390B sbc r19,r25 6754 38f4 4A0B sbc r20,r26 6755 38f6 5B0B sbc r21,r27 6756 38f8 2093 0000 sts tmp_long.1,r18 6757 38fc 3093 0000 sts (tmp_long.1)+1,r19 6758 3900 4093 0000 sts (tmp_long.1)+2,r20 6759 3904 5093 0000 sts (tmp_long.1)+3,r21 6760 3908 8091 0000 lds r24,IntegralRoll 6761 390c 9091 0000 lds r25,(IntegralRoll)+1 6762 3910 A091 0000 lds r26,(IntegralRoll)+2 6763 3914 B091 0000 lds r27,(IntegralRoll)+3 6764 3918 EB84 ldd r14,Y+11 6765 391a FC84 ldd r15,Y+12 6766 391c 0D85 ldd r16,Y+13 6767 391e 1E85 ldd r17,Y+14 6768 3920 E81A sub r14,r24 6769 3922 F90A sbc r15,r25 6770 3924 0A0B sbc r16,r26 6771 3926 1B0B sbc r17,r27 6772 3928 E092 0000 sts tmp_long2.2,r14 6773 392c F092 0000 sts (tmp_long2.2)+1,r15 6774 3930 0093 0000 sts (tmp_long2.2)+2,r16 6775 3934 1093 0000 sts (tmp_long2.2)+3,r17 6776 3938 2093 0000 sts IntegralFehlerNick.3,r18 6777 393c 3093 0000 sts (IntegralFehlerNick.3)+1,r19 6778 3940 4093 0000 sts (IntegralFehlerNick.3)+2,r20 6779 3944 5093 0000 sts (IntegralFehlerNick.3)+3,r21 6780 3948 E092 0000 sts IntegralFehlerRoll.4,r14 6781 394c F092 0000 sts (IntegralFehlerRoll.4)+1,r15 6782 3950 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 6783 3954 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 6784 3958 8091 0000 lds r24,Mess_IntegralNick2 6785 395c 9091 0000 lds r25,(Mess_IntegralNick2)+1 6786 3960 A091 0000 lds r26,(Mess_IntegralNick2)+2 6787 3964 B091 0000 lds r27,(Mess_IntegralNick2)+3 6788 3968 821B sub r24,r18 6789 396a 930B sbc r25,r19 6790 396c A40B sbc r26,r20 6791 396e B50B sbc r27,r21 6792 3970 8093 0000 sts Mess_IntegralNick2,r24 6793 3974 9093 0000 sts (Mess_IntegralNick2)+1,r25 6794 3978 A093 0000 sts (Mess_IntegralNick2)+2,r26 6795 397c B093 0000 sts (Mess_IntegralNick2)+3,r27 6796 3980 8091 0000 lds r24,Mess_IntegralRoll2 6797 3984 9091 0000 lds r25,(Mess_IntegralRoll2)+1 6798 3988 A091 0000 lds r26,(Mess_IntegralRoll2)+2 6799 398c B091 0000 lds r27,(Mess_IntegralRoll2)+3 6800 3990 8E19 sub r24,r14 6801 3992 9F09 sbc r25,r15 6802 3994 A00B sbc r26,r16 6803 3996 B10B sbc r27,r17 6804 3998 8093 0000 sts Mess_IntegralRoll2,r24 6805 399c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 6806 39a0 A093 0000 sts (Mess_IntegralRoll2)+2,r26 6807 39a4 B093 0000 sts (Mess_IntegralRoll2)+3,r27 6808 39a8 8889 ldd r24,Y+16 6809 39aa 8823 tst r24 6810 39ac 01F0 breq .L551 6811 39ae 2091 0000 lds r18,GierGyroFehler 6812 39b2 3091 0000 lds r19,(GierGyroFehler)+1 6813 39b6 2138 cpi r18,129 6814 39b8 3105 cpc r19,__zero_reg__ 6815 39ba 04F0 brlt .L552 6816 39bc 8091 0000 lds r24,AdNeutralGier 6817 39c0 9091 0000 lds r25,(AdNeutralGier)+1 6818 39c4 0196 adiw r24,1 6819 39c6 9093 0000 sts (AdNeutralGier)+1,r25 6820 39ca 8093 0000 sts AdNeutralGier,r24 6821 .L552: 6822 39ce 2058 subi r18,lo8(-128) 6823 39d0 3F4F sbci r19,hi8(-128) 6824 39d2 04F4 brge .L551 6825 39d4 8091 0000 lds r24,AdNeutralGier 6826 39d8 9091 0000 lds r25,(AdNeutralGier)+1 6827 39dc 0197 sbiw r24,1 6828 39de 9093 0000 sts (AdNeutralGier)+1,r25 6829 39e2 8093 0000 sts AdNeutralGier,r24 6830 .L551: 6831 39e6 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ 6832 39ea 1092 0000 sts GierGyroFehler,__zero_reg__ 6833 39ee 81E0 ldi r24,lo8(1) 6834 39f0 90E0 ldi r25,hi8(1) 6835 39f2 9093 0000 sts (cnt.14)+1,r25 6836 39f6 8093 0000 sts cnt.14,r24 6837 39fa E090 0000 lds r14,IntegralFehlerNick.3 6838 39fe F090 0000 lds r15,(IntegralFehlerNick.3)+1 6839 3a02 0091 0000 lds r16,(IntegralFehlerNick.3)+2 6840 3a06 1091 0000 lds r17,(IntegralFehlerNick.3)+3 6841 3a0a D801 movw r26,r16 6842 3a0c C701 movw r24,r14 6843 3a0e 17FF sbrs r17,7 6844 3a10 00C0 rjmp .L555 6845 3a12 8827 clr r24 6846 3a14 9927 clr r25 6847 3a16 DC01 movw r26,r24 6848 3a18 8E19 sub r24,r14 6849 3a1a 9F09 sbc r25,r15 6850 3a1c A00B sbc r26,r16 6851 3a1e B10B sbc r27,r17 6852 .L555: 6853 3a20 8150 subi r24,lo8(513) 6854 3a22 9240 sbci r25,hi8(513) 6855 3a24 A040 sbci r26,hlo8(513) 6856 3a26 B040 sbci r27,hhi8(513) 6857 3a28 04F0 brlt .L554 6858 3a2a 84E0 ldi r24,lo8(4) 6859 3a2c 90E0 ldi r25,hi8(4) 6860 3a2e 9093 0000 sts (cnt.14)+1,r25 6861 3a32 8093 0000 sts cnt.14,r24 6862 .L554: 6863 3a36 8091 0000 lds r24,MittelIntegralNick_Alt.19 6864 3a3a 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 6865 3a3e A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 6866 3a42 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 6867 3a46 2091 0000 lds r18,MittelIntegralNick 6868 3a4a 3091 0000 lds r19,(MittelIntegralNick)+1 6869 3a4e 4091 0000 lds r20,(MittelIntegralNick)+2 6870 3a52 5091 0000 lds r21,(MittelIntegralNick)+3 6871 3a56 821B sub r24,r18 6872 3a58 930B sbc r25,r19 6873 3a5a A40B sbc r26,r20 6874 3a5c B50B sbc r27,r21 6875 3a5e 815E subi r24,lo8(-(19999)) 6876 3a60 914B sbci r25,hi8(-(19999)) 6877 3a62 AF4F sbci r26,hlo8(-(19999)) 6878 3a64 BF4F sbci r27,hhi8(-(19999)) 6879 3a66 8F53 subi r24,lo8(39999) 6880 3a68 9C49 sbci r25,hi8(39999) 6881 3a6a A040 sbci r26,hlo8(39999) 6882 3a6c B040 sbci r27,hhi8(39999) 6883 3a6e 00F0 brlo .L557 6884 3a70 8091 0000 lds r24,FromNaviCtrl_Value+1 6885 3a74 8931 cpi r24,lo8(25) 6886 3a76 04F4 brge .+2 6887 3a78 00C0 rjmp .L556 6888 .L557: 6889 3a7a 21E0 ldi r18,lo8(4097) 6890 3a7c E216 cp r14,r18 6891 3a7e 20E1 ldi r18,hi8(4097) 6892 3a80 F206 cpc r15,r18 6893 3a82 20E0 ldi r18,hlo8(4097) 6894 3a84 0207 cpc r16,r18 6895 3a86 20E0 ldi r18,hhi8(4097) 6896 3a88 1207 cpc r17,r18 6897 3a8a 04F4 brge .+2 6898 3a8c 00C0 rjmp .L558 6899 3a8e 8091 0000 lds r24,last_n_p.15 6900 3a92 8823 tst r24 6901 3a94 01F4 brne .+2 6902 3a96 00C0 rjmp .L559 6903 3a98 D801 movw r26,r16 6904 3a9a C701 movw r24,r14 6905 3a9c 17FF sbrs r17,7 6906 3a9e 00C0 rjmp .L560 6907 3aa0 8827 clr r24 6908 3aa2 9927 clr r25 6909 3aa4 DC01 movw r26,r24 6910 3aa6 8E19 sub r24,r14 6911 3aa8 9F09 sbc r25,r15 6912 3aaa A00B sbc r26,r16 6913 3aac B10B sbc r27,r17 6914 .L560: 6915 3aae 9C01 movw r18,r24 6916 3ab0 AD01 movw r20,r26 6917 3ab2 B7FF sbrs r27,7 6918 3ab4 00C0 rjmp .L561 6919 3ab6 2150 subi r18,lo8(-(511)) 6920 3ab8 3E4F sbci r19,hi8(-(511)) 6921 3aba 4F4F sbci r20,hlo8(-(511)) 6922 3abc 5F4F sbci r21,hhi8(-(511)) 6923 .L561: 6924 3abe F9E0 ldi r31,9 6925 3ac0 5595 1: asr r21 6926 3ac2 4795 ror r20 6927 3ac4 3795 ror r19 6928 3ac6 2795 ror r18 6929 3ac8 FA95 dec r31 6930 3aca 01F4 brne 1b 6931 3acc 8091 0000 lds r24,cnt.14 6932 3ad0 9091 0000 lds r25,(cnt.14)+1 6933 3ad4 820F add r24,r18 6934 3ad6 931F adc r25,r19 6935 3ad8 9093 0000 sts (cnt.14)+1,r25 6936 3adc 8093 0000 sts cnt.14,r24 6937 3ae0 D801 movw r26,r16 6938 3ae2 C701 movw r24,r14 6939 3ae4 17FF sbrs r17,7 6940 3ae6 00C0 rjmp .L562 6941 3ae8 0796 adiw r24,7 6942 3aea A11D adc r26,__zero_reg__ 6943 3aec B11D adc r27,__zero_reg__ 6944 .L562: 6945 3aee E3E0 ldi r30,3 6946 3af0 B595 1: asr r27 6947 3af2 A795 ror r26 6948 3af4 9795 ror r25 6949 3af6 8795 ror r24 6950 3af8 EA95 dec r30 6951 3afa 01F4 brne 1b 6952 3afc 8093 0000 sts ausgleichNick.10,r24 6953 3b00 9093 0000 sts (ausgleichNick.10)+1,r25 6954 3b04 A093 0000 sts (ausgleichNick.10)+2,r26 6955 3b08 B093 0000 sts (ausgleichNick.10)+3,r27 6956 3b0c 8958 subi r24,lo8(5001) 6957 3b0e 9341 sbci r25,hi8(5001) 6958 3b10 A040 sbci r26,hlo8(5001) 6959 3b12 B040 sbci r27,hhi8(5001) 6960 3b14 04F0 brlt .L563 6961 3b16 88E8 ldi r24,lo8(5000) 6962 3b18 93E1 ldi r25,hi8(5000) 6963 3b1a A0E0 ldi r26,hlo8(5000) 6964 3b1c B0E0 ldi r27,hhi8(5000) 6965 3b1e 8093 0000 sts ausgleichNick.10,r24 6966 3b22 9093 0000 sts (ausgleichNick.10)+1,r25 6967 3b26 A093 0000 sts (ausgleichNick.10)+2,r26 6968 3b2a B093 0000 sts (ausgleichNick.10)+3,r27 6969 .L563: 6970 3b2e 2091 0000 lds r18,ausgleichNick.10 6971 3b32 3091 0000 lds r19,(ausgleichNick.10)+1 6972 3b36 4091 0000 lds r20,(ausgleichNick.10)+2 6973 3b3a 5091 0000 lds r21,(ausgleichNick.10)+3 6974 3b3e 57FF sbrs r21,7 6975 3b40 00C0 rjmp .L564 6976 3b42 2150 subi r18,lo8(-(255)) 6977 3b44 3F4F sbci r19,hi8(-(255)) 6978 3b46 4F4F sbci r20,hlo8(-(255)) 6979 3b48 5F4F sbci r21,hhi8(-(255)) 6980 .L564: 6981 3b4a 232F mov r18,r19 6982 3b4c 342F mov r19,r20 6983 3b4e 452F mov r20,r21 6984 3b50 5527 clr r21 6985 3b52 47FD sbrc r20,7 6986 3b54 5A95 dec r21 6987 3b56 8091 0000 lds r24,LageKorrekturNick 6988 3b5a 9091 0000 lds r25,(LageKorrekturNick)+1 6989 3b5e 820F add r24,r18 6990 3b60 931F adc r25,r19 6991 3b62 9093 0000 sts (LageKorrekturNick)+1,r25 6992 3b66 8093 0000 sts LageKorrekturNick,r24 6993 3b6a 00C0 rjmp .L566 6994 .L559: 6995 3b6c 81E0 ldi r24,lo8(1) 6996 3b6e 8093 0000 sts last_n_p.15,r24 6997 3b72 00C0 rjmp .L566 6998 .L558: 6999 3b74 1092 0000 sts last_n_p.15,__zero_reg__ 7000 .L566: 7001 3b78 40E0 ldi r20,lo8(-4096) 7002 3b7a E416 cp r14,r20 7003 3b7c 40EF ldi r20,hi8(-4096) 7004 3b7e F406 cpc r15,r20 7005 3b80 4FEF ldi r20,hlo8(-4096) 7006 3b82 0407 cpc r16,r20 7007 3b84 4FEF ldi r20,hhi8(-4096) 7008 3b86 1407 cpc r17,r20 7009 3b88 04F0 brlt .+2 7010 3b8a 00C0 rjmp .L567 7011 3b8c 8091 0000 lds r24,last_n_n.16 7012 3b90 8823 tst r24 7013 3b92 01F4 brne .+2 7014 3b94 00C0 rjmp .L568 7015 3b96 D801 movw r26,r16 7016 3b98 C701 movw r24,r14 7017 3b9a 17FF sbrs r17,7 7018 3b9c 00C0 rjmp .L569 7019 3b9e 8827 clr r24 7020 3ba0 9927 clr r25 7021 3ba2 DC01 movw r26,r24 7022 3ba4 8E19 sub r24,r14 7023 3ba6 9F09 sbc r25,r15 7024 3ba8 A00B sbc r26,r16 7025 3baa B10B sbc r27,r17 7026 .L569: 7027 3bac 9C01 movw r18,r24 7028 3bae AD01 movw r20,r26 7029 3bb0 B7FF sbrs r27,7 7030 3bb2 00C0 rjmp .L570 7031 3bb4 2150 subi r18,lo8(-(511)) 7032 3bb6 3E4F sbci r19,hi8(-(511)) 7033 3bb8 4F4F sbci r20,hlo8(-(511)) 7034 3bba 5F4F sbci r21,hhi8(-(511)) 7035 .L570: 7036 3bbc 69E0 ldi r22,9 7037 3bbe 5595 1: asr r21 7038 3bc0 4795 ror r20 7039 3bc2 3795 ror r19 7040 3bc4 2795 ror r18 7041 3bc6 6A95 dec r22 7042 3bc8 01F4 brne 1b 7043 3bca 8091 0000 lds r24,cnt.14 7044 3bce 9091 0000 lds r25,(cnt.14)+1 7045 3bd2 820F add r24,r18 7046 3bd4 931F adc r25,r19 7047 3bd6 9093 0000 sts (cnt.14)+1,r25 7048 3bda 8093 0000 sts cnt.14,r24 7049 3bde D801 movw r26,r16 7050 3be0 C701 movw r24,r14 7051 3be2 17FF sbrs r17,7 7052 3be4 00C0 rjmp .L571 7053 3be6 0796 adiw r24,7 7054 3be8 A11D adc r26,__zero_reg__ 7055 3bea B11D adc r27,__zero_reg__ 7056 .L571: 7057 3bec 23E0 ldi r18,3 7058 3bee B595 1: asr r27 7059 3bf0 A795 ror r26 7060 3bf2 9795 ror r25 7061 3bf4 8795 ror r24 7062 3bf6 2A95 dec r18 7063 3bf8 01F4 brne 1b 7064 3bfa 8093 0000 sts ausgleichNick.10,r24 7065 3bfe 9093 0000 sts (ausgleichNick.10)+1,r25 7066 3c02 A093 0000 sts (ausgleichNick.10)+2,r26 7067 3c06 B093 0000 sts (ausgleichNick.10)+3,r27 7068 3c0a 8857 subi r24,lo8(-5000) 7069 3c0c 9C4E sbci r25,hi8(-5000) 7070 3c0e AF4F sbci r26,hlo8(-5000) 7071 3c10 BF4F sbci r27,hhi8(-5000) 7072 3c12 04F4 brge .L572 7073 3c14 88E7 ldi r24,lo8(-5000) 7074 3c16 9CEE ldi r25,hi8(-5000) 7075 3c18 AFEF ldi r26,hlo8(-5000) 7076 3c1a BFEF ldi r27,hhi8(-5000) 7077 3c1c 8093 0000 sts ausgleichNick.10,r24 7078 3c20 9093 0000 sts (ausgleichNick.10)+1,r25 7079 3c24 A093 0000 sts (ausgleichNick.10)+2,r26 7080 3c28 B093 0000 sts (ausgleichNick.10)+3,r27 7081 .L572: 7082 3c2c 2091 0000 lds r18,ausgleichNick.10 7083 3c30 3091 0000 lds r19,(ausgleichNick.10)+1 7084 3c34 4091 0000 lds r20,(ausgleichNick.10)+2 7085 3c38 5091 0000 lds r21,(ausgleichNick.10)+3 7086 3c3c 57FF sbrs r21,7 7087 3c3e 00C0 rjmp .L573 7088 3c40 2150 subi r18,lo8(-(255)) 7089 3c42 3F4F sbci r19,hi8(-(255)) 7090 3c44 4F4F sbci r20,hlo8(-(255)) 7091 3c46 5F4F sbci r21,hhi8(-(255)) 7092 .L573: 7093 3c48 232F mov r18,r19 7094 3c4a 342F mov r19,r20 7095 3c4c 452F mov r20,r21 7096 3c4e 5527 clr r21 7097 3c50 47FD sbrc r20,7 7098 3c52 5A95 dec r21 7099 3c54 8091 0000 lds r24,LageKorrekturNick 7100 3c58 9091 0000 lds r25,(LageKorrekturNick)+1 7101 3c5c 820F add r24,r18 7102 3c5e 931F adc r25,r19 7103 3c60 9093 0000 sts (LageKorrekturNick)+1,r25 7104 3c64 8093 0000 sts LageKorrekturNick,r24 7105 3c68 00C0 rjmp .L576 7106 .L568: 7107 3c6a 81E0 ldi r24,lo8(1) 7108 3c6c 8093 0000 sts last_n_n.16,r24 7109 3c70 00C0 rjmp .L576 7110 .L567: 7111 3c72 1092 0000 sts last_n_n.16,__zero_reg__ 7112 3c76 00C0 rjmp .L576 7113 .L556: 7114 3c78 1092 0000 sts (cnt.14)+1,__zero_reg__ 7115 3c7c 1092 0000 sts cnt.14,__zero_reg__ 7116 3c80 84E6 ldi r24,lo8(100) 7117 3c82 90E0 ldi r25,hi8(100) 7118 3c84 9093 0000 sts (KompassSignalSchlecht)+1,r25 7119 3c88 8093 0000 sts KompassSignalSchlecht,r24 7120 .L576: 7121 3c8c 6889 ldd r22,Y+16 7122 3c8e 262F mov r18,r22 7123 3c90 3327 clr r19 7124 3c92 8091 0000 lds r24,cnt.14 7125 3c96 9091 0000 lds r25,(cnt.14)+1 7126 3c9a 2817 cp r18,r24 7127 3c9c 3907 cpc r19,r25 7128 3c9e 04F4 brge .L577 7129 3ca0 3093 0000 sts (cnt.14)+1,r19 7130 3ca4 2093 0000 sts cnt.14,r18 7131 .L577: 7132 3ca8 1091 0000 lds r17,FromNaviCtrl_Value+1 7133 3cac 1123 tst r17 7134 3cae 01F0 breq .L578 7135 3cb0 212F mov r18,r17 7136 3cb2 3327 clr r19 7137 3cb4 27FD sbrc r18,7 7138 3cb6 3095 com r19 7139 3cb8 8091 0000 lds r24,cnt.14 7140 3cbc 9091 0000 lds r25,(cnt.14)+1 7141 3cc0 2817 cp r18,r24 7142 3cc2 3907 cpc r19,r25 7143 3cc4 04F4 brge .L578 7144 3cc6 3093 0000 sts (cnt.14)+1,r19 7145 3cca 2093 0000 sts cnt.14,r18 7146 .L578: 7147 3cce 4091 0000 lds r20,IntegralFehlerNick.3 7148 3cd2 5091 0000 lds r21,(IntegralFehlerNick.3)+1 7149 3cd6 6091 0000 lds r22,(IntegralFehlerNick.3)+2 7150 3cda 7091 0000 lds r23,(IntegralFehlerNick.3)+3 7151 3cde 4138 cpi r20,lo8(129) 7152 3ce0 5105 cpc r21,__zero_reg__ 7153 3ce2 6105 cpc r22,__zero_reg__ 7154 3ce4 7105 cpc r23,__zero_reg__ 7155 3ce6 04F0 brlt .L580 7156 3ce8 8091 0000 lds r24,AdNeutralNick 7157 3cec 9091 0000 lds r25,(AdNeutralNick)+1 7158 3cf0 2091 0000 lds r18,cnt.14 7159 3cf4 3091 0000 lds r19,(cnt.14)+1 7160 3cf8 820F add r24,r18 7161 3cfa 931F adc r25,r19 7162 3cfc 9093 0000 sts (AdNeutralNick)+1,r25 7163 3d00 8093 0000 sts AdNeutralNick,r24 7164 .L580: 7165 3d04 4058 subi r20,lo8(-128) 7166 3d06 5F4F sbci r21,hi8(-128) 7167 3d08 6F4F sbci r22,hlo8(-128) 7168 3d0a 7F4F sbci r23,hhi8(-128) 7169 3d0c 04F4 brge .L581 7170 3d0e 8091 0000 lds r24,AdNeutralNick 7171 3d12 9091 0000 lds r25,(AdNeutralNick)+1 7172 3d16 2091 0000 lds r18,cnt.14 7173 3d1a 3091 0000 lds r19,(cnt.14)+1 7174 3d1e 821B sub r24,r18 7175 3d20 930B sbc r25,r19 7176 3d22 9093 0000 sts (AdNeutralNick)+1,r25 7177 3d26 8093 0000 sts AdNeutralNick,r24 7178 .L581: 7179 3d2a 81E0 ldi r24,lo8(1) 7180 3d2c 90E0 ldi r25,hi8(1) 7181 3d2e 9093 0000 sts (cnt.14)+1,r25 7182 3d32 8093 0000 sts cnt.14,r24 7183 3d36 C090 0000 lds r12,IntegralFehlerRoll.4 7184 3d3a D090 0000 lds r13,(IntegralFehlerRoll.4)+1 7185 3d3e E090 0000 lds r14,(IntegralFehlerRoll.4)+2 7186 3d42 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 7187 3d46 D701 movw r26,r14 7188 3d48 C601 movw r24,r12 7189 3d4a F7FE sbrs r15,7 7190 3d4c 00C0 rjmp .L583 7191 3d4e 8827 clr r24 7192 3d50 9927 clr r25 7193 3d52 DC01 movw r26,r24 7194 3d54 8C19 sub r24,r12 7195 3d56 9D09 sbc r25,r13 7196 3d58 AE09 sbc r26,r14 7197 3d5a BF09 sbc r27,r15 7198 .L583: 7199 3d5c 8150 subi r24,lo8(513) 7200 3d5e 9240 sbci r25,hi8(513) 7201 3d60 A040 sbci r26,hlo8(513) 7202 3d62 B040 sbci r27,hhi8(513) 7203 3d64 04F0 brlt .L582 7204 3d66 84E0 ldi r24,lo8(4) 7205 3d68 90E0 ldi r25,hi8(4) 7206 3d6a 9093 0000 sts (cnt.14)+1,r25 7207 3d6e 8093 0000 sts cnt.14,r24 7208 .L582: 7209 3d72 8091 0000 lds r24,MittelIntegralRoll_Alt.20 7210 3d76 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 7211 3d7a A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 7212 3d7e B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 7213 3d82 2091 0000 lds r18,MittelIntegralRoll 7214 3d86 3091 0000 lds r19,(MittelIntegralRoll)+1 7215 3d8a 4091 0000 lds r20,(MittelIntegralRoll)+2 7216 3d8e 5091 0000 lds r21,(MittelIntegralRoll)+3 7217 3d92 821B sub r24,r18 7218 3d94 930B sbc r25,r19 7219 3d96 A40B sbc r26,r20 7220 3d98 B50B sbc r27,r21 7221 3d9a 815E subi r24,lo8(-(19999)) 7222 3d9c 914B sbci r25,hi8(-(19999)) 7223 3d9e AF4F sbci r26,hlo8(-(19999)) 7224 3da0 BF4F sbci r27,hhi8(-(19999)) 7225 3da2 8F53 subi r24,lo8(39999) 7226 3da4 9C49 sbci r25,hi8(39999) 7227 3da6 A040 sbci r26,hlo8(39999) 7228 3da8 B040 sbci r27,hhi8(39999) 7229 3daa 00F0 brlo .L585 7230 3dac 1931 cpi r17,lo8(25) 7231 3dae 04F4 brge .+2 7232 3db0 00C0 rjmp .L584 7233 .L585: 7234 3db2 01E0 ldi r16,lo8(4097) 7235 3db4 C016 cp r12,r16 7236 3db6 00E1 ldi r16,hi8(4097) 7237 3db8 D006 cpc r13,r16 7238 3dba 00E0 ldi r16,hlo8(4097) 7239 3dbc E006 cpc r14,r16 7240 3dbe 00E0 ldi r16,hhi8(4097) 7241 3dc0 F006 cpc r15,r16 7242 3dc2 04F4 brge .+2 7243 3dc4 00C0 rjmp .L586 7244 3dc6 8091 0000 lds r24,last_r_p.17 7245 3dca 8823 tst r24 7246 3dcc 01F4 brne .+2 7247 3dce 00C0 rjmp .L587 7248 3dd0 D701 movw r26,r14 7249 3dd2 C601 movw r24,r12 7250 3dd4 F7FE sbrs r15,7 7251 3dd6 00C0 rjmp .L588 7252 3dd8 8827 clr r24 7253 3dda 9927 clr r25 7254 3ddc DC01 movw r26,r24 7255 3dde 8C19 sub r24,r12 7256 3de0 9D09 sbc r25,r13 7257 3de2 AE09 sbc r26,r14 7258 3de4 BF09 sbc r27,r15 7259 .L588: 7260 3de6 9C01 movw r18,r24 7261 3de8 AD01 movw r20,r26 7262 3dea B7FF sbrs r27,7 7263 3dec 00C0 rjmp .L589 7264 3dee 2150 subi r18,lo8(-(511)) 7265 3df0 3E4F sbci r19,hi8(-(511)) 7266 3df2 4F4F sbci r20,hlo8(-(511)) 7267 3df4 5F4F sbci r21,hhi8(-(511)) 7268 .L589: 7269 3df6 09E0 ldi r16,9 7270 3df8 5595 1: asr r21 7271 3dfa 4795 ror r20 7272 3dfc 3795 ror r19 7273 3dfe 2795 ror r18 7274 3e00 0A95 dec r16 7275 3e02 01F4 brne 1b 7276 3e04 8091 0000 lds r24,cnt.14 7277 3e08 9091 0000 lds r25,(cnt.14)+1 7278 3e0c 820F add r24,r18 7279 3e0e 931F adc r25,r19 7280 3e10 9093 0000 sts (cnt.14)+1,r25 7281 3e14 8093 0000 sts cnt.14,r24 7282 3e18 D701 movw r26,r14 7283 3e1a C601 movw r24,r12 7284 3e1c F7FE sbrs r15,7 7285 3e1e 00C0 rjmp .L590 7286 3e20 0796 adiw r24,7 7287 3e22 A11D adc r26,__zero_reg__ 7288 3e24 B11D adc r27,__zero_reg__ 7289 .L590: 7290 3e26 13E0 ldi r17,3 7291 3e28 B595 1: asr r27 7292 3e2a A795 ror r26 7293 3e2c 9795 ror r25 7294 3e2e 8795 ror r24 7295 3e30 1A95 dec r17 7296 3e32 01F4 brne 1b 7297 3e34 8093 0000 sts ausgleichRoll.11,r24 7298 3e38 9093 0000 sts (ausgleichRoll.11)+1,r25 7299 3e3c A093 0000 sts (ausgleichRoll.11)+2,r26 7300 3e40 B093 0000 sts (ausgleichRoll.11)+3,r27 7301 3e44 8958 subi r24,lo8(5001) 7302 3e46 9341 sbci r25,hi8(5001) 7303 3e48 A040 sbci r26,hlo8(5001) 7304 3e4a B040 sbci r27,hhi8(5001) 7305 3e4c 04F0 brlt .L591 7306 3e4e 88E8 ldi r24,lo8(5000) 7307 3e50 93E1 ldi r25,hi8(5000) 7308 3e52 A0E0 ldi r26,hlo8(5000) 7309 3e54 B0E0 ldi r27,hhi8(5000) 7310 3e56 8093 0000 sts ausgleichRoll.11,r24 7311 3e5a 9093 0000 sts (ausgleichRoll.11)+1,r25 7312 3e5e A093 0000 sts (ausgleichRoll.11)+2,r26 7313 3e62 B093 0000 sts (ausgleichRoll.11)+3,r27 7314 .L591: 7315 3e66 2091 0000 lds r18,ausgleichRoll.11 7316 3e6a 3091 0000 lds r19,(ausgleichRoll.11)+1 7317 3e6e 4091 0000 lds r20,(ausgleichRoll.11)+2 7318 3e72 5091 0000 lds r21,(ausgleichRoll.11)+3 7319 3e76 57FF sbrs r21,7 7320 3e78 00C0 rjmp .L592 7321 3e7a 2150 subi r18,lo8(-(255)) 7322 3e7c 3F4F sbci r19,hi8(-(255)) 7323 3e7e 4F4F sbci r20,hlo8(-(255)) 7324 3e80 5F4F sbci r21,hhi8(-(255)) 7325 .L592: 7326 3e82 232F mov r18,r19 7327 3e84 342F mov r19,r20 7328 3e86 452F mov r20,r21 7329 3e88 5527 clr r21 7330 3e8a 47FD sbrc r20,7 7331 3e8c 5A95 dec r21 7332 3e8e 8091 0000 lds r24,LageKorrekturRoll 7333 3e92 9091 0000 lds r25,(LageKorrekturRoll)+1 7334 3e96 820F add r24,r18 7335 3e98 931F adc r25,r19 7336 3e9a 9093 0000 sts (LageKorrekturRoll)+1,r25 7337 3e9e 8093 0000 sts LageKorrekturRoll,r24 7338 3ea2 00C0 rjmp .L594 7339 .L587: 7340 3ea4 81E0 ldi r24,lo8(1) 7341 3ea6 8093 0000 sts last_r_p.17,r24 7342 3eaa 00C0 rjmp .L594 7343 .L586: 7344 3eac 1092 0000 sts last_r_p.17,__zero_reg__ 7345 .L594: 7346 3eb0 20E0 ldi r18,lo8(-4096) 7347 3eb2 C216 cp r12,r18 7348 3eb4 20EF ldi r18,hi8(-4096) 7349 3eb6 D206 cpc r13,r18 7350 3eb8 2FEF ldi r18,hlo8(-4096) 7351 3eba E206 cpc r14,r18 7352 3ebc 2FEF ldi r18,hhi8(-4096) 7353 3ebe F206 cpc r15,r18 7354 3ec0 04F0 brlt .+2 7355 3ec2 00C0 rjmp .L595 7356 3ec4 8091 0000 lds r24,last_r_n.18 7357 3ec8 8823 tst r24 7358 3eca 01F4 brne .+2 7359 3ecc 00C0 rjmp .L596 7360 3ece D701 movw r26,r14 7361 3ed0 C601 movw r24,r12 7362 3ed2 F7FE sbrs r15,7 7363 3ed4 00C0 rjmp .L597 7364 3ed6 8827 clr r24 7365 3ed8 9927 clr r25 7366 3eda DC01 movw r26,r24 7367 3edc 8C19 sub r24,r12 7368 3ede 9D09 sbc r25,r13 7369 3ee0 AE09 sbc r26,r14 7370 3ee2 BF09 sbc r27,r15 7371 .L597: 7372 3ee4 9C01 movw r18,r24 7373 3ee6 AD01 movw r20,r26 7374 3ee8 B7FF sbrs r27,7 7375 3eea 00C0 rjmp .L598 7376 3eec 2150 subi r18,lo8(-(511)) 7377 3eee 3E4F sbci r19,hi8(-(511)) 7378 3ef0 4F4F sbci r20,hlo8(-(511)) 7379 3ef2 5F4F sbci r21,hhi8(-(511)) 7380 .L598: 7381 3ef4 E9E0 ldi r30,9 7382 3ef6 5595 1: asr r21 7383 3ef8 4795 ror r20 7384 3efa 3795 ror r19 7385 3efc 2795 ror r18 7386 3efe EA95 dec r30 7387 3f00 01F4 brne 1b 7388 3f02 8091 0000 lds r24,cnt.14 7389 3f06 9091 0000 lds r25,(cnt.14)+1 7390 3f0a 820F add r24,r18 7391 3f0c 931F adc r25,r19 7392 3f0e 9093 0000 sts (cnt.14)+1,r25 7393 3f12 8093 0000 sts cnt.14,r24 7394 3f16 D701 movw r26,r14 7395 3f18 C601 movw r24,r12 7396 3f1a F7FE sbrs r15,7 7397 3f1c 00C0 rjmp .L599 7398 3f1e 0796 adiw r24,7 7399 3f20 A11D adc r26,__zero_reg__ 7400 3f22 B11D adc r27,__zero_reg__ 7401 .L599: 7402 3f24 73E0 ldi r23,3 7403 3f26 B595 1: asr r27 7404 3f28 A795 ror r26 7405 3f2a 9795 ror r25 7406 3f2c 8795 ror r24 7407 3f2e 7A95 dec r23 7408 3f30 01F4 brne 1b 7409 3f32 8093 0000 sts ausgleichRoll.11,r24 7410 3f36 9093 0000 sts (ausgleichRoll.11)+1,r25 7411 3f3a A093 0000 sts (ausgleichRoll.11)+2,r26 7412 3f3e B093 0000 sts (ausgleichRoll.11)+3,r27 7413 3f42 8857 subi r24,lo8(-5000) 7414 3f44 9C4E sbci r25,hi8(-5000) 7415 3f46 AF4F sbci r26,hlo8(-5000) 7416 3f48 BF4F sbci r27,hhi8(-5000) 7417 3f4a 04F4 brge .L600 7418 3f4c 88E7 ldi r24,lo8(-5000) 7419 3f4e 9CEE ldi r25,hi8(-5000) 7420 3f50 AFEF ldi r26,hlo8(-5000) 7421 3f52 BFEF ldi r27,hhi8(-5000) 7422 3f54 8093 0000 sts ausgleichRoll.11,r24 7423 3f58 9093 0000 sts (ausgleichRoll.11)+1,r25 7424 3f5c A093 0000 sts (ausgleichRoll.11)+2,r26 7425 3f60 B093 0000 sts (ausgleichRoll.11)+3,r27 7426 .L600: 7427 3f64 2091 0000 lds r18,ausgleichRoll.11 7428 3f68 3091 0000 lds r19,(ausgleichRoll.11)+1 7429 3f6c 4091 0000 lds r20,(ausgleichRoll.11)+2 7430 3f70 5091 0000 lds r21,(ausgleichRoll.11)+3 7431 3f74 57FF sbrs r21,7 7432 3f76 00C0 rjmp .L601 7433 3f78 2150 subi r18,lo8(-(255)) 7434 3f7a 3F4F sbci r19,hi8(-(255)) 7435 3f7c 4F4F sbci r20,hlo8(-(255)) 7436 3f7e 5F4F sbci r21,hhi8(-(255)) 7437 .L601: 7438 3f80 232F mov r18,r19 7439 3f82 342F mov r19,r20 7440 3f84 452F mov r20,r21 7441 3f86 5527 clr r21 7442 3f88 47FD sbrc r20,7 7443 3f8a 5A95 dec r21 7444 3f8c 8091 0000 lds r24,LageKorrekturRoll 7445 3f90 9091 0000 lds r25,(LageKorrekturRoll)+1 7446 3f94 820F add r24,r18 7447 3f96 931F adc r25,r19 7448 3f98 9093 0000 sts (LageKorrekturRoll)+1,r25 7449 3f9c 8093 0000 sts LageKorrekturRoll,r24 7450 3fa0 00C0 rjmp .L604 7451 .L596: 7452 3fa2 81E0 ldi r24,lo8(1) 7453 3fa4 8093 0000 sts last_r_n.18,r24 7454 3fa8 00C0 rjmp .L604 7455 .L595: 7456 3faa 1092 0000 sts last_r_n.18,__zero_reg__ 7457 3fae 00C0 rjmp .L604 7458 .L584: 7459 3fb0 1092 0000 sts (cnt.14)+1,__zero_reg__ 7460 3fb4 1092 0000 sts cnt.14,__zero_reg__ 7461 3fb8 84E6 ldi r24,lo8(100) 7462 3fba 90E0 ldi r25,hi8(100) 7463 3fbc 9093 0000 sts (KompassSignalSchlecht)+1,r25 7464 3fc0 8093 0000 sts KompassSignalSchlecht,r24 7465 .L604: 7466 3fc4 4889 ldd r20,Y+16 7467 3fc6 242F mov r18,r20 7468 3fc8 3327 clr r19 7469 3fca 8091 0000 lds r24,cnt.14 7470 3fce 9091 0000 lds r25,(cnt.14)+1 7471 3fd2 2817 cp r18,r24 7472 3fd4 3907 cpc r19,r25 7473 3fd6 04F4 brge .L605 7474 3fd8 3093 0000 sts (cnt.14)+1,r19 7475 3fdc 2093 0000 sts cnt.14,r18 7476 .L605: 7477 3fe0 8091 0000 lds r24,FromNaviCtrl_Value+1 7478 3fe4 8823 tst r24 7479 3fe6 01F0 breq .L606 7480 3fe8 282F mov r18,r24 7481 3fea 3327 clr r19 7482 3fec 27FD sbrc r18,7 7483 3fee 3095 com r19 7484 3ff0 8091 0000 lds r24,cnt.14 7485 3ff4 9091 0000 lds r25,(cnt.14)+1 7486 3ff8 2817 cp r18,r24 7487 3ffa 3907 cpc r19,r25 7488 3ffc 04F4 brge .L606 7489 3ffe 3093 0000 sts (cnt.14)+1,r19 7490 4002 2093 0000 sts cnt.14,r18 7491 .L606: 7492 4006 4091 0000 lds r20,IntegralFehlerRoll.4 7493 400a 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 7494 400e 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 7495 4012 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 7496 4016 4138 cpi r20,lo8(129) 7497 4018 5105 cpc r21,__zero_reg__ 7498 401a 6105 cpc r22,__zero_reg__ 7499 401c 7105 cpc r23,__zero_reg__ 7500 401e 04F0 brlt .L608 7501 4020 8091 0000 lds r24,AdNeutralRoll 7502 4024 9091 0000 lds r25,(AdNeutralRoll)+1 7503 4028 2091 0000 lds r18,cnt.14 7504 402c 3091 0000 lds r19,(cnt.14)+1 7505 4030 820F add r24,r18 7506 4032 931F adc r25,r19 7507 4034 9093 0000 sts (AdNeutralRoll)+1,r25 7508 4038 8093 0000 sts AdNeutralRoll,r24 7509 .L608: 7510 403c 4058 subi r20,lo8(-128) 7511 403e 5F4F sbci r21,hi8(-128) 7512 4040 6F4F sbci r22,hlo8(-128) 7513 4042 7F4F sbci r23,hhi8(-128) 7514 4044 04F4 brge .L610 7515 4046 8091 0000 lds r24,AdNeutralRoll 7516 404a 9091 0000 lds r25,(AdNeutralRoll)+1 7517 404e 2091 0000 lds r18,cnt.14 7518 4052 3091 0000 lds r19,(cnt.14)+1 7519 4056 821B sub r24,r18 7520 4058 930B sbc r25,r19 7521 405a 9093 0000 sts (AdNeutralRoll)+1,r25 7522 405e 8093 0000 sts AdNeutralRoll,r24 7523 4062 00C0 rjmp .L610 7524 .L536: 7525 4064 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7526 4068 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7527 406c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7528 4070 1092 0000 sts LageKorrekturNick,__zero_reg__ 7529 4074 1092 0000 sts TrichterFlug,__zero_reg__ 7530 .L610: 7531 4078 8091 0000 lds r24,IntegralFaktor 7532 407c 8823 tst r24 7533 407e 01F4 brne .L611 7534 4080 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ 7535 4084 1092 0000 sts LageKorrekturRoll,__zero_reg__ 7536 4088 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ 7537 408c 1092 0000 sts LageKorrekturNick,__zero_reg__ 7538 .L611: 7539 4090 8091 0000 lds r24,MittelIntegralNick 7540 4094 9091 0000 lds r25,(MittelIntegralNick)+1 7541 4098 A091 0000 lds r26,(MittelIntegralNick)+2 7542 409c B091 0000 lds r27,(MittelIntegralNick)+3 7543 40a0 8093 0000 sts MittelIntegralNick_Alt.19,r24 7544 40a4 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 7545 40a8 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 7546 40ac B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 7547 40b0 8091 0000 lds r24,MittelIntegralRoll 7548 40b4 9091 0000 lds r25,(MittelIntegralRoll)+1 7549 40b8 A091 0000 lds r26,(MittelIntegralRoll)+2 7550 40bc B091 0000 lds r27,(MittelIntegralRoll)+3 7551 40c0 8093 0000 sts MittelIntegralRoll_Alt.20,r24 7552 40c4 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 7553 40c8 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 7554 40cc B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 7555 40d0 1092 0000 sts IntegralAccNick,__zero_reg__ 7556 40d4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ 7557 40d8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ 7558 40dc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ 7559 40e0 1092 0000 sts IntegralAccRoll,__zero_reg__ 7560 40e4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ 7561 40e8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ 7562 40ec 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ 7563 40f0 1092 0000 sts IntegralAccZ,__zero_reg__ 7564 40f4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ 7565 40f8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ 7566 40fc 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ 7567 4100 1092 0000 sts MittelIntegralNick,__zero_reg__ 7568 4104 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ 7569 4108 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ 7570 410c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ 7571 4110 1092 0000 sts MittelIntegralRoll,__zero_reg__ 7572 4114 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ 7573 4118 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ 7574 411c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ 7575 4120 1092 0000 sts MittelIntegralNick2,__zero_reg__ 7576 4124 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ 7577 4128 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ 7578 412c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ 7579 4130 1092 0000 sts MittelIntegralRoll2,__zero_reg__ 7580 4134 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ 7581 4138 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ 7582 413c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ 7583 4140 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ 7584 4144 1092 0000 sts ZaehlMessungen,__zero_reg__ 7585 .L535: 7586 4148 E090 0000 lds r14,StickGier 7587 414c F090 0000 lds r15,(StickGier)+1 7588 4150 C701 movw r24,r14 7589 4152 F7FE sbrs r15,7 7590 4154 00C0 rjmp .L613 7591 4156 8827 clr r24 7592 4158 9927 clr r25 7593 415a 8E19 sub r24,r14 7594 415c 9F09 sbc r25,r15 7595 .L613: 7596 415e 0497 sbiw r24,4 7597 4160 04F0 brlt .L612 7598 4162 8091 0000 lds r24,Parameter_GlobalConfig 7599 4166 84FD sbrc r24,4 7600 4168 00C0 rjmp .L612 7601 416a 82E3 ldi r24,lo8(50) 7602 416c 8093 0000 sts NeueKompassRichtungMerken,r24 7603 .L612: 7604 4170 1091 0000 lds r17,EE_Parameter+25 7605 4174 A12E mov r10,r17 7606 4176 BB24 clr r11 7607 4178 CC24 clr r12 7608 417a DD24 clr r13 7609 417c B701 movw r22,r14 7610 417e 8827 clr r24 7611 4180 77FD sbrc r23,7 7612 4182 8095 com r24 7613 4184 982F mov r25,r24 7614 4186 9701 movw r18,r14 7615 4188 F7FE sbrs r15,7 7616 418a 00C0 rjmp .L615 7617 418c 2227 clr r18 7618 418e 3327 clr r19 7619 4190 2E19 sub r18,r14 7620 4192 3F09 sbc r19,r15 7621 .L615: 7622 4194 4427 clr r20 7623 4196 37FD sbrc r19,7 7624 4198 4095 com r20 7625 419a 542F mov r21,r20 7626 419c 0E94 0000 call __mulsi3 7627 41a0 9B01 movw r18,r22 7628 41a2 AC01 movw r20,r24 7629 41a4 C601 movw r24,r12 7630 41a6 B501 movw r22,r10 7631 41a8 0E94 0000 call __mulsi3 7632 41ac 97FF sbrs r25,7 7633 41ae 00C0 rjmp .L616 7634 41b0 6150 subi r22,lo8(-(511)) 7635 41b2 7E4F sbci r23,hi8(-(511)) 7636 41b4 8F4F sbci r24,hlo8(-(511)) 7637 41b6 9F4F sbci r25,hhi8(-(511)) 7638 .L616: 7639 41b8 59E0 ldi r21,9 7640 41ba 9595 1: asr r25 7641 41bc 8795 ror r24 7642 41be 7795 ror r23 7643 41c0 6795 ror r22 7644 41c2 5A95 dec r21 7645 41c4 01F4 brne 1b 7646 41c6 9B01 movw r18,r22 7647 41c8 812F mov r24,r17 7648 41ca 9927 clr r25 7649 41cc 8E9D mul r24,r14 7650 41ce D001 movw r26,r0 7651 41d0 8F9D mul r24,r15 7652 41d2 B00D add r27,r0 7653 41d4 9E9D mul r25,r14 7654 41d6 B00D add r27,r0 7655 41d8 1124 clr r1 7656 41da CD01 movw r24,r26 7657 41dc B7FD sbrc r27,7 7658 41de 0396 adiw r24,3 7659 .L617: 7660 41e0 9595 asr r25 7661 41e2 8795 ror r24 7662 41e4 9595 asr r25 7663 41e6 8795 ror r24 7664 41e8 280F add r18,r24 7665 41ea 391F adc r19,r25 7666 41ec 8091 0000 lds r24,CompassGierSetpoint 7667 41f0 9091 0000 lds r25,(CompassGierSetpoint)+1 7668 41f4 280F add r18,r24 7669 41f6 391F adc r19,r25 7670 41f8 4427 clr r20 7671 41fa 37FD sbrc r19,7 7672 41fc 4095 com r20 7673 41fe 542F mov r21,r20 7674 4200 2093 0000 sts sollGier.0,r18 7675 4204 3093 0000 sts (sollGier.0)+1,r19 7676 4208 4093 0000 sts (sollGier.0)+2,r20 7677 420c 5093 0000 sts (sollGier.0)+3,r21 7678 4210 8091 0000 lds r24,Mess_Integral_Gier 7679 4214 9091 0000 lds r25,(Mess_Integral_Gier)+1 7680 4218 A091 0000 lds r26,(Mess_Integral_Gier)+2 7681 421c B091 0000 lds r27,(Mess_Integral_Gier)+3 7682 4220 821B sub r24,r18 7683 4222 930B sbc r25,r19 7684 4224 A40B sbc r26,r20 7685 4226 B50B sbc r27,r21 7686 4228 8093 0000 sts Mess_Integral_Gier,r24 7687 422c 9093 0000 sts (Mess_Integral_Gier)+1,r25 7688 4230 A093 0000 sts (Mess_Integral_Gier)+2,r26 7689 4234 B093 0000 sts (Mess_Integral_Gier)+3,r27 7690 4238 8155 subi r24,lo8(50001) 7691 423a 934C sbci r25,hi8(50001) 7692 423c A040 sbci r26,hlo8(50001) 7693 423e B040 sbci r27,hhi8(50001) 7694 4240 04F0 brlt .L618 7695 4242 80E5 ldi r24,lo8(50000) 7696 4244 93EC ldi r25,hi8(50000) 7697 4246 A0E0 ldi r26,hlo8(50000) 7698 4248 B0E0 ldi r27,hhi8(50000) 7699 424a 8093 0000 sts Mess_Integral_Gier,r24 7700 424e 9093 0000 sts (Mess_Integral_Gier)+1,r25 7701 4252 A093 0000 sts (Mess_Integral_Gier)+2,r26 7702 4256 B093 0000 sts (Mess_Integral_Gier)+3,r27 7703 .L618: 7704 425a 8091 0000 lds r24,Mess_Integral_Gier 7705 425e 9091 0000 lds r25,(Mess_Integral_Gier)+1 7706 4262 A091 0000 lds r26,(Mess_Integral_Gier)+2 7707 4266 B091 0000 lds r27,(Mess_Integral_Gier)+3 7708 426a 805B subi r24,lo8(-50000) 7709 426c 9C43 sbci r25,hi8(-50000) 7710 426e AF4F sbci r26,hlo8(-50000) 7711 4270 BF4F sbci r27,hhi8(-50000) 7712 4272 04F4 brge .L619 7713 4274 80EB ldi r24,lo8(-50000) 7714 4276 9CE3 ldi r25,hi8(-50000) 7715 4278 AFEF ldi r26,hlo8(-50000) 7716 427a BFEF ldi r27,hhi8(-50000) 7717 427c 8093 0000 sts Mess_Integral_Gier,r24 7718 4280 9093 0000 sts (Mess_Integral_Gier)+1,r25 7719 4284 A093 0000 sts (Mess_Integral_Gier)+2,r26 7720 4288 B093 0000 sts (Mess_Integral_Gier)+3,r27 7721 .L619: 7722 428c 0091 0000 lds r16,KompassValue 7723 4290 1091 0000 lds r17,(KompassValue)+1 7724 4294 17FD sbrc r17,7 7725 4296 00C0 rjmp .L620 7726 4298 8091 0000 lds r24,Parameter_GlobalConfig 7727 429c 83FF sbrs r24,3 7728 429e 00C0 rjmp .L620 7729 42a0 8091 0000 lds r24,CalculateCompassTimer 7730 42a4 8150 subi r24,lo8(-(-1)) 7731 42a6 8093 0000 sts CalculateCompassTimer,r24 7732 42aa 8823 tst r24 7733 42ac 01F0 breq .+2 7734 42ae 00C0 rjmp .L637 7735 42b0 8DE0 ldi r24,lo8(13) 7736 42b2 8093 0000 sts CalculateCompassTimer,r24 7737 42b6 8091 0000 lds r24,IntegralNick 7738 42ba 9091 0000 lds r25,(IntegralNick)+1 7739 42be A091 0000 lds r26,(IntegralNick)+2 7740 42c2 B091 0000 lds r27,(IntegralNick)+3 7741 42c6 B7FF sbrs r27,7 7742 42c8 00C0 rjmp .L622 7743 42ca 8150 subi r24,lo8(-(511)) 7744 42cc 9E4F sbci r25,hi8(-(511)) 7745 42ce AF4F sbci r26,hlo8(-(511)) 7746 42d0 BF4F sbci r27,hhi8(-(511)) 7747 .L622: 7748 42d2 39E0 ldi r19,9 7749 42d4 B595 1: asr r27 7750 42d6 A795 ror r26 7751 42d8 9795 ror r25 7752 42da 8795 ror r24 7753 42dc 3A95 dec r19 7754 42de 01F4 brne 1b 7755 42e0 7C01 movw r14,r24 7756 42e2 97FF sbrs r25,7 7757 42e4 00C0 rjmp .L623 7758 42e6 F094 com r15 7759 42e8 E194 neg r14 7760 42ea F108 sbc r15,__zero_reg__ 7761 42ec F394 inc r15 7762 .L623: 7763 42ee 8091 0000 lds r24,IntegralRoll 7764 42f2 9091 0000 lds r25,(IntegralRoll)+1 7765 42f6 A091 0000 lds r26,(IntegralRoll)+2 7766 42fa B091 0000 lds r27,(IntegralRoll)+3 7767 42fe B7FF sbrs r27,7 7768 4300 00C0 rjmp .L624 7769 4302 8150 subi r24,lo8(-(511)) 7770 4304 9E4F sbci r25,hi8(-(511)) 7771 4306 AF4F sbci r26,hlo8(-(511)) 7772 4308 BF4F sbci r27,hhi8(-(511)) 7773 .L624: 7774 430a 29E0 ldi r18,9 7775 430c B595 1: asr r27 7776 430e A795 ror r26 7777 4310 9795 ror r25 7778 4312 8795 ror r24 7779 4314 2A95 dec r18 7780 4316 01F4 brne 1b 7781 4318 9C01 movw r18,r24 7782 431a 97FF sbrs r25,7 7783 431c 00C0 rjmp .L625 7784 431e 3095 com r19 7785 4320 2195 neg r18 7786 4322 3F4F sbci r19,lo8(-1) 7787 .L625: 7788 4324 E216 cp r14,r18 7789 4326 F306 cpc r15,r19 7790 4328 04F4 brge .L626 7791 432a 7901 movw r14,r18 7792 .L626: 7793 432c B701 movw r22,r14 7794 432e F7FE sbrs r15,7 7795 4330 00C0 rjmp .L627 7796 4332 695F subi r22,lo8(-(7)) 7797 4334 7F4F sbci r23,hi8(-(7)) 7798 .L627: 7799 4336 2B01 movw r4,r22 7800 4338 A3E0 ldi r26,3 7801 433a 5594 1: asr r5 7802 433c 4794 ror r4 7803 433e AA95 dec r26 7804 4340 01F4 brne 1b 7805 4342 22E0 ldi r18,lo8(2) 7806 4344 30E0 ldi r19,hi8(2) 7807 4346 420E add r4,r18 7808 4348 531E adc r5,r19 7809 434a 6090 0000 lds r6,ErsatzKompass 7810 434e 7090 0000 lds r7,(ErsatzKompass)+1 7811 4352 8090 0000 lds r8,(ErsatzKompass)+2 7812 4356 9090 0000 lds r9,(ErsatzKompass)+3 7813 435a 2091 0000 lds r18,GIER_GRAD_FAKTOR 7814 435e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 7815 4362 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 7816 4366 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 7817 436a C401 movw r24,r8 7818 436c B301 movw r22,r6 7819 436e 0E94 0000 call __divmodsi4 7820 4372 5901 movw r10,r18 7821 4374 6A01 movw r12,r20 7822 4376 3093 0000 sts (ErsatzKompassInGrad)+1,r19 7823 437a 2093 0000 sts ErsatzKompassInGrad,r18 7824 437e 021B sub r16,r18 7825 4380 130B sbc r17,r19 7826 4382 C801 movw r24,r16 7827 4384 845E subi r24,lo8(-(540)) 7828 4386 9D4F sbci r25,hi8(-(540)) 7829 4388 68E6 ldi r22,lo8(360) 7830 438a 71E0 ldi r23,hi8(360) 7831 438c 0E94 0000 call __divmodhi4 7832 4390 9C01 movw r18,r24 7833 4392 245B subi r18,lo8(-(-180)) 7834 4394 3040 sbci r19,hi8(-(-180)) 7835 4396 8091 0000 lds r24,KompassSignalSchlecht 7836 439a 9091 0000 lds r25,(KompassSignalSchlecht)+1 7837 439e 0097 sbiw r24,0 7838 43a0 01F0 breq .L628 7839 43a2 0197 sbiw r24,1 7840 43a4 9093 0000 sts (KompassSignalSchlecht)+1,r25 7841 43a8 8093 0000 sts KompassSignalSchlecht,r24 7842 43ac 00C0 rjmp .L629 7843 .L628: 7844 43ae 49E1 ldi r20,lo8(25) 7845 43b0 E416 cp r14,r20 7846 43b2 F104 cpc r15,__zero_reg__ 7847 43b4 04F4 brge .L629 7848 43b6 8091 0000 lds r24,GierGyroFehler 7849 43ba 9091 0000 lds r25,(GierGyroFehler)+1 7850 43be 820F add r24,r18 7851 43c0 931F adc r25,r19 7852 43c2 9093 0000 sts (GierGyroFehler)+1,r25 7853 43c6 8093 0000 sts GierGyroFehler,r24 7854 43ca 8091 0000 lds r24,NeueKompassRichtungMerken 7855 43ce 8823 tst r24 7856 43d0 01F0 breq .L629 7857 43d2 8150 subi r24,lo8(-(-1)) 7858 43d4 8093 0000 sts NeueKompassRichtungMerken,r24 7859 43d8 8823 tst r24 7860 43da 01F4 brne .L629 7861 43dc B092 0000 sts (KompassSollWert)+1,r11 7862 43e0 A092 0000 sts KompassSollWert,r10 7863 .L629: 7864 43e4 8091 0000 lds r24,KompassSignalSchlecht 7865 43e8 9091 0000 lds r25,(KompassSignalSchlecht)+1 7866 43ec 892B or r24,r25 7867 43ee 01F4 brne .L633 7868 43f0 8091 0000 lds r24,KompassFusion 7869 43f4 9927 clr r25 7870 43f6 289F mul r18,r24 7871 43f8 B001 movw r22,r0 7872 43fa 299F mul r18,r25 7873 43fc 700D add r23,r0 7874 43fe 389F mul r19,r24 7875 4400 700D add r23,r0 7876 4402 1124 clr r1 7877 4404 CB01 movw r24,r22 7878 4406 B201 movw r22,r4 7879 4408 0E94 0000 call __divmodhi4 7880 440c CB01 movw r24,r22 7881 440e AA27 clr r26 7882 4410 97FD sbrc r25,7 7883 4412 A095 com r26 7884 4414 BA2F mov r27,r26 7885 4416 680E add r6,r24 7886 4418 791E adc r7,r25 7887 441a 8A1E adc r8,r26 7888 441c 9B1E adc r9,r27 7889 441e 6092 0000 sts ErsatzKompass,r6 7890 4422 7092 0000 sts (ErsatzKompass)+1,r7 7891 4426 8092 0000 sts (ErsatzKompass)+2,r8 7892 442a 9092 0000 sts (ErsatzKompass)+3,r9 7893 .L633: 7894 442e 8091 0000 lds r24,NeueKompassRichtungMerken 7895 4432 8823 tst r24 7896 4434 01F4 brne .L620 7897 4436 8091 0000 lds r24,KompassSollWert 7898 443a 9091 0000 lds r25,(KompassSollWert)+1 7899 443e 2091 0000 lds r18,ErsatzKompassInGrad 7900 4442 3091 0000 lds r19,(ErsatzKompassInGrad)+1 7901 4446 821B sub r24,r18 7902 4448 930B sbc r25,r19 7903 444a 845E subi r24,lo8(-(540)) 7904 444c 9D4F sbci r25,hi8(-(540)) 7905 444e 68E6 ldi r22,lo8(360) 7906 4450 71E0 ldi r23,hi8(360) 7907 4452 0E94 0000 call __divmodhi4 7908 4456 9C01 movw r18,r24 7909 4458 245B subi r18,lo8(-(-180)) 7910 445a 3040 sbci r19,hi8(-(-180)) 7911 445c 8091 0000 lds r24,Parameter_KompassWirkung 7912 4460 8695 lsr r24 7913 4462 9927 clr r25 7914 4464 289F mul r18,r24 7915 4466 D001 movw r26,r0 7916 4468 299F mul r18,r25 7917 446a B00D add r27,r0 7918 446c 389F mul r19,r24 7919 446e B00D add r27,r0 7920 4470 1124 clr r1 7921 4472 9D01 movw r18,r26 7922 4474 B7FF sbrs r27,7 7923 4476 00C0 rjmp .L635 7924 4478 215F subi r18,lo8(-(15)) 7925 447a 3F4F sbci r19,hi8(-(15)) 7926 .L635: 7927 447c F4E0 ldi r31,4 7928 447e 3595 1: asr r19 7929 4480 2795 ror r18 7930 4482 FA95 dec r31 7931 4484 01F4 brne 1b 7932 4486 3093 0000 sts (CompassGierSetpoint)+1,r19 7933 448a 2093 0000 sts CompassGierSetpoint,r18 7934 448e 00C0 rjmp .L637 7935 .L620: 7936 4490 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ 7937 4494 1092 0000 sts CompassGierSetpoint,__zero_reg__ 7938 .L637: 7939 4498 8091 0000 lds r24,TrichterFlug 7940 449c 8823 tst r24 7941 449e 01F0 breq .L638 7942 44a0 1092 0000 sts SummeRoll,__zero_reg__ 7943 44a4 1092 0000 sts (SummeRoll)+1,__zero_reg__ 7944 44a8 1092 0000 sts (SummeRoll)+2,__zero_reg__ 7945 44ac 1092 0000 sts (SummeRoll)+3,__zero_reg__ 7946 44b0 1092 0000 sts SummeNick,__zero_reg__ 7947 44b4 1092 0000 sts (SummeNick)+1,__zero_reg__ 7948 44b8 1092 0000 sts (SummeNick)+2,__zero_reg__ 7949 44bc 1092 0000 sts (SummeNick)+3,__zero_reg__ 7950 .L638: 7951 44c0 F090 0000 lds r15,Looping_Nick 7952 44c4 FF20 tst r15 7953 44c6 01F4 brne .L639 7954 44c8 8091 0000 lds r24,IntegralFaktor 7955 44cc 282F mov r18,r24 7956 44ce 3327 clr r19 7957 44d0 4427 clr r20 7958 44d2 5527 clr r21 7959 44d4 8091 0000 lds r24,IntegralNick 7960 44d8 9091 0000 lds r25,(IntegralNick)+1 7961 44dc A091 0000 lds r26,(IntegralNick)+2 7962 44e0 B091 0000 lds r27,(IntegralNick)+3 7963 44e4 BC01 movw r22,r24 7964 44e6 CD01 movw r24,r26 7965 44e8 0E94 0000 call __mulsi3 7966 44ec DC01 movw r26,r24 7967 44ee CB01 movw r24,r22 7968 44f0 BC01 movw r22,r24 7969 44f2 CD01 movw r24,r26 7970 44f4 28EF ldi r18,lo8(11000) 7971 44f6 3AE2 ldi r19,hi8(11000) 7972 44f8 40E0 ldi r20,hlo8(11000) 7973 44fa 50E0 ldi r21,hhi8(11000) 7974 44fc 0E94 0000 call __divmodsi4 7975 4500 3901 movw r6,r18 7976 4502 00C0 rjmp .L640 7977 .L639: 7978 4504 6624 clr r6 7979 4506 7724 clr r7 7980 .L640: 7981 4508 E090 0000 lds r14,Looping_Roll 7982 450c EE20 tst r14 7983 450e 01F4 brne .L641 7984 4510 8091 0000 lds r24,IntegralFaktor 7985 4514 282F mov r18,r24 7986 4516 3327 clr r19 7987 4518 4427 clr r20 7988 451a 5527 clr r21 7989 451c 8091 0000 lds r24,IntegralRoll 7990 4520 9091 0000 lds r25,(IntegralRoll)+1 7991 4524 A091 0000 lds r26,(IntegralRoll)+2 7992 4528 B091 0000 lds r27,(IntegralRoll)+3 7993 452c BC01 movw r22,r24 7994 452e CD01 movw r24,r26 7995 4530 0E94 0000 call __mulsi3 7996 4534 DC01 movw r26,r24 7997 4536 CB01 movw r24,r22 7998 4538 BC01 movw r22,r24 7999 453a CD01 movw r24,r26 8000 453c 28EF ldi r18,lo8(11000) 8001 453e 3AE2 ldi r19,hi8(11000) 8002 4540 40E0 ldi r20,hlo8(11000) 8003 4542 50E0 ldi r21,hhi8(11000) 8004 4544 0E94 0000 call __divmodsi4 8005 4548 2901 movw r4,r18 8006 454a 00C0 rjmp .L642 8007 .L641: 8008 454c 4424 clr r4 8009 454e 5524 clr r5 8010 .L642: 8011 4550 8091 0000 lds r24,TrimNick 8012 4554 9091 0000 lds r25,(TrimNick)+1 8013 4558 893C cpi r24,201 8014 455a 9105 cpc r25,__zero_reg__ 8015 455c 04F0 brlt .L643 8016 455e 88EC ldi r24,lo8(200) 8017 4560 90E0 ldi r25,hi8(200) 8018 4562 00C0 rjmp .L900 8019 .L643: 8020 4564 8853 subi r24,lo8(-200) 8021 4566 9F4F sbci r25,hi8(-200) 8022 4568 04F4 brge .L644 8023 456a 88E3 ldi r24,lo8(-200) 8024 456c 9FEF ldi r25,hi8(-200) 8025 .L900: 8026 456e 9093 0000 sts (TrimNick)+1,r25 8027 4572 8093 0000 sts TrimNick,r24 8028 .L644: 8029 4576 8091 0000 lds r24,TrimRoll 8030 457a 9091 0000 lds r25,(TrimRoll)+1 8031 457e 893C cpi r24,201 8032 4580 9105 cpc r25,__zero_reg__ 8033 4582 04F0 brlt .L646 8034 4584 88EC ldi r24,lo8(200) 8035 4586 90E0 ldi r25,hi8(200) 8036 4588 00C0 rjmp .L901 8037 .L646: 8038 458a 8853 subi r24,lo8(-200) 8039 458c 9F4F sbci r25,hi8(-200) 8040 458e 04F4 brge .L647 8041 4590 88E3 ldi r24,lo8(-200) 8042 4592 9FEF ldi r25,hi8(-200) 8043 .L901: 8044 4594 9093 0000 sts (TrimRoll)+1,r25 8045 4598 8093 0000 sts TrimRoll,r24 8046 .L647: 8047 459c 8091 0000 lds r24,MesswertNick 8048 45a0 9091 0000 lds r25,(MesswertNick)+1 8049 45a4 AA27 clr r26 8050 45a6 97FD sbrc r25,7 8051 45a8 A095 com r26 8052 45aa BA2F mov r27,r26 8053 45ac 2091 0000 lds r18,GyroFaktor 8054 45b0 A22E mov r10,r18 8055 45b2 BB24 clr r11 8056 45b4 CC24 clr r12 8057 45b6 DD24 clr r13 8058 45b8 BC01 movw r22,r24 8059 45ba CD01 movw r24,r26 8060 45bc A601 movw r20,r12 8061 45be 9501 movw r18,r10 8062 45c0 0E94 0000 call __mulsi3 8063 45c4 9B01 movw r18,r22 8064 45c6 AC01 movw r20,r24 8065 45c8 8091 0000 lds r24,TrimNick 8066 45cc 9091 0000 lds r25,(TrimNick)+1 8067 45d0 AA27 clr r26 8068 45d2 97FD sbrc r25,7 8069 45d4 A095 com r26 8070 45d6 BA2F mov r27,r26 8071 45d8 E7E0 ldi r30,7 8072 45da 880F 1: lsl r24 8073 45dc 991F rol r25 8074 45de AA1F rol r26 8075 45e0 BB1F rol r27 8076 45e2 EA95 dec r30 8077 45e4 01F4 brne 1b 8078 45e6 280F add r18,r24 8079 45e8 391F adc r19,r25 8080 45ea 4A1F adc r20,r26 8081 45ec 5B1F adc r21,r27 8082 45ee 57FF sbrs r21,7 8083 45f0 00C0 rjmp .L649 8084 45f2 215C subi r18,lo8(-(63)) 8085 45f4 3F4F sbci r19,hi8(-(63)) 8086 45f6 4F4F sbci r20,hlo8(-(63)) 8087 45f8 5F4F sbci r21,hhi8(-(63)) 8088 .L649: 8089 45fa 76E0 ldi r23,6 8090 45fc 5595 1: asr r21 8091 45fe 4795 ror r20 8092 4600 3795 ror r19 8093 4602 2795 ror r18 8094 4604 7A95 dec r23 8095 4606 01F4 brne 1b 8096 4608 8301 movw r16,r6 8097 460a 020F add r16,r18 8098 460c 131F adc r17,r19 8099 460e 1093 0000 sts (MesswertNick)+1,r17 8100 4612 0093 0000 sts MesswertNick,r16 8101 4616 8091 0000 lds r24,MesswertRoll 8102 461a 9091 0000 lds r25,(MesswertRoll)+1 8103 461e AA27 clr r26 8104 4620 97FD sbrc r25,7 8105 4622 A095 com r26 8106 4624 BA2F mov r27,r26 8107 4626 BC01 movw r22,r24 8108 4628 CD01 movw r24,r26 8109 462a A601 movw r20,r12 8110 462c 9501 movw r18,r10 8111 462e 0E94 0000 call __mulsi3 8112 4632 9B01 movw r18,r22 8113 4634 AC01 movw r20,r24 8114 4636 8091 0000 lds r24,TrimRoll 8115 463a 9091 0000 lds r25,(TrimRoll)+1 8116 463e AA27 clr r26 8117 4640 97FD sbrc r25,7 8118 4642 A095 com r26 8119 4644 BA2F mov r27,r26 8120 4646 67E0 ldi r22,7 8121 4648 880F 1: lsl r24 8122 464a 991F rol r25 8123 464c AA1F rol r26 8124 464e BB1F rol r27 8125 4650 6A95 dec r22 8126 4652 01F4 brne 1b 8127 4654 280F add r18,r24 8128 4656 391F adc r19,r25 8129 4658 4A1F adc r20,r26 8130 465a 5B1F adc r21,r27 8131 465c 57FF sbrs r21,7 8132 465e 00C0 rjmp .L650 8133 4660 215C subi r18,lo8(-(63)) 8134 4662 3F4F sbci r19,hi8(-(63)) 8135 4664 4F4F sbci r20,hlo8(-(63)) 8136 4666 5F4F sbci r21,hhi8(-(63)) 8137 .L650: 8138 4668 F6E0 ldi r31,6 8139 466a 5595 1: asr r21 8140 466c 4795 ror r20 8141 466e 3795 ror r19 8142 4670 2795 ror r18 8143 4672 FA95 dec r31 8144 4674 01F4 brne 1b 8145 4676 4201 movw r8,r4 8146 4678 820E add r8,r18 8147 467a 931E adc r9,r19 8148 467c 9092 0000 sts (MesswertRoll)+1,r9 8149 4680 8092 0000 sts MesswertRoll,r8 8150 4684 8091 0000 lds r24,MesswertGier 8151 4688 9091 0000 lds r25,(MesswertGier)+1 8152 468c 880F add r24,r24 8153 468e 991F adc r25,r25 8154 4690 AA27 clr r26 8155 4692 97FD sbrc r25,7 8156 4694 A095 com r26 8157 4696 BA2F mov r27,r26 8158 4698 2091 0000 lds r18,GyroFaktorGier 8159 469c 3327 clr r19 8160 469e 4427 clr r20 8161 46a0 5527 clr r21 8162 46a2 BC01 movw r22,r24 8163 46a4 CD01 movw r24,r26 8164 46a6 0E94 0000 call __mulsi3 8165 46aa 5B01 movw r10,r22 8166 46ac 6C01 movw r12,r24 8167 46ae 97FF sbrs r25,7 8168 46b0 00C0 rjmp .L651 8169 46b2 2FE3 ldi r18,lo8(63) 8170 46b4 30E0 ldi r19,hi8(63) 8171 46b6 40E0 ldi r20,hlo8(63) 8172 46b8 50E0 ldi r21,hhi8(63) 8173 46ba A20E add r10,r18 8174 46bc B31E adc r11,r19 8175 46be C41E adc r12,r20 8176 46c0 D51E adc r13,r21 8177 .L651: 8178 46c2 E6E0 ldi r30,6 8179 46c4 D594 1: asr r13 8180 46c6 C794 ror r12 8181 46c8 B794 ror r11 8182 46ca A794 ror r10 8183 46cc EA95 dec r30 8184 46ce 01F4 brne 1b 8185 46d0 8091 0000 lds r24,IntegralFaktorGier 8186 46d4 282F mov r18,r24 8187 46d6 3327 clr r19 8188 46d8 4427 clr r20 8189 46da 5527 clr r21 8190 46dc 8091 0000 lds r24,Integral_Gier 8191 46e0 9091 0000 lds r25,(Integral_Gier)+1 8192 46e4 A091 0000 lds r26,(Integral_Gier)+2 8193 46e8 B091 0000 lds r27,(Integral_Gier)+3 8194 46ec BC01 movw r22,r24 8195 46ee CD01 movw r24,r26 8196 46f0 0E94 0000 call __mulsi3 8197 46f4 DC01 movw r26,r24 8198 46f6 CB01 movw r24,r22 8199 46f8 BC01 movw r22,r24 8200 46fa CD01 movw r24,r26 8201 46fc 20EF ldi r18,lo8(22000) 8202 46fe 35E5 ldi r19,hi8(22000) 8203 4700 40E0 ldi r20,hlo8(22000) 8204 4702 50E0 ldi r21,hhi8(22000) 8205 4704 0E94 0000 call __divmodsi4 8206 4708 B501 movw r22,r10 8207 470a 620F add r22,r18 8208 470c 731F adc r23,r19 8209 470e 7093 0000 sts (MesswertGier)+1,r23 8210 4712 6093 0000 sts MesswertGier,r22 8211 4716 0150 subi r16,lo8(4097) 8212 4718 1041 sbci r17,hi8(4097) 8213 471a 04F0 brlt .L652 8214 471c 80E0 ldi r24,lo8(4096) 8215 471e 90E1 ldi r25,hi8(4096) 8216 4720 9093 0000 sts (MesswertNick)+1,r25 8217 4724 8093 0000 sts MesswertNick,r24 8218 .L652: 8219 4728 8091 0000 lds r24,MesswertNick 8220 472c 9091 0000 lds r25,(MesswertNick)+1 8221 4730 8050 subi r24,lo8(-4096) 8222 4732 904F sbci r25,hi8(-4096) 8223 4734 04F4 brge .L653 8224 4736 80E0 ldi r24,lo8(-4096) 8225 4738 90EF ldi r25,hi8(-4096) 8226 473a 9093 0000 sts (MesswertNick)+1,r25 8227 473e 8093 0000 sts MesswertNick,r24 8228 .L653: 8229 4742 51E0 ldi r21,lo8(4097) 8230 4744 8516 cp r8,r21 8231 4746 50E1 ldi r21,hi8(4097) 8232 4748 9506 cpc r9,r21 8233 474a 04F0 brlt .L654 8234 474c 80E0 ldi r24,lo8(4096) 8235 474e 90E1 ldi r25,hi8(4096) 8236 4750 9093 0000 sts (MesswertRoll)+1,r25 8237 4754 8093 0000 sts MesswertRoll,r24 8238 .L654: 8239 4758 8091 0000 lds r24,MesswertRoll 8240 475c 9091 0000 lds r25,(MesswertRoll)+1 8241 4760 8050 subi r24,lo8(-4096) 8242 4762 904F sbci r25,hi8(-4096) 8243 4764 04F4 brge .L655 8244 4766 80E0 ldi r24,lo8(-4096) 8245 4768 90EF ldi r25,hi8(-4096) 8246 476a 9093 0000 sts (MesswertRoll)+1,r25 8247 476e 8093 0000 sts MesswertRoll,r24 8248 .L655: 8249 4772 6150 subi r22,lo8(4097) 8250 4774 7041 sbci r23,hi8(4097) 8251 4776 04F0 brlt .L656 8252 4778 80E0 ldi r24,lo8(4096) 8253 477a 90E1 ldi r25,hi8(4096) 8254 477c 9093 0000 sts (MesswertGier)+1,r25 8255 4780 8093 0000 sts MesswertGier,r24 8256 .L656: 8257 4784 8091 0000 lds r24,MesswertGier 8258 4788 9091 0000 lds r25,(MesswertGier)+1 8259 478c 8050 subi r24,lo8(-4096) 8260 478e 904F sbci r25,hi8(-4096) 8261 4790 04F4 brge .L657 8262 4792 80E0 ldi r24,lo8(-4096) 8263 4794 90EF ldi r25,hi8(-4096) 8264 4796 9093 0000 sts (MesswertGier)+1,r25 8265 479a 8093 0000 sts MesswertGier,r24 8266 .L657: 8267 479e 8091 0000 lds r24,BattLowVoltageWarning 8268 47a2 482F mov r20,r24 8269 47a4 5527 clr r21 8270 47a6 8091 0000 lds r24,UBat 8271 47aa 9091 0000 lds r25,(UBat)+1 8272 47ae 4817 cp r20,r24 8273 47b0 5907 cpc r21,r25 8274 47b2 04F4 brge .L658 8275 47b4 2091 0000 lds r18,UBat 8276 47b8 3091 0000 lds r19,(UBat)+1 8277 47bc 0981 ldd r16,Y+1 8278 47be 1A81 ldd r17,Y+2 8279 47c0 049F mul r16,r20 8280 47c2 C001 movw r24,r0 8281 47c4 059F mul r16,r21 8282 47c6 900D add r25,r0 8283 47c8 149F mul r17,r20 8284 47ca 900D add r25,r0 8285 47cc 1124 clr r1 8286 47ce B901 movw r22,r18 8287 47d0 0E94 0000 call __udivmodhi4 8288 47d4 7A83 std Y+2,r23 8289 47d6 6983 std Y+1,r22 8290 .L658: 8291 47d8 2981 ldd r18,Y+1 8292 47da 3A81 ldd r19,Y+2 8293 47dc 220F lsl r18 8294 47de 331F rol r19 8295 47e0 220F lsl r18 8296 47e2 331F rol r19 8297 47e4 3A83 std Y+2,r19 8298 47e6 2983 std Y+1,r18 8299 47e8 4091 0000 lds r20,Parameter_GlobalConfig 8300 47ec 40FD sbrc r20,0 8301 47ee 00C0 rjmp .+4 8302 47f0 0C94 0000 jmp .L659 8303 47f4 EE20 tst r14 8304 47f6 01F0 breq .+4 8305 47f8 0C94 0000 jmp .L659 8306 47fc FF20 tst r15 8307 47fe 01F0 breq .+4 8308 4800 0C94 0000 jmp .L659 8309 4804 00E0 ldi r16,lo8(0) 8310 4806 10E0 ldi r17,hi8(0) 8311 4808 4801 movw r8,r16 8312 480a 8091 0000 lds r24,HoverGas 8313 480e 9091 0000 lds r25,(HoverGas)+1 8314 4812 9093 0000 sts (DebugOut+44)+1,r25 8315 4816 8093 0000 sts DebugOut+44,r24 8316 481a 2091 0000 lds r18,BaroExpandActive 8317 481e 3091 0000 lds r19,(BaroExpandActive)+1 8318 4822 2115 cp r18,__zero_reg__ 8319 4824 3105 cpc r19,__zero_reg__ 8320 4826 01F0 breq .+2 8321 4828 00C0 rjmp .L660 8322 482a 8091 0000 lds r24,MessLuftdruck 8323 482e 9091 0000 lds r25,(MessLuftdruck)+1 8324 4832 8959 subi r24,lo8(921) 8325 4834 9340 sbci r25,hi8(921) 8326 4836 00F0 brlo .L661 8327 4838 87B5 in r24,71-0x20 8328 483a 803F cpi r24,lo8(-16) 8329 483c 00F4 brsh .L662 8330 483e 8091 0000 lds r24,ExpandBaro 8331 4842 8150 subi r24,lo8(-(-1)) 8332 4844 00C0 rjmp .L902 8333 .L662: 8334 4846 81E0 ldi r24,lo8(1) 8335 4848 8093 0000 sts BaroAtLowerLimit.26,r24 8336 484c 00C0 rjmp .L669 8337 .L661: 8338 484e 8091 0000 lds r24,MessLuftdruck 8339 4852 9091 0000 lds r25,(MessLuftdruck)+1 8340 4856 8436 cpi r24,100 8341 4858 9105 cpc r25,__zero_reg__ 8342 485a 00F4 brsh .L665 8343 485c 87B5 in r24,71-0x20 8344 485e 8031 cpi r24,lo8(16) 8345 4860 00F0 brlo .L666 8346 4862 8091 0000 lds r24,ExpandBaro 8347 4866 8F5F subi r24,lo8(-(1)) 8348 .L902: 8349 4868 8093 0000 sts ExpandBaro,r24 8350 486c 9FE0 ldi r25,lo8(15) 8351 486e 8902 muls r24,r25 8352 4870 9001 movw r18,r0 8353 4872 1124 clr r1 8354 4874 8091 0000 lds r24,DruckOffsetSetting 8355 4878 821B sub r24,r18 8356 487a 87BD out 71-0x20,r24 8357 487c 8CE2 ldi r24,lo8(300) 8358 487e 91E0 ldi r25,hi8(300) 8359 4880 9093 0000 sts (beeptime)+1,r25 8360 4884 8093 0000 sts beeptime,r24 8361 4888 8EE5 ldi r24,lo8(350) 8362 488a 91E0 ldi r25,hi8(350) 8363 488c 9093 0000 sts (BaroExpandActive)+1,r25 8364 4890 8093 0000 sts BaroExpandActive,r24 8365 4894 00C0 rjmp .L669 8366 .L666: 8367 4896 81E0 ldi r24,lo8(1) 8368 4898 8093 0000 sts BaroAtUpperLimit.25,r24 8369 489c 00C0 rjmp .L669 8370 .L665: 8371 489e F092 0000 sts BaroAtUpperLimit.25,r15 8372 48a2 F092 0000 sts BaroAtLowerLimit.26,r15 8373 48a6 00C0 rjmp .L669 8374 .L660: 8375 48a8 8091 0000 lds r24,HoehenWert 8376 48ac 9091 0000 lds r25,(HoehenWert)+1 8377 48b0 A091 0000 lds r26,(HoehenWert)+2 8378 48b4 B091 0000 lds r27,(HoehenWert)+3 8379 48b8 64E0 ldi r22,4 8380 48ba 880F 1: lsl r24 8381 48bc 991F rol r25 8382 48be AA1F rol r26 8383 48c0 BB1F rol r27 8384 48c2 6A95 dec r22 8385 48c4 01F4 brne 1b 8386 48c6 8093 0000 sts SummenHoehe,r24 8387 48ca 9093 0000 sts (SummenHoehe)+1,r25 8388 48ce A093 0000 sts (SummenHoehe)+2,r26 8389 48d2 B093 0000 sts (SummenHoehe)+3,r27 8390 48d6 1093 0000 sts (VarioMeter)+1,r17 8391 48da 0093 0000 sts VarioMeter,r16 8392 48de 2150 subi r18,lo8(-(-1)) 8393 48e0 3040 sbci r19,hi8(-(-1)) 8394 48e2 3093 0000 sts (BaroExpandActive)+1,r19 8395 48e6 2093 0000 sts BaroExpandActive,r18 8396 .L669: 8397 48ea 2091 0000 lds r18,Parameter_HoehenSchalter 8398 48ee 41FF sbrs r20,1 8399 48f0 00C0 rjmp .L670 8400 48f2 2233 cpi r18,lo8(50) 8401 48f4 00F4 brsh .L671 8402 48f6 8091 0000 lds r24,delay.24 8403 48fa 8150 subi r24,lo8(-(-1)) 8404 48fc 8093 0000 sts delay.24,r24 8405 4900 8F3F cpi r24,lo8(-1) 8406 4902 01F0 breq .+2 8407 4904 00C0 rjmp .L677 8408 4906 8091 0000 lds r24,SpeakHoTT 8409 490a 8823 tst r24 8410 490c 01F4 brne .L673 8411 490e 8091 0000 lds r24,HoehenReglerAktiv 8412 4912 8823 tst r24 8413 4914 01F0 breq .L673 8414 4916 88E2 ldi r24,lo8(40) 8415 4918 8093 0000 sts SpeakHoTT,r24 8416 .L673: 8417 491c 1092 0000 sts HoehenReglerAktiv,__zero_reg__ 8418 4920 8091 0000 lds r24,HoehenWert 8419 4924 9091 0000 lds r25,(HoehenWert)+1 8420 4928 A091 0000 lds r26,(HoehenWert)+2 8421 492c B091 0000 lds r27,(HoehenWert)+3 8422 4930 8093 0000 sts SollHoehe,r24 8423 4934 9093 0000 sts (SollHoehe)+1,r25 8424 4938 A093 0000 sts (SollHoehe)+2,r26 8425 493c B093 0000 sts (SollHoehe)+3,r27 8426 4940 81E0 ldi r24,lo8(1) 8427 4942 8093 0000 sts delay.24,r24 8428 4946 00C0 rjmp .L677 8429 .L671: 8430 4948 2734 cpi r18,lo8(71) 8431 494a 00F0 brlo .L677 8432 494c 8091 0000 lds r24,SpeakHoTT 8433 4950 8823 tst r24 8434 4952 01F4 brne .L676 8435 4954 8091 0000 lds r24,HoehenReglerAktiv 8436 4958 8823 tst r24 8437 495a 01F4 brne .L676 8438 495c 87E2 ldi r24,lo8(39) 8439 495e 8093 0000 sts SpeakHoTT,r24 8440 .L676: 8441 4962 88EC ldi r24,lo8(-56) 8442 4964 8093 0000 sts delay.24,r24 8443 4968 00C0 rjmp .L903 8444 .L670: 8445 496a 8091 0000 lds r24,ExternHoehenValue 8446 496e 9091 0000 lds r25,(ExternHoehenValue)+1 8447 4972 820F add r24,r18 8448 4974 911D adc r25,__zero_reg__ 8449 4976 2091 0000 lds r18,EE_Parameter+18 8450 497a 3327 clr r19 8451 497c 829F mul r24,r18 8452 497e A001 movw r20,r0 8453 4980 839F mul r24,r19 8454 4982 500D add r21,r0 8455 4984 929F mul r25,r18 8456 4986 500D add r21,r0 8457 4988 1124 clr r1 8458 498a CA01 movw r24,r20 8459 498c AA27 clr r26 8460 498e 97FD sbrc r25,7 8461 4990 A095 com r26 8462 4992 BA2F mov r27,r26 8463 4994 8093 0000 sts SollHoehe,r24 8464 4998 9093 0000 sts (SollHoehe)+1,r25 8465 499c A093 0000 sts (SollHoehe)+2,r26 8466 49a0 B093 0000 sts (SollHoehe)+3,r27 8467 .L903: 8468 49a4 81E0 ldi r24,lo8(1) 8469 49a6 8093 0000 sts HoehenReglerAktiv,r24 8470 .L677: 8471 49aa 8091 0000 lds r24,IntegralNick 8472 49ae 9091 0000 lds r25,(IntegralNick)+1 8473 49b2 A091 0000 lds r26,(IntegralNick)+2 8474 49b6 B091 0000 lds r27,(IntegralNick)+3 8475 49ba E090 0000 lds r14,GIER_GRAD_FAKTOR 8476 49be F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 8477 49c2 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 8478 49c6 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 8479 49ca BC01 movw r22,r24 8480 49cc CD01 movw r24,r26 8481 49ce A801 movw r20,r16 8482 49d0 9701 movw r18,r14 8483 49d2 0E94 0000 call __divmodsi4 8484 49d6 5901 movw r10,r18 8485 49d8 6A01 movw r12,r20 8486 49da 8091 0000 lds r24,IntegralRoll 8487 49de 9091 0000 lds r25,(IntegralRoll)+1 8488 49e2 A091 0000 lds r26,(IntegralRoll)+2 8489 49e6 B091 0000 lds r27,(IntegralRoll)+3 8490 49ea BC01 movw r22,r24 8491 49ec CD01 movw r24,r26 8492 49ee A801 movw r20,r16 8493 49f0 9701 movw r18,r14 8494 49f2 0E94 0000 call __divmodsi4 8495 49f6 B901 movw r22,r18 8496 49f8 C501 movw r24,r10 8497 49fa 0E94 0000 call ihypot 8498 49fe 5C01 movw r10,r24 8499 4a00 CC97 sbiw r24,60 8500 4a02 04F0 brlt .L678 8501 4a04 5CE3 ldi r21,lo8(60) 8502 4a06 A52E mov r10,r21 8503 4a08 B12C mov r11,__zero_reg__ 8504 .L678: 8505 4a0a C501 movw r24,r10 8506 4a0c 0E94 0000 call c_cos_8192 8507 4a10 5C01 movw r10,r24 8508 4a12 80E2 ldi r24,lo8(32) 8509 4a14 8093 0000 sts VarioCharacter,r24 8510 4a18 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ 8511 4a1c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ 8512 4a20 8091 0000 lds r24,HoehenReglerAktiv 8513 4a24 8823 tst r24 8514 4a26 01F4 brne .+2 8515 4a28 00C0 rjmp .L679 8516 4a2a 8091 0000 lds r24,FC_StatusFlags 8517 4a2e 9927 clr r25 8518 4a30 9C01 movw r18,r24 8519 4a32 2071 andi r18,lo8(16) 8520 4a34 3070 andi r19,hi8(16) 8521 4a36 84FD sbrc r24,4 8522 4a38 00C0 rjmp .L679 8523 4a3a 8091 0000 lds r24,FC_StatusFlags2 8524 4a3e 8260 ori r24,lo8(2) 8525 4a40 8093 0000 sts FC_StatusFlags2,r24 8526 4a44 7091 0000 lds r23,Parameter_ExtraConfig 8527 4a48 872F mov r24,r23 8528 4a4a 9927 clr r25 8529 4a4c 41E0 ldi r20,lo8(1) 8530 4a4e C42E mov r12,r20 8531 4a50 D12C mov r13,__zero_reg__ 8532 4a52 C822 and r12,r24 8533 4a54 D922 and r13,r25 8534 4a56 80FD sbrc r24,0 8535 4a58 00C0 rjmp .L681 8536 4a5a 8091 0000 lds r24,Parameter_GlobalConfig 8537 4a5e 81FD sbrc r24,1 8538 4a60 00C0 rjmp .L680 8539 .L681: 8540 4a62 C980 ldd r12,Y+1 8541 4a64 DA80 ldd r13,Y+2 8542 4a66 3093 0000 sts (HeightTrimming.21)+1,r19 8543 4a6a 2093 0000 sts HeightTrimming.21,r18 8544 4a6e 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 8545 4a72 2093 0000 sts AltitudeSetpointTrimming,r18 8546 4a76 8091 0000 lds r24,FC_StatusFlags 8547 4a7a 806C ori r24,lo8(-64) 8548 4a7c 8093 0000 sts FC_StatusFlags,r24 8549 4a80 00C0 rjmp .L682 8550 .L680: 8551 4a82 8091 0000 lds r24,FC_StatusFlags 8552 4a86 81FF sbrs r24,1 8553 4a88 00C0 rjmp .L683 8554 4a8a 0091 0000 lds r16,StickGasHover 8555 4a8e 1091 0000 lds r17,(StickGasHover)+1 8556 4a92 C801 movw r24,r16 8557 4a94 0F96 adiw r24,15 8558 4a96 2090 0000 lds r2,StickGas 8559 4a9a 3090 0000 lds r3,(StickGas)+1 8560 4a9e 8215 cp r24,r2 8561 4aa0 9305 cpc r25,r3 8562 4aa2 04F0 brlt .+2 8563 4aa4 00C0 rjmp .L684 8564 4aa6 8091 0000 lds r24,BaroAtUpperLimit.25 8565 4aaa 8823 tst r24 8566 4aac 01F0 breq .+2 8567 4aae 00C0 rjmp .L684 8568 4ab0 8091 0000 lds r24,FC_StatusFlags 8569 4ab4 87FF sbrs r24,7 8570 4ab6 00C0 rjmp .L685 8571 4ab8 8091 0000 lds r24,FC_StatusFlags 8572 4abc 8F77 andi r24,lo8(127) 8573 4abe 8093 0000 sts FC_StatusFlags,r24 8574 4ac2 8091 0000 lds r24,HoehenWert 8575 4ac6 9091 0000 lds r25,(HoehenWert)+1 8576 4aca A091 0000 lds r26,(HoehenWert)+2 8577 4ace B091 0000 lds r27,(HoehenWert)+3 8578 4ad2 8093 0000 sts SollHoehe,r24 8579 4ad6 9093 0000 sts (SollHoehe)+1,r25 8580 4ada A093 0000 sts (SollHoehe)+2,r26 8581 4ade B093 0000 sts (SollHoehe)+3,r27 8582 .L685: 8583 4ae2 8091 0000 lds r24,FC_StatusFlags 8584 4ae6 8064 ori r24,lo8(64) 8585 4ae8 8093 0000 sts FC_StatusFlags,r24 8586 4aec E090 0000 lds r14,Parameter_MaximumAltitude 8587 4af0 EE20 tst r14 8588 4af2 01F0 breq .L686 8589 4af4 8091 0000 lds r24,SollHoehe 8590 4af8 9091 0000 lds r25,(SollHoehe)+1 8591 4afc A091 0000 lds r26,(SollHoehe)+2 8592 4b00 B091 0000 lds r27,(SollHoehe)+3 8593 4b04 BC01 movw r22,r24 8594 4b06 CD01 movw r24,r26 8595 4b08 24E6 ldi r18,lo8(100) 8596 4b0a 30E0 ldi r19,hi8(100) 8597 4b0c 40E0 ldi r20,hlo8(100) 8598 4b0e 50E0 ldi r21,hhi8(100) 8599 4b10 0E94 0000 call __divmodsi4 8600 4b14 8E2D mov r24,r14 8601 4b16 9927 clr r25 8602 4b18 AA27 clr r26 8603 4b1a BB27 clr r27 8604 4b1c 8217 cp r24,r18 8605 4b1e 9307 cpc r25,r19 8606 4b20 A407 cpc r26,r20 8607 4b22 B507 cpc r27,r21 8608 4b24 04F4 brge .L686 8609 4b26 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 8610 4b2a C092 0000 sts AltitudeSetpointTrimming,r12 8611 4b2e 00C0 rjmp .L687 8612 .L686: 8613 4b30 C101 movw r24,r2 8614 4b32 801B sub r24,r16 8615 4b34 910B sbc r25,r17 8616 4b36 0F97 sbiw r24,15 8617 4b38 97FF sbrs r25,7 8618 4b3a 00C0 rjmp .L688 8619 4b3c 9095 com r25 8620 4b3e 8195 neg r24 8621 4b40 9F4F sbci r25,lo8(-1) 8622 .L688: 8623 4b42 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8624 4b46 8093 0000 sts AltitudeSetpointTrimming,r24 8625 4b4a 8BE2 ldi r24,lo8(43) 8626 4b4c 8093 0000 sts VarioCharacter,r24 8627 .L687: 8628 4b50 1092 0000 sts WaypointTrimming,__zero_reg__ 8629 4b54 00C0 rjmp .L689 8630 .L684: 8631 4b56 C801 movw r24,r16 8632 4b58 0F97 sbiw r24,15 8633 4b5a 2816 cp r2,r24 8634 4b5c 3906 cpc r3,r25 8635 4b5e 04F4 brge .L690 8636 4b60 2091 0000 lds r18,BaroAtLowerLimit.26 8637 4b64 2223 tst r18 8638 4b66 01F4 brne .L690 8639 4b68 8091 0000 lds r24,FC_StatusFlags 8640 4b6c 86FF sbrs r24,6 8641 4b6e 00C0 rjmp .L691 8642 4b70 8091 0000 lds r24,FC_StatusFlags 8643 4b74 8F7B andi r24,lo8(-65) 8644 4b76 8093 0000 sts FC_StatusFlags,r24 8645 4b7a 8091 0000 lds r24,HoehenWert 8646 4b7e 9091 0000 lds r25,(HoehenWert)+1 8647 4b82 A091 0000 lds r26,(HoehenWert)+2 8648 4b86 B091 0000 lds r27,(HoehenWert)+3 8649 4b8a 8093 0000 sts SollHoehe,r24 8650 4b8e 9093 0000 sts (SollHoehe)+1,r25 8651 4b92 A093 0000 sts (SollHoehe)+2,r26 8652 4b96 B093 0000 sts (SollHoehe)+3,r27 8653 .L691: 8654 4b9a 8091 0000 lds r24,FC_StatusFlags 8655 4b9e 8068 ori r24,lo8(-128) 8656 4ba0 8093 0000 sts FC_StatusFlags,r24 8657 4ba4 C101 movw r24,r2 8658 4ba6 801B sub r24,r16 8659 4ba8 910B sbc r25,r17 8660 4baa 0F96 adiw r24,15 8661 4bac 97FF sbrs r25,7 8662 4bae 00C0 rjmp .L692 8663 4bb0 9095 com r25 8664 4bb2 8195 neg r24 8665 4bb4 9F4F sbci r25,lo8(-1) 8666 .L692: 8667 4bb6 9095 com r25 8668 4bb8 8195 neg r24 8669 4bba 9F4F sbci r25,lo8(-1) 8670 4bbc 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8671 4bc0 8093 0000 sts AltitudeSetpointTrimming,r24 8672 4bc4 8DE2 ldi r24,lo8(45) 8673 4bc6 8093 0000 sts VarioCharacter,r24 8674 4bca 2093 0000 sts WaypointTrimming,r18 8675 4bce 00C0 rjmp .L689 8676 .L690: 8677 4bd0 8DE3 ldi r24,lo8(61) 8678 4bd2 8093 0000 sts VarioCharacter,r24 8679 4bd6 6091 0000 lds r22,FromNC_AltitudeSpeed 8680 4bda 6623 tst r22 8681 4bdc 01F0 breq .L694 8682 4bde 2091 0000 lds r18,FromNC_AltitudeSetpoint 8683 4be2 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8684 4be6 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8685 4bea 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8686 4bee 8091 0000 lds r24,SollHoehe 8687 4bf2 9091 0000 lds r25,(SollHoehe)+1 8688 4bf6 A091 0000 lds r26,(SollHoehe)+2 8689 4bfa B091 0000 lds r27,(SollHoehe)+3 8690 4bfe 8217 cp r24,r18 8691 4c00 9307 cpc r25,r19 8692 4c02 A407 cpc r26,r20 8693 4c04 B507 cpc r27,r21 8694 4c06 04F4 brge .L694 8695 4c08 8091 0000 lds r24,FC_StatusFlags 8696 4c0c 8064 ori r24,lo8(64) 8697 4c0e 8093 0000 sts FC_StatusFlags,r24 8698 4c12 862F mov r24,r22 8699 4c14 9927 clr r25 8700 4c16 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8701 4c1a 8093 0000 sts AltitudeSetpointTrimming,r24 8702 4c1e 8AE0 ldi r24,lo8(10) 8703 4c20 8093 0000 sts WaypointTrimming,r24 8704 4c24 8EE5 ldi r24,lo8(94) 8705 4c26 8093 0000 sts VarioCharacter,r24 8706 4c2a 8091 0000 lds r24,FC_StatusFlags 8707 4c2e 87FF sbrs r24,7 8708 4c30 00C0 rjmp .L689 8709 4c32 8091 0000 lds r24,FC_StatusFlags 8710 4c36 8F77 andi r24,lo8(127) 8711 4c38 00C0 rjmp .L905 8712 .L694: 8713 4c3a 6623 tst r22 8714 4c3c 01F4 brne .+2 8715 4c3e 00C0 rjmp .L697 8716 4c40 2091 0000 lds r18,FromNC_AltitudeSetpoint 8717 4c44 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 8718 4c48 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 8719 4c4c 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 8720 4c50 8091 0000 lds r24,SollHoehe 8721 4c54 9091 0000 lds r25,(SollHoehe)+1 8722 4c58 A091 0000 lds r26,(SollHoehe)+2 8723 4c5c B091 0000 lds r27,(SollHoehe)+3 8724 4c60 2817 cp r18,r24 8725 4c62 3907 cpc r19,r25 8726 4c64 4A07 cpc r20,r26 8727 4c66 5B07 cpc r21,r27 8728 4c68 04F4 brge .L697 8729 4c6a 8091 0000 lds r24,FC_StatusFlags 8730 4c6e 8068 ori r24,lo8(-128) 8731 4c70 8093 0000 sts FC_StatusFlags,r24 8732 4c74 862F mov r24,r22 8733 4c76 9927 clr r25 8734 4c78 9095 com r25 8735 4c7a 8195 neg r24 8736 4c7c 9F4F sbci r25,lo8(-1) 8737 4c7e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 8738 4c82 8093 0000 sts AltitudeSetpointTrimming,r24 8739 4c86 86EF ldi r24,lo8(-10) 8740 4c88 8093 0000 sts WaypointTrimming,r24 8741 4c8c 86E7 ldi r24,lo8(118) 8742 4c8e 8093 0000 sts VarioCharacter,r24 8743 4c92 8091 0000 lds r24,FC_StatusFlags 8744 4c96 86FF sbrs r24,6 8745 4c98 00C0 rjmp .L689 8746 4c9a 8091 0000 lds r24,FC_StatusFlags 8747 4c9e 8F7B andi r24,lo8(-65) 8748 .L905: 8749 4ca0 8093 0000 sts FC_StatusFlags,r24 8750 4ca4 8091 0000 lds r24,HoehenWert 8751 4ca8 9091 0000 lds r25,(HoehenWert)+1 8752 4cac A091 0000 lds r26,(HoehenWert)+2 8753 4cb0 B091 0000 lds r27,(HoehenWert)+3 8754 4cb4 8093 0000 sts SollHoehe,r24 8755 4cb8 9093 0000 sts (SollHoehe)+1,r25 8756 4cbc A093 0000 sts (SollHoehe)+2,r26 8757 4cc0 B093 0000 sts (SollHoehe)+3,r27 8758 4cc4 00C0 rjmp .L689 8759 .L697: 8760 4cc6 8091 0000 lds r24,FC_StatusFlags 8761 4cca 807C andi r24,lo8(-64) 8762 4ccc 01F4 brne .+2 8763 4cce 00C0 rjmp .L689 8764 4cd0 8091 0000 lds r24,WaypointTrimming 8765 4cd4 8823 tst r24 8766 4cd6 01F4 brne .L701 8767 4cd8 E090 0000 lds r14,HoehenWert 8768 4cdc F090 0000 lds r15,(HoehenWert)+1 8769 4ce0 0091 0000 lds r16,(HoehenWert)+2 8770 4ce4 1091 0000 lds r17,(HoehenWert)+3 8771 4ce8 D801 movw r26,r16 8772 4cea C701 movw r24,r14 8773 4cec 8058 subi r24,lo8(-(-128)) 8774 4cee 9040 sbci r25,hi8(-(-128)) 8775 4cf0 A040 sbci r26,hlo8(-(-128)) 8776 4cf2 B040 sbci r27,hhi8(-(-128)) 8777 4cf4 2091 0000 lds r18,SollHoehe 8778 4cf8 3091 0000 lds r19,(SollHoehe)+1 8779 4cfc 4091 0000 lds r20,(SollHoehe)+2 8780 4d00 5091 0000 lds r21,(SollHoehe)+3 8781 4d04 8217 cp r24,r18 8782 4d06 9307 cpc r25,r19 8783 4d08 A407 cpc r26,r20 8784 4d0a B507 cpc r27,r21 8785 4d0c 04F4 brge .L904 8786 4d0e D801 movw r26,r16 8787 4d10 C701 movw r24,r14 8788 4d12 8058 subi r24,lo8(-(128)) 8789 4d14 9F4F sbci r25,hi8(-(128)) 8790 4d16 AF4F sbci r26,hlo8(-(128)) 8791 4d18 BF4F sbci r27,hhi8(-(128)) 8792 4d1a 2817 cp r18,r24 8793 4d1c 3907 cpc r19,r25 8794 4d1e 4A07 cpc r20,r26 8795 4d20 5B07 cpc r21,r27 8796 4d22 04F0 brlt .L705 8797 .L904: 8798 4d24 8093 0000 sts SollHoehe,r24 8799 4d28 9093 0000 sts (SollHoehe)+1,r25 8800 4d2c A093 0000 sts (SollHoehe)+2,r26 8801 4d30 B093 0000 sts (SollHoehe)+3,r27 8802 4d34 00C0 rjmp .L705 8803 .L701: 8804 4d36 1092 0000 sts WaypointTrimming,__zero_reg__ 8805 .L705: 8806 4d3a 8091 0000 lds r24,FC_StatusFlags 8807 4d3e 8F73 andi r24,lo8(63) 8808 4d40 8093 0000 sts FC_StatusFlags,r24 8809 4d44 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8810 4d48 1092 0000 sts HeightTrimming.21,__zero_reg__ 8811 4d4c 71FF sbrs r23,1 8812 4d4e 00C0 rjmp .L706 8813 4d50 84EF ldi r24,lo8(500) 8814 4d52 91E0 ldi r25,hi8(500) 8815 4d54 9093 0000 sts (beeptime)+1,r25 8816 4d58 8093 0000 sts beeptime,r24 8817 .L706: 8818 4d5c 8091 0000 lds r24,StartTrigger 8819 4d60 8823 tst r24 8820 4d62 01F4 brne .L689 8821 4d64 8091 0000 lds r24,HoehenWert 8822 4d68 9091 0000 lds r25,(HoehenWert)+1 8823 4d6c A091 0000 lds r26,(HoehenWert)+2 8824 4d70 B091 0000 lds r27,(HoehenWert)+3 8825 4d74 C397 sbiw r24,51 8826 4d76 A105 cpc r26,__zero_reg__ 8827 4d78 B105 cpc r27,__zero_reg__ 8828 4d7a 04F0 brlt .L689 8829 4d7c 81E0 ldi r24,lo8(1) 8830 4d7e 8093 0000 sts StartTrigger,r24 8831 .L689: 8832 4d82 6091 0000 lds r22,HeightTrimming.21 8833 4d86 7091 0000 lds r23,(HeightTrimming.21)+1 8834 4d8a 8091 0000 lds r24,AltitudeSetpointTrimming 8835 4d8e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 8836 4d92 680F add r22,r24 8837 4d94 791F adc r23,r25 8838 4d96 7093 0000 sts (HeightTrimming.21)+1,r23 8839 4d9a 6093 0000 sts HeightTrimming.21,r22 8840 4d9e CB01 movw r24,r22 8841 4da0 77FF sbrs r23,7 8842 4da2 00C0 rjmp .L709 8843 4da4 8827 clr r24 8844 4da6 9927 clr r25 8845 4da8 861B sub r24,r22 8846 4daa 970B sbc r25,r23 8847 .L709: 8848 4dac 855F subi r24,lo8(501) 8849 4dae 9140 sbci r25,hi8(501) 8850 4db0 04F4 brge .+2 8851 4db2 00C0 rjmp .L708 8852 4db4 4091 0000 lds r20,WaypointTrimming 8853 4db8 4423 tst r20 8854 4dba 01F0 breq .L710 8855 4dbc 8091 0000 lds r24,FromNC_AltitudeSetpoint 8856 4dc0 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8857 4dc4 2091 0000 lds r18,SollHoehe 8858 4dc8 3091 0000 lds r19,(SollHoehe)+1 8859 4dcc 821B sub r24,r18 8860 4dce 930B sbc r25,r19 8861 4dd0 0996 adiw r24,9 8862 4dd2 4397 sbiw r24,19 8863 4dd4 00F4 brsh .L711 8864 4dd6 8091 0000 lds r24,FromNC_AltitudeSetpoint 8865 4dda 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 8866 4dde A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 8867 4de2 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 8868 4de6 00C0 rjmp .L907 8869 .L711: 8870 4de8 242F mov r18,r20 8871 4dea 3327 clr r19 8872 4dec 27FD sbrc r18,7 8873 4dee 3095 com r19 8874 4df0 432F mov r20,r19 8875 4df2 532F mov r21,r19 8876 4df4 8091 0000 lds r24,SollHoehe 8877 4df8 9091 0000 lds r25,(SollHoehe)+1 8878 4dfc A091 0000 lds r26,(SollHoehe)+2 8879 4e00 B091 0000 lds r27,(SollHoehe)+3 8880 4e04 820F add r24,r18 8881 4e06 931F adc r25,r19 8882 4e08 A41F adc r26,r20 8883 4e0a B51F adc r27,r21 8884 .L907: 8885 4e0c 8093 0000 sts SollHoehe,r24 8886 4e10 9093 0000 sts (SollHoehe)+1,r25 8887 4e14 A093 0000 sts (SollHoehe)+2,r26 8888 4e18 B093 0000 sts (SollHoehe)+3,r27 8889 4e1c 00C0 rjmp .L713 8890 .L710: 8891 4e1e 8091 0000 lds r24,EE_Parameter+18 8892 4e22 2091 0000 lds r18,SollHoehe 8893 4e26 3091 0000 lds r19,(SollHoehe)+1 8894 4e2a 4091 0000 lds r20,(SollHoehe)+2 8895 4e2e 5091 0000 lds r21,(SollHoehe)+3 8896 4e32 1616 cp __zero_reg__,r22 8897 4e34 1706 cpc __zero_reg__,r23 8898 4e36 04F4 brge .L714 8899 4e38 63E0 ldi r22,lo8(3) 8900 4e3a 0E94 0000 call __udivmodqi4 8901 4e3e 280F add r18,r24 8902 4e40 311D adc r19,__zero_reg__ 8903 4e42 411D adc r20,__zero_reg__ 8904 4e44 511D adc r21,__zero_reg__ 8905 4e46 00C0 rjmp .L906 8906 .L714: 8907 4e48 63E0 ldi r22,lo8(3) 8908 4e4a 0E94 0000 call __udivmodqi4 8909 4e4e 281B sub r18,r24 8910 4e50 3109 sbc r19,__zero_reg__ 8911 4e52 4109 sbc r20,__zero_reg__ 8912 4e54 5109 sbc r21,__zero_reg__ 8913 .L906: 8914 4e56 2093 0000 sts SollHoehe,r18 8915 4e5a 3093 0000 sts (SollHoehe)+1,r19 8916 4e5e 4093 0000 sts (SollHoehe)+2,r20 8917 4e62 5093 0000 sts (SollHoehe)+3,r21 8918 .L713: 8919 4e66 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ 8920 4e6a 1092 0000 sts HeightTrimming.21,__zero_reg__ 8921 4e6e E090 0000 lds r14,HoehenWert 8922 4e72 F090 0000 lds r15,(HoehenWert)+1 8923 4e76 0091 0000 lds r16,(HoehenWert)+2 8924 4e7a 1091 0000 lds r17,(HoehenWert)+3 8925 4e7e D801 movw r26,r16 8926 4e80 C701 movw r24,r14 8927 4e82 8050 subi r24,lo8(-(-1024)) 8928 4e84 9440 sbci r25,hi8(-(-1024)) 8929 4e86 A040 sbci r26,hlo8(-(-1024)) 8930 4e88 B040 sbci r27,hhi8(-(-1024)) 8931 4e8a 2091 0000 lds r18,SollHoehe 8932 4e8e 3091 0000 lds r19,(SollHoehe)+1 8933 4e92 4091 0000 lds r20,(SollHoehe)+2 8934 4e96 5091 0000 lds r21,(SollHoehe)+3 8935 4e9a 8217 cp r24,r18 8936 4e9c 9307 cpc r25,r19 8937 4e9e A407 cpc r26,r20 8938 4ea0 B507 cpc r27,r21 8939 4ea2 04F4 brge .L908 8940 4ea4 D801 movw r26,r16 8941 4ea6 C701 movw r24,r14 8942 4ea8 8050 subi r24,lo8(-(1024)) 8943 4eaa 9C4F sbci r25,hi8(-(1024)) 8944 4eac AF4F sbci r26,hlo8(-(1024)) 8945 4eae BF4F sbci r27,hhi8(-(1024)) 8946 4eb0 2817 cp r18,r24 8947 4eb2 3907 cpc r19,r25 8948 4eb4 4A07 cpc r20,r26 8949 4eb6 5B07 cpc r21,r27 8950 4eb8 04F0 brlt .L717 8951 .L908: 8952 4eba 8093 0000 sts SollHoehe,r24 8953 4ebe 9093 0000 sts (SollHoehe)+1,r25 8954 4ec2 A093 0000 sts (SollHoehe)+2,r26 8955 4ec6 B093 0000 sts (SollHoehe)+3,r27 8956 .L717: 8957 4eca 8091 0000 lds r24,Parameter_ExtraConfig 8958 4ece 81FF sbrs r24,1 8959 4ed0 00C0 rjmp .L719 8960 4ed2 84E6 ldi r24,lo8(100) 8961 4ed4 90E0 ldi r25,hi8(100) 8962 4ed6 9093 0000 sts (beeptime)+1,r25 8963 4eda 8093 0000 sts beeptime,r24 8964 .L719: 8965 4ede 8091 0000 lds r24,EE_Parameter+22 8966 4ee2 8823 tst r24 8967 4ee4 01F4 brne .L708 8968 4ee6 8091 0000 lds r24,FromNC_AltitudeSpeed 8969 4eea 8823 tst r24 8970 4eec 01F4 brne .L708 8971 4eee 4091 0000 lds r20,HoverGas 8972 4ef2 5091 0000 lds r21,(HoverGas)+1 8973 4ef6 57FF sbrs r21,7 8974 4ef8 00C0 rjmp .L721 8975 4efa 4D5F subi r20,lo8(-(3)) 8976 4efc 5F4F sbci r21,hi8(-(3)) 8977 .L721: 8978 4efe 5595 asr r21 8979 4f00 4795 ror r20 8980 4f02 5595 asr r21 8981 4f04 4795 ror r20 8982 4f06 8091 0000 lds r24,UBat 8983 4f0a 9091 0000 lds r25,(UBat)+1 8984 4f0e 2091 0000 lds r18,BattLowVoltageWarning 8985 4f12 3327 clr r19 8986 4f14 489F mul r20,r24 8987 4f16 F001 movw r30,r0 8988 4f18 499F mul r20,r25 8989 4f1a F00D add r31,r0 8990 4f1c 589F mul r21,r24 8991 4f1e F00D add r31,r0 8992 4f20 1124 clr r1 8993 4f22 CF01 movw r24,r30 8994 4f24 B901 movw r22,r18 8995 4f26 0E94 0000 call __divmodhi4 8996 4f2a 7093 0000 sts (StickGasHover)+1,r23 8997 4f2e 6093 0000 sts StickGasHover,r22 8998 4f32 6634 cpi r22,70 8999 4f34 7105 cpc r23,__zero_reg__ 9000 4f36 04F4 brge .L722 9001 4f38 86E4 ldi r24,lo8(70) 9002 4f3a 90E0 ldi r25,hi8(70) 9003 4f3c 00C0 rjmp .L909 9004 .L722: 9005 4f3e 6739 cpi r22,151 9006 4f40 7105 cpc r23,__zero_reg__ 9007 4f42 04F0 brlt .L708 9008 4f44 86E9 ldi r24,lo8(150) 9009 4f46 90E0 ldi r25,hi8(150) 9010 .L909: 9011 4f48 9093 0000 sts (StickGasHover)+1,r25 9012 4f4c 8093 0000 sts StickGasHover,r24 9013 .L708: 9014 4f50 8091 0000 lds r24,BaroExpandActive 9015 4f54 9091 0000 lds r25,(BaroExpandActive)+1 9016 4f58 892B or r24,r25 9017 4f5a 01F0 breq .L726 9018 4f5c 8091 0000 lds r24,HoehenWert 9019 4f60 9091 0000 lds r25,(HoehenWert)+1 9020 4f64 A091 0000 lds r26,(HoehenWert)+2 9021 4f68 B091 0000 lds r27,(HoehenWert)+3 9022 4f6c 8093 0000 sts SollHoehe,r24 9023 4f70 9093 0000 sts (SollHoehe)+1,r25 9024 4f74 A093 0000 sts (SollHoehe)+2,r26 9025 4f78 B093 0000 sts (SollHoehe)+3,r27 9026 4f7c 00C0 rjmp .L726 9027 .L683: 9028 4f7e 8091 0000 lds r24,HoehenWert 9029 4f82 9091 0000 lds r25,(HoehenWert)+1 9030 4f86 A091 0000 lds r26,(HoehenWert)+2 9031 4f8a B091 0000 lds r27,(HoehenWert)+3 9032 4f8e 8059 subi r24,lo8(-(-400)) 9033 4f90 9140 sbci r25,hi8(-(-400)) 9034 4f92 A040 sbci r26,hlo8(-(-400)) 9035 4f94 B040 sbci r27,hhi8(-(-400)) 9036 4f96 8093 0000 sts SollHoehe,r24 9037 4f9a 9093 0000 sts (SollHoehe)+1,r25 9038 4f9e A093 0000 sts (SollHoehe)+2,r26 9039 4fa2 B093 0000 sts (SollHoehe)+3,r27 9040 4fa6 8091 0000 lds r24,EE_Parameter+22 9041 4faa 8823 tst r24 9042 4fac 01F0 breq .L727 9043 4fae 9927 clr r25 9044 4fb0 00C0 rjmp .L910 9045 .L727: 9046 4fb2 88E7 ldi r24,lo8(120) 9047 4fb4 90E0 ldi r25,hi8(120) 9048 .L910: 9049 4fb6 9093 0000 sts (StickGasHover)+1,r25 9050 4fba 8093 0000 sts StickGasHover,r24 9051 4fbe E980 ldd r14,Y+1 9052 4fc0 FA80 ldd r15,Y+2 9053 4fc2 F092 0000 sts (HoverGas)+1,r15 9054 4fc6 E092 0000 sts HoverGas,r14 9055 4fca 8EE2 ldi r24,lo8(46) 9056 4fcc 8093 0000 sts VarioCharacter,r24 9057 .L726: 9058 4fd0 C090 0000 lds r12,HoverGas 9059 4fd4 D090 0000 lds r13,(HoverGas)+1 9060 .L682: 9061 4fd8 E090 0000 lds r14,HoehenWert 9062 4fdc F090 0000 lds r15,(HoehenWert)+1 9063 4fe0 0091 0000 lds r16,(HoehenWert)+2 9064 4fe4 1091 0000 lds r17,(HoehenWert)+3 9065 4fe8 2091 0000 lds r18,SollHoehe 9066 4fec 3091 0000 lds r19,(SollHoehe)+1 9067 4ff0 4091 0000 lds r20,(SollHoehe)+2 9068 4ff4 5091 0000 lds r21,(SollHoehe)+3 9069 4ff8 2E15 cp r18,r14 9070 4ffa 3F05 cpc r19,r15 9071 4ffc 4007 cpc r20,r16 9072 4ffe 5107 cpc r21,r17 9073 5000 04F0 brlt .L730 9074 5002 8091 0000 lds r24,Parameter_ExtraConfig 9075 5006 80FD sbrc r24,0 9076 5008 00C0 rjmp .L788 9077 .L730: 9078 500a 8091 0000 lds r24,BaroExpandActive 9079 500e 9091 0000 lds r25,(BaroExpandActive)+1 9080 5012 892B or r24,r25 9081 5014 01F0 breq .L731 9082 5016 C090 0000 lds r12,HoverGas 9083 501a D090 0000 lds r13,(HoverGas)+1 9084 501e 00E0 ldi r16,lo8(0) 9085 5020 10E0 ldi r17,hi8(0) 9086 5022 00C0 rjmp .L732 9087 .L731: 9088 5024 D801 movw r26,r16 9089 5026 C701 movw r24,r14 9090 5028 821B sub r24,r18 9091 502a 930B sbc r25,r19 9092 502c A40B sbc r26,r20 9093 502e B50B sbc r27,r21 9094 5030 8093 0000 sts tmp_long.1,r24 9095 5034 9093 0000 sts (tmp_long.1)+1,r25 9096 5038 A093 0000 sts (tmp_long.1)+2,r26 9097 503c B093 0000 sts (tmp_long.1)+3,r27 9098 5040 8230 cpi r24,lo8(-32766) 9099 5042 00E8 ldi r16,hi8(-32766) 9100 5044 9007 cpc r25,r16 9101 5046 0FEF ldi r16,hlo8(-32766) 9102 5048 A007 cpc r26,r16 9103 504a 0FEF ldi r16,hhi8(-32766) 9104 504c B007 cpc r27,r16 9105 504e 04F4 brge .L733 9106 5050 81E0 ldi r24,lo8(-32767) 9107 5052 90E8 ldi r25,hi8(-32767) 9108 5054 AFEF ldi r26,hlo8(-32767) 9109 5056 BFEF ldi r27,hhi8(-32767) 9110 5058 00C0 rjmp .L911 9111 .L733: 9112 505a 8F5F subi r24,lo8(32767) 9113 505c 9F47 sbci r25,hi8(32767) 9114 505e A040 sbci r26,hlo8(32767) 9115 5060 B040 sbci r27,hhi8(32767) 9116 5062 04F0 brlt .L734 9117 5064 8FEF ldi r24,lo8(32767) 9118 5066 9FE7 ldi r25,hi8(32767) 9119 5068 A0E0 ldi r26,hlo8(32767) 9120 506a B0E0 ldi r27,hhi8(32767) 9121 .L911: 9122 506c 8093 0000 sts tmp_long.1,r24 9123 5070 9093 0000 sts (tmp_long.1)+1,r25 9124 5074 A093 0000 sts (tmp_long.1)+2,r26 9125 5078 B093 0000 sts (tmp_long.1)+3,r27 9126 .L734: 9127 507c 0091 0000 lds r16,tmp_long.1 9128 5080 1091 0000 lds r17,(tmp_long.1)+1 9129 5084 8091 0000 lds r24,Parameter_Hoehe_P 9130 5088 282F mov r18,r24 9131 508a 3327 clr r19 9132 508c 4427 clr r20 9133 508e 5527 clr r21 9134 5090 8091 0000 lds r24,tmp_long.1 9135 5094 9091 0000 lds r25,(tmp_long.1)+1 9136 5098 A091 0000 lds r26,(tmp_long.1)+2 9137 509c B091 0000 lds r27,(tmp_long.1)+3 9138 50a0 BC01 movw r22,r24 9139 50a2 CD01 movw r24,r26 9140 50a4 0E94 0000 call __mulsi3 9141 50a8 97FF sbrs r25,7 9142 50aa 00C0 rjmp .L736 9143 50ac 615E subi r22,lo8(-(31)) 9144 50ae 7F4F sbci r23,hi8(-(31)) 9145 50b0 8F4F sbci r24,hlo8(-(31)) 9146 50b2 9F4F sbci r25,hhi8(-(31)) 9147 .L736: 9148 50b4 25E0 ldi r18,5 9149 50b6 9595 1: asr r25 9150 50b8 8795 ror r24 9151 50ba 7795 ror r23 9152 50bc 6795 ror r22 9153 50be 2A95 dec r18 9154 50c0 01F4 brne 1b 9155 50c2 6093 0000 sts tmp_long.1,r22 9156 50c6 7093 0000 sts (tmp_long.1)+1,r23 9157 50ca 8093 0000 sts (tmp_long.1)+2,r24 9158 50ce 9093 0000 sts (tmp_long.1)+3,r25 9159 50d2 6530 cpi r22,lo8(-507) 9160 50d4 2EEF ldi r18,hi8(-507) 9161 50d6 7207 cpc r23,r18 9162 50d8 2FEF ldi r18,hlo8(-507) 9163 50da 8207 cpc r24,r18 9164 50dc 2FEF ldi r18,hhi8(-507) 9165 50de 9207 cpc r25,r18 9166 50e0 04F4 brge .L737 9167 50e2 84E0 ldi r24,lo8(-508) 9168 50e4 9EEF ldi r25,hi8(-508) 9169 50e6 AFEF ldi r26,hlo8(-508) 9170 50e8 BFEF ldi r27,hhi8(-508) 9171 50ea 00C0 rjmp .L912 9172 .L737: 9173 50ec 6050 subi r22,lo8(1024) 9174 50ee 7440 sbci r23,hi8(1024) 9175 50f0 8040 sbci r24,hlo8(1024) 9176 50f2 9040 sbci r25,hhi8(1024) 9177 50f4 04F0 brlt .L738 9178 50f6 80E0 ldi r24,lo8(1024) 9179 50f8 94E0 ldi r25,hi8(1024) 9180 50fa A0E0 ldi r26,hlo8(1024) 9181 50fc B0E0 ldi r27,hhi8(1024) 9182 .L912: 9183 50fe 8093 0000 sts tmp_long.1,r24 9184 5102 9093 0000 sts (tmp_long.1)+1,r25 9185 5106 A093 0000 sts (tmp_long.1)+2,r26 9186 510a B093 0000 sts (tmp_long.1)+3,r27 9187 .L738: 9188 510e 8090 0000 lds r8,tmp_long.1 9189 5112 9090 0000 lds r9,(tmp_long.1)+1 9190 5116 2091 0000 lds r18,VarioMeter 9191 511a 3091 0000 lds r19,(VarioMeter)+1 9192 511e 37FF sbrs r19,7 9193 5120 00C0 rjmp .L740 9194 5122 295F subi r18,lo8(-(7)) 9195 5124 3F4F sbci r19,hi8(-(7)) 9196 .L740: 9197 5126 83E0 ldi r24,3 9198 5128 3595 1: asr r19 9199 512a 2795 ror r18 9200 512c 8A95 dec r24 9201 512e 01F4 brne 1b 9202 5130 4FEF ldi r20,hi8(-126) 9203 5132 2238 cpi r18,lo8(-126) 9204 5134 3407 cpc r19,r20 9205 5136 04F4 brge .L741 9206 5138 21E8 ldi r18,lo8(-127) 9207 513a 3FEF ldi r19,hi8(-127) 9208 513c 00C0 rjmp .L742 9209 .L741: 9210 513e 2038 cpi r18,128 9211 5140 3105 cpc r19,__zero_reg__ 9212 5142 04F0 brlt .L742 9213 5144 20E8 ldi r18,lo8(128) 9214 5146 30E0 ldi r19,hi8(128) 9215 .L742: 9216 5148 C901 movw r24,r18 9217 514a AA27 clr r26 9218 514c 97FD sbrc r25,7 9219 514e A095 com r26 9220 5150 BA2F mov r27,r26 9221 5152 2091 0000 lds r18,Parameter_Luftdruck_D 9222 5156 3327 clr r19 9223 5158 4427 clr r20 9224 515a 5527 clr r21 9225 515c BC01 movw r22,r24 9226 515e CD01 movw r24,r26 9227 5160 0E94 0000 call __mulsi3 9228 5164 97FF sbrs r25,7 9229 5166 00C0 rjmp .L744 9230 5168 6D5F subi r22,lo8(-(3)) 9231 516a 7F4F sbci r23,hi8(-(3)) 9232 516c 8F4F sbci r24,hlo8(-(3)) 9233 516e 9F4F sbci r25,hhi8(-(3)) 9234 .L744: 9235 5170 B2E0 ldi r27,2 9236 5172 9595 1: asr r25 9237 5174 8795 ror r24 9238 5176 7795 ror r23 9239 5178 6795 ror r22 9240 517a BA95 dec r27 9241 517c 01F4 brne 1b 9242 517e 9B01 movw r18,r22 9243 5180 5FEF ldi r21,hi8(-255) 9244 5182 6130 cpi r22,lo8(-255) 9245 5184 7507 cpc r23,r21 9246 5186 04F4 brge .L745 9247 5188 20E0 ldi r18,lo8(-256) 9248 518a 3FEF ldi r19,hi8(-256) 9249 518c 00C0 rjmp .L746 9250 .L745: 9251 518e 6F3F cpi r22,255 9252 5190 7105 cpc r23,__zero_reg__ 9253 5192 01F0 breq .L746 9254 5194 04F0 brlt .L746 9255 5196 20E0 ldi r18,lo8(256) 9256 5198 31E0 ldi r19,hi8(256) 9257 .L746: 9258 519a 8091 0000 lds r24,FC_StatusFlags 9259 519e 807C andi r24,lo8(-64) 9260 51a0 01F0 breq .L748 9261 51a2 C901 movw r24,r18 9262 51a4 37FD sbrc r19,7 9263 51a6 0396 adiw r24,3 9264 .L749: 9265 51a8 9C01 movw r18,r24 9266 51aa 3595 asr r19 9267 51ac 2795 ror r18 9268 51ae 3595 asr r19 9269 51b0 2795 ror r18 9270 51b2 00C0 rjmp .L750 9271 .L748: 9272 51b4 8091 0000 lds r24,Parameter_ExtraConfig 9273 51b8 80FF sbrs r24,0 9274 51ba 00C0 rjmp .L750 9275 51bc C901 movw r24,r18 9276 51be 37FD sbrc r19,7 9277 51c0 0796 adiw r24,7 9278 .L752: 9279 51c2 9C01 movw r18,r24 9280 51c4 F3E0 ldi r31,3 9281 51c6 3595 1: asr r19 9282 51c8 2795 ror r18 9283 51ca FA95 dec r31 9284 51cc 01F4 brne 1b 9285 .L750: 9286 51ce 820E add r8,r18 9287 51d0 931E adc r9,r19 9288 .L732: 9289 51d2 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung 9290 51d6 2223 tst r18 9291 51d8 01F4 brne .+2 9292 51da 00C0 rjmp .L753 9293 51dc 6091 0000 lds r22,Mess_Integral_Hoch 9294 51e0 7091 0000 lds r23,(Mess_Integral_Hoch)+1 9295 51e4 8091 0000 lds r24,(Mess_Integral_Hoch)+2 9296 51e8 9091 0000 lds r25,(Mess_Integral_Hoch)+3 9297 51ec 97FF sbrs r25,7 9298 51ee 00C0 rjmp .L754 9299 51f0 6158 subi r22,lo8(-(127)) 9300 51f2 7F4F sbci r23,hi8(-(127)) 9301 51f4 8F4F sbci r24,hlo8(-(127)) 9302 51f6 9F4F sbci r25,hhi8(-(127)) 9303 .L754: 9304 51f8 E7E0 ldi r30,7 9305 51fa 9595 1: asr r25 9306 51fc 8795 ror r24 9307 51fe 7795 ror r23 9308 5200 6795 ror r22 9309 5202 EA95 dec r30 9310 5204 01F4 brne 1b 9311 5206 3327 clr r19 9312 5208 4427 clr r20 9313 520a 5527 clr r21 9314 520c 0E94 0000 call __mulsi3 9315 5210 97FF sbrs r25,7 9316 5212 00C0 rjmp .L755 9317 5214 615E subi r22,lo8(-(31)) 9318 5216 7F4F sbci r23,hi8(-(31)) 9319 5218 8F4F sbci r24,hlo8(-(31)) 9320 521a 9F4F sbci r25,hhi8(-(31)) 9321 .L755: 9322 521c 55E0 ldi r21,5 9323 521e 9595 1: asr r25 9324 5220 8795 ror r24 9325 5222 7795 ror r23 9326 5224 6795 ror r22 9327 5226 5A95 dec r21 9328 5228 01F4 brne 1b 9329 522a 6093 0000 sts tmp_long.1,r22 9330 522e 7093 0000 sts (tmp_long.1)+1,r23 9331 5232 8093 0000 sts (tmp_long.1)+2,r24 9332 5236 9093 0000 sts (tmp_long.1)+3,r25 9333 523a 6138 cpi r22,lo8(-127) 9334 523c AFEF ldi r26,hi8(-127) 9335 523e 7A07 cpc r23,r26 9336 5240 AFEF ldi r26,hlo8(-127) 9337 5242 8A07 cpc r24,r26 9338 5244 AFEF ldi r26,hhi8(-127) 9339 5246 9A07 cpc r25,r26 9340 5248 04F4 brge .L756 9341 524a 80E8 ldi r24,lo8(-128) 9342 524c 9FEF ldi r25,hi8(-128) 9343 524e AFEF ldi r26,hlo8(-128) 9344 5250 BFEF ldi r27,hhi8(-128) 9345 5252 00C0 rjmp .L913 9346 .L756: 9347 5254 6F3F cpi r22,lo8(255) 9348 5256 7105 cpc r23,__zero_reg__ 9349 5258 8105 cpc r24,__zero_reg__ 9350 525a 9105 cpc r25,__zero_reg__ 9351 525c 01F0 breq .L757 9352 525e 04F0 brlt .L757 9353 5260 80E0 ldi r24,lo8(256) 9354 5262 91E0 ldi r25,hi8(256) 9355 5264 A0E0 ldi r26,hlo8(256) 9356 5266 B0E0 ldi r27,hhi8(256) 9357 .L913: 9358 5268 8093 0000 sts tmp_long.1,r24 9359 526c 9093 0000 sts (tmp_long.1)+1,r25 9360 5270 A093 0000 sts (tmp_long.1)+2,r26 9361 5274 B093 0000 sts (tmp_long.1)+3,r27 9362 .L757: 9363 5278 8091 0000 lds r24,tmp_long.1 9364 527c 9091 0000 lds r25,(tmp_long.1)+1 9365 5280 880E add r8,r24 9366 5282 991E adc r9,r25 9367 .L753: 9368 5284 8091 0000 lds r24,Parameter_Hoehe_GPS_Z 9369 5288 282F mov r18,r24 9370 528a 3327 clr r19 9371 528c 8091 0000 lds r24,FromNaviCtrl_Value+4 9372 5290 9927 clr r25 9373 5292 87FD sbrc r24,7 9374 5294 9095 com r25 9375 5296 289F mul r18,r24 9376 5298 F001 movw r30,r0 9377 529a 299F mul r18,r25 9378 529c F00D add r31,r0 9379 529e 389F mul r19,r24 9380 52a0 F00D add r31,r0 9381 52a2 1124 clr r1 9382 52a4 9F01 movw r18,r30 9383 52a6 F7FF sbrs r31,7 9384 52a8 00C0 rjmp .L759 9385 52aa 2158 subi r18,lo8(-(127)) 9386 52ac 3F4F sbci r19,hi8(-(127)) 9387 .L759: 9388 52ae 220F lsl r18 9389 52b0 232F mov r18,r19 9390 52b2 221F rol r18 9391 52b4 330B sbc r19,r19 9392 52b6 FFEF ldi r31,hi8(-127) 9393 52b8 2138 cpi r18,lo8(-127) 9394 52ba 3F07 cpc r19,r31 9395 52bc 04F4 brge .L760 9396 52be 20E8 ldi r18,lo8(-128) 9397 52c0 3FEF ldi r19,hi8(-128) 9398 52c2 00C0 rjmp .L761 9399 .L760: 9400 52c4 2F3F cpi r18,255 9401 52c6 3105 cpc r19,__zero_reg__ 9402 52c8 01F0 breq .L761 9403 52ca 04F0 brlt .L761 9404 52cc 20E0 ldi r18,lo8(256) 9405 52ce 31E0 ldi r19,hi8(256) 9406 .L761: 9407 52d0 820E add r8,r18 9408 52d2 931E adc r9,r19 9409 52d4 C401 movw r24,r8 9410 52d6 AA27 clr r26 9411 52d8 97FD sbrc r25,7 9412 52da A095 com r26 9413 52dc BA2F mov r27,r26 9414 52de E090 0000 lds r14,HoverGas 9415 52e2 F090 0000 lds r15,(HoverGas)+1 9416 52e6 9701 movw r18,r14 9417 52e8 4427 clr r20 9418 52ea 37FD sbrc r19,7 9419 52ec 4095 com r20 9420 52ee 542F mov r21,r20 9421 52f0 BC01 movw r22,r24 9422 52f2 CD01 movw r24,r26 9423 52f4 0E94 0000 call __mulsi3 9424 52f8 97FF sbrs r25,7 9425 52fa 00C0 rjmp .L763 9426 52fc 6150 subi r22,lo8(-(511)) 9427 52fe 7E4F sbci r23,hi8(-(511)) 9428 5300 8F4F sbci r24,hlo8(-(511)) 9429 5302 9F4F sbci r25,hhi8(-(511)) 9430 .L763: 9431 5304 29E0 ldi r18,9 9432 5306 9595 1: asr r25 9433 5308 8795 ror r24 9434 530a 7795 ror r23 9435 530c 6795 ror r22 9436 530e 2A95 dec r18 9437 5310 01F4 brne 1b 9438 5312 C61A sub r12,r22 9439 5314 D70A sbc r13,r23 9440 5316 8091 0000 lds r24,AltitudeSetpointTrimming 9441 531a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 9442 531e 892B or r24,r25 9443 5320 01F0 breq .+2 9444 5322 00C0 rjmp .L764 9445 5324 1E14 cp __zero_reg__,r14 9446 5326 1F04 cpc __zero_reg__,r15 9447 5328 04F0 brlt .+2 9448 532a 00C0 rjmp .L764 9449 532c 9801 movw r18,r16 9450 532e 17FF sbrs r17,7 9451 5330 00C0 rjmp .L765 9452 5332 3095 com r19 9453 5334 2195 neg r18 9454 5336 3F4F sbci r19,lo8(-1) 9455 .L765: 9456 5338 2D33 cpi r18,61 9457 533a 3105 cpc r19,__zero_reg__ 9458 533c 00F4 brsh .L766 9459 533e 8091 0000 lds r24,HoverGasMin 9460 5342 9091 0000 lds r25,(HoverGasMin)+1 9461 5346 8C15 cp r24,r12 9462 5348 9D05 cpc r25,r13 9463 534a 04F4 brge .L915 9464 534c 00C0 rjmp .L924 9465 .L766: 9466 534e 2C53 subi r18,lo8(-(-60)) 9467 5350 3040 sbci r19,hi8(-(-60)) 9468 5352 85E0 ldi r24,5 9469 5354 3695 1: lsr r19 9470 5356 2795 ror r18 9471 5358 8A95 dec r24 9472 535a 01F4 brne 1b 9473 535c 2031 cpi r18,16 9474 535e 3105 cpc r19,__zero_reg__ 9475 5360 00F0 brlo .L771 9476 5362 2FE0 ldi r18,lo8(15) 9477 5364 30E0 ldi r19,hi8(15) 9478 .L771: 9479 5366 4091 0000 lds r20,HoverGasMin 9480 536a 5091 0000 lds r21,(HoverGasMin)+1 9481 536e 1016 cp __zero_reg__,r16 9482 5370 1106 cpc __zero_reg__,r17 9483 5372 04F4 brge .L772 9484 5374 80E1 ldi r24,lo8(16) 9485 5376 90E0 ldi r25,hi8(16) 9486 5378 821B sub r24,r18 9487 537a 930B sbc r25,r19 9488 537c 489F mul r20,r24 9489 537e 9001 movw r18,r0 9490 5380 499F mul r20,r25 9491 5382 300D add r19,r0 9492 5384 589F mul r21,r24 9493 5386 300D add r19,r0 9494 5388 1124 clr r1 9495 538a B4E0 ldi r27,4 9496 538c 3695 1: lsr r19 9497 538e 2795 ror r18 9498 5390 BA95 dec r27 9499 5392 01F4 brne 1b 9500 5394 2C15 cp r18,r12 9501 5396 3D05 cpc r19,r13 9502 5398 00F4 brsh .L914 9503 .L924: 9504 539a 8091 0000 lds r24,HoverGasMax 9505 539e 9091 0000 lds r25,(HoverGasMax)+1 9506 53a2 C816 cp r12,r24 9507 53a4 D906 cpc r13,r25 9508 53a6 04F0 brlt .L764 9509 .L915: 9510 53a8 6C01 movw r12,r24 9511 53aa 00C0 rjmp .L764 9512 .L772: 9513 53ac 205F subi r18,lo8(-(16)) 9514 53ae 3F4F sbci r19,hi8(-(16)) 9515 53b0 8091 0000 lds r24,HoverGasMax 9516 53b4 9091 0000 lds r25,(HoverGasMax)+1 9517 53b8 829F mul r24,r18 9518 53ba 8001 movw r16,r0 9519 53bc 839F mul r24,r19 9520 53be 100D add r17,r0 9521 53c0 929F mul r25,r18 9522 53c2 100D add r17,r0 9523 53c4 1124 clr r1 9524 53c6 9801 movw r18,r16 9525 53c8 A4E0 ldi r26,4 9526 53ca 3695 1: lsr r19 9527 53cc 2795 ror r18 9528 53ce AA95 dec r26 9529 53d0 01F4 brne 1b 9530 53d2 4C15 cp r20,r12 9531 53d4 5D05 cpc r21,r13 9532 53d6 04F0 brlt .L777 9533 53d8 6A01 movw r12,r20 9534 53da 00C0 rjmp .L764 9535 .L777: 9536 53dc C216 cp r12,r18 9537 53de D306 cpc r13,r19 9538 53e0 00F0 brlo .L764 9539 .L914: 9540 53e2 6901 movw r12,r18 9541 .L764: 9542 53e4 C601 movw r24,r12 9543 53e6 AA27 clr r26 9544 53e8 97FD sbrc r25,7 9545 53ea A095 com r26 9546 53ec BA2F mov r27,r26 9547 53ee FDE0 ldi r31,13 9548 53f0 880F 1: lsl r24 9549 53f2 991F rol r25 9550 53f4 AA1F rol r26 9551 53f6 BB1F rol r27 9552 53f8 FA95 dec r31 9553 53fa 01F4 brne 1b 9554 53fc 9501 movw r18,r10 9555 53fe 4427 clr r20 9556 5400 37FD sbrc r19,7 9557 5402 4095 com r20 9558 5404 542F mov r21,r20 9559 5406 BC01 movw r22,r24 9560 5408 CD01 movw r24,r26 9561 540a 0E94 0000 call __divmodsi4 9562 540e 2093 0000 sts tmp_long2.2,r18 9563 5412 3093 0000 sts (tmp_long2.2)+1,r19 9564 5416 4093 0000 sts (tmp_long2.2)+2,r20 9565 541a 5093 0000 sts (tmp_long2.2)+3,r21 9566 541e C090 0000 lds r12,tmp_long2.2 9567 5422 D090 0000 lds r13,(tmp_long2.2)+1 9568 5426 8091 0000 lds r24,FilterHCGas.22 9569 542a 9091 0000 lds r25,(FilterHCGas.22)+1 9570 542e 9C01 movw r18,r24 9571 5430 220F lsl r18 9572 5432 331F rol r19 9573 5434 280F add r18,r24 9574 5436 391F adc r19,r25 9575 5438 2C0D add r18,r12 9576 543a 3D1D adc r19,r13 9577 543c 37FF sbrs r19,7 9578 543e 00C0 rjmp .L780 9579 5440 2D5F subi r18,lo8(-(3)) 9580 5442 3F4F sbci r19,hi8(-(3)) 9581 .L780: 9582 5444 A901 movw r20,r18 9583 5446 5595 asr r21 9584 5448 4795 ror r20 9585 544a 5595 asr r21 9586 544c 4795 ror r20 9587 544e 5093 0000 sts (FilterHCGas.22)+1,r21 9588 5452 4093 0000 sts FilterHCGas.22,r20 9589 5456 8091 0000 lds r24,EE_Parameter+14 9590 545a 282F mov r18,r24 9591 545c 3327 clr r19 9592 545e 220F lsl r18 9593 5460 331F rol r19 9594 5462 220F lsl r18 9595 5464 331F rol r19 9596 5466 2417 cp r18,r20 9597 5468 3507 cpc r19,r21 9598 546a 04F4 brge .L916 9599 546c 8091 0000 lds r24,MAX_GAS 9600 5470 282F mov r18,r24 9601 5472 3327 clr r19 9602 5474 220F lsl r18 9603 5476 331F rol r19 9604 5478 220F lsl r18 9605 547a 331F rol r19 9606 547c 2055 subi r18,lo8(-(-80)) 9607 547e 3040 sbci r19,hi8(-(-80)) 9608 5480 4217 cp r20,r18 9609 5482 5307 cpc r21,r19 9610 5484 04F0 brlt .L782 9611 .L916: 9612 5486 3093 0000 sts (FilterHCGas.22)+1,r19 9613 548a 2093 0000 sts FilterHCGas.22,r18 9614 .L782: 9615 548e 8091 0000 lds r24,Parameter_ExtraConfig 9616 5492 80FF sbrs r24,0 9617 5494 00C0 rjmp .L784 9618 5496 8091 0000 lds r24,FilterHCGas.22 9619 549a 9091 0000 lds r25,(FilterHCGas.22)+1 9620 549e 2981 ldd r18,Y+1 9621 54a0 3A81 ldd r19,Y+2 9622 54a2 8217 cp r24,r18 9623 54a4 9307 cpc r25,r19 9624 54a6 04F0 brlt .L785 9625 54a8 3093 0000 sts (FilterHCGas.22)+1,r19 9626 54ac 2093 0000 sts FilterHCGas.22,r18 9627 .L785: 9628 54b0 4091 0000 lds r20,FilterHCGas.22 9629 54b4 5091 0000 lds r21,(FilterHCGas.22)+1 9630 54b8 5A83 std Y+2,r21 9631 54ba 4983 std Y+1,r20 9632 54bc 00C0 rjmp .L788 9633 .L784: 9634 54be 2981 ldd r18,Y+1 9635 54c0 3A81 ldd r19,Y+2 9636 54c2 2E19 sub r18,r14 9637 54c4 3F09 sbc r19,r15 9638 54c6 37FF sbrs r19,7 9639 54c8 00C0 rjmp .L787 9640 54ca 2D5F subi r18,lo8(-(3)) 9641 54cc 3F4F sbci r19,hi8(-(3)) 9642 .L787: 9643 54ce 3595 asr r19 9644 54d0 2795 ror r18 9645 54d2 3595 asr r19 9646 54d4 2795 ror r18 9647 54d6 6091 0000 lds r22,FilterHCGas.22 9648 54da 7091 0000 lds r23,(FilterHCGas.22)+1 9649 54de 620F add r22,r18 9650 54e0 731F adc r23,r19 9651 54e2 7A83 std Y+2,r23 9652 54e4 6983 std Y+1,r22 9653 54e6 00C0 rjmp .L788 9654 .L679: 9655 54e8 8091 0000 lds r24,EE_Parameter+22 9656 54ec 8823 tst r24 9657 54ee 01F4 brne .L789 9658 54f0 6091 0000 lds r22,HoverGas 9659 54f4 7091 0000 lds r23,(HoverGas)+1 9660 54f8 77FF sbrs r23,7 9661 54fa 00C0 rjmp .L790 9662 54fc 6D5F subi r22,lo8(-(3)) 9663 54fe 7F4F sbci r23,hi8(-(3)) 9664 .L790: 9665 5500 7595 asr r23 9666 5502 6795 ror r22 9667 5504 7595 asr r23 9668 5506 6795 ror r22 9669 5508 4091 0000 lds r20,UBat 9670 550c 5091 0000 lds r21,(UBat)+1 9671 5510 8091 0000 lds r24,BattLowVoltageWarning 9672 5514 282F mov r18,r24 9673 5516 3327 clr r19 9674 5518 649F mul r22,r20 9675 551a C001 movw r24,r0 9676 551c 659F mul r22,r21 9677 551e 900D add r25,r0 9678 5520 749F mul r23,r20 9679 5522 900D add r25,r0 9680 5524 1124 clr r1 9681 5526 B901 movw r22,r18 9682 5528 0E94 0000 call __divmodhi4 9683 552c CB01 movw r24,r22 9684 552e 00C0 rjmp .L917 9685 .L789: 9686 5530 9927 clr r25 9687 .L917: 9688 5532 9093 0000 sts (StickGasHover)+1,r25 9689 5536 8093 0000 sts StickGasHover,r24 9690 553a 8091 0000 lds r24,StickGasHover 9691 553e 9091 0000 lds r25,(StickGasHover)+1 9692 5542 8734 cpi r24,71 9693 5544 9105 cpc r25,__zero_reg__ 9694 5546 04F4 brge .L792 9695 5548 86E4 ldi r24,lo8(70) 9696 554a 90E0 ldi r25,hi8(70) 9697 554c 00C0 rjmp .L918 9698 .L792: 9699 554e 8639 cpi r24,150 9700 5550 9105 cpc r25,__zero_reg__ 9701 5552 04F0 brlt .L793 9702 5554 86E9 ldi r24,lo8(150) 9703 5556 90E0 ldi r25,hi8(150) 9704 .L918: 9705 5558 9093 0000 sts (StickGasHover)+1,r25 9706 555c 8093 0000 sts StickGasHover,r24 9707 .L793: 9708 5560 8981 ldd r24,Y+1 9709 5562 9A81 ldd r25,Y+2 9710 5564 9093 0000 sts (FilterHCGas.22)+1,r25 9711 5568 8093 0000 sts FilterHCGas.22,r24 9712 556c 8091 0000 lds r24,FC_StatusFlags 9713 5570 806C ori r24,lo8(-64) 9714 5572 8093 0000 sts FC_StatusFlags,r24 9715 5576 8091 0000 lds r24,FC_StatusFlags2 9716 557a 8D7F andi r24,lo8(-3) 9717 557c 8093 0000 sts FC_StatusFlags2,r24 9718 .L788: 9719 5580 8091 0000 lds r24,FC_StatusFlags 9720 5584 9927 clr r25 9721 5586 9C01 movw r18,r24 9722 5588 2270 andi r18,lo8(2) 9723 558a 3070 andi r19,hi8(2) 9724 558c 81FF sbrs r24,1 9725 558e 00C0 rjmp .L795 9726 5590 8091 0000 lds r24,HoverGasFilter.23 9727 5594 9091 0000 lds r25,(HoverGasFilter.23)+1 9728 5598 A091 0000 lds r26,(HoverGasFilter.23)+2 9729 559c B091 0000 lds r27,(HoverGasFilter.23)+3 9730 55a0 0097 sbiw r24,0 9731 55a2 A105 cpc r26,__zero_reg__ 9732 55a4 B105 cpc r27,__zero_reg__ 9733 55a6 01F0 breq .L797 9734 55a8 8091 0000 lds r24,StartTrigger 9735 55ac 8130 cpi r24,lo8(1) 9736 55ae 01F4 brne .L796 9737 .L797: 9738 55b0 E981 ldd r30,Y+1 9739 55b2 FA81 ldd r31,Y+2 9740 55b4 CF01 movw r24,r30 9741 55b6 AA27 clr r26 9742 55b8 97FD sbrc r25,7 9743 55ba A095 com r26 9744 55bc BA2F mov r27,r26 9745 55be 1EE0 ldi r17,14 9746 55c0 880F 1: lsl r24 9747 55c2 991F rol r25 9748 55c4 AA1F rol r26 9749 55c6 BB1F rol r27 9750 55c8 1A95 dec r17 9751 55ca 01F4 brne 1b 9752 55cc 8093 0000 sts HoverGasFilter.23,r24 9753 55d0 9093 0000 sts (HoverGasFilter.23)+1,r25 9754 55d4 A093 0000 sts (HoverGasFilter.23)+2,r26 9755 55d8 B093 0000 sts (HoverGasFilter.23)+3,r27 9756 .L796: 9757 55dc 8091 0000 lds r24,StartTrigger 9758 55e0 8130 cpi r24,lo8(1) 9759 55e2 01F4 brne .L798 9760 55e4 82E0 ldi r24,lo8(2) 9761 55e6 8093 0000 sts StartTrigger,r24 9762 .L798: 9763 55ea E980 ldd r14,Y+1 9764 55ec FA80 ldd r15,Y+2 9765 55ee C701 movw r24,r14 9766 55f0 AA27 clr r26 9767 55f2 97FD sbrc r25,7 9768 55f4 A095 com r26 9769 55f6 BA2F mov r27,r26 9770 55f8 9501 movw r18,r10 9771 55fa 4427 clr r20 9772 55fc 37FD sbrc r19,7 9773 55fe 4095 com r20 9774 5600 542F mov r21,r20 9775 5602 BC01 movw r22,r24 9776 5604 CD01 movw r24,r26 9777 5606 0E94 0000 call __mulsi3 9778 560a DC01 movw r26,r24 9779 560c CB01 movw r24,r22 9780 560e 8093 0000 sts tmp_long2.2,r24 9781 5612 9093 0000 sts (tmp_long2.2)+1,r25 9782 5616 A093 0000 sts (tmp_long2.2)+2,r26 9783 561a B093 0000 sts (tmp_long2.2)+3,r27 9784 561e B7FF sbrs r27,7 9785 5620 00C0 rjmp .L799 9786 5622 8150 subi r24,lo8(-(8191)) 9787 5624 904E sbci r25,hi8(-(8191)) 9788 5626 AF4F sbci r26,hlo8(-(8191)) 9789 5628 BF4F sbci r27,hhi8(-(8191)) 9790 .L799: 9791 562a 7C01 movw r14,r24 9792 562c 8D01 movw r16,r26 9793 562e ADE0 ldi r26,13 9794 5630 1595 1: asr r17 9795 5632 0795 ror r16 9796 5634 F794 ror r15 9797 5636 E794 ror r14 9798 5638 AA95 dec r26 9799 563a 01F4 brne 1b 9800 563c E092 0000 sts tmp_long2.2,r14 9801 5640 F092 0000 sts (tmp_long2.2)+1,r15 9802 5644 0093 0000 sts (tmp_long2.2)+2,r16 9803 5648 1093 0000 sts (tmp_long2.2)+3,r17 9804 564c 6091 0000 lds r22,modell_fliegt 9805 5650 7091 0000 lds r23,(modell_fliegt)+1 9806 5654 2FE0 ldi r18,hi8(4000) 9807 5656 603A cpi r22,lo8(4000) 9808 5658 7207 cpc r23,r18 9809 565a 00F4 brsh .L800 9810 565c 8091 0000 lds r24,HoverGasFilter.23 9811 5660 9091 0000 lds r25,(HoverGasFilter.23)+1 9812 5664 A091 0000 lds r26,(HoverGasFilter.23)+2 9813 5668 B091 0000 lds r27,(HoverGasFilter.23)+3 9814 566c 9C01 movw r18,r24 9815 566e AD01 movw r20,r26 9816 5670 FAE0 ldi r31,10 9817 5672 5695 1: lsr r21 9818 5674 4795 ror r20 9819 5676 3795 ror r19 9820 5678 2795 ror r18 9821 567a FA95 dec r31 9822 567c 01F4 brne 1b 9823 567e 821B sub r24,r18 9824 5680 930B sbc r25,r19 9825 5682 A40B sbc r26,r20 9826 5684 B50B sbc r27,r21 9827 5686 A801 movw r20,r16 9828 5688 9701 movw r18,r14 9829 568a E4E0 ldi r30,4 9830 568c 220F 1: lsl r18 9831 568e 331F rol r19 9832 5690 441F rol r20 9833 5692 551F rol r21 9834 5694 EA95 dec r30 9835 5696 01F4 brne 1b 9836 5698 820F add r24,r18 9837 569a 931F adc r25,r19 9838 569c A41F adc r26,r20 9839 569e B51F adc r27,r21 9840 56a0 8093 0000 sts HoverGasFilter.23,r24 9841 56a4 9093 0000 sts (HoverGasFilter.23)+1,r25 9842 56a8 A093 0000 sts (HoverGasFilter.23)+2,r26 9843 56ac B093 0000 sts (HoverGasFilter.23)+3,r27 9844 .L800: 9845 56b0 6054 subi r22,lo8(8000) 9846 56b2 7F41 sbci r23,hi8(8000) 9847 56b4 00F4 brsh .L801 9848 56b6 8091 0000 lds r24,HoverGasFilter.23 9849 56ba 9091 0000 lds r25,(HoverGasFilter.23)+1 9850 56be A091 0000 lds r26,(HoverGasFilter.23)+2 9851 56c2 B091 0000 lds r27,(HoverGasFilter.23)+3 9852 56c6 9C01 movw r18,r24 9853 56c8 AD01 movw r20,r26 9854 56ca 6CE0 ldi r22,12 9855 56cc 5695 1: lsr r21 9856 56ce 4795 ror r20 9857 56d0 3795 ror r19 9858 56d2 2795 ror r18 9859 56d4 6A95 dec r22 9860 56d6 01F4 brne 1b 9861 56d8 821B sub r24,r18 9862 56da 930B sbc r25,r19 9863 56dc A40B sbc r26,r20 9864 56de B50B sbc r27,r21 9865 56e0 A801 movw r20,r16 9866 56e2 9701 movw r18,r14 9867 56e4 F2E0 ldi r31,2 9868 56e6 220F 1: lsl r18 9869 56e8 331F rol r19 9870 56ea 441F rol r20 9871 56ec 551F rol r21 9872 56ee FA95 dec r31 9873 56f0 01F4 brne 1b 9874 56f2 820F add r24,r18 9875 56f4 931F adc r25,r19 9876 56f6 A41F adc r26,r20 9877 56f8 B51F adc r27,r21 9878 56fa 00C0 rjmp .L919 9879 .L801: 9880 56fc 8091 0000 lds r24,VarioMeter 9881 5700 9091 0000 lds r25,(VarioMeter)+1 9882 5704 8091 0000 lds r24,VarioMeter 9883 5708 9091 0000 lds r25,(VarioMeter)+1 9884 570c 97FF sbrs r25,7 9885 570e 00C0 rjmp .L804 9886 5710 9095 com r25 9887 5712 8195 neg r24 9888 5714 9F4F sbci r25,lo8(-1) 9889 .L804: 9890 5716 8436 cpi r24,100 9891 5718 9105 cpc r25,__zero_reg__ 9892 571a 04F4 brge .L802 9893 571c 8091 0000 lds r24,HoehenWert 9894 5720 9091 0000 lds r25,(HoehenWert)+1 9895 5724 2091 0000 lds r18,SollHoehe 9896 5728 3091 0000 lds r19,(SollHoehe)+1 9897 572c 821B sub r24,r18 9898 572e 930B sbc r25,r19 9899 5730 8150 subi r24,lo8(-(255)) 9900 5732 9F4F sbci r25,hi8(-(255)) 9901 5734 8F5F subi r24,lo8(511) 9902 5736 9140 sbci r25,hi8(511) 9903 5738 00F4 brsh .L802 9904 573a 8091 0000 lds r24,HoverGasFilter.23 9905 573e 9091 0000 lds r25,(HoverGasFilter.23)+1 9906 5742 A091 0000 lds r26,(HoverGasFilter.23)+2 9907 5746 B091 0000 lds r27,(HoverGasFilter.23)+3 9908 574a 9C01 movw r18,r24 9909 574c AD01 movw r20,r26 9910 574e EEE0 ldi r30,14 9911 5750 5695 1: lsr r21 9912 5752 4795 ror r20 9913 5754 3795 ror r19 9914 5756 2795 ror r18 9915 5758 EA95 dec r30 9916 575a 01F4 brne 1b 9917 575c 821B sub r24,r18 9918 575e 930B sbc r25,r19 9919 5760 A40B sbc r26,r20 9920 5762 B50B sbc r27,r21 9921 5764 8E0D add r24,r14 9922 5766 9F1D adc r25,r15 9923 5768 A01F adc r26,r16 9924 576a B11F adc r27,r17 9925 .L919: 9926 576c 8093 0000 sts HoverGasFilter.23,r24 9927 5770 9093 0000 sts (HoverGasFilter.23)+1,r25 9928 5774 A093 0000 sts (HoverGasFilter.23)+2,r26 9929 5778 B093 0000 sts (HoverGasFilter.23)+3,r27 9930 .L802: 9931 577c 8091 0000 lds r24,HoverGasFilter.23 9932 5780 9091 0000 lds r25,(HoverGasFilter.23)+1 9933 5784 A091 0000 lds r26,(HoverGasFilter.23)+2 9934 5788 B091 0000 lds r27,(HoverGasFilter.23)+3 9935 578c 7EE0 ldi r23,14 9936 578e B695 1: lsr r27 9937 5790 A795 ror r26 9938 5792 9795 ror r25 9939 5794 8795 ror r24 9940 5796 7A95 dec r23 9941 5798 01F4 brne 1b 9942 579a 9093 0000 sts (HoverGas)+1,r25 9943 579e 8093 0000 sts HoverGas,r24 9944 57a2 4091 0000 lds r20,EE_Parameter+20 9945 57a6 4423 tst r20 9946 57a8 01F0 breq .L805 9947 57aa 5527 clr r21 9948 57ac 9C01 movw r18,r24 9949 57ae BA01 movw r22,r20 9950 57b0 0E94 0000 call __divmodhi4 9951 57b4 C901 movw r24,r18 9952 57b6 861B sub r24,r22 9953 57b8 970B sbc r25,r23 9954 57ba 9093 0000 sts (HoverGasMin)+1,r25 9955 57be 8093 0000 sts HoverGasMin,r24 9956 57c2 260F add r18,r22 9957 57c4 371F adc r19,r23 9958 57c6 3093 0000 sts (HoverGasMax)+1,r19 9959 57ca 2093 0000 sts HoverGasMax,r18 9960 57ce 00C0 rjmp .L808 9961 .L805: 9962 57d0 1092 0000 sts (HoverGasMin)+1,__zero_reg__ 9963 57d4 1092 0000 sts HoverGasMin,__zero_reg__ 9964 57d8 8FEF ldi r24,lo8(1023) 9965 57da 93E0 ldi r25,hi8(1023) 9966 57dc 9093 0000 sts (HoverGasMax)+1,r25 9967 57e0 8093 0000 sts HoverGasMax,r24 9968 57e4 00C0 rjmp .L808 9969 .L795: 9970 57e6 1092 0000 sts StartTrigger,__zero_reg__ 9971 57ea 1092 0000 sts HoverGasFilter.23,__zero_reg__ 9972 57ee 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ 9973 57f2 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ 9974 57f6 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ 9975 57fa 3093 0000 sts (HoverGas)+1,r19 9976 57fe 2093 0000 sts HoverGas,r18 9977 5802 00C0 rjmp .L808 9978 .L659: 9979 5804 8091 0000 lds r24,FC_StatusFlags 9980 5808 806C ori r24,lo8(-64) 9981 580a 8093 0000 sts FC_StatusFlags,r24 9982 .L808: 9983 580e 8091 0000 lds r24,NC_To_FC_Flags 9984 5812 81FF sbrs r24,1 9985 5814 00C0 rjmp .L809 9986 5816 8981 ldd r24,Y+1 9987 5818 9A81 ldd r25,Y+2 9988 581a 97FD sbrc r25,7 9989 581c 0396 adiw r24,3 9990 .L811: 9991 581e 9595 asr r25 9992 5820 8795 ror r24 9993 5822 9595 asr r25 9994 5824 8795 ror r24 9995 5826 2091 0000 lds r18,HooverGasEmergencyPercent 9996 582a 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 9997 582e 2817 cp r18,r24 9998 5830 3907 cpc r19,r25 9999 5832 00F4 brsh .L810 10000 5834 8091 0000 lds r24,HoverGas 10001 5838 9091 0000 lds r25,(HoverGas)+1 10002 583c 892B or r24,r25 10003 583e 01F0 breq .L810 10004 5840 220F lsl r18 10005 5842 331F rol r19 10006 5844 220F lsl r18 10007 5846 331F rol r19 10008 5848 3A83 std Y+2,r19 10009 584a 2983 std Y+1,r18 10010 .L810: 10011 584c 8091 0000 lds r24,HoehenWert 10012 5850 9091 0000 lds r25,(HoehenWert)+1 10013 5854 A091 0000 lds r26,(HoehenWert)+2 10014 5858 B091 0000 lds r27,(HoehenWert)+3 10015 585c 8093 0000 sts SollHoehe,r24 10016 5860 9093 0000 sts (SollHoehe)+1,r25 10017 5864 A093 0000 sts (SollHoehe)+2,r26 10018 5868 B093 0000 sts (SollHoehe)+3,r27 10019 586c 88E9 ldi r24,lo8(15000) 10020 586e 9AE3 ldi r25,hi8(15000) 10021 5870 9093 0000 sts (beeptime)+1,r25 10022 5874 8093 0000 sts beeptime,r24 10023 5878 80E0 ldi r24,lo8(3584) 10024 587a 9EE0 ldi r25,hi8(3584) 10025 587c 9093 0000 sts (BeepMuster)+1,r25 10026 5880 8093 0000 sts BeepMuster,r24 10027 .L809: 10028 5884 2091 0000 lds r18,MIN_GAS 10029 5888 822F mov r24,r18 10030 588a 9927 clr r25 10031 588c 880F lsl r24 10032 588e 991F rol r25 10033 5890 880F lsl r24 10034 5892 991F rol r25 10035 5894 8896 adiw r24,40 10036 5896 6981 ldd r22,Y+1 10037 5898 7A81 ldd r23,Y+2 10038 589a 8617 cp r24,r22 10039 589c 9707 cpc r25,r23 10040 589e 04F0 brlt .L812 10041 58a0 9A83 std Y+2,r25 10042 58a2 8983 std Y+1,r24 10043 .L812: 10044 58a4 7091 0000 lds r23,MAX_GAS 10045 58a8 7D8B std Y+21,r23 10046 58aa 872F mov r24,r23 10047 58ac 9927 clr r25 10048 58ae 880F lsl r24 10049 58b0 991F rol r25 10050 58b2 880F lsl r24 10051 58b4 991F rol r25 10052 58b6 8055 subi r24,lo8(-(-80)) 10053 58b8 9040 sbci r25,hi8(-(-80)) 10054 58ba A981 ldd r26,Y+1 10055 58bc BA81 ldd r27,Y+2 10056 58be 8A17 cp r24,r26 10057 58c0 9B07 cpc r25,r27 10058 58c2 04F4 brge .L813 10059 58c4 9A83 std Y+2,r25 10060 58c6 8983 std Y+1,r24 10061 .L813: 10062 58c8 8091 0000 lds r24,MissingMotor 10063 58cc 8823 tst r24 10064 58ce 01F4 brne .L815 10065 58d0 8091 0000 lds r24,Capacity+6 10066 58d4 8F3F cpi r24,lo8(-1) 10067 58d6 01F4 brne .L815 10068 58d8 8091 0000 lds r24,NC_ErrorCode 10069 58dc 8823 tst r24 10070 58de 01F0 breq .L814 10071 .L815: 10072 58e0 8091 0000 lds r24,modell_fliegt 10073 58e4 9091 0000 lds r25,(modell_fliegt)+1 10074 58e8 0297 sbiw r24,2 10075 58ea C097 sbiw r24,48 10076 58ec 00F4 brsh .L814 10077 58ee E981 ldd r30,Y+1 10078 58f0 FA81 ldd r31,Y+2 10079 58f2 1E16 cp __zero_reg__,r30 10080 58f4 1F06 cpc __zero_reg__,r31 10081 58f6 04F4 brge .L814 10082 58f8 81E0 ldi r24,lo8(1) 10083 58fa 90E0 ldi r25,hi8(1) 10084 58fc 9093 0000 sts (modell_fliegt)+1,r25 10085 5900 8093 0000 sts modell_fliegt,r24 10086 5904 E22E mov r14,r18 10087 5906 FF24 clr r15 10088 5908 EE0C lsl r14 10089 590a FF1C rol r15 10090 590c EE0C lsl r14 10091 590e FF1C rol r15 10092 5910 8701 movw r16,r14 10093 5912 085D subi r16,lo8(-(40)) 10094 5914 1F4F sbci r17,hi8(-(40)) 10095 5916 1A83 std Y+2,r17 10096 5918 0983 std Y+1,r16 10097 .L814: 10098 591a 2981 ldd r18,Y+1 10099 591c 3A81 ldd r19,Y+2 10100 591e 3093 0000 sts (DebugOut+16)+1,r19 10101 5922 2093 0000 sts DebugOut+16,r18 10102 5926 8091 0000 lds r24,sollGier.0 10103 592a 9091 0000 lds r25,(sollGier.0)+1 10104 592e A091 0000 lds r26,(sollGier.0)+2 10105 5932 B091 0000 lds r27,(sollGier.0)+3 10106 5936 12E0 ldi r17,2 10107 5938 880F 1: lsl r24 10108 593a 991F rol r25 10109 593c AA1F rol r26 10110 593e BB1F rol r27 10111 5940 1A95 dec r17 10112 5942 01F4 brne 1b 10113 5944 0091 0000 lds r16,MesswertGier 10114 5948 1091 0000 lds r17,(MesswertGier)+1 10115 594c 081B sub r16,r24 10116 594e 190B sbc r17,r25 10117 5950 213A cpi r18,161 10118 5952 3105 cpc r19,__zero_reg__ 10119 5954 04F0 brlt .L817 10120 5956 C901 movw r24,r18 10121 5958 37FD sbrc r19,7 10122 595a 0196 adiw r24,1 10123 .L819: 10124 595c 9595 asr r25 10125 595e 8795 ror r24 10126 5960 8017 cp r24,r16 10127 5962 9107 cpc r25,r17 10128 5964 04F4 brge .L818 10129 5966 8C01 movw r16,r24 10130 .L818: 10131 5968 9095 com r25 10132 596a 8195 neg r24 10133 596c 9F4F sbci r25,lo8(-1) 10134 596e 0817 cp r16,r24 10135 5970 1907 cpc r17,r25 10136 5972 04F4 brge .L824 10137 5974 8C01 movw r16,r24 10138 5976 00C0 rjmp .L824 10139 .L817: 10140 5978 0135 cpi r16,81 10141 597a 1105 cpc r17,__zero_reg__ 10142 597c 04F0 brlt .L825 10143 597e 00E5 ldi r16,lo8(80) 10144 5980 10E0 ldi r17,hi8(80) 10145 .L825: 10146 5982 3FEF ldi r19,hi8(-80) 10147 5984 003B cpi r16,lo8(-80) 10148 5986 1307 cpc r17,r19 10149 5988 04F4 brge .L824 10150 598a 00EB ldi r16,lo8(-80) 10151 598c 1FEF ldi r17,hi8(-80) 10152 .L824: 10153 598e 4D89 ldd r20,Y+21 10154 5990 242F mov r18,r20 10155 5992 3327 clr r19 10156 5994 220F lsl r18 10157 5996 331F rol r19 10158 5998 220F lsl r18 10159 599a 331F rol r19 10160 599c C901 movw r24,r18 10161 599e 6981 ldd r22,Y+1 10162 59a0 7A81 ldd r23,Y+2 10163 59a2 861B sub r24,r22 10164 59a4 970B sbc r25,r23 10165 59a6 8017 cp r24,r16 10166 59a8 9107 cpc r25,r17 10167 59aa 04F4 brge .L827 10168 59ac 8C01 movw r16,r24 10169 .L827: 10170 59ae 8981 ldd r24,Y+1 10171 59b0 9A81 ldd r25,Y+2 10172 59b2 821B sub r24,r18 10173 59b4 930B sbc r25,r19 10174 59b6 0817 cp r16,r24 10175 59b8 1907 cpc r17,r25 10176 59ba 04F4 brge .L828 10177 59bc 8C01 movw r16,r24 10178 .L828: 10179 59be 8091 0000 lds r24,MesswertNick 10180 59c2 9091 0000 lds r25,(MesswertNick)+1 10181 59c6 6091 0000 lds r22,StickNick 10182 59ca 7091 0000 lds r23,(StickNick)+1 10183 59ce 861B sub r24,r22 10184 59d0 970B sbc r25,r23 10185 59d2 9093 0000 sts (DiffNick)+1,r25 10186 59d6 8093 0000 sts DiffNick,r24 10187 59da D090 0000 lds r13,IntegralFaktor 10188 59de 2091 0000 lds r18,SummeNick 10189 59e2 3091 0000 lds r19,(SummeNick)+1 10190 59e6 4091 0000 lds r20,(SummeNick)+2 10191 59ea 5091 0000 lds r21,(SummeNick)+3 10192 59ee DD20 tst r13 10193 59f0 01F0 breq .L829 10194 59f2 661A sub r6,r22 10195 59f4 770A sbc r7,r23 10196 59f6 C301 movw r24,r6 10197 59f8 AA27 clr r26 10198 59fa 97FD sbrc r25,7 10199 59fc A095 com r26 10200 59fe BA2F mov r27,r26 10201 5a00 00C0 rjmp .L920 10202 .L829: 10203 5a02 AA27 clr r26 10204 5a04 97FD sbrc r25,7 10205 5a06 A095 com r26 10206 5a08 BA2F mov r27,r26 10207 .L920: 10208 5a0a 280F add r18,r24 10209 5a0c 391F adc r19,r25 10210 5a0e 4A1F adc r20,r26 10211 5a10 5B1F adc r21,r27 10212 5a12 2093 0000 sts SummeNick,r18 10213 5a16 3093 0000 sts (SummeNick)+1,r19 10214 5a1a 4093 0000 sts (SummeNick)+2,r20 10215 5a1e 5093 0000 sts (SummeNick)+3,r21 10216 5a22 8091 0000 lds r24,SummeNick 10217 5a26 9091 0000 lds r25,(SummeNick)+1 10218 5a2a A091 0000 lds r26,(SummeNick)+2 10219 5a2e B091 0000 lds r27,(SummeNick)+3 10220 5a32 8150 subi r24,lo8(64001) 10221 5a34 9A4F sbci r25,hi8(64001) 10222 5a36 A040 sbci r26,hlo8(64001) 10223 5a38 B040 sbci r27,hhi8(64001) 10224 5a3a 04F0 brlt .L831 10225 5a3c 80E0 ldi r24,lo8(64000) 10226 5a3e 9AEF ldi r25,hi8(64000) 10227 5a40 A0E0 ldi r26,hlo8(64000) 10228 5a42 B0E0 ldi r27,hhi8(64000) 10229 5a44 8093 0000 sts SummeNick,r24 10230 5a48 9093 0000 sts (SummeNick)+1,r25 10231 5a4c A093 0000 sts (SummeNick)+2,r26 10232 5a50 B093 0000 sts (SummeNick)+3,r27 10233 .L831: 10234 5a54 8091 0000 lds r24,SummeNick 10235 5a58 9091 0000 lds r25,(SummeNick)+1 10236 5a5c A091 0000 lds r26,(SummeNick)+2 10237 5a60 B091 0000 lds r27,(SummeNick)+3 10238 5a64 8050 subi r24,lo8(-64000) 10239 5a66 9640 sbci r25,hi8(-64000) 10240 5a68 AF4F sbci r26,hlo8(-64000) 10241 5a6a BF4F sbci r27,hhi8(-64000) 10242 5a6c 04F4 brge .L832 10243 5a6e 80E0 ldi r24,lo8(-64000) 10244 5a70 96E0 ldi r25,hi8(-64000) 10245 5a72 AFEF ldi r26,hlo8(-64000) 10246 5a74 BFEF ldi r27,hhi8(-64000) 10247 5a76 8093 0000 sts SummeNick,r24 10248 5a7a 9093 0000 sts (SummeNick)+1,r25 10249 5a7e A093 0000 sts (SummeNick)+2,r26 10250 5a82 B093 0000 sts (SummeNick)+3,r27 10251 .L832: 10252 5a86 C090 0000 lds r12,EE_Parameter+35 10253 5a8a 2091 0000 lds r18,DiffNick 10254 5a8e 3091 0000 lds r19,(DiffNick)+1 10255 5a92 78E0 ldi r23,lo8(8) 10256 5a94 E72E mov r14,r23 10257 5a96 EC14 cp r14,r12 10258 5a98 00F0 brlo .L833 10259 5a9a 8C2D mov r24,r12 10260 5a9c 9927 clr r25 10261 5a9e 829F mul r24,r18 10262 5aa0 A001 movw r20,r0 10263 5aa2 839F mul r24,r19 10264 5aa4 500D add r21,r0 10265 5aa6 929F mul r25,r18 10266 5aa8 500D add r21,r0 10267 5aaa 1124 clr r1 10268 5aac CA01 movw r24,r20 10269 5aae 57FD sbrc r21,7 10270 5ab0 0796 adiw r24,7 10271 .L834: 10272 5ab2 7C01 movw r14,r24 10273 5ab4 63E0 ldi r22,3 10274 5ab6 F594 1: asr r15 10275 5ab8 E794 ror r14 10276 5aba 6A95 dec r22 10277 5abc 01F4 brne 1b 10278 5abe 00C0 rjmp .L835 10279 .L833: 10280 5ac0 8C2D mov r24,r12 10281 5ac2 8695 lsr r24 10282 5ac4 9927 clr r25 10283 5ac6 829F mul r24,r18 10284 5ac8 B001 movw r22,r0 10285 5aca 839F mul r24,r19 10286 5acc 700D add r23,r0 10287 5ace 929F mul r25,r18 10288 5ad0 700D add r23,r0 10289 5ad2 1124 clr r1 10290 5ad4 CB01 movw r24,r22 10291 5ad6 77FD sbrc r23,7 10292 5ad8 0396 adiw r24,3 10293 .L836: 10294 5ada 7C01 movw r14,r24 10295 5adc F594 asr r15 10296 5ade E794 ror r14 10297 5ae0 F594 asr r15 10298 5ae2 E794 ror r14 10299 .L835: 10300 5ae4 A090 0000 lds r10,Ki 10301 5ae8 B090 0000 lds r11,(Ki)+1 10302 5aec 9501 movw r18,r10 10303 5aee 4427 clr r20 10304 5af0 37FD sbrc r19,7 10305 5af2 4095 com r20 10306 5af4 542F mov r21,r20 10307 5af6 8091 0000 lds r24,SummeNick 10308 5afa 9091 0000 lds r25,(SummeNick)+1 10309 5afe A091 0000 lds r26,(SummeNick)+2 10310 5b02 B091 0000 lds r27,(SummeNick)+3 10311 5b06 BC01 movw r22,r24 10312 5b08 CD01 movw r24,r26 10313 5b0a 0E94 0000 call __divmodsi4 10314 5b0e E20E add r14,r18 10315 5b10 F31E adc r15,r19 10316 5b12 9090 0000 lds r9,Parameter_DynamicStability 10317 5b16 692D mov r22,r9 10318 5b18 7727 clr r23 10319 5b1a 8827 clr r24 10320 5b1c 9927 clr r25 10321 5b1e 9801 movw r18,r16 10322 5b20 17FF sbrs r17,7 10323 5b22 00C0 rjmp .L837 10324 5b24 2227 clr r18 10325 5b26 3327 clr r19 10326 5b28 201B sub r18,r16 10327 5b2a 310B sbc r19,r17 10328 .L837: 10329 5b2c 37FF sbrs r19,7 10330 5b2e 00C0 rjmp .L838 10331 5b30 2F5F subi r18,lo8(-(1)) 10332 5b32 3F4F sbci r19,hi8(-(1)) 10333 .L838: 10334 5b34 3595 asr r19 10335 5b36 2795 ror r18 10336 5b38 A981 ldd r26,Y+1 10337 5b3a BA81 ldd r27,Y+2 10338 5b3c 2A0F add r18,r26 10339 5b3e 3B1F adc r19,r27 10340 5b40 4427 clr r20 10341 5b42 37FD sbrc r19,7 10342 5b44 4095 com r20 10343 5b46 542F mov r21,r20 10344 5b48 0E94 0000 call __mulsi3 10345 5b4c 97FF sbrs r25,7 10346 5b4e 00C0 rjmp .L839 10347 5b50 615C subi r22,lo8(-(63)) 10348 5b52 7F4F sbci r23,hi8(-(63)) 10349 5b54 8F4F sbci r24,hlo8(-(63)) 10350 5b56 9F4F sbci r25,hhi8(-(63)) 10351 .L839: 10352 5b58 26E0 ldi r18,6 10353 5b5a 9595 1: asr r25 10354 5b5c 8795 ror r24 10355 5b5e 7795 ror r23 10356 5b60 6795 ror r22 10357 5b62 2A95 dec r18 10358 5b64 01F4 brne 1b 10359 5b66 9B01 movw r18,r22 10360 5b68 6E15 cp r22,r14 10361 5b6a 7F05 cpc r23,r15 10362 5b6c 04F4 brge .L840 10363 5b6e 7B01 movw r14,r22 10364 .L840: 10365 5b70 3095 com r19 10366 5b72 2195 neg r18 10367 5b74 3F4F sbci r19,lo8(-1) 10368 5b76 E216 cp r14,r18 10369 5b78 F306 cpc r15,r19 10370 5b7a 04F4 brge .L841 10371 5b7c 7901 movw r14,r18 10372 .L841: 10373 5b7e 8091 0000 lds r24,MesswertRoll 10374 5b82 9091 0000 lds r25,(MesswertRoll)+1 10375 5b86 6091 0000 lds r22,StickRoll 10376 5b8a 7091 0000 lds r23,(StickRoll)+1 10377 5b8e 861B sub r24,r22 10378 5b90 970B sbc r25,r23 10379 5b92 9093 0000 sts (DiffRoll)+1,r25 10380 5b96 8093 0000 sts DiffRoll,r24 10381 5b9a 2091 0000 lds r18,SummeRoll 10382 5b9e 3091 0000 lds r19,(SummeRoll)+1 10383 5ba2 4091 0000 lds r20,(SummeRoll)+2 10384 5ba6 5091 0000 lds r21,(SummeRoll)+3 10385 5baa DD20 tst r13 10386 5bac 01F0 breq .L842 10387 5bae 461A sub r4,r22 10388 5bb0 570A sbc r5,r23 10389 5bb2 C201 movw r24,r4 10390 5bb4 AA27 clr r26 10391 5bb6 97FD sbrc r25,7 10392 5bb8 A095 com r26 10393 5bba BA2F mov r27,r26 10394 5bbc 00C0 rjmp .L921 10395 .L842: 10396 5bbe AA27 clr r26 10397 5bc0 97FD sbrc r25,7 10398 5bc2 A095 com r26 10399 5bc4 BA2F mov r27,r26 10400 .L921: 10401 5bc6 280F add r18,r24 10402 5bc8 391F adc r19,r25 10403 5bca 4A1F adc r20,r26 10404 5bcc 5B1F adc r21,r27 10405 5bce 2093 0000 sts SummeRoll,r18 10406 5bd2 3093 0000 sts (SummeRoll)+1,r19 10407 5bd6 4093 0000 sts (SummeRoll)+2,r20 10408 5bda 5093 0000 sts (SummeRoll)+3,r21 10409 5bde 8091 0000 lds r24,SummeRoll 10410 5be2 9091 0000 lds r25,(SummeRoll)+1 10411 5be6 A091 0000 lds r26,(SummeRoll)+2 10412 5bea B091 0000 lds r27,(SummeRoll)+3 10413 5bee 8150 subi r24,lo8(64001) 10414 5bf0 9A4F sbci r25,hi8(64001) 10415 5bf2 A040 sbci r26,hlo8(64001) 10416 5bf4 B040 sbci r27,hhi8(64001) 10417 5bf6 04F0 brlt .L844 10418 5bf8 80E0 ldi r24,lo8(64000) 10419 5bfa 9AEF ldi r25,hi8(64000) 10420 5bfc A0E0 ldi r26,hlo8(64000) 10421 5bfe B0E0 ldi r27,hhi8(64000) 10422 5c00 8093 0000 sts SummeRoll,r24 10423 5c04 9093 0000 sts (SummeRoll)+1,r25 10424 5c08 A093 0000 sts (SummeRoll)+2,r26 10425 5c0c B093 0000 sts (SummeRoll)+3,r27 10426 .L844: 10427 5c10 8091 0000 lds r24,SummeRoll 10428 5c14 9091 0000 lds r25,(SummeRoll)+1 10429 5c18 A091 0000 lds r26,(SummeRoll)+2 10430 5c1c B091 0000 lds r27,(SummeRoll)+3 10431 5c20 8050 subi r24,lo8(-64000) 10432 5c22 9640 sbci r25,hi8(-64000) 10433 5c24 AF4F sbci r26,hlo8(-64000) 10434 5c26 BF4F sbci r27,hhi8(-64000) 10435 5c28 04F4 brge .L845 10436 5c2a 80E0 ldi r24,lo8(-64000) 10437 5c2c 96E0 ldi r25,hi8(-64000) 10438 5c2e AFEF ldi r26,hlo8(-64000) 10439 5c30 BFEF ldi r27,hhi8(-64000) 10440 5c32 8093 0000 sts SummeRoll,r24 10441 5c36 9093 0000 sts (SummeRoll)+1,r25 10442 5c3a A093 0000 sts (SummeRoll)+2,r26 10443 5c3e B093 0000 sts (SummeRoll)+3,r27 10444 .L845: 10445 5c42 2091 0000 lds r18,DiffRoll 10446 5c46 3091 0000 lds r19,(DiffRoll)+1 10447 5c4a 48E0 ldi r20,lo8(8) 10448 5c4c 4C15 cp r20,r12 10449 5c4e 00F0 brlo .L846 10450 5c50 8C2D mov r24,r12 10451 5c52 9927 clr r25 10452 5c54 829F mul r24,r18 10453 5c56 B001 movw r22,r0 10454 5c58 839F mul r24,r19 10455 5c5a 700D add r23,r0 10456 5c5c 929F mul r25,r18 10457 5c5e 700D add r23,r0 10458 5c60 1124 clr r1 10459 5c62 CB01 movw r24,r22 10460 5c64 77FD sbrc r23,7 10461 5c66 0796 adiw r24,7 10462 .L847: 10463 5c68 6C01 movw r12,r24 10464 5c6a B3E0 ldi r27,3 10465 5c6c D594 1: asr r13 10466 5c6e C794 ror r12 10467 5c70 BA95 dec r27 10468 5c72 01F4 brne 1b 10469 5c74 00C0 rjmp .L848 10470 .L846: 10471 5c76 C694 lsr r12 10472 5c78 8C2D mov r24,r12 10473 5c7a 9927 clr r25 10474 5c7c 829F mul r24,r18 10475 5c7e D001 movw r26,r0 10476 5c80 839F mul r24,r19 10477 5c82 B00D add r27,r0 10478 5c84 929F mul r25,r18 10479 5c86 B00D add r27,r0 10480 5c88 1124 clr r1 10481 5c8a CD01 movw r24,r26 10482 5c8c B7FD sbrc r27,7 10483 5c8e 0396 adiw r24,3 10484 .L849: 10485 5c90 6C01 movw r12,r24 10486 5c92 D594 asr r13 10487 5c94 C794 ror r12 10488 5c96 D594 asr r13 10489 5c98 C794 ror r12 10490 .L848: 10491 5c9a 9501 movw r18,r10 10492 5c9c 4427 clr r20 10493 5c9e 37FD sbrc r19,7 10494 5ca0 4095 com r20 10495 5ca2 542F mov r21,r20 10496 5ca4 8091 0000 lds r24,SummeRoll 10497 5ca8 9091 0000 lds r25,(SummeRoll)+1 10498 5cac A091 0000 lds r26,(SummeRoll)+2 10499 5cb0 B091 0000 lds r27,(SummeRoll)+3 10500 5cb4 BC01 movw r22,r24 10501 5cb6 CD01 movw r24,r26 10502 5cb8 0E94 0000 call __divmodsi4 10503 5cbc C20E add r12,r18 10504 5cbe D31E adc r13,r19 10505 5cc0 692D mov r22,r9 10506 5cc2 7727 clr r23 10507 5cc4 8827 clr r24 10508 5cc6 9927 clr r25 10509 5cc8 9801 movw r18,r16 10510 5cca 17FF sbrs r17,7 10511 5ccc 00C0 rjmp .L850 10512 5cce 2227 clr r18 10513 5cd0 3327 clr r19 10514 5cd2 201B sub r18,r16 10515 5cd4 310B sbc r19,r17 10516 .L850: 10517 5cd6 37FF sbrs r19,7 10518 5cd8 00C0 rjmp .L851 10519 5cda 2F5F subi r18,lo8(-(1)) 10520 5cdc 3F4F sbci r19,hi8(-(1)) 10521 .L851: 10522 5cde 3595 asr r19 10523 5ce0 2795 ror r18 10524 5ce2 E981 ldd r30,Y+1 10525 5ce4 FA81 ldd r31,Y+2 10526 5ce6 2E0F add r18,r30 10527 5ce8 3F1F adc r19,r31 10528 5cea 4427 clr r20 10529 5cec 37FD sbrc r19,7 10530 5cee 4095 com r20 10531 5cf0 542F mov r21,r20 10532 5cf2 0E94 0000 call __mulsi3 10533 5cf6 97FF sbrs r25,7 10534 5cf8 00C0 rjmp .L852 10535 5cfa 615C subi r22,lo8(-(63)) 10536 5cfc 7F4F sbci r23,hi8(-(63)) 10537 5cfe 8F4F sbci r24,hlo8(-(63)) 10538 5d00 9F4F sbci r25,hhi8(-(63)) 10539 .L852: 10540 5d02 E6E0 ldi r30,6 10541 5d04 9595 1: asr r25 10542 5d06 8795 ror r24 10543 5d08 7795 ror r23 10544 5d0a 6795 ror r22 10545 5d0c EA95 dec r30 10546 5d0e 01F4 brne 1b 10547 5d10 9B01 movw r18,r22 10548 5d12 6C15 cp r22,r12 10549 5d14 7D05 cpc r23,r13 10550 5d16 04F4 brge .L853 10551 5d18 6B01 movw r12,r22 10552 .L853: 10553 5d1a 3095 com r19 10554 5d1c 2195 neg r18 10555 5d1e 3F4F sbci r19,lo8(-1) 10556 5d20 C216 cp r12,r18 10557 5d22 D306 cpc r13,r19 10558 5d24 04F4 brge .L854 10559 5d26 6901 movw r12,r18 10560 .L854: 10561 5d28 8091 0000 lds r24,MIN_GAS 10562 5d2c 282E mov r2,r24 10563 5d2e 3324 clr r3 10564 5d30 5090 0000 lds r5,EE_Parameter+101 10565 5d34 60E0 ldi r22,lo8(Motor) 10566 5d36 862E mov r8,r22 10567 5d38 60E0 ldi r22,hi8(Motor) 10568 5d3a 962E mov r9,r22 10569 5d3c 50E0 ldi r21,lo8(Mixer+13) 10570 5d3e A52E mov r10,r21 10571 5d40 50E0 ldi r21,hi8(Mixer+13) 10572 5d42 B52E mov r11,r21 10573 5d44 4BE0 ldi r20,lo8(11) 10574 5d46 442E mov r4,r20 10575 5d48 30E0 ldi r19,lo8(tmp_motorwert) 10576 5d4a 632E mov r6,r19 10577 5d4c 30E0 ldi r19,hi8(tmp_motorwert) 10578 5d4e 732E mov r7,r19 10579 .L889: 10580 5d50 D501 movw r26,r10 10581 5d52 2C91 ld r18,X 10582 5d54 1216 cp __zero_reg__,r18 10583 5d56 04F0 brlt .+2 10584 5d58 00C0 rjmp .L858 10585 5d5a 2034 cpi r18,lo8(64) 10586 5d5c 01F4 brne .L859 10587 5d5e E981 ldd r30,Y+1 10588 5d60 FA81 ldd r31,Y+2 10589 5d62 FF8B std Y+23,r31 10590 5d64 EE8B std Y+22,r30 10591 5d66 00C0 rjmp .L860 10592 .L859: 10593 5d68 4981 ldd r20,Y+1 10594 5d6a 5A81 ldd r21,Y+2 10595 5d6c CA01 movw r24,r20 10596 5d6e AA27 clr r26 10597 5d70 97FD sbrc r25,7 10598 5d72 A095 com r26 10599 5d74 BA2F mov r27,r26 10600 5d76 3327 clr r19 10601 5d78 27FD sbrc r18,7 10602 5d7a 3095 com r19 10603 5d7c 432F mov r20,r19 10604 5d7e 532F mov r21,r19 10605 5d80 BC01 movw r22,r24 10606 5d82 CD01 movw r24,r26 10607 5d84 0E94 0000 call __mulsi3 10608 5d88 97FF sbrs r25,7 10609 5d8a 00C0 rjmp .L861 10610 5d8c 615C subi r22,lo8(-(63)) 10611 5d8e 7F4F sbci r23,hi8(-(63)) 10612 5d90 8F4F sbci r24,hlo8(-(63)) 10613 5d92 9F4F sbci r25,hhi8(-(63)) 10614 .L861: 10615 5d94 26E0 ldi r18,6 10616 5d96 9595 1: asr r25 10617 5d98 8795 ror r24 10618 5d9a 7795 ror r23 10619 5d9c 6795 ror r22 10620 5d9e 2A95 dec r18 10621 5da0 01F4 brne 1b 10622 5da2 7F8B std Y+23,r23 10623 5da4 6E8B std Y+22,r22 10624 .L860: 10625 5da6 F501 movw r30,r10 10626 5da8 2181 ldd r18,Z+1 10627 5daa 2034 cpi r18,lo8(64) 10628 5dac 01F4 brne .L862 10629 5dae 2E89 ldd r18,Y+22 10630 5db0 3F89 ldd r19,Y+23 10631 5db2 2E0D add r18,r14 10632 5db4 3F1D adc r19,r15 10633 5db6 3F8B std Y+23,r19 10634 5db8 2E8B std Y+22,r18 10635 5dba 00C0 rjmp .L863 10636 .L862: 10637 5dbc 203C cpi r18,lo8(-64) 10638 5dbe 01F4 brne .L864 10639 5dc0 4E89 ldd r20,Y+22 10640 5dc2 5F89 ldd r21,Y+23 10641 5dc4 4E19 sub r20,r14 10642 5dc6 5F09 sbc r21,r15 10643 5dc8 5F8B std Y+23,r21 10644 5dca 4E8B std Y+22,r20 10645 5dcc 00C0 rjmp .L863 10646 .L864: 10647 5dce C701 movw r24,r14 10648 5dd0 AA27 clr r26 10649 5dd2 97FD sbrc r25,7 10650 5dd4 A095 com r26 10651 5dd6 BA2F mov r27,r26 10652 5dd8 3327 clr r19 10653 5dda 27FD sbrc r18,7 10654 5ddc 3095 com r19 10655 5dde 432F mov r20,r19 10656 5de0 532F mov r21,r19 10657 5de2 BC01 movw r22,r24 10658 5de4 CD01 movw r24,r26 10659 5de6 0E94 0000 call __mulsi3 10660 5dea 97FF sbrs r25,7 10661 5dec 00C0 rjmp .L866 10662 5dee 615C subi r22,lo8(-(63)) 10663 5df0 7F4F sbci r23,hi8(-(63)) 10664 5df2 8F4F sbci r24,hlo8(-(63)) 10665 5df4 9F4F sbci r25,hhi8(-(63)) 10666 .L866: 10667 5df6 B6E0 ldi r27,6 10668 5df8 9595 1: asr r25 10669 5dfa 8795 ror r24 10670 5dfc 7795 ror r23 10671 5dfe 6795 ror r22 10672 5e00 BA95 dec r27 10673 5e02 01F4 brne 1b 10674 5e04 AE89 ldd r26,Y+22 10675 5e06 BF89 ldd r27,Y+23 10676 5e08 A60F add r26,r22 10677 5e0a B71F adc r27,r23 10678 5e0c BF8B std Y+23,r27 10679 5e0e AE8B std Y+22,r26 10680 .L863: 10681 5e10 F501 movw r30,r10 10682 5e12 2281 ldd r18,Z+2 10683 5e14 2034 cpi r18,lo8(64) 10684 5e16 01F4 brne .L867 10685 5e18 2E89 ldd r18,Y+22 10686 5e1a 3F89 ldd r19,Y+23 10687 5e1c 2C0D add r18,r12 10688 5e1e 3D1D adc r19,r13 10689 5e20 3F8B std Y+23,r19 10690 5e22 2E8B std Y+22,r18 10691 5e24 00C0 rjmp .L868 10692 .L867: 10693 5e26 203C cpi r18,lo8(-64) 10694 5e28 01F4 brne .L869 10695 5e2a 4E89 ldd r20,Y+22 10696 5e2c 5F89 ldd r21,Y+23 10697 5e2e 4C19 sub r20,r12 10698 5e30 5D09 sbc r21,r13 10699 5e32 5F8B std Y+23,r21 10700 5e34 4E8B std Y+22,r20 10701 5e36 00C0 rjmp .L868 10702 .L869: 10703 5e38 C601 movw r24,r12 10704 5e3a AA27 clr r26 10705 5e3c 97FD sbrc r25,7 10706 5e3e A095 com r26 10707 5e40 BA2F mov r27,r26 10708 5e42 3327 clr r19 10709 5e44 27FD sbrc r18,7 10710 5e46 3095 com r19 10711 5e48 432F mov r20,r19 10712 5e4a 532F mov r21,r19 10713 5e4c BC01 movw r22,r24 10714 5e4e CD01 movw r24,r26 10715 5e50 0E94 0000 call __mulsi3 10716 5e54 97FF sbrs r25,7 10717 5e56 00C0 rjmp .L871 10718 5e58 615C subi r22,lo8(-(63)) 10719 5e5a 7F4F sbci r23,hi8(-(63)) 10720 5e5c 8F4F sbci r24,hlo8(-(63)) 10721 5e5e 9F4F sbci r25,hhi8(-(63)) 10722 .L871: 10723 5e60 A6E0 ldi r26,6 10724 5e62 9595 1: asr r25 10725 5e64 8795 ror r24 10726 5e66 7795 ror r23 10727 5e68 6795 ror r22 10728 5e6a AA95 dec r26 10729 5e6c 01F4 brne 1b 10730 5e6e AE89 ldd r26,Y+22 10731 5e70 BF89 ldd r27,Y+23 10732 5e72 A60F add r26,r22 10733 5e74 B71F adc r27,r23 10734 5e76 BF8B std Y+23,r27 10735 5e78 AE8B std Y+22,r26 10736 .L868: 10737 5e7a F501 movw r30,r10 10738 5e7c 2381 ldd r18,Z+3 10739 5e7e 2034 cpi r18,lo8(64) 10740 5e80 01F4 brne .L872 10741 5e82 2E89 ldd r18,Y+22 10742 5e84 3F89 ldd r19,Y+23 10743 5e86 200F add r18,r16 10744 5e88 311F adc r19,r17 10745 5e8a 3F8B std Y+23,r19 10746 5e8c 2E8B std Y+22,r18 10747 5e8e 00C0 rjmp .L873 10748 .L872: 10749 5e90 203C cpi r18,lo8(-64) 10750 5e92 01F4 brne .L874 10751 5e94 4E89 ldd r20,Y+22 10752 5e96 5F89 ldd r21,Y+23 10753 5e98 401B sub r20,r16 10754 5e9a 510B sbc r21,r17 10755 5e9c 5F8B std Y+23,r21 10756 5e9e 4E8B std Y+22,r20 10757 5ea0 00C0 rjmp .L873 10758 .L874: 10759 5ea2 C801 movw r24,r16 10760 5ea4 AA27 clr r26 10761 5ea6 97FD sbrc r25,7 10762 5ea8 A095 com r26 10763 5eaa BA2F mov r27,r26 10764 5eac 3327 clr r19 10765 5eae 27FD sbrc r18,7 10766 5eb0 3095 com r19 10767 5eb2 432F mov r20,r19 10768 5eb4 532F mov r21,r19 10769 5eb6 BC01 movw r22,r24 10770 5eb8 CD01 movw r24,r26 10771 5eba 0E94 0000 call __mulsi3 10772 5ebe 97FF sbrs r25,7 10773 5ec0 00C0 rjmp .L876 10774 5ec2 615C subi r22,lo8(-(63)) 10775 5ec4 7F4F sbci r23,hi8(-(63)) 10776 5ec6 8F4F sbci r24,hlo8(-(63)) 10777 5ec8 9F4F sbci r25,hhi8(-(63)) 10778 .L876: 10779 5eca F6E0 ldi r31,6 10780 5ecc 9595 1: asr r25 10781 5ece 8795 ror r24 10782 5ed0 7795 ror r23 10783 5ed2 6795 ror r22 10784 5ed4 FA95 dec r31 10785 5ed6 01F4 brne 1b 10786 5ed8 AE89 ldd r26,Y+22 10787 5eda BF89 ldd r27,Y+23 10788 5edc A60F add r26,r22 10789 5ede B71F adc r27,r23 10790 5ee0 BF8B std Y+23,r27 10791 5ee2 AE8B std Y+22,r26 10792 .L873: 10793 5ee4 F301 movw r30,r6 10794 5ee6 8081 ld r24,Z 10795 5ee8 9181 ldd r25,Z+1 10796 5eea 2E89 ldd r18,Y+22 10797 5eec 3F89 ldd r19,Y+23 10798 5eee 8217 cp r24,r18 10799 5ef0 9307 cpc r25,r19 10800 5ef2 04F4 brge .L877 10801 5ef4 B901 movw r22,r18 10802 5ef6 680F add r22,r24 10803 5ef8 791F adc r23,r25 10804 5efa 77FF sbrs r23,7 10805 5efc 00C0 rjmp .L878 10806 5efe 6F5F subi r22,lo8(-(1)) 10807 5f00 7F4F sbci r23,hi8(-(1)) 10808 .L878: 10809 5f02 7595 asr r23 10810 5f04 6795 ror r22 10811 5f06 7F8B std Y+23,r23 10812 5f08 6E8B std Y+22,r22 10813 5f0a 00C0 rjmp .L879 10814 .L877: 10815 5f0c 5520 tst r5 10816 5f0e 01F4 brne .L880 10817 5f10 4E89 ldd r20,Y+22 10818 5f12 5F89 ldd r21,Y+23 10819 5f14 440F add r20,r20 10820 5f16 551F adc r21,r21 10821 5f18 481B sub r20,r24 10822 5f1a 590B sbc r21,r25 10823 5f1c 5F8B std Y+23,r21 10824 5f1e 4E8B std Y+22,r20 10825 5f20 00C0 rjmp .L879 10826 .L880: 10827 5f22 51E0 ldi r21,lo8(1) 10828 5f24 5515 cp r21,r5 10829 5f26 00F4 brsh .L879 10830 5f28 252D mov r18,r5 10831 5f2a 3327 clr r19 10832 5f2c 6E89 ldd r22,Y+22 10833 5f2e 7F89 ldd r23,Y+23 10834 5f30 861B sub r24,r22 10835 5f32 970B sbc r25,r23 10836 5f34 B901 movw r22,r18 10837 5f36 0E94 0000 call __divmodhi4 10838 5f3a AE89 ldd r26,Y+22 10839 5f3c BF89 ldd r27,Y+23 10840 5f3e A60F add r26,r22 10841 5f40 B71F adc r27,r23 10842 5f42 BF8B std Y+23,r27 10843 5f44 AE8B std Y+22,r26 10844 .L879: 10845 5f46 C101 movw r24,r2 10846 5f48 880F lsl r24 10847 5f4a 991F rol r25 10848 5f4c 880F lsl r24 10849 5f4e 991F rol r25 10850 5f50 EE89 ldd r30,Y+22 10851 5f52 FF89 ldd r31,Y+23 10852 5f54 8E17 cp r24,r30 10853 5f56 9F07 cpc r25,r31 10854 5f58 04F4 brge .L922 10855 5f5a FD89 ldd r31,Y+21 10856 5f5c 8F2F mov r24,r31 10857 5f5e 9927 clr r25 10858 5f60 880F lsl r24 10859 5f62 991F rol r25 10860 5f64 880F lsl r24 10861 5f66 991F rol r25 10862 5f68 2E89 ldd r18,Y+22 10863 5f6a 3F89 ldd r19,Y+23 10864 5f6c 2817 cp r18,r24 10865 5f6e 3907 cpc r19,r25 10866 5f70 04F0 brlt .L884 10867 .L922: 10868 5f72 9F8B std Y+23,r25 10869 5f74 8E8B std Y+22,r24 10870 .L884: 10871 5f76 8E89 ldd r24,Y+22 10872 5f78 9F89 ldd r25,Y+23 10873 5f7a 97FD sbrc r25,7 10874 5f7c 0396 adiw r24,3 10875 .L886: 10876 5f7e 9595 asr r25 10877 5f80 8795 ror r24 10878 5f82 9595 asr r25 10879 5f84 8795 ror r24 10880 5f86 F401 movw r30,r8 10881 5f88 8183 std Z+1,r24 10882 5f8a 880F lsl r24 10883 5f8c 991F rol r25 10884 5f8e 880F lsl r24 10885 5f90 991F rol r25 10886 5f92 2E89 ldd r18,Y+22 10887 5f94 3F89 ldd r19,Y+23 10888 5f96 281B sub r18,r24 10889 5f98 390B sbc r19,r25 10890 5f9a C901 movw r24,r18 10891 5f9c 880F lsl r24 10892 5f9e 8283 std Z+2,r24 10893 5fa0 EE89 ldd r30,Y+22 10894 5fa2 FF89 ldd r31,Y+23 10895 5fa4 D301 movw r26,r6 10896 5fa6 ED93 st X+,r30 10897 5fa8 FC93 st X,r31 10898 5faa 00C0 rjmp .L857 10899 .L858: 10900 5fac F401 movw r30,r8 10901 5fae 1182 std Z+1,__zero_reg__ 10902 5fb0 1282 std Z+2,__zero_reg__ 10903 .L857: 10904 5fb2 4A94 dec r4 10905 5fb4 22E0 ldi r18,lo8(2) 10906 5fb6 30E0 ldi r19,hi8(2) 10907 5fb8 620E add r6,r18 10908 5fba 731E adc r7,r19 10909 5fbc 44E0 ldi r20,lo8(4) 10910 5fbe 50E0 ldi r21,hi8(4) 10911 5fc0 A40E add r10,r20 10912 5fc2 B51E adc r11,r21 10913 5fc4 68E0 ldi r22,lo8(8) 10914 5fc6 70E0 ldi r23,hi8(8) 10915 5fc8 860E add r8,r22 10916 5fca 971E adc r9,r23 10917 5fcc 47FE sbrs r4,7 10918 5fce 00C0 rjmp .L889 10919 /* epilogue: frame size=23 */ 10920 5fd0 E2E1 ldi r30,18 10921 5fd2 C95E subi r28,-23 10922 5fd4 0C94 0000 jmp __epilogue_restores__+0 10923 /* epilogue end (size=4) */ 10924 /* function MotorRegler size 8305 (8295) */ 10926 .comm TrimNick,2,1 10927 .comm TrimRoll,2,1 10928 .comm ErsatzKompass,4,1 10929 .comm ErsatzKompassInGrad,2,1 10930 .comm MesswertNick,2,1 10931 .comm MesswertRoll,2,1 10932 .comm MesswertGier,2,1 10933 .comm Mittelwert_AccNick,2,1 10934 .comm Mittelwert_AccRoll,2,1 10935 .comm NaviAccNick,2,1 10936 .comm NaviAccRoll,2,1 10937 .comm h,1,1 10938 .comm m,1,1 10939 .comm s,1,1 10940 .comm DiffNick,2,1 10941 .comm DiffRoll,2,1 10942 .comm Parameter_Servo3,1,1 10943 .comm Parameter_Servo4,1,1 10944 .comm Parameter_Servo5,1,1 10945 .comm Parameter_J16Bitmask,1,1 10946 .comm Parameter_J16Timing,1,1 10947 .comm Parameter_J17Bitmask,1,1 10948 .comm Parameter_J17Timing,1,1 10949 .comm Parameter_GlobalConfig,1,1 10950 .comm Parameter_ExtraConfig,1,1 10951 .comm MesswertGierBias,2,1 10952 .comm RohMesswertNick,2,1 10953 .comm RohMesswertRoll,2,1 10954 .comm MittelIntegralNick,4,1 10955 .comm MittelIntegralRoll,4,1 10956 .comm MittelIntegralNick2,4,1 10957 .comm MittelIntegralRoll2,4,1 10958 .comm MAX_GAS,1,1 10959 .comm MIN_GAS,1,1 10960 .comm GyroFaktor,1,1 10961 .comm GyroFaktorGier,1,1 10962 .comm IntegralFaktor,1,1 10963 .comm IntegralFaktorGier,1,1 10964 .comm Parameter_NaviGpsModeControl,1,1 10965 .comm Parameter_NaviGpsGain,1,1 10966 .comm Parameter_NaviGpsP,1,1 10967 .comm Parameter_NaviGpsI,1,1 10968 .comm Parameter_NaviGpsD,1,1 10969 .comm Parameter_NaviGpsACC,1,1 10970 .comm Parameter_NaviOperatingRadius,1,1 10971 .comm Parameter_NaviWindCorrection,1,1 10972 .comm Parameter_NaviSpeedCompensation,1,1 10973 .comm Parameter_ExternalControl,1,1 10974 .comm Parameter_MaximumAltitude,1,1 10975 .comm KopplungsteilNickRoll,2,1 10976 .comm KopplungsteilRollNick,2,1 10977 .comm tmp_motorwert,24,1 10978 /* File "fc.c": code 12435 = 0x3093 (12374), prologues 31, epilogues 30 */ DEFINED SYMBOLS *ABS*:00000000 fc.c C:\Temp/ccMKYVI5.s:3 *ABS*:0000003f __SREG__ C:\Temp/ccMKYVI5.s:4 *ABS*:0000003e __SP_H__ C:\Temp/ccMKYVI5.s:5 *ABS*:0000003d __SP_L__ C:\Temp/ccMKYVI5.s:6 *ABS*:00000000 __tmp_reg__ C:\Temp/ccMKYVI5.s:7 *ABS*:00000001 __zero_reg__ C:\Temp/ccMKYVI5.s:15 .bss:00000000 GasIsZeroCnt C:\Temp/ccMKYVI5.s:21 .bss:00000002 HooverGasEmergencyPercent C:\Temp/ccMKYVI5.s:27 .data:00000000 VarioCharacter C:\Temp/ccMKYVI5.s:32 .data:00000001 GIER_GRAD_FAKTOR C:\Temp/ccMKYVI5.s:39 .bss:00000004 FC_StatusFlags2 C:\Temp/ccMKYVI5.s:45 .bss:00000005 FC_StatusFlags C:\Temp/ccMKYVI5.s:51 .bss:00000006 modell_fliegt C:\Temp/ccMKYVI5.s:57 .bss:00000008 MaxStickRoll C:\Temp/ccMKYVI5.s:63 .bss:0000000a MaxStickNick C:\Temp/ccMKYVI5.s:69 .data:00000005 ExternHoehenValue C:\Temp/ccMKYVI5.s:76 .bss:0000000c ExternStickGier C:\Temp/ccMKYVI5.s:82 .bss:0000000e ExternStickRoll C:\Temp/ccMKYVI5.s:88 .bss:00000010 ExternStickNick C:\Temp/ccMKYVI5.s:94 .data:00000007 sintab C:\Temp/ccMKYVI5.s:131 .bss:00000012 CareFree C:\Temp/ccMKYVI5.s:137 .data:00000026 Parameter_DynamicStability C:\Temp/ccMKYVI5.s:142 .data:00000027 Parameter_CouplingYawCorrection C:\Temp/ccMKYVI5.s:147 .data:00000028 Parameter_AchsKopplung2 C:\Temp/ccMKYVI5.s:152 .data:00000029 Parameter_AchsKopplung1 C:\Temp/ccMKYVI5.s:157 .data:0000002a Parameter_LoopGasLimit C:\Temp/ccMKYVI5.s:162 .data:0000002b Parameter_ServoRollComp C:\Temp/ccMKYVI5.s:167 .data:0000002c Parameter_ServoNickComp C:\Temp/ccMKYVI5.s:172 .data:0000002d Parameter_ServoRollControl C:\Temp/ccMKYVI5.s:177 .data:0000002e Parameter_ServoNickControl C:\Temp/ccMKYVI5.s:184 .bss:00000013 Parameter_UserParam8 C:\Temp/ccMKYVI5.s:190 .bss:00000014 Parameter_UserParam7 C:\Temp/ccMKYVI5.s:196 .bss:00000015 Parameter_UserParam6 C:\Temp/ccMKYVI5.s:202 .bss:00000016 Parameter_UserParam5 C:\Temp/ccMKYVI5.s:208 .bss:00000017 Parameter_UserParam4 C:\Temp/ccMKYVI5.s:214 .bss:00000018 Parameter_UserParam3 C:\Temp/ccMKYVI5.s:220 .bss:00000019 Parameter_UserParam2 C:\Temp/ccMKYVI5.s:226 .bss:0000001a Parameter_UserParam1 C:\Temp/ccMKYVI5.s:232 .data:0000002f Parameter_I_Faktor C:\Temp/ccMKYVI5.s:237 .data:00000030 Parameter_Gier_P C:\Temp/ccMKYVI5.s:242 .data:00000031 Parameter_Gyro_Gier_I C:\Temp/ccMKYVI5.s:247 .data:00000032 Parameter_Gyro_Gier_P C:\Temp/ccMKYVI5.s:252 .data:00000033 Parameter_Gyro_I C:\Temp/ccMKYVI5.s:257 .data:00000034 Parameter_Gyro_P C:\Temp/ccMKYVI5.s:262 .data:00000035 Parameter_Gyro_D C:\Temp/ccMKYVI5.s:267 .data:00000036 Parameter_Hoehe_GPS_Z C:\Temp/ccMKYVI5.s:272 .data:00000037 Parameter_KompassWirkung C:\Temp/ccMKYVI5.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung C:\Temp/ccMKYVI5.s:282 .data:00000039 Parameter_Hoehe_P C:\Temp/ccMKYVI5.s:287 .data:0000003a Parameter_HoehenSchalter C:\Temp/ccMKYVI5.s:292 .data:0000003b Parameter_Luftdruck_D C:\Temp/ccMKYVI5.s:299 .bss:0000001b Looping_Oben C:\Temp/ccMKYVI5.s:305 .bss:0000001c Looping_Unten C:\Temp/ccMKYVI5.s:311 .bss:0000001d Looping_Rechts C:\Temp/ccMKYVI5.s:317 .bss:0000001e Looping_Links C:\Temp/ccMKYVI5.s:323 .bss:0000001f Looping_Roll C:\Temp/ccMKYVI5.s:329 .bss:00000020 Looping_Nick C:\Temp/ccMKYVI5.s:335 .data:0000003c Ki C:\Temp/ccMKYVI5.s:342 .bss:00000021 HoverGas C:\Temp/ccMKYVI5.s:348 .bss:00000023 LageKorrekturNick C:\Temp/ccMKYVI5.s:354 .bss:00000025 LageKorrekturRoll C:\Temp/ccMKYVI5.s:360 .bss:00000027 NeueKompassRichtungMerken C:\Temp/ccMKYVI5.s:366 .bss:00000028 CalibrationDone C:\Temp/ccMKYVI5.s:372 .bss:00000029 CompassGierSetpoint C:\Temp/ccMKYVI5.s:378 .bss:0000002b WaypointTrimming C:\Temp/ccMKYVI5.s:384 .data:0000003e carefree_old C:\Temp/ccMKYVI5.s:391 .bss:0000002c FromNC_AltitudeSpeed C:\Temp/ccMKYVI5.s:397 .bss:0000002d FromNC_AltitudeSetpoint C:\Temp/ccMKYVI5.s:403 .bss:00000031 AltitudeSetpointTrimming C:\Temp/ccMKYVI5.s:409 .bss:00000033 SollHoehe C:\Temp/ccMKYVI5.s:415 .bss:00000037 HoehenWert C:\Temp/ccMKYVI5.s:421 .bss:0000003b StartTrigger C:\Temp/ccMKYVI5.s:427 .bss:0000003c MotorenEin C:\Temp/ccMKYVI5.s:433 .bss:0000003d SenderOkay C:\Temp/ccMKYVI5.s:439 .bss:0000003e Poti C:\Temp/ccMKYVI5.s:445 .bss:00000047 StickGas C:\Temp/ccMKYVI5.s:451 .bss:00000049 StickGier C:\Temp/ccMKYVI5.s:457 .bss:0000004b StickRoll C:\Temp/ccMKYVI5.s:463 .bss:0000004d StickNick C:\Temp/ccMKYVI5.s:469 .data:0000003f HoverGasMax C:\Temp/ccMKYVI5.s:476 .bss:0000004f HoverGasMin C:\Temp/ccMKYVI5.s:482 .data:00000041 StickGasHover C:\Temp/ccMKYVI5.s:489 .bss:00000051 GierGyroFehler C:\Temp/ccMKYVI5.s:495 .data:00000043 Umschlag180Roll C:\Temp/ccMKYVI5.s:500 .data:00000047 Umschlag180Nick C:\Temp/ccMKYVI5.s:507 .bss:00000053 TrichterFlug C:\Temp/ccMKYVI5.s:513 .bss:00000054 HoehenReglerAktiv C:\Temp/ccMKYVI5.s:519 .data:0000004b KompassSignalSchlecht C:\Temp/ccMKYVI5.s:524 .data:0000004d KompassFusion C:\Temp/ccMKYVI5.s:529 .data:0000004e CalculateCompassTimer C:\Temp/ccMKYVI5.s:536 .bss:00000055 KompassSollWert C:\Temp/ccMKYVI5.s:542 .data:0000004f KompassValue C:\Temp/ccMKYVI5.s:549 .bss:00000057 Mess_Integral_Hoch C:\Temp/ccMKYVI5.s:555 .bss:0000005b SummeRoll C:\Temp/ccMKYVI5.s:561 .bss:0000005f SummeNick C:\Temp/ccMKYVI5.s:567 .bss:00000063 Mess_Integral_Gier2 C:\Temp/ccMKYVI5.s:573 .bss:00000067 Mess_Integral_Gier C:\Temp/ccMKYVI5.s:579 .bss:0000006b Mess_IntegralRoll2 C:\Temp/ccMKYVI5.s:585 .bss:0000006f Mess_IntegralRoll C:\Temp/ccMKYVI5.s:591 .bss:00000073 Mess_IntegralNick2 C:\Temp/ccMKYVI5.s:597 .bss:00000077 Mess_IntegralNick C:\Temp/ccMKYVI5.s:603 .bss:0000007b Integral_Gier C:\Temp/ccMKYVI5.s:609 .bss:0000007f IntegralAccZ C:\Temp/ccMKYVI5.s:615 .bss:00000083 IntegralAccRoll C:\Temp/ccMKYVI5.s:621 .bss:00000087 IntegralAccNick C:\Temp/ccMKYVI5.s:627 .bss:0000008b IntegralRoll2 C:\Temp/ccMKYVI5.s:633 .bss:0000008f IntegralRoll C:\Temp/ccMKYVI5.s:639 .bss:00000093 IntegralNick2 C:\Temp/ccMKYVI5.s:645 .bss:00000097 IntegralNick C:\Temp/ccMKYVI5.s:651 .bss:0000009b ControlHeading C:\Temp/ccMKYVI5.s:657 .bss:0000009c NeutralAccZ C:\Temp/ccMKYVI5.s:663 .bss:0000009e NaviCntAcc C:\Temp/ccMKYVI5.s:669 .bss:000000a0 NeutralAccY C:\Temp/ccMKYVI5.s:675 .bss:000000a2 NeutralAccX C:\Temp/ccMKYVI5.s:681 .bss:000000a4 StartNeutralNick C:\Temp/ccMKYVI5.s:687 .bss:000000a6 StartNeutralRoll C:\Temp/ccMKYVI5.s:693 .bss:000000a8 AdNeutralGier C:\Temp/ccMKYVI5.s:699 .bss:000000aa AdNeutralRoll C:\Temp/ccMKYVI5.s:705 .bss:000000ac AdNeutralNick C:\Temp/ccMKYVI5.s:711 .bss:000000ae BaroExpandActive C:\Temp/ccMKYVI5.s:716 .text:00000000 CopyDebugValues *COM*:00000002 Mittelwert_AccNick *COM*:00000002 Mittelwert_AccRoll *COM*:00000004 ErsatzKompass C:\Temp/ccMKYVI5.s:933 .text:000002a0 Piep C:\Temp/ccMKYVI5.s:1007 .text:00000326 CalibrierMittelwert *COM*:00000002 MesswertNick *COM*:00000002 MesswertRoll *COM*:00000002 MesswertGier C:\Temp/ccMKYVI5.s:1149 .progmem.data:00000000 __c.35 C:\Temp/ccMKYVI5.s:1154 .text:00000468 SetNeutral .bss:000000b0 tmpl.27 C:\Temp/ccMKYVI5.s:1662 .bss:000000b4 tmpl2.28 C:\Temp/ccMKYVI5.s:1663 .bss:000000b8 tmpl3.29 C:\Temp/ccMKYVI5.s:1664 .bss:000000bc tmpl4.30 C:\Temp/ccMKYVI5.s:1665 .bss:000000c0 oldNick.31 C:\Temp/ccMKYVI5.s:1666 .bss:000000c2 oldRoll.32 C:\Temp/ccMKYVI5.s:1667 .bss:000000c4 d2Roll.33 C:\Temp/ccMKYVI5.s:1668 .bss:000000c6 d2Nick.34 C:\Temp/ccMKYVI5.s:1672 .text:000009d4 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/ccMKYVI5.s:3237 .text:00001938 SendMotorData C:\Temp/ccMKYVI5.s:3297 .text:000019b2 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/ccMKYVI5.s:1669 .bss:000000c8 sollGier.0 C:\Temp/ccMKYVI5.s:4040 .bss:000000cc tmp_long.1 C:\Temp/ccMKYVI5.s:4041 .bss:000000d0 tmp_long2.2 C:\Temp/ccMKYVI5.s:4042 .bss:000000d4 IntegralFehlerNick.3 C:\Temp/ccMKYVI5.s:4043 .bss:000000d8 IntegralFehlerRoll.4 C:\Temp/ccMKYVI5.s:4044 .bss:000000dc RcLostTimer.5 C:\Temp/ccMKYVI5.s:4045 .bss:000000de delay_neutral.6 C:\Temp/ccMKYVI5.s:4046 .bss:000000df delay_einschalten.7 C:\Temp/ccMKYVI5.s:4047 .bss:000000e0 delay_ausschalten.8 C:\Temp/ccMKYVI5.s:4048 .bss:000000e1 move_safety_switch.9 C:\Temp/ccMKYVI5.s:4049 .bss:000000e2 ausgleichNick.10 C:\Temp/ccMKYVI5.s:4050 .bss:000000e6 ausgleichRoll.11 C:\Temp/ccMKYVI5.s:4051 .bss:000000ea stick_nick.12 C:\Temp/ccMKYVI5.s:4052 .bss:000000ec stick_roll.13 C:\Temp/ccMKYVI5.s:4053 .bss:000000ee cnt.14 C:\Temp/ccMKYVI5.s:4054 .bss:000000f0 last_n_p.15 C:\Temp/ccMKYVI5.s:4055 .bss:000000f1 last_n_n.16 C:\Temp/ccMKYVI5.s:4056 .bss:000000f2 last_r_p.17 C:\Temp/ccMKYVI5.s:4057 .bss:000000f3 last_r_n.18 C:\Temp/ccMKYVI5.s:4058 .bss:000000f4 MittelIntegralNick_Alt.19 C:\Temp/ccMKYVI5.s:4059 .bss:000000f8 MittelIntegralRoll_Alt.20 C:\Temp/ccMKYVI5.s:4060 .bss:000000fc HeightTrimming.21 C:\Temp/ccMKYVI5.s:4061 .bss:000000fe FilterHCGas.22 C:\Temp/ccMKYVI5.s:4062 .bss:00000100 HoverGasFilter.23 C:\Temp/ccMKYVI5.s:4067 .data:00000051 delay.24 C:\Temp/ccMKYVI5.s:4063 .bss:00000104 BaroAtUpperLimit.25 C:\Temp/ccMKYVI5.s:4069 .bss:00000105 BaroAtLowerLimit.26 C:\Temp/ccMKYVI5.s:4074 .text:00001fea 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 ErsatzKompassInGrad *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 Capacity UBat Motor AdWertGier ServoNickValue AdWertAccHoch 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