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main.lst
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1 .file "main.c"
2 __SREG__ = 0x3f
3 __SP_H__ = 0x3e
4 __SP_L__ = 0x3d
5 __CCP__ = 0x34
6 __tmp_reg__ = 0
7 __zero_reg__ = 1
8 .global __do_copy_data
9 .global __do_clear_bss
10 .text
11 .global LipoDetection
13 LipoDetection:
14 0000 1F93 push r17
15 0002 CF93 push r28
16 0004 DF93 push r29
17 /* prologue: function */
18 /* frame size = 0 */
19 0006 182F mov r17,r24
20 0008 8823 tst r24
21 000a 01F0 breq .L2
22 000c 00D0 rcall .
23 000e 0F92 push __tmp_reg__
24 0010 ADB7 in r26,__SP_L__
25 0012 BEB7 in r27,__SP_H__
26 0014 1196 adiw r26,1
27 0016 1C92 st X,__zero_reg__
28 0018 1197 sbiw r26,1
29 001a 80E0 ldi r24,lo8(__c.2236)
30 001c 90E0 ldi r25,hi8(__c.2236)
31 001e 1396 adiw r26,2+1
32 0020 9C93 st X,r25
33 0022 8E93 st -X,r24
34 0024 1297 sbiw r26,2
35 0026 0E94 0000 call _printf_P
36 002a 0F90 pop __tmp_reg__
37 002c 0F90 pop __tmp_reg__
38 002e 0F90 pop __tmp_reg__
39 .L2:
40 0030 8091 0000 lds r24,EE_Parameter+36
41 0034 8233 cpi r24,lo8(50)
42 0036 00F0 brlo .+2
43 0038 00C0 rjmp .L3
44 003a 84EF ldi r24,lo8(500)
45 003c 91E0 ldi r25,hi8(500)
46 003e 0E94 0000 call SetDelay
47 0042 EC01 movw r28,r24
48 0044 1123 tst r17
49 0046 01F0 breq .L4
50 .L11:
51 0048 CE01 movw r24,r28
52 004a 0E94 0000 call CheckDelay
53 004e 8823 tst r24
54 0050 01F0 breq .L11
55 .L4:
56 0052 C2E0 ldi r28,lo8(2)
57 0054 D0E0 ldi r29,hi8(2)
58 0056 26E5 ldi r18,lo8(86)
59 0058 30E0 ldi r19,hi8(86)
60 .L7:
61 005a 8091 0000 lds r24,UBat
62 005e 9091 0000 lds r25,(UBat)+1
63 0062 8217 cp r24,r18
64 0064 9307 cpc r25,r19
65 0066 00F0 brlo .L6
66 0068 2196 adiw r28,1
67 006a 255D subi r18,lo8(-(43))
68 006c 3F4F sbci r19,hi8(-(43))
69 006e C730 cpi r28,7
70 0070 D105 cpc r29,__zero_reg__
71 0072 01F4 brne .L7
72 .L6:
73 0074 8091 0000 lds r24,EE_Parameter+36
74 0078 90E0 ldi r25,lo8(0)
75 007a FC01 movw r30,r24
76 007c CE9F mul r28,r30
77 007e C001 movw r24,r0
78 0080 CF9F mul r28,r31
79 0082 900D add r25,r0
80 0084 DE9F mul r29,r30
81 0086 900D add r25,r0
82 0088 1124 clr r1
83 008a 8093 0000 sts BattLowVoltageWarning,r24
84 008e 1123 tst r17
85 0090 01F4 brne .+2
86 0092 00C0 rjmp .L10
87 0094 8C2F mov r24,r28
88 0096 68EC ldi r22,lo8(200)
89 0098 70E0 ldi r23,hi8(200)
90 009a 0E94 0000 call Piep
91 009e 00D0 rcall .
92 00a0 00D0 rcall .
93 00a2 0F92 push __tmp_reg__
94 00a4 EDB7 in r30,__SP_L__
95 00a6 FEB7 in r31,__SP_H__
96 00a8 3196 adiw r30,1
97 00aa ADB7 in r26,__SP_L__
98 00ac BEB7 in r27,__SP_H__
99 00ae 1196 adiw r26,1
100 00b0 1C92 st X,__zero_reg__
101 00b2 80E0 ldi r24,lo8(__c.2244)
102 00b4 90E0 ldi r25,hi8(__c.2244)
103 00b6 9283 std Z+2,r25
104 00b8 8183 std Z+1,r24
105 00ba D483 std Z+4,r29
106 00bc C383 std Z+3,r28
107 00be 0E94 0000 call _printf_P
108 00c2 0F90 pop __tmp_reg__
109 00c4 0F90 pop __tmp_reg__
110 00c6 0F90 pop __tmp_reg__
111 00c8 0F90 pop __tmp_reg__
112 00ca 0F90 pop __tmp_reg__
113 00cc 00C0 rjmp .L9
114 .L3:
115 00ce 8093 0000 sts BattLowVoltageWarning,r24
116 00d2 1123 tst r17
117 00d4 01F0 breq .L10
118 .L9:
119 00d6 2091 0000 lds r18,BattLowVoltageWarning
120 00da EDB7 in r30,__SP_L__
121 00dc FEB7 in r31,__SP_H__
122 00de 3797 sbiw r30,7
123 00e0 EDBF out __SP_L__,r30
124 00e2 3196 adiw r30,1
125 00e4 ADB7 in r26,__SP_L__
126 00e6 BEB7 in r27,__SP_H__
127 00e8 1196 adiw r26,1
128 00ea 1C92 st X,__zero_reg__
129 00ec 80E0 ldi r24,lo8(__c.2246)
130 00ee 90E0 ldi r25,hi8(__c.2246)
131 00f0 9283 std Z+2,r25
132 00f2 8183 std Z+1,r24
133 00f4 822F mov r24,r18
134 00f6 6AE0 ldi r22,lo8(10)
135 00f8 0E94 0000 call __udivmodqi4
136 00fc 8383 std Z+3,r24
137 00fe 1482 std Z+4,__zero_reg__
138 0100 822F mov r24,r18
139 0102 0E94 0000 call __udivmodqi4
140 0106 9583 std Z+5,r25
141 0108 1682 std Z+6,__zero_reg__
142 010a 0E94 0000 call _printf_P
143 010e EDB7 in r30,__SP_L__
144 0110 FEB7 in r31,__SP_H__
145 0112 3796 adiw r30,7
146 0114 EDBF out __SP_L__,r30
147 .L10:
148 /* epilogue start */
149 0116 DF91 pop r29
150 0118 CF91 pop r28
151 011a 1F91 pop r17
152 011c 0895 ret
154 .global CalMk3Mag
156 CalMk3Mag:
157 /* prologue: function */
158 /* frame size = 0 */
159 011e 8091 0000 lds r24,EE_Parameter+1
160 0122 A82F mov r26,r24
161 0124 B0E0 ldi r27,lo8(0)
162 0126 FD01 movw r30,r26
163 0128 EE0F lsl r30
164 012a FF1F rol r31
165 012c E050 subi r30,lo8(-(PPM_in))
166 012e F040 sbci r31,hi8(-(PPM_in))
167 0130 8081 ld r24,Z
168 0132 9181 ldd r25,Z+1
169 0134 8D5E subi r24,lo8(-19)
170 0136 9F4F sbci r25,hi8(-19)
171 0138 04F0 brlt .L15
172 013a 1092 0000 sts stick.2222,__zero_reg__
173 .L15:
174 013e AA0F lsl r26
175 0140 BB1F rol r27
176 0142 A050 subi r26,lo8(-(PPM_in))
177 0144 B040 sbci r27,hi8(-(PPM_in))
178 0146 8D91 ld r24,X+
179 0148 9C91 ld r25,X
180 014a 8A5B subi r24,lo8(-70)
181 014c 9F4F sbci r25,hi8(-70)
182 014e 04F4 brge .L16
183 0150 8091 0000 lds r24,stick.2222
184 0154 8823 tst r24
185 0156 01F4 brne .L16
186 0158 81E0 ldi r24,lo8(1)
187 015a 8093 0000 sts stick.2222,r24
188 015e 8091 0000 lds r24,WinkelOut+6
189 0162 8F5F subi r24,lo8(-(1))
190 0164 8093 0000 sts WinkelOut+6,r24
191 0168 8530 cpi r24,lo8(5)
192 016a 00F0 brlo .L17
193 016c 88EE ldi r24,lo8(1000)
194 016e 93E0 ldi r25,hi8(1000)
195 0170 9093 0000 sts (beeptime)+1,r25
196 0174 8093 0000 sts beeptime,r24
197 0178 00C0 rjmp .L16
198 .L17:
199 017a 66E9 ldi r22,lo8(150)
200 017c 70E0 ldi r23,hi8(150)
201 017e 0E94 0000 call Piep
202 .L16:
203 0182 8091 0000 lds r24,WinkelOut+6
204 0186 8093 0000 sts DebugOut+40,r24
205 018a 1092 0000 sts DebugOut+41,__zero_reg__
206 /* epilogue start */
207 018e 0895 ret
209 .global main
211 main:
212 0190 A0E0 ldi r26,lo8(0)
213 0192 B0E0 ldi r27,hi8(0)
214 0194 E0E0 ldi r30,lo8(gs(1f))
215 0196 F0E0 ldi r31,hi8(gs(1f))
216 0198 0C94 0000 jmp __prologue_saves__+((18 - 18) * 2)
217 1:
218 /* prologue: function */
219 /* frame size = 0 */
220 019c 14B8 out 36-32,__zero_reg__
221 019e 15B8 out 37-32,__zero_reg__
222 01a0 189B sbis 35-32,0
223 01a2 00C0 rjmp .L20
224 01a4 199B sbis 35-32,1
225 01a6 00C0 rjmp .L21
226 01a8 8DE0 ldi r24,lo8(13)
227 01aa 00C0 rjmp .L101
228 .L21:
229 01ac 8BE0 ldi r24,lo8(11)
230 01ae 00C0 rjmp .L101
231 .L20:
232 01b0 199B sbis 35-32,1
233 01b2 00C0 rjmp .L23
234 01b4 84E1 ldi r24,lo8(20)
235 01b6 00C0 rjmp .L101
236 .L23:
237 01b8 8AE0 ldi r24,lo8(10)
238 .L101:
239 01ba 8093 0000 sts PlatinenVersion,r24
240 01be 81E8 ldi r24,lo8(-127)
241 01c0 87B9 out 39-32,r24
242 01c2 3E9A sbi 39-32,6
243 01c4 8FEF ldi r24,lo8(-1)
244 01c6 88B9 out 40-32,r24
245 01c8 8BE1 ldi r24,lo8(27)
246 01ca 84B9 out 36-32,r24
247 01cc 81E0 ldi r24,lo8(1)
248 01ce 85B9 out 37-32,r24
249 01d0 8EE3 ldi r24,lo8(62)
250 01d2 8AB9 out 42-32,r24
251 01d4 87E4 ldi r24,lo8(71)
252 01d6 8BB9 out 43-32,r24
253 01d8 469A sbi 40-32,6
254 01da 84B7 in r24,84-32
255 01dc 877F andi r24,lo8(-9)
256 01de 84BF out 84-32,r24
257 01e0 8091 6000 lds r24,96
258 01e4 8861 ori r24,lo8(24)
259 01e6 8093 6000 sts 96,r24
260 01ea 1092 6000 sts 96,__zero_reg__
261 01ee 84EC ldi r24,lo8(2500)
262 01f0 99E0 ldi r25,hi8(2500)
263 01f2 9093 0000 sts (beeptime)+1,r25
264 01f6 8093 0000 sts beeptime,r24
265 01fa 1092 0000 sts (StickGier)+1,__zero_reg__
266 01fe 1092 0000 sts StickGier,__zero_reg__
267 0202 1092 0000 sts (PPM_in+4)+1,__zero_reg__
268 0206 1092 0000 sts PPM_in+4,__zero_reg__
269 020a 1092 0000 sts (StickRoll)+1,__zero_reg__
270 020e 1092 0000 sts StickRoll,__zero_reg__
271 0212 1092 0000 sts (StickNick)+1,__zero_reg__
272 0216 1092 0000 sts StickNick,__zero_reg__
273 021a 8091 0000 lds r24,PlatinenVersion
274 021e 8431 cpi r24,lo8(20)
275 0220 00F0 brlo .L24
276 0222 84EC ldi r24,lo8(1220)
277 0224 94E0 ldi r25,hi8(1220)
278 0226 A0E0 ldi r26,hlo8(1220)
279 0228 B0E0 ldi r27,hhi8(1220)
280 022a 00C0 rjmp .L102
281 .L24:
282 022c 8BE0 ldi r24,lo8(1291)
283 022e 95E0 ldi r25,hi8(1291)
284 0230 A0E0 ldi r26,hlo8(1291)
285 0232 B0E0 ldi r27,hhi8(1291)
286 .L102:
287 0234 8093 0000 sts GIER_GRAD_FAKTOR,r24
288 0238 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25
289 023c A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26
290 0240 B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27
291 0244 8091 0000 lds r24,PlatinenVersion
292 0248 8A30 cpi r24,lo8(10)
293 024a 01F0 breq .L26
294 024c 8431 cpi r24,lo8(20)
295 024e 00F0 brlo .L27
296 .L26:
297 0250 2898 cbi 37-32,0
298 0252 00C0 rjmp .L28
299 .L27:
300 0254 289A sbi 37-32,0
301 .L28:
302 0256 0E94 0000 call Timer_Init
303 025a 0E94 0000 call TIMER2_Init
304 025e 0E94 0000 call UART_Init
305 0262 0E94 0000 call rc_sum_init
306 0266 0E94 0000 call ADC_Init
307 026a 81E0 ldi r24,lo8(1)
308 026c 0E94 0000 call I2C_Init
309 0270 0E94 0000 call SPI_MasterInit
310 0274 0E94 0000 call Capacity_Init
311 0278 0E94 0000 call LIBFC_Init
312 027c 8091 0000 lds r24,PlatinenVersion
313 0280 8C30 cpi r24,lo8(12)
314 0282 00F4 brsh .L29
315 0284 299A sbi 37-32,1
316 0286 00C0 rjmp .L30
317 .L29:
318 0288 2998 cbi 37-32,1
319 .L30:
320 /* #APP */
321 ; 160 "main.c" 1
322 028a 7894 sei
323 ; 0 "" 2
324 /* #NOAPP */
325 028c 0E94 0000 call ParamSet_Init
326 0290 8091 0000 lds r24,BLFlags
327 0294 8260 ori r24,lo8(2)
328 0296 8093 0000 sts BLFlags,r24
329 029a 1092 0000 sts motor_read,__zero_reg__
330 029e 0E94 0000 call SendMotorData
331 02a2 84EF ldi r24,lo8(500)
332 02a4 91E0 ldi r25,hi8(500)
333 02a6 0E94 0000 call SetDelay
334 02aa EC01 movw r28,r24
335 .L32:
336 02ac 8091 0000 lds r24,BLFlags
337 02b0 80FD sbrc r24,0
338 02b2 00C0 rjmp .L31
339 02b4 CE01 movw r24,r28
340 02b6 0E94 0000 call CheckDelay
341 02ba 8823 tst r24
342 02bc 01F0 breq .L32
343 .L31:
344 02be 00D0 rcall .
345 02c0 0F92 push __tmp_reg__
346 02c2 ADB7 in r26,__SP_L__
347 02c4 BEB7 in r27,__SP_H__
348 02c6 1196 adiw r26,1
349 02c8 1C92 st X,__zero_reg__
350 02ca 1197 sbiw r26,1
351 02cc 80E0 ldi r24,lo8(__c.2276)
352 02ce 90E0 ldi r25,hi8(__c.2276)
353 02d0 1396 adiw r26,2+1
354 02d2 9C93 st X,r25
355 02d4 8E93 st -X,r24
356 02d6 1297 sbiw r26,2
357 02d8 0E94 0000 call _printf_P
358 02dc 0F90 pop __tmp_reg__
359 02de 0F90 pop __tmp_reg__
360 02e0 0F90 pop __tmp_reg__
361 02e2 80EA ldi r24,lo8(4000)
362 02e4 9FE0 ldi r25,hi8(4000)
363 02e6 0E94 0000 call SetDelay
364 02ea 5C01 movw r10,r24
365 02ec B0E0 ldi r27,lo8(Motor+3)
366 02ee EB2E mov r14,r27
367 02f0 B0E0 ldi r27,hi8(Motor+3)
368 02f2 FB2E mov r15,r27
369 02f4 A0E0 ldi r26,lo8(Mixer+13)
370 02f6 8A2E mov r8,r26
371 02f8 A0E0 ldi r26,hi8(Mixer+13)
372 02fa 9A2E mov r9,r26
373 02fc 8701 movw r16,r14
374 02fe 6401 movw r12,r8
375 0300 C1E0 ldi r28,lo8(1)
376 0302 D0E0 ldi r29,hi8(1)
377 0304 F0E0 ldi r31,lo8(__c.2287)
378 0306 6F2E mov r6,r31
379 0308 F0E0 ldi r31,hi8(__c.2287)
380 030a 7F2E mov r7,r31
381 .L40:
382 030c 0E94 0000 call SendMotorData
383 .L34:
384 0310 8091 0000 lds r24,BLFlags
385 0314 80FD sbrc r24,0
386 0316 00C0 rjmp .L33
387 0318 C501 movw r24,r10
388 031a 0E94 0000 call CheckDelay
389 031e 8823 tst r24
390 0320 01F0 breq .L34
391 .L33:
392 0322 F601 movw r30,r12
393 0324 8081 ld r24,Z
394 0326 1816 cp __zero_reg__,r24
395 0328 04F0 brlt .L98
396 032a 00C0 rjmp .L36
397 .L38:
398 032c 0E94 0000 call SendMotorData
399 .L37:
400 0330 8091 0000 lds r24,BLFlags
401 0334 80FD sbrc r24,0
402 0336 00C0 rjmp .L98
403 0338 C501 movw r24,r10
404 033a 0E94 0000 call CheckDelay
405 033e 8823 tst r24
406 0340 01F0 breq .L37
407 .L98:
408 0342 C501 movw r24,r10
409 0344 0E94 0000 call CheckDelay
410 0348 8823 tst r24
411 034a 01F4 brne .L36
412 034c D801 movw r26,r16
413 034e 8C91 ld r24,X
414 0350 87FF sbrs r24,7
415 0352 00C0 rjmp .L38
416 .L36:
417 0354 F801 movw r30,r16
418 0356 8081 ld r24,Z
419 0358 87FF sbrs r24,7
420 035a 00C0 rjmp .L39
421 035c 00D0 rcall .
422 035e 00D0 rcall .
423 0360 0F92 push __tmp_reg__
424 0362 EDB7 in r30,__SP_L__
425 0364 FEB7 in r31,__SP_H__
426 0366 3196 adiw r30,1
427 0368 ADB7 in r26,__SP_L__
428 036a BEB7 in r27,__SP_H__
429 036c 1196 adiw r26,1
430 036e 1C92 st X,__zero_reg__
431 0370 7282 std Z+2,r7
432 0372 6182 std Z+1,r6
433 0374 D483 std Z+4,r29
434 0376 C383 std Z+3,r28
435 0378 0E94 0000 call _printf_P
436 037c 8091 0000 lds r24,FoundMotors
437 0380 8F5F subi r24,lo8(-(1))
438 0382 8093 0000 sts FoundMotors,r24
439 0386 0F90 pop __tmp_reg__
440 0388 0F90 pop __tmp_reg__
441 038a 0F90 pop __tmp_reg__
442 038c 0F90 pop __tmp_reg__
443 038e 0F90 pop __tmp_reg__
444 .L39:
445 0390 2196 adiw r28,1
446 0392 085F subi r16,lo8(-(8))
447 0394 1F4F sbci r17,hi8(-(8))
448 0396 E4E0 ldi r30,lo8(4)
449 0398 F0E0 ldi r31,hi8(4)
450 039a CE0E add r12,r30
451 039c DF1E adc r13,r31
452 039e CD30 cpi r28,13
453 03a0 D105 cpc r29,__zero_reg__
454 03a2 01F0 breq .+2
455 03a4 00C0 rjmp .L40
456 03a6 C1E0 ldi r28,lo8(1)
457 03a8 D0E0 ldi r29,hi8(1)
458 03aa 00E0 ldi r16,lo8(__c.2292)
459 03ac 10E0 ldi r17,hi8(__c.2292)
460 03ae E2E0 ldi r30,lo8(2)
461 03b0 DE2E mov r13,r30
462 .L42:
463 03b2 D701 movw r26,r14
464 03b4 8C91 ld r24,X
465 03b6 87FD sbrc r24,7
466 03b8 00C0 rjmp .L41
467 03ba F401 movw r30,r8
468 03bc 8081 ld r24,Z
469 03be 1816 cp __zero_reg__,r24
470 03c0 04F4 brge .L41
471 03c2 00D0 rcall .
472 03c4 00D0 rcall .
473 03c6 0F92 push __tmp_reg__
474 03c8 EDB7 in r30,__SP_L__
475 03ca FEB7 in r31,__SP_H__
476 03cc 3196 adiw r30,1
477 03ce ADB7 in r26,__SP_L__
478 03d0 BEB7 in r27,__SP_H__
479 03d2 1196 adiw r26,1
480 03d4 1C92 st X,__zero_reg__
481 03d6 1283 std Z+2,r17
482 03d8 0183 std Z+1,r16
483 03da D483 std Z+4,r29
484 03dc C383 std Z+3,r28
485 03de 0E94 0000 call _printf_P
486 03e2 D092 0000 sts ServoActive,r13
487 03e6 0F90 pop __tmp_reg__
488 03e8 0F90 pop __tmp_reg__
489 03ea 0F90 pop __tmp_reg__
490 03ec 0F90 pop __tmp_reg__
491 03ee 0F90 pop __tmp_reg__
492 .L41:
493 03f0 F701 movw r30,r14
494 03f2 8081 ld r24,Z
495 03f4 8078 andi r24,lo8(-128)
496 03f6 8083 st Z,r24
497 03f8 2196 adiw r28,1
498 03fa 88E0 ldi r24,lo8(8)
499 03fc 90E0 ldi r25,hi8(8)
500 03fe E80E add r14,r24
501 0400 F91E adc r15,r25
502 0402 A4E0 ldi r26,lo8(4)
503 0404 B0E0 ldi r27,hi8(4)
504 0406 8A0E add r8,r26
505 0408 9B1E adc r9,r27
506 040a CD30 cpi r28,13
507 040c D105 cpc r29,__zero_reg__
508 040e 01F4 brne .L42
509 0410 00D0 rcall .
510 0412 0F92 push __tmp_reg__
511 0414 EDB7 in r30,__SP_L__
512 0416 FEB7 in r31,__SP_H__
513 0418 1182 std Z+1,__zero_reg__
514 041a 80E0 ldi r24,lo8(__c.2297)
515 041c 90E0 ldi r25,hi8(__c.2297)
516 041e 9383 std Z+3,r25
517 0420 8283 std Z+2,r24
518 0422 0E94 0000 call _printf_P
519 0426 0F90 pop __tmp_reg__
520 0428 0F90 pop __tmp_reg__
521 042a 0F90 pop __tmp_reg__
522 042c 9091 0000 lds r25,RequiredMotors
523 0430 8091 0000 lds r24,FoundMotors
524 0434 9817 cp r25,r24
525 0436 00F4 brsh .L43
526 0438 8091 0000 lds r24,VersionInfo+6
527 043c 8061 ori r24,lo8(16)
528 043e 8093 0000 sts VersionInfo+6,r24
529 .L43:
530 0442 00D0 rcall .
531 0444 0F92 push __tmp_reg__
532 0446 ADB7 in r26,__SP_L__
533 0448 BEB7 in r27,__SP_H__
534 044a 1196 adiw r26,1
535 044c 1C92 st X,__zero_reg__
536 044e 1197 sbiw r26,1
537 0450 80E0 ldi r24,lo8(__c.2299)
538 0452 90E0 ldi r25,hi8(__c.2299)
539 0454 1396 adiw r26,2+1
540 0456 9C93 st X,r25
541 0458 8E93 st -X,r24
542 045a 1297 sbiw r26,2
543 045c 0E94 0000 call _printf_P
544 0460 0F90 pop __tmp_reg__
545 0462 0F90 pop __tmp_reg__
546 0464 0F90 pop __tmp_reg__
547 0466 88EE ldi r24,lo8(1000)
548 0468 93E0 ldi r25,hi8(1000)
549 046a 0E94 0000 call SetDelay
550 046e EC01 movw r28,r24
551 0470 0E94 0000 call SucheLuftruckOffset
552 .L44:
553 0474 CE01 movw r24,r28
554 0476 0E94 0000 call CheckDelay
555 047a 8823 tst r24
556 047c 01F0 breq .L44
557 047e 00D0 rcall .
558 0480 0F92 push __tmp_reg__
559 0482 EDB7 in r30,__SP_L__
560 0484 FEB7 in r31,__SP_H__
561 0486 1182 std Z+1,__zero_reg__
562 0488 80E0 ldi r24,lo8(__c.2304)
563 048a 90E0 ldi r25,hi8(__c.2304)
564 048c 9383 std Z+3,r25
565 048e 8283 std Z+2,r24
566 0490 0E94 0000 call _printf_P
567 0494 0F90 pop __tmp_reg__
568 0496 0F90 pop __tmp_reg__
569 0498 0F90 pop __tmp_reg__
570 049a 80E0 ldi r24,lo8(0)
571 049c 0E94 0000 call SetNeutral
572 04a0 8091 0000 lds r24,PlatinenVersion
573 04a4 8A30 cpi r24,lo8(10)
574 04a6 01F0 breq .L45
575 04a8 8431 cpi r24,lo8(20)
576 04aa 00F0 brlo .L46
577 .L45:
578 04ac 2898 cbi 37-32,0
579 04ae 00C0 rjmp .L47
580 .L46:
581 04b0 289A sbi 37-32,0
582 .L47:
583 04b2 80ED ldi r24,lo8(2000)
584 04b4 97E0 ldi r25,hi8(2000)
585 04b6 9093 0000 sts (beeptime)+1,r25
586 04ba 8093 0000 sts beeptime,r24
587 04be 85E5 ldi r24,lo8(85)
588 04c0 8093 0000 sts ExternControl,r24
589 04c4 8EE0 ldi r24,lo8(14)
590 04c6 90E0 ldi r25,hi8(14)
591 04c8 0E94 0000 call GetParamByte
592 04cc 182F mov r17,r24
593 04ce 8FE0 ldi r24,lo8(15)
594 04d0 90E0 ldi r25,hi8(15)
595 04d2 0E94 0000 call GetParamByte
596 04d6 312F mov r19,r17
597 04d8 20E0 ldi r18,lo8(0)
598 04da 280F add r18,r24
599 04dc 311D adc r19,__zero_reg__
600 04de 3093 0000 sts (FlugMinuten)+1,r19
601 04e2 2093 0000 sts FlugMinuten,r18
602 04e6 8AE0 ldi r24,lo8(10)
603 04e8 90E0 ldi r25,hi8(10)
604 04ea 0E94 0000 call GetParamByte
605 04ee 182F mov r17,r24
606 04f0 8BE0 ldi r24,lo8(11)
607 04f2 90E0 ldi r25,hi8(11)
608 04f4 0E94 0000 call GetParamByte
609 04f8 312F mov r19,r17
610 04fa 20E0 ldi r18,lo8(0)
611 04fc 280F add r18,r24
612 04fe 311D adc r19,__zero_reg__
613 0500 3093 0000 sts (FlugMinutenGesamt)+1,r19
614 0504 2093 0000 sts FlugMinutenGesamt,r18
615 0508 2F5F subi r18,lo8(-1)
616 050a 3F4F sbci r19,hi8(-1)
617 050c 01F0 breq .L48
618 050e 8091 0000 lds r24,FlugMinuten
619 0512 9091 0000 lds r25,(FlugMinuten)+1
620 0516 8F5F subi r24,lo8(-1)
621 0518 9F4F sbci r25,hi8(-1)
622 051a 01F4 brne .L49
623 .L48:
624 051c 1092 0000 sts (FlugMinuten)+1,__zero_reg__
625 0520 1092 0000 sts FlugMinuten,__zero_reg__
626 0524 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__
627 0528 1092 0000 sts FlugMinutenGesamt,__zero_reg__
628 .L49:
629 052c 8DB7 in r24,__SP_L__
630 052e 9EB7 in r25,__SP_H__
631 0530 0797 sbiw r24,7
632 0532 8DBF out __SP_L__,r24
633 0534 EDB7 in r30,__SP_L__
634 0536 FEB7 in r31,__SP_H__
635 0538 3196 adiw r30,1
636 053a ADB7 in r26,__SP_L__
637 053c BEB7 in r27,__SP_H__
638 053e 1196 adiw r26,1
639 0540 1C92 st X,__zero_reg__
640 0542 80E0 ldi r24,lo8(__c.2306)
641 0544 90E0 ldi r25,hi8(__c.2306)
642 0546 9283 std Z+2,r25
643 0548 8183 std Z+1,r24
644 054a 8091 0000 lds r24,FlugMinuten
645 054e 9091 0000 lds r25,(FlugMinuten)+1
646 0552 9483 std Z+4,r25
647 0554 8383 std Z+3,r24
648 0556 8091 0000 lds r24,FlugMinutenGesamt
649 055a 9091 0000 lds r25,(FlugMinutenGesamt)+1
650 055e 9683 std Z+6,r25
651 0560 8583 std Z+5,r24
652 0562 0E94 0000 call _printf_P
653 0566 0F90 pop __tmp_reg__
654 0568 0F90 pop __tmp_reg__
655 056a 0F90 pop __tmp_reg__
656 056c 0F90 pop __tmp_reg__
657 056e EDB7 in r30,__SP_L__
658 0570 FEB7 in r31,__SP_H__
659 0572 1182 std Z+1,__zero_reg__
660 0574 80E0 ldi r24,lo8(__c.2308)
661 0576 90E0 ldi r25,hi8(__c.2308)
662 0578 9383 std Z+3,r25
663 057a 8283 std Z+2,r24
664 057c 0E94 0000 call _printf_P
665 0580 8091 0000 lds r24,EE_Parameter+13
666 0584 0F90 pop __tmp_reg__
667 0586 0F90 pop __tmp_reg__
668 0588 0F90 pop __tmp_reg__
669 058a 82FF sbrs r24,2
670 058c 00C0 rjmp .L50
671 058e 00D0 rcall .
672 0590 0F92 push __tmp_reg__
673 0592 ADB7 in r26,__SP_L__
674 0594 BEB7 in r27,__SP_H__
675 0596 1196 adiw r26,1
676 0598 1C92 st X,__zero_reg__
677 059a 1197 sbiw r26,1
678 059c 80E0 ldi r24,lo8(__c.2310)
679 059e 90E0 ldi r25,hi8(__c.2310)
680 05a0 1396 adiw r26,2+1
681 05a2 9C93 st X,r25
682 05a4 8E93 st -X,r24
683 05a6 1297 sbiw r26,2
684 05a8 00C0 rjmp .L103
685 .L50:
686 05aa 00D0 rcall .
687 05ac 0F92 push __tmp_reg__
688 05ae EDB7 in r30,__SP_L__
689 05b0 FEB7 in r31,__SP_H__
690 05b2 1182 std Z+1,__zero_reg__
691 05b4 80E0 ldi r24,lo8(__c.2312)
692 05b6 90E0 ldi r25,hi8(__c.2312)
693 05b8 9383 std Z+3,r25
694 05ba 8283 std Z+2,r24
695 .L103:
696 05bc 0E94 0000 call _printf_P
697 05c0 0F90 pop __tmp_reg__
698 05c2 0F90 pop __tmp_reg__
699 05c4 0F90 pop __tmp_reg__
700 05c6 0E94 0000 call LcdClear
701 05ca 88E8 ldi r24,lo8(5000)
702 05cc 93E1 ldi r25,hi8(5000)
703 05ce 9093 0000 sts (I2CTimeout)+1,r25
704 05d2 8093 0000 sts I2CTimeout,r24
705 05d6 81E0 ldi r24,lo8(1)
706 05d8 8093 0000 sts WinkelOut+7,r24
707 05dc 0E94 0000 call LipoDetection
708 05e0 8091 0000 lds r24,EE_Parameter+39
709 05e4 0E94 0000 call LIBFC_ReceiverInit
710 05e8 00D0 rcall .
711 05ea 0F92 push __tmp_reg__
712 05ec ADB7 in r26,__SP_L__
713 05ee BEB7 in r27,__SP_H__
714 05f0 1196 adiw r26,1
715 05f2 1C92 st X,__zero_reg__
716 05f4 1197 sbiw r26,1
717 05f6 80E0 ldi r24,lo8(__c.2314)
718 05f8 90E0 ldi r25,hi8(__c.2314)
719 05fa 1396 adiw r26,2+1
720 05fc 9C93 st X,r25
721 05fe 8E93 st -X,r24
722 0600 1297 sbiw r26,2
723 0602 0E94 0000 call _printf_P
724 0606 0F90 pop __tmp_reg__
725 0608 0F90 pop __tmp_reg__
726 060a 0F90 pop __tmp_reg__
727 060c 80ED ldi r24,lo8(2000)
728 060e 97E0 ldi r25,hi8(2000)
729 0610 0E94 0000 call SetDelay
730 0614 8C01 movw r16,r24
731 0616 8AEF ldi r24,lo8(250)
732 0618 90E0 ldi r25,hi8(250)
733 061a 0E94 0000 call SetDelay
734 061e 7C01 movw r14,r24
735 0620 83E0 ldi r24,lo8(3)
736 0622 8093 0000 sts DebugOut,r24
737 0626 1092 0000 sts JetiBeep,__zero_reg__
738 062a C0E0 ldi r28,lo8(0)
739 062c D0E0 ldi r29,hi8(0)
740 062e 78E9 ldi r23,lo8(15000)
741 0630 C72E mov r12,r23
742 0632 7AE3 ldi r23,hi8(15000)
743 0634 D72E mov r13,r23
744 0636 612C mov r6,__zero_reg__
745 0638 68EA ldi r22,hi8(-22528)
746 063a 762E mov r7,r22
747 063c 412C mov r4,__zero_reg__
748 063e 5CE0 ldi r21,hi8(3072)
749 0640 552E mov r5,r21
750 0642 40E1 ldi r20,lo8(10000)
751 0644 242E mov r2,r20
752 0646 47E2 ldi r20,hi8(10000)
753 0648 342E mov r3,r20
754 064a 30E8 ldi r19,lo8(128)
755 064c A32E mov r10,r19
756 064e B12C mov r11,__zero_reg__
757 0650 25E0 ldi r18,lo8(5)
758 0652 822E mov r8,r18
759 0654 912C mov r9,__zero_reg__
760 .L99:
761 0656 8091 0000 lds r24,JetiUpdateModeActive
762 065a 8111 cpse r24,__zero_reg__
763 .L100:
764 065c 00C0 rjmp .L100
765 .L52:
766 065e C701 movw r24,r14
767 0660 0E94 0000 call CheckDelay
768 0664 8823 tst r24
769 0666 01F0 breq .L54
770 0668 84E6 ldi r24,lo8(100)
771 066a 90E0 ldi r25,hi8(100)
772 066c 0E94 0000 call SetDelay
773 0670 7C01 movw r14,r24
774 0672 0E94 0000 call LIBFC_Polling
775 .L54:
776 0676 8091 0000 lds r24,UpdateMotor
777 067a 8823 tst r24
778 067c 01F4 brne .+2
779 067e 00C0 rjmp .L55
780 0680 8091 0000 lds r24,AdReady
781 0684 8823 tst r24
782 0686 01F4 brne .+2
783 0688 00C0 rjmp .L55
784 068a 1092 0000 sts UpdateMotor,__zero_reg__
785 068e 8091 0000 lds r24,WinkelOut+6
786 0692 8823 tst r24
787 0694 01F0 breq .L56
788 0696 0E94 0000 call CalMk3Mag
789 069a 00C0 rjmp .L57
790 .L56:
791 069c 0E94 0000 call MotorRegler
792 .L57:
793 06a0 0E94 0000 call SendMotorData
794 06a4 8091 0000 lds r24,PlatinenVersion
795 06a8 8A30 cpi r24,lo8(10)
796 06aa 01F0 breq .L58
797 06ac 8431 cpi r24,lo8(20)
798 06ae 00F0 brlo .L59
799 .L58:
800 06b0 2898 cbi 37-32,0
801 06b2 00C0 rjmp .L60
802 .L59:
803 06b4 289A sbi 37-32,0
804 .L60:
805 06b6 8091 0000 lds r24,SenderOkay
806 06ba 8823 tst r24
807 06bc 01F0 breq .L61
808 06be 8091 0000 lds r24,SenderOkay
809 06c2 8150 subi r24,lo8(-(-1))
810 06c4 8093 0000 sts SenderOkay,r24
811 06c8 8091 0000 lds r24,VersionInfo+6
812 06cc 877F andi r24,lo8(-9)
813 06ce 00C0 rjmp .L104
814 .L61:
815 06d0 8091 6F00 lds r24,111
816 06d4 8062 ori r24,lo8(32)
817 06d6 8093 6F00 sts 111,r24
818 06da 1092 0000 sts (PPM_in)+1,__zero_reg__
819 06de 1092 0000 sts PPM_in,__zero_reg__
820 06e2 8091 0000 lds r24,VersionInfo+6
821 06e6 8860 ori r24,lo8(8)
822 .L104:
823 06e8 8093 0000 sts VersionInfo+6,r24
824 06ec 8091 0000 lds r24,I2CTimeout
825 06f0 9091 0000 lds r25,(I2CTimeout)+1
826 06f4 0197 sbiw r24,1
827 06f6 9093 0000 sts (I2CTimeout)+1,r25
828 06fa 8093 0000 sts I2CTimeout,r24
829 06fe 8091 0000 lds r24,I2CTimeout
830 0702 9091 0000 lds r25,(I2CTimeout)+1
831 0706 892B or r24,r25
832 0708 01F0 breq .L63
833 070a 8091 0000 lds r24,MissingMotor
834 070e 8823 tst r24
835 0710 01F0 breq .L64
836 .L63:
837 0712 8091 0000 lds r24,I2CTimeout
838 0716 9091 0000 lds r25,(I2CTimeout)+1
839 071a 892B or r24,r25
840 071c 01F4 brne .L65
841 071e 0E94 0000 call I2C_Reset
842 0722 9092 0000 sts (I2CTimeout)+1,r9
843 0726 8092 0000 sts I2CTimeout,r8
844 072a 8091 0000 lds r24,DebugOut+58
845 072e 9091 0000 lds r25,(DebugOut+58)+1
846 0732 0196 adiw r24,1
847 0734 9093 0000 sts (DebugOut+58)+1,r25
848 0738 8093 0000 sts DebugOut+58,r24
849 073c 8091 0000 lds r24,VersionInfo+6
850 0740 8160 ori r24,lo8(1)
851 0742 8093 0000 sts VersionInfo+6,r24
852 0746 8091 0000 lds r24,DebugOut+1
853 074a 8260 ori r24,lo8(2)
854 074c 8093 0000 sts DebugOut+1,r24
855 .L65:
856 0750 8091 0000 lds r24,BeepMuster
857 0754 9091 0000 lds r25,(BeepMuster)+1
858 0758 8F5F subi r24,lo8(-1)
859 075a 9F4F sbci r25,hi8(-1)
860 075c 01F4 brne .L66
861 075e 8091 0000 lds r24,MotorenEin
862 0762 8823 tst r24
863 0764 01F0 breq .L66
864 0766 3092 0000 sts (beeptime)+1,r3
865 076a 2092 0000 sts beeptime,r2
866 076e B092 0000 sts (BeepMuster)+1,r11
867 0772 A092 0000 sts BeepMuster,r10
868 0776 00C0 rjmp .L66
869 .L64:
870 0778 8091 0000 lds r24,PlatinenVersion
871 077c 8A30 cpi r24,lo8(10)
872 077e 01F0 breq .L67
873 0780 8431 cpi r24,lo8(20)
874 0782 00F0 brlo .L68
875 .L67:
876 0784 2898 cbi 37-32,0
877 0786 00C0 rjmp .L69
878 .L68:
879 0788 289A sbi 37-32,0
880 .L69:
881 078a 8091 0000 lds r24,beeptime
882 078e 9091 0000 lds r25,(beeptime)+1
883 0792 892B or r24,r25
884 0794 01F4 brne .L66
885 0796 8091 0000 lds r24,VersionInfo+6
886 079a 8E7F andi r24,lo8(-2)
887 079c 8093 0000 sts VersionInfo+6,r24
888 .L66:
889 07a0 8091 0000 lds r24,UpdateMotor
890 07a4 8823 tst r24
891 07a6 01F0 breq .+2
892 07a8 00C0 rjmp .L55
893 07aa 8091 0000 lds r24,CalculateServoSignals
894 07ae 8823 tst r24
895 07b0 01F0 breq .L70
896 07b2 0E94 0000 call CalculateServo
897 .L70:
898 07b6 0E94 0000 call DatenUebertragung
899 07ba 0E94 0000 call BearbeiteRxDaten
900 07be C801 movw r24,r16
901 07c0 0E94 0000 call CheckDelay
902 07c4 8823 tst r24
903 07c6 01F4 brne .+2
904 07c8 00C0 rjmp .L71
905 07ca 8091 0000 lds r24,MissingMotor
906 07ce 8823 tst r24
907 07d0 01F0 breq .L72
908 07d2 8091 0000 lds r24,VersionInfo+6
909 07d6 8260 ori r24,lo8(2)
910 07d8 8093 0000 sts VersionInfo+6,r24
911 07dc 8091 0000 lds r24,DebugOut+1
912 07e0 8260 ori r24,lo8(2)
913 07e2 00C0 rjmp .L105
914 .L72:
915 07e4 8091 0000 lds r24,VersionInfo+6
916 07e8 8D7F andi r24,lo8(-3)
917 07ea 8093 0000 sts VersionInfo+6,r24
918 07ee 8091 0000 lds r24,I2CTimeout
919 07f2 9091 0000 lds r25,(I2CTimeout)+1
920 07f6 0797 sbiw r24,7
921 07f8 00F0 brlo .L73
922 07fa 8091 0000 lds r24,DebugOut+1
923 07fe 8D7F andi r24,lo8(-3)
924 .L105:
925 0800 8093 0000 sts DebugOut+1,r24
926 .L73:
927 0804 8091 0000 lds r24,I2CTimeout
928 0808 9091 0000 lds r25,(I2CTimeout)+1
929 080c 0797 sbiw r24,7
930 080e 00F0 brlo .L74
931 0810 8091 0000 lds r24,VersionInfo+6
932 0814 8E7F andi r24,lo8(-2)
933 0816 8093 0000 sts VersionInfo+6,r24
934 .L74:
935 081a 8091 0000 lds r24,PcZugriff
936 081e 8823 tst r24
937 0820 01F0 breq .L75
938 0822 8150 subi r24,lo8(-(-1))
939 0824 8093 0000 sts PcZugriff,r24
940 0828 00C0 rjmp .L76
941 .L75:
942 082a 1092 0000 sts ExternControl+10,__zero_reg__
943 082e 1092 0000 sts (ExternStickNick)+1,__zero_reg__
944 0832 1092 0000 sts ExternStickNick,__zero_reg__
945 0836 1092 0000 sts (ExternStickRoll)+1,__zero_reg__
946 083a 1092 0000 sts ExternStickRoll,__zero_reg__
947 083e 1092 0000 sts (ExternStickGier)+1,__zero_reg__
948 0842 1092 0000 sts ExternStickGier,__zero_reg__
949 0846 8091 0000 lds r24,BeepMuster
950 084a 9091 0000 lds r25,(BeepMuster)+1
951 084e 8F5F subi r24,lo8(-1)
952 0850 9F4F sbci r25,hi8(-1)
953 0852 01F4 brne .L76
954 0854 8091 0000 lds r24,SenderOkay
955 0858 8823 tst r24
956 085a 01F4 brne .L76
957 085c D092 0000 sts (beeptime)+1,r13
958 0860 C092 0000 sts beeptime,r12
959 0864 5092 0000 sts (BeepMuster)+1,r5
960 0868 4092 0000 sts BeepMuster,r4
961 .L76:
962 086c 8091 0000 lds r24,NaviDataOkay
963 0870 893C cpi r24,lo8(-55)
964 0872 00F0 brlo .L77
965 0874 8150 subi r24,lo8(-(-1))
966 0876 8093 0000 sts NaviDataOkay,r24
967 087a 8091 0000 lds r24,VersionInfo+6
968 087e 8B7F andi r24,lo8(-5)
969 0880 8093 0000 sts VersionInfo+6,r24
970 0884 00C0 rjmp .L78
971 .L77:
972 0886 8091 0000 lds r24,NC_Version+3
973 088a 8823 tst r24
974 088c 01F0 breq .L79
975 088e 8091 0000 lds r24,VersionInfo+6
976 0892 8460 ori r24,lo8(4)
977 0894 8093 0000 sts VersionInfo+6,r24
978 0898 8091 0000 lds r24,BeepMuster
979 089c 9091 0000 lds r25,(BeepMuster)+1
980 08a0 8F5F subi r24,lo8(-1)
981 08a2 9F4F sbci r25,hi8(-1)
982 08a4 01F4 brne .L79
983 08a6 8091 0000 lds r24,MotorenEin
984 08aa 8823 tst r24
985 08ac 01F0 breq .L79
986 08ae D092 0000 sts (beeptime)+1,r13
987 08b2 C092 0000 sts beeptime,r12
988 08b6 7092 0000 sts (BeepMuster)+1,r7
989 08ba 6092 0000 sts BeepMuster,r6
990 .L79:
991 08be 1092 0000 sts (GPS_Nick)+1,__zero_reg__
992 08c2 1092 0000 sts GPS_Nick,__zero_reg__
993 08c6 1092 0000 sts (GPS_Roll)+1,__zero_reg__
994 08ca 1092 0000 sts GPS_Roll,__zero_reg__
995 08ce 8FEF ldi r24,lo8(-1)
996 08d0 9FEF ldi r25,hi8(-1)
997 08d2 9093 0000 sts (FromNaviCtrl+7)+1,r25
998 08d6 8093 0000 sts FromNaviCtrl+7,r24
999 08da 1092 0000 sts NaviDataOkay,__zero_reg__
1000 .L78:
1001 08de 2091 0000 lds r18,UBat
1002 08e2 3091 0000 lds r19,(UBat)+1
1003 08e6 8091 0000 lds r24,BattLowVoltageWarning
1004 08ea 90E0 ldi r25,lo8(0)
1005 08ec 2817 cp r18,r24