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Introduction The Kiel Esterel Processor The Compiler Wrap-Up Multi-Threaded Reactive Processing Xin Li Marian Boldt Reinhard v. Hanxleden Real-Time Systems and Embedded Systems Group Department of Computer Science

  1. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ L01: PAR 1,A0,1 L02: PAR 1,A1,2 L03 fork L03: PARE A2 || L04: A0: 1 1 L04 A0 L08 A1 L08: A1: ] end module Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  2. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ weak abort L01: PAR 1,A0,1 L02: PAR 1,A1,2 L03 fork when A L03: PARE A2 || L04: A0: 1 1 L04 A0 L08 A1 L08: A1: ] end module Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  3. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ weak abort L01: PAR 1,A0,1 L03 fork L02: PAR 1,A1,2 when A L03: PARE A2 1 || L04: A0: L04 A0 L08 A1 L04 WABORT A,A3 L08: A1: ] end module Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  4. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ weak abort L01: PAR 1,A0,1 L03 fork L02: PAR 1,A1,2 when A L03: PARE A2 1 || L04: A0: WABORT A,A3 L04 A0 L08 A1 L04 WABORT A,A3 L08: A3:A1: ] end module Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  5. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ weak abort L01: PAR 1,A0,1 L03 fork sustain R L02: PAR 1,A1,2 when A L03: PARE A2 1 || L04: A0: WABORT A,A3 L04 A0 L08 A1 L04 WABORT A,A3 L08: A3:A1: ] end module Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  6. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: % module Example module: EXAMPLE output A,R; OUTPUT A,R [ weak abort L01: PAR 1,A0,1 L03 fork sustain R L02: PAR 1,A1,2 when A L03: PARE A2 1 1 || L04: A0: WABORT A,A3 L04 A0 L08 A1 L04 WABORT A,A3 L08: A3:A1: ] L05 A4 end module L05 EMIT R L06 PAUSE L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  7. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: module: EXAMPLE % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R L02: PAR 1,A1,2 1 1 when A L03: PARE A2 || L04: A0: WABORT A,A3 L04 A0 L08 A1 1 L04 WABORT A,A3 L08: A3:A1: ] L05 A4 end module L05 EMIT R L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  8. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: module: EXAMPLE % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R L02: PAR 1,A1,2 1 1 when A L03: PARE A2 || L04: A0: WABORT A,A3 L04 A0 L08 A1 L05: A4: EMIT R 1 L06: PAUSE L07: GOTO A4 L04 WABORT A,A3 L08: A3:A1: ] L05 A4 end module L05 EMIT R L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  9. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module EXAMPLE: module: EXAMPLE % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R L02: PAR 1,A1,2 1 1 when A L03: PARE A2 || L04: A0: WABORT A,A3 L04 A0 L08 A1 pause; L05: A4: EMIT R 1 L06: PAUSE L07: GOTO A4 L04 WABORT A,A3 L08: A3:A1: ] L05 A4 end module L05 EMIT R L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  10. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R 1 1 L02: PAR 1,A1,2 when A L03: PARE A2 L04 A0 L08 A1 || L04: A0: WABORT A,A3 pause; L05: A4: EMIT R L04 WABORT A,A3 L08 PAUSE L06: PAUSE L07: GOTO A4 L05 A4 L08: A3:A1: ] L05 EMIT R end module L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  11. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R 1 1 L02: PAR 1,A1,2 when A L03: PARE A2 L04 A0 L08 A1 || L04: A0: WABORT A,A3 pause; L05: A4: EMIT R L04 WABORT A,A3 L08 PAUSE L06: PAUSE L07: GOTO A4 L05 A4 L08: A3:A1:PAUSE ] L05 EMIT R end module L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  12. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 sustain R 1 1 L02: PAR 1,A1,2 when A L03: PARE A2 L04 A0 L08 A1 || L04: A0: WABORT A,A3 pause; L05: A4: EMIT R L04 WABORT A,A3 L08 PAUSE present R then L06: PAUSE emit A L07: GOTO A4 L05 A4 end present L08: A3:A1:PAUSE ] L05 EMIT R end module L06 PAUSE w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  13. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 1 1 sustain R L02: PAR 1,A1,2 when A L04 A0 L08 A1 L03: PARE A2 || L04: A0: WABORT A,A3 pause; L04 WABORT A,A3 L08 PAUSE L05: A4: EMIT R present R then L06: PAUSE L05 A4 L09 PRESENT R,A5 emit A L07: GOTO A4 end present L08: A3:A1:PAUSE t ] L05 EMIT R L10 EMIT A f end module L06 PAUSE L11 A5 w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  14. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 1 1 sustain R L02: PAR 1,A1,2 when A L04 A0 L08 A1 L03: PARE A2 || L04: A0: WABORT A,A3 pause; L04 WABORT A,A3 L08 PAUSE L05: A4: EMIT R present R then L06: PAUSE L05 A4 L09 PRESENT R,A5 emit A L07: GOTO A4 end present L08: A3:A1:PAUSE t ] L09: PRESENT R,A5 L05 EMIT R L10 EMIT A f end module L10: EMIT A L11: A5: L06 PAUSE L11 A5 w A L08 A3 L07 GOTO A4 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 14

  15. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 1 1 sustain R L02: PAR 1,A1,2 when A L04 A0 L08 A1 L03: PARE A2 || L04: A0: WABORT A,A3 L04 WABORT A,A3 L08 PAUSE pause; L05: A4: EMIT R present R then L06: PAUSE L05 A4 L09 PRESENT R,A5 emit A L07: GOTO A4 end present t L08: A3:A1:PAUSE ] L09: PRESENT R,A5 L05 EMIT R L10 EMIT A f end module L10: EMIT A L11: A5: L06 PAUSE L11 A5 w A L08 A3 L07 GOTO A4 L11 join L12 HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 15

  16. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up module: EXAMPLE module EXAMPLE: % module Example output A,R; OUTPUT A,R [ L03 fork weak abort L01: PAR 1,A0,1 1 1 sustain R L02: PAR 1,A1,2 when A L04 A0 L08 A1 L03: PARE A2 || L04: A0: WABORT A,A3 L04 WABORT A,A3 L08 PAUSE pause; L05: A4: EMIT R present R then L06: PAUSE L05 A4 L09 PRESENT R,A5 emit A L07: GOTO A4 end present t L08: A3:A1:PAUSE ] L09: PRESENT R,A5 L05 EMIT R L10 EMIT A f end module L10: EMIT A L11: A5:A2:JOIN L06 PAUSE L11 A5 w L12: HALT A L08 A3 L07 GOTO A4 L11 join L12 HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 15 The Compilation Challenge: Thread Dependencies

  17. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up Dealing With Dependencies module: EXAMPLE module: EXAMPLE [T0] PAR* [T0,P2] PAR* 2 1 2 1 [T2] A0 [T2,P2] A0 [T1] A1 [T1,P1] A1 1. Add dependencies [T2] WABORT A,A3 [T2,P2] WABORT A,A3 to CKAG [T1,P2] PRIO 2 [T1] PAUSE [T2,P2] A4 [T2] A4 2. Compute statement [T1,P1/2] PAUSE [T2] EMIT R ⇒ priorities [T2,P2] EMIT R i [T1] PRESENT R,A5 [T2,P1] PRIO 1 [T1,P2] PRESENT R,A5 t 3. Assign initial thread t [T1] EMIT A f [T2,P2] PRIO 2 [T1,P2] EMIT A f prios i [T2] PAUSE [T1] A5 w [T2,P1/2] PAUSE [T1,P1] A5 A w 4. Insert PRIO stmts A [T2] GOTO A4 [T2] A3 [T2,P2] GOTO A4 [T2,P1] A3 [T1,P1] PRIO 1 [T1] NOTHING [T2] NOTHING [T2,P1] NOTHING [T1,P1] NOTHING [T0] JOIN 0 [T0,P1] JOIN 0 [T0] HALT [T0,P1/1] HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 16

  18. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up Dealing With Dependencies module: EXAMPLE % module Example [T0,P2] PAR* OUTPUT A,R EMIT _TICKLEN ,#14 2 1 [L01 ,T0 ,P2] PAR 2,A0 ,2 [T2,P2] A0 [L02 ,T0 ,P2] PAR 1,A1 ,1 [T1,P1] A1 [L03 ,T0 ,P2] PARE A2 ,2 [T2,P2] WABORT A,A3 [L04 ,T2 ,P2] A0: WABORT A,A3 [L05 ,T2 ,P2] A4: EMIT R [T1,P2] PRIO 2 [L06 ,T2 ,P1] PRIO 1 [T2,P2] A4 [L07 ,T2 ,P2] PRIO 2 [T1,P1/2] PAUSE [L08 ,T2 ,P1 /2] PAUSE ⇒ [T2,P2] EMIT R [L09 ,T2 ,P2] GOTO A4 i [L10 ,T2 ,P1] A3: NOTHING [T2,P1] PRIO 1 [T1,P2] PRESENT R,A5 [L11 ,T1 ,P1] A1: PRIO 2 t [L12 ,T1 ,P1 /2] PAUSE [T2,P2] PRIO 2 [T1,P2] EMIT A f i [L13 ,T1 ,P2] PRESENT R,A5 [L14 ,T1 ,P2] EMIT A [T2,P1/2] PAUSE [T1,P1] A5 w [L15 ,T1 ,P1] A5: PRIO 1 A [L16 ,T1 ,P1] NOTHING [T2,P2] GOTO A4 [T2,P1] A3 [T1,P1] PRIO 1 [L17] A2: JOIN 0 [L18 ,T0 ,P1 /1] HALT [T2,P1] NOTHING [T1,P1] NOTHING [T0,P1] JOIN 0 [T0,P1/1] HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 17

  19. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up Example—Execution Trace Scheduling criteria: 1. active, 2. highest priority, 3. highest id % module Example - Tick 1 - OUTPUT A,R ! reset; module EXAMPLE: EMIT _TICKLEN ,#14 % In: output A,R; [L01 ,T0 ,P2] PAR 2,A0 ,2 % Out: R [L02 ,T0 ,P2] PAR 1,A1 ,1 [ T0: L01,L02,L03 [L03 ,T0 ,P2] PARE A2 ,2 T2: L04,L05,L06 weak abort [L04 ,T2 ,P2] A0: WABORT A,A3 T1: L11,L12 sustain R; [L05 ,T2 ,P2] A4: EMIT R T2: L07,L08 [L06 ,T2 ,P1] PRIO 1 when A T0: L17 [L07 ,T2 ,P2] PRIO 2 - Tick 2 - || [L08 ,T2 ,P1/2] PAUSE % In: pause; [L09 ,T2 ,P2] GOTO A4 % Out: A R O [L10 ,T2 ,P1] A3: NOTHING present R then T2: L08,L09,L05,L06 [L11 ,T1 ,P1] A1: PRIO 2 T1: L12,L13,L14,L15,L16 emit A [L12 ,T1 ,P1/2] PAUSE T2: L07,L08,L10 [L13 ,T1 ,P2] PRESENT R,A5 end present T0: L17,L18 [L14 ,T1 ,P2] EMIT A ] - Tick 3 - [L15 ,T1 ,P1] A5: PRIO 1 % In: end module [L16 ,T1 ,P1] NOTHING % Out: [L17] A2: JOIN 0 T0: L18 [L18 ,T0 ,P1/1] HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 18

  20. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up CKAG for tcint module: TCINT [L107,T3,P1] JOIN 0 [L137,T19,P1] JOIN 0 [L171,T22,P1] JOIN 0 [L463,T0,P1] JOIN 0 [L7,T0,P1/1] PAR* 1 1 1 [L108,T19,P1] A3 1 [L8,T1,P1] A0 [L172,T25,P1] A5 [L110,T19,P1/1] PAR* 1 [L172,T25,P2] PRIO 2 [L138,T22,P1] A4 [L111,T20,P1] A67 1 1 1 [L111,T20,P1] A70 [L124,T21,P1] A68 [L111,T20,P1] ABORT SETDMAREADADDRESSREADY,A71 [L14,T2,P1] A1 [L20,T3,P1] A2 [L173,T25,P1/2] PAUSE [L112,T20,P1] A72 [L113,T20,P1/3] PAUSE [L112,T20,P3] PRIO 3 [L114,T20,P1] PRIO 1 s [L116,T20,P3] A71 SETDMAREADADDRESSREADY [L115,T20,P1] GOTO A72 [L116,T20,P3] ABORT DMAREADOVER,A73 [L117,T20,P3] A74 [L180,T25,P2] PRESENT DMAREADADDRESSREADY,A102 i [L117,T20,P3] EMIT DMAREADADDRESSREADY i [L118,T20,P1] PRIO 1 [L181,T25,P2] EXIT AC_0,A98 t [L119,T20,P3] PRIO 3 [L337,T25,P2] EMIT CONFLICTONSEL [L337,T25,P2] AC_0 d [L120,T20,P1/3] PAUSE [L122,T20,P1] A73 DMAREADOVER s [L121,T20,P3] GOTO A74 [L338,T25,P2] A157 [L122,T20,P1] PRIO 1 [L340,T25,P2/2] PAR* 2 1 [L123,T20,P1] GOTO A70 [L360,T29,P1] EMIT PLCADRIVES [L360,T29,P1] A159 [L341,T26,P2] A158 [L361,T29,P2] PRIO 2 i i [L341,T26,P2] A161 d [L363,T29,P2] EMIT PHOSTDRIVES [L362,T29,P1/2] PAUSE d d [L364,T29,P2] A171 [L366,T29,P2/2] PAR* 2 2 [L371,T31,P2] A173 [L371,T31,P2] ABORTI ACK,A176 [L367,T30,P2] A172 [L372,T31,P1] A177 [L373,T31,P2] PRIO 2 [L372,T31,P1] PRIO 1 [L377,T31,P2] A176 [L374,T31,P1/2] PAUSE [L375,T31,P1] PRIO 1 s ACK [L377,T31,P2] EXIT ACKRECEIVED,A171 i i [L376,T31,P1] GOTO A177 [L368,T30,P2] A175 [L367,T30,P2/2] PAUSE e ACKRECEIVED e [L369,T30,P2/2] PAUSE [L368,T30,P2] EMIT TCREGOUTCKDIS [L378,T29,P2] JOIN 0 e e e ACKRECEIVED [L370,T30,P2] GOTO A175 e [L379,T29,P2] ACKRECEIVED ACKRECEIVED [L379,T29,P2] EMIT ACCEPTSEL d [L380,T29,P1] PRIO 1 d [L382,T29,P1] ABORT ACK,A178 [L381,T29,P1] EMIT PDRIVETBC i [L383,T29,P1] A179 [L383,T29,P2] PRIO 2 [L384,T29,P1/2] PAUSE ACK s [L387,T29,P2] A178 [L387,T29,P2] A180 [L385,T29,P1] PRIO 1 [L386,T29,P1] GOTO A179 [L389,T29,P2/2] PAR* 2 1 [L390,T32,P2] A181 [L394,T33,P1] A182 [L394,T33,P1] A185 [L394,T33,P1] A186 [L394,T33,P2] PRIO 2 [L395,T33,P1/2] PAUSE [L396,T33,P2] PRESENT ACK,A187 f t f [L399,T33,P2] EXIT AWAIT_OP_0,A185 [L399,T33,P2] A187 [L398,T33,P1] GOTO A188 [L397,T33,P1] PRIO 1 [L401,T33,P2] EXIT NOTACK,A180 [L401,T33,P2] AWAIT_OP_0 [L400,T33,P1] GOTO A186 [L400,T33,P1] A188 ENDOFDMAREAD e [L390,T32,P2/2] PAUSE i i AWAIT_CASE AC NOTACK [L391,T32,P2] EMIT WFIFO [L391,T32,P2] A184 [L343,T26,P2/2] PAR* [L392,T32,P2/2] PAUSE e [L344,T27,P2] A162 2 2 [L347,T28,P2] A163 [L402,T29,P2] JOIN 0 e e e NOTACK e [L393,T32,P2] GOTO A184 [L344,T27,P2] A165 [L347,T28,P2] ABORT ACK,A166 [L403,T29,P2] NOTACK NOTACK [L8,T1,P1] PRESENT PRREQ,A8 [L8,T1,P1] A7 i [L344,T27,P2] EMIT PRREQ [L348,T28,P2] A167 [L348,T28,P2/2] PAUSE [L403,T29,P2] EXIT ENDOFDMAREAD,A157 s i e i i [L9,T1,P1/1] PAUSE [L12,T1,P1] A8 t f [L349,T28,P2] GOTO A167 [L350,T28,P2] A166 ACK [L10,T1,P1] EMIT RREQ [L12,T1,P1/1] PAUSE [L350,T28,P2] LOAD R,#3 [L11,T1,P1] GOTO A9 [L13,T1,P1] A9 [L351,T28,P2] A169 [L351,T28,P2] A168 [L13,T1,P1] GOTO A7 [L351,T28,P2/2] PAUSE e [L352,T28,P2] SUB R,#1 ENDOFDMAREAD ENDOFDMAREAD [L353,T28,P2] CMPS R,#0 AWAIT_CASE AC ENDOFDMAREAD [L355,T28,P2] EXIT REPEAT,A168 [L354,T28,P2] JW LE,A170 t [L356,T28,P2] A170 f [L357,T28,P2] EXIT WORDCOUNT,A161 [L357,T28,P2] REPEAT [L356,T28,P2] GOTO A169 e WORDCOUNT [L345,T27,P2/2] PAUSE e ENDOFDMAREAD i [L358,T26,P2] JOIN 0 e e e e [L346,T27,P2] GOTO A165 WORDCOUNT ENDOFDMAREAD AWAIT_CASE AC [L359,T26,P2] WORDCOUNT [L359,T26,P2] NOTHING [L404,T25,P2] JOIN 0 e e e [L405,T25,P2] ENDOFDMAREAD ENDOFDMAREAD AWAIT_CASE [L405,T25,P2] EXIT AWAIT_CASE,A96 [L124,T21,P1] A75 [L462,T25,P2] AWAIT_CASE [L462,T25,P2] GOTO A95 [L124,T21,P1] ABORT SETDMAWRITEADDRESSREADY,A76 [L125,T21,P1] A77 [L174,T25,P2] A95 [L174,T25,P2] A96 [L125,T21,P3] PRIO 3 s [L126,T21,P1/3] PAUSE [L174,T25,P2] A97 [L129,T21,P3] A76 SETDMAWRITEADDRESSREADY [L127,T21,P1] PRIO 1 [L174,T25,P2] A98 [L174,T25,P2] A99 [L129,T21,P3] ABORT DMAWRITEOVER,A78 [L130,T21,P3] A79 [L128,T21,P1] GOTO A77 f [L175,T25,P2] PRESENT DMAWRITEADDRESSREADY,A100 [L174,T25,P2] PRESENT FO_HF,A100 t [L130,T21,P3] EMIT DMAWRITEADDRESSREADY i i [L131,T21,P1] PRIO 1 [L177,T25,P2] A100 f t [L132,T21,P3] PRIO 3 [L177,T25,P2] PRESENT FI_HF,A103 t [L176,T25,P2] EXIT AC,A97 f AC [L133,T21,P1/3] PAUSE DMAWRITEOVER s [L179,T25,P1] GOTO A102 [L178,T25,P1] PRIO 1 [L180,T25,P2] A103 [L135,T21,P1] A78 [L135,T21,P1] PRIO 1 [L134,T21,P3] GOTO A79 [L182,T25,P1] A102 [L182,T25,P1] PRIO 1 [L136,T21,P1] GOTO A75 [L183,T25,P1] PRESENT SEL,A105 t f [L184,T25,P1] EXIT AC_1,A99 [L185,T25,P1] A105 [L185,T25,P1] A106 [L185,T25,P2] PRIO 2 [L186,T25,P1/2] PAUSE [L187,T25,P2] PRESENT FO_HF,A107 f t f [L188,T25,P2] PRESENT DMAWRITEADDRESSREADY,A107 t [L190,T25,P2] PRESENT FI_HF,A109 [L190,T25,P2] A107 [L189,T25,P2] EXIT AC,A97 [L406,T25,P2] AC [L193,T25,P2] A109 f [L191,T25,P1] PRIO 1 t [L406,T25,P2] EMIT CONFLICTONSEL d [L193,T25,P2] PRESENT DMAREADADDRESSREADY,A108 [L195,T25,P1] A108 f [L194,T25,P2] EXIT AC_0,A98 [L192,T25,P1] GOTO A108 t [L407,T25,P2] A189 [L409,T25,P2/2] PAR* [L195,T25,P1] PRIO 1 [L413,T35,P1] A191 1 [L410,T34,P2] A190 2 [L196,T25,P1] PRESENT SEL,A110 t f i [L413,T35,P1] EMIT PLCADRIVES i [L410,T34,P2] A193 [L199,T25,P1] AC_1 [L197,T25,P1] EXIT AC_1,A99 [L198,T25,P1] A110 [L198,T25,P1] GOTO A106 [L415,T35,P1/2] PAUSE [L414,T35,P2] PRIO 2 [L410,T34,P2] EMIT PWREQ i [L14,T2,P1] A10 [L14,T2,P1] PRESENT PWREQ,A11 [L199,T25,P1] EMIT TAGFLAG [L416,T35,P2] EMIT PPAMDRIVES i i [L18,T2,P1] A11 f t [L15,T2,P1/1] PAUSE [L200,T25,P1] A111 [L419,T35,P2/2] PAR* [L16,T2,P1] EMIT WREQ [L200,T25,P1] A112 [L423,T37,P2] A195 2 2 [L18,T2,P1/1] PAUSE [L17,T2,P1] GOTO A12 [L200,T25,P1] PRESENT SEL,A113 t [L423,T37,P2] EMIT POPRFIFO [L420,T36,P2] A194 AWAIT_CASE [L19,T2,P1] A12 [L201,T25,P1] PRESENT WRITE,A113 t [L424,T37,P2] A198 [L19,T2,P1] GOTO A10 [L202,T25,P1] PRESENT ADB24,A114 t f [L426,T37,P2/2] PAR* 2 f f [L203,T25,P1] GOTO A113 [L204,T25,P1] PRESENT ADB23,A113 [L204,T25,P1] A114 [L431,T39,P2] A200 [L431,T39,P2] ABORTI ACK,A203 2 [L205,T25,P1] PRESENT ADB22,A115 t [L427,T38,P2] A199 [L432,T39,P1] A204 [L206,T25,P1] GOTO A113 t f [L207,T25,P1] A115 f [L432,T39,P1] PRIO 1 [L218,T25,P1] PRESENT SEL,A119 [L218,T25,P1] A113 [L208,T25,P1] EMIT WPOMADCYC [L207,T25,P1/1] PAUSE [L434,T39,P1/2] PAUSE [L433,T39,P2] PRIO 2 s [L219,T25,P1] PRESENT WRITE,A120 t t f [L209,T25,P1] ABORT POMIODONE,A117 [L437,T39,P2] A203 ACK [L435,T39,P1] PRIO 1 [L220,T25,P1] GOTO A119 [L221,T25,P1] A120 [L210,T25,P1] A118 [L437,T39,P2] EXIT ACKRECEIVED_0,A198 i i [L436,T39,P1] GOTO A204 f [L221,T25,P1] PRESENT ADB24,A121 [L223,T25,P1] A121 f s POMIODONE [L210,T25,P1/1] PAUSE [L211,T25,P1] GOTO A118 e [L427,T38,P2/2] PAUSE [L428,T38,P2] A202 [L147,T23,P2] A84 CONFLICTONSEL s [L144,T23,P1/2] PAUSE t [L223,T25,P1] PRESENT ADB23,A119 [L212,T25,P1] A117 ACKRECEIVED_0 [L428,T38,P2] EMIT TCREGOUTCKDIS [L147,T23,P2] ABORT ACCEPTSEL,A86 [L145,T23,P1] PRIO 1 [L222,T25,P1] GOTO A119 f [L224,T25,P1] PRESENT ADB22,A122 t t f [L212,T25,P1/1] PAUSE [L213,T25,P1/1] PAUSE [L429,T38,P2/2] PAUSE ACKRECEIVED_0 e [L148,T23,P2] ABORTI SEL,A87 [L146,T23,P1] GOTO A85 [L225,T25,P1] GOTO A119 [L438,T37,P2] JOIN 0 e e e [L430,T38,P2] GOTO A202 [L149,T23,P1] A88 [L234,T25,P1] A119 [L226,T25,P1] A122 [L214,T25,P1] EMIT RDY [L439,T37,P2] ACKRECEIVED_0 ACKRECEIVED_0 [L149,T23,P1] PRIO 1 [L234,T25,P1] PRESENT SEL,A126 t [L226,T25,P1/1] PAUSE [L216,T25,P1/2] PAUSE [L215,T25,P2] PRIO 2 d [L439,T37,P2] EMIT ACCEPTSEL d [L150,T23,P2] PRIO 2 [L235,T25,P1] PRESENT WRITE,A126 t f [L217,T25,P2] GOTO A116 [L440,T37,P1] PRIO 1 [L151,T23,P1/2] PAUSE SEL s s [L237,T25,P1/1] PAUSE [L236,T25,P1] PRESENT ADB24,A126 t f [L245,T25,P1] A126 f [L442,T37,P1] LOAD R,#3 [L441,T37,P1] EMIT PDRIVETBC i [L154,T23,P2] A87 [L154,T23,P2] A89 [L152,T23,P1] PRIO 1 [L153,T23,P1] GOTO A88 [L238,T25,P1] EMIT RDY [L245,T25,P1] PRESENT SEL,A128 t [L443,T37,P1] A205 [L154,T23,P2] ABORT SEL,A90 [L239,T25,P1] EMIT WFIFO [L240,T25,P1/1] PAUSE [L246,T25,P1] PRESENT WRITE,A129 t [L248,T25,P1] A129 f f [L443,T37,P1] A206 [L156,T23,P1] A91 [L155,T23,P2] EMIT REJECTSEL [L164,T24,P1] PRESENT REJECTSEL,A93 i [L443,T37,P2] PRIO 2 ACCEPTSEL [L241,T25,P1] EMIT WFIFO [L247,T25,P1] GOTO A128 [L248,T25,P1] PRESENT ADB24,A128 [L156,T23,P1] PRIO 1 [L165,T24,P1/1] PAUSE t f [L444,T37,P1/2] PAUSE [L242,T25,P2] PRIO 2 [L256,T25,P1] A128 f t ALMOSTENDOFDMAWRITE AWAIT_CASE [L157,T23,P2] PRIO 2 [L169,T24,P1] A93 [L166,T24,P1] EMIT RDY [L445,T37,P2] EMIT POPRFIFO [L243,T25,P1/2] PAUSE [L256,T25,P1] PRESENT SEL,A131 [L158,T23,P1/2] PAUSE s s [L167,T24,P1] EMIT CONFLICT [L169,T24,P1/1] PAUSE [L446,T37,P2] EMIT PDRIVETBC i [L244,T25,P2] GOTO A127 [L257,T25,P1] PRESENT WRITE,A131 t t [L249,T25,P1/1] PAUSE [L159,T23,P1] PRIO 1 [L161,T23,P2] A90 SEL [L168,T24,P1] GOTO A94 [L447,T37,P2] SUB R,#1 ACCEPTSEL [L162,T23,P1] A86 [L138,T22,P1] SIGNAL REJECTSEL [L258,T25,P1] PRESENT ADB24,A132 f t [L160,T23,P1] GOTO A91 [L161,T23,P2] GOTO A89 [L170,T24,P1] A94 [L448,T37,P2] CMPS R,#0 1 1 [L141,T22,P1/1] PAR* [L162,T23,P1] PRIO 1 f [L260,T25,P1] A132 [L259,T25,P1] GOTO A131 f t f [L449,T37,P2] JW LE,A207 [L170,T24,P1] GOTO A92 [L164,T24,P1] A81 [L142,T23,P1] A80 [L163,T23,P1] GOTO A83 [L260,T25,P1] PRESENT ADB23,A131 [L261,T25,P1] PRESENT ADB22,A131 t f [L451,T37,P1] A207 [L451,T37,P1] PRIO 1 [L450,T37,P2] EXIT REPEAT_0,A205 [L453,T37,P2] REPEAT_0 [L164,T24,P1] A92 [L420,T36,P2] A197 [L142,T23,P1] ABORT CONFLICTONSEL,A84 [L142,T23,P1] A83 t f [L269,T25,P1] A131 [L452,T37,P1] GOTO A206 [L453,T37,P2] EXIT ALMOSTENDOFDMAWRITE,A189 i i [L420,T36,P2] EMIT POENRFIFO [L143,T23,P1] A85 [L262,T25,P1/1] PAUSE [L269,T25,P1] PRESENT SEL,A134 e [L421,T36,P2/2] PAUSE [L411,T34,P2/2] PAUSE e [L143,T23,P2] PRIO 2 [L263,T25,P1] EMIT RDY [L270,T25,P1] PRESENT WRITE,A135 t [L454,T35,P2] JOIN 0 e e ALMOSTENDOFDMAWRITE [L422,T36,P2] GOTO A197 ALMOSTENDOFDMAWRITE [L412,T34,P2] GOTO A193 [L264,T25,P1/1] PAUSE t [L272,T25,P1] A135 f ALMOSTENDOFDMAWRITE [L455,T25,P2] JOIN 0 AWAIT_CASE e [L265,T25,P1] EMIT WFIFO [L271,T25,P1] GOTO A134 [L272,T25,P1] PRESENT ADB24,A136 e [L266,T25,P2] PRIO 2 t [L274,T25,P1] A136 f f ALMOSTENDOFDMAWRITE [L268,T25,P2] GOTO A133 [L267,T25,P1/2] PAUSE [L273,T25,P1] GOTO A134 [L274,T25,P1] PRESENT ADB23,A134 t f [L275,T25,P1] PRESENT ADB22,A134 t f [L456,T25,P1] ALMOSTENDOFDMAWRITE [L282,T25,P1] PRESENT SEL,A138 [L282,T25,P1] A134 [L276,T25,P1/1] PAUSE [L283,T25,P1] PRESENT WRITE,A139 t f t [L285,T25,P1] A139 [L284,T25,P1] GOTO A138 [L285,T25,P1] PRESENT ADB24,A140 [L287,T25,P1] A140 t f [L287,T25,P1] PRESENT ADB23,A141 [L286,T25,P1] GOTO A138 f f [L289,T25,P1] A141 [L288,T25,P1] GOTO A138 t [L289,T25,P1] PRESENT ADB22,A142 f [L290,T25,P1] GOTO A138 t [L291,T25,P1] A142 [L302,T25,P1] A138 [L291,T25,P1/1] PAUSE [L302,T25,P1] PRESENT SEL,A146 t [L303,T25,P1] PRESENT WRITE,A146 [L304,T25,P1] PRESENT ADB24,A147 t [L306,T25,P1] A147 t f [L305,T25,P1] GOTO A146 [L306,T25,P1] PRESENT ADB23,A148 t f f f [L308,T25,P1] A148 [L307,T25,P1] GOTO A146 1 [L24,T3,P1/1] PAR* 1 1 1 [L308,T25,P1] PRESENT ADB22,A146 t f [L37,T7,P1] A16 [L31,T6,P1] A15 [L28,T5,P1] A14 [L25,T4,P1] A13 [L310,T25,P1] EMIT RDY [L309,T25,P1/1] PAUSE [L314,T25,P1] PRESENT SEL,A150 [L314,T25,P1] A146 [L37,T7,P1] A24 [L37,T7,P1] A23 [L28,T5,P1] A19 [L28,T5,P1] EMIT ROMCE [L25,T4,P1] A18 [L25,T4,P1] EMIT TCREGINCKE [L311,T25,P2] PRIO 2 [L315,T25,P1] PRESENT WRITE,A151 t [L39,T7,P1/1] PAR* [L29,T5,P1/1] PAUSE [L26,T4,P1/1] PAUSE [L312,T25,P1/2] PAUSE [L292,T25,P1] EMIT PROMDRIVES i t i f [L317,T25,P1] A151 [L55,T12,P1] A26 1 1 [L30,T5,P1] GOTO A19 [L27,T4,P1] GOTO A18 [L313,T25,P2] GOTO A149 [L293,T25,P1] EMIT ROMAD [L316,T25,P1] GOTO A150 [L317,T25,P1] PRESENT ADB24,A152 t f [L55,T12,P1] A35 [L40,T8,P1] A25 [L329,T25,P2] A149 f [L294,T25,P1/1] PAUSE [L318,T25,P1] GOTO A150 [L319,T25,P1] A152 [L55,T12,P1] A36 [L329,T25,P2] A127 [L329,T25,P2] A133 [L295,T25,P1] LOAD _COUNT,#5 [L296,T25,P1] ABORT tick,A144 [L319,T25,P1] PRESENT ADB23,A153 t [L321,T25,P1] A153 f [L277,T25,P1] EMIT PPAMDRIVES [L278,T25,P1] EMIT POENRFIFO i [L250,T25,P1] EMIT PPAMDRIVES i i [L251,T25,P1] EMIT POENRFIFO i i [L227,T25,P1] EMIT PPAMDRIVES [L228,T25,P1] EMIT RPOMADCYC i [L56,T12,P1] PRESENT PPAMDRIVES,A40 [L55,T12,P1/1] PAUSE [L329,T25,P2] A116 [L297,T25,P1] A145 [L320,T25,P1] GOTO A150 [L321,T25,P1] PRESENT ADB22,A150 [L279,T25,P1] EMIT POPRFIFO [L252,T25,P1] EMIT POPRFIFO [L229,T25,P1] ABORT POMIODONE,A124 [L58,T12,P1] A40 f t [L329,T25,P2] WRITESHAREDEND [L297,T25,P1] EMIT ROMOE [L327,T25,P1] A150 f [L280,T25,P1/1] PAUSE [L253,T25,P1] EMIT WFIFO [L230,T25,P1] A125 t [L322,T25,P1/1] PAUSE [L58,T12,P1] PRESENT PROMDRIVES,A39 [L57,T12,P1] GOTO A38 [L327,T25,P1] A155 [L298,T25,P1/1] PAUSE s tick [L254,T25,P1/1] PAUSE [L230,T25,P1/1] PAUSE s POMIODONE [L323,T25,P1] EMIT PLCADRIVES i i [L59,T12,P1] GOTO A38 t f [L60,T12,P1] A39 [L329,T25,P2] GOTO A156 [L327,T25,P1/1] PAUSE [L299,T25,P1] GOTO A145 [L300,T25,P1] A144 [L255,T25,P1] EXIT READSHAREDEND,A111 [L232,T25,P1] A124 [L231,T25,P1] GOTO A125 [L324,T25,P1/1] PAUSE [L60,T12,P1] PRESENT PLCADRIVES,A37 t f [L328,T25,P1] GOTO A155 [L300,T25,P1] EMIT ROMOE [L301,T25,P1] EXIT READSHAREDEND,A111 [L281,T25,P1] EXIT READSHAREDEND,A111 [L233,T25,P1] EXIT READSHAREDEND,A111 [L232,T25,P1/1] PAUSE [L326,T25,P1] EXIT READSHAREDEND,A111 [L325,T25,P1/1] PAUSE [L61,T12,P1] EXIT AWAIT_OP,A35 [L61,T12,P1] A38 [L62,T12,P1] A37 [L62,T12,P1] GOTO A36 d [L456,T25,P1] EMIT PHOSTDRIVES d d [L330,T25,P1] READSHAREDEND [L63,T12,P1] AWAIT_OP [L457,T25,P1/1] PAUSE [L331,T25,P1/1] PAUSE [L330,T25,P1] EMIT PDRIVETBC [L63,T12,P1] EXIT ENDOFHOSTDRIVES,A24 i i i i i [L40,T8,P1/1] PAUSE e [L459,T25,P2] PRIO 2 [L458,T25,P1] EMIT PDRIVETBC i [L31,T6,P1] PRESENT PDRIVETBC,A21 t f [L31,T6,P1] A20 [L332,T25,P1] EMIT RDY [L44,T8,P1/1] PAR* [L460,T25,P1/2] PAUSE [L32,T6,P1/1] PAUSE [L333,T25,P1] EMIT PHOSTDRIVES d d d [L51,T11,P1] A30 [L48,T10,P1] A29 1 1 [L45,T9,P1] A28 1 [L461,T25,P2] EXIT AWAIT_CASE,A96 [L33,T6,P1] EMIT TCREGOUTOE [L35,T6,P1] A21 [L35,T6,P1/1] PAUSE [L334,T25,P2] PRIO 2 ENDOFHOSTDRIVES [L51,T11,P1] A34 [L48,T10,P1] A33 [L45,T9,P1] A32 [L34,T6,P1] GOTO A22 [L336,T25,P2] A156 [L335,T25,P1/2] PAUSE [L51,T11,P1] EMIT EXTBUFOE [L52,T11,P1/1] PAUSE [L49,T10,P1/1] PAUSE [L48,T10,P1] EMIT EXTBUFDIR e [L46,T9,P1/1] PAUSE [L45,T9,P1] EMIT TCREGINOE [L36,T6,P1] GOTO A20 [L36,T6,P1] A22 [L336,T25,P2] EXIT AWAIT_CASE,A96 [L53,T11,P1] GOTO A34 e ENDOFHOSTDRIVES [L54,T8,P1] JOIN 0 e e ENDOFHOSTDRIVES ENDOFHOSTDRIVES [L50,T10,P1] GOTO A33 [L47,T9,P1] GOTO A32 [L64,T7,P1] JOIN 0 ENDOFHOSTDRIVES [L65,T7,P1] ENDOFHOSTDRIVES e ENDOFHOSTDRIVES [L79,T7,P1] A41 [L65,T7,P1] PRESENT PPAMDRIVES,A41 f t [L66,T7,P1] A43 [L79,T7,P1] PRESENT PROMDRIVES,A50 [L68,T7,P1/1] PAR* [L80,T7,P1] A52 t f [L93,T7,P1] A50 1 [L73,T14,P1] A45 1 [L82,T7,P1/1] PAR* [L73,T14,P1] ABORT PHOSTDRIVES,A48 [L69,T13,P1] A44 [L93,T7,P1] PRESENT PLCADRIVES,A59 [L87,T16,P1] A54 [L83,T15,P1] A53 1 1 [L74,T14,P1] A49 [L94,T7,P1] A60 t [L87,T16,P1] ABORT PHOSTDRIVES,A57 s [L74,T14,P1/1] PAUSE [L96,T7,P1/1] PAR* [L88,T16,P1] A58 PHOSTDRIVES [L76,T14,P1] A48 [L75,T14,P1] GOTO A49 [L97,T17,P1] A61 1 1 [L101,T18,P1] A62 [L88,T16,P1/1] PAUSE s PHOSTDRIVES [L76,T14,P1] EXIT ENDOFPAMDRIVES,A43 i i [L101,T18,P1] ABORT PHOSTDRIVES,A65 [L90,T16,P1] A57 [L90,T16,P1] EXIT ENDOFROMDRIVES,A52 [L89,T16,P1] GOTO A58 i i [L69,T13,P1/1] PAUSE e [L70,T13,P1] A47 [L102,T18,P1/1] PAUSE s [L102,T18,P1] A66 [L83,T15,P1/1] PAUSE e ENDOFPAMDRIVES [L70,T13,P1] EMIT EXTBUFOE f [L103,T18,P1] GOTO A66 PHOSTDRIVES [L104,T18,P1] A65 [L84,T15,P1] A56 ENDOFPAMDRIVES e [L71,T13,P1/1] PAUSE [L104,T18,P1] EXIT ENDOFLCADRIVES,A60 i i [L84,T15,P1] EMIT ROMOE ENDOFROMDRIVES [L77,T7,P1] JOIN 0 ENDOFPAMDRIVES e [L72,T13,P1] GOTO A47 [L97,T17,P1/1] PAUSE e [L86,T15,P1] GOTO A56 [L85,T15,P1/1] PAUSE e ENDOFROMDRIVES [L91,T7,P1] JOIN 0 [L78,T7,P1] ENDOFPAMDRIVES ENDOFLCADRIVES [L98,T17,P1] EMIT LCAOE [L98,T17,P1] A64 e ENDOFROMDRIVES [L78,T7,P1] GOTO A42 [L99,T17,P1/1] PAUSE [L92,T7,P1] ENDOFROMDRIVES [L105,T7,P1] JOIN 0 ENDOFLCADRIVES e [L100,T17,P1] GOTO A64 [L92,T7,P1] GOTO A51 [L106,T7,P1] ENDOFLCADRIVES e ENDOFLCADRIVES [L106,T7,P1] A59 [L106,T7,P1] A42 [L106,T7,P1] A51 [L106,T7,P1] GOTO A23 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 19

  21. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up tcint ThreadId’s T29 T26 T0 T31 T30 T33 T32 T35 T28 T27 T34 T25 T1 T3 T22 T19 T2 T37 T36 T7 T6 T5 T4 T23 T24 T20 T21 T39 T38 T12 T8 T14 T13 T16 T15 T18 T17 T10 T9 T11 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 20

  22. Introduction The Kiel Esterel Processor The Concurrent KEP Assembler Graph (CKAG) The Compiler Handling Thread Dependencies Wrap-Up tcint ThreadId’s with Thread Dependencies T29 T26 T0 T31 T30 T33 T32 T35 T28 T27 T34 T25 T1 T3 T22 T19 T2 T37 T36 T7 T6 T5 T4 T23 T24 T20 T21 T39 T38 T12 T8 T14 T13 T16 T15 T18 T17 T10 T9 T11 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 21

  23. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Overview Introduction The Kiel Esterel Processor The Compiler Wrap-Up KEP Evaluation Platform Experimental Results Summary & Outlook Identify that benchmark . . . Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 22

  24. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . The KEP Evaluation Platform FPGA Board User Host strl2kasm kasm2ko KEP Assembler .kasm .ko Test Driver .strl TickGen Input .esi Kiel Esterel Processor EStudio ProtocolGen Output .eso .log Environment ◮ Highly automated process, currently using 470+ benchmarks ◮ End to end validation of hardware and compiler against “trusted” reference (Esterel Studio) ◮ Detailed performance measurements Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 23

  25. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Code Characteristics and Compilation Times Esterel KEP3a (Unoptimized | optimized) MicroBlaze Module Threads Preemptions CKAG Preemption handled by Compiling Compiling Name Cnt Max Max Cnt Max NodesDep. Max PRIO Local Thread Time Time (Sec) DepthConc Depth NumPriority Instr WatcherWatcherWatcher (Sec) (V5/V7/CEC) 4 2 4 20 2 211 36 3 30 0 4 | 3 16 | 11 0.15 0.12 0.09 0.30 abcd 6 2 6 30 2 313 90 3 48 0 6 | 5 24 | 17 0.21 0.71 0.46 0.96 abcdef 8 2 8 40 2 415 168 3 66 0 8 | 7 32 | 23 0.26 0.99 0.54 1.25 eight but 5 3 4 6 1 80 4 2 10 0 0 6 | 4 0.07 0.35 0.35 0.43 chan prot reactor ctrl 3 2 3 5 1 51 5 1 0 0 1 | 0 4 0.06 0.29 0.31 0.36 runner 2 2 2 9 3 61 0 1 0 3 | 2 1 5 | 3 0.05 0.30 0.34 0.40 example 2 2 2 4 2 36 2 3 6 0 1 3 | 2 0.05 0.28 0.31 0.31 ww button 13 3 4 27 2 194 0 1 0 0 5 22 | 10 0.10 0.44 0.40 0.64 greycounter 17 3 13 19 2 414 53 6 58 0 4 15 0.34 0.57 0.43 0.75 tcint 39 5 17 18 2 583 65 3 20 0 1 17 | 10 0.34 0.41 0.52 1.11 mca200 59 5 49 64 4 11219 129 11 190 2 14 48 11.25 69.81 12.99 7.37 Note: In the mca200 , the watcher refinement reduces the hardware requirements from 4033 slices (if all preemptions were handled by general purpose Watcher s) to 3265 slices (19% reduction). Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 24

  26. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Worst-/Average-Case Reaction Times MicroBlaze KEP3a-Unoptimized KEP3a-optimized Module Name WCRT ACRT WCRT Ratio to ACRT Ratio to WCRT Ratio to ACRT Ratio V5 V7 CEC V5 V7 CEC best MB best MB Unopt to Unopt 1559 954 1476 1464 828 1057 135 0.14 87 0.11 135 1 84 0.97 abcd 2281 1462 1714 2155 1297 1491 201 0.14 120 0.09 201 1 117 0.98 abcdef eight but 3001 1953 2259 2833 1730 1931 267 0.14 159 0.09 267 1 153 0.96 chan prot 754 375 623 683 324 435 117 0.31 60 0.19 117 1 54 0.90 reactor ctrl 487 397 456 266 54 0.23 45 0.21 51 0.94 39 0.87 230 214 566 657 512 419 36 0.12 15 0.05 30 0.83 6 0.40 runner 289 277 467 439 404 228 42 0.25 24 0.16 42 1 24 1 example 169 153 1185 979 1148 798 72 0.12 51 0.09 48 0.67 36 0.71 ww button 578 570 greycounter 1965 1013 2376 1851 928 1736 528 0.52 375 0.40 528 1 375 1 tcint 3580 1878 2350 3488 1797 2121 408 0.22 252 0.14 342 0.84 204 0.81 mca200 75488 29078 12497 73824 24056 11479 2862 0.23 1107 0.10 2862 1 1107 1 The worst-/average-case reaction times, in clock cycles, for the KEP3a and MicroBlaze ◮ WCRT speedup: typically > 4x ◮ ACRT speedup: typically > 5x ◮ Optimizations yield further improvements Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 25

  27. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Memory Usage Esterel MicroBlaze KEP3a-Unopt. KEP3a-opt. Module Name LOC Code+Data (byte) Code (word) Code+Data (byte) Code (word) V5 V7 CEC abs. rel. abs. rel. abs. rel. [1] [2] ( best ) [3] [3]/[1] [4] [4]/[2] [5] [5]/[3] abcd 160 6680 7928 7212 168 1.05 756 0.11 164 0.93 236 9352 9624 252 1.07 1134 0.12 244 0.94 abcdef 9220 eight but 312 12016 11276 11948 336 1.08 1512 0.13 324 0.94 42 3808 6204 66 1.57 297 0.09 62 0.94 chan prot 3364 27 2668 5504 38 1.41 171 0.07 34 0.89 reactor ctrl 2460 runner 31 3140 5940 2824 39 1.22 175 0.06 27 0.69 20 2480 5196 2344 31 1.55 139 0.06 28 0.94 example ww button 76 6112 7384 5980 129 1.7 580 0.10 95 0.74 143 7936 8688 347 2.43 1567 0.21 343 1 greycounter 7612 tcint 355 14860 11376 15340 437 1.23 1968 0.17 379 0.87 3090 104536 77112 52998 8650 2.79 39717 0.75 8650 1 mca200 ◮ Unoptimized: 83% avg reduction of memory usage (Code+RAM) ◮ Optimized: May yield further 5% to 30+% improvements Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 26

  28. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Power Consumption KEP3a 1 MicroBlaze Ratio Module (82mW@50MHz) (mW) (KEP to MB) Name Idle Peak Idle Peak Idle 69 13 8 0.16 0.12 abcd abcdef 74 13 7 0.16 0.09 74 13 7 0.16 0.09 eight but chan prot 70 28 12 0.34 0.17 reactor ctrl 76 20 13 0.24 0.17 runner 78 14 2 0.17 0.03 77 25 9 0.30 0.12 example 81 13 4 0.16 0.05 ww button greycounter 78 44 33 0.54 0.42 80 18 10 0.22 0.13 tcint ◮ Peak energy usage reduction: 75% avg ◮ Idle (= no inputs) energy usage reduction: 86% avg 1Based on Xilinx 3S200-4ft256, requires an additional 37mW as quiescent power for the chip itself Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 27

  29. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Scalability Synthesis results for Xilinx 3S1500-4fg-676 2 ◮ 48 valued signals Thread Slices Gates (k) up to 256 possible Count ◮ 2 Watchers, 8 Local Watchers 2 1295 295 either up to 64 possible 10 1566 299 ◮ 1k (1024) instruction words 20 1871 311 up to 64k possible 40 2369 328 ◮ 128 registers (in word) 60 3235 346 80 4035 373 up to 512 possible 100 4569 389 ◮ 16-bits (65536) max counter value 120 5233 406 ◮ Frequency is stable (around 60 MHz) 2 For comparison, a MicroBlaze implementation requires around 1k slices and 309k gates; a two threads EMPEROR platform requires around 2k slices Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 28

  30. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Analysis of Context Switches Instr’s CSs CSs at same PRIO s CSs due to Module total total priority total PRIO Name abs. abs. ratio abs. rel. abs. rel. abs. rel. rel. [1] [2] [1]/[2] [3] [3]/[2] [4] [4]/[1] [5] [5]/[2][5]/[4] 16513 3787 4.36 1521 0.40 3082 0.19 1243 0.33 0.40 abcd abcdef 29531 7246 4.08 3302 0.46 6043 0.20 2519 0.35 0.42 eight but 39048 10073 3.88 5356 0.53 8292 0.21 3698 0.37 0.45 5119 1740 2.94 707 0.41 990 0.19 438 0.25 0.44 chan prot reactor ctrl 151 48 3.15 29 0.60 0 0 0 0 - runner 5052 704 7.18 307 0.44 0 0 0 0 - 208 60 3.47 2 0.30 26 0.13 9 0.15 0.35 example ww button 292 156 1.87 92 0.59 0 0 0 0 - greycounter 160052 34560 4.63 14043 0.41 26507 0.17 12725 0.37 0.48 tcint 80689 33610 2.4 16769 0.50 5116 0.06 2129 0.06 0.42 982417256988 3.82 125055 0.49 242457 0.25 105258 0.41 0.43 mca200 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 29

  31. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Summary Reactive Processors Processor supports reactive control flow directly, at hardware level ◮ “Watchers” monitor preemption signals No need for polling, interrupts ◮ Support for concurrency Multi-threading or multi-processing ◮ Synchronous model of computation Perfectly deterministic, predictable timing Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 30

  32. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Outlook ◮ Improve priority assignments ◮ Speedup signal expression computations with external logic block ◮ WCRT analysis with concurrency ◮ Extend to Esterel v7 ◮ KEP in Esterel— e. g. , to produce Esterel virtual machine ◮ Combination with multi-core ( e. g. , for data handling) ◮ Adaptation to non-Esterel languages ◮ Apply compilation approach to standard processors (“multi-threaded simulation”) ◮ To go further: http://www.informatik.uni-kiel.de/rtsys/kep/ Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 31

  33. Introduction KEP Evaluation Platform The Kiel Esterel Processor Experimental Results The Compiler Summary & Outlook Wrap-Up Identify that benchmark . . . Identify that benchmark . . . module: mca200 [L10,T0,P9/9] PAR* [L435,T7,P9] JOIN 0 [L492,T5,P9] JOIN 0 [L632,T10,P4] JOIN 0 [L734,T4,P9] JOIN 0 [L2007,T18,P5] JOIN 0 [L3035,T28,P5] JOIN 0 [L3208,T38,P1] JOIN 0 [L3770,T37,P4] JOIN 0 [L4271,T46,P4] JOIN 0 [L5044,T52,P2] JOIN 0 [L5045,T0,P9] JOIN 0 [L11,T1,P1] A10 [L11,T1,P1] A0 1 4 2 1 [L4272,T52,P2] A8 1 5 [L11,T1,P1] LOAD TIME,#9384 [L12,T1,P1] LOAD TRS,#9384 9 5 4 [L47,T2,P1] A1 [L214,T3,P1] A2 [L13,T1,P1] LOAD VELINST_VAL,#0 [L14,T1,P1] ABORT RESET,A11 [L286,T4,P9] A3 [L3036,T37,P4] A6 [L3771,T46,P4] A7 [L2008,T28,P5] A5 [L15,T1,P1] A13 [L15,T1,P1] A12 [L16,T1,P1/11] PAUSE [L15,T1,P1] A14 [L15,T1,P11] PRIO 11 [L735,T18,P5] A4 [L17,T1,P11] PRESENT CLOCK_32,A17 f [L19,T1,P11] A17 t s [L45,T1,P1] A11 [L45,T1,P1] PRIO 1 RESET [L21,T1,P1] A15 [L19,T1,P11] PRESENT VELINST,A15 [L18,T1,P11] GOTO A16 t f [L20,T1,P11] A16 [L46,T1,P1] GOTO A10 [L22,T1,P1] GOTO A14 [L21,T1,P1] PRIO 1 [L23,T1,P11] PRESENT VELINST,A18 [L20,T1,P11] EXIT AWAIT_OP,A13 t [L23,T1,P11] AWAIT_OP [L25,T1,P11] CMPS VELINST_VAL,#0 [L24,T1,P11] LOAD VELINST_VAL,?VELINST f [L26,T1,P11] JW EE,A19 t [L28,T1,P11] LOAD TIME,#9384 [L27,T1,P11] LOAD TRS,#9384 [L30,T1,P11] A19 [L30,T1,P11] LOAD REG0,#7207207 [L31,T1,P11] LOAD R0,REG0 f [L32,T1,P11] LOAD R1,VELINST_VAL [L29,T1,P11] GOTO A20 [L34,T1,P11] LOAD REG0,R0 [L33,T1,P11] CALL DIV [L35,T1,P11] LOAD TRS,REG0 [L36,T1,P11] A20 [L36,T1,P11] A18 [L37,T1,P11] SUB TIME,#1 [L36,T1,P11] PRESENT CLOCK_32,A21 t i d d [L40,T1,P11] EMIT SPEED_SENS d d t [L39,T1,P11] JW LE,A22 [L38,T1,P11] CMPS TIME,#0 f [L346,T6,P1] PRIO 1 s [L345,T6,P1/10] PAUSE [L348,T6,P10] A121 s [L348,T6,P10] ADD D_TIME,#1 CLOCK_32 s [L567,T12,P1] PRIO 1 [L566,T12,P1/4] PAUSE s CLOCK_500 s s [L569,T12,P1] A198 [L569,T12,P1] A200 [L42,T1,P1] LOAD TIME,TRS [L41,T1,P1] PRIO 1 f [L43,T1,P1] A22 [L347,T6,P1] GOTO A122 [L349,T6,P10] CMPS D_TIME,#7038 [L350,T6,P10] JW G,A123 [L568,T12,P1] GOTO A199 [L569,T12,P1] PRIO 1 [L570,T12,P1] ABORT CLOCK_500,A201 [L43,T1,P1] A21 [L43,T1,P1] PRIO 1 [L287,T4,P9] SIGNALV SPEED_INST [L286,T4,P9] SIGNAL SPEED_OFF SPEED_SENS f [L357,T6,P1] A123 i t [L351,T6,P10] EMIT SPEED_OFF i [L352,T6,P1] A124 i RESET SPEED_SENS [L571,T12,P1] ADD D_TIME_8,#1 [L572,T12,P1] A202 [L44,T1,P1] GOTO A12 [L288,T4,P9] SIGNAL IGNORED_0 [L294,T4,P9/9] PAR* [L591,T13,P4] PRESENT SPEED_SENS,A211 f t [L358,T6,P1] GOTO A120 [L357,T6,P1] PRIO 1 [L352,T6,P1] PRIO 1 4 [L572,T12,P4] PRIO 4 [L295,T5,P9] A104 9 3 [L593,T13,P1] A211 [L592,T13,P4] EXIT AC_4,A208 [L599,T13,P4] AC_4 [L353,T6,P9] PRIO 9 [L354,T6,P1/9] PAUSE s SPEED_SENS s RESET [L493,T10,P4] A105 [L295,T5,P9] SIGNALV TRS_B [L296,T5,P9] SIGNALV TRS_A [L573,T12,P1/4] PAUSE SPEED_SENS [L578,T12,P4] A195 s s [L576,T12,P1] A201 CLOCK_500 s [L574,T12,P1] PRIO 1 [L673,T17,P3] A108 [L599,T13,P4] CMPS D_TIME_OLD,#312 [L600,T13,P4] JW L,A215 [L359,T6,P9] A118 [L359,T6,P9] PRIO 9 [L356,T6,P1] GOTO A124 [L355,T6,P1] PRIO 1 [L361,T6,P1] A116 [L361,T6,P1] PRIO 1 [L300,T5,P9/9] PAR* [L493,T10,P4] SIGNAL ERR_OPEN [L297,T5,P9] SIGNAL IGNORED_1 [L555,T12,P4] A194 [L578,T12,P4] GOTO A194 [L577,T12,P1] GOTO A200 [L576,T12,P1] PRIO 1 [L575,T12,P1] GOTO A202 f [L602,T13,P4] JW G,A215 t [L601,T13,P4] CMPS D_TIME_9,#31250 [L360,T6,P9] GOTO A117 [L494,T10,P4] SIGNAL ERR_ACC [L362,T6,P1] GOTO A113 [L301,T6,P1] A110 [L301,T6,P1] A113 9 1 [L556,T12,P4] CMPS D_TIME_8,#6000 [L555,T12,P4] ABORT SPEED_SENS,A195 RESET [L604,T13,P4] CMPS D_TIME_OLD,#625 [L604,T13,P4] A215 f [L603,T13,P4] GOTO A214 t [L363,T7,P9] A125 [L363,T7,P9] A111 [L301,T6,P1] ABORT RESET,A114 [L302,T6,P1] A115 [L557,T12,P4] JW L,A196 [L558,T12,P4] ADD MIN_TPAR_NUM,#1 t 4 7 [L606,T13,P4] CMPS D_TIME_9,#125000 [L605,T13,P4] JW L,A213 t [L363,T7,P9] LOAD STRATEGY,#0 [L364,T7,P9] LOAD SPEED_VALUE,#0 [L303,T6,P1/9] PAUSE [L302,T6,P9] PRIO 9 s f [L560,T12,P4] JW G,A197 [L559,T12,P4] CMPS MIN_TPAR_NUM,#3 RESET [L594,T13,P1] PRESENT CLOCK_32,A212 [L593,T13,P1] PRIO 1 [L612,T13,P1] A213 f f [L607,T13,P4] JW G,A213 [L608,T13,P4] A214 t [L366,T7,P9] LOAD TRS_B_VALUE,#0 [L365,T7,P9] LOAD TRS_A_VALUE,#0 [L306,T6,P9] LOAD D_TIME,#0 [L306,T6,P9] A114 [L304,T6,P1] PRIO 1 RESET [L305,T6,P1] GOTO A115 [L562,T12,P1] A197 [L562,T12,P1] A196 [L561,T12,P4] EXIT ERROR,A193 f t [L579,T12,P4] ERROR [L596,T13,P1] A212 f [L597,T13,P1] AC_5 [L595,T13,P1] EXIT AC_5,A209 t [L613,T13,P1] LOAD D_TIME_OLD,D_TIME_9 [L609,T13,P1] A217 [L612,T13,P1] PRIO 1 [L608,T13,P4] EMIT ERR_OPEN i [L308,T6,P9] LOAD D_TIME_1,#0 [L368,T7,P9] ABORT ABORT_0,A126 [L367,T7,P9] SIGNAL ABORT_0 [L580,T12,P1] A203 [L563,T12,P1] LOAD D_TIME_8,#0 [L307,T6,P9] LOAD D_TIME_0,#0 [L562,T12,P1] PRIO 1 [L579,T12,P4] EMIT ERR_PAR i [L597,T13,P1] ADD D_TIME_9,#1 [L598,T13,P1] EXIT AWAIT_CASE_1,A207 [L615,T13,P1] EXIT AWAIT_CASE_1,A207 [L614,T13,P1] LOAD D_TIME_9,#0 [L610,T13,P1/1] PAUSE s [L609,T13,P1] PRIO 1 RESET [L496,T10,P4] SIGNAL IGNORED_2 [L495,T10,P4] SIGNAL ERR_PAR [L309,T6,P9] LOAD D_TIME_2,#0 [L310,T6,P9] LOAD D_TIME_3,#0 [L580,T12,P1] PRIO 1 [L581,T12,P4] PRIO 4 [L564,T12,P1] ABORT CLOCK_500,A198 [L565,T12,P1] A199 [L633,T15,P7] A106 [L616,T13,P1] AWAIT_CASE_1 [L617,T13,P1] PRIO 1 [L617,T13,P1] A205 [L611,T13,P1] GOTO A217 [L311,T6,P9] LOAD D_TIME_4,#0 [L312,T6,P9] LOAD D_TIME_5,#0 [L583,T12,P1] PRIO 1 [L501,T10,P4/4] PAR* [L582,T12,P1/4] PAUSE [L565,T12,P4] PRIO 4 s RESET [L585,T12,P4] A192 [L654,T16,P4] A107 [L616,T13,P1] GOTO A206 [L618,T13,P1] GOTO A204 [L586,T13,P1] A204 [L313,T6,P9] LOAD D_TIME_6,#0 [L314,T6,P9] LOAD D_TIME_7,#0 [L584,T12,P1] GOTO A203 [L502,T11,P1] A167 [L586,T13,P1] A169 1 1 1 4 [L552,T12,P4] A168 [L552,T12,P4] A191 [L585,T12,P4] GOTO A191 [L596,T13,P1] GOTO A210 [L587,T13,P1] LOAD D_TIME_OLD,#0 [L586,T13,P1] LOAD D_TIME_9,#0 [L316,T6,P9] LOAD TIME_B,#0 [L315,T6,P9] LOAD TIME_A,#0 [L619,T14,P1] A170 [L553,T12,P4] LOAD MIN_TPAR_NUM,#0 [L552,T12,P4] LOAD D_TIME_8,#6000 RESET [L589,T13,P1] A206 [L588,T13,P1] ABORT RESET,A205 [L318,T6,P9] A117 [L317,T6,P9] ABORT RESET,A116 [L555,T12,P4] A193 [L554,T12,P4] ABORT RESET,A192 [L589,T13,P1] A208 [L589,T13,P1] A207 [L589,T13,P1] A209 [L318,T6,P9] ABORT SPEED_SENS,A118 [L319,T6,P9] LOAD REG11,TIME_A [L320,T6,P9] SUB REG11,D_TIME_3 [L590,T13,P1/4] PAUSE [L589,T13,P1] A210 [L589,T13,P4] PRIO 4 s [L321,T6,P9] ADD REG11,D_TIME [L323,T6,P9] LOAD REG12,TIME_B [L322,T6,P9] LOAD TIME_A,REG11 [L324,T6,P9] SUB REG12,D_TIME_7 [L325,T6,P9] ADD REG12,D_TIME [L326,T6,P9] LOAD TIME_B,REG12 i i [L327,T6,P9] CMPS D_TIME,#7038 [L328,T6,P9] JW L,A119 [L329,T6,P9] EMIT TRS_A t i i f [L332,T6,P9] SETV TRS_B,TIME_B i i [L330,T6,P9] SETV TRS_A,TIME_A [L331,T6,P9] EMIT TRS_B i i i i i i [L334,T6,P1] LOAD D_TIME_7,D_TIME_6 [L333,T6,P1] PRIO 1 [L333,T6,P1] A119 [L395,T9,P8] A142 [L395,T9,P8] CMPS STRATEGY,#0 [L394,T9,P8] LOAD TRS_B_VALUE,?TRS_B [L335,T6,P1] LOAD D_TIME_6,D_TIME_5 [L337,T6,P1] LOAD D_TIME_4,D_TIME_3 [L336,T6,P1] LOAD D_TIME_5,D_TIME_4 [L398,T9,P8] JW G,A145 [L397,T9,P8] CMPS TRS_A_VALUE,#5927 [L416,T9,P8] CMPS TRS_A_VALUE,#6256 [L396,T9,P8] JW EE,A143 t [L416,T9,P8] A143 f [L339,T6,P1] LOAD D_TIME_2,D_TIME_1 [L338,T6,P1] LOAD D_TIME_3,D_TIME_2 [L406,T9,P8] A145 [L406,T9,P8] CMPS TRS_B_VALUE,#0 [L399,T9,P8] LOAD REG13,#28828829 f [L400,T9,P8] LOAD R0,REG13 [L418,T9,P8] LOAD REG15,#57657658 t [L417,T9,P8] JW L,A148 t [L425,T9,P8] A148 f [L340,T6,P1] LOAD D_TIME_1,D_TIME_0 [L341,T6,P1] LOAD D_TIME_0,D_TIME [L408,T9,P8] LOAD STRATEGY,#1 [L407,T9,P8] JW NE,A147 t [L402,T9,P8] CALL DIV [L401,T9,P8] LOAD R1,TRS_A_VALUE [L420,T9,P8] LOAD R1,TRS_B_VALUE [L419,T9,P8] LOAD R0,REG15 [L425,T9,P8] CMPS TRS_A_VALUE,#0 [L426,T9,P8] JW NE,A150 t [L342,T6,P1] LOAD D_TIME,#0 [L343,T6,P1] A120 [L409,T9,P8] LOAD REG14,#57657658 [L410,T9,P8] LOAD R0,REG14 [L403,T9,P8] LOAD REG13,R0 [L404,T9,P8] LOAD SPEED_VALUE,REG13 [L422,T9,P8] LOAD REG15,R0 [L421,T9,P8] CALL DIV [L427,T9,P8] LOAD STRATEGY,#0 [L428,T9,P8] LOAD REG16,#28828829 [L344,T6,P1] A122 [L343,T6,P1] ABORT CLOCK_32,A121 [L412,T9,P8] CALL DIV [L411,T9,P8] LOAD R1,TRS_B_VALUE f [L405,T9,P8] GOTO A146 [L424,T9,P8] GOTO A149 [L423,T9,P8] LOAD SPEED_VALUE,REG15 [L429,T9,P8] LOAD R0,REG16 [L430,T9,P8] LOAD R1,TRS_A_VALUE f t [L374,T8,P9] PRESENT SPEED_OFF,A132 [L344,T6,P10] PRIO 10 [L413,T9,P8] LOAD REG14,R0 [L414,T9,P8] LOAD SPEED_VALUE,REG14 [L415,T9,P8] A147 [L431,T9,P8] CALL DIV [L433,T9,P8] LOAD SPEED_VALUE,REG16 [L432,T9,P8] LOAD REG16,R0 [L376,T8,P1] A132 [L375,T8,P9] EMIT ABORT_0 d [L375,T8,P9] A133 f t [L415,T9,P8] GOTO A144 [L415,T9,P8] A146 [L434,T9,P8] A149 [L434,T9,P8] A150 [L434,T9,P8] A144 [L371,T7,P9/9] PAR* [L378,T8,P1/9] PAUSE [L376,T8,P1] PRIO 1 [L377,T8,P9] PRIO 9 s [L380,T9,P8] A135 [L434,T9,P8] GOTO A135 f [L380,T9,P8] A129 8 9 [L372,T8,P9] A128 [L379,T8,P9] GOTO A131 [L372,T8,P9] A131 [L380,T9,P8] EMIT SPEED_INST i i d [L381,T9,P8] SETV SPEED_INST,SPEED_VALUE i [L382,T9,P1] A136 i d ABORT_0 [L373,T8,P9] GOTO A133 t [L372,T8,P9] PRESENT RESET,A134 f [L374,T8,P9] A134 [L382,T9,P1] A137 [L382,T9,P1] PRIO 1 [L383,T9,P8] PRIO 8 [L385,T9,P8] PRESENT TRS_A,A140 f t [L384,T9,P1/8] PAUSE s ABORT_0 [L436,T7,P8] A126 [L387,T9,P8] PRESENT TRS_B,A138 t f [L386,T9,P8] GOTO A139 [L387,T9,P8] A140 [L436,T7,P8] A151 [L436,T7,P8] PRIO 8 [L391,T9,P8] AWAIT_OP_0 [L388,T9,P8] EXIT AWAIT_OP_0,A136 [L388,T9,P8] A139 [L390,T9,P1] GOTO A137 [L389,T9,P1] PRIO 1 [L389,T9,P1] A138 [L521,T11,P4] LOAD SPEED_VALUE_0,?SPEED_INST [L439,T7,P1] A152 [L438,T7,P8] SETV SPEED_INST,SPEED_VALUE i [L437,T7,P8] EMIT SPEED_INST i d s [L640,T15,P1/7] PAUSE RESET i i d s SPEED_INST [L392,T9,P8] LOAD TRS_A_VALUE,?TRS_A [L391,T9,P8] PRESENT TRS_A,A141 t f [L439,T7,P1] PRIO 1 [L439,T7,P1] A153 [L642,T15,P1] GOTO A228 [L653,T15,P7] GOTO A224 [L653,T15,P7] A225 [L641,T15,P1] PRIO 1 [L643,T15,P7] A227 [L643,T15,P7] LOAD VAL,?SPEED_INST [L393,T9,P8] PRESENT TRS_B,A142 [L393,T9,P8] A141 [L442,T7,P8] PRESENT TRS_A,A156 [L441,T7,P1/8] PAUSE [L440,T7,P8] PRIO 8 [L644,T15,P7] LOAD REG21,VAL [L646,T15,P7] LOAD R0,REG21 [L645,T15,P7] SUB REG21,FILT_VAL [L633,T15,P7] A224 [L633,T15,P7] LOAD FILT_VAL,#0 [L444,T7,P8] PRESENT TRS_B,A154 [L443,T7,P8] GOTO A155 f [L444,T7,P8] A156 t [L647,T15,P7] LOAD R1,#4 [L648,T15,P7] CALL DIV [L634,T15,P7] ABORT RESET,A225 [L446,T7,P1] PRIO 1 [L447,T7,P1] GOTO A153 [L446,T7,P1] A154 f [L445,T7,P8] A155 t [L445,T7,P8] EXIT AWAIT_OP_0_0,A152 [L448,T7,P8] AWAIT_OP_0_0 [L649,T15,P7] LOAD REG21,R0 [L650,T15,P7] ADD REG21,FILT_VAL [L651,T15,P7] LOAD FILT_VAL,REG21 [L449,T7,P8] LOAD TRS_A_VALUE,?TRS_A t [L448,T7,P8] PRESENT TRS_A,A157 f [L652,T15,P7] GOTO A226 [L635,T15,P7] A226 [L451,T7,P8] LOAD TRS_B_VALUE,?TRS_B [L450,T7,P8] PRESENT TRS_B,A158 f [L450,T7,P8] A157 t [L637,T15,P1] PRIO 1 [L661,T16,P1/4] PAUSE s s [L636,T15,P7] SETV LONG_SPEED_FILT,FILT_VAL i [L635,T15,P7] EMIT LONG_SPEED_FILT d i [L3706,T44,P4] LOAD SPEED_VALUE_16,?LONG_SPEED_FILT i i i d i i i i i i [L3081,T39,P6] LOAD SPEED_VALUE_12,?LONG_SPEED_FILT [L452,T7,P8] CMPS STRATEGY,#0 [L452,T7,P8] A158 [L639,T15,P1] A228 [L638,T15,P1] ABORT SPEED_INST,A227 [L663,T16,P1] GOTO A233 [L664,T16,P4] LOAD VALUE,?LONG_SPEED_FILT [L662,T16,P1] PRIO 1 [L664,T16,P4] A232 LONG_SPEED_FILT [L672,T16,P4] A230 RESET [L672,T16,P4] GOTO A229 [L3707,T44,P4] CMPS SPEED_VALUE_16,#0 [L3708,T44,P4] JW EE,A1373 t [L3082,T39,P6] A1152 [L3082,T39,P6] PRESENT CLOCK_24,A1153 t [L473,T7,P8] A159 f [L454,T7,P8] CMPS TRS_A_VALUE,#5927 [L453,T7,P8] JW EE,A159 t [L639,T15,P7] PRIO 7 [L665,T16,P4] LOAD REG22,VALUE [L666,T16,P4] LOAD R0,REG22 [L654,T16,P4] LOAD VALUE_KM,#0 [L654,T16,P4] A229 [L3709,T44,P4] LOAD TIME_STEER1,#0 [L3710,T44,P4] LOAD TIME_STEER2,#0 f [L3083,T39,P6] ADD INIT_TIME,#1 [L3084,T39,P6] A1153 f [L482,T7,P8] A164 f t [L474,T7,P8] JW L,A164 [L473,T7,P8] CMPS TRS_A_VALUE,#6256 [L463,T7,P8] CMPS TRS_B_VALUE,#0 [L463,T7,P8] A161 f [L455,T7,P8] JW G,A161 [L457,T7,P8] LOAD R0,REG17 [L456,T7,P8] LOAD REG17,#28828829 t [L667,T16,P4] LOAD R1,#256 [L668,T16,P4] CALL DIV [L669,T16,P4] LOAD REG22,R0 [L655,T16,P4] ABORT RESET,A230 [L3711,T44,P4] EXIT AWAIT_CASE_16,A1363 [L3711,T44,P4] A1373 [L3712,T44,P4] AWAIT_CASE_16 [L3084,T39,P6] LOAD REG35,#0 [L3085,T39,P6] CMPS REG35,#1 [L3086,T39,P6] JW EE,A1154 [L483,T7,P8] JW NE,A166 [L482,T7,P8] CMPS TRS_A_VALUE,#0 [L476,T7,P8] LOAD R0,REG19 [L475,T7,P8] LOAD REG19,#57657658 [L464,T7,P8] JW NE,A163 [L465,T7,P8] LOAD STRATEGY,#1 t [L459,T7,P8] CALL DIV [L458,T7,P8] LOAD R1,TRS_A_VALUE [L671,T16,P4] GOTO A231 [L670,T16,P4] LOAD VALUE_KM,REG22 [L3713,T44,P4] JW G,A1377 [L3712,T44,P4] CMPS TIME_STEER1,#500 [L3088,T39,P6] JW EE,A1154 [L3087,T39,P6] CMPS STEER1_VALUE,#1 t [L484,T7,P8] LOAD STRATEGY,#0 [L485,T7,P8] LOAD REG20,#28828829 t [L477,T7,P8] LOAD R1,TRS_B_VALUE [L478,T7,P8] CALL DIV [L467,T7,P8] LOAD R0,REG18 [L466,T7,P8] LOAD REG18,#57657658 [L461,T7,P8] LOAD SPEED_VALUE,REG17 [L460,T7,P8] LOAD REG17,R0 [L656,T16,P4] A231 i i [L656,T16,P4] EMIT LONG_SPEED_KM i i i i i i i i d i i i i [L3714,T44,P4] CMPS TIME_STEER2,#500 [L3715,T44,P4] JW G,A1377 t f [L3090,T39,P6] CMPS REG35,#1 [L3089,T39,P6] LOAD REG35,#0 t [L487,T7,P8] LOAD R1,TRS_A_VALUE [L486,T7,P8] LOAD R0,REG20 [L480,T7,P8] LOAD SPEED_VALUE,REG19 f [L479,T7,P8] LOAD REG19,R0 [L468,T7,P8] LOAD R1,TRS_B_VALUE [L469,T7,P8] CALL DIV [L462,T7,P8] GOTO A162 f [L916,T22,P3] LOAD SPEED_VALUE_2,?LONG_SPEED_KM [L2450,T34,P3] LOAD SPEED_VALUE_9,?LONG_SPEED_KM [L658,T16,P1] PRIO 1 [L2668,T35,P3] LOAD SPEED_VALUE_10,?LONG_SPEED_KM [L2234,T33,P3] LOAD SPEED_VALUE_8,?LONG_SPEED_KM [L1109,T23,P3] LOAD SPEED_VALUE_3,?LONG_SPEED_KM i i [L2884,T36,P3] LOAD SPEED_VALUE_11,?LONG_SPEED_KM i i i i [L657,T16,P4] SETV LONG_SPEED_KM,VALUE_KM i d i i i s i [L684,T17,P1/3] PAUSE i i i i s [L1495,T25,P3] LOAD SPEED_VALUE_5,?LONG_SPEED_KM t [L3717,T44,P4] CMPS TIME_STEER1,#1000 [L3717,T44,P4] A1377 f [L1302,T24,P3] LOAD SPEED_VALUE_4,?LONG_SPEED_KM [L4145,T51,P3] LOAD SPEED_VALUE_20,?LONG_SPEED_KM [L3952,T50,P3] LOAD SPEED_VALUE_19,?LONG_SPEED_KM [L3092,T39,P6] CMPS STEER2_VALUE,#1 [L3091,T39,P6] JW EE,A1154 t [L489,T7,P8] LOAD REG20,R0 [L488,T7,P8] CALL DIV [L481,T7,P8] GOTO A165 [L471,T7,P8] LOAD SPEED_VALUE,REG18 [L470,T7,P8] LOAD REG18,R0 [L2452,T34,P3] JW L,A916 [L2451,T34,P3] CMPS SPEED_VALUE_9,#10 [L2886,T36,P3] JW L,A1080 [L2670,T35,P3] JW L,A994 [L660,T16,P1] A233 [L917,T22,P3] CMPS SPEED_VALUE_2,#10 [L2885,T36,P3] CMPS SPEED_VALUE_11,#10 [L2236,T33,P3] JW L,A830 [L2669,T35,P3] CMPS SPEED_VALUE_10,#10 [L918,T22,P3] JW L,A319 [L659,T16,P1] ABORT LONG_SPEED_FILT,A232 [L2235,T33,P3] CMPS SPEED_VALUE_8,#10 [L1111,T23,P3] JW L,A397 [L1110,T23,P3] CMPS SPEED_VALUE_3,#10 [L685,T17,P1] PRIO 1 [L687,T17,P3] A237 [L3716,T44,P4] GOTO A1375 [L733,T17,P3] A235 LONG_SPEED_KM [L1497,T25,P3] JW L,A553 RESET [L687,T17,P3] LOAD SPEED_VALUE_1,?LONG_SPEED_KM [L1496,T25,P3] CMPS SPEED_VALUE_5,#10 t [L733,T17,P3] GOTO A234 [L3718,T44,P4] JW G,A1376 f [L3720,T44,P4] A1376 [L1303,T24,P3] CMPS SPEED_VALUE_4,#10 [L1304,T24,P3] JW L,A475 [L4146,T51,P3] CMPS SPEED_VALUE_20,#10 [L4147,T51,P3] JW L,A1539 [L3094,T39,P6] LOAD REG35,#0 t [L3093,T39,P6] JW EE,A1154 [L3953,T50,P3] CMPS SPEED_VALUE_19,#10 [L3954,T50,P3] JW L,A1461 [L490,T7,P8] LOAD SPEED_VALUE,REG20 [L491,T7,P8] A166 [L472,T7,P8] A163 [L472,T7,P8] A162 [L2454,T34,P3] LOAD V2_6,#192 [L2453,T34,P3] LOAD V1_6,#176 [L2457,T34,P3] CMPS SPEED_VALUE_9,#20 t f [L2457,T34,P3] A916 [L2888,T36,P3] LOAD V2_8,#180 t [L2887,T36,P3] LOAD V1_8,#160 [L2891,T36,P3] CMPS SPEED_VALUE_11,#20 f [L2891,T36,P3] A1080 [L2671,T35,P3] LOAD V1_7,#160 t f [L2674,T35,P3] A994 [L2672,T35,P3] LOAD V2_7,#180 [L660,T16,P4] PRIO 4 [L2674,T35,P3] CMPS SPEED_VALUE_10,#20 [L2240,T33,P3] CMPS SPEED_VALUE_8,#20 [L2240,T33,P3] A830 [L2238,T33,P3] LOAD V2_5,#192 f t [L2237,T33,P3] LOAD V1_5,#176 [L922,T22,P3] A319 [L922,T22,P3] CMPS SPEED_VALUE_2,#20 f t [L919,T22,P3] LOAD V1,#34800 [L920,T22,P3] LOAD V2,#35324 [L1113,T23,P3] LOAD V2_0,#35717 [L1112,T23,P3] LOAD V1_0,#34996 [L1115,T23,P3] CMPS SPEED_VALUE_3,#20 [L1115,T23,P3] A397 t f [L686,T17,P1] GOTO A238 [L3719,T44,P4] GOTO A1375 [L1501,T25,P3] CMPS SPEED_VALUE_5,#20 [L1501,T25,P3] A553 [L1498,T25,P3] LOAD V1_2,#30933 f t [L1499,T25,P3] LOAD V2_2,#30081 [L688,T17,P3] CMPS SPEED_VALUE_1,OLD_SPEED_VALUE [L689,T17,P3] JW L,A239 [L673,T17,P3] A234 [L3720,T44,P4] CMPS TIME_STEER1,#1000 [L3721,T44,P4] JW G,A1374 [L1305,T24,P3] LOAD V1_1,#30933 [L1306,T24,P3] LOAD V2_1,#30081 [L1308,T24,P3] CMPS SPEED_VALUE_4,#20 t f [L1308,T24,P3] A475 t [L4149,T51,P3] LOAD V2_12,#63755 [L4148,T51,P3] LOAD V1_12,#63755 f [L4151,T51,P3] A1539 [L4151,T51,P3] CMPS SPEED_VALUE_20,#20 [L3095,T39,P6] CMPS REG35,#1 [L3096,T39,P6] JW EE,A1154 [L3958,T50,P3] CMPS SPEED_VALUE_19,#20 f [L3958,T50,P3] A1461 t [L3955,T50,P3] LOAD V1_11,#63755 [L3956,T50,P3] LOAD V2_11,#63755 [L47,T2,P1] LOAD ANG_VAL,#0 [L47,T2,P1] A23 [L491,T7,P8] A165 [L472,T7,P8] GOTO A160 [L491,T7,P8] A160 [L2455,T34,P3] LOAD D,#45 t [L2463,T34,P3] A918 [L2458,T34,P3] JW L,A918 f [L2889,T36,P3] LOAD D_0,#45 [L2897,T36,P3] A1082 [L2892,T36,P3] JW L,A1082 f t [L2673,T35,P3] GOTO A995 [L2675,T35,P3] JW L,A996 [L2679,T35,P3] A996 t f t [L2241,T33,P3] JW L,A832 [L2245,T33,P3] A832 f [L923,T22,P3] JW L,A321 f [L927,T22,P3] A321 [L1114,T23,P3] GOTO A398 t [L1120,T23,P3] A399 [L1116,T23,P3] JW L,A399 f [L3722,T44,P4] A1375 [L1506,T25,P3] A555 [L1502,T25,P3] JW L,A555 f t [L692,T17,P3] CMPS SPEED_VALUE_1,OLD_SPEED_VALUE [L692,T17,P3] A239 f [L690,T17,P3] LOAD DIRECTION_0,#0 t [L674,T17,P3] LOAD OLD_SPEED_VALUE,#0 [L673,T17,P3] LOAD SPEED_VALUE_1,#0 t t [L1313,T24,P3] A477 f [L1309,T24,P3] JW L,A477 [L4150,T51,P3] GOTO A1540 [L3098,T39,P6] JW EE,A1154 [L3097,T39,P6] CMPS STEER_VALUE,#1 [L4152,T51,P3] JW L,A1541 f [L4156,T51,P3] A1541 t f [L3728,T44,P3] A1374 [L3728,T44,P3] PRIO 3 t f [L3959,T50,P3] JW L,A1463 t [L3963,T50,P3] A1463 f [L48,T2,P1] LOAD VELSTER_VAL,#0 [L49,T2,P1] LOAD STR_VAL,#0 [L491,T7,P8] GOTO A151 [L2461,T34,P3] LOAD D,#23 [L2460,T34,P3] LOAD V2_6,#188 [L2459,T34,P3] LOAD V1_6,#172 [L2463,T34,P3] CMPS SPEED_VALUE_9,#30 [L2464,T34,P3] JW L,A920 f t [L2890,T36,P3] GOTO A1081 [L2897,T36,P3] CMPS SPEED_VALUE_11,#30 f t [L2898,T36,P3] JW L,A1084 [L2893,T36,P3] LOAD V1_8,#160 [L2894,T36,P3] LOAD V2_8,#180 [L2895,T36,P3] LOAD D_0,#23 [L2680,T35,P3] JW L,A998 [L2679,T35,P3] CMPS SPEED_VALUE_10,#30 t f [L2676,T35,P3] LOAD V1_7,#160 [L2243,T33,P3] LOAD V2_5,#188 [L2242,T33,P3] LOAD V1_5,#172 [L2245,T33,P3] CMPS SPEED_VALUE_8,#30 f [L2246,T33,P3] JW L,A834 t [L2239,T33,P3] GOTO A831 [L924,T22,P3] LOAD V1,#34800 t [L927,T22,P3] CMPS SPEED_VALUE_2,#30 [L928,T22,P3] JW L,A323 t f [L1118,T23,P3] LOAD V2_0,#35717 [L1117,T23,P3] LOAD V1_0,#34996 [L1120,T23,P3] CMPS SPEED_VALUE_3,#30 [L1121,T23,P3] JW L,A401 f t [L1506,T25,P3] CMPS SPEED_VALUE_5,#30 f [L1507,T25,P3] JW L,A557 t [L1503,T25,P3] LOAD V1_2,#30933 [L694,T17,P3] LOAD DIRECTION_0,#1 [L693,T17,P3] JW G,A241 t f [L691,T17,P3] GOTO A240 [L675,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#2 [L1310,T24,P3] LOAD V1_1,#30933 [L1313,T24,P3] CMPS SPEED_VALUE_4,#30 f [L1314,T24,P3] JW L,A479 t t [L3100,T39,P6] JW L,A1157 [L3099,T39,P6] CMPS INIT_TIME,#65000 [L4154,T51,P3] LOAD V2_12,#63755 t [L4153,T51,P3] LOAD V1_12,#63755 [L4156,T51,P3] CMPS SPEED_VALUE_20,#30 [L4157,T51,P3] JW L,A1543 t [L3729,T44,P3] CMPS TIME_STEER1,#167 [L3730,T44,P3] JW G,A1383 t f [L3960,T50,P3] LOAD V1_11,#63755 [L3961,T50,P3] LOAD V2_11,#63755 f [L3963,T50,P3] CMPS SPEED_VALUE_19,#30 t [L3964,T50,P3] JW L,A1465 f f [L50,T2,P1] LOAD STR1_VAL,#0 [L51,T2,P1] LOAD STR2_VAL,#0 [L2456,T34,P3] GOTO A917 [L2469,T34,P3] CMPS SPEED_VALUE_9,#40 [L2469,T34,P3] A920 [L2466,T34,P3] LOAD V2_6,#184 [L2465,T34,P3] LOAD V1_6,#170 [L2900,T36,P3] LOAD V2_8,#180 [L2899,T36,P3] LOAD V1_8,#160 [L2903,T36,P3] CMPS SPEED_VALUE_11,#40 [L2903,T36,P3] A1084 [L2896,T36,P3] GOTO A1083 [L2682,T35,P3] LOAD V2_7,#180 [L2681,T35,P3] LOAD V1_7,#160 [L2684,T35,P3] CMPS SPEED_VALUE_10,#40 [L2684,T35,P3] A998 [L2677,T35,P3] LOAD V2_7,#180 [L2244,T33,P3] GOTO A833 [L2250,T33,P3] A834 [L2250,T33,P3] CMPS SPEED_VALUE_8,#40 [L2248,T33,P3] LOAD V2_5,#184 [L2247,T33,P3] LOAD V1_5,#170 [L1881,T27,P3] LOAD SPEED_VALUE_7,?LONG_SPEED_KM [L930,T22,P3] LOAD V2,#35324 [L929,T22,P3] LOAD V1,#34800 [L932,T22,P3] CMPS SPEED_VALUE_2,#40 [L932,T22,P3] A323 [L1119,T23,P3] GOTO A400 [L1125,T23,P3] A401 [L1125,T23,P3] CMPS SPEED_VALUE_3,#40 [L1122,T23,P3] LOAD V1_0,#34996 [L1123,T23,P3] LOAD V2_0,#35717 [L1511,T25,P3] A557 [L1511,T25,P3] CMPS SPEED_VALUE_5,#40 [L1508,T25,P3] LOAD V1_2,#30933 [L1504,T25,P3] LOAD V2_2,#30081 [L1509,T25,P3] LOAD V2_2,#30081 [L695,T17,P3] A241 [L695,T17,P3] A240 [L677,T17,P3] ABORT RESET,A235 [L676,T17,P3] LOAD DIRECTION_0,#1 t [L1311,T24,P3] LOAD V2_1,#30081 [L1318,T24,P3] CMPS SPEED_VALUE_4,#40 [L1318,T24,P3] A479 [L1315,T24,P3] LOAD V1_1,#30933 [L1316,T24,P3] LOAD V2_1,#30081 [L3101,T39,P6] CMPS SPEED_VALUE_12,#12850 [L3102,T39,P6] JW G,A1157 f f [L4155,T51,P3] GOTO A1542 [L4159,T51,P3] LOAD V2_12,#4588 [L4158,T51,P3] LOAD V1_12,#2785 [L1688,T26,P3] LOAD SPEED_VALUE_6,?LONG_SPEED_KM t [L3732,T44,P3] JW G,A1383 [L3731,T44,P3] CMPS TIME_STEER2,#167 [L4161,T51,P3] A1543 [L4161,T51,P3] CMPS SPEED_VALUE_20,#40 f f f f [L3962,T50,P3] GOTO A1464 [L3965,T50,P3] LOAD V1_11,#3932 [L3968,T50,P3] A1465 [L3966,T50,P3] LOAD V2_11,#5898 [L3968,T50,P3] CMPS SPEED_VALUE_19,#40 [L52,T2,P1] LOAD TIME_0,#0 [L53,T2,P1] LOAD Q_TEANG,#0 [L2462,T34,P3] GOTO A919 [L2475,T34,P3] A922 f t [L2470,T34,P3] JW L,A922 [L2471,T34,P3] LOAD V1_6,#164 [L2467,T34,P3] LOAD D,#15 [L2901,T36,P3] LOAD D_0,#15 [L2902,T36,P3] GOTO A1085 [L2905,T36,P3] LOAD V1_8,#160 [L2909,T36,P3] A1086 [L2904,T36,P3] JW L,A1086 t f [L2689,T35,P3] A1000 [L2685,T35,P3] JW L,A1000 t [L2686,T35,P3] LOAD V1_7,#160 f t [L1883,T27,P3] JW L,A709 f [L1882,T27,P3] CMPS SPEED_VALUE_7,#10 [L2255,T33,P3] A836 t [L2252,T33,P3] LOAD V1_5,#164 f [L2251,T33,P3] JW L,A836 [L2249,T33,P3] GOTO A835 [L937,T22,P3] A325 t [L933,T22,P3] JW L,A325 f [L3103,T39,P6] GOTO A1156 [L1127,T23,P3] LOAD V1_0,#34996 t [L1126,T23,P3] JW L,A403 [L1130,T23,P3] A403 f f [L1516,T25,P3] A559 t [L1513,T25,P3] LOAD V1_2,#30933 [L1512,T25,P3] JW L,A559 [L696,T17,P3] JW EE,A242 [L695,T17,P3] CMPS DIRECTION_0,#1 t f [L1320,T24,P3] LOAD V1_1,#30933 [L1319,T24,P3] JW L,A481 t f [L1323,T24,P3] A481 [L1690,T26,P3] JW L,A631 f t [L3036,T37,P4] SIGNAL CORR_ERR [L3104,T39,P6] A1157 [L3104,T39,P6] CMPS INIT_TIME,#65000 [L1689,T26,P3] CMPS SPEED_VALUE_6,#10 [L4160,T51,P3] GOTO A1544 [L3733,T44,P3] GOTO A1381 [L4166,T51,P3] A1545 [L3734,T44,P3] A1383 [L3734,T44,P3] CMPS TIME_STEER1,#333 [L4162,T51,P3] JW L,A1545 f t f [L3967,T50,P3] GOTO A1466 [L3973,T50,P3] A1467 f [L3969,T50,P3] JW L,A1467 t [L3970,T50,P3] LOAD V1_11,#2621 [L55,T2,P1] LOAD ANG_CUR,#0 [L54,T2,P1] LOAD DIR,#0 [L2475,T34,P3] CMPS SPEED_VALUE_9,#50 [L2476,T34,P3] JW L,A924 f t [L2473,T34,P3] LOAD D,#11 [L2472,T34,P3] LOAD V2_6,#180 [L2907,T36,P3] LOAD D_0,#11 [L2906,T36,P3] LOAD V2_8,#180 [L2909,T36,P3] CMPS SPEED_VALUE_11,#50 [L2910,T36,P3] JW L,A1088 t f [L1885,T27,P3] LOAD V2_4,#37159 [L2690,T35,P3] JW L,A1002 [L2689,T35,P3] CMPS SPEED_VALUE_10,#50 f t [L2687,T35,P3] LOAD V2_7,#180 [L1884,T27,P3] LOAD V1_4,#39322 [L1887,T27,P3] A709 [L1887,T27,P3] CMPS SPEED_VALUE_7,#20 [L2255,T33,P3] CMPS SPEED_VALUE_8,#50 t [L2256,T33,P3] JW L,A838 f [L2253,T33,P3] LOAD V2_5,#180 [L937,T22,P3] CMPS SPEED_VALUE_2,#50 t [L938,T22,P3] JW L,A327 f [L934,T22,P3] LOAD V1,#34800 [L1128,T23,P3] LOAD V2_0,#35717 [L1129,T23,P3] GOTO A404 [L1131,T23,P3] JW L,A405 f t [L1130,T23,P3] CMPS SPEED_VALUE_3,#50 [L1516,T25,P3] CMPS SPEED_VALUE_5,#50 f t [L1517,T25,P3] JW L,A561 [L1514,T25,P3] LOAD V2_2,#30081 f [L697,T17,P3] CMPS SPEED_VALUE_1,#5 [L698,T17,P3] JW L,A244 t [L715,T17,P3] A242 [L715,T17,P3] CMPS SPEED_VALUE_1,#205 [L3106,T39,P6] CMPS SPEED_VALUE_12,#7710 [L1321,T24,P3] LOAD V2_1,#30081 [L1323,T24,P3] CMPS SPEED_VALUE_4,#50 t [L1324,T24,P3] JW L,A483 f [L1694,T26,P3] CMPS SPEED_VALUE_6,#20 [L1694,T26,P3] A631 [L1691,T26,P3] LOAD V1_3,#39322 [L1692,T26,P3] LOAD V2_3,#37159 t [L3037,T37,P4] SIGNALV ANG [L3038,T37,P4] SIGNALV ANG_CORR [L3105,T39,P6] JW GE,A1155 t [L4167,T51,P3] JW L,A1547 [L4166,T51,P3] CMPS SPEED_VALUE_20,#50 [L3736,T44,P3] GOTO A1381 f t [L3737,T44,P3] A1382 f [L3735,T44,P3] JW G,A1382 f [L4163,T51,P3] LOAD V1_12,#1901 [L4164,T51,P3] LOAD V2_12,#2949 f [L3973,T50,P3] CMPS SPEED_VALUE_19,#50 [L3974,T50,P3] JW L,A1469 [L3971,T50,P3] LOAD V2_11,#3932 t [L57,T2,P1] A25 [L56,T2,P1] ABORT RESET,A24 [L3360,T42,P3] LOAD SPEED_VALUE_14,?LONG_SPEED_KM [L2478,T34,P3] LOAD V2_6,#175 [L2477,T34,P3] LOAD V1_6,#159 [L2481,T34,P3] CMPS SPEED_VALUE_9,#60 [L2481,T34,P3] A924 [L2468,T34,P3] GOTO A921 [L2908,T36,P3] GOTO A1087 [L2912,T36,P3] LOAD V2_8,#180 [L2911,T36,P3] LOAD V1_8,#160 [L2915,T36,P3] CMPS SPEED_VALUE_11,#60 [L2915,T36,P3] A1088 [L2694,T35,P3] A1002 [L2694,T35,P3] CMPS SPEED_VALUE_10,#60 [L2691,T35,P3] LOAD V1_7,#160 [L2692,T35,P3] LOAD V2_7,#180 [L2688,T35,P3] GOTO A1001 [L1888,T27,P3] JW L,A711 [L1892,T27,P3] A711 f [L2258,T33,P3] LOAD V2_5,#175 [L2257,T33,P3] LOAD V1_5,#159 [L2260,T33,P3] CMPS SPEED_VALUE_8,#60 [L2260,T33,P3] A838 t [L1889,T27,P3] LOAD V1_4,#39322 [L2254,T33,P3] GOTO A837 [L925,T22,P3] LOAD V2,#35324 [L940,T22,P3] LOAD V2,#35095 [L939,T22,P3] LOAD V1,#34616 [L942,T22,P3] CMPS SPEED_VALUE_2,#60 [L942,T22,P3] A327 [L935,T22,P3] LOAD V2,#35324 [L3108,T39,P6] A1156 [L1133,T23,P3] LOAD V2_0,#35455 [L1132,T23,P3] LOAD V1_0,#34505 [L1135,T23,P3] CMPS SPEED_VALUE_3,#60 [L1135,T23,P3] A405 [L1124,T23,P3] GOTO A402 t [L1521,T25,P3] A561 [L1521,T25,P3] CMPS SPEED_VALUE_5,#60 [L1518,T25,P3] LOAD V1_2,#30999 [L1519,T25,P3] LOAD V2_2,#30212 [L701,T17,P3] CMPS SPEED_VALUE_1,#7 [L701,T17,P3] A244 [L700,T17,P3] GOTO A245 [L699,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#2 [L719,T17,P3] A252 [L717,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#2 [L716,T17,P3] JW G,A252 f t [L3107,T39,P6] JW G,A1155 [L1326,T24,P3] LOAD V2_1,#30211 [L1325,T24,P3] LOAD V1_1,#30999 [L1328,T24,P3] CMPS SPEED_VALUE_4,#60 [L1328,T24,P3] A483 [L1699,T26,P3] A633 [L1695,T26,P3] JW L,A633 f t [L3039,T37,P4] SIGNAL CAL_ERR [L3040,T37,P4] SIGNAL DIAG_ERR [L3553,T43,P3] LOAD SPEED_VALUE_15,?LONG_SPEED_KM f [L4169,T51,P3] LOAD V2_12,#2064 [L4168,T51,P3] LOAD V1_12,#1376 [L4171,T51,P3] A1547 [L3738,T44,P3] JW G,A1380 t [L3737,T44,P3] CMPS TIME_STEER1,#333 f [L4171,T51,P3] CMPS SPEED_VALUE_20,#60 [L4165,T51,P3] GOTO A1546 [L3112,T39,P1] A1155 [L3978,T50,P3] CMPS SPEED_VALUE_19,#60 [L3978,T50,P3] A1469 [L3975,T50,P3] LOAD V1_11,#1802 [L3976,T50,P3] LOAD V2_11,#2785 [L3972,T50,P3] GOTO A1468 [L57,T2,P1] A27 [L57,T2,P1] A26 [L2479,T34,P3] LOAD D,#9 [L2482,T34,P3] JW L,A926 t [L2487,T34,P3] A926 f [L3361,T42,P3] CMPS SPEED_VALUE_14,#10 [L3362,T42,P3] JW L,A1234 [L2913,T36,P3] LOAD D_0,#9 [L2921,T36,P3] A1090 f [L2916,T36,P3] JW L,A1090 t f [L2699,T35,P3] A1004 [L2695,T35,P3] JW L,A1004 t [L2693,T35,P3] GOTO A1003 [L1893,T27,P3] JW L,A713 [L1892,T27,P3] CMPS SPEED_VALUE_7,#30 [L2259,T33,P3] GOTO A839 [L2261,T33,P3] JW L,A840 [L2265,T33,P3] A840 t f [L1890,T27,P3] LOAD V2_4,#37159 [L943,T22,P3] JW L,A329 [L947,T22,P3] A329 f t [L921,T22,P3] GOTO A320 [L3108,T39,P6] EMIT INIT [L3125,T40,P1/5] PAUSE d s t [L1140,T23,P3] A407 [L1136,T23,P3] JW L,A407 f [L3109,T39,P1] A1158 t [L1522,T25,P3] JW L,A563 f [L1526,T25,P3] A563 [L705,T17,P3] A246 f [L702,T17,P3] JW L,A246 t [L719,T17,P3] CMPS SPEED_VALUE_1,#155 [L720,T17,P3] JW G,A254 [L718,T17,P3] GOTO A253 [L1333,T24,P3] A485 [L1329,T24,P3] JW L,A485 f t [L1699,T26,P3] CMPS SPEED_VALUE_6,#30 [L1700,T26,P3] JW L,A635 [L1696,T26,P3] LOAD V1_3,#39322 [L3041,T37,P4] SIGNAL IGNORED_5 [L3048,T37,P4/4] PAR* [L4170,T51,P3] GOTO A1548 [L3554,T43,P3] CMPS SPEED_VALUE_15,#10 [L3739,T44,P3] A1381 [L3741,T44,P3] A1380 [L3741,T44,P3] CMPS TIME_STEER1,#42 t [L4172,T51,P3] JW L,A1549 [L3555,T43,P3] JW L,A1312 [L4176,T51,P3] A1549 f [L3112,T39,P1] A1154 [L3112,T39,P1] PRIO 1 [L3983,T50,P3] A1471 f [L3979,T50,P3] JW L,A1471 t [L57,T2,P1] A28 [L57,T2,P1] A29 [L2483,T34,P3] LOAD V1_6,#156 [L2484,T34,P3] LOAD V2_6,#172 [L3364,T42,P3] LOAD V2_9,#2040 [L2487,T34,P3] CMPS SPEED_VALUE_9,#70 [L2488,T34,P3] JW L,A928 t [L3363,T42,P3] LOAD V1_9,#2040 f [L3366,T42,P3] A1234 [L3366,T42,P3] CMPS SPEED_VALUE_14,#20 [L2914,T36,P3] GOTO A1089 [L2921,T36,P3] CMPS SPEED_VALUE_11,#70 [L2922,T36,P3] JW L,A1092 [L2917,T36,P3] LOAD V1_8,#160 [L2918,T36,P3] LOAD V2_8,#180 [L2699,T35,P3] CMPS SPEED_VALUE_10,#70 [L2700,T35,P3] JW L,A1006 [L2696,T35,P3] LOAD V1_7,#160 [L1897,T27,P3] CMPS SPEED_VALUE_7,#40 [L1897,T27,P3] A713 f [L1895,T27,P3] LOAD V2_4,#37159 t [L1894,T27,P3] LOAD V1_4,#39322 [L2263,T33,P3] LOAD V2_5,#172 [L2262,T33,P3] LOAD V1_5,#156 [L2265,T33,P3] CMPS SPEED_VALUE_8,#70 [L2266,T33,P3] JW L,A842 [L945,T22,P3] LOAD V2,#34800 [L944,T22,P3] LOAD V1,#34354 [L948,T22,P3] JW L,A331 [L947,T22,P3] CMPS SPEED_VALUE_2,#70 [L1137,T23,P3] LOAD V1_0,#34354 [L1141,T23,P3] JW L,A409 [L1140,T23,P3] CMPS SPEED_VALUE_3,#70 [L3722,T44,P4] EMIT DIAG_ERR i [L3109,T39,P1] PRIO 1 [L1524,T25,P3] LOAD V2_2,#30343 [L1523,T25,P3] LOAD V1_2,#31064 [L3110,T39,P1/1] PAUSE s [L1527,T25,P3] JW L,A565 [L1526,T25,P3] CMPS SPEED_VALUE_5,#70 INIT [L3128,T40,P5] A1160 [L706,T17,P3] JW L,A248 [L705,T17,P3] CMPS SPEED_VALUE_1,#160 [L3128,T40,P5] ABORT RESET,A1162 [L703,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#1 [L723,T17,P3] A254 [L723,T17,P3] CMPS SPEED_VALUE_1,#6 f [L721,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#1 t [L1330,T24,P3] LOAD V1_1,#31064 [L1334,T24,P3] JW L,A487 [L1333,T24,P3] CMPS SPEED_VALUE_4,#70 [L1701,T26,P3] LOAD V1_3,#39322 [L1702,T26,P3] LOAD V2_3,#37159 t f [L1704,T26,P3] CMPS SPEED_VALUE_6,#40 [L1704,T26,P3] A635 [L3049,T38,P1] SIGNAL INIT [L3049,T38,P1] A1128 1 [L3739,T44,P3] LOAD STEER_ANG_DAMAGE_VALUE,#2 [L3742,T44,P3] JW G,A1388 [L3743,T44,P3] CMPS TIME_STEER2,#42 [L4173,T51,P3] LOAD V1_12,#1114 t [L3559,T43,P3] A1312 [L3559,T43,P3] CMPS SPEED_VALUE_15,#20 3 [L3556,T43,P3] LOAD V1_10,#2040 f [L4177,T51,P3] JW L,A1551 t [L4176,T51,P3] CMPS SPEED_VALUE_20,#70 [L3557,T43,P3] LOAD V2_10,#2040 [L3983,T50,P3] CMPS SPEED_VALUE_19,#70 [L3984,T50,P3] JW L,A1473 [L3980,T50,P3] LOAD V1_11,#1310 [L57,T2,P1] A30 [L57,T2,P7] PRIO 7 [L2485,T34,P3] LOAD D,#7 [L2493,T34,P3] CMPS SPEED_VALUE_9,#80 [L2493,T34,P3] A928 f t [L2489,T34,P3] LOAD V1_6,#154 [L2490,T34,P3] LOAD V2_6,#170 [L2474,T34,P3] GOTO A923 [L3367,T42,P3] JW L,A1236 [L3371,T42,P3] A1236 f [L2924,T36,P3] LOAD V2_8,#180 [L2923,T36,P3] LOAD V1_8,#160 [L2927,T36,P3] CMPS SPEED_VALUE_11,#80 f t [L2927,T36,P3] A1092 [L2919,T36,P3] LOAD D_0,#7 [L2920,T36,P3] GOTO A1091 [L2704,T35,P3] CMPS SPEED_VALUE_10,#80 [L2704,T35,P3] A1006 f [L2702,T35,P3] LOAD V2_7,#180 t [L2701,T35,P3] LOAD V1_7,#160 [L2698,T35,P3] GOTO A1005 [L2697,T35,P3] LOAD V2_7,#180 f [L1898,T27,P3] JW L,A715 [L1902,T27,P3] A715 t [L2264,T33,P3] GOTO A841 [L2268,T33,P3] LOAD V2_5,#170 [L2267,T33,P3] LOAD V1_5,#154 t f [L2270,T33,P3] A842 [L2270,T33,P3] CMPS SPEED_VALUE_8,#80 [L952,T22,P3] CMPS SPEED_VALUE_2,#80 f [L952,T22,P3] A331 t [L3723,T44,P1] PRIO 1 [L3723,T44,P1] A1379 [L950,T22,P3] LOAD V2,#34669 [L949,T22,P3] LOAD V1,#34143 [L1142,T23,P3] LOAD V1_0,#34328 [L1143,T23,P3] LOAD V2_0,#34865 [L1138,T23,P3] LOAD V2_0,#35127 t [L1145,T23,P3] CMPS SPEED_VALUE_3,#80 f [L1145,T23,P3] A409 [L3111,T39,P1] GOTO A1158 [L1529,T25,P3] LOAD V2_2,#30409 [L1528,T25,P3] LOAD V1_2,#31064 [L1525,T25,P3] GOTO A564 [L1531,T25,P3] CMPS SPEED_VALUE_5,#80 t f [L1531,T25,P3] A565 [L709,T17,P3] A248 [L709,T17,P3] CMPS SPEED_VALUE_1,#210 f [L704,T17,P3] GOTO A247 [L707,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#0 t [L727,T17,P3] A256 [L724,T17,P3] JW G,A256 t f [L3130,T40,P5] SETV ANG,ANG_VALUE i [L3129,T40,P5] EMIT ANG i [L1338,T24,P3] CMPS SPEED_VALUE_4,#80 [L1331,T24,P3] LOAD V2_1,#30343 [L1338,T24,P3] A487 [L1335,T24,P3] LOAD V1_1,#31064 [L1336,T24,P3] LOAD V2_1,#30409 f t [L3053,T38,P1/1] PAR* [L3050,T38,P1] SIGNAL IGNORED_6 [L1705,T26,P3] JW L,A637 f [L1709,T26,P3] A637 t RESET [L4175,T51,P3] GOTO A1550 [L4174,T51,P3] LOAD V2_12,#1671 f [L3744,T44,P3] JW G,A1388 [L3746,T44,P3] A1388 t f [L3564,T43,P3] A1314 [L3679,T44,P3] A1132 [L3560,T43,P3] JW L,A1314 f [L4181,T51,P3] A1551 [L4181,T51,P3] CMPS SPEED_VALUE_20,#80 [L4178,T51,P3] LOAD V1_12,#885 f t [L4179,T51,P3] LOAD V2_12,#1311 [L3114,T39,P1] PRIO 1 [L3114,T39,P1] A1139 t [L3988,T50,P3] CMPS SPEED_VALUE_19,#80 [L3988,T50,P3] A1473 f [L3986,T50,P3] LOAD V2_11,#1638 t [L3985,T50,P3] LOAD V1_11,#1049 [L3981,T50,P3] LOAD V2_11,#2130 [L59,T2,P7] PRESENT CLOCK_16,A31 RESET s [L212,T2,P1] A24 [L58,T2,P1/7] PAUSE f t [L2494,T34,P3] JW L,A930 [L2491,T34,P3] LOAD D,#5 [L3371,T42,P3] CMPS SPEED_VALUE_14,#30 [L2925,T36,P3] LOAD D_0,#5 f [L2928,T36,P3] JW L,A1094 t [L2705,T35,P3] JW L,A1008 f [L2703,T35,P3] GOTO A1007 [L1902,T27,P3] CMPS SPEED_VALUE_7,#50 [L1899,T27,P3] LOAD V1_4,#35258 [L2271,T33,P3] JW L,A844 t f [L946,T22,P3] GOTO A330 [L953,T22,P3] JW L,A333 f t [L3724,T44,P3] PRIO 3 [L951,T22,P3] GOTO A332 [L1146,T23,P3] JW L,A411 t f [L1530,T25,P3] GOTO A566 [L1532,T25,P3] JW L,A567 f t [L710,T17,P3] JW L,A250 f t [L708,T17,P3] GOTO A249 [L727,T17,P3] CMPS SPEED_VALUE_1,#4 [L725,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#0 [L726,T17,P3] GOTO A257 [L722,T17,P3] GOTO A255 [L3131,T40,P1] A1163 i [L1339,T24,P3] JW L,A489 f t [L1706,T26,P3] LOAD V1_3,#35258 [L1709,T26,P3] CMPS SPEED_VALUE_6,#50 [L3740,T44,P3] GOTO A1384 [L3564,T43,P3] CMPS SPEED_VALUE_15,#30 [L3745,T44,P3] GOTO A1386 [L3746,T44,P3] CMPS TIME_STEER1,#83 f 1 [L4182,T51,P3] JW L,A1553 t [L4180,T51,P3] GOTO A1552 [L3054,T39,P1] A1135 [L3113,T39,P1] GOTO A1140 f [L3115,T39,P1] GOTO A1138 [L3989,T50,P3] JW L,A1475 f [L3977,T50,P3] GOTO A1470 [L60,T2,P7] EXIT AC,A27 t [L61,T2,P1] A31 f [L212,T2,P1] PRIO 1 [L2496,T34,P3] LOAD V2_6,#168 [L2495,T34,P3] LOAD V1_6,#152 [L2499,T34,P3] A930 [L2499,T34,P3] CMPS SPEED_VALUE_9,#90 [L3376,T42,P3] A1238 [L3373,T42,P3] LOAD V1_9,#500 [L3372,T42,P3] JW L,A1238 f t [L2926,T36,P3] GOTO A1093 [L2933,T36,P3] CMPS SPEED_VALUE_11,#90 [L2933,T36,P3] A1094 [L2930,T36,P3] LOAD V2_8,#180 [L2929,T36,P3] LOAD V1_8,#160 [L2709,T35,P3] A1008 [L2709,T35,P3] CMPS SPEED_VALUE_10,#90 [L2706,T35,P3] LOAD V1_7,#160 t [L1904,T27,P3] LOAD V1_4,#34931 t [L1903,T27,P3] JW L,A717 f [L1907,T27,P3] A717 [L2275,T33,P3] CMPS SPEED_VALUE_8,#90 [L2275,T33,P3] A844 [L2272,T33,P3] LOAD V1_5,#152 [L2273,T33,P3] LOAD V2_5,#168 [L955,T22,P3] LOAD V2,#34669 [L954,T22,P3] LOAD V1,#34143 [L957,T22,P3] CMPS SPEED_VALUE_2,#90 [L957,T22,P3] A333 [L3726,T44,P1] PRIO 1 [L3725,T44,P1/3] PAUSE s RESET [L3755,T44,P3] A1361 [L1147,T23,P3] LOAD V1_0,#34328 [L1150,T23,P3] CMPS SPEED_VALUE_3,#90 [L1150,T23,P3] A411 [L1534,T25,P3] LOAD V2_2,#30409 [L1533,T25,P3] LOAD V1_2,#31064 [L1536,T25,P3] A567 [L1536,T25,P3] CMPS SPEED_VALUE_5,#90 [L713,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#2 [L713,T17,P3] A250 [L711,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#1 [L712,T17,P3] GOTO A251 [L731,T17,P3] A258 f [L728,T17,P3] JW G,A258 [L729,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#1 t [L3131,T40,P1] A1164 [L3131,T40,P1] A1165 [L1343,T24,P3] CMPS SPEED_VALUE_4,#90 [L1340,T24,P3] LOAD V1_1,#31064 [L1343,T24,P3] A489 [L1711,T26,P3] LOAD V1_3,#34931 [L1710,T26,P3] JW L,A639 t f [L1714,T26,P3] A639 [L3566,T43,P3] LOAD V1_10,#400 [L3565,T43,P3] JW L,A1316 t [L3569,T43,P3] A1316 f [L3749,T44,P3] A1387 [L3747,T44,P3] JW G,A1387 [L3748,T44,P3] GOTO A1386 f t [L4186,T51,P3] CMPS SPEED_VALUE_20,#90 [L4186,T51,P3] A1553 [L4183,T51,P3] LOAD V1_12,#688 [L3054,T39,P1] LOAD STEER1_VALUE,#0 [L3054,T39,P1] A1138 [L3990,T50,P3] LOAD V1_11,#852 t [L3993,T50,P3] A1475 [L3993,T50,P3] CMPS SPEED_VALUE_19,#90 [L111,T2,P7] ADD TIME_0,#1 [L111,T2,P7] AC t [L62,T2,P1] PRESENT ANG_INPUT,A32 [L61,T2,P1] PRIO 1 f [L213,T2,P1] GOTO A23 Thanks! [L2498,T34,P3] GOTO A931 [L2497,T34,P3] LOAD D,#4 [L2500,T34,P3] JW L,A932 [L2505,T34,P3] A932 [L2505,T34,P3] CMPS SPEED_VALUE_9,#100 f [L2502,T34,P3] LOAD V2_6,#166 [L2492,T34,P3] GOTO A929 t [L2501,T34,P3] LOAD V1_6,#151 [L3376,T42,P3] CMPS SPEED_VALUE_14,#40 [L3381,T42,P3] A1240 [L3377,T42,P3] JW L,A1240 f t [L3374,T42,P3] LOAD V2_9,#900 [L2936,T36,P3] LOAD V2_8,#180 [L2935,T36,P3] LOAD V1_8,#160 [L2939,T36,P3] CMPS SPEED_VALUE_11,#100 [L2934,T36,P3] JW L,A1096 [L2939,T36,P3] A1096 t f [L2931,T36,P3] LOAD D_0,#4 [L2932,T36,P3] GOTO A1095 [L1905,T27,P3] LOAD V2_4,#36372 [L2710,T35,P3] JW L,A1010 [L2714,T35,P3] A1010 [L2714,T35,P3] CMPS SPEED_VALUE_10,#100 f [L2711,T35,P3] LOAD V1_7,#160 t [L2712,T35,P3] LOAD V2_7,#180 [L2707,T35,P3] LOAD V2_7,#180 [L1912,T27,P3] A719 [L1907,T27,P3] CMPS SPEED_VALUE_7,#60 [L1908,T27,P3] JW L,A719 f t [L2269,T33,P3] GOTO A843 [L2280,T33,P3] CMPS SPEED_VALUE_8,#100 [L2280,T33,P3] A846 [L2276,T33,P3] JW L,A846 f [L2278,T33,P3] LOAD V2_5,#166 t [L2277,T33,P3] LOAD V1_5,#151 [L2274,T33,P3] GOTO A845 [L956,T22,P3] GOTO A334 [L960,T22,P3] LOAD V2,#34669 [L959,T22,P3] LOAD V1,#34143 [L958,T22,P3] JW L,A335 t f [L962,T22,P3] CMPS SPEED_VALUE_2,#100 [L962,T22,P3] A335 [L3727,T44,P1] GOTO A1379 [L1148,T23,P3] LOAD V2_0,#34865 [L1153,T23,P3] LOAD V2_0,#34865 [L1152,T23,P3] LOAD V1_0,#34328 [L1151,T23,P3] JW L,A413 t [L1155,T23,P3] A413 f [L1155,T23,P3] CMPS SPEED_VALUE_3,#100 [L1535,T25,P3] GOTO A568 [L1541,T25,P3] CMPS SPEED_VALUE_5,#100 [L1537,T25,P3] JW L,A569 [L1541,T25,P3] A569 f [L1538,T25,P3] LOAD V1_2,#31064 [L1539,T25,P3] LOAD V2_2,#30409 t [L714,T17,P3] A247 [L714,T17,P3] A249 [L714,T17,P3] A251 [L731,T17,P3] LOAD LONG_SPEED_MOT_VALUE,#2 [L730,T17,P3] GOTO A259 [L732,T17,P3] A257 [L732,T17,P3] A259 [L3133,T40,P1/5] PAUSE [L3131,T40,P1] PRIO 1 [L3132,T40,P5] PRIO 5 [L1346,T24,P3] LOAD V2_1,#30409 [L1345,T24,P3] LOAD V1_1,#31064 t [L1348,T24,P3] CMPS SPEED_VALUE_4,#100 [L1344,T24,P3] JW L,A491 f [L1348,T24,P3] A491 [L1341,T24,P3] LOAD V2_1,#30409 [L1707,T26,P3] LOAD V2_3,#36897 [L1712,T26,P3] LOAD V2_3,#36372 [L1719,T26,P3] A641 [L1714,T26,P3] CMPS SPEED_VALUE_6,#60 t [L1715,T26,P3] JW L,A641 f [L3755,T44,P3] PRIO 3 [L3567,T43,P3] LOAD V2_10,#800 [L3574,T43,P3] A1318 [L3570,T43,P3] JW L,A1318 [L3569,T43,P3] CMPS SPEED_VALUE_15,#40 f t [L3750,T44,P3] JW G,A1385 [L3751,T44,P3] A1386 [L3749,T44,P3] CMPS TIME_STEER1,#83 [L3756,T44,P3] GOTO A1360 [L3679,T44,P3] A1360 f [L4191,T51,P3] CMPS SPEED_VALUE_20,#100 [L4191,T51,P3] A1555 [L4187,T51,P3] JW L,A1555 [L4189,T51,P3] LOAD V2_12,#918 [L4188,T51,P3] LOAD V1_12,#557 f [L4184,T51,P3] LOAD V2_12,#1081 t [L3056,T39,P1] LOAD STEER_VALUE,#0 [L3055,T39,P1] LOAD STEER2_VALUE,#0 [L3057,T39,P1] LOAD SPEED_VALUE_12,#0 [L3991,T50,P3] LOAD V2_11,#1343 [L114,T2,P7] EMIT STEER_SENS RESET [L3998,T50,P3] CMPS SPEED_VALUE_19,#100 [L3994,T50,P3] JW L,A1477 [L3998,T50,P3] A1477 f [L3995,T50,P3] LOAD V1_11,#688 t [L3996,T50,P3] LOAD V2_11,#1114 t [L113,T2,P7] JW G,A42 [L112,T2,P7] CMPS TIME_0,Q_TEANG [L76,T2,P1] LOAD ANG_VAL,?ANG_INPUT [L76,T2,P1] AC_0 [L63,T2,P1] EXIT AC_0,A28 [L64,T2,P1] A32 t [L65,T2,P1] EXIT AC_1,A29 [L64,T2,P1] PRESENT VELSTER,A33 f [L66,T2,P1] A33 t [L2506,T34,P3] JW L,A934 f [L2503,T34,P3] LOAD D,#4 [L3381,T42,P3] CMPS SPEED_VALUE_14,#50 [L3378,T42,P3] LOAD V1_9,#260 [L2937,T36,P3] LOAD D_0,#4 f [L2940,T36,P3] JW L,A1098 t [L2715,T35,P3] JW L,A1012 f [L2708,T35,P3] GOTO A1009 [L1912,T27,P3] CMPS SPEED_VALUE_7,#70 [L1909,T27,P3] LOAD V1_4,#34603 [L1900,T27,P3] LOAD V2_4,#36897 f [L2281,T33,P3] JW L,A848 [L2279,T33,P3] GOTO A847 t [L961,T22,P3] GOTO A336 [L963,T22,P3] JW L,A337 f t [L1134,T23,P3] GOTO A406 t [L1156,T23,P3] JW L,A415 f [L1542,T25,P3] JW L,A571 t f [L1540,T25,P3] GOTO A570 [L714,T17,P3] A245 [L732,T17,P3] A255 s [L1349,T24,P3] JW L,A493 f t [L1716,T26,P3] LOAD V1_3,#34603 [L1719,T26,P3] CMPS SPEED_VALUE_6,#70 [L3134,T40,P5] PRESENT CLOCK_24,A1170 f [L3574,T43,P3] CMPS SPEED_VALUE_15,#50 [L3751,T44,P3] LOAD STEER_ANG_DAMAGE_VALUE,#1 [L3753,T44,P3] A1385 [L3753,T44,P3] LOAD STEER_ANG_DAMAGE_VALUE,#0 [L3679,T44,P3] LOAD TIME_STEER1,#0 [L4192,T51,P3] JW L,A1557 f t [L4185,T51,P3] GOTO A1554 [L4190,T51,P3] GOTO A1556 [L3058,T39,P1] LOAD INIT_TIME,#0 i i i i [L115,T2,P7] SETV STEER_SENS,STR_VAL i i f [L3999,T50,P3] JW L,A1479 t [L3997,T50,P3] GOTO A1478 [L77,T2,P1] CMPS DIR,#1 [L67,T2,P1] AC_1 [L66,T2,P1] GOTO A30 [L2508,T34,P3] LOAD V2_6,#164 [L2507,T34,P3] LOAD V1_6,#150 [L2511,T34,P3] CMPS SPEED_VALUE_9,#110 [L2511,T34,P3] A934 [L2512,T34,P3] JW L,A936 [L3384,T42,P3] LOAD V2_9,#276 [L3383,T42,P3] LOAD V1_9,#156 [L3386,T42,P3] CMPS SPEED_VALUE_14,#60 f [L3386,T42,P3] A1242 t [L3382,T42,P3] JW L,A1242 [L2938,T36,P3] GOTO A1097 [L2942,T36,P3] LOAD V2_8,#180 [L2941,T36,P3] LOAD V1_8,#160 [L2945,T36,P3] A1098 [L2946,T36,P3] JW L,A1100 [L2945,T36,P3] CMPS SPEED_VALUE_11,#110 [L2720,T35,P3] JW L,A1014 [L2719,T35,P3] CMPS SPEED_VALUE_10,#110 [L2719,T35,P3] A1012 [L2716,T35,P3] LOAD V1_7,#160 t [L1915,T27,P3] LOAD V2_4,#35455 [L1914,T27,P3] LOAD V1_4,#34406 [L1917,T27,P3] CMPS SPEED_VALUE_7,#80 t [L1913,T27,P3] JW L,A721 [L1917,T27,P3] A721 f [L2285,T33,P3] CMPS SPEED_VALUE_8,#110 [L2285,T33,P3] A848 [L2286,T33,P3] JW L,A850 [L2283,T33,P3] LOAD V2_5,#164 [L2282,T33,P3] LOAD V1_5,#150 [L968,T22,P3] JW L,A339 [L967,T22,P3] A337 [L967,T22,P3] CMPS SPEED_VALUE_2,#110 [L964,T22,P3] LOAD V1,#34143 [L965,T22,P3] LOAD V2,#34669 [L1158,T23,P3] LOAD V2_0,#34865 [L1157,T23,P3] LOAD V1_0,#34328 [L1160,T23,P3] A415 [L1161,T23,P3] JW L,A417 [L1160,T23,P3] CMPS SPEED_VALUE_3,#110 [L1547,T25,P3] JW L,A573 [L1546,T25,P3] CMPS SPEED_VALUE_5,#110 [L1546,T25,P3] A571 [L1544,T25,P3] LOAD V2_2,#30409 [L1543,T25,P3] LOAD V1_2,#31064 [L714,T17,P3] GOTO A243 [L732,T17,P3] GOTO A236 [L732,T17,P3] A243 [L732,T17,P3] A253 [L1353,T24,P3] CMPS SPEED_VALUE_4,#110 [L1353,T24,P3] A493 [L1350,T24,P3] LOAD V1_1,#31064 [L1354,T24,P3] JW L,A495 [L1351,T24,P3] LOAD V2_1,#30409 [L1722,T26,P3] LOAD V2_3,#35455 [L1721,T26,P3] LOAD V1_3,#34406 t [L1720,T26,P3] JW L,A643 [L1724,T26,P3] A643 f [L1724,T26,P3] CMPS SPEED_VALUE_6,#80 t [L3136,T40,P5] A1170 [L3136,T40,P5] PRESENT STEER1_SENS,A1169 f t [L3138,T40,P5] A1169 [L3575,T43,P3] JW L,A1320 [L3577,T43,P3] LOAD V2_10,#200 [L3576,T43,P3] LOAD V1_10,#132 t f [L3754,T44,P3] A1384 [L3579,T43,P3] A1320 [L3752,T44,P3] GOTO A1389 [L3754,T44,P3] A1389 [L3682,T44,P3] LOAD STEER_ANG_DAMAGE_VALUE,#0 [L3680,T44,P3] LOAD TIME_STEER2,#0 [L3681,T44,P3] LOAD SPEED_VALUE_16,#0 [L4197,T51,P3] JW L,A1559 [L4196,T51,P3] CMPS SPEED_VALUE_20,#110 [L4196,T51,P3] A1557 [L4193,T51,P3] LOAD V1_12,#459 [L3579,T43,P3] CMPS SPEED_VALUE_15,#60 [L3059,T39,P1] ABORT RESET,A1139 [L3060,T39,P1] A1140 [L3060,T39,P1] A1141 [L116,T2,P7] EMIT STEER1_SENS i i i i i i [L4003,T50,P3] CMPS SPEED_VALUE_19,#110 i [L4004,T50,P3] JW L,A1481 i [L117,T2,P7] SETV STEER1_SENS,STR1_VAL [L118,T2,P7] EMIT STEER2_SENS i [L4003,T50,P3] A1479 i [L4000,T50,P3] LOAD V1_11,#557 [L4001,T50,P3] LOAD V2_11,#655 [L78,T2,P1] JW EE,A34 t [L79,T2,P1] LOAD REG2,ANG_CUR [L80,T2,P1] SUB REG2,#9 [L67,T2,P1] LOAD VELSTER_VAL,?VELSTER [L68,T2,P1] LOAD REG1,VELSTER_VAL [L69,T2,P1] MUL REG1,#2 [L2509,T34,P3] LOAD D,#3 [L2510,T34,P3] GOTO A935 [L2517,T34,P3] CMPS SPEED_VALUE_9,#120 [L2517,T34,P3] A936 f [L2513,T34,P3] LOAD V1_6,#150 [L2514,T34,P3] LOAD V2_6,#163 t [L2504,T34,P3] GOTO A933 [L3387,T42,P3] JW L,A1244 f [L3391,T42,P3] A1244 [L2943,T36,P3] LOAD D_0,#4 [L2944,T36,P3] GOTO A1099 [L2951,T36,P3] CMPS SPEED_VALUE_11,#120 [L2951,T36,P3] A1100 t f [L2948,T36,P3] LOAD V2_8,#180 [L2947,T36,P3] LOAD V1_8,#160 [L2722,T35,P3] LOAD V2_7,#180 [L2721,T35,P3] LOAD V1_7,#160 [L2724,T35,P3] CMPS SPEED_VALUE_10,#120 t [L2724,T35,P3] A1014 [L2717,T35,P3] LOAD V2_7,#180 f t [L1922,T27,P3] A723 [L1918,T27,P3] JW L,A723 f [L2288,T33,P3] LOAD V2_5,#163 [L2287,T33,P3] LOAD V1_5,#150 [L2290,T33,P3] CMPS SPEED_VALUE_8,#120 f [L2290,T33,P3] A850 t [L2284,T33,P3] GOTO A849 [L972,T22,P3] CMPS SPEED_VALUE_2,#120 [L972,T22,P3] A339 [L970,T22,P3] LOAD V2,#38483 [L969,T22,P3] LOAD V1,#38483 t f [L966,T22,P3] GOTO A338 [L1139,T23,P3] GOTO A408 [L1159,T23,P3] GOTO A416 [L1163,T23,P3] LOAD V2_0,#38483 [L1162,T23,P3] LOAD V1_0,#38483 t [L1165,T23,P3] A417 f [L1165,T23,P3] CMPS SPEED_VALUE_3,#120 [L1549,T25,P3] LOAD V2_2,#30409 [L1548,T25,P3] LOAD V1_2,#31064 f t [L1551,T25,P3] CMPS SPEED_VALUE_5,#120 [L1551,T25,P3] A573 [L1545,T25,P3] GOTO A572 [L678,T17,P3] EMIT LONG_SPEED_MOT [L678,T17,P3] A236 [L1358,T24,P3] CMPS SPEED_VALUE_4,#120 [L1358,T24,P3] A495 [L1355,T24,P3] LOAD V1_1,#31064 f t [L1356,T24,P3] LOAD V2_1,#30409 [L1352,T24,P3] GOTO A494 [L1717,T26,P3] LOAD V2_3,#35783 [L1729,T26,P3] A645 [L1725,T26,P3] JW L,A645 f t [L3137,T40,P5] GOTO A1167 [L3140,T40,P5] A1168 f [L3138,T40,P5] PRESENT STEER2_SENS,A1168 t [L3754,T44,P3] GOTO A1362 [L3684,T44,P3] A1362 [L3683,T44,P3] ABORT RESET,A1361 [L4201,T51,P3] CMPS SPEED_VALUE_20,#120 [L4201,T51,P3] A1559 f [L4194,T51,P3] LOAD V2_12,#786 [L4198,T51,P3] LOAD V1_12,#393 t [L4199,T51,P3] LOAD V2_12,#688 f [L3584,T43,P3] A1322 [L3580,T43,P3] JW L,A1322 [L3060,T39,P1] A1142 [L3060,T39,P6] PRIO 6 [L4008,T50,P3] CMPS SPEED_VALUE_19,#120 [L4008,T50,P3] A1481 [L4005,T50,P3] LOAD V1_11,#459 f t [L4006,T50,P3] LOAD V2_11,#557 i i i i i [L119,T2,P7] SETV STEER2_SENS,STR2_VAL i i i i i [L120,T2,P1] PRIO 1 f [L82,T2,P1] JW L,A34 [L81,T2,P1] CMPS ANG_VAL,REG2 [L71,T2,P1] LOAD R1,#9221311 [L70,T2,P1] LOAD R0,REG1 [L2518,T34,P3] JW L,A938 [L2523,T34,P3] A938 t f [L2515,T34,P3] LOAD D,#2 [L3392,T42,P3] JW L,A1246 [L3391,T42,P3] CMPS SPEED_VALUE_14,#70 [L2952,T36,P3] JW L,A1102 [L2957,T36,P3] A1102 t f [L2949,T36,P3] LOAD D_0,#3 [L2729,T35,P3] A1016 t [L2725,T35,P3] JW L,A1016 f [L2713,T35,P3] GOTO A1011 [L1919,T27,P3] LOAD V1_4,#34275 [L1920,T27,P3] LOAD V2_4,#35193 [L1923,T27,P3] JW L,A725 [L1922,T27,P3] CMPS SPEED_VALUE_7,#90 [L1910,T27,P3] LOAD V2_4,#35783 [L2289,T33,P3] GOTO A851 [L2291,T33,P3] JW L,A852 [L2295,T33,P3] A852 f t f [L977,T22,P3] A341 [L973,T22,P3] JW L,A341 t [L1144,T23,P3] GOTO A410 RESET [L1164,T23,P3] GOTO A418 [L1166,T23,P3] JW L,A419 t f [L1170,T23,P3] A419 f [L1556,T25,P3] A575 [L1552,T25,P3] JW L,A575 t [L680,T17,P1] PRIO 1 [L679,T17,P3] SETV LONG_SPEED_MOT,LONG_SPEED_MOT_VALUE [L4433,T54,P2] LOAD CTRL_1_VAL_0,?LONG_SPEED_MOT i i i [L1307,T24,P3] GOTO A476 i [L4331,T53,P2] LOAD CTRL_1_VAL,?LONG_SPEED_MOT [L1363,T24,P3] A497 t [L1359,T24,P3] JW L,A497 f [L1357,T24,P3] GOTO A496 [L1730,T26,P3] JW L,A647 [L1729,T26,P3] CMPS SPEED_VALUE_6,#90 [L1726,T26,P3] LOAD V1_3,#34275 [L3135,T40,P5] GOTO A1167 [L3142,T40,P1] A1166 [L3141,T40,P5] A1167 f [L3140,T40,P5] PRESENT STEER_SENS,A1166 t [L3139,T40,P5] GOTO A1167 [L3685,T44,P3] SETV STEER_ANG_DAMAGE,STEER_ANG_DAMAGE_VALUE [L3684,T44,P3] EMIT STEER_ANG_DAMAGE i [L4206,T51,P3] A1561 [L4202,T51,P3] JW L,A1561 f t [L4195,T51,P3] GOTO A1558 [L3584,T43,P3] CMPS SPEED_VALUE_15,#70 [L3585,T43,P3] JW L,A1324 [L4009,T50,P3] JW L,A1483 [L4013,T50,P3] A1483 t f [L3061,T39,P1/6] PAUSE s [L3062,T39,P6] PRESENT STEER1_SENS,A1148 [L4007,T50,P3] GOTO A1482 [L4002,T50,P3] GOTO A1480 [L121,T2,P1] CMPS DIR,#0 [L122,T2,P1] JW NE,A43 [L85,T2,P1] A34 [L85,T2,P1] CMPS DIR,#2 [L83,T2,P1] LOAD DIR,#3 f t [L73,T2,P1] LOAD REG1,R0 [L72,T2,P1] CALL DIV [L2523,T34,P3] CMPS SPEED_VALUE_9,#130 [L2524,T34,P3] JW L,A940 [L2520,T34,P3] LOAD V2_6,#161 [L2519,T34,P3] LOAD V1_6,#149 [L3394,T42,P3] LOAD V2_9,#108 [L3393,T42,P3] LOAD V1_9,#68 f [L3396,T42,P3] A1246 t [L3396,T42,P3] CMPS SPEED_VALUE_14,#80 t [L2954,T36,P3] LOAD V2_8,#179 [L2953,T36,P3] LOAD V1_8,#157 [L2958,T36,P3] JW L,A1104 [L2957,T36,P3] CMPS SPEED_VALUE_11,#130 [L2950,T36,P3] GOTO A1101 [L2726,T35,P3] LOAD V1_7,#157 [L2730,T35,P3] JW L,A1018 [L2729,T35,P3] CMPS SPEED_VALUE_10,#130 [L1925,T27,P3] LOAD V2_4,#34931 [L1924,T27,P3] LOAD V1_4,#34144 [L1927,T27,P3] CMPS SPEED_VALUE_7,#100 t f [L1927,T27,P3] A725 [L2295,T33,P3] CMPS SPEED_VALUE_8,#130 [L2296,T33,P3] JW L,A854 [L2292,T33,P3] LOAD V1_5,#149 [L2293,T33,P3] LOAD V2_5,#161 [L977,T22,P3] CMPS SPEED_VALUE_2,#130 [L978,T22,P3] JW L,A343 [L975,T22,P3] LOAD V2,#38483 [L974,T22,P3] LOAD V1,#38483 [L682,T17,P1] ABORT LONG_SPEED_KM,A237 [L1170,T23,P3] CMPS SPEED_VALUE_3,#130 [L1171,T23,P3] JW L,A421 [L1167,T23,P3] LOAD V1_0,#38483 [L1168,T23,P3] LOAD V2_0,#38483 [L1557,T25,P3] JW L,A577 [L1556,T25,P3] CMPS SPEED_VALUE_5,#130 [L1554,T25,P3] LOAD V2_2,#30409 [L1553,T25,P3] LOAD V1_2,#31064 [L681,T17,P1] LOAD OLD_SPEED_VALUE,SPEED_VALUE_1 [L4434,T54,P2] EXIT AWAIT_CASE_21,A1639 [L3686,T44,P1] A1364 [L4435,T54,P2] AWAIT_CASE_21 [L4332,T53,P2] EXIT AWAIT_CASE_20,A1598 [L1360,T24,P3] LOAD V1_1,#31064 [L1361,T24,P3] LOAD V2_1,#30409 [L1363,T24,P3] CMPS SPEED_VALUE_4,#130 [L1364,T24,P3] JW L,A499 [L3686,T44,P1] A1363 [L1732,T26,P3] LOAD V2_3,#34931 [L1731,T26,P3] LOAD V1_3,#34144 t [L1734,T26,P3] CMPS SPEED_VALUE_6,#100 f [L1734,T26,P3] A647 [L3143,T40,P1] GOTO A1165 [L3142,T40,P1] PRIO 1 [L3144,T40,P5] AWAIT_OP_3 [L3141,T40,P5] EXIT AWAIT_OP_3,A1164 [L4333,T53,P2] AWAIT_CASE_20 i [L4207,T51,P3] JW L,A1563 [L4206,T51,P3] CMPS SPEED_VALUE_20,#130 [L4204,T51,P3] LOAD V2_12,#590 [L4203,T51,P3] LOAD V1_12,#328 [L3589,T43,P3] CMPS SPEED_VALUE_15,#80 [L3589,T43,P3] A1324 t [L3586,T43,P3] LOAD V1_10,#56 [L3587,T43,P3] LOAD V2_10,#88 f [L4010,T50,P3] LOAD V1_11,#393 [L4014,T50,P3] JW L,A1485 [L4013,T50,P3] CMPS SPEED_VALUE_19,#130 [L3064,T39,P6] PRESENT STEER2_SENS,A1147 f [L3064,T39,P6] A1148 t [L123,T2,P1] CMPS STR1_VAL,#1 [L124,T2,P1] JW EE,A45 t [L86,T2,P1] JW EE,A36 t [L87,T2,P1] LOAD REG3,#9 [L74,T2,P1] LOAD Q_TEANG,REG1 [L2529,T34,P3] CMPS SPEED_VALUE_9,#140 [L2529,T34,P3] A940 f [L2521,T34,P3] LOAD D,#1 [L2525,T34,P3] LOAD V1_6,#148 t [L2526,T34,P3] LOAD V2_6,#160 [L2522,T34,P3] GOTO A939 [L2516,T34,P3] GOTO A937 [L3397,T42,P3] JW L,A1248 [L3401,T42,P3] A1248 f t [L2956,T36,P3] GOTO A1103 [L2955,T36,P3] LOAD D_0,#3 [L2960,T36,P3] LOAD V2_8,#178 [L2959,T36,P3] LOAD V1_8,#155 [L2963,T36,P3] CMPS SPEED_VALUE_11,#140 [L2963,T36,P3] A1104 t f [L2732,T35,P3] LOAD V2_7,#178 [L2727,T35,P3] LOAD V2_7,#179 [L2731,T35,P3] LOAD V1_7,#155 [L2734,T35,P3] CMPS SPEED_VALUE_10,#140 t [L2734,T35,P3] A1018 f [L1932,T27,P3] A727 f [L1928,T27,P3] JW L,A727 t [L2300,T33,P3] A854 [L2300,T33,P3] CMPS SPEED_VALUE_8,#140 [L2297,T33,P3] LOAD V1_5,#148 f [L2294,T33,P3] GOTO A853 t [L2298,T33,P3] LOAD V2_5,#160 [L982,T22,P3] CMPS SPEED_VALUE_2,#140 [L982,T22,P3] A343 [L979,T22,P3] LOAD V1,#38483 [L980,T22,P3] LOAD V2,#38483 f t [L971,T22,P3] GOTO A340 [L683,T17,P3] PRIO 3 [L683,T17,P1] A238 [L1173,T23,P3] LOAD V2_0,#38483 [L1172,T23,P3] LOAD V1_0,#38483 [L1175,T23,P3] CMPS SPEED_VALUE_3,#140 t f [L1175,T23,P3] A421 [L1169,T23,P3] GOTO A420 [L1559,T25,P3] LOAD V2_2,#30409 [L1558,T25,P3] LOAD V1_2,#31064 [L1550,T25,P3] GOTO A574 f [L1561,T25,P3] CMPS SPEED_VALUE_5,#140 [L1561,T25,P3] A577 t [L1555,T25,P3] GOTO A576 [L3686,T44,P1] A1366 [L3686,T44,P1] A1365 [L1362,T24,P3] GOTO A498 [L1368,T24,P3] CMPS SPEED_VALUE_4,#140 [L1368,T24,P3] A499 [L1366,T24,P3] LOAD V2_1,#30409 [L1365,T24,P3] LOAD V1_1,#31064 f t [L1735,T26,P3] JW L,A649 [L1739,T26,P3] A649 f t [L3144,T40,P5] PRESENT STEER1_SENS,A1171 [L3145,T40,P5] LOAD STEER1_VALUE_0,?STEER1_SENS t [L4435,T54,P2] CMPS CTRL_1_VAL_0,#2 [L4333,T53,P2] CMPS CTRL_1_VAL,#2 [L4436,T54,P2] JW EE,A1665 [L4334,T53,P2] JW EE,A1624 [L4208,T51,P3] LOAD V1_12,#262 [L4209,T51,P3] LOAD V2_12,#524 t [L4205,T51,P3] GOTO A1562 [L4211,T51,P3] A1563 f [L4211,T51,P3] CMPS SPEED_VALUE_20,#140 [L3590,T43,P3] JW L,A1326 [L3594,T43,P3] A1326 f [L4011,T50,P3] LOAD V2_11,#459 [L4012,T50,P3] GOTO A1484 [L4018,T50,P3] CMPS SPEED_VALUE_19,#140 [L3066,T39,P6] PRESENT STEER_SENS,A1146 [L4018,T50,P3] A1485 f [L3066,T39,P6] A1147 f t [L4016,T50,P3] LOAD V2_11,#393 [L4015,T50,P3] LOAD V1_11,#328 t [L126,T2,P1] CMPS STR2_VAL,#1 [L126,T2,P1] A45 f t [L88,T2,P1] ADD REG3,ANG_CUR [L89,T2,P1] CMPS ANG_VAL,REG3 f [L2535,T34,P3] A942 f [L2530,T34,P3] JW L,A942 t [L2527,T34,P3] LOAD D,#0 [L3398,T42,P3] LOAD V1_9,#52 [L3401,T42,P3] CMPS SPEED_VALUE_14,#90 [L3402,T42,P3] JW L,A1250 [L3388,T42,P3] LOAD V1_9,#100 [L2961,T36,P3] LOAD D_0,#2 [L2964,T36,P3] JW L,A1106 f t [L2969,T36,P3] A1106 [L2739,T35,P3] A1020 [L2735,T35,P3] JW L,A1020 t f [L1932,T27,P3] CMPS SPEED_VALUE_7,#110 [L1933,T27,P3] JW L,A729 [L1930,T27,P3] LOAD V2_4,#34734 [L1929,T27,P3] LOAD V1_4,#34046 [L2301,T33,P3] JW L,A856 [L2305,T33,P3] A856 f t [L2299,T33,P3] GOTO A855 [L987,T22,P3] A345 f [L983,T22,P3] JW L,A345 t [L976,T22,P3] GOTO A342 [L1174,T23,P3] GOTO A422 [L1180,T23,P3] A423 t f [L1176,T23,P3] JW L,A423 f [L1566,T25,P3] A579 [L1562,T25,P3] JW L,A579 t [L3686,T44,P1] A1367 [L3686,T44,P1] A1368 [L1373,T24,P3] A501 [L1369,T24,P3] JW L,A501 t f [L1367,T24,P3] GOTO A500 [L1739,T26,P3] CMPS SPEED_VALUE_6,#110 [L1740,T26,P3] JW L,A651 [L1736,T26,P3] LOAD V1_3,#34046 [L1737,T26,P3] LOAD V2_3,#34734 [L3146,T40,P5] LOAD REG36,#0 [L3147,T40,P5] CMPS REG36,#1 [L4438,T54,P2] CMPS CTRL_2_VAL_0,#2 [L4438,T54,P2] A1665 f t [L4336,T53,P2] A1624 [L4336,T53,P2] CMPS CTRL_2_VAL,#2 f [L4335,T53,P2] GOTO A1617 t t [L4216,T51,P3] A1565 f [L4212,T51,P3] JW L,A1565 [L3594,T43,P3] CMPS SPEED_VALUE_15,#90 [L3595,T43,P3] JW L,A1328 t [L4023,T50,P3] A1487 [L4019,T50,P3] JW L,A1487 [L3063,T39,P6] GOTO A1144 f [L3068,T39,P6] PRESENT LONG_SPEED_FILT,A1145 [L3067,T39,P6] GOTO A1144 [L3068,T39,P6] A1146 f t [L3065,T39,P6] GOTO A1144 [L127,T2,P1] JW EE,A46 [L128,T2,P1] GOTO A44 t [L125,T2,P1] GOTO A44 f [L129,T2,P1] A46 [L93,T2,P1] A36 [L90,T2,P1] JW G,A36 f [L2008,T28,P5] SIGNALV ACC_0 [L2535,T34,P3] CMPS SPEED_VALUE_9,#150 [L2536,T34,P3] JW L,A944 [L2531,T34,P3] LOAD V1_6,#148 [L2532,T34,P3] LOAD V2_6,#159 [L3404,T42,P3] LOAD V2_9,#56 [L3403,T42,P3] LOAD V1_9,#40 [L3406,T42,P3] A1250 t [L3406,T42,P3] CMPS SPEED_VALUE_14,#100 f [L2962,T36,P3] GOTO A1105 [L2970,T36,P3] JW L,A1108 [L2969,T36,P3] CMPS SPEED_VALUE_11,#150 [L2965,T36,P3] LOAD V1_8,#154 [L2966,T36,P3] LOAD V2_8,#175 [L2736,T35,P3] LOAD V1_7,#154 [L2737,T35,P3] LOAD V2_7,#175 [L2740,T35,P3] JW L,A1022 [L2739,T35,P3] CMPS SPEED_VALUE_10,#150 [L1935,T27,P3] LOAD V2_4,#34603 [L1934,T27,P3] LOAD V1_4,#33980 [L1937,T27,P3] A729 f [L1937,T27,P3] CMPS SPEED_VALUE_7,#120 t [L2306,T33,P3] JW L,A858 [L2305,T33,P3] CMPS SPEED_VALUE_8,#150 [L2302,T33,P3] LOAD V1_5,#148 [L987,T22,P3] CMPS SPEED_VALUE_2,#150 [L984,T22,P3] LOAD V1,#38483 [L988,T22,P3] JW L,A347 [L3687,T44,P4] PRIO 4 [L1180,T23,P3] CMPS SPEED_VALUE_3,#150 [L1181,T23,P3] JW L,A425 [L1178,T23,P3] LOAD V2_0,#38483 [L1177,T23,P3] LOAD V1_0,#38483 [L3686,T44,P1] PRIO 1 [L1566,T25,P3] CMPS SPEED_VALUE_5,#150 [L1567,T25,P3] JW L,A581 [L1563,T25,P3] LOAD V1_2,#31064 [L1564,T25,P3] LOAD V2_2,#30409 [L1373,T24,P3] CMPS SPEED_VALUE_4,#150 [L1374,T24,P3] JW L,A503 [L1370,T24,P3] LOAD V1_1,#31064 [L1371,T24,P3] LOAD V2_1,#30409 [L1742,T26,P3] LOAD V2_3,#34603 [L1741,T26,P3] LOAD V1_3,#33980 t [L1744,T26,P3] CMPS SPEED_VALUE_6,#120 f [L1744,T26,P3] A651 [L3149,T40,P5] CMPS STEER1_VALUE_OLD,#1 [L3148,T40,P5] JW EE,A1172 t [L4439,T54,P2] JW EE,A1664 f [L4441,T54,P2] A1664 [L4437,T54,P2] GOTO A1658 [L4337,T53,P2] JW EE,A1623 [L4339,T53,P2] A1623 t f [L4213,T51,P3] LOAD V1_12,#229 [L3599,T43,P3] CMPS SPEED_VALUE_15,#100 [L4216,T51,P3] CMPS SPEED_VALUE_20,#150 [L4217,T51,P3] JW L,A1567 [L3599,T43,P3] A1328 [L3596,T43,P3] LOAD V1_10,#34 f [L3597,T43,P3] LOAD V2_10,#52 t [L4020,T50,P3] LOAD V1_11,#262 [L4023,T50,P3] CMPS SPEED_VALUE_19,#150 [L4024,T50,P3] JW L,A1489 [L3070,T39,P6] PRESENT CLOCK_24,A1143 f [L3070,T39,P6] A1145 [L3069,T39,P6] GOTO A1144 t [L140,T2,P1] CMPS STR1_VAL,#1 [L140,T2,P1] A44 [L129,T2,P1] CMPS DIR,#1 [L130,T2,P1] JW EE,A50 t [L93,T2,P1] LOAD REG4,ANG_CUR [L94,T2,P1] SUB REG4,#9 [L2009,T28,P5] SIGNALV ACC_FREQ_LOW [L2010,T28,P5] SIGNAL IGNORED_4 [L2541,T34,P3] CMPS SPEED_VALUE_9,#160 t [L2541,T34,P3] A944 f [L2538,T34,P3] LOAD V2_6,#157 [L2537,T34,P3] LOAD V1_6,#148 [L2533,T34,P3] LOAD D,#0 [L2534,T34,P3] GOTO A943 [L2528,T34,P3] GOTO A941 [L3407,T42,P3] JW L,A1252 [L3411,T42,P3] A1252 t f [L2971,T36,P3] LOAD V1_8,#151 [L2972,T36,P3] LOAD V2_8,#174 [L2975,T36,P3] CMPS SPEED_VALUE_11,#160 t f [L2975,T36,P3] A1108 [L2967,T36,P3] LOAD D_0,#2 [L2968,T36,P3] GOTO A1107 [L2742,T35,P3] LOAD V2_7,#174 [L2738,T35,P3] GOTO A1021 [L2741,T35,P3] LOAD V1_7,#151 [L2744,T35,P3] CMPS SPEED_VALUE_10,#160 [L2744,T35,P3] A1022 t f [L1942,T27,P3] A731 f t [L1938,T27,P3] JW L,A731 [L2308,T33,P3] LOAD V2_5,#157 [L2307,T33,P3] LOAD V1_5,#148 [L2310,T33,P3] A858 t [L2310,T33,P3] CMPS SPEED_VALUE_8,#160 f [L2303,T33,P3] LOAD V2_5,#159 [L989,T22,P3] LOAD V1,#38483 [L990,T22,P3] LOAD V2,#38483 [L992,T22,P3] A347 f [L992,T22,P3] CMPS SPEED_VALUE_2,#160 t [L985,T22,P3] LOAD V2,#38483 [L981,T22,P3] GOTO A344 [L3688,T44,P1/4] PAUSE [L3689,T44,P4] PRESENT LONG_SPEED_FILT,A1369 s [L1185,T23,P3] A425 [L1185,T23,P3] CMPS SPEED_VALUE_3,#160 f [L1182,T23,P3] LOAD V1_0,#38483 t [L1179,T23,P3] GOTO A424 [L1183,T23,P3] LOAD V2_0,#38483 [L1560,T25,P3] GOTO A578 [L1569,T25,P3] LOAD V2_2,#30409 [L1568,T25,P3] LOAD V1_2,#31064 [L1571,T25,P3] A581 t [L1571,T25,P3] CMPS SPEED_VALUE_5,#160 f [L1378,T24,P3] A503 [L1378,T24,P3] CMPS SPEED_VALUE_4,#160 f [L1376,T24,P3] LOAD V2_1,#30409 [L1375,T24,P3] LOAD V1_1,#31064 [L1372,T24,P3] GOTO A502 t [L1745,T26,P3] JW L,A653 [L1749,T26,P3] A653 t f [L3151,T40,P5] LOAD REG36,#1 [L3150,T40,P5] JW EE,A1172 t t [L4441,T54,P2] CMPS CTRL_3_VAL_0,#2 [L4442,T54,P2] JW EE,A1663 [L3604,T43,P3] A1330 [L4340,T53,P2] JW EE,A1622 [L4339,T53,P2] CMPS CTRL_3_VAL,#2 [L4338,T53,P2] GOTO A1617 f [L4214,T51,P3] LOAD V2_12,#459 [L3600,T43,P3] JW L,A1330 [L4221,T51,P3] CMPS SPEED_VALUE_20,#160 [L4221,T51,P3] A1567 [L4218,T51,P3] LOAD V1_12,#197 [L4219,T51,P3] LOAD V2_12,#393 f t [L4021,T50,P3] LOAD V2_11,#328 [L4025,T50,P3] LOAD V1_11,#197 [L4026,T50,P3] LOAD V2_11,#295 [L3072,T39,P1] PRIO 1 t f [L3072,T39,P1] A1143 [L4028,T50,P3] A1489 f [L4028,T50,P3] CMPS SPEED_VALUE_19,#160 t [L3071,T39,P6] A1144 [L3071,T39,P6] EXIT AWAIT_OP_2,A1141 [L141,T2,P1] JW EE,A53 [L143,T2,P1] A53 t f [L131,T2,P1] GOTO A49 t [L132,T2,P1] A50 [L132,T2,P1] CMPS DIR,#3 f [L91,T2,P1] LOAD DIR,#4 [L96,T2,P1] JW G,A38 [L95,T2,P1] CMPS ANG_VAL,REG4 1 [L2019,T28,P5/5] PAR* 5 [L2542,T34,P3] JW L,A946 f t [L2539,T34,P3] LOAD D,#0 [L3408,T42,P3] LOAD V1_9,#30 [L3411,T42,P3] CMPS SPEED_VALUE_14,#110 [L2973,T36,P3] LOAD D_0,#1 [L3690,T44,P4] EXIT AC_32,A1364 [L2976,T36,P3] JW L,A1110 f t [L2743,T35,P3] GOTO A1023 [L2745,T35,P3] JW L,A1024 t f 3 [L1939,T27,P3] LOAD V1_4,#33948 [L1940,T27,P3] LOAD V2_4,#34537 [L1942,T27,P3] CMPS SPEED_VALUE_7,#130 [L2311,T33,P3] JW L,A860 f [L993,T22,P3] JW L,A349 f t [L986,T22,P3] GOTO A346 t [L1186,T23,P3] JW L,A427 t f [L1184,T23,P3] GOTO A426 [L1572,T25,P3] JW L,A583 f t f [L1312,T24,P3] GOTO A478 [L1379,T24,P3] JW L,A505 t f [L3691,T44,P4] A1369 [L1377,T24,P3] GOTO A504 [L1317,T24,P3] GOTO A480 [L1746,T26,P3] LOAD V1_3,#33948 [L1747,T26,P3] LOAD V2_3,#34537 [L1749,T26,P3] CMPS SPEED_VALUE_6,#130 [L3152,T40,P5] CMPS REG36,#1 [L4444,T54,P2] A1663 [L4440,T54,P2] GOTO A1658 t f [L4443,T54,P2] GOTO A1658 [L3604,T43,P3] CMPS SPEED_VALUE_15,#110 [L4341,T53,P2] GOTO A1617 f [L4342,T53,P2] A1622 t [L4210,T51,P3] GOTO A1564 [L4215,T51,P3] GOTO A1566 [L4222,T51,P3] JW L,A1569 t f [L4027,T50,P3] GOTO A1490 [L3073,T39,P1] GOTO A1142 [L3074,T39,P6] AWAIT_OP_2 [L4029,T50,P3] JW L,A1491 t f [L143,T2,P1] CMPS STR2_VAL,#1 [L142,T2,P1] GOTO A52 [L133,T2,P1] JW EE,A48 t f t [L97,T2,P1] LOAD REG5,#9 [L2037,T30,P1] A771 [L2020,T29,P5] A766 [L2037,T30,P1] A758 [L2020,T29,P5] A757 4 4 [L2547,T34,P3] CMPS SPEED_VALUE_9,#170 [L2547,T34,P3] A946 [L2543,T34,P3] LOAD V1_6,#147 [L2544,T34,P3] LOAD V2_6,#157 [L3412,T42,P3] JW L,A1254 [L3413,T42,P3] LOAD V1_9,#24 t f [L3416,T42,P3] A1254 [L3706,T44,P4] AC_32 [L2978,T36,P3] LOAD V2_8,#172 [L2977,T36,P3] LOAD V1_8,#148 [L2981,T36,P3] A1110 [L2981,T36,P3] CMPS SPEED_VALUE_11,#170 [L2749,T35,P3] A1024 [L2749,T35,P3] CMPS SPEED_VALUE_10,#170 [L2746,T35,P3] LOAD V1_7,#148 [L2747,T35,P3] LOAD V2_7,#172 [L1947,T27,P3] A733 [L1943,T27,P3] JW L,A733 f t [L1944,T27,P3] LOAD V1_4,#33915 [L2315,T33,P3] CMPS SPEED_VALUE_8,#170 [L2315,T33,P3] A860 [L2312,T33,P3] LOAD V1_5,#147 t [L997,T22,P3] CMPS SPEED_VALUE_2,#170 [L997,T22,P3] A349 [L994,T22,P3] LOAD V1,#38483 [L2167,T33,P3] A761 3 [L2794,T36,P3] A764 [L1187,T23,P3] LOAD V1_0,#38483 [L1190,T23,P3] CMPS SPEED_VALUE_3,#170 [L1190,T23,P3] A427 [L1576,T25,P3] CMPS SPEED_VALUE_5,#170 [L1574,T25,P3] LOAD V2_2,#30409 [L1576,T25,P3] A583 [L1573,T25,P3] LOAD V1_2,#31064 [L3692,T44,P4] EXIT AC_33,A1365 [L1380,T24,P3] LOAD V1_1,#31064 [L1381,T24,P3] LOAD V2_1,#30409 t [L1383,T24,P3] A505 [L1383,T24,P3] CMPS SPEED_VALUE_4,#170 [L3691,T44,P4] PRESENT STEER1_SENS,A1370 [L1751,T26,P3] LOAD V1_3,#33915 [L1750,T26,P3] JW L,A655 t [L1754,T26,P3] A655 f f [L3693,T44,P4] A1370 f [L3154,T40,P5] CMPS STEER1_VALUE_0,#1 [L3153,T40,P5] JW EE,A1172 t [L4445,T54,P2] JW EE,A1662 [L4444,T54,P2] CMPS CTRL_4_VAL_0,#2 f [L3609,T43,P3] A1332 [L3605,T43,P3] JW L,A1332 f [L3606,T43,P3] LOAD V1_10,#24 t [L4342,T53,P2] CMPS CTRL_4_VAL,#2 [L4343,T53,P2] JW EE,A1621 f [L4226,T51,P3] A1569 [L4226,T51,P3] CMPS SPEED_VALUE_20,#170 [L4223,T51,P3] LOAD V1_12,#164 [L4224,T51,P3] LOAD V2_12,#328 [L3075,T39,P6] LOAD STEER1_VALUE,?STEER1_SENS f [L3074,T39,P6] PRESENT STEER1_SENS,A1149 t [L4033,T50,P3] CMPS SPEED_VALUE_19,#170 [L4033,T50,P3] A1491 [L4030,T50,P3] LOAD V1_11,#164 [L4031,T50,P3] LOAD V2_11,#262 [L145,T2,P1] CMPS DIR,#1 t [L144,T2,P1] JW EE,A52 [L155,T2,P1] A52 f [L134,T2,P1] A49 [L134,T2,P1] LOAD STR1_VAL,#1 [L137,T2,P1] LOAD STR2_VAL,#1 [L137,T2,P1] A48 f [L98,T2,P1] ADD REG5,ANG_CUR [L99,T2,P1] CMPS ANG_VAL,REG5 [L2038,T30,P1] LOAD ACC_OUT_TIME_0,#0 [L2037,T30,P1] LOAD SENS_VAL,#127 [L2021,T29,P5] ABORT RESET,A767 [L2020,T29,P5] LOAD ACC_VALUE_13,#0 [L2127,T32,P4] A760 [L2087,T31,P4] A759 [L2553,T34,P3] A948 [L2548,T34,P3] JW L,A948 t f [L2545,T34,P3] LOAD D,#0 [L2549,T34,P3] LOAD V1_6,#147 [L2546,T34,P3] GOTO A947 [L2540,T34,P3] GOTO A945 [L3414,T42,P3] LOAD V2_9,#36 [L3416,T42,P3] CMPS SPEED_VALUE_14,#120 [L3417,T42,P3] JW L,A1256 f t [L2974,T36,P3] GOTO A1109 [L2980,T36,P3] GOTO A1111 [L2987,T36,P3] A1112 [L2979,T36,P3] LOAD D_0,#0 f [L2982,T36,P3] JW L,A1112 [L2983,T36,P3] LOAD V1_8,#148 t [L2751,T35,P3] LOAD V1_7,#148 t [L2754,T35,P3] A1026 [L2750,T35,P3] JW L,A1026 f [L2748,T35,P3] GOTO A1025 [L1948,T27,P3] JW L,A735 [L1947,T27,P3] CMPS SPEED_VALUE_7,#140 f t [L1945,T27,P3] LOAD V2_4,#34472 [L2317,T33,P3] LOAD V1_5,#147 [L2320,T33,P3] A862 t [L2316,T33,P3] JW L,A862 f [L2313,T33,P3] LOAD V2_5,#157 [L999,T22,P3] LOAD V1,#38483 f [L1002,T22,P3] A351 t [L998,T22,P3] JW L,A351 [L995,T22,P3] LOAD V2,#38483 [L1188,T23,P3] LOAD V2_0,#38483 [L1192,T23,P3] LOAD V1_0,#38483 f [L1195,T23,P3] A429 [L1191,T23,P3] JW L,A429 t [L1578,T25,P3] LOAD V1_2,#31064 t [L1577,T25,P3] JW L,A585 f [L1581,T25,P3] A585 [L1565,T25,P3] GOTO A580 [L3704,T44,P4] LOAD TIME_STEER1,#0 [L3704,T44,P4] AC_33 [L1382,T24,P3] GOTO A506 [L1384,T24,P3] JW L,A507 [L1388,T24,P3] A507 f [L1385,T24,P3] LOAD V1_1,#31064 t [L1752,T26,P3] LOAD V2_3,#34472 [L1754,T26,P3] CMPS SPEED_VALUE_6,#140 [L1755,T26,P3] JW L,A657 f t [L3694,T44,P4] EXIT AC_34,A1366 [L3693,T44,P4] PRESENT STEER2_SENS,A1371 [L3695,T44,P4] A1371 t f [L3155,T40,P5] JW EE,A1172 [L3156,T40,P5] CMPS STEER2_VALUE_0,#1 f t f [L4447,T54,P2] CMPS CTRL_5_VAL_0,#2 t [L4447,T54,P2] A1662 [L4446,T54,P2] GOTO A1658 [L3609,T43,P3] CMPS SPEED_VALUE_15,#120 f [L3610,T43,P3] JW L,A1334 [L3607,T43,P3] LOAD V2_10,#36 [L4345,T53,P2] A1621 [L4345,T53,P2] CMPS CTRL_5_VAL,#2 t [L4228,T51,P3] LOAD V1_12,#164 t [L4227,T51,P3] JW L,A1571 [L4231,T51,P3] A1571 f [L4038,T50,P3] A1493 [L3076,T39,P6] A1149 f [L3076,T39,P6] PRESENT STEER2_SENS,A1150 t [L4034,T50,P3] JW L,A1493 [L4035,T50,P3] LOAD V1_11,#164 t [L4032,T50,P3] GOTO A1492 [L147,T2,P1] GOTO A56 [L146,T2,P1] JW EE,A57 [L148,T2,P1] A57 f t [L155,T2,P1] CMPS STR1_VAL,#1 [L156,T2,P1] JW EE,A59 t [L135,T2,P1] ADD ANG_CUR,#9 [L136,T2,P1] GOTO A51 [L138,T2,P1] SUB ANG_CUR,#9 [L101,T2,P1] LOAD DIR,#0 [L103,T2,P1] A38 t [L100,T2,P1] JW L,A38 f Questions/Comments? [L2039,T30,P1] LOAD ACC_OUT_R_TIME,#0 [L2040,T30,P1] LOAD ABNORM_NUM_0,#0 [L2022,T29,P5] A768 [L2022,T29,P5] EMIT ACC_0 d d t [L2553,T34,P3] CMPS SPEED_VALUE_9,#180 [L2554,T34,P3] JW L,A950 f [L2550,T34,P3] LOAD V2_6,#156 [L2551,T34,P3] LOAD D,#0 [L3421,T42,P3] CMPS SPEED_VALUE_14,#130 [L3421,T42,P3] A1256 [L3418,T42,P3] LOAD V1_9,#22 [L2987,T36,P3] CMPS SPEED_VALUE_11,#180 [L2988,T36,P3] JW L,A1114 f t [L2984,T36,P3] LOAD V2_8,#170 [L2985,T36,P3] LOAD D_0,#0 [L2752,T35,P3] LOAD V2_7,#170 [L2753,T35,P3] GOTO A1027 [L2755,T35,P3] JW L,A1028 [L2754,T35,P3] CMPS SPEED_VALUE_10,#180 t f [L1950,T27,P3] LOAD V2_4,#34439 [L1949,T27,P3] LOAD V1_4,#33882 [L1952,T27,P3] CMPS SPEED_VALUE_7,#150 [L1952,T27,P3] A735 [L2318,T33,P3] LOAD V2_5,#156 [L2319,T33,P3] GOTO A863 [L2321,T33,P3] JW L,A864 [L2320,T33,P3] CMPS SPEED_VALUE_8,#180 t f [L1000,T22,P3] LOAD V2,#38483 [L991,T22,P3] GOTO A348 t [L1003,T22,P3] JW L,A353 [L1002,T22,P3] CMPS SPEED_VALUE_2,#180 f [L1189,T23,P3] GOTO A428 [L1193,T23,P3] LOAD V2_0,#38483 [L1195,T23,P3] CMPS SPEED_VALUE_3,#180 f [L1196,T23,P3] JW L,A431 [L1579,T25,P3] LOAD V2_2,#30409 f [L1582,T25,P3] JW L,A587 [L1581,T25,P3] CMPS SPEED_VALUE_5,#180 t [L3705,T44,P4] EXIT AWAIT_CASE_16,A1363 [L1327,T24,P3] GOTO A484 [L1322,T24,P3] GOTO A482 [L1388,T24,P3] CMPS SPEED_VALUE_4,#180 [L1389,T24,P3] JW L,A509 f t [L1387,T24,P3] GOTO A508 [L1386,T24,P3] LOAD V2_1,#30409 [L1759,T26,P3] A657 [L1759,T26,P3] CMPS SPEED_VALUE_6,#150 [L1756,T26,P3] LOAD V1_3,#33882 [L1757,T26,P3] LOAD V2_3,#34439 [L3702,T44,P4] LOAD TIME_STEER2,#0 [L3702,T44,P4] AC_34 [L3697,T44,P1] A1372 [L3695,T44,P4] PRESENT CLOCK_24,A1372 t [L3696,T44,P4] EXIT AC_35,A1367 f [L3158,T40,P5] CMPS STEER1_VALUE_OLD,#1 [L3157,T40,P5] JW EE,A1173 t f f [L4449,T54,P2] GOTO A1658 t [L4448,T54,P2] JW EE,A1661 [L4450,T54,P2] A1661 f [L3614,T43,P3] CMPS SPEED_VALUE_15,#130 [L3614,T43,P3] A1334 t [L4348,T53,P2] A1620 [L4346,T53,P2] JW EE,A1620 f [L4347,T53,P2] GOTO A1617 t [L4344,T53,P2] GOTO A1617 [L4229,T51,P3] LOAD V2_12,#295 [L4232,T51,P3] JW L,A1573 t [L4231,T51,P3] CMPS SPEED_VALUE_20,#180 f t [L4038,T50,P3] CMPS SPEED_VALUE_19,#180 t f [L4039,T50,P3] JW L,A1495 f [L3078,T39,P6] A1150 [L3077,T39,P6] LOAD STEER2_VALUE,?STEER2_SENS [L4037,T50,P3] GOTO A1494 [L4036,T50,P3] LOAD V2_11,#229 f [L148,T2,P1] CMPS DIR,#3 t [L149,T2,P1] JW EE,A55 [L157,T2,P1] CMPS STR2_VAL,#1 f t [L158,T2,P1] JW EE,A60 [L139,T2,P1] A51 [L139,T2,P1] GOTO A47 f [L102,T2,P1] GOTO A39 [L103,T2,P1] LOAD REG6,ANG_CUR [L104,T2,P1] SUB REG6,#9 [L84,T2,P1] GOTO A35 [L2041,T30,P1] ABORT RESET,A772 [L2042,T30,P1] A773 RESET s [L2161,T32,P1/4] PAUSE s [L2024,T29,P1] PRIO 1 d ACC_0 [L2023,T29,P5] SETV ACC_0,ACC_VALUE_13 i d s [L2121,T31,P1/4] PAUSE ACC_0 s i RESET t [L2555,T34,P3] LOAD V1_6,#147 [L2556,T34,P3] LOAD V2_6,#156 [L2559,T34,P3] CMPS SPEED_VALUE_9,#190 [L2559,T34,P3] A950 [L3426,T42,P3] A1258 f [L3422,T42,P3] JW L,A1258 [L3423,T42,P3] LOAD V1_9,#20 t [L2993,T36,P3] CMPS SPEED_VALUE_11,#190 [L2993,T36,P3] A1114 [L2989,T36,P3] LOAD V1_8,#148 [L2990,T36,P3] LOAD V2_8,#170 [L2986,T36,P3] GOTO A1113 [L2759,T35,P3] CMPS SPEED_VALUE_10,#190 [L2759,T35,P3] A1028 [L2757,T35,P3] LOAD V2_7,#170 [L2756,T35,P3] LOAD V1_7,#148 [L1954,T27,P3] LOAD V1_4,#33849 [L1953,T27,P3] JW L,A737 t [L1957,T27,P3] A737 f [L2325,T33,P3] CMPS SPEED_VALUE_8,#190 [L2325,T33,P3] A864 [L2323,T33,P3] LOAD V2_5,#156 [L2322,T33,P3] LOAD V1_5,#147 [L1005,T22,P3] LOAD V2,#38483 [L1004,T22,P3] LOAD V1,#38483 [L1007,T22,P3] CMPS SPEED_VALUE_2,#190 [L1007,T22,P3] A353 [L1200,T23,P3] CMPS SPEED_VALUE_3,#190 [L1200,T23,P3] A431 t [L1197,T23,P3] LOAD V1_0,#38483 [L1586,T25,P3] CMPS SPEED_VALUE_5,#190 [L1586,T25,P3] A587 [L1584,T25,P3] LOAD V2_2,#30409 [L1583,T25,P3] LOAD V1_2,#31064 [L1391,T24,P3] LOAD V2_1,#30409 [L1390,T24,P3] LOAD V1_1,#31064 [L1393,T24,P3] CMPS SPEED_VALUE_4,#190 [L1393,T24,P3] A509 [L1764,T26,P3] A659 [L1760,T26,P3] JW L,A659 f [L1761,T26,P3] LOAD V1_3,#33849 t [L3698,T44,P1] GOTO A1368 [L3703,T44,P4] EXIT AWAIT_CASE_16,A1363 [L3697,T44,P1] PRIO 1 [L3699,T44,P4] ADD TIME_STEER1,#1 [L3699,T44,P4] AC_35 [L3160,T40,P5] ADD ANG_VALUE,INCR [L3159,T40,P5] JW EE,A1173 f t [L3162,T40,P5] A1173 f [L4451,T54,P2] JW EE,A1660 [L4450,T54,P2] CMPS CTRL_6_VAL_0,#2 f [L3616,T43,P3] LOAD V1_10,#20 [L3619,T43,P3] A1336 [L3615,T43,P3] JW L,A1336 t f f [L4349,T53,P2] JW EE,A1619 [L4348,T53,P2] CMPS CTRL_6_VAL,#2 [L4233,T51,P3] LOAD V1_12,#164 [L4234,T51,P3] LOAD V2_12,#262 [L4236,T51,P3] CMPS SPEED_VALUE_20,#190 [L4236,T51,P3] A1573 [L4043,T50,P3] CMPS SPEED_VALUE_19,#190 [L4043,T50,P3] A1495 [L4041,T50,P3] LOAD V2_11,#197 [L4040,T50,P3] LOAD V1_11,#164 [L3078,T39,P6] PRESENT STEER_SENS,A1151 f [L3079,T39,P6] LOAD STEER_VALUE,?STEER_SENS t [L152,T2,P1] LOAD STR1_VAL,#1 [L152,T2,P1] A55 [L150,T2,P1] A56 [L150,T2,P1] LOAD STR2_VAL,#0 [L159,T2,P1] GOTO A59 [L170,T2,P1] A59 [L160,T2,P1] CMPS DIR,#1 [L160,T2,P1] A60 f [L105,T2,P1] CMPS ANG_VAL,REG6 f [L106,T2,P1] JW L,A40 t [L2042,T30,P1] ABORT ACC_SENS,A774 [L2043,T30,P1] A775 [L2162,T32,P1] PRIO 1 [L2163,T32,P1] GOTO A799 [L2025,T29,P1] ABORT ACC_SENS,A769 [L2026,T29,P1] A770 [L2166,T32,P4] A796 [L2166,T32,P4] GOTO A795 [L2164,T32,P4] A798 [L2164,T32,P4] LOAD VAL_0_1,?ACC_0 [L2124,T31,P4] LOAD VAL_0_0,?ACC_0 [L2124,T31,P4] A793 [L2126,T31,P4] A791 [L2126,T31,P4] GOTO A790 [L2557,T34,P3] LOAD D,#0 [L2558,T34,P3] GOTO A951 [L2560,T34,P3] JW L,A952 [L2565,T34,P3] A952 f [L2561,T34,P3] LOAD V1_6,#147 t [L2552,T34,P3] GOTO A949 [L3426,T42,P3] CMPS SPEED_VALUE_14,#140 t f [L3427,T42,P3] JW L,A1260 [L3424,T42,P3] LOAD V2_9,#28 t [L2994,T36,P3] JW L,A1116 [L2999,T36,P3] A1116 f [L2992,T36,P3] GOTO A1115 [L2995,T36,P3] LOAD V1_8,#148 t [L2991,T36,P3] LOAD D_0,#0 [L2760,T35,P3] JW L,A1030 [L2764,T35,P3] A1030 f [L2758,T35,P3] GOTO A1029 [L2761,T35,P3] LOAD V1_7,#148 t [L1955,T27,P3] LOAD V2_4,#34406 [L1957,T27,P3] CMPS SPEED_VALUE_7,#160 [L1958,T27,P3] JW L,A739 f t [L2330,T33,P3] A866 [L2326,T33,P3] JW L,A866 t [L2327,T33,P3] LOAD V1_5,#147 f [L2324,T33,P3] GOTO A865 [L1009,T22,P3] LOAD V1,#38483 t [L1008,T22,P3] JW L,A355 [L1012,T22,P3] A355 f [L996,T22,P3] GOTO A350 [L1194,T23,P3] GOTO A430 [L1205,T23,P3] A433 [L1202,T23,P3] LOAD V1_0,#38483 [L1201,T23,P3] JW L,A433 f [L1198,T23,P3] LOAD V2_0,#38483 t [L1570,T25,P3] GOTO A582 [L1591,T25,P3] A589 [L1588,T25,P3] LOAD V1_2,#31064 [L1587,T25,P3] JW L,A589 f t [L1575,T25,P3] GOTO A584 [L1392,T24,P3] GOTO A510 [L1398,T24,P3] A511 [L1394,T24,P3] JW L,A511 f [L1395,T24,P3] LOAD V1_1,#31064 t [L1764,T26,P3] CMPS SPEED_VALUE_6,#160 f [L1765,T26,P3] JW L,A661 t [L1762,T26,P3] LOAD V2_3,#34406 [L3701,T44,P4] EXIT AWAIT_CASE_16,A1363 [L3700,T44,P4] ADD TIME_STEER2,#1 [L3161,T40,P5] GOTO A1174 [L3163,T40,P5] A1174 [L3162,T40,P5] SUB ANG_VALUE,INCR [L4453,T54,P2] A1660 [L4453,T54,P2] CMPS CTRL_7_VAL_0,#2 [L4452,T54,P2] GOTO A1658 t [L3617,T43,P3] LOAD V2_10,#28 t [L3619,T43,P3] CMPS SPEED_VALUE_15,#140 f [L3620,T43,P3] JW L,A1338 [L3611,T43,P3] LOAD V1_10,#22 [L4351,T53,P2] A1619 [L4351,T53,P2] CMPS CTRL_7_VAL,#2 t [L4241,T51,P3] A1575 [L4237,T51,P3] JW L,A1575 f [L4238,T51,P3] LOAD V1_12,#164 t t [L4045,T50,P3] LOAD V1_11,#164 [L4044,T50,P3] JW L,A1497 f [L4042,T50,P3] GOTO A1496 t [L4048,T50,P3] A1497 [L3080,T39,P6] PRESENT LONG_SPEED_FILT,A1152 [L3080,T39,P6] A1151 [L153,T2,P1] SUB ANG_CUR,#9 [L154,T2,P1] A58 [L151,T2,P1] GOTO A58 [L171,T2,P1] JW EE,A66 t [L170,T2,P1] CMPS DIR,#1 f [L161,T2,P1] JW EE,A64 [L162,T2,P1] GOTO A63 t f [L163,T2,P1] A64 [L109,T2,P1] LOAD DIR,#1 [L109,T2,P1] A40 [L108,T2,P1] GOTO A41 [L107,T2,P1] LOAD DIR,#2 [L2044,T30,P1/3] PAUSE [L2043,T30,P3] PRIO 3 s s [L2027,T29,P1/5] PAUSE [L2026,T29,P5] PRIO 5 RESET s ACC_SENS s [L2127,T32,P4] A795 [L2127,T32,P4] LOAD VAL_0_1,#0 [L2165,T32,P4] GOTO A797 [L2125,T31,P4] GOTO A792 [L2087,T31,P4] A790 [L2087,T31,P4] LOAD VAL_0_0,#0 f [L2565,T34,P3] CMPS SPEED_VALUE_9,#200 [L2566,T34,P3] JW L,A954 t [L2562,T34,P3] LOAD V2_6,#155 [L2563,T34,P3] LOAD D,#0 [L3431,T42,P3] CMPS SPEED_VALUE_14,#150 [L3428,T42,P3] LOAD V1_9,#18 ACC_SENS [L3431,T42,P3] A1260 [L3000,T36,P3] JW L,A1118 [L2999,T36,P3] CMPS SPEED_VALUE_11,#200 f t [L2996,T36,P3] LOAD V2_8,#170 [L2997,T36,P3] LOAD D_0,#0 [L2764,T35,P3] CMPS SPEED_VALUE_10,#200 f [L2765,T35,P3] JW L,A1032 [L2762,T35,P3] LOAD V2_7,#170 [L2763,T35,P3] GOTO A1031 t [L1962,T27,P3] A739 [L1962,T27,P3] CMPS SPEED_VALUE_7,#170 [L1960,T27,P3] LOAD V2_4,#34374 [L1959,T27,P3] LOAD V1_4,#33816 [L2330,T33,P3] CMPS SPEED_VALUE_8,#200 [L2331,T33,P3] JW L,A868 f t [L2329,T33,P3] GOTO A867 [L2328,T33,P3] LOAD V2_5,#155 [L1001,T22,P3] GOTO A352 [L1010,T22,P3] LOAD V2,#38483 [L1012,T22,P3] CMPS SPEED_VALUE_2,#200 [L1013,T22,P3] JW L,A357 t f [L1206,T23,P3] JW L,A435 [L1205,T23,P3] CMPS SPEED_VALUE_3,#200 f [L1203,T23,P3] LOAD V2_0,#38483 [L1591,T25,P3] CMPS SPEED_VALUE_5,#200 [L1592,T25,P3] JW L,A591 f t [L1589,T25,P3] LOAD V2_2,#30409 [L1332,T24,P3] GOTO A486 [L1398,T24,P3] CMPS SPEED_VALUE_4,#200 t [L1399,T24,P3] JW L,A513 f [L1397,T24,P3] GOTO A512 [L1396,T24,P3] LOAD V2_1,#30409 [L1769,T26,P3] CMPS SPEED_VALUE_6,#170 [L1766,T26,P3] LOAD V1_3,#33816 [L1769,T26,P3] A661 [L1767,T26,P3] LOAD V2_3,#34374 [L3163,T40,P5] LOAD STEER1_VALUE_OLD,STEER1_VALUE_0 [L3163,T40,P5] A1172 [L4455,T54,P2] GOTO A1658 [L4454,T54,P2] JW EE,A1659 f [L4456,T54,P2] A1659 t [L3624,T43,P3] CMPS SPEED_VALUE_15,#150 [L3624,T43,P3] A1338 [L3621,T43,P3] LOAD V1_10,#18 t [L4354,T53,P2] A1618 f t [L4353,T53,P2] GOTO A1617 [L4352,T53,P2] JW EE,A1618 [L4350,T53,P2] GOTO A1617 [L4242,T51,P3] JW L,A1577 [L4241,T51,P3] CMPS SPEED_VALUE_20,#200 t f [L4239,T51,P3] LOAD V2_12,#229 t t [L4047,T50,P3] GOTO A1498 [L4046,T50,P3] LOAD V2_11,#164 [L4049,T50,P3] JW L,A1499 [L4048,T50,P3] CMPS SPEED_VALUE_19,#200 f t [L154,T2,P1] GOTO A54 [L172,T2,P1] LOAD STR1_VAL,#0 [L174,T2,P1] A66 [L174,T2,P1] CMPS DIR,#2 [L163,T2,P1] CMPS DIR,#3 [L164,T2,P1] JW EE,A62 f t [L92,T2,P1] GOTO A37 [L110,T2,P1] A39 [L110,T2,P1] A41 [L2045,T30,P1] PRIO 1 [L2046,T30,P1] GOTO A775 [L2036,T29,P5] GOTO A766 [L2036,T29,P5] A767 [L2030,T29,P5] LOAD ACC_SENS_VAL,?ACC_SENS [L2030,T29,P5] A769 [L2028,T29,P1] PRIO 1 [L2029,T29,P1] GOTO A770 [L2128,T32,P4] LOAD VAL_1_0,#0 [L2129,T32,P4] LOAD VAL_2_0,#0 [L2089,T31,P4] LOAD VAL_2,#0 [L2088,T31,P4] LOAD VAL_1,#0 [L2571,T34,P3] CMPS SPEED_VALUE_9,#210 [L2571,T34,P3] A954 [L2567,T34,P3] LOAD V1_6,#147 [L2568,T34,P3] LOAD V2_6,#155 [L3432,T42,P3] JW L,A1262 [L3436,T42,P3] A1262 f [L3433,T42,P3] LOAD V1_9,#16 t [L2047,T30,P3] A774 [L2047,T30,P3] LOAD SENS_VAL,?ACC_SENS [L3002,T36,P3] LOAD V2_8,#170 [L3001,T36,P3] LOAD V1_8,#148 [L3005,T36,P3] A1118 [L3005,T36,P3] CMPS SPEED_VALUE_11,#210 [L2998,T36,P3] GOTO A1117 [L2769,T35,P3] CMPS SPEED_VALUE_10,#210 [L2769,T35,P3] A1032 [L2766,T35,P3] LOAD V1_7,#148 [L2767,T35,P3] LOAD V2_7,#170 [L1964,T27,P3] LOAD V1_4,#33784 [L1963,T27,P3] JW L,A741 t [L1967,T27,P3] A741 f [L2332,T33,P3] LOAD V1_5,#147 [L2333,T33,P3] LOAD V2_5,#155 [L2335,T33,P3] CMPS SPEED_VALUE_8,#210 [L2335,T33,P3] A868 [L1015,T22,P3] LOAD V2,#38483 [L1014,T22,P3] LOAD V1,#38483 [L1017,T22,P3] CMPS SPEED_VALUE_2,#210 [L1017,T22,P3] A357 [L1207,T23,P3] LOAD V1_0,#38483 [L1210,T23,P3] CMPS SPEED_VALUE_3,#210 [L1210,T23,P3] A435 t 1 [L1593,T25,P3] LOAD V1_2,#31064 [L1594,T25,P3] LOAD V2_2,#30409 [L1596,T25,P3] CMPS SPEED_VALUE_5,#210 [L1596,T25,P3] A591 [L1400,T24,P3] LOAD V1_1,#31064 [L1401,T24,P3] LOAD V2_1,#30409 [L1403,T24,P3] CMPS SPEED_VALUE_4,#210 [L1403,T24,P3] A513 [L1771,T26,P3] LOAD V1_3,#33784 [L1774,T26,P3] A663 t f [L1770,T26,P3] JW L,A663 [L3164,T40,P5] PRESENT STEER2_SENS,A1175 [L3164,T40,P5] A1171 t [L4456,T54,P2] CMPS CTRL_8_VAL_0,#2 [L4457,T54,P2] JW EE,A1657 t f [L3626,T43,P3] LOAD V1_10,#16 t [L3625,T43,P3] JW L,A1340 f [L3629,T43,P3] A1340 [L4355,T53,P2] JW EE,A1616 f [L4354,T53,P2] CMPS CTRL_8_VAL,#2 t [L4243,T51,P3] LOAD V1_12,#164 [L4246,T51,P3] CMPS SPEED_VALUE_20,#210 [L4246,T51,P3] A1577 [L4053,T50,P3] CMPS SPEED_VALUE_19,#210 [L4053,T50,P3] A1499 [L4050,T50,P3] LOAD V1_11,#164 [L4051,T50,P3] LOAD V2_11,#164 f [L175,T2,P1] JW EE,A68 [L178,T2,P1] A68 [L176,T2,P1] LOAD STR2_VAL,#0 [L168,T2,P1] A62 t [L165,T2,P1] A63 [L165,T2,P1] LOAD STR2_VAL,#1 [L110,T2,P1] A37 [L110,T2,P1] A35 [L2031,T29,P5] LOAD REG26,ACC_SENS_VAL [L2032,T29,P5] SUB REG26,#127 [L2131,T32,P4] LOAD FILT_VAL_1_0,#0 [L2130,T32,P4] LOAD FILT_VAL_0_1,#0 [L2091,T31,P4] LOAD FILT_VAL_1,#0 [L2090,T31,P4] LOAD FILT_VAL_0_0,#0 [L2573,T34,P3] LOAD V1_6,#147 [L2572,T34,P3] JW L,A956 t f [L2569,T34,P3] LOAD D,#0 [L2577,T34,P3] A956 [L2564,T34,P3] GOTO A953 [L2570,T34,P3] GOTO A955 [L3437,T42,P3] JW L,A1264 [L3436,T42,P3] CMPS SPEED_VALUE_14,#160 f t [L3434,T42,P3] LOAD V2_9,#24 [L2049,T30,P3] JW G,A778 [L2048,T30,P3] CMPS SENS_VAL,#168 f t [L3004,T36,P3] GOTO A1119 [L3003,T36,P3] LOAD D_0,#0 [L3006,T36,P3] JW L,A1120 f [L3011,T36,P3] A1120 [L3007,T36,P3] LOAD V1_8,#148 t [L2774,T35,P3] A1034 [L2770,T35,P3] JW L,A1034 [L2771,T35,P3] LOAD V1_7,#148 f [L2768,T35,P3] GOTO A1033 t [L1965,T27,P3] LOAD V2_4,#34341 [L1967,T27,P3] CMPS SPEED_VALUE_7,#180 [L1968,T27,P3] JW L,A743 t f [L2337,T33,P3] LOAD V1_5,#147 [L2334,T33,P3] GOTO A869 [L2336,T33,P3] JW L,A870 t f [L2340,T33,P3] A870 [L1006,T22,P3] GOTO A354 [L1019,T22,P3] LOAD V1,#38483 f [L1022,T22,P3] A359 t [L1018,T22,P3] JW L,A359 [L1208,T23,P3] LOAD V2_0,#38483 [L1212,T23,P3] LOAD V1_0,#38483 [L1211,T23,P3] JW L,A437 t [L1215,T23,P3] A437 f [L1199,T23,P3] GOTO A432 [L1580,T25,P3] GOTO A586 [L1601,T25,P3] A593 f [L1597,T25,P3] JW L,A593 [L1598,T25,P3] LOAD V1_2,#31064 t [L1585,T25,P3] GOTO A588 [L1402,T24,P3] GOTO A514 [L1408,T24,P3] A515 [L1404,T24,P3] JW L,A515 f [L1405,T24,P3] LOAD V1_1,#31064 t [L1772,T26,P3] LOAD V2_3,#34341 [L1775,T26,P3] JW L,A665 [L1774,T26,P3] CMPS SPEED_VALUE_6,#180 t f 1 [L3165,T40,P5] LOAD STEER2_VALUE_0,?STEER2_SENS [L3166,T40,P5] LOAD REG36,#0 [L4458,T54,P2] A1658 [L4458,T54,P2] LOAD CTRL_VAL_0,#2 [L4460,T54,P2] CMPS CTRL_1_VAL_0,#1 [L4460,T54,P2] A1657 [L3627,T43,P3] LOAD V2_10,#24 t [L3629,T43,P3] CMPS SPEED_VALUE_15,#160 [L3630,T43,P3] JW L,A1342 f [L4358,T53,P2] A1616 [L4358,T53,P2] CMPS CTRL_1_VAL,#1 [L4356,T53,P2] LOAD CTRL_VAL,#2 [L4356,T53,P2] A1617 [L4248,T51,P3] LOAD V1_12,#164 [L4244,T51,P3] LOAD V2_12,#197 t [L4247,T51,P3] JW L,A1579 [L4251,T51,P3] A1579 f [L4054,T50,P3] JW L,A1501 f [L4058,T50,P3] A1501 [L4055,T50,P3] LOAD V1_11,#164 t [L4052,T50,P3] GOTO A1500 [L179,T2,P1] LOAD STR2_VAL,#0 [L178,T2,P1] LOAD STR1_VAL,#0 [L177,T2,P1] GOTO A69 [L168,T2,P1] LOAD STR1_VAL,#0 [L167,T2,P1] GOTO A65 [L166,T2,P1] ADD ANG_CUR,#9 [L2034,T29,P5] LOAD ACC_VALUE_13,REG26 [L2033,T29,P5] MUL REG26,#210 [L2132,T32,P4] LOAD FILT_VAL_2_0,#0 [L2133,T32,P4] ABORT RESET,A796 [L2092,T31,P4] LOAD FILT_VAL_2,#0 [L2093,T31,P4] ABORT RESET,A791 [L2575,T34,P3] LOAD D,#0 [L2574,T34,P3] LOAD V2_6,#155 [L2578,T34,P3] JW L,A958 [L2577,T34,P3] CMPS SPEED_VALUE_9,#220 f t [L3438,T42,P3] LOAD V1_9,#14 [L3441,T42,P3] CMPS SPEED_VALUE_14,#170 [L3441,T42,P3] A1264 [L2051,T30,P3] A778 [L2051,T30,P3] CMPS SENS_VAL,#52 [L2050,T30,P3] GOTO A777 [L3011,T36,P3] CMPS SPEED_VALUE_11,#220 [L3012,T36,P3] JW L,A1122 f t [L3009,T36,P3] LOAD D_0,#0 [L3008,T36,P3] LOAD V2_8,#170 t [L2774,T35,P3] CMPS SPEED_VALUE_10,#220 [L2775,T35,P3] JW L,A1036 f [L2773,T35,P3] GOTO A1035 [L2772,T35,P3] LOAD V2_7,#170 [L1972,T27,P3] A743 [L1972,T27,P3] CMPS SPEED_VALUE_7,#190 [L1970,T27,P3] LOAD V2_4,#34308 [L1969,T27,P3] LOAD V1_4,#33784 [L2338,T33,P3] LOAD V2_5,#155 [L2339,T33,P3] GOTO A871 [L2340,T33,P3] CMPS SPEED_VALUE_8,#220 [L2341,T33,P3] JW L,A872 t f [L1011,T22,P3] GOTO A356 [L1020,T22,P3] LOAD V2,#38483 [L1022,T22,P3] CMPS SPEED_VALUE_2,#220 [L1023,T22,P3] JW L,A361 f t [L1213,T23,P3] LOAD V2_0,#38483 f [L1215,T23,P3] CMPS SPEED_VALUE_3,#220 [L1216,T23,P3] JW L,A439 RESET [L1601,T25,P3] CMPS SPEED_VALUE_5,#220 [L1602,T25,P3] JW L,A595 t f [L1599,T25,P3] LOAD V2_2,#30409 f [L1409,T24,P3] JW L,A517 [L1408,T24,P3] CMPS SPEED_VALUE_4,#220 t [L1407,T24,P3] GOTO A516 [L1406,T24,P3] LOAD V2_1,#30409 [L1776,T26,P3] LOAD V1_3,#33784 [L1777,T26,P3] LOAD V2_3,#34308 [L1779,T26,P3] CMPS SPEED_VALUE_6,#190 [L1779,T26,P3] A665 [L3168,T40,P5] JW EE,A1176 [L3167,T40,P5] CMPS REG36,#1 t [L4459,T54,P2] GOTO A1666 [L4463,T54,P2] A1675 f [L4461,T54,P2] JW EE,A1675 4 [L3631,T43,P3] LOAD V1_10,#14 [L3634,T43,P3] CMPS SPEED_VALUE_15,#170 [L3634,T43,P3] A1342 [L4361,T53,P2] A1634 [L4359,T53,P2] JW EE,A1634 f [L4357,T53,P2] GOTO A1625 [L4249,T51,P3] LOAD V2_12,#164 [L4250,T51,P3] GOTO A1580 [L4251,T51,P3] CMPS SPEED_VALUE_20,#220 [L4252,T51,P3] JW L,A1581 t f [L4058,T50,P3] CMPS SPEED_VALUE_19,#220 [L4059,T50,P3] JW L,A1503 t f [L4056,T50,P3] LOAD V2_11,#164 [L3822,T47,P1] CMPS STEER2_VAL,#1 [L3821,T47,P1] LOAD STEER2_VAL,?STEER2_SENS [L181,T2,P1] JW EE,A70 [L180,T2,P1] CMPS DIR,#3 [L173,T2,P1] GOTO A67 f t [L169,T2,P1] GOTO A61 [L169,T2,P1] A65 f [L2035,T29,P5] GOTO A768 [L2134,T32,P4] A797 [L2134,T32,P4] LOAD REG29,VAL_0_1 [L2094,T31,P4] LOAD REG27,VAL_0_0 [L2094,T31,P4] A792 [L2580,T34,P3] LOAD V2_6,#155 [L2579,T34,P3] LOAD V1_6,#147 [L2583,T34,P3] CMPS SPEED_VALUE_9,#230 [L2583,T34,P3] A958 [L3443,T42,P3] LOAD V1_9,#12 [L3442,T42,P3] JW L,A1266 t f [L3446,T42,P3] A1266 [L2052,T30,P3] JW L,A776 [L2064,T30,P3] A776 f [L2053,T30,P3] A777 t [L3017,T36,P3] A1122 [L3017,T36,P3] CMPS SPEED_VALUE_11,#230 [L3013,T36,P3] LOAD V1_8,#148 [L3014,T36,P3] LOAD V2_8,#170 [L3010,T36,P3] GOTO A1121 [L2776,T35,P3] LOAD V1_7,#148 [L2777,T35,P3] LOAD V2_7,#170 [L2779,T35,P3] A1036 [L2779,T35,P3] CMPS SPEED_VALUE_10,#230 [L1974,T27,P3] LOAD V1_4,#33784 [L1977,T27,P3] A745 [L1973,T27,P3] JW L,A745 t f [L2345,T33,P3] CMPS SPEED_VALUE_8,#230 [L2345,T33,P3] A872 [L2343,T33,P3] LOAD V2_5,#155 [L2342,T33,P3] LOAD V1_5,#147 [L1027,T22,P3] CMPS SPEED_VALUE_2,#230 [L1025,T22,P3] LOAD V2,#38483 [L1024,T22,P3] LOAD V1,#38483 [L1027,T22,P3] A361 [L1220,T23,P3] A439 [L1220,T23,P3] CMPS SPEED_VALUE_3,#230 [L1217,T23,P3] LOAD V1_0,#38483 t [L1604,T25,P3] LOAD V2_2,#30409 [L1603,T25,P3] LOAD V1_2,#31064 [L1606,T25,P3] CMPS SPEED_VALUE_5,#230 [L1606,T25,P3] A595 [L1413,T24,P3] A517 [L1413,T24,P3] CMPS SPEED_VALUE_4,#230 [L1411,T24,P3] LOAD V2_1,#30409 [L1410,T24,P3] LOAD V1_1,#31064 [L1780,T26,P3] JW L,A667 [L1781,T26,P3] LOAD V1_3,#33784 [L1784,T26,P3] A667 f t [L3170,T40,P5] JW EE,A1176 [L3169,T40,P5] CMPS STEER2_VALUE_OLD,#1 t f [L4464,T54,P2] JW EE,A1674 [L4463,T54,P2] CMPS CTRL_2_VAL_0,#1 [L3639,T43,P3] A1344 [L3635,T43,P3] JW L,A1344 f [L3636,T43,P3] LOAD V1_10,#12 t [L4362,T53,P2] JW EE,A1633 [L4361,T53,P2] CMPS CTRL_2_VAL,#1 f [L4256,T51,P3] CMPS SPEED_VALUE_20,#230 [L4256,T51,P3] A1581 [L4254,T51,P3] LOAD V2_12,#164 [L4253,T51,P3] LOAD V1_12,#164 [L4063,T50,P3] CMPS SPEED_VALUE_19,#230 [L4060,T50,P3] LOAD V1_11,#164 [L4063,T50,P3] A1503 [L4061,T50,P3] LOAD V2_11,#164 [L3823,T47,P1] JW EE,A1417 [L3824,T47,P1] CMPS STEER2_VAL_OLD,#1 f t [L182,T2,P1] LOAD DIR,#2 [L183,T2,P1] GOTO A71 [L184,T2,P1] A70 [L184,T2,P1] LOAD DIR,#1 [L2135,T32,P4] MUL REG29,#2130 [L2136,T32,P4] LOAD REG30,VAL_1_0 [L2095,T31,P4] MUL REG27,#429 [L2096,T31,P4] LOAD REG28,VAL_1 [L2581,T34,P3] LOAD D,#0 [L2585,T34,P3] LOAD V1_6,#147 f [L2589,T34,P3] A960 t [L2584,T34,P3] JW L,A960 [L3444,T42,P3] LOAD V2_9,#20 [L3446,T42,P3] CMPS SPEED_VALUE_14,#180 [L3447,T42,P3] JW L,A1268 t f [L2065,T30,P3] CMPS SENS_VAL,#239 [L2064,T30,P3] LOAD ACC_OUT_R_TIME,#0 [L2053,T30,P3] ADD ACC_OUT_R_TIME,#1 [L2054,T30,P3] ADD ACC_OUT_TIME_0,#1 [L3019,T36,P3] LOAD V1_8,#148 [L3018,T36,P3] JW L,A1124 f t [L3023,T36,P3] A1124 [L3016,T36,P3] GOTO A1123 [L3015,T36,P3] LOAD D_0,#0 [L2778,T35,P3] GOTO A1037 [L2784,T35,P3] A1038 f [L2780,T35,P3] JW L,A1038 t [L2781,T35,P3] LOAD V1_7,#148 [L1975,T27,P3] LOAD V2_4,#34275 [L1978,T27,P3] JW L,A747 [L1977,T27,P3] CMPS SPEED_VALUE_7,#200 f t [L2347,T33,P3] LOAD V1_5,#147 t [L2346,T33,P3] JW L,A874 [L2350,T33,P3] A874 [L2344,T33,P3] GOTO A873 f [L1016,T22,P3] GOTO A358 [L1029,T22,P3] LOAD V1,#38483 f [L1032,T22,P3] A363 t [L1028,T22,P3] JW L,A363 [L1222,T23,P3] LOAD V1_0,#38483 [L1221,T23,P3] JW L,A441 t [L1225,T23,P3] A441 [L1218,T23,P3] LOAD V2_0,#38483 f [L1204,T23,P3] GOTO A434 [L1595,T25,P3] GOTO A592 [L1607,T25,P3] JW L,A597 [L1611,T25,P3] A597 f [L1608,T25,P3] LOAD V1_2,#31064 t [L1590,T25,P3] GOTO A590 [L1415,T24,P3] LOAD V1_1,#31064 t [L1414,T24,P3] JW L,A519 f [L1418,T24,P3] A519 [L1412,T24,P3] GOTO A518 [L1783,T26,P3] GOTO A668 [L1782,T26,P3] LOAD V2_3,#34275 [L1778,T26,P3] GOTO A666 [L1784,T26,P3] CMPS SPEED_VALUE_6,#200 [L1785,T26,P3] JW L,A669 t f [L3171,T40,P5] LOAD REG36,#1 [L3172,T40,P5] CMPS REG36,#1 [L4466,T54,P2] CMPS CTRL_3_VAL_0,#1 [L4466,T54,P2] A1674 3 [L3639,T43,P3] CMPS SPEED_VALUE_15,#180 [L3640,T43,P3] JW L,A1346 t f [L3637,T43,P3] LOAD V2_10,#20 [L4364,T53,P2] A1633 [L4363,T53,P2] GOTO A1627 t [L4364,T53,P2] CMPS CTRL_3_VAL,#1 [L4258,T51,P3] LOAD V1_12,#164 t [L4257,T51,P3] JW L,A1583 [L4255,T51,P3] GOTO A1582 f [L4261,T51,P3] A1583 [L4225,T51,P3] GOTO A1570 [L4220,T51,P3] GOTO A1568 [L4065,T50,P3] LOAD V1_11,#164 f [L4068,T50,P3] A1505 t [L4064,T50,P3] JW L,A1505 [L4057,T50,P3] GOTO A1502 [L3825,T47,P1] JW EE,A1417 f [L3827,T47,P1] A1417 t [L185,T2,P1] A71 [L185,T2,P1] A69 [L2138,T32,P4] ADD REG29,REG30 [L2137,T32,P4] MUL REG30,#0 [L2098,T31,P4] ADD REG27,REG28 [L2097,T31,P4] MUL REG28,#0 [L2587,T34,P3] LOAD D,#0 [L2586,T34,P3] LOAD V2_6,#155 [L2589,T34,P3] CMPS SPEED_VALUE_9,#240 [L2590,T34,P3] JW L,A962 f t [L3451,T42,P3] CMPS SPEED_VALUE_14,#190 [L3451,T42,P3] A1268 [L3448,T42,P3] LOAD V1_9,#12 [L2068,T30,P3] A785 [L2066,T30,P3] JW G,A785 t f [L2055,T30,P3] CMPS ACC_OUT_R_TIME,#166 [L2067,T30,P3] GOTO A784 f [L2056,T30,P3] JW GE,A782 t [L3020,T36,P3] LOAD V2_8,#170 [L3021,T36,P3] LOAD D_0,#0 [L3023,T36,P3] CMPS SPEED_VALUE_11,#240 [L3024,T36,P3] JW L,A1126 f t [L2785,T35,P3] JW L,A1040 [L2784,T35,P3] CMPS SPEED_VALUE_10,#240 t f [L2783,T35,P3] GOTO A1039 [L2782,T35,P3] LOAD V2_7,#170 [L1980,T27,P3] LOAD V2_4,#34275 [L1979,T27,P3] LOAD V1_4,#33784 [L1982,T27,P3] CMPS SPEED_VALUE_7,#210 [L1982,T27,P3] A747 [L2348,T33,P3] LOAD V2_5,#155 [L2350,T33,P3] CMPS SPEED_VALUE_8,#240 t f [L2351,T33,P3] JW L,A876 [L1021,T22,P3] GOTO A360 [L1030,T22,P3] LOAD V2,#38483 [L1032,T22,P3] CMPS SPEED_VALUE_2,#240 [L1033,T22,P3] JW L,A365 t f [L1223,T23,P3] LOAD V2_0,#38483 [L1224,T23,P3] GOTO A442 [L1226,T23,P3] JW L,A443 f [L1225,T23,P3] CMPS SPEED_VALUE_3,#240 t [L1612,T25,P3] JW L,A599 [L1611,T25,P3] CMPS SPEED_VALUE_5,#240 f t [L1609,T25,P3] LOAD V2_2,#30409 [L1417,T24,P3] GOTO A520 [L1416,T24,P3] LOAD V2_1,#30409 t [L1419,T24,P3] JW L,A521 [L1418,T24,P3] CMPS SPEED_VALUE_4,#240 f [L1787,T26,P3] LOAD V2_3,#34275 [L1786,T26,P3] LOAD V1_3,#33784 [L1789,T26,P3] A669 [L1789,T26,P3] CMPS SPEED_VALUE_6,#210 f [L3174,T40,P5] CMPS STEER2_VALUE_0,#1 [L3173,T40,P5] JW EE,A1176 t [L4467,T54,P2] JW EE,A1673 [L4469,T54,P2] A1673 f t [L3642,T43,P3] LOAD V2_10,#18 [L3644,T43,P3] A1346 [L3641,T43,P3] LOAD V1_10,#12 [L3644,T43,P3] CMPS SPEED_VALUE_15,#190 [L4365,T53,P2] JW EE,A1632 f [L4367,T53,P2] A1632 t [L4259,T51,P3] LOAD V2_12,#164 [L4260,T51,P3] GOTO A1584 [L4261,T51,P3] CMPS SPEED_VALUE_20,#240 [L4262,T51,P3] JW L,A1585 f t [L4066,T50,P3] LOAD V2_11,#164 f [L4069,T50,P3] JW L,A1507 [L4068,T50,P3] CMPS SPEED_VALUE_19,#240 [L4062,T50,P3] GOTO A1504 t [L3827,T47,P1] CMPS TIME_ANG,#0 [L3828,T47,P1] JW NE,A1416 [L3826,T47,P1] GOTO A1416 t [L185,T2,P1] A67 [L185,T2,P1] A61 [L2140,T32,P4] MUL REG30,VAL_2_0 [L2139,T32,P4] LOAD REG30,#2130 [L2100,T31,P4] MUL REG28,VAL_2 [L2099,T31,P4] LOAD REG28,#429 [L2576,T34,P3] GOTO A957 [L2588,T34,P3] GOTO A961 [L2595,T34,P3] A962 [L2595,T34,P3] LOAD V1_6,#147 [L2591,T34,P3] LOAD V1_6,#147 [L2592,T34,P3] LOAD V2_6,#155 [L3453,T42,P3] LOAD V1_9,#12 [L3452,T42,P3] JW L,A1270 f t [L3456,T42,P3] A1270 [L2069,T30,P3] JW L,A783 [L2068,T30,P3] CMPS SENS_VAL,#10 f t [L2057,T30,P3] GOTO A781 [L2058,T30,P3] A782 [L2058,T30,P3] CMPS ACC_OUT_TIME_0,#13 [L3029,T36,P3] LOAD V1_8,#148 [L3022,T36,P3] GOTO A1125 [L3029,T36,P3] A1126 [L3025,T36,P3] LOAD V1_8,#148 [L3026,T36,P3] LOAD V2_8,#170 [L2787,T35,P3] LOAD V2_7,#170 [L2786,T35,P3] LOAD V1_7,#148 [L2789,T35,P3] LOAD V1_7,#148 [L2789,T35,P3] A1040 [L1984,T27,P3] LOAD V1_4,#33784 [L1983,T27,P3] JW L,A749 t [L1987,T27,P3] A749 f [L2349,T33,P3] GOTO A875 [L2355,T33,P3] LOAD V1_5,#147 [L2355,T33,P3] A876 [L2352,T33,P3] LOAD V1_5,#147 [L2353,T33,P3] LOAD V2_5,#155 [L1035,T22,P3] LOAD V2,#38483 [L1026,T22,P3] GOTO A362 [L1034,T22,P3] LOAD V1,#38483 [L1037,T22,P3] A365 [L1037,T22,P3] LOAD V1,#38483 [L1209,T23,P3] GOTO A436 [L1230,T23,P3] A443 [L1230,T23,P3] LOAD V1_0,#38483 [L1228,T23,P3] LOAD V2_0,#38483 [L1227,T23,P3] LOAD V1_0,#38483 3 [L1605,T25,P3] GOTO A596 [L1616,T25,P3] LOAD V1_2,#31064 [L1616,T25,P3] A599 [L1614,T25,P3] LOAD V2_2,#30409 [L1613,T25,P3] LOAD V1_2,#31064 [L1600,T25,P3] GOTO A594 [L1421,T24,P3] LOAD V2_1,#30409 [L1420,T24,P3] LOAD V1_1,#31064 [L1423,T24,P3] LOAD V1_1,#31064 [L1423,T24,P3] A521 [L1788,T26,P3] GOTO A670 [L1791,T26,P3] LOAD V1_3,#33784 t [L1790,T26,P3] JW L,A671 [L1794,T26,P3] A671 f f f [L3176,T40,P5] CMPS STEER2_VALUE_OLD,#1 [L3175,T40,P5] JW EE,A1176 t [L4470,T54,P2] JW EE,A1672 [L4469,T54,P2] CMPS CTRL_4_VAL_0,#1 f t [L3649,T43,P3] A1348 [L3646,T43,P3] LOAD V1_10,#12 f [L3645,T43,P3] JW L,A1348 t [L4367,T53,P2] CMPS CTRL_4_VAL,#1 [L4368,T53,P2] JW EE,A1631 f [L4366,T53,P2] GOTO A1627 t [L4230,T51,P3] GOTO A1572 [L4235,T51,P3] GOTO A1574 [L4266,T51,P3] LOAD V1_12,#164 [L4266,T51,P3] A1585 [L4263,T51,P3] LOAD V1_12,#164 [L4264,T51,P3] LOAD V2_12,#164 [L3591,T43,P3] LOAD V1_10,#42 [L4067,T50,P3] GOTO A1506 [L4073,T50,P3] A1507 [L4073,T50,P3] LOAD V1_11,#164 [L4070,T50,P3] LOAD V1_11,#164 [L4071,T50,P3] LOAD V2_11,#164 [L3829,T47,P1] LOAD REG40,#2 [L3830,T47,P1] MUL REG40,TIME_ANG [L185,T2,P1] A54 [L185,T2,P1] A47 RESET [L2142,T32,P4] LOAD REG30,FILT_VAL_1_0 [L2141,T32,P4] ADD REG29,REG30 [L2101,T31,P4] ADD REG27,REG28 [L2102,T31,P4] LOAD REG28,FILT_VAL_1 [L2582,T34,P3] GOTO A959 [L2596,T34,P3] LOAD V2_6,#155 [L2597,T34,P3] LOAD D,#0 [L2594,T34,P3] GOTO A963 [L2593,T34,P3] LOAD D,#0 [L3429,T42,P3] LOAD V2_9,#26 [L3454,T42,P3] LOAD V2_9,#16 [L3439,T42,P3] LOAD V2_9,#22 [L3456,T42,P3] CMPS SPEED_VALUE_14,#200 [L3457,T42,P3] JW L,A1272 t f [L2070,T30,P3] A784 [L2076,T30,P3] A783 [L2070,T30,P3] ADD ACC_OUT_TIME_0,#1 [L2060,T30,P3] A781 [L2059,T30,P3] JW GE,A780 t [L3031,T36,P3] LOAD D_0,#0 [L3030,T36,P3] LOAD V2_8,#170 [L3028,T36,P3] GOTO A1127 [L3027,T36,P3] LOAD D_0,#0 [L2788,T35,P3] GOTO A1041 [L2791,T35,P3] A1041 [L2790,T35,P3] LOAD V2_7,#170 [L1921,T27,P3] GOTO A724 [L1985,T27,P3] LOAD V2_4,#34275 [L1986,T27,P3] GOTO A750 [L1988,T27,P3] JW L,A751 t f [L1987,T27,P3] CMPS SPEED_VALUE_7,#220 [L2356,T33,P3] LOAD V2_5,#155 [L2357,T33,P3] A877 [L2354,T33,P3] GOTO A877 [L1031,T22,P3] GOTO A364 [L1036,T22,P3] GOTO A366 [L1039,T22,P3] A366 [L1038,T22,P3] LOAD V2,#38483 [L1214,T23,P3] GOTO A438 [L1232,T23,P3] A444 [L1231,T23,P3] LOAD V2_0,#38483 [L1219,T23,P3] GOTO A440 [L1229,T23,P3] GOTO A444 [L1617,T25,P3] LOAD V2_2,#30409 [L1618,T25,P3] A600 [L1615,T25,P3] GOTO A600 [L1610,T25,P3] GOTO A598 [L1425,T24,P3] A522 [L1422,T24,P3] GOTO A522 [L1424,T24,P3] LOAD V2_1,#30409 [L1792,T26,P3] LOAD V2_3,#34275 [L1793,T26,P3] GOTO A672 t [L1795,T26,P3] JW L,A673 [L1794,T26,P3] CMPS SPEED_VALUE_6,#220 f [L3178,T40,P5] CMPS STEER1_VALUE_0,#1 [L3177,T40,P5] JW EE,A1177 f t f t [L4472,T54,P2] CMPS CTRL_5_VAL_0,#1 [L4472,T54,P2] A1672 [L3650,T43,P3] JW L,A1350 [L3649,T43,P3] CMPS SPEED_VALUE_15,#200 t f [L3647,T43,P3] LOAD V2_10,#16 [L3612,T43,P3] LOAD V2_10,#32 [L4369,T53,P2] GOTO A1627 [L4370,T53,P2] CMPS CTRL_5_VAL,#1 [L4370,T53,P2] A1631 t [L4245,T51,P3] GOTO A1578 [L4267,T51,P3] LOAD V2_12,#164 [L4268,T51,P3] A1586 [L4265,T51,P3] GOTO A1586 [L4240,T51,P3] GOTO A1576 [L3601,T43,P3] LOAD V1_10,#28 [L4074,T50,P3] LOAD V2_11,#164 [L4072,T50,P3] GOTO A1508 [L4075,T50,P3] A1508 [L3832,T47,P1] LOAD R1,#9221311 [L3831,T47,P1] LOAD R0,REG40 f [L185,T2,P1] A43 [L185,T2,P1] LOAD TIME_0,#0 [L2143,T32,P4] MUL REG30,#18923 [L2144,T32,P4] ADD REG29,REG30 [L2103,T31,P4] MUL REG28,#32031 [L2104,T31,P4] ADD REG27,REG28 3 [L2598,T34,P3] A963 [L2598,T34,P3] A961 [L3458,T42,P3] LOAD V1_9,#12 [L3461,T42,P3] CMPS SPEED_VALUE_14,#210 [L3461,T42,P3] A1272 [L3459,T42,P3] LOAD V2_9,#14 [L3449,T42,P3] LOAD V2_9,#18 [L2071,T30,P3] CMPS ACC_OUT_TIME_0,#13 [L2072,T30,P3] JW GE,A787 t [L2060,T30,P3] ADD ABNORM_NUM_0,#1 [L2061,T30,P3] LOAD ACC_OUT_R_TIME,#0 f [L3032,T36,P3] A1125 [L3032,T36,P3] A1127 [L2791,T35,P3] A1039 [L2791,T35,P3] A1037 [L1926,T27,P3] GOTO A726 [L1989,T27,P3] LOAD V1_4,#33784 [L1990,T27,P3] LOAD V2_4,#34275 [L1992,T27,P3] CMPS SPEED_VALUE_7,#230 [L1992,T27,P3] A751 [L1931,T27,P3] GOTO A728 [L2357,T33,P3] A873 [L2357,T33,P3] A875 [L1039,T22,P3] A362 [L1039,T22,P3] A364 [L1232,T23,P3] A440 [L1232,T23,P3] A442 3 [L1618,T25,P3] A598 [L1618,T25,P3] A596 [L1425,T24,P3] A520 [L1425,T24,P3] A518 [L1796,T26,P3] LOAD V1_3,#33784 [L1797,T26,P3] LOAD V2_3,#34275 [L1799,T26,P3] CMPS SPEED_VALUE_6,#230 [L1799,T26,P3] A673 [L3182,T40,P5] A1177 f [L3179,T40,P5] JW EE,A1177 [L3180,T40,P5] SUB ANG_VALUE,INCR t f [L4475,T54,P2] A1671 [L4473,T54,P2] JW EE,A1671 f t [L4462,T54,P2] GOTO A1668 [L3632,T43,P3] LOAD V2_10,#22 [L3654,T43,P3] A1350 [L3654,T43,P3] CMPS SPEED_VALUE_15,#210 [L3651,T43,P3] LOAD V1_10,#12 [L3652,T43,P3] LOAD V2_10,#14 [L3622,T43,P3] LOAD V2_10,#26 [L4371,T53,P2] JW EE,A1630 t [L4373,T53,P2] A1630 [L4372,T53,P2] GOTO A1627 f [L4268,T51,P3] A1582 [L4268,T51,P3] A1584 [L4075,T50,P3] A1506 [L4075,T50,P3] A1504 [L3834,T47,P1] LOAD REG40,R0 [L3833,T47,P1] CALL DIV [L186,T2,P1] LOAD REG7,ANG_CUR [L187,T2,P1] SUB REG7,#9 [L214,T3,P1] A78 [L2146,T32,P4] MUL REG30,FILT_VAL_2_0 [L2145,T32,P4] LOAD REG30,#13435 [L2147,T32,P4] ADD REG29,REG30 [L2106,T31,P4] MUL REG28,FILT_VAL_2 [L2105,T31,P4] LOAD REG28,#15794 [L2598,T34,P3] A959 [L2598,T34,P3] A957 [L2598,T34,P3] A955 [L783,T19,P1] LOAD SPEED_VAL_0,?LONG_SPEED_FILT [L3462,T42,P3] JW L,A1274 [L3466,T42,P3] CMPS SPEED_VALUE_14,#220 f [L3466,T42,P3] A1274 t [L3463,T42,P3] LOAD V1_9,#12 [L3464,T42,P3] LOAD V2_9,#12 [L2073,T30,P3] ADD ABNORM_NUM_0,#1 f [L2076,T30,P3] LOAD ACC_OUT_TIME_0,#0 [L2074,T30,P3] LOAD ACC_OUT_TIME_0,#0 [L2075,T30,P3] A787 [L2062,T30,P3] LOAD ACC_OUT_TIME_0,#0 [L2063,T30,P3] A780 [L3032,T36,P3] A1119 [L3032,T36,P3] A1123 [L3032,T36,P3] A1121 [L2791,T35,P3] A1031 [L2791,T35,P3] A1035 [L2791,T35,P3] A1033 [L2718,T35,P3] GOTO A1013 [L1941,T27,P3] GOTO A732 [L1936,T27,P3] GOTO A730 [L1995,T27,P3] LOAD V2_4,#34275 [L1991,T27,P3] GOTO A752 [L1994,T27,P3] LOAD V1_4,#33784 [L1993,T27,P3] JW L,A753 [L1997,T27,P3] CMPS SPEED_VALUE_7,#240 t [L1997,T27,P3] A753 f [L2309,T33,P3] GOTO A859 [L2357,T33,P3] A869 [L2357,T33,P3] A871 [L2357,T33,P3] A867 [L2304,T33,P3] GOTO A857 [L1039,T22,P3] A356 [L1039,T22,P3] A358 [L1039,T22,P3] A360 [L1232,T23,P3] A436 [L1232,T23,P3] A438 [L1232,T23,P3] A434 [L1618,T25,P3] A592 [L1618,T25,P3] A594 [L1618,T25,P3] A590 [L1425,T24,P3] A512 [L1425,T24,P3] A514 [L1425,T24,P3] A516 [L1798,T26,P3] GOTO A674 [L1804,T26,P3] CMPS SPEED_VALUE_6,#240 [L1804,T26,P3] A675 f [L1800,T26,P3] JW L,A675 [L1801,T26,P3] LOAD V1_3,#33784 t [L1802,T26,P3] LOAD V2_3,#34275 [L1727,T26,P3] LOAD V2_3,#35193 [L3182,T40,P5] ADD ANG_VALUE,INCR [L3183,T40,P5] A1178 [L3183,T40,P5] A1176 [L3181,T40,P5] GOTO A1178 [L4468,T54,P2] GOTO A1668 [L4476,T54,P2] JW EE,A1670 [L4475,T54,P2] CMPS CTRL_6_VAL_0,#1 t [L4478,T54,P2] A1670 f [L4465,T54,P2] GOTO A1668 [L3659,T43,P3] CMPS SPEED_VALUE_15,#220 [L3643,T43,P3] GOTO A1347 f [L3659,T43,P3] A1352 [L3655,T43,P3] JW L,A1352 [L3656,T43,P3] LOAD V1_10,#12 t [L3657,T43,P3] LOAD V2_10,#12 [L3638,T43,P3] GOTO A1345 [L4373,T53,P2] CMPS CTRL_6_VAL,#1 [L4374,T53,P2] JW EE,A1629 f [L4376,T53,P2] A1629 t [L4268,T51,P3] A1576 [L4268,T51,P3] A1578 [L4268,T51,P3] A1580 [L4075,T50,P3] A1498 [L4075,T50,P3] A1502 [L4075,T50,P3] A1500 [L4017,T50,P3] GOTO A1486 [L3835,T47,P1] LOAD SPEED_VALUE_17,REG40 [L3836,T47,P1] LOAD TIME_ANG,#0 [L3837,T47,P1] A1416 [L189,T2,P1] JW G,A72 [L188,T2,P1] CMPS ANG_VAL,REG7 [L190,T2,P1] LOAD REG8,#9 t [L216,T3,P1] LOAD VBAT_OUT_TIME,#0 [L215,T3,P1] LOAD OLD_VALUE,#0 [L214,T3,P1] LOAD VBAT_VALUE,#0 [L2149,T32,P4] LOAD R1,#14 [L2148,T32,P4] LOAD R0,REG29 [L522,T11,P4] A182 [L2108,T31,P4] LOAD R0,REG27 [L2107,T31,P4] ADD REG27,REG28 [L2598,T34,P3] A953 [L2598,T34,P3] A951 [L3471,T42,P3] A1276 t [L3467,T42,P3] JW L,A1276 f [L784,T19,P1] EXIT AWAIT_CASE_3,A273 [L3465,T42,P3] GOTO A1275 [L2075,T30,P3] GOTO A786 [L2077,T30,P3] A786 [L2063,T30,P3] GOTO A779 [L785,T19,P1] AWAIT_CASE_3 [L3032,T36,P3] A1115 [L3032,T36,P3] A1117 [L2723,T35,P3] GOTO A1015 [L2791,T35,P3] A1027 [L2791,T35,P3] A1029 [L1951,T27,P3] GOTO A736 [L1996,T27,P3] GOTO A754 [L2002,T27,P3] A755 f [L1998,T27,P3] JW L,A755 [L1999,T27,P3] LOAD V1_4,#33784 [L1946,T27,P3] GOTO A734 t [L2357,T33,P3] A865 [L2357,T33,P3] A863 [L2314,T33,P3] GOTO A861 [L1039,T22,P3] A352 [L1039,T22,P3] A354 [L1232,T23,P3] A430 [L1232,T23,P3] A432 [L1618,T25,P3] A588 [L1618,T25,P3] A586 [L1425,T24,P3] A510 [L1425,T24,P3] A508 [L1733,T26,P3] GOTO A648 [L1805,T26,P3] JW L,A677 [L1809,T26,P3] A677 f [L1806,T26,P3] LOAD V1_3,#33784 [L1803,T26,P3] GOTO A676 t [L3183,T40,P5] LOAD STEER2_VALUE_OLD,STEER2_VALUE_0 [L3184,T40,P5] A1175 [L4478,T54,P2] CMPS CTRL_7_VAL_0,#1 [L4474,T54,P2] GOTO A1668 [L4479,T54,P2] JW EE,A1669 [L4471,T54,P2] GOTO A1668 t [L3660,T43,P3] JW L,A1354 t [L3664,T43,P3] A1354 f [L3648,T43,P3] GOTO A1349 [L3653,T43,P3] GOTO A1351 [L4376,T53,P2] CMPS CTRL_7_VAL,#1 [L4375,T53,P2] GOTO A1627 [L4377,T53,P2] JW EE,A1628 [L4268,T51,P3] A1572 [L4268,T51,P3] A1574 [L4022,T50,P3] GOTO A1488 [L4075,T50,P3] A1496 [L4075,T50,P3] A1494 [L3837,T47,P1] LOAD STEER2_VAL_OLD,STEER2_VAL [L3838,T47,P1] A1415 f [L192,T2,P1] CMPS ANG_VAL,REG8 [L191,T2,P1] ADD REG8,ANG_CUR [L217,T3,P1] LOAD DIRECTION,#1 [L218,T3,P1] LOAD RECOVERY_STATE,#0 [L522,T11,P4] PRESENT SPEED_OFF,A183 [L523,T11,P4] LOAD SPEED_VALUE_0,#0 f t [L2151,T32,P4] LOAD FILT_VAL_0_1,R0 [L2150,T32,P4] SR R0,R1 [L2109,T31,P4] LOAD R1,#14 [L2110,T31,P4] SR R0,R1 [L2598,T34,P3] A949 [L2598,T34,P3] A947 [L3399,T42,P3] LOAD V2_9,#78 [L3469,T42,P3] LOAD V2_9,#12 [L3468,T42,P3] LOAD V1_9,#12 [L3471,T42,P3] CMPS SPEED_VALUE_14,#230 [L3472,T42,P3] JW L,A1278 [L2077,T30,P3] CMPS ABNORM_NUM_0,#4 [L2077,T30,P3] A779 [L785,T19,P1] GOTO A272 [L3032,T36,P3] A1111 [L3032,T36,P3] A1113 [L2728,T35,P3] GOTO A1017 [L2733,T35,P3] GOTO A1019 [L2791,T35,P3] A1023 [L2791,T35,P3] A1025 [L1956,T27,P3] GOTO A738 [L2003,T27,P3] LOAD V2_4,#34275 [L2002,T27,P3] LOAD V1_4,#33784 [L2001,T27,P3] GOTO A756 [L2000,T27,P3] LOAD V2_4,#34275 [L1961,T27,P3] GOTO A740 [L2357,T33,P3] A861 [L2357,T33,P3] A859 [L759,T19,P1] A272 [L1039,T22,P3] A348 [L1039,T22,P3] A350 [L1232,T23,P3] A428 [L1232,T23,P3] A426 [L1618,T25,P3] A582 [L1618,T25,P3] A584 [L1425,T24,P3] A506 [L1425,T24,P3] A504 [L1743,T26,P3] GOTO A652 [L1809,T26,P3] LOAD V1_3,#33784 [L1810,T26,P3] LOAD V2_3,#34275 [L1808,T26,P3] GOTO A678 [L1807,T26,P3] LOAD V2_3,#34275 [L1738,T26,P3] GOTO A650 [L3184,T40,P5] PRESENT STEER_SENS,A1179 f [L3185,T40,P5] LOAD STEER_VALUE_0,?STEER_SENS t [L4481,T54,P2] A1669 [L4481,T54,P2] CMPS CTRL_8_VAL_0,#1 t f [L4480,T54,P2] GOTO A1668 [L4477,T54,P2] GOTO A1668 [L3664,T43,P3] CMPS SPEED_VALUE_15,#230 [L3665,T43,P3] JW L,A1356 [L3661,T43,P3] LOAD V1_10,#12 [L3662,T43,P3] LOAD V2_10,#12 [L3658,T43,P3] GOTO A1353 [L4379,T53,P2] CMPS CTRL_8_VAL,#1 [L4378,T53,P2] GOTO A1627 f [L4379,T53,P2] A1628 t [L4268,T51,P3] A1570 [L4268,T51,P3] A1568 [L4075,T50,P3] A1490 [L4075,T50,P3] A1492 [L3787,T47,P1] A1404 [L3838,T47,P1] GOTO A1404 [L194,T2,P1] LOAD DIR,#0 [L193,T2,P1] JW L,A72 t f [L219,T3,P1] ABORT RESET,A79 [L220,T3,P1] A80 [L2083,T30,P1] A788 [L2153,T32,P4] SETV VER_ACC_FREQ_MED,FILT_VAL_0_1 [L524,T11,P4] A183 f [L524,T11,P4] PRESENT VER_ACC_FREQ_MED,A184 [L2152,T32,P4] EMIT VER_ACC_FREQ_MED i i i i [L2111,T31,P4] LOAD FILT_VAL_0_0,R0 [L2598,T34,P3] A945 [L2598,T34,P3] A943 [L3409,T42,P3] LOAD V2_9,#42 [L3470,T42,P3] GOTO A1277 [L3474,T42,P3] LOAD V2_9,#12 [L3473,T42,P3] LOAD V1_9,#12 t [L3476,T42,P3] CMPS SPEED_VALUE_14,#240 [L3476,T42,P3] A1278 f [L3419,T42,P3] LOAD V2_9,#32 [L2078,T30,P3] JW GE,A788 t [L2079,T30,P3] EMIT VER_ACC_ERR [L3032,T36,P3] A1109 [L3032,T36,P3] A1107 [L2791,T35,P3] A1019 [L2791,T35,P3] A1021 [L1966,T27,P3] GOTO A742 [L2004,T27,P3] A754 [L2004,T27,P3] A756 [L1971,T27,P3] GOTO A744 [L2357,T33,P3] A857 [L2357,T33,P3] A855 [L759,T19,P1] A273 [L759,T19,P1] A274 [L1039,T22,P3] A346 [L1039,T22,P3] A344 [L1149,T23,P3] GOTO A412 [L1232,T23,P3] A422 [L1232,T23,P3] A424 [L1618,T25,P3] A578 [L1618,T25,P3] A580 [L1425,T24,P3] A500 [L1337,T24,P3] GOTO A488 [L1425,T24,P3] A502 [L1748,T26,P3] GOTO A654 [L1753,T26,P3] GOTO A656 [L1811,T26,P3] A678 [L1811,T26,P3] A676 [L3186,T40,P5] A1179 [L3186,T40,P5] CMPS STEER_VALUE_0,#1 [L4485,T54,P2] A1667 f [L4482,T54,P2] JW EE,A1667 [L4483,T54,P2] A1668 t [L3571,T43,P3] LOAD V1_10,#200 [L3669,T43,P3] A1356 [L3669,T43,P3] CMPS SPEED_VALUE_15,#240 f [L3663,T43,P3] GOTO A1355 t [L3667,T43,P3] LOAD V2_10,#12 [L3666,T43,P3] LOAD V1_10,#12 [L4383,T53,P2] A1626 f [L4380,T53,P2] JW EE,A1626 [L4381,T53,P2] A1627 t [L4360,T53,P2] GOTO A1627 [L4268,T51,P3] A1564 [L4268,T51,P3] A1566 [L4200,T51,P3] GOTO A1560 [L3561,T43,P3] LOAD V1_10,#2040 [L4075,T50,P3] A1488 [L4075,T50,P3] A1486 [L3787,T47,P1] A1405 [L3787,T47,P1] A1406 [L195,T2,P1] LOAD REG9,#18 [L195,T2,P1] A72 [L220,T3,P1] A81 [L220,T3,P1] A82 [L2083,T30,P1] PRIO 1 [L2084,T30,P1] GOTO A773 [L2080,T30,P1] A789 [L2080,T30,P1] PRIO 1 [L2155,T32,P1] LOAD VAL_2_0,VAL_1_0 [L2154,T32,P1] PRIO 1 i i i [L525,T11,P4] LOAD ACC_VALUE,?VER_ACC_FREQ_MED [L526,T11,P4] A184 t f [L2598,T34,P3] A939 [L2598,T34,P3] A941 [L3430,T42,P3] GOTO A1261 [L3475,T42,P3] GOTO A1279 [L3481,T42,P3] A1280 [L3478,T42,P3] LOAD V1_9,#12 f [L3477,T42,P3] JW L,A1280 t [L3425,T42,P3] GOTO A1259 i [L3032,T36,P3] A1103 [L3032,T36,P3] A1105 [L2791,T35,P3] A1015 [L2791,T35,P3] A1017 [L1976,T27,P3] GOTO A746 [L2004,T27,P3] A750 [L1981,T27,P3] GOTO A748 [L2004,T27,P3] A752 [L759,T19,P1] A276 [L2357,T33,P3] A851 [L2357,T33,P3] A853 [L759,T19,P1] A275 [L1039,T22,P3] A342 [L1039,T22,P3] A340 [L1154,T23,P3] GOTO A414 [L1232,T23,P3] A418 [L1232,T23,P3] A420 [L1618,T25,P3] A574 [L1618,T25,P3] A576 [L1347,T24,P3] GOTO A492 [L1425,T24,P3] A498 [L1425,T24,P3] A496 [L1342,T24,P3] GOTO A490 [L1811,T26,P3] A672 [L1811,T26,P3] A674 [L1763,T26,P3] GOTO A660 [L1758,T26,P3] GOTO A658 [L3189,T40,P5] A1181 [L3187,T40,P5] JW EE,A1181 t f [L4485,T54,P2] LOAD CTRL_VAL_0,#0 [L4484,T54,P2] GOTO A1676 [L4483,T54,P2] LOAD CTRL_VAL_0,#1 [L3674,T43,P3] A1358 [L3670,T43,P3] JW L,A1358 f [L3671,T43,P3] LOAD V1_10,#12 [L3668,T43,P3] GOTO A1357 t [L4383,T53,P2] LOAD CTRL_VAL,#0 [L4382,T53,P2] GOTO A1635 [L4381,T53,P2] LOAD CTRL_VAL,#1 [L4268,T51,P3] A1562 [L4268,T51,P3] A1560 [L3592,T43,P3] LOAD V2_10,#66 [L3581,T43,P3] LOAD V1_10,#88 [L4075,T50,P3] A1484 [L4075,T50,P3] A1482 [L3982,T50,P3] GOTO A1472 [L3788,T47,P1/5] PAUSE [L3787,T47,P5] PRIO 5 [L196,T2,P1] CMPS ANG_CUR,REG9 [L197,T2,P1] JW LE,A75 [L220,T3,P1] A83 [L220,T3,P1] A84 [L2085,T30,P1] A772 s RESET [L2082,T30,P1] GOTO A789 [L2081,T30,P1/1] PAUSE [L2156,T32,P1] LOAD VAL_1_0,VAL_0_1 [L2157,T32,P1] LOAD FILT_VAL_2_0,FILT_VAL_1_0 [L527,T11,P4] ADD ACC_OUT_TIME,#1 [L526,T11,P4] PRESENT CLOCK_24,A185 t [L2598,T34,P3] A935 [L2598,T34,P3] A937 [L3440,T42,P3] GOTO A1265 [L3482,T42,P3] LOAD V2_9,#12 [L3481,T42,P3] LOAD V1_9,#12 [L3480,T42,P3] GOTO A1281 [L3479,T42,P3] LOAD V2_9,#12 [L3435,T42,P3] GOTO A1263 [L3032,T36,P3] A1099 [L3032,T36,P3] A1101 [L2791,T35,P3] A1013 [L2791,T35,P3] A1011 [L2004,T27,P3] A748 [L2004,T27,P3] A746 [L759,T19,P6] PRIO 6 [L760,T19,P1/6] PAUSE [L2357,T33,P3] A847 [L2357,T33,P3] A849 [L926,T22,P3] GOTO A322 [L1039,T22,P3] A336 [L1039,T22,P3] A338 [L1232,T23,P3] A414 [L1232,T23,P3] A416 [L1618,T25,P3] A572 [L1618,T25,P3] A570 [L1510,T25,P3] GOTO A558 [L1505,T25,P3] GOTO A556 [L1425,T24,P3] A492 [L1425,T24,P3] A494 [L1773,T26,P3] GOTO A664 [L1811,T26,P3] A668 [L1811,T26,P3] A670 [L1768,T26,P3] GOTO A662 [L3190,T40,P5] CMPS ANG_VALUE,REG36 [L3189,T40,P5] LOAD REG36,#36 [L3188,T40,P5] GOTO A1180 [L4486,T54,P2] A1666 [L4486,T54,P2] A1676 [L3675,T43,P3] LOAD V2_10,#12 [L3674,T43,P3] LOAD V1_10,#12 [L3672,T43,P3] LOAD V2_10,#12 [L3673,T43,P3] GOTO A1359 [L4384,T53,P2] A1625 [L4384,T53,P2] A1635 [L4268,T51,P3] A1558 [L4268,T51,P3] A1556 [L3602,T43,P3] LOAD V2_10,#42 [L3992,T50,P3] GOTO A1476 [L4075,T50,P3] A1478 [L4075,T50,P3] A1480 [L3987,T50,P3] GOTO A1474 [L3839,T47,P1] A1403 RESET [L3789,T47,P5] PRESENT CLOCK_16,A1410 f s t [L3791,T47,P5] A1410 [L198,T2,P1] GOTO A74 t [L199,T2,P1] CMPS ANG_CUR,#18 f [L199,T2,P1] A75 [L221,T3,P1/3] PAUSE [L220,T3,P3] PRIO 3 [L2086,T30,P1] GOTO A771 [L2085,T30,P1] PRIO 1 [L2159,T32,P1] ABORT ACC_0,A798 [L2158,T32,P1] LOAD FILT_VAL_1_0,FILT_VAL_0_1 [L528,T11,P4] CMPS ACC_OUT_TIME,#10 [L529,T11,P4] JW G,A186 [L2480,T34,P3] GOTO A925 [L2486,T34,P3] GOTO A927 [L2598,T34,P3] A933 [L2598,T34,P3] A931 [L3445,T42,P3] GOTO A1267 [L761,T19,P6] PRESENT LONG_SPEED_FILT,A277 t [L762,T19,P1] PRIO 1 f [L764,T19,P6] A277 [L3483,T42,P3] A1279 [L3483,T42,P3] A1281 [L3450,T42,P3] GOTO A1269 [L3368,T42,P3] LOAD V1_9,#2040 [L3032,T36,P3] A1097 [L3032,T36,P3] A1095 [L2791,T35,P3] A1009 [L2791,T35,P3] A1007 [L2004,T27,P3] A742 [L2004,T27,P3] A744 s [L2357,T33,P3] A843 [L2357,T33,P3] A845 [L931,T22,P3] GOTO A324 [L1039,T22,P3] A332 [L1039,T22,P3] A334 [L936,T22,P3] GOTO A326 [L1232,T23,P3] A410 [L1232,T23,P3] A412 [L1618,T25,P3] A566 [L1618,T25,P3] A568 [L1520,T25,P3] GOTO A562 [L1515,T25,P3] GOTO A560 [L1425,T24,P3] A488 [L1425,T24,P3] A490 [L1811,T26,P3] A666 [L1811,T26,P3] A664 [L4396,T54,P2] A1638 [L4486,T54,P2] GOTO A1638 [L3191,T40,P5] JW L,A1183 [L3194,T40,P5] A1183 t f [L3676,T43,P3] A1359 [L3676,T43,P3] A1357 [L3608,T43,P3] GOTO A1333 [L4294,T53,P2] A1597 [L4384,T53,P2] GOTO A1597 [L4268,T51,P3] A1552 [L4268,T51,P3] A1554 [L4075,T50,P3] A1476 [L4075,T50,P3] A1474 [L3839,T47,P1] PRIO 1 [L3790,T47,P5] GOTO A1408 [L3791,T47,P5] PRESENT STEER1_SENS,A1409 [L3793,T47,P5] A1409 t f [L201,T2,P1] A74 [L200,T2,P1] JW GE,A73 t f [L203,T2,P1] A73 [L225,T3,P3] A85 t [L223,T3,P1] PRIO 1 f [L222,T3,P3] PRESENT VBAT,A85 s [L2160,T32,P1] A799 [L2160,T32,P4] PRIO 4 [L530,T11,P4] LOAD ACC_OUT_TIME,#0 t f [L531,T11,P4] LOAD ACC_OUT_ERR_NUM,#0 [L2598,T34,P3] A927 [L2598,T34,P3] A929 [L783,T19,P1] AC_6 [L3455,T42,P3] GOTO A1271 [L763,T19,P1] EXIT AC_6,A274 [L766,T19,P1] A278 [L764,T19,P6] PRESENT CLOCK_24,A278 [L765,T19,P6] EXIT AC_7,A275 f t [L3460,T42,P3] GOTO A1273 [L3483,T42,P3] A1277 [L3483,T42,P3] A1275 [L3032,T36,P3] A1091 [L3032,T36,P3] A1093 [L2683,T35,P3] GOTO A999 [L2791,T35,P3] A1005 [L2791,T35,P3] A1003 [L2678,T35,P3] GOTO A997 [L2004,T27,P3] A738 [L2004,T27,P3] A740 [L2357,T33,P3] A839 [L2357,T33,P3] A841 [L941,T22,P3] GOTO A328 [L1039,T22,P3] A328 [L1039,T22,P3] A330 [L1232,T23,P3] A406 [L1232,T23,P3] A408 [L1618,T25,P3] A564 [L1618,T25,P3] A562 [L1500,T25,P3] GOTO A554 [L1425,T24,P3] A486 [L1425,T24,P3] A484 [L1703,T26,P3] GOTO A636 [L1811,T26,P3] A662 [L1811,T26,P3] A660 [L1697,T26,P3] LOAD V2_3,#37159 [L4397,T54,P2] SETV MOT_REAR,CTRL_VAL_0 i i [L4396,T54,P2] EMIT MOT_REAR i [L3195,T40,P5] JW G,A1180 [L3194,T40,P5] CMPS ANG_VALUE,#36 [L3193,T40,P4] GOTO A1182 [L3192,T40,P4] PRIO 4 [L3676,T43,P3] A1355 [L3676,T43,P3] A1353 [L3613,T43,P3] GOTO A1335 [L4294,T53,P2] EMIT MOT_FRONT i [L4268,T51,P3] A1548 [L4268,T51,P3] A1550 i [L4075,T50,P3] A1470 [L4075,T50,P3] A1472 i [L4295,T53,P2] SETV MOT_FRONT,CTRL_VAL t [L3793,T47,P5] PRESENT STEER2_SENS,A1407 [L3794,T47,P5] A1408 [L3792,T47,P5] GOTO A1408 t f [L3795,T47,P1] A1407 [L201,T2,P1] LOAD STR_VAL,#1 [L204,T2,P1] CMPS ANG_CUR,REG10 [L203,T2,P1] LOAD REG10,#18 [L226,T3,P3] EXIT AC_3,A83 t [L225,T3,P3] PRESENT CLOCK_24,A86 [L227,T3,P1] A86 f [L224,T3,P1] EXIT AC_2,A82 [L273,T3,P1] AC_2 [L532,T11,P4] CMPS ACC_VALUE,#23 [L532,T11,P4] A186 [L2598,T34,P3] A925 [L2598,T34,P3] A923 [L767,T19,P1] GOTO A276 [L766,T19,P1] PRIO 1 [L3483,T42,P3] A1271 [L768,T19,P6] AC_7 [L3483,T42,P3] A1273 [L768,T19,P6] LOAD REG23,SPEED_VAL_0 [L3389,T42,P3] LOAD V2_9,#156 [L3379,T42,P3] LOAD V2_9,#428 [L3032,T36,P3] A1087 [L3032,T36,P3] A1089 [L1886,T27,P3] GOTO A710 [L2791,T35,P3] A999 [L2791,T35,P3] A1001 [L2004,T27,P3] A736 [L2004,T27,P3] A734 [L2357,T33,P3] A835 [L2357,T33,P3] A837 [L1891,T27,P3] GOTO A712 [L1039,T22,P3] A326 [L1039,T22,P3] A324 [L1232,T23,P3] A404 [L1232,T23,P3] A402 [L1618,T25,P3] A558 [L1618,T25,P3] A560 [L1425,T24,P3] A480 [L1425,T24,P3] A482 [L1708,T26,P3] GOTO A638 [L1713,T26,P3] GOTO A640 [L1811,T26,P3] A656 [L1811,T26,P3] A658 [L3201,T40,P5] EMIT ANG i [L3201,T40,P5] A1180 [L4398,T54,P1] A1639 [L4398,T54,P1] A1640 i f [L3196,T40,P4] PRIO 4 [L3196,T40,P4] A1182 t [L3618,T43,P3] GOTO A1337 [L3676,T43,P3] A1351 [L3676,T43,P3] A1349 [L3623,T43,P3] GOTO A1339 [L4268,T51,P3] A1544 [L4268,T51,P3] A1546 [L4075,T50,P3] A1466 [L4075,T50,P3] A1468 [L3957,T50,P3] GOTO A1462 [L4296,T53,P1] A1598 [L4296,T53,P1] A1599 i [L3794,T47,P5] EXIT AWAIT_OP_5,A1405 [L3797,T47,P5] AWAIT_OP_5 [L3795,T47,P1] PRIO 1 [L3796,T47,P1] GOTO A1406 [L229,T3,P3] CMPS DIRECTION,#1 [L202,T2,P1] GOTO A76 [L229,T3,P3] AC_3 [L205,T2,P1] JW G,A77 [L206,T2,P1] CMPS ANG_CUR,#18 t [L228,T3,P1] GOTO A84 [L227,T3,P1] PRIO 1 [L274,T3,P1] CMPS VBAT_VALUE,OLD_VALUE [L273,T3,P1] LOAD VBAT_VALUE,?VBAT [L534,T11,P4] CMPS SPEED_VALUE_0,#0 [L533,T11,P4] JW G,A187 t [L2598,T34,P3] A919 [L2598,T34,P3] A921 [L3400,T42,P3] GOTO A1249 [L3395,T42,P3] GOTO A1247 [L3483,T42,P3] A1267 [L3483,T42,P3] A1269 [L770,T19,P6] LOAD ACC_VALUE_0,REG23 [L769,T19,P6] SUB REG23,SPEED_VAL_8 [L3032,T36,P3] A1083 [L3032,T36,P3] A1085 [L2791,T35,P3] A995 [L2791,T35,P3] A997 [L2004,T27,P3] A730 [L2004,T27,P3] A732 [L1901,T27,P3] GOTO A716 [L1896,T27,P3] GOTO A714 RESET [L2357,T33,P3] A831 [L2357,T33,P3] A833 [L1039,T22,P3] A322 [L1039,T22,P3] A320 [L1232,T23,P3] A400 [L1232,T23,P3] A398 [L1618,T25,P3] A556 [L1618,T25,P3] A554 [L1425,T24,P3] A476 [L1425,T24,P3] A478 [L3203,T40,P1] PRIO 1 [L3202,T40,P5] SETV ANG,ANG_VALUE [L1718,T26,P3] GOTO A642 i [L3242,T41,P4] LOAD ANG_VALUE_0,?ANG [L1723,T26,P3] GOTO A644 [L1811,T26,P3] A654 [L1811,T26,P3] A652 i [L4398,T54,P1] A1641 [L4398,T54,P1] A1642 [L3197,T40,P4] EMIT CAL_ERR i [L3198,T40,P1] A1184 [L3572,T43,P3] LOAD V2_10,#400 [L3628,T43,P3] GOTO A1341 [L3633,T43,P3] GOTO A1343 [L3676,T43,P3] A1347 [L3676,T43,P3] A1345 [L4268,T51,P3] A1540 [L4268,T51,P3] A1542 [L3562,T43,P3] LOAD V2_10,#2040 [L4075,T50,P3] A1464 [L4075,T50,P3] A1462 [L4296,T53,P1] A1601 [L4296,T53,P1] A1600 [L3798,T47,P5] ADD TIME_ANG,#1 [L3797,T47,P5] PRESENT CLOCK_16,A1411 t [L231,T3,P3] CMPS VBAT_VALUE,#180 [L230,T3,P3] JW EE,A89 t f t [L208,T2,P1] LOAD STR_VAL,#0 [L207,T2,P1] JW L,A77 f [L275,T3,P1] JW G,A101 [L278,T3,P1] A101 f t [L276,T3,P1] LOAD DIRECTION,#1 f [L535,T11,P4] JW EE,A187 [L536,T11,P4] ADD ACC_OUT_ERR_NUM,#1 t [L2598,T34,P3] A917 [L2598,T34,P3] EXIT AWAIT_CASE_11,A881 [L3405,T42,P3] GOTO A1251 [L3410,T42,P3] GOTO A1253 [L3483,T42,P3] A1265 [L3483,T42,P3] A1263 [L3032,T36,P3] EXIT AWAIT_CASE_13,A1045 [L3032,T36,P3] A1081 [L771,T19,P6] EMIT ACC [L772,T19,P6] SETV ACC,ACC_VALUE_0 d [L1906,T27,P3] GOTO A718 d i [L2791,T35,P3] EXIT AWAIT_CASE_12,A967 [L2792,T35,P3] AWAIT_CASE_12 [L2004,T27,P3] A726 [L2004,T27,P3] A728 [L1911,T27,P3] GOTO A720 [L2357,T33,P3] EXIT AWAIT_CASE_10,A803 [L2358,T33,P3] AWAIT_CASE_10 [L1040,T22,P3] AWAIT_CASE_4 [L1039,T22,P3] EXIT AWAIT_CASE_4,A292 [L1232,T23,P3] EXIT AWAIT_CASE_5,A370 [L1233,T23,P3] AWAIT_CASE_5 [L3126,T40,P1] PRIO 1 [L1619,T25,P3] AWAIT_CASE_7 [L1618,T25,P3] EXIT AWAIT_CASE_7,A526 [L3205,T40,P1] GOTO A1163 [L3204,T40,P1] LOAD INCR,#9 [L1425,T24,P3] EXIT AWAIT_CASE_6,A448 [L1426,T24,P3] AWAIT_CASE_6 [L3243,T41,P4] CMPS SPEED_VALUE_13,#25700 [L3244,T41,P4] JW G,A1196 [L1811,T26,P3] A648 [L1811,T26,P3] A650 [L1728,T26,P3] GOTO A646 [L4398,T54,P1] A1644 [L4398,T54,P1] A1643 [L3198,T40,P1] PRIO 1 s [L3199,T40,P1/1] PAUSE [L3676,T43,P3] A1343 [L3676,T43,P3] A1341 [L4296,T53,P1] A1602 [L4296,T53,P1] A1603 [L4269,T51,P3] AWAIT_CASE_19 [L4268,T51,P3] EXIT AWAIT_CASE_19,A1512 [L3588,T43,P3] GOTO A1325 [L3582,T43,P3] LOAD V2_10,#124 [L4075,T50,P3] EXIT AWAIT_CASE_18,A1434 [L4076,T50,P3] AWAIT_CASE_18 [L3772,T46,P4] SIGNALV SPEED_FILT [L3771,T46,P4] SIGNALV SPEED i d [L3800,T47,P5] SETV SPEED,SPEED_VALUE_17 [L3799,T47,P5] EMIT SPEED d d i d f [L232,T3,P3] JW G,A91 f t [L234,T3,P3] A91 f [L209,T2,P1] A77 [L209,T2,P1] A76 [L110,T2,P1] EXIT AWAIT_CASE,A26 [L278,T3,P1] CMPS VBAT_VALUE,OLD_VALUE [L279,T3,P1] JW L,A103 [L277,T3,P1] GOTO A102 [L538,T11,P4] JW G,A188 [L537,T11,P4] CMPS ACC_OUT_ERR_NUM,#3 [L2599,T34,P3] GOTO A880 [L2599,T34,P3] AWAIT_CASE_11 [L3415,T42,P3] GOTO A1255 [L3483,T42,P3] A1261 [L3483,T42,P3] A1259 [L3420,T42,P3] GOTO A1257 [L3033,T36,P3] AWAIT_CASE_13 [L774,T19,P1] LOAD SPEED_VAL_8,SPEED_VAL_7 [L3033,T36,P3] GOTO A1044 [L773,T19,P1] PRIO 1 [L795,T20,P1/5] PAUSE s s ACC [L798,T20,P5] A282 [L1916,T27,P3] GOTO A722 [L2792,T35,P3] GOTO A966 [L2004,T27,P3] A724 RESET [L2004,T27,P3] A722 [L2358,T33,P3] GOTO A802 [L3116,T40,P1] A1136 [L3206,T40,P1] PRIO 1 [L2608,T35,P3] A966 [L1040,T22,P3] GOTO A291 [L2174,T33,P3] A802 [L1233,T23,P3] GOTO A369 [L3206,T40,P1] A1162 [L1619,T25,P3] GOTO A525 [L1435,T25,P3] A525 [L856,T22,P3] A291 [L1049,T23,P3] A369 [L3290,T41,P4] A1196 f [L3246,T41,P4] CMPS TIME_KT,#90 [L3245,T41,P4] ADD TIME_KT,#1 t [L1426,T24,P3] GOTO A447 [L1811,T26,P3] A644 [L1811,T26,P3] A646 [L4398,T54,P1] A1645 [L4398,T54,P1] A1646 RESET [L1242,T24,P3] A447 [L4296,T53,P1] A1605 [L3200,T40,P1] GOTO A1184 [L4296,T53,P1] A1604 [L4085,T51,P3] A1511 [L3676,T43,P3] A1337 [L3676,T43,P3] A1339 [L4269,T51,P3] GOTO A1511 [L3598,T43,P3] GOTO A1329 [L3593,T43,P3] GOTO A1327 [L3558,T43,P3] GOTO A1313 [L3892,T50,P3] A1433 [L4076,T50,P3] GOTO A1433 [L3773,T46,P4] SIGNAL IGNORED_7 [L3779,T46,P4/4] PAR* [L3861,T48,P4] A1419 [L3851,T48,P4] A1421 RESET [L3848,T48,P1/4] PAUSE s SPEED s [L3867,T49,P1/3] PAUSE s SPEED s [L3870,T49,P3] A1426 [L3801,T47,P1] PRIO 1 [L3801,T47,P1] A1411 [L233,T3,P3] GOTO A90 [L234,T3,P3] CMPS VBAT_VALUE,#110 [L235,T3,P3] JW L,A89 [L209,T2,P1] A42 [L209,T2,P1] PRIO 1 [L75,T2,P1] EXIT AWAIT_CASE,A26 [L280,T3,P1] LOAD DIRECTION,#0 t [L281,T3,P1] A103 f f t [L539,T11,P4] ADD ABNORM_NUM,#1 [L3483,T42,P3] A1257 [L3369,T42,P3] LOAD V2_9,#2040 [L775,T19,P1] LOAD SPEED_VAL_7,SPEED_VAL_6 [L796,T20,P1] PRIO 1 [L2004,T27,P3] A720 [L3207,T40,P1] GOTO A1159 [L2368,T34,P3] A880 [L798,T20,P5] LOAD VAL_0,?ACC [L808,T20,P5] A280 [L2802,T36,P3] A1044 [L3290,T41,P4] LOAD ANG_CORR_VALUE,ANG_VALUE_0 [L1435,T25,P3] EMIT LONG_DECC_MOT_REAR i [L1049,T23,P3] EMIT LONG_ACC_MOT_REAR i [L2608,T35,P3] EMIT VER_ACC_MED_MOT_FRONT i [L856,T22,P3] EMIT LONG_ACC_MOT_FRONT i [L2174,T33,P3] EMIT VER_ACC_LOW_MOT_FRONT i [L3247,T41,P4] JW EE,A1198 t [L1811,T26,P3] A642 [L1693,T26,P3] GOTO A632 [L4398,T54,P1] A1647 [L1242,T24,P3] EMIT LONG_DECC_MOT_FRONT i [L4296,T53,P1] A1606 [L4085,T51,P3] EMIT STEER_SPEED_MOT_REAR i [L3892,T50,P3] EMIT STEER_SPEED_MOT_FRONT i [L3676,T43,P3] A1335 [L3568,T43,P3] GOTO A1317 [L3603,T43,P3] GOTO A1331 [L3563,T43,P3] GOTO A1315 [L3841,T48,P4] A1397 4 [L3780,T47,P1] A1396 1 [L3840,T47,P1] GOTO A1402 [L3861,T48,P4] GOTO A1418 f [L3851,T48,P4] LOAD VAL_3,?SPEED [L3849,T48,P1] PRIO 1 [L3870,T49,P3] LOAD SPEED_VALUE_18,?SPEED [L3802,T47,P1] PRESENT STEER1_SENS,A1412 t t [L236,T3,P3] A90 f [L237,T3,P3] A89 [L210,T2,P1] EXIT AWAIT_CASE,A26 [L281,T3,P1] A102 f f [L541,T11,P4] LOAD ACC_OUT_TIME,#0 [L540,T11,P4] LOAD ACC_OUT_ERR_NUM,#0 [L2360,T34,P3] A762 [L3483,T42,P3] A1253 [L3483,T42,P3] A1255 [L3380,T42,P3] GOTO A1241 [L3375,T42,P3] GOTO A1239 [L776,T19,P1] LOAD SPEED_VAL_6,SPEED_VAL_5 [L777,T19,P1] LOAD SPEED_VAL_5,SPEED_VAL_4 [L2004,T27,P3] A716 [L2004,T27,P3] A718 [L3116,T40,P1] LOAD STEER1_VALUE_0,#0 [L3116,T40,P1] A1159 [L800,T20,P5] SUB REG24,FILT_VAL_0 [L799,T20,P5] LOAD REG24,VAL_0 [L2369,T34,P3] SETV VER_ACC_LOW_MOT_REAR,CONTROL_VALUE_6 [L2368,T34,P3] EMIT VER_ACC_LOW_MOT_REAR i i [L786,T19,P1] PRIO 1 [L786,T19,P1] A271 [L1436,T25,P3] SETV LONG_DECC_MOT_REAR,CONTROL_VALUE_2 i [L1437,T25,P1] PRIO 1 [L1050,T23,P3] SETV LONG_ACC_MOT_REAR,CONTROL_VALUE_0 [L2610,T35,P1] PRIO 1 i [L1051,T23,P1] PRIO 1 [L2609,T35,P3] SETV VER_ACC_MED_MOT_FRONT,CONTROL_VALUE_7 [L858,T22,P1] PRIO 1 i [L735,T18,P5] SIGNALV ACC_DER [L736,T18,P5] SIGNALV ACC [L857,T22,P3] SETV LONG_ACC_MOT_FRONT,CONTROL_VALUE i [L2176,T33,P1] PRIO 1 [L2175,T33,P3] SETV VER_ACC_LOW_MOT_FRONT,CONTROL_VALUE_5 [L2803,T36,P3] SETV VER_ACC_MED_MOT_REAR,CONTROL_VALUE_8 i i [L2802,T36,P3] EMIT VER_ACC_MED_MOT_REAR i [L3248,T41,P4] LOAD R0,ZVOL_KT [L3249,T41,P4] LOAD R1,#8 [L1811,T26,P3] A640 [L1811,T26,P3] A638 [L1698,T26,P3] GOTO A634 [L4398,T54,P1] PRIO 1 [L4398,T54,P1] A1648 i [L1243,T24,P3] SETV LONG_DECC_MOT_FRONT,CONTROL_VALUE_1 [L1244,T24,P1] PRIO 1 [L4296,T53,P1] PRIO 1 [L4296,T53,P1] A1607 [L4086,T51,P3] SETV STEER_SPEED_MOT_REAR,CONTROL_VALUE_12 i [L4087,T51,P1] PRIO 1 [L3893,T50,P3] SETV STEER_SPEED_MOT_FRONT,CONTROL_VALUE_11 i [L3894,T50,P1] PRIO 1 [L3676,T43,P3] A1333 [L3573,T43,P3] GOTO A1319 [L3578,T43,P3] GOTO A1321 [L3676,T43,P3] A1331 3 [L3841,T48,P4] LOAD FILT_VAL_3,#0 [L3841,T48,P4] A1418 3 [L4273,T52,P2] SIGNALV MOT_REAR [L4272,T52,P2] SIGNALV MOT_DAMAGE [L3780,T47,P1] A1402 [L3780,T47,P1] LOAD TIME_ANG,#0 [L3853,T48,P4] SUB REG41,FILT_VAL_3 [L3852,T48,P4] LOAD REG41,VAL_3 t [L3871,T49,P3] CMPS SPEED_VALUE_18,#63333 [L3872,T49,P3] JW G,A1428 [L3804,T47,P1] CMPS STEER1_VAL,#1 [L3803,T47,P1] LOAD STEER1_VAL,?STEER1_SENS [L236,T3,P3] GOTO A88 [L238,T3,P3] JW EE,A87 t [L237,T3,P3] CMPS DIRECTION,#0 [L211,T2,P1] AWAIT_CASE [L211,T2,P1] GOTO A25 [L281,T3,P1] LOAD OLD_VALUE,VBAT_VALUE f [L543,T11,P4] JW G,A189 [L542,T11,P4] CMPS ABNORM_NUM,#3 t [L3365,T42,P3] GOTO A1235 [L3385,T42,P3] GOTO A1243 [L3483,T42,P3] A1249 [L3483,T42,P3] A1251 [L3390,T42,P3] GOTO A1245 [L778,T19,P1] LOAD SPEED_VAL_4,SPEED_VAL_3 [L779,T19,P1] LOAD SPEED_VAL_3,SPEED_VAL_2 [L2004,T27,P3] A712 [L2004,T27,P3] A714 [L3127,T40,P1] GOTO A1161 [L3117,T40,P1] LOAD STEER2_VALUE_0,#0 [L3118,T40,P1] LOAD STEER1_VALUE_OLD,#0 [L801,T20,P5] LOAD R0,REG24 [L802,T20,P5] LOAD R1,#77 [L2371,T34,P1] LOAD OLD_VALUE_7,CURRENT_VALUE_6 [L2601,T35,P3] A763 [L2370,T34,P1] PRIO 1 [L2612,T35,P1] A967 [L787,T19,P1] GOTO A270 [L2178,T33,P1] A803 [L2611,T35,P1] LOAD OLD_VALUE_8,CURRENT_VALUE_7 [L860,T22,P1] A292 [L2177,T33,P1] LOAD OLD_VALUE_6,CURRENT_VALUE_5 [L1438,T25,P1] LOAD OLD_VALUE_3,CURRENT_VALUE_2 [L1439,T25,P1] A526 [L1053,T23,P1] A370 [L1052,T23,P1] LOAD OLD_VALUE_1,CURRENT_VALUE_0 [L2805,T36,P1] LOAD OLD_VALUE_9,CURRENT_VALUE_8 [L859,T22,P1] LOAD OLD_VALUE_0,CURRENT_VALUE [L2804,T36,P1] PRIO 1 [L737,T18,P5] SIGNALV ACC_FILT [L738,T18,P5] SIGNAL IGNORED_3 [L3251,T41,P4] LOAD REG37,ANG_VALUE_0 [L3250,T41,P4] SR R0,R1 [L1811,T26,P3] A636 [L1811,T26,P3] A634 [L4399,T54,P2] PRIO 2 [L4400,T54,P1/2] PAUSE s [L1245,T24,P1] LOAD OLD_VALUE_2,CURRENT_VALUE_1 [L1246,T24,P1] A448 RESET [L4298,T53,P1/2] PAUSE [L4297,T53,P2] PRIO 2 s RESET [L4088,T51,P1] LOAD OLD_VALUE_13,CURRENT_VALUE_12 [L4089,T51,P1] A1512 [L3895,T50,P1] LOAD OLD_VALUE_12,CURRENT_VALUE_11 [L3896,T50,P1] A1434 [L3676,T43,P3] A1329 [L3676,T43,P3] A1327 [L3583,T43,P3] GOTO A1323 [L4078,T51,P3] A1400 [L3855,T48,P4] LOAD R1,#153 [L3842,T48,P4] ABORT RESET,A1419 [L3854,T48,P4] LOAD R0,REG41 [L4274,T52,P2] SIGNALV MOT_FRONT [L4275,T52,P2] SIGNAL IGNORED_8 [L3782,T47,P1] LOAD STEER1_VAL_OLD,#0 [L3781,T47,P1] LOAD STEER1_VAL,#0 [L3873,T49,P3] EMIT STEER_SPEED_NO_SOFT [L3874,T49,P3] ADD NUM_SPEED_VAL_OUT,#1 i [L3806,T47,P1] CMPS STEER1_VAL_OLD,#1 [L3805,T47,P1] JW EE,A1414 f t RESET [L239,T3,P3] CMPS VBAT_VALUE,#170 f t [L240,T3,P3] JW G,A93 [L2122,T31,P1] PRIO 1 [L545,T11,P1] A190 [L548,T11,P1] A189 [L548,T11,P1] A188 [L544,T11,P4] EMIT ERR_ACC i [L3483,T42,P3] A1245 [L3483,T42,P3] A1247 [L781,T19,P1] LOAD SPEED_VAL_1,SPEED_VAL_0 [L780,T19,P1] LOAD SPEED_VAL_2,SPEED_VAL_1 [L2004,T27,P3] EXIT AWAIT_CASE_9,A682 [L2004,T27,P3] A710 [L2372,T34,P1] A882 [L2372,T34,P1] A881 [L3120,T40,P1] LOAD STEER_VALUE_0,#0 [L3119,T40,P1] LOAD STEER2_VALUE_OLD,#0 [L803,T20,P5] CALL DIV [L804,T20,P5] LOAD REG24,R0 [L2612,T35,P1] A969 [L808,T20,P5] GOTO A279 [L2612,T35,P1] A968 [L2178,T33,P1] A805 [L788,T20,P5] A261 [L860,T22,P1] A294 [L2178,T33,P1] A804 [L860,T22,P1] A293 [L2806,T36,P1] A1046 [L1439,T25,P1] A528 [L1439,T25,P1] A527 5 [L621,T14,P3] PRESENT ERR_ACC,A221 [L2806,T36,P1] A1045 [L749,T19,P1] A260 4 [L1053,T23,P1] A371 [L1053,T23,P1] A372 1 [L748,T18,P5/5] PAR* 3 3 [L4401,T54,P2] PRESENT LONG_SPEED_MOT,A1649 [L4403,T54,P2] A1649 3 f t [L4402,T54,P2] EXIT AC_48,A1640 [L3253,T41,P4] MUL REG37,K [L3252,T41,P4] SUB REG37,R0 [L4301,T53,P2] A1608 [L4299,T53,P2] PRESENT LONG_SPEED_MOT,A1608 f [L4300,T53,P2] EXIT AC_40,A1599 t [L1811,T26,P3] EXIT AWAIT_CASE_8,A604 [L1811,T26,P3] A632 [L1246,T24,P1] A450 [L1246,T24,P1] A449 [L4487,T54,P2] A1637 [L4487,T54,P2] GOTO A1636 [L4385,T53,P2] A1596 [L4385,T53,P2] GOTO A1595 [L4089,T51,P1] A1513 [L4089,T51,P1] A1514 [L3896,T50,P1] A1435 [L3896,T50,P1] A1436 [L3676,T43,P3] A1325 [L3676,T43,P3] A1323 [L3885,T50,P3] A1399 [L4386,T54,P2] A1588 [L3856,T48,P4] CALL DIV [L3857,T48,P4] LOAD REG41,R0 [L4284,T53,P2] A1587 2 [L4283,T52,P2/2] PAR* 2 2 [L3783,T47,P1] LOAD STEER2_VAL,#0 [L3784,T47,P1] LOAD STEER2_VAL_OLD,#0 [L3875,T49,P3] CMPS NUM_SPEED_VAL_OUT,#3 [L3850,T48,P1] GOTO A1422 [L3876,T49,P3] JW G,A1429 [L3807,T47,P1] JW EE,A1414 [L3809,T47,P1] A1414 f [L241,T3,P3] GOTO A92 1 [L242,T3,P3] CMPS VBAT_VALUE,#100 [L242,T3,P3] A93 f f RESET [L545,T11,P1] PRIO 1 [L546,T11,P1/1] PAUSE [L548,T11,P1] A185 [L548,T11,P1] A187 f [L3483,T42,P3] A1243 [L782,T19,P1] EXIT AWAIT_CASE_3,A273 [L2372,T34,P1] A884 [L3483,T42,P3] A1241 [L3370,T42,P3] GOTO A1237 [L797,T20,P1] GOTO A283 [L2005,T27,P3] AWAIT_CASE_9 [L2372,T34,P1] A883 [L2612,T35,P1] A970 [L2612,T35,P3] PRIO 3 [L3121,T40,P1] LOAD INCR,#5 [L3122,T40,P1] LOAD ANG_VALUE,#0 [L805,T20,P5] ADD REG24,FILT_VAL_0 [L806,T20,P5] LOAD FILT_VAL_0,REG24 [L2178,T33,P3] PRIO 3 [L2178,T33,P1] A806 [L788,T20,P5] A279 [L788,T20,P5] LOAD FILT_VAL_0,#0 [L2005,T27,P3] GOTO A681 [L860,T22,P3] PRIO 3 [L860,T22,P1] A295 [L2806,T36,P1] A1048 [L2806,T36,P1] A1047 [L809,T21,P4] A262 [L749,T19,P1] LOAD SPEED_VAL_0,#0 [L749,T19,P1] A270 [L1439,T25,P3] PRIO 3 [L1439,T25,P1] A529 f [L1053,T23,P3] PRIO 3 [L1053,T23,P1] A373 [L623,T14,P3] A221 [L623,T14,P3] PRESENT ERR_OPEN,A222 [L4405,T54,P2] A1650 [L4403,T54,P2] PRESENT LONG_ACC_MOT_REAR,A1650 f t [L4404,T54,P2] EXIT AC_49,A1641 t [L849,T22,P3] A263 3 [L1042,T23,P3] A264 [L4433,T54,P2] AC_48 f [L4302,T53,P2] EXIT AC_41,A1600 [L3255,T41,P4] LOAD ZVOL,REG37 [L3254,T41,P4] ADD REG37,ZVOL_KT t [L4301,T53,P2] PRESENT LONG_ACC_MOT_FRONT,A1609 [L4331,T53,P2] AC_40 [L1812,T26,P3] AWAIT_CASE_8 [L3757,T45,P1] A1133 [L1235,T24,P3] A265 f [L4303,T53,P2] A1609 [L1812,T26,P3] GOTO A603 [L1246,T24,P1] A451 [L1246,T24,P3] PRIO 3 [L4386,T54,P2] LOAD CTRL_1_VAL_0,#0 [L4386,T54,P2] A1636 [L4284,T53,P2] LOAD CTRL_1_VAL,#0 [L4284,T53,P2] A1595 [L4089,T51,P3] PRIO 3 [L4089,T51,P1] A1515 [L3676,T43,P3] A1319 [L3676,T43,P3] A1321 [L3896,T50,P1] A1437 [L3896,T50,P3] PRIO 3 [L3859,T48,P4] LOAD FILT_VAL_3,REG41 [L3858,T48,P4] ADD REG41,FILT_VAL_3 [L4488,T55,P2] A1589 1 1 [L3785,T47,P1] LOAD SPEED_VALUE_17,#0 1 [L3786,T47,P1] ABORT RESET,A1403 [L3877,T49,P3] EMIT STEER_SPEED_ERR i t [L3878,T49,P1] A1430 f [L3881,T49,P1] A1429 [L3810,T47,P1] JW NE,A1413 [L3809,T47,P1] CMPS TIME_ANG,#0 [L244,T3,P3] A92 [L3881,T49,P1] A1428 [L243,T3,P3] JW L,A87 t 1 [L265,T3,P3] A87 f s RESET [L550,T11,P1] A173 [L547,T11,P1] GOTO A190 [L2372,T34,P3] PRIO 3 [L3483,T42,P3] A1239 [L2613,T35,P1/3] PAUSE s [L3123,T40,P1] ABORT INIT,A1160 RESET [L807,T20,P5] GOTO A281 [L2179,T33,P1/3] PAUSE s [L789,T20,P5] ABORT RESET,A280 RESET [L861,T22,P1/3] PAUSE s [L1821,T27,P3] A681 RESET [L2806,T36,P3] PRIO 3 [L750,T19,P1] LOAD SPEED_VAL_1,#0 [L1440,T25,P1/3] PAUSE RESET s [L625,T14,P3] A222 [L4405,T54,P2] PRESENT LONG_DECC_MOT_REAR,A1651 f f t [L1054,T23,P1/3] PAUSE [L624,T14,P3] EXIT AWAIT_CASE_2,A219 s t RESET [L4431,T54,P2] AC_49 3 [L1428,T25,P3] A266 [L4329,T53,P2] AC_41 [L3256,T41,P4] CMPS ZVOL,#2560 [L4303,T53,P2] PRESENT LONG_DECC_MOT_FRONT,A1610 t f [L1247,T24,P1/3] PAUSE s [L1628,T26,P3] A603 RESET [L4387,T54,P2] LOAD CTRL_2_VAL_0,#0 [L3209,T41,P4] A1129 [L4285,T53,P2] LOAD CTRL_2_VAL,#0 [L4090,T51,P1/3] PAUSE s RESET [L3676,T43,P3] A1317 [L3897,T50,P1/3] PAUSE RESET s 3 [L3860,T48,P4] GOTO A1420 [L4690,T57,P1] A1591 t f [L3878,T49,P1] PRIO 1 [L3811,T47,P1] LOAD REG39,#2 t [L244,T3,P3] A88 [L3881,T49,P1] PRIO 1 [L4572,T56,P1] A1590 [L3868,T49,P1] PRIO 1 [L550,T11,P1] PRIO 1 [L551,T11,P1] GOTO A172 [L548,T11,P1] PRIO 1 [L2112,T31,P4] EMIT ACC_FREQ_LOW i i [L2373,T34,P1/3] PAUSE [L2600,T34,P3] A879 RESET s [L2374,T34,P3] PRESENT LONG_SPEED_KM,A885 f [L3483,T42,P3] A1235 [L3483,T42,P3] A1237 t [L863,T22,P3] EXIT AC_8,A293 t [L862,T22,P3] PRESENT LONG_SPEED_KM,A296 [L864,T22,P3] A296 f [L2616,T35,P3] A971 f [L2615,T35,P3] EXIT AC_24,A968 [L2614,T35,P3] PRESENT LONG_SPEED_KM,A971 [L3124,T40,P5] PRIO 5 t [L2182,T33,P3] A807 [L3124,T40,P1] A1161 f [L2181,T33,P3] EXIT AC_20,A804 [L2180,T33,P3] PRESENT LONG_SPEED_KM,A807 t [L2793,T35,P3] A965 [L627,T14,P1] A223 [L2793,T35,P3] GOTO A964 i [L790,T20,P5] EMIT ACC_FILT [L790,T20,P5] A281 d i i i [L1057,T23,P3] A374 [L2359,T33,P3] A801 [L2359,T33,P3] GOTO A800 f [L1055,T23,P3] PRESENT LONG_SPEED_KM,A374 [L1056,T23,P3] EXIT AC_10,A371 t [L1443,T25,P3] A530 [L1822,T27,P3] SETV LONG_ACC_DER_MOT_REAR,CONTROL_VALUE_4 i f [L1441,T25,P3] PRESENT LONG_SPEED_KM,A530 t [L1442,T25,P3] EXIT AC_14,A527 [L1821,T27,P3] EMIT LONG_ACC_DER_MOT_REAR [L3034,T36,P3] A1043 [L752,T19,P1] LOAD SPEED_VAL_3,#0 i [L1041,T22,P3] A290 [L4407,T54,P2] PRESENT LONG_ACC_DER_MOT_REAR,A1652 t s RESET [L2807,T36,P1/3] PAUSE f [L751,T19,P1] LOAD SPEED_VAL_2,#0 [L1041,T22,P3] GOTO A289 f [L1620,T25,P3] A524 f [L2808,T36,P3] PRESENT LONG_SPEED_KM,A1049 [L625,T14,P3] PRESENT ERR_PAR,A223 [L4407,T54,P2] A1651 [L1620,T25,P3] GOTO A523 [L4406,T54,P2] EXIT AC_50,A1642 [L4429,T54,P2] AC_50 t [L626,T14,P3] EXIT AWAIT_CASE_2,A219 [L1234,T23,P3] A368 [L4431,T54,P2] LOAD CTRL_2_VAL_0,?LONG_ACC_MOT_REAR [L1234,T23,P3] GOTO A367 [L622,T14,P3] EXIT AWAIT_CASE_2,A219 [L4432,T54,P2] EXIT AWAIT_CASE_21,A1639 [L4329,T53,P2] LOAD CTRL_2_VAL,?LONG_ACC_MOT_FRONT [L4330,T53,P2] EXIT AWAIT_CASE_20,A1598 [L3264,T41,P4] A1199 f [L3257,T41,P4] JW G,A1199 [L1250,T24,P3] A452 t [L3258,T41,P4] EMIT CORR_ERR i t [L4327,T53,P2] AC_42 f [L4304,T53,P2] EXIT AC_42,A1601 [L4305,T53,P2] A1610 f [L4305,T53,P2] PRESENT LONG_ACC_DER_MOT_FRONT,A1611 t [L1248,T24,P3] PRESENT LONG_SPEED_KM,A452 [L1249,T24,P3] EXIT AC_12,A449 t [L1628,T26,P3] EMIT LONG_ACC_DER_MOT_FRONT [L1629,T26,P3] SETV LONG_ACC_DER_MOT_FRONT,CONTROL_VALUE_3 i i [L1427,T24,P3] GOTO A445 [L1427,T24,P3] A446 [L4388,T54,P2] LOAD CTRL_3_VAL_0,#0 [L4389,T54,P2] LOAD CTRL_4_VAL_0,#0 [L4287,T53,P2] LOAD CTRL_4_VAL,#0 [L4286,T53,P2] LOAD CTRL_3_VAL,#0 [L4270,T51,P3] GOTO A1509 [L4270,T51,P3] A1510 [L4091,T51,P3] PRESENT LONG_SPEED_KM,A1516 [L4092,T51,P3] EXIT AC_38,A1513 t [L4093,T51,P3] A1516 f [L3676,T43,P3] A1313 [L3676,T43,P3] A1315 [L3899,T50,P3] EXIT AC_36,A1435 [L4077,T50,P3] A1432 [L4077,T50,P3] GOTO A1431 [L3898,T50,P3] PRESENT LONG_SPEED_KM,A1438 t [L3900,T50,P3] A1438 f i [L3843,T48,P4] EMIT SPEED_FILT [L3843,T48,P4] A1420 i [L4808,T58,P1] A1592 [L4926,T59,P1] A1593 [L3879,T49,P1/1] PAUSE [L3880,T49,P1] GOTO A1430 s [L3813,T47,P1] LOAD R0,REG39 [L3812,T47,P1] MUL REG39,TIME_ANG RESET [L3862,T49,P1] A1398 [L3883,T49,P1] A1424 [L244,T3,P3] ADD VBAT_OUT_TIME,#1 [L245,T3,P3] CMPS RECOVERY_STATE,#1 [L3882,T49,P1] GOTO A1425 [L2114,T31,P1] PRIO 1 [L502,T11,P1] A172 [L502,T11,P1] LOAD SPEED_VALUE_0,#0 [L2113,T31,P4] SETV ACC_FREQ_LOW,FILT_VAL_0_0 i i t [L2376,T34,P3] PRESENT ACC_FREQ_LOW,A886 f [L2376,T34,P3] A885 [L2600,T34,P3] GOTO A878 [L2360,T34,P3] A878 t [L2616,T35,P3] PRESENT VER_ACC_FREQ_MED,A972 [L2617,T35,P3] EXIT AC_25,A969 [L2183,T33,P3] EXIT AC_21,A805 [L2182,T33,P3] PRESENT ACC_FREQ_LOW,A808 f [L2618,T35,P1] A972 t [L2184,T33,P1] A808 f [L2375,T34,P3] EXIT AC_22,A882 [L2450,T34,P3] AC_22 [L3483,T42,P3] EXIT AWAIT_CASE_14,A1207 [L865,T22,P3] EXIT AC_9,A294 [L916,T22,P3] AC_8 [L3484,T42,P3] AWAIT_CASE_14 [L864,T22,P3] PRESENT ACC_FILT,A297 t [L866,T22,P1] A297 f [L627,T14,P1] PRIO 1 [L792,T20,P1] PRIO 1 [L2668,T35,P3] AC_24 [L1058,T23,P3] EXIT AC_11,A372 [L2234,T33,P3] AC_20 [L843,T21,P1/4] PAUSE s ACC_FILT s [L791,T20,P5] SETV ACC_FILT,FILT_VAL_0 i i d RESET i i [L2601,T35,P3] LOAD CURRENT_VALUE_7,#0 i [L1444,T25,P3] EXIT AC_15,A528 t [L2601,T35,P3] A964 t [L1057,T23,P3] PRESENT ACC_FILT,A375 [L2810,T36,P3] PRESENT VER_ACC_FREQ_MED,A1050 f f [L1443,T25,P3] PRESENT ACC_FILT,A531 [L1059,T23,P1] A375 t [L2167,T33,P3] LOAD CURRENT_VALUE_5,#0 [L2167,T33,P3] A800 f [L1109,T23,P3] AC_10 [L1445,T25,P1] A531 [L1824,T27,P1] LOAD OLD_VALUE_5,CURRENT_VALUE_4 [L1823,T27,P1] PRIO 1 [L2794,T36,P3] A1042 [L1495,T25,P3] AC_14 [L4427,T54,P2] AC_51 [L3034,T36,P3] GOTO A1042 [L4408,T54,P2] EXIT AC_51,A1643 [L2810,T36,P3] A1049 [L753,T19,P1] LOAD SPEED_VAL_4,#0 [L754,T19,P1] LOAD SPEED_VAL_5,#0 [L4409,T54,P2] PRESENT VER_ACC_LOW_MOT_REAR,A1653 [L4409,T54,P2] A1652 t [L4429,T54,P2] LOAD CTRL_3_VAL_0,?LONG_DECC_MOT_REAR [L4430,T54,P2] EXIT AWAIT_CASE_21,A1639 f [L1251,T24,P3] EXIT AC_13,A450 [L1252,T24,P1] A453 t [L1250,T24,P3] PRESENT ACC_FILT,A453 f [L849,T22,P3] LOAD CURRENT_VALUE,#0 [L849,T22,P3] A289 [L1814,T27,P3] A268 [L1428,T25,P3] A523 [L1428,T25,P3] LOAD CURRENT_VALUE_2,#0 [L629,T14,P3] AWAIT_CASE_2 [L3265,T41,P4] LOAD TIME_KT,#0 [L1042,T23,P3] A367 [L3264,T41,P4] LOAD ZVOL_KT,ZVOL [L629,T14,P3] EMIT LONG_SPEED_ERR i [L1042,T23,P3] LOAD CURRENT_VALUE_0,#0 [L4307,T53,P2] PRESENT VER_ACC_LOW_MOT_FRONT,A1612 f t [L4307,T53,P2] A1611 [L3259,T41,P1] A1200 [L3761,T45,P3] PRESENT CORR_ERR,A1394 [L3763,T45,P3] A1394 [L3259,T41,P1] PRIO 1 f [L2809,T36,P3] EXIT AC_26,A1046 t [L3762,T45,P3] EXIT AWAIT_CASE_17,A1391 [L2884,T36,P3] AC_26 [L4328,T53,P2] EXIT AWAIT_CASE_20,A1598 [L4327,T53,P2] LOAD CTRL_3_VAL,?LONG_DECC_MOT_FRONT [L4306,T53,P2] EXIT AC_43,A1602 [L4325,T53,P2] AC_43 [L1302,T24,P3] AC_12 [L4391,T54,P2] LOAD CTRL_6_VAL_0,#0 [L1630,T26,P1] PRIO 1 [L1631,T26,P1] LOAD OLD_VALUE_4,CURRENT_VALUE_3 [L1235,T24,P3] A445 [L4390,T54,P2] LOAD CTRL_5_VAL_0,#0 [L1235,T24,P3] LOAD CURRENT_VALUE_1,#0 [L4288,T53,P2] LOAD CTRL_5_VAL,#0 [L4289,T53,P2] LOAD CTRL_6_VAL,#0 [L4078,T51,P3] A1509 [L4145,T51,P3] AC_38 [L4078,T51,P3] LOAD CURRENT_VALUE_12,#0 [L3676,T43,P3] EXIT AWAIT_CASE_15,A1285 [L3677,T43,P3] AWAIT_CASE_15 [L3885,T50,P3] LOAD CURRENT_VALUE_11,#0 [L3952,T50,P3] AC_36 [L3885,T50,P3] A1431 [L4095,T51,P1] A1517 [L4093,T51,P3] PRESENT SPEED_FILT,A1517 [L1621,T26,P3] A267 f [L3902,T50,P1] A1439 f t [L4094,T51,P3] EXIT AC_39,A1514 [L3900,T50,P3] PRESENT SPEED_FILT,A1439 [L3901,T50,P3] EXIT AC_37,A1436 t [L3844,T48,P4] SETV SPEED_FILT,FILT_VAL_3 i i [L3845,T48,P1] PRIO 1 [L3815,T47,P1] CALL DIV f [L3814,T47,P1] LOAD R1,#9221311 [L248,T3,P3] A96 f [L3884,T49,P1] GOTO A1423 [L246,T3,P3] JW EE,A96 [L247,T3,P3] GOTO A95 t [L3883,T49,P1] PRIO 1 [L265,T3,P3] LOAD VBAT_OUT_TIME,#0 [L2123,T31,P1] GOTO A794 [L2116,T31,P1] LOAD VAL_1,VAL_0_0 [L2115,T31,P1] LOAD VAL_2,VAL_1 [L2380,T34,P3] AC_23 [L2620,T35,P3] LOAD CURRENT_VALUE_7,?VER_ACC_FREQ_MED [L2377,T34,P3] EXIT AC_23,A883 [L503,T11,P1] LOAD ACC_VALUE,#0 [L504,T11,P1] LOAD ACC_OUT_TIME,#0 [L2186,T33,P3] LOAD CURRENT_VALUE_5,?ACC_FREQ_LOW [L2378,T34,P1] A886 [L2378,T34,P1] PRIO 1 [L2620,T35,P3] AC_25 [L2186,T33,P3] AC_21 [L2360,T34,P3] LOAD CURRENT_VALUE_6,#0 [L2361,T34,P3] LOAD OLD_VALUE_7,#0 [L2618,T35,P1] PRIO 1 [L2619,T35,P1] GOTO A970 [L868,T22,P3] LOAD CURRENT_VALUE,?ACC_FILT [L868,T22,P3] AC_9 [L2185,T33,P1] GOTO A806 [L2184,T33,P1] PRIO 1 [L794,T20,P1] A283 [L866,T22,P1] PRIO 1 [L3484,T42,P3] GOTO A1206 [L867,T22,P1] GOTO A295 [L793,T20,P1] ABORT ACC,A282 [L628,T14,P1] GOTO A220 [L1061,T23,P3] LOAD CURRENT_VALUE_0,?ACC_FILT [L1061,T23,P3] AC_11 [L1447,T25,P3] LOAD CURRENT_VALUE_2,?ACC_FILT [L846,T21,P4] A287 [L1447,T25,P3] AC_15 [L848,T21,P4] A285 [L846,T21,P4] LOAD ACC_VALUE_0_0,?ACC_FILT [L2814,T36,P3] AC_27 [L2811,T36,P3] EXIT AC_27,A1047 [L848,T21,P4] GOTO A284 [L2602,T35,P3] LOAD OLD_VALUE_8,#0 [L2603,T35,P3] LOAD CONTROL_VALUE_7,#0 [L1825,T27,P1] A683 [L2812,T36,P1] A1050 [L2812,T36,P1] PRIO 1 [L1254,T24,P3] LOAD CURRENT_VALUE_1,?ACC_FILT [L2168,T33,P3] LOAD OLD_VALUE_6,#0 [L1825,T27,P1] A682 [L2169,T33,P3] LOAD CONTROL_VALUE_5,#0 [L1059,T23,P1] PRIO 1 [L1445,T25,P1] PRIO 1 [L2794,T36,P3] LOAD CURRENT_VALUE_8,#0 [L2795,T36,P3] LOAD OLD_VALUE_9,#0 [L4428,T54,P2] EXIT AWAIT_CASE_21,A1639 [L4427,T54,P2] LOAD CTRL_4_VAL_0,?LONG_ACC_DER_MOT_REAR [L631,T14,P1] GOTO A218 [L3300,T42,P3] A1206 [L1060,T23,P1] GOTO A373 [L1446,T25,P1] GOTO A529 [L755,T19,P1] LOAD SPEED_VAL_6,#0 [L4425,T54,P2] AC_52 [L756,T19,P1] LOAD SPEED_VAL_7,#0 [L1254,T24,P3] AC_13 [L4410,T54,P2] EXIT AC_52,A1644 [L4411,T54,P2] A1653 [L851,T22,P3] LOAD CONTROL_VALUE,#0 [L850,T22,P3] LOAD OLD_VALUE_0,#0 [L1252,T24,P1] PRIO 1 [L1430,T25,P3] LOAD CONTROL_VALUE_2,#0 [L1429,T25,P3] LOAD OLD_VALUE_3,#0 [L3266,T41,P4] ADD TIME_3,#1 [L3266,T41,P4] A1198 [L630,T14,P1] PRIO 1 t [L4411,T54,P2] PRESENT VER_ACC_MED_MOT_REAR,A1654 [L1043,T23,P3] LOAD OLD_VALUE_1,#0 [L1044,T23,P3] LOAD CONTROL_VALUE_0,#0 f t [L4309,T53,P2] PRESENT VER_ACC_MED_MOT_FRONT,A1613 f [L4309,T53,P2] A1612 [L4323,T53,P2] AC_44 [L4308,T53,P2] EXIT AC_44,A1603 [L1253,T24,P1] GOTO A451 [L3763,T45,P3] PRESENT DIAG_ERR,A1395 f [L3765,T45,P1] A1395 [L3764,T45,P3] EXIT AWAIT_CASE_17,A1391 [L3260,T41,P4] PRIO 4 t RESET s [L3261,T41,P1/4] PAUSE [L4326,T53,P2] EXIT AWAIT_CASE_20,A1598 [L4325,T53,P2] LOAD CTRL_4_VAL,?LONG_ACC_DER_MOT_FRONT [L4392,T54,P2] LOAD CTRL_7_VAL_0,#0 [L4393,T54,P2] LOAD CTRL_8_VAL_0,#0 [L1632,T26,P1] A605 [L1632,T26,P1] A604 t [L4503,T55,P2] EXIT AC_56,A1681 [L4502,T55,P2] PRESENT LONG_SPEED_ERR,A1691 [L4504,T55,P2] A1691 f [L1236,T24,P3] LOAD OLD_VALUE_2,#0 [L1237,T24,P3] LOAD CONTROL_VALUE_1,#0 [L4290,T53,P2] LOAD CTRL_7_VAL,#0 [L4291,T53,P2] LOAD CTRL_8_VAL,#0 [L4080,T51,P3] LOAD CONTROL_VALUE_12,#0 [L4079,T51,P3] LOAD OLD_VALUE_13,#0 [L3493,T43,P3] A1284 [L3677,T43,P3] GOTO A1284 [L3887,T50,P3] LOAD CONTROL_VALUE_11,#0 [L3486,T43,P3] A1131 [L3886,T50,P3] LOAD OLD_VALUE_12,#0 [L4096,T51,P1] GOTO A1515 [L3903,T50,P1] GOTO A1437 [L4095,T51,P1] PRIO 1 [L3902,T50,P1] PRIO 1 [L4097,T51,P3] AC_39 [L4097,T51,P3] LOAD CURRENT_VALUE_12,?SPEED_FILT [L3904,T50,P3] AC_37 [L3904,T50,P3] LOAD CURRENT_VALUE_11,?SPEED_FILT [L3846,T48,P1] ABORT SPEED,A1421 [L3847,T48,P1] A1422 [L3808,T47,P1] GOTO A1413 [L3817,T47,P1] LOAD SPEED_VALUE_17,REG39 [L3816,T47,P1] LOAD REG39,R0 [L249,T3,P3] JW GE,A95 [L248,T3,P3] CMPS VBAT_OUT_TIME,#10 t [L3862,T49,P1] A1423 [L3862,T49,P1] LOAD NUM_SPEED_VAL_OUT,#0 f [L266,T3,P3] CMPS RECOVERY_STATE,#1 [L282,T3,P1] EXIT AWAIT_CASE_0,A81 [L2118,T31,P1] LOAD FILT_VAL_1,FILT_VAL_0_0 [L2381,T34,P3] CMPS CURRENT_VALUE_6,OLD_VALUE_7 [L2117,T31,P1] LOAD FILT_VAL_2,FILT_VAL_1 [L2380,T34,P3] LOAD CURRENT_VALUE_6,?ACC_FREQ_LOW [L2814,T36,P3] LOAD CURRENT_VALUE_8,?VER_ACC_FREQ_MED [L2815,T36,P3] CMPS CURRENT_VALUE_8,OLD_VALUE_9 [L2621,T35,P3] CMPS CURRENT_VALUE_7,OLD_VALUE_8 RESET f [L2622,T35,P3] JW L,A973 t [L549,T11,P1] GOTO A174 [L506,T11,P1] LOAD ABNORM_NUM,#0 [L505,T11,P1] LOAD ACC_OUT_ERR_NUM,#0 t [L870,T22,P3] JW L,A298 f [L2187,T33,P3] CMPS CURRENT_VALUE_5,OLD_VALUE_6 f [L2188,T33,P3] JW L,A809 t [L2379,T34,P1] GOTO A884 [L869,T22,P3] CMPS CURRENT_VALUE,OLD_VALUE_0 [L2362,T34,P3] LOAD CONTROL_VALUE_6,#0 [L1063,T23,P3] JW L,A376 f t [L794,T20,P5] PRIO 5 [L2363,T34,P3] LOAD DIRECTION_8,#1 [L1062,T23,P3] CMPS CURRENT_VALUE_0,OLD_VALUE_1 [L619,T14,P1] A219 [L844,T21,P1] PRIO 1 [L619,T14,P1] A218 [L1448,T25,P3] CMPS CURRENT_VALUE_2,OLD_VALUE_3 f t [L1449,T25,P3] JW L,A532 [L847,T21,P4] GOTO A286 [L809,T21,P4] LOAD ACC_VALUE_0_0,#0 [L809,T21,P4] A284 [L2604,T35,P3] LOAD DIRECTION_9,#1 [L2605,T35,P3] LOAD V1_7,#160 [L1825,T27,P1] A684 [L1825,T27,P1] A685 [L1255,T24,P3] CMPS CURRENT_VALUE_1,OLD_VALUE_2 t [L1256,T24,P3] JW L,A454 f [L2170,T33,P3] LOAD DIRECTION_7,#1 [L2171,T33,P3] LOAD V1_5,#176 [L2813,T36,P1] GOTO A1048 [L2796,T36,P3] LOAD CONTROL_VALUE_8,#0 [L2797,T36,P3] LOAD DIRECTION_10,#1 [L4425,T54,P2] LOAD CTRL_5_VAL_0,?VER_ACC_LOW_MOT_REAR [L4426,T54,P2] EXIT AWAIT_CASE_21,A1639 [L757,T19,P1] LOAD SPEED_VAL_8,#0 [L758,T19,P1] ABORT RESET,A271 [L3301,T42,P3] SETV STEER_ANG_MOT_FRONT,CONTROL_VALUE_9 [L3300,T42,P3] EMIT STEER_ANG_MOT_FRONT i i [L852,T22,P3] LOAD DIRECTION_1,#1 [L853,T22,P3] LOAD V1,#34800 [L3267,T41,P4] CMPS TIME_3,T_K [L3268,T41,P4] JW EE,A1201 t [L1432,T25,P3] LOAD V1_2,#30933 [L1431,T25,P3] LOAD DIRECTION_4,#1 [L4412,T54,P2] EXIT AC_53,A1645 [L4423,T54,P2] AC_53 [L4310,T53,P2] EXIT AC_45,A1604 [L4321,T53,P2] AC_45 [L1046,T23,P3] LOAD V1_0,#34996 [L1045,T23,P3] LOAD DIRECTION_2,#1 [L4311,T53,P2] PRESENT STEER_ANG_MOT_FRONT,A1614 [L4311,T53,P2] A1613 [L4413,T54,P2] A1654 t [L4323,T53,P2] LOAD CTRL_5_VAL,?VER_ACC_LOW_MOT_FRONT [L4324,T53,P2] EXIT AWAIT_CASE_20,A1598 f [L3765,T45,P1] PRIO 1 [L3766,T45,P1] GOTO A1392 [L3263,T41,P1] GOTO A1200 [L3262,T41,P1] PRIO 1 [L3767,T45,P3] AWAIT_CASE_17 [L3767,T45,P3] EMIT STEER_ANG_ERR [L3292,T41,P4] A1186 i t [L4413,T54,P2] PRESENT STEER_ANG_MOT_REAR,A1655 f [L3292,T41,P4] GOTO A1185 [L3493,T43,P3] EMIT STEER_ANG_MOT_REAR [L3494,T43,P3] SETV STEER_ANG_MOT_REAR,CONTROL_VALUE_10 i i [L4395,T54,P2] ABORT RESET,A1637 [L4394,T54,P2] LOAD CTRL_VAL_0,#0 [L1632,T26,P1] A606 [L1632,T26,P1] A607 [L4541,T55,P2] LOAD LONG_SPEED_ERR_VALUE,#2 [L4541,T55,P2] AC_56 [L4292,T53,P2] LOAD CTRL_VAL,#0 [L4293,T53,P2] ABORT RESET,A1596 [L4505,T55,P2] EXIT AC_57,A1682 [L4504,T55,P2] PRESENT VER_ACC_ERR,A1692 t [L4506,T55,P2] A1692 [L1238,T24,P3] LOAD DIRECTION_3,#1 f [L1239,T24,P3] LOAD V1_1,#30933 [L4081,T51,P3] LOAD DIRECTION_14,#1 [L4082,T51,P3] LOAD V1_12,#63755 [L3889,T50,P3] LOAD V1_11,#63755 [L3888,T50,P3] LOAD DIRECTION_13,#1 [L4098,T51,P3] CMPS CURRENT_VALUE_12,OLD_VALUE_13 [L4099,T51,P3] JW L,A1518 f t [L3905,T50,P3] CMPS CURRENT_VALUE_11,OLD_VALUE_12 f [L3906,T50,P3] JW L,A1440 t [L3847,T48,P4] PRIO 4 [L3819,T47,P1] A1413 [L3818,T47,P1] LOAD TIME_ANG,#0 [L250,T3,P3] LOAD RECOVERY_STATE,#1 [L3864,T49,P1] ABORT RESET,A1424 [L3863,T49,P1] LOAD SPEED_VALUE_18,#0 [L255,T3,P3] A95 [L3869,T49,P1] GOTO A1427 [L255,T3,P3] CMPS RECOVERY_STATE,#1 [L2119,T31,P1] ABORT ACC_0,A793 [L2120,T31,P1] A794 [L2385,T34,P3] A887 [L2383,T34,P3] LOAD DIRECTION_8,#0 [L2382,T34,P3] JW L,A887 f t [L2819,T36,P3] A1051 t [L2817,T36,P3] LOAD DIRECTION_10,#0 [L2816,T36,P3] JW L,A1051 f [L2625,T35,P3] A973 [L2625,T35,P3] CMPS CURRENT_VALUE_7,OLD_VALUE_8 [L2623,T35,P3] LOAD DIRECTION_9,#0 [L2624,T35,P3] GOTO A974 [L508,T11,P1] A174 [L507,T11,P1] ABORT RESET,A173 [L871,T22,P3] LOAD DIRECTION_1,#0 [L873,T22,P3] CMPS CURRENT_VALUE,OLD_VALUE_0 [L873,T22,P3] A298 [L2191,T33,P3] CMPS CURRENT_VALUE_5,OLD_VALUE_6 [L2191,T33,P3] A809 [L2189,T33,P3] LOAD DIRECTION_7,#0 [L1066,T23,P3] CMPS CURRENT_VALUE_0,OLD_VALUE_1 [L1066,T23,P3] A376 [L1064,T23,P3] LOAD DIRECTION_2,#0 [L1065,T23,P3] GOTO A377 [L2364,T34,P3] LOAD V1_6,#176 [L2365,T34,P3] LOAD V2_6,#192 [L619,T14,P3] PRIO 3 [L619,T14,P1] A220 [L1450,T25,P3] LOAD DIRECTION_4,#0 [L1451,T25,P3] GOTO A533 [L1452,T25,P3] CMPS CURRENT_VALUE_2,OLD_VALUE_3 [L1452,T25,P3] A532 [L811,T21,P4] LOAD ACC_VALUE_2,#0 [L810,T21,P4] LOAD ACC_VALUE_1,#0 [L2607,T35,P3] ABORT RESET,A965 [L2606,T35,P3] LOAD V2_7,#180 [L1825,T27,P3] PRIO 3 [L1826,T27,P1/3] PAUSE s [L1257,T24,P3] LOAD DIRECTION_3,#0 [L1259,T24,P3] CMPS CURRENT_VALUE_1,OLD_VALUE_2 [L1259,T24,P3] A454 RESET [L2172,T33,P3] LOAD V2_5,#192 [L2173,T33,P3] ABORT RESET,A801 [L3303,T42,P1] LOAD OLD_VALUE_10,CURRENT_VALUE_9 [L2799,T36,P3] LOAD V2_8,#180 [L2798,T36,P3] LOAD V1_8,#160 [L3302,T42,P1] PRIO 1 [L854,T22,P3] LOAD V2,#35324 [L855,T22,P3] ABORT RESET,A290 [L3269,T41,P4] CMPS ZVOL,MIN_CORR_K [L4319,T53,P2] AC_46 t [L3270,T41,P4] JW G,A1202 [L1433,T25,P3] LOAD V2_2,#30081 [L1434,T25,P3] ABORT RESET,A524 [L4423,T54,P2] LOAD CTRL_6_VAL_0,?VER_ACC_MED_MOT_REAR [L4424,T54,P2] EXIT AWAIT_CASE_21,A1639 [L4321,T53,P2] LOAD CTRL_6_VAL,?VER_ACC_MED_MOT_FRONT [L4312,T53,P2] EXIT AC_46,A1605 [L4322,T53,P2] EXIT AWAIT_CASE_20,A1598 [L1047,T23,P3] LOAD V2_0,#35717 [L1048,T23,P3] ABORT RESET,A368 [L4313,T53,P2] A1614 [L3769,T45,P1] GOTO A1390 [L3768,T45,P1] PRIO 1 [L4414,T54,P2] EXIT AC_54,A1646 [L4421,T54,P2] AC_54 [L4415,T54,P2] PRESENT STEER_SPEED_MOT_REAR,A1656 [L4415,T54,P2] A1655 t f [L4313,T53,P2] PRESENT STEER_SPEED_MOT_FRONT,A1615 f t [L3209,T41,P4] LOAD ANG_CORR_VALUE,#0 [L3209,T41,P4] A1185 [L3496,T43,P1] LOAD OLD_VALUE_11,CURRENT_VALUE_10 [L3495,T43,P1] PRIO 1 [L1632,T26,P3] PRIO 3 [L1633,T26,P1/3] PAUSE s [L4542,T55,P2] EXIT AWAIT_CASE_22,A1680 [L4539,T55,P2] LOAD VER_ACC_ERR_VALUE,#2 [L4539,T55,P2] AC_57 [L4506,T55,P2] PRESENT STEER_ANG_ERR,A1693 [L4507,T55,P2] EXIT AC_58,A1683 t RESET [L4508,T55,P2] A1693 f [L1240,T24,P3] LOAD V2_1,#30081 [L1241,T24,P3] ABORT RESET,A446 [L4084,T51,P3] ABORT RESET,A1510 [L4083,T51,P3] LOAD V2_12,#63755 [L3890,T50,P3] LOAD V2_11,#63755 [L3891,T50,P3] ABORT RESET,A1432 [L4102,T51,P3] CMPS CURRENT_VALUE_12,OLD_VALUE_13 [L4102,T51,P3] A1518 [L4100,T51,P3] LOAD DIRECTION_14,#0 [L3909,T50,P3] A1440 [L3909,T50,P3] CMPS CURRENT_VALUE_11,OLD_VALUE_12 [L3907,T50,P3] LOAD DIRECTION_13,#0 [L3820,T47,P1] A1412 [L3819,T47,P1] LOAD STEER1_VAL_OLD,STEER1_VAL [L251,T3,P3] EMIT BAT_MOT_HARD [L3865,T49,P1] ABORT SPEED,A1426 i [L3865,T49,P1] A1425 [L252,T3,P1] PRIO 1 [L257,T3,P3] CMPS VBAT_OUT_TIME,#1250 t [L256,T3,P3] JW EE,A98 f [L2120,T31,P4] PRIO 4 [L2385,T34,P3] CMPS CURRENT_VALUE_6,OLD_VALUE_7 [L2386,T34,P3] JW G,A889 t [L2384,T34,P3] GOTO A888 [L2819,T36,P3] CMPS CURRENT_VALUE_8,OLD_VALUE_9 t [L2820,T36,P3] JW G,A1053 [L2627,T35,P3] LOAD DIRECTION_9,#1 f t [L2626,T35,P3] JW G,A975 [L508,T11,P1] A176 [L508,T11,P1] A175 [L872,T22,P3] GOTO A299 f [L874,T22,P3] JW G,A300 [L875,T22,P3] LOAD DIRECTION_1,#1 t [L2193,T33,P3] LOAD DIRECTION_7,#1 t [L2192,T33,P3] JW G,A811 [L2190,T33,P3] GOTO A810 f [L1068,T23,P3] LOAD DIRECTION_2,#1 f [L1067,T23,P3] JW G,A378 t [L2366,T34,P3] LOAD D,#45 [L2367,T34,P3] ABORT RESET,A879 [L620,T14,P1/3] PAUSE [L1828,T27,P3] EXIT AC_18,A683 [L1827,T27,P3] PRESENT LONG_SPEED_KM,A686 t f [L3304,T42,P1] A1207 [L3304,T42,P1] A1208 [L1453,T25,P3] JW G,A534 [L1454,T25,P3] LOAD DIRECTION_4,#1 t f [L812,T21,P4] LOAD ACC_VALUE_3,#0 [L813,T21,P4] LOAD ACC_VALUE_4,#0 [L1258,T24,P3] GOTO A455 [L1261,T24,P3] LOAD DIRECTION_3,#1 t [L1260,T24,P3] JW G,A456 f [L2006,T27,P3] A680 [L2006,T27,P3] GOTO A679 [L2800,T36,P3] LOAD D_0,#45 [L2801,T36,P3] ABORT RESET,A1043 [L4319,T53,P2] LOAD CTRL_7_VAL,?STEER_ANG_MOT_FRONT [L4320,T53,P2] EXIT AWAIT_CASE_20,A1598 [L3272,T41,P4] LOAD ZVOL_KT,#0 f [L3271,T41,P4] ADD ZVOLM,ZVOL [L4422,T54,P2] EXIT AWAIT_CASE_21,A1639 [L3757,T45,P1] A1390 [L3757,T45,P1] A1391 [L4421,T54,P2] LOAD CTRL_7_VAL_0,?STEER_ANG_MOT_REAR [L4419,T54,P2] AC_55 [L4416,T54,P2] EXIT AC_55,A1647 [L4417,T54,P1] A1656 [L4417,T54,P1] PRIO 1 [L4315,T53,P1] A1615 [L4315,T53,P1] PRIO 1 [L4317,T53,P2] AC_47 [L4314,T53,P2] EXIT AC_47,A1606 [L3210,T41,P4] LOAD SPEED_VALUE_OLD,#0 [L3211,T41,P4] LOAD SPEED_VALUE_13,#0 [L3497,T43,P1] A1285 [L1634,T26,P3] PRESENT LONG_SPEED_KM,A608 [L3497,T43,P1] A1286 [L4537,T55,P2] LOAD STEER_ANG_ERR_VALUE,#2 [L4537,T55,P2] AC_58 t [L1635,T26,P3] EXIT AC_16,A605 [L1813,T26,P3] A602 [L1813,T26,P3] GOTO A601 [L4509,T55,P2] EXIT AC_59,A1684 [L4508,T55,P2] PRESENT STEER_SPEED_ERR,A1694 t [L4510,T55,P2] A1694 f [L4103,T51,P3] JW G,A1520 [L4104,T51,P3] LOAD DIRECTION_14,#1 f [L4101,T51,P3] GOTO A1519 t f [L3911,T50,P3] LOAD DIRECTION_13,#1 [L3910,T50,P3] JW G,A1442 t [L3908,T50,P3] GOTO A1441 [L3820,T47,P1] PRESENT STEER2_SENS,A1415 [L3866,T49,P3] PRIO 3 [L259,T3,P3] EMIT BAT_ERR i [L3866,T49,P1] A1427 [L253,T3,P1] LOAD VBAT_OUT_TIME,#0 [L254,T3,P1] GOTO A97 t f [L258,T3,P3] JW GE,A98 [L263,T3,P1] A98 [L267,T3,P3] JW EE,A100 [L268,T3,P3] EMIT BAT_MOT_RES i t [L2387,T34,P3] LOAD DIRECTION_8,#1 f [L2388,T34,P3] A889 f [L2822,T36,P3] A1053 [L2821,T36,P3] LOAD DIRECTION_10,#1 [L2818,T36,P3] GOTO A1052 s [L509,T11,P1/4] PAUSE [L2628,T35,P3] A975 [L508,T11,P4] PRIO 4 [L2628,T35,P3] A974 [L876,T22,P3] A299 [L876,T22,P3] A300 [L2194,T33,P3] A811 [L2194,T33,P3] A810 [L1069,T23,P3] A377 [L1069,T23,P3] A378 [L1881,T27,P3] AC_18 [L1829,T27,P3] A686 [L1455,T25,P3] A533 [L3304,T42,P1] A1209 [L1455,T25,P3] A534 [L3304,T42,P1] A1210 [L814,T21,P4] LOAD ACC_VALUE_5,#0 [L815,T21,P4] LOAD ACC_VALUE_6,#0 [L1262,T24,P3] A455 [L1262,T24,P3] A456 [L1814,T27,P3] LOAD CURRENT_VALUE_4,#0 [L1814,T27,P3] A679 [L3273,T41,P4] LOAD REG38,#1 [L3273,T41,P4] A1202 [L3757,T45,P3] PRIO 3 [L3757,T45,P1] A1392 [L4420,T54,P2] EXIT AWAIT_CASE_21,A1639 [L4419,T54,P2] LOAD CTRL_8_VAL_0,?STEER_SPEED_MOT_REAR [L4418,T54,P1] GOTO A1648 [L4316,T53,P1] GOTO A1607 [L4317,T53,P2] LOAD CTRL_8_VAL,?STEER_SPEED_MOT_FRONT [L4318,T53,P2] EXIT AWAIT_CASE_20,A1598 [L3213,T41,P4] LOAD ZVOL,#0 [L3212,T41,P4] LOAD ANG_VALUE_0,#0 f [L4540,T55,P2] EXIT AWAIT_CASE_22,A1680 [L4538,T55,P2] EXIT AWAIT_CASE_22,A1680 [L3497,T43,P1] A1287 [L1688,T26,P3] AC_16 [L3497,T43,P1] A1288 [L4535,T55,P2] LOAD STEER_SPEED_ERR_VALUE,#2 [L1621,T26,P3] LOAD CURRENT_VALUE_3,#0 [L1621,T26,P3] A601 [L4535,T55,P2] AC_59 [L4511,T55,P2] EXIT AC_60,A1685 [L4510,T55,P2] PRESENT BAT_ERR,A1695 f [L4512,T55,P2] A1695 t [L4105,T51,P3] A1520 [L4105,T51,P3] A1519 [L3912,T50,P3] A1442 [L3912,T50,P3] A1441 [L260,T3,P1] PRIO 1 [L260,T3,P1] A99 [L263,T3,P1] PRIO 1 [L263,T3,P1] A97 [L269,T3,P1] PRIO 1 [L270,T3,P1] LOAD RECOVERY_STATE,#0 f [L2388,T34,P3] CMPS DIRECTION_8,#1 [L2388,T34,P3] A888 [L2822,T36,P3] CMPS DIRECTION_10,#1 [L2822,T36,P3] A1052 [L510,T11,P4] PRESENT SPEED_OFF,A181 [L512,T11,P4] A181 t [L2628,T35,P3] CMPS DIRECTION_9,#1 [L2629,T35,P3] JW EE,A976 t f [L511,T11,P4] GOTO A178 f [L877,T22,P3] JW EE,A301 t [L876,T22,P3] CMPS DIRECTION_1,#1 f [L2195,T33,P3] JW EE,A812 t f [L2194,T33,P3] CMPS DIRECTION_7,#1 [L1070,T23,P3] JW EE,A379 f [L1069,T23,P3] CMPS DIRECTION_2,#1 t [L845,T21,P1] GOTO A288 f [L1455,T25,P3] CMPS DIRECTION_4,#1 [L1456,T25,P3] JW EE,A535 t [L3304,T42,P3] PRIO 3 [L3305,T42,P1/3] PAUSE s RESET [L816,T21,P4] LOAD ACC_VALUE_7,#0 [L817,T21,P4] LOAD ACC_VALUE_8,#0 [L3293,T42,P3] A1130 [L1262,T24,P3] CMPS DIRECTION_3,#1 [L1263,T24,P3] JW EE,A457 t f [L1815,T27,P3] LOAD OLD_VALUE_5,#0 [L1816,T27,P3] LOAD CONTROL_VALUE_4,#0 [L1636,T26,P3] A608 [L3274,T41,P4] CMPS REG38,#1 [L3275,T41,P4] JW EE,A1203 t f t [L3759,T45,P3] PRESENT CAL_ERR,A1393 [L3758,T45,P1/3] PAUSE t f [L3214,T41,P4] LOAD ZVOL_KT,#0 [L3215,T41,P4] LOAD ZVOLM,#0 s [L3498,T43,P1/3] PAUSE [L3497,T43,P3] PRIO 3 RESET [L1622,T26,P3] LOAD OLD_VALUE_4,#0 [L1623,T26,P3] LOAD CONTROL_VALUE_3,#0 [L4533,T55,P2] LOAD BAT_ERR_VALUE,#2 [L4533,T55,P2] AC_60 [L4513,T55,P2] EXIT AC_61,A1686 [L4512,T55,P2] PRESENT BAT_MOT_HARD,A1696 [L4514,T55,P2] A1696 f t [L4106,T51,P3] JW EE,A1521 f [L4105,T51,P3] CMPS DIRECTION_14,#1 t t [L3913,T50,P3] JW EE,A1443 [L3912,T50,P3] CMPS DIRECTION_13,#1 f [L261,T3,P1/1] PAUSE [L262,T3,P1] GOTO A99 s [L264,T3,P1] GOTO A94 [L271,T3,P1] A100 [L271,T3,P1] A94 RESET [L284,T3,P1] A79 [L2390,T34,P3] CMPS CURRENT_VALUE_6,V1_6 t [L2418,T34,P3] A890 [L2389,T34,P3] JW EE,A890 f [L2824,T36,P3] CMPS CURRENT_VALUE_8,V1_8 [L2823,T36,P3] JW EE,A1054 t f [L2852,T36,P3] A1054 f [L2630,T35,P3] CMPS CURRENT_VALUE_7,V1_7 [L2631,T35,P3] JW L,A978 t t [L512,T11,P4] PRESENT SPEED_INST,A180 [L513,T11,P4] GOTO A178 [L514,T11,P4] A180 f [L2640,T35,P3] A976 [L2640,T35,P3] CMPS CURRENT_VALUE_7,V2_7 [L878,T22,P3] CMPS CURRENT_VALUE,V1 f [L879,T22,P3] JW L,A303 t [L888,T22,P3] A301 [L888,T22,P3] CMPS CURRENT_VALUE,V2 [L2196,T33,P3] CMPS CURRENT_VALUE_5,V1_5 [L2197,T33,P3] JW L,A814 t [L2206,T33,P3] A812 [L2206,T33,P3] CMPS CURRENT_VALUE_5,V2_5 f [L3307,T42,P3] EXIT AC_28,A1208 [L1081,T23,P3] CMPS CURRENT_VALUE_0,V2_0 [L1081,T23,P3] A379 [L1071,T23,P3] CMPS CURRENT_VALUE_0,V1_0 [L1072,T23,P3] JW L,A381 f t t [L3306,T42,P3] PRESENT LONG_SPEED_KM,A1211 [L1467,T25,P3] CMPS CURRENT_VALUE_2,V2_2 [L1467,T25,P3] A535 t [L1457,T25,P3] CMPS CURRENT_VALUE_2,V1_2 [L1458,T25,P3] JW L,A537 f f [L3308,T42,P3] A1211 [L3485,T42,P3] A1205 [L819,T21,P4] LOAD ACC_VALUE_10,#0 [L818,T21,P4] LOAD ACC_VALUE_9,#0 [L3485,T42,P3] GOTO A1204 [L1265,T24,P3] JW L,A459 [L1264,T24,P3] CMPS CURRENT_VALUE_1,V1_1 f t [L1274,T24,P3] A457 [L1274,T24,P3] CMPS CURRENT_VALUE_1,V2_1 [L1817,T27,P3] LOAD DIRECTION_6,#1 [L1818,T27,P3] LOAD V1_4,#39322 t [L3276,T41,P4] CMPS INIT_0,#1 [L3277,T41,P4] JW EE,A1203 RESET [L3760,T45,P3] EXIT AWAIT_CASE_17,A1391 [L3761,T45,P3] A1393 [L3217,T41,P4] LOAD T_K,#7500 [L3216,T41,P4] LOAD K,#5 [L4536,T55,P2] EXIT AWAIT_CASE_22,A1680 [L3678,T43,P3] A1283 [L3678,T43,P3] GOTO A1282 [L3500,T43,P3] EXIT AC_30,A1286 [L3499,T43,P3] PRESENT LONG_SPEED_KM,A1289 t [L3501,T43,P3] A1289 f [L1625,T26,P3] LOAD V1_3,#39322 [L4534,T55,P2] EXIT AWAIT_CASE_22,A1680 [L1624,T26,P3] LOAD DIRECTION_5,#1 [L4531,T55,P2] LOAD BAT_MOT_HARD_VALUE,#2 [L4531,T55,P2] AC_61 [L4516,T55,P2] A1697 [L4514,T55,P2] PRESENT BAT_MOT_RES,A1697 [L4515,T55,P2] EXIT AC_62,A1687 t f [L4108,T51,P3] JW L,A1523 f [L4107,T51,P3] CMPS CURRENT_VALUE_12,V1_12 t [L4117,T51,P3] A1521 [L4117,T51,P3] CMPS CURRENT_VALUE_12,V2_12 [L3914,T50,P3] CMPS CURRENT_VALUE_11,V1_11 [L3915,T50,P3] JW L,A1445 f [L3924,T50,P3] CMPS CURRENT_VALUE_11,V2_11 t [L3924,T50,P3] A1443 [L272,T3,P1] EXIT AWAIT_CASE_0,A81 [L271,T3,P1] PRIO 1 [L284,T3,P1] PRIO 1 [L285,T3,P1] GOTO A78 [L2394,T34,P3] A892 [L2392,T34,P3] LOAD CONTROL_VALUE_6,#0 f [L2391,T34,P3] JW L,A892 t [L2419,T34,P3] JW G,A904 [L2418,T34,P3] CMPS CURRENT_VALUE_6,V2_6 f [L2828,T36,P3] A1056 [L2825,T36,P3] JW L,A1056 t f [L2852,T36,P3] CMPS CURRENT_VALUE_8,V2_8 [L2853,T36,P3] JW G,A1068 t f [L2634,T35,P3] CMPS CURRENT_VALUE_7,V2_7 [L2634,T35,P3] A978 [L2632,T35,P3] LOAD CONTROL_VALUE_7,#0 [L514,T11,P4] PRESENT VER_ACC_FREQ_MED,A179 [L515,T11,P4] GOTO A178 t [L516,T11,P4] A179 f [L2644,T35,P3] A982 [L2641,T35,P3] JW G,A982 f t [L880,T22,P3] LOAD CONTROL_VALUE,#0 [L882,T22,P3] CMPS CURRENT_VALUE,V2 [L882,T22,P3] A303 [L889,T22,P3] JW G,A307 t f [L892,T22,P3] A307 [L2198,T33,P3] LOAD CONTROL_VALUE_5,#0 [L2200,T33,P3] CMPS CURRENT_VALUE_5,V2_5 [L2200,T33,P3] A814 [L2207,T33,P3] JW G,A818 f [L2210,T33,P3] A818 t [L2208,T33,P3] LOAD CONTROL_VALUE_5,#2 [L3360,T42,P3] AC_28 [L1085,T23,P3] A385 [L1082,T23,P3] JW G,A385 [L1075,T23,P3] CMPS CURRENT_VALUE_0,V2_0 f t [L1075,T23,P3] A381 [L1073,T23,P3] LOAD CONTROL_VALUE_0,#0 [L1074,T23,P3] GOTO A382 [L1469,T25,P3] LOAD CONTROL_VALUE_2,#2 t f [L1471,T25,P3] A541 [L1468,T25,P3] JW G,A541 [L1459,T25,P3] LOAD CONTROL_VALUE_2,#0 [L1461,T25,P3] A537 [L1461,T25,P3] CMPS CURRENT_VALUE_2,V2_2 [L820,T21,P4] LOAD ACC_VALUE_11,#0 [L821,T21,P4] LOAD ACC_VALUE_12,#0 [L3293,T42,P3] LOAD CURRENT_VALUE_9,#0 [L3293,T42,P3] A1204 [L1268,T24,P3] CMPS CURRENT_VALUE_1,V2_1 [L1268,T24,P3] A459 [L1266,T24,P3] LOAD CONTROL_VALUE_1,#0 [L1267,T24,P3] GOTO A460 [L1276,T24,P3] LOAD CONTROL_VALUE_1,#2 t [L1275,T24,P3] JW G,A463 [L1278,T24,P3] A463 f [L1820,T27,P3] ABORT RESET,A680 [L1819,T27,P3] LOAD V2_4,#37159 [L3278,T41,P4] LOAD INIT_0,#0 [L3279,T41,P4] LOAD K,#1 f f [L3219,T41,P4] ABORT RESET,A1186 [L3218,T41,P4] LOAD MIN_CORR_K,#384 [L3553,T43,P3] AC_30 [L3486,T43,P3] LOAD CURRENT_VALUE_10,#0 [L3486,T43,P3] A1282 [L1627,T26,P3] ABORT RESET,A602 [L1626,T26,P3] LOAD V2_3,#37159 [L4518,T55,P2] A1698 f [L4517,T55,P2] EXIT AC_63,A1688 [L4532,T55,P2] EXIT AWAIT_CASE_22,A1680 [L4516,T55,P2] PRESENT STEER_SPEED_NO_SOFT,A1698 [L4528,T55,P2] LOAD BAT_ERR_VALUE,#0 t [L4528,T55,P2] AC_62 [L4111,T51,P3] CMPS CURRENT_VALUE_12,V2_12 [L4111,T51,P3] A1523 [L4109,T51,P3] LOAD CONTROL_VALUE_12,#0 [L4121,T51,P3] A1527 f [L4118,T51,P3] JW G,A1527 [L3918,T50,P3] CMPS CURRENT_VALUE_11,V2_11 [L3918,T50,P3] A1445 [L3916,T50,P3] LOAD CONTROL_VALUE_11,#0 [L3925,T50,P3] JW G,A1449 [L3928,T50,P3] A1449 t f [L283,T3,P1] GOTO A80 [L283,T3,P1] AWAIT_CASE_0 [L2394,T34,P3] CMPS CURRENT_VALUE_6,V2_6 t f [L2395,T34,P3] JW L,A894 [L2422,T34,P3] A904 [L2422,T34,P3] CMPS CURRENT_VALUE_6,V1_6 [L2829,T36,P3] JW L,A1058 [L2828,T36,P3] CMPS CURRENT_VALUE_8,V2_8 t f [L2826,T36,P3] LOAD CONTROL_VALUE_8,#0 [L2856,T36,P3] A1068 [L2856,T36,P3] CMPS CURRENT_VALUE_8,V1_8 [L2854,T36,P3] LOAD CONTROL_VALUE_8,#2 [L2635,T35,P3] JW L,A980 [L2638,T35,P3] A980 [L2636,T35,P3] LOAD CONTROL_VALUE_7,#1 f t [L2633,T35,P3] GOTO A979 [L517,T11,P4] A178 [L516,T11,P4] PRESENT CLOCK_24,A177 t [L2645,T35,P3] JW G,A984 [L2644,T35,P3] CMPS CURRENT_VALUE_7,V1_7 f f [L518,T11,P1] A177 [L2642,T35,P3] LOAD CONTROL_VALUE_7,#2 t [L881,T22,P3] GOTO A304 [L884,T22,P3] LOAD CONTROL_VALUE,#1 [L890,T22,P3] LOAD CONTROL_VALUE,#2 f [L886,T22,P3] A305 t [L883,T22,P3] JW L,A305 [L892,T22,P3] CMPS CURRENT_VALUE,V1 [L893,T22,P3] JW G,A309 t f [L2199,T33,P3] GOTO A815 [L2204,T33,P3] A816 f [L2202,T33,P3] LOAD CONTROL_VALUE_5,#1 [L2201,T33,P3] JW L,A816 t [L2210,T33,P3] CMPS CURRENT_VALUE_5,V1_5 [L2211,T33,P3] JW G,A820 f t [L1085,T23,P3] CMPS CURRENT_VALUE_0,V1_0 [L1086,T23,P3] JW G,A387 t f [L1083,T23,P3] LOAD CONTROL_VALUE_0,#2 [L1079,T23,P3] A383 f [L1076,T23,P3] JW L,A383 t [L1077,T23,P3] LOAD CONTROL_VALUE_0,#1 f t [L1472,T25,P3] JW G,A543 [L1471,T25,P3] CMPS CURRENT_VALUE_2,V1_2 [L1463,T25,P3] LOAD CONTROL_VALUE_2,#1 t [L1462,T25,P3] JW L,A539 [L1465,T25,P3] A539 f [L823,T21,P4] A286 [L822,T21,P4] ABORT RESET,A285 [L3294,T42,P3] LOAD OLD_VALUE_10,#0 [L3295,T42,P3] LOAD CONTROL_VALUE_9,#0 [L1270,T24,P3] LOAD CONTROL_VALUE_1,#1 t [L1269,T24,P3] JW L,A461 [L1272,T24,P3] A461 f [L1278,T24,P3] CMPS CURRENT_VALUE_1,V1_1 [L1279,T24,P3] JW G,A465 t f [L3281,T41,P4] LOAD MIN_CORR_K,#128 [L3280,T41,P4] LOAD T_K,#50000 [L3220,T41,P4] A1187 [L3220,T41,P4] EMIT ANG_CORR i i [L3488,T43,P3] LOAD CONTROL_VALUE_10,#0 [L3487,T43,P3] LOAD OLD_VALUE_11,#0 [L4519,T55,P2] EXIT AC_64,A1689 [L4518,T55,P2] PRESENT STEER_ANG_DAMAGE,A1699 [L4524,T55,P2] CMPS STEER_SPEED_ERR_VALUE,#2 t [L4520,T55,P1] A1699 [L4524,T55,P2] AC_63 f [L4529,T55,P2] LOAD BAT_MOT_HARD_VALUE,#0 [L4115,T51,P3] A1525 f [L4113,T51,P3] LOAD CONTROL_VALUE_12,#1 [L4112,T51,P3] JW L,A1525 t [L4121,T51,P3] CMPS CURRENT_VALUE_12,V1_12 [L4122,T51,P3] JW G,A1529 t f [L3922,T50,P3] A1447 t [L3919,T50,P3] JW L,A1447 f [L3920,T50,P3] LOAD CONTROL_VALUE_11,#1 t [L3917,T50,P3] GOTO A1446 [L3926,T50,P3] LOAD CONTROL_VALUE_11,#2 [L3928,T50,P3] CMPS CURRENT_VALUE_11,V1_11 [L3929,T50,P3] JW G,A1451 f t [L2397,T34,P3] JW NE,A896 [L2396,T34,P3] CMPS CONTROL_VALUE_6,#1 t [L2407,T34,P3] CMPS CONTROL_VALUE_6,#2 [L2407,T34,P3] A894 [L2393,T34,P3] GOTO A893 [L2424,T34,P3] CMPS CONTROL_VALUE_6,#1 t t [L2423,T34,P3] JW G,A906 [L2437,T34,P3] A906 f [L2830,T36,P3] CMPS CONTROL_VALUE_8,#1 [L2831,T36,P3] JW NE,A1060 t [L2841,T36,P3] CMPS CONTROL_VALUE_8,#2 [L2841,T36,P3] A1058 f [L2871,T36,P3] A1070 [L2857,T36,P3] JW G,A1070 [L2858,T36,P3] CMPS CONTROL_VALUE_8,#1 [L2638,T35,P3] LOAD CONTROL_VALUE_7,#2 t [L2639,T35,P3] A981 [L2637,T35,P3] GOTO A981 [L520,T11,P4] AWAIT_OP_1 [L517,T11,P4] EXIT AWAIT_OP_1,A175 [L3309,T42,P3] EXIT AC_29,A1209 [L2657,T35,P3] CMPS CONTROL_VALUE_7,#0 [L2657,T35,P3] A984 [L2646,T35,P3] CMPS CONTROL_VALUE_7,#1 [L2647,T35,P3] JW NE,A986 t [L518,T11,P1] PRIO 1 [L519,T11,P1] GOTO A176 [L885,T22,P3] GOTO A306 [L886,T22,P3] LOAD CONTROL_VALUE,#2 [L887,T22,P3] A306 [L895,T22,P3] JW NE,A311 t [L894,T22,P3] CMPS CONTROL_VALUE,#1 [L905,T22,P3] CMPS CONTROL_VALUE,#0 [L905,T22,P3] A309 [L2204,T33,P3] LOAD CONTROL_VALUE_5,#2 [L2205,T33,P3] A817 [L2203,T33,P3] GOTO A817 [L2223,T33,P3] CMPS CONTROL_VALUE_5,#0 [L2223,T33,P3] A820 [L2212,T33,P3] CMPS CONTROL_VALUE_5,#1 [L2209,T33,P3] GOTO A819 [L2213,T33,P3] JW NE,A822 t [L1087,T23,P3] CMPS CONTROL_VALUE_0,#1 t [L1088,T23,P3] JW NE,A389 [L1098,T23,P3] A387 [L1098,T23,P3] CMPS CONTROL_VALUE_0,#0 [L1079,T23,P3] LOAD CONTROL_VALUE_0,#2 [L1080,T23,P3] A384 [L1078,T23,P3] GOTO A384 [L1470,T25,P3] GOTO A542 [L1484,T25,P3] A543 [L1484,T25,P3] CMPS CONTROL_VALUE_2,#0 [L1473,T25,P3] CMPS CONTROL_VALUE_2,#1 t [L1474,T25,P3] JW NE,A545 t [L1464,T25,P3] GOTO A540 [L1460,T25,P3] GOTO A538 [L1466,T25,P3] A540 [L1465,T25,P3] LOAD CONTROL_VALUE_2,#2 [L3310,T42,P1] A1212 [L3308,T42,P3] PRESENT ANG_CORR,A1212 f [L823,T21,P4] LOAD REG25,ACC_VALUE_0_0 [L824,T21,P4] SUB REG25,ACC_VALUE_12 [L3296,T42,P3] LOAD DIRECTION_11,#1 [L3297,T42,P3] LOAD V1_9,#2040 [L1271,T24,P3] GOTO A462 [L1272,T24,P3] LOAD CONTROL_VALUE_1,#2 [L1273,T24,P3] A462 [L1277,T24,P3] GOTO A464 t [L1280,T24,P3] CMPS CONTROL_VALUE_1,#1 [L1281,T24,P3] JW NE,A467 [L1291,T24,P3] CMPS CONTROL_VALUE_1,#0 [L1291,T24,P3] A465 [L3282,T41,P4] LOAD TIME_3,#0 [L3282,T41,P4] A1203 i [L3221,T41,P4] SETV ANG_CORR,ANG_CORR_VALUE [L3222,T41,P1] A1188 i [L4522,T55,P2] LOAD STEER_ANG_DAMAGE_VALUE_0,?STEER_ANG_DAMAGE [L4522,T55,P2] AC_64 [L3490,T43,P3] LOAD V1_10,#2040 [L3489,T43,P3] LOAD DIRECTION_12,#1 [L3502,T43,P3] EXIT AC_31,A1287 [L3501,T43,P3] PRESENT ANG_CORR,A1290 t [L3503,T43,P1] A1290 f [L4526,T55,P2] LOAD STEER_SPEED_ERR_VALUE,#1 [L4525,T55,P2] JW NE,A1700 t f [L4520,T55,P1] PRIO 1 [L4115,T51,P3] LOAD CONTROL_VALUE_12,#2 [L4116,T51,P3] A1526 [L4110,T51,P3] GOTO A1524 [L4124,T51,P3] JW NE,A1531 [L4114,T51,P3] GOTO A1526 t [L4134,T51,P3] CMPS CONTROL_VALUE_12,#0 [L4123,T51,P3] CMPS CONTROL_VALUE_12,#1 [L4119,T51,P3] LOAD CONTROL_VALUE_12,#2 [L4134,T51,P3] A1529 [L3922,T50,P3] LOAD CONTROL_VALUE_11,#2 [L3923,T50,P3] A1448 [L3921,T50,P3] GOTO A1448 t [L3931,T50,P3] JW NE,A1453 [L3930,T50,P3] CMPS CONTROL_VALUE_11,#1 [L3941,T50,P3] CMPS CONTROL_VALUE_11,#0 [L3941,T50,P3] A1451 t [L2399,T34,P3] JW L,A897 [L2398,T34,P3] CMPS OLD_VALUE_7,V1_6 f [L2408,T34,P3] JW NE,A900 t [L2409,T34,P3] CMPS OLD_VALUE_7,V2_6 [L2420,T34,P3] LOAD CONTROL_VALUE_6,#2 [L2426,T34,P3] CMPS OLD_VALUE_7,V2_6 t [L2425,T34,P3] JW NE,A908 [L2437,T34,P3] CMPS CONTROL_VALUE_6,#0 [L2438,T34,P3] JW NE,A912 t [L2832,T36,P3] CMPS OLD_VALUE_9,V1_8 [L2833,T36,P3] JW L,A1061 t f [L2843,T36,P3] CMPS OLD_VALUE_9,V2_8 [L2842,T36,P3] JW NE,A1064 t [L2827,T36,P3] GOTO A1057 t [L2872,T36,P3] JW NE,A1076 [L2871,T36,P3] CMPS CONTROL_VALUE_8,#0 [L2859,T36,P3] JW NE,A1072 t [L2860,T36,P3] CMPS OLD_VALUE_9,V2_8 [L2639,T35,P3] A979 [L2639,T35,P3] GOTO A977 [L520,T11,P4] PRESENT SPEED_INST,A182 [L3312,T42,P3] LOAD CURRENT_VALUE_9,?ANG_CORR [L3312,T42,P3] AC_29 [L2659,T35,P3] CMPS OLD_VALUE_8,V1_7 t [L2658,T35,P3] JW NE,A990 [L2648,T35,P3] CMPS OLD_VALUE_8,V2_7 [L2649,T35,P3] JW G,A987 f t [L887,T22,P3] A304 t [L896,T22,P3] CMPS OLD_VALUE_0,V2 [L897,T22,P3] JW G,A312 f [L906,T22,P3] JW NE,A315 [L907,T22,P3] CMPS OLD_VALUE_0,V1 t [L2205,T33,P3] A815 [L2225,T33,P3] CMPS OLD_VALUE_6,V1_5 [L2224,T33,P3] JW NE,A826 t [L2214,T33,P3] CMPS OLD_VALUE_6,V2_5 [L2215,T33,P3] JW G,A823 t f [L1089,T23,P3] CMPS OLD_VALUE_1,V2_0 f [L1090,T23,P3] JW G,A390 t [L1099,T23,P3] JW NE,A393 [L1100,T23,P3] CMPS OLD_VALUE_1,V1_0 t [L1080,T23,P3] A382 [L1485,T25,P3] JW NE,A549 [L1486,T25,P3] CMPS OLD_VALUE_3,V1_2 t [L1475,T25,P3] CMPS OLD_VALUE_3,V2_2 [L1476,T25,P3] JW G,A546 f t [L1466,T25,P3] A538 [L3311,T42,P1] GOTO A1210 [L3310,T42,P1] PRIO 1 [L825,T21,P4] LOAD ACC_DER_VALUE,REG25 i [L826,T21,P4] EMIT ACC_DER i [L3298,T42,P3] LOAD V2_9,#2040 [L3299,T42,P3] ABORT RESET,A1205 [L1273,T24,P3] A460 [L1273,T24,P3] GOTO A458 [L1283,T24,P3] JW G,A468 [L1282,T24,P3] CMPS OLD_VALUE_2,V2_1 t f [L1293,T24,P3] CMPS OLD_VALUE_2,V1_1 t [L1292,T24,P3] JW NE,A471 [L3283,T41,P4] LOAD R0,ZVOLM [L3283,T41,P4] A1201 [L3222,T41,P1] PRIO 1 [L3222,T41,P1] A1189 [L4523,T55,P2] EXIT AWAIT_CASE_22,A1680 [L3492,T43,P3] ABORT RESET,A1283 [L3491,T43,P3] LOAD V2_10,#2040 [L3505,T43,P3] AC_31 [L3505,T43,P3] LOAD CURRENT_VALUE_10,?ANG_CORR [L3503,T43,P1] PRIO 1 [L3504,T43,P1] GOTO A1288 [L4530,T55,P2] EXIT AWAIT_CASE_22,A1680 [L4527,T55,P2] EXIT AWAIT_CASE_22,A1680 [L4527,T55,P2] A1700 [L4116,T51,P3] A1524 [L4116,T51,P3] GOTO A1522 [L4125,T51,P3] CMPS OLD_VALUE_13,V2_12 f [L4126,T51,P3] JW G,A1532 t [L4136,T51,P3] CMPS OLD_VALUE_13,V1_12 [L4135,T51,P3] JW NE,A1535 t [L3923,T50,P3] A1446 [L3927,T50,P3] GOTO A1450 [L3932,T50,P3] CMPS OLD_VALUE_12,V2_11 [L3933,T50,P3] JW G,A1454 t f [L3942,T50,P3] JW NE,A1457 [L3943,T50,P3] CMPS OLD_VALUE_12,V1_11 t [L2400,T34,P3] LOAD TIME_1,#0 [L2401,T34,P3] GOTO A898 [L2402,T34,P3] ADD TIME_1,#1 [L2402,T34,P3] A897 [L2413,T34,P3] A901 [L2410,T34,P3] JW L,A901 [L2411,T34,P3] LOAD TIME_1,#0 f t [L2430,T34,P3] A909 [L2428,T34,P3] LOAD TIME_1,#0 t f [L2427,T34,P3] JW G,A909 [L2439,T34,P3] CMPS OLD_VALUE_7,V1_6 [L2440,T34,P3] JW G,A913 f t [L2836,T36,P3] A1061 [L2836,T36,P3] ADD TIME_2,#1 [L2834,T36,P3] LOAD TIME_2,#0 [L2847,T36,P3] A1065 [L2844,T36,P3] JW L,A1065 [L2845,T36,P3] LOAD TIME_2,#0 t f [L2873,T36,P3] CMPS OLD_VALUE_9,V1_8 [L2874,T36,P3] JW G,A1077 t [L2864,T36,P3] A1073 f [L2861,T36,P3] JW G,A1073 [L2862,T36,P3] LOAD TIME_2,#0 f t [L3313,T42,P3] CMPS CURRENT_VALUE_9,OLD_VALUE_10 f [L3314,T42,P3] JW L,A1213 t [L2663,T35,P3] A991 [L2660,T35,P3] JW G,A991 [L2661,T35,P3] LOAD TIME2_6,#0 t f [L2652,T35,P3] ADD TIME1_6,#1 [L2652,T35,P3] A987 [L2651,T35,P3] GOTO A988 [L2650,T35,P3] LOAD TIME1_6,#0 [L887,T22,P3] GOTO A302 [L898,T22,P3] LOAD TIME1,#0 [L899,T22,P3] GOTO A313 [L900,T22,P3] ADD TIME1,#1 [L900,T22,P3] A312 [L909,T22,P3] LOAD TIME2,#0 [L908,T22,P3] JW G,A316 t f [L2205,T33,P3] GOTO A813 [L911,T22,P3] A316 [L2227,T33,P3] LOAD TIME2_5,#0 t [L2226,T33,P3] JW G,A827 [L2229,T33,P3] A827 f [L2216,T33,P3] LOAD TIME1_5,#0 [L2217,T33,P3] GOTO A824 [L2218,T33,P3] ADD TIME1_5,#1 [L2218,T33,P3] A823 [L1093,T23,P3] A390 [L1093,T23,P3] ADD TIME1_0,#1 [L1091,T23,P3] LOAD TIME1_0,#0 t [L1102,T23,P3] LOAD TIME2_0,#0 [L1101,T23,P3] JW G,A394 [L1104,T23,P3] A394 f [L1084,T23,P3] GOTO A386 [L1487,T25,P3] JW G,A550 [L1490,T25,P3] A550 t f [L1488,T25,P3] LOAD TIME2_2,#0 [L1477,T25,P3] LOAD TIME1_2,#0 [L1479,T25,P3] A546 [L1479,T25,P3] ADD TIME1_2,#1 [L1831,T27,P1] A687 f [L1829,T27,P3] PRESENT ACC_DER,A687 t [L1830,T27,P3] EXIT AC_19,A684 [L828,T21,P1] PRIO 1 [L827,T21,P4] SETV ACC_DER,ACC_DER_VALUE i i [L1637,T26,P3] EXIT AC_17,A606 [L1636,T26,P3] PRESENT ACC_DER,A609 t [L1638,T26,P1] A609 f [L1285,T24,P3] GOTO A469 [L1284,T24,P3] LOAD TIME1_1,#0 [L1286,T24,P3] ADD TIME1_1,#1 [L1286,T24,P3] A468 [L1297,T24,P3] A472 [L1294,T24,P3] JW G,A472 f [L1295,T24,P3] LOAD TIME2_1,#0 t [L3285,T41,P4] SR R0,R1 [L3284,T41,P4] LOAD R1,#8 [L3223,T41,P4] PRIO 4 s [L3224,T41,P1/4] PAUSE [L4543,T55,P2] CMPS LONG_SPEED_ERR_VALUE,#2 [L4543,T55,P2] AWAIT_CASE_22 [L3506,T43,P3] CMPS CURRENT_VALUE_10,OLD_VALUE_11 t [L3507,T43,P3] JW L,A1291 f [L4129,T51,P3] ADD TIME1_10,#1 [L4129,T51,P3] A1532 [L4127,T51,P3] LOAD TIME1_10,#0 [L4128,T51,P3] GOTO A1533 [L4137,T51,P3] JW G,A1536 [L4140,T51,P3] A1536 f [L4138,T51,P3] LOAD TIME2_10,#0 t [L4120,T51,P3] GOTO A1528 [L3934,T50,P3] LOAD TIME1_9,#0 [L3936,T50,P3] ADD TIME1_9,#1 [L3936,T50,P3] A1454 [L3944,T50,P3] JW G,A1458 [L3947,T50,P3] A1458 f [L3945,T50,P3] LOAD TIME2_9,#0 t f [L2403,T34,P3] CMPS TIME_1,D [L2404,T34,P3] JW G,A899 t [L2413,T34,P3] ADD TIME_1,#1 [L2414,T34,P3] CMPS TIME_1,D [L2412,T34,P3] GOTO A902 [L2430,T34,P3] ADD TIME_1,#1 f [L2431,T34,P3] LOAD REG31,D [L2443,T34,P3] ADD TIME_1,#1 [L2443,T34,P3] A913 [L2441,T34,P3] LOAD TIME_1,#0 [L2838,T36,P3] JW G,A1063 [L2837,T36,P3] CMPS TIME_2,D_0 f t [L2835,T36,P3] GOTO A1062 [L2848,T36,P3] CMPS TIME_2,D_0 [L2847,T36,P3] ADD TIME_2,#1 f [L2875,T36,P3] LOAD TIME_2,#0 [L2877,T36,P3] A1077 [L2877,T36,P3] ADD TIME_2,#1 [L2865,T36,P3] LOAD REG33,D_0 [L2864,T36,P3] ADD TIME_2,#1 [L3317,T42,P3] CMPS CURRENT_VALUE_9,OLD_VALUE_10 [L3317,T42,P3] A1213 [L3315,T42,P3] LOAD DIRECTION_11,#0 [L2664,T35,P3] CMPS TIME2_6,#6 [L2663,T35,P3] ADD TIME2_6,#1 [L2653,T35,P3] CMPS TIME1_6,#2 f [L2654,T35,P3] JW G,A989 t f f [L901,T22,P3] CMPS TIME1,#33 t [L902,T22,P3] JW G,A314 f [L912,T22,P3] CMPS TIME2,#33 [L911,T22,P3] ADD TIME2,#1 [L2228,T33,P3] GOTO A828 [L2230,T33,P3] CMPS TIME2_5,#16 [L2229,T33,P3] ADD TIME2_5,#1 f [L2219,T33,P3] CMPS TIME1_5,#34 t [L2220,T33,P3] JW G,A825 f [L1094,T23,P3] CMPS TIME1_0,#33 [L1095,T23,P3] JW G,A392 [L1092,T23,P3] GOTO A391 t f [L1105,T23,P3] CMPS TIME2_0,#33 [L1104,T23,P3] ADD TIME2_0,#1 f f [L1490,T25,P3] ADD TIME2_2,#1 [L1491,T25,P3] CMPS TIME2_2,#28 [L1489,T25,P3] GOTO A551 [L1478,T25,P3] GOTO A547 f t [L1480,T25,P3] CMPS TIME1_2,#28 [L1481,T25,P3] JW G,A548 [L1832,T27,P1] GOTO A685 [L1831,T27,P1] PRIO 1 [L830,T21,P1] LOAD ACC_VALUE_11,ACC_VALUE_10 [L829,T21,P1] LOAD ACC_VALUE_12,ACC_VALUE_11 [L1833,T27,P3] AC_19 [L1833,T27,P3] LOAD CURRENT_VALUE_4,?ACC_DER [L1640,T26,P3] LOAD CURRENT_VALUE_3,?ACC_DER [L1640,T26,P3] AC_17 [L1639,T26,P1] GOTO A607 [L1638,T26,P1] PRIO 1 [L1287,T24,P3] CMPS TIME1_1,#28 t [L1288,T24,P3] JW G,A470 f f [L1298,T24,P3] CMPS TIME2_1,#28 [L1297,T24,P3] ADD TIME2_1,#1 [L1296,T24,P3] GOTO A473 [L3287,T41,P4] ADD REG38,ANG_VALUE_0 [L3286,T41,P4] LOAD REG38,R0 [L3225,T41,P4] PRESENT LONG_SPEED_FILT,A1192 [L3226,T41,P4] GOTO A1191 t f [L3227,T41,P4] A1192 [L4544,T55,P2] JW EE,A1707 [L4546,T55,P2] A1707 f [L3509,T43,P3] GOTO A1292 [L3508,T43,P3] LOAD DIRECTION_12,#0 [L3510,T43,P3] CMPS CURRENT_VALUE_10,OLD_VALUE_11 [L3510,T43,P3] A1291 f [L4131,T51,P3] JW G,A1534 t [L4130,T51,P3] CMPS TIME1_10,#7 [L4141,T51,P3] CMPS TIME2_10,#22 [L4140,T51,P3] ADD TIME2_10,#1 f [L3937,T50,P3] CMPS TIME1_9,#8 [L3938,T50,P3] JW G,A1456 t f [L3947,T50,P3] ADD TIME2_9,#1 [L3948,T50,P3] CMPS TIME2_9,#24 f f [L2406,T34,P3] A899 [L2405,T34,P3] LOAD CONTROL_VALUE_6,#1 [L2416,T34,P3] LOAD CONTROL_VALUE_6,#2 [L2415,T34,P3] JW G,A903 t f [L2433,T34,P3] CMPS TIME_1,REG31 [L2432,T34,P3] ADD REG31,#34 f [L2445,T34,P3] ADD REG32,#16 [L2444,T34,P3] LOAD REG32,D f [L2839,T36,P3] LOAD CONTROL_VALUE_8,#1 [L2840,T36,P3] A1063 f [L2850,T36,P3] LOAD CONTROL_VALUE_8,#2 [L2849,T36,P3] JW G,A1067 t [L2846,T36,P3] GOTO A1066 f f [L2879,T36,P3] ADD REG34,#6 [L2878,T36,P3] LOAD REG34,D_0 [L2867,T36,P3] CMPS TIME_2,REG33 [L2866,T36,P3] ADD REG33,#2 [L2855,T36,P3] GOTO A1069 f f [L3318,T42,P3] JW G,A1215 [L3319,T42,P3] LOAD DIRECTION_11,#1 t [L3316,T42,P3] GOTO A1214 [L2666,T35,P3] LOAD CONTROL_VALUE_7,#0 [L2665,T35,P3] JW G,A993 t [L2662,T35,P3] GOTO A992 f [L2655,T35,P3] LOAD CONTROL_VALUE_7,#1 [L2656,T35,P3] A989 f [L891,T22,P3] GOTO A308 [L903,T22,P3] LOAD CONTROL_VALUE,#1 [L904,T22,P3] A314 [L914,T22,P3] LOAD CONTROL_VALUE,#0 f [L910,T22,P3] GOTO A317 [L913,T22,P3] JW G,A318 f t [L2232,T33,P3] LOAD CONTROL_VALUE_5,#0 [L2231,T33,P3] JW G,A829 t f [L2221,T33,P3] LOAD CONTROL_VALUE_5,#1 [L2222,T33,P3] A825 f f [L1096,T23,P3] LOAD CONTROL_VALUE_0,#1 [L1097,T23,P3] A392 [L1103,T23,P3] GOTO A395 f [L1107,T23,P3] LOAD CONTROL_VALUE_0,#0 [L1106,T23,P3] JW G,A396 t [L1493,T25,P3] LOAD CONTROL_VALUE_2,#0 [L1492,T25,P3] JW G,A552 t f [L1483,T25,P3] A548 f [L1482,T25,P3] LOAD CONTROL_VALUE_2,#1 [L832,T21,P1] LOAD ACC_VALUE_9,ACC_VALUE_8 [L831,T21,P1] LOAD ACC_VALUE_10,ACC_VALUE_9 [L1835,T27,P3] JW L,A688 [L1834,T27,P3] CMPS CURRENT_VALUE_4,OLD_VALUE_5 t f [L1641,T26,P3] CMPS CURRENT_VALUE_3,OLD_VALUE_4 [L1642,T26,P3] JW L,A610 f t [L1290,T24,P3] A470 [L1289,T24,P3] LOAD CONTROL_VALUE_1,#1 f [L1300,T24,P3] LOAD CONTROL_VALUE_1,#0 [L1299,T24,P3] JW G,A474 t f [L3288,T41,P4] LOAD ANG_CORR_VALUE,REG38 [L3289,T41,P4] GOTO A1197 [L3228,T41,P4] A1191 t [L3227,T41,P4] PRESENT ANG,A1190 t [L4546,T55,P2] CMPS VER_ACC_ERR_VALUE,#2 [L4547,T55,P2] JW EE,A1706 f f [L3229,T41,P1] A1190 f [L3512,T43,P3] LOAD DIRECTION_12,#1 [L3511,T43,P3] JW G,A1293 t [L4132,T51,P3] LOAD CONTROL_VALUE_12,#1 f [L4133,T51,P3] A1534 [L4142,T51,P3] JW G,A1538 [L4143,T51,P3] LOAD CONTROL_VALUE_12,#0 [L4139,T51,P3] GOTO A1537 t f [L3935,T50,P3] GOTO A1455 [L3939,T50,P3] LOAD CONTROL_VALUE_11,#1 [L3940,T50,P3] A1456 f [L3950,T50,P3] LOAD CONTROL_VALUE_11,#0 [L3949,T50,P3] JW G,A1460 f [L3946,T50,P3] GOTO A1459 t [L2406,T34,P3] A898 [L2406,T34,P3] A896 [L2417,T34,P3] A902 [L2417,T34,P3] A903 f [L2421,T34,P3] GOTO A905 [L2435,T34,P3] LOAD CONTROL_VALUE_6,#1 [L2429,T34,P3] GOTO A910 t [L2434,T34,P3] JW G,A911 t [L2446,T34,P3] CMPS TIME_1,REG32 [L2447,T34,P3] JW G,A915 [L2840,T36,P3] A1062 [L2840,T36,P3] A1060 [L2851,T36,P3] A1067 [L2851,T36,P3] A1066 [L2881,T36,P3] JW G,A1079 [L2880,T36,P3] CMPS TIME_2,REG34 [L2869,T36,P3] LOAD CONTROL_VALUE_8,#1 t t [L2868,T36,P3] JW G,A1075 [L2863,T36,P3] GOTO A1074 f [L3320,T42,P3] A1215 [L3320,T42,P3] A1214 [L2667,T35,P3] A993 [L2667,T35,P3] A992 [L2656,T35,P3] A986 [L2656,T35,P3] A988 [L2643,T35,P3] GOTO A983 [L904,T22,P3] A311 [L904,T22,P3] A313 [L915,T22,P3] A317 [L915,T22,P3] A318 [L2233,T33,P3] A828 [L2233,T33,P3] A829 [L2222,T33,P3] A824 [L2222,T33,P3] A822 [L1097,T23,P3] A391 [L1097,T23,P3] A389 [L1108,T23,P3] A396 [L1108,T23,P3] A395 [L1494,T25,P3] A552 [L1494,T25,P3] A551 [L1483,T25,P3] A545 [L1483,T25,P3] A547 [L834,T21,P1] LOAD ACC_VALUE_7,ACC_VALUE_6 [L833,T21,P1] LOAD ACC_VALUE_8,ACC_VALUE_7 [L1836,T27,P3] LOAD DIRECTION_6,#0 [L1837,T27,P3] GOTO A689 [L1838,T27,P3] CMPS CURRENT_VALUE_4,OLD_VALUE_5 [L1838,T27,P3] A688 [L1645,T26,P3] CMPS CURRENT_VALUE_3,OLD_VALUE_4 [L1645,T26,P3] A610 [L1644,T26,P3] GOTO A611 [L1643,T26,P3] LOAD DIRECTION_5,#0 [L1290,T24,P3] A469 [L1290,T24,P3] A467 [L1301,T24,P3] A473 [L1301,T24,P3] A474 [L3291,T41,P4] A1197 [L3231,T41,P4] AWAIT_OP_4 [L3228,T41,P4] EXIT AWAIT_OP_4,A1188 [L4549,T55,P2] CMPS STEER_ANG_ERR_VALUE,#2 [L4549,T55,P2] A1706 [L3229,T41,P1] PRIO 1 [L3230,T41,P1] GOTO A1189 [L3513,T43,P3] A1293 [L3513,T43,P3] A1292 [L4133,T51,P3] A1531 [L4133,T51,P3] A1533 [L4144,T51,P3] A1538 [L4144,T51,P3] A1537 [L3940,T50,P3] A1455 [L3940,T50,P3] A1453 [L3951,T50,P3] A1459 [L3951,T50,P3] A1460 [L2406,T34,P3] GOTO A895 [L2417,T34,P3] A895 [L2417,T34,P3] A900 [L2436,T34,P3] A910 [L2436,T34,P3] A911 [L2448,T34,P3] LOAD CONTROL_VALUE_6,#0 [L2449,T34,P3] A915 [L2442,T34,P3] GOTO A914 f [L2840,T36,P3] GOTO A1059 [L2851,T36,P3] A1059 [L2851,T36,P3] A1064 [L2876,T36,P3] GOTO A1078 [L2882,T36,P3] LOAD CONTROL_VALUE_8,#0 [L2883,T36,P3] A1079 f [L2870,T36,P3] A1075 [L2870,T36,P3] A1074 [L3320,T42,P3] CMPS DIRECTION_11,#1 f [L3321,T42,P3] JW EE,A1216 t [L2667,T35,P3] A990 [L2667,T35,P3] A985 [L2656,T35,P3] GOTO A985 [L915,T22,P3] A310 [L904,T22,P3] GOTO A310 [L915,T22,P3] A315 [L2233,T33,P3] A826 [L2222,T33,P3] GOTO A821 [L2233,T33,P3] A821 [L1097,T23,P3] GOTO A388 [L1108,T23,P3] A393 [L1108,T23,P3] A388 [L1080,T23,P3] GOTO A380 [L1494,T25,P3] A549 [L1494,T25,P3] A544 [L1483,T25,P3] GOTO A544 [L1466,T25,P3] GOTO A536 [L836,T21,P1] LOAD ACC_VALUE_5,ACC_VALUE_4 [L835,T21,P1] LOAD ACC_VALUE_6,ACC_VALUE_5 f t [L1839,T27,P3] JW G,A690 [L1840,T27,P3] LOAD DIRECTION_6,#1 [L1647,T26,P3] LOAD DIRECTION_5,#1 t [L1646,T26,P3] JW G,A612 f [L1290,T24,P3] GOTO A466 [L1301,T24,P3] A466 [L1301,T24,P3] A471 [L3232,T41,P4] LOAD SPEED_VALUE_OLD,SPEED_VALUE_13 [L3231,T41,P4] PRESENT LONG_SPEED_FILT,A1193 t [L4545,T55,P2] GOTO A1702 t [L4550,T55,P2] JW EE,A1705 [L4552,T55,P2] A1705 f t [L3513,T43,P3] CMPS DIRECTION_12,#1 f [L3514,T43,P3] JW EE,A1294 t [L4133,T51,P3] GOTO A1530 [L4144,T51,P3] A1530 [L4144,T51,P3] A1535 [L3923,T50,P3] GOTO A1444 [L3951,T50,P3] A1452 [L3940,T50,P3] GOTO A1452 [L3951,T50,P3] A1457 [L2417,T34,P3] GOTO A891 [L2417,T34,P3] A893 [L2436,T34,P3] GOTO A907 [L2449,T34,P3] A907 [L2436,T34,P3] A908 [L2449,T34,P3] A914 [L2449,T34,P3] A912 [L2851,T36,P3] A1057 [L3333,T42,P3] JW G,A1222 [L2883,T36,P3] A1078 [L2883,T36,P3] A1076 [L2883,T36,P3] A1071 [L2870,T36,P3] GOTO A1071 [L3332,T42,P3] CMPS CURRENT_VALUE_9,V2_9 [L2870,T36,P3] A1072 [L3332,T42,P3] A1216 [L3322,T42,P3] CMPS CURRENT_VALUE_9,V1_9 [L2667,T35,P3] EXIT AWAIT_CASE_12,A967 [L2667,T35,P3] A983 [L2667,T35,P3] A977 [L915,T22,P3] EXIT AWAIT_CASE_4,A292 [L915,T22,P3] A308 [L915,T22,P3] A302 [L2233,T33,P3] A819 [L2233,T33,P3] A813 [L2233,T33,P3] EXIT AWAIT_CASE_10,A803 [L1108,T23,P3] A380 [L1108,T23,P3] A386 [L1108,T23,P3] EXIT AWAIT_CASE_5,A370 f [L3326,T42,P3] A1218 [L3323,T42,P3] JW L,A1218 [L3324,T42,P3] LOAD CONTROL_VALUE_9,#0 t [L1494,T25,P3] A542 [L1494,T25,P3] A536 [L1494,T25,P3] EXIT AWAIT_CASE_7,A526 [L839,T21,P1] LOAD ACC_VALUE_2,ACC_VALUE_1 [L837,T21,P1] LOAD ACC_VALUE_4,ACC_VALUE_3 [L838,T21,P1] LOAD ACC_VALUE_3,ACC_VALUE_2 [L1841,T27,P3] A689 [L1841,T27,P3] CMPS DIRECTION_6,#1 [L1841,T27,P3] A690 [L1648,T26,P3] CMPS DIRECTION_5,#1 [L1648,T26,P3] A612 [L1648,T26,P3] A611 [L1301,T24,P3] A458 [L1301,T24,P3] A464 [L1301,T24,P3] EXIT AWAIT_CASE_6,A448 [L3233,T41,P4] LOAD SPEED_VALUE_13,?LONG_SPEED_FILT [L3234,T41,P4] CMPS SPEED_VALUE_OLD,#25700 [L3235,T41,P4] JW L,A1194 [L4551,T55,P2] GOTO A1702 [L4552,T55,P2] CMPS STEER_SPEED_ERR_VALUE,#2 [L4553,T55,P2] JW EE,A1704 [L4555,T55,P2] A1704 f [L4548,T55,P2] GOTO A1702 [L4521,T55,P1] GOTO A1690 [L3525,T43,P3] CMPS CURRENT_VALUE_10,V2_10 [L3525,T43,P3] A1294 [L3526,T43,P3] JW G,A1300 [L3515,T43,P3] CMPS CURRENT_VALUE_10,V1_10 [L3516,T43,P3] JW L,A1296 [L3519,T43,P3] A1296 f [L4144,T51,P3] A1522 [L4144,T51,P3] EXIT AWAIT_CASE_19,A1512 t [L4144,T51,P3] A1528 [L3951,T50,P3] EXIT AWAIT_CASE_18,A1434 [L3951,T50,P3] A1444 [L3951,T50,P3] A1450 [L2449,T34,P3] A891 [L2449,T34,P3] A905 [L3334,T42,P3] LOAD CONTROL_VALUE_9,#2 t f [L3336,T42,P3] A1222 [L3336,T42,P3] CMPS CURRENT_VALUE_9,V1_9 [L2851,T36,P3] GOTO A1055 [L2883,T36,P3] A1055 [L2883,T36,P3] A1069 [L3326,T42,P3] CMPS CURRENT_VALUE_9,V2_9 [L3327,T42,P3] JW L,A1220 [L841,T21,P1] ABORT ACC_FILT,A287 [L840,T21,P1] LOAD ACC_VALUE_1,ACC_VALUE_0_0 [L1853,T27,P3] A691 [L1842,T27,P3] JW EE,A691 f [L1843,T27,P3] CMPS CURRENT_VALUE_4,V1_4 t [L1650,T26,P3] CMPS CURRENT_VALUE_3,V1_3 [L1649,T26,P3] JW EE,A613 t [L1660,T26,P3] A613 f [L3236,T41,P4] CMPS SPEED_VALUE_13,#25700 [L3237,T41,P4] JW G,A1194 t f t [L4555,T55,P2] CMPS BAT_ERR_VALUE,#2 [L4556,T55,P2] JW EE,A1703 [L3527,T43,P3] LOAD CONTROL_VALUE_10,#2 t f [L3529,T43,P3] A1300 [L3529,T43,P3] CMPS CURRENT_VALUE_10,V1_10 [L3519,T43,P3] CMPS CURRENT_VALUE_10,V2_10 [L3520,T43,P3] JW L,A1298 [L3517,T43,P3] LOAD CONTROL_VALUE_10,#0 [L3518,T43,P3] GOTO A1297 [L2449,T34,P3] EXIT AWAIT_CASE_11,A881 [L3338,T42,P3] CMPS CONTROL_VALUE_9,#1 [L3337,T42,P3] JW G,A1224 t [L3349,T42,P3] A1224 f [L2883,T36,P3] EXIT AWAIT_CASE_13,A1045 [L3328,T42,P3] LOAD CONTROL_VALUE_9,#1 [L3329,T42,P3] GOTO A1221 [L3330,T42,P3] LOAD CONTROL_VALUE_9,#2 [L3330,T42,P3] A1220 t f [L842,T21,P4] PRIO 4 [L842,T21,P1] A288 [L3325,T42,P3] GOTO A1219 [L1854,T27,P3] JW G,A697 [L1853,T27,P3] CMPS CURRENT_VALUE_4,V2_4 t f [L1847,T27,P3] A693 [L1844,T27,P3] JW L,A693 [L1652,T26,P3] LOAD CONTROL_VALUE_3,#0 [L1651,T26,P3] JW L,A615 [L1654,T26,P3] A615 t f [L1661,T26,P3] JW G,A619 [L1660,T26,P3] CMPS CURRENT_VALUE_3,V2_3 [L3238,T41,P4] LOAD INIT_0,#1 f [L3239,T41,P4] LOAD TIME_3,#0 t f [L4554,T55,P2] GOTO A1702 [L4557,T55,P2] GOTO A1702 [L4558,T55,P2] CMPS STEER_ANG_DAMAGE_VALUE_0,#2 [L4558,T55,P2] A1703 f t [L3528,T43,P3] GOTO A1301 [L3531,T43,P3] CMPS CONTROL_VALUE_10,#1 t [L3530,T43,P3] JW G,A1302 [L3542,T43,P3] A1302 f [L3523,T43,P3] LOAD CONTROL_VALUE_10,#2 [L3523,T43,P3] A1298 [L3521,T43,P3] LOAD CONTROL_VALUE_10,#1 f t [L3522,T43,P3] GOTO A1299 [L3339,T42,P3] JW NE,A1226 [L3340,T42,P3] CMPS OLD_VALUE_10,V2_9 t [L3349,T42,P3] CMPS CONTROL_VALUE_9,#0 [L3350,T42,P3] JW NE,A1230 [L3331,T42,P3] A1219 [L3331,T42,P3] A1221 [L1857,T27,P3] CMPS CURRENT_VALUE_4,V1_4 [L1857,T27,P3] A697 f [L1855,T27,P3] LOAD CONTROL_VALUE_4,#2 t [L1845,T27,P3] LOAD CONTROL_VALUE_4,#0 [L1847,T27,P3] CMPS CURRENT_VALUE_4,V2_4 [L1848,T27,P3] JW L,A695 [L1653,T26,P3] GOTO A616 [L1655,T26,P3] JW L,A617 [L1654,T26,P3] CMPS CURRENT_VALUE_3,V2_3 [L1662,T26,P3] LOAD CONTROL_VALUE_3,#2 [L1664,T26,P3] A619 f t [L1664,T26,P3] CMPS CURRENT_VALUE_3,V1_3 [L3240,T41,P4] LOAD TIME_KT,#0 [L3241,T41,P4] A1194 [L4560,T55,P2] A1702 [L4559,T55,P2] JW EE,A1701 t f [L4562,T55,P2] A1701 [L3532,T43,P3] JW NE,A1304 [L3533,T43,P3] CMPS OLD_VALUE_11,V2_10 t [L3542,T43,P3] CMPS CONTROL_VALUE_10,#0 [L3543,T43,P3] JW NE,A1308 [L3524,T43,P3] A1299 [L3524,T43,P3] A1297 [L3341,T42,P3] JW G,A1227 [L3344,T42,P3] A1227 f [L3342,T42,P3] LOAD TIME1_7,#0 t [L3351,T42,P3] CMPS OLD_VALUE_10,V1_9 [L3352,T42,P3] JW G,A1231 t [L1870,T27,P3] A699 [L1859,T27,P3] CMPS CONTROL_VALUE_4,#1 f [L1858,T27,P3] JW G,A699 t [L1856,T27,P3] GOTO A698 [L1846,T27,P3] GOTO A694 [L1851,T27,P3] LOAD CONTROL_VALUE_4,#2 f [L1851,T27,P3] A695 [L1849,T27,P3] LOAD CONTROL_VALUE_4,#1 [L1850,T27,P3] GOTO A696 t [L1657,T26,P3] GOTO A618 [L1656,T26,P3] LOAD CONTROL_VALUE_3,#1 t [L1658,T26,P3] LOAD CONTROL_VALUE_3,#2 f [L1658,T26,P3] A617 [L1666,T26,P3] CMPS CONTROL_VALUE_3,#1 t [L1665,T26,P3] JW G,A621 [L1677,T26,P3] A621 f [L3241,T41,P4] PRESENT ANG,A1195 [L3241,T41,P4] A1193 [L4560,T55,P2] LOAD MOT_DAMAGE_VALUE,#2 [L4562,T55,P2] CMPS STEER_SPEED_ERR_VALUE,#1 [L4563,T55,P2] JW EE,A1711 [L3537,T43,P3] A1305 [L3534,T43,P3] JW G,A1305 f [L3535,T43,P3] LOAD TIME1_8,#0 t [L3545,T43,P3] JW G,A1309 [L3544,T43,P3] CMPS OLD_VALUE_11,V1_10 t [L3344,T42,P3] ADD TIME1_7,#1 [L3345,T42,P3] CMPS TIME1_7,#17 f [L3355,T42,P3] ADD TIME2_7,#1 [L3343,T42,P3] GOTO A1228 [L3355,T42,P3] A1231 f t [L3353,T42,P3] LOAD TIME2_7,#0 [L1870,T27,P3] CMPS CONTROL_VALUE_4,#0 [L1871,T27,P3] JW NE,A705 [L1861,T27,P3] CMPS OLD_VALUE_5,V2_4 [L1860,T27,P3] JW NE,A701 t [L1852,T27,P3] A694 [L1852,T27,P3] A696 [L1659,T26,P3] A616 [L1659,T26,P3] A618 [L1668,T26,P3] CMPS OLD_VALUE_4,V2_3 [L1667,T26,P3] JW NE,A623 t [L1678,T26,P3] JW NE,A627 [L1677,T26,P3] CMPS CONTROL_VALUE_3,#0 f [L3291,T41,P4] A1195 [L3291,T41,P4] GOTO A1187 [L4565,T55,P2] CMPS STEER_ANG_DAMAGE_VALUE_0,#1 [L4561,T55,P2] GOTO A1708 [L4565,T55,P2] A1711 [L4564,T55,P2] GOTO A1710 t f [L3537,T43,P3] ADD TIME1_8,#1 [L3538,T43,P3] CMPS TIME1_8,#13 [L3546,T43,P3] LOAD TIME2_8,#0 f [L3548,T43,P3] ADD TIME2_8,#1 t [L3548,T43,P3] A1309 f [L3524,T43,P3] GOTO A1295 [L3346,T42,P3] JW G,A1229 [L3347,T42,P3] LOAD CONTROL_VALUE_9,#1 f t [L3356,T42,P3] CMPS TIME2_7,#30 [L3357,T42,P3] JW G,A1233 [L3354,T42,P3] GOTO A1232 f [L1872,T27,P3] CMPS OLD_VALUE_5,V1_4 [L1873,T27,P3] JW G,A706 t [L1863,T27,P3] LOAD TIME1_4,#0 [L1862,T27,P3] JW G,A702 t [L1865,T27,P3] A702 f [L1659,T26,P3] GOTO A614 [L1672,T26,P3] A624 [L1669,T26,P3] JW G,A624 [L1670,T26,P3] LOAD TIME1_3,#0 f t [L1679,T26,P3] CMPS OLD_VALUE_4,V1_3 [L1680,T26,P3] JW G,A628 t [L4566,T55,P2] JW EE,A1709 [L4569,T55,P2] A1709 t [L4567,T55,P2] A1710 f [L3540,T43,P3] LOAD CONTROL_VALUE_10,#1 t [L3539,T43,P3] JW G,A1307 f [L3536,T43,P3] GOTO A1306 [L3547,T43,P3] GOTO A1310 [L3550,T43,P3] JW G,A1311 [L3549,T43,P3] CMPS TIME2_8,#25 f [L3348,T42,P3] A1229 [L3348,T42,P3] A1228 f t [L3358,T42,P3] LOAD CONTROL_VALUE_9,#0 [L3359,T42,P3] A1233 [L1876,T27,P3] A706 [L1876,T27,P3] ADD TIME2_4,#1 [L1874,T27,P3] LOAD TIME2_4,#0 f t [L1864,T27,P3] GOTO A703 [L1866,T27,P3] CMPS TIME1_4,#21 [L1865,T27,P3] ADD TIME1_4,#1 f [L1852,T27,P3] GOTO A692 [L1673,T26,P3] CMPS TIME1_3,#21 [L1672,T26,P3] ADD TIME1_3,#1 f [L1681,T26,P3] LOAD TIME2_3,#0 t [L1683,T26,P3] ADD TIME2_3,#1 f [L1683,T26,P3] A628 [L4569,T55,P2] LOAD MOT_DAMAGE_VALUE,#0 [L4567,T55,P2] LOAD MOT_DAMAGE_VALUE,#1 [L4568,T55,P2] GOTO A1712 [L3541,T43,P3] A1306 [L3541,T43,P3] A1307 [L3552,T43,P3] A1311 [L3551,T43,P3] LOAD CONTROL_VALUE_10,#0 f t [L3348,T42,P3] A1226 [L3348,T42,P3] GOTO A1225 [L3359,T42,P3] A1230 [L3359,T42,P3] A1232 [L3331,T42,P3] GOTO A1217 [L1877,T27,P3] CMPS TIME2_4,#34 [L1878,T27,P3] JW G,A708 [L1875,T27,P3] GOTO A707 f [L1868,T27,P3] LOAD CONTROL_VALUE_4,#1 [L1867,T27,P3] JW G,A704 t f [L1675,T26,P3] LOAD CONTROL_VALUE_3,#1 [L1674,T26,P3] JW G,A626 t [L1671,T26,P3] GOTO A625 f f [L1682,T26,P3] GOTO A629 [L1685,T26,P3] JW G,A630 [L1684,T26,P3] CMPS TIME2_3,#34 [L4570,T55,P2] A1708 [L4570,T55,P2] A1712 [L3541,T43,P3] A1304 [L3541,T43,P3] GOTO A1303 [L3552,T43,P3] A1310 [L3552,T43,P3] A1308 [L3335,T42,P3] GOTO A1223 [L3359,T42,P3] A1223 [L3359,T42,P3] A1225 [L1879,T27,P3] LOAD CONTROL_VALUE_4,#0 t [L1880,T27,P3] A708 f [L1869,T27,P3] A704 [L1869,T27,P3] A703 [L1663,T26,P3] GOTO A620 [L1676,T26,P3] A626 [L1676,T26,P3] A625 f [L1686,T26,P3] LOAD CONTROL_VALUE_3,#0 [L1687,T26,P3] A630 t [L4497,T55,P2] A1679 [L4570,T55,P2] GOTO A1679 [L3552,T43,P3] A1303 [L3552,T43,P3] A1301 [L3359,T42,P3] EXIT AWAIT_CASE_14,A1207 [L3359,T42,P3] A1217 [L1880,T27,P3] A705 [L1880,T27,P3] A707 [L1880,T27,P3] A700 [L1869,T27,P3] A701 [L1869,T27,P3] GOTO A700 [L1676,T26,P3] A623 [L1687,T26,P3] A622 [L1676,T26,P3] GOTO A622 [L1687,T26,P3] A627 [L1687,T26,P3] A629 [L4765,T57,P1] LOAD DAM_VALUE_0,?MOT_DAMAGE [L4883,T58,P1] LOAD DAM_VALUE_1,?MOT_DAMAGE i i i [L4498,T55,P2] SETV MOT_DAMAGE,MOT_DAMAGE_VALUE [L4497,T55,P2] EMIT MOT_DAMAGE i [L4499,T55,P1] A1680 i i i i [L5001,T59,P1] LOAD DAM_VALUE_2,?MOT_DAMAGE [L3552,T43,P3] EXIT AWAIT_CASE_15,A1285 [L3552,T43,P3] A1295 [L4647,T56,P1] LOAD DAM_VALUE,?MOT_DAMAGE [L1880,T27,P3] A692 [L1880,T27,P3] A698 [L1687,T26,P3] A620 [L1687,T26,P3] A614 [L4766,T57,P1] CMPS DAM_VALUE_0,COM_VALUE_0 t [L4767,T57,P1] JW G,A1796 [L4884,T58,P1] CMPS DAM_VALUE_1,COM_VALUE_1 t [L4885,T58,P1] JW G,A1844 [L4499,T55,P1] A1682 [L4499,T55,P1] A1681 [L5003,T59,P1] JW G,A1892 [L5002,T59,P1] CMPS DAM_VALUE_2,COM_VALUE_2 t [L4648,T56,P1] CMPS DAM_VALUE,COM_VALUE [L4649,T56,P1] JW G,A1748 t [L1880,T27,P3] EXIT AWAIT_CASE_9,A682 [L1687,T26,P3] EXIT AWAIT_CASE_8,A604 f [L4768,T57,P1] LOAD COM_VALUE_0,DAM_VALUE_0 [L4769,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4769,T57,P1] A1796 [L4886,T58,P1] LOAD COM_VALUE_1,DAM_VALUE_1 [L4887,T58,P1] EXIT AWAIT_CASE_25,A1812 f [L4887,T58,P1] A1844 [L4499,T55,P1] A1684 [L4499,T55,P1] A1683 [L4499,T55,P1] A1685 [L5005,T59,P1] A1892 f [L5005,T59,P1] EXIT AWAIT_CASE_26,A1860 [L5004,T59,P1] LOAD COM_VALUE_2,DAM_VALUE_2 [L4651,T56,P1] EXIT AWAIT_CASE_23,A1716 f [L4650,T56,P1] LOAD COM_VALUE,DAM_VALUE [L4651,T56,P1] A1748 [L4789,T57,P1] AWAIT_CASE_24 [L4789,T57,P1] CMPS POS_VALUE_0,COM_VALUE_0 [L4790,T57,P1] JW NE,A1803 [L4907,T58,P1] AWAIT_CASE_25 f t [L4499,T55,P1] A1688 [L4499,T55,P1] A1687 [L4499,T55,P1] A1686 [L4907,T58,P1] CMPS POS_VALUE_1,COM_VALUE_1 [L4908,T58,P1] JW NE,A1851 f t [L5025,T59,P1] AWAIT_CASE_26 [L5025,T59,P1] CMPS POS_VALUE_2,COM_VALUE_2 t [L5026,T59,P1] JW NE,A1899 f [L4671,T56,P1] AWAIT_CASE_23 [L4672,T56,P1] JW NE,A1755 [L4671,T56,P1] CMPS POS_VALUE,COM_VALUE f t [L4799,T57,P1] ADD REG43,#200 [L4798,T57,P1] LOAD REG43,TIME_ADD_0 [L4798,T57,P1] A1803 [L4791,T57,P1] CMPS START_TIMER_0,#100 [L4792,T57,P1] JW G,A1805 [L4793,T57,P1] LOAD CHANNEL_P_VALUE_0,#1 t f [L4499,T55,P1] A1689 [L4499,T55,P1] A1690 [L4499,T55,P1] PRIO 1 [L4917,T58,P1] ADD REG44,#200 [L4916,T58,P1] LOAD REG44,TIME_ADD_1 [L4916,T58,P1] A1851 [L4909,T58,P1] CMPS START_TIMER_1,#100 [L4910,T58,P1] JW G,A1853 [L4911,T58,P1] LOAD CHANNEL_P_VALUE_1,#1 f t [L5029,T59,P1] LOAD CHANNEL_P_VALUE_2,#1 [L5027,T59,P1] CMPS START_TIMER_2,#100 t [L5028,T59,P1] JW G,A1901 [L5034,T59,P1] A1899 [L5034,T59,P1] LOAD REG45,TIME_ADD_2 f [L5035,T59,P1] ADD REG45,#200 [L4681,T56,P1] ADD REG42,#200 [L4680,T56,P1] A1755 [L4680,T56,P1] LOAD REG42,TIME_ADD [L4673,T56,P1] CMPS START_TIMER,#100 [L4675,T56,P1] LOAD CHANNEL_P_VALUE,#1 [L4674,T56,P1] JW G,A1757 t f [L4800,T57,P1] CMPS STOP_TIMER_0,REG43 [L4801,T57,P1] JW G,A1807 [L4794,T57,P1] LOAD START_TIMER_0,#0 [L4795,T57,P1] GOTO A1806 [L4796,T57,P1] LOAD CHANNEL_N_VALUE_0,#0 [L4796,T57,P1] A1805 [L4500,T55,P2] PRIO 2 [L4501,T55,P1/2] PAUSE [L4918,T58,P1] CMPS STOP_TIMER_1,REG44 [L4919,T58,P1] JW G,A1855 [L4914,T58,P1] LOAD CHANNEL_N_VALUE_1,#0 [L4914,T58,P1] A1853 [L4912,T58,P1] LOAD START_TIMER_1,#0 [L4913,T58,P1] GOTO A1854 [L5031,T59,P1] GOTO A1902 [L5030,T59,P1] LOAD START_TIMER_2,#0 [L5032,T59,P1] LOAD CHANNEL_N_VALUE_2,#0 [L5032,T59,P1] A1901 [L5037,T59,P1] JW G,A1903 [L5036,T59,P1] CMPS STOP_TIMER_2,REG45 [L4683,T56,P1] JW G,A1759 [L4682,T56,P1] CMPS STOP_TIMER,REG42 [L4676,T56,P1] LOAD START_TIMER,#0 [L4678,T56,P1] LOAD CHANNEL_N_VALUE,#0 [L4677,T56,P1] GOTO A1758 [L4678,T56,P1] A1757 [L4803,T57,P1] LOAD STOP_TIMER_0,#0 [L4802,T57,P1] LOAD CHANNEL_N_VALUE_0,#1 t [L4805,T57,P1] LOAD CHANNEL_P_VALUE_0,#0 [L4805,T57,P1] A1807 f [L4797,T57,P1] A1806 s [L4571,T55,P2] GOTO A1677 RESET [L4571,T55,P2] A1678 [L4923,T58,P1] LOAD CHANNEL_P_VALUE_1,#0 [L4923,T58,P1] A1855 f [L4920,T58,P1] LOAD CHANNEL_N_VALUE_1,#1 [L4921,T58,P1] LOAD STOP_TIMER_1,#0 t [L4915,T58,P1] A1854 [L5033,T59,P1] A1902 [L5041,T59,P1] LOAD CHANNEL_P_VALUE_2,#0 [L5041,T59,P1] A1903 [L5038,T59,P1] LOAD CHANNEL_N_VALUE_2,#1 f [L5039,T59,P1] LOAD STOP_TIMER_2,#0 t [L4685,T56,P1] LOAD STOP_TIMER,#0 [L4684,T56,P1] LOAD CHANNEL_N_VALUE,#1 [L4687,T56,P1] LOAD CHANNEL_P_VALUE,#0 t f [L4687,T56,P1] A1759 [L4679,T56,P1] A1758 [L4679,T56,P1] GOTO A1756 [L4804,T57,P1] GOTO A1808 [L4806,T57,P1] A1808 [L4797,T57,P1] GOTO A1804 [L4488,T55,P2] LOAD LONG_SPEED_ERR_VALUE,#0 [L4488,T55,P2] A1677 [L4922,T58,P1] GOTO A1856 [L4924,T58,P1] A1856 [L4915,T58,P1] GOTO A1852 [L5033,T59,P1] GOTO A1900 [L5042,T59,P1] A1904 [L5040,T59,P1] GOTO A1904 [L4686,T56,P1] GOTO A1760 [L4688,T56,P1] A1760 [L4698,T57,P1] A1763 [L4806,T57,P1] A1804 [L4806,T57,P1] GOTO A1763 [L4491,T55,P2] LOAD STEER_SPEED_ERR_VALUE,#0 [L4490,T55,P2] LOAD STEER_ANG_ERR_VALUE,#0 [L4489,T55,P2] LOAD VER_ACC_ERR_VALUE,#0 [L4924,T58,P1] A1852 [L4924,T58,P1] GOTO A1811 [L4816,T58,P1] A1811 [L5042,T59,P1] A1900 [L4934,T59,P1] A1859 [L5042,T59,P1] GOTO A1859 [L4580,T56,P1] A1715 [L4688,T56,P1] A1756 [L4688,T56,P1] GOTO A1715 [L4699,T57,P1] SETV MOT_CHANNEL_P2,CHANNEL_P_VALUE_0 [L4700,T57,P1] EMIT MOT_CHANNEL_N2 [L4701,T57,P1] SETV MOT_CHANNEL_N2,CHANNEL_N_VALUE_0 [L4698,T57,P1] EMIT MOT_CHANNEL_P2 [L4495,T55,P2] LOAD MOT_DAMAGE_VALUE,#0 [L4493,T55,P2] LOAD BAT_MOT_HARD_VALUE,#0 [L4492,T55,P2] LOAD BAT_ERR_VALUE,#0 [L4494,T55,P2] LOAD STEER_ANG_DAMAGE_VALUE_0,#0 [L4817,T58,P1] SETV MOT_CHANNEL_P3,CHANNEL_P_VALUE_1 [L4818,T58,P1] EMIT MOT_CHANNEL_N3 [L4819,T58,P1] SETV MOT_CHANNEL_N3,CHANNEL_N_VALUE_1 [L4816,T58,P1] EMIT MOT_CHANNEL_P3 [L4937,T59,P1] SETV MOT_CHANNEL_N4,CHANNEL_N_VALUE_2 [L4935,T59,P1] SETV MOT_CHANNEL_P4,CHANNEL_P_VALUE_2 [L4936,T59,P1] EMIT MOT_CHANNEL_N4 [L4934,T59,P1] EMIT MOT_CHANNEL_P4 [L4580,T56,P1] EMIT MOT_CHANNEL_P1 [L4581,T56,P1] SETV MOT_CHANNEL_P1,CHANNEL_P_VALUE [L4582,T56,P1] EMIT MOT_CHANNEL_N1 [L4583,T56,P1] SETV MOT_CHANNEL_N1,CHANNEL_N_VALUE [L4702,T57,P1] A1764 [L4702,T57,P1] A1765 [L4496,T55,P2] ABORT RESET,A1678 [L4820,T58,P1] A1813 [L4820,T58,P1] A1812 [L4938,T59,P1] A1860 [L4938,T59,P1] A1861 [L4584,T56,P1] A1717 [L4584,T56,P1] A1716 [L4702,T57,P1] A1768 [L4702,T57,P1] A1767 [L4702,T57,P1] A1766 [L4820,T58,P1] A1816 [L4820,T58,P1] A1815 [L4820,T58,P1] A1814 [L4938,T59,P1] A1864 [L4938,T59,P1] A1862 [L4938,T59,P1] A1863 [L4584,T56,P1] A1718 [L4584,T56,P1] A1719 [L4584,T56,P1] A1720 [L4702,T57,P1] A1770 [L4702,T57,P1] A1769 [L4702,T57,P1] A1771 [L4820,T58,P1] A1819 [L4820,T58,P1] A1818 [L4820,T58,P1] A1817 [L4938,T59,P1] A1865 [L4938,T59,P1] A1866 [L4938,T59,P1] A1867 [L4584,T56,P1] A1723 [L4584,T56,P1] A1722 [L4584,T56,P1] A1721 [L4705,T57,P1] A1772 [L4703,T57,P1] PRESENT CLOCK_500,A1772 [L4704,T57,P1] EXIT AC_71,A1765 f t [L4823,T58,P1] A1820 [L4702,T57,P1/1] PAUSE s f [L4821,T58,P1] PRESENT CLOCK_500,A1820 [L4822,T58,P1] EXIT AC_77,A1813 t RESET [L4807,T57,P1] GOTO A1761 [L4807,T57,P1] A1762 [L4820,T58,P1/1] PAUSE s [L4941,T59,P1] A1868 [L4940,T59,P1] EXIT AC_83,A1861 [L4939,T59,P1] PRESENT CLOCK_500,A1868 f RESET t [L4938,T59,P1/1] PAUSE [L4925,T58,P1] A1810 [L4925,T58,P1] GOTO A1809 s RESET [L5043,T59,P1] A1858 [L5043,T59,P1] GOTO A1857 [L4586,T56,P1] EXIT AC_65,A1717 [L4584,T56,P1/1] PAUSE [L4585,T56,P1] PRESENT CLOCK_500,A1724 t f [L4587,T56,P1] A1724 s [L4689,T56,P1] GOTO A1713 [L4689,T56,P1] A1714 RESET [L4707,T57,P1] A1773 [L4824,T58,P1] EXIT AC_78,A1814 [L4823,T58,P1] PRESENT MOT_REAR,A1821 f [L4825,T58,P1] A1821 t f [L4705,T57,P1] PRESENT MOT_FRONT,A1773 [L4775,T57,P1] CMPS POS_VALUE_0,COM_VALUE_0 [L4775,T57,P1] AC_71 t [L4706,T57,P1] EXIT AC_72,A1766 [L4942,T59,P1] EXIT AC_84,A1862 [L4893,T58,P1] AC_77 [L4893,T58,P1] CMPS POS_VALUE_1,COM_VALUE_1 [L4690,T57,P1] LOAD CHANNEL_P_VALUE_0,#0 t [L4690,T57,P1] A1761 [L4941,T59,P1] PRESENT MOT_REAR,A1869 f [L4943,T59,P1] A1869 [L5011,T59,P1] CMPS POS_VALUE_2,COM_VALUE_2 [L5011,T59,P1] AC_83 [L4808,T58,P1] A1809 [L4808,T58,P1] LOAD CHANNEL_P_VALUE_1,#0 [L4926,T59,P1] LOAD CHANNEL_P_VALUE_2,#0 [L4926,T59,P1] A1857 [L4657,T56,P1] CMPS POS_VALUE,COM_VALUE [L4657,T56,P1] AC_65 [L4587,T56,P1] PRESENT MOT_FRONT,A1725 [L4588,T56,P1] EXIT AC_66,A1718 t [L4589,T56,P1] A1725 f [L4572,T56,P1] A1713 [L4572,T56,P1] LOAD CHANNEL_P_VALUE,#0 [L4709,T57,P1] PRESENT MOT_POS_A2,A1775 f [L4709,T57,P1] A1774 [L4707,T57,P1] PRESENT MOT_DAMAGE,A1774 [L4765,T57,P1] AC_73 t [L4708,T57,P1] EXIT AC_73,A1767 [L4889,T58,P1] CMPS DAM_VALUE_1,COM_VALUE_1 [L4888,T58,P1] LOAD COM_VALUE_1,?MOT_REAR [L4888,T58,P1] AC_78 [L4883,T58,P1] AC_79 [L4826,T58,P1] EXIT AC_79,A1815 t [L4827,T58,P1] PRESENT MOT_POS_A3,A1823 [L4827,T58,P1] A1822 [L4825,T58,P1] PRESENT MOT_DAMAGE,A1822 f f [L4777,T57,P1] CMPS CHANNEL_P_VALUE_0,#1 [L4776,T57,P1] JW NE,A1798 [L4778,T57,P1] JW EE,A1799 t [L5007,T59,P1] CMPS DAM_VALUE_2,COM_VALUE_2 [L5006,T59,P1] LOAD COM_VALUE_2,?MOT_REAR [L5006,T59,P1] AC_84 [L4895,T58,P1] CMPS CHANNEL_P_VALUE_1,#1 [L4896,T58,P1] JW EE,A1847 [L4894,T58,P1] JW NE,A1846 t f [L4691,T57,P1] LOAD CHANNEL_N_VALUE_0,#1 [L4693,T57,P1] LOAD COM_VALUE_0,#0 [L4692,T57,P1] LOAD POS_VALUE_0,#0 [L4770,T57,P1] AC_72 [L4771,T57,P1] CMPS DAM_VALUE_0,COM_VALUE_0 [L4770,T57,P1] LOAD COM_VALUE_0,?MOT_FRONT [L5013,T59,P1] CMPS CHANNEL_P_VALUE_2,#1 t [L5012,T59,P1] JW NE,A1894 [L5014,T59,P1] JW EE,A1895 f [L5001,T59,P1] AC_85 [L4944,T59,P1] EXIT AC_85,A1863 [L4943,T59,P1] PRESENT MOT_DAMAGE,A1870 t [L4811,T58,P1] LOAD COM_VALUE_1,#0 f [L4945,T59,P1] A1870 [L4810,T58,P1] LOAD POS_VALUE_1,#0 [L4809,T58,P1] LOAD CHANNEL_N_VALUE_1,#1 [L4945,T59,P1] PRESENT MOT_POS_A4,A1871 [L4659,T56,P1] CMPS CHANNEL_P_VALUE,#1 [L4660,T56,P1] JW EE,A1751 t [L4658,T56,P1] JW NE,A1750 [L4927,T59,P1] LOAD CHANNEL_N_VALUE_2,#1 [L4928,T59,P1] LOAD POS_VALUE_2,#0 f [L4929,T59,P1] LOAD COM_VALUE_2,#0 [L4647,T56,P1] AC_67 [L4590,T56,P1] EXIT AC_67,A1719 [L4653,T56,P1] CMPS DAM_VALUE,COM_VALUE [L4652,T56,P1] LOAD COM_VALUE,?MOT_FRONT [L4652,T56,P1] AC_66 [L4589,T56,P1] PRESENT MOT_DAMAGE,A1726 t [L4575,T56,P1] LOAD COM_VALUE,#0 [L4591,T56,P1] A1726 f [L4574,T56,P1] LOAD POS_VALUE,#0 [L4591,T56,P1] PRESENT MOT_POS_A1,A1727 [L4573,T56,P1] LOAD CHANNEL_N_VALUE,#1 [L4711,T57,P1] PRESENT MOT_POS_B2,A1776 f [L4711,T57,P1] A1775 [L4748,T57,P1] AC_74 [L4710,T57,P1] EXIT AC_74,A1768 t [L4829,T58,P1] PRESENT MOT_POS_B3,A1824 [L4829,T58,P1] A1823 [L4890,T58,P1] JW G,A1845 f t [L4891,T58,P1] LOAD COM_VALUE_1,DAM_VALUE_1 f [L4828,T58,P1] EXIT AC_80,A1816 t [L4866,T58,P1] AC_80 [L4780,T57,P1] A1799 [L4782,T57,P1] A1798 [L4779,T57,P1] GOTO A1798 f t [L5008,T59,P1] JW G,A1893 [L5009,T59,P1] LOAD COM_VALUE_2,DAM_VALUE_2 f t f [L4897,T58,P1] GOTO A1846 [L4898,T58,P1] A1847 [L4900,T58,P1] A1846 t [L4694,T57,P1] LOAD DAM_VALUE_0,#0 [L4695,T57,P1] LOAD START_TIMER_0,#0 [L4773,T57,P1] LOAD COM_VALUE_0,DAM_VALUE_0 [L4772,T57,P1] JW G,A1797 t f f [L5015,T59,P1] GOTO A1894 t [L5018,T59,P1] A1894 [L4813,T58,P1] LOAD START_TIMER_1,#0 [L4812,T58,P1] LOAD DAM_VALUE_1,#0 [L4946,T59,P1] EXIT AC_86,A1864 [L4984,T59,P1] AC_86 [L4947,T59,P1] PRESENT MOT_POS_B4,A1872 t [L4947,T59,P1] A1871 f [L4662,T56,P1] A1751 t f [L4661,T56,P1] GOTO A1750 [L4664,T56,P1] A1750 [L4930,T59,P1] LOAD DAM_VALUE_2,#0 [L4931,T59,P1] LOAD START_TIMER_2,#0 [L4655,T56,P1] LOAD COM_VALUE,DAM_VALUE t [L4654,T56,P1] JW G,A1749 f [L4577,T56,P1] LOAD START_TIMER,#0 [L4576,T56,P1] LOAD DAM_VALUE,#0 [L4593,T56,P1] PRESENT MOT_POS_B1,A1728 [L4593,T56,P1] A1727 f t [L4592,T56,P1] EXIT AC_68,A1720 [L4630,T56,P1] AC_68 [L4731,T57,P1] AC_75 [L4712,T57,P1] EXIT AC_75,A1769 t [L4713,T57,P1] PRESENT VBAT,A1777 f [L4713,T57,P1] A1776 [L4748,T57,P1] LOAD POS_A_VALUE_0,?MOT_POS_A2 [L4749,T57,P1] CMPS POS_A_VALUE_0,#1 [L4830,T58,P1] EXIT AC_81,A1817 [L4849,T58,P1] AC_81 t [L4831,T58,P1] PRESENT VBAT,A1825 [L4831,T58,P1] A1824 f [L4892,T58,P1] EXIT AWAIT_CASE_25,A1812 [L4892,T58,P1] A1845 [L4866,T58,P1] LOAD POS_A_VALUE_1,?MOT_POS_A3 [L4780,T57,P1] ADD START_TIMER_0,#1 [L4783,T57,P1] JW EE,A1801 [L4782,T57,P1] CMPS POS_VALUE_0,COM_VALUE_0 [L4867,T58,P1] CMPS POS_A_VALUE_1,#1 [L5010,T59,P1] EXIT AWAIT_CASE_26,A1860 [L5010,T59,P1] A1893 [L4898,T58,P1] ADD START_TIMER_1,#1 [L4900,T58,P1] CMPS POS_VALUE_1,COM_VALUE_1 [L4901,T58,P1] JW EE,A1849 [L4696,T57,P1] LOAD STOP_TIMER_0,#0 [L4697,T57,P1] ABORT RESET,A1762 [L4774,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4774,T57,P1] A1797 [L5016,T59,P1] A1895 [L5019,T59,P1] JW EE,A1897 [L5018,T59,P1] CMPS POS_VALUE_2,COM_VALUE_2 [L4815,T58,P1] ABORT RESET,A1810 [L4814,T58,P1] LOAD STOP_TIMER_1,#0 [L4985,T59,P1] CMPS POS_A_VALUE_2,#1 [L4984,T59,P1] LOAD POS_A_VALUE_2,?MOT_POS_A4 [L4949,T59,P1] PRESENT VBAT,A1873 f [L4949,T59,P1] A1872 [L4948,T59,P1] EXIT AC_87,A1865 [L4967,T59,P1] AC_87 t [L4662,T56,P1] ADD START_TIMER,#1 [L4663,T56,P1] GOTO A1752 [L4664,T56,P1] CMPS POS_VALUE,COM_VALUE [L4665,T56,P1] JW EE,A1753 [L4933,T59,P1] ABORT RESET,A1858 [L4932,T59,P1] LOAD STOP_TIMER_2,#0 [L4595,T56,P1] PRESENT VBAT,A1729 [L4656,T56,P1] EXIT AWAIT_CASE_23,A1716 [L4656,T56,P1] A1749 [L4595,T56,P1] A1728 [L4579,T56,P1] ABORT RESET,A1714 [L4578,T56,P1] LOAD STOP_TIMER,#0 [L4630,T56,P1] LOAD POS_A_VALUE,?MOT_POS_A1 f [L4631,T56,P1] CMPS POS_A_VALUE,#1 t [L4594,T56,P1] EXIT AC_69,A1721 [L4613,T56,P1] AC_69 [L4731,T57,P1] LOAD POS_B_VALUE_0,?MOT_POS_B2 [L4732,T57,P1] CMPS POS_A_VALUE_0,#1 [L4716,T57,P1] AC_76 [L4714,T57,P1] EXIT AC_76,A1770 t [L4850,T58,P1] CMPS POS_A_VALUE_1,#1 [L4849,T58,P1] LOAD POS_B_VALUE_1,?MOT_POS_B3 [L4751,T57,P1] CMPS POS_B_VALUE_0,#1 t f [L4750,T57,P1] JW EE,A1790 [L4715,T57,P1] A1777 [L4715,T57,P1] GOTO A1771 t [L4834,T58,P1] AC_82 [L4832,T58,P1] EXIT AC_82,A1818 [L4833,T58,P1] A1825 f [L4833,T58,P1] GOTO A1819 [L4781,T57,P1] GOTO A1800 [L4785,T57,P1] JW EE,A1802 t [L4784,T57,P1] CMPS CHANNEL_N_VALUE_0,#1 [L4869,T58,P1] CMPS POS_B_VALUE_1,#1 t [L4868,T58,P1] JW EE,A1838 [L4899,T58,P1] GOTO A1848 [L4903,T58,P1] JW EE,A1850 [L4902,T58,P1] CMPS CHANNEL_N_VALUE_1,#1 t [L5020,T59,P1] CMPS CHANNEL_N_VALUE_2,#1 [L5021,T59,P1] JW EE,A1898 [L5016,T59,P1] ADD START_TIMER_2,#1 [L4951,T59,P1] GOTO A1867 t [L4987,T59,P1] CMPS POS_B_VALUE_2,#1 [L4951,T59,P1] A1873 [L4986,T59,P1] JW EE,A1886 t [L4952,T59,P1] AC_88 f [L4950,T59,P1] EXIT AC_88,A1866 t [L4967,T59,P1] LOAD POS_B_VALUE_2,?MOT_POS_B4 [L4968,T59,P1] CMPS POS_A_VALUE_2,#1 t [L4667,T56,P1] JW EE,A1754 [L4666,T56,P1] CMPS CHANNEL_N_VALUE,#1 [L4597,T56,P1] GOTO A1723 [L4597,T56,P1] A1729 [L4598,T56,P1] AC_70 [L4596,T56,P1] EXIT AC_70,A1722 t f [L4632,T56,P1] JW EE,A1742 t [L4633,T56,P1] CMPS POS_B_VALUE,#1 [L4613,T56,P1] LOAD POS_B_VALUE,?MOT_POS_B1 [L4614,T56,P1] CMPS POS_A_VALUE,#1 [L4734,T57,P1] CMPS POS_B_VALUE_0,#1 t [L4733,T57,P1] JW EE,A1784 [L4716,T57,P1] LOAD VBAT_VALUE_1,?VBAT [L4717,T57,P1] CMPS VBAT_VALUE_1,#100 [L4852,T58,P1] CMPS POS_B_VALUE_1,#1 t [L4851,T58,P1] JW EE,A1832 f t [L4753,T57,P1] GOTO A1790 [L4752,T57,P1] JW EE,A1791 f [L4834,T58,P1] LOAD VBAT_VALUE_2,?VBAT [L4835,T58,P1] CMPS VBAT_VALUE_2,#100 [L4787,T57,P1] ADD STOP_TIMER_0,#1 [L4787,T57,P1] A1802 f t f [L4786,T57,P1] GOTO A1801 [L4871,T58,P1] GOTO A1838 f [L4870,T58,P1] JW EE,A1839 f t [L4904,T58,P1] GOTO A1849 t [L4905,T58,P1] A1850 f [L4905,T58,P1] ADD STOP_TIMER_1,#1 f [L5017,T59,P1] GOTO A1896 [L5022,T59,P1] GOTO A1897 [L5023,T59,P1] ADD STOP_TIMER_2,#1 t [L5023,T59,P1] A1898 f f [L4989,T59,P1] GOTO A1886 [L4988,T59,P1] JW EE,A1887 f t f [L4952,T59,P1] LOAD VBAT_VALUE_3,?VBAT [L4953,T59,P1] CMPS VBAT_VALUE_3,#100 [L4969,T59,P1] JW EE,A1880 [L4970,T59,P1] CMPS POS_B_VALUE_2,#1 t f [L4669,T56,P1] A1754 [L4669,T56,P1] ADD STOP_TIMER,#1 f t [L4668,T56,P1] GOTO A1753 [L4599,T56,P1] CMPS VBAT_VALUE_0,#100 [L4598,T56,P1] LOAD VBAT_VALUE_0,?VBAT [L4634,T56,P1] JW EE,A1743 f [L4635,T56,P1] GOTO A1742 t f [L4615,T56,P1] JW EE,A1736 [L4616,T56,P1] CMPS POS_B_VALUE,#1 t [L4735,T57,P1] JW EE,A1785 [L4736,T57,P1] GOTO A1784 t f f [L4718,T57,P1] JW L,A1778 [L4721,T57,P1] A1778 f f [L4854,T58,P1] GOTO A1832 [L4853,T58,P1] JW EE,A1833 t f [L4756,T57,P1] CMPS POS_B_VALUE_0,#1 [L4756,T57,P1] A1790 [L4754,T57,P1] LOAD POS_VALUE_0,#2 [L4754,T57,P1] A1791 [L4839,T58,P1] A1826 [L4836,T58,P1] JW L,A1826 f [L4788,T57,P1] A1800 [L4788,T57,P1] A1801 [L4872,T58,P1] LOAD POS_VALUE_1,#2 [L4874,T58,P1] CMPS POS_B_VALUE_1,#1 [L4872,T58,P1] A1839 [L4874,T58,P1] A1838 [L4906,T58,P1] A1848 [L4906,T58,P1] A1849 [L5024,T59,P1] A1896 [L4990,T59,P1] LOAD POS_VALUE_2,#2 [L5024,T59,P1] A1897 [L4992,T59,P1] CMPS POS_B_VALUE_2,#1 [L4990,T59,P1] A1887 [L4992,T59,P1] A1886 [L4957,T59,P1] A1874 [L4954,T59,P1] JW L,A1874 f f [L4971,T59,P1] JW EE,A1881 f t [L4972,T59,P1] GOTO A1880 [L4670,T56,P1] A1752 [L4670,T56,P1] A1753 [L4603,T56,P1] A1730 [L4600,T56,P1] JW L,A1730 f t [L4638,T56,P1] CMPS POS_B_VALUE,#1 [L4638,T56,P1] A1742 [L4636,T56,P1] LOAD POS_VALUE,#2 [L4636,T56,P1] A1743 [L4617,T56,P1] JW EE,A1737 f t [L4618,T56,P1] GOTO A1736 f [L4737,T57,P1] A1785 [L4739,T57,P1] CMPS POS_B_VALUE_0,#1 [L4739,T57,P1] A1784 [L4721,T57,P1] CMPS VBAT_VALUE_1,#120 [L4722,T57,P1] JW L,A1780 t [L4857,T58,P1] CMPS POS_B_VALUE_1,#1 [L4857,T58,P1] A1832 [L4855,T58,P1] LOAD POS_VALUE_1,#2 [L4855,T58,P1] A1833 [L4758,T57,P1] CMPS POS_A_VALUE_0,#1 t [L4757,T57,P1] JW EE,A1793 t [L4788,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4875,T58,P1] JW EE,A1841 [L4876,T58,P1] CMPS POS_A_VALUE_1,#1 t [L4839,T58,P1] CMPS VBAT_VALUE_2,#120 [L4840,T58,P1] JW L,A1828 [L4906,T58,P1] EXIT AWAIT_CASE_25,A1812 [L5024,T59,P1] EXIT AWAIT_CASE_26,A1860 [L4993,T59,P1] JW EE,A1889 [L4994,T59,P1] CMPS POS_A_VALUE_2,#1 t [L4958,T59,P1] JW L,A1876 [L4957,T59,P1] CMPS VBAT_VALUE_3,#120 t [L4973,T59,P1] A1881 [L4973,T59,P1] LOAD POS_VALUE_2,#2 [L4975,T59,P1] CMPS POS_B_VALUE_2,#1 [L4975,T59,P1] A1880 [L4670,T56,P1] EXIT AWAIT_CASE_23,A1716 [L4604,T56,P1] JW L,A1732 [L4603,T56,P1] CMPS VBAT_VALUE_0,#120 [L4602,T56,P1] GOTO A1731 [L4601,T56,P1] LOAD TIME_ADD,#9000 [L4619,T56,P1] LOAD POS_VALUE,#2 [L4639,T56,P1] JW EE,A1745 [L4640,T56,P1] CMPS POS_A_VALUE,#1 t [L4619,T56,P1] A1737 [L4621,T56,P1] A1736 [L4621,T56,P1] CMPS POS_B_VALUE,#1 [L4737,T57,P1] LOAD POS_VALUE_0,#2 t [L4741,T57,P1] CMPS POS_A_VALUE_0,#1 [L4740,T57,P1] JW EE,A1787 [L4725,T57,P1] A1780 [L4725,T57,P1] CMPS VBAT_VALUE_1,#130 f [L4723,T57,P1] LOAD TIME_ADD_0,#6000 t [L4719,T57,P1] LOAD TIME_ADD_0,#9000 [L4859,T58,P1] CMPS POS_A_VALUE_1,#1 [L4858,T58,P1] JW EE,A1835 t [L4759,T57,P1] JW EE,A1794 [L4761,T57,P1] A1794 f [L4760,T57,P1] GOTO A1793 t f [L4873,T58,P1] GOTO A1840 [L4879,T58,P1] A1842 [L4877,T58,P1] JW EE,A1842 [L4878,T58,P1] GOTO A1841 f t f [L4841,T58,P1] LOAD TIME_ADD_1,#6000 [L4843,T58,P1] CMPS VBAT_VALUE_2,#130 t f [L4843,T58,P1] A1828 f t [L4996,T59,P1] GOTO A1889 [L4995,T59,P1] JW EE,A1890 [L4997,T59,P1] A1890 f [L4959,T59,P1] LOAD TIME_ADD_2,#6000 [L4961,T59,P1] CMPS VBAT_VALUE_3,#130 [L4961,T59,P1] A1876 t [L4955,T59,P1] LOAD TIME_ADD_2,#9000 f [L4977,T59,P1] CMPS POS_A_VALUE_2,#1 [L4976,T59,P1] JW EE,A1883 t [L4605,T56,P1] LOAD TIME_ADD,#6000 [L4607,T56,P1] A1732 [L4607,T56,P1] CMPS VBAT_VALUE_0,#130 t f [L4620,T56,P1] GOTO A1738 [L4641,T56,P1] JW EE,A1746 f [L4642,T56,P1] GOTO A1745 [L4643,T56,P1] A1746 f t [L4637,T56,P1] GOTO A1744 [L4623,T56,P1] CMPS POS_A_VALUE,#1 [L4622,T56,P1] JW EE,A1739 t f [L4742,T57,P1] JW EE,A1788 [L4743,T57,P1] GOTO A1787 t [L4744,T57,P1] A1788 f [L4726,T57,P1] JW L,A1782 [L4729,T57,P1] A1782 t [L4727,T57,P1] LOAD TIME_ADD_0,#3000 f [L4720,T57,P1] GOTO A1779 f [L4861,T58,P1] GOTO A1835 t [L4860,T58,P1] JW EE,A1836 [L4862,T58,P1] A1836 f [L4837,T58,P1] LOAD TIME_ADD_1,#9000 [L4762,T57,P1] GOTO A1795 [L4761,T57,P1] LOAD POS_VALUE_0,#0 [L4763,T57,P1] A1793 [L4763,T57,P1] LOAD POS_VALUE_0,#1 [L4755,T57,P1] GOTO A1792 [L4879,T58,P1] LOAD POS_VALUE_1,#0 [L4880,T58,P1] GOTO A1843 [L4881,T58,P1] A1841 [L4881,T58,P1] LOAD POS_VALUE_1,#1 [L4845,T58,P1] LOAD TIME_ADD_1,#3000 [L4844,T58,P1] JW L,A1830 [L4847,T58,P1] A1830 t f [L4999,T59,P1] LOAD POS_VALUE_2,#1 [L4999,T59,P1] A1889 [L4998,T59,P1] GOTO A1891 [L4997,T59,P1] LOAD POS_VALUE_2,#0 [L4960,T59,P1] GOTO A1877 [L4962,T59,P1] JW L,A1878 [L4963,T59,P1] LOAD TIME_ADD_2,#3000 t [L4965,T59,P1] A1878 f [L4974,T59,P1] GOTO A1882 [L4980,T59,P1] A1884 t [L4978,T59,P1] JW EE,A1884 [L4979,T59,P1] GOTO A1883 f f [L4606,T56,P1] GOTO A1733 [L4609,T56,P1] LOAD TIME_ADD,#3000 t [L4608,T56,P1] JW L,A1734 f [L4611,T56,P1] A1734 [L4645,T56,P1] A1745 [L4645,T56,P1] LOAD POS_VALUE,#1 [L4643,T56,P1] LOAD POS_VALUE,#0 [L4644,T56,P1] GOTO A1747 [L4625,T56,P1] GOTO A1739 f [L4624,T56,P1] JW EE,A1740 f t [L4626,T56,P1] A1740 [L4738,T57,P1] GOTO A1786 [L4746,T57,P1] LOAD POS_VALUE_0,#1 [L4746,T57,P1] A1787 [L4744,T57,P1] LOAD POS_VALUE_0,#0 [L4745,T57,P1] GOTO A1789 [L4729,T57,P1] LOAD TIME_ADD_0,#0 [L4728,T57,P1] GOTO A1783 [L4724,T57,P1] GOTO A1781 [L4730,T57,P1] A1783 [L4864,T58,P1] LOAD POS_VALUE_1,#1 [L4864,T58,P1] A1835 [L4862,T58,P1] LOAD POS_VALUE_1,#0 [L4856,T58,P1] GOTO A1834 [L4863,T58,P1] GOTO A1837 [L4764,T57,P1] A1795 [L4764,T57,P1] A1792 [L4882,T58,P1] A1840 [L4882,T58,P1] A1843 [L4846,T58,P1] GOTO A1831 [L4842,T58,P1] GOTO A1829 [L4848,T58,P1] A1831 [L4847,T58,P1] LOAD TIME_ADD_1,#0 [L5000,T59,P1] A1888 [L4991,T59,P1] GOTO A1888 [L5000,T59,P1] A1891 [L4964,T59,P1] GOTO A1879 [L4966,T59,P1] A1879 [L4965,T59,P1] LOAD TIME_ADD_2,#0 [L4980,T59,P1] LOAD POS_VALUE_2,#0 [L4981,T59,P1] GOTO A1885 [L4982,T59,P1] A1883 [L4982,T59,P1] LOAD POS_VALUE_2,#1 [L4610,T56,P1] GOTO A1735 [L4612,T56,P1] A1735 [L4611,T56,P1] LOAD TIME_ADD,#0 [L4646,T56,P1] A1747 [L4646,T56,P1] A1744 [L4628,T56,P1] LOAD POS_VALUE,#1 [L4628,T56,P1] A1739 [L4627,T56,P1] GOTO A1741 [L4626,T56,P1] LOAD POS_VALUE,#0 [L4747,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4747,T57,P1] A1786 [L4747,T57,P1] A1789 [L4730,T57,P1] A1781 [L4730,T57,P1] A1779 [L4730,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4865,T58,P1] A1834 [L4865,T58,P1] EXIT AWAIT_CASE_25,A1812 [L4865,T58,P1] A1837 [L4838,T58,P1] GOTO A1827 [L4764,T57,P1] EXIT AWAIT_CASE_24,A1764 [L4882,T58,P1] EXIT AWAIT_CASE_25,A1812 [L4848,T58,P1] A1829 [L4848,T58,P1] A1827 [L4848,T58,P1] EXIT AWAIT_CASE_25,A1812 [L5000,T59,P1] EXIT AWAIT_CASE_26,A1860 [L4966,T59,P1] A1877 [L4966,T59,P1] A1875 [L4966,T59,P1] EXIT AWAIT_CASE_26,A1860 [L4956,T59,P1] GOTO A1875 [L4983,T59,P1] A1882 [L4983,T59,P1] A1885 [L4983,T59,P1] EXIT AWAIT_CASE_26,A1860 [L4612,T56,P1] EXIT AWAIT_CASE_23,A1716 [L4612,T56,P1] A1733 [L4612,T56,P1] A1731 [L4629,T56,P1] EXIT AWAIT_CASE_23,A1716 [L4629,T56,P1] A1738 [L4646,T56,P1] EXIT AWAIT_CASE_23,A1716 [L4629,T56,P1] A1741 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 32

  34. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Overview KEP3a Instruction Set + Architecture Esterel-Type Instructions Handling Concurrency Handling Preemption Handling Exceptions The Compiler Further Measurements Summary Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 33

  35. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Instruction Set Summary 1/2 Mnemonic, Esterel Syntax Notes Operands Fork and join. PAR Prio , startAddr [, ID ] [ An optional ID explicitly specifies the ID of PARE endAddr p || q the created thread. JOIN ] PRIO Prio Set the priority of the current thread [weak] abort S can be one of the following: . . . [W]ABORT [ n ,] S , endAddr 1. S : signal status (present/absent) when [ n ] S 2. PRE( S ) : previous status of signal [weak] abort 3. TICK : always present ... n can be one of the following: [W]ABORTI S , endAddr when immediate S 1. # data : immediate data suspend 2. reg : register contents ... 3. ? S : value of a signal SUSPEND[I] S , endAddr when [immediate] S 4. PRE(? S ) : previous value of a signal trap T in Exit from a trap, TrapStart and TrapEnd spec- EXIT TrapEnd [, TrapStart ] exit T ify trap scope. Unlike GOTO , check for concur- rent EXIT s and terminate enclosing || end trap Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 34

  36. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Instruction Set Summary 2/2 Mnemonic, Esterel Syntax Notes Operands PAUSE pause Wait for a signal. AWAIT TICK is equivalent to AWAIT [ n ,] S await [ n ] S PAUSE AWAIT[I] S await [immediate] S CAWAITS await case [immediate] wait for several signals in parallel CAWAIT[I] S, addr S do CAWAITE end SIGNAL S signal S in ...end Initialize a local signal S EMIT S [, { # data | reg } ] emit S [( val )] Emit (valued) signal S SUSTAIN S [, { # data | reg } ] sustain S [( val )] Sustain (valued) signal S present S then Jump to elseAddr if S is absent PRESENT S , elseAddr ...end NOTHING nothing Do nothing Halt the program HALT halt GOTO addr loop ...end loop Jump to addr CALL addr call a procedure, call P and return from the procedure RETURN Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 35

  37. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Handling Concurrency Execution status of a single thread The status of the whole program, as managed by the Thread Block Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 36

  38. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Handling Concurrency % Esterel A thread has its [ p ◮ thread id || q ◮ address range and independent program ]; counter ◮ priority value ⇓ % KEP Assembler ◮ assigned when a thread is created PAR 1,A0,1 PAR 1,A1,2 ◮ dynamically changed via PRIO PARE A2 instruction A0: p ◮ status flags A1: q A2: JOIN ◮ ThreadEnable ◮ ThreadActive Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 37

  39. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Handling Preemption Watcher contains % Esterel abort Enable Watcher (EW) weak abort ◮ Watches the PC (Program p ; when S2; Counter) q ; ◮ Compares PC when S1; ◮ Preemption enabled ? ⇓ % KEP Assembler Trigger Watcher (TW) ABORT S1,A1 WABORT S2,A0 ◮ Watches the Signal p ◮ Counts down the counter A0: q A1: (abortion) ◮ Preemption active ? Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 38

  40. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Watcher Refinement Thread Watcher ◮ belongs to a thread directly ◮ can neither include concurrent threads nor other preemptions ◮ least powerful, but also cheapest Local Watcher ◮ may include concurrent threads and also preemptions handled by a Thread Watcher ◮ cannot include another Local Watcher Watcher ◮ may include concurrent threads and any preemptions ◮ most powerful, but also most expensive Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 39

  41. KEP3a Instruction Set + Architecture Esterel-Type Instructions The Compiler Handling Concurrency Further Measurements Handling Preemption Summary Handling Exceptions Handling Exceptions % Esterel trap T 1 in trap T 2 in [ p ; exit T 1 ; Exception || q ; ◮ has its address range exit T 2 ; ]; end trap; ◮ sets an exitFlag r ; end trap; ◮ cleared when reaching the end of the trap scope ⇓ % KEP Assembler ◮ effects control at the join T1S: T2S: PAR 1,A1,1 point PAR 1,A2,2 PARE A3 ◮ can be overridden based on A1: p EXIT T1,T1S the corresponding trap A2: q EXIT T2,T2E scopes (address range) A3: JOIN T2E: r T1E: Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 40

  42. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Overview KEP3a Instruction Set + Architecture The Compiler The Concurrent KEP Assembler Graph Kep Thread Ids Priority Assigning Cyclicity Further Measurements Summary Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 41

  43. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Esterel Kep Compiling Scheme ◮ parsing and module expanding is done by Columbia Esterel Compiler (CEC) ◮ result is an Esterel abstract syntax tree (AST) ◮ dismantle some more complex esterel statements to simple statements ◮ creating assembler program and Concurrent KEP Assembler Graph (CKAG) by recursive visiting of the AST ◮ do computations and optimizations on CKAG e. g. do priority assigning to ensure correct behavior e. g. do statement collapsing to use less statements ◮ printing to KEP assembler or viewing the CKAG Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 42

  44. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Concurrent KEP Assembler Graph (CKAG) ◮ represents the control flow of KEP assembler ◮ needed to realize more complex compiling computations ◮ each node contains a KEP statement and Thread Id ◮ different kind of nodes ◮ instantaneous: TransientNode, LabelNode ◮ not instantaneous: DelayNode ◮ parallel: ForkNode, JoinNode ◮ different kind of edges ◮ sequence control flow ◮ abort preemption, weak abort preemption, ◮ exit preemption Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 43

  45. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Kep Thread Id ◮ contains an unique integer value and the parent’s thread pointer ◮ the main thread has no parent thread (NULL pointer) ◮ a sequence of fork nodes declares the sub-thread id’s ◮ Kep Thread Id structure has much similarity to a tree ◮ three important relations between thread id’s ◮ subthread ◮ concurrent ◮ sequence Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 44

  46. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Thread Id Example 1 T0 T1 T2 ◮ T1 and T2 are sub-threads of T0 ◮ T1 and T2 are concurrent to each other ◮ no sequence behaviour Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 45

  47. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Thread Id Example 2 T0 T1 T2 T3 T6 T7 T4 T5 ◮ { T1,...,T7 } are sub-threads of T0 ◮ T4 and T5 are sub-threads of T3 ◮ { T1,T2,T3 } , { T1,T2,T4,T5 } and { T6,T7 } are in each case concurrent to each other ◮ { T1,T2,T3,T4,T5 } are in sequence to { T6,T7 } Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 46

  48. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity module: par10 T0 PAR* 1 1 A0 A1 T8 T1 T14 T13 EMIT S EMIT T PAR* PAR* T9 T10 T12 T11 T2 T5 1 1 1 1 A3 A4 A12 A13 NOTHING NOTHING PAUSE NOTHING T4 T3 T7 T6 PAR* PAR* JOIN 0 1 1 1 1 A6 A7 A9 A10 NOTHING EMIT U EMIT V NOTHING EMIT W PAR* 1 1 JOIN 0 JOIN 0 A15 A16 JOIN 0 EMIT V EMIT W JOIN 0 JOIN 0 PAUSE PAR* 1 1 A18 A19 EMIT S EMIT T JOIN 0 HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 47

  49. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Priority Assigning Scheme ◮ determining signal dependencies ◮ relevant for our concern are only concurrent signal dependencies, which we call priority dependencies ◮ run priority assigning algorithm fulfilling all priority constraints ◮ if assigning algorithm ends successfully: ◮ setting priorities of PAR and PARE statements ◮ inserting priority statements according to the priority assigning if necessary Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 48

  50. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Signal Dependencies ◮ a writer-reader pair of the same signal S defines a signal dependency WRITER(S) i READER(S) ◮ writer statements: EMIT , SUSTAIN , SIGNAL , EXIT , SETV ◮ reader statements: PRESENT , AWAIT , PAUSE , HALT , SUSTAIN , EMIT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 49

  51. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Signal Dependency Example 1 EMIT S i PRESENT S,A0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 50

  52. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Signal Dependency Example 2 SETV S,#2 i EMIT T,?S i PRESENT T,A1 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 51

  53. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Priority Dependencies ◮ a priority dependency is defined as signal dependency with concurrent KepThreadId s ◮ execution order can and must be determined by priorities respectively thread id’s ◮ priority dependencies are only relevant when executable within the the same tick, otherwise superfluous ◮ analysis is conservative in a way that superfluous dependencies may exist Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 52

  54. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Priority Dependency Example PAR* ... ... EMIT S PRESENT S,A1 i ... PRESENT S,A0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 53

  55. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity A0 ... PAR* ... EXIT T,A0 ... i ... PAUSE e T ... JOIN 0 e T T Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 54

  56. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Constraints ◮ a priority dependency ( w , r ) causes a writer constraint: w . prio > w r . prio := w . prio > r . prio ∨ ( w . prio = r . prio ∧ w . id > r . id ) ◮ instantaneous execution order causes control flow constraints : priorities never grow instantaneously ◮ node: the control flow successors of DelayNodes causes no constraints because they does not represent instantaneous execution Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 55

  57. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Assigning Algorithm ◮ try to fulfill all constraints by a DFS like algorithm ◮ basic idea to compute the priority n . prio of a node n : n . prio = max ( { n . inst succ . prio } ∪ { n . reader . prio + 1 } ) ◮ for a DelayNode d additionally the priority d . prio next of the next instant is computed: this ensures termination of a one pass traversal d . prio next = max ( { n . next succ . prio } ∪ { n . reader . prio + 1 } ) Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 56

  58. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Priority Dismantling ◮ sometimes we cannot fulfill the constraints because of statements which are writer and reader at the same time: ◮ SUSTAIN S ◮ EMIT S,expr ◮ separate writing and reading part by dismantling ◮ priority statements can be inserted in between Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 57

  59. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* ... WABORTI A,A3 ... SUSTAIN R w i A AWAIT R A3 i ... EMIT A ... JOIN 0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 58

  60. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* ... WABORTI A,A3 A4 ... EMIT R i AWAIT R EMIT A i PAUSE w A ... GOTO A4 A3 ... JOIN 0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 59

  61. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* ... WABORTI A,A3 A4 ... EMIT R i PRIO 1 AWAIT R PRIO 2 EMIT A i PAUSE w A ... GOTO A4 A3 ... JOIN 0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 60

  62. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity module: Example T0 [T0,P1/1] PAR* 2 1 [T1,P2] A0 T1 T2 [T2,P1] A1 [T1,P2] WABORTI A,A3 [T1,P2] A4 [T1,P2] EMIT R i [T1,P1] PRIO 1 [T2,P1/1] AWAIT R [T1,P2] PRIO 2 [T2,P1] EMIT A i [T1,P1/2] PAUSE w A [T1,P2] GOTO A4 [T1,P1] A3 [T1,P1] EMIT O [T0,P1] JOIN 0 [T0,P1/1] HALT Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 61

  63. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1,?V2 1 i PRESENT V1,A3 t i EMIT V2,#3 f A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 62

  64. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1,?V2 1 i PRESENT V1,A3 t i EMIT V2,#3 f A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 63

  65. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1 1 i PRESENT V1,A3 t EMIT V2,#3 f i SETV V1,?V2 A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 64

  66. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1 1 i PRESENT V1,A3 t EMIT V2,#3 f i SETV V1,?V2 A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 65

  67. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1 1 i PRESENT V1,A3 t EMIT V2 f SETV V2,#3 i SETV V1,?V2 A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 66

  68. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1 1 i PRESENT V1,A3 t EMIT V2 f SETV V2,#3 i SETV V1,?V2 A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 67

  69. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* 2 EMIT V1 1 i PRESENT V1,A3 PRIO 1 t EMIT V2 f SETV V2,#3 i SETV V1,?V2 A3 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 68

  70. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Thread Id Optimization ◮ same priority: ◮ thread id has scheduling relevance ◮ no priority statements needed ◮ try to optimize thread id’s ◮ thread dependency: priority dependency modulo nodes/statements ◮ optimization: assign dependency fathers higher thread id then children ◮ node: sub-thread constraints must be obtained Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 69

  71. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Superfluous Priority Dependencies ◮ Priority dependencies which are not executable within the same instant are called superfluous dependencies ◮ in general difficult to compute ◮ special case: ◮ search least common fork node (nodes are concurrent) ◮ make instant analysis starting with fork node ◮ if one node has only instantaneous and the other not instantaneous paths: remove Priority Dependency Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 70

  72. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* inst ... EMIT S PAUSE i ... PRESENT S,A0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 71

  73. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity PAR* inst ... EMIT S PAUSE ... PRESENT S,A0 Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 72

  74. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity CKAG Node Types The CKAG distinguishes the following sets of nodes: D : Delay nodes (octagons) ◮ PAUSE , AWAIT , HALT , SUSTAIN F : Fork nodes (triangles) ◮ PAR / PARE T : Transient nodes (rectangles/inverted triangles) ◮ EMIT , PRESENT , etc. (rectangles) ◮ JOIN nodes (inverted triangles) N : Set of all nodes, N = D ∪ F ∪ T Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 73

  75. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity The Concurrent KEP Assembler Graph (CKAG) Define ◮ for each fork node n : n . join : the JOIN statement corresponding to n , n . sub : the transitive closure of nodes in threads generated by n . ◮ for abort nodes n ( [L | T][W]ABORT[I] , SUSPEND[I] ): n . end : the end of the abort scope opened by n , n . scope : the nodes within n ’s abort scope. ◮ for all nodes n : n . prio : the priority that the thread executing n should be running with ◮ for n ∈ D ∪ F , n . prionext : the priority that the thread executing n should be resumed with in the subsequent tick. Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 74

  76. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity CKAG Dependency Types Define dependencies n . dep i : the dependency sinks with respect to n at the current tick (the immediate dependencies ) n . dep d : the dependency sinks with respect to n at the next tick (the delayed dependencies ) Induced by emissions of strong abort trigger signals and corresponding delay nodes within the abort scope Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 75

  77. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity CKAG Successor Types Define following types of successors for each n : n . suc c : the control successors . n . suc w : the weak abort successors n . suc s : the strong abort successors n . suc f : the flow successors the set n . suc c ∪ n . suc w ∪ n . suc s For n ∈ F we also define the following fork abort successors n . suc wf : the weak fork abort successors n . suc sf : the strong fork abort successors Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 76

  78. KEP3a Instruction Set + Architecture The Concurrent KEP Assembler Graph The Compiler Kep Thread Ids Further Measurements Priority Assigning Summary Cyclicity Program Cycle An Esterel program is considered cyclic iff the corresponding CKAG contains a path from a node to itself, where for all nodes n and their successors along that path, n ′ and n ′′ , the following holds: n ∈ D ∧ n ′ ∈ n . suc w ∨ n ∈ F ∧ n ′ ∈ n . suc c ∪ n . suc wf ∨ n ∈ T ∧ n ′ ∈ n . suc c ∪ n . dep i ∨ n ∈ T ∧ n ′ ∈ n . dep d ∧ n ′′ ∈ n ′ . suc c ∪ n ′ . suc s ∪ n ′ . suc sf . Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 77

  79. KEP3a Instruction Set + Architecture Code Characteristics and Compilation Times The Compiler Speed, Size, Power, Scalability Further Measurements Analysis of context switches Summary Another Example Overview KEP3a Instruction Set + Architecture The Compiler Further Measurements Code Characteristics and Compilation Times Speed, Size, Power, Scalability Analysis of context switches Another Example Summary Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 78

  80. KEP3a Instruction Set + Architecture Code Characteristics and Compilation Times The Compiler Speed, Size, Power, Scalability Further Measurements Analysis of context switches Summary Another Example Code Characteristics and Compilation Times Esterel KEP3a (Unoptimized | optimized) MicroBlaze Module Threads Preemptions CKAG Preemption handled by Compiling Compiling Name Cnt Max Max Cnt Max NodesDep. Max PRIO Local Thread Time Time (Sec) DepthConc Depth NumPriority Instr WatcherWatcherWatcher (Sec) (V5/V7/CEC) 4 2 4 20 2 211 36 3 30 0 4 | 3 16 | 11 0.15 0.12 0.09 0.30 abcd 6 2 6 30 2 313 90 3 48 0 6 | 5 24 | 17 0.21 0.71 0.46 0.96 abcdef 8 2 8 40 2 415 168 3 66 0 8 | 7 32 | 23 0.26 0.99 0.54 1.25 eight but 5 3 4 6 1 80 4 2 10 0 0 6 | 4 0.07 0.35 0.35 0.43 chan prot reactor ctrl 3 2 3 5 1 51 5 1 0 0 1 | 0 4 0.06 0.29 0.31 0.36 runner 2 2 2 9 3 61 0 1 0 3 | 2 1 5 | 3 0.05 0.30 0.34 0.40 example 2 2 2 4 2 36 2 3 6 0 1 3 | 2 0.05 0.28 0.31 0.31 ww button 13 3 4 27 2 194 0 1 0 0 5 22 | 10 0.10 0.44 0.40 0.64 greycounter 17 3 13 19 2 414 53 6 58 0 4 15 0.34 0.57 0.43 0.75 tcint 39 5 17 18 2 583 65 3 20 0 1 17 | 10 0.34 0.41 0.52 1.11 mca200 59 5 49 64 4 11219 129 11 190 2 14 48 11.25 69.81 12.99 7.37 Note: In the mca200 , the watcher refinement reduces the hardware requirements from 4033 slices (if all preemptions were handled by general purpose Watcher s) to 3265 slices (19% reduction). Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 79

  81. KEP3a Instruction Set + Architecture Code Characteristics and Compilation Times The Compiler Speed, Size, Power, Scalability Further Measurements Analysis of context switches Summary Another Example Worst-/Average-Case Reaction Times MicroBlaze KEP3a-Unoptimized KEP3a-optimized Module Name WCRT ACRT WCRT Ratio to ACRT Ratio to WCRT Ratio to ACRT Ratio V5 V7 CEC V5 V7 CEC best MB best MB Unopt to Unopt 1559 954 1476 1464 828 1057 135 0.14 87 0.11 135 1 84 0.97 abcd 2281 1462 1714 2155 1297 1491 201 0.14 120 0.09 201 1 117 0.98 abcdef eight but 3001 1953 2259 2833 1730 1931 267 0.14 159 0.09 267 1 153 0.96 chan prot 754 375 623 683 324 435 117 0.31 60 0.19 117 1 54 0.90 reactor ctrl 487 397 456 266 54 0.23 45 0.21 51 0.94 39 0.87 230 214 566 657 512 419 36 0.12 15 0.05 30 0.83 6 0.40 runner 289 277 467 439 404 228 42 0.25 24 0.16 42 1 24 1 example 169 153 1185 979 1148 798 72 0.12 51 0.09 48 0.67 36 0.71 ww button 578 570 greycounter 1965 1013 2376 1851 928 1736 528 0.52 375 0.40 528 1 375 1 tcint 3580 1878 2350 3488 1797 2121 408 0.22 252 0.14 342 0.84 204 0.81 mca200 75488 29078 12497 73824 24056 11479 2862 0.23 1107 0.10 2862 1 1107 1 The worst-/average-case reaction times, in clock cycles, for the KEP3a and MicroBlaze ◮ WCRT speedup: typically > 4x ◮ ACRT speedup: typically > 5x ◮ Optimizations yield further improvements Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 80

  82. KEP3a Instruction Set + Architecture Code Characteristics and Compilation Times The Compiler Speed, Size, Power, Scalability Further Measurements Analysis of context switches Summary Another Example Memory Usage Esterel MicroBlaze KEP3a-Unopt. KEP3a-opt. Module Name LOC Code+Data (byte) Code (word) Code+Data (byte) Code (word) V5 V7 CEC abs. rel. abs. rel. abs. rel. [1] [2] ( best ) [3] [3]/[1] [4] [4]/[2] [5] [5]/[3] abcd 160 6680 7928 7212 168 1.05 756 0.11 164 0.93 236 9352 9624 252 1.07 1134 0.12 244 0.94 abcdef 9220 eight but 312 12016 11276 11948 336 1.08 1512 0.13 324 0.94 42 3808 6204 66 1.57 297 0.09 62 0.94 chan prot 3364 27 2668 5504 38 1.41 171 0.07 34 0.89 reactor ctrl 2460 runner 31 3140 5940 2824 39 1.22 175 0.06 27 0.69 20 2480 5196 2344 31 1.55 139 0.06 28 0.94 example ww button 76 6112 7384 5980 129 1.7 580 0.10 95 0.74 143 7936 8688 347 2.43 1567 0.21 343 1 greycounter 7612 tcint 355 14860 11376 15340 437 1.23 1968 0.17 379 0.87 3090 104536 77112 52998 8650 2.79 39717 0.75 8650 1 mca200 ◮ Unoptimized: 83% avg reduction of memory usage (Code+RAM) ◮ Optimized: May yield further 5% to 30+% improvements Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 81

  83. KEP3a Instruction Set + Architecture Code Characteristics and Compilation Times The Compiler Speed, Size, Power, Scalability Further Measurements Analysis of context switches Summary Another Example Power Consumption KEP3a 3 MicroBlaze Ratio Module (82mW@50MHz) (mW) (KEP to MB) Name Idle Peak Idle Peak Idle 69 13 8 0.16 0.12 abcd abcdef 74 13 7 0.16 0.09 74 13 7 0.16 0.09 eight but chan prot 70 28 12 0.34 0.17 reactor ctrl 76 20 13 0.24 0.17 runner 78 14 2 0.17 0.03 77 25 9 0.30 0.12 example 81 13 4 0.16 0.05 ww button greycounter 78 44 33 0.54 0.42 80 18 10 0.22 0.13 tcint ◮ Peak energy usage reduction: 75% avg ◮ Idle (= no inputs) energy usage reduction: 86% avg 3Based on Xilinx 3S200-4ft256, requires an additional 37mW as quiescent power for the chip itself Xin Li, Marian Boldt, Reinhard v. Hanxleden Multi-Threaded Reactive Processing Slide 82

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