| /branches/salvo_gps/Basis_v0067g/tags/v0007/Flight-Ctrl_MEGA644_V0_07a.hex |
|---|
| 0,0 → 1,2422 |
| :100000000C946C020C9489020C9489020C94890261 |
| :100010000C9489020C9489020C9489020C94890234 |
| :100020000C9489020C94810C0C9489020C94890222 |
| :100030000C949C150C9489020C9489020C948902EE |
| :100040000C9489020C9489020C94840B0C94890200 |
| :100050000C94A9070C9489020C94C4040C94890292 |
| :100060000C94870D0C9489020C94D0140C94890282 |
| :100070000A0A0D004E65757472616C004865616412 |
| :10008000696E67486F6C64000A0D5374657565721C |
| :10009000756E673A20004F4B0A0D000A0D416267EA |
| :1000A0006C65696368204C756674647275636B7304 |
| :1000B000656E736F722E2E000A0D42656E75747A2E |
| :1000C0006520506172616D657465727361747A2028 |
| :1000D0002564000A0D414343206E69636874206102 |
| :1000E000626765676C696368656E21000A0D496E19 |
| :1000F00069742E20454550524F4D3A2047656E6534 |
| :1001000072696572652044656661756C742D506115 |
| :1001100072616D657465722E2E2E000A0D3D3D3D97 |
| :100120003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3DFF |
| :100130003D3D3D3D3D3D3D3D3D3D3D000A0D466C57 |
| :1001400069676874436F6E74726F6C0A0D486172F0 |
| :1001500064776172653A25642E25640A0D536F66D3 |
| :1001600074776172653A5625642E256425632000F4 |
| :100170002E0052616E67653A2533692D253369007B |
| :100180005374656C6C756E673A202533690053654E |
| :1001900074706F696E742020253369005365727620 |
| :1001A0006F202000506F7469343A20202533690095 |
| :1001B000506F7469333A202025336900506F746999 |
| :1001C000323A202025336900506F7469313A20207B |
| :1001D0002533690053746172743A20202020202551 |
| :1001E0003569004D657373776572743A2020253543 |
| :1001F00069005269636874756E673A202025356915 |
| :10020000004B6F6D70617373202020202020200030 |
| :10021000456D70662E506567656C3A2535690053EB |
| :1002200070616E6E756E673A202025356900486FE3 |
| :1002300063682025346920282533692900526F6CB2 |
| :100240006C20253469202825336929004E69636BA9 |
| :100250002025346920282533692900414343202D76 |
| :100260002053656E736F720047696572202534698B |
| :1002700020282533692900526F6C6C2025346920B1 |
| :100280002825336929004E69636B202534692028AD |
| :10029000253369290047696572202534692028259E |
| :1002A00033692900526F6C6C20253469202825336E |
| :1002B0006929004E69636B2025346920282533693C |
| :1002C00029004779726F202D2053656E736F72007D |
| :1002D00050333A253469202050343A2534692000BF |
| :1002E00050313A253469202050323A2534692000B3 |
| :1002F00047733A253469202047693A25346920003C |
| :100300004E693A2534692020526F3A25346920001D |
| :100310004B373A25346920204B383A253469200080 |
| :100320004B353A25346920204B363A253469200074 |
| :100330004B333A25346920204B343A253469200068 |
| :100340004B313A25346920204B323A25346920005C |
| :100350004B6F6D706173733A202020253569005210 |
| :100360006F6C6C3A202020202020253569004E69D2 |
| :10037000636B3A20202020202025356900616B74B2 |
| :100380002E204C6167650048F668656E726567658A |
| :100390006C756E67004B65696E6520004F66662060 |
| :1003A00020202020203A20253569004C7566746491 |
| :1003B0007275636B3A2025356900536F6C6C486F1A |
| :1003C0006568653A2025356900486F6568653A209B |
| :1003D000202020202535690028632920486F6C677C |
| :1003E000657220427573730053657474696E673A61 |
| :1003F000202564200048573A5625642E2564205352 |
| :10040000573A25642E25642563002B2B204D696BFC |
| :10041000726F4B6F70746572202B2B005B25695DCA |
| :100420000000001100230034004600570069007AE4 |
| :10043000008B009C00AE00BF00D000E100F2000382 |
| :100440000114012401350146015601660177018737 |
| :10045000019701A701B601C601D501E501F4010329 |
| :1004600002120221022F023E024C025A0268027559 |
| :1004700002830290029D02AA02B702C302CF02DBEE |
| :1004800002E702F302FE02090314031F03290333E8 |
| :10049000033D0347035003590362036B0373037B5C |
| :1004A0000383038A03920399039F03A603AC03B259 |
| :1004B00003B703BC03C103C603CA03CE03D203D6EA |
| :1004C00003D903DC03DE03E103E303E403E603E70C |
| :1004D00003E703E803E8030011241FBECFEFD0E1D8 |
| :1004E000DEBFCDBF14E0A0E0B1E0EAE9F3E902C06D |
| :1004F00005900D92A23AB107D9F719E0A2EAB4E04B |
| :1005000001C01D92A339B107E1F70E94C4020C9407 |
| :10051000CC490C94000022E030E0D9010E94B84997 |
| :10052000802D863028F082E0D901082E0E94C04933 |
| :1005300090E00895FB01282F863008F025E0429FC7 |
| :10054000D0011124AC59BF4F842F90E0019724F0C3 |
| :1005500001900E94C049FACFA2E0B0E0022E0E94B2 |
| :10056000C0490895FB01863008F085E0489FD0011E |
| :100570001124AC59BF4F842F90E0019724F00E94C2 |
| :10058000B8490192FACF0895EF92FF921F93CF934B |
| :10059000DF9314B815B8189B02C08BE001C08AE045 |
| :1005A000809300018DEC87B98FEF88B98BE184B916 |
| :1005B00081E085B98EE38AB9579A87EF8BB984B702 |
| :1005C000877F84BF80916000886180936000109273 |
| :1005D000600080ED97E09093C5048093C40410926E |
| :1005E000640510926305109243081092420810921D |
| :1005F0006205109261051092600510925F0580916E |
| :1006000000018A3011F4289801C0289A0E94240D14 |
| :100610000E94FC050E9487150E94810D0E94B6145D |
| :1006200078941092410787E08093420780934307B4 |
| :1006300020910001822F6AE00E941149492F50E069 |
| :10064000822F0E94114990E021E630E03F932F93E2 |
| :1006500027E030E03F932F931F921F925F934F93B9 |
| :100660009F938F938CE391E09F938F931F920E94AF |
| :10067000E0088BE191E09F938F931F920E94E00826 |
| :10068000299AA1E0B0E00E94B849802D2DB73EB76D |
| :10069000205F3F4F0FB6F8943EBF0FBE2DBF84348E |
| :1006A000A9F18CEE90E09F938F931F920E94E00837 |
| :1006B0000E94CC23C0E0D0E00F900F900F908CE60A |
| :1006C000E82E88E0F82E1C2FC23039F0C33019F420 |
| :1006D0000E94A92204C0C43010F00E943A2347E4CB |
| :1006E000B701812F0E949A022196C630D10559F791 |
| :1006F00083E022E030E0D901082E0E94C04984E462 |
| :1007000021503040D901082E0E94C049C4E0D0E0F9 |
| :10071000DE010E94B849802D853050F083ED90E0D5 |
| :100720009F938F931F920E94E0080F900F900F905D |
| :100730002297DE010E94B849802D863028F082E0A1 |
| :10074000DE01082E0E94C04947E46CE678E00E9472 |
| :10075000B202DE010E94B849802D863028F082E086 |
| :10076000DE01082E0E94C04990E09F938F9388EB92 |
| :1007700090E09F938F931F920E94E00880917408ED |
| :100780000F900F900F900F900F9080FD03C0C8EE58 |
| :10079000D3E020C08BE990E09F938F931F920E943B |
| :1007A000E00888EE93E00E946C0CEC010E941F10A0 |
| :1007B0000F900F900F90CE010E94750C8823D9F3F3 |
| :1007C00086E990E09F938F931F920E94E0080F901C |
| :1007D0000F900F900E941B21809100018A3011F42C |
| :1007E000289801C0289A469880ED97E09093C50418 |
| :1007F0008093C40488EE93E090933C0780933B077A |
| :1008000085E58093360788E890E09F938F931F9249 |
| :100810000E94E008809174080F900F900F9082FF63 |
| :1008200003C08CE790E002C084E790E09F938F9331 |
| :100830001F920E94E0080F900F900F9080E790E0C9 |
| :100840009F938F931F920E94E0080E94681088E88F |
| :1008500093E190938603809385030F900F900F9000 |
| :100860008091C104882309F462C01092C1040E94DF |
| :100870005F240E94D420209100012A3011F428988E |
| :1008800001C0289A80910301882321F08150809330 |
| :10089000030110C01092B2041092B30410927F05AD |
| :1008A00010927E05109281051092800510928305AA |
| :1008B0001092820580915E05882329F080915E0563 |
| :1008C000815080935E058091850390918603892BEA |
| :1008D00001F585E090E090938603809385030E9464 |
| :1008E000611580910403909105038F5F9F4FF9F488 |
| :1008F000809165058823D9F080E197E29093C50443 |
| :100900008093C40480E890E09093050380930403EF |
| :100910000EC0809185039091860301979093860382 |
| :10092000809385032A3011F4289801C0289A0E94E8 |
| :1009300017060E94B006CE010E94750C882309F4A8 |
| :100940008FCF20910803309109038091840890E0B3 |
| :10095000281739079CF480910403909105038F5F59 |
| :100960009F4F61F480E797E19093C5048093C4049E |
| :1009700080E093E0909305038093040384E690E085 |
| :100980000E946C0CEC016CCF1F920F920FB60F926D |
| :1009900011248F939F93EF93FF93809101018823FC |
| :1009A000E1F48091BD049091BE0401969093BE0441 |
| :1009B0008093BD04FC01E85FF94FE081ED3019F050 |
| :1009C0008639910539F41092BE041092BD0481E07D |
| :1009D00080930101E093C60004C01092BE041092FF |
| :1009E000BD04FF91EF919F918F910F900FBE0F90DB |
| :1009F0001F901895DC0120E030E040E050E008C096 |
| :100A0000FA01E85FF94F8081280F311D4F5F5F4F7A |
| :100A10004A175B07A9F73F70C90136E0969587959D |
| :100A20003A95E1F7835CFD01E85FF94F8083119609 |
| :100A30002F73235CFD01E85FF94F2083A75FB94F57 |
| :100A40008DE08C9310920101809108068093C6007E |
| :100A500008951F93CF93DF93EA01722F93E290934F |
| :100A600008066093090680930A06A3E0B0E060E000 |
| :100A70004FC0FE01E60FF11D90816F5F715019F4B8 |
| :100A800010E040E00FC0FE01E60FF11D40816F5FF6 |
| :100A9000715011F410E006C0FE01E60FF11D108147 |
| :100AA0006F5F7150892F86958695835CFD01E85FA5 |
| :100AB000F94F808350E09A0184E0369527958A9516 |
| :100AC000E1F7892F90E083709070F4E0880F991F10 |
| :100AD000FA95E1F7282B235CFD01E75FF94F2083AE |
| :100AE000812F82958695869583704F705070440F44 |
| :100AF000551F440F551F842B835CFD01E65FF94FA2 |
| :100B000080831F73135CFD01E55FF94F108314961A |
| :100B1000772309F0AECFCD010E94FA04DF91CF9187 |
| :100B20001F9108951F93CF93DF93EC0170E0A22FE4 |
| :100B3000B0E0129748C0E42FF0E0E55BF84F308159 |
| :100B40004F5FE42FF0E0E55BF84F50814F5FE42FFB |
| :100B5000F0E0E55BF84F10814F5FE42FF0E0E55BDC |
| :100B6000F84F20814F5F842F90E0A817B90774F1E8 |
| :100B70005D53FE01E70FF11D852F82958F703D5368 |
| :100B8000330F330F382B3083613001F1912F9D5398 |
| :100B90007F5FFE01E70FF11D71505295507F892F45 |
| :100BA00086958695582B508363506F3F79F07E5F12 |
| :100BB000FE01E70FF11D9295990F990F907C2D532F |
| :100BC000922B90837F5F662309F0B5CFDF91CF91A1 |
| :100BD0001F9108951F93182F8A3019F48DE00E94F9 |
| :100BE000EA058091C00085FFFCCF1093C60080E02D |
| :100BF00090E01F9108950895E1ECF0E088E1808392 |
| :100C0000A0ECB0E08C9182608C93808180688083BE |
| :100C10008081806480838AE28093C40088EC90E0C5 |
| :100C20000E946C0C9093350780933407089580914F |
| :100C30000101882309F493C08091A204882371F0F4 |
| :100C400080910101882351F0609107062BE046E373 |
| :100C500057E087E40E9429051092A204809134078E |
| :100C6000909135070E94750C882321F48091A4048B |
| :100C70008823F9F0809101018823D9F0609107065B |
| :100C800022E441EE57E084E40E9429051092A40476 |
| :100C90008091B5049091B60401969093B604809328 |
| :100CA000B5048AEF90E00E946C0C90933507809316 |
| :100CB0003407609102016F3F89F0462F50E094E0C5 |
| :100CC000440F551F9A95E1F74C5F5E4F605D20E140 |
| :100CD00081E40E9429058FEF809302018091A30493 |
| :100CE000882359F180910101882339F10E94711004 |
| :100CF0001092A3043091AC04932F9F5F9093AC04A7 |
| :100D0000943021F08091AD04882359F026E14EE320 |
| :100D100058E060E084E30E9429058FEF8093AC04E3 |
| :100D20000CC044E1949FA0011124465E5C4F24E175 |
| :100D300060E0832F8F5C0E9429058091A5048823A1 |
| :100D400071F080910101882351F0609107062AE03B |
| :100D500041E457E086E50E9429051092A504089514 |
| :100D60001F93CF93DF93CDB7DEB722970FB6F894DA |
| :100D7000DEBF0FBECDBF8091A704882309F4DFC07A |
| :100D80008FEF8093030180914D078B3609F45EC08D |
| :100D90008C3678F4833629F1843620F4813609F0D4 |
| :100DA000CCC013C0873609F45EC0883609F0C5C0D0 |
| :100DB0002BC0813709F45BC0813708F480C08437C9 |
| :100DC000F1F1863709F0B9C04AC02091AA0443E086 |
| :100DD00062E0CE0101960E94920589818093020112 |
| :100DE000ACC02091AA0443E06BE086E397E00E9448 |
| :100DF00092058091F10490913807892B8093F1043A |
| :100E000081E08093A40499C02091AA0443E062E0A9 |
| :100E1000CE0101960E9492058091F1049981892B5F |
| :100E20008093F1048A818F3F21F481E08093AD04A7 |
| :100E300002C01092AD0481E08093A3047EC0209193 |
| :100E4000AA0443E064E08EEA94E006C02091AA047C |
| :100E500043E063E082EB94E00E9492056EC081E083 |
| :100E60008093A5046AC081E08093A20466C02091AB |
| :100E7000AA0443E062E0CE0101960E9492058981B6 |
| :100E80008F3F89F0863010F085E0898347E46CE677 |
| :100E900078E089810E94B20260910706898127E487 |
| :100EA0004CE658E008C0109107060E948B0227E428 |
| :100EB0004CE658E0612F855B0E9429053EC02091D9 |
| :100EC000AA0443E067E48CE698E00E9492058091D2 |
| :100ED0004D0747E46CE678E08B560E949A028091B9 |
| :100EE0004D078B56A2E0B0E0082E0E94C0496091E9 |
| :100EF000970870E080E090E024EC39E040E050E0BA |
| :100F00000E94F2486093870370938803809389035B |
| :100F100090938A036091980870E080E090E00E94CE |
| :100F2000F24860938B0370938C0380938D039093AE |
| :100F30008E030E948B020E94BF201092A70422966B |
| :100F40000FB6F894DEBF0FBECDBFDF91CF911F91DA |
| :100F500008951F920F920FB60F9211242F933F9373 |
| :100F60004F935F936F937F938F939F93AF93BF93B1 |
| :100F7000CF93DF93EF93FF938091C6008093A604F5 |
| :100F80008091A6040E94E63B4091B804463910F0D7 |
| :100F90001092B7048091A6048D3009F05DC0809155 |
| :100FA000B704823009F058C01092B704A42FB0E003 |
| :100FB000FD01E75BF84F3081ED01C65BD84F28811A |
| :100FC0008091BB049091BC04831B9109821B910901 |
| :100FD0009F709093BC048093BB049C01689415F8A7 |
| :100FE000369527951694E1F7235C2093BA04982F41 |
| :100FF0009F73935C9093B9048081281729F48881AA |
| :10100000981711F491E006C08091A9048F5F809336 |
| :10101000A90490E08091A704882309F065C0992372 |
| :1010200009F462C081E08093A7044093AA04A55B01 |
| :10103000B84F8DE08C9380914D07823509F054C0F4 |
| :1010400088E190E02CE00FB6F894A89580936000BA |
| :101050000FBE2093600048C08091B7048130D9F062 |
| :10106000813018F08230F1F521C08091A6048332DE |
| :1010700039F48091A704882319F481E08093B704A0 |
| :101080008091A60480934B0781E08093B8048091FF |
| :10109000A60490E022C082E08093B704E42FF0E041 |
| :1010A0008091A604E55BF84F808309C0E42FF0E04F |
| :1010B0008091A604E55BF84F8083463920F44F5FAA |
| :1010C0004093B80402C01092B7042091A604809106 |
| :1010D000BB049091BC04820F911D9093BC0480933B |
| :1010E000BB0402C01092B704FF91EF91DF91CF9142 |
| :1010F000BF91AF919F918F917F916F915F914F9130 |
| :101100003F912F910F900FBE0F901F901895982F21 |
| :1011100080912308813069F48091F004E82FF0E099 |
| :10112000E65EFC4F90838F5F8093F00421E030E017 |
| :1011300005C0892F0E94EA05282F30E0C9010895D3 |
| :101140001F93182F04C080E30E94870811501116C6 |
| :10115000D4F31F9108951F93182F04C080E20E94BA |
| :10116000870811501116D4F31F9108950F931F9300 |
| :10117000CF93DF938C01EB0108C0F8010F5F1F4F85 |
| :10118000E4918E2F0E94870821972097B1F7DF9175 |
| :10119000CF911F910F9108950F931F93CF93DF93DA |
| :1011A0008C01EB0106C0F80181918F010E94870834 |
| :1011B00021972097C1F7DF91CF911F910F9108954B |
| :1011C0002F923F924F925F926F927F928F929F9257 |
| :1011D000AF92BF92CF92DF92EF92FF920F931F9345 |
| :1011E000CF93DF93CDB7DEB7E5970FB6F894DEBFA8 |
| :1011F0000FBECDBF2B968FAD2B9780932308CE01CA |
| :10120000835B9F4F9B838A832D964EAC5FAC2D975B |
| :101210001EA61FA618AA19AA9E01225D3F4F3DAB2C |
| :101220002CAB820102C00F5F1F4FF801F490FF202A |
| :1012300019F0F5E2FF16B9F7B8016419750919F04C |
| :10124000C2010E94B608FF2009F445C22801089493 |
| :10125000411C511C1982AA81BB8133241BAA2FEF88 |
| :101260002AABF2010894411C511CB490632D70E02C |
| :101270006170707035E7B31621F08B2D806288376E |
| :10128000C9F46115710559F02D913D914D915C9115 |
| :1012900013972EA73FA748AB59AB14960BC08D915F |
| :1012A0009C9111979C0140E050E02EA73FA748ABCE |
| :1012B00059AB129630E2B31621F48981882389F65E |
| :1012C0001CC043E2B41611F458E055C08AE2B816C7 |
| :1012D00021F09DE2B91671F408C0FD011296E0817B |
| :1012E000EBABE7FFBECFE195EBABE0E13E2AFFEDD4 |
| :1012F0003F22B7CF2BE2B21611F4B982B2CF3EE251 |
| :10130000B31699F5F2010894411C511C84918A325C |
| :1013100021F0B82E20E030E01DC0FD011296408182 |
| :10132000518157FF02C04FEF5FEF4AAB9ACFC9011F |
| :1013300053E0880F991F5A95E1F7220F331F280FAA |
| :10134000391F2B0D311D20533040F2010894411CF0 |
| :10135000511CB4908B2D80538A3048F3A90137FF7C |
| :1013600002C04FEF5FEF4AAB85CF40E3B41629F4DC |
| :1013700034FC77CF50E2352A74CF8B2D81538930DE |
| :10138000D8F420E030E0C90103E0880F991F0A95E6 |
| :10139000E1F7220F331F280F391F2B0D311D20536A |
| :1013A0003040F2010894411C511CB4908B2D8053A5 |
| :1013B0008A3048F32BAB5ECF88E6B81619F494E078 |
| :1013C000392A4FCFECE6BE1619F4F1E03F2A49CF97 |
| :1013D000BB83AA8323E6B21639F41296BB83AA8391 |
| :1013E00012978C918E8322C134E4B31639F044E60F |
| :1013F000B41631F059E6B516A9F502C081E0382AD5 |
| :1014000030FE08C01496BB83AA835E914E913E9134 |
| :101410002E910AC01296BB83AA839E918E919C0145 |
| :10142000442737FD4095542F2EA73FA748AB59AB13 |
| :101430008EA59FA5A8A9B9A9BB238CF42EA53FA56D |
| :1014400048A959A950954095309521953F4F4F4F48 |
| :101450005F4F2EA73FA748AB59AB8DE28983BAE017 |
| :101460002B2E80C03FE4B31621F04FE6B41631F4C2 |
| :1014700002C051E0352AA8E02A2E73C080E7B816D2 |
| :1014800089F41296BB83AA839E918E919C0140E0C1 |
| :1014900050E02EA73FA748AB59AB30E4332AF8E71A |
| :1014A000BF2E5DC043E7B416D1F51296BB83AA8365 |
| :1014B000DE90CE90C114D10489F488E28E838EE64A |
| :1014C0008F8385E788878CE689878A8789E28B877F |
| :1014D0001C86E6E0CE2ED12CCC0EDD1E5AA957FD7F |
| :1014E00014C0452F552747FD509560E070E0C601B8 |
| :1014F0000E94CA46009711F4FAA80EC0F82EFC18F4 |
| :101500008AA98F154CF4F82E07C0F601019000202F |
| :10151000E9F73197FE2EFC18198240E090C095E55E |
| :10152000B91621F0A5E7BA1631F402C0B1E03B2AA2 |
| :101530007AE0272E16C0E8E5BE1621F0F8E7BF16C0 |
| :1015400009F070C033FE0BC02EA53FA548A959A9CC |
| :10155000211531054105510511F030E4332A60E1D0 |
| :10156000262E19824AA947FD02C05FED35228EA5BD |
| :101570009FA5A8A9B9A90097A105B10549F49AA901 |
| :10158000992331F45EE2C52ED12CCC0EDD1E46C06F |
| :101590006EA47FA488A899A84EE2C42ED12CCC0EAC |
| :1015A000DD1EE22CFF2400E010E06EA57FA588A9D7 |
| :1015B00099A9A80197010E9444496A3020F430E3B8 |
| :1015C000A32EA60E08C027E5A22EA60EA8E5BA16E1 |
| :1015D00011F4BFEDAB22F601A2926F016EA57FA5BB |
| :1015E00088A999A9A80197010E9444492EA73FA75D |
| :1015F00048AB59AB6E147F048006910618F0390190 |
| :101600004A01D3CFF8E02F1649F433FE07C020E398 |
| :10161000A21621F080E3D6018E936D01FCA8FC1880 |
| :101620004AA90DC0BB2009F456C0BE82198296E0BB |
| :10163000C92ED12CCC0EDD1E40E0FF24F394E42E05 |
| :10164000EF18E7FCEE248981882319F08F2D8F5F36 |
| :1016500006C036FC02C08F2D02C08F2D8E5FA82ED3 |
| :10166000AE0C032D10E080E3882E912C8022912275 |
| :101670008114910421F48BA98A190E94AB088981F5 |
| :10168000882329F061E070E0CE01019609C006FFD1 |
| :1016900009C080E38C83BD8262E070E0CE010496D5 |
| :1016A0000E94CC08B0E28B16910421F48BA98A1910 |
| :1016B0000E94A0088E2D0E94A0086F2D772767FD3D |
| :1016C0007095C6010E94CC0804FFABCD8BA98A1986 |
| :1016D0000E94AB08A6CDE5960FB6F894DEBF0FBE0C |
| :1016E000CDBFDF91CF911F910F91FF90EF90DF90D1 |
| :1016F000CF90BF90AF909F908F907F906F905F90B2 |
| :101700004F903F902F9008951F920F920FB60F9217 |
| :1017100011242F933F935F936F937F938F939F93A6 |
| :10172000AF93BF938091CD0481508093CD048F3FC0 |
| :1017300011F58091CB049091CC04009729F001978A |
| :101740009093CC048093CB0489E08093CD04809166 |
| :1017500007038F5F817080930703882319F481E06A |
| :101760008093C1048091BF049091C004019690932E |
| :10177000C0048093BF048091C4049091C504029773 |
| :10178000B8F08091C4049091C50401979093C5046A |
| :101790008093C4048091C4049091C50420910403F3 |
| :1017A0003091050382239323892B09F081C006C061 |
| :1017B0008FEF9FEF909305038093040380910001C6 |
| :1017C0008A3039F404C05A9A05C0479A03C05A981F |
| :1017D00001C04798349B0AC08091C2049091C30411 |
| :1017E00001969093C3048093C20468C08091C204A0 |
| :1017F0009091C304892B09F43DC08091C20490915B |
| :10180000C304805A9F40B0F58FEF90E09093CC04D2 |
| :101810008093CB042091C2043091C304809177055A |
| :1018200090E0880F991F281B390B30934B052093AC |
| :101830004A0580914A0590914B0597FF0AC0809117 |
| :101840004A0590914B0588599E4F90934B05809384 |
| :101850004A0580914A0590914B058856914054F075 |
| :1018600080914A0590914B058856914090934B0585 |
| :1018700080934A0580914A0590914B0520914C0533 |
| :1018800030914D05845E9D4F821B930B68E671E09D |
| :101890000E943149845B904090934F0580934E05A0 |
| :1018A00081E08093C8041092C3041092C20406C061 |
| :1018B000809100018A3009F088CF85CFBF91AF9128 |
| :1018C0009F918F917F916F915F913F912F910F9099 |
| :1018D0000FBE0F901F9018952091BF043091C00447 |
| :1018E0002F5F3F4F820F931F08952091BF043091C7 |
| :1018F000C004821B930B892F99278695807490E0F2 |
| :1019000008951F920F920FB60F9211241F932F93D9 |
| :101910003F934F935F936F937F938F939F93AF9377 |
| :10192000BF93CF93DF93EF93FF9380910603815092 |
| :10193000809306038F3F09F06FC083E88093B00067 |
| :1019400080919C03C82FD0E0D093C704C093C604F5 |
| :101950008091A10810918E0880FF1FC060910E0534 |
| :1019600070910F05809110059091110520E830E0ED |
| :1019700040E050E00E946649CA01B901212F30E0E1 |
| :1019800040E050E00E94F24820E032E040E050E0C9 |
| :101990000E946649C20FD31F1EC060910E05709150 |
| :1019A0000F05809110059091110520E830E040E08E |
| :1019B00050E00E946649CA01B901212F30E040E0A1 |
| :1019C00050E00E94F24820E032E040E050E00E9407 |
| :1019D0006649C21BD30BD093C704C093C6042091A1 |
| :1019E000C6043091C70480918F0890E0281739070A |
| :1019F00034F08091900890E08217930724F490933C |
| :101A0000C7048093C6048091C6048093B30080917C |
| :101A100091088093060304C083E08093B0005F9830 |
| :101A2000FF91EF91DF91CF91BF91AF919F918F91F6 |
| :101A30007F916F915F914F913F912F911F910F90E7 |
| :101A40000FBE0F901F9018958091BF049091C00415 |
| :101A50000B969093CF048093CE0482E085BD83EAF9 |
| :101A600084BD17BC88E788BD96E096BD83EC809363 |
| :101A7000B0009093B100E0E7F0E080818260808365 |
| :101A8000EEE6F0E08081816080838AE08093B3009D |
| :101A90001092B2000895AC012091BF043091C004AF |
| :101AA0002F5F3F4F03C08FEE80937A008091BF0479 |
| :101AB0009091C004B901681B790BCB01840F951F6D |
| :101AC00080709078892F99278695882361F30895EF |
| :101AD000AC012091BF043091C0042F5F3F4F809133 |
| :101AE000BF049091C004B901681B790BCB01840F2E |
| :101AF000951F80709078892F99278695882379F390 |
| :101B0000089510927C008FEE80937A0008951F92C2 |
| :101B10000F920FB60F921124EF92FF920F931F9323 |
| :101B20002F933F934F935F936F937F938F939F93E5 |
| :101B3000AF93BF93CF93DF93EF93FF9310927A000D |
| :101B40008091EC048F5F8093EC048150853009F420 |
| :101B500086C0863090F4823009F440C0833030F47F |
| :101B60008823F1F0813009F044C22FC0833009F49A |
| :101B700041C0843009F03DC25AC0883009F4C2C067 |
| :101B8000893038F4863009F483C0873009F031C2D7 |
| :101B90009CC0893009F4D3C08A3009F02AC2B1C18F |
| :101BA00080917800909179009093EB048093EA04FF |
| :101BB00081E08093ED048091E4049091E504019626 |
| :101BC0009093E5048093E40418C28091780090918A |
| :101BD00079009093E9048093E80492C080917800A2 |
| :101BE000909179009093E7048093E60484E08093D9 |
| :101BF000ED0403C2409108035091090380917800DD |
| :101C0000909179009A01220F331F240F351F63E052 |
| :101C100070E00E941D49260F371F3695279536958F |
| :101C20002795309309032093080386E0E0CF809145 |
| :101C30000605909107052091780030917900821B6C |
| :101C4000930B909325088093240880912408909109 |
| :101C500025089093D7048093D60487E0C8CF80915D |
| :101C60007800909179002091040530910505821B40 |
| :101C7000930B9093300880932F0880912F089091B8 |
| :101C800030089093D9048093D8041092ED04B5C124 |
| :101C9000809100012091EA043091EB048A3049F4EC |
| :101CA0008091780090917900820F931F9695879587 |
| :101CB00006C08091780090917900820F931F9093D5 |
| :101CC000D5048093D40481E092CF809100012091CB |
| :101CD000E8043091E9048A3049F4809178009091C9 |
| :101CE0007900820F931F9695879506C080917800A2 |
| :101CF00090917900820F931F9093D3048093D20424 |
| :101D000082E075CF809100012091E6043091E704D4 |
| :101D10008A3049F48091780090917900820F931F66 |
| :101D20009695879506C08091780090917900820FF2 |
| :101D3000931F9093D1048093D00485E058CF609195 |
| :101D4000780070917900E0900805F0900905009105 |
| :101D50000A0510910B05882777FD8095982F0E9422 |
| :101D6000D747A80197010E94D7460E94A4477093C5 |
| :101D7000DB046093DA04E091DA04F091DB048091F3 |
| :101D8000240890912508C0912F08D091300897FF22 |
| :101D900003C0909581959F4F64E070E00E943149A7 |
| :101DA0009B01CE01D7FF03C0909581959F4F64E0C2 |
| :101DB00070E00E943149260F371FE20FF31FF093A6 |
| :101DC000DB04E093DA048091DA049091DB0402975B |
| :101DD00004F1609108057091090580910A059091C0 |
| :101DE0000B0520E030E048E454E40E9412488823C8 |
| :101DF0000CF03CC0609108057091090580910A05BE |
| :101E000090910B052AE037ED43EA5CE30E94D84647 |
| :101E100025C08091DA049091DB048F5F9F4F34F5E9 |
| :101E2000609108057091090580910A0590910B0554 |
| :101E300020E030E046E154E40E9416481816B4F45D |
| :101E4000609108057091090580910A0590910B0534 |
| :101E50002AE037ED43EA5CE30E94D7466093080529 |
| :101E60007093090580930A0590930B0581E0809398 |
| :101E7000E1048091780090917900909327088093F5 |
| :101E8000260820914605309147054091480550911C |
| :101E900049058091DA049091DB04AA2797FDA0956B |
| :101EA000BA2F820F931FA41FB51F809346059093EE |
| :101EB0004705A0934805B0934905E0904605F0908A |
| :101EC00047050091480510914905609146057091BC |
| :101ED0004705809148059091490520E034E040E0B5 |
| :101EE00050E00E946649E21AF30A040B150BE092D7 |
| :101EF0004605F0924705009348051093490583E095 |
| :101F000076CE8091340890913508209178003091F8 |
| :101F10007900820F931F9093350880933408809145 |
| :101F20002C088F5F80932C0880912C08853008F452 |
| :101F300060C0809178009091790090930F03809316 |
| :101F40000E0310922C088091280890912908209166 |
| :101F5000340830913508821B930B2091660530912F |
| :101F60006705821B930B9093E3048093E204209116 |
| :101F7000340830913508E0900A03F0900B0300918B |
| :101F80000C0310910D03C801B701660F771F881F5E |
| :101F9000991F6E0D7F1D801F911F442737FD4095AF |
| :101FA000542F620F731F841F951F24E030E040E020 |
| :101FB00050E00E94664920930A0330930B0340933C |
| :101FC0000C0350930D03209128083091290880912B |
| :101FD0000A0390910B03A0910C03B0910D03281BF1 |
| :101FE000390B3093670520936605109235081092DF |
| :101FF00034081092ED041092EC048091ED0480936B |
| :102000007C008091EC04882319F08FEE80937A0095 |
| :10201000FF91EF91DF91CF91BF91AF919F918F9100 |
| :102020007F916F915F914F913F912F911F910F91F0 |
| :10203000FF90EF900F900FBE0F901F9018950F9389 |
| :102040001F93CF93DF93A3E0B0E00E94B849802DA7 |
| :10205000C82FD0E0C531D10508F02A97C7BD84E666 |
| :1020600090E00E944B0D80910E0390910F038255DA |
| :102070009340C8F4C0E0D0E016C0C7BD82E390E052 |
| :102080000E944B0D1F930F931F920E94E0088091B6 |
| :102090000E0390910F030F900F900F908458934070 |
| :1020A00038F0219602C000E711E0CA3FD10528F3BD |
| :1020B000A3E0B0E00C2E0E94C049C09331088CE22E |
| :1020C00091E00E944B0DDF91CF911F910F910895E8 |
| :1020D000EAE1F3E080E2819383E0EA36F807D1F7A2 |
| :1020E00008950F931F938091F104282F30E0C901C8 |
| :1020F00081709070682F8823A9F08091F204882362 |
| :1021000011F0815002C080916A038093F204EAE1E9 |
| :10211000F3E080E2819383E0EA36F807D1F78FEFAE |
| :102120008093AC04A9014270507021FF10C08091CF |
| :10213000F2048F5F8093F204EAE1F3E080E281939E |
| :1021400093E0EA36F907D1F78FEF8093AC0466236A |
| :1021500021F0452B11F01092F20481E18093F004FC |
| :102160008091F20490E09F938F938CE194E09F9391 |
| :102170008F9301E00F930E94E0081091F2040F90FA |
| :102180000F900F900F900F90153009F4FCC116308E |
| :1021900090F4123009F4CCC0133030F41123F1F074 |
| :1021A000113009F0D9C361C0133009F416C11430DD |
| :1021B00009F0D2C365C1183009F416C3193038F4D8 |
| :1021C000163009F499C2173009F0C6C3EAC21930B3 |
| :1021D00009F447C31A3009F0BFC381C31092F00459 |
| :1021E0008AE094E09F938F930F930E94E00884E12C |
| :1021F0008093F00420910001822F6AE00E9411492F |
| :10220000492F50E0822F0E94114990E021E630E0F2 |
| :102210003F932F9327E030E03F932F931F921F921D |
| :102220005F934F939F938F9385EF93E09F938F934B |
| :102230000F930E94E00888E28093F0040E948B02D2 |
| :1022400090E09F938F9388EE93E09F938F930F93EB |
| :102250000E94E0088CE38093F00488ED93E09F9364 |
| :102260008F930F930E94E00898C28091740880FFBA |
| :1022700047C01092F00480916605909167059F9386 |
| :102280008F9389EC93E09F938F931F930E94E008B4 |
| :1022900084E18093F00480916805909169059F9393 |
| :1022A0008F938AEB93E09F938F931F930E94E00894 |
| :1022B00088E28093F00480910E0390910F039F9326 |
| :1022C0008F938BEA93E09F938F931F930E94E00874 |
| :1022D0008CE38093F0048091310890E09F938F937A |
| :1022E0008CE993E09F938F931F930E94E0088DB732 |
| :1022F0009EB744960FB6F8949EBF0FBE8DBF31C3F4 |
| :1023000084E18093F00485E993E09F938F931F937A |
| :102310000E94E00888E28093F00487E893E09F93AE |
| :102320008F931F930E94E0088DB79EB70696E2CF69 |
| :102330001092F0048DE793E09F938F930F930E9488 |
| :10234000E00884E18093F00460910E0570910F0520 |
| :10235000809110059091110520E034E040E050E0BC |
| :102360000E9466495F934F933F932F938EE693E0CD |
| :102370009F938F930F930E94E00888E28093F0046C |
| :1023800060911605709117058091180590911905B7 |
| :1023900020E034E040E050E00E9466495F934F93B4 |
| :1023A0003F932F938FE593E09F938F930F930E941A |
| :1023B000E0088CE38093F00480914A0590914B05EE |
| :1023C0009F938F9380E593E09F938F930F930E9449 |
| :1023D000E0088DB79EB746968DCF1092F00480919D |
| :1023E00042089091430820914008309141089F9302 |
| :1023F0008F933F932F9380E493E09F938F930F935A |
| :102400000E94E00884E18093F00480914608909156 |
| :10241000470820914408309145089F938F933F933C |
| :102420002F9380E393E09F938F930F930E94E00894 |
| :1024300088E28093F00480914A0890914B082091A3 |
| :102440004808309149089F938F933F932F9380E2E0 |
| :1024500093E09F938F930F930E94E0088CE3809307 |
| :10246000F00480914E0890914F0820914C083091D3 |
| :102470004D089F938F933F932F9380E193E07AC011 |
| :102480001092F004E0916D08F0E0EE0FFF1FE25CA7 |
| :10249000F74F20813181E0916C08F0E0EE0FFF1FD3 |
| :1024A000E25CF74F808191813F932F939F938F93AD |
| :1024B00080E093E09F938F930F930E94E00884E164 |
| :1024C0008093F004E0916F08F0E0EE0FFF1FE25CF4 |
| :1024D000F74F20813181E0916E08F0E0EE0FFF1F91 |
| :1024E000E25CF74F808191813F932F939F938F936D |
| :1024F00080EF92E09F938F930F930E94E00888E211 |
| :102500008093F004E0917108F0E0EE0FFF1FE25CB1 |
| :10251000F74F20813181E0917008F0E0EE0FFF1F4E |
| :10252000E25CF74F808191813F932F939F938F932C |
| :1025300080EE92E09F938F930F930E94E0088CE3CC |
| :102540008093F004E0917308F0E0EE0FFF1FE25C6F |
| :10255000F74F20813181E0917208F0E0EE0FFF1F0C |
| :10256000E25CF74F808191813F932F939F938F93EC |
| :1025700080ED92E09F938F930F930E94E0088DB7B8 |
| :102580009EB74C96B7CE1092F00482EC92E09F93E7 |
| :102590008F930F930E94E0080F900F900F908091FF |
| :1025A00000018A3009F04AC084E18093F004409130 |
| :1025B000FA045091FB048091D0049091D1042091B1 |
| :1025C000FA043091FB04821B930B5F934F939F930C |
| :1025D0008F9383EB92E09F938F930F930E94E00879 |
| :1025E00088E28093F0044091FC045091FD048091B6 |
| :1025F000D2049091D3042091FC043091FD04821BFD |
| :10260000930B5F934F939F938F9384EA92E09F93F2 |
| :102610008F930F930E94E0088CE38093F0048091E5 |
| :10262000FE049091FF042091F3083091F4089F93E9 |
| :102630008F933F932F9385E992E055C084E1809377 |
| :10264000F0048091FA049091FB0462E070E00E9433 |
| :1026500031498091D0049091D1042091FA043091B5 |
| :10266000FB04821B930B7F936F939F938F9386E85A |
| :1026700092E09F938F930F930E94E00888E28093EB |
| :10268000F0048091FC049091FD0462E070E00E94EF |
| :1026900031498091D2049091D3042091FC0430916F |
| :1026A000FD04821B930B7F936F939F938F9387E718 |
| :1026B00092E09F938F930F930E94E0088CE38093A6 |
| :1026C000F0048091FE049091FF0462E070E00E94AB |
| :1026D00031498091F3089091F4087F936F939F9311 |
| :1026E0008F9388E692E09F938F930F930E94E00868 |
| :1026F0008DB79EB74596FECD1092F0048BE592E023 |
| :102700009F938F930F930E94E00884E18093F004DD |
| :1027100080910405909105052091D8043091D90449 |
| :102720009F938F933F932F938CE492E09F938F938B |
| :102730000F930E94E00888E28093F00480910605E0 |
| :10274000909107052091D6043091D7049F938F93E1 |
| :102750003F932F938DE392E09F938F930F930E946B |
| :10276000E0088CE38093F0046091080570910905FE |
| :1027700080910A0590910B050E94A4472091C708FB |
| :102780003091C8087F936F933F932F938EE292E02E |
| :102790009F938F930F930E94E0088DB79EB7489642 |
| :1027A000A9CD84E18093F0048091080390910903FE |
| :1027B0009F938F938FE192E09F938F930F930E944B |
| :1027C000E00888E28093F00480915E0590E09F939A |
| :1027D0008F9380E192E09F938F930F930E94E00884 |
| :1027E0008DB79EB70A9686CD1092F00481E092E0F4 |
| :1027F0009F938F930F930E94E00884E18093F004ED |
| :1028000080914E0590914F059F938F9382EF91E0B9 |
| :102810009F938F930F930E94E00888E28093F004C7 |
| :1028200080914A0590914B059F938F9383EE91E0A1 |
| :102830009F938F930F930E94E0088CE38093F004A2 |
| :1028400080914C0590914D059F938F9384ED91E07D |
| :102850009F938F930F930E94E0088DB79EB7429687 |
| :1028600049CD1092F00480915605909157059F93A1 |
| :102870008F9388EC91E09F938F930F930E94E008D1 |
| :1028800084E18093F00480915805909159059F93BD |
| :102890008F938CEB91E09F938F930F930E94E008AE |
| :1028A00088E28093F00480915A0590915B059F9394 |
| :1028B0008F9380EB91E09F938F930F930E94E0089A |
| :1028C0008CE38093F00480915C0590915D059F936B |
| :1028D0008F9384EA91E09F938F930F9306CD10928C |
| :1028E000F0048CE991E09F938F930F930E94E0088E |
| :1028F00084E18093F00480919C0390E09F938F93F8 |
| :102900008EE891E09F938F930F930E94E00888E2F6 |
| :102910008093F0048091C6049091C7049F938F9395 |
| :1029200080E891E09F938F930F930E94E0088CE3DF |
| :102930008093F0042091900830E080918F0890E01F |
| :102940003F932F939F938F9382E791E09F938F9371 |
| :102950000F930E94E008CBCC115010936A031092A1 |
| :10296000F2041092F1041F910F9108951092B90092 |
| :102970008AE28093B800089585EA8093BC0080E0E5 |
| :1029800090E0089584E98093BC0008951092B90006 |
| :102990008093BB0085E88093BC0080E090E00895C0 |
| :1029A0001F920F920FB60F9211248F939F93EF9364 |
| :1029B000FF938091F3048F5F8093F3048150833001 |
| :1029C000C1F1843028F4813091F0823020F50AC0C2 |
| :1029D0008530B9F18530E8F18630D9F1873009F0DA |
| :1029E00062C046C08091F404880F8E5A0CC080915A |
| :1029F000F4048F5F8093F40481502DC0833009F07C |
| :102A000052C08091EB081092B9008093BB0085E81A |
| :102A10008093BC0048C084E98093BC008091F4049A |
| :102A2000843018F41092F30402C01092F40485EA82 |
| :102A3000EFCF8091F504880F8D5AE5CF8230A9F051 |
| :102A4000DDCF8091BB00E091F504F0E0EA5CF74F48 |
| :102A500080838091F504813029F0813078F780916E |
| :102A6000B608D1CF8091BB08CECF8091DF08CBCF05 |
| :102A70008091F5049091BB00E82FF0E0EA5CF74FFD |
| :102A800094838F5F8093F504843010F01092F504E6 |
| :102A900084E98093BC008AE090E090938603809361 |
| :102AA00085031092F3048091BC0080688093BC0081 |
| :102AB000FF91EF919F918F910F900FBE0F901F90FC |
| :102AC00018954CEB50E084E9DA018C931092F304F2 |
| :102AD0002BEB30E0F90180811092F40480E88C93B4 |
| :102AE0001092BD001092BA001082E9EBF0E0108263 |
| :102AF000A8EBB0E01C9210828AE28C9385EADA019E |
| :102B00008C931082F901108285E88C93089583ECF0 |
| :102B100080938100EFE6F0E08081806280831092F4 |
| :102B2000FF041092FE041092FD041092FC04109217 |
| :102B3000FB041092FA0408951F920F920FB60F92A1 |
| :102B400011240F931F932F933F934F935F936F9392 |
| :102B50007F938F939F93AF93BF93CF93DF93EF9325 |
| :102B6000FF9320918600309187008091F804909126 |
| :102B7000F904281B390B809186009091870090936F |
| :102B8000F9048093F804C9018D549440C091F6046F |
| :102B9000D091F704835F9A4158F4249714F010926F |
| :102BA0006B0381E090E09093F7048093F60462C099 |
| :102BB000CA30D1050CF05EC0C9018B5F9040845BC8 |
| :102BC000914008F040C0A901425D5140FE01EE0F66 |
| :102BD000FF1FE25CF74F80819181FA01E81BF90B3E |
| :102BE000CF01F7FF03C0909581959F4F06974CF456 |
| :102BF00080915E05883C28F480915E05865F809315 |
| :102C00005E05FE01EE0FFF1F8F01025C174FD8011A |
| :102C10002D913C91C901880F991F820F931F840F3A |
| :102C2000951F64E070E00E943149D8018D919C911C |
| :102C300011979B01281B390BEC5AF74F31832083E6 |
| :102C400011967C936E93FE013196F093F704E09316 |
| :102C5000F604E530F10511F45D9A06C05D98E630A2 |
| :102C6000F10511F45C9A05C05C98379711F45B9AF2 |
| :102C700001C05B98FF91EF91DF91CF91BF91AF9130 |
| :102C80009F918F917F916F915F914F913F912F9184 |
| :102C90001F910F910F900FBE0F901F9018952F92BC |
| :102CA0003F924F925F926F927F928F929F92AF92DC |
| :102CB000BF92CF92DF92EF92FF920F931F93CF9329 |
| :102CC000DF93CDB7DEB722970FB6F894DEBF0FBE05 |
| :102CD000CDBF8091FE049091FF042091D4043091E7 |
| :102CE000D504821B930B9093F4088093F308809192 |
| :102CF000D2049091D3042091FC043091FD04821BF6 |
| :102D0000930B9093B5088093B4088091D004909170 |
| :102D1000D1042091FA043091FB04821B930B909311 |
| :102D2000BD088093BC082091EE083091EF086091B7 |
| :102D3000D8047091D904882777FD8095982FB4E046 |
| :102D4000660F771F881F991FBA95D1F7442737FD63 |
| :102D50004095542F620F731F841F951F22E030E0AF |
| :102D600040E050E00E9466493093EF082093EE085F |
| :102D70002091FA083091FB086091D6047091D70435 |
| :102D8000882777FD8095982FA4E0660F771F881F0E |
| :102D9000991FAA95D1F7442737FD4095542F620F0C |
| :102DA000731F841F951F22E030E040E050E00E9436 |
| :102DB00066493093FB082093FA082091C7083091A8 |
| :102DC000C8086091DA047091DB04882777FD80954C |
| :102DD000982F442737FD4095542F620F731F841F8F |
| :102DE000951F22E030E040E050E00E9466493093B9 |
| :102DF000C8082093C70820911E0530911F054091F7 |
| :102E00002005509121058091D8049091D904F4E0D7 |
| :102E1000880F991FFA95E1F7AA2797FDA095BA2F79 |
| :102E2000820F931FA41FB51F80931E0590931F054B |
| :102E3000A0932005B0932105209122053091230510 |
| :102E400040912405509125058091D6049091D70496 |
| :102E5000E4E0880F991FEA95E1F7AA2797FDA0956E |
| :102E6000BA2F820F931FA41FB51F80932205909342 |
| :102E70002305A0932405B093250560912605709144 |
| :102E800027058091280590912905E0902608F0906B |
| :102E90002708A0900805B0900905C0900A05D090B9 |
| :102EA0000B050E94D7473B014C010027F7FC00951A |
| :102EB000102FC801B7010E94D747A60195010E94B3 |
| :102EC000D7469B01AC01C401B3010E94D8460E94C1 |
| :102ED000A447609326057093270580932805909357 |
| :102EE00029052091F3083091F408442737FD4095D7 |
| :102EF000542F8091030990910409A0910509B09184 |
| :102F00000609820F931FA41FB51F80930309909396 |
| :102F10000409A0930509B09306092091F3083091A4 |
| :102F2000F408442737FD4095542F8091CB089091A9 |
| :102F3000CC08A091CD08B091CE08820F931FA41F9A |
| :102F4000B51F8093CB089093CC08A093CD08B09385 |
| :102F5000CE0820913E0530913F05409140055091AB |
| :102F600041058091F3089091F408AA2797FDA09558 |
| :102F7000BA2F820F931FA41FB51F80933E05909315 |
| :102F80003F05A0934005B093410520914205309143 |
| :102F9000430540914405509145058091F308909177 |
| :102FA000F408AA2797FDA095BA2F820F931FA41F9C |
| :102FB000B51F8093420590934305A0934405B093B9 |
| :102FC000450520916E052A83222309F069C080916E |
| :102FD0006F05882309F064C08091740886FF60C083 |
| :102FE00060912E0570912F058091300590913105EB |
| :102FF000E090F308F090F408A0907C05BB24CC246A |
| :10300000DD240027F7FC0095102F20E030E140E0A0 |
| :1030100050E00E946649C801B7010E94F248A6012B |
| :1030200095010E94F24820E038E040E050E00E9424 |
| :1030300066492093C7053093C8054093C90550934E |
| :10304000CA056091360570913705809138059091D9 |
| :103050003905E090F308F090F40820E030E140E01A |
| :1030600050E00E946649CA01B901A60195010E947B |
| :10307000F2480027F7FC0095102FA80197010E9445 |
| :10308000F24820E038E040E050E00E94664920939A |
| :10309000C3053093C4054093C5055093C60510C0C1 |
| :1030A0001092C3051092C4051092C5051092C60572 |
| :1030B0001092C7051092C8051092C9051092CA0552 |
| :1030C0008091B4089091B5082090C7053090C8054C |
| :1030D0004090C9055090CA05820D931D9093B50884 |
| :1030E0008093B4080091B4081091B508A090C3056E |
| :1030F000B090C405C090C505D090C60580917D05EF |
| :10310000682E772488249924C401B301A60195016F |
| :103110000E94F24820E032E040E050E00E94664920 |
| :10312000020F131F1093B5080093B40820913A05BD |
| :1031300030913B0540913C0550913D058091B4088C |
| :103140009091B508AA2797FDA095BA2F820F931FDB |
| :10315000A41FB51F80933A0590933B05A0933C05AF |
| :10316000B0933D0540913605509137056091380583 |
| :10317000709139058091B4089091B50820916A0545 |
| :1031800030916B05821B930BAA2797FDA095BA2F50 |
| :10319000840F951FA61FB71F8093360590933705A0 |
| :1031A000A0933805B0933905809136059091370585 |
| :1031B000A0913805B0913905E0908B03F0908C0315 |
| :1031C00000918D0310918E03E816F9060A071B077C |
| :1031D00004F580E197E2A0E0B0E08E199F09A00B12 |
| :1031E000B10B8093360590933705A0933805B093C3 |
| :1031F00039058091360590913705A0913805B09139 |
| :10320000390580933A0590933B05A0933C05B09314 |
| :103210003D05209136053091370540913805509194 |
| :10322000390588279927DC018E199F09A00BB10B5E |
| :10323000281739074A075B0704F580EF98EDAFEFD1 |
| :10324000BFEFE80EF91E0A1F1B1FE0923605F09231 |
| :103250003705009338051093390580913605909114 |
| :103260003705A0913805B091390580933A059093C0 |
| :103270003B05A0933C05B0933D058091D20490910D |
| :10328000D3040F9734F488E19CEF9093B5088093B2 |
| :10329000B4088091D2049091D304079734F480E36A |
| :1032A00098EF9093B5088093B408909100019983AA |
| :1032B0009A30A9F48091D2049091D304835F934013 |
| :1032C00034F088EE93E09093B5088093B408809131 |
| :1032D000D2049091D3048A5F9340DCF014C08091B3 |
| :1032E000D2049091D304855E974034F088EE93E049 |
| :1032F0009093B5088093B4088091D2049091D30440 |
| :10330000835F974034F080ED97E09093B508809309 |
| :10331000B4088091BC089091BD088A199B099093CC |
| :10332000BD088093BC080091BC081091BD08C40181 |
| :10333000B301A20191010E94F24820E032E040E096 |
| :1033400050E00E946649021B130B1093BD080093C6 |
| :10335000BC082091320530913305409134055091DD |
| :1033600035058091BC089091BD08AA2797FDA095CE |
| :10337000BA2F820F931FA41FB51F8093320590931D |
| :103380003305A0933405B093350540912E05509137 |
| :103390002F0560913005709131058091BC089091A6 |
| :1033A000BD0820916C0530916D05821B930BAA27F7 |
| :1033B00097FDA095BA2F840F951FA61FB71F809366 |
| :1033C0002E0590932F05A0933005B0933105809181 |
| :1033D0002E0590912F05A0913005B0913105E09018 |
| :1033E0008703F09088030091890310918A03E816FF |
| :1033F000F9060A071B0704F580E197E2A0E0B0E0B8 |
| :103400008E199F09A00BB10B80932E0590932F0569 |
| :10341000A0933005B093310580912E0590912F0532 |
| :10342000A0913005B091310580933205909333051A |
| :10343000A0933405B093350520912E0530912F05CA |
| :10344000409130055091310588279927DC018E196C |
| :103450009F09A00BB10B281739074A075B0704F532 |
| :1034600080EF98EDAFEFBFEFE80EF91E0A1F1B1FAC |
| :10347000E0922E05F0922F05009330051093310550 |
| :1034800080912E0590912F05A0913005B0913105C6 |
| :103490008093320590933305A0933405B09335059E |
| :1034A0008091D0049091D1040F9734F488E19CEF7F |
| :1034B0009093BD088093BC088091D0049091D10472 |
| :1034C000079734F480E398EF9093BD088093BC088D |
| :1034D00099819A30A9F48091D0049091D104835FAE |
| :1034E000934034F088EE93E09093BD088093BC083D |
| :1034F0008091D0049091D1048A5F9340DCF014C095 |
| :103500008091D0049091D104855E974034F088EE8C |
| :1035100093E09093BD088093BC088091D004909173 |
| :10352000D104835F974034F080ED97E09093BD081D |
| :103530008093BC088FEE80937A0080913E05909135 |
| :103540003F05A0914005B091410580932A059093D5 |
| :103550002B05A0932C05B0932D0580912E059091FD |
| :103560002F05A0913005B091310580930E05909301 |
| :103570000F05A0931005B093110580913605909129 |
| :103580003705A0913805B0913905809316059093C1 |
| :103590001705A0931805B0931905809132059091F5 |
| :1035A0003305A0913405B0913505809312059093B1 |
| :1035B0001305A0931405B093150580913A059091D9 |
| :1035C0003B05A0913C05B0913D0580931A05909371 |
| :1035D0001B05A0931C05B0931D058091740887FFFF |
| :1035E00063C02A81222309F05FC080916F05882380 |
| :1035F00009F05AC08091BC089091BD08893C9105A2 |
| :103600005CF02091BC083091BD088091BC0890917D |
| :10361000BD082052334011C08091BC089091BD0874 |
| :1036200088539F4FA4F42091BC083091BD0880912D |
| :10363000BC089091BD08205E3C4F880F991F880FF1 |
| :10364000991F280F391F3093BD082093BC08809123 |
| :10365000B4089091B508893C91055CF02091B408BC |
| :103660003091B5088091B4089091B508205233404C |
| :1036700011C08091B4089091B50888539F4FA4F46D |
| :103680002091B4083091B5088091B4089091B508A4 |
| :10369000205E3C4F880F991F880F991F280F391FF4 |
| :1036A0003093B5082093B408209156053091570502 |
| :1036B00080917008E82FF0E0EE0FFF1FE25CF74FFB |
| :1036C0008081918182599F4F281739071CF42F5F01 |
| :1036D0003F4F0CC08081918182599F4F8217930781 |
| :1036E0004CF42115310531F021503040309357050D |
| :1036F0002093560520915805309159058091710805 |
| :10370000E82FF0E0EE0FFF1FE25CF74F8081918120 |
| :1037100082599F4F281739071CF42F5F3F4F0CC069 |
| :103720008081918182599F4F821793074CF4211514 |
| :10373000310531F021503040309359052093580520 |
| :1037400020915A0530915B0580917208E82FF0E0D6 |
| :10375000EE0FFF1FE25CF74F8081918182599F4FEE |
| :10376000281739071CF42F5F3F4F0CC080819181CF |
| :1037700082599F4F821793074CF42115310531F080 |
| :103780002150304030935B0520935A0520915C0511 |
| :1037900030915D0580917308E82FF0E0EE0FFF1F78 |
| :1037A000E25CF74F8081918182599F4F281739073A |
| :1037B0001CF42F5F3F4F0CC08081918182599F4F35 |
| :1037C000821793074CF42115310531F02150304018 |
| :1037D00030935D0520935C058091560590915705C7 |
| :1037E00097FF05C010925705109256050AC08F3FEB |
| :1037F000910539F034F08FEF90E090935705809366 |
| :103800005605809158059091590597FF05C0109273 |
| :103810005905109258050AC08F3F910539F034F0D0 |
| :103820008FEF90E0909359058093580580915A0549 |
| :1038300090915B0597FF05C010925B0510925A05A9 |
| :103840000AC08F3F910539F034F08FEF90E09093EC |
| :103850005B0580935A0580915C0590915D0597FF0B |
| :1038600005C010925D0510925C050AC08F3F91055E |
| :1038700039F034F08FEF90E090935D0580935C0514 |
| :1038800022960FB6F894DEBF0FBECDBFDF91CF9169 |
| :103890001F910F91FF90EF90DF90CF90BF90AF906E |
| :1038A0009F908F907F906F905F904F903F902F9060 |
| :1038B000089510927A008091D0049091D104909351 |
| :1038C000BD088093BC088091D2049091D30490935A |
| :1038D000B5088093B4088091D4049091D504909356 |
| :1038E000F4088093F3088091D8049091D904AA2712 |
| :1038F00097FDA095BA2F74E0880F991FAA1FBB1FD0 |
| :103900007A95D1F79093EF088093EE088091D604D2 |
| :103910009091D704AA2797FDA095BA2F64E0880F4D |
| :10392000991FAA1FBB1F6A95D1F79093FB0880933C |
| :10393000FA088091DA049091DB049093C808809390 |
| :10394000C7088FEE80937A00209156053091570575 |
| :1039500080917008E82FF0E0EE0FFF1FE25CF74F58 |
| :103960008081918182599F4F281739071CF42F5F5E |
| :103970003F4F0CC08081918182599F4F82179307DE |
| :103980004CF42115310531F021503040309357056A |
| :103990002093560520915805309159058091710862 |
| :1039A000E82FF0E0EE0FFF1FE25CF74F808191817E |
| :1039B00082599F4F281739071CF42F5F3F4F0CC0C7 |
| :1039C0008081918182599F4F821793074CF4211572 |
| :1039D000310531F02150304030935905209358057E |
| :1039E00020915A0530915B0580917208E82FF0E034 |
| :1039F000EE0FFF1FE25CF74F8081918182599F4F4C |
| :103A0000281739071CF42F5F3F4F0CC0808191812C |
| :103A100082599F4F821793074CF42115310531F0DD |
| :103A20002150304030935B0520935A0520915C056E |
| :103A300030915D0580917308E82FF0E0EE0FFF1FD5 |
| :103A4000E25CF74F8081918182599F4F2817390797 |
| :103A50001CF42F5F3F4F0CC08081918182599F4F92 |
| :103A6000821793074CF42115310531F02150304075 |
| :103A700030935D0520935C05809156059091570524 |
| :103A800097FF05C010925705109256050AC08F3F48 |
| :103A9000910539F034F08FEF90E0909357058093C3 |
| :103AA0005605809158059091590597FF05C01092D1 |
| :103AB0005905109258050AC08F3F910539F034F02E |
| :103AC0008FEF90E0909359058093580580915A05A7 |
| :103AD00090915B0597FF05C010925B0510925A0507 |
| :103AE0000AC08F3F910539F034F08FEF90E090934A |
| :103AF0005B0580935A0580915C0590915D0597FF69 |
| :103B000005C010925D0510925C050AC08F3F9105BB |
| :103B100039F034F08FEF90E090935D0580935C0571 |
| :103B20006091970870E080E090E024EC39E040E09C |
| :103B300050E00E94F248609387037093880380935B |
| :103B4000890390938A0360938B0370938C03809313 |
| :103B50008D0390938E030895809177088B3F98F0A2 |
| :103B60008B3F19F4809156050EC08C3F19F480915B |
| :103B7000580509C08D3F19F480915A0504C08E3F45 |
| :103B800021F480915C0580939403809194038823B1 |
| :103B900019F41092940304C08F3F11F4809394039E |
| :103BA000809176088B3F98F08B3F19F480915605F1 |
| :103BB0000EC08C3F19F48091580509C08D3F19F44F |
| :103BC00080915A0504C08E3F21F480915C0580935A |
| :103BD000930380919303882319F41092930305C0F3 |
| :103BE000843618F084E680939303809178088B3FA5 |
| :103BF00098F08B3F19F4809156050EC08C3F19F454 |
| :103C00008091580509C08D3F19F480915A0504C070 |
| :103C10008E3F21F480915C058093950380919503FC |
| :103C2000882319F41092950305C0843618F084E6B1 |
| :103C30008093950380917A088B3F98F08B3F19F41D |
| :103C4000809156050EC08C3F19F48091580509C02B |
| :103C50008D3F19F480915A0504C08E3F21F4809164 |
| :103C60005C058093960380919603882319F4109243 |
| :103C7000960304C08F3F11F48093960380918108CE |
| :103C80008B3F98F08B3F19F4809156050EC08C3F06 |
| :103C900019F48091580509C08D3F19F480915A0597 |
| :103CA00004C08E3F21F480915C058093970380913E |
| :103CB0009703882319F41092970304C08F3F11F4DF |
| :103CC00080939703809182088B3F98F08B3F19F483 |
| :103CD000809156050EC08C3F19F48091580509C09B |
| :103CE0008D3F19F480915A0504C08E3F21F48091D4 |
| :103CF0005C0580939803809198038B3010F48AE0E0 |
| :103D000002C08F3F11F480939803809183088B3F0A |
| :103D100098F08B3F19F4809156050EC08C3F19F432 |
| :103D20008091580509C08D3F19F480915A0504C04F |
| :103D30008E3F21F480915C058093990380919903D3 |
| :103D4000882319F41092990304C08F3F11F48093D3 |
| :103D50009903809188088B3F98F08B3F19F48091EC |
| :103D600056050EC08C3F19F48091580509C08D3F4F |
| :103D700019F480915A0504C08E3F21F480915C05AE |
| :103D800080939B0380919B03882319F410929B03DB |
| :103D900004C08F3F11F480939B03809189088B3F6F |
| :103DA00098F08B3F19F4809156050EC08C3F19F4A2 |
| :103DB0008091580509C08D3F19F480915A0504C0BF |
| :103DC0008E3F21F480915C05809374058091740589 |
| :103DD000882319F41092740504C08F3F11F4809366 |
| :103DE000740580918A088B3F98F08B3F19F480917D |
| :103DF00056050EC08C3F19F48091580509C08D3FBF |
| :103E000019F480915A0504C08E3F21F480915C051D |
| :103E10008093750580917505882319F410927505B6 |
| :103E200004C08F3F11F48093750580918B088B3F00 |
| :103E300098F08B3F19F4809156050EC08C3F19F411 |
| :103E40008091580509C08D3F19F480915A0504C02E |
| :103E50008E3F21F480915C058093760580917605F4 |
| :103E6000882319F41092760504C08F3F11F48093D3 |
| :103E7000760580918C088B3F98F08B3F19F48091E8 |
| :103E800056050EC08C3F19F48091580509C08D3F2E |
| :103E900019F480915A0504C08E3F21F480915C058D |
| :103EA0008093770580917705882319F41092770520 |
| :103EB00004C08F3F11F48093770580919C088B3F5D |
| :103EC00098F08B3F19F4809156050EC08C3F19F481 |
| :103ED0008091580509C08D3F19F480915A0504C09E |
| :103EE0008E3F21F480915C05809378058091780560 |
| :103EF000882319F41092780504C08F3F11F4809341 |
| :103F0000780580919D088B3F98F08B3F19F4809144 |
| :103F100056050EC08C3F19F48091580509C08D3F9D |
| :103F200019F480915A0504C08E3F21F480915C05FC |
| :103F30008093790580917905882319F41092790589 |
| :103F400004C08F3F11F48093790580919E088B3FC8 |
| :103F500098F08B3F19F4809156050EC08C3F19F4F0 |
| :103F60008091580509C08D3F19F480915A0504C00D |
| :103F70008E3F21F480915C0580937A0580917A05CB |
| :103F8000882319F410927A0504C08F3F11F48093AE |
| :103F90007A0580919F088B3F98F08B3F19F48091B0 |
| :103FA00056050EC08C3F19F48091580509C08D3F0D |
| :103FB00019F480915A0504C08E3F21F480915C056C |
| :103FC00080937B0580917B05882319F410927B05F3 |
| :103FD00004C08F3F11F480937B0580918D088B3F47 |
| :103FE00098F08B3F19F4809156050EC08C3F19F460 |
| :103FF0008091580509C08D3F19F480915A0504C07D |
| :104000008E3F21F480915C0580939C0380919C03FA |
| :10401000882319F410929C0304C08F3F11F48093FD |
| :104020009C03809192088B3F98F08B3F19F480910C |
| :1040300056050EC08C3F19F48091580509C08D3F7C |
| :1040400019F480915A0504C08E3F21F480915C05DB |
| :1040500080939D0380919D03882319F410929D0302 |
| :1040600004C08F3F11F480939D03809195088B3F8E |
| :1040700098F08B3F19F4809156050EC08C3F19F4CF |
| :104080008091580509C08D3F19F480915A0504C0EC |
| :104090008E3F21F480915C0580937C0580917C05A6 |
| :1040A000882319F410927C0504C08F3F11F480938B |
| :1040B0007C05809196088B3F98F08B3F19F4809196 |
| :1040C00056050EC08C3F19F48091580509C08D3FEC |
| :1040D00019F480915A0504C08E3F21F480915C054B |
| :1040E00080937D0580917D05882319F410927D05CC |
| :1040F00004C08F3F11F480937D0580919B088B3F16 |
| :1041000098F08B3F19F4809156050EC08C3F19F43E |
| :104110008091580509C08D3F19F480915A0504C05B |
| :104120008E3F21F480915C0580939E0380919E03D5 |
| :10413000882319F410929E0304C08F3F11F48093DA |
| :104140009E0360919B0370E080E090E00E942A450E |
| :1041500027E137EB41ED58E30E948F4860938F03CE |
| :1041600070939003809391039093920380917F08C2 |
| :104170008093F20880917E088093BE0808951F9373 |
| :10418000182F0EC080916505882361F484E690E0C5 |
| :104190009093C5048093C4048AEF90E00E94680D58 |
| :1041A000115080F71F91089580916505882301F5CE |
| :1041B0001092BB081092B6081092DF081092EB081C |
| :1041C0008091AE04882311F08093B6088091AF04EB |
| :1041D000882311F08093BB088091B004882311F0EC |
| :1041E0008093EB088091B104882311F08093DF085D |
| :1041F0008091B60890E09093FC078093FB07809134 |
| :10420000BB0890E09093FE078093FD078091EB0838 |
| :1042100090E0909300088093FF078091DF0890E082 |
| :1042200090930208809301081092F3041092F40412 |
| :104230000E94BC140895469A109205051092040538 |
| :10424000109207051092060580E090E0A0E0B0E033 |
| :104250008093080590930905A0930A05B0930B0578 |
| :104260001092FB041092FA041092FD041092FC04C8 |
| :104270001092FF041092FE0410927C0510927D05AE |
| :104280000E94591C84E690E00E944B0D0E94591C2C |
| :104290008091740880FF10C080910E0390910F03ED |
| :1042A000875B934038F480910E0390910F038E5EEC |
| :1042B000924010F40E941F108091D0049091D1047C |
| :1042C0009093FB048093FA048091D2049091D304DC |
| :1042D0009093FD048093FC048091D4049091D504C4 |
| :1042E0009093FF048093FE048091FC049091FD0460 |
| :1042F00090930105809300058091FA049091FB044E |
| :10430000909303058093020544E050E0DA010E9497 |
| :10431000B849802D853038F18091FA089091FB08DA |
| :1043200097FF03C0909581959F4F60E170E00E94D8 |
| :10433000314970930705609306058091EE089091CE |
| :10434000EF0897FF03C0909581959F4F60E170E063 |
| :104350000E94314970930505609304056091260819 |
| :104360007091270839C0DA010E94B849802D4F5F4B |
| :104370005F4FDA010E94B849202D90E0982F8827DE |
| :10438000820F911D90930505809304054F5F5F4F49 |
| :10439000DA010E94B849802D4F5F5F4FDA010E9419 |
| :1043A000B849202D90E0982F8827820F911D909377 |
| :1043B0000705809306054F5F5F4FDA010E94B849F9 |
| :1043C000602D4F5F5F4FDA010E94B849202D70E0E9 |
| :1043D000762F6627620F711D882777FD8095982FAD |
| :1043E0000E94D747609308057093090580930A05DA |
| :1043F00090930B0510922E0510922F051092300508 |
| :104400001092310510923205109233051092340546 |
| :104410001092350510923605109237051092380526 |
| :104420001092390510923A0510923B0510923C0506 |
| :1044300010923D0510923E0510923F0510924005E6 |
| :10444000109241051092BD081092BC081092B50858 |
| :104450001092B4081092F4081092F3081092CB084E |
| :104460001092CC081092CD081092CE0880910A03C9 |
| :1044700090910B03A0910C03B0910D039093290828 |
| :10448000809328081092E3041092E20410924605EB |
| :1044900010924705109248051092490580914A05EF |
| :1044A00090914B0590934D0580934C050E94973A4F |
| :1044B00082E390E09093C5048093C40460919708D0 |
| :1044C00070E080E090E024EC39E040E050E00E94B1 |
| :1044D000F2486093870370938803809389039093D5 |
| :1044E0008A036091980870E080E090E00E94F248B2 |
| :1044F00060938B0370938C0380938D0390938E0352 |
| :104500001092A00310929F0320914A0530914B0511 |
| :1045100084E195E0AC01249FC001259F900D349F5C |
| :10452000900D1124AA2797FDA095BA2F8093030917 |
| :1045300090930409A0930509B09306098EE190E0D9 |
| :104540009093CE058093CD059093CC058093CB05B9 |
| :10455000089581E080936C0852E050936D0843E029 |
| :1045600040936E0874E070936F0865E06093700884 |
| :1045700086E08093710887E08093720898E09093BA |
| :10458000730880EC809374088EE1809375088BEF3C |
| :10459000809377083AE03093780822E320937608F6 |
| :1045A00020937A085093790840937B0810927C08F6 |
| :1045B00090937D088FE080937E088AEF80937F0838 |
| :1045C0008AE18093800880E88093810888EC80935A |
| :1045D00082088FEA8093830882E6809384088FE5BF |
| :1045E000809385088CE38093860810928708309327 |
| :1045F000880880E58093890810928A0810928B08B9 |
| :1046000010928C0810929C0810929D0810929E089F |
| :1046100010929F0894E690938D0888E280938E080C |
| :104620001092A10820938F0886E9809390086093E8 |
| :104630009108209392088AE5809393082093940828 |
| :104640001092A0089093950830939608909397083D |
| :10465000909398089093990870939A0820939B08D8 |
| :10466000A6EAB8E0ECE6F3E08CE001900D92815010 |
| :10467000E1F7089581E080936C0892E090936D08D3 |
| :1046800083E080936E0844E040936F0855E05093B8 |
| :10469000700886E08093710887E08093720888E054 |
| :1046A0008093730880E4809374088EE1809375088A |
| :1046B0008BEF809377083AE03093780822E32093D9 |
| :1046C000760820937A089093790840937B0810929B |
| :1046D0007C0830937D088FE080937E088AEF80937A |
| :1046E0007F088AE18093800880E8809381088FEAC0 |
| :1046F000809382088093830882E6809384088FE504 |
| :10470000809385088CE3809386081092870880E266 |
| :104710008093880880E58093890810928A08109217 |
| :104720008B0810928C0810929C0810929D08109291 |
| :104730009E0810929F0894E690938D0888E28093DB |
| :104740008E081092A10820938F0886E98093900824 |
| :1047500050939108209392088AE5809393082093C0 |
| :1047600094081092A008909395083093960890931F |
| :104770009708909398089093990840939A088BE42F |
| :1047800080939B08A6EAB8E0E6E7F3E08CE00190AE |
| :104790000D928150E1F7089581E080936C0882E0EA |
| :1047A00080936D0893E090936E0844E040936F0807 |
| :1047B00075E07093700886E08093710887E08093BD |
| :1047C000720888E08093730880E4809374088EE117 |
| :1047D000809375088BEF809377086AE06093780880 |
| :1047E00022E32093760820937A08409379089093E7 |
| :1047F0007B0840937C088EE080937D088FE0809357 |
| :104800007E088AEF80937F088AE18093800880E8A1 |
| :104810008093810888E78093820856E95093830843 |
| :1048200082E6809384088FE5809385088CE38093EB |
| :1048300086081092870880E2809388083AE53093D2 |
| :10484000890888E180938A0882E880938B08109217 |
| :104850008C0810929C0810929D0810929E0810924D |
| :104860009F0894E690938D0888E280938E081092BA |
| :10487000A10820938F08509390087093910820937B |
| :10488000920830939308209394081092A008909374 |
| :1048900095086093960890939708909398082093B2 |
| :1048A000990840939A0890939B08A6EAB8E0EEE72F |
| :1048B000F3E08CE001900D928150E1F708952F9282 |
| :1048C0003F924F925F926F927F928F929F92AF92A0 |
| :1048D000BF92CF92DF92EF92FF920F931F93CF93ED |
| :1048E000DF93CDB7DEB766970FB6F894DEBF0FBE85 |
| :1048F000CDBF0E944F1680916E0990916F0900976D |
| :1049000029F0019790936F0980936E090E945B3B99 |
| :10491000892B39F4809100018A3011F4289A01C062 |
| :104920002898299AE0916E08F0E0EE0FFF1FE25CF4 |
| :10493000F74F008111818091F20890E04497085868 |
| :104940001F4F801791070CF48C01209108033091C0 |
| :1049500009038091840890E0049740918405509168 |
| :10496000850582179307C4F123E0493E520724F1DD |
| :1049700010928505109284058090CB059090CC050F |
| :104980002091CD053091CE05C901880F991F820F66 |
| :10499000931F880F991F880F991F6FE070E00E9486 |
| :1049A00031496815790574F408948108910890924A |
| :1049B000CC058092CB0506C04F5F5F4F50938505B5 |
| :1049C000409384058091CB059091CC058017910789 |
| :1049D0000CF03FC08C013DC033E0493E5307C4F0AA |
| :1049E0008091CD059091CE059C0143E0220F331FAD |
| :1049F0004A95E1F7280F391FC801820F931F6AE01B |
| :104A000070E00E9431497093CE056093CD0519C0C6 |
| :104A1000CA01019690938505809384056AE070E051 |
| :104A20000E943149892B89F48091CB059091CC0566 |
| :104A30008017910734F401969093CC058093CB05B1 |
| :104A400004C01093CC050093CB050091CB051091C9 |
| :104A5000CC051A83098317FF02C01A82198280913C |
| :104A60005E05843608F05DC080910301882399F4C7 |
| :104A700080910403909105038F5F9F4F61F488E953 |
| :104A80009AE39093C5048093C40480E09CE09093E3 |
| :104A90000503809304038091A5059091A6050097D6 |
| :104AA00031F001979093A6058093A50504C010925C |
| :104AB000650510925005809100018A3011F4289A02 |
| :104AC00001C028988091A0059091A105815D974033 |
| :104AD00028F180918508682F70E07A83698381E0EE |
| :104AE00080935005E0916C08F0E0EE0FFF1FE25C50 |
| :104AF000F74F11821082E0916D08F0E0EE0FFF1F7A |
| :104B0000E25CF74F11821082E0916F08F0E0EE0F47 |
| :104B1000FF1FE25CF74F118210826EC21092650592 |
| :104B20006BC280915E058D3808F466C21092500504 |
| :104B30008091860822E3829FC00111249093A605EC |
| :104B40008093A50589819A8189976CF08091A00551 |
| :104B50009091A105AFEF8F3F9A0729F001969093AE |
| :104B6000A1058093A0058091A0059091A105883CA6 |
| :104B7000910520F0E981FA81B89704F51092BF05FC |
| :104B80001092C0051092C1051092C2051092BB058B |
| :104B90001092BC051092BD051092BE0510923E0504 |
| :104BA00010923F0510924005109241051092420567 |
| :104BB00010924305109244051092450529813A81CF |
| :104BC000293C31050CF472C180916505882309F0F8 |
| :104BD00013C280916F08E82FF0E0EE0FFF1FE25C38 |
| :104BE000F74F808191818C3491050CF4D5C0809170 |
| :104BF000A4058F5F8093A405893C08F4FDC1299822 |
| :104C00000E941B21109265051092A4051092A10527 |
| :104C10001092A00580916C08282F30E0F901EE0F6A |
| :104C2000FF1FE25CF74F80819181873491059CF4EE |
| :104C3000E0916D08F0E0EE0FFF1FE25CF74F01908E |
| :104C4000F081E02DF7FF03C0F095E195FF4FE734C9 |
| :104C5000F1050CF46CC080916D08682F70E0DB01E9 |
| :104C6000AA0FBB1FA25CB74F8D919C9111978734FF |
| :104C700091053CF0F901EE0FFF1FE25CF74F8081D8 |
| :104C800091818D919C918734910564F0F901EE0F2B |
| :104C9000FF1FE25CF74F808191818734910514F00A |
| :104CA00042E001C041E0FB01EE0FFF1FE25CF74F65 |
| :104CB00080819181863491055CF4F901EE0FFF1F2C |
| :104CC000E25CF74F80819181873491050CF043E0DD |
| :104CD000FB01EE0FFF1FE25CF74F808191818A5B41 |
| :104CE0009F4F5CF4F901EE0FFF1FE25CF74F8081EC |
| :104CF0009181873491050CF044E0660F771F625C68 |
| :104D0000774FDB018D919C918A5B9F4F5CF4220F62 |
| :104D1000331F225C374FF9018081918186349105E0 |
| :104D20000CF445E0A2E0B0E0042E0E94C0490E94CD |
| :104D30008B0247E46CE678E00E94B2020E948B028C |
| :104D40000E94BF208091740880FF10C080910E03E4 |
| :104D500090910F03875B934038F480910E039091FC |
| :104D60000F038E5E924010F40E941F100E94AE3B13 |
| :104D700080915809882309F43FC188EE93E00E948E |
| :104D8000680D88EE93E09093C5048093C40484EF8B |
| :104D900091E00E94680D30C180819181855B9F4FB9 |
| :104DA0000CF081C08091A4058F5F8093A405893C9D |
| :104DB00008F422C129988FEF04E010E0D801082EF2 |
| :104DC0000E94C049109265051092A4051092A10599 |
| :104DD0001092A0050E941B21809104059091050569 |
| :104DE00060E071E00E943149D801062E0E94C0495E |
| :104DF000809104059091050560E071E00E943149C1 |
| :104E00000F5F1F4FD801082E0E94C04980910605F0 |
| :104E10009091070560E071E00E9431490F5F1F4FDC |
| :104E2000D801062E0E94C049809106059091070581 |
| :104E300060E071E00E9431490F5F1F4FD801082EDA |
| :104E40000E94C049609108057091090580910A058A |
| :104E500090910B050E94A447DC01CB0160E071E05A |
| :104E60000E9431490F5F1F4FD801062E0E94C04992 |
| :104E7000609108057091090580910A0590910B05D4 |
| :104E80000E94A447DC01CB0160E071E00E9431493F |
| :104E90000F5F1F4FD801082E0E94C0490E948B024D |
| :104EA0000E94BF20A9C01092A405A6C0E981FA8182 |
| :104EB000B3970CF0A1C0E0916F08F0E0EE0FFF1F78 |
| :104EC000E25CF74F80819181855B9F4F0CF072C04F |
| :104ED0008091A3058F5F8093A305893C08F46CC083 |
| :104EE000469A88EC8093A30581E090E09093A10519 |
| :104EF0008093A00581E0809365051092B70510921C |
| :104F0000B8051092B9051092BA0510923E0510929C |
| :104F10003F051092400510924105109242051092F3 |
| :104F20004305109244051092450510922E051092EB |
| :104F30002F0510923005109231051092360510920F |
| :104F40003705109238051092390580910E05909121 |
| :104F50000F05A0911005B091110580933205909333 |
| :104F60003305A0933405B0933505809116059091D3 |
| :104F70001705A0911805B091190580933A059093F3 |
| :104F80003B05A0933C05B0933D051092BF051092E0 |
| :104F9000C0051092C1051092C2051092BB05109277 |
| :104FA000BC051092BD051092BE0580E090E00E9405 |
| :104FB000033D02C01092A305E0916F08F0E0EE0FF0 |
| :104FC000FF1FE25CF74F808191818C34910594F052 |
| :104FD0008091A2058F5F8093A205893C68F0469876 |
| :104FE0001092650588EC8093A2051092A10510929D |
| :104FF000A00502C01092A20580916B03815080939E |
| :105000006B0380916B038F3F29F0809150058823BB |
| :1050100009F429C30E94AC1D80916C08882E992444 |
| :10502000D401AA0FBB1FCD01825C974FFC01808188 |
| :1050300091819A8B898B80917B08E82EFF24AC5A52 |
| :10504000B74F0D90BC91A02DBC8BAB8B80917C0891 |
| :10505000282E332480916D08C82EDD24C601880FC8 |
| :10506000991FDC01A25CB74F0D90BC91A02DB88BAD |
| :10507000AF878C5A974FDC01AD90BC90E0916F08E0 |
| :10508000AE2FB0E0AA0FBB1FA25CB74F0D90BC9132 |
| :10509000A02DBE87AD876091980370E080E090E01E |
| :1050A0000E942A4520E030E040E251E40E94D846C8 |
| :1050B00020E030E040E85BE30E948F482B013C0198 |
| :1050C0006093F5087093F6088093F7089093F808BA |
| :1050D0006091990370E080E090E00E942A4520E012 |
| :1050E00030EE4BE257E40E943C476093DB0870933C |
| :1050F000DC088093DD089093DE082091B30422231E |
| :1051000031F08AE090E09093C5048093C404E22FCC |
| :1051100022FF09C080917405482F50E0440F551FAD |
| :10512000440F551F10C023FD03C040E050E00BC0EA |
| :105130008091740590E0880F991F880F991F44276C |
| :105140005527481B590B20917E0530917F05C901D9 |
| :1051500013E0880F991F1A95E1F7821B930B840FB8 |
| :10516000951F68E070E00E9431498B0170937F05C4 |
| :1051700060937E05E4FF09C080917405482F50E0DC |
| :10518000440F551F440F551F10C0E5FD03C040E0FC |
| :1051900050E00BC08091740590E0880F991F880F34 |
| :1051A000991F44275527481B590B809180059091E2 |
| :1051B00081059C01F3E0220F331FFA95E1F7281BCC |
| :1051C000390BCA01820F931F68E070E00E943149D9 |
| :1051D0007E8B6D8B70938105609380058091B20406 |
| :1051E000282F83FF03C082E390E004C082FF07C042 |
| :1051F0008EEC9FEF909383058093820504C01092FC |
| :1052000083051092820521FF09C080919F03909130 |
| :10521000A00301969093A00380939F0324FF09C0ED |
| :1052200080919F039091A00301979093A003809396 |
| :105230009F032B893C89229DF001239DF00D329D17 |
| :10524000F00D112449895A894E9DC0014F9D900D42 |
| :105250005E9D900D1124E80FF91FC80168E070E011 |
| :105260000E943149E60FF71FFC8BEB8BF093600532 |
| :10527000E0935F05A29C8001A39C100DB29C100DD1 |
| :1052800011246F8578896E9DC0016F9D900D7E9D64 |
| :10529000900D1124080F191F8D899E8968E070E018 |
| :1052A0000E943149060F171F109362050093610594 |
| :1052B0008091820590918305AD85BE858A1B9B0BED |
| :1052C00090936405809363058091740882FF0CC0FD |
| :1052D00080E090E0A0E0B0E08093DB089093DC08F1 |
| :1052E000A093DD08B093DE0820E030E040E050E01D |
| :1052F000C301B2010E941248882364F480E090E068 |
| :10530000A0E0B0E08093F5089093F608A093F7082A |
| :10531000B093F80820E030E040E050E06091DB0816 |
| :105320007091DC088091DD089091DE080E9412489F |
| :10533000882364F480E090E0A0E0B0E08093DB0894 |
| :105340009093DC08A093DD08B093DE088091A0085C |
| :10535000682F70E0E4E06E2E712C6622772282FDC9 |
| :10536000C4C083FDC2C080910E0590910F05A0912D |
| :105370001005B091110581569A4EA040B040E4F05E |
| :10538000C70173E0880F991F7A95E1F72B893C8953 |
| :10539000281B390B3093600520935F0580910E0523 |
| :1053A00090910F05A0911005B09111058158984377 |
| :1053B000A140B040ACF128C080910E0590910F053E |
| :1053C000A0911005B0911105805A9541AF4FBF4F84 |
| :1053D0003CF5970153E0220F331F5A95E1F74B89B3 |
| :1053E0005C89240F351F3093600520935F05809101 |
| :1053F0000E0590910F05A0911005B09111058158EF |
| :105400009843A140B04064F0C70144E0880F991F61 |
| :105410004A95E1F7281B390B3093600520935F050F |
| :105420008091160590911705A0911805B091190566 |
| :1054300081569A4EA040B0403CF1C701B3E0880FBE |
| :10544000991FBA95E1F7F801E81BF90BF093620593 |
| :10545000E09361058091160590911705A0911805BC |
| :10546000B091190581589843A140B0400CF43DC05B |
| :10547000A4E0EE0CFF1CAA95E1F7EE19FF09F093EA |
| :105480006205E093610531C0809116059091170582 |
| :10549000A0911805B0911905805A9541AF4FBF4FA3 |
| :1054A00024F5970173E0220F331F7A95E1F7200F5F |
| :1054B000311F30936205209361058091160590910C |
| :1054C0001705A0911805B091190581589843A1407E |
| :1054D000B0405CF054E0EE0CFF1C5A95E1F72E1939 |
| :1054E0003F093093620520936105F601EE0FFF1F1F |
| :1054F000E25CF74F2081318180919308482F50E082 |
| :105500004217530734F4672821F081E08093700537 |
| :1055100011C0F601EE0FFF1FE25CF74F20813181D1 |
| :1055200080919408DA01A81BB1092A173B0714F4EB |
| :1055300010927005F601EE0FFF1FE25CF74F8081BD |
| :105540009181AA27BB27A41BB50B8A179B0734F4AC |
| :1055500063FF04C081E08093710517C080917105DD |
| :10556000882399F0CC0CDD1CEEE3F8E0CE0EDF1EB4 |
| :10557000F601208131818091940890E0841B950B85 |
| :105580008217930714F410927105F401EE0FFF1FB8 |
| :10559000E25CF74F808191814817590734F460FF2E |
| :1055A00004C081E08093730515C080917305882342 |
| :1055B00089F0F401EE0FFF1FE25CF74F208131818B |
| :1055C00080919408FA01E81BF1092E173F0714F4A3 |
| :1055D00010927305F401EE0FFF1FE25CF74F80811C |
| :1055E00091818A179B0734F461FF04C081E08093A6 |
| :1055F000720517C080917205882399F0880C991C58 |
| :105600002EE338E0820E931ED4012D913C918091BF |
| :10561000940890E0841B950B8217930714F4109262 |
| :10562000720580917005882321F48091710588238B |
| :1056300021F081E080936F0502C010926F05809188 |
| :105640007305882321F480917205882351F081E04D |
| :1056500080936E0510926F0510927005109271057F |
| :1056600002C010926E0580916F05882311F40C948E |
| :10567000743A84E690E09093C5048093C4048091CA |
| :10568000920890E0E981FA818E179F0714F49A83BB |
| :10569000898380915005882341F11092640510920E |
| :1056A00063051092600510925F05109262051092DA |
| :1056B00061058DEC9CECACECBDE38093F508909318 |
| :1056C000F608A093F708B093F8088AE097EDA3EAEC |
| :1056D000BBE38093DB089093DC08A093DD08B093D4 |
| :1056E000DE0810926F0510926E052091D10830915E |
| :1056F000D2084091D3085091D40880910E05909122 |
| :105700000F05A0911005B0911105820F931FA41FE2 |
| :10571000B51F8093D1089093D208A093D308B0937B |
| :10572000D4082091D5083091D6084091D7085091DF |
| :10573000D8088091160590911705A0911805B09191 |
| :105740001905820F931FA41FB51F8093D50890934E |
| :10575000D608A093D708B093D8082091C3083091F9 |
| :10576000C4084091C5085091C608809112059091D7 |
| :105770001305A0911405B0911505820F931FA41F66 |
| :10578000B51F8093C3089093C408A093C508B09335 |
| :10579000C6082091B7083091B8084091B9085091D7 |
| :1057A000BA0880911A0590911B05A0911C05B09133 |
| :1057B0001D05820F931FA41FB51F8093B7089093F8 |
| :1057C000B808A093B908B093BA0850906E05552058 |
| :1057D00029F480916F05882309F45FC010921E059B |
| :1057E00010921F051092200510922105109222059B |
| :1057F0001092230510922405109225051092D108CD |
| :105800001092D2081092D3081092D4081092D508A2 |
| :105810001092D6081092D7081092D8081092C30898 |
| :105820001092C4081092C5081092C6081092B708CA |
| :105830001092B8081092B9081092BA0880912E05FB |
| :1058400090912F05A0913005B091310580933205DC |
| :1058500090933305A0933405B093350580913605B8 |
| :1058600090913705A0913805B091390580933A059C |
| :1058700090933B05A0933C05B0933D051092E50441 |
| :105880001092E40410926D0510926C0510926B0555 |
| :1058900010926A05552009F0A7C080916F058823F2 |
| :1058A00009F0A2C060910E0570910F05809110055E |
| :1058B00090911105A0908008BB24CC24DD24E090B9 |
| :1058C000EE08F090EF08A60195010E9466490027B6 |
| :1058D000F7FC0095102F2E193F09400B510BCA0100 |
| :1058E000B90120E130E040E050E00E946649390112 |
| :1058F0004A016091160570911705809118059091E5 |
| :105900001905E090FA08F090FB08A60195010E94A5 |
| :1059100066490027F7FC0095102F2E193F09400B10 |
| :10592000510BCA01B90120E130E040E050E00E9493 |
| :105930006649F1E26F1671048104910434F0F0E2DB |
| :105940006F2E712C812C912C11C060EE66166FEFBA |
| :1059500076066FEF86066FEF960644F4E0EE6E2E45 |
| :10596000EFEF7E2EEFEF8E2EEFEF9E2E21323105E0 |
| :10597000410551052CF020E230E040E050E00CC041 |
| :10598000203E7FEF37077FEF47077FEF570724F46D |
| :1059900020EE3FEF4FEF5FEF80912E0590912F05A6 |
| :1059A000A0913005B091310586199709A809B90968 |
| :1059B00080932E0590932F05A0933005B093310569 |
| :1059C0008091360590913705A0913805B091390541 |
| :1059D000821B930BA40BB50B809336059093370570 |
| :1059E000A0933805B09339058091E4049091E504C3 |
| :1059F0008F3F910509F008F4A9C4552009F02AC485 |
| :105A000080916F05882309F025C46091D1087091B9 |
| :105A1000D2088091D3089091D40820E031E040E092 |
| :105A200050E00E9466492093D1083093D2084093F9 |
| :105A3000D3085093D4086091D5087091D60880910E |
| :105A4000D7089091D80820E031E040E050E00E9473 |
| :105A500066492093D5083093D6084093D7085093D1 |
| :105A6000D808E0908008FF2400E010E020911E0597 |
| :105A700030911F054091200550912105C801B701C3 |
| :105A80000E94F24820E031E040E050E00E94664988 |
| :105A900020931E0530931F05409320055093210548 |
| :105AA0002091220530912305409124055091250530 |
| :105AB000C801B7010E94F24820E031E040E050E028 |
| :105AC0000E946649209322053093230540932405C4 |
| :105AD0005093250560912605709127058091280532 |
| :105AE0009091290520E031E040E050E00E946649B5 |
| :105AF00020932605309327054093280550932905C8 |
| :105B00006091D1087091D2088091D3089091D40807 |
| :105B100020911E0530911F054091200550912105CF |
| :105B2000E0909908FF2400E010E0621B730B840BE7 |
| :105B3000950BA80197010E94664920939805309320 |
| :105B4000990540939A0550939B05CA01B90120E03D |
| :105B500031E040E050E00E946649690130936D05F4 |
| :105B600020936C056091D5087091D6088091D70874 |
| :105B70009091D80820912205309123054091240569 |
| :105B800050912505621B730B840B950BA80197019F |
| :105B90000E946649CA01B90120E031E040E050E0CE |
| :105BA0000E946649290130936B0520936A05609134 |
| :105BB000C3087091C4088091C5089091C60820E080 |
| :105BC00031E040E050E00E9466492093C3083093E2 |
| :105BD000C4084093C5085093C6086091B7087091F7 |
| :105BE000B8088091B9089091BA0820E031E040E00F |
| :105BF00050E00E9466492093B7083093B80840935C |
| :105C0000B9085093BA0860901205709013058090FF |
| :105C100014059090150580910E0590910F05A091A7 |
| :105C20001005B0911105681A790A8A0A9B0A6092D8 |
| :105C3000B3057092B4058092B5059092B605E090D8 |
| :105C40001A05F0901B0500911C0510911D0580910F |
| :105C5000160590911705A0911805B0911905E81A3D |
| :105C6000F90A0A0B1B0BE092AF05F092B005009306 |
| :105C7000B1051093B2056092AB057092AC058092AD |
| :105C8000AD059092AE05E092A705F092A8050093AD |
| :105C9000A9051093AA058091320590913305A09132 |
| :105CA0003405B091350586199709A809B90980937B |
| :105CB000320590933305A0933405B0933505809158 |
| :105CC0003A0590913B05A0913C05B0913D058E1998 |
| :105CD0009F09A00BB10B80933A0590933B05A093CD |
| :105CE0003C05B0933D058091030990910409A09172 |
| :105CF0000509B09106098032E4E29E07E7E0AE07AD |
| :105D0000E0E0BE0764F080529442A740B040809328 |
| :105D1000030990930409A0930509B09306098091A3 |
| :105D2000030990910409A0910509B0910609B7FFF4 |
| :105D30000CC0805E9B4DA84FBF4F8093030990938A |
| :105D40000409A0930509B0930609809100018A30E7 |
| :105D500011F4289801C0289A81E090E0909393056F |
| :105D6000809392058091D1089091D208A091D30898 |
| :105D7000B091D40820918A0530918B0540918C0513 |
| :105D800050918D05281B390B4A0B5B0B57FF07C041 |
| :105D900050954095309521953F4F4F4F5F4F205282 |
| :105DA0003E44404050400CF0B9C021E0621620E172 |
| :105DB000720620E0820620E092060CF44EC080912C |
| :105DC0009105882309F445C0D401C3017CE0B59551 |
| :105DD000A795979587957A95D1F701969093930516 |
| :105DE00080939205D401C30163E0B595A79597957B |
| :105DF00087956A95D1F78093980590939905A0931C |
| :105E00009A05B0939B0589589341A040B04064F037 |
| :105E100088E893E1A0E0B0E080939805909399051D |
| :105E2000A0939A05B0939B05609198057091990590 |
| :105E300080919A0590919B0520E031E040E050E090 |
| :105E40000E946649C20ED31ED0926D05C0926C05A9 |
| :105E500062C081E0809391055EC01092910540E0A0 |
| :105E6000641640EF74064FEF84064FEF94060CF073 |
| :105E700052C080919005882309F449C0882799274A |
| :105E8000DC0186199709A809B9095CE0B595A795C1 |
| :105E9000979587955A95D1F701969093930580939E |
| :105EA0009205C401B30128E030E040E050E00E94D8 |
| :105EB0006649209398053093990540939A0550932D |
| :105EC0009B0528573C4E4F4F5F4F64F488E79CEE8C |
| :105ED000AFEFBFEF8093980590939905A0939A0533 |
| :105EE000B0939B05609198057091990580919A05F2 |
| :105EF00090919B0520E031E040E050E00E9466492F |
| :105F0000C20ED31ED0926D05C0926C050BC081E00D |
| :105F10008093900507C01092900504C010929305DD |
| :105F200010929205C090EE08D090EF08D7FE04C002 |
| :105F3000D094C194D108D394D092C008C092BF0825 |
| :105F4000A090FA08B090FB08B7FE04C0B094A194EA |
| :105F5000B108B394B092E608A092E50874E6C716BB |
| :105F6000D1040CF041C084E6A816B104ECF5809190 |
| :105F70009A08282F30E08091920590919305281778 |
| :105F8000390724F4309393052093920591E0691624 |
| :105F900094E0790690E0890690E0990674F080918B |
| :105FA000FA049091FB042091920530919305820FA1 |
| :105FB000931F9093FB048093FA04A0E06A16ACEF61 |
| :105FC0007A06AFEF8A06AFEF9A0674F48091FA046E |
| :105FD0009091FB042091920530919305821B930BC5 |
| :105FE0009093FB048093FA0481E090E090939305F2 |
| :105FF0008093920510929405109295051092960543 |
| :10600000109297058091D5089091D608A091D70855 |
| :10601000B091D80820918605309187054091880578 |
| :1060200050918905281B390B4A0B5B0B57FF07C0A2 |
| :1060300050954095309521953F4F4F4F5F4F2052DF |
| :106040003E44404050400CF0B9C0E1E0EE16E0E1C3 |
| :10605000FE06E0E00E07E0E01E070CF44EC0809163 |
| :106060008F05882309F445C0D801C7014CE0B595D8 |
| :10607000A795979587954A95D1F7019690939305A3 |
| :1060800080939205D801C70133E0B595A795979500 |
| :1060900087953A95D1F78093940590939505A093B1 |
| :1060A0009605B093970589589341A040B04064F09D |
| :1060B00088E893E1A0E0B0E0809394059093950583 |
| :1060C000A0939605B09397056091940570919505FE |
| :1060D000809196059091970520E031E040E050E0F6 |
| :1060E0000E946649420E531E50926B0540926A050B |
| :1060F00062C081E080938F055EC010928F0520E022 |
| :10610000E21620EFF2062FEF02072FEF12070CF036 |
| :1061100052C080918E05882309F449C088279927A9 |
| :10612000DC018E199F09A00BB10B2CE0B595A7954A |
| :10613000979587952A95D1F701969093930580932B |
| :106140009205C801B70128E030E040E050E00E942D |
| :106150006649209394053093950540939605509396 |
| :10616000970528573C4E4F4F5F4F64F488E79CEEED |
| :10617000AFEFBFEF8093940590939505A09396059C |
| :10618000B09397056091940570919505809196055F |
| :106190009091970520E031E040E050E00E94664990 |
| :1061A000420E531E50926B0540926A050BC081E06F |
| :1061B00080938E0507C010928E0504C0109293053F |
| :1061C0001092920578ECC716D1040CF04BC088EC05 |
| :1061D000A816B1040CF046C080919A08282F30E030 |
| :1061E00080919205909193052817390724F43093F4 |
| :1061F00093052093920591E0E91694E0F90690E06A |
| :10620000090790E0190774F08091FC049091FD0457 |
| :106210002091920530919305820F931F9093FD0476 |
| :106220008093FC04A0E0EA16ACEFFA06AFEF0A0791 |
| :10623000AFEF1A07BCF48091FC049091FD0420910B |
| :10624000920530919305821B930B9093FD048093EC |
| :10625000FC0408C010926B0510926A0510926D053F |
| :1062600010926C0520E030E040E050E06091DB08E7 |
| :106270007091DC088091DD089091DE080E94124840 |
| :10628000882341F410926B0510926A0510926D05F7 |
| :1062900010926C058091D1089091D208A091D308FA |
| :1062A000B091D40880938A0590938B05A0938C05B8 |
| :1062B000B0938D058091D5089091D608A091D7080C |
| :1062C000B091D8088093860590938705A0938805A0 |
| :1062D000B093890510921E0510921F05109220059B |
| :1062E0001092210510922205109223051092240588 |
| :1062F0001092250510922605109227051092280568 |
| :10630000109229051092D1081092D2081092D30849 |
| :106310001092D4081092D5081092D6081092D7087F |
| :106320001092D8081092C3081092C4081092C508A1 |
| :106330001092C6081092B7081092B8081092B908C7 |
| :106340001092BA081092E5041092E4048091C804F7 |
| :10635000882309F46EC11092C8042091EE08309190 |
| :10636000EF0837FF03C0309521953F4F3093C008A9 |
| :106370002093BF088091FA089091FB0897FF03C013 |
| :10638000909581959F4F9093E6088093E508243679 |
| :1063900031050CF03CC1843691050CF038C12091D8 |
| :1063A0004A0530914B058091C9049091CA04281B7D |
| :1063B000390B37FF03C0309521953F4F263031050B |
| :1063C0000CF02FC1809163059091640543968797E7 |
| :1063D00008F091C080915405909155058F3F91052B |
| :1063E0002CF40196909355058093540580915405A3 |
| :1063F0009091550503970CF492C06091CB08709171 |
| :10640000CC088091CD089091CE0824E135E040E0A1 |
| :1064100050E00E946649F9013093C0082093BF08FC |
| :1064200060914A0570914B0580916A0890916B08C4 |
| :10643000681B790B7093E6086093E508BFEF6C3436 |
| :106440007B0734F468597E4F7093E6086093E50843 |
| :106450008091E5089091E608853B910534F08856D7 |
| :1064600091409093E6088093E5088091E50890912B |
| :10647000E608E81BF90BF093E608E093E508399786 |
| :1064800034F088E090E09093E6088093E5088091EE |
| :10649000E5089091E608885F9F4F34F488EF9FEFFE |
| :1064A0009093E6088093E508C90137FF03C09095F3 |
| :1064B00081959F4F02979CF11092CB081092CC08C7 |
| :1064C0001092CD081092CE0880914A0590914B050C |
| :1064D00090936B0880936A088091FE049091FF046A |
| :1064E0002091E5083091E608821B930B9093FF04FE |
| :1064F0008093FE0414C080914A0590914B059093BF |
| :106500006B0880936A0810925505109254051092FA |
| :10651000CB081092CC081092CD081092CE0881E0E2 |
| :1065200080935205609103097091040980910509D7 |
| :106530009091060924E135E040E050E00E94664970 |
| :1065400020930309309304094093050950930609E9 |
| :1065500060914A0570914B05621B730B7093C008E4 |
| :106560006093BF08CB010197833B910588F0643BA2 |
| :10657000710534F4CB018C549F4F843B910528F472 |
| :10658000215030404040504007C06C547F4F64F46D |
| :106590002F5F3F4F4F4F5F4F209303093093040904 |
| :1065A00040930509509306098091030990910409CD |
| :1065B000A0910509B0910609B7FF0CC088599E4FFC |
| :1065C000AF4FBF4F8093030990930409A09305092F |
| :1065D000B09306096091030970910409809105093F |
| :1065E0009091060928E631E040E050E00E946649BB |
| :1065F00024E135E040E050E00E94F2486093030956 |
| :106600007093040980930509909306090AC01092BB |
| :1066100052051092CB081092CC081092CD0810921F |
| :10662000CE0880914A0590914B059093CA048093BF |
| :10663000C9048091740885FF3EC0E0916C08F0E0C9 |
| :10664000EE0FFF1FE25CF74F0190F081E02DF7FFA6 |
| :1066500003C0F095E195FF4F74976CF5E0916D08DC |
| :10666000F0E0EE0FFF1FE25CF74F0190F081E02DAC |
| :10667000F7FF03C0F095E195FF4F7497E4F4809124 |
| :106680006E0990916F09892BB1F0809194039091DC |
| :106690005305893C20F0933021F084E006C094300B |
| :1066A00019F41092530503C083E080935305809141 |
| :1066B000530590E008C080915305882331F0109273 |
| :1066C000530580E090E00E94033DA0905909B090EE |
| :1066D0005A09A114B10429F080919D058C3009F468 |
| :1066E0004298C0906305D09064058601D7FE04C02F |
| :1066F000002711270C191D09053111053CF0809167 |
| :10670000740884FD03C081E080939C05E0907D08BF |
| :10671000B601882777FD8095982F2E2D30E040E038 |
| :1067200050E00E94F2489801442737FD4095542FCD |
| :106730000E94F24820E032E040E050E00E946649CA |
| :1067400089019A01FF24EC9CC001ED9C900DFC9CFA |
| :10675000900D112464E070E00E943149600F711FB8 |
| :106760001B01442437FC4094542C2092B7053092EE |
| :10677000B8054092B9055092BA0580913E059091B6 |
| :106780003F05A0914005B091410582199309A409E4 |
| :10679000B50980933E0590933F05A0934005B093C3 |
| :1067A000410580913E0590913F05A0914005B09133 |
| :1067B00041058155934CA040B04064F080E593ECD6 |
| :1067C000A0E0B0E080933E0590933F05A093400584 |
| :1067D000B093410580913E0590913F05A091400501 |
| :1067E000B0914105805B9C43AF4FBF4F64F480EB99 |
| :1067F0009CE3AFEFBFEF80933E0590933F05A093DE |
| :106800004005B093410580914A0590914B05892B35 |
| :1068100009F460C08091740883FF5CC08091CB0450 |
| :106820009091CC04892B09F455C02091E508309152 |
| :10683000E6088091BF089091C0088217930724F45E |
| :106840003093C0082093BF0820915205222371F095 |
| :1068500080919C05882351F080914A0590914B05C9 |
| :1068600090934D0580934C0510929C058091970361 |
| :10687000482F50E05093C0084093BF08882351F13F |
| :10688000222341F100913E0510913F0520914005E2 |
| :106890003091410580914E0590914F05BC01469F76 |
| :1068A000C001479F900D569F900D112460E270E04B |
| :1068B0000E943149882777FD8095982F600F711FBE |
| :1068C000821F931F60933E0570933F0580934005A0 |
| :1068D0009093410580919D05815080939D058F3F48 |
| :1068E00009F02AC188E180939D058091C4049091AC |
| :1068F000C504209104033091050382239323892B3F |
| :1069000029F488B194E0892788B907C0809165058A |
| :10691000882311F0429A01C0429860910E0570914F |
| :106920000F058091100590911105E0908008FF24DB |
| :1069300000E010E0A80197010E9466493093E40747 |
| :106940002093E30760911605709117058091180553 |
| :1069500090911905A80197010E9466493093E607B6 |
| :106960002093E5078091EE089091EF089093E80757 |
| :106970008093E7078091FA089091FB089093EA07CB |
| :106980008093E9078091F3089091F4089093EC07C5 |
| :106990008093EB0780916605909167059093EE07D1 |
| :1069A0008093ED07609146057091470580914805F9 |
| :1069B0009091490520E032E040E050E00E946649B5 |
| :1069C0003093F0072093EF0780914A0590914B0593 |
| :1069D0009093F4078093F307609103097091040981 |
| :1069E000809105099091060924E135E040E050E0EE |
| :1069F0000E9466493093F6072093F5078091B5040D |
| :106A00009091B60490930408809303088091080342 |
| :106A10009091090390930608809305088091BC0823 |
| :106A20009091BD0890930808809307088091B4085E |
| :106A30009091B50890930A08809309088091F30813 |
| :106A40009091F40890930C0880930B0880915F0557 |
| :106A50009091600590930E0880930D0880916105D8 |
| :106A6000909162059093100880930F08D0921208BD |
| :106A7000C09211088091740590E09093F80780937C |
| :106A8000F7078091760590E09093FA078093F907D5 |
| :106A90008091CF059091D0059093140880931308AE |
| :106AA0008091D1059091D205909316088093150896 |
| :106AB000809177099091780990931808809317082E |
| :106AC0008091790990917A0990931A088093190816 |
| :106AD00080917B0990917C0990931C0880931B08FE |
| :106AE00080918009909181099C0163E0220F331FFE |
| :106AF0006A95E1F7880F991F820F931F8A0D9B1DDE |
| :106B00002091530542E3249F90011124820F931F8B |
| :106B100090931E0880931D088091E3089091E408EB |
| :106B20009093200880931F088091E7089091E808CF |
| :106B3000909322088093210880916E058823A9F004 |
| :106B40006091BC087091BD08882777FD8095982FCB |
| :106B50000E94D7472091F5083091F6084091F70838 |
| :106B60005091F8080E948F4832C060910E057091D4 |
| :106B70000F058091100590911105E090BC08F090F0 |
| :106B8000BD080E94D7472091DB083091DC08409176 |
| :106B9000DD085091DE080E948F485B016C010027E0 |
| :106BA000F7FC0095102FC801B7010E94D74720912C |
| :106BB000F5083091F6084091F7085091F8080E94C6 |
| :106BC0008F489B01AC01C601B5010E94D8460E94C6 |
| :106BD000A4477093BD086093BC0880916F0588231B |
| :106BE000A9F06091B4087091B508882777FD809569 |
| :106BF000982F0E94D7472091F5083091F6084091D0 |
| :106C0000F7085091F8080E948F4832C0609116052D |
| :106C1000709117058091180590911905E090B408BE |
| :106C2000F090B5080E94D7472091DB083091DC082E |
| :106C30004091DD085091DE080E948F485B016C0195 |
| :106C40000027F7FC0095102FC801B7010E94D74715 |
| :106C50002091F5083091F6084091F7085091F80816 |
| :106C60000E948F489B01AC01C601B5010E94D84625 |
| :106C70000E94A4477093B5086093B4086091F3082C |
| :106C80007091F408E0902A05F0902B0500912C05F6 |
| :106C900010912D058091DB089091DC08A091DD0812 |
| :106CA000B091DE088B839C83AD83BE83882777FDFC |
| :106CB0008095982F0E94D7472091F5083091F608CB |
| :106CC0004091F7085091F8080E948F485B016C01D1 |
| :106CD000C801B7010E94D7472B813C814D815E815D |
| :106CE0000E948F4820E030E040E05FE30E948F4840 |
| :106CF0009B01AC01C601B5010E94D8460E94A44781 |
| :106D00007093F4086093F3088091BC089091BD08DB |
| :106D10008150984034F080E098E09093BD088093D3 |
| :106D2000BC088091BC089091BD088050984F34F405 |
| :106D300080E098EF9093BD088093BC088091B408E0 |
| :106D40009091B5088150984034F080E098E090939D |
| :106D5000B5088093B4088091B4089091B50880502C |
| :106D6000984F34F480E098EF9093B5088093B4087E |
| :106D70008091F3089091F4088150984034F080E0BD |
| :106D800098E09093F4088093F3088091F308909131 |
| :106D9000F4088050984F34F480E098EF9093F40812 |
| :106DA0008093F3088091740880FFD8C040919403C9 |
| :106DB00081FF0EC0423310F5809166059091670502 |
| :106DC000449790936905809368051092510519C006 |
| :106DD00020919F033091A003240F311D80917908E9 |
| :106DE00090E0AC01249FC001259F900D349F900D31 |
| :106DF00011244497909369058093680581E08093FE |
| :106E0000510580915005882321F010926905109258 |
| :106E1000680520916605309167054091680550919D |
| :106E20006905421753070CF099C0809151058823DA |
| :106E300009F494C08091950390E0241B350BBC01AC |
| :106E4000629FC001639F900D729F900D112460E1BD |
| :106E500070E00E9431496B01A090E204B090E3041D |
| :106E600060914605709147058091480590914905CC |
| :106E7000E0909603FF2400E010E020E032E040E0E4 |
| :106E800050E00E946649C801B7010E94F24820E222 |
| :106E900030E040E050E00E9466497FEF2E3C37072B |
| :106EA00014F42EEC3FEF80919E0590919F058C018C |
| :106EB00044E0000F111F4A95E1F7081B190B809160 |
| :106EC000930390E0DC01AA9DC001AB9D900DBA9D9B |
| :106ED000900D112468E070E00E943149061B170BE9 |
| :106EE0002333310514F022E330E0021B130B8981B8 |
| :106EF0009A818C199D09800F911F60E170E00E94BA |
| :106F0000314970939F0560939E058091750890E0CC |
| :106F10006817790784F4E981FA81E817F9072CF0FA |
| :106F200090939F0580939E0506C029813A813093F6 |
| :106F30009F0520939E0580919E0590919F05498114 |
| :106F40005A814817590724F450939F0540939E0592 |
| :106F500060919E0570919F057A83698389819A81EA |
| :106F60009093F2078093F1072091F3083091F40891 |
| :106F70008091F208682E7724A981BA8154971CF475 |
| :106F800018861F822DC0B9016219730929813A81BF |
| :106F900035952795621773070CF49B0189819A81B7 |
| :106FA00062E070E00E943149709561957F4FC901A0 |
| :106FB000261737070CF4CB019301E981FA812E1BC8 |
| :106FC0003F0B281739070CF4C90129813A8126198A |
| :106FD000370998878F838217930714F438872F8394 |
| :106FE0002091BC083091BD0880905F0590906005AD |
| :106FF0008091CF059091D005881A990A28193909EE |
| :107000003093D0082093CF0820E030E040E050E0FB |
| :107010006B817C818D819E810E9412488823F1F1D1 |
| :10702000E0900E05F0900F050091100510911105EC |
| :107030006091BF057091C0058091C1059091C20516 |
| :107040000E94D7475B016C01C801B7010E94D74776 |
| :107050002B813C814D815E810E948F487B018C0198 |
| :10706000B401882777FD8095982F0E94D7479B0110 |
| :10707000AC01C801B7010E94D7469B01AC01C60113 |
| :10708000B5010E94D8460E94A4476093BF05709343 |
| :10709000C0058093C1059093C2051CC02091CF0804 |
| :1070A0003091D008442737FD4095542F8091BF057B |
| :1070B0009091C005A091C105B091C205820F931FA8 |
| :1070C000A41FB51F8093BF059093C005A093C10571 |
| :1070D000B093C2058091BF059091C005A091C105F4 |
| :1070E000B091C205181619061A061B0624F4029759 |
| :1070F000A109B10903C00296A11DB11D8093BF056E |
| :107100009093C005A093C105B093C2058091BF05BF |
| :107110009091C005A091C105B091C20581589E43D0 |
| :10712000A040B04064F080E89EE3A0E0B0E080932F |
| :10713000BF059093C005A093C105B093C20580918F |
| :10714000BF059091C005A091C105B091C2058058BE |
| :10715000914CAF4FBF4F64F480E891ECAFEFBFEFBD |
| :107160008093BF059093C005A093C105B093C2055D |
| :107170006091CF087091D00880918F039091900317 |
| :10718000A0919103B091920389879A87AB87BC87BE |
| :10719000882777FD8095982F0E94D7477B018C0127 |
| :1071A0006091BF057091C0058091C1059091C205A5 |
| :1071B0000E94D7479B01AC0169857A858B859C85A8 |
| :1071C0000E948F489B01AC01C801B7010E94D846BC |
| :1071D0000E94A4477B018C016B018F81988597FFEA |
| :1071E00003C0909581959F4F62E070E00E94314905 |
| :1071F000A981BA816A0F7B1F882777FD8095982F18 |
| :1072000020919E0330E040E050E00E94F24820E4EC |
| :1072100030E040E050E00E9466491901C216D306F2 |
| :107220000CF49701442455244218530824153505BD |
| :107230000CF492014F815885E981FA814E0F5F1F4E |
| :10724000CA01820F931F97FF03C060E070E005C082 |
| :10725000BC01681679060CF4B3018091BE08882E33 |
| :107260009924CB01681579050CF4C4018093B60804 |
| :10727000421B530B9A0157FF03C020E030E004C0CB |
| :10728000641675060CF49301281539050CF4940165 |
| :107290002093BB082091B4083091B5084091610556 |
| :1072A000509162058091D1059091D205481B590BF0 |
| :1072B0005C8B4B8B241B350B3093B3082093B208A7 |
| :1072C00020E030E040E050E06B817C818D819E8148 |
| :1072D0000E941248882309F440C0E0901605F090FF |
| :1072E000170500911805109119056091BB05709163 |
| :1072F000BC058091BD059091BE050E94D7475B01FA |
| :107300006C01C801B7010E94D7472B813C814D8198 |
| :107310005E810E948F487B018C01AB89BC89BD01D5 |
| :10732000882777FD8095982F0E94D7479B01AC0155 |
| :10733000C801B7010E94D7469B01AC01C601B50147 |
| :107340000E94D8460E94A4476093BB057093BC0579 |
| :107350008093BD059093BE051CC02091B20830916A |
| :10736000B308442737FD4095542F8091BB05909179 |
| :10737000BC05A091BD05B091BE05820F931FA41F4F |
| :10738000B51F8093BB059093BC05A093BD05B0933A |
| :10739000BE058091BB059091BC05A091BD05B09143 |
| :1073A000BE05181619061A061B0624F40297A10931 |
| :1073B000B10903C00296A11DB11D8093BB05909336 |
| :1073C000BC05A093BD05B093BE058091BB0590910F |
| :1073D000BC05A091BD05B091BE0581589E43A0405B |
| :1073E000B04064F080E89EE3A0E0B0E08093BB058D |
| :1073F0009093BC05A093BD05B093BE058091BB05DD |
| :107400009091BC05A091BD05B091BE058058914CEE |
| :10741000AF4FBF4F64F480E891ECAFEFBFEF8093C4 |
| :10742000BB059093BC05A093BD05B093BE056091CC |
| :10743000B2087091B308882777FD8095982F0E9435 |
| :10744000D7477B018C016091BB057091BC05809191 |
| :10745000BD059091BE050E94D7479B01AC0169858F |
| :107460007A858B859C850E948F489B01AC01C80161 |
| :10747000B7010E94D8460E94A44791016215730586 |
| :107480000CF49B01241535050CF4920169817A8175 |
| :107490004F815885641B750B620F731F77FF03C004 |
| :1074A00060E070E004C0661677060CF4B30168155E |
| :1074B00079050CF4B4016093EB0869817A81621B51 |
| :1074C000730B9B018F819885281B390B37FF03C0F5 |
| :1074D00020E030E004C0621673060CF49301281516 |
| :1074E000390554F4940108C080916E05882311F089 |
| :1074F0000C943F2B0C94492B2093DF0866960FB613 |
| :10750000F894DEBF0FBECDBFDF91CF911F910F91D9 |
| :10751000FF90EF90DF90CF90BF90AF909F908F90B3 |
| :107520007F906F905F904F903F902F9008951092B2 |
| :10753000D4051092D30510925A091092590910924D |
| :107540008109109280091092450910922B0910921E |
| :1075500092091092580910926D0910927D091092AB |
| :10756000D0051092CF051092D2051092D10510923D |
| :107570007F0910927E0910926F0910926E0908958A |
| :1075800080914509882319F481E090E00895809165 |
| :107590009209882309F48CC080912B09882309F46F |
| :1075A00087C08091860990E08370907002970CF4F8 |
| :1075B00074C08091870980FF70C010929209609119 |
| :1075C0003709709138098091390990913A092AE078 |
| :1075D00030E040E050E00E94664920935B09309320 |
| :1075E0005C0940935D0950935E0960913B0970917D |
| :1075F0003C0980913D0990913E092AE030E040E04D |
| :1076000050E00E94664920935F09309360094093DF |
| :1076100061095093620960913F097091400980911E |
| :107620004109909142092AE030E040E050E00E9498 |
| :107630006649209363093093640940936509509328 |
| :1076400066091092450980911B0990911C09A0912F |
| :107650001D09B0911E098093670990936809A09352 |
| :107660006909B0936A0960911F097091200980919E |
| :1076700021099091220920EA36E841E050E00E9479 |
| :10768000664930936C0920936B0910922B0981E0B5 |
| :1076900080936D0980E090E0089510926D0910923A |
| :1076A0002B09109292091092450982E090E008950A |
| :1076B00081E090E008950E94C03A181619060CF473 |
| :1076C0004CC080916E0990916F0923E0883E92072B |
| :1076D00030F4885A9D4F90936F0980936E09809182 |
| :1076E00058098823B1F180915B0990915C09209140 |
| :1076F000460930914709821B930B90937809809338 |
| :10770000770980915F099091600920914A09309131 |
| :107710004B09821B930B90937A098093790980918E |
| :1077200063099091640920914E0930914F09821BA1 |
| :10773000930B90937C0980937B0981E080937D0972 |
| :1077400081E090E090937F0980937E0980E090E053 |
| :10775000089510927D0982E090E008950E94C03A59 |
| :10776000892B99F580915B0990915C09A0915D0945 |
| :10777000B0915E098093460990934709A093480908 |
| :10778000B093490980915F0990916009A0916109C6 |
| :10779000B091620980934A0990934B09A0934C09D8 |
| :1077A000B0934D098091630990916409A091650996 |
| :1077B000B091660980934E0990934F09A0935009A8 |
| :1077C000B093510981E0809358090895482F209182 |
| :1077D000D3053091D4052530310509F49AC02630FF |
| :1077E00031058CF42130310529F1223031051CF4AA |
| :1077F000232BD1F003C12230310571F12330310543 |
| :1078000009F0FCC02FC02730310509F4E2C0273051 |
| :1078100031050CF490C02830310509F4E5C0293059 |
| :10782000310509F0EBC0A2C0853B09F0E7C081E05B |
| :1078300090E0D5C0823639F482E090E09093D40590 |
| :107840008093D30504C01092D4051092D3051092F2 |
| :10785000E5051092E6050895813009F0CFC083E078 |
| :1078600090E0BDC0883031F0823151F1833009F0B1 |
| :1078700044C013C025E439E0309300062093FF058F |
| :10788000809145098823C9F5225130403093FE0587 |
| :107890002093FD052E5E3F4F25C022E939E030934D |
| :1078A00000062093FF0580919209882331F520512D |
| :1078B00030403093FE052093FD05205F3F4F12C0FE |
| :1078C0002BE239E0309300062093FF0580912B09CD |
| :1078D000882399F4245230403093FE052093FD050F |
| :1078E0002C5D3F4F3093F2052093F10585E090E049 |
| :1078F0009093D4058093D30504C01092D4051092C0 |
| :10790000D305842F8F5F8093E5058F5F8093E60515 |
| :10791000089590E09093F0058093EF059091E50530 |
| :10792000940F9093E5058091E605890F8093E60515 |
| :1079300086E090E054C0282F30E0322F222780913B |
| :10794000EF059091F005820F931F9093F0058093BF |
| :10795000EF059091E505940F9093E5058091E6057C |
| :10796000890F8093E60589E090E039C06091EF05CA |
| :107970007091F0056115710509F440C0E091FD05B5 |
| :10798000F091FE0580838091E505840F8093E505E5 |
| :107990009091E605980F9093E605CB01019790939F |
| :1079A000F0058093EF05892B89F08091F105909186 |
| :1079B000F2058E179F0750F03196F093FE05E09385 |
| :1079C000FD053093D4052093D305089587E090E01A |
| :1079D00006C08091E505481789F488E090E090930F |
| :1079E000D4058093D30508958091E605481731F4B6 |
| :1079F000E091FF05F091000681E080831092D405AC |
| :107A00001092D30508952F923F924F925F926F92FA |
| :107A10007F928F929F92AF92BF92CF92DF92EF921E |
| :107A2000FF920F931F93CF93DF93CDB7DEB76A9783 |
| :107A30000FB6F894DEBF0FBECDBF988F8F8B83300B |
| :107A4000910509F4B2C08430910521F0892B09F425 |
| :107A500018C152C68091590990915A09019702970D |
| :107A600008F424C18091E3059091E4050196909378 |
| :107A7000E4058093E305C39708F441C61092E4053A |
| :107A80001092E3051092F8051092F7051092FA058E |
| :107A90001092F9051092FC051092FB051092D80582 |
| :107AA0001092D7051092D6051092D5051092E705D1 |
| :107AB0001092E8051092E9051092EA051092EB0584 |
| :107AC0001092EC051092ED051092EE051092DB0578 |
| :107AD0001092DC051092DD051092DE051092DF0594 |
| :107AE0001092E0051092E1051092E2051092020654 |
| :107AF000109201061092DA051092D90510928109B0 |
| :107B00001092800980917D09882309F44BC08091EF |
| :107B10007709909178099093710980937009609129 |
| :107B2000790970917A09709373096093720921E061 |
| :107B30002093760990932D0980932C0970932F0937 |
| :107B400060932E0920933209709561957F4F90952F |
| :107B500081959F4F0E949D439C019093F4058093D3 |
| :107B6000F305E0917009F0917109F7FF03C08AE510 |
| :107B700090E002C08EE091E0821B930B9093F4059D |
| :107B80008093F3054091F3055091F40560917209DB |
| :107B900070917309CF010E94D7447093F6056093EA |
| :107BA000F5059FC510927609A3C58091590990915A |
| :107BB0005A09019709F47AC08091E3059091E40590 |
| :107BC00001969093E4058093E3058955924008F46B |
| :107BD00096C51092E4051092E30580917D098823F3 |
| :107BE00009F44CC01092FA051092F9051092FC05A8 |
| :107BF0001092FB051092D8051092D7051092D60569 |
| :107C00001092D5051092E7051092E8051092E9054B |
| :107C10001092EA051092EB051092EC051092ED051A |
| :107C20001092EE051092DB051092DC051092DD0536 |
| :107C30001092DE051092DF051092E0051092E1052A |
| :107C40001092E205109204061092030610920606A6 |
| :107C500010920506809177099091780990932D09EB |
| :107C600080932C098091790990917A0990932F093A |
| :107C700080932E0981E08093320973C110923209FA |
| :107C800037C51092E4051092E3051092D0051092CA |
| :107C9000CF051092D2051092D10510928109109251 |
| :107CA000800910925A09109259092CC580915909DE |
| :107CB00090915A098130910509F456C1823091059D |
| :107CC00041F0892B09F014C51092E4051092E305E8 |
| :107CD00019C580917609882309F40AC580917E0927 |
| :107CE00090917F09181619060CF03BC1809180090C |
| :107CF00090918109099709F434C18091F705909119 |
| :107D0000F80501969093F8058093F70540912C09AA |
| :107D100050912D098091770990917809DA01A81B7B |
| :107D2000B90BB7FF03C0B095A195BF4F60912E0965 |
| :107D300070912F098091790990917A09FB01E81BD4 |
| :107D4000F90BF7FF03C0F095E195FF4F2091010675 |
| :107D5000309102068091F5059091F605821B930BF8 |
| :107D60008536910574F1A83CB105E4F4E83CF105D1 |
| :107D7000CCF48091D9059091DA058C3091052CF4E2 |
| :107D800004969093DA058093D9058091D905909156 |
| :107D9000DA05820F931F909302068093010683E019 |
| :107DA00090E029C08091D9059091DA058230910543 |
| :107DB0002CF001979093DA058093D90584E090E048 |
| :107DC0001AC0C3970CF478C0A436B10564F4E43645 |
| :107DD000F1054CF4285F3F4F3093020620930106D3 |
| :107DE00085E090E008C02F5F3F4F3093020620935C |
| :107DF000010686E090E090938109809380091092BB |
| :107E0000FC051092FB0581E090E09093FA058093C9 |
| :107E1000F905A0900106B0900206CC24B7FCC094EE |
| :107E2000DC2C8091F3059091F4050E9479447C014B |
| :107E30002090010630900206442437FC4094542CD4 |
| :107E40008091F3059091F4050E94CF443C010027F6 |
| :107E5000F7FC0095102FC801B701A60195010E94FB |
| :107E6000F24828EE33E040E050E00E9466498091FD |
| :107E7000700990917109820F931F90932D0980933F |
| :107E80002C09882477FC8094982CC401B301A201AA |
| :107E900091010E94F24828EE33E040E050E00E9459 |
| :107EA00066498091720990917309820F931F909394 |
| :107EB0002F0980932E0955C0A436B1050CF04BC094 |
| :107EC000E436F1050CF047C087E090E0909381091B |
| :107ED000809380091092FA051092F9051092FC0522 |
| :107EE0001092FB05433051051CF04350504006C032 |
| :107EF0003FEF4E3F530734F44D5F5F4F50932D09D2 |
| :107F000040932C09633071051CF06350704006C02B |
| :107F10004FEF6E3F740734F46D5F7F4F70932F09FE |
| :107F200060932E0980912C0990912D090396079753 |
| :107F3000C0F480912E0990912F090396079788F439 |
| :107F400010922D0910922C0910922F0910922E09CF |
| :107F500089E090E002C088E090E0909381098093EE |
| :107F6000800981E090E0BFC380917E0990917F09F4 |
| :107F7000181619060CF0B1C38091050690910606FB |
| :107F8000019690930606809305068091770990915B |
| :107F900078099E8B8D8B80912C0990912D09AD894C |
| :107FA000BE89A81BB90BBE8BAD8BE0917909F0910E |
| :107FB0007A0980912E0990912F09E81BF90BFC8B0F |
| :107FC000EB8B6091D7057091D8056A0F7B1F70937A |
| :107FD000D8056093D7050091D5051091D6050E0FF1 |
| :107FE0001F1F1093D6050093D505A0900F09B090E0 |
| :107FF0001009C0901109D090120960900B0970907F |
| :108000000C0980900D0990900E0910927F09109232 |
| :108010007E09CB0177FF04C088279927861B970B21 |
| :10802000895B9B4054F4C80117FF04C08827992737 |
| :10803000801B910B895B9B4064F0809103069091BB |
| :1080400004068832910528F40196909304068093E3 |
| :1080500003068091030690910406009729F1019789 |
| :108060009093040680930306CB01A3E0880F991F29 |
| :10807000AA95E1F7861B970B68E070E00E943149F2 |
| :108080007093D8056093D705C801F3E0880F991F56 |
| :10809000FA95E1F7801B910B68E070E00E9431498E |
| :1080A0007093D6056093D5058091FB059091FC05F2 |
| :1080B0001816190644F41092D8051092D70510929C |
| :1080C000D6051092D5054091D7055091D8055A8311 |
| :1080D000498380917505282F30E040E050E02F87DC |
| :1080E000388B498B5A8B4091D5055091D6055C83CE |
| :1080F0004B838091F9059091FA059A8F898FE090D2 |
| :108100007605181619060CF05CC0E694E694FF2478 |
| :108110000027F7FC0095102FC801B701A6019501B3 |
| :108120000E94F24822E330E040E050E00E946649BD |
| :1081300059016A01C801B701A40193010E94F248E4 |
| :1081400022E330E040E050E00E946649D601C501DC |
| :108150008835EFEF9E07EFEFAE07EFEFBE0724F491 |
| :1081600088E59FEFAFEFBFEF3C014D01893A9105E4 |
| :10817000A105B1052CF0E8EA6E2E712C812C912C12 |
| :1081800028356FEF36076FEF46076FEF560724F479 |
| :1081900028E53FEF4FEF5FEF19012A01293A31053A |
| :1081A000410551052CF078EA272E312C412C512C19 |
| :1081B0009091740583E0989FC001112464E070E001 |
| :1081C00058C0E694E694FF240027F7FC0095102F92 |
| :1081D000C801B701A60195010E94F24829E130E0EB |
| :1081E00040E050E00E94664959016A01C801B701A8 |
| :1081F000A40193010E94F24829E130E040E050E000 |
| :108200000E946649D601C5018034EFEF9E07EFEF6B |
| :10821000AE07EFEFBE0724F480E49FEFAFEFBFEFB0 |
| :108220003C014D01813C9105A105B1052CF060ECAC |
| :10823000662E712C812C912C20346FEF36076FEF56 |
| :1082400046076FEF560724F420E43FEF4FEF5FEF50 |
| :1082500019012A01213C3105410551052CF090EC12 |
| :10826000292E312C412C512C8091740590E062E034 |
| :1082700070E00E9431497B010027F7FC0095102F28 |
| :10828000AD89BE899D01442737FD4095542FC80113 |
| :10829000B7010E94F24824E130E040E050E00E9443 |
| :1082A000664959016A012093DB053093DC05409350 |
| :1082B000DD055093DE05EB89FC899F01442737FDDE |
| :1082C0004095542FC801B7010E94F24824E130E0E4 |
| :1082D00040E050E00E9466492093DF053093E005BE |
| :1082E0004093E1055093E205898D9A8D1816190681 |
| :1082F000ACF591ECA916B104C104D1042CF080ECCA |
| :1083000090E0A0E0B0E00DC0A0E4AA16AFEFBA067E |
| :10831000AFEFCA06AFEFDA0664F480E49FEFAFEF89 |
| :10832000BFEF8093DB059093DC05A093DD05B09350 |
| :10833000DE05213C3105410551052CF080EC90E033 |
| :10834000A0E0B0E03EC020543F4F4F4F5F4F0CF0D5 |
| :1083500040C080E49FEFAFEFBFEF33C0E9EAAE1655 |
| :10836000B104C104D1042CF088EA90E0A0E0B0E0B0 |
| :108370000DC0F8E5AF16FFEFBF06FFEFCF06FFEF2A |
| :10838000DF0664F488E59FEFAFEFBFEF8093DB0576 |
| :108390009093DC05A093DD05B093DE05293A310505 |
| :1083A000410551052CF088EA90E0A0E0B0E009C05A |
| :1083B00028553F4F4F4F5F4F64F488E59FEFAFEF75 |
| :1083C000BFEF8093DF059093E005A093E105B093A4 |
| :1083D000E205E090DB05F090DC050091DD051091F1 |
| :1083E000DE05F092C208E092C108A090DF05B090CF |
| :1083F000E005C090E105D090E205B0920209A0929C |
| :10840000010989819A819C01442737FD4095542FA9 |
| :108410006F85788989899A890E94F24820E830E03E |
| :1084200040E050E00E94664928389FEF39079FEFEF |
| :1084300049079FEF590724F428E83FEF4FEF5FEF1C |
| :10844000293731054105510524F028E730E040E0A7 |
| :1084500050E02E0D3F1D401F511F260D371D481D9A |
| :10846000591DEE24FF248701E21AF30A040B150BB1 |
| :10847000E092E705F092E8050093E9051093EA051C |
| :10848000AB81BC81BD01882777FD8095982F2F8512 |
| :10849000388949895A890E94F24820E830E040E052 |
| :1084A00050E00E9466492838BFEF3B07BFEF4B07FB |
| :1084B000BFEF5B0724F428E83FEF4FEF5FEF29376A |
| :1084C00031054105510524F028E730E040E050E057 |
| :1084D0002A0D3B1D4C1D5D1D220D331D441D551DD8 |
| :1084E000AA24BB246501A21AB30AC40AD50AA09221 |
| :1084F000EB05B092EC05C092ED05D092EE05F0923E |
| :10850000E408E092E308B092E808A092E7086091DE |
| :10851000030970910409809105099091060924E1ED |
| :1085200035E040E050E00E94664979018A01C901C6 |
| :108530000E94CF449A8789872091E7053091E8050A |
| :108540004091E9055091EA052B873C874D875E876E |
| :10855000C7010E94794498878F836090E7057090E7 |
| :10856000E8058090E9059090EA05C7010E94CF4494 |
| :108570009A8F898F2090EB053090EC054090ED05A7 |
| :108580005090EE05C7010E9479449E838D832D890A |
| :108590003E8937FF03C0309521953F4F2159314027 |
| :1085A00054F42B893C8937FF03C0309521953F4F08 |
| :1085B000215931404CF01092D2051092D105109201 |
| :1085C000D0051092CF0594C080914C0890914D0831 |
| :1085D00080914C0890914D08A98DBA8DBD018827D6 |
| :1085E00077FD8095982FA40193010E94F2487B01AA |
| :1085F0008C01ED81FE81BF01882777FD8095982F42 |
| :10860000A20191010E94F248E61AF70A080B190B21 |
| :10861000C801B70120E43FE140E050E00E94664914 |
| :10862000223EFFEF3F07FFEF4F07FFEF5F0724F406 |
| :1086300022EE3FEF4FEF5FEF2F313105410551053E |
| :1086400024F02EE130E040E050E03093D20520935A |
| :10865000D1052F813885B901882777FD8095982F1E |
| :108660002B853C854D855E850E94F2487B018C01FF |
| :1086700049855A85BA01882777FD8095982FA601EC |
| :1086800095010E94F248E60EF71E081F191FC80147 |
| :10869000B70120EC30EE4FEF5FEF0E946649223EBB |
| :1086A0006FEF36076FEF46076FEF560724F422EEA1 |
| :1086B0003FEF4FEF5FEF2F3131054105510524F0BA |
| :1086C0002EE130E040E050E03093D0052093CF051C |
| :1086D0008F89988D0497B1F404C0AF89B88D149731 |
| :1086E00089F482E090E090935A09809359090AC076 |
| :1086F00010925A091092590982E090E005C081E079 |
| :1087000090E002C080E090E06A960FB6F894DEBF79 |
| :108710000FBECDBFDF91CF911F910F91FF90EF90D2 |
| :10872000DF90CF90BF90AF909F908F907F906F9091 |
| :108730005F904F903F902F900895EF92FF920F938C |
| :108740001F93CF93DF938C01EB019C0197FF04C033 |
| :1087500022273327281B390BCE01D7FF04C08827D7 |
| :1087600099278C1B9D0B821793073CF4CE01E801DF |
| :108770008C01B1E0EB2EF12C02C0EE24FF242097F7 |
| :1087800041F40115110529F461E070E080E090E00A |
| :1087900024C0B801882777FD8095982F28EE33E014 |
| :1087A00040E050E00E94F2489E01442737FD40958A |
| :1087B000542F0E946649B90137FF03C07095619537 |
| :1087C0007F4F882777FD8095982F6D3021E07207C5 |
| :1087D00020E0820720E0920704F524E630E040E044 |
| :1087E00050E00E94F2482CE031E040E050E00E946E |
| :1087F0006649CA01B901A4E0660F771F881F991F57 |
| :10880000AA95D1F7621B730B840B950B24E630E01D |
| :1088100040E050E00E94664953C0633422E0720792 |
| :1088200020E0820720E0920734F524E630E040E0C3 |
| :1088300050E00E94F248605B78468040904026E31A |
| :1088400031E040E050E00E946649CA01B901F4E01D |
| :10885000660F771F881F991FFA95D1F7621B730B5C |
| :10886000840B950B24E630E040E050E00E9466491E |
| :10887000215F3F4F25C022E330E040E050E00E94FE |
| :10888000F248645E70478040904026EA31E040E064 |
| :1088900050E00E946649CA01B901E4E0660F771F03 |
| :1088A000881F991FEA95D1F7621B730B840B950BF8 |
| :1088B00022E330E040E050E00E946649225E3F4FF4 |
| :1088C000EF2829F48AE590E0821B930B9C0117FDA9 |
| :1088D00003C0D7FF06C002C0D7FD03C03095219565 |
| :1088E0003F4FC901DF91CF911F910F91FF90EF9002 |
| :1088F0000895FC01F7FF04C0882799278E1B9F0B62 |
| :108900008856914034F0CF0168E671E00E94314909 |
| :10891000FC01F7FD03C041E050E005C0F095E19592 |
| :10892000FF4F4FEF5FEFCF018B5590408A35910598 |
| :1089300030F484EB90E08E1B9F0BFC010FC0CF0145 |
| :10894000855B90408A35910518F4E45BF0400EC0D9 |
| :10895000CF018F5091408A35910518F081E090E069 |
| :1089600007C088E691E08E1B9F0BFC018FEF9FEF05 |
| :10897000EE0FFF1FEF5DFB4F25913491BC01649F0B |
| :10898000C001659F900D749F900D1124AC01429F12 |
| :10899000C001439F900D529F900D112408952AE528 |
| :1089A00030E0281B390BC9010E9479440895EF92E9 |
| :1089B000FF920F931F93CF93DF93EA01AC0197FFD0 |
| :1089C00004C044275527481B590B9B0177FF04C05F |
| :1089D00022273327261B370B2417350794F49C01D5 |
| :1089E000B901882777FD8095982F28EE33E040E085 |
| :1089F00050E00E94F2487B018C01CE010E94794434 |
| :108A00000FC0882777FD8095982F28EE33E040E04F |
| :108A100050E00E94F2487B018C01CE010E94CF44BD |
| :108A20009C01442737FD4095542FC801B7010E948F |
| :108A30006649B90137FF03C0709561957F4F88275C |
| :108A400077FD8095982FDF91CF911F910F91FF9027 |
| :108A5000EF900895A8E0B0E0E0E3F5E40C948B49D2 |
| :108A60007B018C01611571058105910519F482E086 |
| :108A700089835AC083E089838EE1C82ED12CDC82A1 |
| :108A8000CB82ED82FE820F831887C801B7010E9456 |
| :108A90009D45BC016150704077FF33C0EE27FF2732 |
| :108AA000E61BF70B20E030E040E050E081E090E092 |
| :108AB000A0E0B0E00E2E04C0880F991FAA1FBB1FB4 |
| :108AC0000A94D2F70197A109B1098E219F21A02311 |
| :108AD000B1230097A105B10521F021E030E040E08D |
| :108AE00050E004C016950795F794E794EA95D2F7FD |
| :108AF0002E293F29402B512B2D833E834F835887AE |
| :108B00000FC06115710581F0062E04C0EE0CFF1C2C |
| :108B1000001F111F0A94D2F7ED82FE820F8318877F |
| :108B2000C61AD70ADC82CB821A82CE0101960E9435 |
| :108B3000EA45E8E028960C94A749EF92FF920F933C |
| :108B40001F939B01AC01203080E0380781E048078B |
| :108B500080E0580780F42F3F31054105510509F0A9 |
| :108B600020F4EE24FF24870119C068E0E62EF12CE2 |
| :108B7000012D112D13C0203080E0380780E0480718 |
| :108B800081E0580730F490E1E92EF12C012D112DF0 |
| :108B900005C088E1E82EF12C012D112D80E290E036 |
| :108BA000A0E0B0E08E199F09A00BB10B04C0569550 |
| :108BB000479537952795EA94D2F7F901EF55FC4F81 |
| :108BC0002081821B9109A109B1091F910F91FF908A |
| :108BD000EF9008959F92AF92BF92CF92DF92EF9263 |
| :108BE000FF920F931F93EE24FF248701FC01248141 |
| :108BF00035814681578191808081823010F44061B7 |
| :108C0000A2C0843009F49BC0823029F420E030E017 |
| :108C100040E050E005C0211531054105510519F42A |
| :108C2000E0E0F0E092C0828193816FEF8238960796 |
| :108C30000CF05AC062E87FEF681B790B6A3171054E |
| :108C40002CF020E030E040E050E02AC0AA24BB2411 |
| :108C5000650181E090E0A0E0B0E0062E04C0880F3E |
| :108C6000991FAA1FBB1F0A94D2F70197A109B10946 |
| :108C700082239323A423B5230097A105B10529F0EE |
| :108C800071E0A72EB12CC12CD12C04C0569547956C |
| :108C9000379527956A95D2F72A293B294C295D29D2 |
| :108CA000DA01C9018F779070A070B070803491059F |
| :108CB000A105B10539F427FF09C0205C3F4F4F4F94 |
| :108CC0005F4F04C0215C3F4F4F4F5F4F80E090E00B |
| :108CD000203060E0360760E0460760E4560710F099 |
| :108CE00081E090E0FC0123C08038910544F5FC014F |
| :108CF000E158FF4FDA01C9018F779070A070B07012 |
| :108D000080349105A105B10539F427FF09C0205C25 |
| :108D10003F4F4F4F5F4F04C0215C3F4F4F4F5F4F5E |
| :108D200057FF05C05695479537952795319687E0AB |
| :108D300056954795379527958A95D1F706C020E037 |
| :108D400030E040E050E0EFEFF0E0E22EF32E942F21 |
| :108D50009F77802F8078892B9E2F979599279795BD |
| :108D60008F77082F092B9E2F9695812F8078892B3E |
| :108D70009794992497948F77182F1929C801B701D0 |
| :108D80001F910F91FF90EF90DF90CF90BF90AF9029 |
| :108D90009F900895FC014150504030F0019006161C |
| :108DA000D1F73197CF010895882799270895505812 |
| :108DB000BB27AA270ED079C16AD130F06FD120F03D |
| :108DC00031F49F3F11F41EF45FC10EF4E095E7FB10 |
| :108DD00055C1E92F7BD180F3BA1762077307840767 |
| :108DE000950718F071F49EF593C10EF4E0950B2EE3 |
| :108DF000BA2FA02D0B01B90190010C01CA01A001ED |
| :108E00001124FF27591B99F0593F50F4503E68F147 |
| :108E10001A16F040A22F232F342F4427585FF3CF88 |
| :108E2000469537952795A795F0405395C9F77EF459 |
| :108E30001F16BA0B620B730B840BBAF09150A1F0A2 |
| :108E4000FF0FBB1F661F771F881FC2F70EC0BA0F28 |
| :108E5000621F731F841F48F4879577956795B795B0 |
| :108E6000F7959E3F08F0B3CF9395880F08F09927A8 |
| :108E7000EE0F9795879508950CD017C10FD140F04C |
| :108E800006D130F021F45F3F19F0F8C0511141C113 |
| :108E9000FBC01CD198F39923C9F35523B1F3951B5B |
| :108EA000550BBB27AA2762177307840738F09F5F0B |
| :108EB0005F4F220F331F441FAA1FA9F333D00E2E7A |
| :108EC0003AF0E0E830D091505040E695001CCAF7E7 |
| :108ED00029D0FE2F27D0660F771F881FBB1F2617AC |
| :108EE00037074807AB07B0E809F0BB0B802DBF017F |
| :108EF000FF2793585F4F2AF09E3F510568F0BEC090 |
| :108F000008C15F3FECF3983EDCF386957795679553 |
| :108F1000B795F7959F5FC9F7880F911D969587952F |
| :108F200097F90895E1E0660F771F881FBB1F62174E |
| :108F300073078407BA0720F0621B730B840BBA0B0C |
| :108F4000EE1F88F7E095089504D06894B111E1C050 |
| :108F50000895C4D088F09F5790F0B92F9927B75142 |
| :108F6000A0F0D1F0660F771F881F991F1AF0BA95ED |
| :108F7000C9F712C0B13081F0CBD0B1E00895C8C0BC |
| :108F8000672F782F8827B85F39F0B93FCCF38695E3 |
| :108F900077956795B395D9F73EF490958095709540 |
| :108FA00061957F4F8F4F9F4F0895E89409C097FBBD |
| :108FB0003EF490958095709561957F4F8F4F9F4FB0 |
| :108FC0009923A9F0F92F96E9BB279395F6958795F4 |
| :108FD00077956795B795F111F8CFFAF4BB0F11F4B7 |
| :108FE00060FF1BC06F5F7F4F8F4F9F4F16C088235E |
| :108FF00011F096E911C0772321F09EE8872F762F94 |
| :1090000005C0662371F096E8862F70E060E02AF0D4 |
| :109010009A95660F771F881FDAF7880F96958795C0 |
| :1090200097F9089507D008F481E0089503D008F473 |
| :109030008FEF0895990F0008550FAA0BE0E8FEEF97 |
| :1090400016161706E807F907C0F012161306E4070C |
| :10905000F50798F0621B730B840B950B39F40A2605 |
| :1090600061F0232B242B252B21F408950A2609F4E3 |
| :10907000A140A6958FEF811D811D089597F99F67E7 |
| :1090800080E870E060E008959FEF80EC0895002490 |
| :109090000A941616170618060906089500240A945D |
| :1090A00012161306140605060895092E0394000CE3 |
| :1090B00011F4882352F0BB0F40F4BF2B11F460FF72 |
| :1090C00004C06F5F7F4F8F4F9F4F089557FD90589B |
| :1090D000440F551F59F05F3F71F04795880F97FB7C |
| :1090E000991F61F09F3F79F0879508951216130636 |
| :1090F0001406551FF2CF4695F1DF08C01616170665 |
| :109100001806991FF1CF8695710561050894089599 |
| :10911000E894BB2766277727CB0197F908950BD0F2 |
| :10912000C4CFB5DF28F0BADF18F0952309F0A6CF39 |
| :10913000ABCF1124EECFCADFA0F3959FD1F3950FEB |
| :1091400050E0551F629FF001729FBB27F00DB11DCB |
| :10915000639FAA27F00DB11DAA1F649F6627B00D5B |
| :10916000A11D661F829F2227B00DA11D621F739F44 |
| :10917000B00DA11D621F839FA00D611D221F749F52 |
| :109180003327A00D611D231F849F600D211D822F99 |
| :10919000762F6A2F11249F5750408AF0E1F08823E0 |
| :1091A0004AF0EE0FFF1FBB1F661F771F881F9150ED |
| :1091B0005040A9F79E3F510570F060CFAACF5F3FA6 |
| :1091C000ECF3983EDCF3869577956795B795F79520 |
| :1091D000E7959F5FC1F7FE2B880F911D96958795A8 |
| :1091E00097F90895629FD001739FF001829FE00D6F |
| :1091F000F11D649FE00DF11D929FF00D839FF00D16 |
| :10920000749FF00D659FF00D9927729FB00DE11DC1 |
| :10921000F91F639FB00DE11DF91FBD01CF0111249E |
| :109220000895991B79E004C0991F961708F0961BC2 |
| :10923000881F7A95C9F780950895AA1BBB1B51E139 |
| :1092400007C0AA1FBB1FA617B70710F0A61BB70BB6 |
| :10925000881F991F5A95A9F780959095BC01CD015B |
| :10926000089597FB092E07260AD077FD04D0E5DF85 |
| :1092700006D000201AF4709561957F4F0895F6F797 |
| :10928000909581959F4F0895A1E21A2EAA1BBB1BB2 |
| :10929000FD010DC0AA1FBB1FEE1FFF1FA217B307C2 |
| :1092A000E407F50720F0A21BB30BE40BF50B661FD8 |
| :1092B000771F881F991F1A9469F76095709580959C |
| :1092C00090959B01AC01BD01CF01089597FB092E3C |
| :1092D00005260ED057FD04D0D7DF0AD0001C38F485 |
| :1092E00050954095309521953F4F4F4F5F4F0895D2 |
| :1092F000F6F790958095709561957F4F8F4F9F4FB2 |
| :1093000008952F923F924F925F926F927F928F9229 |
| :109310009F92AF92BF92CF92DF92EF92FF920F9304 |
| :109320001F93CF93DF93CDB7DEB7CA1BDB0B0FB60E |
| :10933000F894DEBF0FBECDBF09942A8839884888CB |
| :109340005F846E847D848C849B84AA84B984C88461 |
| :10935000DF80EE80FD800C811B81AA81B981CE0F58 |
| :10936000D11D0FB6F894DEBF0FBECDBFED0108953D |
| :10937000F999FECFB2BDA1BDF89A119600B4089537 |
| :10938000F999FECFB2BDA1BD00BC11960FB6F894FD |
| :0A939000FA9AF99A0FBE0895FFCF74 |
| :10939A000A01FF64496E74656772616C4E69636B9A |
| :1093AA0020202020496E74656772616C526F6C6C64 |
| :1093BA00202020204163634E69636B2020202020F7 |
| :1093CA0020202020416363526F6C6C2020202020D3 |
| :1093DA00202020204779726F47696572202020205B |
| :1093EA0020202020486F6568656E576572742020BA |
| :1093FA00202020204163635A202020202020202082 |
| :10940A002020202047617320202020202020202097 |
| :10941A00202020204B6F6D7061737356616C7565E7 |
| :10942A002020202045727361747A6B6F6D706173AE |
| :10943A00732020205573725F5061723120202020E2 |
| :10944A00202020205573725F706172332020202003 |
| :10945A00202020204D6F746F725F566F726E6520E8 |
| :10946A00202020204D6F746F725F48696E74656E9C |
| :10947A00202020204D6F746F725F4C696E6B7320D1 |
| :10948A00202020204D6F746F725F52656368747379 |
| :10949A0020202020496E646578202020202020206A |
| :1094AA0020202020554261742020202020202020C6 |
| :1094BA00202020204D657373776572745F4E69634F |
| :1094CA006B2020204D657373776572745F526F6CE1 |
| :1094DA006C2020204D657373776572745F476965E8 |
| :1094EA0072202020537469636B5F4E69636B20207E |
| :1094FA0020202020537469636B5F526F6C6C2020AC |
| :10950A0020202020537469636B5F476965722020AD |
| :10951A00202020204750535F4E69636B2020202073 |
| :10952A00202020204750535F526F6C6C202020204F |
| :10953A002020202075746D5F6561737420202020BF |
| :10954A002020202075746D5F6E6F72746820202051 |
| :10955A002020202075746D5F616C742020202020EB |
| :10956A00202020206770735F737461746520202047 |
| :10957A002020202067705F7265675F782020202096 |
| :10958A002020202067705F7265675F792020202085 |
| :10959A0020202020FFFF0A016400007D0000FF0355 |
| :1095AA000102030405060708090A48616C6C6F206A |
| :1095BA0057656C7400000000000000000000000005 |
| :1095CA000000000000000000000000000000000091 |
| :1095DA000000000000000000000000000000000081 |
| :1095EA000000000000000000000000000000000071 |
| :1095FA00000000000000000000000A0142656769DF |
| :10960A006E6E657200004E6F726D616C0000537071 |
| :10961A006F72740000640090D0030090D0030017AA |
| :10962A00B7D13830FB103A409696020A644664EC89 |
| :10963A00FF000102020303030304040404040404F4 |
| :10964A0004050505050505050505050505050505C1 |
| :10965A0005060606060606060606060606060606A1 |
| :10966A000606060606060606060606060606060690 |
| :10967A000607070707070707070707070707070771 |
| :10968A000707070707070707070707070707070760 |
| :10969A000707070707070707070707070707070750 |
| :1096AA000707070707070707070707070707070740 |
| :1096BA000708080808080808080808080808080821 |
| :1096CA000808080808080808080808080808080810 |
| :1096DA000808080808080808080808080808080800 |
| :1096EA0008080808080808080808080808080808F0 |
| :1096FA0008080808080808080808080808080808E0 |
| :10970A0008080808080808080808080808080808CF |
| :10971A0008080808080808080808080808080808BF |
| :10972A0008080808080808080808080808080808AF |
| :02973A00080025 |
| :00000001FF |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>22-Dec-2007 14:15:04</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>G:\Mikrokopter\Flight_Crtl\v0067g\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>math.c</SOURCEFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE><HEADERFILE>math.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20071221\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20071221\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>timer0.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>analog.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>makefile</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>main.c</FileName><Status>1</Status></File00003></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/GPS.c |
|---|
| 0,0 → 1,668 |
| /* |
| This program (files gps.c and gps.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| von Peter Muehlenbrock alias Salvo |
| Auswertung der Daten vom GPS im ublox Format |
| Hold Modus mit PID Regler |
| Rückstuerz zur Basis Funktion |
| Stand 20.1.2008 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| #include "math.h" |
| //#include "gps.h" |
| // Defines fuer ublox Messageformat um Auswertung zu steuern |
| #define UBLOX_IDLE 0 |
| #define UBLOX_SYNC1 1 |
| #define UBLOX_SYNC2 2 |
| #define UBLOX_CLASS 3 |
| #define UBLOX_ID 4 |
| #define UBLOX_LEN1 5 |
| #define UBLOX_LEN2 6 |
| #define UBLOX_CKA 7 |
| #define UBLOX_CKB 8 |
| #define UBLOX_PAYLOAD 9 |
| // ublox Protokoll Identifier |
| #define UBLOX_NAV_POSUTM 0x08 |
| #define UBLOX_NAV_STATUS 0x03 |
| #define UBLOX_NAV_VELED 0x12 |
| #define UBLOX_NAV_CLASS 0x01 |
| #define UBLOX_SYNCH1_CHAR 0xB5 |
| #define UBLOX_SYNCH2_CHAR 0x62 |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| short int ublox_msg_state = UBLOX_IDLE; |
| static uint8_t chk_a =0; //Checksum |
| static uint8_t chk_b =0; |
| short int gps_state,gps_sub_state; //Zustaende der Statemachine |
| short int gps_updte_flag; |
| static long signed gps_reg_x,gps_reg_y; |
| static unsigned int rx_len; |
| static unsigned int ptr_payload_data_end; |
| unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
| static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
| static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
| static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
| static uint8_t *ptr_payload_data; |
| static uint8_t *ptr_pac_status; |
| static int dist_flown; |
| static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
| static int gps_quiet_cnt; // zaheler fuer GPS Off Time beim Kameraausloesen |
| short int Get_GPS_data(void); |
| NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
| NAV_STATUS_t actual_status; // Aktueller Nav Status |
| NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
| GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
| GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
| GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
| GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
| // Initialisierung |
| void GPS_Neutral(void) |
| { |
| ublox_msg_state = UBLOX_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| gps_sub_state = GPS_CRTL_IDLE; |
| actual_pos.status = 0; |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| gps_home_position.status = 0; // Noch keine gueltige Home Position |
| gps_act_position.status = 0; |
| gps_rel_act_position.status = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_updte_flag = 0; |
| gps_alive_cnt = 0; |
| } |
| // Home Position sichern falls Daten verfuegbar sind. |
| void GPS_Save_Home(void) |
| { |
| short int n; |
| n = Get_GPS_data(); |
| if (n == 0) // Gueltige und aktuelle Daten ? |
| { |
| // Neue GPS Daten liegen vor |
| gps_home_position.utm_east = gps_act_position.utm_east; |
| gps_home_position.utm_north = gps_act_position.utm_north; |
| gps_home_position.utm_alt = gps_act_position.utm_alt; |
| gps_home_position.status = 1; // Home Position gueltig |
| } |
| } |
| // Relative Position zur Home Position bestimmen |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_Rel_Position(void) |
| { |
| short int n = 0; |
| n = Get_GPS_data(); |
| if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
| if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
| if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
| { |
| gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
| gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
| gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
| gps_rel_act_position.status = 1; // gueltige Positionsdaten |
| n = 0; |
| gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
| } |
| else |
| { |
| n = 2; //keine gueltigen Daten vorhanden |
| gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
| } |
| return (n); |
| } |
| // Daten aus aktuellen ublox Messages extrahieren |
| // Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
| short int Get_GPS_data(void) |
| { |
| short int n = 1; |
| if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
| if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| { |
| if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
| { |
| actual_status.status = 0; |
| gps_act_position.utm_east = actual_pos.utm_east/10; |
| gps_act_position.utm_north = actual_pos.utm_north/10; |
| gps_act_position.utm_alt = actual_pos.utm_alt/10; |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| gps_act_position.speed_gnd = actual_speed.speed_gnd; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd; |
| gps_act_position.heading = actual_speed.heading/100000; |
| actual_speed.status = 0; |
| gps_act_position.status = 1; |
| n = 0; //Daten gueltig |
| } |
| else |
| { |
| gps_act_position.status = 0; //Keine gueltigen Daten |
| actual_speed.status = 0; |
| actual_status.status = 0; |
| actual_pos.status = 0; //neue ublox Messages anfordern |
| n = 2; |
| } |
| } |
| return (n); |
| } |
| /* |
| Daten vom GPS im ublox MSG Format auswerten |
| Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
| // Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
| */ |
| void Get_Ublox_Msg(uint8_t rx) |
| { |
| switch (ublox_msg_state) |
| { |
| case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
| if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_SYNC1: |
| if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
| else ublox_msg_state = UBLOX_IDLE; |
| chk_a = 0,chk_b = 0; |
| break; |
| case UBLOX_SYNC2: |
| if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
| else ublox_msg_state = UBLOX_IDLE; |
| break; |
| case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
| switch (rx) |
| { |
| case UBLOX_NAV_POSUTM: |
| ptr_pac_status = &actual_pos.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
| else |
| { |
| ptr_payload_data = &actual_pos; |
| ptr_payload_data_end = &actual_pos.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_STATUS: |
| ptr_pac_status = &actual_status.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_status; |
| ptr_payload_data_end = &actual_status.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| case UBLOX_NAV_VELED: |
| ptr_pac_status = &actual_speed.status; |
| if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
| else |
| { |
| ptr_payload_data = &actual_speed; |
| ptr_payload_data_end = &actual_speed.status; |
| ublox_msg_state = UBLOX_LEN1; |
| } |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| chk_a = UBLOX_NAV_CLASS + rx; |
| chk_b = UBLOX_NAV_CLASS + chk_a; |
| break; |
| case UBLOX_LEN1: // Laenge auswerten |
| rx_len = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_LEN2; |
| break; |
| case UBLOX_LEN2: // Laenge auswerten |
| rx_len = rx_len + (rx *256); // Laenge ermitteln |
| chk_a += rx; |
| chk_b += chk_a; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| break; |
| case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
| if (rx_len > 0) |
| { |
| *ptr_payload_data = rx; |
| chk_a += rx; |
| chk_b += chk_a; |
| --rx_len; |
| if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
| { |
| ptr_payload_data++; |
| ublox_msg_state = UBLOX_PAYLOAD; |
| } |
| else ublox_msg_state = UBLOX_CKA; |
| } |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKA: // Checksum pruefen |
| if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
| else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
| break; |
| case UBLOX_CKB: // Checksum pruefen |
| if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| default: |
| ublox_msg_state = UBLOX_IDLE; |
| break; |
| } |
| } |
| //Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
| short int GPS_CRTL(short int cmd) |
| { |
| static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
| static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
| signed int n; |
| static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
| signed int dist_frm_start_east,dist_frm_start_north; |
| int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
| static signed int int_east,int_north; //Integrierer |
| long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
| signed long int_east1,int_north1; |
| int dist_east,dist_north; |
| int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
| long ni,ro; // Nick und Roll Zwischenwerte |
| switch (cmd) |
| { |
| case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
| if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
| { |
| cnt++; |
| if (cnt > 50) // erst nach Verzoegerung |
| { |
| // Erst mal initialisieren |
| cnt = 0; |
| gps_tick = 0; |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| delta_east = 0, delta_north = 0; |
| dist_flown = 0; |
| gps_g2t_act_v = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
| gps_rel_start_position.status = 1; // gueltige Positionsdaten |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| //Richtung zur Home Position bezogen auf Nordpol bestimmen |
| hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
| // in Winkel 0...360 Grad umrechnen |
| if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
| else hdng_2home = (270 - hdng_2home); |
| dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
| gps_state = GPS_CRTL_HOME_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| // ****************************** |
| case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
| if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
| { |
| cnt++; |
| if (cnt > 600) // erst nach Verzoegerung |
| { |
| cnt = 0; |
| // aktuelle positionsdaten abspeichern |
| if (gps_rel_act_position.status > 0) |
| { |
| hold_fast = 0; |
| hold_reset_int = 0; // Integrator enablen |
| int_east = 0, int_north = 0; |
| gps_reg_x = 0, gps_reg_y = 0; |
| delta_east = 0, delta_north = 0; |
| speed_east = 0; speed_north= 0; |
| int_ovfl_cnt = 0; |
| gps_quiet_cnt = 0; |
| gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
| gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
| gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
| gps_state = GPS_CRTL_HOLD_ACTIVE; |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
| gps_state = GPS_CRTL_IDLE; |
| return(GPS_STST_ERR); // Keine Daten da |
| } |
| } |
| else return(GPS_STST_PEND); // noch warten |
| } |
| break; |
| case GPS_CMD_STOP: // Lageregelung beenden |
| cnt = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_sub_state = GPS_CRTL_IDLE; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_OK); |
| break; |
| default: |
| return (GPS_STST_ERR); |
| break; |
| } |
| switch (gps_state) |
| { |
| case GPS_CRTL_IDLE: |
| cnt = 0; |
| return (GPS_STST_OK); |
| break; |
| case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
| //Der Sollwert des Lagereglers wird der Homeposition angenaehert |
| if (gps_rel_start_position.status >0) |
| { |
| if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
| { |
| gps_tick++; |
| int d1,d2,d3; |
| d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
| d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
| d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
| if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
| { |
| if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
| { |
| if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
| dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_FAST_IN_TOL; |
| } |
| else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
| { |
| if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
| // dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
| } |
| hold_reset_int = 0; // Integrator einsschalten |
| hold_fast = 1; // Regler fuer schnellen Flug |
| dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
| { |
| dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
| gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
| } |
| else |
| { |
| dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
| gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
| } |
| hold_reset_int = 0; // Integrator einsschalten |
| hold_fast = 1; // Regler fuer schnellen Flug |
| dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
| dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
| gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
| gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
| } |
| else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
| { |
| if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
| { |
| gps_sub_state = GPS_HOME_IN_TOL; |
| hold_fast = 0; // Wieder normal regeln |
| hold_reset_int = 0; // Integrator einsschalten |
| if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
| if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
| else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
| if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
| { |
| gps_rel_hold_position.utm_east = 0; |
| gps_rel_hold_position.utm_north = 0; |
| gps_sub_state = GPS_HOME_FINISHED; |
| } |
| } |
| else gps_sub_state = GPS_HOME_OUTOF_TOL; |
| } |
| } |
| gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
| return (GPS_STST_OK); |
| } |
| else // Keine GPS Daten verfuegbar, deswegen Abbruch |
| { |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| } |
| break; |
| case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
| if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
| { |
| gps_quiet_cnt++; |
| // ab hier wird geregelt |
| delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
| delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
| int_east += (int)delta_east; |
| int_north += (int)delta_north; |
| speed_east = actual_speed.speed_e; |
| speed_north = actual_speed.speed_n; |
| gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
| dist_east = (int)delta_east; //merken |
| dist_north = (int)delta_north; |
| #define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
| if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
| { |
| if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
| } |
| if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
| { |
| int_ovfl_cnt -= 1; |
| int_east = (int_east*7)/8; // Wert reduzieren |
| int_north = (int_north*7)/8; |
| } |
| if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
| { |
| int_east = 0; |
| int_north = 0; |
| } |
| //I Werte begrenzen |
| #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*5)/10// auf 40 Prozent des maximalen Nick/Rollwert begrenzen |
| int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
| if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
| else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
| if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
| else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
| if (hold_fast > 0) //schneller Coming Home Modus |
| { |
| amplfy_speed_east = DIFF_Y_F_MAX; |
| amplfy_speed_north = DIFF_Y_F_MAX; |
| amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
| amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
| speed_east = (speed_east * (long)amplfy_speed_east) /50; |
| speed_north = (speed_north * (long)amplfy_speed_north)/50; |
| // D Werte begrenzen |
| #define D_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
| if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
| else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
| if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
| else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
| diff_p = (Parameter_UserParam1 * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
| } |
| else //langsamer Holdmodus |
| { |
| amplfy_speed_east = DIFF_Y_N_MAX; |
| amplfy_speed_north = DIFF_Y_N_MAX; |
| amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
| amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
| speed_east = (speed_east * (long)amplfy_speed_east) /25; |
| speed_north = (speed_north * (long)amplfy_speed_north)/25; |
| // D Werte begrenzen |
| #define D_N_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
| if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
| else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
| if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
| else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
| diff_p = (Parameter_UserParam1 * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
| } |
| // debug_gp_4 = (int)speed_east; // zum Debuggen |
| // debug_gp_5 = (int)speed_north; // zum Debuggen |
| //P-Werte verstaerken |
| delta_east = (delta_east * (long)diff_p)/(20); |
| delta_north = (delta_north * (long)diff_p)/(20); |
| if (hold_fast > 0) //schneller Coming Home Modus |
| { |
| // P Werte begrenzen |
| #define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
| if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
| else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
| if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
| else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
| } |
| else // Hold modus |
| { |
| // P Werte begrenzen |
| #define P1_N_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
| if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
| else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
| if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
| else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
| } |
| debug_gp_2 = (int)delta_east; // zum Debuggen |
| debug_gp_3 = (int)delta_north; // zum Debuggen |
| //PID Regler Werte aufsummieren |
| gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
| gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
| debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
| debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
| // Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
| n = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; //Ausrichtung Kopter |
| ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*GPS_V); |
| ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*GPS_V); |
| if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
| else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
| if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
| else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
| if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
| { |
| GPS_Roll = 0; |
| GPS_Nick = 0; |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
| { |
| gps_quiet_cnt++; |
| GPS_Roll = 0; |
| GPS_Nick = 0; |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
| { |
| gps_quiet_cnt = 0; |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| else |
| { |
| GPS_Roll = (int)ro; |
| GPS_Nick = (int)ni; |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| } |
| else |
| { |
| if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
| return (GPS_STST_OK); |
| } |
| break; |
| default: |
| gps_state = GPS_CRTL_IDLE; |
| return (GPS_STST_ERR); |
| break; |
| } |
| return (GPS_STST_ERR); |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/License_GPL.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| Preamble |
| The GNU General Public License is a free, copyleft license for |
| software and other kinds of works. |
| The licenses for most software and other practical works are designed |
| to take away your freedom to share and change the works. By contrast, |
| the GNU General Public License is intended to guarantee your freedom to |
| share and change all versions of a program--to make sure it remains free |
| software for all its users. We, the Free Software Foundation, use the |
| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
| your programs, too. |
| When we speak of free software, we are referring to freedom, not |
| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
| free programs, and that you know you can do these things. |
| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
| freedoms that you received. You must make sure that they, too, receive |
| or can get the source code. And you must show them these terms so they |
| know their rights. |
| Developers that use the GNU GPL protect your rights with two steps: |
| (1) assert copyright on the software, and (2) offer you this License |
| giving you legal permission to copy, distribute and/or modify it. |
| For the developers' and authors' protection, the GPL clearly explains |
| that there is no warranty for this free software. For both users' and |
| authors' sake, the GPL requires that modified versions be marked as |
| changed, so that their problems will not be attributed erroneously to |
| authors of previous versions. |
| Some devices are designed to deny users access to install or run |
| modified versions of the software inside them, although the manufacturer |
| can do so. This is fundamentally incompatible with the aim of |
| protecting users' freedom to change the software. The systematic |
| pattern of such abuse occurs in the area of products for individuals to |
| use, which is precisely where it is most unacceptable. Therefore, we |
| have designed this version of the GPL to prohibit the practice for those |
| products. If such problems arise substantially in other domains, we |
| stand ready to extend this provision to those domains in future versions |
| of the GPL, as needed to protect the freedom of users. |
| Finally, every program is threatened constantly by software patents. |
| States should not allow patents to restrict development and use of |
| software on general-purpose computers, but in those that do, we wish to |
| avoid the special danger that patents applied to a free program could |
| make it effectively proprietary. To prevent this, the GPL assures that |
| patents cannot be used to render the program non-free. |
| The precise terms and conditions for copying, distribution and |
| modification follow. |
| TERMS AND CONDITIONS |
| 0. Definitions. |
| "This License" refers to version 3 of the GNU General Public License. |
| "Copyright" also means copyright-like laws that apply to other kinds of |
| works, such as semiconductor masks. |
| "The Program" refers to any copyrightable work licensed under this |
| License. Each licensee is addressed as "you". "Licensees" and |
| "recipients" may be individuals or organizations. |
| To "modify" a work means to copy from or adapt all or part of the work |
| in a fashion requiring copyright permission, other than the making of an |
| exact copy. The resulting work is called a "modified version" of the |
| earlier work or a work "based on" the earlier work. |
| A "covered work" means either the unmodified Program or a work based |
| on the Program. |
| To "propagate" a work means to do anything with it that, without |
| permission, would make you directly or secondarily liable for |
| infringement under applicable copyright law, except executing it on a |
| computer or modifying a private copy. Propagation includes copying, |
| distribution (with or without modification), making available to the |
| public, and in some countries other activities as well. |
| To "convey" a work means any kind of propagation that enables other |
| parties to make or receive copies. Mere interaction with a user through |
| a computer network, with no transfer of a copy, is not conveying. |
| An interactive user interface displays "Appropriate Legal Notices" |
| to the extent that it includes a convenient and prominently visible |
| feature that (1) displays an appropriate copyright notice, and (2) |
| tells the user that there is no warranty for the work (except to the |
| extent that warranties are provided), that licensees may convey the |
| work under this License, and how to view a copy of this License. If |
| the interface presents a list of user commands or options, such as a |
| menu, a prominent item in the list meets this criterion. |
| 1. Source Code. |
| The "source code" for a work means the preferred form of the work |
| for making modifications to it. "Object code" means any non-source |
| form of a work. |
| A "Standard Interface" means an interface that either is an official |
| standard defined by a recognized standards body, or, in the case of |
| interfaces specified for a particular programming language, one that |
| is widely used among developers working in that language. |
| The "System Libraries" of an executable work include anything, other |
| than the work as a whole, that (a) is included in the normal form of |
| packaging a Major Component, but which is not part of that Major |
| Component, and (b) serves only to enable use of the work with that |
| Major Component, or to implement a Standard Interface for which an |
| implementation is available to the public in source code form. A |
| "Major Component", in this context, means a major essential component |
| (kernel, window system, and so on) of the specific operating system |
| (if any) on which the executable work runs, or a compiler used to |
| produce the work, or an object code interpreter used to run it. |
| The "Corresponding Source" for a work in object code form means all |
| the source code needed to generate, install, and (for an executable |
| work) run the object code and to modify the work, including scripts to |
| control those activities. However, it does not include the work's |
| System Libraries, or general-purpose tools or generally available free |
| programs which are used unmodified in performing those activities but |
| which are not part of the work. For example, Corresponding Source |
| includes interface definition files associated with source files for |
| the work, and the source code for shared libraries and dynamically |
| linked subprograms that the work is specifically designed to require, |
| such as by intimate data communication or control flow between those |
| subprograms and other parts of the work. |
| The Corresponding Source need not include anything that users |
| can regenerate automatically from other parts of the Corresponding |
| Source. |
| The Corresponding Source for a work in source code form is that |
| same work. |
| 2. Basic Permissions. |
| All rights granted under this License are granted for the term of |
| copyright on the Program, and are irrevocable provided the stated |
| conditions are met. This License explicitly affirms your unlimited |
| permission to run the unmodified Program. The output from running a |
| covered work is covered by this License only if the output, given its |
| content, constitutes a covered work. This License acknowledges your |
| rights of fair use or other equivalent, as provided by copyright law. |
| You may make, run and propagate covered works that you do not |
| convey, without conditions so long as your license otherwise remains |
| in force. You may convey covered works to others for the sole purpose |
| of having them make modifications exclusively for you, or provide you |
| with facilities for running those works, provided that you comply with |
| the terms of this License in conveying all material for which you do |
| not control copyright. Those thus making or running the covered works |
| for you must do so exclusively on your behalf, under your direction |
| and control, on terms that prohibit them from making any copies of |
| your copyrighted material outside their relationship with you. |
| Conveying under any other circumstances is permitted solely under |
| the conditions stated below. Sublicensing is not allowed; section 10 |
| makes it unnecessary. |
| 3. Protecting Users' Legal Rights From Anti-Circumvention Law. |
| No covered work shall be deemed part of an effective technological |
| measure under any applicable law fulfilling obligations under article |
| 11 of the WIPO copyright treaty adopted on 20 December 1996, or |
| similar laws prohibiting or restricting circumvention of such |
| measures. |
| When you convey a covered work, you waive any legal power to forbid |
| circumvention of technological measures to the extent such circumvention |
| is effected by exercising rights under this License with respect to |
| the covered work, and you disclaim any intention to limit operation or |
| modification of the work as a means of enforcing, against the work's |
| users, your or third parties' legal rights to forbid circumvention of |
| technological measures. |
| 4. Conveying Verbatim Copies. |
| You may convey verbatim copies of the Program's source code as you |
| receive it, in any medium, provided that you conspicuously and |
| appropriately publish on each copy an appropriate copyright notice; |
| keep intact all notices stating that this License and any |
| non-permissive terms added in accord with section 7 apply to the code; |
| keep intact all notices of the absence of any warranty; and give all |
| recipients a copy of this License along with the Program. |
| You may charge any price or no price for each copy that you convey, |
| and you may offer support or warranty protection for a fee. |
| 5. Conveying Modified Source Versions. |
| You may convey a work based on the Program, or the modifications to |
| produce it from the Program, in the form of source code under the |
| terms of section 4, provided that you also meet all of these conditions: |
| a) The work must carry prominent notices stating that you modified |
| it, and giving a relevant date. |
| b) The work must carry prominent notices stating that it is |
| released under this License and any conditions added under section |
| 7. This requirement modifies the requirement in section 4 to |
| "keep intact all notices". |
| c) You must license the entire work, as a whole, under this |
| License to anyone who comes into possession of a copy. This |
| License will therefore apply, along with any applicable section 7 |
| additional terms, to the whole of the work, and all its parts, |
| regardless of how they are packaged. This License gives no |
| permission to license the work in any other way, but it does not |
| invalidate such permission if you have separately received it. |
| d) If the work has interactive user interfaces, each must display |
| Appropriate Legal Notices; however, if the Program has interactive |
| interfaces that do not display Appropriate Legal Notices, your |
| work need not make them do so. |
| A compilation of a covered work with other separate and independent |
| works, which are not by their nature extensions of the covered work, |
| and which are not combined with it such as to form a larger program, |
| in or on a volume of a storage or distribution medium, is called an |
| "aggregate" if the compilation and its resulting copyright are not |
| used to limit the access or legal rights of the compilation's users |
| beyond what the individual works permit. Inclusion of a covered work |
| in an aggregate does not cause this License to apply to the other |
| parts of the aggregate. |
| 6. Conveying Non-Source Forms. |
| You may convey a covered work in object code form under the terms |
| of sections 4 and 5, provided that you also convey the |
| machine-readable Corresponding Source under the terms of this License, |
| in one of these ways: |
| a) Convey the object code in, or embodied in, a physical product |
| (including a physical distribution medium), accompanied by the |
| Corresponding Source fixed on a durable physical medium |
| customarily used for software interchange. |
| b) Convey the object code in, or embodied in, a physical product |
| (including a physical distribution medium), accompanied by a |
| written offer, valid for at least three years and valid for as |
| long as you offer spare parts or customer support for that product |
| model, to give anyone who possesses the object code either (1) a |
| copy of the Corresponding Source for all the software in the |
| product that is covered by this License, on a durable physical |
| medium customarily used for software interchange, for a price no |
| more than your reasonable cost of physically performing this |
| conveying of source, or (2) access to copy the |
| Corresponding Source from a network server at no charge. |
| c) Convey individual copies of the object code with a copy of the |
| written offer to provide the Corresponding Source. This |
| alternative is allowed only occasionally and noncommercially, and |
| only if you received the object code with such an offer, in accord |
| with subsection 6b. |
| d) Convey the object code by offering access from a designated |
| place (gratis or for a charge), and offer equivalent access to the |
| Corresponding Source in the same way through the same place at no |
| further charge. You need not require recipients to copy the |
| Corresponding Source along with the object code. If the place to |
| copy the object code is a network server, the Corresponding Source |
| may be on a different server (operated by you or a third party) |
| that supports equivalent copying facilities, provided you maintain |
| clear directions next to the object code saying where to find the |
| Corresponding Source. Regardless of what server hosts the |
| Corresponding Source, you remain obligated to ensure that it is |
| available for as long as needed to satisfy these requirements. |
| e) Convey the object code using peer-to-peer transmission, provided |
| you inform other peers where the object code and Corresponding |
| Source of the work are being offered to the general public at no |
| charge under subsection 6d. |
| A separable portion of the object code, whose source code is excluded |
| from the Corresponding Source as a System Library, need not be |
| included in conveying the object code work. |
| A "User Product" is either (1) a "consumer product", which means any |
| tangible personal property which is normally used for personal, family, |
| or household purposes, or (2) anything designed or sold for incorporation |
| into a dwelling. In determining whether a product is a consumer product, |
| doubtful cases shall be resolved in favor of coverage. For a particular |
| product received by a particular user, "normally used" refers to a |
| typical or common use of that class of product, regardless of the status |
| of the particular user or of the way in which the particular user |
| actually uses, or expects or is expected to use, the product. A product |
| is a consumer product regardless of whether the product has substantial |
| commercial, industrial or non-consumer uses, unless such uses represent |
| the only significant mode of use of the product. |
| "Installation Information" for a User Product means any methods, |
| procedures, authorization keys, or other information required to install |
| and execute modified versions of a covered work in that User Product from |
| a modified version of its Corresponding Source. The information must |
| suffice to ensure that the continued functioning of the modified object |
| code is in no case prevented or interfered with solely because |
| modification has been made. |
| If you convey an object code work under this section in, or with, or |
| specifically for use in, a User Product, and the conveying occurs as |
| part of a transaction in which the right of possession and use of the |
| User Product is transferred to the recipient in perpetuity or for a |
| fixed term (regardless of how the transaction is characterized), the |
| Corresponding Source conveyed under this section must be accompanied |
| by the Installation Information. But this requirement does not apply |
| if neither you nor any third party retains the ability to install |
| modified object code on the User Product (for example, the work has |
| been installed in ROM). |
| The requirement to provide Installation Information does not include a |
| requirement to continue to provide support service, warranty, or updates |
| for a work that has been modified or installed by the recipient, or for |
| the User Product in which it has been modified or installed. Access to a |
| network may be denied when the modification itself materially and |
| adversely affects the operation of the network or violates the rules and |
| protocols for communication across the network. |
| Corresponding Source conveyed, and Installation Information provided, |
| in accord with this section must be in a format that is publicly |
| documented (and with an implementation available to the public in |
| source code form), and must require no special password or key for |
| unpacking, reading or copying. |
| 7. Additional Terms. |
| "Additional permissions" are terms that supplement the terms of this |
| License by making exceptions from one or more of its conditions. |
| Additional permissions that are applicable to the entire Program shall |
| be treated as though they were included in this License, to the extent |
| that they are valid under applicable law. If additional permissions |
| apply only to part of the Program, that part may be used separately |
| under those permissions, but the entire Program remains governed by |
| this License without regard to the additional permissions. |
| When you convey a copy of a covered work, you may at your option |
| remove any additional permissions from that copy, or from any part of |
| it. (Additional permissions may be written to require their own |
| removal in certain cases when you modify the work.) You may place |
| additional permissions on material, added by you to a covered work, |
| for which you have or can give appropriate copyright permission. |
| Notwithstanding any other provision of this License, for material you |
| add to a covered work, you may (if authorized by the copyright holders of |
| that material) supplement the terms of this License with terms: |
| a) Disclaiming warranty or limiting liability differently from the |
| terms of sections 15 and 16 of this License; or |
| b) Requiring preservation of specified reasonable legal notices or |
| author attributions in that material or in the Appropriate Legal |
| Notices displayed by works containing it; or |
| c) Prohibiting misrepresentation of the origin of that material, or |
| requiring that modified versions of such material be marked in |
| reasonable ways as different from the original version; or |
| d) Limiting the use for publicity purposes of names of licensors or |
| authors of the material; or |
| e) Declining to grant rights under trademark law for use of some |
| trade names, trademarks, or service marks; or |
| f) Requiring indemnification of licensors and authors of that |
| material by anyone who conveys the material (or modified versions of |
| it) with contractual assumptions of liability to the recipient, for |
| any liability that these contractual assumptions directly impose on |
| those licensors and authors. |
| All other non-permissive additional terms are considered "further |
| restrictions" within the meaning of section 10. If the Program as you |
| received it, or any part of it, contains a notice stating that it is |
| governed by this License along with a term that is a further |
| restriction, you may remove that term. If a license document contains |
| a further restriction but permits relicensing or conveying under this |
| License, you may add to a covered work material governed by the terms |
| of that license document, provided that the further restriction does |
| not survive such relicensing or conveying. |
| If you add terms to a covered work in accord with this section, you |
| must place, in the relevant source files, a statement of the |
| additional terms that apply to those files, or a notice indicating |
| where to find the applicable terms. |
| Additional terms, permissive or non-permissive, may be stated in the |
| form of a separately written license, or stated as exceptions; |
| the above requirements apply either way. |
| 8. Termination. |
| You may not propagate or modify a covered work except as expressly |
| provided under this License. Any attempt otherwise to propagate or |
| modify it is void, and will automatically terminate your rights under |
| this License (including any patent licenses granted under the third |
| paragraph of section 11). |
| However, if you cease all violation of this License, then your |
| license from a particular copyright holder is reinstated (a) |
| provisionally, unless and until the copyright holder explicitly and |
| finally terminates your license, and (b) permanently, if the copyright |
| holder fails to notify you of the violation by some reasonable means |
| prior to 60 days after the cessation. |
| Moreover, your license from a particular copyright holder is |
| reinstated permanently if the copyright holder notifies you of the |
| violation by some reasonable means, this is the first time you have |
| received notice of violation of this License (for any work) from that |
| copyright holder, and you cure the violation prior to 30 days after |
| your receipt of the notice. |
| Termination of your rights under this section does not terminate the |
| licenses of parties who have received copies or rights from you under |
| this License. If your rights have been terminated and not permanently |
| reinstated, you do not qualify to receive new licenses for the same |
| material under section 10. |
| 9. Acceptance Not Required for Having Copies. |
| You are not required to accept this License in order to receive or |
| run a copy of the Program. Ancillary propagation of a covered work |
| occurring solely as a consequence of using peer-to-peer transmission |
| to receive a copy likewise does not require acceptance. However, |
| nothing other than this License grants you permission to propagate or |
| modify any covered work. These actions infringe copyright if you do |
| not accept this License. Therefore, by modifying or propagating a |
| covered work, you indicate your acceptance of this License to do so. |
| 10. Automatic Licensing of Downstream Recipients. |
| Each time you convey a covered work, the recipient automatically |
| receives a license from the original licensors, to run, modify and |
| propagate that work, subject to this License. You are not responsible |
| for enforcing compliance by third parties with this License. |
| An "entity transaction" is a transaction transferring control of an |
| organization, or substantially all assets of one, or subdividing an |
| organization, or merging organizations. If propagation of a covered |
| work results from an entity transaction, each party to that |
| transaction who receives a copy of the work also receives whatever |
| licenses to the work the party's predecessor in interest had or could |
| give under the previous paragraph, plus a right to possession of the |
| Corresponding Source of the work from the predecessor in interest, if |
| the predecessor has it or can get it with reasonable efforts. |
| You may not impose any further restrictions on the exercise of the |
| rights granted or affirmed under this License. For example, you may |
| not impose a license fee, royalty, or other charge for exercise of |
| rights granted under this License, and you may not initiate litigation |
| (including a cross-claim or counterclaim in a lawsuit) alleging that |
| any patent claim is infringed by making, using, selling, offering for |
| sale, or importing the Program or any portion of it. |
| 11. Patents. |
| A "contributor" is a copyright holder who authorizes use under this |
| License of the Program or a work on which the Program is based. The |
| work thus licensed is called the contributor's "contributor version". |
| A contributor's "essential patent claims" are all patent claims |
| owned or controlled by the contributor, whether already acquired or |
| hereafter acquired, that would be infringed by some manner, permitted |
| by this License, of making, using, or selling its contributor version, |
| but do not include claims that would be infringed only as a |
| consequence of further modification of the contributor version. For |
| purposes of this definition, "control" includes the right to grant |
| patent sublicenses in a manner consistent with the requirements of |
| this License. |
| Each contributor grants you a non-exclusive, worldwide, royalty-free |
| patent license under the contributor's essential patent claims, to |
| make, use, sell, offer for sale, import and otherwise run, modify and |
| propagate the contents of its contributor version. |
| In the following three paragraphs, a "patent license" is any express |
| agreement or commitment, however denominated, not to enforce a patent |
| (such as an express permission to practice a patent or covenant not to |
| sue for patent infringement). To "grant" such a patent license to a |
| party means to make such an agreement or commitment not to enforce a |
| patent against the party. |
| If you convey a covered work, knowingly relying on a patent license, |
| and the Corresponding Source of the work is not available for anyone |
| to copy, free of charge and under the terms of this License, through a |
| publicly available network server or other readily accessible means, |
| then you must either (1) cause the Corresponding Source to be so |
| available, or (2) arrange to deprive yourself of the benefit of the |
| patent license for this particular work, or (3) arrange, in a manner |
| consistent with the requirements of this License, to extend the patent |
| license to downstream recipients. "Knowingly relying" means you have |
| actual knowledge that, but for the patent license, your conveying the |
| covered work in a country, or your recipient's use of the covered work |
| in a country, would infringe one or more identifiable patents in that |
| country that you have reason to believe are valid. |
| If, pursuant to or in connection with a single transaction or |
| arrangement, you convey, or propagate by procuring conveyance of, a |
| covered work, and grant a patent license to some of the parties |
| receiving the covered work authorizing them to use, propagate, modify |
| or convey a specific copy of the covered work, then the patent license |
| you grant is automatically extended to all recipients of the covered |
| work and works based on it. |
| A patent license is "discriminatory" if it does not include within |
| the scope of its coverage, prohibits the exercise of, or is |
| conditioned on the non-exercise of one or more of the rights that are |
| specifically granted under this License. You may not convey a covered |
| work if you are a party to an arrangement with a third party that is |
| in the business of distributing software, under which you make payment |
| to the third party based on the extent of your activity of conveying |
| the work, and under which the third party grants, to any of the |
| parties who would receive the covered work from you, a discriminatory |
| patent license (a) in connection with copies of the covered work |
| conveyed by you (or copies made from those copies), or (b) primarily |
| for and in connection with specific products or compilations that |
| contain the covered work, unless you entered into that arrangement, |
| or that patent license was granted, prior to 28 March 2007. |
| Nothing in this License shall be construed as excluding or limiting |
| any implied license or other defenses to infringement that may |
| otherwise be available to you under applicable patent law. |
| 12. No Surrender of Others' Freedom. |
| If conditions are imposed on you (whether by court order, agreement or |
| otherwise) that contradict the conditions of this License, they do not |
| excuse you from the conditions of this License. If you cannot convey a |
| covered work so as to satisfy simultaneously your obligations under this |
| License and any other pertinent obligations, then as a consequence you may |
| not convey it at all. For example, if you agree to terms that obligate you |
| to collect a royalty for further conveying from those to whom you convey |
| the Program, the only way you could satisfy both those terms and this |
| License would be to refrain entirely from conveying the Program. |
| 13. Use with the GNU Affero General Public License. |
| Notwithstanding any other provision of this License, you have |
| permission to link or combine any covered work with a work licensed |
| under version 3 of the GNU Affero General Public License into a single |
| combined work, and to convey the resulting work. The terms of this |
| License will continue to apply to the part which is the covered work, |
| but the special requirements of the GNU Affero General Public License, |
| section 13, concerning interaction through a network will apply to the |
| combination as such. |
| 14. Revised Versions of this License. |
| The Free Software Foundation may publish revised and/or new versions of |
| the GNU General Public License from time to time. Such new versions will |
| be similar in spirit to the present version, but may differ in detail to |
| address new problems or concerns. |
| Each version is given a distinguishing version number. If the |
| Program specifies that a certain numbered version of the GNU General |
| Public License "or any later version" applies to it, you have the |
| option of following the terms and conditions either of that numbered |
| version or of any later version published by the Free Software |
| Foundation. If the Program does not specify a version number of the |
| GNU General Public License, you may choose any version ever published |
| by the Free Software Foundation. |
| If the Program specifies that a proxy can decide which future |
| versions of the GNU General Public License can be used, that proxy's |
| public statement of acceptance of a version permanently authorizes you |
| to choose that version for the Program. |
| Later license versions may give you additional or different |
| permissions. However, no additional obligations are imposed on any |
| author or copyright holder as a result of your choosing to follow a |
| later version. |
| 15. Disclaimer of Warranty. |
| THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY |
| APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT |
| HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY |
| OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, |
| THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
| PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM |
| IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF |
| ALL NECESSARY SERVICING, REPAIR OR CORRECTION. |
| 16. Limitation of Liability. |
| IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING |
| WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS |
| THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY |
| GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE |
| USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF |
| DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD |
| PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), |
| EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
| SUCH DAMAGES. |
| 17. Interpretation of Sections 15 and 16. |
| If the disclaimer of warranty and limitation of liability provided |
| above cannot be given local legal effect according to their terms, |
| reviewing courts shall apply local law that most closely approximates |
| an absolute waiver of all civil liability in connection with the |
| Program, unless a warranty or assumption of liability accompanies a |
| copy of the Program in return for a fee. |
| END OF TERMS AND CONDITIONS |
| How to Apply These Terms to Your New Programs |
| If you develop a new program, and you want it to be of the greatest |
| possible use to the public, the best way to achieve this is to make it |
| free software which everyone can redistribute and change under these terms. |
| To do so, attach the following notices to the program. It is safest |
| to attach them to the start of each source file to most effectively |
| state the exclusion of warranty; and each file should have at least |
| the "copyright" line and a pointer to where the full notice is found. |
| <one line to give the program's name and a brief idea of what it does.> |
| Copyright (C) <year> <name of author> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation, either version 3 of the License, or |
| (at your option) any later version. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Also add information on how to contact you by electronic and paper mail. |
| If the program does terminal interaction, make it output a short |
| notice like this when it starts in an interactive mode: |
| <program> Copyright (C) <year> <name of author> |
| This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
| This is free software, and you are welcome to redistribute it |
| under certain conditions; type `show c' for details. |
| The hypothetical commands `show w' and `show c' should show the appropriate |
| parts of the General Public License. Of course, your program's commands |
| might be different; for a GUI interface, you would use an "about box". |
| You should also get your employer (if you work as a programmer) or school, |
| if any, to sign a "copyright disclaimer" for the program, if necessary. |
| For more information on this, and how to apply and follow the GNU GPL, see |
| <http://www.gnu.org/licenses/>. |
| The GNU General Public License does not permit incorporating your program |
| into proprietary programs. If your program is a subroutine library, you |
| may consider it more useful to permit linking proprietary applications with |
| the library. If this is what you want to do, use the GNU Lesser General |
| Public License instead of this License. But first, please read |
| <http://www.gnu.org/philosophy/why-not-lgpl.html>. |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/License_LPGL.txt |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| This version of the GNU Lesser General Public License incorporates |
| the terms and conditions of version 3 of the GNU General Public |
| License, supplemented by the additional permissions listed below. |
| 0. Additional Definitions. |
| As used herein, "this License" refers to version 3 of the GNU Lesser |
| General Public License, and the "GNU GPL" refers to version 3 of the GNU |
| General Public License. |
| "The Library" refers to a covered work governed by this License, |
| other than an Application or a Combined Work as defined below. |
| An "Application" is any work that makes use of an interface provided |
| by the Library, but which is not otherwise based on the Library. |
| Defining a subclass of a class defined by the Library is deemed a mode |
| of using an interface provided by the Library. |
| A "Combined Work" is a work produced by combining or linking an |
| Application with the Library. The particular version of the Library |
| with which the Combined Work was made is also called the "Linked |
| Version". |
| The "Minimal Corresponding Source" for a Combined Work means the |
| Corresponding Source for the Combined Work, excluding any source code |
| for portions of the Combined Work that, considered in isolation, are |
| based on the Application, and not on the Linked Version. |
| The "Corresponding Application Code" for a Combined Work means the |
| object code and/or source code for the Application, including any data |
| and utility programs needed for reproducing the Combined Work from the |
| Application, but excluding the System Libraries of the Combined Work. |
| 1. Exception to Section 3 of the GNU GPL. |
| You may convey a covered work under sections 3 and 4 of this License |
| without being bound by section 3 of the GNU GPL. |
| 2. Conveying Modified Versions. |
| If you modify a copy of the Library, and, in your modifications, a |
| facility refers to a function or data to be supplied by an Application |
| that uses the facility (other than as an argument passed when the |
| facility is invoked), then you may convey a copy of the modified |
| version: |
| a) under this License, provided that you make a good faith effort to |
| ensure that, in the event an Application does not supply the |
| function or data, the facility still operates, and performs |
| whatever part of its purpose remains meaningful, or |
| b) under the GNU GPL, with none of the additional permissions of |
| this License applicable to that copy. |
| 3. Object Code Incorporating Material from Library Header Files. |
| The object code form of an Application may incorporate material from |
| a header file that is part of the Library. You may convey such object |
| code under terms of your choice, provided that, if the incorporated |
| material is not limited to numerical parameters, data structure |
| layouts and accessors, or small macros, inline functions and templates |
| (ten or fewer lines in length), you do both of the following: |
| a) Give prominent notice with each copy of the object code that the |
| Library is used in it and that the Library and its use are |
| covered by this License. |
| b) Accompany the object code with a copy of the GNU GPL and this license |
| document. |
| 4. Combined Works. |
| You may convey a Combined Work under terms of your choice that, |
| taken together, effectively do not restrict modification of the |
| portions of the Library contained in the Combined Work and reverse |
| engineering for debugging such modifications, if you also do each of |
| the following: |
| a) Give prominent notice with each copy of the Combined Work that |
| the Library is used in it and that the Library and its use are |
| covered by this License. |
| b) Accompany the Combined Work with a copy of the GNU GPL and this license |
| document. |
| c) For a Combined Work that displays copyright notices during |
| execution, include the copyright notice for the Library among |
| these notices, as well as a reference directing the user to the |
| copies of the GNU GPL and this license document. |
| d) Do one of the following: |
| 0) Convey the Minimal Corresponding Source under the terms of this |
| License, and the Corresponding Application Code in a form |
| suitable for, and under terms that permit, the user to |
| recombine or relink the Application with a modified version of |
| the Linked Version to produce a modified Combined Work, in the |
| manner specified by section 6 of the GNU GPL for conveying |
| Corresponding Source. |
| 1) Use a suitable shared library mechanism for linking with the |
| Library. A suitable mechanism is one that (a) uses at run time |
| a copy of the Library already present on the user's computer |
| system, and (b) will operate properly with a modified version |
| of the Library that is interface-compatible with the Linked |
| Version. |
| e) Provide Installation Information, but only if you would otherwise |
| be required to provide such information under section 6 of the |
| GNU GPL, and only to the extent that such information is |
| necessary to install and execute a modified version of the |
| Combined Work produced by recombining or relinking the |
| Application with a modified version of the Linked Version. (If |
| you use option 4d0, the Installation Information must accompany |
| the Minimal Corresponding Source and Corresponding Application |
| Code. If you use option 4d1, you must provide the Installation |
| Information in the manner specified by section 6 of the GNU GPL |
| for conveying Corresponding Source.) |
| 5. Combined Libraries. |
| You may place library facilities that are a work based on the |
| Library side by side in a single library together with other library |
| facilities that are not Applications and are not covered by this |
| License, and convey such a combined library under terms of your |
| choice, if you do both of the following: |
| a) Accompany the combined library with a copy of the same work based |
| on the Library, uncombined with any other library facilities, |
| conveyed under the terms of this License. |
| b) Give prominent notice with the combined library that part of it |
| is a work based on the Library, and explaining where to find the |
| accompanying uncombined form of the same work. |
| 6. Revised Versions of the GNU Lesser General Public License. |
| The Free Software Foundation may publish revised and/or new versions |
| of the GNU Lesser General Public License from time to time. Such new |
| versions will be similar in spirit to the present version, but may |
| differ in detail to address new problems or concerns. |
| Each version is given a distinguishing version number. If the |
| Library as you received it specifies that a certain numbered version |
| of the GNU Lesser General Public License "or any later version" |
| applies to it, you have the option of following the terms and |
| conditions either of that published version or of any later version |
| published by the Free Software Foundation. If the Library as you |
| received it does not specify a version number of the GNU Lesser |
| General Public License, you may choose any version of the GNU Lesser |
| General Public License ever published by the Free Software Foundation. |
| If the Library as you received it specifies that a proxy can decide |
| whether future versions of the GNU Lesser General Public License shall |
| apply, that proxy's public statement of acceptance of any version is |
| permanent authorization for you to choose that version for the |
| Library. |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/License_buss.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/README_Gps_Deutsch.txt |
|---|
| 0,0 → 1,90 |
| ********************************************************************* |
| GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl |
| Stand 21.1.2008 |
| Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt |
| Die Version basiert auf Holgers V00.67g. |
| ********************************************************************* |
| Hardware-Voraussetzungen: |
| Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut |
| GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED" |
| mussen mit 4 HZ Updaterate aktiviert sein. Alle Meldungen im NMEA Format muessen deaktivert sein. |
| Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool. |
| Software-Voraussetzungen: |
| In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters |
| eingetragen sein. Wenn KOMPASS_OFFSET > 0 wird dieser Wert genommen |
| Wenn KOMPASS_OFFSET = 0 ist wird der UserParameter4 verwendet (=hexfile). Da die Userparameter nur ein Byte lang sind werden |
| Offsets von 0...358 Grad durch einen Wert von 0...179 dargestellt. |
| Betriebs-Voraussetzungen: |
| Damit der Kompass sauber funktioniert, muss die waagrechte Lage (Gashebel Vollanschlag und Gier rechts) |
| im Eeprom abgespeichert worden sein. |
| Parametrierung: |
| Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird. |
| UserParameter1 beschreibt den P(roportional)-Anteil, UserParameter2 den I(ntegral)-Anteil und UserParameter3 den D(ifferential)-Anteil. |
| Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden. |
| Der P-Anteil wirkt einer Lageänderung entgegen. Je größer er ist, desto geringer die Regelabweichung, desto höher aber auch die Schwingneigung. |
| Der D-Anteil wirkt einer Geschwindigkeitsänderung entgegen und dient zur Reduzierung von Schwingungen, darf aber auch nicht zu gross sein. |
| Der I-Anteil dient nur dazu die Lageabweichung auf Null zu bringen. |
| P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit klein bei gleichzeitig geringer Schwingneigung ist. |
| Standarddwerte für P,I,D sind 80,16,80. |
| Wenn alle 0 sind, ist der Regler deaktiviert. |
| Voraussetzungen für GPS_Hold: |
| Neben den genannten HW und SW Voraussetzungen muß beim Kalibrieren das GPS MOdul bereits Positionsdaten liefern. |
| Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert. |
| Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren. Die Rote Led auf der FlightCrtl blitzt bei jedem Empfang eines kompletten |
| und korrekten Meldungsset ( "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED"). |
| Das GPS Aktiv Flag im Setting muss aktiviert sein. |
| Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich. |
| Aktivierung GPS_Hold im Flug: |
| Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick |
| für ca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der |
| Kompass aus wird GPS_Hold sofort deaktiviert. |
| Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden. |
| GPS_Hold regelt nur horizontale Abweichungen, keine Hoehe. |
| Der Magnetkompass wird nur in waagrechter Lage dazu benutzt einen internen aus dem Giergyro ermittelten "Ersatz"kompasswert |
| nach zu kalibrieren. Daher funktioniert die Bstimmung der Kopterausrichtung in jeder Lebenslage, sofern nur ab und zu |
| der Magnetkompass in die waagrechte Lage kommt. Da der Giergyro per Kompass automatisch offsetkorrigiert wird, ist er spätestens nach |
| einigen wenigen Minuten auch bei Temperatursprüngen ausreichend stabil. |
| Ein 3D Kompass ist damit überflüssig. |
| Die GPS Regelung benötigt zwar pro Durchlauf eine erhebliche Rechenzeit. Da sie aber nur einmal je neuem Meldungsblock vom |
| GPS Modul (also alle 250ms) aufgerufen wird, wird die Gesamtbelastung der CPU nur minimal erhöht. |
| Ein externes Naviboard ist daher nicht notwendig. |
| GPS Rücksturz zur Basis (GPS Home) Funktion |
| Voraussetzungen wie bei GPS Hold. |
| Die Funktion kann im Flug aktiviert werden durch Setzen des Hoehenreglerschalters. |
| Holgers Code habe ich so abgeändert daß der Höhenregler mit "Parameter_MaxHoehe" ab 50 aktiviert wird. |
| Mit einem Schalter mit Neutrallage können damit die Funktionen |
| Alles aus - Hoehenregler ein, GPS Home Aus - Hoehenregler Ein UND GPS Home ein |
| aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen |
| Weitere Änderungen: |
| -Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter |
| runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen. |
| -Der Ausgang PC6 kann benutzt werden um einen Externen Multiplexer zu schalten. Dieser schaltet entweder die GPS Daten |
| (Wenn Motoren eingeschaltet sind) oder den Ausgang des Bluetoothmoduls (wenn Motoren ausgeschaltet sind) auf den RX |
| Eingang der FlightCrtl. Damit kann eine zweite UART Schnittstelle bzw. die manuelle Umschaltung entfallen |
| -Bei vorhandenem Kompass wird eine automatische Kompensation der Giergyrodrift durchgeführt. |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/README_Gps_English.txt |
|---|
| 0,0 → 1,66 |
| ********************************************************************* |
| GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
| As of Jan, 20th 2007 |
| Please note the files Licensce_LPGL.txt and Licensce_GPL.txt |
| This SW is based on Holgers V00.67g. |
| ********************************************************************* |
| Hardware-requirements: |
| Calibrated compass of type CMPS03, horizontally adjusted |
| GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED" |
| must be activated with 4 HZ update rate. All messages of type NMEA should be disabled. |
| The TX port of the GPS module must be connected to the RX input of the Flight Crtl. Baudrate is 57600 (like Kopter Tool). |
| UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction |
| ( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter |
| and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180. |
| (A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the |
| correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation: |
| kopter Motor vorne orientated to north => value approx 0 Degree) |
| Other requirements: |
| Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
| as exactly as possible. |
| Parameters: |
| The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
| UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,16,80. |
| The I-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid |
| oscillating. |
| Please find out the best values yourself. |
| It might be useful to put the P and D Part on potis and test the behaviour in flight. |
| Requirements for GPS_Hold: |
| The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration. |
| Without a succesfull position fix at calibration the GPS functionality ist completely disabled. |
| The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix. |
| Enabling GPS_Hold in fligh: |
| GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
| Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw. |
| GPS Coming-Home function |
| The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum. |
| The height regulator itself is activated at approx. Maximum/2. |
| Other changes: |
| - automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
| - Output PC6 can be used to switch TX data between a Bluetooth and the GPS Module (further hardware required) to the RX input of the FlightCrtl |
| - automatic Yaw gyro compensation if compass is available. |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/Settings.h |
|---|
| --- tags/v0007/_Settings.h (nonexistent) |
| +++ tags/v0007/_Settings.h (revision 672) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Debugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/analog.c |
|---|
| 0,0 → 1,145 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static unsigned int gier1, roll1, nick1; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = 2; |
| break; |
| case 2: |
| nick1 = ADC; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = Aktuell_ay; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = Aktuell_ax; |
| kanal = 0; |
| break; |
| case 6: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| else AdWertGier = ADC + gier1; |
| kanal = 1; |
| break; |
| case 7: |
| if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
| else AdWertRoll = ADC + roll1; |
| kanal = 2; |
| break; |
| case 8: |
| if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
| else AdWertNick = ADC + nick1; |
| kanal = 5; |
| break; |
| case 9: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = 3; |
| break; |
| case 10: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/analog.h |
|---|
| 0,0 → 1,24 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/eeprom.c |
|---|
| 0,0 → 1,183 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
| EE_Parameter.Stick_P = 3; //2 // Wert : 1-6 |
| //EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 Salvo |
| EE_Parameter.Gier_P = 14; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 98; // Wert : 0-250 |
| EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 90; // P Anteil GPS |
| EE_Parameter.UserParam2 = 24; // I Anteil GPS |
| EE_Parameter.UserParam3 = 130; //D Anteil GPS |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 100; |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 50; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 10; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 98; // Wert : 0-250 |
| EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten3(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 3; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 8; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 200; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 98; // Wert : 0-250 |
| EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 60; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 10; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 50; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/fc.c |
|---|
| 0,0 → 1,1384 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 9.11.2008 |
| /* |
| Driftkompensation fuer Gyros verbessert |
| Linearsensor optional mit fixem Neutralwert |
| Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
| */ |
| #include "main.h" |
| #include "eeprom.c" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| volatile long IntegralNick = 0,IntegralNick2 = 0; |
| volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| volatile long Integral_Gier = 0; |
| volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| //Salvo 12.10.2007 |
| uint8_t magkompass_ok=0; |
| uint8_t gps_cmd = GPS_CMD_STOP; |
| static int ubat_cnt =0; |
| static int gas_actual,gas_mittel; //Parameter fuer Gasreduzierung bei unterspannung |
| int w,v; |
| //Salvo End |
| //Salvo 15.12.2007 Ersatzkompass und Giergyrokompensation |
| long GyroKomp_Int; |
| long int GyroGier_Comp; |
| int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| short int cnt_stickgier_zero =0; |
| int gyrogier_kompass; |
| //Salvo End |
| //Salvo 2.1.2008 Allgemeine Debugvariablen |
| int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; |
| //Salvo End |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| // Salvo 9.12.2007 |
| RX_SWTCH_ON; //GPS Daten auf RX eingang schalten |
| // Salvo End |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= AdWertNick; |
| AdNeutralRoll= AdWertRoll; |
| AdNeutralGier= AdWertGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| } |
| else |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| } |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| GyroGier_Comp =0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| ExternHoehenValue = 0; |
| //Salvo 13.10.2007 Ersatzkompass und Gas |
| GyroKomp_Int = KompassValue * GYROKOMP_INC_GRAD_DEFAULT; //Neu ab 3.1.2007 |
| gas_mittel = 30; |
| gas_actual = gas_mittel; |
| // Salvo End |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| //Salvo 12.11.2007 |
| GyroKomp_Int += (long)MesswertGier; |
| GyroGier_Comp += (long)MesswertGier; |
| //Salvo End |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = Mess_IntegralNick / 4096L; |
| tmpl *= MesswertGier; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 2048L; |
| tmpl2 = Mess_IntegralRoll / 4096L; |
| tmpl2 *= MesswertGier; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| } |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| Mittelwert(); |
| //****** GPS Daten holen *************** |
| short int n; |
| if (gps_alive_cnt > 0) gps_alive_cnt--; //Dekrementieren. Wenn 0 kommen keine ausreichenden GPS Meldungen (Timeout) |
| n = Get_Rel_Position(); |
| if (n == 0) |
| { |
| ROT_ON; //led blitzen lassen |
| } |
| //******PROVISORISCH*************** |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
| //Salvo 13.10.2007 langsame Gasreduktion bei Unterspannung. Als Ausgangswert wird der bei UBAT=k gemessen Mittelwert genommen |
| // und dieser dann langsam zwangsweise reduziert |
| if (UBat <= EE_Parameter.UnterspannungsWarnung - 4) //Unterhalb der Piepser Schwelle aktivieren |
| { |
| if (ubat_cnt > 1000) |
| { |
| ubat_cnt = 0; |
| if (gas_actual > ((gas_mittel*12)/15)) gas_actual--; |
| } |
| else ubat_cnt++; |
| if (GasMischanteil > gas_actual) GasMischanteil = gas_actual; |
| } |
| else //Falls UBAT wieder ok ist |
| { |
| if (ubat_cnt > 1000) |
| { |
| gas_mittel = ((gas_mittel*9) + GasMischanteil)/10; //Filtern |
| gas_actual = GasMischanteil; |
| } |
| else |
| { |
| ubat_cnt++; |
| if ((ubat_cnt % 10) == 0) |
| { |
| if (gas_actual < GasMischanteil) gas_actual++; |
| else gas_actual = GasMischanteil; |
| } |
| } |
| GasMischanteil = gas_actual; |
| } |
| // Salvo End |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar |
| if (gps_home_position.status > 0 ) |
| { |
| Delay_ms(1000); //akustisch verkuenden dass GPS Home Daten da sind |
| beeptime = 1000; |
| Delay_ms(500); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| if (ACC_FIXED > 0) |
| { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],ACC_NICK_NEUTRAL / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],ACC_NICK_NEUTRAL % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],ACC_ROLL_NEUTRAL / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],ACC_ROLL_NEUTRAL % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)ACC_Z_NEUTRAL / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)ACC_Z_NEUTRAL % 256); |
| } |
| else |
| { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| } |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| int n; |
| // Salvo 9.12.2007 |
| RX_SWTCH_ON; //GPS Daten auf RX eingang schalten |
| // Salvo End |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| n= GPS_CRTL(GPS_CMD_STOP); //GPS Lageregelung beenden |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| // Salvo 9.12.2007 |
| RX_SWTCH_OFF; //Bluetooth Daten auf RX eingang schalten |
| // Salvo End |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| int tmp_int; |
| ParameterZuordnung(); |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) beeptime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| StickNick += ExternStickNick / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickGier += ExternStickGier; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // greift in den Stick ein, um ungewolltes überschlagen zu verhindern |
| if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
| { |
| if(IntegralNick > 60000) |
| { |
| StickNick -= 8 * EE_Parameter.Stick_P; |
| if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| } |
| else |
| if(IntegralNick < -60000) |
| { |
| StickNick += 8 * EE_Parameter.Stick_P; |
| if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| } |
| if(IntegralRoll > 60000) |
| { |
| StickRoll -= 8 * EE_Parameter.Stick_P; |
| if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| } |
| else |
| if(IntegralRoll < -60000) |
| { |
| StickRoll += 8 * EE_Parameter.Stick_P; |
| if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll) beeptime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long /= 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long2 /= 16; |
| #define AUSGLEICH 32 //(Parameter_UserParam1 / 2) |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| // Mess_IntegralNick -= ausgleichNick; |
| // Mess_IntegralRoll -= ausgleichRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| // tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick); |
| // tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll); |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| //Salvo Ersatzkompass Ueberlauf korrigieren |
| if (GyroKomp_Int >= ((long)360 * GYROKOMP_INC_GRAD_DEFAULT)) GyroKomp_Int = GyroKomp_Int - (GYROKOMP_INC_GRAD_DEFAULT *(long)360); //neu ab 3.11.2007 |
| if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + (GYROKOMP_INC_GRAD_DEFAULT *(long)360); //neu ab 3.11.2007 |
| ROT_OFF; |
| // Salvo End |
| /*DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| DebugOut.Analog[21] = MittelIntegralNick / 26; |
| DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| DebugOut.Analog[28] = ausgleichNick; |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| */ |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } else cnt = 0; |
| //Salvo 26.12.2007 |
| w = (abs(Mittelwert_AccNick)); |
| v = (abs(Mittelwert_AccRoll)); |
| if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) // Gyro nur in annaehend waagrechter Lage nachtrimmen |
| { |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| } |
| //Salvo End |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| } |
| //Salvo 26.12.2007 |
| if ((w < ACC_WAAGRECHT_LIMIT*2) && (v < ACC_WAAGRECHT_LIMIT*2)) // Gyro nur inannaehernd waagrechter Lage nachtrimmen |
| { |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| //Salvo End |
| //DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| //DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } // Ende Abgleich |
| // Salvo Ersatzkompass und Giergyrokompensation 15.12.2007 ********************** |
| if ((Kompass_Neuer_Wert > 0)) //nur wenn Kompass einen neuen Wert geliefert hat |
| { |
| Kompass_Neuer_Wert = 0; |
| w = (abs(Mittelwert_AccNick)); |
| v = (abs(Mittelwert_AccRoll)); |
| if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) //Ersatzkompass und Giergyro nur mit Magnetkompass aktualisieren wenn alles ok |
| { |
| if ((abs(KompassValue - Kompass_Value_Old)) <= 5) // Aufeinanderfolgende Werte duerfen nur minimal abweichen |
| { |
| if ((abs(StickGier) < 20)) //Giergyroabgleich mit Kompass |
| { |
| if (cnt_stickgier_zero < 255) cnt_stickgier_zero += 1; |
| if (cnt_stickgier_zero > 2) // nur Abgleichen wenn keine Stickbewegung da |
| { |
| w = (int) (GyroGier_Comp/(long)GYROKOMP_INC_GRAD_DEFAULT); |
| v = KompassValue - gyrogier_kompass; // realen Drehwinkel seit letztem Ruecksetzen von GyroGier_Comp bestimmen |
| if (v <-180) v +=360; // Uberlaufkorrektur |
| if (v > 180) v -=360; // Uberlaufkorrektur |
| v = w-v; //Differenz Gyro zu Kompass ist der Driftfehler |
| #define GIER_COMP_MAX 8 |
| if (v > GIER_COMP_MAX) v= GIER_COMP_MAX; |
| if (v < -GIER_COMP_MAX) v= - GIER_COMP_MAX; |
| if (abs(w) > 1) |
| { |
| GyroGier_Comp = 0; |
| gyrogier_kompass = KompassValue; // Kompasswert merken |
| AdNeutralGier -= v; |
| } |
| } |
| } |
| else |
| { |
| gyrogier_kompass = KompassValue; // Kompasswert merken |
| cnt_stickgier_zero = 0; |
| GyroGier_Comp = 0; |
| } |
| magkompass_ok = 1; // Flag dass Magnetkompass stabil arbeitet |
| GyroKomp_Int = (GyroKomp_Int )/(long)GYROKOMP_INC_GRAD_DEFAULT; |
| w = KompassValue - GyroKomp_Int; |
| if ((w > 0) && (w < 180)) |
| { |
| ++GyroKomp_Int; |
| } |
| else if ((w > 0) && (w >= 180)) |
| { |
| --GyroKomp_Int; |
| } |
| else if ((w < 0) && (w >= -180)) |
| { |
| --GyroKomp_Int; |
| } |
| else if ((w < 0) && (w < -180)) |
| { |
| ++GyroKomp_Int; |
| } |
| if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + 360L; |
| GyroKomp_Int = (GyroKomp_Int%360L) * (long)GYROKOMP_INC_GRAD_DEFAULT; // An Magnetkompasswert annaehern |
| } |
| } |
| else //Kompassfehler |
| { |
| magkompass_ok = 0; |
| GyroGier_Comp = 0; |
| } |
| Kompass_Value_Old = KompassValue; |
| } |
| // Salvo End ************************* |
| // Salvo 6.10.2007 |
| // GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist |
| //GPS Hold Aktiveren wenn Knueppel in Ruhelage sind |
| if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) < GPS_STICK_HOLDOFF) |
| && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
| { |
| if (Parameter_MaxHoehe > 200) |
| { |
| if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| else gps_cmd = GPS_CMD_REQ_HOME; |
| n = GPS_CRTL(gps_cmd); |
| } |
| else |
| { |
| if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
| else gps_cmd = GPS_CMD_REQ_HOLD; |
| n= GPS_CRTL(gps_cmd); |
| } |
| } |
| else |
| { |
| if (gps_cmd != GPS_CMD_STOP) |
| { |
| gps_cmd = GPS_CMD_STOP; |
| n= GPS_CRTL(gps_cmd); //GPS Lageregelung beenden |
| } |
| } |
| if (gps_state != GPS_CRTL_IDLE) if (TimerWerteausgabe == 12) LED_J16_OFF; //led im GPS Mode schnell blinken lassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (Kompass_present > 0)) |
| { |
| if(v > w) w = v; // grösste Neigung ermitteln |
| // Salvo 13.9.2007 Nur wenn Magnetkompass ordentliche Werte liefert |
| if ((magkompass_ok > 0) && NeueKompassRichtungMerken) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| // Salvo 13.9.2007 |
| w=0; |
| // Salvo End |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| // Salvo Kompasssteuerung ********************** |
| if (magkompass_ok > 0) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| // Salvo End |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| // Salvo 13.12.2007 Beleuchtung steuern |
| if (!(beeptime & BeepMuster)) LED_J16_FLASH; |
| else if (MotorenEin) LED_J16_ON; |
| else LED_J16_OFF; |
| // Salvo End |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| // Diverse parameter Debugging |
| DebugOut.Analog[16] = dataset_cnt; |
| DebugOut.Analog[17] = UBat; |
| DebugOut.Analog[18] = MesswertNick; |
| DebugOut.Analog[19] = MesswertRoll; |
| DebugOut.Analog[20] = MesswertGier; |
| DebugOut.Analog[21] = StickNick; |
| DebugOut.Analog[22] = StickRoll; |
| DebugOut.Analog[23] = StickGier; |
| // GPS Debugging |
| // DebugOut.Analog[10] = GPS_dist_2trgt/10; |
| // DebugOut.Analog[11] = GPS_hdng_rel_2trgt; |
| DebugOut.Analog[10] = Parameter_UserParam1; |
| DebugOut.Analog[11] = Parameter_UserParam3; |
| DebugOut.Analog[24] = GPS_Nick; |
| DebugOut.Analog[25] = GPS_Roll; |
| DebugOut.Analog[26] = gps_rel_act_position.utm_east; //in 10cm ausgeben |
| DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
| DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
| DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd); |
| DebugOut.Analog[30] = debug_gp_0; |
| DebugOut.Analog[31] = debug_gp_1; |
| /* DebugOut.Analog[12] = debug_gp_2; |
| DebugOut.Analog[13] = debug_gp_3; |
| DebugOut.Analog[14] = debug_gp_4; |
| DebugOut.Analog[15] = debug_gp_5; |
| */ |
| // DebugOut.Analog[30] = dist_flown; |
| // DebugOut.Analog[31] = (int) dist_2home; |
| // DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
| // DebugOut.Analog[31] = (int) GyroGier_Comp; |
| /* |
| DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
| else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| // MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
| //DebugOut.Analog[28] = MesswertRoll; |
| //DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| //DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| //GierMischanteil = 0; |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
| if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
| if(GasMischanteil < 20) GierMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/fc.h |
|---|
| 0,0 → 1,169 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned int I2CTimeout; |
| //Salvo 9.12.2007 Neutralwerte fuer ACC Sensor nur verwendet wenn ACC_FIXED >0 |
| #define ACC_FIXED 0 // wenn > 0werden diese Werte beim ACC Kalbibrieren ins Eeprom geschrieben |
| #define ACC_NICK_NEUTRAL 518 // ADC Wandler Wert in Neutrallage (0g): Vom individuellen Sensor abhaengig |
| #define ACC_ROLL_NEUTRAL 516 // ADC Wandler wert in Neutrallage (0g) |
| #define ACC_Z_NEUTRAL 740 // ADC Wandler wert in Neutrallage (0g) |
| #define ACC_WAAGRECHT_LIMIT 100 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage |
| #define CAM_GPS_QUIET 0 // wenn dieses Flag gesetzt ist, wird GPS beim Ausloesen kurzzeitig deaktiviert um eine ruhige Lage zu bekommen |
| //Salvo 2.9.2007 Ersatzkompass: Gyroincrements/Grad als Defaultwert ***** |
| // Laut Datenblatt sind di; Werte ueber Zeit und Temperatur sehr stabil. |
| #define GYROKOMP_INC_GRAD_DEFAULT 1300 // Gyroincrements/Grad als Defaultwert |
| // Salvo End |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| //Salvo 2.1.2008 Debugvariablens |
| extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen |
| //Salvo End |
| //Salvo 2.9.2007 Ersatzkompass |
| extern long GyroKomp_Int; |
| extern long int GyroGier_Comp; |
| extern int GyroKomp_Inc_Grad; |
| extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
| // Salvo End |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| #define STRUCT_PARAM_LAENGE 71 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| */ |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| #endif //_FC_H |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/flightctrl.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.c" Position="266 101 1182 710" LineCol="164 0" State="Maximized"/><File00001 Name="G:\Mikrokopter\Flight_Crtl\v0067g\analog.h" Position="288 130 1218 738" LineCol="0 0" State="Maximized"/><File00002 Name="G:\Mikrokopter\Flight_Crtl\v0067g\makefile" Position="310 159 1240 767" LineCol="157 0" State="Maximized"/><File00003 Name="G:\Mikrokopter\Flight_Crtl\v0067g\main.c" Position="332 188 1262 796" LineCol="227 13" State="Maximized"/><File00004 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.h" Position="262 71 1402 978" LineCol="12 33" State="Maximized"/></Files></AVRWorkspace> |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/gps.h |
|---|
| 0,0 → 1,131 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock alias Salvo |
| // Definitionen fuer Modul GPS |
| // Stand 20.1.2008 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| extern short int Get_GPS_data(void); |
| extern short int Get_Rel_Position(void); |
| extern void GPS_Save_Home(void); |
| extern short int GPS_CRTL(short int cmd); |
| typedef struct { |
| unsigned long utm_itow; // time of week |
| long utm_east; // UTM Ost in cm |
| long utm_north; // UTM Nord in cm |
| long utm_alt; // hoehe in cm |
| uint8_t utm_zone; // |
| uint8_t utm_hem; // Hemisphere Indicator |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long itow; // time of week |
| uint8_t gpsfix_type;// 3=3D Fix |
| uint8_t nav_status_flag; |
| uint8_t nav_diff_status; |
| uint8_t nav_resevd; |
| long nav_tff; // Time to First Fix in ms |
| long nav_msss; // ms since startup |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long itow; |
| long speed_n; // in cm/s |
| long speed_e; // in cm/s |
| long speed_alt; // in cm/s |
| unsigned long speed_3d; // in cm/s |
| unsigned long speed_gnd; // V ueber Grund in cm/s |
| long heading; // Richtung in deg/10000 |
| unsigned long sacc; // Speed Genauigkeit in cm/s |
| unsigned long cacc; // Richtungsgenauigkeit in deg |
| uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
| } NAV_VELNED_t; |
| typedef struct { |
| long utm_east; // UTM Ost in 10 cm |
| long utm_north; // UTM Nord in 10 cm |
| long utm_alt; // hoehe in 10 cm |
| unsigned long speed_gnd; // V ueber Grund in 10cm/s |
| unsigned heading; // Richtung in Grad |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_ABS_POSITION_t; |
| typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| int utm_east; // UTM Ost in 10 cm |
| int utm_north; // UTM Nord in 10 cm |
| int utm_alt ; // UTM Altitude in 10 cm |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| } GPS_REL_POSITION_t; |
| extern GPS_ABS_POSITION_t gps_act_position; |
| extern GPS_ABS_POSITION_t gps_home_position; |
| extern GPS_REL_POSITION_t gps_rel_act_position; |
| extern GPS_REL_POSITION_t gps_rel_hold_position; |
| extern short int gps_state,gps_sub_state; |
| extern unsigned int gps_alive_cnt; |
| // Zustaende der zentralen GPS statemachine |
| #define GPS_CRTL_IDLE 0 // Inaktiv |
| #define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
| #define GPS_CRTL_HOME_ACTIVE 2 // Rueckflug zur Basis Aktiv |
| #define GPS_HOME_FAST_IN_TOL 3 // Rueckflug: Aktuelle Position innerhalb der Toleranz |
| #define GPS_HOME_FAST_OUTOF_TOL 4 // Rueckflug: Aktuelle Position ausserhalb der Toleranz |
| #define GPS_HOME_RMPDWN_IN_TOL 5 // Rueckflug: beim Abbremsen Position innerhalb der Toleranz |
| #define GPS_HOME_RMPDWN_OUTOF_TOL 6 // Rueckflug: beim Abbremsen Position ausserhalb der Toleranz |
| #define GPS_HOME_IN_TOL 7 // Rueckflug: Nahe am Ziel innerhalb der Toleranz |
| #define GPS_HOME_OUTOF_TOL 8 // Rueckflug: Nahe am Ziel ausserhalb der Toleranz |
| #define GPS_HOME_FINISHED 9 // Rueckflug zur Basis abgeschlossen |
| // Kommandokonstanten fuer die zentrale GPS Statemachine |
| #define GPS_CMD_STOP 0 // Lageregelung soll deaktiviert werden |
| #define GPS_CMD_REQ_INIT 1 // Initialisierung |
| #define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
| #define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
| // Statusmeldungen der zentralen GPS statemachine |
| #define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
| #define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
| #define GPS_STST_ERR 2 // Fehler |
| // GPS Lageregler |
| #define GPS_USR_PAR_FKT 4 //Faktor durch den die Userparameter geteilt werden |
| #define GPS_NICKROLL_MAX 30 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
| #define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
| #define GPS_STICK_HOLDOFF 20 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert |
| #define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert |
| // Konstanten fuer Verstaerkung fuer Speed Werte in Abhaengigkeit vom SpeedWert (cm/sek) |
| // um eine exponentielle Verstaerkung zu erreichen |
| #define DIFF_Y_N_MAX 1 // Verstaerkung bei Eingangswert = DIFF_X_N_MAX im Normal (Hold) Mode |
| //#define DIFF_X_N_MAX 200 // bei diesem Eingangswert ist die Verstaerkung = DIFF_Y_N_MAX |
| #define DIFF_Y_F_MAX 1 // Verstaerkung bei Eingangswert = DIFF_X_F_MAX im Fast (Coming Home) Mode |
| //#define DIFF_X_F_MAX 500 // bei diesem Eingangswert ist die Verstaerkung = DIFF_Y_F_MAX |
| // P-Regler Verstaerkung |
| #define GPS_PROP_NRML_V 2 //maximale Verstaerkung im Normalen Holdmode |
| #define GPS_PROP_FAST_V 3 //maximale Verstaerkung im Fast mode |
| // GPS G2T /Go to Target Regler |
| #define GPS_G2T_DIST_MAX_STOP 100 // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm) |
| #define GPS_G2T_DIST_HOLD 50 // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt |
| #define GPS_G2T_FAST_TOL 200 // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| #define GPS_G2T_NRML_TOL 100 // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
| #define GPS_G2T_V_MAX 15 // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird. |
| #define GPS_G2T_V_RAMP_DWN 8 // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen |
| #define GPS_G2T_V_MIN 3 // Minimale (in 10cm/0.25 Sekunden) ganz nahe an Homeposition. |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/main.c |
|---|
| 0,0 → 1,251 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if(set > 5) |
| { |
| set = 2; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| //unsigned int timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| // Salvo 9.12.2007 PC6 als Ausgang |
| // DDRC = 0x81; // SCL |
| DDRC = 0xCD; // SCL und PC2,PC3, PC6 als Ausgang |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| // SPI_MasterInit(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 68 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| // Salvo 9.12.2007 Defaultwert fuer Umschaltsignal fuer RX: Bluettooth Modul aktiv |
| RX_SWTCH_OFF; |
| // Salvo End |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| // SPI_TransmitByte(); |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| // SPI_StartTransmitPacket(); |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/main.h |
|---|
| 0,0 → 1,112 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| //Salvo 9.12.2007 Umschaltsignal fuer Bluetooth bzw. GPS Daten auf PC7 |
| #define RX_SWTCH_ON PORTC |= 0x40 |
| #define RX_SWTCH_OFF PORTC &= ~0x40 |
| #define LED_J16_ON PORTC |= 0x04 |
| #define LED_J16_OFF PORTC &= ~0x04 |
| #define LED_J16_FLASH PORTC ^= 0x04 |
| //Salvo End |
| #define F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/makefile |
|---|
| 0,0 → 1,411 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 07 |
| VERSION_INDEX = 0 |
| VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_INDEX), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c math.c |
| #spi.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/math.c |
|---|
| 0,0 → 1,127 |
| /* |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License and GNU Lesser General Public License for more details. |
| You should have received a copy of GNU General Public License (License_GPL.txt) and |
| GNU Lesser General Public License (License_LGPL.txt) along with this program. |
| If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Winkelfunktionen sin, cos und arctan in |
| brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
| get_dist Funktion fuer Entfernungsermittlung |
| Stand 12.10.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.h" |
| #include "math.h" |
| // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
| int arctan_i( signed int x, signed int y) |
| { |
| short int change_xy = 0; |
| signed int i; |
| long signed int wert; |
| int return_value; |
| if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
| { |
| change_xy = 1; |
| i = x; |
| x = y; |
| y = i; |
| } |
| // Quadranten ermitteln |
| // Wert durch lineare Interpolation ermitteln |
| if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
| else wert= abs(((long)x*1000)/((long)y)); |
| if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
| { |
| return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
| } |
| else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
| { |
| return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
| } |
| else //0,568...1 entsprechend 30..45 Grad |
| { |
| return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
| } |
| if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
| if ((x >= 0) && (y <0)) return_value = - return_value; |
| else if ((x < 0) && (y >= 0)) return_value = - return_value; |
| return return_value; |
| } |
| // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
| signed int cos_i(signed int winkel) |
| { |
| winkel = sin_i(90-winkel); |
| return winkel; |
| } |
| const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000}; |
| //von Nick666, Stand 28.9.2007 |
| // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
| signed int sin_i(signed int winkel) |
| { |
| short int m,n; |
| if (abs(winkel) >=360) winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| n =1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
| else if ((winkel > 180 ) && (winkel <= 270)) |
| { |
| winkel = winkel -180; |
| n = -1; |
| } |
| else if ((winkel > 270) && (winkel <= 360)) |
| { |
| winkel = 360 - winkel; |
| n = -1; |
| } |
| // else //0 - 90 Grad |
| winkel = pgm_read_word(&pgm_sinus[winkel]); |
| return (winkel*m*n); |
| } |
| // Aus x,y und Winkel Distanz ermitteln |
| long get_dist(signed int x, signed int y, signed int phi) |
| { |
| long dist; |
| if (abs(x) > abs(y) ) |
| { |
| dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
| dist = abs((dist *1000) / (long) sin_i(phi)); |
| } |
| else |
| { |
| dist = (long) y; |
| dist = abs((dist *1000) / (long) cos_i(phi)); |
| } |
| return dist; |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/math.h |
|---|
| 0,0 → 1,11 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int sin_i(signed int winkel); |
| extern signed int cos_i(signed int winkel); |
| extern signed int arctan_i(signed int x, signed int y); |
| extern long get_dist(signed int x, signed int y, signed int phi); |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/menu.c |
|---|
| 0,0 → 1,127 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/menu.h |
|---|
| 0,0 → 1,6 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/rc.c |
|---|
| 0,0 → 1,84 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und initialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| // if(tmp > signal+1) tmp--; else |
| // if(tmp < signal-1) tmp++; |
| PPM_diff[index] = tmp - PPM_in[index]; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/spi.c |
|---|
| 0,0 → 1,86 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| unsigned char SPI_BufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| DebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| cli(); |
| DebugOut.Analog[20] = FromNaviCtrl.Comp; |
| DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
| DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
| sei(); |
| //---- |
| SPDR = ToNaviCtrl.Comp; // Start transmission |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| if (!(SPSR & (1 << SPIF))) return; |
| if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| { SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { SPDR = Ptr_buffer[SPI_BufferIndex]; |
| } |
| else |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| unsigned char i; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| } |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickNick = (char) StickNick; |
| ToNaviCtrl.StickRoll = (char) StickRoll; |
| ToNaviCtrl.StickGier = (char) StickGier; |
| sei(); |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/spi.h |
|---|
| 0,0 → 1,46 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #define SPI_PROTOCOL_COMP 1 |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Comp; |
| int IntegralNick; |
| int IntegralRoll; |
| char StickNick,StickRoll,StickGier; |
| }; |
| struct str_FromNaviCtrl |
| { |
| unsigned char Comp; |
| int GPS_Nick; |
| int GPS_Roll; |
| int CompassValue; |
| }; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #endif |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/timer0.c |
|---|
| 0,0 → 1,192 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| //Salvo 8.9.2007 |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| //Salvo 21.9.2007 |
| short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
| // Salvo End |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| // Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007 |
| /* |
| Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
| */ |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| } |
| // if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| // Salvo Kompassoffset 23.12.2007 *********** |
| Kompass_present = 255; |
| // Kompass_Value_Old = KompassValue; |
| if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
| else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
| if (KompassValue < 0) |
| { |
| KompassValue += 360; |
| } |
| if (KompassValue >= 360) |
| { |
| KompassValue -= 360; |
| } |
| // Salvo End |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| //Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
| Kompass_Neuer_Wert = 1; |
| // Salvo End |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/timer0.h |
|---|
| 0,0 → 1,28 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| // Salvo Kompassoffset 24.12.2007 *********** |
| //#define KOMPASS_OFFSET 135// Winkel zwischen Nordachse Kopter und Nordachse Kompass |
| #define KOMPASS_OFFSET 0 // Winkel zwischen Nordachse Kopter und Nordachse Kompass |
| // Wenn 0 wird der UserParameter4 fuer den Offset verwendet (0..360 Grad entspricht 0 ..180) |
| // Salvo End |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| extern unsigned int BeepMuster; |
| //Salvo 21.9.2007 |
| extern volatile uint8_t Kompass_Neuer_Wert; |
| extern volatile unsigned int Kompass_Value_Old; |
| extern unsigned short int Kompass_present; |
| // Salvo End |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/twimaster.c |
|---|
| 0,0 → 1,152 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| } |
| TWCR |= 0x80; |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern char i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern char i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| #endif |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/uart.c |
|---|
| 0,0 → 1,406 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[3] = {0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //Salvo 26.10.2007 |
| int dataset_cnt=0; //Zaehlt die uebertragenen Debugdaten |
| //Salvo End |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Ersatzkompass ", |
| "Usr_Par1 ", //10 |
| "Usr_par3 ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| /* "delta_east ", |
| "delta_north ", |
| "speed_e ", |
| "speed_n ", //15 |
| */ |
| "Index ", |
| "UBat ", |
| "Messwert_Nick ", |
| "Messwert_Roll ", |
| "Messwert_Gier ", //20 |
| "Stick_Nick ", |
| "Stick_Roll ", |
| "Stick_Gier ", |
| "GPS_Nick ", |
| "GPS_Roll ", //25 |
| "utm_east ", |
| "utm_north ", |
| "utm_alt ", |
| "gps_state ", |
| // "dist_flown ", //30 |
| // "dist_2home " |
| "gp_reg_x ", //30 |
| "gp_reg_y " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| //Salvo 11.9.2007 GPS Daten holen |
| Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
| // Salvo End |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| // static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| //Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
| dataset_cnt++; |
| // Salvo End |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/salvo_gps/Basis_v0067g/tags/v0007/uart.h |
|---|
| 0,0 → 1,106 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| //Salvo 26.10.2007 |
| extern int dataset_cnt; |
| // salvo End |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[4]; |
| extern unsigned char DubWiseKeys[3]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/salvo_gps/Basis_v0067g/tags/v0007 |
|---|
| Property changes: |
| Added: svn:ignore |
| +*.bak |
| +*.aps |
| +*.elf |
| +*.sym |
| +*.map |
| +*.lss |
| +*.eep |
| +*.txt |
| +*.mkp |