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Rev | Author | Line No. | Line |
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5 | hbuss | 1 | /*####################################################################################### |
7 | hbuss | 2 | MK3Mag 3D-Magnet sensor |
19 | killagreg | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
5 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | hbuss | 6 | // + Copyright (c) 05.2008 Holger Buss |
8 | hbuss | 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
5 | hbuss | 8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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5 | hbuss | 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | killagreg | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
5 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
5 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
12 | hbuss | 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
5 | hbuss | 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
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19 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
5 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
19 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
5 | hbuss | 40 | // + with our written permission |
12 | hbuss | 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
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19 | killagreg | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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5 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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12 | hbuss | 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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5 | hbuss | 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
19 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
5 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | killagreg | 57 | #include <avr/interrupt.h> |
58 | #include <math.h> |
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59 | #include <stdlib.h> |
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21 | killagreg | 60 | #include <stdio.h> |
5 | hbuss | 61 | |
1 | ingob | 62 | #include "main.h" |
19 | killagreg | 63 | #include "timer0.h" |
64 | #include "twislave.h" |
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65 | #include "led.h" |
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66 | #include "analog.h" |
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67 | #include "uart.h" |
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1 | ingob | 68 | |
69 | |||
28 | killagreg | 70 | AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC; |
7 | hbuss | 71 | |
21 | killagreg | 72 | uint16_t Led_Timer = 0; |
73 | |||
23 | killagreg | 74 | struct Scaling_t |
1 | ingob | 75 | { |
19 | killagreg | 76 | int16_t Range; |
77 | int16_t Offset; |
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23 | killagreg | 78 | } ; |
1 | ingob | 79 | |
23 | killagreg | 80 | struct Calibration_t |
19 | killagreg | 81 | { |
28 | killagreg | 82 | struct Scaling_t MagX; |
83 | struct Scaling_t MagY; |
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84 | struct Scaling_t MagZ; |
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85 | struct Scaling_t AccX; |
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86 | struct Scaling_t AccY; |
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87 | struct Scaling_t AccZ; |
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23 | killagreg | 88 | } ; |
19 | killagreg | 89 | |
28 | killagreg | 90 | struct Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
91 | struct Calibration_t Calibration; // calibration data in RAM |
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19 | killagreg | 92 | |
28 | killagreg | 93 | // magnet sensor variable |
94 | int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
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95 | int16_t RawMagnet2a, RawMagnet2b; |
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96 | int16_t RawMagnet3a, RawMagnet3b; |
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97 | int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling |
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98 | int16_t MagX, MagY, MagZ; // rescaled magnetic field readings |
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99 | // acc sensor variables |
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100 | int16_t RawAccX, RawAccY, RawAccZ; // raw acceleration readings |
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101 | int16_t AccX, AccY, AccZ; // rescaled acceleration readings |
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102 | uint8_t AccPresent = 0; |
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19 | killagreg | 103 | uint8_t PC_Connected = 0; |
104 | |||
21 | killagreg | 105 | int16_t Heading = -1; |
19 | killagreg | 106 | |
107 | |||
1 | ingob | 108 | void CalcFields(void) |
7 | hbuss | 109 | { |
28 | killagreg | 110 | UncalMagX = (RawMagnet1a - RawMagnet1b); |
111 | UncalMagY = (RawMagnet3a - RawMagnet3b); |
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112 | UncalMagZ = (RawMagnet2a - RawMagnet2b); |
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7 | hbuss | 113 | |
28 | killagreg | 114 | if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range); |
115 | else MagX = 0; |
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116 | if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range); |
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117 | else MagY = 0; |
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118 | if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range); |
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119 | else MagZ = 0; |
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1 | ingob | 120 | } |
121 | |||
20 | killagreg | 122 | |
1 | ingob | 123 | void CalcHeading(void) |
124 | { |
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19 | killagreg | 125 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
126 | int16_t heading = -1; |
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1 | ingob | 127 | |
21 | killagreg | 128 | // blink code for normal operation |
129 | if(CheckDelay(Led_Timer)) |
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130 | { |
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131 | LED_GRN_TOGGLE; |
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132 | Led_Timer = SetDelay(500); |
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133 | } |
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7 | hbuss | 134 | |
28 | killagreg | 135 | Cx = MagX; |
136 | Cy = MagY; |
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137 | Cz = MagZ; |
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7 | hbuss | 138 | |
19 | killagreg | 139 | if(ExternData.Orientation == 1) |
140 | { |
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28 | killagreg | 141 | Cx = MagX; |
142 | Cy = -MagY; |
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143 | Cz = MagZ; |
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19 | killagreg | 144 | } |
1 | ingob | 145 | |
20 | killagreg | 146 | // calculate nick and roll angle in rad |
28 | killagreg | 147 | switch(AttitudeSource) |
148 | { |
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149 | case ATTITUDE_SOURCE_I2C: |
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150 | nick_rad = ((double)I2C_WriteAttitude.Nick) * M_PI / (double)(1800.0); |
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151 | roll_rad = ((double)I2C_WriteAttitude.Roll) * M_PI / (double)(1800.0); |
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152 | break; |
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153 | |||
154 | case ATTITUDE_SOURCE_UART: |
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155 | nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0); |
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156 | roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0); |
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157 | break; |
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158 | |||
159 | case ATTITUDE_SOURCE_ACC: |
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160 | if(AccX > 125) nick_rad = M_PI / 2; |
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161 | else |
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162 | if(AccX < -125) nick_rad = -M_PI / 2; |
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163 | else |
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164 | { |
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165 | nick_rad = asin((double) AccX / 125.0); |
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166 | } |
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167 | |||
168 | if(AccY > 125) roll_rad = M_PI / 2; |
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169 | else |
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170 | if(AccY < -125) roll_rad = -M_PI / 2; |
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171 | else |
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172 | { |
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173 | roll_rad = asin((double) AccY / 125.0); |
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174 | } |
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175 | break; |
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176 | } |
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177 | |||
20 | killagreg | 178 | // calculate attitude correction |
27 | killagreg | 179 | Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
180 | Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
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19 | killagreg | 181 | |
20 | killagreg | 182 | // calculate Heading |
183 | heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
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184 | // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
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185 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
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186 | if (heading < 0) heading = -heading; |
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187 | else heading = 360 - heading; |
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19 | killagreg | 188 | |
189 | if(abs(heading) < 361) Heading = heading; |
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20 | killagreg | 190 | else (Heading = -1); |
1 | ingob | 191 | } |
192 | |||
193 | |||
7 | hbuss | 194 | void Calibrate(void) |
195 | { |
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19 | killagreg | 196 | uint8_t cal; |
21 | killagreg | 197 | static uint8_t calold = 0; |
19 | killagreg | 198 | static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
21 | killagreg | 199 | static uint8_t blinkcount = 0; |
22 | killagreg | 200 | |
19 | killagreg | 201 | // check both sources of communication for calibration request |
202 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
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22 | killagreg | 203 | else cal = ExternData.CalState; |
19 | killagreg | 204 | |
23 | killagreg | 205 | |
206 | if(cal > 5) cal = 0; |
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21 | killagreg | 207 | // blink code for current calibration state |
208 | if(cal) |
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209 | { |
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210 | if(CheckDelay(Led_Timer) || (cal != calold)) |
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211 | { |
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212 | if(blinkcount & 0x01) LED_GRN_OFF; |
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213 | else LED_GRN_ON; |
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214 | |||
215 | // end of blinkcount sequence |
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216 | if( (blinkcount + 1 ) >= (2 * cal) ) |
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217 | { |
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218 | blinkcount = 0; |
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219 | Led_Timer = SetDelay(1000); |
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220 | } |
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221 | else |
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222 | { |
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223 | blinkcount++; |
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224 | Led_Timer = SetDelay(170); |
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225 | } |
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226 | } |
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227 | } |
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228 | else |
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229 | { |
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230 | LED_GRN_OFF; |
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231 | } |
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232 | |||
19 | killagreg | 233 | // calibration state machine |
234 | switch(cal) |
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235 | { |
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236 | case 1: // 1st step of calibration |
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237 | // initialize ranges |
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238 | // used to change the orientation of the MK3MAG in the horizontal plane |
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239 | Xmin = 10000; |
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240 | Xmax = -10000; |
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241 | Ymin = 10000; |
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242 | Ymax = -10000; |
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243 | Zmin = 10000; |
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244 | Zmax = -10000; |
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28 | killagreg | 245 | Calibration.AccX.Offset = RawAccX; |
246 | Calibration.AccY.Offset = RawAccY; |
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247 | Calibration.AccZ.Offset = RawAccZ; |
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19 | killagreg | 248 | break; |
249 | |||
250 | case 2: // 2nd step of calibration |
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251 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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28 | killagreg | 252 | if(UncalMagX < Xmin) Xmin = UncalMagX; |
253 | if(UncalMagX > Xmax) Xmax = UncalMagX; |
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254 | if(UncalMagY < Ymin) Ymin = UncalMagY; |
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255 | if(UncalMagY > Ymax) Ymax = UncalMagY; |
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19 | killagreg | 256 | break; |
257 | |||
258 | case 3: // 3rd step of calibration |
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26 | killagreg | 259 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
19 | killagreg | 260 | break; |
261 | |||
262 | case 4: |
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263 | // find Min and Max of the Z-Sensor |
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28 | killagreg | 264 | if(UncalMagZ < Zmin) Zmin = UncalMagZ; |
265 | if(UncalMagZ > Zmax) Zmax = UncalMagZ; |
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19 | killagreg | 266 | break; |
267 | |||
268 | case 5: |
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21 | killagreg | 269 | // Save values |
25 | killagreg | 270 | if(cal != calold) // avoid continously writing of eeprom! |
19 | killagreg | 271 | { |
28 | killagreg | 272 | Calibration.MagY.Range = Xmax - Xmin; |
273 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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274 | Calibration.MagY.Range = Ymax - Ymin; |
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275 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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276 | Calibration.MagZ.Range = Zmax - Zmin; |
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277 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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278 | if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
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21 | killagreg | 279 | { |
280 | // indicate write process by setting the led |
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281 | LED_GRN_ON; |
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23 | killagreg | 282 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
21 | killagreg | 283 | Delay_ms(2000); |
284 | // reset led state |
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285 | LED_GRN_OFF; |
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286 | // reset blinkcode |
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287 | blinkcount = 0; |
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288 | Led_Timer = SetDelay(1000); |
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289 | } |
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19 | killagreg | 290 | } |
291 | break; |
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292 | |||
293 | default: |
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294 | break; |
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295 | } |
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21 | killagreg | 296 | calold = cal; |
7 | hbuss | 297 | } |
1 | ingob | 298 | |
7 | hbuss | 299 | |
300 | void SetDebugValues(void) |
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301 | { |
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28 | killagreg | 302 | DebugOut.Analog[0] = MagX; |
303 | DebugOut.Analog[1] = MagY; |
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304 | DebugOut.Analog[2] = MagZ; |
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305 | DebugOut.Analog[3] = UncalMagX; |
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306 | DebugOut.Analog[4] = UncalMagY; |
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307 | DebugOut.Analog[5] = UncalMagZ; |
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308 | switch(AttitudeSource) |
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309 | { |
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310 | case ATTITUDE_SOURCE_ACC: |
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311 | |||
312 | break; |
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313 | |||
314 | case ATTITUDE_SOURCE_UART: |
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315 | DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
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316 | DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
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317 | break; |
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318 | |||
319 | |||
320 | case ATTITUDE_SOURCE_I2C: |
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321 | DebugOut.Analog[6] = I2C_WriteAttitude.Nick; |
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322 | DebugOut.Analog[7] = I2C_WriteAttitude.Roll; |
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323 | break; |
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324 | } |
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325 | DebugOut.Analog[8] = Calibration.MagX.Offset; |
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326 | DebugOut.Analog[9] = Calibration.MagX.Range; |
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327 | DebugOut.Analog[10] = Calibration.MagY.Offset; |
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328 | DebugOut.Analog[11] = Calibration.MagY.Range; |
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329 | DebugOut.Analog[12] = Calibration.MagZ.Offset; |
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330 | DebugOut.Analog[13] = Calibration.MagZ.Range; |
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19 | killagreg | 331 | DebugOut.Analog[14] = ExternData.CalState; |
332 | DebugOut.Analog[15] = Heading; |
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333 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
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334 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
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28 | killagreg | 335 | DebugOut.Analog[18] = AccX; |
336 | DebugOut.Analog[19] = AccY; |
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337 | DebugOut.Analog[20] = AccZ; |
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338 | DebugOut.Analog[21] = RawAccX; |
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339 | DebugOut.Analog[22] = RawAccY; |
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340 | DebugOut.Analog[23] = RawAccZ; |
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341 | DebugOut.Analog[24] = Calibration.AccX.Offset; |
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342 | DebugOut.Analog[25] = Calibration.AccY.Offset; |
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343 | DebugOut.Analog[26] = Calibration.AccZ.Offset; |
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7 | hbuss | 344 | } |
345 | |||
28 | killagreg | 346 | void AccMeasurement(void) |
347 | { |
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348 | if(AccPresent) |
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349 | { |
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350 | RawAccX = (RawAccX + (int16_t)ADC_GetValue(ADC2))/2; |
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351 | RawAccY = (RawAccY + (int16_t)ADC_GetValue(ADC3))/2; |
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352 | RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ADC6))/2; |
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353 | } |
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354 | else |
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355 | { |
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356 | RawAccX = 0; |
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357 | RawAccY = 0; |
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358 | RawAccZ = 0; |
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359 | } |
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360 | AccX = ((RawAccX - Calibration.AccX.Offset) + AccX * 7) / 8; |
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361 | AccY = ((RawAccY - Calibration.AccY.Offset) + AccY * 7) / 8; |
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362 | AccZ = ((Calibration.AccZ.Offset - RawAccZ) + AccZ * 7) / 8; |
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363 | } |
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7 | hbuss | 364 | |
28 | killagreg | 365 | |
366 | |||
1 | ingob | 367 | int main (void) |
368 | { |
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22 | killagreg | 369 | // reset input pullup |
370 | DDRC &=~((1<<DDC6)); |
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371 | PORTC |= (1<<PORTC6); |
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372 | |||
373 | LED_Init(); |
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19 | killagreg | 374 | TIMER0_Init(); |
375 | USART0_Init(); |
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1 | ingob | 376 | ADC_Init(); |
19 | killagreg | 377 | I2C_Init(); |
1 | ingob | 378 | |
22 | killagreg | 379 | sei(); // enable globale interrupts |
21 | killagreg | 380 | |
22 | killagreg | 381 | LED_GRN_ON; |
19 | killagreg | 382 | |
22 | killagreg | 383 | Debug_Timer = SetDelay(200); |
384 | Led_Timer = SetDelay(200); |
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21 | killagreg | 385 | |
19 | killagreg | 386 | // read calibration info from eeprom |
23 | killagreg | 387 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
19 | killagreg | 388 | |
7 | hbuss | 389 | ExternData.Orientation = 0; |
390 | ExternData.CalState = 0; |
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391 | I2C_WriteCal.CalByte = 0; |
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19 | killagreg | 392 | |
22 | killagreg | 393 | |
19 | killagreg | 394 | // main loop |
1 | ingob | 395 | while (1) |
19 | killagreg | 396 | { |
397 | FLIP_LOW; |
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398 | Delay_ms(2); |
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399 | RawMagnet1a = ADC_GetValue(ADC0); |
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400 | RawMagnet2a = -ADC_GetValue(ADC1); |
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401 | RawMagnet3a = ADC_GetValue(ADC7); |
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28 | killagreg | 402 | AccMeasurement(); |
19 | killagreg | 403 | Delay_ms(1); |
7 | hbuss | 404 | |
19 | killagreg | 405 | FLIP_HIGH; |
406 | Delay_ms(2); |
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407 | RawMagnet1b = ADC_GetValue(ADC0); |
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408 | RawMagnet2b = -ADC_GetValue(ADC1); |
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409 | RawMagnet3b = ADC_GetValue(ADC7); |
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28 | killagreg | 410 | AccMeasurement(); |
19 | killagreg | 411 | Delay_ms(1); |
1 | ingob | 412 | |
19 | killagreg | 413 | CalcFields(); |
1 | ingob | 414 | |
22 | killagreg | 415 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
19 | killagreg | 416 | else CalcHeading(); |
417 | |||
418 | // check data from USART |
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419 | USART0_ProcessRxData(); |
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23 | killagreg | 420 | USART0_TransmitTxData(); |
19 | killagreg | 421 | |
422 | if(PC_Connected) |
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423 | { |
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424 | USART0_EnableTXD(); |
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425 | USART0_TransmitTxData(); |
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426 | PC_Connected--; |
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427 | } |
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428 | else |
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429 | { |
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430 | USART0_DisableTXD(); |
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431 | } |
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432 | } // while(1) |
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1 | ingob | 433 | } |
434 |