Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 375 → Rev 376

/branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM_1_1/_Settings.h
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 500 // in diesem Intervall werden Degugdaten 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Flight-Ctrl_MEGA644_V0_64.aps
0,0 → 1,0
<AVRStudio><MANAGEMENT><ProjectName>Flight-Ctrl_MEGA644_V0_64</ProjectName><Created>19-Aug-2007 14:38:13</Created><LastEdit>15-Oct-2007 19:44:55</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>19-Aug-2007 14:38:13</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>Flight-Ctrl_MEGA644_V0_64.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\hubi\ufo\mickrokopter\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\</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>main.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><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>uart.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Flight-Ctrl_MEGA644_V0_60.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -O0 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20070525\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>compass.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>compass.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>fc.c</FileName><Status>1</Status></File00003></Files><Workspace><File00000><Position>346 108 878 484</Position><LineCol>155 3</LineCol></File00000><File00001><Position>355 114 901 482</Position><LineCol>0 0</LineCol></File00001><File00002><Position>377 136 923 504</Position><LineCol>0 0</LineCol></File00002><File00003><Position>336 71 1048 624</Position><LineCol>834 19</LineCol><State>Maximized</State></File00003></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Flight-Ctrl_MEGA644_V0_64.hex
0,0 → 1,2450
:100000000C94F9030C9416040C9416040C94160426
:100010000C9416040C9416040C9416040C941604F8
:100020000C9416040C946A0E0C9416040C9416048A
:100030000C94C21C0C9416040C9416040C94160414
:100040000C9416040C9416040C94110F0C942D1897
:100050000C9452070C9416040C9443060C9416044A
:100060000C9414100C9416040C94001C0C9416049C
:100070007C0781078B0790071E0832084E087F080F
:1000800085080A0B7D0B7D0B7D0B350B160B7D0B4D
:100090007D0B7D0B610B610B610B610B610B390BF0
:1000A0007D0B7D0B280B7D0B310B3D10951037110F
:1000B000DB11F8111B12411228136714AB140C1535
:1000C0006215B61532168C16ED1611174717A317C1
:1000D000E117191C1E1C2F1C3D1C4A1C421C4A1CEB
:1000E0005E1C0A0A0D004E65757472616C004865ED
:1000F0006164696E67486F6C64000A0D53746575BE
:100100006572756E673A20004F4B0A0D000A0D416B
:1001100062676C65696368204C75667464727563A8
:100120006B73656E736F722E2E000A0D4B616C69D6
:10013000627269657265204B6F6D70617373000A3E
:100140000D42656E75747A6520506172616D6574DB
:1001500065727361747A202564000A0D496E6974B2
:100160002E20454550524F4D3A2047656E657269C5
:100170006572652044656661756C742D50617261AD
:100180006D657465722E2E2E000A0D3D3D3D3D3D80
:100190003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3D8F
:1001A0003D3D3D3D3D3D3D3D3D000A0D466C696791
:1001B0006874436F6E74726F6C0A0D486172647775
:1001C0006172653A25642E25640A0D536F66747753
:1001D0006172653A5625642E256420002E005A5F10
:1001E0004F66667365743A202025336900595F4F66
:1001F00066667365743A202025336900585F4F6640
:10020000667365743A2020253369004D4D33206BA9
:10021000616C69622E0052616E67653A2533692D03
:10022000253369005374656C6C756E673A2025330D
:100230006900536574706F696E74202025336900FE
:10024000536572766F202000506F343A2025336951
:1002500020506F383A2025336900506F333A2025FB
:10026000336920506F373A2025336900506F323A96
:100270002025336920506F363A2025336900506FAE
:10028000313A2025336920506F353A2025336900F3
:1002900053746172743A2020202020253569004D66
:1002A000657373776572743A202025356900526949
:1002B000636874756E673A2020253569004B6F6D51
:1002C000706173732020202020202000456D70660F
:1002D0002E506567656C3A253569005370616E6E06
:1002E000756E673A202025356900486F63682025C0
:1002F000346920282533692900526F6C6C2025341D
:1003000069202825336929004E69636B20253469EB
:1003100020282533692900414343202D2053656E51
:10032000736F720047696572202534692028253370
:10033000692900526F6C6C202534692028253369A7
:1003400029004E69636B20253469202825336929EB
:10035000004779726F202D2053656E736F720050C5
:10036000333A253469202050343A2534692000502E
:10037000313A253469202050323A2534692000472B
:10038000733A253469202047693A25346920004EA4
:10039000693A2534692020526F3A25346920004B90
:1003A000373A25346920204B383A25346920004BF0
:1003B000353A25346920204B363A25346920004BE4
:1003C000333A25346920204B343A25346920004BD8
:1003D000313A25346920204B323A25346920004BCC
:1003E0006F6D706173733A20202025356900526F5C
:1003F0006C6C3A202020202020253569004E69634E
:100400006B3A20202020202025356900616B742E56
:10041000204C6167650048F668656E726567656CBB
:10042000756E67004B65696E6520004F666620201B
:10043000202020203A20253569004C7566746472AE
:1004400075636B3A2025356900536F6C6C486F6596
:1004500068653A2025356900486F6568653A20204F
:100460002020202535690028632920486F6C6765A6
:100470007220427573730053657474696E673A2015
:100480002564200048573A5625642E25642053578A
:100490003A25642E2564002B2B204D696B726F4B1F
:1004A0006F70746572202B2B005B25695D00000165
:1004B000020305060708090A0B0C0D0F1011121391
:1004C0001415161718191A1B1B1C1D1E1F2021217D
:1004D00022232425252627272829292A2B2B2C2CA3
:1004E0002D2E2E2F2F3030313132323333343434FD
:1004F000353536363637373838383939393A3A3A81
:100500003B3B3B3C3C3C3C3D3D3D3D3E3E3E3E3F1F
:100510003F3F3F40404040414141414142424242D1
:100520004243434343434344444444444445454590
:10053000454545454646464646464646474747475B
:10054000474747474848484848484848484949492C
:10055000494949494949494A4A4A4A4A4A4A4A4A02
:100560004A4A4A4B4B4B4B4B4B4B4B4B4B4B4B4BDE
:100570004C4C4C4C4C4C4C4C4C4C4C4C4C4C4C4DBA
:100580004D4D4D4D4D4D4D4D4D4D4D4D4D4D4D4D9B
:100590004E4E4E4E4E4E4E4E4E4E4E4E4E4E4E4E7B
:1005A0004E4E4E4E4F4F4F4F4F4F4F4F4F4F4F4F5F
:1005B0004F4F4F4F4F4F4F4F4F4F4F4F0000000087
:1005C00096438B3C295C0F3DF4FD543D295C8F3DE7
:1005D0000E2DB23D3D0AD73D23DBF93D04560E3EBC
:1005E00077BE1F3E0E2D323E8195433EF4FD543EB4
:1005F0006666663ED9CE773EA69B843EDF4F8D3E33
:100600000681953E3F359E3E79E9A63EA01AAF3E53
:10061000C74BB73E0000C03E2731C83E4E62D03EB9
:100620007593D83E8941E03EB072E83EC520F03E69
:10063000EC51F83E0000003F0AD7033F14AE073FDD
:100640001F850B3FA01A0F3FAAF1123F2B87163FC1
:10065000AC1C1A3F2DB21D3F2506213FA69B243F0F
:100660009EEF273F96432B3F8D972E3F85EB313FE3
:10067000F4FD343F6210383FD1223B3F3F353E3FCF
:10068000AE47413F9318443F79E9463F5EBA493F40
:10069000448B4C3FA01A4F3FFCA9513F5839543F5F
:1006A000B4C8563F8716593F5A645B3F2DB25D3F31
:1006B0000000603F4A0C623F9318643FDD24663FB0
:1006C0009EEF673FE7FB693FA8C66B3FDF4F6D3F7B
:1006D000A01A6F3FD7A3703F0E2D723FBC74733FBB
:1006E0006ABC743F1904763FC74B773FEC51783FA3
:1006F0001058793F355E7A3F5A647B3FF6287C3F3D
:1007000091ED7C3FA4707D3F3F357E3F52B87E3FE8
:10071000DBF97E3FEE7C7F3F77BE7F3F77BE7F3F3A
:100720000000803F0000803F000001010101020243
:100730000203030303040404050505050606060772
:10074000070707080808090909090A0A0A0B0B0B19
:100750000C0C0C0C0D0D0D0E0E0E0E0F0F0F1010BD
:100760001011111111121212131313141414141561
:100770001515161616171717181818191919191A02
:100780001A1A1B1B1B1C1C1C1D1D1D1E1E1E1F1FA1
:100790001F2020202121212222222323232424253B
:1007A000252526262627272728282929292A2A2ACF
:1007B0002B2B2C2C2C2D2D2E2E2E2F2F303031315B
:1007C00031323233333434353536363737383839D9
:1007D000393A3A3B3B3C3C3D3E3E3F404041424241
:1007E00043444445464748494A4B4C4D4F50525468
:1007F0005A0011241FBECFEFD0E1DEBFCDBF18E0FD
:10080000A0E0B1E0ECECF1E902C005900D92A2335A
:10081000B107D9F71DE0A2E3B8E001C01D92A934E9
:10082000B107E1F70E9455040C94E5480C940000D0
:1008300022E030E0D9010E94D148802D863028F096
:1008400082E0D901082E0E94D94899270895FB011A
:10085000282F863008F025E0842F9927429FD00169
:100860001124AC59BF4F019724F001900E94D94840
:10087000FACFA2E0B0E0022E0E94D9480895CF93AB
:10088000DF93FB01C42FDD27863008F085E0489F09
:10089000D0011124AC59BF4F219724F00E94D148B8
:1008A0000192FACFDF91CF9108951F93CF93DF93F9
:1008B00014B815B8189B02C08BE001C08AE0809381
:1008C000000181E887B98FEF88B98BE184B9289A54
:1008D0008EE38AB9579A87EF8BB984B7877F84BF35
:1008E000809160008861809360001092600088EEC3
:1008F00093E090934E0880934D081092DA0810927E
:10090000D9081092820C1092810C1092D808109283
:10091000D7081092D6081092D50828980E94D60FB2
:100920000E94590A0E94AD1C0E940E100E94E61BF4
:100930000E94F51978941092C80A80E48093C90A3D
:1009400085E08093CA0A2091000180E490E09F93A3
:100950008F931F921F92822F6AE00E942448892F52
:1009600099279F938F93822F0E94244899279F93C2
:100970008F938AEA91E09F938F931F920E94DC0BE2
:1009800089E891E09F938F931F920E94DC0B299A34
:10099000A1E0B0E00E94D148802D2DB73EB7225F84
:1009A0003F4F2DBF8E33A9F18AE591E09F938F933E
:1009B0001F920E94DC0B0E940E264AE369EB7CE04A
:1009C00080E00E94270411E00F900F900F901230EA
:1009D00049F40E9498254AE369EB7CE082E00E949A
:1009E000270413E04AE369EB7CE0812F0E9427048F
:1009F0001F5F163060F382E022E030E0D901082E5C
:100A00000E94D9488EE321503040D901082E0E941F
:100A1000D948C2E0D0E0DE010E94D148802D863066
:100A200028F082E0DE01082E0E94D9484AE369EBF3
:100A30007CE00E943F04DE010E94D148802D863078
:100A400028F082E0DE01082E0E94D94899279F9362
:100A50008F938FE391E09F938F931F920E94DC0B03
:100A600084EF91E00E94550EEC010F900F900F90D3
:100A70000F900F90CE010E945E0E8823D9F3E09173
:100A8000BB0CFF27EE0FFF1FE358F34F80819181CE
:100A900085369105E4F0E091BC0CFF27EE0FFF1FB7
:100AA000E358F34F808191818536910584F08AE285
:100AB00091E09F938F931F920E94DC0B8091C10C59
:100AC0000F900F900F9083FF02C00E94161A809122
:100AD000C10C80FF20C08DE091E09F938F931F9207
:100AE0000E94DC0B88EE93E00E94550EEC010E9400
:100AF000C2130F900F900F90CE010E945E0E8823BC
:100B0000D9F388E091E09F938F931F920E94DC0BB2
:100B10000F900F900F900E94AE26289880ED97E0DE
:100B200090934E0880934D0888EE93E09093C30A0B
:100B30008093C20A85E58093BD0A8AEF90E09F9377
:100B40008F931F920E94DC0B8091C10C0F900F902D
:100B50000F9082FF03C08EEE90E002C086EE90E020
:100B60009F938F931F920E94DC0B0F900F900F901A
:100B700082EE90E09F938F931F920E94DC0B0E9465
:100B8000061488E893E190937D0180937C010F9097
:100B90000F900F9080914C08882309F447C0109261
:100BA0004C080E94F7270E94832628988091020112
:100BB000882319F08150809302018091D408882302
:100BC00029F08091D40881508093D40880917C01D1
:100BD00090917D01892B01F585E090E090937D0156
:100BE00080937C010E94871C8091050190910601F1
:100BF0008F5F9F4FD9F48091DB088823B9F080E1A3
:100C000097E290934E0880934D0880E890E090938F
:100C10000601809305010AC080917C0190917D01BD
:100C2000019790937D0180937C0128980E94760A19
:100C30000E94EC0ACE010E945E0E882309F4AACF1E
:100C40002091090130910A018091D10C9927281730
:100C500039079CF480910501909106018F5F9F4FA9
:100C600061F480E797E190934E0880934D0880E00F
:100C700093E0909306018093050184E690E00E9442
:100C8000550EEC0187CF1F920F920FB60F921124D1
:100C90008F939F93EF93FF93809101018823E1F459
:100CA0008091470890914808019690934808809356
:100CB0004708FC01E358F64FE081ED3019F0863922
:100CC000910539F4109248081092470881E080930A
:100CD0000101E093C60004C0109248081092470832
:100CE000FF91EF919F918F910F900FBE0F901F90EA
:100CF00018958091B20B813091F58091A20B909163
:100D0000A30BA091A40BB091A50B8093F50B90932E
:100D1000F60BA093F70BB093F80B8091A60B909174
:100D2000A70BA091A80BB091A90B8093F90B9093FE
:100D3000FA0BA093FB0BB093FC0B8091AA0B909144
:100D4000AB0BA091AC0BB091AD0B8093FD0B9093CE
:100D5000FE0BA093FF0BB093000C1092B20B90917E
:100D6000BC0A913041F48091B00A8093220C909398
:100D7000210C1092BC0A8091EC0A813091F580918F
:100D8000DC0A9091DD0AA091DE0AB091DF0A80931F
:100D9000010C9093020CA093030CB093040C80916F
:100DA000E00A9091E10AA091E20AB091E30A8093EF
:100DB000050C9093060CA093070CB093080C80913F
:100DC000E40A9091E50AA091E60AB091E70A8093BF
:100DD000090C90930A0CA0930B0CB0930C0C10927E
:100DE000EC0A8091950B813091F580918B0B90915D
:100DF0008C0BA0918D0BB0918E0B80930D0C90936A
:100E00000E0CA0930F0CB093100C8091870B909157
:100E1000880BA091890BB0918A0B8093110C909351
:100E2000120CA093130CB093140C80918F0B909123
:100E3000900BA091910BB091920B8093150C909315
:100E4000160CA093170CB093180C1092950B809170
:100E50004A0C813011F580912A0C90912B0CA091B5
:100E60002C0CB0912D0C8093190C90931A0CA0931C
:100E70001B0CB0931C0C80912E0C90912F0CA09108
:100E8000300CB091310C80931D0C90931E0CA093EC
:100E90001F0CB093200C10924A0C8091210C8111F0
:100EA000289A08951F920F920FB60F9211242F9334
:100EB0003F934F935F936F937F938F939F93AF93E2
:100EC000BF93CF93DF93EF93FF938091C6008093FE
:100ED00036088091C00040913608887109F024C11D
:100EE00080914908E82FFF27E930F10508F019C182
:100EF000E85CFF4F0C94CB48453B09F019C181E0F9
:100F000003C0423621F482E08093490811C1453B79
:100F100009F40EC106C1413009F003C183E0F4CFEA
:100F20004093240C4F5F40937C0980917C098F5F34
:100F30008093AB0A84E0809349088091240C883028
:100F400009F44AC0893030F48130F1F0833009F07F
:100F50006DC006C0813161F1823109F067C050C0B7
:100F60008CEA9AE09093D70A8093D60A2DEC3BE066
:100F700030937A092093790940969093970B809348
:100F8000960B8091BC0A4FC08EE99BE09093D70AE4
:100F90008093D60A27E53DE030937A0920937909BA
:100FA00044969093970B8093960B8091B20B3BC025
:100FB00088ED9AE09093D70A8093D60A21E93CE025
:100FC00030937A092093790944969093970B8093F4
:100FD000960B8091EC0A27C083E89BE09093D70A98
:100FE0008093D60A2CEE3CE030937A09209379095D
:100FF00042969093970B8093960B8091950B13C01C
:1010000086E29CE09093D70A8093D60A2FE731E1DD
:1010100030937A092093790984969093970B809363
:10102000960B80914A0C8093250C82C081E08093BE
:10103000250C1092970B1092960B7AC0842F99274B
:101040009093990B8093980B80917C09840F8093E7
:101050007C098091AB0A90917C09890F8093AB0A3F
:1010600085E052CF2091980B3091990B842F9927CE
:10107000982F8827280F391F3093990B2093980BAE
:1010800080917C09840F80937C098091AB0A9091B8
:101090007C09890F8093AB0A86E036CF80917C096A
:1010A000840F80937C098091AB0A90917C09890F11
:1010B0008093AB0A8091250C882381F4E091D60AB5
:1010C000F091D70A8091790990917A09E817F90788
:1010D00028F44193F093D70AE093D60A8091980BB5
:1010E0009091990B01979093990B8093980B809115
:1010F000980B9091990B892BD9F487E005CF8091BB
:101100007C09481771F488E0FFCE8091AB0A48173C
:1011100041F4E091960BF091970B309711F081E03C
:1011200080831092490804C0109249080E947906F1
:101130000E94790640914208463910F01092410809
:10114000809136088D3009F05CC080914108823072
:1011500009F057C010924108A42FBB27FD01E551AB
:10116000F54F3081ED01C451D54F2881809145085C
:1011700090914608831B9109821B91099F7090935F
:101180004608809345089C0196E0369527959A95E8
:10119000E1F7235C20934408982F9F73935C90930E
:1011A00043088081281729F48881981711F491E069
:1011B00006C0809139088F5F8093390890E0809154
:1011C0003708882309F064C0992309F461C081E0DD
:1011D0008093370840933A08A351B54F8DE08C9324
:1011E0008091EF0A823509F053C088E190E02CE04D
:1011F0000FB6F894A895809360000FBE209360000E
:1012000047C0809141088130D9F0813018F0823098
:10121000E9F530C080913608833239F4809137087F
:10122000882319F481E080934108809136088093E7
:10123000ED0A81E08093420880913608992715C015
:1012400082E080934108E42FFF2780913608E35124
:10125000F54F80834F5F409342082091360880917C
:10126000450890914608820F911D909346088093FF
:1012700045080EC0E42FFF2780913608E351F54F53
:101280008083463938F310924108E7CF1092410825
:10129000FF91EF91DF91CF91BF91AF919F918F918E
:1012A0007F916F915F914F913F912F910F900FBE62
:1012B0000F901F901895DC0120E030E040E050E0F6
:1012C000EDE7F9E005C08191280F311D4F5F5F4FB9
:1012D0004A175B07C1F73F70C90166E0969587958D
:1012E0006A95E1F7835CFD01E358F64F8083119620
:1012F0002F73235CFD01E358F64F2083A258B64FAD
:101300008DE08C931092010180917D098093C6003D
:101310000895EF92FF920F931F93CF93DF937A017B
:10132000722F93E290937D0960937E0980937F09E9
:1013300003E010E060E0A0E8B9E046C0F701E60F86
:10134000F11D90816F5F715019F4E0E040E00FC033
:10135000F701E60FF11D40816F5F715011F4E0E07D
:1013600006C0F701E60FF11DE0816F5F7150892F14
:1013700086958695835C8C935527892F9927837052
:10138000907024E0880F991F2A95E1F79A0194E064
:10139000369527959A95E1F7822B835CED01898339
:1013A0004F705070440F551F440F551F8E2F82955C
:1013B000869586958370842B835C8A83EF73E35CC8
:1013C000EB830C5F1F4F1496772309F0B7CFC8014A
:1013D0000E945B09E6E0CDB7DEB70C94BC481F93D2
:1013E000CF93DF93EC0170E0A22FBB27129748C088
:1013F000E42FFF27E351F54F30814F5FE42FFF27A4
:10140000E351F54F50814F5FE42FFF27E351F54F34
:1014100010814F5FE42FFF27E351F54F20814F5F8D
:10142000842F9927A817B90774F15D53FE01E70FC0
:10143000F11D3D53330F330F852F82958F70382B5D
:101440003083613001F1912F9D537F5FFE01E70FE3
:10145000F11D71505295507F892F86958695582B96
:10146000508363506F3F79F07E5FFE01E70FF11DFF
:101470009295990F990F907C2D53922B90837F5FBB
:10148000662309F0B5CFDF91CF911F9108951F9387
:10149000182F8A3019F48DE00E94470A8091C0000D
:1014A00085FFFCCF1093C60080E090E01F91089567
:1014B0000895E1ECF0E088E18083A0ECB0E08C914D
:1014C00082608C9380818068808380818064808347
:1014D0008AE28093C40088EC90E00E94550E9093BD
:1014E000AA0A8093A90A10924908089580910101DF
:1014F000882309F470C080913208882371F08091AC
:101500000101882351F02BE04DEB5AE060917B09FB
:1015100087E40E948909109232088091A90A90916B
:10152000AA0A0E945E0E882321F480913408882341
:10153000B1F080910101882391F022E443EB5BE05C
:1015400060917B0984E40E9489091092340884EF39
:1015500091E00E94550E9093AA0A8093A90A809167
:101560003308882331F180910101882311F10E9411
:101570000F141092330880914008982F9F5F90932A
:101580004008943059F42EE14DE75CE060E084E3DC
:101590000E9489098FEF809340080BC044E1949F1B
:1015A000A0011124455E5E4F24E160E08F5C0E9443
:1015B000890980913508882371F080910101882381
:1015C00051F02AE048EC5AE060917B0986E50E94E0
:1015D0008909109235080895A2E0B0E0E2EFFAE040
:1015E0000C94A34880913708882309F488C08FEFB2
:1015F000809302018091EF0A9927AA27BB27FC015B
:10160000E356F040E431F10508F077C0EF5BFF4F9F
:101610000C94CB4820913A0843E06BE08DEB9AE0C4
:101620000E94EF0981E08093340867C020913A0856
:1016300043E062E0CE0101960E94EF0980916F08BD
:101640009981892B80936F0881E08093330855C07E
:1016500020913A0843E064E08CE398E00E94EF09AF
:101660004CC081E08093350848C081E08093320807
:1016700044C020913A0843E062E0CE0101960E9406
:10168000EF0989818F3F89F0863010F085E08983EA
:101690004AE369EB7CE089810E943F0489812AE367
:1016A00049EB5CE060917B0908C010917B090E94C6
:1016B00018042AE349EB5CE0612F855B0E948909ED
:1016C0001CC020913A0843E06AE389EB9CE00E9449
:1016D000EF098091EF0A4AE369EB7CE08B560E94A8
:1016E00027048091EF0A8B56A2E0B0E0082E0E94FA
:1016F000D9480E9418040E94E22710923708E3E0BC
:10170000CE5F0C94BF48982F80914B0C813069F4C8
:1017100080916E08E82FFF27E55EFE4F90838F5F74
:1017200080936E0821E030E005C0892F0E94470AAF
:10173000282F3327C90108951F93182F04C080E371
:101740000E94830B11501116D4F31F9108951F931B
:10175000182F04C080E20E94830B11501116D4F39D
:101760001F9108950F931F93CF93DF938C01EB018B
:1017700008C0F8010F5F1F4FE4918E2F0E94830B6A
:1017800021972097B1F7DF91CF911F910F91089585
:101790000F931F93CF93DF938C01EB0106C0F801E9
:1017A00081918F010E94830B21972097C1F7DF91D0
:1017B000CF911F910F910895A3E3B0E0E2EEFBE01B
:1017C0000C94944829968FAD299780934B0CCE01A9
:1017D000855B9F4F9D838C832B968EAD9FAD2B9702
:1017E0009FA78EA722243324210102C013012401C4
:1017F0000EA51FA502C00F5F1F4FF801F490FF2038
:1018000019F0F5E2FF16B9F7B8018EA59FA5681B80
:10181000790B11F00E94B20BFF2009F442C20F5F56
:101820001F4F1FA70EA71982AC81BD811BAA1AAA40
:101830009FEF99ABEEA5FFA5CF0101969FA78EA7BD
:10184000B49095E7B91621F08B2D8062883789F422
:10185000EBA9E0FF07C02D903D904D905C90139751
:10186000149607C08D919C9111971C014424552416
:101870001296F0E2BF1621F489818823D9F685C03B
:1018800083E2B81609F483C09AE2B91621F0EDE2BA
:10189000BE1669F408C0FD011296E081EAABE7FFCD
:1018A000C9CFE195EAABFBA9F061FF7D72C08BE285
:1018B000B81609F46AC09EE2B916B1F52EA53FA587
:1018C0002F5F3F4FEEA5FFA584918A3221F0B82EFD
:1018D00020E030E01BC0FD0112964081518157FF8E
:1018E00002C04FEF5FEF49AB3FA72EA7A3CFC901BF
:1018F00003E0880F991F0A95E1F7220F331F280F85
:10190000391F2B0D311D20533040B49031968B2D53
:1019100080538A3060F3FFA7EEA7A90137FF02C00A
:101920004FEF5FEF49AB8DCFF0E3BF1631F48BA9DA
:1019300084FD80CF80628BAB7DCF8B2D815389302E
:10194000E8F420E030E0C901F3E0880F991FFA9530
:10195000E1F7220F331F280F391F2B0D311D2053A4
:101960003040EEA5FFA5CF0101969FA78EA7B490AA
:101970008B2D80538A3038F32AAB63CF98E6B916A3
:1019800051F4EBA9E460EBAB55CFB98253CFFBA97F
:10199000F860FBAB4FCF8CE6B81621F49BA99160A1
:1019A0009BAB48CFBD83AC83E3E6BE1639F41296F9
:1019B000BD83AC8312978C918E8318C1F4E4BF165B
:1019C00039F084E6B81639F099E6B91659F503C02E
:1019D000EBA9E160EBABFBA9F0FF08C01496BD8357
:1019E000AC835E904E903E902E900AC01296BD83BE
:1019F000AC839E918E911C01442437FC4094542C5E
:101A000057FC03C08AE088AB92C050944094309455
:101A10002094211C311C411C511C8DE289839AE0C9
:101A200098AB85C0EFE4BE1629F0FFE6BF1639F487
:101A300088E061C09BA991609BABE8E056C0F0E7ED
:101A4000BF1671F41296BD83AC839E918E911C01DA
:101A5000442455248BA980648BAB78E7B72E5EC0F5
:101A6000E3E7BE16D9F51296BD83AC83DE90CE9027
:101A7000C114D10489F488E28E838EE68F8385E7D2
:101A800088878CE689878A8789E28B871C8666E04F
:101A9000C62ED12CCC0EDD1EF9A9F7FD13C04F2F99
:101AA000552747FD509560E070E0C6010E949046C2
:101AB000009711F419A90DC08C1919A981174CF4BC
:101AC000182F07C0F60101900020E9F731971E2F6B
:101AD0001C1919824201310140E094C085E5B81615
:101AE00031F095E7B91649F4EAE0E8AB1FC0FBA96D
:101AF000F160FBAB8AE088AB19C098E5B91621F01C
:101B0000E8E7BE1609F06EC0FBA9F3FD02C080E154
:101B1000F2CF211431044104510419F490E198AB3F
:101B200005C0EBA9E064EBABF0E1F8AB198289A941
:101B300087FD03C09BA99F7D9BAB21143104410409
:101B4000510461F4E9A9EE2349F4662477244301A2
:101B50005EE2C52ED12CCC0EDD1E3EC04EE2C42E60
:101B6000D12CCC0EDD1EF8A9EF2EFF240027112763
:101B7000C201B101A80197010E9457486A3020F4C0
:101B800030E3A32EA60E08C027E5A22EA60E88E5F8
:101B9000B81611F49FEDA922F601A2926F01C201BD
:101BA000B101A80197010E94574839014A012E143A
:101BB0003F044006510618F019012A01D9CFF8A9AF
:101BC000F83051F48BA983FF07C090E3A91621F0E8
:101BD00080E3F60182936F01CE018C19182F125DFC
:101BE00049A910C0BB2009F45CC0BE821982420121
:101BF000310100E096E0C92ED12CCC0EDD1E11E0A3
:101C000021E005C0212F042F011B07FD00E0898181
:101C1000882319F0812F8F5F07C09BA996FD02C012
:101C2000812F02C0822F8E5FA82EA00EEBA9EE2E70
:101C3000FF2480E3482E512C4E205F204114510494
:101C400021F48AA98A190E94A70B8981882329F087
:101C500061E070E0CE01019609C0E6FE09C080E3B4
:101C60008A83BB8262E070E0CE0102960E94C80BBC
:101C7000F0E24F16510421F48AA98A190E949C0BA4
:101C8000802F0E949C0B612F772767FD7095C601FE
:101C90000E94C80BE4FEAACD8AA98A190E94A70B4C
:101CA000A5CDE2E1CD5C0C94B04820914A0830917A
:101CB0004B082F5F3F4F820F931F089520914A08D2
:101CC00030914B08821B930B892F9927869580743E
:101CD000992708951F920F920FB60F921124EF9239
:101CE000FF920F931F932F933F934F935F936F93A5
:101CF0007F938F939F93AF93BF93CF93DF93EF9394
:101D0000FF93809107018150809307018F3F09F075
:101D10006DC083E88093B00080918F01C82FDD27CC
:101D2000D0935008C0934F088091E20CE090DB0CF8
:101D300080FF1EC0609188087091890880918A0890
:101D400090918B08FF240027112720E830E040E025
:101D500050E00E947948C801B7010E94054820E080
:101D600032E040E050E00E947948C20FD31F1DC00E
:101D7000609188087091890880918A0890918B08F9
:101D8000FF240027112720E830E040E050E00E94C7
:101D90007948C801B7010E94054820E032E040E0E0
:101DA00050E00E947948C21BD30BD0935008C093D7
:101DB0004F0820914F08309150088091DC0C9927F2
:101DC0002817390734F08091DD0C99278217930783
:101DD00024F49093500880934F0880914F0880938B
:101DE000B3008091DE0C8093070104C083E08093F0
:101DF000B0005F98FF91EF91DF91CF91BF91AF91CC
:101E00009F918F917F916F915F914F913F912F9112
:101E10001F910F91FF90EF900F900FBE0F901F90AA
:101E200018951F920F920FB60F9211242F933F9384
:101E30004F935F936F937F938F939F93AF93BF93D2
:101E4000EF93FF93809151088150809351088F3F09
:101E5000B9F489E080935108809108018F5F817007
:101E600080930801882319F481E080934C088091C5
:101E70004A0890914B08019690934B0880934A082A
:101E800080914D0890914E080297C0F080914D08C6
:101E900090914E08019790934E0880934D085A9A5E
:101EA00080914D0890914E082091050130910601D6
:101EB00082239323892B09F063C055C08FEF9FEFD6
:101EC00090930601809305015A988091C10C83FF7D
:101ED0004AC00E94C11980910301909104010197A9
:101EE0009093040180930301809103019091040178
:101EF0008F5F9F4FC1F50E94DD181816190654F424
:101F00000E94DD1828E631E0281B390B3093B90810
:101F10002093B8080E94DD1897FF09C00E94DD18C1
:101F2000909581959F4F9093B9088093B8088091C0
:101F3000B8089091B9082091BA083091BB08821B6B
:101F4000930B845E9D4F68E671E00E944448845B79
:101F500090409093BD088093BC0880E293E09093FA
:101F6000040180930301809100018A3039F404C098
:101F70005A9A0BC0479A09C05A9807C0479805C09B
:101F8000809100018A30B1F7F3CFFF91EF91BF91BB
:101F9000AF919F918F917F916F915F914F913F9101
:101FA0002F910F900FBE0F901F90189580914A08A7
:101FB00090914B080B96909353088093520882E0BF
:101FC00085BD83EA84BD17BC88E788BD83EC809318
:101FD000B00086E08093B100E0E7F0E080818260AD
:101FE0008083EEE6F0E08081816080838AE08093E8
:101FF000B3001092B200089520914A0830914B0826
:102000002F5F3F4F280F391F80914A0890914B084E
:10201000A901481B590B57FFF7CF089510927C0078
:102020008FEE80937A0008951F920F920FB60F9251
:102030001124EF92FF920F931F932F933F934F938F
:102040005F936F937F938F939F93AF93BF93CF9340
:10205000DF93EF93FF9310927A0080916A088F5F6D
:1020600080936A088150E82FFF27E830F10508F0D7
:1020700067C3EB5AFF4F0C94CB4820917C083091FA
:102080007D088091780090917900281B390B809110
:1020900000018A3011F0220F331F8091580890916F
:1020A0005908820F931F9093590880935808809184
:1020B00062088F5F809362088091AC089091AD08B0
:1020C000A091AE08B091AF08442737FD4095542F3A
:1020D000820F931FA41FB51F8093AC089093AD0887
:1020E000A093AE08B093AF088091B0089091B1086A
:1020F000A091B208B091B308820F931FA41FB51F1F
:102100008093B0089093B108A093B208B093B3083D
:1021100081E080936B08809168089091690801962E
:1021200090936908809368080FC36091780070915C
:10213000790080917A0890917B08681B790B8091D7
:1021400000018A3011F0660F771F8091A4089091EA
:10215000A508A091A608B091A7089B01442737FDC8
:102160004095542F820F931FA41FB51F8093A4087E
:102170009093A508A093A608B093A7088091A808FB
:102180009091A908A091AA08B091AB08820F931F63
:10219000A41FB51F8093A8089093A908A093AA082C
:1021A000B093AB088091A4089091A508A091A608CF
:1021B000B091A708815F9A4BA440B04064F080E3DF
:1021C00093E9ABEFBFEF8093A4089093A508A09389
:1021D000A608B093A7088091A4089091A508A091A3
:1021E000A608B091A70880519544AB4FBF4F64F447
:1021F00080ED9CE6A4E0B0E08093A4089093A5084D
:10220000A093A608B093A7088091780090917900D8
:102210000F9710F468E17CEF80917800909179003D
:10222000079710F460E378EF80917800909179003F
:10223000835F934010F068EE73E080917800909196
:1022400079008A5F934010F060ED77E08091560846
:1022500090915708860F971F9093570880935608C0
:10226000809161088F5F8093610882E0A1C06091D6
:102270007800709179008091780890917908681BB6
:10228000790B809100018A3011F0660F771F8091E1
:102290009C0890919D08A0919E08B0919F089B0179
:1022A000442737FD4095542F820F931FA41FB51F5D
:1022B00080939C0890939D08A0939E08B0939F08DC
:1022C0008091A0089091A108A091A208B091A308C4
:1022D000820F931FA41FB51F8093A0089093A1089D
:1022E000A093A208B093A30880919C0890919D08A8
:1022F000A0919E08B0919F08815F9A4BA440B04086
:1023000064F080E393E9ABEFBFEF80939C08909378
:102310009D08A0939E08B0939F0880919C0890917F
:102320009D08A0919E08B0919F0880519544AB4FA5
:10233000BF4F64F480ED9CE6A4E0B0E080939C087D
:1023400090939D08A0939E08B0939F088091780079
:10235000909179000F9710F468E17CEF80917800FC
:1023600090917900079710F460E378EF80917800FE
:1023700090917900835F934010F068EE73E0809154
:102380007800909179008A5F934010F060ED77E0DB
:102390008091540890915508860F971F9093550887
:1023A00080935408809160088F5F8093600884E078
:1023B00080936B08C9C14091090150910A01809135
:1023C0007800909179009A01220F331F240F351F56
:1023D00063E070E00E943048260F371F369527953E
:1023E0003695279530930A012093090186E0E0CFC6
:1023F0008091800890918108209178003091790037
:10240000821B930B90934D0C80934C0C80915A0837
:1024100090915B0820914C0C30914D0C820F931FD2
:1024200090935B0880935A08809164088F5F809333
:10243000640887E0BDCF8091780090917900209169
:102440007E0830917F08821B930B9093580C8093E9
:10245000570C80915C0890915D082091570C309149
:10246000580C820F931F90935D0880935C088091B5
:1024700063088F5F8093630885E080936B0886E034
:10248000E4C06091780070917900E0908208F0904B
:1024900083080091840810918508882777FD80952E
:1024A000982F0E944347A80197010E949D460E94D1
:1024B000264770935F0860935E0820915E08309114
:1024C0005F08E0914C0CF0914D0C8091570C90916D
:1024D000580C97FF03C0909581959F4F64E070E082
:1024E0000E944448EB01CF01F7FF03C0909581950E
:1024F0009F4F64E070E00E944448260F371F2C0F66
:102500003D1F30935F0820935E0880915E08909194
:102510005F08029704F160918208709183088091AE
:1025200084089091850820E030E048E454E40E945B
:102530004D4788230CF03CC060918208709183085D
:1025400080918408909185082AE037ED43EA5CE3A6
:102550000E949E4625C080915E0890915F088F5F23
:102560009F4F34F5609182087091830880918408B0
:102570009091850820E030E046E154E40E94504705
:102580001816B4F4609182087091830880918408D1
:10259000909185082AE037ED43EA5CE30E949D466E
:1025A00060938208709383088093840890938508D1
:1025B00081E08093650880917800909179009093F4
:1025C0004F0C80934E0C2091B4083091B508409187
:1025D000B6085091B70880915E0890915F08AA27CD
:1025E00097FDA095BA2F280F391F4A1F5B1F209314
:1025F000B4083093B5084093B6085093B708E090FC
:10260000B408F090B5080091B6081091B708609131
:10261000B4087091B5088091B6089091B70820E091
:1026200034E040E050E00E947948E21AF30A040BDB
:10263000150BE092B408F092B5080093B608109319
:10264000B70883E080936B0887E080936A087CC0BA
:1026500080915C0C90915D0C209178003091790014
:10266000820F931F90935D0C80935C0C8091540CAF
:102670008F5F8093540C8091540C853008F460C0B7
:1026800080917800909179009093100180930F01D0
:102690001092540C8091500C9091510C20915C0C34
:1026A00030915D0C821B930B2091DC083091DD088A
:1026B000821B930B909367088093660860915C0C73
:1026C00070915D0CE0900B01F0900C0100910D01F8
:1026D00010910E01882777FD8095982FA80197010A
:1026E000220F331F441F551F2E0D3F1D401F511F2A
:1026F000620F731F841F951F24E030E040E050E01C
:102700000E94794820930B0130930C0140930D01F6
:1027100050930E012091500C3091510C80910B017F
:1027200090910C01A0910D01B0910E01281B390B65
:102730003093DD082093DC0810925D0C10925C0C45
:1027400010926B0810926A0880916B0880937C004D
:102750008FEE80937A00FF91EF91DF91CF91BF913F
:10276000AF919F918F917F916F915F914F913F9129
:102770002F911F910F91FF90EF900F900FBE0F9030
:102780001F901895CF93DF93A3E0B0E00E94D1484B
:10279000802DC82FDD27C531D10508F02A97C7BD88
:1027A00084E690E00E94FC0F80910F01909110014F
:1027B00082559340D0F4C0E0D0E017C0C7BD82E39B
:1027C00090E00E94FC0F8CED91E09F938F931F92FD
:1027D0000E94DC0B80910F01909110010F900F90DF
:1027E0000F908458934020F02196CA3FD10530F3D2
:1027F000A3E0B0E00C2E0E94D948C093590C8CE2A3
:1028000091E00E94FC0FDF91CF910895EBE1F1E0A0
:1028100080E2819391E0EB36F907D9F70895FF92B2
:102820000F931F9380916F08282F3327C901817060
:102830009070682F882391F080917008882311F0A0
:10284000815002C080916B0180937008EBE1F1E050
:1028500080E2819391E0EB36F907D9F7A901427044
:10286000507021FF0DC0809170088F5F80937008B9
:10287000EBE1F1E080E2819391E0EB36F907D9F7E3
:10288000662321F0452B11F01092700881E18093AE
:102890006E088091700899279F938F9389EA94E03E
:1028A0009F938F9381E08F930E94DC0B809170083F
:1028B0000F900F900F900F900F90E82FFF27EC30A4
:1028C000F10508F0BFC3E35AFF4F0C94CB481092B8
:1028D0006E0887E994E09F938F9311E01F930E9405
:1028E000DC0B84E180936E082091000180E490E08D
:1028F0009F938F931F921F92822F6AE00E94244819
:10290000892F99279F938F93822F0E94244899277C
:102910009F938F9384E894E09F938F931F930E94DB
:10292000DC0B88E280936E080E94180499279F931D
:102930008F9387E794E09F938F931F930E94DC0B04
:102940008CE380936E0887E694E09F938F931F93A8
:102950000E94DC0BB3C08091C10C80FF44C0109278
:102960006E088091DC089091DD089F938F9388E535
:1029700094E09F938F9311E01F930E94DC0B84E1FE
:1029800080936E088091DE089091DF089F938F936B
:1029900089E494E09F938F931F930E94DC0B88E25D
:1029A00080936E0880910F01909110019F938F93F7
:1029B0008AE394E09F938F931F930E94DC0B8CE338
:1029C00080936E088091590C99279F938F938BE287
:1029D00094E09F938F931F930E94DC0B8DB79EB75B
:1029E00044968DBF34C384E180936E0884E294E002
:1029F0009F938F9311E01F930E94DC0B88E28093DA
:102A00006E0886E194E09F938F931F930E94DC0BE6
:102A10008DB79EB70696E5CF10926E088CE094E0D5
:102A20009F938F9311E01F930E94DC0B84E18093AE
:102A30006E08609188087091890880918A08909149
:102A40008B0820E034E040E050E00E9479485F933A
:102A50004F933F932F938DEF93E09F938F931F930B
:102A60000E94DC0B88E280936E0860919008709160
:102A70009108809192089091930820E034E040E022
:102A800050E00E9479485F934F933F932F938EEECF
:102A900093E09F938F931F930E94DC0B8CE38093B2
:102AA0006E088091B8089091B9089F938F938FED2D
:102AB00093E09F938F931F930E94DC0B8DB79EB77B
:102AC00046968FCF10926E088091810C9091820C67
:102AD00020917F0C3091800C9F938F933F932F9385
:102AE0008FEC93E09F938F9311E01F930E94DC0B78
:102AF00084E180936E088091850C9091860C2091E2
:102B0000830C3091840C9F938F933F932F938FEB83
:102B100093E09F938F931F930E94DC0B88E2809336
:102B20006E088091890C90918A0C2091870C3091CD
:102B3000880C9F938F933F932F938FEA93E09F93FB
:102B40008F931F930E94DC0B8CE380936E0880911F
:102B50008D0C90918E0C20918B0C30918C0C9F934E
:102B60008F933F932F938FE993E0E4C110926E0807
:102B7000E091BA0CFF27EE0FFF1FE358F34F2081BF
:102B80003181E091B90CFF27EE0FFF1FE358F34F9F
:102B9000808191813F932F939F938F938FE893E050
:102BA0009F938F9311E01F930E94DC0B84E180932D
:102BB0006E08E091BC0CFF27EE0FFF1FE358F34FA8
:102BC00020813181E091BB0CFF27EE0FFF1FE358FE
:102BD000F34F808191813F932F939F938F938FE742
:102BE00093E09F938F931F930E94DC0B88E2809366
:102BF0006E08E091BE0CFF27EE0FFF1FE358F34F66
:102C000020813181E091BD0CFF27EE0FFF1FE358BB
:102C1000F34F808191813F932F939F938F938FE602
:102C200093E09F938F931F930E94DC0B8CE3809320
:102C30006E08E091C00CFF27EE0FFF1FE358F34F23
:102C400020813181E091BF0CFF27EE0FFF1FE35879
:102C5000F34F808191813F932F939F938F938FE5C3
:102C600093E068C110926E0881E593E09F938F9383
:102C700011E01F930E94DC0B84E180936E08209189
:102C800078083091790880915408909155086091A6
:102C900060083F932F9377270E9444487F936F9358
:102CA00082E493E09F938F931F930E94DC0B88E252
:102CB00080936E0820917A0830917B0880915608A5
:102CC00090915708609161083F932F9377270E9456
:102CD00044487F936F9383E393E09F938F931F9375
:102CE0000E94DC0B8CE380936E0820917C0830916D
:102CF0007D088091580890915908609162083F932F
:102D00002F9377270E9444487F936F9384E293E048
:102D10009F938F931F935BC010926E0887E193E09F
:102D20009F938F9381E0F82EFF920E94DC0B84E149
:102D300080936E0820917E0830917F0880915C0816
:102D400090915D08609163083F932F9377270E94CD
:102D500044487F936F9388E093E09F938F93FF9213
:102D60000E94DC0B88E280936E08209180083091ED
:102D7000810880915A0890915B08609164083F93A4
:102D80002F9377270E9444487F936F9389EF92E0B7
:102D90009F938F93FF920E94DC0B8CE380936E08CD
:102DA00060918208709183088091840890918508D1
:102DB00000914E0C10914F0C0E9426477F936F9309
:102DC0001F930F938AEE92E09F938F93FF920E943E
:102DD000DC0B8DB79EB7489604CE84E180936E08D5
:102DE0008091090190910A019F938F938BED92E05E
:102DF0009F938F9311E01F930E94DC0B88E28093D6
:102E00006E088091D40899279F938F938CEC92E061
:102E10009F938F931F930E94DC0B8DB79EB70A96EA
:102E2000E0CD10926E088DEB92E09F938F9311E0AE
:102E30001F930E94DC0B84E180936E088091BC0894
:102E40009091BD089F938F938EEA92E09F938F930A
:102E50001F930E94DC0B88E280936E088091B80873
:102E60009091B9089F938F938FE992E09F938F93EE
:102E70001F930E94DC0B8CE380936E088091BA084C
:102E80009091BB089F938F9380E992E0D2C01092FB
:102E90006E088091CC089091CD089F938F9380917C
:102EA000C4089091C5089F938F938EE792E09F93FB
:102EB0008F9311E01F930E94DC0B84E180936E08D6
:102EC0008091CE089091CF089F938F938091C608F0
:102ED0009091C7089F938F938CE692E09F938F9376
:102EE0001F930E94DC0B88E280936E088091D008CB
:102EF0009091D1089F938F938091C8089091C908B1
:102F00009F938F938AE592E09F938F931F930E94E4
:102F1000DC0B8CE380936E088091D2089091D308EB
:102F20009F938F938091CA089091CB089F938F9322
:102F300088E492E09F938F931F930E94DC0B8DB7E0
:102F40009EB74C964ECD10926E0880E492E09F930F
:102F50008F9311E01F930E94DC0B84E180936E0835
:102F600080918F0199279F938F9382E392E09F93A3
:102F70008F931F930E94DC0B88E280936E088091F0
:102F80004F08909150089F938F9384E292E09F9313
:102F90008F931F930E94DC0B8CE380936E088091CB
:102FA000DD0C99279F938F938091DC0C99279F9339
:102FB0008F9386E192E09F938F931F930E94DC0B87
:102FC0000DCD10926E088BE092E09F938F9311E0ED
:102FD0001F930E94DC0B84E180936E0880915F0C4C
:102FE000992787FD90959F938F938CEF91E09F9306
:102FF0008F931F930E94DC0B88E280936E08809170
:10300000600C992787FD90959F938F938DEE91E0AB
:103010009F938F931F930E94DC0B8CE380936E0829
:1030200080915E0C992787FD90959F938F938EEDED
:1030300091E09F938F931F930E94DC0B8DB79EB7F7
:103040004296CFCC815080936B0110927008109201
:103050006F081F910F91FF9008951F920F920FB666
:103060000F9211242F933F934F938F939F938091AF
:10307000610C843021F0883009F095C025C0809122
:10308000640C803149F48EB59927982F8827909346
:10309000660C8093650C13C0803249F48EB5992775
:1030A000982F882790936A0C8093690C08C08EB57E
:1030B0009927982F882790936E0C80936D0C1EBCD7
:1030C00088E08093610C6FC08091640C803111F5B1
:1030D0008EB5282F33278091650C9091660C282B94
:1030E000392B3093660C2093650CC9018D509E4F8F
:1030F000875E934028F43093680C2093670C08C0D7
:103100008091670C9091680C9093660C8093650C8D
:1031100080E245C0803211F58EB5282F332780918B
:10312000690C90916A0C282B392B30936A0C2093F0
:10313000690CC9018D509E4F875E934028F43093EF
:103140006C0C20936B0C08C080916B0C90916C0CF4
:1031500090936A0C8093690C80E421C08EB5282F6F
:10316000332780916D0C90916E0C282B392B309366
:103170006E0C20936D0CC9018D509E4F875E93405D
:1031800028F43093700C20936F0C08C080916F0C62
:103190009091700C90936E0C80936D0C80E18093F5
:1031A000640C1092610C9F918F914F913F912F91E0
:1031B0000F900FBE0F901F901895A0E1B0E0E3EEC6
:1031C000F8E10C9494486091880870918908809186
:1031D0008A0890918B08E090D90CFF2453E0EE0C04
:1031E000FF1C5A95E1F70027F7FC0095102FA80166
:1031F00097010E94794859016A013093720C20931B
:10320000710C609190087091910880919208909152
:103210009308A80197010E9479483093740C209379
:10322000730CC5010E94671B69877A878B879C870F
:103230008091710C9091720C0E94CB1B5B016C0110
:103240008091730C9091740C0E94671B6D837E8338
:103250008F8398878091730C9091740C0E94CB1B84
:1032600069837A838B839C832091600C332727FDAD
:1032700030956091690C70916A0C621B730B882702
:1032800077FD8095982F0E9443471B012C012091C8
:103290005E0C332727FD309560916D0C70916E0C9C
:1032A000621B730B882777FD8095982F0E944347F8
:1032B0003B014C01A201910169817A818B819C8142
:1032C0000E94BD477B018C01A40193016D817E8129
:1032D0008F8198850E94BD479B01AC01C801B70151
:1032E0000E949E460E9426476D877E878F87988B17
:1032F00020915F0C332727FD30956091650C70910C
:10330000660C621B730B882777FD8095982F0E94AF
:1033100043479B01AC01C601B5010E94BD475B015B
:103320006C01A20191016D817E818F8198850E943F
:10333000BD477B018C01A401930169817A818B8156
:103340009C810E94BD479B01AC01C801B7010E944E
:103350009D4629853A854B855C850E94BD479B012A
:10336000AC01C601B5010E949D460E942647DC01C2
:10337000CB016D857E850E94AB1AE2E1C05F0C94A3
:10338000B0488091610C813041F0813018F082307A
:1033900059F51EC02A9A81E018C02A988091640CC1
:1033A000803111F481E307C0803211F482E303C05D
:1033B000803411F483E38EBD88E090E00E94550EC6
:1033C0009093630C8093620C82E08093610C08956B
:1033D0008091620C9091630C0E945E0E882321F014
:1033E0001EBC84E08093610C089583ED8CBD84B194
:1033F000846A84B95B9880E18093640C1092610CBC
:10340000A5EFB1E00E94D148802D80935F0CA6EF1C
:10341000B1E00E94D148802D8093600CA7EFB1E00D
:103420000E94D148802D80935E0C0895A0E0B0E00A
:10343000ECE1FAE10C94964866247724EE24FF240C
:1034400000E010E0AA24BB24CC24DD2488249924A5
:10345000E2E34E2E55248091650C9091660C08177E
:10346000190714F48C0104C08E159F050CF47C011F
:103470008091690C90916A0CC816D90614F46C01FD
:1034800004C08A159B050CF45C0180916D0C909131
:103490006E0C6816790614F43C0104C08815990571
:1034A0000CF44C01552041F482E390E090934E08D7
:1034B00080934D0872E3572E8AE090E00E94550EEB
:1034C000EC01CE010E945E0E8823D9F3E091BB0C83
:1034D000FF27EE0FFF1FE358F34F80819181843661
:1034E00091050CF44A94442011F05A94B4CFC801C9
:1034F0008E0D9F1D62E070E00E9444489B01609326
:103500005F0CC6018A0D9B1D62E070E00E9444487A
:103510006093600CC301880D991D62E070E00E9409
:10352000444860935E0CA5EFB1E0022E0E94D9489A
:103530008091600CA6EFB1E0082E0E94D9488091DE
:103540005E0CA7EFB1E0082E0E94D948E0E1CDB7AC
:10355000DEB70C94B248A0E0B0E0E1EBFAE10C94E5
:103560009D48EC016B01892B29F4672B19F480E04D
:1035700090E09EC0D7FC03C091E0B92E02C08FEF4F
:10358000B82E209731F48AE52B2D2802C001112492
:103590008FC0B601882777FD8095982F0E944347FA
:1035A0007B018C01BE01882777FD8095982F0E94B2
:1035B00043479B01AC01C801B7010E94E04620E0EF
:1035C00030E048E452E40E94BD470E942647FB01D8
:1035D00077FF03C0F095E195FF4F31E0EE30F30740
:1035E00034F4E255FB4F8491682F772747C086E17A
:1035F000E737F8071CF06AE570E040C027E0E637DF
:10360000F2071CF069E570E039C034E0EE37F307EB
:103610001CF068E570E032C083E0E433F8071CF08A
:1036200067E570E02BC022E0E038F2071CF066E5A9
:1036300070E024C032E0E830F3071CF065E570E08C
:103640001DC081E0E83BF8071CF064E570E016C09F
:1036500021E0EC37F2071CF063E570E00FC031E0C9
:10366000EF34F3071CF062E570E008C0EB52F14064
:103670001CF061E570E002C060E570E01C161D06FC
:103680006CF48B2D992787FD90959C01629FC0015A
:10369000639F900D729F900D11240AC0D7FC05C046
:1036A00084EB90E0861B970B03C0CB01845B9040BA
:1036B000E9E0CDB7DEB70C94B948FC01259134910F
:1036C000FC01329645915491CA01B9010895A0E0D8
:1036D000B0E0EDE6FBE10C949E489C0197FD04C030
:1036E00061E0C62ED12C06C0309521953F4F5FEF8B
:1036F000C52ED52EC9018B5590408A35910530F4E1
:1037000084EB90E0821B930B9C010FC0C901855B89
:1037100090408A35910518F4245B30400EC0C901F1
:103720008F5091408A35910518F0C1E0D0E007C074
:1037300088E691E0821B930B9C01CFEFDFEF220F15
:10374000331F220F331FC90184549A4F0E945D1BFF
:103750007B018C01B601882777FD8095982F0E9408
:1037600043479B01AC01C801B7010E94BD477B01E3
:103770008C01BE01882777FD8095982F0E944347D2
:103780009B01AC01C801B7010E94BD47E8E0CDB77D
:10379000DEB70C94BA482AE530E0281B390BC90182
:1037A0000E94671B0895FC0197FD02C091E004C0D0
:1037B000F095E195FF4F9FEFE85DF84F8491989F5A
:1037C000802D1124992787FD909508951092B900B6
:1037D0008AE28093B800089585EA8093BC0080E077
:1037E00090E0089584E98093BC0008951092B90098
:1037F0008093BB0085E88093BC0080E090E0089552
:103800001F920F920FB60F9211248F939F93EF93F5
:10381000FF93809171088F5F809371088150E82F2A
:10382000FF27E830F10508F064C0E759FF4F0C941A
:10383000CB4880917208880F8E5A09C08091720817
:103840008F5F80937208815027C080916109109228
:10385000B9008093BB0085E88093BC004AC084E92E
:103860008093BC0080917208843018F41092710823
:1038700002C01092720885EAEFCF80917308880F1A
:103880008D5AE5CF8091BB00E0917308FF27EB587C
:10389000F34F808380917308813039F08130A8F232
:1038A000823031F0833029F506C080916209CFCF94
:1038B00080916709CCCF80916D09C9CF8091730841
:1038C0009091BB00E82FFF27EB58F34F94838F5F55
:1038D00080937308843010F01092730884E9809309
:1038E000BC008AE090E090937D0180937C0110926F
:1038F00071088091BC0080688093BC00FF91EF91BB
:103900009F918F910F900FBE0F901F9018954CEBC9
:1039100050E084E9DA018C93109271082BEB30E0CF
:10392000F90180811092720880E88C931092BD009A
:103930001092BA001082E9EBF0E01082A8EBB0E040
:103940001C9210828AE28C9385EADA018C931082B1
:10395000F901108285E88C93089583EC80938100AF
:10396000EFE6F0E080818062808310927D08109203
:103970007C0810927B0810927A08109279081092B5
:10398000780808951F920F920FB60F9211240F938B
:103990001F932F933F934F935F936F937F938F93D7
:1039A0009F93AF93BF93CF93DF93EF93FF932091B8
:1039B0008600309187008091760890917708281BC7
:1039C000390B8091860090918700909377088093BF
:1039D0007608C9018D5D95408356994148F481E090
:1039E00090E0909375088093740810926C0167C002
:1039F000C0917408D0917508CE30D1050CF05FC02D
:103A0000C9018B5F9040845B914008F040C0A901E0
:103A1000425D5140FE01EE0FFF1FE358F34F8081DE
:103A20009181FA01E81BF90BCF01F7FF03C09095D4
:103A300081959F4F06974CF48091D408883C28F4D8
:103A40008091D408865F8093D408FE01EE0FFF1F9B
:103A50008F010358134FD8012D913C91C901880F54
:103A6000991F820F931F840F951F64E070E00E94DE
:103A70004448D8018D919C9111979B01281B390BCB
:103A8000E556F34F3183208311967C936E93FE01AC
:103A90003196F0937508E0937408E530F10519F458
:103AA0005D9A5C980BC05D98E630F10511F45C9A64
:103AB00005C05C98379711F45B9A01C05B98FF9141
:103AC000EF91DF91CF91BF91AF919F918F917F91B6
:103AD0006F915F914F913F912F911F910F910F9097
:103AE0000FBE0F901F901895AF92BF92CF92DF92AA
:103AF000EF92FF920F931F9310927A0080916008CB
:103B0000882369F08091540890915508609160086D
:103B100077270E9444487093F60C6093F50C8091CF
:103B20006108882369F08091560890915708609148
:103B3000610877270E9444487093F40C6093F30C5B
:103B400080916208882369F0809158089091590803
:103B50006091620877270E9444487093020D609339
:103B6000010D809163088823D9F1E090FE0CF0905C
:103B7000FF0C60915C0870915D082091630800273C
:103B8000F7FC0095102F5701680183E0AA0CBB1CBD
:103B9000CC1CDD1C8A95D1F7AE18BF08C00AD10A2B
:103BA000882777FD8095982FB4E0660F771F881FD0
:103BB000991FBA95D1F73327442755270E94794892
:103BC000A20EB31EC41ED51EC601B50128E030E00A
:103BD00040E050E00E9479483093FF0C2093FE0CA7
:103BE000809164088823D9F1E090070DF090080DCA
:103BF00060915A0870915B08209164080027F7FCD7
:103C00000095102F57016801A3E0AA0CBB1CCC1C27
:103C1000DD1CAA95D1F7AE18BF08C00AD10A8827C3
:103C200077FD8095982FF4E0660F771F881F991F06
:103C3000FA95D1F73327442755270E947948A20ED9
:103C4000B31EC41ED51EC601B50128E030E040E019
:103C500050E00E9479483093080D2093070D809121
:103C600065088823A1F1E090F80CF090F90C6091C0
:103C70005E0870915F08209165080027F7FC0095A9
:103C8000102F57016801E3E0AA0CBB1CCC1CDD1C03
:103C9000EA95D1F7AE18BF08C00AD10A882777FD88
:103CA0008095982F3327442755270E947948A20EE4
:103CB000B31EC41ED51EC601B50128E030E040E0A9
:103CC00050E00E9479483093F90C2093F80C109240
:103CD00055081092540810926008109257081092DC
:103CE00056081092610810925908109258081092C4
:103CF000620810925B0810925A08109264081092A1
:103D00005D0810925C081092630810925F08109290
:103D10005E08109265088091AC089091AD08A09162
:103D2000AE08B091AF088093980890939908A0933B
:103D30009A08B0939B0880919C0890919D08A0914F
:103D40009E08B0919F088093880890938908A0935B
:103D50008A08B0938B088091A4089091A508A0913F
:103D6000A608B091A7088093900890939108A0931B
:103D70009208B09393088091A0089091A108A09117
:103D8000A208B091A30880938C0890938D08A0930B
:103D90008E08B0938F088091A8089091A908A091EF
:103DA000AA08B091AB088093940890939508A093CB
:103DB0009608B09397088FEE80937A002091C408FC
:103DC0003091C5088091BD0CE82FFF27EE0FFF1F33
:103DD000E358F34F8081918182599F4F281739070B
:103DE0001CF42F5F3F4F0CC08081918182599F4FFF
:103DF000821793074CF42115310531F021503040E2
:103E00003093C5082093C4082091C6083091C70894
:103E10008091BE0CE82FFF27EE0FFF1FE358F34FF2
:103E20008081918182599F4F281739071CF42F5F99
:103E30003F4F0CC08081918182599F4F8217930719
:103E40004CF42115310531F0215030403093C70832
:103E50002093C6082091C8083091C9088091BF0CF2
:103E6000E82FFF27EE0FFF1FE358F34F808191816A
:103E700082599F4F281739071CF42F5F3F4F0CC002
:103E80008081918182599F4F821793074CF42115AD
:103E9000310531F0215030403093C9082093C808D3
:103EA0002091CA083091CB088091C00CE82FFF27E1
:103EB000EE0FFF1FE358F34F8081918182599F4F8E
:103EC000281739071CF42F5F3F4F0CC08081918168
:103ED00082599F4F821793074CF42115310531F019
:103EE000215030403093CB082093CA082091CC0851
:103EF0003091CD0880918F0C9091900C82599F4FFA
:103F0000281739071CF42F5F3F4F0EC080918F0C8C
:103F10009091900C82599F4F821793074CF4211572
:103F2000310531F0215030403093CD082093CC083A
:103F30002091CE083091CF088091910C9091920CF5
:103F400082599F4F281739071CF42F5F3F4F0EC02F
:103F50008091910C9091920C82599F4F82179307F8
:103F60004CF42115310531F0215030403093CF0809
:103F70002093CE082091D0083091D1088091930CE5
:103F80009091940C82599F4F281739071CF42F5F8A
:103F90003F4F0EC08091930C9091940C82599F4F8B
:103FA000821793074CF42115310531F02150304030
:103FB0003093D1082093D0082091D2083091D308B3
:103FC0008091950C9091960C82599F4F2817390734
:103FD0001CF42F5F3F4F0EC08091950C9091960C72
:103FE00082599F4F821793074CF42115310531F008
:103FF000215030403093D3082093D2088091C408D8
:104000009091C50897FF05C01092C5081092C4088A
:104010000AC08F3F910539F034F08FEF90E0909314
:10402000C5088093C4088091C6089091C70897FF7F
:1040300005C01092C7081092C6080AC08F3F9105AC
:1040400039F034F08FEF90E09093C7088093C60862
:104050008091C8089091C90897FF05C01092C908BF
:104060001092C8080AC08F3F910539F034F08FEFE5
:1040700090E09093C9088093C8088091CA089091F5
:10408000CB0897FF05C01092CB081092CA080AC04F
:104090008F3F910539F034F08FEF90E09093CB088B
:1040A0008093CA088091CC089091CD0897FF05C0F5
:1040B0001092CD081092CC080AC08F3F910539F0BC
:1040C00034F08FEF90E09093CD088093CC088091EE
:1040D000CE089091CF0897FF05C01092CF0810929C
:1040E000CE080AC08F3F910539F034F08FEF90E091
:1040F0009093CF088093CE088091D0089091D108FA
:1041000097FF05C01092D1081092D0080AC08F3FC7
:10411000910539F034F08FEF90E09093D1088093BF
:10412000D0088091D2089091D30897FF05C01092D3
:10413000D3081092D2080AC08F3F910539F034F0AD
:104140008FEF90E09093D3088093D2081F910F9146
:10415000FF90EF90DF90CF90BF90AF9008951092B6
:104160007A0080916008882369F0809154089091CA
:1041700055086091600877270E9444487093F60CB8
:104180006093F50C80916108882369F0809156084E
:10419000909157086091610877270E944448709376
:1041A000F40C6093F30C80916208882369F080918D
:1041B0005808909159086091620877270E944448F6
:1041C0007093020D6093010D809163088823D1F0F4
:1041D00060915C0870915D0820916308882777FDE5
:1041E0008095982FF4E0660F771F881F991FFA9526
:1041F000D1F73327442755270E9479483093FF0C85
:104200002093FE0C809164088823D1F060915A08B5
:1042100070915B0820916408882777FD8095982F1E
:10422000E4E0660F771F881F991FEA95D1F73327BF
:10423000442755270E9479483093080D2093070D95
:1042400080916508882399F060915E0870915F08FD
:1042500020916508882777FD8095982F332744277C
:1042600055270E9479483093F90C2093F80C10924E
:104270005508109254081092600810925708109236
:10428000560810926108109259081092580810921E
:10429000620810925B0810925A08109264081092FB
:1042A0005D0810925C081092630810925F081092EB
:1042B0005E08109265088FEE80937A002091C40802
:1042C0003091C5088091BD0CE82FFF27EE0FFF1F2E
:1042D000E358F34F8081918182599F4F2817390706
:1042E0001CF42F5F3F4F0CC08081918182599F4FFA
:1042F000821793074CF42115310531F021503040DD
:104300003093C5082093C4082091C6083091C7088F
:104310008091BE0CE82FFF27EE0FFF1FE358F34FED
:104320008081918182599F4F281739071CF42F5F94
:104330003F4F0CC08081918182599F4F8217930714
:104340004CF42115310531F0215030403093C7082D
:104350002093C6082091C8083091C9088091BF0CED
:10436000E82FFF27EE0FFF1FE358F34F8081918165
:1043700082599F4F281739071CF42F5F3F4F0CC0FD
:104380008081918182599F4F821793074CF42115A8
:10439000310531F0215030403093C9082093C808CE
:1043A0002091CA083091CB088091C00CE82FFF27DC
:1043B000EE0FFF1FE358F34F8081918182599F4F89
:1043C000281739071CF42F5F3F4F0CC08081918163
:1043D00082599F4F821793074CF42115310531F014
:1043E000215030403093CB082093CA082091CC084C
:1043F0003091CD0880918F0C9091900C82599F4FF5
:10440000281739071CF42F5F3F4F0EC080918F0C87
:104410009091900C82599F4F821793074CF421156D
:10442000310531F0215030403093CD082093CC0835
:104430002091CE083091CF088091910C9091920CF0
:1044400082599F4F281739071CF42F5F3F4F0EC02A
:104450008091910C9091920C82599F4F82179307F3
:104460004CF42115310531F0215030403093CF0804
:104470002093CE082091D0083091D1088091930CE0
:104480009091940C82599F4F281739071CF42F5F85
:104490003F4F0EC08091930C9091940C82599F4F86
:1044A000821793074CF42115310531F0215030402B
:1044B0003093D1082093D0082091D2083091D308AE
:1044C0008091950C9091960C82599F4F281739072F
:1044D0001CF42F5F3F4F0EC08091950C9091960C6D
:1044E00082599F4F821793074CF42115310531F003
:1044F000215030403093D3082093D2088091C408D3
:104500009091C50897FF05C01092C5081092C40885
:104510000AC08F3F910539F034F08FEF90E090930F
:10452000C5088093C4088091C6089091C70897FF7A
:1045300005C01092C7081092C6080AC08F3F9105A7
:1045400039F034F08FEF90E09093C7088093C6085D
:104550008091C8089091C90897FF05C01092C908BA
:104560001092C8080AC08F3F910539F034F08FEFE0
:1045700090E09093C9088093C8088091CA089091F0
:10458000CB0897FF05C01092CB081092CA080AC04A
:104590008F3F910539F034F08FEF90E09093CB0886
:1045A0008093CA088091CC089091CD0897FF05C0F0
:1045B0001092CD081092CC080AC08F3F910539F0B7
:1045C00034F08FEF90E09093CD088093CC088091E9
:1045D000CE089091CF0897FF05C01092CF08109297
:1045E000CE080AC08F3F910539F034F08FEF90E08C
:1045F0009093CF088093CE088091D0089091D108F5
:1046000097FF05C01092D1081092D0080AC08F3FC2
:10461000910539F034F08FEF90E09093D1088093BA
:10462000D0088091D2089091D30897FF05C01092CE
:10463000D3081092D20808958F3F910539F034F0D5
:104640008FEF90E09093D3088093D20808951F9342
:104650008091C40C8B3F98F08B3F19F48091C40873
:104660000EC08C3F19F48091C60809C08D3F19F423
:104670008091C80804C08E3F21F48091CA088093BD
:10468000870180918701882319F41092870104C063
:104690008F3F11F4809387018091C30C8B3F98F07A
:1046A0008B3F19F48091C4080EC08C3F19F480919F
:1046B000C60809C08D3F19F48091C80804C08E3F18
:1046C00021F48091CA088093860180918601882315
:1046D00019F41092860105C0843618F084E68093A0
:1046E00086018091C50C8B3F98F08B3F19F4809127
:1046F000C4080EC08C3F19F48091C60809C08D3FD4
:1047000019F48091C80804C08E3F21F48091CA0832
:104710008093880180918801882319F41092880180
:1047200005C0843618F084E6809388018091C70C18
:104730008B3F98F08B3F19F48091C4080EC08C3FDA
:1047400019F48091C60809C08D3F19F48091C808FA
:1047500004C08E3F21F48091CA0880938901809122
:104760008901882319F41092890104C08F3F11F444
:10477000809389018091CE0C8B3F98F08B3F19F488
:104780008091C4080EC08C3F19F48091C60809C0FE
:104790008D3F19F48091C80804C08E3F21F48091A8
:1047A000CA0880938A0180918A01882319F41092A3
:1047B0008A0104C08F3F11F480938A018091CF0C4D
:1047C0008B3F98F08B3F19F48091C4080EC08C3F4A
:1047D00019F48091C60809C08D3F19F48091C8086A
:1047E00004C08E3F21F48091CA0880938B01809190
:1047F0008B018B3010F48AE002C08F3F11F480935C
:104800008B018091D00C8B3F98F08B3F19F48091F5
:10481000C4080EC08C3F19F48091C60809C08D3FB2
:1048200019F48091C80804C08E3F21F48091CA0811
:1048300080938C0180918C01882319F410928C0153
:1048400004C08F3F11F480938C018091D50C8B3F75
:1048500098F08B3F19F48091C4080EC08C3F19F476
:104860008091C60809C08D3F19F48091C80804C022
:104870008E3F21F48091CA0880938E0180918E0131
:10488000882319F410928E0104C08F3F11F4809395
:104890008E018091D60C8B3F98F08B3F19F480915C
:1048A000C4080EC08C3F19F48091C60809C08D3F22
:1048B00019F48091C80804C08E3F21F48091CA0881
:1048C0008093E2088091E208882319F41092E208AC
:1048D00004C08F3F11F48093E2088091D70C8B3F86
:1048E00098F08B3F19F48091C4080EC08C3F19F4E6
:1048F0008091C60809C08D3F19F48091C80804C092
:104900008E3F21F48091CA088093E3088091E308E8
:10491000882319F41092E30804C08F3F11F48093A8
:10492000E3088091D80C8B3F98F08B3F19F480916D
:10493000C4080EC08C3F19F48091C60809C08D3F91
:1049400019F48091C80804C08E3F21F48091CA08F0
:104950008093E4088091E408882319F41092E40815
:1049600004C08F3F11F48093E4088091D90C8B3FF1
:1049700098F08B3F19F48091C4080EC08C3F19F455
:104980008091C60809C08D3F19F48091C80804C001
:104990008E3F21F48091CA088093E5088091E50854
:1049A000882319F41092E50804C08F3F11F4809316
:1049B000E5089091DA0C9B3FB0F09B3F19F4809191
:1049C000C40804C09C3F29F48091C60880938F01DD
:1049D0000CC09D3F19F48091C808F8CF9E3F29F480
:1049E0008091CA08F3CF90938F0180918F01882323
:1049F00019F410928F0104C08F3F11F480938F013E
:104A00009B3FB0F09B3F19F48091C40804C09C3FC9
:104A100029F48091C60880938F010CC09D3F19F442
:104A20008091C808F8CF9E3F29F48091CA08F3CF3F
:104A300090938F0180918F01882319F410928F0138
:104A400004C08F3F11F480938F019B3FB0F09B3FD8
:104A500019F48091C40804C09C3F29F48091C608D1
:104A600080938F010CC09D3F19F48091C808F8CF46
:104A70009E3F29F48091CA08F3CF90938F018091D3
:104A80008F01882319F410928F0104C08F3F11F415
:104A900080938F018091DF0C8B3F98F08B3F19F44E
:104AA0008091C4080EC08C3F19F48091C60809C0DB
:104AB0008D3F19F48091C80804C08E3F21F4809185
:104AC000CA088093900180919001882319F4109274
:104AD000900104C08F3F11F48093900110918E01DA
:104AE000612F772767FD7095872F972F0E94434787
:104AF00017FF06C020E030E040E853E40E949E46E5
:104B000027E137EB41ED58E30E94BD4760938201F6
:104B10007093830180938401909385018091CC0CE4
:104B20008093000D8091CB0C8093F70C1F9108951A
:104B300081E08093B90C42E04093BA0C83E080930B
:104B4000BB0C94E09093BC0C35E03093BD0C86E038
:104B50008093BE0C87E08093BF0C88E08093C00CEC
:104B60001092C10C8EE18093C20C8BEF8093C40C29
:104B70008AE08093C50C22E32093C30C2093C70CDA
:104B80004093C60C9093C80C1092C90C90E190937E
:104B9000CA0C3093CB0C8AEF8093CC0C8AE18093C3
:104BA000CD0C9093CE0C8FEA8093CF0C8093D00CD9
:104BB0008FE58093D10C83E28093D20C84E18093C3
:104BC000D30C1092D40C1092D50C1092D60C1092DB
:104BD000D70C1092D80C88E78093D90C84E6809388
:104BE000DA0C88E28093DB0C1092E20C2093DC0C50
:104BF00086E98093DD0C3093DE0C2093DF0C8AE590
:104C00008093E00C1092E10CA7EEBCE0EDE6F1E041
:104C10008CE001900D928150E1F7089581E080933E
:104C2000B90C82E08093BA0C83E08093BB0C94E0D3
:104C30009093BC0C45E04093BD0C86E08093BE0C85
:104C400087E08093BF0C38E03093C00C1092C10C09
:104C50008EE18093C20C8BEF8093C40C8AE080932A
:104C6000C50C22E32093C30C2093C70C9093C60C71
:104C70009093C80C3093C90C90E19093CA0C409368
:104C8000CB0C8AEF8093CC0C8AE18093CD0C90936F
:104C9000CE0C98E79093CF0C36E93093D00C8FE58B
:104CA0008093D10C83E28093D20C84E18093D30C67
:104CB0001092D40C1092D50C1092D60C1092D70CE6
:104CC0001092D80C9093D90C84E68093DA0C88E289
:104CD0008093DB0C1092E20C2093DC0C3093DD0C03
:104CE0004093DE0C2093DF0C8AE58093E00C109259
:104CF000E10CA7EEBCE0E5E7F1E08CE001900D925D
:104D00008150E1F708958091DB08882301F5109226
:104D10006209109261091092670910926D098091E1
:104D20003C08882311F08093610980913D08882315
:104D300011F08093620980913E08882311F08093DE
:104D40006D0980913F08882311F0809367091092C4
:104D50007108109272080E94EC1B0895CF93DF93A4
:104D600010927F0810927E0810928108109280089D
:104D700080E090E0A0E0B0E0809382089093830808
:104D8000A0938408B093850810927908109278084F
:104D900010927B0810927A0810927D0810927C087D
:104DA0000E94AF2085E090E00E94550EEC01CE01FC
:104DB0000E945E0E8823D9F30E94AF208091C10C1F
:104DC00080FF10C080910F0190911001875B93408C
:104DD00038F480910F01909110018E5E924010F492
:104DE0000E94C213809100018A3041F58091F50C38
:104DF0009091F60C97FF03C0909581959F4F9093EB
:104E00007908809378088091F30C9091F40C97FFC7
:104E100003C0909581959F4F90937B0880937A086B
:104E20008091010D9091020D97FF03C0909581959F
:104E30009F4F90937D0880937C0833C08091F50C40
:104E40009091F60C97FF03C0909581959F4F62E07B
:104E500070E00E94444870937908609378088091CC
:104E6000F30C9091F40C97FF03C0909581959F4FA0
:104E700062E070E00E94444870937B0860937A0877
:104E80008091010D9091020D97FF03C0909581953F
:104E90009F4F62E070E00E94444870937D086093E9
:104EA0007C088091070D9091080D97FF03C09095A5
:104EB00081959F4F60E170E00E94444870938108A3
:104EC000609380088091FE0C9091FF0C97FF03C0C7
:104ED000909581959F4F60E170E00E9444487093E7
:104EE0007F0860937E0860914E0C70914F0C88276C
:104EF00077FD8095982F0E944347609382087093B6
:104F00008308809384089093850810929C081092DF
:104F10009D0810929E0810929F081092A00810926F
:104F2000A1081092A2081092A3081092A40810924F
:104F3000A5081092A6081092A7081092A80810922F
:104F4000A9081092AA081092AB081092AC0810920F
:104F5000AD081092AE081092AF081092F60C1092A5
:104F6000F50C1092F40C1092F30C1092020D1092AA
:104F7000010D80910B0190910C01A0910D01B09158
:104F80000E019093510C8093500C10926708109270
:104F900066081092B4081092B5081092B6081092E4
:104FA000B7088091B8089091B9089093BB08809396
:104FB000BA0882E390E090934E0880934D08DF9109
:104FC000CF9108951F93182F0EC08091DB0888237E
:104FD00061F484E690E090934E0880934D088AEF48
:104FE00090E00E94FC0F115080F71F910895A6E0F9
:104FF000B0E0EDEFF7E20C9494480E94741D299AFA
:10500000E091BB0CFF27EE0FFF1FE358F34FA0808A
:10501000B18028E730E0A20EB31EB7FE02C0AA247A
:10502000BB248091D408843608F055C080910201D9
:10503000882399F480910501909106018F5F9F4F1D
:1050400061F488E99AE390934E0880934D0880E0DC
:105050009CE090930601809305018091EF08909168
:10506000F008009731F001979093F0088093EF08D3
:1050700004C01092DB081092BE08289A8091EA08BA
:105080009091EB08815D974018F18091D20CA82E89
:10509000BB2481E08093BE08E091B90CFF27EE0F9E
:1050A000FF1FE358F34F11821082E091BA0CFF27E3
:1050B000EE0FFF1FE358F34F11821082E091BC0CFA
:1050C000FF27EE0FFF1FE358F34F11821082D2C16A
:1050D0001092DB08CFC18091D4088D3808F4CAC182
:1050E0001092BE088091D30C22E3829FC00111244C
:1050F0009093F0088093EF0859E2A516B104ACF044
:105100008091EA089091EB086FEF8F3F960729F0A6
:1051100001969093EB088093EA088091EA089091B9
:10512000EB089093C2088093C1088091EA0890919F
:10513000EB08883C910520F078E2A716B10404F54D
:1051400010920109109202091092030910920409A9
:105150001092FD081092FE081092FF0810920009AC
:105160001092AC081092AD081092AE081092AF08E1
:105170001092B0081092B1081092B2081092B308C1
:1051800089ECA816B1040CF4D5C08091DB08882303
:1051900009F070C1E091BC0CFF27EE0FFF1FE35830
:1051A000F34F808191818C3491050CF4C0C08091C3
:1051B000EE088F5F8093EE08893C08F45BC1299864
:1051C0001092DB081092EE081092EB081092EA0899
:1051D0008091B90C282F3327F901EE0FFF1FE358F8
:1051E000F34F80819181873491059CF4E091BA0C52
:1051F000FF27EE0FFF1FE358F34F0190F081E02DE2
:10520000F7FF03C0F095E195FF4FE734F1050CF48B
:105210006CC08091BA0C682F7727DB01AA0FBB1FE7
:10522000A358B34F8D919C911197873491053CF011
:10523000F901EE0FFF1FE358F34F808191818D91AB
:105240009C918734910564F0F901EE0FFF1FE3583C
:10525000F34F808191818734910514F042E001C0C1
:1052600041E0FB01EE0FFF1FE358F34F8081918176
:10527000863491055CF4F901EE0FFF1FE358F34FFC
:1052800080819181873491050CF043E0FB01EE0FA2
:10529000FF1FE358F34F808191818A5B9F4F5CF43D
:1052A000F901EE0FFF1FE358F34F8081918187349E
:1052B00091050CF044E0660F771F6358734FFB01B4
:1052C000808191818A5B9F4F5CF4220F331F2358AA
:1052D000334FD9018D919C91863491050CF445E0B2
:1052E000A2E0B0E0042E0E94D9488091C10C80FF5A
:1052F00010C080910F0190911001875B934038F4AA
:1053000080910F01909110018E5E924010F40E94E6
:10531000C2130E9418044AE369EB7CE00E943F0438
:105320000E94AE260E9418040E94E227A3C0109299
:10533000EE08A0C0F3E2AF16B1040CF09BC0809160
:10534000BC0C482F5527FA01EE0FFF1FE358F34F0F
:1053500080819181855B9F4F0CF06DC08091ED083D
:105360008F5F8093ED08893C08F467C088EC8093D8
:10537000ED0881E090E09093EB088093EA0881E0EB
:105380008093DB081092F9081092FA081092FB083B
:105390001092FC081092AC081092AD081092AE0862
:1053A0001092AF081092B0081092B1081092B20893
:1053B0001092B30810929C0810929D0810929E08BB
:1053C00010929F081092A4081092A5081092A608A7
:1053D0001092A7088091880890918908A0918A0866
:1053E000B0918B088093A0089093A108A093A20885
:1053F000B093A3088091900890919108A091920891
:10540000B09193088093A8089093A908A093AA0844
:10541000B093AB081092010910920209109203098F
:10542000109204091092FD081092FE081092FF08D5
:105430001092000902C01092ED08440F551F435806
:10544000534FDA018D919C918C3491058CF08091B1
:10545000EC088F5F8093EC08893C60F01092DB08C9
:1054600088EC8093EC081092EB081092EA0802C0D6
:105470001092EC0880916C01815080936C018091B6
:105480006C018F3F29F08091BE08882309F4D0C1B8
:105490000E942723E091B90CFF27EE0FFF1FDF01C9
:1054A000A358B34F4D915C918091C80C482E552460
:1054B000E556F34F808191812091C90C3327449D9B
:1054C0007001459DF00C549DF00C1124FC01E29FED
:1054D000C001E39F900DF29F900D1124E80EF91E7C
:1054E000F092D608E092D508E091BA0CFF27EE0FB3
:1054F000FF1FDF01A358B34F4D915C91E556F34F69
:1055000080819181449D6001459DD00C549DD00CBB
:105510001124AC01429FC001439F900D529F900DFA
:105520001124C80ED91ED092D808C092D708E09195
:10553000BC0CFF27EE0FFF1FE358F34F80819181D2
:10554000909581959F4F9093DA088093D908109198
:105550008B01612F772767FD7095872F972F0E940A
:10556000434717FF06C020E030E040E853E40E94C4
:105570009E4620E030E040E251E40E949E4620E05A
:1055800030E040E85BE30E94BD473B014C01609383
:10559000030D7093040D8093050D9093060D1091EB
:1055A0008C01612F772767FD7095872F972F0E94B9
:1055B000434717FF06C020E030E040E853E40E9474
:1055C0009E4620E030EE4BE257E40E94E0466093B6
:1055D000FA0C7093FB0C8093FC0C9093FD0C809163
:1055E000C10C82FF0CC080E090E0A0E0B0E08093AE
:1055F000FA0C9093FB0CA093FC0CB093FD0C20E0F4
:1056000030E040E050E0C401B3010E944D478823E0
:1056100064F480E090E0A0E0B0E08093030D90930C
:10562000040DA093050DB093060D20E030E040E09E
:1056300050E06091FA0C7091FB0C8091FC0C909101
:10564000FD0C0E944D47882364F480E090E0A0E0C8
:10565000B0E08093FA0C9093FB0CA093FC0CB093F9
:10566000FD0C8091E10C992782FDCEC083FDCCC05A
:105670008091880890918908A0918A08B0918B0840
:1056800081569A4EA040B04044F1C20173E0880FA9
:10569000991F7A95E1F7A701481B590B5093D6083B
:1056A0004093D5088091880890918908A0918A0834
:1056B000B0918B0881589843A140B0400CF43FC092
:1056C000C20164E0880F991F6A95E1F7481B590BE6
:1056D0005093D6084093D50832C0809188089091A5
:1056E0008908A0918A08B0918B08805A9541AF4FE4
:1056F000BF4F2CF5920153E0220F331F5A95E1F76B
:105700002E0D3F1D3093D6082093D5088091880830
:1057100090918908A0918A08B0918B08815898438C
:10572000A140B04064F0C20144E0880F991F4A953F
:10573000E1F7281B390B3093D6082093D5088091C8
:10574000900890919108A0919208B0919308815689
:105750009A4EA040B0403CF1C20123E0880F991F4F
:105760002A95E1F7A601481B590B5093D80840939E
:10577000D7088091900890919108A0919208B091DB
:10578000930881589843A140B0400CF43DC004E018
:10579000440C551C0A95E1F7441955095093D80853
:1057A0004093D70831C08091900890919108A091C2
:1057B0009208B0919308805A9541AF4FBF4F24F59E
:1057C000920113E0220F331F1A95E1F72C0D3D1DB6
:1057D0003093D8082093D708809190089091910831
:1057E000A0919208B091930881589843A140B0408D
:1057F0005CF0B4E0440C551CBA95E1F72419350966
:105800003093D8082093D70842989091E50880916A
:10581000C008891740F0992331F088B194E08927B6
:1058200088B91092C0088091C0088F5F8093C0082B
:105830008091BA0CE82FFF27EE0FFF1FE358F34FBC
:10584000208131818091E00C482F55274217530762
:1058500024F48091E10C82FD0DC0208131818827E4
:105860009927841B950B281739077CF48091E10C4C
:1058700083FF0BC081E08093E1088091DF0C482E0C
:1058800055244A145B0424F002C01092E10825015B
:105890008091B90CE82FFF27EE0FFF1FE358F34F5D
:1058A000808191814817590724F48091E10C80FD93
:1058B0000DC02081318188279927841B950B2817DB
:1058C00039078CF48091E10C81FF0DC081E0809359
:1058D000E0081092E1088091DF0C99278415950566
:1058E00024F42C0102C01092E0088091BE088823A5
:1058F00041F11092DA081092D9081092D60810924D
:10590000D5081092D8081092D7088DEC9CECACEC1E
:10591000BDE38093030D9093040DA093050DB09308
:10592000060D8AE097EDA3EABBE38093FA0C90930F
:10593000FB0CA093FC0CB093FD0C1092E1081092AC
:10594000E00880916808909169088D54914008F4AE
:1059500098C020918C0830918D0840918E0850910C
:105960008F088091880890918908A0918A08B09149
:105970008B08281B390B4A0B5B0BE0909408F090C6
:105980009508009196081091970880919008909141
:105990009108A0919208B0919308E81AF90A0A0BAD
:1059A0001B0B1092690810926808273A31054105CF
:1059B000510534F0809178089091790801960AC0D9
:1059C0002A553F4F4F4F5F4F4CF48091780890918C
:1059D00079080197909379088093780877EAE71619
:1059E000F1040105110534F080917A0890917B084B
:1059F00001960EC08AE5E8168FEFF8068FEF0807CC
:105A00008FEF18074CF480917A0890917B080197EA
:105A100090937B0880937A0810927A00809188088E
:105A200090918908A0918A08B0918B088093A00872
:105A30009093A108A093A208B093A3088091900826
:105A400090919108A0919208B09193088093A80832
:105A50009093A908A093AA08B093AB0880919808E6
:105A600090919908A0919A08B0919B088093B008F2
:105A70009093B108A093B208B093B3088FEE8093CF
:105A80007A008091C10CA82FBB27BE83AD831D0176
:105A9000B0E22B223324A5FF8AC060918808709160
:105AA000890880918A0890918B08A090CD0CBB2426
:105AB000CC24DD24E090FE0CF090FF0CA6019501B3
:105AC0000E9479480027F7FC0095102F2E193F09F6
:105AD000400B510BCA01B90120E130E040E050E039
:105AE0000E94794839014A012093F5083093F6085D
:105AF0004093F7085093F8086091900870919108CE
:105B00008091920890919308E090070DF090080D15
:105B1000A60195010E9479480027F7FC0095102FF7
:105B20002E193F09400B510BCA01B90120E130E0A9
:105B300040E050E00E9479482093F1083093F20849
:105B40004093F3085093F408E5EF6E16E1E07E060B
:105B5000E0E08E06E0E09E062CF084EF91E0A0E00D
:105B6000B0E00DC0FCE06F16FEEF7F06FFEF8F0682
:105B7000FFEF9F0664F48CE09EEFAFEFBFEF8093E2
:105B8000F5089093F608A093F708B093F808253F1E
:105B900061E0360760E0460760E056070CF0F8C0A9
:105BA0002C503E4F4F4F5F4F0CF019C1FBC020E00F
:105BB00030E040E050E06091FA0C7091FB0C809175
:105BC000FC0C9091FD0C0E944D47882309F4F7C00E
:105BD0008091E008882309F0F2C08091E1088823D1
:105BE00009F0EDC0609188087091890880918A0859
:105BF00090918B082091CD0C622E772488249924D3
:105C0000E090FE0CF090FF0CA40193010E947948F3
:105C10000027F7FC0095102F2E193F09400B510B60
:105C20002093F5083093F6084093F7085093F8084E
:105C30008091FE0C9091FF0CAA2797FDA095BA2F9A
:105C4000B7FF07C0B095A095909581959F4FAF4F36
:105C5000BF4F883C9105A105B1053CF4CA01B901CB
:105C600028E030E040E050E006C0CA01B90120E180
:105C700030E040E050E00E9479482093F5083093EE
:105C8000F6084093F7085093F808609190087091D7
:105C900091088091920890919308E090070DF09000
:105CA000080DA40193010E9479480027F7FC009594
:105CB000102F2E193F09400B510B2093F108309300
:105CC000F2084093F3085093F4088091070D9091E7
:105CD000080DAA2797FDA095BA2FB7FF07C0B0956A
:105CE000A095909581959F4FAF4FBF4F883C9105F0
:105CF000A105B1053CF4CA01B90128E030E040E05B
:105D000050E006C0CA01B90120E130E040E050E0B7
:105D10000E9479482093F1083093F2084093F308E9
:105D20005093F4088091F5089091F608A091F70837
:105D3000B091F808853FE1E09E07E0E0AE07E0E0C3
:105D4000BE072CF084EF91E0A0E0B0E009C08C50D9
:105D50009E4FAF4FBF4F64F48CE09EEFAFEFBFEFAD
:105D60008093F5089093F608A093F708B093F8088D
:105D70008091F1089091F208A091F308B091F40895
:105D8000853F21E0920720E0A20720E0B2072CF037
:105D900084EF91E0A0E0B0E009C08C509E4FAF4F7F
:105DA000BF4FECF48CE09EEFAFEFBFEF8093F108B4
:105DB0009093F208A093F308B093F40810C01092E7
:105DC000F5081092F6081092F7081092F808109251
:105DD000F1081092F2081092F3081092F408109251
:105DE0007A0080919C0890919D08A0919E08B091A6
:105DF0009F082091F5083091F6084091F7085091DE
:105E0000F808821B930BA40BB50B80939C0890930E
:105E10009D08A0939E08B0939F088091A40890913C
:105E2000A508A091A608B091A7082091F10830918B
:105E3000F2084091F3085091F408821B930BA40BD5
:105E4000B50B8093A4089093A508A093A608B093DF
:105E5000A708E090D908F090DA089701F7FE04C08F
:105E6000222733272E193F092531310534F04D8182
:105E700044FD03C081E08093E608E091CA0CFF274F
:105E8000E29EC001E39E900DF29E900D1124BC0194
:105E9000E69FC001E79F900DF69F900D112460E0F2
:105EA00072E00E9444488B01EE9DC001EF9D900D71
:105EB000FE9D900D112464E070E00E944448060F9E
:105EC000171F222717FD2095322F0093F9081093F2
:105ED000FA082093FB083093FC088091AC0890915D
:105EE000AD08A091AE08B091AF08801B910BA20B3A
:105EF000B30B8093AC089093AD08A093AE08B09319
:105F0000AF088091AC089091AD08A091AE08B09117
:105F1000AF08895A9146A040B04064F088EA91E603
:105F2000A0E0B0E08093AC089093AD08A093AE08D9
:105F3000B093AF088091AC089091AD08A091AE08E5
:105F4000B091AF0888559E49AF4FBF4F64F488E5C4
:105F50009EE9AFEFBFEF8093AC089093AD08A0939C
:105F6000AE08B093AF08EFEEE0937A008091B808E6
:105F70009091B908892B09F440C0FD81F3FF3DC021
:105F80008091E608882351F08091B8089091B90873
:105F90009093BB088093BA081092E60810927A009A
:105FA0000091AC081091AD082091AE083091AF0877
:105FB0004091BC085091BD0880918A019927BC018D
:105FC000469FC001479F900D569F900D112460E29F
:105FD00070E00E944448882777FD8095982F061B23
:105FE000170B280B390B0093AC081093AD082093C6
:105FF000AE083093AF08E0937A002328A9F080918F
:10600000E208992790937209809371098091E308BF
:10601000992790936409809363098091E4088093A1
:10602000C3080E946E3508C01092320910923109DF
:1060300010923409109233098091E70881508093BF
:10604000E7088F3F09F02AC181E38093E708809138
:10605000220C99279093B60B8093B50B809133094E
:10606000909134099093B80B8093B70B80913109CC
:10607000909132099093BA0B8093B90B80910D09DE
:1060800090910E099093BC0B8093BB0B80911109EA
:10609000909112099093BE0B8093BD0B80912509BE
:1060A000909126099093C00B8093BF0B8091290992
:1060B00090912A099093C20B8093C10B8091BC08E8
:1060C0009091BD089093C40B8093C30B8091B80846
:1060D0009091B9089093C60B8093C50B8091650C85
:1060E0009091660C9093C80B8093C70B8091690CBC
:1060F00090916A0C9093CA0B8093C90B80916D0CA0
:1061000090916E0C9093CC0B8093CB0B8091E30815
:1061100099279093CE0B8093CD0B8091C8089091D6
:10612000C9089093D00B8093CF0B8091B8089091C1
:10613000B9089093D20B8093D10B8091360990913E
:1061400037099093D40B8093D30B80913A099091A7
:106150003B099093D60B8093D50B80914109909188
:106160004209A0914309B09144099093D80B8093C0
:10617000D70B8091450990914609A0914709B091AC
:1061800048099093DA0B8093D90B80910D0C909174
:106190000E0C9093DC0B8093DB0B8091110C909193
:1061A000120C9093DE0B8093DD0B8091190C909173
:1061B0001A0C9093E00B8093DF0B80911D0C909153
:1061C0001E0C9093E20B8093E10B8091090190915A
:1061D0000A019093E40B8093E30B2091750C80915E
:1061E000760C280F312D311D8091780C4091770C61
:1061F000840F912D911D280F391F3093E60B2093AA
:10620000E50B8091D7089091D8089093E80B809384
:10621000E70B8091DC089091DD089093EA0B809366
:10622000E90B609188087091890880918A089091A3
:106230008B08E090CD0CFF2400271127A8019701BF
:106240000E9479483093EC0B2093EB0B60919008FF
:10625000709191088091920890919308A8019701FC
:106260000E9479483093EE0B2093ED0B8091FE0C49
:106270009091FF0C9093F00B8093EF0B8091070DA2
:106280009091080D9093F20B8093F10B8091D508BB
:106290009091D6089093F40B8093F30B8091E008D3
:1062A0008823A9F06091F50C7091F60C882777FD92
:1062B0008095982F0E9443472091030D3091040D43
:1062C0004091050D5091060D0E94BD4732C060916E
:1062D00088087091890880918A0890918B08E090D5
:1062E000F50CF090F60C0E9443472091FA0C309187
:1062F000FB0C4091FC0C5091FD0C0E94BD475B01D2
:106300006C010027F7FC0095102FC801B7010E940F
:1063100043472091030D3091040D4091050D50919C
:10632000060D0E94BD479B01AC01C601B5010E944C
:106330009E460E9426477093F60C6093F50C809160
:10634000E1088823A9F06091F30C7091F40C882780
:1063500077FD8095982F0E9443472091030D30913F
:10636000040D4091050D5091060D0E94BD4732C0AD
:106370006091900870919108809192089091930893
:10638000E090F30CF090F40C0E9443472091FA0C3B
:106390003091FB0C4091FC0C5091FD0C0E94BD47CC
:1063A0005B016C010027F7FC0095102FC801B701B5
:1063B0000E9443472091030D3091040D4091050D3B
:1063C0005091060D0E94BD479B01AC01C601B5016D
:1063D0000E949E460E9426477093F40C6093F30C33
:1063E0006091010D7091020DE0909808F09099086D
:1063F00000919A0810919B08882777FD8095982F27
:106400000E9443472091030D3091040D4091050DEA
:106410005091060D0E94BD475B016C01C801B70198
:106420000E9443472091FA0C3091FB0C4091FC0CE8
:106430005091FD0C0E94BD4720E030E040E05FE35A
:106440000E94BD479B01AC01C601B5010E949E465A
:106450000E9426477093020D6093010D8091F50C08
:106460009091F60C8150984034F080E098E0909341
:10647000F60C8093F50C8091F50C9091F60C805001
:10648000984F34F480E098EF9093F60C8093F50CDD
:106490008091F30C9091F40C8150984034F080E09E
:1064A00098E09093F40C8093F30C8091F30C90910E
:1064B000F40C8050984F34F480E098EF9093F40CF3
:1064C0008093F30C8091010D9091020D81509840C2
:1064D00034F080E098E09093020D8093010D80915C
:1064E000010D9091020D8050984F34F480E098EFA8
:1064F0009093020D8093010D8091C10C992780FF2C
:10650000BEC02091870181FF0EC02233B0F480917C
:10651000DC089091DD0888979093DF088093DE086F
:106520001092BF080DC08091C60C289FC001112495
:1065300088979093DF088093DE0881E08093BF08FE
:106540008091BE08882321F01092DF081092DE08A7
:106550002091DC083091DD084091DE085091DF0881
:10656000421753070CF08BC08091BF08882309F4B1
:1065700086C0241B350B809188019927AC01249F8C
:10658000C001259F900D349F900D112460E170E0B3
:106590000E9444488201061B170B20916608309127
:1065A0006708809186019927BC01269FC001279F1B
:1065B000900D369F900D112468E070E00E944448D1
:1065C000061B170B6091B4087091B5088091B6084E
:1065D0009091B70820E032E040E050E00E94794816
:1065E000CA01B901209189013327442755270E9408
:1065F000054820E230E040E050E00E9479487FEF1B
:106600002E3C370714F42EEC3FEF8091E808909170
:10661000E908AC0164E0440F551F6A95E1F7481B97
:10662000590B2333310514F022E330E0021B130B26
:10663000CA01800F911F60E170E00E94444870938E
:10664000E9086093E8088091C20C992768177907D8
:106650003CF4481659065CF09093E9088093E808EA
:106660008091E8089091E9084816590624F4509260
:10667000E9084092E8084090E8085090E908A090A6
:10668000010DB090020D8091F9089091FA08A81AB6
:10669000B90AB201882777FD8095982F0E94434759
:1066A0007B018C01B501882777FD8095982F0E948A
:1066B0004347A80197010E94504718162CF4C801BF
:1066C000B7010E9426475B0117FB109517F910953B
:1066D000B501882777FD8095982F0E944347A80130
:1066E00097010E944D4788232CF4C801B7010E94EE
:1066F00026475B0185E6A816B10424F014E6A12E16
:10670000B12C09C09CE9A9169FEFB90624F4BCE995
:10671000AB2EBFEFBB2EA4E14A16510414F4AA24F9
:10672000BB2420917E0130917F01409180015091E6
:10673000810129833A834B835C836091F50C7091CE
:10674000F60C2091D5083091D6084091310950912E
:106750003209241B350B621B730B882777FD80954C
:10676000982F0E9443479B01AC0169817A818B81FC
:106770009C810E94BD470E942647709366096093E2
:10678000650980916509909166098C01222717FDA2
:106790002095322F8091010990910209A09103095F
:1067A000B0910409080F191F2A1F3B1F009301090C
:1067B000109302092093030930930409101611065F
:1067C00012061306ACF4C80117FF03C0909581951B
:1067D0009F4F60E071E00E9444486F5F7F4F8827C1
:1067E00077FD8095982F061B170B280B390B14C0CB
:1067F000C80117FF03C0909581959F4F60E071E03D
:106800000E9444486F5F7F4F882777FD8095982FBF
:10681000060F171F281F391F009301091093020943
:106820002093030930930409809101099091020992
:10683000A0910309B091040981383EE3930730E049
:10684000A30730E0B3072CF080E89EE3A0E0B0E0BF
:1068500009C08058914CAF4FBF4F64F480E891EC71
:10686000AFEFBFEF8093010990930209A093030952
:10687000B09304092091650930916609C501B7FEFE
:1068800004C0882799278A199B094201880E991EFE
:10689000880C991CC401281539050CF4C901CC24B5
:1068A000DD24C818D908B601C816D9060CF4BC01F5
:1068B00092012A0D3B1D260F371F37FF03C040E012
:1068C00050E008C08091000D482F55272417350748
:1068D0000CF4A9018091F70CE82EFF24C701E416FF
:1068E000F5060CF4CA01809361099201261B370B4F
:1068F0002A0D3B1D37FF03C080E090E007C0809168
:10690000000D9927281739070CF4C9019701E816DB
:10691000F9060CF49C01209362096091F30C7091CC
:10692000F40C2091D7083091D80840913309509148
:106930003409241B350B621B730B882777FD809568
:10694000982F0E9443479B01AC0169817A818B811A
:106950009C810E94BD470E94264770936009609306
:106960005F0980915F09909160098C01222717FDD2
:106970002095322F8091FD089091FE08A091FF088C
:10698000B0910009080F191F2A1F3B1F0093FD0833
:106990001093FE082093FF0830930009101611068B
:1069A00012061306ACF4C80117FF03C09095819539
:1069B0009F4F60E071E00E9444486F5F7F4F8827DF
:1069C00077FD8095982F061B170B280B390B14C0E9
:1069D000C80117FF03C0909581959F4F60E071E05B
:1069E0000E9444486F5F7F4F882777FD8095982FDE
:1069F000060F171F281F391F0093FD081093FE086C
:106A00002093FF08309300098091FD089091FE08C3
:106A1000A091FF08B091000981385EE3950750E02E
:106A2000A50750E0B5072CF080E89EE3A0E0B0E0B9
:106A300009C08058914CAF4FBF4F64F480E891EC8F
:106A4000AFEFBFEF8093FD089093FE08A093FF087F
:106A5000B093000980915F099091600994018815B5
:106A600099050CF49C01B601C216D3060CF4B901C9
:106A70009201260F371F2A193B0937FF03C040E058
:106A800050E008C08091000D482F55272417350786
:106A90000CF4A9019701E416F5060CF49A01209371
:106AA0006D09461A570AB2016A197B0977FF03C0BC
:106AB00020E030E008C08091000D282F33276217B6
:106AC00073070CF49B01C701E216F3060CF4C9012D
:106AD00080936709E2E1CA5F0C94B048AFE1B0E08F
:106AE000E4E7F5E30C9494482091220C2D872330A1
:106AF00009F058C2E0914009FF27EE0FFF1FEE0F8B
:106B0000FF1FE75FF24F80910D0C90910E0CA0914A
:106B10000F0CB091100C80839183A283B383E0911A
:106B20004009FF27EE0FFF1FEE0FFF1FE75DF24F3B
:106B30008091110C9091120CA091130CB091140C37
:106B400080839183A283B383809140098F5F809378
:106B5000400980914009883011F4109240098091D9
:106B6000590990915A0908974CF4809159099091CC
:106B70005A09019690935A0980935909109249092C
:106B800010924A0910924B0910924C0910924D092B
:106B900010924E0910924F0910925009109251090B
:106BA00010925209109253091092540910925509EB
:106BB0001092560910925709109258091C821B8294
:106BC00089E09DE09A838983A9E2BDE0BF8FAE8F03
:106BD00030C12090490930904A0940904B095090AB
:106BE0004C0960904D0970904E0980904F0990902B
:106BF0005009E981FA812081318142815381DA0192
:106C0000C901BB0F880B982FDC012E873F87488B6B
:106C1000598B8A8B8B8B8C8B8D8BAE84A20C81E0F5
:106C2000A21408F080E0BF84B30C21E0B31408F094
:106C300020E08B0D91E08B1508F090E0292BB82E09
:106C4000C888C40C31E0C41408F030E0822F8C0DE9
:106C500091E08C1508F090E0392BC82ED988D50C1E
:106C600021E0D51408F020E0832F8D0D91E08D15E3
:106C700008F090E0292BD82EEA88E60C31E0E614E3
:106C800008F030E0822F8E0D91E08E1508F090E034
:106C9000392BE82EFB88F70C21E0F71408F020E0F0
:106CA000832F8F0D91E08F1508F090E0292BF82E9F
:106CB0000C89080D91E0081508F090E0822F800FF4
:106CC000E1E0801708F0E0E0AE2FA92B1D89190D37
:106CD000A10FA0924909B0924A09C0924B09D092E3
:106CE0004C09E0924D09F0924E0980934F09A09310
:106CF000500920905109309052094090530950900A
:106D000054096090550970905609809057099090E9
:106D10005809AE8DBF8D2D913D914D915C91DA0159
:106D2000C901BB0F880B982FDC012E8B3F8B488F3E
:106D3000598F8A8F8B8F8C8F8D8FAE88A20C81E0BC
:106D4000A21408F080E0BF88B30C21E0B31408F06F
:106D500020E08B0D91E08B1508F090E0292BB82EE8
:106D6000C88CC40C31E0C41408F030E0822F8C0DC4
:106D700091E08C1508F090E0392BC82ED98CD50CF9
:106D800021E0D51408F020E0832F8D0D91E08D15C2
:106D900008F090E0292BD82EEA8CE60C31E0E614BE
:106DA00008F030E0822F8E0D91E08E1508F090E013
:106DB000392BE82EFB8CF70C21E0F71408F020E0CB
:106DC000832F8F0D91E08F1508F090E0292BF82E7E
:106DD0000C8D080D91E0081508F090E0822F800FCF
:106DE000E1E0801708F0E0E0AE2FA92B1D8D190D12
:106DF000A10FA0925109B0925209C0925309D092AA
:106E00005409E0925509F092560980935709A093CE
:106E10005809EB81FC813196FC83EB8329813A810F
:106E20002C5F3F4F3A8329838E8D9F8D04969F8FD1
:106E30008E8F8091590990915A09AB81BC81A81716
:106E4000B9070CF4C6CE2090490930904A09409009
:106E50004B0950904C0960904D0970904E098090FC
:106E60004F0990905009A0915909B0915A09FD011C
:106E7000FF0FEE0BFE2F9D01AA2EB32ECE2EDE2E7F
:106E8000EE2EFE2E0E2F1E2F222D332D442D552D8E
:106E9000662D772D882D992D0E94183C2093490945
:106EA00030934A0940934B0950934C0960934D0924
:106EB00070934E0980934F09909350092090510987
:106EC00030905209409053095090540960905509F0
:106ED000709056098090570990905809A0915909CF
:106EE000B0915A09FD01FF0FEE0BFE2F9D01AA2E56
:106EF000B32ECE2EDE2EEE2EFE2E0E2F1E2F222D88
:106F0000332D442D552D662D772D882D992D0E94DA
:106F1000183C2093510930935209409353095093E0
:106F200054096093550970935609809357099093BB
:106F300058092091490930914A0940914B095091D3
:106F40004C0960914D0970914E0980914F099091C3
:106F500050092093410930934209409343095093CB
:106F6000440920915109309152094091530950919F
:106F70005409609155097091560980915709909173
:106F80005809209345093093460940934709509387
:106F9000480981E080933F092091DB08213009F006
:106FA00073C01CC0BD85B33008F06EC08091C808A6
:106FB0009091C908873491050CF466C0109232098B
:106FC000109231091092340910923309439882E3E8
:106FD00090E090934E0880934D0856C080913509FB
:106FE000882309F06BC08091C1089091C208805D30
:106FF000974008F063C08091410990914209A091A7
:107000004309B09144098093360990933709A093BE
:107010003809B09339098091450990914609A091AA
:107020004709B091480980933A0990933B09A0938E
:107030003C09B0933D098091410990914209A0918A
:107040004309B09144098093050990930609A093E0
:107050000709B09308098091450990914609A091CC
:107060004709B09148098093090990930A09A093B0
:107070000B09B0930C0982E390E090934E08809343
:107080004D08209335091AC08091DB088823B1F49C
:107090001092360910923709109238091092390966
:1070A00010923A0910923B0910923C0910923D0946
:1070B000109235091092C2081092C1082091C80898
:1070C0003091C9083F8F2E8F263431054CF58091C1
:1070D000410990914209A0914309B09144098093DC
:1070E000050990930609A0930709B09308098091B8
:1070F000450990914609A0914709B09148098093AC
:10710000090990930A09A0930B09B0930C091092F6
:1071100032091092310910923409109233094398C0
:107120003D85333009F080C38E8D9F8D8734910566
:107130000CF47AC3863991050CF048C08091D508CB
:107140009091D6080C96499750F48091D708909169
:10715000D8088D3091051CF4845F9F4FBCF51092C8
:10716000320910923109109234091092330980913A
:10717000410990914209A0914309B091440980933B
:10718000050990930609A0930709B0930809809117
:10719000450990914609A0914709B091480980930B
:1071A000090990930A09A0930B09B0930C098091E7
:1071B0003E09883C30F088B198E0892788B9109260
:1071C0003E0980913E098F5F80933E0980913F097F
:1071D000813009F029C3E0900509F090060900917B
:1071E000070910910809E114F1040105110509F4DA
:1071F0001BC3A0900909B0900A09C0900B09D09058
:107200000C09A114B104C104D10409F40DC3809187
:10721000D5089091D6088D3091050CF005C3845F98
:107220009F4F0CF401C38091D7089091D8088D30FE
:1072300091050CF0F9C2845F9F4F0CF4F5C22E8DBE
:107240003F8D263931050CF0E0C2809141099091C3
:107250004209A0914309B0914409E81AF90A0A0BBE
:107260001B0BE0920D09F0920E0900930F09109389
:1072700010098091450990914609A0914709B09164
:107280004809A81AB90ACA0ADB0AA0921109B092E1
:107290001209C0921309D092140956C0E0903A091D
:1072A000F0903B0900913C0910913D09E114F10473
:1072B0000105110509F485C08091410990914209A9
:1072C000A0914309B0914409281B390B4A0B5B0B71
:1072D00020930D0930930E0940930F095093100924
:1072E0008091450990914609A0914709B0914809BC
:1072F000E81AF90A0A0B1B0BE0921109F092120925
:107300000093130910931409809141099091420947
:10731000A0914309B091440980930509909306090F
:10732000A0930709B09308098091450990914609F7
:10733000A0914709B09148098093090990930A09DF
:10734000A0930B09B0930C09439A3BC080913A0972
:1073500090913B09A0913C09B0913D090097A1058E
:10736000B10579F58091410990914209A0914309B5
:10737000B0914409E81AF90A0A0B1B0BE0920D09B7
:10738000F0920E0900930F0910931009809145099E
:1073900090914609A0914709B0914809A81AB90AE5
:1073A000CA0ADB0AA0921109B0921209C09213090D
:1073B000D0921409439A82E390E090934E08809310
:1073C0004D08E090190CF0901A0C00911B0C1091D4
:1073D0001C0CE0921509F0921609009317091093FE
:1073E0001809A0901D0CB0901E0CC0901F0CD090DE
:1073F000200CA0921909B0921A09C0921B09D092D0
:107400001C09609171097091720960900D0970906A
:107410000E0980900F0990901009882777FD8095BC
:10742000982FA40193010E9405480E9443472FE62C
:1074300032E143E05AE30E94BD470E942647698734
:107440007A878B879C8760931D0970931E098093B0
:107450001F0990932009609163097091640988273E
:1074600077FD8095982FA80197010E9405480E94FA
:10747000434721E23CE34AE55BE30E94BD470E94AB
:1074800026471B012C0160932109709322098093E8
:107490002309909324096091710970917209E09019
:1074A0001109F0901209009113091091140988270D
:1074B00077FD8095982FA80197010E9405480E94AA
:1074C00043472FE632E143E05AE30E94BD470E9462
:1074D00026476D837E838F839887609325097093F9
:1074E0002609809327099093280960916309709178
:1074F0006409882777FD8095982FA60195010E9441
:1075000005480E94434721E23CE34AE55BE30E94D1
:10751000BD470E9426475B016C0160932909709367
:107520002A0980932B0990932C098E8D9F8D863983
:1075300091050CF480C08091360990913709A09193
:107540003809B09139090097A105B10509F473C054
:1075500080913A0990913B09A0913C09B0913D0975
:107560000097A105B10509F466C0C30177FE03C009
:10757000909581959F4F8B3F910554F4C701F7FE7D
:1075800003C0909581959F4F8B3F91050CF453C09C
:107590008091C308282F3327442755272215330508
:1075A0004405550544F42093210930932209409362
:1075B0002309509324092A153B054C055D0544F425
:1075C0002093290930932A0940932B0950932C09C1
:1075D0009927909581959F4F9C01442737FD4095B1
:1075E000542F8091210990912209A0912309B091F3
:1075F000240982179307A407B50744F420932109AF
:10760000309322094093230950932409809129093A
:1076100090912A09A0912B09B0912C098217930708
:10762000A407B50744F42093290930932A0940930D
:107630002B0950932C09E0902109F0902209A9858B
:10764000BA85EA1AFB0AF0922E09E0922D09809180
:10765000290990912A096D817E81681B790B7093AD
:10766000300960932F09C090B808D090B9088827D6
:1076700077FD8095982F0E9443473B014C01A090D5
:10768000B808B090B9080027F7FC0095102FC80182
:10769000B7010E9443471B012C01CC0CDD1CE1E922
:1076A000F1E0CE0EDF1ED6016D917C917095619553
:1076B0007F4F882777FD8095982F0E9443472FE6BC
:1076C00032E143E85AE30E94BD47A40193010E94BE
:1076D000BD477B018C01AA0CBB1CE1E6F4E0AE0EB9
:1076E000BF1ED5016D917C91882777FD8095982FDD
:1076F0000E9443472FE632E143E85AE30E94BD4728
:10770000A20191010E94BD479B01AC01C801B701D4
:107710000E949E460E9426475B0170933209609347
:107720003109E091B808F091B9080091B8081091BA
:10773000B908EE0FFF1FEF59FB4F60817181882759
:1077400077FD8095982F0E9443472FE632E143E86A
:107750005AE30E94BD47A40193010E94BD476B01FB
:107760007C01000F111F0F561E4FF80160817181BF
:10777000882777FD8095982F0E9443472FE632E1B6
:1077800043E85AE30E94BD47A20191010E94BD4710
:107790009B01AC01C701B6010E949E460E9426478C
:1077A0009B017093340960933309F4E2AF16B1047E
:1077B00034F083E290E090933209809331092432CF
:1077C000310534F083E290E09093340980933309DB
:1077D00080913109909132098D5D9F4F34F48DED88
:1077E0009FEF9093320980933109809133099091F2
:1077F00034098D5D9F4F34F48DED9FEF90933409E4
:107800008093330910923F090FC0209136093091BF
:107810003709409138095091390921153105410541
:10782000510509F03BCD92CDE2E1C15E0C94B04828
:10783000A9E9B0E0EEE1FCE30C949448222E332E4B
:10784000442E552E662E772E882E992E2A2DA8E0AE
:10785000FE01B196AA2E1192AA94E9F729A23AA2A2
:107860004BA25CA26DA27EA28FA298A6FE013196C9
:107870001192AA95E9F72983BA82CB82DC82ED8244
:10788000FE820F8318878DA19EA1AFA1B8A5B7FD79
:10789000EDC4CF57DF4F1882C158D0408D819E81F3
:1078A000AF81B885B7FD14C4A980BA80CB80DC80D5
:1078B000ED80FE800F81188529A13AA14BA15CA122
:1078C0006DA17EA18FA198A5A8E0FE013996BA2FDF
:1078D0001192BA95E9F729873A874B875C876D87BC
:1078E0007E878F87988BFE0171961192AA95E9F792
:1078F000A98ABA8ACB8ADC8AED8AFE8A0F8B188F16
:1079000029883A884B885C88ED88FE880F89188D15
:1079100069847A848B849C8429966CAE7DAE8EAE0D
:107920009FAE29978D849E84AF84B8882D968CAEA7
:107930009DAEAEAEBFAE2D97E114F1040105110569
:1079400009F02BC182149304A404B50408F422C2E4
:10795000211431044104510409F467C500E02016E4
:1079600000E0300601E0400600E0500608F04CC59B
:107970001FEF211631044104510419F010F00C944A
:10798000FF4520E030E040E050E080E090E0420140
:10799000310104C096948794779467948A95D2F7BE
:1079A000D401C3018F5C984FDC018C91280F311DED
:1079B000411D511DDA01C90120E230E040E050E0F4
:1079C00039014A01681A790A8A0A9B0A09F090C7A4
:1079D0002D96ACACBDACCEACDFAC2D97A218B308E5
:1079E000C408D508720100271127A196ECAEFDAEA0
:1079F0000EAF1FAFA1979201810120703070A59644
:107A00000CAF1DAF2EAF3FAFA59721E030E040E0B7
:107A100050E065962CAF3DAF4EAF5FAF6597C601A6
:107A2000B501A1962CAD3DAD4EAD5FADA1970E94C5
:107A30005748E1962CAF3DAF4EAF5FAFE197A596AB
:107A40006CAD7DAD8EAD9FADA5970E9405483B0105
:107A50004C01C601B501A1962CAD3DAD4EAD5FAD5B
:107A6000A1970E945748CB01772766272996ACAC8F
:107A7000BDACCEACDFAC29979601442755277B01DE
:107A80008C01E22AF32A042B152BE614F7040805CF
:107A9000190500F5E1962CAD3DAD4EAD5FADE1971A
:107AA0002150304040405040E1962CAF3DAF4EAFAA
:107AB0005FAFE197E20CF31C041D151DE214F30403
:107AC0000405150538F0E614F7040805190510F447
:107AD0000C947346E618F70808091909C801B7019C
:107AE000A1962CAD3DAD4EAD5FADA1970E9457481C
:107AF00059016A01A5966CAD7DAD8EAD9FADA59780
:107B00000E9405483B014C01C801B701A1962CAD6C
:107B10003DAD4EAD5FADA1970E945748CB01772791
:107B2000662729962CAD3DAD4EAD5FAD29974070CF
:107B30005070262B372B482B592B26153705480517
:107B40005905A8F40894A108B108C108D108220D6C
:107B5000331D441D551D221533054405550538F0C8
:107B6000261537054805590510F40C945746E1963B
:107B70006CAC7DAC8EAC9FACE197D3019927882784
:107B800015012601282A392A4A2A5B2A65962CAD36
:107B90003DAD4EAD5FAD659713C02D968CAC9DACE1
:107BA000AEACBFAC2D978E149F04A006B10608F0B2
:107BB00032C222243324210120E030E040E050E0B2
:107BC00088E0FE01799611928A95E9F7298E3A8E1E
:107BD0004B8E5C8E2D8F3E8F4F8F58A3298C3A8C05
:107BE0004B8C5C8C6D8C7E8C8F8C98A0CF57DF4F2C
:107BF000B880C158D040BB2011F40C948346CE56B7
:107C0000DF4F1882C259D040CD56DF4F1882C3597A
:107C1000D040CC56DF4F1882C459D040CB56DF4FEE
:107C20001882C559D040CA56DF4F1882C659D04075
:107C3000C956DF4F1882C759D040C856DF4F188247
:107C4000C859D040C756DF4F1882C959D04000E00C
:107C5000021981E0CC24C01608F080E0CD56DF4F39
:107C60001881C359D040131991E0CD56DF4FD88009
:107C7000C359D040D11608F090E0E12EE81A8E2DBD
:107C8000E1E01E1508F0E0E09E2B182FCC56DF4FE8
:107C90002881C459D0402419E1E0CC56DF4FF88048
:107CA000C459D040F21608F0E0E0822F891B91E021
:107CB000281708F090E0E92B282FCB56DF4F3881AA
:107CC000C559D040351991E0CB56DF4F8881C55951
:107CD000D040831708F090E0832F8E1BE1E0381727
:107CE00008F0E0E09E2B382FCA56DF4F4881C65976
:107CF000D0404619E1E0CA56DF4FA881C659D040AE
:107D0000A41708F0E0E0842F891B91E0481708F0E1
:107D100090E0E92B482FC956DF4F5881C759D04012
:107D20005719F1E0C956DF4FB881C759D040B51790
:107D300008F0F0E0852F8E1B91E0581708F090E0D6
:107D4000F92B582FC856DF4F6881C859D0406819A1
:107D500091E0C856DF4FE881C859D040E61708F0D7
:107D600090E0862F8F1BE1E0681708F0E0E09E2B83
:107D7000682FC756DF4F7881C959D0407919872FAE
:107D8000891B202E312E422E532E642E752E862EC8
:107D9000982EB9C700E0201600E0300601E040064A
:107DA00000E0500608F04EC31FEF211631044104D5
:107DB000510411F008F01CC720E030E040E050E032
:107DC00080E090E04201310104C09694879477945A
:107DD00067948A95D2F7D401C3018F5C984FDC0178
:107DE0008C91280F311D411D511D80E290E0A0E0D3
:107DF000B0E03C014D01621A730A840A950A09F445
:107E000045C0C301062C04C0220C331C441C551C65
:107E10000A94D2F72D96ECACFDAC0EAD1FAD2D97AC
:107E2000062C04C0EE0CFF1C001F111F0A94D2F791
:107E300020E230E02619370929966CAC7DAC8EAC77
:107E40009FAC299704C096948794779467942A9559
:107E5000D2F7E628F728082919292D96ECAEFDAEB1
:107E60000EAF1FAF2D9729968CAC9DACAEACBFACBE
:107E7000299704C0880C991CAA1CBB1C8A95D2F7B0
:107E800029968CAE9DAEAEAEBFAE29973201882446
:107E90009924920181012070307069960CAF1DAF5A
:107EA0002EAF3FAF69972D966CAD7DAD8EAD9FAD7A
:107EB0002D97A40193010E9457486D962CAF3DAFBA
:107EC0004EAF5FAF6D9769966CAD7DAD8EAD9FADDA
:107ED00069970E9405485B016C012D966CAD7DADE4
:107EE0008EAD9FAD2D97A40193010E945748CB0101
:107EF000772766272996ECACFDAC0EAD1FAD299710
:107F00009801442755277B018C01E22AF32A042B90
:107F1000152BEA14FB040C051D05F8F46D962CAD29
:107F20003DAD4EAD5FAD6D9721503040404050406B
:107F30006D962CAF3DAF4EAF5FAF6D97E20CF31C6B
:107F4000041D151DE214F3040405150530F0EA14B0
:107F5000FB040C051D0508F4B7C6EA18FB080C095C
:107F60001D09C801B701A40193010E945748590196
:107F70006A0169966CAD7DAD8EAD9FAD69970E942B
:107F8000054869AF7AAF8BAF9CAFC801B701A401B8
:107F900093010E945748CB017727662729962CAD7D
:107FA0003DAD4EAD5FAD299740705070262B372BFD
:107FB000482B592B89AD9AADABADBCAD281739070D
:107FC0004A075B07A0F40894A108B108C108D108CA
:107FD000220D331D441D551D22153305440555053D
:107FE00030F0281739074A075B0708F467C66D9613
:107FF0006CAC7DAC8EAC9FAC6D97D3019927882774
:1080000015012601282A392A4A2A5B2A20E030E075
:1080100040E050E0D5CD20E0E21620E0F20621E07D
:10802000020720E0120708F41EC240E0E41640E018
:10803000F40640E0040741E0140708F0E8C520E139
:1080400030E040E050E080E190E03701480104C0BA
:1080500096948794779467948A95D2F7D401C30154
:108060008F5C984FDC018C91280F311D411D511DF3
:10807000DA01C90120E2A22EB12CC12CD12CA6011B
:108080009501281B390B4A0B5B0B09F079C22D9621
:108090006CAC7DAC8EAC9FAC2D97E614F704080554
:1080A000190560F029968CAC9DACAEACBFAC29979D
:1080B00082149304A404B50408F47BCD81E0282E37
:1080C000312C412C512C20E030E040E050E078CDC4
:1080D000CF57DF4FE881C158D040E095CF57DF4FF1
:1080E000E883C158D04088249924AA24BB24CC24F6
:1080F000DD24EE24FF24F981C657DF4FF883CA58E8
:10810000D0406A80C557DF4F6882CB58D0407B8013
:10811000C457DF4F7882CC58D0400C81C357DF4F13
:108120000883CD58D0401D81C257DF4F1883CE58E9
:10813000D0402E81C157DF4F2883CF58D0403F8198
:10814000C057DF4F3883C059D0404885CF56DF4FE6
:108150004883C159D040082D0F1B81E0801608F0DC
:10816000E5C1192DC557DF4F9881CB58D040191B59
:1081700091E0911608F0D1C1A12FA81B8A2FE1E050
:108180001A1708F0C8C19E2B182F2A2DC457DF4F8D
:10819000B881CC58D0402B1BE1E0A21608F0B3C147
:1081A000822F891B91E0281708F0ABC1E92B282FFB
:1081B0003B2DC357DF4FF881CD58D0403F1B91E096
:1081C000B31608F096C1832F8E1BE1E0381708F034
:1081D0008EC19E2B382F4C2DC257DF4F6880CE5852
:1081E000D0404619E1E0C41608F079C1842F891BFC
:1081F00091E0481708F071C1E92B482F5D2DC15758
:10820000DF4F7880CF58D0405719F1E0D51608F0ED
:108210005CC1852F8E1B91E0581708F054C1F92BD3
:10822000582F6E2DC057DF4F8881C059D040681B32
:1082300091E0E61608F03FC1862F8F1BE1E068173A
:1082400008F037C19E2B682F7F2DCF56DF4FA881B6
:10825000C159D0407A1B872F891B09831A832B832E
:108260003C834D835E836F8388871ECB882499244B
:10827000AA24BB24CC24DD24EE24FF2409A1CE575C
:10828000DF4F0883C258D0401AA1CD57DF4F188363
:10829000C358D0402BA1CC57DF4F2883C458D040BF
:1082A0003CA1CB57DF4F3883C558D0404DA1CA57AA
:1082B000DF4F4883C658D0405EA1C957DF4F58836F
:1082C000C758D0408FA1C857DF4F8883C858D040C7
:1082D00098A5C757DF4F9883C958D040082DCE576F
:1082E000DF4FA881C258D0400A1B81E0801608F0F9
:1082F000DEC0192DCD57DF4FB881C358D0401B1BAE
:1083000091E0911608F0CAC0E12FE81B8E2FE1E042
:10831000181708F0C1C09E2B182F2A2DCC57DF4FFD
:10832000F881C458D0402F1BE1E0A21608F020C10C
:10833000822F891B91E0281708F018C1E92B282FFC
:108340003B2DCB57DF4F6880C558D040361991E0A0
:10835000B31608F003C1832F8E1BE1E0381708F035
:10836000FBC09E2B382F4C2DCA57DF4F7880C65844
:10837000D0404719E1E0C41608F0E6C0842F891BFD
:1083800091E0481708F0DEC0E92B482F5D2DC95752
:10839000DF4F8881C758D040581BF1E0D51608F050
:1083A000C9C0852F8E1B91E0581708F0C1C0F92B6A
:1083B000582F6E2DC857DF4F9881C858D040691B81
:1083C00091E0E61608F060C0862F8F1BE1E0681789
:1083D00008F058C09E2B682F7F2DC757DF4FA8810C
:1083E000C958D0407A1B872F891B09A31AA32BA336
:1083F0003CA34DA35EA36FA388A7BFEFCF57DF4F6A
:10840000B883C158D0404ACA20E0221620E0320684
:1084100020E0420621E0520608F007C420E130E0E7
:1084200040E050E080E190E0B2CA61E070E080E0BE
:1084300090E020E030E040E050E00E945748190111
:108440002A018CCA20E0221620E0320620E04206F3
:1084500021E0520608F0E2C320E130E040E050E0C5
:1084600080E190E0AFCC3FEFE316F1040105110588
:1084700011F008F0B6C320E030E040E050E080E0CA
:1084800090E0E3CDE0E0A6CF90E0862F8F1BE1E007
:10849000681708F49FCFF6CFE0E03DCF90E0E12FE2
:1084A000E81B8E2FE1E0181708F435CFF5CF80E0F8
:1084B00020CFE0E0C7CE90E0862F8F1BE1E0681769
:1084C00008F4C0CEF6CF90E0AACEF0E0852F8E1B48
:1084D00091E0581708F4A3CEF6CF90E08DCEE0E0FF
:1084E000842F891B91E0481708F486CEF6CFE0E090
:1084F00070CE90E0832F8E1BE1E0381708F469CE30
:10850000F6CF90E053CEE0E0822F891B91E0281750
:1085100008F44CCEF6CFE0E036CE90E0A12FA81BB9
:108520008A2FE1E01A1708F42ECEF5CF80E019CE9D
:1085300090E03DCFF0E0852F8E1B91E0581708F4B6
:1085400036CFF6CF90E020CFE0E0842F891B91E07A
:10855000481708F419CFF6CFE0E003CF90E0832F5F
:108560008E1BE1E0381708F4FCCEF6CF90E0E6CEA3
:10857000E0E0822F891B91E0281708F4DFCEF6CFC8
:1085800021963FAF2EAF2197A21AB30AC40AD50A8B
:10859000A60195010FAC04C0EE0CFF1C001F111FBB
:1085A0000A94D2F7D201C10104C0B695A795979558
:1085B0008795AA94D2F7E82AF92A0A2B1B2B25962D
:1085C000ECAEFDAE0EAF1FAF25970FAC04C0220C72
:1085D000331C441C551C0A94D2F729A63AA64BA674
:1085E0005CA62D96ACACBDACCEACDFAC2D97022E0C
:1085F00004C0D694C794B794A7940A94D2F72D9642
:10860000ECACFDAC0EAD1FAD2D970FAC04C0EE0C65
:10861000FF1C001F111F0A94D2F729968CAD9DAD47
:10862000AEADBFAD299704C0B695A7959795879530
:108630002A95D2F7E82AF92A0A2B1B2BEDAAFEAAC3
:108640000FAB18AF25960CAD1DAD2EAD3FAD2597E8
:10865000790100271127E596ECAEFDAE0EAF1FAFF6
:10866000E59725962CAD3DAD4EAD5FAD259740709D
:108670005070E9962CAF3DAF4EAF5FAFE997C601A2
:10868000B501A80197010E945748ED962CAF3DAF68
:108690004EAF5FAFED97E9966CAD7DAD8EAD9FAD02
:1086A000E9970E9405483B014C01C601B501A801AC
:1086B00097010E945748CB0177276627ADA8BEA82F
:1086C000CFA8D8AC9601442755277B018C01E22A1C
:1086D000F32A042B152BE614F7040805190500F5F9
:1086E000ED962CAD3DAD4EAD5FADED9721503040D8
:1086F00040405040ED962CAF3DAF4EAF5FAFED9791
:1087000025968CAD9DADAEADBFAD2597E80EF91E9B
:108710000A1F1B1FE816F9060A071B0708F0B2C25A
:10872000E618F70808091909C801B701E5962CAD44
:108730003DAD4EAD5FADE5970E94574819012A0146
:10874000E9966CAD7DAD8EAD9FADE9970E94054871
:108750003B014C01C801B701E5962CAD3DAD4EADD6
:108760005FADE5970E945748CB01772766272DA973
:108770003EA94FA958AD407050705B016C01A22A10
:10878000B32AC42AD52AA614B704C804D904A8F465
:10879000089421083108410851082596ECACFDAC3D
:1087A0000EAD1FAD2597AE0CBF1CC01ED11EAE1462
:1087B000BF04C006D10608F055C2A618B708C808FD
:1087C000D908A9AABAAACBAADCAAED960CAD1DAD10
:1087D0002EAD3FADED97D80199278827282A392A51
:1087E0004A2A5B2A61962CAE3DAE4EAE5FAE6197D3
:1087F000820171012FEF3FEF40E050E0E222F322CF
:1088000004231523120144245524A9A4BAA4CBA4FB
:10881000DCA4A222B322C422D52229A53AA54BA5C5
:108820005CA53A0188249924C801B701A6019501E5
:108830000E940548C358DF4F688379838A839B83EE
:10884000CD57D040C801B701A40193010E9405484B
:108850007B018C01C201B101A60195010E9405486E
:108860005B016C01C201B101A40193010E940548A2
:108870009B01AC01EA0CFB1C0C1D1D1DC358DF4FF6
:10888000688079808A809B80CD57D040C401AA2718
:10889000BB27E80EF91E0A1F1B1FEA14FB040C0578
:1088A0001D0520F4205030404F4F5F4FC801AA27CC
:1088B000BB27280F391F4A1F5B1F89A89AA8ABA89E
:1088C000BCA882169306A406B50608F479C18216E0
:1088D0009306A406B50609F446C161962CAC3DACDE
:1088E0004EAC5FAC619720E030E040E050E068C9FA
:1088F0007EAE6DAE0DAC04C0220C331C441C551C66
:108900000A94D2F72619370948095909DA01C90129
:108910002D96ECACFDAC0EAD1FAD2D9704C0169599
:108920000795F794E7942A95D2F72D962CAD3DAD97
:108930004EAD5FAD2D970DAC04C0220F331F441F09
:10894000551F0A94D2F729966CAC7DAC8EAC9FACC7
:10895000299704C096948794779467948A95D2F760
:1089600026293729482959292DA73EA74FA758ABB3
:108970004201AA24BB24A1968CAE9DAEAEAEBFAE82
:10898000A197A201910140705070A5962CAF3DAF08
:108990004EAF5FAFA597C801B701A50194010E9432
:1089A0005748A9962CAF3DAF4EAF5FAFA997A5969C
:1089B0006CAD7DAD8EAD9FADA5970E9405485B0166
:1089C0006C01C801B701A1962CAD3DAD4EAD5FADB8
:1089D000A1970E945748CB01772766276DA47EA4F4
:1089E0008FA498A89401442755277B018C01E22A83
:1089F000F32A042B152BEA14FB040C051D05D0F4F7
:108A0000A9962CAD3DAD4EAD5FADA997215030403C
:108A100040405040A9962CAF3DAF4EAF5FAFA997F5
:108A2000E20CF31C041D151DE214F30404051505E6
:108A300008F003C1EA18FB080C091D09C801B701B9
:108A4000A1962CAD3DAD4EAD5FADA1970E945748AC
:108A5000AD962CAF3DAF4EAF5FAFAD97A5966CAD69
:108A60007DAD8EAD9FADA5970E9405483B014C01A1
:108A7000C801B701A1962CAD3DAD4EAD5FADA1973C
:108A80000E945748CB01772766272DA53EA54FA505
:108A900058A9407050705B016C01A22AB32AC42A05
:108AA000D52AA614B704C804D90450F5AD968CADE8
:108AB0009DADAEADBFADAD970197A109B109AD9622
:108AC0008CAF9DAFAEAFBFAFAD97A20CB31CC41CB3
:108AD000D51CA214B304C404D50490F0A614B704A2
:108AE000C804D90468F40197A109B109AD968CAF07
:108AF0009DAFAEAFBFAFAD97A20CB31CC41CD51CCD
:108B00002996ECACFDAC0EAD1FAD29970DAC04C0A1
:108B1000EE0CFF1C001F111F0A94D2F72996ECAE31
:108B2000FDAE0EAF1FAF2997A618B708C808D90821
:108B3000A9960CAD1DAD2EAD3FADA997D8019927D3
:108B40008827AD962CAD3DAD4EAD5FADAD97282BD2
:108B5000392B4A2B5B2B65962CAF3DAF4EAF5FAFE9
:108B600065970C940F3D29968CAD9DADAEADBFAD14
:108B700029970FAC04C0880F991FAA1FBB1F0A9426
:108B8000D2F7A70133272227C358DF4FE880F980A7
:108B90000A811B81CD57D0406FEFA62E6FEFB62E06
:108BA000C12CD12CEA20FB200C211D212E0D3F1DB4
:108BB000401F511F82179307A407B50708F08DCEF9
:108BC00061962CAC3DAC4EAC5FAC6197089421082B
:108BD00031084108510820E030E040E050E00C94BA
:108BE000E03D28E030E040E050E088E090E02DCA31
:108BF00028E030E040E050E088E090E0E3C828E082
:108C000030E040E050E088E090E00C94C73C28E180
:108C100030E040E050E088E190E017CA28E130E021
:108C200040E050E088E190E0CDC828E130E040E04D
:108C300050E088E190E00C94C73CEA14FB040C057A
:108C40001D0508F0F7CE2150304040405040A99615
:108C50002CAF3DAF4EAF5FAFA997E20CF31C041DE4
:108C6000151DE8CEA614B704C804D90408F0A5CD94
:108C700008942108310841085108AE0CBF1CC01EE1
:108C8000D11E9BCDE614F7040805190508F048CD60
:108C90002150304040405040ED962CAF3DAF4EAF9C
:108CA0005FAFED97E80EF91E0A1F1B1F39CD089420
:108CB000A108B108C108D1080C94B73D0894A108D7
:108CC000B108C108D10893C92150304040405040FC
:108CD0006D962CAF3DAF4EAF5FAF6D97E20CF31CBE
:108CE000041D151D3AC92150304040405040E196C6
:108CF0002CAF3DAF4EAF5FAFE197E20CF31C041D0C
:108D0000151D0C946A3D222D332D442D552D662DB5
:108D1000772D882D992DE2E1C756DF4F0C94B0488E
:108D2000FC014150504030F001900616D1F73197C8
:108D3000CF0108958827992708955058192EEFD00C
:108D400001D0D2C0BA176207730784079507B1F143
:108D500088F40EF410940B2EBA2FA02D062E622F3D
:108D6000202D072E732F302D082E842F402D092EF5
:108D7000952F502DFF275523B9F0591B49F0573E29
:108D800098F0469537952795A795F0405395C9F7E4
:108D900076F0BA0F621F731F841F30F487957795A2
:108DA0006795B795F040939517FA0F2E0895BF1B5E
:108DB000BB27BA0B620B730B840BF6CFDEF6DBC05E
:108DC000AED001D091C0552359F0992369F09F5737
:108DD0005F57951B33F442F4903811F4915805C055
:108DE0009BC091589F3F09F4C6C0BB27112462174E
:108DF0007307840730F4660F771F881FBB1F9150DD
:108E000098F311D00F920FD00F920DD0A0E8261733
:108E1000370748071B0609F0A048BA2F602D7F913D
:108E20008F9100240895A0E8002462177307840737
:108E3000B10528F0621B730B840BB1090A2A660F77
:108E4000771F881FBB1FA69581F7089597FB73D0E6
:108E50009F3738F0FEE9F91B982F872F762F6B2F5D
:108E600005C086C09695879577956795F150D0F7A0
:108E70003EF490958095709561957F4F8F4F9F4FF1
:108E80000895E89403C097FB0EF4F3DFB62F672F25
:108E9000782F892F9EE9002427C00ED05EF004C0F1
:108EA0000BD026F001C008D019F020F48FEF089500
:108EB00080E0089581E0089597FB092E052600F8CB
:108EC000689430D0E89407FC07C0621773078407E2
:108ED000950721F008F400940794989408959A95C2
:108EE000BB0F661F771F881F11249923A1F08823C9
:108EF000B2F79F3F59F0BB0F48F421F4002011F462
:108F000060FF04C06F5F7F4F8F4F9F4F881F979503
:108F1000879597F908952CC09FEF80EC0895052E52
:108F2000092607FA440F551F5F3F79F0AA27A517B6
:108F300008F051E04795880F991F9F3F31F0BB27FC
:108F4000B91708F091E0879508959F919F9111249A
:108F5000E3CF97FB880F991F9F3F31F0BB27B917CD
:108F600008F091E0879508959F919F911124D4CFA7
:108F700066277727882799270895D1DF01D0B4CFB6
:108F8000992339F0552329F09F575F57950F13F414
:108F90009AF1F1CF91589F3FE1F3629FA12D0F927B
:108FA000BB27639FA00DB11DEE27729FA00DB11DC1
:108FB000EE1FAF93AA27649FB00DE11D739FB00D04
:108FC000E11DAA1F6627829FB00DE11DA61F552730
:108FD000749FE00DA11D551F839FE00DA11D561F1D
:108FE000849FA00D511D852F7A2F6E2F1F900F90FB
:108FF00088231AF4939539F48FCF000C111CBB1FF2
:10900000661F771F881F01280895629FD001739FF4
:10901000F001829FE00DF11D649FE00DF11D929F14
:10902000F00D839FF00D749FF00D659FF00D992753
:10903000729FB00DE11DF91F639FB00DE11DF91F77
:10904000BD01CF0111240895991B79E004C0991F37
:10905000961708F0961B881F7A95C9F78095089592
:10906000AA1BBB1B51E107C0AA1FBB1FA617B7074E
:1090700010F0A61BB70B881F991F5A95A9F780956A
:109080009095BC01CD01089597FB092E07260AD0C3
:1090900077FD04D0E5DF06D000201AF470956195C5
:1090A0007F4F0895F6F7909581959F4F0895A1E21F
:1090B0001A2EAA1BBB1BFD010DC0AA1FBB1FEE1F52
:1090C000FF1FA217B307E407F50720F0A21BB30B9D
:1090D000E40BF50B661F771F881F991F1A9469F719
:1090E00060957095809590959B01AC01BD01CF0175
:1090F000089597FB092E05260ED057FD04D0D7DF23
:109100000AD0001C38F450954095309521953F4F7A
:109110004F4F5F4F0895F6F7909580957095619544
:109120007F4F8F4F9F4F08952F923F924F925F92A4
:109130006F927F928F929F92AF92BF92CF92DF9267
:10914000EF92FF920F931F93CF93DF93CDB7DEB7CC
:10915000CA1BDB0B0FB6F894DEBF0FBECDBF099460
:109160002A88398848885F846E847D848C849B84B7
:10917000AA84B984C884DF80EE80FD800C811B81C5
:10918000AA81B981CE0FD11D0FB6F894DEBF0FBEF4
:10919000CDBFED010895EE0FFF1F0590F491E02D76
:1091A0000994F999FECFB2BDA1BDF89A119600B409
:1091B0000895F999FECFB2BDA1BD00BC11960FB6BE
:0C91C000F894FA9AF99A0FBE0895FFCFB8
:1091CC000A01642003FFFF0A016400007D0000FF18
:1091DC00030102030405060708090A48616C6C6F59
:1091EC002057656C740000000000000000000000B7
:1091FC000000000000000000000000000000000063
:10920C000000000000000000000000000000000052
:10921C000000000000000000000000000000000042
:10922C0000000000000000000000000B014B616D0D
:10923C00657261000053706F72740000640000006E
:10924C00803F17B7D13830FB103A409696020A642B
:10925C0046000011002200340045005700680079D8
:10926C00008B009C00AD00BE00CF00E000F10002BE
:10927C000113012401350145015601660176018671
:10928C00019601A601B601C501D501E401F4010363
:10929C0002110220022F023D024B02590267027595
:1092AC0002820290029D02AA02B602C302CF02DB26
:1092BC0002E702F202FE02090314031E0329033320
:1092CC00033D0346035003590362036A0372037B95
:1092DC000382038A03910398039F03A503AB03B195
:1092EC0003B703BC03C103C503CA03CE03D203D522
:1092FC0003D803DB03DE03E003E203E403E503E648
:10930C0003E703E703E803E703E703E603E503E406
:10931C0003E203E003DE03DB03D803D503D203CE61
:10932C0003CA03C503C103BC03B703B103AB03A555
:10933C00039F03980391038A0382037B0372036ADE
:10934C000362035903500346033D03330329031EF1
:10935C000314030903FE02F202E702DB02CF02C38D
:10936C0002B602AA029D029002820275026702599D
:10937C00024B023D022F02200211020302F401E40F
:10938C0001D501C501B601A60196018601760166DB
:10939C0001560145013501240113010201F100E0E0
:1093AC0000CF00BE00AD009C008B00790068005718
:1093BC000045003400220011000000EFFFDEFFCC5E
:1093CC00FFBBFFA9FF98FF87FF75FF64FF53FF42A8
:1093DC00FF31FF20FF0FFFFEFEEDFEDCFECBFEBBE0
:1093EC00FEAAFE9AFE8AFE7AFE6AFE5AFE4AFE3BF0
:1093FC00FE2BFE1CFE0CFEFDFDEFFDE0FDD1FDC3C2
:10940C00FDB5FDA7FD99FD8BFD7EFD70FD63FD5641
:10941C00FD4AFD3DFD31FD25FD19FD0EFD02FDF75B
:10942C00FCECFCE2FCD7FCCDFCC3FCBAFCB0FCA70A
:10943C00FC9EFC96FC8EFC85FC7EFC76FC6FFC682E
:10944C00FC61FC5BFC55FC4FFC49FC44FC3FFC3BC9
:10945C00FC36FC32FC2EFC2BFC28FC25FC22FC20D0
:10946C00FC1EFC1CFC1BFC1AFC19FC19FC18FC193E
:10947C00FC19FC1AFC1BFC1CFC1EFC20FC22FC2511
:10948C00FC28FC2BFC2EFC32FC36FC3BFC3FFC4449
:10949C00FC49FC4FFC55FC5BFC61FC68FC6FFC76EA
:1094AC00FC7EFC85FC8EFC96FC9EFCA7FCB0FCBAFA
:1094BC00FCC3FCCDFCD7FCE2FCECFCF7FC02FD0E83
:1094CC00FD19FD25FD31FD3DFD4AFD56FD63FD7089
:1094DC00FD7EFD8BFD99FDA7FDB5FDC3FDD1FDE026
:1094EC00FDEFFDFDFD0CFE1CFE2BFE3BFE4AFE5A65
:1094FC00FE6AFE7AFE8AFE9AFEAAFEBBFECBFEDC5C
:10950C00FEEDFEFEFE0FFF20FF31FF42FF53FF6416
:10951C00FF75FF87FF98FFA9FFBBFFCCFFDEFFEFB6
:10952C00FFE803E703E703E603E503E403E203E0F4
:10953C0003DE03DB03D803D503D203CE03CA03C572
:10954C0003C103BC03B703B103AB03A5039F03988B
:10955C000391038A0382037B0372036A0362035938
:10956C0003500346033D03330329031E031403096D
:10957C0003FE02F202E702DB02CF02C302B602AA2A
:10958C00029D02900282027502670259024B023D53
:10959C00022F02200211020302F401E401D501C5DD
:1095AC0001B601A6019601860176016601560145B8
:1095BC00013501240113010201F100E000CF00BECE
:1095CC0000AD009C008B007900680057004500340A
:1095DC0000220011000000EFFFDEFFCCFFBBFFA953
:1095EC00FF98FF87FF75FF64FF53FF42FF31FF2099
:1095FC00FF0FFFFEFEEDFEDCFECBFEBBFEAAFE9ACD
:10960C00FE8AFE7AFE6AFE5AFE4AFE3BFE2BFE1CCA
:10961C00FE0CFEFDFDEFFDE0FDD1FDC3FDB5FDA78C
:10962C00FD99FD8BFD7EFD70FD63FD56FD4AFD3DF4
:10963C00FD31FD25FD19FD0EFD02FDF7FCECFCE2F4
:10964C00FCD7FCCDFCC3FCBAFCB0FCA7FC9EFC9682
:10965C00FC8EFC85FC7EFC76FC6FFC68FC61FC5B84
:10966C00FC55FC4FFC49FC44FC3FFC3BFC36FC32FB
:10967C00FC2EFC2BFC28FC25FC22FC20FC1EFC1CDC
:10968C00FC1BFC1AFC19FC19FC18FC19FC19FC1A23
:10969C00FC1BFC1CFC1EFC20FC22FC25FC28FC2BCF
:1096AC00FC2EFC32FC36FC3BFC3FFC44FC49FC4FE2
:1096BC00FC55FC5BFC61FC68FC6FFC76FC7EFC855D
:1096CC00FC8EFC96FC9EFCA7FCB0FCBAFCC3FCCD4B
:1096DC00FCD7FCE2FCECFCF7FC02FD0EFD19FD25B1
:1096EC00FD31FD3DFD4AFD56FD63FD70FD7EFD8B9C
:1096FC00FD99FDA7FDB5FDC3FDD1FDE0FDEFFDFD21
:10970C00FD0CFE1CFE2BFE3BFE4AFE5AFE6AFE7A48
:10971C00FE8AFE9AFEAAFEBBFECBFEDCFEEDFEFE32
:10972C00FE0FFF20FF31FF42FF53FF64FF75FF87E1
:10973C00FF98FFA9FFBBFFCCFFDEFFEFFF0000117E
:10974C00002200340045005700680079008B009C13
:10975C0000AD00BE00CF00E000F1000201130124B7
:10976C00013501450156016601760186019601A677
:10977C0001B601C501D501E401F401030211022077
:10978C00022F023D024B02590267027502820290BF
:10979C00029D02AA02B602C302CF02DB02E702F26A
:1097AC0002FE02090314031E03290333033D03467F
:1097BC00035003590362036A0372037B0382038A17
:1097CC0003910398039F03A503AB03B103B703BC39
:1097DC0003C103C503CA03CE03D203D503D803DBED
:1097EC0003DE03E003E203E403E503E603E703E738
:1097FC00030001020203030303040404040404042D
:10980C0004050505050505050505050505050505FD
:10981C0005060606060606060606060606060606DD
:10982C0006060606060606060606060606060606CC
:10983C0006070707070707070707070707070707AD
:10984C00070707070707070707070707070707079C
:10985C00070707070707070707070707070707078C
:10986C00070707070707070707070707070707077C
:10987C00070808080808080808080808080808085D
:10988C00080808080808080808080808080808084C
:10989C00080808080808080808080808080808083C
:1098AC00080808080808080808080808080808082C
:1098BC00080808080808080808080808080808081C
:1098CC00080808080808080808080808080808080C
:1098DC0008080808080808080808080808080808FC
:1098EC0008080808080808080808080808080808EC
:0298FC00080062
:00000001FF
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/GPS.c
0,0 → 1,300
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 10.2007 by Jochen Kromayer
// + es handelt sich um eine Beta-Software, die zu nichtkommerziellen Zwecken frei veröffentlich und weitergegeben werden darf. Für evtl.
// + Personen- und/der Sachschäden ist jegliche Haftung ausgeschlossen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
#include "math.h"
 
//Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int
//verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr)
const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190,
207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629,
642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920,
927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996,
994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,
829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,
469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,
-34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,
-422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,
-731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,
-933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,
-999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,
-920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,
-707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,
-390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17};
 
//Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int
//verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr)
const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981,
978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777,
766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390,
374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104,
-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469,
-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766,
-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951,
-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997,
-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898,
-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669,
-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342,
-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87,
104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,
559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,
882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999};
 
 
 
long Soll_Position_North = 0;
long Soll_Position_East = 0;
 
long GPS_Positionsabweichung_North = 0;
long GPS_Positionsabweichung_East = 0;
long GPS_Geschwindigkeit_North = 0;
long GPS_Geschwindigkeit_East = 0;
long P_Einfluss_North = 0;
long D_Einfluss_North = 0;
long P_Einfluss_East = 0;
long D_Einfluss_East = 0;
 
signed int GPS_North = 0;
signed int GPS_East = 0;
signed int GPS_Nick = 0;
signed int GPS_Roll = 0;
 
volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr)
long GPS_Home_North = 0;
long GPS_Home_East = 0;
 
unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr)
 
//**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG
// Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet
 
#define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert
volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen
volatile unsigned char FilterPos = 0;
volatile long NORTH_MITTEL = 0;
volatile long EAST_MITTEL = 0;
volatile long long NORTH_LONG_LONG = 0;
volatile long long EAST_LONG_LONG = 0;
volatile int filterfilled = 0;
 
typedef struct {
 
long NORTH[MITTELWERTZAHL];
 
} FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger
 
typedef struct {
long EAST[MITTELWERTZAHL];
 
} FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger
 
FILTER_NORTH filter_north;
FILTER_EAST filter_east;
 
//**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG
 
 
void gps_main(void)
{
 
//**************************** MIRCOS FILTERUNG ANFANG
// if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen
if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll
 
{
 
filter_north.NORTH[FilterPos] = actualPos.northing;
filter_east.EAST[FilterPos] = actualPos.easting;
FilterPos++;
if (FilterPos==MITTELWERTZAHL) FilterPos=0;
 
if (filterfilled<MITTELWERTZAHL) filterfilled++;
 
NORTH_LONG_LONG = 0;
EAST_LONG_LONG = 0;
for (int i=0; i<filterfilled; i++)
{
NORTH_LONG_LONG += filter_north.NORTH[i];
EAST_LONG_LONG += filter_east.EAST[i];
}
NORTH_LONG_LONG /= filterfilled;
EAST_LONG_LONG /= filterfilled;
NORTH_MITTEL = NORTH_LONG_LONG;
EAST_MITTEL = EAST_LONG_LONG;
NeuerMittelwert = 1;
//actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll
}
//******************************* MIRCOS FILTERUNG ENDE
 
 
 
 
//wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle
//auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert
//(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird
if (actualPos.GPSFix < 3 && Poti3 > 70)
{
GPS_Nick = 0;
GPS_Roll = 0;
LED2_OFF;
beeptime = 50;
}
 
 
 
// speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde
// (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen
// irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist
if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000)
{
GPS_Home_North = NORTH_MITTEL;
GPS_Home_East = EAST_MITTEL;
// Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in
// Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde
// GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde
Soll_Position_North = NORTH_MITTEL;
Soll_Position_East = EAST_MITTEL;
beeptime = 50;
gethome = 1;
}
 
 
 
 
//löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr)
if (MotorenEin == 0)
{
GPS_Home_North = 0;
GPS_Home_East = 0;
gethome = 0;
modell_fliegt_gps = 0;
}
 
 
 
 
// wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht
if(Poti3 < 70)
{
// Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion
// über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen.
Soll_Position_North = NORTH_MITTEL;
Soll_Position_East = EAST_MITTEL;
GPS_Nick = 0;
GPS_Roll = 0;
LED2_OFF;
}
// wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt
if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12))
{
GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert
GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert
Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben
Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben
//++++++++++++++++++++++++++++++++++++
//Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt
//++++++++++++++++++++++++++++++++++++
if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char
{
LED2_FLASH;
blinkcount_LED2 = 0;
}
blinkcount_LED2++;
//++++++++++++++++++++++++++++++++++++
}
 
// wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert
if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12)
{
//Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING)
//DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen
if(Poti3 < 150)
{
GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL);
GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL);
LED2_ON;
}
//andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt
//werden konnten, wird zur GPS_Home_Position geflogen
if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0)
{
GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL);
GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL);
// durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten
// von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt
Soll_Position_North = NORTH_MITTEL;
Soll_Position_East = EAST_MITTEL;
LED2_ON;
}
//verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition
//die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen
//jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet.
if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0)
{
GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL);
GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL);
LED2_ON;
beeptime = 50;
}
//GPS-Geschwindigkeiten
GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung
GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung
//Berechnung der Einzelkomponenten des PD-Reglers
P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000
D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300
P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000
D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300
// Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden,
// dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat.
// Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab.
// Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet.
if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250))
{
if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil;
if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil;
if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil;
if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil;
}
// PD-Regler
GPS_North = (-P_Einfluss_North + D_Einfluss_North);
GPS_East = (P_Einfluss_East - D_Einfluss_East);
//Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem
GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden
GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden
// Begrenzung des maximalen GPS Einflusses für positive und negative Werte
if (GPS_Nick > 35) GPS_Nick = 35;
if (GPS_Roll > 35) GPS_Roll = 35;
if (GPS_Nick < -35) GPS_Nick = -35;
if (GPS_Roll < -35) GPS_Roll = -35;
//Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen.
//FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN.
//GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT
NeuerMittelwert = 0;
}
}
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/License.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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/MIKROKOPTER_TO_DO.txt
0,0 → 1,11
. Patricks neigungskompensierten Kompass
. Aufruf der GPS.c innerhalb der fc.c nur wenn neue Daten vorliegen
. innerhalb der GPS.c den PD-Regler nicht mit "NeuerMittelwert", sondern mit "actualpos.newdata" alle 250ms aufrufen
. GPS-Empfänger auf 5Hz einstellen
. Begrenzung von 35 auf 50 anheben, damit auch bei stärkerem Wind geflogen werden kann
 
. Waypoints
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Parameter.txt
0,0 → 1,15
 
bei leichtem, konstantem Wind
 
P-Faktor(Userparam_1): 120
D-Faktor(Userparam_2): 90
D-Anteil_Limit(Userparam_3): 45
 
 
 
 
bei stärkerem, böhigem Wind:
 
P-Faktor(Userparam_1): 150
D-Faktor(Userparam_2): 95
D-Anteil_Limit(Userparam_3): 45
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/README_Nickk666Kompass.pdf
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Setting_1.mkp
0,0 → 1,51
[Setup]
Name=GPS
GlobalConfig=43
[Channels]
Gas=3
Gier=2
Nick=1
Roll=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=4
Nick_Roll-D=0
Gier-P=16
[Altitude]
Setpoint=254
MinGas=30
P=10
Barometric-D=50
Z-ACC-Effect=50
Gain=2
[Gyro]
P=120
I=150
ACC_Gyro-Factor=26
Main-I=0
[Others]
MinGas=5
MaxGas=250
Compass-Effect=64
UnderVoltage=95
NotGas=66
NotGasTime=60
[User]
Parameter_1=251
Parameter_2=252
Parameter_3=35
Parameter_4=60
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Settings.h
--- MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/_Settings.h (nonexistent)
+++ MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/_Settings.h (revision 376)
@@ -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 500 // in diesem Intervall werden Degugdaten 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/analog.c
0,0 → 1,172
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0;
volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 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(100);
if(MessLuftdruck < 850) off = 0;
for(; off < 250;off++)
{
OCR0A = off;
Delay_ms(50);
printf(".");
if(MessLuftdruck < 900) break;
}
eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
DruckOffsetSetting = off;
Delay_ms(300);
}
 
 
//#######################################################################################
//
SIGNAL(SIG_ADC)
//#######################################################################################
{
static unsigned char kanal=0,state = 0;
signed int wert;
ANALOG_OFF;
switch(state++)
{
case 0:
wert = (signed int) AdNeutralGier - ADC;
if(PlatinenVersion != 10) wert *= 2;
AccumulateGier += wert; //
MessanzahlGier++;
Mess_Integral_Gier += wert;// / 16;
Mess_Integral_Gier2 += wert;
kanal = 1;
ZaehlMessungen++;
break;
case 1:
wert = (signed int) ADC - AdNeutralRoll;
if(PlatinenVersion != 10) wert *= 2;
Mess_IntegralRoll += wert;
Mess_IntegralRoll2 += wert;
if(Mess_IntegralRoll > 310000L) Mess_IntegralRoll = -290000L;
if(Mess_IntegralRoll <-310000L) Mess_IntegralRoll = 290000L;
if(ADC < 15) wert = -1000;
if(ADC < 7) wert = -2000;
if(ADC > 1010) wert = +1000;
if(ADC > 1017) wert = +2000;
AccumulateRoll += wert;
MessanzahlRoll++;
kanal = 2;
break;
case 2:
wert = (signed int) ADC - AdNeutralNick;
if(PlatinenVersion != 10) wert *= 2;
Mess_IntegralNick += wert;
Mess_IntegralNick2 += wert;
if(Mess_IntegralNick > 310000L) Mess_IntegralNick = -290000L;
if(Mess_IntegralNick <-310000L) Mess_IntegralNick = 290000L;
if(ADC < 15) wert = -1000;
if(ADC < 7) wert = -2000;
if(ADC > 1010) wert = +1000;
if(ADC > 1017) wert = +2000;
AccumulateNick += wert;
MessanzahlNick++;
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;
accumulate_AccRoll += Aktuell_ay;
messanzahl_AccRoll++;
kanal = 7;
break;
case 5:
Aktuell_ax = ADC - NeutralAccX;
accumulate_AccNick += Aktuell_ax;
messanzahl_AccNick++;
kanal = 5;
state = 6;
break;
case 6:
accumulate_AccHoch = (signed int) ADC - NeutralAccZ;
accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4;
if(accumulate_AccHoch > 1)
{
if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
}
else if(accumulate_AccHoch < -1)
{
if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
}
messanzahl_AccHoch = 1;
Aktuell_az = ADC;
Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
// Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen
/* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
kanal = 3;
state = 7;
}
else
{
kanal = 0;
state = 0;
}*/
kanal = 3;
state = 7;
break;
case 7:
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;
ANALOG_ON;
}
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/analog.h
0,0 → 1,23
/*#######################################################################################
 
#######################################################################################*/
 
extern volatile int UBat;
extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch;
extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch;
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 unsigned int ReadADC(unsigned char adc_input);
extern void ADC_Init(void);
extern 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/compass.c
0,0 → 1,230
/*
 
Copyright 2007, Niklas Nold
 
This program (files compass.c and compass.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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
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
*/
 
#include "main.h"
 
MM3_struct MM3;
int8_t Kompass_Offset[2] EEMEM; // X_off[0], Y_off[1], Z_off[2]
int8_t X_off, Y_off, Z_off;
 
 
//############################################################################
// Initialisierung
void MM3_init(void)
//############################################################################
{
SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator
//SPSR = (1<<SPI2X);
DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
PORTD &= ~(1<<PD3); // J5 auf Low
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
// Kalibrierung aus dem EEprom lesen
X_off = (int8_t)eeprom_read_byte(&Kompass_Offset[0]);
Y_off = (int8_t)eeprom_read_byte(&Kompass_Offset[1]);
Z_off = (int8_t)eeprom_read_byte(&Kompass_Offset[2]);
 
//X_off = -11;
//Y_off = 30;
//Z_off = 18;
 
}
 
 
//############################################################################
// Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
void MM3_timer0(void)
//############################################################################
{
switch (MM3.STATE)
{
case MM3_RESET:
PORTB |= (1<<PB2); // J8 auf High, MM3 Reset
MM3.STATE = MM3_START_TRANSFER;
return;
case MM3_START_TRANSFER:
PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)
if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30)
else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms)
MM3.STATE = MM3_WAIT_DRDY;
return;
case MM3_WAIT_DRDY:
if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
return; // Jetzt gehts weiter in SIGNAL (SIG_SPI)
/*
case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in °
MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);
MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
return;
*/
}
}
 
 
//############################################################################
// SPI byte ready
SIGNAL (SIG_SPI)
//############################################################################
{
switch (MM3.STATE)
{
case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken
if (MM3.AXIS == MM3_X)
{
MM3.x_axis = SPDR;
MM3.x_axis <<= 8;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis = SPDR;
MM3.y_axis <<= 8;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis = SPDR;
MM3.z_axis <<= 8;
}
SPDR=0x00; // Übertragung von 2. Byte auslösen
MM3.STATE=MM3_BYTE2;
return;
case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da
if (MM3.AXIS == MM3_X)
{
MM3.x_axis |= SPDR;
// Spikes filtern
if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis;
else MM3.x_axis = MM3.x_axis_old;
MM3.AXIS = MM3_Y;
MM3.STATE = MM3_RESET;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis |= SPDR;
if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis;
else MM3.y_axis = MM3.y_axis_old;
MM3.AXIS = MM3_Z;
MM3.STATE = MM3_RESET;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis |= SPDR;
if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis;
else MM3.z_axis = MM3.z_axis_old;
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
}
return;
}
}
 
//############################################################################
// Kompass kalibrieren
void MM3_calib(void)
//############################################################################
{
signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0;
uint8_t measurement=50,beeper=0;
unsigned int timer;
while (measurement)
{
//H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis;
if (MM3.x_axis > x_max) x_max = MM3.x_axis;
else if (MM3.x_axis < x_min) x_min = MM3.x_axis;
if (MM3.y_axis > y_max) y_max = MM3.y_axis;
else if (MM3.y_axis < y_min) y_min = MM3.y_axis;
if (MM3.z_axis > z_max) z_max = MM3.z_axis;
else if (MM3.z_axis < z_min) z_min = MM3.z_axis;
if (!beeper)
{
beeper = 50;
beeptime = 50;
}
beeper--;
// Schleife mit 100 Hz voll ausreichend
timer = SetDelay(10);
while(!CheckDelay(timer));
// Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden
if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--;
}
// Offset der Achsen berechnen
X_off = (x_max + x_min) / 2;
Y_off = (y_max + y_min) / 2;
Z_off = (z_max + z_min) / 2;
// und im EEProm abspeichern
eeprom_write_byte(&Kompass_Offset[0], X_off);
eeprom_write_byte(&Kompass_Offset[1], Y_off);
eeprom_write_byte(&Kompass_Offset[2], Z_off);
}
 
 
//############################################################################
// Neigungskompensierung und Berechnung der Ausrichtung
signed int MM3_heading(void)
//############################################################################
{
float sin_nick, cos_nick, sin_roll, cos_roll;
signed int x_corr, y_corr, heading;
signed int x_axis,y_axis,z_axis;
MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam4*8);
MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam4*8);
// Berechung von sinus und cosinus
sin_nick = sin_f(MM3.NickGrad);
cos_nick = cos_f(MM3.NickGrad);
sin_roll = sin_f(MM3.RollGrad);
cos_roll = cos_f(MM3.RollGrad);
 
// Offset der Achsen nur bei Bedarf (also hier) berücksichtigen
x_axis = MM3.x_axis - X_off;
y_axis = MM3.y_axis - Y_off;
z_axis = MM3.z_axis - Z_off;
// Neigungskompensation
x_corr = (cos_nick * x_axis) - (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick);
y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis));
// Winkelberechnung
heading = atan2_i(x_corr, y_corr);
 
return (heading);
}
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/compass.h
0,0 → 1,37
 
 
typedef struct
{
uint8_t STATE;
unsigned int DRDY;
uint8_t AXIS;
signed int x_axis;
signed int x_axis_old;
signed int y_axis;
signed int y_axis_old;
signed int z_axis;
signed int z_axis_old;
signed int NickGrad;
signed int RollGrad;
}MM3_struct;
 
extern MM3_struct MM3;
extern int8_t X_off, Y_off, Z_off;
 
void MM3_init(void);
void MM3_timer0(void);
void MM3_calib(void);
signed int MM3_heading(void);
 
#define Max_Axis_Value 500
 
// Die Werte der Statemachine
#define MM3_RESET 0
#define MM3_START_TRANSFER 1
#define MM3_WAIT_DRDY 2
#define MM3_DRDY 4
#define MM3_BYTE2 8
#define MM3_X 16
#define MM3_Y 32
#define MM3_Z 64
#define MM3_TILT 128
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/eeprom.c
--- MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.c (nonexistent)
+++ MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.c (revision 376)
@@ -0,0 +1,1028 @@
+/*#######################################################################################
+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.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+#include "main.h"
+
+unsigned char h,m,s;
+volatile unsigned int I2CTimeout = 100;
+volatile int MesswertNick,MesswertRoll,MesswertGier;
+volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 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 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 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;
+
+unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr)
+unsigned int modell_fliegt_gps = 0;//(030907Kr)
+unsigned char Limit_D_Anteil = 0;//(210907Kr)
+
+float GyroFaktor;
+float IntegralFaktor;
+
+volatile int DiffNick,DiffRoll;
+int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; //PPM24-Erweiterung (121007Kr)
+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;
+unsigned char Looping_Nick = 0,Looping_Roll = 0;
+
+float Kp = FAKTOR_P;
+float Ki = FAKTOR_I;
+
+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_ServoNickControl = 100;
+unsigned char Parameter_LoopGasLimit = 70;
+struct mk_param_struct EE_Parameter;
+
+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)
+//############################################################################
+{
+ unsigned int timer;
+ NeutralAccX = 0;
+ NeutralAccY = 0;
+ NeutralAccZ = 0;
+ AdNeutralNick = 0;
+ AdNeutralRoll = 0;
+ AdNeutralGier = 0;
+ CalibrierMittelwert();
+ timer = SetDelay(5);
+ while (!CheckDelay(timer));
+ CalibrierMittelwert();
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
+ {
+ if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+ }
+
+ if(PlatinenVersion == 10)
+ {
+ AdNeutralNick= abs(MesswertNick);
+ AdNeutralRoll= abs(MesswertRoll);
+ AdNeutralGier= abs(MesswertGier);
+ }
+ else
+ {
+ AdNeutralNick= abs(MesswertNick) / 2;
+ AdNeutralRoll= abs(MesswertRoll) / 2;
+ AdNeutralGier= abs(MesswertGier) / 2;
+ }
+ NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
+ NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
+ NeutralAccZ = Aktuell_az;
+
+ Mess_IntegralNick = 0;
+ Mess_IntegralNick2 = 0;
+ Mess_IntegralRoll = 0;
+ Mess_IntegralRoll2 = 0;
+ Mess_Integral_Gier = 0;
+ MesswertNick = 0;
+ MesswertRoll = 0;
+ MesswertGier = 0;
+ StartLuftdruck = Luftdruck;
+ HoeheD = 0;
+ Mess_Integral_Hoch = 0;
+ KompassStartwert = KompassValue;
+ beeptime = 50;
+}
+
+//############################################################################
+// Bildet den Mittelwert aus den Messwerten
+void Mittelwert(void)
+//############################################################################
+{
+ // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
+ ANALOG_OFF;
+ if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick);
+ if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll);
+ if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier);
+ if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L;
+ if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L;
+ if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L;
+ AccumulateNick = 0; MessanzahlNick = 0;
+ AccumulateRoll = 0; MessanzahlRoll = 0;
+ AccumulateGier = 0; MessanzahlGier = 0;
+ accumulate_AccRoll = 0;messanzahl_AccRoll = 0;
+ accumulate_AccNick = 0;messanzahl_AccNick = 0;
+ accumulate_AccHoch = 0;messanzahl_AccHoch = 0;
+ Integral_Gier = Mess_Integral_Gier;
+// Integral_Gier2 = Mess_Integral_Gier2;
+ IntegralNick = Mess_IntegralNick;
+ IntegralRoll = Mess_IntegralRoll;
+ IntegralNick2 = Mess_IntegralNick2;
+ IntegralRoll2 = Mess_IntegralRoll2;
+ // ADC einschalten
+ ANALOG_ON;
+
+/*
+//------------------------------------------------------------------------------
+ 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--;
+ //PPM24-Erweiterung (121007Kr)
+ if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--;
+ if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
+ if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
+ if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
+
+
+ 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;
+ //PPM24-Erweiterung (121007Kr)
+ if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
+ if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
+ if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
+ if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
+}
+
+//############################################################################
+// Messwerte beim Ermitteln der Nullage
+void CalibrierMittelwert(void)
+//############################################################################
+{
+ // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
+ ANALOG_OFF;
+ if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick);
+ if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll);
+ if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier);
+ if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick);
+ if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll;
+ if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch;
+ AccumulateNick = 0; MessanzahlNick = 0;
+ AccumulateRoll = 0; MessanzahlRoll = 0;
+ AccumulateGier = 0; MessanzahlGier = 0;
+ accumulate_AccRoll = 0;messanzahl_AccRoll = 0;
+ accumulate_AccNick = 0;messanzahl_AccNick = 0;
+ accumulate_AccHoch = 0;messanzahl_AccHoch = 0;
+ // 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--;
+ //PPM24-Erweiterung (121007Kr)
+ if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--;
+ if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
+ if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
+ if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
+
+
+
+
+ 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;
+ //PPM24-Erweiterung (121007Kr)
+ if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
+ if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
+ if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
+ if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
+}
+
+//############################################################################
+// 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;
+
+ // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne
+ // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten
+ // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links
+ // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts
+
+
+ //Start I2C Interrupt Mode
+ twi_state = 0;
+ motor = 0;
+ i2c_start();
+}
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + 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 = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01;
+ EE_Parameter.Hoehe_MinGas = 30;
+ EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> 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 = 4; //2 // Wert : 1-6
+ EE_Parameter.Stick_D = 8; //8 // Wert : 0-64
+ EE_Parameter.Gier_P = 16; // Wert : 1-20
+ EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr)
+ EE_Parameter.Gas_Max = 250; // Wert : 33-250
+ EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64
+ EE_Parameter.KompassWirkung = 16; // Wert : 0-250
+ EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250
+ EE_Parameter.Gyro_I = 150; // Wert : 0-250
+ EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr)
+ EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
+ EE_Parameter.I_Faktor = 0;
+ EE_Parameter.UserParam1 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam2 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam3 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam4 = 120; //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.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
+ 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 = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01;
+ EE_Parameter.Hoehe_MinGas = 30;
+ EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> 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 = 16; // Wert : 1-20
+ EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr)
+ EE_Parameter.Gas_Max = 250; // Wert : 33-250
+ EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64
+ EE_Parameter.KompassWirkung = 16; // Wert : 0-250
+ EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250
+ EE_Parameter.Gyro_I = 175; // Wert : 0-250
+ EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr)
+ EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
+ EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+ EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
+ EE_Parameter.I_Faktor = 0;
+ EE_Parameter.UserParam1 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam2 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam3 = 0; //zur freien Verwendung
+ EE_Parameter.UserParam4 = 120; //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.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
+ memcpy(EE_Parameter.Name, "Kamera\0", 12);
+}
+
+
+//############################################################################
+// 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_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+ CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+ CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
+ CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,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;
+ long IntegralFehlerNick = 0;
+ 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;
+ Mittelwert();
+
+ GRN_ON;
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gaswert ermitteln
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
+ if(GasMischanteil < 0) GasMischanteil = 0;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Emfang 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++;
+ modell_fliegt_gps = modell_fliegt;// (030907Kr)
+ }
+ 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
+ {
+ unsigned char setting;
+ if(++delay_neutral > 200) // nicht sofort
+ {
+ GRN_OFF;
+ 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)
+ {
+ 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
+ }
+ if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
+ {
+ if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+ }
+ ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
+ SetNeutral();
+ 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)
+ {
+ 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;
+ }
+ }
+ else delay_einschalten = 0;
+ //Auf Neutralwerte setzen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Auschalten
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
+ {
+ if(++delay_ausschalten > 200) // nicht sofort
+ {
+ MotorenEin = 0;
+ delay_ausschalten = 200;
+ modell_fliegt = 0;
+ }
+ }
+ else delay_ausschalten = 0;
+ }
+ }
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// neue Werte von der Funke
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(!NewPpmData-- || Notlandung)
+ {
+ 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;
+
+ 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;
+ }
+ }
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// LED Stuff
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+LED1_OFF;
+
+ if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0)
+ {
+ LED1_FLASH;
+ blinkcount_LED1 = 0;
+ }
+
+ blinkcount_LED1++;
+
+ //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
+ //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
+ }
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Looping?
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) ||
+ ((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS))
+ {
+ Looping_Roll = 1;
+ if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
+ }
+ else Looping_Roll = 0;
+
+ if(((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) ||
+ ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN))
+ {
+ Looping_Nick = 1;
+ Looping_Roll = 0;
+ if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
+ }
+ else Looping_Nick = 0;
+
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Bei Empfangsausfall im Flug
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(Notlandung)
+ {
+ StickGier = 0;
+ StickNick = 0;
+ StickRoll = 0;
+ GyroFaktor = 0.1;
+ IntegralFaktor = 0.005;
+ Looping_Roll = 0;
+ Looping_Nick = 0;
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gyro-Drift kompensieren
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#define DRIFT_FAKTOR 3
+ if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR)
+ {
+ IntegralFehlerNick = IntegralNick2 - IntegralNick;
+ IntegralFehlerRoll = IntegralRoll2 - IntegralRoll;
+ ZaehlMessungen = 0;
+ if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++;
+ if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--;
+ if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++;
+ if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--;
+// if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; // macht nur mit Referenz (Kompass Sinn)
+// if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; // macht nur mit Referenz (Kompass Sinn)
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_IntegralNick2 = IntegralNick;
+ Mess_IntegralRoll2 = IntegralRoll;
+ Mess_Integral_Gier2 = Integral_Gier;
+ ANALOG_ON; // ADC einschalten
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Integrale auf ACC-Signal abgleichen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+
+ if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)
+ {
+ tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16;
+ tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16;
+ #define AUSGLEICH 500
+ 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;
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_IntegralNick -= tmp_long;
+ Mess_IntegralRoll -= tmp_long2;
+ }
+
+ else
+ {
+ if(IntegralFaktor && !Looping_Nick && !Looping_Roll)
+ {
+ tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
+ if(labs(Mittelwert_AccNick) < 200) tmp_long /= 8;
+ else tmp_long /= 16;
+ tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
+ if(labs(Mittelwert_AccRoll) < 200) tmp_long2 /= 8;
+ else tmp_long2 /= 16;
+
+ #define AUSGLEICH 500
+ 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;
+ }
+
+ else
+ {
+ tmp_long = 0;
+ tmp_long2 = 0;
+ }
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_IntegralNick -= tmp_long;
+ Mess_IntegralRoll -= tmp_long2;
+ }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Gieren
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(abs(StickGier) > 20) // war 35
+ {
+ if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
+ }
+ tmp_int = EE_Parameter.Gier_P * (StickGier * abs(StickGier)) / 512; // expo y = ax + bx²
+ tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
+ sollGier = tmp_int;
+ Mess_Integral_Gier -= tmp_int;
+ if(Mess_Integral_Gier > 25000) Mess_Integral_Gier = 25000; // begrenzen
+ if(Mess_Integral_Gier <-25000) Mess_Integral_Gier =-25000;
+
+ ANALOG_ON; // ADC einschalten
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Kompass
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
+ {
+ if(NeueKompassRichtungMerken)
+ {
+ KompassStartwert = KompassValue;
+ NeueKompassRichtungMerken = 0;
+ }
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten
+ ANALOG_ON; // ADC einschalten
+ }
+
+
+
+
+/* if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
+ {
+ int w,v;
+ static int SignalSchlecht = 0;
+ w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
+ v = abs(IntegralRoll /512);
+ if(v > w) w = v; // grösste Neigung ermitteln
+ if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
+ {
+ KompassStartwert = KompassValue;
+ NeueKompassRichtungMerken = 0;
+ }
+ w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren
+ w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln
+ if(w > 0)
+ {
+ ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
+ if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten
+ ANALOG_ON; // ADC einschalten
+ if(SignalSchlecht) SignalSchlecht--;
+ }
+ else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
+ }
+*/
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// GPS
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)
+{
+ P_GPS_Verstaerkung = Parameter_UserParam1;
+ D_GPS_Verstaerkung = Parameter_UserParam2;
+ Limit_D_Anteil = Parameter_UserParam3;
+ gps_main();
+}
+else
+{
+ GPS_Nick = 0;
+ GPS_Roll = 0;
+}
+
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Debugwerte zuordnen
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(!TimerWerteausgabe--)
+ {
+ TimerWerteausgabe = 49;
+
+ DebugOut.Analog[0] = actualPos.GPSFix;
+ DebugOut.Analog[1] = GPS_Roll;
+ DebugOut.Analog[2] = GPS_Nick;
+ DebugOut.Analog[3] = GPS_Positionsabweichung_North;
+ DebugOut.Analog[4] = GPS_Positionsabweichung_East;
+ DebugOut.Analog[5] = P_Einfluss_East;
+ DebugOut.Analog[6] = D_Einfluss_East;
+ DebugOut.Analog[7] = KompassRichtung;
+ DebugOut.Analog[8] = KompassValue;
+ DebugOut.Analog[9] = MM3.x_axis;
+ DebugOut.Analog[10] = MM3.y_axis;
+ DebugOut.Analog[11] = MM3.z_axis;
+ DebugOut.Analog[12] = Parameter_UserParam2;
+ DebugOut.Analog[13] = Poti3;
+ DebugOut.Analog[14] = KompassValue;
+ DebugOut.Analog[15] = GPS_Home_North;
+ DebugOut.Analog[16] = GPS_Home_East;
+ DebugOut.Analog[17] = NORTH_MITTEL;
+ DebugOut.Analog[18] = EAST_MITTEL;
+ DebugOut.Analog[19] = actualPos.northing;
+ DebugOut.Analog[20] = actualPos.easting;
+ DebugOut.Analog[21] = actualPos.velNorth;
+ DebugOut.Analog[22] = actualPos.velEast;
+ DebugOut.Analog[23] = UBat;
+ DebugOut.Analog[24] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]); //Gesamtstrom
+ DebugOut.Analog[25] = StickRoll;
+ DebugOut.Analog[26] = HoehenWert;
+ DebugOut.Analog[27] = IntegralNick / EE_Parameter.GyroAccFaktor;
+ DebugOut.Analog[28] = IntegralRoll / EE_Parameter.GyroAccFaktor;
+ DebugOut.Analog[29] = Mittelwert_AccNick;
+ DebugOut.Analog[30] = Mittelwert_AccRoll;
+ DebugOut.Analog[31] = StickNick;
+ }
+/*
+DebugOut.Analog[0] = MM3.NickGrad;
+DebugOut.Analog[1] = MM3.RollGrad;
+DebugOut.Analog[9] = MM3.x_axis;
+DebugOut.Analog[10] = MM3.y_axis;
+DebugOut.Analog[11] = MM3.z_axis;
+*/
+
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// 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;
+
+ // 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 - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr)
+ HoehenReglerAktiv = 0;
+ }
+ else
+ HoehenReglerAktiv = 1;
+ }
+ else
+ {
+ SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr)
+ 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 > (MUL_G * GasMischanteil)) GierMischanteil = MUL_G * GasMischanteil;
+ if(GierMischanteil < -(MUL_G * GasMischanteil)) GierMischanteil = -(MUL_G * GasMischanteil);
+ if(GierMischanteil > 100) GierMischanteil = 100;
+ if(GierMischanteil < -100) GierMischanteil = -100;
+
+ if(GasMischanteil < 20) GierMischanteil = 0;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Nick-Achse
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+ DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen
+ SummeNick += DiffNick; // I-Anteil
+ if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1;
+ if(SummeNick > 16000) SummeNick = 16000;
+ if(SummeNick < -16000) SummeNick = -16000;
+ pd_ergebnis = DiffNick;// + Ki * SummeNick; // PI-Regler für Nick
+ // Motor Vorn
+#define MUL 2
+ if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil));
+ if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil));
+
+ 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 = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen
+ SummeRoll += DiffRoll; // I-Anteil
+ if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1;
+ if(SummeRoll > 16000) SummeRoll = 16000;
+ if(SummeRoll < -16000) SummeRoll = -16000;
+ pd_ergebnis = DiffRoll;// + Ki * SummeRoll; // PI-Regler für Roll
+ if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil));
+ if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil));
+ // 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.h
0,0 → 1,128
/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
 
extern volatile unsigned int I2CTimeout;
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 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 unsigned int modell_fliegt_gps;//(030907Kr)
extern unsigned char Limit_D_Anteil;//(210907Kr)
 
void MotorRegler(void);
void SendMotorData(void);
void CalibrierMittelwert(void);
void Mittelwert(void);
void SetNeutral(void);
 
//Nick666 Kompass
void Piep(unsigned char Anzahl);
void DefaultKonstanten1(void);
void DefaultKonstanten2(void);
 
 
 
unsigned char h,m,s;
volatile unsigned char Timeout ;
unsigned char CosinusNickWinkel, CosinusRollWinkel;
volatile long IntegralNick,IntegralNick2;
volatile long IntegralRoll,IntegralRoll2;
volatile long Integral_Gier;
volatile long Mess_IntegralNick,Mess_IntegralNick2;
volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
volatile long Mess_Integral_Gier;
volatile int DiffNick,DiffRoll;
extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; //PPM24-Erweiterung (121007Kr)
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
unsigned char MotorWert[5];
volatile unsigned char SenderOkay;
int StickNick,StickRoll,StickGier;
char MotorenEin;
extern void DefaultKonstanten(void);
 
#define STRUCT_PARAM_LAENGE 58
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 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;
 
#endif //_FC_H
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/flight-ctrl_mega644_v0_64.aws
0,0 → 1,0
<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\main.c" Position="330 71 1176 569" LineCol="127 0" State="Maximized"/><File00001 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\compass.c" Position="327 65 1173 563" LineCol="47 0" State="Maximized"/><File00002 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\compass.h" Position="299 84 845 452" LineCol="37 0" State="Maximized"/><File00003 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\fc.c" Position="336 71 1182 569" LineCol="864 0" State="Maximized"/></Files></AVRWorkspace>
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/flight.pnproj
0,0 → 1,0
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project>
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/flight.pnps
0,0 → 1,0
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd>
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/gps.h
0,0 → 1,26
extern long P_Einfluss_North;
extern long D_Einfluss_North;
 
extern long P_Einfluss_East;
extern long D_Einfluss_East;
 
extern long GPS_Positionsabweichung_North;
extern long GPS_Positionsabweichung_East;
extern long GPS_Geschwindigkeit_North;
extern long GPS_Geschwindigkeit_East;
 
extern long GPS_Home_North;
extern long GPS_Home_East;
 
extern long Soll_Position_North;
extern long Soll_Position_East;
 
extern volatile long EAST_MITTEL;
extern volatile long NORTH_MITTEL;
 
 
extern signed int GPS_Nick;
extern signed int GPS_Roll;
extern void GPS_Neutral(void);
extern void GPS_BerechneZielrichtung(void);
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/main.c
0,0 → 1,257
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 EEPromArray[501] EEMEM; //Nick666 Kompass
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;
 
DDRC = 0x81; // SCL
PORTC = 0xff; // Pullup SDA
DDRB = 0x1B; // LEDs und Druckoffset
//Nick666
PORTB |= (1<<PB0); // LED_Rot
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
//Nick666
DDRD |= (1<<PD7); // J7
/*
PORTB = 0x01; // LED_Rot
DDRD |=0x80; // J7
*/
PORTD = 0xF7; // LED
 
MCUSR &=~(1<<WDRF);
WDTCSR |= (1<<WDCE)|(1<<WDE);
WDTCSR = 0;
//Nick666
beeptime = 1000;
//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();
MM3_init(); //Nick666
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 ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
printf("\n\r==============================");
GRN_ON;
 
#define EE_DATENREVISION 62 // 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();
WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
}
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 2);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
}
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
 
 
//kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht
timer = SetDelay(500);
while(!CheckDelay(timer));
//Kompass kalibrieren?
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100)
{
printf("\n\rKalibriere Kompass");
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_calib();
}
 
 
 
 
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
printf("\n\rAbgleich Luftdrucksensor..");
timer = SetDelay(1000);
SucheLuftruckOffset();
while (!CheckDelay(timer));
printf("OK\n\r");
}
SetNeutral();
 
ROT_OFF;
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
{
UpdateMotor=0;
MotorRegler();
SendMotorData();
ROT_OFF;
if(PcZugriff) PcZugriff--;
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;
}
}
timer = SetDelay(100);
}
}
return (1);
}
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/main.h
0,0 → 1,127
#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 PORTB &=~(1<<PB0)
#define ROT_ON PORTB |= (1<<PB0)
#define ROT_FLASH PORTB ^= (1<<PB0)
#define GRN_OFF PORTB &=~(1<<PB1)
#define GRN_ON PORTB |= (1<<PB1)
#define GRN_FLASH PORTD ^= (1<<PB1)
 
 
/*
#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
*/
#define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
#define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
#define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr)
#define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
#define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr)
#define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr)
 
 
 
 
 
 
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
//#endif
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
//#define ANZ_MITTELWERT 4
 
#define EEPROM_ADR_VALID 1
#define EEPROM_ADR_ACTIVE_SET 2
#define EEPROM_ADR_LAST_OFFSET 3
 
#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_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;
 
extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length);
extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length);
extern unsigned char GetActiveParamSetNumber(void);
extern unsigned char EEPromArray[];
 
long durchschnitt_northing;
long durchschnitt_easting;
 
volatile int P_GPS_Verstaerkung; //P-Anteil (80-120)
volatile int D_GPS_Verstaerkung; //D-Anteil (90)
 
#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 "compass.h" //Nick666
#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 "math.h" //Nick666
 
 
#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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/makefile
0,0 → 1,392
#--------------------------------------------------------------------
# MCU name
MCU = atmega644
F_CPU = 20000000
#-------------------------------------------------------------------
HAUPT_VERSION = 0
NEBEN_VERSION = 64
VERSION_KOMPATIBEL = 5 # 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).
 
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)
 
# 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 compass.c math.c
SRC += twimaster.c rc.c fc.c GPS.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$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-mtiny-stack -mcall-prologues -Wno-pointer-sign \
-Wa,-adhlns=$(<:.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)
 
 
# 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/math.c
0,0 → 1,118
/*
 
Copyright 2007, Niklas Nold
 
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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
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
*/
 
#include "main.h"
 
 
const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
 
// Arkustangens2 im Gradmaß
signed int atan2_i(signed int x, signed int y)
{
int i,angle;
int8_t m;
if (!x && !y) return 0; //atan2 = 0 für x und y = 0
if (y < 0) m=-1;
else m=1;
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
 
if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>5750) angle = 90; // Grenzwert ist 90°
else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>=1150) angle = 88;
else if (i>=820) angle = 87;
else if (i>=640) angle = 86;
else if (i>=520) angle = 85;
else if (i>=440) angle = 84;
else if (i>=380) angle = 83;
else if (i>=335) angle = 82;
else if (i>=299) angle = 81;
else angle = 80; // (i>=270)
if (x > 0) return (angle*m); // Quadrant I und IV
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II
else return (angle - 180); // x < 0 && y < 0 Quadrant III
}
 
 
 
 
 
const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000};
 
inline float pgm_read_float(const float *addr)
{
union
{
uint16_t i[2]; // 2 16-bit-Worte
float f;
} u;
u.i[0]=pgm_read_word((PGM_P)addr);
u.i[1]=pgm_read_word((PGM_P)addr+2);
return u.f;
}
 
// Kosinusfunktion im Gradmaß
float cos_f(signed int winkel)
{
return (sin_f(90-winkel));
}
 
// Sinusfunktion im Gradmaß
float sin_f(signed int winkel)
{
short int m,n;
float sinus;
//winkel = winkel % 360;
if (winkel < 0)
{
m = -1;
winkel = abs(winkel);
}
else m = +1;
// Quadranten auswerten
if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;}
else n = 1; //0 - 90 Grad
 
sinus = pgm_read_float(&pgm_sinus_f[winkel]);
 
return (sinus*m*n);
}
 
 
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90};
 
// Akurssinusfunktion im Gradmaß
int8_t asin_i(signed int i)
{
signed char m;
if (i < 0) {m=-1;i=abs(i);}
else m=1;
return (pgm_read_byte(&pgm_asin[i]) * m);
}
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/math.h
0,0 → 1,11
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Peter Muehlenbrock
// Definitionen fuer Modul math
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
extern signed int atan2_i(signed int x, signed int y);
extern float cos_f(signed int winkel);
extern float sin_f(signed int winkel);
extern int8_t asin_i(signed int i);
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/menu.c
0,0 → 1,124
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 = 11,MenuePunkt=0;
if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); }
if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); }
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",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
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");
LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick);
LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll);
LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier);
break;
case 6:
LCD_printfxy(0,0,"ACC - Sensor");
LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX);
LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY);
LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*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,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Erweiterung (121007Kr)
LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Erweiterung (121007Kr)
LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Erweiterung (121007Kr)
LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Erweiterung (121007Kr)
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;
case 11:
LCD_printfxy(0,0,"MM3 kalib.");
LCD_printfxy(0,1,"X_Offset: %3i",X_off);
LCD_printfxy(0,2,"Y_Offset: %3i",Y_off);
LCD_printfxy(0,3,"Z_Offset: %3i",Z_off);
break;
default: MaxMenue = MenuePunkt - 1;
MenuePunkt = 0;
break;
}
RemoteTasten = 0;
}
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/menu.h
0,0 → 1,7
void LcdClear(void); //Nick666
 
extern void Menu(void);
extern char DisplayBuff[80];
extern unsigned char DispPtr;
unsigned char RemoteTasten;
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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
 
 
extern 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/rc.c
0,0 → 1,85
/*#######################################################################################
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[15]; //PPM24-Erweiterung (121007Kr)
volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr)
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 inizialisiert 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 > 1500) && (signal < 8000))
{
index = 1;
NewPpmData = 0; // Null bedeutet: Neue Daten
// OCR2A = Poti2/2 + 80;
}
else
{
if(index < 14) //PPM24-Erweiterung (121007Kr)
{
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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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[15]; //PPM24-Erweiterung (121007Kr)
extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr)
extern volatile unsigned char NewPpmData;
 
#endif //_RC_H
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.c
0,0 → 1,187
#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 800;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
int ServoValue = 0;
 
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
 
 
SIGNAL (SIG_OVERFLOW0) // 8kHz
{
static unsigned char cnt_1ms = 1,cnt = 0;
unsigned char pieper_ein = 0;
// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
if(!cnt--)
{
cnt = 9;
cnt_1ms++;
cnt_1ms %= 2;
if(!cnt_1ms) UpdateMotor = 1;
CountMilliseconds++;
}
 
if(beeptime > 1)
{
beeptime--;
PORTD |= (1<<PD2);
if(beeptime & BeepMuster)
{
pieper_ein = 1;
}
else pieper_ein = 0;
}
else
{
pieper_ein = 0;
BeepMuster = 0xffff;
PORTD &= ~(1<<PD2);
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
MM3_timer0(); // Kompass auslesen
if (!cntKompass--) // Aufruf mit 10 Hz
{
// KompassValue = MM3_heading();
// OsiAir hier machen wir den den KompassValue zu 0-359 damit das GPS damit weiterarbeiten kann
if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}
if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 800;
}
}
}
 
 
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 || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr)
{
if(PINC & 0x10)
{
cntKompass++;
}
else
{
if((cntKompass) && (cntKompass < 4000))
{
KompassValue = cntKompass;
}
// if(cntKompass < 10) cntKompass = 10;
// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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 = -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));
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.c.bak
0,0 → 1,183
#include "main.h"
 
volatile unsigned int CountMilliseconds = 0;
volatile static unsigned int tim_main;
volatile unsigned char UpdateMotor = 0;
volatile unsigned int cntKompass = 800;
volatile unsigned int beeptime = 0;
unsigned int BeepMuster = 0xffff;
int ServoValue = 0;
 
enum {
STOP = 0,
CK = 1,
CK8 = 2,
CK64 = 3,
CK256 = 4,
CK1024 = 5,
T0_FALLING_EDGE = 6,
T0_RISING_EDGE = 7
};
 
 
SIGNAL (SIG_OVERFLOW0) // 8kHz
{
static unsigned char cnt_1ms = 1,cnt = 0;
unsigned char pieper_ein = 0;
// TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 
if(!cnt--)
{
cnt = 9;
cnt_1ms++;
cnt_1ms %= 2;
if(!cnt_1ms) UpdateMotor = 1;
CountMilliseconds++;
}
 
if(beeptime > 1)
{
beeptime--;
PORTD |= (1<<PD2);
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);
}
PORTD &= ~(1<<PD2);
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
MM3_timer0(); // Kompass auslesen
 
if (!cntKompass--) // Aufruf mit 10 Hz
{
// KompassValue = MM3_heading();
 
// OsiAir hier machen wir den den KompassValue zu 0-359 damit das GPS damit weiterarbeiten kann
if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();}
if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;}
 
 
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 800;
}
}
}
/*
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr)
{
if(PINC & 0x10)
{
cntKompass++;
}
else
{
if((cntKompass) && (cntKompass < 4000))
{
KompassValue = cntKompass;
}
// if(cntKompass < 10) cntKompass = 10;
// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
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 = -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));
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.h
0,0 → 1,15
 
#define TIMER_TEILER CK8
#define TIMER_RELOAD_VALUE 250
 
void Timer_Init(void);
void Delay_ms(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;
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/twimaster.h
0,0 → 1,32
/*############################################################################
############################################################################*/
 
#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_init (void); // I2C initialisieren
char i2c_start (void); // Start I2C
void i2c_stop (void); // Stop I2C
char i2c_write_byte (char byte); // 1 Byte schreiben
 
#endif
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/uart.c
0,0 → 1,652
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// +
// + GPS read out:
// + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany
// + only for non-profit use
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#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 PcZugriff = 100;
unsigned char MotorTest[4] = {0,0,0,0};
unsigned char MeineSlaveAdresse;
struct str_DebugOut DebugOut;
struct str_Debug DebugIn;
struct str_VersionInfo VersionInfo;
int Debug_Timer;
 
static uint8_t gpsState;
#define GPS_EMPTY 0
#define GPS_SYNC1 1
#define GPS_SYNC2 2
#define GPS_CLASS 3
#define GPS_LEN1 4
#define GPS_LEN2 5
#define GPS_FILLING 6
#define GPS_CKA 7
#define GPS_CKB 8
gpsInfo_t actualPos; // measured position (last gps record)
 
#define SYNC_CHAR1 0xb5
#define SYNC_CHAR2 0x62
 
#define CLASS_NAV 0x01
#define MSGID_POSECEF 0x01
#define MSGID_STATUS 0x03
#define MSGID_VELECEF 0x11
#define MSGID_POSUTM 0x08
#define MSGID_VELNED 0x12
 
 
 
typedef struct {
unsigned long ITOW; // time of week
uint8_t GPSfix; // GPSfix Type, range 0..6
uint8_t Flags; // Navigation Status Flags
uint8_t DiffS; // Differential Status
uint8_t res; // reserved
unsigned long TTFF; // Time to first fix (millisecond time tag)
unsigned long MSSS; // Milliseconds since Startup / Reset
uint8_t packetStatus;
} NAV_STATUS_t;
 
 
typedef struct {
unsigned long ITOW; // time of week
long LON; // longitude in 1e-07 deg
long LAT; // lattitude
long HEIGHT; // height in mm
long HMSL; // height above mean sea level im mm
unsigned long Hacc; // horizontal accuracy in mm
unsigned long Vacc; // vertical accuracy in mm
uint8_t packetStatus;
} NAV_POSLLH_t;
 
 
typedef struct {
unsigned long ITOW; // time of week
long EAST; // cm UTM Easting
long NORTH; // cm UTM Nording
long ALT; // cm altitude
uint8_t ZONE; // UTM zone number
uint8_t HEM; // Hemisphere Indicator (0=North, 1=South)
uint8_t packetStatus;
} NAV_POSUTM_t;
 
 
typedef struct {
unsigned long ITOW; // ms GPS Millisecond Time of Week
long VEL_N; // cm/s NED north velocity
long VEL_E; // cm/s NED east velocity
long VEL_D; // cm/s NED down velocity
unsigned long Speed; // cm/s Speed (3-D)
unsigned long GSpeed; // cm/s Ground Speed (2-D)
long Heading; // deg (1e-05) Heading 2-D
unsigned long SAcc; // cm/s Speed Accuracy Estimate
unsigned long CAcc; // deg Course / Heading Accuracy Estimate
uint8_t packetStatus;
} NAV_VELNED_t;
 
 
typedef struct {
unsigned long ITOW; // ms GPS Millisecond Time of Week
long ECEF_X; // ecef x / cm
long ECEF_Y; // ecef y / cm
long ECEF_Z; // ecef z / cm
unsigned long Pacc; // Abweichung
uint8_t packetStatus;
} NAV_POSECEF_t ;
 
typedef struct {
unsigned long ITOW; // ms GPS Millisecond Time of Week
long ECEFVX; // ecef x velocity cm/s
long ECEFVY; // ecef y velocity cm/s
long ECEFVZ; // ecef z velocity cm/s
unsigned long SAcc; // Abweichung
uint8_t packetStatus;
} NAV_VELECEF_t;
 
 
NAV_STATUS_t navStatus;
NAV_POSECEF_t navPosECEF;
NAV_VELECEF_t navVelECEF;
NAV_POSUTM_t navPosUtm;
NAV_VELNED_t navVelNed;
 
volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered
volatile uint8_t CK_A, CK_B; // UBX checksum bytes
volatile unsigned short msgLen;
volatile uint8_t msgID;
volatile uint8_t ignorePacket; // true when previous packet was not processed
 
 
// distance to target position
long rollOffset; // in 10cm
long nickOffset;
 
#define GPS_INTCYCLES 100
#define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC)
 
#ifdef GPS_DEBUG // if set then the GPS data is transfered to display
extern volatile uint8_t v24state;
char buf[200];
char *bp;
char *ep;
#endif
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ 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;
}
 
void GPSscanData (void)
{
 
 
if (navPosECEF.packetStatus == 1) // valid packet
{
actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm
actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm
actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm
navPosECEF.packetStatus = 0;
}
 
if (navStatus.packetStatus == 1) // valid packet
{
actualPos.GPSFix = navStatus.GPSfix;
actualPos.newData = navStatus.packetStatus;
navStatus.packetStatus = 0;
}
if (navVelECEF.packetStatus == 1) // valid packet
{
actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s
actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s
actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s
navVelECEF.packetStatus = 0;
}
 
if (navPosUtm.packetStatus == 1) // valid packet
{
actualPos.northing = navPosUtm.NORTH;
actualPos.easting = navPosUtm.EAST;
actualPos.altitude = navPosUtm.ALT;
navPosUtm.packetStatus = 0;
}
 
if (navVelNed.packetStatus == 1)
{
actualPos.velNorth = navVelNed.VEL_N;
actualPos.velEast = navVelNed.VEL_E;
navVelNed.packetStatus = 0;
}
 
 
if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind
 
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ 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;
uint8_t c;
uint8_t re;
 
re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ?
c = SioTmp;
#ifdef GPS_DEBUG
*bp++ = c;
if (bp >= (buf+200)) bp = buf;
if (v24state == 0)
{
v24state = 1;
UDR0 = *ep++;
if (ep >= buf+200)
ep = buf;
UCSR0B |= _B1(UDRIE0); //enable further irqs
}
#endif
 
if (re == 0)
{
switch (gpsState)
{
case GPS_EMPTY:
if (c == SYNC_CHAR1)
gpsState = GPS_SYNC1;
break;
case GPS_SYNC1:
if (c == SYNC_CHAR2)
gpsState = GPS_SYNC2;
else if (c != SYNC_CHAR1)
gpsState = GPS_EMPTY;
break;
case GPS_SYNC2:
if (c == CLASS_NAV)
gpsState = GPS_CLASS;
else
gpsState = GPS_EMPTY;
break;
case GPS_CLASS: // msg ID seen: init packed receive
msgID = c;
CK_A = CLASS_NAV + c;
CK_B = CLASS_NAV + CK_A;
gpsState = GPS_LEN1;
 
switch (msgID)
{
case MSGID_STATUS:
ubxP = (char*)&navStatus;
ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t));
ubxSp = (char*)&navStatus.packetStatus;
ignorePacket = navStatus.packetStatus;
break;
case MSGID_POSECEF:
ubxP = (char*)&navPosECEF;
ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t));
ubxSp = (char*)&navPosECEF.packetStatus;
ignorePacket = navPosECEF.packetStatus;
break;
case MSGID_VELECEF:
ubxP = (char*)&navVelECEF;
ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t));
ubxSp = (char*)&navVelECEF.packetStatus;
ignorePacket = navVelECEF.packetStatus;
break;
case MSGID_POSUTM:
ubxP = (char*)&navPosUtm;
ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t));
ubxSp = (char*)&navPosUtm.packetStatus;
ignorePacket = navPosUtm.packetStatus;
break;
case MSGID_VELNED:
ubxP = (char*)&navVelNed;
ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t));
ubxSp = (char*)&navVelNed.packetStatus;
ignorePacket = navVelNed.packetStatus;
break;
default:
ignorePacket = 1;
ubxSp = (char*)0;
}
break;
case GPS_LEN1: // first len byte
msgLen = c;
CK_A += c;
CK_B += CK_A;
gpsState = GPS_LEN2;
break;
case GPS_LEN2: // second len byte
msgLen = msgLen + (c * 256);
CK_A += c;
CK_B += CK_A;
gpsState = GPS_FILLING; // next data will be stored in packet struct
break;
case GPS_FILLING:
CK_A += c;
CK_B += CK_A;
 
if ( !ignorePacket && ubxP < ubxEp)
*ubxP++ = c;
 
if (--msgLen == 0)
gpsState = GPS_CKA;
break;
case GPS_CKA:
if (c == CK_A)
gpsState = GPS_CKB;
else
gpsState = GPS_EMPTY;
break;
case GPS_CKB:
if (c == CK_B && ubxSp) // No error -> packet received successfully
*ubxSp = 1; // set packetStatus in struct
gpsState = GPS_EMPTY; // ready for next packet
break;
default:
gpsState = GPS_EMPTY; // ready for next packet
}
}
else // discard any data if error occured
{
gpsState = GPS_EMPTY;
GPSscanData (); //Test kann ggf. wieder gelöscht werden!
}
GPSscanData ();
 
 
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];
 
/*
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 '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];
DebugDisplayAnforderung = 1;
break;
case 't':// Motortest
Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),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
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);
gpsState = GPS_EMPTY;
}
 
//---------------------------------------------------------------------------------------------
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;
Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
}
 
if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
{
Menu();
DebugDisplayAnforderung = 0;
if(++dis_zeile == 4)
{
SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen
dis_zeile = -1;
}
else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen
}
if(GetVersionAnforderung && UebertragungAbgeschlossen)
{
SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
GetVersionAnforderung = 0;
}
 
}
 
/branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/uart.h
0,0 → 1,119
#ifndef _UART_H
#define _UART_H
 
#define MAX_SENDE_BUFF 150
#define MAX_EMPFANGS_BUFF 150
 
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 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 unsigned char MotorTest[4];
struct str_DebugOut
{
unsigned char Digital[2];
unsigned int Analog[32]; // Debugwerte
};
 
extern struct str_DebugOut DebugOut;
 
#define _B1(bit) (1 << (bit))
#define _B0(bit) (0 << (bit))
 
typedef struct
{
long x; // in cm (+ = north)
long y; // in cm (+ = east)
long z; // in cm
long vx;
long vy;
long vz;
long northing;
long easting;
long altitude;
long velNorth;
long velEast;
uint8_t newData; // status of data: 0 = invlid; 1 = valid
uint8_t GPSFix;
uint8_t noSV; // number of sats
} gpsInfo_t;
 
 
extern gpsInfo_t lockedPos; // stored position to fly to
extern gpsInfo_t actualPos; // measured position (last gps record)
 
extern void GPSscanData (void);
extern void GPSupdate(void);
extern void GPSsaveTarget (uint8_t mode);
 
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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/version.txt
0,0 → 1,104
 
-------
V0.53 27.04.2007 H.Buss
- erste öffentliche Version
 
V0.53b 29.04.2007 H.Buss
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft
 
V0.53c 29.04.2007 H.Buss
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind.
Die angezeigten Werte waren nicht die Werte der Funke
 
V0.54 01.05.2007 H.Buss
- die Paramtersätze können jetzt vor dem Start ausgewählt werden
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt:
2 3 4
1 x 5
- - -
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw.
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt
 
V0.55 14.05.2007 H.Buss
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden
 
V0.56 14.05.2007 H.Buss
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen
V0.57 24.05.2007 H.Buss
- Der Höhenregler kann nun auch mittels Schalter bedient werden
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat
- Kompass-Einfluss dämpfen bei Neigung
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen
- Der Motortest vom Kopter-Tool geht jetzt
- Man kann den Parametersätzen einen Namen geben
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert
V0.58 30.05.2007 H.Buss
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist
 
V0.60 17.08.2007 H.Buss
- "Schwindel-Bug" behoben
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft
- Poti4 zugefügt
- Es werden jetzt 8 Kanäle ausgewertet
- Kamera-Servo (an J7)
- Die Settings müssen überschrieben werden
V0.61 - V0.63 H.Buss 27.09.2007
- Poti 4 und Kanal 8 werden im Menü angezeigt
- ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt
- Analog.c: Aktuell_ax korrigiert
- auf 32 Debug-Kanäle erweitert
- Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar
- leichte Anpassungen im Gier - Geschwindigkeit und Drift
- die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein
- die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird
- die PPM-Ausgänge liegen wieder an den Pins an
- Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders
- der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen
- I2C-Bus läuft jetzt sicher nach einer Störung wieder an
- Sticksignale werden präziser ausgewertet
- Stick-Kanäle werden ans Kopter-Tool übertragen
- Es muss die Version V1.47 des Kopter-Tool verwendet werden
- Die Settings werden auf Default zurückgesetzt
- am Piepen kann man die Fehlerart unterscheiden
1. einzelnes Piepen beim Einschalten und Kalibrieren
2. langsames Intervall mindestens 1 Sek -> Empfangsausfall
3. schnelleres Intervall mindestens 1 Sek -> Akku
4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört
V0.64 H.Buss 30.09.2007
- beim Gieren wurden die Achsen nicht hart genug geregelt
- Höhenreglerabsenkung von -20 auf -40 (fc.c)
- LED1 und LED2 Ansteuerung (fc.c) und (main.h)
- geänderte Kanalbelegung K1 mit K3 getauscht, Unterspannungsschwelle (9,5V) und StickD (fc.c)
- P,D Anteil seperat in Variable geschrieben und auf das Analog Display Ausgegeben (Kopter Tool)
- GPS_Nick und GPS_Roll werden nach Deaktivierung von Position-Hold auf Null gesetzt, um ein Einfrieren der GPS Steuerwerte auf den letzten Wert zu verhindern
- Funktionsaufruf der GPS-Funktion von Chris/Hallo2
- UART.C für die GPS Signale im UTM Format auf Pitschu basierend
- meine GPS.c-Routine
- Mircos variable Filterung (funktioniert nur wenn 250ms Aufruf aktiv ist)
- GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden
- Statusanzeige auf eine LED reduziert (aus, blinkend, an)
- blinkender LED_1 Ausgang für Positionsleuchten (einstellbar über Userparam.4)
- Homing-Fkt. eingebaut
- Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...)
- Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert
- dyn. Position Hold -> normaler Rundflug möglich
- Limit_D_Anteil = Userparam3 um im Homing- bzw. Waypointmodus die Sollposition gleichmäßiger anzufliegen
- Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert
- 12 Kanal Erweiterung (rc.c; rc.h; fc.c; fc.h; menu.c)
- D-Anteil_Limit wegen HOMING ->> Radius von 700 cm -> 250 cm
 
 
 
- ...
 
 
(- Regelung wird nur noch alle 250 ms aufgerufen)