WebSVN - FlightCtrl - Diff - Rev 2093 and 2174 - /branches/V0.88e_ACC-HH_HR


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
//#define GIER_GRAD_FAKTOR 1160L
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
#define ACC_AMPLIFY    6
 
// FC_StatusFlags
#define FC_STATUS_MOTOR_RUN                             0x01
#define FC_STATUS_FLY                                   0x02
#define FC_STATUS_CALIBRATE                             0x04
#define FC_STATUS_START                                 0x08
#define FC_STATUS_EMERGENCY_LANDING             0x10
#define FC_STATUS_LOWBAT                                0x20
#define FC_STATUS_VARIO_TRIM_UP                 0x40
#define FC_STATUS_VARIO_TRIM_DOWN               0x80
 
// FC_StatusFlags2 
#define FC_STATUS2_CAREFREE                 0x01
#define FC_STATUS2_ALTITUDE_CONTROL         0x02
#define FC_STATUS2_RC_FAILSAVE_ACTIVE       0x04
#define FC_STATUS2_OUT1_ACTIVE                  0x08
#define FC_STATUS2_OUT2_ACTIVE                  0x10
 
//NC_To_FC_Flags
#define NC_TO_FC_FLYING_RANGE           0x01
#define NC_TO_FC_EMERGENCY_LANDING      0x02
 
extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
extern void ParameterZuordnung(void);
 
#define Poti1 Poti[0]
#define Poti2 Poti[1]
#define Poti3 Poti[2]
#define Poti4 Poti[3]
#define Poti5 Poti[4]
#define Poti6 Poti[5]
#define Poti7 Poti[6]
#define Poti8 Poti[7]
 
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
 
/// MartinW; added vars
extern unsigned char Motors[12]; //MartinR: sicherheitshalber geändert (war 8) 
unsigned char Motorsmax[12]; //MartinR: sicherheitshalber geändert (war 8)
unsigned short MotorsTmax;
extern unsigned char updatemotors;
extern unsigned char loop1, loop2, loop3;
extern unsigned char settingdest;
extern char keynumber;
extern unsigned short CurrentOffset;///
extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
 
extern int degreeold;
extern int degreedivold;
extern int degreediv;
extern unsigned int panograd;
extern unsigned char panotrigger;
extern int StickGas;
extern unsigned char calibration_done;
extern unsigned char jetibeepcode[];
/// MartinW; added vars
 
 
extern unsigned char Sekunde,Minute;
extern unsigned int BaroExpandActive;
extern long IntegralNick,IntegralNick2;
extern long IntegralRoll,IntegralRoll2;
//extern int IntegralNick,IntegralNick2;
//extern int IntegralRoll,IntegralRoll2;
extern unsigned char Poti[9];
extern unsigned char jetistepstep[], jetistep;
 
extern long Mess_IntegralNick,Mess_IntegralNick2;
extern long Mess_IntegralRoll,Mess_IntegralRoll2;
extern long IntegralAccNick,IntegralAccRoll;
extern long SummeNick,SummeRoll;
extern volatile long Mess_Integral_Hoch;
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
extern int  KompassValue;
extern int  KompassSollWert;
extern int  KompassRichtung;
extern char CalculateCompassTimer;
extern unsigned char KompassFusion;
extern unsigned char ControlHeading;
extern int  TrimNick, TrimRoll;
extern long  ErsatzKompass;
extern int   ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern long FromNC_AltitudeSetpoint;
extern unsigned char FromNC_AltitudeSpeed;
extern unsigned char Parameter_HoehenSchalter;      // Wert : 0-250
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
extern unsigned int NeutralAccX, NeutralAccY;
extern unsigned char HoehenReglerAktiv;
extern int NeutralAccZ;
extern long Umschlag180Nick, Umschlag180Roll;
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
extern unsigned int modell_fliegt;
extern void MotorRegler(void);
extern void SendMotorData(void);
//void CalibrierMittelwert(void);
//void Mittelwert(void);
extern void SetNeutral(unsigned char AccAdjustment);
extern void Piep(unsigned char Anzahl, unsigned int dauer);
extern void CopyDebugValues(void);
 
extern unsigned char h,m,s;
extern int StickNick,StickRoll,StickGier,StickGas;
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern int  DiffNick,DiffRoll;
//extern int  Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char SenderOkay;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
extern unsigned char CalibrationDone;
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
extern char VarioCharacter;
extern signed int AltitudeSetpointTrimming;
extern signed char WaypointTrimming;
extern int HoverGas;
extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
extern unsigned char Parameter_ServoRollControl;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsKopplung2;
//extern unsigned char Parameter_AchsGegenKopplung1;
extern unsigned char Parameter_J16Bitmask;             // for the J16 Output
extern unsigned char Parameter_J16Timing;              // for the J16 Output
extern unsigned char Parameter_J17Bitmask;             // for the J17 Output
extern unsigned char Parameter_J17Timing;              // for the J17 Output
extern unsigned char Parameter_GlobalConfig;
extern unsigned char Parameter_ExtraConfig;
extern unsigned char Parameter_NaviGpsModeControl;     // MartinR: wird wiederverwendet für GPS free bei HH
extern signed char MixerTable[MAX_MOTORS][4];
//extern const signed char sintab[31]; // MartinR: so war es
extern const signed char sintab[62]; // MartinR: für feinere Auflösung
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/fc.h @ 2303 - Rev 2093 → 2174

Rev 2093		Rev 2174
1	/*#######################################################################################	1	/*#######################################################################################
2	Flight Control	2	Flight Control
3	#######################################################################################*/	3	#######################################################################################*/
4		4
5	#ifndef _FC_H	5	#ifndef _FC_H
6	#define _FC_H	6	#define _FC_H
7	//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel	7	//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
8	//#define GIER_GRAD_FAKTOR 1160L	8	//#define GIER_GRAD_FAKTOR 1160L
9	extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel	9	extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
10	#define STICK_GAIN 4	10	#define STICK_GAIN 4
11	#define ACC_AMPLIFY 6	11	#define ACC_AMPLIFY 6
12		12
13	// FC_StatusFlags	13	// FC_StatusFlags
14	#define FC_STATUS_MOTOR_RUN 0x01	14	#define FC_STATUS_MOTOR_RUN 0x01
15	#define FC_STATUS_FLY 0x02	15	#define FC_STATUS_FLY 0x02
16	#define FC_STATUS_CALIBRATE 0x04	16	#define FC_STATUS_CALIBRATE 0x04
17	#define FC_STATUS_START 0x08	17	#define FC_STATUS_START 0x08
18	#define FC_STATUS_EMERGENCY_LANDING 0x10	18	#define FC_STATUS_EMERGENCY_LANDING 0x10
19	#define FC_STATUS_LOWBAT 0x20	19	#define FC_STATUS_LOWBAT 0x20
20	#define FC_STATUS_VARIO_TRIM_UP 0x40	20	#define FC_STATUS_VARIO_TRIM_UP 0x40
21	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	21	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
22		22
23	// FC_StatusFlags2	23	// FC_StatusFlags2
24	#define FC_STATUS2_CAREFREE 0x01	24	#define FC_STATUS2_CAREFREE 0x01
25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02	25	#define FC_STATUS2_ALTITUDE_CONTROL 0x02
26	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04	26	#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04
27	#define FC_STATUS2_OUT1_ACTIVE 0x08	27	#define FC_STATUS2_OUT1_ACTIVE 0x08
28	#define FC_STATUS2_OUT2_ACTIVE 0x10	28	#define FC_STATUS2_OUT2_ACTIVE 0x10
29		29
30	//NC_To_FC_Flags	30	//NC_To_FC_Flags
31	#define NC_TO_FC_FLYING_RANGE 0x01	31	#define NC_TO_FC_FLYING_RANGE 0x01
32	#define NC_TO_FC_EMERGENCY_LANDING 0x02	32	#define NC_TO_FC_EMERGENCY_LANDING 0x02
33		33
34	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;	34	extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2;
35	extern void ParameterZuordnung(void);	35	extern void ParameterZuordnung(void);
36		36
37	#define Poti1 Poti[0]	37	#define Poti1 Poti[0]
38	#define Poti2 Poti[1]	38	#define Poti2 Poti[1]
39	#define Poti3 Poti[2]	39	#define Poti3 Poti[2]
40	#define Poti4 Poti[3]	40	#define Poti4 Poti[3]
41	#define Poti5 Poti[4]	41	#define Poti5 Poti[4]
42	#define Poti6 Poti[5]	42	#define Poti6 Poti[5]
43	#define Poti7 Poti[6]	43	#define Poti7 Poti[6]
44	#define Poti8 Poti[7]	44	#define Poti8 Poti[7]
45		45
46	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}	46	#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
47	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}	47	#define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;}
48	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}	48	#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
49	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}	49	#define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);}
50		50
51	/// MartinW; added vars	51	/// MartinW; added vars
52	extern unsigned char Motors[8];	52	extern unsigned char Motors[12]; //MartinR: sicherheitshalber geändert (war 8)
53	unsigned char Motorsmax[8];	53	unsigned char Motorsmax[12]; //MartinR: sicherheitshalber geändert (war 8)
54	unsigned short MotorsTmax;	54	unsigned short MotorsTmax;
55	extern unsigned char updatemotors;	55	extern unsigned char updatemotors;
56	extern unsigned char loop1, loop2, loop3;	56	extern unsigned char loop1, loop2, loop3;
57	extern unsigned char settingdest;	57	extern unsigned char settingdest;
58	extern char keynumber;	58	extern char keynumber;
59	extern unsigned short CurrentOffset;///	59	extern unsigned short CurrentOffset;///
60	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;	60	extern signed char jetivalue1,jetivalue2,jetivalue3,jetivalue4;
61		61
62	extern int degreeold;	62	extern int degreeold;
63	extern int degreedivold;	63	extern int degreedivold;
64	extern int degreediv;	64	extern int degreediv;
65	extern unsigned int panograd;	65	extern unsigned int panograd;
66	extern unsigned char panotrigger;	66	extern unsigned char panotrigger;
67	extern int StickGas;	67	extern int StickGas;
68	extern unsigned char calibration_done;	68	extern unsigned char calibration_done;
69	extern unsigned char jetibeepcode[];	69	extern unsigned char jetibeepcode[];
70	/// MartinW; added vars	70	/// MartinW; added vars
71		71
72		72
73	extern unsigned char Sekunde,Minute;	73	extern unsigned char Sekunde,Minute;
74	extern unsigned int BaroExpandActive;	74	extern unsigned int BaroExpandActive;
75	extern long IntegralNick,IntegralNick2;	75	extern long IntegralNick,IntegralNick2;
76	extern long IntegralRoll,IntegralRoll2;	76	extern long IntegralRoll,IntegralRoll2;
77	//extern int IntegralNick,IntegralNick2;	77	//extern int IntegralNick,IntegralNick2;
78	//extern int IntegralRoll,IntegralRoll2;	78	//extern int IntegralRoll,IntegralRoll2;
79	extern unsigned char Poti[9];	79	extern unsigned char Poti[9];
80	extern unsigned char jetistepstep[], jetistep;	80	extern unsigned char jetistepstep[], jetistep;
81		81
82	extern long Mess_IntegralNick,Mess_IntegralNick2;	82	extern long Mess_IntegralNick,Mess_IntegralNick2;
83	extern long Mess_IntegralRoll,Mess_IntegralRoll2;	83	extern long Mess_IntegralRoll,Mess_IntegralRoll2;
84	extern long IntegralAccNick,IntegralAccRoll;	84	extern long IntegralAccNick,IntegralAccRoll;
85	extern long SummeNick,SummeRoll;	85	extern long SummeNick,SummeRoll;
86	extern volatile long Mess_Integral_Hoch;	86	extern volatile long Mess_Integral_Hoch;
87	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	87	extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
88	extern int KompassValue;	88	extern int KompassValue;
89	extern int KompassSollWert;	89	extern int KompassSollWert;
90	extern int KompassRichtung;	90	extern int KompassRichtung;
91	extern char CalculateCompassTimer;	91	extern char CalculateCompassTimer;
92	extern unsigned char KompassFusion;	92	extern unsigned char KompassFusion;
93	extern unsigned char ControlHeading;	93	extern unsigned char ControlHeading;
94	extern int TrimNick, TrimRoll;	94	extern int TrimNick, TrimRoll;
95	extern long ErsatzKompass;	95	extern long ErsatzKompass;
96	extern int ErsatzKompassInGrad; // Kompasswert in Grad	96	extern int ErsatzKompassInGrad; // Kompasswert in Grad
97	extern long HoehenWert;	97	extern long HoehenWert;
98	extern long SollHoehe;	98	extern long SollHoehe;
99	extern long FromNC_AltitudeSetpoint;	99	extern long FromNC_AltitudeSetpoint;
100	extern unsigned char FromNC_AltitudeSpeed;	100	extern unsigned char FromNC_AltitudeSpeed;
101	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250	101	extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250
102	extern unsigned char CareFree;	102	extern unsigned char CareFree;
103	extern int MesswertNick,MesswertRoll,MesswertGier;	103	extern int MesswertNick,MesswertRoll,MesswertGier;
104	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	104	extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
105	extern unsigned int NeutralAccX, NeutralAccY;	105	extern unsigned int NeutralAccX, NeutralAccY;
106	extern unsigned char HoehenReglerAktiv;	106	extern unsigned char HoehenReglerAktiv;
107	extern int NeutralAccZ;	107	extern int NeutralAccZ;
108	extern long Umschlag180Nick, Umschlag180Roll;	108	extern long Umschlag180Nick, Umschlag180Roll;
109	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	109	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
110	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	110	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
111	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;	111	extern int NaviAccNick,NaviAccRoll,NaviCntAcc;
112	extern unsigned int modell_fliegt;	112	extern unsigned int modell_fliegt;
113	extern void MotorRegler(void);	113	extern void MotorRegler(void);
114	extern void SendMotorData(void);	114	extern void SendMotorData(void);
115	//void CalibrierMittelwert(void);	115	//void CalibrierMittelwert(void);
116	//void Mittelwert(void);	116	//void Mittelwert(void);
117	extern void SetNeutral(unsigned char AccAdjustment);	117	extern void SetNeutral(unsigned char AccAdjustment);
118	extern void Piep(unsigned char Anzahl, unsigned int dauer);	118	extern void Piep(unsigned char Anzahl, unsigned int dauer);
119	extern void CopyDebugValues(void);	119	extern void CopyDebugValues(void);
120		120
121	extern unsigned char h,m,s;	121	extern unsigned char h,m,s;
122	extern int StickNick,StickRoll,StickGier,StickGas;	122	extern int StickNick,StickRoll,StickGier,StickGas;
123	extern volatile unsigned char Timeout ;	123	extern volatile unsigned char Timeout ;
124	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	124	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
125	extern int DiffNick,DiffRoll;	125	extern int DiffNick,DiffRoll;
126	//extern int Poti1, Poti2, Poti3, Poti4;	126	//extern int Poti1, Poti2, Poti3, Poti4;
127	extern volatile unsigned char SenderOkay;	127	extern volatile unsigned char SenderOkay;
128	extern int StickNick,StickRoll,StickGier;	128	extern int StickNick,StickRoll,StickGier;
129	extern char MotorenEin;	129	extern char MotorenEin;
130	extern unsigned char CalibrationDone;	130	extern unsigned char CalibrationDone;
131	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	131	extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
132	extern char VarioCharacter;	132	extern char VarioCharacter;
133	extern signed int AltitudeSetpointTrimming;	133	extern signed int AltitudeSetpointTrimming;
134	extern signed char WaypointTrimming;	134	extern signed char WaypointTrimming;
135	extern int HoverGas;	135	extern int HoverGas;
136	extern unsigned char Parameter_Luftdruck_D;	136	extern unsigned char Parameter_Luftdruck_D;
137	extern unsigned char Parameter_MaxHoehe;	137	extern unsigned char Parameter_MaxHoehe;
138	extern unsigned char Parameter_Hoehe_P;	138	extern unsigned char Parameter_Hoehe_P;
139	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	139	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
140	extern unsigned char Parameter_KompassWirkung;	140	extern unsigned char Parameter_KompassWirkung;
141	extern unsigned char Parameter_Gyro_P;	141	extern unsigned char Parameter_Gyro_P;
142	extern unsigned char Parameter_Gyro_I;	142	extern unsigned char Parameter_Gyro_I;
143	extern unsigned char Parameter_Gier_P;	143	extern unsigned char Parameter_Gier_P;
144	extern unsigned char Parameter_ServoNickControl;	144	extern unsigned char Parameter_ServoNickControl;
145	extern unsigned char Parameter_ServoRollControl;	145	extern unsigned char Parameter_ServoRollControl;
146	extern unsigned char Parameter_AchsKopplung1;	146	extern unsigned char Parameter_AchsKopplung1;
147	extern unsigned char Parameter_AchsKopplung2;	147	extern unsigned char Parameter_AchsKopplung2;
148	//extern unsigned char Parameter_AchsGegenKopplung1;	148	//extern unsigned char Parameter_AchsGegenKopplung1;
149	extern unsigned char Parameter_J16Bitmask; // for the J16 Output	149	extern unsigned char Parameter_J16Bitmask; // for the J16 Output
150	extern unsigned char Parameter_J16Timing; // for the J16 Output	150	extern unsigned char Parameter_J16Timing; // for the J16 Output
151	extern unsigned char Parameter_J17Bitmask; // for the J17 Output	151	extern unsigned char Parameter_J17Bitmask; // for the J17 Output
152	extern unsigned char Parameter_J17Timing; // for the J17 Output	152	extern unsigned char Parameter_J17Timing; // for the J17 Output
153	extern unsigned char Parameter_GlobalConfig;	153	extern unsigned char Parameter_GlobalConfig;
154	extern unsigned char Parameter_ExtraConfig;	154	extern unsigned char Parameter_ExtraConfig;
155	extern unsigned char Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH	155	extern unsigned char Parameter_NaviGpsModeControl; // MartinR: wird wiederverwendet für GPS free bei HH
156	extern signed char MixerTable[MAX_MOTORS][4];	156	extern signed char MixerTable[MAX_MOTORS][4];
157	//extern const signed char sintab[31]; // MartinR: so war es	157	//extern const signed char sintab[31]; // MartinR: so war es
158	extern const signed char sintab[62]; // MartinR: für feinere Auflösung	158	extern const signed char sintab[62]; // MartinR: für feinere Auflösung
159	#endif //_FC_H	159	#endif //_FC_H
160		160
161		161