WebSVN - FlightCtrl - Diff - Rev 1980 and 1986 - /branches/dongfang_FC


#ifndef _CONFIGURATION_H
#define _CONFIGURATION_H
 
#include <inttypes.h>
#include <avr/io.h>
 
#define MAX_CHANNELS 10
#define MAX_MOTORS 12
 
typedef struct {
  // IMU
  /*PMM*/uint8_t gyroP;
  /* P */uint8_t gyroD;
  /* P */uint8_t gyroI;
  /* P */uint8_t IFactor;
  uint8_t yawIFactor;
  /* P */uint8_t compassYawEffect;
 
  // Control
  /* P */uint8_t externalControl;
 
  /* P */uint8_t axisCoupling1;
  /* P */uint8_t axisCoupling2;
  /* P */uint8_t axisCouplingYawCorrection;
  /* P */uint8_t dynamicStability;
  uint8_t maxAccVector;
 
  // Height control
  /*PMM*/uint8_t heightP;
  /*PMM*/uint8_t heightD;
  /* P */uint8_t heightSetting;
  /* P */uint8_t heightACCEffect;
 
  uint8_t attitudeControl;
 
  // The rest...
  /* P */uint8_t userParams[8];
  /*PMM*/uint8_t output0Timing;
  /*PMM*/uint8_t output1Timing;
 
  uint8_t servoManualControl[2];
 
  uint8_t motorSmoothing;
} dynamicParam_t;
 
extern volatile dynamicParam_t dynamicParams;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
  uint8_t min, max;
} MMXLATION;
 
typedef struct {
  uint8_t sourceIdx, targetIdx;
} XLATION;
 
typedef struct {
  uint8_t channels[MAX_CHANNELS];
} channelMap_t;
extern channelMap_t channelMap;
 
typedef struct {
  int8_t name[12];
  int8_t motor[MAX_MOTORS][4];
}__attribute__((packed)) mixerMatrix_t;
extern mixerMatrix_t mixerMatrix;
 
typedef struct {
  int16_t offsets[3];
} sensorOffset_t;
 
typedef struct {
  uint8_t manualControl;
  uint8_t stabilizationFactor;
  uint8_t minValue;
  uint8_t maxValue;
  uint8_t flags;
} servo_t;
 
#define SERVO_STABILIZATION_REVERSE 1
 
typedef struct {
  uint8_t bitmask;
  uint8_t timing;
} output_flash_t;
 
// values above 250 representing poti1 to poti4
typedef struct {
  // Global bitflags
  uint8_t bitConfig;  // see upper defines for bitcoding
 
  // Height Control
  uint8_t heightP; // Value : 0-32
  uint8_t heightD; // Value : 0-250
  uint8_t heightSetting; // Value : 0-32
  uint8_t heightControlMaxThrottleChange; // Value : 0-100
  uint8_t heightSlewRate; // Value : 0-50
 
  // Attitude Control
  uint8_t attitudeControl;
 
  // Control
  uint8_t stickP; // Value : 1-6
  uint8_t stickD; // Value : 0-64
  uint8_t stickYawP; // Value : 1-20
  uint8_t stickThrottleD;
  uint8_t minThrottle; // Value : 0-32
  uint8_t maxThrottle; // Value : 33-250
  uint8_t externalControl; // for serial Control
  uint8_t maxAccVector;
  uint8_t maxControlActivity;
 
  // IMU
  uint8_t gyroPIDFilterConstant;
  uint8_t gyroATTFilterConstant;
  uint8_t gyroDFilterConstant;
  uint8_t accFilterConstant;
 
  uint8_t gyroP; // Value : 10-250
  uint8_t gyroI; // Value : 0-250
  uint8_t gyroD; // Value : 0-250
 
  uint8_t zerothOrderCorrection; // Value : 1-64
  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
  uint8_t driftCompLimit;   // limit for gyrodrift compensation
 
  uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
 
  uint8_t dynamicStability; // PID limit for Attitude controller
  uint8_t IFactor; // Value : 0-250
  uint8_t yawIFactor;
  uint8_t compassYawEffect; // Value : 0-32
 
  // Servos
  uint8_t servoCount;
  uint8_t servoManualMaxSpeed;
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 
  // Battery warning and emergency flight
  uint8_t batteryVoltageWarning; // Value : 0-250
  uint8_t emergencyThrottle; // Value : 0-250
  uint8_t emergencyFlightDuration; // Value : 0-250 
 
  // Outputs
  output_flash_t outputFlash[2];
  uint8_t outputDebugMask;
  uint8_t outputFlags;
 
  // User params
  uint8_t userParams[8]; // Value : 0-250
 
  // Name
  uint8_t name[12];
} paramset_t;
extern paramset_t staticParams;
 
// MKFlags
#define MKFLAG_MOTOR_RUN        (1<<0)
#define MKFLAG_FLY              (1<<1)
#define MKFLAG_CALIBRATE        (1<<2)
#define MKFLAG_START            (1<<3)
#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
#define MKFLAG_RESERVE1         (1<<5)
#define MKFLAG_RESERVE2         (1<<6)
#define MKFLAG_RESERVE3         (1<<7)
 
// bit mask for staticParams.bitConfig
#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)
#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
#define CFG_HEADING_HOLD                        (1<<2)
#define CFG_COMPASS_ACTIVE                          (1<<3)
#define CFG_COMPASS_FIX                                 (1<<4)
#define CFG_GPS_ACTIVE                          (1<<5)
#define CFG_AXIS_COUPLING_ACTIVE        (1<<6)
#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
 
#define ATMEGA644       0
#define ATMEGA644P      1
#define SYSCLK F_CPU
 
// Not really a part of configuration, but LEDs and HW version test are the same.
#define RED_OFF   {if((boardRelease == 10) || (boardRelease == 20)) PORTB &=~(1<<PORTB0); else  PORTB |= (1<<PORTB0);}
#define RED_ON    {if((boardRelease == 10) || (boardRelease == 20)) PORTB |= (1<<PORTB0); else  PORTB &=~(1<<PORTB0);}
#define RED_FLASH PORTB ^= (1<<PORTB0)
#define GRN_OFF   {if(boardRelease  < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);}
#define GRN_ON    {if(boardRelease  < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
#define GRN_FLASH PORTB ^= (1<<PORTB1)
 
// Mixer table
#define MIX_THROTTLE    0
#define MIX_PITCH       1
#define MIX_ROLL        2
#define MIX_YAW         3
 
#define VARIABLE_COUNT 8
 
extern volatile uint8_t MKFlags;
extern uint8_t requiredMotors;
extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
extern uint8_t boardRelease;
extern uint8_t CPUType;
 
extern volatile uint8_t MKFlags;
extern uint16_t isFlying;
 
void channelMap_default(void);
void paramSet_default(uint8_t setnumber);
void mixerMatrix_default(void);
 
void configuration_applyVariablesToParams(void);
uint8_t getCPUType(void);
uint8_t getBoardRelease(void);
 
#endif // _CONFIGURATION_H
 

Rev 1980	Rev 1986
1	#ifndef _CONFIGURATION_H	1	#ifndef _CONFIGURATION_H
2	#define _CONFIGURATION_H	2	#define _CONFIGURATION_H
3		3
4	#include <inttypes.h>	4	#include <inttypes.h>
5	#include <avr/io.h>	5	#include <avr/io.h>
6		6
7	#define MAX_CHANNELS 10	7	#define MAX_CHANNELS 10
8	#define MAX_MOTORS 12	8	#define MAX_MOTORS 12
9		9
10	typedef struct {	10	typedef struct {
11	// IMU	11	// IMU
12	/PMM/uint8_t gyroP;	12	/PMM/uint8_t gyroP;
13	/* P */uint8_t gyroD;	13	/* P */uint8_t gyroD;
14	/* P */uint8_t gyroI;	14	/* P */uint8_t gyroI;
15	/* P */uint8_t IFactor;	15	/* P */uint8_t IFactor;
16	uint8_t yawIFactor;	16	uint8_t yawIFactor;
17	/* P */uint8_t compassYawEffect;	17	/* P */uint8_t compassYawEffect;
18		18
19	// Control	19	// Control
20	/* P */uint8_t externalControl;	20	/* P */uint8_t externalControl;
21		21
22	/* P */uint8_t axisCoupling1;	22	/* P */uint8_t axisCoupling1;
23	/* P */uint8_t axisCoupling2;	23	/* P */uint8_t axisCoupling2;
24	/* P */uint8_t axisCouplingYawCorrection;	24	/* P */uint8_t axisCouplingYawCorrection;
25	/* P */uint8_t dynamicStability;	25	/* P */uint8_t dynamicStability;
26	uint8_t maxAccVector;	26	uint8_t maxAccVector;
27		27
28	// Height control	28	// Height control
29	/PMM/uint8_t heightP;	29	/PMM/uint8_t heightP;
30	/PMM/uint8_t heightD;	30	/PMM/uint8_t heightD;
31	/* P */uint8_t heightSetting;	31	/* P */uint8_t heightSetting;
32	/* P */uint8_t heightACCEffect;	32	/* P */uint8_t heightACCEffect;
33		33
34	uint8_t attitudeControl;	34	uint8_t attitudeControl;
35		35
36	// The rest...	36	// The rest...
37	/* P */uint8_t userParams[8];	37	/* P */uint8_t userParams[8];
38	/PMM/uint8_t output0Timing;	38	/PMM/uint8_t output0Timing;
39	/PMM/uint8_t output1Timing;	39	/PMM/uint8_t output1Timing;
40		40
41	uint8_t servoManualControl[2];	41	uint8_t servoManualControl[2];
42		42
43	uint8_t motorSmoothing;	43	uint8_t motorSmoothing;
44	} dynamicParam_t;	44	} dynamicParam_t;
45		45
46	extern volatile dynamicParam_t dynamicParams;	46	extern volatile dynamicParam_t dynamicParams;
47		47
48	typedef struct {	48	typedef struct {
49	uint8_t sourceIdx, targetIdx;	49	uint8_t sourceIdx, targetIdx;
50	uint8_t min, max;	50	uint8_t min, max;
51	} MMXLATION;	51	} MMXLATION;
52		52
53	typedef struct {	53	typedef struct {
54	uint8_t sourceIdx, targetIdx;	54	uint8_t sourceIdx, targetIdx;
55	} XLATION;	55	} XLATION;
56		56
57	typedef struct {	57	typedef struct {
58	uint8_t channels[MAX_CHANNELS];	58	uint8_t channels[MAX_CHANNELS];
59	} channelMap_t;	59	} channelMap_t;
60	extern channelMap_t channelMap;	60	extern channelMap_t channelMap;
61		61
62	typedef struct {	62	typedef struct {
63	int8_t name[12];	63	int8_t name[12];
64	int8_t motor[MAX_MOTORS][4];	64	int8_t motor[MAX_MOTORS][4];
65	}__attribute__((packed)) mixerMatrix_t;	65	}__attribute__((packed)) mixerMatrix_t;
66	extern mixerMatrix_t mixerMatrix;	66	extern mixerMatrix_t mixerMatrix;
67		67
68	typedef struct {	68	typedef struct {
69	int16_t offsets[3];	69	int16_t offsets[3];
70	} sensorOffset_t;	70	} sensorOffset_t;
71		71
72	typedef struct {	72	typedef struct {
73	uint8_t manualControl;	73	uint8_t manualControl;
74	uint8_t stabilizationFactor;	74	uint8_t stabilizationFactor;
75	uint8_t minValue;	75	uint8_t minValue;
76	uint8_t maxValue;	76	uint8_t maxValue;
77	uint8_t flags;	77	uint8_t flags;
78	} servo_t;	78	} servo_t;
79		79
80	#define SERVO_STABILIZATION_REVERSE 1	80	#define SERVO_STABILIZATION_REVERSE 1
81		81
82	typedef struct {	82	typedef struct {
83	uint8_t bitmask;	83	uint8_t bitmask;
84	uint8_t timing;	84	uint8_t timing;
85	} output_flash_t;	85	} output_flash_t;
86		86
87	// values above 250 representing poti1 to poti4	87	// values above 250 representing poti1 to poti4
88	typedef struct {	88	typedef struct {
89	// Global bitflags	89	// Global bitflags
90	uint8_t bitConfig; // see upper defines for bitcoding	90	uint8_t bitConfig; // see upper defines for bitcoding
91		91
92	// Height Control	92	// Height Control
93	uint8_t heightP; // Value : 0-32	93	uint8_t heightP; // Value : 0-32
94	uint8_t heightD; // Value : 0-250	94	uint8_t heightD; // Value : 0-250
95	uint8_t heightSetting; // Value : 0-32	95	uint8_t heightSetting; // Value : 0-32
96	uint8_t heightControlMaxThrottleChange; // Value : 0-100	96	uint8_t heightControlMaxThrottleChange; // Value : 0-100
97	uint8_t heightSlewRate; // Value : 0-50	97	uint8_t heightSlewRate; // Value : 0-50
98		98
99	// Attitude Control	99	// Attitude Control
100	uint8_t attitudeControl;	100	uint8_t attitudeControl;
101		101
102	// Control	102	// Control
103	uint8_t stickP; // Value : 1-6	103	uint8_t stickP; // Value : 1-6
104	uint8_t stickD; // Value : 0-64	104	uint8_t stickD; // Value : 0-64
105	uint8_t stickYawP; // Value : 1-20	105	uint8_t stickYawP; // Value : 1-20
106	uint8_t stickThrottleD;	106	uint8_t stickThrottleD;
107	uint8_t minThrottle; // Value : 0-32	107	uint8_t minThrottle; // Value : 0-32
108	uint8_t maxThrottle; // Value : 33-250	108	uint8_t maxThrottle; // Value : 33-250
109	uint8_t externalControl; // for serial Control	109	uint8_t externalControl; // for serial Control
110	uint8_t maxAccVector;	110	uint8_t maxAccVector;
-		111	uint8_t maxControlActivity;
111		112
112	// IMU	113	// IMU
113	uint8_t gyroPIDFilterConstant;	114	uint8_t gyroPIDFilterConstant;
114	uint8_t gyroATTFilterConstant;	115	uint8_t gyroATTFilterConstant;
115	uint8_t gyroDFilterConstant;	116	uint8_t gyroDFilterConstant;
116	uint8_t accFilterConstant;	117	uint8_t accFilterConstant;
117		118
118	uint8_t gyroP; // Value : 10-250	119	uint8_t gyroP; // Value : 10-250
119	uint8_t gyroI; // Value : 0-250	120	uint8_t gyroI; // Value : 0-250
120	uint8_t gyroD; // Value : 0-250	121	uint8_t gyroD; // Value : 0-250
121		122
122	uint8_t zerothOrderCorrection; // Value : 1-64	123	uint8_t zerothOrderCorrection; // Value : 1-64
123	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)	124	uint8_t driftCompDivider; // 1/k (Koppel_ACC_Wirkung)
124	uint8_t driftCompLimit; // limit for gyrodrift compensation	125	uint8_t driftCompLimit; // limit for gyrodrift compensation
125		126
126	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)	127	uint8_t axisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
127	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	128	uint8_t axisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
128	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden	129	uint8_t axisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
129		130
130	uint8_t dynamicStability; // PID limit for Attitude controller	131	uint8_t dynamicStability; // PID limit for Attitude controller
131	uint8_t IFactor; // Value : 0-250	132	uint8_t IFactor; // Value : 0-250
132	uint8_t yawIFactor;	133	uint8_t yawIFactor;
133	uint8_t compassYawEffect; // Value : 0-32	134	uint8_t compassYawEffect; // Value : 0-32
134		135
135	// Servos	136	// Servos
136	uint8_t servoCount;	137	uint8_t servoCount;
137	uint8_t servoManualMaxSpeed;	138	uint8_t servoManualMaxSpeed;
138	servo_t servoConfigurations[2]; // [PITCH, ROLL]	139	servo_t servoConfigurations[2]; // [PITCH, ROLL]
139		140
140	// Battery warning and emergency flight	141	// Battery warning and emergency flight
141	uint8_t batteryVoltageWarning; // Value : 0-250	142	uint8_t batteryVoltageWarning; // Value : 0-250
142	uint8_t emergencyThrottle; // Value : 0-250	143	uint8_t emergencyThrottle; // Value : 0-250
143	uint8_t emergencyFlightDuration; // Value : 0-250	144	uint8_t emergencyFlightDuration; // Value : 0-250
144		145
145	// Outputs	146	// Outputs
146	output_flash_t outputFlash[2];	147	output_flash_t outputFlash[2];
147	uint8_t outputDebugMask;	148	uint8_t outputDebugMask;
148	uint8_t outputOptions;	149	uint8_t outputFlags;
149		150
150	// User params	151	// User params
151	uint8_t userParams[8]; // Value : 0-250	152	uint8_t userParams[8]; // Value : 0-250
152		153
153	// Name	154	// Name
154	uint8_t name[12];	155	uint8_t name[12];
155	} paramset_t;	156	} paramset_t;
156	extern paramset_t staticParams;	157	extern paramset_t staticParams;
157		158
158	// MKFlags	159	// MKFlags
159	#define MKFLAG_MOTOR_RUN (1<<0)	160	#define MKFLAG_MOTOR_RUN (1<<0)
160	#define MKFLAG_FLY (1<<1)	161	#define MKFLAG_FLY (1<<1)
161	#define MKFLAG_CALIBRATE (1<<2)	162	#define MKFLAG_CALIBRATE (1<<2)
162	#define MKFLAG_START (1<<3)	163	#define MKFLAG_START (1<<3)
163	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)	164	#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
164	#define MKFLAG_RESERVE1 (1<<5)	165	#define MKFLAG_RESERVE1 (1<<5)
165	#define MKFLAG_RESERVE2 (1<<6)	166	#define MKFLAG_RESERVE2 (1<<6)
166	#define MKFLAG_RESERVE3 (1<<7)	167	#define MKFLAG_RESERVE3 (1<<7)
167		168
168	// bit mask for staticParams.bitConfig	169	// bit mask for staticParams.bitConfig
169	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)	170	#define CFG_SIMPLE_HEIGHT_CONTROL (1<<0)
170	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)	171	#define CFG_SIMPLE_HC_HOLD_SWITCH (1<<1)
171	#define CFG_HEADING_HOLD (1<<2)	172	#define CFG_HEADING_HOLD (1<<2)
172	#define CFG_COMPASS_ACTIVE (1<<3)	173	#define CFG_COMPASS_ACTIVE (1<<3)
173	#define CFG_COMPASS_FIX (1<<4)	174	#define CFG_COMPASS_FIX (1<<4)
174	#define CFG_GPS_ACTIVE (1<<5)	175	#define CFG_GPS_ACTIVE (1<<5)
175	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)	176	#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
176	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)	177	#define CFG_GYRO_SATURATION_PREVENTION (1<<7)
177		178
178	#define ATMEGA644 0	179	#define ATMEGA644 0
179	#define ATMEGA644P 1	180	#define ATMEGA644P 1
180	#define SYSCLK F_CPU	181	#define SYSCLK F_CPU
181		182
182	// Not really a part of configuration, but LEDs and HW version test are the same.	183	// Not really a part of configuration, but LEDs and HW version test are the same.
183	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}	184	#define RED_OFF {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB \|= (1<<PORTB0);}
184	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}	185	#define RED_ON {if((boardRelease == 10) \|\| (boardRelease == 20)) PORTB \|= (1<<PORTB0); else PORTB &=~(1<<PORTB0);}
185	#define RED_FLASH PORTB ^= (1<<PORTB0)	186	#define RED_FLASH PORTB ^= (1<<PORTB0)
186	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}	187	#define GRN_OFF {if(boardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB \|= (1<<PORTB1);}
187	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}	188	#define GRN_ON {if(boardRelease < 12) PORTB \|= (1<<PORTB1); else PORTB &=~(1<<PORTB1);}
188	#define GRN_FLASH PORTB ^= (1<<PORTB1)	189	#define GRN_FLASH PORTB ^= (1<<PORTB1)
189		190
190	// Mixer table	191	// Mixer table
191	#define MIX_THROTTLE 0	192	#define MIX_THROTTLE 0
192	#define MIX_PITCH 1	193	#define MIX_PITCH 1
193	#define MIX_ROLL 2	194	#define MIX_ROLL 2
194	#define MIX_YAW 3	195	#define MIX_YAW 3
195		196
196	#define VARIABLE_COUNT 8	197	#define VARIABLE_COUNT 8
197		198
198	extern volatile uint8_t MKFlags;	199	extern volatile uint8_t MKFlags;
199	extern uint8_t requiredMotors;	200	extern uint8_t requiredMotors;
200	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.	201	extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
201	extern uint8_t boardRelease;	202	extern uint8_t boardRelease;
202	extern uint8_t CPUType;	203	extern uint8_t CPUType;
203		204
204	extern volatile uint8_t MKFlags;	205	extern volatile uint8_t MKFlags;
205	extern uint16_t isFlying;	206	extern uint16_t isFlying;
206		207
207	void channelMap_default(void);	208	void channelMap_default(void);
208	void paramSet_default(uint8_t setnumber);	209	void paramSet_default(uint8_t setnumber);
209	void mixerMatrix_default(void);	210	void mixerMatrix_default(void);
210		211
211	void configuration_applyVariablesToParams(void);	212	void configuration_applyVariablesToParams(void);
212	uint8_t getCPUType(void);	213	uint8_t getCPUType(void);
213	uint8_t getBoardRelease(void);	214	uint8_t getBoardRelease(void);
214		215
215	#endif // _CONFIGURATION_H	216	#endif // _CONFIGURATION_H
216		217

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(root)/branches/dongfang_FC_rewrite/configuration.h @ 2690 - Rev 1980 → 1986