Rev 2034 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2034 | Rev 2050 | ||
---|---|---|---|
1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals |
2 | Decodieren eines RC Summen Signals |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
- | |
6 | // + only for non-profit use |
- | |
7 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
- | 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 7 | // + Software Nutzungsbedingungen (english version: see below) |
|
- | 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
|
- | 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
|
- | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
|
- | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
|
- | 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
|
- | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
|
- | 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
|
- | 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
|
- | 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
|
- | 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
|
- | 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
|
- | 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
|
- | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
|
- | 22 | // + des Mitverschuldens offen. |
|
- | 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
|
- | 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
|
- | 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
|
- | 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
|
- | 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
|
- | 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
|
- | 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
|
- | 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
|
- | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 32 | // + Software LICENSING TERMS |
|
- | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
|
- | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
|
- | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
|
- | 37 | // + The Software may only be used with the Licensor's products. |
|
- | 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
|
8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
- | 40 | // + agreement shall be the property of the Licensor. |
|
- | 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
|
- | 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
|
9 | // + see the File "License.txt" for further Informations |
43 | // + The customer shall be responsible for taking reasonable precautions |
- | 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
|
- | 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
|
- | 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
|
- | 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
|
- | 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
|
- | 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
|
- | 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
|
- | 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
|
- | 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
|
- | 53 | // + #### END OF LICENSING TERMS #### |
|
- | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
|
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | 56 | ||
12 | #include "rc.h" |
57 | #include "rc.h" |
13 | #include "main.h" |
58 | #include "main.h" |
14 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
59 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
15 | 60 | ||
16 | volatile int PPM_in[26]; |
61 | volatile int PPM_in[26]; |
17 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
62 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
18 | volatile char Channels,tmpChannels = 0; |
63 | volatile char Channels,tmpChannels = 0; |
19 | volatile unsigned char NewPpmData = 1; |
64 | volatile unsigned char NewPpmData = 1; |
20 | unsigned int PPM_Neutral = 466; |
65 | unsigned int PPM_Neutral = 466; |
21 | 66 | ||
22 | //############################################################################ |
67 | //############################################################################ |
23 | // Clear the values |
68 | // Clear the values |
24 | void rc_sum_init (void) |
69 | void rc_sum_init (void) |
25 | //############################################################################ |
70 | //############################################################################ |
26 | { |
71 | { |
27 | unsigned char i; |
72 | unsigned char i; |
28 | for(i=0;i<26;i++) |
73 | for(i=0;i<26;i++) |
29 | { |
74 | { |
30 | if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126; |
75 | if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126; |
31 | PPM_diff[i] = 0; |
76 | PPM_diff[i] = 0; |
32 | } |
77 | } |
33 | AdNeutralGier = 0; |
78 | AdNeutralGier = 0; |
34 | AdNeutralRoll = 0; |
79 | AdNeutralRoll = 0; |
35 | AdNeutralNick = 0; |
80 | AdNeutralNick = 0; |
36 | return; |
81 | return; |
37 | } |
82 | } |
38 | 83 | ||
39 | #ifndef ACT_S3D_SUMMENSIGNAL |
84 | #ifndef ACT_S3D_SUMMENSIGNAL |
40 | //############################################################################ |
85 | //############################################################################ |
41 | // Interrupt function for the PPM-Input |
86 | // Interrupt function for the PPM-Input |
42 | ISR(TIMER1_CAPT_vect) |
87 | ISR(TIMER1_CAPT_vect) |
43 | //############################################################################ |
88 | //############################################################################ |
44 | { |
89 | { |
45 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
90 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
46 | { |
91 | { |
47 | static unsigned int AltICR=0; |
92 | static unsigned int AltICR=0; |
48 | signed int signal = 0,tmp; |
93 | signed int signal = 0,tmp; |
49 | static int index; |
94 | static int index; |
50 | 95 | ||
51 | signal = (unsigned int) ICR1 - AltICR; |
96 | signal = (unsigned int) ICR1 - AltICR; |
52 | AltICR = ICR1; |
97 | AltICR = ICR1; |
53 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
98 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
54 | if((signal > 1100) && (signal < 8000)) |
99 | if((signal > 1100) && (signal < 8000)) |
55 | { |
100 | { |
56 | Channels = index; |
101 | Channels = index; |
57 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
102 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
58 | index = 1; |
103 | index = 1; |
59 | } |
104 | } |
60 | else |
105 | else |
61 | { |
106 | { |
62 | if(index < 13) |
107 | if(index < 13) |
63 | { |
108 | { |
64 | if((signal > 250) && (signal < 687)) |
109 | if((signal > 250) && (signal < 687)) |
65 | { |
110 | { |
66 | signal -= PPM_Neutral; |
111 | signal -= PPM_Neutral; |
67 | // Stabiles Signal |
112 | // Stabiles Signal |
68 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
113 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
69 | { |
114 | { |
70 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
115 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
71 | } |
116 | } |
72 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
117 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
73 | if(tmp > signal+1) tmp--; else |
118 | if(tmp > signal+1) tmp--; else |
74 | if(tmp < signal-1) tmp++; |
119 | if(tmp < signal-1) tmp++; |
75 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
120 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
76 | else PPM_diff[index] = 0; |
121 | else PPM_diff[index] = 0; |
77 | PPM_in[index] = tmp; |
122 | PPM_in[index] = tmp; |
78 | } |
123 | } |
79 | index++; |
124 | index++; |
80 | if(PlatinenVersion < 20) |
125 | if(PlatinenVersion < 20) |
81 | { |
126 | { |
82 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
127 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
83 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
128 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
84 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
129 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
85 | } |
130 | } |
86 | } |
131 | } |
87 | } |
132 | } |
88 | } |
133 | } |
89 | else |
134 | else |
90 | { |
135 | { |
91 | static unsigned int AltICR=0; |
136 | static unsigned int AltICR=0; |
92 | static int ppm_in[13]; |
137 | static int ppm_in[13]; |
93 | static int ppm_diff[13]; |
138 | static int ppm_diff[13]; |
94 | static int old_ppm_in[13]; |
139 | static int old_ppm_in[13]; |
95 | static int old_ppm_diff[13]; |
140 | static int old_ppm_diff[13]; |
96 | signed int signal = 0,tmp; |
141 | signed int signal = 0,tmp; |
97 | static unsigned char index, okay_cnt = 0; |
142 | static unsigned char index, okay_cnt = 0; |
98 | signal = (unsigned int) ICR1 - AltICR; |
143 | signal = (unsigned int) ICR1 - AltICR; |
99 | AltICR = ICR1; |
144 | AltICR = ICR1; |
100 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
145 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
101 | if((signal > 1100) && (signal < 8000)) |
146 | if((signal > 1100) && (signal < 8000)) |
102 | { |
147 | { |
103 | tmpChannels = index; |
148 | tmpChannels = index; |
104 | if(tmpChannels >= 4 && Channels == tmpChannels) |
149 | if(tmpChannels >= 4 && Channels == tmpChannels) |
105 | { |
150 | { |
106 | if(okay_cnt > 10) |
151 | if(okay_cnt > 10) |
107 | { |
152 | { |
108 | NewPpmData = 0; // Null bedeutet: Neue Daten |
153 | NewPpmData = 0; // Null bedeutet: Neue Daten |
109 | for(index = 0; index < 13; index++) |
154 | for(index = 0; index < 13; index++) |
110 | { |
155 | { |
111 | if(okay_cnt > 30) |
156 | if(okay_cnt > 30) |
112 | { |
157 | { |
113 | old_ppm_in[index] = PPM_in[index]; |
158 | old_ppm_in[index] = PPM_in[index]; |
114 | old_ppm_diff[index] = PPM_diff[index]; |
159 | old_ppm_diff[index] = PPM_diff[index]; |
115 | } |
160 | } |
116 | PPM_in[index] = ppm_in[index]; |
161 | PPM_in[index] = ppm_in[index]; |
117 | PPM_diff[index] = ppm_diff[index]; |
162 | PPM_diff[index] = ppm_diff[index]; |
118 | } |
163 | } |
119 | } |
164 | } |
120 | if(okay_cnt < 255) okay_cnt++; |
165 | if(okay_cnt < 255) okay_cnt++; |
121 | } |
166 | } |
122 | else |
167 | else |
123 | { |
168 | { |
124 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
169 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
125 | ROT_ON; |
170 | ROT_ON; |
126 | } |
171 | } |
127 | index = 1; |
172 | index = 1; |
128 | if(!MotorenEin) Channels = tmpChannels; |
173 | if(!MotorenEin) Channels = tmpChannels; |
129 | } |
174 | } |
130 | else |
175 | else |
131 | { |
176 | { |
132 | if(index < 13) |
177 | if(index < 13) |
133 | { |
178 | { |
134 | if((signal > 250) && (signal < 687)) |
179 | if((signal > 250) && (signal < 687)) |
135 | { |
180 | { |
136 | signal -= PPM_Neutral; |
181 | signal -= PPM_Neutral; |
137 | // Stabiles Signal |
182 | // Stabiles Signal |
138 | if((abs(signal - ppm_in[index]) < 6)) |
183 | if((abs(signal - ppm_in[index]) < 6)) |
139 | { |
184 | { |
140 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
185 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
141 | { |
186 | { |
142 | if(okay_cnt > 25) SenderOkay += 10; |
187 | if(okay_cnt > 25) SenderOkay += 10; |
143 | else |
188 | else |
144 | if(okay_cnt > 10) SenderOkay += 2; |
189 | if(okay_cnt > 10) SenderOkay += 2; |
145 | if(SenderOkay > 200) SenderOkay = 200; |
190 | if(SenderOkay > 200) SenderOkay = 200; |
146 | } |
191 | } |
147 | } |
192 | } |
148 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
193 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
149 | if(tmp > signal+1) tmp--; else |
194 | if(tmp > signal+1) tmp--; else |
150 | if(tmp < signal-1) tmp++; |
195 | if(tmp < signal-1) tmp++; |
151 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
196 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
152 | else ppm_diff[index] = 0; |
197 | else ppm_diff[index] = 0; |
153 | ppm_in[index] = tmp; |
198 | ppm_in[index] = tmp; |
154 | } |
199 | } |
155 | else ROT_ON; |
200 | else ROT_ON; |
156 | if(PlatinenVersion < 20) |
201 | if(PlatinenVersion < 20) |
157 | { |
202 | { |
158 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
203 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
159 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
204 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
160 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
205 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
161 | } |
206 | } |
162 | } |
207 | } |
163 | if(index < 20) index++; |
208 | if(index < 20) index++; |
164 | else |
209 | else |
165 | if(index == 20) |
210 | if(index == 20) |
166 | { |
211 | { |
167 | unsigned char i; |
212 | unsigned char i; |
168 | ROT_ON; |
213 | ROT_ON; |
169 | index = 30; |
214 | index = 30; |
170 | for(i=0;i<13;i++) // restore from older data |
215 | for(i=0;i<13;i++) // restore from older data |
171 | { |
216 | { |
172 | PPM_in[i] = old_ppm_in[i]; |
217 | PPM_in[i] = old_ppm_in[i]; |
173 | PPM_diff[i] = 0; |
218 | PPM_diff[i] = 0; |
174 | // okay_cnt /= 2; |
219 | // okay_cnt /= 2; |
175 | } |
220 | } |
176 | } |
221 | } |
177 | } |
222 | } |
178 | } |
223 | } |
179 | } |
224 | } |
180 | 225 | ||
181 | #else |
226 | #else |
182 | //############################################################################ |
227 | //############################################################################ |
183 | // Interrupt function for the PPM-Input |
228 | // Interrupt function for the PPM-Input |
184 | ISR(TIMER1_CAPT_vect) |
229 | ISR(TIMER1_CAPT_vect) |
185 | //############################################################################ |
230 | //############################################################################ |
186 | 231 | ||
187 | { |
232 | { |
188 | static unsigned int AltICR=0; |
233 | static unsigned int AltICR=0; |
189 | signed int signal = 0,tmp; |
234 | signed int signal = 0,tmp; |
190 | static int index; |
235 | static int index; |
191 | 236 | ||
192 | signal = (unsigned int) ICR1 - AltICR; |
237 | signal = (unsigned int) ICR1 - AltICR; |
193 | signal /= 2; |
238 | signal /= 2; |
194 | AltICR = ICR1; |
239 | AltICR = ICR1; |
195 | //Syncronisationspause? |
240 | //Syncronisationspause? |
196 | if((signal > 1100*2) && (signal < 8000*2)) |
241 | if((signal > 1100*2) && (signal < 8000*2)) |
197 | { |
242 | { |
198 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
243 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
199 | index = 1; |
244 | index = 1; |
200 | } |
245 | } |
201 | else |
246 | else |
202 | { |
247 | { |
203 | if(index < 13) |
248 | if(index < 13) |
204 | { |
249 | { |
205 | if((signal > 250) && (signal < 687*2)) |
250 | if((signal > 250) && (signal < 687*2)) |
206 | { |
251 | { |
207 | signal -= 962; |
252 | signal -= 962; |
208 | // Stabiles Signal |
253 | // Stabiles Signal |
209 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
254 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
210 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
255 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
211 | if(tmp > signal+1) tmp--; else |
256 | if(tmp > signal+1) tmp--; else |
212 | if(tmp < signal-1) tmp++; |
257 | if(tmp < signal-1) tmp++; |
213 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
258 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
214 | else PPM_diff[index] = 0; |
259 | else PPM_diff[index] = 0; |
215 | PPM_in[index] = tmp; |
260 | PPM_in[index] = tmp; |
216 | } |
261 | } |
217 | index++; |
262 | index++; |
218 | } |
263 | } |
219 | } |
264 | } |
220 | } |
265 | } |
221 | #endif |
266 | #endif |
222 | 267 | ||
223 | 268 | ||
224 | 269 | ||
225 | 270 |