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[Krobot-commits] [SCM] krobot branch, master, updated. 974806721a2e38d30612cafcbbd8f86f6812ba31
|
From: Xavier L. <Ba...@us...> - 2010-02-21 22:34:51
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 974806721a2e38d30612cafcbbd8f86f6812ba31 (commit)
from ef68adf5d8a6209f7a0b8f9dbf2a487e9b04f242 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 974806721a2e38d30612cafcbbd8f86f6812ba31
Author: Xavier Lagorce <Xav...@cr...>
Date: Sun Feb 21 23:31:52 2010 +0100
Added a 'mode' argument to the AX12 goTo function to tell if the action should be executed immediately or after an ACTION command.
Also modified the USB protocol to be able to transmit this argument
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index 6928d8e..8fd98e0 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -17,6 +17,22 @@
#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
// Protocole USB
+typedef struct _UP {
+ BYTE HSEQ;
+ BYTE DSEQ;
+ BYTE CMD;
+ BYTE ERR;
+ BYTE RES0;
+ BYTE RES1;
+ BYTE RES2;
+ BYTE RES3;
+ BYTE DATA[52];
+ BYTE RES4;
+ BYTE RES5;
+ BYTE RES6;
+ BYTE RES7;
+} UP;
+
#define UP_HSEQ 0 ///< Host sequence number
#define UP_DSEQ 1 ///< Device sequence number
#define UP_CMD 2
@@ -113,6 +129,12 @@
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index 6928d8e..8fd98e0 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -17,6 +17,22 @@
#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
// Protocole USB
+typedef struct _UP {
+ BYTE HSEQ;
+ BYTE DSEQ;
+ BYTE CMD;
+ BYTE ERR;
+ BYTE RES0;
+ BYTE RES1;
+ BYTE RES2;
+ BYTE RES3;
+ BYTE DATA[52];
+ BYTE RES4;
+ BYTE RES5;
+ BYTE RES6;
+ BYTE RES7;
+} UP;
+
#define UP_HSEQ 0 ///< Host sequence number
#define UP_DSEQ 1 ///< Device sequence number
#define UP_CMD 2
@@ -113,6 +129,12 @@
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index 6928d8e..8fd98e0 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -17,6 +17,22 @@
#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
// Protocole USB
+typedef struct _UP {
+ BYTE HSEQ;
+ BYTE DSEQ;
+ BYTE CMD;
+ BYTE ERR;
+ BYTE RES0;
+ BYTE RES1;
+ BYTE RES2;
+ BYTE RES3;
+ BYTE DATA[52];
+ BYTE RES4;
+ BYTE RES5;
+ BYTE RES6;
+ BYTE RES7;
+} UP;
+
#define UP_HSEQ 0 ///< Host sequence number
#define UP_DSEQ 1 ///< Device sequence number
#define UP_CMD 2
@@ -113,6 +129,12 @@
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index 4310e8b..8fd98e0 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -129,6 +129,12 @@ typedef struct _UP {
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index 4310e8b..8fd98e0 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -129,6 +129,12 @@ typedef struct _UP {
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index 4310e8b..8fd98e0 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -129,6 +129,12 @@ typedef struct _UP {
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
index 4310e8b..8fd98e0 100644
--- a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
+++ b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
@@ -129,6 +129,12 @@ typedef struct _UP {
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Robot_Interface/Firmware/PcInterface.h b/USB_Module/Robot_Interface/Firmware/PcInterface.h
index 4310e8b..8fd98e0 100644
--- a/USB_Module/Robot_Interface/Firmware/PcInterface.h
+++ b/USB_Module/Robot_Interface/Firmware/PcInterface.h
@@ -129,6 +129,12 @@ typedef struct _UP {
#define AX12_WRITE_REG 0x09
#define AX12_ACTION 0x10
+#define AX12_VALUE8 0x00
+#define AX12_VALUE16 0x01
+
+#define AX12_EXEC_NOW 0x00
+#define AX12_EXEC_ACTION 0x01
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
index 7ded22f..1396fab 100644
--- a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
+++ b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
@@ -2,7 +2,7 @@
MagicCookie={0b13fe8c-dfe0-40eb-8900-6712719559a7}
Version=1.0
[File000]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_descriptors.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_descriptors.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -15,7 +15,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File001]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\main.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\main.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -28,7 +28,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File002]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\eeprom.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\eeprom.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -41,7 +41,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File003]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_device.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_device.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -54,7 +54,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File004]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_function_hid.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_function_hid.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -67,7 +67,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File005]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\ax12.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\ax12.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -80,7 +80,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File006]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\error.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\error.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -93,7 +93,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File007]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\servo.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\servo.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -106,7 +106,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File008]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\mcc.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\mcc.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -119,7 +119,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File009]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\adjd-s371.o
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\adjd-s371.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -132,7 +132,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File010]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.cof
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.cof
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -145,7 +145,7 @@ ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof
TraceCmdString=
DebugOptions=
[File011]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.hex
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.hex
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -158,7 +158,7 @@ ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof
TraceCmdString=
DebugOptions=
[File012]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.map
+Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.map
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
diff --git a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcw b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcw
index 05f476b..78a3b91 100644
Binary files a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcw and b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcw differ
diff --git a/USB_Module/Robot_Interface/Firmware/ax12.c b/USB_Module/Robot_Interface/Firmware/ax12.c
index 8b07a3a..176b1dc 100644
--- a/USB_Module/Robot_Interface/Firmware/ax12.c
+++ b/USB_Module/Robot_Interface/Firmware/ax12.c
@@ -390,8 +390,12 @@ void actionAX12(BYTE id) {
* @param position Position a atteindre
*
* @param speed Vitesse de deplacement max ( 0 = maximum possible)
+ *
+ * @param mode Mode d'envoi des donn 'AX12@n
+ * #AX12_EXEC_NOW# va executer l'action demandee de suite@n
+ * #AX12_EXEC_ACTION# n'executera l'action qu'une fois l'instruction ACTION envoyee
*/
-void goTo(BYTE id, WORD position, WORD speed) {
+void goTo(BYTE id, WORD position, WORD speed, BYTE mode) {
WORD_VAL word;
setParam(0, P_GOAL_POSITION);
@@ -403,7 +407,10 @@ void goTo(BYTE id, WORD position, WORD speed) {
word.Val = speed;
setParam(3, word.byte.LB); // octet de poids faible
setParam(4, word.byte.HB); // octet de poids fort
- sendInstPacket(id, INST_WRITE, 5);
+ if (mode == AX12_EXEC_NOW)
+ sendInstPacket(id, INST_WRITE, 5);
+ else
+ sendInstPacket(id, INST_REG_WRITE, 5);
}
/**
diff --git a/USB_Module/Robot_Interface/Firmware/ax12.h b/USB_Module/Robot_Interface/Firmware/ax12.h
index 5f83e9a..9098f17 100644
--- a/USB_Module/Robot_Interface/Firmware/ax12.h
+++ b/USB_Module/Robot_Interface/Firmware/ax12.h
@@ -133,7 +133,7 @@ void regWrite16(BYTE id, BYTE reg, WORD value);
void actionAX12(BYTE id);
// Helper
-void goTo(BYTE id, WORD position, WORD speed);
+void goTo(BYTE id, WORD position, WORD speed, BYTE mode);
int getPosition(BYTE id, UINT timeOut);
int getSpeed(BYTE id, UINT timeOut);
diff --git a/USB_Module/Robot_Interface/Firmware/main.c b/USB_Module/Robot_Interface/Firmware/main.c
index f220bdf..20531af 100644
--- a/USB_Module/Robot_Interface/Firmware/main.c
+++ b/USB_Module/Robot_Interface/Firmware/main.c
@@ -896,7 +896,7 @@ void ProcessIO(void) {
break;
case AX12_READ:
- if (ReceivedDataBuffer.DATA[3]) {
+ if (ReceivedDataBuffer.DATA[3] == AX12_VALUE16) {
word1.Val = readValue16(ReceivedDataBuffer.DATA[1], ReceivedDataBuffer.DATA[2], ReceivedDataBuffer.DATA[4]);
ToSendDataBuffer.DATA[0] = word1.byte.HB;
ToSendDataBuffer.DATA[1] = word1.byte.LB;
@@ -906,7 +906,7 @@ void ProcessIO(void) {
break;
case AX12_WRITE:
- if (ReceivedDataBuffer.DATA[3]) {
+ if (ReceivedDataBuffer.DATA[3] == AX12_VALUE16) {
word1.byte.HB = ReceivedDataBuffer.DATA[4];
word1.byte.LB = ReceivedDataBuffer.DATA[5];
writeValue16(ReceivedDataBuffer.DATA[1], ReceivedDataBuffer.DATA[2], word1.Val);
@@ -920,7 +920,7 @@ void ProcessIO(void) {
word1.byte.LB = ReceivedDataBuffer.DATA[3];
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
- goTo(ReceivedDataBuffer.DATA[1], word1.Val, word2.Val);
+ goTo(ReceivedDataBuffer.DATA[1], word1.Val, word2.Val, ReceivedDataBuffer.DATA[6]);
break;
case AX12_GET_POS:
@@ -969,7 +969,7 @@ void ProcessIO(void) {
break;
case AX12_WRITE_REG:
- if (ReceivedDataBuffer.DATA[3]) {
+ if (ReceivedDataBuffer.DATA[3] == AX12_VALUE16) {
word1.byte.HB = ReceivedDataBuffer.DATA[4];
word1.byte.LB = ReceivedDataBuffer.DATA[5];
regWrite16(ReceivedDataBuffer.DATA[1], ReceivedDataBuffer.DATA[2], word1.Val);
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof
index f70ac35..7c3e46c 100644
Binary files a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof and b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof differ
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
index c7d0b9b..3608778 100644
--- a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
+++ b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
@@ -1,52 +1,52 @@
:020000040000FA
-:06000000A1EF1EF012004A
+:06000000AAEF1EF0120041
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:06080000A1EF1EF0120042
+:06080000AAEF1EF0120039
:0608080034EF04F01200C1
:0608180074EF04F0120071
-:06082A000500D83D0000AE
-:100830008600000024000000B73D0000CB0000004F
-:1008400021000000AF3D000013010000080000007F
-:100850009F3D0000EC00000010000000963D0000ED
+:06082A000500EA3D00009C
+:100830008600000024000000C93D0000CB0000003D
+:1008400021000000C13D000013010000080000006D
+:10085000B13D0000EC00000010000000A83D0000C9
:080860000A010000090000007C
-:08086800EFEC0BF000EE22F0B2
+:08086800F1EC0BF000EE22F0B0
:10087000140EE80403E3EECFE4FFFBD700EE00F034
-:10088000220EE80403E3EECFE4FFFBD717EC0CF0F5
-:10089000A1A203D0A3EC18F0A1929EAA03D0E9EC88
-:1008A00011F09E9A9EA003D05FEC17F09E9021EC71
+:10088000220EE80403E3EECFE4FFFBD719EC0CF0F3
+:10089000A1A203D0ACEC18F0A1929EAA03D0EBEC7D
+:1008A00011F09E9A9EA003D068EC17F09E9023EC66
:1008B0000CF002E2E16AE552E16EE552E7CFD9FFC2
:1008C000E55200EE21F0220EE80403E3E5CFEDFF50
:1008D000FBD700EE35F0140EE80403E3E5CFEDFF9F
-:1008E000FBD704EC0CF01100D8CFE4FFE0CFE4FF1D
-:1008F000E46EEFEC0BF000EE22F0140EE80403E3DC
+:1008E000FBD706EC0CF01100D8CFE4FFE0CFE4FF1B
+:1008F000E46EF1EC0BF000EE22F0140EE80403E3DA
:10090000EECFE4FFFBD700EE00F0220EE80403E395
-:10091000EECFE4FFFBD717EC0CF0F2A403D046ECCB
-:1009200017F0F29421EC0CF002E2E16AE552E16E7C
+:10091000EECFE4FFFBD719EC0CF0F2A403D04FECC0
+:1009200017F0F29423EC0CF002E2E16AE552E16E7A
:10093000E552E7CFD9FFE55200EE21F0220EE804A0
:1009400003E3E5CFEDFFFBD700EE35F0140EE8042E
-:1009500003E3E5CFEDFFFBD704EC0CF0E550E5CF6A
-:10096000E0FFE5CFD8FF100004D86CEC0CF056D8AF
-:10097000FCD70F0EC11202D836EF0CF031EC0CF0A0
-:10098000E652C6EC0BF00001FC6F070EFC5D10E1B7
-:10099000E66A37EC1CF0E552DF6E000EDF8029ECD2
-:1009A0000CF0E66A73EC1EF0E552DF7029EC0CF0F7
+:1009500003E3E5CFEDFFFBD706EC0CF0E550E5CF68
+:10096000E0FFE5CFD8FF100004D86EEC0CF056D8AD
+:10097000FCD70F0EC11202D838EF0CF033EC0CF09C
+:10098000E652C8EC0BF00001FC6F070EFC5D10E1B5
+:10099000E66A40EC1CF0E552DF6E000EDF802BECC7
+:1009A0000CF0E66A7CEC1EF0E552DF702BEC0CF0EC
:1009B00093809382948C948ED08EF28EF28C770EEC
:1009C000C86E3F0E8A1693160101136B146B156BDC
-:1009D000166B010E176FDCEC11F0E30E9516929278
-:1009E0009492A082FD0EE66EFBEC1CF0E552000E28
-:1009F000E66EE66A9AEC1DF0E552E5528394839622
-:100A0000839880928292E66A08EC17F0E552BFEC78
+:1009D000166B010E176FDEEC11F0E30E9516929276
+:1009E0009492A082FD0EE66E04EC1DF0E552000E1E
+:1009F000E66EE66AA3EC1DF0E552E5528394839619
+:100A0000839880928292E66A11EC17F0E552C8EC66
:100A100019F0E552E552E7CFD9FF1200D9CFE6FF32
:100A2000E1CFD9FF170EE126160EDB6A010117513F
-:100A300002E00BEC0BF0200E0001605D03E36D5053
-:100A4000020B02E001EF0BF0160EDB5036E008EC73
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