diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..74ebf7962142a961ff317000ca46a44fa36b210a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "firmware/rust1/embassy"]
+ path = firmware/rust1/embassy
+ url = https://github.com/embassy-rs/embassy
diff --git a/README.md b/README.md
index 2e6fdd241c2c5163f455ac8e5327fe6bf2eda9db..81f7cd5f80e11fdb39ce2fcd9b85257826588f76 100644
--- a/README.md
+++ b/README.md
@@ -52,6 +52,308 @@ auf RS485. Die Steuerung läuft im Keller auf einem Linux, z.B. auf vogon.
oder Raspi oder so, die ebenfalls kaputtgehen könnten.
+Errata for V1.0
+---------------
+
+### No fix needed
+
+1. Varistor on 24V is more than fast enough but we could add a TVS in parallel for longer life span.
+ - Fix if we ever have a dead varistor (or one that has significant leakage current).
+2. WS2811 should have 33R series resistance.
+ - We do have 27R, which should be close enough.
+3. USB host mode might be useful.
+ - It was left out because we didn't have enough current available at 5V when that
+ was decided. If we keep that in the next revision, we could consider it again.
+ - It might be useful for adding additional hardware but things like BLE and Zigbee
+ are better added via SPI/I2C/UART, which should be easier (unless we have enough uses
+ for low-speed USB to make a generic tunnel, e.g. as an USB-IP device on the other end).
+ - What would be needed?
+ - Pull CC lines high instead of low at the request of the MCU (needs another pin)
+ but always pull them low by default (for the bootloader).
+ - Supply VBUS at the request of the MCU (needs a pin but maybe the same one).
+ - Current limit for VBUS, e.g. with PTC fuse.
+ - Alternative: External adapter to USB-A that also provides power supply (e.g. using
+ our 5V output on J1 pin 14, which is already fused for 500 mA).
+ - Alternative: Attach device inside the case and use a different protocol (I2C/SPI/UART)
+ or attach it to an existing Linux computer (if it doesn't have to run while the room
+ is powered down).
+
+### Change for new revision (if we ever have one)
+
+1. WS2811 should have 100R series resistance on VDD.
+ - Datasheet sounds like this is optional for 5V so let's hope for the best.
+ - Hotfix is unlikely for current PCB so backup plan is to remove the WS2811.
+2. WS2812C-2020-V1 datasheet doesn't have the 33R series resistance but we maybe want to add it anyway.
+3. Add DCDC to main PCB if we have the space.
+ - We could use RT7272, which has an adjustable current limit. That way, we can use a
+ smaller inductor but we will have less current available for external circuits (i.e.
+ adjust the fuses, as well).
+4. DCDC could support more current.
+ - It was supposed to deliver up to 1.5 A but it only does that up to 20V of input voltage.
+ - It can deliver 1 A until 29V of input voltage.
+ - It would be good to have 1.5 A with a bit over 30V of input voltage.
+ - If you try to draw more current, it will go into shutdown regularly. It gets rather hot
+ so we assume that this is over-temp shutdown.
+ - The test was with the bare board so it might be a bit better when it is connected to the
+ main board. However, it will be in a closed case and the 3.3V LDO will generate additional
+ heat so it might be even less.
+ - Fix: Use a different DCDC (e.g. RT7272 with synchronous rectifier), add more thermal vias
+ (especially for the diode), maybe thermally decouple the diode from the DCDC IC.
+5. Buzzer could be louder.
+ - Remove the 2k resistor because it isn't needed. That doesn't make much of a difference
+ so we actually keep it for this batch. The difference is barely noticable when bridging
+ it with a jumper wire.
+ - Somehow make it louder, e.g. choose a different one or connect it to 5V.
+
+### Hotfix would be useful
+
+1. RS485 common mode range goes from -7V to +12V but the TVS clamps it to -0.7V to 6V.
+ - If we use the full 12 A on 1 mm² wires (2x 0.5 mm²), we could have a ground offset of
+ 4V. RS485 could handle that but not with the TVS clamping it to a smaller range.
+ - The TVS is shared by WS2811. WS2811 seems to have ESD diodes (educated guess based on
+ abs max values) so the series resistors might even die before the diodes if it ever
+ comes to that so the WS2811 should be fine (enough) without the TVS. Furthermore, the
+ WS2811 is an optional feature while RS485 is essential.
+ - The RS485 transceiver has plenty of ESD protection already so it shouldn't need the
+ TVS anyway. It was added as an afterthought because "it couldn't hurt" - oh, well,
+ turns out that it can!
+ - (We don't actually know that this will be an issues, i.e. we haven't tested it, but
+ we would rather be safe than sorry and it is easier to fix it from the start.
+ Actually, we don't expect any issues at all with the main use case, which will only
+ need at most 2 A instead of 12 A, but we don't want it to fail later after someone
+ adds lots of LEDs.)
+ - **Hotfix**: Remove U11 (and maybe replace it by a suitable SOT-23 TVS just for WS2811)
+ - Proper fix for new revisions: Keep U11 for WS2811 but disconnect it from the RS485
+ signals. There are dedicated TVS for RS485 that we could consider.
+ - Side note: The WS2811 signal is from board to board so it should see a much lower
+ ground offset. We would expect something like 0.5V, which is still in the spec. If we
+ have an offset of 1V, we will send 19 mA through the ESD diodes (limited by the series
+ resistor), which isn't great but should be harmless.
+2. Silk text for SWD connector is swapped.
+ - // **Hotfix**: At correct pinout with a sticker.
+ - **Actual Hotfix**: Paint over the wrong text with a white marker. Add correct pinout
+ in other documentation, e.g. we will have documentation for the pinout of the main
+ connector in each box anyway.
+
+### Hotfix is necessary to avoid degraded function
+
+1. I2C pins for displays are swapped in schematic.
+ - I did look through the symbol and footprint several times to not get this wrong. Oh, well...
+ - **Hotfix**: Add some kapton tape between OLED PCB and our display PCB to isolate SCL and SDA.
+ Only connect GND and 3.3V in the planned way. I2C signals can be connected to the test points
+ with some fixup wires.
+2. CJ2301 and AO3004 have high input capacity. That seems to break the voltage converter
+ for WS2812.
+ - It worked on all boards in the initial test (no DCDC, supplied by USB) but this was most likely
+ because of the voltage drop on D5, i.e. the 5V were actually less than 5V, which is a known
+ method to make WS2812 work with lower voltage signals.
+ - **Hotfix**: Replace by BSS138. They are a known-good choice and fxk8y has some at hand.
+ - Fix is needed for Q7 but it would also be useful for Q3 and Q4.
+3. Input offset of OpAmp can flush small input signals to zero.
+ - The input offset is larger than some of our small signals, e.g. 24 V / 0 ohms in our 2 kOhm
+ measure mode have an amplitude of 0.7 mV at the input of the amplifier while its offset can
+ be as high as 4.5 mV. This is as planned and we can compensate the offset because the input
+ signal will be zero when both MOSFETs are off.
+ - The common mode range includes negative voltages until -0.3 V below GND. Therefore, -4.5 mV
+ at the input (zero plus worst case offset in negative direction) is not an issue in itself.
+ However, this would be amplified to -250 mV at the output and the output cannot go below the
+ negative rail. Therefore, we won't see the real offset when we try to measure it.
+ - The offset can be high enough to cancel all or almost all of our 0.7 mV signal. This has
+ happened for 7 or our 60 channels (5 boards with one channel, 1 board with both channels).
+ - **Hotfix**: Add 1 MOhm between 3.3V and the input of the amplifier to add 3.3 mV positive offset.
+ - The lower resistor of this voltage divider is not the 56 kOhm but 1 kOhm (plus 0.1 ohms).
+ - We only do that for channels that have below 50 counts on the ADC when the input is zero.
+ We usually will have 200 to 300 counts after the fix.
+ - I have used 2.2 MOhm in a few cases when the offset wasn't so much below 50 counts.
+ - The resistors are soldered to JP6 and then connected to pins 3 and/ or 5 of U12.
+ - We have nominally 2.8 V for 500 mA of input current. Therefore, 0.25 V of additional offset
+ pushes us over 3.0 V, i.e. we might not be able to measure up to 500 mA. We only need 300 mA
+ so that is fine. We can consider reducing the gain (e.g. 47x with 47k instead of 56x) if we
+ want to support more current.
+ - **Proper fix for new revision**: Add the resistors to the PCB. Maybe add the full 4.5 mV to
+ be on the safe side and consider adjusting gain.
+ - Alternative: No fix. The 2k measurement mode won't work but it is optional anyway. Current
+ measurement while the main MOSFET is on will be off by up to 45 mA but more like 10 mA in
+ practice.
+
+### Planned changes before deploying the boards
+
+(Those aren't really errata, of course, but we will do that at the same time as the hotfixes so this is a good place to put it.)
+
+- Test, test, test!
+- Adjust R64 to have suitable volume for the beeper (when inside the case).
+- Add BZ1 and J1.
+- Add DCDC board.
+- Bend F3 upwards (and a bit to the left) to have more space for wires at J1.
+- Add "Anschlussplan".
+
+### Errors by JLC
+
+- 7 of 30 main boards had soldering errors at the TMP102. Most of them were breaking the
+ I2C but one had a short between 3.3V and GND. Fixed by unsoldering with hot air, clean,
+ solder again.
+- 4-5 display boards had one or more errors in the WS2812 ring. Mark first LED that doesn't
+ light up, heat solder joints of surrounding LEDs, test again. Repeat until whole ring is
+ fixed.
+- TMP102 also doesn't work on some display boards. Exact count is t.b.d.
+- Text for test points on main PCB is missing although some smaller text is present.
+ - t.b.d. whether this is an error in the Gerber data or at JLC
+
+
+Next Steps
+----------
+
+- [x] order PCBs (JLC PCBA)
+- [x] order other parts (LCSC)
+- [ ] test basic function (bootloader, flash, blinky, USB)
+- [ ] test essential functions
+ - LEDs
+ - RS485
+ - on/off control for heater
+ - some debug info on USB, e.g. debug console on emulated USB serial
+ - CJ431 (just measure the voltage)
+ - DCDC stand-alone test
+ - supply main board from 24V, shouldn't back-feed to VBUS
+ - measure VCC with ADC
+ - DIGIN1/2/3/4 (short to GND or not - like they will be with Reed switches)
+ - maybe DS18B20
+- [ ] basic communication, i.e. write modbus code for RP2040 and Linux
+- [ ] test other functions (part of it can be in parallel with alpha/beta/gamma tests)
+ - measure heater current, with and without EN_MEASURE_CURRENT
+ - implement short-circuit detection for heaters
+ - WS2811: connect DIGOUT to WS2811-in and connect a few boards
+ - I2C: temperature sensor
+ - beeper: simple beeps; very optional: MIDI and PCM
+ - DIGOUT1/2: DS18B20
+ - ANALOG_IN1
+ - 5V ext, including to test the fuse
+ - display: buttons
+ - display, I2C: temperature sensor
+ - display, OLED
+ - display, touch
+ - display, WS2812
+ - MicroPython and/or LVGL for the UI
+- [ ] alpha test:
+ - 1-2 boards (e.g. in .cook and .elab)
+ - actuator connected to board but not controlling the actual valve, yet
+ - preferrably with one display board for first user feedback
+ - What do we test here?
+ - Basic function.
+ - Unexpected issues.
+ - First user feedback.
+- [ ] beta test:
+ - mount boards in the final places, with final wiring
+ - including all display boards and all sensors
+ - If we want dedicated boards for temperature sensors (e.g. .make over the working area),
+ we should also add them now.
+ - Connect as many actuators as we have (but don't buy any additional ones, yet). We can
+ connect them to the valves if we want but the power use of the normally-open actuator
+ would be a waste in summer and we might need them for additional tests (which is easier
+ when they aren't already mounted).
+ - Log everything to InfluxDB+Grafana.
+ - What do we test here?
+ - Monitor for communication errors and other reliability issues.
+ - Logging and graphs.
+ - Optional: Dry-run for integrations, e.g. edi and/or home assistant.
+- [ ] gamma test:
+ - Normal operation for one room, e.g. .hack or .elab. If we do this in .hack, we might
+ want to start without the third radiator because it is not so easy to reach it in case
+ of problems.
+ - What do we test here?
+ - Basic temperature control.
+ - Unexpected issues.
+- [ ] rollout:
+ - buy and connect all the actuators
+- [ ] optional parts: hardware (optional, i.e. not necessarily done by us)
+ - Reed switches
+ - more DS18B20, e.g. two for each radiator
+ - control fans in .hack - can we simply do this with one of the heater outputs (with the
+ high side connected to 12V, of course)?
+- [ ] basic software features
+ - RS485 USB adapter passed through to Python software in container on vogon.
+ - simple way of adding new devices, e.g. press ADR button on one device and set its
+ Modbus address via broadcast ("if your button is pressed, use this address from now on
+ and store that in persistent storage"). This can be CLI or web interface.
+ - In general, I would like to avoid using persistent configuration on the boards.
+ The central controller needs to know some parts anyway (i.e. they might become
+ inconsistent) and users can more easily change this on a Linux (including for boards
+ that are currently offline).
+ - configuration, e.g. a YAML file with info for each device: Modbus ID, room, how many
+ heaters are connected, with display board
+ - simple user interface with OLED and buttons:
+ - display actual temperature
+ - set desired temperature
+ - set duration
+ - automatically reset to standby temperature after some hours
+ - basic monitoring: preferrably Grafana, but CSV+syslog would do the job
+ - basic temperature control: simple two-point regulator will suffice
+- [ ] fancy software features, maybe for V1.0 (all semi-optional)
+ - simple web UI for configuration and troubleshooting
+ - semi-automatic adding of new devices, e.g. scan by UID and identify by button or LED
+ - auto-baud or switch-baud command, i.e. start at a safe speed by default but have a way
+ to upgrade it (but without race conditions and other pitfalls, please!)
+ - auto-detect order of boards by WS2811 signal (if first board has DIGOUT connected to
+ WS2811-in)
+ - auto-detect whether heater valve actuators are connected (via EN_MEASURE_CURRENT)
+ - auto-detect whether display is connected
+ - touch control in addition to buttons
+ - The buttons will always be available as a fallback unless the touch turns out to be
+ exceptionally reliable.
+ - function of DIGOUT configurable by Modbus and maybe some auto-detection (scan for I2C
+ and DS18B20 devices on start or when requested)
+ - diagnostics:
+ - detect when boards are reset (by changing some register from its reset value to
+ "I have seen you" and boards respond to a certain broadcast after reset so we can
+ easily find them during normal operation even if we have never seen them before)
+ - error counters for each device and maybe even full Modbus diagnostics, log to Grafana
+ for each device
+ - send the correct error replies (Modbus spec seems quite reasonable for this, even if
+ we won't see many of the errors in practice, e.g. register not supported);
+ and log errors
+ - better user feedback
+ - use the beeper when it makes sense (and only then)
+ - notify when the timer is expired
+ - acknowledge user input in a responsive way (local feedback, quick!, intuitive)
+ but also be honest (i.e. indicate when the central controller hasn't acknowledged
+ a change, yet)
+ - power saving:
+ - dim or turn off display and LEDs when not in use (until button is pressed or touch
+ detects hand is near)
+ - let the MCU sleep
+ - fancy heat control:
+ - measure resistance to estimate current position
+ - closed-loop control for target resistance instead of simple open/closed control
+ - optional: correct overshoot. The heat seems to need some time to distribute, i.e.
+ resistance and position will continue change after power is turned off.
+ - Measure resistance to position curve.
+ - This could be good for a blog post.
+ - Measure resistance to heat of radiator curve (probably a long-term test, can be done
+ later based on Grafana data if we have the sensors).
+ - Make a heating model for each room, e.g. measure step response for a few radiators
+ and then see where this takes us.
+ - We will probably stop here and just use a PI/PID controller but we may want to
+ compensate for dead time, e.g. estimate expected future change of heat based on
+ valve position history (or radiator temperature if we have that) and add this to the
+ currently measured temperature.
+- [ ] future software features in Python (all optional, i.e. not necessarily done by us)
+ - This can all be done in Python on Linux so we can defer this until someone needs it and
+ then they can implement what they actually need and have a real-world use case to
+ design the API for (which is usually a good thing unless you are very lazy and only
+ design it for your case and your case alone).
+ - APIs could be HTTP or MQTT, for example.
+ - API: set desired temperature for each room (maybe with several settings for each room,
+ each with a name, time range and priority)
+ - API: let devices on the network communicate with Modbus devices
+ - API: show info on display or LEDs
+ - fxk8y's UDP protocol for LEDs might be a sensible choice.
+ - API: add items to the menu and receive a callback when they are activated
+- [ ] future software features, (partially) in firmware
+ (all optional, i.e. not necessarily done by us)
+ - ringclock
+ - MIDI over Modbus
+ - PCM over Modbus (with Pulseaudio sink on vogon)
+
+
Main PCB
--------
@@ -237,6 +539,8 @@ Zusätzliche Nutzung
- Siehe oben für mehr Details zu den verfügbaren Pins und siehe Schaltplan für kreative Nutzung abseits des offensichtlichen,
z.B. die Digitaleingänge als Ausgang nutzen.
- 3 IOs komplett ungenutzt (aber Beschaltung beachten), z.B. WS2812, DS18B20 oder I2C
+ - 0fr0 suggested two DS18B20 per radiator (one at each end) so we can double-check the
+ function of actuator, valve and central heating.
- 4x Reed-Eingang, wenn nicht für Fenster genutzt.
- Der Wannenstecker kann im Prinzip genutzt werden, wenn kein Display dran hängt, aber nicht nach draußen legen, weil da ist
keine Schutzbeschaltung dran. Wenn du das vorhast, nimm bitte ein dediziertes Board. Wenn ein Display dran ist, kann man nur
diff --git a/c3pb-heizung-dcdc/3d/L_Taiyo-Yuden_NR-60xx.wrl b/c3pb-heizung-dcdc/3d/L_Taiyo-Yuden_NR-60xx.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6becdf1e045583d1edcce229c57e9a42dfe7999b
--- /dev/null
+++ b/c3pb-heizung-dcdc/3d/L_Taiyo-Yuden_NR-60xx.wrl
@@ -0,0 +1,332 @@
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\ No newline at end of file
diff --git a/c3pb-heizung-dcdc/3d/SOP-8_3.9x4.9mm_P1.27mm.wrl b/c3pb-heizung-dcdc/3d/SOP-8_3.9x4.9mm_P1.27mm.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0ae4c719096501cb41f994e67b9b5667e35b3b90
--- /dev/null
+++ b/c3pb-heizung-dcdc/3d/SOP-8_3.9x4.9mm_P1.27mm.wrl
@@ -0,0 +1,122 @@
+#VRML V2.0 utf8
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+
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+ diffuseColor 0.148 0.145 0.145
+ specularColor 0.180 0.168 0.160
+ shininess 0.35
+ transparency 0
+ }
+ }
+}
+Shape {
+ appearance Appearance {
+ material DEF MATERIAL_2 Material {
+ ambientIntensity 0.2
+ diffuseColor 0.349 0.349 0.349
+ specularColor 0.024 0.024 0.024
+ shininess 0.5
+ transparency 0
+ }
+ }
+}
+Shape {
+ appearance Appearance {
+ material DEF PIN-01 Material {
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+ diffuseColor 0.824 0.820 0.781
+ specularColor 0.328 0.258 0.172
+ shininess 0.7
+ transparency 0
+ }
+ }
+}
+Shape {
+ appearance Appearance {
+ material DEF MATERIAL_4 Material {
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+ diffuseColor 1.000 1.000 1.000
+ specularColor 0.878 0.878 0.878
+ shininess 0.5
+ transparency 1
+ }
+ }
+}
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diff --git a/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_pcb b/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_pcb
index 7df8212bceca78ab8630cecb277bd57b49f3c16d..b6e19c9a376df3a747f209265d1d6c2716b7dceb 100644
--- a/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_pcb
+++ b/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_pcb
@@ -269,10 +269,10 @@
(net 6 "/SW") (pinfunction "1") (pintype "passive") (tstamp 2cf5cb7b-86fe-4598-82aa-858e9f9b96a8))
(pad "2" smd rect (at 2.35 0 90) (size 1.6 5.7) (layers "F.Cu" "F.Paste" "F.Mask")
(net 3 "+5V") (pinfunction "2") (pintype "passive") (tstamp 5c1c69a1-d2f4-4752-81a9-9250829ade8e))
- (model "${KICAD6_3DMODEL_DIR}/Inductor_SMD.3dshapes/L_Taiyo-Yuden_NR-60xx.wrl"
+ (model "./3d/L_Taiyo-Yuden_NR-60xx.wrl"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
- (rotate (xyz 0 0 0))
+ (rotate (xyz 0 0 -90))
)
)
@@ -436,10 +436,10 @@
(net 6 "/SW") (pinfunction "SW") (pintype "power_out") (tstamp f3fa9f54-1634-40e0-a8ce-070119ffef0a))
(pad "8" smd roundrect (at 2.625 -1.905 90) (size 1.65 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
(net 6 "/SW") (pinfunction "SW") (pintype "passive") (tstamp 2503afb2-5a5b-41a6-a737-d307c6ae664e))
- (model "${KICAD6_3DMODEL_DIR}/Package_SO.3dshapes/SOP-8_3.9x4.9mm_P1.27mm.wrl"
+ (model "./3d/SOP-8_3.9x4.9mm_P1.27mm.wrl"
(offset (xyz 0 0 0))
(scale (xyz 1 1 1))
- (rotate (xyz 0 0 0))
+ (rotate (xyz 0 0 90))
)
)
diff --git a/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_sch b/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_sch
index 46236563408b50c5876990fc11f66e8e997e0470..7c4718368f5976d6776b4468c3aad469e91fbb3c 100644
--- a/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_sch
+++ b/c3pb-heizung-dcdc/c3pb-heizung-dcdc.kicad_sch
@@ -2620,6 +2620,11 @@
(effects (font (size 1.27 1.27)) (justify left bottom))
(uuid 293e1cec-d18c-4aa9-b20f-7345bc8d3a5d)
)
+ (text "Achievable in practice without overtemp shutdown:\n20V, 1.5A\n29V, 1.0A"
+ (at 99.06 54.61 0)
+ (effects (font (size 1.27 1.27)) (justify left bottom))
+ (uuid c701485a-027d-439c-8929-a5f0c5eab812)
+ )
(label "SW" (at 121.92 77.47 0)
(effects (font (size 1.27 1.27)) (justify left bottom))
diff --git a/c3pb-heizung-display/c3pb-heizung-display-User_4.dxf b/c3pb-heizung-display/c3pb-heizung-display-User_4.dxf
deleted file mode 100644
index 0d50ea87d7c8f71e00d9d54b084f237087a69a8a..0000000000000000000000000000000000000000
--- a/c3pb-heizung-display/c3pb-heizung-display-User_4.dxf
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diff --git a/c3pb-heizung-display/c3pb-heizung-display.kicad_pcb b/c3pb-heizung-display/c3pb-heizung-display.kicad_pcb
index 68a7c350296c7392210279b1128f1e7c0d612bfd..bc1ec7f91affcfb22aedd72b23782783013338a3 100644
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diff --git a/c3pb-heizung-display/generated/c3pb-heizung-display-User_4.dxf b/c3pb-heizung-display/generated/c3pb-heizung-display-User_4.dxf
index d2a71f3d3ab3001c9f6f70cda322ca9033b852bc..b840e0f12ae6c47955c26101c2ae0ce25495ba4d 100644
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LINE
8
@@ -583,13 +583,13 @@ BLACK
6
CONTINUOUS
10
-6.11545
+5.94289
20
--5.33382
+-5.4259
11
-6.11596
+5.94223
21
--5.33209
+-5.42552
0
LINE
8
@@ -597,13 +597,13 @@ BLACK
6
CONTINUOUS
10
-6.11596
+5.94223
20
--5.33209
+-5.42552
11
-6.11755
+5.94214
21
--5.33123
+-5.42527
0
LINE
8
@@ -611,13 +611,13 @@ BLACK
6
CONTINUOUS
10
-6.11755
+5.94214
20
--5.33123
+-5.42527
11
-6.1618
+5.94193
21
--5.32658
+-5.4251
0
LINE
8
@@ -625,13 +625,13 @@ BLACK
6
CONTINUOUS
10
-6.1618
+5.94193
20
--5.32658
+-5.4251
11
-6.16353
+5.9418
21
--5.32709
+-5.42434
0
LINE
8
@@ -639,13 +639,13 @@ BLACK
6
CONTINUOUS
10
-6.12039
+5.9418
20
--5.33568
+-5.42434
11
-6.12813
+5.94154
21
--5.40929
+-5.42362
0
LINE
8
@@ -653,13 +653,13 @@ BLACK
6
CONTINUOUS
10
-6.12813
+5.94154
20
--5.40929
+-5.42362
11
-6.16768
+5.94154
21
--5.40513
+-5.33228
0
LINE
8
@@ -667,13 +667,13 @@ BLACK
6
CONTINUOUS
10
-6.16768
+5.94154
20
--5.40513
+-5.33228
11
-6.15994
+5.9416
21
--5.33152
+-5.3319
0
LINE
8
@@ -681,13 +681,13 @@ BLACK
6
CONTINUOUS
10
-6.15994
+5.9416
20
--5.33152
+-5.3319
11
-6.12039
+5.94158
21
--5.33568
+-5.33177
0
LINE
8
@@ -695,13 +695,13 @@ BLACK
6
CONTINUOUS
10
-5.82789
+5.94158
20
--5.40872
+-5.33177
11
-5.82738
+5.94165
21
--5.40699
+-5.33166
0
LINE
8
@@ -709,13 +709,13 @@ BLACK
6
CONTINUOUS
10
-5.82738
+5.94165
20
--5.40699
+-5.33166
11
-5.83561
+5.94171
21
--5.32868
+-5.33127
0
LINE
8
@@ -723,13 +723,13 @@ BLACK
6
CONTINUOUS
10
-5.83561
+5.94171
20
--5.32868
+-5.33127
11
-5.83561
+5.94221
21
--5.32868
+-5.33069
0
LINE
8
@@ -737,13 +737,13 @@ BLACK
6
CONTINUOUS
10
-5.83561
+5.94221
20
--5.32868
+-5.33069
11
-5.83647
+5.94259
21
--5.32709
+-5.33002
0
LINE
8
@@ -751,13 +751,13 @@ BLACK
6
CONTINUOUS
10
-5.83647
+5.94259
20
--5.32709
+-5.33002
11
-5.8382
+5.94284
21
--5.32658
+-5.32993
0
LINE
8
@@ -765,13 +765,13 @@ BLACK
6
CONTINUOUS
10
-5.8382
+5.94284
20
--5.32658
+-5.32993
11
-5.88245
+5.94301
21
--5.33123
+-5.32973
0
LINE
8
@@ -779,13 +779,13 @@ BLACK
6
CONTINUOUS
10
-5.88245
+5.94301
20
--5.33123
+-5.32973
11
-5.88245
+5.94377
21
--5.33123
+-5.32959
0
LINE
8
@@ -793,13 +793,13 @@ BLACK
6
CONTINUOUS
10
-5.88245
+5.94377
20
--5.33123
+-5.32959
11
-5.88404
+5.94449
21
--5.33209
+-5.32933
0
LINE
8
@@ -807,13 +807,13 @@ BLACK
6
CONTINUOUS
10
-5.88404
+5.94449
20
--5.33209
+-5.32933
11
-5.88455
+6.05551
21
--5.33382
+-5.32933
0
LINE
8
@@ -821,13 +821,13 @@ BLACK
6
CONTINUOUS
10
-5.88455
+6.05551
20
--5.33382
+-5.32933
11
-5.87632
+6.0559
21
--5.41213
+-5.3294
0
LINE
8
@@ -835,13 +835,13 @@ BLACK
6
CONTINUOUS
10
-5.87632
+5.94744
20
--5.41213
+-5.33524
11
-5.87632
+5.94744
21
--5.41213
+-5.42067
0
LINE
8
@@ -849,13 +849,13 @@ BLACK
6
CONTINUOUS
10
-5.87632
+5.94744
20
--5.41213
+-5.42067
11
-5.87546
+6.05256
21
--5.41372
+-5.42067
0
LINE
8
@@ -863,13 +863,13 @@ BLACK
6
CONTINUOUS
10
-5.87546
+6.05256
20
--5.41372
+-5.42067
11
-5.87372
+6.05256
21
--5.41423
+-5.33524
0
LINE
8
@@ -877,13 +877,13 @@ BLACK
6
CONTINUOUS
10
-5.87372
+6.05256
20
--5.41423
+-5.33524
11
-5.82948
+5.94744
21
--5.40958
+-5.33524
0
LINE
8
@@ -891,13 +891,13 @@ BLACK
6
CONTINUOUS
10
-5.82948
+5.97609
20
--5.40958
+-5.41899
11
-5.82789
+5.97539
21
--5.40872
+-5.41732
0
LINE
8
@@ -905,13 +905,13 @@ BLACK
6
CONTINUOUS
10
-5.83232
+5.97539
20
--5.40513
+-5.41732
11
-5.87187
+5.97539
21
--5.40929
+-5.33858
0
LINE
8
@@ -919,13 +919,13 @@ BLACK
6
CONTINUOUS
10
-5.87187
+5.97539
20
--5.40929
+-5.33858
11
-5.87961
+5.97609
21
--5.33568
+-5.33691
0
LINE
8
@@ -933,13 +933,13 @@ BLACK
6
CONTINUOUS
10
-5.87961
+5.97609
20
--5.33568
+-5.33691
11
-5.84006
+5.97776
21
--5.33152
+-5.33622
0
LINE
8
@@ -947,13 +947,13 @@ BLACK
6
CONTINUOUS
10
-5.84006
+5.97776
20
--5.33152
+-5.33622
11
-5.83232
+6.02224
21
--5.40513
+-5.33622
0
LINE
8
@@ -961,13 +961,13 @@ BLACK
6
CONTINUOUS
10
-5.68158
+6.02224
20
--5.38301
+-5.33622
11
-5.68125
+6.02391
21
--5.38123
+-5.33691
0
LINE
8
@@ -975,13 +975,13 @@ BLACK
6
CONTINUOUS
10
-5.68125
+6.02391
20
--5.38123
+-5.33691
11
-5.69762
+6.02461
21
--5.30422
+-5.33858
0
LINE
8
@@ -989,13 +989,13 @@ BLACK
6
CONTINUOUS
10
-5.69762
+6.02461
20
--5.30422
+-5.33858
11
-5.69865
+6.02461
21
--5.30273
+-5.41732
0
LINE
8
@@ -1003,13 +1003,13 @@ BLACK
6
CONTINUOUS
10
-5.69865
+6.02461
20
--5.30273
+-5.41732
11
-5.70043
+6.02391
21
--5.3024
+-5.41899
0
LINE
8
@@ -1017,13 +1017,13 @@ BLACK
6
CONTINUOUS
10
-5.70043
+6.02391
20
--5.3024
+-5.41899
11
-5.74394
+6.02224
21
--5.31165
+-5.41969
0
LINE
8
@@ -1031,13 +1031,13 @@ BLACK
6
CONTINUOUS
10
-5.74394
+6.02224
20
--5.31165
+-5.41969
11
-5.74394
+5.97776
21
--5.31165
+-5.41969
0
LINE
8
@@ -1045,13 +1045,13 @@ BLACK
6
CONTINUOUS
10
-5.74394
+5.97776
20
--5.31165
+-5.41969
11
-5.74543
+5.97609
21
--5.31267
+-5.41899
0
LINE
8
@@ -1059,13 +1059,13 @@ BLACK
6
CONTINUOUS
10
-5.74543
+5.98012
20
--5.31267
+-5.34094
11
-5.74576
+5.98012
21
--5.31445
+-5.41496
0
LINE
8
@@ -1073,13 +1073,13 @@ BLACK
6
CONTINUOUS
10
-5.74576
+5.98012
20
--5.31445
+-5.41496
11
-5.72939
+6.01988
21
--5.39147
+-5.41496
0
LINE
8
@@ -1087,13 +1087,13 @@ BLACK
6
CONTINUOUS
10
-5.72939
+6.01988
20
--5.39147
+-5.41496
11
-5.72884
+6.01988
21
--5.39226
+-5.34094
0
LINE
8
@@ -1101,13 +1101,13 @@ BLACK
6
CONTINUOUS
10
-5.72884
+6.01988
20
--5.39226
+-5.34094
11
-5.72837
+5.98012
21
--5.39296
+-5.34094
0
LINE
8
@@ -1115,13 +1115,13 @@ BLACK
6
CONTINUOUS
10
-5.72837
+6.1948
20
--5.39296
+-5.31629
11
-5.72659
+6.19518
21
--5.39329
+-5.31632
0
LINE
8
@@ -1129,13 +1129,13 @@ BLACK
6
CONTINUOUS
10
-5.72659
+6.19518
20
--5.39329
+-5.31632
11
-5.68307
+6.19582
21
--5.38404
+-5.31675
0
LINE
8
@@ -1143,13 +1143,13 @@ BLACK
6
CONTINUOUS
10
-5.68307
+6.19582
20
--5.38404
+-5.31675
11
-5.68158
+6.19652
21
--5.38301
+-5.31706
0
LINE
8
@@ -1157,13 +1157,13 @@ BLACK
6
CONTINUOUS
10
-5.68637
+6.19652
20
--5.37991
+-5.31706
11
-5.72526
+6.19664
21
--5.38817
+-5.3173
0
LINE
8
@@ -1171,13 +1171,13 @@ BLACK
6
CONTINUOUS
10
-5.72526
+6.19664
20
--5.38817
+-5.3173
11
-5.74065
+6.19686
21
--5.31578
+-5.31745
0
LINE
8
@@ -1185,13 +1185,13 @@ BLACK
6
CONTINUOUS
10
-5.74065
+6.19686
20
--5.31578
+-5.31745
11
-5.70175
+6.19707
21
--5.30751
+-5.31818
0
LINE
8
@@ -1199,13 +1199,13 @@ BLACK
6
CONTINUOUS
10
-5.70175
+6.19707
20
--5.30751
+-5.31818
11
-5.68637
+6.19741
21
--5.37991
+-5.31887
0
LINE
8
@@ -1213,13 +1213,13 @@ BLACK
6
CONTINUOUS
10
-6.30135
+6.19741
20
--5.30273
+-5.31887
11
-6.30238
+6.20695
21
--5.30422
+-5.40971
0
LINE
8
@@ -1227,13 +1227,13 @@ BLACK
6
CONTINUOUS
10
-6.30238
+6.20695
20
--5.30422
+-5.40971
11
-6.31875
+6.20693
21
--5.38124
+-5.4101
0
LINE
8
@@ -1241,13 +1241,13 @@ BLACK
6
CONTINUOUS
10
-6.31875
+6.20693
20
--5.38124
+-5.4101
11
-6.31842
+6.20696
21
--5.38301
+-5.41023
0
LINE
8
@@ -1255,13 +1255,13 @@ BLACK
6
CONTINUOUS
10
-6.31842
+6.20696
20
--5.38301
+-5.41023
11
-6.31693
+6.20691
21
--5.38404
+-5.41035
0
LINE
8
@@ -1269,13 +1269,13 @@ BLACK
6
CONTINUOUS
10
-6.31693
+6.20691
20
--5.38404
+-5.41035
11
-6.27341
+6.20688
21
--5.39329
+-5.41074
0
LINE
8
@@ -1283,13 +1283,13 @@ BLACK
6
CONTINUOUS
10
-6.27341
+6.20688
20
--5.39329
+-5.41074
11
-6.27163
+6.20645
21
--5.39296
+-5.41137
0
LINE
8
@@ -1297,13 +1297,13 @@ BLACK
6
CONTINUOUS
10
-6.27163
+6.20645
20
--5.39296
+-5.41137
11
-6.27061
+6.20614
21
--5.39147
+-5.41207
0
LINE
8
@@ -1311,13 +1311,13 @@ BLACK
6
CONTINUOUS
10
-6.27061
+6.20614
20
--5.39147
+-5.41207
11
-6.25424
+6.2059
21
--5.31445
+-5.41219
0
LINE
8
@@ -1325,13 +1325,13 @@ BLACK
6
CONTINUOUS
10
-6.25424
+6.2059
20
--5.31445
+-5.41219
11
-6.25457
+6.20575
21
--5.31267
+-5.41241
0
LINE
8
@@ -1339,13 +1339,13 @@ BLACK
6
CONTINUOUS
10
-6.25457
+6.20575
20
--5.31267
+-5.41241
11
-6.25606
+6.20501
21
--5.31165
+-5.41262
0
LINE
8
@@ -1353,13 +1353,13 @@ BLACK
6
CONTINUOUS
10
-6.25606
+6.20501
20
--5.31165
+-5.41262
11
-6.29957
+6.20433
21
--5.3024
+-5.41296
0
LINE
8
@@ -1367,13 +1367,13 @@ BLACK
6
CONTINUOUS
10
-6.29957
+6.20433
20
--5.3024
+-5.41296
11
-6.30135
+6.09391
21
--5.30273
+-5.42456
0
LINE
8
@@ -1381,13 +1381,13 @@ BLACK
6
CONTINUOUS
10
-6.25935
+6.09391
20
--5.31578
+-5.42456
11
-6.27474
+6.09352
21
--5.38817
+-5.42454
0
LINE
8
@@ -1395,13 +1395,13 @@ BLACK
6
CONTINUOUS
10
-6.27474
+6.09352
20
--5.38817
+-5.42454
11
-6.31363
+6.0934
21
--5.37991
+-5.42457
0
LINE
8
@@ -1409,13 +1409,13 @@ BLACK
6
CONTINUOUS
10
-6.31363
+6.0934
20
--5.37991
+-5.42457
11
-6.29825
+6.09328
21
--5.30751
+-5.42452
0
LINE
8
@@ -1423,13 +1423,13 @@ BLACK
6
CONTINUOUS
10
-6.29825
+6.09328
20
--5.30751
+-5.42452
11
-6.25935
+6.09289
21
--5.31578
+-5.42449
0
LINE
8
@@ -1437,13 +1437,13 @@ BLACK
6
CONTINUOUS
10
-5.53876
+6.09289
20
--5.34215
+-5.42449
11
-5.53862
+6.09225
21
--5.34035
+-5.42406
0
LINE
8
@@ -1451,13 +1451,13 @@ BLACK
6
CONTINUOUS
10
-5.53862
+6.09225
20
--5.34035
+-5.42406
11
-5.56295
+6.09155
21
--5.26546
+-5.42375
0
LINE
8
@@ -1465,13 +1465,13 @@ BLACK
6
CONTINUOUS
10
-5.56295
+6.09155
20
--5.26546
+-5.42375
11
-5.56413
+6.09143
21
--5.26409
+-5.42351
0
LINE
8
@@ -1479,13 +1479,13 @@ BLACK
6
CONTINUOUS
10
-5.56413
+6.09143
20
--5.26409
+-5.42351
11
-5.56593
+6.09121
21
--5.26395
+-5.42336
0
LINE
8
@@ -1493,13 +1493,13 @@ BLACK
6
CONTINUOUS
10
-5.56593
+6.09121
20
--5.26395
+-5.42336
11
-5.60824
+6.091
21
--5.27769
+-5.42262
0
LINE
8
@@ -1507,13 +1507,13 @@ BLACK
6
CONTINUOUS
10
-5.60824
+6.091
20
--5.27769
+-5.42262
11
-5.60962
+6.09066
21
--5.27887
+-5.42193
0
LINE
8
@@ -1521,13 +1521,13 @@ BLACK
6
CONTINUOUS
10
-5.60962
+6.09066
20
--5.27887
+-5.42193
11
-5.60976
+6.08112
21
--5.28067
+-5.3311
0
LINE
8
@@ -1535,13 +1535,13 @@ BLACK
6
CONTINUOUS
10
-5.60976
+6.08112
20
--5.28067
+-5.3311
11
-5.58543
+6.08114
21
--5.35556
+-5.33071
0
LINE
8
@@ -1549,13 +1549,13 @@ BLACK
6
CONTINUOUS
10
-5.58543
+6.08114
20
--5.35556
+-5.33071
11
-5.58425
+6.08111
21
--5.35693
+-5.33058
0
LINE
8
@@ -1563,13 +1563,13 @@ BLACK
6
CONTINUOUS
10
-5.58425
+6.08111
20
--5.35693
+-5.33058
11
-5.58245
+6.08116
21
--5.35707
+-5.33046
0
LINE
8
@@ -1577,13 +1577,13 @@ BLACK
6
CONTINUOUS
10
-5.58245
+6.08116
20
--5.35707
+-5.33046
11
-5.54014
+6.08119
21
--5.34333
+-5.33007
0
LINE
8
@@ -1591,13 +1591,13 @@ BLACK
6
CONTINUOUS
10
-5.54014
+6.08119
20
--5.34333
+-5.33007
11
-5.53876
+6.08162
21
--5.34215
+-5.32944
0
LINE
8
@@ -1605,13 +1605,13 @@ BLACK
6
CONTINUOUS
10
-5.54384
+6.08162
20
--5.33956
+-5.32944
11
-5.58166
+6.08193
21
--5.35185
+-5.32874
0
LINE
8
@@ -1619,13 +1619,13 @@ BLACK
6
CONTINUOUS
10
-5.58166
+6.08193
20
--5.35185
+-5.32874
11
-5.60453
+6.08217
21
--5.28146
+-5.32862
0
LINE
8
@@ -1633,13 +1633,13 @@ BLACK
6
CONTINUOUS
10
-5.60453
+6.08217
20
--5.28146
+-5.32862
11
-5.56672
+6.08232
21
--5.26917
+-5.3284
0
LINE
8
@@ -1647,13 +1647,13 @@ BLACK
6
CONTINUOUS
10
-5.56672
+6.08232
20
--5.26917
+-5.3284
11
-5.54384
+6.08306
21
--5.33956
+-5.32819
0
LINE
8
@@ -1661,13 +1661,13 @@ BLACK
6
CONTINUOUS
10
-6.43587
+6.08306
20
--5.26409
+-5.32819
11
-6.43705
+6.08375
21
--5.26546
+-5.32785
0
LINE
8
@@ -1675,13 +1675,13 @@ BLACK
6
CONTINUOUS
10
-6.43705
+6.08375
20
--5.26546
+-5.32785
11
-6.46138
+6.19416
21
--5.34035
+-5.31625
0
LINE
8
@@ -1689,13 +1689,13 @@ BLACK
6
CONTINUOUS
10
-6.46138
+6.19416
20
--5.34035
+-5.31625
11
-6.46124
+6.19455
21
--5.34215
+-5.31627
0
LINE
8
@@ -1703,13 +1703,13 @@ BLACK
6
CONTINUOUS
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10
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10
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CONTINUOUS
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CONTINUOUS
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CONTINUOUS
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CONTINUOUS
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LINE
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CONTINUOUS
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LINE
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@@ -2277,13 +53825,13 @@ BLACK
6
CONTINUOUS
10
-5.43438
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20
--5.2116
+-3.06925
11
-5.43619
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21
--5.21165
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0
LINE
8
@@ -2291,13 +53839,13 @@ BLACK
6
CONTINUOUS
10
-5.40632
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20
--5.28454
+-3.06892
11
-5.44265
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21
--5.30072
+-3.06884
0
LINE
8
@@ -2305,13 +53853,13 @@ BLACK
6
CONTINUOUS
10
-5.44265
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20
--5.30072
+-3.06884
11
-5.47275
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21
--5.2331
+-3.06871
0
LINE
8
@@ -2319,13 +53867,13 @@ BLACK
6
CONTINUOUS
10
-5.47275
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20
--5.2331
+-3.06871
11
-5.43643
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21
--5.21693
+-3.06838
0
LINE
8
@@ -2333,13 +53881,13 @@ BLACK
6
CONTINUOUS
10
-5.43643
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20
--5.21693
+-3.06838
11
-5.40632
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21
--5.28454
+-3.06761
0
LINE
8
@@ -2347,13 +53895,13 @@ BLACK
6
CONTINUOUS
10
-6.68735
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20
--5.23974
+-3.06761
11
-6.64798
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21
--5.17155
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0
LINE
8
@@ -2361,13 +53909,13 @@ BLACK
6
CONTINUOUS
10
-6.64798
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20
--5.17155
+-3.06686
11
-6.64775
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21
--5.16976
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0
LINE
8
@@ -2375,13 +53923,13 @@ BLACK
6
CONTINUOUS
10
-6.64775
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20
--5.16976
+-3.06663
11
-6.64885
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21
--5.16832
+-3.06636
0
LINE
8
@@ -2389,13 +53937,13 @@ BLACK
6
CONTINUOUS
10
-6.64885
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20
--5.16832
+-3.06636
11
-6.68737
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21
--5.14608
+-3.06576
0
LINE
8
@@ -2403,13 +53951,13 @@ BLACK
6
CONTINUOUS
10
-6.68737
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20
--5.14608
+-3.06576
11
-6.68737
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21
--5.14608
+-3.06508
0
LINE
8
@@ -2417,13 +53965,13 @@ BLACK
6
CONTINUOUS
10
-6.68737
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20
--5.14608
+-3.06508
11
-6.68917
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21
--5.14584
+-3.00396
0
LINE
8
@@ -2431,13 +53979,335 @@ BLACK
6
CONTINUOUS
10
-6.68917
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20
--5.14584
+-3.00396
11
-6.6906
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+-3.00339
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+-3.00323
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+-3.00323
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+-3.00336
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+-3.06749
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+-3.14561
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+-3.08845
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+-3.08845
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+-3.01033
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+-3.01033
+11
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+-3.06749
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+8
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+-3.03351
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+20
+-3.06658
+11
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+-3.06828
+0
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+20
+-3.06828
+11
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+20
+-3.06991
+11
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+-3.12242
+11
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+20
+-3.08936
+11
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+-3.08766
+11
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+20
+-3.03334
+11
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+0
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+20
+-3.03274
+11
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+-3.03351
+0
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+8
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+CONTINUOUS
+10
+6.98321
+20
+-3.08796
+11
+7.00982
21
--5.14694
+-3.11751
0
LINE
8
@@ -2445,13 +54315,13 @@ BLACK
6
CONTINUOUS
10
-6.6906
+7.00982
20
--5.14694
+-3.11751
11
-6.72997
+7.06482
21
--5.21513
+-3.06798
0
LINE
8
@@ -2459,13 +54329,13 @@ BLACK
6
CONTINUOUS
10
-6.72997
+7.06482
20
--5.21513
+-3.06798
11
-6.73008
+7.03822
21
--5.21597
+-3.03843
0
LINE
8
@@ -2473,13 +54343,13 @@ BLACK
6
CONTINUOUS
10
-6.73008
+7.03822
20
--5.21597
+-3.03843
11
-6.73021
+6.98321
21
--5.21693
+-3.08796
0
LINE
8
@@ -2487,13 +54357,13 @@ BLACK
6
CONTINUOUS
10
-6.73021
+6.91169
20
--5.21693
+-2.90205
11
-6.72911
+6.91195
21
--5.21836
+-2.90201
0
LINE
8
@@ -2501,13 +54371,13 @@ BLACK
6
CONTINUOUS
10
-6.72911
+6.91195
20
--5.21836
+-2.90201
11
-6.69058
+6.9126
21
--5.24061
+-2.90242
0
LINE
8
@@ -2515,13 +54385,13 @@ BLACK
6
CONTINUOUS
10
-6.69058
+6.9126
20
--5.24061
+-2.90242
11
-6.68879
+6.91331
21
--5.24084
+-2.9027
0
LINE
8
@@ -2529,13 +54399,13 @@ BLACK
6
CONTINUOUS
10
-6.68879
+6.91331
20
--5.24084
+-2.9027
11
-6.68735
+6.99582
21
--5.23974
+-2.97699
0
LINE
8
@@ -2543,13 +54413,13 @@ BLACK
6
CONTINUOUS
10
-6.68735
+6.99582
20
--5.23974
+-2.97699
11
-6.68735
+6.99606
21
--5.23974
+-2.9773
0
LINE
8
@@ -2557,13 +54427,13 @@ BLACK
6
CONTINUOUS
10
-6.65325
+6.99606
20
--5.17123
+-2.9773
11
-6.69026
+6.99617
21
--5.23533
+-2.97737
0
LINE
8
@@ -2571,13 +54441,13 @@ BLACK
6
CONTINUOUS
10
-6.69026
+6.99617
20
--5.23533
+-2.97737
11
-6.7247
+6.99621
21
--5.21545
+-2.97749
0
LINE
8
@@ -2585,13 +54455,13 @@ BLACK
6
CONTINUOUS
10
-6.7247
+6.99621
20
--5.21545
+-2.97749
11
-6.68769
+6.99645
21
--5.15135
+-2.9778
0
LINE
8
@@ -2599,13 +54469,13 @@ BLACK
6
CONTINUOUS
10
-6.68769
+6.99645
20
--5.15135
+-2.9778
11
-6.65325
+6.99656
21
--5.17123
+-2.97856
0
LINE
8
@@ -2613,13 +54483,13 @@ BLACK
6
CONTINUOUS
10
-5.30942
+6.99656
20
--5.24061
+-2.97856
11
-5.27089
+6.99679
21
--5.21836
+-2.97929
0
LINE
8
@@ -2627,13 +54497,13 @@ BLACK
6
CONTINUOUS
10
-5.27089
+6.99679
20
--5.21836
+-2.97929
11
-5.26979
+6.99669
21
--5.21693
+-2.97954
0
LINE
8
@@ -2641,13 +54511,13 @@ BLACK
6
CONTINUOUS
10
-5.26979
+6.99669
20
--5.21693
+-2.97954
11
-5.27003
+6.99673
21
--5.21513
+-2.9798
0
LINE
8
@@ -2655,13 +54525,13 @@ BLACK
6
CONTINUOUS
10
-5.27003
+6.99673
20
--5.21513
+-2.9798
11
-5.27003
+6.99632
21
--5.21513
+-2.98045
0
LINE
8
@@ -2669,13 +54539,13 @@ BLACK
6
CONTINUOUS
10
-5.27003
+6.99632
20
--5.21513
+-2.98045
11
-5.3094
+6.99604
21
--5.14694
+-2.98116
0
LINE
8
@@ -2683,13 +54553,13 @@ BLACK
6
CONTINUOUS
10
-5.3094
+6.99604
20
--5.14694
+-2.98116
11
-5.31083
+6.93492
21
--5.14584
+-3.04904
0
LINE
8
@@ -2697,13 +54567,13 @@ BLACK
6
CONTINUOUS
10
-5.31083
+6.93492
20
--5.14584
+-3.04904
11
-5.31263
+6.93461
21
--5.14608
+-3.04928
0
LINE
8
@@ -2711,13 +54581,13 @@ BLACK
6
CONTINUOUS
10
-5.31263
+6.93461
20
--5.14608
+-3.04928
11
-5.35115
+6.93454
21
--5.16832
+-3.04939
0
LINE
8
@@ -2725,13 +54595,13 @@ BLACK
6
CONTINUOUS
10
-5.35115
+6.93454
20
--5.16832
+-3.04939
11
-5.35182
+6.93442
21
--5.16919
+-3.04943
0
LINE
8
@@ -2739,13 +54609,13 @@ BLACK
6
CONTINUOUS
10
-5.35182
+6.93442
20
--5.16919
+-3.04943
11
-5.35225
+6.93411
21
--5.16976
+-3.04967
0
LINE
8
@@ -2753,13 +54623,13 @@ BLACK
6
CONTINUOUS
10
-5.35225
+6.93411
20
--5.16976
+-3.04967
11
-5.35202
+6.93335
21
--5.17155
+-3.04978
0
LINE
8
@@ -2767,13 +54637,13 @@ BLACK
6
CONTINUOUS
10
-5.35202
+6.93335
20
--5.17155
+-3.04978
11
-5.31265
+6.93262
21
--5.23974
+-3.05002
0
LINE
8
@@ -2781,13 +54651,13 @@ BLACK
6
CONTINUOUS
10
-5.31265
+6.93262
20
--5.23974
+-3.05002
11
-5.31121
+6.93237
21
--5.24084
+-3.04992
0
LINE
8
@@ -2795,13 +54665,13 @@ BLACK
6
CONTINUOUS
10
-5.31121
+6.93237
20
--5.24084
+-3.04992
11
-5.30942
+6.93211
21
--5.24061
+-3.04995
0
LINE
8
@@ -2809,13 +54679,13 @@ BLACK
6
CONTINUOUS
10
-5.30942
+6.93211
20
--5.24061
+-3.04995
11
-5.30942
+6.93146
21
--5.24061
+-3.04955
0
LINE
8
@@ -2823,13 +54693,13 @@ BLACK
6
CONTINUOUS
10
-5.2753
+6.93146
20
--5.21545
+-3.04955
11
-5.30974
+6.93075
21
--5.23533
+-3.04926
0
LINE
8
@@ -2837,13 +54707,13 @@ BLACK
6
CONTINUOUS
10
-5.30974
+6.93075
20
--5.23533
+-3.04926
11
-5.34675
+6.84824
21
--5.17123
+-2.97497
0
LINE
8
@@ -2851,13 +54721,13 @@ BLACK
6
CONTINUOUS
10
-5.34675
+6.84824
20
--5.17123
+-2.97497
11
-5.31231
+6.848
21
--5.15135
+-2.97466
0
LINE
8
@@ -2865,13 +54735,13 @@ BLACK
6
CONTINUOUS
10
-5.31231
+6.848
20
--5.15135
+-2.97466
11
-5.2753
+6.84789
21
--5.21545
+-2.97459
0
LINE
8
@@ -2879,13 +54749,13 @@ BLACK
6
CONTINUOUS
10
-6.80671
+6.84789
20
--5.06847
+-2.97459
11
-6.85299
+6.84785
21
--5.13218
+-2.97447
0
LINE
8
@@ -2893,13 +54763,13 @@ BLACK
6
CONTINUOUS
10
-6.85299
+6.84785
20
--5.13218
+-2.97447
11
-6.85341
+6.84761
21
--5.13393
+-2.97416
0
LINE
8
@@ -2907,13 +54777,13 @@ BLACK
6
CONTINUOUS
10
-6.85341
+6.84761
20
--5.13393
+-2.97416
11
-6.85247
+6.8475
21
--5.13547
+-2.9734
0
LINE
8
@@ -2921,13 +54791,13 @@ BLACK
6
CONTINUOUS
10
-6.85247
+6.8475
20
--5.13547
+-2.9734
11
-6.81647
+6.84727
21
--5.16162
+-2.97267
0
LINE
8
@@ -2935,13 +54805,13 @@ BLACK
6
CONTINUOUS
10
-6.81647
+6.84727
20
--5.16162
+-2.97267
11
-6.81472
+6.84737
21
--5.16205
+-2.97243
0
LINE
8
@@ -2949,13 +54819,13 @@ BLACK
6
CONTINUOUS
10
-6.81472
+6.84737
20
--5.16205
+-2.97243
11
-6.81317
+6.84733
21
--5.1611
+-2.97216
0
LINE
8
@@ -2963,13 +54833,13 @@ BLACK
6
CONTINUOUS
10
-6.81317
+6.84733
20
--5.1611
+-2.97216
11
-6.76689
+6.84774
21
--5.0974
+-2.97151
0
LINE
8
@@ -2977,13 +54847,13 @@ BLACK
6
CONTINUOUS
10
-6.76689
+6.84774
20
--5.0974
+-2.97151
11
-6.76647
+6.84802
21
--5.09564
+-2.9708
0
LINE
8
@@ -2991,13 +54861,13 @@ BLACK
6
CONTINUOUS
10
-6.76647
+6.84802
20
--5.09564
+-2.9708
11
-6.76741
+6.90914
21
--5.0941
+-2.90292
0
LINE
8
@@ -3005,13 +54875,13 @@ BLACK
6
CONTINUOUS
10
-6.76741
+6.90914
20
--5.0941
+-2.90292
11
-6.80341
+6.90945
21
--5.06795
+-2.90268
0
LINE
8
@@ -3019,13 +54889,13 @@ BLACK
6
CONTINUOUS
10
-6.80341
+6.90945
20
--5.06795
+-2.90268
11
-6.80516
+6.90952
21
--5.06753
+-2.90257
0
LINE
8
@@ -3033,13 +54903,13 @@ BLACK
6
CONTINUOUS
10
-6.80516
+6.90952
20
--5.06753
+-2.90257
11
-6.80671
+6.90964
21
--5.06847
+-2.90253
0
LINE
8
@@ -3047,13 +54917,13 @@ BLACK
6
CONTINUOUS
10
-6.7721
+6.90964
20
--5.09653
+-2.90253
11
-6.81561
+6.90995
21
--5.15641
+-2.90229
0
LINE
8
@@ -3061,13 +54931,13 @@ BLACK
6
CONTINUOUS
10
-6.81561
+6.90995
20
--5.15641
+-2.90229
11
-6.84778
+6.91071
21
--5.13304
+-2.90218
0
LINE
8
@@ -3075,13 +54945,13 @@ BLACK
6
CONTINUOUS
10
-6.84778
+6.91071
20
--5.13304
+-2.90218
11
-6.80427
+6.91144
21
--5.07316
+-2.90195
0
LINE
8
@@ -3089,13 +54959,13 @@ BLACK
6
CONTINUOUS
10
-6.80427
+6.91144
20
--5.07316
+-2.90195
11
-6.7721
+6.91169
21
--5.09653
+-2.90205
0
LINE
8
@@ -3103,13 +54973,13 @@ BLACK
6
CONTINUOUS
10
-5.19659
+6.85439
20
--5.06795
+-2.97256
11
-5.23259
+6.93251
21
--5.0941
+-3.04289
0
LINE
8
@@ -3117,13 +54987,13 @@ BLACK
6
CONTINUOUS
10
-5.23259
+6.93251
20
--5.0941
+-3.04289
11
-5.23353
+6.98967
21
--5.09564
+-2.97941
0
LINE
8
@@ -3131,13 +55001,13 @@ BLACK
6
CONTINUOUS
10
-5.23353
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20
--5.09564
+-2.97941
11
-5.23311
+6.91155
21
--5.0974
+-2.90907
0
LINE
8
@@ -3145,13 +55015,13 @@ BLACK
6
CONTINUOUS
10
-5.23311
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20
--5.0974
+-2.90907
11
-5.18683
+6.85439
21
--5.1611
+-2.97256
0
LINE
8
@@ -3159,13 +55029,13 @@ BLACK
6
CONTINUOUS
10
-5.18683
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20
--5.1611
+-2.93008
11
-5.18528
+6.96649
21
--5.16205
+-2.95985
0
LINE
8
@@ -3173,13 +55043,13 @@ BLACK
6
CONTINUOUS
10
-5.18528
+6.96649
20
--5.16205
+-2.95985
11
-5.18353
+6.96726
21
--5.16162
+-2.96148
0
LINE
8
@@ -3187,13 +55057,13 @@ BLACK
6
CONTINUOUS
10
-5.18353
+6.96726
20
--5.16162
+-2.96148
11
-5.14753
+6.96666
21
--5.13547
+-2.96319
0
LINE
8
@@ -3201,13 +55071,13 @@ BLACK
6
CONTINUOUS
10
-5.14753
+6.96666
20
--5.13547
+-2.96319
11
-5.14659
+6.91397
21
--5.13393
+-3.0217
0
LINE
8
@@ -3215,13 +55085,13 @@ BLACK
6
CONTINUOUS
10
-5.14659
+6.91397
20
--5.13393
+-3.0217
11
-5.14701
+6.91234
21
--5.13218
+-3.02248
0
LINE
8
@@ -3229,13 +55099,13 @@ BLACK
6
CONTINUOUS
10
-5.14701
+6.91234
20
--5.13218
+-3.02248
11
-5.19329
+6.91064
21
--5.06847
+-3.02188
0
LINE
8
@@ -3243,13 +55113,13 @@ BLACK
6
CONTINUOUS
10
-5.19329
+6.91064
20
--5.06847
+-3.02188
11
-5.19484
+6.87758
21
--5.06753
+-2.99211
0
LINE
8
@@ -3257,13 +55127,13 @@ BLACK
6
CONTINUOUS
10
-5.19484
+6.87758
20
--5.06753
+-2.99211
11
-5.19659
+6.8768
21
--5.06795
+-2.99048
0
LINE
8
@@ -3271,13 +55141,13 @@ BLACK
6
CONTINUOUS
10
-5.15222
+6.8768
20
--5.13304
+-2.99048
11
-5.18439
+6.8774
21
--5.15641
+-2.98877
0
LINE
8
@@ -3285,13 +55155,13 @@ BLACK
6
CONTINUOUS
10
-5.18439
+6.8774
20
--5.15641
+-2.98877
11
-5.2279
+6.93009
21
--5.09653
+-2.93026
0
LINE
8
@@ -3299,13 +55169,13 @@ BLACK
6
CONTINUOUS
10
-5.2279
+6.93009
20
--5.09653
+-2.93026
11
-5.19573
+6.93172
21
--5.07316
+-2.92948
0
LINE
8
@@ -3313,13 +55183,13 @@ BLACK
6
CONTINUOUS
10
-5.19573
+6.93172
20
--5.07316
+-2.92948
11
-5.15222
+6.93342
21
--5.13304
+-2.93008
0
LINE
8
@@ -3327,13 +55197,13 @@ BLACK
6
CONTINUOUS
10
-5.08936
+6.88249
20
--4.97812
+-2.99018
11
-5.12242
+6.91204
21
--5.00789
+-3.01679
0
LINE
8
@@ -3341,13 +55211,13 @@ BLACK
6
CONTINUOUS
10
-5.12242
+6.91204
20
--5.00789
+-3.01679
11
-5.1232
+6.96157
21
--5.00952
+-2.96178
0
LINE
8
@@ -3355,13 +55225,13 @@ BLACK
6
CONTINUOUS
10
-5.1232
+6.96157
20
--5.00952
+-2.96178
11
-5.1226
+6.93202
21
--5.01123
+-2.93518
0
LINE
8
@@ -3369,13 +55239,13 @@ BLACK
6
CONTINUOUS
10
-5.1226
+6.93202
20
--5.01123
+-2.93518
11
-5.06991
+6.88249
21
--5.06974
+-2.99018
0
LINE
8
@@ -3383,13 +55253,13 @@ BLACK
6
CONTINUOUS
10
-5.06991
+5.08931
20
--5.06974
+-2.9021
11
-5.06828
+5.08958
21
--5.07052
+-2.90209
0
LINE
8
@@ -3397,13 +55267,13 @@ BLACK
6
CONTINUOUS
10
-5.06828
+5.08958
20
--5.07052
+-2.90209
11
-5.06658
+5.09018
21
--5.06992
+-2.90256
0
LINE
8
@@ -3411,13 +55281,13 @@ BLACK
6
CONTINUOUS
10
-5.06658
+5.09018
20
--5.06992
+-2.90256
11
-5.03351
+5.09086
21
--5.04015
+-2.90292
0
LINE
8
@@ -3425,13 +55295,13 @@ BLACK
6
CONTINUOUS
10
-5.03351
+5.09086
20
--5.04015
+-2.90292
11
-5.03274
+5.15198
21
--5.03852
+-2.9708
0
LINE
8
@@ -3439,13 +55309,13 @@ BLACK
6
CONTINUOUS
10
-5.03274
+5.15198
20
--5.03852
+-2.9708
11
-5.03334
+5.15218
21
--5.03681
+-2.97113
0
LINE
8
@@ -3453,13 +55323,13 @@ BLACK
6
CONTINUOUS
10
-5.03334
+5.15218
20
--5.03681
+-2.97113
11
-5.08603
+5.15229
21
--4.9783
+-2.97121
0
LINE
8
@@ -3467,13 +55337,13 @@ BLACK
6
CONTINUOUS
10
-5.08603
+5.15229
20
--4.9783
+-2.97121
11
-5.08766
+5.15231
21
--4.97752
+-2.97134
0
LINE
8
@@ -3481,13 +55351,13 @@ BLACK
6
CONTINUOUS
10
-5.08766
+5.15231
20
--4.97752
+-2.97134
11
-5.08936
+5.15252
21
--4.97812
+-2.97167
0
LINE
8
@@ -3495,13 +55365,13 @@ BLACK
6
CONTINUOUS
10
-5.03843
+5.15252
20
--5.03822
+-2.97167
11
-5.06798
+5.15255
21
--5.06482
+-2.97244
0
LINE
8
@@ -3509,13 +55379,13 @@ BLACK
6
CONTINUOUS
10
-5.06798
+5.15255
20
--5.06482
+-2.97244
11
-5.11751
+5.15271
21
--5.00982
+-2.97319
0
LINE
8
@@ -3523,13 +55393,13 @@ BLACK
6
CONTINUOUS
10
-5.11751
+5.15271
20
--5.00982
+-2.97319
11
-5.08796
+5.15258
21
--4.98321
+-2.97342
0
LINE
8
@@ -3537,13 +55407,13 @@ BLACK
6
CONTINUOUS
10
-5.08796
+5.15258
20
--4.98321
+-2.97342
11
-5.03843
+5.15259
21
--5.03822
+-2.97369
0
LINE
8
@@ -3551,13 +55421,13 @@ BLACK
6
CONTINUOUS
10
-6.91397
+5.15259
20
--4.9783
+-2.97369
11
-6.96666
+5.15212
21
--5.03681
+-2.97429
0
LINE
8
@@ -3565,13 +55435,13 @@ BLACK
6
CONTINUOUS
10
-6.96666
+5.15212
20
--5.03681
+-2.97429
11
-6.96726
+5.15176
21
--5.03852
+-2.97497
0
LINE
8
@@ -3579,13 +55449,13 @@ BLACK
6
CONTINUOUS
10
-6.96726
+5.15176
20
--5.03852
+-2.97497
11
-6.96649
+5.06925
21
--5.04015
+-3.04926
0
LINE
8
@@ -3593,13 +55463,13 @@ BLACK
6
CONTINUOUS
10
-6.96649
+5.06925
20
--5.04015
+-3.04926
11
-6.93342
+5.06892
21
--5.06992
+-3.04947
0
LINE
8
@@ -3607,13 +55477,13 @@ BLACK
6
CONTINUOUS
10
-6.93342
+5.06892
20
--5.06992
+-3.04947
11
-6.93172
+5.06884
21
--5.07052
+-3.04957
0
LINE
8
@@ -3621,13 +55491,13 @@ BLACK
6
CONTINUOUS
10
-6.93172
+5.06884
20
--5.07052
+-3.04957
11
-6.93009
+5.06871
21
--5.06974
+-3.0496
0
LINE
8
@@ -3635,13 +55505,13 @@ BLACK
6
CONTINUOUS
10
-6.93009
+5.06871
20
--5.06974
+-3.0496
11
-6.8774
+5.06838
21
--5.01123
+-3.0498
0
LINE
8
@@ -3649,13 +55519,13 @@ BLACK
6
CONTINUOUS
10
-6.8774
+5.06838
20
--5.01123
+-3.0498
11
-6.8768
+5.06761
21
--5.00952
+-3.04983
0
LINE
8
@@ -3663,13 +55533,13 @@ BLACK
6
CONTINUOUS
10
-6.8768
+5.06761
20
--5.00952
+-3.04983
11
-6.87758
+5.06686
21
--5.00789
+-3.04999
0
LINE
8
@@ -3677,13 +55547,13 @@ BLACK
6
CONTINUOUS
10
-6.87758
+5.06686
20
--5.00789
+-3.04999
11
-6.91064
+5.06663
21
--4.97812
+-3.04986
0
LINE
8
@@ -3691,13 +55561,13 @@ BLACK
6
CONTINUOUS
10
-6.91064
+5.06663
20
--4.97812
+-3.04986
11
-6.91234
+5.06636
21
--4.97752
+-3.04987
0
LINE
8
@@ -3705,13 +55575,13 @@ BLACK
6
CONTINUOUS
10
-6.91234
+5.06636
20
--4.97752
+-3.04987
11
-6.91397
+5.06576
21
--4.9783
+-3.0494
0
LINE
8
@@ -3719,13 +55589,13 @@ BLACK
6
CONTINUOUS
10
-6.88249
+5.06576
20
--5.00982
+-3.0494
11
-6.93202
+5.06508
21
--5.06482
+-3.04904
0
LINE
8
@@ -3733,13 +55603,13 @@ BLACK
6
CONTINUOUS
10
-6.93202
+5.06508
20
--5.06482
+-3.04904
11
-6.96157
+5.00396
21
--5.03822
+-2.98116
0
LINE
8
@@ -3747,13 +55617,13 @@ BLACK
6
CONTINUOUS
10
-6.96157
+5.00396
20
--5.03822
+-2.98116
11
-6.91204
+5.00376
21
--4.98321
+-2.98083
0
LINE
8
@@ -3761,13 +55631,13 @@ BLACK
6
CONTINUOUS
10
-6.91204
+5.00376
20
--4.98321
+-2.98083
11
-6.88249
+5.00365
21
--5.00982
+-2.98075
0
LINE
8
@@ -3775,13 +55645,13 @@ BLACK
6
CONTINUOUS
10
-7.01123
+5.00365
20
--4.8774
+-2.98075
11
-7.06974
+5.00363
21
--4.93009
+-2.98062
0
LINE
8
@@ -3789,13 +55659,13 @@ BLACK
6
CONTINUOUS
10
-7.06974
+5.00363
20
--4.93009
+-2.98062
11
-7.07052
+5.00342
21
--4.93172
+-2.98029
0
LINE
8
@@ -3803,13 +55673,13 @@ BLACK
6
CONTINUOUS
10
-7.07052
+5.00342
20
--4.93172
+-2.98029
11
-7.06992
+5.00339
21
--4.93342
+-2.97953
0
LINE
8
@@ -3817,13 +55687,13 @@ BLACK
6
CONTINUOUS
10
-7.06992
+5.00339
20
--4.93342
+-2.97953
11
-7.04015
+5.00323
21
--4.96649
+-2.97878
0
LINE
8
@@ -3831,13 +55701,13 @@ BLACK
6
CONTINUOUS
10
-7.04015
+5.00323
20
--4.96649
+-2.97878
11
-7.03852
+5.00336
21
--4.96726
+-2.97854
0
LINE
8
@@ -3845,13 +55715,13 @@ BLACK
6
CONTINUOUS
10
-7.03852
+5.00336
20
--4.96726
+-2.97854
11
-7.03681
+5.00335
21
--4.96666
+-2.97827
0
LINE
8
@@ -3859,13 +55729,13 @@ BLACK
6
CONTINUOUS
10
-7.03681
+5.00335
20
--4.96666
+-2.97827
11
-6.9783
+5.00382
21
--4.91397
+-2.97767
0
LINE
8
@@ -3873,13 +55743,13 @@ BLACK
6
CONTINUOUS
10
-6.9783
+5.00382
20
--4.91397
+-2.97767
11
-6.97752
+5.00418
21
--4.91234
+-2.97699
0
LINE
8
@@ -3887,13 +55757,13 @@ BLACK
6
CONTINUOUS
10
-6.97752
+5.00418
20
--4.91234
+-2.97699
11
-6.97812
+5.08669
21
--4.91064
+-2.9027
0
LINE
8
@@ -3901,13 +55771,13 @@ BLACK
6
CONTINUOUS
10
-6.97812
+5.08669
20
--4.91064
+-2.9027
11
-7.00789
+5.08702
21
--4.87758
+-2.9025
0
LINE
8
@@ -3915,13 +55785,13 @@ BLACK
6
CONTINUOUS
10
-7.00789
+5.08702
20
--4.87758
+-2.9025
11
-7.00952
+5.0871
21
--4.8768
+-2.90239
0
LINE
8
@@ -3929,13 +55799,13 @@ BLACK
6
CONTINUOUS
10
-7.00952
+5.0871
20
--4.8768
+-2.90239
11
-7.01123
+5.08723
21
--4.8774
+-2.90237
0
LINE
8
@@ -3943,13 +55813,13 @@ BLACK
6
CONTINUOUS
10
-6.98321
+5.08723
20
--4.91204
+-2.90237
11
-7.03822
+5.08756
21
--4.96157
+-2.90216
0
LINE
8
@@ -3957,13 +55827,13 @@ BLACK
6
CONTINUOUS
10
-7.03822
+5.08756
20
--4.96157
+-2.90216
11
-7.06482
+5.08832
21
--4.93202
+-2.90213
0
LINE
8
@@ -3971,13 +55841,13 @@ BLACK
6
CONTINUOUS
10
-7.06482
+5.08832
20
--4.93202
+-2.90213
11
-7.00982
+5.08908
21
--4.88249
+-2.90197
0
LINE
8
@@ -3985,13 +55855,13 @@ BLACK
6
CONTINUOUS
10
-7.00982
+5.08908
20
--4.88249
+-2.90197
11
-6.98321
+5.08931
21
--4.91204
+-2.9021
0
LINE
8
@@ -3999,13 +55869,13 @@ BLACK
6
CONTINUOUS
10
-4.99211
+5.01033
20
--4.87758
+-2.97941
11
-5.02188
+5.06749
21
--4.91064
+-3.04289
0
LINE
8
@@ -4013,13 +55883,13 @@ BLACK
6
CONTINUOUS
10
-5.02188
+5.06749
20
--4.91064
+-3.04289
11
-5.02248
+5.14561
21
--4.91234
+-2.97256
0
LINE
8
@@ -4027,13 +55897,13 @@ BLACK
6
CONTINUOUS
10
-5.02248
+5.14561
20
--4.91234
+-2.97256
11
-5.0217
+5.08845
21
--4.91397
+-2.90907
0
LINE
8
@@ -4041,13 +55911,13 @@ BLACK
6
CONTINUOUS
10
-5.0217
+5.08845
20
--4.91397
+-2.90907
11
-4.96319
+5.01033
21
--4.96666
+-2.97941
0
LINE
8
@@ -4055,13 +55925,13 @@ BLACK
6
CONTINUOUS
10
-4.96319
+5.06991
20
--4.96666
+-2.93026
11
-4.96148
+5.1226
21
--4.96726
+-2.98877
0
LINE
8
@@ -4069,13 +55939,13 @@ BLACK
6
CONTINUOUS
10
-4.96148
+5.1226
20
--4.96726
+-2.98877
11
-4.95985
+5.1232
21
--4.96649
+-2.99048
0
LINE
8
@@ -4083,13 +55953,13 @@ BLACK
6
CONTINUOUS
10
-4.95985
+5.1232
20
--4.96649
+-2.99048
11
-4.93008
+5.12242
21
--4.93342
+-2.99211
0
LINE
8
@@ -4097,13 +55967,13 @@ BLACK
6
CONTINUOUS
10
-4.93008
+5.12242
20
--4.93342
+-2.99211
11
-4.92948
+5.08936
21
--4.93172
+-3.02188
0
LINE
8
@@ -4111,13 +55981,13 @@ BLACK
6
CONTINUOUS
10
-4.92948
+5.08936
20
--4.93172
+-3.02188
11
-4.93026
+5.08766
21
--4.93009
+-3.02248
0
LINE
8
@@ -4125,13 +55995,13 @@ BLACK
6
CONTINUOUS
10
-4.93026
+5.08766
20
--4.93009
+-3.02248
11
-4.98877
+5.08603
21
--4.8774
+-3.0217
0
LINE
8
@@ -4139,13 +56009,13 @@ BLACK
6
CONTINUOUS
10
-4.98877
+5.08603
20
--4.8774
+-3.0217
11
-4.99048
+5.03334
21
--4.8768
+-2.96319
0
LINE
8
@@ -4153,13 +56023,13 @@ BLACK
6
CONTINUOUS
10
-4.99048
+5.03334
20
--4.8768
+-2.96319
11
-4.99211
+5.03274
21
--4.87758
+-2.96148
0
LINE
8
@@ -4167,13 +56037,13 @@ BLACK
6
CONTINUOUS
10
-4.93518
+5.03274
20
--4.93202
+-2.96148
11
-4.96178
+5.03351
21
--4.96157
+-2.95985
0
LINE
8
@@ -4181,13 +56051,13 @@ BLACK
6
CONTINUOUS
10
-4.96178
+5.03351
20
--4.96157
+-2.95985
11
-5.01679
+5.06658
21
--4.91204
+-2.93008
0
LINE
8
@@ -4195,13 +56065,13 @@ BLACK
6
CONTINUOUS
10
-5.01679
+5.06658
20
--4.91204
+-2.93008
11
-4.99018
+5.06828
21
--4.88249
+-2.92948
0
LINE
8
@@ -4209,13 +56079,13 @@ BLACK
6
CONTINUOUS
10
-4.99018
+5.06828
20
--4.88249
+-2.92948
11
-4.93518
+5.06991
21
--4.93202
+-2.93026
0
LINE
8
@@ -4223,13 +56093,13 @@ BLACK
6
CONTINUOUS
10
-4.9059
+5.03843
20
--4.76741
+-2.96178
11
-4.93205
+5.08796
21
--4.80341
+-3.01679
0
LINE
8
@@ -4237,13 +56107,13 @@ BLACK
6
CONTINUOUS
10
-4.93205
+5.08796
20
--4.80341
+-3.01679
11
-4.93247
+5.11751
21
--4.80516
+-2.99018
0
LINE
8
@@ -4251,13 +56121,13 @@ BLACK
6
CONTINUOUS
10
-4.93247
+5.11751
20
--4.80516
+-2.99018
11
-4.93185
+5.06798
21
--4.80618
+-2.93518
0
LINE
8
@@ -4265,13 +56135,13 @@ BLACK
6
CONTINUOUS
10
-4.93185
+5.06798
20
--4.80618
+-2.93518
11
-4.93153
+5.03843
21
--4.80671
+-2.96178
0
LINE
8
@@ -4279,13 +56149,13 @@ BLACK
6
CONTINUOUS
10
-4.93153
+6.79192
20
--4.80671
+-2.81276
11
-4.86782
+6.79218
21
--4.85299
+-2.8127
0
LINE
8
@@ -4293,13 +56163,13 @@ BLACK
6
CONTINUOUS
10
-4.86782
+6.79218
20
--4.85299
+-2.8127
11
-4.86607
+6.79287
21
--4.85341
+-2.81304
0
LINE
8
@@ -4307,13 +56177,13 @@ BLACK
6
CONTINUOUS
10
-4.86607
+6.79287
20
--4.85341
+-2.81304
11
-4.86453
+6.79361
21
--4.85247
+-2.81325
0
LINE
8
@@ -4321,13 +56191,13 @@ BLACK
6
CONTINUOUS
10
-4.86453
+6.79361
20
--4.85247
+-2.81325
11
-4.83838
+6.88343
21
--4.81647
+-2.87851
0
LINE
8
@@ -4335,13 +56205,13 @@ BLACK
6
CONTINUOUS
10
-4.83838
+6.88343
20
--4.81647
+-2.87851
11
-4.83795
+6.8837
21
--4.81472
+-2.87879
0
LINE
8
@@ -4349,13 +56219,13 @@ BLACK
6
CONTINUOUS
10
-4.83795
+6.8837
20
--4.81472
+-2.87879
11
-4.8389
+6.88382
21
--4.81317
+-2.87884
0
LINE
8
@@ -4363,13 +56233,13 @@ BLACK
6
CONTINUOUS
10
-4.8389
+6.88382
20
--4.81317
+-2.87884
11
-4.9026
+6.88387
21
--4.76689
+-2.87896
0
LINE
8
@@ -4377,13 +56247,13 @@ BLACK
6
CONTINUOUS
10
-4.9026
+6.88387
20
--4.76689
+-2.87896
11
-4.90436
+6.88414
21
--4.76647
+-2.87924
0
LINE
8
@@ -4391,13 +56261,13 @@ BLACK
6
CONTINUOUS
10
-4.90436
+6.88414
20
--4.76647
+-2.87924
11
-4.9059
+6.88433
21
--4.76741
+-2.87999
0
LINE
8
@@ -4405,13 +56275,13 @@ BLACK
6
CONTINUOUS
10
-4.84359
+6.88433
20
--4.81561
+-2.87999
11
-4.86696
+6.88464
21
--4.84778
+-2.88069
0
LINE
8
@@ -4419,13 +56289,13 @@ BLACK
6
CONTINUOUS
10
-4.86696
+6.88464
20
--4.84778
+-2.88069
11
-4.92684
+6.88457
21
--4.80427
+-2.88094
0
LINE
8
@@ -4433,13 +56303,13 @@ BLACK
6
CONTINUOUS
10
-4.92684
+6.88457
20
--4.80427
+-2.88094
11
-4.90347
+6.88463
21
--4.7721
+-2.8812
0
LINE
8
@@ -4447,13 +56317,13 @@ BLACK
6
CONTINUOUS
10
-4.90347
+6.88463
20
--4.7721
+-2.8812
11
-4.84359
+6.88429
21
--4.81561
+-2.88189
0
LINE
8
@@ -4461,13 +56331,13 @@ BLACK
6
CONTINUOUS
10
-7.0974
+6.88429
20
--4.76689
+-2.88189
11
-7.1611
+6.88408
21
--4.81317
+-2.88263
0
LINE
8
@@ -4475,13 +56345,13 @@ BLACK
6
CONTINUOUS
10
-7.1611
+6.88408
20
--4.81317
+-2.88263
11
-7.16205
+6.8304
21
--4.81472
+-2.95652
0
LINE
8
@@ -4489,13 +56359,13 @@ BLACK
6
CONTINUOUS
10
-7.16205
+6.8304
20
--4.81472
+-2.95652
11
-7.16162
+6.83012
21
--4.81647
+-2.9568
0
LINE
8
@@ -4503,13 +56373,13 @@ BLACK
6
CONTINUOUS
10
-7.16162
+6.83012
20
--4.81647
+-2.9568
11
-7.13547
+6.83006
21
--4.85247
+-2.95691
0
LINE
8
@@ -4517,13 +56387,13 @@ BLACK
6
CONTINUOUS
10
-7.13547
+6.83006
20
--4.85247
+-2.95691
11
-7.13393
+6.82994
21
--4.85341
+-2.95697
0
LINE
8
@@ -4531,13 +56401,13 @@ BLACK
6
CONTINUOUS
10
-7.13393
+6.82994
20
--4.85341
+-2.95697
11
-7.13218
+6.82966
21
--4.85299
+-2.95724
0
LINE
8
@@ -4545,13 +56415,13 @@ BLACK
6
CONTINUOUS
10
-7.13218
+6.82966
20
--4.85299
+-2.95724
11
-7.06847
+6.82891
21
--4.80671
+-2.95742
0
LINE
8
@@ -4559,13 +56429,13 @@ BLACK
6
CONTINUOUS
10
-7.06847
+6.82891
20
--4.80671
+-2.95742
11
-7.06753
+6.82821
21
--4.80516
+-2.95773
0
LINE
8
@@ -4573,13 +56443,13 @@ BLACK
6
CONTINUOUS
10
-7.06753
+6.82821
20
--4.80516
+-2.95773
11
-7.06795
+6.82796
21
--4.80341
+-2.95766
0
LINE
8
@@ -4587,13 +56457,13 @@ BLACK
6
CONTINUOUS
10
-7.06795
+6.82796
20
--4.80341
+-2.95766
11
-7.0941
+6.8277
21
--4.76741
+-2.95773
0
LINE
8
@@ -4601,13 +56471,13 @@ BLACK
6
CONTINUOUS
10
-7.0941
+6.8277
20
--4.76741
+-2.95773
11
-7.09564
+6.82701
21
--4.76647
+-2.95739
0
LINE
8
@@ -4615,13 +56485,13 @@ BLACK
6
CONTINUOUS
10
-7.09564
+6.82701
20
--4.76647
+-2.95739
11
-7.0974
+6.82627
21
--4.76689
+-2.95718
0
LINE
8
@@ -4629,13 +56499,13 @@ BLACK
6
CONTINUOUS
10
-7.07316
+6.82627
20
--4.80427
+-2.95718
11
-7.13304
+6.73645
21
--4.84778
+-2.89192
0
LINE
8
@@ -4643,13 +56513,13 @@ BLACK
6
CONTINUOUS
10
-7.13304
+6.73645
20
--4.84778
+-2.89192
11
-7.15641
+6.73618
21
--4.81561
+-2.89164
0
LINE
8
@@ -4657,13 +56527,13 @@ BLACK
6
CONTINUOUS
10
-7.15641
+6.73618
20
--4.81561
+-2.89164
11
-7.09653
+6.73606
21
--4.7721
+-2.89158
0
LINE
8
@@ -4671,13 +56541,13 @@ BLACK
6
CONTINUOUS
10
-7.09653
+6.73606
20
--4.7721
+-2.89158
11
-7.07316
+6.73601
21
--4.80427
+-2.89146
0
LINE
8
@@ -4685,13 +56555,13 @@ BLACK
6
CONTINUOUS
10
-6.49251
+6.73601
20
--4.51877
+-2.89146
11
-6.49264
+6.73574
21
--4.51875
+-2.89118
0
LINE
8
@@ -4699,13 +56569,13 @@ BLACK
6
CONTINUOUS
10
-6.49264
+6.73574
20
--4.51875
+-2.89118
11
-6.49275
+6.73555
21
--4.51881
+-2.89044
0
LINE
8
@@ -4713,13 +56583,13 @@ BLACK
6
CONTINUOUS
10
-6.49275
+6.73555
20
--4.51881
+-2.89044
11
-6.49314
+6.73524
21
--4.51888
+-2.88974
0
LINE
8
@@ -4727,13 +56597,13 @@ BLACK
6
CONTINUOUS
10
-6.49314
+6.73524
20
--4.51888
+-2.88974
11
-6.49372
+6.73531
21
--4.51937
+-2.88948
0
LINE
8
@@ -4741,13 +56611,13 @@ BLACK
6
CONTINUOUS
10
-6.49372
+6.73531
20
--4.51937
+-2.88948
11
-6.49439
+6.73525
21
--4.51976
+-2.88922
0
LINE
8
@@ -4755,13 +56625,13 @@ BLACK
6
CONTINUOUS
10
-6.49439
+6.73525
20
--4.51976
+-2.88922
11
-6.49448
+6.73559
21
--4.52001
+-2.88853
0
LINE
8
@@ -4769,13 +56639,13 @@ BLACK
6
CONTINUOUS
10
-6.49448
+6.73559
20
--4.52001
+-2.88853
11
-6.49468
+6.7358
21
--4.52018
+-2.8878
0
LINE
8
@@ -4783,13 +56653,13 @@ BLACK
6
CONTINUOUS
10
-6.49468
+6.7358
20
--4.52018
+-2.8878
11
-6.49482
+6.78949
21
--4.52093
+-2.8139
0
LINE
8
@@ -4797,13 +56667,13 @@ BLACK
6
CONTINUOUS
10
-6.49482
+6.78949
20
--4.52093
+-2.8139
11
-6.49508
+6.78977
21
--4.52165
+-2.81363
0
LINE
8
@@ -4811,13 +56681,13 @@ BLACK
6
CONTINUOUS
10
-6.49508
+6.78977
20
--4.52165
+-2.81363
11
-6.49508
+6.78982
21
--4.79724
+-2.81351
0
LINE
8
@@ -4825,13 +56695,13 @@ BLACK
6
CONTINUOUS
10
-6.49508
+6.78982
20
--4.79724
+-2.81351
11
-6.49501
+6.78994
21
--4.79763
+-2.81346
0
LINE
8
@@ -4839,13 +56709,13 @@ BLACK
6
CONTINUOUS
10
-6.49501
+6.78994
20
--4.79763
+-2.81346
11
-6.49503
+6.79022
21
--4.79776
+-2.81319
0
LINE
8
@@ -4853,13 +56723,13 @@ BLACK
6
CONTINUOUS
10
-6.49503
+6.79022
20
--4.79776
+-2.81319
11
-6.49497
+6.79097
21
--4.79787
+-2.813
0
LINE
8
@@ -4867,13 +56737,13 @@ BLACK
6
CONTINUOUS
10
-6.49497
+6.79097
20
--4.79787
+-2.813
11
-6.4949
+6.79167
21
--4.79825
+-2.81269
0
LINE
8
@@ -4881,13 +56751,13 @@ BLACK
6
CONTINUOUS
10
-6.4949
+6.79167
20
--4.79825
+-2.81269
11
-6.49441
+6.79192
21
--4.79884
+-2.81276
0
LINE
8
@@ -4895,13 +56765,13 @@ BLACK
6
CONTINUOUS
10
-6.49441
+6.74231
20
--4.79884
+-2.88888
11
-6.49402
+6.82735
21
--4.79951
+-2.95066
0
LINE
8
@@ -4909,13 +56779,13 @@ BLACK
6
CONTINUOUS
10
-6.49402
+6.82735
20
--4.79951
+-2.95066
11
-6.49377
+6.87757
21
--4.7996
+-2.88155
0
LINE
8
@@ -4923,13 +56793,13 @@ BLACK
6
CONTINUOUS
10
-6.49377
+6.87757
20
--4.7996
+-2.88155
11
-6.4936
+6.79253
21
--4.7998
+-2.81976
0
LINE
8
@@ -4937,13 +56807,13 @@ BLACK
6
CONTINUOUS
10
-6.4936
+6.79253
20
--4.7998
+-2.81976
11
-6.49285
+6.74231
21
--4.79993
+-2.88888
0
LINE
8
@@ -4951,13 +56821,13 @@ BLACK
6
CONTINUOUS
10
-6.49285
+6.81647
20
--4.79993
+-2.83838
11
-6.49213
+6.85247
21
--4.8002
+-2.86453
0
LINE
8
@@ -4965,13 +56835,13 @@ BLACK
6
CONTINUOUS
10
-6.49213
+6.85247
20
--4.8002
+-2.86453
11
-5.51772
+6.85341
21
--4.8002
+-2.86607
0
LINE
8
@@ -4979,13 +56849,13 @@ BLACK
6
CONTINUOUS
10
-5.51772
+6.85341
20
--4.8002
+-2.86607
11
-5.51733
+6.85299
21
--4.80013
+-2.86782
0
LINE
8
@@ -4993,13 +56863,13 @@ BLACK
6
CONTINUOUS
10
-5.51733
+6.85299
20
--4.80013
+-2.86782
11
-5.5172
+6.80671
21
--4.80015
+-2.93153
0
LINE
8
@@ -5007,13 +56877,13 @@ BLACK
6
CONTINUOUS
10
-5.5172
+6.80671
20
--4.80015
+-2.93153
11
-5.51709
+6.80516
21
--4.80009
+-2.93247
0
LINE
8
@@ -5021,13 +56891,13 @@ BLACK
6
CONTINUOUS
10
-5.51709
+6.80516
20
--4.80009
+-2.93247
11
-5.51671
+6.80341
21
--4.80002
+-2.93205
0
LINE
8
@@ -5035,13 +56905,13 @@ BLACK
6
CONTINUOUS
10
-5.51671
+6.80341
20
--4.80002
+-2.93205
11
-5.51612
+6.76741
21
--4.79953
+-2.9059
0
LINE
8
@@ -5049,13 +56919,13 @@ BLACK
6
CONTINUOUS
10
-5.51612
+6.76741
20
--4.79953
+-2.9059
11
-5.51545
+6.76647
21
--4.79914
+-2.90436
0
LINE
8
@@ -5063,13 +56933,13 @@ BLACK
6
CONTINUOUS
10
-5.51545
+6.76647
20
--4.79914
+-2.90436
11
-5.51536
+6.76689
21
--4.79889
+-2.9026
0
LINE
8
@@ -5077,13 +56947,13 @@ BLACK
6
CONTINUOUS
10
-5.51536
+6.76689
20
--4.79889
+-2.9026
11
-5.51516
+6.81317
21
--4.79872
+-2.8389
0
LINE
8
@@ -5091,13 +56961,13 @@ BLACK
6
CONTINUOUS
10
-5.51516
+6.81317
20
--4.79872
+-2.8389
11
-5.51503
+6.81472
21
--4.79796
+-2.83795
0
LINE
8
@@ -5105,13 +56975,13 @@ BLACK
6
CONTINUOUS
10
-5.51503
+6.81472
20
--4.79796
+-2.83795
11
-5.51476
+6.81647
21
--4.79724
+-2.83838
0
LINE
8
@@ -5119,13 +56989,13 @@ BLACK
6
CONTINUOUS
10
-5.51476
+6.7721
20
--4.79724
+-2.90347
11
-5.51476
+6.80427
21
--4.52165
+-2.92684
0
LINE
8
@@ -5133,13 +57003,13 @@ BLACK
6
CONTINUOUS
10
-5.51476
+6.80427
20
--4.52165
+-2.92684
11
-5.51483
+6.84778
21
--4.52127
+-2.86696
0
LINE
8
@@ -5147,13 +57017,13 @@ BLACK
6
CONTINUOUS
10
-5.51483
+6.84778
20
--4.52127
+-2.86696
11
-5.51481
+6.81561
21
--4.52114
+-2.84359
0
LINE
8
@@ -5161,13 +57031,13 @@ BLACK
6
CONTINUOUS
10
-5.51481
+6.81561
20
--4.52114
+-2.84359
11
-5.51487
+6.7721
21
--4.52103
+-2.90347
0
LINE
8
@@ -5175,13 +57045,13 @@ BLACK
6
CONTINUOUS
10
-5.51487
+5.20906
20
--4.52103
+-2.81292
11
-5.51494
+5.20933
21
--4.52064
+-2.81294
0
LINE
8
@@ -5189,13 +57059,13 @@ BLACK
6
CONTINUOUS
10
-5.51494
+5.20933
20
--4.52064
+-2.81294
11
-5.51544
+5.20988
21
--4.52006
+-2.81347
0
LINE
8
@@ -5203,13 +57073,13 @@ BLACK
6
CONTINUOUS
10
-5.51544
+5.20988
20
--4.52006
+-2.81347
11
-5.51582
+5.21051
21
--4.51939
+-2.8139
0
LINE
8
@@ -5217,13 +57087,13 @@ BLACK
6
CONTINUOUS
10
-5.51582
+5.21051
20
--4.51939
+-2.8139
11
-5.51607
+5.2642
21
--4.5193
+-2.8878
0
LINE
8
@@ -5231,13 +57101,13 @@ BLACK
6
CONTINUOUS
10
-5.51607
+5.2642
20
--4.5193
+-2.8878
11
-5.51624
+5.26437
21
--4.5191
+-2.88815
0
LINE
8
@@ -5245,13 +57115,13 @@ BLACK
6
CONTINUOUS
10
-5.51624
+5.26437
20
--4.5191
+-2.88815
11
-5.517
+5.26447
21
--4.51896
+-2.88824
0
LINE
8
@@ -5259,13 +57129,13 @@ BLACK
6
CONTINUOUS
10
-5.517
+5.26447
20
--4.51896
+-2.88824
11
-5.51772
+5.26448
21
--4.5187
+-2.88837
0
LINE
8
@@ -5273,13 +57143,13 @@ BLACK
6
CONTINUOUS
10
-5.51772
+5.26448
20
--4.5187
+-2.88837
11
-6.49213
+5.26465
21
--4.5187
+-2.88872
0
LINE
8
@@ -5287,13 +57157,13 @@ BLACK
6
CONTINUOUS
10
-6.49213
+5.26465
20
--4.5187
+-2.88872
11
-6.49251
+5.2646
21
--4.51877
+-2.88948
0
LINE
8
@@ -5301,13 +57171,13 @@ BLACK
6
CONTINUOUS
10
-5.52067
+5.2646
20
--4.52461
+-2.88948
11
-5.52067
+5.26468
21
--4.79429
+-2.89025
0
LINE
8
@@ -5315,13 +57185,13 @@ BLACK
6
CONTINUOUS
10
-5.52067
+5.26468
20
--4.79429
+-2.89025
11
-6.48917
+5.26453
21
--4.79429
+-2.89047
0
LINE
8
@@ -5329,13 +57199,13 @@ BLACK
6
CONTINUOUS
10
-6.48917
+5.26453
20
--4.79429
+-2.89047
11
-6.48917
+5.26451
21
--4.52461
+-2.89073
0
LINE
8
@@ -5343,13 +57213,13 @@ BLACK
6
CONTINUOUS
10
-6.48917
+5.26451
20
--4.52461
+-2.89073
11
-5.52067
+5.26398
21
--4.52461
+-2.89128
0
LINE
8
@@ -5357,13 +57227,13 @@ BLACK
6
CONTINUOUS
10
-4.83168
+5.26398
20
--4.64885
+-2.89128
11
-4.85392
+5.26355
21
--4.68737
+-2.89192
0
LINE
8
@@ -5371,13 +57241,13 @@ BLACK
6
CONTINUOUS
10
-4.85392
+5.26355
20
--4.68737
+-2.89192
11
-4.85392
+5.17373
21
--4.68737
+-2.95718
0
LINE
8
@@ -5385,13 +57255,13 @@ BLACK
6
CONTINUOUS
10
-4.85392
+5.17373
20
--4.68737
+-2.95718
11
-4.85416
+5.17338
21
--4.68917
+-2.95735
0
LINE
8
@@ -5399,13 +57269,13 @@ BLACK
6
CONTINUOUS
10
-4.85416
+5.17338
20
--4.68917
+-2.95735
11
-4.85306
+5.17329
21
--4.6906
+-2.95744
0
LINE
8
@@ -5413,13 +57283,13 @@ BLACK
6
CONTINUOUS
10
-4.85306
+5.17329
20
--4.6906
+-2.95744
11
-4.78487
+5.17316
21
--4.72997
+-2.95746
0
LINE
8
@@ -5427,13 +57297,13 @@ BLACK
6
CONTINUOUS
10
-4.78487
+5.17316
20
--4.72997
+-2.95746
11
-4.78307
+5.17281
21
--4.73021
+-2.95763
0
LINE
8
@@ -5441,13 +57311,13 @@ BLACK
6
CONTINUOUS
10
-4.78307
+5.17281
20
--4.73021
+-2.95763
11
-4.78164
+5.17204
21
--4.72911
+-2.95757
0
LINE
8
@@ -5455,13 +57325,13 @@ BLACK
6
CONTINUOUS
10
-4.78164
+5.17204
20
--4.72911
+-2.95757
11
-4.75939
+5.17128
21
--4.69058
+-2.95765
0
LINE
8
@@ -5469,13 +57339,13 @@ BLACK
6
CONTINUOUS
10
-4.75939
+5.17128
20
--4.69058
+-2.95765
11
-4.75916
+5.17106
21
--4.68879
+-2.95751
0
LINE
8
@@ -5483,13 +57353,13 @@ BLACK
6
CONTINUOUS
10
-4.75916
+5.17106
20
--4.68879
+-2.95751
11
-4.76026
+5.17079
21
--4.68735
+-2.95749
0
LINE
8
@@ -5497,13 +57367,13 @@ BLACK
6
CONTINUOUS
10
-4.76026
+5.17079
20
--4.68735
+-2.95749
11
-4.82845
+5.17024
21
--4.64798
+-2.95695
0
LINE
8
@@ -5511,13 +57381,13 @@ BLACK
6
CONTINUOUS
10
-4.82845
+5.17024
20
--4.64798
+-2.95695
11
-4.83024
+5.1696
21
--4.64775
+-2.95652
0
LINE
8
@@ -5525,13 +57395,13 @@ BLACK
6
CONTINUOUS
10
-4.83024
+5.1696
20
--4.64775
+-2.95652
11
-4.83168
+5.11592
21
--4.64885
+-2.88263
0
LINE
8
@@ -5539,13 +57409,13 @@ BLACK
6
CONTINUOUS
10
-4.76467
+5.11592
20
--4.69026
+-2.88263
11
-4.78455
+5.11575
21
--4.7247
+-2.88228
0
LINE
8
@@ -5553,13 +57423,13 @@ BLACK
6
CONTINUOUS
10
-4.78455
+5.11575
20
--4.7247
+-2.88228
11
-4.84865
+5.11565
21
--4.68769
+-2.88219
0
LINE
8
@@ -5567,13 +57437,13 @@ BLACK
6
CONTINUOUS
10
-4.84865
+5.11565
20
--4.68769
+-2.88219
11
-4.82877
+5.11564
21
--4.65325
+-2.88206
0
LINE
8
@@ -5581,13 +57451,13 @@ BLACK
6
CONTINUOUS
10
-4.82877
+5.11564
20
--4.65325
+-2.88206
11
-4.76467
+5.11547
21
--4.69026
+-2.88171
0
LINE
8
@@ -5595,13 +57465,13 @@ BLACK
6
CONTINUOUS
10
-7.21513
+5.11547
20
--4.72997
+-2.88171
11
-7.14694
+5.11552
21
--4.6906
+-2.88094
0
LINE
8
@@ -5609,13 +57479,13 @@ BLACK
6
CONTINUOUS
10
-7.14694
+5.11552
20
--4.6906
+-2.88094
11
-7.14584
+5.11544
21
--4.68917
+-2.88018
0
LINE
8
@@ -5623,13 +57493,13 @@ BLACK
6
CONTINUOUS
10
-7.14584
+5.11544
20
--4.68917
+-2.88018
11
-7.14608
+5.11559
21
--4.68737
+-2.87996
0
LINE
8
@@ -5637,13 +57507,13 @@ BLACK
6
CONTINUOUS
10
-7.14608
+5.11559
20
--4.68737
+-2.87996
11
-7.16832
+5.11561
21
--4.64885
+-2.87969
0
LINE
8
@@ -5651,13 +57521,13 @@ BLACK
6
CONTINUOUS
10
-7.16832
+5.11561
20
--4.64885
+-2.87969
11
-7.16976
+5.11614
21
--4.64775
+-2.87914
0
LINE
8
@@ -5665,13 +57535,13 @@ BLACK
6
CONTINUOUS
10
-7.16976
+5.11614
20
--4.64775
+-2.87914
11
-7.17155
+5.11657
21
--4.64798
+-2.87851
0
LINE
8
@@ -5679,13 +57549,13 @@ BLACK
6
CONTINUOUS
10
-7.17155
+5.11657
20
--4.64798
+-2.87851
11
-7.23974
+5.20639
21
--4.68735
+-2.81325
0
LINE
8
@@ -5693,13 +57563,13 @@ BLACK
6
CONTINUOUS
10
-7.23974
+5.20639
20
--4.68735
+-2.81325
11
-7.23976
+5.20674
21
--4.68737
+-2.81308
0
LINE
8
@@ -5707,13 +57577,13 @@ BLACK
6
CONTINUOUS
10
-7.23976
+5.20674
20
--4.68737
+-2.81308
11
-7.24084
+5.20683
21
--4.68879
+-2.81298
0
LINE
8
@@ -5721,13 +57591,13 @@ BLACK
6
CONTINUOUS
10
-7.24084
+5.20683
20
--4.68879
+-2.81298
11
-7.24061
+5.20696
21
--4.69058
+-2.81297
0
LINE
8
@@ -5735,13 +57605,13 @@ BLACK
6
CONTINUOUS
10
-7.24061
+5.20696
20
--4.69058
+-2.81297
11
-7.21836
+5.20731
21
--4.72911
+-2.8128
0
LINE
8
@@ -5749,13 +57619,13 @@ BLACK
6
CONTINUOUS
10
-7.21836
+5.20731
20
--4.72911
+-2.8128
11
-7.21693
+5.20808
21
--4.73021
+-2.81285
0
LINE
8
@@ -5763,13 +57633,13 @@ BLACK
6
CONTINUOUS
10
-7.21693
+5.20808
20
--4.73021
+-2.81285
11
-7.21513
+5.20884
21
--4.72997
+-2.81277
0
LINE
8
@@ -5777,13 +57647,13 @@ BLACK
6
CONTINUOUS
10
-7.21513
+5.20884
20
--4.72997
+-2.81277
11
-7.21513
+5.20906
21
--4.72997
+-2.81292
0
LINE
8
@@ -5791,13 +57661,13 @@ BLACK
6
CONTINUOUS
10
-7.15135
+5.12243
20
--4.68769
+-2.88155
11
-7.21545
+5.17265
21
--4.7247
+-2.95066
0
LINE
8
@@ -5805,13 +57675,13 @@ BLACK
6
CONTINUOUS
10
-7.21545
+5.17265
20
--4.7247
+-2.95066
11
-7.23533
+5.25769
21
--4.69026
+-2.88888
0
LINE
8
@@ -5819,13 +57689,13 @@ BLACK
6
CONTINUOUS
10
-7.23533
+5.25769
20
--4.69026
+-2.88888
11
-7.17123
+5.20747
21
--4.65325
+-2.81976
0
LINE
8
@@ -5833,13 +57703,13 @@ BLACK
6
CONTINUOUS
10
-7.17123
+5.20747
20
--4.65325
+-2.81976
11
-7.15135
+5.12243
21
--4.68769
+-2.88155
0
LINE
8
@@ -5847,13 +57717,13 @@ BLACK
6
CONTINUOUS
10
-7.23286
+5.18683
20
--4.52197
+-2.8389
11
-7.3048
+5.23311
21
--4.554
+-2.9026
0
LINE
8
@@ -5861,13 +57731,13 @@ BLACK
6
CONTINUOUS
10
-7.3048
+5.23311
20
--4.554
+-2.9026
11
-7.30604
+5.23353
21
--4.55531
+-2.90436
0
LINE
8
@@ -5875,13 +57745,13 @@ BLACK
6
CONTINUOUS
10
-7.30604
+5.23353
20
--4.55531
+-2.90436
11
-7.30599
+5.23259
21
--4.55712
+-2.9059
0
LINE
8
@@ -5889,13 +57759,13 @@ BLACK
6
CONTINUOUS
10
-7.30599
+5.23259
20
--4.55712
+-2.9059
11
-7.2879
+5.19659
21
--4.59776
+-2.93205
0
LINE
8
@@ -5903,13 +57773,13 @@ BLACK
6
CONTINUOUS
10
-7.2879
+5.19659
20
--4.59776
+-2.93205
11
-7.28659
+5.19484
21
--4.599
+-2.93247
0
LINE
8
@@ -5917,13 +57787,13 @@ BLACK
6
CONTINUOUS
10
-7.28659
+5.19484
20
--4.599
+-2.93247
11
-7.28478
+5.19329
21
--4.59896
+-2.93153
0
LINE
8
@@ -5931,13 +57801,13 @@ BLACK
6
CONTINUOUS
10
-7.28478
+5.19329
20
--4.59896
+-2.93153
11
-7.21285
+5.14701
21
--4.56693
+-2.86782
0
LINE
8
@@ -5945,13 +57815,13 @@ BLACK
6
CONTINUOUS
10
-7.21285
+5.14701
20
--4.56693
+-2.86782
11
-7.2116
+5.14659
21
--4.56562
+-2.86607
0
LINE
8
@@ -5959,13 +57829,13 @@ BLACK
6
CONTINUOUS
10
-7.2116
+5.14659
20
--4.56562
+-2.86607
11
-7.21165
+5.14753
21
--4.56381
+-2.86453
0
LINE
8
@@ -5973,13 +57843,13 @@ BLACK
6
CONTINUOUS
10
-7.21165
+5.14753
20
--4.56381
+-2.86453
11
-7.22975
+5.18353
21
--4.52317
+-2.83838
0
LINE
8
@@ -5987,13 +57857,13 @@ BLACK
6
CONTINUOUS
10
-7.22975
+5.18353
20
--4.52317
+-2.83838
11
-7.23106
+5.18528
21
--4.52192
+-2.83795
0
LINE
8
@@ -6001,13 +57871,13 @@ BLACK
6
CONTINUOUS
10
-7.23106
+5.18528
20
--4.52192
+-2.83795
11
-7.23286
+5.18683
21
--4.52197
+-2.8389
0
LINE
8
@@ -6015,13 +57885,13 @@ BLACK
6
CONTINUOUS
10
-7.21693
+5.15222
20
--4.56357
+-2.86696
11
-7.28454
+5.19573
21
--4.59368
+-2.92684
0
LINE
8
@@ -6029,13 +57899,13 @@ BLACK
6
CONTINUOUS
10
-7.28454
+5.19573
20
--4.59368
+-2.92684
11
-7.30072
+5.2279
21
--4.55735
+-2.90347
0
LINE
8
@@ -6043,13 +57913,13 @@ BLACK
6
CONTINUOUS
10
-7.30072
+5.2279
20
--4.55735
+-2.90347
11
-7.2331
+5.18439
21
--4.52725
+-2.84359
0
LINE
8
@@ -6057,13 +57927,13 @@ BLACK
6
CONTINUOUS
10
-7.2331
+5.18439
20
--4.52725
+-2.84359
11
-7.21693
+5.15222
21
--4.56357
+-2.86696
0
LINE
8
@@ -6071,13 +57941,13 @@ BLACK
6
CONTINUOUS
10
-4.77025
+6.66446
20
--4.52317
+-2.73666
11
-4.78835
+6.66521
21
--4.56381
+-2.73679
0
LINE
8
@@ -6085,13 +57955,13 @@ BLACK
6
CONTINUOUS
10
-4.78835
+6.66521
20
--4.56381
+-2.73679
11
-4.7884
+6.76136
21
--4.56562
+-2.79231
0
LINE
8
@@ -6099,13 +57969,13 @@ BLACK
6
CONTINUOUS
10
-4.7884
+6.76136
20
--4.56562
+-2.79231
11
-4.78715
+6.76166
21
--4.56693
+-2.79256
0
LINE
8
@@ -6113,13 +57983,13 @@ BLACK
6
CONTINUOUS
10
-4.78715
+6.76166
20
--4.56693
+-2.79256
11
-4.71522
+6.76178
21
--4.59896
+-2.7926
0
LINE
8
@@ -6127,13 +57997,13 @@ BLACK
6
CONTINUOUS
10
-4.71522
+6.76178
20
--4.59896
+-2.7926
11
-4.71341
+6.76185
21
--4.599
+-2.79271
0
LINE
8
@@ -6141,13 +58011,13 @@ BLACK
6
CONTINUOUS
10
-4.71341
+6.76185
20
--4.599
+-2.79271
11
-4.7121
+6.76215
21
--4.59776
+-2.79297
0
LINE
8
@@ -6155,13 +58025,13 @@ BLACK
6
CONTINUOUS
10
-4.7121
+6.76215
20
--4.59776
+-2.79297
11
-4.69401
+6.76241
21
--4.55712
+-2.79369
0
LINE
8
@@ -6169,13 +58039,13 @@ BLACK
6
CONTINUOUS
10
-4.69401
+6.76241
20
--4.55712
+-2.79369
11
-4.69396
+6.76279
21
--4.55531
+-2.79435
0
LINE
8
@@ -6183,13 +58053,13 @@ BLACK
6
CONTINUOUS
10
-4.69396
+6.76279
20
--4.55531
+-2.79435
11
-4.6952
+6.76275
21
--4.554
+-2.79461
0
LINE
8
@@ -6197,13 +58067,13 @@ BLACK
6
CONTINUOUS
10
-4.6952
+6.76275
20
--4.554
+-2.79461
11
-4.76714
+6.76284
21
--4.52197
+-2.79486
0
LINE
8
@@ -6211,13 +58081,13 @@ BLACK
6
CONTINUOUS
10
-4.76714
+6.76284
20
--4.52197
+-2.79486
11
-4.76894
+6.76258
21
--4.52192
+-2.79558
0
LINE
8
@@ -6225,13 +58095,13 @@ BLACK
6
CONTINUOUS
10
-4.76894
+6.76258
20
--4.52192
+-2.79558
11
-4.77025
+6.76244
21
--4.52317
+-2.79634
0
LINE
8
@@ -6239,13 +58109,13 @@ BLACK
6
CONTINUOUS
10
-4.69928
+6.76244
20
--4.55735
+-2.79634
11
-4.71546
+6.71677
21
--4.59368
+-2.87544
0
LINE
8
@@ -6253,13 +58123,13 @@ BLACK
6
CONTINUOUS
10
-4.71546
+6.71677
20
--4.59368
+-2.87544
11
-4.78307
+6.71652
21
--4.56357
+-2.87574
0
LINE
8
@@ -6267,13 +58137,13 @@ BLACK
6
CONTINUOUS
10
-4.78307
+6.71652
20
--4.56357
+-2.87574
11
-4.7669
+6.71648
21
--4.52725
+-2.87586
0
LINE
8
@@ -6281,13 +58151,13 @@ BLACK
6
CONTINUOUS
10
-4.7669
+6.71648
20
--4.52725
+-2.87586
11
-4.69928
+6.71636
21
--4.55735
+-2.87593
0
LINE
8
@@ -6295,13 +58165,13 @@ BLACK
6
CONTINUOUS
10
-4.72113
+6.71636
20
--4.39038
+-2.87593
11
-4.7223
+6.71611
21
--4.39176
+-2.87623
0
LINE
8
@@ -6309,13 +58179,13 @@ BLACK
6
CONTINUOUS
10
-4.7223
+6.71611
20
--4.39176
+-2.87623
11
-4.73605
+6.71539
21
--4.43407
+-2.87649
0
LINE
8
@@ -6323,13 +58193,13 @@ BLACK
6
CONTINUOUS
10
-4.73605
+6.71539
20
--4.43407
+-2.87649
11
-4.73591
+6.71473
21
--4.43587
+-2.87687
0
LINE
8
@@ -6337,13 +58207,13 @@ BLACK
6
CONTINUOUS
10
-4.73591
+6.71473
20
--4.43587
+-2.87687
11
-4.73454
+6.71447
21
--4.43705
+-2.87683
0
LINE
8
@@ -6351,13 +58221,13 @@ BLACK
6
CONTINUOUS
10
-4.73454
+6.71447
20
--4.43705
+-2.87683
11
-4.65965
+6.71422
21
--4.46138
+-2.87692
0
LINE
8
@@ -6365,13 +58235,13 @@ BLACK
6
CONTINUOUS
10
-4.65965
+6.71422
20
--4.46138
+-2.87692
11
-4.65785
+6.7135
21
--4.46124
+-2.87665
0
LINE
8
@@ -6379,13 +58249,13 @@ BLACK
6
CONTINUOUS
10
-4.65785
+6.7135
20
--4.46124
+-2.87665
11
-4.65667
+6.71274
21
--4.45986
+-2.87652
0
LINE
8
@@ -6393,13 +58263,13 @@ BLACK
6
CONTINUOUS
10
-4.65667
+6.71274
20
--4.45986
+-2.87652
11
-4.64293
+6.61659
21
--4.41755
+-2.82101
0
LINE
8
@@ -6407,13 +58277,13 @@ BLACK
6
CONTINUOUS
10
-4.64293
+6.61659
20
--4.41755
+-2.82101
11
-4.64307
+6.61629
21
--4.41575
+-2.82076
0
LINE
8
@@ -6421,13 +58291,13 @@ BLACK
6
CONTINUOUS
10
-4.64307
+6.61629
20
--4.41575
+-2.82076
11
-4.64444
+6.61617
21
--4.41457
+-2.82071
0
LINE
8
@@ -6435,13 +58305,13 @@ BLACK
6
CONTINUOUS
10
-4.64444
+6.61617
20
--4.41457
+-2.82071
11
-4.71933
+6.6161
21
--4.39024
+-2.8206
0
LINE
8
@@ -6449,13 +58319,13 @@ BLACK
6
CONTINUOUS
10
-4.71933
+6.6161
20
--4.39024
+-2.8206
11
-4.72113
+6.61581
21
--4.39038
+-2.82035
0
LINE
8
@@ -6463,13 +58333,13 @@ BLACK
6
CONTINUOUS
10
-4.64815
+6.61581
20
--4.41834
+-2.82035
11
-4.66044
+6.61554
21
--4.45616
+-2.81963
0
LINE
8
@@ -6477,13 +58347,13 @@ BLACK
6
CONTINUOUS
10
-4.66044
+6.61554
20
--4.45616
+-2.81963
11
-4.73083
+6.61516
21
--4.43328
+-2.81897
0
LINE
8
@@ -6491,13 +58361,13 @@ BLACK
6
CONTINUOUS
10
-4.73083
+6.61516
20
--4.43328
+-2.81897
11
-4.71854
+6.61521
21
--4.39547
+-2.8187
0
LINE
8
@@ -6505,13 +58375,13 @@ BLACK
6
CONTINUOUS
10
-4.71854
+6.61521
20
--4.39547
+-2.8187
11
-4.64815
+6.61511
21
--4.41834
+-2.81845
0
LINE
8
@@ -6519,13 +58389,13 @@ BLACK
6
CONTINUOUS
10
-7.26409
+6.61511
20
--4.43587
+-2.81845
11
-7.26395
+6.61538
21
--4.43407
+-2.81773
0
LINE
8
@@ -6533,13 +58403,13 @@ BLACK
6
CONTINUOUS
10
-7.26395
+6.61538
20
--4.43407
+-2.81773
11
-7.27769
+6.61551
21
--4.39176
+-2.81698
0
LINE
8
@@ -6547,13 +58417,13 @@ BLACK
6
CONTINUOUS
10
-7.27769
+6.61551
20
--4.39176
+-2.81698
11
-7.27887
+6.66118
21
--4.39038
+-2.73787
0
LINE
8
@@ -6561,13 +58431,13 @@ BLACK
6
CONTINUOUS
10
-7.27887
+6.66118
20
--4.39038
+-2.73787
11
-7.28067
+6.66143
21
--4.39024
+-2.73758
0
LINE
8
@@ -6575,13 +58445,13 @@ BLACK
6
CONTINUOUS
10
-7.28067
+6.66143
20
--4.39024
+-2.73758
11
-7.35556
+6.66147
21
--4.41457
+-2.73745
0
LINE
8
@@ -6589,13 +58459,13 @@ BLACK
6
CONTINUOUS
10
-7.35556
+6.66147
20
--4.41457
+-2.73745
11
-7.35693
+6.66159
21
--4.41575
+-2.73739
0
LINE
8
@@ -6603,13 +58473,13 @@ BLACK
6
CONTINUOUS
10
-7.35693
+6.66159
20
--4.41575
+-2.73739
11
-7.35707
+6.66184
21
--4.41755
+-2.73709
0
LINE
8
@@ -6617,13 +58487,13 @@ BLACK
6
CONTINUOUS
10
-7.35707
+6.66184
20
--4.41755
+-2.73709
11
-7.34333
+6.66256
21
--4.45986
+-2.73683
0
LINE
8
@@ -6631,13 +58501,13 @@ BLACK
6
CONTINUOUS
10
-7.34333
+6.66256
20
--4.45986
+-2.73683
11
-7.34215
+6.66322
21
--4.46124
+-2.73644
0
LINE
8
@@ -6645,13 +58515,13 @@ BLACK
6
CONTINUOUS
10
-7.34215
+6.66322
20
--4.46124
+-2.73644
11
-7.34035
+6.66349
21
--4.46138
+-2.73649
0
LINE
8
@@ -6659,13 +58529,13 @@ BLACK
6
CONTINUOUS
10
-7.34035
+6.66349
20
--4.46138
+-2.73649
11
-7.26546
+6.66374
21
--4.43705
+-2.7364
0
LINE
8
@@ -6673,13 +58543,13 @@ BLACK
6
CONTINUOUS
10
-7.26546
+6.66374
20
--4.43705
+-2.7364
11
-7.26409
+6.66446
21
--4.43587
+-2.73666
0
LINE
8
@@ -6687,13 +58557,13 @@ BLACK
6
CONTINUOUS
10
-7.26917
+6.6221
20
--4.43328
+-2.81737
11
-7.33956
+6.71314
21
--4.45616
+-2.86993
0
LINE
8
@@ -6701,13 +58571,13 @@ BLACK
6
CONTINUOUS
10
-7.33956
+6.71314
20
--4.45616
+-2.86993
11
-7.35185
+6.75585
21
--4.41834
+-2.79594
0
LINE
8
@@ -6715,13 +58585,13 @@ BLACK
6
CONTINUOUS
10
-7.35185
+6.75585
20
--4.41834
+-2.79594
11
-7.28146
+6.66482
21
--4.39547
+-2.74338
0
LINE
8
@@ -6729,13 +58599,13 @@ BLACK
6
CONTINUOUS
10
-7.28146
+6.66482
20
--4.39547
+-2.74338
11
-7.26917
+6.6221
21
--4.43328
+-2.81737
0
LINE
8
@@ -6743,13 +58613,13 @@ BLACK
6
CONTINUOUS
10
-4.68733
+6.68737
20
--4.25457
+-2.85392
11
-4.68835
+6.64885
21
--4.25606
+-2.83168
0
LINE
8
@@ -6757,13 +58627,13 @@ BLACK
6
CONTINUOUS
10
-4.68835
+6.64885
20
--4.25606
+-2.83168
11
-4.6976
+6.64775
21
--4.29957
+-2.83024
0
LINE
8
@@ -6771,13 +58641,13 @@ BLACK
6
CONTINUOUS
10
-4.6976
+6.64775
20
--4.29957
+-2.83024
11
-4.69727
+6.64798
21
--4.30135
+-2.82845
0
LINE
8
@@ -6785,13 +58655,13 @@ BLACK
6
CONTINUOUS
10
-4.69727
+6.64798
20
--4.30135
+-2.82845
11
-4.69578
+6.64798
21
--4.30238
+-2.82845
0
LINE
8
@@ -6799,13 +58669,13 @@ BLACK
6
CONTINUOUS
10
-4.69578
+6.64798
20
--4.30238
+-2.82845
11
-4.61877
+6.68735
21
--4.31875
+-2.76026
0
LINE
8
@@ -6813,13 +58683,13 @@ BLACK
6
CONTINUOUS
10
-4.61877
+6.68735
20
--4.31875
+-2.76026
11
-4.61699
+6.68879
21
--4.31842
+-2.75916
0
LINE
8
@@ -6827,13 +58697,13 @@ BLACK
6
CONTINUOUS
10
-4.61699
+6.68879
20
--4.31842
+-2.75916
11
-4.61596
+6.69058
21
--4.31693
+-2.75939
0
LINE
8
@@ -6841,13 +58711,13 @@ BLACK
6
CONTINUOUS
10
-4.61596
+6.69058
20
--4.31693
+-2.75939
11
-4.60671
+6.72911
21
--4.27341
+-2.78164
0
LINE
8
@@ -6855,13 +58725,13 @@ BLACK
6
CONTINUOUS
10
-4.60671
+6.72911
20
--4.27341
+-2.78164
11
-4.60704
+6.72977
21
--4.27163
+-2.7825
0
LINE
8
@@ -6869,13 +58739,13 @@ BLACK
6
CONTINUOUS
10
-4.60704
+6.72977
20
--4.27163
+-2.7825
11
-4.60853
+6.73021
21
--4.27061
+-2.78307
0
LINE
8
@@ -6883,13 +58753,13 @@ BLACK
6
CONTINUOUS
10
-4.60853
+6.73021
20
--4.27061
+-2.78307
11
-4.68555
+6.72997
21
--4.25424
+-2.78487
0
LINE
8
@@ -6897,13 +58767,13 @@ BLACK
6
CONTINUOUS
10
-4.68555
+6.72997
20
--4.25424
+-2.78487
11
-4.68555
+6.6906
21
--4.25424
+-2.85306
0
LINE
8
@@ -6911,13 +58781,13 @@ BLACK
6
CONTINUOUS
10
-4.68555
+6.6906
20
--4.25424
+-2.85306
11
-4.68733
+6.68917
21
--4.25457
+-2.85416
0
LINE
8
@@ -6925,13 +58795,13 @@ BLACK
6
CONTINUOUS
10
-4.61183
+6.68917
20
--4.27474
+-2.85416
11
-4.62009
+6.68737
21
--4.31363
+-2.85392
0
LINE
8
@@ -6939,13 +58809,13 @@ BLACK
6
CONTINUOUS
10
-4.62009
+6.68737
20
--4.31363
+-2.85392
11
-4.69249
+6.68737
21
--4.29825
+-2.85392
0
LINE
8
@@ -6953,13 +58823,13 @@ BLACK
6
CONTINUOUS
10
-4.69249
+6.65325
20
--4.29825
+-2.82877
11
-4.68422
+6.68769
21
--4.25935
+-2.84865
0
LINE
8
@@ -6967,13 +58837,13 @@ BLACK
6
CONTINUOUS
10
-4.68422
+6.68769
20
--4.25935
+-2.84865
11
-4.61183
+6.7247
21
--4.27474
+-2.78455
0
LINE
8
@@ -6981,13 +58851,13 @@ BLACK
6
CONTINUOUS
10
-7.30422
+6.7247
20
--4.30238
+-2.78455
11
-7.30273
+6.69026
21
--4.30135
+-2.76467
0
LINE
8
@@ -6995,13 +58865,13 @@ BLACK
6
CONTINUOUS
10
-7.30273
+6.69026
20
--4.30135
+-2.76467
11
-7.3024
+6.65325
21
--4.29957
+-2.82877
0
LINE
8
@@ -7009,13 +58879,13 @@ BLACK
6
CONTINUOUS
10
-7.3024
+5.33651
20
--4.29957
+-2.73658
11
-7.31165
+5.33727
21
--4.25606
+-2.73658
0
LINE
8
@@ -7023,13 +58893,13 @@ BLACK
6
CONTINUOUS
10
-7.31165
+5.33727
20
--4.25606
+-2.73658
11
-7.31165
+5.33748
21
--4.25606
+-2.73675
0
LINE
8
@@ -7037,13 +58907,13 @@ BLACK
6
CONTINUOUS
10
-7.31165
+5.33748
20
--4.25606
+-2.73675
11
-7.31267
+5.33774
21
--4.25457
+-2.73679
0
LINE
8
@@ -7051,13 +58921,13 @@ BLACK
6
CONTINUOUS
10
-7.31267
+5.33774
20
--4.25457
+-2.73679
11
-7.31445
+5.33823
21
--4.25424
+-2.73738
0
LINE
8
@@ -7065,13 +58935,13 @@ BLACK
6
CONTINUOUS
10
-7.31445
+5.33823
20
--4.25424
+-2.73738
11
-7.39147
+5.33882
21
--4.27061
+-2.73787
0
LINE
8
@@ -7079,13 +58949,13 @@ BLACK
6
CONTINUOUS
10
-7.39147
+5.33882
20
--4.27061
+-2.73787
11
-7.39296
+5.38449
21
--4.27163
+-2.81698
0
LINE
8
@@ -7093,13 +58963,13 @@ BLACK
6
CONTINUOUS
10
-7.39296
+5.38449
20
--4.27163
+-2.81698
11
-7.39329
+5.38462
21
--4.27341
+-2.81734
0
LINE
8
@@ -7107,13 +58977,13 @@ BLACK
6
CONTINUOUS
10
-7.39329
+5.38462
20
--4.27341
+-2.81734
11
-7.38404
+5.38471
21
--4.31693
+-2.81744
0
LINE
8
@@ -7121,13 +58991,13 @@ BLACK
6
CONTINUOUS
10
-7.38404
+5.38471
20
--4.31693
+-2.81744
11
-7.38301
+5.38471
21
--4.31842
+-2.81757
0
LINE
8
@@ -7135,13 +59005,13 @@ BLACK
6
CONTINUOUS
10
-7.38301
+5.38471
20
--4.31842
+-2.81757
11
-7.38124
+5.38484
21
--4.31875
+-2.81794
0
LINE
8
@@ -7149,13 +59019,13 @@ BLACK
6
CONTINUOUS
10
-7.38124
+5.38484
20
--4.31875
+-2.81794
11
-7.38123
+5.38471
21
--4.31875
+-2.8187
0
LINE
8
@@ -7163,13 +59033,13 @@ BLACK
6
CONTINUOUS
10
-7.38123
+5.38471
20
--4.31875
+-2.8187
11
-7.30422
+5.38471
21
--4.30238
+-2.81946
0
LINE
8
@@ -7177,13 +59047,13 @@ BLACK
6
CONTINUOUS
10
-7.30751
+5.38471
20
--4.29825
+-2.81946
11
-7.37991
+5.38454
21
--4.31363
+-2.81967
0
LINE
8
@@ -7191,13 +59061,13 @@ BLACK
6
CONTINUOUS
10
-7.37991
+5.38454
20
--4.31363
+-2.81967
11
-7.38817
+5.38449
21
--4.27474
+-2.81993
0
LINE
8
@@ -7205,13 +59075,13 @@ BLACK
6
CONTINUOUS
10
-7.38817
+5.38449
20
--4.27474
+-2.81993
11
-7.31578
+5.3839
21
--4.25935
+-2.82042
0
LINE
8
@@ -7219,13 +59089,13 @@ BLACK
6
CONTINUOUS
10
-7.31578
+5.3839
20
--4.25935
+-2.82042
11
-7.30751
+5.38341
21
--4.29825
+-2.82101
0
LINE
8
@@ -7233,13 +59103,13 @@ BLACK
6
CONTINUOUS
10
-6.48858
+5.38341
20
--3.57008
+-2.82101
11
-6.48858
+5.28726
21
--4.29843
+-2.87652
0
LINE
8
@@ -7247,13 +59117,13 @@ BLACK
6
CONTINUOUS
10
-6.48858
+5.28726
20
--4.29843
+-2.87652
11
-6.48789
+5.28689
21
--4.3001
+-2.87665
0
LINE
8
@@ -7261,13 +59131,13 @@ BLACK
6
CONTINUOUS
10
-6.48789
+5.28689
20
--4.3001
+-2.87665
11
-6.48622
+5.28679
21
--4.30079
+-2.87674
0
LINE
8
@@ -7275,13 +59145,13 @@ BLACK
6
CONTINUOUS
10
-6.48622
+5.28679
20
--4.30079
+-2.87674
11
-5.51378
+5.28666
21
--4.30079
+-2.87674
0
LINE
8
@@ -7289,13 +59159,13 @@ BLACK
6
CONTINUOUS
10
-5.51378
+5.28666
20
--4.30079
+-2.87674
11
-5.51211
+5.2863
21
--4.3001
+-2.87687
0
LINE
8
@@ -7303,13 +59173,13 @@ BLACK
6
CONTINUOUS
10
-5.51211
+5.2863
20
--4.3001
+-2.87687
11
-5.51142
+5.28554
21
--4.29843
+-2.87674
0
LINE
8
@@ -7317,13 +59187,13 @@ BLACK
6
CONTINUOUS
10
-5.51142
+5.28554
20
--4.29843
+-2.87674
11
-5.51142
+5.28477
21
--3.57008
+-2.87674
0
LINE
8
@@ -7331,13 +59201,13 @@ BLACK
6
CONTINUOUS
10
-5.51142
+5.28477
20
--3.57008
+-2.87674
11
-5.51211
+5.28457
21
--3.56841
+-2.87657
0
LINE
8
@@ -7345,13 +59215,13 @@ BLACK
6
CONTINUOUS
10
-5.51211
+5.28457
20
--3.56841
+-2.87657
11
-5.51378
+5.28431
21
--3.56772
+-2.87652
0
LINE
8
@@ -7359,13 +59229,13 @@ BLACK
6
CONTINUOUS
10
-5.51378
+5.28431
20
--3.56772
+-2.87652
11
-5.74764
+5.28381
21
--3.56772
+-2.87593
0
LINE
8
@@ -7373,13 +59243,13 @@ BLACK
6
CONTINUOUS
10
-5.74764
+5.28381
20
--3.56772
+-2.87593
11
-5.74764
+5.28323
21
--3.38307
+-2.87544
0
LINE
8
@@ -7387,13 +59257,13 @@ BLACK
6
CONTINUOUS
10
-5.74764
+5.28323
20
--3.38307
+-2.87544
11
-5.74833
+5.23756
21
--3.3814
+-2.79634
0
LINE
8
@@ -7401,13 +59271,13 @@ BLACK
6
CONTINUOUS
10
-5.74833
+5.23756
20
--3.3814
+-2.79634
11
-5.75
+5.23742
21
--3.38071
+-2.79597
0
LINE
8
@@ -7415,13 +59285,13 @@ BLACK
6
CONTINUOUS
10
-5.75
+5.23742
20
--3.38071
+-2.79597
11
-6.25
+5.23734
21
--3.38071
+-2.79587
0
LINE
8
@@ -7429,13 +59299,13 @@ BLACK
6
CONTINUOUS
10
-6.25
+5.23734
20
--3.38071
+-2.79587
11
-6.25167
+5.23734
21
--3.3814
+-2.79574
0
LINE
8
@@ -7443,13 +59313,13 @@ BLACK
6
CONTINUOUS
10
-6.25167
+5.23734
20
--3.3814
+-2.79574
11
-6.25236
+5.23721
21
--3.38307
+-2.79538
0
LINE
8
@@ -7457,13 +59327,13 @@ BLACK
6
CONTINUOUS
10
-6.25236
+5.23721
20
--3.38307
+-2.79538
11
-6.25236
+5.23734
21
--3.56772
+-2.79462
0
LINE
8
@@ -7471,13 +59341,13 @@ BLACK
6
CONTINUOUS
10
-6.25236
+5.23734
20
--3.56772
+-2.79462
11
-6.48622
+5.23734
21
--3.56772
+-2.79385
0
LINE
8
@@ -7485,13 +59355,13 @@ BLACK
6
CONTINUOUS
10
-6.48622
+5.23734
20
--3.56772
+-2.79385
11
-6.48789
+5.23751
21
--3.56841
+-2.79365
0
LINE
8
@@ -7499,13 +59369,13 @@ BLACK
6
CONTINUOUS
10
-6.48789
+5.23751
20
--3.56841
+-2.79365
11
-6.48858
+5.23756
21
--3.57008
+-2.79339
0
LINE
8
@@ -7513,13 +59383,13 @@ BLACK
6
CONTINUOUS
10
-5.51614
+5.23756
20
--4.29606
+-2.79339
11
-6.48386
+5.23814
21
--4.29606
+-2.79289
0
LINE
8
@@ -7527,13 +59397,13 @@ BLACK
6
CONTINUOUS
10
-6.48386
+5.23814
20
--4.29606
+-2.79289
11
-6.48386
+5.23864
21
--3.57244
+-2.79231
0
LINE
8
@@ -7541,13 +59411,13 @@ BLACK
6
CONTINUOUS
10
-6.48386
+5.23864
20
--3.57244
+-2.79231
11
-6.25
+5.33479
21
--3.57244
+-2.73679
0
LINE
8
@@ -7555,13 +59425,13 @@ BLACK
6
CONTINUOUS
10
-6.25
+5.33479
20
--3.57244
+-2.73679
11
-6.24833
+5.33515
21
--3.57175
+-2.73666
0
LINE
8
@@ -7569,13 +59439,13 @@ BLACK
6
CONTINUOUS
10
-6.24833
+5.33515
20
--3.57175
+-2.73666
11
-6.24764
+5.33525
21
--3.57008
+-2.73658
0
LINE
8
@@ -7583,13 +59453,13 @@ BLACK
6
CONTINUOUS
10
-6.24764
+5.33525
20
--3.57008
+-2.73658
11
-6.24764
+5.33538
21
--3.38543
+-2.73658
0
LINE
8
@@ -7597,13 +59467,13 @@ BLACK
6
CONTINUOUS
10
-6.24764
+5.33538
20
--3.38543
+-2.73658
11
-5.75236
+5.33575
21
--3.38543
+-2.73644
0
LINE
8
@@ -7611,13 +59481,13 @@ BLACK
6
CONTINUOUS
10
-5.75236
+5.33575
20
--3.38543
+-2.73644
11
-5.75236
+5.33651
21
--3.57008
+-2.73658
0
LINE
8
@@ -7625,13 +59495,13 @@ BLACK
6
CONTINUOUS
10
-5.75236
+5.24415
20
--3.57008
+-2.79594
11
-5.75167
+5.28686
21
--3.57175
+-2.86993
0
LINE
8
@@ -7639,13 +59509,13 @@ BLACK
6
CONTINUOUS
10
-5.75167
+5.28686
20
--3.57175
+-2.86993
11
-5.75
+5.3779
21
--3.57244
+-2.81737
0
LINE
8
@@ -7653,13 +59523,13 @@ BLACK
6
CONTINUOUS
10
-5.75
+5.3779
20
--3.57244
+-2.81737
11
-5.51614
+5.33518
21
--3.57244
+-2.74338
0
LINE
8
@@ -7667,13 +59537,13 @@ BLACK
6
CONTINUOUS
10
-5.51614
+5.33518
20
--3.57244
+-2.74338
11
-5.51614
+5.24415
21
--4.29606
+-2.79594
0
LINE
8
@@ -7681,13 +59551,13 @@ BLACK
6
CONTINUOUS
10
-4.66791
+5.31265
20
--4.11596
+-2.76026
11
-4.66877
+5.35202
21
--4.11755
+-2.82845
0
LINE
8
@@ -7695,13 +59565,13 @@ BLACK
6
CONTINUOUS
10
-4.66877
+5.35202
20
--4.11755
+-2.82845
11
-4.67342
+5.35225
21
--4.1618
+-2.83024
0
LINE
8
@@ -7709,13 +59579,13 @@ BLACK
6
CONTINUOUS
10
-4.67342
+5.35225
20
--4.1618
+-2.83024
11
-4.67291
+5.35115
21
--4.16353
+-2.83168
0
LINE
8
@@ -7723,13 +59593,13 @@ BLACK
6
CONTINUOUS
10
-4.67291
+5.35115
20
--4.16353
+-2.83168
11
-4.67132
+5.31263
21
--4.16439
+-2.85392
0
LINE
8
@@ -7737,13 +59607,13 @@ BLACK
6
CONTINUOUS
10
-4.67132
+5.31263
20
--4.16439
+-2.85392
11
-4.67132
+5.31083
21
--4.16439
+-2.85416
0
LINE
8
@@ -7751,13 +59621,13 @@ BLACK
6
CONTINUOUS
10
-4.67132
+5.31083
20
--4.16439
+-2.85416
11
-4.59301
+5.3094
21
--4.17262
+-2.85306
0
LINE
8
@@ -7765,13 +59635,13 @@ BLACK
6
CONTINUOUS
10
-4.59301
+5.3094
20
--4.17262
+-2.85306
11
-4.59128
+5.3094
21
--4.17211
+-2.85306
0
LINE
8
@@ -7779,13 +59649,13 @@ BLACK
6
CONTINUOUS
10
-4.59128
+5.3094
20
--4.17211
+-2.85306
11
-4.59042
+5.27003
21
--4.17052
+-2.78487
0
LINE
8
@@ -7793,13 +59663,13 @@ BLACK
6
CONTINUOUS
10
-4.59042
+5.27003
20
--4.17052
+-2.78487
11
-4.59042
+5.26979
21
--4.17052
+-2.78307
0
LINE
8
@@ -7807,13 +59677,13 @@ BLACK
6
CONTINUOUS
10
-4.59042
+5.26979
20
--4.17052
+-2.78307
11
-4.58577
+5.27089
21
--4.12628
+-2.78164
0
LINE
8
@@ -7821,13 +59691,13 @@ BLACK
6
CONTINUOUS
10
-4.58577
+5.27089
20
--4.12628
+-2.78164
11
-4.58628
+5.30942
21
--4.12454
+-2.75939
0
LINE
8
@@ -7835,13 +59705,13 @@ BLACK
6
CONTINUOUS
10
-4.58628
+5.30942
20
--4.12454
+-2.75939
11
-4.58787
+5.30942
21
--4.12368
+-2.75939
0
LINE
8
@@ -7849,13 +59719,13 @@ BLACK
6
CONTINUOUS
10
-4.58787
+5.30942
20
--4.12368
+-2.75939
11
-4.66618
+5.31121
21
--4.11545
+-2.75916
0
LINE
8
@@ -7863,13 +59733,13 @@ BLACK
6
CONTINUOUS
10
-4.66618
+5.31121
20
--4.11545
+-2.75916
11
-4.66791
+5.31265
21
--4.11596
+-2.76026
0
LINE
8
@@ -7877,13 +59747,13 @@ BLACK
6
CONTINUOUS
10
-4.59071
+5.2753
20
--4.12813
+-2.78455
11
-4.59487
+5.31231
21
--4.16768
+-2.84865
0
LINE
8
@@ -7891,13 +59761,13 @@ BLACK
6
CONTINUOUS
10
-4.59487
+5.31231
20
--4.16768
+-2.84865
11
-4.66848
+5.34675
21
--4.15994
+-2.82877
0
LINE
8
@@ -7905,13 +59775,13 @@ BLACK
6
CONTINUOUS
10
-4.66848
+5.34675
20
--4.15994
+-2.82877
11
-4.66432
+5.30974
21
--4.12039
+-2.76467
0
LINE
8
@@ -7919,13 +59789,13 @@ BLACK
6
CONTINUOUS
10
-4.66432
+5.30974
20
--4.12039
+-2.76467
11
-4.59071
+5.2753
21
--4.12813
+-2.78455
0
LINE
8
@@ -7933,13 +59803,13 @@ BLACK
6
CONTINUOUS
10
-7.41213
+5.4722
20
--4.12368
+-2.67414
11
-7.41213
+5.47297
21
--4.12368
+-2.67422
0
LINE
8
@@ -7947,13 +59817,13 @@ BLACK
6
CONTINUOUS
10
-7.41213
+5.47297
20
--4.12368
+-2.67422
11
-7.41372
+5.47315
21
--4.12454
+-2.67442
0
LINE
8
@@ -7961,13 +59831,13 @@ BLACK
6
CONTINUOUS
10
-7.41372
+5.47315
20
--4.12454
+-2.67442
11
-7.41423
+5.47341
21
--4.12628
+-2.67449
0
LINE
8
@@ -7975,13 +59845,13 @@ BLACK
6
CONTINUOUS
10
-7.41423
+5.47341
20
--4.12628
+-2.67449
11
-7.40958
+5.47384
21
--4.17052
+-2.67513
0
LINE
8
@@ -7989,13 +59859,13 @@ BLACK
6
CONTINUOUS
10
-7.40958
+5.47384
20
--4.17052
+-2.67513
11
-7.40872
+5.47437
21
--4.17211
+-2.67568
0
LINE
8
@@ -8003,13 +59873,13 @@ BLACK
6
CONTINUOUS
10
-7.40872
+5.47437
20
--4.17211
+-2.67568
11
-7.40699
+5.51152
21
--4.17262
+-2.75912
0
LINE
8
@@ -8017,13 +59887,13 @@ BLACK
6
CONTINUOUS
10
-7.40699
+5.51152
20
--4.17262
+-2.75912
11
-7.32868
+5.51162
21
--4.16439
+-2.7595
0
LINE
8
@@ -8031,13 +59901,13 @@ BLACK
6
CONTINUOUS
10
-7.32868
+5.51162
20
--4.16439
+-2.7595
11
-7.32709
+5.51169
21
--4.16353
+-2.75961
0
LINE
8
@@ -8045,13 +59915,13 @@ BLACK
6
CONTINUOUS
10
-7.32709
+5.51169
20
--4.16353
+-2.75961
11
-7.32658
+5.51168
21
--4.1618
+-2.75974
0
LINE
8
@@ -8059,13 +59929,13 @@ BLACK
6
CONTINUOUS
10
-7.32658
+5.51168
20
--4.1618
+-2.75974
11
-7.33123
+5.51177
21
--4.11755
+-2.76011
0
LINE
8
@@ -8073,13 +59943,13 @@ BLACK
6
CONTINUOUS
10
-7.33123
+5.51177
20
--4.11755
+-2.76011
11
-7.33123
+5.51156
21
--4.11755
+-2.76085
0
LINE
8
@@ -8087,13 +59957,13 @@ BLACK
6
CONTINUOUS
10
-7.33123
+5.51156
20
--4.11755
+-2.76085
11
-7.33209
+5.51148
21
--4.11596
+-2.76161
0
LINE
8
@@ -8101,13 +59971,13 @@ BLACK
6
CONTINUOUS
10
-7.33209
+5.51148
20
--4.11596
+-2.76161
11
-7.33382
+5.51129
21
--4.11545
+-2.7618
0
LINE
8
@@ -8115,13 +59985,13 @@ BLACK
6
CONTINUOUS
10
-7.33382
+5.51129
20
--4.11545
+-2.7618
11
-7.41213
+5.51121
21
--4.12368
+-2.76206
0
LINE
8
@@ -8129,13 +59999,13 @@ BLACK
6
CONTINUOUS
10
-7.33152
+5.51121
20
--4.15994
+-2.76206
11
-7.40513
+5.51058
21
--4.16768
+-2.76248
0
LINE
8
@@ -8143,13 +60013,13 @@ BLACK
6
CONTINUOUS
10
-7.40513
+5.51058
20
--4.16768
+-2.76248
11
-7.40929
+5.51003
21
--4.12813
+-2.76302
0
LINE
8
@@ -8157,13 +60027,13 @@ BLACK
6
CONTINUOUS
10
-7.40929
+5.51003
20
--4.12813
+-2.76302
11
-7.33568
+5.4086
21
--4.12039
+-2.80817
0
LINE
8
@@ -8171,13 +60041,13 @@ BLACK
6
CONTINUOUS
10
-7.33568
+5.4086
20
--4.12039
+-2.80817
11
-7.33152
+5.40822
21
--4.15994
+-2.80827
0
LINE
8
@@ -8185,13 +60055,13 @@ BLACK
6
CONTINUOUS
10
-7.33691
+5.40822
20
--4.02391
+-2.80827
11
-7.33622
+5.40811
21
--4.02224
+-2.80834
0
LINE
8
@@ -8199,13 +60069,13 @@ BLACK
6
CONTINUOUS
10
-7.33622
+5.40811
20
--4.02224
+-2.80834
11
-7.33622
+5.40798
21
--3.97776
+-2.80833
0
LINE
8
@@ -8213,13 +60083,13 @@ BLACK
6
CONTINUOUS
10
-7.33622
+5.40798
20
--3.97776
+-2.80833
11
-7.33691
+5.4076
21
--3.97609
+-2.80842
0
LINE
8
@@ -8227,13 +60097,13 @@ BLACK
6
CONTINUOUS
10
-7.33691
+5.4076
20
--3.97609
+-2.80842
11
-7.33858
+5.40687
21
--3.97539
+-2.80821
0
LINE
8
@@ -8241,13 +60111,13 @@ BLACK
6
CONTINUOUS
10
-7.33858
+5.40687
20
--3.97539
+-2.80821
11
-7.41732
+5.4061
21
--3.97539
+-2.80813
0
LINE
8
@@ -8255,13 +60125,13 @@ BLACK
6
CONTINUOUS
10
-7.41732
+5.4061
20
--3.97539
+-2.80813
11
-7.41899
+5.40592
21
--3.97609
+-2.80794
0
LINE
8
@@ -8269,13 +60139,13 @@ BLACK
6
CONTINUOUS
10
-7.41899
+5.40592
20
--3.97609
+-2.80794
11
-7.41969
+5.40566
21
--3.97776
+-2.80787
0
LINE
8
@@ -8283,13 +60153,13 @@ BLACK
6
CONTINUOUS
10
-7.41969
+5.40566
20
--3.97776
+-2.80787
11
-7.41969
+5.40523
21
--4.02224
+-2.80723
0
LINE
8
@@ -8297,13 +60167,13 @@ BLACK
6
CONTINUOUS
10
-7.41969
+5.40523
20
--4.02224
+-2.80723
11
-7.41899
+5.4047
21
--4.02391
+-2.80668
0
LINE
8
@@ -8311,13 +60181,13 @@ BLACK
6
CONTINUOUS
10
-7.41899
+5.4047
20
--4.02391
+-2.80668
11
-7.41732
+5.36755
21
--4.02461
+-2.72324
0
LINE
8
@@ -8325,13 +60195,13 @@ BLACK
6
CONTINUOUS
10
-7.41732
+5.36755
20
--4.02461
+-2.72324
11
-7.33858
+5.36746
21
--4.02461
+-2.72286
0
LINE
8
@@ -8339,13 +60209,13 @@ BLACK
6
CONTINUOUS
10
-7.33858
+5.36746
20
--4.02461
+-2.72286
11
-7.33691
+5.36738
21
--4.02391
+-2.72275
0
LINE
8
@@ -8353,13 +60223,13 @@ BLACK
6
CONTINUOUS
10
-7.34094
+5.36738
20
--3.98012
+-2.72275
11
-7.34094
+5.3674
21
--4.01988
+-2.72262
0
LINE
8
@@ -8367,13 +60237,13 @@ BLACK
6
CONTINUOUS
10
-7.34094
+5.3674
20
--4.01988
+-2.72262
11
-7.41496
+5.3673
21
--4.01988
+-2.72224
0
LINE
8
@@ -8381,13 +60251,13 @@ BLACK
6
CONTINUOUS
10
-7.41496
+5.3673
20
--4.01988
+-2.72224
11
-7.41496
+5.36751
21
--3.98012
+-2.7215
0
LINE
8
@@ -8395,13 +60265,13 @@ BLACK
6
CONTINUOUS
10
-7.41496
+5.36751
20
--3.98012
+-2.7215
11
-7.34094
+5.36759
21
--3.98012
+-2.72074
0
LINE
8
@@ -8409,13 +60279,13 @@ BLACK
6
CONTINUOUS
10
-4.58101
+5.36759
20
--4.02391
+-2.72074
11
-4.58031
+5.36779
21
--4.02224
+-2.72056
0
LINE
8
@@ -8423,13 +60293,13 @@ BLACK
6
CONTINUOUS
10
-4.58031
+5.36779
20
--4.02224
+-2.72056
11
-4.58031
+5.36786
21
--3.97776
+-2.7203
0
LINE
8
@@ -8437,13 +60307,13 @@ BLACK
6
CONTINUOUS
10
-4.58031
+5.36786
20
--3.97776
+-2.7203
11
-4.58101
+5.3685
21
--3.97609
+-2.71987
0
LINE
8
@@ -8451,13 +60321,13 @@ BLACK
6
CONTINUOUS
10
-4.58101
+5.3685
20
--3.97609
+-2.71987
11
-4.58268
+5.36905
21
--3.97539
+-2.71934
0
LINE
8
@@ -8465,13 +60335,13 @@ BLACK
6
CONTINUOUS
10
-4.58268
+5.36905
20
--3.97539
+-2.71934
11
-4.66142
+5.47047
21
--3.97539
+-2.67418
0
LINE
8
@@ -8479,13 +60349,13 @@ BLACK
6
CONTINUOUS
10
-4.66142
+5.47047
20
--3.97539
+-2.67418
11
-4.66309
+5.47085
21
--3.97609
+-2.67409
0
LINE
8
@@ -8493,13 +60363,13 @@ BLACK
6
CONTINUOUS
10
-4.66309
+5.47085
20
--3.97609
+-2.67409
11
-4.66378
+5.47096
21
--3.97776
+-2.67401
0
LINE
8
@@ -8507,13 +60377,13 @@ BLACK
6
CONTINUOUS
10
-4.66378
+5.47096
20
--3.97776
+-2.67401
11
-4.66378
+5.47109
21
--4.02224
+-2.67403
0
LINE
8
@@ -8521,13 +60391,13 @@ BLACK
6
CONTINUOUS
10
-4.66378
+5.47109
20
--4.02224
+-2.67403
11
-4.66309
+5.47147
21
--4.02391
+-2.67393
0
LINE
8
@@ -8535,13 +60405,13 @@ BLACK
6
CONTINUOUS
10
-4.66309
+5.47147
20
--4.02391
+-2.67393
11
-4.66142
+5.4722
21
--4.02461
+-2.67414
0
LINE
8
@@ -8549,13 +60419,13 @@ BLACK
6
CONTINUOUS
10
-4.66142
+5.37415
20
--4.02461
+-2.72353
11
-4.58268
+5.4089
21
--4.02461
+-2.80158
0
LINE
8
@@ -8563,13 +60433,13 @@ BLACK
6
CONTINUOUS
10
-4.58268
+5.4089
20
--4.02461
+-2.80158
11
-4.58101
+5.50493
21
--4.02391
+-2.75882
0
LINE
8
@@ -8577,13 +60447,13 @@ BLACK
6
CONTINUOUS
10
-4.58504
+5.50493
20
--3.98012
+-2.75882
11
-4.58504
+5.47018
21
--4.01988
+-2.68078
0
LINE
8
@@ -8591,13 +60461,13 @@ BLACK
6
CONTINUOUS
10
-4.58504
+5.47018
20
--4.01988
+-2.68078
11
-4.65906
+5.37415
21
--4.01988
+-2.72353
0
LINE
8
@@ -8605,13 +60475,13 @@ BLACK
6
CONTINUOUS
10
-4.65906
+5.446
20
--4.01988
+-2.6952
11
-4.65906
+5.47803
21
--3.98012
+-2.76714
0
LINE
8
@@ -8619,13 +60489,13 @@ BLACK
6
CONTINUOUS
10
-4.65906
+5.47803
20
--3.98012
+-2.76714
11
-4.58504
+5.47808
21
--3.98012
+-2.76894
0
LINE
8
@@ -8633,13 +60503,13 @@ BLACK
6
CONTINUOUS
10
-4.67132
+5.47808
20
--3.83561
+-2.76894
11
-4.67132
+5.47683
21
--3.83561
+-2.77025
0
LINE
8
@@ -8647,13 +60517,13 @@ BLACK
6
CONTINUOUS
10
-4.67132
+5.47683
20
--3.83561
+-2.77025
11
-4.67291
+5.43619
21
--3.83647
+-2.78835
0
LINE
8
@@ -8661,13 +60531,13 @@ BLACK
6
CONTINUOUS
10
-4.67291
+5.43619
20
--3.83647
+-2.78835
11
-4.67342
+5.43438
21
--3.8382
+-2.7884
0
LINE
8
@@ -8675,13 +60545,13 @@ BLACK
6
CONTINUOUS
10
-4.67342
+5.43438
20
--3.8382
+-2.7884
11
-4.66877
+5.43307
21
--3.88245
+-2.78715
0
LINE
8
@@ -8689,13 +60559,13 @@ BLACK
6
CONTINUOUS
10
-4.66877
+5.43307
20
--3.88245
+-2.78715
11
-4.66791
+5.40104
21
--3.88404
+-2.71522
0
LINE
8
@@ -8703,13 +60573,13 @@ BLACK
6
CONTINUOUS
10
-4.66791
+5.40104
20
--3.88404
+-2.71522
11
-4.66618
+5.401
21
--3.88455
+-2.71341
0
LINE
8
@@ -8717,13 +60587,13 @@ BLACK
6
CONTINUOUS
10
-4.66618
+5.401
20
--3.88455
+-2.71341
11
-4.58787
+5.40224
21
--3.87632
+-2.7121
0
LINE
8
@@ -8731,13 +60601,13 @@ BLACK
6
CONTINUOUS
10
-4.58787
+5.40224
20
--3.87632
+-2.7121
11
-4.58628
+5.44288
21
--3.87546
+-2.69401
0
LINE
8
@@ -8745,13 +60615,13 @@ BLACK
6
CONTINUOUS
10
-4.58628
+5.44288
20
--3.87546
+-2.69401
11
-4.58577
+5.44469
21
--3.87372
+-2.69396
0
LINE
8
@@ -8759,13 +60629,13 @@ BLACK
6
CONTINUOUS
10
-4.58577
+5.44469
20
--3.87372
+-2.69396
11
-4.59042
+5.446
21
--3.82948
+-2.6952
0
LINE
8
@@ -8773,13 +60643,13 @@ BLACK
6
CONTINUOUS
10
-4.59042
+5.40632
20
--3.82948
+-2.71546
11
-4.59042
+5.43643
21
--3.82948
+-2.78307
0
LINE
8
@@ -8787,13 +60657,13 @@ BLACK
6
CONTINUOUS
10
-4.59042
+5.43643
20
--3.82948
+-2.78307
11
-4.59128
+5.47275
21
--3.82789
+-2.7669
0
LINE
8
@@ -8801,13 +60671,13 @@ BLACK
6
CONTINUOUS
10
-4.59128
+5.47275
20
--3.82789
+-2.7669
11
-4.59301
+5.44265
21
--3.82738
+-2.69928
0
LINE
8
@@ -8815,13 +60685,13 @@ BLACK
6
CONTINUOUS
10
-4.59301
+5.44265
20
--3.82738
+-2.69928
11
-4.67132
+5.40632
21
--3.83561
+-2.71546
0
LINE
8
@@ -8829,13 +60699,13 @@ BLACK
6
CONTINUOUS
10
-4.59071
+6.52876
20
--3.87187
+-2.67413
11
-4.66432
+6.52953
21
--3.87961
+-2.67418
0
LINE
8
@@ -8843,13 +60713,13 @@ BLACK
6
CONTINUOUS
10
-4.66432
+6.52953
20
--3.87961
+-2.67418
11
-4.66848
+6.63095
21
--3.84006
+-2.71934
0
LINE
8
@@ -8857,13 +60727,13 @@ BLACK
6
CONTINUOUS
10
-4.66848
+6.63095
20
--3.84006
+-2.71934
11
-4.59487
+6.63128
21
--3.83232
+-2.71956
0
LINE
8
@@ -8871,13 +60741,13 @@ BLACK
6
CONTINUOUS
10
-4.59487
+6.63128
20
--3.83232
+-2.71956
11
-4.59071
+6.6314
21
--3.87187
+-2.71959
0
LINE
8
@@ -8885,13 +60755,13 @@ BLACK
6
CONTINUOUS
10
-7.40872
+6.6314
20
--3.82789
+-2.71959
11
-7.40958
+6.63148
21
--3.82948
+-2.71969
0
LINE
8
@@ -8899,13 +60769,13 @@ BLACK
6
CONTINUOUS
10
-7.40958
+6.63148
20
--3.82948
+-2.71969
11
-7.41423
+6.6318
21
--3.87372
+-2.71991
0
LINE
8
@@ -8913,13 +60783,13 @@ BLACK
6
CONTINUOUS
10
-7.41423
+6.6318
20
--3.87372
+-2.71991
11
-7.41372
+6.63214
21
--3.87546
+-2.7206
0
LINE
8
@@ -8927,13 +60797,13 @@ BLACK
6
CONTINUOUS
10
-7.41372
+6.63214
20
--3.87546
+-2.7206
11
-7.41213
+6.63259
21
--3.87632
+-2.72122
0
LINE
8
@@ -8941,13 +60811,13 @@ BLACK
6
CONTINUOUS
10
-7.41213
+6.63259
20
--3.87632
+-2.72122
11
-7.41213
+6.63257
21
--3.87632
+-2.72149
0
LINE
8
@@ -8955,13 +60825,13 @@ BLACK
6
CONTINUOUS
10
-7.41213
+6.63257
20
--3.87632
+-2.72149
11
-7.33382
+6.63269
21
--3.88455
+-2.72173
0
LINE
8
@@ -8969,13 +60839,13 @@ BLACK
6
CONTINUOUS
10
-7.33382
+6.63269
20
--3.88455
+-2.72173
11
-7.33209
+6.6325
21
--3.88404
+-2.72247
0
LINE
8
@@ -8983,13 +60853,13 @@ BLACK
6
CONTINUOUS
10
-7.33209
+6.6325
20
--3.88404
+-2.72247
11
-7.33123
+6.63245
21
--3.88245
+-2.72324
0
LINE
8
@@ -8997,13 +60867,13 @@ BLACK
6
CONTINUOUS
10
-7.33123
+6.63245
20
--3.88245
+-2.72324
11
-7.33123
+6.5953
21
--3.88245
+-2.80668
0
LINE
8
@@ -9011,13 +60881,13 @@ BLACK
6
CONTINUOUS
10
-7.33123
+6.5953
20
--3.88245
+-2.80668
11
-7.32658
+6.59508
21
--3.8382
+-2.807
0
LINE
8
@@ -9025,13 +60895,13 @@ BLACK
6
CONTINUOUS
10
-7.32658
+6.59508
20
--3.8382
+-2.807
11
-7.32709
+6.59505
21
--3.83647
+-2.80713
0
LINE
8
@@ -9039,13 +60909,13 @@ BLACK
6
CONTINUOUS
10
-7.32709
+6.59505
20
--3.83647
+-2.80713
11
-7.32868
+6.59494
21
--3.83561
+-2.80721
0
LINE
8
@@ -9053,13 +60923,13 @@ BLACK
6
CONTINUOUS
10
-7.32868
+6.59494
20
--3.83561
+-2.80721
11
-7.40699
+6.59473
21
--3.82738
+-2.80753
0
LINE
8
@@ -9067,13 +60937,13 @@ BLACK
6
CONTINUOUS
10
-7.40699
+6.59473
20
--3.82738
+-2.80753
11
-7.40872
+6.59404
21
--3.82789
+-2.80786
0
LINE
8
@@ -9081,13 +60951,13 @@ BLACK
6
CONTINUOUS
10
-7.33152
+6.59404
20
--3.84006
+-2.80786
11
-7.33568
+6.59341
21
--3.87961
+-2.80832
0
LINE
8
@@ -9095,13 +60965,13 @@ BLACK
6
CONTINUOUS
10
-7.33568
+6.59341
20
--3.87961
+-2.80832
11
-7.40929
+6.59315
21
--3.87187
+-2.8083
0
LINE
8
@@ -9109,13 +60979,13 @@ BLACK
6
CONTINUOUS
10
-7.40929
+6.59315
20
--3.87187
+-2.8083
11
-7.40513
+6.59291
21
--3.83232
+-2.80841
0
LINE
8
@@ -9123,13 +60993,13 @@ BLACK
6
CONTINUOUS
10
-7.40513
+6.59291
20
--3.83232
+-2.80841
11
-7.33152
+6.59217
21
--3.84006
+-2.80823
0
LINE
8
@@ -9137,13 +61007,13 @@ BLACK
6
CONTINUOUS
10
-5.45904
+6.59217
20
--3.73137
+-2.80823
11
-5.45917
+6.5914
21
--3.73134
+-2.80817
0
LINE
8
@@ -9151,13 +61021,13 @@ BLACK
6
CONTINUOUS
10
-5.45917
+6.5914
20
--3.73134
+-2.80817
11
-5.45929
+6.48997
21
--3.73141
+-2.76302
0
LINE
8
@@ -9165,13 +61035,13 @@ BLACK
6
CONTINUOUS
10
-5.45929
+6.48997
20
--3.73141
+-2.76302
11
-5.45967
+6.48965
21
--3.73148
+-2.7628
0
LINE
8
@@ -9179,13 +61049,13 @@ BLACK
6
CONTINUOUS
10
-5.45967
+6.48965
20
--3.73148
+-2.7628
11
-5.46026
+6.48952
21
--3.73197
+-2.76277
0
LINE
8
@@ -9193,13 +61063,13 @@ BLACK
6
CONTINUOUS
10
-5.46026
+6.48952
20
--3.73197
+-2.76277
11
-5.46092
+6.48945
21
--3.73235
+-2.76266
0
LINE
8
@@ -9207,13 +61077,13 @@ BLACK
6
CONTINUOUS
10
-5.46092
+6.48945
20
--3.73235
+-2.76266
11
-5.46101
+6.48912
21
--3.7326
+-2.76244
0
LINE
8
@@ -9221,13 +61091,13 @@ BLACK
6
CONTINUOUS
10
-5.46101
+6.48912
20
--3.7326
+-2.76244
11
-5.46122
+6.48879
21
--3.73278
+-2.76175
0
LINE
8
@@ -9235,13 +61105,13 @@ BLACK
6
CONTINUOUS
10
-5.46122
+6.48879
20
--3.73278
+-2.76175
11
-5.46135
+6.48834
21
--3.73353
+-2.76113
0
LINE
8
@@ -9249,13 +61119,13 @@ BLACK
6
CONTINUOUS
10
-5.46135
+6.48834
20
--3.73353
+-2.76113
11
-5.46161
+6.48836
21
--3.73425
+-2.76087
0
LINE
8
@@ -9263,13 +61133,13 @@ BLACK
6
CONTINUOUS
10
-5.46161
+6.48836
20
--3.73425
+-2.76087
11
-5.46161
+6.48824
21
--3.81299
+-2.76063
0
LINE
8
@@ -9277,13 +61147,13 @@ BLACK
6
CONTINUOUS
10
-5.46161
+6.48824
20
--3.81299
+-2.76063
11
-5.46155
+6.48842
21
--3.81338
+-2.75988
0
LINE
8
@@ -9291,13 +61161,13 @@ BLACK
6
CONTINUOUS
10
-5.46155
+6.48842
20
--3.81338
+-2.75988
11
-5.46157
+6.48848
21
--3.8135
+-2.75912
0
LINE
8
@@ -9305,13 +61175,13 @@ BLACK
6
CONTINUOUS
10
-5.46157
+6.48848
20
--3.8135
+-2.75912
11
-5.4615
+6.52563
21
--3.81362
+-2.67568
0
LINE
8
@@ -9319,13 +61189,13 @@ BLACK
6
CONTINUOUS
10
-5.4615
+6.52563
20
--3.81362
+-2.67568
11
-5.46144
+6.52585
21
--3.814
+-2.67535
0
LINE
8
@@ -9333,13 +61203,13 @@ BLACK
6
CONTINUOUS
10
-5.46144
+6.52585
20
--3.814
+-2.67535
11
-5.46094
+6.52588
21
--3.81459
+-2.67523
0
LINE
8
@@ -9347,13 +61217,13 @@ BLACK
6
CONTINUOUS
10
-5.46094
+6.52588
20
--3.81459
+-2.67523
11
-5.46056
+6.52598
21
--3.81525
+-2.67515
0
LINE
8
@@ -9361,13 +61231,13 @@ BLACK
6
CONTINUOUS
10
-5.46056
+6.52598
20
--3.81525
+-2.67515
11
-5.46031
+6.5262
21
--3.81535
+-2.67483
0
LINE
8
@@ -9375,13 +61245,13 @@ BLACK
6
CONTINUOUS
10
-5.46031
+6.5262
20
--3.81535
+-2.67483
11
-5.46014
+6.52689
21
--3.81555
+-2.67449
0
LINE
8
@@ -9389,13 +61259,13 @@ BLACK
6
CONTINUOUS
10
-5.46014
+6.52689
20
--3.81555
+-2.67449
11
-5.45938
+6.52751
21
--3.81568
+-2.67404
0
LINE
8
@@ -9403,13 +61273,13 @@ BLACK
6
CONTINUOUS
10
-5.45938
+6.52751
20
--3.81568
+-2.67404
11
-5.45866
+6.52778
21
--3.81594
+-2.67406
0
LINE
8
@@ -9417,13 +61287,13 @@ BLACK
6
CONTINUOUS
10
-5.45866
+6.52778
20
--3.81594
+-2.67406
11
-5.37992
+6.52802
21
--3.81594
+-2.67394
0
LINE
8
@@ -9431,13 +61301,13 @@ BLACK
6
CONTINUOUS
10
-5.37992
+6.52802
20
--3.81594
+-2.67394
11
-5.37954
+6.52876
21
--3.81588
+-2.67413
0
LINE
8
@@ -9445,13 +61315,13 @@ BLACK
6
CONTINUOUS
10
-5.37954
+6.49507
20
--3.81588
+-2.75882
11
-5.37941
+6.5911
21
--3.8159
+-2.80158
0
LINE
8
@@ -9459,13 +61329,13 @@ BLACK
6
CONTINUOUS
10
-5.37941
+6.5911
20
--3.8159
+-2.80158
11
-5.37929
+6.62585
21
--3.81583
+-2.72353
0
LINE
8
@@ -9473,13 +61343,13 @@ BLACK
6
CONTINUOUS
10
-5.37929
+6.62585
20
--3.81583
+-2.72353
11
-5.37891
+6.52982
21
--3.81577
+-2.68078
0
LINE
8
@@ -9487,13 +61357,13 @@ BLACK
6
CONTINUOUS
10
-5.37891
+6.52982
20
--3.81577
+-2.68078
11
-5.37832
+6.49507
21
--3.81527
+-2.75882
0
LINE
8
@@ -9501,13 +61371,13 @@ BLACK
6
CONTINUOUS
10
-5.37832
+6.55712
20
--3.81527
+-2.69401
11
-5.37766
+6.59776
21
--3.81489
+-2.7121
0
LINE
8
@@ -9515,13 +61385,13 @@ BLACK
6
CONTINUOUS
10
-5.37766
+6.59776
20
--3.81489
+-2.7121
11
-5.37757
+6.599
21
--3.81464
+-2.71341
0
LINE
8
@@ -9529,13 +61399,13 @@ BLACK
6
CONTINUOUS
10
-5.37757
+6.599
20
--3.81464
+-2.71341
11
-5.37736
+6.59898
21
--3.81447
+-2.71438
0
LINE
8
@@ -9543,13 +61413,13 @@ BLACK
6
CONTINUOUS
10
-5.37736
+6.59898
20
--3.81447
+-2.71438
11
-5.37723
+6.59896
21
--3.81371
+-2.71522
0
LINE
8
@@ -9557,13 +61427,13 @@ BLACK
6
CONTINUOUS
10
-5.37723
+6.59896
20
--3.81371
+-2.71522
11
-5.37697
+6.56693
21
--3.81299
+-2.78715
0
LINE
8
@@ -9571,13 +61441,13 @@ BLACK
6
CONTINUOUS
10
-5.37697
+6.56693
20
--3.81299
+-2.78715
11
-5.37697
+6.56562
21
--3.73425
+-2.7884
0
LINE
8
@@ -9585,13 +61455,13 @@ BLACK
6
CONTINUOUS
10
-5.37697
+6.56562
20
--3.73425
+-2.7884
11
-5.37704
+6.56381
21
--3.73387
+-2.78835
0
LINE
8
@@ -9599,13 +61469,13 @@ BLACK
6
CONTINUOUS
10
-5.37704
+6.56381
20
--3.73387
+-2.78835
11
-5.37701
+6.52317
21
--3.73374
+-2.77025
0
LINE
8
@@ -9613,13 +61483,13 @@ BLACK
6
CONTINUOUS
10
-5.37701
+6.52317
20
--3.73374
+-2.77025
11
-5.37708
+6.52192
21
--3.73363
+-2.76894
0
LINE
8
@@ -9627,13 +61497,13 @@ BLACK
6
CONTINUOUS
10
-5.37708
+6.52192
20
--3.73363
+-2.76894
11
-5.37715
+6.52197
21
--3.73324
+-2.76714
0
LINE
8
@@ -9641,13 +61511,13 @@ BLACK
6
CONTINUOUS
10
-5.37715
+6.52197
20
--3.73324
+-2.76714
11
-5.37764
+6.554
21
--3.73265
+-2.6952
0
LINE
8
@@ -9655,13 +61525,13 @@ BLACK
6
CONTINUOUS
10
-5.37764
+6.554
20
--3.73265
+-2.6952
11
-5.37802
+6.55531
21
--3.73199
+-2.69396
0
LINE
8
@@ -9669,13 +61539,13 @@ BLACK
6
CONTINUOUS
10
-5.37802
+6.55531
20
--3.73199
+-2.69396
11
-5.37827
+6.55712
21
--3.7319
+-2.69401
0
LINE
8
@@ -9683,13 +61553,13 @@ BLACK
6
CONTINUOUS
10
-5.37827
+6.52725
20
--3.7319
+-2.7669
11
-5.37844
+6.56357
21
--3.73169
+-2.78307
0
LINE
8
@@ -9697,13 +61567,13 @@ BLACK
6
CONTINUOUS
10
-5.37844
+6.56357
20
--3.73169
+-2.78307
11
-5.3792
+6.59368
21
--3.73156
+-2.71546
0
LINE
8
@@ -9711,13 +61581,13 @@ BLACK
6
CONTINUOUS
10
-5.3792
+6.59368
20
--3.73156
+-2.71546
11
-5.37992
+6.55735
21
--3.7313
+-2.69928
0
LINE
8
@@ -9725,13 +61595,13 @@ BLACK
6
CONTINUOUS
10
-5.37992
+6.55735
20
--3.7313
+-2.69928
11
-5.45866
+6.52725
21
--3.7313
+-2.7669
0
LINE
8
@@ -9739,13 +61609,13 @@ BLACK
6
CONTINUOUS
10
-5.45866
+5.61369
20
--3.7313
+-2.62624
11
-5.45904
+5.61444
21
--3.73137
+-2.6264
0
LINE
8
@@ -9753,13 +61623,13 @@ BLACK
6
CONTINUOUS
10
-5.38287
+5.61444
20
--3.7372
+-2.6264
11
-5.38287
+5.6146
21
--3.81004
+-2.62661
0
LINE
8
@@ -9767,13 +61637,13 @@ BLACK
6
CONTINUOUS
10
-5.38287
+5.6146
20
--3.81004
+-2.62661
11
-5.45571
+5.61485
21
--3.81004
+-2.62671
0
LINE
8
@@ -9781,13 +61651,13 @@ BLACK
6
CONTINUOUS
10
-5.45571
+5.61485
20
--3.81004
+-2.62671
11
-5.45571
+5.61521
21
--3.7372
+-2.62738
0
LINE
8
@@ -9795,13 +61665,13 @@ BLACK
6
CONTINUOUS
10
-5.45571
+5.61521
20
--3.7372
+-2.62738
11
-5.38287
+5.61568
21
--3.7372
+-2.62799
0
LINE
8
@@ -9809,13 +61679,13 @@ BLACK
6
CONTINUOUS
10
-7.38301
+5.61568
20
--3.68158
+-2.62799
11
-7.38404
+5.6439
21
--3.68307
+-2.71486
0
LINE
8
@@ -9823,13 +61693,13 @@ BLACK
6
CONTINUOUS
10
-7.38404
+5.6439
20
--3.68307
+-2.71486
11
-7.39329
+5.64396
21
--3.72659
+-2.71524
0
LINE
8
@@ -9837,13 +61707,13 @@ BLACK
6
CONTINUOUS
10
-7.39329
+5.64396
20
--3.72659
+-2.71524
11
-7.39296
+5.64402
21
--3.72837
+-2.71536
0
LINE
8
@@ -9851,13 +61721,13 @@ BLACK
6
CONTINUOUS
10
-7.39296
+5.64402
20
--3.72837
+-2.71536
11
-7.39147
+5.64399
21
--3.72939
+-2.71549
0
LINE
8
@@ -9865,13 +61735,13 @@ BLACK
6
CONTINUOUS
10
-7.39147
+5.64399
20
--3.72939
+-2.71549
11
-7.31445
+5.64405
21
--3.74576
+-2.71587
0
LINE
8
@@ -9879,13 +61749,13 @@ BLACK
6
CONTINUOUS
10
-7.31445
+5.64405
20
--3.74576
+-2.71587
11
-7.31267
+5.64376
21
--3.74543
+-2.71658
0
LINE
8
@@ -9893,13 +61763,13 @@ BLACK
6
CONTINUOUS
10
-7.31267
+5.64376
20
--3.74543
+-2.71658
11
-7.31165
+5.6436
21
--3.74394
+-2.71733
0
LINE
8
@@ -9907,13 +61777,13 @@ BLACK
6
CONTINUOUS
10
-7.31165
+5.6436
20
--3.74394
+-2.71733
11
-7.3024
+5.64339
21
--3.70043
+-2.7175
0
LINE
8
@@ -9921,13 +61791,13 @@ BLACK
6
CONTINUOUS
10
-7.3024
+5.64339
20
--3.70043
+-2.7175
11
-7.30273
+5.64329
21
--3.69865
+-2.71774
0
LINE
8
@@ -9935,13 +61805,13 @@ BLACK
6
CONTINUOUS
10
-7.30273
+5.64329
20
--3.69865
+-2.71774
11
-7.30422
+5.64261
21
--3.69762
+-2.7181
0
LINE
8
@@ -9949,13 +61819,13 @@ BLACK
6
CONTINUOUS
10
-7.30422
+5.64261
20
--3.69762
+-2.7181
11
-7.38123
+5.64201
21
--3.68125
+-2.71858
0
LINE
8
@@ -9963,13 +61833,13 @@ BLACK
6
CONTINUOUS
10
-7.38123
+5.64201
20
--3.68125
+-2.71858
11
-7.38124
+5.53642
21
--3.68125
+-2.75289
0
LINE
8
@@ -9977,13 +61847,13 @@ BLACK
6
CONTINUOUS
10
-7.38124
+5.53642
20
--3.68125
+-2.75289
11
-7.38301
+5.53603
21
--3.68158
+-2.75294
0
LINE
8
@@ -9991,13 +61861,13 @@ BLACK
6
CONTINUOUS
10
-7.30751
+5.53603
20
--3.70175
+-2.75294
11
-7.31578
+5.53592
21
--3.74065
+-2.753
0
LINE
8
@@ -10005,13 +61875,13 @@ BLACK
6
CONTINUOUS
10
-7.31578
+5.53592
20
--3.74065
+-2.753
11
-7.38817
+5.53579
21
--3.72526
+-2.75297
0
LINE
8
@@ -10019,13 +61889,13 @@ BLACK
6
CONTINUOUS
10
-7.38817
+5.53579
20
--3.72526
+-2.75297
11
-7.37991
+5.5354
21
--3.68637
+-2.75303
0
LINE
8
@@ -10033,13 +61903,13 @@ BLACK
6
CONTINUOUS
10
-7.37991
+5.5354
20
--3.68637
+-2.75303
11
-7.30751
+5.53469
21
--3.70175
+-2.75274
0
LINE
8
@@ -10047,13 +61917,13 @@ BLACK
6
CONTINUOUS
10
-4.60853
+5.53469
20
--3.72939
+-2.75274
11
-4.60704
+5.53394
21
--3.72837
+-2.75258
0
LINE
8
@@ -10061,13 +61931,13 @@ BLACK
6
CONTINUOUS
10
-4.60704
+5.53394
20
--3.72837
+-2.75258
11
-4.60671
+5.53378
21
--3.72659
+-2.75237
0
LINE
8
@@ -10075,13 +61945,13 @@ BLACK
6
CONTINUOUS
10
-4.60671
+5.53378
20
--3.72659
+-2.75237
11
-4.61596
+5.53353
21
--3.68307
+-2.75227
0
LINE
8
@@ -10089,13 +61959,13 @@ BLACK
6
CONTINUOUS
10
-4.61596
+5.53353
20
--3.68307
+-2.75227
11
-4.61596
+5.53317
21
--3.68307
+-2.75159
0
LINE
8
@@ -10103,13 +61973,13 @@ BLACK
6
CONTINUOUS
10
-4.61596
+5.53317
20
--3.68307
+-2.75159
11
-4.61699
+5.5327
21
--3.68158
+-2.75099
0
LINE
8
@@ -10117,13 +61987,13 @@ BLACK
6
CONTINUOUS
10
-4.61699
+5.5327
20
--3.68158
+-2.75099
11
-4.61877
+5.50447
21
--3.68125
+-2.66412
0
LINE
8
@@ -10131,13 +62001,13 @@ BLACK
6
CONTINUOUS
10
-4.61877
+5.50447
20
--3.68125
+-2.66412
11
-4.69578
+5.50442
21
--3.69762
+-2.66374
0
LINE
8
@@ -10145,13 +62015,13 @@ BLACK
6
CONTINUOUS
10
-4.69578
+5.50442
20
--3.69762
+-2.66374
11
-4.69727
+5.50436
21
--3.69865
+-2.66362
0
LINE
8
@@ -10159,13 +62029,13 @@ BLACK
6
CONTINUOUS
10
-4.69727
+5.50436
20
--3.69865
+-2.66362
11
-4.6976
+5.50438
21
--3.70043
+-2.66349
0
LINE
8
@@ -10173,13 +62043,13 @@ BLACK
6
CONTINUOUS
10
-4.6976
+5.50438
20
--3.70043
+-2.66349
11
-4.68835
+5.50433
21
--3.74394
+-2.66311
0
LINE
8
@@ -10187,13 +62057,13 @@ BLACK
6
CONTINUOUS
10
-4.68835
+5.50433
20
--3.74394
+-2.66311
11
-4.68733
+5.50462
21
--3.74543
+-2.66239
0
LINE
8
@@ -10201,13 +62071,13 @@ BLACK
6
CONTINUOUS
10
-4.68733
+5.50462
20
--3.74543
+-2.66239
11
-4.68555
+5.50478
21
--3.74576
+-2.66164
0
LINE
8
@@ -10215,13 +62085,13 @@ BLACK
6
CONTINUOUS
10
-4.68555
+5.50478
20
--3.74576
+-2.66164
11
-4.68555
+5.50499
21
--3.74576
+-2.66148
0
LINE
8
@@ -10229,13 +62099,13 @@ BLACK
6
CONTINUOUS
10
-4.68555
+5.50499
20
--3.74576
+-2.66148
11
-4.60853
+5.50509
21
--3.72939
+-2.66123
0
LINE
8
@@ -10243,13 +62113,13 @@ BLACK
6
CONTINUOUS
10
-4.61183
+5.50509
20
--3.72526
+-2.66123
11
-4.68422
+5.50576
21
--3.74065
+-2.66087
0
LINE
8
@@ -10257,13 +62127,13 @@ BLACK
6
CONTINUOUS
10
-4.68422
+5.50576
20
--3.74065
+-2.66087
11
-4.69249
+5.50637
21
--3.70175
+-2.6604
0
LINE
8
@@ -10271,13 +62141,13 @@ BLACK
6
CONTINUOUS
10
-4.69249
+5.50637
20
--3.70175
+-2.6604
11
-4.62009
+5.61196
21
--3.68637
+-2.62609
0
LINE
8
@@ -10285,13 +62155,13 @@ BLACK
6
CONTINUOUS
10
-4.62009
+5.61196
20
--3.68637
+-2.62609
11
-4.61183
+5.61234
21
--3.72526
+-2.62604
0
LINE
8
@@ -10299,13 +62169,13 @@ BLACK
6
CONTINUOUS
10
-7.34215
+5.61234
20
--3.53876
+-2.62604
11
-7.34333
+5.61246
21
--3.54014
+-2.62598
0
LINE
8
@@ -10313,13 +62183,13 @@ BLACK
6
CONTINUOUS
10
-7.34333
+5.61246
20
--3.54014
+-2.62598
11
-7.35707
+5.61259
21
--3.58245
+-2.626
0
LINE
8
@@ -10327,13 +62197,13 @@ BLACK
6
CONTINUOUS
10
-7.35707
+5.61259
20
--3.58245
+-2.626
11
-7.35693
+5.61297
21
--3.58425
+-2.62595
0
LINE
8
@@ -10341,13 +62211,13 @@ BLACK
6
CONTINUOUS
10
-7.35693
+5.61297
20
--3.58425
+-2.62595
11
-7.35556
+5.61369
21
--3.58543
+-2.62624
0
LINE
8
@@ -10355,13 +62225,13 @@ BLACK
6
CONTINUOUS
10
-7.35556
+5.511
20
--3.58543
+-2.6651
11
-7.28067
+5.5374
21
--3.60976
+-2.74636
0
LINE
8
@@ -10369,13 +62239,13 @@ BLACK
6
CONTINUOUS
10
-7.28067
+5.5374
20
--3.60976
+-2.74636
11
-7.27887
+5.63738
21
--3.60962
+-2.71387
0
LINE
8
@@ -10383,13 +62253,13 @@ BLACK
6
CONTINUOUS
10
-7.27887
+5.63738
20
--3.60962
+-2.71387
11
-7.27769
+5.61098
21
--3.60824
+-2.63262
0
LINE
8
@@ -10397,13 +62267,13 @@ BLACK
6
CONTINUOUS
10
-7.27769
+5.61098
20
--3.60824
+-2.63262
11
-7.26395
+5.511
21
--3.56593
+-2.6651
0
LINE
8
@@ -10411,13 +62281,13 @@ BLACK
6
CONTINUOUS
10
-7.26395
+5.58425
20
--3.56593
+-2.64307
11
-7.26409
+5.58543
21
--3.56413
+-2.64444
0
LINE
8
@@ -10425,13 +62295,13 @@ BLACK
6
CONTINUOUS
10
-7.26409
+5.58543
20
--3.56413
+-2.64444
11
-7.26546
+5.60976
21
--3.56295
+-2.71933
0
LINE
8
@@ -10439,13 +62309,13 @@ BLACK
6
CONTINUOUS
10
-7.26546
+5.60976
20
--3.56295
+-2.71933
11
-7.34035
+5.60962
21
--3.53862
+-2.72113
0
LINE
8
@@ -10453,13 +62323,13 @@ BLACK
6
CONTINUOUS
10
-7.34035
+5.60962
20
--3.53862
+-2.72113
11
-7.34215
+5.60824
21
--3.53876
+-2.7223
0
LINE
8
@@ -10467,13 +62337,13 @@ BLACK
6
CONTINUOUS
10
-7.26917
+5.60824
20
--3.56672
+-2.7223
11
-7.28146
+5.56593
21
--3.60453
+-2.73605
0
LINE
8
@@ -10481,13 +62351,13 @@ BLACK
6
CONTINUOUS
10
-7.28146
+5.56593
20
--3.60453
+-2.73605
11
-7.35185
+5.56413
21
--3.58166
+-2.73591
0
LINE
8
@@ -10495,13 +62365,13 @@ BLACK
6
CONTINUOUS
10
-7.35185
+5.56413
20
--3.58166
+-2.73591
11
-7.33956
+5.56295
21
--3.54384
+-2.73454
0
LINE
8
@@ -10509,13 +62379,13 @@ BLACK
6
CONTINUOUS
10
-7.33956
+5.56295
20
--3.54384
+-2.73454
11
-7.26917
+5.53862
21
--3.56672
+-2.65965
0
LINE
8
@@ -10523,13 +62393,13 @@ BLACK
6
CONTINUOUS
10
-4.64307
+5.53862
20
--3.58425
+-2.65965
11
-4.64293
+5.53876
21
--3.58245
+-2.65785
0
LINE
8
@@ -10537,13 +62407,13 @@ BLACK
6
CONTINUOUS
10
-4.64293
+5.53876
20
--3.58245
+-2.65785
11
-4.65667
+5.54014
21
--3.54014
+-2.65667
0
LINE
8
@@ -10551,13 +62421,13 @@ BLACK
6
CONTINUOUS
10
-4.65667
+5.54014
20
--3.54014
+-2.65667
11
-4.65785
+5.58245
21
--3.53876
+-2.64293
0
LINE
8
@@ -10565,13 +62435,13 @@ BLACK
6
CONTINUOUS
10
-4.65785
+5.58245
20
--3.53876
+-2.64293
11
-4.65965
+5.58425
21
--3.53862
+-2.64307
0
LINE
8
@@ -10579,13 +62449,13 @@ BLACK
6
CONTINUOUS
10
-4.65965
+5.54384
20
--3.53862
+-2.66044
11
-4.73454
+5.56672
21
--3.56295
+-2.73083
0
LINE
8
@@ -10593,13 +62463,13 @@ BLACK
6
CONTINUOUS
10
-4.73454
+5.56672
20
--3.56295
+-2.73083
11
-4.73591
+5.60453
21
--3.56413
+-2.71854
0
LINE
8
@@ -10607,13 +62477,13 @@ BLACK
6
CONTINUOUS
10
-4.73591
+5.60453
20
--3.56413
+-2.71854
11
-4.73605
+5.58166
21
--3.56593
+-2.64815
0
LINE
8
@@ -10621,13 +62491,13 @@ BLACK
6
CONTINUOUS
10
-4.73605
+5.58166
20
--3.56593
+-2.64815
11
-4.7223
+5.54384
21
--3.60824
+-2.66044
0
LINE
8
@@ -10635,13 +62505,13 @@ BLACK
6
CONTINUOUS
10
-4.7223
+6.38727
20
--3.60824
+-2.62612
11
-4.72113
+6.38804
21
--3.60962
+-2.62609
0
LINE
8
@@ -10649,13 +62519,13 @@ BLACK
6
CONTINUOUS
10
-4.72113
+6.38804
20
--3.60962
+-2.62609
11
-4.71933
+6.49363
21
--3.60976
+-2.6604
0
LINE
8
@@ -10663,13 +62533,13 @@ BLACK
6
CONTINUOUS
10
-4.71933
+6.49363
20
--3.60976
+-2.6604
11
-4.64444
+6.49397
21
--3.58543
+-2.66058
0
LINE
8
@@ -10677,13 +62547,13 @@ BLACK
6
CONTINUOUS
10
-4.64444
+6.49397
20
--3.58543
+-2.66058
11
-4.64307
+6.4941
21
--3.58425
+-2.6606
0
LINE
8
@@ -10691,13 +62561,13 @@ BLACK
6
CONTINUOUS
10
-4.64815
+6.4941
20
--3.58166
+-2.6606
11
-4.71854
+6.49419
21
--3.60453
+-2.6607
0
LINE
8
@@ -10705,13 +62575,13 @@ BLACK
6
CONTINUOUS
10
-4.71854
+6.49419
20
--3.60453
+-2.6607
11
-4.73083
+6.49454
21
--3.56672
+-2.66088
0
LINE
8
@@ -10719,13 +62589,13 @@ BLACK
6
CONTINUOUS
10
-4.73083
+6.49454
20
--3.56672
+-2.66088
11
-4.66044
+6.49494
21
--3.54384
+-2.66153
0
LINE
8
@@ -10733,13 +62603,13 @@ BLACK
6
CONTINUOUS
10
-4.66044
+6.49494
20
--3.54384
+-2.66153
11
-4.64815
+6.49546
21
--3.58166
+-2.6621
0
LINE
8
@@ -10747,13 +62617,13 @@ BLACK
6
CONTINUOUS
10
-4.71522
+6.49546
20
--3.40104
+-2.6621
11
-4.78715
+6.49547
21
--3.43307
+-2.66237
0
LINE
8
@@ -10761,13 +62631,13 @@ BLACK
6
CONTINUOUS
10
-4.78715
+6.49547
20
--3.43307
+-2.66237
11
-4.7884
+6.49561
21
--3.43438
+-2.6626
0
LINE
8
@@ -10775,13 +62645,13 @@ BLACK
6
CONTINUOUS
10
-4.7884
+6.49561
20
--3.43438
+-2.6626
11
-4.78835
+6.4955
21
--3.43619
+-2.66335
0
LINE
8
@@ -10789,13 +62659,13 @@ BLACK
6
CONTINUOUS
10
-4.78835
+6.4955
20
--3.43619
+-2.66335
11
-4.77025
+6.49553
21
--3.47683
+-2.66412
0
LINE
8
@@ -10803,13 +62673,13 @@ BLACK
6
CONTINUOUS
10
-4.77025
+6.49553
20
--3.47683
+-2.66412
11
-4.76894
+6.4673
21
--3.47808
+-2.75099
0
LINE
8
@@ -10817,13 +62687,13 @@ BLACK
6
CONTINUOUS
10
-4.76894
+6.4673
20
--3.47808
+-2.75099
11
-4.76714
+6.46712
21
--3.47803
+-2.75133
0
LINE
8
@@ -10831,13 +62701,13 @@ BLACK
6
CONTINUOUS
10
-4.76714
+6.46712
20
--3.47803
+-2.75133
11
-4.6952
+6.4671
21
--3.446
+-2.75146
0
LINE
8
@@ -10845,13 +62715,13 @@ BLACK
6
CONTINUOUS
10
-4.6952
+6.4671
20
--3.446
+-2.75146
11
-4.69396
+6.467
21
--3.44469
+-2.75155
0
LINE
8
@@ -10859,13 +62729,13 @@ BLACK
6
CONTINUOUS
10
-4.69396
+6.467
20
--3.44469
+-2.75155
11
-4.69401
+6.46682
21
--3.44288
+-2.7519
0
LINE
8
@@ -10873,13 +62743,13 @@ BLACK
6
CONTINUOUS
10
-4.69401
+6.46682
20
--3.44288
+-2.7519
11
-4.7121
+6.46617
21
--3.40224
+-2.7523
0
LINE
8
@@ -10887,13 +62757,13 @@ BLACK
6
CONTINUOUS
10
-4.7121
+6.46617
20
--3.40224
+-2.7523
11
-4.71341
+6.4656
21
--3.401
+-2.75281
0
LINE
8
@@ -10901,13 +62771,13 @@ BLACK
6
CONTINUOUS
10
-4.71341
+6.4656
20
--3.401
+-2.75281
11
-4.71522
+6.46533
21
--3.40104
+-2.75282
0
LINE
8
@@ -10915,13 +62785,13 @@ BLACK
6
CONTINUOUS
10
-4.69928
+6.46533
20
--3.44265
+-2.75282
11
-4.7669
+6.46511
21
--3.47275
+-2.75297
0
LINE
8
@@ -10929,13 +62799,13 @@ BLACK
6
CONTINUOUS
10
-4.7669
+6.46511
20
--3.47275
+-2.75297
11
-4.78307
+6.46435
21
--3.43643
+-2.75286
0
LINE
8
@@ -10943,13 +62813,13 @@ BLACK
6
CONTINUOUS
10
-4.78307
+6.46435
20
--3.43643
+-2.75286
11
-4.71546
+6.46358
21
--3.40632
+-2.75289
0
LINE
8
@@ -10957,13 +62827,13 @@ BLACK
6
CONTINUOUS
10
-4.71546
+6.46358
20
--3.40632
+-2.75289
11
-4.69928
+6.35799
21
--3.44265
+-2.71858
0
LINE
8
@@ -10971,13 +62841,13 @@ BLACK
6
CONTINUOUS
10
-7.2879
+6.35799
20
--3.40224
+-2.71858
11
-7.30599
+6.35765
21
--3.44288
+-2.71839
0
LINE
8
@@ -10985,13 +62855,13 @@ BLACK
6
CONTINUOUS
10
-7.30599
+6.35765
20
--3.44288
+-2.71839
11
-7.30604
+6.35752
21
--3.44469
+-2.71838
0
LINE
8
@@ -10999,13 +62869,13 @@ BLACK
6
CONTINUOUS
10
-7.30604
+6.35752
20
--3.44469
+-2.71838
11
-7.3048
+6.35743
21
--3.446
+-2.71828
0
LINE
8
@@ -11013,13 +62883,13 @@ BLACK
6
CONTINUOUS
10
-7.3048
+6.35743
20
--3.446
+-2.71828
11
-7.23286
+6.35709
21
--3.47803
+-2.7181
0
LINE
8
@@ -11027,13 +62897,13 @@ BLACK
6
CONTINUOUS
10
-7.23286
+6.35709
20
--3.47803
+-2.7181
11
-7.23106
+6.35668
21
--3.47808
+-2.71745
0
LINE
8
@@ -11041,13 +62911,13 @@ BLACK
6
CONTINUOUS
10
-7.23106
+6.35668
20
--3.47808
+-2.71745
11
-7.22975
+6.35617
21
--3.47683
+-2.71688
0
LINE
8
@@ -11055,13 +62925,13 @@ BLACK
6
CONTINUOUS
10
-7.22975
+6.35617
20
--3.47683
+-2.71688
11
-7.21165
+6.35616
21
--3.43619
+-2.71661
0
LINE
8
@@ -11069,13 +62939,13 @@ BLACK
6
CONTINUOUS
10
-7.21165
+6.35616
20
--3.43619
+-2.71661
11
-7.2116
+6.35602
21
--3.43438
+-2.71638
0
LINE
8
@@ -11083,13 +62953,13 @@ BLACK
6
CONTINUOUS
10
-7.2116
+6.35602
20
--3.43438
+-2.71638
11
-7.21285
+6.35612
21
--3.43307
+-2.71562
0
LINE
8
@@ -11097,13 +62967,13 @@ BLACK
6
CONTINUOUS
10
-7.21285
+6.35612
20
--3.43307
+-2.71562
11
-7.28478
+6.3561
21
--3.40104
+-2.71486
0
LINE
8
@@ -11111,13 +62981,13 @@ BLACK
6
CONTINUOUS
10
-7.28478
+6.3561
20
--3.40104
+-2.71486
11
-7.28659
+6.38432
21
--3.401
+-2.62799
0
LINE
8
@@ -11125,13 +62995,13 @@ BLACK
6
CONTINUOUS
10
-7.28659
+6.38432
20
--3.401
+-2.62799
11
-7.2879
+6.3845
21
--3.40224
+-2.62764
0
LINE
8
@@ -11139,13 +63009,13 @@ BLACK
6
CONTINUOUS
10
-7.21693
+6.3845
20
--3.43643
+-2.62764
11
-7.2331
+6.38452
21
--3.47275
+-2.62751
0
LINE
8
@@ -11153,13 +63023,13 @@ BLACK
6
CONTINUOUS
10
-7.2331
+6.38452
20
--3.47275
+-2.62751
11
-7.30072
+6.38462
21
--3.44265
+-2.62743
0
LINE
8
@@ -11167,13 +63037,13 @@ BLACK
6
CONTINUOUS
10
-7.30072
+6.38462
20
--3.44265
+-2.62743
11
-7.28454
+6.3848
21
--3.40632
+-2.62708
0
LINE
8
@@ -11181,13 +63051,13 @@ BLACK
6
CONTINUOUS
10
-7.28454
+6.3848
20
--3.40632
+-2.62708
11
-7.21693
+6.38545
21
--3.43643
+-2.62668
0
LINE
8
@@ -11195,13 +63065,13 @@ BLACK
6
CONTINUOUS
10
-7.21836
+6.38545
20
--3.27089
+-2.62668
11
-7.24061
+6.38602
21
--3.30942
+-2.62616
0
LINE
8
@@ -11209,13 +63079,13 @@ BLACK
6
CONTINUOUS
10
-7.24061
+6.38602
20
--3.30942
+-2.62616
11
-7.24061
+6.38629
21
--3.30942
+-2.62615
0
LINE
8
@@ -11223,13 +63093,13 @@ BLACK
6
CONTINUOUS
10
-7.24061
+6.38629
20
--3.30942
+-2.62615
11
-7.24084
+6.38651
21
--3.31121
+-2.62601
0
LINE
8
@@ -11237,13 +63107,13 @@ BLACK
6
CONTINUOUS
10
-7.24084
+6.38651
20
--3.31121
+-2.62601
11
-7.23974
+6.38727
21
--3.31265
+-2.62612
0
LINE
8
@@ -11251,13 +63121,13 @@ BLACK
6
CONTINUOUS
10
-7.23974
+6.36262
20
--3.31265
+-2.71387
11
-7.17155
+6.4626
21
--3.35202
+-2.74636
0
LINE
8
@@ -11265,13 +63135,13 @@ BLACK
6
CONTINUOUS
10
-7.17155
+6.4626
20
--3.35202
+-2.74636
11
-7.16976
+6.489
21
--3.35225
+-2.6651
0
LINE
8
@@ -11279,13 +63149,13 @@ BLACK
6
CONTINUOUS
10
-7.16976
+6.489
20
--3.35225
+-2.6651
11
-7.16832
+6.38902
21
--3.35115
+-2.63262
0
LINE
8
@@ -11293,13 +63163,13 @@ BLACK
6
CONTINUOUS
10
-7.16832
+6.38902
20
--3.35115
+-2.63262
11
-7.14608
+6.36262
21
--3.31263
+-2.71387
0
LINE
8
@@ -11307,13 +63177,13 @@ BLACK
6
CONTINUOUS
10
-7.14608
+6.39038
20
--3.31263
+-2.72113
11
-7.14584
+6.39024
21
--3.31083
+-2.71933
0
LINE
8
@@ -11321,13 +63191,13 @@ BLACK
6
CONTINUOUS
10
-7.14584
+6.39024
20
--3.31083
+-2.71933
11
-7.14694
+6.41457
21
--3.3094
+-2.64444
0
LINE
8
@@ -11335,13 +63205,13 @@ BLACK
6
CONTINUOUS
10
-7.14694
+6.41457
20
--3.3094
+-2.64444
11
-7.21513
+6.41575
21
--3.27003
+-2.64307
0
LINE
8
@@ -11349,13 +63219,13 @@ BLACK
6
CONTINUOUS
10
-7.21513
+6.41575
20
--3.27003
+-2.64307
11
-7.21693
+6.41755
21
--3.26979
+-2.64293
0
LINE
8
@@ -11363,13 +63233,13 @@ BLACK
6
CONTINUOUS
10
-7.21693
+6.41755
20
--3.26979
+-2.64293
11
-7.21836
+6.45986
21
--3.27089
+-2.65667
0
LINE
8
@@ -11377,13 +63247,13 @@ BLACK
6
CONTINUOUS
10
-7.15135
+6.45986
20
--3.31231
+-2.65667
11
-7.17123
+6.46124
21
--3.34675
+-2.65785
0
LINE
8
@@ -11391,13 +63261,13 @@ BLACK
6
CONTINUOUS
10
-7.17123
+6.46124
20
--3.34675
+-2.65785
11
-7.23533
+6.46138
21
--3.30974
+-2.65965
0
LINE
8
@@ -11405,13 +63275,13 @@ BLACK
6
CONTINUOUS
10
-7.23533
+6.46138
20
--3.30974
+-2.65965
11
-7.21545
+6.43705
21
--3.2753
+-2.73454
0
LINE
8
@@ -11419,13 +63289,13 @@ BLACK
6
CONTINUOUS
10
-7.21545
+6.43705
20
--3.2753
+-2.73454
11
-7.15135
+6.43587
21
--3.31231
+-2.73591
0
LINE
8
@@ -11433,13 +63303,13 @@ BLACK
6
CONTINUOUS
10
-4.78487
+6.43587
20
--3.27003
+-2.73591
11
-4.85306
+6.43407
21
--3.3094
+-2.73605
0
LINE
8
@@ -11447,13 +63317,13 @@ BLACK
6
CONTINUOUS
10
-4.85306
+6.43407
20
--3.3094
+-2.73605
11
-4.85307
+6.39176
21
--3.30942
+-2.7223
0
LINE
8
@@ -11461,13 +63331,13 @@ BLACK
6
CONTINUOUS
10
-4.85307
+6.39176
20
--3.30942
+-2.7223
11
-4.85416
+6.39038
21
--3.31083
+-2.72113
0
LINE
8
@@ -11475,13 +63345,13 @@ BLACK
6
CONTINUOUS
10
-4.85416
+6.39547
20
--3.31083
+-2.71854
11
-4.85392
+6.43328
21
--3.31263
+-2.73083
0
LINE
8
@@ -11489,13 +63359,13 @@ BLACK
6
CONTINUOUS
10
-4.85392
+6.43328
20
--3.31263
+-2.73083
11
-4.83168
+6.45616
21
--3.35115
+-2.66044
0
LINE
8
@@ -11503,13 +63373,13 @@ BLACK
6
CONTINUOUS
10
-4.83168
+6.45616
20
--3.35115
+-2.66044
11
-4.83024
+6.41834
21
--3.35225
+-2.64815
0
LINE
8
@@ -11517,13 +63387,13 @@ BLACK
6
CONTINUOUS
10
-4.83024
+6.41834
20
--3.35225
+-2.64815
11
-4.82845
+6.39547
21
--3.35202
+-2.71854
0
LINE
8
@@ -11531,13 +63401,13 @@ BLACK
6
CONTINUOUS
10
-4.82845
+5.75833
20
--3.35202
+-2.59304
11
-4.82845
+5.75872
21
--3.35202
+-2.59302
0
LINE
8
@@ -11545,13 +63415,13 @@ BLACK
6
CONTINUOUS
10
-4.82845
+5.75872
20
--3.35202
+-2.59302
11
-4.76026
+5.7594
21
--3.31265
+-2.59338
0
LINE
8
@@ -11559,13 +63429,13 @@ BLACK
6
CONTINUOUS
10
-4.76026
+5.7594
20
--3.31265
+-2.59338
11
-4.75916
+5.76013
21
--3.31121
+-2.59362
0
LINE
8
@@ -11573,13 +63443,13 @@ BLACK
6
CONTINUOUS
10
-4.75916
+5.76013
20
--3.31121
+-2.59362
11
-4.75939
+5.76027
21
--3.30942
+-2.59385
0
LINE
8
@@ -11587,13 +63457,13 @@ BLACK
6
CONTINUOUS
10
-4.75939
+5.76027
20
--3.30942
+-2.59385
11
-4.78164
+5.76051
21
--3.27089
+-2.59397
0
LINE
8
@@ -11601,13 +63471,13 @@ BLACK
6
CONTINUOUS
10
-4.78164
+5.76051
20
--3.27089
+-2.59397
11
-4.78307
+5.76079
21
--3.26979
+-2.59468
0
LINE
8
@@ -11615,13 +63485,13 @@ BLACK
6
CONTINUOUS
10
-4.78307
+5.76079
20
--3.26979
+-2.59468
11
-4.78487
+5.7612
21
--3.27003
+-2.59533
0
LINE
8
@@ -11629,13 +63499,13 @@ BLACK
6
CONTINUOUS
10
-4.76467
+5.7612
20
--3.30974
+-2.59533
11
-4.82877
+5.78019
21
--3.34675
+-2.68467
0
LINE
8
@@ -11643,13 +63513,13 @@ BLACK
6
CONTINUOUS
10
-4.82877
+5.78019
20
--3.34675
+-2.68467
11
-4.84865
+5.7802
21
--3.31231
+-2.68506
0
LINE
8
@@ -11657,13 +63527,13 @@ BLACK
6
CONTINUOUS
10
-4.84865
+5.7802
20
--3.31231
+-2.68506
11
-4.78455
+5.78025
21
--3.2753
+-2.68519
0
LINE
8
@@ -11671,13 +63541,13 @@ BLACK
6
CONTINUOUS
10
-4.78455
+5.78025
20
--3.2753
+-2.68519
11
-4.76467
+5.78021
21
--3.30974
+-2.68531
0
LINE
8
@@ -11685,13 +63555,13 @@ BLACK
6
CONTINUOUS
10
-4.86782
+5.78021
20
--3.14701
+-2.68531
11
-4.93153
+5.78023
21
--3.19329
+-2.6857
0
LINE
8
@@ -11699,13 +63569,13 @@ BLACK
6
CONTINUOUS
10
-4.93153
+5.78023
20
--3.19329
+-2.6857
11
-4.93247
+5.77987
21
--3.19484
+-2.68638
0
LINE
8
@@ -11713,13 +63583,13 @@ BLACK
6
CONTINUOUS
10
-4.93247
+5.77987
20
--3.19484
+-2.68638
11
-4.93205
+5.77963
21
--3.19659
+-2.68711
0
LINE
8
@@ -11727,13 +63597,13 @@ BLACK
6
CONTINUOUS
10
-4.93205
+5.77963
20
--3.19659
+-2.68711
11
-4.9059
+5.7794
21
--3.23259
+-2.68725
0
LINE
8
@@ -11741,13 +63611,13 @@ BLACK
6
CONTINUOUS
10
-4.9059
+5.7794
20
--3.23259
+-2.68725
11
-4.90436
+5.77928
21
--3.23353
+-2.68748
0
LINE
8
@@ -11755,13 +63625,13 @@ BLACK
6
CONTINUOUS
10
-4.90436
+5.77928
20
--3.23353
+-2.68748
11
-4.9026
+5.77857
21
--3.23311
+-2.68777
0
LINE
8
@@ -11769,13 +63639,13 @@ BLACK
6
CONTINUOUS
10
-4.9026
+5.77857
20
--3.23311
+-2.68777
11
-4.8389
+5.77792
21
--3.18683
+-2.68818
0
LINE
8
@@ -11783,13 +63653,13 @@ BLACK
6
CONTINUOUS
10
-4.8389
+5.77792
20
--3.18683
+-2.68818
11
-4.83795
+5.66932
21
--3.18528
+-2.71126
0
LINE
8
@@ -11797,13 +63667,13 @@ BLACK
6
CONTINUOUS
10
-4.83795
+5.66932
20
--3.18528
+-2.71126
11
-4.83838
+5.66893
21
--3.18353
+-2.71127
0
LINE
8
@@ -11811,13 +63681,13 @@ BLACK
6
CONTINUOUS
10
-4.83838
+5.66893
20
--3.18353
+-2.71127
11
-4.86453
+5.66881
21
--3.14753
+-2.71132
0
LINE
8
@@ -11825,13 +63695,13 @@ BLACK
6
CONTINUOUS
10
-4.86453
+5.66881
20
--3.14753
+-2.71132
11
-4.86607
+5.66868
21
--3.14659
+-2.71128
0
LINE
8
@@ -11839,13 +63709,13 @@ BLACK
6
CONTINUOUS
10
-4.86607
+5.66868
20
--3.14659
+-2.71128
11
-4.86782
+5.66829
21
--3.14701
+-2.7113
0
LINE
8
@@ -11853,13 +63723,13 @@ BLACK
6
CONTINUOUS
10
-4.84359
+5.66829
20
--3.18439
+-2.7113
11
-4.90347
+5.66762
21
--3.2279
+-2.71094
0
LINE
8
@@ -11867,13 +63737,13 @@ BLACK
6
CONTINUOUS
10
-4.90347
+5.66762
20
--3.2279
+-2.71094
11
-4.92684
+5.66689
21
--3.19573
+-2.7107
0
LINE
8
@@ -11881,13 +63751,13 @@ BLACK
6
CONTINUOUS
10
-4.92684
+5.66689
20
--3.19573
+-2.7107
11
-4.86696
+5.66674
21
--3.15222
+-2.71047
0
LINE
8
@@ -11895,13 +63765,13 @@ BLACK
6
CONTINUOUS
10
-4.86696
+5.66674
20
--3.15222
+-2.71047
11
-4.84359
+5.66651
21
--3.18439
+-2.71035
0
LINE
8
@@ -11909,13 +63779,13 @@ BLACK
6
CONTINUOUS
10
-7.13547
+5.66651
20
--3.14753
+-2.71035
11
-7.16162
+5.66622
21
--3.18353
+-2.70964
0
LINE
8
@@ -11923,13 +63793,13 @@ BLACK
6
CONTINUOUS
10
-7.16162
+5.66622
20
--3.18353
+-2.70964
11
-7.16205
+5.66582
21
--3.18528
+-2.70899
0
LINE
8
@@ -11937,13 +63807,13 @@ BLACK
6
CONTINUOUS
10
-7.16205
+5.66582
20
--3.18528
+-2.70899
11
-7.16142
+5.64683
21
--3.1863
+-2.61964
0
LINE
8
@@ -11951,13 +63821,13 @@ BLACK
6
CONTINUOUS
10
-7.16142
+5.64683
20
--3.1863
+-2.61964
11
-7.1611
+5.64681
21
--3.18683
+-2.61925
0
LINE
8
@@ -11965,13 +63835,13 @@ BLACK
6
CONTINUOUS
10
-7.1611
+5.64681
20
--3.18683
+-2.61925
11
-7.0974
+5.64676
21
--3.23311
+-2.61913
0
LINE
8
@@ -11979,13 +63849,13 @@ BLACK
6
CONTINUOUS
10
-7.0974
+5.64676
20
--3.23311
+-2.61913
11
-7.09564
+5.6468
21
--3.23353
+-2.61901
0
LINE
8
@@ -11993,13 +63863,13 @@ BLACK
6
CONTINUOUS
10
-7.09564
+5.6468
20
--3.23353
+-2.61901
11
-7.0941
+5.64679
21
--3.23259
+-2.61862
0
LINE
8
@@ -12007,13 +63877,13 @@ BLACK
6
CONTINUOUS
10
-7.0941
+5.64679
20
--3.23259
+-2.61862
11
-7.06795
+5.64715
21
--3.19659
+-2.61794
0
LINE
8
@@ -12021,13 +63891,13 @@ BLACK
6
CONTINUOUS
10
-7.06795
+5.64715
20
--3.19659
+-2.61794
11
-7.06753
+5.64739
21
--3.19484
+-2.61721
0
LINE
8
@@ -12035,13 +63905,13 @@ BLACK
6
CONTINUOUS
10
-7.06753
+5.64739
20
--3.19484
+-2.61721
11
-7.06847
+5.64761
21
--3.19329
+-2.61707
0
LINE
8
@@ -12049,13 +63919,13 @@ BLACK
6
CONTINUOUS
10
-7.06847
+5.64761
20
--3.19329
+-2.61707
11
-7.13218
+5.64774
21
--3.14701
+-2.61683
0
LINE
8
@@ -12063,13 +63933,13 @@ BLACK
6
CONTINUOUS
10
-7.13218
+5.64774
20
--3.14701
+-2.61683
11
-7.13393
+5.64845
21
--3.14659
+-2.61655
0
LINE
8
@@ -12077,13 +63947,13 @@ BLACK
6
CONTINUOUS
10
-7.13393
+5.64845
20
--3.14659
+-2.61655
11
-7.13547
+5.6491
21
--3.14753
+-2.61614
0
LINE
8
@@ -12091,13 +63961,13 @@ BLACK
6
CONTINUOUS
10
-7.07316
+5.6491
20
--3.19573
+-2.61614
11
-7.09653
+5.7577
21
--3.2279
+-2.59306
0
LINE
8
@@ -12105,13 +63975,13 @@ BLACK
6
CONTINUOUS
10
-7.09653
+5.7577
20
--3.2279
+-2.59306
11
-7.15641
+5.75809
21
--3.18439
+-2.59304
0
LINE
8
@@ -12119,13 +63989,13 @@ BLACK
6
CONTINUOUS
10
-7.15641
+5.75809
20
--3.18439
+-2.59304
11
-7.13304
+5.75821
21
--3.15222
+-2.59299
0
LINE
8
@@ -12133,13 +64003,13 @@ BLACK
6
CONTINUOUS
10
-7.13304
+5.75821
20
--3.15222
+-2.59299
11
-7.07316
+5.75833
21
--3.19573
+-2.59304
0
LINE
8
@@ -12147,13 +64017,13 @@ BLACK
6
CONTINUOUS
10
-4.96319
+5.65322
20
--3.03334
+-2.6213
11
-5.0217
+5.67098
21
--3.08603
+-2.70487
0
LINE
8
@@ -12161,13 +64031,13 @@ BLACK
6
CONTINUOUS
10
-5.0217
+5.67098
20
--3.08603
+-2.70487
11
-5.02248
+5.7738
21
--3.08766
+-2.68301
0
LINE
8
@@ -12175,13 +64045,13 @@ BLACK
6
CONTINUOUS
10
-5.02248
+5.7738
20
--3.08766
+-2.68301
11
-5.02188
+5.75604
21
--3.08936
+-2.59945
0
LINE
8
@@ -12189,13 +64059,13 @@ BLACK
6
CONTINUOUS
10
-5.02188
+5.75604
20
--3.08936
+-2.59945
11
-4.99211
+5.65322
21
--3.12242
+-2.6213
0
LINE
8
@@ -12203,13 +64073,13 @@ BLACK
6
CONTINUOUS
10
-4.99211
+5.72837
20
--3.12242
+-2.60704
11
-4.99048
+5.72939
21
--3.1232
+-2.60853
0
LINE
8
@@ -12217,13 +64087,13 @@ BLACK
6
CONTINUOUS
10
-4.99048
+5.72939
20
--3.1232
+-2.60853
11
-4.98877
+5.74576
21
--3.1226
+-2.68555
0
LINE
8
@@ -12231,13 +64101,13 @@ BLACK
6
CONTINUOUS
10
-4.98877
+5.74576
20
--3.1226
+-2.68555
11
-4.93026
+5.74543
21
--3.06991
+-2.68733
0
LINE
8
@@ -12245,13 +64115,13 @@ BLACK
6
CONTINUOUS
10
-4.93026
+5.74543
20
--3.06991
+-2.68733
11
-4.92948
+5.74394
21
--3.06828
+-2.68835
0
LINE
8
@@ -12259,13 +64129,13 @@ BLACK
6
CONTINUOUS
10
-4.92948
+5.74394
20
--3.06828
+-2.68835
11
-4.93008
+5.70043
21
--3.06658
+-2.6976
0
LINE
8
@@ -12273,13 +64143,13 @@ BLACK
6
CONTINUOUS
10
-4.93008
+5.70043
20
--3.06658
+-2.6976
11
-4.95985
+5.69865
21
--3.03351
+-2.69727
0
LINE
8
@@ -12287,13 +64157,13 @@ BLACK
6
CONTINUOUS
10
-4.95985
+5.69865
20
--3.03351
+-2.69727
11
-4.96148
+5.69762
21
--3.03274
+-2.69578
0
LINE
8
@@ -12301,13 +64171,13 @@ BLACK
6
CONTINUOUS
10
-4.96148
+5.69762
20
--3.03274
+-2.69578
11
-4.96319
+5.68125
21
--3.03334
+-2.61877
0
LINE
8
@@ -12315,13 +64185,13 @@ BLACK
6
CONTINUOUS
10
-4.93518
+5.68125
20
--3.06798
+-2.61877
11
-4.99018
+5.68158
21
--3.11751
+-2.61699
0
LINE
8
@@ -12329,13 +64199,13 @@ BLACK
6
CONTINUOUS
10
-4.99018
+5.68158
20
--3.11751
+-2.61699
11
-5.01679
+5.68307
21
--3.08796
+-2.61596
0
LINE
8
@@ -12343,13 +64213,13 @@ BLACK
6
CONTINUOUS
10
-5.01679
+5.68307
20
--3.08796
+-2.61596
11
-4.96178
+5.72659
21
--3.03843
+-2.60671
0
LINE
8
@@ -12357,13 +64227,13 @@ BLACK
6
CONTINUOUS
10
-4.96178
+5.72659
20
--3.03843
+-2.60671
11
-4.93518
+5.72837
21
--3.06798
+-2.60704
0
LINE
8
@@ -12371,13 +64241,13 @@ BLACK
6
CONTINUOUS
10
-7.04015
+5.68637
20
--3.03351
+-2.62009
11
-7.06992
+5.70175
21
--3.06658
+-2.69249
0
LINE
8
@@ -12385,13 +64255,13 @@ BLACK
6
CONTINUOUS
10
-7.06992
+5.70175
20
--3.06658
+-2.69249
11
-7.07052
+5.74065
21
--3.06828
+-2.68422
0
LINE
8
@@ -12399,13 +64269,13 @@ BLACK
6
CONTINUOUS
10
-7.07052
+5.74065
20
--3.06828
+-2.68422
11
-7.06974
+5.72526
21
--3.06991
+-2.61183
0
LINE
8
@@ -12413,13 +64283,13 @@ BLACK
6
CONTINUOUS
10
-7.06974
+5.72526
20
--3.06991
+-2.61183
11
-7.01123
+5.68637
21
--3.1226
+-2.62009
0
LINE
8
@@ -12427,13 +64297,13 @@ BLACK
6
CONTINUOUS
10
-7.01123
+6.3509
20
--3.1226
+-2.61614
11
-7.00952
+6.35126
21
--3.1232
+-2.61629
0
LINE
8
@@ -12441,13 +64311,13 @@ BLACK
6
CONTINUOUS
10
-7.00952
+6.35126
20
--3.1232
+-2.61629
11
-7.00789
+6.35139
21
--3.12242
+-2.61629
0
LINE
8
@@ -12455,13 +64325,13 @@ BLACK
6
CONTINUOUS
10
-7.00789
+6.35139
20
--3.12242
+-2.61629
11
-6.97812
+6.35149
21
--3.08936
+-2.61638
0
LINE
8
@@ -12469,13 +64339,13 @@ BLACK
6
CONTINUOUS
10
-6.97812
+6.35149
20
--3.08936
+-2.61638
11
-6.97752
+6.35185
21
--3.08766
+-2.61652
0
LINE
8
@@ -12483,13 +64353,13 @@ BLACK
6
CONTINUOUS
10
-6.97752
+6.35185
20
--3.08766
+-2.61652
11
-6.9783
+6.35232
21
--3.08603
+-2.61713
0
LINE
8
@@ -12497,13 +64367,13 @@ BLACK
6
CONTINUOUS
10
-6.9783
+6.35232
20
--3.08603
+-2.61713
11
-7.03681
+6.35289
21
--3.03334
+-2.61764
0
LINE
8
@@ -12511,13 +64381,13 @@ BLACK
6
CONTINUOUS
10
-7.03681
+6.35289
20
--3.03334
+-2.61764
11
-7.03852
+6.35293
21
--3.03274
+-2.61791
0
LINE
8
@@ -12525,13 +64395,13 @@ BLACK
6
CONTINUOUS
10
-7.03852
+6.35293
20
--3.03274
+-2.61791
11
-7.04015
+6.35309
21
--3.03351
+-2.61812
0
LINE
8
@@ -12539,13 +64409,13 @@ BLACK
6
CONTINUOUS
10
-6.98321
+6.35309
20
--3.08796
+-2.61812
11
-7.00982
+6.35307
21
--3.11751
+-2.61888
0
LINE
8
@@ -12553,13 +64423,13 @@ BLACK
6
CONTINUOUS
10
-7.00982
+6.35307
20
--3.11751
+-2.61888
11
-7.06482
+6.35317
21
--3.06798
+-2.61964
0
LINE
8
@@ -12567,13 +64437,13 @@ BLACK
6
CONTINUOUS
10
-7.06482
+6.35317
20
--3.06798
+-2.61964
11
-7.03822
+6.33418
21
--3.03843
+-2.70899
0
LINE
8
@@ -12581,13 +64451,13 @@ BLACK
6
CONTINUOUS
10
-7.03822
+6.33418
20
--3.03843
+-2.70899
11
-6.98321
+6.33404
21
--3.08796
+-2.70935
0
LINE
8
@@ -12595,13 +64465,13 @@ BLACK
6
CONTINUOUS
10
-6.93342
+6.33404
20
--2.93008
+-2.70935
11
-6.96649
+6.33403
21
--2.95985
+-2.70948
0
LINE
8
@@ -12609,13 +64479,13 @@ BLACK
6
CONTINUOUS
10
-6.96649
+6.33403
20
--2.95985
+-2.70948
11
-6.96726
+6.33395
21
--2.96148
+-2.70958
0
LINE
8
@@ -12623,13 +64493,13 @@ BLACK
6
CONTINUOUS
10
-6.96726
+6.33395
20
--2.96148
+-2.70958
11
-6.96666
+6.3338
21
--2.96319
+-2.70994
0
LINE
8
@@ -12637,13 +64507,13 @@ BLACK
6
CONTINUOUS
10
-6.96666
+6.3338
20
--2.96319
+-2.70994
11
-6.91397
+6.3332
21
--3.0217
+-2.71041
0
LINE
8
@@ -12651,13 +64521,13 @@ BLACK
6
CONTINUOUS
10
-6.91397
+6.3332
20
--3.0217
+-2.71041
11
-6.91234
+6.33268
21
--3.02248
+-2.71098
0
LINE
8
@@ -12665,13 +64535,13 @@ BLACK
6
CONTINUOUS
10
-6.91234
+6.33268
20
--3.02248
+-2.71098
11
-6.91064
+6.33242
21
--3.02188
+-2.71102
0
LINE
8
@@ -12679,13 +64549,13 @@ BLACK
6
CONTINUOUS
10
-6.91064
+6.33242
20
--3.02188
+-2.71102
11
-6.87758
+6.33221
21
--2.99211
+-2.71118
0
LINE
8
@@ -12693,13 +64563,13 @@ BLACK
6
CONTINUOUS
10
-6.87758
+6.33221
20
--2.99211
+-2.71118
11
-6.8768
+6.33144
21
--2.99048
+-2.71115
0
LINE
8
@@ -12707,13 +64577,13 @@ BLACK
6
CONTINUOUS
10
-6.8768
+6.33144
20
--2.99048
+-2.71115
11
-6.8774
+6.33068
21
--2.98877
+-2.71126
0
LINE
8
@@ -12721,13 +64591,13 @@ BLACK
6
CONTINUOUS
10
-6.8774
+6.33068
20
--2.98877
+-2.71126
11
-6.93009
+6.22208
21
--2.93026
+-2.68818
0
LINE
8
@@ -12735,13 +64605,13 @@ BLACK
6
CONTINUOUS
10
-6.93009
+6.22208
20
--2.93026
+-2.68818
11
-6.93172
+6.22172
21
--2.92948
+-2.68803
0
LINE
8
@@ -12749,13 +64619,13 @@ BLACK
6
CONTINUOUS
10
-6.93172
+6.22172
20
--2.92948
+-2.68803
11
-6.93342
+6.22159
21
--2.93008
+-2.68803
0
LINE
8
@@ -12763,13 +64633,13 @@ BLACK
6
CONTINUOUS
10
-6.88249
+6.22159
20
--2.99018
+-2.68803
11
-6.91204
+6.22149
21
--3.01679
+-2.68794
0
LINE
8
@@ -12777,13 +64647,13 @@ BLACK
6
CONTINUOUS
10
-6.91204
+6.22149
20
--3.01679
+-2.68794
11
-6.96157
+6.22113
21
--2.96178
+-2.68779
0
LINE
8
@@ -12791,13 +64661,13 @@ BLACK
6
CONTINUOUS
10
-6.96157
+6.22113
20
--2.96178
+-2.68779
11
-6.93202
+6.22066
21
--2.93518
+-2.68719
0
LINE
8
@@ -12805,13 +64675,13 @@ BLACK
6
CONTINUOUS
10
-6.93202
+6.22066
20
--2.93518
+-2.68719
11
-6.88249
+6.22009
21
--2.99018
+-2.68667
0
LINE
8
@@ -12819,13 +64689,13 @@ BLACK
6
CONTINUOUS
10
-5.06991
+6.22009
20
--2.93026
+-2.68667
11
-5.1226
+6.22005
21
--2.98877
+-2.68641
0
LINE
8
@@ -12833,13 +64703,13 @@ BLACK
6
CONTINUOUS
10
-5.1226
+6.22005
20
--2.98877
+-2.68641
11
-5.1232
+6.21989
21
--2.99048
+-2.6862
0
LINE
8
@@ -12847,13 +64717,13 @@ BLACK
6
CONTINUOUS
10
-5.1232
+6.21989
20
--2.99048
+-2.6862
11
-5.12242
+6.21992
21
--2.99211
+-2.68543
0
LINE
8
@@ -12861,13 +64731,13 @@ BLACK
6
CONTINUOUS
10
-5.12242
+6.21992
20
--2.99211
+-2.68543
11
-5.08936
+6.21981
21
--3.02188
+-2.68467
0
LINE
8
@@ -12875,13 +64745,13 @@ BLACK
6
CONTINUOUS
10
-5.08936
+6.21981
20
--3.02188
+-2.68467
11
-5.08766
+6.2388
21
--3.02248
+-2.59533
0
LINE
8
@@ -12889,13 +64759,13 @@ BLACK
6
CONTINUOUS
10
-5.08766
+6.2388
20
--3.02248
+-2.59533
11
-5.08603
+6.23895
21
--3.0217
+-2.59497
0
LINE
8
@@ -12903,13 +64773,13 @@ BLACK
6
CONTINUOUS
10
-5.08603
+6.23895
20
--3.0217
+-2.59497
11
-5.03334
+6.23895
21
--2.96319
+-2.59484
0
LINE
8
@@ -12917,13 +64787,13 @@ BLACK
6
CONTINUOUS
10
-5.03334
+6.23895
20
--2.96319
+-2.59484
11
-5.03274
+6.23904
21
--2.96148
+-2.59474
0
LINE
8
@@ -12931,13 +64801,13 @@ BLACK
6
CONTINUOUS
10
-5.03274
+6.23904
20
--2.96148
+-2.59474
11
-5.03351
+6.23918
21
--2.95985
+-2.59438
0
LINE
8
@@ -12945,13 +64815,13 @@ BLACK
6
CONTINUOUS
10
-5.03351
+6.23918
20
--2.95985
+-2.59438
11
-5.06658
+6.23979
21
--2.93008
+-2.59391
0
LINE
8
@@ -12959,13 +64829,13 @@ BLACK
6
CONTINUOUS
10
-5.06658
+6.23979
20
--2.93008
+-2.59391
11
-5.06828
+6.2403
21
--2.92948
+-2.59334
0
LINE
8
@@ -12973,13 +64843,13 @@ BLACK
6
CONTINUOUS
10
-5.06828
+6.2403
20
--2.92948
+-2.59334
11
-5.06991
+6.24057
21
--2.93026
+-2.5933
0
LINE
8
@@ -12987,13 +64857,13 @@ BLACK
6
CONTINUOUS
10
-5.03843
+6.24057
20
--2.96178
+-2.5933
11
-5.08796
+6.24078
21
--3.01679
+-2.59314
0
LINE
8
@@ -13001,13 +64871,13 @@ BLACK
6
CONTINUOUS
10
-5.08796
+6.24078
20
--3.01679
+-2.59314
11
-5.11751
+6.24154
21
--2.99018
+-2.59316
0
LINE
8
@@ -13015,13 +64885,13 @@ BLACK
6
CONTINUOUS
10
-5.11751
+6.24154
20
--2.99018
+-2.59316
11
-5.06798
+6.2423
21
--2.93518
+-2.59306
0
LINE
8
@@ -13029,13 +64899,13 @@ BLACK
6
CONTINUOUS
10
-5.06798
+6.2423
20
--2.93518
+-2.59306
11
-5.03843
+6.3509
21
--2.96178
+-2.61614
0
LINE
8
@@ -13043,13 +64913,13 @@ BLACK
6
CONTINUOUS
10
-5.18683
+6.2262
20
--2.8389
+-2.68301
11
-5.23311
+6.32902
21
--2.9026
+-2.70487
0
LINE
8
@@ -13057,13 +64927,13 @@ BLACK
6
CONTINUOUS
10
-5.23311
+6.32902
20
--2.9026
+-2.70487
11
-5.23353
+6.34678
21
--2.90436
+-2.6213
0
LINE
8
@@ -13071,13 +64941,13 @@ BLACK
6
CONTINUOUS
10
-5.23353
+6.34678
20
--2.90436
+-2.6213
11
-5.23259
+6.24396
21
--2.9059
+-2.59945
0
LINE
8
@@ -13085,13 +64955,13 @@ BLACK
6
CONTINUOUS
10
-5.23259
+6.24396
20
--2.9059
+-2.59945
11
-5.19659
+6.2262
21
--2.93205
+-2.68301
0
LINE
8
@@ -13099,13 +64969,13 @@ BLACK
6
CONTINUOUS
10
-5.19659
+6.25457
20
--2.93205
+-2.68733
11
-5.19484
+6.25424
21
--2.93247
+-2.68555
0
LINE
8
@@ -13113,13 +64983,13 @@ BLACK
6
CONTINUOUS
10
-5.19484
+6.25424
20
--2.93247
+-2.68555
11
-5.19329
+6.27061
21
--2.93153
+-2.60853
0
LINE
8
@@ -13127,13 +64997,13 @@ BLACK
6
CONTINUOUS
10
-5.19329
+6.27061
20
--2.93153
+-2.60853
11
-5.14701
+6.27163
21
--2.86782
+-2.60704
0
LINE
8
@@ -13141,13 +65011,13 @@ BLACK
6
CONTINUOUS
10
-5.14701
+6.27163
20
--2.86782
+-2.60704
11
-5.14659
+6.27341
21
--2.86607
+-2.60671
0
LINE
8
@@ -13155,13 +65025,13 @@ BLACK
6
CONTINUOUS
10
-5.14659
+6.27341
20
--2.86607
+-2.60671
11
-5.14753
+6.31693
21
--2.86453
+-2.61596
0
LINE
8
@@ -13169,13 +65039,13 @@ BLACK
6
CONTINUOUS
10
-5.14753
+6.31693
20
--2.86453
+-2.61596
11
-5.18353
+6.31693
21
--2.83838
+-2.61596
0
LINE
8
@@ -13183,13 +65053,13 @@ BLACK
6
CONTINUOUS
10
-5.18353
+6.31693
20
--2.83838
+-2.61596
11
-5.18528
+6.31842
21
--2.83795
+-2.61699
0
LINE
8
@@ -13197,13 +65067,13 @@ BLACK
6
CONTINUOUS
10
-5.18528
+6.31842
20
--2.83795
+-2.61699
11
-5.18683
+6.31875
21
--2.8389
+-2.61876
0
LINE
8
@@ -13211,13 +65081,13 @@ BLACK
6
CONTINUOUS
10
-5.15222
+6.31875
20
--2.86696
+-2.61876
11
-5.19573
+6.30238
21
--2.92684
+-2.69578
0
LINE
8
@@ -13225,13 +65095,13 @@ BLACK
6
CONTINUOUS
10
-5.19573
+6.30238
20
--2.92684
+-2.69578
11
-5.2279
+6.30183
21
--2.90347
+-2.69658
0
LINE
8
@@ -13239,13 +65109,13 @@ BLACK
6
CONTINUOUS
10
-5.2279
+6.30183
20
--2.90347
+-2.69658
11
-5.18439
+6.30135
21
--2.84359
+-2.69727
0
LINE
8
@@ -13253,13 +65123,13 @@ BLACK
6
CONTINUOUS
10
-5.18439
+6.30135
20
--2.84359
+-2.69727
11
-5.15222
+6.29957
21
--2.86696
+-2.6976
0
LINE
8
@@ -13267,13 +65137,13 @@ BLACK
6
CONTINUOUS
10
-6.81647
+6.29957
20
--2.83838
+-2.6976
11
-6.85247
+6.25606
21
--2.86453
+-2.68835
0
LINE
8
@@ -13281,13 +65151,13 @@ BLACK
6
CONTINUOUS
10
-6.85247
+6.25606
20
--2.86453
+-2.68835
11
-6.85341
+6.25457
21
--2.86607
+-2.68733
0
LINE
8
@@ -13295,13 +65165,13 @@ BLACK
6
CONTINUOUS
10
-6.85341
+6.25935
20
--2.86607
+-2.68422
11
-6.85299
+6.29825
21
--2.86782
+-2.69249
0
LINE
8
@@ -13309,13 +65179,13 @@ BLACK
6
CONTINUOUS
10
-6.85299
+6.29825
20
--2.86782
+-2.69249
11
-6.80671
+6.31363
21
--2.93153
+-2.62009
0
LINE
8
@@ -13323,13 +65193,13 @@ BLACK
6
CONTINUOUS
10
-6.80671
+6.31363
20
--2.93153
+-2.62009
11
-6.80516
+6.27474
21
--2.93247
+-2.61183
0
LINE
8
@@ -13337,13 +65207,13 @@ BLACK
6
CONTINUOUS
10
-6.80516
+6.27474
20
--2.93247
+-2.61183
11
-6.80341
+6.25935
21
--2.93205
+-2.68422
0
LINE
8
@@ -13351,13 +65221,13 @@ BLACK
6
CONTINUOUS
10
-6.80341
+5.90672
20
--2.93205
+-2.57548
11
-6.76741
+5.90711
21
--2.9059
+-2.57551
0
LINE
8
@@ -13365,13 +65235,13 @@ BLACK
6
CONTINUOUS
10
-6.76741
+5.90711
20
--2.9059
+-2.57551
11
-6.76647
+5.90775
21
--2.90436
+-2.57594
0
LINE
8
@@ -13379,13 +65249,13 @@ BLACK
6
CONTINUOUS
10
-6.76647
+5.90775
20
--2.90436
+-2.57594
11
-6.76689
+5.90845
21
--2.9026
+-2.57625
0
LINE
8
@@ -13393,13 +65263,13 @@ BLACK
6
CONTINUOUS
10
-6.76689
+5.90845
20
--2.9026
+-2.57625
11
-6.81317
+5.90857
21
--2.8389
+-2.57649
0
LINE
8
@@ -13407,13 +65277,13 @@ BLACK
6
CONTINUOUS
10
-6.81317
+5.90857
20
--2.8389
+-2.57649
11
-6.81472
+5.90879
21
--2.83795
+-2.57664
0
LINE
8
@@ -13421,13 +65291,13 @@ BLACK
6
CONTINUOUS
10
-6.81472
+5.90879
20
--2.83795
+-2.57664
11
-6.81647
+5.909
21
--2.83838
+-2.57738
0
LINE
8
@@ -13435,13 +65305,13 @@ BLACK
6
CONTINUOUS
10
-6.7721
+5.909
20
--2.90347
+-2.57738
11
-6.80427
+5.90934
21
--2.92684
+-2.57807
0
LINE
8
@@ -13449,13 +65319,13 @@ BLACK
6
CONTINUOUS
10
-6.80427
+5.90934
20
--2.92684
+-2.57807
11
-6.84778
+5.91888
21
--2.86696
+-2.6689
0
LINE
8
@@ -13463,13 +65333,13 @@ BLACK
6
CONTINUOUS
10
-6.84778
+5.91888
20
--2.86696
+-2.6689
11
-6.81561
+5.91886
21
--2.84359
+-2.66929
0
LINE
8
@@ -13477,13 +65347,13 @@ BLACK
6
CONTINUOUS
10
-6.81561
+5.91886
20
--2.84359
+-2.66929
11
-6.7721
+5.91889
21
--2.90347
+-2.66942
0
LINE
8
@@ -13491,13 +65361,13 @@ BLACK
6
CONTINUOUS
10
-5.3094
+5.91889
20
--2.85306
+-2.66942
11
-5.27003
+5.91884
21
--2.78487
+-2.66954
0
LINE
8
@@ -13505,13 +65375,13 @@ BLACK
6
CONTINUOUS
10
-5.27003
+5.91884
20
--2.78487
+-2.66954
11
-5.26979
+5.91881
21
--2.78307
+-2.66993
0
LINE
8
@@ -13519,13 +65389,13 @@ BLACK
6
CONTINUOUS
10
-5.26979
+5.91881
20
--2.78307
+-2.66993
11
-5.27089
+5.91838
21
--2.78164
+-2.67056
0
LINE
8
@@ -13533,13 +65403,13 @@ BLACK
6
CONTINUOUS
10
-5.27089
+5.91838
20
--2.78164
+-2.67056
11
-5.30942
+5.91807
21
--2.75939
+-2.67126
0
LINE
8
@@ -13547,13 +65417,13 @@ BLACK
6
CONTINUOUS
10
-5.30942
+5.91807
20
--2.75939
+-2.67126
11
-5.30942
+5.91783
21
--2.75939
+-2.67138
0
LINE
8
@@ -13561,13 +65431,13 @@ BLACK
6
CONTINUOUS
10
-5.30942
+5.91783
20
--2.75939
+-2.67138
11
-5.31121
+5.91768
21
--2.75916
+-2.6716
0
LINE
8
@@ -13575,13 +65445,13 @@ BLACK
6
CONTINUOUS
10
-5.31121
+5.91768
20
--2.75916
+-2.6716
11
-5.31265
+5.91694
21
--2.76026
+-2.67181
0
LINE
8
@@ -13589,13 +65459,13 @@ BLACK
6
CONTINUOUS
10
-5.31265
+5.91694
20
--2.76026
+-2.67181
11
-5.35202
+5.91625
21
--2.82845
+-2.67215
0
LINE
8
@@ -13603,13 +65473,13 @@ BLACK
6
CONTINUOUS
10
-5.35202
+5.91625
20
--2.82845
+-2.67215
11
-5.35225
+5.80584
21
--2.83024
+-2.68375
0
LINE
8
@@ -13617,13 +65487,13 @@ BLACK
6
CONTINUOUS
10
-5.35225
+5.80584
20
--2.83024
+-2.68375
11
-5.35115
+5.80545
21
--2.83168
+-2.68373
0
LINE
8
@@ -13631,13 +65501,13 @@ BLACK
6
CONTINUOUS
10
-5.35115
+5.80545
20
--2.83168
+-2.68373
11
-5.31263
+5.80532
21
--2.85392
+-2.68376
0
LINE
8
@@ -13645,13 +65515,13 @@ BLACK
6
CONTINUOUS
10
-5.31263
+5.80532
20
--2.85392
+-2.68376
11
-5.31083
+5.8052
21
--2.85416
+-2.68371
0
LINE
8
@@ -13659,13 +65529,13 @@ BLACK
6
CONTINUOUS
10
-5.31083
+5.8052
20
--2.85416
+-2.68371
11
-5.3094
+5.80482
21
--2.85306
+-2.68368
0
LINE
8
@@ -13673,13 +65543,13 @@ BLACK
6
CONTINUOUS
10
-5.3094
+5.80482
20
--2.85306
+-2.68368
11
-5.3094
+5.80418
21
--2.85306
+-2.68325
0
LINE
8
@@ -13687,13 +65557,13 @@ BLACK
6
CONTINUOUS
10
-5.2753
+5.80418
20
--2.78455
+-2.68325
11
-5.31231
+5.80348
21
--2.84865
+-2.68294
0
LINE
8
@@ -13701,13 +65571,13 @@ BLACK
6
CONTINUOUS
10
-5.31231
+5.80348
20
--2.84865
+-2.68294
11
-5.34675
+5.80336
21
--2.82877
+-2.6827
0
LINE
8
@@ -13715,13 +65585,13 @@ BLACK
6
CONTINUOUS
10
-5.34675
+5.80336
20
--2.82877
+-2.6827
11
-5.30974
+5.80314
21
--2.76467
+-2.68255
0
LINE
8
@@ -13729,13 +65599,13 @@ BLACK
6
CONTINUOUS
10
-5.30974
+5.80314
20
--2.76467
+-2.68255
11
-5.2753
+5.80293
21
--2.78455
+-2.68182
0
LINE
8
@@ -13743,13 +65613,13 @@ BLACK
6
CONTINUOUS
10
-6.69058
+5.80293
20
--2.75939
+-2.68182
11
-6.72911
+5.80259
21
--2.78164
+-2.68113
0
LINE
8
@@ -13757,13 +65627,13 @@ BLACK
6
CONTINUOUS
10
-6.72911
+5.80259
20
--2.78164
+-2.68113
11
-6.72977
+5.79305
21
--2.7825
+-2.59029
0
LINE
8
@@ -13771,13 +65641,13 @@ BLACK
6
CONTINUOUS
10
-6.72977
+5.79305
20
--2.7825
+-2.59029
11
-6.73021
+5.79307
21
--2.78307
+-2.5899
0
LINE
8
@@ -13785,13 +65655,13 @@ BLACK
6
CONTINUOUS
10
-6.73021
+5.79307
20
--2.78307
+-2.5899
11
-6.72997
+5.79304
21
--2.78487
+-2.58977
0
LINE
8
@@ -13799,13 +65669,13 @@ BLACK
6
CONTINUOUS
10
-6.72997
+5.79304
20
--2.78487
+-2.58977
11
-6.6906
+5.79309
21
--2.85306
+-2.58965
0
LINE
8
@@ -13813,13 +65683,13 @@ BLACK
6
CONTINUOUS
10
-6.6906
+5.79309
20
--2.85306
+-2.58965
11
-6.68917
+5.79312
21
--2.85416
+-2.58926
0
LINE
8
@@ -13827,13 +65697,13 @@ BLACK
6
CONTINUOUS
10
-6.68917
+5.79312
20
--2.85416
+-2.58926
11
-6.68737
+5.79355
21
--2.85392
+-2.58863
0
LINE
8
@@ -13841,13 +65711,13 @@ BLACK
6
CONTINUOUS
10
-6.68737
+5.79355
20
--2.85392
+-2.58863
11
-6.68737
+5.79386
21
--2.85392
+-2.58793
0
LINE
8
@@ -13855,13 +65725,13 @@ BLACK
6
CONTINUOUS
10
-6.68737
+5.79386
20
--2.85392
+-2.58793
11
-6.64885
+5.7941
21
--2.83168
+-2.58781
0
LINE
8
@@ -13869,13 +65739,13 @@ BLACK
6
CONTINUOUS
10
-6.64885
+5.7941
20
--2.83168
+-2.58781
11
-6.64775
+5.79425
21
--2.83024
+-2.58759
0
LINE
8
@@ -13883,13 +65753,13 @@ BLACK
6
CONTINUOUS
10
-6.64775
+5.79425
20
--2.83024
+-2.58759
11
-6.64798
+5.79499
21
--2.82845
+-2.58738
0
LINE
8
@@ -13897,13 +65767,13 @@ BLACK
6
CONTINUOUS
10
-6.64798
+5.79499
20
--2.82845
+-2.58738
11
-6.64798
+5.79567
21
--2.82845
+-2.58704
0
LINE
8
@@ -13911,13 +65781,13 @@ BLACK
6
CONTINUOUS
10
-6.64798
+5.79567
20
--2.82845
+-2.58704
11
-6.68735
+5.90609
21
--2.76026
+-2.57544
0
LINE
8
@@ -13925,13 +65795,13 @@ BLACK
6
CONTINUOUS
10
-6.68735
+5.90609
20
--2.76026
+-2.57544
11
-6.68879
+5.90648
21
--2.75916
+-2.57546
0
LINE
8
@@ -13939,13 +65809,13 @@ BLACK
6
CONTINUOUS
10
-6.68879
+5.90648
20
--2.75916
+-2.57546
11
-6.69058
+5.9066
21
--2.75939
+-2.57543
0
LINE
8
@@ -13953,13 +65823,13 @@ BLACK
6
CONTINUOUS
10
-6.65325
+5.9066
20
--2.82877
+-2.57543
11
-6.68769
+5.90672
21
--2.84865
+-2.57548
0
LINE
8
@@ -13967,13 +65837,13 @@ BLACK
6
CONTINUOUS
10
-6.68769
+5.79923
20
--2.84865
+-2.59261
11
-6.7247
+5.80816
21
--2.78455
+-2.67757
0
LINE
8
@@ -13981,13 +65851,13 @@ BLACK
6
CONTINUOUS
10
-6.7247
+5.80816
20
--2.78455
+-2.67757
11
-6.69026
+5.9127
21
--2.76467
+-2.66658
0
LINE
8
@@ -13995,13 +65865,13 @@ BLACK
6
CONTINUOUS
10
-6.69026
+5.9127
20
--2.76467
+-2.66658
11
-6.65325
+5.90377
21
--2.82877
+-2.58162
0
LINE
8
@@ -14009,13 +65879,13 @@ BLACK
6
CONTINUOUS
10
-6.55712
+5.90377
20
--2.69401
+-2.58162
11
-6.59776
+5.79923
21
--2.7121
+-2.59261
0
LINE
8
@@ -14023,13 +65893,13 @@ BLACK
6
CONTINUOUS
10
-6.59776
+5.87546
20
--2.7121
+-2.58628
11
-6.599
+5.87632
21
--2.71341
+-2.58787
0
LINE
8
@@ -14037,13 +65907,13 @@ BLACK
6
CONTINUOUS
10
-6.599
+5.87632
20
--2.71341
+-2.58787
11
-6.59896
+5.88455
21
--2.71517
+-2.66618
0
LINE
8
@@ -14051,13 +65921,13 @@ BLACK
6
CONTINUOUS
10
-6.59896
+5.88455
20
--2.71517
+-2.66618
11
-6.59896
+5.88404
21
--2.71522
+-2.66791
0
LINE
8
@@ -14065,13 +65935,13 @@ BLACK
6
CONTINUOUS
10
-6.59896
+5.88404
20
--2.71522
+-2.66791
11
-6.56693
+5.88245
21
--2.78715
+-2.66877
0
LINE
8
@@ -14079,13 +65949,13 @@ BLACK
6
CONTINUOUS
10
-6.56693
+5.88245
20
--2.78715
+-2.66877
11
-6.56562
+5.88245
21
--2.7884
+-2.66877
0
LINE
8
@@ -14093,13 +65963,13 @@ BLACK
6
CONTINUOUS
10
-6.56562
+5.88245
20
--2.7884
+-2.66877
11
-6.56381
+5.8382
21
--2.78835
+-2.67342
0
LINE
8
@@ -14107,13 +65977,13 @@ BLACK
6
CONTINUOUS
10
-6.56381
+5.8382
20
--2.78835
+-2.67342
11
-6.52317
+5.83647
21
--2.77025
+-2.67291
0
LINE
8
@@ -14121,13 +65991,13 @@ BLACK
6
CONTINUOUS
10
-6.52317
+5.83647
20
--2.77025
+-2.67291
11
-6.52192
+5.83561
21
--2.76894
+-2.67132
0
LINE
8
@@ -14135,13 +66005,13 @@ BLACK
6
CONTINUOUS
10
-6.52192
+5.83561
20
--2.76894
+-2.67132
11
-6.52197
+5.83561
21
--2.76714
+-2.67132
0
LINE
8
@@ -14149,13 +66019,13 @@ BLACK
6
CONTINUOUS
10
-6.52197
+5.83561
20
--2.76714
+-2.67132
11
-6.554
+5.82738
21
--2.6952
+-2.59301
0
LINE
8
@@ -14163,13 +66033,13 @@ BLACK
6
CONTINUOUS
10
-6.554
+5.82738
20
--2.6952
+-2.59301
11
-6.55531
+5.82789
21
--2.69396
+-2.59128
0
LINE
8
@@ -14177,13 +66047,13 @@ BLACK
6
CONTINUOUS
10
-6.55531
+5.82789
20
--2.69396
+-2.59128
11
-6.55712
+5.82948
21
--2.69401
+-2.59042
0
LINE
8
@@ -14191,13 +66061,13 @@ BLACK
6
CONTINUOUS
10
-6.52725
+5.82948
20
--2.7669
+-2.59042
11
-6.56357
+5.87372
21
--2.78307
+-2.58577
0
LINE
8
@@ -14205,13 +66075,13 @@ BLACK
6
CONTINUOUS
10
-6.56357
+5.87372
20
--2.78307
+-2.58577
11
-6.59368
+5.87546
21
--2.71546
+-2.58628
0
LINE
8
@@ -14219,13 +66089,13 @@ BLACK
6
CONTINUOUS
10
-6.59368
+5.83232
20
--2.71546
+-2.59487
11
-6.55735
+5.84006
21
--2.69928
+-2.66848
0
LINE
8
@@ -14233,13 +66103,13 @@ BLACK
6
CONTINUOUS
10
-6.55735
+5.84006
20
--2.69928
+-2.66848
11
-6.52725
+5.87961
21
--2.7669
+-2.66432
0
LINE
8
@@ -14247,13 +66117,13 @@ BLACK
6
CONTINUOUS
10
-5.446
+5.87961
20
--2.6952
+-2.66432
11
-5.47803
+5.87187
21
--2.76714
+-2.59071
0
LINE
8
@@ -14261,13 +66131,13 @@ BLACK
6
CONTINUOUS
10
-5.47803
+5.87187
20
--2.76714
+-2.59071
11
-5.47808
+5.83232
21
--2.76894
+-2.59487
0
LINE
8
@@ -14275,13 +66145,13 @@ BLACK
6
CONTINUOUS
10
-5.47808
+6.20433
20
--2.76894
+-2.58704
11
-5.47683
+6.2047
21
--2.77025
+-2.58715
0
LINE
8
@@ -14289,13 +66159,13 @@ BLACK
6
CONTINUOUS
10
-5.47683
+6.2047
20
--2.77025
+-2.58715
11
-5.43619
+6.20483
21
--2.78835
+-2.58714
0
LINE
8
@@ -14303,13 +66173,13 @@ BLACK
6
CONTINUOUS
10
-5.43619
+6.20483
20
--2.78835
+-2.58714
11
-5.43438
+6.20494
21
--2.7884
+-2.58722
0
LINE
8
@@ -14317,13 +66187,13 @@ BLACK
6
CONTINUOUS
10
-5.43438
+6.20494
20
--2.7884
+-2.58722
11
-5.43307
+6.20531
21
--2.78715
+-2.58733
0
LINE
8
@@ -14331,13 +66201,13 @@ BLACK
6
CONTINUOUS
10
-5.43307
+6.20531
20
--2.78715
+-2.58733
11
-5.40104
+6.20584
21
--2.71522
+-2.58788
0
LINE
8
@@ -14345,13 +66215,13 @@ BLACK
6
CONTINUOUS
10
-5.40104
+6.20584
20
--2.71522
+-2.58788
11
-5.401
+6.20646
21
--2.71341
+-2.58833
0
LINE
8
@@ -14359,13 +66229,13 @@ BLACK
6
CONTINUOUS
10
-5.401
+6.20646
20
--2.71341
+-2.58833
11
-5.40224
+6.20653
21
--2.7121
+-2.58859
0
LINE
8
@@ -14373,13 +66243,13 @@ BLACK
6
CONTINUOUS
10
-5.40224
+6.20653
20
--2.7121
+-2.58859
11
-5.44288
+6.20671
21
--2.69401
+-2.58878
0
LINE
8
@@ -14387,13 +66257,13 @@ BLACK
6
CONTINUOUS
10
-5.44288
+6.20671
20
--2.69401
+-2.58878
11
-5.44469
+6.20677
21
--2.69396
+-2.58954
0
LINE
8
@@ -14401,13 +66271,13 @@ BLACK
6
CONTINUOUS
10
-5.44469
+6.20677
20
--2.69396
+-2.58954
11
-5.446
+6.20695
21
--2.6952
+-2.59029
0
LINE
8
@@ -14415,13 +66285,13 @@ BLACK
6
CONTINUOUS
10
-5.40632
+6.20695
20
--2.71546
+-2.59029
11
-5.43643
+6.19741
21
--2.78307
+-2.68113
0
LINE
8
@@ -14429,13 +66299,13 @@ BLACK
6
CONTINUOUS
10
-5.43643
+6.19741
20
--2.78307
+-2.68113
11
-5.47275
+6.1973
21
--2.7669
+-2.6815
0
LINE
8
@@ -14443,13 +66313,13 @@ BLACK
6
CONTINUOUS
10
-5.47275
+6.1973
20
--2.7669
+-2.6815
11
-5.44265
+6.19731
21
--2.69928
+-2.68163
0
LINE
8
@@ -14457,13 +66327,13 @@ BLACK
6
CONTINUOUS
10
-5.44265
+6.19731
20
--2.69928
+-2.68163
11
-5.40632
+6.19723
21
--2.71546
+-2.68174
0
LINE
8
@@ -14471,13 +66341,13 @@ BLACK
6
CONTINUOUS
10
-5.58425
+6.19723
20
--2.64307
+-2.68174
11
-5.58543
+6.19712
21
--2.64444
+-2.68211
0
LINE
8
@@ -14485,13 +66355,13 @@ BLACK
6
CONTINUOUS
10
-5.58543
+6.19712
20
--2.64444
+-2.68211
11
-5.60976
+6.19657
21
--2.71933
+-2.68264
0
LINE
8
@@ -14499,13 +66369,13 @@ BLACK
6
CONTINUOUS
10
-5.60976
+6.19657
20
--2.71933
+-2.68264
11
-5.60962
+6.19612
21
--2.72113
+-2.68327
0
LINE
8
@@ -14513,13 +66383,13 @@ BLACK
6
CONTINUOUS
10
-5.60962
+6.19612
20
--2.72113
+-2.68327
11
-5.60824
+6.19586
21
--2.7223
+-2.68333
0
LINE
8
@@ -14527,13 +66397,13 @@ BLACK
6
CONTINUOUS
10
-5.60824
+6.19586
20
--2.7223
+-2.68333
11
-5.56593
+6.19567
21
--2.73605
+-2.68351
0
LINE
8
@@ -14541,13 +66411,13 @@ BLACK
6
CONTINUOUS
10
-5.56593
+6.19567
20
--2.73605
+-2.68351
11
-5.56413
+6.1949
21
--2.73591
+-2.68357
0
LINE
8
@@ -14555,13 +66425,13 @@ BLACK
6
CONTINUOUS
10
-5.56413
+6.1949
20
--2.73591
+-2.68357
11
-5.56295
+6.19416
21
--2.73454
+-2.68375
0
LINE
8
@@ -14569,13 +66439,13 @@ BLACK
6
CONTINUOUS
10
-5.56295
+6.19416
20
--2.73454
+-2.68375
11
-5.53862
+6.08375
21
--2.65965
+-2.67215
0
LINE
8
@@ -14583,13 +66453,13 @@ BLACK
6
CONTINUOUS
10
-5.53862
+6.08375
20
--2.65965
+-2.67215
11
-5.53876
+6.08337
21
--2.65785
+-2.67204
0
LINE
8
@@ -14597,13 +66467,13 @@ BLACK
6
CONTINUOUS
10
-5.53876
+6.08337
20
--2.65785
+-2.67204
11
-5.54014
+6.08324
21
--2.65667
+-2.67205
0
LINE
8
@@ -14611,13 +66481,13 @@ BLACK
6
CONTINUOUS
10
-5.54014
+6.08324
20
--2.65667
+-2.67205
11
-5.58245
+6.08313
21
--2.64293
+-2.67197
0
LINE
8
@@ -14625,13 +66495,13 @@ BLACK
6
CONTINUOUS
10
-5.58245
+6.08313
20
--2.64293
+-2.67197
11
-5.58425
+6.08276
21
--2.64307
+-2.67187
0
LINE
8
@@ -14639,13 +66509,13 @@ BLACK
6
CONTINUOUS
10
-5.54384
+6.08276
20
--2.66044
+-2.67187
11
-5.56672
+6.08223
21
--2.73083
+-2.67131
0
LINE
8
@@ -14653,13 +66523,13 @@ BLACK
6
CONTINUOUS
10
-5.56672
+6.08223
20
--2.73083
+-2.67131
11
-5.60453
+6.08161
21
--2.71854
+-2.67086
0
LINE
8
@@ -14667,13 +66537,13 @@ BLACK
6
CONTINUOUS
10
-5.60453
+6.08161
20
--2.71854
+-2.67086
11
-5.58166
+6.08154
21
--2.64815
+-2.67061
0
LINE
8
@@ -14681,13 +66551,13 @@ BLACK
6
CONTINUOUS
10
-5.58166
+6.08154
20
--2.64815
+-2.67061
11
-5.54384
+6.08136
21
--2.66044
+-2.67041
0
LINE
8
@@ -14695,13 +66565,13 @@ BLACK
6
CONTINUOUS
10
-6.45986
+6.08136
20
--2.65667
+-2.67041
11
-6.46124
+6.0813
21
--2.65785
+-2.66965
0
LINE
8
@@ -14709,13 +66579,13 @@ BLACK
6
CONTINUOUS
10
-6.46124
+6.0813
20
--2.65785
+-2.66965
11
-6.46138
+6.08112
21
--2.65965
+-2.6689
0
LINE
8
@@ -14723,13 +66593,13 @@ BLACK
6
CONTINUOUS
10
-6.46138
+6.08112
20
--2.65965
+-2.6689
11
-6.43705
+6.09066
21
--2.73454
+-2.57807
0
LINE
8
@@ -14737,13 +66607,13 @@ BLACK
6
CONTINUOUS
10
-6.43705
+6.09066
20
--2.73454
+-2.57807
11
-6.43587
+6.09077
21
--2.73591
+-2.57769
0
LINE
8
@@ -14751,13 +66621,13 @@ BLACK
6
CONTINUOUS
10
-6.43587
+6.09077
20
--2.73591
+-2.57769
11
-6.43407
+6.09076
21
--2.73605
+-2.57756
0
LINE
8
@@ -14765,13 +66635,13 @@ BLACK
6
CONTINUOUS
10
-6.43407
+6.09076
20
--2.73605
+-2.57756
11
-6.39176
+6.09084
21
--2.7223
+-2.57745
0
LINE
8
@@ -14779,13 +66649,13 @@ BLACK
6
CONTINUOUS
10
-6.39176
+6.09084
20
--2.7223
+-2.57745
11
-6.39038
+6.09095
21
--2.72113
+-2.57708
0
LINE
8
@@ -14793,13 +66663,13 @@ BLACK
6
CONTINUOUS
10
-6.39038
+6.09095
20
--2.72113
+-2.57708
11
-6.39024
+6.0915
21
--2.71933
+-2.57655
0
LINE
8
@@ -14807,13 +66677,13 @@ BLACK
6
CONTINUOUS
10
-6.39024
+6.0915
20
--2.71933
+-2.57655
11
-6.41457
+6.09195
21
--2.64444
+-2.57593
0
LINE
8
@@ -14821,13 +66691,13 @@ BLACK
6
CONTINUOUS
10
-6.41457
+6.09195
20
--2.64444
+-2.57593
11
-6.41575
+6.09221
21
--2.64307
+-2.57586
0
LINE
8
@@ -14835,13 +66705,13 @@ BLACK
6
CONTINUOUS
10
-6.41575
+6.09221
20
--2.64307
+-2.57586
11
-6.41755
+6.0924
21
--2.64293
+-2.57568
0
LINE
8
@@ -14849,13 +66719,13 @@ BLACK
6
CONTINUOUS
10
-6.41755
+6.0924
20
--2.64293
+-2.57568
11
-6.45986
+6.09317
21
--2.65667
+-2.57562
0
LINE
8
@@ -14863,13 +66733,13 @@ BLACK
6
CONTINUOUS
10
-6.39547
+6.09317
20
--2.71854
+-2.57562
11
-6.43328
+6.09391
21
--2.73083
+-2.57544
0
LINE
8
@@ -14877,13 +66747,13 @@ BLACK
6
CONTINUOUS
10
-6.43328
+6.09391
20
--2.73083
+-2.57544
11
-6.45616
+6.20433
21
--2.66044
+-2.58704
0
LINE
8
@@ -14891,13 +66761,13 @@ BLACK
6
CONTINUOUS
10
-6.45616
+6.0873
20
--2.66044
+-2.66658
11
-6.41834
+6.19184
21
--2.64815
+-2.67757
0
LINE
8
@@ -14905,13 +66775,13 @@ BLACK
6
CONTINUOUS
10
-6.41834
+6.19184
20
--2.64815
+-2.67757
11
-6.39547
+6.20077
21
--2.71854
+-2.59261
0
LINE
8
@@ -14919,13 +66789,13 @@ BLACK
6
CONTINUOUS
10
-6.31693
+6.20077
20
--2.61596
+-2.59261
11
-6.31693
+6.09623
21
--2.61596
+-2.58162
0
LINE
8
@@ -14933,13 +66803,13 @@ BLACK
6
CONTINUOUS
10
-6.31693
+6.09623
20
--2.61596
+-2.58162
11
-6.31842
+6.0873
21
--2.61699
+-2.66658
0
LINE
8
@@ -14947,13 +66817,13 @@ BLACK
6
CONTINUOUS
10
-6.31842
+6.11596
20
--2.61699
+-2.66791
11
-6.31875
+6.11545
21
--2.61876
+-2.66618
0
LINE
8
@@ -14961,13 +66831,13 @@ BLACK
6
CONTINUOUS
10
-6.31875
+6.11545
20
--2.61876
+-2.66618
11
-6.30238
+6.12368
21
--2.69578
+-2.58787
0
LINE
8
@@ -14975,13 +66845,13 @@ BLACK
6
CONTINUOUS
10
-6.30238
+6.12368
20
--2.69578
+-2.58787
11
-6.30135
+6.12368
21
--2.69727
+-2.58787
0
LINE
8
@@ -14989,13 +66859,13 @@ BLACK
6
CONTINUOUS
10
-6.30135
+6.12368
20
--2.69727
+-2.58787
11
-6.29957
+6.12454
21
--2.6976
+-2.58628
0
LINE
8
@@ -15003,13 +66873,13 @@ BLACK
6
CONTINUOUS
10
-6.29957
+6.12454
20
--2.6976
+-2.58628
11
-6.25606
+6.12628
21
--2.68835
+-2.58577
0
LINE
8
@@ -15017,13 +66887,13 @@ BLACK
6
CONTINUOUS
10
-6.25606
+6.12628
20
--2.68835
+-2.58577
11
-6.25457
+6.17052
21
--2.68733
+-2.59042
0
LINE
8
@@ -15031,13 +66901,13 @@ BLACK
6
CONTINUOUS
10
-6.25457
+6.17052
20
--2.68733
+-2.59042
11
-6.25424
+6.17052
21
--2.68555
+-2.59042
0
LINE
8
@@ -15045,13 +66915,13 @@ BLACK
6
CONTINUOUS
10
-6.25424
+6.17052
20
--2.68555
+-2.59042
11
-6.27061
+6.17211
21
--2.60853
+-2.59128
0
LINE
8
@@ -15059,13 +66929,13 @@ BLACK
6
CONTINUOUS
10
-6.27061
+6.17211
20
--2.60853
+-2.59128
11
-6.27163
+6.17262
21
--2.60704
+-2.59301
0
LINE
8
@@ -15073,13 +66943,13 @@ BLACK
6
CONTINUOUS
10
-6.27163
+6.17262
20
--2.60704
+-2.59301
11
-6.27341
+6.16439
21
--2.60671
+-2.67132
0
LINE
8
@@ -15087,13 +66957,13 @@ BLACK
6
CONTINUOUS
10
-6.27341
+6.16439
20
--2.60671
+-2.67132
11
-6.31693
+6.16439
21
--2.61596
+-2.67132
0
LINE
8
@@ -15101,13 +66971,13 @@ BLACK
6
CONTINUOUS
10
-6.25935
+6.16439
20
--2.68422
+-2.67132
11
-6.29825
+6.16353
21
--2.69249
+-2.67291
0
LINE
8
@@ -15115,13 +66985,13 @@ BLACK
6
CONTINUOUS
10
-6.29825
+6.16353
20
--2.69249
+-2.67291
11
-6.31363
+6.1618
21
--2.62009
+-2.67342
0
LINE
8
@@ -15129,13 +66999,13 @@ BLACK
6
CONTINUOUS
10
-6.31363
+6.1618
20
--2.62009
+-2.67342
11
-6.27474
+6.11755
21
--2.61183
+-2.66877
0
LINE
8
@@ -15143,13 +67013,13 @@ BLACK
6
CONTINUOUS
10
-6.27474
+6.11755
20
--2.61183
+-2.66877
11
-6.25935
+6.11596
21
--2.68422
+-2.66791
0
LINE
8
@@ -15157,13 +67027,13 @@ BLACK
6
CONTINUOUS
10
-5.72837
+6.12039
20
--2.60704
+-2.66432
11
-5.72939
+6.15994
21
--2.60853
+-2.66848
0
LINE
8
@@ -15171,13 +67041,13 @@ BLACK
6
CONTINUOUS
10
-5.72939
+6.15994
20
--2.60853
+-2.66848
11
-5.74576
+6.16768
21
--2.68555
+-2.59487
0
LINE
8
@@ -15185,13 +67055,13 @@ BLACK
6
CONTINUOUS
10
-5.74576
+6.16768
20
--2.68555
+-2.59487
11
-5.74543
+6.12813
21
--2.68733
+-2.59071
0
LINE
8
@@ -15199,13 +67069,13 @@ BLACK
6
CONTINUOUS
10
-5.74543
+6.12813
20
--2.68733
+-2.59071
11
-5.74394
+6.12039
21
--2.68835
+-2.66432
0
LINE
8
@@ -15213,13 +67083,13 @@ BLACK
6
CONTINUOUS
10
-5.74394
+6.0559
20
--2.68835
+-2.57349
11
-5.70043
+6.05602
21
--2.6976
+-2.57347
0
LINE
8
@@ -15227,13 +67097,13 @@ BLACK
6
CONTINUOUS
10
-5.70043
+6.05602
20
--2.6976
+-2.57347
11
-5.69865
+6.05614
21
--2.69727
+-2.57354
0
LINE
8
@@ -15241,13 +67111,13 @@ BLACK
6
CONTINUOUS
10
-5.69865
+6.05614
20
--2.69727
+-2.57354
11
-5.69762
+6.05652
21
--2.69578
+-2.5736
0
LINE
8
@@ -15255,13 +67125,13 @@ BLACK
6
CONTINUOUS
10
-5.69762
+6.05652
20
--2.69578
+-2.5736
11
-5.68125
+6.05711
21
--2.61877
+-2.5741
0
LINE
8
@@ -15269,13 +67139,13 @@ BLACK
6
CONTINUOUS
10
-5.68125
+6.05711
20
--2.61877
+-2.5741
11
-5.68158
+6.05777
21
--2.61699
+-2.57448
0
LINE
8
@@ -15283,13 +67153,13 @@ BLACK
6
CONTINUOUS
10
-5.68158
+6.05777
20
--2.61699
+-2.57448
11
-5.68307
+6.05786
21
--2.61596
+-2.57473
0
LINE
8
@@ -15297,13 +67167,13 @@ BLACK
6
CONTINUOUS
10
-5.68307
+6.05786
20
--2.61596
+-2.57473
11
-5.72659
+6.05807
21
--2.60671
+-2.5749
0
LINE
8
@@ -15311,13 +67181,13 @@ BLACK
6
CONTINUOUS
10
-5.72659
+6.05807
20
--2.60671
+-2.5749
11
-5.72837
+6.0582
21
--2.60704
+-2.57566
0
LINE
8
@@ -15325,13 +67195,13 @@ BLACK
6
CONTINUOUS
10
-5.68637
+6.0582
20
--2.62009
+-2.57566
11
-5.70175
+6.05846
21
--2.69249
+-2.57638
0
LINE
8
@@ -15339,13 +67209,13 @@ BLACK
6
CONTINUOUS
10
-5.70175
+6.05846
20
--2.69249
+-2.57638
11
-5.74065
+6.05846
21
--2.68422
+-2.66772
0
LINE
8
@@ -15353,13 +67223,13 @@ BLACK
6
CONTINUOUS
10
-5.74065
+6.05846
20
--2.68422
+-2.66772
11
-5.72526
+6.0584
21
--2.61183
+-2.6681
0
LINE
8
@@ -15367,13 +67237,13 @@ BLACK
6
CONTINUOUS
10
-5.72526
+6.0584
20
--2.61183
+-2.6681
11
-5.68637
+6.05842
21
--2.62009
+-2.66823
0
LINE
8
@@ -15381,13 +67251,13 @@ BLACK
6
CONTINUOUS
10
-5.87546
+6.05842
20
--2.58628
+-2.66823
11
-5.87632
+6.05835
21
--2.58787
+-2.66834
0
LINE
8
@@ -15395,13 +67265,13 @@ BLACK
6
CONTINUOUS
10
-5.87632
+6.05835
20
--2.58787
+-2.66834
11
-5.88455
+6.05829
21
--2.66618
+-2.66873
0
LINE
8
@@ -15409,13 +67279,13 @@ BLACK
6
CONTINUOUS
10
-5.88455
+6.05829
20
--2.66618
+-2.66873
11
-5.88404
+6.05779
21
--2.66791
+-2.66931
0
LINE
8
@@ -15423,13 +67293,13 @@ BLACK
6
CONTINUOUS
10
-5.88404
+6.05779
20
--2.66791
+-2.66931
11
-5.88245
+6.05741
21
--2.66877
+-2.66998
0
LINE
8
@@ -15437,13 +67307,13 @@ BLACK
6
CONTINUOUS
10
-5.88245
+6.05741
20
--2.66877
+-2.66998
11
-5.88245
+6.05716
21
--2.66877
+-2.67007
0
LINE
8
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6
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6
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6
CONTINUOUS
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CONTINUOUS
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6
CONTINUOUS
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6
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6
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6
CONTINUOUS
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6
CONTINUOUS
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6
CONTINUOUS
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6
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6
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6
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+checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
+
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+name = "windows_x86_64_msvc"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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diff --git a/firmware/rust1-bootloader/Cargo.toml b/firmware/rust1-bootloader/Cargo.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c4a5f87a37c1aa5d5cd53d8d5629aaf866cb3dfa
--- /dev/null
+++ b/firmware/rust1-bootloader/Cargo.toml
@@ -0,0 +1,31 @@
+[package]
+edition = "2021"
+name = "heizung-bootloader"
+version = "0.1.0"
+description = "Bootloader for Subraum Heizung"
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+defmt = { version = "0.3", optional = true }
+defmt-rtt = { version = "0.4", optional = true }
+
+embassy-rp = { path = "../rust1/embassy/embassy-rp", default-features = false, features = ["nightly", "unstable-pac"] }
+embassy-boot-rp = { path = "../rust1/embassy/embassy-boot/rp", default-features = false }
+embassy-time = { path = "../rust1/embassy/embassy-time", features = ["nightly"] }
+
+cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = { version = "0.7" }
+embedded-storage = "0.3.0"
+embedded-storage-async = "0.4.0"
+cfg-if = "1.0.0"
+
+[features]
+defmt = [
+ "dep:defmt",
+ "embassy-boot-rp/defmt",
+ "embassy-rp/defmt",
+]
+debug = ["defmt-rtt", "defmt"]
+
+[profile.release]
+debug = true
diff --git a/firmware/rust1-bootloader/README.md b/firmware/rust1-bootloader/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..064e8727336e8e35a5b2a9d549e7db2d26de3342
--- /dev/null
+++ b/firmware/rust1-bootloader/README.md
@@ -0,0 +1,17 @@
+# Bootloader for RP2040
+
+The bootloader uses `embassy-boot` to interact with the flash.
+
+# Usage
+
+Flashing the bootloader
+
+```
+cargo flash --release --chip RP2040
+```
+
+To debug, use `cargo run` and enable the debug feature flag
+
+``` rust
+cargo run --release --features debug
+```
diff --git a/firmware/rust1-bootloader/build.rs b/firmware/rust1-bootloader/build.rs
new file mode 100644
index 0000000000000000000000000000000000000000..c201704ad6ada0fd0bc3b315785287e2f4fd609a
--- /dev/null
+++ b/firmware/rust1-bootloader/build.rs
@@ -0,0 +1,28 @@
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+ // Put `memory.x` in our output directory and ensure it's
+ // on the linker search path.
+ let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+ File::create(out.join("memory.x"))
+ .unwrap()
+ .write_all(include_bytes!("memory.x"))
+ .unwrap();
+ println!("cargo:rustc-link-search={}", out.display());
+
+ // By default, Cargo will re-run a build script whenever
+ // any file in the project changes. By specifying `memory.x`
+ // here, we ensure the build script is only re-run when
+ // `memory.x` is changed.
+ println!("cargo:rerun-if-changed=memory.x");
+
+ println!("cargo:rustc-link-arg-bins=--nmagic");
+ println!("cargo:rustc-link-arg-bins=-Tlink.x");
+ println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
+ if env::var("CARGO_FEATURE_DEFMT").is_ok() {
+ println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+ }
+}
diff --git a/firmware/rust1-bootloader/memory.x b/firmware/rust1-bootloader/memory.x
new file mode 100644
index 0000000000000000000000000000000000000000..d6ef3846941260a5456ce3e5f23021ccc333777c
--- /dev/null
+++ b/firmware/rust1-bootloader/memory.x
@@ -0,0 +1,19 @@
+MEMORY
+{
+ /* NOTE 1 K = 1 KiBi = 1024 bytes */
+ BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+ FLASH : ORIGIN = 0x10000100, LENGTH = 24K
+ BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K
+ ACTIVE : ORIGIN = 0x10007000, LENGTH = 512K
+ DFU : ORIGIN = 0x10087000, LENGTH = 516K
+ RAM : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+
+__bootloader_active_start = ORIGIN(ACTIVE) - ORIGIN(BOOT2);
+__bootloader_active_end = ORIGIN(ACTIVE) + LENGTH(ACTIVE) - ORIGIN(BOOT2);
+
+__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2);
+__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2);
diff --git a/firmware/rust1-bootloader/rust-toolchain.toml b/firmware/rust1-bootloader/rust-toolchain.toml
new file mode 100644
index 0000000000000000000000000000000000000000..2301ddc8d45048796745508ac27f6f835074759a
--- /dev/null
+++ b/firmware/rust1-bootloader/rust-toolchain.toml
@@ -0,0 +1,14 @@
+# Before upgrading check that everything is available on all tier1 targets here:
+# https://rust-lang.github.io/rustup-components-history
+[toolchain]
+channel = "nightly-2023-04-18"
+components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
+targets = [
+ "thumbv7em-none-eabi",
+ "thumbv7m-none-eabi",
+ "thumbv6m-none-eabi",
+ "thumbv7em-none-eabihf",
+ "thumbv8m.main-none-eabihf",
+ "riscv32imac-unknown-none-elf",
+ "wasm32-unknown-unknown",
+]
diff --git a/firmware/rust1-bootloader/src/main.rs b/firmware/rust1-bootloader/src/main.rs
new file mode 100644
index 0000000000000000000000000000000000000000..4fb4e7d07dc91fdb3d2b8af6107ded9fded7358f
--- /dev/null
+++ b/firmware/rust1-bootloader/src/main.rs
@@ -0,0 +1,93 @@
+#![no_std]
+#![no_main]
+
+use cortex_m_rt::{entry, exception};
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
+use embassy_boot_rp::*;
+use embassy_rp::Peripheral;
+use embassy_time::Duration;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::peripherals;
+
+const FLASH_SIZE: usize = 2 * 1024 * 1024;
+
+// The pause bits are on by default after reset but I think Watchdog::enable()
+// disables them so let's enable them, again.
+fn watchdog_pause_on_debug(_watchdog: peripherals::WATCHDOG) {
+ // This turns off the watchdog - no good! :-/
+ //embassy_rp::watchdog::Watchdog::new(watchdog_copy).pause_on_debug(true);
+
+ use embassy_rp::pac;
+ let watchdog = pac::WATCHDOG;
+ //SAFETY: We know which values have been set by WatchdogFlash / Watchdog.
+ unsafe {
+ watchdog.ctrl().write(|w| {
+ w.set_pause_dbg0(true);
+ w.set_pause_dbg1(true);
+ w.set_pause_jtag(true);
+ w.set_enable(true);
+ });
+ }
+}
+
+#[entry]
+fn main() -> ! {
+ let p = embassy_rp::init(Default::default());
+
+ // Uncomment this if you are debugging the bootloader with debugger/RTT attached,
+ // as it prevents a hard fault when accessing flash 'too early' after boot.
+ #[cfg(feature = "defmt")]
+ if true {
+ for _ in 0..10000000 {
+ cortex_m::asm::nop();
+ }
+ }
+
+ let mut led_b = Output::new(p.PIN_4, Level::Low);
+ let _led_g = Output::new(p.PIN_5, Level::Low);
+ let mut led_r = Output::new(p.PIN_6, Level::Low);
+ let _button_boot2 = Input::new(p.PIN_11, Pull::Up);
+
+ led_r.set_high();
+
+ // This is a bit problematic because it will remain active when probe-rs-cli is programming
+ // the flash and it will interrupt the programming. However, we cannot make this any longer
+ // than 8.4 seconds so there isn't much that we can do.
+ // Manual workaround: Put rp2040 into bootloader mode via a real reset before using probe-rs-cli.
+ // Workaround: Turn on "pause on debug". This seems to work well enough, for now. If not, use the
+ // manual workaround above.
+ let watchdog_interval = Duration::from_secs(8);
+ let watchdog_copy = unsafe { p.WATCHDOG.clone_unchecked() };
+
+ let mut bl: BootLoader = BootLoader::default(); // taking partition addresses from memory.x
+ let flash = WatchdogFlash::<FLASH_SIZE>::start(p.FLASH, p.WATCHDOG, watchdog_interval);
+ watchdog_pause_on_debug(watchdog_copy);
+ let mut flash = BootFlash::new(flash);
+ let start = bl.prepare(&mut SingleFlashConfig::new(&mut flash));
+ core::mem::drop(flash);
+
+ led_r.set_low();
+ led_b.set_high();
+
+ unsafe { bl.load(start) }
+}
+
+#[no_mangle]
+#[cfg_attr(target_os = "none", link_section = ".HardFault.user")]
+unsafe extern "C" fn HardFault() {
+ cortex_m::peripheral::SCB::sys_reset();
+}
+
+#[exception]
+unsafe fn DefaultHandler(_: i16) -> ! {
+ const SCB_ICSR: *const u32 = 0xE000_ED04 as *const u32;
+ let irqn = core::ptr::read_volatile(SCB_ICSR) as u8 as i16 - 16;
+
+ panic!("DefaultHandler #{:?}", irqn);
+}
+
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+ cortex_m::asm::udf();
+}
diff --git a/firmware/rust1/.cargo/config.toml b/firmware/rust1/.cargo/config.toml
new file mode 100644
index 0000000000000000000000000000000000000000..2ee6fcb00cf26a3356f191adf02d543d9c795129
--- /dev/null
+++ b/firmware/rust1/.cargo/config.toml
@@ -0,0 +1,8 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+runner = "probe-rs-cli run --chip RP2040"
+
+[build]
+target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
+
+[env]
+DEFMT_LOG = "debug"
diff --git a/firmware/rust1/.gitignore b/firmware/rust1/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..8d92b5d0d7e027dc96a74c0dd2802cbb25ae8aaf
--- /dev/null
+++ b/firmware/rust1/.gitignore
@@ -0,0 +1,2 @@
+/target/
+/.cargo-tools/
diff --git a/firmware/rust1/Cargo.lock b/firmware/rust1/Cargo.lock
new file mode 100644
index 0000000000000000000000000000000000000000..003f717fced67b4584f94e3a69d5ff48de2abaab
--- /dev/null
+++ b/firmware/rust1/Cargo.lock
@@ -0,0 +1,2201 @@
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+# It is not intended for manual editing.
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+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ca2b8a661f7628cbd23440e50b05d705db3686f894fc9580820623656af974b1"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26d41b46a36d453748aedef1486d5c7a85db22e56aff34643984ea85514e94a3"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7896dbc1f41e08872e9d5e8f8baa8fdd2677f29468c4e156210174edc7f7b953"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a515f5799fe4961cb532f983ce2b23082366b898e52ffbce459c86f67c8378a"
+
+[[package]]
+name = "wyz"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05f360fc0b24296329c78fda852a1e9ae82de9cf7b27dae4b7f62f118f77b9ed"
+dependencies = [
+ "tap",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "332f188cc1bcf1fe1064b8c58d150f497e697f49774aa846f2dc949d9a25f236"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6505e6815af7de1746a08f69c69606bb45695a17149517680f3b2149713b19a3"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
diff --git a/firmware/rust1/Cargo.toml b/firmware/rust1/Cargo.toml
new file mode 100644
index 0000000000000000000000000000000000000000..fefd5c0e667cb2a15986204f40697505e9f5a802
--- /dev/null
+++ b/firmware/rust1/Cargo.toml
@@ -0,0 +1,67 @@
+[package]
+edition = "2021"
+name = "heizung"
+version = "0.1.0"
+license = "MIT OR Apache-2.0"
+
+
+[features]
+default = ["defmt"]
+defmt = []
+
+
+[dependencies]
+embassy-embedded-hal = { version = "0.1.0", path = "./embassy/embassy-embedded-hal", features = ["defmt"] }
+embassy-sync = { version = "0.2.0", path = "./embassy/embassy-sync", features = ["defmt"] }
+embassy-executor = { version = "0.2.0", path = "./embassy/embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-time = { version = "0.1.0", path = "./embassy/embassy-time", features = ["nightly", "unstable-traits", "defmt", "defmt-timestamp-uptime"] }
+embassy-rp = { version = "0.1.0", path = "./embassy/embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "critical-section-impl"] }
+embassy-usb = { version = "0.1.0", path = "./embassy/embassy-usb", features = ["defmt"] }
+embassy-net = { version = "0.1.0", path = "./embassy/embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet"] }
+embassy-futures = { version = "0.1.0", path = "./embassy/embassy-futures" }
+embassy-usb-logger = { version = "0.1.0", path = "./embassy/embassy-usb-logger" }
+embassy-lora = { version = "0.1.0", path = "./embassy/embassy-lora", features = ["time", "defmt"] }
+embassy-boot = { version = "0.1.1", path = "./embassy/embassy-boot/boot", features = [] }
+embassy-boot-rp = { version = "0.1.0", path = "./embassy/embassy-boot/rp", features = ["defmt"] }
+lora-phy = { version = "1" }
+lorawan-device = { version = "0.10.0", default-features = false, features = ["async", "external-lora-phy"] }
+lorawan = { version = "0.7.3", default-features = false, features = ["default-crypto"] }
+# for i2c.rs copied from embassy-rp
+embassy-cortex-m = { version = "0.1.0", path = "./embassy/embassy-cortex-m", features = ["prio-bits-2"]}
+embassy-hal-common = {version = "0.1.0", path = "./embassy/embassy-hal-common" }
+
+defmt = "0.3"
+defmt-rtt = "0.4"
+fixed = "1.23.1"
+fixed-macro = "1.2"
+
+#cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
+cortex-m = { version = "0.7.6", features = ["inline-asm"] }
+cortex-m-rt = "0.7.0"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
+display-interface-spi = "0.4.1"
+embedded-graphics = "0.7.1"
+st7789 = "0.6.1"
+display-interface = "0.4.1"
+byte-slice-cast = { version = "1.2.0", default-features = false }
+smart-leds = "0.3.0"
+
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10" }
+embedded-hal-async = "0.2.0-alpha.1"
+embedded-io = { version = "0.4.0", features = ["async", "defmt"] }
+embedded-storage = { version = "0.3" }
+static_cell = "1.0.0"
+log = "0.4"
+pio-proc = "0.2"
+pio = "0.2.1"
+
+heapless = "0.7.16"
+crc = "3.0.1"
+#elf2uf2-rs = "1.3.7" # not a library
+zerocopy = "0.6.1"
+static_assertions = "1.1.0"
+bitvec = { version = "1", features = ["atomic"], default-features = false }
+
+[profile.release]
+debug = true
diff --git a/firmware/rust1/README.txt b/firmware/rust1/README.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e8cf463481799f316b7544330624fc792e30b09
--- /dev/null
+++ b/firmware/rust1/README.txt
@@ -0,0 +1,6 @@
+nix-shell -p rustup udev.dev pkg-config openssl.dev
+cargo install probe-rs-cli
+cargo install probe-rs-debugger
+# https://github.com/raspberrypi/picoprobe
+# https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf
+cargo run --bin blinky
diff --git a/firmware/rust1/build.rs b/firmware/rust1/build.rs
new file mode 100644
index 0000000000000000000000000000000000000000..52730bc0d2e83371ac5472879a23132a77e7b29b
--- /dev/null
+++ b/firmware/rust1/build.rs
@@ -0,0 +1,42 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+ // Put `memory.x` in our output directory and ensure it's
+ // on the linker search path.
+ let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+ File::create(out.join("memory.x"))
+ .unwrap()
+ .write_all(include_bytes!("memory.x"))
+ .unwrap();
+ File::create(out.join("clear-bootloader-state.x"))
+ .unwrap()
+ .write_all(include_bytes!("clear-bootloader-state.x"))
+ .unwrap();
+ println!("cargo:rustc-link-search={}", out.display());
+
+ // By default, Cargo will re-run a build script whenever
+ // any file in the project changes. By specifying `memory.x`
+ // here, we ensure the build script is only re-run when
+ // `memory.x` is changed.
+ println!("cargo:rerun-if-changed=memory.x");
+ println!("cargo:rerun-if-changed=clear-bootloader-state.x");
+
+ println!("cargo:rustc-link-arg-bins=--nmagic");
+ println!("cargo:rustc-link-arg-bins=-Tlink.x");
+ //println!("cargo:rustc-link-arg-bins=-Tlink-rp.x"); // This is for boot2 but the bootloader handles that for us.
+ println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+ println!("cargo:rustc-link-arg-bins=-Tclear-bootloader-state.x");
+}
diff --git a/firmware/rust1/build.sh b/firmware/rust1/build.sh
new file mode 100755
index 0000000000000000000000000000000000000000..86f5cded96f2e7289c2e940cbe342e8e0258ac1f
--- /dev/null
+++ b/firmware/rust1/build.sh
@@ -0,0 +1,37 @@
+#!/bin/sh
+set -e
+cd "$(dirname "$0")"
+
+if ! [ -e .cargo-tools/bin/cargo-objcopy ] ; then
+ cargo install --root "$PWD/.cargo-tools/" cargo-binutils
+fi
+if ! [ -e .cargo-tools/bin/elf2uf2-rs ] ; then
+ cargo install --root "$PWD/.cargo-tools/" elf2uf2-rs
+fi
+if ! [ -e .cargo-tools/bin/probe-rs-cli ] ; then
+ cargo install --root "$PWD/.cargo-tools/" probe-rs-cli
+fi
+if ! [ -e .cargo-tools/bin/probe-rs-debugger ] ; then
+ cargo install --root "$PWD/.cargo-tools/" probe-rs-debugger
+fi
+
+( cd ../rust1-bootloader && cargo build --release )
+./.cargo-tools/bin/elf2uf2-rs ../rust1-bootloader/target/thumbv6m-none-eabi/release/heizung-bootloader
+
+cargo build --bin heizung
+cargo objdump --bin heizung -- -xd >target/thumbv6m-none-eabi/debug/heizung.map
+cargo build --bin heizung --release
+cargo objdump --bin heizung --release -- -xd >target/thumbv6m-none-eabi/release/heizung.map
+cargo build --bin blinky --release
+cargo objdump --bin blinky --release -- -xd >target/thumbv6m-none-eabi/release/blinky.map
+./.cargo-tools/bin/elf2uf2-rs target/thumbv6m-none-eabi/debug/heizung
+./.cargo-tools/bin/elf2uf2-rs target/thumbv6m-none-eabi/release/heizung
+./.cargo-tools/bin/elf2uf2-rs target/thumbv6m-none-eabi/release/blinky
+
+cat ../rust1-bootloader/target/thumbv6m-none-eabi/release/heizung-bootloader.uf2 target/thumbv6m-none-eabi/debug/heizung.uf2 >heizung-debug.uf2
+cat ../rust1-bootloader/target/thumbv6m-none-eabi/release/heizung-bootloader.uf2 target/thumbv6m-none-eabi/release/heizung.uf2 >heizung-release.uf2
+cat ../rust1-bootloader/target/thumbv6m-none-eabi/release/heizung-bootloader.uf2 target/thumbv6m-none-eabi/release/blinky.uf2 >blinky-release.uf2
+
+size target/thumbv6m-none-eabi/debug/heizung
+size target/thumbv6m-none-eabi/release/heizung
+size target/thumbv6m-none-eabi/release/blinky
diff --git a/firmware/rust1/clear-bootloader-state.x b/firmware/rust1/clear-bootloader-state.x
new file mode 100644
index 0000000000000000000000000000000000000000..c798754852d1c7322976e90fb4bcb5e1bd0f956c
--- /dev/null
+++ b/firmware/rust1/clear-bootloader-state.x
@@ -0,0 +1,7 @@
+SECTIONS
+{
+ .clear_bootloader_state :
+ {
+ KEEP(*(.clear_bootloader_state .clear_bootloader_state.*))
+ } > BOOTLOADER_STATE =0xff
+}
diff --git a/firmware/rust1/download_firmware_via_modbus.py b/firmware/rust1/download_firmware_via_modbus.py
new file mode 100644
index 0000000000000000000000000000000000000000..d498aa93e7c4b9b7542ba009511e16c041918bd3
--- /dev/null
+++ b/firmware/rust1/download_firmware_via_modbus.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+# -*- coding: utf_8 -*-
+
+# based on https://github.com/pymodbus-dev/pymodbus/blob/dev/examples/client_sync.py
+
+import logging
+import time
+import sys
+import struct
+import pymodbus
+from pymodbus.exceptions import ModbusException
+from pymodbus.client import ModbusSerialClient
+from pymodbus.file_message import FileRecord
+from uf2 import *
+
+PORT = '/dev/ttyUSB0'
+DEVICE_ADDR = 1
+#FIRMWARE = "./heizung-release.uf2"
+FIRMWARE = "./blinky-release.uf2"
+ACTIVE_PARTITION_ADDRESS = 0x10007000
+
+logger = logging.getLogger()
+logger.setLevel(logging.INFO)
+log_handler = logging.StreamHandler(sys.stdout)
+logger.addHandler(log_handler)
+
+def main():
+ firmware_blocks = read_blocks(FIRMWARE)
+ firmware_streams = [[firmware_blocks[0]]]
+ prev = firmware_blocks[0]
+ for block in firmware_blocks[1:]:
+ if block.block_no == 0 or block.num_blocks != prev.num_blocks:
+ firmware_streams.append([])
+ firmware_streams[-1].append(block)
+ prev = block
+ logger.info("found %s streams in firmware file %s" % (len(firmware_streams), FIRMWARE))
+
+ firmware_streams2 = []
+ for i, stream in enumerate(firmware_streams):
+ valid = all(block.valid for block in stream)
+ relevant = any(block.target_addr >= ACTIVE_PARTITION_ADDRESS for block in stream)
+ if not valid:
+ raise Exception("stream %s contains invalid blocks" % i)
+ if relevant:
+ firmware_streams2.append(stream)
+ else:
+ logger.info("skipping stream %s because it contains only irrelevant blocks (e.g. bootloader)" % i)
+ if len(firmware_streams2) == 0:
+ raise Exception("no relevant streams")
+
+ try:
+ client = ModbusSerialClient(
+ port=PORT,
+ timeout=0.2,
+ # Common optional paramers:
+ # framer=ModbusRtuFramer,
+ # timeout=10,
+ # retries=3,
+ # retry_on_empty=False,
+ # close_comm_on_error=False,
+ # strict=True,
+ baudrate=19200,
+ parity="E",
+ )
+ client.connect()
+ logger.info("connected")
+
+ blocks_progress = 0
+ blocks_total = sum(len(stream) for stream in firmware_streams2) * 3
+ for stream in firmware_streams2:
+ #bytes = b"".join(block.bytes for block in stream)
+ for block in stream:
+ maxlen = (0xf5-7) // 2 * 2
+ offset = 0
+ for j in range(3):
+ x = client.write_file_record([
+ FileRecord(file_number=1, record_number=offset//2, record_data=block.bytes[offset:offset+maxlen]),
+ ], slave=DEVICE_ADDR)
+ blocks_progress += 1
+ logger.info("%3s / %3s, %08x, %s", blocks_progress, blocks_total, block.target_addr, x)
+ offset += maxlen
+
+ x = client.read_input_registers(25, 4, slave=DEVICE_ADDR)
+ logger.info(x)
+ logger.info(x.registers)
+ if x.registers != [0, 1, 0, 1]:
+ raise Exception("We haven't implemented re-sending blocks, yet.")
+
+ x = client.write_registers(1, struct.unpack(">H", b"UP")[0], slave=DEVICE_ADDR)
+ logger.info("write to mark for update: %s", x)
+
+ x = client.write_registers(1, struct.unpack(">H", b"RE")[0], slave=DEVICE_ADDR)
+ logger.info("write to reset: %s", x)
+
+ except ModbusException as exc:
+ logger.error("%s", exc)
+
+if __name__ == "__main__":
+ main()
diff --git a/firmware/rust1/embassy b/firmware/rust1/embassy
new file mode 160000
index 0000000000000000000000000000000000000000..dec75474d5fd82dd6abe25647f0e221c2266dda2
--- /dev/null
+++ b/firmware/rust1/embassy
@@ -0,0 +1 @@
+Subproject commit dec75474d5fd82dd6abe25647f0e221c2266dda2
diff --git a/firmware/rust1/memory.x b/firmware/rust1/memory.x
new file mode 100644
index 0000000000000000000000000000000000000000..5e049f023dfbf91dec5785f12439f19d70cb0d28
--- /dev/null
+++ b/firmware/rust1/memory.x
@@ -0,0 +1,20 @@
+MEMORY
+{
+ /* NOTE 1 K = 1 KiBi = 1024 bytes */
+ BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
+ BOOTLOADER_STATE : ORIGIN = 0x10006000, LENGTH = 4K
+ FLASH : ORIGIN = 0x10007000, LENGTH = 512K
+ DFU : ORIGIN = 0x10087000, LENGTH = 516K
+ RAM : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+__bootloader_flash_start = ORIGIN(BOOT2);
+
+__bootloader_state_start = ORIGIN(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+__bootloader_state_end = ORIGIN(BOOTLOADER_STATE) + LENGTH(BOOTLOADER_STATE) - ORIGIN(BOOT2);
+
+__bootloader_active_start = ORIGIN(FLASH) - ORIGIN(BOOT2);
+__bootloader_active_end = ORIGIN(FLASH) + LENGTH(FLASH) - ORIGIN(BOOT2);
+
+__bootloader_dfu_start = ORIGIN(DFU) - ORIGIN(BOOT2);
+__bootloader_dfu_end = ORIGIN(DFU) + LENGTH(DFU) - ORIGIN(BOOT2);
diff --git a/firmware/rust1/rtumaster_modbus_tk.py b/firmware/rust1/rtumaster_modbus_tk.py
new file mode 100644
index 0000000000000000000000000000000000000000..27084093b99027b56fc170b7060b50468ef08bff
--- /dev/null
+++ b/firmware/rust1/rtumaster_modbus_tk.py
@@ -0,0 +1,66 @@
+#!/usr/bin/env python
+# -*- coding: utf_8 -*-
+"""
+ Modbus TestKit: Implementation of Modbus protocol in python
+
+ (C)2009 - Luc Jean - luc.jean@gmail.com
+ (C)2009 - Apidev - http://www.apidev.fr
+
+ This is distributed under GNU LGPL license, see license.txt
+"""
+
+import serial
+import time
+
+import modbus_tk
+import modbus_tk.defines as cst
+from modbus_tk import modbus_rtu
+
+PORT = '/dev/ttyUSB0'
+
+def main():
+ """main"""
+ logger = modbus_tk.utils.create_logger("console")
+
+ try:
+ #Connect to the slave
+ master = modbus_rtu.RtuMaster(
+ serial.Serial(port=PORT, baudrate=19200, bytesize=8, parity='E', stopbits=1, xonxoff=0)
+ )
+ master.set_timeout(0.2)
+ master.set_verbose(True)
+ logger.info("connected")
+
+ logger.info(master.execute(1, cst.READ_HOLDING_REGISTERS, 1, 1))
+
+ logger.info(master.execute(1, cst.READ_FILE_RECORD, (0, 1, 2), (7, 5, 3), number_file=(0, 0, 0)))
+ logger.info("Bootloader state partition:")
+ logger.info(master.execute(1, cst.READ_FILE_RECORD, (int(0x6000/2),), (20,), number_file=(1,)))
+
+ x = 1
+ while True:
+ s = time.time()
+ logger.info(master.execute(1, cst.WRITE_SINGLE_COIL, 0, output_value=x))
+ x = 1 - x
+ logger.info(master.execute(1, cst.READ_DISCRETE_INPUTS, 0, 5))
+ #logger.info(master.execute(1, cst.READ_INPUT_REGISTERS, 0, 13))
+ #logger.info(master.execute(1, cst.READ_INPUT_REGISTERS, 13, 12))
+ logger.info(master.execute(1, cst.READ_INPUT_REGISTERS, 0, 25))
+ logger.info("took: %s s" % (time.time() - s))
+ time.sleep(0.1)
+
+ #send some queries
+ #logger.info(master.execute(1, cst.READ_COILS, 0, 10))
+ #logger.info(master.execute(1, cst.READ_DISCRETE_INPUTS, 0, 8))
+ #logger.info(master.execute(1, cst.READ_INPUT_REGISTERS, 100, 3))
+ #logger.info(master.execute(1, cst.READ_HOLDING_REGISTERS, 100, 12))
+ #logger.info(master.execute(1, cst.WRITE_SINGLE_COIL, 7, output_value=1))
+ #logger.info(master.execute(1, cst.WRITE_SINGLE_REGISTER, 100, output_value=54))
+ #logger.info(master.execute(1, cst.WRITE_MULTIPLE_COILS, 0, output_value=[1, 1, 0, 1, 1, 0, 1, 1]))
+ #logger.info(master.execute(1, cst.WRITE_MULTIPLE_REGISTERS, 100, output_value=xrange(12)))
+
+ except modbus_tk.modbus.ModbusError as exc:
+ logger.error("%s- Code=%d", exc, exc.get_exception_code())
+
+if __name__ == "__main__":
+ main()
diff --git a/firmware/rust1/rtumaster_pymodbus.py b/firmware/rust1/rtumaster_pymodbus.py
new file mode 100644
index 0000000000000000000000000000000000000000..bd890c24faee1626907d461b8132ed1d664f4836
--- /dev/null
+++ b/firmware/rust1/rtumaster_pymodbus.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python
+# -*- coding: utf_8 -*-
+
+# based on https://github.com/pymodbus-dev/pymodbus/blob/dev/examples/client_sync.py
+
+import logging
+import time
+import sys
+import struct
+import pymodbus
+from pymodbus.exceptions import ModbusException
+from pymodbus.client import ModbusSerialClient
+from pymodbus.file_message import FileRecord
+
+PORT = '/dev/ttyUSB0'
+DEVICE_ADDR = 1
+
+logger = logging.getLogger()
+logger.setLevel(logging.INFO)
+log_handler = logging.StreamHandler(sys.stdout)
+logger.addHandler(log_handler)
+
+def main():
+ try:
+ client = ModbusSerialClient(
+ port=PORT,
+ timeout=0.2,
+ # Common optional paramers:
+ # framer=ModbusRtuFramer,
+ # timeout=10,
+ # retries=3,
+ # retry_on_empty=False,
+ # close_comm_on_error=False,
+ # strict=True,
+ baudrate=19200,
+ parity="E",
+ )
+ client.connect()
+ logger.info("connected")
+
+ x = client.read_holding_registers(address=1, count=1, slave=DEVICE_ADDR)
+ logger.info("holding reg 1: %s: %r", x, x.registers)
+
+ scratch_reg = 2
+ client.write_register(address=scratch_reg, value=0x12, slave=DEVICE_ADDR)
+ x = client.mask_write_register(address=scratch_reg, and_mask=0xf2, or_mask=0x25, slave=DEVICE_ADDR)
+ logger.info("mask write: %s:", x)
+ x = client.read_holding_registers(address=scratch_reg, slave=DEVICE_ADDR)
+ logger.info("read scratch reg: %s: %r", x, x.registers)
+ assert x.registers == [0x17]
+
+ x = client.readwrite_registers(read_address=0, read_count=3, write_address=1,
+ write_registers=[struct.unpack(">H", b"PI")[0], 103], slave=DEVICE_ADDR)
+ logger.info("read/write regs: %s: %r", x, x.registers)
+
+ if False:
+ x = client.write_registers(1, struct.unpack(">H", b"RE")[0], slave=DEVICE_ADDR)
+ logger.info("write to reset: %s", x)
+
+ x = client.read_file_record([
+ # documentation says tuple of: Reference type, File number, Record Number, Record Length
+ # but actually an object is expected:
+ FileRecord(file_number=0, record_number=0, record_length=7),
+ FileRecord(file_number=0, record_number=1, record_length=5),
+ FileRecord(file_number=0, record_number=2, record_length=3),
+ ], slave=DEVICE_ADDR)
+ logger.info("file 0: %s:", x)
+ for r in x.records:
+ logger.info(" %s: %r", r, r.record_data)
+
+ logger.info("Bootloader state partition:")
+ x = client.read_file_record([
+ FileRecord(file_number=1, record_number=int(0x6000/2), record_length=20),
+ ], slave=DEVICE_ADDR)
+ logger.info("file 1 @ bootloader state partition: %s:", x)
+ for r in x.records:
+ logger.info(" %s: %r", r, r.record_data)
+
+ toggle = True
+ while True:
+ s = time.time()
+ logger.info(client.write_coil(address=0, value=toggle, slave=DEVICE_ADDR))
+ toggle = not toggle
+ logger.info("took: %s s" % (time.time() - s))
+
+ s = time.time()
+ x = client.read_discrete_inputs(address=0, count=5, slave=DEVICE_ADDR)
+ logger.info("read_discrete_inputs: %s: %r", x, x.bits)
+ logger.info("took: %s s" % (time.time() - s))
+
+ s = time.time()
+ x = client.read_input_registers(address=0, count=25, slave=DEVICE_ADDR)
+ logger.info("read_input_registers: %s: %r", x, x.registers)
+ logger.info("took: %s s" % (time.time() - s))
+
+ time.sleep(0.1)
+
+ except ModbusException as exc:
+ logger.error("%s", exc)
+
+if __name__ == "__main__":
+ main()
diff --git a/firmware/rust1/rust-toolchain.toml b/firmware/rust1/rust-toolchain.toml
new file mode 100644
index 0000000000000000000000000000000000000000..2301ddc8d45048796745508ac27f6f835074759a
--- /dev/null
+++ b/firmware/rust1/rust-toolchain.toml
@@ -0,0 +1,14 @@
+# Before upgrading check that everything is available on all tier1 targets here:
+# https://rust-lang.github.io/rustup-components-history
+[toolchain]
+channel = "nightly-2023-04-18"
+components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
+targets = [
+ "thumbv7em-none-eabi",
+ "thumbv7m-none-eabi",
+ "thumbv6m-none-eabi",
+ "thumbv7em-none-eabihf",
+ "thumbv8m.main-none-eabihf",
+ "riscv32imac-unknown-none-elf",
+ "wasm32-unknown-unknown",
+]
diff --git a/firmware/rust1/src/bin/adc.rs b/firmware/rust1/src/bin/adc.rs
new file mode 100644
index 0000000000000000000000000000000000000000..3f96c686e0d11114df24c5e5f24ef0d6a6bc9b83
--- /dev/null
+++ b/firmware/rust1/src/bin/adc.rs
@@ -0,0 +1,39 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::adc::{Adc, Config};
+use embassy_rp::interrupt;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let irq = interrupt::take!(ADC_IRQ_FIFO);
+ let mut adc = Adc::new(p.ADC, irq, Config::default());
+
+ let mut p26 = p.PIN_26;
+ let mut p27 = p.PIN_27;
+ let mut p28 = p.PIN_28;
+
+ loop {
+ let level = adc.read(&mut p26).await;
+ info!("Pin 26 ADC: {}", level);
+ let level = adc.read(&mut p27).await;
+ info!("Pin 27 ADC: {}", level);
+ let level = adc.read(&mut p28).await;
+ info!("Pin 28 ADC: {}", level);
+ let temp = adc.read_temperature().await;
+ //info!("Temp: {}", temp);
+ info!("Temp: {} degrees", convert_to_celsius(temp));
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+fn convert_to_celsius(raw_temp: u16) -> f32 {
+ // According to chapter 4.9.5. Temperature Sensor in RP2040 datasheet
+ 27.0 - (raw_temp as f32 * 3.0522 / 4096.0 - 0.706) / 0.001721 as f32
+}
diff --git a/firmware/rust1/src/bin/blinky.rs b/firmware/rust1/src/bin/blinky.rs
new file mode 100644
index 0000000000000000000000000000000000000000..a53b64b107bb1599da1d5f0fd3864cd87db5f04c
--- /dev/null
+++ b/firmware/rust1/src/bin/blinky.rs
@@ -0,0 +1,35 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::{gpio, peripherals, watchdog::Watchdog};
+use embassy_time::{Duration, Timer};
+use gpio::{Level, Output};
+use {defmt_rtt as _, panic_probe as _};
+use heizung as _; // for clear_bootloader_state
+use heizung::watchdog::WatchdogFixed;
+
+#[embassy_executor::task]
+async fn dogfeeder(watchdog: peripherals::WATCHDOG) {
+ WatchdogFixed::new(watchdog).start_and_feed_continuously().await;
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let mut led = Output::new(p.PIN_4, Level::Low);
+
+ unwrap!(spawner.spawn(dogfeeder(p.WATCHDOG)));
+
+ loop {
+ info!("led on!");
+ led.set_high();
+ Timer::after(Duration::from_secs(1)).await;
+
+ info!("led off!");
+ led.set_low();
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/button.rs b/firmware/rust1/src/bin/button.rs
new file mode 100644
index 0000000000000000000000000000000000000000..c5422c616defadf4fb90a1311863fb5edd7d5225
--- /dev/null
+++ b/firmware/rust1/src/bin/button.rs
@@ -0,0 +1,22 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let button = Input::new(p.PIN_28, Pull::Up);
+ let mut led = Output::new(p.PIN_25, Level::Low);
+
+ loop {
+ if button.is_high() {
+ led.set_high();
+ } else {
+ led.set_low();
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/flash.rs b/firmware/rust1/src/bin/flash.rs
new file mode 100644
index 0000000000000000000000000000000000000000..8d6b379f419c97b03414876dd3a5a78fd2e53dc4
--- /dev/null
+++ b/firmware/rust1/src/bin/flash.rs
@@ -0,0 +1,89 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::flash::{ERASE_SIZE, FLASH_BASE};
+use embassy_rp::peripherals::FLASH;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+const ADDR_OFFSET: u32 = 0x100000;
+const FLASH_SIZE: usize = 2 * 1024 * 1024;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("Hello World!");
+
+ // add some delay to give an attached debug probe time to parse the
+ // defmt RTT header. Reading that header might touch flash memory, which
+ // interferes with flash write operations.
+ // https://github.com/knurling-rs/defmt/pull/683
+ Timer::after(Duration::from_millis(10)).await;
+
+ let mut flash = embassy_rp::flash::Flash::<_, FLASH_SIZE>::new(p.FLASH);
+ erase_write_sector(&mut flash, 0x00);
+
+ multiwrite_bytes(&mut flash, ERASE_SIZE as u32);
+
+ loop {}
+}
+
+fn multiwrite_bytes(flash: &mut embassy_rp::flash::Flash<'_, FLASH, FLASH_SIZE>, offset: u32) {
+ info!(">>>> [multiwrite_bytes]");
+ let mut read_buf = [0u8; ERASE_SIZE];
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut read_buf));
+
+ info!("Addr of flash block is {:x}", ADDR_OFFSET + offset + FLASH_BASE as u32);
+ info!("Contents start with {=[u8]}", read_buf[0..4]);
+
+ defmt::unwrap!(flash.erase(ADDR_OFFSET + offset, ADDR_OFFSET + offset + ERASE_SIZE as u32));
+
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut read_buf));
+ info!("Contents after erase starts with {=[u8]}", read_buf[0..4]);
+ if read_buf.iter().any(|x| *x != 0xFF) {
+ defmt::panic!("unexpected");
+ }
+
+ defmt::unwrap!(flash.write(ADDR_OFFSET + offset, &[0x01]));
+ defmt::unwrap!(flash.write(ADDR_OFFSET + offset + 1, &[0x02]));
+ defmt::unwrap!(flash.write(ADDR_OFFSET + offset + 2, &[0x03]));
+ defmt::unwrap!(flash.write(ADDR_OFFSET + offset + 3, &[0x04]));
+
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut read_buf));
+ info!("Contents after write starts with {=[u8]}", read_buf[0..4]);
+ if &read_buf[0..4] != &[0x01, 0x02, 0x03, 0x04] {
+ defmt::panic!("unexpected");
+ }
+}
+
+fn erase_write_sector(flash: &mut embassy_rp::flash::Flash<'_, FLASH, FLASH_SIZE>, offset: u32) {
+ info!(">>>> [erase_write_sector]");
+ let mut buf = [0u8; ERASE_SIZE];
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut buf));
+
+ info!("Addr of flash block is {:x}", ADDR_OFFSET + offset + FLASH_BASE as u32);
+ info!("Contents start with {=[u8]}", buf[0..4]);
+
+ defmt::unwrap!(flash.erase(ADDR_OFFSET + offset, ADDR_OFFSET + offset + ERASE_SIZE as u32));
+
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut buf));
+ info!("Contents after erase starts with {=[u8]}", buf[0..4]);
+ if buf.iter().any(|x| *x != 0xFF) {
+ defmt::panic!("unexpected");
+ }
+
+ for b in buf.iter_mut() {
+ *b = 0xDA;
+ }
+
+ defmt::unwrap!(flash.write(ADDR_OFFSET + offset, &buf));
+
+ defmt::unwrap!(flash.read(ADDR_OFFSET + offset, &mut buf));
+ info!("Contents after write starts with {=[u8]}", buf[0..4]);
+ if buf.iter().any(|x| *x != 0xDA) {
+ defmt::panic!("unexpected");
+ }
+}
diff --git a/firmware/rust1/src/bin/gpio_async.rs b/firmware/rust1/src/bin/gpio_async.rs
new file mode 100644
index 0000000000000000000000000000000000000000..bf0dcc0aa9993673375a6f913ff20b7428c5e406
--- /dev/null
+++ b/firmware/rust1/src/bin/gpio_async.rs
@@ -0,0 +1,39 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::gpio;
+use embassy_time::{Duration, Timer};
+use gpio::{Input, Level, Output, Pull};
+use {defmt_rtt as _, panic_probe as _};
+
+/// This example shows how async gpio can be used with a RP2040.
+///
+/// It requires an external signal to be manually triggered on PIN 16. For
+/// example, this could be accomplished using an external power source with a
+/// button so that it is possible to toggle the signal from low to high.
+///
+/// This example will begin with turning on the LED on the board and wait for a
+/// high signal on PIN 16. Once the high event/signal occurs the program will
+/// continue and turn off the LED, and then wait for 2 seconds before completing
+/// the loop and starting over again.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let mut led = Output::new(p.PIN_4, Level::Low);
+ let mut async_input = Input::new(p.PIN_11, Pull::Up);
+
+ loop {
+ info!("wait_for_high. Turn on LED");
+ led.set_high();
+
+ async_input.wait_for_low().await;
+
+ info!("done wait_for_low. Turn off LED");
+ led.set_low();
+
+ Timer::after(Duration::from_secs(2)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/gpout.rs b/firmware/rust1/src/bin/gpout.rs
new file mode 100644
index 0000000000000000000000000000000000000000..236a653ac6a6fb75a0bde278bfa726bb24fb91a9
--- /dev/null
+++ b/firmware/rust1/src/bin/gpout.rs
@@ -0,0 +1,34 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::clocks;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let gpout3 = clocks::Gpout::new(p.PIN_25);
+ gpout3.set_div(1000, 0);
+ gpout3.enable();
+
+ loop {
+ gpout3.set_src(clocks::GpoutSrc::CLK_SYS);
+ info!(
+ "Pin 25 is now outputing CLK_SYS/1000, should be toggling at {}",
+ gpout3.get_freq()
+ );
+ Timer::after(Duration::from_secs(2)).await;
+
+ gpout3.set_src(clocks::GpoutSrc::CLK_REF);
+ info!(
+ "Pin 25 is now outputing CLK_REF/1000, should be toggling at {}",
+ gpout3.get_freq()
+ );
+ Timer::after(Duration::from_secs(2)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/heizung.rs b/firmware/rust1/src/bin/heizung.rs
new file mode 100644
index 0000000000000000000000000000000000000000..a16457695369d7a4db619da4072b600f056d7cef
--- /dev/null
+++ b/firmware/rust1/src/bin/heizung.rs
@@ -0,0 +1,690 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::sync::atomic::*;
+
+use defmt::*;
+use embassy_executor::Spawner;
+//use embassy_futures::join::join;
+//use embassy_futures::select::*;
+use embassy_rp::adc::{self, Adc};
+use embassy_rp::peripherals::{*, self};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_time::{Duration, Timer, Instant};
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_rp::i2c;
+use embassy_rp::interrupt;
+//use embedded_hal_async::i2c::I2c;
+use embassy_embedded_hal::SetConfig;
+use embassy_rp::uart::{self, Parity};
+use embassy_rp::pwm::{self, Pwm};
+use {defmt_rtt as _, panic_probe as _};
+use heapless::String;
+
+use heizung::i2c_scan::{self, ScanResultForBus};
+use heizung::modbus_server::{ModbusServer, ModbusRegisters, ModbusErrorCode, ModbusAdressMatch, U16Pusher};
+use heizung::rs485::RS485;
+use heizung::uf2updater::UF2UpdateHandler;
+use heizung::watchdog::WatchdogFixed;
+
+#[embassy_executor::task]
+async fn i2c_task(mut i2c_peri: embassy_rp::peripherals::I2C0,
+ mut scl: embassy_rp::peripherals::PIN_13, mut sda: embassy_rp::peripherals::PIN_12,
+ mut i2c_irq: embassy_rp::interrupt::I2C0_IRQ, i2c_config: i2c::Config) {
+ let mut prev_scan_result = ScanResultForBus::new();
+ loop {
+ if true {
+ let _i2c = i2c::I2c::new_async(&mut i2c_peri, &mut scl, &mut sda, &mut i2c_irq, i2c_config);
+ }
+
+ let scan_result = ScanResultForBus::scan(&mut scl, &mut sda).await;
+ if prev_scan_result != scan_result {
+ prev_scan_result = scan_result;
+ const MSG_LEN : usize = i2c_scan::SCAN_RESULT_STRING_LENGTH;
+ let mut msg = String::<MSG_LEN>::new();
+ match scan_result.format(&mut msg) {
+ Ok(()) => info!("I2C scan result:\n{}", msg),
+ Err(()) => info!("I2C scan result: too long for our buffer!"),
+ }
+ }
+
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn beeper_task(pwm_channel: embassy_rp::peripherals::PWM_CH3, beeper_pin: embassy_rp::peripherals::PIN_6) {
+ let mut c: pwm::Config = Default::default();
+ c.top = 0x8000;
+ c.compare_a = 8;
+ c.divider = fixed::FixedU16::from_num(20);
+ let mut pwm = Pwm::new_output_a(pwm_channel, beeper_pin, c.clone());
+
+ let mut toggle = false;
+ loop {
+ info!("PWM: duty={}/32768, divider={}", c.compare_a, c.divider.to_bits());
+ Timer::after(Duration::from_millis(200)).await;
+ //c.compare_a = c.compare_a.rotate_left(4);
+ c.compare_a = if toggle { c.top/2 } else { 0 };
+ //toggle = !toggle;
+ c.divider -= fixed::FixedU16::from_num(0.1);
+ if c.divider < 1 {
+ c.divider = fixed::FixedU16::from_num(20);
+ }
+ toggle = true;
+ pwm.set_config(&c);
+ }
+}
+
+#[embassy_executor::task]
+async fn uart_task(this: RS485<ModbusServer<ModBusRegs<'static>>>) {
+ this.run_task().await;
+}
+
+// Zero offset for current measurement will be exponential smoothing with alpha=1/ZERO_OFFSET_FACTOR.
+// The value in zero_offset_raw will be the smoothed offset times ZERO_OFFSET_FACTOR. This factor
+// should be a power of two because we will divide by it.
+const ZERO_OFFSET_FACTOR : u32 = 32;
+
+struct AdcCurrentData {
+ // Value measured while both MOSFETs are off
+ // (multiplied by ZERO_OFFSET_FACTOR)
+ zero_offset_raw: AtomicU32,
+ // Current measured with 2k resistor (raw value and 1/10 mA)
+ current_2k_raw: AtomicU16,
+ current_2k_dezi_milliamps: AtomicU16,
+ // Current measured while main MOSFET is/was on (raw value and 1/10 mA and when this was measured)
+ current_on_raw: AtomicU16,
+ current_on_dezi_milliamps: AtomicU16,
+ current_on_time: Mutex<CriticalSectionRawMutex, Instant>,
+}
+
+impl AdcCurrentData {
+ const fn const_default() -> AdcCurrentData {
+ AdcCurrentData {
+ zero_offset_raw: AtomicU32::new(0),
+ current_2k_raw: AtomicU16::new(0),
+ current_2k_dezi_milliamps: AtomicU16::new(0),
+ current_on_raw: AtomicU16::new(0),
+ current_on_dezi_milliamps: AtomicU16::new(0),
+ current_on_time: Mutex::new(Instant::from_ticks(0)),
+ }
+ }
+}
+
+struct AdcData {
+ analog_in1_raw: AtomicU16,
+ analog_in1_millivolt: AtomicU16,
+ vcc_raw: AtomicU16,
+ vcc: AtomicU16,
+ temp_raw: AtomicU16,
+ temp_centicelsius: AtomicU16,
+
+ currents: [AdcCurrentData; 2],
+}
+
+impl AdcData {
+ const fn const_default() -> AdcData {
+ AdcData {
+ analog_in1_raw: AtomicU16::new(0),
+ analog_in1_millivolt: AtomicU16::new(0),
+ vcc_raw: AtomicU16::new(0),
+ vcc: AtomicU16::new(0),
+ temp_raw: AtomicU16::new(0),
+ temp_centicelsius: AtomicU16::new(0),
+ currents: [AdcCurrentData::const_default(), AdcCurrentData::const_default()],
+ }
+ }
+}
+
+#[embassy_executor::task]
+async fn adc_task(shared_data: &'static AdcData, adc: ADC, mut en_measure_current: Output<'static, PIN_3>,
+ mut analog_in1: PIN_26, mut current2: PIN_27, mut current1: PIN_28, mut measure_vcc: PIN_29, outputs_active: &'static AtomicU8) {
+ let irq = interrupt::take!(ADC_IRQ_FIFO);
+ let mut adc = Adc::new(adc, irq, adc::Config::default());
+
+ let debug = false;
+
+ const MEASURE_CYCLES_BEFORE_TOGGLE: u32 = 16;
+ let mut en_measure_current_toggle = 0;
+
+ loop {
+ if true {
+ let level = adc.read(&mut analog_in1).await;
+ // 3.05 V for 4096 counts, voltage divider with (10k + 5.1k) over 5.1k, result in mV:
+ // level * 3.05/4096. * (10+5.1+5.1)/5.1 * 1000
+ // -> level * 305 * (100+51+51) * 1000 / 100 / 4096 / 51
+ // -> level * 305 * ((100+51+51)/2) * (1000/100) / 2048 / 51 --> fits in 32 bits for level=4096 (but barely)
+ let value = level as u32 * 305 * ((100+51+51)/2) * (1000/100);
+ let value = (value + 2048*51/2) / 2048 / 51;
+ let value = if value > u16::MAX as u32 { u16::MAX } else { value as u16 };
+ shared_data.analog_in1_raw.store(level, Ordering::Relaxed);
+ shared_data.analog_in1_millivolt.store(value, Ordering::Relaxed);
+ if debug {
+ let value2 = 3.05*level as f32/4096. * (10.+2.*5.1)/5.1;
+ info!("ADC analog_in1: {} cnt -> {} V ({} mV)", level, value2, value);
+ }
+ }
+
+ if true {
+ let level = adc.read(&mut measure_vcc).await;
+ // 3.05V for 4096 counts, voltage divider with 100k over 10, result in mV:
+ // level * 3.05/4096. * (100 + 10)/10 * 1000
+ // -> level * 305 * 11 * 1000 / 100 / 4096
+ let value = (level as u32 * 305 * 11 * 1000 / 100 + 2048) / 4096;
+ let value = if value > u16::MAX as u32 { u16::MAX } else { value as u16 };
+ shared_data.vcc_raw.store(level, Ordering::Relaxed);
+ shared_data.vcc.store(value, Ordering::Relaxed);
+ if debug {
+ let vcc = 3.05 * level as f32 / 4096. * (100. + 10.)/10.;
+ info!("ADC measure_vcc: {} cnt -> {} V ({} mV)", level, vcc, value);
+ }
+ }
+
+ let outputs_were_active = outputs_active.load(Ordering::SeqCst);
+ let mut measure_currents = true;
+ if outputs_were_active != 0 && false {
+ // output is active but also en_measure_current -> turn it off
+ // -> Actually, don't do that because there is no harm and it can be useful for the other channel.
+ if en_measure_current.is_set_high() {
+ en_measure_current.set_low();
+ measure_currents = false;
+ }
+ en_measure_current_toggle = 0;
+ } else {
+ match en_measure_current_toggle {
+ 0 | MEASURE_CYCLES_BEFORE_TOGGLE => {
+ en_measure_current.set_level(if en_measure_current_toggle >= MEASURE_CYCLES_BEFORE_TOGGLE { Level::High } else { Level::Low });
+ // skip in this loop to give it time to settle
+ measure_currents = false;
+ }
+ _ => {}
+ }
+ en_measure_current_toggle = (en_measure_current_toggle + 1) % (2*MEASURE_CYCLES_BEFORE_TOGGLE);
+ }
+
+ // read another value between looking at output_active and measuring the currents
+ if true {
+ let level = adc.read_temperature().await;
+ // According to chapter 4.9.5. Temperature Sensor in RP2040 datasheet
+ let adc_vcc = 3.0522; // from CJ431
+ let celsius = 27.0 - (level as f32 * adc_vcc / 4096.0 - 0.706) / 0.001721;
+ let value = celsius * 100.;
+ let value = if value > u16::MAX as f32 { u16::MAX } else { value as u16 };
+ shared_data.temp_raw.store(level, Ordering::Relaxed);
+ shared_data.temp_centicelsius.store(value, Ordering::Relaxed);
+ if debug {
+ info!("Temp: {} -> {} deg C", level, celsius);
+ }
+ }
+
+ if measure_currents {
+ let levels = [
+ adc.read(&mut current1).await,
+ adc.read(&mut current2).await,
+ ];
+ let outputs_are_active = outputs_active.load(Ordering::SeqCst);
+ //let en_measure_current_is_active = en_measure_current.is_set_high(); //FIXME I think is_set_high() has a bug.
+ let en_measure_current_is_active = en_measure_current_toggle >= MEASURE_CYCLES_BEFORE_TOGGLE;
+ for i in 0..2 {
+ // 3.05 V for 4096 counts, shunt resistor is 0.1 ohms (i.e. 0.1 V/A), amplifier gain is 56, result should be mA/10
+ // (level - offset) * 3.05/4096 / 0.1 * 1/56 * 1e4
+ // -> (level - offset) * 305 * 10 * 1e4 / 56 / 4096 / 100
+ // -> (level - offset) * 305 * 1000 / 56 / 4096
+ // -> (level - offset) * 305 * (1000/8) / 4096 / 7
+ let level = levels[i];
+ let offset = (shared_data.currents[i].zero_offset_raw.load(Ordering::Relaxed)/ZERO_OFFSET_FACTOR) as u16;
+ let level2 = if level > offset { level - offset } else { 0 };
+ //info!("CUR{}: raw: {}, {}, zero={}", i, level, level2, shared_data.currents[i].zero_offset_raw.load(Ordering::Relaxed));
+ let value = (level2 as u32 * 305 * (1000/8) + 7*4096/2) / 4096 / 7;
+ let value = if value > u16::MAX as u32 { u16::MAX } else { value as u16 };
+
+ let output_was_active = (outputs_were_active>>i) & 1 != 0;
+ let output_is_active = (outputs_are_active>>i) & 1 != 0;
+ #[allow(unused_variables, unused_assignments)]
+ let mode : char;
+ match (output_was_active, output_is_active, en_measure_current_is_active) {
+ (true, true, false) => {
+ // output was consistently (hopefully) turned on during our measurement
+ // and en_measure_current is off -> good measurement for current in "on" state
+ shared_data.currents[i].current_on_raw.store(levels[i], Ordering::Relaxed);
+ shared_data.currents[i].current_on_dezi_milliamps.store(value, Ordering::Relaxed);
+ *shared_data.currents[i].current_on_time.lock().await = Instant::now();
+ mode = 'O';
+ }
+ (false, false, false) => {
+ // output and en_measure_current are off -> good measurement for zero level
+
+ // fetch_update is exactly what we want but it doesn't seem to be available...
+ //shared_data.currents[i].zero_offset_raw.fetch_update(Ordering::Relaxed, Ordering::Relaxed,
+ // |x| { x*(ZERO_OFFSET_FACTOR-1)/ZERO_OFFSET_FACTOR + levels[i] });
+ //SAFETY: We are the only writers for zero_offset_raw.
+ let x = shared_data.currents[i].zero_offset_raw.load(Ordering::Relaxed);
+ let x2 = x*(ZERO_OFFSET_FACTOR-1)/ZERO_OFFSET_FACTOR + level as u32;
+ shared_data.currents[i].zero_offset_raw.store(x2, Ordering::Relaxed);
+
+ mode = 'z';
+ }
+ (false, false, true) => {
+ // output is off and en_measure_current is on -> good measurement through 2k resistor
+ shared_data.currents[i].current_2k_raw.store(levels[i], Ordering::Relaxed);
+ shared_data.currents[i].current_2k_dezi_milliamps.store(value, Ordering::Relaxed);
+ mode = 'k';
+ }
+ _ => {
+ // inconsistent state of MOSFETs -> ignore this measurement
+ mode = '!';
+ }
+ }
+
+ if debug {
+ info!("ADC current{}: {}: {} -> {} [10*mA]", i, mode, level, value);
+ }
+ }
+
+ if false {
+ info!("Currents: 2k={}, {}, {}, zero={}, {} -> {}, {} -> {}, {}",
+ en_measure_current_is_active, levels[0], levels[1],
+ shared_data.currents[0].zero_offset_raw.load(Ordering::Relaxed),
+ shared_data.currents[1].zero_offset_raw.load(Ordering::Relaxed),
+ shared_data.currents[0].current_2k_raw.load(Ordering::Relaxed),
+ shared_data.currents[1].current_2k_raw.load(Ordering::Relaxed),
+ shared_data.currents[0].current_2k_dezi_milliamps.load(Ordering::Relaxed),
+ shared_data.currents[1].current_2k_dezi_milliamps.load(Ordering::Relaxed),
+ );
+ }
+ }
+
+ if debug {
+ Timer::after(Duration::from_secs(1)).await;
+ } else {
+ Timer::after(Duration::from_millis(1)).await;
+ }
+ }
+}
+
+
+#[embassy_executor::task]
+async fn reset_soon(delay: Duration) {
+ Timer::after(delay).await;
+ cortex_m::peripheral::SCB::sys_reset();
+}
+
+
+const FLASH_SIZE: usize = 2 * 1024 * 1024;
+
+#[derive(Clone, Copy, PartialEq, Eq)]
+enum ReadType {
+ HoldingRegister,
+ InputRegister,
+}
+
+const DEVICE_STATE_RESET: u16 = 1;
+const DEVICE_STATE_RESPOND_DETECT: u16 = 2;
+const DEVICE_STATE_PROCESS_BROADCAST_PROGRAM: u16 = 4;
+
+struct ModBusRegs<'a> {
+ led_g: Output<'a, PIN_5>,
+ button_boot2: Input<'a, PIN_11>,
+ reed3: Input<'a, PIN_19>,
+ reed4: Input<'a, PIN_20>,
+ reed2: Input<'a, PIN_21>,
+ reed1: Input<'a, PIN_22>,
+ adc_data: &'a AdcData,
+ device_state: u16,
+ scratch: u16,
+ uf2updater: UF2UpdateHandler<FLASH_SIZE>,
+
+ consistent_read_type: ReadType,
+ consistent_read_addr: u16,
+ consistent_read_length: u16,
+ consistent_read_data: [u16; 4],
+
+ spawner: Spawner,
+}
+
+impl<'a> ModBusRegs<'a> {
+ fn read_reg(self: &mut Self, read_type: ReadType, base_addr: u16, addr: u16, value: &[u16]) -> Result<u16, ModbusErrorCode> {
+ defmt::assert!(addr >= base_addr);
+ defmt::assert!(addr < base_addr + value.len() as u16);
+ defmt::assert!(value.len() <= self.consistent_read_data.len());
+
+ self.consistent_read_type = read_type;
+ self.consistent_read_addr = base_addr;
+ self.consistent_read_length = value.len() as u16;
+ self.consistent_read_data[0..value.len()].copy_from_slice(value);
+
+ Ok(self.consistent_read_data[(addr - base_addr) as usize])
+ }
+
+ fn read_reg_2x_u32(self: &mut Self, read_type: ReadType, base_addr: u16, addr: u16, value: [u32; 2]) -> Result<u16, ModbusErrorCode> {
+ self.read_reg(read_type, base_addr, addr, &[
+ ((value[0] >> 16) & 0xffff) as u16,
+ ((value[0] >> 0) & 0xffff) as u16,
+ ((value[1] >> 16) & 0xffff) as u16,
+ ((value[1] >> 0) & 0xffff) as u16,
+ ])
+ }
+
+ fn read_reg_u64(self: &mut Self, read_type: ReadType, base_addr: u16, addr: u16, value: u64) -> Result<u16, ModbusErrorCode> {
+ self.read_reg(read_type, base_addr, addr, &[
+ ((value >> 48) & 0xffff) as u16,
+ ((value >> 32) & 0xffff) as u16,
+ ((value >> 16) & 0xffff) as u16,
+ ((value >> 0) & 0xffff) as u16,
+ ])
+ }
+}
+
+impl<'a> ModbusRegisters for ModBusRegs<'a> {
+ fn is_address_match(self: &mut Self, device_addr: u8) -> ModbusAdressMatch {
+ use ModbusAdressMatch::*;
+
+ if device_addr == 0x01 {
+ OurAddress
+ } else if device_addr == 0x55 {
+ BroadcastNoReply
+ } else {
+ NotOurAddress
+ }
+ }
+
+ fn read_discrete_input(self: &mut Self, _device_addr: u8, addr: u16) -> Result<bool, ModbusErrorCode> {
+ match addr {
+ 0 => Ok(self.reed1.is_high()),
+ 1 => Ok(self.reed2.is_high()),
+ 2 => Ok(self.reed3.is_high()),
+ 3 => Ok(self.reed4.is_high()),
+ 4 => Ok(self.button_boot2.is_low()),
+ _ => Err(ModbusErrorCode::IllegalDataAddress),
+ }
+ }
+
+ fn read_input_register(self: &mut Self, _device_addr: u8, addr: u16) -> Result<u16, ModbusErrorCode> {
+ if self.consistent_read_type == ReadType::InputRegister
+ && addr >= self.consistent_read_addr && addr < self.consistent_read_addr + self.consistent_read_length {
+ return Ok(self.consistent_read_data[(addr - self.consistent_read_addr) as usize]);
+ }
+
+ match addr {
+ 0 => Ok(42),
+
+ 1 => Ok(self.adc_data.analog_in1_raw.load(Ordering::Relaxed)),
+ 2 => Ok(self.adc_data.analog_in1_millivolt.load(Ordering::Relaxed)),
+ 3 => Ok(self.adc_data.vcc_raw.load(Ordering::Relaxed)),
+ 4 => Ok(self.adc_data.vcc.load(Ordering::Relaxed)),
+ 5 => Ok(self.adc_data.temp_raw.load(Ordering::Relaxed)),
+ 6 => Ok(self.adc_data.temp_centicelsius.load(Ordering::Relaxed)),
+
+ 7 => Ok((self.adc_data.currents[0].zero_offset_raw.load(Ordering::Relaxed) / ZERO_OFFSET_FACTOR) as u16),
+ 8 => Ok(self.adc_data.currents[0].current_2k_raw.load(Ordering::Relaxed)),
+ 9 => Ok(self.adc_data.currents[0].current_2k_dezi_milliamps.load(Ordering::Relaxed)),
+ 10 => Ok(self.adc_data.currents[0].current_on_raw.load(Ordering::Relaxed)),
+ 11 => Ok(self.adc_data.currents[0].current_on_dezi_milliamps.load(Ordering::Relaxed)),
+ 12 | 13 | 14 | 15 => self.read_reg_u64(ReadType::InputRegister, 12, addr,
+ self.adc_data.currents[0].current_on_time.try_lock().map(
+ |x| x.as_micros()).unwrap_or(0)),
+
+ 16 => Ok((self.adc_data.currents[1].zero_offset_raw.load(Ordering::Relaxed) / ZERO_OFFSET_FACTOR) as u16),
+ 17 => Ok(self.adc_data.currents[1].current_2k_raw.load(Ordering::Relaxed)),
+ 18 => Ok(self.adc_data.currents[1].current_2k_dezi_milliamps.load(Ordering::Relaxed)),
+ 19 => Ok(self.adc_data.currents[1].current_on_raw.load(Ordering::Relaxed)),
+ 20 => Ok(self.adc_data.currents[1].current_on_dezi_milliamps.load(Ordering::Relaxed)),
+ 21 | 22 | 23 | 24 => self.read_reg_u64(ReadType::InputRegister, 21, addr,
+ self.adc_data.currents[1].current_on_time.try_lock().map(
+ |x| x.as_micros()).unwrap_or(0)),
+
+ 25 | 26 | 27 | 28 => {
+ let (from, to) = self.uf2updater.get_missing_block_info();
+ self.read_reg_2x_u32(ReadType::InputRegister, 25, addr, [from, to])
+ },
+
+ _ => Err(ModbusErrorCode::IllegalDataAddress)
+ }
+ }
+
+ fn write_coil(self: &mut Self, _device_addr: u8, addr: u16, value: bool) -> Result<(), ModbusErrorCode> {
+ match addr {
+ 0 => { self.led_g.set_level(Level::from(value)); Ok(()) },
+ _ => Err(ModbusErrorCode::IllegalDataAddress),
+ }
+ }
+
+ fn read_holding_register(self: &mut Self, _device_addr: u8, addr: u16) -> Result<u16, ModbusErrorCode> {
+ if self.consistent_read_type == ReadType::HoldingRegister
+ && addr >= self.consistent_read_addr && addr < self.consistent_read_addr + self.consistent_read_length {
+ return Ok(self.consistent_read_data[(addr - self.consistent_read_addr) as usize]);
+ }
+
+ match addr {
+ 0 => Ok(self.device_state),
+ 1 => Ok(42),
+ 2 => Ok(self.scratch),
+ _ => Err(ModbusErrorCode::IllegalDataAddress),
+ }
+ }
+
+ fn write_register(self: &mut Self, _device_addr: u8, addr: u16, value: u16) -> Result<u16, ModbusErrorCode> {
+ match addr {
+ 0 => { self.device_state = value; Ok(self.device_state) },
+ 1 => {
+ const fn be(s: &str) -> u16 {
+ core::assert!(s.len() == 2);
+ core::assert!(s.as_bytes().len() == 2);
+ let x = s.as_bytes()[0];
+ let y = s.as_bytes()[1];
+ u16::from_be_bytes([x, y])
+ }
+ const OK: u16 = be("OK"); // mark booted
+ const UP: u16 = be("UP"); // mark updated -> swap to DFU on next reset
+ const PI: u16 = be("PI"); // ping / no-op
+ const RE: u16 = be("RE"); // reset
+ match value {
+ OK => {
+ self.uf2updater.mark_booted().map(|_| value)
+ },
+ UP if self.uf2updater.successfully_programmed() => {
+ self.uf2updater.mark_updated().map(|_| value)
+ },
+ UP => {
+ Ok(0)
+ },
+ PI => {
+ Ok(value)
+ },
+ RE => {
+ match self.spawner.spawn(reset_soon(Duration::from_millis(100))) {
+ Ok(()) => Ok(value),
+ Err(err) => {
+ error!("Couldn't spawn reset_soon: {:?}", err);
+ Err(ModbusErrorCode::ServerDeviceFailure)
+ }
+ }
+ },
+ _ => Err(ModbusErrorCode::IllegalDataValue),
+ }
+ },
+ 2 => { self.scratch = value; Ok(value) },
+ _ => Err(ModbusErrorCode::IllegalDataAddress),
+ }
+ }
+
+ fn read_file_record(self: &mut Self, _device_addr: u8,
+ ref_type: u8, file_number: u16, record_number: u16, record_length: u16, mut pusher: U16Pusher<'_, 256>)
+ -> Result<(), ModbusErrorCode> {
+ match (ref_type, file_number) {
+ (6, 0) => {
+ let value = "Hello, World!!".as_bytes();
+ if record_number as usize >= value.len()/2 {
+ return Ok(()) // or should that be an error?
+ }
+ let start = 2 * record_number as usize;
+ let end = start + 2 * record_length as usize;
+ let end = core::cmp::min(end, value.len()); // or should too large length be an error?
+ pusher.push_bytes(&value[start .. end])?;
+ Ok(())
+ },
+ (6, 1) => {
+ pusher.push_fn(record_length as usize * 2, |buf| {
+ self.uf2updater.flash.read(record_number as u32 * 2, buf)
+ .map_err(|err| {
+ info!("Error reading flash: {:?}", err);
+ ModbusErrorCode::ServerDeviceFailure
+ })
+ })
+ },
+ _ => {
+ Err(ModbusErrorCode::IllegalDataAddress)
+ }
+ }
+ }
+
+ fn write_file_record(self: &mut Self, device_addr: u8,
+ ref_type: u8, file_number: u16, record_number: u16, data: &[u8])
+ -> Result<(), ModbusErrorCode> {
+ match (ref_type, file_number) {
+ (6, 0) => {
+ Ok(())
+ },
+ (6, 1) => {
+ if device_addr != 0x55 || (self.device_state & DEVICE_STATE_PROCESS_BROADCAST_PROGRAM) != 0 {
+ //NOTE This will use blocking flash operations and we won't be able to respond to Modbus
+ // during that time. There isn't much that we can do about this because the flash won't
+ // be in XIP mode so we cannot continue running our program from flash.
+ self.uf2updater.write(record_number as u32 * 2, data)
+ } else {
+ Ok(())
+ }
+ },
+ _ => Err(ModbusErrorCode::IllegalDataAddress),
+ }
+ }
+}
+
+#[embassy_executor::task]
+async fn dogfeeder(watchdog: peripherals::WATCHDOG) {
+ WatchdogFixed::new(watchdog).start_and_feed_continuously().await;
+}
+
+//#[embassy_executor::main]
+async fn main2(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("starting");
+
+ // pinout:
+ let mut _drive2 = Output::new(p.PIN_0, Level::Low);
+ let mut _drive1 = Output::new(p.PIN_1, Level::Low);
+ //let LED_W = p.PIN_2;
+ let _ws2812_display = p.PIN_2;
+ //let LED_Y = p.PIN_3;
+ let en_measure_current = Output::new(p.PIN_3, Level::Low);
+ let mut led_b = Output::new(p.PIN_4, Level::Low);
+ let led_g = Output::new(p.PIN_5, Level::Low);
+ let led_r = p.PIN_6;
+ let _matrix_in1 = Input::new(p.PIN_7, Pull::Up);
+ let _sbu1 = p.PIN_8;
+ let _sbu2 = p.PIN_9;
+ let _vbus_det = p.PIN_10;
+ let button_boot2 = Input::new(p.PIN_11, Pull::Up);
+ let sda = p.PIN_12;
+ let scl = p.PIN_13;
+ let _ws2811_red_in = Input::new(p.PIN_14, Pull::None);
+ let tx_en = p.PIN_15;
+ let tx = p.PIN_16;
+ let rx = p.PIN_17;
+ let _matrix_in2 = Input::new(p.PIN_18, Pull::Up);
+ let reed3 = Input::new(p.PIN_19, Pull::Up);
+ let reed4 = Input::new(p.PIN_20, Pull::Up);
+ let reed2 = Input::new(p.PIN_21, Pull::Up);
+ let reed1 = Input::new(p.PIN_22, Pull::Up);
+ let _matrix_in3 = Input::new(p.PIN_23, Pull::Up);
+ let _digout1 = p.PIN_24;
+ let _digout2 = p.PIN_25;
+ let analog_in1 = p.PIN_26;
+ let current2 = p.PIN_27;
+ let current1 = p.PIN_28;
+ let measure_vcc = p.PIN_29;
+
+ let i2c_irq = interrupt::take!(I2C0_IRQ);
+ let mut i2c_config = i2c::Config::default();
+ i2c_config.frequency = 400_000;
+ unwrap!(spawner.spawn(i2c_task(p.I2C0, scl, sda, i2c_irq, i2c_config)));
+
+ static ADC_DATA: AdcData = AdcData::const_default();
+ static OUTPUTS_ACTIVE: AtomicU8 = AtomicU8::new(0);
+ unwrap!(spawner.spawn(adc_task(&ADC_DATA, p.ADC, en_measure_current, analog_in1, current2, current1, measure_vcc, &OUTPUTS_ACTIVE)));
+
+ // use 19200 baud in 8E1 mode - not great but it's the Modbus default
+ let mut uart_config = uart::Config::default();
+ uart_config.baudrate = 19200;
+ uart_config.parity = Parity::ParityEven;
+ let rs485 = RS485::new(
+ p.UART0, rx, tx, tx_en, interrupt::take!(UART0_IRQ), p.DMA_CH1, uart_config,
+ p.PIO0, p.DMA_CH0, p.DMA_CH2,
+ ModbusServer::new(ModBusRegs {
+ led_g,
+ button_boot2,
+ reed1, reed2, reed3, reed4,
+ adc_data: &ADC_DATA,
+ device_state: DEVICE_STATE_RESET | DEVICE_STATE_RESPOND_DETECT,
+ scratch: 0,
+ uf2updater: UF2UpdateHandler::new(p.FLASH),
+ consistent_read_type: ReadType::InputRegister,
+ consistent_read_addr: u16::default(),
+ consistent_read_length: u16::default(),
+ consistent_read_data: [0; 4],
+ spawner: spawner.clone(),
+ }),
+ );
+ unwrap!(spawner.spawn(uart_task(rs485)));
+
+ if false {
+ unwrap!(spawner.spawn(beeper_task(p.PWM_CH3, led_r)));
+ }
+
+ unwrap!(spawner.spawn(dogfeeder(p.WATCHDOG)));
+
+ loop {
+ led_b.set_high();
+ Timer::after(Duration::from_secs(1)).await;
+
+ led_b.set_low();
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+
+/*
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ main2(spawner).await;
+}
+*/
+
+#[::embassy_executor::task()]
+async fn __embassy_main(spawner: Spawner) {
+ main2(spawner).await;
+}
+
+unsafe fn __make_static<T>(t: &mut T) -> &'static mut T {
+ ::core::mem::transmute(t)
+}
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+ init_early();
+
+ let mut executor = ::embassy_executor::Executor::new();
+ let executor = unsafe { __make_static(&mut executor) };
+ executor.run(|spawner| {
+ spawner.must_spawn(__embassy_main(spawner));
+ })
+}
+
+fn init_early() {
+ use embassy_rp::pac;
+ // release spinlock 31 because we sometimes block on this in the init code
+ unsafe { pac::SIO.spinlock(31).write_value(1); }
+}
diff --git a/firmware/rust1/src/bin/i2c_async.rs b/firmware/rust1/src/bin/i2c_async.rs
new file mode 100644
index 0000000000000000000000000000000000000000..d1a2e3cd759e7d1c8b5112a5e79e56fbcd71e964
--- /dev/null
+++ b/firmware/rust1/src/bin/i2c_async.rs
@@ -0,0 +1,102 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::i2c::{self, Config};
+use embassy_rp::interrupt;
+use embassy_time::{Duration, Timer};
+use embedded_hal_async::i2c::I2c;
+use {defmt_rtt as _, panic_probe as _};
+
+#[allow(dead_code)]
+mod mcp23017 {
+ pub const ADDR: u8 = 0x20; // default addr
+
+ macro_rules! mcpregs {
+ ($($name:ident : $val:expr),* $(,)?) => {
+ $(
+ pub const $name: u8 = $val;
+ )*
+
+ pub fn regname(reg: u8) -> &'static str {
+ match reg {
+ $(
+ $val => stringify!($name),
+ )*
+ _ => panic!("bad reg"),
+ }
+ }
+ }
+ }
+
+ // These are correct for IOCON.BANK=0
+ mcpregs! {
+ IODIRA: 0x00,
+ IPOLA: 0x02,
+ GPINTENA: 0x04,
+ DEFVALA: 0x06,
+ INTCONA: 0x08,
+ IOCONA: 0x0A,
+ GPPUA: 0x0C,
+ INTFA: 0x0E,
+ INTCAPA: 0x10,
+ GPIOA: 0x12,
+ OLATA: 0x14,
+ IODIRB: 0x01,
+ IPOLB: 0x03,
+ GPINTENB: 0x05,
+ DEFVALB: 0x07,
+ INTCONB: 0x09,
+ IOCONB: 0x0B,
+ GPPUB: 0x0D,
+ INTFB: 0x0F,
+ INTCAPB: 0x11,
+ GPIOB: 0x13,
+ OLATB: 0x15,
+ }
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let sda = p.PIN_14;
+ let scl = p.PIN_15;
+ let irq = interrupt::take!(I2C1_IRQ);
+
+ info!("set up i2c ");
+ let mut i2c = i2c::I2c::new_async(p.I2C1, scl, sda, irq, Config::default());
+
+ use mcp23017::*;
+
+ info!("init mcp23017 config for IxpandO");
+ // init - a outputs, b inputs
+ i2c.write(ADDR, &[IODIRA, 0x00]).await.unwrap();
+ i2c.write(ADDR, &[IODIRB, 0xff]).await.unwrap();
+ i2c.write(ADDR, &[GPPUB, 0xff]).await.unwrap(); // pullups
+
+ let mut val = 1;
+ loop {
+ let mut portb = [0];
+
+ i2c.write_read(mcp23017::ADDR, &[GPIOB], &mut portb).await.unwrap();
+ info!("portb = {:02x}", portb[0]);
+ i2c.write(mcp23017::ADDR, &[GPIOA, val | portb[0]]).await.unwrap();
+ val = val.rotate_left(1);
+
+ // get a register dump
+ info!("getting register dump");
+ let mut regs = [0; 22];
+ i2c.write_read(ADDR, &[0], &mut regs).await.unwrap();
+ // always get the regdump but only display it if portb'0 is set
+ if portb[0] & 1 != 0 {
+ for (idx, reg) in regs.into_iter().enumerate() {
+ info!("{} => {:02x}", regname(idx as u8), reg);
+ }
+ }
+
+ Timer::after(Duration::from_millis(100)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/i2c_blocking.rs b/firmware/rust1/src/bin/i2c_blocking.rs
new file mode 100644
index 0000000000000000000000000000000000000000..7623e33c83730cb8080ad19e3b9bd7a74b5a567e
--- /dev/null
+++ b/firmware/rust1/src/bin/i2c_blocking.rs
@@ -0,0 +1,70 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::i2c::{self, Config};
+use embassy_time::{Duration, Timer};
+use embedded_hal_1::i2c::I2c;
+use {defmt_rtt as _, panic_probe as _};
+
+#[allow(dead_code)]
+mod mcp23017 {
+ pub const ADDR: u8 = 0x20; // default addr
+
+ pub const IODIRA: u8 = 0x00;
+ pub const IPOLA: u8 = 0x02;
+ pub const GPINTENA: u8 = 0x04;
+ pub const DEFVALA: u8 = 0x06;
+ pub const INTCONA: u8 = 0x08;
+ pub const IOCONA: u8 = 0x0A;
+ pub const GPPUA: u8 = 0x0C;
+ pub const INTFA: u8 = 0x0E;
+ pub const INTCAPA: u8 = 0x10;
+ pub const GPIOA: u8 = 0x12;
+ pub const OLATA: u8 = 0x14;
+ pub const IODIRB: u8 = 0x01;
+ pub const IPOLB: u8 = 0x03;
+ pub const GPINTENB: u8 = 0x05;
+ pub const DEFVALB: u8 = 0x07;
+ pub const INTCONB: u8 = 0x09;
+ pub const IOCONB: u8 = 0x0B;
+ pub const GPPUB: u8 = 0x0D;
+ pub const INTFB: u8 = 0x0F;
+ pub const INTCAPB: u8 = 0x11;
+ pub const GPIOB: u8 = 0x13;
+ pub const OLATB: u8 = 0x15;
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let sda = p.PIN_14;
+ let scl = p.PIN_15;
+
+ info!("set up i2c ");
+ let mut i2c = i2c::I2c::new_blocking(p.I2C1, scl, sda, Config::default());
+
+ use mcp23017::*;
+
+ info!("init mcp23017 config for IxpandO");
+ // init - a outputs, b inputs
+ i2c.write(ADDR, &[IODIRA, 0x00]).unwrap();
+ i2c.write(ADDR, &[IODIRB, 0xff]).unwrap();
+ i2c.write(ADDR, &[GPPUB, 0xff]).unwrap(); // pullups
+
+ let mut val = 0xaa;
+ loop {
+ let mut portb = [0];
+
+ i2c.write(mcp23017::ADDR, &[GPIOA, val]).unwrap();
+ i2c.write_read(mcp23017::ADDR, &[GPIOB], &mut portb).unwrap();
+
+ info!("portb = {:02x}", portb[0]);
+ val = !val;
+
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/lora_lorawan.rs b/firmware/rust1/src/bin/lora_lorawan.rs
new file mode 100644
index 0000000000000000000000000000000000000000..a9c84bf95c9403d9dcaa9a5714a41f306bdfc7e7
--- /dev/null
+++ b/firmware/rust1/src/bin/lora_lorawan.rs
@@ -0,0 +1,80 @@
+//! This example runs on the Raspberry Pi Pico with a Waveshare board containing a Semtech Sx1262 radio.
+//! It demonstrates LoRaWAN join functionality.
+#![no_std]
+#![no_main]
+#![macro_use]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_lora::iv::GenericSx126xInterfaceVariant;
+use embassy_lora::LoraTimer;
+use embassy_rp::gpio::{Input, Level, Output, Pin, Pull};
+use embassy_rp::spi::{Config, Spi};
+use embassy_time::Delay;
+use lora_phy::mod_params::*;
+use lora_phy::sx1261_2::SX1261_2;
+use lora_phy::LoRa;
+use lorawan::default_crypto::DefaultFactory as Crypto;
+use lorawan_device::async_device::lora_radio::LoRaRadio;
+use lorawan_device::async_device::{region, Device, JoinMode};
+use {defmt_rtt as _, panic_probe as _};
+
+const LORAWAN_REGION: region::Region = region::Region::EU868; // warning: set this appropriately for the region
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let spi = Spi::new(p.SPI1, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+ let nss = Output::new(p.PIN_3.degrade(), Level::High);
+ let reset = Output::new(p.PIN_15.degrade(), Level::High);
+ let dio1 = Input::new(p.PIN_20.degrade(), Pull::None);
+ let busy = Input::new(p.PIN_2.degrade(), Pull::None);
+
+ let iv = GenericSx126xInterfaceVariant::new(nss, reset, dio1, busy, None, None).unwrap();
+
+ let mut delay = Delay;
+
+ let lora = {
+ match LoRa::new(
+ SX1261_2::new(BoardType::RpPicoWaveshareSx1262, spi, iv),
+ true,
+ &mut delay,
+ )
+ .await
+ {
+ Ok(l) => l,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let radio = LoRaRadio::new(lora);
+ let region: region::Configuration = region::Configuration::new(LORAWAN_REGION);
+ let mut device: Device<_, Crypto, _, _> = Device::new(region, radio, LoraTimer::new(), embassy_rp::clocks::RoscRng);
+
+ defmt::info!("Joining LoRaWAN network");
+
+ // TODO: Adjust the EUI and Keys according to your network credentials
+ match device
+ .join(&JoinMode::OTAA {
+ deveui: [0, 0, 0, 0, 0, 0, 0, 0],
+ appeui: [0, 0, 0, 0, 0, 0, 0, 0],
+ appkey: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+ })
+ .await
+ {
+ Ok(()) => defmt::info!("LoRaWAN network joined"),
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+}
diff --git a/firmware/rust1/src/bin/lora_p2p_receive.rs b/firmware/rust1/src/bin/lora_p2p_receive.rs
new file mode 100644
index 0000000000000000000000000000000000000000..250419202889f5f78967891366838edb6ab89bae
--- /dev/null
+++ b/firmware/rust1/src/bin/lora_p2p_receive.rs
@@ -0,0 +1,115 @@
+//! This example runs on the Raspberry Pi Pico with a Waveshare board containing a Semtech Sx1262 radio.
+//! It demonstrates LORA P2P receive functionality in conjunction with the lora_p2p_send example.
+#![no_std]
+#![no_main]
+#![macro_use]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_lora::iv::GenericSx126xInterfaceVariant;
+use embassy_rp::gpio::{Input, Level, Output, Pin, Pull};
+use embassy_rp::spi::{Config, Spi};
+use embassy_time::{Delay, Duration, Timer};
+use lora_phy::mod_params::*;
+use lora_phy::sx1261_2::SX1261_2;
+use lora_phy::LoRa;
+use {defmt_rtt as _, panic_probe as _};
+
+const LORA_FREQUENCY_IN_HZ: u32 = 903_900_000; // warning: set this appropriately for the region
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let spi = Spi::new(p.SPI1, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+ let nss = Output::new(p.PIN_3.degrade(), Level::High);
+ let reset = Output::new(p.PIN_15.degrade(), Level::High);
+ let dio1 = Input::new(p.PIN_20.degrade(), Pull::None);
+ let busy = Input::new(p.PIN_2.degrade(), Pull::None);
+
+ let iv = GenericSx126xInterfaceVariant::new(nss, reset, dio1, busy, None, None).unwrap();
+
+ let mut delay = Delay;
+
+ let mut lora = {
+ match LoRa::new(
+ SX1261_2::new(BoardType::RpPicoWaveshareSx1262, spi, iv),
+ false,
+ &mut delay,
+ )
+ .await
+ {
+ Ok(l) => l,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let mut debug_indicator = Output::new(p.PIN_25, Level::Low);
+
+ let mut receiving_buffer = [00u8; 100];
+
+ let mdltn_params = {
+ match lora.create_modulation_params(
+ SpreadingFactor::_10,
+ Bandwidth::_250KHz,
+ CodingRate::_4_8,
+ LORA_FREQUENCY_IN_HZ,
+ ) {
+ Ok(mp) => mp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let rx_pkt_params = {
+ match lora.create_rx_packet_params(4, false, receiving_buffer.len() as u8, true, false, &mdltn_params) {
+ Ok(pp) => pp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ match lora
+ .prepare_for_rx(&mdltn_params, &rx_pkt_params, None, true, false, 0, 0x00ffffffu32)
+ .await
+ {
+ Ok(()) => {}
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+
+ loop {
+ receiving_buffer = [00u8; 100];
+ match lora.rx(&rx_pkt_params, &mut receiving_buffer).await {
+ Ok((received_len, _rx_pkt_status)) => {
+ if (received_len == 3)
+ && (receiving_buffer[0] == 0x01u8)
+ && (receiving_buffer[1] == 0x02u8)
+ && (receiving_buffer[2] == 0x03u8)
+ {
+ info!("rx successful");
+ debug_indicator.set_high();
+ Timer::after(Duration::from_secs(5)).await;
+ debug_indicator.set_low();
+ } else {
+ info!("rx unknown packet");
+ }
+ }
+ Err(err) => info!("rx unsuccessful = {}", err),
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/lora_p2p_send.rs b/firmware/rust1/src/bin/lora_p2p_send.rs
new file mode 100644
index 0000000000000000000000000000000000000000..3a0544b1762525b07783cc354010f9d688f51961
--- /dev/null
+++ b/firmware/rust1/src/bin/lora_p2p_send.rs
@@ -0,0 +1,103 @@
+//! This example runs on the Raspberry Pi Pico with a Waveshare board containing a Semtech Sx1262 radio.
+//! It demonstrates LORA P2P send functionality.
+#![no_std]
+#![no_main]
+#![macro_use]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_lora::iv::GenericSx126xInterfaceVariant;
+use embassy_rp::gpio::{Input, Level, Output, Pin, Pull};
+use embassy_rp::spi::{Config, Spi};
+use embassy_time::Delay;
+use lora_phy::mod_params::*;
+use lora_phy::sx1261_2::SX1261_2;
+use lora_phy::LoRa;
+use {defmt_rtt as _, panic_probe as _};
+
+const LORA_FREQUENCY_IN_HZ: u32 = 903_900_000; // warning: set this appropriately for the region
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let spi = Spi::new(p.SPI1, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+ let nss = Output::new(p.PIN_3.degrade(), Level::High);
+ let reset = Output::new(p.PIN_15.degrade(), Level::High);
+ let dio1 = Input::new(p.PIN_20.degrade(), Pull::None);
+ let busy = Input::new(p.PIN_2.degrade(), Pull::None);
+
+ let iv = GenericSx126xInterfaceVariant::new(nss, reset, dio1, busy, None, None).unwrap();
+
+ let mut delay = Delay;
+
+ let mut lora = {
+ match LoRa::new(
+ SX1261_2::new(BoardType::RpPicoWaveshareSx1262, spi, iv),
+ false,
+ &mut delay,
+ )
+ .await
+ {
+ Ok(l) => l,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let mdltn_params = {
+ match lora.create_modulation_params(
+ SpreadingFactor::_10,
+ Bandwidth::_250KHz,
+ CodingRate::_4_8,
+ LORA_FREQUENCY_IN_HZ,
+ ) {
+ Ok(mp) => mp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let mut tx_pkt_params = {
+ match lora.create_tx_packet_params(4, false, true, false, &mdltn_params) {
+ Ok(pp) => pp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ match lora.prepare_for_tx(&mdltn_params, 20, false).await {
+ Ok(()) => {}
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+
+ let buffer = [0x01u8, 0x02u8, 0x03u8];
+ match lora.tx(&mdltn_params, &mut tx_pkt_params, &buffer, 0xffffff).await {
+ Ok(()) => {
+ info!("TX DONE");
+ }
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+
+ match lora.sleep(&mut delay).await {
+ Ok(()) => info!("Sleep successful"),
+ Err(err) => info!("Sleep unsuccessful = {}", err),
+ }
+}
diff --git a/firmware/rust1/src/bin/lora_p2p_send_multicore.rs b/firmware/rust1/src/bin/lora_p2p_send_multicore.rs
new file mode 100644
index 0000000000000000000000000000000000000000..5585606d85da99038b9cb48aa68580ed675d4d4a
--- /dev/null
+++ b/firmware/rust1/src/bin/lora_p2p_send_multicore.rs
@@ -0,0 +1,139 @@
+//! This example runs on the Raspberry Pi Pico with a Waveshare board containing a Semtech Sx1262 radio.
+//! It demonstrates LORA P2P send functionality using the second core, with data provided by the first core.
+#![no_std]
+#![no_main]
+#![macro_use]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Executor;
+use embassy_executor::_export::StaticCell;
+use embassy_lora::iv::GenericSx126xInterfaceVariant;
+use embassy_rp::gpio::{AnyPin, Input, Level, Output, Pin, Pull};
+use embassy_rp::multicore::{spawn_core1, Stack};
+use embassy_rp::peripherals::SPI1;
+use embassy_rp::spi::{Async, Config, Spi};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
+use embassy_time::{Delay, Duration, Timer};
+use lora_phy::mod_params::*;
+use lora_phy::sx1261_2::SX1261_2;
+use lora_phy::LoRa;
+use {defmt_rtt as _, panic_probe as _};
+
+static mut CORE1_STACK: Stack<4096> = Stack::new();
+static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
+static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
+static CHANNEL: Channel<CriticalSectionRawMutex, [u8; 3], 1> = Channel::new();
+
+const LORA_FREQUENCY_IN_HZ: u32 = 903_900_000; // warning: set this appropriately for the region
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+ let p = embassy_rp::init(Default::default());
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let spi = Spi::new(p.SPI1, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+ let nss = Output::new(p.PIN_3.degrade(), Level::High);
+ let reset = Output::new(p.PIN_15.degrade(), Level::High);
+ let dio1 = Input::new(p.PIN_20.degrade(), Pull::None);
+ let busy = Input::new(p.PIN_2.degrade(), Pull::None);
+
+ let iv = GenericSx126xInterfaceVariant::new(nss, reset, dio1, busy, None, None).unwrap();
+
+ spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
+ let executor1 = EXECUTOR1.init(Executor::new());
+ executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(spi, iv))));
+ });
+
+ let executor0 = EXECUTOR0.init(Executor::new());
+ executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+}
+
+#[embassy_executor::task]
+async fn core0_task() {
+ info!("Hello from core 0");
+ loop {
+ CHANNEL.send([0x01u8, 0x02u8, 0x03u8]).await;
+ Timer::after(Duration::from_millis(60 * 1000)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn core1_task(
+ spi: Spi<'static, SPI1, Async>,
+ iv: GenericSx126xInterfaceVariant<Output<'static, AnyPin>, Input<'static, AnyPin>>,
+) {
+ info!("Hello from core 1");
+ let mut delay = Delay;
+
+ let mut lora = {
+ match LoRa::new(
+ SX1261_2::new(BoardType::RpPicoWaveshareSx1262, spi, iv),
+ false,
+ &mut delay,
+ )
+ .await
+ {
+ Ok(l) => l,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let mdltn_params = {
+ match lora.create_modulation_params(
+ SpreadingFactor::_10,
+ Bandwidth::_250KHz,
+ CodingRate::_4_8,
+ LORA_FREQUENCY_IN_HZ,
+ ) {
+ Ok(mp) => mp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ let mut tx_pkt_params = {
+ match lora.create_tx_packet_params(4, false, true, false, &mdltn_params) {
+ Ok(pp) => pp,
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ }
+ };
+
+ loop {
+ let buffer: [u8; 3] = CHANNEL.recv().await;
+ match lora.prepare_for_tx(&mdltn_params, 20, false).await {
+ Ok(()) => {}
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+
+ match lora.tx(&mdltn_params, &mut tx_pkt_params, &buffer, 0xffffff).await {
+ Ok(()) => {
+ info!("TX DONE");
+ }
+ Err(err) => {
+ info!("Radio error = {}", err);
+ return;
+ }
+ };
+
+ match lora.sleep(&mut delay).await {
+ Ok(()) => info!("Sleep successful"),
+ Err(err) => info!("Sleep unsuccessful = {}", err),
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/multicore.rs b/firmware/rust1/src/bin/multicore.rs
new file mode 100644
index 0000000000000000000000000000000000000000..376b2b61ebbdcb0cd384b8c8948ec96b0777813f
--- /dev/null
+++ b/firmware/rust1/src/bin/multicore.rs
@@ -0,0 +1,60 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Executor;
+use embassy_executor::_export::StaticCell;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::multicore::{spawn_core1, Stack};
+use embassy_rp::peripherals::PIN_25;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+static mut CORE1_STACK: Stack<4096> = Stack::new();
+static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
+static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
+static CHANNEL: Channel<CriticalSectionRawMutex, LedState, 1> = Channel::new();
+
+enum LedState {
+ On,
+ Off,
+}
+
+#[cortex_m_rt::entry]
+fn main() -> ! {
+ let p = embassy_rp::init(Default::default());
+ let led = Output::new(p.PIN_25, Level::Low);
+
+ spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
+ let executor1 = EXECUTOR1.init(Executor::new());
+ executor1.run(|spawner| unwrap!(spawner.spawn(core1_task(led))));
+ });
+
+ let executor0 = EXECUTOR0.init(Executor::new());
+ executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+}
+
+#[embassy_executor::task]
+async fn core0_task() {
+ info!("Hello from core 0");
+ loop {
+ CHANNEL.send(LedState::On).await;
+ Timer::after(Duration::from_millis(100)).await;
+ CHANNEL.send(LedState::Off).await;
+ Timer::after(Duration::from_millis(400)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn core1_task(mut led: Output<'static, PIN_25>) {
+ info!("Hello from core 1");
+ loop {
+ match CHANNEL.recv().await {
+ LedState::On => led.set_high(),
+ LedState::Off => led.set_low(),
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/multiprio.rs b/firmware/rust1/src/bin/multiprio.rs
new file mode 100644
index 0000000000000000000000000000000000000000..2f79ba49e6199044f3da66eaca49fe4056507ff5
--- /dev/null
+++ b/firmware/rust1/src/bin/multiprio.rs
@@ -0,0 +1,152 @@
+//! This example showcases how to create multiple Executor instances to run tasks at
+//! different priority levels.
+//!
+//! Low priority executor runs in thread mode (not interrupt), and uses `sev` for signaling
+//! there's work in the queue, and `wfe` for waiting for work.
+//!
+//! Medium and high priority executors run in two interrupts with different priorities.
+//! Signaling work is done by pending the interrupt. No "waiting" needs to be done explicitly, since
+//! when there's work the interrupt will trigger and run the executor.
+//!
+//! Sample output below. Note that high priority ticks can interrupt everything else, and
+//! medium priority computations can interrupt low priority computations, making them to appear
+//! to take significantly longer time.
+//!
+//! ```not_rust
+//! [med] Starting long computation
+//! [med] done in 992 ms
+//! [high] tick!
+//! [low] Starting long computation
+//! [med] Starting long computation
+//! [high] tick!
+//! [high] tick!
+//! [med] done in 993 ms
+//! [med] Starting long computation
+//! [high] tick!
+//! [high] tick!
+//! [med] done in 993 ms
+//! [low] done in 3972 ms
+//! [med] Starting long computation
+//! [high] tick!
+//! [high] tick!
+//! [med] done in 993 ms
+//! ```
+//!
+//! For comparison, try changing the code so all 3 tasks get spawned on the low priority executor.
+//! You will get an output like the following. Note that no computation is ever interrupted.
+//!
+//! ```not_rust
+//! [high] tick!
+//! [med] Starting long computation
+//! [med] done in 496 ms
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//! [med] Starting long computation
+//! [med] done in 496 ms
+//! [high] tick!
+//! [low] Starting long computation
+//! [low] done in 992 ms
+//! [high] tick!
+//! [med] Starting long computation
+//! [med] done in 496 ms
+//! [high] tick!
+//! ```
+//!
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::mem;
+
+use cortex_m::peripheral::NVIC;
+use cortex_m_rt::entry;
+use defmt::{info, unwrap};
+use embassy_rp::executor::{Executor, InterruptExecutor};
+use embassy_rp::interrupt;
+use embassy_rp::pac::Interrupt;
+use embassy_time::{Duration, Instant, Timer, TICK_HZ};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn run_high() {
+ loop {
+ info!(" [high] tick!");
+ Timer::after(Duration::from_ticks(673740)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn run_med() {
+ loop {
+ let start = Instant::now();
+ info!(" [med] Starting long computation");
+
+ // Spin-wait to simulate a long CPU computation
+ cortex_m::asm::delay(125_000_000); // ~1 second
+
+ let end = Instant::now();
+ let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+ info!(" [med] done in {} ms", ms);
+
+ Timer::after(Duration::from_ticks(53421)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn run_low() {
+ loop {
+ let start = Instant::now();
+ info!("[low] Starting long computation");
+
+ // Spin-wait to simulate a long CPU computation
+ cortex_m::asm::delay(250_000_000); // ~2 seconds
+
+ let end = Instant::now();
+ let ms = end.duration_since(start).as_ticks() * 1000 / TICK_HZ;
+ info!("[low] done in {} ms", ms);
+
+ Timer::after(Duration::from_ticks(82983)).await;
+ }
+}
+
+static EXECUTOR_HIGH: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_MED: InterruptExecutor = InterruptExecutor::new();
+static EXECUTOR_LOW: StaticCell<Executor> = StaticCell::new();
+
+#[interrupt]
+unsafe fn SWI_IRQ_1() {
+ EXECUTOR_HIGH.on_interrupt()
+}
+
+#[interrupt]
+unsafe fn SWI_IRQ_0() {
+ EXECUTOR_MED.on_interrupt()
+}
+
+#[entry]
+fn main() -> ! {
+ info!("Hello World!");
+
+ let _p = embassy_rp::init(Default::default());
+ let mut nvic: NVIC = unsafe { mem::transmute(()) };
+
+ // High-priority executor: SWI_IRQ_1, priority level 2
+ unsafe { nvic.set_priority(Interrupt::SWI_IRQ_1, 2 << 6) };
+ info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_1));
+ let spawner = EXECUTOR_HIGH.start(Interrupt::SWI_IRQ_1);
+ unwrap!(spawner.spawn(run_high()));
+
+ // Medium-priority executor: SWI_IRQ_0, priority level 3
+ unsafe { nvic.set_priority(Interrupt::SWI_IRQ_0, 3 << 6) };
+ info!("bla: {}", NVIC::get_priority(Interrupt::SWI_IRQ_0));
+ let spawner = EXECUTOR_MED.start(Interrupt::SWI_IRQ_0);
+ unwrap!(spawner.spawn(run_med()));
+
+ // Low priority executor: runs in thread mode, using WFE/SEV
+ let executor = EXECUTOR_LOW.init(Executor::new());
+ executor.run(|spawner| {
+ unwrap!(spawner.spawn(run_low()));
+ });
+}
diff --git a/firmware/rust1/src/bin/pio_async.rs b/firmware/rust1/src/bin/pio_async.rs
new file mode 100644
index 0000000000000000000000000000000000000000..12484e88242f3e8654285f9a052bfebbf049522f
--- /dev/null
+++ b/firmware/rust1/src/bin/pio_async.rs
@@ -0,0 +1,122 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+use defmt::info;
+use embassy_embedded_hal::SetConfig;
+use embassy_executor::Spawner;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Common, Config, Irq, Pio, PioPin, ShiftDirection, StateMachine};
+use embassy_rp::relocate::RelocatedProgram;
+use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
+use {defmt_rtt as _, panic_probe as _};
+
+fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 0>, pin: impl PioPin) {
+ // Setup sm0
+
+ // Send data serially to pin
+ let prg = pio_proc::pio_asm!(
+ ".origin 16",
+ "set pindirs, 1",
+ ".wrap_target",
+ "out pins,1 [19]",
+ ".wrap",
+ );
+
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&pio.load_program(&relocated), &[]);
+ let out_pin = pio.make_pio_pin(pin);
+ cfg.set_out_pins(&[&out_pin]);
+ cfg.set_set_pins(&[&out_pin]);
+ cfg.clock_divider = (U56F8!(125_000_000) / 20 / 200).to_fixed();
+ cfg.shift_out.auto_fill = true;
+ sm.set_config(&cfg);
+}
+
+#[embassy_executor::task]
+async fn pio_task_sm0(mut sm: StateMachine<'static, PIO0, 0>) {
+ sm.set_enable(true);
+
+ let mut v = 0x0f0caffa;
+ loop {
+ sm.tx().wait_push(v).await;
+ v ^= 0xffff;
+ info!("Pushed {:032b} to FIFO", v);
+ }
+}
+
+fn setup_pio_task_sm1<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 1>) {
+ // Setupm sm1
+
+ // Read 0b10101 repeatedly until ISR is full
+ let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",);
+
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&pio.load_program(&relocated), &[]);
+ cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
+ cfg.shift_in.auto_fill = true;
+ cfg.shift_in.direction = ShiftDirection::Right;
+ sm.set_config(&cfg);
+}
+
+#[embassy_executor::task]
+async fn pio_task_sm1(mut sm: StateMachine<'static, PIO0, 1>) {
+ sm.set_enable(true);
+ loop {
+ let rx = sm.rx().wait_pull().await;
+ info!("Pulled {:032b} from FIFO", rx);
+ }
+}
+
+fn setup_pio_task_sm2<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 2>) {
+ // Setup sm2
+
+ // Repeatedly trigger IRQ 3
+ let prg = pio_proc::pio_asm!(
+ ".origin 0",
+ ".wrap_target",
+ "set x,10",
+ "delay:",
+ "jmp x-- delay [15]",
+ "irq 3 [15]",
+ ".wrap",
+ );
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&pio.load_program(&relocated), &[]);
+ cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
+ sm.set_config(&cfg);
+}
+
+#[embassy_executor::task]
+async fn pio_task_sm2(mut irq: Irq<'static, PIO0, 3>, mut sm: StateMachine<'static, PIO0, 2>) {
+ sm.set_enable(true);
+ loop {
+ irq.wait().await;
+ info!("IRQ trigged");
+ }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let pio = p.PIO0;
+
+ let Pio {
+ mut common,
+ irq3,
+ mut sm0,
+ mut sm1,
+ mut sm2,
+ ..
+ } = Pio::new(pio);
+
+ setup_pio_task_sm0(&mut common, &mut sm0, p.PIN_0);
+ setup_pio_task_sm1(&mut common, &mut sm1);
+ setup_pio_task_sm2(&mut common, &mut sm2);
+ spawner.spawn(pio_task_sm0(sm0)).unwrap();
+ spawner.spawn(pio_task_sm1(sm1)).unwrap();
+ spawner.spawn(pio_task_sm2(irq3, sm2)).unwrap();
+}
diff --git a/firmware/rust1/src/bin/pio_dma.rs b/firmware/rust1/src/bin/pio_dma.rs
new file mode 100644
index 0000000000000000000000000000000000000000..7f85288bfa67e653d83f19aba27c751d10093479
--- /dev/null
+++ b/firmware/rust1/src/bin/pio_dma.rs
@@ -0,0 +1,80 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+use defmt::info;
+use embassy_embedded_hal::SetConfig;
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_rp::pio::{Config, Pio, ShiftConfig, ShiftDirection};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::Peripheral;
+use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
+use {defmt_rtt as _, panic_probe as _};
+
+fn swap_nibbles(v: u32) -> u32 {
+ let v = (v & 0x0f0f_0f0f) << 4 | (v & 0xf0f0_f0f0) >> 4;
+ let v = (v & 0x00ff_00ff) << 8 | (v & 0xff00_ff00) >> 8;
+ (v & 0x0000_ffff) << 16 | (v & 0xffff_0000) >> 16
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let pio = p.PIO0;
+ let Pio {
+ mut common,
+ sm0: mut sm,
+ ..
+ } = Pio::new(pio);
+
+ let prg = pio_proc::pio_asm!(
+ ".origin 0",
+ "set pindirs,1",
+ ".wrap_target",
+ "set y,7",
+ "loop:",
+ "out x,4",
+ "in x,4",
+ "jmp y--, loop",
+ ".wrap",
+ );
+
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&common.load_program(&relocated), &[]);
+ cfg.clock_divider = (U56F8!(125_000_000) / U56F8!(10_000)).to_fixed();
+ cfg.shift_in = ShiftConfig {
+ auto_fill: true,
+ threshold: 32,
+ direction: ShiftDirection::Left,
+ };
+ cfg.shift_out = ShiftConfig {
+ auto_fill: true,
+ threshold: 32,
+ direction: ShiftDirection::Right,
+ };
+
+ sm.set_config(&cfg);
+ sm.set_enable(true);
+
+ let mut dma_out_ref = p.DMA_CH0.into_ref();
+ let mut dma_in_ref = p.DMA_CH1.into_ref();
+ let mut dout = [0x12345678u32; 29];
+ for i in 1..dout.len() {
+ dout[i] = (dout[i - 1] & 0x0fff_ffff) * 13 + 7;
+ }
+ let mut din = [0u32; 29];
+ loop {
+ let (rx, tx) = sm.rx_tx();
+ join(
+ tx.dma_push(dma_out_ref.reborrow(), &dout),
+ rx.dma_pull(dma_in_ref.reborrow(), &mut din),
+ )
+ .await;
+ for i in 0..din.len() {
+ assert_eq!(din[i], swap_nibbles(dout[i]));
+ }
+ info!("Swapped {} words", dout.len());
+ }
+}
diff --git a/firmware/rust1/src/bin/pio_hd44780.rs b/firmware/rust1/src/bin/pio_hd44780.rs
new file mode 100644
index 0000000000000000000000000000000000000000..088fd56495affaeed5bde09e5d2a2e02db50750e
--- /dev/null
+++ b/firmware/rust1/src/bin/pio_hd44780.rs
@@ -0,0 +1,235 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::fmt::Write;
+
+use embassy_embedded_hal::SetConfig;
+use embassy_executor::Spawner;
+use embassy_rp::dma::{AnyChannel, Channel};
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Config, Direction, FifoJoin, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
+use embassy_rp::pwm::{self, Pwm};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::{into_ref, Peripheral, PeripheralRef};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ // this test assumes a 2x16 HD44780 display attached as follow:
+ // rs = PIN0
+ // rw = PIN1
+ // e = PIN2
+ // db4 = PIN3
+ // db5 = PIN4
+ // db6 = PIN5
+ // db7 = PIN6
+ // additionally a pwm signal for a bias voltage charge pump is provided on pin 15,
+ // allowing direct connection of the display to the RP2040 without level shifters.
+ let p = embassy_rp::init(Default::default());
+
+ let _pwm = Pwm::new_output_b(p.PWM_CH7, p.PIN_15, {
+ let mut c = pwm::Config::default();
+ c.divider = 125.into();
+ c.top = 100;
+ c.compare_b = 50;
+ c
+ });
+
+ let mut hd = HD44780::new(
+ p.PIO0, p.DMA_CH3, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5, p.PIN_6,
+ )
+ .await;
+
+ loop {
+ struct Buf<const N: usize>([u8; N], usize);
+ impl<const N: usize> Write for Buf<N> {
+ fn write_str(&mut self, s: &str) -> Result<(), core::fmt::Error> {
+ for b in s.as_bytes() {
+ if self.1 >= N {
+ return Err(core::fmt::Error);
+ }
+ self.0[self.1] = *b;
+ self.1 += 1;
+ }
+ Ok(())
+ }
+ }
+ let mut buf = Buf([0; 16], 0);
+ write!(buf, "up {}s", Instant::now().as_micros() as f32 / 1e6).unwrap();
+ hd.add_line(&buf.0[0..buf.1]).await;
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+pub struct HD44780<'l> {
+ dma: PeripheralRef<'l, AnyChannel>,
+ sm: StateMachine<'l, PIO0, 0>,
+
+ buf: [u8; 40],
+}
+
+impl<'l> HD44780<'l> {
+ pub async fn new(
+ pio: impl Peripheral<P = PIO0> + 'l,
+ dma: impl Peripheral<P = impl Channel> + 'l,
+ rs: impl PioPin,
+ rw: impl PioPin,
+ e: impl PioPin,
+ db4: impl PioPin,
+ db5: impl PioPin,
+ db6: impl PioPin,
+ db7: impl PioPin,
+ ) -> HD44780<'l> {
+ into_ref!(dma);
+
+ let Pio {
+ mut common,
+ mut irq0,
+ mut sm0,
+ ..
+ } = Pio::new(pio);
+
+ // takes command words (<wait:24> <command:4> <0:4>)
+ let prg = pio_proc::pio_asm!(
+ r#"
+ .side_set 1 opt
+ .origin 20
+
+ loop:
+ out x, 24
+ delay:
+ jmp x--, delay
+ out pins, 4 side 1
+ out null, 4 side 0
+ jmp !osre, loop
+ irq 0
+ "#,
+ );
+
+ let rs = common.make_pio_pin(rs);
+ let rw = common.make_pio_pin(rw);
+ let e = common.make_pio_pin(e);
+ let db4 = common.make_pio_pin(db4);
+ let db5 = common.make_pio_pin(db5);
+ let db6 = common.make_pio_pin(db6);
+ let db7 = common.make_pio_pin(db7);
+
+ sm0.set_pin_dirs(Direction::Out, &[&rs, &rw, &e, &db4, &db5, &db6, &db7]);
+
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&common.load_program(&relocated), &[&e]);
+ cfg.clock_divider = 125u8.into();
+ cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
+ cfg.shift_out = ShiftConfig {
+ auto_fill: true,
+ direction: ShiftDirection::Left,
+ threshold: 32,
+ };
+ cfg.fifo_join = FifoJoin::TxOnly;
+ sm0.set_config(&cfg);
+
+ sm0.set_enable(true);
+ // init to 8 bit thrice
+ sm0.tx().push((50000 << 8) | 0x30);
+ sm0.tx().push((5000 << 8) | 0x30);
+ sm0.tx().push((200 << 8) | 0x30);
+ // init 4 bit
+ sm0.tx().push((200 << 8) | 0x20);
+ // set font and lines
+ sm0.tx().push((50 << 8) | 0x20);
+ sm0.tx().push(0b1100_0000);
+
+ irq0.wait().await;
+ sm0.set_enable(false);
+
+ // takes command sequences (<rs:1> <count:7>, data...)
+ // many side sets are only there to free up a delay bit!
+ let prg = pio_proc::pio_asm!(
+ r#"
+ .origin 27
+ .side_set 1
+
+ .wrap_target
+ pull side 0
+ out x 1 side 0 ; !rs
+ out y 7 side 0 ; #data - 1
+
+ ; rs/rw to e: >= 60ns
+ ; e high time: >= 500ns
+ ; e low time: >= 500ns
+ ; read data valid after e falling: ~5ns
+ ; write data hold after e falling: ~10ns
+
+ loop:
+ pull side 0
+ jmp !x data side 0
+ command:
+ set pins 0b00 side 0
+ jmp shift side 0
+ data:
+ set pins 0b01 side 0
+ shift:
+ out pins 4 side 1 [9]
+ nop side 0 [9]
+ out pins 4 side 1 [9]
+ mov osr null side 0 [7]
+ out pindirs 4 side 0
+ set pins 0b10 side 0
+ busy:
+ nop side 1 [9]
+ jmp pin more side 0 [9]
+ mov osr ~osr side 1 [9]
+ nop side 0 [4]
+ out pindirs 4 side 0
+ jmp y-- loop side 0
+ .wrap
+ more:
+ nop side 1 [9]
+ jmp busy side 0 [9]
+ "#
+ );
+
+ let relocated = RelocatedProgram::new(&prg.program);
+ let mut cfg = Config::default();
+ cfg.use_program(&common.load_program(&relocated), &[&e]);
+ cfg.clock_divider = 8u8.into(); // ~64ns/insn
+ cfg.set_jmp_pin(&db7);
+ cfg.set_set_pins(&[&rs, &rw]);
+ cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
+ cfg.shift_out.direction = ShiftDirection::Left;
+ cfg.fifo_join = FifoJoin::TxOnly;
+ sm0.set_config(&cfg);
+
+ sm0.set_enable(true);
+
+ // display on and cursor on and blinking, reset display
+ sm0.tx().dma_push(dma.reborrow(), &[0x81u8, 0x0f, 1]).await;
+
+ Self {
+ dma: dma.map_into(),
+ sm: sm0,
+ buf: [0x20; 40],
+ }
+ }
+
+ pub async fn add_line(&mut self, s: &[u8]) {
+ // move cursor to 0:0, prepare 16 characters
+ self.buf[..3].copy_from_slice(&[0x80, 0x80, 15]);
+ // move line 2 up
+ self.buf.copy_within(22..38, 3);
+ // move cursor to 1:0, prepare 16 characters
+ self.buf[19..22].copy_from_slice(&[0x80, 0xc0, 15]);
+ // file line 2 with spaces
+ self.buf[22..38].fill(0x20);
+ // copy input line
+ let len = s.len().min(16);
+ self.buf[22..22 + len].copy_from_slice(&s[0..len]);
+ // set cursor to 1:15
+ self.buf[38..].copy_from_slice(&[0x80, 0xcf]);
+
+ self.sm.tx().dma_push(self.dma.reborrow(), &self.buf).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/pwm.rs b/firmware/rust1/src/bin/pwm.rs
new file mode 100644
index 0000000000000000000000000000000000000000..69d315553af8f95d1d0178dc26231a837e438b78
--- /dev/null
+++ b/firmware/rust1/src/bin/pwm.rs
@@ -0,0 +1,27 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_embedded_hal::SetConfig;
+use embassy_executor::Spawner;
+use embassy_rp::pwm::{Config, Pwm};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let mut c: Config = Default::default();
+ c.top = 0x8000;
+ c.compare_b = 8;
+ let mut pwm = Pwm::new_output_b(p.PWM_CH4, p.PIN_25, c.clone());
+
+ loop {
+ info!("current LED duty cycle: {}/32768", c.compare_b);
+ Timer::after(Duration::from_secs(1)).await;
+ c.compare_b = c.compare_b.rotate_left(4);
+ pwm.set_config(&c);
+ }
+}
diff --git a/firmware/rust1/src/bin/spi.rs b/firmware/rust1/src/bin/spi.rs
new file mode 100644
index 0000000000000000000000000000000000000000..a830a17a2998523ac5a903f2d71cb502b723fbb0
--- /dev/null
+++ b/firmware/rust1/src/bin/spi.rs
@@ -0,0 +1,43 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::spi::Spi;
+use embassy_rp::{gpio, spi};
+use gpio::{Level, Output};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("Hello World!");
+
+ // Example for resistive touch sensor in Waveshare Pico-ResTouch
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let touch_cs = p.PIN_16;
+
+ // create SPI
+ let mut config = spi::Config::default();
+ config.frequency = 2_000_000;
+ let mut spi = Spi::new_blocking(p.SPI1, clk, mosi, miso, config);
+
+ // Configure CS
+ let mut cs = Output::new(touch_cs, Level::Low);
+
+ loop {
+ cs.set_low();
+ let mut buf = [0x90, 0x00, 0x00, 0xd0, 0x00, 0x00];
+ spi.blocking_transfer_in_place(&mut buf).unwrap();
+ cs.set_high();
+
+ let x = (buf[1] as u32) << 5 | (buf[2] as u32) >> 3;
+ let y = (buf[4] as u32) << 5 | (buf[5] as u32) >> 3;
+
+ info!("touch: {=u32} {=u32}", x, y);
+ }
+}
diff --git a/firmware/rust1/src/bin/spi_async.rs b/firmware/rust1/src/bin/spi_async.rs
new file mode 100644
index 0000000000000000000000000000000000000000..671a9caaf94d8aa65c8176107532c3992c3c679c
--- /dev/null
+++ b/firmware/rust1/src/bin/spi_async.rs
@@ -0,0 +1,29 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::spi::{Config, Spi};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("Hello World!");
+
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+
+ let mut spi = Spi::new(p.SPI1, clk, mosi, miso, p.DMA_CH0, p.DMA_CH1, Config::default());
+
+ loop {
+ let tx_buf = [1_u8, 2, 3, 4, 5, 6];
+ let mut rx_buf = [0_u8; 6];
+ spi.transfer(&mut rx_buf, &tx_buf).await.unwrap();
+ info!("{:?}", rx_buf);
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/spi_display.rs b/firmware/rust1/src/bin/spi_display.rs
new file mode 100644
index 0000000000000000000000000000000000000000..85a19ce07282a15a46b640adf712037cbf12eb1e
--- /dev/null
+++ b/firmware/rust1/src/bin/spi_display.rs
@@ -0,0 +1,308 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::cell::RefCell;
+
+use defmt::*;
+use embassy_embedded_hal::shared_bus::blocking::spi::SpiDeviceWithConfig;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Level, Output};
+use embassy_rp::spi;
+use embassy_rp::spi::{Blocking, Spi};
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::blocking_mutex::Mutex;
+use embassy_time::Delay;
+use embedded_graphics::image::{Image, ImageRawLE};
+use embedded_graphics::mono_font::ascii::FONT_10X20;
+use embedded_graphics::mono_font::MonoTextStyle;
+use embedded_graphics::pixelcolor::Rgb565;
+use embedded_graphics::prelude::*;
+use embedded_graphics::primitives::{PrimitiveStyleBuilder, Rectangle};
+use embedded_graphics::text::Text;
+use st7789::{Orientation, ST7789};
+use {defmt_rtt as _, panic_probe as _};
+
+use crate::my_display_interface::SPIDeviceInterface;
+use crate::touch::Touch;
+
+const DISPLAY_FREQ: u32 = 64_000_000;
+const TOUCH_FREQ: u32 = 200_000;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("Hello World!");
+
+ let bl = p.PIN_13;
+ let rst = p.PIN_15;
+ let display_cs = p.PIN_9;
+ let dcx = p.PIN_8;
+ let miso = p.PIN_12;
+ let mosi = p.PIN_11;
+ let clk = p.PIN_10;
+ let touch_cs = p.PIN_16;
+ //let touch_irq = p.PIN_17;
+
+ // create SPI
+ let mut display_config = spi::Config::default();
+ display_config.frequency = DISPLAY_FREQ;
+ display_config.phase = spi::Phase::CaptureOnSecondTransition;
+ display_config.polarity = spi::Polarity::IdleHigh;
+ let mut touch_config = spi::Config::default();
+ touch_config.frequency = TOUCH_FREQ;
+ touch_config.phase = spi::Phase::CaptureOnSecondTransition;
+ touch_config.polarity = spi::Polarity::IdleHigh;
+
+ let spi: Spi<'_, _, Blocking> = Spi::new_blocking(p.SPI1, clk, mosi, miso, touch_config.clone());
+ let spi_bus: Mutex<NoopRawMutex, _> = Mutex::new(RefCell::new(spi));
+
+ let display_spi = SpiDeviceWithConfig::new(&spi_bus, Output::new(display_cs, Level::High), display_config);
+ let touch_spi = SpiDeviceWithConfig::new(&spi_bus, Output::new(touch_cs, Level::High), touch_config);
+
+ let mut touch = Touch::new(touch_spi);
+
+ let dcx = Output::new(dcx, Level::Low);
+ let rst = Output::new(rst, Level::Low);
+ // dcx: 0 = command, 1 = data
+
+ // Enable LCD backlight
+ let _bl = Output::new(bl, Level::High);
+
+ // display interface abstraction from SPI and DC
+ let di = SPIDeviceInterface::new(display_spi, dcx);
+
+ // create driver
+ let mut display = ST7789::new(di, rst, 240, 320);
+
+ // initialize
+ display.init(&mut Delay).unwrap();
+
+ // set default orientation
+ display.set_orientation(Orientation::Landscape).unwrap();
+
+ display.clear(Rgb565::BLACK).unwrap();
+
+ let raw_image_data = ImageRawLE::new(include_bytes!("../../assets/ferris.raw"), 86);
+ let ferris = Image::new(&raw_image_data, Point::new(34, 68));
+
+ // Display the image
+ ferris.draw(&mut display).unwrap();
+
+ let style = MonoTextStyle::new(&FONT_10X20, Rgb565::GREEN);
+ Text::new(
+ "Hello embedded_graphics \n + embassy + RP2040!",
+ Point::new(20, 200),
+ style,
+ )
+ .draw(&mut display)
+ .unwrap();
+
+ loop {
+ if let Some((x, y)) = touch.read() {
+ let style = PrimitiveStyleBuilder::new().fill_color(Rgb565::BLUE).build();
+
+ Rectangle::new(Point::new(x - 1, y - 1), Size::new(3, 3))
+ .into_styled(style)
+ .draw(&mut display)
+ .unwrap();
+ }
+ }
+}
+
+/// Driver for the XPT2046 resistive touchscreen sensor
+mod touch {
+ use embedded_hal_1::spi::{Operation, SpiDevice};
+
+ struct Calibration {
+ x1: i32,
+ x2: i32,
+ y1: i32,
+ y2: i32,
+ sx: i32,
+ sy: i32,
+ }
+
+ const CALIBRATION: Calibration = Calibration {
+ x1: 3880,
+ x2: 340,
+ y1: 262,
+ y2: 3850,
+ sx: 320,
+ sy: 240,
+ };
+
+ pub struct Touch<SPI: SpiDevice> {
+ spi: SPI,
+ }
+
+ impl<SPI> Touch<SPI>
+ where
+ SPI: SpiDevice,
+ {
+ pub fn new(spi: SPI) -> Self {
+ Self { spi }
+ }
+
+ pub fn read(&mut self) -> Option<(i32, i32)> {
+ let mut x = [0; 2];
+ let mut y = [0; 2];
+ self.spi
+ .transaction(&mut [
+ Operation::Write(&[0x90]),
+ Operation::Read(&mut x),
+ Operation::Write(&[0xd0]),
+ Operation::Read(&mut y),
+ ])
+ .unwrap();
+
+ let x = (u16::from_be_bytes(x) >> 3) as i32;
+ let y = (u16::from_be_bytes(y) >> 3) as i32;
+
+ let cal = &CALIBRATION;
+
+ let x = ((x - cal.x1) * cal.sx / (cal.x2 - cal.x1)).clamp(0, cal.sx);
+ let y = ((y - cal.y1) * cal.sy / (cal.y2 - cal.y1)).clamp(0, cal.sy);
+ if x == 0 && y == 0 {
+ None
+ } else {
+ Some((x, y))
+ }
+ }
+ }
+}
+
+mod my_display_interface {
+ use display_interface::{DataFormat, DisplayError, WriteOnlyDataCommand};
+ use embedded_hal_1::digital::OutputPin;
+ use embedded_hal_1::spi::SpiDeviceWrite;
+
+ /// SPI display interface.
+ ///
+ /// This combines the SPI peripheral and a data/command pin
+ pub struct SPIDeviceInterface<SPI, DC> {
+ spi: SPI,
+ dc: DC,
+ }
+
+ impl<SPI, DC> SPIDeviceInterface<SPI, DC>
+ where
+ SPI: SpiDeviceWrite,
+ DC: OutputPin,
+ {
+ /// Create new SPI interface for communciation with a display driver
+ pub fn new(spi: SPI, dc: DC) -> Self {
+ Self { spi, dc }
+ }
+ }
+
+ impl<SPI, DC> WriteOnlyDataCommand for SPIDeviceInterface<SPI, DC>
+ where
+ SPI: SpiDeviceWrite,
+ DC: OutputPin,
+ {
+ fn send_commands(&mut self, cmds: DataFormat<'_>) -> Result<(), DisplayError> {
+ // 1 = data, 0 = command
+ self.dc.set_low().map_err(|_| DisplayError::DCError)?;
+
+ send_u8(&mut self.spi, cmds).map_err(|_| DisplayError::BusWriteError)?;
+ Ok(())
+ }
+
+ fn send_data(&mut self, buf: DataFormat<'_>) -> Result<(), DisplayError> {
+ // 1 = data, 0 = command
+ self.dc.set_high().map_err(|_| DisplayError::DCError)?;
+
+ send_u8(&mut self.spi, buf).map_err(|_| DisplayError::BusWriteError)?;
+ Ok(())
+ }
+ }
+
+ fn send_u8<T: SpiDeviceWrite>(spi: &mut T, words: DataFormat<'_>) -> Result<(), T::Error> {
+ match words {
+ DataFormat::U8(slice) => spi.write(slice),
+ DataFormat::U16(slice) => {
+ use byte_slice_cast::*;
+ spi.write(slice.as_byte_slice())
+ }
+ DataFormat::U16LE(slice) => {
+ use byte_slice_cast::*;
+ for v in slice.as_mut() {
+ *v = v.to_le();
+ }
+ spi.write(slice.as_byte_slice())
+ }
+ DataFormat::U16BE(slice) => {
+ use byte_slice_cast::*;
+ for v in slice.as_mut() {
+ *v = v.to_be();
+ }
+ spi.write(slice.as_byte_slice())
+ }
+ DataFormat::U8Iter(iter) => {
+ let mut buf = [0; 32];
+ let mut i = 0;
+
+ for v in iter.into_iter() {
+ buf[i] = v;
+ i += 1;
+
+ if i == buf.len() {
+ spi.write(&buf)?;
+ i = 0;
+ }
+ }
+
+ if i > 0 {
+ spi.write(&buf[..i])?;
+ }
+
+ Ok(())
+ }
+ DataFormat::U16LEIter(iter) => {
+ use byte_slice_cast::*;
+ let mut buf = [0; 32];
+ let mut i = 0;
+
+ for v in iter.map(u16::to_le) {
+ buf[i] = v;
+ i += 1;
+
+ if i == buf.len() {
+ spi.write(&buf.as_byte_slice())?;
+ i = 0;
+ }
+ }
+
+ if i > 0 {
+ spi.write(&buf[..i].as_byte_slice())?;
+ }
+
+ Ok(())
+ }
+ DataFormat::U16BEIter(iter) => {
+ use byte_slice_cast::*;
+ let mut buf = [0; 64];
+ let mut i = 0;
+ let len = buf.len();
+
+ for v in iter.map(u16::to_be) {
+ buf[i] = v;
+ i += 1;
+
+ if i == len {
+ spi.write(&buf.as_byte_slice())?;
+ i = 0;
+ }
+ }
+
+ if i > 0 {
+ spi.write(&buf[..i].as_byte_slice())?;
+ }
+
+ Ok(())
+ }
+ _ => unimplemented!(),
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/uart.rs b/firmware/rust1/src/bin/uart.rs
new file mode 100644
index 0000000000000000000000000000000000000000..05177a6b4e27d064093885fb186552af60c9d675
--- /dev/null
+++ b/firmware/rust1/src/bin/uart.rs
@@ -0,0 +1,20 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy_executor::Spawner;
+use embassy_rp::uart;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let config = uart::Config::default();
+ let mut uart = uart::Uart::new_with_rtscts_blocking(p.UART0, p.PIN_0, p.PIN_1, p.PIN_3, p.PIN_2, config);
+ uart.blocking_write("Hello World!\r\n".as_bytes()).unwrap();
+
+ loop {
+ uart.blocking_write("hello there!\r\n".as_bytes()).unwrap();
+ cortex_m::asm::delay(1_000_000);
+ }
+}
diff --git a/firmware/rust1/src/bin/uart_buffered_split.rs b/firmware/rust1/src/bin/uart_buffered_split.rs
new file mode 100644
index 0000000000000000000000000000000000000000..a8a6822742c449d5b5bf8260cd97f60e49804e4d
--- /dev/null
+++ b/firmware/rust1/src/bin/uart_buffered_split.rs
@@ -0,0 +1,57 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_executor::_export::StaticCell;
+use embassy_rp::interrupt;
+use embassy_rp::peripherals::UART0;
+use embassy_rp::uart::{BufferedUart, BufferedUartRx, Config};
+use embassy_time::{Duration, Timer};
+use embedded_io::asynch::{Read, Write};
+use {defmt_rtt as _, panic_probe as _};
+
+macro_rules! singleton {
+ ($val:expr) => {{
+ type T = impl Sized;
+ static STATIC_CELL: StaticCell<T> = StaticCell::new();
+ let (x,) = STATIC_CELL.init(($val,));
+ x
+ }};
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let (tx_pin, rx_pin, uart) = (p.PIN_0, p.PIN_1, p.UART0);
+
+ let irq = interrupt::take!(UART0_IRQ);
+ let tx_buf = &mut singleton!([0u8; 16])[..];
+ let rx_buf = &mut singleton!([0u8; 16])[..];
+ let uart = BufferedUart::new(uart, irq, tx_pin, rx_pin, tx_buf, rx_buf, Config::default());
+ let (rx, mut tx) = uart.split();
+
+ unwrap!(spawner.spawn(reader(rx)));
+
+ info!("Writing...");
+ loop {
+ let data = [
+ 1u8, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
+ 29, 30, 31,
+ ];
+ info!("TX {:?}", data);
+ tx.write_all(&data).await.unwrap();
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn reader(mut rx: BufferedUartRx<'static, UART0>) {
+ info!("Reading...");
+ loop {
+ let mut buf = [0; 31];
+ rx.read_exact(&mut buf).await.unwrap();
+ info!("RX {:?}", buf);
+ }
+}
diff --git a/firmware/rust1/src/bin/uart_unidir.rs b/firmware/rust1/src/bin/uart_unidir.rs
new file mode 100644
index 0000000000000000000000000000000000000000..4119a309fbb13495b5388481ae108bfca573b6a0
--- /dev/null
+++ b/firmware/rust1/src/bin/uart_unidir.rs
@@ -0,0 +1,49 @@
+//! test TX-only and RX-only UARTs. You need to connect GPIO0 to GPIO5 for
+//! this to work
+
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_rp::interrupt;
+use embassy_rp::peripherals::UART1;
+use embassy_rp::uart::{Async, Config, UartRx, UartTx};
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ let mut uart_tx = UartTx::new(p.UART0, p.PIN_0, p.DMA_CH0, Config::default());
+ let uart_rx = UartRx::new(
+ p.UART1,
+ p.PIN_5,
+ interrupt::take!(UART1_IRQ),
+ p.DMA_CH1,
+ Config::default(),
+ );
+
+ unwrap!(spawner.spawn(reader(uart_rx)));
+
+ info!("Writing...");
+ loop {
+ let data = [1u8, 2, 3, 4, 5, 6, 7, 8];
+ info!("TX {:?}", data);
+ uart_tx.write(&data).await.unwrap();
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
+
+#[embassy_executor::task]
+async fn reader(mut rx: UartRx<'static, UART1, Async>) {
+ info!("Reading...");
+ loop {
+ // read a total of 4 transmissions (32 / 8) and then print the result
+ let mut buf = [0; 32];
+ rx.read(&mut buf).await.unwrap();
+ info!("RX {:?}", buf);
+ }
+}
diff --git a/firmware/rust1/src/bin/usb_ethernet.rs b/firmware/rust1/src/bin/usb_ethernet.rs
new file mode 100644
index 0000000000000000000000000000000000000000..66a6ed4d05639ff6a51cc89848c288139dd34154
--- /dev/null
+++ b/firmware/rust1/src/bin/usb_ethernet.rs
@@ -0,0 +1,151 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_net::tcp::TcpSocket;
+use embassy_net::{Stack, StackResources};
+use embassy_rp::usb::Driver;
+use embassy_rp::{interrupt, peripherals};
+use embassy_usb::class::cdc_ncm::embassy_net::{Device, Runner, State as NetState};
+use embassy_usb::class::cdc_ncm::{CdcNcmClass, State};
+use embassy_usb::{Builder, Config, UsbDevice};
+use embedded_io::asynch::Write;
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+type MyDriver = Driver<'static, peripherals::USB>;
+
+macro_rules! singleton {
+ ($val:expr) => {{
+ type T = impl Sized;
+ static STATIC_CELL: StaticCell<T> = StaticCell::new();
+ let (x,) = STATIC_CELL.init(($val,));
+ x
+ }};
+}
+
+const MTU: usize = 1514;
+
+#[embassy_executor::task]
+async fn usb_task(mut device: UsbDevice<'static, MyDriver>) -> ! {
+ device.run().await
+}
+
+#[embassy_executor::task]
+async fn usb_ncm_task(class: Runner<'static, MyDriver, MTU>) -> ! {
+ class.run().await
+}
+
+#[embassy_executor::task]
+async fn net_task(stack: &'static Stack<Device<'static, MTU>>) -> ! {
+ stack.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+
+ // Create the driver, from the HAL.
+ let irq = interrupt::take!(USBCTRL_IRQ);
+ let driver = Driver::new(p.USB, irq);
+
+ // Create embassy-usb Config
+ let mut config = Config::new(0xc0de, 0xcafe);
+ config.manufacturer = Some("Embassy");
+ config.product = Some("USB-Ethernet example");
+ config.serial_number = Some("12345678");
+ config.max_power = 100;
+ config.max_packet_size_0 = 64;
+
+ // Required for Windows support.
+ config.composite_with_iads = true;
+ config.device_class = 0xEF;
+ config.device_sub_class = 0x02;
+ config.device_protocol = 0x01;
+
+ // Create embassy-usb DeviceBuilder using the driver and config.
+ let mut builder = Builder::new(
+ driver,
+ config,
+ &mut singleton!([0; 256])[..],
+ &mut singleton!([0; 256])[..],
+ &mut singleton!([0; 256])[..],
+ &mut singleton!([0; 128])[..],
+ );
+
+ // Our MAC addr.
+ let our_mac_addr = [0xCC, 0xCC, 0xCC, 0xCC, 0xCC, 0xCC];
+ // Host's MAC addr. This is the MAC the host "thinks" its USB-to-ethernet adapter has.
+ let host_mac_addr = [0x88, 0x88, 0x88, 0x88, 0x88, 0x88];
+
+ // Create classes on the builder.
+ let class = CdcNcmClass::new(&mut builder, singleton!(State::new()), host_mac_addr, 64);
+
+ // Build the builder.
+ let usb = builder.build();
+
+ unwrap!(spawner.spawn(usb_task(usb)));
+
+ let (runner, device) = class.into_embassy_net_device::<MTU, 4, 4>(singleton!(NetState::new()), our_mac_addr);
+ unwrap!(spawner.spawn(usb_ncm_task(runner)));
+
+ let config = embassy_net::Config::Dhcp(Default::default());
+ //let config = embassy_net::Config::Static(embassy_net::StaticConfig {
+ // address: Ipv4Cidr::new(Ipv4Address::new(10, 42, 0, 61), 24),
+ // dns_servers: Vec::new(),
+ // gateway: Some(Ipv4Address::new(10, 42, 0, 1)),
+ //});
+
+ // Generate random seed
+ let seed = 1234; // guaranteed random, chosen by a fair dice roll
+
+ // Init network stack
+ let stack = &*singleton!(Stack::new(device, config, singleton!(StackResources::<2>::new()), seed));
+
+ unwrap!(spawner.spawn(net_task(stack)));
+
+ // And now we can use it!
+
+ let mut rx_buffer = [0; 4096];
+ let mut tx_buffer = [0; 4096];
+ let mut buf = [0; 4096];
+
+ loop {
+ let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+ socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+
+ info!("Listening on TCP:1234...");
+ if let Err(e) = socket.accept(1234).await {
+ warn!("accept error: {:?}", e);
+ continue;
+ }
+
+ info!("Received connection from {:?}", socket.remote_endpoint());
+
+ loop {
+ let n = match socket.read(&mut buf).await {
+ Ok(0) => {
+ warn!("read EOF");
+ break;
+ }
+ Ok(n) => n,
+ Err(e) => {
+ warn!("read error: {:?}", e);
+ break;
+ }
+ };
+
+ info!("rxd {:02x}", &buf[..n]);
+
+ match socket.write_all(&buf[..n]).await {
+ Ok(()) => {}
+ Err(e) => {
+ warn!("write error: {:?}", e);
+ break;
+ }
+ };
+ }
+ }
+}
diff --git a/firmware/rust1/src/bin/usb_logger.rs b/firmware/rust1/src/bin/usb_logger.rs
new file mode 100644
index 0000000000000000000000000000000000000000..52417a02e0c018e7198549b14079681d4f2daea4
--- /dev/null
+++ b/firmware/rust1/src/bin/usb_logger.rs
@@ -0,0 +1,30 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy_executor::Spawner;
+use embassy_rp::interrupt;
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::Driver;
+use embassy_time::{Duration, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn logger_task(driver: Driver<'static, USB>) {
+ embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver);
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ let irq = interrupt::take!(USBCTRL_IRQ);
+ let driver = Driver::new(p.USB, irq);
+ spawner.spawn(logger_task(driver)).unwrap();
+
+ let mut counter = 0;
+ loop {
+ counter += 1;
+ log::info!("Tick {}", counter);
+ Timer::after(Duration::from_secs(1)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/usb_serial.rs b/firmware/rust1/src/bin/usb_serial.rs
new file mode 100644
index 0000000000000000000000000000000000000000..8160a18753fd355c5b8a0f9e0a08b1af89f119a5
--- /dev/null
+++ b/firmware/rust1/src/bin/usb_serial.rs
@@ -0,0 +1,101 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::{info, panic};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_rp::interrupt;
+use embassy_rp::usb::{Driver, Instance};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ info!("Hello there!");
+
+ let p = embassy_rp::init(Default::default());
+
+ // Create the driver, from the HAL.
+ let irq = interrupt::take!(USBCTRL_IRQ);
+ let driver = Driver::new(p.USB, irq);
+
+ // Create embassy-usb Config
+ let mut config = Config::new(0xc0de, 0xcafe);
+ config.manufacturer = Some("Embassy");
+ config.product = Some("USB-serial example");
+ config.serial_number = Some("12345678");
+ config.max_power = 100;
+ config.max_packet_size_0 = 64;
+
+ // Required for windows compatibility.
+ // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
+ config.device_class = 0xEF;
+ config.device_sub_class = 0x02;
+ config.device_protocol = 0x01;
+ config.composite_with_iads = true;
+
+ // Create embassy-usb DeviceBuilder using the driver and config.
+ // It needs some buffers for building the descriptors.
+ let mut device_descriptor = [0; 256];
+ let mut config_descriptor = [0; 256];
+ let mut bos_descriptor = [0; 256];
+ let mut control_buf = [0; 64];
+
+ let mut state = State::new();
+
+ let mut builder = Builder::new(
+ driver,
+ config,
+ &mut device_descriptor,
+ &mut config_descriptor,
+ &mut bos_descriptor,
+ &mut control_buf,
+ );
+
+ // Create classes on the builder.
+ let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+ // Build the builder.
+ let mut usb = builder.build();
+
+ // Run the USB device.
+ let usb_fut = usb.run();
+
+ // Do stuff with the class!
+ let echo_fut = async {
+ loop {
+ class.wait_connection().await;
+ info!("Connected");
+ let _ = echo(&mut class).await;
+ info!("Disconnected");
+ }
+ };
+
+ // Run everything concurrently.
+ // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+ join(usb_fut, echo_fut).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+ fn from(val: EndpointError) -> Self {
+ match val {
+ EndpointError::BufferOverflow => panic!("Buffer overflow"),
+ EndpointError::Disabled => Disconnected {},
+ }
+ }
+}
+
+async fn echo<'d, T: Instance + 'd>(class: &mut CdcAcmClass<'d, Driver<'d, T>>) -> Result<(), Disconnected> {
+ let mut buf = [0; 64];
+ loop {
+ let n = class.read_packet(&mut buf).await?;
+ let data = &buf[..n];
+ info!("data: {:x}", data);
+ class.write_packet(data).await?;
+ }
+}
diff --git a/firmware/rust1/src/bin/watchdog.rs b/firmware/rust1/src/bin/watchdog.rs
new file mode 100644
index 0000000000000000000000000000000000000000..ece5cfe38200b235ef7b85cd954f46583d1e6732
--- /dev/null
+++ b/firmware/rust1/src/bin/watchdog.rs
@@ -0,0 +1,48 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::gpio;
+use embassy_rp::watchdog::*;
+use embassy_time::{Duration, Timer};
+use gpio::{Level, Output};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let p = embassy_rp::init(Default::default());
+ info!("Hello world!");
+
+ let mut watchdog = Watchdog::new(p.WATCHDOG);
+ let mut led = Output::new(p.PIN_25, Level::Low);
+
+ // Set the LED high for 2 seconds so we know when we're about to start the watchdog
+ led.set_high();
+ Timer::after(Duration::from_secs(2)).await;
+
+ // Set to watchdog to reset if it's not fed within 1.05 seconds, and start it
+ watchdog.start(Duration::from_millis(1_050));
+ info!("Started the watchdog timer");
+
+ // Blink once a second for 5 seconds, feed the watchdog timer once a second to avoid a reset
+ for _ in 1..=5 {
+ led.set_low();
+ Timer::after(Duration::from_millis(500)).await;
+ led.set_high();
+ Timer::after(Duration::from_millis(500)).await;
+ info!("Feeding watchdog");
+ watchdog.feed();
+ }
+
+ info!("Stopped feeding, device will reset in 1.05 seconds");
+ // Blink 10 times per second, not feeding the watchdog.
+ // The processor should reset in 1.05 seconds.
+ loop {
+ led.set_low();
+ Timer::after(Duration::from_millis(100)).await;
+ led.set_high();
+ Timer::after(Duration::from_millis(100)).await;
+ }
+}
diff --git a/firmware/rust1/src/bin/ws2812-pio.rs b/firmware/rust1/src/bin/ws2812-pio.rs
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4742d89ac7bf147cc5b46c35fd258a1bae07f
--- /dev/null
+++ b/firmware/rust1/src/bin/ws2812-pio.rs
@@ -0,0 +1,129 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::*;
+use embassy_embedded_hal::SetConfig;
+use embassy_executor::Spawner;
+use embassy_rp::pio::{Common, Config, FifoJoin, Instance, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_time::{Duration, Timer};
+use fixed_macro::fixed;
+use smart_leds::RGB8;
+use {defmt_rtt as _, panic_probe as _};
+pub struct Ws2812<'d, P: Instance, const S: usize> {
+ sm: StateMachine<'d, P, S>,
+}
+
+impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> {
+ pub fn new(mut pio: Common<'d, P>, mut sm: StateMachine<'d, P, S>, pin: impl PioPin) -> Self {
+ // Setup sm0
+
+ // prepare the PIO program
+ let side_set = pio::SideSet::new(false, 1, false);
+ let mut a: pio::Assembler<32> = pio::Assembler::new_with_side_set(side_set);
+
+ const T1: u8 = 2; // start bit
+ const T2: u8 = 5; // data bit
+ const T3: u8 = 3; // stop bit
+ const CYCLES_PER_BIT: u32 = (T1 + T2 + T3) as u32;
+
+ let mut wrap_target = a.label();
+ let mut wrap_source = a.label();
+ let mut do_zero = a.label();
+ a.set_with_side_set(pio::SetDestination::PINDIRS, 1, 0);
+ a.bind(&mut wrap_target);
+ // Do stop bit
+ a.out_with_delay_and_side_set(pio::OutDestination::X, 1, T3 - 1, 0);
+ // Do start bit
+ a.jmp_with_delay_and_side_set(pio::JmpCondition::XIsZero, &mut do_zero, T1 - 1, 1);
+ // Do data bit = 1
+ a.jmp_with_delay_and_side_set(pio::JmpCondition::Always, &mut wrap_target, T2 - 1, 1);
+ a.bind(&mut do_zero);
+ // Do data bit = 0
+ a.nop_with_delay_and_side_set(T2 - 1, 0);
+ a.bind(&mut wrap_source);
+
+ let prg = a.assemble_with_wrap(wrap_source, wrap_target);
+ let mut cfg = Config::default();
+
+ // Pin config
+ let out_pin = pio.make_pio_pin(pin);
+
+ let relocated = RelocatedProgram::new(&prg);
+ cfg.use_program(&pio.load_program(&relocated), &[&out_pin]);
+
+ // Clock config, measured in kHz to avoid overflows
+ // TODO CLOCK_FREQ should come from embassy_rp
+ let clock_freq = fixed!(125_000: U24F8);
+ let ws2812_freq = fixed!(800: U24F8);
+ let bit_freq = ws2812_freq * CYCLES_PER_BIT;
+ cfg.clock_divider = clock_freq / bit_freq;
+
+ // FIFO config
+ cfg.fifo_join = FifoJoin::TxOnly;
+ cfg.shift_out = ShiftConfig {
+ auto_fill: true,
+ threshold: 24,
+ direction: ShiftDirection::Left,
+ };
+
+ sm.set_config(&cfg);
+ sm.set_enable(true);
+
+ Self { sm }
+ }
+
+ pub async fn write(&mut self, colors: &[RGB8]) {
+ for color in colors {
+ let word = (u32::from(color.g) << 24) | (u32::from(color.r) << 16) | (u32::from(color.b) << 8);
+ self.sm.tx().wait_push(word).await;
+ }
+ }
+}
+
+/// Input a value 0 to 255 to get a color value
+/// The colours are a transition r - g - b - back to r.
+fn wheel(mut wheel_pos: u8) -> RGB8 {
+ wheel_pos = 255 - wheel_pos;
+ if wheel_pos < 85 {
+ return (255 - wheel_pos * 3, 0, wheel_pos * 3).into();
+ }
+ if wheel_pos < 170 {
+ wheel_pos -= 85;
+ return (0, wheel_pos * 3, 255 - wheel_pos * 3).into();
+ }
+ wheel_pos -= 170;
+ (wheel_pos * 3, 255 - wheel_pos * 3, 0).into()
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ info!("Start");
+ let p = embassy_rp::init(Default::default());
+
+ let Pio { common, sm0, .. } = Pio::new(p.PIO0);
+
+ // This is the number of leds in the string. Helpfully, the sparkfun thing plus and adafruit
+ // feather boards for the 2040 both have one built in.
+ const NUM_LEDS: usize = 1;
+ let mut data = [RGB8::default(); NUM_LEDS];
+
+ // For the thing plus, use pin 8
+ // For the feather, use pin 16
+ let mut ws2812 = Ws2812::new(common, sm0, p.PIN_8);
+
+ // Loop forever making RGB values and pushing them out to the WS2812.
+ loop {
+ for j in 0..(256 * 5) {
+ debug!("New Colors:");
+ for i in 0..NUM_LEDS {
+ data[i] = wheel((((i * 256) as u16 / NUM_LEDS as u16 + j as u16) & 255) as u8);
+ debug!("R: {} G: {} B: {}", data[i].r, data[i].g, data[i].b);
+ }
+ ws2812.write(&data).await;
+
+ Timer::after(Duration::from_micros(5)).await;
+ }
+ }
+}
diff --git a/firmware/rust1/src/clear_bootloader_state.rs b/firmware/rust1/src/clear_bootloader_state.rs
new file mode 100644
index 0000000000000000000000000000000000000000..61895f0c00de69c1cb40df2dc132c7db92eec1ba
--- /dev/null
+++ b/firmware/rust1/src/clear_bootloader_state.rs
@@ -0,0 +1,6 @@
+
+// Clear bootloader state partition when we download this program
+// via some other way (e.g. UF2 or pico-probe-rs).
+#[used]
+#[link_section = ".clear_bootloader_state"]
+pub static CLEAR_BOOTLOADER_STATE: [u8; 4096] = [0xff; 4096];
diff --git a/firmware/rust1/src/dont_abort.rs b/firmware/rust1/src/dont_abort.rs
new file mode 100644
index 0000000000000000000000000000000000000000..5c093c6419b83718213cbaf9fc90af8f341a13f2
--- /dev/null
+++ b/firmware/rust1/src/dont_abort.rs
@@ -0,0 +1,66 @@
+use core::future::*;
+use core::pin::Pin;
+use core::task::*;
+
+pub enum DontAbortMode {
+ PanicIfReused,
+ HangIfReused,
+}
+
+pub struct DontAbort<A> {
+ a: Option<A>,
+ done: bool,
+ mode: DontAbortMode,
+}
+
+pub struct DontAbortFuture<'a, A> {
+ inner: &'a mut DontAbort<A>
+}
+
+impl<A> DontAbort<A> {
+ pub fn new(a: A, mode: DontAbortMode) -> DontAbort<A> {
+ DontAbort { a: Option::Some(a), done: false, mode }
+ }
+
+ pub fn hang() -> DontAbort<A> {
+ DontAbort { a: Option::None, done: false, mode: DontAbortMode::HangIfReused }
+ }
+
+ #[allow(dead_code)]
+ pub fn done(self: &Self) -> bool {
+ return self.done;
+ }
+
+ pub fn continue_wait<'a>(self: &'a mut Self) -> DontAbortFuture<'a, A> {
+ DontAbortFuture { inner: self }
+ }
+}
+
+impl<A: Unpin> Unpin for DontAbort<A> {}
+impl<'a, A: Unpin> Unpin for DontAbortFuture<'a, A> {}
+
+impl<'a, A> Future for DontAbortFuture<'a, A>
+where
+ A: Future,
+{
+ type Output = A::Output;
+
+ fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+ let this = unsafe { self.get_unchecked_mut() };
+ match (this.inner.done, this.inner.a.as_mut()) {
+ (true, _) | (_, Option::None) =>
+ match this.inner.mode {
+ DontAbortMode::PanicIfReused => panic!("Ready future is called again!"),
+ DontAbortMode::HangIfReused => return Poll::Pending, // will never finish because we haven't scheduled ourselves again
+ },
+ (false, Option::Some(a)) => {
+ let a = unsafe { Pin::new_unchecked(a) };
+ if let Poll::Ready(x) = a.poll(cx) {
+ this.inner.done = true;
+ return Poll::Ready(x);
+ }
+ Poll::Pending
+ }
+ }
+ }
+}
diff --git a/firmware/rust1/src/i2c_scan.rs b/firmware/rust1/src/i2c_scan.rs
new file mode 100644
index 0000000000000000000000000000000000000000..78bb44d445438730683326cb58130d7a396cc43c
--- /dev/null
+++ b/firmware/rust1/src/i2c_scan.rs
@@ -0,0 +1,217 @@
+use defmt::*;
+use {defmt_rtt as _, panic_probe as _};
+use heapless::String;
+
+use embassy_futures::select::*;
+use embassy_time::{Duration, Timer};
+use embassy_rp::gpio::{self, Pull, Flex};
+use embassy_rp::i2c;
+
+fn append_hex1<const N : usize>(s : &mut String<N>, num : u8) -> Result<(), ()> {
+ let ch = if num < 10 {
+ ('0' as u8 + num) as char
+ } else {
+ ('a' as u8 + num - 10) as char
+ };
+ s.push(ch)
+}
+
+fn append_hex2<const N : usize>(s : &mut String<N>, num : u8) -> Result<(), ()> {
+ append_hex1(s, num >> 4)?;
+ append_hex1(s, num & 0xf)
+}
+
+#[derive(PartialEq, Eq, Copy, Clone, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum ScanResult {
+ NAck,
+ Ack,
+ Error
+}
+
+// adapted from arduino-pico:
+// https://github.com/earlephilhower/arduino-pico/blob/6e52b72523b11470b2ad2b0578ca1500be238108/libraries/Wire/src/Wire.cpp#L257
+// This seems to be the only way to do zero-length writes:
+// see https://github.com/raspberrypi/pico-sdk/issues/238
+async fn handle_clock_stretching<'d, SCL: gpio::Pin>(scl: &mut Flex<'d, SCL>) -> Result<(), i2c::Error> {
+ use i2c::Error::*;
+ use i2c::AbortReason::*;
+
+ if scl.is_high() {
+ return Ok(())
+ }
+
+ let is_high = scl.wait_for_high();
+ let timeout = Timer::after(Duration::from_micros(100));
+
+ return match select(is_high, timeout).await {
+ Either::First(_) => Ok(()),
+ Either::Second(_) => Err(Abort(ArbitrationLoss)),
+ }
+}
+async fn i2c_write_zero_bytes_middle_part<'d, SCL: gpio::Pin, SDA: gpio::Pin, const FREQ : u64>(
+ mut addr: u16, delay: Duration, scl: &mut Flex<'d, SCL>, sda: &mut Flex<'d, SDA>)
+ -> Result<(), i2c::Error> {
+ sda.set_as_input();
+ Timer::after(delay).await;
+ scl.set_as_input();
+ handle_clock_stretching(scl).await?;
+ sda.set_as_output();
+ Timer::after(delay).await;
+ scl.set_as_output();
+ Timer::after(delay).await;
+ for _ in 0..8 {
+ addr <<= 1;
+ sda.set_level(if (addr & (1 << 7)) != 0 { gpio::Level::High } else { gpio::Level::Low });
+ Timer::after(delay).await;
+ scl.set_as_input();
+ Timer::after(delay).await;
+ handle_clock_stretching(scl).await?;
+ scl.set_as_output();
+ Timer::after(Duration::from_micros(5)).await; // Ensure we don't change too close to clock edge
+ }
+
+ sda.set_as_input();
+ Timer::after(delay).await;
+ scl.set_as_input();
+ handle_clock_stretching(scl).await?;
+
+ let result = if sda.is_low() {
+ Ok(())
+ } else {
+ use i2c::Error::*;
+ use i2c::AbortReason::*;
+ Err(Abort(NoAcknowledge))
+ };
+ Timer::after(delay).await;
+ scl.set_as_output();
+
+ result
+}
+async fn i2c_write_zero_bytes<SCL: gpio::Pin, SDA: gpio::Pin, const FREQ : u64>(addr: u16, scl: &mut SCL, sda: &mut SDA)
+ -> Result<(), i2c::Error> {
+ use i2c::Error::*;
+ use i2c::AbortReason::*;
+
+ let delay = Duration::from_micros((1000000 / FREQ) / 2);
+
+ let mut sda = Flex::new(sda);
+ let mut scl = Flex::new(scl);
+ sda.set_as_input();
+ sda.set_pull(Pull::Up);
+ scl.set_as_input();
+ scl.set_pull(Pull::Up);
+ // We only need low or pullup so we can set the value to low and only toggle direction.
+ // This is how OutputOpenDrain does it (and the only reason we use Flex is because we want the pullup).
+ sda.set_low();
+ scl.set_low();
+
+ Timer::after(delay).await;
+
+ // abort if SCL is stuck low
+ handle_clock_stretching(&mut scl).await?;
+
+ // handle SDA being stuck low
+ // (This can happen for very simple I2C devices that only use SCL and don't have any other clocks that
+ // they can use to handle timeouts, e.g. simple port expanders.)
+ if sda.is_low() {
+ // I think I have read that DW_apb_i2c does nine clocks. This seems resonable so let's do the same.
+ for _ in 0..9 {
+ scl.set_as_output();
+ Timer::after(delay).await;
+ scl.set_as_input();
+ Timer::after(delay).await;
+
+ if sda.is_high() {
+ break;
+ }
+ }
+
+ if sda.is_low() || scl.is_low() {
+ // There is isn't much that we can do here. A start condition would reset the state but we cannot
+ // generate it while one of the lines is stuck low.
+ return Err(Abort(ArbitrationLoss))
+ }
+
+ // SDA is high, again. Good. We will generate a start condition soon. This should abort any
+ // partial transfers that some devices might think are ongoing. We have already waited for half
+ // a clock so we are good to go.
+ }
+
+ let result = i2c_write_zero_bytes_middle_part::<_, _, FREQ>(addr, delay, &mut scl, &mut sda).await;
+
+ Timer::after(delay).await;
+ sda.set_as_output();
+ Timer::after(delay).await;
+ scl.set_as_input();
+ Timer::after(delay).await;
+ sda.set_as_input();
+ Timer::after(delay).await;
+
+ return result;
+}
+
+#[derive(PartialEq, Eq, Copy, Clone, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct ScanResultForBus([ScanResult; 128]);
+
+pub const MAX_ADDRESS : u8 = 128;
+pub const SCAN_RESULT_STRING_LENGTH : usize = (MAX_ADDRESS as usize)*3 + (MAX_ADDRESS as usize)/16*6;
+
+impl ScanResultForBus {
+ pub fn new() -> ScanResultForBus {
+ ScanResultForBus([ScanResult::Error; MAX_ADDRESS as usize])
+ }
+
+ pub async fn scan<SCL: gpio::Pin, SDA: gpio::Pin>(scl: &mut SCL, sda: &mut SDA) -> ScanResultForBus {
+ let mut results = Self::new();
+ results.scan_i2c(scl, sda).await;
+ return results;
+ }
+
+ pub async fn scan_i2c<SCL: gpio::Pin, SDA: gpio::Pin>(self: &mut Self, scl: &mut SCL, sda: &mut SDA) {
+ use i2c::Error::*;
+ use i2c::AbortReason::*;
+
+ for i in 0..MAX_ADDRESS {
+ self.0[i as usize] = match i2c_write_zero_bytes::<_, _, 400_000>(i as u16, scl, sda).await {
+ Result::Ok(()) => ScanResult::Ack,
+ Result::Err(Abort(NoAcknowledge)) => ScanResult::NAck,
+ Result::Err(e) => {
+ warn!("I2C problem: {:02x}: {:?}", i, e);
+ ScanResult::Error
+ }
+ }
+ }
+ }
+
+ pub fn format<const N : usize>(self: &Self, msg : &mut String<N>) -> Result<(), ()> {
+ self::assert!(N >= SCAN_RESULT_STRING_LENGTH);
+
+ for i in 0..MAX_ADDRESS/16 {
+ let base = i*16;
+ append_hex2(msg, base)?;
+ msg.push_str(":")?;
+ for j in 0..16 {
+ msg.push_str(" ")?;
+ match self.0[(base+j) as usize] {
+ ScanResult::Ack => append_hex2(msg, base+j)?,
+ ScanResult::NAck => msg.push_str("--")?,
+ ScanResult::Error => msg.push_str("!!")?,
+ }
+ }
+ msg.push_str("\n")?;
+ }
+ Ok(())
+ }
+}
+
+/*
+impl PartialEq for ScanResultForBus {
+ fn eq(self: &Self, other: &Self) -> bool {
+ self.0.iter().zip(other.0.iter()).all(|(x,y)| x == y)
+ }
+}
+
+impl Eq for ScanResultForBus { }
+ */
diff --git a/firmware/rust1/src/lib.rs b/firmware/rust1/src/lib.rs
new file mode 100644
index 0000000000000000000000000000000000000000..da50916908757d55cf6e03e2c405152129b3c55b
--- /dev/null
+++ b/firmware/rust1/src/lib.rs
@@ -0,0 +1,10 @@
+#![no_std]
+pub mod rp;
+pub mod dont_abort;
+pub mod i2c_scan;
+pub mod rs485;
+pub mod modbus_server;
+pub mod clear_bootloader_state;
+pub mod uf2;
+pub mod uf2updater;
+pub mod watchdog;
diff --git a/firmware/rust1/src/modbus_server.rs b/firmware/rust1/src/modbus_server.rs
new file mode 100644
index 0000000000000000000000000000000000000000..bd13b5b029d53f801ab691039c4e607c4f3a0472
--- /dev/null
+++ b/firmware/rust1/src/modbus_server.rs
@@ -0,0 +1,584 @@
+use defmt::*;
+use {defmt_rtt as _, panic_probe as _};
+use futures::Future;
+use heapless::Vec;
+use crc::{Crc, CRC_16_MODBUS, Digest};
+use embassy_rp::uart;
+
+use crate::rs485::{RS485Handler};
+
+struct Cursor<'a, E>(&'a [u8], usize, E);
+
+impl<'a, E: Clone> Cursor<'a, E> {
+ fn new(xs: &'a [u8], err: E) -> Self {
+ Cursor(xs, 0, err)
+ }
+
+ #[allow(dead_code)]
+ fn into_inner(self: Self) -> &'a [u8] {
+ self.0
+ }
+
+ fn has_more_data(self: &Self) -> bool {
+ self.1 < self.0.len()
+ }
+
+ fn read_u8(self: &mut Self) -> Result<u8, E> {
+ if self.1 < self.0.len() {
+ let x = self.0[self.1];
+ self.1 += 1;
+ Ok(x)
+ } else {
+ Err(self.2.clone())
+ }
+ }
+
+ fn read(self: &mut Self, buf: &mut [u8]) -> Result<(), E> {
+ for i in 0..buf.len() {
+ buf[i] = self.read_u8()?;
+ }
+ Ok(())
+ }
+
+ fn read_u16be(self: &mut Self) -> Result<u16, E> {
+ let mut buf = [0; 2];
+ self.read(&mut buf)?;
+ Ok(u16::from_be_bytes(buf))
+ }
+
+ fn read_bytes(self: &mut Self, len: usize) -> Result<&'a [u8], E> {
+ if self.1 + len > self.0.len() {
+ return Err(self.2.clone())
+ }
+ let data = &self.0[self.1 .. self.1 + len];
+ self.1 += len;
+ Ok(data)
+ }
+}
+
+pub struct U16Pusher<'a, const N: usize> {
+ buf: &'a mut Vec<u8, N>
+}
+
+impl<'a, const N: usize> U16Pusher<'a, N> {
+ pub fn push_bytes(self: &mut Self, xs: &[u8]) -> Result<(), ModbusErrorCode> {
+ for x in xs {
+ self.buf.push(*x).or(Err(ModbusErrorCode::ServerDeviceFailure))?;
+ }
+ Ok(())
+ }
+
+ pub fn push(self: &mut Self, x: u16) -> Result<(), ModbusErrorCode> {
+ self.push_bytes(&x.to_be_bytes())
+ }
+
+ pub fn push_fn<F: FnOnce(&mut [u8]) -> Result<(), ModbusErrorCode>>(self: &mut Self, len_bytes: usize, f: F) -> Result<(), ModbusErrorCode> {
+ let len_before = self.buf.len();
+ for _ in 0..len_bytes {
+ self.buf.push(0).or(Err(ModbusErrorCode::ServerDeviceFailure))?;
+ }
+ let len_after = self.buf.len();
+ f(&mut self.buf[len_before .. len_after])
+ }
+}
+
+
+#[repr(u8)]
+#[derive(PartialEq, Eq, Format, Clone)]
+pub enum ModbusErrorCode {
+ IllegalFunction = 1,
+ IllegalDataAddress = 2,
+ IllegalDataValue = 3,
+ ServerDeviceFailure = 4,
+ Acknowledge = 5,
+ ServerDeviceBusy = 6,
+ MemoryParityError = 7,
+ GatewayPathUnavailable = 0xa,
+ GatewayTargetDeviceFailedToRespond = 0xb,
+}
+
+pub enum ModbusAdressMatch {
+ NotOurAddress,
+ OurAddress,
+ BroadcastNoReply,
+}
+
+pub trait ModbusRegisters {
+ fn is_address_match(self: &mut Self, device_addr: u8) -> ModbusAdressMatch;
+ fn read_discrete_input(self: &mut Self, device_addr: u8, addr: u16) -> Result<bool, ModbusErrorCode>;
+ fn read_holding_register(self: &mut Self, device_addr: u8, addr: u16) -> Result<u16, ModbusErrorCode>;
+ fn read_input_register(self: &mut Self, device_addr: u8, addr: u16) -> Result<u16, ModbusErrorCode>;
+ fn write_coil(self: &mut Self, device_addr: u8, addr: u16, value: bool) -> Result<(), ModbusErrorCode>;
+ fn write_register(self: &mut Self, device_addr: u8, addr: u16, value: u16) -> Result<u16, ModbusErrorCode>;
+ fn read_file_record(self: &mut Self, device_addr: u8,
+ ref_type: u8, file_number: u16, record_number: u16, record_length: u16, pusher: U16Pusher<'_, 256>)
+ -> Result<(), ModbusErrorCode>;
+ fn write_file_record(self: &mut Self, device_addr: u8,
+ ref_type: u8, file_number: u16, record_number: u16, data: &[u8])
+ -> Result<(), ModbusErrorCode>;
+}
+
+#[derive(PartialEq, Eq, Format)]
+enum ModbusFrameLength {
+ NeedMoreData(u16),
+ Length(u16),
+ Unknown,
+}
+
+//FIXME This won't work if this is a response frame!
+fn get_modbus_frame_length(rxbuf: &[u8]) -> ModbusFrameLength {
+ use ModbusFrameLength::*;
+
+ if rxbuf.len() < 3 {
+ return NeedMoreData(3);
+ }
+
+ match rxbuf[1] {
+ 0x01..=0x06 => Length(8),
+ 0x0f | 0x10 => if rxbuf.len() == 7 { Length(9 + rxbuf[6] as u16) } else { NeedMoreData(7) },
+ 0x14 | 0x15 => if rxbuf.len() == 3 { Length(5 + rxbuf[2] as u16) } else { NeedMoreData(3) },
+ 0x16 => Length(10),
+ 0x17 => if rxbuf.len() == 11 { Length(13 + rxbuf[10] as u16) } else { NeedMoreData(11) },
+ _ => Unknown,
+ }
+}
+
+const CRC: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
+const BUF_LENGTH: usize = 256;
+
+pub struct ModbusServer<REGS: ModbusRegisters> {
+ rxbuf: Vec<u8, BUF_LENGTH>,
+ rxcrc: Digest<'static, u16>,
+ rx_expected_bytes: ModbusFrameLength,
+ rx_received_bytes: u16,
+ txbuf: Vec<u8, BUF_LENGTH>,
+ regs: REGS,
+}
+
+impl<REGS: ModbusRegisters> ModbusServer<REGS> {
+ pub fn new(regs: REGS) -> ModbusServer<REGS> {
+ ModbusServer {
+ rxbuf: Vec::new(),
+ rxcrc: CRC.digest(),
+ rx_expected_bytes: ModbusFrameLength::NeedMoreData(3),
+ rx_received_bytes: 0,
+ txbuf: Vec::new(),
+ regs,
+ }
+ }
+
+
+ fn modbus_reply_error(self: &mut Self, code: ModbusErrorCode) {
+ self.txbuf.clear();
+ self.txbuf.push(self.rxbuf[0]).unwrap();
+ self.txbuf.push(self.rxbuf[1] | 0x80).unwrap();
+ self.txbuf.push(code as u8).unwrap();
+ }
+
+ fn handle_modbus_frame2(self: &mut Self, should_reply: bool) -> Result<(), ModbusErrorCode> {
+ use ModbusErrorCode::*;
+
+ let rxbuf = &self.rxbuf;
+ let mut rx = Cursor::new(&rxbuf[0..rxbuf.len()-2], ModbusErrorCode::IllegalDataValue);
+ let txbuf = &mut self.txbuf;
+ //info!("Modbus frame: {:?}", rxbuf.as_slice());
+
+ txbuf.clear();
+ let capacity = txbuf.capacity();
+
+ fn map_err<T>(x: Result<(), T>) -> Result<(), ModbusErrorCode> {
+ x.or(Err(ServerDeviceFailure))
+ }
+ fn push(txbuf: &mut Vec<u8, BUF_LENGTH>, x: u8) -> Result<(), ModbusErrorCode> {
+ map_err(txbuf.push(x))
+ }
+ fn push_many(txbuf: &mut Vec<u8, BUF_LENGTH>, xs: &[u8]) -> Result<(), ModbusErrorCode> {
+ for x in xs {
+ push(txbuf, *x)?;
+ }
+ Ok(())
+ }
+ fn push_u16be(txbuf: &mut Vec<u8, BUF_LENGTH>, x: u16) -> Result<(), ModbusErrorCode> {
+ push_many(txbuf, &x.to_be_bytes())
+ }
+
+ let device_addr = rx.read_u8()?;
+
+ // see https://modbus.org/docs/Modbus_Application_Protocol_V1_1b3.pdf
+ let function = rx.read_u8()?;
+ match function {
+ 0x02 => {
+ // read discrete inputs
+ let start = rx.read_u16be()?;
+ let quantity = rx.read_u16be()?;
+ let byte_count = (quantity+7)/8;
+ if quantity < 1 || quantity > 2000 || byte_count as usize > capacity - 5 {
+ return Err(IllegalDataValue);
+ };
+ push_many(txbuf, &rxbuf[0..2])?;
+ push(txbuf, byte_count as u8)?;
+ for i in 0..byte_count {
+ let mut x = 0;
+ for j in 0..7 {
+ if i*8+j < quantity {
+ x |= (if self.regs.read_discrete_input(device_addr, start + i*8 + j)? {1} else {0}) << j;
+ }
+ }
+ push(txbuf, x)?;
+ }
+ Ok(())
+ },
+ 0x03 => {
+ // read holding registers
+ if rxbuf.len() != 8 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let quantity = rx.read_u16be()?;
+ let byte_count = quantity * 2;
+ if byte_count as usize > (capacity - 5) || quantity >= 0x7d {
+ return Err(IllegalDataValue);
+ }
+ push_many(txbuf, &rxbuf[0..2])?;
+ push(txbuf, byte_count as u8)?;
+ for i in 0..quantity {
+ let value = self.regs.read_holding_register(device_addr, start + i)?;
+ push_u16be(txbuf, value)?;
+ }
+ Ok(())
+ },
+ 0x04 => {
+ // read input registers
+ if rxbuf.len() != 8 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let quantity = rx.read_u16be()?;
+ if quantity as usize > (capacity - 5) / 2 || quantity >= 0x7d {
+ return Err(IllegalDataValue); // is that right?
+ }
+ push_many(txbuf, &rxbuf[0..2])?;
+ push(txbuf, (quantity*2) as u8)?;
+ for i in 0..quantity {
+ let value = self.regs.read_input_register(device_addr, start + i)?;
+ push_u16be(txbuf, value)?;
+ }
+ Ok(())
+ },
+ 0x05 => {
+ // write single coil
+ if rxbuf.len() != 8 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let value = rx.read_u16be()?;
+ let value = if value == 0x0000 {
+ false
+ } else if value == 0xff00 {
+ true
+ } else {
+ return Err(IllegalDataValue);
+ };
+ self.regs.write_coil(device_addr, start, value)?;
+ if should_reply {
+ push_many(txbuf, &rxbuf[0..6])?;
+ }
+ Ok(())
+ },
+ 0x06 => {
+ // write register
+ if rxbuf.len() != 8 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let value = rx.read_u16be()?;
+ let actual_new_value = self.regs.write_register(device_addr, start, value)?;
+ if should_reply {
+ push_many(txbuf, &rxbuf[0..4])?;
+ push_u16be(txbuf, actual_new_value)?;
+ }
+ Ok(())
+ },
+ 0x0F => {
+ // write multiple coils
+ if rxbuf.len() < 9 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let quantity = rx.read_u16be()?;
+ let byte_count = rx.read_u8()?;
+ let expected_byte_count = (quantity + 7) / 8;
+ if quantity < 1 || quantity > 0x07b0 || byte_count as u16 != expected_byte_count {
+ return Err(IllegalDataValue);
+ }
+ if rxbuf.len() != 9 + byte_count as usize {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ for i in 0..byte_count as u16 {
+ let x = rxbuf[7 + i as usize];
+ for j in 0..7 {
+ if i*8+j < quantity {
+ self.regs.write_coil(device_addr, start + i*8 + j, (x >> j) != 0)?;
+ }
+ }
+ }
+ if should_reply {
+ push_many(txbuf, &rxbuf[0..6])?;
+ }
+ Ok(())
+ },
+ 0x10 => {
+ // write multiple registers
+ if rxbuf.len() < 9 {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ let start = rx.read_u16be()?;
+ let quantity = rx.read_u16be()?;
+ let byte_count = rx.read_u8()?;
+ let expected_byte_count = quantity * 2;
+ if quantity < 1 || quantity > 0x07b || byte_count as u16 != expected_byte_count {
+ return Err(IllegalDataValue);
+ }
+ if rxbuf.len() != 9 + byte_count as usize {
+ // we shouldn't get here
+ return Err(ServerDeviceFailure);
+ }
+ for i in 0..quantity {
+ let value = rx.read_u16be()?;
+ self.regs.write_register(device_addr, start + i, value)?;
+ }
+ if should_reply {
+ push_many(txbuf, &rxbuf[0..6])?;
+ }
+ Ok(())
+ },
+ 0x14 => {
+ push_many(txbuf, &rxbuf[0..2])?;
+ push(txbuf, 0)?;
+ let byte_count = rx.read_u8()?;
+ if byte_count < 7 || byte_count > 0xf5 {
+ return Err(IllegalDataValue)
+ }
+ while rx.has_more_data() {
+ let ref_type = rx.read_u8()?;
+ let file_number = rx.read_u16be()?;
+ let record_number = rx.read_u16be()?;
+ let record_length = rx.read_u16be()?;
+ let pos_of_length = txbuf.len();
+ push(txbuf, 1 + 2 * record_length as u8)?;
+ push(txbuf, ref_type)?;
+ if record_length > 127 || record_length as usize * 2 > capacity - txbuf.len() {
+ return Err(IllegalDataValue)
+ }
+ let len_before = txbuf.len();
+ let pusher = U16Pusher { buf: txbuf };
+ self.regs.read_file_record(device_addr, ref_type, file_number, record_number, record_length, pusher)?;
+ let len_after = txbuf.len();
+ let len_added = len_after - len_before;
+ if len_added % 2 != 0 {
+ error!("Number of bytes added by read_file_records is not a multiple of 2 (u16)");
+ return Err(ServerDeviceFailure)
+ } else if len_added/2 > record_length as usize {
+ error!("Too many record added by read_file_records: expected {} but got {}", record_length, len_added/2);
+ return Err(ServerDeviceFailure)
+ } else if len_added >= 255 {
+ error!("Too many records added");
+ return Err(ServerDeviceFailure)
+ }
+ txbuf[pos_of_length] = 1 + len_added as u8;
+ }
+ // update byte_count
+ txbuf[2] = txbuf.len() as u8 - 3;
+ Ok(())
+ },
+ 0x15 => {
+ let byte_count = rx.read_u8()?;
+ if byte_count < 7 || byte_count > 0xf5 {
+ return Err(IllegalDataValue)
+ }
+ while rx.has_more_data() {
+ let ref_type = rx.read_u8()?;
+ let file_number = rx.read_u16be()?;
+ let record_number = rx.read_u16be()?;
+ let record_length = rx.read_u16be()?;
+ if record_length > 127 {
+ info!("Modbus write file record: too long, record_length={}, capacity={}", record_length, capacity - txbuf.len());
+ return Err(IllegalDataValue)
+ }
+ let data = rx.read_bytes(record_length as usize * 2)?;
+ self.regs.write_file_record(device_addr, ref_type, file_number, record_number, data)?;
+ }
+ // We have to include the data in the reply? Really? Oh well, let's do it then.
+ push_many(txbuf, &rxbuf[0..rxbuf.len()-2])?;
+ Ok(())
+ },
+ 0x16 => {
+ let addr = rx.read_u16be()?;
+ let and_mask = rx.read_u16be()?;
+ let or_mask = rx.read_u16be()?;
+ let value = self.regs.read_holding_register(device_addr, addr)?;
+ let value = (value & and_mask) | (or_mask & !and_mask);
+ let _value = self.regs.write_register(device_addr, addr, value)?;
+ // Reply is a copy of the request instead of something useful, e.g. the resulting value.
+ push_many(txbuf, &rxbuf[0..rxbuf.len()-2])?;
+ Ok(())
+ },
+ 0x17 => {
+ let read_addr = rx.read_u16be()?;
+ let read_count = rx.read_u16be()?;
+ let write_addr = rx.read_u16be()?;
+ let write_count = rx.read_u16be()?;
+ let write_byte_count = rx.read_u8()?;
+ if read_count < 1 || read_count > 0x7d || write_count < 1 || write_count > 0x79 || write_byte_count as u16 != write_count * 2 {
+ return Err(IllegalDataValue)
+ }
+
+ for i in 0..write_count {
+ info!("write {}", write_addr+i);
+ self.regs.write_register(device_addr, write_addr + i, rx.read_u16be()?)?;
+ }
+
+ push_many(txbuf, &rxbuf[0..2])?;
+ push(txbuf, read_count as u8 * 2)?;
+ for i in 0..read_count {
+ info!("read {}", read_addr+i);
+ let value = self.regs.read_holding_register(device_addr, read_addr + i)?;
+ push_u16be(txbuf, value)?;
+ }
+ info!("done");
+ Ok(())
+ },
+ _ => {
+ Err(IllegalFunction)
+ },
+ }
+ }
+
+ fn handle_modbus_frame(self: &mut Self) {
+ let should_reply = match self.regs.is_address_match(self.rxbuf[0]) {
+ ModbusAdressMatch::NotOurAddress => return,
+ ModbusAdressMatch::OurAddress => true,
+ ModbusAdressMatch::BroadcastNoReply => false,
+ };
+
+ match self.handle_modbus_frame2(should_reply) {
+ Ok(()) => {
+ if should_reply && self.txbuf.capacity() - self.txbuf.len() < 2 {
+ // We don't have enough space for the CRC so reply with error instead.
+ self.modbus_reply_error(ModbusErrorCode::ServerDeviceFailure);
+ }
+ },
+ Err(code) => {
+ if should_reply {
+ self.modbus_reply_error(code);
+ } else {
+ warn!("Error result when processing Modbus frame but we won't reply because it is a broadcast: {:?}", code);
+ }
+ }
+ }
+
+ if should_reply {
+ const CRC: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
+ let x = CRC.checksum(self.txbuf.as_slice());
+ self.txbuf.push((x & 0xff) as u8).unwrap();
+ self.txbuf.push((x >> 8) as u8).unwrap();
+ }
+ }
+}
+
+impl<REGS: ModbusRegisters> RS485Handler for ModbusServer<REGS> {
+ //type CommandFuture = !;
+ const TX_BUF_LENGTH: usize = BUF_LENGTH;
+
+ fn on_rx<F>(self: &mut Self, rx: Result<u8, uart::Error>, reply: Option<F>)
+ where F: FnOnce(&[u8]) {
+ match rx {
+ Ok(rx_char) => {
+ //info!("RX {:?}", rx_char);
+
+ self.rxcrc.update(&[rx_char]);
+ if !self.rxbuf.is_full() {
+ self.rxbuf.push(rx_char).unwrap_or_default();
+ }
+ self.rx_received_bytes += 1;
+
+ if let ModbusFrameLength::NeedMoreData(x) = self.rx_expected_bytes {
+ if x == self.rx_received_bytes {
+ self.rx_expected_bytes = get_modbus_frame_length(self.rxbuf.as_slice());
+ match self.rx_expected_bytes {
+ ModbusFrameLength::Unknown => {
+ //FIXME Wait for pause.
+ },
+ _ => {}
+ }
+ }
+ }
+ if let ModbusFrameLength::Length(x) = self.rx_expected_bytes {
+ if x == self.rx_received_bytes {
+ let calculated_crc = self.rxcrc.clone().finalize();
+ const CORRECT_CRC: u16 = 0; // because we include the CRC bytes in our calculation
+ if calculated_crc != CORRECT_CRC {
+ info!("CRC: {:04x} (should be zero)", calculated_crc);
+ }
+
+ //FIXME In case of CRC mismatch, wait for gap/idle of >=1.5 chars.
+ const OUR_ADDRESS: u8 = 1;
+ if self.rxbuf[0] == OUR_ADDRESS && calculated_crc == CORRECT_CRC {
+ self.txbuf.clear();
+ self.handle_modbus_frame();
+
+ if !self.txbuf.is_empty() {
+ //info!("Modbus reply: {:?}", self.txbuf);
+ match reply {
+ Option::Some(reply) => reply(self.txbuf.as_slice()),
+ Option::None => warn!("Cannot send reply because a reply is already in progress!"),
+ }
+ }
+ }
+
+ self.rxbuf.clear();
+ self.rxcrc = CRC.digest();
+ self.rx_expected_bytes = ModbusFrameLength::NeedMoreData(3);
+ self.rx_received_bytes = 0;
+ }
+ }
+ },
+ Err(e) => {
+ info!("RX error {:?}", e);
+
+ //FIXME wait for gap/idle of >=1.5 chars.
+ self.rxbuf.clear();
+ self.rxcrc = CRC.digest();
+ self.rx_expected_bytes = ModbusFrameLength::NeedMoreData(3);
+ self.rx_received_bytes = 0;
+ }
+ }
+ }
+
+ fn on_idle(self: &mut Self) {
+ if !self.rxbuf.is_empty() {
+ warn!("Partial frame in rx buffer, cut short by inter-byte gap: {:?}, {:?}", self.rx_expected_bytes, self.rxbuf);
+ }
+
+ self.rxbuf.clear();
+ self.rxcrc = CRC.digest();
+ self.rx_expected_bytes = ModbusFrameLength::NeedMoreData(3);
+ self.rx_received_bytes = 0;
+ }
+
+ fn on_tx_done(self: &mut Self) {
+ //TODO
+ }
+
+ fn on_autobaud_success(self: &mut Self, baudrate: f32) {
+ //TODO
+ info!("Guessed baud rate: {}", baudrate);
+ }
+}
diff --git a/firmware/rust1/src/rp/mod.rs b/firmware/rust1/src/rp/mod.rs
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/firmware/rust1/src/rs485.rs b/firmware/rust1/src/rs485.rs
new file mode 100644
index 0000000000000000000000000000000000000000..93165c69892497fc6b8d3102417b64b9767e1223
--- /dev/null
+++ b/firmware/rust1/src/rs485.rs
@@ -0,0 +1,445 @@
+use defmt::*;
+use embassy_futures::select::*;
+use embassy_rp::gpio;
+use embassy_rp::pac;
+use embassy_rp::interrupt::UART0_IRQ;
+use embassy_time::{Duration, Timer};
+use embassy_embedded_hal::SetConfig;
+use embassy_rp::peripherals::{self, UART0};
+use embassy_rp::uart::{self, UartRx};
+use embassy_rp::pio::{Config, Pio, ShiftConfig, ShiftDirection, FifoJoin};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::Peripheral;
+use {defmt_rtt as _, panic_probe as _};
+use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
+use futures::Future;
+
+use crate::dont_abort::DontAbort;
+use crate::dont_abort::DontAbortMode::*;
+
+pub trait RS485Handler {
+ //type CommandFuture: Future<Output = ()>;
+ const TX_BUF_LENGTH: usize;
+
+ fn on_rx<F>(self: &mut Self, rx: Result<u8, uart::Error>, reply: Option<F>)
+ where F: FnOnce(&[u8]);
+ fn on_idle(self: &mut Self);
+ fn on_tx_done(self: &mut Self);
+ fn on_autobaud_success(self: &mut Self, baudrate: f32);
+}
+
+pub struct RS485<H: RS485Handler> {
+ pio: peripherals::PIO0,
+ rx_pin: peripherals::PIN_17,
+ tx_pin: peripherals::PIN_16,
+ tx_en_pin: peripherals::PIN_15,
+ dma_channel: peripherals::DMA_CH0,
+ tx_dma_channel: peripherals::DMA_CH2,
+ rx: UartRx<'static, UART0, uart::Async>,
+ handler: H
+}
+
+fn pin_io<P: gpio::Pin>(pin: &P) -> pac::io::Gpio {
+ use gpio::Bank;
+
+ let block = match pin.bank() {
+ Bank::Bank0 => pac::IO_BANK0,
+ Bank::Qspi => pac::IO_QSPI,
+ };
+ block.gpio(pin.pin() as _)
+}
+
+fn pin_pad<P: gpio::Pin>(pin: &P) -> pac::common::Reg<pac::pads::regs::GpioCtrl, pac::common::RW> {
+ use gpio::Bank;
+
+ let block = match pin.bank() {
+ Bank::Bank0 => pac::PADS_BANK0,
+ Bank::Qspi => pac::PADS_QSPI,
+ };
+ block.gpio(pin.pin() as _)
+}
+
+#[allow(dead_code)]
+async fn debug_print_pio_addr(sm: pac::pio::StateMachine) {
+ let mut prev = 42u8;
+ loop {
+ let addr = unsafe { sm.addr().read().addr() };
+ if prev != addr {
+ prev = addr;
+ info!("SM addr: {}", addr);
+ }
+ Timer::after(Duration::from_millis(200)).await;
+ }
+}
+
+impl<H: RS485Handler> RS485<H> {
+ pub fn new(
+ uart: UART0, rx_pin: peripherals::PIN_17, tx_pin: peripherals::PIN_16, tx_en_pin: peripherals::PIN_15,
+ rx_irq: UART0_IRQ, rx_dma_channel: peripherals::DMA_CH1, uart_config: uart::Config,
+ pio: peripherals::PIO0, dma_channel: peripherals::DMA_CH0, tx_dma_channel: peripherals::DMA_CH2,
+ handler: H
+ ) -> RS485<H> {
+ // SAFETY: The auto-baud will only read from this pin and we will set it back to UART mode after initialising the PIO.
+ let rx_pin_for_autobaud = unsafe { rx_pin.clone_unchecked() };
+
+ let uart_rx = UartRx::new(
+ uart,
+ rx_pin,
+ rx_irq,
+ rx_dma_channel,
+ uart_config,
+ );
+ RS485 { pio, rx_pin: rx_pin_for_autobaud, tx_pin, tx_en_pin, dma_channel, tx_dma_channel, rx: uart_rx, handler }
+ }
+
+ pub async fn run_task(mut self: Self) {
+ let Pio {
+ mut common,
+ sm0: mut sm,
+ mut sm1,
+ mut irq0,
+ mut irq1,
+ ..
+ } = Pio::new(self.pio);
+
+ sm.set_enable(false);
+
+ let prg_set_osr = pio_proc::pio_asm!(
+ "pull",
+ "hang:",
+ "jmp hang",
+ );
+
+ let prg_autobaud = pio_proc::pio_asm!(
+ // Send zero to RX FIFO to signal start of next measurement.
+ ".wrap_target",
+ "timeout:",
+ "in null, 32",
+
+ // Wait for pin to be high for a longer time (UART is idle), copy waiting time to X
+ // and decrement until done, start again when pin changes.
+ "public wait_idle:",
+ "wait 1 pin 0",
+ "mov x, osr",
+ "continue_wait_idle:",
+ "jmp pin still_one",
+ "jmp wait_idle", // we got a zero, start again
+ "still_one:",
+ "jmp x--, continue_wait_idle",
+
+ // We have a long 1, i.e. UART is idle. Wait for start bit.
+ "have_long_high:",
+ "irq set 1", // notify MCU in case they want to know about this (end of Modbus frame)
+ "public wait_for_not_idle:",
+ ".define public wait_for_not_idle wait_for_not_idle",
+ "wait 0 pin 0",
+ "nop [4]",
+ "jmp pin wait_idle", // abort if zero was just a glitch
+
+ // We want to measure 9 bits (start bit plus eight (or nine) data bits). However, we need
+ // different code for high and low so it's easier to measure 4x2 bits. Weuse Y as the loop counter.
+ "set y, 3",
+
+ // Start counting. We count down from the value in OSR (which is our timeout).
+ "measure_next:",
+ "mov x, osr",
+ "measure_low:",
+ "jmp pin changed_to_one",
+ //"nop",
+ "jmp x-- measure_low",
+ "jmp timeout",
+ "changed_to_one:",
+ "in x, 32"
+
+ // Start counting, again, but for a high pulse.
+ "mov x, osr",
+ "measure_high:",
+ "jmp pin still_high2",
+ "jmp changed_to_low",
+ "still_high2:",
+ "jmp x-- measure_high",
+ "jmp timeout",
+ "changed_to_low:",
+ "in x, 32",
+ "jmp y-- measure_next",
+
+ // We are done.
+ "irq set 0",
+ ".wrap",
+ );
+
+ // This is based on the UART TX example in the datasheet but we also control the TX_EN pin
+ // and we have 9 data bits because we have parity.
+ /*
+ let prg_tx = pio_proc::pio_asm!(
+ ".side_set 2 opt",
+ // An 8e1 UART transmit program.
+ // OUT pin 0 and side-set pin 1 are both mapped to UART TX pin.
+ "pull side 1", // disable transmitter, get number of bytes
+ "mov y, osr side 3", // copy to y reg, enable transmitter
+ "byteloop:",
+ "pull side 3 [6]", // Assert stop bit, or stall with line in idle state (6 instead of 7 because mov/jmp take one clk)
+ "set x, 8 side 2 [7]", // Preload bit counter, assert start bit for 8 clocks
+ "bitloop:", // This loop will run 9 times (8e1 UART, i.e. 8 data bits and one clock bit)
+ "out pins, 1", // Shift 1 bit from OSR to the first OUT pin
+ "jmp x-- bitloop [6]", // Each loop iteration is 8 cycles.
+ "jmp y-- byteloop side 3",
+ );
+ */
+ // Let's use 4 cycles for each baud time because we need two bits of side-set.
+ let prg_tx = pio_proc::pio_asm!(
+ ".origin 24",
+ ".side_set 2 opt",
+ // An 8e1 UART transmit program.
+ // OUT pin 0 and side-set pin 1 are both mapped to UART TX pin.
+ "pull side 2", // disable transmitter, get number of bytes. Side: TX_EN=0, TX=1
+ "mov y, osr side 3", // copy to y reg, enable transmitter
+ "byteloop:",
+ "pull side 3 [2]", // Assert stop bit, or stall with line in idle state (6 instead of 7 because mov/jmp take one clk)
+ "set x, 8 side 1 [3]", // Preload bit counter, assert start bit for 8 clocks. Side: TX_EN=1, TX=0
+ "bitloop:", // This loop will run 9 times (8e1 UART, i.e. 8 data bits and one clock bit)
+ "out pins, 1", // Shift 1 bit from OSR to the first OUT pin
+ "jmp x-- bitloop [2]", // Each loop iteration is 8 cycles.
+ "jmp y-- byteloop side 3",
+ );
+
+ let relocated = RelocatedProgram::new(&prg_set_osr.program);
+ let mut cfg = Config::default();
+ let loaded_program = common.load_program(&relocated);
+ cfg.use_program(&loaded_program, &[]);
+ const SM_FREQ: u32 = 25_000_000;
+ cfg.clock_divider = (U56F8!(125_000_000) / U56F8!(25_000_000 /* SM_FREQ */)).to_fixed();
+ cfg.shift_in = ShiftConfig {
+ auto_fill: true,
+ threshold: 32,
+ direction: ShiftDirection::Left,
+ };
+ cfg.shift_out = ShiftConfig {
+ auto_fill: false,
+ threshold: 32,
+ direction: ShiftDirection::Right,
+ };
+ let rx_pin_pio = common.make_pio_pin(unsafe { self.rx_pin.clone_unchecked() });
+ cfg.set_in_pins(&[&rx_pin_pio]);
+ cfg.set_jmp_pin(&rx_pin_pio);
+
+ sm.set_config(&cfg);
+ sm.set_enable(true);
+
+ // Timeout: Modbus wants 3.5 char times between frames but we should detect the end of a frame
+ // after 1.5 char times. This is 0.86 ms at 19200 baud (8e1, i.e. 11 baud times per char).
+ // We need two clocks for each loop.
+ let timeout_start_value = (SM_FREQ as f32 * 0.86e-3 / 2.) as u32;
+ sm.tx().push(timeout_start_value);
+ info!("timeout_start_value: {} = 0x{:08x}", timeout_start_value, timeout_start_value);
+
+ // switch to the real program and join FIFOs
+ unsafe { common.free_instr(loaded_program.used_memory); };
+ sm.set_enable(false);
+ let relocated = RelocatedProgram::new(&prg_autobaud.program);
+ let loaded_program = common.load_program(&relocated);
+ cfg.use_program(&loaded_program, &[]);
+ cfg.fifo_join = FifoJoin::RxOnly;
+ sm.set_config(&cfg);
+ sm.set_enable(true);
+
+ // set rx pin function back to UART
+ // (PIO can always read and we don't want to write but embassy_rp cannot know that so it "helpfully" configured the pin for PIO function.)
+ unsafe {
+ pin_io(&self.rx_pin).ctrl().write(|w| w.set_funcsel(embassy_rp::pac::io::vals::Gpio17ctrlFuncsel::UART0_RX.0));
+
+ // enable pullup to have it not float when we set the transceiver to transmit
+ pin_pad(&self.rx_pin).modify(|w| w.set_pue(true));
+ }
+
+ info!("Program size for auto-baud: {}, for tx: {}, wait_for_not_idle is at: {}",
+ prg_autobaud.program.code.len(), prg_tx.program.code.len(),
+ prg_autobaud.public_defines.wait_for_not_idle);
+
+
+ let relocated = RelocatedProgram::new(&prg_tx.program);
+ let mut cfg = Config::default();
+ let tx_pin_pio = common.make_pio_pin(self.tx_pin);
+ let tx_en_pin_pio = common.make_pio_pin(self.tx_en_pin);
+ let loaded_program = common.load_program(&relocated);
+ cfg.use_program(&loaded_program, &[&tx_en_pin_pio, &tx_pin_pio]);
+ const BAUD_RATE: u32 = 19200;
+ cfg.clock_divider = (U56F8!(125_000_000) / U56F8!(76800 /* BAUD_RATE*4 */)).to_fixed();
+ cfg.shift_out = ShiftConfig {
+ auto_fill: false,
+ threshold: 32,
+ direction: ShiftDirection::Right,
+ };
+ cfg.set_out_pins(&[&tx_pin_pio]);
+ cfg.fifo_join = FifoJoin::TxOnly;
+ sm1.set_config(&cfg);
+ sm1.set_pins(gpio::Level::Low, &[&tx_en_pin_pio]);
+ sm1.set_pins(gpio::Level::High, &[&tx_pin_pio]);
+ sm1.set_pin_dirs(embassy_rp::pio::Direction::Out, &[&tx_en_pin_pio, &tx_pin_pio]);
+ sm1.set_enable(true);
+
+ //FIXME Do we have any way to get this number from the outside?
+ const TX_BUF_LENGTH: usize = 256;
+ defmt::assert!(TX_BUF_LENGTH == H::TX_BUF_LENGTH);
+ let mut tx_data = [0u32; TX_BUF_LENGTH+1];
+ let mut tx_in_progress = false;
+
+ let mut dma_in_ref = self.dma_channel.into_ref();
+ let mut dma_tx_ref = self.tx_dma_channel.into_ref();
+ let mut din = [42u32; 9];
+ let mut bit_index = 0;
+ let mut rx_buf_one = [0; 1];
+ let mut rx_future = DontAbort::new(self.rx.read(&mut rx_buf_one), PanicIfReused);
+ let mut tx_future = DontAbort::hang();
+ loop {
+ let x = select4(
+ irq0.wait(),
+ sm.rx().dma_pull(dma_in_ref.reborrow(), &mut din),
+ //debug_print_pio_addr(embassy_rp::pac::PIO0.sm(0)),
+ tx_future.continue_wait(),
+ select3(
+ rx_future.continue_wait(),
+ //debug_print_pio_addr(embassy_rp::pac::PIO0.sm(1)),
+ core::future::pending::<()>(),
+ irq1.wait(),
+ ),
+ ).await;
+ match x {
+ Either4::First(_) => {
+ let debug_autobaud = false;
+
+ let mut sum = 0;
+ let mut first = 0;
+ let mut ok = false;
+ let mut got_to_eight = false;
+ for i in 0..din.len() {
+ if din[i] == 0 {
+ bit_index = 0;
+ if debug_autobaud {
+ info!("SM in {}: {:08x} -> start", i, din[i]);
+ }
+ } else {
+ let mut delay = timeout_start_value - din[i];
+ if bit_index == 0 {
+ delay += 7;
+ } else if bit_index%2 == 1 {
+ //delay += 4;
+ delay += 3;
+ } else {
+ delay += 3;
+ }
+ let millis = (delay) as f32 / SM_FREQ as f32 * 1000. * 2.;
+ let baud = 1000. / millis;
+ if debug_autobaud {
+ info!("SM in {} ({}): {:08x} -> {} -> {} ms -> {}", i, bit_index, din[i], delay, millis, baud);
+ }
+ if bit_index == 0 {
+ sum = 0;
+ first = delay;
+ ok = true;
+ } else if delay < first-first/4 || delay > first+first/4 {
+ ok = false;
+ }
+ sum += delay;
+ bit_index += 1;
+ got_to_eight = bit_index == 8;
+ }
+ }
+
+ for _ in bit_index..8 {
+ if let Some(x) = sm.rx().try_pull() {
+ let mut delay = timeout_start_value - x;
+ if bit_index == 0 {
+ delay += 7;
+ } else if bit_index%2 == 1 {
+ //delay += 4;
+ delay += 3;
+ } else {
+ delay += 3;
+ }
+ let millis = (delay) as f32 / SM_FREQ as f32 * 1000. * 2.;
+ let baud = 1000. / millis;
+ if debug_autobaud {
+ info!("SM in ({}): {:08x} -> {} -> {} ms -> {}", bit_index, x, delay, millis, baud);
+ }
+ if bit_index == 0 {
+ sum = 0;
+ first = delay;
+ ok = true;
+ } else if delay < first-first/4 || delay > first+first/4 {
+ ok = false;
+ }
+ sum += delay;
+ bit_index += 1;
+ got_to_eight = bit_index == 8;
+ } else {
+ break
+ }
+ }
+
+ if got_to_eight && ok {
+ let millis = sum as f32 / SM_FREQ as f32 * 1000. * 2. / 8.;
+ let baud = 1000. / millis;
+ self.handler.on_autobaud_success(baud);
+ }
+ },
+ Either4::Second(_) => {
+ if false {
+ for i in 0..din.len() {
+ if din[i] == 0 {
+ bit_index = 0
+ } else {
+ bit_index += 1
+ }
+ info!("SM in {}: {:08x}", i, din[i]);
+ }
+ }
+ },
+ Either4::Third(_) => {
+ tx_in_progress = false;
+ self.handler.on_tx_done();
+ },
+ Either4::Fourth(Either3::First(x)) => {
+ drop(rx_future);
+ let rx_char = x.map(|_| -> u8 { rx_buf_one[0] });
+ rx_future = DontAbort::new(self.rx.read(&mut rx_buf_one), PanicIfReused);
+
+ if tx_in_progress {
+ // use a dummy closure to fix the type of the option because I don't know a better way...
+ let dummy = |_txdata: &[u8]| {};
+ self.handler.on_rx(rx_char, if false {Option::Some(dummy)} else {Option::None});
+ } else {
+ drop(tx_future);
+ tx_future = DontAbort::hang();
+ let mut txlen = Option::None;
+
+ self.handler.on_rx(rx_char, Option::Some(|txdata: &[u8]| {
+ tx_data[0] = (txdata.len() - 1) as u32;
+ for i in 0..txdata.len() {
+ let x = txdata[i] & 0xff;
+ let mut parity = 0;
+ for j in 0..8 {
+ parity ^= x>>j;
+ }
+ tx_data[i + 1] = x as u32 | (((parity as u32) & 1) << 8);
+ }
+ txlen = Option::Some(txdata.len());
+ }));
+ if let Option::Some(len) = txlen {
+ //FIXME Wait for idle and then wait again from `wait_idle` before sending. We should have a gap of 3.5 chars.
+ tx_future = DontAbort::new(sm1.tx().dma_push(dma_tx_ref.reborrow(),
+ &tx_data[0..(len+1)]), HangIfReused);
+ tx_in_progress = true;
+ }
+ }
+ },
+ Either4::Fourth(Either3::Third(())) => {
+ self.handler.on_idle();
+ },
+ _ => {
+ },
+ }
+ }
+ }
+}
diff --git a/firmware/rust1/src/uf2.rs b/firmware/rust1/src/uf2.rs
new file mode 100644
index 0000000000000000000000000000000000000000..4f9d8e7b94d8c913780b0cfa0fefcdad149a5d9f
--- /dev/null
+++ b/firmware/rust1/src/uf2.rs
@@ -0,0 +1,50 @@
+// copied from elfuf2-rs (because we need it as a library and without std):
+// https://github.com/JoNil/elf2uf2-rs/blob/b861f6b3c9540bcb27e88ec496e09763e590dc76/src/uf2.rs
+// 0BSD license
+
+#![allow(dead_code)]
+
+use static_assertions::const_assert;
+use core::mem;
+use zerocopy::{AsBytes, FromBytes};
+
+pub const UF2_MAGIC_START0: u32 = 0x0A324655;
+pub const UF2_MAGIC_START1: u32 = 0x9E5D5157;
+pub const UF2_MAGIC_END: u32 = 0x0AB16F30;
+
+pub const UF2_FLAG_NOT_MAIN_FLASH: u32 = 0x00000001;
+pub const UF2_FLAG_FILE_CONTAINER: u32 = 0x00001000;
+pub const UF2_FLAG_FAMILY_ID_PRESENT: u32 = 0x00002000;
+pub const UF2_FLAG_MD5_PRESENT: u32 = 0x00004000;
+
+pub const RP2040_FAMILY_ID: u32 = 0xe48bff56;
+
+#[repr(packed)]
+#[derive(AsBytes, FromBytes)]
+pub struct Uf2BlockHeader {
+ pub magic_start0: u32,
+ pub magic_start1: u32,
+ pub flags: u32,
+ pub target_addr: u32,
+ pub payload_size: u32,
+ pub block_no: u32,
+ pub num_blocks: u32,
+ pub file_size: u32, // or familyID
+}
+
+pub type Uf2BlockData = [u8; 476];
+
+#[repr(packed)]
+#[derive(AsBytes, FromBytes)]
+pub struct Uf2BlockFooter {
+ pub magic_end: u32,
+}
+
+const_assert!(mem::size_of::<Uf2BlockHeader>() == 32);
+const_assert!(mem::size_of::<Uf2BlockFooter>() == 4);
+const_assert!(
+ mem::size_of::<Uf2BlockHeader>()
+ + mem::size_of::<Uf2BlockData>()
+ + mem::size_of::<Uf2BlockFooter>()
+ == 512
+);
diff --git a/firmware/rust1/src/uf2updater.rs b/firmware/rust1/src/uf2updater.rs
new file mode 100644
index 0000000000000000000000000000000000000000..af26301cabf864582136ef7eeb9d7a9119792360
--- /dev/null
+++ b/firmware/rust1/src/uf2updater.rs
@@ -0,0 +1,394 @@
+use core::mem::size_of;
+
+use bitvec::{BitArr, bitarr};
+use bitvec::order::Lsb0;
+use defmt::*;
+use embassy_boot::{Partition, AlignedBuffer, FirmwareUpdater};
+use embassy_rp::{flash::Flash, peripherals};
+use zerocopy::FromBytes;
+
+use crate::{modbus_server::ModbusErrorCode, uf2::*};
+
+#[derive(PartialEq, Eq, Debug, Format)]
+enum PositionInSector {
+ Start, StartPartial, Middle, End
+}
+
+struct BootLoaderPartitions {
+ state: Partition,
+ active: Partition,
+ dfu: Partition,
+ flash_start_addr: u32,
+}
+// copied from embassy/embassy-boot/rp/src/lib.rs because fields are private for BootLoader
+impl Default for BootLoaderPartitions {
+ /// Create a new bootloader instance using parameters from linker script
+ fn default() -> Self {
+ extern "C" {
+ static __bootloader_state_start: u32;
+ static __bootloader_state_end: u32;
+ static __bootloader_active_start: u32;
+ static __bootloader_active_end: u32;
+ static __bootloader_dfu_start: u32;
+ static __bootloader_dfu_end: u32;
+ static __bootloader_flash_start: u32;
+ }
+
+ let active = unsafe {
+ Partition::new(
+ &__bootloader_active_start as *const u32 as u32,
+ &__bootloader_active_end as *const u32 as u32,
+ )
+ };
+ let dfu = unsafe {
+ Partition::new(
+ &__bootloader_dfu_start as *const u32 as u32,
+ &__bootloader_dfu_end as *const u32 as u32,
+ )
+ };
+ let state = unsafe {
+ Partition::new(
+ &__bootloader_state_start as *const u32 as u32,
+ &__bootloader_state_end as *const u32 as u32,
+ )
+ };
+ let flash_start_addr = unsafe {
+ &__bootloader_flash_start as *const u32 as u32
+ };
+
+ BootLoaderPartitions{ active, dfu, state, flash_start_addr }
+ }
+}
+
+const FLASH_SIZE_GLOBAL: usize = 2 * 1024 * 1024;
+const MAX_UF2_SECTORS_MIN: usize = FLASH_SIZE_GLOBAL / 2 / 256;
+const MAX_UF2_SECTORS: usize = (MAX_UF2_SECTORS_MIN + 31) / 32 * 32;
+
+pub struct UF2UpdateHandler<const FLASH_SIZE: usize> {
+ buf: AlignedBuffer<4096>,
+ write_pos: u32,
+
+ pub flash: Flash<'static, peripherals::FLASH, FLASH_SIZE>,
+ uf2_seen_bitmask: BitArr!(for MAX_UF2_SECTORS, in u32),
+ uf2_num_blocks: u32,
+ flash_erased_address_and_first_block: Option<(u32, usize)>,
+ bootloader_state_erased: bool,
+}
+
+impl<const FLASH_SIZE: usize> UF2UpdateHandler<FLASH_SIZE> {
+ pub fn new(flash: peripherals::FLASH) -> Self {
+ defmt::assert!(FLASH_SIZE == FLASH_SIZE_GLOBAL);
+ UF2UpdateHandler {
+ buf: AlignedBuffer([0; 4096]),
+ write_pos: 0,
+ flash: Flash::new(flash),
+ uf2_seen_bitmask: bitarr!(u32, Lsb0; 0; MAX_UF2_SECTORS),
+ uf2_num_blocks: 0,
+ flash_erased_address_and_first_block: None,
+ bootloader_state_erased: false,
+ }
+ }
+
+ pub fn write(self: &mut Self, pos: u32, data: &[u8]) -> Result<(), ModbusErrorCode> {
+ if data.len() > 256 {
+ // We could handle these cases but we are limited by Modbus frames anyway.
+ info!("Too much data in one call to UF2UpdateHandler::write()");
+ self.write_pos = 0;
+ return Err(ModbusErrorCode::IllegalDataValue);
+ }
+
+ if pos % 512 == self.write_pos {
+ // ok
+ } else if pos == 0 {
+ // We are aborting a previous write but that can be ok.
+ self.write_pos = 0;
+ } else {
+ info!("Unexpected write address in UF2UpdateHandler: {}", pos);
+ self.write_pos = 0;
+
+ // Re-sync if this write crosses the 512-byte boundary, i.e. keep data at start of the next sector.
+ let write_size_to_end_of_sector = 512 - (pos as usize % 512);
+ if write_size_to_end_of_sector < data.len() {
+ let write_size2 = data.len() - write_size_to_end_of_sector;
+ self.buf.0[0 .. write_size2].copy_from_slice(&data[write_size_to_end_of_sector .. data.len()]);
+ self.write_pos = write_size2 as u32;
+ }
+
+ return Err(ModbusErrorCode::IllegalDataValue);
+ }
+
+ let write_size1 = core::cmp::min(512 - (self.write_pos as usize % 512), data.len());
+ if write_size1 > 0 {
+ self.buf.0[self.write_pos as usize .. self.write_pos as usize + write_size1].copy_from_slice(&data[0 .. write_size1]);
+ self.write_pos += write_size1 as u32;
+
+ if self.write_pos == 512 {
+ let result = self.process_sector();
+
+ self.write_pos = 0;
+ if data.len() > write_size1 {
+ let write_size2 = data.len() - write_size1;
+ self.buf.0[0 .. write_size2].copy_from_slice(&data[write_size1 .. data.len()]);
+ self.write_pos = write_size2 as u32;
+ }
+
+ result?;
+ }
+ }
+
+ Ok(())
+ }
+
+ fn process_sector(self: &mut Self) -> Result<(), ModbusErrorCode> {
+ defmt::assert!(self.write_pos == 512);
+
+ let uf2_block = &self.buf.0[0..512];
+
+ let uf2_header = Uf2BlockHeader::read_from_prefix(uf2_block).unwrap();
+ let uf2_footer = Uf2BlockFooter::read_from_suffix(uf2_block).unwrap();
+ if uf2_header.magic_start0 != UF2_MAGIC_START0 || uf2_header.magic_start1 != UF2_MAGIC_START1 || uf2_footer.magic_end != UF2_MAGIC_END {
+ warn!("Invalid magic in UF2 block");
+ return Err(ModbusErrorCode::IllegalDataValue)
+ }
+ if uf2_header.num_blocks as usize > self.uf2_seen_bitmask.len() {
+ warn!("We cannot support that many blocks in one UF2 file.");
+ return Err(ModbusErrorCode::IllegalDataValue);
+ }
+ if uf2_header.block_no >= uf2_header.num_blocks {
+ warn!("Invalid block_no in UF2 header");
+ return Err(ModbusErrorCode::IllegalDataValue);
+ }
+ if uf2_header.payload_size as usize > 512 - size_of::<Uf2BlockHeader>() - size_of::<Uf2BlockFooter>() {
+ warn!("Invalid block_no in UF2 header");
+ return Err(ModbusErrorCode::IllegalDataValue);
+ }
+ if (uf2_header.flags & UF2_FLAG_FAMILY_ID_PRESENT) == 0 || uf2_header.file_size != RP2040_FAMILY_ID {
+ // not for us but that shouldn't be treated as an error
+ warn!("Ignoring UF2 block for different family");
+ self.uf2_seen_bitmask.set(uf2_header.block_no as usize, true);
+ return Ok(())
+ }
+ if (uf2_header.flags & (UF2_FLAG_NOT_MAIN_FLASH | UF2_FLAG_FILE_CONTAINER)) != 0 {
+ // not for DFU partition
+ warn!("Ignoring UF2 block that is not for main flash");
+ self.uf2_seen_bitmask.set(uf2_header.block_no as usize, true);
+ return Ok(())
+ }
+
+ if uf2_header.block_no == 0 || uf2_header.num_blocks != self.uf2_num_blocks {
+ self.uf2_seen_bitmask.fill_with(|_| false);
+ self.uf2_num_blocks = uf2_header.num_blocks;
+ self.flash_erased_address_and_first_block = None;
+ }
+
+ let data_start = size_of::<Uf2BlockHeader>();
+ let data_end = data_start + uf2_header.payload_size as usize;
+ let addr = uf2_header.target_addr as usize;
+ let til_end_of_page = 4096 - (addr % 4096);
+ if (addr % 4096) == 0 {
+ self.process_sector_part(PositionInSector::Start, uf2_header.block_no as usize, addr as u32, data_start, data_end);
+ } else if (uf2_header.payload_size as usize) < til_end_of_page {
+ self.process_sector_part(PositionInSector::Middle, uf2_header.block_no as usize, addr as u32, data_start, data_end);
+ } else {
+ self.process_sector_part(PositionInSector::End, uf2_header.block_no as usize, addr as u32, data_start, data_start + til_end_of_page);
+ let remaining = uf2_header.payload_size as usize - til_end_of_page;
+ if remaining > 0 {
+ self.process_sector_part(PositionInSector::StartPartial, uf2_header.block_no as usize,
+ (addr + til_end_of_page) as u32, data_start + til_end_of_page, data_end);
+ }
+ }
+
+ Ok(())
+ }
+
+ fn process_sector_part(self: &mut Self, pos: PositionInSector, block_no: usize, addr: u32, data_start: usize, data_end: usize) {
+ use PositionInSector::*;
+
+ let data = &self.buf.0[data_start .. data_end];
+
+ info!("process_sector_part: block {}, {:?}, addr {:08x}, len {}", block_no, pos, addr, data.len());
+
+ let partitions = BootLoaderPartitions::default();
+ if addr < partitions.flash_start_addr + partitions.active.from || addr >= partitions.flash_start_addr + partitions.active.to {
+ // We don't want to write this.
+ if pos != StartPartial {
+ self.uf2_seen_bitmask.set(block_no, true);
+ }
+ //info!("not in active partition: not {:08x} <= {:08x} < {:08x}",
+ // partitions.flash_start_addr + partitions.active.from, addr, partitions.flash_start_addr + partitions.active.to);
+ return;
+ }
+ let addr_orig = addr;
+ let addr = addr - partitions.flash_start_addr - partitions.active.from + partitions.dfu.to;
+
+ let abort_previous: bool;
+ let process_current: bool;
+ let is_start = match pos {
+ Start | StartPartial => true,
+ Middle | End => false,
+ };
+
+ if let Some((erased_addr, first_block)) = self.flash_erased_address_and_first_block {
+ if is_start {
+ // previous block is not done but we are starting a new one -> abort previous one
+ abort_previous = true;
+ process_current = true;
+ } else if erased_addr == addr {
+ // address matches current partially written block -> continue writing to it
+ abort_previous = false;
+ process_current = true;
+ } else {
+ // address doesn't match -> abort previous and we can't do anything useful with the current one either
+ abort_previous = true;
+ process_current = false;
+ }
+
+ // If there is a partially written page, mark the blocks as not seen so we will later try again.
+ if abort_previous {
+ info!("aborting from block {} to {} because flash_erased_address_and_first_block={:?} and current is {:?} {}",
+ first_block, block_no, self.flash_erased_address_and_first_block, pos, block_no);
+ for i in first_block .. block_no {
+ self.uf2_seen_bitmask.set(i, false);
+ }
+ self.flash_erased_address_and_first_block = None;
+ }
+ } else {
+ if is_start {
+ // previous block was done and we are starting a new one -> continue with that
+ process_current = true;
+ } else {
+ // previous block was done but this is not the start of a new one -> ignore it
+ process_current = false;
+ }
+ }
+
+ if !process_current {
+ return;
+ }
+
+ let already_processed = match pos {
+ StartPartial => block_no+1 < self.uf2_seen_bitmask.len() && self.uf2_seen_bitmask[block_no+1],
+ _ => self.uf2_seen_bitmask[block_no],
+ };
+ if already_processed {
+ return;
+ }
+
+ if is_start {
+ // We have to erase the block. However, let's erase the bootloader state first
+ // because we don't want to swap into a partially cleared DFU partition.
+ if !self.bootloader_state_erased {
+ info!("erasing state partition at {:08x}", partitions.state.from);
+ match self.flash.erase(partitions.state.from, partitions.state.to) {
+ Ok(()) => (),
+ Err(e) => {
+ error!("erase: {:?} at {:08x}", e, partitions.state.from);
+ return;
+ }
+ }
+
+ self.bootloader_state_erased = true;
+ }
+
+ info!("erasing at {:08x} -> {:08x}", addr_orig, addr);
+ match self.flash.erase(addr, addr+4096) {
+ Ok(()) => (),
+ Err(e) => {
+ error!("erase: {:?} at {:08x} -> {:08x}", e, addr_orig, addr);
+ return;
+ }
+ }
+
+ // From which block should we start marking as unseen if we later encounter an error
+ // for this block? This is usually the current block but if this block also contains
+ // the end of another sector, we use the next one.
+ let first_block = match pos {
+ Start => block_no,
+ StartPartial => block_no+1,
+ _ => defmt::unreachable!(),
+ };
+
+ self.flash_erased_address_and_first_block = Some((addr, first_block));
+ }
+
+ let (mut prev_addr, first_block) = self.flash_erased_address_and_first_block.unwrap();
+ defmt::assert!(prev_addr == addr);
+ //FIXME We might have to handle alignment concerns for address and data.
+ info!("writing to {:08x} -> {:08x}, len={}", addr_orig, addr, data.len());
+ let r = self.flash.write(addr, data);
+ if let Err(e) = r {
+ error!("write: {:?} at {:08x} -> {:08x}", e, addr_orig, addr);
+
+ // abort current block
+ for i in first_block .. block_no {
+ self.uf2_seen_bitmask.set(i, false);
+ }
+ self.flash_erased_address_and_first_block = None;
+ return;
+ }
+
+ prev_addr += data.len() as u32;
+ if (prev_addr % 4096) == 0 {
+ self.flash_erased_address_and_first_block = None;
+ } else {
+ self.flash_erased_address_and_first_block = Some((prev_addr, first_block));
+ }
+
+ if pos != StartPartial {
+ self.uf2_seen_bitmask.set(block_no, true);
+ }
+ }
+
+ pub fn get_missing_block_info(self: &mut Self) -> (u32, u32) {
+ if self.uf2_num_blocks == 0 {
+ return (0, 0)
+ } else if (self.uf2_num_blocks as usize) > self.uf2_seen_bitmask.len() {
+ return (self.uf2_num_blocks, self.uf2_num_blocks)
+ } else {
+ match self.uf2_seen_bitmask.first_zero() {
+ None => (1, 1),
+ Some(pos) if pos >= self.uf2_num_blocks as usize => (1, 1),
+ Some(first_missing) => {
+ let (_, first_present) = self.uf2_seen_bitmask.split_at(first_missing);
+ let first_present = first_present.first_one()
+ .map(|x| (x + first_missing) as u32)
+ .unwrap_or(self.uf2_num_blocks);
+ let first_missing = first_missing as u32;
+ // subtract one because a partial sector might be in the previous block
+ let first_missing = if first_missing > 0 { first_missing - 1 } else { first_missing };
+ (first_missing as u32, first_present)
+ }
+ }
+ }
+ }
+
+ pub fn successfully_programmed(self: &mut Self) -> bool {
+ self.get_missing_block_info() == (1, 1)
+ }
+
+ pub fn mark_updated(self: &mut Self) -> Result<(), ModbusErrorCode> {
+ self.bootloader_state_erased = false;
+
+ let mut updater = FirmwareUpdater::default();
+ match updater.mark_updated_blocking(&mut self.flash, &mut self.buf.0[..1]) {
+ Ok(()) => Ok(()),
+ Err(e) => {
+ error!("mark_updated_blocking: {:?}", e);
+ Err(ModbusErrorCode::ServerDeviceFailure)
+ }
+ }
+ }
+
+ pub fn mark_booted(self: &mut Self) -> Result<(), ModbusErrorCode> {
+ self.bootloader_state_erased = false;
+
+ let mut updater = FirmwareUpdater::default();
+ match updater.mark_booted_blocking(&mut self.flash, &mut self.buf.0[..1]) {
+ Ok(()) => Ok(()),
+ Err(e) => {
+ error!("mark_booted_blocking: {:?}", e);
+ Err(ModbusErrorCode::ServerDeviceFailure)
+ }
+ }
+ }
+}
diff --git a/firmware/rust1/src/watchdog.rs b/firmware/rust1/src/watchdog.rs
new file mode 100644
index 0000000000000000000000000000000000000000..b711e5b86f1cf8d4956108b7d714b80a39aa264a
--- /dev/null
+++ b/firmware/rust1/src/watchdog.rs
@@ -0,0 +1,55 @@
+use embassy_rp::{watchdog::Watchdog, peripherals};
+use embassy_time::{Duration, Timer};
+
+
+// The pause bits are on by default after reset but I think Watchdog::enable()
+// disables them so let's enable them, again.
+fn watchdog_pause_on_debug(_watchdog: &mut Watchdog) {
+ // This turns off the watchdog - no good! :-/
+ //_watchdog.pause_on_debug(true);
+
+ use embassy_rp::pac;
+ let watchdog = pac::WATCHDOG;
+ //SAFETY: We know which values have been set by WatchdogFlash / Watchdog.
+ unsafe {
+ // We use modify() to keep the enable bit at its current value.
+ watchdog.ctrl().modify(|w| {
+ w.set_pause_dbg0(true);
+ w.set_pause_dbg1(true);
+ w.set_pause_jtag(true);
+ });
+ }
+}
+
+pub struct WatchdogFixed {
+ inner: Watchdog,
+}
+
+impl WatchdogFixed {
+ pub fn new(watchdog: peripherals::WATCHDOG) -> Self {
+ WatchdogFixed {
+ inner: Watchdog::new(watchdog)
+ }
+ }
+
+ pub fn start(self: &mut Self) {
+ // Use the maximum value and turn on "pause on debug" to not interfere with
+ // probe-rs-cli's flash programming (which doesn't seem to turn off or feed
+ // the watchdog). This seems to work well enough but if it doesn't, manually
+ // put the board into bootloader mode before programming flash.
+ self.inner.start(Duration::from_secs(8));
+ watchdog_pause_on_debug(&mut self.inner);
+ }
+
+ pub fn feed(self: &mut Self) {
+ self.inner.feed();
+ }
+
+ pub async fn start_and_feed_continuously(self: &mut Self) {
+ self.start();
+ loop {
+ self.feed();
+ Timer::after(Duration::from_secs(2)).await;
+ }
+ }
+}
diff --git a/firmware/rust1/uf2.py b/firmware/rust1/uf2.py
new file mode 100644
index 0000000000000000000000000000000000000000..f62d8256544bc1ca49327930c68e3062abb7e518
--- /dev/null
+++ b/firmware/rust1/uf2.py
@@ -0,0 +1,121 @@
+import sys, struct
+
+# see https://github.com/JoNil/elf2uf2-rs/blob/master/src/uf2.rs
+UF2_MAGIC_START0 = 0x0A324655
+UF2_MAGIC_START1 = 0x9E5D5157
+UF2_MAGIC_END = 0x0AB16F30
+
+UF2_FLAG_NOT_MAIN_FLASH = 0x00000001
+UF2_FLAG_FILE_CONTAINER = 0x00001000
+UF2_FLAG_FAMILY_ID_PRESENT = 0x00002000
+UF2_FLAG_MD5_PRESENT = 0x00004000
+
+RP2040_FAMILY_ID = 0xe48bff56
+
+class UF2Block(object):
+ __slots__ = ("bytes", "offset")
+
+ def __init__(self, bytes, offset=0):
+ self.bytes = bytes
+ self.offset = offset
+
+ @property
+ def magic_start0(self):
+ return struct.unpack_from("<I", self.bytes, 0)[0]
+ @property
+ def magic_start1(self):
+ return struct.unpack_from("<I", self.bytes, 4)[0]
+ @property
+ def flags_int(self):
+ return struct.unpack_from("<I", self.bytes, 8)[0]
+ @property
+ def target_addr(self):
+ return struct.unpack_from("<I", self.bytes, 12)[0]
+ @property
+ def payload_size(self):
+ return struct.unpack_from("<I", self.bytes, 16)[0]
+ @property
+ def block_no(self):
+ return struct.unpack_from("<I", self.bytes, 20)[0]
+ @property
+ def num_blocks(self):
+ return struct.unpack_from("<I", self.bytes, 24)[0]
+ @property
+ def file_size_or_family(self):
+ return struct.unpack_from("<I", self.bytes, 28)[0]
+ @property
+ def magic_end(self):
+ return struct.unpack_from("<I", self.bytes, 512-4)[0]
+ @property
+ def data(self):
+ return self.bytes[32:512-4]
+ @property
+ def payload(self):
+ return self.data[0..self.payload_size]
+
+ @property
+ def is_uf2(self):
+ return self.magic_start0 == UF2_MAGIC_START0 and self.magic_start1 == UF2_MAGIC_START1 and self.magic_end == UF2_MAGIC_END
+
+ @property
+ def not_valid_reason(self):
+ if not self.is_uf2:
+ return "no UF2 magic"
+ if self.block_no >= self.num_blocks or self.num_blocks == 0:
+ return "invalid block number"
+ if (self.flags_int & ~(UF2_FLAG_NOT_MAIN_FLASH | UF2_FLAG_FILE_CONTAINER | UF2_FLAG_FAMILY_ID_PRESENT | UF2_FLAG_MD5_PRESENT)) != 0:
+ return "unsupported flags"
+ return True
+ @property
+ def valid(self):
+ return self.not_valid_reason == True
+
+ @property
+ def flags_str(self):
+ flags_str = []
+ flags2 = self.flags_int
+ if (flags2 & UF2_FLAG_NOT_MAIN_FLASH) != 0:
+ flags2 &= ~UF2_FLAG_NOT_MAIN_FLASH
+ flags_str.append("not_main")
+ if (flags2 & UF2_FLAG_FILE_CONTAINER) != 0:
+ flags2 &= ~UF2_FLAG_FILE_CONTAINER
+ flags_str.append("file")
+ if (flags2 & UF2_FLAG_FAMILY_ID_PRESENT) != 0:
+ flags2 &= ~UF2_FLAG_FAMILY_ID_PRESENT
+ flags_str.append("family")
+ if (flags2 & UF2_FLAG_MD5_PRESENT) != 0:
+ flags2 &= ~UF2_FLAG_MD5_PRESENT
+ flags_str.append("md5")
+ if flags2 != 0:
+ flags_str.append("0x08x" % flags2)
+ return tuple(flags_str)
+
+ @property
+ def family(self):
+ if (self.flags_int & UF2_FLAG_FAMILY_ID_PRESENT) != 0:
+ if self.file_size_or_family == RP2040_FAMILY_ID:
+ return "rp2040"
+ else:
+ return "0x%08x" % self.file_size_or_family
+ else:
+ return "none"
+
+def read_blocks(filename):
+ with open(filename, "rb") as f:
+ contents = f.read()
+
+ blocks = []
+ offset = 0
+ while offset < len(contents):
+ block = contents[offset:offset+512]
+ block = UF2Block(block, offset=offset)
+ if not block.valid:
+ raise Exception("no valid UF2 at offset %r: %r" % (offset, block.not_valid_reason))
+ blocks.append(block)
+ offset += 512
+ return blocks
+
+if __name__ == "__main__":
+ for block in read_blocks(sys.argv[1]):
+ print("block %-6s: target 0x%08x, size %3s, block %3s/%3s, %s, %s" % (
+ block.offset, block.target_addr, block.payload_size, block.block_no, block.num_blocks, block.family, " ".join(block.flags_str)))
diff --git a/firmware/test1/heizung-test1/.gitignore b/firmware/test1/heizung-test1/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..89cc49cbd652508924b868ea609fa8f6b758ec56
--- /dev/null
+++ b/firmware/test1/heizung-test1/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/firmware/test1/heizung-test1/.vscode/extensions.json b/firmware/test1/heizung-test1/.vscode/extensions.json
new file mode 100644
index 0000000000000000000000000000000000000000..080e70d08b9811fa743afe5094658dba0ed6b7c2
--- /dev/null
+++ b/firmware/test1/heizung-test1/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+ // See http://go.microsoft.com/fwlink/?LinkId=827846
+ // for the documentation about the extensions.json format
+ "recommendations": [
+ "platformio.platformio-ide"
+ ],
+ "unwantedRecommendations": [
+ "ms-vscode.cpptools-extension-pack"
+ ]
+}
diff --git a/firmware/test1/heizung-test1/data/c3pb-background-horiz.pbm b/firmware/test1/heizung-test1/data/c3pb-background-horiz.pbm
new file mode 100644
index 0000000000000000000000000000000000000000..d4d156b0ded6b991de10247b162b44e874fb9221
--- /dev/null
+++ b/firmware/test1/heizung-test1/data/c3pb-background-horiz.pbm
@@ -0,0 +1,121 @@
+P1
+# Created by GIMP version 2.10.32 PNM plug-in
+128 64
+1111111111111111111111111111111111111111111111111111111111111111111111
+1111111111111111111111110111111111111111111111111111111111111111111111
+1111111111111111111111111111111111111111111111111111111111111111111111
+1111111111000001111111111111111111111111111111111111111111111111111111
+1111111111111100000111111111111111111111111111111111111111111111110000
+0000111111111111111111111111111111111111111111111111111111111111111111
+1101100001111111111111111111111111111111111111111111100000000000111111
+1111111111111111111111111111111111111111111111111111111111101111110001
+1111111111111111111111111111111111111110000010011000001111111111111111
+1111111111111111111111111111111111111111111111001111111100011111111111
+1111111111111111111111111000001110011110000011111111111111111111111111
+1111111111111111111111111111111111011111111111000111111111111111111111
+1111111111110000111110011111100001111111111111111111111111111111111111
+1111111111111111111110111011111111110011111111111111111111111111111100
+0011111110011111110000011111111111111111111111111111111111111111111111
+1111111110111011111111111001111111111111111111111111110000011111111001
+1111111100000111111111111111111111111111111111111111111111111111110111
+1011111111111100111111111111111111111111000001111111111001111111111100
+0001111111111111111111111111111111111111111111111111100111101111111111
+1110011111111111111111111110000111111111111000111111111111000011111111
+1111111111111111111111111111111111111111101111101111111111111001111111
+1111111111111000011111111111100000011111111111100000111111111111111111
+1111111111111111111111111111001101101111111111111011111111111111111110
+0000111111111111000000000111111111111000001111111111111111111111111111
+1111111111111111011101101111111111110011111111111111111000001111111111
+1100000111000001111111111110000111111111111111111111111111111111111111
+1110111101011111011111110111111111111111110000111111111111000001111111
+0000011111111111100001111111111111111111111111111111111111110011110101
+1110011111100111111111111111000001111111111100000111111111110000111111
+1111110000011111111111111111111111111111111111110111110101110011111110
+1111111111111110000111111111111000011111111111111000001111111111110000
+1111111111111111111111111111111111100111110101110111111100111111111111
+1110000011111111100000111111111111111110000011111111100000111111111111
+1111111111111111111111101111101011101111111101111111111111111000000111
+1110000000111111111111111111100001111110000000111111111111111111111111
+1111111111001111101011001110001001111111111111111001000001110000100000
+1111111000111111111000011100001100111111111111111111111111111111111100
+1111101010011100111011111111111111111001110000000011111000001111110000
+1111111100000000011100111111111111110000000001111111111110011101111011
+1001110111111111111111111001111100000111111110000111111000001111111100
+0001111100111111100000000000011100000000111111001101010011001110011111
+1111111111111001111110000011111111100001111110000111111000001111110011
+1111100111111111111111111110111111101011110110111110111111111111111111
+1001111110000000111111110000111111100001100000001111110011111110111111
+1111110111111110011111110110101101111100111111111111111111100111111001
+1000001111111111111111110000000011001111110011111100111111111111000111
+1110011111101101101111111101111111111111111111100111111001111000011111
+1111111111111000001111001111110011111100111111111111110000111111111001
+1011011011111011111111111111111111100111111001111110000111111111111111
+0000111111001111110011111100111111111111111111000000001111011101010111
+0011111111111111111111100111111001111111000001111111111100001111111100
+1111110011111100111111111001111111111111111100111011010000011111111111
+1111111111100111111001111111000000011111110000011111111100111111001111
+1100111111111100000000111110000011111011111100111111111111111111111110
+0111111001111111001100001111000001111111111100111111001111110011111111
+1111111100000001111111111010111111111111111111111111111110011111100111
+1111001110000010000111111111111100111111001111110011111111111111111111
+1111111111111010111111111111111111111111111110011111100111111100111110
+0000001111111111111000111111001111110011111111111111111100000001111111
+1010111111111111111111111111111110011111100111111100111111100011111111
+1011110000111111001111110011111111111111000111111111001111101011111111
+1111111111111111111110011111100111111100111111100111111110001111000011
+1111001111110011111111111000111100000001110011101011000001111111111111
+1111111110011111100111111100111111100111111000011111110011111100111111
+0011111111000111000111111110011001101010011001111111111111111111111001
+1111100111111100111111100111111001111111110011111100111111101111110001
+1100011111100111101100111101111100111111111111111111111001111110011111
+1100111111100111111111111111110011111100111111101111101111001111111110
+0111110110110101111110111111111111111111111001111110011111111111111110
+0111111111111111110011111100111111100111111111111111111110111111101101
+1110111110011111111111111111111001111110011111111111111110011111111110
+1111110011111100111111100011111111111111110000111111110110101001111100
+1111111111111111111001111110011111111111111110011111111000111111001111
+1100111111110000000000000000000001111110011110010101111110111111111111
+1111111001111110011111111111111110011111100001111111001111110011111111
+1111111111111111111111111100011011011010111110011111111111111111100111
+1110011111111111111110011111100111111110001111110011111111111111111111
+1111111111111100111111001001001111011111111111111111100111110000011111
+1111111110011111111111111100000111110011111111111111111111111111111111
+1101111101101100100111001111111111111111100111000000001111111111111001
+1111111111110000000001110011111111111111111111111111111111110011110110
+0110011001101111111111111111100100000111000011111111111001111111111110
+0001110000110011111111111111111111111111111111111011110111011100110111
+0111111111111111100000011111100000111111111001111111111000011111100000
+0011111111111111111111111111111111111001111011001110011111011111111111
+1111100000111111111000001111111001111111100000111111111000001111111111
+1111111111111111111111111101111011101111100111101111111111111110000111
+1111111110000111111001111110000011111111111100001111111111111111111111
+1111111111111100111011101111110011100111111111111111000001111111111110
+0001111001111100001111111111110000011111111111111111111111111111111111
+1110111011100111111001110111111111111111110000111111111111000001100111
+0000011111111111100001111111111111111111111111111111111111111001101111
+0111111110110011111111111111111000001111111111110000100000000111111111
+1110000111111111111111111111111111111111111111111101111111011111111111
+1011111111111111111110000011111111111100000000011111111111100000111111
+1111111111111111111111111111111111111110111111111111111111001111111111
+1111111111100001111111111110000001111111111110000011111111111111111111
+1111111111111111111111111110011111111111111111001111111111111111111111
+1000011111111111100011111111111100001111111111111111111111111111111111
+1111111111111111011111111111111110011111111111111111111111110000011111
+1111100111111111110000011111111111111111111111111111111111111111111111
+1111001111111111111000111111111111111111111111111100000111111110011111
+1111000001111111111111111111111111111111111111111111111111111110111111
+1111110011111111111111111111111111111111000011111110011111110000011111
+1111111111111111111111111111111111111111111111111111011111111100011111
+1111111111111111111111111111110000111110011111100001111111111111111111
+1111111111111111111111111111111111111111001111110001111111111111111111
+1111111111111111111000001110011110000011111111111111111111111111111111
+1111111111111111111111111111100111000011111111111111111111111111111111
+1111111110000010011000001111111111111111111111111111111111111111111111
+1111111111111111110000011111111111111111111111111111111111111111111110
+0000000000111111111111111111111111111111111111111111111111111111111111
+1111110001111111111111111111111111111111111111111111111111000000001111
+1111111111111111111111111111111111111111111111111111111111111111111111
+1111111111111111111111111111111111111111111111110000011111111111111111
+1111111111111111111111111111111111111111111111111111111111111111111111
+1111111111111111111111111111111111111101111111111111111111111111111111
+11
\ No newline at end of file
diff --git a/firmware/test1/heizung-test1/include/README b/firmware/test1/heizung-test1/include/README
new file mode 100644
index 0000000000000000000000000000000000000000..194dcd43252dcbeb2044ee38510415041a0e7b47
--- /dev/null
+++ b/firmware/test1/heizung-test1/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/firmware/test1/heizung-test1/lib/README b/firmware/test1/heizung-test1/lib/README
new file mode 100644
index 0000000000000000000000000000000000000000..6debab1e8b4c3faa0d06f4ff44bce343ce2cdcbf
--- /dev/null
+++ b/firmware/test1/heizung-test1/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+| |
+| |--Bar
+| | |--docs
+| | |--examples
+| | |--src
+| | |- Bar.c
+| | |- Bar.h
+| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+| |
+| |--Foo
+| | |- Foo.c
+| | |- Foo.h
+| |
+| |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+ |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+ ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/firmware/test1/heizung-test1/platformio.ini b/firmware/test1/heizung-test1/platformio.ini
new file mode 100644
index 0000000000000000000000000000000000000000..b6300916cf194d3bf7191490e61a3ece377f71ee
--- /dev/null
+++ b/firmware/test1/heizung-test1/platformio.ini
@@ -0,0 +1,20 @@
+; PlatformIO Project Configuration File
+;
+; Build options: build flags, source filter
+; Upload options: custom upload port, speed and extra flags
+; Library options: dependencies, extra library storages
+; Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:pico]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = pico
+framework = arduino
+board_build.core = earlephilhower
+lib_deps =
+ adafruit/Adafruit SSD1306@^2.5.7
+ sparkfun/SparkFun TMP102 Breakout@^1.1.2
+ adafruit/Adafruit MPR121@^1.1.1
+ adafruit/Adafruit NeoPixel@^1.11.0
diff --git a/firmware/test1/heizung-test1/src/logo.h b/firmware/test1/heizung-test1/src/logo.h
new file mode 100644
index 0000000000000000000000000000000000000000..d0943f128c803761ca93711df8d0c320bb322ab7
--- /dev/null
+++ b/firmware/test1/heizung-test1/src/logo.h
@@ -0,0 +1,6 @@
+// export PBM file from Gimp and then run:
+// prefix=logo_; ( read; read; read w h; echo "static const int ${prefix}width = $w, ${prefix}height = $h;"; echo "static const uint8_t PROGMEM ${prefix}data[] = {"; echo -n " "; tr -d '\n' | tr 01 10 | sed -E 's/[01]{8}/0b\0, /g'; echo; echo "};" ) < /tmp/Untitled.pbm
+static const int logo_width = 128, logo_height = 64;
+static const uint8_t PROGMEM logo_data[] = {
+ 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000010, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000011, 0b11100000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00111111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000010, 0b01111000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01111111, 0b11110000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000100, 0b00001110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000001, 0b11110110, 0b01111100, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00000011, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000111, 0b11000110, 0b00011111, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001000, 0b00000000, 0b11100000, 0b00000000, 0b00000000, 0b00000000, 0b00001111, 0b00000110, 0b00000111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00010001, 0b00000000, 0b00110000, 0b00000000, 0b00000000, 0b00000000, 0b00111100, 0b00000110, 0b00000011, 0b11100000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00010001, 0b00000000, 0b00011000, 0b00000000, 0b00000000, 0b00000000, 0b11111000, 0b00000110, 0b00000000, 0b11111000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00100001, 0b00000000, 0b00001100, 0b00000000, 0b00000000, 0b00000011, 0b11100000, 0b00000110, 0b00000000, 0b00111110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01100001, 0b00000000, 0b00000110, 0b00000000, 0b00000000, 0b00000111, 0b10000000, 0b00000111, 0b00000000, 0b00001111, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01000001, 0b00000000, 0b00000110, 0b00000000, 0b00000000, 0b00011110, 0b00000000, 0b00011111, 0b10000000, 0b00000111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b11001001, 0b00000000, 0b00000100, 0b00000000, 0b00000000, 0b01111100, 0b00000000, 0b00111111, 0b11100000, 0b00000001, 0b11110000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b10001001, 0b00000000, 0b00001100, 0b00000000, 0b00000001, 0b11110000, 0b00000000, 0b11111000, 0b11111000, 0b00000000, 0b01111000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000001, 0b00001010, 0b00001000, 0b00001000, 0b00000000, 0b00000011, 0b11000000, 0b00000011, 0b11100000, 0b00111110, 0b00000000, 0b00011110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000011, 0b00001010, 0b00011000, 0b00011000, 0b00000000, 0b00001111, 0b10000000, 0b00001111, 0b10000000, 0b00001111, 0b00000000, 0b00001111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000010, 0b00001010, 0b00110000, 0b00010000, 0b00000000, 0b00011110, 0b00000000, 0b00011110, 0b00000000, 0b00000111, 0b11000000, 0b00000011, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000110, 0b00001010, 0b00100000, 0b00110000, 0b00000000, 0b00011111, 0b00000000, 0b01111100, 0b00000000, 0b00000001, 0b11110000, 0b00000111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000100, 0b00010100, 0b01000000, 0b00100000, 0b00000000, 0b00011111, 0b10000001, 0b11111100, 0b00000000, 0b00000000, 0b01111000, 0b00011111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00010100, 0b11000111, 0b01100000, 0b00000000, 0b00011011, 0b11100011, 0b11011111, 0b00000001, 0b11000000, 0b00011110, 0b00111100, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00010101, 0b10001100, 0b01000000, 0b00000000, 0b00011000, 0b11111111, 0b00000111, 0b11000000, 0b11110000, 0b00001111, 0b11111000, 0b11000000, 0b00000000, 0b11111111, 0b10000000, 0b00000110, 0b00100001, 0b00011000, 0b10000000, 0b00000000, 0b00011000, 0b00111110, 0b00000001, 0b11100000, 0b01111100, 0b00000011, 0b11100000, 0b11000000, 0b01111111, 0b11111000, 0b11111111, 0b00000011, 0b00101011, 0b00110001, 0b10000000, 0b00000000, 0b00011000, 0b00011111, 0b00000000, 0b01111000, 0b00011110, 0b00000111, 0b11000000, 0b11000000, 0b01100000, 0b00000000, 0b00000001, 0b00000001, 0b01000010, 0b01000001, 0b00000000, 0b00000000, 0b00011000, 0b00011111, 0b11000000, 0b00111100, 0b00000111, 0b10011111, 0b11000000, 0b11000000, 0b01000000, 0b00000010, 0b00000001, 0b10000000, 0b10010100, 0b10000011, 0b00000000, 0b00000000, 0b00011000, 0b00011001, 0b11110000, 0b00000000, 0b00000011, 0b11111100, 0b11000000, 0b11000000, 0b11000000, 0b00000011, 0b10000001, 0b10000001, 0b00100100, 0b00000010, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b01111000, 0b00000000, 0b00000001, 0b11110000, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b11110000, 0b00000110, 0b01001001, 0b00000100, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00011110, 0b00000000, 0b00000011, 0b11000000, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b00001111, 0b11110000, 0b10001010, 0b10001100, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001111, 0b10000000, 0b00001111, 0b00000000, 0b11000000, 0b11000000, 0b11000000, 0b00011000, 0b00000000, 0b00000011, 0b00010010, 0b11111000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001111, 0b11100000, 0b00111110, 0b00000000, 0b11000000, 0b11000000, 0b11000000, 0b00001111, 0b11110000, 0b01111100, 0b00010000, 0b00110000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b11110000, 0b11111000, 0b00000000, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b00111111, 0b10000000, 0b00010100, 0b00000000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b01111101, 0b11100000, 0b00000000, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00010100, 0b00000000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00011111, 0b11000000, 0b00000001, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b00001111, 0b11100000, 0b00010100, 0b00000000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00000111, 0b00000000, 0b01000011, 0b11000000, 0b11000000, 0b11000000, 0b00000000, 0b11100000, 0b00001100, 0b00010100, 0b00000000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00000110, 0b00000001, 0b11000011, 0b11000000, 0b11000000, 0b11000000, 0b00000111, 0b00001111, 0b11100011, 0b00010100, 0b11111000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00000110, 0b00000111, 0b10000000, 0b11000000, 0b11000000, 0b11000000, 0b00111000, 0b11100000, 0b00011001, 0b10010101, 0b10011000, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00000110, 0b00000110, 0b00000000, 0b11000000, 0b11000000, 0b01000000, 0b11100011, 0b10000001, 0b10000100, 0b11000010, 0b00001100, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00001100, 0b00000110, 0b00000000, 0b00000000, 0b11000000, 0b11000000, 0b01000001, 0b00001100, 0b00000001, 0b10000010, 0b01001010, 0b00000100, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00000000, 0b00000110, 0b00000000, 0b00000000, 0b11000000, 0b11000000, 0b01100000, 0b00000000, 0b00000001, 0b00000001, 0b00100001, 0b00000110, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00000000, 0b00000110, 0b00000000, 0b01000000, 0b11000000, 0b11000000, 0b01110000, 0b00000000, 0b00001111, 0b00000000, 0b10010101, 0b10000011, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00000000, 0b00000110, 0b00000001, 0b11000000, 0b11000000, 0b11000000, 0b00111111, 0b11111111, 0b11111110, 0b00000110, 0b00011010, 0b10000001, 0b00000000, 0b00000000, 0b00011000, 0b00011000, 0b00000000, 0b00000110, 0b00000111, 0b10000000, 0b11000000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001110, 0b01001001, 0b01000001, 0b10000000, 0b00000000, 0b00011000, 0b00011000, 0b00000000, 0b00000110, 0b00000110, 0b00000001, 0b11000000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00001101, 0b10110000, 0b10000000, 0b00000000, 0b00011000, 0b00111110, 0b00000000, 0b00000110, 0b00000000, 0b00000011, 0b11100000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001000, 0b00100100, 0b11011000, 0b11000000, 0b00000000, 0b00011000, 0b11111111, 0b00000000, 0b00000110, 0b00000000, 0b00001111, 0b11111000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00100110, 0b01100110, 0b01000000, 0b00000000, 0b00011011, 0b11100011, 0b11000000, 0b00000110, 0b00000000, 0b00011110, 0b00111100, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000100, 0b00100010, 0b00110010, 0b00100000, 0b00000000, 0b00011111, 0b10000001, 0b11110000, 0b00000110, 0b00000000, 0b01111000, 0b00011111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000110, 0b00010011, 0b00011000, 0b00100000, 0b00000000, 0b00011111, 0b00000000, 0b01111100, 0b00000110, 0b00000001, 0b11110000, 0b00000111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000010, 0b00010001, 0b00000110, 0b00010000, 0b00000000, 0b00011110, 0b00000000, 0b00011110, 0b00000110, 0b00000111, 0b11000000, 0b00000011, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000011, 0b00010001, 0b00000011, 0b00011000, 0b00000000, 0b00001111, 0b10000000, 0b00000111, 0b10000110, 0b00001111, 0b00000000, 0b00001111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000001, 0b00010001, 0b10000001, 0b10001000, 0b00000000, 0b00000011, 0b11000000, 0b00000011, 0b11100110, 0b00111110, 0b00000000, 0b00011110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000001, 0b10010000, 0b10000000, 0b01001100, 0b00000000, 0b00000001, 0b11110000, 0b00000000, 0b11110111, 0b11111000, 0b00000000, 0b01111000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b10000000, 0b10000000, 0b00000100, 0b00000000, 0b00000000, 0b01111100, 0b00000000, 0b00111111, 0b11100000, 0b00000001, 0b11110000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01000000, 0b00000000, 0b00001100, 0b00000000, 0b00000000, 0b00011110, 0b00000000, 0b00011111, 0b10000000, 0b00000111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01100000, 0b00000000, 0b00001100, 0b00000000, 0b00000000, 0b00000111, 0b10000000, 0b00000111, 0b00000000, 0b00001111, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00100000, 0b00000000, 0b00011000, 0b00000000, 0b00000000, 0b00000011, 0b11100000, 0b00000110, 0b00000000, 0b00111110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00110000, 0b00000000, 0b01110000, 0b00000000, 0b00000000, 0b00000000, 0b11111000, 0b00000110, 0b00000000, 0b11111000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00010000, 0b00000000, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00111100, 0b00000110, 0b00000011, 0b11100000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001000, 0b00000011, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00001111, 0b00000110, 0b00000111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001100, 0b00001110, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000111, 0b11000110, 0b00011111, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000110, 0b00111100, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000001, 0b11110110, 0b01111100, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000011, 0b11100000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b01111111, 0b11110000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000011, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00111111, 0b11000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00001111, 0b10000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000000, 0b00000010, 0b00000000, 0b00000000, 0b00000000, 0b00000000,
+};
diff --git a/firmware/test1/heizung-test1/src/main.cpp b/firmware/test1/heizung-test1/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..858ff667371fad316e2955f0430fd0257090c047
--- /dev/null
+++ b/firmware/test1/heizung-test1/src/main.cpp
@@ -0,0 +1,584 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include <SparkFunTMP102.h>
+#include <Adafruit_MPR121.h>
+#include <Adafruit_NeoPixel.h>
+
+enum Pinout {
+ DRIVE2 = 0,
+ DRIVE1 = 1,
+ LED_W = 2,
+ WS2812_DISPLAY = 2,
+ LED_Y = 3,
+ EN_MEASURE_CURRENT = 3,
+ LED_B = 4,
+ LED_G = 5,
+ LED_R = 6,
+ MATRIX_IN1 = 7,
+ SBU1 = 8,
+ SBU2 = 9,
+ VBUS_DET = 10,
+ BOOT2 = 11,
+ I2C_OLED_SDA = 12,
+ I2C_OLED_SCL = 13,
+ WS2811 = 14,
+ TX_EN = 15,
+ TX = 16,
+ RX = 17,
+ MATRIX_IN2 = 18,
+ REED3 = 19,
+ REED4 = 20,
+ REED2 = 21,
+ REED1 = 22,
+ MATRIX_IN3 = 23,
+ DIGOUT1 = 24,
+ DIGOUT2 = 25,
+ ANALOG_IN1 = 26,
+ CURRENT2 = 27,
+ CURRENT1 = 28,
+ MEASURE_VCC = 29,
+};
+
+const int SCREEN_ADDRESS = 0x3C;
+Adafruit_SSD1306 display(128, 64, &Wire, -1);
+bool hasDisplay;
+
+#include "logo.h"
+
+TMP102 sensor0, sensor1;
+
+Adafruit_MPR121 cap0, cap1;
+bool capAvailable[2];
+
+Adafruit_NeoPixel pixelsDisplay(60, WS2812_DISPLAY, NEO_GRB + NEO_KHZ800);
+Adafruit_NeoPixel pixelsDigout1(50, DIGOUT1, NEO_GRB + NEO_KHZ800);
+Adafruit_NeoPixel pixelsDigout2(50, DIGOUT2, NEO_GRB + NEO_KHZ800);
+
+void setup() {
+ rp2040.enableDoubleResetBootloader();
+
+ Serial.begin(9600); // USB serial, baudrate is ignored
+ if (0) {
+ while (!Serial)
+ ;
+ Serial.println("a1");
+ }
+
+ pinMode(DRIVE1, OUTPUT); digitalWrite(DRIVE1, LOW);
+ pinMode(DRIVE2, OUTPUT); digitalWrite(DRIVE2, LOW);
+ pinMode(WS2812_DISPLAY, OUTPUT);
+ pinMode(3, OUTPUT); digitalWrite(EN_MEASURE_CURRENT, LOW);
+ pinMode(4, OUTPUT);
+ pinMode(5, OUTPUT);
+ pinMode(6, OUTPUT);
+
+ pinMode(BOOT2, INPUT_PULLUP);
+ pinMode(WS2811, INPUT_PULLUP);
+ pinMode(REED1, INPUT_PULLUP);
+ pinMode(REED2, INPUT_PULLUP);
+ pinMode(REED3, INPUT_PULLUP);
+ pinMode(REED4, INPUT_PULLUP);
+ pinMode(MATRIX_IN1, INPUT_PULLUP);
+ pinMode(MATRIX_IN3, INPUT_PULLUP);
+
+ pinMode(TX_EN, OUTPUT);
+ digitalWrite(TX_EN, LOW);
+
+ Serial1.setTX(TX); // UART0
+ Serial1.setRX(RX);
+ Wire.setSDA(I2C_OLED_SDA); // I2C0
+ Wire.setSCL(I2C_OLED_SCL);
+
+ Serial1.begin(115200);
+ Wire.begin();
+ Wire.setClock(100000);
+
+ display.setRotation(2);
+ hasDisplay = display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS);
+ if (!hasDisplay) {
+ Serial.println(F("SSD1306 allocation failed"));
+ } else {
+ display.clearDisplay();
+ display.drawBitmap(0, 0, logo_data, logo_width, logo_height, SSD1306_WHITE);
+ display.display();
+ }
+
+ if (sensor0.begin(0x48)) {
+ //0-3: 0:0.25Hz, 1:1Hz, 2:4Hz, 3:8Hz
+ sensor0.setConversionRate(2);
+ sensor0.setExtendedMode(1);
+ sensor0.wakeup();
+ }
+ if (sensor1.begin(0x49)) {
+ //0-3: 0:0.25Hz, 1:1Hz, 2:4Hz, 3:8Hz
+ sensor1.setConversionRate(2);
+ sensor1.setExtendedMode(1);
+ sensor1.wakeup();
+ }
+
+ capAvailable[0] = cap0.begin(0x5a);
+ capAvailable[1] = cap1.begin(0x5c);
+ for (int i=0;i<2;i++) {
+ if (!capAvailable[i])
+ continue;
+ auto& cap = (i == 0 ? cap0 : cap1);
+
+ // disable it, again
+ cap.writeRegister(MPR121_ECR, 0x0);
+
+ // auto-config code (mostly) copied from Adafruit library
+ cap.writeRegister(MPR121_AUTOCONFIG0, 0x0B);
+
+ // correct values for Vdd = 3.3V
+ cap.writeRegister(MPR121_UPLIMIT, 200); // ((Vdd - 0.7)/Vdd) * 256
+ cap.writeRegister(MPR121_TARGETLIMIT, 180); // UPLIMIT * 0.9
+ cap.writeRegister(MPR121_LOWLIMIT, 130); // UPLIMIT * 0.65
+
+ // enable X electrodes and start MPR121
+ // enable virtual proximity electrode, as well
+ cap.writeRegister(MPR121_ECR, 0x8c | 0x30);
+ }
+
+ pixelsDisplay.begin();
+ pixelsDisplay.clear();
+ pixelsDisplay.show();
+
+ pixelsDigout1.begin();
+ pixelsDigout1.clear();
+ pixelsDigout1.show();
+}
+
+void i2c_scan() {
+ // copied from here and adapter: https://playground.arduino.cc/Main/I2cScanner/
+ for (byte address = 0; address <= 127; address++ ) {
+ if (address == 0) {
+ Serial.print("00: ");
+ } else if ((address % 16) == 0) {
+ Serial.write("\r\n");
+ Serial.print(address, HEX);
+ Serial.write(":");
+ }
+
+ // The i2c_scanner uses the return value of
+ // the Write.endTransmisstion to see if
+ // a device did acknowledge to the address.
+ Wire.beginTransmission(address);
+ byte error = Wire.endTransmission();
+
+ if (error == 0)
+ {
+ Serial.write(" ");
+ if (address < 16)
+ Serial.write("0");
+ Serial.print(address, HEX);
+ } else if (error==4) {
+ Serial.print(" !!");
+ } else {
+ Serial.print(" --");
+ }
+ }
+ Serial.println();
+}
+
+void displayPrintHexFixed(uint32_t x, int width) {
+ while (width > 1 && (x >> (4*(width-1))) == 0) {
+ display.write('0');
+ width--;
+ }
+ display.print(x, HEX);
+}
+
+void loop() {
+ static int led_timer = 0;
+ static int led_state = 2;
+ if (led_timer < 500)
+ led_timer++;
+ else {
+ led_timer = 0;
+ led_state++;
+ if (led_state == 8)
+ led_state = 2;
+ if (led_state > 2 && led_state-1 != EN_MEASURE_CURRENT && led_state-1 != WS2812_DISPLAY)
+ digitalWrite(led_state-1, 0);
+ if (led_state <= 6 && led_state != EN_MEASURE_CURRENT && led_state != WS2812_DISPLAY)
+ digitalWrite(led_state, 1);
+ }
+
+ static int print_state_timer = 0;
+ if (led_timer < 500)
+ print_state_timer++;
+ else {
+ print_state_timer = 0;
+ Serial.write("x: ");
+ Serial.write('0' + digitalRead(VBUS_DET));
+ Serial.write('0' + digitalRead(BOOT2));
+ Serial.write('0' + digitalRead(WS2811));
+ Serial.write('0' + digitalRead(REED1));
+ Serial.write('0' + digitalRead(REED2));
+ Serial.write('0' + digitalRead(REED3));
+ Serial.write('0' + digitalRead(REED4));
+ Serial.write(", f_cpu=");
+ Serial.print(rp2040.f_cpu());
+ Serial.write(", id=");
+ Serial.print(rp2040.cpuid());
+ Serial.write(", cycles=");
+ Serial.print(rp2040.getCycleCount64());
+ Serial.write(", rand=");
+ Serial.print(rp2040.hwrand32());
+ Serial.write("\r\n");
+ }
+
+ static int i2c_scan_timer = 0;
+ if (i2c_scan_timer < 5000)
+ i2c_scan_timer++;
+ else {
+ i2c_scan_timer = 0;
+ i2c_scan();
+ }
+
+ bool buttons[4];
+ if (1) {
+ // Button Matrix:
+ // 1: SDA, IN1
+ // 2: SDA, IN3
+ // 3: SCL, IN1
+ // 4: SCL, IN4
+ Wire.end();
+ pinMode(I2C_OLED_SDA, OUTPUT);
+ pinMode(I2C_OLED_SCL, INPUT_PULLUP);
+ delayMicroseconds(1);
+ buttons[0] = !digitalRead(MATRIX_IN1);
+ buttons[1] = !digitalRead(MATRIX_IN3);
+ pinMode(I2C_OLED_SDA, INPUT_PULLUP);
+ pinMode(I2C_OLED_SCL, OUTPUT);
+ delayMicroseconds(1);
+ buttons[2] = !digitalRead(MATRIX_IN1);
+ buttons[3] = !digitalRead(MATRIX_IN3);
+ pinMode(I2C_OLED_SDA, INPUT_PULLUP);
+ pinMode(I2C_OLED_SCL, INPUT_PULLUP);
+ Wire.begin();
+ }
+
+ digitalWrite(DRIVE1, buttons[0]);
+ digitalWrite(DRIVE2, buttons[1]);
+ digitalWrite(EN_MEASURE_CURRENT, buttons[2]);
+
+ static int displayMode = 0;
+ int displayModePrev = displayMode;
+ static bool prevButton4 = 0;
+ if (!prevButton4 && buttons[3]) {
+ displayMode = (displayMode + 1) % 7;
+ }
+ prevButton4 = buttons[3];
+
+ if (rp2040.getCycleCount64() > 2 * 133*1000*1000 && displayMode == 0 && hasDisplay) {
+ if (displayModePrev != 0) {
+ display.fillRect(67, 0, 128-67, 64, SSD1306_BLACK);
+ display.drawBitmap(0, 0, logo_data, logo_width, logo_height, SSD1306_WHITE);
+ }
+ display.fillRect(0, 0, 67, 64, SSD1306_BLACK);
+
+ display.setTextSize(1);
+ display.setTextColor(SSD1306_WHITE);
+ display.setCursor(0, 1);
+ display.print(F("ADDR: "));
+ display.print(!digitalRead(BOOT2) ? 'X' : '_');
+ display.print(" ");
+ display.println(digitalRead(WS2811) ? "WS^" : "ws ");
+
+ display.print(F("SW: "));
+ for (auto pressed : buttons)
+ display.print(pressed ? 'X' : '_');
+ display.println();
+
+ display.print(F("Reed: "));
+ display.print(digitalRead(REED1) ? '^' : 'v');
+ display.print(digitalRead(REED2) ? '^' : 'v');
+ display.print(digitalRead(REED3) ? '^' : 'v');
+ display.print(digitalRead(REED4) ? '^' : 'v');
+ display.println();
+
+ auto temp0 = sensor0.readTempC();
+ auto temp1 = sensor1.readTempC();
+ display.print(F("Temp: "));
+ display.println(temp0, 2);
+ display.print(F(" "));
+ display.println(temp1, 2);
+
+ uint16_t touched0 = capAvailable[0] ? cap0.touched() : 0;
+ uint16_t touched1 = capAvailable[1] ? cap1.touched() : 0;
+ display.print(F("T:"));
+ if (capAvailable[0])
+ displayPrintHexFixed(touched0, 4);
+ else
+ display.write("----");
+ if (capAvailable[1])
+ displayPrintHexFixed(touched1, 4);
+ else
+ display.write("----");
+ display.println();
+
+ display.display();
+ } else if (displayMode >= 1 && displayMode <= 3 && hasDisplay) {
+ int first = (displayMode-1) * 12, last = first + 11;
+ display.fillRect(0, 0, 128, 64, SSD1306_BLACK);
+ display.setTextSize(1);
+ display.setTextColor(SSD1306_WHITE);
+ display.setCursor(0, 1);
+ display.print(F("Touch: "));
+ display.print(first);
+ display.print("..");
+ display.println(last);
+
+ for (int channel=first; channel<=last && channel < 32; channel++) {
+ auto& cap = channel < 16 ? cap0 : cap1;
+ auto b = cap.baselineData(channel % 16);
+ auto v = cap.filteredData(channel % 16);
+ displayPrintHexFixed(b, 4);
+ display.write(',');
+ displayPrintHexFixed(v, 4);
+ if ((channel%2) == 1)
+ display.println();
+ else
+ display.write(" ");
+ }
+ display.display();
+ } else if (displayMode == 4 && hasDisplay) {
+ display.fillRect(0, 0, 128, 64, SSD1306_BLACK);
+ display.setTextSize(1);
+ display.setTextColor(SSD1306_WHITE);
+ display.setCursor(80, 1);
+ display.println(F("Touch:"));
+
+ static const uint8_t channels[] = {
+ // T1..T8
+ 0x09, 0x08, 0x07, 0x0a, 0x05, 0x02, 0x01, 0x00,
+ 0x1a, 0x14, 0x11, 0x16, 0x15, 0x13, 0x12,
+ 0xff,
+ // R1..R3, north
+ 0x04, 0x03, 0x06,
+ 0xff,
+ // R1..R3, south
+ 0x19, 0x17, 0x18,
+ 0xff,
+ // Screw2..4
+ 0x0b, 0x1b, 0x10,
+ 0xff,
+ // Proximity north and south
+ 0x0c, 0x1c,
+ 0xff,
+ };
+
+ int y = 6;
+ for (auto channel : channels) {
+ if (channel == 0xff) {
+ display.drawFastHLine(64, y++, 64, SSD1306_WHITE);
+ continue;
+ }
+ auto& cap = channel < 16 ? cap0 : cap1;
+ auto b = cap.baselineData(channel % 16);
+ auto v = cap.filteredData(channel % 16);
+ display.drawFastHLine(0, y++, b/16, SSD1306_WHITE);
+ display.drawFastHLine(0, y++, v/16, SSD1306_WHITE);
+ }
+ display.display();
+ } else if (displayMode == 5 && hasDisplay) {
+ display.fillRect(0, 0, 128, 64, SSD1306_BLACK);
+ display.setTextSize(1);
+ display.setTextColor(SSD1306_WHITE);
+ display.setCursor(0, 1);
+ display.println(F("ADC:"));
+
+ analogReadResolution(12);
+
+ auto v1 = analogRead(ANALOG_IN1);
+ display.print(F("AIN1: "));
+ display.print(v1);
+ auto ain1 = 3.05*v1/4096 * (10+2*5.1)/5.1;
+ display.print(F(" -> "));
+ display.println(ain1, 2);
+
+ auto v2 = analogRead(CURRENT2);
+ display.print(F("CUR2: "));
+ display.print(v2);
+ static int32_t avgCurrent2 = 0;
+ if (!buttons[1] && !buttons[2]) {
+ //avgCurrent2 = (avgCurrent2*31 + v2)/32;
+ avgCurrent2 = avgCurrent2*31/32 + v2;
+ display.print(", ");
+ display.println(avgCurrent2/32);
+ } else {
+ display.print(F(" -> "));
+ float current2 = max(0, v2-avgCurrent2/32)*3.05/4096 / 0.1 * 1/56.0;
+ display.println(current2, 3);
+
+ Serial.print(F("Current2: "));
+ Serial.print(v2);
+ Serial.print(" - ");
+ Serial.print(avgCurrent2);
+ Serial.print("/32 -> ");
+ Serial.println(current2, 5);
+ }
+
+ auto v3 = analogRead(CURRENT1);
+ display.print(F("CUR1: "));
+ display.print(v3);
+ static int32_t avgCurrent1 = 0;
+ if (!buttons[0] && !buttons[2]) {
+ //avgCurrent1 = (avgCurrent1*31 + v3)/32;
+ avgCurrent1 = avgCurrent1*31/32 + v3;
+ display.print(", ");
+ display.println(avgCurrent1/32);
+ } else {
+ display.print(F(" -> "));
+ float current1 = max(0, v3-avgCurrent1/32)*3.05/4096 / 0.1 * 1/56.0;
+ display.println(current1, 3);
+ }
+
+ auto v4 = analogRead(MEASURE_VCC);
+ display.print(F("VCC: "));
+ display.print(v4);
+ auto vcc = 3.05*v4/4096 * (100+10)/10;
+ display.print(F(" -> "));
+ display.println(vcc, 2);
+
+ auto v5 = analogReadTemp(3.0);
+ display.print(F("TEMP: "));
+ display.println(v5);
+
+ display.display();
+ } else if (displayMode == 6 && hasDisplay) {
+ if (displayModePrev != 6) {
+ display.fillRect(0, 0, 128, 64, SSD1306_BLACK);
+ display.drawBitmap(0, 0, logo_data, logo_width, logo_height, SSD1306_WHITE);
+ display.display();
+ }
+ }
+
+ if (0) {
+ static int digout1_timer = 0;
+ static int digout1_state = 2;
+ if (digout1_timer < 300 || !pixelsDigout1.canShow())
+ digout1_timer++;
+ else {
+ digout1_timer = 0;
+ digout1_state++;
+
+ for (int i=0; i<pixelsDigout1.numPixels(); i++) {
+ switch ((digout1_state-3*i)%8) {
+ case 0:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(255, 0, 0));
+ break;
+ case 1:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 255, 0));
+ break;
+ case 2:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 0, 255));
+ break;
+ default:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 0, 0));
+ break;
+ }
+ }
+ pixelsDigout1.show();
+ }
+ }
+
+ if (1) {
+ static int digout1_timer = 0;
+ static int digout1_state = 2;
+ if (digout1_timer < 20 || !pixelsDigout1.canShow() || !pixelsDigout2.canShow())
+ digout1_timer++;
+ else {
+ digout1_timer = 0;
+ digout1_state++;
+ if (digout1_state >= 3)
+ digout1_state = 0;
+
+ for (int i=0; i<pixelsDigout1.numPixels(); i++) {
+ switch (digout1_state%3) {
+ case 0:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(40, 0, 0));
+ break;
+ case 1:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 40, 0));
+ break;
+ case 2:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 0, 40));
+ break;
+ default:
+ pixelsDigout1.setPixelColor(i, pixelsDigout1.Color(0, 0, 0));
+ break;
+ }
+ }
+ pixelsDigout1.show();
+
+ for (int i=0; i<pixelsDigout2.numPixels(); i++) {
+ switch ((digout1_state+1)%3) {
+ case 0:
+ pixelsDigout2.setPixelColor(i, pixelsDigout2.Color(40, 0, 0));
+ break;
+ case 1:
+ pixelsDigout2.setPixelColor(i, pixelsDigout2.Color(0, 40, 0));
+ break;
+ case 2:
+ pixelsDigout2.setPixelColor(i, pixelsDigout2.Color(0, 0, 40));
+ break;
+ default:
+ pixelsDigout2.setPixelColor(i, pixelsDigout2.Color(0, 0, 0));
+ break;
+ }
+ }
+ pixelsDigout2.show();
+ }
+ }
+
+ static int ledring_timer = 0;
+ static int ledring_state = 0;
+ if ((ledring_timer < 10 || !pixelsDisplay.canShow()) && 0) {
+ ledring_timer++;
+ } else {
+ ledring_timer = 0;
+ ledring_state += 1;
+
+ for (int i=0; i<pixelsDisplay.numPixels(); i++) {
+ int h = ((ledring_state + 4*i)%(256*4)) * (256/4);
+ int y = ((uint32_t)(i-ledring_state/3))%64 - (int32_t)32;
+ int v = y >= -10 && y <=10 ? 50 : y >= -20 && y < -10 ? (y+20)*5 : y <= 20 && y > 10 ? (20-y)*5 : 0;
+ //pixelsDisplay.setPixelColor(i, pixelsDisplay.ColorHSV(h, 255, y <= 1 && y >= -1 && 0 ? 255 : v/16));
+ pixelsDisplay.setPixelColor(i, pixelsDisplay.ColorHSV(h, 255, y <= 1 && y >= -1 && 0 ? 255 : v));
+ }
+ pixelsDisplay.show();
+ }
+
+ static int rs485_timer = 0;
+ static int rs485_state = 0;
+ if ((rs485_timer < 10 || !pixelsDisplay.canShow()) && 0) {
+ rs485_timer++;
+ } else {
+ rs485_timer = 0;
+ rs485_state += 1;
+
+ if (0) {
+ digitalWrite(TX_EN, HIGH);
+ Serial1.print("Test ");
+ Serial1.println(rs485_state);
+ } else {
+ digitalWrite(TX_EN, LOW);
+ }
+ }
+ if (Serial1.available()) {
+ Serial.print("RX: ");
+ Serial.println(Serial1.read());
+ }
+
+ if (!digitalRead(BOOT2)) {
+ analogWrite(LED_R, 128);
+ } else {
+ analogWrite(LED_R, 0);
+ }
+
+ delay(1);
+}
\ No newline at end of file
diff --git a/firmware/test1/heizung-test1/test/README b/firmware/test1/heizung-test1/test/README
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e87bc67c90e7f09a92a3e855444b085c655a6
--- /dev/null
+++ b/firmware/test1/heizung-test1/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
diff --git a/flake.nix b/flake.nix
index 4b8e67902540f693ddf36b86015cc7f3fd65ff5d..f602c58a33bcb6ec712c4267f8f4054bb2b134ad 100644
--- a/flake.nix
+++ b/flake.nix
@@ -2,7 +2,11 @@
inputs.flake-utils.url = "github:numtide/flake-utils";
outputs = { self, nixpkgs, flake-utils }:
- flake-utils.lib.eachDefaultSystem (system:
+ # don't include darwin because some packages are broken for darwin
+ # and we would like to use `nix flake check` (and packages that are
+ # marked broken will abort before it does checks for the other archs)
+ let systems = [ "aarch64-linux" "x86_64-linux" ]; in
+ flake-utils.lib.eachSystem systems (system:
let pkgs = nixpkgs.legacyPackages.${system}; prev = pkgs; in
{
# see https://discourse.nixos.org/t/add-python-package-via-overlay/19783/4
@@ -13,6 +17,9 @@
qrcodegen = python-final.callPackage nix/qrcodegen.nix { };
svgutils = python-final.callPackage nix/svgutils.nix { };
pcbnewTransition = python-final.callPackage nix/pcbnewTransition.nix { };
+
+ modbus-tk = python-final.callPackage nix/modbus-tk.nix { };
+ pymodbus3 = python-final.callPackage nix/pymodbus3.nix { };
})
];
other.python3Packages = self.packages.${system}.python3.pkgs;
@@ -71,7 +78,7 @@
openscad
xorg.xorgserver
xvfb-run
- blender
+ (if blender.meta.unsupported then null else blender)
git
imagemagick
librsvg
@@ -112,44 +119,71 @@
kikit = flake-utils.lib.mkApp { drv = self.packages.${system}.kikit; };
kibot = flake-utils.lib.mkApp { drv = self.packages.${system}.kibot; };
default = kibot;
+
+ #python-kibot = flake-utils.lib.mkApp { name = "python"; drv = self.devShells.${system}.kibot.passthru.python; }; # doesn't work
+ python-rust = flake-utils.lib.mkApp { name = "python"; drv = self.devShells.${system}.rust.passthru.python; };
+ python-modbus = python-rust;
};
- devShells.default = with self.packages.${system}; pkgs.mkShell {
- packages = [
- (python3.withPackages (p: [ kibot ]))
- kibot
- ];
-
- shellHook = ''
- # KiAuto wants to run stuff inside xvfb so let's make sure that we don't leak windows to our Wayland desktop.
- unset WAYLAND_DISPLAY
-
- # The Kicad package puts several paths into environment variables but only in the wrapper script.
- # KiAuto needs some of them, e.g. to find footprint that are available locally.
- source ${kicad-vars}
-
- # Fix crash in Gtk save dialog, e.g. start eeschema, open ERC window, click save.
- # https://github.com/NixOS/nixpkgs/issues/149812#issuecomment-1004387735
- export XDG_DATA_DIRS="${pkgs.gtk3}/share/gsettings-schemas/${pkgs.gtk3.name}:$XDG_DATA_DIRS"
-
- # The interposer causes a crash and KiBot doesn't seem to have any way to disable it or pass extra parameters to
- # eeschema_do but we can disable it with an environment variable.
- export KIAUTO_INTERPOSER_DISABLE=1
-
- # Cache 3d models
- # -> README says that the default is not to cache but in fact it uses a sensible default.
- #if [ -z "$KIBOT_3D_MODELS" ] ; then
- # if [ -n "$XDG_CACHE_HOME" ] ; then
- # export KIBOT_3D_MODELS="$XDG_CACHE_HOME/kibot/3d"
- # else
- # export KIBOT_3D_MODELS="$HOME/.cache/kibot/3d"
- # fi
- # if ! mkdir -p "$KIBOT_3D_MODELS" ; then
- # echo "WARN: I cannot create the cache directory for 3D models so they won't be cached."
- # unset KIBOT_3D_MODELS
- # fi
- #fi
- '';
+ devShells = let
+ flakePkgs = self.packages.${system};
+ in rec {
+ kibot = with flakePkgs; pkgs.mkShell rec {
+ passthru.packages = [ flakePkgs.kibot ];
+ passthru.pythonPackages = p: [ flakePkgs.kibot ];
+ passthru.python = python3.withPackages passthru.pythonPackages;
+
+ packages = passthru.packages ++ [ passthru.python ];
+
+ shellHook = ''
+ # KiAuto wants to run stuff inside xvfb so let's make sure that we don't leak windows to our Wayland desktop.
+ unset WAYLAND_DISPLAY
+
+ # The Kicad package puts several paths into environment variables but only in the wrapper script.
+ # KiAuto needs some of them, e.g. to find footprint that are available locally.
+ source ${kicad-vars}
+
+ # Fix crash in Gtk save dialog, e.g. start eeschema, open ERC window, click save.
+ # https://github.com/NixOS/nixpkgs/issues/149812#issuecomment-1004387735
+ export XDG_DATA_DIRS="${pkgs.gtk3}/share/gsettings-schemas/${pkgs.gtk3.name}:$XDG_DATA_DIRS"
+
+ # The interposer causes a crash and KiBot doesn't seem to have any way to disable it or pass extra parameters to
+ # eeschema_do but we can disable it with an environment variable.
+ export KIAUTO_INTERPOSER_DISABLE=1
+
+ # Cache 3d models
+ # -> README says that the default is not to cache but in fact it uses a sensible default.
+ #if [ -z "$KIBOT_3D_MODELS" ] ; then
+ # if [ -n "$XDG_CACHE_HOME" ] ; then
+ # export KIBOT_3D_MODELS="$XDG_CACHE_HOME/kibot/3d"
+ # else
+ # export KIBOT_3D_MODELS="$HOME/.cache/kibot/3d"
+ # fi
+ # if ! mkdir -p "$KIBOT_3D_MODELS" ; then
+ # echo "WARN: I cannot create the cache directory for 3D models so they won't be cached."
+ # unset KIBOT_3D_MODELS
+ # fi
+ #fi
+ '';
+ };
+
+ rust = with flakePkgs; pkgs.mkShell rec {
+ passthru.packages = with pkgs; [
+ rustup udev.dev pkg-config openssl.dev picotool
+ ];
+ passthru.pythonPackages = p: with p; [ pymodbus3 pyserial modbus-tk ];
+ passthru.python = python3.withPackages passthru.pythonPackages;
+
+ packages = passthru.packages ++ [ passthru.python ];
+ };
+
+ default = pkgs.mkShell rec {
+ passthru.python = flakePkgs.python3.withPackages (p: kibot.passthru.pythonPackages p ++ rust.passthru.pythonPackages p);
+
+ #packages = kibot.nativeBuildInputs ++ rust.nativeBuildInputs;
+ packages = kibot.passthru.packages ++ rust.passthru.packages ++ [ passthru.python ];
+ shellHook = kibot.shellHook;
+ };
};
}
);
-}
\ No newline at end of file
+}
diff --git a/nix/modbus-tk.nix b/nix/modbus-tk.nix
new file mode 100644
index 0000000000000000000000000000000000000000..e91b96dd0bc844cdf8a7a30dca3c583ca3aa3060
--- /dev/null
+++ b/nix/modbus-tk.nix
@@ -0,0 +1,24 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, pyserial
+}:
+
+buildPythonPackage rec {
+ pname = "modbus-tk";
+ version = "git";
+
+ src = fetchFromGitHub {
+ owner = "ljean";
+ repo = pname;
+ rev = "f32bb42cda8be3122fefad59a35b5c5fe6bcf567";
+ hash = "sha256-wKFRi6xcStuQURJ3Lo48P0lFDfg33Zt3NLJzqvu138U=";
+ };
+
+ # Twisted asynchronous version is not supported due to a missing dependency
+ propagatedBuildInputs = [
+ pyserial
+ ];
+
+ pythonImportsCheck = [ "modbus_tk" ];
+}
\ No newline at end of file
diff --git a/nix/pymodbus3.nix b/nix/pymodbus3.nix
new file mode 100644
index 0000000000000000000000000000000000000000..990fc33658810ab377e4b68701f910208b7bc217
--- /dev/null
+++ b/nix/pymodbus3.nix
@@ -0,0 +1,73 @@
+# based on https://github.com/NixOS/nixpkgs/blob/c8a17ce7abc03c50cd072e9e6c9b389c5f61836b/pkgs/development/python-modules/pymodbus/default.nix
+{ lib
+, aiohttp
+, asynctest
+, buildPythonPackage
+, click
+, fetchFromGitHub
+, mock
+, prompt-toolkit
+, pygments
+, pyserial
+, pyserial-asyncio
+, pytestCheckHook
+, redis
+, sqlalchemy
+, tornado
+, twisted
+, pytest-asyncio
+, pytest-xdist
+}:
+
+buildPythonPackage rec {
+ pname = "pymodbus";
+ version = "3.2.2";
+
+ src = fetchFromGitHub {
+ owner = "pymodbus-dev";
+ repo = pname;
+ rev = "v${version}";
+ hash = "sha256-Hw7oGYzjcHBTBjE9vf+3D8DzXdqVuHbJmIMH0W3mwE4=";
+ };
+
+ # Twisted asynchronous version is not supported due to a missing dependency
+ propagatedBuildInputs = [
+ aiohttp
+ click
+ prompt-toolkit
+ pygments
+ pyserial
+ pyserial-asyncio
+ tornado
+ ];
+
+ checkInputs = [
+ asynctest
+ mock
+ pytestCheckHook
+ redis
+ sqlalchemy
+ twisted
+ pytest-asyncio
+ pytest-xdist
+ ];
+
+ pythonImportsCheck = [ "pymodbus" ];
+
+ # many tests fail because self.loop is None in TestAsyncioServer
+ #FIXME We should figure this out but that's not a priority here because we don't use async, yet.
+ doCheck = false;
+
+ meta = with lib; {
+ description = "Python implementation of the Modbus protocol";
+ longDescription = ''
+ Pymodbus is a full Modbus protocol implementation using twisted,
+ torndo or asyncio for its asynchronous communications core. It can
+ also be used without any third party dependencies if a more
+ lightweight project is needed.
+ '';
+ homepage = "https://github.com/riptideio/pymodbus";
+ license = with licenses; [ bsd3 ];
+ maintainers = with maintainers; [ fab ];
+ };
+}