From 7e670e06d28ab0be5d3f56a8e0b93376ea2c5457 Mon Sep 17 00:00:00 2001 From: Fisch Date: Sat, 30 Nov 2019 21:42:32 +0100 Subject: [PATCH] changes for independant left and right speed serial control --- Inc/config.h | 26 ++++----- Makefile | 2 +- Src/main.c | 138 ++++++++++++++++++++++++++------------------- build/firmware.bin | Bin 20692 -> 0 bytes build/firmware.elf | Bin 395000 -> 0 bytes 5 files changed, 95 insertions(+), 71 deletions(-) delete mode 100644 build/firmware.bin delete mode 100644 build/firmware.elf diff --git a/Inc/config.h b/Inc/config.h index 00e4eee..a074d10 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -61,11 +61,11 @@ * Enable warning and/or poweroff and make and flash firmware. */ #define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16 -#define TEMP_CAL_LOW_ADC 1655 // temperature 1: ADC value -#define TEMP_CAL_LOW_DEG_C 358 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C -#define TEMP_CAL_HIGH_ADC 1588 // temperature 2: ADC value -#define TEMP_CAL_HIGH_DEG_C 489 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C -#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION! +#define TEMP_CAL_LOW_ADC 1716 // temperature 1: ADC value +#define TEMP_CAL_LOW_DEG_C 210 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C +#define TEMP_CAL_HIGH_ADC 1600 // temperature 2: ADC value +#define TEMP_CAL_HIGH_DEG_C 420 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C +#define TEMP_WARNING_ENABLE 1 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION! #define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C #define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION! #define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C @@ -91,15 +91,15 @@ #define USART2_BAUD 38400 // UART2 baud rate (long wired cable) #define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B -// #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino -// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! +#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino +#define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! // #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! #define USART3_BAUD 38400 // UART3 baud rate (short wired cable) #define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B // #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino // #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! -#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! +//#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! #if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) #define UART_DMA_CHANNEL DMA1_Channel7 @@ -122,7 +122,7 @@ * For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID * Make, flash and test it. */ -#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! +//#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2! #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti #define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095) @@ -173,7 +173,7 @@ * - button1 and button2: digital input values. 0 or 1 * - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095 * Outputs: - * - speedR and speedL: normal driving -1000 to 1000 + * - speedR and speedL: normal driving -1000 to 1000 */ // Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4 @@ -185,8 +185,8 @@ // Value of COEFFICIENT is in fixdt(1,16,14) // If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14 // If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14). -#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 16384 = 1.0 * 2^14 -#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0. +#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 16384 = 1.0 * 2^14 +#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0. #define INVERT_R_DIRECTION #define INVERT_L_DIRECTION @@ -194,7 +194,7 @@ // ###### SIMPLE BOBBYCAR ###### // for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar -// #define FILTER 6553 // 0.1f +// #define FILTER 6553 // 0.1f // #define SPEED_COEFFICIENT 49152 // -1.0f // #define STEER_COEFFICIENT 0 // 0.0f diff --git a/Makefile b/Makefile index 3a90439..a006551 100644 --- a/Makefile +++ b/Makefile @@ -52,7 +52,7 @@ startup_stm32f103xe.s ####################################### # binaries ####################################### -PREFIX = arm-none-eabi- +PREFIX = ~/gcc-arm-none-eabi-7-2018-q2-update/bin/arm-none-eabi- CC = $(PREFIX)gcc AS = $(PREFIX)gcc -x assembler-with-cpp CP = $(PREFIX)objcopy diff --git a/Src/main.c b/Src/main.c index 8c3b85a..3f3b601 100644 --- a/Src/main.c +++ b/Src/main.c @@ -69,8 +69,10 @@ static UART_HandleTypeDef huart; #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3) typedef struct{ uint16_t start; - int16_t steer; - int16_t speed; + //int16_t steer; + int16_t speedLeft; + //int16_t speed; + int16_t speedRight; uint16_t checksum; } Serialcommand; static volatile Serialcommand command; @@ -103,12 +105,18 @@ uint8_t ctrlModReqRaw = CTRL_MOD_REQ; uint8_t ctrlModReq; // Final control mode request static int cmd1; // normalized input value. -1000 to 1000 static int cmd2; // normalized input value. -1000 to 1000 -static int16_t steer; // local variable for steering. -1000 to 1000 -static int16_t speed; // local variable for speed. -1000 to 1000 -static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter -static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter -static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter -static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter +//static int16_t steer; // local variable for steering. -1000 to 1000 +//static int16_t speed; // local variable for speed. -1000 to 1000 +//static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter +//static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter +static int16_t speedLeftFixdt; // local fixed-point variable for speedLeft low-pass filter +static int16_t speedRightFixdt; // local fixed-point variable for speedRight low-pass filter +//static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter +//static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter +static int16_t speedLeftRateFixdt; // local fixed-point variable for steering rate limiter +static int16_t speedRightRateFixdt; // local fixed-point variable for speed rate limiter + +static int16_t speed; // local variable for speed. -1000 to 1000. only used for security checks. will be calculated by speedL and speedR extern volatile int pwml; // global variable for pwm left. -1000 to 1000 extern volatile int pwmr; // global variable for pwm right. -1000 to 1000 @@ -180,23 +188,23 @@ int main(void) { // Matlab Init // ############################################################################### - - /* Set BLDC controller parameters */ + + /* Set BLDC controller parameters */ rtP_Right = rtP_Left; // Copy the Left motor parameters to the Right motor parameters rtP_Left.b_selPhaABCurrMeas = 1; // Left motor measured current phases = {iA, iB} -> do NOT change rtP_Left.z_ctrlTypSel = CTRL_TYP_SEL; - rtP_Left.b_diagEna = DIAG_ENA; - rtP_Left.b_fieldWeakEna = FIELD_WEAK_ENA; - rtP_Left.i_max = I_MOT_MAX; - rtP_Left.n_max = N_MOT_MAX; + rtP_Left.b_diagEna = DIAG_ENA; + rtP_Left.b_fieldWeakEna = FIELD_WEAK_ENA; + rtP_Left.i_max = I_MOT_MAX; + rtP_Left.n_max = N_MOT_MAX; rtP_Right.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iB, iC} -> do NOT change rtP_Right.z_ctrlTypSel = CTRL_TYP_SEL; - rtP_Right.b_diagEna = DIAG_ENA; - rtP_Right.b_fieldWeakEna = FIELD_WEAK_ENA; - rtP_Right.i_max = I_MOT_MAX; - rtP_Right.n_max = N_MOT_MAX; + rtP_Right.b_diagEna = DIAG_ENA; + rtP_Right.b_fieldWeakEna = FIELD_WEAK_ENA; + rtP_Right.i_max = I_MOT_MAX; + rtP_Right.n_max = N_MOT_MAX; /* Pack LEFT motor data into RTM */ rtM_Left->defaultParam = &rtP_Left; @@ -299,18 +307,18 @@ int main(void) { #ifdef CONTROL_ADC // ADC values range: 0-4095, see ADC-calibration in config.h #ifdef ADC1_MID_POT - cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MID) * 1000 / (ADC1_MAX - ADC1_MID), 0, 1000) - -CLAMP((ADC1_MID - adc_buffer.l_tx2) * 1000 / (ADC1_MID - ADC1_MIN), 0, 1000); // ADC1 + cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MID) * 1000 / (ADC1_MAX - ADC1_MID), 0, 1000) + -CLAMP((ADC1_MID - adc_buffer.l_tx2) * 1000 / (ADC1_MID - ADC1_MIN), 0, 1000); // ADC1 #else cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN) * 1000 / (ADC1_MAX - ADC1_MIN), 0, 1000); // ADC1 #endif #ifdef ADC2_MID_POT - cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MID) * 1000 / (ADC2_MAX - ADC2_MID), 0, 1000) - -CLAMP((ADC2_MID - adc_buffer.l_rx2) * 1000 / (ADC2_MID - ADC2_MIN), 0, 1000); // ADC2 + cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MID) * 1000 / (ADC2_MAX - ADC2_MID), 0, 1000) + -CLAMP((ADC2_MID - adc_buffer.l_rx2) * 1000 / (ADC2_MID - ADC2_MIN), 0, 1000); // ADC2 #else cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN) * 1000 / (ADC2_MAX - ADC2_MIN), 0, 1000); // ADC2 - #endif + #endif // use ADCs as button inputs: button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1 @@ -322,16 +330,30 @@ int main(void) { #if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3 // Handle received data validity, timeout and fix out-of-sync if necessary - if (command.start == START_FRAME && command.checksum == (command.start ^ command.steer ^ command.speed)) { - if (timeoutFlag) { // Check for previous timeout flag + //if (command.start == START_FRAME && command.checksum == (command.start ^ command.steer ^ command.speed)) { + if (command.start == START_FRAME && command.checksum == (command.start ^ command.speedLeft ^ command.speedRight)) { + if (timeoutFlag) { // Check for previous timeout flag if (timeoutCnt-- <= 0) // Timeout de-qualification - timeoutFlag = 0; // Timeout flag cleared + timeoutFlag = 0; // Timeout flag cleared } else { - cmd1 = CLAMP((int16_t)command.steer, -1000, 1000); - cmd2 = CLAMP((int16_t)command.speed, -1000, 1000); + //cmd1 = CLAMP((int16_t)command.steer, -1000, 1000); + cmd1 = CLAMP((int16_t)command.speedLeft, -1000, 1000); + //cmd2 = CLAMP((int16_t)command.speed, -1000, 1000); + cmd2 = CLAMP((int16_t)command.speedRight, -1000, 1000); command.start = 0xFFFF; // Change the Start Frame for timeout detection in the next cycle - timeoutCnt = 0; // Reset the timeout counter + timeoutCnt = 0; // Reset the timeout counter } + + // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) ####### + if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){ + buzzerPattern = 0; + buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable + buzzerFreq = 4; HAL_Delay(200); + buzzerFreq = 0; + enable = 1; // enable motors + consoleLog("-- Motors enabled --\r\n"); + } + } else { if (timeoutCnt++ >= SERIAL_TIMEOUT) { // Timeout qualification timeoutFlag = 1; // Timeout detected @@ -340,10 +362,10 @@ int main(void) { // Check the received Start Frame. If it is NOT OK, most probably we are out-of-sync. // Try to re-sync by reseting the DMA if (command.start != START_FRAME && command.start != 0xFFFF) { - HAL_UART_DMAStop(&huart); + HAL_UART_DMAStop(&huart); HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command)); } - } + } if (timeoutFlag) { // In case of timeout bring the system to a Safe State ctrlModReq = 0; // OPEN_MODE request. This will bring the motor power to 0 in a controlled way @@ -357,28 +379,30 @@ int main(void) { #endif - // ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) ####### - if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){ - buzzerPattern = 0; - buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable - buzzerFreq = 4; HAL_Delay(200); - buzzerFreq = 0; - enable = 1; // enable motors - consoleLog("-- Motors enabled --\r\n"); - } + // ####### LOW-PASS FILTER ####### + /* rateLimiter16(cmd1, RATE, &steerRateFixdt); rateLimiter16(cmd2, RATE, &speedRateFixdt); filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt); filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt); steer = steerFixdt >> 4; // convert fixed-point to integer - speed = speedFixdt >> 4; // convert fixed-point to integer + speed = speedFixdt >> 4; // convert fixed-point to integer + */ + rateLimiter16(cmd1, RATE, &speedLeftRateFixdt); + rateLimiter16(cmd2, RATE, &speedRightRateFixdt); + filtLowPass16(speedLeftRateFixdt >> 4, FILTER, &speedLeftFixdt); + filtLowPass16(speedRightRateFixdt >> 4, FILTER, &speedRightFixdt); + speedL = speedLeftFixdt >> 4; // convert fixed-point to integer + speedR = speedRightFixdt >> 4; // convert fixed-point to integer + + speed = (speedL+speedR)/2; // ####### MIXER ####### // speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000); // speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000); - mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above + //mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above // ####### SET OUTPUTS (if the target change is less than +/- 50) ####### if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) { @@ -434,15 +458,15 @@ int main(void) { Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC); Feedback.boardTemp = (int16_t)board_temp_deg_c; Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL - ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp); + ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp); UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; UART_DMA_CHANNEL->CNDTR = sizeof(Feedback); UART_DMA_CHANNEL->CMAR = (uint32_t)&Feedback; - UART_DMA_CHANNEL->CCR |= DMA_CCR_EN; + UART_DMA_CHANNEL->CCR |= DMA_CCR_EN; } - #endif - } + #endif + } HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // ####### POWEROFF BY POWER-BUTTON ####### @@ -543,12 +567,12 @@ void SystemClock_Config(void) { * Max: 2047.9375 * Min: -2048 * Res: 0.0625 - * + * * Inputs: u = int16 * Outputs: y = fixdt(1,16,4) * Parameters: coef = fixdt(0,16,16) = [0,65535U] - * - * Example: + * + * Example: * If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point) * filtLowPass16(u, 52429, &y); * yint = y >> 4; // the integer output is the fixed-point ouput shifted by 4 bits @@ -557,7 +581,7 @@ void filtLowPass16(int16_t u, uint16_t coef, int16_t *y) { int32_t tmp; - tmp = (((int16_t)(u << 4) * coef) >> 16) + + tmp = (((int16_t)(u << 4) * coef) >> 16) + (((int32_t)(65535U - coef) * (*y)) >> 16); // Overflow protection @@ -571,12 +595,12 @@ void filtLowPass16(int16_t u, uint16_t coef, int16_t *y) * Max: 32767.99998474121 * Min: -32768 * Res: 1.52587890625e-5 - * + * * Inputs: u = int32 * Outputs: y = fixdt(1,32,16) * Parameters: coef = fixdt(0,16,16) = [0,65535U] - * - * Example: + * + * Example: * If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point) * filtLowPass16(u, 52429, &y); * yint = y >> 16; // the integer output is the fixed-point ouput shifted by 16 bits @@ -603,7 +627,7 @@ void filtLowPass32(int32_t u, uint16_t coef, int32_t *y) } // =========================================================== - /* mixerFcn(rtu_speed, rtu_steer, &rty_speedR, &rty_speedL); + /* mixerFcn(rtu_speed, rtu_steer, &rty_speedR, &rty_speedL); * Inputs: rtu_speed, rtu_steer = fixdt(1,16,4) * Outputs: rty_speedR, rty_speedL = int16_t * Parameters: SPEED_COEFFICIENT, STEER_COEFFICIENT = fixdt(0,16,14) @@ -617,9 +641,9 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t prodSpeed = (int16_t)((rtu_speed * (int16_t)SPEED_COEFFICIENT) >> 14); prodSteer = (int16_t)((rtu_steer * (int16_t)STEER_COEFFICIENT) >> 14); - tmp = prodSpeed - prodSteer; + tmp = prodSpeed - prodSteer; tmp = CLAMP(tmp, -32768, 32767); // Overflow protection - *rty_speedR = (int16_t)(tmp >> 4); // Convert from fixed-point to int + *rty_speedR = (int16_t)(tmp >> 4); // Convert from fixed-point to int *rty_speedR = CLAMP(*rty_speedR, -1000, 1000); tmp = prodSpeed + prodSteer; @@ -653,4 +677,4 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y) *y = q0 + *y; } -// =========================================================== \ No newline at end of file +// =========================================================== diff --git a/build/firmware.bin b/build/firmware.bin deleted file mode 100644 index 58f8369d138118a5f80580d8b478c98b17a0db78..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 20692 zcmeIadstIf+BmxQB^Mw{AXYJ;?qq`^@e;rb-s28zk*HX0I~F_N1W>z!ZH?NC?Ofcb zt)RW2u~UU!9JL*-b&641Y0D&vZLOo7q-qBhN7U8`wA0N^b^ytFSAf>}&iS6_JAa(# z_j}IolV|O9d)K?xde?hfmx#QGd6Glwszjvz7(z9KPa)JmK>z8V2g*+Nm)Ao4IfN?Q z_P-gPiT&@x{&#Wyzk&Nt)A_gTZ)A0gwo0*p-H={Q+jK|i><`{Mi$<;xRBr3|VkTL{h2Psy}enf4|NR@vwbbvA?$ zQ*%e&Jks{tW4Y~ToS0q|pM4B5&^9JlA~dy)NK5jk0aLA9Le$DH6KF!ck1$Zpo9NSW zN!bM`-CZ@4o<0gcV?8z6{VE@2$tJKMN!aq0WP$Tq$J!JOFc`5z_$l z#G^Cc8mI9*z@wx|f;ToP)3{*X-O$>-+zAiEmjGrppWBqQ2sJN47VQ=& zrTLekRKpwGdpP~I4`gIUDT!Clc?csiqU5-%XzWD~VhE;;d%(Ykd!W9W`@n+?gduh9 zWV=+83w@ssRC5~sgl8rXtu5CBn3912GW-}I49x+QeCsNdq+J2pA~6(lR-Lm}2GQaJ zZlYUp7v{WprFHxeMf2#a@$Lu25n^SKMA_D3K~kG$9{(=ad1dDFsGI1(^cc#c(KCe~V@GE) zVS2m^Gf(1Qfte5D&Ct6=@ucwVlH4^Icv(zvzJC9OE4Nzpfu8$&#MB*+^3lz}; 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