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3( 3( 3( 3( 3( 3( 3( 3( 3( 3( 3(!3(!3(!3(!3(!3(!3(!3(!3(!3(!3(!3(!3(#3(#3(#3(%3(%3(%3(%3(%3(%3(%3(%3(%4(%4(%4(%4(&4(& 4(& 4(&4(&4(&4(&4(&4(&4(&4(&4(&4(( 4(("4(($4(*&4(*(4(**4(*,4(*.4(*04(*24(*44(*64(*84(*:4(*<4(+>4(+@4(+B4(+D4(+F4(+H4(+J4(+L4(+N4(+P4(+R4(+T4(-V4(-X4(-Z4(/\4(/^4(/`4(/b4(/d4(/f4(/h4(/j4(/l4(/n4(/p4(/r4(0t4(0v4(0x4(0z4(0|4(0~4(04(04(04(04(04(04(=4(=4(=4(=4(?4(?4(?4(?4(?4(?4(?4(?4(?4(?4(?4(?4(@4(@4(@4(@4(@4(@4(@4(@4(@4(@4(@4(@4(C4(C4(C4(E4(E4(E4(E4(E4(E4(E4(E4(E4(E4(E4(E4(F4(F4(F4(F4(F4(F4(F4(F4(F4(F4(F4(F4(O4(O4(O4(Q5(Q5(Q5(Q5(Q5(Q 5(Q 5(Q5(Q5(Q5(Q5(Q5(R5(R5(R5(R5(R 5(R"5(R$5(R&5(R(5(R*5(R,5(R.5(U05(U25(U45(U65(U85(W:5(W<5(W>5(W@5(WB5(WD5(WF5(WH5(WJ5(WL5(WN5(WP5(XR5(XT5(XV5(XX5(XZ5(X\5(X^5(X`5(Xb5(Xd5(Xf5(Xh5(Zj5(Zl5(Zn5(Zp5(\r5(\t5(\v5(\x5(\z5(\|5(\~5(\5(\5(\5(\5(\5(]5(]5(]5(]5(]5(]5(]5(]5(]5(]5(]5(]5(_5(_5(_5(_5(a5(a5(a5(a5(a5(a5(a5(a5(a5(a5(a5(a5(b5(b5(b5(b5(b5(b5(b5(b5(b5(b5(b5(b5(d5(d5(d5(f5(f5(f5(f5(f5(f5(f5(f5(f5(f5(f5(f5(g5(g5(g5(g5(g6(g6(g6(g6(g6(g 6(g 6(g6(i6(i6(i6(k6(k6(k6(k6(k6(k 6(k"6(k$6(k&6(k(6(k*6(k,6(l.6(l06(l26(l46(l66(l86(l:6(l<6(l>6(l@6(lB6(lD6(nF6(nH6(nJ6(nL6(nN6(pP6(pR6(pT6(pV6(pX6(pZ6(p\6(p^6(p`6(pb6(pd6(pf6(qh6(qj6(ql6(qn6(qp6(qr6(qt6(qv6(qx6(qz6(q|6(q~6(s6(s6(s6(u6(u6(u6(u6(u6(u6(u6(u6(u6(u6(u6(u6(v6(v6(v6(v6(v6(v6(v6(v6(v6(v6(v6(v6(y6(y6(y6(y6(O (O  (Q  kRkRkRkRkRkRkRkRkRkRkRkRkRk!Rk!Rk#Rk$Rk'Rk(Rk*Rk*Rk+Rk,Rk-Rk/Rk/Rk0Rk1Rk2Rk4Rk4Rk5Rk6Rk7Rk9Rk9Rk:Rk;Rk<Rk>Rk>Rk>Rk?Rk@RkARkARkARkARkARkAR.R0R2R4R6R8R:RR@RBRDRFRHRJRLRNR!PR"RR$TR$VR%XR&ZR'\R)^R)`R*bR+dR,fR.hR.jR/lR0nR1pR3rR3tR4vR5xR6zR8|R8~R8R9R:R;R;R;R;R;R;R`QbQdQfQhQjQlQnQpQrQtQvQxQzQ|Q~Q Q Q Q$Q$Q$Q$Q$Q&Q&Q&Q&Q'Q'Q'Q'Q'Q(Q(Q(Q(Q(Q(Q*Q*Q*Q,Q-Q.Q1Q2Q2Q2Q2Q2Q2Q Q3 Q3 Q3 Q3 Q3 Q3 Q3 Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3Q3R3R3R3$R3$R3$ R3$ R3$R3$R3'R3)R3*R3+R3-R31R32R33 R34"R34$R34&R34(R34*R34,R3\ Sh\ Sh\ Sh\ Sh\ Sh\ Sh\ Sh\ Sh\ Sh\ Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\Sh\ShJOLONOPOROTOVOXOZO\O^O`O bO dO fO hO jO lO nO pO rO tO vO xO zO |O ~O O O O O O O O O O O O O O O O O O O O O O O O O O O OOOOOOOOOOOOOOOOOOOOO N N N N N N  N !N !N N N N N N NDNDNENENHNININLNMNPNN{N{N{N{N{N{{N{{N{{#N{{$N{{'N{{(N{{*N{{.N{OOOOO O OOOOOOCODOEOKOL OM"O$O&O(O*O,O.O0O2OR4O6O8O:OO@O BO!DO!FOWHOhjlnprtvxz|~!!!!!!!!!!!!!!!!#####%%&&''(())11vvvvvvvvvv w w w w w y y y y y y y y y y y |" |$ }& ( * , . 0 2 4 6 8 : < v> @ B D F H J L N P R T V X Z \ ^ ` b d f h j l n p r t v x z | ~                                                                                  " $ & ( * , . 0 2 4 6 8 : < > @ B D F H J L N P R T V X Z \ ^ ` b d f h j l n p r t v x z | ~                                                                                                "  $  &  (  *  ,  .  0  2  4  6  8  :  <  >  @  B  D  F  H  J  L  N  P  R  T  V  X  Z  \  ^  `  b  d  f  h  j  l  n  p  r  t  v  x  z  |  ~                                              " " $ $ % % % % % % % % % % % % % % % % % ' ' ' ' ' ' ) ) ) * * % % % % % % / / / 0 3 3 3 3 3" 3$ 3& 4( 4* 4, 4. 40 42 44 46 48 4: 4< 4> 4@ 4B 4D 4F 7H 7J 7L 7N 7P 7R 8T 9V 9X 9Z :\ :^ ;` Bb Bd Bf Bh Cj Cl Fn Fp Fr Ht Hv Hx Jz J| L~ L M M M M M M M M M M M M O O O O O Q Q Q R R M M M M M M M M W W W X \ \ j j j l l l l l l l l l l l l l l l m o o o o q q q r r r r r r r r r r r r s t t t t t t" t$ t& t( t* t, t. t0 t2 t4 t6 t8 t: t< t> t@ tB tD tF tH tJ tL uN zP zR zT zV |X |Z |\ }^ }` }b ~d f h j l n p r t v x z | ~                                                                    "$&(*,.02468:<>@BDFHJLNPRTVXZ\^`bdfhjlnprtvxz|~   "$&(*,.02468:<>@BDFHJLNPRTVXZ\^`bdfhjlnprtvxz|~    " $ & ( * , . 0 2 4 6 8 : < > @ B D F HJLNPRTVXZ\^`bdfhjlnprtvxz|~               &&&&&&&&'''''''''(((((++++++++++++++,,,,,,+++++ + ++00333333 3"3$5&7(7*7,7.70727476C8C:C<C>C@CBFD:F:H:J:L:N:P:R:T:V:X;Z=\=^=`=b=d>f@h@j@lAnNpNrNtNvOxOzO|P~PP!!!TTTTTTTTTTUUUUU00000NNNNNNNNNNNN3333333333  CCCCCC "$&(*,.02468:<>@BDFHJLNPRTVXZ\^`bdfhjlnprtvxz|~            :::::::::::%%%%%%%%%;+;+;+; +; +}1}1}1}1}1}1}1}17 7"7$7&7(7*7,7:.=:0=:2=:4=:6=:8=::=:<=>C@CBCDCFCHCJILINIPIRITIVIXOZO\O^O`UbUdUfUhUj[l[n[p[r[PtaPvaPxaPza0|g0~g0g0g0g0g0gmmmmmmmmmmmmmmsssssssssssssyyyyyyyyyyyyyBBBBBN N NN}}}}}((( ("($(&(((*C,C.C0C2C4C6C8:<>@BD%F%H%J%L%N%P,R,T,V,XZ\^`bNdNfNh(j(l(n(p(r!t!v!x!z!|!~FTHT JTLTNTPTRTTTVTXTZT\T^T`TbTdT"fT$hTlP=nP=pP=rP=tP=vP=xP=zP= |P= ~P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P= P=P=P=P=P=P=P=P=P=P=P= P= P= P= P= P= P="P="P="P="P="P="P=iTiiTiiTiiTiiTiiTiiTiiTiiTiiTiiTiiTii Tii"Ti.fileg.eofk.file gconfig1 config2 2 channel .eofk.fileg ,  bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 .eosf , '1.  data .eosf , .1.  data .eosf', 5allbits 1.  .eosf., <allbits 1.  .eosf5-  fm"  w" '6 .6 5}4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 7 =/ e3 07 6 6 6 6 0 2 t/ control .eosf< ptr< , r+  7 . / .eosff, {allbits 1.  mode f.eosfr, allbits 1.  .eosf{, allbits 1.  .eosf, allbits 1.  .eosf, allbits 1.  .eosf,  2 p4 r2 {2  5 5 1 1 2  2 2 $2 02 <2 H2 T2 `2 l2 x2 2 2 2 c4 T4 reserve<.eosf ptr A3J3S3\3.eofk.fileg temp pwm_13 pwm_14 pwm_15 pwm_16 odata odatabufr1 channel .eofk.fileg1buttondegreesdegrees/.eofk.file gtxdata< rxdata - # )  w) `% & + .eosf5mainT!.bfTe.bbTd .bbTd*.bbTd0.bbTd5.ebTd7.ebTd8.ebTd;.ebTd<.efDTe<.eofk.filegc .eofk.fileg.eofk.fileg&.eofk$&!*!$'!*&! X0!.fileg\.eofk.file gconfig1 config2 2 channel .eofk.filego lrlr.eofk.fileg , Abit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 .eosf-, H1. -data .eosfA, O1. -data .eosfH, Vallbits 1. -.eosfO, ]allbits 1. -.eosfV-  m" Aw" H6 O6 V}4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 7 =/ e3 07 6 6 6 6 0 2 t/ control .eosf] ptr] , +  7 . / .eosf, allbits 1. -mode .eosf, allbits 1. -.eosf, allbits 1. -.eosf, allbits 1. -.eosf, allbits 1. -.eosf,  2 p4 2 2  5 5 1 1 2  2 2 $2 02 <2 H2 T2 `2 l2 x2 2 2 2 c4 T4 reserve<.eosf ptr A3J3S3\3.eofk.fileg temp pwm_13 pwm_14 pwm_15 pwm_16 odata odatabufr1 channel .eofk.filegpwmtarget actual / 3  3 .eofk.fileg1buttondegreesdegrees/.eofk.fileg + + + + .eofk.fileg{ @1@1 .eofk.filegdelaytime_msdelaydelay.eofk.filegcfbuffmtapfmtapbuffmtfmtffmtffmtapssf.eofk.fileg\ " !,|.bf e9=.bb d:1.eb d>.ef e>! !<3<3.bf eQ.bb dRpPort_B d$ .bb dZF.eb d^.bb d`J.eb dd.bb dfN.eb dj.bb dlR.eb dp.bb duV.eb d{.bb d}Z.eb d.bb dn.bb d`.eb d.bb dd.eb d.bb dh.eb d.bb dl.eb d.eb d.eb d.ef e* ! <;<;.bf e.bb d135delay5  . icnt .bb d.eb d.bb d1 %5 0.bb d1 .bb d.bb d .eb d#.bb d#.eb d&.bb d).eb d..bb d6.eb d:.bb d>.eb dB.bb dD.eb dH.bb dJ.eb dN.bb dR.eb dU.bb dU.eb dX.bb dZ.eb d^.bb db.eb de.bb de.eb dh.bb dj.eb dn.bb dv.eb dx.eb d~.bb d.eb d.eb d.bb d.eb d.eb d.eb d.ef& e$& !|.bf& e.bb d.eb d.ef& e__tmp_0+ 2.eofk.filegc .eofk.fileg.eofk.fileg&.eofk.fileg .eofk.fileg^.eofk.filegr.eofk+ DL!K!+*(C!)B!j&B!%|B!Putdata1!S ?!/R,servoO$p6I,R6H!HEADINGD% G.C% K% tK%Getdata1!STATUS PREINC1 BSR FSR2L FSR1L FSR0L PRODL ($ # i# #{#! "! PORTB INDF2 ?# INDF1 PLUSW2  $ txdata7"@"d"# # rxdata5AARGB3 AARGB2 AARGB1 AARGB0 1$ $ $ INDF0 TABLAT WREG # .fileg.eofk.filegs1s2n s1s2n s1s2s1s2n s1s2s1s2n s1s2n s1s2s1s2n sc n sc s1s2s1s2sc s1s2s1s2s1s2sc n ssss1s2n s1s2n s1s2n s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n sc n sc s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2sc n sss.eofk.filegconfig spbrgdatabufferlen datadata. config spbrgdatabufferlen datadata. .eofk.filegVportch_outdata portch_outlenportobufrlendata id .eofk.file~g , bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 .eosf-  1. data .eosf&- '1. data .eosf 0- .allbits 1. .eosf':- 5allbits 1. .eosf.D-  _m" w"  6 '6 .}4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 7 =/ e3 07 6 6 6 6 0 2 t/ control .eosf5 ptr5 , k+  7 . / .eosf_, tallbits 1. mode _.eosfk, {allbits 1. .eosft, allbits 1. .eosf{, allbits 1. .eosf- allbits 1. .eosf-  2 p4 k2 t2 { 5 5 1 1 2  2 2 $2 02 <2 H2 T2 `2 l2 x2 2 2 2 c4 T4 reserve<<.eosf ptr A3J3S3\3.eofk.fileg + + + + .eofk.fileg__tag_3 bit0 bit1 bit2 bit3 bit4 7 bp2006 tripped .eosf__tag_4 allbits 1. .eosf__tag_5 n% w% / data2 data3 data4 .eosfdataIn ! bpFlags N- Y<portId wtCount wtbufrwtBufr<<PP=7T myRCREGUmyTXREGW.eosfYdcb 8- I5 2< dcbPtrY%6!<P#<.bf6eEdcbPtrY.bb6dF .eb6dK.ef6eK!6!< %< %.bf6eT.bb6dUflush .eb6d~.ef7e~dcbPtrY7!<@*<.bf7e-dcbPtrY.bb6d&.eb6d.ef7eport7!<p+<p+.bf7eAport.bb6d;.bb6d5.eb6d.bb6d9.eb6d.eb6d.ef8eport8( 8!<-<.bf 8eVport.bb6dO.bb6dI.eb6d.bb6dM.eb6d.eb6d.ef<8edcbPtrY>8!<P/<.bf>8emdcbPtrY.bb6de.bb6d_.eb6d.bb6dc.eb6d.eb6d.eff8edcbPtrY$h8!<0<0.bfh8e~dcbPtrY.bb6dx.bb6dv.eb6d.eb6d.ef8edata  8!<@5<.bf8edata .bb6d / .bb6d .bb6d.eb6d.bb6d.eb6d.eb6d@.eb6dA.ef9eA9!<;<;..bf9eK.bb6dL.bb6dN.eb6dR.bb6dW.eb6dd.eb6dh.ef:eh':!< >< >.bf:eu.bb6dv.eb6dx.ef:exportch_outlenX(:!<@><@>.bf:eportch_outlen.bb6ddcbPtr Y.eb6d.ef:eportobufrlenK(:,<B<Bz.bf:eportobufrlen.bb6d.eb6d.efP;eportch_outj(R;!<G<.bfR;eportch_out.bb6ddcbPtr Y.eb6d.ef;edata ';!<K<K.bf;edata .bb6d.bb6d.eb6d.eb6d.ef<e#<,<@N<.bf<e.bb6d.eb6d.ef*<eid  ,<,<N<.bf,<e<id .bb6d'. retn .bb6d.eb6d.bb6d .eb6d .bb6d.eb6d.bb6d.eb6d.eb6d.ef$=e__tmp_0+ 2<.eofk.filegr.eofk.fileg.eofk.fileg&.eofkU#.R!J#R!5NbFSR2L ($ FSR1L "! PLUSW2 FSR0L $ INDF0  $ INDF1 RCREG1 TXREG1 RCREG2n TXREG2m -! )INDF2 # ?!.)#i# {#$ $ $k PRODL txdataAARGB1 AARGB0 BARGB1" BARGB0# J K!AARGB3 AARGB2 TABLAT WREG .fileg .eofk.fileg , nbit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 .eosfZ, u1. Zdata .eosfn, |1. Zdata .eosfu, allbits 1. Z.eosf|, allbits 1. Z.eosf-  m" nw" u6 |6 }4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 7 =/ e3 07 6 6 6 6 0 2 t/ control .eosf ptr , +  7 . / .eosf, allbits 1. Zmode .eosf, allbits 1. Z.eosf, allbits 1. Z.eosf, allbits 1. Z.eosf, allbits 1. Z.eosf,  U2 p4 2 2  5 5 1 1 2  2 2 $2 02 <2 H2 T2 `2 l2 x2 2 2 2 c4 T4 reserve<U.eosf ptr A3J3S3\3.eofk.fileg _entry!U0U.bfe .bbd.ebd .efe -jT!U`U`.bfjTe#*.bbjTd$%.ebjTd8.efTe8-N!U`U.bfNeKU.bbNdL3prom_/ i/ /.ebNd.efNe.eofk.fileg.eofk.fileg&.eofk+loopzT+Ttest.NG/NQ/N/NdoneN+NmainT!&=!_stackTBLPTRL FPFLAGS&_cinitTBLPTR TABLAT FSR0L $ .filegb .eofk.filegconfig spbrgdatabufferlen datadata. config spbrgdatabufferlen datadata. .eofk.file'gM(6 ;. 5 / rdptrlength wrptr(6 ;. 5 / rdptrlength wrptr.eofk.file.gconfig1 config2 2 channel .eofk.file6gconfig config config config config .eofk.file@gconfig timer0config timer1config config timer3.eofk.filegs1s2n s1s2n s1s2s1s2n s1s2s1s2n s1s2n s1s2s1s2n sc n sc s1s2s1s2sc s1s2s1s2s1s2sc n ssss1s2n s1s2n s1s2n s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n s1s2n s1s2n s1s2n s1s2s1s2s1s2s1s2n s1s2n s1s2n sc n sc s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2s1s2sc n sss.eofk.fileg<period/2 n3 period/2 n3 period/2 n3 period/period/.eofk.fileg + + + + .eofk.fileg , cbit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 .eosfO, j1. 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