DL-2020-05

["??????????? Off On \/mA \\\\V k ?????? ???????????? ???? ??????? ?????? ?????????? ???? ??????? ?? ?????????? ???? ?????? ??????????? ????- ????? . ????? - ????? ?????? ??????. ??????????? ?????????? ? ?????: ??????? 0-30 ?, ??? ????? ??????? 10 ?, ? ???????????? ??????? ?? ????, ? ? ????????? ??????????? ?? ?????????? 0.1 ?. ? ??? ??????, ????? ? ?? ????? ?????. ????????? ?????????? ?????? ???? ?????- ??? , ?.?. ??????? ?????????? ??????????, ?????? ????????. ????????????? ????- ????? ?????????? ? ??????????? \u2014 ???????????. ??? ????????? ????????? ?????? ???? ??????? ???????? ????????? ?????????- ?????? ?????????? ?? ??, ? ?????????? ?? 199 ? ? ????????? 0.1 ? ? ?? 20 ? ? ????????? 0.01 ? (????? ? ??? ????????? ????????). ??? ?????????? ?????????????? ?????????? ????? ???????????? ??????? ?????- ???????? ? ???????? ????? ?????? 6 ?, ????????????? ???? ? ???????????, ? ??? ??????????? ?????? ??????? ?????????? ???????????. ? ??? ?? ??????, ?? ????? ????? ????????? ? ???????? ?????? ?????????????? (30 ? * 10 ? = 300 ??) , ?? ????? ??? ???? ???? ??????????? ? ???????????? ?????????? ????? ???????. ???????????? ?? ????????????, ?????, ??? ?????? ????????? ?? ??? ???? ???, ? ???? ? ????, ?? ????? ??????. ? ????? ? ???? ?????? ????? ??????????? ??- ?????????? ???????????? ????? ???????, ???? ?????? ? ?????? 1?????? ????????- ?????. ???? ???????? ????? ?? 350 ??, ??? ??????? 22 ? ?? +5? ????? ? 16 ? ?? 12?. ???????????? ?? ????????? ????? ????? ?????????????? ?????? ?? ?????? ????????????????? ?????????? ??????. ??????? ????? ???????? ? ???? ????? ? ????????? ????? ???????????????, ??? ????????. ? ??? ??????????! ??-????? 3 ????? ???? ?? ?????? 35 ?, 10.6 ?.","????? ?????? ??????: ????? ???????????? ?????????. ?? ???? ??????328 ??? ????? ????????, ?? ????... ???????? ?? ??????? ????????? ???? ?? 2 ???? ?? 12 ??? ? ????????? ?????????????? Arduino DUE ? ???? ?? ?????, ? ??? ?? ??????? ???-?? ????????? ?????, ????? ??? ????? ? ??????? ? ??????? ????? ?????? ??- ??????? ??? ??????? ? ???? ???????, ?????? ? ??????. ?????????? ?? ???????? ???????? ?????. ??????? ?? ? ????? ????, ?????? ??? ?????? ??????: ?\u2122 ?? ?? ? ?. ? 5-4\u2014+ lh ?? ZJ ID **- ? 24~* ? ?\\\\ ?. dt or -iu-fr- ? <j ???????????[ 2?| > ? ?, ?< ?. $ ? -1' ^ ^ ^ ^ ^ ? ^ ? ???? . II ? '+ CL 33 ?\u00bb << ? ? ? '? ?? ????? ??????? ?? ?????????? ?????????????? ??????: ??? Arduino, \u2022 ????? ?????? ??????? ???, \u2022 ???? ?????????? ??, \u2022 ???? ????????? ??????????","\u2022 ???? ????????? ?????????? ???????? ?????, \u2022 ???? ??????????? ?????????? ?? ????????? ????. ???? ?????????? ??: ? ??????????? ?? ????????? ????????????? ?????????? ??- ????? ???????? ????? ????? ?????????????. ?????????? ??????????? ?? ???????- ??? ?????, ?? ??????? +3 ? ??????? ?????????. 3 ? ???????? ?? ?????????? ??- ??????? ?????????? ? ?????? ??????? ???? ^1.2 ? ??????? ?????????? ?? ??????- ??? ??????????? ???? ?? ??????? ?????. ???????????? ??????????????? ???? ???- ?? ?????????? ??? ??? ???? ???? ???????. ????????, ????? 24 ? ???? ????????- ???? ??? 3 ????? ??????? ? ?????????? ????? ?? +5 ? 3-?? ? ???????, ??? ???? ?? ?????????? ????????? ??????????? VT1 +29 ?, ??? ????? ??????????? ???????- ??? ???????? ???????? ???????????. ???? ????????? ??????????: ?????????? ?? ???????????? ????????? 0?1. ?? ??- ? ???? ?????????? Rail-to-Rail, ???????????, ? ??????? ??????????? ???????, = 0.54 ?????? \u2014 AD823. ?????? ????? ??? ??????? ????? ???????? ??????? ????? ?. ?? ???? ???? ?? ??????? ?????????? ?????? = 0, ?? ?????? ??-????? ????? ?????????????? 0.54 ?. ?? ??? ??? ?? ??????????, ?.?. ?? ????????? ? 0, ? ??- ???????? ???? ??????? ???????????? ? 0. ??????? ???????? ???????????? ????- ???? R1, ?????????? ??????????. ? ????????? ???????????? ?? -5 ?, ?????? ??- ??????????? -5 ? ????? ????? ???????, ???????????? ????? ?????????????? ????- ??????? ?????? ??????? ??????????, ?????????? ??? ?????????. ????? ?? ?? ??- ????? ???????? ?????? ? ?????? VT1, ??? ??????? ????? ?? ??? ????????????? ????????? ?????????? ? ??????????? ?? ???????? ?? ??????. ? AD823 ??????????, ??????, ?? ?????: ???? ?????? ?? ???1, ?????? ????? ?? ?? 0 ?? ?????. ???? 1.5 ? ?? ?????????, ???????? ?????? ??? ?????????? ? ???- ?? ??? ?????????? ???????. ??? ???????, ??? ??? ?????, ???????? ??????? ??? ??????? ????- ?????? AD823 ??????? ? ????? ????????. ??? ?? ?????? ? ???????? ???, ????? ???, ???????? ?... ??? ????? ?????????? ??? ???? (??????? ??? ???- ????? ???????? ????? (???????? ?????, ?????? ????????): ??\\\\ - ?1 (>\u2022 <? ? ?. col ?\u00a9 \u2022 OOI ?? ????? ????????? ?????????? ???????? ?????. ????????? ??????? ???? ????????- ?? ??? ?? ??????, ?? ? ??????? ?????????? ????, ???????? ?? ????? ?????. ??- ????? ???????? 0?2, ???????? ??? ???????? ?????????? ??????? ?????. ?????? ?? ?????????????? ????? ?? ??????? ???????? ???????????? ??????????????. ?????????? ??? ??????????????, ? ?????? ???? ??????????? ????, ?? ???????- ????????- ???? 0?2. ????????? ??????????, ??????????????? ???????????? ????, ???? ? ???????????, ????????????? ??????????? ?????????????? ? ???? ??? ???? ?????????? \u2014 ???????????? ??????????? VT2, ? ??? ?????????? ?? ???? ????????? ???????????, ?? ????, ???????? ?????. ? ?????? ??? ???????? ???:","?????? ? ????, ?????? ? ???????? ????? ? ???? ????????. ??? ??????: ? ???- ??? ????? ???????? ?????. ? ????? ??? ??????? ????, ? ??? ?????????, ?? ????? ? ????? ?????????? ?????, ? ? ???????? ??????. ???????, ?? ????? ?????, ??- ????? ? ???????? ?????? ???????????? ?????? ??????? ? ????? ????????, ????? ????? ?????????? ?? ?????????????. ???? ???????? ? ????????. ????????????? ?? ??? ???? ??????: ? ?????? ??????? ????????? ????????, ???????? ?????????? ??? ?? ?????, ??????????? ????? ????? ?????????? ???????????? ????. ??? ???? ??- ?????? ?????? ?? ??, ?? ???? ? ????? \u2014 ?????????? ???????? \u00ab?????? ???? ? ???\u00bb. ???????, ??? ???? ??? ????????? ?? ????????. ? ????? ? ???? ????????? ??? ????? ???? ???????:","??????? ?? ??????? ????? ??????? ? ??????? ????. ?????????? ?????? ?????? ??????? ???????? ?? 2-? ??????? ?????????. ??? ??????? ??????? ?? ???????? +5 ? ? ?????????? ??? ???? ????? ? ??????. ? ??????? ?? Power_Good, ? ?????????? ??? ???? ???????????? ? ????????. ? ???? ??????? ????????????? ???????? ????- ???????? ??????? ???????? ?????????? ? ???? ? ????? ???????? \u2014 ???????? ? ??????? ? ???????. ????????? ?????? ?????????? ???????? ?????????, ??????? \u2014 ????????? ?????? ??-?????. ?????????? ????????? ??????????????? ??????????, ???????? ??????? \u2014 ???\/???? ????????, ??????? \u2014 ????? ?????? ????????? ??????????\/????????????? ????????? 12.5 ????. ??? ? ?? ?????. ??????? ? ????? 15 ? ?????????. ??????? ?? ?????????? \u2014 ?? ??? ????, ? ??????? ?????? ??????? ?? ????? 500-? ???????, ????? ??????? ? ?? 20 ?. ??? ?????? ?? ???? ????????? - ???????? ??????? ? ?????????? ??????, ???? ????? ?????? ?????? ??? ???????????? ?????????? ????? ????????? ????????? ??- ???????? ?? ??? ???????? ????? ? ??????????? ???????? ???????????. ??????????, ???? ????. ?????????, ??? Arduino DUE ??? ????????? ????? ???- ???????? ??????? ????? ?? ?????? ????????? ?????????. ?? ???? ???????? ?????, ?????? ??? ?????? ?????? ??????????? ???? ?????????, ? ? ????? ??????, ???? ?? ??????? reset. ? ??? ?? ??????, ?? ?????? ??????? reset ???????? ????????? ??????????????. ??????? ??????????? - ?????? ????????????????? ??????????? ?? 22 ??????? ??????????, ??? ? ????????? ??????. ? ??????? ?? ?????? ???????, ???? ???? ????? ???- ?? ????????????, ??????????? ?????? reset. ??????? ????????, ?????- ?????? ?? ??????. ??-???????? ???? ???????? ?? ??? ????????? ??????? ??????????? ? ????????- ???? ???????? ??????????? ? ??????????? ?? ???????????, ?? ???? ???? ???????? ? ?????? ?????????? ???????? ??????????? ?? ??????-?? FSPuuioro ????? ???????. ??? ???????? ?? ????? ??? ???????? ????? ? ?????? ?????????? ?? ?????? ??- ??????? ????, ? ??? ?? ???????? ????? ?? ??????, ???? ?????????????? ???????- ?????? ????? ???????????? ?????????? (?? ??????? ??????????? ?????? ???????- ??? ? ???????? 0.1 ?). ? ??? ?????? ?????? ? ????????????? ????????? ?? ????? ????????????? ?????- ?? ???-?? ?? ??????.","???????? ??????????? ???? Yann Guidon ???????? ??????????? ????, ?? 5 ??? ?? 20 ??, ??????????? ??????1 ??? ??????? ???? ?? ?????????? ????????????, ???????, ??? ??- ??????, ??????????? ?????. ?????? ?????????? ? ???? \u2014 ???????? ?????? ??????? ??????? ?? ?????? ??????? ????????????? ????????- ???????- ??, ??????? ???????? ??????? ???????? ????? ??????????. ??? ???????????????? ?????????????? ? ?????????????? ?????????- ???? ???????? ????????? ??????? ????????? ?????????? ??????????, ???????????? ??????????? ?? ????? ????????????????. 1 https:\/\/hackaday.io\/project\/20895-ygrec-ecl\/log\/148797-moving-forward","?????????? ???????? ??????????? ????2 ??????? ???: +9V ?? ?? ?? ?? Q??C ?? j?2 ?????? ??559? ? ?1 ??559? ???^ N\/ 0V ????????????? ????????? R1 ??????????, ????? ??????, ????? ??? ???? ??????- ????? ?1 ????????? ???????? ???. ??????????? ???????? ???? ??????????? ??559? \u2014 ????? 500, ??????? ?????? ??????????? ???? ? ????????? \u2014 20 ??, ??????, 200 ??? ????? ???? \u2014 ????? ??? ??????????. ???????? ? 10 ??? ????????? ????? 1 ?? ??? 10 ?, ? ????????, ????? ????????? ??? ???? ?? 50 ???. ??????????? ?1 ? ?2 ?????? ???? ???????????, ?? ??? ??????? ????? ????????? ?1 ??? ????? ????? ??????? \u00ab????????\u00bb ??-?? ?????????? ???????. ???, ?????????? ??????????? ?? ??????? ????, ???????????? ????????? ?????- ????????? ?????????? R3 \u2014 R5. ?? ???????: R3 \u2014 ??????????? ???? ? ??????, ??- ?? ??? ?????????? ????????? ????????? \u00ab? ????\u00bb, R4 \u2014 ?????? ??????????? ????, R5 \u2014 ??????. ??? ?????????????? ?? ??????? I = 0.7\/(R3+R4+R5), ???????, ????????, ???? ???????? R3 ????? ?????????????? ? 27 ??, ??????? ???? ?????? ??????????? ???????? 0.7\/27 = 25,9 ??. ?? ???????? ?????????? ??????? ?2 21,6 ??, ????????? ?????????? ?? ??????????? ????????? ?????? \u2014 ????? 0,6 ?. https : \/\/www. you tube. com\/watch?v=AsSRFWnn9dA&feature=emb logo","?????? ????? ??????????: +9V ON\/OFF >?2 CURRENT LIMIT ??559? ?1 ??559? \u00a9D\u00a31 ISPLAY \\\\w BYPASS ? ,0 ? \\\\? OX1-2 OX1-1 \u00ab?????\u00bb ?????? ???????? ??????????? ????, ??? ???????? AAA \u2014 ?????????????- ??? ??????????????. ??????? ??????????? ??????? ???? ? ????? ????????? ??- ?????????? ???????? ?????????. ????????????? S1 ????????? ????????? ??????? ?????? ? ???????? ???????? ???? ?????????, ????? ????????? ??? ???????, ?? ?????. ??????????? ? ???????????? ????????? ?? ???????? ?????????? ??????????: ???????????? ??? \u2014 21,6 ??, ???????????? ??? ??? \u00ab??????\u00bb ??????????, ?????????? \u00ab? ????\u00bb \u2014 0,3 ??, ????- ??????? \u2014 4,7 ???. ??????, ?????????? ?????????????? ?????? 10 ??? ?? ??????- ????, ??????? ??????? ?????? ????? ? ?????????????. ???????????? ??? ???????? ??????????? ?????????? ??? ????????? ?????????? ?? ??????? ???? ?? 0 ?? 8 ?. ?????????????? ?????? ?? ??????????? ? ?????????????? ????????????? ?????- ???- ??? JT-033A ????? Shenzhen Jingtengwei Industry: ????????????? ??????? ???, ?????? ???? ?????? ?????????, ???????????? ??? ?????? ???????? ? ?????? ????????? ????.","???????????? ??????????? ? ??????? ?????????:","??????? RT ??????? ?? RASPBERRY PI Bob Davidov Dr. ?????? ????????? Raspberry Pi (RPi) ???? ??? ?????????? ?? ?????????? ???????????? ?? ????????? ? ?????????, ??? ????, ??????? ???????????? ?????, ???????????- ??? ??????????? ?????????? ? ??????? ????? ? ??????? ???????????? ??????? ????????? ??????????? ????????? ??????????? ????????? ?????????? ?????? ?????????? ?? ???? ?????????????? ????????? RPi. ??? ???????? ????? ???????? ????????????? ????????? ?????? ?????????? ??????? ????????? ??????? (RT ???- ????) ? Linux ????? Raspberry Pi, ? ?????, ??????? ?????????? ?? ???????????- ??????????, ???? ??? RT ?????? ? ?????????? ??????? ??????? ?? ????? ?????- ??????? ??????????? ???????. ? ?????? ???? ?????? ????????? ????????? ???????: \u2022 ????????? ? ???????? ??????????? GNAT ??? Raspberry Pi \u2022 ??????????? USB-????-?????????? ? ?? Raspbian \u2022 ??????????? ??????????? ??? RPi GPIO ?????????? Raspberry Pi \u2022 ??????????? ? ????? 12? ???????? \u2022 ?????????? ?????????? ???????????? ??? ????????????? ??????????? ??????? \u2022 ??????????? ?????????? ????????? ??????? Raspberry Pi \u2022 ?????? ? ??????????? Raspberry Pi ? ?????? ?????????.","\u2022 ?????????? ??? ? ? ??????????? ???????. \u2022 ?????????? \u2022 ???????? ? ??????????? ??????????? ??? RPi. \u2022 ???????? ????????????????? ??????? ??????????? ? I2C ???????????. (????????? \u2022 ?????????? ????????????????? ?????? ????????? ??????????????? ?????????? ???????????). RT ???????? ??????? ????????????????? ?? ???? Raspberry Pi. ???????? USB USB-????-?????????? ??????? 5B ^\\\\ 1% \/^SD ????? ???????? GPIO ?* _ . PDi. 'usb Raspberry ???? -220? ????????? P Raspberry Raspberry Pi ?????????????","????????? GNAT ?????????? GNAT ????? ?????????? ? ????????? ???????. ???????????? 1. ?? ?????????? Raspberry Pi, ? ????????, ???????? ?????? ??- ??????????. $ sudo apt-get update 2. ??? ????????? GNAT ??????? ????????? ??????? $ sudo apt-get install gnat 3. ???????? ?????????? ? ??????, ????????, ada $ sudo mkdir \/ada 4. ????????? ?????? ? ????????? ?????????? $ sudo chmod 777 \/ada 5. ????????? ? ????? ada $ cd \/ada 6. ? ????????? ????????? ???? ???????? ????, ????????, hello.adb $ nano hello.adb 7. ???????? ???????? ????????? ?? ????? Ada. with Ada.Text_IO; use Ada.Text_IO; -- Print a message out to the screen. Procedure Hello is from Ada!\\\"); Begin (\\\"Hello Put_Line end Hello; 8. ???????? ???????? ? ??????????? ?????????: <Ctrl + ?> ????? Y 9. ????????? ???????? ?????????? $ Is ??????? ????? 10.?????????????? ?????????. $ gnatmake hello 11. ???????? Is ????????? ?????????? ???????? ????????, ? ??????? ????????- ??????. ??? ????? ?????????? ??????? ????????????? ? hello.adb ??????? ?????: hello.ali hello.?","hello - ??????????? ???? 12. ????????? ????????? hello ?? ?????????? ? ????????? ?????? ????????? ?? ?????????? ?????????. $ .\/hello ??????????? ????-?????????? 1. ???????? USB ???? ?????????? ? USB ???? Raspberry Pi. ???? ??? USB ????? ? ??????, ?????????? RPi ??????, ????????, ??????????? ??? ??????????? ?????- USB ?????????? ??????????? USB ???. ????????? ?????? ? ?????? USB ???? ??????? ?????????? ???? ???? ? ???? ??? USB ?????. ??????????: Pi ????????? ?? ??????????? USB ?????????? ? ????? ??????????? 1. Raspberry 100 ??. ?? ????? 2. ?????????? ????????? ?????????? RPi ?? 4.75...5.25 ? ??????? ? ????????? ? ????????. 3. ? ?????????? ???????? ??????? ????????? ????? RPi: PWR ?? ?????? ?????? ????????? ?? ???????? ????????? ? ???? ???????. 2. ?????????, ??? ??? ??????????? ?????????? ? ??????? dev ?????????? ????? \/dev\/sda ? \/dev\/sdal. sudo Is \/dev\/sd* 3. ???????? ?? ????? UUID - ????????????? ???????? ??????? ??????????. $ sudo blkid \/dev\/sdal ?????, ????????: UUID=\\\"A4AD-0A93\\\" TYPE=\\\"vfat\\\" 4. ? ???? ?????? UUID = A4AD-0A93. ????????? ???? UUID. 5. ????????? ?????????? ???? ???????? ???? \/etc\/fstab $ sudo nano \/etc\/fstab","6. ???????? ? ???? ????????? ??????: UUID=A4AD-0A93 \/mnt\/usb auto defaults,auto,umask=000,users,rw,uid=pi,gid=pi 00 + X> ??- 7. ???????? ???????? ? ??????????? ?????????????????? ????? <Crtl ??? Y. 8. ???????? ????? ?????, ????????, usb $ sudo mkdir \/mnt\/usb 9. ????? ?????????? ?? ??????\/??????\/?????? ??????????? ?????? ????? usb $ sudo chmod 777 \/mnt\/usb 10. ???????? ?????????? ???? ?????????? $ sudo mount \/mnt\/usb $ Is \/mnt\/usb 11. ????? ????????????? ???? ?????????? ??????? ??????? umount. $ sudo umount \/mnt\/usb 12. ????? ???? ?????????? ??????? ??? ?????????????? ?????? ????? ????? ??????????? ?????????? ???????? ????????? ????????? (????? ???????). $ sudo sh -? fecho \\\"KERNEL==\\\"\\\\ sda\\\\\\\", RUN+=\\\\\\\"\/bin\/mount \/mnt\/usb\\\"\\\\ \\\" \u00bb \/etc\/udev\/rules.d\/99-mount.rulesf 13.????????????? ??????? $ sudo reboot 14. ?????? ??????? ?????? \\\"??????\\\" USB ???? ?????????? ????? ??? ????????- ??? ? RPi. ????????? ??? ???????? $ Is \/mnt\/usb ??????????? ??? RPi ? Raspberry PI ??????? ?????? ???? ????? ??? GPIO 18 (12-? ?????????? ???- ???? ???????) ??????????? ??????????? ??????????, ?????? ? ???????? ??? ???- ????? ?? ????? Python ?????????????? ????? ?????????? ??????? ? ??????? GPIO, ????????, WiringPi. WiringPi1 ? ??????? \/home\/pi\/ ??????????? ? ????????- ????????? ?????????? ?????? ????????? ??????: $ sudo apt-get install python-dev python-setuptools $ git clone https:\/\/github.com\/WiringPi\/WiringPi-Python.git $ cd WiringPi-Python 1 ftp:\/\/homelab.homelinuxserver.org\/pub\/arhiv\/2020-05-al.zip","$ git submodule update -init setup.py install $ sudo python \/home\/pi\/WiringPi-Python ????????: \u2022 ? ?????????? WiringPi ???????????? ???? ????????? ??????? GPIO. ???, ??- ???????? ??????? GPIO ??? ??????? 12 ????? ????? 1 ?? ?????? WiringPi. \u2022 ???????? ?????? 3.5 ?? ????? ??????? ???????? ????? ????? ??? - GPIO 18 (12-? ?????????? ??????? ???????). ??? ????????????? ???????????? ??- ?????????? ?????????? ??? ? ???????? ?????? ??????????? ???????? ?????? HDMI ??????????. ??? ????? ????????? ? ?? ??????????? ?????? ? ?????????????? ??????????, ????????, pizypwm, ?? ????? ???, ? ????????? ? ??????????, ????? ?????? ???- ????????? ? ?????????? ??????????? ?????? ?????????????? ????????. ??????????? 12? ???????? ?????? ??????????? AD7416 ? ?????????? ?????????????? ?????????, ??? ? 12? ????????? ??????????????: ??????????? ????? \u2022 ???????? ????????? ???????????: ?? ???? +2 ? ? ????????? -25...+100\u00b0?. +3 ? ? ????????? -55...+125 ?. ??????????? ???: 10 ?????????? ???????: 1\/4 ? ?? ??????? ???????? ??????? ??? ????? ?????????????? ???????????: ?? ????? 40 ??? ???????????? ??????? ?????? ???????: 1001000 1001111 (3 ?????) ??????? I2C ??????????: 400 ??? ?????????? ???????: 2 . 7...5 5. ? ???????????? ??????????? ???????: 1 ?? ????????? ?????????? ???????? ??????????? ??????????? (????? OverTemperature Indicator): ??????? \u2022 ?????????????? ???????????? ? ????? ??????????? ????????????????? ?? ????????? ??????????????: ??????? \u2022 AD7416 ???????? ?????????????? ???????? LM75 ? ??????????? ????????????- ???? ??????????: ??????? ??????????? AD7417 ? AD7418 ????? ????????????? 4-? 10- ????????? ??? ??? ????? ??????? ?????????? ????????. AD7416 sda[j[ AD7416 _. 2.7.. *5V Red\/Blue SDA 3.3 ? 12 Ground sclE SCL GPIO 2 34 GPIO 14 oti|T TOP VIEW a hi j GPI0 3 56 GPIO 15 l3lNU GPIO 4 78 GNP|+ Green 3A1 \u2014 Red\/Blue Ground 9 10 ?A* {\u2014 Address 1001001, from > 1001000 to 1001111. ????? ??????????? ??????? ??????????? AD7416 ? ????? GPIO ?????????? Pi. Raspberry","? ???????????? ??????? Raspbian ???? 12? ?????????? (?? ???????) ?????????. ??????? ????? ?????? 3 ? 5 ??????? GPIO ?????????? SDA ? SCL ???? 12?, ????- ?????? ????????? ?????????: 1. ???????? sudo nano \/etc\/modprobe.d\/raspi-blacklist.conf ???????? ???? ? ???????? blacklist spi-bcm2708 blacklist i2c-bcm2708 2. ??????????????? ?????? blacklist i2c-bcm2708 ?????????? # ? ?????? ????- ??. # blacklist spi-bcm2708. ??????????. ????? ?? ??????? ????? ?????????? ?????? ? ?????????? SPI. ??????? 3. ????????? ????????? (Ctrl-x) ? ??????????? ???????? ??????? sudo reboot 12? ??????, ????? ??????? ????????? ?????????? ??? ??????????? ?????????? ????? ????????? (0-?? ?\/??? 1-??) ?????????? ??????? ??????? ???????. sudo modprobe i2c-dev sudo chmod o+rw \/dev\/i2c-0 sudo chmod o+rw \/dev\/i2c-l ??????????. ??? ??????? ????? ???????? ? ???? \/etc\/rc.local ??? ??????????- ????? ????????????? 12? ?????????? ??? ???????? ??????????. ??? ???????????????? ?????? 12? ????????? ?? ????? Python ?????????? ???- ????????, ???????, smbus ??????? ??????????????? ???????? $ sudo apt-get install python-smbus ???????? 12? ????, ????????, 400000 ?? ????? ?????? ???????? cd dev -r i2c_bcm2708 && sudo modprobe i2c_bcm2708 baudrate=400000 sudo modprobe ??????? ??????? ?????? ??????? ???? ? ????????????? ?????, ? ???????? ???- ????? . ???????? ??????? 12? ???????? ????? ??????? ?? ????? ???????? dmesg. ?????????? ?????????? ???????????? ?????? ??????????? AD7416 ????? ?????????????? ???????????? ???????? ?????- ?????? ????????????? ??????????? ????????????? ? ?????? 0TI (??. ???. ????). T0ti ? THYst ?????? ?????????\/?????????? ??????????? ???????? ?????????? ?????- ????? ? ??????????????? ????????? ???????. ? ???????? ????????? ? ???????? T0ti ???????? ??????????? 80 ?, ? ? ???????? Thyst 75 ?.","BAND GAP 10*IT AD7416 TEMPERATURE ANALOG-DIGITAL SETPOIMT SENSOR CONVERTER COMPARATOR ADORESS TEMPERATURE FAULT POINTER VALUE QUEUE REGISTER COUNTER REGISTER i T0T, SETPCHNT #\u2014* REGISTER THy5TSETPOINT <?\u2014 REGISTER CONFIGURATION <\u2014\u00bb REGISTER SERIAL BUS INTERFACE ?????????????? ????? ??????? ??????????? AD7416. ????? ???????? (Read\/Write) ???????? T0Ti: ???????????: 00000 011 ????? ???????? (Read\/Write) ???????? THYst: 00000 010 ????? 00000 000 ????? 16-?????????? ???????? (Read) ???????? 00000 001 ????????????: ???????? (Read\/Write) D7 D6 D5 D4 D3 D2 D1 DO 000 ?????????? Comparator mode \/ Interrupt mode OTI ?????? Shutdown ?on *HV$T OTI OUTPUT COMPARATOR MODE OTI OUTPUT INTERRUPT MODE READ' READ' READ' READ' READ' READ' READ' ????????? ??????????? ?????? OTI ?????????? AD7416 ?? ?????????- ?? ? ?????? Comparator ? Interrupt. OTI ????? ??????? ????? ???????? ????????? ? ???????? ?????????? 0.8 ? ??? ? ?????? OTI ????? ???????????? ???? 4 ??. ??????????? ???????? (???????????) ??? ?????? - ????? ?????????- ????? ????????????? ????, ????????, PF240D25. (47...63 ??) ?? 280 ? ?????????????? ?????????????? ???? PF240D25 ???????????: ???? ??????? ???????? ????????? \u2022 ?????????? ???????????? ????????: ?? 12","\u2022 ??????? ???: ?? 10 ? \u2022 ??????? ???: 25 ? \u2022 ???????????? ????? ?????????\/??????????: 1\/2 ????? ??????? ????????? 3...15 ? >3? \u2022 ??????? ??????????: < 1? 300 ?? \u2022 ?????????? ?????????: ?????????? ??????????: ??????????? ????????: +3.3 ? ??????????? ?????? ????? ??????????? ?????????? ???????????? ? ???????? ??- ???????? ????- ???? ??? ????????????? ??????????. ?? ?????????? ? Thyst \u2022 ???? ?????? ?????? Tqti ??549 npn-?????????? - ?? ???????????, ????????? ?? ??????????, ???? ? ???- ????? ?? ????: \u2022 ???????????? ??? ??????????: 100 ?? \u2022 ???????????? ?????????? (?-?): 30 ?. \u2022 ????. ???????? ?? ???? h21 (???.): 270 \u2022 ?????????? ????????? (??): < 250 mV (10 mA) ??????????? ?????????? ????????? ??????? ? ??????? ????????? ?? Linux ?? ???? ????????????? ?? ??????? ????? ?????- ???? ??????? (RT). ??? ?? ???? ??????? ???????? ?? ???????? ??????? ???????- ??? ??????. ??????, ?????????? ????????? ??????? ??????????? ???????? ??????-","??? ?????????????? ?????????. ????? ?? ???????? ?????????? ???????? ???????? ??? ??????? ????? PREEMPT_RT2 - ??????????? ???????????? ???? Linux ????????? ???????. ????. 1. ?????? ??????? ? ???????? ??????? ?????? ????????? ???????? ????? ????????? ??????? N ???????? RT ??????? ?????? ????????? ? ???????- ?????? ????????? ???????????? ??????? ???????? ??????? ?????- 1 usleep(delay) ??????? ?? ??: sleep ?????????? ???????? until() (??. ????) ??????? ?????????. ????????? ???????? ????????? ??????? ? Linux ? ???????????? (scheduling class) ????????? ???????????? ?????? ?????? ?? ?????????? ??????????? ???????????? 2 ????????? ???????? ? ?????- struct sched param sp; ??????? ??????????? ???????? sp.sched priority = 30; ????? ????? ???????. ??? ?? ????????? ?????? ????????? ???????? ??????? ????? ????????????? ??????? ? RT ??- ???. RT ????????? ?? ???????? ?? 3 ????????????? ??????????? ?????? ?????? ????????? ? ??????- ??????????. ?????? ??????? ?????? ???????? mlockall() ??? ???????????? ???? ?? ??????? - ???????????? ??? ?????????? ?? ??????????? ????\/????? (non-blocking I\/O). ??????????? RT ???????? ?? ??????, ????? ???????????????? ?????? - ????- 4 ????????? ? ????? ?????? ???? ??? ???????????? ???????????????? ?????? ???????????, ????????, ??????? ?????????, ?? ??????? RT ??????????. scanf() ??? printf() ? ????????? ?????? ?????????? ???????? ????? ?????? RT ? ?? RT ?????????, ????????, ????- ?????? (semaphores). ???????????? ? RT ??????? ??????? sem trywait() ??????? ????????? ???????? ??- ???????????????, ???? ??????? ???????? ?? ???????? ?? ????? ???? ????????? ??? ?? ???- ???? ? ?????????? ?????????? ?????????? ???- ? ??????? ?????. ?? sem wait() ??? ?? ?????- ???????. ??????????? ??? ??????? ?????????? 0 ?????? ??????? ? ?????? ????????? ??????????. ?????????? ? ?????? ????????? ??????? ????? ???????????? 5 ??? ?????????? ????? ?????? (shared data) ????????? RT ??? ? ??????????, ??????? ????????? ?? ?????- ???? ? ?????????? ????? ???????? ???????? ??- ??????? ???????? ???????????? ???????????????? ????- ???. ?? ????????, ???????????? ?????? ?????????? ??????????? ????? ?????? ?? ??????? RT ???- sem post. ????? ??? ?????? ??????? ????? ???- ???????? ?? ??????? ?? ?? ????? ????? ??????, ???????????????? ???? ????? RT ?? ???? ?????- ????? . 2 https:\/\/rt.wiki.kernel.org\/index.php\/Main_Page","??????? var ^^ i getim contro & ^^ capturinc usleep(delay) getim \/ i Bpe W U\u2014 100C mkc var constant M\u2014 -? ?\u2014 ??????? 0) constant A E (D ? sleep_until() ? contro & E 1000 000 ?? ?? ?4\u2014\u00bb capturinc G) ????? \u2014? var var ????????????? ????????????? ???????? ??? ???????????? ?????? ????????? ??????? (??????? ?????????) ? ?????- ????? ???????? ?? ??????????? ??????? (?????? ???- ??????) . ?????? ??????? ???????? ????? ???????????? ? ????????? ????????? ?????????? ????????? ????. Cycle stability Cycle stability 18 1 26 h h I- \\\" -1- - i- 1_ i- - 1 24 ?17 - -\\\\ - -1 -t- - ' ' 'I ' ' ' ' ' ' I 11 I II I I I II I 16 1 22 U U 4. 151 12 14 ? T5 \u2022? 1 18 S 1 16 1.3 12 1.14 k-h - t - Hi- i k- -l|- \\\\-\\\\- \\\"1 \\\"\u2022 If 1 1F\\\"1 *?'?*? 1 12? ? 02 04 ?? 08 1 12 1.4 1.6 1.8 ll \u00a5I 1 11 I I Lie 1 19 1.191 1192 1.193 Lie 1.187 Cycle number x 10 Cycle number x 10 ?????? ?????????????? 1 ?? ??????? ?????????? ?????? RT ? ?????????????? ????????????? ????????. ????? ??- ???????? ????????? ???? ?????? ?? ????????????????? RT ???????.","Cycle stability 12 Cycle stability 10 ^ _\u00bb_ _ I -\u00bb\u2014 \u2014\u2022 I\u2014 \u2014 \u2014 ?.___|- (- \u2014 \u2014 -\u00bb \u2014 \u00ab- \u2014 4.5 _ \u2014\u2014 \u2014\u2014\u2014\u2014 I 1^ I I 4? i ? 1 1 \u2014 i i? 1 \u2014 I I II _| it II I I 1 i i I | I j_ I I J_ I II +L__\u00bb ' II I II i ' |_J 3.5 L| ii i |_l \u2014 | |4 \\\\ iI 1 Ii iL i iI i Ii i i iI '?1 1 3 I i i 'J i ii i ii ? i i E 'I \u2022 I' i i ii ?? i\u2014 i_H ii ii i ii i i iI ii 1-J E 25 hi H\u2014 i i? 1 4-L i\u2014 iI i Ii ill iI i Ii i i i 4.1 1 2\\\\- Li u iJ i i iI i Ii iI i 1.5 1 Mlij\\\"i;\\\"i:1i\\\"i'\\\"i\\\"lj\\\"l 0.5 Li l\\\\ iJi i i i j. i i 0 0 0 2 0 4 0.6 0 8 1 12 14 16 18 2 5 2 5 25 5.3 5.35 5.4 545 5.5 5.55 5 6 5 65 Cycle number x 10 Cycle number x 10 ?????????????? 1 ?? ??????? RT ?????? ????????? ??- ?????????? ?????? ? ????? ?? ??????????? ???????? ??????? ?????????? ??????????? ????????????. Cycle stability Cycle stability 14 12 11 L JI _ i I !__._! Ll I IJ _ _ _ Li Ii_ i_ L j. I 11 LI _i_ -1J 1 05 j. _ _i _ i r 0.8 E1 ii TT\\\" ill iI i |i i 'III ^^ ' ? JL j_ ? lJ _ l i_L_i_l_i_Jl_i__j_Li_i_L_iJ il I i i ? i IJ i II i <5 iI I iI iI |i iI i II i iI $ 06 iI i iI 0 95 i i i ' i iI i 11 I i iJ 0.4 i i iI 09 iI iI i iI i I i i i iI 0.2 I 11 1 iI I i j._ _l' i IJ i I i ill i i i i _ j_ i 0 85 L Ii i i ii i 1 Ii i i ii i i ii i Ii 1 1 I IL 5 10 15 24 25 2.6 27 28 29 3 3.1 32 33 x10 x 10 Cycle number Cycle number ??????????? ???????????? 1 ?? RT ??????? ?????????? ??????? ?????????? ? ????????????? ?????? ??? ??????? ?????? ?????????. ????????? ???????????? ?????????? ?? ???? ???????? ????????????????? ???????? sleep__until () , ????????? ?????????? ? ?????? ??????- ?????? ??????. ??????? ???????? ??????? ?????????? ??. 0.99995 ???????? ?????? ? Raspberry Pi ? ?????? ????????? 1. ??? ?????? ? ?????? ????????? ?????????? Raspberry Pi ? ?????????? ????? ????????????? ??? ???????? ?? ???????.","???? -220? ????????? P Raspberry Raspberry P ????????????? ??????????? ? Raspberry Pi ? ?????? ?????????? ?????????. 2. ?????????? ??????? 5? ? RPi ????? ?????? ????????. ???????? ?? ????????- ???? ????? RPi ????????? ????????? ???????? ???????????? ???????: ??????? (?? ???? ?????) ??????? ????????? ?????? ?????????. Scanner 3. ?? ???????????? ?????????? ?????????? Advanced IP ipscan23.exe3 ??????? IP ????? Raspberry Pi. jp Advanced IP Scanner 0@\u00ae Settings 1 File Actions View Help ? Scan II ? IP ? Lll 'J! \u2014 ^? Uke i*& on 1 1 J Hj F^c\u00abbook j 192.168.0.1- 192.168.3.254 IP Manufacturer MAC address 192.168.1.1 BCEE:7B:81:48:60 1 Results Favorites 192.168.1.59 GIGA-BYTE TECHNOLOGY CO.,LTD. 00:ID:7D:49:99:00 1 192.168.1.232 Pi Foundation B8:27:EB:E3:81:B1 1 Status Mame Raspberry 1? router, a s us. con dl-01cb90d5018c 1 v\u00a3 1 2, raspberrypi 13 alive, 0 dead, 1013 unknown 1 ??????????: ??????? ??????????? Raspberry Pi \/etc\/network\/interfaces ???????? 1. ???? ?????????????? ?? DHCP ????????? ????????? ???????? ?? ???????????? iface ethO inet dhcp 2. ??? ??????? ? ???????????????? ????? \/etc\/resolv.conf: nameserver 8.8.8.8 3. ??? ????????? ???? ??????????, ????????????? ?????????????? ??????? ????????? ?????????? Raspberry. 3 ? ?????? ? ??????. ????","4. ?????????? PuTTY connection (putty.exe ) ???????? ???????? ????? ? Rasp- berry Pi. ^ PuTTY Configuration Basic options for your PuTTY session Category: Specify the destination you want to connect to -! Session d ost Name for IP_addressl 0SSH Port 1921681 232 22 Logging Connection type: QRIoQin ? Serial 3 Terminal ? Raw Olelnet Keyboard Load, save or delete a stored session Bel Saved Sessions Features -1 Window Close window on exit Appearance ? Always ? Never Behaviour Translation Selection Colours 4 Connection Data Proxy Telnet R login i\u00b1i SSH Serial 0 Only on clean exit fl IAbout Open Cancel 5. ??????? login: pi ? password: raspberry s\u00a3* pipraspberrypi: - ^J login ??: pi 2\u2022? passu* 3. 10.2! p 10 192.168.1.23 Linux raspbettypi The programs included with the Debian GNU\/Linux system are free software; the exact ?lbution cl in term, ) r n gr .art\u00bb are ae ? the tiles in lndividim 1 \/usr\/shar ipyr ight . Debian GNU\/Linux ?????? vith ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law. Last, log in: Sun Feb 23 06:33:51 2014 from dl-0 Icb90d5018c 4 https:\/\/www.chiark.greenend.org.uk\/~sgtatham\/putty\/latest.html","6. ??????? ??????? ???????????? ????? Raspberry Pi ????? ???????? ? ?????- ????????, ??????????? ????? ?? ???????? ?????????? Raspberry. ?????????? ???- ?????? ??????. ??????? ??????? ???????? cal cd ????? ????????? ?? ??????? ????? Ctrl+C ??????? ????? ? ?????, ????????, cd \/home\/pi ????????, ?????????? ????? ?? ???????? ?????????, ????????? nano date ??????? ? ???? df -Bm df -BM ????? ????????????? ???????????? SD ????? dir ????? ??????????? ??????? ????? help ????? ?????? ?????? ??????? Is ????? ??????????? ??????? ????? ? ??????? ?????????? ??????????? ?????? ping cxem.net ???????? ??????????? ? ???????? pwd ????? ???? ???????? ???????? sudo ???????? ????? ???????? ??? ?? ? ??????? ???????????? root sudo nano ????? ?????????? ????????? sudo python ?????? ?????????????? Python 7. ????????? ????????? Raspberry ????? ???????? ???????? $ sudo shutdown -h now 8. ????????? ?????? ????????? ?????????? - ????? ????????? ?????? ?????? ???? ??????? ??????? ????????? ?? ????? RPi. ???). ?????????? ???5 ? ? ??????????? ??????? 1. ?????????? ????????? ?????????? ? Raspberry Pi ? ?????? ?????????. ? ?????????? ?-????????? ?????? 2. ????????? \/home\/pi (???????????? nano ???????? ? ????????? ????????? \/* filel.c *\/ #include <stdio.h> void print_num (int num) { num); printf (\\\"num is %d.n\\\\ \\\", return; } 5 (Ada) \u2014 ???? ????????????????, ????????? ? 1979\u20141980 ????? ? ???? ??????? ??- ??? ??????????? ??????? ??? ? ????? ??????????? ?????? ???? ???????????????? ??? ?????- ????? ?????? (?? ???? ?????? ?????????? ??????????????????? ???????????, ?????????- ??????? ? ???????? ???????). ??????? ? ????, ?????? ?????, ???????? ??????? ???????- ??? ???????? ????????? (?????????, ??????????, ???????, ????????, ????????? ? ?. ?.). ????? ?????????????? ?? ?????? ?????? ??????? ????????????? ????, ??????? ????- ???, ???????? ???????? ???, ????? ???????????? ? ????????? ???????????? ????????? ?????????? ???????.","\/* file2.c *\/ \/* num_from_Ada is declared in my_main.adb *\/ extern int num_from_Ada; int get_num (void) { return num_from_Ada; } 4. ? ????????? nano ???????? ???????? ??????????? ?????? ?? ????? ???. -- my_main.adb procedure My_Main is -- ???????? ? ?????????????? ????? ????? ? num_from_Ada My_Num : Integer := 10; ffnum_from_Adan) ; Export pragma (?, My_Num, -- ???????? Ada ??????? Get_Num ??? ????????????? ? ??????? get_num ; function Get_Num return Integer; pragma Import (C, Get_Num, ffget_numn) -- ???????? Ada ????????? Print_Num ??? ????????????? ? ??????? print_num ; procedure Print_Num (Num : Integer); pragma Import (C, Print_Num, ffprint_numn) begin (Get_Num) ; Print_Num end My_Main; 5. ?????????????? ????????? ?? ? ????? ???????? ????????? ????? filel.? ? file2.?. ??? -? filel.? ??? -? file2.? 6. ?????????????? ?????? Ada ????? ???????? ????????? ???? my_main.? ? ALI ???? my_main.ali. ?? Ada. gnatmake -? my_main.adb 7. ????????? ??????????? (binder) ?? ???????? ????????? gnatbind my_main.ali 8. ?????????? ?????? (Link) ???????? ??????????? (???) ???? ?? ????????? ?????: ??????? Ada ? ? ?????????. gnatlink my_main.ali filel.? file2.? ??????????: ????????? ??? ??????? ????? ???????? gnatmake my_main.adb -largs filel.? file2.?","9. ????????? ?????????. $ . \/my_name 10. ???????? ????????? ????????? ??? ? ?-????????, ?????????????? ????????? Pi ??? ? ????????? ?????????. ?????????? ? ??????????? ??? RP1 ??????????? 1. ?????????? ????????? ? ????????????? ?????????? Raspberry ???????? ?? ????????? ?????. Rpi, GPI0 ?^ \\\\? ? ?? WiringPi 1 12 GPIO 18 3.3 ? 17 J ??????????? ?????????? ? ??????????? ???. 2. ???????? RPi ? ?????????? ? ??? ????? ????? ????????? ????????. 3. ? ????????? ??????? ????????????? ???? ???????? Python-????????? ????????? ???. ?????????? ? 12-?? ???????? ??????? GPIO - ??????????? import wiringpi # GPIO pin 12 = BCM pin 18 = wiringpi pin 1 pwm_pin =1 wiringpi.wiringPiSetup() wiringpi .pinMode (pwm_pin, 2) # PWM mode def pwm(pwm_value): pwm_value) wiringpi.pwmWrite(pwm_pin, # value has to be in the range of 0...1024 pwm(512) 4. ?????????? ??????????? ??????????? ??????? ?????????? ?? ???? ???. ???????? ????????????????? ?????? ????????? ??????????? 1. ? ????????????? Raspberry Pi ?????????? ?????? ??????????? AD7416 (? 12? ???????????) ??? ???????? ?? ????????? ?????.","3.3 ? Red\/Blue ??- spa AD7416 \u00ab v, DO GPI0 2 Violet GPI0 3 ?- SCL TOP VIEW ?? GPI04 Green OT1H A1 Ground 5 IA2 GNDM ????????????? ????? ??????????? ??????? ??????????? AD7416 ? RPi ?????? ???????????, ???????????? ? ????? GPIO ?????????? Raspberry Pi. 2. ?? ????????? ?????????? ?????????? ????? ? RPi ????? ????????. 3. ??????????? 12? ?????????. $ sudo modprobe i2c-dev $ sudo chmod o+rw \/dev\/i2c-0 4. ????????? ??????? 12? ?????? dmesg 5. ?????????? ??????? 100 ??? (???? ??? ??????????) sudo modprobe -r i2c_bcm2708 && sudo modprobe i2c_bcm2708 baudrate=100000 6. ???????? ?? ????? Python ????????? ?????? ????????? ??????? ??????????? ???????. 12? ? ?????????? 0,5 ????? ??????? ???????????: 10010012 ??? 49i6 ??? 56?.","import smbus import time bus = smbus.SMBus(1) while 1: a = bus.read_byte(0x49) print (a) time.sleep(0.5) 7. ????????? ??????????? ????????? ????????? ?? ????????? ??????????? ???- ????. 8. ?????????? ????????? - <Ctrl +? 9. ? ????????? ???? ???????? ?-????????? (????????, tst_4b.c) ?????????? ????????? 12? ?????????????? ??????? (????? 0x49) ? ??????????? ?? ?????? ????????? ?????????? ???? ???????. #include <unistd.h> (0x49) #include <stdio.h> = ff\/dev\/i2c-ln; #include <stdlib.h> #include #include <linux\/i2c-dev.h> #define <fcntl.h> T_SENS_ADDRESS int main() { char buf[10]; const char * devName \/\/ Open up the I2C bus int file = open (devName, 0_RDWR) ; if (file == -1) { perror(devName); exit(l); } \/\/ Specify the address of the slave device. if (ioctl(file, I2C_SLAVE, T_SENS_ADDRESS) < 0) { perror(\\\"Failed and\/or to acquire bus access talk to slave\\\"); exit(l); } \/\/ Read a byte from the slave, if (read(file,buf,1) != 1) { perror(\\\"Failed to read from the i2c bus\\\"); exit(l); } \/\/printf(\\\"result: 0x%02X\\\\n\\\", buf[0]); %d\\\\n\\\", buf[0]); printf(\\\"result: return 0;","10. ??????? ?? ????????? ? ?????????????? ?-????????? $ sudo gcc -? tsk_4b tsk_4b.c -lrt -lbcm2835 11. ????????? ??????????? ????. ????????? ????????????????? ?????????. $ sudo .\/tsk_4b ???????? ????????????????? ?????? ????????? ??????????????? ?????????? 1. ???????? ??????? ????????????????? ??? ???????? ?? ????????? ??????? ? ????????????? ?????. ??????? ?????????????????. ? ?C549 -220 ? > <p L [ PF240D25 10? ? It ? black J Rpi GPIO 500 ? i 'i II 1I 3 0| 11D 13C v> v. LJ ?I 4 grav J 1_ 6 1 [ 17 18 Grounc pet ??^ GPIO 24 J Lamp 10CW ????? ??????????? ??????????? (100 ?? ?????) ? ??????? ????? GPIO.","2. ????????? ????????????? Python $ sudo python 3. ???????????? ?????????? ??? ?????? ? GPIO >\u00bb import RPi.GPIO as GPIO 4. ?????????? ?????? ????????? ??????? GPIO: BCM - ????????? ??????? ?? ??- ??????? ??????? ???????? ?????? (?? ?? ????????? GPIO). >\u00bbGPIO. setmode (GPIO. BCM) 5. ??????????????? ????? GPIO ?? ????? - ???????????? ????????? ?????????? ?? ???????? \u00bb>GPIO. setup (24 , GPIO.OUT) 6. ????????\/????????? ????? \u00bb>GPIO.output (24 , GPIO.HIGH) >\u00bbGPIO.output (24, GPIO.LOW) 7. ????????? ?????? ? GPIO. >\u00bbGPIO. cleanup () 8. ??????? ?? ?????????????? Python ? ?????????? ?????? RPi. \u00bb> exit () $ sudo shutdown - h now ?????????? ??????? ???????? ????????????????? 1. ? ???????? \/home\/pi RPi ???????? ??????? ???????, ????????, st_18_02 $ sudo mkdir st_18_02 2. ????????? ? ??????? ??????? $ cd st_18_02 3. ???????? RT ?-????????? ????????????????? ? ???????? ??????. ???????? ??????????? ?????? ?? 5 ???????? ????????? ??????????? ? ?????? ??????? ???- ??????. ????????? ?????? ???????????? ???????????? RT ?????, ??? ???????? ?? ?????? ????????? \u00ab????????????? ????????????? ????????...\u00bb - ??. ?????? \u00ab????- ??\u00bb . ?????? ??????????? ?? ??????? ?????? ???? ?????????????? ? ???????? ? ?????????? ?????? ?????????. ??????? ?????? ?????? ?????? ???????????? ? ???- ?????? ????. ????? ??????????? ??????? ??????????? ? ??????????? ???????????? ?? ???. ? ?????????? ?????? ??????????. ?????? ?????????:","#include <linux\/i2c-dev.h> #include #include <fcntl.h> #include <stdio.h> #include \/\/#include <stdlib.h> #include #include <pthread.h> <semaphore.h> <sys\/mman.h> <signal.h> #define T_SENS_ADDRESS (0x49) #define MAX_LOGENTRIES 200000 static unsigned int logindex; static struct timespec timestamps[MAX_LOGENTRIES]; static void logtimestamp(void){ clock_gettime(CLOCK_MONOTONIC, &timestamps[logindex++]); if(logindex > MAX_LOGENTRIES){ logindex = 0; } } static void dumptimestamps(int unused){ FILE *fp = fopen(\\\"timestamps.txt\\\",\\\"w\\\"); int i ; for(i=0; i < logindex; i++) { if(timestamps[i].tv_sec > 0){ fprintf(fp,\\\"%d.%09d\\\\n\\\", (int) timestamps[i].tv_sec, (int) timestamps[i].tv_nsec); } } fclose(fp); exit(0); } \/\/ Initialize a GPIO pin in Linux using the sysfs interface FILE *init_gpio(int gpioport){ \/\/ Export the pin to the GPIO directory FILE *fp = fopen(\\\"\/sys\/class\/gpio\/export\\\",\\\"w\\\"); fprintf(fp,\\\"%d\\\",gpioport); fclose(fp); \/\/ Set the pin as an output char filename[256]; sprintf(filename,\\\"\/sys\/class\/gpio\/gpio%d\/direction\\\",gpioport); fp = fopen(filename,\\\"w\\\"); if(!fp){ perror(\\\"Could not open gpio file\\\"); } fprintf(fp,\\\"out\\\"); fclose(fp); \/\/ Open the value file and return a pointer to it. file\\\"); sprintf(filename,\\\"\/sys\/class\/gpio\/gpio%d\/value\\\",gpioport); gpio fp = fopen(filename,\\\"w\\\"); if(!fp){ perror(\\\"Could not open }","fprintf(fp,\\\"out\\\"); fclose(fp); \/\/ Open the value file and return a pointer to it. sprintf(filename,\\\"\/sys\/class\/gpio\/gpio%d\/value\\\",gpioport); fp = fopen(filename,\\\"w\\\"); if(!fp){ perror(\\\"Could not open gpio file\\\"); } return fp; } \/\/ Given a FP in the stepper struct, set the I\/O pin \/\/ to the specified value. Uses the sysfs GPIO interface. void setiopin(FILE *fp, int val) { fprintf(fp,\\\"%d\\\\n\\\",val); fflush(fp); } \/\/ Adds \\\"delay\\\" nanoseconds to timespecs and sleeps until that time static void sleep_until(struct timespec *ts, int delay) { ts->tv_nsec += delay; if(ts->tv_nsec >= 1000*1000*1000){ ts->tv_nsec -= 1000*1000*1000; ts->tv_sec++; } clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, ts, NULL); } \/\/ Demo RT program for temperature control \/\/ stable against multitask mode and downloading in memory \/\/ RT clock is 0.1 sec. Raspberry PI platform. int main(int argc, char **argv) { struct timespec ts; unsigned int delay = 100*1000*1000; \/\/ Delay in ns = \\\"\/dev\/i2c-l\\\"; char buf[10]; devName const char * FILE *pinl8 = init_gpio(24); signal(SIGINT, dumptimestamps); clock_gettime(CLOCK_MONOTONIC, &ts); \/\/ Lock memory to ensure no swapping is done, if (mlockall (MCL_FUTURE |MCL_CURRENT) ){ fprintf(stderr,\\\"WARNING: Failed to lock memory\\\\n\\\"); } \/\/ Set our thread to real time priority struct sched_param sp; Failed sp.sched_priority = 30; if(pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)){ fprintf(stderr,\\\"WARNING: to set temperature thread to real-time priority\\\\n\\\"); } \/\/ Open up the I2C bus int file = open(devName, 0_RDWR); if (file == -1){","perror(devName); exit(l); } \/\/ Specify the address of the slave device. if (ioctl(file, I2C_SLAVE, T_SENS_ADDRESS) < 0){ perror(\\\"Failed to acquire bus access and\/or talk to slave\\\"); exit(l); } \/\/ Read byte (initial temperature) from the slave, if (read(file,buf,l) != 1){ the i2c bus\\\"); perror(\\\"Failed to read from exit(l); } char tgt_temp = buf[0]+5; \/\/ target temperature while(1){ sleep_until(&ts,delay); 1ogtimestamp(); if (read(file,buf,1) != 1){ exit(l); perror(\\\"Failed to read from the i2c bus\\\"); } if (buf[0] < tgt_temp){ setiopin(pinl8,1); } else { setiopin(pinl8,0); } } } 4. ??????? ?? ?????????, ?????????????? ?-?????????, ????????? ??????????? ???? ? ????????? ????????????????? ??????? ?????????????????. 5. ?????????? ????????? ???? ? ???????????? ??????? ?? ???????? ???????? Raspberry Pi ?? ????????? ? ?????? ????????? USB-???? ????? ??? ??????? ??- ?????? ????? ????????6 - Raspberry Pi. ??? ??????????? ????? ??????? ???????- ??? ??????????? ????????? ??????? ??????. \u00bb mypi = raspi() ,f ?:\\\\f) \u00bb openShell(mypi) \u00bb getFile(mypi,f\/home\/pi\/st_18_02\/timestamps.txtf 6. ???????????? ?????? ?????????????? ?????????? ????? ? workspace ??????. 7. ????????? ?????. ?????? ?????????? ????? ? dts.mat \u00bb save(f dts f ,f VarNamelf) 8. ????????? ?????? mat-????? ???????? ?-????????? ?????????? ?????? ?????- ??????? ???? ??????? ??????? ?????????????????. ????????? ?????? ??????? RT ? ?????- ???? ???????? ???????. load(fdts.mat1 ) 6 \u00ab?????????????? Matlab ? Raspberry Pi\u00bb - ???????? ??????????? ?3 ?? 2020 ?.","figure plot(diff(VarName1*1000)); grid on xlabel('Cycle number'); ylabel('Cycle, ms'); title('Cycle stability'); (VarNamel(length(VarNamel))-VarNamel(1))\/length(VarNamel) ans = 0.099946 Cycle stability 100 08 100 06 (( ( T| ( ( j 100 04 100.02 (? E ? 100 ? >< ? 99.98 99.96 4- ~ i 1 ? ii ? i ~\\\\ ? i\u2014 99.94 99.92 1400 1600 1800 2000 0 200 400 600 800 1000 1200 ????????????????? ?? Cycle number ???????? ??????? ????????? ??????? ??????? Pi. ???? ?????????? Raspberry 9. ??????????? ????????? ????????????????? ???, ????? ??? ?????????? ? ???- ?? ?????? ???? ??????? ???????? ???????????. ????????? ?????? ??????????? ???????. ??????????: \u2022 https:\/\/www.isy.liu.se\/edu\/kurs\/TSEA81\/pdf\/lecture_linux_realtime.pdf \u2022 http:\/\/www.redov.ru\/kompyutery_i_internet\/unix_vzaimodeistvie_processov\/p4.php (????? 10. ???????? Posix)","?????????????? ????? ???????? ?????????????? ????? \u2014 ?????????? ??? ???????? ????????? ? ????????, ????- ??? ? ?????. ?????? ?????????????? ????? ???????????? ????? ??????? ?? ??????????? ????? (??????????? ? ?????? ?????????), ?? ??? ??? ??????? ??????? ??????????? ?????????????? ??????????????? (??????????), ?????? ??????????????????. ?? ??????????????? ???????? ?????????? ?????????? ??????????????? ??????? ? ???????????? ??????????????? ??????????. ??????????????? ????? ????? ??????- ?????? ? ????????? ? ??????? ????? ??? ?????????? ? ????? ? ???? ????????? ????????????? ???????. ????????? ?????? ????????? ?????????????? ????? ????? ??????? ????????. ?????????????? ????? ??????????? ?? ?????? ????????: \u2022 ? ???????? ? ????????????: ??? ??????? (? ??? ????? ????????????????????) ??????, ???????????? ? ?. ?., ????????? ?????????? ???????, ???????????? ????????? ????????? ? ?????????, ?????????? ???????? ??????????? ?? ?????- ???????? ?????; \u2022 ? ?????????????? ? ???????: ??? ??????? ??????? ????? ? ??????????; \u2022 ? ????????? ? ??????????????? ??????????: ??? ??????? ?????? ????????? ??????? ?????.","???????????? ??????? ???????? ?? ??????? ???????? ??? ?? ????????? ???????????? ??????- ???. ????? ?? ???????? ????? ????????????? ?????????? ???????? ????????????- ????, ??????? ??? ???????????? ?????????? ???? ????? ????????? ??? ???????- ??????. ?????? ??????????? ???????? ???????????? ?????? ?? ??????? ?????????? ?????????, ??????? ????????? ? ?????? ???????? ???-?? ? ??????. ??? ?????? ???????????? ??? ???????????: ????????? ????????, ????????? ????????? ????????? ??? ??????????? ????????, ????????, ???????????? ???? ??- ?????? ????? ? ??????????? ??? ?????????? ???????. ?????? ?? ????????? ?????- ? ???? ?? ?????? ??????? ?? ??????? ????, ?????? ????? ??????? 50 ?????? ???- ????? ???? 2 ??. ?????? ????? ??????????? ? ???????? ???? ????? ??????. ??- ???????? ?? ?????????? ????????? ???????? ? 100 ?????????. ?????? ????? ?? ?????????? ??????? ???????? ???????, ??????? ? ?????????? ?????? ????? ?????- ??? ??? ??? ????, ??????? ??????? ????? ?????????.","??????? ??????????? ??????? ?????????? 8.5 ???. ??????????? ? ????????????? ?????????, ????? ??? ????? ?? ???????? ??????????? ??????? ???????? ???????- ?????-?? ?????? ????, ????? ??? ???? ???? ?????????????? ?????. ? ????????? ???????? ????????? ????? ????????, ??? ???? ????????? ?? ?????? ?????? ?????? ? ????????? ???????, ??? ???????? ?? ???? ??????? ???????????? ? ?????. ???- ????? ???? ??? ?????? ????? ??????? ?? ???????????? ???????, ??? ??????? \u2014 ??? ?????? ?????. ????? ??????????????????? ??????? ????? ???, ??? ??? ???????????? ?????? ???????? ?? ?????. ? ??????? ?????? ????????? 15 ?? ????????? ???????????. ???????? ??????? ????????? ???????????? ???????????? ??????????, ??? ??? ? ?????????. ???? ???????? ????? ????? ???????? ??????? ??? ????????? ???????, ?? ????? ?????? ??? ???? ?????????? ?? ?????, ??? ??? ?????? ????????? ????? ????? ????? ???? ???????????? ????????. ?? ????? ????????????? ? ???? ????- ????? ??? ????? ???????. ? ?????????? ????????? ????? ??????? ????????????????? ??????????. ?????? ????? ?????????? ??????? ??????, ????? ???? ???????? ??????? ???????????. ??? ?????, ?????, ??????? ???????????? ????? ????????? ??????? ?????? ??? ? ????- ?????????? ???????? ?????, ??? ??? ??????????? ??????? ??? ? 2 ???? ????, ? ????????????? 3.6 ???.","? ?????????????? ??????????? ? ???????????? ??????? ???????????? ??? ?? ???????, ?????? ??????? ??? ????? ??? ? ???????????? ?????????. ?????? ????? ???? ????? ????????? ????????? ???????? ??????. ?????? ????????? ????????????? ? ?????????? ?????????, ????????? ? ????? ???????????? ?????? ??????? ????????? ???????????. ?????????? ????????? (??), ?? ???????? ???????? ?????????? ??????? ??????? ??????????????????? ??????????, ??????? ?? ???? ??????? ???????? ?????? S ???????? d, ????? ???????? ???????? ????????? ?????? ????????? ????????? Q, ??????? ?????????? ??????? d? ? ????????? ???????????????, ?.?. ??????????? ??????? ??????????????? ??? X. ?????? ?????????? ??????????????????? ?????????? (?? ?????????). ????????? ???????? ????? ? ?????? ? ????? ???????? ????????? (??? ?????? Ci ????????? = 5760 ?\/?, ??? ????? ?2 = 5800 ?\/?) , ????? ??????? ????????? ?? ??????? ??? ?????????? ????????? ????????: D = 2d + df, ? ????? ??????????? ???????: f = c2\/2D. ????????, ???? d = 3 ??, df =0.5 ??, ?? ??????? f = 580000\/13 = 44600 ??. ??? d = 8 ?? ? df = 6 ??, f = 132 ???. 1.5 ??? ????????? ????? ?????? ?????????????? ??????, ????? 100 ???, ????? ???? ???????? ????????? ????????? ???????? ?? ? ????????? 10 ?? ?? ???????? ????????? ????? ?? ???????. ??????? ???????? ??? ??????????? ?????? ?? ????? ?????????? ?????????? ??????? ????????? ? ????????????? ???????. ???, ???? ???? ?????? ???? ??????- ?? ????? ??????, ?? ???? ?????? ???? ??????? ???????? ??????? ?? ????????? ?????????????? ?????? ??????. ????? ????, ???? ?????? ???????? ??????? ?????- ????????? ?? ??????, ????????? ?? ????? ????????? ?? ?????????? ???????????? ??????? ??????????. ?? ????????? ? ????????? ?????????? ??????? ?????????????? ????? ? ?????- ???? ?? ????? ?????????? ????????. ??? ???????? ?????????? ????. ? ???? ???- ??? ??????? ???????? ?? ????? ???????? ?????????? ? ???????????? ??????????? ? ?????????? ? ??????? ??????. ??? ????????? ????? ?????????? ? ??????. ???? ?? ???????????? ?????????? ?? ?????????? ?????????? ?????????? ??????- ?????, ?? ?????????? ? ?????????? ????? ????? ????????????, ??????? ? ??????? ??????? ???????? ????? ??????? ????? ???? \u2014 ??????? ???????????? ????????, ? ???????? \u2014 ??????? ????????????? ????????. ??????????????????? ??????? ?????????? ????????? ????? 40 ???, ? ????????? ???? ?? ??? ?????? ?????? ?? ?????????? ??????-?? ???????. ?? ????? ???????? ???? ?????????? ?????? ???????, ??????? ??? ?????? ?? ??????????.","????? ????? ? ??????????? ??????????? ??? ?????????? ?????????? ?????? ? ???? ????????? ????????. ? ??????? ??????? ?????????? ????? ???????????????? ??????? ???????????, ?????? ????????? ??????? ???????????? ? ?????, ??????? ????? ????????? ????- ????. ?????? ? ???????? ???","?????? ????? ?????? ?????? ??????? ?????. ?????????? ???????? 1\/6, ??????? 100 ??, ???????? ??????????. ???????? ?????????? ?? ??? ???????? ? ???????? ?????, ??? ?? ????? ????- ??????. ?? ????, ??? ????? ??? ????, ????? ????? ???????? ?? ??????? ?? ???- ???? ? ?? ????????? ??????? ???. ? ?????? ??? ????? ????? ?????????? ???????- ????, ?? ? ???? ?????? ? ????????? ???. ????? ??????????? ????????????, ????- ???????? ?? ???????? ? ???????? ?????????? ????. ??????? ??? ?????? ????? ?? ???? ?????? ? ?? ?? ????????? ???????? ? ????- ???????. ????????? ???? ?? ??????, ??? ??? ??? ????? ?????????? ??????? ???- ????????? ??????? ???? ?????????? ???????????. ??? ???????? ???????? ???????? ????-?? ???????. ????? ?? ?????? ?? ?????? ??? ????? ??????? ?????????, ? ??- ??? ?????????, ????? ?????? ???? ?????? ????. ????? ????????????? ??????? ?????????? ??? ?????????? ????????????? ????- ????? . ??? ????????? ????? ??????? ?????? ?????? ? ?????? ????????????, ????? ????????? ?????? ?????????. ??? ????????? ????????? ? ??????????? ???????? ?????? ?????????? ????? ???- ???????? ?? ?? ???????????? ?????? ???? \u00ab????????\u00bb, ??????? ??????? ? ???? ??????? ?????.","? , ?????? ????? ??????? ?????? ?? ??? ???????? 10 ??. ???????? ??????? ????- ?????? ??????? ? ???????? ?????? ???????????????. ?????? ?????, ? ???????? ?????????? ?????? 5 ?????? ??????. ????? ?????????? ????- ????, ??????????? ????? ?? ???????????. ????????? ???????? ?? ? ?????- ?? . ? ?????? ????? ?????? ??????? ? ??????? ????. ?????? ????? ?????? ?? ???, ? ??? ???????? ??? ?????? ????. ??????????? ??- ????? ??????? ??????????? ? ?????? ????????. ???????? ????? ???????? ? ?????- ?? ? ????? ????????. ??? ?? ?? ???????? ????? ????? ????????? ?????????? ???- ??, ??????? ??- ????? ??????????? ???? ??????? ?? ??????? ??????????, ????? ?????? ???????? ?? ????????. ??????????? ??? ?????????? ???????? ?????? ????? ????? ??????. ?????????? ????? ? ??- ??? ??????? ???????, ? ??? ???????? ????? ???????? ????????? ?????? ??? ??? ? ???????? ????????????? ? ????????. ? ?????????? ?????????? ????????? ?????? ?????????? ????????? ?????????.","","???????? ????? ? ???????? ???? ? ??????: ftp:\/\/homelab.homelinuxserver.org\/pub\/arhiv\/2020-05-a2.rar ??? ???????? ????? ????????? ????????? ?????: CKDIV8, SUT1, CKSELO, CKSEL1. ??????????? ?????? ????? ??????. ??? ??????????????? ??????? ?? ??????? ?? ?????????? ? ???????????. ????? ??????????, ?????????? ????????, ? ????????? ?? 1 ?? 99 ?????. ? ???????? ??????? ??????? ???????? ???????? ??????, ????- ???????? ??????? ??????? ?????, ?? ?????????? - ???????, ? ????? - ??????, ???????? ???? ?????? ?? ????????. ???? ????-?? ????????? ???????? ???????, ?? ????? ????????????? ????????? ??????????? ???????. ??? ?????????? ??????? ?? ??????? - ????? ??????? 3 ???????, ??? ????, ?? ??????? ??????????? \u00abOF\u00bb, \u00ab??\u00bb, \u00ab??\u00bb. \u00abOF\u00bb - ???????? ??????, \u00ab??\u00bb - ?????? ?????? ??????? ?? ????????, ??????? ???? ?????? ? ????????? ???, \u00ab??\u00bb - ??- ????????, ??, ???? ??????? ??????, \u00ab?????????\u00bb - ?????? ?????????? ?????????? ?????, ??????? ?????? ????? ??????? ???? ???????. ?????? ???? ?? ???????????, ??????? ????? ?????? ???????????? ??????? (???- ?? ?? ???????). ????????? ?????????? ???-???. ? ?????? ? ??? ???? ??????????? IRFZ46, ????? 2SK1276, ????? IRFP460 ??? ??? ?????????? ?? ????? ???????????. ????? ????? ?????????? ??????????? IRFZ44, ?? ??? ? ???????????. ?????????? ???? ?? ?????????? ???????? IR2153. ??? ????????1 ????? ????????????? ???????? ???????, ??????? ????? ? ??????- ?? (??. ????? ?????). ??????? ?????????? ???????? ??? ????? ?????????, ????? ??????????????? ??????? ?? ????. ^_?2? ??? ??? ?????????? ???????? ????? ??????, ? ????????? ??????? ??????????? ????????????? ????? ?????? ???????. ??????? ????? ??????? ????? ?????. ?????- ???????, ??? ?????????? ???????????? ? ??????? ??? ??? ??? ????? ????? ????? ??????? ???????????. 1 ? ??????. Splan70 ? Sprint-Layout60_rus ???? ?: ??. ftp: \/\/homelab. homelinuxserver. org\/pub\/programs","IRFZ44 LM7805 PINOUT DIA G D S ?????? ???? ????? +\u00b00V' Cm.\\\\J V n\\\\J 'i fA >- L1 4A 0.1mH L7812 SF18 100mF 1, OOn N ? 16V IR2153 lOOOmF,^ 2 4 _L 40V ?\u20141 , 1 ^47k 1 2 3 4_ 10k = 500p O?lN?IL?J un","??? ??????? ? ????? ????? ????????????? ?????????? ??????????????? ?? ???- ??????? ?????????? ????? - 60 ?? ??? ???? ?? ????????. ????? 12 12 5 5 ?? ??? ???? 7","?????? ????????? ???? ??????? ????? ????????? ????????? ??? ??????? ?????- ????? (??. ???. ?? ?????). ????? ?????????? ?????? ???????? ??????????? ? ????????? ????????? ??????? \u2014 ???????? (? ??? ?????). ??? ????? ????????? ?????????? ?????????? ??????? ????? ????? ? ????????? ??????????. ???????? ??????????? ????? ?????????? ?? ????????? ????????? ? ?? ???????. ??????????? ???? ????? ????? ????????? ?? ?????????? ?????????? ??????????? ??????????? ??????? ?????. ???? ??????? ??? ????? ?????? ????? ??????. ??? ????? ???? ?????????? ?? ??????? ?? ??????-?? ????????. ???? ?????? ???????- ????????, ?? ??? ?????? 65 ?? ??? ?????????? ? 20 ?????. ??????? ?????? ?? ??????, ??????? ??? ? ??? ? ????????? ??????, ??? ????????. ????????? ??? ???????????. ??????? ??? - ????? ??? ?????? ?????? ??????. ????????? ? ???????? ??????? ????? ???????, ? ? ??????? ????????? ????????? ??????? ?????????? ??????????? ? ??????? ????? ???????, ????? ????????????? ????????? ?????????? ? ?????????????. ? ?????????? ?????? ???-?? ???? ?????:","????????? ??? ?????? ????????? ?????????? ?? ???????????? ????? ??????? ?????????? ??????? 14 ?????. ????????? ????????????????? ?????????? ??? ??????? ?????- ????? ????????, ??? ?????? ???? 12 ?????. ????? ???????????? ????????? ? ??- ????? ??????????? ? ?????????, ???????????? ?? ?????? ? ???? ???????. ???? ??? ?? ?????, ? ??? ?????????? ?????????? ?????? ??????? ? ??????? ????? ?????? ?? ???????? ??????? ??????? ?????? ?? ???? ??????? ???????????. ? ?????? ?????? ??????? ? 80 ???, ?????? ? ?????? 34 ???. ????? ?????????? ??????? ? ??? ?? ?????. ???????? ?? ???? ???????? ?? 10 ? ???????????? ? ??????? ???? ???????? \u2014 ???? ??? ????. ?? ???????? ????? ??? ? ?????? ????????? ??????????? ???????- ?????? ?????????? ?????????. ??? ?????????????? ?? ??????? ??????? ????????? ????? ? ?????? ?????????? ????? ??? ???? ???. ? ?????? ?? ???? ????? ?????? ???? ?????? ??????. ????????? ?????????? ???????? ? ???? ????? ???????????. ????? ??? ????????? ???????, ???????? ????? ??????? ? ??????, ? ??????????? ??????? ????????? ??- ????? 700 ?????. ????? ??????? ?????? ?? ???????. ????? ??????????? ????????? ??? ? ?????, ???? ????? ?? ??? ??????. ????? ?? ?????? 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