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Globals.h
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// -----------------------------------------------------------------------------------
// Global variables
#pragma once
// Time keeping --------------------------------------------------------------------------------------------------------------------
long siderealTimer = 0; // counter to issue steps during tracking
long pecSiderealTimer = 0; // time since worm wheel zero index for PEC
long guideSiderealTimer = 0; // counter to issue steps during guiding
bool dateWasSet = false; // keep track of date/time validity
bool timeWasSet = false;
double UT1 = 0.0; // the current universal time
double UT1_start = 0.0; // the start of UT1
double JD = 0.0; // and date, used for computing LST
double LMT = 0.0;
double timeZone = 0.0;
long lst_start = 0; // marks the start lst when UT1 is set
volatile long lst = 0; // local (apparent) sidereal time in 0.01 second ticks,
// takes 249 days to roll over.
// 1.00273 wall clock seconds per sidereal second
const long masterSiderealInterval = 15956313L;
long siderealInterval = masterSiderealInterval;
// default = 15956313 ticks per sidereal second, where a tick
// is 1/16 uS this is stored in EEPROM which is updated/adjusted
// with the ":T+#" and ":T-#" commands a higher number here means
// a longer count which slows down the sidereal clock
const double HzCf = 16000000.0/60.0; // conversion factor to go to/from Hz for sidereal interval
volatile long siderealRate; // based on the siderealInterval, time between steps sidereal tracking
volatile long backlashTakeupRate; // backlash takeup rate
unsigned long last_loop_micros = 0; // workload monitoring
long this_loop_time = 0;
long loop_time = 0;
long worst_loop_time = 0;
long average_loop_time = 0;
// PPS (GPS) -----------------------------------------------------------------------------------------------------------------------
volatile unsigned long ppsLastMicroS = 1000000UL;
volatile unsigned long ppsAvgMicroS = 1000000UL;
volatile double ppsRateRatio = 1.0;
volatile double ppsLastRateRatio = 1.0;
volatile bool ppsSynced = false;
// Tracking and rate control -------------------------------------------------------------------------------------------------------
enum RateCompensation {RC_NONE, RC_REFR_RA, RC_REFR_BOTH, RC_FULL_RA, RC_FULL_BOTH};
#if TRACK_REFRACTION_RATE_DEFAULT == ON
RateCompensation rateCompensation = RC_REFR_RA;
#else
RateCompensation rateCompensation = RC_NONE;
#endif
byte mountType = MOUNT_TYPE;
double slewSpeed = 0;
volatile long timerRateAxis1 = 0;
volatile long timerRateBacklashAxis1 = 0;
volatile bool inbacklashAxis1 = false;
bool haltAxis1 = false;
bool faultAxis1 = false;
volatile long timerRateAxis2 = 0;
volatile long timerRateBacklashAxis2 = 0;
volatile bool inbacklashAxis2 = false;
bool haltAxis2 = false;
bool faultAxis2 = false;
#if AXIS1_DRIVER_MODEL == TMC_SPI
#define AXIS1_DRIVER_SWITCH_RATE timerRateBacklashAxis1
#else
#define AXIS1_DRIVER_SWITCH_RATE 80*16L
#endif
#if AXIS2_DRIVER_MODEL == TMC_SPI
#define AXIS2_DRIVER_SWITCH_RATE timerRateBacklashAxis2
#else
#define AXIS2_DRIVER_SWITCH_RATE 80*16L
#endif
#pragma pack(1)
typedef struct AxisSettings {
double stepsPerMeasure; // degrees for axis1-3 or microns for axis4-5
int16_t microsteps;
int16_t IRUN;
int8_t reverse;
int16_t min;
int16_t max;
} axisSettings;
#pragma pack()
volatile axisSettings axis1Settings = {AXIS1_STEPS_PER_DEGREE, AXIS1_DRIVER_MICROSTEPS, AXIS1_DRIVER_IRUN, AXIS1_DRIVER_REVERSE, AXIS1_LIMIT_MIN, AXIS1_LIMIT_MAX};
volatile axisSettings axis2Settings = {AXIS2_STEPS_PER_DEGREE, AXIS2_DRIVER_MICROSTEPS, AXIS2_DRIVER_IRUN, AXIS2_DRIVER_REVERSE, AXIS2_LIMIT_MIN, AXIS2_LIMIT_MAX};
volatile axisSettings axis3Settings = {AXIS3_STEPS_PER_DEGREE, AXIS3_DRIVER_MICROSTEPS, AXIS3_DRIVER_IRUN, AXIS3_DRIVER_REVERSE, AXIS3_LIMIT_MIN, AXIS3_LIMIT_MAX};
volatile axisSettings axis4Settings = {AXIS4_STEPS_PER_MICRON, AXIS4_DRIVER_MICROSTEPS, AXIS4_DRIVER_IRUN, AXIS4_DRIVER_REVERSE, AXIS4_LIMIT_MIN, AXIS4_LIMIT_MAX};
volatile axisSettings axis5Settings = {AXIS5_STEPS_PER_MICRON, AXIS5_DRIVER_MICROSTEPS, AXIS5_DRIVER_IRUN, AXIS5_DRIVER_REVERSE, AXIS5_LIMIT_MIN, AXIS5_LIMIT_MAX};
typedef struct AxisSettingsEx {
int16_t IHOLD;
int16_t IGOTO;
} axisSettingsEx;
axisSettingsEx axis1SettingsEx = {AXIS1_DRIVER_IHOLD, AXIS1_DRIVER_IGOTO};
axisSettingsEx axis2SettingsEx = {AXIS2_DRIVER_IHOLD, AXIS2_DRIVER_IGOTO};
axisSettingsEx axis3SettingsEx = {AXIS3_DRIVER_IHOLD, OFF};
axisSettingsEx axis4SettingsEx = {AXIS4_DRIVER_IHOLD, OFF};
axisSettingsEx axis5SettingsEx = {AXIS5_DRIVER_IHOLD, OFF};
unsigned long axis1StepsGoto = 1;
unsigned long axis2StepsGoto = 1;
#define stepsPerSecondAxis1 (axis1Settings.stepsPerMeasure/240.0)
#define arcSecPerStepAxis1 (3600.0/axis1Settings.stepsPerMeasure)
#define stepsPerSecondAxis2 (axis2Settings.stepsPerMeasure/240.0)
#define arcSecPerStepAxis2 (3600.0/axis2Settings.stepsPerMeasure)
#define DefaultTrackingRate 1
volatile double trackingTimerRateAxis1 = DefaultTrackingRate;
volatile double trackingTimerRateAxis2 = DefaultTrackingRate;
volatile double timerRateRatio;
volatile bool useTimerRateRatio;
long stepsPerWormRotationAxis1;
long secondsPerWormRotationAxis1;
long maxRate;
#define maxRateBaseDesired ((1000000.0/(SLEW_RATE_BASE_DESIRED))/axis1Settings.stepsPerMeasure)
double maxRateBaseActual;
volatile double stepsForRateChangeAxis1;
volatile double stepsForRateChangeAxis2;
// Basic stepper driver mode setup -------------------------------------------------------------------------------------------------
#if AXIS1_DRIVER_MODEL != OFF
// Holds translated code for driver microstep setting
volatile uint8_t _axis1_code;
#define AXIS1_DRIVER_CODE _axis1_code
#if AXIS1_DRIVER_MICROSTEPS_GOTO != OFF
volatile uint8_t _axis1_code_goto;
#define AXIS1_DRIVER_CODE_GOTO _axis1_code_goto
#endif
#endif
#if AXIS2_DRIVER_MODEL != OFF
volatile uint8_t _axis2_code;
#define AXIS2_DRIVER_CODE _axis2_code
#if AXIS2_DRIVER_MICROSTEPS_GOTO != OFF
volatile uint8_t _axis2_code_goto;
#define AXIS2_DRIVER_CODE_GOTO _axis2_code_goto
#endif
#endif
#if AXIS3_DRIVER_MODEL != OFF
volatile uint8_t _axis3_code;
#define AXIS3_DRIVER_CODE _axis3_code
#endif
#if AXIS4_DRIVER_MODEL != OFF
volatile uint8_t _axis4_code;
#define AXIS4_DRIVER_CODE _axis4_code
#endif
#if AXIS5_DRIVER_MODEL != OFF
volatile uint8_t _axis5_code;
#define AXIS5_DRIVER_CODE _axis5_code
#endif
// Location ------------------------------------------------------------------------------------------------------------------------
double latitude = 0.0;
double latitudeAbs = 0.0;
double latitudeSign = 1.0;
double cosLat = 1.0;
double sinLat = 0.0;
double longitude = 0.0;
// Coordinates ---------------------------------------------------------------------------------------------------------------------
#ifndef TELESCOPE_COORDINATES
#define TELESCOPE_COORDINATES TOPOCENTRIC
#endif
double homePositionAxis1 = 0.0;
volatile long posAxis1 = 0; // hour angle position in steps
volatile int blAxis1 = 0; // backlash position in steps
volatile int backlashAxis1 = 0; // total backlash in steps
volatile long startAxis1 = 0; // hour angle of goto start position in steps
volatile fixed_t targetAxis1; // hour angle of goto end position in steps
double origTargetRA = 0.0; // holds the RA for gotos before possible conversion to observed place
double secTargetRA; // secondary, as above
double newTargetRA = 0.0; // holds the RA for gotos after conversion to observed place
double newTargetAzm = 0.0; // holds the altitude and azmiuth for slews
fixed_t origTargetAxis1;
double indexAxis1 = 0; // index offset corrections, simple align/sync
long indexAxis1Steps = 0;
volatile int stepAxis1=1;
fixed_t fstepAxis1; // tracking and PEC, fractional steps
double homePositionAxis2 = 0.0;
volatile long posAxis2 = 0; // declination position in steps
volatile int blAxis2 = 0; // backlash position in steps
volatile int backlashAxis2 = 0; // total backlash in steps
volatile long startAxis2 = 0; // declination of goto start position in steps
volatile fixed_t targetAxis2; // declination of goto end position in steps
double origTargetDec = 0.0; // holds the Dec for gotos before possible conversion to observed place
double secTargetDec; // secondary, as above
double newTargetDec = 0.0; // holds the Dec for gotos after conversion to observed place
double newTargetAlt = 0.0; // holds the altitude and azmiuth for slews
fixed_t origTargetAxis2;
double indexAxis2 = 0; // index offset corrections, simple align/sync
long indexAxis2Steps = 0;
volatile int stepAxis2=1;
fixed_t fstepAxis2; // tracking and PEC, fractional steps
double currentAlt = 45.0; // the current altitude
double currentDec = 0.0; // the current declination
// Limits --------------------------------------------------------------------------------------------------------------------------
long degreesPastMeridianE = 15; // east of pier. How far past the meridian before we do a flip.
long degreesPastMeridianW = 15; // west of pier. Mount stops tracking when it hits the this limit.
int minAlt; // the min altitude, in deg, so we don't try to point too low
int maxAlt; // the max altitude, in deg, keeps telescope away from mount/tripod
// Stepper driver enable/disable and direction -------------------------------------------------------------------------------------
#define DefaultDirAxis1NCPInit 0
#define DefaultDirAxis1SCPInit 1
volatile byte dirAxis1 = 1; // stepping direction + or -
volatile byte defaultDirAxis1 = DefaultDirAxis1NCPInit;
#define DefaultDirAxis2EInit 1
#define DefaultDirAxis2WInit 0
volatile byte dirAxis2 = 1; // stepping direction + or -
volatile byte defaultDirAxis2 = DefaultDirAxis2EInit;
// Status --------------------------------------------------------------------------------------------------------------------------
// Note: the following error codes are obsolete ERR_SYNC, ERR_PARK
enum GeneralErrors {
ERR_NONE, ERR_MOTOR_FAULT, ERR_ALT_MIN, ERR_LIMIT_SENSE, ERR_DEC, ERR_AZM,
ERR_UNDER_POLE, ERR_MERIDIAN, ERR_SYNC, ERR_PARK, ERR_GOTO_SYNC, ERR_UNSPECIFIED,
ERR_ALT_MAX, ERR_WEATHER_INIT, ERR_SITE_INIT, ERR_NV_INIT};
GeneralErrors generalError = ERR_NONE;
enum CommandErrors {
CE_NONE, CE_0, CE_CMD_UNKNOWN, CE_REPLY_UNKNOWN, CE_PARAM_RANGE, CE_PARAM_FORM,
CE_ALIGN_FAIL, CE_ALIGN_NOT_ACTIVE, CE_NOT_PARKED_OR_AT_HOME, CE_PARKED,
CE_PARK_FAILED, CE_NOT_PARKED, CE_NO_PARK_POSITION_SET, CE_GOTO_FAIL, CE_LIBRARY_FULL,
CE_GOTO_ERR_BELOW_HORIZON, CE_GOTO_ERR_ABOVE_OVERHEAD, CE_SLEW_ERR_IN_STANDBY,
CE_SLEW_ERR_IN_PARK, CE_GOTO_ERR_GOTO, CE_SLEW_ERR_OUTSIDE_LIMITS, CE_SLEW_ERR_HARDWARE_FAULT,
CE_MOUNT_IN_MOTION, CE_GOTO_ERR_UNSPECIFIED, CE_NULL};
CommandErrors commandError = CE_NONE;
#if DEBUG != OFF
// command errors
#define L_CE_NONE "No Errors"
#define L_CE_0 "reply 0"
#define L_CE_CMD_UNKNOWN "command unknown"
#define L_CE_REPLY_UNKNOWN "invalid reply"
#define L_CE_PARAM_RANGE "parameter out of range"
#define L_CE_PARAM_FORM "bad parameter format"
#define L_CE_ALIGN_FAIL "align failed"
#define L_CE_ALIGN_NOT_ACTIVE "align not active"
#define L_CE_NOT_PARKED_OR_AT_HOME "not parked or at home"
#define L_CE_PARKED "already parked"
#define L_CE_PARK_FAILED "park failed"
#define L_CE_NOT_PARKED "not parked"
#define L_CE_NO_PARK_POSITION_SET "no park position set"
#define L_CE_GOTO_FAIL "goto failed"
#define L_CE_LIBRARY_FULL "library full"
#define L_CE_GOTO_ERR_BELOW_HORIZON "goto below horizon"
#define L_CE_GOTO_ERR_ABOVE_OVERHEAD "goto above overhead"
#define L_CE_SLEW_ERR_IN_STANDBY "slew in standby"
#define L_CE_SLEW_ERR_IN_PARK "slew in park"
#define L_CE_GOTO_ERR_GOTO "already in goto"
#define L_CE_SLEW_ERR_OUTSIDE_LIMITS "outside limits"
#define L_CE_SLEW_ERR_HARDWARE_FAULT "hardware fault"
#define L_CE_MOUNT_IN_MOTION "mount in motion"
#define L_CE_GOTO_ERR_UNSPECIFIED "other"
#define L_CE_UNK "unknown"
char commandErrorStr[30][25] = {
L_CE_NONE, L_CE_0, L_CE_CMD_UNKNOWN, L_CE_REPLY_UNKNOWN, L_CE_PARAM_RANGE,
L_CE_PARAM_FORM, L_CE_ALIGN_FAIL, L_CE_ALIGN_NOT_ACTIVE, L_CE_NOT_PARKED_OR_AT_HOME,
L_CE_PARKED, L_CE_PARK_FAILED, L_CE_NOT_PARKED, L_CE_NO_PARK_POSITION_SET, L_CE_GOTO_FAIL,
L_CE_LIBRARY_FULL, L_CE_GOTO_ERR_BELOW_HORIZON, L_CE_GOTO_ERR_ABOVE_OVERHEAD,
L_CE_SLEW_ERR_IN_STANDBY, L_CE_SLEW_ERR_IN_PARK, L_CE_GOTO_ERR_GOTO, L_CE_SLEW_ERR_OUTSIDE_LIMITS,
L_CE_SLEW_ERR_HARDWARE_FAULT, L_CE_MOUNT_IN_MOTION, L_CE_GOTO_ERR_UNSPECIFIED, L_CE_UNK};
#else
char commandErrorStr[0][0];
#endif
enum PrecisionMode {PM_LOW, PM_HIGH, PM_HIGHEST};
PrecisionMode precision = PM_HIGH;
// Tracking modes ------------------------------------------------------------------------------------------------------------------
#define TrackingNone 0
#define TrackingSidereal 1
#define TrackingMoveTo 2
#define StartAbortGoto 1
volatile byte trackingState = TrackingNone;
byte abortTrackingState = TrackingNone;
volatile byte lastTrackingState = TrackingNone;
int trackingSyncSeconds = 0;
byte abortGoto = 0;
volatile bool safetyLimitsOn = false;
bool axis1Enabled = false;
bool axis2Enabled = false;
bool syncToEncodersOnly = false;
enum StopSlewActions {SS_ALL_FAST, SS_LIMIT, SS_LIMIT_HARD, SS_LIMIT_AXIS1_MIN, SS_LIMIT_AXIS1_MAX, SS_LIMIT_AXIS2_MIN, SS_LIMIT_AXIS2_MAX};
// Meridian flips ------------------------------------------------------------------------------------------------------------------
#define MeridianFlipNever 0
#define MeridianFlipAlign 1
#define MeridianFlipAlways 2
byte meridianFlip = MeridianFlipNever;
byte pierSideControl = PIER_SIDE_NONE;
int preferredPierSideDefault = PIER_SIDE_PREFERRED_DEFAULT;
bool autoMeridianFlip = false; // auto meridian flip/continue as tracking hits AXIS1_LIMIT_MERIDIAN_W
bool pauseHome = false; // allow pause at home?
bool waitingHomeContinue = false; // set to true to stop pause
bool waitingHome = false; // true if waiting at home
// Parking -------------------------------------------------------------------------------------------------------------------------
#define PCB_BUSY -1
#define PCB_FAILURE 0
#define PCB_SUCCESS 1
#define PARK_STATUS_FIRST 0
#define NotParked 0
#define Parking 1
#define Parked 2
#define ParkFailed 3
#define ParkUnknown 4
#define PARK_STATUS_LAST 4
byte parkStatus = NotParked;
bool parkSaved = false;
// Homing --------------------------------------------------------------------------------------------------------------------------
bool atHome = true;
bool homeMount = false;
enum findHomeModes {FH_OFF,FH_START,FH_FAST,FH_READY_SLOW,FH_SLOW,FH_READY_TRIM,FH_TRIM,FH_DONE};
findHomeModes findHomeMode=FH_OFF;
// Command processing --------------------------------------------------------------------------------------------------------------
#define BAUD 9600
// serial speed
unsigned long baudRate[10] = {115200,56700,38400,28800,19200,14400,9600,4800,2400,1200};
// Guiding and slewing -------------------------------------------------------------------------------------------------------------
#define RateToDegPerSec (1000000.0/axis1Settings.stepsPerMeasure)
#define RateToASPerSec (RateToDegPerSec*3600.0)
#define RateToXPerSec (RateToASPerSec/15.0)
double slewRateX;
double accXPerSec;
double guideRates[10]={3.75,7.5,15,30,60,120,300,720, 720, 720};
// .25X .5x 1x 2x 4x 8x 20x 48x half-MaxRate MaxRate
// 0 1 2 3 4 5 6 7 8 9
#define GR_NONE 255
#define GR_GUIDE -3
#define GR_PULSEGUIDE -2
#define GR_CUSTOM -1
#define GR_1X 2
#ifndef GR_DEFAULT
#define GR_DEFAULT 6
#endif
byte guideRateSelection = GR_DEFAULT;
byte pulseGuideRateSelection = GR_1X;
volatile byte activeGuideRateSelection = GR_NONE;
volatile byte guideDirAxis1 = 0;
char ST4DirAxis1 = 'b';
volatile byte guideDirAxis2 = 0;
char ST4DirAxis2 = 'b';
int spiralGuide = 0;
volatile double guideTimerRateAxis1 = 0.0;
volatile double guideTimerRateAxis2 = 0.0;
volatile double guideTimerBaseRateAxis1 = 0.0;
volatile double guideTimerBaseRateAxis2 = 0.0;
fixed_t amountGuideAxis1;
fixed_t guideAxis1;
fixed_t amountGuideAxis2;
fixed_t guideAxis2;
// PEC control ---------------------------------------------------------------------------------------------------------------------
#define PEC_STATUS_FIRST 0
#define IgnorePEC 0
#define ReadyPlayPEC 1
#define PlayPEC 2
#define ReadyRecordPEC 3
#define RecordPEC 4
#define PEC_STATUS_LAST 4
#define PECStatusString "IpPrR"
#define PECStatusStringAlt "/,~;^"
byte pecStatus = IgnorePEC;
bool pecRecorded = false;
bool pecFirstRecord = false;
long lastPecIndex = -1;
int pecBufferSize = 0;
long pecIndex = 0;
long pecIndex1 = 0;
#if PEC_SENSE == ON || PEC_SENSE == ON_PULLUP || PEC_SENSE == ON_PULLDOWN
int pecValue = PEC_SENSE_STATE;
#elif PEC_SENSE_STATE == HIGH
int pecValue = 1023;
#else
int pecValue = 0;
#endif
int pecAutoRecord = 0; // for writing to PEC table to EEPROM
long wormSensePos = 0; // in steps
bool wormSensedAgain = false; // indicates PEC index was found
bool pecBufferStart = false;
fixed_t accPecGuideHA; // for PEC, buffers steps to be recorded
volatile double pecTimerRateAxis1 = 0.0;
#if AXIS1_PEC == ON
static byte *pecBuffer;
#endif
// Misc ----------------------------------------------------------------------------------------------------------------------------
#define Rad 57.29577951
// current site index and name
byte currentSite = 0;
char siteName[16];
// status state
bool ledOn = false;
bool led2On = false;
// sound/buzzer
#if BUZZER_STATE_DEFAULT == ON
bool soundEnabled = true;
#else
bool soundEnabled = false;
#endif
volatile int buzzerDuration = 0;
// reticule control
#if LED_RETICLE >= 0
int reticuleBrightness=LED_RETICLE;
#endif
// aux pin control
#ifdef FEATURES_PRESENT
typedef struct Features {
const char* name;
const int16_t purpose;
const int64_t temp;
const int64_t pin;
int16_t value;
uint8_t active_unparked:1;
uint8_t active_goto:1;
uint8_t active_state:1;
dewHeaterControl *dewHeater;
intervalometerControl *intervalometer;
} features;
features feature[8] = {
{FEATURE1_NAME,FEATURE1_PURPOSE,FEATURE1_TEMP,FEATURE1_PIN,FEATURE1_DEFAULT_VALUE,FEATURE1_ACTIVE_UNPARKED,FEATURE1_ACTIVE_GOTO,FEATURE1_ACTIVE_STATE,NULL,NULL},
{FEATURE2_NAME,FEATURE2_PURPOSE,FEATURE2_TEMP,FEATURE2_PIN,FEATURE2_DEFAULT_VALUE,FEATURE2_ACTIVE_UNPARKED,FEATURE2_ACTIVE_GOTO,FEATURE2_ACTIVE_STATE,NULL,NULL},
{FEATURE3_NAME,FEATURE3_PURPOSE,FEATURE3_TEMP,FEATURE3_PIN,FEATURE3_DEFAULT_VALUE,FEATURE3_ACTIVE_UNPARKED,FEATURE3_ACTIVE_GOTO,FEATURE3_ACTIVE_STATE,NULL,NULL},
{FEATURE4_NAME,FEATURE4_PURPOSE,FEATURE4_TEMP,FEATURE4_PIN,FEATURE4_DEFAULT_VALUE,FEATURE4_ACTIVE_UNPARKED,FEATURE4_ACTIVE_GOTO,FEATURE4_ACTIVE_STATE,NULL,NULL},
{FEATURE5_NAME,FEATURE5_PURPOSE,FEATURE5_TEMP,FEATURE5_PIN,FEATURE5_DEFAULT_VALUE,FEATURE5_ACTIVE_UNPARKED,FEATURE5_ACTIVE_GOTO,FEATURE5_ACTIVE_STATE,NULL,NULL},
{FEATURE6_NAME,FEATURE6_PURPOSE,FEATURE6_TEMP,FEATURE6_PIN,FEATURE6_DEFAULT_VALUE,FEATURE6_ACTIVE_UNPARKED,FEATURE6_ACTIVE_GOTO,FEATURE6_ACTIVE_STATE,NULL,NULL},
{FEATURE7_NAME,FEATURE7_PURPOSE,FEATURE7_TEMP,FEATURE7_PIN,FEATURE7_DEFAULT_VALUE,FEATURE7_ACTIVE_UNPARKED,FEATURE7_ACTIVE_GOTO,FEATURE7_ACTIVE_STATE,NULL,NULL},
{FEATURE8_NAME,FEATURE8_PURPOSE,FEATURE8_TEMP,FEATURE8_PIN,FEATURE8_DEFAULT_VALUE,FEATURE8_ACTIVE_UNPARKED,FEATURE8_ACTIVE_GOTO,FEATURE8_ACTIVE_STATE,NULL,NULL}
};
#endif