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Merge pull request #1 from alanbjohnston/i2c_ina219

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I2c ina219
pull/2/head
alanbjohnston 7 years ago committed by GitHub
parent 0b352d75ec 201ae20f67
commit 3d4cef5c68
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 224 additions and 35 deletions
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1
Makefile
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@ -83,6 +83,7 @@ radioafsk: libax5043.a
radioafsk: afsk/ax25.o radioafsk: afsk/ax25.o
radioafsk: afsk/ax5043.o radioafsk: afsk/ax5043.o
radioafsk: afsk/main.o radioafsk: afsk/main.o
radioafsk: afsk/ina219.h
gcc -o radioafsk -pedantic -Wall -Wextra -L./ afsk/ax25.o afsk/ax5043.o afsk/main.o -lwiringPi -lax5043 gcc -o radioafsk -pedantic -Wall -Wextra -L./ afsk/ax25.o afsk/ax5043.o afsk/main.o -lwiringPi -lax5043

3
afsk/ax5043.c
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@ -222,11 +222,12 @@ int ax5043_init(ax5043_conf_t *conf, uint32_t f_xtal, vco_mode_t vco) {
} }
/* Setup TX only related parameters */ /* Setup TX only related parameters */
/*
ret = ax5043_conf_tx_path(conf); ret = ax5043_conf_tx_path(conf);
if (ret) { if (ret) {
return ret; return ret;
} }
*/
/* Set an internal copy for the ax5042_wait_for_transmit function */ /* Set an internal copy for the ax5042_wait_for_transmit function */
__ax5043_conf = conf; __ax5043_conf = conf;

80
afsk/ina219.h
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@ -0,0 +1,80 @@
/*
* Modified from https://github.com/foglamp/foglamp-south-ina219/blob/develop/include/ina219.h
*
* FogLAMP south service plugin
*
* Copyright (c) 2018 Dianomic Systems
*
* Released under the Apache 2.0 Licence
*
* Author: Mark Riddoch
*/
/**
* Values for the gain setting
*/
enum {
INA219_CONFIG_GAIN_40MV = 0x0000, // 40mV Range
INA219_CONFIG_GAIN_80MV = 0x0800, // 80mV Range
INA219_CONFIG_GAIN_160MV = 0x1000, // 160mV Range
INA219_CONFIG_GAIN_320MV = 0x1800, // 320mV Range
};
enum
{
INA219_CONFIG_BVOLTAGERANGE_16V = 0x0000, // 0-16V Range
INA219_CONFIG_BVOLTAGERANGE_32V = 0x2000, // 0-32V Range
};
#define INA219_CONFIG_BADCRES_MASK 0x0780 // ADC Resulotion Mask
enum
{
INA219_CONFIG_BADCRES_9BIT = 0x0000, // 9-bit bus res = 0..511
INA219_CONFIG_BADCRES_10BIT = 0x0080, // 10-bit bus res = 0..1023
INA219_CONFIG_BADCRES_11BIT = 0x0100, // 11-bit bus res = 0..2047
INA219_CONFIG_BADCRES_12BIT = 0x0180, // 12-bit bus res = 0..4097
};
#define INA219_CONFIG_SADCRES_MASK 0x0078 // Mask for shunt ADC resolution bits
enum
{
INA219_CONFIG_SADCRES_9BIT_1S_84US = 0x00, // 1 x 9-bit shunt sample
INA219_CONFIG_SADCRES_10BIT_1S_148US = 0x08, // 1 x 10-bit shunt sample
INA219_CONFIG_SADCRES_11BIT_1S_276US = 0x10, // 1 x 11-bit shunt sample
INA219_CONFIG_SADCRES_12BIT_1S_532US = 0x18, // 1 x 12-bit shunt sample
INA219_CONFIG_SADCRES_12BIT_2S_1060US = 0x48, // 2 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_4S_2130US = 0x50, // 4 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_8S_4260US = 0x58, // 8 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_16S_8510US = 0x60, // 16 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_32S_17MS = 0x68, // 32 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_64S_34MS = 0x70, // 64 x 12-bit shunt samples averaged together
INA219_CONFIG_SADCRES_12BIT_128S_69MS = 0x78, // 128 x 12-bit shunt samples averaged together
};
#define INA219_CONFIG_MODE_MASK 0x0007 // Operating Mode Mask
enum {
INA219_CONFIG_MODE_POWERDOWN = 0x0000,
INA219_CONFIG_MODE_SVOLT_TRIGGERED = 0x0001,
INA219_CONFIG_MODE_BVOLT_TRIGGERED = 0x0002,
INA219_CONFIG_MODE_SANDBVOLT_TRIGGERED = 0x0003,
INA219_CONFIG_MODE_ADCOFF = 0x0004,
INA219_CONFIG_MODE_SVOLT_CONTINUOUS = 0x0005,
INA219_CONFIG_MODE_BVOLT_CONTINUOUS = 0x0006,
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS = 0x0007,
};
typedef enum {
CONF_16V_400MA,
CONF_32V_1A,
CONF_32V_2A
} INA219_CONFIGURATION;
/*
* INA219 Registers
*/
#define INA219_REG_CONFIG 0x00
#define INA219_REG_SHUNTVOLTAGE 0x01
#define INA219_REG_BUSVOLTAGE 0x02
#define INA219_REG_POWER 0x03
#define INA219_REG_CURRENT 0x04
#define INA219_REG_CALIBRATION 0x05

148
afsk/main.c
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@ -32,7 +32,9 @@
#include "ax25.h" #include "ax25.h"
#include "spi/ax5043spi.h" #include "spi/ax5043spi.h"
#include <wiringPiI2C.h> #include <wiringPiI2C.h>
#include <wiringPi.h>
#include <time.h> #include <time.h>
#include "ina219.h"
// Put your callsign here // Put your callsign here
#define CALLSIGN "KU2Y" #define CALLSIGN "KU2Y"
@ -76,9 +78,29 @@ int charging = 0;
uint16_t config = (0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 ); uint16_t config = (0x2000 | 0x1800 | 0x0180 | 0x0018 | 0x0007 );
int x_fd; // I2C bus 0 address 0x40
int x_powerMultiplier;
int x_currentDivider;
int x_calValue;
int y_fd; // I2C bus 0 address 0x41
int z_fd; // I2C bos 0 address 0x44
int main(void) { int main(void) {
// sleep(20); wiringPiSetup () ;
pinMode (0, OUTPUT) ;
int blink;
for (blink = 1; blink < 2 ;blink++)
{
digitalWrite (0, HIGH) ; delay (500) ;
digitalWrite (0, LOW) ; delay (500) ;
}
// digitalWrite (0, HIGH) ;
setSpiChannel(SPI_CHANNEL);
setSpiSpeed(SPI_SPEED);
initializeSpi();
int tlm[7][5]; int tlm[7][5];
int i, j; int i, j;
@ -93,22 +115,66 @@ int main(void) {
//char *filenam1e = (char*)"/dev/i2c-3"; //char *filenam1e = (char*)"/dev/i2c-3";
if ((file_i2c = open("/dev/i2c-3", O_RDWR)) < 0) if ((file_i2c = open("/dev/i2c-3", O_RDWR)) < 0)
{ {
printf("ERROR: /dev/ic2-3 bus not present\n"); fprintf(stderr,"ERROR: /dev/ic2-3 bus not present\n");
tempSensor = -1; tempSensor = -1;
} else } else
{ {
tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48); tempSensor = wiringPiI2CSetupInterface("/dev/i2c-3", 0x48);
} }
printf("tempSensor: %d \n",tempSensor); fprintf(stderr,"tempSensor: %d \n",tempSensor);
int arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4c);
printf("Arduio write: %d \n", wiringPiI2CWrite(arduinoI2C,42));
printf("Arduio: %d \n", wiringPiI2CRead(arduinoI2C));
setSpiChannel(SPI_CHANNEL); int arduinoI2C;
setSpiSpeed(SPI_SPEED); if ((arduinoI2C = open("/dev/i2c-0", O_RDWR)) < 0)
initializeSpi(); {
fprintf(stderr,"ERROR: /dev/i2c-0 bus not present\n");
} else {
arduinoI2C = wiringPiI2CSetupInterface("/dev/i2c-0", 0x4c);
fprintf(stderr,"arduinoI2C: %d\n", arduinoI2C);
if (arduinoI2C > 0) {
// for (blink = 1; blink < 20 ;blink++) {
sleep(1);
fprintf(stderr,"Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,0));
sleep(1);
fprintf(stderr,"Arduio: %d \n", wiringPiI2CRead(arduinoI2C));
sleep(1);
printf("Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,1));
sleep(1);
printf("Arduio: %d \n", wiringPiI2CReadReg16(arduinoI2C,2));
sleep(1);
// }
} else {
fprintf(stderr,"Arduino payload not present\n");
}
}
// new INA219 current reading code
x_calValue = 8192;
x_powerMultiplier = 1;
x_currentDivider = 20;
config = INA219_CONFIG_BVOLTAGERANGE_16V |
INA219_CONFIG_GAIN_40MV |
INA219_CONFIG_BADCRES_12BIT |
INA219_CONFIG_SADCRES_12BIT_4S_2130US |
//INA219_CONFIG_SADCRES_12BIT_1S_532US |
INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS;
if ((file_i2c = open("/dev/i2c-0", O_RDWR)) < 0)
{
fprintf(stderr,"ERROR: /dev/ic2-0 bus not present\n");
x_fd = -1;
y_fd = -1;
z_fd = -1;
} else
{
x_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x40);
fprintf("stderr,Opening of -X fd %d\n", x_fd);
y_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x41);
printf("Opening of -Y fd %d\n", y_fd);
z_fd = wiringPiI2CSetupInterface("/dev/i2c-0", 0x44);
printf("Opening of -Z fd %d\n", z_fd);
}
int ret; int ret;
uint8_t data[1024]; uint8_t data[1024];
@ -133,18 +199,18 @@ int main(void) {
// AX25_PREAMBLE_LEN, // AX25_PREAMBLE_LEN,
// AX25_POSTAMBLE_LEN); // AX25_POSTAMBLE_LEN);
printf("INFO: Getting TLM Data\n"); fprintf(stderr,"INFO: Getting TLM Data\n");
get_tlm(tlm); //get_tlm(tlm);
printf("INFO: Preparing X.25 packet\n"); fprintf(stderr,"INFO: Preparing X.25 packet\n");
char str[1000]; char str[1000];
char tlm_str[1000]; char tlm_str[1000];
char header_str[] = "\x03\x0fhi hi "; char header_str[] = "\x03\x0fhi hi ";
strcpy(str, header_str); strcpy(str, header_str);
/*
int channel; int channel;
for (channel = 1; channel < 7; channel++) { for (channel = 1; channel < 7; channel++) {
// printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]); // printf("%d %d %d %d \n", tlm[channel][1], tlm[channel][2], tlm[channel][3], tlm[channel][4]);
@ -156,7 +222,8 @@ int main(void) {
// printf("%s \n",tlm_str); // printf("%s \n",tlm_str);
strcat(str, tlm_str); strcat(str, tlm_str);
} }
*/
/*
char cmdbuffer[1000]; char cmdbuffer[1000];
if (charging) { if (charging) {
@ -166,7 +233,8 @@ int main(void) {
// printf("LED state: %s\n", cmdbuffer); // printf("LED state: %s\n", cmdbuffer);
} }
printf("INFO: Transmitting X.25 packet\n"); */
fprintf(stderr,"INFO: Transmitting X.25 packet\n");
memcpy(data, str, strnlen(str, 256)); memcpy(data, str, strnlen(str, 256));
ret = ax25_tx_frame(&hax25, &hax5043, data, strnlen(str, 256)); ret = ax25_tx_frame(&hax25, &hax5043, data, strnlen(str, 256));
@ -177,12 +245,13 @@ int main(void) {
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
ax5043_wait_for_transmit(); ax5043_wait_for_transmit();
/*
FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r"); FILE* file2 = popen("/home/pi/mopower/mpcmd LED_STAT=0", "r");
fgets(cmdbuffer, 999, file2); fgets(cmdbuffer, 999, file2);
pclose(file2); pclose(file2);
// printf("LED state: %s\n", cmdbuffer); // printf("LED state: %s\n", cmdbuffer);
*/
if (ret) { if (ret) {
fprintf(stderr, fprintf(stderr,
"ERROR: Failed to transmit entire AX.25 frame with error code %d\n", "ERROR: Failed to transmit entire AX.25 frame with error code %d\n",
@ -196,6 +265,8 @@ int main(void) {
static void init_rf() { static void init_rf() {
int ret; int ret;
fprintf(stderr,"Initializing AX5043\n");
ret = ax5043_init(&hax5043, XTAL_FREQ_HZ, VCO_INTERNAL); ret = ax5043_init(&hax5043, XTAL_FREQ_HZ, VCO_INTERNAL);
if (ret != PQWS_SUCCESS) { if (ret != PQWS_SUCCESS) {
fprintf(stderr, fprintf(stderr,
@ -212,7 +283,7 @@ int lower_digit(int number) {
if (number < 100) if (number < 100)
digit = number - ((int)(number/10) * 10); digit = number - ((int)(number/10) * 10);
else else
printf("ERROR: Not a digit in lower_digit!\n"); fprintf(stderr,"ERROR: Not a digit in lower_digit!\n");
return digit; return digit;
} }
@ -224,7 +295,7 @@ int upper_digit(int number) {
if (number < 100) if (number < 100)
digit = (int)(number/10); digit = (int)(number/10);
else else
printf("ERROR: Not a digit in upper_digit!\n"); fprintf(stderr,"ERROR: Not a digit in upper_digit!\n");
return digit; return digit;
} }
int get_tlm(int tlm[][5]) { int get_tlm(int tlm[][5]) {
@ -235,7 +306,7 @@ int get_tlm(int tlm[][5]) {
FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r"); FILE* file = popen("sudo python /home/pi/CubeSatSim/python/readcurrent.py 2>&1", "r");
fgets(cmdbuffer, 999, file); fgets(cmdbuffer, 999, file);
pclose(file); pclose(file);
printf("I2C Sensor data: %s\n", cmdbuffer); fprintf(stderr,"I2C Sensor data: %s\n", cmdbuffer);
char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45. char ina219[16][20]; // voltage, currents, and power from the INA219 current sensors x4a, x40, x41, x44, and x45.
int i = 0; int i = 0;
@ -249,9 +320,11 @@ int get_tlm(int tlm[][5]) {
} }
// Reading MoPower telemetry info // Reading MoPower telemetry info
/*
file = popen("/home/pi/mopower/mpcmd show data", "r"); file = popen("/home/pi/mopower/mpcmd show data", "r");
fgets(cmdbuffer, 999 file);
fgets(cmdbuffer, 999, file);
pclose(file); pclose(file);
// printf("MoPower data: %s\n", cmdbuffer); // printf("MoPower data: %s\n", cmdbuffer);
@ -279,16 +352,41 @@ int get_tlm(int tlm[][5]) {
printf("Charging off\n"); printf("Charging off\n");
} }
*/
// read i2c current sensors //
double current = 0, power = 0, y_current = 0, y_power = 0, z_current = 0, z_power = 0;
if (x_fd != -1) {
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(x_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(x_fd, INA219_REG_CALIBRATION, x_calValue);
current = wiringPiI2CReadReg16(x_fd, INA219_REG_CURRENT) / x_currentDivider;
power = wiringPiI2CReadReg16(x_fd, INA219_REG_POWER) * x_powerMultiplier;
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(y_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(y_fd, INA219_REG_CALIBRATION, x_calValue);
y_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
y_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
wiringPiI2CWriteReg16(z_fd, INA219_REG_CONFIG, config);
wiringPiI2CWriteReg16(z_fd, INA219_REG_CALIBRATION, x_calValue);
z_current = wiringPiI2CReadReg16(y_fd, INA219_REG_CURRENT) / x_currentDivider;
z_power = wiringPiI2CReadReg16(y_fd, INA219_REG_POWER) * x_powerMultiplier;
}
printf("-X 0x40 current %4.2f power %4.2f -Y 0x41 current %4.2f power %4.2f -Z 0x44 current %4.2f power %4.2f \n",
current, power, y_current, y_power, z_current, z_power);
// printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL)); // printf("1B: ina219[%d]: %s val: %f \n", SENSOR_40 + CURRENT, ina219[SENSOR_40 + CURRENT], strtof(ina219[SENSOR_40 + CURRENT], NULL));
tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi tlm[1][A] = (int)(strtof(ina219[SENSOR_4A + CURRENT], NULL) / 15 + 0.5) % 100; // Current of 5V supply to Pi
tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4] tlm[1][B] = (int) (99.5 - strtof(ina219[SENSOR_40 + CURRENT], NULL)/10) % 100; // +X current [4]
tlm[1][C] = (int) (99.5 - current/10) % 100; // X- current [10]
tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7] tlm[1][D] = (int) (99.5 - strtof(ina219[SENSOR_41 + CURRENT], NULL)/10) % 100; // +Y current [7]
tlm[1][C] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] (actually -X current, AO-7 didn't have a Z solar panel?)
tlm[2][A] = 99; tlm[2][A] = (int) (99.5 - y_current/10) % 100; // -Y current [10]
tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100; tlm[2][B] = (int) (99.5 - strtof(ina219[SENSOR_44 + CURRENT], NULL)/10) % 100; // +Z current [10] // was 70/2m transponder power, AO-7 didn't have a Z panel
tlm[2][C] = (int) (99.5 - z_current/10) % 100; // -Z current (was timestamp)
// tlm[2][C] = (int)((time(NULL) - timestamp) / 15) % 100;
tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current tlm[2][D] = (int)(50.5 + strtof(ina219[SENSOR_45 + CURRENT], NULL)/10.0) % 100; // NiMH Battery current
tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100); tlm[3][A] = abs((int)((strtof(ina219[SENSOR_45 + VOLTAGE], NULL) * 10) - 65.5) % 100);

9
demo.sh
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@ -1,8 +1,9 @@
#!/bin/bash #!/bin/bash
exit 0
echo -e "\nDemo of CubeSatSim sends AFSK telemetry at 440 MHz continuously\n\n" echo -e "\nDemo of CubeSatSim sends AFSK telemetry at 440 MHz continuously\n\n"
sleep 30 sleep 60
#echo 'sleep over' >> /home/pi/CubeSatSim/log.txt #echo 'sleep over' >> /home/pi/CubeSatSim/log.txt
@ -11,7 +12,9 @@ echo $(date '+%Y %b %d %H:%M') Starting Hostname $HOSTNAME >> /home/pi/CubeSatS
/home/pi/CubeSatSim/radioafsk >> /home/pi/CubeSatSim/log.txt /home/pi/CubeSatSim/radioafsk >> /home/pi/CubeSatSim/log.txt
#/home/pi/DigitalTxRxRPi/testafsktx >> /home/pi/CubeSatSim/log.txt #/home/pi/DigitalTxRxRPi/testafsktx >> /home/pi/CubeSatSim/log.txt
echo $(date '+%Y %b %d %H:%M') Stopping Hostname $HOSTNAME >> /home/pi/CubeSatSim/log.txt #echo $(date '+%Y %b %d %H:%M') Stopping Hostname $HOSTNAME >> /home/pi/CubeSatSim/log.txt
/home/pi/mopower/mpcmd LED_STAT=0 #/home/pi/mopower/mpcmd LED_STAT=0
#sleep 30
#/home/pi/CubeSatSim/configax

12
python/readdata.py
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@ -1,3 +1,5 @@
import time
SHUNT_OHMS = 0.01 SHUNT_OHMS = 0.01
MAX_EXPECTED_AMPS = 2.5 MAX_EXPECTED_AMPS = 2.5
SHUNT_OHMS45 = 0.1 SHUNT_OHMS45 = 0.1
@ -27,6 +29,8 @@ try:
except: except:
INA219DISABLE=1 INA219DISABLE=1
print "+X v\t+X i\t+X p\t+Y v\t+Y i\t+Y p\t+Z v\t+Z i\t+Z p\tVbatt\tibatt\tpbatt\tV5\ti5\tp5\t+X v\t+X i\t+X p\t"
while True: while True:
time.sleep(1) time.sleep(1)
if INA219DISABLE !=1: if INA219DISABLE !=1:
@ -59,7 +63,8 @@ while True:
ina44.busnum = 1; ina44.busnum = 1;
ina44v = ina44.voltage() ina44v = ina44.voltage()
ina44i = ina44.current() ina44i = ina44.current()
ina44p = ina44.power() ina44p = ina44.power()
ina44.sleep(); ina44.sleep();
except: except:
FAIL = 1 FAIL = 1
@ -72,7 +77,7 @@ while True:
ina45i = ina45.current() ina45i = ina45.current()
ina45p = ina45.power() ina45p = ina45.power()
ina45.sleep(); ina45.sleep();
except: except:
FAIL = 1 FAIL = 1
try: try:
ina4a = INA219(SHUNT_OHMS, MAX_EXPECTED_AMPS, 0x4a) ina4a = INA219(SHUNT_OHMS, MAX_EXPECTED_AMPS, 0x4a)
@ -85,4 +90,5 @@ while True:
ina4a.sleep(); ina4a.sleep();
except: except:
FAIL = 1 FAIL = 1
print ina40v, ",", ina40i,",", ina40p,",", ina41v,",", ina41i,",", ina41p,",", ina44v,",", ina44i,",", ina44p,",", ina45v,",", ina45i,",", ina45p,",", ina4av,",", ina4ai,",", ina4ap print ina40v, "\t", ina40i,"\t", ina40p,"\t", ina41v,"\t", ina41i,"\t", ina41p,"\t", ina44v,"\t", ina44i,"\t", ina44p,"\t", ina45v,"\t", ina45i,"\t", ina45p,"\t", ina4av,"\t", ina4ai,"\t", ina4ap

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