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carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@21:edf6d03fdb20, 2019-05-22 (annotated)
- Committer:
- kyxstark
- Date:
- Wed May 22 11:19:27 2019 +0000
- Revision:
- 21:edf6d03fdb20
- Parent:
- 20:42f8ec726ac8
- Child:
- 22:9e92a2b941ba
merge PR/GR;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Artiom | 0:bc74da1c502f | 1 | #include "mbed.h" |
Artiom | 1:568955af8c2b | 2 | #include "main.h" |
Artiom | 0:bc74da1c502f | 3 | |
Artiom | 0:bc74da1c502f | 4 | #define SIZE_FIFO 50 |
Artiom | 0:bc74da1c502f | 5 | |
Artiom | 0:bc74da1c502f | 6 | CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN |
Artiom | 0:bc74da1c502f | 7 | |
Artiom | 0:bc74da1c502f | 8 | |
Artiom | 0:bc74da1c502f | 9 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Artiom | 0:bc74da1c502f | 10 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Artiom | 0:bc74da1c502f | 11 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
Artiom | 0:bc74da1c502f | 12 | unsigned char EtatGameEnd=0; |
Artiom | 0:bc74da1c502f | 13 | |
kyxstark | 21:edf6d03fdb20 | 14 | |
kyxstark | 21:edf6d03fdb20 | 15 | int rotation_couroies = 0; |
kyxstark | 21:edf6d03fdb20 | 16 | |
kyxstark | 21:edf6d03fdb20 | 17 | |
kyxstark | 21:edf6d03fdb20 | 18 | void canProcessRx(void); |
Artiom | 12:191486ba5118 | 19 | |
Artiom | 12:191486ba5118 | 20 | |
Artiom | 13:9e19048eb065 | 21 | |
Artiom | 4:4a79942713fa | 22 | |
kyxstark | 21:edf6d03fdb20 | 23 | #ifdef ROBOT_BIG |
kyxstark | 21:edf6d03fdb20 | 24 | #endif |
Artiom | 14:b1abd2f6df75 | 25 | |
Artiom | 0:bc74da1c502f | 26 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 27 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 28 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 29 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 30 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 31 | { |
Artiom | 0:bc74da1c502f | 32 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
Artiom | 0:bc74da1c502f | 33 | if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) { |
Artiom | 0:bc74da1c502f | 34 | |
Artiom | 0:bc74da1c502f | 35 | } |
Artiom | 0:bc74da1c502f | 36 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 37 | |
Artiom | 0:bc74da1c502f | 38 | } |
Artiom | 0:bc74da1c502f | 39 | |
Artiom | 0:bc74da1c502f | 40 | } |
Artiom | 0:bc74da1c502f | 41 | |
Artiom | 0:bc74da1c502f | 42 | int main() |
Artiom | 0:bc74da1c502f | 43 | { |
Artiom | 0:bc74da1c502f | 44 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 45 | servo_interrupt_en(); //permettre les interuptions |
Artiom | 11:6c11c081c855 | 46 | |
Artiom | 0:bc74da1c502f | 47 | wait(1);//attente servo boot |
kyxstark | 21:edf6d03fdb20 | 48 | |
kyxstark | 21:edf6d03fdb20 | 49 | |
kyxstark | 21:edf6d03fdb20 | 50 | #ifdef ROBOT_SMALL |
Artiom | 2:9e63099cca99 | 51 | gabarit_petit_robot(); |
kyxstark | 21:edf6d03fdb20 | 52 | #endif |
kyxstark | 21:edf6d03fdb20 | 53 | |
kyxstark | 21:edf6d03fdb20 | 54 | |
kyxstark | 21:edf6d03fdb20 | 55 | |
kyxstark | 21:edf6d03fdb20 | 56 | #ifdef ROBOT_BIG |
kyxstark | 21:edf6d03fdb20 | 57 | clear(doigt,2); |
kyxstark | 21:edf6d03fdb20 | 58 | setTorque(doigt, TORQUE_ON,2); |
kyxstark | 21:edf6d03fdb20 | 59 | positionControl(doigt,384,100,BLED_ON,2); |
kyxstark | 21:edf6d03fdb20 | 60 | wait(1.0); |
kyxstark | 21:edf6d03fdb20 | 61 | #endif |
kyxstark | 21:edf6d03fdb20 | 62 | |
kyxstark | 21:edf6d03fdb20 | 63 | |
Artiom | 0:bc74da1c502f | 64 | while(1) { |
Artiom | 0:bc74da1c502f | 65 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 66 | f_mesure();//dt35 |
Artiom | 11:6c11c081c855 | 67 | |
kyxstark | 21:edf6d03fdb20 | 68 | |
kyxstark | 21:edf6d03fdb20 | 69 | #ifdef ROBOT_SMALL |
Artiom | 4:4a79942713fa | 70 | automate_ventouse_presentoir_avant(); |
Artiom | 5:6e198cdd99ad | 71 | automate_ventouse_presentoir_arriere(); |
Artiom | 7:553f3f1c2c53 | 72 | |
Artiom | 6:45f9cf44718a | 73 | automate_ventouse_goldenium_avant(); |
Artiom | 6:45f9cf44718a | 74 | automate_ventouse_goldenium_arriere(); |
Artiom | 7:553f3f1c2c53 | 75 | |
Artiom | 6:45f9cf44718a | 76 | automate_ventouse_sol_avant(); |
Artiom | 7:553f3f1c2c53 | 77 | automate_ventouse_sol_arriere(); |
Artiom | 7:553f3f1c2c53 | 78 | |
Artiom | 11:6c11c081c855 | 79 | automate_ventouse_balance_avant(); |
Artiom | 12:191486ba5118 | 80 | automate_ventouse_balance_arriere(); |
Artiom | 12:191486ba5118 | 81 | |
Artiom | 13:9e19048eb065 | 82 | automate_ventouse_relache_avant(); |
Artiom | 12:191486ba5118 | 83 | automate_ventouse_relache_arriere(); |
Artiom | 14:b1abd2f6df75 | 84 | |
Artiom | 13:9e19048eb065 | 85 | automate_ventouse_sol_avant_relache(); |
Artiom | 14:b1abd2f6df75 | 86 | automate_ventouse_sol_arriere_relache(); |
Artiom | 14:b1abd2f6df75 | 87 | |
Artiom | 14:b1abd2f6df75 | 88 | automate_ventouse_accelerateur_avant(); |
Artiom | 14:b1abd2f6df75 | 89 | automate_ventouse_accelerateur_arriere(); |
kyxstark | 21:edf6d03fdb20 | 90 | #endif |
kyxstark | 21:edf6d03fdb20 | 91 | |
kyxstark | 21:edf6d03fdb20 | 92 | #ifdef ROBOT_BIG |
kyxstark | 21:edf6d03fdb20 | 93 | fifo_couleur(); |
kyxstark | 21:edf6d03fdb20 | 94 | ascenseur(); |
kyxstark | 21:edf6d03fdb20 | 95 | |
kyxstark | 21:edf6d03fdb20 | 96 | #endif |
Artiom | 13:9e19048eb065 | 97 | |
Artiom | 0:bc74da1c502f | 98 | if(EtatGameEnd==1) { |
Artiom | 0:bc74da1c502f | 99 | while(1); |
Artiom | 0:bc74da1c502f | 100 | } |
Artiom | 0:bc74da1c502f | 101 | |
Artiom | 0:bc74da1c502f | 102 | } |
Artiom | 0:bc74da1c502f | 103 | } |
Artiom | 0:bc74da1c502f | 104 | |
Artiom | 0:bc74da1c502f | 105 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 106 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 107 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 108 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 109 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 110 | { |
Artiom | 0:bc74da1c502f | 111 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 112 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 113 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 114 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 115 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 116 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 117 | FIFO_max_occupation=FIFO_occupation; |
Artiom | 0:bc74da1c502f | 118 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 119 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 120 | |
Artiom | 0:bc74da1c502f | 121 | switch(identifiant) { |
Artiom | 0:bc74da1c502f | 122 | |
Artiom | 0:bc74da1c502f | 123 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 124 | EtatGameEnd = 1; |
Artiom | 0:bc74da1c502f | 125 | break; |
Artiom | 0:bc74da1c502f | 126 | |
Artiom | 0:bc74da1c502f | 127 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 128 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 129 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 130 | |
Artiom | 0:bc74da1c502f | 131 | |
Artiom | 0:bc74da1c502f | 132 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 133 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 134 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 135 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 136 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 137 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 138 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 139 | |
Artiom | 0:bc74da1c502f | 140 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 141 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 142 | break; |
Artiom | 0:bc74da1c502f | 143 | |
Artiom | 0:bc74da1c502f | 144 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 145 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 146 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 147 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 148 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 149 | |
Artiom | 0:bc74da1c502f | 150 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 151 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 152 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 153 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 154 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 155 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 156 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 157 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 158 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 159 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 160 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 161 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 162 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 163 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 164 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 165 | break; |
Artiom | 0:bc74da1c502f | 166 | |
Artiom | 0:bc74da1c502f | 167 | #ifdef ROBOT_SMALL |
Artiom | 4:4a79942713fa | 168 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 2:9e63099cca99 | 169 | case GABARIT_PETIT_ROBOT: |
Artiom | 2:9e63099cca99 | 170 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 171 | gabarit_petit_robot(); |
Artiom | 2:9e63099cca99 | 172 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 173 | break; |
Artiom | 0:bc74da1c502f | 174 | |
Artiom | 0:bc74da1c502f | 175 | case PRESENTOIR_AVANT: |
Artiom | 4:4a79942713fa | 176 | fpresentoir_avant=1; |
Artiom | 0:bc74da1c502f | 177 | break; |
Artiom | 0:bc74da1c502f | 178 | |
Artiom | 0:bc74da1c502f | 179 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 180 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 181 | break; |
Artiom | 0:bc74da1c502f | 182 | |
Artiom | 0:bc74da1c502f | 183 | case BALANCE_AVANT: |
Artiom | 11:6c11c081c855 | 184 | fbalance_avant=1; |
Artiom | 0:bc74da1c502f | 185 | break; |
Artiom | 0:bc74da1c502f | 186 | |
Artiom | 0:bc74da1c502f | 187 | case BALANCE_ARRIERE: |
Artiom | 12:191486ba5118 | 188 | fbalance_arriere=1; |
Artiom | 2:9e63099cca99 | 189 | break; |
Artiom | 2:9e63099cca99 | 190 | |
Artiom | 2:9e63099cca99 | 191 | case ACCELERATEUR_AVANT: |
Artiom | 14:b1abd2f6df75 | 192 | faccelerateur_avant=1; |
Artiom | 2:9e63099cca99 | 193 | break; |
Artiom | 2:9e63099cca99 | 194 | |
Artiom | 2:9e63099cca99 | 195 | case ACCELERATEUR_ARRIERE: |
Artiom | 14:b1abd2f6df75 | 196 | faccelerateur_arriere=1; |
Artiom | 2:9e63099cca99 | 197 | break; |
Artiom | 6:45f9cf44718a | 198 | |
Artiom | 2:9e63099cca99 | 199 | case GOLDENIUM_AVANT: |
Artiom | 6:45f9cf44718a | 200 | fgoldenium_avant=1; |
Artiom | 2:9e63099cca99 | 201 | break; |
Artiom | 2:9e63099cca99 | 202 | |
Artiom | 2:9e63099cca99 | 203 | case GOLDENIUM_ARRIERE: |
Artiom | 6:45f9cf44718a | 204 | fgoldenium_arriere=1; |
Artiom | 2:9e63099cca99 | 205 | break; |
Artiom | 6:45f9cf44718a | 206 | |
Artiom | 2:9e63099cca99 | 207 | case SOL_AVANT: |
Artiom | 6:45f9cf44718a | 208 | fsol_avant=1; |
Artiom | 2:9e63099cca99 | 209 | break; |
Artiom | 2:9e63099cca99 | 210 | |
Artiom | 2:9e63099cca99 | 211 | case SOL_ARRIERE: |
Artiom | 6:45f9cf44718a | 212 | fsol_arriere=1; |
Artiom | 2:9e63099cca99 | 213 | break; |
Artiom | 2:9e63099cca99 | 214 | |
Artiom | 2:9e63099cca99 | 215 | case SOL_AVANT_RELACHE: |
Artiom | 7:553f3f1c2c53 | 216 | fsol_avant_relache=1; |
Artiom | 2:9e63099cca99 | 217 | break; |
Artiom | 2:9e63099cca99 | 218 | |
Artiom | 2:9e63099cca99 | 219 | case SOL_ARRIERE_RELACHE: |
Artiom | 7:553f3f1c2c53 | 220 | fsol_arriere_relache=1; |
Artiom | 0:bc74da1c502f | 221 | break; |
Artiom | 12:191486ba5118 | 222 | case AVANT_RELACHE: |
Artiom | 12:191486ba5118 | 223 | favant_relache=1; |
Artiom | 12:191486ba5118 | 224 | break; |
Artiom | 12:191486ba5118 | 225 | |
Artiom | 12:191486ba5118 | 226 | case ARRIERE_RELACHE: |
Artiom | 12:191486ba5118 | 227 | farriere_relache=1; |
Artiom | 12:191486ba5118 | 228 | break; |
Artiom | 14:b1abd2f6df75 | 229 | case RECROQUEVILLER: |
Artiom | 14:b1abd2f6df75 | 230 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 14:b1abd2f6df75 | 231 | recroqueviller_avant(); |
Artiom | 14:b1abd2f6df75 | 232 | recroqueviller_arriere(); |
Artiom | 14:b1abd2f6df75 | 233 | verification(); |
Artiom | 14:b1abd2f6df75 | 234 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 14:b1abd2f6df75 | 235 | break; |
Artiom | 13:9e19048eb065 | 236 | |
Artiom | 20:42f8ec726ac8 | 237 | case VENTOUSE_AV_CENTRE_BALANCE: |
Artiom | 20:42f8ec726ac8 | 238 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 20:42f8ec726ac8 | 239 | goldenium_avant(); |
Artiom | 20:42f8ec726ac8 | 240 | positionControl(AV_poigne_D, 270,1,BLED_ON,1);//actionneur |
Artiom | 20:42f8ec726ac8 | 241 | verification(); |
Artiom | 20:42f8ec726ac8 | 242 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 243 | break; |
Artiom | 20:42f8ec726ac8 | 244 | |
Artiom | 20:42f8ec726ac8 | 245 | case VENTOUSE_AR_CENTRE_BALANCE: |
Artiom | 20:42f8ec726ac8 | 246 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 20:42f8ec726ac8 | 247 | goldenium_arriere(); |
Artiom | 20:42f8ec726ac8 | 248 | positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur |
Artiom | 20:42f8ec726ac8 | 249 | verification(); |
Artiom | 20:42f8ec726ac8 | 250 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 251 | break; |
Artiom | 13:9e19048eb065 | 252 | |
Artiom | 4:4a79942713fa | 253 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
Artiom | 4:4a79942713fa | 254 | |
Artiom | 4:4a79942713fa | 255 | |
Artiom | 4:4a79942713fa | 256 | case HACHEUR_STATUT_VENTOUSES: |
Artiom | 4:4a79942713fa | 257 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
Artiom | 5:6e198cdd99ad | 258 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 259 | break; |
Artiom | 4:4a79942713fa | 260 | |
Artiom | 4:4a79942713fa | 261 | case HACHEUR_GET_ATOM_ACK: |
Artiom | 4:4a79942713fa | 262 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 5:6e198cdd99ad | 263 | //can.write(CANMessage(0x529, &status_pompe,1)); |
Artiom | 4:4a79942713fa | 264 | break; |
Artiom | 4:4a79942713fa | 265 | |
Artiom | 4:4a79942713fa | 266 | case HACHEUR_RELEASE_ATOM_ACK : |
Artiom | 4:4a79942713fa | 267 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
Artiom | 4:4a79942713fa | 268 | break; |
Artiom | 13:9e19048eb065 | 269 | |
Artiom | 13:9e19048eb065 | 270 | |
Artiom | 4:4a79942713fa | 271 | //------------------------------------------------------------------------------------------------------------------------------------------- |
Artiom | 4:4a79942713fa | 272 | |
Artiom | 0:bc74da1c502f | 273 | |
Artiom | 0:bc74da1c502f | 274 | #endif |
Artiom | 0:bc74da1c502f | 275 | #ifdef ROBOT_BIG |
kyxstark | 21:edf6d03fdb20 | 276 | case ASCENSEUR: |
kyxstark | 18:0ea0d887966f | 277 | rotation_couroies = msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 278 | break; |
Artiom | 0:bc74da1c502f | 279 | |
Artiom | 0:bc74da1c502f | 280 | case 5: |
Artiom | 0:bc74da1c502f | 281 | |
Artiom | 0:bc74da1c502f | 282 | break; |
Artiom | 0:bc74da1c502f | 283 | |
Artiom | 0:bc74da1c502f | 284 | #endif |
Artiom | 0:bc74da1c502f | 285 | } |
Artiom | 0:bc74da1c502f | 286 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 287 | |
Artiom | 0:bc74da1c502f | 288 | } |
Artiom | 4:4a79942713fa | 289 | |
Artiom | 4:4a79942713fa | 290 | |
Artiom | 4:4a79942713fa | 291 | } |
Artiom | 4:4a79942713fa | 292 | |
Artiom | 4:4a79942713fa | 293 | |
Artiom | 4:4a79942713fa | 294 | |
Artiom | 11:6c11c081c855 | 295 |