HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

setup.cpp@70:99f974d8960e, 2021-06-29 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 29 08:07:55 2021 +0000
Revision:
70:99f974d8960e
Parent:
68:b9f6938fab9d
Child:
73:84ffa0166e6c
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void setup()
cocorlow 56:888379912f81 4 {
cocorlow 56:888379912f81 5 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 6 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 7 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 8 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 9 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 10 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 11 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 12 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 13 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 14 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 15 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 16 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 17 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 18 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 19 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 20 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 21
NaotoMorita 70:99f974d8960e 22 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 23 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 24 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 25 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 26 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 27 servoThrust.pulsewidth_us(1100.0);
cocorlow 56:888379912f81 28
cocorlow 56:888379912f81 29 accelgyro.initialize();
cocorlow 56:888379912f81 30 //加速度計のフルスケールレンジを設定
cocorlow 56:888379912f81 31 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
cocorlow 56:888379912f81 32 //角速度計のフルスケールレンジを設定
cocorlow 56:888379912f81 33 accelgyro.setFullScaleGyroRange(GYRO_FSR);
cocorlow 56:888379912f81 34 //MPU6050のLPFを設定
cocorlow 56:888379912f81 35 accelgyro.setDLPFMode(MPU6050_LPF);
cocorlow 56:888379912f81 36 //地磁気
cocorlow 56:888379912f81 37 mag_sensor.enable();
cocorlow 56:888379912f81 38 }
cocorlow 56:888379912f81 39
cocorlow 56:888379912f81 40 void calibrate()
cocorlow 56:888379912f81 41 {
NaotoMorita 65:ea184054e659 42 pc.serial.printf("\r\nEnter to Calibration Mode\r\n");
cocorlow 56:888379912f81 43 wait(5);
NaotoMorita 65:ea184054e659 44 pc.serial.printf("Acc and Gyro Calibration Start\r\n");
cocorlow 56:888379912f81 45
cocorlow 56:888379912f81 46 int iter_n = 10000;
cocorlow 56:888379912f81 47
NaotoMorita 68:b9f6938fab9d 48 long axs = 0;
NaotoMorita 68:b9f6938fab9d 49 long ays = 0;
NaotoMorita 68:b9f6938fab9d 50 long azs = 0;
NaotoMorita 68:b9f6938fab9d 51 double axs2 = 0.0f;
NaotoMorita 68:b9f6938fab9d 52 double ays2 = 0.0f;
NaotoMorita 68:b9f6938fab9d 53 double azs2 = 0.0f;
NaotoMorita 68:b9f6938fab9d 54 long gxs = 0;
NaotoMorita 68:b9f6938fab9d 55 long gys = 0;
NaotoMorita 68:b9f6938fab9d 56 long gzs = 0;
NaotoMorita 68:b9f6938fab9d 57 double gxs2 = 0.0f;
NaotoMorita 68:b9f6938fab9d 58 double gys2 = 0.0f;
NaotoMorita 68:b9f6938fab9d 59 double gzs2 = 0.0f;
cocorlow 56:888379912f81 60 for(int i = 0;i<iter_n ;i++)
cocorlow 56:888379912f81 61 {
NaotoMorita 68:b9f6938fab9d 62 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 68:b9f6938fab9d 63 axs += ax;
NaotoMorita 68:b9f6938fab9d 64 ays += ay;
NaotoMorita 68:b9f6938fab9d 65 azs += az;
NaotoMorita 68:b9f6938fab9d 66 axs2 += double(ax*ax)/iter_n;
NaotoMorita 68:b9f6938fab9d 67 ays2 += double(ay*ay)/iter_n;
NaotoMorita 68:b9f6938fab9d 68 azs2 += double(az*az)/iter_n;
NaotoMorita 68:b9f6938fab9d 69
cocorlow 56:888379912f81 70 gxs += gx;
cocorlow 56:888379912f81 71 gys += gy;
NaotoMorita 68:b9f6938fab9d 72 gzs += gz;
NaotoMorita 68:b9f6938fab9d 73 gxs2 += double(gx*gx)/iter_n;
NaotoMorita 68:b9f6938fab9d 74 gys2 += double(gy*gy)/iter_n;
NaotoMorita 68:b9f6938fab9d 75 gzs2 += double(gz*gz)/iter_n;
cocorlow 56:888379912f81 76 //wait(0.01);
cocorlow 56:888379912f81 77 }
NaotoMorita 68:b9f6938fab9d 78 axs = axs /iter_n;
NaotoMorita 68:b9f6938fab9d 79 ays = ays /iter_n;
NaotoMorita 68:b9f6938fab9d 80 azs = azs /iter_n;
cocorlow 56:888379912f81 81 gxs = gxs /iter_n;
cocorlow 56:888379912f81 82 gys = gys /iter_n;
NaotoMorita 68:b9f6938fab9d 83 gzs = gzs /iter_n;
NaotoMorita 68:b9f6938fab9d 84 double var_accx = (axs2 - double(axs*axs))/ ACCEL_SSF / ACCEL_SSF;
NaotoMorita 68:b9f6938fab9d 85 double var_accy = (ays2 - double(ays*ays))/ ACCEL_SSF / ACCEL_SSF;
NaotoMorita 68:b9f6938fab9d 86 double var_accz = (azs2 - double(azs*azs))/ ACCEL_SSF / ACCEL_SSF;
NaotoMorita 68:b9f6938fab9d 87 double var_gyrox = (gxs2 - double(gxs*gxs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f;
NaotoMorita 68:b9f6938fab9d 88 double var_gyroy = (gys2 - double(gys*gys))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f;
NaotoMorita 68:b9f6938fab9d 89 double var_gyroz = (gzs2 - double(gzs*gzs))/ GYRO_SSF * 0.0174533f / GYRO_SSF * 0.0174533f;
NaotoMorita 68:b9f6938fab9d 90 pc.serial.printf("AccCovariance : %f, %f, %f \r\n",var_accx,var_accy,var_accz);
NaotoMorita 68:b9f6938fab9d 91 pc.serial.printf("GyroCovariance : %f, %f, %f \r\n",var_gyrox,var_gyroy,var_gyroz);
NaotoMorita 68:b9f6938fab9d 92
NaotoMorita 65:ea184054e659 93 pc.serial.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 65:ea184054e659 94
NaotoMorita 61:c05353850017 95
NaotoMorita 65:ea184054e659 96 pc.serial.printf("Initial Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]);
NaotoMorita 65:ea184054e659 97 pc.serial.printf("Initial Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]);
NaotoMorita 65:ea184054e659 98
NaotoMorita 70:99f974d8960e 99 pc.serial.printf("Acc Scale and Mag Calibration Start\r\n");
NaotoMorita 70:99f974d8960e 100 for(int i = 0;i<3;i++){
NaotoMorita 70:99f974d8960e 101 accMin[i] = -1.0f;
NaotoMorita 70:99f974d8960e 102 accMax[i] = 1.0f;
NaotoMorita 70:99f974d8960e 103 }
cocorlow 56:888379912f81 104
NaotoMorita 70:99f974d8960e 105 accMax[2] = accScaleCalibrate(5);
NaotoMorita 70:99f974d8960e 106 accMin[0] = accScaleCalibrate(1);
NaotoMorita 70:99f974d8960e 107 accMax[0] =accScaleCalibrate(2);
NaotoMorita 70:99f974d8960e 108 accMin[1] =accScaleCalibrate(3);
NaotoMorita 70:99f974d8960e 109 accMax[1] =accScaleCalibrate(4);
NaotoMorita 70:99f974d8960e 110 accMin[2] =accScaleCalibrate(6);
NaotoMorita 70:99f974d8960e 111
NaotoMorita 61:c05353850017 112 magCalibrator.getExtremes(magbiasMin,magbiasMax);
NaotoMorita 65:ea184054e659 113 pc.serial.printf("Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]);
NaotoMorita 65:ea184054e659 114 pc.serial.printf("Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]);
NaotoMorita 68:b9f6938fab9d 115 magCalibrator.setExtremes(magbiasMin,magbiasMax);
cocorlow 56:888379912f81 116
NaotoMorita 70:99f974d8960e 117 pc.serial.printf("accMin : %f, %f, %f\r\n", accMin[0], accMin[1], accMin[2]);
NaotoMorita 70:99f974d8960e 118 pc.serial.printf("accMax : %f, %f, %f\r\n", accMax[0], accMax[1], accMax[2]);
NaotoMorita 70:99f974d8960e 119
NaotoMorita 70:99f974d8960e 120 pc.serial.printf("Keep Level \r\n");
NaotoMorita 70:99f974d8960e 121 wait(5);
NaotoMorita 70:99f974d8960e 122
NaotoMorita 65:ea184054e659 123 pc.serial.printf("Calculating pitch/roll Offset \r\n");
cocorlow 56:888379912f81 124 //姿勢オフセットを計算
cocorlow 56:888379912f81 125 rpy_align.y = 0.0f*M_PI/180.0f;
cocorlow 56:888379912f81 126 rpy_align.x = 0.0f*M_PI/180.0f;
cocorlow 56:888379912f81 127 float ave_pitch = 0.0f;
cocorlow 56:888379912f81 128 float ave_roll = 0.0f;
NaotoMorita 68:b9f6938fab9d 129 ekf.Q(4,4) = 0.00001f;
NaotoMorita 68:b9f6938fab9d 130 ekf.Q(5,5) = 0.00001f;
NaotoMorita 68:b9f6938fab9d 131 ekf.Q(6,6) = 0.00001f;
NaotoMorita 68:b9f6938fab9d 132 ekf.Qab(1,1) = 0.0f;
NaotoMorita 68:b9f6938fab9d 133 ekf.Qab(2,2) = 0.0f;
NaotoMorita 68:b9f6938fab9d 134 ekf.Qab(3,3) = 0.0f;
NaotoMorita 68:b9f6938fab9d 135 getIMUval();
NaotoMorita 68:b9f6938fab9d 136 ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
cocorlow 56:888379912f81 137 Timer _t;
cocorlow 56:888379912f81 138 _t.start();
cocorlow 56:888379912f81 139 for (int i = 0 ; i < 2200; i++)
cocorlow 56:888379912f81 140 {
cocorlow 56:888379912f81 141 float tstart = _t.read();
cocorlow 56:888379912f81 142 //姿勢角を更新
cocorlow 56:888379912f81 143 getIMUval();
NaotoMorita 68:b9f6938fab9d 144 ekf.updateQhat(gyro, att_dt);
NaotoMorita 68:b9f6938fab9d 145 ekf.updateErrState(gyro, att_dt);
NaotoMorita 68:b9f6938fab9d 146 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 68:b9f6938fab9d 147 ekf.fuseErr2Qhat();
NaotoMorita 68:b9f6938fab9d 148 ekf.updateMagMeasures(mag);
NaotoMorita 68:b9f6938fab9d 149 ekf.computeAngles(rpy, rpy_align);
cocorlow 56:888379912f81 150 if(i>199)
cocorlow 56:888379912f81 151 {
NaotoMorita 70:99f974d8960e 152 ave_pitch += rpy.x;
NaotoMorita 70:99f974d8960e 153 ave_roll += rpy.y;
cocorlow 56:888379912f81 154 }
cocorlow 56:888379912f81 155 wait(0.001);
cocorlow 56:888379912f81 156 float tend = _t.read();
cocorlow 56:888379912f81 157 att_dt = (tend-tstart);
cocorlow 56:888379912f81 158 }
cocorlow 56:888379912f81 159
NaotoMorita 70:99f974d8960e 160 pc.serial.printf("aliginment data(rpy.x, rpy.y, rpy.z) : %ff*M_PI/180.0f, %ff*M_PI/180.0f, 0.0f*M_PI/180.0f\r\n",ave_pitch/2000.0f*180.0f/M_PI,ave_roll/2000.0f*180.0f/M_PI);
NaotoMorita 70:99f974d8960e 161
NaotoMorita 70:99f974d8960e 162
NaotoMorita 70:99f974d8960e 163 pc.serial.printf("Calibration Complete\r\n");
cocorlow 56:888379912f81 164
cocorlow 56:888379912f81 165 while(1)
cocorlow 56:888379912f81 166 {
cocorlow 56:888379912f81 167 wait(1000);
cocorlow 56:888379912f81 168 }
NaotoMorita 70:99f974d8960e 169 }
NaotoMorita 70:99f974d8960e 170
NaotoMorita 70:99f974d8960e 171 float accScaleCalibrate(int attNo)
NaotoMorita 70:99f974d8960e 172 {
NaotoMorita 70:99f974d8960e 173 //attNo 1:Right down (acc.x Negative)
NaotoMorita 70:99f974d8960e 174 //attNo 2:Left down (acc.x Positive)
NaotoMorita 70:99f974d8960e 175 //attNo 3:Nose down (acc.y Negative)
NaotoMorita 70:99f974d8960e 176 //attNo 4:Tail down (acc.y Positive)
NaotoMorita 70:99f974d8960e 177 //attNo 5:Level (acc.z Positive)
NaotoMorita 70:99f974d8960e 178 //attNo 6:upside down (acc.z Negative)
NaotoMorita 70:99f974d8960e 179 //acc scale calibration
NaotoMorita 70:99f974d8960e 180 switch(attNo){
NaotoMorita 70:99f974d8960e 181 case 1:
NaotoMorita 70:99f974d8960e 182 pc.serial.printf("Right down (acc.x Negative)\r\n");
NaotoMorita 70:99f974d8960e 183 break;
NaotoMorita 70:99f974d8960e 184 case 2:
NaotoMorita 70:99f974d8960e 185 pc.serial.printf("Left down (acc.x Positive)\r\n");
NaotoMorita 70:99f974d8960e 186 break;
NaotoMorita 70:99f974d8960e 187 case 3:
NaotoMorita 70:99f974d8960e 188 pc.serial.printf("Nose down (acc.y Negative)\r\n");
NaotoMorita 70:99f974d8960e 189 break;
NaotoMorita 70:99f974d8960e 190 case 4:
NaotoMorita 70:99f974d8960e 191 pc.serial.printf("Tail down (acc.y Positive)\r\n");
NaotoMorita 70:99f974d8960e 192 break;
NaotoMorita 70:99f974d8960e 193 case 5:
NaotoMorita 70:99f974d8960e 194 pc.serial.printf("Level (acc.z Positive)\r\n");
NaotoMorita 70:99f974d8960e 195 break;
NaotoMorita 70:99f974d8960e 196 case 6:
NaotoMorita 70:99f974d8960e 197 pc.serial.printf("Upside down (acc.z Negative)\r\n");
NaotoMorita 70:99f974d8960e 198 break;
NaotoMorita 70:99f974d8960e 199 default :
NaotoMorita 70:99f974d8960e 200 pc.serial.printf("error");
NaotoMorita 70:99f974d8960e 201 break;
NaotoMorita 70:99f974d8960e 202 }
NaotoMorita 70:99f974d8960e 203
NaotoMorita 70:99f974d8960e 204 while(1){
NaotoMorita 70:99f974d8960e 205 double accx = 0.0;
NaotoMorita 70:99f974d8960e 206 double accy = 0.0;
NaotoMorita 70:99f974d8960e 207 double accz = 0.0;
NaotoMorita 70:99f974d8960e 208 for(int i = 0;i<100 ;i++)
NaotoMorita 70:99f974d8960e 209 {
NaotoMorita 70:99f974d8960e 210 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 70:99f974d8960e 211 accx += ax/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 212 accy += ay/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 213 accz += az/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 214 wait(0.01);
NaotoMorita 70:99f974d8960e 215 }
NaotoMorita 70:99f974d8960e 216 bool breakFlag = false;
NaotoMorita 70:99f974d8960e 217 switch(attNo){
NaotoMorita 70:99f974d8960e 218 case 1:
NaotoMorita 70:99f974d8960e 219 if(abs(accx/100.0+1.0)<0.1){
NaotoMorita 70:99f974d8960e 220 breakFlag = true;
NaotoMorita 70:99f974d8960e 221 };
NaotoMorita 70:99f974d8960e 222 break;
NaotoMorita 70:99f974d8960e 223 case 2:
NaotoMorita 70:99f974d8960e 224 if(abs(accx/100.0-1.0)<0.1){
NaotoMorita 70:99f974d8960e 225 breakFlag = true;
NaotoMorita 70:99f974d8960e 226 };
NaotoMorita 70:99f974d8960e 227 break;
NaotoMorita 70:99f974d8960e 228 case 3:
NaotoMorita 70:99f974d8960e 229 if(abs(accy/100.0+1.0)<0.1){
NaotoMorita 70:99f974d8960e 230 breakFlag = true;
NaotoMorita 70:99f974d8960e 231 };
NaotoMorita 70:99f974d8960e 232 break;
NaotoMorita 70:99f974d8960e 233 case 4:
NaotoMorita 70:99f974d8960e 234 if(abs(accy/100.0-1.0)<0.1){
NaotoMorita 70:99f974d8960e 235 breakFlag = true;
NaotoMorita 70:99f974d8960e 236 };
NaotoMorita 70:99f974d8960e 237 break;
NaotoMorita 70:99f974d8960e 238 case 5:
NaotoMorita 70:99f974d8960e 239 if(abs(accz/100.0-1.0)<0.1){
NaotoMorita 70:99f974d8960e 240 breakFlag = true;
NaotoMorita 70:99f974d8960e 241 };
NaotoMorita 70:99f974d8960e 242 break;
NaotoMorita 70:99f974d8960e 243 case 6:
NaotoMorita 70:99f974d8960e 244 if(abs(accz/100.0+1.0)<0.1){
NaotoMorita 70:99f974d8960e 245 breakFlag = true;
NaotoMorita 70:99f974d8960e 246 };
NaotoMorita 70:99f974d8960e 247 break;
NaotoMorita 70:99f974d8960e 248 }
NaotoMorita 70:99f974d8960e 249 if(breakFlag){break;};
NaotoMorita 70:99f974d8960e 250 pc.serial.printf("acc %f %f %f\r\n", accx/100.0,accy/100.0,accz/100.0);
NaotoMorita 70:99f974d8960e 251 }
NaotoMorita 70:99f974d8960e 252 pc.serial.printf("Keep it hold\r\n");
NaotoMorita 70:99f974d8960e 253 int iter_n = 1000;
NaotoMorita 70:99f974d8960e 254 double accx = 0.0;
NaotoMorita 70:99f974d8960e 255 double accy = 0.0;
NaotoMorita 70:99f974d8960e 256 double accz = 0.0;
NaotoMorita 70:99f974d8960e 257 for(int i = 0;i<iter_n ;i++)
NaotoMorita 70:99f974d8960e 258 {
NaotoMorita 70:99f974d8960e 259 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 70:99f974d8960e 260 accx += ax/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 261 accy += ay/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 262 accz += az/ ACCEL_SSF;
NaotoMorita 70:99f974d8960e 263
NaotoMorita 70:99f974d8960e 264 float inputMag[3];
NaotoMorita 70:99f974d8960e 265 float outputMag[3];
NaotoMorita 70:99f974d8960e 266 mag_sensor.getAxis(mdata); // flush the magnetmeter
NaotoMorita 70:99f974d8960e 267 inputMag[0] = mdata.x;
NaotoMorita 70:99f974d8960e 268 inputMag[1] = mdata.y;
NaotoMorita 70:99f974d8960e 269 inputMag[2] = mdata.z;
NaotoMorita 70:99f974d8960e 270 magCalibrator.run(inputMag,outputMag);
NaotoMorita 70:99f974d8960e 271
NaotoMorita 70:99f974d8960e 272 wait(0.001);
NaotoMorita 70:99f974d8960e 273 }
NaotoMorita 70:99f974d8960e 274 float returnval = 0.0f;
NaotoMorita 70:99f974d8960e 275 switch(attNo){
NaotoMorita 70:99f974d8960e 276 case 1:
NaotoMorita 70:99f974d8960e 277 returnval = accx/1000.0f;
NaotoMorita 70:99f974d8960e 278 break;
NaotoMorita 70:99f974d8960e 279 case 2:
NaotoMorita 70:99f974d8960e 280 returnval = accx/1000.0f;
NaotoMorita 70:99f974d8960e 281 break;
NaotoMorita 70:99f974d8960e 282 case 3:
NaotoMorita 70:99f974d8960e 283 returnval = accy/1000.0f;
NaotoMorita 70:99f974d8960e 284 break;
NaotoMorita 70:99f974d8960e 285 case 4:
NaotoMorita 70:99f974d8960e 286 returnval = accy/1000.0f;
NaotoMorita 70:99f974d8960e 287 break;
NaotoMorita 70:99f974d8960e 288 case 5:
NaotoMorita 70:99f974d8960e 289 returnval = accz/1000.0f;
NaotoMorita 70:99f974d8960e 290 break;
NaotoMorita 70:99f974d8960e 291 case 6:
NaotoMorita 70:99f974d8960e 292 returnval = accz/1000.0f;
NaotoMorita 70:99f974d8960e 293 break;
NaotoMorita 70:99f974d8960e 294 }
NaotoMorita 70:99f974d8960e 295
NaotoMorita 70:99f974d8960e 296 return returnval;
cocorlow 56:888379912f81 297 }