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hello
Dependencies: X_NUCLEO_IHM01A1
Fork of HelloWorld_IHM01A1_2Motors_mbedOS by
main.cpp@1:fbf28f3367aa, 2015-10-16 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Oct 16 13:51:31 2015 +0000
- Revision:
- 1:fbf28f3367aa
- Parent:
- 0:e6a49a092e2a
- Child:
- 2:e12e4df7a486
Updated to fit the new X_NUCLEO_IHM01A1 library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 0:e6a49a092e2a | 4 | * @author Davide Aliprandi / AST |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 0:e6a49a092e2a | 7 | * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 |
Davidroid | 0:e6a49a092e2a | 8 | * Motor Control Expansion Board: control of 1 motor. |
Davidroid | 0:e6a49a092e2a | 9 | * This application makes use of a C++ component architecture obtained |
Davidroid | 0:e6a49a092e2a | 10 | * from the C component architecture through the Stm32CubeTOO tool. |
Davidroid | 0:e6a49a092e2a | 11 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 12 | * @attention |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 15 | * |
Davidroid | 0:e6a49a092e2a | 16 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 17 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 18 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 20 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 21 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 22 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 23 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 24 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 25 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 26 | * |
Davidroid | 0:e6a49a092e2a | 27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 30 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 31 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 32 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 33 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 34 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 35 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 36 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 37 | * |
Davidroid | 0:e6a49a092e2a | 38 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 39 | */ |
Davidroid | 0:e6a49a092e2a | 40 | |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 43 | |
Davidroid | 0:e6a49a092e2a | 44 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 45 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 46 | |
Davidroid | 0:e6a49a092e2a | 47 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 48 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 49 | |
Davidroid | 0:e6a49a092e2a | 50 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 51 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 52 | |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 0:e6a49a092e2a | 54 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 55 | |
Davidroid | 0:e6a49a092e2a | 56 | /* Number of steps corresponding to one round angle of the motor. */ |
Davidroid | 0:e6a49a092e2a | 57 | #define ROUND_ANGLE_STEPS 1600 |
Davidroid | 0:e6a49a092e2a | 58 | |
Davidroid | 0:e6a49a092e2a | 59 | |
Davidroid | 0:e6a49a092e2a | 60 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 61 | |
Davidroid | 0:e6a49a092e2a | 62 | /* Motor Control Component. */ |
Davidroid | 1:fbf28f3367aa | 63 | L6474 *motor; |
Davidroid | 0:e6a49a092e2a | 64 | |
Davidroid | 0:e6a49a092e2a | 65 | |
Davidroid | 0:e6a49a092e2a | 66 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 67 | |
Davidroid | 0:e6a49a092e2a | 68 | int main() |
Davidroid | 0:e6a49a092e2a | 69 | { |
Davidroid | 0:e6a49a092e2a | 70 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 71 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 72 | |
Davidroid | 0:e6a49a092e2a | 73 | /* Initializing Motor Control Component. */ |
Davidroid | 1:fbf28f3367aa | 74 | motor = new L6474(D8, D7, D9, D10, dev_spi); |
Davidroid | 1:fbf28f3367aa | 75 | if (motor->Init(NULL) != COMPONENT_OK) |
Davidroid | 0:e6a49a092e2a | 76 | return false; |
Davidroid | 0:e6a49a092e2a | 77 | |
Davidroid | 0:e6a49a092e2a | 78 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 79 | printf("Motor Control Application Example for 1 Motor\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 80 | |
Davidroid | 0:e6a49a092e2a | 81 | /* Main Loop. */ |
Davidroid | 0:e6a49a092e2a | 82 | while(true) |
Davidroid | 0:e6a49a092e2a | 83 | { |
Davidroid | 0:e6a49a092e2a | 84 | /*----- Moving forward of N steps. -----*/ |
Davidroid | 0:e6a49a092e2a | 85 | |
Davidroid | 0:e6a49a092e2a | 86 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 87 | printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 88 | |
Davidroid | 0:e6a49a092e2a | 89 | /* Moving N steps in the forward direction. */ |
Davidroid | 1:fbf28f3367aa | 90 | motor->Move(FORWARD, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 91 | |
Davidroid | 0:e6a49a092e2a | 92 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 93 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 94 | |
Davidroid | 0:e6a49a092e2a | 95 | /* Getting current position. */ |
Davidroid | 1:fbf28f3367aa | 96 | int position = motor->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 97 | |
Davidroid | 0:e6a49a092e2a | 98 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 99 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 100 | |
Davidroid | 0:e6a49a092e2a | 101 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 102 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 103 | |
Davidroid | 0:e6a49a092e2a | 104 | |
Davidroid | 0:e6a49a092e2a | 105 | /*----- Moving backward N steps. -----*/ |
Davidroid | 0:e6a49a092e2a | 106 | |
Davidroid | 0:e6a49a092e2a | 107 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 108 | printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 109 | |
Davidroid | 0:e6a49a092e2a | 110 | /* Moving N steps in the backward direction. */ |
Davidroid | 1:fbf28f3367aa | 111 | motor->Move(BACKWARD, ROUND_ANGLE_STEPS); |
Davidroid | 0:e6a49a092e2a | 112 | |
Davidroid | 0:e6a49a092e2a | 113 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 114 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 115 | |
Davidroid | 0:e6a49a092e2a | 116 | /* Getting current position. */ |
Davidroid | 1:fbf28f3367aa | 117 | position = motor->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 118 | |
Davidroid | 0:e6a49a092e2a | 119 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 120 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 121 | |
Davidroid | 0:e6a49a092e2a | 122 | /* Setting the current position to be the home position. */ |
Davidroid | 1:fbf28f3367aa | 123 | motor->SetHome(); |
Davidroid | 0:e6a49a092e2a | 124 | |
Davidroid | 0:e6a49a092e2a | 125 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 126 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 127 | |
Davidroid | 0:e6a49a092e2a | 128 | |
Davidroid | 0:e6a49a092e2a | 129 | /*----- Going to a specified position. -----*/ |
Davidroid | 0:e6a49a092e2a | 130 | |
Davidroid | 0:e6a49a092e2a | 131 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 132 | printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 133 | |
Davidroid | 0:e6a49a092e2a | 134 | /* Requesting to go to a specified position. */ |
Davidroid | 1:fbf28f3367aa | 135 | motor->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 0:e6a49a092e2a | 136 | |
Davidroid | 0:e6a49a092e2a | 137 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 138 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 139 | |
Davidroid | 0:e6a49a092e2a | 140 | /* Getting current position. */ |
Davidroid | 1:fbf28f3367aa | 141 | position = motor->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 142 | |
Davidroid | 0:e6a49a092e2a | 143 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 144 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 145 | |
Davidroid | 0:e6a49a092e2a | 146 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 147 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 148 | |
Davidroid | 0:e6a49a092e2a | 149 | |
Davidroid | 0:e6a49a092e2a | 150 | /*----- Going Home. -----*/ |
Davidroid | 0:e6a49a092e2a | 151 | |
Davidroid | 0:e6a49a092e2a | 152 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 153 | printf("--> Going Home.\r\n"); |
Davidroid | 0:e6a49a092e2a | 154 | |
Davidroid | 0:e6a49a092e2a | 155 | /* Requesting to go to home. */ |
Davidroid | 1:fbf28f3367aa | 156 | motor->GoHome(); |
Davidroid | 0:e6a49a092e2a | 157 | |
Davidroid | 0:e6a49a092e2a | 158 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 159 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 160 | |
Davidroid | 0:e6a49a092e2a | 161 | /* Getting current position. */ |
Davidroid | 1:fbf28f3367aa | 162 | position = motor->GetPosition(); |
Davidroid | 0:e6a49a092e2a | 163 | |
Davidroid | 0:e6a49a092e2a | 164 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 165 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 166 | |
Davidroid | 0:e6a49a092e2a | 167 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 168 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 169 | |
Davidroid | 0:e6a49a092e2a | 170 | |
Davidroid | 0:e6a49a092e2a | 171 | /*----- Moving backward. -----*/ |
Davidroid | 0:e6a49a092e2a | 172 | |
Davidroid | 0:e6a49a092e2a | 173 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 174 | printf("--> Moving backward.\r\n"); |
Davidroid | 0:e6a49a092e2a | 175 | |
Davidroid | 0:e6a49a092e2a | 176 | /* Requesting to run backward. */ |
Davidroid | 1:fbf28f3367aa | 177 | motor->Run(BACKWARD); |
Davidroid | 0:e6a49a092e2a | 178 | |
Davidroid | 0:e6a49a092e2a | 179 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 180 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 181 | |
Davidroid | 0:e6a49a092e2a | 182 | /* Getting current speed. */ |
Davidroid | 1:fbf28f3367aa | 183 | int speed = motor->GetCurrentSpeed(); |
Davidroid | 0:e6a49a092e2a | 184 | |
Davidroid | 0:e6a49a092e2a | 185 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 186 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 0:e6a49a092e2a | 187 | |
Davidroid | 0:e6a49a092e2a | 188 | |
Davidroid | 0:e6a49a092e2a | 189 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 190 | |
Davidroid | 0:e6a49a092e2a | 191 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 192 | printf("--> Increasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 193 | |
Davidroid | 0:e6a49a092e2a | 194 | /* Increasing speed to 2400 step/s. */ |
Davidroid | 1:fbf28f3367aa | 195 | motor->SetMaxSpeed(2400); |
Davidroid | 0:e6a49a092e2a | 196 | |
Davidroid | 0:e6a49a092e2a | 197 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 198 | wait_ms(6000); |
Davidroid | 0:e6a49a092e2a | 199 | |
Davidroid | 0:e6a49a092e2a | 200 | /* Getting current speed. */ |
Davidroid | 1:fbf28f3367aa | 201 | speed = motor->GetCurrentSpeed(); |
Davidroid | 0:e6a49a092e2a | 202 | |
Davidroid | 0:e6a49a092e2a | 203 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 204 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 0:e6a49a092e2a | 205 | |
Davidroid | 0:e6a49a092e2a | 206 | |
Davidroid | 0:e6a49a092e2a | 207 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 208 | |
Davidroid | 0:e6a49a092e2a | 209 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 210 | printf("--> Decreasing the speed while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 211 | |
Davidroid | 0:e6a49a092e2a | 212 | /* Decreasing speed to 1200 step/s. */ |
Davidroid | 1:fbf28f3367aa | 213 | motor->SetMaxSpeed(1200); |
Davidroid | 0:e6a49a092e2a | 214 | |
Davidroid | 0:e6a49a092e2a | 215 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 216 | wait_ms(8000); |
Davidroid | 0:e6a49a092e2a | 217 | |
Davidroid | 0:e6a49a092e2a | 218 | /* Getting current speed. */ |
Davidroid | 1:fbf28f3367aa | 219 | speed = motor->GetCurrentSpeed(); |
Davidroid | 0:e6a49a092e2a | 220 | |
Davidroid | 0:e6a49a092e2a | 221 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 222 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 0:e6a49a092e2a | 223 | |
Davidroid | 0:e6a49a092e2a | 224 | |
Davidroid | 0:e6a49a092e2a | 225 | /*----- Moving forward. -----*/ |
Davidroid | 0:e6a49a092e2a | 226 | |
Davidroid | 0:e6a49a092e2a | 227 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 228 | printf("--> Moving forward.\r\n"); |
Davidroid | 0:e6a49a092e2a | 229 | |
Davidroid | 0:e6a49a092e2a | 230 | /* Requesting to run in forward direction. */ |
Davidroid | 1:fbf28f3367aa | 231 | motor->Run(FORWARD); |
Davidroid | 0:e6a49a092e2a | 232 | |
Davidroid | 0:e6a49a092e2a | 233 | /* Waiting until delay has expired. */ |
Davidroid | 1:fbf28f3367aa | 234 | wait_ms(4000); |
Davidroid | 0:e6a49a092e2a | 235 | |
Davidroid | 0:e6a49a092e2a | 236 | |
Davidroid | 0:e6a49a092e2a | 237 | /*----- Requiring hard-stop while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 238 | |
Davidroid | 0:e6a49a092e2a | 239 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 240 | printf("--> Requiring hard-stop while running.\r\n"); |
Davidroid | 0:e6a49a092e2a | 241 | |
Davidroid | 0:e6a49a092e2a | 242 | /* Requesting to immediatly stop. */ |
Davidroid | 1:fbf28f3367aa | 243 | motor->HardStop(); |
Davidroid | 0:e6a49a092e2a | 244 | |
Davidroid | 0:e6a49a092e2a | 245 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 246 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 247 | |
Davidroid | 0:e6a49a092e2a | 248 | /* Waiting 2 seconds. */ |
Davidroid | 0:e6a49a092e2a | 249 | wait_ms(2000); |
Davidroid | 0:e6a49a092e2a | 250 | |
Davidroid | 0:e6a49a092e2a | 251 | |
Davidroid | 0:e6a49a092e2a | 252 | /*----- Infinite Loop. -----*/ |
Davidroid | 0:e6a49a092e2a | 253 | |
Davidroid | 0:e6a49a092e2a | 254 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 255 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 0:e6a49a092e2a | 256 | |
Davidroid | 0:e6a49a092e2a | 257 | /* Setting the current position to be the home position. */ |
Davidroid | 1:fbf28f3367aa | 258 | motor->SetHome(); |
Davidroid | 0:e6a49a092e2a | 259 | |
Davidroid | 0:e6a49a092e2a | 260 | /* Infinite Loop. */ |
Davidroid | 0:e6a49a092e2a | 261 | while(1) |
Davidroid | 0:e6a49a092e2a | 262 | { |
Davidroid | 0:e6a49a092e2a | 263 | /* Requesting to go to a specified position. */ |
Davidroid | 1:fbf28f3367aa | 264 | motor->GoTo(- ROUND_ANGLE_STEPS >> 2); |
Davidroid | 0:e6a49a092e2a | 265 | |
Davidroid | 0:e6a49a092e2a | 266 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 267 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 268 | |
Davidroid | 0:e6a49a092e2a | 269 | /* Requesting to go to a specified position. */ |
Davidroid | 1:fbf28f3367aa | 270 | motor->GoTo(ROUND_ANGLE_STEPS >> 2); |
Davidroid | 0:e6a49a092e2a | 271 | |
Davidroid | 0:e6a49a092e2a | 272 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 273 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 274 | } |
Davidroid | 0:e6a49a092e2a | 275 | } |
Davidroid | 0:e6a49a092e2a | 276 | } |