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3/24 計器
Dependencies: SDFileSystem mbed
Fork of keiki2016ver2 by
main.cpp@3:8dc516be2e7e, 2016-03-24 (annotated)
- Committer:
- taurin
- Date:
- Thu Mar 24 06:42:22 2016 +0000
- Revision:
- 3:8dc516be2e7e
- Parent:
- 2:5a1a638f5fe6
- Child:
- 4:a863a092141c
3/24 ??; ?;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
taurin | 1:5ec2409854da | 1 | //計器プログラム |
taurin | 0:085b2c5e3254 | 2 | #include "mbed.h" |
taurin | 0:085b2c5e3254 | 3 | #include "Fusokukei.h" |
taurin | 0:085b2c5e3254 | 4 | #include "MPU6050.h" |
taurin | 0:085b2c5e3254 | 5 | #include "SDFileSystem.h" |
taurin | 0:085b2c5e3254 | 6 | |
taurin | 0:085b2c5e3254 | 7 | #define KX_VALUE_MIN 0.4 |
taurin | 0:085b2c5e3254 | 8 | #define KX_VALUE_MAX 0.8 |
taurin | 1:5ec2409854da | 9 | #define SOUDA_DATAS_NUM 13 |
taurin | 3:8dc516be2e7e | 10 | #define WRITE_DATAS_NUM 21 |
taurin | 0:085b2c5e3254 | 11 | #define MPU_LOOP_TIME 0.01 |
taurin | 0:085b2c5e3254 | 12 | #define AIR_LOOP_TIME 0.01 |
taurin | 3:8dc516be2e7e | 13 | #define WRITE_DATAS_LOOP_TIME 1 |
taurin | 3:8dc516be2e7e | 14 | #define ROLL_R_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 15 | #define ROLL_L_MAX_DEG 2 |
taurin | 3:8dc516be2e7e | 16 | #define MPU_DELT_MIN 500 |
taurin | 3:8dc516be2e7e | 17 | #define SD_WRITE_NUM 10 |
taurin | 0:085b2c5e3254 | 18 | |
taurin | 0:085b2c5e3254 | 19 | Serial pc(USBTX,USBRX); |
taurin | 0:085b2c5e3254 | 20 | Serial soudaSerial(p13,p14); |
taurin | 1:5ec2409854da | 21 | Serial twe(p9,p10); |
taurin | 0:085b2c5e3254 | 22 | Ticker writeDatasTicker; |
taurin | 3:8dc516be2e7e | 23 | Timer writeTimer; |
taurin | 0:085b2c5e3254 | 24 | |
taurin | 0:085b2c5e3254 | 25 | InterruptIn FusokukeiPin(p30); |
taurin | 0:085b2c5e3254 | 26 | Ticker FusokukeiTicker; |
taurin | 0:085b2c5e3254 | 27 | Fusokukei air; |
taurin | 0:085b2c5e3254 | 28 | volatile int air_kaitensu= 0; |
taurin | 0:085b2c5e3254 | 29 | |
taurin | 0:085b2c5e3254 | 30 | float sum = 0; |
taurin | 0:085b2c5e3254 | 31 | uint32_t sumCount = 0; |
taurin | 0:085b2c5e3254 | 32 | MPU6050 mpu6050; |
taurin | 0:085b2c5e3254 | 33 | Timer t; |
taurin | 0:085b2c5e3254 | 34 | Ticker mpu6050Ticker; |
taurin | 0:085b2c5e3254 | 35 | |
taurin | 0:085b2c5e3254 | 36 | AnalogIn kx_X(p17); |
taurin | 0:085b2c5e3254 | 37 | AnalogIn kx_Y(p16); |
taurin | 0:085b2c5e3254 | 38 | AnalogIn kx_Z(p15); |
taurin | 3:8dc516be2e7e | 39 | float KX_X,KX_Y,KX_Z; |
taurin | 0:085b2c5e3254 | 40 | |
taurin | 0:085b2c5e3254 | 41 | DigitalOut RollAlarmR(p20); |
taurin | 0:085b2c5e3254 | 42 | DigitalOut RollAlarmL(p19); |
taurin | 0:085b2c5e3254 | 43 | DigitalOut led(LED1); |
taurin | 1:5ec2409854da | 44 | DigitalOut led2(LED2); |
taurin | 0:085b2c5e3254 | 45 | |
taurin | 0:085b2c5e3254 | 46 | SDFileSystem sd(p5, p6, p7, p8, "sd"); |
taurin | 0:085b2c5e3254 | 47 | FILE* fp; |
taurin | 0:085b2c5e3254 | 48 | |
taurin | 0:085b2c5e3254 | 49 | char soudaDatas[SOUDA_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 50 | float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM]; |
taurin | 3:8dc516be2e7e | 51 | volatile int write_datas_index = 0; |
taurin | 0:085b2c5e3254 | 52 | |
taurin | 0:085b2c5e3254 | 53 | void air_countUp(); |
taurin | 0:085b2c5e3254 | 54 | void call_calcAirSpeed(); |
taurin | 0:085b2c5e3254 | 55 | void init(); |
taurin | 0:085b2c5e3254 | 56 | void FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 57 | void MpuInit(); |
taurin | 0:085b2c5e3254 | 58 | void mpuProcessing(); |
taurin | 0:085b2c5e3254 | 59 | void SdInit(); |
taurin | 0:085b2c5e3254 | 60 | void DataReceiveFromSouda(); |
taurin | 0:085b2c5e3254 | 61 | void WriteDatas(); |
taurin | 0:085b2c5e3254 | 62 | float calcAttackAngle(); |
taurin | 0:085b2c5e3254 | 63 | float calcKXdeg(float x); |
taurin | 0:085b2c5e3254 | 64 | |
taurin | 0:085b2c5e3254 | 65 | void air_countUp(){ |
taurin | 0:085b2c5e3254 | 66 | air_kaitensu++; |
taurin | 0:085b2c5e3254 | 67 | } |
taurin | 0:085b2c5e3254 | 68 | |
taurin | 0:085b2c5e3254 | 69 | void call_calcAirSpeed(){ |
taurin | 0:085b2c5e3254 | 70 | air.calcAirSpeed(air_kaitensu); |
taurin | 0:085b2c5e3254 | 71 | air_kaitensu = 0; |
taurin | 0:085b2c5e3254 | 72 | } |
taurin | 0:085b2c5e3254 | 73 | |
taurin | 0:085b2c5e3254 | 74 | void init(){ |
taurin | 1:5ec2409854da | 75 | twe.baud(115200); |
taurin | 3:8dc516be2e7e | 76 | writeTimer.start(); |
taurin | 0:085b2c5e3254 | 77 | FusokukeiInit(); |
taurin | 0:085b2c5e3254 | 78 | MpuInit(); |
taurin | 1:5ec2409854da | 79 | SdInit(); |
taurin | 3:8dc516be2e7e | 80 | //writeDatasTicker.attach(&WriteDatas,1); |
taurin | 1:5ec2409854da | 81 | //soudaSerial.attach(&DataReceiveFromSouda, Serial::RxIrq); |
taurin | 0:085b2c5e3254 | 82 | } |
taurin | 0:085b2c5e3254 | 83 | |
taurin | 0:085b2c5e3254 | 84 | void FusokukeiInit(){ |
taurin | 0:085b2c5e3254 | 85 | FusokukeiPin.rise(air_countUp); |
taurin | 0:085b2c5e3254 | 86 | FusokukeiTicker.attach(&call_calcAirSpeed, AIR_LOOP_TIME); |
taurin | 0:085b2c5e3254 | 87 | } |
taurin | 0:085b2c5e3254 | 88 | |
taurin | 0:085b2c5e3254 | 89 | void MpuInit(){ |
taurin | 0:085b2c5e3254 | 90 | i2c.frequency(400000); // use fast (400 kHz) I2C |
taurin | 0:085b2c5e3254 | 91 | t.start(); |
taurin | 0:085b2c5e3254 | 92 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
taurin | 0:085b2c5e3254 | 93 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
taurin | 0:085b2c5e3254 | 94 | wait(1); |
taurin | 0:085b2c5e3254 | 95 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
taurin | 0:085b2c5e3254 | 96 | wait(1); |
taurin | 0:085b2c5e3254 | 97 | if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) { |
taurin | 0:085b2c5e3254 | 98 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
taurin | 0:085b2c5e3254 | 99 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
taurin | 0:085b2c5e3254 | 100 | mpu6050.initMPU6050(); //pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
taurin | 0:085b2c5e3254 | 101 | wait(2); |
taurin | 0:085b2c5e3254 | 102 | } else { |
taurin | 0:085b2c5e3254 | 103 | } |
taurin | 0:085b2c5e3254 | 104 | } else { |
taurin | 0:085b2c5e3254 | 105 | pc.printf("out\n\r"); // Loop forever if communication doesn't happen |
taurin | 0:085b2c5e3254 | 106 | } |
taurin | 0:085b2c5e3254 | 107 | } |
taurin | 0:085b2c5e3254 | 108 | |
taurin | 0:085b2c5e3254 | 109 | void mpuProcessing(){ |
taurin | 0:085b2c5e3254 | 110 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
taurin | 3:8dc516be2e7e | 111 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 112 | mpu6050.getAres(); |
taurin | 3:8dc516be2e7e | 113 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 114 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
taurin | 3:8dc516be2e7e | 115 | az = (float)accelCount[2]*aRes - accelBias[2]; |
taurin | 3:8dc516be2e7e | 116 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 117 | mpu6050.getGres(); |
taurin | 3:8dc516be2e7e | 118 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
taurin | 3:8dc516be2e7e | 119 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
taurin | 3:8dc516be2e7e | 120 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
taurin | 3:8dc516be2e7e | 121 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
taurin | 3:8dc516be2e7e | 122 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
taurin | 3:8dc516be2e7e | 123 | } |
taurin | 3:8dc516be2e7e | 124 | Now = t.read_us(); |
taurin | 3:8dc516be2e7e | 125 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
taurin | 3:8dc516be2e7e | 126 | lastUpdate = Now; |
taurin | 3:8dc516be2e7e | 127 | sum += deltat; |
taurin | 3:8dc516be2e7e | 128 | sumCount++; |
taurin | 3:8dc516be2e7e | 129 | if(lastUpdate - firstUpdate > 10000000.0f) { |
taurin | 3:8dc516be2e7e | 130 | beta = 0.04; // decrease filter gain after stabilized |
taurin | 3:8dc516be2e7e | 131 | zeta = 0.015; // increasey bias drift gain after stabilized |
taurin | 3:8dc516be2e7e | 132 | } |
taurin | 3:8dc516be2e7e | 133 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
taurin | 3:8dc516be2e7e | 134 | delt_t = t.read_ms() - count; |
taurin | 3:8dc516be2e7e | 135 | if (delt_t > MPU_DELT_MIN) { |
taurin | 3:8dc516be2e7e | 136 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
taurin | 3:8dc516be2e7e | 137 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
taurin | 3:8dc516be2e7e | 138 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
taurin | 3:8dc516be2e7e | 139 | pitch *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 140 | yaw *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 141 | roll *= 180.0f / PI; |
taurin | 3:8dc516be2e7e | 142 | pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 3:8dc516be2e7e | 143 | myled= !myled; |
taurin | 3:8dc516be2e7e | 144 | count = t.read_ms(); |
taurin | 3:8dc516be2e7e | 145 | sum = 0; |
taurin | 3:8dc516be2e7e | 146 | sumCount = 0; |
taurin | 0:085b2c5e3254 | 147 | } |
taurin | 0:085b2c5e3254 | 148 | } |
taurin | 0:085b2c5e3254 | 149 | |
taurin | 0:085b2c5e3254 | 150 | void SdInit(){ |
taurin | 0:085b2c5e3254 | 151 | mkdir("/sd/mydir", 0777); |
taurin | 0:085b2c5e3254 | 152 | fp = fopen("/sd/mydir/sdtest2.csv", "w"); |
taurin | 0:085b2c5e3254 | 153 | if(fp == NULL) { |
taurin | 0:085b2c5e3254 | 154 | error("Could not open file for write\n"); |
taurin | 0:085b2c5e3254 | 155 | } |
taurin | 0:085b2c5e3254 | 156 | fprintf(fp, "Hello fun SD Card World!\n\r"); |
taurin | 0:085b2c5e3254 | 157 | fclose(fp); |
taurin | 0:085b2c5e3254 | 158 | } |
taurin | 0:085b2c5e3254 | 159 | |
taurin | 0:085b2c5e3254 | 160 | void DataReceiveFromSouda(){ |
taurin | 1:5ec2409854da | 161 | led2 = !led2; |
taurin | 1:5ec2409854da | 162 | pc.printf("received\n\r"); |
taurin | 1:5ec2409854da | 163 | for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 1:5ec2409854da | 164 | soudaDatas[i] = soudaSerial.getc(); |
taurin | 0:085b2c5e3254 | 165 | } |
taurin | 0:085b2c5e3254 | 166 | } |
taurin | 0:085b2c5e3254 | 167 | |
taurin | 3:8dc516be2e7e | 168 | void SDprintf(){ |
taurin | 1:5ec2409854da | 169 | fp = fopen("/sd/mydir/sdtest.csv", "a"); |
taurin | 1:5ec2409854da | 170 | if(fp == NULL) { |
taurin | 1:5ec2409854da | 171 | error("Could not open file for write\n"); |
taurin | 1:5ec2409854da | 172 | } |
taurin | 3:8dc516be2e7e | 173 | for(int i = 0; i < SD_WRITE_NUM; i++){ |
taurin | 3:8dc516be2e7e | 174 | for(int j = 0; j < WRITE_DATAS_NUM; j++){ |
taurin | 3:8dc516be2e7e | 175 | fprintf(fp,"%f ", writeDatas[i][j]); |
taurin | 3:8dc516be2e7e | 176 | if(i%7==0){ |
taurin | 3:8dc516be2e7e | 177 | fprintf(fp,"\n\r"); |
taurin | 3:8dc516be2e7e | 178 | } |
taurin | 3:8dc516be2e7e | 179 | } |
taurin | 3:8dc516be2e7e | 180 | } |
taurin | 3:8dc516be2e7e | 181 | //for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 3:8dc516be2e7e | 182 | // fprintf(fp,"%i ",soudaDatas[i]); |
taurin | 3:8dc516be2e7e | 183 | // } |
taurin | 3:8dc516be2e7e | 184 | // fprintf(fp, "p:%f,r:%f,y:%f\n",pitch,roll,yaw); |
taurin | 3:8dc516be2e7e | 185 | // fprintf(fp, "gx:%f,gy:%f,gz:%f\n",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 3:8dc516be2e7e | 186 | // fprintf(fp, "as:%f\n",airSpeed); |
taurin | 3:8dc516be2e7e | 187 | fclose(fp); |
taurin | 3:8dc516be2e7e | 188 | } |
taurin | 3:8dc516be2e7e | 189 | |
taurin | 3:8dc516be2e7e | 190 | void WriteDatas(){ |
taurin | 3:8dc516be2e7e | 191 | int i; |
taurin | 3:8dc516be2e7e | 192 | for(i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 3:8dc516be2e7e | 193 | writeDatas[write_datas_index][i] = (float)soudaDatas[i]; |
taurin | 1:5ec2409854da | 194 | } |
taurin | 3:8dc516be2e7e | 195 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_X.read()); |
taurin | 3:8dc516be2e7e | 196 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Y.read()); |
taurin | 3:8dc516be2e7e | 197 | writeDatas[write_datas_index][i++] = calcKXdeg(kx_Z.read()); |
taurin | 3:8dc516be2e7e | 198 | writeDatas[write_datas_index][i++] = pitch; |
taurin | 3:8dc516be2e7e | 199 | writeDatas[write_datas_index][i++] = roll; |
taurin | 3:8dc516be2e7e | 200 | writeDatas[write_datas_index][i++] = yaw; |
taurin | 3:8dc516be2e7e | 201 | writeDatas[write_datas_index][i++] = airSpeed; |
taurin | 3:8dc516be2e7e | 202 | writeDatas[write_datas_index][i++] = writeTimer.read(); |
taurin | 3:8dc516be2e7e | 203 | for(i = 0; i < WRITE_DATAS_NUM; i++){ |
taurin | 3:8dc516be2e7e | 204 | pc.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 3:8dc516be2e7e | 205 | twe.printf("%f ", writeDatas[write_datas_index][i]); |
taurin | 3:8dc516be2e7e | 206 | if(i%7==0){ |
taurin | 3:8dc516be2e7e | 207 | pc.printf("\n\r"); |
taurin | 3:8dc516be2e7e | 208 | twe.printf("\n\r"); |
taurin | 3:8dc516be2e7e | 209 | } |
taurin | 3:8dc516be2e7e | 210 | } |
taurin | 3:8dc516be2e7e | 211 | if(write_datas_index == SD_WRITE_NUM){ |
taurin | 3:8dc516be2e7e | 212 | SDprintf(); |
taurin | 3:8dc516be2e7e | 213 | write_datas_index=0; |
taurin | 3:8dc516be2e7e | 214 | } |
taurin | 3:8dc516be2e7e | 215 | else{ |
taurin | 3:8dc516be2e7e | 216 | write_datas_index++; |
taurin | 3:8dc516be2e7e | 217 | } |
taurin | 3:8dc516be2e7e | 218 | //for(int i = 0; i < SOUDA_DATAS_NUM; i++){ |
taurin | 3:8dc516be2e7e | 219 | // pc.printf("%i ",soudaDatas[i]); |
taurin | 3:8dc516be2e7e | 220 | // twe.printf("%i ",soudaDatas[i]); |
taurin | 3:8dc516be2e7e | 221 | // } |
taurin | 3:8dc516be2e7e | 222 | // pc.printf("\n\r"); |
taurin | 3:8dc516be2e7e | 223 | // twe.printf("\n\r"); |
taurin | 3:8dc516be2e7e | 224 | // twe.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 3:8dc516be2e7e | 225 | // twe.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 3:8dc516be2e7e | 226 | // twe.printf("%f\n\r",airSpeed); |
taurin | 3:8dc516be2e7e | 227 | // pc.printf("%f,%f,%f\n\r",pitch,roll,yaw); |
taurin | 3:8dc516be2e7e | 228 | // pc.printf("%f,%f,%f\n\r",calcKXdeg(kx_X.read()),calcKXdeg(KX_Y),calcKXdeg(KX_Z)); |
taurin | 3:8dc516be2e7e | 229 | // pc.printf("%f\n\r",airSpeed); |
taurin | 3:8dc516be2e7e | 230 | // SDprintf(); |
taurin | 0:085b2c5e3254 | 231 | } |
taurin | 0:085b2c5e3254 | 232 | |
taurin | 0:085b2c5e3254 | 233 | float calcKXdeg(float x){ |
taurin | 0:085b2c5e3254 | 234 | return -310.54*x+156.65; |
taurin | 0:085b2c5e3254 | 235 | } |
taurin | 0:085b2c5e3254 | 236 | |
taurin | 0:085b2c5e3254 | 237 | float calcAttackAngle(){ |
taurin | 0:085b2c5e3254 | 238 | return pitch-calcKXdeg(kx_Z.read()); |
taurin | 0:085b2c5e3254 | 239 | } |
taurin | 0:085b2c5e3254 | 240 | |
taurin | 0:085b2c5e3254 | 241 | void RollAlarm(){ |
taurin | 0:085b2c5e3254 | 242 | if((roll < 0) && (roll > ROLL_L_MAX_DEG-180)){ |
taurin | 0:085b2c5e3254 | 243 | RollAlarmL = 1; |
taurin | 0:085b2c5e3254 | 244 | } |
taurin | 0:085b2c5e3254 | 245 | else{ |
taurin | 0:085b2c5e3254 | 246 | RollAlarmL = 0; |
taurin | 0:085b2c5e3254 | 247 | } |
taurin | 0:085b2c5e3254 | 248 | |
taurin | 0:085b2c5e3254 | 249 | if((roll > 0) && (roll < 180-ROLL_R_MAX_DEG)){ |
taurin | 0:085b2c5e3254 | 250 | RollAlarmR = 1; |
taurin | 0:085b2c5e3254 | 251 | } |
taurin | 0:085b2c5e3254 | 252 | else{ |
taurin | 0:085b2c5e3254 | 253 | RollAlarmR = 0; |
taurin | 0:085b2c5e3254 | 254 | } |
taurin | 0:085b2c5e3254 | 255 | } |
taurin | 0:085b2c5e3254 | 256 | |
taurin | 0:085b2c5e3254 | 257 | int main(){ |
taurin | 0:085b2c5e3254 | 258 | init(); |
taurin | 0:085b2c5e3254 | 259 | while(1){ |
taurin | 0:085b2c5e3254 | 260 | mpuProcessing(); |
taurin | 0:085b2c5e3254 | 261 | RollAlarm(); |
taurin | 1:5ec2409854da | 262 | DataReceiveFromSouda(); |
taurin | 3:8dc516be2e7e | 263 | WriteDatas(); |
taurin | 0:085b2c5e3254 | 264 | } |
taurin | 0:085b2c5e3254 | 265 | } |