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main.cpp@0:b6867e1a23fa, 2016-08-23 (annotated)
- Committer:
- mjarvisal
- Date:
- Tue Aug 23 05:14:18 2016 +0000
- Revision:
- 0:b6867e1a23fa
- Child:
- 2:8ac50bd2c7a1
Initial release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mjarvisal | 0:b6867e1a23fa | 1 | #include "mbed.h" |
mjarvisal | 0:b6867e1a23fa | 2 | #include "vl53l0x_api.h" |
mjarvisal | 0:b6867e1a23fa | 3 | #include "vl53l0x_platform.h" |
mjarvisal | 0:b6867e1a23fa | 4 | #include "vl53l0x_i2c_platform.h" |
mjarvisal | 0:b6867e1a23fa | 5 | |
mjarvisal | 0:b6867e1a23fa | 6 | Serial pc(SERIAL_TX, SERIAL_RX); |
mjarvisal | 0:b6867e1a23fa | 7 | |
mjarvisal | 0:b6867e1a23fa | 8 | void print_pal_error(VL53L0X_Error Status){ |
mjarvisal | 0:b6867e1a23fa | 9 | char buf[VL53L0X_MAX_STRING_LENGTH]; |
mjarvisal | 0:b6867e1a23fa | 10 | VL53L0X_GetPalErrorString(Status, buf); |
mjarvisal | 0:b6867e1a23fa | 11 | printf("API Status: %i : %s\n", Status, buf); |
mjarvisal | 0:b6867e1a23fa | 12 | } |
mjarvisal | 0:b6867e1a23fa | 13 | |
mjarvisal | 0:b6867e1a23fa | 14 | void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){ |
mjarvisal | 0:b6867e1a23fa | 15 | char buf[VL53L0X_MAX_STRING_LENGTH]; |
mjarvisal | 0:b6867e1a23fa | 16 | uint8_t RangeStatus; |
mjarvisal | 0:b6867e1a23fa | 17 | |
mjarvisal | 0:b6867e1a23fa | 18 | /* |
mjarvisal | 0:b6867e1a23fa | 19 | * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0 |
mjarvisal | 0:b6867e1a23fa | 20 | */ |
mjarvisal | 0:b6867e1a23fa | 21 | |
mjarvisal | 0:b6867e1a23fa | 22 | RangeStatus = pRangingMeasurementData->RangeStatus; |
mjarvisal | 0:b6867e1a23fa | 23 | |
mjarvisal | 0:b6867e1a23fa | 24 | VL53L0X_GetRangeStatusString(RangeStatus, buf); |
mjarvisal | 0:b6867e1a23fa | 25 | printf("Range Status: %i : %s\n", RangeStatus, buf); |
mjarvisal | 0:b6867e1a23fa | 26 | |
mjarvisal | 0:b6867e1a23fa | 27 | } |
mjarvisal | 0:b6867e1a23fa | 28 | |
mjarvisal | 0:b6867e1a23fa | 29 | |
mjarvisal | 0:b6867e1a23fa | 30 | VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) { |
mjarvisal | 0:b6867e1a23fa | 31 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
mjarvisal | 0:b6867e1a23fa | 32 | uint8_t NewDatReady=0; |
mjarvisal | 0:b6867e1a23fa | 33 | uint32_t LoopNb; |
mjarvisal | 0:b6867e1a23fa | 34 | |
mjarvisal | 0:b6867e1a23fa | 35 | // Wait until it finished |
mjarvisal | 0:b6867e1a23fa | 36 | // use timeout to avoid deadlock |
mjarvisal | 0:b6867e1a23fa | 37 | if (Status == VL53L0X_ERROR_NONE) { |
mjarvisal | 0:b6867e1a23fa | 38 | LoopNb = 0; |
mjarvisal | 0:b6867e1a23fa | 39 | do { |
mjarvisal | 0:b6867e1a23fa | 40 | Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady); |
mjarvisal | 0:b6867e1a23fa | 41 | if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) { |
mjarvisal | 0:b6867e1a23fa | 42 | break; |
mjarvisal | 0:b6867e1a23fa | 43 | } |
mjarvisal | 0:b6867e1a23fa | 44 | LoopNb = LoopNb + 1; |
mjarvisal | 0:b6867e1a23fa | 45 | VL53L0X_PollingDelay(Dev); |
mjarvisal | 0:b6867e1a23fa | 46 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); |
mjarvisal | 0:b6867e1a23fa | 47 | |
mjarvisal | 0:b6867e1a23fa | 48 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { |
mjarvisal | 0:b6867e1a23fa | 49 | Status = VL53L0X_ERROR_TIME_OUT; |
mjarvisal | 0:b6867e1a23fa | 50 | } |
mjarvisal | 0:b6867e1a23fa | 51 | } |
mjarvisal | 0:b6867e1a23fa | 52 | |
mjarvisal | 0:b6867e1a23fa | 53 | return Status; |
mjarvisal | 0:b6867e1a23fa | 54 | } |
mjarvisal | 0:b6867e1a23fa | 55 | |
mjarvisal | 0:b6867e1a23fa | 56 | VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev) { |
mjarvisal | 0:b6867e1a23fa | 57 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
mjarvisal | 0:b6867e1a23fa | 58 | uint32_t StopCompleted=0; |
mjarvisal | 0:b6867e1a23fa | 59 | uint32_t LoopNb; |
mjarvisal | 0:b6867e1a23fa | 60 | |
mjarvisal | 0:b6867e1a23fa | 61 | // Wait until it finished |
mjarvisal | 0:b6867e1a23fa | 62 | // use timeout to avoid deadlock |
mjarvisal | 0:b6867e1a23fa | 63 | if (Status == VL53L0X_ERROR_NONE) { |
mjarvisal | 0:b6867e1a23fa | 64 | LoopNb = 0; |
mjarvisal | 0:b6867e1a23fa | 65 | do { |
mjarvisal | 0:b6867e1a23fa | 66 | Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted); |
mjarvisal | 0:b6867e1a23fa | 67 | if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) { |
mjarvisal | 0:b6867e1a23fa | 68 | break; |
mjarvisal | 0:b6867e1a23fa | 69 | } |
mjarvisal | 0:b6867e1a23fa | 70 | LoopNb = LoopNb + 1; |
mjarvisal | 0:b6867e1a23fa | 71 | VL53L0X_PollingDelay(Dev); |
mjarvisal | 0:b6867e1a23fa | 72 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); |
mjarvisal | 0:b6867e1a23fa | 73 | |
mjarvisal | 0:b6867e1a23fa | 74 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { |
mjarvisal | 0:b6867e1a23fa | 75 | Status = VL53L0X_ERROR_TIME_OUT; |
mjarvisal | 0:b6867e1a23fa | 76 | } |
mjarvisal | 0:b6867e1a23fa | 77 | |
mjarvisal | 0:b6867e1a23fa | 78 | } |
mjarvisal | 0:b6867e1a23fa | 79 | |
mjarvisal | 0:b6867e1a23fa | 80 | return Status; |
mjarvisal | 0:b6867e1a23fa | 81 | } |
mjarvisal | 0:b6867e1a23fa | 82 | |
mjarvisal | 0:b6867e1a23fa | 83 | |
mjarvisal | 0:b6867e1a23fa | 84 | int main() |
mjarvisal | 0:b6867e1a23fa | 85 | { |
mjarvisal | 0:b6867e1a23fa | 86 | |
mjarvisal | 0:b6867e1a23fa | 87 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
mjarvisal | 0:b6867e1a23fa | 88 | VL53L0X_Dev_t MyDevice; |
mjarvisal | 0:b6867e1a23fa | 89 | VL53L0X_Dev_t *pMyDevice = &MyDevice; |
mjarvisal | 0:b6867e1a23fa | 90 | VL53L0X_Version_t Version; |
mjarvisal | 0:b6867e1a23fa | 91 | VL53L0X_Version_t *pVersion = &Version; |
mjarvisal | 0:b6867e1a23fa | 92 | VL53L0X_DeviceInfo_t DeviceInfo; |
mjarvisal | 0:b6867e1a23fa | 93 | |
mjarvisal | 0:b6867e1a23fa | 94 | int32_t status_int; |
mjarvisal | 0:b6867e1a23fa | 95 | |
mjarvisal | 0:b6867e1a23fa | 96 | pc.printf("VL53L0X API Simple Ranging Example\r\n"); |
mjarvisal | 0:b6867e1a23fa | 97 | |
mjarvisal | 0:b6867e1a23fa | 98 | // Initialize Comms |
mjarvisal | 0:b6867e1a23fa | 99 | pMyDevice->I2cDevAddr = 0x52; |
mjarvisal | 0:b6867e1a23fa | 100 | pMyDevice->comms_type = 1; |
mjarvisal | 0:b6867e1a23fa | 101 | pMyDevice->comms_speed_khz = 400; |
mjarvisal | 0:b6867e1a23fa | 102 | |
mjarvisal | 0:b6867e1a23fa | 103 | pc.printf("Init comms\r\n"); |
mjarvisal | 0:b6867e1a23fa | 104 | |
mjarvisal | 0:b6867e1a23fa | 105 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 106 | { |
mjarvisal | 0:b6867e1a23fa | 107 | status_int = VL53L0X_GetVersion(pVersion); |
mjarvisal | 0:b6867e1a23fa | 108 | if (status_int != 0) |
mjarvisal | 0:b6867e1a23fa | 109 | Status = VL53L0X_ERROR_CONTROL_INTERFACE; |
mjarvisal | 0:b6867e1a23fa | 110 | } |
mjarvisal | 0:b6867e1a23fa | 111 | pc.printf("VL53L0X API Version: %d.%d.%d (revision %d)\r\n", pVersion->major, pVersion->minor ,pVersion->build, pVersion->revision); |
mjarvisal | 0:b6867e1a23fa | 112 | |
mjarvisal | 0:b6867e1a23fa | 113 | int addr; |
mjarvisal | 0:b6867e1a23fa | 114 | |
mjarvisal | 0:b6867e1a23fa | 115 | addr = VL53L0X_scan(); |
mjarvisal | 0:b6867e1a23fa | 116 | printf("Device found at: %i\r\n", addr); |
mjarvisal | 0:b6867e1a23fa | 117 | //uint8_t data; |
mjarvisal | 0:b6867e1a23fa | 118 | //data=0; |
mjarvisal | 0:b6867e1a23fa | 119 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 120 | { |
mjarvisal | 0:b6867e1a23fa | 121 | printf ("Call of VL53L0X_DataInit\n"); |
mjarvisal | 0:b6867e1a23fa | 122 | uint16_t osc_calibrate_val=0; |
mjarvisal | 0:b6867e1a23fa | 123 | Status = VL53L0X_RdWord(&MyDevice, VL53L0X_REG_OSC_CALIBRATE_VAL,&osc_calibrate_val); |
mjarvisal | 0:b6867e1a23fa | 124 | printf("%i\n",osc_calibrate_val); |
mjarvisal | 0:b6867e1a23fa | 125 | Status = VL53L0X_DataInit(&MyDevice); // Data initialization |
mjarvisal | 0:b6867e1a23fa | 126 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 127 | } |
mjarvisal | 0:b6867e1a23fa | 128 | |
mjarvisal | 0:b6867e1a23fa | 129 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 130 | { |
mjarvisal | 0:b6867e1a23fa | 131 | Status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo); |
mjarvisal | 0:b6867e1a23fa | 132 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 133 | { |
mjarvisal | 0:b6867e1a23fa | 134 | printf("VL53L0X_GetDeviceInfo:\n"); |
mjarvisal | 0:b6867e1a23fa | 135 | printf("Device Name : %s\n", DeviceInfo.Name); |
mjarvisal | 0:b6867e1a23fa | 136 | printf("Device Type : %s\n", DeviceInfo.Type); |
mjarvisal | 0:b6867e1a23fa | 137 | printf("Device ID : %s\n", DeviceInfo.ProductId); |
mjarvisal | 0:b6867e1a23fa | 138 | printf("ProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor); |
mjarvisal | 0:b6867e1a23fa | 139 | printf("ProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor); |
mjarvisal | 0:b6867e1a23fa | 140 | |
mjarvisal | 0:b6867e1a23fa | 141 | if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) { |
mjarvisal | 0:b6867e1a23fa | 142 | printf("Error expected cut 1.1 but found cut %d.%d\n", |
mjarvisal | 0:b6867e1a23fa | 143 | DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor); |
mjarvisal | 0:b6867e1a23fa | 144 | Status = VL53L0X_ERROR_NOT_SUPPORTED; |
mjarvisal | 0:b6867e1a23fa | 145 | } |
mjarvisal | 0:b6867e1a23fa | 146 | } |
mjarvisal | 0:b6867e1a23fa | 147 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 148 | } |
mjarvisal | 0:b6867e1a23fa | 149 | |
mjarvisal | 0:b6867e1a23fa | 150 | VL53L0X_RangingMeasurementData_t RangingMeasurementData; |
mjarvisal | 0:b6867e1a23fa | 151 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData = &RangingMeasurementData; |
mjarvisal | 0:b6867e1a23fa | 152 | Status = VL53L0X_ERROR_NONE; |
mjarvisal | 0:b6867e1a23fa | 153 | uint32_t refSpadCount; |
mjarvisal | 0:b6867e1a23fa | 154 | uint8_t isApertureSpads; |
mjarvisal | 0:b6867e1a23fa | 155 | uint8_t VhvSettings; |
mjarvisal | 0:b6867e1a23fa | 156 | uint8_t PhaseCal; |
mjarvisal | 0:b6867e1a23fa | 157 | |
mjarvisal | 0:b6867e1a23fa | 158 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 159 | { |
mjarvisal | 0:b6867e1a23fa | 160 | printf ("Call of VL53L0X_StaticInit\n"); |
mjarvisal | 0:b6867e1a23fa | 161 | Status = VL53L0X_StaticInit(pMyDevice); // Device Initialization |
mjarvisal | 0:b6867e1a23fa | 162 | // StaticInit will set interrupt by default |
mjarvisal | 0:b6867e1a23fa | 163 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 164 | } |
mjarvisal | 0:b6867e1a23fa | 165 | |
mjarvisal | 0:b6867e1a23fa | 166 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 167 | { |
mjarvisal | 0:b6867e1a23fa | 168 | printf ("Call of VL53L0X_PerformRefCalibration\n"); |
mjarvisal | 0:b6867e1a23fa | 169 | Status = VL53L0X_PerformRefCalibration(pMyDevice, |
mjarvisal | 0:b6867e1a23fa | 170 | &VhvSettings, &PhaseCal); // Device Initialization |
mjarvisal | 0:b6867e1a23fa | 171 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 172 | } |
mjarvisal | 0:b6867e1a23fa | 173 | |
mjarvisal | 0:b6867e1a23fa | 174 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 175 | { |
mjarvisal | 0:b6867e1a23fa | 176 | printf ("Call of VL53L0X_PerformRefSpadManagement\n"); |
mjarvisal | 0:b6867e1a23fa | 177 | Status = VL53L0X_PerformRefSpadManagement(pMyDevice, |
mjarvisal | 0:b6867e1a23fa | 178 | &refSpadCount, &isApertureSpads); // Device Initialization |
mjarvisal | 0:b6867e1a23fa | 179 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 180 | } |
mjarvisal | 0:b6867e1a23fa | 181 | |
mjarvisal | 0:b6867e1a23fa | 182 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 183 | { |
mjarvisal | 0:b6867e1a23fa | 184 | |
mjarvisal | 0:b6867e1a23fa | 185 | printf ("Call of VL53L0X_SetDeviceMode\n"); |
mjarvisal | 0:b6867e1a23fa | 186 | Status = VL53L0X_SetDeviceMode(pMyDevice, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in single ranging mode |
mjarvisal | 0:b6867e1a23fa | 187 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 188 | } |
mjarvisal | 0:b6867e1a23fa | 189 | |
mjarvisal | 0:b6867e1a23fa | 190 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 191 | { |
mjarvisal | 0:b6867e1a23fa | 192 | printf ("Call of VL53L0X_StartMeasurement\n"); |
mjarvisal | 0:b6867e1a23fa | 193 | Status = VL53L0X_StartMeasurement(pMyDevice); |
mjarvisal | 0:b6867e1a23fa | 194 | print_pal_error(Status); |
mjarvisal | 0:b6867e1a23fa | 195 | } |
mjarvisal | 0:b6867e1a23fa | 196 | |
mjarvisal | 0:b6867e1a23fa | 197 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 198 | { |
mjarvisal | 0:b6867e1a23fa | 199 | uint32_t measurement; |
mjarvisal | 0:b6867e1a23fa | 200 | uint32_t no_of_measurements = 32; |
mjarvisal | 0:b6867e1a23fa | 201 | |
mjarvisal | 0:b6867e1a23fa | 202 | uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements); |
mjarvisal | 0:b6867e1a23fa | 203 | |
mjarvisal | 0:b6867e1a23fa | 204 | for(measurement=0; measurement<no_of_measurements; measurement++) |
mjarvisal | 0:b6867e1a23fa | 205 | { |
mjarvisal | 0:b6867e1a23fa | 206 | |
mjarvisal | 0:b6867e1a23fa | 207 | Status = WaitMeasurementDataReady(pMyDevice); |
mjarvisal | 0:b6867e1a23fa | 208 | |
mjarvisal | 0:b6867e1a23fa | 209 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 210 | { |
mjarvisal | 0:b6867e1a23fa | 211 | Status = VL53L0X_GetRangingMeasurementData(pMyDevice, pRangingMeasurementData); |
mjarvisal | 0:b6867e1a23fa | 212 | |
mjarvisal | 0:b6867e1a23fa | 213 | *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter; |
mjarvisal | 0:b6867e1a23fa | 214 | printf("In loop measurement %lu: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter); |
mjarvisal | 0:b6867e1a23fa | 215 | |
mjarvisal | 0:b6867e1a23fa | 216 | // Clear the interrupt |
mjarvisal | 0:b6867e1a23fa | 217 | VL53L0X_ClearInterruptMask(pMyDevice, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
mjarvisal | 0:b6867e1a23fa | 218 | VL53L0X_PollingDelay(pMyDevice); |
mjarvisal | 0:b6867e1a23fa | 219 | } else { |
mjarvisal | 0:b6867e1a23fa | 220 | break; |
mjarvisal | 0:b6867e1a23fa | 221 | } |
mjarvisal | 0:b6867e1a23fa | 222 | } |
mjarvisal | 0:b6867e1a23fa | 223 | |
mjarvisal | 0:b6867e1a23fa | 224 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 225 | { |
mjarvisal | 0:b6867e1a23fa | 226 | for(measurement=0; measurement<no_of_measurements; measurement++) |
mjarvisal | 0:b6867e1a23fa | 227 | { |
mjarvisal | 0:b6867e1a23fa | 228 | printf("measurement %lu: %d\n", measurement, *(pResults + measurement)); |
mjarvisal | 0:b6867e1a23fa | 229 | } |
mjarvisal | 0:b6867e1a23fa | 230 | } |
mjarvisal | 0:b6867e1a23fa | 231 | |
mjarvisal | 0:b6867e1a23fa | 232 | free(pResults); |
mjarvisal | 0:b6867e1a23fa | 233 | } |
mjarvisal | 0:b6867e1a23fa | 234 | |
mjarvisal | 0:b6867e1a23fa | 235 | |
mjarvisal | 0:b6867e1a23fa | 236 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 237 | { |
mjarvisal | 0:b6867e1a23fa | 238 | printf ("Call of VL53L0X_StopMeasurement\n"); |
mjarvisal | 0:b6867e1a23fa | 239 | Status = VL53L0X_StopMeasurement(pMyDevice); |
mjarvisal | 0:b6867e1a23fa | 240 | } |
mjarvisal | 0:b6867e1a23fa | 241 | |
mjarvisal | 0:b6867e1a23fa | 242 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 243 | { |
mjarvisal | 0:b6867e1a23fa | 244 | printf ("Wait Stop to be competed\n"); |
mjarvisal | 0:b6867e1a23fa | 245 | Status = WaitStopCompleted(pMyDevice); |
mjarvisal | 0:b6867e1a23fa | 246 | } |
mjarvisal | 0:b6867e1a23fa | 247 | |
mjarvisal | 0:b6867e1a23fa | 248 | if(Status == VL53L0X_ERROR_NONE) |
mjarvisal | 0:b6867e1a23fa | 249 | Status = VL53L0X_ClearInterruptMask(pMyDevice, |
mjarvisal | 0:b6867e1a23fa | 250 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
mjarvisal | 0:b6867e1a23fa | 251 | while (true) |
mjarvisal | 0:b6867e1a23fa | 252 | if (pc.readable()) |
mjarvisal | 0:b6867e1a23fa | 253 | pc.putc(pc.getc()); |
mjarvisal | 0:b6867e1a23fa | 254 | } |
mjarvisal | 0:b6867e1a23fa | 255 |