this profile using UART with ADXL335 accelerometer, but this is can't reach accelerometer sensor.. please help me to fix it
Dependencies: BLE_API mbed nRF51822
Fork of UART_ADXL335 by
main.cpp@15:34c3e96ce282, 2017-12-09 (annotated)
- Committer:
- asyrofi
- Date:
- Sat Dec 09 06:25:35 2017 +0000
- Revision:
- 15:34c3e96ce282
- Parent:
- 14:4dfb61282efb
welldone;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yihui | 0:e910d9bb040f | 1 | |
yihui | 0:e910d9bb040f | 2 | #include "mbed.h" |
rgrover1 | 12:33153cf38631 | 3 | #include "ble/BLE.h" |
yihui | 0:e910d9bb040f | 4 | |
rgrover1 | 12:33153cf38631 | 5 | #include "ble/services/UARTService.h" |
yihui | 0:e910d9bb040f | 6 | |
asyrofi | 15:34c3e96ce282 | 7 | #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need debug messages on the console; |
Rohit Grover |
2:e060367b9024 | 8 | * it will have an impact on code-size and power consumption. */ |
yihui | 0:e910d9bb040f | 9 | |
Rohit Grover |
2:e060367b9024 | 10 | #if NEED_CONSOLE_OUTPUT |
rgrover1 | 6:e0fc9072e853 | 11 | #define DEBUG(...) { printf(__VA_ARGS__); } |
yihui | 0:e910d9bb040f | 12 | #else |
Rohit Grover |
2:e060367b9024 | 13 | #define DEBUG(...) /* nothing */ |
Rohit Grover |
2:e060367b9024 | 14 | #endif /* #if NEED_CONSOLE_OUTPUT */ |
yihui | 0:e910d9bb040f | 15 | |
Rohit Grover |
2:e060367b9024 | 16 | BLEDevice ble; |
Rohit Grover |
2:e060367b9024 | 17 | DigitalOut led1(LED1); |
rgrover1 | 6:e0fc9072e853 | 18 | UARTService *uartServicePtr; |
asyrofi | 15:34c3e96ce282 | 19 | Serial uart1(USBTX, USBRX); |
yihui | 0:e910d9bb040f | 20 | |
asyrofi | 15:34c3e96ce282 | 21 | AnalogIn analog_value1(p4); |
asyrofi | 15:34c3e96ce282 | 22 | AnalogIn analog_value2(p5); |
asyrofi | 15:34c3e96ce282 | 23 | AnalogIn analog_value3(p6); |
asyrofi | 14:4dfb61282efb | 24 | |
asyrofi | 14:4dfb61282efb | 25 | DigitalOut led(LED1); |
asyrofi | 14:4dfb61282efb | 26 | |
rgrover1 | 13:15764cc1f12c | 27 | void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) |
yihui | 0:e910d9bb040f | 28 | { |
Rohit Grover |
2:e060367b9024 | 29 | DEBUG("Disconnected!\n\r"); |
Rohit Grover |
2:e060367b9024 | 30 | DEBUG("Restarting the advertising process\n\r"); |
Rohit Grover |
2:e060367b9024 | 31 | ble.startAdvertising(); |
Rohit Grover |
2:e060367b9024 | 32 | } |
yihui | 0:e910d9bb040f | 33 | |
asyrofi | 15:34c3e96ce282 | 34 | void connectionCallback(const Gap::ConnectionCallbackParams_t *params) { |
asyrofi | 15:34c3e96ce282 | 35 | |
asyrofi | 15:34c3e96ce282 | 36 | DEBUG("Connected!\n\r"); |
asyrofi | 15:34c3e96ce282 | 37 | |
asyrofi | 15:34c3e96ce282 | 38 | } |
asyrofi | 15:34c3e96ce282 | 39 | |
asyrofi | 15:34c3e96ce282 | 40 | |
asyrofi | 15:34c3e96ce282 | 41 | uint8_t b[40]={'a','d','q','w'}; |
asyrofi | 15:34c3e96ce282 | 42 | void onDataWritten1(const GattWriteCallbackParams *params) |
yihui | 0:e910d9bb040f | 43 | { |
asyrofi | 15:34c3e96ce282 | 44 | |
asyrofi | 15:34c3e96ce282 | 45 | |
rgrover1 | 12:33153cf38631 | 46 | if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) { |
rgrover1 | 5:4bc41267a03a | 47 | uint16_t bytesRead = params->len; |
asyrofi | 15:34c3e96ce282 | 48 | DEBUG("received %u bytes %s\n\r", bytesRead,params->data); |
asyrofi | 15:34c3e96ce282 | 49 | |
yihui | 0:e910d9bb040f | 50 | } |
Rohit Grover |
2:e060367b9024 | 51 | } |
yihui | 0:e910d9bb040f | 52 | |
asyrofi | 15:34c3e96ce282 | 53 | |
Rohit Grover |
2:e060367b9024 | 54 | void periodicCallback(void) |
Rohit Grover |
2:e060367b9024 | 55 | { |
rgrover1 | 6:e0fc9072e853 | 56 | led1 = !led1; |
asyrofi | 15:34c3e96ce282 | 57 | |
Rohit Grover |
2:e060367b9024 | 58 | } |
yihui | 0:e910d9bb040f | 59 | |
asyrofi | 15:34c3e96ce282 | 60 | int threshold =80; |
asyrofi | 15:34c3e96ce282 | 61 | int xval[10]={0}; |
asyrofi | 15:34c3e96ce282 | 62 | int yval[10]={0}; |
asyrofi | 15:34c3e96ce282 | 63 | int zval[10]={0}; |
asyrofi | 15:34c3e96ce282 | 64 | int xavg; |
asyrofi | 15:34c3e96ce282 | 65 | int yavg; |
asyrofi | 15:34c3e96ce282 | 66 | int zavg; |
asyrofi | 15:34c3e96ce282 | 67 | |
asyrofi | 15:34c3e96ce282 | 68 | |
asyrofi | 15:34c3e96ce282 | 69 | int calibratex() |
asyrofi | 15:34c3e96ce282 | 70 | { |
asyrofi | 15:34c3e96ce282 | 71 | led1=1; |
asyrofi | 15:34c3e96ce282 | 72 | long int sum1 = 0; |
asyrofi | 15:34c3e96ce282 | 73 | for (int i=0; i<10; i++) |
asyrofi | 15:34c3e96ce282 | 74 | { |
asyrofi | 15:34c3e96ce282 | 75 | |
asyrofi | 15:34c3e96ce282 | 76 | xval[i] = analog_value1.read_u16(); //nilai x adxl335 |
asyrofi | 15:34c3e96ce282 | 77 | sum1 = yval[i]+sum1; |
asyrofi | 15:34c3e96ce282 | 78 | } |
asyrofi | 15:34c3e96ce282 | 79 | |
asyrofi | 15:34c3e96ce282 | 80 | xavg=sum1/10.0; |
asyrofi | 15:34c3e96ce282 | 81 | |
asyrofi | 15:34c3e96ce282 | 82 | led1=0; |
asyrofi | 15:34c3e96ce282 | 83 | return xavg; |
asyrofi | 15:34c3e96ce282 | 84 | } |
asyrofi | 15:34c3e96ce282 | 85 | int calibratey() |
asyrofi | 15:34c3e96ce282 | 86 | { |
asyrofi | 15:34c3e96ce282 | 87 | led1=1; |
asyrofi | 15:34c3e96ce282 | 88 | long int sum2 = 0; |
asyrofi | 15:34c3e96ce282 | 89 | for (int i=0; i<10; i++) |
asyrofi | 15:34c3e96ce282 | 90 | { |
asyrofi | 15:34c3e96ce282 | 91 | |
asyrofi | 15:34c3e96ce282 | 92 | yval[i] = analog_value2.read_u16(); //nilai y adxl335 |
asyrofi | 15:34c3e96ce282 | 93 | sum2 = yval[i]+sum2; |
asyrofi | 15:34c3e96ce282 | 94 | } |
asyrofi | 15:34c3e96ce282 | 95 | yavg=sum2/10.0; |
asyrofi | 15:34c3e96ce282 | 96 | led1=0; |
asyrofi | 15:34c3e96ce282 | 97 | return yavg; |
asyrofi | 15:34c3e96ce282 | 98 | } |
asyrofi | 15:34c3e96ce282 | 99 | int calibratez() |
asyrofi | 15:34c3e96ce282 | 100 | { |
asyrofi | 15:34c3e96ce282 | 101 | |
asyrofi | 15:34c3e96ce282 | 102 | led1=1; |
asyrofi | 15:34c3e96ce282 | 103 | long int sum3 = 0; |
asyrofi | 15:34c3e96ce282 | 104 | for (int i=0; i<10; i++) |
asyrofi | 15:34c3e96ce282 | 105 | { |
asyrofi | 15:34c3e96ce282 | 106 | |
asyrofi | 15:34c3e96ce282 | 107 | zval[i]=analog_value3.read_u16(); //nilai z adxl335 |
asyrofi | 15:34c3e96ce282 | 108 | sum3 = zval[i]+sum3; |
asyrofi | 15:34c3e96ce282 | 109 | } |
asyrofi | 15:34c3e96ce282 | 110 | |
asyrofi | 15:34c3e96ce282 | 111 | zavg=sum3/10.0; |
asyrofi | 15:34c3e96ce282 | 112 | led1=0; |
asyrofi | 15:34c3e96ce282 | 113 | return zavg; |
asyrofi | 15:34c3e96ce282 | 114 | } |
asyrofi | 15:34c3e96ce282 | 115 | |
asyrofi | 15:34c3e96ce282 | 116 | |
yihui | 0:e910d9bb040f | 117 | int main(void) |
yihui | 0:e910d9bb040f | 118 | { |
asyrofi | 15:34c3e96ce282 | 119 | uart1.baud(9600); |
asyrofi | 15:34c3e96ce282 | 120 | char buffer [20]; |
asyrofi | 15:34c3e96ce282 | 121 | |
asyrofi | 14:4dfb61282efb | 122 | printf("\nAnalogIn Example\n"); |
asyrofi | 14:4dfb61282efb | 123 | |
Rohit Grover |
2:e060367b9024 | 124 | led1 = 1; |
Rohit Grover |
2:e060367b9024 | 125 | Ticker ticker; |
Rohit Grover |
2:e060367b9024 | 126 | ticker.attach(periodicCallback, 1); |
yihui | 0:e910d9bb040f | 127 | |
Rohit Grover |
2:e060367b9024 | 128 | DEBUG("Initialising the nRF51822\n\r"); |
Rohit Grover |
2:e060367b9024 | 129 | ble.init(); |
Rohit Grover |
2:e060367b9024 | 130 | ble.onDisconnection(disconnectionCallback); |
asyrofi | 15:34c3e96ce282 | 131 | ble.onDataWritten(onDataWritten1); |
yihui | 0:e910d9bb040f | 132 | |
Rohit Grover |
2:e060367b9024 | 133 | /* setup advertising */ |
Rohit Grover |
2:e060367b9024 | 134 | ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
Rohit Grover |
2:e060367b9024 | 135 | ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
Rohit Grover |
2:e060367b9024 | 136 | ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
rgrover1 | 6:e0fc9072e853 | 137 | (const uint8_t *)"BLE UART", sizeof("BLE UART") - 1); |
Rohit Grover |
2:e060367b9024 | 138 | ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
rgrover1 | 6:e0fc9072e853 | 139 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
yihui | 0:e910d9bb040f | 140 | |
rgrover1 | 12:33153cf38631 | 141 | ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */ |
Rohit Grover |
2:e060367b9024 | 142 | ble.startAdvertising(); |
yihui | 0:e910d9bb040f | 143 | |
rgrover1 | 6:e0fc9072e853 | 144 | UARTService uartService(ble); |
rgrover1 | 6:e0fc9072e853 | 145 | uartServicePtr = &uartService; |
asyrofi | 15:34c3e96ce282 | 146 | |
asyrofi | 15:34c3e96ce282 | 147 | int avg1 = calibratex(); |
asyrofi | 15:34c3e96ce282 | 148 | int avg2 = calibratey(); |
asyrofi | 15:34c3e96ce282 | 149 | int avg3 = calibratez(); |
asyrofi | 15:34c3e96ce282 | 150 | |
asyrofi | 15:34c3e96ce282 | 151 | //inisiliasi |
asyrofi | 15:34c3e96ce282 | 152 | int steps=0; |
asyrofi | 15:34c3e96ce282 | 153 | int flag=0; |
asyrofi | 15:34c3e96ce282 | 154 | int acc=0; |
asyrofi | 15:34c3e96ce282 | 155 | int totvect [20] = {0}; |
asyrofi | 15:34c3e96ce282 | 156 | int totave [20] = {0}; |
asyrofi | 15:34c3e96ce282 | 157 | int totvel [20] = {0}; |
asyrofi | 15:34c3e96ce282 | 158 | int totdist [20] = {0}; |
asyrofi | 15:34c3e96ce282 | 159 | int totheight [20] = {0}; |
asyrofi | 15:34c3e96ce282 | 160 | |
asyrofi | 15:34c3e96ce282 | 161 | |
asyrofi | 15:34c3e96ce282 | 162 | //float sum1, sum2, sum3 = 0 |
asyrofi | 15:34c3e96ce282 | 163 | int xaccl[20]; |
asyrofi | 15:34c3e96ce282 | 164 | int yaccl[20]; |
asyrofi | 15:34c3e96ce282 | 165 | int zaccl[20]; |
asyrofi | 15:34c3e96ce282 | 166 | |
asyrofi | 15:34c3e96ce282 | 167 | // Test Daata |
asyrofi | 15:34c3e96ce282 | 168 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 169 | /* int16_t reading_1= 0; |
asyrofi | 15:34c3e96ce282 | 170 | int16_t reading_2= 0; |
asyrofi | 15:34c3e96ce282 | 171 | int16_t reading_3= 0; |
asyrofi | 15:34c3e96ce282 | 172 | int16_t avg_1= 0; |
asyrofi | 15:34c3e96ce282 | 173 | int16_t avg_2= 0; |
asyrofi | 15:34c3e96ce282 | 174 | int16_t avg_3= 0;*/ |
asyrofi | 15:34c3e96ce282 | 175 | |
asyrofi | 15:34c3e96ce282 | 176 | int16_t lang = 0; |
asyrofi | 15:34c3e96ce282 | 177 | int16_t perc = 0; |
asyrofi | 15:34c3e96ce282 | 178 | int16_t kec = 0; |
asyrofi | 15:34c3e96ce282 | 179 | int16_t jar = 0; |
asyrofi | 15:34c3e96ce282 | 180 | int16_t ting = 0; |
asyrofi | 15:34c3e96ce282 | 181 | snprintf(buffer, 20, "data: %d,%d,%d,%d,%d\n",(int16_t)lang,(int16_t)perc,(int16_t)kec,(int16_t)jar,(int16_t)ting); |
asyrofi | 15:34c3e96ce282 | 182 | /* snprintf(buffer, 20, "data: %d,%d,%d,%d,%d,%d\n",(int16_t)reading_1,(int16_t)reading_2,(int16_t)reading_3,(int16_t)avg_1,(int16_t)avg_2,(int16_t)avg_3);*/ |
asyrofi | 15:34c3e96ce282 | 183 | |
asyrofi | 15:34c3e96ce282 | 184 | |
yihui | 0:e910d9bb040f | 185 | |
asyrofi | 14:4dfb61282efb | 186 | while (true) |
asyrofi | 14:4dfb61282efb | 187 | { |
Rohit Grover |
2:e060367b9024 | 188 | ble.waitForEvent(); |
asyrofi | 15:34c3e96ce282 | 189 | int16_t x = analog_value1.read_u16(); |
asyrofi | 15:34c3e96ce282 | 190 | int16_t y = analog_value2.read_u16(); |
asyrofi | 15:34c3e96ce282 | 191 | int16_t z = analog_value3.read_u16(); |
asyrofi | 15:34c3e96ce282 | 192 | uart1.printf("\r x = %d y = %d z = %d \n",(int16_t)x,(int16_t)y,(int16_t)z); |
asyrofi | 15:34c3e96ce282 | 193 | /* memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 194 | snprintf(buffer, 20, "data: %d,%d,%d\n", (int16_t)x,(int16_t)y,(int16_t)z); |
asyrofi | 15:34c3e96ce282 | 195 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/ |
asyrofi | 15:34c3e96ce282 | 196 | |
asyrofi | 15:34c3e96ce282 | 197 | uart1.printf("\n%i, %i, %i\n", (int16_t)avg1, (int16_t)avg2, (int16_t)avg3); |
asyrofi | 15:34c3e96ce282 | 198 | /* memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 199 | snprintf(buffer, 20, "data: %d,%d,%d\n\n", (int16_t)avg1,(int16_t)avg2,(int16_t)avg3); |
asyrofi | 15:34c3e96ce282 | 200 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false);*/ |
asyrofi | 15:34c3e96ce282 | 201 | |
asyrofi | 14:4dfb61282efb | 202 | wait(0.5); |
asyrofi | 15:34c3e96ce282 | 203 | |
asyrofi | 15:34c3e96ce282 | 204 | //float x,y,z |
asyrofi | 15:34c3e96ce282 | 205 | for (int i=0; i<10; i++) |
asyrofi | 15:34c3e96ce282 | 206 | { |
asyrofi | 15:34c3e96ce282 | 207 | xaccl[i]=(analog_value1.read_u16()); |
asyrofi | 15:34c3e96ce282 | 208 | wait(0.1); |
asyrofi | 15:34c3e96ce282 | 209 | yaccl[i]=(analog_value2.read_u16()); |
asyrofi | 15:34c3e96ce282 | 210 | wait(0.1); |
asyrofi | 15:34c3e96ce282 | 211 | zaccl[i]=(analog_value3.read_u16()); |
asyrofi | 15:34c3e96ce282 | 212 | wait(0.1); |
asyrofi | 15:34c3e96ce282 | 213 | |
asyrofi | 15:34c3e96ce282 | 214 | //formula |
asyrofi | 15:34c3e96ce282 | 215 | totvect[i] = sqrt((double)((xaccl[i]-xavg)* (xaccl[i]-xavg))+(double) ((yaccl[i] - yavg)*(yaccl[i] - yavg)) +(double) ((zaccl[i] - zavg)*(zaccl[i] - zavg))); |
asyrofi | 15:34c3e96ce282 | 216 | totave[i] = (totvect[i] + totvect[i-1]) / 2 ; |
asyrofi | 15:34c3e96ce282 | 217 | uart1.printf("\t acc: %i\n", (int16_t)totave[i]); |
asyrofi | 15:34c3e96ce282 | 218 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 219 | snprintf(buffer, 20, "\t acc: %d\n", (int16_t)totave[i]); |
asyrofi | 15:34c3e96ce282 | 220 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false); |
asyrofi | 15:34c3e96ce282 | 221 | |
asyrofi | 15:34c3e96ce282 | 222 | totvel[i]=(totave[i]*0.2); |
asyrofi | 15:34c3e96ce282 | 223 | uart1.printf("\t vel: %i\n", (int16_t)totvel[i]); |
asyrofi | 15:34c3e96ce282 | 224 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 225 | snprintf(buffer, 20, "\t vel: %d\n", (int16_t)totvel[i]); |
asyrofi | 15:34c3e96ce282 | 226 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false); |
asyrofi | 15:34c3e96ce282 | 227 | |
asyrofi | 15:34c3e96ce282 | 228 | totdist[i]=(totvect[i]*(0.2*0.2)/2); |
asyrofi | 15:34c3e96ce282 | 229 | uart1.printf("\t dist: %i\n", (int16_t)totdist[i]); |
asyrofi | 15:34c3e96ce282 | 230 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 231 | snprintf(buffer, 20, "\tdist: %d\n", (int16_t)totdist[i]); |
asyrofi | 15:34c3e96ce282 | 232 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false); |
asyrofi | 15:34c3e96ce282 | 233 | |
asyrofi | 15:34c3e96ce282 | 234 | totheight[i]=sqrt((((xaccl[i]-xavg)* (xaccl[i]-xavg))+ ((yaccl[i] - yavg)*(yaccl[i] - yavg)))*(0.2*0.2)/2); |
asyrofi | 15:34c3e96ce282 | 235 | uart1.printf("\thght: %i\n", (int16_t)totheight[i]); |
asyrofi | 15:34c3e96ce282 | 236 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 237 | snprintf(buffer, 20, "\thght: %d\n", (int16_t)totheight[i]); |
asyrofi | 15:34c3e96ce282 | 238 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false); |
asyrofi | 15:34c3e96ce282 | 239 | |
asyrofi | 15:34c3e96ce282 | 240 | acc=acc+totave[i]; |
asyrofi | 15:34c3e96ce282 | 241 | |
asyrofi | 15:34c3e96ce282 | 242 | |
asyrofi | 15:34c3e96ce282 | 243 | |
asyrofi | 15:34c3e96ce282 | 244 | //cal steps |
asyrofi | 15:34c3e96ce282 | 245 | if (totave[i] > threshold && flag==0) |
asyrofi | 15:34c3e96ce282 | 246 | { |
asyrofi | 15:34c3e96ce282 | 247 | steps = steps+1; |
asyrofi | 15:34c3e96ce282 | 248 | flag=1; |
asyrofi | 15:34c3e96ce282 | 249 | } |
asyrofi | 15:34c3e96ce282 | 250 | else if (totave[i] > threshold && flag == 1) |
asyrofi | 15:34c3e96ce282 | 251 | { |
asyrofi | 15:34c3e96ce282 | 252 | // do nothing |
asyrofi | 15:34c3e96ce282 | 253 | } |
asyrofi | 15:34c3e96ce282 | 254 | if (totave[i] < threshold && flag == 1) |
asyrofi | 15:34c3e96ce282 | 255 | {flag=0;} |
asyrofi | 15:34c3e96ce282 | 256 | uart1.printf("steps: %i\n", (int16_t)steps); |
asyrofi | 15:34c3e96ce282 | 257 | memset(&buffer, 0, sizeof(buffer)); |
asyrofi | 15:34c3e96ce282 | 258 | snprintf(buffer, 20, "\nsteps: %d\t", (int16_t)steps); |
asyrofi | 15:34c3e96ce282 | 259 | ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), (uint8_t*)buffer, sizeof(buffer), false); |
asyrofi | 15:34c3e96ce282 | 260 | |
asyrofi | 15:34c3e96ce282 | 261 | } |
yihui | 0:e910d9bb040f | 262 | } |
asyrofi | 14:4dfb61282efb | 263 | |
yihui | 0:e910d9bb040f | 264 | } |