IMU code. Relies on LIS331_lib, modified ITG3200_lib, and IMUfilter_lib
Dependencies: mbed ITG3200_lib
main.cpp@0:a070fa765ed2, 2010-11-18 (annotated)
- Committer:
- atommota
- Date:
- Thu Nov 18 01:19:16 2010 +0000
- Revision:
- 0:a070fa765ed2
Initial attempt at an IMU code.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
atommota | 0:a070fa765ed2 | 1 | /** |
atommota | 0:a070fa765ed2 | 2 | * IMU filter example. |
atommota | 0:a070fa765ed2 | 3 | * |
atommota | 0:a070fa765ed2 | 4 | * Calculate the roll, pitch and yaw angles. |
atommota | 0:a070fa765ed2 | 5 | */ |
atommota | 0:a070fa765ed2 | 6 | #include "IMUfilter.h" |
atommota | 0:a070fa765ed2 | 7 | #include "LIS331.h" |
atommota | 0:a070fa765ed2 | 8 | #include "ITG3200.h" |
atommota | 0:a070fa765ed2 | 9 | |
atommota | 0:a070fa765ed2 | 10 | //Gravity at Earth's surface in m/s/s |
atommota | 0:a070fa765ed2 | 11 | #define g0 9.812865328 |
atommota | 0:a070fa765ed2 | 12 | //Number of samples to average. |
atommota | 0:a070fa765ed2 | 13 | #define SAMPLES 4 |
atommota | 0:a070fa765ed2 | 14 | //Number of samples to be averaged for a null bias calculation |
atommota | 0:a070fa765ed2 | 15 | //during calibration. |
atommota | 0:a070fa765ed2 | 16 | #define CALIBRATION_SAMPLES 128 |
atommota | 0:a070fa765ed2 | 17 | //Convert from radians to degrees. |
atommota | 0:a070fa765ed2 | 18 | #define toDegrees(x) (x * 57.2957795) |
atommota | 0:a070fa765ed2 | 19 | //Convert from degrees to radians. |
atommota | 0:a070fa765ed2 | 20 | #define toRadians(x) (x * 0.01745329252) |
atommota | 0:a070fa765ed2 | 21 | //ITG-3200 sensitivity is 14.375 LSB/(degrees/sec). |
atommota | 0:a070fa765ed2 | 22 | #define GYROSCOPE_GAIN (1 / 14.375) |
atommota | 0:a070fa765ed2 | 23 | //Full scale resolution on the ADXL345 is 4mg/LSB. |
atommota | 0:a070fa765ed2 | 24 | #define ACCELEROMETER_GAIN (0.000061035 * g0) |
atommota | 0:a070fa765ed2 | 25 | //Sampling gyroscope at 200Hz. |
atommota | 0:a070fa765ed2 | 26 | #define GYRO_RATE 0.005 |
atommota | 0:a070fa765ed2 | 27 | //Sampling accelerometer at 200Hz. |
atommota | 0:a070fa765ed2 | 28 | #define ACC_RATE 0.005 |
atommota | 0:a070fa765ed2 | 29 | //Updating filter at 40Hz. |
atommota | 0:a070fa765ed2 | 30 | #define FILTER_RATE 0.025 |
atommota | 0:a070fa765ed2 | 31 | |
atommota | 0:a070fa765ed2 | 32 | Serial pc(USBTX, USBRX); |
atommota | 0:a070fa765ed2 | 33 | //At rest the gyroscope is centred around 0 and goes between about |
atommota | 0:a070fa765ed2 | 34 | //-5 and 5 counts. As 1 degrees/sec is ~15 LSB, error is roughly |
atommota | 0:a070fa765ed2 | 35 | //5/15 = 0.3 degrees/sec. |
atommota | 0:a070fa765ed2 | 36 | IMUfilter imuFilter(FILTER_RATE, 0.3); |
atommota | 0:a070fa765ed2 | 37 | LIS331 accelerometer(p9, p10); |
atommota | 0:a070fa765ed2 | 38 | ITG3200 gyroscope(p9, p10); |
atommota | 0:a070fa765ed2 | 39 | Ticker accelerometerTicker; |
atommota | 0:a070fa765ed2 | 40 | Ticker gyroscopeTicker; |
atommota | 0:a070fa765ed2 | 41 | Ticker filterTicker; |
atommota | 0:a070fa765ed2 | 42 | |
atommota | 0:a070fa765ed2 | 43 | //Offsets for the gyroscope. |
atommota | 0:a070fa765ed2 | 44 | //The readings we take when the gyroscope is stationary won't be 0, so we'll |
atommota | 0:a070fa765ed2 | 45 | //average a set of readings we do get when the gyroscope is stationary and |
atommota | 0:a070fa765ed2 | 46 | //take those away from subsequent readings to ensure the gyroscope is offset |
atommota | 0:a070fa765ed2 | 47 | //or "biased" to 0. |
atommota | 0:a070fa765ed2 | 48 | double w_xBias; |
atommota | 0:a070fa765ed2 | 49 | double w_yBias; |
atommota | 0:a070fa765ed2 | 50 | double w_zBias; |
atommota | 0:a070fa765ed2 | 51 | |
atommota | 0:a070fa765ed2 | 52 | //Offsets for the accelerometer. |
atommota | 0:a070fa765ed2 | 53 | //Same as with the gyroscope. |
atommota | 0:a070fa765ed2 | 54 | double a_xBias; |
atommota | 0:a070fa765ed2 | 55 | double a_yBias; |
atommota | 0:a070fa765ed2 | 56 | double a_zBias; |
atommota | 0:a070fa765ed2 | 57 | |
atommota | 0:a070fa765ed2 | 58 | //Accumulators used for oversampling and then averaging. |
atommota | 0:a070fa765ed2 | 59 | volatile double a_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 60 | volatile double a_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 61 | volatile double a_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 62 | volatile double w_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 63 | volatile double w_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 64 | volatile double w_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 65 | |
atommota | 0:a070fa765ed2 | 66 | //Accelerometer and gyroscope readings for x, y, z axes. |
atommota | 0:a070fa765ed2 | 67 | volatile double a_x; |
atommota | 0:a070fa765ed2 | 68 | volatile double a_y; |
atommota | 0:a070fa765ed2 | 69 | volatile double a_z; |
atommota | 0:a070fa765ed2 | 70 | volatile double w_x; |
atommota | 0:a070fa765ed2 | 71 | volatile double w_y; |
atommota | 0:a070fa765ed2 | 72 | volatile double w_z; |
atommota | 0:a070fa765ed2 | 73 | |
atommota | 0:a070fa765ed2 | 74 | //Buffer for accelerometer readings. |
atommota | 0:a070fa765ed2 | 75 | int readings[3]; |
atommota | 0:a070fa765ed2 | 76 | //Number of accelerometer samples we're on. |
atommota | 0:a070fa765ed2 | 77 | int accelerometerSamples = 0; |
atommota | 0:a070fa765ed2 | 78 | //Number of gyroscope samples we're on. |
atommota | 0:a070fa765ed2 | 79 | int gyroscopeSamples = 0; |
atommota | 0:a070fa765ed2 | 80 | |
atommota | 0:a070fa765ed2 | 81 | /** |
atommota | 0:a070fa765ed2 | 82 | * Prototypes |
atommota | 0:a070fa765ed2 | 83 | */ |
atommota | 0:a070fa765ed2 | 84 | //Set up the ADXL345 appropriately. |
atommota | 0:a070fa765ed2 | 85 | void initializeAcceleromter(void); |
atommota | 0:a070fa765ed2 | 86 | //Calculate the null bias. |
atommota | 0:a070fa765ed2 | 87 | void calibrateAccelerometer(void); |
atommota | 0:a070fa765ed2 | 88 | //Take a set of samples and average them. |
atommota | 0:a070fa765ed2 | 89 | void sampleAccelerometer(void); |
atommota | 0:a070fa765ed2 | 90 | //Set up the ITG3200 appropriately. |
atommota | 0:a070fa765ed2 | 91 | void initializeGyroscope(void); |
atommota | 0:a070fa765ed2 | 92 | //Calculate the null bias. |
atommota | 0:a070fa765ed2 | 93 | void calibrateGyroscope(void); |
atommota | 0:a070fa765ed2 | 94 | //Take a set of samples and average them. |
atommota | 0:a070fa765ed2 | 95 | void sampleGyroscope(void); |
atommota | 0:a070fa765ed2 | 96 | //Update the filter and calculate the Euler angles. |
atommota | 0:a070fa765ed2 | 97 | void filter(void); |
atommota | 0:a070fa765ed2 | 98 | |
atommota | 0:a070fa765ed2 | 99 | void initializeAccelerometer(void) { |
atommota | 0:a070fa765ed2 | 100 | |
atommota | 0:a070fa765ed2 | 101 | //Go into standby mode to configure the device. |
atommota | 0:a070fa765ed2 | 102 | //accelerometer.setPowerControl(0x00); |
atommota | 0:a070fa765ed2 | 103 | //Full resolution, +/-16g, 4mg/LSB. |
atommota | 0:a070fa765ed2 | 104 | //accelerometer.setDataFormatControl(0x0B); |
atommota | 0:a070fa765ed2 | 105 | //200Hz data rate. |
atommota | 0:a070fa765ed2 | 106 | //accelerometer.setDataRate(ADXL345_200HZ); |
atommota | 0:a070fa765ed2 | 107 | //Measurement mode. |
atommota | 0:a070fa765ed2 | 108 | //accelerometer.setPowerControl(0x08); |
atommota | 0:a070fa765ed2 | 109 | //See http://www.analog.com/static/imported-files/application_notes/AN-1077.pdf |
atommota | 0:a070fa765ed2 | 110 | wait_ms(22); |
atommota | 0:a070fa765ed2 | 111 | |
atommota | 0:a070fa765ed2 | 112 | } |
atommota | 0:a070fa765ed2 | 113 | |
atommota | 0:a070fa765ed2 | 114 | void sampleAccelerometer(void) { |
atommota | 0:a070fa765ed2 | 115 | |
atommota | 0:a070fa765ed2 | 116 | //Have we taken enough samples? |
atommota | 0:a070fa765ed2 | 117 | if (accelerometerSamples == SAMPLES) { |
atommota | 0:a070fa765ed2 | 118 | |
atommota | 0:a070fa765ed2 | 119 | //Average the samples, remove the bias, and calculate the acceleration |
atommota | 0:a070fa765ed2 | 120 | //in m/s/s. |
atommota | 0:a070fa765ed2 | 121 | a_x = ((a_xAccumulator / SAMPLES) - a_xBias) * ACCELEROMETER_GAIN; |
atommota | 0:a070fa765ed2 | 122 | a_y = ((a_yAccumulator / SAMPLES) - a_yBias) * ACCELEROMETER_GAIN; |
atommota | 0:a070fa765ed2 | 123 | a_z = ((a_zAccumulator / SAMPLES) - a_zBias) * ACCELEROMETER_GAIN; |
atommota | 0:a070fa765ed2 | 124 | |
atommota | 0:a070fa765ed2 | 125 | a_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 126 | a_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 127 | a_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 128 | accelerometerSamples = 0; |
atommota | 0:a070fa765ed2 | 129 | |
atommota | 0:a070fa765ed2 | 130 | } else { |
atommota | 0:a070fa765ed2 | 131 | //Take another sample. |
atommota | 0:a070fa765ed2 | 132 | a_xAccumulator += (int16_t) accelerometer.getAccelX(); |
atommota | 0:a070fa765ed2 | 133 | a_yAccumulator += (int16_t) accelerometer.getAccelY(); |
atommota | 0:a070fa765ed2 | 134 | a_zAccumulator += (int16_t) accelerometer.getAccelZ(); |
atommota | 0:a070fa765ed2 | 135 | |
atommota | 0:a070fa765ed2 | 136 | accelerometerSamples++; |
atommota | 0:a070fa765ed2 | 137 | |
atommota | 0:a070fa765ed2 | 138 | } |
atommota | 0:a070fa765ed2 | 139 | |
atommota | 0:a070fa765ed2 | 140 | } |
atommota | 0:a070fa765ed2 | 141 | |
atommota | 0:a070fa765ed2 | 142 | void calibrateAccelerometer(void) { |
atommota | 0:a070fa765ed2 | 143 | |
atommota | 0:a070fa765ed2 | 144 | a_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 145 | a_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 146 | a_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 147 | |
atommota | 0:a070fa765ed2 | 148 | //Take a number of readings and average them |
atommota | 0:a070fa765ed2 | 149 | //to calculate the zero g offset. |
atommota | 0:a070fa765ed2 | 150 | for (int i = 0; i < CALIBRATION_SAMPLES; i++) { |
atommota | 0:a070fa765ed2 | 151 | |
atommota | 0:a070fa765ed2 | 152 | a_xAccumulator += (int16_t) accelerometer.getAccelX(); |
atommota | 0:a070fa765ed2 | 153 | a_yAccumulator += (int16_t) accelerometer.getAccelY(); |
atommota | 0:a070fa765ed2 | 154 | a_zAccumulator += (int16_t) accelerometer.getAccelZ(); |
atommota | 0:a070fa765ed2 | 155 | |
atommota | 0:a070fa765ed2 | 156 | |
atommota | 0:a070fa765ed2 | 157 | wait(ACC_RATE); |
atommota | 0:a070fa765ed2 | 158 | |
atommota | 0:a070fa765ed2 | 159 | } |
atommota | 0:a070fa765ed2 | 160 | |
atommota | 0:a070fa765ed2 | 161 | a_xAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 162 | a_yAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 163 | a_zAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 164 | |
atommota | 0:a070fa765ed2 | 165 | //At 4mg/LSB, 250 LSBs is 1g. |
atommota | 0:a070fa765ed2 | 166 | a_xBias = a_xAccumulator; |
atommota | 0:a070fa765ed2 | 167 | a_yBias = a_yAccumulator; |
atommota | 0:a070fa765ed2 | 168 | a_zBias = (a_zAccumulator - 1000); |
atommota | 0:a070fa765ed2 | 169 | |
atommota | 0:a070fa765ed2 | 170 | a_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 171 | a_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 172 | a_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 173 | |
atommota | 0:a070fa765ed2 | 174 | } |
atommota | 0:a070fa765ed2 | 175 | |
atommota | 0:a070fa765ed2 | 176 | void initializeGyroscope(void) { |
atommota | 0:a070fa765ed2 | 177 | |
atommota | 0:a070fa765ed2 | 178 | //Low pass filter bandwidth of 42Hz. |
atommota | 0:a070fa765ed2 | 179 | gyroscope.setLpBandwidth(LPFBW_42HZ); |
atommota | 0:a070fa765ed2 | 180 | //Internal sample rate of 200Hz. (1kHz / 5). |
atommota | 0:a070fa765ed2 | 181 | gyroscope.setSampleRateDivider(4); |
atommota | 0:a070fa765ed2 | 182 | |
atommota | 0:a070fa765ed2 | 183 | } |
atommota | 0:a070fa765ed2 | 184 | |
atommota | 0:a070fa765ed2 | 185 | void calibrateGyroscope(void) { |
atommota | 0:a070fa765ed2 | 186 | |
atommota | 0:a070fa765ed2 | 187 | w_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 188 | w_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 189 | w_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 190 | |
atommota | 0:a070fa765ed2 | 191 | //Take a number of readings and average them |
atommota | 0:a070fa765ed2 | 192 | //to calculate the gyroscope bias offset. |
atommota | 0:a070fa765ed2 | 193 | for (int i = 0; i < CALIBRATION_SAMPLES; i++) { |
atommota | 0:a070fa765ed2 | 194 | |
atommota | 0:a070fa765ed2 | 195 | w_xAccumulator += gyroscope.getGyroX(); |
atommota | 0:a070fa765ed2 | 196 | w_yAccumulator += gyroscope.getGyroY(); |
atommota | 0:a070fa765ed2 | 197 | w_zAccumulator += gyroscope.getGyroZ(); |
atommota | 0:a070fa765ed2 | 198 | wait(GYRO_RATE); |
atommota | 0:a070fa765ed2 | 199 | |
atommota | 0:a070fa765ed2 | 200 | } |
atommota | 0:a070fa765ed2 | 201 | |
atommota | 0:a070fa765ed2 | 202 | //Average the samples. |
atommota | 0:a070fa765ed2 | 203 | w_xAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 204 | w_yAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 205 | w_zAccumulator /= CALIBRATION_SAMPLES; |
atommota | 0:a070fa765ed2 | 206 | |
atommota | 0:a070fa765ed2 | 207 | w_xBias = w_xAccumulator; |
atommota | 0:a070fa765ed2 | 208 | w_yBias = w_yAccumulator; |
atommota | 0:a070fa765ed2 | 209 | w_zBias = w_zAccumulator; |
atommota | 0:a070fa765ed2 | 210 | |
atommota | 0:a070fa765ed2 | 211 | w_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 212 | w_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 213 | w_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 214 | |
atommota | 0:a070fa765ed2 | 215 | } |
atommota | 0:a070fa765ed2 | 216 | |
atommota | 0:a070fa765ed2 | 217 | void sampleGyroscope(void) { |
atommota | 0:a070fa765ed2 | 218 | |
atommota | 0:a070fa765ed2 | 219 | //Have we taken enough samples? |
atommota | 0:a070fa765ed2 | 220 | if (gyroscopeSamples == SAMPLES) { |
atommota | 0:a070fa765ed2 | 221 | |
atommota | 0:a070fa765ed2 | 222 | //Average the samples, remove the bias, and calculate the angular |
atommota | 0:a070fa765ed2 | 223 | //velocity in rad/s. |
atommota | 0:a070fa765ed2 | 224 | w_x = toRadians(((w_xAccumulator / SAMPLES) - w_xBias) * GYROSCOPE_GAIN); |
atommota | 0:a070fa765ed2 | 225 | w_y = toRadians(((w_yAccumulator / SAMPLES) - w_yBias) * GYROSCOPE_GAIN); |
atommota | 0:a070fa765ed2 | 226 | w_z = toRadians(((w_zAccumulator / SAMPLES) - w_zBias) * GYROSCOPE_GAIN); |
atommota | 0:a070fa765ed2 | 227 | |
atommota | 0:a070fa765ed2 | 228 | w_xAccumulator = 0; |
atommota | 0:a070fa765ed2 | 229 | w_yAccumulator = 0; |
atommota | 0:a070fa765ed2 | 230 | w_zAccumulator = 0; |
atommota | 0:a070fa765ed2 | 231 | gyroscopeSamples = 0; |
atommota | 0:a070fa765ed2 | 232 | |
atommota | 0:a070fa765ed2 | 233 | } else { |
atommota | 0:a070fa765ed2 | 234 | //Take another sample. |
atommota | 0:a070fa765ed2 | 235 | w_xAccumulator += gyroscope.getGyroX(); |
atommota | 0:a070fa765ed2 | 236 | w_yAccumulator += gyroscope.getGyroY(); |
atommota | 0:a070fa765ed2 | 237 | w_zAccumulator += gyroscope.getGyroZ(); |
atommota | 0:a070fa765ed2 | 238 | |
atommota | 0:a070fa765ed2 | 239 | gyroscopeSamples++; |
atommota | 0:a070fa765ed2 | 240 | |
atommota | 0:a070fa765ed2 | 241 | } |
atommota | 0:a070fa765ed2 | 242 | |
atommota | 0:a070fa765ed2 | 243 | } |
atommota | 0:a070fa765ed2 | 244 | |
atommota | 0:a070fa765ed2 | 245 | void filter(void) { |
atommota | 0:a070fa765ed2 | 246 | |
atommota | 0:a070fa765ed2 | 247 | //Update the filter variables. |
atommota | 0:a070fa765ed2 | 248 | imuFilter.updateFilter(w_y, w_x, w_z, a_y, a_x, a_z); |
atommota | 0:a070fa765ed2 | 249 | //Calculate the new Euler angles. |
atommota | 0:a070fa765ed2 | 250 | imuFilter.computeEuler(); |
atommota | 0:a070fa765ed2 | 251 | |
atommota | 0:a070fa765ed2 | 252 | } |
atommota | 0:a070fa765ed2 | 253 | |
atommota | 0:a070fa765ed2 | 254 | int main() { |
atommota | 0:a070fa765ed2 | 255 | |
atommota | 0:a070fa765ed2 | 256 | //pc.printf("Starting IMU filter test...\n"); |
atommota | 0:a070fa765ed2 | 257 | |
atommota | 0:a070fa765ed2 | 258 | //Initialize inertial sensors. |
atommota | 0:a070fa765ed2 | 259 | initializeAccelerometer(); |
atommota | 0:a070fa765ed2 | 260 | calibrateAccelerometer(); |
atommota | 0:a070fa765ed2 | 261 | initializeGyroscope(); |
atommota | 0:a070fa765ed2 | 262 | calibrateGyroscope(); |
atommota | 0:a070fa765ed2 | 263 | |
atommota | 0:a070fa765ed2 | 264 | //pc.printf("Initialized Successfully...\n\r"); |
atommota | 0:a070fa765ed2 | 265 | |
atommota | 0:a070fa765ed2 | 266 | //Set up timers. |
atommota | 0:a070fa765ed2 | 267 | //Accelerometer data rate is 200Hz, so we'll sample at this speed. |
atommota | 0:a070fa765ed2 | 268 | accelerometerTicker.attach(&sampleAccelerometer, 0.005); |
atommota | 0:a070fa765ed2 | 269 | //Gyroscope data rate is 200Hz, so we'll sample at this speed. |
atommota | 0:a070fa765ed2 | 270 | gyroscopeTicker.attach(&sampleGyroscope, 0.005); |
atommota | 0:a070fa765ed2 | 271 | //Update the filter variables at the correct rate. |
atommota | 0:a070fa765ed2 | 272 | filterTicker.attach(&filter, FILTER_RATE); |
atommota | 0:a070fa765ed2 | 273 | |
atommota | 0:a070fa765ed2 | 274 | |
atommota | 0:a070fa765ed2 | 275 | //pc.printf("Timers Setup...Entering Loop...\n\r"); |
atommota | 0:a070fa765ed2 | 276 | |
atommota | 0:a070fa765ed2 | 277 | while (1) { |
atommota | 0:a070fa765ed2 | 278 | |
atommota | 0:a070fa765ed2 | 279 | wait(FILTER_RATE); |
atommota | 0:a070fa765ed2 | 280 | |
atommota | 0:a070fa765ed2 | 281 | |
atommota | 0:a070fa765ed2 | 282 | pc.printf("%f,%f,%f\n\r",toDegrees(imuFilter.getRoll()), |
atommota | 0:a070fa765ed2 | 283 | toDegrees(imuFilter.getPitch()), |
atommota | 0:a070fa765ed2 | 284 | toDegrees(imuFilter.getYaw())); |
atommota | 0:a070fa765ed2 | 285 | |
atommota | 0:a070fa765ed2 | 286 | |
atommota | 0:a070fa765ed2 | 287 | } |
atommota | 0:a070fa765ed2 | 288 | |
atommota | 0:a070fa765ed2 | 289 | } |