Benjamin Hepp / Mbed 2 deprecated AIT_UWB_Tracker

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Dependencies:   DW1000 ait_link BufferedSerial mbed

main_multi_range.cpp@12:152a51255a28, 2016-04-13 (annotated)

Committer:
bhepp
Date:
Wed Apr 13 12:23:53 2016 +0000
Revision:
12:152a51255a28
Parent:
10:6e95128c2efa 
Removed test-code for UWBLink

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bhepp 1:c070ca30da80 1 #include "settings.h"
bhepp 1:c070ca30da80 2
bhepp 1:c070ca30da80 3 #if not BUILD_SLAVE
bhepp 1:c070ca30da80 4
bhepp 2:5af0f0006f40 5 #include <stdarg.h>
bhepp 1:c070ca30da80 6 #include <mbed.h>
bhepp 1:c070ca30da80 7 #include <DW1000.h>
bhepp 1:c070ca30da80 8 #include <DW1000Utils.h>
bhepp 10:6e95128c2efa 9 #include <ait_link/uwb_link/uwb_link_mbed.h>
bhepp 1:c070ca30da80 10
bhepp 10:6e95128c2efa 11 #include <BufferedSerial/BufferedSerial.h>
bhepp 2:5af0f0006f40 12 #include "UWB2WayMultiRange.h"
bhepp 1:c070ca30da80 13
bhepp 6:9055fcc2f0cb 14 enum CommMode {
bhepp 6:9055fcc2f0cb 15 ASCII,
bhepp 6:9055fcc2f0cb 16 UWBLINK
bhepp 6:9055fcc2f0cb 17 };
bhepp 6:9055fcc2f0cb 18
bhepp 2:5af0f0006f40 19 using ait::UWB2WayMultiRange;
bhepp 1:c070ca30da80 20
bhepp 1:c070ca30da80 21 //#define MEASURE_UWB_RANGING_RATE 1
bhepp 1:c070ca30da80 22
bhepp 6:9055fcc2f0cb 23 using ait::UWBLink;
bhepp 6:9055fcc2f0cb 24 using ait::UWBLinkMbed;
bhepp 6:9055fcc2f0cb 25 using ait::UWBMessageString;
bhepp 6:9055fcc2f0cb 26 using ait::UWBMessageMultiRange;
bhepp 6:9055fcc2f0cb 27 using ait::UWBMessage;
bhepp 1:c070ca30da80 28
bhepp 5:1928eb8c417a 29 // Overall reset rate (if no ranging is performed within the timeout)
bhepp 5:1928eb8c417a 30 const float WATCHDOG_TIMEOUT = 1.0f;
bhepp 5:1928eb8c417a 31
bhepp 5:1928eb8c417a 32 const int SPI_FREQUENCY = 5000000;
bhepp 6:9055fcc2f0cb 33 const float MIN_DW_VOLTAGE = 2.0f;
bhepp 1:c070ca30da80 34
bhepp 2:5af0f0006f40 35 const int TRACKER_ADDRESS = 0;
bhepp 1:c070ca30da80 36 const int NUM_OF_SLAVES = 1;
bhepp 4:1a2c1e5e5516 37 const int SLAVE_ADDRESS_OFFSET = 20;
bhepp 1:c070ca30da80 38
bhepp 1:c070ca30da80 39 const bool USE_NLOS_SETTINGS = true;
bhepp 1:c070ca30da80 40
bhepp 5:1928eb8c417a 41 //const PinName DW_RESET_PIN = D15;
bhepp 5:1928eb8c417a 42 const PinName DW_RESET_PIN = NC;
bhepp 1:c070ca30da80 43 const PinName DW_MOSI_PIN = D11;
bhepp 1:c070ca30da80 44 const PinName DW_MISO_PIN = D12;
bhepp 1:c070ca30da80 45 const PinName DW_SCLK_PIN = D13;
bhepp 1:c070ca30da80 46
bhepp 5:1928eb8c417a 47 const int NUM_OF_DW_UNITS = 4;
bhepp 9:3844cf7e5c00 48 // These CS pins are used on the Solo
bhepp 9:3844cf7e5c00 49 const PinName DW_CS_PINS[NUM_OF_DW_UNITS] = {D8, D9, D15, D14};
bhepp 9:3844cf7e5c00 50 // These CS pins are used on the pyramid
bhepp 5:1928eb8c417a 51 //const PinName DW_CS_PINS[NUM_OF_DW_UNITS] = {D7, D8, D9, D10};
bhepp 6:9055fcc2f0cb 52
bhepp 6:9055fcc2f0cb 53 const int MAX_UWB_LINK_FRAME_LENGTH = 1024;
bhepp 1:c070ca30da80 54 #if _DEBUG
bhepp 9:3844cf7e5c00 55 CommMode comm_mode = ASCII;
bhepp 1:c070ca30da80 56 #else
bhepp 6:9055fcc2f0cb 57 CommMode comm_mode = UWBLINK;
bhepp 1:c070ca30da80 58 #endif
bhepp 1:c070ca30da80 59
bhepp 1:c070ca30da80 60
bhepp 2:5af0f0006f40 61 BufferedSerial pc(USBTX, USBRX, 115200, 8 * 1024); // USB UART Terminal
bhepp 1:c070ca30da80 62
bhepp 10:6e95128c2efa 63 void send_status_message(UWBLink& ul, char* str, ...)
bhepp 1:c070ca30da80 64 {
bhepp 2:5af0f0006f40 65 va_list args;
bhepp 2:5af0f0006f40 66 va_start(args, str);
bhepp 10:6e95128c2efa 67 if (comm_mode == UWBLINK) {
bhepp 6:9055fcc2f0cb 68 char buffer[MAX_UWB_LINK_FRAME_LENGTH];
bhepp 6:9055fcc2f0cb 69 int n = vsnprintf(buffer, sizeof(buffer), str, args);
bhepp 6:9055fcc2f0cb 70 if(n > sizeof(buffer)) {
bhepp 6:9055fcc2f0cb 71 // Dangerous: Could lead to infinite recursion
bhepp 10:6e95128c2efa 72 send_status_message(ul, "%s %d buffer to small (buf_size: %d, required: %d)!\r\n", __FILE__, __LINE__, sizeof(buffer), n);
bhepp 6:9055fcc2f0cb 73 } else {
bhepp 6:9055fcc2f0cb 74 UWBMessageString msg_str(buffer);
bhepp 6:9055fcc2f0cb 75 UWBMessage msg(UWBMessage::UWB_MESSAGE_TYPE_STATUS, &msg_str);
bhepp 6:9055fcc2f0cb 76 if (!ul.sendMessage(msg)) {
bhepp 6:9055fcc2f0cb 77 DEBUG_PRINTF("\r\nSending UWBLink message failed\r\n");
bhepp 6:9055fcc2f0cb 78 }
bhepp 6:9055fcc2f0cb 79 }
bhepp 2:5af0f0006f40 80 } else {
bhepp 2:5af0f0006f40 81 pc.printf(str, args);
bhepp 2:5af0f0006f40 82 pc.printf("\r\n");
bhepp 2:5af0f0006f40 83 }
bhepp 2:5af0f0006f40 84 va_end(args);
bhepp 2:5af0f0006f40 85 }
bhepp 2:5af0f0006f40 86
bhepp 10:6e95128c2efa 87 bool measureTimesOfFlight(UWB2WayMultiRange& tracker, UWBLink& ul, Timer& timer, float ranging_timeout = 0.1f)
bhepp 2:5af0f0006f40 88 {
bhepp 2:5af0f0006f40 89 #if _DEBUG
bhepp 2:5af0f0006f40 90 int time_begin_us = timer.read_us();
bhepp 2:5af0f0006f40 91 #endif
bhepp 2:5af0f0006f40 92
bhepp 1:c070ca30da80 93 #if MEASURE_UWB_RANGING_RATE
bhepp 1:c070ca30da80 94 static int32_t range_counter = 0;
bhepp 1:c070ca30da80 95 static uint32_t last_stamp_us = timer.read_us();
bhepp 1:c070ca30da80 96 #endif
bhepp 1:c070ca30da80 97
bhepp 5:1928eb8c417a 98 bool any_success = false;
bhepp 6:9055fcc2f0cb 99 for (int i = 0; i < NUM_OF_SLAVES; i++) {
bhepp 1:c070ca30da80 100 uint8_t remote_address = SLAVE_ADDRESS_OFFSET + i;
bhepp 2:5af0f0006f40 101 const UWB2WayMultiRange::RawRangingResult& raw_result = tracker.measureTimesOfFlight(remote_address, ranging_timeout);
bhepp 6:9055fcc2f0cb 102 if (raw_result.status == UWB2WayMultiRange::SUCCESS) {
bhepp 5:1928eb8c417a 103 any_success = true;
bhepp 10:6e95128c2efa 104 if (comm_mode == UWBLINK) {
bhepp 6:9055fcc2f0cb 105 UWBMessageMultiRange msg_multi_range(
bhepp 6:9055fcc2f0cb 106 tracker.getAddress(),
bhepp 6:9055fcc2f0cb 107 remote_address
bhepp 6:9055fcc2f0cb 108 );
bhepp 6:9055fcc2f0cb 109 for (int j = 0; j < tracker.getNumOfModules(); ++j) {
bhepp 6:9055fcc2f0cb 110 msg_multi_range.addModuleMeasurement(raw_result.timestamp_master_request_1[j], raw_result.timestamp_slave_reply[j], raw_result.timestamp_master_request_2[j]);
bhepp 6:9055fcc2f0cb 111 }
bhepp 6:9055fcc2f0cb 112 msg_multi_range.setSlaveMeasurement(raw_result.timestamp_master_request_1_recv, raw_result.timestamp_slave_reply_send, raw_result.timestamp_master_request_2_recv);
bhepp 6:9055fcc2f0cb 113 UWBMessage msg(UWBMessage::UWB_MESSAGE_TYPE_MULTI_RANGE, &msg_multi_range);
bhepp 6:9055fcc2f0cb 114 if (!ul.sendMessage(msg)) {
bhepp 6:9055fcc2f0cb 115 ERROR_PRINTF("\r\nSending UWBLink message failed\r\n");
bhepp 6:9055fcc2f0cb 116 }
bhepp 6:9055fcc2f0cb 117 } else {
bhepp 6:9055fcc2f0cb 118 for (int j = 0; j < tracker.getNumOfModules(); ++j) {
bhepp 1:c070ca30da80 119 int64_t timediff_slave = raw_result.timestamp_master_request_1_recv + raw_result.timestamp_master_request_2_recv - 2 * raw_result.timestamp_slave_reply_send;
bhepp 1:c070ca30da80 120 // Calculation of the summand on the sending node/beacon
bhepp 1:c070ca30da80 121 int64_t timediff_master = 2 * raw_result.timestamp_slave_reply[j] - raw_result.timestamp_master_request_1[j] - raw_result.timestamp_master_request_2[j];
bhepp 1:c070ca30da80 122 // Calculation of the resulting sum of all four ToFs.
bhepp 1:c070ca30da80 123 int64_t timediff = timediff_master + timediff_slave;
bhepp 1:c070ca30da80 124 float tof = tracker.convertDWTimeunitsToMicroseconds(timediff) / 4.0f;
bhepp 1:c070ca30da80 125 float range = tracker.convertTimeOfFlightToDistance(tof);
bhepp 1:c070ca30da80 126
bhepp 10:6e95128c2efa 127 send_status_message(ul, "%d.%d - %d> range = %.2f, tof = %.2e", tracker.getAddress(), j, remote_address, range, tof);
bhepp 1:c070ca30da80 128 }
bhepp 1:c070ca30da80 129 }
bhepp 6:9055fcc2f0cb 130 } else {
bhepp 10:6e95128c2efa 131 send_status_message(ul, "Ranging failed: %s - %s", UWB2WayMultiRange::RANGING_STATUS_MESSAGES[raw_result.status], raw_result.status_description);
bhepp 1:c070ca30da80 132 }
bhepp 1:c070ca30da80 133 #if MEASURE_UWB_RANGING_RATE
bhepp 1:c070ca30da80 134 ++range_counter;
bhepp 1:c070ca30da80 135 #endif
bhepp 1:c070ca30da80 136 }
bhepp 1:c070ca30da80 137
bhepp 1:c070ca30da80 138 #if MEASURE_UWB_RANGING_RATE
bhepp 1:c070ca30da80 139 uint32_t now_stamp_us = timer.read_us();
bhepp 1:c070ca30da80 140 uint32_t dt_us = now_stamp_us - last_stamp_us;
bhepp 1:c070ca30da80 141 if (dt_us > 2 * 1000 * 1000)
bhepp 1:c070ca30da80 142 {
bhepp 1:c070ca30da80 143 float rate = 1000 * 1000 * range_counter / ((float)dt_us);
bhepp 10:6e95128c2efa 144 send_status_message(ul, "Rate = %f.2Hz", rate);
bhepp 10:6e95128c2efa 145 send_status_message(ul, "range_counter = %d, stamp_us = %u, last_stamp_us = %u", range_counter, now_stamp_us, last_stamp_us);
bhepp 1:c070ca30da80 146 range_counter = 0;
bhepp 1:c070ca30da80 147 last_stamp_us = now_stamp_us;
bhepp 1:c070ca30da80 148 }
bhepp 1:c070ca30da80 149 #endif
bhepp 2:5af0f0006f40 150
bhepp 2:5af0f0006f40 151 #if _DEBUG
bhepp 2:5af0f0006f40 152 int time_end_us = timer.read_us();
bhepp 2:5af0f0006f40 153 int time_elapsed_us = time_end_us - time_begin_us;
bhepp 2:5af0f0006f40 154 int time_elapsed_ms = time_elapsed_us / 1000;
bhepp 2:5af0f0006f40 155 DEBUG_PRINTF_VA("Time elapsed for ranging and output: %d ms (%d microseconds)\r\n", time_elapsed_ms, time_elapsed_us);
bhepp 2:5af0f0006f40 156 DEBUG_PRINTF("\r\n\r\n");
bhepp 2:5af0f0006f40 157 #endif
bhepp 2:5af0f0006f40 158
bhepp 2:5af0f0006f40 159 #if _DEBUG
bhepp 6:9055fcc2f0cb 160 ////wait_ms(500);
bhepp 2:5af0f0006f40 161 #endif
bhepp 5:1928eb8c417a 162
bhepp 5:1928eb8c417a 163 return any_success;
bhepp 1:c070ca30da80 164 }
bhepp 1:c070ca30da80 165
bhepp 1:c070ca30da80 166 int main()
bhepp 1:c070ca30da80 167 {
bhepp 5:1928eb8c417a 168 while (true) {
bhepp 12:152a51255a28 169 // Ensure that all DW units are deactiviated at the beginning
bhepp 12:152a51255a28 170 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 12:152a51255a28 171 DigitalOut out(DW_CS_PINS[i]);
bhepp 5:1928eb8c417a 172 out = 1;
bhepp 5:1928eb8c417a 173 }
bhepp 5:1928eb8c417a 174
bhepp 6:9055fcc2f0cb 175 UWBLinkMbed ul(&pc, MAX_UWB_LINK_FRAME_LENGTH);
bhepp 6:9055fcc2f0cb 176
bhepp 5:1928eb8c417a 177 SPI spi(DW_MOSI_PIN, DW_MISO_PIN, DW_SCLK_PIN);
bhepp 5:1928eb8c417a 178 spi.format(8, 0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
bhepp 5:1928eb8c417a 179 // NOTE: Minimum Frequency 1MHz. Below it is now working. Could be something with the activation and deactivation of interrupts.
bhepp 5:1928eb8c417a 180 spi.frequency(SPI_FREQUENCY); // with a 1MHz clock rate (worked up to 49MHz in our Test)
bhepp 5:1928eb8c417a 181
bhepp 5:1928eb8c417a 182 Timer timer;
bhepp 5:1928eb8c417a 183 timer.start();
bhepp 5:1928eb8c417a 184
bhepp 5:1928eb8c417a 185 DW1000* dw_array[NUM_OF_DW_UNITS];
bhepp 6:9055fcc2f0cb 186 bool dw_init_success[NUM_OF_DW_UNITS];
bhepp 5:1928eb8c417a 187 InterruptIn* irq = NULL;
bhepp 5:1928eb8c417a 188
bhepp 10:6e95128c2efa 189 send_status_message(ul, "Performing hardware reset of UWB modules\r\n");
bhepp 5:1928eb8c417a 190 // == IMPORTANT == Create all DW objects first (this will cause a reset of the DW module)
bhepp 5:1928eb8c417a 191 DW1000::hardwareReset(DW_RESET_PIN);
bhepp 6:9055fcc2f0cb 192
bhepp 5:1928eb8c417a 193 // Now we can initialize the DW modules
bhepp 6:9055fcc2f0cb 194 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 6:9055fcc2f0cb 195 dw_init_success[i] = true;
bhepp 5:1928eb8c417a 196 dw_array[i] = new DW1000(spi, irq, DW_CS_PINS[i]); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ, RESET)
bhepp 5:1928eb8c417a 197
bhepp 5:1928eb8c417a 198 DW1000& dw = *dw_array[i];
bhepp 6:9055fcc2f0cb 199 uint64_t eui = 0xFAEDCD01FAEDCD01 + i;
bhepp 6:9055fcc2f0cb 200 dw.setEUI(eui); // basic methods called to check if we have a working SPI connection
bhepp 6:9055fcc2f0cb 201 uint64_t query_eui = dw.getEUI();
bhepp 6:9055fcc2f0cb 202 float query_voltage = dw.getVoltage();
bhepp 6:9055fcc2f0cb 203 uint32_t query_device_id = dw.getDeviceID();
bhepp 5:1928eb8c417a 204
bhepp 10:6e95128c2efa 205 send_status_message(ul, "\r\nUnit %d", i);
bhepp 10:6e95128c2efa 206 send_status_message(ul, "\r\nDecaWave 1.0 up and running!"); // Splashscreen
bhepp 10:6e95128c2efa 207 send_status_message(ul, "DEVICE_ID register: 0x%X", query_device_id);
bhepp 10:6e95128c2efa 208 send_status_message(ul, "EUI register: %016llX", query_eui);
bhepp 10:6e95128c2efa 209 send_status_message(ul, "Voltage: %.2fV", query_voltage);
bhepp 6:9055fcc2f0cb 210
bhepp 6:9055fcc2f0cb 211 if (query_eui != eui) {
bhepp 10:6e95128c2efa 212 send_status_message(ul, "ERROR: Queried EUI is not equal to the configured EUI");
bhepp 6:9055fcc2f0cb 213 dw_init_success[i] = false;
bhepp 6:9055fcc2f0cb 214 continue;
bhepp 6:9055fcc2f0cb 215 }
bhepp 6:9055fcc2f0cb 216
bhepp 6:9055fcc2f0cb 217 if (query_voltage < MIN_DW_VOLTAGE) {
bhepp 10:6e95128c2efa 218 send_status_message(ul, "ERROR: Queried voltage is below minimum value");
bhepp 6:9055fcc2f0cb 219 dw_init_success[i] = false;
bhepp 6:9055fcc2f0cb 220 continue;
bhepp 6:9055fcc2f0cb 221 }
bhepp 5:1928eb8c417a 222
bhepp 5:1928eb8c417a 223 // Set NLOS settings (According to DecaWave Application Note APS006)
bhepp 6:9055fcc2f0cb 224 if (USE_NLOS_SETTINGS) {
bhepp 10:6e95128c2efa 225 send_status_message(ul, "Setting NLOS configuration for Unit %d", i);
bhepp 5:1928eb8c417a 226 DW1000Utils::setNLOSSettings(&dw, DATA_RATE_SETTING, PRF_SETTING, PREAMBLE_SETTING);
bhepp 5:1928eb8c417a 227 }
bhepp 5:1928eb8c417a 228 }
bhepp 6:9055fcc2f0cb 229
bhepp 6:9055fcc2f0cb 230 bool all_dw_initialized = true;
bhepp 6:9055fcc2f0cb 231 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 6:9055fcc2f0cb 232 if (!dw_init_success[i]) {
bhepp 6:9055fcc2f0cb 233 all_dw_initialized = false;
bhepp 6:9055fcc2f0cb 234 break;
bhepp 6:9055fcc2f0cb 235 }
bhepp 5:1928eb8c417a 236 }
bhepp 6:9055fcc2f0cb 237
bhepp 6:9055fcc2f0cb 238 if (all_dw_initialized) {
bhepp 10:6e95128c2efa 239 send_status_message(ul, "Initializing tracker with address %d", TRACKER_ADDRESS);
bhepp 6:9055fcc2f0cb 240 UWB2WayMultiRange tracker(TRACKER_ADDRESS);
bhepp 6:9055fcc2f0cb 241
bhepp 6:9055fcc2f0cb 242 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 6:9055fcc2f0cb 243 tracker.addModule(dw_array[i]);
bhepp 6:9055fcc2f0cb 244 }
bhepp 6:9055fcc2f0cb 245
bhepp 10:6e95128c2efa 246 send_status_message(ul, "Resetting all modules and waiting 100ms");
bhepp 6:9055fcc2f0cb 247 for (int i = 0; i < tracker.getNumOfModules(); ++i) {
bhepp 6:9055fcc2f0cb 248 tracker.getModule(i)->softwareReset();
bhepp 6:9055fcc2f0cb 249 }
bhepp 6:9055fcc2f0cb 250 wait_us(100); // This helps sometimes
bhepp 6:9055fcc2f0cb 251
bhepp 6:9055fcc2f0cb 252 Timer watchdog_timer;
bhepp 6:9055fcc2f0cb 253 watchdog_timer.start();
bhepp 6:9055fcc2f0cb 254 float watchdog_last_time = watchdog_timer.read();
bhepp 6:9055fcc2f0cb 255 bool watchdog_timeout_flag = false;
bhepp 5:1928eb8c417a 256
bhepp 10:6e95128c2efa 257 send_status_message(ul, "Entering main loop");
bhepp 6:9055fcc2f0cb 258 while (!watchdog_timeout_flag) {
bhepp 10:6e95128c2efa 259 bool success = measureTimesOfFlight(tracker, ul, timer);
bhepp 6:9055fcc2f0cb 260 float current_time = watchdog_timer.read();
bhepp 6:9055fcc2f0cb 261 if (success) {
bhepp 6:9055fcc2f0cb 262 watchdog_last_time = current_time;
bhepp 6:9055fcc2f0cb 263 } else {
bhepp 6:9055fcc2f0cb 264 float watchdog_time = current_time - watchdog_last_time;
bhepp 6:9055fcc2f0cb 265 if (watchdog_time > WATCHDOG_TIMEOUT) {
bhepp 6:9055fcc2f0cb 266 watchdog_timeout_flag = true;
bhepp 6:9055fcc2f0cb 267 }
bhepp 5:1928eb8c417a 268 }
bhepp 5:1928eb8c417a 269 }
bhepp 10:6e95128c2efa 270 send_status_message(ul, "");
bhepp 10:6e95128c2efa 271 send_status_message(ul, "Watchdog timed out ...");
bhepp 10:6e95128c2efa 272 send_status_message(ul, "Restarting ...");
bhepp 10:6e95128c2efa 273 send_status_message(ul, "");
bhepp 6:9055fcc2f0cb 274 } else {
bhepp 10:6e95128c2efa 275 send_status_message(ul, "\r\nNot all DW units could be initialized.");
bhepp 6:9055fcc2f0cb 276 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 6:9055fcc2f0cb 277 if (!dw_init_success[i]) {
bhepp 10:6e95128c2efa 278 send_status_message(ul, "Failed to initialize DW unit %d", i);
bhepp 6:9055fcc2f0cb 279 }
bhepp 6:9055fcc2f0cb 280 }
bhepp 10:6e95128c2efa 281 send_status_message(ul, "Trying again ...");
bhepp 6:9055fcc2f0cb 282 wait_ms(1000);
bhepp 5:1928eb8c417a 283 }
bhepp 1:c070ca30da80 284
bhepp 6:9055fcc2f0cb 285 for (int i = 0; i < NUM_OF_DW_UNITS; ++i) {
bhepp 5:1928eb8c417a 286 delete dw_array[i];
bhepp 1:c070ca30da80 287 }
bhepp 1:c070ca30da80 288 }
bhepp 1:c070ca30da80 289 }
bhepp 1:c070ca30da80 290 #endif