Bayley Wang
/
foc-ed_in_the_bot_compact
robot
main.cpp@40:22aede3d096f, 2016-12-12 (annotated)
- Committer:
- bwang
- Date:
- Mon Dec 12 14:18:02 2016 +0000
- Revision:
- 40:22aede3d096f
- Parent:
- 39:80b38a8e1787
- Child:
- 42:030e0ec4eac5
switching to table based optimization
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:bac9c3a3a6ca | 1 | #include "mbed.h" |
bwang | 0:bac9c3a3a6ca | 2 | #include "math.h" |
bwang | 19:a6cf15f89f3d | 3 | |
bwang | 0:bac9c3a3a6ca | 4 | #include "PositionSensor.h" |
bwang | 0:bac9c3a3a6ca | 5 | #include "FastPWM.h" |
bwang | 18:3863ca45cf26 | 6 | #include "PwmIn.h" |
bwang | 19:a6cf15f89f3d | 7 | #include "MathHelpers.h" |
bwang | 31:ebe42589ab9d | 8 | #include "Driving.h" |
bwang | 40:22aede3d096f | 9 | #include "LutOptimize.h" |
bwang | 30:c25c5bf0d951 | 10 | |
bwang | 15:b583cd30b063 | 11 | #include "config_motor.h" |
bwang | 15:b583cd30b063 | 12 | #include "config_loop.h" |
bwang | 19:a6cf15f89f3d | 13 | #include "config_pins.h" |
bwang | 15:b583cd30b063 | 14 | #include "config_inverter.h" |
bwang | 29:50e6e4e46580 | 15 | #include "config_driving.h" |
bwang | 0:bac9c3a3a6ca | 16 | |
bwang | 1:7b61790f6be9 | 17 | FastPWM *a; |
bwang | 1:7b61790f6be9 | 18 | FastPWM *b; |
bwang | 1:7b61790f6be9 | 19 | FastPWM *c; |
bwang | 0:bac9c3a3a6ca | 20 | DigitalOut en(EN); |
bwang | 18:3863ca45cf26 | 21 | PwmIn throttle_in(TH_PIN, 1100, 1900); |
bwang | 0:bac9c3a3a6ca | 22 | PositionSensorEncoder pos(CPR, 0); |
bwang | 0:bac9c3a3a6ca | 23 | |
bwang | 0:bac9c3a3a6ca | 24 | Serial pc(USBTX, USBRX); |
bwang | 0:bac9c3a3a6ca | 25 | |
bwang | 32:b31423041c4e | 26 | int adval1, adval2, adval3; |
bwang | 32:b31423041c4e | 27 | float vbus = BUS_VOLTAGE; |
bwang | 2:eabe8feaaabb | 28 | float ia, ib, ic, alpha, beta, d, q, vd, vq, p; |
bwang | 30:c25c5bf0d951 | 29 | float p_mech, last_p_mech, w = 0.0f; |
bwang | 22:72840d3db788 | 30 | float d_filtered = 0.0f, q_filtered = 0.0f; |
bwang | 2:eabe8feaaabb | 31 | |
bwang | 1:7b61790f6be9 | 32 | float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV) |
bwang | 1:7b61790f6be9 | 33 | |
bwang | 2:eabe8feaaabb | 34 | float d_integral = 0.0f, q_integral = 0.0f; |
bwang | 2:eabe8feaaabb | 35 | float last_d = 0.0f, last_q = 0.0f; |
bwang | 14:59c4fcc1a4f7 | 36 | float d_ref = 0.0f, q_ref = 0.0f; |
bwang | 2:eabe8feaaabb | 37 | |
bwang | 25:3f2b585ae72d | 38 | bool control_enabled = false; |
dicarloj | 13:41d102a53caf | 39 | |
bwang | 4:a6669248ce4d | 40 | void commutate(); |
bwang | 3:9b20da3f0055 | 41 | void zero_current(); |
bwang | 3:9b20da3f0055 | 42 | void config_globals(); |
bwang | 3:9b20da3f0055 | 43 | void startup_msg(); |
bwang | 2:eabe8feaaabb | 44 | |
bwang | 16:f283d6032fe5 | 45 | void go_enabled(); |
bwang | 16:f283d6032fe5 | 46 | void go_disabled(); |
dicarloj | 13:41d102a53caf | 47 | |
bwang | 1:7b61790f6be9 | 48 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
bwang | 1:7b61790f6be9 | 49 | if (TIM1->SR & TIM_SR_UIF ) { |
bwang | 4:a6669248ce4d | 50 | ADC1->CR2 |= 0x40000000; |
bwang | 4:a6669248ce4d | 51 | volatile int delay; |
bwang | 4:a6669248ce4d | 52 | for (delay = 0; delay < 35; delay++); |
bwang | 1:7b61790f6be9 | 53 | adval1 = ADC1->DR; |
bwang | 1:7b61790f6be9 | 54 | adval2 = ADC2->DR; |
bwang | 4:a6669248ce4d | 55 | commutate(); |
bwang | 1:7b61790f6be9 | 56 | } |
bwang | 1:7b61790f6be9 | 57 | TIM1->SR = 0x00; |
bwang | 1:7b61790f6be9 | 58 | } |
bwang | 1:7b61790f6be9 | 59 | |
bwang | 1:7b61790f6be9 | 60 | void zero_current(){ |
bwang | 1:7b61790f6be9 | 61 | for (int i = 0; i < 1000; i++){ |
bwang | 1:7b61790f6be9 | 62 | ia_supp_offset += (float) (ADC1->DR); |
bwang | 1:7b61790f6be9 | 63 | ib_supp_offset += (float) (ADC2->DR); |
bwang | 1:7b61790f6be9 | 64 | ADC1->CR2 |= 0x40000000; |
bwang | 1:7b61790f6be9 | 65 | wait_us(100); |
bwang | 1:7b61790f6be9 | 66 | } |
bwang | 1:7b61790f6be9 | 67 | ia_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 68 | ib_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 69 | ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 70 | ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 71 | } |
bwang | 0:bac9c3a3a6ca | 72 | |
bwang | 17:2b852039bb05 | 73 | void update_velocity() { |
bwang | 15:b583cd30b063 | 74 | last_p_mech = p_mech; |
bwang | 15:b583cd30b063 | 75 | p_mech = pos.GetMechPosition(); |
bwang | 15:b583cd30b063 | 76 | float dp_mech = p_mech - last_p_mech; |
bwang | 19:a6cf15f89f3d | 77 | if (dp_mech < -PI) dp_mech += 2 * PI; |
bwang | 24:5e18a87a0e95 | 78 | if (dp_mech > PI) dp_mech -= 2 * PI; |
bwang | 24:5e18a87a0e95 | 79 | float w_raw = dp_mech * F_SW; //rad/s |
bwang | 40:22aede3d096f | 80 | if (w_raw > W_CRAZY) w_raw = w; //with this limiting scheme noise < 0 |
bwang | 40:22aede3d096f | 81 | if (w_raw < -W_CRAZY) w_raw = w; //so we need to throw out the large deltas first |
bwang | 15:b583cd30b063 | 82 | w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw; |
bwang | 18:3863ca45cf26 | 83 | } |
bwang | 18:3863ca45cf26 | 84 | |
bwang | 40:22aede3d096f | 85 | /*map throttle to percent max torque*/ |
bwang | 40:22aede3d096f | 86 | float get_tqpct_cmd(float throttle, float w) { |
bwang | 39:80b38a8e1787 | 87 | float tq; |
bwang | 30:c25c5bf0d951 | 88 | if (TORQUE_MODE) { |
bwang | 40:22aede3d096f | 89 | tq = throttle; |
bwang | 30:c25c5bf0d951 | 90 | } else { |
bwang | 40:22aede3d096f | 91 | tq = get_driving_tqpct_cmd(throttle, w); |
bwang | 30:c25c5bf0d951 | 92 | } |
bwang | 39:80b38a8e1787 | 93 | return tq; |
bwang | 18:3863ca45cf26 | 94 | } |
bwang | 18:3863ca45cf26 | 95 | |
bwang | 40:22aede3d096f | 96 | /*get d, q based on % max torque command and velocity*/ |
bwang | 40:22aede3d096f | 97 | void get_dq(float torque_percent, float w, float *d, float *q) { |
bwang | 40:22aede3d096f | 98 | get_dq_lut(torque_percent, w, d, q); |
bwang | 18:3863ca45cf26 | 99 | } |
bwang | 17:2b852039bb05 | 100 | |
bwang | 17:2b852039bb05 | 101 | void commutate() { |
bwang | 28:ed9c1ca386fd | 102 | if (control_enabled && !throttle_in.get_enabled()) go_disabled(); |
bwang | 28:ed9c1ca386fd | 103 | if (control_enabled && !pos.IsValid()) go_disabled(); |
bwang | 28:ed9c1ca386fd | 104 | if (!control_enabled && throttle_in.get_enabled()) go_enabled(); |
bwang | 17:2b852039bb05 | 105 | |
bwang | 17:2b852039bb05 | 106 | update_velocity(); |
bwang | 17:2b852039bb05 | 107 | |
bwang | 17:2b852039bb05 | 108 | p = pos.GetElecPosition() - POS_OFFSET; |
bwang | 39:80b38a8e1787 | 109 | float sin_p = sinf(p); |
bwang | 39:80b38a8e1787 | 110 | float cos_p = cosf(p); |
bwang | 15:b583cd30b063 | 111 | |
bwang | 40:22aede3d096f | 112 | float torque_percent = get_tqpct_cmd(throttle_in.get_throttle(), w); |
bwang | 2:eabe8feaaabb | 113 | |
bwang | 1:7b61790f6be9 | 114 | ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; |
bwang | 1:7b61790f6be9 | 115 | ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE; |
bwang | 0:bac9c3a3a6ca | 116 | |
bwang | 27:7e073122ddf8 | 117 | alpha = ia; |
bwang | 27:7e073122ddf8 | 118 | beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib; |
bwang | 2:eabe8feaaabb | 119 | |
bwang | 24:5e18a87a0e95 | 120 | d = alpha * cos_p + beta * sin_p; |
bwang | 24:5e18a87a0e95 | 121 | q = -alpha * sin_p + beta * cos_p; |
bwang | 2:eabe8feaaabb | 122 | |
bwang | 22:72840d3db788 | 123 | d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d; |
bwang | 22:72840d3db788 | 124 | q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q; |
bwang | 22:72840d3db788 | 125 | |
bwang | 40:22aede3d096f | 126 | get_dq(torque_percent, w, &d_ref, &q_ref); |
bwang | 39:80b38a8e1787 | 127 | |
bwang | 22:72840d3db788 | 128 | float d_err = d_ref - d_filtered; |
bwang | 22:72840d3db788 | 129 | float q_err = q_ref - q_filtered; |
bwang | 2:eabe8feaaabb | 130 | |
bwang | 2:eabe8feaaabb | 131 | d_integral += d_err * KI; |
bwang | 2:eabe8feaaabb | 132 | q_integral += q_err * KI; |
bwang | 2:eabe8feaaabb | 133 | |
bwang | 20:91ae97a811e3 | 134 | q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX); |
bwang | 20:91ae97a811e3 | 135 | d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX); |
bwang | 2:eabe8feaaabb | 136 | |
bwang | 35:89385f64c867 | 137 | vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE; |
bwang | 35:89385f64c867 | 138 | vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE; |
bwang | 31:ebe42589ab9d | 139 | |
bwang | 36:cac9785c91cb | 140 | vd = constrain(vd, -1.0f, 1.0f); |
bwang | 36:cac9785c91cb | 141 | vq = constrain(vq, -1.0f, 1.0f); |
bwang | 21:b7fb355c8c2d | 142 | |
bwang | 30:c25c5bf0d951 | 143 | if (!control_enabled) { |
bwang | 30:c25c5bf0d951 | 144 | vd = 0.0f; |
bwang | 30:c25c5bf0d951 | 145 | vq = 0.0f; |
bwang | 30:c25c5bf0d951 | 146 | } |
bwang | 30:c25c5bf0d951 | 147 | |
bwang | 2:eabe8feaaabb | 148 | float valpha = vd * cos_p - vq * sin_p; |
bwang | 2:eabe8feaaabb | 149 | float vbeta = vd * sin_p + vq * cos_p; |
bwang | 2:eabe8feaaabb | 150 | |
bwang | 2:eabe8feaaabb | 151 | float va = valpha; |
bwang | 24:5e18a87a0e95 | 152 | float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta; |
bwang | 24:5e18a87a0e95 | 153 | float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta; |
bwang | 2:eabe8feaaabb | 154 | |
dicarloj | 13:41d102a53caf | 155 | float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f; |
dicarloj | 13:41d102a53caf | 156 | va = va - voff; |
dicarloj | 13:41d102a53caf | 157 | vb = vb - voff; |
dicarloj | 13:41d102a53caf | 158 | vc = vc - voff; |
dicarloj | 13:41d102a53caf | 159 | |
bwang | 2:eabe8feaaabb | 160 | set_dtc(a, 0.5f + 0.5f * va); |
bwang | 2:eabe8feaaabb | 161 | set_dtc(b, 0.5f + 0.5f * vb); |
bwang | 2:eabe8feaaabb | 162 | set_dtc(c, 0.5f + 0.5f * vc); |
bwang | 0:bac9c3a3a6ca | 163 | } |
bwang | 0:bac9c3a3a6ca | 164 | |
bwang | 0:bac9c3a3a6ca | 165 | int main() { |
bwang | 0:bac9c3a3a6ca | 166 | config_globals(); |
bwang | 0:bac9c3a3a6ca | 167 | startup_msg(); |
bwang | 0:bac9c3a3a6ca | 168 | |
bwang | 0:bac9c3a3a6ca | 169 | for (;;) { |
bwang | 0:bac9c3a3a6ca | 170 | } |
bwang | 0:bac9c3a3a6ca | 171 | } |
bwang | 16:f283d6032fe5 | 172 | |
bwang | 16:f283d6032fe5 | 173 | void go_enabled() { |
bwang | 16:f283d6032fe5 | 174 | d_integral = 0.0f; |
bwang | 16:f283d6032fe5 | 175 | q_integral = 0.0f; |
bwang | 16:f283d6032fe5 | 176 | control_enabled = true; |
bwang | 16:f283d6032fe5 | 177 | en = 1; |
bwang | 16:f283d6032fe5 | 178 | } |
bwang | 16:f283d6032fe5 | 179 | |
bwang | 16:f283d6032fe5 | 180 | void go_disabled() { |
bwang | 16:f283d6032fe5 | 181 | control_enabled = false; |
bwang | 16:f283d6032fe5 | 182 | en = 0; |
bwang | 16:f283d6032fe5 | 183 | } |
bwang | 16:f283d6032fe5 | 184 | |
bwang | 17:2b852039bb05 | 185 | void startup_msg() { |
bwang | 17:2b852039bb05 | 186 | pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A."); |
bwang | 17:2b852039bb05 | 187 | pc.printf("%s\n\r", "====Config Data===="); |
bwang | 17:2b852039bb05 | 188 | pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET); |
bwang | 17:2b852039bb05 | 189 | pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE); |
bwang | 17:2b852039bb05 | 190 | pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE); |
bwang | 23:c77d4b42de17 | 191 | pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f); |
bwang | 17:2b852039bb05 | 192 | pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS); |
bwang | 17:2b852039bb05 | 193 | pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES); |
bwang | 17:2b852039bb05 | 194 | pc.printf("Loop KP: %f\n\r", KP); |
bwang | 17:2b852039bb05 | 195 | pc.printf("Loop KI: %f\n\r", KI); |
bwang | 17:2b852039bb05 | 196 | pc.printf("Ia offset: %f mV\n\r", ia_supp_offset); |
bwang | 17:2b852039bb05 | 197 | pc.printf("Ib offset: %f mV\n\r", ib_supp_offset); |
bwang | 17:2b852039bb05 | 198 | pc.printf("\n\r"); |
bwang | 17:2b852039bb05 | 199 | } |
bwang | 17:2b852039bb05 | 200 | |
bwang | 17:2b852039bb05 | 201 | void config_globals() { |
bwang | 17:2b852039bb05 | 202 | pc.baud(115200); |
bwang | 17:2b852039bb05 | 203 | |
bwang | 17:2b852039bb05 | 204 | //Enable clocks for GPIOs |
bwang | 17:2b852039bb05 | 205 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; |
bwang | 17:2b852039bb05 | 206 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; |
bwang | 17:2b852039bb05 | 207 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; |
bwang | 17:2b852039bb05 | 208 | |
bwang | 17:2b852039bb05 | 209 | RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock |
bwang | 17:2b852039bb05 | 210 | |
bwang | 17:2b852039bb05 | 211 | a = new FastPWM(PWMA); |
bwang | 17:2b852039bb05 | 212 | b = new FastPWM(PWMB); |
bwang | 17:2b852039bb05 | 213 | c = new FastPWM(PWMC); |
bwang | 17:2b852039bb05 | 214 | |
bwang | 17:2b852039bb05 | 215 | NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ |
bwang | 17:2b852039bb05 | 216 | |
bwang | 17:2b852039bb05 | 217 | TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt |
bwang | 17:2b852039bb05 | 218 | TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up |
bwang | 17:2b852039bb05 | 219 | TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, |
bwang | 17:2b852039bb05 | 220 | TIM1->RCR |= 0x01; //update event once per up/down count of tim1 |
bwang | 17:2b852039bb05 | 221 | TIM1->EGR |= TIM_EGR_UG; |
bwang | 17:2b852039bb05 | 222 | |
bwang | 17:2b852039bb05 | 223 | TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock |
bwang | 22:72840d3db788 | 224 | TIM1->ARR = (int) ((float) 9e7 / F_SW); |
bwang | 17:2b852039bb05 | 225 | TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. |
bwang | 17:2b852039bb05 | 226 | TIM1->CR1 |= TIM_CR1_CEN; |
bwang | 17:2b852039bb05 | 227 | |
bwang | 17:2b852039bb05 | 228 | //ADC Setup |
bwang | 17:2b852039bb05 | 229 | RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 |
bwang | 17:2b852039bb05 | 230 | RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 |
bwang | 17:2b852039bb05 | 231 | |
bwang | 17:2b852039bb05 | 232 | ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels |
bwang | 17:2b852039bb05 | 233 | |
bwang | 17:2b852039bb05 | 234 | ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on |
bwang | 17:2b852039bb05 | 235 | ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0 |
bwang | 17:2b852039bb05 | 236 | |
bwang | 17:2b852039bb05 | 237 | ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON |
bwang | 17:2b852039bb05 | 238 | ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1 |
bwang | 17:2b852039bb05 | 239 | |
bwang | 17:2b852039bb05 | 240 | GPIOA->MODER |= (1 << 8); |
bwang | 17:2b852039bb05 | 241 | GPIOA->MODER |= (1 << 9); |
bwang | 17:2b852039bb05 | 242 | |
bwang | 17:2b852039bb05 | 243 | GPIOA->MODER |= (1 << 2); |
bwang | 17:2b852039bb05 | 244 | GPIOA->MODER |= (1 << 3); |
bwang | 17:2b852039bb05 | 245 | |
bwang | 17:2b852039bb05 | 246 | GPIOA->MODER |= (1 << 0); |
bwang | 17:2b852039bb05 | 247 | GPIOA->MODER |= (1 << 1); |
bwang | 17:2b852039bb05 | 248 | |
bwang | 17:2b852039bb05 | 249 | GPIOB->MODER |= (1 << 0); |
bwang | 17:2b852039bb05 | 250 | GPIOB->MODER |= (1 << 1); |
bwang | 17:2b852039bb05 | 251 | |
bwang | 17:2b852039bb05 | 252 | GPIOC->MODER |= (1 << 2); |
bwang | 17:2b852039bb05 | 253 | GPIOC->MODER |= (1 << 3); |
bwang | 17:2b852039bb05 | 254 | |
bwang | 17:2b852039bb05 | 255 | //DAC setup |
bwang | 17:2b852039bb05 | 256 | RCC->APB1ENR |= 0x20000000; |
bwang | 17:2b852039bb05 | 257 | DAC->CR |= DAC_CR_EN2; |
bwang | 17:2b852039bb05 | 258 | |
bwang | 17:2b852039bb05 | 259 | GPIOA->MODER |= (1 << 10); |
bwang | 17:2b852039bb05 | 260 | GPIOA->MODER |= (1 << 11); |
bwang | 17:2b852039bb05 | 261 | |
bwang | 17:2b852039bb05 | 262 | //Zero duty cycles |
bwang | 17:2b852039bb05 | 263 | set_dtc(a, 0.0f); |
bwang | 17:2b852039bb05 | 264 | set_dtc(b, 0.0f); |
bwang | 17:2b852039bb05 | 265 | set_dtc(c, 0.0f); |
bwang | 17:2b852039bb05 | 266 | |
bwang | 17:2b852039bb05 | 267 | wait_ms(250); |
bwang | 17:2b852039bb05 | 268 | zero_current(); |
bwang | 17:2b852039bb05 | 269 | p_mech = pos.GetMechPosition(); |
bwang | 17:2b852039bb05 | 270 | en = 1; |
bwang | 17:2b852039bb05 | 271 | } |