Miguel Ruiz / Mbed 2 deprecated H261_encoder

JPEG compressor

Dependencies:   SDL_lib SX1276Lib mbed

functions.h@2:f256eebcade8, 2017-01-11 (annotated)

Committer:
miruga27
Date:
Wed Jan 11 20:20:00 2017 +0000
Revision:
2:f256eebcade8
Parent:
1:f0c646dfe574 
JPEG Compressor and SX1276 transmitter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miruga27 0:1076a8b67c6c 1 //Author: Miguel Ruiz García
miruga27 0:1076a8b67c6c 2 //Company: University of Cantabria. 2016
miruga27 0:1076a8b67c6c 3 //mail: mrg47@alumnos.unican.es
miruga27 0:1076a8b67c6c 4
miruga27 0:1076a8b67c6c 5
miruga27 0:1076a8b67c6c 6 #define PI 3.1415952
miruga27 0:1076a8b67c6c 7 #define WIDTH 320
miruga27 0:1076a8b67c6c 8 #define HEIGHT 8
miruga27 0:1076a8b67c6c 9 #define DEPTH 24
miruga27 0:1076a8b67c6c 10 #define RAIZ2 1.414214
miruga27 0:1076a8b67c6c 11 #define PI16 0.19635
miruga27 2:f256eebcade8 12 const float coeff[8][8]={
miruga27 2:f256eebcade8 13 {1.000, 0.980658, 0.923381, 0.830384, 0.705265, 0.552863, 0.379075, 0.190623},
miruga27 2:f256eebcade8 14 {1.000000, 0.830384, 0.379075, -0.200829, -0.712605, -0.982642, -0.919336, -0.544161},
miruga27 2:f256eebcade8 15 {1.000000, 0.552863, -0.388685, -0.982642, -0.697848, 0.211013, 0.931171, 0.818607},
miruga27 2:f256eebcade8 16 {1.000000, 0.190623, -0.927326, -0.544161, 0.719867, 0.818607, -0.407777, -0.974070},
miruga27 2:f256eebcade8 17 {1.000000, -0.200829, -0.919336, 0.570086, 0.690356, -0.847373, -0.350003, 0.987954},
miruga27 2:f256eebcade8 18 {1.000000, -0.561505, -0.369424, 0.976372, -0.727052, -0.159885, 0.906605, -0.858241},
miruga27 2:f256eebcade8 19 {1.000000, -0.836138, 0.398253, 0.170150, -0.682790, 0.971663, -0.942098, 0.603785},
miruga27 2:f256eebcade8 20 {1.000000, -0.982642, 0.931171, -0.847373, 0.734158, -0.595456, 0.436082, -0.261569} };
miruga27 0:1076a8b67c6c 21
miruga27 1:f0c646dfe574 22
miruga27 0:1076a8b67c6c 23 void DCT(int matrix[8][8][3],short int f[HEIGHT][WIDTH][3],int p_fil,int p_col){
miruga27 0:1076a8b67c6c 24 int i=0,j=0,u,v;
miruga27 0:1076a8b67c6c 25 float cu=1.0,cv=1.0;
miruga27 0:1076a8b67c6c 26 int linea,bpp;
miruga27 0:1076a8b67c6c 27
miruga27 0:1076a8b67c6c 28 Uint8 *pixel;
miruga27 0:1076a8b67c6c 29
miruga27 0:1076a8b67c6c 30
miruga27 0:1076a8b67c6c 31 for(u=p_fil;u<8+p_fil;u++){
miruga27 0:1076a8b67c6c 32
miruga27 1:f0c646dfe574 33 if(u-p_fil==0){
miruga27 0:1076a8b67c6c 34 cu=RAIZ2/2;
miruga27 0:1076a8b67c6c 35 }
miruga27 0:1076a8b67c6c 36 else cu=1.0;
miruga27 0:1076a8b67c6c 37 for(v=p_col;v<8+p_col;v++){
miruga27 0:1076a8b67c6c 38 f[u][v][0]=0;
miruga27 0:1076a8b67c6c 39 f[u][v][1]=0;
miruga27 0:1076a8b67c6c 40 f[u][v][2]=0;
miruga27 1:f0c646dfe574 41 if(v-p_col==0){
miruga27 0:1076a8b67c6c 42 cv=RAIZ2/2;
miruga27 0:1076a8b67c6c 43
miruga27 0:1076a8b67c6c 44 }
miruga27 0:1076a8b67c6c 45 else cv=1.0;
miruga27 0:1076a8b67c6c 46
miruga27 1:f0c646dfe574 47 float dato=0.0;
miruga27 1:f0c646dfe574 48 float dato2=0.0;
miruga27 0:1076a8b67c6c 49
miruga27 1:f0c646dfe574 50 float acum0=0.0,acum1=0.0,acum2=0.0;
miruga27 0:1076a8b67c6c 51
miruga27 0:1076a8b67c6c 52 for(i=0;i<8;i++){
miruga27 0:1076a8b67c6c 53
miruga27 0:1076a8b67c6c 54 for(j=0;j<8;j++){
miruga27 0:1076a8b67c6c 55
miruga27 2:f256eebcade8 56 /*dato=(float)(cos((float)(((j*2)+1)*(v-p_col)*PI16)));
miruga27 2:f256eebcade8 57 dato2=(float)(cos((float)(((i*2)+1)*(u-p_fil)*PI16)));*/
miruga27 2:f256eebcade8 58
miruga27 2:f256eebcade8 59 dato=coeff[j][v-p_col];//(float)(cos((float)(((j*2)+1)*(v-p_col)*PI16)));//
miruga27 2:f256eebcade8 60 dato2=coeff[i][u-p_fil];
miruga27 0:1076a8b67c6c 61
miruga27 1:f0c646dfe574 62 acum0+=(float)(dato*dato2*(matrix[i][j][0]));//crominancia V
miruga27 1:f0c646dfe574 63 acum1+=(float)(dato*dato2*(matrix[i][j][1]));//crominancia U
miruga27 1:f0c646dfe574 64 acum2+=(float)(dato*dato2*(matrix[i][j][2]));//luminancia Y
miruga27 0:1076a8b67c6c 65
miruga27 0:1076a8b67c6c 66 }
miruga27 0:1076a8b67c6c 67 }
miruga27 0:1076a8b67c6c 68 float dato3=(float)((cu*cv)/4);
miruga27 1:f0c646dfe574 69 acum0*=(float)dato3;
miruga27 1:f0c646dfe574 70 acum1*=(float)dato3;
miruga27 1:f0c646dfe574 71 acum2*=(float)dato3;
miruga27 1:f0c646dfe574 72
miruga27 1:f0c646dfe574 73 f[u][v][0]=(short int)acum0;
miruga27 1:f0c646dfe574 74 f[u][v][1]=(short int)acum1;
miruga27 1:f0c646dfe574 75 f[u][v][2]=(short int)acum2;
miruga27 0:1076a8b67c6c 76
miruga27 0:1076a8b67c6c 77
miruga27 0:1076a8b67c6c 78 }
miruga27 0:1076a8b67c6c 79
miruga27 0:1076a8b67c6c 80
miruga27 0:1076a8b67c6c 81 }
miruga27 0:1076a8b67c6c 82
miruga27 0:1076a8b67c6c 83
miruga27 0:1076a8b67c6c 84 }
miruga27 0:1076a8b67c6c 85
miruga27 0:1076a8b67c6c 86 void rgb_to_yuv(short int f[HEIGHT][WIDTH][3]){
miruga27 0:1076a8b67c6c 87
miruga27 0:1076a8b67c6c 88
miruga27 0:1076a8b67c6c 89 Uint8 *pixel;
miruga27 0:1076a8b67c6c 90 int i=0,j=0;
miruga27 0:1076a8b67c6c 91 const int linea=1920,bpp=3;
miruga27 0:1076a8b67c6c 92 float y=0.0,u=0.0,v=0.0;
miruga27 0:1076a8b67c6c 93
miruga27 0:1076a8b67c6c 94 for(i=0;i<HEIGHT;i++){
miruga27 0:1076a8b67c6c 95 for(j=0;j<WIDTH;j++){
miruga27 0:1076a8b67c6c 96 short int dato2=f[i][j][2];
miruga27 0:1076a8b67c6c 97 short int dato1=f[i][j][1];
miruga27 0:1076a8b67c6c 98 short int dato=f[i][j][0];
miruga27 0:1076a8b67c6c 99 y=dato2*0.257+dato1*0.504+dato*0.098+16;//y
miruga27 0:1076a8b67c6c 100 // y=dato2*0.257+(Uint8)(*(pixel+1)>>1)+*(pixel)/100+16;//y
miruga27 0:1076a8b67c6c 101 u=dato2*-0.148+dato1*-0.291+dato*0.439+128;//u
miruga27 0:1076a8b67c6c 102 v=dato2*0.439+dato1*-0.368+dato*-0.071+128;//v
miruga27 0:1076a8b67c6c 103 if(y>235) y=235;
miruga27 0:1076a8b67c6c 104 if(u>240) u=240;
miruga27 0:1076a8b67c6c 105 if(v>240) v=240;
miruga27 0:1076a8b67c6c 106
miruga27 0:1076a8b67c6c 107 if(y<16) y=16;
miruga27 0:1076a8b67c6c 108 if(u<16) u=16;
miruga27 0:1076a8b67c6c 109 if(v<16) v=16;
miruga27 0:1076a8b67c6c 110 /* y=*(pixel+2)*0.183+(*(pixel+1))*0.614+*(pixel)*0.062+16;//y
miruga27 0:1076a8b67c6c 111 u=*(pixel+2)*-0.101+*(pixel+1)*-0.339+*(pixel)*0.439+128;//u
miruga27 0:1076a8b67c6c 112 v=*(pixel+2)*0.439+*(pixel+1)*-0.339+*(pixel)*-0.040+128;//v*/
miruga27 0:1076a8b67c6c 113
miruga27 0:1076a8b67c6c 114 //http://www.equasys.de/colorconversion.html
miruga27 0:1076a8b67c6c 115
miruga27 0:1076a8b67c6c 116 f[i][j][2]=(Uint8)y;
miruga27 0:1076a8b67c6c 117 f[i][j][1]=(Uint8)u;
miruga27 0:1076a8b67c6c 118 f[i][j][0]=(Uint8)v;
miruga27 0:1076a8b67c6c 119
miruga27 0:1076a8b67c6c 120 }
miruga27 0:1076a8b67c6c 121
miruga27 0:1076a8b67c6c 122 }
miruga27 0:1076a8b67c6c 123
miruga27 0:1076a8b67c6c 124
miruga27 0:1076a8b67c6c 125 }
miruga27 0:1076a8b67c6c 126
miruga27 0:1076a8b67c6c 127 void zig_zag(short int f[HEIGHT][WIDTH][3],short int *matrix){
miruga27 0:1076a8b67c6c 128
miruga27 0:1076a8b67c6c 129 int i=0,p_x=0,p_y=0,j=0;
miruga27 0:1076a8b67c6c 130 int flag=0;
miruga27 0:1076a8b67c6c 131
miruga27 1:f0c646dfe574 132 for(i=0;i<WIDTH*HEIGHT*3;i+=3){
miruga27 0:1076a8b67c6c 133
miruga27 1:f0c646dfe574 134 *(matrix+i)=f[p_y][p_x][0];
miruga27 1:f0c646dfe574 135 *(matrix+i+1)=f[p_y][p_x][1];
miruga27 1:f0c646dfe574 136 *(matrix+i+2)=f[p_y][p_x][2];
miruga27 0:1076a8b67c6c 137
miruga27 1:f0c646dfe574 138
miruga27 0:1076a8b67c6c 139 if(flag==0){
miruga27 0:1076a8b67c6c 140 p_x++,p_y--;
miruga27 0:1076a8b67c6c 141 if(p_y<0){
miruga27 0:1076a8b67c6c 142 p_y=0;
miruga27 0:1076a8b67c6c 143 flag=1;
miruga27 0:1076a8b67c6c 144
miruga27 0:1076a8b67c6c 145 }
miruga27 0:1076a8b67c6c 146 if(p_x>WIDTH-1){
miruga27 0:1076a8b67c6c 147 p_x=WIDTH-1;
miruga27 0:1076a8b67c6c 148 p_y+=2;
miruga27 0:1076a8b67c6c 149 flag=1;
miruga27 0:1076a8b67c6c 150
miruga27 0:1076a8b67c6c 151
miruga27 0:1076a8b67c6c 152 }
miruga27 0:1076a8b67c6c 153
miruga27 0:1076a8b67c6c 154 }
miruga27 0:1076a8b67c6c 155 else{
miruga27 0:1076a8b67c6c 156 p_x--,p_y++;
miruga27 0:1076a8b67c6c 157 if(p_y>HEIGHT-1){
miruga27 0:1076a8b67c6c 158 p_y=HEIGHT-1;
miruga27 0:1076a8b67c6c 159 p_x+=2;
miruga27 0:1076a8b67c6c 160 flag=0;
miruga27 0:1076a8b67c6c 161
miruga27 0:1076a8b67c6c 162 }
miruga27 0:1076a8b67c6c 163 if(p_x<0){
miruga27 0:1076a8b67c6c 164 p_x=0;
miruga27 0:1076a8b67c6c 165 flag=0;
miruga27 0:1076a8b67c6c 166 }
miruga27 0:1076a8b67c6c 167
miruga27 0:1076a8b67c6c 168 }
miruga27 0:1076a8b67c6c 169
miruga27 0:1076a8b67c6c 170
miruga27 0:1076a8b67c6c 171 }
miruga27 0:1076a8b67c6c 172
miruga27 0:1076a8b67c6c 173
miruga27 0:1076a8b67c6c 174
miruga27 0:1076a8b67c6c 175 }
miruga27 0:1076a8b67c6c 176
miruga27 0:1076a8b67c6c 177 void cuantizador(short int mat[HEIGHT][WIDTH][3]){
miruga27 0:1076a8b67c6c 178 short int luma[8][8]={{16,11,10,16,24,40,51,61},
miruga27 0:1076a8b67c6c 179 {12,12,14,19,26,58,60,55},
miruga27 0:1076a8b67c6c 180 {14,13,16,24,40,57,69,56},
miruga27 0:1076a8b67c6c 181 {14,17,22,29,51,87,80,62},
miruga27 0:1076a8b67c6c 182 {18,22,37,56,68,109,103,77},
miruga27 0:1076a8b67c6c 183 {24,35,55,64,81,104,113,92},
miruga27 0:1076a8b67c6c 184 {49,64,78,87,103,121,120,101},
miruga27 0:1076a8b67c6c 185 {72,92,95,98,112,100,103,99}};
miruga27 0:1076a8b67c6c 186 short int croma[8][8]={{17,18,24,47,99,99,99,99},
miruga27 0:1076a8b67c6c 187 {18,21,26,66,99,99,99,99},
miruga27 0:1076a8b67c6c 188 {24,26,56,99,99,99,99,99},
miruga27 0:1076a8b67c6c 189 {47,66,99,99,99,99,99,99},
miruga27 0:1076a8b67c6c 190 {99,99,99,99,99,99,99,99},
miruga27 0:1076a8b67c6c 191 {99,99,99,99,99,99,99,99},
miruga27 0:1076a8b67c6c 192 {99,99,99,99,99,99,99,99},
miruga27 0:1076a8b67c6c 193 {99,99,99,99,99,99,99,99}};
miruga27 0:1076a8b67c6c 194 int i=0,x_block,y_block,j;
miruga27 0:1076a8b67c6c 195 for(i=0;i<HEIGHT;i+=8){
miruga27 0:1076a8b67c6c 196 for(j=0;j<WIDTH;j+=8)
miruga27 0:1076a8b67c6c 197 for(x_block=i; x_block<i+8 ;x_block++){
miruga27 0:1076a8b67c6c 198 for(y_block=j; y_block<j+8 ;y_block++){
miruga27 0:1076a8b67c6c 199 mat[x_block][y_block][2]/=luma[x_block-i][y_block-j];
miruga27 0:1076a8b67c6c 200 mat[x_block][y_block][1]/=croma[x_block-i][y_block-j];
miruga27 0:1076a8b67c6c 201 mat[x_block][y_block][0]/=croma[x_block-i][y_block-j];
miruga27 0:1076a8b67c6c 202 }
miruga27 0:1076a8b67c6c 203 }
miruga27 0:1076a8b67c6c 204 }
miruga27 0:1076a8b67c6c 205
miruga27 1:f0c646dfe574 206 }
miruga27 1:f0c646dfe574 207
miruga27 1:f0c646dfe574 208 void RLC (short int *matrix,short int acumulador [3]){
miruga27 1:f0c646dfe574 209
miruga27 1:f0c646dfe574 210 int i,k=0,acum_y=0,acum_u=0,acum_v=0;
miruga27 1:f0c646dfe574 211 short int y,u,v,y_ant=0,u_ant=0,v_ant=0,flag=0;
miruga27 2:f256eebcade8 212 short int cont[3]={1,1,1};
miruga27 2:f256eebcade8 213 acumulador[0]=0x0000;
miruga27 2:f256eebcade8 214 acumulador[1]=0x0000;
miruga27 2:f256eebcade8 215 acumulador[2]=0x0000;
miruga27 1:f0c646dfe574 216
miruga27 1:f0c646dfe574 217 int index=0;
miruga27 1:f0c646dfe574 218 for(i=0;i<WIDTH*HEIGHT*3;i+=3){
miruga27 1:f0c646dfe574 219
miruga27 1:f0c646dfe574 220 y=*(matrix+i+2);
miruga27 1:f0c646dfe574 221 u=*(matrix+i+1);
miruga27 1:f0c646dfe574 222 v=*(matrix+i);
miruga27 1:f0c646dfe574 223
miruga27 1:f0c646dfe574 224
miruga27 1:f0c646dfe574 225 if(y_ant==y){
miruga27 1:f0c646dfe574 226 cont[0]++;
miruga27 1:f0c646dfe574 227 }
miruga27 1:f0c646dfe574 228 else{
miruga27 1:f0c646dfe574 229 if(i==0){
miruga27 1:f0c646dfe574 230
miruga27 1:f0c646dfe574 231 }
miruga27 1:f0c646dfe574 232 else{
miruga27 1:f0c646dfe574 233
miruga27 1:f0c646dfe574 234 acumulador[0]+=2;
miruga27 1:f0c646dfe574 235 cont[0]=1;
miruga27 1:f0c646dfe574 236 }
miruga27 1:f0c646dfe574 237
miruga27 1:f0c646dfe574 238
miruga27 1:f0c646dfe574 239
miruga27 1:f0c646dfe574 240 }
miruga27 1:f0c646dfe574 241
miruga27 1:f0c646dfe574 242 if(u_ant==u){
miruga27 1:f0c646dfe574 243
miruga27 1:f0c646dfe574 244 cont[1]++;
miruga27 1:f0c646dfe574 245
miruga27 1:f0c646dfe574 246
miruga27 1:f0c646dfe574 247 }
miruga27 1:f0c646dfe574 248 else{
miruga27 1:f0c646dfe574 249 if(i==0){
miruga27 1:f0c646dfe574 250
miruga27 1:f0c646dfe574 251 }
miruga27 1:f0c646dfe574 252 else{
miruga27 1:f0c646dfe574 253
miruga27 1:f0c646dfe574 254 acumulador[1]+=2;
miruga27 1:f0c646dfe574 255 cont[1]=1;
miruga27 1:f0c646dfe574 256 }
miruga27 1:f0c646dfe574 257
miruga27 1:f0c646dfe574 258 }
miruga27 1:f0c646dfe574 259
miruga27 1:f0c646dfe574 260 if(v_ant==v){
miruga27 1:f0c646dfe574 261
miruga27 1:f0c646dfe574 262 cont[2]++;
miruga27 1:f0c646dfe574 263
miruga27 1:f0c646dfe574 264 }
miruga27 1:f0c646dfe574 265 else{
miruga27 1:f0c646dfe574 266 if(i==0){
miruga27 1:f0c646dfe574 267
miruga27 1:f0c646dfe574 268 }
miruga27 1:f0c646dfe574 269 else{
miruga27 1:f0c646dfe574 270
miruga27 1:f0c646dfe574 271
miruga27 1:f0c646dfe574 272 acumulador[2]+=2;
miruga27 1:f0c646dfe574 273 cont[2]=1;
miruga27 1:f0c646dfe574 274 }
miruga27 1:f0c646dfe574 275
miruga27 1:f0c646dfe574 276
miruga27 1:f0c646dfe574 277 }
miruga27 1:f0c646dfe574 278 y_ant=y;
miruga27 1:f0c646dfe574 279 u_ant=u;
miruga27 1:f0c646dfe574 280 v_ant=v;
miruga27 1:f0c646dfe574 281 }
miruga27 1:f0c646dfe574 282
miruga27 1:f0c646dfe574 283 }
miruga27 1:f0c646dfe574 284
miruga27 1:f0c646dfe574 285 void RLC2 (short int *matrix,short int * temp1,short int * temp2, short int *temp3){
miruga27 1:f0c646dfe574 286
miruga27 1:f0c646dfe574 287 int i,k=0,acum_y=0,acum_u=0,acum_v=0;
miruga27 1:f0c646dfe574 288 short int y,u,v,y_ant=0,u_ant=0,v_ant=0,flag=0;
miruga27 1:f0c646dfe574 289 int cont[3]={1,1,1};
miruga27 1:f0c646dfe574 290 int cy=0,cu=0,cv=0;
miruga27 1:f0c646dfe574 291
miruga27 1:f0c646dfe574 292
miruga27 1:f0c646dfe574 293 for(i=0;i<WIDTH*HEIGHT*3;i+=3){
miruga27 1:f0c646dfe574 294
miruga27 1:f0c646dfe574 295 y=*(matrix+i+2);
miruga27 1:f0c646dfe574 296 u=*(matrix+i+1);
miruga27 1:f0c646dfe574 297 v=*(matrix+i);
miruga27 1:f0c646dfe574 298
miruga27 1:f0c646dfe574 299
miruga27 1:f0c646dfe574 300 if(y_ant==y){
miruga27 1:f0c646dfe574 301 cont[0]++;
miruga27 1:f0c646dfe574 302 }
miruga27 1:f0c646dfe574 303 else{
miruga27 1:f0c646dfe574 304 if(i==0){
miruga27 1:f0c646dfe574 305
miruga27 1:f0c646dfe574 306 }
miruga27 1:f0c646dfe574 307 else{
miruga27 1:f0c646dfe574 308 *(temp1+cy)=cont[0];
miruga27 1:f0c646dfe574 309 *(temp1+cy+1)=y_ant;
miruga27 1:f0c646dfe574 310 cy+=2;
miruga27 1:f0c646dfe574 311
miruga27 1:f0c646dfe574 312 cont[0]=1;
miruga27 1:f0c646dfe574 313 }
miruga27 1:f0c646dfe574 314
miruga27 1:f0c646dfe574 315
miruga27 1:f0c646dfe574 316
miruga27 1:f0c646dfe574 317 }
miruga27 1:f0c646dfe574 318
miruga27 1:f0c646dfe574 319 if(u_ant==u){
miruga27 1:f0c646dfe574 320
miruga27 1:f0c646dfe574 321 cont[1]++;
miruga27 1:f0c646dfe574 322
miruga27 1:f0c646dfe574 323
miruga27 1:f0c646dfe574 324 }
miruga27 1:f0c646dfe574 325 else{
miruga27 1:f0c646dfe574 326 if(i==0){
miruga27 1:f0c646dfe574 327
miruga27 1:f0c646dfe574 328 }
miruga27 1:f0c646dfe574 329 else{
miruga27 1:f0c646dfe574 330 *(temp2+cu)=cont[1];
miruga27 1:f0c646dfe574 331 *(temp2+cu+1)=u_ant;
miruga27 1:f0c646dfe574 332 cu+=2;
miruga27 1:f0c646dfe574 333 cont[1]=1;
miruga27 1:f0c646dfe574 334 }
miruga27 1:f0c646dfe574 335
miruga27 1:f0c646dfe574 336 }
miruga27 1:f0c646dfe574 337
miruga27 1:f0c646dfe574 338 if(v_ant==v){
miruga27 1:f0c646dfe574 339
miruga27 1:f0c646dfe574 340 cont[2]++;
miruga27 1:f0c646dfe574 341
miruga27 1:f0c646dfe574 342 }
miruga27 1:f0c646dfe574 343 else{
miruga27 1:f0c646dfe574 344 if(i==0){
miruga27 1:f0c646dfe574 345
miruga27 1:f0c646dfe574 346 }
miruga27 1:f0c646dfe574 347 else{
miruga27 1:f0c646dfe574 348 *(temp3+cv)=cont[2];
miruga27 1:f0c646dfe574 349 *(temp3+cv+1)=v_ant;
miruga27 1:f0c646dfe574 350 cv+=2;
miruga27 1:f0c646dfe574 351 cont[2]=1;
miruga27 1:f0c646dfe574 352 }
miruga27 1:f0c646dfe574 353
miruga27 1:f0c646dfe574 354
miruga27 1:f0c646dfe574 355 }
miruga27 1:f0c646dfe574 356 y_ant=y;
miruga27 1:f0c646dfe574 357 u_ant=u;
miruga27 1:f0c646dfe574 358 v_ant=v;
miruga27 1:f0c646dfe574 359 }
miruga27 1:f0c646dfe574 360
miruga27 1:f0c646dfe574 361 }
miruga27 1:f0c646dfe574 362
miruga27 1:f0c646dfe574 363