Robert Spilleboudt / RCCL_In

Radio control: use the Jeti protocol to communicate between a DIY sensor and a Jeti receiver (using 9 bits one wire serial)

Dependencies:   mbed

JetiC.cpp@0:32193823db59, 2013-10-29 (annotated)

Committer:
robertspil
Date:
Tue Oct 29 19:39:38 2013 +0000
Revision:
0:32193823db59
Initial release -tested with 1768 and 11U34

Who changed what in which revision?

UserRevisionLine numberNew contents of line
robertspil 0:32193823db59 1 /*======== communication between a sensor (processor 32 bits) and a Jeti Duplex receiver==============
robertspil 0:32193823db59 2 _____Jeti Data communication protocol______________________
robertspil 0:32193823db59 3 The communication from the RX module to the JetiBox
robertspil 0:32193823db59 4 1. It is 1-wire serial communication (9600 Bauds 9bits+parity + 2 stops))
robertspil 0:32193823db59 5 2. 1 message sent consists of 34 byte, 2 control character (start=0xfe finish=0xff) and 32 bytes text between these control characters.
robertspil 0:32193823db59 6 4. 1 Byte consists of 13 bits in the format: T-D-D-D-D-D-D-D-D-I-P-S-S (LSB first= T-0-1-2-3-4-5-6-7-I-P-S-S)
robertspil 0:32193823db59 7 where: T = startbit, D = 8 data bits, I control characters or text ( 1=text, 0=control), P = parity based odd , S = stop bit (two).
robertspil 0:32193823db59 8 5. The JetiBox answers each message (34 byte) with one byte ACK message (with I=0: control byte)
robertspil 0:32193823db59 9 0xF0 =11110000 if no button (four bits with value 1 if the button is NOT pushed
robertspil 0:32193823db59 10 bit 4 =Right , Bit 5 = Up (or Back) , Bit 6 = Down or Select und Bit 7 Left
robertspil 0:32193823db59 11 6.a short delay is needed between the received message and the ACK message
robertspil 0:32193823db59 12 from the end of 0xff to begin of ACK :3,9 msec (mesured with Saleae)
robertspil 0:32193823db59 13 -TU module waits 21 msec and reply with a new 34 bytes message => total length = 79 msec
robertspil 0:32193823db59 14
robertspil 0:32193823db59 15 If there is no ACK, the TU module waits 25 msec and resend the message
robertspil 0:32193823db59 16
robertspil 0:32193823db59 17 ____hardware_________________________
robertspil 0:32193823db59 18 - a Mbed processor
robertspil 0:32193823db59 19 - one pin of the processor provides the signal (Tx and Rx) to the receiver or to a JetiBox
robertspil 0:32193823db59 20 - I use a safety resistor 1k to 4.7k between the Pin and the Rx
robertspil 0:32193823db59 21
robertspil 0:32193823db59 22 ___tested with
robertspil 0:32193823db59 23 1) a JetiBox directly connected to the Mbed processor and to a 4.8V battery
robertspil 0:32193823db59 24 2) a a JeTi receiver , a transmitter with a Jeti TU module
robertspil 0:32193823db59 25
robertspil 0:32193823db59 26 The processor: MBED lpc1768 or LPC11u34 (The same program exists with a Ardiono Pro Mini 3.3V - with native 9 bits)
robertspil 0:32193823db59 27
robertspil 0:32193823db59 28 ___communication between the sensor programs and the Jeti interface________________
robertspil 0:32193823db59 29 - start the Jeti interface with a instance of the class JetiC, - afterwards the interface is running automatically with interrupts
robertspil 0:32193823db59 30 - process the answer from the JetiBox
robertspil 0:32193823db59 31 isAnswer() returns True when a answer message is received
robertspil 0:32193823db59 32 getAnswer() returns the answer code (look at main.cpp)
robertspil 0:32193823db59 33
robertspil 0:32193823db59 34
robertspil 0:32193823db59 35 */
robertspil 0:32193823db59 36 /*============================================================================
robertspil 0:32193823db59 37 Copyright (C) 2013 Robert Spilleboudt
robertspil 0:32193823db59 38
robertspil 0:32193823db59 39 This program is free software; you can redistribute it and/or modify
robertspil 0:32193823db59 40 it under the terms of the GNU General Public License as published by
robertspil 0:32193823db59 41 the Free Software Foundation; either version 2 of the License, or
robertspil 0:32193823db59 42 (at your option) any later version.
robertspil 0:32193823db59 43
robertspil 0:32193823db59 44 This program is distributed in the hope that it will be useful,
robertspil 0:32193823db59 45 but WITHOUT ANY WARRANTY; without even the implied warranty of
robertspil 0:32193823db59 46 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
robertspil 0:32193823db59 47 GNU General Public License for more details.
robertspil 0:32193823db59 48
robertspil 0:32193823db59 49 You should have received a copy of the GNU General Public License
robertspil 0:32193823db59 50 along with this program; if not, write to the Free Software
robertspil 0:32193823db59 51 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
robertspil 0:32193823db59 52 ============================================================================*/
robertspil 0:32193823db59 53
robertspil 0:32193823db59 54 #include "core.h"
robertspil 0:32193823db59 55
robertspil 0:32193823db59 56 #define UART_PIN p29 //pin for tx or rx , connect to the RX module through a 4.7k resitance
robertspil 0:32193823db59 57 #define UART_W1 96 /* this is the pulse width , the theoretical value is 104(microsec) for 9600 bauds but there are some bugs...
robertspil 0:32193823db59 58 Online compiler mbed.org
robertspil 0:32193823db59 59 with mbed 1768 use the theoretical value 104
robertspil 0:32193823db59 60 with mbed 11u24 use 96
robertspil 0:32193823db59 61 Offline compiler code sourcery (2012/03)
robertspil 0:32193823db59 62 mbed 1768 use 96
robertspil 0:32193823db59 63 for the 11u24: not tested because the .bin size is too great
robertspil 0:32193823db59 64 */
robertspil 0:32193823db59 65 extern instr_data rc; //common data for all the programs
robertspil 0:32193823db59 66 /*-------------data for the interrupts are here---------------------------*/
robertspil 0:32193823db59 67 volatile uint8_t UART_pos;
robertspil 0:32193823db59 68 /*Normal text message
robertspil 0:32193823db59 69 * UART_pos = 0 -> start sending data with this interrupt enabled, start byte with 9.bit=0
robertspil 0:32193823db59 70 * UART_pos = 1-32 -> send display data with 9.bit=1
robertspil 0:32193823db59 71 * UART_pos = 33 -> send end byte with 9.bit=0
robertspil 0:32193823db59 72 * UART_pos = 34 -> set sendpos=0 and disable this interrupt
robertspil 0:32193823db59 73 Special message when returning to the expander :\x7E\x01\x31
robertspil 0:32193823db59 74 * UART_pos =100 start sending data with this interrupt enabled, start byte with 9.bit=0 , value \x7E
robertspil 0:32193823db59 75 * UART_pos =101 send \x01 with 9.bit=1
robertspil 0:32193823db59 76 * UART_pos =102 send \x31 with 9.bit=1
robertspil 0:32193823db59 77 ending with 34 to disble the interrupt
robertspil 0:32193823db59 78 */
robertspil 0:32193823db59 79 volatile unsigned char JETI_buffer[33]; // the message from the sensot to the JetiBox
robertspil 0:32193823db59 80 volatile unsigned char UART_data ; //character transmitted or received, being filled bit / bit
robertspil 0:32193823db59 81 volatile bool UART_isanswer;
robertspil 0:32193823db59 82 DigitalInOut UART_pin(UART_PIN); // pin connected to the signal from Rx module
robertspil 0:32193823db59 83 InterruptIn UART_startBit(UART_PIN) ; //interrupt to detect the start bit (RX)
robertspil 0:32193823db59 84 Timeout UART_nextBit; // pulse duration
robertspil 0:32193823db59 85 Timeout UART_nextTx; //next start of transmission
robertspil 0:32193823db59 86 Ticker UART_ticker; //ticker period= 1 msec
robertspil 0:32193823db59 87 volatile int UART_Tx_start;//msec counter to the next start of a tx message
robertspil 0:32193823db59 88
robertspil 0:32193823db59 89 //---------busy statistic----------------------------------------------
robertspil 0:32193823db59 90 //char processing
robertspil 0:32193823db59 91 volatile int UART_counter;//within a char : next bit position value 0..8 (9 bits)+ 9=parity 10,11=stop FOR RX or TX
robertspil 0:32193823db59 92 bool textchar ; //true if text, false if control
robertspil 0:32193823db59 93 bool UART_errorchar ;// true if error (parity, stop bit)
robertspil 0:32193823db59 94 uint8_t UART_parity;
robertspil 0:32193823db59 95 void ISRstartBit() ;
robertspil 0:32193823db59 96 void ISRdataBitRx();
robertspil 0:32193823db59 97 void ISRdataBitTx();
robertspil 0:32193823db59 98 //----interrupt routines ---------------------------------------------------------------------------------------
robertspil 0:32193823db59 99 void UART_tickerAdd(){ //call every msec
robertspil 0:32193823db59 100 UART_Tx_start--;
robertspil 0:32193823db59 101 if( UART_Tx_start<=0){//start the Tx message
robertspil 0:32193823db59 102 UART_pos = 0;
robertspil 0:32193823db59 103 UART_counter= -1;
robertspil 0:32193823db59 104 UART_nextTx.attach_us(&ISRdataBitTx , 1000);
robertspil 0:32193823db59 105 UART_Tx_start=10000; //the next start is not yet scheduled
robertspil 0:32193823db59 106 UART_startBit.fall(NULL); // no RX start bit interrupt
robertspil 0:32193823db59 107 UART_pin.output();
robertspil 0:32193823db59 108 UART_pin=1;
robertspil 0:32193823db59 109 UART_isanswer=false;
robertspil 0:32193823db59 110 }
robertspil 0:32193823db59 111 }
robertspil 0:32193823db59 112
robertspil 0:32193823db59 113 void ISRstartBit() { //Rx detect the start bit, start timeout to read the first data bit
robertspil 0:32193823db59 114 UART_nextBit.attach_us(&ISRdataBitRx , UART_W1);
robertspil 0:32193823db59 115 UART_counter= -1;//preparing for the first data bit
robertspil 0:32193823db59 116 UART_data=0 ;//received data
robertspil 0:32193823db59 117 UART_errorchar = false;
robertspil 0:32193823db59 118 UART_parity=0;
robertspil 0:32193823db59 119 UART_startBit.fall(NULL); // detach the ISRstartBit
robertspil 0:32193823db59 120 UART_Tx_start =10000; // no not start Tx during the Rx receive
robertspil 0:32193823db59 121 }
robertspil 0:32193823db59 122 void ISRdataBitRx() { //nextbit timeout in Rx mode
robertspil 0:32193823db59 123 UART_counter++;
robertspil 0:32193823db59 124 if(UART_counter< 12) { //this is not the last bit of a character - immediatly start the next timer interrupt
robertspil 0:32193823db59 125 UART_nextBit.attach_us(&ISRdataBitRx , UART_W1); // next bit
robertspil 0:32193823db59 126 }
robertspil 0:32193823db59 127 int pinread = UART_pin.read();
robertspil 0:32193823db59 128 if(UART_counter<8) { // process the first 8 databits
robertspil 0:32193823db59 129 UART_data = (UART_data >> 1); //Right shift RX_data so the new bit can be masked into the Rx_data byte.
robertspil 0:32193823db59 130 if(pinread==1) {
robertspil 0:32193823db59 131 UART_data |= 0x80; //Set MSB of RX data if received bit == 1.
robertspil 0:32193823db59 132 UART_parity++;
robertspil 0:32193823db59 133 }
robertspil 0:32193823db59 134 return;
robertspil 0:32193823db59 135 }
robertspil 0:32193823db59 136 if(UART_counter==8) { // control bit
robertspil 0:32193823db59 137 textchar = pinread;
robertspil 0:32193823db59 138 UART_parity +=pinread;
robertspil 0:32193823db59 139 return;
robertspil 0:32193823db59 140 }
robertspil 0:32193823db59 141 if(UART_counter==9) { //parity
robertspil 0:32193823db59 142 UART_parity +=pinread;
robertspil 0:32193823db59 143 if(UART_parity%2 ==0) { //UART_errorchar=true;
robertspil 0:32193823db59 144 UART_errorchar=true;
robertspil 0:32193823db59 145 }
robertspil 0:32193823db59 146 return;
robertspil 0:32193823db59 147 }
robertspil 0:32193823db59 148 if(UART_counter==10 || UART_counter==11) { //stop bits
robertspil 0:32193823db59 149 if(pinread==0) {
robertspil 0:32193823db59 150 UART_errorchar=true;
robertspil 0:32193823db59 151 }
robertspil 0:32193823db59 152 return;
robertspil 0:32193823db59 153 }
robertspil 0:32193823db59 154 //the bits of one UART character are received
robertspil 0:32193823db59 155 UART_Tx_start =25 ; //this start the Tx within 25 msec//restart the TX message after 25 msec
robertspil 0:32193823db59 156
robertspil 0:32193823db59 157 if(UART_errorchar || textchar) {
robertspil 0:32193823db59 158 //rc.jetiptr->stat.UART_err ++;
robertspil 0:32193823db59 159 //rc.jetiptr->status=0;
robertspil 0:32193823db59 160 return; //do not process a incorrect answer
robertspil 0:32193823db59 161 }
robertspil 0:32193823db59 162 UART_isanswer=true;
robertspil 0:32193823db59 163 rc.jetiptr->buttons= UART_data;
robertspil 0:32193823db59 164 }
robertspil 0:32193823db59 165
robertspil 0:32193823db59 166
robertspil 0:32193823db59 167 void ISRdataBitTx() { //nextbit timeout in Tx mode
robertspil 0:32193823db59 168 int txpin =0;
robertspil 0:32193823db59 169 if(UART_counter== -1) { //start a new char UART_data with the correct textchar
robertspil 0:32193823db59 170 switch(UART_pos) { // UART_data = next char to transmit
robertspil 0:32193823db59 171 case 0:// start TX message
robertspil 0:32193823db59 172 UART_startBit.fall(NULL);
robertspil 0:32193823db59 173 UART_pin.output();
robertspil 0:32193823db59 174 UART_pin=0; //begin the start bit
robertspil 0:32193823db59 175 UART_data = 0xFE;
robertspil 0:32193823db59 176 textchar = false;
robertspil 0:32193823db59 177 UART_pos++;
robertspil 0:32193823db59 178 break;
robertspil 0:32193823db59 179 case 33: // send end byte with 9.bit=0
robertspil 0:32193823db59 180 UART_data = 0xFF;
robertspil 0:32193823db59 181 textchar = false;
robertspil 0:32193823db59 182 UART_pos++;
robertspil 0:32193823db59 183 break;
robertspil 0:32193823db59 184 case 34: // all data sent
robertspil 0:32193823db59 185 // listen to RX
robertspil 0:32193823db59 186 UART_pin.input();
robertspil 0:32193823db59 187 UART_pin.mode(PullUp);
robertspil 0:32193823db59 188 //UART_pin.mode(PullNone);
robertspil 0:32193823db59 189 UART_startBit.fall(& ISRstartBit);//detect the next received start bit
robertspil 0:32193823db59 190 UART_Tx_start =25 ; //this start the Tx within 25 msec//restart the TX message after 25 msec
robertspil 0:32193823db59 191 return;
robertspil 0:32193823db59 192 case 100:
robertspil 0:32193823db59 193 UART_data = 0x7E;
robertspil 0:32193823db59 194 textchar = false;
robertspil 0:32193823db59 195 UART_pos++;
robertspil 0:32193823db59 196 break;
robertspil 0:32193823db59 197 case 101:
robertspil 0:32193823db59 198 UART_data = 0x01;
robertspil 0:32193823db59 199 textchar = true;
robertspil 0:32193823db59 200 UART_pos++;
robertspil 0:32193823db59 201 break;
robertspil 0:32193823db59 202 case 102:
robertspil 0:32193823db59 203 UART_data = 0x31;
robertspil 0:32193823db59 204 textchar = true;
robertspil 0:32193823db59 205 UART_pos=34;
robertspil 0:32193823db59 206 break;
robertspil 0:32193823db59 207
robertspil 0:32193823db59 208 default: // set 9.bit=1 text message
robertspil 0:32193823db59 209 textchar = true;
robertspil 0:32193823db59 210 UART_data = JETI_buffer[UART_pos-1]; // send byte from LCD buffer
robertspil 0:32193823db59 211 UART_pos++; // increment to next byte
robertspil 0:32193823db59 212 }
robertspil 0:32193823db59 213 //the start bit
robertspil 0:32193823db59 214 txpin=0;
robertspil 0:32193823db59 215 UART_parity=0;
robertspil 0:32193823db59 216 }
robertspil 0:32193823db59 217 // write each bit, beginning with LSB
robertspil 0:32193823db59 218 if(UART_counter >=0 && UART_counter<8) { //data bits 0..7
robertspil 0:32193823db59 219 int out = UART_data & 0x01;
robertspil 0:32193823db59 220 txpin=out;
robertspil 0:32193823db59 221 UART_parity += out;
robertspil 0:32193823db59 222 UART_data = (UART_data >>1);
robertspil 0:32193823db59 223 }
robertspil 0:32193823db59 224 if(UART_counter==8) { //control bit
robertspil 0:32193823db59 225 if(textchar)
robertspil 0:32193823db59 226 txpin =1;
robertspil 0:32193823db59 227 else
robertspil 0:32193823db59 228 txpin=0;
robertspil 0:32193823db59 229 UART_parity += txpin;
robertspil 0:32193823db59 230
robertspil 0:32193823db59 231 }
robertspil 0:32193823db59 232 if(UART_counter==9) { //parity bit
robertspil 0:32193823db59 233 UART_parity++;
robertspil 0:32193823db59 234 txpin= UART_parity%2;
robertspil 0:32193823db59 235 }
robertspil 0:32193823db59 236 if(UART_counter<10) {
robertspil 0:32193823db59 237 UART_nextBit.attach_us(&ISRdataBitTx , UART_W1); //next tx bit
robertspil 0:32193823db59 238 UART_counter++;
robertspil 0:32193823db59 239 } else { //stop bits
robertspil 0:32193823db59 240 UART_counter=-1; //to start the next char
robertspil 0:32193823db59 241 txpin=1; // stop bits
robertspil 0:32193823db59 242 UART_nextBit.attach_us(&ISRdataBitTx , 2*UART_W1); //2 stop bits
robertspil 0:32193823db59 243 }
robertspil 0:32193823db59 244 UART_pin.write(txpin);
robertspil 0:32193823db59 245 }
robertspil 0:32193823db59 246 //----communication
robertspil 0:32193823db59 247 JetiC::JetiC() { //start the interface with the Jeti transmitter module
robertspil 0:32193823db59 248 for(int i=0; i<32; i++) {
robertspil 0:32193823db59 249 JETI_buffer[i]=0x20 ;
robertspil 0:32193823db59 250 }
robertspil 0:32193823db59 251 JETI_buffer[0] ='S';
robertspil 0:32193823db59 252 JETI_buffer[1] ='E';
robertspil 0:32193823db59 253 JETI_buffer[2] ='N';
robertspil 0:32193823db59 254 JETI_buffer[3] ='S';
robertspil 0:32193823db59 255 JETI_buffer[4] ='O';
robertspil 0:32193823db59 256 JETI_buffer[5] ='R';
robertspil 0:32193823db59 257
robertspil 0:32193823db59 258 JETI_buffer[32]='\0';
robertspil 0:32193823db59 259
robertspil 0:32193823db59 260 UART_ticker.attach_us(&UART_tickerAdd, 1000);
robertspil 0:32193823db59 261 UART_Tx_start =0; //this start the Tx
robertspil 0:32193823db59 262 }
robertspil 0:32193823db59 263 bool JetiC::isAnswer() {
robertspil 0:32193823db59 264 if(!UART_isanswer)
robertspil 0:32193823db59 265 return false;
robertspil 0:32193823db59 266 //message received
robertspil 0:32193823db59 267 UART_isanswer = false;
robertspil 0:32193823db59 268 UART_Tx_start =25 ; //this start the Tx within 25 msec
robertspil 0:32193823db59 269 return true; //return true only one time
robertspil 0:32193823db59 270 }
robertspil 0:32193823db59 271 //----//various utility functions to fill the buffer without the big "printf", too big for the memeory-----------------------------
robertspil 0:32193823db59 272 void JetiC::clear() { //fill with spaces
robertspil 0:32193823db59 273 pos=0;
robertspil 0:32193823db59 274 for(int i=0; i<32; i++)
robertspil 0:32193823db59 275 JETI_buffer[i]=' ';
robertspil 0:32193823db59 276 }
robertspil 0:32193823db59 277 void JetiC::setPos(int x) {
robertspil 0:32193823db59 278 if((x>=0) && (x<32))
robertspil 0:32193823db59 279 pos=x;
robertspil 0:32193823db59 280 }
robertspil 0:32193823db59 281
robertspil 0:32193823db59 282 void JetiC::print(char c) {
robertspil 0:32193823db59 283 JETI_buffer[pos] = c;
robertspil 0:32193823db59 284 if(pos< 31)
robertspil 0:32193823db59 285 pos++;
robertspil 0:32193823db59 286 }
robertspil 0:32193823db59 287 void JetiC::print(long n , uint8_t len) {
robertspil 0:32193823db59 288 printNumber(n, 0,len);
robertspil 0:32193823db59 289 }
robertspil 0:32193823db59 290 void JetiC::printf(float value, uint8_t p , uint8_t len) { //value ,decimal point , length
robertspil 0:32193823db59 291 int valint= value * pow(10.0 , p) +0.5 ;//convert the float in fixed point
robertspil 0:32193823db59 292 printNumber((int) valint, p, len); //print the numbers
robertspil 0:32193823db59 293 }
robertspil 0:32193823db59 294
robertspil 0:32193823db59 295 void JetiC::printNumber(int valint, uint8_t decimal,uint8_t len) { //decimal ==0 => no decimal point decimal ==2 => string as 123.45
robertspil 0:32193823db59 296 int i=0;
robertspil 0:32193823db59 297 int sign = 1;
robertspil 0:32193823db59 298 if(valint<0) {
robertspil 0:32193823db59 299 sign=0;
robertspil 0:32193823db59 300 valint=-valint;
robertspil 0:32193823db59 301 }
robertspil 0:32193823db59 302 while(valint > 0 || (decimal>0 &&i<decimal+2) ||(decimal==0 && i<1)) {
robertspil 0:32193823db59 303 if(i>0 && i==decimal) { //insert adecimal point
robertspil 0:32193823db59 304 JETI_buffer[pos +len-i -1] = '.';
robertspil 0:32193823db59 305 } else {
robertspil 0:32193823db59 306 JETI_buffer[pos +len-i -1] = (char)(((int)'0')+(valint % 10));
robertspil 0:32193823db59 307 valint /= 10;
robertspil 0:32193823db59 308 }
robertspil 0:32193823db59 309 i++;
robertspil 0:32193823db59 310 if(i>len-2)
robertspil 0:32193823db59 311 break;
robertspil 0:32193823db59 312 }
robertspil 0:32193823db59 313 if(sign==0)
robertspil 0:32193823db59 314 JETI_buffer[pos +len-i -1] = '-';
robertspil 0:32193823db59 315 else
robertspil 0:32193823db59 316 JETI_buffer[pos +len-i -1] = '+';
robertspil 0:32193823db59 317
robertspil 0:32193823db59 318 pos+= len;
robertspil 0:32193823db59 319 }
robertspil 0:32193823db59 320 void JetiC::print_p(const char *s) {
robertspil 0:32193823db59 321 char c;
robertspil 0:32193823db59 322 while((c = (*s)) !='\0') {
robertspil 0:32193823db59 323 s++;
robertspil 0:32193823db59 324 print(c);
robertspil 0:32193823db59 325 }
robertspil 0:32193823db59 326 }
robertspil 0:32193823db59 327 //--------debug the jeti protocol
robertspil 0:32193823db59 328 void JetiC::debug_display() {
robertspil 0:32193823db59 329 clear();
robertspil 0:32193823db59 330 print_p(" JetiDebug"); //line1
robertspil 0:32193823db59 331 setPos(16);
robertspil 0:32193823db59 332 if(buttons== B_RIGHT)
robertspil 0:32193823db59 333 print_p(" B_RIGHT");
robertspil 0:32193823db59 334 if(buttons== B_DOWN)
robertspil 0:32193823db59 335 print_p(" B_DOWN");
robertspil 0:32193823db59 336 if(buttons== B_UP)
robertspil 0:32193823db59 337 print_p(" B_UP");
robertspil 0:32193823db59 338 if(buttons== B_LEFT)
robertspil 0:32193823db59 339 print_p(" B_LEFT");
robertspil 0:32193823db59 340 return;
robertspil 0:32193823db59 341
robertspil 0:32193823db59 342 }