1
Dependencies: ArduinoSerial I2Cdev
Fork of MPU6050 by
main.cpp@10:d0c43cee874b, 2017-06-15 (annotated)
- Committer:
- sem40590
- Date:
- Thu Jun 15 17:19:14 2017 +0000
- Revision:
- 10:d0c43cee874b
- Parent:
- 9:338c5b334fa6
1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sem40590 | 9:338c5b334fa6 | 1 | #include "mbed.h" |
sem40590 | 9:338c5b334fa6 | 2 | #include <math.h> |
sem40590 | 9:338c5b334fa6 | 3 | DigitalOut leds[] = {(LED1), (LED2),(LED3),(LED4)}; |
sem40590 | 9:338c5b334fa6 | 4 | |
sem40590 | 9:338c5b334fa6 | 5 | |
sem40590 | 9:338c5b334fa6 | 6 | #include "MPU6050_6Axis_MotionApps20.h" // works |
sem40590 | 9:338c5b334fa6 | 7 | //#include "MPU6050_9Axis_MotionApps41.h" |
sem40590 | 9:338c5b334fa6 | 8 | |
sem40590 | 9:338c5b334fa6 | 9 | //#include "MPU6050.h" // not necessary if using MotionApps include file |
sem40590 | 9:338c5b334fa6 | 10 | |
sem40590 | 9:338c5b334fa6 | 11 | MPU6050 mpu; |
sem40590 | 10:d0c43cee874b | 12 | |
sem40590 | 10:d0c43cee874b | 13 | |
sem40590 | 9:338c5b334fa6 | 14 | #ifndef M_PI |
sem40590 | 9:338c5b334fa6 | 15 | #define M_PI 3.1415 |
sem40590 | 9:338c5b334fa6 | 16 | #endif |
sem40590 | 10:d0c43cee874b | 17 | |
sem40590 | 9:338c5b334fa6 | 18 | #define OUTPUT_TEAPOT |
sem40590 | 9:338c5b334fa6 | 19 | |
sem40590 | 9:338c5b334fa6 | 20 | |
sem40590 | 9:338c5b334fa6 | 21 | |
sem40590 | 9:338c5b334fa6 | 22 | bool blinkState = false; |
sem40590 | 9:338c5b334fa6 | 23 | |
sem40590 | 9:338c5b334fa6 | 24 | // MPU control/status vars |
sem40590 | 9:338c5b334fa6 | 25 | bool dmpReady = false; // set true if DMP init was successful |
sem40590 | 9:338c5b334fa6 | 26 | uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU |
sem40590 | 9:338c5b334fa6 | 27 | uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) |
sem40590 | 9:338c5b334fa6 | 28 | uint16_t packetSize; // expected DMP packet size (default is 42 bytes) |
sem40590 | 9:338c5b334fa6 | 29 | uint16_t fifoCount; // count of all bytes currently in FIFO |
sem40590 | 9:338c5b334fa6 | 30 | uint8_t fifoBuffer[64]; // FIFO storage buffer |
sem40590 | 9:338c5b334fa6 | 31 | |
sem40590 | 9:338c5b334fa6 | 32 | // orientation/motion vars |
sem40590 | 9:338c5b334fa6 | 33 | Quaternion q; // [w, x, y, z] quaternion container |
sem40590 | 9:338c5b334fa6 | 34 | VectorInt16 aa; // [x, y, z] accel sensor measurements |
sem40590 | 9:338c5b334fa6 | 35 | VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements |
sem40590 | 9:338c5b334fa6 | 36 | VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements |
sem40590 | 9:338c5b334fa6 | 37 | VectorFloat gravity; // [x, y, z] gravity vector |
sem40590 | 9:338c5b334fa6 | 38 | float euler[3]; // [psi, theta, phi] Euler angle container |
sem40590 | 9:338c5b334fa6 | 39 | float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector |
sem40590 | 9:338c5b334fa6 | 40 | |
sem40590 | 9:338c5b334fa6 | 41 | // packet structure for InvenSense teapot demo |
sem40590 | 9:338c5b334fa6 | 42 | uint8_t teapotPacket[15] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n',0 }; |
sem40590 | 9:338c5b334fa6 | 43 | |
sem40590 | 9:338c5b334fa6 | 44 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 45 | // === INTERRUPT DETECTION ROUTINE === |
sem40590 | 9:338c5b334fa6 | 46 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 47 | |
sem40590 | 9:338c5b334fa6 | 48 | volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high |
sem40590 | 9:338c5b334fa6 | 49 | void dmpDataReady() { |
sem40590 | 9:338c5b334fa6 | 50 | mpuInterrupt = true; |
sem40590 | 9:338c5b334fa6 | 51 | } |
sem40590 | 9:338c5b334fa6 | 52 | |
sem40590 | 9:338c5b334fa6 | 53 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 54 | // === INITIAL SETUP === |
sem40590 | 9:338c5b334fa6 | 55 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 56 | |
sem40590 | 9:338c5b334fa6 | 57 | int main() |
sem40590 | 9:338c5b334fa6 | 58 | { |
sem40590 | 9:338c5b334fa6 | 59 | |
sem40590 | 9:338c5b334fa6 | 60 | #define D_SDA D14 |
sem40590 | 9:338c5b334fa6 | 61 | #define D_SCL D15 |
sem40590 | 9:338c5b334fa6 | 62 | I2C i2c(D_SDA, D_SCL); |
sem40590 | 9:338c5b334fa6 | 63 | |
sem40590 | 9:338c5b334fa6 | 64 | |
sem40590 | 9:338c5b334fa6 | 65 | // mbed Interface Hardware definitions |
sem40590 | 9:338c5b334fa6 | 66 | DigitalOut myled1(LED1); |
sem40590 | 9:338c5b334fa6 | 67 | DigitalOut myled2(LED2); |
sem40590 | 9:338c5b334fa6 | 68 | DigitalOut myled3(LED3); |
sem40590 | 9:338c5b334fa6 | 69 | DigitalOut heartbeatLED(LED4); |
sem40590 | 9:338c5b334fa6 | 70 | |
sem40590 | 9:338c5b334fa6 | 71 | #define D_BAUDRATE 115200 |
sem40590 | 9:338c5b334fa6 | 72 | |
sem40590 | 10:d0c43cee874b | 73 | |
sem40590 | 9:338c5b334fa6 | 74 | Serial pc(USBTX, USBRX); // tx, rx |
sem40590 | 9:338c5b334fa6 | 75 | |
sem40590 | 9:338c5b334fa6 | 76 | pc.baud(D_BAUDRATE); |
sem40590 | 10:d0c43cee874b | 77 | |
sem40590 | 9:338c5b334fa6 | 78 | pc.printf("Initializing I2C devices...\n"); |
sem40590 | 9:338c5b334fa6 | 79 | mpu.initialize(); |
sem40590 | 9:338c5b334fa6 | 80 | |
sem40590 | 9:338c5b334fa6 | 81 | pc.printf("Testing device connections...\n"); |
sem40590 | 9:338c5b334fa6 | 82 | |
sem40590 | 9:338c5b334fa6 | 83 | bool mpu6050TestResult = mpu.testConnection(); |
sem40590 | 9:338c5b334fa6 | 84 | if(mpu6050TestResult){ |
sem40590 | 9:338c5b334fa6 | 85 | pc.printf("MPU6050 test passed \n"); |
sem40590 | 9:338c5b334fa6 | 86 | } else{ |
sem40590 | 9:338c5b334fa6 | 87 | pc.printf("MPU6050 test failed \n"); |
sem40590 | 9:338c5b334fa6 | 88 | } |
sem40590 | 9:338c5b334fa6 | 89 | |
sem40590 | 9:338c5b334fa6 | 90 | // wait for ready |
sem40590 | 9:338c5b334fa6 | 91 | pc.printf("\nSend any character to begin DMP programming and demo: "); |
sem40590 | 9:338c5b334fa6 | 92 | |
sem40590 | 9:338c5b334fa6 | 93 | while(!pc.readable()); |
sem40590 | 9:338c5b334fa6 | 94 | pc.getc(); |
sem40590 | 9:338c5b334fa6 | 95 | pc.printf("\n"); |
sem40590 | 9:338c5b334fa6 | 96 | |
sem40590 | 9:338c5b334fa6 | 97 | // load and configure the DMP |
sem40590 | 9:338c5b334fa6 | 98 | pc.printf("Initializing DMP...\n"); |
sem40590 | 9:338c5b334fa6 | 99 | devStatus = mpu.dmpInitialize(); |
sem40590 | 9:338c5b334fa6 | 100 | |
sem40590 | 9:338c5b334fa6 | 101 | // supply your own gyro offsets here, scaled for min sensitivity |
sem40590 | 9:338c5b334fa6 | 102 | mpu.setXGyroOffset(-61); |
sem40590 | 9:338c5b334fa6 | 103 | mpu.setYGyroOffset(-127); |
sem40590 | 9:338c5b334fa6 | 104 | mpu.setZGyroOffset(19); |
sem40590 | 9:338c5b334fa6 | 105 | mpu.setZAccelOffset(16282); // 1688 factory default for my test chip |
sem40590 | 9:338c5b334fa6 | 106 | |
sem40590 | 9:338c5b334fa6 | 107 | // make sure it worked (returns 0 if so) |
sem40590 | 9:338c5b334fa6 | 108 | if (devStatus == 0) { |
sem40590 | 9:338c5b334fa6 | 109 | // turn on the DMP, now that it's ready |
sem40590 | 9:338c5b334fa6 | 110 | pc.printf("Enabling DMP...\n"); |
sem40590 | 9:338c5b334fa6 | 111 | mpu.setDMPEnabled(true); |
sem40590 | 9:338c5b334fa6 | 112 | |
sem40590 | 9:338c5b334fa6 | 113 | // enable Arduino interrupt detection |
sem40590 | 9:338c5b334fa6 | 114 | pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\n"); |
sem40590 | 9:338c5b334fa6 | 115 | // attachInterrupt(0, dmpDataReady, RISING); |
sem40590 | 9:338c5b334fa6 | 116 | mpuIntStatus = mpu.getIntStatus(); |
sem40590 | 9:338c5b334fa6 | 117 | |
sem40590 | 9:338c5b334fa6 | 118 | // set our DMP Ready flag so the main loop() function knows it's okay to use it |
sem40590 | 9:338c5b334fa6 | 119 | pc.printf("DMP ready! Waiting for first interrupt...\n"); |
sem40590 | 9:338c5b334fa6 | 120 | dmpReady = true; |
sem40590 | 9:338c5b334fa6 | 121 | |
sem40590 | 9:338c5b334fa6 | 122 | // get expected DMP packet size for later comparison |
sem40590 | 9:338c5b334fa6 | 123 | packetSize = mpu.dmpGetFIFOPacketSize(); |
sem40590 | 9:338c5b334fa6 | 124 | } else { |
sem40590 | 9:338c5b334fa6 | 125 | // ERROR! |
sem40590 | 9:338c5b334fa6 | 126 | // 1 = initial memory load failed |
sem40590 | 9:338c5b334fa6 | 127 | // 2 = DMP configuration updates failed |
sem40590 | 9:338c5b334fa6 | 128 | // (if it's going to break, usually the code will be 1) |
sem40590 | 9:338c5b334fa6 | 129 | pc.printf("DMP Initialization failed (code "); |
sem40590 | 9:338c5b334fa6 | 130 | pc.printf("%u",devStatus); |
sem40590 | 9:338c5b334fa6 | 131 | pc.printf(")\n"); |
sem40590 | 9:338c5b334fa6 | 132 | } |
sem40590 | 9:338c5b334fa6 | 133 | |
sem40590 | 9:338c5b334fa6 | 134 | |
sem40590 | 9:338c5b334fa6 | 135 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 136 | // === MAIN PROGRAM LOOP === |
sem40590 | 9:338c5b334fa6 | 137 | // ================================================================ |
sem40590 | 9:338c5b334fa6 | 138 | |
sem40590 | 9:338c5b334fa6 | 139 | while(1) |
sem40590 | 9:338c5b334fa6 | 140 | { |
sem40590 | 9:338c5b334fa6 | 141 | // if programming failed, don't try to do anything |
sem40590 | 9:338c5b334fa6 | 142 | if (!dmpReady) continue; |
sem40590 | 9:338c5b334fa6 | 143 | myled2=0; |
sem40590 | 9:338c5b334fa6 | 144 | |
sem40590 | 9:338c5b334fa6 | 145 | { |
sem40590 | 10:d0c43cee874b | 146 | |
sem40590 | 9:338c5b334fa6 | 147 | } |
sem40590 | 9:338c5b334fa6 | 148 | wait_us(500); |
sem40590 | 9:338c5b334fa6 | 149 | |
sem40590 | 9:338c5b334fa6 | 150 | // reset interrupt flag and get INT_STATUS byte |
sem40590 | 9:338c5b334fa6 | 151 | mpuInterrupt = false; |
sem40590 | 9:338c5b334fa6 | 152 | mpuIntStatus = mpu.getIntStatus(); |
sem40590 | 9:338c5b334fa6 | 153 | |
sem40590 | 9:338c5b334fa6 | 154 | // get current FIFO count |
sem40590 | 9:338c5b334fa6 | 155 | fifoCount = mpu.getFIFOCount(); |
sem40590 | 9:338c5b334fa6 | 156 | |
sem40590 | 9:338c5b334fa6 | 157 | // check for overflow (this should never happen unless our code is too inefficient) |
sem40590 | 9:338c5b334fa6 | 158 | if ((mpuIntStatus & 0x10) || fifoCount == 1024) { |
sem40590 | 9:338c5b334fa6 | 159 | // reset so we can continue cleanly |
sem40590 | 9:338c5b334fa6 | 160 | mpu.resetFIFO(); |
sem40590 | 9:338c5b334fa6 | 161 | pc.printf("FIFO overflow!"); |
sem40590 | 9:338c5b334fa6 | 162 | |
sem40590 | 9:338c5b334fa6 | 163 | // otherwise, check for DMP data ready interrupt (this should happen frequently) |
sem40590 | 9:338c5b334fa6 | 164 | } else if (mpuIntStatus & 0x02) { |
sem40590 | 9:338c5b334fa6 | 165 | // wait for correct available data length, should be a VERY short wait |
sem40590 | 9:338c5b334fa6 | 166 | while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); |
sem40590 | 9:338c5b334fa6 | 167 | |
sem40590 | 9:338c5b334fa6 | 168 | // read a packet from FIFO |
sem40590 | 9:338c5b334fa6 | 169 | mpu.getFIFOBytes(fifoBuffer, packetSize); |
sem40590 | 9:338c5b334fa6 | 170 | |
sem40590 | 9:338c5b334fa6 | 171 | // track FIFO count here in case there is > 1 packet available |
sem40590 | 9:338c5b334fa6 | 172 | // (this lets us immediately read more without waiting for an interrupt) |
sem40590 | 9:338c5b334fa6 | 173 | fifoCount -= packetSize; |
sem40590 | 9:338c5b334fa6 | 174 | |
sem40590 | 9:338c5b334fa6 | 175 | #ifdef OUTPUT_READABLE_QUATERNION |
sem40590 | 9:338c5b334fa6 | 176 | // display quaternion values in easy matrix form: w x y z |
sem40590 | 9:338c5b334fa6 | 177 | mpu.dmpGetQuaternion(&q, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 178 | // pc.printf("quat\t"); |
sem40590 | 9:338c5b334fa6 | 179 | pc.printf("%f",q.w); |
sem40590 | 9:338c5b334fa6 | 180 | pc.printf(","); |
sem40590 | 9:338c5b334fa6 | 181 | pc.printf("%f",q.x); |
sem40590 | 9:338c5b334fa6 | 182 | pc.printf(","); |
sem40590 | 9:338c5b334fa6 | 183 | pc.printf("%f",q.y); |
sem40590 | 9:338c5b334fa6 | 184 | pc.printf(","); |
sem40590 | 9:338c5b334fa6 | 185 | pc.printf("%f\n",q.z); |
sem40590 | 9:338c5b334fa6 | 186 | #endif |
sem40590 | 9:338c5b334fa6 | 187 | |
sem40590 | 9:338c5b334fa6 | 188 | #ifdef OUTPUT_READABLE_EULER |
sem40590 | 9:338c5b334fa6 | 189 | // display Euler angles in degrees |
sem40590 | 9:338c5b334fa6 | 190 | mpu.dmpGetQuaternion(&q, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 191 | mpu.dmpGetEuler(euler, &q); |
sem40590 | 9:338c5b334fa6 | 192 | pc.printf("euler\t"); |
sem40590 | 9:338c5b334fa6 | 193 | pc.printf("%f",euler[0] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 194 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 195 | pc.printf("%f",euler[1] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 196 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 197 | pc.printf("%f\n",euler[2] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 198 | #endif |
sem40590 | 9:338c5b334fa6 | 199 | |
sem40590 | 9:338c5b334fa6 | 200 | #ifdef OUTPUT_READABLE_YAWPITCHROLL |
sem40590 | 9:338c5b334fa6 | 201 | // display Euler angles in degrees |
sem40590 | 9:338c5b334fa6 | 202 | mpu.dmpGetQuaternion(&q, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 203 | mpu.dmpGetGravity(&gravity, &q); |
sem40590 | 9:338c5b334fa6 | 204 | mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); |
sem40590 | 9:338c5b334fa6 | 205 | pc.printf("ypr\t"); |
sem40590 | 9:338c5b334fa6 | 206 | pc.printf("%f3.2",ypr[0] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 207 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 208 | pc.printf("%f3.2",ypr[1] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 209 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 210 | pc.printf("%f3.2\n",ypr[2] * 180/M_PI); |
sem40590 | 9:338c5b334fa6 | 211 | #endif |
sem40590 | 9:338c5b334fa6 | 212 | |
sem40590 | 9:338c5b334fa6 | 213 | #ifdef OUTPUT_READABLE_REALACCEL |
sem40590 | 9:338c5b334fa6 | 214 | // display real acceleration, adjusted to remove gravity |
sem40590 | 9:338c5b334fa6 | 215 | mpu.dmpGetQuaternion(&q, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 216 | mpu.dmpGetAccel(&aa, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 217 | mpu.dmpGetGravity(&gravity, &q); |
sem40590 | 9:338c5b334fa6 | 218 | mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); |
sem40590 | 9:338c5b334fa6 | 219 | pc.printf("areal\t"); |
sem40590 | 9:338c5b334fa6 | 220 | pc.printf("%d",aaReal.x); |
sem40590 | 9:338c5b334fa6 | 221 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 222 | pc.printf("%d",aaReal.y); |
sem40590 | 9:338c5b334fa6 | 223 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 224 | pc.printf("%d\n",aaReal.z); |
sem40590 | 9:338c5b334fa6 | 225 | #endif |
sem40590 | 9:338c5b334fa6 | 226 | |
sem40590 | 9:338c5b334fa6 | 227 | #ifdef OUTPUT_READABLE_WORLDACCEL |
sem40590 | 9:338c5b334fa6 | 228 | // display initial world-frame acceleration, adjusted to remove gravity |
sem40590 | 9:338c5b334fa6 | 229 | // and rotated based on known orientation from quaternion |
sem40590 | 9:338c5b334fa6 | 230 | mpu.dmpGetQuaternion(&q, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 231 | mpu.dmpGetAccel(&aa, fifoBuffer); |
sem40590 | 9:338c5b334fa6 | 232 | mpu.dmpGetGravity(&gravity, &q); |
sem40590 | 9:338c5b334fa6 | 233 | mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); |
sem40590 | 9:338c5b334fa6 | 234 | mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); |
sem40590 | 9:338c5b334fa6 | 235 | pc.printf("aworld\t"); |
sem40590 | 9:338c5b334fa6 | 236 | pc.printf("%d",aaWorld.x); |
sem40590 | 9:338c5b334fa6 | 237 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 238 | pc.printf("%d",aaWorld.y); |
sem40590 | 9:338c5b334fa6 | 239 | pc.printf("\t"); |
sem40590 | 9:338c5b334fa6 | 240 | pc.printf("%d\n",aaWorld.z); |
sem40590 | 9:338c5b334fa6 | 241 | #endif |
sem40590 | 9:338c5b334fa6 | 242 | #ifdef OUTPUT_TEAPOT |
sem40590 | 9:338c5b334fa6 | 243 | // display quaternion values in InvenSense Teapot demo format: |
sem40590 | 9:338c5b334fa6 | 244 | teapotPacket[2] = fifoBuffer[0]; |
sem40590 | 9:338c5b334fa6 | 245 | teapotPacket[3] = fifoBuffer[1]; |
sem40590 | 9:338c5b334fa6 | 246 | teapotPacket[4] = fifoBuffer[4]; |
sem40590 | 9:338c5b334fa6 | 247 | teapotPacket[5] = fifoBuffer[5]; |
sem40590 | 9:338c5b334fa6 | 248 | teapotPacket[6] = fifoBuffer[8]; |
sem40590 | 9:338c5b334fa6 | 249 | teapotPacket[7] = fifoBuffer[9]; |
sem40590 | 9:338c5b334fa6 | 250 | teapotPacket[8] = fifoBuffer[12]; |
sem40590 | 9:338c5b334fa6 | 251 | teapotPacket[9] = fifoBuffer[13]; |
sem40590 | 9:338c5b334fa6 | 252 | |
sem40590 | 9:338c5b334fa6 | 253 | for(int i=0;i<14;i++) |
sem40590 | 9:338c5b334fa6 | 254 | { |
sem40590 | 9:338c5b334fa6 | 255 | pc.putc(teapotPacket[i]); |
sem40590 | 9:338c5b334fa6 | 256 | } |
sem40590 | 9:338c5b334fa6 | 257 | // pc.printf("%d",teapotPacket, 14); |
sem40590 | 9:338c5b334fa6 | 258 | teapotPacket[11]++; // packetCount, loops at 0xFF on purpose |
sem40590 | 9:338c5b334fa6 | 259 | #endif |
sem40590 | 9:338c5b334fa6 | 260 | |
sem40590 | 9:338c5b334fa6 | 261 | // blink LED to indicate activity |
sem40590 | 9:338c5b334fa6 | 262 | blinkState = !blinkState; |
sem40590 | 9:338c5b334fa6 | 263 | myled1 = blinkState; |
sem40590 | 9:338c5b334fa6 | 264 | } |
sem40590 | 9:338c5b334fa6 | 265 | } |
sem40590 | 10:d0c43cee874b | 266 | } |