Nora Vazbyte / Mbed 2 deprecated BLE_Heartrate_VL53L0X

workss

Dependencies:   mbed BLE_API nRF51822 VL53L0X

main.cpp@43:037b59837599, 2019-03-18 (annotated)

Committer:
vazbyte
Date:
Mon Mar 18 22:18:16 2019 +0000
Revision:
43:037b59837599
Parent:
42:f28240f996dd
Child:
44:cd485a9baca0
refactored, still as not working as before

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vazbyte 35:daf134714cee 1 #include <stdio.h>
vazbyte 35:daf134714cee 2 #include <math.h>
mbedAustin 0:cd5b6733aeb1 3 #include "mbed.h"
andresag 19:477567297aac 4 #include "ble/BLE.h"
vazbyte 24:931eeb8a70fc 5 #include "VL53L0X.h"
vazbyte 25:0a0805c118c0 6 #include "ble/services/HeartRateService.h"
vazbyte 31:d1ceadbc6c44 7
vazbyte 29:6ba8491c1dab 8 #define range1_addr (0x56)
vazbyte 29:6ba8491c1dab 9 #define range2_addr (0x60)
vazbyte 29:6ba8491c1dab 10 #define range1_XSHUT p15
vazbyte 29:6ba8491c1dab 11 #define range2_XSHUT p16
vazbyte 29:6ba8491c1dab 12 #define VL53L0_I2C_SDA p30
vazbyte 29:6ba8491c1dab 13 #define VL53L0_I2C_SCL p7
vazbyte 35:daf134714cee 14 #define TIME_SCALE 3 // sensors activated every 100ms * TIME_SCALE = 0.3 seconds
vazbyte 41:42bc4dd59417 15 #define DIST_MIN 20 // PROD
vazbyte 41:42bc4dd59417 16 #define DIST_MAX 100 // PROD
vazbyte 41:42bc4dd59417 17 //#define DIST_MIN 0 // DEV
vazbyte 41:42bc4dd59417 18 //#define DIST_MAX 22 // DEV
vazbyte 35:daf134714cee 19 //#define TIMESTAMP_FREQ 3000 // PROD: time granularity is 100ms * TIMESTAMP_FREQ = 5 minutes
vazbyte 35:daf134714cee 20 #define TIMESTAMP_FREQ 300 // DEV: time granularity is 100ms * TIMESTAMP_FREQ = 30 seconds
vazbyte 35:daf134714cee 21 //#define MAX_TIME 1728000 // PROD: keep track of 100ms * MAX_TIME = 2880 minutes = 2 days
vazbyte 35:daf134714cee 22 #define MAX_TIME 172800 // DEV: keep track of 100ms * MAX_TIME = 288 minutes = 4.8 hours
vazbyte 24:931eeb8a70fc 23
vazbyte 24:931eeb8a70fc 24 Serial pc(USBTX, USBRX);
vazbyte 24:931eeb8a70fc 25 static DevI2C devI2c(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
vazbyte 24:931eeb8a70fc 26 DigitalOut led1(LED1);
vazbyte 24:931eeb8a70fc 27 DigitalOut led2(LED2);
vazbyte 24:931eeb8a70fc 28 DigitalOut led(LED3, 1);
mbedAustin 9:b33f42191584 29 uint16_t customServiceUUID = 0xA000;
mbedAustin 13:62b1d32745ac 30 uint16_t readCharUUID = 0xA001;
mbedAustin 9:b33f42191584 31 uint16_t writeCharUUID = 0xA002;
vazbyte 31:d1ceadbc6c44 32
vazbyte 24:931eeb8a70fc 33 static DigitalOut shutdown1_pin(range1_XSHUT);
vazbyte 24:931eeb8a70fc 34 static VL53L0X range1(&devI2c, &shutdown1_pin, NC);
vazbyte 24:931eeb8a70fc 35 static DigitalOut shutdown2_pin(range2_XSHUT);
vazbyte 24:931eeb8a70fc 36 static VL53L0X range2(&devI2c, &shutdown2_pin, NC);
vazbyte 31:d1ceadbc6c44 37
vazbyte 33:3fad9e7238a4 38 uint32_t distance1, distance2;
vazbyte 33:3fad9e7238a4 39 int dist1, dist2, status1, status2;
vazbyte 38:7035f67d8105 40 int packet_queue[4000] = {0};
vazbyte 38:7035f67d8105 41 int packet_queue_index = 0;
vazbyte 24:931eeb8a70fc 42
vazbyte 31:d1ceadbc6c44 43 const static int cw = 20 / TIME_SCALE;
vazbyte 35:daf134714cee 44 const static int time_cycle = TIMESTAMP_FREQ / TIME_SCALE;
vazbyte 35:daf134714cee 45 const static int maximum_time = MAX_TIME / TIMESTAMP_FREQ;
vazbyte 31:d1ceadbc6c44 46 int countdown = cw;
vazbyte 31:d1ceadbc6c44 47 bool countdown1_triggered = false, countdown2_triggered = false;
vazbyte 31:d1ceadbc6c44 48 bool step_in = false, step_out = false;
vazbyte 34:1d3818f8c1a1 49 bool range1_just_triggered = false, range2_just_triggered = false;
vazbyte 38:7035f67d8105 50 bool master_connected = false;
vazbyte 31:d1ceadbc6c44 51
vazbyte 33:3fad9e7238a4 52 const static char DEVICE_NAME[] = "OCCUPY-CRICHTON-ST";
vazbyte 33:3fad9e7238a4 53 static const uint16_t uuid16_list[] = {GattService::UUID_HEART_RATE_SERVICE};
vazbyte 35:daf134714cee 54 int * encoded_array;
vazbyte 38:7035f67d8105 55 int timestamp = time_cycle, current_time = 0;
vazbyte 31:d1ceadbc6c44 56
vazbyte 25:0a0805c118c0 57 HeartRateService *hrService;
vazbyte 26:793d65b08afb 58 uint8_t hrmCounter = 0;
vazbyte 27:903ec28ea7a0 59 int format_dist(int distance) {
vazbyte 27:903ec28ea7a0 60 int result;
vazbyte 36:fb7f31e53ed9 61 if (distance > 2550)
vazbyte 36:fb7f31e53ed9 62 result = 255;
vazbyte 27:903ec28ea7a0 63 else
vazbyte 27:903ec28ea7a0 64 result = distance/10;
vazbyte 27:903ec28ea7a0 65 return result;
vazbyte 27:903ec28ea7a0 66 }
vazbyte 35:daf134714cee 67
vazbyte 35:daf134714cee 68 void dec_to_bin(int decimal, int bin[]) {
vazbyte 35:daf134714cee 69 int temp;
vazbyte 35:daf134714cee 70 // encoding little-endian
vazbyte 35:daf134714cee 71 for (int i = 10; i >= 0; i--) {
vazbyte 35:daf134714cee 72 temp = decimal >> i;
vazbyte 35:daf134714cee 73 bin[i] = temp&1;
vazbyte 35:daf134714cee 74 }
vazbyte 35:daf134714cee 75 }
vazbyte 35:daf134714cee 76
vazbyte 35:daf134714cee 77 int bin_to_dec(int binary) {
vazbyte 35:daf134714cee 78 int rem, temp, dec = 0, b = 1;
vazbyte 35:daf134714cee 79 temp = binary;
vazbyte 35:daf134714cee 80 while (temp > 0)
vazbyte 35:daf134714cee 81 {
vazbyte 35:daf134714cee 82 rem = temp % 10;
vazbyte 35:daf134714cee 83 dec = dec + rem * b;
vazbyte 35:daf134714cee 84 b *= 2;
vazbyte 35:daf134714cee 85 temp /= 10;
vazbyte 35:daf134714cee 86 }
vazbyte 35:daf134714cee 87 return dec;
vazbyte 35:daf134714cee 88 }
vazbyte 35:daf134714cee 89
vazbyte 35:daf134714cee 90 void encode_bin(int direction, int time, int encoding[]) {
vazbyte 35:daf134714cee 91 time = time % maximum_time;
vazbyte 38:7035f67d8105 92 int bin_timestamp[11] = {0};
vazbyte 38:7035f67d8105 93 dec_to_bin(time, bin_timestamp);
vazbyte 35:daf134714cee 94
vazbyte 35:daf134714cee 95 // for checking transmission errors:
vazbyte 37:5792986fea5d 96 // sending as 2 messages; designating them with 0 (1st part) and 1 (2nd part)
vazbyte 35:daf134714cee 97 encoding [8] = 1;
vazbyte 35:daf134714cee 98 encoding [0] = 0;
vazbyte 35:daf134714cee 99
vazbyte 35:daf134714cee 100 // used to send the current time when Bluetooth connection established
vazbyte 35:daf134714cee 101 if (direction == -1) {
vazbyte 35:daf134714cee 102 encoding[15] = 1;
vazbyte 35:daf134714cee 103 encoding[7] = 1;
vazbyte 35:daf134714cee 104
vazbyte 35:daf134714cee 105 } else {
vazbyte 35:daf134714cee 106 encoding[15] = 0;
vazbyte 35:daf134714cee 107 encoding[7] = 0;
vazbyte 35:daf134714cee 108
vazbyte 35:daf134714cee 109 // to distinguish whether movement was IN (1) or OUT (0)
vazbyte 35:daf134714cee 110 if (direction == 1) {
vazbyte 35:daf134714cee 111 encoding[1] = 1;
vazbyte 35:daf134714cee 112 } else {
vazbyte 35:daf134714cee 113 encoding[1] = 0;
vazbyte 35:daf134714cee 114 }
vazbyte 35:daf134714cee 115 }
vazbyte 35:daf134714cee 116
vazbyte 43:037b59837599 117 int count = 10;
vazbyte 43:037b59837599 118 for (int i = 14; i >= 2; i--) {
vazbyte 43:037b59837599 119 if (i == 8 || i == 7) { }
vazbyte 43:037b59837599 120 else {
vazbyte 43:037b59837599 121 encoding[i] = bin_timestamp[count];
vazbyte 43:037b59837599 122 count--;
vazbyte 35:daf134714cee 123 }
vazbyte 43:037b59837599 124 }
vazbyte 43:037b59837599 125
vazbyte 35:daf134714cee 126 }
vazbyte 35:daf134714cee 127
vazbyte 35:daf134714cee 128 void create_packets(int encoding[], double& packet1, double& packet2) {
vazbyte 35:daf134714cee 129 double binary1 = 0, binary2 = 0;
vazbyte 35:daf134714cee 130 for (int i = 0; i < 8; i++) {
vazbyte 35:daf134714cee 131 binary1 += encoding[i] * pow(10, (double)i);
vazbyte 35:daf134714cee 132 binary2 += encoding[8+i] * pow(10, (double)i);
vazbyte 35:daf134714cee 133 }
vazbyte 35:daf134714cee 134 packet1 = bin_to_dec(binary1);
vazbyte 35:daf134714cee 135 packet2 = bin_to_dec(binary2);
vazbyte 35:daf134714cee 136 }
vazbyte 36:fb7f31e53ed9 137
vazbyte 36:fb7f31e53ed9 138 void send_packet(int direction, int time) {
vazbyte 36:fb7f31e53ed9 139 int encoding [16] = {0};
vazbyte 36:fb7f31e53ed9 140 encode_bin(direction, time, encoding);
vazbyte 36:fb7f31e53ed9 141 double packet1, packet2;
vazbyte 36:fb7f31e53ed9 142 create_packets(encoding, packet1, packet2);
vazbyte 36:fb7f31e53ed9 143 int p1 = (int)packet1;
vazbyte 36:fb7f31e53ed9 144 int p2 = (int)packet2;
vazbyte 36:fb7f31e53ed9 145
vazbyte 36:fb7f31e53ed9 146 hrmCounter = p1;
vazbyte 36:fb7f31e53ed9 147 hrService->updateHeartRate(hrmCounter);
vazbyte 43:037b59837599 148 printf("sent packet %i\n", hrmCounter);
vazbyte 41:42bc4dd59417 149 wait(0.5);
vazbyte 36:fb7f31e53ed9 150 hrmCounter = p2;
vazbyte 36:fb7f31e53ed9 151 hrService->updateHeartRate(hrmCounter);
vazbyte 43:037b59837599 152 printf("sent packet %i\n", hrmCounter);
vazbyte 42:f28240f996dd 153 wait(0.5);
vazbyte 36:fb7f31e53ed9 154 }
vazbyte 36:fb7f31e53ed9 155
vazbyte 43:037b59837599 156 void enqueue_packet(int direction, int time, int packet_queue[]) {
vazbyte 43:037b59837599 157 packet_queue[packet_queue_index] = direction;
vazbyte 43:037b59837599 158 packet_queue[packet_queue_index + 1] = time;
vazbyte 38:7035f67d8105 159
vazbyte 38:7035f67d8105 160 ::packet_queue_index += 2;
vazbyte 38:7035f67d8105 161 }
vazbyte 38:7035f67d8105 162
vazbyte 36:fb7f31e53ed9 163 void connectionCallback(const Gap::ConnectionCallbackParams_t *) {
vazbyte 36:fb7f31e53ed9 164 printf("Bluetooth connected at %i\n", current_time);
vazbyte 38:7035f67d8105 165 ::master_connected = true;
vazbyte 43:037b59837599 166 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().stopAdvertising();
vazbyte 36:fb7f31e53ed9 167 }
vazbyte 36:fb7f31e53ed9 168
vazbyte 36:fb7f31e53ed9 169 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *)
vazbyte 36:fb7f31e53ed9 170 {
vazbyte 36:fb7f31e53ed9 171 printf("Bluetooth disconnected at %i\n", current_time);
vazbyte 38:7035f67d8105 172 ::master_connected = false;
vazbyte 39:067ba1a475a5 173 ::timestamp = time_cycle;
vazbyte 36:fb7f31e53ed9 174 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().startAdvertising();
vazbyte 36:fb7f31e53ed9 175 }
vazbyte 36:fb7f31e53ed9 176
vazbyte 36:fb7f31e53ed9 177 void bleInitComplete(BLE::InitializationCompleteCallbackContext *params)
vazbyte 36:fb7f31e53ed9 178 {
vazbyte 36:fb7f31e53ed9 179 BLE &ble = params->ble;
vazbyte 36:fb7f31e53ed9 180 ble_error_t error = params->error;
vazbyte 36:fb7f31e53ed9 181
vazbyte 36:fb7f31e53ed9 182 if (error != BLE_ERROR_NONE) {
vazbyte 36:fb7f31e53ed9 183 return;
vazbyte 36:fb7f31e53ed9 184 }
vazbyte 36:fb7f31e53ed9 185
vazbyte 36:fb7f31e53ed9 186 ble.gap().onConnection(connectionCallback);
vazbyte 36:fb7f31e53ed9 187 ble.gap().onDisconnection(disconnectionCallback);
vazbyte 36:fb7f31e53ed9 188 hrService = new HeartRateService(ble, hrmCounter, HeartRateService::LOCATION_FINGER);
vazbyte 36:fb7f31e53ed9 189
vazbyte 36:fb7f31e53ed9 190 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED | GapAdvertisingData::LE_GENERAL_DISCOVERABLE);
vazbyte 36:fb7f31e53ed9 191 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
vazbyte 36:fb7f31e53ed9 192 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LOCAL_NAME, (uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME));
vazbyte 36:fb7f31e53ed9 193 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS, (uint8_t *)uuid16_list, sizeof(uuid16_list));
vazbyte 36:fb7f31e53ed9 194 ble.gap().setAdvertisingInterval(100);
vazbyte 36:fb7f31e53ed9 195 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::GENERIC_HEART_RATE_SENSOR);
vazbyte 36:fb7f31e53ed9 196
vazbyte 36:fb7f31e53ed9 197 ble.gap().startAdvertising();
vazbyte 36:fb7f31e53ed9 198 }
vazbyte 31:d1ceadbc6c44 199
vazbyte 23:52e8e05df60c 200 void wakeup_event_cb() {
vazbyte 38:7035f67d8105 201 ::timestamp++;
vazbyte 35:daf134714cee 202 ::current_time = timestamp / time_cycle;
vazbyte 24:931eeb8a70fc 203
vazbyte 42:f28240f996dd 204 if (packet_queue_index != 0 && master_connected) {
vazbyte 42:f28240f996dd 205 led = 0;
vazbyte 42:f28240f996dd 206 wait(5);
vazbyte 42:f28240f996dd 207 led = 1;
vazbyte 42:f28240f996dd 208
vazbyte 42:f28240f996dd 209 send_packet(-1, current_time);
vazbyte 42:f28240f996dd 210
vazbyte 42:f28240f996dd 211 int current_index = 0;
vazbyte 42:f28240f996dd 212 while (current_index < packet_queue_index) {
vazbyte 43:037b59837599 213 send_packet(packet_queue[current_index], packet_queue[current_index+1]);
vazbyte 43:037b59837599 214 printf("sent direction %i and time %i\n", packet_queue[current_index], packet_queue[current_index+1]);
vazbyte 42:f28240f996dd 215 current_index += 2;
vazbyte 42:f28240f996dd 216 }
vazbyte 42:f28240f996dd 217 ::packet_queue_index = 0;
vazbyte 42:f28240f996dd 218 }
vazbyte 42:f28240f996dd 219
vazbyte 29:6ba8491c1dab 220 if (countdown1_triggered) {
vazbyte 29:6ba8491c1dab 221 countdown--;
vazbyte 29:6ba8491c1dab 222 if (countdown == 0) {
vazbyte 29:6ba8491c1dab 223 countdown1_triggered = false;
vazbyte 29:6ba8491c1dab 224 }
vazbyte 29:6ba8491c1dab 225 }
vazbyte 29:6ba8491c1dab 226 if (countdown2_triggered) {
vazbyte 29:6ba8491c1dab 227 countdown--;
vazbyte 29:6ba8491c1dab 228 if (countdown == 0) {
vazbyte 29:6ba8491c1dab 229 countdown2_triggered = false;
vazbyte 29:6ba8491c1dab 230 }
vazbyte 29:6ba8491c1dab 231 }
vazbyte 31:d1ceadbc6c44 232
vazbyte 24:931eeb8a70fc 233 status1 = range1.get_distance(&distance1);
vazbyte 24:931eeb8a70fc 234 status2 = range2.get_distance(&distance2);
vazbyte 26:793d65b08afb 235
vazbyte 27:903ec28ea7a0 236 dist1 = format_dist(distance1);
vazbyte 27:903ec28ea7a0 237 dist2 = format_dist(distance2);
vazbyte 31:d1ceadbc6c44 238
vazbyte 24:931eeb8a70fc 239 if (status1 == VL53L0X_ERROR_NONE) {
vazbyte 29:6ba8491c1dab 240 if (dist1 > DIST_MIN && dist1 < DIST_MAX) {
vazbyte 24:931eeb8a70fc 241 led1 = 0;
vazbyte 41:42bc4dd59417 242 // printf("Range1 [mm]: %6ld\r\n", dist1);
vazbyte 29:6ba8491c1dab 243 if (!countdown1_triggered && !countdown2_triggered) {
vazbyte 29:6ba8491c1dab 244 countdown1_triggered = true;
vazbyte 29:6ba8491c1dab 245 countdown = cw;
vazbyte 34:1d3818f8c1a1 246 } else if (countdown2_triggered && !range1_just_triggered) {
vazbyte 42:f28240f996dd 247 // printf("STEP IN DETECTED\n");
vazbyte 38:7035f67d8105 248 if (master_connected) {
vazbyte 38:7035f67d8105 249 send_packet(1, 0);
vazbyte 38:7035f67d8105 250 } else {
vazbyte 38:7035f67d8105 251 enqueue_packet(1, current_time, packet_queue);
vazbyte 43:037b59837599 252 printf("enqueued direction %i\n", packet_queue[packet_queue_index-2]);
vazbyte 43:037b59837599 253 printf("enqueued time %i\n", packet_queue[packet_queue_index-1]);
vazbyte 38:7035f67d8105 254 }
vazbyte 29:6ba8491c1dab 255 countdown2_triggered = false;
vazbyte 29:6ba8491c1dab 256 }
vazbyte 34:1d3818f8c1a1 257 range1_just_triggered = true;
vazbyte 24:931eeb8a70fc 258 }
vazbyte 24:931eeb8a70fc 259 else {
vazbyte 24:931eeb8a70fc 260 led1 = 1;
vazbyte 34:1d3818f8c1a1 261 range1_just_triggered = false;
vazbyte 24:931eeb8a70fc 262 }
vazbyte 24:931eeb8a70fc 263 } else {
vazbyte 24:931eeb8a70fc 264 led1 = 1;
vazbyte 34:1d3818f8c1a1 265 range2_just_triggered = false;
vazbyte 24:931eeb8a70fc 266 }
vazbyte 24:931eeb8a70fc 267 if (status2 == VL53L0X_ERROR_NONE) {
vazbyte 29:6ba8491c1dab 268 if (dist2 > DIST_MIN && dist2 < DIST_MAX) {
vazbyte 27:903ec28ea7a0 269 led2 = 0;
vazbyte 41:42bc4dd59417 270 // printf("Range2 [mm]: %6ld\r\n", dist2);
vazbyte 29:6ba8491c1dab 271 if (!countdown1_triggered && !countdown2_triggered) {
vazbyte 29:6ba8491c1dab 272 countdown2_triggered = true;
vazbyte 29:6ba8491c1dab 273 countdown = cw;
vazbyte 34:1d3818f8c1a1 274 } else if (countdown1_triggered && !range2_just_triggered) {
vazbyte 42:f28240f996dd 275 // printf("STEP OUT DETECTED\n");
vazbyte 38:7035f67d8105 276 if (master_connected) {
vazbyte 39:067ba1a475a5 277 send_packet(0, 0);
vazbyte 38:7035f67d8105 278 } else {
vazbyte 39:067ba1a475a5 279 enqueue_packet(0, current_time, packet_queue);
vazbyte 43:037b59837599 280 printf("enqueued direction %i\n", packet_queue[packet_queue_index-2]);
vazbyte 43:037b59837599 281 printf("enqueued time %i\n", packet_queue[packet_queue_index-1]);
vazbyte 38:7035f67d8105 282 }
vazbyte 29:6ba8491c1dab 283 countdown1_triggered = false;
vazbyte 29:6ba8491c1dab 284 }
vazbyte 34:1d3818f8c1a1 285
vazbyte 34:1d3818f8c1a1 286 range2_just_triggered = true;
vazbyte 34:1d3818f8c1a1 287 }
vazbyte 34:1d3818f8c1a1 288 else {
vazbyte 34:1d3818f8c1a1 289 led2 = 1;
vazbyte 34:1d3818f8c1a1 290 range2_just_triggered = false;
vazbyte 27:903ec28ea7a0 291 }
vazbyte 24:931eeb8a70fc 292 } else {
vazbyte 24:931eeb8a70fc 293 led2 = 1;
vazbyte 34:1d3818f8c1a1 294 range2_just_triggered = false;
vazbyte 24:931eeb8a70fc 295 }
vazbyte 23:52e8e05df60c 296 }
vazbyte 31:d1ceadbc6c44 297
andresag 22:406127954d1f 298 int main(void)
andresag 22:406127954d1f 299 {
vazbyte 24:931eeb8a70fc 300 range1.init_sensor(range1_addr);
vazbyte 24:931eeb8a70fc 301 range2.init_sensor(range2_addr);
vazbyte 24:931eeb8a70fc 302
andresag 22:406127954d1f 303 BLE& ble = BLE::Instance(BLE::DEFAULT_INSTANCE);
andresag 22:406127954d1f 304 ble.init(bleInitComplete);
andresag 22:406127954d1f 305
vazbyte 23:52e8e05df60c 306 Ticker ticker;
vazbyte 31:d1ceadbc6c44 307 ticker.attach(wakeup_event_cb, 0.1 * TIME_SCALE);
vazbyte 24:931eeb8a70fc 308
vazbyte 23:52e8e05df60c 309 while (ble.hasInitialized()) {
vazbyte 24:931eeb8a70fc 310 ble.waitForEvent();
mbedAustin 2:e84c13abc479 311 }
andresag 20:fcc752d401ec 312 }