TheRobotStudio ROSA / Mbed 2 deprecated trs_master

Code for the mbed NXP LPC1768. To be used on The Robot Studio Master Boards. License : Simplified BSD.

Dependencies:   MODSERIAL mbed

main.cpp@2:201618ffa295, 2013-03-06 (annotated)

Committer:
rrknight
Date:
Wed Mar 06 14:33:01 2013 +0000
Revision:
2:201618ffa295
Parent:
1:95d85c81bb11
Child:
3:af892e4bf53e
Working for 15msg packets

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rrknight 0:369222671f3c 1 #include"mbed.h"
rrknight 0:369222671f3c 2
rrknight 0:369222671f3c 3 #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 512
rrknight 0:369222671f3c 4 #define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 1024
rrknight 0:369222671f3c 5 #include "MODSERIAL.h"
rrknight 0:369222671f3c 6
rrknight 0:369222671f3c 7 //Define
rrknight 0:369222671f3c 8 #define NUMBER_MAX_EPOS2_PER_SLAVE 15
rrknight 0:369222671f3c 9 #define NUMBER_MSG_PER_PACKET 15
rrknight 0:369222671f3c 10 #define NUMBER_BYTES_PER_MSG 7
rrknight 0:369222671f3c 11 #define NUMBER_SLAVE_BOARDS 3
rrknight 2:201618ffa295 12 #define FIRST_NODE_ID_SLAVE_1 1
rrknight 2:201618ffa295 13 #define FIRST_NODE_ID_SLAVE_2 FIRST_NODE_ID_SLAVE_1 + NUMBER_MAX_EPOS2_PER_SLAVE
rrknight 2:201618ffa295 14 #define FIRST_NODE_ID_SLAVE_3 FIRST_NODE_ID_SLAVE_2 + NUMBER_MAX_EPOS2_PER_SLAVE
rrknight 0:369222671f3c 15 #define EPOS2_OK 0
rrknight 0:369222671f3c 16 #define EPOS2_ERROR -1
rrknight 0:369222671f3c 17 #define LOOP_PERIOD_TIME 20000 //20 ms
rrknight 0:369222671f3c 18
rrknight 0:369222671f3c 19 //SPI RxTx FIFO bits
rrknight 0:369222671f3c 20 #define TNF 0x02
rrknight 0:369222671f3c 21 #define TFE 0x01
rrknight 0:369222671f3c 22 #define RNE 0x04
rrknight 0:369222671f3c 23
rrknight 2:201618ffa295 24 #define OPEN_ARROW 0x3C //< = 60
rrknight 1:95d85c81bb11 25 #define CLOSE_ARROW 0x3E //< = 62
rrknight 1:95d85c81bb11 26 #define NUMBER_OF_ARROWS 5
rrknight 1:95d85c81bb11 27
rrknight 0:369222671f3c 28 MODSERIAL ros(p28, p27, 1024, 512); // tx, rx
rrknight 0:369222671f3c 29 Serial pc(USBTX, USBRX); //terminal for debug
rrknight 0:369222671f3c 30 DigitalOut ledchain[] = {(LED1), (LED2), (LED3), (LED4)}; //used for debugging
rrknight 0:369222671f3c 31 DigitalOut logicPin(p26); //to record with Logic analyser on an event, pin high.
rrknight 0:369222671f3c 32
rrknight 2:201618ffa295 33 SPI spi(p5, p6, p7); // mosi, miso, sclk
rrknight 2:201618ffa295 34 DigitalOut cs[NUMBER_SLAVE_BOARDS] = {(p8), (p9), (p10)}; //Slave Mbed number 1 //chip select
rrknight 2:201618ffa295 35 DigitalOut sync_slave[NUMBER_SLAVE_BOARDS] = {(p25), (p24), (p23)}; //test to sync the slave
rrknight 2:201618ffa295 36
rrknight 0:369222671f3c 37 char* readBufferSerial; //[NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer of packets read by the master (written by the ros node on pc side)
rrknight 0:369222671f3c 38 uint8_t writeBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer ready to be sent over SPI to different slaves
rrknight 0:369222671f3c 39 uint8_t readBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer read by the master on SPI bus
rrknight 0:369222671f3c 40
rrknight 0:369222671f3c 41 Timer timer;
rrknight 0:369222671f3c 42 uint64_t begin, end;
rrknight 0:369222671f3c 43 uint8_t numberCmds[NUMBER_SLAVE_BOARDS];
rrknight 0:369222671f3c 44
rrknight 0:369222671f3c 45 bool newCmd_detected = false;
rrknight 0:369222671f3c 46 uint8_t nbArrows = 0;
rrknight 0:369222671f3c 47
rrknight 0:369222671f3c 48 char rByte = 0x00;
rrknight 2:201618ffa295 49 char checksum = 0x00;
rrknight 1:95d85c81bb11 50
rrknight 1:95d85c81bb11 51 bool fiveArrowsFound = false;
rrknight 1:95d85c81bb11 52 bool msgValid = false;
rrknight 1:95d85c81bb11 53
rrknight 1:95d85c81bb11 54 int move(char *s, int nbBytes) //custom move function (cp from MODESERIAL without the end character)
rrknight 1:95d85c81bb11 55 {
rrknight 1:95d85c81bb11 56 int counter = 0;
rrknight 1:95d85c81bb11 57 char c;
rrknight 2:201618ffa295 58
rrknight 2:201618ffa295 59 while(ros.readable())
rrknight 2:201618ffa295 60 {
rrknight 1:95d85c81bb11 61 c = ros.getc();
rrknight 1:95d85c81bb11 62 *(s++) = c;
rrknight 1:95d85c81bb11 63 counter++;
rrknight 2:201618ffa295 64 if(counter == nbBytes) break;
rrknight 1:95d85c81bb11 65 }
rrknight 2:201618ffa295 66
rrknight 1:95d85c81bb11 67 return counter;
rrknight 1:95d85c81bb11 68 }
rrknight 1:95d85c81bb11 69
rrknight 1:95d85c81bb11 70 bool verifyChecksum(char* data, int length, char checksum)
rrknight 1:95d85c81bb11 71 {
rrknight 1:95d85c81bb11 72 for(int i=0; i<length; i++)
rrknight 1:95d85c81bb11 73 {
rrknight 1:95d85c81bb11 74 checksum += data[i];
rrknight 1:95d85c81bb11 75 }
rrknight 1:95d85c81bb11 76
rrknight 1:95d85c81bb11 77 checksum++; //add 1 to obtain 0x00
rrknight 1:95d85c81bb11 78
rrknight 1:95d85c81bb11 79 if(checksum == 0x00) return true;
rrknight 1:95d85c81bb11 80 else return false;
rrknight 1:95d85c81bb11 81 }
rrknight 0:369222671f3c 82
rrknight 0:369222671f3c 83 // Called everytime a new character goes into
rrknight 0:369222671f3c 84 // the RX buffer. Test that character for '/'
rrknight 0:369222671f3c 85 // Note, rxGetLastChar() gets the last char that
rrknight 0:369222671f3c 86 // we received but it does NOT remove it from
rrknight 0:369222671f3c 87 // the RX buffer.
rrknight 0:369222671f3c 88 void rxCallback(MODSERIAL_IRQ_INFO *q)
rrknight 0:369222671f3c 89 {
rrknight 0:369222671f3c 90 logicPin = 1;
rrknight 0:369222671f3c 91
rrknight 2:201618ffa295 92 MODSERIAL *serial = q->serial;
rrknight 0:369222671f3c 93 rByte = serial->rxGetLastChar();
rrknight 0:369222671f3c 94
rrknight 1:95d85c81bb11 95 if(!fiveArrowsFound)
rrknight 0:369222671f3c 96 {
rrknight 1:95d85c81bb11 97 if(nbArrows < NUMBER_OF_ARROWS)
rrknight 1:95d85c81bb11 98 {
rrknight 1:95d85c81bb11 99 if(rByte == CLOSE_ARROW)
rrknight 1:95d85c81bb11 100 {
rrknight 1:95d85c81bb11 101 nbArrows++;
rrknight 1:95d85c81bb11 102 }
rrknight 2:201618ffa295 103
rrknight 1:95d85c81bb11 104 if((nbArrows > 0) && (rByte != CLOSE_ARROW))
rrknight 1:95d85c81bb11 105 {
rrknight 1:95d85c81bb11 106 nbArrows = 0; //reset in case the previous arrows was data.
rrknight 1:95d85c81bb11 107 }
rrknight 1:95d85c81bb11 108
rrknight 1:95d85c81bb11 109 if(nbArrows == NUMBER_OF_ARROWS)
rrknight 1:95d85c81bb11 110 {
rrknight 1:95d85c81bb11 111 fiveArrowsFound = true;
rrknight 1:95d85c81bb11 112 }
rrknight 0:369222671f3c 113 }
rrknight 1:95d85c81bb11 114 }
rrknight 1:95d85c81bb11 115 else //fiveArrowsFound, so rByte is the checksum
rrknight 1:95d85c81bb11 116 {
rrknight 1:95d85c81bb11 117 move(readBufferSerial, NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG);
rrknight 1:95d85c81bb11 118 //pc.printf("r cs 0x%02X\n", rByte);
rrknight 1:95d85c81bb11 119 //pc.printf("move %02X %02X %02X %02X %02X %02X %02X \n", readBufferSerial[0], readBufferSerial[1], readBufferSerial[2], readBufferSerial[3], readBufferSerial[4], readBufferSerial[5], readBufferSerial[6]);
rrknight 0:369222671f3c 120
rrknight 2:201618ffa295 121 msgValid = verifyChecksum(readBufferSerial, NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG, rByte);
rrknight 2:201618ffa295 122 if(msgValid) pc.printf("msgValid\n\r");
rrknight 1:95d85c81bb11 123
rrknight 1:95d85c81bb11 124 //reset
rrknight 1:95d85c81bb11 125 serial->rxBufferFlush();
rrknight 1:95d85c81bb11 126 nbArrows = 0;
rrknight 1:95d85c81bb11 127 fiveArrowsFound = false;
rrknight 1:95d85c81bb11 128 }
rrknight 1:95d85c81bb11 129
rrknight 0:369222671f3c 130 logicPin = 0;
rrknight 0:369222671f3c 131 }
rrknight 0:369222671f3c 132
rrknight 0:369222671f3c 133 int main()
rrknight 0:369222671f3c 134 {
rrknight 2:201618ffa295 135 //Deselect all mbed slaves
rrknight 2:201618ffa295 136 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 2:201618ffa295 137 {
rrknight 2:201618ffa295 138 cs[k] = 1;
rrknight 2:201618ffa295 139 sync_slave[k] = 0;
rrknight 2:201618ffa295 140 }
rrknight 2:201618ffa295 141
rrknight 0:369222671f3c 142 ros.baud(460800); //460800 works //921600 don't
rrknight 0:369222671f3c 143 pc.baud(115200);
rrknight 0:369222671f3c 144
rrknight 2:201618ffa295 145 // Setup the spi for 8 bit data, high steady state clock,
rrknight 2:201618ffa295 146 // second edge capture, with a 1MHz clock rate
rrknight 2:201618ffa295 147 spi.format(8, 0); //spi.format(8,3);
rrknight 2:201618ffa295 148 spi.frequency(1000000); //32000000
rrknight 2:201618ffa295 149
rrknight 2:201618ffa295 150 //init the SPI arrays
rrknight 2:201618ffa295 151 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 152 {
rrknight 2:201618ffa295 153 for(int j=0; j<NUMBER_MSG_PER_PACKET; j++)
rrknight 2:201618ffa295 154 {
rrknight 2:201618ffa295 155 for(int k=0; k<NUMBER_BYTES_PER_MSG; k++)
rrknight 2:201618ffa295 156 {
rrknight 2:201618ffa295 157 writeBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 158 readBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 159 }
rrknight 2:201618ffa295 160 }
rrknight 2:201618ffa295 161 }
rrknight 0:369222671f3c 162
rrknight 0:369222671f3c 163 //init alloc
rrknight 0:369222671f3c 164 readBufferSerial = (char*)malloc(NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG*sizeof(char*));
rrknight 0:369222671f3c 165
rrknight 2:201618ffa295 166 //uint8_t my_val;
rrknight 2:201618ffa295 167
rrknight 0:369222671f3c 168 ros.attach(&rxCallback, MODSERIAL::RxIrq);
rrknight 0:369222671f3c 169
rrknight 0:369222671f3c 170 pc.printf("*** Start Master Main ***\n\r");
rrknight 0:369222671f3c 171
rrknight 0:369222671f3c 172 logicPin = 0;
rrknight 0:369222671f3c 173
rrknight 2:201618ffa295 174 // Wait here until we detect a valid message in the serial RX buffer.
rrknight 1:95d85c81bb11 175 while(1)
rrknight 1:95d85c81bb11 176 {
rrknight 2:201618ffa295 177 if(msgValid) //pass it to the SPI bus
rrknight 2:201618ffa295 178 {
rrknight 2:201618ffa295 179 //init the SPI arrays
rrknight 2:201618ffa295 180 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 181 {
rrknight 2:201618ffa295 182 for(int j=0; j<NUMBER_MSG_PER_PACKET; j++)
rrknight 2:201618ffa295 183 {
rrknight 2:201618ffa295 184 for(int k=0; k<NUMBER_BYTES_PER_MSG; k++)
rrknight 2:201618ffa295 185 {
rrknight 2:201618ffa295 186 writeBufferSPI[i][j][k] = 0x00; //mode 0 for null command
rrknight 2:201618ffa295 187 readBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 188 }
rrknight 2:201618ffa295 189 }
rrknight 2:201618ffa295 190 }
rrknight 2:201618ffa295 191
rrknight 2:201618ffa295 192 //init nb cmds per slave
rrknight 2:201618ffa295 193 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 194 {
rrknight 2:201618ffa295 195 numberCmds[i] = 0;
rrknight 2:201618ffa295 196 }
rrknight 2:201618ffa295 197
rrknight 2:201618ffa295 198
rrknight 2:201618ffa295 199 //sort messages for each slave
rrknight 2:201618ffa295 200 for(int i=0; i<NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG; i+=NUMBER_BYTES_PER_MSG)
rrknight 2:201618ffa295 201 {
rrknight 2:201618ffa295 202 uint8_t nodeID = readBufferSerial[i];
rrknight 2:201618ffa295 203
rrknight 2:201618ffa295 204 if(nodeID>=FIRST_NODE_ID_SLAVE_1 && nodeID<FIRST_NODE_ID_SLAVE_2) //slave 1
rrknight 2:201618ffa295 205 {
rrknight 2:201618ffa295 206 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 207 {
rrknight 2:201618ffa295 208 writeBufferSPI[0][i/NUMBER_BYTES_PER_MSG][j] = readBufferSerial[i+j];
rrknight 2:201618ffa295 209 }
rrknight 2:201618ffa295 210 numberCmds[0]++;
rrknight 2:201618ffa295 211 }
rrknight 2:201618ffa295 212 else if(nodeID>=FIRST_NODE_ID_SLAVE_2 && nodeID<FIRST_NODE_ID_SLAVE_3) //slave 2
rrknight 2:201618ffa295 213 {
rrknight 2:201618ffa295 214 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 215 {
rrknight 2:201618ffa295 216 writeBufferSPI[0][i/NUMBER_BYTES_PER_MSG][j] = readBufferSerial[i+j];
rrknight 2:201618ffa295 217 }
rrknight 2:201618ffa295 218 numberCmds[1]++;
rrknight 2:201618ffa295 219 }
rrknight 2:201618ffa295 220 else if(nodeID>=FIRST_NODE_ID_SLAVE_3) //slave 3
rrknight 2:201618ffa295 221 {
rrknight 2:201618ffa295 222 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 223 {
rrknight 2:201618ffa295 224 writeBufferSPI[0][i/NUMBER_BYTES_PER_MSG][j] = readBufferSerial[i+j];
rrknight 2:201618ffa295 225 }
rrknight 2:201618ffa295 226 numberCmds[2]++;
rrknight 2:201618ffa295 227 }
rrknight 2:201618ffa295 228 }
rrknight 2:201618ffa295 229
rrknight 2:201618ffa295 230 pc.printf("nbCmd %d %d %d\n", numberCmds[0], numberCmds[1], numberCmds[2]);
rrknight 2:201618ffa295 231 //pc.printf("1st Cmd %02X %02X %02X %02X %02X %02X %02X\n", writeBufferSPI[0][0][0], writeBufferSPI[0][0][1], writeBufferSPI[0][0][2], writeBufferSPI[0][0][3], writeBufferSPI[0][0][4], writeBufferSPI[0][0][5], writeBufferSPI[0][0][6]);
rrknight 2:201618ffa295 232
rrknight 2:201618ffa295 233 //new commands has been grabbed and are ready to be sent to slaves
rrknight 2:201618ffa295 234
rrknight 2:201618ffa295 235 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++) //NUMBER_SLAVE_BOARDS for each slave
rrknight 2:201618ffa295 236 {
rrknight 2:201618ffa295 237 sync_slave[k] = 1;
rrknight 2:201618ffa295 238 wait_us(10); //pause so the slave can see it's been selected //TODO array with the other slaves
rrknight 2:201618ffa295 239 sync_slave[k] = 0;
rrknight 2:201618ffa295 240
rrknight 2:201618ffa295 241 cs[k] = 0;
rrknight 2:201618ffa295 242 //while (!(LPC_SSP1->SR & TNF));
rrknight 2:201618ffa295 243 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 244 //while (!(LPC_SSP1->SR & TFE));
rrknight 2:201618ffa295 245 wait_us(5);
rrknight 2:201618ffa295 246 cs[k] = 1;
rrknight 2:201618ffa295 247 wait_us(10); //wait_us(10);
rrknight 2:201618ffa295 248
rrknight 2:201618ffa295 249 cs[k] = 0;
rrknight 2:201618ffa295 250 //while (!(LPC_SSP1->SR & TNF));
rrknight 2:201618ffa295 251 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 252 // while (!(LPC_SSP1->SR & TFE));
rrknight 2:201618ffa295 253 wait_us(5);
rrknight 2:201618ffa295 254 cs[k] = 1;
rrknight 2:201618ffa295 255 wait_us(10);
rrknight 2:201618ffa295 256
rrknight 2:201618ffa295 257 cs[k] = 0;
rrknight 2:201618ffa295 258 //while (!(LPC_SSP1->SR & TNF));
rrknight 2:201618ffa295 259 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 260 //while (!(LPC_SSP1->SR & TFE)); //MAYBE REMOVE COMMENT ?
rrknight 2:201618ffa295 261 wait_us(5);
rrknight 2:201618ffa295 262 cs[k] = 1;
rrknight 2:201618ffa295 263 wait_us(10);
rrknight 2:201618ffa295 264
rrknight 2:201618ffa295 265 for(int i=0; i<NUMBER_MSG_PER_PACKET; i++)
rrknight 2:201618ffa295 266 {
rrknight 2:201618ffa295 267 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 268 {
rrknight 2:201618ffa295 269 cs[k] = 0;
rrknight 2:201618ffa295 270 //while (!(LPC_SSP1->SR & TNF));
rrknight 2:201618ffa295 271 readBufferSPI[k][i][j] = (char)(spi.write(writeBufferSPI[k][i][j]));
rrknight 2:201618ffa295 272 //while (!(LPC_SSP1->SR & TFE));
rrknight 2:201618ffa295 273 wait_us(5);
rrknight 2:201618ffa295 274 cs[k] = 1;
rrknight 2:201618ffa295 275 wait_us(10);
rrknight 2:201618ffa295 276 }
rrknight 2:201618ffa295 277 }
rrknight 2:201618ffa295 278 }
rrknight 2:201618ffa295 279
rrknight 2:201618ffa295 280 logicPin = 0;
rrknight 2:201618ffa295 281 wait_us(10);
rrknight 2:201618ffa295 282 logicPin = 1;
rrknight 2:201618ffa295 283 wait_us(10);
rrknight 2:201618ffa295 284 //print the array :
rrknight 2:201618ffa295 285 /*
rrknight 2:201618ffa295 286 for(int i=0; i<2; i++)
rrknight 2:201618ffa295 287 {
rrknight 2:201618ffa295 288 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n\r", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 289 }
rrknight 2:201618ffa295 290 */
rrknight 2:201618ffa295 291 /* int i=0;
rrknight 2:201618ffa295 292 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 293 i=14;
rrknight 2:201618ffa295 294 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n\r", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 295
rrknight 2:201618ffa295 296 //pc.printf("\n\r");
rrknight 2:201618ffa295 297 logicPin = 0;
rrknight 2:201618ffa295 298
rrknight 2:201618ffa295 299 //build the motorDataSet_msg
rrknight 2:201618ffa295 300 for(int i=0; i<13; i++)
rrknight 2:201618ffa295 301 {
rrknight 2:201618ffa295 302 motorDataSet_msg.motorData[i].encPosition = 100*i;
rrknight 2:201618ffa295 303 motorDataSet_msg.motorData[i].potiPosition = 10*i;
rrknight 2:201618ffa295 304 motorDataSet_msg.motorData[i].current = -10*i;
rrknight 2:201618ffa295 305 motorDataSet_msg.motorData[i].force = 2*i;
rrknight 2:201618ffa295 306 }
rrknight 2:201618ffa295 307 */
rrknight 2:201618ffa295 308 //TODO write the data msg on serial Tx
rrknight 2:201618ffa295 309 logicPin = 0;
rrknight 2:201618ffa295 310
rrknight 2:201618ffa295 311 msgValid = false; //toggle flag for next message
rrknight 2:201618ffa295 312
rrknight 1:95d85c81bb11 313 }
rrknight 1:95d85c81bb11 314
rrknight 2:201618ffa295 315 wait_us(10);
rrknight 2:201618ffa295 316 }
rrknight 0:369222671f3c 317 }