Dmitry Kovalev / Mbed 2 deprecated LGstaandart

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Dependencies:   mbed

Fork of LG2 by Dmitry Kovalev

MTimer.c@227:2774b56bfab0, 2018-01-05 (annotated)

Committer:
Kovalev_D
Date:
Fri Jan 05 08:14:38 2018 +0000
Revision:
227:2774b56bfab0
Parent:
226:4a4d5bd5fcd7 
05.01.2018

Who changed what in which revision?

UserRevisionLine numberNew contents of line
igor_v 0:8ad47e2b6f00 1 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 2 #include "LPC17xx.h"
igor_v 0:8ad47e2b6f00 3 #include "MTimer.h"
igor_v 0:8ad47e2b6f00 4 #include "vibro.h"
igor_v 0:8ad47e2b6f00 5 #include "QEI.h"
igor_v 0:8ad47e2b6f00 6 #include "Global.h"
igor_v 0:8ad47e2b6f00 7 #include "SPI.h"
igor_v 0:8ad47e2b6f00 8 #include "InputOutput.h"
Kovalev_D 112:4a96133a1311 9
Kovalev_D 197:7a05523bf588 10 unsigned int CountV64=0;
igor_v 0:8ad47e2b6f00 11 unsigned int CountV31=0;
Kovalev_D 197:7a05523bf588 12 unsigned int CountV255=0;
Kovalev_D 215:b58b887fd367 13 unsigned int CountV511=0;
Kovalev_D 209:224e7331a061 14 unsigned int f,MODCount=0;
Kovalev_D 124:9ae09249f842 15 int loop=0;
Kovalev_D 208:19150d2b528f 16 int t;
Kovalev_D 88:b5c1d9d338d1 17 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 18 /////////////////////EVENT///////////////////////////
Kovalev_D 88:b5c1d9d338d1 19 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 20 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 21 ///////////////////// 1250Hz ///////////////////////////
Kovalev_D 214:4c70e452c491 22 /////////////////////////////////////////////////////
Kovalev_D 214:4c70e452c491 23 void Event_1250Hz(void)// событие раз в 1,25 КГц
Kovalev_D 214:4c70e452c491 24 {
Kovalev_D 214:4c70e452c491 25 if(Event1250Hz)
Kovalev_D 214:4c70e452c491 26 {
Kovalev_D 214:4c70e452c491 27 Gyro.EvenRate7=1;
Kovalev_D 215:b58b887fd367 28
Kovalev_D 214:4c70e452c491 29 Event1250Hz--;
Kovalev_D 215:b58b887fd367 30
Kovalev_D 214:4c70e452c491 31 }
Kovalev_D 214:4c70e452c491 32 }
Kovalev_D 222:7de7b3bf3a1d 33
Kovalev_D 222:7de7b3bf3a1d 34
Kovalev_D 222:7de7b3bf3a1d 35
Kovalev_D 222:7de7b3bf3a1d 36
Kovalev_D 222:7de7b3bf3a1d 37 void JumpMod(void)
Kovalev_D 222:7de7b3bf3a1d 38 {
Kovalev_D 222:7de7b3bf3a1d 39 static int JumpFlag=0;
Kovalev_D 222:7de7b3bf3a1d 40 switch(JumpFlag) {
Kovalev_D 222:7de7b3bf3a1d 41 case 0:
Kovalev_D 222:7de7b3bf3a1d 42 Spi.DAC_B-=Gyro.JumpDelta;
Kovalev_D 222:7de7b3bf3a1d 43 JumpFlag=1;
Kovalev_D 222:7de7b3bf3a1d 44 break;
Kovalev_D 222:7de7b3bf3a1d 45 case 1:
Kovalev_D 222:7de7b3bf3a1d 46 Spi.DAC_B+=Gyro.JumpDelta;
Kovalev_D 222:7de7b3bf3a1d 47 JumpFlag=0;
Kovalev_D 222:7de7b3bf3a1d 48 break;
Kovalev_D 222:7de7b3bf3a1d 49 }
Kovalev_D 222:7de7b3bf3a1d 50
Kovalev_D 222:7de7b3bf3a1d 51 }
Kovalev_D 222:7de7b3bf3a1d 52
Kovalev_D 222:7de7b3bf3a1d 53
Kovalev_D 214:4c70e452c491 54 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 55 ///////////////////// 1Hz ///////////////////////////
Kovalev_D 89:a0d344db227e 56 /////////////////////////////////////////////////////
Kovalev_D 222:7de7b3bf3a1d 57
Kovalev_D 88:b5c1d9d338d1 58 void Event_1Hz(void)// событие раз в 1 Гц
Kovalev_D 222:7de7b3bf3a1d 59 {
Kovalev_D 222:7de7b3bf3a1d 60 static int tempdac=0,tempdac1,JumpTimer=0;
Kovalev_D 115:e5a230e5af52 61 if (Event1Hz)
Kovalev_D 222:7de7b3bf3a1d 62 {
Kovalev_D 226:4a4d5bd5fcd7 63
Kovalev_D 227:2774b56bfab0 64
Kovalev_D 226:4a4d5bd5fcd7 65
Kovalev_D 222:7de7b3bf3a1d 66 if(Gyro.RgConA&0x4) JumpTimer=0;
Kovalev_D 222:7de7b3bf3a1d 67 else
Kovalev_D 222:7de7b3bf3a1d 68 {
Kovalev_D 222:7de7b3bf3a1d 69 /*sprintf((Time),"%d %d\r\n",Gyro.RgConA,JumpTimer);
Kovalev_D 222:7de7b3bf3a1d 70 WriteCon(Time);*/
Kovalev_D 222:7de7b3bf3a1d 71 JumpTimer++;
Kovalev_D 222:7de7b3bf3a1d 72 if(JumpTimer>(Gyro.TimeToJump-1))
Kovalev_D 222:7de7b3bf3a1d 73 {
Kovalev_D 225:f8fee6c586cc 74 Gyro.PLCDelay = GyroP.Str.PLCDelay;
Kovalev_D 222:7de7b3bf3a1d 75 JumpMod();
Kovalev_D 222:7de7b3bf3a1d 76 JumpTimer=0;
Kovalev_D 222:7de7b3bf3a1d 77 }
Kovalev_D 222:7de7b3bf3a1d 78 }
Kovalev_D 222:7de7b3bf3a1d 79
Kovalev_D 222:7de7b3bf3a1d 80
Kovalev_D 222:7de7b3bf3a1d 81
Kovalev_D 208:19150d2b528f 82 Discharg();
Kovalev_D 208:19150d2b528f 83 BackLight();
Kovalev_D 208:19150d2b528f 84 Gyro.Rate1_Event = 1;
Kovalev_D 208:19150d2b528f 85 Event1Hz--;
Kovalev_D 208:19150d2b528f 86 Time1Hz++;
Kovalev_D 227:2774b56bfab0 87 sprintf((Time),"%d \r\n",GyroP.Str.GLD_Serial );
Kovalev_D 227:2774b56bfab0 88 WriteCon(Time);
Kovalev_D 222:7de7b3bf3a1d 89 }
Kovalev_D 88:b5c1d9d338d1 90 }
Kovalev_D 222:7de7b3bf3a1d 91
Kovalev_D 89:a0d344db227e 92 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 93 ///////////////////// 1kHz //////////////////////////
Kovalev_D 197:7a05523bf588 94 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 95 void Event_1KHz(void)// событие раз в 1 кГц
Kovalev_D 214:4c70e452c491 96 { if (Event1K)
Kovalev_D 116:66f1f0ff2dab 97 {
Kovalev_D 214:4c70e452c491 98 if(Gyro.PLCDelay) Gyro.PLCDelay--;
Kovalev_D 88:b5c1d9d338d1 99 Event1K --;
Kovalev_D 215:b58b887fd367 100
Kovalev_D 116:66f1f0ff2dab 101 Time1K++;//первый ++ работает каждые 125 (event100kHz)второй был в 100 кГц
Kovalev_D 209:224e7331a061 102 if (Time1K > 1000)
Kovalev_D 115:e5a230e5af52 103 {
Kovalev_D 208:19150d2b528f 104 Time1K -=1000;
Kovalev_D 88:b5c1d9d338d1 105 Event1Hz ++;
Kovalev_D 88:b5c1d9d338d1 106 }
Kovalev_D 209:224e7331a061 107
Kovalev_D 214:4c70e452c491 108 }
Kovalev_D 88:b5c1d9d338d1 109 }
Kovalev_D 209:224e7331a061 110
Kovalev_D 222:7de7b3bf3a1d 111 void Event_5KHz(void)// событие раз в 5 кГц
Kovalev_D 218:b4067cac75c0 112 {
Kovalev_D 218:b4067cac75c0 113 int temp=0;
Kovalev_D 222:7de7b3bf3a1d 114 if (Event5K)
Kovalev_D 222:7de7b3bf3a1d 115 {
Kovalev_D 222:7de7b3bf3a1d 116 Gyro.EvenRate5K++;
Kovalev_D 222:7de7b3bf3a1d 117 Event5K --;
Kovalev_D 209:224e7331a061 118 }
Kovalev_D 209:224e7331a061 119 }
Kovalev_D 124:9ae09249f842 120 void Event_500Hz(void)// событие раз в 500 Гц
Kovalev_D 124:9ae09249f842 121 {
Kovalev_D 124:9ae09249f842 122 if(Event500Hz)
Kovalev_D 225:f8fee6c586cc 123 {
Kovalev_D 225:f8fee6c586cc 124 if(Gyro.Debag2)
Kovalev_D 225:f8fee6c586cc 125 {
Kovalev_D 227:2774b56bfab0 126 sprintf((Time),"%d %d %d\r\n", (0xffff-Spi.DAC_A), ((Spi.DAC_B-0x7fff)&0xffff), BuffADC_128Point[CountV64]);
Kovalev_D 225:f8fee6c586cc 127 WriteCon(Time);
Kovalev_D 227:2774b56bfab0 128
Kovalev_D 225:f8fee6c586cc 129 }
Kovalev_D 205:775d54fdf646 130 Event500Hz--;
Kovalev_D 208:19150d2b528f 131 Gyro.Event_500Hz=1;// Event 500Гц выдачи данных для постройки графика управления вибро
Kovalev_D 197:7a05523bf588 132 }
Kovalev_D 197:7a05523bf588 133 }
Kovalev_D 209:224e7331a061 134 void Event_250Hz(void)
Kovalev_D 209:224e7331a061 135 {
Kovalev_D 209:224e7331a061 136 if(Event250Hz)
Kovalev_D 209:224e7331a061 137 {
Kovalev_D 218:b4067cac75c0 138
Kovalev_D 209:224e7331a061 139 // Gyro.CuruAngle=0;
Kovalev_D 209:224e7331a061 140 Event250Hz--;
Kovalev_D 209:224e7331a061 141 MODCount++;
Kovalev_D 209:224e7331a061 142 }
Kovalev_D 209:224e7331a061 143 }
Kovalev_D 89:a0d344db227e 144 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 145 ///////////////////// 100kHz //////////////////////////
Kovalev_D 89:a0d344db227e 146 /////////////////////////////////////////////////////
Kovalev_D 193:a0fe8bfc97e4 147 void Event_100KHz(void)// событие раз в 100 кГц
Kovalev_D 88:b5c1d9d338d1 148 {
Kovalev_D 162:44e4ded32c6a 149
Kovalev_D 88:b5c1d9d338d1 150 if (Event100K) {
Kovalev_D 197:7a05523bf588 151
Kovalev_D 88:b5c1d9d338d1 152 Event100K --;
Kovalev_D 197:7a05523bf588 153
Kovalev_D 124:9ae09249f842 154 if (OutBufCon1Count)OutBufCon1Count--; // обратный отсчет для управления ногой и формирование задержки на выдачу
Kovalev_D 124:9ae09249f842 155
Kovalev_D 124:9ae09249f842 156 PinCheng(); // чтение регистра состояния выводов(вибро, полсветка, поджиг, LED) и управление выводами.
Kovalev_D 88:b5c1d9d338d1 157 }
Kovalev_D 88:b5c1d9d338d1 158 }
Kovalev_D 89:a0d344db227e 159 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 160 //////////////////vibro EVENT////////////////////////
Kovalev_D 89:a0d344db227e 161 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 162 void Event_Vibro(void)// событие от вибр
Kovalev_D 88:b5c1d9d338d1 163 {
Kovalev_D 88:b5c1d9d338d1 164 if (EventVibro) {
Kovalev_D 88:b5c1d9d338d1 165 EventVibro --;
Kovalev_D 88:b5c1d9d338d1 166 }
Kovalev_D 88:b5c1d9d338d1 167 }
Kovalev_D 89:a0d344db227e 168 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 169 /////////////////////////////////////////////////////
Kovalev_D 89:a0d344db227e 170 /////////////////////////////////////////////////////
Kovalev_D 88:b5c1d9d338d1 171
Kovalev_D 88:b5c1d9d338d1 172
Kovalev_D 112:4a96133a1311 173 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 174 ////////////////////////////////////////////////////////TIMER1////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 175 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 176
Kovalev_D 112:4a96133a1311 177 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 178 /////////////////////инициализация таймера 1 /////////////////////////
Kovalev_D 112:4a96133a1311 179 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 180
Kovalev_D 112:4a96133a1311 181 unsigned int Init_TIM1 (unsigned int TimerInterval )
Kovalev_D 112:4a96133a1311 182 {
Kovalev_D 214:4c70e452c491 183 // LPC_SC->PCLKSEL0 |= (1<<4);
Kovalev_D 220:04c54405b82d 184
Kovalev_D 112:4a96133a1311 185 LPC_TIM1->MR0 = TimerInterval;
Kovalev_D 112:4a96133a1311 186 LPC_TIM1->MCR = 3; /* Interrupt and Reset on MR1 */
Kovalev_D 112:4a96133a1311 187 NVIC_EnableIRQ(TIMER1_IRQn);
Kovalev_D 112:4a96133a1311 188 }
Kovalev_D 112:4a96133a1311 189
Kovalev_D 112:4a96133a1311 190
igor_v 0:8ad47e2b6f00 191 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 192 /////////////////////////включение таймера 1//////////////////////////
igor_v 0:8ad47e2b6f00 193 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 194 void enable_timer1( void )
igor_v 21:bc8c1cec3da6 195 {
igor_v 21:bc8c1cec3da6 196 LPC_TIM1->TCR = 1;
igor_v 21:bc8c1cec3da6 197 return;
igor_v 21:bc8c1cec3da6 198 }
igor_v 0:8ad47e2b6f00 199
igor_v 0:8ad47e2b6f00 200
igor_v 0:8ad47e2b6f00 201 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 202 /////////////////////////////////////////////////TIMER2//////////////////////////////////////////////////////////////////////////////////
igor_v 0:8ad47e2b6f00 203 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 204
igor_v 0:8ad47e2b6f00 205 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 206 /////////////////////инициализация таймера 2 /////////////////////////
igor_v 0:8ad47e2b6f00 207 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 208 unsigned int Init_TIM2 (void)
igor_v 21:bc8c1cec3da6 209 {
Kovalev_D 124:9ae09249f842 210 LPC_TIM2->MR0 = 257;
igor_v 21:bc8c1cec3da6 211 LPC_TIM2->MCR = 3; /* Interrupt and Reset on MR0 */
igor_v 21:bc8c1cec3da6 212 NVIC_EnableIRQ(TIMER2_IRQn);
igor_v 21:bc8c1cec3da6 213 return 1;
igor_v 21:bc8c1cec3da6 214 }
igor_v 0:8ad47e2b6f00 215
igor_v 21:bc8c1cec3da6 216 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 217 /////////////////////////включение таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 218 //////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 219 void enable_timer2(void)
igor_v 21:bc8c1cec3da6 220 {
igor_v 21:bc8c1cec3da6 221 LPC_TIM2->TCR = 1;
igor_v 21:bc8c1cec3da6 222 LPC_TIM2->TCR = 0x01;
igor_v 21:bc8c1cec3da6 223 }
igor_v 21:bc8c1cec3da6 224
igor_v 21:bc8c1cec3da6 225
Kovalev_D 112:4a96133a1311 226 //////////////////////////////////////////////////////////////////////
Kovalev_D 112:4a96133a1311 227 /////////////////////////прерывание таймера 1//////////////////////////
Kovalev_D 112:4a96133a1311 228 //////////////////////////////////////////////////////////////////////
Kovalev_D 215:b58b887fd367 229 __irq void TIMER1_IRQHandler (void)//13.27 kHz(vibro*32)
Kovalev_D 205:775d54fdf646 230 {
Kovalev_D 208:19150d2b528f 231
igor_v 114:5cc38a53d8a7 232 ResetCS(ADC); //prepare ADC for sampling
Kovalev_D 112:4a96133a1311 233 SetDAC(DAC);
Kovalev_D 208:19150d2b528f 234 Global_Time++;
igor_v 114:5cc38a53d8a7 235 CountV255++; // инкремент счеттчика
Kovalev_D 215:b58b887fd367 236 CountV511++;
Kovalev_D 164:6f43f85fdd8d 237 CountV255 &= 0xff; // ОБРЕЗАНИЕ СЧЕТЧИКА
Kovalev_D 215:b58b887fd367 238 CountV511 &= 0x1ff;
Kovalev_D 197:7a05523bf588 239 CountV64 = CountV255 & 0x3f;
Kovalev_D 197:7a05523bf588 240 CountV31 = CountV255 & 0x1f; // малый счетчик
Kovalev_D 197:7a05523bf588 241
Kovalev_D 112:4a96133a1311 242 D_QEI(); //чтение данных по счетчику
Kovalev_D 143:2b15794a6cd2 243 cheng(); // выставление флагов в 32 тактном цикле.
Kovalev_D 116:66f1f0ff2dab 244
Kovalev_D 116:66f1f0ff2dab 245
Kovalev_D 116:66f1f0ff2dab 246 SetCS(ADC); //start ADC sampling
Kovalev_D 116:66f1f0ff2dab 247 ResetDAC(DAC);
Kovalev_D 197:7a05523bf588 248 SPI_Exchange(); //Чтение ADC_SPI
igor_v 114:5cc38a53d8a7 249
Kovalev_D 214:4c70e452c491 250 LPC_TIM1->IR = 1;
Kovalev_D 208:19150d2b528f 251
Kovalev_D 112:4a96133a1311 252 }
Kovalev_D 112:4a96133a1311 253
igor_v 21:bc8c1cec3da6 254 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 255 /////////////////////////прерывание таймера 2//////////////////////////
igor_v 21:bc8c1cec3da6 256 ///////////////////////////////////////////////////////////////////////
igor_v 21:bc8c1cec3da6 257 __irq void TIMER2_IRQHandler (void)
Kovalev_D 210:b02fa166315d 258 {
Kovalev_D 213:9953db9543d6 259 /// LoopOn
igor_v 21:bc8c1cec3da6 260 LPC_TIM2->IR = 1;
Kovalev_D 213:9953db9543d6 261 if (Gyro.UARTFlag)
Kovalev_D 213:9953db9543d6 262 {
Kovalev_D 213:9953db9543d6 263 if(Time_UART) Time_UART--;
Kovalev_D 213:9953db9543d6 264 }
Kovalev_D 214:4c70e452c491 265 //
Kovalev_D 214:4c70e452c491 266
igor_v 21:bc8c1cec3da6 267 Time_vibro++;
Kovalev_D 214:4c70e452c491 268 // VibroOut();
Kovalev_D 112:4a96133a1311 269 Gyro.VibroOutF=1;
Kovalev_D 214:4c70e452c491 270 Event100K ++;
Kovalev_D 214:4c70e452c491 271 Time1250Hz++;
Kovalev_D 197:7a05523bf588 272 Time500Hz++;
Kovalev_D 209:224e7331a061 273 Time250Hz++;
Kovalev_D 197:7a05523bf588 274 Time100K++;
Kovalev_D 222:7de7b3bf3a1d 275 Time5K++;
Kovalev_D 209:224e7331a061 276 //Time2K++;
Kovalev_D 205:775d54fdf646 277 // Time250Hz++;
Kovalev_D 214:4c70e452c491 278
Kovalev_D 214:4c70e452c491 279 if (Time1250Hz > 79)
Kovalev_D 214:4c70e452c491 280 {
Kovalev_D 214:4c70e452c491 281 Time1250Hz -= 80;
Kovalev_D 214:4c70e452c491 282 Event1250Hz ++;
Kovalev_D 214:4c70e452c491 283 }
Kovalev_D 197:7a05523bf588 284 if (Time100K == 100)
Kovalev_D 214:4c70e452c491 285 { // LoopOn
Kovalev_D 197:7a05523bf588 286 Time100K = 0;
Kovalev_D 197:7a05523bf588 287 Event1K ++;
Kovalev_D 214:4c70e452c491 288 // LoopOn
Kovalev_D 197:7a05523bf588 289 }
Kovalev_D 209:224e7331a061 290
Kovalev_D 225:f8fee6c586cc 291 if (Time5K > 200000)
Kovalev_D 222:7de7b3bf3a1d 292 { Time5K = 0;
Kovalev_D 225:f8fee6c586cc 293 if(Gyro.Debag)
Kovalev_D 225:f8fee6c586cc 294 {
Kovalev_D 225:f8fee6c586cc 295 for(int q=0; q<64; q++)
Kovalev_D 225:f8fee6c586cc 296 {
Kovalev_D 225:f8fee6c586cc 297 sprintf((Time),"%i \r\n", ModArraySin [q]);
Kovalev_D 225:f8fee6c586cc 298 WriteCon(Time);
Kovalev_D 225:f8fee6c586cc 299 }
Kovalev_D 225:f8fee6c586cc 300 }
Kovalev_D 222:7de7b3bf3a1d 301 Event5K ++;
Kovalev_D 209:224e7331a061 302 }
Kovalev_D 209:224e7331a061 303
Kovalev_D 197:7a05523bf588 304 if (Time500Hz > 200)
Kovalev_D 208:19150d2b528f 305 { // LoopOn
Kovalev_D 197:7a05523bf588 306 Time500Hz -= 200;
Kovalev_D 208:19150d2b528f 307 Event500Hz ++;
Kovalev_D 197:7a05523bf588 308 }
Kovalev_D 209:224e7331a061 309
Kovalev_D 209:224e7331a061 310 if (Time250Hz > 6)
Kovalev_D 209:224e7331a061 311 { // LoopOn
Kovalev_D 209:224e7331a061 312 Time250Hz -= 6;
Kovalev_D 209:224e7331a061 313 Event250Hz ++;
Kovalev_D 209:224e7331a061 314 }
Kovalev_D 210:b02fa166315d 315
Kovalev_D 213:9953db9543d6 316 //LoopOff
igor_v 21:bc8c1cec3da6 317 }