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1 | #ifndef EEMEM |
1 | #ifndef EEMEM |
2 | #define EEMEM __attribute__ ((section (".eeprom"))) |
2 | #define EEMEM __attribute__ ((section (".eeprom"))) |
3 | #endif |
3 | #endif |
4 | 4 | ||
5 | #include "eeprom.h" |
5 | #include "eeprom.h" |
6 | #include "printf_P.h" |
- | |
7 | #include "output.h" |
6 | //#include "output.h" |
8 | #include "configuration.h" |
7 | #include "configuration.h" |
- | 8 | #include "analog.h" |
|
9 | #include <avr/wdt.h> |
9 | #include <avr/wdt.h> |
10 | #include <avr/eeprom.h> |
10 | #include <avr/eeprom.h> |
11 | #include <avr/interrupt.h> |
11 | #include <avr/interrupt.h> |
- | 12 | #include <stdio.h> |
|
12 | 13 | ||
13 | // byte array in eeprom |
14 | // byte array in eeprom |
14 | uint8_t EEPromArray[E2END + 1] EEMEM; |
15 | uint8_t EEPromArray[E2END + 1] EEMEM; |
15 | 16 | ||
16 | /***************************************************/ |
17 | /***************************************************/ |
17 | /* Read Parameter from EEPROM as byte */ |
18 | /* Read Parameter from EEPROM as byte */ |
18 | /***************************************************/ |
19 | /***************************************************/ |
19 | uint8_t getParamByte(uint16_t param_id) { |
20 | uint8_t getParamByte(uint16_t param_id) { |
20 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
21 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
21 | } |
22 | } |
22 | 23 | ||
23 | /***************************************************/ |
24 | /***************************************************/ |
24 | /* Write Parameter to EEPROM as byte */ |
25 | /* Write Parameter to EEPROM as byte */ |
25 | /***************************************************/ |
26 | /***************************************************/ |
26 | void setParamByte(uint16_t param_id, uint8_t value) { |
27 | void setParamByte(uint16_t param_id, uint8_t value) { |
27 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
28 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
28 | } |
29 | } |
29 | 30 | ||
30 | /***************************************************/ |
31 | /***************************************************/ |
31 | /* Read Parameter from EEPROM as word */ |
32 | /* Read Parameter from EEPROM as word */ |
32 | /***************************************************/ |
33 | /***************************************************/ |
33 | /* |
34 | /* |
34 | uint16_t getParamWord(uint16_t param_id) { |
35 | uint16_t getParamWord(uint16_t param_id) { |
35 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
36 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
36 | + param_id]); |
37 | + param_id]); |
37 | } |
38 | } |
38 | */ |
39 | */ |
39 | 40 | ||
40 | /***************************************************/ |
41 | /***************************************************/ |
41 | /* Write Parameter to EEPROM as word */ |
42 | /* Write Parameter to EEPROM as word */ |
42 | /***************************************************/ |
43 | /***************************************************/ |
43 | /* |
44 | /* |
44 | void setParamWord(uint16_t param_id, uint16_t value) { |
45 | void setParamWord(uint16_t param_id, uint16_t value) { |
45 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
46 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
46 | } |
47 | } |
47 | */ |
48 | */ |
48 | 49 | ||
49 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
50 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
50 | uint16_t crc = 0; |
51 | uint16_t crc = 0; |
51 | for (uint16_t i=0; i<length; i++) { |
52 | for (uint16_t i=0; i<length; i++) { |
52 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
53 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
53 | crc ^= data[i]; |
54 | crc ^= data[i]; |
54 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
55 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
55 | crc ^= (crc << 8) << 4; |
56 | crc ^= (crc << 8) << 4; |
56 | crc ^= ((crc & 0xff) << 4) << 1; |
57 | crc ^= ((crc & 0xff) << 4) << 1; |
57 | } |
58 | } |
58 | return crc; |
59 | return crc; |
59 | } |
60 | } |
60 | 61 | ||
61 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
62 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
62 | // length is the length of the pure data not including checksum and revision number. |
63 | // length is the length of the pure data not including checksum and revision number. |
63 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
64 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
64 | uint16_t CRC = CRC16(data, length); |
65 | uint16_t CRC = CRC16(data, length); |
65 | uint8_t sreg = SREG; |
66 | uint8_t sreg = SREG; |
66 | cli(); |
67 | cli(); |
67 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
68 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
68 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
69 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
69 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
70 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
70 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
71 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
71 | SREG = sreg; |
72 | SREG = sreg; |
72 | } |
73 | } |
73 | 74 | ||
74 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
75 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
75 | // length is the length of the pure data not including checksum and revision number. |
76 | // length is the length of the pure data not including checksum and revision number. |
76 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
77 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
77 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
78 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
78 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
79 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
79 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
80 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
80 | uint16_t CRCCalculated = CRC16(target, length); |
81 | uint16_t CRCCalculated = CRC16(target, length); |
81 | 82 | ||
82 | uint8_t CRCError = (CRCRead != CRCCalculated); |
83 | uint8_t CRCError = (CRCRead != CRCCalculated); |
83 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
84 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
84 | 85 | ||
85 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
86 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
86 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
87 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
87 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
88 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
88 | return (CRCError || revisionMismatch); |
89 | return (CRCError || revisionMismatch); |
89 | } |
90 | } |
90 | 91 | ||
91 | /***************************************************/ |
92 | /***************************************************/ |
92 | /* Read Parameter Set from EEPROM */ |
93 | /* Read Parameter Set from EEPROM */ |
93 | /***************************************************/ |
94 | /***************************************************/ |
94 | // setnumber [1..5] |
95 | // setnumber [1..5] |
95 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
96 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
96 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
97 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
97 | uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
98 | uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
98 | configuration_paramSetDidChange(); |
99 | configuration_paramSetDidChange(); |
99 | return result; |
100 | return result; |
100 | } |
101 | } |
101 | 102 | ||
102 | /***************************************************/ |
103 | /***************************************************/ |
103 | /* Write Parameter Set to EEPROM */ |
104 | /* Write Parameter Set to EEPROM */ |
104 | /***************************************************/ |
105 | /***************************************************/ |
105 | void paramSet_writeToEEProm(uint8_t setnumber) { |
106 | void paramSet_writeToEEProm(uint8_t setnumber) { |
106 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
107 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
107 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
108 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
108 | } |
109 | } |
109 | 110 | ||
110 | void paramSet_readOrDefault() { |
111 | void paramSet_readOrDefault() { |
111 | uint8_t setnumber = getActiveParamSet(); |
112 | uint8_t setnumber = getActiveParamSet(); |
112 | // parameter version check |
113 | // parameter version check |
113 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
114 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
114 | // if version check faild |
115 | // if version check faild |
115 | printf("\n\rwriting default parameter sets"); |
116 | printf("\n\rwriting default parameter sets"); |
116 | for (uint8_t i=5; i>0; i--) { |
117 | for (uint8_t i=5; i>0; i--) { |
117 | paramSet_default(i); |
118 | paramSet_default(i); |
118 | paramSet_writeToEEProm(i); |
119 | paramSet_writeToEEProm(i); |
119 | } |
120 | } |
120 | // default-Setting is parameter set 1 |
121 | // default-Setting is parameter set 1 |
121 | setActiveParamSet(1); |
122 | setActiveParamSet(1); |
122 | paramSet_readFromEEProm(getActiveParamSet()); |
123 | paramSet_readFromEEProm(getActiveParamSet()); |
123 | // For some strange reason, the read will have no effect. |
124 | // For some strange reason, the read will have no effect. |
124 | // Lets reset... |
125 | // Lets reset... |
125 | // wdt_enable(WDTO_500MS); |
126 | // wdt_enable(WDTO_500MS); |
126 | } |
127 | } |
127 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
128 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
128 | } |
129 | } |
129 | 130 | ||
130 | /***************************************************/ |
131 | /***************************************************/ |
131 | /* Read IMU Config from EEPROM */ |
132 | /* Read IMU Config from EEPROM */ |
132 | /***************************************************/ |
133 | /***************************************************/ |
133 | uint8_t IMUConfig_readFromEEprom(void) { |
134 | uint8_t IMUConfig_readFromEEprom(void) { |
134 | return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
135 | return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
135 | } |
136 | } |
136 | 137 | ||
137 | /***************************************************/ |
138 | /***************************************************/ |
138 | /* Write IMU Config to EEPROM */ |
139 | /* Write IMU Config to EEPROM */ |
139 | /***************************************************/ |
140 | /***************************************************/ |
140 | void IMUConfig_writeToEEprom(void) { |
141 | void IMUConfig_writeToEEprom(void) { |
141 | writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
142 | writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
142 | } |
143 | } |
143 | 144 | ||
144 | void IMUConfig_readOrDefault(void) { |
145 | void IMUConfig_readOrDefault(void) { |
145 | if(IMUConfig_readFromEEprom()) { |
146 | if(IMUConfig_readFromEEprom()) { |
146 | printf("\n\rwriting default IMU config"); |
147 | printf("\n\rwriting default IMU config"); |
147 | IMUConfig_default(); |
148 | IMUConfig_default(); |
148 | IMUConfig_writeToEEprom(); |
149 | IMUConfig_writeToEEprom(); |
149 | } |
150 | } |
150 | } |
151 | } |
151 | 152 | ||
152 | /***************************************************/ |
153 | /***************************************************/ |
153 | /* MixerTable */ |
154 | /* MixerTable */ |
154 | /***************************************************/ |
155 | /***************************************************/ |
155 | void motorMixer_writeToEEProm(void) { |
156 | void outputMixer_writeToEEProm(void) { |
156 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&motorMixer, EEPROM_ADR_MIXER_TABLE, sizeof(MotorMixer_t)); |
157 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t)); |
157 | } |
158 | } |
158 | 159 | ||
159 | void motorMixer_readOrDefault(void) { |
160 | void outputMixer_readOrDefault(void) { |
160 | // load mixer table |
161 | // load mixer table |
161 | if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&motorMixer, EEPROM_ADR_MIXER_TABLE, sizeof(MotorMixer_t))) { |
162 | if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t))) { |
162 | printf("\n\rwriting default motor mixer"); |
163 | printf("\n\rwriting default motor mixer"); |
163 | motorMixer_default(); // Quadro |
164 | outputMixer_default(); // Quadro |
164 | motorMixer_writeToEEProm(); |
165 | outputMixer_writeToEEProm(); |
165 | } |
- | |
166 | // determine motornumber |
- | |
167 | requiredMotors = 0; |
- | |
168 | for (uint8_t i=0; i<MAX_MOTORS; i++) { |
- | |
169 | if (motorMixer.matrix[i][MIX_THROTTLE]) |
- | |
170 | requiredMotors++; |
- | |
171 | } |
- | |
172 | - | ||
173 | printf("\n\rMixer-Config: '%s' (%u Motors)", motorMixer.name, requiredMotors); |
- | |
174 | printf("\n\r==================================="); |
166 | } |
175 | } |
167 | } |
176 | 168 | ||
177 | /***************************************************/ |
169 | /***************************************************/ |
178 | /* ChannelMap */ |
170 | /* ChannelMap */ |
179 | /***************************************************/ |
171 | /***************************************************/ |
180 | void channelMap_writeToEEProm(void) { |
172 | void channelMap_writeToEEProm(void) { |
181 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t)); |
173 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t)); |
182 | } |
174 | } |
183 | 175 | ||
184 | void channelMap_readOrDefault(void) { |
176 | void channelMap_readOrDefault(void) { |
185 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) { |
177 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) { |
186 | printf("\n\rwriting default channel map"); |
178 | printf("\n\rwriting default channel map"); |
187 | channelMap_default(); |
179 | channelMap_default(); |
188 | channelMap_writeToEEProm(); |
180 | channelMap_writeToEEProm(); |
189 | wdt_enable(WDTO_500MS); |
181 | wdt_enable(WDTO_500MS); |
190 | } |
182 | } |
191 | } |
183 | } |
192 | 184 | ||
193 | /***************************************************/ |
185 | /***************************************************/ |
194 | /* Sensor offsets */ |
186 | /* Sensor offsets */ |
195 | /***************************************************/ |
187 | /***************************************************/ |
196 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
188 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
197 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
189 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
198 | } |
190 | } |
199 | 191 | ||
200 | void gyroAmplifierOffset_writeToEEProm(void) { |
192 | void gyroAmplifierOffset_writeToEEProm(void) { |
201 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
193 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
202 | } |
194 | } |
203 | 195 | ||
204 | uint8_t gyroOffset_readFromEEProm(void) { |
196 | uint8_t gyroOffset_readFromEEProm(void) { |
205 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
197 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
206 | } |
198 | } |
207 | 199 | ||
208 | void gyroOffset_writeToEEProm(void) { |
200 | void gyroOffset_writeToEEProm(void) { |
209 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
201 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
210 | } |
202 | } |
211 | 203 | ||
212 | uint8_t accOffset_readFromEEProm(void) { |
204 | uint8_t accelOffset_readFromEEProm(void) { |
213 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
205 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t)); |
214 | } |
206 | } |
215 | 207 | ||
216 | void accOffset_writeToEEProm(void) { |
208 | void accelOffset_writeToEEProm(void) { |
217 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
209 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t)); |
218 | } |
210 | } |
219 | 211 | ||
220 | /***************************************************/ |
212 | /***************************************************/ |
221 | /* Get active parameter set */ |
213 | /* Get active parameter set */ |
222 | /***************************************************/ |
214 | /***************************************************/ |
223 | uint8_t getActiveParamSet(void) { |
215 | uint8_t getActiveParamSet(void) { |
224 | uint8_t setnumber; |
216 | uint8_t setnumber; |
225 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
217 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
226 | if (setnumber > 5) { |
218 | if (setnumber > 5) { |
227 | setActiveParamSet(setnumber = 1); |
219 | setActiveParamSet(setnumber = 1); |
228 | } |
220 | } |
229 | return setnumber; |
221 | return setnumber; |
230 | } |
222 | } |
231 | 223 | ||
232 | /***************************************************/ |
224 | /***************************************************/ |
233 | /* Set active parameter set */ |
225 | /* Set active parameter set */ |
234 | /***************************************************/ |
226 | /***************************************************/ |
235 | void setActiveParamSet(uint8_t setnumber) { |
227 | void setActiveParamSet(uint8_t setnumber) { |
236 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
228 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
237 | } |
229 | } |
238 | 230 | ||
239 | 231 |