/* ARGSUSED */ static int cnread(dev_t dev, struct uio *uio, struct cred *cred) { kcondvar_t sleep_forever; kmutex_t sleep_forever_mutex; if (rconsvp == NULL) { /* * Go to sleep forever. This seems like the least * harmful thing to do if there's no console. * EOF might be better if we're ending up single-user * mode. */ cv_init(&sleep_forever, NULL, CV_DRIVER, NULL); mutex_init(&sleep_forever_mutex, NULL, MUTEX_DRIVER, NULL); mutex_enter(&sleep_forever_mutex); (void) cv_wait_sig(&sleep_forever, &sleep_forever_mutex); mutex_exit(&sleep_forever_mutex); return (EIO); } if (rconsvp->v_stream != NULL) return (strread(rconsvp, uio, cred)); else return (cdev_read(rconsdev, uio, cred)); }
int do_load_desktop (Desktop * d, char *filename) { int f; if ((f = open (filename, O_RDONLY)) >= 0) { int i, x = 40, y = 40; char *sign; sign = strread (f); if (strcmp (sign, "stereo\n - saved desktop\n\n")) { close (f); Cerrordialogue (CMain, 20, 20, " Load Desktop ", \ " This is not a desktop file "); free (sign); return 1; } free (sign); for (i = 0; i < d->num_views; i++) destroy_view (&(d->view[i])); clear (d, Desktop); read (f, d, sizeof (Desktop)); destroy ((void *) &d->cal_points); d->cal_points = Cmalloc (d->num_cal_points * sizeof (Vec)); read (f, d->cal_points, d->num_cal_points * sizeof (Vec)); d->cal_file = strread (f); d->temp_dir = strread (f); d->image_dir = strread (f); if (d->num_views) for (i = 0; i < d->num_views; i++) { char *v; v = strread (f); if (v) { setup_view (d, v, x += 20, y += 20, i); d->view[i].filename = v; } } draw_markers (d); close (f); return 0; } else { Cerrordialogue (CMain, 20, 20, " Load Desktop ", \ get_sys_error (" Error trying to save file. ")); } return 1; }
/* get source table -------------------------------------------------------*/ static char *getsrctbl(const char *path) { static int lock=0; AnsiString s; stream_t str; char *p=buff,msg[MAXSTRMSG]; int ns,stat,len=strlen(ENDSRCTBL); unsigned int tick=tickget(); if (lock) return NULL; else lock=1; strinit(&str); if (!stropen(&str,STR_NTRIPCLI,STR_MODE_R,path)) { lock=0; MainForm->ShowMsg("stream open error"); return NULL; } MainForm->ShowMsg("connecting..."); while(p<buff+MAXSRCTBL-1) { ns=strread(&str,p,buff+MAXSRCTBL-p-1); *(p+ns)='\0'; if (p-len-3>buff&&strstr(p-len-3,ENDSRCTBL)) break; p+=ns; Sleep(NTRIP_CYCLE); stat=strstat(&str,msg); MainForm->ShowMsg(msg); if (stat<0) break; if ((int)(tickget()-tick)>NTRIP_TIMEOUT) { MainForm->ShowMsg("response timeout"); break; } } strclose(&str); lock=0; return buff; }
static void *rtksvrthread(void *arg) #endif { rtksvr_t *svr=(rtksvr_t *)arg; obs_t obs; obsd_t data[MAXOBS*2]; double tt; unsigned int tick,ticknmea; unsigned char *p,*q; int i,j,n,fobs[3],cycle,cputime; INIT_ZERO(fobs); tracet(3,"rtksvrthread:\n"); svr->state=1; obs.data=data; svr->tick=tickget(); ticknmea=svr->tick-1000; for (cycle=0;svr->state;cycle++) { tick=tickget(); for (i=0;i<3;i++) { p=svr->buff[i]+svr->nb[i]; q=svr->buff[i]+svr->buffsize; /* read receiver raw/rtcm data from input stream */ if ((n=strread(svr->stream+i,p,q-p))<=0) { continue; } /* write receiver raw/rtcm data to log stream */ strwrite(svr->stream+i+5,p,n); svr->nb[i]+=n; /* save peek buffer */ rtksvrlock(svr); n=n<svr->buffsize-svr->npb[i]?n:svr->buffsize-svr->npb[i]; memcpy(svr->pbuf[i]+svr->npb[i],p,n); svr->npb[i]+=n; rtksvrunlock(svr); } for (i=0;i<3;i++) { if (svr->format[i]==STRFMT_SP3||svr->format[i]==STRFMT_RNXCLK) { /* decode download file */ decodefile(svr,i); } else { /* decode receiver raw/rtcm data */ fobs[i]=decoderaw(svr,i); } } for (i=0;i<fobs[0];i++) { /* for each rover observation data */ obs.n=0; for (j=0;j<svr->obs[0][i].n&&obs.n<MAXOBS*2;j++) { obs.data[obs.n++]=svr->obs[0][i].data[j]; } for (j=0;j<svr->obs[1][0].n&&obs.n<MAXOBS*2;j++) { obs.data[obs.n++]=svr->obs[1][0].data[j]; } /* rtk positioning */ rtksvrlock(svr); rtkpos(&svr->rtk,obs.data,obs.n,&svr->nav); rtksvrunlock(svr); if (svr->rtk.sol.stat!=SOLQ_NONE) { /* adjust current time */ tt=(int)(tickget()-tick)/1000.0+DTTOL; timeset(gpst2utc(timeadd(svr->rtk.sol.time,tt))); /* write solution */ writesol(svr,i); } /* if cpu overload, inclement obs outage counter and break */ if ((int)(tickget()-tick)>=svr->cycle) { svr->prcout+=fobs[0]-i-1; #if 0 /* omitted v.2.4.1 */ break; #endif } } /* send null solution if no solution (1hz) */ if (svr->rtk.sol.stat==SOLQ_NONE&&cycle%(1000/svr->cycle)==0) { writesol(svr,0); } /* send nmea request to base/nrtk input stream */ if (svr->nmeacycle>0&&(int)(tick-ticknmea)>=svr->nmeacycle) { if (svr->stream[1].state==1) { if (svr->nmeareq==1) { strsendnmea(svr->stream+1,svr->nmeapos); } else if (svr->nmeareq==2&&norm(svr->rtk.sol.rr,3)>0.0) { strsendnmea(svr->stream+1,svr->rtk.sol.rr); } } ticknmea=tick; } if ((cputime=(int)(tickget()-tick))>0) svr->cputime=cputime; /* sleep until next cycle */ sleepms(svr->cycle-cputime); } for (i=0;i<MAXSTRRTK;i++) strclose(svr->stream+i); for (i=0;i<3;i++) { svr->nb[i]=svr->npb[i]=0; free(svr->buff[i]); svr->buff[i]=NULL; free(svr->pbuf[i]); svr->pbuf[i]=NULL; free_raw (svr->raw +i); free_rtcm(svr->rtcm+i); } for (i=0;i<2;i++) { svr->nsb[i]=0; free(svr->sbuf[i]); svr->sbuf[i]=NULL; } return 0; }
int main(int argc,char **argv) { ros::init(argc, argv, "rtk_robot"); ROS_INFO("RTKlib for ROS Robot Edition"); ros::NodeHandle nn; ros::NodeHandle pn("~"); ros::Subscriber ecef_sub; if(pn.getParam("base_position/x", ecef_base_station.position.x) && pn.getParam("base_position/y", ecef_base_station.position.y) && pn.getParam("base_position/z", ecef_base_station.position.z)) { ROS_INFO("RTK -- Loading base station parameters from the parameter server..."); XmlRpc::XmlRpcValue position_covariance; if( pn.getParam("base_position/covariance", position_covariance) ) { ROS_ASSERT(position_covariance.getType() == XmlRpc::XmlRpcValue::TypeArray); if(position_covariance.size() != 9) { ROS_WARN("RTK -- The base station covariances are not complete! Using default values..."); } else { for(int i=0 ; i<position_covariance.size() ; ++i) { ROS_ASSERT(position_covariance[i].getType() == XmlRpc::XmlRpcValue::TypeDouble); ecef_base_station.position_covariance[i] = static_cast<double>(position_covariance[i]); } } } } else { ROS_INFO("RTK -- Subscribing to the base station for online parameters..."); ecef_sub = nn.subscribe("base_station/gps/ecef", 50, ecefCallback); } double rate; pn.param("rate", rate, 2.0); std::string gps_frame_id; pn.param<std::string>("gps_frame_id", gps_frame_id, "gps"); std::string port; pn.param<std::string>("port", port, "ttyACM0"); int baudrate; pn.param("baudrate", baudrate, 115200); ros::Publisher gps_pub = nn.advertise<sensor_msgs::NavSatFix>("gps/fix", 50); ros::Publisher status_pub = nn.advertise<rtk_msgs::Status>("gps/status", 50); ros::Subscriber gps_sub = nn.subscribe("base_station/gps/raw_data", 50, baseStationCallback); int n; //********************* rtklib stuff ********************* rtksvrinit(&server); if(server.state) { ROS_FATAL("RTK -- Failed to initialize rtklib server!"); ROS_BREAK(); } gtime_t time, time0 = {0}; int format[] = {STRFMT_UBX, STRFMT_UBX, STRFMT_RTCM2}; prcopt_t options = prcopt_default; options.mode = 2; options.nf = 1; options.navsys = SYS_GPS | SYS_SBS; options.modear = 3; options.glomodear = 0; options.minfix = 3; options.ionoopt = IONOOPT_BRDC; options.tropopt = TROPOPT_SAAS; options.rb[0] = ecef_base_station.position.x; options.rb[1] = ecef_base_station.position.y; options.rb[2] = ecef_base_station.position.z; strinitcom(); server.cycle = 10; server.nmeacycle = 1000; server.nmeareq = 0; for(int i=0 ; i<3 ; i++) server.nmeapos[i] = 0; server.buffsize = BUFFSIZE; for(int i=0 ; i<3 ; i++) server.format[i] = format[i]; server.navsel = 0; server.nsbs = 0; server.nsol = 0; server.prcout = 0; rtkfree(&server.rtk); rtkinit(&server.rtk, &options); for(int i=0 ; i<3 ; i++) { server.nb[i] = server.npb[i] = 0; if(!(server.buff[i]=(unsigned char *)malloc(BUFFSIZE)) || !(server.pbuf[i]=(unsigned char *)malloc(BUFFSIZE))) { ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!"); ROS_BREAK(); } for(int j=0 ; j<10 ; j++) server.nmsg[i][j] = 0; for(int j=0 ; j<MAXOBSBUF ; j++) server.obs[i][j].n = 0; /* initialize receiver raw and rtcm control */ init_raw(server.raw + i); init_rtcm(server.rtcm + i); /* set receiver option */ strcpy(server.raw[i].opt, ""); strcpy(server.rtcm[i].opt, ""); /* connect dgps corrections */ server.rtcm[i].dgps = server.nav.dgps; } /* output peek buffer */ for(int i=0 ; i<2 ; i++) { if (!(server.sbuf[i]=(unsigned char *)malloc(BUFFSIZE))) { ROS_FATAL("RTK -- Failed to initialize rtklib server - malloc error!"); ROS_BREAK(); } } /* set solution options */ solopt_t sol_options[2]; sol_options[0] = solopt_default; sol_options[1] = solopt_default; for(int i=0 ; i<2 ; i++) server.solopt[i] = sol_options[i]; /* set base station position */ for(int i=0 ; i<6 ; i++) server.rtk.rb[i] = i < 3 ? options.rb[i] : 0.0; /* update navigation data */ for(int i=0 ; i<MAXSAT*2 ; i++) server.nav.eph[i].ttr = time0; for(int i=0 ; i<NSATGLO*2 ; i++) server.nav.geph[i].tof = time0; for(int i=0 ; i<NSATSBS*2 ; i++) server.nav.seph[i].tof = time0; updatenav(&server.nav); /* set monitor stream */ server.moni = NULL; /* open input streams */ int stream_type[8] = {STR_SERIAL, 0, 0, 0, 0, 0, 0, 0}; char gps_path[64]; sprintf(gps_path, "%s:%d:8:n:1:off", port.c_str(), baudrate); char * paths[] = {gps_path, "localhost:27015", "", "", "", "", "", ""}; char * cmds[] = {"", "", ""}; int rw; for(int i=0 ; i<8 ; i++) { rw = i < 3 ? STR_MODE_R : STR_MODE_W; if(stream_type[i] != STR_FILE) rw |= STR_MODE_W; if(!stropen(server.stream+i, stream_type[i], rw, paths[i])) { ROS_ERROR("RTK -- Failed to open stream %s", paths[i]); for(i-- ; i>=0 ; i--) strclose(server.stream+i); ROS_FATAL("RTK -- Failed to initialize rtklib server - failed to open all streams!"); ROS_BREAK(); } /* set initial time for rtcm and raw */ if(i<3) { time = utc2gpst(timeget()); server.raw[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time; server.rtcm[i].time = stream_type[i] == STR_FILE ? strgettime(server.stream+i) : time; } } /* sync input streams */ strsync(server.stream, server.stream+1); strsync(server.stream, server.stream+2); /* write start commands to input streams */ for(int i=0 ; i<3 ; i++) { if(cmds[i]) strsendcmd(server.stream+i, cmds[i]); } /* write solution header to solution streams */ for(int i=3 ; i<5 ; i++) { unsigned char buff[1024]; int n; n = outsolheads(buff, server.solopt+i-3); strwrite(server.stream+i, buff, n); } //******************************************************** obs_t obs; obsd_t data[MAXOBS*2]; server.state=1; obs.data=data; double tt; unsigned int tick; int fobs[3] = {0}; server.tick = tickget(); ROS_DEBUG("RTK -- Initialization complete."); ros::Rate r(rate); while(ros::ok()) { tick = tickget(); unsigned char *p = server.buff[RTK_ROBOT]+server.nb[RTK_ROBOT]; unsigned char *q = server.buff[RTK_ROBOT]+server.buffsize; ROS_DEBUG("RTK -- Getting data from GPS..."); /* read receiver raw/rtcm data from input stream */ n = strread(server.stream, p, q-p); /* write receiver raw/rtcm data to log stream */ strwrite(server.stream+5, p, n); server.nb[RTK_ROBOT] += n; /* save peek buffer */ rtksvrlock(&server); n = n < server.buffsize - server.npb[RTK_ROBOT] ? n : server.buffsize - server.npb[RTK_ROBOT]; memcpy(server.pbuf[RTK_ROBOT] + server.npb[RTK_ROBOT], p, n); server.npb[RTK_ROBOT] += n; rtksvrunlock(&server); ROS_DEBUG("RTK -- Decoding GPS data..."); /* decode data */ fobs[RTK_ROBOT] = decoderaw(&server, RTK_ROBOT); fobs[RTK_BASE_STATION] = decoderaw(&server, RTK_BASE_STATION); ROS_DEBUG("RTK -- Got %d observations.", fobs[RTK_ROBOT]); /* for each rover observation data */ for(int i=0 ; i<fobs[RTK_ROBOT] ; i++) { obs.n = 0; for(int j=0 ; j<server.obs[RTK_ROBOT][i].n && obs.n<MAXOBS*2 ; j++) { obs.data[obs.n++] = server.obs[RTK_ROBOT][i].data[j]; } for(int j=0 ; j<server.obs[1][0].n && obs.n<MAXOBS*2 ; j++) { obs.data[obs.n++] = server.obs[1][0].data[j]; } ROS_DEBUG("RTK -- Calculating RTK positioning..."); /* rtk positioning */ rtksvrlock(&server); rtkpos(&server.rtk, obs.data, obs.n, &server.nav); rtksvrunlock(&server); sensor_msgs::NavSatFix gps_msg; gps_msg.header.stamp = ros::Time::now(); gps_msg.header.frame_id = gps_frame_id; rtk_msgs::Status status_msg; status_msg.stamp = gps_msg.header.stamp; if(server.rtk.sol.stat != SOLQ_NONE) { /* adjust current time */ tt = (int)(tickget()-tick)/1000.0+DTTOL; timeset(gpst2utc(timeadd(server.rtk.sol.time,tt))); /* write solution */ unsigned char buff[1024]; n = outsols(buff, &server.rtk.sol, server.rtk.rb, server.solopt); if(n==141 && buff[0]>'0' && buff[0]<'9') { int ano,mes,dia,horas,minutos,Q,nsat; double segundos,lat,longi,alt,sde,sdn,sdu,sdne,sdeu,sdun; sscanf((const char *)(buff),"%d/%d/%d %d:%d:%lf %lf %lf %lf %d %d %lf %lf %lf %lf %lf %lf", &ano, &mes, &dia, &horas, &minutos, &segundos, &lat, &longi, &alt, &Q, &nsat, &sdn, &sde, &sdu, &sdne, &sdeu, &sdun); gps_msg.latitude = lat; gps_msg.longitude = longi; gps_msg.altitude = alt; gps_msg.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN; gps_msg.position_covariance[0] = sde + ecef_base_station.position_covariance[0]; gps_msg.position_covariance[1] = sdne + ecef_base_station.position_covariance[1]; gps_msg.position_covariance[2] = sdeu + ecef_base_station.position_covariance[2]; gps_msg.position_covariance[3] = sdne + ecef_base_station.position_covariance[3]; gps_msg.position_covariance[4] = sdn + ecef_base_station.position_covariance[4]; gps_msg.position_covariance[5] = sdun + ecef_base_station.position_covariance[5]; gps_msg.position_covariance[6] = sdeu + ecef_base_station.position_covariance[6]; gps_msg.position_covariance[7] = sdun + ecef_base_station.position_covariance[7]; gps_msg.position_covariance[8] = sdu + ecef_base_station.position_covariance[8]; gps_msg.status.status = Q==5 ? sensor_msgs::NavSatStatus::STATUS_FIX : sensor_msgs::NavSatStatus::STATUS_GBAS_FIX; gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS; status_msg.fix_quality = Q; status_msg.number_of_satellites = nsat; } } else { gps_msg.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX; gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GPS; } ROS_DEBUG("RTK -- Publishing ROS msg..."); gps_pub.publish(gps_msg); status_pub.publish(status_msg); } ros::spinOnce(); r.sleep(); } return(0); }
int main(int argc, char **argv){ if (nva_init()) { fprintf (stderr, "PCI init failure!\n"); return 1; } int c; while ((c = getopt (argc, argv, "c:")) != -1) switch (c) { case 'c': sscanf(optarg, "%d", &cnum); break; } if (cnum >= nva_cardsnum) { if (nva_cardsnum) fprintf (stderr, "No such card.\n"); else fprintf (stderr, "No cards found.\n"); return 1; } nv50_graph_reset(); nva_wr32(cnum, 0x1700, 0x400); nva_wr32(cnum, 0x700020, 0x190000); nva_wr32(cnum, 0x700024, 0x4000000 + 0x80000); nva_wr32(cnum, 0x700028, 0x4000000 + 0x10000); nva_wr32(cnum, 0x70002c, 0); nva_wr32(cnum, 0x700030, 0); nva_wr32(cnum, 0x700034, 0x10000); nva_wr32(cnum, 0x700200, 0x190000); nva_wr32(cnum, 0x700204, 0x4000000 + 0x80000); nva_wr32(cnum, 0x700208, 0x4000000 + 0x10000); nva_wr32(cnum, 0x70020c, 0); nva_wr32(cnum, 0x700210, 0); nva_wr32(cnum, 0x700214, 0x10000); int j; int k; for (j = 0; j < 16; j++) { printf ("Strand %d!\n", j); uint32_t tab[0x3000][6]; kill(j); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0xdeafbeef); strread(j, 0); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { tab[k/32][0] = nva_rd32(cnum, 0x710000 + k); } for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strwrite(j, 0); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 0); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { tab[k/32][1] = nva_rd32(cnum, 0x710000 + k); } for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, -1); strwrite(j, 0); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 0); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { tab[k/32][2] = nva_rd32(cnum, 0x710000 + k); } for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strwrite(j, 8); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 8); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { tab[k/32][3] = nva_rd32(cnum, 0x710000 + k); } for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, -1); strwrite(j, 8); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 8); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { tab[k/32][4] = nva_rd32(cnum, 0x710000 + k); tab[k/32][5] = 0; } int z; for (z = 0; z < 32; z++) { for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, -1); strwrite(j, 8); nva_wr32(cnum, 0x400040, 1 << z); nva_wr32(cnum, 0x400040, 0); strwait(); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 8); for (k = 4*(j&7); k < 0x3000*32; k += 4*8) { if (tab[k/32][4] != nva_rd32(cnum, 0x710000 + k)) tab[k/32][5] |= 1 << z; } } for (k = 0; k < 0x3000; k++) if (tab[k][0] == 0xdeafbeef && !tab[k][4]) { slen[j] = k; break; } if (slen[j]) { printf ("Initial length: %04x\n", slen[j]); while (slen[j]) { for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); nva_wr32(cnum, 0x710000 + (j&7)*4 + (slen[j] - 1) * 32, 0xffffffff); strwrite(j, 8); for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strread(j, 8); if (nva_rd32(cnum, 0x710000 + (j&7)*4 + (slen[j] - 1) * 32)) { break; } else { slen[j]--; } } } printf ("Length: %04x\n", slen[j]); int i; for (i = 0; i < 0x400; i++) { int pos = -1; int l; int ctr = 0; // int try; for (l = 1; l < 0x14; l++) { // try = 0; //respin: for (k = 0; k < 0x70000; k += 4) nva_wr32(cnum, 0x710000 + k, 0); strwrite(j, 8); for (k = 0; k < l; k++) nva_wr32(cnum, 0x400420 + k * 4, 0xffffffff); nva_wr32(cnum, 0x400408, i << 16); nva_wr32(cnum, 0x400404, 0x30000 | (j & 7) << 8 | (j&8) << (12-3) | l); strwait(); strread(j, 8); ctr = 0; pos = -1; for (k = 0; k < 0x70000; k += 4) if (nva_rd32(cnum, 0x710000 + k) && (k & 0x1c) == (j & 7) << 2) { if (pos == -1) pos = k / 32; ctr++; // printf ("%04x: %08x\n", k/32, nva_rd32(cnum, 0x710000 + k)); } if (ctr <= l && ctr) break; // else // if (try++ < 4) // goto respin; } if (pos == -1) { seekcnt[j] = i; break; } assert(ctr == l); printf ("SEEK: %04x [%d/%d]...\n", pos, ctr, l); seekstart[j][i] = pos; seeksize[j][i] = l; } i = 0; for (k = 0; k < slen[j]; k++) { if (i < seekcnt[j] && k == seekstart[j][i]) { printf ("\nSEEK %03x [unit %x]\n", i, seeksize[j][i]); i++; } else if (i && seeksize[j][i-1] != 1 && !((k - seekstart[j][i-1])%seeksize[j][i-1])) printf ("\n"); printf ("%04x: %08x %08x %08x %08x %08x %08x\n", k, tab[k][0], tab[k][1], tab[k][2], tab[k][3], tab[k][4], tab[k][5]); } } return 0; }