ST / X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more

Fork of X_NUCLEO_IHM02A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Daisy-Chain Configuration

The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.

Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:

  • SB_23 resistor connected only: SSEL on pin A2;
  • SB_7 resistor connected only: SSEL on pin D2;
  • SB_8 resistor connected only: SSEL on pin D10;
  • SB_9 resistor connected only: SSEL on pin D5.

Arduino Connector Compatibility Warning

X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.

To be fully Arduino compatible the following patch is required:

  • to remove the SB34 resistor;
  • to solder the SB12 resistor.

Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire. In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3. This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.

If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.

Example Applications

BSP/x_nucleo_ihm02a1_class.cpp@3:e3f6f4474d98, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 17:15:37 2015 +0000
Revision:
3:e3f6f4474d98
Parent:
1:b78dab6d2c58
Child:
9:d70452d7a1e1
+ Expansion Board class updated to be non-singleton.; + Expansion Board class updated with information on SSEL pins needed when stacking more boards.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file x_nucleo_ihm02a1_class.cpp
Davidroid 0:92706998571a 4 * @author AST / Software Platforms and Cloud
Davidroid 0:92706998571a 5 * @version V1.0
Davidroid 0:92706998571a 6 * @date November 3rd, 2015
Davidroid 0:92706998571a 7 * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
Davidroid 0:92706998571a 8 ******************************************************************************
Davidroid 0:92706998571a 9 * @attention
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 12 *
Davidroid 0:92706998571a 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 14 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 19 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 21 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 22 * without specific prior written permission.
Davidroid 0:92706998571a 23 *
Davidroid 0:92706998571a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 34 *
Davidroid 0:92706998571a 35 ******************************************************************************
Davidroid 0:92706998571a 36 */
Davidroid 0:92706998571a 37
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39 /* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 40
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 45 * Include here platform specific header files. *
Davidroid 0:92706998571a 46 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 47 #include "mbed.h"
Davidroid 0:92706998571a 48 #include "DevSPI.h"
Davidroid 0:92706998571a 49 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 50 * Include here expansion board specific header files. *
Davidroid 0:92706998571a 51 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 52 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /* Static variables ----------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /* Number of instantiated expansion boards. */
Davidroid 0:92706998571a 58 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
Davidroid 0:92706998571a 59
Davidroid 0:92706998571a 60 /**
Davidroid 0:92706998571a 61 * @brief This array contains the initial parameters for the motors that are
Davidroid 0:92706998571a 62 * linked with each L6470 mounted on each stacked X-NUCLEO-IHM02A1.
Davidroid 0:92706998571a 63 */
Davidroid 0:92706998571a 64 const MICROSTEPPING_MOTOR_InitTypeDef X_NUCLEO_IHM02A1::MotorParameterInitData[EXPBRD_MOUNTED_NR_MAX][L6470DAISYCHAINSIZE] =
Davidroid 0:92706998571a 65 {
Davidroid 0:92706998571a 66 {
Davidroid 0:92706998571a 67 {
Davidroid 1:b78dab6d2c58 68 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 69 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 70 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 71 },
Davidroid 0:92706998571a 72 {
Davidroid 1:b78dab6d2c58 73 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 74 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 75 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 76 },
Davidroid 0:92706998571a 77 },
Davidroid 0:92706998571a 78 {
Davidroid 0:92706998571a 79 {
Davidroid 1:b78dab6d2c58 80 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 81 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 82 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 83 },
Davidroid 0:92706998571a 84 {
Davidroid 1:b78dab6d2c58 85 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 86 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 87 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 88 },
Davidroid 0:92706998571a 89 },
Davidroid 0:92706998571a 90 {
Davidroid 0:92706998571a 91 {
Davidroid 1:b78dab6d2c58 92 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 93 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 94 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 95 },
Davidroid 0:92706998571a 96 {
Davidroid 1:b78dab6d2c58 97 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 98 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 99 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 100 },
Davidroid 0:92706998571a 101 },
Davidroid 0:92706998571a 102 {
Davidroid 0:92706998571a 103 {
Davidroid 1:b78dab6d2c58 104 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 105 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 106 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 107 },
Davidroid 0:92706998571a 108 {
Davidroid 1:b78dab6d2c58 109 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 110 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 111 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 112 },
Davidroid 0:92706998571a 113 },
Davidroid 0:92706998571a 114 };
Davidroid 0:92706998571a 115
Davidroid 0:92706998571a 116
Davidroid 0:92706998571a 117 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 118
Davidroid 0:92706998571a 119 /**
Davidroid 0:92706998571a 120 * @brief Constructor.
Davidroid 0:92706998571a 121 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 122 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 123 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 124 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 125 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 126 */
Davidroid 1:b78dab6d2c58 127 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
Davidroid 0:92706998571a 128 {
Davidroid 3:e3f6f4474d98 129 /* SPI communication. */
Davidroid 3:e3f6f4474d98 130 if (dev_spi == NULL)
Davidroid 3:e3f6f4474d98 131 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid 3:e3f6f4474d98 132
Davidroid 0:92706998571a 133 /* Instantiating the components. */
Davidroid 0:92706998571a 134 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 135 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 136 * *
Davidroid 0:92706998571a 137 * Example: *
Davidroid 0:92706998571a 138 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 139 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 140 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 141 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 1:b78dab6d2c58 142 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 1:b78dab6d2c58 143 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 144
Davidroid 3:e3f6f4474d98 145 /* Initializing the components. */
Davidroid 3:e3f6f4474d98 146 if (!Init())
Davidroid 3:e3f6f4474d98 147 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 148 }
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 /**
Davidroid 3:e3f6f4474d98 151 * @brief Constructor.
Davidroid 0:92706998571a 152 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 153 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 154 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 155 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 156 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 157 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 158 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 159 */
Davidroid 3:e3f6f4474d98 160 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
Davidroid 0:92706998571a 161 {
Davidroid 3:e3f6f4474d98 162 /* SPI communication. */
Davidroid 3:e3f6f4474d98 163 dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 164
Davidroid 3:e3f6f4474d98 165 /* Instantiating the components. */
Davidroid 3:e3f6f4474d98 166 /* ACTION 3 --------------------------------------------------------------*
Davidroid 3:e3f6f4474d98 167 * Instantiate here the expansion board's components. *
Davidroid 3:e3f6f4474d98 168 * *
Davidroid 3:e3f6f4474d98 169 * Example: *
Davidroid 3:e3f6f4474d98 170 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 171 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 172 *------------------------------------------------------------------------*/
Davidroid 3:e3f6f4474d98 173 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 3:e3f6f4474d98 174 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 175 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 176
Davidroid 3:e3f6f4474d98 177 /* Initializing the components. */
Davidroid 3:e3f6f4474d98 178 if (!Init())
Davidroid 3:e3f6f4474d98 179 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 180 }
Davidroid 0:92706998571a 181
Davidroid 0:92706998571a 182 /**
Davidroid 0:92706998571a 183 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 184 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 185 */
Davidroid 0:92706998571a 186 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 187 {
Davidroid 0:92706998571a 188 /* Initializing the components. */
Davidroid 0:92706998571a 189 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 190 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 191 * *
Davidroid 0:92706998571a 192 * Example: *
Davidroid 0:92706998571a 193 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 194 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 195 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 196 }
Davidroid 0:92706998571a 197
Davidroid 0:92706998571a 198 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 199 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 200 * component. *
Davidroid 0:92706998571a 201 * *
Davidroid 0:92706998571a 202 * Example: *
Davidroid 0:92706998571a 203 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 204 * { *
Davidroid 0:92706998571a 205 * // Verifying identity. *
Davidroid 0:92706998571a 206 * uint8_t id = 0; *
Davidroid 0:92706998571a 207 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 208 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 209 * { *
Davidroid 0:92706998571a 210 * delete component_1; *
Davidroid 0:92706998571a 211 * component_1 = NULL; *
Davidroid 0:92706998571a 212 * return true; *
Davidroid 0:92706998571a 213 * } *
Davidroid 0:92706998571a 214 * *
Davidroid 0:92706998571a 215 * // Configuration. *
Davidroid 0:92706998571a 216 * INTERFACE_InitTypeDef InitStructure; *
Davidroid 0:92706998571a 217 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 218 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 219 * *
Davidroid 0:92706998571a 220 * // Initialization. *
Davidroid 0:92706998571a 221 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 222 * return false; *
Davidroid 0:92706998571a 223 * *
Davidroid 0:92706998571a 224 * return true; *
Davidroid 0:92706998571a 225 * } *
Davidroid 0:92706998571a 226 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 227 /**
Davidroid 0:92706998571a 228 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 229 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 230 */
Davidroid 0:92706998571a 231 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 232 {
Davidroid 0:92706998571a 233 /* Initialization. */
Davidroid 0:92706998571a 234 if (l6470_0->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][0]) != COMPONENT_OK)
Davidroid 0:92706998571a 235 return false;
Davidroid 0:92706998571a 236
Davidroid 0:92706998571a 237 return true;
Davidroid 0:92706998571a 238 }
Davidroid 0:92706998571a 239
Davidroid 0:92706998571a 240 /**
Davidroid 0:92706998571a 241 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 242 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 243 */
Davidroid 0:92706998571a 244 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 245 {
Davidroid 0:92706998571a 246 /* Initialization. */
Davidroid 0:92706998571a 247 if (l6470_1->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][1]) != COMPONENT_OK)
Davidroid 0:92706998571a 248 return false;
Davidroid 0:92706998571a 249
Davidroid 0:92706998571a 250 return true;
Davidroid 0:92706998571a 251 }
Davidroid 0:92706998571a 252
Davidroid 0:92706998571a 253 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/