De-Wayne Dennis / MBed_Adafruit-GPS-Library

Final Code

Fork of MBed_Adafruit-GPS-Library by Myron Lee

MBed_Adafruit_GPS.cpp@1:f6a84ae4c66f, 2015-12-19 (annotated)

Committer:
DeWayneDennis
Date:
Sat Dec 19 21:47:39 2015 +0000
Revision:
1:f6a84ae4c66f
Parent:
0:a23e3099bb0a 
Final Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mlee350 0:a23e3099bb0a 1 /***********************************
mlee350 0:a23e3099bb0a 2 This is our GPS library
mlee350 0:a23e3099bb0a 3
mlee350 0:a23e3099bb0a 4 Adafruit invests time and resources providing this open source code,
mlee350 0:a23e3099bb0a 5 please support Adafruit and open-source hardware by purchasing
mlee350 0:a23e3099bb0a 6 products from Adafruit!
mlee350 0:a23e3099bb0a 7
mlee350 0:a23e3099bb0a 8 Written by Limor Fried/Ladyada for Adafruit Industries.
mlee350 0:a23e3099bb0a 9 BSD license, check license.txt for more information
mlee350 0:a23e3099bb0a 10 All text above must be included in any redistribution
mlee350 0:a23e3099bb0a 11 ****************************************/
mlee350 0:a23e3099bb0a 12
mlee350 0:a23e3099bb0a 13 #include "MBed_Adafruit_GPS.h"
mlee350 0:a23e3099bb0a 14
mlee350 0:a23e3099bb0a 15 // how long are max NMEA lines to parse?
mlee350 0:a23e3099bb0a 16 #define MAXLINELENGTH 120
mlee350 0:a23e3099bb0a 17
mlee350 0:a23e3099bb0a 18 // we double buffer: read one line in and leave one for the main program
mlee350 0:a23e3099bb0a 19 volatile char line1[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 20 volatile char line2[MAXLINELENGTH];
mlee350 0:a23e3099bb0a 21 // our index into filling the current line
mlee350 0:a23e3099bb0a 22 volatile uint16_t lineidx=0;
mlee350 0:a23e3099bb0a 23 // pointers to the double buffers
mlee350 0:a23e3099bb0a 24 volatile char *currentline;
mlee350 0:a23e3099bb0a 25 volatile char *lastline;
mlee350 0:a23e3099bb0a 26 volatile bool recvdflag;
mlee350 0:a23e3099bb0a 27 volatile bool inStandbyMode;
mlee350 0:a23e3099bb0a 28
mlee350 0:a23e3099bb0a 29
mlee350 0:a23e3099bb0a 30 bool Adafruit_GPS::parse(char *nmea) {
mlee350 0:a23e3099bb0a 31 // do checksum check
mlee350 0:a23e3099bb0a 32
mlee350 0:a23e3099bb0a 33 // first look if we even have one
mlee350 0:a23e3099bb0a 34 if (nmea[strlen(nmea)-4] == '*') {
mlee350 0:a23e3099bb0a 35 uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
mlee350 0:a23e3099bb0a 36 sum += parseHex(nmea[strlen(nmea)-2]);
mlee350 0:a23e3099bb0a 37
mlee350 0:a23e3099bb0a 38 // check checksum
mlee350 0:a23e3099bb0a 39 for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
mlee350 0:a23e3099bb0a 40 sum ^= nmea[i];
mlee350 0:a23e3099bb0a 41 }
mlee350 0:a23e3099bb0a 42 if (sum != 0) {
mlee350 0:a23e3099bb0a 43 // bad checksum :(
mlee350 0:a23e3099bb0a 44 //return false;
mlee350 0:a23e3099bb0a 45 }
mlee350 0:a23e3099bb0a 46 }
mlee350 0:a23e3099bb0a 47
mlee350 0:a23e3099bb0a 48 // look for a few common sentences
mlee350 0:a23e3099bb0a 49 if (strstr(nmea, "$GPGGA")) {
mlee350 0:a23e3099bb0a 50 // found GGA
mlee350 0:a23e3099bb0a 51 char *p = nmea;
mlee350 0:a23e3099bb0a 52 // get time
mlee350 0:a23e3099bb0a 53 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 54 float timef = atof(p);
mlee350 0:a23e3099bb0a 55 uint32_t time = timef;
mlee350 0:a23e3099bb0a 56 hour = time / 10000;
mlee350 0:a23e3099bb0a 57 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 58 seconds = (time % 100);
mlee350 0:a23e3099bb0a 59
mlee350 0:a23e3099bb0a 60 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 61
mlee350 0:a23e3099bb0a 62 // parse out latitude
mlee350 0:a23e3099bb0a 63 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 64 latitude = atof(p);
mlee350 0:a23e3099bb0a 65
mlee350 0:a23e3099bb0a 66 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 67 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 68 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 69 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 70 else return false;
mlee350 0:a23e3099bb0a 71
mlee350 0:a23e3099bb0a 72 // parse out longitude
mlee350 0:a23e3099bb0a 73 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 74 longitude = atof(p);
mlee350 0:a23e3099bb0a 75
mlee350 0:a23e3099bb0a 76 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 77 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 78 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 79 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 80 else return false;
mlee350 0:a23e3099bb0a 81
mlee350 0:a23e3099bb0a 82 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 83 fixquality = atoi(p);
mlee350 0:a23e3099bb0a 84
mlee350 0:a23e3099bb0a 85 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 86 satellites = atoi(p);
mlee350 0:a23e3099bb0a 87
mlee350 0:a23e3099bb0a 88 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 89 HDOP = atof(p);
mlee350 0:a23e3099bb0a 90
mlee350 0:a23e3099bb0a 91 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 92 altitude = atof(p);
mlee350 0:a23e3099bb0a 93 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 94 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 95 geoidheight = atof(p);
mlee350 0:a23e3099bb0a 96 return true;
mlee350 0:a23e3099bb0a 97 }
mlee350 0:a23e3099bb0a 98 if (strstr(nmea, "$GPRMC")) {
mlee350 0:a23e3099bb0a 99 // found RMC
mlee350 0:a23e3099bb0a 100 char *p = nmea;
mlee350 0:a23e3099bb0a 101
mlee350 0:a23e3099bb0a 102 // get time
mlee350 0:a23e3099bb0a 103 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 104 float timef = atof(p);
mlee350 0:a23e3099bb0a 105 uint32_t time = timef;
mlee350 0:a23e3099bb0a 106 hour = time / 10000;
mlee350 0:a23e3099bb0a 107 minute = (time % 10000) / 100;
mlee350 0:a23e3099bb0a 108 seconds = (time % 100);
mlee350 0:a23e3099bb0a 109
mlee350 0:a23e3099bb0a 110 milliseconds = fmod((double) timef, 1.0) * 1000;
mlee350 0:a23e3099bb0a 111
mlee350 0:a23e3099bb0a 112 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 113 if (p[0] == 'A')
mlee350 0:a23e3099bb0a 114 fix = true;
mlee350 0:a23e3099bb0a 115 else if (p[0] == 'V')
mlee350 0:a23e3099bb0a 116 fix = false;
mlee350 0:a23e3099bb0a 117 else
mlee350 0:a23e3099bb0a 118 return false;
mlee350 0:a23e3099bb0a 119
mlee350 0:a23e3099bb0a 120 // parse out latitude
mlee350 0:a23e3099bb0a 121 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 122 latitude = atof(p);
mlee350 0:a23e3099bb0a 123
mlee350 0:a23e3099bb0a 124 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 125 if (p[0] == 'N') lat = 'N';
mlee350 0:a23e3099bb0a 126 else if (p[0] == 'S') lat = 'S';
mlee350 0:a23e3099bb0a 127 else if (p[0] == ',') lat = 0;
mlee350 0:a23e3099bb0a 128 else return false;
mlee350 0:a23e3099bb0a 129
mlee350 0:a23e3099bb0a 130 // parse out longitude
mlee350 0:a23e3099bb0a 131 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 132 longitude = atof(p);
mlee350 0:a23e3099bb0a 133
mlee350 0:a23e3099bb0a 134 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 135 if (p[0] == 'W') lon = 'W';
mlee350 0:a23e3099bb0a 136 else if (p[0] == 'E') lon = 'E';
mlee350 0:a23e3099bb0a 137 else if (p[0] == ',') lon = 0;
mlee350 0:a23e3099bb0a 138 else return false;
mlee350 0:a23e3099bb0a 139
mlee350 0:a23e3099bb0a 140 // speed
mlee350 0:a23e3099bb0a 141 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 142 speed = atof(p);
mlee350 0:a23e3099bb0a 143
mlee350 0:a23e3099bb0a 144 // angle
mlee350 0:a23e3099bb0a 145 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 146 angle = atof(p);
mlee350 0:a23e3099bb0a 147
mlee350 0:a23e3099bb0a 148 p = strchr(p, ',')+1;
mlee350 0:a23e3099bb0a 149 uint32_t fulldate = atof(p);
mlee350 0:a23e3099bb0a 150 day = fulldate / 10000;
mlee350 0:a23e3099bb0a 151 month = (fulldate % 10000) / 100;
mlee350 0:a23e3099bb0a 152 year = (fulldate % 100);
mlee350 0:a23e3099bb0a 153
mlee350 0:a23e3099bb0a 154 // we dont parse the remaining, yet!
mlee350 0:a23e3099bb0a 155 return true;
mlee350 0:a23e3099bb0a 156 }
mlee350 0:a23e3099bb0a 157
mlee350 0:a23e3099bb0a 158 return false;
mlee350 0:a23e3099bb0a 159 }
mlee350 0:a23e3099bb0a 160
mlee350 0:a23e3099bb0a 161 char Adafruit_GPS::read(void) {
mlee350 0:a23e3099bb0a 162 char c = 0;
mlee350 0:a23e3099bb0a 163 if (paused) return c;
mlee350 0:a23e3099bb0a 164 if(!gpsSerial->readable()) return c;
mlee350 0:a23e3099bb0a 165 c = gpsSerial->getc();
mlee350 0:a23e3099bb0a 166
mlee350 0:a23e3099bb0a 167 if (c == '$') {
mlee350 0:a23e3099bb0a 168 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 169 lineidx = 0;
mlee350 0:a23e3099bb0a 170 }
mlee350 0:a23e3099bb0a 171 if (c == '\n') {
mlee350 0:a23e3099bb0a 172 currentline[lineidx] = 0;
mlee350 0:a23e3099bb0a 173
mlee350 0:a23e3099bb0a 174 if (currentline == line1) {
mlee350 0:a23e3099bb0a 175 currentline = line2;
mlee350 0:a23e3099bb0a 176 lastline = line1;
mlee350 0:a23e3099bb0a 177 } else {
mlee350 0:a23e3099bb0a 178 currentline = line1;
mlee350 0:a23e3099bb0a 179 lastline = line2;
mlee350 0:a23e3099bb0a 180 }
mlee350 0:a23e3099bb0a 181
mlee350 0:a23e3099bb0a 182 lineidx = 0;
mlee350 0:a23e3099bb0a 183 recvdflag = true;
mlee350 0:a23e3099bb0a 184 }
mlee350 0:a23e3099bb0a 185
mlee350 0:a23e3099bb0a 186 currentline[lineidx++] = c;
mlee350 0:a23e3099bb0a 187 if (lineidx >= MAXLINELENGTH)
mlee350 0:a23e3099bb0a 188 lineidx = MAXLINELENGTH-1;
mlee350 0:a23e3099bb0a 189
mlee350 0:a23e3099bb0a 190 return c;
mlee350 0:a23e3099bb0a 191 }
mlee350 0:a23e3099bb0a 192
mlee350 0:a23e3099bb0a 193 Adafruit_GPS::Adafruit_GPS (Serial *ser)
mlee350 0:a23e3099bb0a 194 {
mlee350 0:a23e3099bb0a 195 common_init(); // Set everything to common state, then...
mlee350 0:a23e3099bb0a 196 gpsSerial = ser; // ...override gpsSwSerial with value passed.
mlee350 0:a23e3099bb0a 197 }
mlee350 0:a23e3099bb0a 198
mlee350 0:a23e3099bb0a 199 // Initialization code used by all constructor types
mlee350 0:a23e3099bb0a 200 void Adafruit_GPS::common_init(void) {
mlee350 0:a23e3099bb0a 201 gpsSerial = NULL;
mlee350 0:a23e3099bb0a 202 recvdflag = false;
mlee350 0:a23e3099bb0a 203 paused = false;
mlee350 0:a23e3099bb0a 204 lineidx = 0;
mlee350 0:a23e3099bb0a 205 currentline = line1;
mlee350 0:a23e3099bb0a 206 lastline = line2;
mlee350 0:a23e3099bb0a 207
mlee350 0:a23e3099bb0a 208 hour = minute = seconds = year = month = day =
mlee350 0:a23e3099bb0a 209 fixquality = satellites = 0; // uint8_t
mlee350 0:a23e3099bb0a 210 lat = lon = mag = 0; // char
mlee350 0:a23e3099bb0a 211 fix = false; // bool
mlee350 0:a23e3099bb0a 212 milliseconds = 0; // uint16_t
mlee350 0:a23e3099bb0a 213 latitude = longitude = geoidheight = altitude =
mlee350 0:a23e3099bb0a 214 speed = angle = magvariation = HDOP = 0.0; // float
mlee350 0:a23e3099bb0a 215 }
mlee350 0:a23e3099bb0a 216
mlee350 0:a23e3099bb0a 217 void Adafruit_GPS::begin(int baud)
mlee350 0:a23e3099bb0a 218 {
mlee350 0:a23e3099bb0a 219 gpsSerial->baud(baud);
mlee350 0:a23e3099bb0a 220 wait_ms(10);
mlee350 0:a23e3099bb0a 221 }
mlee350 0:a23e3099bb0a 222
mlee350 0:a23e3099bb0a 223 void Adafruit_GPS::sendCommand(char *str) {
mlee350 0:a23e3099bb0a 224 gpsSerial->printf("%s",str);
mlee350 0:a23e3099bb0a 225 }
mlee350 0:a23e3099bb0a 226
mlee350 0:a23e3099bb0a 227 bool Adafruit_GPS::newNMEAreceived(void) {
mlee350 0:a23e3099bb0a 228 return recvdflag;
mlee350 0:a23e3099bb0a 229 }
mlee350 0:a23e3099bb0a 230
mlee350 0:a23e3099bb0a 231 void Adafruit_GPS::pause(bool p) {
mlee350 0:a23e3099bb0a 232 paused = p;
mlee350 0:a23e3099bb0a 233 }
mlee350 0:a23e3099bb0a 234
mlee350 0:a23e3099bb0a 235 char *Adafruit_GPS::lastNMEA(void) {
mlee350 0:a23e3099bb0a 236 recvdflag = false;
mlee350 0:a23e3099bb0a 237 return (char *)lastline;
mlee350 0:a23e3099bb0a 238 }
mlee350 0:a23e3099bb0a 239
mlee350 0:a23e3099bb0a 240 // read a Hex value and return the decimal equivalent
mlee350 0:a23e3099bb0a 241 uint8_t Adafruit_GPS::parseHex(char c) {
mlee350 0:a23e3099bb0a 242 if (c < '0')
mlee350 0:a23e3099bb0a 243 return 0;
mlee350 0:a23e3099bb0a 244 if (c <= '9')
mlee350 0:a23e3099bb0a 245 return c - '0';
mlee350 0:a23e3099bb0a 246 if (c < 'A')
mlee350 0:a23e3099bb0a 247 return 0;
mlee350 0:a23e3099bb0a 248 if (c <= 'F')
mlee350 0:a23e3099bb0a 249 return (c - 'A')+10;
mlee350 0:a23e3099bb0a 250 }
mlee350 0:a23e3099bb0a 251
mlee350 0:a23e3099bb0a 252 bool Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
mlee350 0:a23e3099bb0a 253 char str[20];
mlee350 0:a23e3099bb0a 254
mlee350 0:a23e3099bb0a 255 uint8_t i=0;
mlee350 0:a23e3099bb0a 256 while (i < max) {
mlee350 0:a23e3099bb0a 257 if (newNMEAreceived()) {
mlee350 0:a23e3099bb0a 258 char *nmea = lastNMEA();
mlee350 0:a23e3099bb0a 259 strncpy(str, nmea, 20);
mlee350 0:a23e3099bb0a 260 str[19] = 0;
mlee350 0:a23e3099bb0a 261 i++;
mlee350 0:a23e3099bb0a 262
mlee350 0:a23e3099bb0a 263 if (strstr(str, wait4me))
mlee350 0:a23e3099bb0a 264 return true;
mlee350 0:a23e3099bb0a 265 }
mlee350 0:a23e3099bb0a 266 }
mlee350 0:a23e3099bb0a 267
mlee350 0:a23e3099bb0a 268 return false;
mlee350 0:a23e3099bb0a 269 }
mlee350 0:a23e3099bb0a 270
mlee350 0:a23e3099bb0a 271 bool Adafruit_GPS::LOCUS_StartLogger(void) {
mlee350 0:a23e3099bb0a 272 sendCommand(PMTK_LOCUS_STARTLOG);
mlee350 0:a23e3099bb0a 273 recvdflag = false;
mlee350 0:a23e3099bb0a 274 return waitForSentence(PMTK_LOCUS_LOGSTARTED);
mlee350 0:a23e3099bb0a 275 }
mlee350 0:a23e3099bb0a 276
mlee350 0:a23e3099bb0a 277 bool Adafruit_GPS::LOCUS_ReadStatus(void) {
mlee350 0:a23e3099bb0a 278 sendCommand(PMTK_LOCUS_QUERY_STATUS);
mlee350 0:a23e3099bb0a 279
mlee350 0:a23e3099bb0a 280 if (! waitForSentence("$PMTKLOG"))
mlee350 0:a23e3099bb0a 281 return false;
mlee350 0:a23e3099bb0a 282
mlee350 0:a23e3099bb0a 283 char *response = lastNMEA();
mlee350 0:a23e3099bb0a 284 uint16_t parsed[10];
mlee350 0:a23e3099bb0a 285 uint8_t i;
mlee350 0:a23e3099bb0a 286
mlee350 0:a23e3099bb0a 287 for (i=0; i<10; i++) parsed[i] = -1;
mlee350 0:a23e3099bb0a 288
mlee350 0:a23e3099bb0a 289 response = strchr(response, ',');
mlee350 0:a23e3099bb0a 290 for (i=0; i<10; i++) {
mlee350 0:a23e3099bb0a 291 if (!response || (response[0] == 0) || (response[0] == '*'))
mlee350 0:a23e3099bb0a 292 break;
mlee350 0:a23e3099bb0a 293 response++;
mlee350 0:a23e3099bb0a 294 parsed[i]=0;
mlee350 0:a23e3099bb0a 295 while ((response[0] != ',') &&
mlee350 0:a23e3099bb0a 296 (response[0] != '*') && (response[0] != 0)) {
mlee350 0:a23e3099bb0a 297 parsed[i] *= 10;
mlee350 0:a23e3099bb0a 298 char c = response[0];
mlee350 0:a23e3099bb0a 299 if (isdigit(c))
mlee350 0:a23e3099bb0a 300 parsed[i] += c - '0';
mlee350 0:a23e3099bb0a 301 else
mlee350 0:a23e3099bb0a 302 parsed[i] = c;
mlee350 0:a23e3099bb0a 303 response++;
mlee350 0:a23e3099bb0a 304 }
mlee350 0:a23e3099bb0a 305 }
mlee350 0:a23e3099bb0a 306 LOCUS_serial = parsed[0];
mlee350 0:a23e3099bb0a 307 LOCUS_type = parsed[1];
mlee350 0:a23e3099bb0a 308 if (isalpha(parsed[2])) {
mlee350 0:a23e3099bb0a 309 parsed[2] = parsed[2] - 'a' + 10;
mlee350 0:a23e3099bb0a 310 }
mlee350 0:a23e3099bb0a 311 LOCUS_mode = parsed[2];
mlee350 0:a23e3099bb0a 312 LOCUS_config = parsed[3];
mlee350 0:a23e3099bb0a 313 LOCUS_interval = parsed[4];
mlee350 0:a23e3099bb0a 314 LOCUS_distance = parsed[5];
mlee350 0:a23e3099bb0a 315 LOCUS_speed = parsed[6];
mlee350 0:a23e3099bb0a 316 LOCUS_status = !parsed[7];
mlee350 0:a23e3099bb0a 317 LOCUS_records = parsed[8];
mlee350 0:a23e3099bb0a 318 LOCUS_percent = parsed[9];
mlee350 0:a23e3099bb0a 319
mlee350 0:a23e3099bb0a 320 return true;
mlee350 0:a23e3099bb0a 321 }
mlee350 0:a23e3099bb0a 322
mlee350 0:a23e3099bb0a 323 // Standby Mode Switches
mlee350 0:a23e3099bb0a 324 bool Adafruit_GPS::standby(void) {
mlee350 0:a23e3099bb0a 325 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 326 return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS
mlee350 0:a23e3099bb0a 327 }
mlee350 0:a23e3099bb0a 328 else {
mlee350 0:a23e3099bb0a 329 inStandbyMode = true;
mlee350 0:a23e3099bb0a 330 sendCommand(PMTK_STANDBY);
mlee350 0:a23e3099bb0a 331 //return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working
mlee350 0:a23e3099bb0a 332 return true;
mlee350 0:a23e3099bb0a 333 }
mlee350 0:a23e3099bb0a 334 }
mlee350 0:a23e3099bb0a 335
mlee350 0:a23e3099bb0a 336 bool Adafruit_GPS::wakeup(void) {
mlee350 0:a23e3099bb0a 337 if (inStandbyMode) {
mlee350 0:a23e3099bb0a 338 inStandbyMode = false;
mlee350 0:a23e3099bb0a 339 sendCommand(""); // send byte to wake it up
mlee350 0:a23e3099bb0a 340 return waitForSentence(PMTK_AWAKE);
mlee350 0:a23e3099bb0a 341 }
mlee350 0:a23e3099bb0a 342 else {
mlee350 0:a23e3099bb0a 343 return false; // Returns false if not in standby mode, nothing to wakeup
mlee350 0:a23e3099bb0a 344 }
mlee350 0:a23e3099bb0a 345 }