Bayley Wang
/
foc-ed_in_the_bot_compact
robot
main.cpp@15:b583cd30b063, 2016-10-30 (annotated)
- Committer:
- bwang
- Date:
- Sun Oct 30 22:16:30 2016 +0000
- Revision:
- 15:b583cd30b063
- Parent:
- 14:59c4fcc1a4f7
- Child:
- 16:f283d6032fe5
split config.h into three config headers
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:bac9c3a3a6ca | 1 | #include "mbed.h" |
bwang | 0:bac9c3a3a6ca | 2 | #include "math.h" |
bwang | 0:bac9c3a3a6ca | 3 | #include "PositionSensor.h" |
bwang | 0:bac9c3a3a6ca | 4 | #include "FastPWM.h" |
bwang | 0:bac9c3a3a6ca | 5 | #include "Transforms.h" |
bwang | 15:b583cd30b063 | 6 | #include "config_motor.h" |
bwang | 15:b583cd30b063 | 7 | #include "config_loop.h" |
bwang | 15:b583cd30b063 | 8 | #include "config_inverter.h" |
dicarloj | 13:41d102a53caf | 9 | #include "pwm_in.h" |
bwang | 0:bac9c3a3a6ca | 10 | |
bwang | 1:7b61790f6be9 | 11 | FastPWM *a; |
bwang | 1:7b61790f6be9 | 12 | FastPWM *b; |
bwang | 1:7b61790f6be9 | 13 | FastPWM *c; |
bwang | 0:bac9c3a3a6ca | 14 | DigitalOut en(EN); |
bwang | 1:7b61790f6be9 | 15 | DigitalOut toggle(PC_10); |
bwang | 15:b583cd30b063 | 16 | PWM_IN p_in(TH_PIN, 1100, 1900); |
dicarloj | 13:41d102a53caf | 17 | bool control_enabled = false; |
bwang | 0:bac9c3a3a6ca | 18 | PositionSensorEncoder pos(CPR, 0); |
bwang | 0:bac9c3a3a6ca | 19 | |
bwang | 0:bac9c3a3a6ca | 20 | Serial pc(USBTX, USBRX); |
bwang | 0:bac9c3a3a6ca | 21 | |
bwang | 1:7b61790f6be9 | 22 | int state = 0; |
bwang | 1:7b61790f6be9 | 23 | int adval1, adval2; |
bwang | 2:eabe8feaaabb | 24 | float ia, ib, ic, alpha, beta, d, q, vd, vq, p; |
bwang | 15:b583cd30b063 | 25 | float p_mech, last_p_mech, w; |
bwang | 2:eabe8feaaabb | 26 | |
bwang | 1:7b61790f6be9 | 27 | float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV) |
bwang | 1:7b61790f6be9 | 28 | |
bwang | 2:eabe8feaaabb | 29 | float d_integral = 0.0f, q_integral = 0.0f; |
bwang | 2:eabe8feaaabb | 30 | float last_d = 0.0f, last_q = 0.0f; |
bwang | 14:59c4fcc1a4f7 | 31 | float d_ref = 0.0f, q_ref = 0.0f; |
bwang | 2:eabe8feaaabb | 32 | |
dicarloj | 13:41d102a53caf | 33 | |
bwang | 4:a6669248ce4d | 34 | void commutate(); |
bwang | 3:9b20da3f0055 | 35 | void zero_current(); |
bwang | 3:9b20da3f0055 | 36 | void config_globals(); |
bwang | 3:9b20da3f0055 | 37 | void startup_msg(); |
bwang | 2:eabe8feaaabb | 38 | |
dicarloj | 13:41d102a53caf | 39 | void go_enabled() |
dicarloj | 13:41d102a53caf | 40 | { |
dicarloj | 13:41d102a53caf | 41 | d_integral = 0.0f; |
dicarloj | 13:41d102a53caf | 42 | q_integral = 0.0f; |
dicarloj | 13:41d102a53caf | 43 | control_enabled = true; |
dicarloj | 13:41d102a53caf | 44 | en = 1; |
dicarloj | 13:41d102a53caf | 45 | } |
dicarloj | 13:41d102a53caf | 46 | |
dicarloj | 13:41d102a53caf | 47 | void go_disabled() |
dicarloj | 13:41d102a53caf | 48 | { |
dicarloj | 13:41d102a53caf | 49 | control_enabled = false; |
dicarloj | 13:41d102a53caf | 50 | en = 0; |
dicarloj | 13:41d102a53caf | 51 | } |
dicarloj | 13:41d102a53caf | 52 | |
dicarloj | 13:41d102a53caf | 53 | float fminf(float a, float b) |
dicarloj | 13:41d102a53caf | 54 | { |
dicarloj | 13:41d102a53caf | 55 | if(a < b) return a; |
dicarloj | 13:41d102a53caf | 56 | return b; |
dicarloj | 13:41d102a53caf | 57 | } |
dicarloj | 13:41d102a53caf | 58 | |
dicarloj | 13:41d102a53caf | 59 | float fmaxf(float a, float b) |
dicarloj | 13:41d102a53caf | 60 | { |
dicarloj | 13:41d102a53caf | 61 | if(a > b) return a; |
dicarloj | 13:41d102a53caf | 62 | return b; |
dicarloj | 13:41d102a53caf | 63 | } |
dicarloj | 13:41d102a53caf | 64 | |
bwang | 1:7b61790f6be9 | 65 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
bwang | 1:7b61790f6be9 | 66 | if (TIM1->SR & TIM_SR_UIF ) { |
bwang | 4:a6669248ce4d | 67 | toggle = 1; |
bwang | 4:a6669248ce4d | 68 | ADC1->CR2 |= 0x40000000; |
bwang | 4:a6669248ce4d | 69 | volatile int delay; |
bwang | 4:a6669248ce4d | 70 | for (delay = 0; delay < 35; delay++); |
bwang | 4:a6669248ce4d | 71 | toggle = 0; |
bwang | 1:7b61790f6be9 | 72 | adval1 = ADC1->DR; |
bwang | 1:7b61790f6be9 | 73 | adval2 = ADC2->DR; |
bwang | 4:a6669248ce4d | 74 | commutate(); |
bwang | 1:7b61790f6be9 | 75 | } |
bwang | 1:7b61790f6be9 | 76 | TIM1->SR = 0x00; |
bwang | 1:7b61790f6be9 | 77 | } |
bwang | 1:7b61790f6be9 | 78 | |
bwang | 1:7b61790f6be9 | 79 | void zero_current(){ |
bwang | 1:7b61790f6be9 | 80 | for (int i = 0; i < 1000; i++){ |
bwang | 1:7b61790f6be9 | 81 | ia_supp_offset += (float) (ADC1->DR); |
bwang | 1:7b61790f6be9 | 82 | ib_supp_offset += (float) (ADC2->DR); |
bwang | 1:7b61790f6be9 | 83 | ADC1->CR2 |= 0x40000000; |
bwang | 1:7b61790f6be9 | 84 | wait_us(100); |
bwang | 1:7b61790f6be9 | 85 | } |
bwang | 1:7b61790f6be9 | 86 | ia_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 87 | ib_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 88 | ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 89 | ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 90 | } |
bwang | 0:bac9c3a3a6ca | 91 | |
bwang | 0:bac9c3a3a6ca | 92 | void config_globals() { |
bwang | 0:bac9c3a3a6ca | 93 | pc.baud(115200); |
bwang | 0:bac9c3a3a6ca | 94 | |
bwang | 1:7b61790f6be9 | 95 | //Enable clocks for GPIOs |
bwang | 1:7b61790f6be9 | 96 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; |
bwang | 1:7b61790f6be9 | 97 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; |
bwang | 1:7b61790f6be9 | 98 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; |
bwang | 1:7b61790f6be9 | 99 | |
bwang | 1:7b61790f6be9 | 100 | RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock |
bwang | 1:7b61790f6be9 | 101 | |
bwang | 1:7b61790f6be9 | 102 | a = new FastPWM(PWMA); |
bwang | 1:7b61790f6be9 | 103 | b = new FastPWM(PWMB); |
bwang | 1:7b61790f6be9 | 104 | c = new FastPWM(PWMC); |
bwang | 1:7b61790f6be9 | 105 | |
bwang | 1:7b61790f6be9 | 106 | NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ |
bwang | 1:7b61790f6be9 | 107 | |
bwang | 1:7b61790f6be9 | 108 | TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt |
bwang | 1:7b61790f6be9 | 109 | TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up |
bwang | 1:7b61790f6be9 | 110 | TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, |
bwang | 1:7b61790f6be9 | 111 | TIM1->RCR |= 0x01; //update event once per up/down count of tim1 |
bwang | 1:7b61790f6be9 | 112 | TIM1->EGR |= TIM_EGR_UG; |
bwang | 1:7b61790f6be9 | 113 | |
bwang | 1:7b61790f6be9 | 114 | TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock |
bwang | 1:7b61790f6be9 | 115 | TIM1->ARR = 0x4650; //5 Khz |
bwang | 1:7b61790f6be9 | 116 | TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. |
bwang | 1:7b61790f6be9 | 117 | TIM1->CR1 |= TIM_CR1_CEN; |
bwang | 1:7b61790f6be9 | 118 | |
bwang | 1:7b61790f6be9 | 119 | //ADC Setup |
bwang | 1:7b61790f6be9 | 120 | RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 |
bwang | 1:7b61790f6be9 | 121 | RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 |
bwang | 1:7b61790f6be9 | 122 | |
bwang | 1:7b61790f6be9 | 123 | ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels |
bwang | 1:7b61790f6be9 | 124 | |
bwang | 1:7b61790f6be9 | 125 | ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on |
bwang | 1:7b61790f6be9 | 126 | ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0 |
bwang | 0:bac9c3a3a6ca | 127 | |
bwang | 1:7b61790f6be9 | 128 | ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON |
bwang | 1:7b61790f6be9 | 129 | ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1 |
bwang | 1:7b61790f6be9 | 130 | |
bwang | 1:7b61790f6be9 | 131 | GPIOA->MODER |= (1 << 8); |
bwang | 1:7b61790f6be9 | 132 | GPIOA->MODER |= (1 << 9); |
bwang | 1:7b61790f6be9 | 133 | |
bwang | 1:7b61790f6be9 | 134 | GPIOA->MODER |= (1 << 2); |
bwang | 1:7b61790f6be9 | 135 | GPIOA->MODER |= (1 << 3); |
bwang | 1:7b61790f6be9 | 136 | |
bwang | 1:7b61790f6be9 | 137 | GPIOA->MODER |= (1 << 0); |
bwang | 1:7b61790f6be9 | 138 | GPIOA->MODER |= (1 << 1); |
bwang | 1:7b61790f6be9 | 139 | |
bwang | 1:7b61790f6be9 | 140 | GPIOB->MODER |= (1 << 0); |
bwang | 1:7b61790f6be9 | 141 | GPIOB->MODER |= (1 << 1); |
bwang | 1:7b61790f6be9 | 142 | |
bwang | 1:7b61790f6be9 | 143 | GPIOC->MODER |= (1 << 2); |
bwang | 1:7b61790f6be9 | 144 | GPIOC->MODER |= (1 << 3); |
bwang | 1:7b61790f6be9 | 145 | |
bwang | 1:7b61790f6be9 | 146 | //DAC setup |
bwang | 1:7b61790f6be9 | 147 | RCC->APB1ENR |= 0x20000000; |
bwang | 1:7b61790f6be9 | 148 | DAC->CR |= DAC_CR_EN2; |
bwang | 1:7b61790f6be9 | 149 | |
bwang | 1:7b61790f6be9 | 150 | GPIOA->MODER |= (1 << 10); |
bwang | 1:7b61790f6be9 | 151 | GPIOA->MODER |= (1 << 11); |
bwang | 1:7b61790f6be9 | 152 | |
bwang | 1:7b61790f6be9 | 153 | //Zero duty cycles |
bwang | 1:7b61790f6be9 | 154 | set_dtc(a, 0.0f); |
bwang | 1:7b61790f6be9 | 155 | set_dtc(b, 0.0f); |
bwang | 1:7b61790f6be9 | 156 | set_dtc(c, 0.0f); |
bwang | 1:7b61790f6be9 | 157 | |
bwang | 1:7b61790f6be9 | 158 | wait_ms(250); |
bwang | 1:7b61790f6be9 | 159 | zero_current(); |
bwang | 15:b583cd30b063 | 160 | p_mech = pos.GetMechPosition(); |
bwang | 0:bac9c3a3a6ca | 161 | en = 1; |
bwang | 0:bac9c3a3a6ca | 162 | } |
bwang | 0:bac9c3a3a6ca | 163 | |
bwang | 0:bac9c3a3a6ca | 164 | void startup_msg() { |
bwang | 0:bac9c3a3a6ca | 165 | pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A."); |
bwang | 0:bac9c3a3a6ca | 166 | pc.printf("%s\n\r", "====Config Data===="); |
bwang | 0:bac9c3a3a6ca | 167 | pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET); |
bwang | 0:bac9c3a3a6ca | 168 | pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE); |
bwang | 0:bac9c3a3a6ca | 169 | pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE); |
bwang | 9:074575151e4b | 170 | pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS); |
bwang | 9:074575151e4b | 171 | pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES); |
bwang | 0:bac9c3a3a6ca | 172 | pc.printf("Loop KP: %f\n\r", KP); |
bwang | 0:bac9c3a3a6ca | 173 | pc.printf("Loop KI: %f\n\r", KI); |
bwang | 1:7b61790f6be9 | 174 | pc.printf("Ia offset: %f mV\n\r", ia_supp_offset); |
bwang | 1:7b61790f6be9 | 175 | pc.printf("Ib offset: %f mV\n\r", ib_supp_offset); |
bwang | 0:bac9c3a3a6ca | 176 | pc.printf("\n\r"); |
bwang | 0:bac9c3a3a6ca | 177 | } |
bwang | 0:bac9c3a3a6ca | 178 | |
bwang | 4:a6669248ce4d | 179 | void commutate() { |
dicarloj | 13:41d102a53caf | 180 | if(control_enabled && !p_in.get_enabled()) go_disabled(); |
dicarloj | 13:41d102a53caf | 181 | if(!control_enabled && p_in.get_enabled()) go_enabled(); |
dicarloj | 13:41d102a53caf | 182 | q_ref = p_in.get_throttle() * Q_MAX; |
bwang | 15:b583cd30b063 | 183 | |
bwang | 2:eabe8feaaabb | 184 | p = pos.GetElecPosition() - POS_OFFSET; |
bwang | 0:bac9c3a3a6ca | 185 | if (p < 0) p += 2 * PI; |
bwang | 0:bac9c3a3a6ca | 186 | |
bwang | 15:b583cd30b063 | 187 | last_p_mech = p_mech; |
bwang | 15:b583cd30b063 | 188 | p_mech = pos.GetMechPosition(); |
bwang | 15:b583cd30b063 | 189 | float dp_mech = p_mech - last_p_mech; |
bwang | 15:b583cd30b063 | 190 | if (dp_mech < 0.0f) dp_mech += 2 * PI; |
bwang | 15:b583cd30b063 | 191 | if (dp_mech > 2 * PI) dp_mech -= 2 * PI; |
bwang | 15:b583cd30b063 | 192 | float loop_period = (float) (TIM1->ARR) / 90.0f; |
bwang | 15:b583cd30b063 | 193 | float w_raw = dp_mech * (float) 1e6 / loop_period; //rad/s |
bwang | 15:b583cd30b063 | 194 | w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw; |
bwang | 15:b583cd30b063 | 195 | |
bwang | 2:eabe8feaaabb | 196 | float sin_p = sinf(p); |
bwang | 2:eabe8feaaabb | 197 | float cos_p = cosf(p); |
bwang | 2:eabe8feaaabb | 198 | |
bwang | 14:59c4fcc1a4f7 | 199 | //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; //uncomment me to write position to the DAC |
bwang | 4:a6669248ce4d | 200 | //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096); |
bwang | 0:bac9c3a3a6ca | 201 | |
bwang | 1:7b61790f6be9 | 202 | ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; |
bwang | 1:7b61790f6be9 | 203 | ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE; |
bwang | 2:eabe8feaaabb | 204 | ic = -ia - ib; |
bwang | 0:bac9c3a3a6ca | 205 | |
bwang | 10:f49df0fe0382 | 206 | float u = CURRENT_U; |
bwang | 10:f49df0fe0382 | 207 | float v = CURRENT_V; |
bwang | 2:eabe8feaaabb | 208 | |
bwang | 2:eabe8feaaabb | 209 | alpha = u; |
bwang | 2:eabe8feaaabb | 210 | beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v; |
bwang | 2:eabe8feaaabb | 211 | |
bwang | 2:eabe8feaaabb | 212 | d = alpha * cos_p - beta * sin_p; |
bwang | 2:eabe8feaaabb | 213 | q = -alpha * sin_p - beta * cos_p; |
bwang | 2:eabe8feaaabb | 214 | |
bwang | 3:9b20da3f0055 | 215 | float d_err = d_ref - d; |
bwang | 3:9b20da3f0055 | 216 | float q_err = q_ref - q; |
bwang | 2:eabe8feaaabb | 217 | |
bwang | 2:eabe8feaaabb | 218 | d_integral += d_err * KI; |
bwang | 2:eabe8feaaabb | 219 | q_integral += q_err * KI; |
bwang | 2:eabe8feaaabb | 220 | |
bwang | 2:eabe8feaaabb | 221 | if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX; |
bwang | 2:eabe8feaaabb | 222 | if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX; |
bwang | 2:eabe8feaaabb | 223 | if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX; |
bwang | 2:eabe8feaaabb | 224 | if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX; |
bwang | 2:eabe8feaaabb | 225 | |
bwang | 14:59c4fcc1a4f7 | 226 | if(control_enabled) { |
dicarloj | 13:41d102a53caf | 227 | vd = KP * d_err + d_integral; |
dicarloj | 13:41d102a53caf | 228 | vq = KP * q_err + q_integral; |
bwang | 14:59c4fcc1a4f7 | 229 | } else { |
dicarloj | 13:41d102a53caf | 230 | vd = 0; |
dicarloj | 13:41d102a53caf | 231 | vq = 0; |
dicarloj | 13:41d102a53caf | 232 | } |
bwang | 2:eabe8feaaabb | 233 | |
bwang | 2:eabe8feaaabb | 234 | if (vd < -1.0f) vd = -1.0f; |
bwang | 2:eabe8feaaabb | 235 | if (vd > 1.0f) vd = 1.0f; |
bwang | 2:eabe8feaaabb | 236 | if (vq < -1.0f) vq = -1.0f; |
bwang | 2:eabe8feaaabb | 237 | if (vq > 1.0f) vq = 1.0f; |
bwang | 2:eabe8feaaabb | 238 | |
bwang | 15:b583cd30b063 | 239 | //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); //uncomment me to write I_q to the DAC |
bwang | 2:eabe8feaaabb | 240 | //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048); |
bwang | 2:eabe8feaaabb | 241 | |
bwang | 14:59c4fcc1a4f7 | 242 | //vd = 0.0f; //uncomment me for voltage mode testing |
bwang | 12:5723a4fa5864 | 243 | //vq = 1.0f; |
bwang | 4:a6669248ce4d | 244 | |
bwang | 2:eabe8feaaabb | 245 | float valpha = vd * cos_p - vq * sin_p; |
bwang | 2:eabe8feaaabb | 246 | float vbeta = vd * sin_p + vq * cos_p; |
bwang | 2:eabe8feaaabb | 247 | |
bwang | 2:eabe8feaaabb | 248 | float va = valpha; |
bwang | 2:eabe8feaaabb | 249 | float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta; |
bwang | 2:eabe8feaaabb | 250 | float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta; |
bwang | 2:eabe8feaaabb | 251 | |
dicarloj | 13:41d102a53caf | 252 | float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f; |
dicarloj | 13:41d102a53caf | 253 | va = va - voff; |
dicarloj | 13:41d102a53caf | 254 | vb = vb - voff; |
dicarloj | 13:41d102a53caf | 255 | vc = vc - voff; |
dicarloj | 13:41d102a53caf | 256 | |
bwang | 2:eabe8feaaabb | 257 | set_dtc(a, 0.5f + 0.5f * va); |
bwang | 2:eabe8feaaabb | 258 | set_dtc(b, 0.5f + 0.5f * vb); |
bwang | 2:eabe8feaaabb | 259 | set_dtc(c, 0.5f + 0.5f * vc); |
bwang | 0:bac9c3a3a6ca | 260 | } |
bwang | 0:bac9c3a3a6ca | 261 | |
bwang | 0:bac9c3a3a6ca | 262 | int main() { |
bwang | 0:bac9c3a3a6ca | 263 | config_globals(); |
bwang | 0:bac9c3a3a6ca | 264 | startup_msg(); |
bwang | 0:bac9c3a3a6ca | 265 | |
bwang | 0:bac9c3a3a6ca | 266 | for (;;) { |
bwang | 12:5723a4fa5864 | 267 | //pc.printf("%f\n\r", p); |
bwang | 12:5723a4fa5864 | 268 | //wait(0.1); |
bwang | 0:bac9c3a3a6ca | 269 | } |
bwang | 0:bac9c3a3a6ca | 270 | } |