Hiroh Satoh / keyboard Featured

ble nano hid over gatt

Dependencies:   BLE_API mbed-dev nRF51822

HIDController_BLE.cpp@21:d801c32231b0, 2016-08-22 (annotated)

Committer:
cho45
Date:
Mon Aug 22 14:59:41 2016 +0000
Revision:
21:d801c32231b0
Parent:
20:d8840ac38434
Child:
22:a78f0a91280a
???? stopReportTicker ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cho45 6:f1c3ea8bc850 1 #include "mbed.h"
cho45 6:f1c3ea8bc850 2 #include "BLE.h"
cho45 6:f1c3ea8bc850 3 #include "KeyboardService.h"
cho45 6:f1c3ea8bc850 4 #include "BatteryService.h"
cho45 6:f1c3ea8bc850 5 #include "DeviceInformationService.h"
cho45 15:70bf079d3ee1 6 #include "DFUService.h"
cho45 6:f1c3ea8bc850 7 #include "HIDController_BLE.h"
cho45 6:f1c3ea8bc850 8
cho45 6:f1c3ea8bc850 9 static const char MODEL_NAME[] = "keyboard";
cho45 6:f1c3ea8bc850 10 static const char SERIAL_NUMBER[] = "X00000";
cho45 6:f1c3ea8bc850 11 static const char HARDWARE_REVISION[] = "0.1";
cho45 6:f1c3ea8bc850 12 static const char FIRMWARE_REVISION[] = "0.1";
cho45 6:f1c3ea8bc850 13 static const char SOFTWARE_REVISION[] = "0.0";
cho45 6:f1c3ea8bc850 14
cho45 6:f1c3ea8bc850 15 static const uint8_t DEVICE_NAME[] = "my keyboard";
cho45 6:f1c3ea8bc850 16 static const uint8_t SHORT_DEVICE_NAME[] = "kbd1";
cho45 6:f1c3ea8bc850 17
cho45 6:f1c3ea8bc850 18 static const bool ENABLE_BONDING = true;
cho45 6:f1c3ea8bc850 19 static const bool REQUIRE_MITM = true;
cho45 6:f1c3ea8bc850 20 static const uint8_t PASSKEY[6] = {'1','2','3','4','5','6'}; // must be 6-digits number
cho45 6:f1c3ea8bc850 21
cho45 6:f1c3ea8bc850 22 static const uint16_t uuid16_list[] = {
cho45 6:f1c3ea8bc850 23 GattService::UUID_HUMAN_INTERFACE_DEVICE_SERVICE,
cho45 6:f1c3ea8bc850 24 GattService::UUID_DEVICE_INFORMATION_SERVICE,
cho45 6:f1c3ea8bc850 25 GattService::UUID_BATTERY_SERVICE
cho45 6:f1c3ea8bc850 26 };
cho45 6:f1c3ea8bc850 27
cho45 6:f1c3ea8bc850 28 static KeyboardService* keyboardService;
cho45 6:f1c3ea8bc850 29 static BatteryService* batteryService;
cho45 6:f1c3ea8bc850 30 static DeviceInformationService* deviceInformationService;
cho45 15:70bf079d3ee1 31 static DFUService* dfuService;
cho45 6:f1c3ea8bc850 32
cho45 13:b0ffdf2012b9 33 static BLEProtocol::Address_t peerAddress;
cho45 20:d8840ac38434 34 static volatile bool connected = false;
cho45 13:b0ffdf2012b9 35
cho45 6:f1c3ea8bc850 36 static void updateBatteryLevel() {
cho45 6:f1c3ea8bc850 37 if (!batteryService) return;
cho45 6:f1c3ea8bc850 38 static const float BATTERY_MAX = 2.4;
cho45 6:f1c3ea8bc850 39 static const float REFERNECE = 1.2;
cho45 6:f1c3ea8bc850 40 static const float PRESCALE = 3;
cho45 6:f1c3ea8bc850 41
cho45 6:f1c3ea8bc850 42 NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Enabled;
cho45 6:f1c3ea8bc850 43
cho45 6:f1c3ea8bc850 44 // Use internal 1.2V reference for batteryInput
cho45 6:f1c3ea8bc850 45 // 1/3 pre-scaled input and 1.2V internal band gap reference
cho45 6:f1c3ea8bc850 46 // ref. mbed-src/targets/hal/TARGET_NORDIC/TARGET_MCU_NRF51822/analogin_api.c
cho45 6:f1c3ea8bc850 47 NRF_ADC->CONFIG =
cho45 6:f1c3ea8bc850 48 (ADC_CONFIG_RES_10bit << ADC_CONFIG_RES_Pos) |
cho45 6:f1c3ea8bc850 49 // Use VDD 1/3 for input
cho45 6:f1c3ea8bc850 50 (ADC_CONFIG_INPSEL_SupplyOneThirdPrescaling << ADC_CONFIG_INPSEL_Pos) |
cho45 6:f1c3ea8bc850 51 // Use internal band gap for reference
cho45 6:f1c3ea8bc850 52 (ADC_CONFIG_REFSEL_VBG << ADC_CONFIG_REFSEL_Pos) |
cho45 6:f1c3ea8bc850 53 (ADC_CONFIG_EXTREFSEL_None << ADC_CONFIG_EXTREFSEL_Pos);
cho45 6:f1c3ea8bc850 54
cho45 6:f1c3ea8bc850 55 // Start ADC
cho45 6:f1c3ea8bc850 56 NRF_ADC->TASKS_START = 1;
cho45 6:f1c3ea8bc850 57 while (((NRF_ADC->BUSY & ADC_BUSY_BUSY_Msk) >> ADC_BUSY_BUSY_Pos) == ADC_BUSY_BUSY_Busy) {
cho45 6:f1c3ea8bc850 58 // busy loop
cho45 6:f1c3ea8bc850 59 }
cho45 6:f1c3ea8bc850 60
cho45 6:f1c3ea8bc850 61 // Read ADC result
cho45 6:f1c3ea8bc850 62 uint16_t raw10bit = static_cast<uint16_t>(NRF_ADC->RESULT);
cho45 21:d801c32231b0 63
cho45 21:d801c32231b0 64 NRF_ADC->ENABLE = ADC_ENABLE_ENABLE_Disabled;
cho45 21:d801c32231b0 65
cho45 6:f1c3ea8bc850 66 float ratio = raw10bit / static_cast<float>(1<<10);
cho45 6:f1c3ea8bc850 67
cho45 6:f1c3ea8bc850 68 float batteryVoltage = ratio * (REFERNECE * PRESCALE);
cho45 6:f1c3ea8bc850 69 float percentage = (batteryVoltage / BATTERY_MAX) * 100;
cho45 6:f1c3ea8bc850 70 if (percentage > 100) {
cho45 6:f1c3ea8bc850 71 percentage = 100;
cho45 6:f1c3ea8bc850 72 }
cho45 6:f1c3ea8bc850 73 printf("updateBatteryLevel %f V : %d/100\r\n", batteryVoltage, static_cast<uint8_t>(percentage));
cho45 6:f1c3ea8bc850 74 batteryService->updateBatteryLevel(static_cast<uint8_t>(percentage));
cho45 6:f1c3ea8bc850 75 }
cho45 6:f1c3ea8bc850 76
cho45 6:f1c3ea8bc850 77
cho45 6:f1c3ea8bc850 78 static void onConnect(const Gap::ConnectionCallbackParams_t *params) {
cho45 17:3233ee19f716 79 printf("onConnect: ");
cho45 17:3233ee19f716 80 for (unsigned i = 0; i < Gap::ADDR_LEN; i++) {
cho45 17:3233ee19f716 81 printf("%02x", params->peerAddr[i]);
cho45 17:3233ee19f716 82 }
cho45 17:3233ee19f716 83 printf("\r\n");
cho45 13:b0ffdf2012b9 84 peerAddress.type = params->peerAddrType;
cho45 13:b0ffdf2012b9 85 memcpy(peerAddress.address, params->peerAddr, Gap::ADDR_LEN);
cho45 6:f1c3ea8bc850 86 }
cho45 6:f1c3ea8bc850 87
cho45 6:f1c3ea8bc850 88 static void onDisconnect(const Gap::DisconnectionCallbackParams_t *params) {
cho45 6:f1c3ea8bc850 89 printf("onDisconnect\r\n");
cho45 20:d8840ac38434 90 connected = false;
cho45 6:f1c3ea8bc850 91 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().startAdvertising();
cho45 6:f1c3ea8bc850 92 }
cho45 6:f1c3ea8bc850 93
cho45 6:f1c3ea8bc850 94 static void onTimeout(const Gap::TimeoutSource_t source) {
cho45 6:f1c3ea8bc850 95 printf("onTimeout\r\n");
cho45 20:d8840ac38434 96 connected = false;
cho45 6:f1c3ea8bc850 97 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().startAdvertising();
cho45 6:f1c3ea8bc850 98 }
cho45 6:f1c3ea8bc850 99
cho45 6:f1c3ea8bc850 100 static void passkeyDisplayCallback(Gap::Handle_t handle, const SecurityManager::Passkey_t passkey) {
cho45 6:f1c3ea8bc850 101 printf("Input passKey: ");
cho45 6:f1c3ea8bc850 102 for (unsigned i = 0; i < Gap::ADDR_LEN; i++) {
cho45 6:f1c3ea8bc850 103 printf("%c", passkey[i]);
cho45 6:f1c3ea8bc850 104 }
cho45 6:f1c3ea8bc850 105 printf("\r\n");
cho45 6:f1c3ea8bc850 106 }
cho45 6:f1c3ea8bc850 107
cho45 6:f1c3ea8bc850 108 static void securitySetupCompletedCallback(Gap::Handle_t handle, SecurityManager::SecurityCompletionStatus_t status) {
cho45 6:f1c3ea8bc850 109 if (status == SecurityManager::SEC_STATUS_SUCCESS) {
cho45 6:f1c3ea8bc850 110 printf("Security success %d\r\n", status);
cho45 13:b0ffdf2012b9 111
cho45 13:b0ffdf2012b9 112 printf("Set whitelist\r\n");
cho45 13:b0ffdf2012b9 113 Gap::Whitelist_t whitelist;
cho45 13:b0ffdf2012b9 114 whitelist.size = 1;
cho45 13:b0ffdf2012b9 115 whitelist.capacity = 1;
cho45 13:b0ffdf2012b9 116 whitelist.addresses = &peerAddress;
cho45 13:b0ffdf2012b9 117
cho45 13:b0ffdf2012b9 118 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().setWhitelist(whitelist);
cho45 13:b0ffdf2012b9 119 printf("Set Advertising Policy Mode\r\n");
cho45 13:b0ffdf2012b9 120 // BLE::Instance(BLE::DEFAULT_INSTANCE).gap().setAdvertisingPolicyMode(Gap::ADV_POLICY_FILTER_SCAN_REQS);
cho45 13:b0ffdf2012b9 121 // BLE::Instance(BLE::DEFAULT_INSTANCE).gap().setAdvertisingPolicyMode(Gap::ADV_POLICY_FILTER_CONN_REQS);
cho45 13:b0ffdf2012b9 122 BLE::Instance(BLE::DEFAULT_INSTANCE).gap().setAdvertisingPolicyMode(Gap::ADV_POLICY_FILTER_ALL_REQS);
cho45 13:b0ffdf2012b9 123
cho45 20:d8840ac38434 124 connected = true;
cho45 6:f1c3ea8bc850 125 } else {
cho45 6:f1c3ea8bc850 126 printf("Security failed %d\r\n", status);
cho45 6:f1c3ea8bc850 127 }
cho45 6:f1c3ea8bc850 128 }
cho45 6:f1c3ea8bc850 129
cho45 6:f1c3ea8bc850 130 static void securitySetupInitiatedCallback(Gap::Handle_t, bool allowBonding, bool requireMITM, SecurityManager::SecurityIOCapabilities_t iocaps) {
cho45 6:f1c3ea8bc850 131 printf("Security setup initiated\r\n");
cho45 6:f1c3ea8bc850 132 }
cho45 6:f1c3ea8bc850 133
cho45 6:f1c3ea8bc850 134 static void bleInitComplete(BLE::InitializationCompleteCallbackContext *params) {
cho45 6:f1c3ea8bc850 135 // https://developer.mbed.org/compiler/#nav:/keyboard/BLE_API/ble/blecommon.h;
cho45 6:f1c3ea8bc850 136 ble_error_t error;
cho45 6:f1c3ea8bc850 137 BLE &ble = params->ble;
cho45 16:345eebc4f259 138
cho45 16:345eebc4f259 139 /**< Minimum Connection Interval in 1.25 ms units, see BLE_GAP_CP_LIMITS.*/
cho45 18:5d0232c9e70e 140 uint16_t minConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(24);
cho45 16:345eebc4f259 141 /**< Maximum Connection Interval in 1.25 ms units, see BLE_GAP_CP_LIMITS.*/
cho45 18:5d0232c9e70e 142 uint16_t maxConnectionInterval = Gap::MSEC_TO_GAP_DURATION_UNITS(44);
cho45 16:345eebc4f259 143 /**< Slave Latency in number of connection events, see BLE_GAP_CP_LIMITS.*/
cho45 18:5d0232c9e70e 144 uint16_t slaveLatency = 4;
cho45 16:345eebc4f259 145 /**< Connection Supervision Timeout in 10 ms units, see BLE_GAP_CP_LIMITS.*/
cho45 16:345eebc4f259 146 uint16_t connectionSupervisionTimeout = 32 * 100;
cho45 16:345eebc4f259 147 Gap::ConnectionParams_t connectionParams = {
cho45 16:345eebc4f259 148 minConnectionInterval,
cho45 16:345eebc4f259 149 maxConnectionInterval,
cho45 16:345eebc4f259 150 slaveLatency,
cho45 16:345eebc4f259 151 connectionSupervisionTimeout
cho45 16:345eebc4f259 152 };
cho45 16:345eebc4f259 153
cho45 6:f1c3ea8bc850 154 error = params->error;
cho45 6:f1c3ea8bc850 155 if (error != BLE_ERROR_NONE) {
cho45 6:f1c3ea8bc850 156 printf("error on ble.init() \r\n");
cho45 6:f1c3ea8bc850 157 goto return_error;
cho45 6:f1c3ea8bc850 158 }
cho45 6:f1c3ea8bc850 159
cho45 6:f1c3ea8bc850 160 ble.gap().onDisconnection(onDisconnect);
cho45 6:f1c3ea8bc850 161 ble.gap().onConnection(onConnect);
cho45 6:f1c3ea8bc850 162 ble.gap().onTimeout(onTimeout);
cho45 6:f1c3ea8bc850 163
cho45 17:3233ee19f716 164 // printf("setup ble security manager\r\n");
cho45 6:f1c3ea8bc850 165 ble.securityManager().onSecuritySetupInitiated(securitySetupInitiatedCallback);
cho45 6:f1c3ea8bc850 166 ble.securityManager().onPasskeyDisplay(passkeyDisplayCallback);
cho45 6:f1c3ea8bc850 167 ble.securityManager().onSecuritySetupCompleted(securitySetupCompletedCallback);
cho45 6:f1c3ea8bc850 168 // bonding with hard-coded passkey.
cho45 6:f1c3ea8bc850 169 error = ble.securityManager().init(ENABLE_BONDING, REQUIRE_MITM, SecurityManager::IO_CAPS_DISPLAY_ONLY, PASSKEY);
cho45 6:f1c3ea8bc850 170 if (error != BLE_ERROR_NONE) {
cho45 6:f1c3ea8bc850 171 printf("error on ble.securityManager().init()");
cho45 6:f1c3ea8bc850 172 goto return_error;
cho45 6:f1c3ea8bc850 173 }
cho45 16:345eebc4f259 174
cho45 6:f1c3ea8bc850 175
cho45 17:3233ee19f716 176 // printf("new KeyboardService\r\n");
cho45 6:f1c3ea8bc850 177 keyboardService = new KeyboardService(ble);
cho45 17:3233ee19f716 178 // printf("new DeviceInformationService\r\n");
cho45 6:f1c3ea8bc850 179 deviceInformationService = new DeviceInformationService(ble, "lowreal.net", MODEL_NAME, SERIAL_NUMBER, HARDWARE_REVISION, FIRMWARE_REVISION, SOFTWARE_REVISION);
cho45 17:3233ee19f716 180 // printf("new BatteryService\r\n");
cho45 6:f1c3ea8bc850 181 batteryService = new BatteryService(ble, 100);
cho45 16:345eebc4f259 182 /** TODO STUCK with BLE NANO
cho45 16:345eebc4f259 183 printf("new DFUService\r\n");
cho45 16:345eebc4f259 184 dfuService = new DFUService(ble);
cho45 16:345eebc4f259 185 */
cho45 16:345eebc4f259 186
cho45 6:f1c3ea8bc850 187 updateBatteryLevel();
cho45 16:345eebc4f259 188
cho45 17:3233ee19f716 189 //printf("setup connection params\r\n");
cho45 16:345eebc4f259 190
cho45 16:345eebc4f259 191 ble.gap().setPreferredConnectionParams(&connectionParams);
cho45 6:f1c3ea8bc850 192
cho45 17:3233ee19f716 193 // printf("general setup\r\n");
cho45 6:f1c3ea8bc850 194 error = ble.gap().accumulateAdvertisingPayload(
cho45 6:f1c3ea8bc850 195 GapAdvertisingData::BREDR_NOT_SUPPORTED |
cho45 6:f1c3ea8bc850 196 GapAdvertisingData::LE_GENERAL_DISCOVERABLE
cho45 6:f1c3ea8bc850 197 );
cho45 9:d1daefbf1fbd 198 // shoud be LE_LIMITED_DISCOVERABLE
cho45 9:d1daefbf1fbd 199 // error = ble.gap().accumulateAdvertisingPayload(
cho45 9:d1daefbf1fbd 200 // GapAdvertisingData::BREDR_NOT_SUPPORTED |
cho45 9:d1daefbf1fbd 201 // GapAdvertisingData::LE_LIMITED_DISCOVERABLE
cho45 9:d1daefbf1fbd 202 // );
cho45 6:f1c3ea8bc850 203 if (error != BLE_ERROR_NONE) goto return_error;
cho45 6:f1c3ea8bc850 204
cho45 17:3233ee19f716 205 // printf("set COMPLETE_LIST_16BIT_SERVICE_IDS\r\n");
cho45 6:f1c3ea8bc850 206 error = ble.gap().accumulateAdvertisingPayload(
cho45 6:f1c3ea8bc850 207 GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
cho45 6:f1c3ea8bc850 208 (uint8_t*)uuid16_list, sizeof(uuid16_list)
cho45 6:f1c3ea8bc850 209 );
cho45 6:f1c3ea8bc850 210 if (error != BLE_ERROR_NONE) goto return_error;
cho45 6:f1c3ea8bc850 211
cho45 17:3233ee19f716 212 // printf("set advertising\r\n");
cho45 6:f1c3ea8bc850 213 // see 5.1.2: HID over GATT Specification (pg. 25)
cho45 6:f1c3ea8bc850 214 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
cho45 6:f1c3ea8bc850 215
cho45 17:3233ee19f716 216 // printf("set advertising interval\r\n");
cho45 9:d1daefbf1fbd 217 ble.gap().setAdvertisingInterval(30);
cho45 17:3233ee19f716 218 // printf("set advertising timeout\r\n");
cho45 9:d1daefbf1fbd 219 ble.gap().setAdvertisingTimeout(180);
cho45 6:f1c3ea8bc850 220
cho45 17:3233ee19f716 221 // printf("set keyboard\r\n");
cho45 6:f1c3ea8bc850 222 error = ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::KEYBOARD);
cho45 6:f1c3ea8bc850 223 if (error != BLE_ERROR_NONE) goto return_error;
cho45 6:f1c3ea8bc850 224
cho45 17:3233ee19f716 225 // printf("set complete local name\r\n");
cho45 6:f1c3ea8bc850 226 error = ble.gap().accumulateAdvertisingPayload(
cho45 6:f1c3ea8bc850 227 GapAdvertisingData::COMPLETE_LOCAL_NAME,
cho45 6:f1c3ea8bc850 228 DEVICE_NAME, sizeof(DEVICE_NAME)
cho45 6:f1c3ea8bc850 229 );
cho45 6:f1c3ea8bc850 230 if (error != BLE_ERROR_NONE) goto return_error;
cho45 6:f1c3ea8bc850 231
cho45 17:3233ee19f716 232 // printf("set device name\r\n");
cho45 6:f1c3ea8bc850 233 error = ble.gap().setDeviceName(DEVICE_NAME);
cho45 6:f1c3ea8bc850 234 if (error != BLE_ERROR_NONE) goto return_error;
cho45 19:cd7f2fe05ae4 235 ble.gap().setTxPower(0);
cho45 6:f1c3ea8bc850 236
cho45 6:f1c3ea8bc850 237
cho45 6:f1c3ea8bc850 238 printf("advertising\r\n");
cho45 6:f1c3ea8bc850 239 error = ble.gap().startAdvertising();
cho45 6:f1c3ea8bc850 240 if (error != BLE_ERROR_NONE) goto return_error;
cho45 6:f1c3ea8bc850 241 return;
cho45 6:f1c3ea8bc850 242
cho45 6:f1c3ea8bc850 243 return_error:
cho45 6:f1c3ea8bc850 244 printf("error with %d\r\n", error);
cho45 6:f1c3ea8bc850 245 return;
cho45 6:f1c3ea8bc850 246 }
cho45 6:f1c3ea8bc850 247
cho45 20:d8840ac38434 248 bool HIDController::connected() {
cho45 20:d8840ac38434 249 return connected;
cho45 20:d8840ac38434 250 }
cho45 20:d8840ac38434 251
cho45 6:f1c3ea8bc850 252 void HIDController::init() {
cho45 6:f1c3ea8bc850 253 // https://github.com/jpbrucker/BLE_HID/blob/master/examples/examples_common.cpp
cho45 6:f1c3ea8bc850 254 printf("ble.init\r\n");
cho45 6:f1c3ea8bc850 255
cho45 6:f1c3ea8bc850 256 BLE& ble = BLE::Instance(BLE::DEFAULT_INSTANCE);
cho45 6:f1c3ea8bc850 257 ble.init(bleInitComplete);
cho45 6:f1c3ea8bc850 258
cho45 6:f1c3ea8bc850 259 while (!ble.hasInitialized()) { }
cho45 6:f1c3ea8bc850 260
cho45 6:f1c3ea8bc850 261 printf("ble.hasIntialized\r\n");
cho45 6:f1c3ea8bc850 262 }
cho45 6:f1c3ea8bc850 263
cho45 10:1aed2481a743 264 void HIDController::waitForEvent() {
cho45 6:f1c3ea8bc850 265 BLE& ble = BLE::Instance(BLE::DEFAULT_INSTANCE);
cho45 21:d801c32231b0 266 keyboardService->stopReportTicker();
cho45 6:f1c3ea8bc850 267 ble.waitForEvent();
cho45 6:f1c3ea8bc850 268 }
cho45 6:f1c3ea8bc850 269
cho45 6:f1c3ea8bc850 270 void HIDController::appendReportData(uint8_t key) {
cho45 6:f1c3ea8bc850 271 if (keyboardService) {
cho45 6:f1c3ea8bc850 272 keyboardService->appendReportData(key);
cho45 6:f1c3ea8bc850 273 }
cho45 6:f1c3ea8bc850 274 }
cho45 6:f1c3ea8bc850 275
cho45 6:f1c3ea8bc850 276 void HIDController::deleteReportData(uint8_t key) {
cho45 6:f1c3ea8bc850 277 if (keyboardService) {
cho45 6:f1c3ea8bc850 278 keyboardService->deleteReportData(key);
cho45 6:f1c3ea8bc850 279 }
cho45 6:f1c3ea8bc850 280 }
cho45 9:d1daefbf1fbd 281
cho45 9:d1daefbf1fbd 282 void HIDController::queueCurrentReportData() {
cho45 20:d8840ac38434 283 if (!connected) return;
cho45 9:d1daefbf1fbd 284 if (keyboardService) {
cho45 9:d1daefbf1fbd 285 keyboardService->queueCurrentReportData();
cho45 9:d1daefbf1fbd 286 }
cho45 9:d1daefbf1fbd 287 }