iforce2d Chris / Mbed 2 deprecated ubxDistanceMeter

Displays distance to start location on OLED screen.

Dependencies:   mbed

u8g_com_arduino_st7920_spi.c@0:972874f31c98, 2018-03-07 (annotated)

Committer:
iforce2d
Date:
Wed Mar 07 12:49:14 2018 +0000
Revision:
0:972874f31c98
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
iforce2d 0:972874f31c98 1 /*
iforce2d 0:972874f31c98 2
iforce2d 0:972874f31c98 3 u8g_com_arduino_st7920_spi.c
iforce2d 0:972874f31c98 4
iforce2d 0:972874f31c98 5 Universal 8bit Graphics Library
iforce2d 0:972874f31c98 6
iforce2d 0:972874f31c98 7 Copyright (c) 2011, olikraus@gmail.com
iforce2d 0:972874f31c98 8 All rights reserved.
iforce2d 0:972874f31c98 9
iforce2d 0:972874f31c98 10 Redistribution and use in source and binary forms, with or without modification,
iforce2d 0:972874f31c98 11 are permitted provided that the following conditions are met:
iforce2d 0:972874f31c98 12
iforce2d 0:972874f31c98 13 * Redistributions of source code must retain the above copyright notice, this list
iforce2d 0:972874f31c98 14 of conditions and the following disclaimer.
iforce2d 0:972874f31c98 15
iforce2d 0:972874f31c98 16 * Redistributions in binary form must reproduce the above copyright notice, this
iforce2d 0:972874f31c98 17 list of conditions and the following disclaimer in the documentation and/or other
iforce2d 0:972874f31c98 18 materials provided with the distribution.
iforce2d 0:972874f31c98 19
iforce2d 0:972874f31c98 20 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
iforce2d 0:972874f31c98 21 CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
iforce2d 0:972874f31c98 22 INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
iforce2d 0:972874f31c98 23 MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
iforce2d 0:972874f31c98 24 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
iforce2d 0:972874f31c98 25 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
iforce2d 0:972874f31c98 26 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
iforce2d 0:972874f31c98 27 NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
iforce2d 0:972874f31c98 28 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
iforce2d 0:972874f31c98 29 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
iforce2d 0:972874f31c98 30 STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
iforce2d 0:972874f31c98 31 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
iforce2d 0:972874f31c98 32 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
iforce2d 0:972874f31c98 33
iforce2d 0:972874f31c98 34 A special SPI interface for ST7920 controller
iforce2d 0:972874f31c98 35
iforce2d 0:972874f31c98 36 Update for ATOMIC operation done (01 Jun 2013)
iforce2d 0:972874f31c98 37 U8G_ATOMIC_OR(ptr, val)
iforce2d 0:972874f31c98 38 U8G_ATOMIC_AND(ptr, val)
iforce2d 0:972874f31c98 39 U8G_ATOMIC_START();
iforce2d 0:972874f31c98 40 U8G_ATOMIC_END();
iforce2d 0:972874f31c98 41
iforce2d 0:972874f31c98 42
iforce2d 0:972874f31c98 43 */
iforce2d 0:972874f31c98 44
iforce2d 0:972874f31c98 45 #include "u8g.h"
iforce2d 0:972874f31c98 46
iforce2d 0:972874f31c98 47 #if defined(ARDUINO)
iforce2d 0:972874f31c98 48
iforce2d 0:972874f31c98 49 #if ARDUINO < 100
iforce2d 0:972874f31c98 50 #include <WProgram.h>
iforce2d 0:972874f31c98 51 #include "wiring_private.h"
iforce2d 0:972874f31c98 52 #include "pins_arduino.h"
iforce2d 0:972874f31c98 53
iforce2d 0:972874f31c98 54 #else
iforce2d 0:972874f31c98 55 #include <Arduino.h>
iforce2d 0:972874f31c98 56 #include "wiring_private.h"
iforce2d 0:972874f31c98 57 #endif
iforce2d 0:972874f31c98 58
iforce2d 0:972874f31c98 59 #if defined(__AVR__)
iforce2d 0:972874f31c98 60
iforce2d 0:972874f31c98 61 uint8_t u8g_bitData, u8g_bitNotData;
iforce2d 0:972874f31c98 62 uint8_t u8g_bitClock, u8g_bitNotClock;
iforce2d 0:972874f31c98 63 volatile uint8_t *u8g_outData;
iforce2d 0:972874f31c98 64 volatile uint8_t *u8g_outClock;
iforce2d 0:972874f31c98 65
iforce2d 0:972874f31c98 66 static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin)
iforce2d 0:972874f31c98 67 {
iforce2d 0:972874f31c98 68 u8g_outData = portOutputRegister(digitalPinToPort(dataPin));
iforce2d 0:972874f31c98 69 u8g_outClock = portOutputRegister(digitalPinToPort(clockPin));
iforce2d 0:972874f31c98 70 u8g_bitData = digitalPinToBitMask(dataPin);
iforce2d 0:972874f31c98 71 u8g_bitClock = digitalPinToBitMask(clockPin);
iforce2d 0:972874f31c98 72
iforce2d 0:972874f31c98 73 u8g_bitNotClock = u8g_bitClock;
iforce2d 0:972874f31c98 74 u8g_bitNotClock ^= 0x0ff;
iforce2d 0:972874f31c98 75
iforce2d 0:972874f31c98 76 u8g_bitNotData = u8g_bitData;
iforce2d 0:972874f31c98 77 u8g_bitNotData ^= 0x0ff;
iforce2d 0:972874f31c98 78 }
iforce2d 0:972874f31c98 79
iforce2d 0:972874f31c98 80 static void u8g_com_arduino_do_shift_out_msb_first(uint8_t val) U8G_NOINLINE;
iforce2d 0:972874f31c98 81 static void u8g_com_arduino_do_shift_out_msb_first(uint8_t val)
iforce2d 0:972874f31c98 82 {
iforce2d 0:972874f31c98 83 uint8_t cnt = 8;
iforce2d 0:972874f31c98 84 uint8_t bitData = u8g_bitData;
iforce2d 0:972874f31c98 85 uint8_t bitNotData = u8g_bitNotData;
iforce2d 0:972874f31c98 86 uint8_t bitClock = u8g_bitClock;
iforce2d 0:972874f31c98 87 uint8_t bitNotClock = u8g_bitNotClock;
iforce2d 0:972874f31c98 88 volatile uint8_t *outData = u8g_outData;
iforce2d 0:972874f31c98 89 volatile uint8_t *outClock = u8g_outClock;
iforce2d 0:972874f31c98 90
iforce2d 0:972874f31c98 91
iforce2d 0:972874f31c98 92 U8G_ATOMIC_START();
iforce2d 0:972874f31c98 93 bitData |= *outData;
iforce2d 0:972874f31c98 94 bitNotData &= *outData;
iforce2d 0:972874f31c98 95 do
iforce2d 0:972874f31c98 96 {
iforce2d 0:972874f31c98 97 if ( val & 128 )
iforce2d 0:972874f31c98 98 *outData = bitData;
iforce2d 0:972874f31c98 99 else
iforce2d 0:972874f31c98 100 *outData = bitNotData;
iforce2d 0:972874f31c98 101
iforce2d 0:972874f31c98 102 /*
iforce2d 0:972874f31c98 103 *outClock |= bitClock;
iforce2d 0:972874f31c98 104 val <<= 1;
iforce2d 0:972874f31c98 105 cnt--;
iforce2d 0:972874f31c98 106 *outClock &= bitNotClock;
iforce2d 0:972874f31c98 107 */
iforce2d 0:972874f31c98 108
iforce2d 0:972874f31c98 109 val <<= 1;
iforce2d 0:972874f31c98 110 *outClock &= bitNotClock;
iforce2d 0:972874f31c98 111 cnt--;
iforce2d 0:972874f31c98 112 // removed micro delays, because AVRs are too slow and the delay is not required
iforce2d 0:972874f31c98 113 //u8g_MicroDelay();
iforce2d 0:972874f31c98 114 *outClock |= bitClock;
iforce2d 0:972874f31c98 115 //u8g_MicroDelay();
iforce2d 0:972874f31c98 116 } while( cnt != 0 );
iforce2d 0:972874f31c98 117 U8G_ATOMIC_END();
iforce2d 0:972874f31c98 118 }
iforce2d 0:972874f31c98 119
iforce2d 0:972874f31c98 120 #elif defined(__18CXX) || defined(__PIC32MX)
iforce2d 0:972874f31c98 121
iforce2d 0:972874f31c98 122 uint16_t dog_bitData, dog_bitNotData;
iforce2d 0:972874f31c98 123 uint16_t dog_bitClock, dog_bitNotClock;
iforce2d 0:972874f31c98 124 volatile uint32_t *dog_outData;
iforce2d 0:972874f31c98 125 volatile uint32_t *dog_outClock;
iforce2d 0:972874f31c98 126 volatile uint32_t dog_pic32_spi_tmp;
iforce2d 0:972874f31c98 127
iforce2d 0:972874f31c98 128 static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin)
iforce2d 0:972874f31c98 129 {
iforce2d 0:972874f31c98 130 dog_outData = portOutputRegister(digitalPinToPort(dataPin));
iforce2d 0:972874f31c98 131 dog_outClock = portOutputRegister(digitalPinToPort(clockPin));
iforce2d 0:972874f31c98 132 dog_bitData = digitalPinToBitMask(dataPin);
iforce2d 0:972874f31c98 133 dog_bitClock = digitalPinToBitMask(clockPin);
iforce2d 0:972874f31c98 134
iforce2d 0:972874f31c98 135 dog_bitNotClock = dog_bitClock;
iforce2d 0:972874f31c98 136 dog_bitNotClock ^= 0x0ffff;
iforce2d 0:972874f31c98 137
iforce2d 0:972874f31c98 138 dog_bitNotData = dog_bitData;
iforce2d 0:972874f31c98 139 dog_bitNotData ^= 0x0ffff;
iforce2d 0:972874f31c98 140 }
iforce2d 0:972874f31c98 141
iforce2d 0:972874f31c98 142 static void u8g_com_arduino_do_shift_out_msb_first(uint8_t val)
iforce2d 0:972874f31c98 143 {
iforce2d 0:972874f31c98 144 uint8_t cnt = 8;
iforce2d 0:972874f31c98 145 U8G_ATOMIC_START();
iforce2d 0:972874f31c98 146 do
iforce2d 0:972874f31c98 147 {
iforce2d 0:972874f31c98 148 if ( val & 128 )
iforce2d 0:972874f31c98 149 *dog_outData |= dog_bitData;
iforce2d 0:972874f31c98 150 else
iforce2d 0:972874f31c98 151 *dog_outData &= dog_bitNotData;
iforce2d 0:972874f31c98 152 val <<= 1;
iforce2d 0:972874f31c98 153 //u8g_MicroDelay();
iforce2d 0:972874f31c98 154 //*dog_outClock |= dog_bitClock;
iforce2d 0:972874f31c98 155 *dog_outClock &= dog_bitNotClock;
iforce2d 0:972874f31c98 156 cnt--;
iforce2d 0:972874f31c98 157 u8g_MicroDelay();
iforce2d 0:972874f31c98 158 //*dog_outClock &= dog_bitNotClock;
iforce2d 0:972874f31c98 159 *dog_outClock |= dog_bitClock;
iforce2d 0:972874f31c98 160 u8g_MicroDelay();
iforce2d 0:972874f31c98 161
iforce2d 0:972874f31c98 162 } while( cnt != 0 );
iforce2d 0:972874f31c98 163 U8G_ATOMIC_END();
iforce2d 0:972874f31c98 164 }
iforce2d 0:972874f31c98 165
iforce2d 0:972874f31c98 166 #else
iforce2d 0:972874f31c98 167
iforce2d 0:972874f31c98 168 /* default interface, Arduino DUE (__arm__) */
iforce2d 0:972874f31c98 169
iforce2d 0:972874f31c98 170 uint8_t u8g_data_pin;
iforce2d 0:972874f31c98 171 uint8_t u8g_clock_pin;
iforce2d 0:972874f31c98 172
iforce2d 0:972874f31c98 173 static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin)
iforce2d 0:972874f31c98 174 {
iforce2d 0:972874f31c98 175 u8g_data_pin = dataPin;
iforce2d 0:972874f31c98 176 u8g_clock_pin = clockPin;
iforce2d 0:972874f31c98 177 }
iforce2d 0:972874f31c98 178
iforce2d 0:972874f31c98 179 static void u8g_com_arduino_do_shift_out_msb_first(uint8_t val)
iforce2d 0:972874f31c98 180 {
iforce2d 0:972874f31c98 181 uint8_t cnt = 8;
iforce2d 0:972874f31c98 182 do
iforce2d 0:972874f31c98 183 {
iforce2d 0:972874f31c98 184 if ( val & 128 )
iforce2d 0:972874f31c98 185 digitalWrite(u8g_data_pin, HIGH);
iforce2d 0:972874f31c98 186 else
iforce2d 0:972874f31c98 187 digitalWrite(u8g_data_pin, LOW);
iforce2d 0:972874f31c98 188 val <<= 1;
iforce2d 0:972874f31c98 189 //u8g_MicroDelay();
iforce2d 0:972874f31c98 190 digitalWrite(u8g_clock_pin, LOW);
iforce2d 0:972874f31c98 191 cnt--;
iforce2d 0:972874f31c98 192 u8g_MicroDelay();
iforce2d 0:972874f31c98 193 digitalWrite(u8g_clock_pin, HIGH);
iforce2d 0:972874f31c98 194 u8g_MicroDelay();
iforce2d 0:972874f31c98 195 } while( cnt != 0 );
iforce2d 0:972874f31c98 196 }
iforce2d 0:972874f31c98 197
iforce2d 0:972874f31c98 198 #endif
iforce2d 0:972874f31c98 199
iforce2d 0:972874f31c98 200
iforce2d 0:972874f31c98 201 static void u8g_com_arduino_st7920_write_byte_seq(uint8_t rs, uint8_t *ptr, uint8_t len)
iforce2d 0:972874f31c98 202 {
iforce2d 0:972874f31c98 203 uint8_t i;
iforce2d 0:972874f31c98 204
iforce2d 0:972874f31c98 205 if ( rs == 0 )
iforce2d 0:972874f31c98 206 {
iforce2d 0:972874f31c98 207 /* command */
iforce2d 0:972874f31c98 208 u8g_com_arduino_do_shift_out_msb_first(0x0f8);
iforce2d 0:972874f31c98 209 }
iforce2d 0:972874f31c98 210 else if ( rs == 1 )
iforce2d 0:972874f31c98 211 {
iforce2d 0:972874f31c98 212 /* data */
iforce2d 0:972874f31c98 213 u8g_com_arduino_do_shift_out_msb_first(0x0fa);
iforce2d 0:972874f31c98 214 }
iforce2d 0:972874f31c98 215
iforce2d 0:972874f31c98 216 while( len > 0 )
iforce2d 0:972874f31c98 217 {
iforce2d 0:972874f31c98 218 u8g_com_arduino_do_shift_out_msb_first(*ptr & 0x0f0);
iforce2d 0:972874f31c98 219 u8g_com_arduino_do_shift_out_msb_first(*ptr << 4);
iforce2d 0:972874f31c98 220 ptr++;
iforce2d 0:972874f31c98 221 len--;
iforce2d 0:972874f31c98 222 u8g_10MicroDelay();
iforce2d 0:972874f31c98 223 }
iforce2d 0:972874f31c98 224
iforce2d 0:972874f31c98 225 for( i = 0; i < 4; i++ )
iforce2d 0:972874f31c98 226 u8g_10MicroDelay();
iforce2d 0:972874f31c98 227 }
iforce2d 0:972874f31c98 228
iforce2d 0:972874f31c98 229 static void u8g_com_arduino_st7920_write_byte(uint8_t rs, uint8_t val)
iforce2d 0:972874f31c98 230 {
iforce2d 0:972874f31c98 231 uint8_t i;
iforce2d 0:972874f31c98 232
iforce2d 0:972874f31c98 233 if ( rs == 0 )
iforce2d 0:972874f31c98 234 {
iforce2d 0:972874f31c98 235 /* command */
iforce2d 0:972874f31c98 236 u8g_com_arduino_do_shift_out_msb_first(0x0f8);
iforce2d 0:972874f31c98 237 }
iforce2d 0:972874f31c98 238 else if ( rs == 1 )
iforce2d 0:972874f31c98 239 {
iforce2d 0:972874f31c98 240 /* data */
iforce2d 0:972874f31c98 241 u8g_com_arduino_do_shift_out_msb_first(0x0fa);
iforce2d 0:972874f31c98 242 }
iforce2d 0:972874f31c98 243
iforce2d 0:972874f31c98 244 u8g_com_arduino_do_shift_out_msb_first(val & 0x0f0);
iforce2d 0:972874f31c98 245 u8g_com_arduino_do_shift_out_msb_first(val << 4);
iforce2d 0:972874f31c98 246
iforce2d 0:972874f31c98 247 for( i = 0; i < 4; i++ )
iforce2d 0:972874f31c98 248 u8g_10MicroDelay();
iforce2d 0:972874f31c98 249
iforce2d 0:972874f31c98 250 }
iforce2d 0:972874f31c98 251
iforce2d 0:972874f31c98 252
iforce2d 0:972874f31c98 253 uint8_t u8g_com_arduino_st7920_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr)
iforce2d 0:972874f31c98 254 {
iforce2d 0:972874f31c98 255 switch(msg)
iforce2d 0:972874f31c98 256 {
iforce2d 0:972874f31c98 257 case U8G_COM_MSG_INIT:
iforce2d 0:972874f31c98 258 u8g_com_arduino_assign_pin_output_high(u8g);
iforce2d 0:972874f31c98 259 u8g_com_arduino_digital_write(u8g, U8G_PI_CS, LOW);
iforce2d 0:972874f31c98 260 // u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, LOW);
iforce2d 0:972874f31c98 261 u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, HIGH);
iforce2d 0:972874f31c98 262 u8g_com_arduino_digital_write(u8g, U8G_PI_MOSI, LOW);
iforce2d 0:972874f31c98 263 u8g_com_arduino_init_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK]);
iforce2d 0:972874f31c98 264 u8g->pin_list[U8G_PI_A0_STATE] = 0; /* inital RS state: command mode */
iforce2d 0:972874f31c98 265 break;
iforce2d 0:972874f31c98 266
iforce2d 0:972874f31c98 267 case U8G_COM_MSG_STOP:
iforce2d 0:972874f31c98 268 break;
iforce2d 0:972874f31c98 269
iforce2d 0:972874f31c98 270 case U8G_COM_MSG_RESET:
iforce2d 0:972874f31c98 271 if ( u8g->pin_list[U8G_PI_RESET] != U8G_PIN_NONE )
iforce2d 0:972874f31c98 272 u8g_com_arduino_digital_write(u8g, U8G_PI_RESET, arg_val);
iforce2d 0:972874f31c98 273 break;
iforce2d 0:972874f31c98 274
iforce2d 0:972874f31c98 275 case U8G_COM_MSG_CHIP_SELECT:
iforce2d 0:972874f31c98 276 if ( arg_val == 0 )
iforce2d 0:972874f31c98 277 {
iforce2d 0:972874f31c98 278 /* disable, note: the st7920 has an active high chip select */
iforce2d 0:972874f31c98 279 u8g_com_arduino_digital_write(u8g, U8G_PI_CS, LOW);
iforce2d 0:972874f31c98 280 }
iforce2d 0:972874f31c98 281 else
iforce2d 0:972874f31c98 282 {
iforce2d 0:972874f31c98 283 /* enable */
iforce2d 0:972874f31c98 284 //u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, HIGH);
iforce2d 0:972874f31c98 285 u8g_com_arduino_digital_write(u8g, U8G_PI_CS, HIGH);
iforce2d 0:972874f31c98 286 }
iforce2d 0:972874f31c98 287 break;
iforce2d 0:972874f31c98 288
iforce2d 0:972874f31c98 289 case U8G_COM_MSG_WRITE_BYTE:
iforce2d 0:972874f31c98 290 u8g_com_arduino_st7920_write_byte( u8g->pin_list[U8G_PI_A0_STATE], arg_val);
iforce2d 0:972874f31c98 291 //u8g->pin_list[U8G_PI_A0_STATE] = 2;
iforce2d 0:972874f31c98 292 //u8g_arduino_sw_spi_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK], arg_val);
iforce2d 0:972874f31c98 293 break;
iforce2d 0:972874f31c98 294
iforce2d 0:972874f31c98 295 case U8G_COM_MSG_WRITE_SEQ:
iforce2d 0:972874f31c98 296 u8g_com_arduino_st7920_write_byte_seq(u8g->pin_list[U8G_PI_A0_STATE], (uint8_t *)arg_ptr, arg_val);
iforce2d 0:972874f31c98 297 break;
iforce2d 0:972874f31c98 298
iforce2d 0:972874f31c98 299 case U8G_COM_MSG_WRITE_SEQ_P:
iforce2d 0:972874f31c98 300 {
iforce2d 0:972874f31c98 301 register uint8_t *ptr = arg_ptr;
iforce2d 0:972874f31c98 302 while( arg_val > 0 )
iforce2d 0:972874f31c98 303 {
iforce2d 0:972874f31c98 304 u8g_com_arduino_st7920_write_byte(u8g->pin_list[U8G_PI_A0_STATE], u8g_pgm_read(ptr) );
iforce2d 0:972874f31c98 305 //u8g->pin_list[U8G_PI_A0_STATE] = 2;
iforce2d 0:972874f31c98 306 ptr++;
iforce2d 0:972874f31c98 307 arg_val--;
iforce2d 0:972874f31c98 308 }
iforce2d 0:972874f31c98 309 }
iforce2d 0:972874f31c98 310 break;
iforce2d 0:972874f31c98 311
iforce2d 0:972874f31c98 312 case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
iforce2d 0:972874f31c98 313 u8g->pin_list[U8G_PI_A0_STATE] = arg_val;
iforce2d 0:972874f31c98 314 break;
iforce2d 0:972874f31c98 315 }
iforce2d 0:972874f31c98 316 return 1;
iforce2d 0:972874f31c98 317 }
iforce2d 0:972874f31c98 318
iforce2d 0:972874f31c98 319 #else /* ARDUINO */
iforce2d 0:972874f31c98 320
iforce2d 0:972874f31c98 321 uint8_t u8g_com_arduino_st7920_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr)
iforce2d 0:972874f31c98 322 {
iforce2d 0:972874f31c98 323 return 1;
iforce2d 0:972874f31c98 324 }
iforce2d 0:972874f31c98 325
iforce2d 0:972874f31c98 326 #endif /* ARDUINO */
iforce2d 0:972874f31c98 327
iforce2d 0:972874f31c98 328