JunMo Hong
180718 HJM : 8 Count sensing data RF send, certTest, temp(cold)Test
Fork of
EV-COG-AD3029LZ
by 
JunMo Hong
Diff: source/SimpleSpirit1.cpp
- Revision:
- 84:45b9ff78a066
- Parent:
- 83:54b207156a91
- Child:
- 85:cdf9e4210c87
--- a/source/SimpleSpirit1.cpp Wed Mar 21 05:06:08 2018 +0000
+++ b/source/SimpleSpirit1.cpp Fri Jun 22 03:42:24 2018 +0000
@@ -3,8 +3,24 @@
#include "radio_spi.h"
//#include "main.h"
-//#define SPIRIT_GPIO_IRQ (SPIRIT_GPIO_0)
-#define SPIRIT_GPIO_IRQ (SPIRIT_GPIO_2)
+
+//180327 HJM : 디버그 라인
+//180619 HJM : 디버그는 전부 중지.
+//#define CUBEBITE_DEBUG
+//#define NDEBUG
+//#define DEBUG_IRQ
+//#define HEAVY_DEBUG
+
+
+//180619 HJM : init 재시작을 위한 카운팅 변수
+static int iErrorCounting = 0;
+#define MAX_ERROR_COUNTING 10
+#define RETURN_ERROR_NUMBER 100
+
+
+#define SPIRIT_GPIO_IRQ (SPIRIT_GPIO_0)
+//#define SPIRIT_GPIO_IRQ (SPIRIT_GPIO_2)
+//#define SPIRIT_GPIO_IRQ (SPIRIT_GPIO_1) //EV-COG-AD3029LZ -> GPIO 8 -> P0_08
static uint16_t last_state;
#define SPIRIT1_STATUS() ((last_state = (uint16_t)refresh_state()) & SPIRIT1_STATE_STATEBITS)
@@ -25,6 +41,10 @@
#define STATE_TIMEOUT (100)
+
+#define CUBEBITE_OUTPUT_POWER_DBM_TEST 0
+
+
// betzw: switching force & back from standby is on some devices quite unstable
#define USE_STANDBY_STATE
@@ -32,23 +52,41 @@
/** Static Class Variables **/
SimpleSpirit1 *SimpleSpirit1::_singleton = NULL;
+
+
+
+
+
/** Constructor **/
SimpleSpirit1::SimpleSpirit1(PinName mosi, PinName miso, PinName sclk,
PinName irq, PinName cs, PinName sdn,
- PinName led) :
- _spi(mosi, miso, sclk),
- _irq(irq),
- _chip_select(cs),
- _shut_down(sdn),
- _led(led),
- _current_irq_callback(),
- _rx_receiving_timeout()
+ PinName led, uint32_t uint32SClkSettingValue) :
+ _spi(mosi, miso, sclk),
+ _irq(irq),
+ _chip_select(cs),
+ _shut_down(sdn),
+ _led(led),
+ _current_irq_callback(),
+ _rx_receiving_timeout(),
+ _uint32SpiClkSettingValue(uint32SClkSettingValue)
{
}
+
+
+
+
+
+//180619 HJM : 굳이 spi init을 한 번 더한다고 문제가 없는 거라면 ?? 테스트 해보자.
/** Init Function **/
-void SimpleSpirit1::init() {
- /*cubebite HJM, reset irq disable counter and irq callback & disable irq */
+void SimpleSpirit1::init()
+{
+ printf("[INIT_REVISE]init start...\n");
+ //if (false == isItDoItSPIInit)
+// {
+// isItDoItSPIInit = true;
+
+ /*cubebite HJM, reset irq disable counter and irq callback & disable irq */
_nr_of_irq_disables = 0; // @@
disable_spirit_irq();
@@ -58,82 +96,114 @@
/*cubebite HJM, configure spi */
_spi.format(8, 0); /* 8-bit, mode = 0, [order = SPI_MSB] only available in mbed3 */
+ _spi.frequency(_uint32SpiClkSettingValue); //HJM 초기 값, 6500000
+ printf("Setting spi clk : [%d]\r\n", _uint32SpiClkSettingValue);
-// _spi.frequency(13000000); // 13MHz (i.e. max speed allowed for Spirit1)
-// _spi.frequency(6500000); // 6.5MHz (i.e. max speed allowed for Spirit1)
-// _spi.frequency(4333333); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
-// _spi.frequency(2600000); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
-// _spi.frequency(1444444); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
-// _spi.frequency(764705); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
- _spi.frequency(393939); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(13000000); // 13MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(6500000); // 6.5MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(4333333); // 4.3333...MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(2600000); // 2.6MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(1444444); // 1.4444...MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(764705); // 0.6470...MHz (i.e. max speed allowed for Spirit1)
+ // _spi.frequency(393939); // 0.3939...MHz (i.e. max speed allowed for Spirit1)
+// }
-
+ //if (false == isItDoItRFInit)
+// {
+// isItDoItRFInit = true;
+ //180619 HJM : 여기서 부터 sprit1 init 부분
/*cubebite HJM, install irq handler */
_irq.mode(PullUp);
_irq.fall(Callback<void()>(this, &SimpleSpirit1::IrqHandler));
- printf("test 4 \n");
+
+
/*cubebite HJM, init cube vars */
spirit_on = OFF;
last_rssi = 0 ; //MGR
last_sqi = 0 ; //MGR
- printf("test 5 \n");
- /*cubebite HJM, set frequencies */
- radio_set_xtal_freq(XTAL_FREQUENCY); //cubebite HJM, 50MHz
- mgmt_set_freq_base((uint32_t)BASE_FREQUENCY); // @@
- printf("test 6 \n");
+ /*cubebite HJM, set frequencies */
+ printf("[INIT_REVISE]set frequencies...");
+ radio_set_xtal_freq(XTAL_FREQUENCY); //cubebite HJM, 50MHz, 180619 HJM : 단순히 변수 셋팅
+ mgmt_set_freq_base((uint32_t)BASE_FREQUENCY); // @@
+ printf("OK\n");
+
/*cubebite HJM , restart board */
- enter_shutdown();
- exit_shutdown();
+ enter_shutdown();
+ exit_shutdown();
- printf("test 7 \n");
/*cubebite HJM, soft core reset */
cmd_strobe(SPIRIT1_STROBE_SRES);
- printf("test 8 \n");
+
+
+
+
+
+
+ //180619 HJM : 여기서 부터는 init while문이 들어감.
/*cubebite HJM, Configures the SPIRIT1 radio part */
//180119 HJM : 433MHz 설정으로 변경 후 테스트.
- SRadioInit x_radio_init = {
- XTAL_OFFSET_PPM, // Xtal offset in ppm
- (uint32_t)BASE_FREQUENCY, // HJM 수정 후 테스트 중 base frequency
- (uint32_t)CHANNEL_SPACE, // channel space
- CHANNEL_NUMBER, // channel number, HJM : 뭐지 0 인줄 알았더니 1로 셋팅되어있네/
- MODULATION_SELECT, // modulation select
- DATARATE, // HJM 수정 후 테스트 중
- (uint32_t)FREQ_DEVIATION, // frequency deviation
- (uint32_t)BANDWIDTH // channel filter bandwidth
- };
-
- printf("test 9 \n");
- uint8_t ui8Return;
+ printf("[INIT_REVISE]set SPIRIT1 radio...\n");
+ SRadioInit x_radio_init = {
+ XTAL_OFFSET_PPM, // Xtal offset in ppm
+ (uint32_t)BASE_FREQUENCY, // HJM 수정 후 테스트 중 base frequency
+ (uint32_t)CHANNEL_SPACE, // channel space
+ CHANNEL_NUMBER, // channel number, HJM : 뭐지 0 인줄 알았더니 1로 셋팅되어있네/
+ MODULATION_SELECT, // modulation select
+ DATARATE, // HJM 수정 후 테스트 중
+ (uint32_t)FREQ_DEVIATION, // frequency deviation
+ (uint32_t)BANDWIDTH // channel filter bandwidth
+ };
+
+
+
+
+
+ uint8_t ui8Return;
ui8Return = radio_init(&x_radio_init);
+ if (RETURN_ERROR_NUMBER == ui8Return)
+ {//180621 HJM : 여기서는 reset을 해주는게 맞는게, init 은 전역의 spirit1 의 객체가 생성될 때 호출되기 때문이다. 다시 init을 호출해서 종료 시켜야, 아.. return 이 빠졌네
+ reset_board();
+ return;
+ }
printf("test 9, ui8Return : [%d]\n", ui8Return);
+
+
+
+
/*180117 HJM : 송신 신호 세기 */
- radio_set_pa_level_dbm(0,POWER_DBM); //hjm test
-// radio_set_pa_level_dbm(0,10.0);
-// radio_set_pa_level_dbm(0,CUBEBITE_OUTPUT_POWER_DBM_TEST);
+ radio_set_pa_level_dbm(0,POWER_DBM); ///hjm test
+ // radio_set_pa_level_dbm(0,10.0);
+ // radio_set_pa_level_dbm(0,CUBEBITE_OUTPUT_POWER_DBM_TEST);
radio_set_pa_level_max_index(0);
- printf("test 10 \n");
+
+
+
/* Configures the SPIRIT1 packet handler part*/
PktBasicInit x_basic_init = {
- PREAMBLE_LENGTH,
- SYNC_LENGTH,
- SYNC_WORD,
- LENGTH_TYPE,
- LENGTH_WIDTH,
- CRC_MODE,
- CONTROL_LENGTH,
- EN_ADDRESS,
- EN_FEC,
- EN_WHITENING
+ PREAMBLE_LENGTH,
+ SYNC_LENGTH,
+ SYNC_WORD,
+ LENGTH_TYPE,
+ LENGTH_WIDTH,
+ CRC_MODE,
+ CONTROL_LENGTH,
+ EN_ADDRESS,
+ EN_FEC,
+ EN_WHITENING
};
pkt_basic_init(&x_basic_init);
- printf("test 11 \n");
+
+
+
+
+
/* Enable the following interrupt sources, routed to GPIO */
irq_de_init(NULL);
irq_clear_status();
@@ -148,7 +218,9 @@
irq_set_status(RX_FIFO_ALMOST_FULL, S_ENABLE);
#endif // !RX_FIFO_THR_WA
- printf("test 12 \n");
+
+
+
/* Configure Spirit1 */
radio_persistent_rx(S_ENABLE);
qi_set_sqi_threshold(SQI_TH_0);
@@ -165,32 +237,37 @@
_spirit_tx_started = false;
_is_receiving = false;
- printf("test 13 \n");
/* Configure the radio to route the IRQ signal to its GPIO 3 */
SGpioInit x_gpio_init = {
- SPIRIT_GPIO_IRQ,
- SPIRIT_GPIO_MODE_DIGITAL_OUTPUT_LP,
- SPIRIT_GPIO_DIG_OUT_IRQ
+ SPIRIT_GPIO_IRQ,
+ SPIRIT_GPIO_MODE_DIGITAL_OUTPUT_LP,
+ SPIRIT_GPIO_DIG_OUT_IRQ
};
spirit_gpio_init(&x_gpio_init);
- printf("test 14 \n");
+
+
+
+
+
/* Setup CSMA/CA */
CsmaInit x_csma_init = {
- S_ENABLE, // enable persistent mode
- TBIT_TIME_64, // Tcca time
- TCCA_TIME_3, // Lcca length
- 5, // max nr of backoffs (<8)
- 1, // BU counter seed
- 8 // BU prescaler
+ S_ENABLE, // enable persistent mode
+ TBIT_TIME_64, // Tcca time
+ TCCA_TIME_3, // Lcca length
+ 5, // max nr of backoffs (<8)
+ 1, // BU counter seed
+ 8 // BU prescaler
};
csma_ca_init(&x_csma_init);
- printf("test 15 \n");
#ifdef USE_STANDBY_STATE
/* Puts the SPIRIT1 in STANDBY mode (125us -> rx/tx) */
cmd_strobe(SPIRIT1_STROBE_STANDBY);
#endif // USE_STANDBY_STATE
+
+// }
+ printf("[INIT_REVISE]init end.\n");
}
@@ -200,55 +277,110 @@
static volatile int tx_fifo_remaining = 0; // to be used in irq handler
static volatile int tx_buffer_pos = 0; // to be used in irq handler
static const volatile uint8_t *tx_fifo_buffer = NULL; // to be used in irq handler
-int SimpleSpirit1::send(const void *payload, unsigned int payload_len, bool use_csma_ca)
+int SimpleSpirit1::send(const void *payload, unsigned int payload_len, bool use_csma_ca)
{
/* Checks if the payload length is supported */
- printf("\r\n[SEND] 1, MAX_PACKET_LEN : [%d]\n", MAX_PACKET_LEN);
- printf("[SEND] 2, payload_len : [%d]\n", payload_len);
-
- if(payload_len > MAX_PACKET_LEN)
- {
+// printf("\r\n[SEND] 1, MAX_PACKET_LEN : [%d]\n", MAX_PACKET_LEN);
+// printf("[SEND] 2, payload_len : [%d]\n", payload_len);
+
+ if(payload_len > MAX_PACKET_LEN) {
// printf("[SEND] \n");
return RADIO_TX_ERR;
}
-
+
+
+
+
+
+
+
+
+
+
disable_spirit_irq();
BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
#ifndef NDEBUG
- if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX)
- {
+ if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
}
#endif
+ if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX)
+ {
+ //180619 HJM : 여기서 뻗지는 않음, 그냥 send error 만 띄울 뿐. 하지만 이것도 카운팅 걸어두고 몇 번(MAX_ERROR_COUNTING) 이상이면 init을 타도록 해야 하겠다.
+ debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
+ printf("[SEND] error \n");
+
+ if (0x3 == (last_state>>1))
+ {
+ return RADIO_TX_ERR_RESET;
+// reset_board();
+ }
+
+ if (0x40 == (last_state>>1))
+ {
+ return RADIO_TX_ERR_RESET;
+
+ }
+ //180619 HJM : 아예 여기서 걸리면 흘러가게 냅두면 spirit1 이 꼬인다.
+// ++iErrorCounting;
+ //if (iErrorCounting >= MAX_ERROR_COUNTING)
+// {
+// iErrorCounting = 0;
+// return RADIO_TX_ERR_RESET;
+////
+//// reset_board();
+// }
+//
+ return RADIO_TX_ERR;
+ }
+ iErrorCounting = 0;
+
+
+
+ //if (SPIRIT1_STATE_RX == SPIRIT1_STATUS())
+// {
+// printf("[SEND] error \n");
+//
+// return RADIO_TX_ERR;
+// }
+
+ //180323 HJM : IRQ 선이 동작하지 않기 때문에 여기에 현재 sprit1의 상태가 비지 상태인지 체크하고 송신.
+
+
+
+
+
+
+
+
/* Reset State to Ready */
- printf("[SEND] 3, set_ready_state() call, \n");
+// printf("[SEND] 3, set_ready_state() call, \n");
set_ready_state();
-
+
- printf("[SEND] 4, cmd_strobe() call, SPIRIT1_STROBE_FTX \n");
- cmd_strobe(SPIRIT1_STROBE_FTX); // flush TX FIFO buffer
+// printf("[SEND] 4, cmd_strobe() call, SPIRIT1_STROBE_FTX \n");
+ cmd_strobe(SPIRIT1_STROBE_FTX); // flush TX FIFO buffer
#ifndef NDEBUG
debug_if(!(linear_fifo_read_num_elements_tx_fifo() == 0), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
#endif
- printf("[SEND] 5, pkt_basic_set_payload_length() call, \n");
- pkt_basic_set_payload_length(payload_len); // set desired payload len
+// printf("[SEND] 5, pkt_basic_set_payload_length() call, \n");
+ pkt_basic_set_payload_length(payload_len); // set desired payload len
- if(use_csma_ca)
- {
- printf("[SEND] 6, csma_ca_state() call, \n");
+ if(use_csma_ca) {
+// printf("[SEND] 6, csma_ca_state() call, \n");
csma_ca_state(S_ENABLE); // enable CSMA/CA
}
/* Init buffer & number of bytes to be send */
- printf("[SEND] 7, csma_ca_state() call, \n");
+// printf("[SEND] 7, csma_ca_state() call, \n");
tx_fifo_remaining = payload_len;
tx_fifo_buffer = (const uint8_t*)payload;
@@ -257,57 +389,279 @@
tx_fifo_remaining -= to_send;
- /* Fill FIFO Buffer */
- if(to_send > 0)
- {
- printf("[SEND] 8, if(to_send > 0), if(to_send > 0) \n");
- spi_write_linear_fifo(to_send, (uint8_t*)&tx_fifo_buffer[0]);
+ /* Fill FIFO Buffer */
+ if(to_send > 0) {
+// printf("[SEND] 8, if(to_send > 0), if(to_send > 0) \n");
+ spi_write_linear_fifo(to_send, (uint8_t*)&tx_fifo_buffer[0]);
+// printf("[SEND] 9, if(to_send > 0), if(to_send > 0) \n");
}
tx_buffer_pos = to_send;
_spirit_tx_started = true;
enable_spirit_irq();
- printf(" 6");
+// printf(" 6");
+
+
+
+
+
+
+
+
+
+
+
+
+
+
/* Start transmitting */
- cmd_strobe(SPIRIT1_STROBE_TX);
+// printf("[SEND] 10, Start transmitting \n");
+ cmd_strobe(SPIRIT1_STROBE_TX);
while(tx_fifo_remaining != 0); // wait until not everything is yet send (evtl. by irq handler)
+ /*
+ if (SPIRIT1_STATUS() == SPIRIT1_STATE_TX)
+ {
+
+ }
+ else if (SPIRIT1_STATUS() == SPIRIT1_STATE_RX)
+ {
+
+ }
+ else if (SPIRIT1_STATUS() == SPIRIT1_STATE_)
+ {
+
+ }
+ */
+
+
+
+
+
+
+
+
+
+
+
+
+// printf("[SEND] 11, Start transmitting end, BUSYWAIT_UNTIL \n");
BUSYWAIT_UNTIL(!_spirit_tx_started, STATE_TIMEOUT);
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
#ifdef HEAVY_DEBUG
debug("\r\n%s (%d): state=%x, _spirit_tx_started=%d\r\n", __func__, __LINE__, SPIRIT1_STATUS()>>1, _spirit_tx_started);
#endif
- if(use_csma_ca)
- {
+
+ if(use_csma_ca) {
csma_ca_state(S_DISABLE); // disable CSMA/CA
}
- cmd_strobe(SPIRIT1_STROBE_RX); // Return to RX state
+
+
+
+
+
+
+
+
+
+
+ //180323 HJM : irq가 작동하지 않아 수동으로 irq 값을 읽어 오기로 결정됬다.
+ //이걸 while 로 가둬서 send 하기 전에 검토하면 된다.
+
+ int iCounting = 0;
+ while(1) {
+ st_lib_spirit_irqs x_irq_status;
+
+ irq_get_status(&x_irq_status);
+#ifdef CUBEBITE_DEBUG
+ printf("while\n");
+#endif
+ iCounting = iCounting + 1;
+
+// BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_TX, STATE_TIMEOUT);
+
+
+ if(x_irq_status.IRQ_TX_DATA_SENT) {
+
+#ifdef DEBUG_IRQ
+// uint32_t *tmp = (uint32_t*)&x_irq_status;
+// debug_if(!((*tmp) & IRQ_TX_DATA_SENT_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+// debug_if(tx_fifo_remaining != 0, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+#endif
+
+ if(_spirit_tx_started) {
+#ifdef CUBEBITE_DEBUG
+ printf("[IRQ] if(x_irq_status.IRQ_TX_DATA_SENT) in, if(_spirit_tx_started) in \n");
+#endif
+
+ }
+
+
+ x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY = S_RESET;
+ tx_fifo_buffer = NULL;
+
+ _spirit_tx_started = false;
+
+ break;
+ } else {
+#ifdef CUBEBITE_DEBUG
+ printf("not yet sent!!!\n");
+#endif //CUBEBITE_DEBUG
+ }
+
+
+
+
+
+
+ /* The IRQ_TX_FIFO_ALMOST_EMPTY notifies an nearly empty TX fifo */
+ if(x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY) {
+// printf("1\n");
+// printf("[IRQ] if(x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY) in\n");
+
+ //uint32_t *tmp = (uint32_t*)&x_irq_status;
+// debug_if(!((*tmp) & IRQ_TX_FIFO_ALMOST_EMPTY_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+// debug_if(!_spirit_tx_started, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+// debug_if(tx_fifo_buffer == NULL, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+
+ int8_t fifo_available = SPIRIT_MAX_FIFO_LEN/2; // fill-up half fifo
+ int8_t to_send = (tx_fifo_remaining > fifo_available) ? fifo_available : tx_fifo_remaining;
+
+ tx_fifo_remaining -= to_send;
+
+ /* Fill FIFO Buffer */
+ if(to_send > 0) {
+ spi_write_linear_fifo(to_send, (uint8_t*)&tx_fifo_buffer[tx_buffer_pos]);
+ }
+ tx_buffer_pos += to_send;
+ }
+
- disable_spirit_irq();
- if(_spirit_tx_started)
- { // in case of state timeout
+ /* TX FIFO underflow/overflow error */
+ if(x_irq_status.IRQ_TX_FIFO_ERROR) {
+#ifdef CUBEBITE_DEBUG
+ printf("[IRQ] if(x_irq_status.IRQ_TX_FIFO_ERROR) in\n");
+#endif //CUBEBITE_DEBUG
+
+ //uint32_t *tmp = (uint32_t*)&x_irq_status;
+// debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
+// debug_if(!((*tmp) & IRQ_TX_FIFO_ERROR_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+
+ //if(_spirit_tx_started)
+// {
+// _spirit_tx_started = false;
+// /* call user callback */
+// if(_current_irq_callback)
+// {
+// _current_irq_callback(TX_ERR);
+// }
+// }
+
+ /* reset data still to be sent */
+ tx_fifo_remaining = 0;
+ }
+
+
+
+
+
+
+ if (10 == iCounting) {
+ //180327 HJM : 10번이나 검색을 했는데 IRQ가 이상이 있으면 정말 이상이 있다고 생각하고 그냥 break
+#ifdef CUBEBITE_DEBUG
+ printf("if (1000 == iCounting) \n");
+#endif
+ iCounting = 0;
+ return RADIO_TX_ERR;
+
+ }
+
+
+ }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ cmd_strobe(SPIRIT1_STROBE_RX); // Return to RX state
+
+// printf("[SEND] 12, Start transmitting end, BUSYWAIT_UNTIL \n");
+ disable_spirit_irq();
+ if(_spirit_tx_started) {
+ // in case of state timeout
_spirit_tx_started = false;
- enable_spirit_irq();
- printf("[SEND] 8, if(_spirit_tx_started), in case of state timeout, return RADIO_TX_ERR \n");
-
+ enable_spirit_irq();
+
+// printf("[SEND] 13, if(_spirit_tx_started), in case of state timeout, return RADIO_TX_ERR \n");
+
return RADIO_TX_ERR;
- }
- else
- {
- enable_spirit_irq();
- printf("[SEND] 8, else, in case of state timeout, return RADIO_TX_OK \n");
-
+ } else {
+ enable_spirit_irq();
+ /* call user callback */
+ if(_current_irq_callback) {
+ _current_irq_callback(TX_DONE);
+ }
+// printf("[SEND] 13, else, in case of state timeout, return RADIO_TX_OK \n");
+
return RADIO_TX_OK;
}
}
/** Set Ready State **/
-void SimpleSpirit1::set_ready_state(void)
+int SimpleSpirit1::set_ready_state(void)
{
uint16_t state;
@@ -322,30 +676,30 @@
CLEAR_TXBUF();
state = SPIRIT1_STATUS();
- if(state == SPIRIT1_STATE_STANDBY)
- {
- printf("[SEND] 3-1, set_ready_state() call, if(state == SPIRIT1_STATE_STANDBY) in \n");
+ if(state == SPIRIT1_STATE_STANDBY) {
+// printf("[SEND] 3-1, set_ready_state() call, if(state == SPIRIT1_STATE_STANDBY) in \n");
cmd_strobe(SPIRIT1_STROBE_READY);
- }
- else if(state == SPIRIT1_STATE_RX)
- {
- printf("[SEND] 3-2, set_ready_state() call, if(state == SPIRIT1_STATE_RX) in \n");
+ } else if(state == SPIRIT1_STATE_RX) {
+// printf("[SEND] 3-2, set_ready_state() call, if(state == SPIRIT1_STATE_RX) in \n");
cmd_strobe(SPIRIT1_STROBE_SABORT);
- }
- else if(state != SPIRIT1_STATE_READY)
+ } else if(state != SPIRIT1_STATE_READY)
{
#ifndef NDEBUG
debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, state>>1);
#endif
- printf("[SEND] 3-3, set_ready_state() call, else if(state != SPIRIT1_STATE_READY) in, something is wrong. \n");
+ return RETURN_ERROR_NUMBER;
+
+ // off();
+// reset_board();
+// on();
+// printf("[SEND] 3-3, set_ready_state() call, else if(state != SPIRIT1_STATE_READY) in, something is wrong. \n");
}
BUSYWAIT_UNTIL((SPIRIT1_STATUS() == SPIRIT1_STATE_READY) && ((last_state & XO_ON) == XO_ON), STATE_TIMEOUT);
- if(last_state != (SPIRIT1_STATE_READY | XO_ON))
- {
+ if(last_state != (SPIRIT1_STATE_READY | XO_ON)) {
error("\r\nSpirit1: failed to become ready (%x) => pls. reset!\r\n", last_state);
enable_spirit_irq();
- return;
+ return RETURN_ERROR_NUMBER + 2;
}
irq_clear_status();
@@ -353,10 +707,9 @@
enable_spirit_irq();
}
-int SimpleSpirit1::off(void)
+int SimpleSpirit1::off(void)
{
- if(spirit_on == ON)
- {
+ if(spirit_on == ON) {
/* Disables the mcu to get IRQ from the SPIRIT1 */
disable_spirit_irq();
@@ -379,10 +732,9 @@
return 0;
}
-int SimpleSpirit1::on(void)
+int SimpleSpirit1::on(void)
{
- if(spirit_on == OFF)
- {
+ if(spirit_on == OFF) {
set_ready_state();
/* now we go to Rx */
@@ -410,7 +762,8 @@
return 0;
}
-uint8_t SimpleSpirit1::refresh_state(void) {
+uint8_t SimpleSpirit1::refresh_state(void)
+{
uint8_t mcstate;
SpiritSpiReadRegisters(MC_STATE0_BASE, 1, &mcstate);
@@ -419,7 +772,7 @@
}
int SimpleSpirit1::read(void *buf, unsigned int bufsize)
-{
+{
disable_spirit_irq();
printf("read() 1 ");
@@ -428,7 +781,7 @@
#ifndef NDEBUG
debug("\r\nBuffer is empty\r\n");
#endif
- printf("[DEBUG] 2-1");
+ printf("[DEBUG] 2-1");
set_ready_state();
cmd_strobe(SPIRIT1_STROBE_RX);
@@ -447,14 +800,14 @@
return 0;
} else {
/* Copies the packet received */
-
+
memcpy(buf, spirit_rx_buf, spirit_rx_len);
- bufsize = spirit_rx_len;
+ bufsize = spirit_rx_len;
printf("recv 3-1");
-
+
CLEAR_RXBUF();
- printf(" 3-2");
-
+ printf(" 3-2");
+
enable_spirit_irq();
printf(" 3-3 read ok\n");
@@ -498,222 +851,229 @@
#ifdef USE_STANDBY_STATE
if(SPIRIT1_STATUS() != SPIRIT1_STATE_STANDBY) {
#else
- if(SPIRIT1_STATUS() != SPIRIT1_STATE_READY) {
+ if(SPIRIT1_STATUS() != SPIRIT1_STATE_READY) {
#endif
- debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
- }
+ debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
+ }
#endif
- } else {
- disable_spirit_irq();
+ } else {
+ disable_spirit_irq();
- set_ready_state();
+ set_ready_state();
- cmd_strobe(SPIRIT1_STROBE_RX);
- BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
- if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
- error("\r\nSpirit1: (#2) failed to enter rx (%x) => retry\r\n", last_state>>1);
- }
+ cmd_strobe(SPIRIT1_STROBE_RX);
+ BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
+ if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
+ error("\r\nSpirit1: (#2) failed to enter rx (%x) => retry\r\n", last_state>>1);
+ }
- enable_spirit_irq();
+ enable_spirit_irq();
#ifndef NDEBUG
- if(SPIRIT1_STATUS() != SPIRIT1_STATE_RX) {
- debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
- }
-#endif
+ if(SPIRIT1_STATUS() != SPIRIT1_STATE_RX) {
+ debug("\r\nAssert failed in: %s (%d): state=%x\r\n", __func__, __LINE__, last_state>>1);
}
-
- /* Checks the RSSI value with the threshold */
- if(rssi_value<CCA_THRESHOLD) {
- return 0;
- } else {
- return 1;
- }
- }
-
- int SimpleSpirit1::get_pending_packet(void)
- {
- return !IS_RXBUF_EMPTY();
+#endif
}
- /** Spirit Irq Callback **/
- /* betzw - TODO: use threaded interrupt handling when `MBED_CONF_RTOS_PRESENT` is defined (see `atmel-rf-driver`) */
- void SimpleSpirit1::IrqHandler() {
- st_lib_spirit_irqs x_irq_status;
+ /* Checks the RSSI value with the threshold */
+ if(rssi_value<CCA_THRESHOLD) {
+ return 0;
+ } else {
+ return 1;
+ }
+}
- /* get interrupt source from radio */
- irq_get_status(&x_irq_status);
+int SimpleSpirit1::get_pending_packet(void)
+{
+ return !IS_RXBUF_EMPTY();
+}
- /* The IRQ_TX_DATA_SENT notifies the packet has been sent. Puts the SPIRIT1 in RX */
- if(x_irq_status.IRQ_TX_DATA_SENT) { /* betzw - NOTE: MUST be handled before `IRQ_RX_DATA_READY` for Nanostack integration!
- Logically, Nanostack only expects the "DONE" after "SUCCESS" (if it gets
- DONE before SUCCESS, it assumes you're not going to bother to send SUCCESS).
- */
+/** Spirit Irq Callback **/
+/* betzw - TODO: use threaded interrupt handling when `MBED_CONF_RTOS_PRESENT` is defined (see `atmel-rf-driver`) */
+void SimpleSpirit1::IrqHandler()
+{
+#ifdef CUBEBITE_DEBUG
+ printf("[CUBEBITE] IrqHandler() call !\r\n");
+#endif //CUBEBITE_DEBUG
+
+ st_lib_spirit_irqs x_irq_status;
+
+ /* get interrupt source from radio */
+ irq_get_status(&x_irq_status);
+
+ /* The IRQ_TX_DATA_SENT notifies the packet has been sent. Puts the SPIRIT1 in RX */
+ if(x_irq_status.IRQ_TX_DATA_SENT) {
+ /* betzw - NOTE: MUST be handled before `IRQ_RX_DATA_READY` for Nanostack integration!
+ Logically, Nanostack only expects the "DONE" after "SUCCESS" (if it gets
+ DONE before SUCCESS, it assumes you're not going to bother to send SUCCESS).
+ */
#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug_if(!((*tmp) & IRQ_TX_DATA_SENT_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
- debug_if(tx_fifo_remaining != 0, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug_if(!((*tmp) & IRQ_TX_DATA_SENT_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ debug_if(tx_fifo_remaining != 0, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
#endif
- if(_spirit_tx_started) {
- _spirit_tx_started = false;
+ if(_spirit_tx_started) {
+ printf("[IRQ] if(x_irq_status.IRQ_TX_DATA_SENT) in, if(_spirit_tx_started) in \n");
+ _spirit_tx_started = false;
- /* call user callback */
- if(_current_irq_callback) {
- _current_irq_callback(TX_DONE);
- }
+ /* call user callback */
+ if(_current_irq_callback) {
+ _current_irq_callback(TX_DONE);
}
+ }
- /* Disable handling of other TX flags */
- x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY = S_RESET;
- tx_fifo_buffer = NULL;
- }
+ /* Disable handling of other TX flags */
+ x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY = S_RESET;
+ tx_fifo_buffer = NULL;
+ }
#ifndef RX_FIFO_THR_WA
- /* The IRQ_TX_FIFO_ALMOST_EMPTY notifies an nearly empty TX fifo */
- if(x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY) {
+ /* The IRQ_TX_FIFO_ALMOST_EMPTY notifies an nearly empty TX fifo */
+ if(x_irq_status.IRQ_TX_FIFO_ALMOST_EMPTY) {
#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug_if(!((*tmp) & IRQ_TX_FIFO_ALMOST_EMPTY_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
- debug_if(!_spirit_tx_started, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
- debug_if(tx_fifo_buffer == NULL, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug_if(!((*tmp) & IRQ_TX_FIFO_ALMOST_EMPTY_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ debug_if(!_spirit_tx_started, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ debug_if(tx_fifo_buffer == NULL, "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
#endif
- int8_t fifo_available = SPIRIT_MAX_FIFO_LEN/2; // fill-up half fifo
- int8_t to_send = (tx_fifo_remaining > fifo_available) ? fifo_available : tx_fifo_remaining;
+ int8_t fifo_available = SPIRIT_MAX_FIFO_LEN/2; // fill-up half fifo
+ int8_t to_send = (tx_fifo_remaining > fifo_available) ? fifo_available : tx_fifo_remaining;
- tx_fifo_remaining -= to_send;
+ tx_fifo_remaining -= to_send;
- /* Fill FIFO Buffer */
- if(to_send > 0) {
- spi_write_linear_fifo(to_send, (uint8_t*)&tx_fifo_buffer[tx_buffer_pos]);
- }
- tx_buffer_pos += to_send;
+ /* Fill FIFO Buffer */
+ if(to_send > 0) {
+ spi_write_linear_fifo(to_send, (uint8_t*)&tx_fifo_buffer[tx_buffer_pos]);
}
+ tx_buffer_pos += to_send;
+ }
#endif // !RX_FIFO_THR_WA
- /* TX FIFO underflow/overflow error */
- if(x_irq_status.IRQ_TX_FIFO_ERROR) {
+ /* TX FIFO underflow/overflow error */
+ if(x_irq_status.IRQ_TX_FIFO_ERROR) {
#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
+ debug_if(!((*tmp) & IRQ_TX_FIFO_ERROR_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+#endif
+ if(_spirit_tx_started) {
+ _spirit_tx_started = false;
+ /* call user callback */
+ if(_current_irq_callback) {
+ _current_irq_callback(TX_ERR);
+ }
+ }
+
+ /* reset data still to be sent */
+ tx_fifo_remaining = 0;
+ }
+
+ /* The IRQ_RX_DATA_READY notifies a new packet arrived */
+ if(x_irq_status.IRQ_RX_DATA_READY) {
+#ifdef DEBUG_IRQ
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug_if(!((*tmp) & IRQ_RX_DATA_READY_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+#endif
+
+ if(!_is_receiving) { // spurious irq?!? (betzw: see comments on macro 'RX_FIFO_THR_WA'!)
+#ifdef HEAVY_DEBUG
debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
- debug_if(!((*tmp) & IRQ_TX_FIFO_ERROR_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
#endif
- if(_spirit_tx_started) {
- _spirit_tx_started = false;
- /* call user callback */
- if(_current_irq_callback) {
- _current_irq_callback(TX_ERR);
+ } else {
+ _is_receiving = false; // Finished receiving
+ stop_rx_timeout();
+
+ spirit_rx_len = pkt_basic_get_received_pkt_length();
+
+#ifdef DEBUG_IRQ
+ debug_if(!(spirit_rx_len <= MAX_PACKET_LEN), "\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
+#endif
+
+ if(spirit_rx_len <= MAX_PACKET_LEN) {
+ uint8_t to_receive = spirit_rx_len - _spirit_rx_pos;
+ if(to_receive > 0) {
+ spi_read_linear_fifo(to_receive, &spirit_rx_buf[_spirit_rx_pos]);
+ _spirit_rx_pos += to_receive;
}
}
- /* reset data still to be sent */
- tx_fifo_remaining = 0;
- }
+ cmd_strobe(SPIRIT1_STROBE_FRX);
- /* The IRQ_RX_DATA_READY notifies a new packet arrived */
- if(x_irq_status.IRQ_RX_DATA_READY) {
-#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug_if(!((*tmp) & IRQ_RX_DATA_READY_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
-#endif
-
- if(!_is_receiving) { // spurious irq?!? (betzw: see comments on macro 'RX_FIFO_THR_WA'!)
-#ifdef HEAVY_DEBUG
- debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
-#endif
- } else {
- _is_receiving = false; // Finished receiving
- stop_rx_timeout();
-
- spirit_rx_len = pkt_basic_get_received_pkt_length();
+ last_rssi = qi_get_rssi(); //MGR
+ last_sqi = qi_get_sqi(); //MGR
-#ifdef DEBUG_IRQ
- debug_if(!(spirit_rx_len <= MAX_PACKET_LEN), "\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
-#endif
-
- if(spirit_rx_len <= MAX_PACKET_LEN) {
- uint8_t to_receive = spirit_rx_len - _spirit_rx_pos;
- if(to_receive > 0) {
- spi_read_linear_fifo(to_receive, &spirit_rx_buf[_spirit_rx_pos]);
- _spirit_rx_pos += to_receive;
- }
- }
+ /* call user callback */
+ if((_spirit_rx_pos == spirit_rx_len) && _current_irq_callback) {
+ _current_irq_callback(RX_DONE);
+ }
- cmd_strobe(SPIRIT1_STROBE_FRX);
-
- last_rssi = qi_get_rssi(); //MGR
- last_sqi = qi_get_sqi(); //MGR
-
- /* call user callback */
- if((_spirit_rx_pos == spirit_rx_len) && _current_irq_callback) {
- _current_irq_callback(RX_DONE);
- }
-
- /* Disable handling of other RX flags */
- x_irq_status.IRQ_RX_FIFO_ALMOST_FULL = S_RESET;
- }
+ /* Disable handling of other RX flags */
+ x_irq_status.IRQ_RX_FIFO_ALMOST_FULL = S_RESET;
}
+ }
#ifndef RX_FIFO_THR_WA
- /* RX FIFO almost full */
- if(x_irq_status.IRQ_RX_FIFO_ALMOST_FULL) {
+ /* RX FIFO almost full */
+ if(x_irq_status.IRQ_RX_FIFO_ALMOST_FULL) {
+#ifdef DEBUG_IRQ
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug_if(!((*tmp) & IRQ_RX_FIFO_ALMOST_FULL_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+#endif
+ if(!_is_receiving) { // spurious irq?!?
#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug_if(!((*tmp) & IRQ_RX_FIFO_ALMOST_FULL_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
#endif
- if(!_is_receiving) { // spurious irq?!?
+ } else {
+ uint8_t fifo_available = linear_fifo_read_num_elements_rx_fifo();
+ if((fifo_available + _spirit_rx_pos) <= MAX_PACKET_LEN) {
+ spi_read_linear_fifo(fifo_available, &spirit_rx_buf[_spirit_rx_pos]);
+ _spirit_rx_pos += fifo_available;
+ } else {
#ifdef DEBUG_IRQ
debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
#endif
- } else {
- uint8_t fifo_available = linear_fifo_read_num_elements_rx_fifo();
- if((fifo_available + _spirit_rx_pos) <= MAX_PACKET_LEN) {
- spi_read_linear_fifo(fifo_available, &spirit_rx_buf[_spirit_rx_pos]);
- _spirit_rx_pos += fifo_available;
- } else {
-#ifdef DEBUG_IRQ
- debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
-#endif
- }
}
}
+ }
#endif // !RX_FIFO_THR_WA
- /* Reception errors */
- if((x_irq_status.IRQ_RX_FIFO_ERROR) || (x_irq_status.IRQ_RX_DATA_DISC)) {
+ /* Reception errors */
+ if((x_irq_status.IRQ_RX_FIFO_ERROR) || (x_irq_status.IRQ_RX_DATA_DISC)) {
#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
- debug_if(!((*tmp) & (IRQ_RX_FIFO_ERROR_MASK | IRQ_RX_DATA_DISC_MASK)), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
+ debug_if(!((*tmp) & (IRQ_RX_FIFO_ERROR_MASK | IRQ_RX_DATA_DISC_MASK)), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
#endif
- rx_timeout_handler();
- if(_spirit_tx_started) {
- _spirit_tx_started = false;
- /* call user callback */
- if(_current_irq_callback) {
- _current_irq_callback(TX_ERR);
- }
- }
- }
-
- /* The IRQ_VALID_SYNC is used to notify a new packet is coming */
- if(x_irq_status.IRQ_VALID_SYNC) {
-#ifdef DEBUG_IRQ
- uint32_t *tmp = (uint32_t*)&x_irq_status;
- debug_if(!((*tmp) & IRQ_VALID_SYNC_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
-#endif
- /* betzw - NOTE: there is a race condition between Spirit1 receiving packets and
- * the MCU trying to send a packet, which gets resolved in favor of
- * sending.
- */
- if(_spirit_tx_started) {
-#ifdef DEBUG_IRQ
- debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
-#endif
- } else {
- _is_receiving = true;
- start_rx_timeout();
+ rx_timeout_handler();
+ if(_spirit_tx_started) {
+ _spirit_tx_started = false;
+ /* call user callback */
+ if(_current_irq_callback) {
+ _current_irq_callback(TX_ERR);
}
}
}
+
+ /* The IRQ_VALID_SYNC is used to notify a new packet is coming */
+ if(x_irq_status.IRQ_VALID_SYNC) {
+#ifdef DEBUG_IRQ
+ uint32_t *tmp = (uint32_t*)&x_irq_status;
+ debug_if(!((*tmp) & IRQ_VALID_SYNC_MASK), "\r\nAssert failed in: %s (%d)\r\n", __func__, __LINE__);
+#endif
+ /* betzw - NOTE: there is a race condition between Spirit1 receiving packets and
+ * the MCU trying to send a packet, which gets resolved in favor of
+ * sending.
+ */
+ if(_spirit_tx_started) {
+#ifdef DEBUG_IRQ
+ debug("\r\n%s (%d): irq=%x\r\n", __func__, __LINE__, *tmp);
+#endif
+ } else {
+ _is_receiving = true;
+ start_rx_timeout();
+ }
+ }
+}