Manuel Caballero
/
ADXL345
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Diff: ADXL345.h
- Revision:
- 0:5e0fa5be068d
- Child:
- 1:186b5a33dce3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.h Sat Aug 19 08:13:41 2017 +0000
@@ -0,0 +1,515 @@
+/**
+ * @brief ADXL345.h
+ * @details 3-Axis, ±2 g/±4 g/±8 g/±16 g Digital Accelerometer ( Analog Devices ).
+ * Header file.
+ *
+ *
+ * @return NA
+ *
+ * @author Manuel Caballero
+ * @date 19/August/2017
+ * @version 19/August/2017 The ORIGIN
+ * @pre NaN
+ * @warning NaN
+ * @pre This code belongs to AqueronteBlog ( http://unbarquero.blogspot.com ).
+ */
+#ifndef ADXL345_H
+#define ADXL345_H
+
+#include "mbed.h"
+
+
+/**
+ Example:
+
+ #include "mbed.h"
+ #include "ADXL345.h"
+
+ // ADXL345 myLightSensor ( I2C_SDA, I2C_SCL, ADXL345::ADXL345_ADDR_L, 400000 ); //[todo]
+ Serial pc ( USBTX, USBRX ); // tx, rx
+
+ Ticker serial;
+
+ DigitalOut myled(LED1);
+
+
+ void sendDATA ( void )
+ {
+ float myLux = 0;
+
+ myled = 0;
+
+
+
+ // pc.printf( "Lux: %0.1f\r\n", myLux );
+
+ myled = 1;
+
+ }
+
+
+ int main() {
+ pc.baud ( 115200 );
+ serial.attach( &sendDATA, 0.5 ); // the address of the function to be attached ( sendDATA ) and the interval ( 0.5s )
+
+ // Let the callbacks take care of everything
+ while(1) sleep();
+ }
+*/
+
+/*!
+ Library for the ADXL345 3-Axis, ±2 g/±4 g/±8 g/±16 g Digital Accelerometer.
+*/
+class ADXL345
+{
+public:
+ /**
+ * @brief DEFAULT ADDRESSES
+ */
+ typedef enum {
+ ADXL345_ALT_ADDRESS_LOW = ( 0x53 << 1 ), /**< Addr pin = GND */
+ ADXL345_ALT_ADDRESS_HIGH = ( 0x1D << 1 ) /**< Addr pin = VDD */
+ } ADXL345_address_t;
+
+
+ /**
+ * @brief REGISTERS MAP
+ */
+#define ADXL345_DEVID 0x00 /*!< Device ID */
+#define ADXL345_THRESH_TAP 0x1D /*!< Tap threshold */
+#define ADXL345_OFSX 0x1E /*!< X-axis offset */
+#define ADXL345_OFSY 0x1F /*!< Y-axis offset */
+#define ADXL345_OFSZ 0x20 /*!< Z-axis offset */
+#define ADXL345_DUR 0x21 /*!< Tap duration */
+#define ADXL345_LATENT 0x22 /*!< Tap latency */
+#define ADXL345_WINDOW 0x23 /*!< Tap window */
+#define ADXL345_THRESH_ACT 0x24 /*!< Activity threshold */
+#define ADXL345_THRESH_INACT 0x25 /*!< Inactivity threshold */
+#define ADXL345_TIME_INACT 0x26 /*!< Inactivity time */
+#define ADXL345_ACT_INACT_CTL 0x27 /*!< Axis enable control for activity and inactivity detection */
+#define ADXL345_THRESH_FF 0x28 /*!< Free-fall threshold */
+#define ADXL345_TIME_FF 0x29 /*!< Free-fall time */
+#define ADXL345_TAP_AXES 0x2A /*!< Axis control for single tap/double tap */
+#define ADXL345_ACT_TAP_STATUS 0x2B /*!< Source of single tap/double tap */
+#define ADXL345_BW_RATE 0x2C /*!< Data rate and power mode control */
+#define ADXL345_POWER_CTL 0x2D /*!< Power-saving features control */
+#define ADXL345_INT_ENABLE 0x2E /*!< Interrupt enable control */
+#define ADXL345_INT_MAP 0x2F /*!< Interrupt mapping control */
+#define ADXL345_INT_SOURCE 0x30 /*!< Source of interrupts */
+#define ADXL345_DATA_FORMAT 0x31 /*!< Data format control */
+#define ADXL345_DATAX0 0x32 /*!< X-Axis Data 0 */
+#define ADXL345_DATAX1 0x33 /*!< X-Axis Data 1 */
+#define ADXL345_DATAY0 0x34 /*!< Y-Axis Data 0 */
+#define ADXL345_DATAY1 0x35 /*!< Y-Axis Data 1 */
+#define ADXL345_DATAZ0 0x36 /*!< Z-Axis Data 0 */
+#define ADXL345_DATAZ1 0x37 /*!< Z-Axis Data 1 */
+#define ADXL345_FIFO_CTL 0x38 /*!< FIFO control */
+#define ADXL345_FIFO_STATUS 0x39 /*!< FIFO status */
+
+
+/* Commands Registers */
+ /**
+ * @brief DEVID
+ */
+#define DEVID_ID 0xE5 /*!< A fixed device ID code */
+
+
+ /**
+ * @brief ACT_INACT_CTL
+ */
+ /* Bit 7 : ACT ac/dc ( D7 ). */
+ typedef enum {
+ ACTIVITY_DC_Enabled = 1, /*!< Activity DC-Coupled Enabled. */
+ ACTIVITY_AC_Enabled = 2 /*!< Activity AC-Coupled Enabled. */
+ } ADXL345_act_inact_ctl_activity_dc_coupled_t;
+
+
+ /* Bit 6 - 4 : ACT_X ( D6 ), ACT_Y ( D5 ) y ACT_Z enable ( D4 ). */
+ typedef enum {
+ ACT_X_Enabled = 1, /*!< X-axis Enabled. */
+ ACT_Y_Enabled = 2, /*!< Y-axis Enabled. */
+ ACT_Z_Enabled = 3, /*!< Z-axis Enabled. */
+ ACT_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
+ ACT_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
+ ACT_XY_Enabled = 6, /*!< XY-axis Enabled. */
+ ACT_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
+ ACT_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
+ } ADXL345_act_inact_ctl_activity_axis_t;
+
+
+ /* Bit 3 : INACT ac/dc ( D3 ). */
+ typedef enum {
+ INACTIVITY_DC_Enabled = 1, /*!< Inactivity DC-Coupled Enabled. */
+ INACTIVITY_AC_Enabled = 2 /*!< Inactivity AC-Coupled Enabled. */
+ } ADXL345_act_inact_ctl_inactivity_dc_coupled_t;
+
+
+ /* Bit 2 - 0 : INACT_X ( D2 ), INACT_X ( D1 ) y INACT_X enable ( D0 ). */
+ typedef enum {
+ INACT_X_Enabled = 1, /*!< X-axis Enabled. */
+ INACT_Y_Enabled = 2, /*!< Y-axis Enabled. */
+ INACT_Z_Enabled = 3, /*!< Z-axis Enabled. */
+ INACT_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
+ INACT_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
+ INACT_XY_Enabled = 6, /*!< XY-axis Enabled. */
+ INACT_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
+ INACT_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
+ } ADXL345_act_inact_ctl_inactivity_axis_t;
+
+
+
+ /**
+ * @brief TAP_AXES
+ */
+ /* Bit 3 : SUPPRESS ( D3 ). */
+ typedef enum {
+ SUPPRESS_Enabled = 1, /*!< SUPPRESS Enabled. */
+ SUPPRESS_Disabled = 2 /*!< SUPPRESS Disabled. */
+ } ADXL345_tap_axes_suppress_t;
+
+ /* Bit 2 - 0 : TAP_X ( D2 ), TAP_Y ( D1 ) y TAP_Z enable ( D0 ). */
+ typedef enum {
+ TAP_X_Enabled = 1, /*!< X-axis Enabled. */
+ TAP_Y_Enabled = 2, /*!< Y-axis Enabled. */
+ TAP_Z_Enabled = 3, /*!< Z-axis Enabled. */
+ TAP_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
+ TAP_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
+ TAP_XY_Enabled = 6, /*!< XY-axis Enabled. */
+ TAP_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
+ TAP_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
+ } ADXL345_tap_axes_axis_t;
+
+
+
+ /**
+ * @brief BW_RATE
+ */
+ /* Bit 4 : LOW_POWER ( D4 ). */
+ typedef enum {
+ BW_RATE_LOW_POWER_Enabled = true, /*!< LOW_POWER Enabled. */
+ BW_RATE_LOW_POWER_Disabled = false /*!< LOW_POWER Disabled. */
+ } AXDL345_bw_rate_low_power_t;
+
+
+ /* Bit 3 - 0 : RATE ( D3 - D0 ). */
+ /* Normal operation */
+ typedef enum {
+ BW_RATE_RATE_3200HZ = 0x0F, /*!< RATE 3200 Hz. */
+ BW_RATE_RATE_1600HZ = 0x0E, /*!< RATE 1600 Hz. */
+ BW_RATE_RATE_800HZ = 0x0D, /*!< RATE 800 Hz. */
+ BW_RATE_RATE_400HZ = 0x0C, /*!< RATE 400 Hz. */
+ BW_RATE_RATE_200HZ = 0x0B, /*!< RATE 200 Hz. */
+ BW_RATE_RATE_100HZ = 0x0A, /*!< RATE 100 Hz. ( DEFAULT ) */
+ BW_RATE_RATE_50HZ = 0x09, /*!< RATE 50 Hz. */
+ BW_RATE_RATE_25HZ = 0x08, /*!< RATE 25 Hz. */
+ BW_RATE_RATE_12_5HZ = 0x07, /*!< RATE 12.5 Hz. */
+ BW_RATE_RATE_6_25HZ = 0x06, /*!< RATE 6.25 Hz. */
+ BW_RATE_RATE_3_13HZ = 0x05, /*!< RATE 3.13 Hz. */
+ BW_RATE_RATE_1_56HZ = 0x04, /*!< RATE 1.56 Hz. */
+ BW_RATE_RATE_0_78HZ = 0x03, /*!< RATE 0.78 Hz. */
+ BW_RATE_RATE_0_39HZ = 0x02, /*!< RATE 0.39 Hz. */
+ BW_RATE_RATE_0_20HZ = 0x01, /*!< RATE 0.20 Hz. */
+ BW_RATE_RATE_0_10HZ = 0x00 /*!< RATE 0.10 Hz. */
+ } AXDL345_bw_rate_rate_t;
+
+
+
+ /**
+ * @brief POWER_CTL
+ */
+ /* Bit 5 : LINK ( D5 ). */
+ typedef enum {
+ LINK_Enabled = 1, /*!< LINK Enabled. */
+ LINK_Disabled = 0 /*!< LINK Disabled */
+ } AXDL345_power_ctl_link_t;
+
+ /* Bit 4 : AUTO_SLEEP ( D4 ). */
+ typedef enum {
+ AUTO_SLEEP_Enabled = 1, /*!< AUTO_SLEEP Enabled. */
+ AUTO_SLEEP_Disabled = 0 /*!< AUTO_SLEEP Disabled */
+ } AXDL345_power_ctl_auto_sleep_t;
+
+ /* Bit 3 : MEASURE ( D3 ). */
+ typedef enum {
+ MEASURE_MODE = true, /*!< MEASURE Enabled. */
+ STANDBY_MODE = false /*!< MEASURE Disabled, Standby mode. */
+ } AXDL345_power_ctl_measure_t;
+
+ /* Bit 2 : SLEEP ( D2 ). */
+ typedef enum {
+ SLEEP_Enabled = 1, /*!< SLEEP Enabled. */
+ SLEEP_Disabled = 0 /*!< SLEEP Disabled */
+ } AXDL345_power_ctl_sleep_t;
+
+ /* Bit 1 - 0 : WAKEUP ( D1 - D0 ). */
+ typedef enum {
+ WAKEUP_FREQ_8HZ = 0, /*!< WAKEUP frequency 8Hz. */
+ WAKEUP_FREQ_4HZ = 1, /*!< WAKEUP frequency 4Hz. */
+ WAKEUP_FREQ_2HZ = 2, /*!< WAKEUP frequency 2Hz. */
+ WAKEUP_FREQ_1HZ = 3 /*!< WAKEUP frequency 1Hz. */
+ } AXDL345_power_ctl_wakeup_t;
+
+
+ /**
+ * @brief INT_MAP
+ */
+ /* Bit 7 - 0 : */
+ typedef enum {
+ INT_DATA_READY = 0x80, /*!< Data ready. */
+ INT_SINGLE_TAP = 0x40, /*!< single tap. */
+ INT_DOUBLE_TAP = 0x20, /*!< double tap. */
+ INT_ACTIVITY = 0x10, /*!< activity. */
+ INT_INACTIVITY = 0x08, /*!< inactivity. */
+ INT_FREE_FALL = 0x04, /*!< Free fall. */
+ INT_WATERMARK = 0x02, /*!< Watermark. */
+ INT_OVERRUN = 0x01 /*!< Overrun. */
+ } AXDL345_int_map_t;
+
+ typedef enum {
+ INT1_PIN = 0x01, /*!< PIN 1 */
+ INT2_PIN = 0x02 /*!< PIN 2 */
+ } AXDL345_int_pin_t;
+
+
+ /**
+ * @brief DATA_FORMAT
+ */
+ /* Bit 7 : SELF_TEST ( D7 ). */
+ typedef enum {
+ DATA_FORMAT_SELF_TEST_Enabled = true, /*!< SELF_TEST Enabled. */
+ DATA_FORMAT_SELF_TEST_Disabled = false /*!< SELF_TEST Disabled. */
+ } ADXL345_data_format_self_test_t;
+
+
+ /* Bit 6 : SPI ( D6 ). */
+ typedef enum {
+ DATA_FORMAT_SPI_Enabled = true, /*!< 3-wire SPI Enabled. */
+ DATA_FORMAT_SPI_Disabled = false /*!< 4-wire SPI Enabled. */
+ } ADXL345_data_format_spi_t;
+
+
+ /* Bit 5 : INT_INVERT ( D5 ). */
+ typedef enum {
+ DATA_FORMAT_INT_INVERT_Enabled = true, /*!< INT_INVERT Enabled. */
+ DATA_FORMAT_INT_INVERT_Disabled = false /*!< INT_INVERT Disabled. */
+ } ADXL345_data_format_int_invert_t;
+
+
+ /* Bit 3 : FULL_RES ( D3 ). */
+ typedef enum {
+ DATA_FORMAT_FULL_RES_Enabled = true, /*!< FULL_RES Enabled. */
+ DATA_FORMAT_FULL_RES_Disabled = false /*!< FULL_RES Disabled. */
+ } ADXL345_data_format_full_res_t;
+
+
+ /* Bit 2 : JUSTIFY ( D2 ). */
+ typedef enum {
+ DATA_FORMAT_JUSTIFY_Enabled = true, /*!< JUSTIFY Enabled. */
+ DATA_FORMAT_JUSTIFY_Disabled = false /*!< JUSTIFY Disabled. */
+ } ADXL345_data_format_justify_t;
+
+
+ /* Bit 1 - 0 : RANGE ( D1 - D0 ). */
+ typedef enum {
+ DATA_FORMAT_RANGE_2_G = 0x00, /*!< RANGE ±2g. */
+ DATA_FORMAT_RANGE_4_G = 0x01, /*!< RANGE ±4g. */
+ DATA_FORMAT_RANGE_8_G = 0x02, /*!< RANGE ±8g. */
+ DATA_FORMAT_RANGE_16_G = 0x03 /*!< RANGE ±16g. */
+ } ADXL345_data_format_range_t;
+
+
+
+ /**
+ * @brief FIFO_CTL
+ */
+ /* Bit 7 - 6 : FIFO_MODE ( D7 - D6 ). */
+#define FIFO_CTL_FIFO_MODE_Pos 0x07 /*!< Position of FIFO_MODE field. */
+#define FIFO_CTL_FIFO_MODE_Mask 0xC0 /*!< Bit mask of FIFO_MODE field. */
+#define FIFO_CTL_FIFO_MODE_BYPASS 0x00 /*!< FIFO_MODE BYPASS mode. */
+#define FIFO_CTL_FIFO_MODE_FIFO 0x01 /*!< FIFO_MODE FIFO mode. */
+#define FIFO_CTL_FIFO_MODE_STREAM 0x02 /*!< FIFO_MODE STREAM mode. */
+#define FIFO_CTL_FIFO_MODE_TRIGGER 0x03 /*!< FIFO_MODE TRIGGER mode. */
+
+ /* Bit 5 : TRIGGER ( D5 ). */
+#define TRIGGER_FIFO_MODE_Pos 0x05 /*!< Position of TRIGGER field. */
+#define TRIGGER_FIFO_MODE_Mask 0x20 /*!< Bit mask of TRIGGER field. */
+#define TRIGGER_FIFO_MODE_Enabled 0x01 /*!< TRIGGER Enabled. */
+#define TRIGGER_FIFO_MODE_Disabled 0x00 /*!< TRIGGER Disabled. */
+
+
+ /**
+ * @brief FIFO_STATUS
+ */
+ /* Bit 7 : FIFO_TRIG ( D7 ). */
+#define FIFO_STATUS_FIFO_TRIG_Pos 0x07 /*!< Position of FIFO_TRIG field. */
+#define FIFO_STATUS_FIFO_TRIG_Mask 0x80 /*!< Bit mask of FIFO_TRIG field. */
+#define FIFO_STATUS_FIFO_TRIG_Enabled 0x01 /*!< FIFO_TRIG Enabled. */
+#define FIFO_STATUS_FIFO_TRIG_Disabled 0x00 /*!< FIFO_TRIG Disabled. */
+
+
+
+
+#ifndef VECTOR_STRUCT_H
+#define VECTOR_STRUCT_H
+ typedef struct {
+ int16_t XAxis;
+ int16_t YAxis;
+ int16_t ZAxis;
+ } Vector_t;
+
+
+ typedef struct {
+ float Xmg_Axis;
+ float Ymg_Axis;
+ float Zmg_Axis;
+ } Vector_f;
+#endif
+
+
+
+
+ /**
+ * @brief INTERNAL CONSTANTS
+ */
+ typedef enum {
+ ADXL345_SUCCESS = 0, /*!< The communication was fine */
+ ADXL345_FAILURE = 1, /*!< Something went wrong */
+ I2C_SUCCESS = 0 /*!< I2C communication was fine */
+ } ADXL345_status_t;
+
+
+ /** Create an ADXL345 object connected to the specified I2C pins.
+ *
+ * @param sda I2C data pin
+ * @param scl I2C clock pin
+ * @param addr I2C slave address
+ * @param freq I2C frequency in Hz.
+ */
+ ADXL345 ( PinName sda, PinName scl, uint32_t addr, uint32_t freq );
+
+ /** Delete ADXL345 object.
+ */
+ ~ADXL345();
+
+
+ /** It configures the device.
+ */
+ ADXL345_status_t ADXL345_Init ( AXDL345_bw_rate_low_power_t LOWPOWER, AXDL345_bw_rate_rate_t RATE,
+ ADXL345_data_format_int_invert_t INT_INVERT, ADXL345_data_format_full_res_t FULLRESOLUTION, ADXL345_data_format_justify_t JUSTIFY,
+ ADXL345_data_format_range_t RANGE );
+
+ /** It sets the device in Standby mode or Measure mode.
+ */
+ ADXL345_status_t ADXL345_PowerMode ( AXDL345_power_ctl_measure_t MEASUREMODE );
+
+ /** It gets the device ID
+ */
+ ADXL345_status_t ADXL345_GetID ( uint8_t* myID );
+
+ /** It gets the range.
+ */
+ ADXL345_status_t ADXL345_GetRange ( ADXL345_data_format_range_t* myRANGE );
+
+ /** It sets the range.
+ */
+ ADXL345_status_t ADXL345_SetRange ( ADXL345_data_format_range_t myRANGE );
+
+ /** It gets the rate.
+ */
+ ADXL345_status_t ADXL345_GetRate ( AXDL345_bw_rate_rate_t* myRATE );
+
+ /** It sets the rate.
+ */
+ ADXL345_status_t ADXL345_SetRate ( AXDL345_bw_rate_rate_t myRATE );
+
+ /** It reads the raw data.
+ */
+ ADXL345_status_t ADXL345_ReadRawData ( Vector_t* myXYZVector );
+
+ /** It reads the scaled data.
+ */
+ ADXL345_status_t ADXL345_ReadScaledData ( Vector_f* myScaled_XYZVector );
+
+ /** It sets the free fall threshold.
+ */
+ ADXL345_status_t ADXL345_SetFreeFallThreshold ( uint8_t myThreshold );
+
+ /** It sets the free fall duration.
+ */
+ ADXL345_status_t ADXL345_SetFreeFallDuration ( uint8_t myDuration );
+
+ /** It sets the tap threshold.
+ */
+ ADXL345_status_t ADXL345_SetTapThreshold ( uint8_t myThreshold );
+
+ /** It sets the tap duration.
+ */
+ ADXL345_status_t ADXL345_SetTapDuration ( uint8_t myDuration );
+
+ /** It sets the douvble tap latency.
+ */
+ ADXL345_status_t ADXL345_SetDoubleTapLatency ( uint8_t myLatency );
+
+ /** It sets the double tap window.
+ */
+ ADXL345_status_t ADXL345_SetDoubleTapWindow ( uint8_t myWindow );
+
+ /** It sets the tap axis.
+ */
+ ADXL345_status_t ADXL345_SetTap_Axis ( ADXL345_tap_axes_axis_t myAxisEnabled );
+
+ /** It sets the suppress for double tap.
+ */
+ ADXL345_status_t ADXL345_SetDouble_Suppress ( ADXL345_tap_axes_suppress_t mySuppressEnabled );
+
+ /** It sets the activity threshold.
+ */
+ ADXL345_status_t ADXL345_SetActivityThreshold ( uint8_t myActivityThreshold );
+
+ /** It sets the activity AC or DC coupled.
+ */
+ ADXL345_status_t ADXL345_SetActivity_AC_DC_Coupled ( ADXL345_act_inact_ctl_activity_dc_coupled_t myDC_Coupled );
+
+ /** It sets the activity axis.
+ */
+ ADXL345_status_t ADXL345_SetActivity_Axis ( ADXL345_act_inact_ctl_activity_axis_t myAxisEnabled );
+
+ /** It reads the ACT_TAP status register.
+ */
+ ADXL345_status_t ADXL345_Read_ACT_TAP_STATUS ( uint8_t* myACT_TAP_STATUS );
+
+ /** It sets the inactivity threshold.
+ */
+ ADXL345_status_t ADXL345_SetInactivityThreshold ( uint8_t myInactivityThreshold );
+
+ /** It sets the inactivity time.
+ */
+ ADXL345_status_t ADXL345_SetTimeInactivity ( uint8_t myTimeInactivity );
+
+ /** It sets the inactivity AC or DC coupled.
+ */
+ ADXL345_status_t ADXL345_SetInactivity_AC_DC_Coupled ( ADXL345_act_inact_ctl_inactivity_dc_coupled_t myDC_Coupled );
+
+ /** It sets the inactivity axis.
+ */
+ ADXL345_status_t ADXL345_SetInactivity_Axis ( ADXL345_act_inact_ctl_inactivity_axis_t myAxisEnabled );
+
+ /** It sets the interrupt map.
+ */
+ ADXL345_status_t ADXL345_SetInterruptsMap ( AXDL345_int_map_t myInterruptsMap, AXDL345_int_pin_t myInterruptPin );
+
+ /** It enables the interrupts.
+ */
+ ADXL345_status_t ADXL345_EnableInterrupts ( AXDL345_int_map_t myInterruptsEnabled );
+
+ /** It reads the interrupt sources.
+ */
+ ADXL345_status_t ADXL345_ReadInterruptSource ( uint8_t* myIntSource );
+
+
+private:
+ I2C i2c;
+ uint32_t ADXL345_Addr;
+};
+
+#endif
\ No newline at end of file