Mathieu Ducrocq / Mbed 2 deprecated DISCO-F746NG_Projet_Interfacage

USSRII Mathieu DUCROCQ

Dependencies:   mbed BSP_DISCO_F746NG

I2Cdev.cpp@0:11a51c9ebb09, 2021-06-15 (annotated)

Committer:
mducrocq
Date:
Tue Jun 15 10:10:18 2021 +0000
Revision:
0:11a51c9ebb09
USRRII Mathieu Ducrocq

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mducrocq 0:11a51c9ebb09 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
mducrocq 0:11a51c9ebb09 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
mducrocq 0:11a51c9ebb09 3 // Changelog:
mducrocq 0:11a51c9ebb09 4 // 2013-01-08 - first release
mducrocq 0:11a51c9ebb09 5
mducrocq 0:11a51c9ebb09 6 #include "I2Cdev.h"
mducrocq 0:11a51c9ebb09 7
mducrocq 0:11a51c9ebb09 8
mducrocq 0:11a51c9ebb09 9 I2Cdev::I2Cdev(I2C &interface) : i2c(interface)
mducrocq 0:11a51c9ebb09 10 {
mducrocq 0:11a51c9ebb09 11
mducrocq 0:11a51c9ebb09 12 }
mducrocq 0:11a51c9ebb09 13
mducrocq 0:11a51c9ebb09 14 /** Read a single bit from an 8-bit device register.
mducrocq 0:11a51c9ebb09 15 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 16 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 17 * @param bitNum Bit position to read (0-7)
mducrocq 0:11a51c9ebb09 18 * @param data Container for single bit value
mducrocq 0:11a51c9ebb09 19 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 20 * @return Status of read operation (true = success)
mducrocq 0:11a51c9ebb09 21 */
mducrocq 0:11a51c9ebb09 22 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 23 uint8_t b;
mducrocq 0:11a51c9ebb09 24 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
mducrocq 0:11a51c9ebb09 25 *data = b & (1 << bitNum);
mducrocq 0:11a51c9ebb09 26 return count;
mducrocq 0:11a51c9ebb09 27 }
mducrocq 0:11a51c9ebb09 28
mducrocq 0:11a51c9ebb09 29 /** Read a single bit from a 16-bit device register.
mducrocq 0:11a51c9ebb09 30 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 31 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 32 * @param bitNum Bit position to read (0-15)
mducrocq 0:11a51c9ebb09 33 * @param data Container for single bit value
mducrocq 0:11a51c9ebb09 34 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 35 * @return Status of read operation (true = success)
mducrocq 0:11a51c9ebb09 36 */
mducrocq 0:11a51c9ebb09 37 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 38 uint16_t b;
mducrocq 0:11a51c9ebb09 39 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
mducrocq 0:11a51c9ebb09 40 *data = b & (1 << bitNum);
mducrocq 0:11a51c9ebb09 41 return count;
mducrocq 0:11a51c9ebb09 42 }
mducrocq 0:11a51c9ebb09 43
mducrocq 0:11a51c9ebb09 44 /** Read multiple bits from an 8-bit device register.
mducrocq 0:11a51c9ebb09 45 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 46 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 47 * @param bitStart First bit position to read (0-7)
mducrocq 0:11a51c9ebb09 48 * @param length Number of bits to read (not more than 8)
mducrocq 0:11a51c9ebb09 49 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
mducrocq 0:11a51c9ebb09 50 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 51 * @return Status of read operation (true = success)
mducrocq 0:11a51c9ebb09 52 */
mducrocq 0:11a51c9ebb09 53 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 54 // 01101001 read byte
mducrocq 0:11a51c9ebb09 55 // 76543210 bit numbers
mducrocq 0:11a51c9ebb09 56 // xxx args: bitStart=4, length=3
mducrocq 0:11a51c9ebb09 57 // 010 masked
mducrocq 0:11a51c9ebb09 58 // -> 010 shifted
mducrocq 0:11a51c9ebb09 59 uint8_t count, b;
mducrocq 0:11a51c9ebb09 60 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
mducrocq 0:11a51c9ebb09 61 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 62 b &= mask;
mducrocq 0:11a51c9ebb09 63 b >>= (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 64 *data = b;
mducrocq 0:11a51c9ebb09 65 }
mducrocq 0:11a51c9ebb09 66 return count;
mducrocq 0:11a51c9ebb09 67 }
mducrocq 0:11a51c9ebb09 68
mducrocq 0:11a51c9ebb09 69 /** Read multiple bits from a 16-bit device register.
mducrocq 0:11a51c9ebb09 70 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 71 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 72 * @param bitStart First bit position to read (0-15)
mducrocq 0:11a51c9ebb09 73 * @param length Number of bits to read (not more than 16)
mducrocq 0:11a51c9ebb09 74 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
mducrocq 0:11a51c9ebb09 75 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 76 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
mducrocq 0:11a51c9ebb09 77 */
mducrocq 0:11a51c9ebb09 78 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 79 // 1101011001101001 read byte
mducrocq 0:11a51c9ebb09 80 // fedcba9876543210 bit numbers
mducrocq 0:11a51c9ebb09 81 // xxx args: bitStart=12, length=3
mducrocq 0:11a51c9ebb09 82 // 010 masked
mducrocq 0:11a51c9ebb09 83 // -> 010 shifted
mducrocq 0:11a51c9ebb09 84 uint8_t count;
mducrocq 0:11a51c9ebb09 85 uint16_t w;
mducrocq 0:11a51c9ebb09 86 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
mducrocq 0:11a51c9ebb09 87 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 88 w &= mask;
mducrocq 0:11a51c9ebb09 89 w >>= (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 90 *data = w;
mducrocq 0:11a51c9ebb09 91 }
mducrocq 0:11a51c9ebb09 92 return count;
mducrocq 0:11a51c9ebb09 93 }
mducrocq 0:11a51c9ebb09 94 /** Read single byte from an 8-bit device register.
mducrocq 0:11a51c9ebb09 95 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 96 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 97 * @param data Container for byte value read from device
mducrocq 0:11a51c9ebb09 98 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 99 * @return Status of read operation (true = success)
mducrocq 0:11a51c9ebb09 100 */
mducrocq 0:11a51c9ebb09 101 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 102 return readBytes(devAddr, regAddr, 1, data, timeout);
mducrocq 0:11a51c9ebb09 103 }
mducrocq 0:11a51c9ebb09 104
mducrocq 0:11a51c9ebb09 105 /** Read single word from a 16-bit device register.
mducrocq 0:11a51c9ebb09 106 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 107 * @param regAddr Register regAddr to read from
mducrocq 0:11a51c9ebb09 108 * @param data Container for word value read from device
mducrocq 0:11a51c9ebb09 109 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 110 * @return Status of read operation (true = success)
mducrocq 0:11a51c9ebb09 111 */
mducrocq 0:11a51c9ebb09 112 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
mducrocq 0:11a51c9ebb09 113 return readWords(devAddr, regAddr, 1, data, timeout);
mducrocq 0:11a51c9ebb09 114 }
mducrocq 0:11a51c9ebb09 115
mducrocq 0:11a51c9ebb09 116 /** Read multiple bytes from an 8-bit device register.
mducrocq 0:11a51c9ebb09 117 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 118 * @param regAddr First register regAddr to read from
mducrocq 0:11a51c9ebb09 119 * @param length Number of bytes to read
mducrocq 0:11a51c9ebb09 120 * @param data Buffer to store read data in
mducrocq 0:11a51c9ebb09 121 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
mducrocq 0:11a51c9ebb09 122 * @return Number of bytes read (-1 indicates failure)
mducrocq 0:11a51c9ebb09 123 */
mducrocq 0:11a51c9ebb09 124 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
mducrocq 0:11a51c9ebb09 125 {
mducrocq 0:11a51c9ebb09 126 char command[1];
mducrocq 0:11a51c9ebb09 127 command[0] = regAddr;
mducrocq 0:11a51c9ebb09 128 char *redData = (char*)malloc(length);
mducrocq 0:11a51c9ebb09 129 i2c.write(devAddr<<1, command, 1, true);
mducrocq 0:11a51c9ebb09 130 i2c.read(devAddr<<1, redData, length);
mducrocq 0:11a51c9ebb09 131 for(int i =0; i < length; i++) {
mducrocq 0:11a51c9ebb09 132 data[i] = redData[i];
mducrocq 0:11a51c9ebb09 133 }
mducrocq 0:11a51c9ebb09 134 free (redData);
mducrocq 0:11a51c9ebb09 135 return length;
mducrocq 0:11a51c9ebb09 136 }
mducrocq 0:11a51c9ebb09 137
mducrocq 0:11a51c9ebb09 138 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
mducrocq 0:11a51c9ebb09 139 {
mducrocq 0:11a51c9ebb09 140 return 0;
mducrocq 0:11a51c9ebb09 141 }
mducrocq 0:11a51c9ebb09 142
mducrocq 0:11a51c9ebb09 143 /** write a single bit in an 8-bit device register.
mducrocq 0:11a51c9ebb09 144 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 145 * @param regAddr Register regAddr to write to
mducrocq 0:11a51c9ebb09 146 * @param bitNum Bit position to write (0-7)
mducrocq 0:11a51c9ebb09 147 * @param value New bit value to write
mducrocq 0:11a51c9ebb09 148 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 149 */
mducrocq 0:11a51c9ebb09 150 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
mducrocq 0:11a51c9ebb09 151 uint8_t b;
mducrocq 0:11a51c9ebb09 152 readByte(devAddr, regAddr, &b);
mducrocq 0:11a51c9ebb09 153 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
mducrocq 0:11a51c9ebb09 154 return writeByte(devAddr, regAddr, b);
mducrocq 0:11a51c9ebb09 155 }
mducrocq 0:11a51c9ebb09 156
mducrocq 0:11a51c9ebb09 157 /** write a single bit in a 16-bit device register.
mducrocq 0:11a51c9ebb09 158 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 159 * @param regAddr Register regAddr to write to
mducrocq 0:11a51c9ebb09 160 * @param bitNum Bit position to write (0-15)
mducrocq 0:11a51c9ebb09 161 * @param value New bit value to write
mducrocq 0:11a51c9ebb09 162 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 163 */
mducrocq 0:11a51c9ebb09 164 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
mducrocq 0:11a51c9ebb09 165 uint16_t w;
mducrocq 0:11a51c9ebb09 166 readWord(devAddr, regAddr, &w);
mducrocq 0:11a51c9ebb09 167 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
mducrocq 0:11a51c9ebb09 168 return writeWord(devAddr, regAddr, w);
mducrocq 0:11a51c9ebb09 169 }
mducrocq 0:11a51c9ebb09 170
mducrocq 0:11a51c9ebb09 171 /** Write multiple bits in an 8-bit device register.
mducrocq 0:11a51c9ebb09 172 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 173 * @param regAddr Register regAddr to write to
mducrocq 0:11a51c9ebb09 174 * @param bitStart First bit position to write (0-7)
mducrocq 0:11a51c9ebb09 175 * @param length Number of bits to write (not more than 8)
mducrocq 0:11a51c9ebb09 176 * @param data Right-aligned value to write
mducrocq 0:11a51c9ebb09 177 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 178 */
mducrocq 0:11a51c9ebb09 179 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
mducrocq 0:11a51c9ebb09 180 // 010 value to write
mducrocq 0:11a51c9ebb09 181 // 76543210 bit numbers
mducrocq 0:11a51c9ebb09 182 // xxx args: bitStart=4, length=3
mducrocq 0:11a51c9ebb09 183 // 00011100 mask byte
mducrocq 0:11a51c9ebb09 184 // 10101111 original value (sample)
mducrocq 0:11a51c9ebb09 185 // 10100011 original & ~mask
mducrocq 0:11a51c9ebb09 186 // 10101011 masked | value
mducrocq 0:11a51c9ebb09 187 uint8_t b;
mducrocq 0:11a51c9ebb09 188 if (readByte(devAddr, regAddr, &b) != 0) {
mducrocq 0:11a51c9ebb09 189 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 190 data <<= (bitStart - length + 1); // shift data into correct position
mducrocq 0:11a51c9ebb09 191 data &= mask; // zero all non-important bits in data
mducrocq 0:11a51c9ebb09 192 b &= ~(mask); // zero all important bits in existing byte
mducrocq 0:11a51c9ebb09 193 b |= data; // combine data with existing byte
mducrocq 0:11a51c9ebb09 194 return writeByte(devAddr, regAddr, b);
mducrocq 0:11a51c9ebb09 195 } else {
mducrocq 0:11a51c9ebb09 196 return false;
mducrocq 0:11a51c9ebb09 197 }
mducrocq 0:11a51c9ebb09 198 }
mducrocq 0:11a51c9ebb09 199
mducrocq 0:11a51c9ebb09 200 /** Write multiple bits in a 16-bit device register.
mducrocq 0:11a51c9ebb09 201 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 202 * @param regAddr Register regAddr to write to
mducrocq 0:11a51c9ebb09 203 * @param bitStart First bit position to write (0-15)
mducrocq 0:11a51c9ebb09 204 * @param length Number of bits to write (not more than 16)
mducrocq 0:11a51c9ebb09 205 * @param data Right-aligned value to write
mducrocq 0:11a51c9ebb09 206 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 207 */
mducrocq 0:11a51c9ebb09 208 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
mducrocq 0:11a51c9ebb09 209 // 010 value to write
mducrocq 0:11a51c9ebb09 210 // fedcba9876543210 bit numbers
mducrocq 0:11a51c9ebb09 211 // xxx args: bitStart=12, length=3
mducrocq 0:11a51c9ebb09 212 // 0001110000000000 mask byte
mducrocq 0:11a51c9ebb09 213 // 1010111110010110 original value (sample)
mducrocq 0:11a51c9ebb09 214 // 1010001110010110 original & ~mask
mducrocq 0:11a51c9ebb09 215 // 1010101110010110 masked | value
mducrocq 0:11a51c9ebb09 216 uint16_t w;
mducrocq 0:11a51c9ebb09 217 if (readWord(devAddr, regAddr, &w) != 0) {
mducrocq 0:11a51c9ebb09 218 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
mducrocq 0:11a51c9ebb09 219 data <<= (bitStart - length + 1); // shift data into correct position
mducrocq 0:11a51c9ebb09 220 data &= mask; // zero all non-important bits in data
mducrocq 0:11a51c9ebb09 221 w &= ~(mask); // zero all important bits in existing word
mducrocq 0:11a51c9ebb09 222 w |= data; // combine data with existing word
mducrocq 0:11a51c9ebb09 223 return writeWord(devAddr, regAddr, w);
mducrocq 0:11a51c9ebb09 224 } else {
mducrocq 0:11a51c9ebb09 225 return false;
mducrocq 0:11a51c9ebb09 226 }
mducrocq 0:11a51c9ebb09 227 }
mducrocq 0:11a51c9ebb09 228
mducrocq 0:11a51c9ebb09 229 /** Write single byte to an 8-bit device register.
mducrocq 0:11a51c9ebb09 230 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 231 * @param regAddr Register address to write to
mducrocq 0:11a51c9ebb09 232 * @param data New byte value to write
mducrocq 0:11a51c9ebb09 233 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 234 */
mducrocq 0:11a51c9ebb09 235 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
mducrocq 0:11a51c9ebb09 236 return writeBytes(devAddr, regAddr, 1, &data);
mducrocq 0:11a51c9ebb09 237 }
mducrocq 0:11a51c9ebb09 238
mducrocq 0:11a51c9ebb09 239 /** Write single word to a 16-bit device register.
mducrocq 0:11a51c9ebb09 240 * @param devAddr I2C slave device address
mducrocq 0:11a51c9ebb09 241 * @param regAddr Register address to write to
mducrocq 0:11a51c9ebb09 242 * @param data New word value to write
mducrocq 0:11a51c9ebb09 243 * @return Status of operation (true = success)
mducrocq 0:11a51c9ebb09 244 */
mducrocq 0:11a51c9ebb09 245 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
mducrocq 0:11a51c9ebb09 246 return writeWords(devAddr, regAddr, 1, &data);
mducrocq 0:11a51c9ebb09 247 }
mducrocq 0:11a51c9ebb09 248
mducrocq 0:11a51c9ebb09 249 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
mducrocq 0:11a51c9ebb09 250 {
mducrocq 0:11a51c9ebb09 251 int len = length + 1;
mducrocq 0:11a51c9ebb09 252 char *buf = (char*)malloc(len);
mducrocq 0:11a51c9ebb09 253 buf[0] = regAddr;
mducrocq 0:11a51c9ebb09 254 for (int i = 0; i < length; i++) {
mducrocq 0:11a51c9ebb09 255 buf[i + 1] = data[i];
mducrocq 0:11a51c9ebb09 256 }
mducrocq 0:11a51c9ebb09 257 i2c.write(devAddr << 1 , buf, len);
mducrocq 0:11a51c9ebb09 258
mducrocq 0:11a51c9ebb09 259 free (buf);
mducrocq 0:11a51c9ebb09 260 return true;
mducrocq 0:11a51c9ebb09 261 }
mducrocq 0:11a51c9ebb09 262
mducrocq 0:11a51c9ebb09 263 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
mducrocq 0:11a51c9ebb09 264 {
mducrocq 0:11a51c9ebb09 265 int len = length * 2 + 1;
mducrocq 0:11a51c9ebb09 266 char *buf = (char*)malloc(len);
mducrocq 0:11a51c9ebb09 267 buf[0] = regAddr;
mducrocq 0:11a51c9ebb09 268 for (int i = 0; i < length; i++) {
mducrocq 0:11a51c9ebb09 269 uint16_t word = data[i];
mducrocq 0:11a51c9ebb09 270 buf[2*i + 1] = word >> 8;
mducrocq 0:11a51c9ebb09 271 buf[2*i + 2] = word & 0xFF;
mducrocq 0:11a51c9ebb09 272 }
mducrocq 0:11a51c9ebb09 273 i2c.write(devAddr << 1 , buf, len);
mducrocq 0:11a51c9ebb09 274
mducrocq 0:11a51c9ebb09 275 free (buf);
mducrocq 0:11a51c9ebb09 276 return true;
mducrocq 0:11a51c9ebb09 277 }
mducrocq 0:11a51c9ebb09 278
mducrocq 0:11a51c9ebb09 279 uint16_t I2Cdev::readTimeout(void)
mducrocq 0:11a51c9ebb09 280 {
mducrocq 0:11a51c9ebb09 281 return 0;
mducrocq 0:11a51c9ebb09 282 }