Michael Ernst Peter / Mbed OS Test_GPS

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Dependencies:   Eigen

main.cpp@50:84723ac07ea5, 2022-06-02 (annotated)

Committer:
pmic
Date:
Thu Jun 02 11:07:31 2022 +0000
Revision:
50:84723ac07ea5
Parent:
49:76fcaffb92ef
Child:
51:6a158dcc7457
Included latest ublox libary and test main, not working yet.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 50:84723ac07ea5 1 #include "mbed.h"
pmic 50:84723ac07ea5 2 #include "greentea-client/test_env.h"
pmic 50:84723ac07ea5 3 #include "unity.h"
pmic 50:84723ac07ea5 4 #include "utest.h"
pmic 50:84723ac07ea5 5 #include "gnss.h"
pmic 50:84723ac07ea5 6
pmic 50:84723ac07ea5 7 using namespace utest::v1;
pmic 50:84723ac07ea5 8
pmic 50:84723ac07ea5 9 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 10 // COMPILE-TIME MACROS
pmic 50:84723ac07ea5 11 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 12
pmic 50:84723ac07ea5 13 // How long to wait for a GNSS result
pmic 50:84723ac07ea5 14 #define GNSS_WAIT_SECONDS 120
pmic 50:84723ac07ea5 15
pmic 50:84723ac07ea5 16 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 17 // PRIVATE VARIABLES
pmic 50:84723ac07ea5 18 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 19
pmic 50:84723ac07ea5 20 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 21 // PRIVATE FUNCTIONS
pmic 50:84723ac07ea5 22 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 23
pmic 50:84723ac07ea5 24 static void printHex (char * pData, uint32_t lenData)
pmic 50:84723ac07ea5 25 {
pmic 50:84723ac07ea5 26 char * pEnd = pData + lenData;
pmic 50:84723ac07ea5 27 uint8_t x;
pmic 50:84723ac07ea5 28
pmic 50:84723ac07ea5 29 printf (" 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
pmic 50:84723ac07ea5 30 while (pData < pEnd) {
pmic 50:84723ac07ea5 31 for (x = 1; (x <= 32) && (pData < pEnd); x++) {
pmic 50:84723ac07ea5 32 if (x % 16 == 8) {
pmic 50:84723ac07ea5 33 printf ("%02x ", *pData);
pmic 50:84723ac07ea5 34 } else if (x % 16 == 0) {
pmic 50:84723ac07ea5 35 printf ("%02x\n", *pData);
pmic 50:84723ac07ea5 36 } else {
pmic 50:84723ac07ea5 37 printf ("%02x-", *pData);
pmic 50:84723ac07ea5 38 }
pmic 50:84723ac07ea5 39 pData++;
pmic 50:84723ac07ea5 40 }
pmic 50:84723ac07ea5 41
pmic 50:84723ac07ea5 42
pmic 50:84723ac07ea5 43 if (x % 16 != 1) {
pmic 50:84723ac07ea5 44 printf("\n");
pmic 50:84723ac07ea5 45 }
pmic 50:84723ac07ea5 46 }
pmic 50:84723ac07ea5 47 }
pmic 50:84723ac07ea5 48
pmic 50:84723ac07ea5 49 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 50 // TESTS
pmic 50:84723ac07ea5 51 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 52
pmic 50:84723ac07ea5 53 // Test sending a u-blox command over serial
pmic 50:84723ac07ea5 54 void test_serial_ubx() {
pmic 50:84723ac07ea5 55 char buffer[64];
pmic 50:84723ac07ea5 56 int responseLength = 0;
pmic 50:84723ac07ea5 57 int returnCode;
pmic 50:84723ac07ea5 58 bool gotAck = false;
pmic 50:84723ac07ea5 59 Timer timer;
pmic 50:84723ac07ea5 60
pmic 50:84723ac07ea5 61 GnssSerial *pGnss = new GnssSerial();
pmic 50:84723ac07ea5 62
pmic 50:84723ac07ea5 63 // Initialise the GNSS chip
pmic 50:84723ac07ea5 64 pGnss->init(NC);
pmic 50:84723ac07ea5 65
pmic 50:84723ac07ea5 66 // Try this a few times as we might get no response
pmic 50:84723ac07ea5 67 // if the GNSS chip is busy
pmic 50:84723ac07ea5 68 for (int x = 0; (x < 3) && !gotAck; x++) {
pmic 50:84723ac07ea5 69 // See ublox7-V14_ReceiverDescrProtSpec section 30.11.15 (CFG-NAV5)
pmic 50:84723ac07ea5 70 // Set automotive mode, which should be acknowledged
pmic 50:84723ac07ea5 71 memset (buffer, 0, sizeof (buffer));
pmic 50:84723ac07ea5 72 buffer[0] = 0x00;
pmic 50:84723ac07ea5 73 buffer[1] = 0x01; // Mask: set dynamic config only
pmic 50:84723ac07ea5 74 buffer[2] = 0x04; // Dynamic platform model: automotive
pmic 50:84723ac07ea5 75 // Send length is 32 bytes of payload + 6 bytes header + 2 bytes CRC
pmic 50:84723ac07ea5 76 TEST_ASSERT_EQUAL_INT (40, pGnss->sendUbx(0x06, 0x24, buffer, 32));
pmic 50:84723ac07ea5 77 printf ("CFG_NAV5 command sent, try %d.\n", x);
pmic 50:84723ac07ea5 78 timer.start();
pmic 50:84723ac07ea5 79 while ((!gotAck) && (timer.read_ms() < 1000)) {
pmic 50:84723ac07ea5 80 // Wait for the required Ack
pmic 50:84723ac07ea5 81 returnCode = pGnss->getMessage(buffer, sizeof(buffer));
pmic 50:84723ac07ea5 82 if ((returnCode != GnssSerial::WAIT) && (returnCode != GnssSerial::NOT_FOUND)) {
pmic 50:84723ac07ea5 83 responseLength = LENGTH(returnCode);
pmic 50:84723ac07ea5 84 if ((PROTOCOL(returnCode) == GnssSerial::UBX)) {
pmic 50:84723ac07ea5 85 printHex(buffer, responseLength);
pmic 50:84723ac07ea5 86 // Ack is 0xb5-62-05-00-02-00-msgclass-msgid-crcA-crcB
pmic 50:84723ac07ea5 87 // Nack is 0xb5-62-05-01-02-00-msgclass-msgid-crcA-crcB
pmic 50:84723ac07ea5 88 TEST_ASSERT_EQUAL_UINT8(0xb5, buffer[0]);
pmic 50:84723ac07ea5 89 TEST_ASSERT_EQUAL_UINT8(0x62, buffer[1]);
pmic 50:84723ac07ea5 90 TEST_ASSERT_EQUAL_UINT8(0x05, buffer[2]);
pmic 50:84723ac07ea5 91 TEST_ASSERT_EQUAL_UINT8(0x00, buffer[3]);
pmic 50:84723ac07ea5 92 TEST_ASSERT_EQUAL_UINT8(0x02, buffer[4]);
pmic 50:84723ac07ea5 93 TEST_ASSERT_EQUAL_UINT8(0x00, buffer[5]);
pmic 50:84723ac07ea5 94 TEST_ASSERT_EQUAL_UINT8(0x06, buffer[6]);
pmic 50:84723ac07ea5 95 TEST_ASSERT_EQUAL_UINT8(0x24, buffer[7]);
pmic 50:84723ac07ea5 96 gotAck = true;
pmic 50:84723ac07ea5 97 } else if ((PROTOCOL(returnCode) == GnssSerial::NMEA)) {
pmic 50:84723ac07ea5 98 printf ("%.*s", responseLength, buffer);
pmic 50:84723ac07ea5 99 } else {
pmic 50:84723ac07ea5 100 printHex(buffer, responseLength);
pmic 50:84723ac07ea5 101 }
pmic 50:84723ac07ea5 102 }
pmic 50:84723ac07ea5 103 wait_ms (100);
pmic 50:84723ac07ea5 104 }
pmic 50:84723ac07ea5 105 timer.stop();
pmic 50:84723ac07ea5 106 timer.reset();
pmic 50:84723ac07ea5 107 }
pmic 50:84723ac07ea5 108 }
pmic 50:84723ac07ea5 109
pmic 50:84723ac07ea5 110 // Test getting a response from GNSS using the serial interface
pmic 50:84723ac07ea5 111 void test_serial_time() {
pmic 50:84723ac07ea5 112 GnssSerial *pGnss = new GnssSerial();
pmic 50:84723ac07ea5 113
pmic 50:84723ac07ea5 114 bool gotLatLong = false;
pmic 50:84723ac07ea5 115 bool gotElevation = false;
pmic 50:84723ac07ea5 116 bool gotSpeed = false;
pmic 50:84723ac07ea5 117 bool gotTime = false;
pmic 50:84723ac07ea5 118 char buffer[256];
pmic 50:84723ac07ea5 119 int returnCode;
pmic 50:84723ac07ea5 120 double latitude;
pmic 50:84723ac07ea5 121 double longitude;
pmic 50:84723ac07ea5 122 double elevation;
pmic 50:84723ac07ea5 123 double speed;
pmic 50:84723ac07ea5 124
pmic 50:84723ac07ea5 125 printf("GNSS: powering up and waiting up to %d second(s) for something to happen.\n", GNSS_WAIT_SECONDS);
pmic 50:84723ac07ea5 126 pGnss->init();
pmic 50:84723ac07ea5 127
pmic 50:84723ac07ea5 128 memset(buffer, 0, sizeof(buffer));
pmic 50:84723ac07ea5 129 for (uint32_t x = 0; (x < GNSS_WAIT_SECONDS) && !gotTime; x++)
pmic 50:84723ac07ea5 130 {
pmic 50:84723ac07ea5 131 while (((returnCode = pGnss->getMessage(buffer, sizeof(buffer))) > 0) &&
pmic 50:84723ac07ea5 132 !(gotLatLong && gotElevation && gotSpeed && gotTime))
pmic 50:84723ac07ea5 133 {
pmic 50:84723ac07ea5 134 int32_t length = LENGTH(returnCode);
pmic 50:84723ac07ea5 135
pmic 50:84723ac07ea5 136 if ((PROTOCOL(returnCode) == GnssParser::NMEA) && (length > 6))
pmic 50:84723ac07ea5 137 {
pmic 50:84723ac07ea5 138 printf(".");
pmic 50:84723ac07ea5 139
pmic 50:84723ac07ea5 140 // talker is $GA=Galileo $GB=Beidou $GL=Glonass $GN=Combined $GP=GNSS
pmic 50:84723ac07ea5 141 if ((buffer[0] == '$') || buffer[1] == 'G')
pmic 50:84723ac07ea5 142 {
pmic 50:84723ac07ea5 143 #define _CHECK_TALKER(s) ((buffer[3] == s[0]) && (buffer[4] == s[1]) && (buffer[5] == s[2]))
pmic 50:84723ac07ea5 144 if (_CHECK_TALKER("GLL"))
pmic 50:84723ac07ea5 145 {
pmic 50:84723ac07ea5 146 char ch;
pmic 50:84723ac07ea5 147
pmic 50:84723ac07ea5 148 if (pGnss->getNmeaAngle(1, buffer, length, latitude) &&
pmic 50:84723ac07ea5 149 pGnss->getNmeaAngle(3, buffer, length, longitude) &&
pmic 50:84723ac07ea5 150 pGnss->getNmeaItem(6, buffer, length, ch) &&
pmic 50:84723ac07ea5 151 ch == 'A')
pmic 50:84723ac07ea5 152 {
pmic 50:84723ac07ea5 153 gotLatLong = true;
pmic 50:84723ac07ea5 154 latitude *= 60000;
pmic 50:84723ac07ea5 155 longitude *= 60000;
pmic 50:84723ac07ea5 156 printf("\nGNSS: location %.5f %.5f %c.\n", latitude, longitude, ch);
pmic 50:84723ac07ea5 157 }
pmic 50:84723ac07ea5 158 }
pmic 50:84723ac07ea5 159 else if (_CHECK_TALKER("GGA") || _CHECK_TALKER("GNS"))
pmic 50:84723ac07ea5 160 {
pmic 50:84723ac07ea5 161 const char *pTimeString = NULL;
pmic 50:84723ac07ea5 162
pmic 50:84723ac07ea5 163 // Retrieve the time
pmic 50:84723ac07ea5 164 pTimeString = pGnss->findNmeaItemPos(1, buffer, buffer + length);
pmic 50:84723ac07ea5 165 if (pTimeString != NULL)
pmic 50:84723ac07ea5 166 {
pmic 50:84723ac07ea5 167 gotTime = true;
pmic 50:84723ac07ea5 168 printf("\nGNSS: time is %.6s.", pTimeString);
pmic 50:84723ac07ea5 169 }
pmic 50:84723ac07ea5 170
pmic 50:84723ac07ea5 171 if (pGnss->getNmeaItem(9, buffer, length, elevation)) // altitude msl [m]
pmic 50:84723ac07ea5 172 {
pmic 50:84723ac07ea5 173 gotElevation = true;
pmic 50:84723ac07ea5 174 printf("\nGNSS: elevation: %.1f.", elevation);
pmic 50:84723ac07ea5 175 }
pmic 50:84723ac07ea5 176 }
pmic 50:84723ac07ea5 177 else if (_CHECK_TALKER("VTG"))
pmic 50:84723ac07ea5 178 {
pmic 50:84723ac07ea5 179 if (pGnss->getNmeaItem(7, buffer, length, speed)) // speed [km/h]
pmic 50:84723ac07ea5 180 {
pmic 50:84723ac07ea5 181 gotSpeed = true;
pmic 50:84723ac07ea5 182 printf("\nGNSS: speed: %.1f.", speed);
pmic 50:84723ac07ea5 183 }
pmic 50:84723ac07ea5 184 }
pmic 50:84723ac07ea5 185 }
pmic 50:84723ac07ea5 186 }
pmic 50:84723ac07ea5 187 }
pmic 50:84723ac07ea5 188
pmic 50:84723ac07ea5 189 wait_ms(1000);
pmic 50:84723ac07ea5 190 }
pmic 50:84723ac07ea5 191
pmic 50:84723ac07ea5 192 printf("\n");
pmic 50:84723ac07ea5 193
pmic 50:84723ac07ea5 194 // Depending on antenna positioning we may not be able to get a GNSS fix but we
pmic 50:84723ac07ea5 195 // should at least be able to receive the time from a satellite
pmic 50:84723ac07ea5 196 TEST_ASSERT(gotTime);
pmic 50:84723ac07ea5 197 }
pmic 50:84723ac07ea5 198
pmic 50:84723ac07ea5 199 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 200 // TEST ENVIRONMENT
pmic 50:84723ac07ea5 201 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 202
pmic 50:84723ac07ea5 203 // Setup the test environment
pmic 50:84723ac07ea5 204 utest::v1::status_t test_setup(const size_t number_of_cases) {
pmic 50:84723ac07ea5 205 // Setup Greentea with a timeout
pmic 50:84723ac07ea5 206 GREENTEA_SETUP(120, "default_auto");
pmic 50:84723ac07ea5 207 return verbose_test_setup_handler(number_of_cases);
pmic 50:84723ac07ea5 208 }
pmic 50:84723ac07ea5 209
pmic 50:84723ac07ea5 210 // Test cases
pmic 50:84723ac07ea5 211 Case cases[] = {
pmic 50:84723ac07ea5 212 Case("Ubx command", test_serial_ubx),
pmic 50:84723ac07ea5 213 Case("Get time", test_serial_time),
pmic 50:84723ac07ea5 214 };
pmic 50:84723ac07ea5 215
pmic 50:84723ac07ea5 216 Specification specification(test_setup, cases);
pmic 50:84723ac07ea5 217
pmic 50:84723ac07ea5 218 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 219 // MAIN
pmic 50:84723ac07ea5 220 // ----------------------------------------------------------------
pmic 50:84723ac07ea5 221
pmic 50:84723ac07ea5 222 int main() {
pmic 50:84723ac07ea5 223
pmic 50:84723ac07ea5 224 return !Harness::run(specification);
pmic 50:84723ac07ea5 225 }
pmic 50:84723ac07ea5 226
pmic 50:84723ac07ea5 227 // End Of File
pmic 50:84723ac07ea5 228
pmic 50:84723ac07ea5 229
pmic 50:84723ac07ea5 230 /*
pmic 36:8c75783c1eca 231 #include <mbed.h>
pmic 36:8c75783c1eca 232
pmic 41:1627f3e4640d 233 // GNSS and Compass test programm for Mateksys GNSS&Compass M9N-5883
pmic 40:1581715116a8 234
pmic 43:f459f6efaf5c 235 // #include "Eigen/Dense.h"
pmic 43:f459f6efaf5c 236 #include "QMC5883L.h"
pmic 43:f459f6efaf5c 237 #include "LinearCharacteristics.h"
pmic 49:76fcaffb92ef 238 #include "NEOM9N.h"
pmic 6:e1fa1a2d7483 239
pmic 24:86f1a63e35a0 240 // logical variable main task
pmic 45:5d65b27c9293 241 bool do_execute_main_task = true; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 242
pmic 24:86f1a63e35a0 243 // user button on nucleo board
pmic 24:86f1a63e35a0 244 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 245 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 246 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 247 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 248
pmic 1:93d997d6b232 249 int main()
pmic 23:26b3a25fc637 250 {
pmic 36:8c75783c1eca 251 // while loop gets executed every main_task_period_ms milliseconds
pmic 47:c74d09a252d4 252 const int main_task_period_ms = 100; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 36:8c75783c1eca 253 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 36:8c75783c1eca 254
pmic 36:8c75783c1eca 255 // led on nucleo board
pmic 36:8c75783c1eca 256 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 257
pmic 43:f459f6efaf5c 258 // create QMC5883L compass object
pmic 47:c74d09a252d4 259 I2C i2c(PB_9, PB_8); // I2C1
pmic 43:f459f6efaf5c 260 QMC5883L mag(i2c);
pmic 43:f459f6efaf5c 261 LinearCharacteristics raw_mx2mx, raw_my2my, raw_mz2mz;
pmic 43:f459f6efaf5c 262 raw_mx2mx.setup(0.9991f, 0.0088f);
pmic 43:f459f6efaf5c 263 raw_my2my.setup(0.9982f, 0.2092f);
pmic 43:f459f6efaf5c 264 raw_mz2mz.setup(1.0027f, -0.0903f);
pmic 43:f459f6efaf5c 265 float mag_val[3] = {0.0f, 0.0f, 0.0f};
pmic 47:c74d09a252d4 266
pmic 47:c74d09a252d4 267 // create object for GNSS Sensor NEO-M9N
pmic 49:76fcaffb92ef 268 NEOM9N neom9n(PA_9, PA_10); // UART1
pmic 48:77009dca23a8 269 //NEOM9N neom9n(PA_2, PA_3); // UART2
pmic 36:8c75783c1eca 270
pmic 24:86f1a63e35a0 271 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 272 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 273 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 274
pmic 29:d6f1ccf42a31 275 // start timer
pmic 24:86f1a63e35a0 276 main_task_timer.start();
pmic 6:e1fa1a2d7483 277
pmic 24:86f1a63e35a0 278 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 279
pmic 24:86f1a63e35a0 280 main_task_timer.reset();
pmic 6:e1fa1a2d7483 281
pmic 43:f459f6efaf5c 282 mag.readMag();
pmic 43:f459f6efaf5c 283
pmic 24:86f1a63e35a0 284 if (do_execute_main_task) {
pmic 17:c19b471f05cb 285
pmic 43:f459f6efaf5c 286 mag_val[0] = raw_mx2mx.evaluate(mag.magX());
pmic 43:f459f6efaf5c 287 mag_val[1] = raw_my2my.evaluate(mag.magY());
pmic 43:f459f6efaf5c 288 mag_val[2] = raw_mz2mz.evaluate(mag.magZ());
pmic 9:f10b974d01e0 289
pmic 1:93d997d6b232 290 } else {
pmic 6:e1fa1a2d7483 291
pmic 43:f459f6efaf5c 292 for (uint8_t i = 0; i <= 3; i++) {
pmic 43:f459f6efaf5c 293 mag_val[i] = 0;
pmic 43:f459f6efaf5c 294 }
pmic 6:e1fa1a2d7483 295
pmic 1:93d997d6b232 296 }
pmic 6:e1fa1a2d7483 297
pmic 24:86f1a63e35a0 298 user_led = !user_led;
pmic 24:86f1a63e35a0 299
pmic 24:86f1a63e35a0 300 // do only output via serial what's really necessary (this makes your code slow)
pmic 48:77009dca23a8 301 printf("%f, %f, %f\r\n", mag_val[0], mag_val[1], mag_val[2]);
pmic 49:76fcaffb92ef 302 printf("GPS time: %d, num sat: %d, lat: %d, lon: %d, speed: %d, heading: %d\r\n", neom9n.actualPVT.itow, neom9n.actualPVT.numSV, neom9n.actualPVT.lat, neom9n.actualPVT.lon, neom9n.actualPVT.speed, neom9n.actualPVT.headMot);
pmic 17:c19b471f05cb 303
pmic 24:86f1a63e35a0 304 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 305 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 306 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 307 }
pmic 1:93d997d6b232 308 }
pmic 6:e1fa1a2d7483 309
pmic 24:86f1a63e35a0 310 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 311 {
pmic 26:28693b369945 312 user_button_timer.start();
pmic 6:e1fa1a2d7483 313 user_button_timer.reset();
pmic 6:e1fa1a2d7483 314 }
pmic 6:e1fa1a2d7483 315
pmic 24:86f1a63e35a0 316 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 317 {
pmic 24:86f1a63e35a0 318 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 319 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 320 user_button_timer.stop();
pmic 24:86f1a63e35a0 321 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 322 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 323 }
pmic 50:84723ac07ea5 324 }
pmic 50:84723ac07ea5 325 */