annotate Small_CPU/Src/pressure.c @ 277:580822b5d3d1 IPC_Sync_Improvment_3

Rework SPI error handling. SPI_Start_single_TxRx_with_Master evaluated the incoming data for a condition to send device instead of life data. In case of invalid input data this may cause unintended transmission of device data => now lifedata is send if incoming data is expected to be invalid The SPI timeout monitoring was done at the beginning of the mode loop. A timeout may have been detected even if meanwhile valid data was received (this is evaluated at x20ms) => Moved the timeout monitoring after the handling of incoming data
author ideenmodellierer
date Sun, 28 Apr 2019 10:16:38 +0200
parents 8e9c502c0b06
children b4c578caaafb
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1 /**
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2 ******************************************************************************
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3 * @file pressure.c
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4 * @author heinrichs weikamp gmbh
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5 * @date 2014
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6 * @version V0.0.2
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7 * @since 20-Oct-2016
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8 * @brief
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9 *
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10 @verbatim
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11 ==============================================================================
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12 ##### How to use #####
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13 ==============================================================================
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14 V0.0.2 18-Oct-2016 pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015
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15
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16 @endverbatim
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17 ******************************************************************************
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18 * @attention
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19 *
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20 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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21 *
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22 ******************************************************************************
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23 */
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24
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25
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26
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27 /* surface time
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28 the last 30 minutes will be saved once per minute in a endless loop
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29 at the beginning of a dive the oldest value will be used
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30 */
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31
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32 #include "scheduler.h"
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33 #include "pressure.h"
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34 #include "i2c.h"
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35 #include "rtc.h"
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36
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37 #define CMD_RESET 0x1E // ADC reset command
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38 #define CMD_ADC_READ 0x00 // ADC read command
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39 #define CMD_ADC_CONV 0x40 // ADC conversion command
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40 #define CMD_ADC_D1 0x00 // ADC D1 conversion
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41 #define CMD_ADC_D2 0x10 // ADC D2 conversion
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42 #define CMD_ADC_256 0x00 // ADC OSR=256
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43 #define CMD_ADC_512 0x02 // ADC OSR=512
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44 #define CMD_ADC_1024 0x04 // ADC OSR=1024
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45 #define CMD_ADC_2048 0x06 // ADC OSR=2056
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46 #define CMD_ADC_4096 0x08 // ADC OSR=4096
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47 #define CMD_PROM_RD 0xA0 // Prom read command
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48
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49 static uint16_t get_ci_by_coef_num(uint8_t coef_num);
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50 //void pressure_calculation_new(void);
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51 //void pressure_calculation_old(void);
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52 static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void);
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53 static uint8_t crc4(uint16_t n_prom[]);
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54
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55 static HAL_StatusTypeDef pressure_sensor_get_data(void);
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56 static uint32_t get_adc(void);
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57 uint8_t pressureSensorInitSuccess = 0;
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58
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59 static uint16_t C[8] = { 1 };
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60 static uint32_t D1 = 1;
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61 static uint32_t D2 = 1;
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62 static uint8_t n_crc;
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63
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64 static int64_t C5_x_2p8 = 1;
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65 static int64_t C2_x_2p16 = 1;
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66 static int64_t C1_x_2p15 = 1;
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67
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68 /*
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69 short C2plus10000 = -1;
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70 short C3plus200 = -1;
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71 short C4minus250 = -1;
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72 short UT1 = -1;
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73 short C6plus100 = -1;
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74 */
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75
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76 static float ambient_temperature = 0;
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77 static float ambient_pressure_mbar = 0;
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78 static float surface_pressure_mbar = 1000;
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79 static float surface_ring_mbar[31] = { 0 };
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80
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81 uint8_t secondCounterSurfaceRing = 0;
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82
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83 float get_temperature(void)
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84 {
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85 return ambient_temperature;
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86 }
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87
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88 float get_pressure_mbar(void)
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89 {
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90 return ambient_pressure_mbar;
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91 }
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92
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93 float get_surface_mbar(void)
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94 {
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95 return surface_pressure_mbar;
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96 }
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97
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98
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99 void init_surface_ring(void)
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100 {
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101 surface_ring_mbar[0] = 0;
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102 for(int i=1; i<31; i++)
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103 surface_ring_mbar[i] = ambient_pressure_mbar;
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104 surface_pressure_mbar = ambient_pressure_mbar;
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105 }
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106
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107
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108 /* the ring has one place with 0
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109 * after that comes the oldest value
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110 * the new pressure is written in this hole
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111 * the oldest value is read and then the new hole
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112 */
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113 void update_surface_pressure(uint8_t call_rhythm_seconds)
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114 {
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115 secondCounterSurfaceRing += call_rhythm_seconds;
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116
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117 if(secondCounterSurfaceRing < 60)
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118 return;
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119
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120 secondCounterSurfaceRing = 0;
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121
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122 int hole;
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123 for(hole=30;hole>0;hole--)
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124 if(surface_ring_mbar[hole] == 0) { break; }
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125
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126 surface_ring_mbar[hole] = ambient_pressure_mbar;
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127
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128 hole++;
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129 if(hole > 30)
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130 hole = 0;
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131 surface_pressure_mbar = surface_ring_mbar[hole];
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132 surface_ring_mbar[hole] = 0;
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133 }
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134
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135 #ifdef DEMOMODE
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136 float demo_modify_temperature_helper(float bottom_mbar_diff_to_surface)
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137 {
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138 const float temperature_surface = 31.0;
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139 const float temperature_bottom = 14.0;
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140
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141 const float temperature_difference = temperature_bottom - temperature_surface;
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142
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143 // range 0.0 - 1.0
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144 float position_now = (ambient_pressure_mbar - surface_pressure_mbar) / bottom_mbar_diff_to_surface;
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145
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146 if(position_now <= 0)
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147 return temperature_surface;
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148
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149 if(position_now >= 1)
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150 return temperature_bottom;
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151
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152 return temperature_surface + (temperature_difference * position_now);
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153 }
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154
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155
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156 uint32_t demo_modify_temperature_and_pressure(int32_t divetime_in_seconds, uint8_t subseconds, float ceiling_mbar)
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157 {
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158
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159 const float descent_rate = 4000/60;
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160 const float ascent_rate = 1000/60;
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161 const uint32_t seconds_descend = (1 * 60) + 30;
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162 const uint32_t turbo_seconds_at_bottom_start = (0 * 60) + 0;
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163 const uint32_t seconds_descend_and_bottomtime = seconds_descend + turbo_seconds_at_bottom_start + (2 * 60) + 0;
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164 uint32_t time_elapsed_in_seconds;
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165 static float ambient_pressure_mbar_memory = 0;
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166 static uint32_t time_last_call = 0;
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167
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168 if(divetime_in_seconds <= seconds_descend)
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169 {
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170 ambient_pressure_mbar = (divetime_in_seconds * descent_rate) + ((float)(subseconds) * descent_rate) + surface_pressure_mbar;
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171 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend);
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172
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173 time_last_call = divetime_in_seconds;
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174 return 0;
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175 }
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176 else
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177 if(divetime_in_seconds <= seconds_descend + turbo_seconds_at_bottom_start)
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178 {
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179 ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar;
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180 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend);
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181 ambient_pressure_mbar_memory = ambient_pressure_mbar;
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182 time_last_call = divetime_in_seconds;
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183 return turbo_seconds_at_bottom_start;
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184 }
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185 else
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186 if(divetime_in_seconds <= seconds_descend_and_bottomtime)
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187 {
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188 ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar;
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189 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend);
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190 ambient_pressure_mbar_memory = ambient_pressure_mbar;
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191 time_last_call = divetime_in_seconds;
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192 return 0;
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193 }
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194 else
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195 {
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196 time_elapsed_in_seconds = divetime_in_seconds - time_last_call;
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197 ambient_pressure_mbar = ambient_pressure_mbar_memory - time_elapsed_in_seconds * ascent_rate;
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198
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199 if(ambient_pressure_mbar < surface_pressure_mbar)
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200 ambient_pressure_mbar = surface_pressure_mbar;
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201 else if(ambient_pressure_mbar < ceiling_mbar)
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202 ambient_pressure_mbar = ceiling_mbar;
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203
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204 ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend);
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205 ambient_pressure_mbar_memory = ambient_pressure_mbar;
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206 time_last_call = divetime_in_seconds;
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207 return 0;
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208 }
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209 }
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210 #endif
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211
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212
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213 /* called just once on power on */
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214 /* TBD old DR5 code? */
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215 void init_pressure_DRx(void)
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216 {
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217 uint8_t resetCommand[1] = {0x1E};
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218
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219 I2C_Master_Transmit( DEVICE_PRESSURE, resetCommand, 1);
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220 HAL_Delay(3);
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221
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222 C[1] = get_ci_by_coef_num(0x02);
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223 C[2] = get_ci_by_coef_num(0x04);
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224 C[3] = get_ci_by_coef_num(0x06);
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225 C[4] = get_ci_by_coef_num(0x08);
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226 C[5] = get_ci_by_coef_num(0x0A);
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227 C[6] = get_ci_by_coef_num(0x0C);
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228
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229 C5_x_2p8 = C[5] * 256;
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230 C2_x_2p16 = C[2] * 65536;
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231 C1_x_2p15 = C[1] * 32768;
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232 pressure_update();
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233 }
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234
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235 uint8_t is_init_pressure_done(void)
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236 {
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237 return pressureSensorInitSuccess;
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238 }
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239
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240 uint8_t init_pressure(void)
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241 {
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242 uint8_t buffer[1];
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243 buffer[0] = 0x1e;
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244 uint8_t retValue = 0xFF;
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245
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246
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247 retValue = I2C_Master_Transmit( DEVICE_PRESSURE, buffer, 1);
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248 if(retValue != HAL_OK)
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249 {
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250 return (HAL_StatusTypeDef)retValue;
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251 }
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252 HAL_Delay(3);
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253
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254 for(uint8_t i=0;i<8;i++)
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255 {
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256 C[i] = get_ci_by_coef_num(i);
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257 }
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258 n_crc = crc4(C); // no evaluation at the moment hw 151026
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259
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260 C5_x_2p8 = C[5] * 256;
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261 C2_x_2p16 = C[2] * 65536;
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262 C1_x_2p15 = C[1] * 32768;
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263
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264 if(global.I2C_SystemStatus == HAL_OK)
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265 {
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266 pressureSensorInitSuccess = 1;
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267 }
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268 return pressure_update();
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269 }
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270
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271
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272 static uint32_t get_adc(void)
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273 {
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274 uint8_t buffer[1];
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275 uint8_t resivebuf[4];
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276 uint32_t answer = 0;
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277
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278 buffer[0] = 0x00; // Get ADC
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279 I2C_Master_Transmit( DEVICE_PRESSURE, buffer, 1);
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280 I2C_Master_Receive( DEVICE_PRESSURE, resivebuf, 4);
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281 resivebuf[3] = 0;
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282 answer = 256*256 *(uint32_t)resivebuf[0] + 256 * (uint32_t)resivebuf[1] + (uint32_t)resivebuf[2];
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283
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284 return answer;
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285 }
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286
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287
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288 static uint16_t get_ci_by_coef_num(uint8_t coef_num)
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289 {
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290 uint8_t resivebuf[2];
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291
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292 uint8_t cmd = CMD_PROM_RD+coef_num*2;
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293 I2C_Master_Transmit( DEVICE_PRESSURE, &cmd, 1);
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294 I2C_Master_Receive( DEVICE_PRESSURE, resivebuf, 2);
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295 return (256*(uint16_t)resivebuf[0]) + (uint16_t)resivebuf[1];
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296 }
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297
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298
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299
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300 uint8_t pressure_update(void)
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301 {
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302 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT;
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303
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304 statusReturn = pressure_sensor_get_data();
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305 pressure_calculation();
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306 return (uint8_t)statusReturn;
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307 }
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308
276
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309 /* Switch between pressure and temperature measurement with every successful read operation */
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310 void pressure_update_alternating(void)
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311 {
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312 static uint8_t getTemperature= 0;
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313
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314 if(getTemperature)
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315 {
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316 if(pressure_sensor_get_temperature_raw() == HAL_OK)
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317 {
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318 getTemperature = 0;
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319 }
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320 }
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321 else
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322 {
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323 if(pressure_sensor_get_pressure_raw() == HAL_OK)
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324 {
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325 getTemperature = 1;
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326 }
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327 }
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328 pressure_calculation();
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329 return;
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330 }
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331
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332 static uint32_t pressure_sensor_get_one_value(uint8_t cmd, HAL_StatusTypeDef *statusReturn)
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333 {
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334 uint8_t command = CMD_ADC_CONV + cmd;
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335 HAL_StatusTypeDef statusReturnTemp = HAL_TIMEOUT;
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336
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337 statusReturnTemp = I2C_Master_Transmit( DEVICE_PRESSURE, &command, 1);
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338
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339 if(statusReturn)
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340 {
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341 *statusReturn = statusReturnTemp;
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342 }
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343
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344 switch (cmd & 0x0f) // wait necessary conversion time
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345 {
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346 case CMD_ADC_256 : HAL_Delay(1); break;
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347 case CMD_ADC_512 : HAL_Delay(3); break;
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348 case CMD_ADC_1024: HAL_Delay(4); break;
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349 case CMD_ADC_2048: HAL_Delay(6); break;
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350 case CMD_ADC_4096: HAL_Delay(10); break;
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351 }
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352 return get_adc();
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353 }
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354
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355
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356 static HAL_StatusTypeDef pressure_sensor_get_data(void)
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357 {
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358 uint32_t requestedValue = 0;
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359 HAL_StatusTypeDef statusReturn1 = HAL_TIMEOUT;
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360 HAL_StatusTypeDef statusReturn2 = HAL_TIMEOUT;
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361
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362
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363
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364 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_1024, &statusReturn2);
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365 if (statusReturn2 == HAL_OK)
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366 {
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367 D2 = requestedValue;
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368 }
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369
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370 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_1024, &statusReturn1);
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371 if (statusReturn1 == HAL_OK)
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372 {
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373 D1 = requestedValue;
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374 }
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375 if(statusReturn2 > statusReturn1) // if anything is not HAL_OK (0x00) or worse
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376 return statusReturn2;
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377 else
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378 return statusReturn1;
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379 }
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380
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381
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382 HAL_StatusTypeDef pressure_sensor_get_pressure_raw(void)
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383 {
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384 uint32_t requestedValue = 0;
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385 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT;
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386
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387 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_1024, &statusReturn);
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388 if (statusReturn == HAL_OK)
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389 {
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390 D1 = requestedValue;
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391 }
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392
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393 return statusReturn;
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394 }
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395
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396
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397 HAL_StatusTypeDef pressure_sensor_get_temperature_raw(void)
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398 {
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399 uint32_t requestedValue = 0;
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400 HAL_StatusTypeDef statusReturn = HAL_TIMEOUT;
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401
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402 requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_1024, &statusReturn);
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403 if (statusReturn == HAL_OK)
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404 {
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405 D2 = requestedValue;
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406 }
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407 return statusReturn;
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408 }
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409
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410
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411 void pressure_calculation(void)
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412 {
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413 if(global.I2C_SystemStatus != HAL_OK)
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414 return;
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415
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416 pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015();
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417 }
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418
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419 static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void)
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420 {
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421 uint32_t local_D1; // ADC value of the pressure conversion
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422 uint32_t local_D2; // ADC value of the temperature conversion
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423 int32_t local_Px10; // compensated pressure value
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424 int32_t local_Tx100; // compensated temperature value
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425 int64_t local_dT; // int32_t, difference between actual and measured temperature
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426 int64_t local_OFF; // offset at actual temperature
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427 int64_t local_SENS; // sensitivity at actual temperature
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428
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429 int64_t T2;
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430 int64_t OFF2;
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431 int64_t SENS2;
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432
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433 local_D1 = D1;
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434 local_D2 = D2;
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435
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436 local_dT = ((int64_t)local_D2) - ((int64_t)C[5]) * 256; //pow(2,8);
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437 local_OFF = ((int64_t)C[2]) * 65536 + local_dT * ((int64_t)C[4]) / 128; // pow(2,16), pow(2,7)
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438 local_SENS = ((int64_t)C[1]) * 32768 + local_dT * ((int64_t)C[3]) / 256; // pow(2,15), pow(2,8)
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439
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440 local_Tx100 = (int32_t)(2000 + (local_dT * ((int64_t)C[6])) / 8388608);// pow(2,23)
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441
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442
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443 if(local_Tx100 < 2000) // low temperature
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444 {
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445 T2 = 3 * local_dT;
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446 T2 *= local_dT;
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447 T2 /= 8589934592;
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448
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449 OFF2 = ((int64_t)local_Tx100) - 2000;
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450 OFF2 *= OFF2;
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451 OFF2 *= 3;
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452 OFF2 /= 2;
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453
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454 SENS2 = ((int64_t)local_Tx100) - 2000;
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455 SENS2 *= SENS2;
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456 SENS2 *= 5;
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457 SENS2 /= 8;
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458
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459 local_Tx100 -= (int32_t)T2;
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460 local_OFF -= OFF2;
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461 local_SENS -= SENS2;
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462 }
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463 else
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464 {
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465 T2 = 7 * local_dT;
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466 T2 *= local_dT;
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467 T2 /= 137438953472;
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468
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469 OFF2 = ((int64_t)local_Tx100) - 2000;
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470 OFF2 *= OFF2;
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471 OFF2 /= 16;
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472
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473 local_Tx100 -= (int32_t)T2;
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474 local_OFF -= OFF2;
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475 }
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476
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477 local_Px10 = (int32_t)(
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478 (((int64_t)((local_D1 * local_SENS) / 2097152)) - local_OFF)
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479 / 8192 );// )) / 10; // pow(2,21), pow(2,13)
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480
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481 ambient_temperature = ((float)local_Tx100) / 100;
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482 ambient_pressure_mbar = ((float)local_Px10) / 10;
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483 }
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484
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485
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486 /*
38
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487 void pressure_calculation_new(void)
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488 {
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489 #define POW2_8 (256)
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490 #define POW2_17 (131072)
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491 #define POW2_6 (64)
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492 #define POW2_16 (65536)
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493 #define POW2_7 (128)
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494 #define POW2_23 (8388608)
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495 #define POW2_21 (2097152)
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496 #define POW2_15 (32768)
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497 #define POW2_13 (8192)
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498 #define POW2_37 (137438953472)
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499 #define POW2_4 (16)
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500 #define POW2_33 (8589934592)
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501 #define POW2_3 (8)
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502
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503 int32_t P; // compensated pressure value
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504 int32_t T; // compensated temperature value
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505 int32_t dT; // difference between actual and measured temperature
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506 int64_t OFF; // offset at actual temperature
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507 int64_t SENS;
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508
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509 int32_t T2;
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510 int64_t OFF2;
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511 int64_t SENS2;
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512
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513 dT = ((int32_t)D2) - ((int32_t)C[5]) * POW2_8;
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514 OFF = ((int64_t)C[2]) * POW2_16 + ((int64_t)dT) * ((int64_t)C[4]) / POW2_7;
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515 SENS = ((int64_t)C[1]) * POW2_15 + ((int64_t)dT) * ((int64_t)C[3]) / POW2_8;
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516
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517 T = 2000 + (dT * ((int32_t)C[6])) / POW2_23;
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518
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519
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520 if(T < 2000) // low temperature
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521 {
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522 T2 = 3 * dT * dT;
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523 T2 /= POW2_33;
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524 OFF2 = ((int64_t)T) - 2000;
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525 OFF2 *= OFF2;
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526 OFF2 *= 3;
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527 OFF2 /= 2;
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528 SENS2 = ((int64_t)T) - 2000;
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529 SENS2 *= SENS2;
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530 SENS2 *= 5;
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531 SENS2 /= POW2_3;
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532 }
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533 else // high temperature
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534 {
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535 T2 = 7 * dT * dT;
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536 T2 /= POW2_37;
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537 OFF2 = ((int64_t)T) - 2000;
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538 OFF2 *= OFF2;
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539 OFF2 /= POW2_4;
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540 SENS2 = 0;
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541 }
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542
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543 T = T - T2;
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544 OFF = OFF - OFF2;
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545 SENS = SENS - SENS2;
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546
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547 P = (int32_t)(((((int64_t)D1) * SENS) / POW2_21 - OFF) / POW2_13);
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548
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549 ambient_temperature = ((float)T) / 100;
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550 ambient_pressure_mbar = ((float)P) / 10;
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551 }
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552 */
38
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553
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554 /*
38
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555 void pressure_calculation_old(void) {
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556 //
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557 double ambient_temperature_centigrad = 0;
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558 double ambient_pressure_decimbar = 0;
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559
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560 // static for debug
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561 static int64_t dt = 0;
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562 static int64_t temp = 0;
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563 static int64_t ms_off = 0;
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564 static int64_t sens = 0;
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565 //
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566 static int64_t ms_off2 = 0;
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567 static int64_t sens2 = 0;
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568 static int64_t t2 = 0;
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569
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570 if((D2 == 0) || (D1 == 0))
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571 return;
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572 //
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573
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574 // dT = D2 - C[5] * POW2_8;
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575 // T = 2000 + (dT * C[6]) / POW2_23;
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576 dt = (int64_t)D2 - C5_x_2p8;
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577 //temp ; // in 10 milliGrad Celcius
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578 ambient_temperature_centigrad = 2000 + dt * C[6] / 8388608;
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579
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580
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581 if(ambient_temperature_centigrad < 2000) // low temperature
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582 {
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583 t2 = 3 * dt;
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584 t2 *= dt;
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585 t2 /= 8589934592;
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586 ms_off2 = ambient_temperature_centigrad - 2000;
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587 ms_off2 *= ms_off2;
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588 sens2 = ms_off2;
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589 ms_off2 *= 3;
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590 ms_off2 /= 2;
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591 sens2 *= 5;
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592 sens2 /= 8;
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593 }
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594 else // high temperature
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595 {
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596 t2 = 7 * dt;
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597 t2 *= dt;
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598 t2 /= 137438953472;
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599 ms_off2 = ambient_temperature_centigrad - 2000;
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600 ms_off2 *= ms_off2;
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601 ms_off2 /= 16;
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602 sens2 = 0;
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603 }
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604
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605
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606 //
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607
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608 // pressure
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609 // OFF = C[2] * POW2_16 + dT * C[4] / POW2_7;
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610 // SENS = C[1] * POW2_15 + dT * C[3] / POW2_8;
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611 ms_off = C[4] * dt;
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612 ms_off /= 128;
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613 ms_off += C2_x_2p16;
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614 //
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615 sens = C[3] * dt;
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616 sens /= 256;
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617 sens += C1_x_2p15;
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618
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619 // 2nd order correction
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620 ambient_temperature_centigrad -= t2;
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621 ms_off -= ms_off2;
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622 sens -= sens2;
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623
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624 ambient_temperature = ambient_temperature_centigrad / 100;
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625 // P = (D1 * SENS / POW2_21 - OFF) / POW2_13;
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626 temp = D1 * sens;
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627 temp /= 2097152;
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628 temp -= ms_off;
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629 temp /= 8192;
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630 ambient_pressure_decimbar = temp; // to float/double
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631 ambient_pressure_mbar = ambient_pressure_decimbar / 10;
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632 }
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633 */
38
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634
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635
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636 /* taken from AN520 by meas-spec.com dated 9. Aug. 2011
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637 * short and int are both 16bit according to AVR/GCC google results
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638 */
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diff changeset
639 static uint8_t crc4(uint16_t n_prom[])
38
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640 {
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641 uint16_t cnt; // simple counter
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642 uint16_t n_rem; // crc reminder
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643 uint16_t crc_read; // original value of the crc
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644 uint8_t n_bit;
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645 n_rem = 0x00;
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646 crc_read=n_prom[7]; //save read CRC
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647 n_prom[7]=(0xFF00 & (n_prom[7])); //CRC byte is replaced by 0
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648 for (cnt = 0; cnt < 16; cnt++) // operation is performed on bytes
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649 { // choose LSB or MSB
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650 if (cnt%2==1) n_rem ^= (uint16_t) ((n_prom[cnt>>1]) & 0x00FF);
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651 else n_rem ^= (uint16_t) (n_prom[cnt>>1]>>8);
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652 for (n_bit = 8; n_bit > 0; n_bit--)
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653 {
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654 if (n_rem & (0x8000))
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655 {
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656 n_rem = (n_rem << 1) ^ 0x3000;
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657 }
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658 else
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659 {
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660 n_rem = (n_rem << 1);
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661 }
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662 }
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663 }
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diff changeset
664 n_rem= (0x000F & (n_rem >> 12)); // // final 4-bit reminder is CRC code
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665 n_prom[7]=crc_read; // restore the crc_read to its original place
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666 return (n_rem ^ 0x00);
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667 }
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668 /*
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669 void test_calculation(void)
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670 {
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671 C1 = 29112;
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672 C2 = 26814;
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673 C3 = 19125;
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674 C4 = 17865;
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675 C5 = 32057;
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676 C6 = 31305;
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677
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678 C2_x_2p16 = C2 * 65536;
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679 C1_x_2p15 = C1 * 32768;
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680
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681 D1 = 4944364;
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682 D2 = 8198974;
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683 pressure_calculation() ;
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684 };
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685 */
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686