Mercurial > public > ostc4

annotate Small_CPU/Src/externalInterface.c @ 556:eb2060caca7d

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
Switch source of o2 sensor data depending on availability of external ADC: Dependig on the HW configuration provided by RTE the data vields for o2 voltage values are derived from the optical or the external ADC interface. TODO: Add manual selection to O2 menu to enable manuel switching.
author Ideenmodellierer
date Thu, 12 Nov 2020 19:54:58 +0100
parents 3328189786e7
children 84a4e1200726
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
554
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
1 /**
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
2 ******************************************************************************
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
3 * @file externalInterface.c
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
4 * @author heinrichs weikamp gmbh
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
5 * @version V0.0.1
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
6 * @date 07-Nov-2020
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
7 * @brief Interface functionality to proceed external analog signal via i2c connection
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
8 *
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
9 @verbatim
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
10 ==============================================================================
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
11 ##### stm32f4xx_hal_i2c.c modification #####
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
12 ==============================================================================
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
13 The LTC2942 requires an repeated start condition without stop condition
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
14 for data reception.
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
15
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
16 @endverbatim
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
17 ******************************************************************************
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
18 * @attention
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
19 *
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
20 * <h2><center>&copy; COPYRIGHT(c) 2014 heinrichs weikamp</center></h2>
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
21 *
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
22 ******************************************************************************
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
23 */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
24 /* Includes ------------------------------------------------------------------*/
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
25
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
26 #include <math.h>
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
27 #include "i2c.h"
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
28 #include "externalInterface.h"
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
29 #include "scheduler.h"
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
30
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
31 extern SGlobal global;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
32
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
33 #define ADC_ANSWER_LENGTH (5u) /* 3424 will provide addr + 4 data bytes */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
34 #define ADC_TIMEOUT (10u) /* conversion stuck for unknown reason => restart */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
35 #define ADC_REF_VOLTAGE_MV (2048.0f) /* reference voltage of MPC3424*/
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
36
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
37 #define ADC_START_CONVERSION (0x80)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
38 #define ADC_GAIN_4 (0x02)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
39 #define ADC_GAIN_4_VALUE (4.0f)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
40 #define ADC_GAIN_8 (0x03)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
41 #define ADC_GAIN_8_VALUE (8.0f)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
42 #define ADC_RESOLUTION_16BIT (0x08)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
43 #define ADC_RESOLUTION_16BIT_VALUE (16u)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
44 #define ADC_RESOLUTION_18BIT (0x0C)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
45 #define ADC_RESOLUTION_18BIT_VALUE (18u)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
46
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
47 #define ANSWER_CONFBYTE_INDEX (4u)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
48
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
49 static uint8_t activeChannel = 0; /* channel which is in request */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
50 static uint8_t recBuf[ADC_ANSWER_LENGTH];
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
51 static uint8_t timeoutCnt = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
52 static uint8_t externalInterfacePresent = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
53
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
54 float externalChannel_mV[MAX_ADC_CHANNEL];
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
55
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
56
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
57 void externalInterface_Init(void)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
58 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
59 activeChannel = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
60 timeoutCnt = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
61 externalInterfacePresent = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
62 if(externalInterface_StartConversion(activeChannel) == HAL_OK)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
63 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
64 externalInterfacePresent = 1;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
65 global.deviceDataSendToMaster.hw_Info.extADC = 1;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
66 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
67 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
68
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
69
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
70 uint8_t externalInterface_StartConversion(uint8_t channel)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
71 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
72 uint8_t retval = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
73 uint8_t confByte = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
74
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
75 if(channel < MAX_ADC_CHANNEL)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
76 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
77 confByte = ADC_START_CONVERSION | ADC_RESOLUTION_16BIT | ADC_GAIN_8;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
78 confByte |= channel << 5;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
79 retval = I2C_Master_Transmit(DEVICE_EXTERNAL_ADC, &confByte, 1);
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
80 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
81 return retval;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
82 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
83
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
84 /* Check if conversion is done and trigger measurement of next channel */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
85 uint8_t externalInterface_ReadAndSwitch()
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
86 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
87 uint8_t retval = EXTERNAL_ADC_NO_DATA;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
88
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
89 if(externalInterfacePresent)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
90 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
91 if(I2C_Master_Receive(DEVICE_EXTERNAL_ADC, recBuf, ADC_ANSWER_LENGTH) == HAL_OK)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
92 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
93 if((recBuf[ANSWER_CONFBYTE_INDEX] & ADC_START_CONVERSION) == 0) /* !ready set => received data contains new value */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
94 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
95 retval = activeChannel; /* return channel number providing new data */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
96 activeChannel++;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
97 if(activeChannel == MAX_ADC_CHANNEL)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
98 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
99 activeChannel = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
100 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
101 externalInterface_StartConversion(activeChannel);
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
102 timeoutCnt = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
103 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
104 else
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
105 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
106 if(timeoutCnt++ >= ADC_TIMEOUT)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
107 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
108 externalInterface_StartConversion(activeChannel);
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
109 timeoutCnt = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
110 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
111 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
112 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
113 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
114 return retval;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
115 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
116 float externalInterface_CalculateADCValue(uint8_t channel)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
117 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
118 int32_t rawvalue = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
119 float retValue = 0.0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
120 if(channel < MAX_ADC_CHANNEL)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
121 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
122
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
123 rawvalue = ((recBuf[0] << 16) | (recBuf[1] << 8) | (recBuf[2]));
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
124
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
125 switch(recBuf[3] & 0x0C) /* confbyte => Resolution bits*/
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
126 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
127 case ADC_RESOLUTION_16BIT: rawvalue = rawvalue >> 8; /* only 2 databytes received shift out confbyte*/
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
128 if(rawvalue & (0x1 << (ADC_RESOLUTION_16BIT_VALUE-1))) /* MSB set => negative number */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
129 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
130 rawvalue |= 0xFFFF0000; /* set MSB for int32 */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
131 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
132 else
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
133 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
134 rawvalue &= 0x0000FFFF;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
135 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
136 externalChannel_mV[channel] = ADC_REF_VOLTAGE_MV * 2.0 / (float) pow(2,ADC_RESOLUTION_16BIT_VALUE); /* calculate bit resolution */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
137 break;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
138 case ADC_RESOLUTION_18BIT: if(rawvalue & (0x1 << (ADC_RESOLUTION_18BIT_VALUE-1))) /* MSB set => negative number */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
139 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
140 rawvalue |= 0xFFFE0000; /* set MSB for int32 */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
141 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
142 externalChannel_mV[channel] = ADC_REF_VOLTAGE_MV * 2.0 / (float) pow(2,ADC_RESOLUTION_18BIT_VALUE); /* calculate bit resolution */
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
143 break;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
144 default: rawvalue = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
145 break;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
146 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
147 externalChannel_mV[channel] = externalChannel_mV[channel] * rawvalue / ADC_GAIN_8_VALUE;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
148 retValue = externalChannel_mV[channel];
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
149 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
150 return retValue;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
151 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
152 float getExternalInterfaceChannel(uint8_t channel)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
153 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
154 float retval = 0;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
155
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
156 if(channel < MAX_ADC_CHANNEL)
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
157 {
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
158 retval = externalChannel_mV[channel];
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
159 }
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
160 return retval;
3328189786e7 Added external ADC interface functionality (MCP3424):
Ideenmodellierer
parents:
diff changeset
161 }