CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/pdo.c Source File

00001 /*
+00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
+00003 
+00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
+00005 
+00006 See COPYING file for copyrights details.
+00007 
+00008 This library is free software; you can redistribute it and/or
+00009 modify it under the terms of the GNU Lesser General Public
+00010 License as published by the Free Software Foundation; either
+00011 version 2.1 of the License, or (at your option) any later version.
+00012 
+00013 This library is distributed in the hope that it will be useful,
+00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
+00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+00016 Lesser General Public License for more details.
+00017 
+00018 You should have received a copy of the GNU Lesser General Public
+00019 License along with this library; if not, write to the Free Software
+00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+00021 */
+00022 #include "pdo.h"
+00023 #include "objacces.h"
+00024 #include "canfestival.h"
+00025 
+00026 /****************************************************************************/
+00027 UNS8 sendPDO(CO_Data* d, s_PDO pdo, UNS8 req)
+00028 {
+00029   UNS8 i;
+00030   if( d->nodeState == Operational ) {
+00031     Message m;
+00032 
+00033     /* Message copy for sending */
+00034     m.cob_id.w = pdo.cobId & 0x7FF; /* Because the cobId is 11 bytes length */
+00035     if ( req == NOT_A_REQUEST ) {
+00036       UNS8 i;
+00037       m.rtr = NOT_A_REQUEST;
+00038       m.len = pdo.len;
+00039       /* memcpy(&m.data, &pdo.data, m.len); */
+00040       /* This Memcpy depends on packing structure. Avoid */
+00041       for (i = 0 ; i < pdo.len ; i++)
+00042         m.data[i] = pdo.data[i];
+00043     }
+00044     else {
+00045       m.rtr = REQUEST;
+00046       m.len = 0;
+00047     }
+00048 
+00049     MSG_WAR(0x3901, "sendPDO cobId :", m.cob_id.w);
+00050     MSG_WAR(0x3902,  "     Nb octets  : ",  m.len);
+00051     for (i = 0 ; i < m.len ; i++) {
+00052       MSG_WAR(0x3903,"           data : ", m.data[i]);
+00053     }
+00054                   
+00055     return canSend(d->canHandle,&m);
+00056   } /* end if */
+00057   return 0xFF;
+00058 }
+00059 
+00060 /***************************************************************************/
+00061 UNS8 PDOmGR(CO_Data* d, UNS32 cobId) /* PDO Manager */
+00062 {
+00063   UNS8 res;
+00064   UNS8 i;
+00065   s_PDO pdo;
+00066 
+00067   MSG_WAR(0x3905, "PDOmGR",0);
+00068         
+00069   /* if PDO is waiting for transmission,
+00070      preparation of the message to send */
+00071     pdo.cobId = cobId;
+00072     pdo.len =  d->process_var.count;
+00073     /* memcpy(&(pdo.data), &(process_var.data), pdo.len); */
+00074     /* Ce memcpy devrait être portable */
+00075     for ( i = 0 ; i < pdo.len ; i++) 
+00076       pdo.data[i] = d->process_var.data[i];
+00077 
+00078     res = sendPDO(d, pdo, NOT_A_REQUEST);
+00079 
+00080     return res;
+00081 }
+00082 
+00083 #if 0
+00084 /*********************************************************************/
+00085 /* TODO : implement bit mapping                                                  */
+00086 /*********************************************************************/
+00087 
+00088 UNS8 buildPDO(CO_Data* d, UNS16 index)
+00089 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails. */       
+00090   UNS16 ind;
+00091   UNS8      subInd;
+00092 
+00093   UNS8 *     pMappingCount = NULL;      /* count of mapped objects... */
+00094   /* pointer to the var which is mapped to a pdo */
+00095 /*  void *     pMappedAppObject = NULL;  */
+00096   /* pointer fo the var which holds the mapping parameter of an mapping entry  */ 
+00097   UNS32 *    pMappingParameter = NULL;  
+00098 
+00099   UNS8      Size;
+00100   UNS8      dataType;
+00101   UNS8      offset;
+00102   UNS16     offsetObjdict;
+00103   UNS16     offsetObjdictPrm;
+00104   UNS32     objDict;
+00105 
+00106   subInd=(UNS8)0x00;
+00107   offset = 0x00;
+00108   ind = index - 0x1800;
+00109   
+00110   MSG_WAR(0x3910,"Prepare PDO to send index :", index);
+00111 
+00112   /* only operational state allows PDO transmission */
+00113   if( d->nodeState != Operational ) {
+00114     MSG_WAR(0x2911, "Unable to send the PDO (node not in OPERATIONAL mode). Node : ", index);
+00115     return 0xFF;
+00116   }
+00117   offsetObjdictPrm = d->firstIndex->PDO_TRS;
+00118   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00119   
+00120   if (offsetObjdictPrm && offsetObjdict)
+00121   {
+00122           /* get mapped objects number to transmit with this PDO */
+00123           pMappingCount = (d->objdict + offsetObjdict + ind)->pSubindex[0].pObject;
+00124           MSG_WAR(0x3912, "Nb maped objects : ",* pMappingCount);
+00125           MSG_WAR(0x3913, "        at index : ", 0x1A00 + ind);
+00126           while (subInd < *pMappingCount) { /* Loop on mapped variables */
+00127             /* get mapping parameters */
+00128             pMappingParameter = (d->objdict + offsetObjdict + ind)->pSubindex[subInd + 1].pObject;
+00129             MSG_WAR(0x3914, "Get the mapping      at index : ", (UNS16)0x1A00 + ind);
+00130             MSG_WAR(0x3915, "                     subIndex : ", subInd + 1);
+00131             MSG_WAR(0x3916, "                     value    : ", *(UNS32 *)pMappingParameter);
+00132             /* Get the mapped variable */
+00133             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3));
+00134                 objDict = getODentry(d, (UNS16)((*pMappingParameter) >> 16),
+00135                                     (UNS8)(((*pMappingParameter) >> 8 ) & 0x000000FF),
+00136                                     (void *)&d->process_var.data[offset], &Size, &dataType, 0 );  
+00137 
+00138              if (objDict != OD_SUCCESSFUL) {
+00139                 MSG_WAR(0x2919, "error accessing to the mapped var : ", subInd + 1);  
+00140                 MSG_WAR(0x2920, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00141                 MSG_WAR(0x2921, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00142                 return 0xFF;
+00143              } 
+00144 
+00145               offset += Size;
+00146               d->process_var.count = offset;
+00147               subInd++;                                 
+00148         }/* end Loop on mapped variables  */
+00149   }
+00150   return 0;
+00151 }
+00152 #endif
+00153 /**************************************************************************/
+00154 UNS8 sendPDOrequest( CO_Data* d, UNS32 cobId )
+00155 {               
+00156   UNS32 *        pwCobId;       
+00157   UNS16          offset;
+00158   UNS16          lastIndex;
+00159   UNS8           err;
+00160 
+00161   MSG_WAR(0x3930, "sendPDOrequest ",0);  
+00162   /* Sending the request only if the cobid have been found on the PDO receive */
+00163   /* part dictionary */
+00164   offset = d->firstIndex->PDO_RCV;
+00165   lastIndex = d->lastIndex->PDO_RCV;
+00166   if (offset)
+00167           while (offset <= lastIndex) {
+00168             /*get the CobId*/
+00169             pwCobId = d->objdict[offset].pSubindex[1].pObject;
+00170               
+00171             if ( *pwCobId  == cobId ) {
+00172               s_PDO pdo;
+00173               pdo.cobId = *pwCobId;
+00174               pdo.len = 0;
+00175               err  = sendPDO(d, pdo, REQUEST);  
+00176               return err;
+00177             }
+00178             offset++;
+00179           }
+00180   MSG_WAR(0x1931, "sendPDOrequest : COBID not found : ", cobId); 
+00181   return 0xFF;
+00182 }
+00183 
+00184 
+00185 
+00186 /***********************************************************************/
+00187 UNS8 proceedPDO(CO_Data* d, Message *m)
+00188 {               
+00189   UNS8   numPdo;
+00190   UNS8   numMap;  /* Number of the mapped varable */                      
+00191   UNS8 i;
+00192   UNS8 *     pMappingCount = NULL;    /* count of mapped objects... */
+00193   /* pointer to the var which is mapped to a pdo... */
+00194 /*  void *     pMappedAppObject = NULL;   */
+00195   /* pointer fo the var which holds the mapping parameter of an mapping entry */
+00196   UNS32 *    pMappingParameter = NULL;  
+00197   UNS8  *    pTransmissionType = NULL; /* pointer to the transmission type */
+00198   UNS32 *    pwCobId = NULL;
+00199   UNS8       Size;
+00200   UNS8       dataType;
+00201   UNS8       offset;
+00202   UNS8       status;
+00203   UNS32      objDict;
+00204   UNS16      offsetObjdict;
+00205   UNS16      lastIndex;
+00206   status = state1;
+00207  
+00208   MSG_WAR(0x3935, "proceedPDO, cobID : ", ((*m).cob_id.w & 0x7ff)); 
+00209   offset = 0x00;
+00210   numPdo = 0;
+00211   numMap = 0;
+00212   if((*m).rtr == NOT_A_REQUEST ) { /* The PDO received is not a request. */
+00213     offsetObjdict = d->firstIndex->PDO_RCV;
+00214     lastIndex = d->lastIndex->PDO_RCV;
+00215     
+00216     /* study of all the PDO stored in the dictionary */   
+00217     if(offsetObjdict)
+00218             while (offsetObjdict <= lastIndex) {
+00219                         
+00220               switch( status ) {
+00221                                                 
+00222                 case state1:    /* data are stored in process_var array */
+00223                   /* memcpy(&(process_var.data), &m->data, (*m).len); */
+00224                   /* Ce memcpy devrait être portable. */
+00225                   for ( i = 0 ; i < m->len ; i++) 
+00226                     d->process_var.data[i] = m->data[i];
+00227                   d->process_var.count = (*m).len;
+00228         
+00229                   status = state2; 
+00230                   break;
+00231         
+00232                 case state2:
+00233                   /* get CobId of the dictionary correspondant to the received PDO */
+00234                   pwCobId = d->objdict[offsetObjdict].pSubindex[1].pObject; 
+00235                   /* check the CobId coherance */
+00236                   /*pwCobId is the cobId read in the dictionary at the state 3 */
+00237                   if ( *pwCobId == (*m).cob_id.w ){
+00238                     /* The cobId is recognized */
+00239                     status = state4;
+00240                     MSG_WAR(0x3936, "cobId found at index ", 0x1400 + numPdo);
+00241                     break;
+00242                   }
+00243                   else {
+00244                     /* cobId received does not match with those write in the dictionnary */
+00245                     numPdo++;
+00246                     offsetObjdict++;
+00247                     status = state2;
+00248                     break;
+00249                   }
+00250         
+00251                 case state4:    /* get mapped objects number */
+00252                   /* The cobId of the message received has been found in the dictionnary. */
+00253                   offsetObjdict = d->firstIndex->PDO_RCV_MAP;
+00254                   lastIndex = d->lastIndex->PDO_RCV_MAP;
+00255                   pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;    
+00256                   numMap = 0;
+00257                   while (numMap < *pMappingCount) {
+00258                         UNS8 tmp[]= {0,0,0,0,0,0,0,0};
+00259                         UNS8 ByteSize;
+00260                     pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
+00261                     if (pMappingParameter == NULL) {
+00262                       MSG_ERR(0x1937, "Couldn't get mapping parameter : ", numMap + 1); 
+00263                       return 0xFF;
+00264                     }
+00265                         /* Get the addresse of the mapped variable. */
+00266                     /* detail of *pMappingParameter : */
+00267                     /* The 16 hight bits contains the index, the medium 8 bits contains the subindex, */
+00268                     /* and the lower 8 bits contains the size of the mapped variable. */
+00269                     
+00270                     Size = (UNS8)(*pMappingParameter);
+00271                         
+00272                         /* copy bit per bit in little endian */
+00273                         CopyBits(Size, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0, ((UNS8*)tmp), 0, 0);
+00274                         
+00275                         ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
+00276                         
+00277                     objDict = setODentry(d, (UNS16)((*pMappingParameter) >> 16),
+00278                                             (UNS8)(((*pMappingParameter) >> 8 ) & 0xFF),
+00279                                                 tmp, &ByteSize, 0 );
+00280                                                 
+00281                     if(objDict != OD_SUCCESSFUL) {
+00282                       MSG_ERR(0x1938, "error accessing to the mapped var : ", numMap + 1);  
+00283                       MSG_WAR(0x2939, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00284                       MSG_WAR(0x2940, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00285                       return 0xFF;
+00286                     }
+00287 
+00288                     MSG_WAR(0x3942, "Variable updated with value received by PDO cobid : ", m->cob_id.w);  
+00289                     MSG_WAR(0x3943, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00290                     MSG_WAR(0x3944, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00291                     /* MSG_WAR(0x3945, "                data : ",*((UNS32 *)pMappedAppObject)); */
+00292                     offset += Size;
+00293                     numMap++;
+00294                   } /* end loop while on mapped variables */
+00295                   
+00296                   offset=0x00;          
+00297                   numMap = 0;
+00298                   return 0;
+00299                   
+00300               }/* end switch status     */       
+00301             }/* end while       */
+00302   }/* end if Donnees */
+00303 
+00304 
+00305   else if ((*m).rtr == REQUEST ){  
+00306       MSG_WAR(0x3946, "Receive a PDO request cobId : ", m->cob_id.w);
+00307       status = state1;
+00308       offsetObjdict = d->firstIndex->PDO_TRS;
+00309       lastIndex = d->lastIndex->PDO_TRS;
+00310       if(offsetObjdict) while( offsetObjdict  <= lastIndex ){ 
+00311         /* study of all PDO stored in the objects dictionary */
+00312 
+00313         switch( status ){
+00314 
+00315         case state1:    /* check the CobId */
+00316                         /* get CobId of the dictionary which match to the received PDO */
+00317           pwCobId = (d->objdict + offsetObjdict)->pSubindex[1].pObject;   
+00318           if ( *pwCobId == (*m).cob_id.w ) {
+00319             status = state4;
+00320             break;
+00321           }
+00322           else {
+00323             numPdo++;
+00324             offsetObjdict++;
+00325           }
+00326           status = state1;
+00327           break;
+00328 
+00329 
+00330         case state4:    /* check transmission type (after request?) */
+00331           pTransmissionType = d->objdict[offsetObjdict].pSubindex[2].pObject;
+00332           if ( (*pTransmissionType == TRANS_RTR) || (*pTransmissionType == TRANS_RTR_SYNC ) || (*pTransmissionType == TRANS_EVENT) ) {
+00333             status = state5;
+00334             break;
+00335           }
+00336           else {
+00337             /* The requested PDO is not to send on request. So, does nothing. */
+00338             MSG_WAR(0x2947, "PDO is not to send on request : ", m->cob_id.w);
+00339             return 0xFF;
+00340           }
+00341 
+00342         case state5:    /* get mapped objects number */
+00343           offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00344           lastIndex = d->lastIndex->PDO_TRS_MAP;
+00345           pMappingCount = (d->objdict + offsetObjdict + numPdo)->pSubindex[0].pObject;
+00346           numMap = 0;
+00347           while (numMap < *pMappingCount) {
+00348             pMappingParameter = (d->objdict + offsetObjdict + numPdo)->pSubindex[numMap + 1].pObject;
+00349             /* Get the mapped variable */
+00350             Size = ((UNS8)(((*pMappingParameter) & 0xFF) >> 3)); 
+00351             objDict = getODentry( d, (UNS16)((*pMappingParameter) >> (UNS8)16), 
+00352                                      (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & 0xFF),
+00353                                      (void *)&d->process_var.data[offset], &Size, &dataType, 0 );
+00354             if (objDict != OD_SUCCESSFUL) {
+00355               MSG_ERR(0x1948, "error accessing to the mapped var : ", numMap + 1);  
+00356               MSG_WAR(0x2949, "         Mapped at index : ", (*pMappingParameter) >> 16);
+00357               MSG_WAR(0x2950, "                subindex : ", ((*pMappingParameter) >> 8 ) & 0xFF);
+00358               return 0xFF;
+00359             }
+00360             offset += (UNS8) (((*pMappingParameter) & 0xFF) >> 3);
+00361             d->process_var.count = offset;
+00362             numMap++;
+00363 
+00364           } /* end while */
+00365           PDOmGR( d, *pwCobId ); /* Transmit the PDO */
+00366           return 0;
+00367 
+00368         }/* end switch status */
+00369       }/* end while      */                     
+00370     }/* end if Requete */
+00371                 
+00372   return 0;
+00373 }
+00374 
+00375 
+00376 void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian)
+00377 {
+00378         //This loop copy as many bits that it can each time, crossing successively bytes
+00379         // boundaries from LSB to MSB.
+00380         while(NbBits > 0)
+00381         {
+00382                 // Bit missalignement between src and dest
+00383                 INTEGER8 Vect = DestBitIndex - SrcBitIndex;
+00384                 
+00385                 // We can now get src and align it to dest
+00386                 UNS8 Aligned = Vect>0 ? *SrcByteIndex << Vect : *SrcByteIndex >> -Vect;
+00387                 
+00388                 // Compute the nb of bit we will be able to copy
+00389                 UNS8 BoudaryLimit = (Vect>0 ? 8 - DestBitIndex :  8 - SrcBitIndex );
+00390                 UNS8 BitsToCopy = BoudaryLimit > NbBits ? NbBits : BoudaryLimit;
+00391 
+00392                 // Create a mask that will serve in:
+00393                 UNS8 Mask = ((0xff << (DestBitIndex + BitsToCopy)) | (0xff >> (8 - DestBitIndex)));
+00394 
+00395                 // - Filtering src
+00396                 UNS8 Filtered = Aligned & ~Mask;
+00397 
+00398                 // - and erase bits where we write, preserve where we don't
+00399                 *DestByteIndex &= Mask;
+00400 
+00401                 // Then write.
+00402                 *DestByteIndex |= Filtered ;
+00403 
+00404                 //Compute next time cursors for src
+00405                 if((SrcBitIndex += BitsToCopy)>7)       // cross boundary ?
+00406                 {
+00407                         SrcBitIndex = 0;                                                        // First bit
+00408                         SrcByteIndex += (SrcBigEndian ? -1 : 1);        // Next byte
+00409                 }
+00410 
+00411                 //Compute next time cursors for dest
+00412                 if((DestBitIndex += BitsToCopy)>7)
+00413                 {
+00414                         DestBitIndex = 0;                                                       // First bit
+00415                         DestByteIndex += (DestBigEndian ? -1 : 1);// Next byte
+00416                 }
+00417                 
+00418                 //And decrement counter.
+00419                 NbBits -= BitsToCopy;
+00420         }
+00421 
+00422 }
+00423 
+00424 #if 0
+00425 
+00426 /*********************************************************************/
+00427 /* TODO : reimplement this using CallBacks                           */
+00428 /*********************************************************************/
+00429 
+00430 UNS8 sendPDOevent( CO_Data* d, void * variable )
+00431 { /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.  */
+00432   UNS32           objDict = 0;
+00433   UNS8            ind, sub_ind;
+00434   UNS8            status; 
+00435   UNS8            offset;
+00436   UNS8 *     pMappingCount = NULL;
+00437   UNS32 *    pMappingParameter = NULL;
+00438   void *     pMappedAppObject = NULL;
+00439   UNS8 *     pTransmissionType = NULL; /* pointer to the transmission type */
+00440   UNS32 *    pwCobId = NULL;
+00441   UNS8 *     pSize;
+00442   UNS8       size;
+00443   UNS8       dataType;
+00444   UNS16      offsetObjdict;
+00445   UNS16      offsetObjdictPrm;
+00446   UNS16      lastIndex;
+00447   UNS8       numMap;
+00448   ind     = 0x00;
+00449   sub_ind = 1; 
+00450   offset  = 0x00;
+00451   pSize   = &size;
+00452   status  = state1;
+00453 
+00454   /* look for the index and subindex where the variable is mapped */
+00455   /* Then, send the pdo which contains the variable. */
+00456 
+00457   MSG_WAR (0x3960, "sendPDOevent", 0);
+00458   offsetObjdictPrm = d->firstIndex->PDO_TRS;
+00459   
+00460   offsetObjdict = d->firstIndex->PDO_TRS_MAP;
+00461   lastIndex = d->lastIndex->PDO_TRS_MAP;
+00462 
+00463   if (offsetObjdictPrm && offsetObjdict) 
+00464           /* Loop on PDO Transmit */
+00465           while(offsetObjdict <= lastIndex){
+00466             /* Check the transmission mode */
+00467             pTransmissionType = d->objdict[offsetObjdictPrm].pSubindex[2].pObject;
+00468             if (*pTransmissionType != TRANS_EVENT) {
+00469               ind++;
+00470               offsetObjdict++;  
+00471               offsetObjdictPrm++;
+00472               continue;
+00473             }
+00474             pMappingCount = d->objdict[offsetObjdict].pSubindex[0].pObject; 
+00475             numMap = 1; /* mapped variable */
+00476             while (numMap <= *pMappingCount) {
+00477               pMappingParameter = d->objdict[offsetObjdict].pSubindex[numMap].pObject;
+00478               /* Get the variable */
+00479               objDict = getODentry( d,
+00480                                     (UNS16)((*pMappingParameter) >> 16), 
+00481                                     (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF),
+00482                                     (void * *)&pMappedAppObject, pSize, &dataType, 0 );
+00483               if( objDict != OD_SUCCESSFUL ) {  
+00484                 MSG_WAR(0x2961, "Error in dict. at index : ", 
+00485                         (*pMappingParameter) >> (UNS8)16);
+00486               
+00487                 MSG_WAR(0x2962, "               subindex : ", 
+00488                         ((*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
+00489                 return 0xFF;
+00490               }
+00491               if (pMappedAppObject == variable) { // Variable found !
+00492                 MSG_WAR(0x3963, "Variable to send found at index : ", 
+00493                         (*pMappingParameter) >> 16);
+00494                 MSG_WAR(0x3964, "                       subIndex : ", 
+00495                         ((*pMappingParameter) >> 8 ) & 0x000000FF);
+00496                 buildPDO(d, 0x1800 + ind);
+00497                 /* Get the cobId */
+00498                 pwCobId = d->objdict[offsetObjdictPrm].pSubindex[1].pObject;
+00499                 PDOmGR( d, *pwCobId ); /* Send the PDO */
+00500                 return 0;           
+00501               }
+00502               numMap++;
+00503             } /* End loop on mapped variable */
+00504             ind++;      
+00505             offsetObjdict++;  
+00506             offsetObjdictPrm++;
+00507           } /* End loop while on PDO */
+00508 
+00509   MSG_WAR(0x2965, "Variable not found in a PDO to send on event", 0);
+00510   return 0xFF;
+00511 
+00512 }
+00513 #endif
+