fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <sys/types.h>
fp@922: #include <sys/stat.h>
fp@922: #include <fcntl.h>
fp@922: #include <errno.h>
fp@922: #include <sys/ioctl.h>
fp@922: 
fp@922: #include <iostream>
fp@922: #include <iomanip>
fp@922: #include <sstream>
fp@922: using namespace std;
fp@922: 
fp@922: #include "Master.h"
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: Master::Master()
fp@922: {
fp@922:     index = 0;
fp@922:     fd = -1;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: Master::~Master()
fp@922: {
fp@922:     close();
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: void Master::open(unsigned int index)
fp@922: {
fp@922:     stringstream deviceName;
fp@922:     
fp@922:     Master::index = index;
fp@922: 
fp@922:     deviceName << "/dev/EtherCAT" << index;
fp@922:     
fp@922:     if ((fd = ::open(deviceName.str().c_str(), O_RDONLY)) == -1) {
fp@922:         stringstream err;
fp@922:         err << "Failed to open master device " << deviceName.str() << ": "
fp@922:             << strerror(errno);
fp@922:         throw MasterException(err.str());
fp@922:     }
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: void Master::close()
fp@922: {
fp@922:     if (fd == -1)
fp@922:         return;
fp@922: 
fp@922:     ::close(fd);
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@949: void Master::outputData(int domainIndex)
fp@949: {
fp@949:     if (domainIndex == -1) {
fp@949:         unsigned int numDomains = domainCount(), i;
fp@949: 
fp@949:         for (i = 0; i < numDomains; i++) {
fp@949:             outputDomainData(i);
fp@949:         }
fp@949:     } else {
fp@949:         outputDomainData(domainIndex);
fp@949:     }
fp@949: }
fp@949: 
fp@949: /****************************************************************************/
fp@949: 
fp@956: void Master::setDebug(const vector<string> &commandArgs)
fp@956: {
fp@956:     stringstream str;
fp@956:     int debugLevel;
fp@956:     
fp@956:     if (commandArgs.size() != 1) {
fp@956:         stringstream err;
fp@956:         err << "'debug' takes exactly one argument!";
fp@956:         throw MasterException(err.str());
fp@956:     }
fp@956: 
fp@956:     str << commandArgs[0];
fp@956:     str >> debugLevel;
fp@956: 
fp@956:     if (str.fail()) {
fp@956:         stringstream err;
fp@956:         err << "Invalid debug level '" << commandArgs[0] << "'!";
fp@956:         throw MasterException(err.str());
fp@956:     }
fp@956: 
fp@956:     if (ioctl(fd, EC_IOCTL_DEBUG_LEVEL, debugLevel) < 0) {
fp@956:         stringstream err;
fp@956:         err << "Failed to set debug level: " << strerror(errno);
fp@956:         throw MasterException(err.str());
fp@956:     }
fp@956: }
fp@956: 
fp@956: /****************************************************************************/
fp@956: 
fp@948: void Master::showDomains(int domainIndex)
fp@948: {
fp@948:     if (domainIndex == -1) {
fp@948:         unsigned int numDomains = domainCount(), i;
fp@948: 
fp@948:         for (i = 0; i < numDomains; i++) {
fp@948:             showDomain(i);
fp@948:         }
fp@948:     } else {
fp@948:         showDomain(domainIndex);
fp@948:     }
fp@948: }
fp@948: 
fp@948: /****************************************************************************/
fp@948: 
fp@922: void Master::listSlaves()
fp@922: {
fp@922:     unsigned int numSlaves = slaveCount(), i;
fp@935:     ec_ioctl_slave_t slave;
fp@922:     uint16_t lastAlias, aliasIndex;
fp@922:     
fp@922:     lastAlias = 0;
fp@922:     aliasIndex = 0;
fp@922:     for (i = 0; i < numSlaves; i++) {
fp@935:         getSlave(&slave, i);
fp@935:         cout << setw(2) << i << "  ";
fp@935: 
fp@935:         if (slave.alias) {
fp@935:             lastAlias = slave.alias;
fp@922:             aliasIndex = 0;
fp@922:         }
fp@922:         if (lastAlias) {
fp@922:             cout << setw(10) << "#" << lastAlias << ":" << aliasIndex;
fp@922:         }
fp@922: 
fp@935:         cout << "  " << slaveState(slave.state) << "  ";
fp@935: 
fp@935:         if (strlen(slave.name)) {
fp@935:             cout << slave.name;
fp@922:         } else {
fp@935:             cout << "0x" << hex << setfill('0') << slave.vendor_id
fp@935:                 << ":0x" << slave.product_code;
fp@922:         }
fp@922: 
fp@922:         cout << endl;
fp@922:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@935: void Master::listPdos(int slavePosition)
fp@935: {
fp@936:     if (slavePosition == -1) {
fp@936:         unsigned int numSlaves = slaveCount(), i;
fp@936: 
fp@936:         for (i = 0; i < numSlaves; i++) {
fp@936:             listSlavePdos(i, true);
fp@936:         }
fp@936:     } else {
fp@936:         listSlavePdos(slavePosition, false);
fp@936:     }
fp@936: }
fp@936: 
fp@936: /****************************************************************************/
fp@936: 
fp@938: void Master::generateXml(int slavePosition)
fp@938: {
fp@938:     if (slavePosition == -1) {
fp@938:         unsigned int numSlaves = slaveCount(), i;
fp@938: 
fp@938:         for (i = 0; i < numSlaves; i++) {
fp@938:             generateSlaveXml(i);
fp@938:         }
fp@938:     } else {
fp@938:         generateSlaveXml(slavePosition);
fp@938:     }
fp@938: }
fp@938: 
fp@938: /****************************************************************************/
fp@938: 
fp@949: void Master::outputDomainData(unsigned int domainIndex)
fp@949: {
fp@949:     ec_ioctl_domain_t domain;
fp@949:     ec_ioctl_data_t data;
fp@949:     unsigned char *processData;
fp@949:     unsigned int i;
fp@949:     
fp@949:     getDomain(&domain, domainIndex);
fp@949: 
fp@950:     if (!domain.data_size)
fp@950:         return;
fp@950: 
fp@949:     processData = new unsigned char[domain.data_size];
fp@949: 
fp@950:     try {
fp@950:         getData(&data, domainIndex, domain.data_size, processData);
fp@950:     } catch (MasterException &e) {
fp@949:         delete [] processData;
fp@950:         throw e;
fp@949:     }
fp@949: 
fp@949:     for (i = 0; i < data.data_size; i++)
fp@949:         cout << processData[i];
fp@949:     cout.flush();
fp@949: 
fp@949:     delete [] processData;
fp@949: }
fp@949: 
fp@949: /****************************************************************************/
fp@949: 
fp@948: void Master::showDomain(unsigned int domainIndex)
fp@948: {
fp@950:     ec_ioctl_domain_t domain;
fp@950:     unsigned char *processData;
fp@950:     ec_ioctl_data_t data;
fp@950:     unsigned int i, j;
fp@950:     ec_ioctl_domain_fmmu_t fmmu;
fp@950:     unsigned int dataOffset;
fp@948:     
fp@950:     getDomain(&domain, domainIndex);
fp@948: 
fp@948: 	cout << "Domain" << domainIndex << ":"
fp@948: 		<< " LogBaseAddr 0x"
fp@950: 		<< hex << setfill('0') << setw(8) << domain.logical_base_address
fp@950: 		<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size
fp@948: 		<< ", WorkingCounter "
fp@951: 		<< dec << domain.working_counter << "/"
fp@951:         << domain.expected_working_counter << endl;
fp@950: 
fp@950:     if (!domain.data_size)
fp@950:         return;
fp@950: 
fp@950:     processData = new unsigned char[domain.data_size];
fp@950: 
fp@950:     try {
fp@950:         getData(&data, domainIndex, domain.data_size, processData);
fp@950:     } catch (MasterException &e) {
fp@950:         delete [] processData;
fp@950:         throw e;
fp@950:     }
fp@950: 
fp@950:     for (i = 0; i < domain.fmmu_count; i++) {
fp@950:         getFmmu(&fmmu, domainIndex, i);
fp@950: 
fp@951:         cout << "  SlaveConfig "
fp@951:             << fmmu.slave_config_alias << ":" << fmmu.slave_config_position
fp@951:             << ", Dir "
fp@951:             << setfill(' ') << setw(3) << (fmmu.fmmu_dir ? "In" : "Out")
fp@950:             << ", LogAddr 0x" 
fp@950:             << hex << setfill('0') << setw(8) << fmmu.logical_address
fp@951:             << ", Size " << dec << fmmu.data_size << endl;
fp@950: 
fp@950:         dataOffset = fmmu.logical_address - domain.logical_base_address;
fp@950:         if (dataOffset + fmmu.data_size > domain.data_size) {
fp@950:             stringstream err;
fp@950:             err << "Fmmu information corrupted!";
fp@950:             delete [] processData;
fp@950:             throw MasterException(err.str());
fp@950:         }
fp@950: 
fp@950:         cout << "    " << hex << setfill('0');
fp@950:         for (j = 0; j < fmmu.data_size; j++) {
fp@950:             cout << setw(2)
fp@950:                 << (unsigned int) *(processData + dataOffset + j) << " ";
fp@950:         }
fp@950:         cout << endl;
fp@950:     }
fp@950: 
fp@950:     delete [] processData;
fp@948: }
fp@948: 
fp@948: /****************************************************************************/
fp@948: 
fp@936: void Master::listSlavePdos(uint16_t slavePosition, bool printSlave)
fp@936: {
fp@935:     ec_ioctl_slave_t slave;
fp@935:     ec_ioctl_sync_t sync;
fp@935:     ec_ioctl_pdo_t pdo;
fp@935:     ec_ioctl_pdo_entry_t entry;
fp@935:     unsigned int i, j, k;
fp@935:     
fp@935:     getSlave(&slave, slavePosition);
fp@935: 
fp@936:     if (printSlave)
fp@936:         cout << "=== Slave " << slavePosition << " ===" << endl;
fp@936: 
fp@935:     for (i = 0; i < slave.sync_count; i++) {
fp@935:         getSync(&sync, slavePosition, i);
fp@935: 
fp@935:         cout << "SM" << i << ":"
fp@935:             << " PhysAddr 0x"
fp@935:             << hex << setfill('0') << setw(4) << sync.physical_start_address
fp@935:             << ", DefaultSize "
fp@935:             << dec << setfill(' ') << setw(4) << sync.default_size
fp@935:             << ", ControlRegister 0x"
fp@935:             << hex << setfill('0') << setw(2)
fp@935:             << (unsigned int) sync.control_register
fp@935:             << ", Enable " << dec << (unsigned int) sync.enable
fp@935:             << endl;
fp@935: 
fp@935:         for (j = 0; j < sync.pdo_count; j++) {
fp@935:             getPdo(&pdo, slavePosition, i, j);
fp@935: 
fp@935:             cout << "  " << (pdo.dir ? "T" : "R") << "xPdo 0x"
fp@935:                 << hex << setfill('0') << setw(4) << pdo.index
fp@935:                 << " \"" << pdo.name << "\"" << endl;
fp@935: 
fp@935:             for (k = 0; k < pdo.entry_count; k++) {
fp@935:                 getPdoEntry(&entry, slavePosition, i, j, k);
fp@935: 
fp@935:                 cout << "    Pdo entry 0x"
fp@935:                     << hex << setfill('0') << setw(4) << entry.index
fp@935:                     << ":" << hex << setfill('0') << setw(2)
fp@935:                     << (unsigned int) entry.subindex
fp@935:                     << ", " << dec << (unsigned int) entry.bit_length
fp@935:                     << " bit, \"" << entry.name << "\"" << endl;
fp@935:             }
fp@935:         }
fp@935:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@938: void Master::generateSlaveXml(uint16_t slavePosition)
fp@938: {
fp@938:     ec_ioctl_slave_t slave;
fp@938:     ec_ioctl_sync_t sync;
fp@938:     ec_ioctl_pdo_t pdo;
fp@938:     ec_ioctl_pdo_entry_t entry;
fp@938:     unsigned int i, j, k;
fp@938:     
fp@938:     getSlave(&slave, slavePosition);
fp@938: 
fp@938:     cout
fp@938:         << "<?xml version=\"1.0\" ?>" << endl
fp@938:         << "  <EtherCATInfo>" << endl
fp@938:         << "    <!-- Slave " << slave.position << " -->" << endl
fp@938:         << "    <Vendor>" << endl
fp@938:         << "      <Id>" << slave.vendor_id << "</Id>" << endl
fp@938:         << "    </Vendor>" << endl
fp@938:         << "    <Descriptions>" << endl
fp@938:         << "      <Devices>" << endl
fp@938:         << "        <Device>" << endl
fp@938:         << "          <Type ProductCode=\"#x"
fp@938:         << hex << setfill('0') << setw(8) << slave.product_code
fp@938:         << "\" RevisionNo=\"#x"
fp@938:         << hex << setfill('0') << setw(8) << slave.revision_number
fp@938:         << "\"/>" << endl;
fp@938: 
fp@938:     for (i = 0; i < slave.sync_count; i++) {
fp@938:         getSync(&sync, slavePosition, i);
fp@938: 
fp@938:         for (j = 0; j < sync.pdo_count; j++) {
fp@938:             getPdo(&pdo, slavePosition, i, j);
fp@938: 
fp@938:             cout
fp@938:                 << "          <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl
fp@938:                 << "            <Index>#x"
fp@938:                 << hex << setfill('0') << setw(4) << pdo.index
fp@938:                 << "</Index>" << endl
fp@938:                 << "            <Name>" << pdo.name << "</Name>" << endl;
fp@938: 
fp@938:             for (k = 0; k < pdo.entry_count; k++) {
fp@938:                 getPdoEntry(&entry, slavePosition, i, j, k);
fp@938: 
fp@938:                 cout
fp@938:                     << "            <Entry>" << endl
fp@938:                     << "              <Index>#x"
fp@938:                     << hex << setfill('0') << setw(4) << entry.index
fp@938:                     << "</Index>" << endl;
fp@938:                 if (entry.index)
fp@938:                     cout
fp@938:                         << "              <SubIndex>"
fp@938:                         << dec << (unsigned int) entry.subindex
fp@938:                         << "</SubIndex>" << endl;
fp@938:                 
fp@938:                 cout
fp@938:                     << "              <BitLen>"
fp@938:                     << (unsigned int) entry.bit_length
fp@938:                     << "</BitLen>" << endl;
fp@938: 
fp@938:                 if (entry.index) {
fp@938:                     cout
fp@938:                         << "              <Name>" << entry.name
fp@938:                         << "</Name>" << endl
fp@938:                         << "              <DataType>";
fp@938: 
fp@938:                     if (entry.bit_length == 1) {
fp@938:                         cout << "BOOL";
fp@938:                     } else if (!(entry.bit_length % 8)) {
fp@938:                         if (entry.bit_length <= 64)
fp@938:                             cout << "UINT" << (unsigned int) entry.bit_length;
fp@938:                         else
fp@938:                             cout << "STRING("
fp@938:                                 << (unsigned int) (entry.bit_length / 8)
fp@938:                                 << ")";
fp@938:                     } else {
fp@938:                         cerr << "Invalid bit length "
fp@938:                             << (unsigned int) entry.bit_length << endl;
fp@938:                     }
fp@938: 
fp@938:                         cout << "</DataType>" << endl;
fp@938:                 }
fp@938: 
fp@938:                 cout << "            </Entry>" << endl;
fp@938:             }
fp@938: 
fp@938:             cout
fp@938:                 << "          </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl;
fp@938:         }
fp@938:     }
fp@938: 
fp@938:     cout
fp@938:         << "        </Device>" << endl
fp@938:         << "     </Devices>" << endl
fp@938:         << "  </Descriptions>" << endl
fp@938:         << "</EtherCATInfo>" << endl;
fp@938: }
fp@938: 
fp@938: /****************************************************************************/
fp@938: 
fp@948: unsigned int Master::domainCount()
fp@948: {
fp@948:     int ret;
fp@948: 
fp@948:     if ((ret = ioctl(fd, EC_IOCTL_DOMAIN_COUNT, 0)) < 0) {
fp@948:         stringstream err;
fp@948:         err << "Failed to get number of domains: " << strerror(errno);
fp@948:         throw MasterException(err.str());
fp@948:     }
fp@948: 
fp@948:     return ret;
fp@948: }
fp@948: 
fp@948: /****************************************************************************/
fp@948: 
fp@935: unsigned int Master::slaveCount()
fp@935: {
fp@935:     int ret;
fp@935: 
fp@935:     if ((ret = ioctl(fd, EC_IOCTL_SLAVE_COUNT, 0)) < 0) {
fp@935:         stringstream err;
fp@948:         err << "Failed to get number of slaves: " << strerror(errno);
fp@935:         throw MasterException(err.str());
fp@935:     }
fp@935: 
fp@935:     return ret;
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@948: void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
fp@948: {
fp@948:     data->index = index;
fp@948: 
fp@948:     if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
fp@948:         stringstream err;
fp@948:         err << "Failed to get domain: ";
fp@948:         if (errno == EINVAL)
fp@948:             err << "Domain " << index << " does not exist!";
fp@948:         else
fp@948:             err << strerror(errno);
fp@948:         throw MasterException(err.str());
fp@948:     }
fp@948: }
fp@948: 
fp@948: /****************************************************************************/
fp@948: 
fp@950: void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
fp@950:         unsigned int dataSize, unsigned char *mem)
fp@950: {
fp@950:     data->domain_index = domainIndex;
fp@950:     data->data_size = dataSize;
fp@950:     data->target = mem;
fp@950: 
fp@950:     if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
fp@950:         stringstream err;
fp@950:         err << "Failed to get domain data: " << strerror(errno);
fp@950:         throw MasterException(err.str());
fp@950:     }
fp@950: }
fp@950: 
fp@950: /****************************************************************************/
fp@950: 
fp@935: void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
fp@935: {
fp@935:     slave->position = slaveIndex;
fp@935: 
fp@935:     if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
fp@935:         stringstream err;
fp@935:         err << "Failed to get slave: ";
fp@935:         if (errno == EINVAL)
fp@935:             err << "Slave " << slaveIndex << " does not exist!";
fp@935:         else
fp@935:             err << strerror(errno);
fp@935:         throw MasterException(err.str());
fp@935:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@950: void Master::getFmmu(
fp@950:         ec_ioctl_domain_fmmu_t *fmmu,
fp@950:         unsigned int domainIndex,
fp@950:         unsigned int fmmuIndex
fp@950:         )
fp@950: {
fp@950:     fmmu->domain_index = domainIndex;
fp@950:     fmmu->fmmu_index = fmmuIndex;
fp@950: 
fp@950:     if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
fp@950:         stringstream err;
fp@950:         err << "Failed to get domain FMMU: ";
fp@950:         if (errno == EINVAL)
fp@950:             err << "Either domain " << domainIndex << " does not exist, "
fp@950:                 << "or it contains less than " << (unsigned int) fmmuIndex + 1
fp@950:                 << " FMMus!";
fp@950:         else
fp@950:             err << strerror(errno);
fp@950:         throw MasterException(err.str());
fp@950:     }
fp@950: }
fp@950: 
fp@950: /****************************************************************************/
fp@950: 
fp@935: void Master::getSync(
fp@935:         ec_ioctl_sync_t *sync,
fp@935:         uint16_t slaveIndex,
fp@935:         uint8_t syncIndex
fp@935:         )
fp@935: {
fp@935:     sync->slave_position = slaveIndex;
fp@935:     sync->sync_index = syncIndex;
fp@935: 
fp@935:     if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
fp@935:         stringstream err;
fp@935:         err << "Failed to get sync manager: ";
fp@935:         if (errno == EINVAL)
fp@935:             err << "Either slave " << slaveIndex << " does not exist, "
fp@950:                 << "or it contains less than " << (unsigned int) syncIndex + 1
fp@935:                 << " sync managers!";
fp@935:         else
fp@935:             err << strerror(errno);
fp@935:         throw MasterException(err.str());
fp@935:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@935: void Master::getPdo(
fp@935:         ec_ioctl_pdo_t *pdo,
fp@935:         uint16_t slaveIndex,
fp@935:         uint8_t syncIndex,
fp@935:         uint8_t pdoPos
fp@935:         )
fp@935: {
fp@935:     pdo->slave_position = slaveIndex;
fp@935:     pdo->sync_index = syncIndex;
fp@935:     pdo->pdo_pos = pdoPos;
fp@935: 
fp@935:     if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
fp@935:         stringstream err;
fp@935:         err << "Failed to get Pdo: ";
fp@935:         if (errno == EINVAL)
fp@935:             err << "Either slave " << slaveIndex << " does not exist, "
fp@950:                 << "or it contains less than " << (unsigned int) syncIndex + 1
fp@935:                 << " sync managers, or sync manager "
fp@935:                 << (unsigned int) syncIndex << " contains less than "
fp@935:                 << pdoPos + 1 << " Pdos!" << endl;
fp@935:         else
fp@935:             err << strerror(errno);
fp@935:         throw MasterException(err.str());
fp@935:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@935: void Master::getPdoEntry(
fp@935:         ec_ioctl_pdo_entry_t *entry,
fp@935:         uint16_t slaveIndex,
fp@935:         uint8_t syncIndex,
fp@935:         uint8_t pdoPos,
fp@935:         uint8_t entryPos
fp@935:         )
fp@935: {
fp@935:     entry->slave_position = slaveIndex;
fp@935:     entry->sync_index = syncIndex;
fp@935:     entry->pdo_pos = pdoPos;
fp@935:     entry->entry_pos = entryPos;
fp@935: 
fp@935:     if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
fp@935:         stringstream err;
fp@935:         err << "Failed to get Pdo entry: ";
fp@935:         if (errno == EINVAL)
fp@935:             err << "Either slave " << slaveIndex << " does not exist, "
fp@950:                 << "or it contains less than " << (unsigned int) syncIndex + 1
fp@935:                 << " sync managers, or sync manager "
fp@935:                 << (unsigned int) syncIndex << " contains less than "
fp@935:                 << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
fp@935:                 << " contains less than " << (unsigned int) entryPos + 1
fp@935:                 << " entries!" << endl;
fp@935:         else
fp@935:             err << strerror(errno);
fp@935:         throw MasterException(err.str());
fp@935:     }
fp@935: }
fp@935: 
fp@935: /****************************************************************************/
fp@935: 
fp@935: string Master::slaveState(uint8_t state)
fp@922: {
fp@922:     switch (state) {
fp@922:         case 1: return "INIT";
fp@922:         case 2: return "PREOP";
fp@922:         case 4: return "SAFEOP";
fp@922:         case 8: return "OP";
fp@922:         default: return "???";
fp@922:     }
fp@922: }
fp@922: 
fp@922: /****************************************************************************/