pixel_pi 0.0.1

data/ext/ws2811/ws2811.c

@@ -0,0 +1,757 @@
+/*
+ * ws2811.c
+ *
+ * Copyright (c) 2014 Jeremy Garff <jer @ jers.net>
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted
+ * provided that the following conditions are met:
+ *
+ *     1.  Redistributions of source code must retain the above copyright notice, this list of
+ *         conditions and the following disclaimer.
+ *     2.  Redistributions in binary form must reproduce the above copyright notice, this list
+ *         of conditions and the following disclaimer in the documentation and/or other materials
+ *         provided with the distribution.
+ *     3.  Neither the name of the owner nor the names of its contributors may be used to endorse
+ *         or promote products derived from this software without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+ * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <signal.h>
+
+#include "clk.h"
+#include "gpio.h"
+#include "dma.h"
+#include "pwm.h"
+
+#include "ws2811.h"
+
+
+#define OSC_FREQ                                 19200000   // crystal frequency
+
+/* 3 colors, 8 bits per byte, 3 symbols per bit + 55uS low for reset signal */
+#define LED_RESET_uS                             55
+#define LED_BIT_COUNT(leds, freq)                ((leds * 3 * 8 * 3) + ((LED_RESET_uS * \
+                                                  (freq * 3)) / 1000000))
+
+// Pad out to the nearest uint32 + 32-bits for idle low/high times the number of channels
+#define PWM_BYTE_COUNT(leds, freq)               (((((LED_BIT_COUNT(leds, freq) >> 3) & ~0x7) + 4) + 4) * \
+                                                  RPI_PWM_CHANNELS)
+
+#define SYMBOL_HIGH                              0x6  // 1 1 0
+#define SYMBOL_LOW                               0x4  // 1 0 0
+
+#define ARRAY_SIZE(stuff)                        (sizeof(stuff) / sizeof(stuff[0]))
+
+
+typedef struct ws2811_device
+{
+    volatile uint8_t *pwm_raw;
+    volatile dma_t *dma;
+    volatile pwm_t *pwm;
+    volatile dma_cb_t *dma_cb;
+    uint32_t dma_cb_addr;
+    dma_page_t page_head;
+    volatile gpio_t *gpio;
+    volatile cm_pwm_t *cm_pwm;
+    int max_count;
+} ws2811_device_t;
+
+
+// ARM gcc built-in function, fortunately works when root w/virtual addrs
+void __clear_cache(char *begin, char *end);
+
+
+/**
+ * Iterate through the channels and find the largest led count.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  Maximum number of LEDs in all channels.
+ */
+static int max_channel_led_count(ws2811_t *ws2811)
+{
+    int chan, max = 0;
+
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        if (ws2811->channel[chan].count > max)
+        {
+            max = ws2811->channel[chan].count;
+        }
+    }
+
+    return max;
+}
+
+/**
+ * Map a physical address and length into userspace virtual memory.
+ *
+ * @param    phys  Physical 32-bit address of device registers.
+ * @param    len   Length of mapped region.
+ *
+ * @returns  Virtual address pointer to physical memory region, NULL on error.
+ */
+static void *map_device(const uint32_t phys, const uint32_t len)
+{
+    uint32_t start_page_addr = phys & PAGE_MASK;
+    uint32_t end_page_addr = (phys + len) & PAGE_MASK;
+    uint32_t pages = end_page_addr - start_page_addr + 1;
+    int fd = open("/dev/mem", O_RDWR | O_SYNC);
+    void *virt;
+
+    if (fd < 0)
+    {
+        perror("Can't open /dev/mem");
+        close(fd);
+        return NULL;
+    }
+
+    virt = mmap(NULL, PAGE_SIZE * pages, PROT_READ | PROT_WRITE, MAP_SHARED, fd,
+                start_page_addr);
+    if (virt == MAP_FAILED)
+    {
+        perror("map_device() mmap() failed");
+        close(fd);
+        return NULL;
+    }
+
+    close(fd);
+
+    return (void *)(((uint8_t *)virt) + PAGE_OFFSET(phys));
+}
+
+/**
+ * Unmap a physical address and length from virtual memory.
+ *
+ * @param    addr  Virtual address pointer of device registers.
+ * @param    len   Length of mapped region.
+ *
+ * @returns  None
+ */
+static void unmap_device(volatile void *addr, const uint32_t len)
+{
+    uint32_t virt = (uint32_t)addr;
+    uint32_t start_page_addr = virt & PAGE_MASK;
+    uint32_t end_page_addr = (virt + len) & PAGE_MASK;
+    uint32_t pages = end_page_addr - start_page_addr + 1;
+
+    munmap((void *)addr, PAGE_SIZE * pages);
+}
+
+/**
+ * Map all devices into userspace memory.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  0 on success, -1 otherwise.
+ */
+static int map_registers(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = ws2811->device;
+    uint32_t dma_addr = dmanum_to_phys(ws2811->dmanum);
+
+    if (!dma_addr)
+    {
+        return -1;
+    }
+
+    device->dma = map_device(dma_addr, sizeof(dma_t));
+    if (!device->dma)
+    {
+        return -1;
+    }
+
+    device->pwm = map_device(PWM, sizeof(pwm_t));
+    if (!device->pwm)
+    {
+        return -1;
+    }
+
+    device->gpio = map_device(GPIO, sizeof(gpio_t));
+    if (!device->gpio)
+    {
+        return -1;
+    }
+
+    device->cm_pwm = map_device(CM_PWM, sizeof(cm_pwm_t));
+    if (!device->cm_pwm)
+    {
+        return -1;
+    }
+
+    return 0;
+}
+
+/**
+ * Unmap all devices from virtual memory.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+static void unmap_registers(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = ws2811->device;
+
+    if (device->dma)
+    {
+        unmap_device(device->dma, sizeof(dma_t));
+    }
+
+    if (device->pwm)
+    {
+        unmap_device(device->pwm, sizeof(pwm_t));
+    }
+
+    if (device->cm_pwm)
+    {
+        unmap_device(device->cm_pwm, sizeof(cm_pwm_t));
+    }
+
+    if (device->gpio)
+    {
+        unmap_device(device->gpio, sizeof(gpio_t));
+    }
+}
+
+/**
+ * Given a userspace address pointer, return the matching bus address used by DMA.
+ *     Note: The bus address is not the same as the CPU physical address.
+ *
+ * @param    addr   Userspace virtual address pointer.
+ *
+ * @returns  Bus address for use by DMA.
+ */
+static uint32_t addr_to_bus(const volatile void *addr)
+{
+    char filename[40];
+    uint64_t pfn;
+    int fd;
+
+    sprintf(filename, "/proc/%d/pagemap", getpid());
+    fd = open(filename, O_RDONLY);
+    if (fd < 0)
+    {
+        perror("addr_to_bus() can't open pagemap");
+        return ~0UL;
+    }
+
+    if (lseek(fd, (uint32_t)addr >> 9, SEEK_SET) != 
+        (uint32_t)addr >> 9)
+    {
+        perror("addr_to_bus() lseek() failed");
+        close(fd);
+        return ~0UL;
+    }
+
+    if (read(fd, &pfn, sizeof(pfn)) != sizeof(pfn))
+    {
+        perror("addr_to_bus() read() failed");
+        close(fd);
+        return ~0UL;
+    }
+
+    close(fd);
+
+    return ((uint32_t)pfn << 12) | 0x40000000 | ((uint32_t)addr & 0xfff);
+}
+
+/**
+ * Stop the PWM controller.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+static void stop_pwm(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = ws2811->device;
+    volatile pwm_t *pwm = device->pwm;
+    volatile cm_pwm_t *cm_pwm = device->cm_pwm;
+
+    // Turn off the PWM in case already running
+    pwm->ctl = 0;
+    usleep(10);
+
+    // Kill the clock if it was already running
+    cm_pwm->ctl = CM_PWM_CTL_PASSWD | CM_PWM_CTL_KILL;
+    usleep(10);
+    while (cm_pwm->ctl & CM_PWM_CTL_BUSY)
+        ;
+}
+
+/**
+ * Setup the PWM controller in serial mode on both channels using DMA to feed the PWM FIFO.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+static int setup_pwm(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = ws2811->device;
+    volatile dma_t *dma = device->dma;
+    volatile dma_cb_t *dma_cb = device->dma_cb;
+    volatile pwm_t *pwm = device->pwm;
+    volatile cm_pwm_t *cm_pwm = device->cm_pwm;
+    int maxcount = max_channel_led_count(ws2811);
+    uint32_t freq = ws2811->freq;
+    dma_page_t *page;
+    int32_t byte_count;
+
+    stop_pwm(ws2811);
+
+    // Setup the PWM Clock - Use OSC @ 19.2Mhz w/ 3 clocks/tick
+    cm_pwm->div = CM_PWM_DIV_PASSWD | CM_PWM_DIV_DIVI(OSC_FREQ / (3 * freq));
+    cm_pwm->ctl = CM_PWM_CTL_PASSWD | CM_PWM_CTL_SRC_OSC;
+    cm_pwm->ctl = CM_PWM_CTL_PASSWD | CM_PWM_CTL_SRC_OSC | CM_PWM_CTL_ENAB;
+    usleep(10);
+    while (!(cm_pwm->ctl & CM_PWM_CTL_BUSY))
+        ;
+
+    // Setup the PWM, use delays as the block is rumored to lock up without them.  Make
+    // sure to use a high enough priority to avoid any FIFO underruns, especially if
+    // the CPU is busy doing lots of memory accesses, or another DMA controller is
+    // busy.  The FIFO will clock out data at a much slower rate (2.6Mhz max), so
+    // the odds of a DMA priority boost are extremely low.
+
+    pwm->rng1 = 32;  // 32-bits per word to serialize
+    usleep(10);
+    pwm->ctl = RPI_PWM_CTL_CLRF1;
+    usleep(10);
+    pwm->dmac = RPI_PWM_DMAC_ENAB | RPI_PWM_DMAC_PANIC(7) | RPI_PWM_DMAC_DREQ(3);
+    usleep(10);
+    pwm->ctl = RPI_PWM_CTL_USEF1 | RPI_PWM_CTL_MODE1 |
+               RPI_PWM_CTL_USEF2 | RPI_PWM_CTL_MODE2;
+    usleep(10);
+    pwm->ctl |= RPI_PWM_CTL_PWEN1 | RPI_PWM_CTL_PWEN2;
+
+    // Initialize the DMA control blocks to chain together all the DMA pages
+    page = &device->page_head;
+    byte_count = PWM_BYTE_COUNT(maxcount, freq);
+    while ((page = dma_page_next(&device->page_head, page)) &&
+           byte_count)
+    {
+        int32_t page_bytes = PAGE_SIZE < byte_count ? PAGE_SIZE : byte_count;
+
+        dma_cb->ti = RPI_DMA_TI_NO_WIDE_BURSTS |  // 32-bit transfers
+                     RPI_DMA_TI_WAIT_RESP |       // wait for write complete
+                     RPI_DMA_TI_DEST_DREQ |       // user peripheral flow control
+                     RPI_DMA_TI_PERMAP(5) |       // PWM peripheral
+                     RPI_DMA_TI_SRC_INC;          // Increment src addr
+
+        dma_cb->source_ad = addr_to_bus(page->addr);
+        if (dma_cb->source_ad == ~0L)
+        {
+            return -1;
+        }
+
+        dma_cb->dest_ad = (uint32_t)&((pwm_t *)PWM_PERIPH)->fif1;
+        dma_cb->txfr_len = page_bytes;
+        dma_cb->stride = 0;
+        dma_cb->nextconbk = addr_to_bus(dma_cb + 1);
+
+        byte_count -= page_bytes;
+        if (!dma_page_next(&device->page_head, page))
+        {
+            break;
+        }
+
+        dma_cb++;
+    }
+
+    // Terminate the final control block to stop DMA
+    dma_cb->nextconbk = 0;
+
+    dma->cs = 0;
+    dma->txfr_len = 0;
+
+    return 0;
+}
+
+/**
+ * Start the DMA feeding the PWM FIFO.  This will stream the entire DMA buffer out of both
+ * PWM channels.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+static void dma_start(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = ws2811->device;
+    volatile dma_t *dma = device->dma;
+    uint32_t dma_cb_addr = device->dma_cb_addr;
+
+    dma->conblk_ad = dma_cb_addr;
+    dma->cs = RPI_DMA_CS_WAIT_OUTSTANDING_WRITES |
+              RPI_DMA_CS_PANIC_PRIORITY(15) | 
+              RPI_DMA_CS_PRIORITY(15) |
+              RPI_DMA_CS_ACTIVE;
+}
+
+/**
+ * Initialize the application selected GPIO pins for PWM operation.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  0 on success, -1 on unsupported pin
+ */
+static int gpio_init(ws2811_t *ws2811)
+{
+    volatile gpio_t *gpio = ws2811->device->gpio;
+    int chan;
+
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        int pinnum = ws2811->channel[chan].gpionum;
+
+        if (pinnum)
+        {
+            int altnum = pwm_pin_alt(chan, pinnum);
+
+            if (altnum < 0)
+            {
+                return -1;
+            }
+
+            gpio_function_set(gpio, pinnum, altnum);
+        }
+    }
+
+    return 0;
+}
+
+/**
+ * Initialize the PWM DMA buffer with all zeros for non-inverted operation, or
+ * ones for inverted operation.  The DMA buffer length is assumed to be a word 
+ * multiple.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+void pwm_raw_init(ws2811_t *ws2811)
+{
+    volatile uint32_t *pwm_raw = (uint32_t *)ws2811->device->pwm_raw;
+    int maxcount = max_channel_led_count(ws2811);
+    int wordcount = (PWM_BYTE_COUNT(maxcount, ws2811->freq) / sizeof(uint32_t)) /
+                    RPI_PWM_CHANNELS;
+    int chan;
+
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        ws2811_channel_t *channel = &ws2811->channel[chan];
+        int i, wordpos = chan;
+
+        for (i = 0; i < wordcount; i++)
+        {
+            if (channel->invert)
+            {
+                pwm_raw[wordpos] = ~0L;
+            }
+            else
+            {
+                pwm_raw[wordpos] = 0x0;
+            }
+
+            wordpos += 2;
+        }
+    }
+}
+
+/**
+ * Cleanup previously allocated device memory and buffers.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+void ws2811_cleanup(ws2811_t *ws2811)
+{
+    int chan;
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        if (ws2811->channel[chan].leds)
+        {
+            free(ws2811->channel[chan].leds);
+        }
+        ws2811->channel[chan].leds = NULL;
+    }
+
+    ws2811_device_t *device = ws2811->device;
+    if (device) {
+
+        if (device->pwm_raw)
+        {
+            dma_page_free((uint8_t *)device->pwm_raw,
+                          PWM_BYTE_COUNT(max_channel_led_count(ws2811),
+                                         ws2811->freq));
+            device->pwm_raw = NULL;
+        }
+
+        if (device->dma_cb)
+        {
+            dma_page_free((dma_cb_t *)device->dma_cb, sizeof(dma_cb_t));
+            device->dma_cb = NULL;
+        }
+
+        free(device);
+    }
+    ws2811->device = NULL;
+}
+
+
+/*
+ *
+ * Application API Functions
+ *
+ */
+
+
+/**
+ * Allocate and initialize memory, buffers, pages, PWM, DMA, and GPIO.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  0 on success, -1 otherwise.
+ */
+int ws2811_init(ws2811_t *ws2811)
+{
+    ws2811_device_t *device = NULL;
+    int chan;
+
+    ws2811->device = malloc(sizeof(*ws2811->device));
+    if (!ws2811->device)
+    {
+        return -1;
+    }
+    device = ws2811->device;
+
+    // Initialize all pointers to NULL.  Any non-NULL pointers will be freed on cleanup.
+    device->pwm_raw = NULL;
+    device->dma_cb = NULL;
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        ws2811->channel[chan].leds = NULL;
+    }
+
+    dma_page_init(&device->page_head);
+
+    // Allocate the LED buffers
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)
+    {
+        ws2811_channel_t *channel = &ws2811->channel[chan];
+
+        channel->leds = malloc(sizeof(ws2811_led_t) * channel->count);
+        if (!channel->leds)
+        {
+            goto err;
+        }
+
+        memset(channel->leds, 0, sizeof(ws2811_led_t) * channel->count);
+    }
+
+    // Allocate the DMA buffer
+    device->pwm_raw = dma_alloc(&device->page_head,
+                                PWM_BYTE_COUNT(max_channel_led_count(ws2811),
+                                               ws2811->freq));
+    if (!device->pwm_raw)
+    {
+        goto err;
+    }
+
+    pwm_raw_init(ws2811);
+
+    // Allocate the DMA control block
+    device->dma_cb = dma_desc_alloc(MAX_PAGES);
+    if (!device->dma_cb)
+    {
+        goto err;
+    }
+    memset((dma_cb_t *)device->dma_cb, 0, sizeof(dma_cb_t));
+
+    // Cache the DMA control block bus address
+    device->dma_cb_addr = addr_to_bus(device->dma_cb);
+    if (device->dma_cb_addr == ~0L)
+    {
+        goto err;
+    }
+
+    // Map the physical registers into userspace
+    if (map_registers(ws2811))
+    {
+        goto err;
+    }
+
+    // Initialize the GPIO pins
+    if (gpio_init(ws2811))
+    {
+        unmap_registers(ws2811);
+        goto err;
+    }
+
+    // Setup the PWM, clocks, and DMA
+    if (setup_pwm(ws2811))
+    {
+        unmap_registers(ws2811);
+        goto err;
+    }
+
+    return 0;
+
+err:
+    ws2811_cleanup(ws2811);
+
+    return -1;
+}
+
+/**
+ * Shut down DMA, PWM, and cleanup memory.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+void ws2811_fini(ws2811_t *ws2811)
+{
+    ws2811_wait(ws2811);
+    stop_pwm(ws2811);
+
+    unmap_registers(ws2811);
+
+    ws2811_cleanup(ws2811);
+}
+
+/**
+ * Wait for any executing DMA operation to complete before returning.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  0 on success, -1 on DMA competion error
+ */
+int ws2811_wait(ws2811_t *ws2811)
+{
+    volatile dma_t *dma = ws2811->device->dma;
+
+    while ((dma->cs & RPI_DMA_CS_ACTIVE) &&
+           !(dma->cs & RPI_DMA_CS_ERROR))
+    {
+        usleep(10);
+    }
+
+    if (dma->cs & RPI_DMA_CS_ERROR)
+    {
+        fprintf(stderr, "DMA Error: %08x\n", dma->debug);
+        return -1;
+    }
+
+    return 0;
+}
+
+/**
+ * Render the PWM DMA buffer from the user supplied LED arrays and start the DMA
+ * controller.  This will update all LEDs on both PWM channels.
+ *
+ * @param    ws2811  ws2811 instance pointer.
+ *
+ * @returns  None
+ */
+int ws2811_render(ws2811_t *ws2811)
+{
+    volatile uint8_t *pwm_raw = ws2811->device->pwm_raw;
+    int maxcount = max_channel_led_count(ws2811);
+    int bitpos = 31;
+    int i, j, k, l, chan;
+
+    for (chan = 0; chan < RPI_PWM_CHANNELS; chan++)         // Channel
+    {
+        ws2811_channel_t *channel = &ws2811->channel[chan];
+        int wordpos = chan;
+        int scale   = (channel->brightness & 0xff) + 1;
+
+        for (i = 0; i < channel->count; i++)                // Led
+        {
+            uint8_t color[] =
+            {
+                (((channel->leds[i] >> 8)  & 0xff) * scale) >> 8, // green
+                (((channel->leds[i] >> 16) & 0xff) * scale) >> 8, // red
+                (((channel->leds[i] >> 0)  & 0xff) * scale) >> 8, // blue
+            };
+
+            for (j = 0; j < ARRAY_SIZE(color); j++)        // Color
+            {
+                for (k = 7; k >= 0; k--)                   // Bit
+                {
+                    uint8_t symbol = SYMBOL_LOW;
+
+                    if (color[j] & (1 << k))
+                    {
+                        symbol = SYMBOL_HIGH;
+                    }
+
+                    if (channel->invert)
+                    {
+                        symbol = ~symbol & 0x7;
+                    }
+
+                    for (l = 2; l >= 0; l--)               // Symbol
+                    {
+                        uint32_t *wordptr = &((uint32_t *)pwm_raw)[wordpos];
+
+                        *wordptr &= ~(1 << bitpos);
+                        if (symbol & (1 << l))
+                        {
+                            *wordptr |= (1 << bitpos);
+                        }
+
+                        bitpos--;
+                        if (bitpos < 0)
+                        {
+                            // Every other word is on the same channel
+                            wordpos += 2;
+
+                            bitpos = 31;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // Ensure the CPU data cache is flushed before the DMA is started.
+    __clear_cache((char *)pwm_raw,
+                  (char *)&pwm_raw[PWM_BYTE_COUNT(maxcount, ws2811->freq)]);
+
+    // Wait for any previous DMA operation to complete.
+    if (ws2811_wait(ws2811))
+    {
+        return -1;
+    }
+
+    dma_start(ws2811);
+
+    return 0;
+}
+