ESP32_OSC_IMU/lib/bmm150/bmm150_defs.h

/**
 * Copyright (C) 2015 - 2016 Bosch Sensortec GmbH
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 *
 * 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.
 *
 * Neither the name of the copyright holder nor the names of the
 * 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 COPYRIGHT HOLDER
 * OR CONTRIBUTORS 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
 *
 * The information provided is believed to be accurate and reliable.
 * The copyright holder assumes no responsibility
 * for the consequences of use
 * of such information nor for any infringement of patents or
 * other rights of third parties which may result from its use.
 * No license is granted by implication or otherwise under any patent or
 * patent rights of the copyright holder.
 *
 * @file	bmm150_defs.h
 * @date	12 Sep 2017
 * @version	1.0.0
 *
 */

/*! \file bmm150_defs.h */
/*!
 * @defgroup BMM150 SENSOR API
 * @brief
 * @{*/
#ifndef BMM150_DEFS_H_
#define BMM150_DEFS_H_

/*********************************************************************/
/**\ header files */
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif

/*********************************************************************/
/* macro definitions */
#ifdef __KERNEL__
#if (LONG_MAX) > 0x7fffffff
#define __have_long64	1
#elif (LONG_MAX) == 0x7fffffff
#define __have_long32	1
#endif
#endif

#if !defined(UINT8_C)
#define INT8_C(x)       x
#if (INT_MAX) > 0x7f
#define UINT8_C(x)      x
#else
#define UINT8_C(x)      x##U
#endif
#endif

#if !defined(UINT16_C)
#define INT16_C(x)      x
#if (INT_MAX) > 0x7fff
#define UINT16_C(x)     x
#else
#define UINT16_C(x)     x##U
#endif
#endif

#if !defined(INT32_C) && !defined(UINT32_C)
#if __have_long32
#define INT32_C(x)      x##L
#define UINT32_C(x)     x##UL
#else
#define INT32_C(x)      x
#define UINT32_C(x)     x##U
#endif
#endif

#if !defined(INT64_C) && !defined(UINT64_C)
#if __have_long64
#define INT64_C(x)      x##L
#define UINT64_C(x)     x##UL
#else
#define INT64_C(x)      x##LL
#define UINT64_C(x)     x##ULL
#endif
#endif

/**\name C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL   0
#else
#define NULL   ((void *) 0)
#endif
#endif

#define TRUE           UINT8_C(1)
#define FALSE          UINT8_C(0)

/********************************************************/
/**\name Compiler switch macros */
/**\name Comment the below line to use fixed-point compensation and
un-comment it to obtain the output data in float */
#define BMM150_USE_FLOATING_POINT

/********************************************************/
/**\name Macro definitions */

/**\name API success code */
#define BMM150_OK	INT8_C(0)

/**\name API error codes */
#define BMM150_E_NULL_PTR		INT8_C(-1)
#define BMM150_E_DEV_NOT_FOUND		INT8_C(-2)
#define BMM150_E_INVALID_CONFIG		INT8_C(-3)

/**\name API warning codes */
#define BMM150_W_NORMAL_SELF_TEST_YZ_FAIL	INT8_C(1)
#define BMM150_W_NORMAL_SELF_TEST_XZ_FAIL	INT8_C(2)
#define BMM150_W_NORMAL_SELF_TEST_Z_FAIL	INT8_C(3)
#define BMM150_W_NORMAL_SELF_TEST_XY_FAIL	INT8_C(4)
#define BMM150_W_NORMAL_SELF_TEST_Y_FAIL	INT8_C(5)
#define BMM150_W_NORMAL_SELF_TEST_X_FAIL	INT8_C(6)
#define BMM150_W_NORMAL_SELF_TEST_XYZ_FAIL	INT8_C(7)
#define BMM150_W_ADV_SELF_TEST_FAIL		INT8_C(8)

/**\name CHIP ID & SOFT RESET VALUES      */
#define BMM150_CHIP_ID                  UINT8_C(0x32)
#define BMM150_SET_SOFT_RESET		UINT8_C(0x82)

/**\name POWER MODE DEFINTIONS      */
#define BMM150_NORMAL_MODE		UINT8_C(0x00)
#define BMM150_FORCED_MODE		UINT8_C(0x01)
#define BMM150_SLEEP_MODE		UINT8_C(0x03)
#define BMM150_SUSPEND_MODE		UINT8_C(0x04)

/**\name I2C ADDRESS       */
#define BMM150_DEFAULT_I2C_ADDRESS		UINT8_C(0x10)
#define BMM150_I2C_ADDRESS_CSB_LOW_SDO_HIGH	UINT8_C(0x11)
#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_LOW	UINT8_C(0x12)
#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_HIGH	UINT8_C(0x13)

/**\name Power mode settings  */
#define	BMM150_POWER_CNTRL_DISABLE	UINT8_C(0x00)
#define	BMM150_POWER_CNTRL_ENABLE	UINT8_C(0x01)

/**\name Sensor delay time settings  */
#define BMM150_SOFT_RESET_DELAY		UINT8_C(1)
#define BMM150_NORMAL_SELF_TEST_DELAY	UINT8_C(2)
#define BMM150_START_UP_TIME		UINT8_C(3)
#define BMM150_ADV_SELF_TEST_DELAY	UINT8_C(4)

/**\name ENABLE/DISABLE DEFINITIONS  */
#define BMM150_XY_CHANNEL_ENABLE	UINT8_C(0x00)
#define BMM150_XY_CHANNEL_DISABLE	UINT8_C(0x03)

/**\name Register Address */
#define BMM150_CHIP_ID_ADDR		UINT8_C(0x40)
#define BMM150_DATA_X_LSB		UINT8_C(0x42)
#define BMM150_DATA_READY_STATUS	UINT8_C(0x48)
#define BMM150_INTERRUPT_STATUS		UINT8_C(0x4A)
#define BMM150_POWER_CONTROL_ADDR	UINT8_C(0x4B)
#define BMM150_OP_MODE_ADDR		UINT8_C(0x4C)
#define BMM150_INT_CONFIG_ADDR		UINT8_C(0x4D)
#define BMM150_AXES_ENABLE_ADDR		UINT8_C(0x4E)
#define BMM150_LOW_THRESHOLD_ADDR	UINT8_C(0x4F)
#define BMM150_HIGH_THRESHOLD_ADDR	UINT8_C(0x50)
#define BMM150_REP_XY_ADDR		UINT8_C(0x51)
#define BMM150_REP_Z_ADDR		UINT8_C(0x52)

/**\name Macros to select the sensor settings to be set by the user
   These values are internal for API implementation. Don't relate this to
   data sheet. */
#define BMM150_DATA_RATE_SEL			UINT16_C(1)
#define BMM150_CONTROL_MEASURE_SEL		UINT16_C(1 << 1)
#define BMM150_XY_REP_SEL			UINT16_C(1 << 2)
#define BMM150_Z_REP_SEL			UINT16_C(1 << 3)
#define BMM150_DRDY_PIN_EN_SEL			UINT16_C(1 << 4)
#define BMM150_INT_PIN_EN_SEL			UINT16_C(1 << 5)
#define BMM150_DRDY_POLARITY_SEL		UINT16_C(1 << 6)
#define BMM150_INT_LATCH_SEL			UINT16_C(1 << 7)
#define BMM150_INT_POLARITY_SEL			UINT16_C(1 << 8)
#define BMM150_DATA_OVERRUN_INT_SEL		UINT16_C(1 << 9)
#define BMM150_OVERFLOW_INT_SEL			UINT16_C(1 << 10)
#define BMM150_HIGH_THRESHOLD_INT_SEL		UINT16_C(1 << 11)
#define BMM150_LOW_THRESHOLD_INT_SEL		UINT16_C(1 << 12)
#define BMM150_LOW_THRESHOLD_SETTING_SEL	UINT16_C(1 << 13)
#define BMM150_HIGH_THRESHOLD_SETTING_SEL	UINT16_C(1 << 14)

/**\name DATA RATE DEFINITIONS  */
#define BMM150_DATA_RATE_10HZ        UINT8_C(0x00)
#define BMM150_DATA_RATE_02HZ        UINT8_C(0x01)
#define BMM150_DATA_RATE_06HZ        UINT8_C(0x02)
#define BMM150_DATA_RATE_08HZ        UINT8_C(0x03)
#define BMM150_DATA_RATE_15HZ        UINT8_C(0x04)
#define BMM150_DATA_RATE_20HZ        UINT8_C(0x05)
#define BMM150_DATA_RATE_25HZ        UINT8_C(0x06)
#define BMM150_DATA_RATE_30HZ        UINT8_C(0x07)

/**\name TRIM REGISTERS      */
/* Trim Extended Registers */
#define BMM150_DIG_X1               UINT8_C(0x5D)
#define BMM150_DIG_Y1               UINT8_C(0x5E)
#define BMM150_DIG_Z4_LSB           UINT8_C(0x62)
#define BMM150_DIG_Z4_MSB           UINT8_C(0x63)
#define BMM150_DIG_X2               UINT8_C(0x64)
#define BMM150_DIG_Y2               UINT8_C(0x65)
#define BMM150_DIG_Z2_LSB           UINT8_C(0x68)
#define BMM150_DIG_Z2_MSB           UINT8_C(0x69)
#define BMM150_DIG_Z1_LSB           UINT8_C(0x6A)
#define BMM150_DIG_Z1_MSB           UINT8_C(0x6B)
#define BMM150_DIG_XYZ1_LSB         UINT8_C(0x6C)
#define BMM150_DIG_XYZ1_MSB         UINT8_C(0x6D)
#define BMM150_DIG_Z3_LSB           UINT8_C(0x6E)
#define BMM150_DIG_Z3_MSB           UINT8_C(0x6F)
#define BMM150_DIG_XY2              UINT8_C(0x70)
#define BMM150_DIG_XY1              UINT8_C(0x71)

/**\name Threshold interrupt setting macros for x,y,z axes selection */
#define BMM150_THRESHOLD_X	UINT8_C(0x06)
#define BMM150_THRESHOLD_Y	UINT8_C(0x05)
#define BMM150_THRESHOLD_Z	UINT8_C(0x03)

/**\name User configurable interrupt setting macros */
#define BMM150_INT_ENABLE		UINT8_C(0x01)
#define BMM150_INT_DISABLE		UINT8_C(0x00)
#define BMM150_ACTIVE_HIGH_POLARITY	UINT8_C(0x01)
#define BMM150_ACTIVE_LOW_POLARITY	UINT8_C(0x00)
#define BMM150_LATCHED			UINT8_C(0x01)
#define BMM150_NON_LATCHED		UINT8_C(0x00)

/**\name Interrupt status */
#define BMM150_LOW_THRESHOLD_INT_X	UINT16_C(0x0001)
#define BMM150_LOW_THRESHOLD_INT_Y	UINT16_C(0x0002)
#define BMM150_LOW_THRESHOLD_INT_Z	UINT16_C(0x0004)
#define BMM150_HIGH_THRESHOLD_INT_X	UINT16_C(0x0008)
#define BMM150_HIGH_THRESHOLD_INT_Y	UINT16_C(0x0010)
#define BMM150_HIGH_THRESHOLD_INT_Z	UINT16_C(0x0020)
#define BMM150_DATA_OVERFLOW_INT	UINT16_C(0x0040)
#define BMM150_DATA_OVERRUN_INT		UINT16_C(0x0080)
#define BMM150_DATA_READY_INT		UINT16_C(0x0100)

/**\name Macros for bit masking */
#define	BMM150_PWR_CNTRL_MSK		UINT8_C(0x01)

#define	BMM150_CONTROL_MEASURE_MSK	UINT8_C(0x38)
#define	BMM150_CONTROL_MEASURE_POS	UINT8_C(0x03)

#define BMM150_POWER_CONTROL_BIT_MSK	UINT8_C(0x01)
#define BMM150_POWER_CONTROL_BIT_POS	UINT8_C(0x00)

#define BMM150_OP_MODE_MSK		UINT8_C(0x06)
#define BMM150_OP_MODE_POS		UINT8_C(0x01)

#define BMM150_ODR_MSK			UINT8_C(0x38)
#define BMM150_ODR_POS			UINT8_C(0x03)

#define BMM150_DATA_X_MSK		UINT8_C(0xF8)
#define BMM150_DATA_X_POS		UINT8_C(0x03)

#define BMM150_DATA_Y_MSK		UINT8_C(0xF8)
#define BMM150_DATA_Y_POS		UINT8_C(0x03)

#define BMM150_DATA_Z_MSK		UINT8_C(0xFE)
#define BMM150_DATA_Z_POS		UINT8_C(0x01)

#define BMM150_DATA_RHALL_MSK		UINT8_C(0xFC)
#define BMM150_DATA_RHALL_POS		UINT8_C(0x02)

#define	BMM150_SELF_TEST_MSK		UINT8_C(0x01)

#define	BMM150_ADV_SELF_TEST_MSK	UINT8_C(0xC0)
#define	BMM150_ADV_SELF_TEST_POS	UINT8_C(0x06)

#define	BMM150_DRDY_EN_MSK		UINT8_C(0x80)
#define	BMM150_DRDY_EN_POS		UINT8_C(0x07)

#define	BMM150_INT_PIN_EN_MSK		UINT8_C(0x40)
#define	BMM150_INT_PIN_EN_POS		UINT8_C(0x06)

#define	BMM150_DRDY_POLARITY_MSK	UINT8_C(0x04)
#define	BMM150_DRDY_POLARITY_POS	UINT8_C(0x02)

#define	BMM150_INT_LATCH_MSK		UINT8_C(0x02)
#define	BMM150_INT_LATCH_POS		UINT8_C(0x01)

#define	BMM150_INT_POLARITY_MSK		UINT8_C(0x01)

#define	BMM150_DATA_OVERRUN_INT_MSK	UINT8_C(0x80)
#define	BMM150_DATA_OVERRUN_INT_POS	UINT8_C(0x07)

#define	BMM150_OVERFLOW_INT_MSK		UINT8_C(0x40)
#define	BMM150_OVERFLOW_INT_POS		UINT8_C(0x06)

#define	BMM150_HIGH_THRESHOLD_INT_MSK	UINT8_C(0x38)
#define	BMM150_HIGH_THRESHOLD_INT_POS	UINT8_C(0x03)

#define	BMM150_LOW_THRESHOLD_INT_MSK	UINT8_C(0x07)

#define	BMM150_DRDY_STATUS_MSK		UINT8_C(0x01)


/**\name OVERFLOW DEFINITIONS  */
#define BMM150_XYAXES_FLIP_OVERFLOW_ADCVAL	INT16_C(-4096)
#define BMM150_ZAXIS_HALL_OVERFLOW_ADCVAL	INT16_C(-16384)
#define BMM150_OVERFLOW_OUTPUT			INT16_C(-32768)
#define BMM150_NEGATIVE_SATURATION_Z            INT16_C(-32767)
#define BMM150_POSITIVE_SATURATION_Z            UINT16_C(32767)
#ifdef BMM150_USE_FLOATING_POINT
#define BMM150_OVERFLOW_OUTPUT_FLOAT		0.0f
#endif

/**\name PRESET MODE DEFINITIONS  */
#define BMM150_PRESETMODE_LOWPOWER                 UINT8_C(0x01)
#define BMM150_PRESETMODE_REGULAR                  UINT8_C(0x02)
#define BMM150_PRESETMODE_HIGHACCURACY             UINT8_C(0x03)
#define BMM150_PRESETMODE_ENHANCED                 UINT8_C(0x04)

/**\name PRESET MODES - REPETITIONS-XY RATES */
#define BMM150_LOWPOWER_REPXY                    UINT8_C(1)
#define BMM150_REGULAR_REPXY                     UINT8_C(4)
#define BMM150_ENHANCED_REPXY                    UINT8_C(7)
#define BMM150_HIGHACCURACY_REPXY                UINT8_C(23)

/**\name PRESET MODES - REPETITIONS-Z RATES */
#define BMM150_LOWPOWER_REPZ                     UINT8_C(2)
#define BMM150_REGULAR_REPZ                      UINT8_C(14)
#define BMM150_ENHANCED_REPZ                     UINT8_C(26)
#define BMM150_HIGHACCURACY_REPZ                 UINT8_C(82)

/**\name Register read lengths	*/
#define BMM150_SELF_TEST_LEN			UINT8_C(5)
#define BMM150_SETTING_DATA_LEN			UINT8_C(8)
#define BMM150_XYZR_DATA_LEN			UINT8_C(8)

/**\name Self test selection macros */
#define BMM150_NORMAL_SELF_TEST			UINT8_C(0)
#define BMM150_ADVANCED_SELF_TEST		UINT8_C(1)

/**\name Self test settings */
#define BMM150_DISABLE_XY_AXIS			UINT8_C(0x03)
#define BMM150_SELF_TEST_REP_Z			UINT8_C(0x04)

/**\name Advanced self-test current settings */
#define BMM150_DISABLE_SELF_TEST_CURRENT	UINT8_C(0x00)
#define BMM150_ENABLE_NEGATIVE_CURRENT		UINT8_C(0x02)
#define BMM150_ENABLE_POSITIVE_CURRENT		UINT8_C(0x03)

/**\name Normal self-test status */
#define BMM150_SELF_TEST_STATUS_XYZ_FAIL	UINT8_C(0x00)
#define BMM150_SELF_TEST_STATUS_SUCCESS		UINT8_C(0x07)


/**\name Macro to SET and GET BITS of a register*/
#define BMM150_SET_BITS(reg_data, bitname, data) \
				((reg_data & ~(bitname##_MSK)) | \
				((data << bitname##_POS) & bitname##_MSK))

#define BMM150_GET_BITS(reg_data, bitname)  ((reg_data & (bitname##_MSK)) >> \
							(bitname##_POS))

#define BMM150_SET_BITS_POS_0(reg_data, bitname, data) \
				((reg_data & ~(bitname##_MSK)) | \
				(data & bitname##_MSK))

#define BMM150_GET_BITS_POS_0(reg_data, bitname)  (reg_data & (bitname##_MSK))

/********************************************************/

/*!
 * @brief Interface selection Enums
 */
enum bmm150_intf {
	/*! SPI interface */
	BMM150_SPI_INTF,
	/*! I2C interface */
	BMM150_I2C_INTF
};

/********************************************************/
/**\name	TYPE DEFINITIONS */
/*!
 * @brief Bus communication function pointer which should be mapped to
 * the platform specific read and write functions of the user
 */
typedef int8_t (*bmm150_com_fptr_t)(uint8_t dev_id, uint8_t reg_addr, uint8_t *read_data, uint16_t len);

/*!	delay function pointer */
typedef void (*bmm150_delay_fptr_t)(uint32_t);

/********************************************************/
/**\name	STRUCTURE DEFINITIONS*/

/*!
 * @brief bmm150 trim data structure
 */
struct bmm150_trim_registers {
	/*! trim x1 data */
	int8_t dig_x1;
	/*! trim y1 data */
	int8_t dig_y1;
	/*! trim x2 data */
	int8_t dig_x2;
	/*! trim y2 data */
	int8_t dig_y2;
	/*! trim z1 data */
	uint16_t dig_z1;
	/*! trim z2 data */
	int16_t dig_z2;
	/*! trim z3 data */
	int16_t dig_z3;
	/*! trim z4 data */
	int16_t dig_z4;
	/*! trim xy1 data */
	uint8_t dig_xy1;
	/*! trim xy2 data */
	int8_t dig_xy2;
	/*! trim xyz1 data */
	uint16_t dig_xyz1;
};

/*!
 * @brief bmm150 interrupt pin settings
 */
struct bmm150_int_ctrl_settings {
	/*! Data ready interrupt enable */
	uint8_t drdy_pin_en;
	/*! Threshold and overflow interrupts enable */
	uint8_t int_pin_en;
	/*! Data ready interrupt polarity Active high/low */
	uint8_t drdy_polarity;
	/*! Interrupt pin - Latched or Non-latched */
	uint8_t int_latch;
	/*! Interrupt polarity Active high/low */
	uint8_t int_polarity;
	/*! Data overrun interrupt enable */
	uint8_t data_overrun_en;
	/*! Overflow interrupt enable */
	uint8_t overflow_int_en;
	/*! high interrupt enable/disable axis selection */
	uint8_t high_int_en;
	/*! low interrupt enable/disable axis selection */
	uint8_t low_int_en;
	/*! low threshold limit */
	uint8_t low_threshold;
	/*! high threshold limit */
	uint8_t high_threshold;
};

/*!
 * @brief bmm150 sensor settings
 */
struct bmm150_settings {
	/*! Control measurement of XYZ axes */
	uint8_t xyz_axes_control;
	/*! Power control bit value */
	uint8_t pwr_cntrl_bit;
	/*! Power control bit value */
	uint8_t pwr_mode;
	/*! Data rate value (ODR) */
	uint8_t data_rate;
	/*! XY Repetitions */
	uint8_t xy_rep;
	/*! Z Repetitions */
	uint8_t z_rep;
	/*! Preset mode of sensor */
	uint8_t preset_mode;
	/*! Interrupt configuration settings */
	struct bmm150_int_ctrl_settings int_settings;
};

/*!
 * @brief bmm150 un-compensated (raw) magnetometer data
 */
struct bmm150_raw_mag_data {
	/*! Raw mag X data */
	int16_t raw_datax;
	/*! Raw mag Y data */
	int16_t raw_datay;
	/*! Raw mag Z data */
	int16_t raw_dataz;
	/*! Raw mag resistance value */
	uint16_t raw_data_r;
};

#ifdef BMM150_USE_FLOATING_POINT
/*!
 * @brief bmm150 compensated magnetometer data in float
 */
struct bmm150_mag_data {
	/*! compensated mag X data */
	float x;
	/*! compensated mag Y data */
	float y;
	/*! compensated mag Z data */
	float z;
};

#else

/*!
 * @brief bmm150 compensated magnetometer data in int16_t format
 */
struct bmm150_mag_data {
	/*! compensated mag X data */
	int16_t x;
	/*! compensated mag Y data */
	int16_t y;
	/*! compensated mag Z data */
	int16_t z;
};

#endif

/*!
 * @brief bmm150 device structure
 */
struct bmm150_dev {
	/*! Chip Id */
	uint8_t chip_id;
	/*! Device Id */
	uint8_t dev_id;
	/*! SPI/I2C Interface */
	enum bmm150_intf intf;
	/*! Bus read function pointer */
	bmm150_com_fptr_t read;
	/*! Bus write function pointer */
	bmm150_com_fptr_t write;
	/*! delay(in ms) function pointer */
	bmm150_delay_fptr_t delay_ms;
	/*! Trim registers */
	struct bmm150_trim_registers trim_data;
	/*! Sensor settings */
	struct bmm150_settings settings;
	/*! Interrupt status */
	uint16_t int_status;
	/*! Structure containing mag data */
	struct bmm150_mag_data data;
};

#endif /* BMM150_DEFS_H_ */
/** @}*/
/** @}*/