[libsigrok.git] / hardware / rigol-ds1xx2 / protocol.c

/*
 * This file is part of the libsigrok project.
 *
 * Copyright (C) 2012 Martin Ling <martin-git@earth.li>
 * Copyright (C) 2013 Bert Vermeulen <bert@biot.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdlib.h>
#include <stdarg.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <math.h>
#include <glib.h>
#include "libsigrok.h"
#include "libsigrok-internal.h"
#include "protocol.h"

SR_PRIV int rigol_ds1xx2_receive(int fd, int revents, void *cb_data)
{
	struct sr_dev_inst *sdi;
	struct sr_serial_dev_inst *serial;
	struct dev_context *devc;
	struct sr_datafeed_packet packet;
	struct sr_datafeed_analog analog;
	struct sr_datafeed_logic logic;
	unsigned char buf[DIGITAL_WAVEFORM_SIZE];
	double vdiv, offset;
	float data[ANALOG_WAVEFORM_SIZE];
	int len, i, waveform_size;
	struct sr_probe *probe;

	(void) fd;

	if (!(sdi = cb_data))
		return TRUE;

	if (!(devc = sdi->priv))
		return TRUE;

	serial = sdi->conn;

	if (revents == G_IO_IN) {
		probe = devc->channel_frame;
		waveform_size = probe->type == SR_PROBE_ANALOG ?
				ANALOG_WAVEFORM_SIZE : DIGITAL_WAVEFORM_SIZE;
		len = serial_read(serial, buf, waveform_size - devc->num_frame_bytes);
		sr_dbg("Received %d bytes.", len);
		if (len == -1)
			return TRUE;

		if (devc->num_frame_bytes == 0) {
			/* Start of a new frame. */
			packet.type = SR_DF_FRAME_BEGIN;
			sr_session_send(sdi, &packet);
		}

		if (probe->type == SR_PROBE_ANALOG) {
			for (i = 0; i < len; i++) {
				vdiv = devc->vdiv[probe->index];
				offset = devc->vert_offset[probe->index];
				data[i] = vdiv / 25.6 * (128 - buf[i]) - offset;
			}
			analog.probes = g_slist_append(NULL, probe);
			analog.num_samples = len;
			analog.data = data;
			analog.mq = SR_MQ_VOLTAGE;
			analog.unit = SR_UNIT_VOLT;
			analog.mqflags = 0;
			packet.type = SR_DF_ANALOG;
			packet.payload = &analog;
			sr_session_send(cb_data, &packet);
			g_slist_free(analog.probes);

			if (len != ANALOG_WAVEFORM_SIZE)
				/* Don't have the whole frame yet. */
				return TRUE;
		} else {
			logic.length = len - 10;
			logic.unitsize = 2;
			logic.data = buf + 10;
			packet.type = SR_DF_LOGIC;
			packet.payload = &logic;
			sr_session_send(cb_data, &packet);

			if (len != DIGITAL_WAVEFORM_SIZE)
				/* Don't have the whole frame yet. */
				return TRUE;
		}

		/* End of the frame. */
		packet.type = SR_DF_FRAME_END;
		sr_session_send(sdi, &packet);
		devc->num_frame_bytes = 0;

		if (devc->enabled_analog_probes
				&& devc->channel_frame == devc->enabled_analog_probes->data
				&& devc->enabled_analog_probes->next != NULL) {
			/* We got the frame for the first analog channel, but
			 * there's a second analog channel. */
			devc->channel_frame = devc->enabled_analog_probes->next->data;
			rigol_ds1xx2_send(sdi, ":WAV:DATA? CHAN%c",
					devc->channel_frame->name[2]);
		} else {
			/* Done with both analog channels in this frame. */
			if (devc->enabled_digital_probes
					&& devc->channel_frame != devc->enabled_digital_probes->data) {
				/* Now we need to get the digital data. */
				devc->channel_frame = devc->enabled_digital_probes->data;
				rigol_ds1xx2_send(sdi, ":WAV:DATA? DIG");
			} else if (++devc->num_frames == devc->limit_frames) {
				/* End of last frame. */
				sdi->driver->dev_acquisition_stop(sdi, cb_data);
			} else {
				/* Get the next frame, starting with the first analog channel. */
				if (devc->enabled_analog_probes) {
					devc->channel_frame = devc->enabled_analog_probes->data;
					rigol_ds1xx2_send(sdi, ":WAV:DATA? CHAN%c",
							devc->channel_frame->name[2]);
				} else {
					devc->channel_frame = devc->enabled_digital_probes->data;
					rigol_ds1xx2_send(sdi, ":WAV:DATA? DIG");
				}
			}
		}
	}

	return TRUE;
}

SR_PRIV int rigol_ds1xx2_send(const struct sr_dev_inst *sdi, const char *format, ...)
{
	va_list args;
	char buf[256];
	int len, out, ret;

	va_start(args, format);
	len = vsnprintf(buf, 255, format, args);
	va_end(args);
	strcat(buf, "\n");
	len++;
	out = serial_write(sdi->conn, buf, len);
	buf[len - 1] = '\0';
	if (out != len) {
		sr_dbg("Only sent %d/%d bytes of '%s'.", out, len, buf);
		ret = SR_ERR;
	} else {
		sr_spew("Sent '%s'.", buf);
		ret = SR_OK;
	}

	return ret;
}

static int get_cfg(const struct sr_dev_inst *sdi, char *cmd, char *reply)
{
	int len;

	if (rigol_ds1xx2_send(sdi, cmd) != SR_OK)
		return SR_ERR;

	if ((len = serial_read(sdi->conn, reply, 255)) < 0)
		return SR_ERR;
	reply[len] = '\0';
	sr_spew("Received '%s'.", reply);

	return SR_OK;
}

static int get_cfg_float(const struct sr_dev_inst *sdi, char *cmd, float *f)
{
	char buf[256], *e;

	if (get_cfg(sdi, cmd, buf) != SR_OK)
		return SR_ERR;
	*f = strtof(buf, &e);
	if (e == buf || (fpclassify(*f) & (FP_ZERO | FP_NORMAL)) == 0) {
		sr_dbg("failed to parse response to '%s': '%s'", cmd, buf);
		return SR_ERR;
	}

	return SR_OK;
}

static int get_cfg_string(const struct sr_dev_inst *sdi, char *cmd, char **buf)
{

	if (!(*buf = g_try_malloc0(256)))
		return SR_ERR_MALLOC;

	if (get_cfg(sdi, cmd, *buf) != SR_OK)
		return SR_ERR;

	return SR_OK;
}

SR_PRIV int rigol_ds1xx2_get_dev_cfg(const struct sr_dev_inst *sdi)
{
	struct dev_context *devc;
	char *t_s, *cmd;
	int i, res;

	devc = sdi->priv;

	/* Analog channel state. */
	if (get_cfg_string(sdi, ":CHAN1:DISP?", &t_s) != SR_OK)
		return SR_ERR;
	devc->analog_channels[0] = !strcmp(t_s, "ON") ? TRUE : FALSE;
	g_free(t_s);
	if (get_cfg_string(sdi, ":CHAN2:DISP?", &t_s) != SR_OK)
		return SR_ERR;
	devc->analog_channels[1] = !strcmp(t_s, "ON") ? TRUE : FALSE;
	g_free(t_s);
	sr_dbg("Current analog channel state CH1 %s CH2 %s",
			devc->analog_channels[0] ? "on" : "off",
			devc->analog_channels[1] ? "on" : "off");

	/* Digital channel state. */
	if (devc->has_digital) {
		sr_dbg("Current digital channel state:");
		for (i = 0; i < 16; i++) {
			cmd = g_strdup_printf(":DIG%d:TURN?", i);
			res = get_cfg_string(sdi, cmd, &t_s);
			g_free(cmd);
			if (res != SR_OK)
				return SR_ERR;
			devc->digital_channels[i] = !strcmp(t_s, "ON") ? TRUE : FALSE;
			g_free(t_s);
			sr_dbg("D%d: %s", i, devc->digital_channels[i] ? "on" : "off");
		}
	}

	/* Timebase. */
	if (get_cfg_float(sdi, ":TIM:SCAL?", &devc->timebase) != SR_OK)
		return SR_ERR;
	sr_dbg("Current timebase %f", devc->timebase);

	/* Vertical gain. */
	if (get_cfg_float(sdi, ":CHAN1:SCAL?", &devc->vdiv[0]) != SR_OK)
		return SR_ERR;
	if (get_cfg_float(sdi, ":CHAN2:SCAL?", &devc->vdiv[1]) != SR_OK)
		return SR_ERR;
	sr_dbg("Current vertical gain CH1 %f CH2 %f", devc->vdiv[0], devc->vdiv[1]);

	/* Vertical offset. */
	if (get_cfg_float(sdi, ":CHAN1:OFFS?", &devc->vert_offset[0]) != SR_OK)
		return SR_ERR;
	if (get_cfg_float(sdi, ":CHAN2:OFFS?", &devc->vert_offset[1]) != SR_OK)
		return SR_ERR;
	sr_dbg("Current vertical offset CH1 %f CH2 %f", devc->vert_offset[0],
			devc->vert_offset[1]);

	/* Coupling. */
	if (get_cfg_string(sdi, ":CHAN1:COUP?", &devc->coupling[0]) != SR_OK)
		return SR_ERR;
	if (get_cfg_string(sdi, ":CHAN2:COUP?", &devc->coupling[1]) != SR_OK)
		return SR_ERR;
	sr_dbg("Current coupling CH1 %s CH2 %s", devc->coupling[0],
			devc->coupling[1]);

	/* Trigger source. */
	if (get_cfg_string(sdi, ":TRIG:EDGE:SOUR?", &devc->trigger_source) != SR_OK)
		return SR_ERR;
	sr_dbg("Current trigger source %s", devc->trigger_source);

	/* Horizontal trigger position. */
	if (get_cfg_float(sdi, ":TIM:OFFS?", &devc->horiz_triggerpos) != SR_OK)
		return SR_ERR;
	sr_dbg("Current horizontal trigger position %f", devc->horiz_triggerpos);

	/* Trigger slope. */
	if (get_cfg_string(sdi, ":TRIG:EDGE:SLOP?", &devc->trigger_slope) != SR_OK)
		return SR_ERR;
	sr_dbg("Current trigger slope %s", devc->trigger_slope);

	return SR_OK;
}
Commit	Line	Data
f4816ac6 ML	1	/*
	2	* This file is part of the libsigrok project.
	3	*
	4	* Copyright (C) 2012 Martin Ling <martin-git@earth.li>
88e429c9	5	* Copyright (C) 2013 Bert Vermeulen <bert@biot.com>
f4816ac6 ML	6	*
	7	* This program is free software: you can redistribute it and/or modify
	8	* it under the terms of the GNU General Public License as published by
	9	* the Free Software Foundation, either version 3 of the License, or
	10	* (at your option) any later version.
	11	*
	12	* This program is distributed in the hope that it will be useful,
	13	* but WITHOUT ANY WARRANTY; without even the implied warranty of
	14	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	15	* GNU General Public License for more details.
	16	*
	17	* You should have received a copy of the GNU General Public License
	18	* along with this program. If not, see <http://www.gnu.org/licenses/>.
	19	*/
	20
	21	#include <stdlib.h>
e0b7d23c ML	22	#include <stdarg.h>
	23	#include <unistd.h>
	24	#include <errno.h>
a3df166f	25	#include <string.h>
254dd102	26	#include <math.h>
f4816ac6 ML	27	#include <glib.h>
	28	#include "libsigrok.h"
	29	#include "libsigrok-internal.h"
	30	#include "protocol.h"
	31
254dd102	32	SR_PRIV int rigol_ds1xx2_receive(int fd, int revents, void *cb_data)
f4816ac6	33	{
e0b7d23c	34	struct sr_dev_inst *sdi;
9bd4c956	35	struct sr_serial_dev_inst *serial;
f4816ac6	36	struct dev_context *devc;
e0b7d23c ML	37	struct sr_datafeed_packet packet;
e0b7d23c ML	38	struct sr_datafeed_analog analog;
6bb192bc ML	39	struct sr_datafeed_logic logic;
6bb192bc ML	40	unsigned char buf[DIGITAL_WAVEFORM_SIZE];
254dd102	41	double vdiv, offset;
6bb192bc ML	42	float data[ANALOG_WAVEFORM_SIZE];
	43	int len, i, waveform_size;
	44	struct sr_probe *probe;
f4816ac6	45
9bd4c956 ML	46	(void) fd;
9bd4c956 ML	47
f4816ac6 ML	48	if (!(sdi = cb_data))
	49	return TRUE;
	50
	51	if (!(devc = sdi->priv))
	52	return TRUE;
	53
9bd4c956 ML	54	serial = sdi->conn;
9bd4c956 ML	55
f4816ac6	56	if (revents == G_IO_IN) {
6bb192bc ML	57	probe = devc->channel_frame;
	58	waveform_size = probe->type == SR_PROBE_ANALOG ?
	59	ANALOG_WAVEFORM_SIZE : DIGITAL_WAVEFORM_SIZE;
9bd4c956	60	len = serial_read(serial, buf, waveform_size - devc->num_frame_bytes);
29d957ce	61	sr_dbg("Received %d bytes.", len);
e0b7d23c ML	62	if (len == -1)
e0b7d23c ML	63	return TRUE;
75d8a4e5	64
ee7e9bee	65	if (devc->num_frame_bytes == 0) {
75d8a4e5 BV	66	/* Start of a new frame. */
	67	packet.type = SR_DF_FRAME_BEGIN;
	68	sr_session_send(sdi, &packet);
	69	}
	70
6bb192bc ML	71	if (probe->type == SR_PROBE_ANALOG) {
	72	for (i = 0; i < len; i++) {
	73	vdiv = devc->vdiv[probe->index];
	74	offset = devc->vert_offset[probe->index];
	75	data[i] = vdiv / 25.6 * (128 - buf[i]) - offset;
	76	}
	77	analog.probes = g_slist_append(NULL, probe);
	78	analog.num_samples = len;
	79	analog.data = data;
	80	analog.mq = SR_MQ_VOLTAGE;
	81	analog.unit = SR_UNIT_VOLT;
	82	analog.mqflags = 0;
	83	packet.type = SR_DF_ANALOG;
	84	packet.payload = &analog;
	85	sr_session_send(cb_data, &packet);
	86	g_slist_free(analog.probes);
	87
	88	if (len != ANALOG_WAVEFORM_SIZE)
	89	/* Don't have the whole frame yet. */
	90	return TRUE;
	91	} else {
	92	logic.length = len - 10;
	93	logic.unitsize = 2;
	94	logic.data = buf + 10;
	95	packet.type = SR_DF_LOGIC;
	96	packet.payload = &logic;
	97	sr_session_send(cb_data, &packet);
	98
	99	if (len != DIGITAL_WAVEFORM_SIZE)
	100	/* Don't have the whole frame yet. */
	101	return TRUE;
ee7e9bee	102	}
75d8a4e5	103
254dd102 BV	104	/* End of the frame. */
	105	packet.type = SR_DF_FRAME_END;
	106	sr_session_send(sdi, &packet);
ee7e9bee	107	devc->num_frame_bytes = 0;
254dd102	108
6bb192bc ML	109	if (devc->enabled_analog_probes
	110	&& devc->channel_frame == devc->enabled_analog_probes->data
	111	&& devc->enabled_analog_probes->next != NULL) {
	112	/* We got the frame for the first analog channel, but
	113	* there's a second analog channel. */
	114	devc->channel_frame = devc->enabled_analog_probes->next->data;
9bd4c956	115	rigol_ds1xx2_send(sdi, ":WAV:DATA? CHAN%c",
254dd102 BV	116	devc->channel_frame->name[2]);
254dd102 BV	117	} else {
6bb192bc ML	118	/* Done with both analog channels in this frame. */
	119	if (devc->enabled_digital_probes
	120	&& devc->channel_frame != devc->enabled_digital_probes->data) {
	121	/* Now we need to get the digital data. */
	122	devc->channel_frame = devc->enabled_digital_probes->data;
9bd4c956	123	rigol_ds1xx2_send(sdi, ":WAV:DATA? DIG");
6bb192bc ML	124	} else if (++devc->num_frames == devc->limit_frames) {
6bb192bc ML	125	/* End of last frame. */
75d8a4e5	126	sdi->driver->dev_acquisition_stop(sdi, cb_data);
254dd102	127	} else {
6bb192bc ML	128	/* Get the next frame, starting with the first analog channel. */
	129	if (devc->enabled_analog_probes) {
	130	devc->channel_frame = devc->enabled_analog_probes->data;
9bd4c956	131	rigol_ds1xx2_send(sdi, ":WAV:DATA? CHAN%c",
6bb192bc ML	132	devc->channel_frame->name[2]);
	133	} else {
	134	devc->channel_frame = devc->enabled_digital_probes->data;
9bd4c956	135	rigol_ds1xx2_send(sdi, ":WAV:DATA? DIG");
6bb192bc	136	}
254dd102	137	}
75d8a4e5	138	}
f4816ac6 ML	139	}
	140
	141	return TRUE;
	142	}
e0b7d23c	143
9bd4c956	144	SR_PRIV int rigol_ds1xx2_send(const struct sr_dev_inst sdi, const char format, ...)
e0b7d23c ML	145	{
	146	va_list args;
	147	char buf[256];
a3df166f	148	int len, out, ret;
29d957ce	149
e0b7d23c	150	va_start(args, format);
254dd102	151	len = vsnprintf(buf, 255, format, args);
e0b7d23c	152	va_end(args);
a3df166f BV	153	strcat(buf, "\n");
a3df166f BV	154	len++;
9bd4c956	155	out = serial_write(sdi->conn, buf, len);
a3df166f BV	156	buf[len - 1] = '\0';
	157	if (out != len) {
	158	sr_dbg("Only sent %d/%d bytes of '%s'.", out, len, buf);
	159	ret = SR_ERR;
	160	} else {
254dd102	161	sr_spew("Sent '%s'.", buf);
a3df166f BV	162	ret = SR_OK;
a3df166f BV	163	}
29d957ce	164
a3df166f	165	return ret;
e0b7d23c	166	}
254dd102 BV	167
	168	static int get_cfg(const struct sr_dev_inst sdi, char cmd, char *reply)
	169	{
254dd102 BV	170	int len;
254dd102 BV	171
9bd4c956	172	if (rigol_ds1xx2_send(sdi, cmd) != SR_OK)
254dd102 BV	173	return SR_ERR;
254dd102 BV	174
9bd4c956	175	if ((len = serial_read(sdi->conn, reply, 255)) < 0)
254dd102 BV	176	return SR_ERR;
	177	reply[len] = '\0';
	178	sr_spew("Received '%s'.", reply);
	179
	180	return SR_OK;
	181	}
	182
	183	static int get_cfg_float(const struct sr_dev_inst sdi, char cmd, float *f)
	184	{
	185	char buf[256], *e;
	186
	187	if (get_cfg(sdi, cmd, buf) != SR_OK)
	188	return SR_ERR;
	189	*f = strtof(buf, &e);
169dbe85	190	if (e == buf \|\| (fpclassify(*f) & (FP_ZERO \| FP_NORMAL)) == 0) {
254dd102 BV	191	sr_dbg("failed to parse response to '%s': '%s'", cmd, buf);
	192	return SR_ERR;
	193	}
	194
	195	return SR_OK;
	196	}
	197
	198	static int get_cfg_string(const struct sr_dev_inst sdi, char cmd, char **buf)
	199	{
	200
	201	if (!(*buf = g_try_malloc0(256)))
169dbe85	202	return SR_ERR_MALLOC;
254dd102 BV	203
	204	if (get_cfg(sdi, cmd, *buf) != SR_OK)
	205	return SR_ERR;
	206
	207	return SR_OK;
	208	}
	209
	210	SR_PRIV int rigol_ds1xx2_get_dev_cfg(const struct sr_dev_inst *sdi)
	211	{
	212	struct dev_context *devc;
6bb192bc ML	213	char t_s, cmd;
6bb192bc ML	214	int i, res;
254dd102 BV	215
	216	devc = sdi->priv;
	217
6bb192bc	218	/* Analog channel state. */
254dd102 BV	219	if (get_cfg_string(sdi, ":CHAN1:DISP?", &t_s) != SR_OK)
254dd102 BV	220	return SR_ERR;
6bb192bc	221	devc->analog_channels[0] = !strcmp(t_s, "ON") ? TRUE : FALSE;
254dd102 BV	222	g_free(t_s);
	223	if (get_cfg_string(sdi, ":CHAN2:DISP?", &t_s) != SR_OK)
	224	return SR_ERR;
6bb192bc	225	devc->analog_channels[1] = !strcmp(t_s, "ON") ? TRUE : FALSE;
254dd102	226	g_free(t_s);
6bb192bc ML	227	sr_dbg("Current analog channel state CH1 %s CH2 %s",
	228	devc->analog_channels[0] ? "on" : "off",
	229	devc->analog_channels[1] ? "on" : "off");
	230
	231	/* Digital channel state. */
	232	if (devc->has_digital) {
	233	sr_dbg("Current digital channel state:");
	234	for (i = 0; i < 16; i++) {
	235	cmd = g_strdup_printf(":DIG%d:TURN?", i);
	236	res = get_cfg_string(sdi, cmd, &t_s);
	237	g_free(cmd);
	238	if (res != SR_OK)
	239	return SR_ERR;
	240	devc->digital_channels[i] = !strcmp(t_s, "ON") ? TRUE : FALSE;
	241	g_free(t_s);
	242	sr_dbg("D%d: %s", i, devc->digital_channels[i] ? "on" : "off");
	243	}
	244	}
254dd102 BV	245
	246	/* Timebase. */
	247	if (get_cfg_float(sdi, ":TIM:SCAL?", &devc->timebase) != SR_OK)
	248	return SR_ERR;
	249	sr_dbg("Current timebase %f", devc->timebase);
	250
	251	/* Vertical gain. */
	252	if (get_cfg_float(sdi, ":CHAN1:SCAL?", &devc->vdiv[0]) != SR_OK)
	253	return SR_ERR;
	254	if (get_cfg_float(sdi, ":CHAN2:SCAL?", &devc->vdiv[1]) != SR_OK)
	255	return SR_ERR;
	256	sr_dbg("Current vertical gain CH1 %f CH2 %f", devc->vdiv[0], devc->vdiv[1]);
	257
	258	/* Vertical offset. */
	259	if (get_cfg_float(sdi, ":CHAN1:OFFS?", &devc->vert_offset[0]) != SR_OK)
	260	return SR_ERR;
	261	if (get_cfg_float(sdi, ":CHAN2:OFFS?", &devc->vert_offset[1]) != SR_OK)
	262	return SR_ERR;
	263	sr_dbg("Current vertical offset CH1 %f CH2 %f", devc->vert_offset[0],
	264	devc->vert_offset[1]);
	265
	266	/* Coupling. */
	267	if (get_cfg_string(sdi, ":CHAN1:COUP?", &devc->coupling[0]) != SR_OK)
	268	return SR_ERR;
	269	if (get_cfg_string(sdi, ":CHAN2:COUP?", &devc->coupling[1]) != SR_OK)
	270	return SR_ERR;
	271	sr_dbg("Current coupling CH1 %s CH2 %s", devc->coupling[0],
	272	devc->coupling[1]);
	273
	274	/* Trigger source. */
	275	if (get_cfg_string(sdi, ":TRIG:EDGE:SOUR?", &devc->trigger_source) != SR_OK)
	276	return SR_ERR;
	277	sr_dbg("Current trigger source %s", devc->trigger_source);
	278
	279	/* Horizontal trigger position. */
	280	if (get_cfg_float(sdi, ":TIM:OFFS?", &devc->horiz_triggerpos) != SR_OK)
	281	return SR_ERR;
	282	sr_dbg("Current horizontal trigger position %f", devc->horiz_triggerpos);
	283
	284	/* Trigger slope. */
	285	if (get_cfg_string(sdi, ":TRIG:EDGE:SLOP?", &devc->trigger_slope) != SR_OK)
	286	return SR_ERR;
	287	sr_dbg("Current trigger slope %s", devc->trigger_slope);
	288
	289	return SR_OK;
	290	}
	291