1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * vivid-sdr-cap.c - software defined radio support functions.
4 *
5 * Copyright 2014 Cisco Systems, Inc. and/or its affiliates. All rights reserved.
6 */
7
8 #include <linux/errno.h>
9 #include <linux/kernel.h>
10 #include <linux/delay.h>
11 #include <linux/kthread.h>
12 #include <linux/freezer.h>
13 #include <linux/math64.h>
14 #include <linux/videodev2.h>
15 #include <linux/v4l2-dv-timings.h>
16 #include <media/v4l2-common.h>
17 #include <media/v4l2-event.h>
18 #include <media/v4l2-dv-timings.h>
19 #include <linux/fixp-arith.h>
20
21 #include "vivid-core.h"
22 #include "vivid-ctrls.h"
23 #include "vivid-sdr-cap.h"
24
25 /* stream formats */
26 struct vivid_format {
27 u32 pixelformat;
28 u32 buffersize;
29 };
30
31 /* format descriptions for capture and preview */
32 static const struct vivid_format formats[] = {
33 {
34 .pixelformat = V4L2_SDR_FMT_CU8,
35 .buffersize = SDR_CAP_SAMPLES_PER_BUF * 2,
36 }, {
37 .pixelformat = V4L2_SDR_FMT_CS8,
38 .buffersize = SDR_CAP_SAMPLES_PER_BUF * 2,
39 },
40 };
41
42 static const struct v4l2_frequency_band bands_adc[] = {
43 {
44 .tuner = 0,
45 .type = V4L2_TUNER_ADC,
46 .index = 0,
47 .capability = V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS,
48 .rangelow = 300000,
49 .rangehigh = 300000,
50 },
51 {
52 .tuner = 0,
53 .type = V4L2_TUNER_ADC,
54 .index = 1,
55 .capability = V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS,
56 .rangelow = 900001,
57 .rangehigh = 2800000,
58 },
59 {
60 .tuner = 0,
61 .type = V4L2_TUNER_ADC,
62 .index = 2,
63 .capability = V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS,
64 .rangelow = 3200000,
65 .rangehigh = 3200000,
66 },
67 };
68
69 /* ADC band midpoints */
70 #define BAND_ADC_0 ((bands_adc[0].rangehigh + bands_adc[1].rangelow) / 2)
71 #define BAND_ADC_1 ((bands_adc[1].rangehigh + bands_adc[2].rangelow) / 2)
72
73 static const struct v4l2_frequency_band bands_fm[] = {
74 {
75 .tuner = 1,
76 .type = V4L2_TUNER_RF,
77 .index = 0,
78 .capability = V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS,
79 .rangelow = 50000000,
80 .rangehigh = 2000000000,
81 },
82 };
83
vivid_thread_sdr_cap_tick(struct vivid_dev * dev)84 static void vivid_thread_sdr_cap_tick(struct vivid_dev *dev)
85 {
86 struct vivid_buffer *sdr_cap_buf = NULL;
87
88 dprintk(dev, 1, "SDR Capture Thread Tick\n");
89
90 /* Drop a certain percentage of buffers. */
91 if (dev->perc_dropped_buffers &&
92 prandom_u32_max(100) < dev->perc_dropped_buffers)
93 return;
94
95 spin_lock(&dev->slock);
96 if (!list_empty(&dev->sdr_cap_active)) {
97 sdr_cap_buf = list_entry(dev->sdr_cap_active.next,
98 struct vivid_buffer, list);
99 list_del(&sdr_cap_buf->list);
100 }
101 spin_unlock(&dev->slock);
102
103 if (sdr_cap_buf) {
104 sdr_cap_buf->vb.sequence = dev->sdr_cap_seq_count;
105 v4l2_ctrl_request_setup(sdr_cap_buf->vb.vb2_buf.req_obj.req,
106 &dev->ctrl_hdl_sdr_cap);
107 v4l2_ctrl_request_complete(sdr_cap_buf->vb.vb2_buf.req_obj.req,
108 &dev->ctrl_hdl_sdr_cap);
109 vivid_sdr_cap_process(dev, sdr_cap_buf);
110 sdr_cap_buf->vb.vb2_buf.timestamp =
111 ktime_get_ns() + dev->time_wrap_offset;
112 vb2_buffer_done(&sdr_cap_buf->vb.vb2_buf, dev->dqbuf_error ?
113 VB2_BUF_STATE_ERROR : VB2_BUF_STATE_DONE);
114 dev->dqbuf_error = false;
115 }
116 }
117
vivid_thread_sdr_cap(void * data)118 static int vivid_thread_sdr_cap(void *data)
119 {
120 struct vivid_dev *dev = data;
121 u64 samples_since_start;
122 u64 buffers_since_start;
123 u64 next_jiffies_since_start;
124 unsigned long jiffies_since_start;
125 unsigned long cur_jiffies;
126 unsigned wait_jiffies;
127
128 dprintk(dev, 1, "SDR Capture Thread Start\n");
129
130 set_freezable();
131
132 /* Resets frame counters */
133 dev->sdr_cap_seq_offset = 0;
134 if (dev->seq_wrap)
135 dev->sdr_cap_seq_offset = 0xffffff80U;
136 dev->jiffies_sdr_cap = jiffies;
137 dev->sdr_cap_seq_resync = false;
138
139 for (;;) {
140 try_to_freeze();
141 if (kthread_should_stop())
142 break;
143
144 mutex_lock(&dev->mutex);
145 cur_jiffies = jiffies;
146 if (dev->sdr_cap_seq_resync) {
147 dev->jiffies_sdr_cap = cur_jiffies;
148 dev->sdr_cap_seq_offset = dev->sdr_cap_seq_count + 1;
149 dev->sdr_cap_seq_count = 0;
150 dev->sdr_cap_seq_resync = false;
151 }
152 /* Calculate the number of jiffies since we started streaming */
153 jiffies_since_start = cur_jiffies - dev->jiffies_sdr_cap;
154 /* Get the number of buffers streamed since the start */
155 buffers_since_start =
156 (u64)jiffies_since_start * dev->sdr_adc_freq +
157 (HZ * SDR_CAP_SAMPLES_PER_BUF) / 2;
158 do_div(buffers_since_start, HZ * SDR_CAP_SAMPLES_PER_BUF);
159
160 /*
161 * After more than 0xf0000000 (rounded down to a multiple of
162 * 'jiffies-per-day' to ease jiffies_to_msecs calculation)
163 * jiffies have passed since we started streaming reset the
164 * counters and keep track of the sequence offset.
165 */
166 if (jiffies_since_start > JIFFIES_RESYNC) {
167 dev->jiffies_sdr_cap = cur_jiffies;
168 dev->sdr_cap_seq_offset = buffers_since_start;
169 buffers_since_start = 0;
170 }
171 dev->sdr_cap_seq_count =
172 buffers_since_start + dev->sdr_cap_seq_offset;
173
174 vivid_thread_sdr_cap_tick(dev);
175 mutex_unlock(&dev->mutex);
176
177 /*
178 * Calculate the number of samples streamed since we started,
179 * not including the current buffer.
180 */
181 samples_since_start = buffers_since_start * SDR_CAP_SAMPLES_PER_BUF;
182
183 /* And the number of jiffies since we started */
184 jiffies_since_start = jiffies - dev->jiffies_sdr_cap;
185
186 /* Increase by the number of samples in one buffer */
187 samples_since_start += SDR_CAP_SAMPLES_PER_BUF;
188 /*
189 * Calculate when that next buffer is supposed to start
190 * in jiffies since we started streaming.
191 */
192 next_jiffies_since_start = samples_since_start * HZ +
193 dev->sdr_adc_freq / 2;
194 do_div(next_jiffies_since_start, dev->sdr_adc_freq);
195 /* If it is in the past, then just schedule asap */
196 if (next_jiffies_since_start < jiffies_since_start)
197 next_jiffies_since_start = jiffies_since_start;
198
199 wait_jiffies = next_jiffies_since_start - jiffies_since_start;
200 schedule_timeout_interruptible(wait_jiffies ? wait_jiffies : 1);
201 }
202 dprintk(dev, 1, "SDR Capture Thread End\n");
203 return 0;
204 }
205
sdr_cap_queue_setup(struct vb2_queue * vq,unsigned * nbuffers,unsigned * nplanes,unsigned sizes[],struct device * alloc_devs[])206 static int sdr_cap_queue_setup(struct vb2_queue *vq,
207 unsigned *nbuffers, unsigned *nplanes,
208 unsigned sizes[], struct device *alloc_devs[])
209 {
210 /* 2 = max 16-bit sample returned */
211 sizes[0] = SDR_CAP_SAMPLES_PER_BUF * 2;
212 *nplanes = 1;
213 return 0;
214 }
215
sdr_cap_buf_prepare(struct vb2_buffer * vb)216 static int sdr_cap_buf_prepare(struct vb2_buffer *vb)
217 {
218 struct vivid_dev *dev = vb2_get_drv_priv(vb->vb2_queue);
219 unsigned size = SDR_CAP_SAMPLES_PER_BUF * 2;
220
221 dprintk(dev, 1, "%s\n", __func__);
222
223 if (dev->buf_prepare_error) {
224 /*
225 * Error injection: test what happens if buf_prepare() returns
226 * an error.
227 */
228 dev->buf_prepare_error = false;
229 return -EINVAL;
230 }
231 if (vb2_plane_size(vb, 0) < size) {
232 dprintk(dev, 1, "%s data will not fit into plane (%lu < %u)\n",
233 __func__, vb2_plane_size(vb, 0), size);
234 return -EINVAL;
235 }
236 vb2_set_plane_payload(vb, 0, size);
237
238 return 0;
239 }
240
sdr_cap_buf_queue(struct vb2_buffer * vb)241 static void sdr_cap_buf_queue(struct vb2_buffer *vb)
242 {
243 struct vb2_v4l2_buffer *vbuf = to_vb2_v4l2_buffer(vb);
244 struct vivid_dev *dev = vb2_get_drv_priv(vb->vb2_queue);
245 struct vivid_buffer *buf = container_of(vbuf, struct vivid_buffer, vb);
246
247 dprintk(dev, 1, "%s\n", __func__);
248
249 spin_lock(&dev->slock);
250 list_add_tail(&buf->list, &dev->sdr_cap_active);
251 spin_unlock(&dev->slock);
252 }
253
sdr_cap_start_streaming(struct vb2_queue * vq,unsigned count)254 static int sdr_cap_start_streaming(struct vb2_queue *vq, unsigned count)
255 {
256 struct vivid_dev *dev = vb2_get_drv_priv(vq);
257 int err = 0;
258
259 dprintk(dev, 1, "%s\n", __func__);
260 dev->sdr_cap_seq_count = 0;
261 if (dev->start_streaming_error) {
262 dev->start_streaming_error = false;
263 err = -EINVAL;
264 } else if (dev->kthread_sdr_cap == NULL) {
265 dev->kthread_sdr_cap = kthread_run(vivid_thread_sdr_cap, dev,
266 "%s-sdr-cap", dev->v4l2_dev.name);
267
268 if (IS_ERR(dev->kthread_sdr_cap)) {
269 v4l2_err(&dev->v4l2_dev, "kernel_thread() failed\n");
270 err = PTR_ERR(dev->kthread_sdr_cap);
271 dev->kthread_sdr_cap = NULL;
272 }
273 }
274 if (err) {
275 struct vivid_buffer *buf, *tmp;
276
277 list_for_each_entry_safe(buf, tmp, &dev->sdr_cap_active, list) {
278 list_del(&buf->list);
279 vb2_buffer_done(&buf->vb.vb2_buf,
280 VB2_BUF_STATE_QUEUED);
281 }
282 }
283 return err;
284 }
285
286 /* abort streaming and wait for last buffer */
sdr_cap_stop_streaming(struct vb2_queue * vq)287 static void sdr_cap_stop_streaming(struct vb2_queue *vq)
288 {
289 struct vivid_dev *dev = vb2_get_drv_priv(vq);
290
291 if (dev->kthread_sdr_cap == NULL)
292 return;
293
294 while (!list_empty(&dev->sdr_cap_active)) {
295 struct vivid_buffer *buf;
296
297 buf = list_entry(dev->sdr_cap_active.next,
298 struct vivid_buffer, list);
299 list_del(&buf->list);
300 v4l2_ctrl_request_complete(buf->vb.vb2_buf.req_obj.req,
301 &dev->ctrl_hdl_sdr_cap);
302 vb2_buffer_done(&buf->vb.vb2_buf, VB2_BUF_STATE_ERROR);
303 }
304
305 /* shutdown control thread */
306 mutex_unlock(&dev->mutex);
307 kthread_stop(dev->kthread_sdr_cap);
308 dev->kthread_sdr_cap = NULL;
309 mutex_lock(&dev->mutex);
310 }
311
sdr_cap_buf_request_complete(struct vb2_buffer * vb)312 static void sdr_cap_buf_request_complete(struct vb2_buffer *vb)
313 {
314 struct vivid_dev *dev = vb2_get_drv_priv(vb->vb2_queue);
315
316 v4l2_ctrl_request_complete(vb->req_obj.req, &dev->ctrl_hdl_sdr_cap);
317 }
318
319 const struct vb2_ops vivid_sdr_cap_qops = {
320 .queue_setup = sdr_cap_queue_setup,
321 .buf_prepare = sdr_cap_buf_prepare,
322 .buf_queue = sdr_cap_buf_queue,
323 .start_streaming = sdr_cap_start_streaming,
324 .stop_streaming = sdr_cap_stop_streaming,
325 .buf_request_complete = sdr_cap_buf_request_complete,
326 .wait_prepare = vb2_ops_wait_prepare,
327 .wait_finish = vb2_ops_wait_finish,
328 };
329
vivid_sdr_enum_freq_bands(struct file * file,void * fh,struct v4l2_frequency_band * band)330 int vivid_sdr_enum_freq_bands(struct file *file, void *fh,
331 struct v4l2_frequency_band *band)
332 {
333 switch (band->tuner) {
334 case 0:
335 if (band->index >= ARRAY_SIZE(bands_adc))
336 return -EINVAL;
337 *band = bands_adc[band->index];
338 return 0;
339 case 1:
340 if (band->index >= ARRAY_SIZE(bands_fm))
341 return -EINVAL;
342 *band = bands_fm[band->index];
343 return 0;
344 default:
345 return -EINVAL;
346 }
347 }
348
vivid_sdr_g_frequency(struct file * file,void * fh,struct v4l2_frequency * vf)349 int vivid_sdr_g_frequency(struct file *file, void *fh,
350 struct v4l2_frequency *vf)
351 {
352 struct vivid_dev *dev = video_drvdata(file);
353
354 switch (vf->tuner) {
355 case 0:
356 vf->frequency = dev->sdr_adc_freq;
357 vf->type = V4L2_TUNER_ADC;
358 return 0;
359 case 1:
360 vf->frequency = dev->sdr_fm_freq;
361 vf->type = V4L2_TUNER_RF;
362 return 0;
363 default:
364 return -EINVAL;
365 }
366 }
367
vivid_sdr_s_frequency(struct file * file,void * fh,const struct v4l2_frequency * vf)368 int vivid_sdr_s_frequency(struct file *file, void *fh,
369 const struct v4l2_frequency *vf)
370 {
371 struct vivid_dev *dev = video_drvdata(file);
372 unsigned freq = vf->frequency;
373 unsigned band;
374
375 switch (vf->tuner) {
376 case 0:
377 if (vf->type != V4L2_TUNER_ADC)
378 return -EINVAL;
379 if (freq < BAND_ADC_0)
380 band = 0;
381 else if (freq < BAND_ADC_1)
382 band = 1;
383 else
384 band = 2;
385
386 freq = clamp_t(unsigned, freq,
387 bands_adc[band].rangelow,
388 bands_adc[band].rangehigh);
389
390 if (vb2_is_streaming(&dev->vb_sdr_cap_q) &&
391 freq != dev->sdr_adc_freq) {
392 /* resync the thread's timings */
393 dev->sdr_cap_seq_resync = true;
394 }
395 dev->sdr_adc_freq = freq;
396 return 0;
397 case 1:
398 if (vf->type != V4L2_TUNER_RF)
399 return -EINVAL;
400 dev->sdr_fm_freq = clamp_t(unsigned, freq,
401 bands_fm[0].rangelow,
402 bands_fm[0].rangehigh);
403 return 0;
404 default:
405 return -EINVAL;
406 }
407 }
408
vivid_sdr_g_tuner(struct file * file,void * fh,struct v4l2_tuner * vt)409 int vivid_sdr_g_tuner(struct file *file, void *fh, struct v4l2_tuner *vt)
410 {
411 switch (vt->index) {
412 case 0:
413 strscpy(vt->name, "ADC", sizeof(vt->name));
414 vt->type = V4L2_TUNER_ADC;
415 vt->capability =
416 V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS;
417 vt->rangelow = bands_adc[0].rangelow;
418 vt->rangehigh = bands_adc[2].rangehigh;
419 return 0;
420 case 1:
421 strscpy(vt->name, "RF", sizeof(vt->name));
422 vt->type = V4L2_TUNER_RF;
423 vt->capability =
424 V4L2_TUNER_CAP_1HZ | V4L2_TUNER_CAP_FREQ_BANDS;
425 vt->rangelow = bands_fm[0].rangelow;
426 vt->rangehigh = bands_fm[0].rangehigh;
427 return 0;
428 default:
429 return -EINVAL;
430 }
431 }
432
vivid_sdr_s_tuner(struct file * file,void * fh,const struct v4l2_tuner * vt)433 int vivid_sdr_s_tuner(struct file *file, void *fh, const struct v4l2_tuner *vt)
434 {
435 if (vt->index > 1)
436 return -EINVAL;
437 return 0;
438 }
439
vidioc_enum_fmt_sdr_cap(struct file * file,void * fh,struct v4l2_fmtdesc * f)440 int vidioc_enum_fmt_sdr_cap(struct file *file, void *fh, struct v4l2_fmtdesc *f)
441 {
442 if (f->index >= ARRAY_SIZE(formats))
443 return -EINVAL;
444 f->pixelformat = formats[f->index].pixelformat;
445 return 0;
446 }
447
vidioc_g_fmt_sdr_cap(struct file * file,void * fh,struct v4l2_format * f)448 int vidioc_g_fmt_sdr_cap(struct file *file, void *fh, struct v4l2_format *f)
449 {
450 struct vivid_dev *dev = video_drvdata(file);
451
452 f->fmt.sdr.pixelformat = dev->sdr_pixelformat;
453 f->fmt.sdr.buffersize = dev->sdr_buffersize;
454 memset(f->fmt.sdr.reserved, 0, sizeof(f->fmt.sdr.reserved));
455 return 0;
456 }
457
vidioc_s_fmt_sdr_cap(struct file * file,void * fh,struct v4l2_format * f)458 int vidioc_s_fmt_sdr_cap(struct file *file, void *fh, struct v4l2_format *f)
459 {
460 struct vivid_dev *dev = video_drvdata(file);
461 struct vb2_queue *q = &dev->vb_sdr_cap_q;
462 int i;
463
464 if (vb2_is_busy(q))
465 return -EBUSY;
466
467 memset(f->fmt.sdr.reserved, 0, sizeof(f->fmt.sdr.reserved));
468 for (i = 0; i < ARRAY_SIZE(formats); i++) {
469 if (formats[i].pixelformat == f->fmt.sdr.pixelformat) {
470 dev->sdr_pixelformat = formats[i].pixelformat;
471 dev->sdr_buffersize = formats[i].buffersize;
472 f->fmt.sdr.buffersize = formats[i].buffersize;
473 return 0;
474 }
475 }
476 dev->sdr_pixelformat = formats[0].pixelformat;
477 dev->sdr_buffersize = formats[0].buffersize;
478 f->fmt.sdr.pixelformat = formats[0].pixelformat;
479 f->fmt.sdr.buffersize = formats[0].buffersize;
480 return 0;
481 }
482
vidioc_try_fmt_sdr_cap(struct file * file,void * fh,struct v4l2_format * f)483 int vidioc_try_fmt_sdr_cap(struct file *file, void *fh, struct v4l2_format *f)
484 {
485 int i;
486
487 memset(f->fmt.sdr.reserved, 0, sizeof(f->fmt.sdr.reserved));
488 for (i = 0; i < ARRAY_SIZE(formats); i++) {
489 if (formats[i].pixelformat == f->fmt.sdr.pixelformat) {
490 f->fmt.sdr.buffersize = formats[i].buffersize;
491 return 0;
492 }
493 }
494 f->fmt.sdr.pixelformat = formats[0].pixelformat;
495 f->fmt.sdr.buffersize = formats[0].buffersize;
496 return 0;
497 }
498
499 #define FIXP_N (15)
500 #define FIXP_FRAC (1 << FIXP_N)
501 #define FIXP_2PI ((int)(2 * 3.141592653589 * FIXP_FRAC))
502 #define M_100000PI (3.14159 * 100000)
503
vivid_sdr_cap_process(struct vivid_dev * dev,struct vivid_buffer * buf)504 void vivid_sdr_cap_process(struct vivid_dev *dev, struct vivid_buffer *buf)
505 {
506 u8 *vbuf = vb2_plane_vaddr(&buf->vb.vb2_buf, 0);
507 unsigned long i;
508 unsigned long plane_size = vb2_plane_size(&buf->vb.vb2_buf, 0);
509 s64 s64tmp;
510 s32 src_phase_step;
511 s32 mod_phase_step;
512 s32 fixp_i;
513 s32 fixp_q;
514
515 /* calculate phase step */
516 #define BEEP_FREQ 1000 /* 1kHz beep */
517 src_phase_step = DIV_ROUND_CLOSEST(FIXP_2PI * BEEP_FREQ,
518 dev->sdr_adc_freq);
519
520 for (i = 0; i < plane_size; i += 2) {
521 mod_phase_step = fixp_cos32_rad(dev->sdr_fixp_src_phase,
522 FIXP_2PI) >> (31 - FIXP_N);
523
524 dev->sdr_fixp_src_phase += src_phase_step;
525 s64tmp = (s64) mod_phase_step * dev->sdr_fm_deviation;
526 dev->sdr_fixp_mod_phase += div_s64(s64tmp, M_100000PI);
527
528 /*
529 * Transfer phase angle to [0, 2xPI] in order to avoid variable
530 * overflow and make it suitable for cosine implementation
531 * used, which does not support negative angles.
532 */
533 dev->sdr_fixp_src_phase %= FIXP_2PI;
534 dev->sdr_fixp_mod_phase %= FIXP_2PI;
535
536 if (dev->sdr_fixp_mod_phase < 0)
537 dev->sdr_fixp_mod_phase += FIXP_2PI;
538
539 fixp_i = fixp_cos32_rad(dev->sdr_fixp_mod_phase, FIXP_2PI);
540 fixp_q = fixp_sin32_rad(dev->sdr_fixp_mod_phase, FIXP_2PI);
541
542 /* Normalize fraction values represented with 32 bit precision
543 * to fixed point representation with FIXP_N bits */
544 fixp_i >>= (31 - FIXP_N);
545 fixp_q >>= (31 - FIXP_N);
546
547 switch (dev->sdr_pixelformat) {
548 case V4L2_SDR_FMT_CU8:
549 /* convert 'fixp float' to u8 [0, +255] */
550 /* u8 = X * 127.5 + 127.5; X is float [-1.0, +1.0] */
551 fixp_i = fixp_i * 1275 + FIXP_FRAC * 1275;
552 fixp_q = fixp_q * 1275 + FIXP_FRAC * 1275;
553 *vbuf++ = DIV_ROUND_CLOSEST(fixp_i, FIXP_FRAC * 10);
554 *vbuf++ = DIV_ROUND_CLOSEST(fixp_q, FIXP_FRAC * 10);
555 break;
556 case V4L2_SDR_FMT_CS8:
557 /* convert 'fixp float' to s8 [-128, +127] */
558 /* s8 = X * 127.5 - 0.5; X is float [-1.0, +1.0] */
559 fixp_i = fixp_i * 1275 - FIXP_FRAC * 5;
560 fixp_q = fixp_q * 1275 - FIXP_FRAC * 5;
561 *vbuf++ = DIV_ROUND_CLOSEST(fixp_i, FIXP_FRAC * 10);
562 *vbuf++ = DIV_ROUND_CLOSEST(fixp_q, FIXP_FRAC * 10);
563 break;
564 default:
565 break;
566 }
567 }
568 }
569
