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JY901.cpp
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JY901.cpp
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#include "JY901.h"
#include "JY901_Control.h"
#include <chrono>
#include <iostream>
#include <iterator>
using namespace std;
CJY901::CJY901()
{
wiringPiSetup();
lastTime = duration_cast<milliseconds>(system_clock::now().time_since_epoch());
}
bool CJY901::startI2C(int adress)
{
i2cadress = adress;
i2cmode = true;
fd = wiringPiI2CSetup(adress);
return fd >= 0;
}
bool CJY901::attach(string device)
{
fd = serialOpen(device.c_str(), 9600);
serialPutchar(fd, 0x00);
serialPutchar(fd, 0x00);
serialPutchar(fd, 0x00);
return fd >= 0;
}
bool CJY901::attach(int fdn)
{
fd = fdn;
return true;
}
bool CJY901::changeBaudRate(int baud)
{
setBaudRate(baud);
serialClose(fd);
fd = serialOpen("/dev/ttyACM0", baud);
if (fd < 0)
return false;
return true;
}
bool CJY901::writeSerialData(unsigned char* data, int len)
{
for (int i = 0; i < len; i++) {
serialPutchar(fd, data[i]);
}
return true;
}
void CJY901::writeI2CData(char* data, int len)
{
cout << "Writing data" << endl;
for (int i = 0; i < len; i++) {
cout << static_cast<int>(data[i]) << " ";
wiringPiI2CWrite(fd, data[i]);
}
cout << endl;
}
bool CJY901::readSerialData(unsigned char data)
{
rxBuffer[rxCnt] = data;
rxCnt++;
if (rxBuffer[0] != 0x55) { // data start with 0x55 contains what we need
rxCnt = 0;
return false;
}
if (rxCnt < 11) {
return false;
}
rxCnt = 0; // reset count to 0
// do sum check to confirm data is not corrupted
unsigned char sum = 0;
for (unsigned char cnt = 0; cnt < 10; cnt++)
sum += rxBuffer[cnt];
if (sum != rxBuffer[10])
return false;
cout << "JY901 | readSerialData | type: " << to_string(rxBuffer[1]) << endl;
switch (rxBuffer[1]) { // these cases are based on Manual p26,27,28,29 and 30
case 0x50:
memcpy(&JY901_data.time, &rxBuffer[2], 8);
break; // time
case 0x51:
memcpy(&JY901_data.acc, &rxBuffer[2], 8);
break; // acceleration
case 0x52:
memcpy(&JY901_data.gyro, &rxBuffer[2], 8);
break; // angular velocity
case 0x53:
memcpy(&JY901_data.angle, &rxBuffer[2], 8);
break; // angle
case 0x54:
memcpy(&JY901_data.mag, &rxBuffer[2], 8);
break; // magnetic field and temperature
case 0x55:
memcpy(&JY901_data.dStatus, &rxBuffer[2], 8);
break; // D port status
case 0x56:
memcpy(&JY901_data.pressure, &rxBuffer[2], 4); // pressure
memcpy(&JY901_data.altitude, &rxBuffer[6], 4); // altitude
break;
case 0x57:
memcpy(&JY901_data.lon, &rxBuffer[2], 4); // longtitude
memcpy(&JY901_data.lat, &rxBuffer[6], 4); // latitude
break;
case 0x58:
memcpy(&JY901_data.GPSHeight, &rxBuffer[2], 2); //
memcpy(&JY901_data.GPSYaw, &rxBuffer[4], 2); // GPS data
memcpy(&JY901_data.GPSVelocity, &rxBuffer[6], 4); //
break;
case 0x59:
memcpy(&JY901_data.quater, &rxBuffer[2], 8);
break; // quaternion
case 0x5A:
memcpy(&JY901_data.GPS_DOP, &rxBuffer[2], 8);
break; // GPS DOP
}
lastTime = duration_cast<milliseconds>(system_clock::now().time_since_epoch());
return true;
}
bool CJY901::receiveSerialData(void)
{
bool status = false;
while (serialDataAvail(fd)) {
status = CJY901::readSerialData(serialGetchar(fd));
}
return status;
} // if data has been retrieved, return true
/* ------------ (JY901 --> Host) functions ------------ */
unsigned short CJY901::getTime(const char* str)
{
if (strcmp(str, "year") == 0)
return JY901_data.time.year; // get year
if (strcmp(str, "month") == 0)
return JY901_data.time.month; // get month
if (strcmp(str, "day") == 0)
return JY901_data.time.day; // get day
if (strcmp(str, "hour") == 0)
return JY901_data.time.hour; // get hour
if (strcmp(str, "minute") == 0)
return JY901_data.time.minute; // get minute
if (strcmp(str, "second") == 0)
return JY901_data.time.second; // get second
if (strcmp(str, "milisecond") == 0)
return JY901_data.time.milisecond; // get milisecond
return 0;
} // getTime()
double CJY901::getTemp()
{
if (i2cmode)
JY901_data.mag.temperature = wiringPiI2CReadReg16(fd, JY901_TEMP);
return JY901_data.mag.temperature / 100.0;
} // getTemp() unit: degree(s) Celsius
double CJY901::getAccX()
{
if (i2cmode)
JY901_data.acc.x = wiringPiI2CReadReg16(fd, JY901_AX);
return JY901_data.acc.x / (32768.0 / 16.0);
} // getAccX() unit: G(gravity)
double CJY901::getAccY()
{
if (i2cmode)
JY901_data.acc.y = wiringPiI2CReadReg16(fd, JY901_AY);
return JY901_data.acc.y / (32768.0 / 16.0);
} // getAccY() unit: G(gravity)
double CJY901::getAccZ()
{
if (i2cmode)
JY901_data.acc.z = wiringPiI2CReadReg16(fd, JY901_AZ);
return JY901_data.acc.z / (32768.0 / 16.0);
} // getAccZ() unit: G(gravity)
double CJY901::getGyroX()
{
if (i2cmode)
JY901_data.gyro.x = wiringPiI2CReadReg16(fd, JY901_GX);
return JY901_data.gyro.x / (32768.0 / 2000.0);
} // getGyroX() unit: degree(s) per second
double CJY901::getGyroY()
{
if (i2cmode)
JY901_data.gyro.y = wiringPiI2CReadReg16(fd, JY901_GY);
return JY901_data.gyro.y / (32768.0 / 2000.0);
} // getGyroY() unit: degree(s) per second
double CJY901::getGyroZ()
{
if (i2cmode)
JY901_data.gyro.z = wiringPiI2CReadReg16(fd, JY901_GZ);
return JY901_data.gyro.z / (32768.0 / 2000.0);
} // getGyroZ() unit: degree(s) per second
/* -- Noticed that The Euler angles' order here is ---- */
/* ----------- Z-Y-X, for more please visit ----------- */
/* --- http://web.mit.edu/2.05/www/Handout/HO2.PDF ---- */
double CJY901::getRoll()
{ // X-axis
if (i2cmode)
JY901_data.angle.roll = wiringPiI2CReadReg16(fd, JY901_Roll);
return JY901_data.angle.roll / (32768.0 / 180.0);
} // getRoll() unit: degree(s)
double CJY901::getPitch()
{ // Y-axis
if (i2cmode)
JY901_data.angle.pitch = wiringPiI2CReadReg16(fd, JY901_Pitch);
return JY901_data.angle.pitch / (32768.0 / 180.0);
} // getPitch() unit: degree(s)
double CJY901::getYaw()
{ // Z-axis
if (i2cmode)
JY901_data.angle.yaw = wiringPiI2CReadReg16(fd, JY901_Yaw);
return JY901_data.angle.yaw / (32768.0 / 180.0);
} // getYaw() unit: degree(s)
double CJY901::getMagX()
{
if (i2cmode)
JY901_data.mag.x = wiringPiI2CReadReg16(fd, JY901_HX);
return JY901_data.mag.x / (32768.0 / 180.0);
} // getMagX()
double CJY901::getMagY()
{
if (i2cmode)
JY901_data.mag.y = wiringPiI2CReadReg16(fd, JY901_HY);
return JY901_data.mag.y / (32768.0 / 180.0);
} // getMagY()
double CJY901::getMagZ()
{
if (i2cmode)
JY901_data.mag.z = wiringPiI2CReadReg16(fd, JY901_HZ);
return JY901_data.mag.z / (32768.0 / 180.0);
} // getMagZ()
/* ------ The port status output depends on its mode. ------ */
/* ----------- For more, please read the manual. ----------- */
short CJY901::getD0Status()
{
if (i2cmode)
JY901_data.dStatus.d0 = wiringPiI2CReadReg16(fd, JY901_D0Status);
return JY901_data.dStatus.d0;
}
short CJY901::getD1Status()
{
if (i2cmode)
JY901_data.dStatus.d1 = wiringPiI2CReadReg8(fd, JY901_D1Status);
return JY901_data.dStatus.d1;
}
short CJY901::getD2Status()
{
if (i2cmode)
JY901_data.dStatus.d2 = wiringPiI2CReadReg16(fd, JY901_D2Status);
return JY901_data.dStatus.d2;
}
short CJY901::getD3Status()
{
if (i2cmode)
JY901_data.dStatus.d3 = wiringPiI2CReadReg16(fd, JY901_D3Status);
return JY901_data.dStatus.d3;
}
int CJY901::getPressure()
{
if (i2cmode)
JY901_data.pressure = (wiringPiI2CReadReg16(fd, JY901_PressureH) << 16) | wiringPiI2CReadReg16(fd, JY901_PressureL);
return JY901_data.pressure;
} // getPressure() unit: Pa
int CJY901::getAltitude()
{
if (i2cmode)
JY901_data.altitude = (wiringPiI2CReadReg16(fd, JY901_HeightH) << 16) | wiringPiI2CReadReg16(fd, JY901_HeightL);
return JY901_data.altitude;
} // getAltitude() unit: cm
/* ------------- According to NMEA8013, ------------ */
/* ------- GPS output format is dd mm.mmmmm, ------- */
/* ----- JY901 output format is ddmm(.)mmmmm, ------ */
/* --------- dd and mm can be calculated ----------- */
/* ---------- by divide(/) and modulo(%) ----------- */
int CJY901::getLon()
{
if (i2cmode)
JY901_data.lon = (wiringPiI2CReadReg16(fd, JY901_LonL) << 16) + wiringPiI2CReadReg16(fd, JY901_LonL);
return JY901_data.lon;
}
int CJY901::getLat()
{
if (i2cmode)
JY901_data.lat = (wiringPiI2CReadReg16(fd, JY901_LatL) << 16) + wiringPiI2CReadReg16(fd, JY901_LatL);
return JY901_data.lat;
}
double CJY901::getGPSH()
{
if (i2cmode)
JY901_data.GPSHeight = wiringPiI2CReadReg16(fd, JY901_GPSHeight);
return JY901_data.GPSHeight / 10.0;
} // get GPS Height, unit: m(meters)
double CJY901::getGPSY()
{
if (i2cmode)
JY901_data.GPSYaw = wiringPiI2CReadReg16(fd, JY901_GPSYAW);
return JY901_data.GPSYaw / 10.0;
} // get GPS Yaw, unit: degree(s)
double CJY901::getGPSV()
{
if (i2cmode)
JY901_data.GPSVelocity = (wiringPiI2CReadReg16(fd, JY901_GPSVH) << 16) + wiringPiI2CReadReg16(fd, JY901_GPSVL);
return JY901_data.GPSVelocity / 1000.0;
} // get GPS Velocity, unit: kilometers per hour
double CJY901::getQuater(const char* str)
{
if (strcmp(str, "q0") == 0) {
if (i2cmode)
JY901_data.quater.q0 = wiringPiI2CReadReg16(fd, JY901_Q0);
return JY901_data.quater.q0; // get q0
}
if (strcmp(str, "q1") == 0) {
if (i2cmode)
JY901_data.quater.q1 = wiringPiI2CReadReg16(fd, JY901_Q1);
return JY901_data.quater.q1; // get q1
}
if (strcmp(str, "q2") == 0) {
if (i2cmode)
JY901_data.quater.q2 = wiringPiI2CReadReg16(fd, JY901_Q2);
return JY901_data.quater.q2; // get q2
}
if (strcmp(str, "q3") == 0) {
if (i2cmode)
JY901_data.quater.q3 = wiringPiI2CReadReg16(fd, JY901_Q3);
return JY901_data.quater.q3; // get q3
}
return 0;
} // getQuater()
/* double CJY901::getDOP(const char* str) */
/* { */
/* if (strcmp(str, "sn") == 0) { */
/* return JY901_data.GPS_DOP.sn; // get number of satellites */
/* } */
/* if (strcmp(str, "pdop") == 0) { */
/* return JY901_data.GPS_DOP.pdop; // get PDOP */
/* } */
/* if (strcmp(str, "hdop") == 0) { */
/* return JY901_data.GPS_DOP.hdop; // get HDOP */
/* } */
/* if (strcmp(str, "vdop") == 0) { */
/* return JY901_data.GPS_DOP.vdop; // get VDOP */
/* } */
/* return 0; */
/* } // getDOP() */
milliseconds CJY901::getLastTime()
{
return lastTime;
} // get last receive time
/* ----------------- Get Raw data if needed ----------------- */
short CJY901::getAccRawX()
{
if (i2cmode)
JY901_data.acc.x = wiringPiI2CReadReg16(fd, JY901_AX);
return JY901_data.acc.x;
}
short CJY901::getAccRawY()
{
if (i2cmode)
JY901_data.acc.y = wiringPiI2CReadReg16(fd, JY901_AY);
return JY901_data.acc.y;
}
short CJY901::getAccRawZ()
{
if (i2cmode)
JY901_data.acc.z = wiringPiI2CReadReg16(fd, JY901_AZ);
return JY901_data.acc.z;
}
short CJY901::getGyroRawX()
{
if (i2cmode)
JY901_data.gyro.y = wiringPiI2CReadReg16(fd, JY901_GX);
return JY901_data.gyro.x;
}
short CJY901::getGyroRawY()
{
if (i2cmode)
JY901_data.gyro.y = wiringPiI2CReadReg16(fd, JY901_GY);
return JY901_data.gyro.y;
}
short CJY901::getGyroRawZ()
{
if (i2cmode)
JY901_data.gyro.z = wiringPiI2CReadReg16(fd, JY901_GZ);
return JY901_data.gyro.z;
}
short CJY901::getMagRawX()
{
if (i2cmode)
JY901_data.mag.x = wiringPiI2CReadReg16(fd, JY901_HX);
return JY901_data.mag.x;
}
short CJY901::getMagRawY()
{
if (i2cmode)
JY901_data.mag.x = wiringPiI2CReadReg16(fd, JY901_HY);
return JY901_data.mag.y;
}
short CJY901::getMagRawZ()
{
if (i2cmode)
JY901_data.mag.x = wiringPiI2CReadReg16(fd, JY901_HZ);
return JY901_data.mag.z;
}
/* ----------------- Raw data Functions end ----------------- */
/* ------------ (Host --> JY901) functions ------------ */
void CJY901::saveConf(char saveFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_SAVE, saveFlag };
writeI2CData(cmd,2);
} else {
JY901_SAVECONF[3] = saveFlag;
writeSerialData(JY901_SAVECONF, 5);
}
} // save configuration
void CJY901::setCali(char caliFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_CALSW, caliFlag };
writeI2CData(cmd,2);
} else {
JY901_SETCALI[3] = caliFlag;
writeSerialData(JY901_SETCALI, 5);
}
} // calibration mode
void CJY901::setDir(char dirFlag) // NOTE: no equivalent for i2c
{
JY901_INSTALL[3] = dirFlag;
writeSerialData(JY901_INSTALL, 5);
} // set install direction
void CJY901::enterHiber() // NOTE: no equivalent for i2c
{
writeSerialData(JY901_SLEEP, 5);
} // enter hibernation mode, send again to wake
void CJY901::changeALG(char algFlag) // note: no equivalent for i2c
{
JY901_ALGAXIS[3] = algFlag;
writeSerialData(JY901_ALGAXIS, 5);
} // change algorithm
void CJY901::autoCaliGyro(char gyroFlag) // note: no equivalent for i2c
{
if (i2cmode) {
char cmd[2] = { JY901_GYROAUTOCALI, gyroFlag };
writeI2CData(cmd,2);
} else {
JY901_GYROAUTO[3] = gyroFlag;
writeSerialData(JY901_GYROAUTO, 5);
}
} // auto gyro calibration
void CJY901::confReport() // note: no equivalent for i2c
{
memcpy(&JY901_RPTCONF[3], &JY901_ctrl.report.confl, 2);
writeSerialData(JY901_RPTCONF, 5);
} // need to write conf to JY901_ctrl.report.conf first
void CJY901::setReportRate(char rateFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_RRATE, rateFlag };
writeI2CData(cmd,2);
} else {
JY901_RPTRT[3] = rateFlag;
writeSerialData(JY901_RPTRT, 5);
}
}
void CJY901::setBaudRate(char baudFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_RRATE, baudFlag };
writeI2CData(cmd,2);
} else {
JY901_BAUDRT[3] = baudFlag;
writeSerialData(JY901_BAUDRT, 5);
}
}
/* ------To avoid negative value been changed, please use --------- */
/* ------------------- memcpy() to set value of ------------------- */
/* --- JY901_ctrl.aoffset JY901_ctrl.goffset JY901_ctrl.hoffset --- */
/* ----------- For more please read the example folder ------------ */
void CJY901::setAXoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_AXOFFSET, JY901_ctrl.aoffset.xl, JY901_ctrl.aoffset.xh };
writeI2CData(cmd,2);
} else {
memcpy(&JY901_AXOFF[3], &JY901_ctrl.aoffset.xl, 2);
writeSerialData(JY901_AXOFF, 5);
}
}
void CJY901::setAYoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_AYOFFSET, JY901_ctrl.aoffset.yl, JY901_ctrl.aoffset.yh };
writeI2CData(cmd,2);
} else {
memcpy(&JY901_AYOFF[3], &JY901_ctrl.aoffset.yl, 2);
writeSerialData(JY901_AYOFF, 5);
}
}
void CJY901::setAZoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_AZOFFSET, JY901_ctrl.aoffset.zl, JY901_ctrl.aoffset.zh };
writeI2CData(cmd,2);
} else {
memcpy(&JY901_AZOFF[3], &JY901_ctrl.aoffset.zl, 2);
writeSerialData(JY901_AZOFF, 5);
}
}
void CJY901::setGXoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_GXOFFSET, JY901_ctrl.goffset.xl, JY901_ctrl.goffset.xh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_GXOFF[3], &JY901_ctrl.goffset.xl, 2);
writeSerialData(JY901_GXOFF, 5);
}
}
void CJY901::setGYoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_GYOFFSET, JY901_ctrl.goffset.yl, JY901_ctrl.goffset.yh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_GYOFF[3], &JY901_ctrl.goffset.yl, 2);
writeSerialData(JY901_GYOFF, 5);
}
}
void CJY901::setGZoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_GZOFFSET, JY901_ctrl.goffset.zl, JY901_ctrl.goffset.zh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_GZOFF[3], &JY901_ctrl.goffset.zl, 2);
writeSerialData(JY901_GZOFF, 5);
}
}
void CJY901::setHXoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_HXOFFSET, JY901_ctrl.hoffset.xl, JY901_ctrl.hoffset.xh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_HXOFF[3], &JY901_ctrl.hoffset.xl, 2);
writeSerialData(JY901_HXOFF, 5);
}
}
void CJY901::setHYoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_HYOFFSET, JY901_ctrl.hoffset.yl, JY901_ctrl.hoffset.yh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_HYOFF[3], &JY901_ctrl.hoffset.yl, 2);
writeSerialData(JY901_HYOFF, 5);
}
}
void CJY901::setHZoffset()
{
if (i2cmode) {
char cmd[3] = { JY901_HZOFFSET, JY901_ctrl.hoffset.zl, JY901_ctrl.hoffset.zh };
writeI2CData(cmd,3);
} else {
memcpy(&JY901_HZOFF[3], &JY901_ctrl.hoffset.zl, 2);
writeSerialData(JY901_HZOFF, 5);
}
}
void CJY901::setD0mode(char modeFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_D0MODE, modeFlag };
writeI2CData(cmd,2);
} else {
JY901_D0MODECONF[3] = modeFlag;
writeSerialData(JY901_D0MODECONF, 5);
}
}
void CJY901::setD1mode(char modeFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_D1MODE, modeFlag };
writeI2CData(cmd,2);
} else {
JY901_D1MODECONF[3] = modeFlag;
writeSerialData(JY901_D1MODECONF, 5);
}
}
void CJY901::setD2mode(char modeFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_D1MODE, modeFlag };
writeI2CData(cmd,2);
} else {
JY901_D2MODECONF[3] = modeFlag;
writeSerialData(JY901_D2MODECONF, 5);
}
}
void CJY901::setD3mode(char modeFlag)
{
if (i2cmode) {
char cmd[2] = { JY901_D1MODE, modeFlag };
writeI2CData(cmd,2);
} else {
JY901_D3MODECONF[3] = modeFlag;
writeSerialData(JY901_D3MODECONF, 5);
}
}
void CJY901::setD0PWMH()
{
// JY901_D0PWMH
memcpy(&JY901_D0PWMHCONF[3], &JY901_ctrl.pwmh.d0l, 2);
writeSerialData(JY901_D0PWMHCONF, 5);
}
void CJY901::setD1PWMH()
{
memcpy(&JY901_D1PWMHCONF[3], &JY901_ctrl.pwmh.d1l, 2);
writeSerialData(JY901_D1PWMHCONF, 5);
}
void CJY901::setD2PWMH()
{
memcpy(&JY901_D2PWMHCONF[3], &JY901_ctrl.pwmh.d2l, 2);
writeSerialData(JY901_D2PWMHCONF, 5);
}
void CJY901::setD3PWMH()
{
memcpy(&JY901_D3PWMHCONF[3], &JY901_ctrl.pwmh.d3l, 2);
writeSerialData(JY901_D3PWMHCONF, 5);
}
void CJY901::setD0PWMT()
{
memcpy(&JY901_D0PWMTCONF[3], &JY901_ctrl.pwmt.d0l, 2);
writeSerialData(JY901_D0PWMTCONF, 5);
}
void CJY901::setD1PWMT()
{
memcpy(&JY901_D1PWMTCONF[3], &JY901_ctrl.pwmt.d1l, 2);
writeSerialData(JY901_D1PWMTCONF, 5);
}
void CJY901::setD2PWMT()
{
memcpy(&JY901_D2PWMTCONF[3], &JY901_ctrl.pwmt.d2l, 2);
writeSerialData(JY901_D2PWMTCONF, 5);
}
void CJY901::setD3PWMT()
{
memcpy(&JY901_D3PWMTCONF[3], &JY901_ctrl.pwmt.d3l, 2);
writeSerialData(JY901_D3PWMTCONF, 5);
}
void CJY901::setIICaddr(int addrFlag)
{
JY901_IICADDRESS[3] = addrFlag;
writeSerialData(JY901_IICADDRESS, 5);
}
void CJY901::turnLED(int ledFlag)
{
JY901_LED[3] = ledFlag;
writeSerialData(JY901_LED, 5);
}
void CJY901::setGPSrate(int gpsFlag)
{
JY901_GPSBAUDRATE[3] = gpsFlag;
writeSerialData(JY901_GPSBAUDRATE, 5);
}