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LART-PC
committed
added a few more
1 parent 9bee92a commit d6cdb88

2 files changed

Lines changed: 253 additions & 27 deletions

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‎DataDBC.dbc‎

Lines changed: 26 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -45,33 +45,33 @@ BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
4545
SG_ NewSignal_0031 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
4646
SG_ NewSignal_0052 : 56|8@1+ (1,0) [0|0] "" Vector__XXX
4747

48-
BO_ 32 VCU_: 8 VCU
48+
BO_ 256 VCU_: 8 VCU
4949
SG_ APPS : 0|8@1+ (1,0) [0|100] "%" Vector__XXX
5050
SG_ BPS : 8|8@1+ (1,0) [0|0] "BAR" Vector__XXX
5151
SG_ TRGT_Power : 16|24@1+ (1,0) [0|85000] "W" Vector__XXX
5252
SG_ CNSM_Power : 40|24@1+ (1,0) [0|85000] "W" Vector__XXX
5353

54-
BO_ 33 VCU_1: 8 VCU
54+
BO_ 257 VCU_1: 8 VCU
5555
SG_ INV_Temperature : 0|16@1+ (1,40) [0|300] "�C" Vector__XXX
5656
SG_ Motor_Temperature : 16|16@1+ (1,40) [0|100] "�C" Vector__XXX
5757
SG_ BMS_Voltage : 40|16@1+ (1,0) [0|0] "" Vector__XXX
5858
SG_ SOC_HV : 56|8@1+ (1,0) [0|0] "" Vector__XXX
5959

60-
BO_ 34 VCU_2: 8 VCU
60+
BO_ 258 VCU_2: 8 VCU
6161
SG_ INV_Faults : 0|16@1+ (1,0) [0|255] "" Vector__XXX
6262
SG_ LMT1 : 16|8@1+ (1,0) [0|1] "" Vector__XXX
6363
SG_ LMT2 : 24|8@1+ (1,0) [0|1] "" Vector__XXX
6464
SG_ VCU_State : 32|8@1+ (1,0) [0|1] "" Vector__XXX
6565
SG_ APPS_Error : 40|8@1+ (1,0) [0|1] "" Vector__XXX
6666
SG_ Power_Plan : 48|8@1+ (1,0) [0|5] "" Vector__XXX
6767

68-
BO_ 35 VCU_3: 8 VCU
68+
BO_ 259 VCU_3: 8 VCU
6969
SG_ INV_Voltage : 0|16@1+ (1,0) [0|620] "V" Vector__XXX
7070
SG_ RPM : 16|16@1+ (1,0) [0|7000] "RPM" Vector__XXX
7171
SG_ IGN : 32|8@1+ (1,0) [0|1] "" Vector__XXX
7272
SG_ R2D : 40|8@1+ (1,0) [0|1] "" Vector__XXX
7373

74-
BO_ 36 VCU_4: 8 VCU
74+
BO_ 260 VCU_4: 8 VCU
7575
SG_ TCU_State : 0|8@1+ (1,0) [0|0] "" Vector__XXX
7676
SG_ ACU_State : 8|8@1+ (1,0) [0|0] "" Vector__XXX
7777
SG_ ALC_State : 16|8@1+ (1,0) [0|0] "" Vector__XXX
@@ -112,33 +112,33 @@ BO_ 384 DataLogger: 8 DataLogger
112112
SG_ DL_state : 0|8@1+ (1,0) [0|1] "" Vector__XXX
113113
SG_ Recording_State : 8|8@1+ (1,0) [0|1] "" Vector__XXX
114114

115-
BO_ 105 PDM: 8 Vector__XXX
115+
BO_ 105 PDM: 8 PDM
116116
SG_ LV_Voltage : 0|16@1+ (0.1,0) [0|30] "V" Vector__XXX
117117

118-
BO_ 37 VCU_5: 1 Vector__XXX
118+
BO_ 261 VCU_5: 1 VCU
119119
SG_ brake_pressure_front : 0|8@1+ (0,0) [0|0] "Bar" Vector__XXX
120120

121121

122122

123-
CM_ SG_ 32 APPS "Accelerator_Pedal_Position_Sense";
124-
CM_ SG_ 32 BPS "Brake_Pressure";
125-
CM_ SG_ 32 TRGT_Power "Target_Power";
126-
CM_ SG_ 32 CNSM_Power "Current Consumed Power";
127-
CM_ SG_ 33 INV_Temperature "Inverter_Temperature";
128-
CM_ SG_ 33 Motor_Temperature "Motor_Temperature";
129-
CM_ SG_ 33 BMS_Voltage "bms_voltage";
130-
CM_ SG_ 33 SOC_HV "SOC_HV";
131-
CM_ SG_ 34 INV_Faults "INVERSOR_ERROR";
132-
CM_ SG_ 34 LMT1 "RPM_Power_Limit";
133-
CM_ SG_ 34 LMT2 "Current_Limit_Motor_Temp";
134-
CM_ SG_ 34 VCU_State "VCU_State";
135-
CM_ SG_ 34 APPS_Error "APPS_Error";
136-
CM_ SG_ 34 Power_Plan "Power_Plan_Switch_Volante";
137-
CM_ SG_ 35 INV_Voltage "DC_Link_Inverter_Voltage";
138-
CM_ SG_ 35 RPM "RPM";
139-
CM_ SG_ 35 IGN "Ignition";
140-
CM_ SG_ 35 R2D "Ready to drive";
141-
CM_ SG_ 36 TCU_State "";
123+
CM_ SG_ 256 APPS "Accelerator_Pedal_Position_Sense";
124+
CM_ SG_ 256 BPS "Brake_Pressure";
125+
CM_ SG_ 256 TRGT_Power "Target_Power";
126+
CM_ SG_ 256 CNSM_Power "Current Consumed Power";
127+
CM_ SG_ 257 INV_Temperature "Inverter_Temperature";
128+
CM_ SG_ 257 Motor_Temperature "Motor_Temperature";
129+
CM_ SG_ 257 BMS_Voltage "bms_voltage";
130+
CM_ SG_ 257 SOC_HV "SOC_HV";
131+
CM_ SG_ 258 INV_Faults "INVERSOR_ERROR";
132+
CM_ SG_ 258 LMT1 "RPM_Power_Limit";
133+
CM_ SG_ 258 LMT2 "Current_Limit_Motor_Temp";
134+
CM_ SG_ 258 VCU_State "VCU_State";
135+
CM_ SG_ 258 APPS_Error "APPS_Error";
136+
CM_ SG_ 258 Power_Plan "Power_Plan_Switch_Volante";
137+
CM_ SG_ 259 INV_Voltage "DC_Link_Inverter_Voltage";
138+
CM_ SG_ 259 RPM "RPM";
139+
CM_ SG_ 259 IGN "Ignition";
140+
CM_ SG_ 259 R2D "Ready to drive";
141+
CM_ SG_ 260 TCU_State "";
142142
CM_ SG_ 96 AccelX_int "X Acceleration Integer (/100 para int,dec)";
143143
CM_ SG_ 96 AccelY_dec "Y Acceleration Integer (/100 para int,dec)";
144144
CM_ SG_ 96 AccelZ_int "Z Acceleration Integer (/100 para int,dec)";
@@ -163,4 +163,3 @@ CM_ SG_ 160 FL_PC "FL_Pulse_Count";
163163
CM_ SG_ 160 DY_ST "DY ST";
164164
CM_ SG_ 105 LV_Voltage "Perdu � gay";
165165

166-

‎xsens.dbc‎

Lines changed: 227 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,227 @@
1+
VERSION "12Mar2025"
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3+
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NS_ :
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NS_DESC_
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CM_
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BA_DEF_
8+
BA_
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VAL_
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CAT_DEF_
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CAT_
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FILTER
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BA_DEF_DEF_
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EV_DATA_
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ENVVAR_DATA_
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SGTYPE_
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SGTYPE_VAL_
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BA_DEF_SGTYPE_
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BA_SGTYPE_
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SIG_TYPE_REF_
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VAL_TABLE_
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SIG_GROUP_
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SIG_VALTYPE_
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SIGTYPE_VALTYPE_
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BO_TX_BU_
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BA_DEF_REL_
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BA_REL_
28+
BA_DEF_DEF_REL_
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BU_SG_REL_
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BU_EV_REL_
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BU_BO_REL_
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SG_MUL_VAL_
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34+
BS_:
35+
36+
BU_: Xsens_Sensor
37+
38+
39+
BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
40+
SG_ NewSignal_0016 : 0|8@1+ (1,0) [0|0] "" Vector__XXX
41+
42+
BO_ 1 Error: 1 Xsens_Sensor
43+
44+
BO_ 2 Warning: 1 Xsens_Sensor
45+
SG_ WarningCode : 7|8@0+ (1,0) [0|0] "" Vector__XXX
46+
47+
BO_ 5 SampleTime: 4 Xsens_Sensor
48+
SG_ Timestamp : 7|32@0+ (1,0) [0|0] "us" Vector__XXX
49+
50+
BO_ 6 GroupCounter: 2 Xsens_Sensor
51+
SG_ Counter : 7|16@0+ (1,0) [0|0] "" Vector__XXX
52+
53+
BO_ 17 StatusWord: 4 Xsens_Sensor
54+
SG_ SelfTestOk : 24|1@1+ (1,0) [0|1] "" Vector__XXX
55+
SG_ OrientationValid : 25|1@1+ (1,0) [0|1] "" Vector__XXX
56+
SG_ GpsValid : 26|1@1+ (1,0) [0|1] "" Vector__XXX
57+
SG_ NoRotation : 28|2@0+ (1,0) [0|3] "" Vector__XXX
58+
SG_ RepresentativeMotion : 29|1@1+ (1,0) [0|1] "" Vector__XXX
59+
SG_ ExternalClockSynced : 30|1@1+ (1,0) [0|1] "" Vector__XXX
60+
SG_ ClipAccX : 16|1@1+ (1,0) [0|1] "" Vector__XXX
61+
SG_ ClipAccY : 17|1@1+ (1,0) [0|1] "" Vector__XXX
62+
SG_ ClipAccZ : 18|1@1+ (1,0) [0|1] "" Vector__XXX
63+
SG_ ClipGyrX : 19|1@1+ (1,0) [0|1] "" Vector__XXX
64+
SG_ ClipGyrY : 20|1@1+ (1,0) [0|1] "" Vector__XXX
65+
SG_ ClipGyrZ : 21|1@1+ (1,0) [0|1] "" Vector__XXX
66+
SG_ ClipMagX : 22|1@1+ (1,0) [0|1] "" Vector__XXX
67+
SG_ ClipMagY : 23|1@1+ (1,0) [0|1] "" Vector__XXX
68+
SG_ ClipMagZ : 8|1@1+ (1,0) [0|1] "" Vector__XXX
69+
SG_ Retransmitted : 10|1@1+ (1,0) [0|1] "" Vector__XXX
70+
SG_ ClippingDetected : 11|1@1+ (1,0) [0|1] "" Vector__XXX
71+
SG_ Interpolated : 12|1@1+ (1,0) [0|1] "" Vector__XXX
72+
SG_ SyncIn : 13|1@1+ (1,0) [0|1] "" Vector__XXX
73+
SG_ SyncOut : 14|1@1+ (1,0) [0|1] "" Vector__XXX
74+
SG_ FilterMode : 1|3@0+ (1,0) [0|1] "" Vector__XXX
75+
SG_ HaveGnssTimePulse : 2|1@1+ (1,0) [0|1] "" Vector__XXX
76+
SG_ RtkStatus : 4|2@0+ (1,0) [0|1] "" Vector__XXX
77+
78+
BO_ 33 Quaternion: 8 Xsens_Sensor
79+
SG_ Q0 : 7|16@0- (3.0517578125e-05,0) [-1|1] "" Vector__XXX
80+
SG_ Q1 : 23|16@0- (3.0517578125e-05,0) [-1|1] "" Vector__XXX
81+
SG_ Q2 : 39|16@0- (3.0517578125e-05,0) [-1|1] "" Vector__XXX
82+
SG_ Q3 : 55|16@0- (3.0517578125e-05,0) [-1|1] "" Vector__XXX
83+
84+
BO_ 49 DeltaV: 7 Xsens_Sensor
85+
SG_ X : 7|16@0- (7.6293945313e-06,0) [-0.25|0.25] "m/s" Vector__XXX
86+
SG_ Y : 23|16@0- (7.6293945313e-06,0) [-0.25|0.25] "m/s" Vector__XXX
87+
SG_ Z : 39|16@0- (7.6293945313e-06,0) [-0.25|0.25] "m/s" Vector__XXX
88+
SG_ Exponent : 55|8@0+ (1,0) [0|0] "" Vector__XXX
89+
90+
BO_ 50 RateOfTurn: 6 Xsens_Sensor
91+
SG_ gyrX : 7|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
92+
SG_ gyrY : 23|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
93+
SG_ gyrZ : 39|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
94+
95+
BO_ 51 DeltaQ: 8 Xsens_Sensor
96+
SG_ DeltaQ1 : 7|16@0- (3.0518509476e-05,0) [-1|1] "m/s²" Vector__XXX
97+
SG_ DeltaQ2 : 23|16@0- (3.0518509476e-05,0) [-1|1] "m/s²" Vector__XXX
98+
SG_ DeltaQ3 : 39|16@0- (3.0518509476e-05,0) [-1|1] "m/s²" Vector__XXX
99+
SG_ DeltaQ4 : 55|16@0- (3.0518509476e-05,0) [-1|1] "m/s²" Vector__XXX
100+
101+
BO_ 52 Acceleration: 6 Xsens_Sensor
102+
SG_ accX : 7|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
103+
SG_ accY : 23|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
104+
SG_ accZ : 39|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
105+
106+
BO_ 53 FreeAcceleration: 6 Xsens_Sensor
107+
SG_ FreeAccX : 7|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
108+
SG_ FreeAccY : 23|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
109+
SG_ FreeAccZ : 39|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
110+
111+
BO_ 97 RateOfTurnHR: 6 Xsens_Sensor
112+
SG_ HrGyrX : 7|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
113+
SG_ HrGyrY : 23|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
114+
SG_ HrGyrZ : 39|16@0- (0.001953125,0) [0|0] "rad/s" Vector__XXX
115+
116+
BO_ 98 AccelerationHR: 6 Xsens_Sensor
117+
SG_ HrAccX : 7|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
118+
SG_ HrAccY : 23|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
119+
SG_ HrAccZ : 39|16@0- (0.00390625,0) [-100|100] "m/s²" Vector__XXX
120+
121+
BO_ 65 MagneticField: 6 Xsens_Sensor
122+
SG_ magX : 7|16@0- (0.0009765625,0) [-32|32] "a.u." Vector__XXX
123+
SG_ magY : 23|16@0- (0.0009765625,0) [-32|32] "a.u" Vector__XXX
124+
SG_ magZ : 39|16@0- (0.0009765625,0) [-32|32] "a.u" Vector__XXX
125+
126+
BO_ 81 Temperature: 2 Xsens_Sensor
127+
SG_ Temperature : 7|16@0- (0.00390625,0) [-40|85] "degC" Vector__XXX
128+
129+
BO_ 82 BarometricPressure: 4 Xsens_Sensor
130+
SG_ Pressure : 7|32@0- (1,0) [30000|125000] "Pa" Vector__XXX
131+
132+
BO_ 7 UTC: 8 Xsens_Sensor
133+
SG_ year : 7|8@0+ (1,0) [0|0] "Y" Vector__XXX
134+
SG_ month : 15|8@0+ (1,0) [1|12] "M" Vector__XXX
135+
SG_ day : 23|8@0+ (1,0) [1|31] "D" Vector__XXX
136+
SG_ hour : 31|8@0+ (1,0) [0|24] "h" Vector__XXX
137+
SG_ minute : 39|8@0+ (1,0) [0|60] "m" Vector__XXX
138+
SG_ second : 47|8@0+ (1,0) [0|60] "s" Vector__XXX
139+
SG_ tenthms : 55|16@0+ (1,0) [0|0] "ms/10" Vector__XXX
140+
141+
BO_ 34 EulerAngles: 6 Xsens_Sensor
142+
SG_ roll : 7|16@0- (0.0078125,0) [-180|180] "deg" Vector__XXX
143+
SG_ pitch : 23|16@0- (0.0078125,0) [-90|90] "deg" Vector__XXX
144+
SG_ yaw : 39|16@0- (0.0078125,0) [-180|180] "deg" Vector__XXX
145+
146+
BO_ 113 LatLon: 8 Xsens_Sensor
147+
SG_ latitude : 7|32@0- (5.9604644775e-08,0) [-90|90] "deg" Vector__XXX
148+
SG_ longitude : 39|32@0- (1.1920928955e-07,0) [-180|180] "deg" Vector__XXX
149+
150+
BO_ 114 AltitudeEllipsoid: 4 Xsens_Sensor
151+
SG_ altEllipsoid : 7|32@0+ (3.0517578125e-05,0) [0|50000] "m" Vector__XXX
152+
153+
BO_ 115 PositionEcef_X: 4 Xsens_Sensor
154+
SG_ PositionEcef_X : 7|32@0- (0.00390625,0) [-6500000|6500000] "m" Vector__XXX
155+
156+
BO_ 116 PositionEcef_Y: 4 Xsens_Sensor
157+
SG_ PositionEcef_Y : 7|32@0- (0.00390625,0) [-6500000|6500000] "m" Vector__XXX
158+
159+
BO_ 117 PositionEcef_Z: 4 Xsens_Sensor
160+
SG_ PositionEcef_Z : 7|32@0- (0.00390625,0) [-6500000|6500000] "m" Vector__XXX
161+
162+
BO_ 118 Velocity: 6 Xsens_Sensor
163+
SG_ velX : 7|16@0- (0.015625,0) [-500|500] "m/s" Vector__XXX
164+
SG_ velY : 23|16@0- (0.015625,0) [-500|500] "m/s" Vector__XXX
165+
SG_ velZ : 39|16@0- (0.015625,0) [-500|500] "m/s" Vector__XXX
166+
167+
BO_ 121 GnssReceiverStatus: 5 Xsens_Sensor
168+
SG_ fixType : 7|8@0+ (1,0) [0|5] "" Vector__XXX
169+
SG_ numSv : 15|8@0+ (1,0) [0|255] "" Vector__XXX
170+
SG_ flags : 23|8@0+ (1,0) [0|255] "" Vector__XXX
171+
SG_ valid : 31|8@0+ (1,0) [0|255] "" Vector__XXX
172+
SG_ numSvs : 39|8@0+ (1,0) [0|255] "" Vector__XXX
173+
174+
BO_ 122 GnssReceiverDop: 8 Xsens_Sensor
175+
SG_ pdop : 7|16@0+ (0.01,0) [0|100] "" Vector__XXX
176+
SG_ tdop : 23|16@0+ (0.01,0) [0|100] "" Vector__XXX
177+
SG_ vdop : 39|16@0+ (0.01,0) [0|100] "" Vector__XXX
178+
SG_ hdop : 55|16@0+ (0.01,0) [0|100] "" Vector__XXX
179+
180+
CM_ BU_ Xsens_Sensor "Generic Xsens Motion Sensor";
181+
CM_ SG_ 17 SelfTestOk "Set when the self test result was ok";
182+
CM_ SG_ 17 OrientationValid "Set when the computed orientation is valid. The orientation may be invalid during startup or when the Xsens_Sensor data is clipping during violent (for the device) motion";
183+
CM_ SG_ 17 GpsValid "Set when the device has a GPS receiver and the receiver says that there is a GPS position fix.";
184+
CM_ SG_ 17 RepresentativeMotion "Indicates if the In-Run Compass Calibration is doing the representative motion analysis";
185+
CM_ SG_ 17 ExternalClockSynced "Indicates whether the internal clock is synced with an external clock (Either GNNS or custom provided clock sync)";
186+
CM_ SG_ 17 ClipAccX "Indicates if there was clipping on the X-axis of the accelerometer";
187+
CM_ SG_ 17 ClipAccY "Indicates if there was clipping on the Y-axis of the accelerometer";
188+
CM_ SG_ 17 ClipAccZ "Indicates if there was clipping on the Z-axis of the accelerometer";
189+
CM_ SG_ 17 ClipGyrX "Indicates if there was clipping on the X-axis of the gyroscope";
190+
CM_ SG_ 17 ClipGyrY "Indicates if there was clipping on the Y-axis of the gyroscope";
191+
CM_ SG_ 17 ClipGyrZ "Indicates if there was clipping on the Z-axis of the gyroscope";
192+
CM_ SG_ 17 ClipMagX "Indicates if there was clipping on the X-axis of the magnetometer";
193+
CM_ SG_ 17 ClipMagY "Indicates if there was clipping on the Y-axis of the magnetometer";
194+
CM_ SG_ 17 ClipMagZ "Indicates if there was clipping on the Z-axis of the magnetometer";
195+
CM_ SG_ 17 Retransmitted "When set Indicates the sample was received as a retransmission";
196+
CM_ SG_ 17 ClippingDetected "When set Indicates clipping has occurred";
197+
CM_ SG_ 17 Interpolated "When set Indicates the sample is an interpolation between other samples";
198+
CM_ SG_ 17 SyncIn "When set indicates a sync-in event has been triggered";
199+
CM_ SG_ 17 SyncOut "When set Indicates a sync-out event has been generated";
200+
CM_ SG_ 17 FilterMode "Mask for the 3 bit filter mode field";
201+
CM_ SG_ 17 HaveGnssTimePulse "Indicates that the 1PPS GNSS time pulse is present";
202+
CM_ SG_ 17 RtkStatus "Mask for 2 bit RTK status field";
203+
CM_ BO_ 7 "UTC Time in the following format YYMMDDhhmmss plus tenth of a milli second";
204+
VAL_ 17 SelfTestOk 0 "false" 1 "true" ;
205+
VAL_ 17 OrientationValid 0 "false" 1 "true" ;
206+
VAL_ 17 GpsValid 0 "false" 1 "true" ;
207+
VAL_ 17 NoRotation 1 "Aborted" 2 "SamplesRejected" 3 "RunningNormally" ;
208+
VAL_ 17 RepresentativeMotion 0 "false" 1 "true" ;
209+
VAL_ 17 ExternalClockSynced 0 "false" 1 "true" ;
210+
VAL_ 17 ClipAccX 0 "false" 1 "true" ;
211+
VAL_ 17 ClipAccY 0 "false" 1 "true" ;
212+
VAL_ 17 ClipAccZ 0 "false" 1 "true" ;
213+
VAL_ 17 ClipGyrX 0 "false" 1 "true" ;
214+
VAL_ 17 ClipGyrY 0 "false" 1 "true" ;
215+
VAL_ 17 ClipGyrZ 0 "false" 1 "true" ;
216+
VAL_ 17 ClipMagX 0 "false" 1 "true" ;
217+
VAL_ 17 ClipMagY 0 "false" 1 "true" ;
218+
VAL_ 17 ClipMagZ 0 "false" 1 "true" ;
219+
VAL_ 17 Retransmitted 0 "false" 1 "true" ;
220+
VAL_ 17 ClippingDetected 0 "false" 1 "true" ;
221+
VAL_ 17 Interpolated 0 "false" 1 "true" ;
222+
VAL_ 17 SyncIn 0 "false" 1 "true" ;
223+
VAL_ 17 SyncOut 0 "false" 1 "true" ;
224+
VAL_ 17 FilterMode 0 "false" 1 "true" ;
225+
VAL_ 17 HaveGnssTimePulse 0 "false" 1 "true" ;
226+
VAL_ 17 RtkStatus 0 "No RTK" 1 "RTK floating" 2 "RTK fixed" ;
227+

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