diff options
| author | Aurelien Jarno <aurelien@aurel32.net> | 2022-07-02 16:18:24 +0200 |
|---|---|---|
| committer | Aurelien Jarno <aurelien@aurel32.net> | 2022-07-02 16:18:24 +0200 |
| commit | 8224b989bac3cfbad8ef587e2513cb2ef62249b5 (patch) | |
| tree | d414f71f773d294176e05aa0ef4f68c8e04b825c /software | |
| download | traffic-light-8224b989bac3cfbad8ef587e2513cb2ef62249b5.tar.gz | |
Initial import
Diffstat (limited to 'software')
| -rw-r--r-- | software/COPYING | 339 | ||||
| -rw-r--r-- | software/Makefile | 55 | ||||
| -rw-r--r-- | software/main.c | 291 |
3 files changed, 685 insertions, 0 deletions
diff --git a/software/COPYING b/software/COPYING new file mode 100644 index 0000000..d159169 --- /dev/null +++ b/software/COPYING @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. By contrast, the GNU General Public +License is intended to guarantee your freedom to share and change free +software--to make sure the software is free for all its users. This +General Public License applies to most of the Free Software +Foundation's software and to any other program whose authors commit to +using it. (Some other Free Software Foundation software is covered by +the GNU Lesser General Public License instead.) You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +this service if you wish), that you receive source code or can get it +if you want it, that you can change the software or use pieces of it +in new free programs; and that you know you can do these things. + + To protect your rights, we need to make restrictions that forbid +anyone to deny you these rights or to ask you to surrender the rights. +These restrictions translate to certain responsibilities for you if you +distribute copies of the software, or if you modify it. + + For example, if you distribute copies of such a program, whether +gratis or for a fee, you must give the recipients all the rights that +you have. You must make sure that they, too, receive or can get the +source code. And you must show them these terms so they know their +rights. + + We protect your rights with two steps: (1) copyright the software, and +(2) offer you this license which gives you legal permission to copy, +distribute and/or modify the software. + + Also, for each author's protection and ours, we want to make certain +that everyone understands that there is no warranty for this free +software. If the software is modified by someone else and passed on, we +want its recipients to know that what they have is not the original, so +that any problems introduced by others will not reflect on the original +authors' reputations. + + Finally, any free program is threatened constantly by software +patents. We wish to avoid the danger that redistributors of a free +program will individually obtain patent licenses, in effect making the +program proprietary. To prevent this, we have made it clear that any +patent must be licensed for everyone's free use or not licensed at all. + + The precise terms and conditions for copying, distribution and +modification follow. + + GNU GENERAL PUBLIC LICENSE + TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION + + 0. This License applies to any program or other work which contains +a notice placed by the copyright holder saying it may be distributed +under the terms of this General Public License. The "Program", below, +refers to any such program or work, and a "work based on the Program" +means either the Program or any derivative work under copyright law: +that is to say, a work containing the Program or a portion of it, +either verbatim or with modifications and/or translated into another +language. (Hereinafter, translation is included without limitation in +the term "modification".) Each licensee is addressed as "you". + +Activities other than copying, distribution and modification are not +covered by this License; they are outside its scope. The act of +running the Program is not restricted, and the output from the Program +is covered only if its contents constitute a work based on the +Program (independent of having been made by running the Program). +Whether that is true depends on what the Program does. + + 1. You may copy and distribute verbatim copies of the Program's +source code as you receive it, in any medium, provided that you +conspicuously and appropriately publish on each copy an appropriate +copyright notice and disclaimer of warranty; keep intact all the +notices that refer to this License and to the absence of any warranty; +and give any other recipients of the Program a copy of this License +along with the Program. + +You may charge a fee for the physical act of transferring a copy, and +you may at your option offer warranty protection in exchange for a fee. + + 2. You may modify your copy or copies of the Program or any portion +of it, thus forming a work based on the Program, and copy and +distribute such modifications or work under the terms of Section 1 +above, provided that you also meet all of these conditions: + + a) You must cause the modified files to carry prominent notices + stating that you changed the files and the date of any change. + + b) You must cause any work that you distribute or publish, that in + whole or in part contains or is derived from the Program or any + part thereof, to be licensed as a whole at no charge to all third + parties under the terms of this License. + + c) If the modified program normally reads commands interactively + when run, you must cause it, when started running for such + interactive use in the most ordinary way, to print or display an + announcement including an appropriate copyright notice and a + notice that there is no warranty (or else, saying that you provide + a warranty) and that users may redistribute the program under + these conditions, and telling the user how to view a copy of this + License. (Exception: if the Program itself is interactive but + does not normally print such an announcement, your work based on + the Program is not required to print an announcement.) + +These requirements apply to the modified work as a whole. If +identifiable sections of that work are not derived from the Program, +and can be reasonably considered independent and separate works in +themselves, then this License, and its terms, do not apply to those +sections when you distribute them as separate works. But when you +distribute the same sections as part of a whole which is a work based +on the Program, the distribution of the whole must be on the terms of +this License, whose permissions for other licensees extend to the +entire whole, and thus to each and every part regardless of who wrote it. + +Thus, it is not the intent of this section to claim rights or contest +your rights to work written entirely by you; rather, the intent is to +exercise the right to control the distribution of derivative or +collective works based on the Program. + +In addition, mere aggregation of another work not based on the Program +with the Program (or with a work based on the Program) on a volume of +a storage or distribution medium does not bring the other work under +the scope of this License. + + 3. You may copy and distribute the Program (or a work based on it, +under Section 2) in object code or executable form under the terms of +Sections 1 and 2 above provided that you also do one of the following: + + a) Accompany it with the complete corresponding machine-readable + source code, which must be distributed under the terms of Sections + 1 and 2 above on a medium customarily used for software interchange; or, + + b) Accompany it with a written offer, valid for at least three + years, to give any third party, for a charge no more than your + cost of physically performing source distribution, a complete + machine-readable copy of the corresponding source code, to be + distributed under the terms of Sections 1 and 2 above on a medium + customarily used for software interchange; or, + + c) Accompany it with the information you received as to the offer + to distribute corresponding source code. (This alternative is + allowed only for noncommercial distribution and only if you + received the program in object code or executable form with such + an offer, in accord with Subsection b above.) + +The source code for a work means the preferred form of the work for +making modifications to it. For an executable work, complete source +code means all the source code for all modules it contains, plus any +associated interface definition files, plus the scripts used to +control compilation and installation of the executable. However, as a +special exception, the source code distributed need not include +anything that is normally distributed (in either source or binary +form) with the major components (compiler, kernel, and so on) of the +operating system on which the executable runs, unless that component +itself accompanies the executable. + +If distribution of executable or object code is made by offering +access to copy from a designated place, then offering equivalent +access to copy the source code from the same place counts as +distribution of the source code, even though third parties are not +compelled to copy the source along with the object code. + + 4. You may not copy, modify, sublicense, or distribute the Program +except as expressly provided under this License. Any attempt +otherwise to copy, modify, sublicense or distribute the Program is +void, and will automatically terminate your rights under this License. +However, parties who have received copies, or rights, from you under +this License will not have their licenses terminated so long as such +parties remain in full compliance. + + 5. You are not required to accept this License, since you have not +signed it. However, nothing else grants you permission to modify or +distribute the Program or its derivative works. These actions are +prohibited by law if you do not accept this License. Therefore, by +modifying or distributing the Program (or any work based on the +Program), you indicate your acceptance of this License to do so, and +all its terms and conditions for copying, distributing or modifying +the Program or works based on it. + + 6. Each time you redistribute the Program (or any work based on the +Program), the recipient automatically receives a license from the +original licensor to copy, distribute or modify the Program subject to +these terms and conditions. You may not impose any further +restrictions on the recipients' exercise of the rights granted herein. +You are not responsible for enforcing compliance by third parties to +this License. + + 7. If, as a consequence of a court judgment or allegation of patent +infringement or for any other reason (not limited to patent issues), +conditions are imposed on you (whether by court order, agreement or +otherwise) that contradict the conditions of this License, they do not +excuse you from the conditions of this License. If you cannot +distribute so as to satisfy simultaneously your obligations under this +License and any other pertinent obligations, then as a consequence you +may not distribute the Program at all. For example, if a patent +license would not permit royalty-free redistribution of the Program by +all those who receive copies directly or indirectly through you, then +the only way you could satisfy both it and this License would be to +refrain entirely from distribution of the Program. + +If any portion of this section is held invalid or unenforceable under +any particular circumstance, the balance of the section is intended to +apply and the section as a whole is intended to apply in other +circumstances. + +It is not the purpose of this section to induce you to infringe any +patents or other property right claims or to contest validity of any +such claims; this section has the sole purpose of protecting the +integrity of the free software distribution system, which is +implemented by public license practices. Many people have made +generous contributions to the wide range of software distributed +through that system in reliance on consistent application of that +system; it is up to the author/donor to decide if he or she is willing +to distribute software through any other system and a licensee cannot +impose that choice. + +This section is intended to make thoroughly clear what is believed to +be a consequence of the rest of this License. + + 8. If the distribution and/or use of the Program is restricted in +certain countries either by patents or by copyrighted interfaces, the +original copyright holder who places the Program under this License +may add an explicit geographical distribution limitation excluding +those countries, so that distribution is permitted only in or among +countries not thus excluded. In such case, this License incorporates +the limitation as if written in the body of this License. + + 9. The Free Software Foundation may publish revised and/or new versions +of the General Public License from time to time. Such new versions will +be similar in spirit to the present version, but may differ in detail to +address new problems or concerns. + +Each version is given a distinguishing version number. If the Program +specifies a version number of this License which applies to it and "any +later version", you have the option of following the terms and conditions +either of that version or of any later version published by the Free +Software Foundation. If the Program does not specify a version number of +this License, you may choose any version ever published by the Free Software +Foundation. + + 10. If you wish to incorporate parts of the Program into other free +programs whose distribution conditions are different, write to the author +to ask for permission. For software which is copyrighted by the Free +Software Foundation, write to the Free Software Foundation; we sometimes +make exceptions for this. Our decision will be guided by the two goals +of preserving the free status of all derivatives of our free software and +of promoting the sharing and reuse of software generally. + + NO WARRANTY + + 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY +FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN +OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES +PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED +OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS +TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE +PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, +REPAIR OR CORRECTION. + + 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR +REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, +INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING +OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED +TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY +YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER +PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +convey the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + <one line to give the program's name and a brief idea of what it does.> + Copyright (C) <year> <name of author> + + 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 2 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, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + <signature of Ty Coon>, 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/software/Makefile b/software/Makefile new file mode 100644 index 0000000..a30ec88 --- /dev/null +++ b/software/Makefile @@ -0,0 +1,55 @@ +PROG = traffic-light +OBJS = main.o +MCU_TARGET = attiny9 +OPTIMIZE = -Os -fshort-enums + +# You should not have to change anything below here. +CC = avr-gcc + +# Override is only needed by avr-lib build system. +override CFLAGS = -MMD -g -Wall -Wextra $(OPTIMIZE) -mmcu=$(MCU_TARGET) +override LDFLAGS = -Wl,-Map,$(PROG).map,--relax -fwhole-program + +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size + +# Main rule +all: $(PROG).elf lst text size + +.PHONY: all + +# Rules for maintenance +clean: + rm -rf *.o *.d $(PROG).elf *.bak + rm -rf *.lst *.map *.hex *.bin $(EXTRA_CLEAN_FILES) + +.PHONY: clean + +# Rules for building objects +-include *.d + +$(PROG).elf: $(OBJS) + $(CC) $(CFLAGS) $(LDFLAGS) -o $@ $(OBJS) + +size: $(PROG).elf + @avr-size -C --mcu=$(MCU_TARGET) $^ + +# Rules for building the list file +lst: $(PROG).lst + +%.lst: %.elf + $(OBJDUMP) -h -S $< > $@ + +# Rules for building the .text rom images + +text: hex + +hex: $(PROG).hex + +%.hex: %.elf + $(OBJCOPY) -j .text -j .data -j .rodata -O ihex $< $@ + +# Rules for flashing +flash: hex + avrdude -c avrispmkII -p t9 -U flash:w:$(PROG).hex diff --git a/software/main.c b/software/main.c new file mode 100644 index 0000000..5261d34 --- /dev/null +++ b/software/main.c @@ -0,0 +1,291 @@ +/* + * Traffic light + * + * Copyright (C) 2019-2022 Aurelien Jarno + * + * Authors: + * Aurelien Jarno <aurelien@aurel32.net> + * + * This work is licensed under the terms of the GNU GPL, version 2. + * See the COPYING file in the same directory as this file. + */ + +/********************************************************************** + * Global defines * + **********************************************************************/ +/* CPU */ +#define F_CPU 8000000UL /* 8 MHz */ + +/* I/O pins */ +#define BUTTON PB0 /* Also DATA prog */ +#define LED_DATA PB1 /* Also CLK prog */ +#define LED_PWR PB2 +#define RESET PB3 + + +/********************************************************************** + * Includes * + **********************************************************************/ +#include <avr/interrupt.h> +#include <avr/io.h> +#include <avr/pgmspace.h> +#include <avr/sleep.h> +#include <avr/wdt.h> +#include <stdint.h> +#include <util/delay.h> + + +/********************************************************************** + * State machine * + **********************************************************************/ +enum state { + state_off, + state_red, + state_orange, + state_green, + state_blinking_on, + state_blinking_off, +}; + +struct state_desc { + const struct __attribute__((__packed__)) { + uint8_t r; + uint8_t g; + uint8_t b; + } leds[3]; + uint16_t duration; + enum state next; + enum state next_button_short; + enum state next_button_medium; + enum state next_button_long; +}; + +const struct state_desc states_desc[] = { + [state_off] = { + .leds = { + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + }, + .duration = 1, + .next = state_off, + .next_button_short = state_off, + .next_button_medium = state_off, + .next_button_long = state_off, + }, + + [state_green] = { + .leds = { + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x7f, .b = 0x00, }, + }, + .duration = 13000, + .next = state_orange, + .next_button_short = state_orange, + .next_button_medium = state_blinking_on, + .next_button_long = state_off, + }, + [state_orange] = { + .leds = { + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x7f, .g = 0x2f, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + }, + .duration = 1500, + .next = state_red, + .next_button_short = state_red, + .next_button_medium = state_blinking_on, + .next_button_long = state_off, + }, + [state_red] = { + .leds = { + { .r = 0x7f, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + }, + .duration = 15000, + .next = state_green, + .next_button_short = state_green, + .next_button_medium = state_blinking_on, + .next_button_long = state_off, + }, + + [state_blinking_on] = { + .leds = { + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x7f, .g = 0x2f, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + }, + .duration = 500, + .next = state_blinking_off, + .next_button_short = state_blinking_off, + .next_button_medium = state_red, + .next_button_long = state_off, + }, + [state_blinking_off] = { + .leds = { + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + { .r = 0x00, .g = 0x00, .b = 0x00, }, + }, + .duration = 500, + .next = state_blinking_on, + .next_button_short = state_blinking_on, + .next_button_medium = state_red, + .next_button_long = state_off, + }, +}; + + +/********************************************************************** + * Interrupt handlers * + **********************************************************************/ +/* Do nothing, this is only used to wake-up the MCU */ +EMPTY_INTERRUPT(PCINT0_vect); + + +/********************************************************************** + * Functions * + **********************************************************************/ +static void set_leds(const uint8_t *data, uint8_t len) +{ + uint8_t outlo, outhi; + + outlo = PORTB & ~(1 << LED_DATA); + outhi = PORTB | (1 << LED_DATA); + + /* Reset signal */ + PORTB = outlo; + _delay_us(280); + + /* Send all bits */ + for (uint8_t i = 0; i < len; i++) { + asm volatile( + " ldi __tmp_reg__, 8 \n\t" + "loop: \n\t" + " out %[port], %[outhi] \n\t" + " nop \n\t" + " sbrs %[data], 7 \n\t" + " out %[port], %[outlo] \n\t" + " lsl %[data] \n\t" + " nop \n\t" + " nop \n\t" + " out %[port], %[outlo] \n\t" + " dec __tmp_reg__ \n\t" + " brne loop \n\t" + : + : [data] "r" (data[i]), + [port] "I" (_SFR_IO_ADDR(PORTB)), + [outhi] "r" (outhi), + [outlo] "r" (outlo) + : "cc" + ); + } +} + + +/********************************************************************** + * Main code * + **********************************************************************/ +int main(void) +{ + /* Initialization: disable interrupts, clear watchdog */ + cli(); + wdt_reset(); + + /* Switch to calibrated internal 8 MHz oscillator without prescaler, + corresponding to a 8 MHz CPU clock */ + CCP = 0xD8; + CLKMSR = 0x00; + CCP = 0xD8; + CLKPSR = 0x00; + + /* Disable unused peripherals: ANA_COMP, TIM0, VLM, WDT */ + ACSR = (1 << ACD); + PRR = (1 << PRADC) | (1 << PRTIM0); + VLMCSR = 0x00; + CCP = 0xD8; + WDTCSR = 0x00; + + /* Setup LED pins as low output, BUTTON and RESET pins as input with + * pull-up */ + PORTCR = 0x00; + PORTB = 0x00; + PUEB = (1 << BUTTON) | (1 << RESET); + DDRB = (1 << LED_PWR) | (1 << LED_DATA); + + /* Setup interrupt on button change */ + PCMSK = (1 << PCINT0); + PCICR = (1 << PCIE0); + + for (;;) { + /* Reset power-on duration and start with the red color */ + uint32_t on_duration = 0; + uint16_t button_duration = 0; + enum state state = state_red; + + /* Power-on the LED and wait for it to be ready */ + PORTB |= (1 << LED_PWR); + _delay_ms(10); + + /* Loop through all the states until reaching the off state */ + while (state != state_off) { + set_leds((const uint8_t *)states_desc[state].leds, + sizeof(states_desc[state].leds)); + + for (uint16_t d = states_desc[state].duration; d > 0; d--) { + _delay_ms(1); + on_duration++; + + /* Count the button push time, and debounce the button by + * ignoring short pulses. */ + if ((PINB & (1 << BUTTON)) == 0) { + if (button_duration != 65535) { + button_duration++; + } + } else if (button_duration > 10) { + break; + } else { + button_duration = 0; + } + } + + if (((PINB & (1 << BUTTON)) != 0) && button_duration > 10) { + if (button_duration < 500) { + state = states_desc[state].next_button_short; + } else if (button_duration < 1500) { + state = states_desc[state].next_button_medium; + } else { + state = states_desc[state].next_button_long; + } + on_duration = 0; + button_duration = 0; + } else if (on_duration > 1800000) { + state = state_off; + } else { + state = states_desc[state].next; + } + } + + /* Power-off the LED */ + PORTB &= ~(1 << LED_PWR); + + /* Clear and allow interrupts to wake-up the MCU and go to power down mode */ + PCIFR |= (1 << PCIF0); + set_sleep_mode(SLEEP_MODE_PWR_DOWN); + sei(); + sleep_mode(); + + /* Returned from interrupt, disable interrupts */ + cli(); + + /* Wait for the button to be released */ + while ((PINB & (1 << BUTTON)) == 0) { + ;; + } + } + + /* Never reached */ + return 0; +} |