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316
IO_CMRI.cpp Normal file
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/*
* © 2023, Neil McKechnie. All rights reserved.
*
* This file is part of DCC++EX API
*
* This 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.
*
* It 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 CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
#include "IO_CMRI.h"
#include "defines.h"
/************************************************************
* CMRIbus implementation
************************************************************/
// Constructor for CMRIbus
CMRIbus::CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin) {
_busNo = busNo;
_serial = &serial;
_baud = baud;
_cycleTime = cycleTimeMS * 1000UL; // convert from milliseconds to microseconds.
_transmitEnablePin = transmitEnablePin;
if (_transmitEnablePin != VPIN_NONE) {
pinMode(_transmitEnablePin, OUTPUT);
ArduinoPins::fastWriteDigital(_transmitEnablePin, 0); // transmitter initially off
}
// Max message length is 256+6=262 bytes.
// Each byte is one start bit, 8 data bits and 1 or 2 stop bits, assume 11 bits per byte.
// Calculate timeout based on treble this time.
_timeoutPeriod = 3 * 11 * 262 * 1000UL / (_baud / 1000UL);
#if defined(ARDUINOCMRI_COMPATIBLE)
// NOTE: The ArduinoCMRI library, unless modified, contains a 'delay(50)' between
// receiving the end of the prompt message and starting to send the response. This
// is allowed for below.
_timeoutPeriod += 50000UL;
#endif
// Calculate the time in microseconds to transmit one byte (11 bits max).
_byteTransmitTime = 1000000UL * 11 / _baud;
// Postdelay is only required if we need to allow for data still being sent when
// we want to switch off the transmitter. The flush() method of HardwareSerial
// ensures that the data has completed being sent over the line.
_postDelay = 0;
// Add device to HAL device chain
IODevice::addDevice(this);
// Add bus to CMRIbus chain.
_nextBus = _busList;
_busList = this;
}
// Main loop function for CMRIbus.
// Work through list of nodes. For each node, in separate loop entries
// send initialisation message (once only); then send
// output message; then send prompt for input data, and
// process any response data received.
// When the slot time has finished, move on to the next device.
void CMRIbus::_loop(unsigned long currentMicros) {
_currentMicros = currentMicros;
while (_serial->available())
processIncoming();
// Send any data that needs sending.
processOutgoing();
}
// Send output data to the bus for nominated CMRInode
uint16_t CMRIbus::sendData(CMRInode *node) {
uint16_t numDataBytes = (node->getNumOutputs()+7)/8;
_serial->write(SYN);
_serial->write(SYN);
_serial->write(STX);
_serial->write(node->getAddress() + 65);
_serial->write('T'); // T for Transmit data message
uint16_t charsSent = 6; // include header and trailer
for (uint8_t index=0; index<numDataBytes; index++) {
uint8_t value = node->getOutputStates(index);
if (value == DLE || value == STX || value == ETX) {
_serial->write(DLE);
charsSent++;
}
_serial->write(value);
charsSent++;
}
_serial->write(ETX);
return charsSent; // number of characters sent
}
// Send request for input data to nominated CMRInode.
uint16_t CMRIbus::requestData(CMRInode *node) {
_serial->write(SYN);
_serial->write(SYN);
_serial->write(STX);
_serial->write(node->getAddress() + 65);
_serial->write('P'); // P for Poll message
_serial->write(ETX);
return 6; // number of characters sent
}
// Send initialisation message
uint16_t CMRIbus::sendInitialisation(CMRInode *node) {
_serial->write(SYN);
_serial->write(SYN);
_serial->write(STX);
_serial->write(node->getAddress() + 65);
_serial->write('I'); // I for initialise message
_serial->write(node->getType()); // NDP
_serial->write((uint8_t)0); // dH
_serial->write((uint8_t)0); // dL
_serial->write((uint8_t)0); // NS
_serial->write(ETX);
return 10; // number of characters sent
}
void CMRIbus::processOutgoing() {
uint16_t charsSent = 0;
if (_currentNode == NULL) {
// If we're between read/write cycles then don't do anything else.
if (_currentMicros - _cycleStartTime < _cycleTime) return;
// ... otherwise start processing the first node in the list
_currentNode = _nodeListStart;
_transmitState = TD_INIT;
_cycleStartTime = _currentMicros;
}
if (_currentNode == NULL) return;
switch (_transmitState) {
case TD_IDLE:
case TD_INIT:
enableTransmitter();
if (!_currentNode->isInitialised()) {
charsSent = sendInitialisation(_currentNode);
_currentNode->setInitialised();
_transmitState = TD_TRANSMIT;
delayUntil(_currentMicros+_byteTransmitTime*charsSent);
break;
}
/* fallthrough */
case TD_TRANSMIT:
charsSent = sendData(_currentNode);
_transmitState = TD_PROMPT;
// Defer next entry for as long as it takes to transmit the characters,
// to allow output queue to empty. Allow 2 bytes extra.
delayUntil(_currentMicros+_byteTransmitTime*(charsSent+2));
break;
case TD_PROMPT:
charsSent = requestData(_currentNode);
disableTransmitter();
_transmitState = TD_RECEIVE;
_timeoutStart = _currentMicros; // Start timeout on response
break;
case TD_RECEIVE: // Waiting for response / timeout
if (_currentMicros - _timeoutStart > _timeoutPeriod) {
// End of time slot allocated for responses.
_transmitState = TD_IDLE;
// Reset state of receiver
_receiveState = RD_SYN1;
// Move to next node
_currentNode = _currentNode->getNext();
}
break;
}
}
// Process any data bytes received from a CMRInode.
void CMRIbus::processIncoming() {
int data = _serial->read();
if (data < 0) return; // No characters to read
if (_transmitState != TD_RECEIVE || !_currentNode) return; // Not waiting for input, so ignore.
uint8_t nextState = RD_SYN1; // default to resetting state machine
switch(_receiveState) {
case RD_SYN1:
if (data == SYN) nextState = RD_SYN2;
break;
case RD_SYN2:
if (data == SYN) nextState = RD_STX; else nextState = RD_SYN2;
break;
case RD_STX:
if (data == STX) nextState = RD_ADDR;
break;
case RD_ADDR:
// If address doesn't match, then ignore everything until next SYN-SYN-STX.
if (data == _currentNode->getAddress() + 65) nextState = RD_TYPE;
break;
case RD_TYPE:
_receiveDataIndex = 0; // Initialise data pointer
if (data == 'R') nextState = RD_DATA;
break;
case RD_DATA: // data body
if (data == DLE) // escape next character
nextState = RD_ESCDATA;
else if (data == ETX) { // end of data
// End of data message. Protocol has all data in one
// message, so we don't need to wait any more. Allow
// transmitter to proceed with next node in list.
_currentNode = _currentNode->getNext();
_transmitState = TD_IDLE;
} else {
// Not end yet, so save data byte
_currentNode->saveIncomingData(_receiveDataIndex++, data);
nextState = RD_DATA; // wait for more data
}
break;
case RD_ESCDATA: // escaped data byte
_currentNode->saveIncomingData(_receiveDataIndex++, data);
nextState = RD_DATA;
break;
}
_receiveState = nextState;
}
// If configured for half duplex RS485, switch RS485 interface
// into transmit mode.
void CMRIbus::enableTransmitter() {
if (_transmitEnablePin != VPIN_NONE)
ArduinoPins::fastWriteDigital(_transmitEnablePin, 1);
// If we need a delay before we start the packet header,
// we can send a character or two to synchronise the
// transmitter and receiver.
// SYN characters should be used, but a bug in the
// ArduinoCMRI library causes it to ignore the packet if
// it's preceded by an odd number of SYN characters.
// So send a SYN followed by a NUL in that case.
_serial->write(SYN);
#if defined(ARDUINOCMRI_COMPATIBLE)
_serial->write(NUL); // Reset the ArduinoCMRI library's parser
#endif
}
// If configured for half duplex RS485, switch RS485 interface
// into receive mode.
void CMRIbus::disableTransmitter() {
// Wait until all data has been transmitted. On the standard
// AVR driver, this waits until the FIFO is empty and all
// data has been sent over the link.
_serial->flush();
// If we don't trust the 'flush' function and think the
// data's still in transit, then wait a bit longer.
if (_postDelay > 0)
delayMicroseconds(_postDelay);
// Hopefully, we can now safely switch off the transmitter.
if (_transmitEnablePin != VPIN_NONE)
ArduinoPins::fastWriteDigital(_transmitEnablePin, 0);
}
// Link to chain of CMRI bus instances
CMRIbus *CMRIbus::_busList = NULL;
/************************************************************
* CMRInode implementation
************************************************************/
// Constructor for CMRInode object
CMRInode::CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t address, char type, uint16_t inputs, uint16_t outputs) {
_firstVpin = firstVpin;
_nPins = nPins;
_busNo = busNo;
_address = address;
_type = type;
switch (_type) {
case 'M': // SMINI, fixed 24 inputs and 48 outputs
_numInputs = 24;
_numOutputs = 48;
break;
case 'C': // CPNODE with 16 to 144 inputs/outputs using 8-bit cards
_numInputs = inputs;
_numOutputs = outputs;
break;
case 'N': // Classic USIC and SUSIC using 24 bit i/o cards
case 'X': // SUSIC using 32 bit i/o cards
default:
DIAG(F("CMRInode: bus:%d address:%d ERROR unsupported type %c"), _busNo, _address, _type);
return; // Don't register device.
}
if ((unsigned int)_nPins < _numInputs + _numOutputs)
DIAG(F("CMRInode: bus:%d address:%d WARNING number of Vpins does not cover all inputs and outputs"), _busNo, _address);
// Allocate memory for states
_inputStates = (uint8_t *)calloc((_numInputs+7)/8, 1);
_outputStates = (uint8_t *)calloc((_numOutputs+7)/8, 1);
if (!_inputStates || !_outputStates) {
DIAG(F("CMRInode: ERROR insufficient memory"));
return;
}
// Add this device to HAL device list
IODevice::addDevice(this);
// Add CMRInode to CMRIbus object.
CMRIbus *bus = CMRIbus::findBus(_busNo);
if (bus != NULL) {
bus->addNode(this);
return;
}
}

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/*
* © 2023, Neil McKechnie. All rights reserved.
*
* This file is part of DCC++EX API
*
* This 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.
*
* It 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 CommandStation. If not, see <https://www.gnu.org/licenses/>.
*/
/*
* CMRIbus
* =======
* To define a CMRI bus, example syntax:
* CMRIbus::create(bus, serial, baud[, cycletime[, pin]]);
*
* bus = 0-255
* serial = serial port to be used (e.g. Serial3)
* baud = baud rate (9600, 19200, 28800, 57600 or 115200)
* cycletime = minimum time between successive updates/reads of a node in millisecs (default 500ms)
* pin = pin number connected to RS485 module's DE and !RE terminals for half-duplex operation (default VPIN_NONE)
*
* Each bus must use a different serial port.
*
* IMPORTANT: If you are using ArduinoCMRI library code by Michael Adams, at the time of writing this library
* is not compliant with the LCS-9.10.1 specification for CMRInet protocol.
* Various work-arounds may be enabled within the driver by adding the following line to your config.h file,
* to allow nodes running the ArduinoCMRI library to communicate:
*
* #define ARDUINOCMRI_COMPATIBLE
*
* CMRINode
* ========
* To define a CMRI node and associate it with a CMRI bus,
* CMRInode::create(firstVPIN, numVPINs, bus, address, type [, inputs, outputs]);
*
* firstVPIN = first vpin in block allocated to this device
* numVPINs = number of vpins (e.g. 72 for an SMINI node)
* bus = 0-255
* address = 0-127
* type = 'M' for SMINI (fixed 24 inputs and 48 outputs)
* 'C' for CPNODE (16 to 144 inputs/outputs in groups of 8)
* (other types are not supported at this time).
* inputs = number of inputs (CPNODE only)
* outputs = number of outputs (CPNODE only)
*
* Reference: "LCS-9.10.1
* Layout Control Specification: CMRInet Protocol
* Version 1.1 December 2014."
*/
#ifndef IO_CMRI_H
#define IO_CMRI_H
#include "IODevice.h"
/**********************************************************************
* CMRInode class
*
* This encapsulates the state associated with a single CMRI node,
* which includes the address type, number of inputs and outputs, and
* the states of the inputs and outputs.
**********************************************************************/
class CMRInode : public IODevice {
private:
uint8_t _busNo;
uint8_t _address;
char _type;
CMRInode *_next = NULL;
uint8_t *_inputStates = NULL;
uint8_t *_outputStates = NULL;
uint16_t _numInputs = 0;
uint16_t _numOutputs = 0;
bool _initialised = false;
public:
static void create(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t address, char type, uint16_t inputs=0, uint16_t outputs=0) {
if (checkNoOverlap(firstVpin, nPins)) new CMRInode(firstVpin, nPins, busNo, address, type, inputs, outputs);
}
CMRInode(VPIN firstVpin, int nPins, uint8_t busNo, uint8_t address, char type, uint16_t inputs=0, uint16_t outputs=0);
uint8_t getAddress() {
return _address;
}
CMRInode *getNext() {
return _next;
}
void setNext(CMRInode *node) {
_next = node;
}
bool isInitialised() {
return _initialised;
}
void setInitialised() {
_initialised = true;
}
void _begin() {
_initialised = false;
}
int _read(VPIN vpin) {
// Return current state from this device
uint16_t pin = vpin - _firstVpin;
if (pin < _numInputs) {
uint8_t mask = 1 << (pin & 0x7);
int index = pin / 8;
return (_inputStates[index] & mask) != 0;
} else
return 0;
}
void _write(VPIN vpin, int value) {
// Update current state for this device, in preparation the bus transmission
uint16_t pin = vpin - _firstVpin - _numInputs;
if (pin < _numOutputs) {
uint8_t mask = 1 << (pin & 0x7);
int index = pin / 8;
if (value)
_outputStates[index] |= mask;
else
_outputStates[index] &= ~mask;
}
}
void saveIncomingData(uint8_t index, uint8_t data) {
if (index < (_numInputs+7)/8)
_inputStates[index] = data;
}
uint8_t getOutputStates(uint8_t index) {
if (index < (_numOutputs+7)/8)
return _outputStates[index];
else
return 0;
}
uint16_t getNumInputs() {
return _numInputs;
}
uint16_t getNumOutputs() {
return _numOutputs;
}
char getType() {
return _type;
}
uint8_t getBusNumber() {
return _busNo;
}
void _display() override {
DIAG(F("CMRInode type:'%c' configured on bus:%d address:%d VPINs:%u-%u (in) %u-%u (out)"),
_type, _busNo, _address, _firstVpin, _firstVpin+_numInputs-1,
_firstVpin+_numInputs, _firstVpin+_numInputs+_numOutputs-1);
}
};
/**********************************************************************
* CMRIbus class
*
* This encapsulates the properties state of the bus and the
* transmission and reception of data across that bus. Each CMRIbus
* object owns a set of CMRInode objects which represent the nodes
* attached to that bus.
**********************************************************************/
class CMRIbus : public IODevice {
private:
// Here we define the device-specific variables.
uint8_t _busNo;
HardwareSerial *_serial;
unsigned long _baud;
VPIN _transmitEnablePin = VPIN_NONE;
CMRInode *_nodeListStart = NULL, *_nodeListEnd = NULL;
CMRInode *_currentNode = NULL;
// Transmitter state machine states
enum {TD_IDLE, TD_PRETRANSMIT, TD_INIT, TD_TRANSMIT, TD_PROMPT, TD_RECEIVE};
uint8_t _transmitState = TD_IDLE;
// Receiver state machine states.
enum {RD_SYN1, RD_SYN2, RD_STX, RD_ADDR, RD_TYPE,
RD_DATA, RD_ESCDATA, RD_SKIPDATA, RD_SKIPESCDATA, RD_ETX};
uint8_t _receiveState = RD_SYN1;
uint16_t _receiveDataIndex = 0; // Index of next data byte to be received.
CMRIbus *_nextBus = NULL; // Pointer to next bus instance in list.
unsigned long _cycleStartTime = 0;
unsigned long _timeoutStart = 0;
unsigned long _cycleTime; // target time between successive read/write cycles, microseconds
unsigned long _timeoutPeriod; // timeout on read responses, in microseconds.
unsigned long _currentMicros; // last value of micros() from _loop function.
unsigned long _postDelay; // delay time after transmission before switching off transmitter (in us)
unsigned long _byteTransmitTime; // time in us for transmission of one byte
static CMRIbus *_busList; // linked list of defined bus instances
// Definition of special characters in CMRInet protocol
enum : uint8_t {
NUL = 0x00,
STX = 0x02,
ETX = 0x03,
DLE = 0x10,
SYN = 0xff,
};
public:
static void create(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS=500, VPIN transmitEnablePin=VPIN_NONE) {
new CMRIbus(busNo, serial, baud, cycleTimeMS, transmitEnablePin);
}
// Device-specific initialisation
void _begin() override {
// CMRInet spec states one stop bit, JMRI and ArduinoCMRI use two stop bits
#if defined(ARDUINOCMRI_COMPATIBLE)
_serial->begin(_baud, SERIAL_8N2);
#else
_serial->begin(_baud, SERIAL_8N1);
#endif
#if defined(DIAG_IO)
_display();
#endif
}
// Loop function (overriding IODevice::_loop(unsigned long))
void _loop(unsigned long currentMicros) override;
// Display information about the device
void _display() override {
DIAG(F("CMRIbus %d configured, speed=%d baud, cycle=%d ms"), _busNo, _baud, _cycleTime/1000);
}
// Locate CMRInode object with specified address.
CMRInode *findNode(uint8_t address) {
for (CMRInode *node = _nodeListStart; node != NULL; node = node->getNext()) {
if (node->getAddress() == address)
return node;
}
return NULL;
}
// Add new CMRInode to the list of nodes for this bus.
void addNode(CMRInode *newNode) {
if (!_nodeListStart)
_nodeListStart = newNode;
if (!_nodeListEnd)
_nodeListEnd = newNode;
else
_nodeListEnd->setNext(newNode);
}
protected:
CMRIbus(uint8_t busNo, HardwareSerial &serial, unsigned long baud, uint16_t cycleTimeMS, VPIN transmitEnablePin);
uint16_t sendData(CMRInode *node);
uint16_t requestData(CMRInode *node);
uint16_t sendInitialisation(CMRInode *node);
// Process any data bytes received from a CMRInode.
void processIncoming();
// Process any outgoing traffic that is due.
void processOutgoing();
// Enable transmitter
void enableTransmitter();
// Disable transmitter and enable receiver
void disableTransmitter();
public:
uint8_t getBusNumber() {
return _busNo;
}
static CMRIbus *findBus(uint8_t busNo) {
for (CMRIbus *bus=_busList; bus!=NULL; bus=bus->_nextBus) {
if (bus->_busNo == busNo) return bus;
}
return NULL;
}
};
#endif // IO_CMRI_H

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// mySetup.h
// defining CMRI accessories
// CMRI connections defined in myHal.cpp
//
// this is for testing.
SETUP("D CMD 1");
// Turnouts defined in myAutomation.h can include descriptions which will appear in Engine Driver
// Sensors and digital outputs do not require pre-definition for use in EXRAIL automation
//
// SMINI emulation node 24-input/48-outputs
// the sketch I use
// 16 or 24 input pins
// 32 or 48 output pins
//
// Define 16 input pins 1000-1015
SETUP("S 1000 1000 1");
SETUP("S 1001 1001 1");
SETUP("S 1002 1002 1");
SETUP("S 1003 1003 1");
SETUP("S 1004 1004 1");
SETUP("S 1005 1005 1");
SETUP("S 1006 1006 1");
SETUP("S 1007 1007 1");
SETUP("S 1008 1008 1");
SETUP("S 1009 1009 1");
SETUP("S 1010 1010 1");
SETUP("S 1011 1011 1");
SETUP("S 1012 1012 1");
SETUP("S 1013 1013 1");
SETUP("S 1014 1014 1");
SETUP("S 1015 1015 1");
//
// define 16 turnouts using VPIN (for Throw/Close commands via CMRI)
SETUP("T 1024 VPIN 1024");
SETUP("T 1025 VPIN 1025");
SETUP("T 1026 VPIN 1026");
SETUP("T 1027 VPIN 1027");
SETUP("T 1028 VPIN 1028");
SETUP("T 1029 VPIN 1029");
SETUP("T 1030 VPIN 1030");
SETUP("T 1031 VPIN 1031");
SETUP("T 1032 VPIN 1032");
SETUP("T 1033 VPIN 1033");
SETUP("T 1034 VPIN 1034");
SETUP("T 1035 VPIN 1035");
SETUP("T 1036 VPIN 1036");
SETUP("T 1037 VPIN 1037");
SETUP("T 1038 VPIN 1038");
SETUP("T 1039 VPIN 1039");
//
// define 16 pins for digital outputs
SETUP("Z 1040 1040 0");
SETUP("Z 1041 1041 0");
SETUP("Z 1042 1042 0");
SETUP("Z 1043 1043 0");
SETUP("Z 1044 1044 0");
SETUP("Z 1045 1045 0");
SETUP("Z 1046 1046 0");
SETUP("Z 1047 1047 0");
SETUP("Z 1048 1048 0");
SETUP("Z 1049 1049 0");
SETUP("Z 1050 1050 0");
SETUP("Z 1051 1051 0");
SETUP("Z 1052 1052 0");
SETUP("Z 1053 1053 0");
SETUP("Z 1054 1054 0");
SETUP("Z 1055 1055 0");
//
// additional 16 outputs available 1056-1071
//SETUP("Z 1056 1056 0");
//
// CMRI sketch used for testing available here
// https://www.trainboard.com/highball/index.php?threads/24-in-48-out-card-for-jmri.116454/page-2#post-1141569
//
// Define 16 input pins 900-915
SETUP("S 900 900 1");
SETUP("S 901 901 1");
SETUP("S 902 902 1");
SETUP("S 903 903 1");
SETUP("S 904 904 1");
SETUP("S 905 905 1");
SETUP("S 906 906 1");
SETUP("S 907 907 1");
SETUP("S 908 908 1");
SETUP("S 909 909 1");
SETUP("S 910 910 1");
SETUP("S 911 911 1");
SETUP("S 912 912 1");
SETUP("S 913 913 1");
SETUP("S 914 914 1");
SETUP("S 915 915 1");
//
// define 16 turnouts using VPIN (for Throw/Close commands via CMRI)
SETUP("T 924 VPIN 924");
SETUP("T 925 VPIN 925");
SETUP("T 926 VPIN 926");
SETUP("T 927 VPIN 927");
SETUP("T 928 VPIN 928");
SETUP("T 929 VPIN 929");
SETUP("T 930 VPIN 930");
SETUP("T 931 VPIN 931");
SETUP("T 932 VPIN 932");
SETUP("T 933 VPIN 933");
SETUP("T 934 VPIN 934");
SETUP("T 935 VPIN 935");
SETUP("T 936 VPIN 936");
SETUP("T 937 VPIN 937");
SETUP("T 938 VPIN 938");
SETUP("T 939 VPIN 939");
//
// define 16 pins for digital outputs
SETUP("Z 940 940 0");
SETUP("Z 941 941 0");
SETUP("Z 942 942 0");
SETUP("Z 943 943 0");
SETUP("Z 944 944 0");
SETUP("Z 945 945 0");
SETUP("Z 946 946 0");
SETUP("Z 947 947 0");
SETUP("Z 948 948 0");
SETUP("Z 949 949 0");
SETUP("Z 950 950 0");
SETUP("Z 951 951 0");
SETUP("Z 952 952 0");
SETUP("Z 953 953 0");
SETUP("Z 954 954 0");
SETUP("Z 955 955 0");