diff --git a/.settings/org.eclipse.core.resources.prefs b/.settings/org.eclipse.core.resources.prefs index 974a79e..7560313 100644 --- a/.settings/org.eclipse.core.resources.prefs +++ b/.settings/org.eclipse.core.resources.prefs @@ -1,4 +1,5 @@ eclipse.preferences.version=1 +encoding//.git/objects/54/7f302e8700e84e20866af42cd1486f10f532a1=GBK encoding//Ld/Link.ld=GBK encoding//applications/main.c=UTF-8 encoding//applications/user_sys.h=UTF-8 @@ -15,6 +16,7 @@ encoding//bsp/src/bsp_flash.c=UTF-8 encoding//bsp/src/bsp_led.c=GBK encoding//bsp/src/bsp_rtc.c=UTF-8 encoding//bsp/src/bsp_vin_detection.c=UTF-8 +encoding//libcpu/cpu/context_gcc.S=GBK encoding//libraries/hal_drivers/drv_gpio.c=GBK encoding//libraries/hal_drivers/drv_gpio.h=GBK encoding//libraries/hal_drivers/drv_usart.c=UTF-8 diff --git a/applications/main.c b/applications/main.c index 5cb3a86..2bde4bc 100644 --- a/applications/main.c +++ b/applications/main.c @@ -2,7 +2,7 @@ * @Author: mbw * @Date: 2024-10-23 17:14:16 * @LastEditors: mbw && 1600520629@qq.com - * @LastEditTime: 2024-12-05 16:42:07 + * @LastEditTime: 2024-12-17 11:47:24 * @FilePath: \ble_bjq_ch303rct6_ml307\applications\main.c * @Descrt_thread_ * @@ -25,6 +25,7 @@ #include "bsp_ml307.h" #include "bsp_vin_detection.h" #include "user_sys.h" +#include "bsp_bt.h" #define LOG_TAG "main" #define LOG_LVL LOG_LVL_DBG @@ -121,9 +122,15 @@ int _Self_Check_Mode(void) rt_thread_mdelay(2000); // 第5s关闭电磁阀 LOG_I("自检电磁阀动作"); - - LOG_I("自检风机动作"); - + Bt_Valve_Handler(kValveCmdCtr, 0, RT_NULL); + if (rt_sem_take(&bt_ctr_sem, 10000) == RT_EOK) + { + LOG_D("电磁阀动作完成"); + } + else + { + LOG_E("电磁阀动作失败"); + } return RT_EOK; } @@ -153,7 +160,7 @@ int main(void) { // 定义超时时间，单位为毫秒 // #define TIMEOUT_MS 3 * 60 * 1000 -#define TIMEOUT_MS 8* 1000 +#define TIMEOUT_MS 8 * 1000 #define WORK_TIMER_CNT (1000 * 60 * 60 * 24) rt_err_t result = RT_EINVAL; rt_uint32_t received_event; @@ -173,7 +180,7 @@ int main(void) uint32_t ticks = 0, gas_calibration_voltage; while (1) { - gas_calibration_voltage = Get_Gas_VoltageInt1000x(); + gas_calibration_voltage = Get_Gas_VoltageAdcInt1000x(); LOG_D("ticks[%d] gas_calibration_voltage = %d", ticks++, gas_calibration_voltage); if (g_Calibration_status == kNotCalibrated)//没标定 @@ -299,11 +306,18 @@ int main(void) SysControl.last_status = SysControl.status; SysControl.status = kAlarmEvent; - - Flash_Write_Record(kRecordAlarm); // 写入flash报警信息 - LED_R_ALARM; BEEP_ALARM; + Flash_Write_Record(kRecordAlarm); // 写入flash报警信息 + Bt_Valve_Handler(kValveCmdCtr, 0, RT_NULL); + if (rt_sem_take(&bt_ctr_sem, 10000) == RT_EOK) + { + LOG_D("电磁阀动作完成"); + } + else + { + LOG_E("电磁阀动作失败"); + } #if (IOT_MODULE_SWITCH == 1) Ml307_Send_Event(kMl307AlarmEvent); diff --git a/bsp/inc/bsp_led.h b/bsp/inc/bsp_led.h index e407327..2277ed6 100644 --- a/bsp/inc/bsp_led.h +++ b/bsp/inc/bsp_led.h @@ -74,7 +74,7 @@ extern agile_led_t *led_y; LED_STOP(r); \ LED_STOP(g); \ LED_STOP(y); \ - LED_CTRL(g, "200,200", -1);\ + LED_CTRL(g, "200,200", 3);\ LED_START(g);\ } while (0U) diff --git a/bsp/inc/bsp_mq.h b/bsp/inc/bsp_mq.h index 3b6b82b..4e46bd3 100644 --- a/bsp/inc/bsp_mq.h +++ b/bsp/inc/bsp_mq.h @@ -2,7 +2,7 @@ * @Author: mbw * @Date: 2024-11-30 16:46:31 * @LastEditors: mbw && 1600520629@qq.com - * @LastEditTime: 2024-12-04 16:18:21 + * @LastEditTime: 2024-12-17 11:35:28 * @FilePath: \ble_bjq_ch303rct6_ml307\bsp\inc\bsp_mq.h * @Description: * @ @@ -95,6 +95,7 @@ typedef enum int BSP_MQ_Init(void); uint16_t Get_Gas_VoltageInt1000x(void); +uint16_t Get_Gas_VoltageAdcInt1000x(void); uint8_t IS_EndOfLife(void); diff --git a/bsp/src/bsp_bt.c b/bsp/src/bsp_bt.c index df9ac34..9513fb6 100644 --- a/bsp/src/bsp_bt.c +++ b/bsp/src/bsp_bt.c @@ -2,7 +2,7 @@ * @Author: mbw * @Date: 2024-12-03 10:31:45 * @LastEditors: mbw && 1600520629@qq.com - * @LastEditTime: 2024-12-16 19:00:53 + * @LastEditTime: 2024-12-17 15:40:10 * @FilePath: \ble_bjq_ch303rct6_ml307\bsp\src\bsp_bt.c * @Description: * @@ -30,7 +30,7 @@ struct rt_semaphore bt_reg_sem; // 注册阀门信号量 struct rt_semaphore bt_rem_sem; // 移除阀门信号量 struct rt_semaphore bt_rep_sem; // 更换阀门信号量 -#define BT_THREAD_TIMESLICE (5) +#define BT_THREAD_TIMESLICE (20) #define BT_THREAD_PRIORITY (10) #define BT_THREAD_STACK_SIZE (2048) @@ -39,10 +39,10 @@ static rt_uint8_t bt_thread_stack[BT_THREAD_STACK_SIZE] = {0}; static struct rt_thread bt_thread = {0}; lwrb_t bt_lwrb_rx; -static char bt_rx_buffer[256] = {0}; -BTFrameData bt_frame = {0}; +static char bt_rx_buffer[1024] = {0}; +BTFrameData bt_frame = {0}; -valve_data valve[MAX_VALVE_NUM]; +valve_data valve[MAX_VALVE_NUM] = {0}; rt_size_t BSP_Bt_Send_Data(uint8_t *data, size_t size) { @@ -53,31 +53,6 @@ rt_size_t BSP_Bt_Recv_Data(uint8_t *data, size_t size) { return lwrb_read(&bt_lwrb_rx, data, size); } -int BSP_BT_Init(void) -{ - rt_uint8_t num = Flash_Get_Valve_Num(); - rt_uint8_t mac_buf[FLASH_VALVE_MAC_ADDR_LEN] = {0}; - if (num != 0) - { - for (size_t i = 0; i < MAX_VALVE_NUM; i++) - { - valve[i].valve_id = (i + 1); // 1-8 - if (Flash_Get_Mac_Addr(valve[i].valve_mac, i) == RT_EOK) - { - rt_memcpy(valve[i].valve_mac, mac_buf, 6); - } - } - } - else - { - for (size_t i = 0; i < MAX_VALVE_NUM; i++) - { - rt_memset(&valve[i], 0, sizeof(struct valve_t)); - } - } - return RT_EOK; -} -INIT_PREV_EXPORT(BSP_BT_Init); static rt_err_t bt_getchar(char *ch, rt_int32_t timeout) { @@ -255,11 +230,6 @@ int Bt_Valve_Handler(ValveCmdType type, rt_uint8_t id, rt_uint8_t *data) break; case kValveCmdRep: // 阀门更换 ret = BSP_Bt_Replace_Valve(valve[id].valve_id, valve[id].valve_mac, data); - if (ret == RT_EOK) - { - rt_memcpy(valve[id].valve_mac, data, 6); - Flash_Set_Mac_Addr(valve[id].valve_mac, valve[id].valve_id - 1); - } break; default: ret = -RT_ERROR; @@ -274,10 +244,11 @@ int BSP_Bt_Process(uint8_t *data, uint16_t len) { int ret = 0; uint16_t index = 0; + rt_uint8_t end_index = 0; uint8_t data_buf[256] = {0}; // 解析接收到的数据帧，先寻找AA开头，然后再找AA下一个字节，其代表了数据长度，然后找到代表长度的值的长度的下一位，其为校验码，校验码后为结束码0x55， // 如果数据正确，则提取数据，不正确，则不处理 - // LOG_HEX("BT_RX_DATA", 16, data, len); + LOG_HEX("BT_RX_DATA", 16, data, len); LOG_D("len = %d", len); if (len < 4) { // 至少需要 4 个字节：起始码、长度、校验码、结束码 @@ -289,7 +260,21 @@ int BSP_Bt_Process(uint8_t *data, uint16_t len) { index++; } - LOG_D("index = %d", index); + for (size_t i = 0; i < len - 3; i++)//发现了一种情况，会出现两个AA，用这种方法排除一下 + { + if (data[index + i + 1] == 0XAA) + { + index++; + } + else + { + break; + } + } + while (end_index < len && data[end_index] != 0x55) // 寻找起始码 0xAA + { + end_index++; + } uint16_t datalength = data[index + 1]; // 读取数据长度 LOG_D("datalength = %d", datalength); @@ -299,12 +284,15 @@ int BSP_Bt_Process(uint8_t *data, uint16_t len) { LOG_E("校验和不对 rx_sum[%02X] != calculated_sum[%02X]", rx_sum, calculated_sum); LOG_HEX("bt_rx_data:", 16, data, len); + lwrb_reset(&bt_lwrb_rx); return 4; } - if (data[index + 2 + datalength + 1] != 0x55) // 检查结束码 + if (data[index + 1 + datalength + 2] != data[end_index])// 检查结束码 { - LOG_E("结束码错误"); + LOG_E("结束码位置错误"); + LOG_HEX("bt_rx_data:", 16, data, len); + lwrb_reset(&bt_lwrb_rx); return 5; } rt_uint8_t fram_len = datalength + 4; @@ -340,11 +328,15 @@ int BSP_Bt_Process(uint8_t *data, uint16_t len) } break; case kValveEventRep: - if (data_buf[index + datalength - 3] == RT_TRUE) // 更换成功 + if (data_buf[fram_len - 3] == RT_TRUE) // 更换成功 { LOG_D("阀门更换响应成功"); rt_sem_release(&bt_rep_sem); } + else + { + LOG_E("阀门更换失败"); + } break; case kValveEventStatus: LOG_I("接收到阀门心跳数据："); @@ -365,25 +357,32 @@ int BSP_Bt_Process(uint8_t *data, uint16_t len) static void BSP_Bt_Parse_Data(void) { rt_size_t len = lwrb_get_full(&bt_lwrb_rx); - char *rx_ptr = rt_calloc(1, len + 1); - BSP_Bt_Recv_Data(rx_ptr, len); + // char *rx_ptr = rt_malloc(len + 1); + rt_uint8_t bt_rx_buf[256] = {0}; + + BSP_Bt_Recv_Data(bt_rx_buf, len); // 发送过来的数据格式为：帧头 + 数据长度 + 事件类型 + 数据 + 校验码 + 帧尾 - BSP_Bt_Process(rx_ptr, len); - rt_free(rx_ptr); + BSP_Bt_Process(bt_rx_buf, len); + // rt_free(rx_ptr); } static void Bt_Thread_Entry(void *parameter) { // 初始化阀门信息 - valve[0].valve_id = 1; - valve[0].valve_mac[0] = 0XA2; - valve[0].valve_mac[1] = 0xB4; - valve[0].valve_mac[2] = 0x8F; - valve[0].valve_mac[3] = 0x10; - valve[0].valve_mac[4] = 0x53; - valve[0].valve_mac[5] = 0x5C; - Flash_Set_Mac_Addr(valve[0].valve_mac, 0); - Flash_Set_Valve_Num(1); + // valve[0].valve_id = 1; + // valve[0].valve_mac[0] = 0X93; + // valve[0].valve_mac[1] = 0xB4; + // valve[0].valve_mac[2] = 0x8F; + // valve[0].valve_mac[3] = 0x10; + // valve[0].valve_mac[4] = 0x53; + // valve[0].valve_mac[5] = 0x5C; +// + Flash_Set_Mac_Addr(valve[0].valve_mac, 0); + Flash_Set_Valve_Num(1); + + lwrb_init(&bt_lwrb_rx, bt_rx_buffer, sizeof(bt_rx_buffer)); + lwrb_reset(&bt_lwrb_rx); + LOG_D("Bt_Thread_Entry"); while (1) { @@ -406,8 +405,11 @@ int BSP_Bt_Init(void) { rt_err_t ret = RT_EOK; - lwrb_init(&bt_lwrb_rx, bt_rx_buffer, sizeof(bt_rx_buffer)); - lwrb_reset(&bt_lwrb_rx); + rt_sem_init(&bt_rx_sem, "bt_rx_sem", 0, RT_IPC_FLAG_PRIO); /* 接收来自蓝牙主机的信号量 */ + rt_sem_init(&bt_ctr_sem, "bt_ctr_sem", 0, RT_IPC_FLAG_PRIO); + rt_sem_init(&bt_reg_sem, "bt_reg_sem", 0, RT_IPC_FLAG_PRIO); + rt_sem_init(&bt_rem_sem, "bt_rem_sem", 0, RT_IPC_FLAG_PRIO); + rt_sem_init(&bt_rep_sem, "bt_rep_sem", 0, RT_IPC_FLAG_PRIO); /* 查找系统中的串口设备 */ rt_bt_device = rt_device_find(BT_UART); @@ -422,11 +424,6 @@ int BSP_Bt_Init(void) LOG_E("rt_device_open failed!\n"); return RT_ERROR; } - rt_sem_init(&bt_rx_sem, "bt_rx_sem", 0, RT_IPC_FLAG_PRIO); /* 接收来自蓝牙主机的信号量 */ - rt_sem_init(&bt_ctr_sem, "bt_ctr_sem", 0, RT_IPC_FLAG_PRIO); - rt_sem_init(&bt_reg_sem, "bt_reg_sem", 0, RT_IPC_FLAG_PRIO); - rt_sem_init(&bt_rem_sem, "bt_rem_sem", 0, RT_IPC_FLAG_PRIO); - rt_sem_init(&bt_rep_sem, "bt_rep_sem", 0, RT_IPC_FLAG_PRIO); /* 设置接收回调函数 */ if (rt_device_set_rx_indicate(rt_bt_device, Bt_Rcv_Cb) != RT_EOK) { @@ -447,7 +444,7 @@ int BSP_Bt_Init(void) return ret; } -INIT_DEVICE_EXPORT(BSP_Bt_Init); +INIT_COMPONENT_EXPORT(BSP_Bt_Init); #ifdef TEST_ENABLE static void TEST_BT_Send_Data(int argc, char **argv) diff --git a/bsp/src/bsp_flash.c b/bsp/src/bsp_flash.c index 9bd4cf8..c8b9213 100644 --- a/bsp/src/bsp_flash.c +++ b/bsp/src/bsp_flash.c @@ -824,7 +824,7 @@ size_t Flash_Get_SysCfg(TeFlashCfgInfoId id) rt_memcpy(&buf, (rt_uint8_t *)hr_sys_cfg_info_addr[id], hr_sys_cfg_info_len[id]); value = buf[0] | (buf[1] << 8); - LOG_D("buf[0]= %u, buf[1]: %u", buf[0], buf[1]); + // LOG_D("buf[0]= %u, buf[1]: %u", buf[0], buf[1]); } LOG_D("value: %u", value); return value; @@ -947,7 +947,7 @@ int BSP_Flash_Init(void) return 0; } #ifdef RT_USING_COMPONENTS_INIT -INIT_BOARD_EXPORT(BSP_Flash_Init); +INIT_PREV_EXPORT(BSP_Flash_Init); #endif diff --git a/bsp/src/bsp_ml307.c b/bsp/src/bsp_ml307.c index e226fbd..e0d780c 100644 --- a/bsp/src/bsp_ml307.c +++ b/bsp/src/bsp_ml307.c @@ -2,7 +2,7 @@ * @Author: mbw * @Date: 2024-11-30 15:46:21 * @LastEditors: mbw && 1600520629@qq.com - * @LastEditTime: 2024-12-16 19:40:43 + * @LastEditTime: 2024-12-17 15:12:17 * @FilePath: \ble_bjq_ch303rct6_ml307\bsp\src\bsp_ml307.c * @Description: * @@ -329,7 +329,7 @@ int BSP_Ml307_Update(struct Ml307_Ops *ops, rt_uint8_t device_type, rt_uint8_t e ops->body->hw = (rt_uint8_t)Flash_Get_SysCfg(kHwVerId); ops->body->sw = (rt_uint8_t)Flash_Get_SysCfg(kSwVerId); rt_memcpy(ops->body->imei, &ml307, sizeof(ml307_sys_info)); // 直接赋值结构体数据 - ops->body->gas_voltage = Get_Gas_VoltageInt1000x(); + ops->body->gas_voltage = Get_Gas_VoltageAdcInt1000x(); ops->body->product_work_temperature = 0x32; ops->body->work_duration = work_duration; ops->body->device_status = device_state_flag; @@ -1196,6 +1196,7 @@ void Handle_Sever_Addr_Set(struct Ml307_Ops *ops) /*新增阀门设备*/ rt_err_t Handle_Valve_Add(struct Ml307_Ops *ops) { + LOG_D("服务器下发注册阀门指令\n"); rt_uint8_t data[7] = {0}; char imei[16] = {0}; char temp[32] = "0"; @@ -1267,10 +1268,11 @@ rt_err_t Handle_Valve_Replace(struct Ml307_Ops *ops) rt_uint8_t mac_addr[FLASH_VALVE_MAC_ADDR_LEN] = {0}; char imei[16] = {0}; char temp[32] = "0"; - + LOG_I("服务器下发更换阀门设备"); Get_Iot_Imei(imei, FLASH_NB_IMEI_LEN); String2Hex(temp, imei); // 将字符串转为十六进制字符串 - rt_memcpy(data, (ops->recv->recv_data.res_data + 3), (2 * FLASH_VALVE_MAC_ADDR_LEN + 1)); + rt_memcpy(data, (ops->recv->recv_data.res_data + 2), (2 * FLASH_VALVE_MAC_ADDR_LEN + 1)); + LOG_HEX("data", 16, data, sizeof(data)); /*设备编号（1byte）+ 新MAC地址（6）+ 旧阀门MAC地址（6） + 补零字节= 15byte*/ if (Flash_Get_Mac_Addr(mac_addr, data[0] - 1) == RT_EOK) { @@ -1278,17 +1280,17 @@ rt_err_t Handle_Valve_Replace(struct Ml307_Ops *ops) { if (mac_addr[i] != data[i + 7]) { - LOG_E("旧阀门MAC地址错误\n"); + LOG_E("旧阀门地址错误\n"); ops->Resp(ops, DATA_SERIAL_NUM, CMD_TYPE_INSTRUCTION_REPLY, DEVICE_TYPE_ML307, INSTRUCTION_DOWN_VALVE_REPLACE, temp, RESPONSE_CODE_OTHER_ERROR); return RT_ERROR; - } + } } LOG_D("data[0] = %x data[1] = %x data[2] = %x data[3] = %x data[4] = %x, data[5] = %x data[6] = %x data[7] = %x data[8] = %x data[9] = %x data[10] = %x data[11] = %x data[12] = %x", data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7], data[8], data[9], data[10], data[11], data[12]); if (i == FLASH_VALVE_MAC_ADDR_LEN) { - if (Bt_Valve_Handler(kValveCmdRep, data[0] - 1, &data[2]) != RT_EOK) + if (Bt_Valve_Handler(kValveCmdRep, data[0] - 1, &data[1]) != RT_EOK) { LOG_E("更换阀门设备失败\n"); ops->Resp(ops, DATA_SERIAL_NUM, CMD_TYPE_INSTRUCTION_REPLY, DEVICE_TYPE_ML307, INSTRUCTION_DOWN_VALVE_REPLACE, temp, RESPONSE_CODE_ACTION_FAILURE); @@ -1302,7 +1304,7 @@ rt_err_t Handle_Valve_Replace(struct Ml307_Ops *ops) } else { - if (Flash_Set_Mac_Addr(&data[2], data[0]) == RESET) + if (Flash_Set_Mac_Addr(&data[1], data[0] - 1) == RESET) { LOG_E("更换阀门设备失败\n"); ops->Resp(ops, DATA_SERIAL_NUM, CMD_TYPE_INSTRUCTION_REPLY, DEVICE_TYPE_ML307, INSTRUCTION_DOWN_VALVE_REPLACE, temp, RESPONSE_CODE_ACTION_FAILURE); @@ -1313,7 +1315,20 @@ rt_err_t Handle_Valve_Replace(struct Ml307_Ops *ops) return RT_EOK; } } + else + { + LOG_E("旧阀门MAC地址错误\n"); + ops->Resp(ops, DATA_SERIAL_NUM, CMD_TYPE_INSTRUCTION_REPLY, DEVICE_TYPE_ML307, INSTRUCTION_DOWN_VALVE_REPLACE, temp, RESPONSE_CODE_OTHER_ERROR); + + return RT_ERROR; + } } + else + { + LOG_E("该阀门设备错误\n"); + ops->Resp(ops, DATA_SERIAL_NUM, CMD_TYPE_INSTRUCTION_REPLY, DEVICE_TYPE_ML307, INSTRUCTION_DOWN_VALVE_REPLACE, temp, RESPONSE_CODE_PARSE_FAIL); + } + return RT_EOK; } /*移除阀门设备*/ diff --git a/bsp/src/bsp_mq.c b/bsp/src/bsp_mq.c index 1d53bdd..054838c 100644 --- a/bsp/src/bsp_mq.c +++ b/bsp/src/bsp_mq.c @@ -2,7 +2,7 @@ * @Author : stark1898y 1658608470@qq.com * @Date : 2024-06-18 15:48:01 * @LastEditors: mbw && 1600520629@qq.com - * @LastEditTime: 2024-12-11 09:00:40 + * @LastEditTime: 2024-12-17 11:36:52 * @FilePath: \ble_bjq_ch303rct6_ml307\bsp\src\bsp_mq.c * @Description : * @@ -41,10 +41,17 @@ TsSensor_t Sensor_device; uint16_t Get_Gas_VoltageInt1000x(void) { uint16_t voltage = (Get_ADC_Average(kGasAdc) * 3.3 / 4096) * MQ_VOLTAGE_RATIO * 1000; -// LOG_D("Get_Gas_VoltageInt1000x = %04d", voltage); + LOG_D("Get_Gas_VoltageInt1000x = %04d", voltage); return voltage; } +uint16_t Get_Gas_VoltageAdcInt1000x(void) +{ + rt_uint16_t voltage_adc = (Get_ADC_Average(kGasAdc) * 3.3 / 4096) * 1000; + LOG_D("Get_Gas_VoltageAdcInt1000x = %04d", voltage_adc); + return voltage_adc; +} + #ifdef TEST_ENABLE static void TEST_Get_Gas_VoltageInt1000x(void) { @@ -103,9 +110,9 @@ static uint8_t Sensor_CheckData(void) static rt_uint8_t index = 0; static rt_uint8_t alarm_status_buffer[SENSOR_SAMPLING_TIMS] = {0}; static rt_uint8_t fault_buf[SENSOR_SAMPLING_TIMS] = {0}; - rt_uint16_t voltage = Get_Gas_VoltageInt1000x(); + rt_uint16_t voltage = Get_Gas_VoltageAdcInt1000x(); - alarm_status_buffer[index] = (voltage < Sensor_device.alarm_value) ? kSensorNormal : kSensorAlarm; + alarm_status_buffer[index] = ((voltage > Sensor_device.alarm_value) && (voltage < MQ_VOLTAGE_HIGH_LIMIT)) ? kSensorAlarm : kSensorNormal; fault_buf[index] = ((voltage < MQ_VOLTAGE_LOW_LIMIT) || (voltage > MQ_VOLTAGE_HIGH_LIMIT)) ? kSensorFault : kSensorNormal; index++; if (index >= SENSOR_SAMPLING_TIMS)