AN2103 Freescale Semiconductor / Motorola, AN2103 Datasheet
AN2103
Related parts for AN2103
AN2103 Summary of contents
Page 1
... CAN network leading to hierarchical networks within cars. The protocol’s main features are listed below: • © Motorola, Inc., 2000 For More Information On This Product, Single master, multiple slave (i.e. no bus arbitration) AN2103 Go to: www.freescale.com Order this document by AN2103/D AN2103 ...
Page 2
... Enabler for hierarchical networks Figure 1 slave control unit slave task MESSAGE FRAME IDENT DATA FIELD FIELD In-Frame response space Figure 1 LIN Message frame Go to: www.freescale.com shows the communication slave control unit slave task RESPONSE DATA DATA CHECKSUM FIELD FIELD FIELD Interbyte Space AN2103 MOTOROLA ...
Page 3
... If the clock source’s tolerance is less than +- the threshold is reduced to 9 dominant bits. The second part of the header is the SYNCH FIELD that contains the pattern 0x55 to allow the slave to synchronize with the master. This AN2103 MOTOROLA For More Information On This Product, shows the SYNCH BREAK field. ...
Page 4
... WAKE_UP signal). However only the master that is allowed to put the network to sleep. Refer to LIN specifications for further details. 4 For More Information On This Product, Figure 3 IDENTIFIER FIELD ID3 ID1 ID2 ID4 ID5 Figure 3 Identifier Field Go to: www.freescale.com shows the identifier field AN2103 MOTOROLA ...
Page 5
... The identifier can be followed by an arbitrary number of LIN BYTE FIELDS. The frame length, communication concept and data content are not specified. Also, the length coding within the ID field does not apply to the EXTENDED frame identifiers. AN2103 MOTOROLA For More Information On This Product, Local Interconnect Network Bus (LIN) Go to: www ...
Page 6
... Finally, the master node can be removed and the demo can be driven using a VCT LINspector configured in emulation mode. 6 For More Information On This Product, Figure 4 Figure 4 Clock Face Hardware Go to: www.freescale.com for details). The master controls AN2103 MOTOROLA ...
Page 7
... In this mode, the master periodically transmits a messages that each Mode: slave node simultaneously receives. The transmitted messages switch on the slave’s LEDs. The master node controls the LED pattern. AN2103 MOTOROLA For More Information On This Product, Go to: www.freescale.com SAE Demo Description ...
Page 8
... Master Slave_ID 6 Go to: www.freescale.com lists the messages that Description Master transmits node1 control command Master transmits node2 control command Master transmits node3 control command Master transmits node4 control command Master transmits node5 control command Master transmits node6 control command AN2103 MOTOROLA ...
Page 9
... LINMsg1C (0x9C) Node12 BroadCast LINMsg0F (0x80) The messages selected for the demo are all 2 bytes long. The first byte is a command byte and the second is data. NodeX_Write Message Format. AN2103 MOTOROLA For More Information On This Product, Table 1 LIN Messages Slave Response Slave Response ...
Page 10
... SLAVE_LEDS_COMMAND CLOCK_LEDS_COMMAND Table 3 Broadcast Messages Byte1 = Command Byte Broadcast Message Command Byte Command BROADCAST_COMMAND IDENT_COMMAND SLEEP_COMMAND Table 4 NodeX_Read Messages Byte1 = NodeID Go to: www.freescale.com Byte2 = LED Pattern Code 0x01 0x03 Byte2 = LED Pattern Code 0x02 0x04 0x80 Byte2 = Hex Switch AN2103 MOTOROLA ...
Page 11
... Monitor Mode CANH/L CAN I/F (MC33388) Wake-Up select LIN LIN I/F M C33399 AN2103 MOTOROLA For More Information On This Product, Section 4.1 Motorola LIN Drivers and API Figure 5 shows a block diagram of the hardware. details more suitable slave microcontrollers. Contact Motorola AZ60 MCU Vdd Gnd PTC ...
Page 12
... Timer, PWM, A/D, OSC, HV I/O, OP-Amp, Phy I/F 192 128 Timer, PWM, A/D, OSC, HV I/O, OP-Amp, Phy I Timer, Osc, 2x175mA H-Bridge, Mechatronic package Go to: www.freescale.com Features Timer, PWM, ATD Timer, PWM, ATD Timer, PWM, ATD Timer, PWM, ATD, SCI, SPI Timers, ATD, SPI, Enhanced SCI Features AN2103 MOTOROLA ...
Page 13
... API API. Two versions of the drivers exist: one with a custom Motorola API and the second with the LIN API. The project used the Motorola API drivers. AN2103 MOTOROLA For More Information On This Product, Go to: www.freescale.com Software Description ...
Page 14
... Note1: Figures exclude per message overhead Note2: Motorola API/LIN API Contact Motorola Software Systems for further information. software.systems@helpline.sps.mot.com 14 For More Information On This Product, LINBaud MCU bus MCU load Rate(bps) frequency 20000 4 <9% 20000 4 <5%/6% Go to: www.freescale.com RAM ROM Stack (bytes) (bytes) (bytes) 23 1391 <34 20/21 1071/689 <34/19 AN2103 MOTOROLA ...
Page 15
... Syntax: Applicable: Parameters: None Return: AN2103 MOTOROLA For More Information On This Product, Sets baud rate (Information entered in lincfg.h file) Assigns physical interface pins Sets Tx to idle state Clears all error flags and counters Clears all data buffers ...
Page 16
... LIN_OK, LIN_NO_ID, LIN_INVALID_ID and LIN_MSG_NODATA unsigned char LIN_PutMsg (unsigned char MsgId, unsigned char * Data); Master, Slave Data – Pointer to memory buffer where data transmitted. LIN_OK, LIN_NO_ID and LIN_INVALID_ID unsigned char LIN_RequestMsg (unsigned char MsgId); Master LIN_OK, LIN_REQ_PENDING and LIN_MSG_SLEEP Go to: www.freescale.com AN2103 MOTOROLA ...
Page 17
... CANRxISR CAN Message Handler CAN Message Data PortCAN CANRx CANTx msCAN Buffer CAN Message Data Figure 6 Master Data flow Diagram AN2103 MOTOROLA For More Information On This Product, Figure 6 PortD RequestMsg GetMsg Demo Mode Global Data Buffer Port Data Demo Mode Write ...
Page 18
... For More Information On This Product, Table 6 Mode Selection Table Mode Selection Table Mode CAN Message Default ID 0x00, Byte0=0x0E, 0x00 Broadcast ID 0x00, Byte0=0x0E, 0x01 Ident ID 0x00, Byte0=0x0E, 0x02 Sleep ID 0x00, Byte0=0x0E, 0x03 Go to: www.freescale.com Table 6 shows the CAN Switch Position AN2103 MOTOROLA ...
Page 19
... Freescale Semiconductor, Inc. Y Update demomode varible with mode select switch settings Figure 7 ScheduleMessage Flow Diagram AN2103 MOTOROLA For More Information On This Product, Start Transmit ALIVE Message Standalone Mode N Y DEFAULT Mode N Y BROADCAST Mode N Y IDENT Mode N Y SLEEP Mode N End Go to: www ...
Page 20
... The scheduler software exits this function then waits in the main loop before transmitting to the next node in the sequence. The node number to be transmitted is controlled in the TIMBOVF_ISR. See main loop for further details. 20 For More Information On This Product, Go to: www.freescale.com Table 7 for sequence. AN2103 MOTOROLA ...
Page 21
... Freescale Semiconductor, Inc. The default message table shows the order that the nodes are written to and the data that is transmitted. AN2103 MOTOROLA For More Information On This Product, Table 7 Schedule Sequence Default Message Sequence Node Number 12 ALL_LEDS_ON 1 RED_LEDS_ON 11 GREEN_LEDS_ON 2 RED_LEDS_ON 10 GREEN_LEDS_ON 3 RED_LEDS_ON ...
Page 22
... ALL_LEDS_ON data &MsgReadBuf1 N Status Changed Y Y Standalone Mode N Transmit new status on CAN bus Update Status End Go to: www.freescale.com C alulate AltScheduleIndex (AltScheduleIndex = 12 - ScheduleIndex) C all Transmit Function and pass ScheduleIndex, RED_LEDS_ON data &MsgReadBuf C all Transmit Function and pass AltScheduleIndex, GREEN_LEDS_ON data &MsgReadBuf2 AN2103 MOTOROLA ...
Page 23
... Freescale Semiconductor, Inc. Updata MsgRead Buffer with NO_NODE command Figure 9 Default Transmit Function AN2103 MOTOROLA For More Information On This Product, Start Initialise timeout count and flags Transmit ReadMsg header frame Start Timeout N Timeout or NewMsg Data Y Stop Timeout N NewMsg Data Y Store new data in MsgRead ...
Page 24
... See NOTE: A lookup table was used to allow the pattern sequence to be changed with ease 24 For More Information On This Product, Table 8 Broadcast Table 0x01 0x03 0x07 0x0F 0x1F 0x3F 0x7F 0xFF Go to: www.freescale.com Table 8 below for details. AN2103 MOTOROLA ...
Page 25
... Freescale Semiconductor, Inc. Figure 10 Broadcast Mode Flow Diagram AN2103 MOTOROLA For More Information On This Product, Start Index N within range ( Reset Index to 0 Load Write Buffer with Command and data to be transmitted Transfer command and data to LIN Broadcast messge transmit buffer ...
Page 26
... Figure 11 Ident Mode Flow Diagram 26 For More Information On This Product, Start Load Write Buffer with Ident Command and data to be transmitted Transfer command and data to LIN Broadcast messge transmit buffer Request Transmission of LIN Broadcast Message N Transmission Complete Y End Go to: www.freescale.com AN2103 MOTOROLA ...
Page 27
... The master is woken by a wake-up request initiated by one of the slave nodes. The LIN I/F device recognizes a specific wake-up message driven onto the bus. The LIN I/F brings the node out of sleep mode by turning on the voltage regulator. Figure 12 Sleep Mode Flow Diagram AN2103 MOTOROLA For More Information On This Product, Start Enable SBC ...
Page 28
... The slaves receive the LIN messages and control the external button LED around the circumference of the ‘clock face’. 28 For More Information On This Product, Start Transmit X denotes node number CLOCK_LED_COMMAND to slave node X End Figure 13 Message Handler (1-12) flow diagrams Go to: www.freescale.com (0 <= x >=12) AN2103 MOTOROLA ...
Page 29
... This handler consists of the function prototype. This is included for DefaultHandler expandability and to ensure that the code does not ‘run away’ even if an invalid entry in the message handler vector table is accessed, i.e. all unused entries in the table jump to DefaultMessage handler. AN2103 MOTOROLA For More Information On This Product, Y demomode = DEFAULT ...
Page 30
... Figure 15 CAN Transmit flow diagrams 30 For More Information On This Product, Start N CAN TX0 buffer empty y Load CANTx buffer with message ID Load CANTx buffer with data bytes Load CANTx buffer with data length byte Request CAN Transmission (clear TXE0 flag) End Go to: www.freescale.com AN2103 MOTOROLA ...
Page 31
... The main loop also performs initialization, by calling the appropriate initialization function, before the infinite loop is entered. Initialisation of the MCU registers, LIN drivers and application is also performed. AN2103 MOTOROLA For More Information On This Product, Go to: www.freescale.com ...
Page 32
... Message Check demo mode and swt flag Initialise Schedule Table Initialise loop control flag LoopControl N flag clear or msgrxd set Y Y LoopControl Flag clear N msgrxd Y Flag set N Handler Table and Clear msgrxd Flag Go to: www.freescale.com Call Message Execute specific handler AN2103 MOTOROLA ...
Page 33
... MsgHandlerTable (array of pointers to functions) and jumps to the appropriate MsgHandlerFunction. SCIRx LIN Drivers SCI Port SCITx Figure 17 Slave code data flow diagram AN2103 MOTOROLA For More Information On This Product, Table 1 Periodic Read Message Port Data Status Msg ...
Page 34
... Several housekeeping tasks are also performed in the main loop, such as control of timeouts etc. Once the iteration is complete, the code jumps back to the start of the loop and performs the tasks again. 34 For More Information On This Product, Go to: www.freescale.com AN2103 MOTOROLA ...
Page 35
... Freescale Semiconductor, Inc. Figure 18 Main Loop flow diagram AN2103 MOTOROLA For More Information On This Product, Start Initialise MCU Register and LIN Dr ivers Enable Global Interrupts Write NodeID and switch Status to MsgSent Buffer Transfer MsgSent buffer to LIN drivers buffer (LIN_PutMsg) N MsgData Changed ...
Page 36
... The handler decodes the LED data received, to see illuminate the RED or GREEN LEDs, resets the appropriate time out counter and then outputs the data to its LED output port. 36 For More Information On This Product, Go to: www.freescale.com AN2103 MOTOROLA ...
Page 37
... Freescale Semiconductor, Inc. Figure 19 Rotating Message Handler flow diagram AN2103 MOTOROLA For More Information On This Product, Start N Msg Data equal RED_LED_ON Y Reset RED LED Timeout Msg Data N equal GREEN_LED_ON Y Reset GREEN LED Timeout Enable System Timeout Write LED data to output port End Go to: www ...
Page 38
... Figure 21 External Message Handler flow diagram 38 For More Information On This Product, Start Disable System Timeout Write LED data to output port End Start Reset external timeout counter Enable external timeout counter Swiitch on external LED End Go to: www.freescale.com AN2103 MOTOROLA ...
Page 39
... I.e. All unused entries in the table jump to DefaultMessage handler. 4.3.2.6 SleepHandler See sleep mode description AN2103 MOTOROLA For More Information On This Product, Start Disable System ...
Page 40
... If a slave detects an ALIVE message it assumes that power up sequence. If the ALIVE is not detected within 200ms the slave assumes that it has woken up and subsequently transmits a wake-up message to the network. 40 For More Information On This Product, Go to: www.freescale.com AN2103 MOTOROLA ...
Page 41
... Constants ***************************************/ /* Slave Node Message array */ const SlaveNodeMsgType SlaveMsg [] = { {0x0F,0x0F}, {0x01,0x11}, {0x02,0x12}, {0x03,0x13}, AN2103 MOTOROLA For More Information On This Product, Copyright (c) Motorola 1998 // LIN Drivers Header file // Master08 header file // Common data structure // Port register definitions // Timer register definitions // SIM Register definitions ...
Page 42
... Current slave node status // Current demo mode (DEFAULT,BROADCAST,IDENT,SLEEP) // System flags // Temp write buffer used with LIN Drivers // Slave node index // Broadcast control index // Temp read buffer used with LIN Drivers // Timeout counter for slave nodes. Set at 5ms Go to: www.freescale.com AN2103 MOTOROLA ...
Page 43
... MsgWriteBuf[1] = ALIVE_BYTE; LIN_PutMsg(SlaveMsg[0].WriteMsg, MsgWriteBuf); LIN_RequestMsg(SlaveMsg[0].WriteMsg); if ((AZ60_PORT.ptd.byte & 0xF0) != 0x00) { SystemFlags.bit.canmode=1; } ScheduleTableInit(); AN2103 MOTOROLA For More Information On This Product, // loop control // Initialisation of MCU register // LIN Drivers Initialisation service //LIN I/F // Wait for LIN to switch ON // Copy transmit data to LIN buffers // Transmit LIN message ...
Page 44
... Schedule another message // Set up for next loop iteration // CAN message received // Jump to message handler table // Set up for next CAN message // Index counter // Initialise temp buffer // NO_NODE = 0x00 // Nodes Transmit LIN header // Initialise Timeout count // Initialise timeout flag Go to: www.freescale.com AN2103 MOTOROLA ...
Page 45
... DemoMode = AZ60_PORT.ptd.byte & 0x03; } switch (DemoMode) { case DEFAULT: DefaultMsgHandler(); break; case BROADCAST: AN2103 MOTOROLA For More Information On This Product, // Start time out // Wait for new data or timeout // Stop timeout. Disables timeout in TIMBOVF_ISR // No Timeout // Valid message received // Transfer Node status to Temp buffer // 1=< ...
Page 46
... Check index is within range Out of range // make index = 1 // Valid ScheduleIndex // Transmit specified message header frame // Calculate alternate index // Transmit specified message header frame // Transmit specified message header // Do not transmit if standalone mode // Standalone =0 // ScheduleIndex is the CANId // Transmit CAN message Go to: www.freescale.com AN2103 MOTOROLA ...
Page 47
... Returns : none Notes : *******************************************************************************/ void BroadcastMsgHandler(void) AN2103 MOTOROLA For More Information On This Product, // Initialise Timeout count // Initialise Timeout // Transmit specified message header frame // Start Timeout // Stop timeout // Check if valid LIN message received // Store status information //Set up write buffer to transmit command to node ...
Page 48
... Device configuration */ AZ60_KBD.config1.bit.copd = 1; AZ60_SIM.config2.byte = 1; /* Ports Initialisation */ AZ60_PORT.ddrd.byte = 0x00; 48 For More Information On This Product, // Dont let Index outwith range // Wait for message complete // Up Counter // Down Counter // Hex switch input // Disable Watchdog // AZ Mode and CAN enabled // PortD i/p for HEX switches Go to: www.freescale.com AN2103 MOTOROLA ...
Page 49
... Returns : None Notes : ******************************************************************************/ void TxCANBuffer(tTXBUF *Buffer, tU08 TxBufferID) { tU08 i; AN2103 MOTOROLA For More Information On This Product, // Port B o/p for LEDs // put MC33388 into normal mode // PTF3=EN and PTF4=STB pins on MC33388 // reset all system flags // MSCAN Initialisation // standard 11-bit data bytes // set CAN status message ID, DLR and priority ...
Page 50
... CommonMsgHandler Engineer : R38917 Date : 20/07/00 Parameters : None Returns : None Notes : This handler is common to the 12 messages as only the index is different. ******************************************************************************/ void CommonMsgHandler(void) 50 For More Information On This Product, = Buffer -> dlr; //STB=EN=0 //STB=0,EN=1 //STB=1,EN=0 //STB=EN=1 // Common handler replaces Node1 - Node12 handlers Go to: www.freescale.com AN2103 MOTOROLA ...
Page 51
... ModeSelect(void) { switch(AZ60_MSCAN08.rxbuf.dsr[1]) { case DEFAULT: DemoMode = DEFAULT; break; case BROADCAST: AN2103 MOTOROLA For More Information On This Product, // Local Declaration // Transfer data to LIN Msg buffer // Request a message // Wait for message complete // Disable UPL //placing MC33388 into SLEEP mode switches off the Vreg ...
Page 52
... For More Information On This Product, // Put demo in broadcast mode // Put demo in IDENT mode //put CAN module in soft reset //accept all messages //release CAN module from soft reset //enable CAN receive interrupts //wait for CAN bus to synchronize Go to: www.freescale.com AN2103 MOTOROLA ...
Page 53
... CANRxISR Engineer : R38917 Date : 10/02/00 Parameters : None AN2103 MOTOROLA For More Information On This Product, // Loop control timer timeout // LoopControlPeriod set in header file // Reset LoopControlTime // Clear system flag // Increment Schedule Table Index // Reset Schedule Index // Timeoutperiod set in header file // Set Timeout flag // Read TBSC0 and write 0 to CH0F Go to: www ...
Page 54
... User #Defines *************************************/ /* Timmer period Control */ #define LOOP_CONTROL_PERIOD 150 #define TIMEOUT_PERIOD 10 54 For More Information On This Product, //clear interrupt flag Copyright (c) Motorola 1998 intended for Motorola product // common data structure // common data structure Go to: www.freescale.com AN2103 MOTOROLA ...
Page 55
... NODE_CONNECTED 0x80 #define NO_NODE 0x00 #define CBT0_125K 0xC0 #define CBT1_125K 0xD8 #define MSCAN_TX0 0x01 AN2103 MOTOROLA For More Information On This Product, //target connection established //Loop control flag //Broadcast message up down flag 0=Up, 1=Down //Flag indicates mode. Standalone = 1 CAN = 0 //LIN timeout. Timeout = //LIN timeout ...
Page 56
... ModeSelect(void); void DefaultHandler(void); void InitialiseMSCAN08(void); void LINTransmit(tU08, tU08, tU08 *); #endif/* End of Header file ifndef*/ 5.3 Slave Code – SLAVE08.C /****************************************************************************** File Name : SLAVE08.C Engineer : TTZ740 Project : SAE Demo Location : EKB 56 For More Information On This Product, Copyright (c) Motorola 2000 Project Go to: www.freescale.com AN2103 MOTOROLA ...
Page 57
... AN2103 MOTOROLA For More Information On This Product, Motorola product //demo header file //lin driver api //port registers definitions //system register definitions //register definitions //register definitions //register definitions *)(0x0000)) ...
Page 58
... SLEEP: AZ60.ptf.byte = 0; break; case SLEEP_RQ: AZ60.ptf.byte = PTF3; break; case RX_ONLY: AZ60.ptf.byte = PTF4; break; case NORMAL: AZ60.ptf.byte = PTF4|PTF3; break; default /****************************************************************************** Function Name : Rotating LEDs message Engineer : TTZ740 58 For More Information On This Product, //STB=EN=0 //STB=0,EN=1 //STB=1,EN=0 //STB=EN=1 Go to: www.freescale.com AN2103 MOTOROLA ...
Page 59
... Parameters : None Returns : None Notes : ******************************************************************************/ void IdentifyHandler(void) AN2103 MOTOROLA For More Information On This Product, //reset red timeout period //reset green timeout period //send data to portb to switch on LEDs //output data byte to port //reset external timeout period //switch on external LED Go to: www.freescale.com Code Listings Slave Code – ...
Page 60
... DefaultHandler, DefaultHandler, DefaultHandler, DefaultHandler, 60 For More Information On This Product, //display node ID on LEDs //enable PTF pins as output //disable UPL interface //MC33388 can't be put to sleep from Vbat //standby mode //placing MC33388 into SLEEP mode switches off the Vreg Go to: www.freescale.com AN2103 MOTOROLA ...
Page 61
... Engineer : TTZ740 Date : Parameters : none Returns : none AN2103 MOTOROLA For More Information On This Product, //initialise LIN driver // disable SCI // 10400 baud // 10400 baud // enable SCI // enable transmit // send wake up //initialise LIN driver Go to: www.freescale.com Code Listings Slave Code – SLAVE08.C ...
Page 62
... UPL device, switch off external LED //delay for UPL to switch on //initialisation routine //enable global interrupts //data byte1 to be sent is node ID //Data byte1 to be sent is switch status //send data to data buffer //reset wakeup timeout //read the message //reset wakeup timeout Go to: www.freescale.com AN2103 MOTOROLA ...
Page 63
... AZ60.pte.bit.pte4 = 0; } if(!AZ60.pte.bit.pte4) SystemFlags.bit.enableExternal = (!SystemFlags.bit.disableWaketime) { AN2103 MOTOROLA For More Information On This Product, //reset wakeup timeout //check if timeout period for red LEDs has expired //increment ticks //switch off red LEDs //check if timeout period for green LEDs has expired //increment ticks ...
Page 64
... Motorola and the Motorola logo* are registered trademarks of Motorola Ltd. ************************************************************************************/ #ifndef SLAVE08_H #define SLAVE08_H /************************* #Defines ******************************************/ /* standard defs that may be defined by compiler / 64 For More Information On This Product, WakeupTimeout = 0;//reset wakeup timeout LINWakeup(); //attempt to wake up network retry++; //clear the overflow flag Copyright (c) Motorola 1998 Motorola product Go to: www.freescale.com AN2103 MOTOROLA ...
Page 65
... EXTERNTIMPeriod 150 #define TXWAKEUPMSG 200 /************************* Prototypes ****************************************/ #endif /* End of Header file ifndef 6 Schematic AN2103 MOTOROLA For More Information On This Product, //generates 150mS timeout (4MHz xtal) //generates 150mS timeout (4MHz xtal) //generates 150mS timeout (4MHz xtal to: www.freescale.com Schematic Slave Code – SLAVE08.H ...
Page 66
... Freescale Semiconductor, Inc. Application Note 66 For More Information On This Product, Go to: www.freescale.com AN2103 MOTOROLA ...
Page 67
... Freescale Semiconductor, Inc. AN2103 MOTOROLA For More Information On This Product, Go to: www.freescale.com Schematic Slave Code – SLAVE08.H 67 ...
Page 68
... JAPAN: Motorola Japan Ltd.; SPS, Technial Information Center, 3-20-1, Minami-Azabu, Minato-ku, Tokyo 106-8573 Japan. 81-3-3440-3569 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Centre, 2 Dai King Street, Tai Po Industrial Estate, Tai Po, N.T., Hong Kong. 852-266668334 CUSTOMER FOCUS CENTER: 1-800-521-6274 For More Information On This Product, Go to: www.freescale.com © Motorola, Inc., 2000 AN2103/D ...