Extend FX16 functionality.

Demo/MB96350_Softune_Dice_Kit/DiceTask.c

@@ -47,41 +47,64 @@
 	licensing and training services.
 */
 
+
+/* 
+ * Defines the 'dice' tasks as described at the top of main.c
+ */
+
+
+/* Kernel includes. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "semphr.h"
 
-#define diceDELAY_BETWEEN_RANDOM_NUMBERS_ms		( 20 )
+/* Delays used within the dice functionality.  All delays are defined in milliseconds. */
-#define diceRUN_TIME	( 2000 / diceDELAY_BETWEEN_RANDOM_NUMBERS_ms )
+#define diceDELAY_BETWEEN_RANDOM_NUMBERS_ms		( 20 / portTICK_RATE_MS )
+#define diceSHAKE_TIME							( ( 2000 / portTICK_RATE_MS ) / diceDELAY_BETWEEN_RANDOM_NUMBERS_ms )
+#define diceSHORT_PAUSE_BEFORE_SHAKE			( 1000 / portTICK_RATE_MS )
+#define diceDELAY_WHILE_DISPLAYING_RESULT		( 5000 / portTICK_RATE_MS )
 
+/* Macro to access the display ports. */
+#define dice7SEG_Value( x )		( *( pucDisplayOutput[ x ] ) )
 
-#define diceEND_DELAY			( 5000 / portTICK_RATE_MS )
+/* Checks the semaphore use to communicate button push events.  A block time
-
+can be specified - this is the time to wait for a button push to occur should
-#define dice7SEG_Value( x )		*( pucDisplayOutput[ x ] )
+one have not already occurred. */
-
 #define prvButtonHit( ucIndex, xTicksToWait ) xSemaphoreTake( xSemaphores[ ucIndex ], xTicksToWait )
 
+/* Defines the outputs required for each digit on the display. */
 static const char cDisplaySegments[ 2 ][ 11 ] =
 {
-	{ 0x48, 0xeb, 0x8c, 0x89, 0x2b, 0x19, 0x18, 0xcb, 0x08, 0x09, 0xf7 },
+	{ 0x48, 0xeb, 0x8c, 0x89, 0x2b, 0x19, 0x18, 0xcb, 0x08, 0x09, 0xf7 }, /* Left display. */
-	{ 0xa0, 0xf3, 0xc4, 0xc1, 0x93, 0x89, 0x88, 0xe3, 0x80, 0x81, 0x7f }
+	{ 0xa0, 0xf3, 0xc4, 0xc1, 0x93, 0x89, 0x88, 0xe3, 0x80, 0x81, 0x7f }  /* Right display. */
 };
 
+/* The semaphores used to communicate button push events between the button
+input interrupt handlers and the dice tasks.  Two dice tasks are created so two
+semaphores are required. */
 static xSemaphoreHandle xSemaphores[ 2 ] = { 0 };
 
+/* Defines the ports used to write to the display.  This variable is defined in
+partest.c, which contains the LED set/clear/toggle functions. */
 extern volatile unsigned char *pucDisplayOutput[ 2 ];
 
 /*-----------------------------------------------------------*/
 
+/* 
+ * Defines the 'dice' tasks as described at the top of main.c
+ */
 void vDiceTask( void *pvParameters )
 {
 unsigned char ucDiceValue, ucIndex;
 unsigned long ulDiceRunTime;
 extern void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks );
 
+
+
 	/* Two instances of this task are created so the task parameter is used
-	to pass in an index that allows this task to know which file scope variables
+	to pass in a constant that indicates whether this task is controlling
-	it should use.  Cast this index into a usable type. */
+	the left side or right side display.  The constant is used as an index
+	into the arrays defined at file scope within this file. */
 	ucIndex = ( unsigned char ) pvParameters;
 	
 	/* A binary semaphore is used to signal button push events.  Create the
@@ -91,12 +114,18 @@ extern void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks );
 	/* Make sure the semaphore starts in the wanted state - no button pushes 
 	pending. This call will just clear any button pushes that are latched.
 	Passing in 0 as the block time means the call will not wait for any further
-	button pushes. */
+	button pushes but instead return immediately. */
 	prvButtonHit( ucIndex, 0 );
 
 	/* Seed the random number generator. */
-	srand( ( unsigned char ) diceRUN_TIME );
+	srand( ( unsigned char ) diceSHAKE_TIME );
 
+
+
+
+	/* Start the task proper.  A loop will be performed each time a button is
+	pushed.  The task will remain in the blocked state (sleeping) until a 
+	button is pushed. */
 	for( ;; )
 	{
 		/* Wait for a button push.  This task will enter the Blocked state
@@ -104,13 +133,21 @@ extern void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks );
 		prvButtonHit( ucIndex, portMAX_DELAY );
 		
 		/* The next line will only execute after a button has been pushed -
-		initialise the variable used to shake the dice. */
+		initialise the variable used to control the time the dice is shaken
-		ulDiceRunTime = diceRUN_TIME;;				
+		for. */
+		ulDiceRunTime = diceSHAKE_TIME;				
 
 		/* Suspend the flash tasks so this task has exclusive access to the
 		display. */
 		vSuspendFlashTasks( ucIndex, pdTRUE );
 
+		/* Clear the display and pause for a short time, before starting to
+		shake. */
+		*pucDisplayOutput[ ucIndex ] = 0xff;
+		vTaskDelay( diceSHORT_PAUSE_BEFORE_SHAKE );
+
+		/* Keep generating and displaying random numbers until the shake time
+		expires. */
 		while( ulDiceRunTime > 0 )
 		{
 			ulDiceRunTime--;
@@ -121,31 +158,33 @@ extern void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks );
 
 			/* Block/sleep for a very short time before generating the next
 			random number. */
-			vTaskDelay( diceDELAY_BETWEEN_RANDOM_NUMBERS_ms / portTICK_RATE_MS );
+			vTaskDelay( diceDELAY_BETWEEN_RANDOM_NUMBERS_ms );
 		}
 
-		/* Wait for a short time before resuming (un-suspending) the flash 
-		task.  The flash tasks are only restarted if a button is not pushed
-		during this delay - if a button is pushed then the dice are shaken
-		again. 
 
-		First...clear any button pushes that are already pending.  Again a
+
-		block time of zero is used so the function does not wait for any 
+		/* Clear any button pushes that are pending because a button bounced, or
-		pushes. */
+		was pressed while the dice were shaking.  Again a block time of zero is 
+		used so the function does not wait for any pushes but instead returns
+		immediately. */
 		prvButtonHit( ucIndex, 0 );
 
-		/* Second...peek the semaphore.  This task will block/sleep until a
+		/* Delay for a short while to display the dice shake result.  Use a queue
-		button is pushed again, but because the peek function is used a 
+		peek here instead of a vTaskDelay() allows the delay to be interrupted by
-		button being pushed will unblock the task but remain pending. */
+		a button push.  If a button is pressed xQueuePeek() will return but the
-		if( xQueuePeek( xSemaphores[ ucIndex ], NULL, diceEND_DELAY ) == pdFALSE )
+		button push will remain pending to be read again at the top of this for
-		{
+		loop.  It is safe to uses a queue function on a semaphore handle as
-			*pucDisplayOutput[ ucIndex ] = 0xff;
+		semaphores are implemented as macros that uses queues, so the two are 
-			vSuspendFlashTasks( ucIndex, pdFALSE );
+		basically the same thing. */
-		}
+		xQueuePeek( xSemaphores[ ucIndex ], NULL, diceDELAY_WHILE_DISPLAYING_RESULT );
+
+		/* Clear the display then resume the tasks or co-routines that were using
+		the segments of the display. */
 	}
 }
 /*-----------------------------------------------------------*/
 
+/* Handler for the SW2 button push interrupt. */
 __interrupt void vExternalInt8Handler( void )
 {
 short sHigherPriorityTaskWoken = pdFALSE;
@@ -153,8 +192,18 @@ short sHigherPriorityTaskWoken = pdFALSE;
 	/* Reset the interrupt. */
 	EIRR1_ER8 = 0;
 
-	xSemaphoreGiveFromISR( xSemaphores[ 0 ], &sHigherPriorityTaskWoken );
+	/* Check the semaphore has been created before attempting to use it. */
+	if( xSemaphores[ configLEFT_DISPLAY ] != NULL )
+	{
+		/* Send a message via the semaphore to the dice task that controls the
+		left side display.  This will unblock the task if it is blocked waiting
+		for a button push. */
+		xSemaphoreGiveFromISR( xSemaphores[ configLEFT_DISPLAY ], &sHigherPriorityTaskWoken );
+	}
 
+	/* If sending the semaphore unblocked a task, and the unblocked task has a
+	priority that is higher than the currently running task, then force a context
+	switch. */
 	if( sHigherPriorityTaskWoken != pdFALSE )
 	{
 		portYIELD_FROM_ISR();
@@ -162,6 +211,7 @@ short sHigherPriorityTaskWoken = pdFALSE;
 }
 /*-----------------------------------------------------------*/
 
+/* As per vExternalInt8Handler(), but for SW3 and the right side display. */
 __interrupt void vExternalInt9Handler( void )
 {
 short sHigherPriorityTaskWoken = pdFALSE;
@@ -169,7 +219,10 @@ short sHigherPriorityTaskWoken = pdFALSE;
 	/* Reset the interrupt. */
 	EIRR1_ER9 = 0;
 
-	xSemaphoreGiveFromISR( xSemaphores[ 1 ], &sHigherPriorityTaskWoken );
+	if( xSemaphores[ configRIGHT_DISPLAY ] != NULL )
+	{
+		xSemaphoreGiveFromISR( xSemaphores[ configRIGHT_DISPLAY ], &sHigherPriorityTaskWoken );
+	}
 
 	if( sHigherPriorityTaskWoken != pdFALSE )
 	{

Demo/MB96350_Softune_Dice_Kit/FreeRTOSConfig.h

@@ -79,39 +79,45 @@ the ComTest tasks will be included in place of the trace task. */
  * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
  * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
  *----------------------------------------------------------*/
-#define configUSE_PREEMPTION		1
+#define configUSE_PREEMPTION			1
-#define configUSE_IDLE_HOOK			1
+#define configUSE_IDLE_HOOK				1
-#define configUSE_TICK_HOOK			0
+#define configUSE_TICK_HOOK				0
-#define configMINIMAL_STACK_SIZE	( ( unsigned portSHORT ) 180 ) /* This can be greatly reduced when using the small or medium memory model. */
+#define configMINIMAL_STACK_SIZE		( ( unsigned portSHORT ) 180 ) /* This can be greatly reduced when using the small or medium memory model. */
-#define configCPU_CLOCK_HZ			( ( unsigned portLONG ) 56000000 )	/* Clock setup from start.asm in the demo application. */
+#define configCPU_CLOCK_HZ				( ( unsigned portLONG ) 56000000 )	/* Clock setup from start.asm in the demo application. */
-#define configCLKP1_CLOCK_HZ		( ( unsigned portLONG ) 56000000 )	/* Clock setup from start.asm in the demo application. */
+#define configCLKP1_CLOCK_HZ			( ( unsigned portLONG ) 56000000 )	/* Clock setup from start.asm in the demo application. */
-#define configTICK_RATE_HZ			( (portTickType) 1000 )
+#define configTICK_RATE_HZ				( (portTickType) 1000 )
-#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 6 )
+#define configMAX_PRIORITIES			( ( unsigned portBASE_TYPE ) 6 )
-#define configTOTAL_HEAP_SIZE		( (size_t) (5000) )
+#define configTOTAL_HEAP_SIZE			( (size_t) (5000) )
-#define configMAX_TASK_NAME_LEN		( 20 )
+#define configMAX_TASK_NAME_LEN			( 20 )
-#define configUSE_16_BIT_TICKS		1
+#define configUSE_16_BIT_TICKS			1
-#define configIDLE_SHOULD_YIELD		1
+#define configIDLE_SHOULD_YIELD			1
-#define configUSE_MUTEXES			1
+#define configUSE_MUTEXES				1
-#define configUSE_TRACE_FACILITY	1
+#define configUSE_TRACE_FACILITY		0
+#define configCHECK_FOR_STACK_OVERFLOW	0
 
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES			1
-#define configMAX_CO_ROUTINE_PRIORITIES ( 4 )
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
 
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
-#define INCLUDE_vTaskPrioritySet			1
+#define INCLUDE_vTaskPrioritySet			0
-#define INCLUDE_uxTaskPriorityGet			1
+#define INCLUDE_uxTaskPriorityGet			0
-#define INCLUDE_vTaskDelete					1
+#define INCLUDE_vTaskDelete					0
-#define INCLUDE_vTaskCleanUpResources		1
+#define INCLUDE_vTaskCleanUpResources		0
 #define INCLUDE_vTaskSuspend				1
-#define INCLUDE_vResumeFromISR				1
+#define INCLUDE_vResumeFromISR				0
 #define INCLUDE_vTaskDelayUntil				1
 #define INCLUDE_vTaskDelay					1
-#define INCLUDE_xTaskGetSchedulerState		1
+#define INCLUDE_xTaskGetSchedulerState		0
-#define INCLUDE_xTaskGetCurrentTaskHandle	1
+#define INCLUDE_xTaskGetCurrentTaskHandle	0
 
 
 #define configKERNEL_INTERRUPT_PRIORITY 6
 
+/* Passed into the Dice tasks to let then know if they are controlling the 
+display on the left side or the right side. */
+#define configLEFT_DISPLAY		0
+#define configRIGHT_DISPLAY		1
+
 #endif /* FREERTOS_CONFIG_H */

Demo/MB96350_Softune_Dice_Kit/OPT/dicekit16fx_dice2-v10.opb

@@ -18,5 +18,5 @@
 -a "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\croutine.obj"
 -a "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\DiceTask.obj"
 -a "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\ParTest.obj"
--a "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\flash.obj"
+-a "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\SegmentToggleTasks.obj"
 

Demo/MB96350_Softune_Dice_Kit/OPT/dicekit16fx_dice2-v10.opl

@@ -36,5 +36,5 @@
 "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\croutine.obj"
 "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\DiceTask.obj"
 "C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\ParTest.obj"
-"C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\flash.obj"
+"C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\OBJ\SegmentToggleTasks.obj"
 

Demo/MB96350_Softune_Dice_Kit/dicekit16fx_dice2-v10.prj

@@ -29,10 +29,10 @@ F8=0 c ..\..\Source\queue.c
 F9=0 c ..\..\Source\tasks.c
 F10=0 f Demo Source
 F11=0 c DiceTask.c
-F12=0 c flash.c
+F12=0 c main.c
-F13=0 c main.c
+F13=0 a mb96356rs.asm
-F14=0 a mb96356rs.asm
+F14=0 c ParTest\ParTest.c
-F15=0 c ParTest\ParTest.c
+F15=0 c SegmentToggleTasks.c
 F16=0 a START.ASM
 F17=0 c vectors.c
 
@@ -146,7 +146,7 @@ F12-7=- ..\..\Source\portable\Softune\MB96340\portmacro.h
 F12-8=- ..\..\Source\Include\task.h
 F12-9=- ..\..\Source\Include\list.h
 F12-10=- ..\..\Source\Include\croutine.h
-F13=9 c 1 DiceTask.c
+F13=11 c 1 DiceTask.c
 F13-1=- ..\..\Source\Include\FreeRTOS.h
 F13-2=- ..\..\..\..\..\..\devtools\Softune\LIB\907\INCLUDE\stddef.h
 F13-3=- ..\..\Source\Include\projdefs.h
@@ -156,6 +156,8 @@ F13-6=- ..\..\Source\Include\portable.h
 F13-7=- ..\..\Source\portable\Softune\MB96340\portmacro.h
 F13-8=- ..\..\Source\Include\task.h
 F13-9=- ..\..\Source\Include\list.h
+F13-10=- ..\..\Source\Include\semphr.h
+F13-11=- ..\..\Source\Include\queue.h
 F14=10 c 1 ParTest\ParTest.c
 F14-1=- ..\..\Source\Include\FreeRTOS.h
 F14-2=- ..\..\..\..\..\..\devtools\Softune\LIB\907\INCLUDE\stddef.h
@@ -167,19 +169,7 @@ F14-7=- ..\..\Source\portable\Softune\MB96340\portmacro.h
 F14-8=- ..\..\Source\Include\task.h
 F14-9=- ..\..\Source\Include\list.h
 F14-10=- ..\Common\Include\ParTest.h
-F15=12 c 1 flash.c
+F15=0 c 1 SegmentToggleTasks.c
-F15-1=- ..\..\..\..\..\..\devtools\Softune\LIB\907\INCLUDE\stdlib.h
-F15-2=- ..\..\..\..\..\..\devtools\Softune\LIB\907\INCLUDE\stddef.h
-F15-3=- ..\..\Source\Include\FreeRTOS.h
-F15-4=- ..\..\Source\Include\projdefs.h
-F15-5=- FreeRTOSConfig.h
-F15-6=- mb96356rs.h
-F15-7=- ..\..\Source\Include\portable.h
-F15-8=- ..\..\Source\portable\Softune\MB96340\portmacro.h
-F15-9=- ..\..\Source\Include\task.h
-F15-10=- ..\..\Source\Include\list.h
-F15-11=- ..\Common\Include\ParTest.h
-F15-12=- ..\Common\Include\Flash.h
 
 [BUILDMODE-Debug]
 kernel=0

Demo/MB96350_Softune_Dice_Kit/dicekit16fx_dice2-v10.wsp

@@ -18,6 +18,5 @@ AutoLoad=1
 WSP=C:\E\Dev\FreeRTOS\WorkingCopy3\Demo\MB96350_Softune_Dice_Kit\
 
 [EditState]
-STATE-1=vectors.c:40
+Count=0
-Count=1
 

Demo/MB96350_Softune_Dice_Kit/main.c

@@ -47,6 +47,57 @@
 	licensing and training services.
 */
 
+
+/*****
+ *
+ * See http://www.freertos.org/Documentation/FreeRTOS-documentation-and-book.html
+ * for an introductory guide to using real time kernels, and FreeRTOS in 
+ * particular. 
+ *
+ *****
+ *  
+ * The DICE-KIT-16FX has two 7 segment displays and two buttons that can
+ * generate interrupts.  This example uses this IO as follows:
+ *
+ *
+ * - Left 7 segment display - 
+ *
+ * 7 'flash' tasks are created, each of which toggles a single segment of the 
+ * left display.  Each task executes at a fixed frequency, with a different 
+ * frequency being used by each task.
+ *
+ * When button SW2 is pressed an interrupt is generated that wakes up a 'dice'
+ * task.  The dice task suspends the 7 tasks that are accessing the left display
+ * before simulating a dice being thrown by generating a random number between
+ * 1 and 6.  After the number has been generated the task sleeps for 5 seconds,
+ * if SW2 is pressed again within the 5 seconds another random number is 
+ * generated, if SW2 is not pressed within the 5 seconds then the 7 tasks are
+ * un-suspended and will once again toggle the segments of the left hand display.
+ *
+ *
+ * - Right 7 segment display -
+ *
+ * Control of the right side 7 segment display is very similar to that of the
+ * left, except co-routines are used to toggle the segments instead of tasks,
+ * and button SW3 is used instead of SW2.
+ *
+ *
+ * - Notes -
+ *
+ * Only one dice task is actually defined.  Two instances of this single
+ * definition are created, the first to simulate a dice being thrown on the left
+ * display, and the other to simulate a dice being thrown on the right display.
+ * The task parameter is used to let the dice tasks know which display to 
+ * control.
+ *
+ * Both dice tasks and the flash tasks operate completely independently under
+ * the control of FreeRTOS.  11 tasks and 7 co-routines are created in total,
+ * including the idle task. 
+ *
+ * The co-routines all execute within a single low priority task.
+ *
+ *****/
+
 /* Kernel includes. */
 #include "FreeRTOS.h"
 #include "Task.h"
@@ -56,34 +107,45 @@
 #include "ParTest.h"
 #include "Flash.h"
 
+/* The priority at which the dice task execute. */
+#define mainDICE_PRIORITY			( tskIDLE_PRIORITY + 2 )
+
+/*
+ * Sets up the MCU IO for the 7 segment displays and the button inputs.
+ */
 static void prvSetupHardware( void );
 
-#define mainDISPLAY_1		0
+/*
-#define mainDISPLAY_2		1
+ * The function that creates the flash tasks and co-routines (the tasks and
+ * co-routines that toggle the 7 segment display segments.
+ */
+extern vCreateFlashTasksAndCoRoutines( void );
 
-#define mainFLASH_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
 /*-----------------------------------------------------------*/
 
 void main( void )
 {
+	/* Setup the MCU IO. */
 	prvSetupHardware();
 
-	vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
+	/* Create the tasks and co-routines that toggle the display segments. */
+	vCreateFlashTasksAndCoRoutines();
 
-	xTaskCreate( vDiceTask, ( signed char * ) "Dice1", configMINIMAL_STACK_SIZE, ( void * ) mainDISPLAY_1, tskIDLE_PRIORITY, NULL );
+	/* Create a 'dice' task to control the left hand display. */
-	xTaskCreate( vDiceTask, ( signed char * ) "Dice2", configMINIMAL_STACK_SIZE, ( void * ) mainDISPLAY_2, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vDiceTask, ( signed char * ) "Dice1", configMINIMAL_STACK_SIZE, ( void * ) configLEFT_DISPLAY, mainDICE_PRIORITY, NULL );
 
+	/* Create a 'dice' task to control the right hand display. */
+	xTaskCreate( vDiceTask, ( signed char * ) "Dice2", configMINIMAL_STACK_SIZE, ( void * ) configRIGHT_DISPLAY, mainDICE_PRIORITY, NULL );
+
+	/* Start the scheduler running. */
 	vTaskStartScheduler();
 
+	/* If this loop is executed then there was insufficient heap memory for the
+	idle task to be created - causing vTaskStartScheduler() to return. */
 	while( 1 );
 }
 /*-----------------------------------------------------------*/
 
-void vApplicationIdleHook( void )
-{
-}
-/*-----------------------------------------------------------*/
-
 static void prvSetupHardware( void )
 {
 	/* Setup interrupt hardware - interrupts are kept disabled for now to
@@ -136,7 +198,7 @@ static void prvSetupHardware( void )
 	ELVRL1_LB9 = 1;
 	ELVRL1_LA9 = 1;
 
-	/* Reset and enable the interrput request. */
+	/* Reset and enable the interrupt request. */
 	EIRR1_ER9 = 0;
 	ENIR1_EN9 = 1;	
 }

Demo/MB96350_Softune_Dice_Kit/options.dat

@@ -60,7 +60,7 @@ $2
 $other
 -Xset_rora
 $time
-1233330876
+1233411019
 $end
 $3
 -dt s,d,r,a
@@ -70,7 +70,7 @@ $3
 -Xdof
 $other
 $time
-1233330876
+1233411019
 $end
 $4
 -Xdof