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GPT1.LST
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C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 1
C166 COMPILER V7.00, COMPILATION OF MODULE GPT1
OBJECT MODULE PLACED IN GPT1.OBJ
COMPILER INVOKED BY: F:\Softeware\Fury\Keil\C166\BIN\C166.EXE GPT1.C MODV2 BROWSE MODV2 DEBUG
stmt lvl source
1 //****************************************************************************
2 // @Module General Purpose Timer Unit (GPT1)
3 // @Filename GPT1.C
4 // @Project test3.dav
5 //----------------------------------------------------------------------------
6 // @Controller Infineon XC2267M-104F80
7 //
8 // @Compiler Keil
9 //
10 // @Codegenerator 2.0
11 //
12 // @Description This file contains functions that use the GPT1 module.
13 //
14 //----------------------------------------------------------------------------
15 // @Date 2018/11/1 16:59:45
16 //
17 //****************************************************************************
18
19 // USER CODE BEGIN (GPT1_General,1)
20
21 // USER CODE END
22
23
24
25 //****************************************************************************
26 // @Project Includes
27 //****************************************************************************
28
29 #include "MAIN.H"
30
31 // USER CODE BEGIN (GPT1_General,2)
32
33 // USER CODE END
34
35
36 //****************************************************************************
37 // @Macros
38 //****************************************************************************
39
40 // USER CODE BEGIN (GPT1_General,3)
41
42 // USER CODE END
43
44
45 //****************************************************************************
46 // @Defines
47 //****************************************************************************
48
49 // USER CODE BEGIN (GPT1_General,4)
50
51 // USER CODE END
52
53
54 //****************************************************************************
55 // @Typedefs
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 2
56 //****************************************************************************
57
58 // USER CODE BEGIN (GPT1_General,5)
59
60 // USER CODE END
61
62
63 //****************************************************************************
64 // @Imported Global Variables
65 //****************************************************************************
66
67 // USER CODE BEGIN (GPT1_General,6)
68
69 // USER CODE END
70
71
72 //****************************************************************************
73 // @Global Variables
74 //****************************************************************************
75
76 // USER CODE BEGIN (GPT1_General,7)
77
78 // USER CODE END
79
80
81 //****************************************************************************
82 // @External Prototypes
83 //****************************************************************************
84
85 // USER CODE BEGIN (GPT1_General,8)
86
87 // USER CODE END
88
89
90 //****************************************************************************
91 // @Prototypes Of Local Functions
92 //****************************************************************************
93
94 // USER CODE BEGIN (GPT1_General,9)
95
96 // USER CODE END
97
98
99 //****************************************************************************
100 // @Function void GPT1_vInit(void)
101 //
102 //----------------------------------------------------------------------------
103 // @Description This is the initialization function of the GPT1 function
104 // library. It is assumed that the SFRs used by this library
105 // are in reset state.
106 //
107 //----------------------------------------------------------------------------
108 // @Returnvalue None
109 //
110 //----------------------------------------------------------------------------
111 // @Parameters None
112 //
113 //----------------------------------------------------------------------------
114 // @Date 2018/11/1
115 //
116 //****************************************************************************
117
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 3
118 // USER CODE BEGIN (Init,1)
119
120 // USER CODE END
121
122 void GPT1_vInit(void)
123 {
124 1 // USER CODE BEGIN (Init,2)
125 1
126 1 // USER CODE END
127 1 /// -----------------------------------------------------------------------
128 1 /// Configuration of Timer Block Prescaler 1:
129 1 /// -----------------------------------------------------------------------
130 1 GPT12E_KSCCFG = 0x0003; // Module Enable
131 1
132 1 _nop_(); // one cycle delay
133 1
134 1 _nop_(); // one cycle delay
135 1
136 1
137 1
138 1 /// -----------------------------------------------------------------------
139 1 /// Configuration of Timer Block Prescaler 1:
140 1 /// -----------------------------------------------------------------------
141 1 /// - prescaler for timer block 1 is 4
142 1
143 1
144 1 /// -----------------------------------------------------------------------
145 1 /// Configuration of the GPT1 Core Timer 3:
146 1 /// -----------------------------------------------------------------------
147 1 /// - timer 3 works in timer mode
148 1 /// - external up/down control is disabled
149 1 /// - prescaler factor is 512
150 1 /// - up/down control bit is reset
151 1 /// - alternate output function T3OUT (P7.0) is disabled
152 1 /// - timer 3 output toggle latch (T3OTL) is set to 0
153 1
154 1 GPT12E_T3CON = 0x0807; // load timer 3 control register
155 1 GPT12E_T3 = 0xFCF3; // load timer 3 register
156 1 /// - prescaler for timer block 1 is 4
157 1
158 1 /// -----------------------------------------------------------------------
159 1 /// Configuration of the GPT1 Auxiliary Timer 2:
160 1 /// -----------------------------------------------------------------------
161 1 /// - timer 2 works in timer mode
162 1 /// - external up/down control is disabled
163 1 /// - prescaler factor is 4
164 1 /// - up/down control bit is reset
165 1 /// - timer 2 run bit is reset
166 1
167 1 GPT12E_T2CON = 0x0000; // load timer 2 control register
168 1 GPT12E_T2 = 0x0007; // load timer 2 register
169 1 /// - prescaler for timer block 1 is 4
170 1
171 1 /// -----------------------------------------------------------------------
172 1 /// Configuration of the GPT1 Auxiliary Timer 4:
173 1 /// -----------------------------------------------------------------------
174 1 /// - timer 4 works in timer mode
175 1 /// - external up/down control is disabled
176 1 /// - prescaler factor is 4
177 1 /// - up/down control bit is reset
178 1 /// - timer 4 run bit is reset
179 1
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 4
180 1 GPT12E_T4CON = 0x0000; // load timer 4 control register
181 1 GPT12E_T4 = 0x0000; // load timer 4 register
182 1 /// - prescaler for timer block 1 is 4
183 1
184 1 /// -----------------------------------------------------------------------
185 1 /// Configuration of the used GPT1 Port Pins:
186 1 /// -----------------------------------------------------------------------
187 1
188 1
189 1
190 1 /// -----------------------------------------------------------------------
191 1 /// Configuration of the used GPT1 Interrupts:
192 1 /// -----------------------------------------------------------------------
193 1 /// timer 3 service request node configuration:
194 1 /// - timer 3 interrupt priority level (ILVL) = 14
195 1 /// - timer 3 interrupt group level (GLVL) = 3
196 1 /// - timer 3 group priority extension (GPX) = 0
197 1
198 1 GPT12E_T3IC = 0x007B;
199 1
200 1 /// Use PEC channel 3 for GPT1 T3 INT:
201 1 /// - normal interrupt
202 1 /// - pointers are not modified
203 1 /// - transfer a word
204 1 /// - service End of PEC interrrupt by a EOP interrupt node is disabled
205 1 /// - channel link mode is disabled
206 1
207 1 PECC3 = 0x0000; // load PECC3 control register
208 1
209 1
210 1
211 1 // USER CODE BEGIN (GPT1_Function,3)
212 1
213 1 // USER CODE END
214 1
215 1 GPT12E_T3CON_T3R = 1; // set timer 3 run bit
216 1
217 1 } // End of function GPT1_viTmr4
218
219
220 //****************************************************************************
221 // @Function void GPT1_viTmr3(void)
222 //
223 //----------------------------------------------------------------------------
224 // @Description This is the interrupt service routine for the GPT1 timer 3.
225 // It is called up in the case of over or underflow of the
226 // timer 3 register.
227 // If the incremental interface mode is selected it is called
228 // up if count edge or count direction was detected.
229 //
230 // Please note that you have to add application specific code
231 // to this function.
232 //
233 //----------------------------------------------------------------------------
234 // @Returnvalue None
235 //
236 //----------------------------------------------------------------------------
237 // @Parameters None
238 //
239 //----------------------------------------------------------------------------
240 // @Date 2018/11/1
241 //
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 5
242 //****************************************************************************
243
244 // USER CODE BEGIN (Tmr3,1)
245 ubyte can0_send[8]={0};//VCU发数据给K60辅助控制器
246 ubyte can0_send1[8]={0};
247 ubyte can0_send_old[8]={0};
248 unsigned int timeFlag=0;
249
250 unsigned int allFlag=0;
251
252 int temp=0;
253 // 启动标志 油门刹车可靠 待驶状态 鸣笛 运行控制
254 ubyte startFlag=0,acBrReliableFlag=1,driveReadyFlag=0,beepFlag=0,runFlag=0,SafetyFlag,brFlag=0;
255 //鸣笛时间计数
256 unsigned int beepTimer=0;
257
258 unsigned int can1WatchDog=0,can2WatchDog=0;
259 // USER CODE END
260
261 void GPT1_viTmr3(void) interrupt T3INT
262 {
263 1 // USER CODE BEGIN (Tmr3,2)
264 1 can1WatchDog++;
265 1 if(can1WatchDog>500) can1WatchDog=500;
266 1 if(can1WatchDog>100)
267 1 {
268 2 BatVoltage=9999;
269 2 BatCurrent=9999;
270 2 BatSoc=999;
271 2 MaxTemp=999;
272 2 }
273 1 if(can2WatchDog>500) can2WatchDog=500;
274 1 if(can2WatchDog>100)
275 1 {
276 2 RotateSpeed=9999;
277 2 mcFlag=999;
278 2 mcuTemp=999;
279 2 motorTemp=999;
280 2 }
281 1 // USER CODE END
282 1
283 1
284 1 // USER CODE BEGIN (Tmr3,5)
285 1
286 1 acDeal(); //获取并处理油门数据，最终数据为 ac_final，acRealiableFlag
287 1 brDeal(); //获取并处理油门数据，最终数据为 brAdFinal
288 1
289 1 if (brAdFinal>BREAK && StartButton == 0) //start_flag 启动标志
290 1 startFlag = 1;
291 1
292 1 //制动可靠性检查部分如下
293 1 if(acBrReliableFlag == 1 && ac_final > 15 && brAdFinal > 15) //制动可靠性数值修改
294 1 acBrReliableFlag = 0;
295 1 if(acBrReliableFlag == 0 & ac_final < 5)
296 1 acBrReliableFlag = 1;
297 1 //电机控制器使能输出控制
298 1 if(startFlag == 1 && acRealiableFlag == 1 && acBrReliableFlag == 1)
299 1 runFlag = 1;
300 1 else
301 1 runFlag =0;
302 1 //电机控制器使能输出控制 在启动后拔掉油门和制动电机无动力输出
303 1 if(ac_ad[0]<5||ac_ad[1]<5)
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 6
304 1 runFlag =0;
305 1
306 1 //进入待驶状态
307 1 if(startFlag == 1 && runFlag == 1 && SafetyLoopDetection==0&& McBTB==0)//
308 1 {
309 2 driveReadyFlag = 1;
310 2 DriveReadyLed = 1;
311 2 beepFlag = 1;
312 2 }
313 1 //退出待驶状态
314 1 if(SafetyLoopDetection==1 || McBTB==1 )//
315 1 {
316 2 startFlag=0;
317 2 driveReadyFlag = 0;
318 2 DriveReadyLed = 0; //高边开关2 待驶指示灯灭
319 2 beepFlag = 0;
320 2 beepTimer=0;
321 2 }
322 1
323 1 if( brAdFinal>BREAK){ //刹车灯控制 driveReadyFlag == 1 && startFlag == 1 &&
324 2 BreakLed = 1;
325 2 brFlag=1;
326 2 }
327 1 else{
328 2 BreakLed = 0;
329 2 brFlag=0;
330 2 }
331 1
332 1 //鸣笛控制
333 1 if(beepFlag == 1&& beepTimer<BEEPTIME )
334 1 {
335 2 beepTimer ++;
336 2 Beep = 1; //高边开关1 鸣笛两秒
337 2 }
338 1 else Beep = 0; //高边开关1 鸣笛停止
339 1
340 1
341 1 if(SafetyLoopDetection==0) SafetyFlag=1;//正常情况
342 1 else if(SafetyLoopDetection==1) SafetyFlag=0;//异常情况
343 1 allFlag=acRealiableFlag*1+acBrReliableFlag*2+startFlag*4+runFlag*8 //发送标志编码
344 1 + driveReadyFlag*16+SafetyFlag*32+brFlag*64;
345 1
346 1 sendToMc();
347 1 sendToK60();
348 1
349 1 GPT12E_T3=0xF9E6; //设置定时器时间
350 1
351 1 // USER CODE BEGIN (Tmr3,5)
352 1
353 1 // USER CODE END
354 1
355 1 } // End of function GPT1_viTmr3
356
357
358
359
360 // USER CODE BEGIN (GPT1_General,10)
361
362 void sendToK60(){//CAN2
363 1 int i=0;
364 1 ubyte repeat=0;
365 1
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 7
366 1 timeFlag++;
367 1 temp+=10;
368 1 temp=temp>9000?0:temp;
369 1
370 1 if(timeFlag%2==1){//转速，速度显示要实时性，5ms发送一次
371 2 //转速发送
372 2 can0_send[0]=0x01;
373 2 can0_send[1]=(ubyte)(RotateSpeed/256); //RotateSpeed
374 2 can0_send[2]=(ubyte)(RotateSpeed%256);
375 2 //速度发送
376 2 can0_send[4]=0x02;
377 2 can0_send[5]=(ubyte)(RotateSpeed/256); // RotateSpeed
378 2 can0_send[6]=(ubyte)(RotateSpeed%256);
379 2 }
380 1 else if(timeFlag%2==0){ //实时性要求不高 2,4,6 50ms发送一次
381 2 if(timeFlag%10==2){//2
382 3 //SOC
383 3 can0_send[0]=0x03;
384 3 can0_send[1]=(ubyte)(BatSoc/256); // BatSoc
385 3 can0_send[2]=(ubyte)(BatSoc%256);
386 3 //电池温度
387 3 can0_send[4]=0x04;
388 3 can0_send[5]=(ubyte)(MaxTemp/256); // MaxTemp
389 3 can0_send[6]=(ubyte)(MaxTemp%256);
390 3 }
391 2 else if(timeFlag%10==4){//4
392 3 //电池电压
393 3 can0_send[0]=0x05;
394 3 can0_send[1]=(ubyte)(BatVoltage/256); // BatVoltage
395 3 can0_send[2]=(ubyte)(BatVoltage%256);
396 3 //电池电流
397 3 can0_send[4]=0x06;
398 3 can0_send[5]=(ubyte)(BatCurrent/256); // BatCurrent
399 3 can0_send[6]=(ubyte)(BatCurrent%256);
400 3 }
401 2 else if(timeFlag%10==6){//6
402 3
403 3 can0_send[0]=0x07;
404 3 can0_send[1]=(ubyte)(ac_final%256); //油门 0~100 // ac_final
405 3 can0_send[2]=(ubyte)(brAdFinal%256); //刹车 0~100 //brAdFinal
406 3
407 3 can0_send[4]=0x08;
408 3 can0_send[5]=(ubyte)(allFlag%256); //allFlag 0~128 // allFlag
409 3 can0_send[6]=(ubyte)(gear%256); //gear 0~6 // gear
410 3 }
411 2 else if(timeFlag%10==8){//8
412 3
413 3 can0_send[0]=0x09;
414 3 can0_send[1]=(ubyte)(mcFlag%256); //电控状态标志 // mcFlag
415 3
416 3
417 3 can0_send[4]=0x0a;
418 3 can0_send[5]=(ubyte)(motorTemp%256); //电机温度 // motorTemp
419 3 }
420 2 else if(timeFlag%10==0){//10
421 3
422 3 can0_send[0]=0x0b;
423 3 can0_send[1]=(ubyte)(mcuTemp%256); //电控控制器温度 // mcuTemp
424 3 }
425 2 }
426 1
427 1 for(i=0;i<8;i++){
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 8
428 2 if(can0_send_old[i]!=can0_send[i]){
429 3 repeat++;
430 3 break;
431 3 }
432 2
433 2 }
434 1 if(repeat!=0){//避免发送重复的消息，减少总线使用
435 2 CAN_vLoadData(0,can0_send); //0为消息序号，AD为数据地址，长度，ID帧在Dave中设置。
436 2 CAN_vTransmit(0);
437 2 repeat=0;
438 2 }
439 1 for(i=0;i<8;i++)
440 1 can0_send_old[i]=can0_send[i];
441 1
442 1 timeFlag=timeFlag>100?0:timeFlag;
443 1 }
444
445 ubyte control_period=0;
446 int finalSend_old=0;
447 int finalSend=0;
448 void sendToMc(){ //CAN0 电机旋变角3651
449 1
450 1
451 1
452 1 // can1_send2[2] = 0x64; // 0xFC 低位在前
453 1 // can1_send2[3] = 0x00; // 0x3F 示例50% 高位在后
454 1
455 1 if(control_period >=4) //控制周期 20ms
456 1 control_period = 0;
457 1 control_period ++;
458 1
459 1 if(control_period==4) //控制周期 20ms
460 1 {
461 2 //
462 2 /*
463 2 百分比 10% 20% 30% 40% 50% 60% 70% 80% 90% 99%
464 2 加权值 1 2 3 4 5 6 7 8 9 10 gearWeight
465 2 */
466 2 ac_final=acChangeLimit(ac_final); //油门加速变化率限幅 10 为0.5S
467 2 ac_final=ac_final>99? 99:ac_final;
468 2 ac_final=ac_final<0? 0:ac_final;
469 2 finalSend=torqueChange(); // 降低高转速时转矩输出
470 2
471 2
472 2 /**************修改了此处***********/
473 2 if( (finalSend- finalSend_old )>50&&finalSend>500){
474 3 finalSend=finalSend_old+50;
475 3 }
476 2 finalSend_old=finalSend;
477 2
478 2
479 2
480 2 finalSend=finalSend>999?999:finalSend;
481 2 finalSend=finalSend<0?0:finalSend;
482 2 can1_send2[2] = (ubyte)(finalSend % 256); // 0x64 低位在前 》》》限速所在位置
483 2 can1_send2[3] = (ubyte)(finalSend >> 8); // 0x00 示例10% 高位在后 》》》限速所在位置
484 2 if(driveReadyFlag ==1 & runFlag==1)
485 2 {
486 3 CAN_vLoadData(1,can1_send2); //0为消息序号，D_command为数据地址，长度，节点，ID帧在Dave中设置。
487 3 CAN_vTransmit(1);
488 3 }
489 2 if(runFlag==0)
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 9
490 2 {
491 3 can1_send2[2] = 0; // 0x64 低位在前 》》》限速所在位置
492 3 can1_send2[3] = 0; // 0x00 示例10% 高位在后 》》》限速所在位置
493 3 CAN_vLoadData(1,can1_send2); //0为消息序号，N_command为数据地址，长度，节点，ID帧在Dave中设置。
494 3 CAN_vTransmit(1);
495 3 }
496 2 } //控制周期控制结束
497 1 }
498
499 /*******************************************************************************************/
500 /*************************************油门加速变化率限幅*************************************/
501 /*********输入：油门数据 返回：限制后的油门数据************************************/
502 /*******************************************************************************************/
503 int ac_old=0;
504 int acChangeLimit(int ac){
505 1
506 1 if(ac-ac_old>AC_CHANGE_LIMIT)
507 1 ac=ac_old+AC_CHANGE_LIMIT;
508 1
509 1 ac_old=ac;
510 1 return ac;
511 1 }
512
513 /*******************************************************************************************/
514 /*************************************降低高转速时转矩输出***********************************/
515 /*********输入：油门限制变化率后的转矩*******************************************************/
516 /*********返回：高转速时，逐步降低转矩后*****************************************************/
517 /*******************************************************************************************/
518
519 int torqueChange(){
520 1 int torqueFinal =0,torqueLimit= 0;
521 1 RotateSpeed=RotateSpeed<0?0:RotateSpeed;
522 1 /*
523 1 if (RotateSpeed>4500){
524 1 torqueLimit = (int)(150 + 50 * (1 - ((1.0*RotateSpeed - 4500) / 300)));
525 1 torqueLimit = torqueLimit<150 ? 150 : torqueLimit;
526 1 }
527 1 else if (RotateSpeed>4200){
528 1 torqueLimit = (int)(200 + 150 * (1 - ((1.0*RotateSpeed - 4200) / 300)));
529 1 }
530 1 else if (RotateSpeed>3500){
531 1 torqueLimit = (int)(350 + (150 * (1 - ((1.0*RotateSpeed - 3500) / 700))));
532 1
533 1 }
534 1 else if (RotateSpeed>3000){
535 1 torqueLimit = (int)(500 + (200 * (1 - ((1.0*RotateSpeed - 3000) / 500))));
536 1 }
537 1 else if (RotateSpeed>2000){
538 1 torqueLimit = (int)(700 + (299 * (1 - ((1.0*RotateSpeed - 2000) / 1000))));
539 1 }
540 1 else torqueLimit = 999; */
541 1 if (RotateSpeed>4500){
542 2 torqueLimit = 200;
543 2 }
544 1 else if (RotateSpeed>4200){
545 2 torqueLimit = (int)(100 + 100 * (1 - ((1.0*RotateSpeed - 4200) / 300)));
546 2 }
547 1 else if (RotateSpeed>3900){
548 2 torqueLimit = (int)(200 + (150 * (1 - ((1.0*RotateSpeed - 3900) / 300))));
549 2 }
550 1 else if (RotateSpeed>3600){
551 2 torqueLimit = (int)(350 + (150 * (1 - ((1.0*RotateSpeed - 3600) / 300))));
C166 COMPILER V7.00, GPT1 03/15/2019 15:27:41 PAGE 10
552 2 }
553 1 else if (RotateSpeed>3300){
554 2 torqueLimit = (int)(500 + (100 * (1 - ((1.0*RotateSpeed - 3300) / 300))));
555 2 }
556 1 else if (RotateSpeed>3000){
557 2 torqueLimit = (int)(600 + (100 * (1 - ((1.0*RotateSpeed - 3000) / 300))));
558 2 }
559 1 else if (RotateSpeed>2700){
560 2 torqueLimit = (int)(700 + (50 * (1 - ((1.0*RotateSpeed - 2700) / 300))));
561 2
562 2 }
563 1 else if (RotateSpeed>2400){
564 2 torqueLimit = (int)(750 + (100 * (1 - ((1.0*RotateSpeed - 2400) / 300))));
565 2 }
566 1 else if (RotateSpeed>2100){
567 2 torqueLimit = (int)(850 + (50 * (1 - ((1.0*RotateSpeed - 2100) / 300))));
568 2 }
569 1 else if (RotateSpeed>1800){
570 2 torqueLimit = (int)(900 + (25 * (1 - ((1.0*RotateSpeed - 1800) / 300))));
571 2 }
572 1 else if (RotateSpeed>1500){
573 2 torqueLimit = (int)(925 + (25 * (1 - ((1.0*RotateSpeed - 1500) / 300))));
574 2 }
575 1 else if (RotateSpeed>1200){
576 2 torqueLimit = (int)(950 + (50 * (1 - ((1.0*RotateSpeed - 1200) / 300))));
577 2 }
578 1 else torqueLimit = 999;
579 1 torqueLimit = torqueLimit >(99*gearWeight)?(99*gearWeight):torqueLimit;
580 1 torqueLimit = torqueLimit<0 ? 0 : torqueLimit;
581 1 torqueFinal = (1.0*torqueLimit/100)*ac_final;
582 1
583 1
584 1 return torqueFinal;
585 1 }
586 // USER CODE END
587
MODULE INFORMATION: INITIALIZED UNINITIALIZED
CODE SIZE = 2384 --------
NEAR-CONST SIZE = -------- --------
FAR-CONST SIZE = -------- --------
HUGE-CONST SIZE = -------- --------
XHUGE-CONST SIZE = -------- --------
NEAR-DATA SIZE = 50 --------
FAR-DATA SIZE = -------- --------
XHUGE-DATA SIZE = -------- --------
IDATA-DATA SIZE = -------- --------
SDATA-DATA SIZE = -------- --------
BDATA-DATA SIZE = -------- --------
HUGE-DATA SIZE = -------- --------
BIT SIZE = -------- --------
INIT'L SIZE = 132 --------
END OF MODULE INFORMATION.
C166 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)