Squashed commit of the following:
Add procfs support to show stopped tasks. Add nxsig_action() to solve a chicken and egg problem: We needed to use sigaction to set default actions, but sigaction() would refuse to set actions if the default actions could not be caught or ignored.
sched/signal: Add configuration option to selectively enabled/disable default signal actions for SIGSTOP/SIGSTP/SIGCONT and SIGKILL/SIGINT. Fix some compilation issues.
sched/sched: Okay.. I figured out a way to handle state changes that may occur while they were stopped. If a task/thread was already blocked when SIGSTOP/SIGSTP was received, it will restart in the running state. I will appear that to the task/thread that the blocked condition was interrupt by a signal and returns the EINTR error.
sched/group and sched/sched: Finish framework for continue/resume logic.
sched/signal: Roughing out basic structure to support task suspend/resume
Pull request for cortex-r4 codes
* arm/armv7-r: Add general interrupt controller.
This is based on armv7-a gic controller code.
Signed-off-by: EunBong Song <eunb.song@samsung.com>
* arm/armv7-r: add invalidate dcache in arm_head.S
Adding invalidate dcache as a comment in arm_head.S.
Signed-off-by: EunBong Song <eunb.song@samsung.com>
* arm/armv7-r: Fix some wrong configuration of program status register.
PSR_E_BIT bit should be set for big endian system.
PSR_A_BIT bis is set automatically as arm cortex-r4 reference manual 3.7.4.
So we don't need to set this bit.
Signed-off-by: EunBong Song <eunb.song@samsung.com>
* arm/armv7-r: Fix some wrong MPU register definition.
Change MPU_RBAR_ADDR_MASK and MPU_RACR_TEX_SHIFT mask as
arm cortex-r4 reference manual.
Region Base Address Register 0-4 bits are reserved.
MPU Region Access control register type 3-5 bits.
Signed-off-by: EunBong Song <eunb.song@samsung.com>
* driver/mtd: fix compilation error.
This commit fixes below compilation errors.
CC: mtd/smart.c
mtd/smart.c:182:22: error: 'gWearBitToLevelMap4' defined but not used [-Werror=unused-const-variable=]
static const uint8_t gWearBitToLevelMap4[] =
^~~~~~~~~~~~~~~~~~~
mtd/smart.c:170:22: error: 'gWearLevelToBitMap4' defined but not used [-Werror=unused-const-variable=]
static const uint8_t gWearLevelToBitMap4[] =
^~~~~~~~~~~~~~~~~~~
cc1: all warnings being treated as errors
make[1]: *** [smart.o] Error 1
Signed-off-by: Junyeon LEE <junyeon2.lee@samsung.com>
Approved-by: GregoryN <gnutt@nuttx.org>
drivers/timers/arch_timer.c: implement timer arch API on top of timer driver interface
drivers/timers/arch_alarm.c: Implement alarm arch API on top of oneshot driver interface
drivers/timers/arch_rtc.c: Implement RTC arch API on top of RTC driver interface
include/nuttx/timers/rtc.h: Extend struct rtc_time by adding tm_nsec if RTC supporst hiresolution time.
drivers/serial/Kconfig: It is no longer necessary to restrict Ctrl-C handling to the FLAT build
sched/signal: Add a new configuration option to select signal default actions, separate handling of signal default actions from both task startup logic and from the serial TTY Ctrl-C logic. Add a signal set in the group structure to keep track of what signals have been set to the default action. In dispatching signals in PROTECTED or KERNEL mode, use this signal set to determine if the default signal handler is attached and dispatch the signal in kernel mode for the default actions.
driver/ioexpander: Add gpio_pin_unregister function to GPIO driver
driver/ioexpander: Add pinset struct to GPIO driver for interrupt pins larger than 64
driver/ioexpander: Initialize pintype/inttype when registering ioexpander device
driver/ioexpander: Add SETPINTYPE ioctl command to the GPIO driver
drivers/serial/uart_16550.c: Support 16550 auto hardware flow control
drivers/serial/uart_16550.c: Add configuration option CONFIG_16550_SUPRESS_INITIAL_CONFIG. This is identical to the standard configuration in arch/Kconfig CONFIG_SUPPRESS_UART_CONFIG, but with scope of only the 16550 driver.
drivers/serial/uart_16550.c: Add a configuration, analogous to the STM32 configuration option, to suppress the NuttX standard re-ordering for /dev/ttySN for special case of the 16550 UART.
config/serial: UART 16550: Add CONFIG_SERIAL_UART_ARCH_MMIO option so the a memory mapped device doesn't need to provide uart_getreg() and uart_putreg() implementations.
u16550_txempty() should check UART_LSR_TEMT to avoid some data left in the transmit FIFO
drivers/serial: Add Ctrl-C/Ctrl-X support. This is an initial working implementation that still requires that several details be resolved.
sched/task/task_start.c: Add default signal action to SIGKILL.
drivers/syslog: Channel configuration. Decouple SYSLOG_SERIAL_CONSOLE and ARCH_LOWPUTC. Since some hardware can output log to the special debug channel not serial.
drivers/syslog/vsyslog.c: Support pre-pending a prefix string to log output if enabled. This very useful to identify which cpu send out the log in AMP SoC.
drivers/syslog/vsyslog.c: Make timestamp output same as linux kernel. It's very useful if NuttX syslog retarget to Linux syslog.
Squashed commit of the following:
net/netlink: Mark netlink support as EXPERIMENTAL.
net/netlink/netlink_sockif.c: Add netlink_getpeername to the socket interface.
net: Add getpeeername() support for netlink sockets.
include/netpacket/netlink.h: Add a few more definitions and structures used at the NetLink interface. Still missing many.
net/netlink: Add basic framework for Netlink socket support.
include/: Add basic Netlink definitions.
No... I was misled. The shutdown function is usually called when the
driver is unlinked. But not in this case. In this case, it is simply
called when the last reference is closed. And no, you don't want to
detach the interrupt handler in that case. My bad.
This reverts commit b79e6b9c9a.
stm32f746g-disco: touchscreen support
* fixed FT5x06 driver to correctly close (previously it unregistered interrupt handler during close)
* added LittlevGL demo for STM32F746G-DISCO
Approved-by: GregoryN <gnutt@nuttx.org>
configs/stm32f4discovery/src: Add board support to MAX7219 as numeric display controller
drivers/leds/max7219.c: Add support to MAX7219 to control 7-segment displays
Master
* drivers/sensors: added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* bh1790glc.h created online with Bitbucket
* bh1790glc.h deleted online with Bitbucket
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* drivers/sensors: Added drivers for kx224, bh1749nuc and bh1790glc
They are reliant on the cxd56_scu.
* README.txt: minor typo fix
* Minor typo fix
Approved-by: GregoryN <gnutt@nuttx.org>
Master
* libdsp: initial commit
* libdsp: cosmetics
* stm32f334-disco/buckboost: use a PID controller from libdsp
* stm32_adc.h: fix typo
* stm32_dac.c: set OUTEN bit for DAC1CH2 and DAC2CH1
* stm32_hrtim: cosmetic changes
* power/motor: direction parameter is now int8 + add overload fault
* libdsp: all floats with f-sufix
libdsp: add precision option for library
libdsp: add debug option for library and assertions in functions
libdsp: add current samples correction for SVM3
libds: add some motor control specific functions
libdsp: add basic speed observer
libdsp: fix phase shift in SMO observer
libdsp: add more logic to FOC
config/sim/dsptest: add dsptest configuration
* libdsp/lib_motor.c: remove unused comparation
* libdsp/lib_observer.c: update some comments
Approved-by: GregoryN <gnutt@nuttx.org>
This makes the user interface a little hostile. People thing of an MTU of 1500 bytes, but the corresponding packet is really 1514 bytes (including the 14 byte Ethernet header). A more friendly solution would configure the MTU (as before), but then derive the packet buffer size by adding the MAC header length. Instead, we define the packet buffer size then derive the MTU.
The MTU is not common currency in networking. On the wire, the only real issue is the MSS which is derived from MTU by subtracting the IP header and TCP header sizes (for the case of TCP). Now it is derived for the PKTSIZE by subtracting the IP header, the TCP header, and the MAC header sizes. So we should be all good and without the recurring 14 byte error in MTU's and MSS's.
Squashed commit of the following:
Trivial update to fix some spacing issues.
net/: Rename several macros containing _MTU to _PKTSIZE.
net/: Rename CONFIG_NET_SLIP_MTU to CONFIG_NET_SLIP_PKTSIZE and similarly for CONFIG_NET_TUN_MTU. These are not the MTU which does not include the size of the link layer header. These are the full size of the packet buffer memory (minus any GUARD bytes).
net/: Rename CONFIG_NET_6LOWPAN_MTU to CONFIG_NET_6LOWPAN_PKTSIZE and similarly for CONFIG_NET_TUN_MTU. These are not the MTU which does not include the size of the link layer header. These are the full size of the packet buffer memory (minus any GUARD bytes).
net/: Rename CONFIG_NET_ETH_MTU to CONFIG_NET_ETH_PKTSIZE. This is not the MTU which does not include the size of the link layer header. This is the full size of the packet buffer memory (minus any GUARD bytes).
net/: Rename the file d_mtu in the network driver structure to d_pktsize. That value saved there is not the MTU. The packetsize is the memory large enough to hold the maximum packet PLUS the size of the link layer header. The MTU does not include the link layer header.
Squashed commit of the following:
drivers/usbhost/usbhost_max3421e.c: Add USB tracing support. Fix compilation errors when assertions and debug is enabled.
drivers/usbhost/usbhost_max3421e.c: Fixes to get a clean compilation.
drivers/usbhost/usbhost_max3421e.c: Drivers is basically code complete.
drivers/usbhost/usbhost_max3421e.c: Missed a little bit of logic in the last commit.
drivers/usbhost/usbhost_max3421e.c: Completes implementatin of control transfers.
drivers/usbhost/usbhost_max3421e.c: Implements low-level part of packet receive.
drivers/usbhost/usbhost_max3421e.c: Reorder some functions add a little more transfer-related logic.
drivers/usbhost/usbhost_max3421e.c: Completes basic logic path for sending normal packets.
drivers/usbhost/usbhost_max3421e.c: Correct handling of SNDFIFO double buffering.
drivers/usbhost/usbhost_max3421e.c: Not necessary to set the ACKSTAT bit in host mode. Clean up some comments.
drivers/usbhost/usbhost_max3421e.c: Mostly cosmetic cleanup
drivers/usbhost/usbhost_max3421e.c: Revise some previous logic. Looks like the MAX3421E can handle 16 channels in host mode. A little bit of work on packet transfer logic.
Copy paste error fix
drivers/usbhost/usbhost_max3421e.c: Add some channel allocation logic.
drivers/usbhost/usbhost_max3421e.c: Add some initialization logic.
drivers/usbhost/usbhost_max3421e.c: Add logic to determine if a full or low speed device has been connected.
drivers/usbhost/usbhost_max3421e.c: Add interrupt handling and bus reset logic.
drivers/usbhost/usbhost_max3421e.c: Add framework for an MAX3421E host driver. Initial commit is just the STM32 OTGFS host driver with a few new SPI-related functions.
Squashed commit of the following:
sched: Rename all use of system_t to clock_t.
syscall: Rename all use of system_t to clock_t.
net: Rename all use of system_t to clock_t.
libs: Rename all use of system_t to clock_t.
fs: Rename all use of system_t to clock_t.
drivers: Rename all use of system_t to clock_t.
arch: Rename all use of system_t to clock_t.
include: Remove definition of systime_t; rename all use of system_t to clock_t.
drivers/xbee: Fixes issue with timeouts. Timeouts were in ticks but should have been in ms. This caused false triggers of timeout causing redundant packets, etc.
Approved-by: GregoryN <gnutt@nuttx.org>
rgbled: Fixes led issues caused by uninitialized memory with CONFIG_RGBLED_MULTICHAN.
The uninitialized pwm_info_s struct caused a rogue channel to be started causing errros in the pwm driver
Approved-by: Gregory Nutt <gnutt@nuttx.org>
Squashed commit of the following:
Author: Gregory Nutt <gnutt@nuttx.org>
include/nuttx/wireless/ieee80211: Cosmetic, coding standard changes from review of last merge.
drivers/wireless/ieee80211: Cosmetic, coding standard changes from review of last merge.
configs/photon: Cosmetic, coding standard changes from review of last merge.
arch/arm/src/stm32: SDIO changes from last review: Fix a few long lines and other coding standard issues; Make additions for SDIO card support dependent on a configuration option.
Author: hhuysqt <hyq9606@126.com>
Return IEEE 802.11 MAC address just as ethernet does
Modifyed bcmf_board_setup_oob_irq declaration
Modified OOB ISR function types
Add some logic according to WICED SDK
Bug fixed: data_offset counts in 4-bytes
Add BCM43438 logic for future developement
Add tips on using telnet
Use SDIO in-band interrupt instead of OOB interrupt, because Photon seems to unconnect the OOB interrupt line...
add SDIO in-band interrupt logic
drivers/1wire: add PM hooks and unlink support to sht21 sensor (allowing hot-swappable I2C bus from 1-wire converter)
* drivers/1wire: add PM hook to 1wire bus
* drivers/1wire/ds28e17.c: i2c instance must be zeroed
* drivers/sht21: add unlink support
Unlike most other unlink implementations in NuttX drivers, this one
does not allow any I2C operations after unlink, making it possible to
deallocate the I2C bus.
Approved-by: Gregory Nutt <gnutt@nuttx.org>
drivers/net: Add TAP (network bridge) mode to tun.c
In previous implementation, TAP mode did not handle a packet
correctly. Also, the driver did not set the link layer type and
could not assign the interface name. This PR changes fix such
issues and supports TAP mode correctly.
Signed-off-by: Masayuki Ishikawa <Masayuki.Ishikawa@jp.sony.com>
Approved-by: Gregory Nutt <gnutt@nuttx.org>
Xbee: Adds a timeout to send logic to handle case where XBee module fails to respond to a Transmit request with a Transmit Status
Approved-by: Gregory Nutt <gnutt@nuttx.org>
Squashed commit of the following:
arch/arm/src/stm32: Add Kconfig options needed by the HCI UART. Various fixes to finally get a clean error free compile with no unexpected warnings.
arch/arm/src/stm32: In HCI UART, use spin_lock_irqsave() instead of enter_critical_section() whenever possible.
arch/arm/src/stm32: In HCI UART, fix up naming of configurations so that they are unique. Still needs Kconfig settings. Modify logic so that there can be multiple HCI UARTs, some supporting DMA and some not.
arch/arm/src/stm32: Integrate watermarks and software Rx flow control into the HCI UART driver.
arch/arm/src/stm32: Eliminate some HCI UART UART configuration options. Per the HCI UART spec, the link will b 8 data bits, no parity, 1 stop bit... Always.
arch/arm/src/stm32: Trivial cleanup
arch/arm/src/stm32: Fixes most initial compilation issues STM32 HCI UART driver. Still need to set up USART configuration parmeters for HCI UART
arch/arm/src/stm32: Completes first cut at STM32 HCI UART driver.
arch/arm/src/stm32: Completes most of read logic for HCI UART. Still needs to be able to block if no read data is available. Still missing write and flush logic.
drivers/wireless: Remove txenable from HCI UART methods. arch/arm/src/stm32: Reorganize some structures in HCI UART.
arch/arm/src/stm32: Still messaging the HCI uart driver.
arch/arm/src/stm32: Some trivial renaming.
arch/arm/src/stm32: A little more HCI-UART logic.
arch/arm/src/stm32: Initial setup to support HCI-UART. Little more than the serial driver with some name changes and a few things removed.
Squashed merge of the following:
Author: Gregory Nutt <gnutt@nuttx.org>
drivers/sensors: Fix some minor typos in last commit that cause some compile problems.
drivers/sensors/: Clean up some coding standard isses in LM330 and ADXL372 drivers.
drivers/sensors/README.txt: Clean up some long lines and odd line breaks.
include/nuttx/sensors: Completes coding style review of adxl372.h, cluster_driver.h, and lsm330.h.
Author: Bob Feretich <bob.feretich@rafresearch.com>
Add LSM330 SPI and ADXL372 drivers along with the cluster driver infrastructure.
Squashed commit of the following:
Author: Gregory Nutt <gnutt@nuttx.org>
Some cosmetic changes from coding style review.
Author: Juha Niskanen <juha.niskanen@haltian.com>
drivers/1wire: add 1-wire subsystem and ds28e17 driver
Squashed commit of the following:
Author: Gregory Nutt <gnutt@nuttx.org>
Fix a few remaining refereces to cc3000.
Author: Alan Carvalho de Assis <acassis@gmail.com>
drivers/wireless/cc3000: emove the driver to support CC3000 because it doesn't use the USRSOCKET
Author: Alan Carvalho de Assis <acassis@gmail.com>
configs: Remove board support to CC3000 from all relevant configurations.
Author: Gregory Nutt <gnutt@nuttx.org>
configs/spark: Removes Spark board configuration. Still available in the Obsoleted repository. This is preparation for removal of CC3000 support by Alan Carvalho de Assis. If there is no CC3000 support, then there is no purpose in supporting the Spark either.
Change all Sony related copyright to conform with our company's internal rules.
Signed-off-by: Masayuki Ishikawa <Masayuki.Ishikawa@jp.sony.com>
Approved-by: Gregory Nutt <gnutt@nuttx.org>
wireless/bluetooth: This completes the basic logic path that gets frames from the Bluetooth stack and into the network layer.
wireless/bluetooth: Fleshes out some of the network packet receive logic.
wireless/bluetooth: Replace buffer allocated with primitive allocator from ieee 802.15.4.
wireless/ieee802154: Fix a few typos.
wireless/bluetooth: More renaming in preparation for some real work.
wireless/bluetooth: Some trivial renaming; update comments
Squashed commit of the following:
wireless/bluetooth: Some small changes that gets to a clean compile by just eliminating some incorrect implementations (still with a lot of warnings. The logic is still incomplete but now not so lethal.
wireless/bluetooth: Restructuring: Connection interfaces should internal to wireless/bluetooth. include/nuttx/wireless/bt_conn.h removed and merged with wireless/bluetooth/bt_conn.h. Several fix to get closer to bt_netdev.c compiling. Need to design some not interfaces and use some existing interfaces to send and receiv packets.
wireless/bluetooth: Some organization with some network device compile errors fixed. Still not even close to compiling.
net/bluetooth: Fix numerous compile issues; Still open design issues with regard to the interface with the Bluetooth stack.
wireless/bluetooth: Create bt_netdev.c with a crude copy of mac802154_netdev.c. Does not not even compile yet.
include/nuttx/net: Add bluetooth.h. Content is not yet correct.
net/netpackets: Add bluetooth.h. Update net/bluetooth to use new socket address definition.
net/bluetooth: Some fixes for initial build.
net/bluetooth: Add initial support for Bluetooth sockets. The initial cut is just the a clone of the IEEE 802.15.4 socket support with name changes.
net/ieee802154: Fix some typos noted when cloning to create net/bluetooth.
Squashed commit of the following:
drivers/bluetooth: Re-architect Bluetooth UART driver to follow upper/lower half model. Completely untested.
drivers/bluetooth: Grr.. Another band-aid commit to stay in sync with master. Why is this so difficult
drivers/bluetooth: Band-aid commit to stay in sync with master. Lost it somehow.
drivers/wireless/bluetooth: A few changes, mostly thought experiments.
drivers/wireless/bluetooth: UART-based Bluetooth driver ported from the Intel/Zephyr arduino101_firmware_source-v1.tar package. This initial commit is the original files in the NuttX build environment with changes to conform with the coding standard. It should not even build.
drivers/lcd/ft80x: ACTIVE host command appears to be formatted differently than other host commands; Fix ROM CHIPID. Appears to be big-ending, BCD.
drivers/lcd/ft80x: Fix some compile issues when debug features are enabled.
Feature pca9540bdp i2cmultiplexer
* Implement common i2c multiplexer abstraction to be reused by i2c multiplexer devices. Provide common interface with transfer and reset calls to set up virtual i2c busses.
* Remove i2cmux_lower_half.c and headers, will be implemented by each mux driver
* Implement PCA9540BDP I2C multiplexer lower half which uses the common i2c mux abstraction
* Remove application interface and implement common i2c functions
* Remove application interface from pca driver and implement common i2c functions directly in the pca driver
* Use i2cerr
Approved-by: Gregory Nutt <gnutt@nuttx.org>
cc1101: Changes from review of last PR.
remove gpio
remove cc1101 frame len
remove FLAGS_RXONLY flags
add cc1101 function
remove some waring
add cc1101 poll function
add cc1101 register
add cc1101 isr read data
add cc1101 spi deviceId
add cc1101 init2
add wait cc1101 chip ready
raw init cc1101
Author: Juha Niskanen <juha.niskanen@haltian.com>
Date: Mon Feb 19 15:03:17 2018 -0600
drivers/mtd: mtd_config.c: Add still more error handling (to detect bad underlying flash implementations)
drivers/mtd: mtd_config.c: Remove MTD_ERASE that was erasing data block instead of erase block. This is a partial revert of 4f18b4. Reported-by: Pascal Speck <iktek01@yahoo.com>
arch/arm/src/stm32l4: stm32l4_flash: change flash programming to use page buffer for unaligned writes.
drivers/lcd and include/nuttx/lcd: Add FT80x support for writing to graphics memory. Also add some definitions needed by apps/examples/ft80x for bitmap manipulation.
drivers/lcd: Review/update FT80x initializatin logic
drivers/lcd: Rename ft80x_base.c to just ft80x.c. Add logic to notify FT80X clients of events via signals.
drivers/lcd: Trivial updates to naming. Add some new definitions.
Squashed commit of the following:
drivers/lcd: Finishes off basic FT80X. Still missing some niceties.
drivers/lcd: Rethink FT80X display list interface.
drivers/lcd: More FT800x display list logic. Still not complete.
drivers/lcd: Add some basic FT80x initialization logic.
drivers/lcd: Add ft80x display list IOCTL framework. Still missing low level display list operations.
drivers/lcd: FT80x driver cannot be a standard LCD driver but must, instead, be a custom character driver.
drivers/lcd: Add FT800 co-processor commands and display list helpers.
drivers/lcd: Add SPI interface and framework for the initialization and the basic LCD driver.
drivers/lcd: Add beginnings of some FT80x implementation.
drivers/lcd: Add definitions for the FTDI FT801 part
include/nuttx/lcd/ft800.h: Add initial FT800 interface definition.
drivers/lcd: Add ft800 header file.
Added support for LIS3DH accelerometer sensor.
* Added support for LIS3DH accelerometer sensor.
* Fix line length
* Fix more line lengthts
Approved-by: Gregory Nutt <gnutt@nuttx.org>
configs/flipnclick-pic32mz: Add an nxlines configuration for use in testing the custom HiletGo Click board.
arch/mips/src/pic32mz: Correct some SPI-related typos. configs/flipnclick-pic32mz: Finishes integration of HiletGo OLED. drivers/lcd: Finish support for HiletGo OLED.
drivers/lcd: Add configuration support for HiletGo OLED. configs/flipnclick-pic32mz: Add board support for HiletGo OLED.
sched/: Convert legitimate uses of task_create() to nxtask_create(). Review handling of returned values from all uses of kthread_create() (as well as nxtask_create()).
graphics/: Review return values for all calls to kthread_start() because it no longer returns an errno.
drivers/: threads started by drivers should be kernel threads, not user tasks. Review return values for all calls to kthread_start() because it no longer returns an errno.
configs/: threads started by board bringup logic should be kernel threads, not user tasksi (part 2 of 2).
sched/task: Add nxtask_create(). Kthread_create() and nxtask_create() are internal OS functions and should not modify the errno variable. configs/: threads started by board bringup logic should be kernel threads, not user tasks.
binfmt/, configs/, grahics/, libc/, mm/, net/, sched/: OS references to the errno variable should always use the set_errno(), get_errno() macros
arch/arm/src/stm32 and stm32f7: Architecture-specific code is not permitted to modify the errno variable. drivers/ and libc/: OS references to the errno variable should always use the set_errno(), get_errno() macros
