drivers/sensors: Add CXD5602PWBIMU driver for IMU Add-on board

Add CXD5602PWBIMU driver for IMU Add-on board.

Signed-off-by: SPRESENSE <41312067+SPRESENSE@users.noreply.github.com>

boards/arm/cxd56xx/common/CMakeLists.txt

@@ -189,5 +189,9 @@ if(CONFIG_ARCH_BOARD_COMMON)
     list(APPEND SRCS src/cxd56_gnss_addon.c)
   endif()
 
+  if(CONFIG_SENSORS_CXD5602PWBIMU)
+    list(APPEND SRCS src/cxd56_cxd5602pwbimu.c)
+  endif()
+
   target_sources(board PRIVATE ${SRCS})
 endif()

boards/arm/cxd56xx/common/src/Make.defs

@@ -190,6 +190,10 @@ ifeq ($(CONFIG_CXD56_GNSS_ADDON),y)
   CSRCS += cxd56_gnss_addon.c
 endif
 
+ifeq ($(CONFIG_SENSORS_CXD5602PWBIMU),y)
+  CSRCS += cxd56_cxd5602pwbimu.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src

boards/arm/cxd56xx/common/src/cxd56_cxd5602pwbimu.c

@@ -0,0 +1,261 @@
+/****************************************************************************
+ * boards/arm/cxd56xx/common/src/cxd56_cxd5602pwbimu.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <arch/chip/pin.h>
+#include <arch/board/board.h>
+
+#include "cxd56_gpio.h"
+#include "cxd56_gpioint.h"
+#include "cxd56_spi.h"
+#include "cxd56_dmac.h"
+#include "cxd56_i2c.h"
+
+#include <nuttx/sensors/cxd5602pwbimu.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define PIN_POWER    PIN_EMMC_DATA2
+#define PIN_XRST     PIN_I2S0_BCK
+#define PIN_SPI_DRDY PIN_EMMC_DATA3
+#define PIN_SPI_CSX  PIN_I2S0_DATA_IN
+
+#define SETUP_PIN_INPUT(pin) \
+do \
+  { \
+    board_gpio_write(pin, -1); \
+    board_gpio_config(pin, 0, true, false, PIN_PULLDOWN); \
+  } \
+while (0)
+
+#define SETUP_PIN_OUTPUT(pin) \
+do \
+  { \
+    board_gpio_write(pin, -1); \
+    board_gpio_config(pin, 0, false, true, PIN_FLOAT); \
+  } \
+while (0)
+
+#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
+#define PWBIMU_MAX_PACKET_SIZE (34)
+#define PWBIMU_DMA_TXCH        (4)
+#define PWBIMU_DMA_RXCH        (5)
+#define PWBIMU_DMA_TXCHCHG     (CXD56_DMA_PERIPHERAL_SPI5_TX)
+#define PWBIMU_DMA_RXCHCFG     (CXD56_DMA_PERIPHERAL_SPI5_RX)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int  cxd5602pwbimu_irq_attach(const cxd5602pwbimu_config_t *state,
+                                     xcpt_t isr, void *arg);
+static void cxd5602pwbimu_irq_enable(const cxd5602pwbimu_config_t *state,
+                                     bool enable);
+static void cxd5602pwbimu_csx(const cxd5602pwbimu_config_t *state,
+                              bool pol);
+static void cxd5602pwbimu_power(const cxd5602pwbimu_config_t *state,
+                                bool pol);
+static void cxd5602pwbimu_reset(const cxd5602pwbimu_config_t *state,
+                                bool assert);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static cxd5602pwbimu_config_t g_config =
+{
+  .irq_attach = cxd5602pwbimu_irq_attach,
+  .irq_enable = cxd5602pwbimu_irq_enable,
+  .csx = cxd5602pwbimu_csx,
+  .power = cxd5602pwbimu_power,
+  .reset = cxd5602pwbimu_reset,
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/* Attach the CXD5602PWBIMU interrupt handler to the GPIO interrupt */
+
+static int cxd5602pwbimu_irq_attach(const cxd5602pwbimu_config_t *state,
+                                    xcpt_t isr, void *arg)
+{
+  sninfo("cxd5602pwbimu_irq_attach\n");
+  cxd56_gpioint_config(PIN_SPI_DRDY, GPIOINT_LEVEL_HIGH, isr, arg);
+
+  return OK;
+}
+
+/* Enable or disable the GPIO interrupt */
+
+static void cxd5602pwbimu_irq_enable(const cxd5602pwbimu_config_t *state,
+                                     bool enable)
+{
+  sninfo("%d\n", enable);
+  board_gpio_int(PIN_SPI_DRDY, enable);
+}
+
+/* Toggle the csx pin level */
+
+static void cxd5602pwbimu_csx(const cxd5602pwbimu_config_t *state,
+                              bool pol)
+{
+  sninfo("%d\n", pol);
+
+  /* delay for csx rising edge */
+
+  if (pol == true)
+    {
+      up_udelay(5);
+    }
+
+  /* toggle csx pin */
+
+  board_gpio_write(PIN_SPI_CSX, pol);
+
+  /* delay for csx falling edge */
+
+  if (pol == false)
+    {
+      up_udelay(5);
+    }
+}
+
+static void cxd5602pwbimu_power(const cxd5602pwbimu_config_t *state,
+                                bool pol)
+{
+  sninfo("%d\n", pol);
+
+  /* toggle power pin */
+
+  board_gpio_write(PIN_POWER, pol);
+
+  /* wait power level settling */
+
+  up_mdelay(2);
+}
+
+static void cxd5602pwbimu_reset(const cxd5602pwbimu_config_t *state,
+                                bool assert)
+{
+  board_gpio_write(PIN_XRST, !assert);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+#if defined(CONFIG_CXD56_SPI) && defined(CONFIG_SENSORS_CXD5602PWBIMU)
+
+int board_cxd5602pwbimu_initialize(int bus)
+{
+  int ret;
+  struct spi_dev_s *spi;
+  struct i2c_master_s *i2c;
+#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
+  DMA_HANDLE            hdl;
+  dma_config_t          conf;
+#endif
+  cxd5602pwbimu_config_t *config = &g_config;
+
+  sninfo("Initializing CXD5602PWBIMU..\n");
+
+  /* Initialize pins */
+
+  SETUP_PIN_OUTPUT(PIN_POWER);
+
+  SETUP_PIN_OUTPUT(PIN_XRST);
+  config->reset(config, true);
+
+  SETUP_PIN_OUTPUT(PIN_SPI_CSX);
+  config->csx(config, true);
+
+  SETUP_PIN_INPUT(PIN_SPI_DRDY);
+
+  /* Initialize spi device */
+
+  spi = cxd56_spibus_initialize(bus);
+  if (!spi)
+    {
+      snerr("ERROR: Failed to initialize spi%d.\n", bus);
+      return -ENODEV;
+    }
+
+#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
+  hdl = cxd56_dmachannel(PWBIMU_DMA_TXCH,
+                         PWBIMU_MAX_PACKET_SIZE);
+  if (hdl)
+    {
+      conf.channel_cfg = PWBIMU_DMA_TXCHCHG;
+      conf.dest_width  = CXD56_DMAC_WIDTH8;
+      conf.src_width   = CXD56_DMAC_WIDTH8;
+      cxd56_spi_dmaconfig(bus, CXD56_SPI_DMAC_CHTYPE_TX, hdl, &conf);
+    }
+
+  hdl = cxd56_dmachannel(PWBIMU_DMA_RXCH,
+                         PWBIMU_MAX_PACKET_SIZE);
+  if (hdl)
+    {
+      conf.channel_cfg = PWBIMU_DMA_RXCHCFG;
+      conf.dest_width  = CXD56_DMAC_WIDTH8;
+      conf.src_width   = CXD56_DMAC_WIDTH8;
+      cxd56_spi_dmaconfig(bus, CXD56_SPI_DMAC_CHTYPE_RX, hdl, &conf);
+    }
+#endif
+
+  /* Initialize i2c device */
+
+  i2c = cxd56_i2cbus_initialize(0);
+  if (!i2c)
+    {
+      snerr("ERROR: Failed to initialize i2c%d.\n", 0);
+      return -ENODEV;
+    }
+
+  ret = cxd5602pwbimu_register("/dev/imu0", spi, i2c, config);
+  if (ret < 0)
+    {
+      snerr("Error registering CXD5602PWBIMU\n");
+    }
+
+  return ret;
+}
+
+#endif

boards/arm/cxd56xx/spresense/Kconfig

@@ -871,4 +871,23 @@ config CXD56_GNSS_ADDON_LATE_INITIALIZE
 
 endif # CXD56_GNSS_ADDON
 
+menu "CXD5602PWBIMU Add-on board"
+	depends on SENSORS_CXD5602PWBIMU
+
+config CXD56_CXD5602PWBIMU_SPI5_DMAC
+	bool "Use DMAC on data transfer"
+	default y
+	select CXD56_SPI5
+	select CXD56_DMAC_SPI5_TX
+	select CXD56_DMAC_SPI5_RX
+
+config CXD56_CXD5602PWBIMU_LATE_INITIALIZE
+	bool "CXD5602PWBIMU driver late initialization"
+	default n
+	---help---
+		The CXD5602PWBIMU driver can be initialized on an application code
+		after system booted up by enabling this configuration switch.
+
+endmenu # CXD5602PWBIMU Add-on board
+
 endif

boards/arm/cxd56xx/spresense/include/board.h

@@ -69,6 +69,7 @@
 #include "cxd56_scd41.h"
 #include "cxd56_sensors.h"
 #include "cxd56_gnss_addon.h"
+#include "cxd56_cxd5602pwbimu.h"
 
 #ifdef CONFIG_VIDEO_ISX012
 #  include "cxd56_isx012.h"

boards/arm/cxd56xx/spresense/include/cxd56_cxd5602pwbimu.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ * boards/arm/cxd56xx/spresense/include/cxd56_cxd5602pwbimu.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H
+#define __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_cxd5602pwbimu_initialize
+ *
+ * Description:
+ * Initialize CXD5602PWBIMU spi driver and register the CXD5602PWBIMU device.
+ *
+ ****************************************************************************/
+
+int board_cxd5602pwbimu_initialize(int bus);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H */

boards/arm/cxd56xx/spresense/src/cxd56_bringup.c

@@ -267,6 +267,15 @@ int cxd56_bringup(void)
   scu_initialize();
 #endif
 
+#if defined(CONFIG_SENSORS_CXD5602PWBIMU) && \
+    !defined(CONFIG_CXD56_CXD5602PWBIMU_LATE_INITIALIZE)
+  ret = board_cxd5602pwbimu_initialize(5);
+  if (ret < 0)
+    {
+      _err("ERROR: Failed to initialize CXD5602PWBIMU.\n");
+    }
+#endif
+
 #ifdef CONFIG_CXD56_I2C_DRIVER
   #ifdef CONFIG_CXD56_I2C0
   ret = board_i2cdev_initialize(0);

drivers/sensors/CMakeLists.txt

@@ -450,5 +450,11 @@ if(CONFIG_SENSORS)
     list(APPEND SRCS hdc1008.c)
   endif()
 
+  # SONY CXD5602PWBIMU
+
+  if(CONFIG_SENSORS_CXD5602PWBIMU)
+    list(APPEND SRCS cxd5602pwbimu.c)
+  endif()
+
   target_sources(drivers PRIVATE ${SRCS})
 endif()

drivers/sensors/Kconfig

@@ -432,6 +432,61 @@ config SENSORS_BMM150_THREAD_STACKSIZE
 
 endif # SENSORS_BMM150
 
+config SENSORS_CXD5602PWBIMU
+	bool "SONY CXD5602PWBIMU Inertial Measurement Sensor support"
+	default n
+	select SPI
+	select I2C
+	---help---
+		Enable driver support for the SONY CXD5602PWBIMU Inertial
+		Measurement sensor
+
+if SENSORS_CXD5602PWBIMU
+
+config SENSORS_CXD5602PWBIMU_NR_BUFFERS
+	int "Number of buffers to retrieve sensing data"
+	default 16
+
+config SENSORS_CXD5602PWBIMU_OVERWRITE
+	bool "Overwrite circular buffer"
+	default y
+
+config SENSORS_CXD5602PWBIMU_NPOLLWAITERS
+	int "Number of waiters to poll"
+	default 1
+	---help---
+		Number of waiters to poll
+
+config SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
+	bool "I2C address auto detection"
+	default y
+	---help---
+		Number of waiters to poll
+
+if !SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
+
+choice
+	prompt "I2C address selection"
+	default SENSORS_CXD5602PWBIMU_I2C_ADDRS_PRIMARY
+
+config SENSORS_CXD5602PWBIMU_I2C_ADDRS_PRIMARY
+	bool "Primary address series"
+	---help---
+		DipSW[2] -> off
+		Using address: 0x10, 0x11, 0x12, 0x13
+
+config SENSORS_CXD5602PWBIMU_I2C_ADDRS_SECONDARY
+	bool "Secondary address series"
+	---help---
+		DipSW[2] -> on
+		Using address: 0x30, 0x31, 0x32, 0x33
+
+endchoice
+
+endif # !SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
+
+endif # SENSORS_CXD5602PWBIMU
+
 config SENSORS_BMP180
 	bool "Bosch BMP180 Barometer Sensor support"
 	default n

drivers/sensors/Make.defs

@@ -450,6 +450,12 @@ ifeq ($(CONFIG_SENSORS_MAX31865),y)
   CSRCS += max31865.c
 endif
 
+# SONY CXD5602PWBIMU
+
+ifeq ($(CONFIG_SENSORS_CXD5602PWBIMU),y)
+  CSRCS += cxd5602pwbimu.c
+endif
+
 # Include sensor driver build support
 
 DEPPATH += --dep-path sensors

include/nuttx/sensors/cxd5602pwbimu.h

@@ -0,0 +1,172 @@
+/****************************************************************************
+ * include/nuttx/sensors/cxd5602pwbimu.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H
+#define __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+#include <sys/types.h>
+
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#if defined(CONFIG_SENSORS_CXD5602PWBIMU)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* IOCTL Commands ***********************************************************/
+
+#define SNIOC_ENABLE        _SNIOC(0x0001)
+#define SNIOC_SSAMPRATE     _SNIOC(0x0002)
+#define SNIOC_SDRANGE       _SNIOC(0x0003)
+#define SNIOC_SCALIB        _SNIOC(0x0004)
+#define SNIOC_SFIFOTHRESH   _SNIOC(0x0005)
+#define SNIOC_UPDATEFW      _SNIOC(0x0010)
+
+#define SNIOC_SETDATASIZE   _SNIOC(0x0080)
+#define SNIOC_WREGSPI       _SNIOC(0x0081)
+#define SNIOC_RREGSPI       _SNIOC(0x0082)
+#define SNIOC_WREGS         _SNIOC(0x0083)
+#define SNIOC_RREGS         _SNIOC(0x0084)
+#define SNIOC_RREGS_WOADR   _SNIOC(0x0085)
+#define SNIOC_GETBNUM       _SNIOC(0x0086)
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* Interrupt configuration data structure */
+
+typedef struct cxd5602pwbimu_config_s
+{
+  CODE int (*irq_attach)(FAR const struct cxd5602pwbimu_config_s *state,
+                         xcpt_t isr, FAR void *arg);
+  CODE void (*irq_enable)(FAR const struct cxd5602pwbimu_config_s *state,
+                          bool enable);
+  CODE void (*csx)(FAR const struct cxd5602pwbimu_config_s *state,
+                   bool pol);
+  CODE void (*power)(FAR const struct cxd5602pwbimu_config_s *state,
+                     bool pol);
+  CODE void (*reset)(FAR const struct cxd5602pwbimu_config_s *state,
+                     bool assert);
+} cxd5602pwbimu_config_t;
+
+/****************************************************************************
+ * struct 6-axis data
+ ****************************************************************************/
+
+struct cxd5602pwbimu_data_s
+{
+  uint32_t timestamp;       /* timestamp */
+  float temp;               /* temperature */
+  float gx;                 /* gyro x */
+  float gy;                 /* gyro y */
+  float gz;                 /* gyro z */
+  float ax;                 /* accel x */
+  float ay;                 /* accel y */
+  float az;                 /* accel z */
+};
+typedef struct cxd5602pwbimu_data_s cxd5602pwbimu_data_t;
+
+struct cxd5602pwbimu_range_s
+{
+  int accel; /* 2, 4, 8, 16 */
+  int gyro;  /* 125, 250, 500, 1000, 2000, 4000 */
+};
+typedef struct cxd5602pwbimu_range_s cxd5602pwbimu_range_t;
+
+begin_packed_struct struct cxd5602pwbimu_calib_s
+{
+  uint8_t  offset;
+  uint32_t coef;
+} end_packed_struct;
+typedef struct cxd5602pwbimu_calib_s cxd5602pwbimu_calib_t;
+
+struct cxd5602pwbimu_regs_s
+{
+  uint8_t      addr;    /* Register address */
+  FAR uint8_t *value;   /* Write value or read value */
+  uint8_t      len;     /* Length of value */
+  int          slaveid; /* Target 0=master, 1,2,3=slave{1,2,3} */
+};
+typedef struct cxd5602pwbimu_regs_s cxd5602pwbimu_regs_t;
+
+struct cxd5602pwbimu_updatefw_s
+{
+  FAR const char *path;
+  void (*progress)(off_t current, off_t total);
+};
+typedef struct cxd5602pwbimu_updatefw_s cxd5602pwbimu_updatefw_t;
+
+struct spi_dev_s;
+struct i2c_master_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: cxd5602pwbimu_register
+ *
+ * Description:
+ *   Register the CXD5602PWBIMU character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath   - The full path to the driver to register. E.g., "/dev/imu0"
+ *   dev_spi   - An instance of the SPI interface to use to communicate
+ *               with CXD5602PWBIMU
+ *   dev_i2c   - An instance of the I2C interface to use to communicate
+ *               with CXD5602PWBIMU
+ *   config    - An instance of the interrupt configuration data structure
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int cxd5602pwbimu_register(FAR const char *devpath,
+                           FAR struct spi_dev_s *dev_spi,
+                           FAR struct i2c_master_s *dev_i2c,
+                           FAR cxd5602pwbimu_config_t *config);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SENSORS_CXD5602PWBIMU */
+#endif /* __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H */