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-rw-r--r--src/device/usbd.c167
1 files changed, 96 insertions, 71 deletions
diff --git a/src/device/usbd.c b/src/device/usbd.c
index 1dd1a352e..6e0c6710d 100644
--- a/src/device/usbd.c
+++ b/src/device/usbd.c
@@ -28,24 +28,24 @@
#if CFG_TUD_ENABLED
+#include "device/dcd.h"
#include "tusb.h"
#include "common/tusb_private.h"
#include "device/usbd.h"
#include "device/usbd_pvt.h"
-#include "device/dcd.h"
//--------------------------------------------------------------------+
// USBD Configuration
//--------------------------------------------------------------------+
-// Debug level of USBD
-#define USBD_DBG 2
-
#ifndef CFG_TUD_TASK_QUEUE_SZ
#define CFG_TUD_TASK_QUEUE_SZ 16
#endif
+// Debug level of USBD
+#define USBD_DBG 2
+
//--------------------------------------------------------------------+
// Device Data
//--------------------------------------------------------------------+
@@ -69,7 +69,7 @@ typedef struct
volatile uint8_t cfg_num; // current active configuration (0x00 is not configured)
uint8_t speed;
- uint8_t itf2drv[16]; // map interface number to driver (0xff is invalid)
+ uint8_t itf2drv[CFG_TUD_INTERFACE_MAX]; // map interface number to driver (0xff is invalid)
uint8_t ep2drv[CFG_TUD_ENDPPOINT_MAX][2]; // map endpoint to driver ( 0xff is invalid ), can use only 4-bit each
tu_edpt_state_t ep_status[CFG_TUD_ENDPPOINT_MAX][2];
@@ -134,7 +134,7 @@ static usbd_class_driver_t const _usbd_driver[] =
.open = audiod_open,
.control_xfer_cb = audiod_control_xfer_cb,
.xfer_cb = audiod_xfer_cb,
- .sof = NULL
+ .sof = audiod_sof_isr
},
#endif
@@ -218,7 +218,7 @@ static usbd_class_driver_t const _usbd_driver[] =
.open = netd_open,
.control_xfer_cb = netd_control_xfer_cb,
.xfer_cb = netd_xfer_cb,
- .sof = NULL,
+ .sof = NULL,
},
#endif
@@ -272,10 +272,12 @@ static uint8_t _usbd_rhport = RHPORT_INVALID;
OSAL_QUEUE_DEF(usbd_int_set, _usbd_qdef, CFG_TUD_TASK_QUEUE_SZ, dcd_event_t);
static osal_queue_t _usbd_q;
-// Mutex for claiming endpoint, only needed when using with preempted RTOS
-#if CFG_TUSB_OS != OPT_OS_NONE
-static osal_mutex_def_t _ubsd_mutexdef;
-static osal_mutex_t _usbd_mutex;
+// Mutex for claiming endpoint
+#if OSAL_MUTEX_REQUIRED
+ static osal_mutex_def_t _ubsd_mutexdef;
+ static osal_mutex_t _usbd_mutex;
+#else
+ #define _usbd_mutex NULL
#endif
@@ -316,9 +318,9 @@ void usbd_driver_print_control_complete_name(usbd_control_xfer_cb_t callback)
for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++)
{
usbd_class_driver_t const * driver = get_driver(i);
- if ( driver->control_xfer_cb == callback )
+ if ( driver && driver->control_xfer_cb == callback )
{
- TU_LOG2(" %s control complete\r\n", driver->name);
+ TU_LOG(USBD_DBG, " %s control complete\r\n", driver->name);
return;
}
}
@@ -384,12 +386,14 @@ bool tud_init (uint8_t rhport)
// skip if already initialized
if ( tud_inited() ) return true;
- TU_LOG2("USBD init\r\n");
- TU_LOG2_INT(sizeof(usbd_device_t));
+ TU_LOG(USBD_DBG, "USBD init on controller %u\r\n", rhport);
+ TU_LOG_INT(USBD_DBG, sizeof(usbd_device_t));
+ TU_LOG_INT(USBD_DBG, sizeof(tu_fifo_t));
+ TU_LOG_INT(USBD_DBG, sizeof(tu_edpt_stream_t));
tu_varclr(&_usbd_dev);
-#if CFG_TUSB_OS != OPT_OS_NONE
+#if OSAL_MUTEX_REQUIRED
// Init device mutex
_usbd_mutex = osal_mutex_create(&_ubsd_mutexdef);
TU_ASSERT(_usbd_mutex);
@@ -409,16 +413,17 @@ bool tud_init (uint8_t rhport)
for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++)
{
usbd_class_driver_t const * driver = get_driver(i);
- TU_LOG2("%s init\r\n", driver->name);
+ TU_ASSERT(driver);
+ TU_LOG(USBD_DBG, "%s init\r\n", driver->name);
driver->init();
}
+ _usbd_rhport = rhport;
+
// Init device controller driver
dcd_init(rhport);
dcd_int_enable(rhport);
- _usbd_rhport = rhport;
-
return true;
}
@@ -426,7 +431,9 @@ static void configuration_reset(uint8_t rhport)
{
for ( uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++ )
{
- get_driver(i)->reset(rhport);
+ usbd_class_driver_t const * driver = get_driver(i);
+ TU_ASSERT(driver, );
+ driver->reset(rhport);
}
tu_varclr(&_usbd_dev);
@@ -480,20 +487,20 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
if ( !osal_queue_receive(_usbd_q, &event, timeout_ms) ) return;
#if CFG_TUSB_DEBUG >= 2
- if (event.event_id == DCD_EVENT_SETUP_RECEIVED) TU_LOG2("\r\n"); // extra line for setup
- TU_LOG2("USBD %s ", event.event_id < DCD_EVENT_COUNT ? _usbd_event_str[event.event_id] : "CORRUPTED");
+ if (event.event_id == DCD_EVENT_SETUP_RECEIVED) TU_LOG(USBD_DBG, "\r\n"); // extra line for setup
+ TU_LOG(USBD_DBG, "USBD %s ", event.event_id < DCD_EVENT_COUNT ? _usbd_event_str[event.event_id] : "CORRUPTED");
#endif
switch ( event.event_id )
{
case DCD_EVENT_BUS_RESET:
- TU_LOG2(": %s Speed\r\n", tu_str_speed[event.bus_reset.speed]);
+ TU_LOG(USBD_DBG, ": %s Speed\r\n", tu_str_speed[event.bus_reset.speed]);
usbd_reset(event.rhport);
_usbd_dev.speed = event.bus_reset.speed;
break;
case DCD_EVENT_UNPLUGGED:
- TU_LOG2("\r\n");
+ TU_LOG(USBD_DBG, "\r\n");
usbd_reset(event.rhport);
// invoke callback
@@ -501,8 +508,8 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
break;
case DCD_EVENT_SETUP_RECEIVED:
- TU_LOG2_VAR(&event.setup_received);
- TU_LOG2("\r\n");
+ TU_LOG_PTR(USBD_DBG, &event.setup_received);
+ TU_LOG(USBD_DBG, "\r\n");
// Mark as connected after receiving 1st setup packet.
// But it is easier to set it every time instead of wasting time to check then set
@@ -517,7 +524,7 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
// Process control request
if ( !process_control_request(event.rhport, &event.setup_received) )
{
- TU_LOG2(" Stall EP0\r\n");
+ TU_LOG(USBD_DBG, " Stall EP0\r\n");
// Failed -> stall both control endpoint IN and OUT
dcd_edpt_stall(event.rhport, 0);
dcd_edpt_stall(event.rhport, 0 | TUSB_DIR_IN_MASK);
@@ -531,7 +538,7 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const ep_dir = tu_edpt_dir(ep_addr);
- TU_LOG2("on EP %02X with %u bytes\r\n", ep_addr, (unsigned int) event.xfer_complete.len);
+ TU_LOG(USBD_DBG, "on EP %02X with %u bytes\r\n", ep_addr, (unsigned int) event.xfer_complete.len);
_usbd_dev.ep_status[epnum][ep_dir].busy = false;
_usbd_dev.ep_status[epnum][ep_dir].claimed = 0;
@@ -545,7 +552,7 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
usbd_class_driver_t const * driver = get_driver( _usbd_dev.ep2drv[epnum][ep_dir] );
TU_ASSERT(driver, );
- TU_LOG2(" %s xfer callback\r\n", driver->name);
+ TU_LOG(USBD_DBG, " %s xfer callback\r\n", driver->name);
driver->xfer_cb(event.rhport, ep_addr, (xfer_result_t)event.xfer_complete.result, event.xfer_complete.len);
}
}
@@ -557,39 +564,31 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
// e.g suspend -> resume -> unplug/plug. Skip suspend/resume if not connected
if ( _usbd_dev.connected )
{
- TU_LOG2(": Remote Wakeup = %u\r\n", _usbd_dev.remote_wakeup_en);
+ TU_LOG(USBD_DBG, ": Remote Wakeup = %u\r\n", _usbd_dev.remote_wakeup_en);
if (tud_suspend_cb) tud_suspend_cb(_usbd_dev.remote_wakeup_en);
}else
{
- TU_LOG2(" Skipped\r\n");
+ TU_LOG(USBD_DBG, " Skipped\r\n");
}
break;
case DCD_EVENT_RESUME:
if ( _usbd_dev.connected )
{
- TU_LOG2("\r\n");
+ TU_LOG(USBD_DBG, "\r\n");
if (tud_resume_cb) tud_resume_cb();
}else
{
- TU_LOG2(" Skipped\r\n");
- }
- break;
-
- case DCD_EVENT_SOF:
- TU_LOG2("\r\n");
- for ( uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++ )
- {
- usbd_class_driver_t const * driver = get_driver(i);
- if ( driver->sof ) driver->sof(event.rhport);
+ TU_LOG(USBD_DBG, " Skipped\r\n");
}
break;
case USBD_EVENT_FUNC_CALL:
- TU_LOG2("\r\n");
+ TU_LOG(USBD_DBG, "\r\n");
if ( event.func_call.func ) event.func_call.func(event.func_call.param);
break;
+ case DCD_EVENT_SOF:
default:
TU_BREAKPOINT();
break;
@@ -610,7 +609,7 @@ void tud_task_ext(uint32_t timeout_ms, bool in_isr)
static bool invoke_class_control(uint8_t rhport, usbd_class_driver_t const * driver, tusb_control_request_t const * request)
{
usbd_control_set_complete_callback(driver->control_xfer_cb);
- TU_LOG2(" %s control request\r\n", driver->name);
+ TU_LOG(USBD_DBG, " %s control request\r\n", driver->name);
return driver->control_xfer_cb(rhport, CONTROL_STAGE_SETUP, request);
}
@@ -634,8 +633,8 @@ static bool process_control_request(uint8_t rhport, tusb_control_request_t const
#if CFG_TUSB_DEBUG >= 2
if (TUSB_REQ_TYPE_STANDARD == p_request->bmRequestType_bit.type && p_request->bRequest <= TUSB_REQ_SYNCH_FRAME)
{
- TU_LOG2(" %s", tu_str_std_request[p_request->bRequest]);
- if (TUSB_REQ_GET_DESCRIPTOR != p_request->bRequest) TU_LOG2("\r\n");
+ TU_LOG(USBD_DBG, " %s", tu_str_std_request[p_request->bRequest]);
+ if (TUSB_REQ_GET_DESCRIPTOR != p_request->bRequest) TU_LOG(USBD_DBG, "\r\n");
}
#endif
@@ -743,7 +742,7 @@ static bool process_control_request(uint8_t rhport, tusb_control_request_t const
// Device status bit mask
// - Bit 0: Self Powered
// - Bit 1: Remote Wakeup enabled
- uint16_t status = (_usbd_dev.self_powered ? 1 : 0) | (_usbd_dev.remote_wakeup_en ? 2 : 0);
+ uint16_t status = (uint16_t) ((_usbd_dev.self_powered ? 1u : 0u) | (_usbd_dev.remote_wakeup_en ? 2u : 0u));
tud_control_xfer(rhport, p_request, &status, 2);
}
break;
@@ -875,8 +874,8 @@ static bool process_set_config(uint8_t rhport, uint8_t cfg_num)
TU_ASSERT(desc_cfg != NULL && desc_cfg->bDescriptorType == TUSB_DESC_CONFIGURATION);
// Parse configuration descriptor
- _usbd_dev.remote_wakeup_support = (desc_cfg->bmAttributes & TUSB_DESC_CONFIG_ATT_REMOTE_WAKEUP) ? 1 : 0;
- _usbd_dev.self_powered = (desc_cfg->bmAttributes & TUSB_DESC_CONFIG_ATT_SELF_POWERED ) ? 1 : 0;
+ _usbd_dev.remote_wakeup_support = (desc_cfg->bmAttributes & TUSB_DESC_CONFIG_ATT_REMOTE_WAKEUP) ? 1u : 0u;
+ _usbd_dev.self_powered = (desc_cfg->bmAttributes & TUSB_DESC_CONFIG_ATT_SELF_POWERED ) ? 1u : 0u;
// Parse interface descriptor
uint8_t const * p_desc = ((uint8_t const*) desc_cfg) + sizeof(tusb_desc_configuration_t);
@@ -903,17 +902,18 @@ static bool process_set_config(uint8_t rhport, uint8_t cfg_num)
tusb_desc_interface_t const * desc_itf = (tusb_desc_interface_t const*) p_desc;
// Find driver for this interface
- uint16_t const remaining_len = desc_end-p_desc;
+ uint16_t const remaining_len = (uint16_t) (desc_end-p_desc);
uint8_t drv_id;
for (drv_id = 0; drv_id < TOTAL_DRIVER_COUNT; drv_id++)
{
usbd_class_driver_t const *driver = get_driver(drv_id);
+ TU_ASSERT(driver);
uint16_t const drv_len = driver->open(rhport, desc_itf, remaining_len);
if ( (sizeof(tusb_desc_interface_t) <= drv_len) && (drv_len <= remaining_len) )
{
// Open successfully
- TU_LOG2(" %s opened\r\n", driver->name);
+ TU_LOG(USBD_DBG, " %s opened\r\n", driver->name);
// Some drivers use 2 or more interfaces but may not have IAD e.g MIDI (always) or
// BTH (even CDC) with class in device descriptor (single interface)
@@ -972,7 +972,7 @@ static bool process_get_descriptor(uint8_t rhport, tusb_control_request_t const
{
case TUSB_DESC_DEVICE:
{
- TU_LOG2(" Device\r\n");
+ TU_LOG(USBD_DBG, " Device\r\n");
void* desc_device = (void*) (uintptr_t) tud_descriptor_device_cb();
@@ -996,7 +996,7 @@ static bool process_get_descriptor(uint8_t rhport, tusb_control_request_t const
case TUSB_DESC_BOS:
{
- TU_LOG2(" BOS\r\n");
+ TU_LOG(USBD_DBG, " BOS\r\n");
// requested by host if USB > 2.0 ( i.e 2.1 or 3.x )
if (!tud_descriptor_bos_cb) return false;
@@ -1018,12 +1018,12 @@ static bool process_get_descriptor(uint8_t rhport, tusb_control_request_t const
if ( desc_type == TUSB_DESC_CONFIGURATION )
{
- TU_LOG2(" Configuration[%u]\r\n", desc_index);
+ TU_LOG(USBD_DBG, " Configuration[%u]\r\n", desc_index);
desc_config = (uintptr_t) tud_descriptor_configuration_cb(desc_index);
}else
{
// Host only request this after getting Device Qualifier descriptor
- TU_LOG2(" Other Speed Configuration\r\n");
+ TU_LOG(USBD_DBG, " Other Speed Configuration\r\n");
TU_VERIFY( tud_descriptor_other_speed_configuration_cb );
desc_config = (uintptr_t) tud_descriptor_other_speed_configuration_cb(desc_index);
}
@@ -1039,7 +1039,7 @@ static bool process_get_descriptor(uint8_t rhport, tusb_control_request_t const
case TUSB_DESC_STRING:
{
- TU_LOG2(" String[%u]\r\n", desc_index);
+ TU_LOG(USBD_DBG, " String[%u]\r\n", desc_index);
// String Descriptor always uses the desc set from user
uint8_t const* desc_str = (uint8_t const*) tud_descriptor_string_cb(desc_index, tu_le16toh(p_request->wIndex));
@@ -1052,7 +1052,7 @@ static bool process_get_descriptor(uint8_t rhport, tusb_control_request_t const
case TUSB_DESC_DEVICE_QUALIFIER:
{
- TU_LOG2(" Device Qualifier\r\n");
+ TU_LOG(USBD_DBG, " Device Qualifier\r\n");
TU_VERIFY( tud_descriptor_device_qualifier_cb );
@@ -1105,14 +1105,27 @@ TU_ATTR_FAST_FUNC void dcd_event_handler(dcd_event_t const * event, bool in_isr)
break;
case DCD_EVENT_SOF:
+ // SOF driver handler in ISR context
+ for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++)
+ {
+ usbd_class_driver_t const * driver = get_driver(i);
+ if (driver && driver->sof)
+ {
+ driver->sof(event->rhport, event->sof.frame_count);
+ }
+ }
+
// Some MCUs after running dcd_remote_wakeup() does not have way to detect the end of remote wakeup
// which last 1-15 ms. DCD can use SOF as a clear indicator that bus is back to operational
if ( _usbd_dev.suspended )
{
_usbd_dev.suspended = 0;
+
dcd_event_t const event_resume = { .rhport = event->rhport, .event_id = DCD_EVENT_RESUME };
osal_queue_send(_usbd_q, &event_resume, in_isr);
}
+
+ // skip osal queue for SOF in usbd task
break;
default:
@@ -1181,6 +1194,8 @@ void usbd_defer_func(osal_task_func_t func, void* param, bool in_isr)
bool usbd_edpt_open(uint8_t rhport, tusb_desc_endpoint_t const * desc_ep)
{
+ rhport = _usbd_rhport;
+
TU_ASSERT(tu_edpt_number(desc_ep->bEndpointAddress) < CFG_TUD_ENDPPOINT_MAX);
TU_ASSERT(tu_edpt_validate(desc_ep, (tusb_speed_t) _usbd_dev.speed));
@@ -1198,11 +1213,7 @@ bool usbd_edpt_claim(uint8_t rhport, uint8_t ep_addr)
uint8_t const dir = tu_edpt_dir(ep_addr);
tu_edpt_state_t* ep_state = &_usbd_dev.ep_status[epnum][dir];
-#if TUSB_OPT_MUTEX
return tu_edpt_claim(ep_state, _usbd_mutex);
-#else
- return tu_edpt_claim(ep_state, NULL);
-#endif
}
bool usbd_edpt_release(uint8_t rhport, uint8_t ep_addr)
@@ -1213,22 +1224,20 @@ bool usbd_edpt_release(uint8_t rhport, uint8_t ep_addr)
uint8_t const dir = tu_edpt_dir(ep_addr);
tu_edpt_state_t* ep_state = &_usbd_dev.ep_status[epnum][dir];
-#if TUSB_OPT_MUTEX
return tu_edpt_release(ep_state, _usbd_mutex);
-#else
- return tu_edpt_release(ep_state, NULL);
-#endif
}
bool usbd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t total_bytes)
{
+ rhport = _usbd_rhport;
+
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const dir = tu_edpt_dir(ep_addr);
// TODO skip ready() check for now since enumeration also use this API
// TU_VERIFY(tud_ready());
- TU_LOG2(" Queue EP %02X with %u bytes ...\r\n", ep_addr, total_bytes);
+ TU_LOG(USBD_DBG, " Queue EP %02X with %u bytes ...\r\n", ep_addr, total_bytes);
// Attempt to transfer on a busy endpoint, sound like an race condition !
TU_ASSERT(_usbd_dev.ep_status[epnum][dir].busy == 0);
@@ -1245,7 +1254,7 @@ bool usbd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t
// DCD error, mark endpoint as ready to allow next transfer
_usbd_dev.ep_status[epnum][dir].busy = false;
_usbd_dev.ep_status[epnum][dir].claimed = 0;
- TU_LOG2("FAILED\r\n");
+ TU_LOG(USBD_DBG, "FAILED\r\n");
TU_BREAKPOINT();
return false;
}
@@ -1257,10 +1266,12 @@ bool usbd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t
// into the USB buffer!
bool usbd_edpt_xfer_fifo(uint8_t rhport, uint8_t ep_addr, tu_fifo_t * ff, uint16_t total_bytes)
{
+ rhport = _usbd_rhport;
+
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const dir = tu_edpt_dir(ep_addr);
- TU_LOG2(" Queue ISO EP %02X with %u bytes ... ", ep_addr, total_bytes);
+ TU_LOG(USBD_DBG, " Queue ISO EP %02X with %u bytes ... ", ep_addr, total_bytes);
// Attempt to transfer on a busy endpoint, sound like an race condition !
TU_ASSERT(_usbd_dev.ep_status[epnum][dir].busy == 0);
@@ -1271,14 +1282,14 @@ bool usbd_edpt_xfer_fifo(uint8_t rhport, uint8_t ep_addr, tu_fifo_t * ff, uint16
if (dcd_edpt_xfer_fifo(rhport, ep_addr, ff, total_bytes))
{
- TU_LOG2("OK\r\n");
+ TU_LOG(USBD_DBG, "OK\r\n");
return true;
}else
{
// DCD error, mark endpoint as ready to allow next transfer
_usbd_dev.ep_status[epnum][dir].busy = false;
_usbd_dev.ep_status[epnum][dir].claimed = 0;
- TU_LOG2("failed\r\n");
+ TU_LOG(USBD_DBG, "failed\r\n");
TU_BREAKPOINT();
return false;
}
@@ -1296,6 +1307,7 @@ bool usbd_edpt_busy(uint8_t rhport, uint8_t ep_addr)
void usbd_edpt_stall(uint8_t rhport, uint8_t ep_addr)
{
+ rhport = _usbd_rhport;
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const dir = tu_edpt_dir(ep_addr);
@@ -1312,6 +1324,8 @@ void usbd_edpt_stall(uint8_t rhport, uint8_t ep_addr)
void usbd_edpt_clear_stall(uint8_t rhport, uint8_t ep_addr)
{
+ rhport = _usbd_rhport;
+
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const dir = tu_edpt_dir(ep_addr);
@@ -1343,8 +1357,10 @@ bool usbd_edpt_stalled(uint8_t rhport, uint8_t ep_addr)
*/
void usbd_edpt_close(uint8_t rhport, uint8_t ep_addr)
{
+ rhport = _usbd_rhport;
+
TU_ASSERT(dcd_edpt_close, /**/);
- TU_LOG2(" CLOSING Endpoint: 0x%02X\r\n", ep_addr);
+ TU_LOG(USBD_DBG, " CLOSING Endpoint: 0x%02X\r\n", ep_addr);
uint8_t const epnum = tu_edpt_number(ep_addr);
uint8_t const dir = tu_edpt_dir(ep_addr);
@@ -1357,4 +1373,13 @@ void usbd_edpt_close(uint8_t rhport, uint8_t ep_addr)
return;
}
+void usbd_sof_enable(uint8_t rhport, bool en)
+{
+ rhport = _usbd_rhport;
+
+ // TODO: Check needed if all drivers including the user sof_cb does not need an active SOF ISR any more.
+ // Only if all drivers switched off SOF calls the SOF interrupt may be disabled
+ dcd_sof_enable(rhport, en);
+}
+
#endif
generated by cgit v1.3.1 (git 2.54.0) at 2026-08-30 21:54:23 +0000