summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
-rw-r--r--ports/samd/boards/ADAFRUIT_NEOKEY_TRINKEY/mpconfigboard.h1
-rw-r--r--ports/samd/machine_i2c.c38
-rw-r--r--ports/samd/machine_i2c_target.c213
-rw-r--r--ports/samd/main.c3
-rw-r--r--ports/samd/mcu/samd21/mpconfigmcu.h3
-rw-r--r--ports/samd/mcu/samd51/mpconfigmcu.h3
-rw-r--r--ports/samd/mpconfigport.h4
-rw-r--r--ports/samd/pin_af.c16
-rw-r--r--ports/samd/pin_af.h2
-rw-r--r--ports/samd/samd_soc.c2
10 files changed, 259 insertions, 26 deletions
diff --git a/ports/samd/boards/ADAFRUIT_NEOKEY_TRINKEY/mpconfigboard.h b/ports/samd/boards/ADAFRUIT_NEOKEY_TRINKEY/mpconfigboard.h
index eb4704ff8..bf44bd661 100644
--- a/ports/samd/boards/ADAFRUIT_NEOKEY_TRINKEY/mpconfigboard.h
+++ b/ports/samd/boards/ADAFRUIT_NEOKEY_TRINKEY/mpconfigboard.h
@@ -8,6 +8,7 @@
#define MICROPY_PY_MACHINE_SOFTI2C (0)
#define MICROPY_PY_MACHINE_SOFTSPI (0)
#define MICROPY_PY_MACHINE_I2C (0)
+#define MICROPY_PY_MACHINE_I2C_TARGET (0)
#define MICROPY_PY_MACHINE_SPI (0)
#define MICROPY_PY_MACHINE_UART (0)
#define MICROPY_PY_MACHINE_ADC (0)
diff --git a/ports/samd/machine_i2c.c b/ports/samd/machine_i2c.c
index 172518523..50548b62a 100644
--- a/ports/samd/machine_i2c.c
+++ b/ports/samd/machine_i2c.c
@@ -29,13 +29,11 @@
#if MICROPY_PY_MACHINE_I2C
-#include "py/mphal.h"
#include "py/mperrno.h"
#include "extmod/modmachine.h"
#include "samd_soc.h"
#include "pin_af.h"
#include "genhdr/pins.h"
-#include "clock_config.h"
#define DEFAULT_I2C_FREQ (400000)
#define RISETIME_NS (200)
@@ -79,9 +77,9 @@ static void i2c_send_command(Sercom *i2c, uint8_t command) {
}
void common_i2c_irq_handler(int i2c_id) {
- // handle Sercom I2C IRQ
+ // Handle Sercom I2C IRQ for controller mode.
machine_i2c_obj_t *self = MP_STATE_PORT(sercom_table[i2c_id]);
- // Handle IRQ
+
if (self != NULL) {
Sercom *i2c = self->instance;
// For now, clear all interrupts
@@ -114,7 +112,8 @@ void common_i2c_irq_handler(int i2c_id) {
} else { // On any error, e.g. ARBLOST or BUSERROR, stop the transmission
self->len = 0;
self->state = state_buserr;
- i2c->I2CM.INTFLAG.reg |= SERCOM_I2CM_INTFLAG_ERROR;
+ i2c->I2CM.INTFLAG.reg = SERCOM_I2CM_INTFLAG_ERROR |
+ SERCOM_I2CM_INTFLAG_SB | SERCOM_I2CM_INTFLAG_MB;
}
}
}
@@ -158,28 +157,19 @@ mp_obj_t machine_i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_t n
// Get the peripheral object.
machine_i2c_obj_t *self = mp_obj_malloc(machine_i2c_obj_t, &machine_i2c_type);
self->id = id;
- self->instance = sercom_instance[self->id];
+ self->instance = sercom_instance[id];
// Set SCL/SDA pins.
- self->scl = mp_hal_get_pin_obj(args[ARG_scl].u_obj);
- self->sda = mp_hal_get_pin_obj(args[ARG_sda].u_obj);
+ self->sda = pin_config_for_i2c(args[ARG_sda].u_obj, id, 0);
+ self->scl = pin_config_for_i2c(args[ARG_scl].u_obj, id, 1);
+ MP_STATE_PORT(sercom_table[id]) = self;
- sercom_pad_config_t scl_pad_config = get_sercom_config(self->scl, self->id);
- sercom_pad_config_t sda_pad_config = get_sercom_config(self->sda, self->id);
- if (sda_pad_config.pad_nr != 0 || scl_pad_config.pad_nr != 1) {
- mp_raise_ValueError(MP_ERROR_TEXT("invalid sda/scl pin"));
- }
- MP_STATE_PORT(sercom_table[self->id]) = self;
self->freq = args[ARG_freq].u_int;
// The unit for ARG_timeout is us, but the code uses ms.
self->timeout = args[ARG_timeout].u_int / 1000;
- // Configure the Pin mux.
- mp_hal_set_pin_mux(self->scl, scl_pad_config.alt_fct);
- mp_hal_set_pin_mux(self->sda, sda_pad_config.alt_fct);
-
// Set up the clocks
- enable_sercom_clock(self->id);
+ enable_sercom_clock(id);
// Initialise the I2C peripheral
Sercom *i2c = self->instance;
@@ -207,13 +197,13 @@ mp_obj_t machine_i2c_make_new(const mp_obj_type_t *type, size_t n_args, size_t n
i2c->I2CM.BAUD.reg = baud;
// Enable interrupts
- sercom_register_irq(self->id, &common_i2c_irq_handler);
+ sercom_register_irq(id, &common_i2c_irq_handler);
#if defined(MCU_SAMD21)
- NVIC_EnableIRQ(SERCOM0_IRQn + self->id);
+ NVIC_EnableIRQ(SERCOM0_IRQn + id);
#elif defined(MCU_SAMD51)
- NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * self->id); // MB interrupt
- NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * self->id + 1); // SB interrupt
- NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * self->id + 3); // ERROR interrupt
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id); // MB interrupt
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id + 1); // SB interrupt
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id + 3); // ERROR interrupt
#endif
// Now enable I2C.
diff --git a/ports/samd/machine_i2c_target.c b/ports/samd/machine_i2c_target.c
new file mode 100644
index 000000000..054ca81dd
--- /dev/null
+++ b/ports/samd/machine_i2c_target.c
@@ -0,0 +1,213 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020-2021 Damien P. George
+ * Copyright (c) 2022-2025 Robert Hammelrath
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+#include "samd_soc.h"
+#include "pin_af.h"
+#include "genhdr/pins.h"
+
+#define TRANSMIT (1)
+#define RECEIVE (0)
+#define NACK_RECVD (i2c->I2CS.STATUS.bit.RXNACK == 1)
+#define IRQ_AMATCH (i2c->I2CS.INTFLAG.bit.AMATCH == 1)
+#define IRQ_DRDY (i2c->I2CS.INTFLAG.bit.DRDY == 1)
+#define IRQ_STOP (i2c->I2CS.INTFLAG.bit.PREC == 1)
+
+#define PREPARE_ACK i2c->I2CS.CTRLB.bit.ACKACT = 0
+#define PREPARE_NACK i2c->I2CS.CTRLB.bit.ACKACT = 1
+
+typedef struct _machine_i2c_target_obj_t {
+ mp_obj_base_t base;
+ Sercom *instance;
+ uint8_t id;
+ uint8_t scl;
+ uint8_t sda;
+ uint8_t addr;
+ uint8_t direction;
+} machine_i2c_target_obj_t;
+
+void common_i2c_target_irq_handler(int i2c_id) {
+ // Handle Sercom I2C IRQ for target memory mode.
+ machine_i2c_target_obj_t *self = MP_STATE_PORT(sercom_table[i2c_id]);
+ machine_i2c_target_data_t *data = &machine_i2c_target_data[i2c_id];
+
+ if (self != NULL) {
+ Sercom *i2c = self->instance;
+
+ if (IRQ_AMATCH) {
+ // Address match.
+ self->direction = i2c->I2CS.STATUS.bit.DIR;
+ machine_i2c_target_data_addr_match(data, self->direction);
+ // Send ACK
+ i2c->I2CS.CTRLB.bit.CMD = 3;
+
+ } else if (IRQ_DRDY) {
+ // Data to be handled, depending in the direction
+ if (self->direction == TRANSMIT) {
+ machine_i2c_target_data_read_request(self, data);
+ } else {
+ machine_i2c_target_data_write_request(self, data);
+ }
+ // ACK will be sent in mp_machine_i2c_target_read_bytes/mp_machine_i2c_target_write_bytes.
+ } else if (IRQ_STOP) {
+ // Stop detected. Just reset the data machine.
+ machine_i2c_target_data_stop(data);
+ i2c->I2CS.INTFLAG.reg |= SERCOM_I2CS_INTFLAG_PREC;
+
+ } else { // On any error clear the interrupts and reset the data state.
+ machine_i2c_target_data_stop(data);
+ i2c->I2CS.INTFLAG.reg = SERCOM_I2CS_INTFLAG_ERROR | SERCOM_I2CS_INTFLAG_AMATCH |
+ SERCOM_I2CS_INTFLAG_DRDY | SERCOM_I2CS_INTFLAG_PREC;
+ }
+ }
+}
+
+/******************************************************************************/
+// I2CTarget port implementation
+
+static inline size_t mp_machine_i2c_target_get_index(machine_i2c_target_obj_t *self) {
+ return self->id;
+}
+
+static void mp_machine_i2c_target_event_callback(machine_i2c_target_irq_obj_t *irq) {
+ mp_irq_handler(&irq->base);
+}
+
+static size_t mp_machine_i2c_target_read_bytes(machine_i2c_target_obj_t *self, size_t len, uint8_t *buf) {
+ Sercom *i2c = self->instance;
+ buf[0] = i2c->I2CS.DATA.reg;
+ i2c->I2CS.CTRLB.bit.CMD = 3; // send ACK
+ return 1;
+}
+
+static size_t mp_machine_i2c_target_write_bytes(machine_i2c_target_obj_t *self, size_t len, const uint8_t *buf) {
+ Sercom *i2c = self->instance;
+ i2c->I2CS.DATA.reg = buf[0];
+ i2c->I2CS.CTRLB.bit.CMD = 3; // send ACK
+ return 1;
+}
+
+static inline void mp_machine_i2c_target_irq_config(machine_i2c_target_obj_t *self, unsigned int trigger) {
+ (void)self;
+ (void)trigger;
+}
+
+mp_obj_t mp_machine_i2c_target_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
+ enum { ARG_id, ARG_addr, ARG_addrsize, ARG_mem, ARG_mem_addrsize, ARG_scl, ARG_sda };
+ static const mp_arg_t allowed_args[] = {
+ #if MICROPY_HW_DEFAULT_I2C_ID < 0
+ { MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = -1} },
+ #else
+ { MP_QSTR_id, MP_ARG_INT, {.u_int = MICROPY_HW_DEFAULT_I2C_ID} },
+ #endif
+ { MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT },
+ { MP_QSTR_addrsize, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 7} },
+ { MP_QSTR_mem, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+ { MP_QSTR_mem_addrsize, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
+ #if defined(pin_SCL) && defined(pin_SDA)
+ { MP_QSTR_scl, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = pin_SCL} },
+ { MP_QSTR_sda, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = pin_SDA} },
+ #else
+ { MP_QSTR_scl, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+ { MP_QSTR_sda, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+ #endif
+ };
+
+ // Parse args.
+ mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+ mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+ // Get I2C bus.
+ int id = args[ARG_id].u_int;
+ if (id < 0 || id >= SERCOM_INST_NUM) {
+ mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("I2C(%d) doesn't exist"), id);
+ }
+
+ // Get the peripheral object.
+ machine_i2c_target_obj_t *self = mp_obj_malloc_with_finaliser(machine_i2c_target_obj_t, &machine_i2c_target_type);
+ self->id = id;
+ self->instance = sercom_instance[id];
+
+ // Set SCL/SDA pins.
+ self->sda = pin_config_for_i2c(args[ARG_sda].u_obj, id, 0);
+ self->scl = pin_config_for_i2c(args[ARG_scl].u_obj, id, 1);
+
+ MP_STATE_PORT(sercom_table[id]) = self;
+
+ // Get the address and initialise data.
+ self->addr = args[ARG_addr].u_int;
+ MP_STATE_PORT(machine_i2c_target_mem_obj)[id] = args[ARG_mem].u_obj;
+ machine_i2c_target_data_t *data = &machine_i2c_target_data[id];
+ machine_i2c_target_data_init(data, args[ARG_mem].u_obj, args[ARG_mem_addrsize].u_int);
+
+ // Set up the clocks
+ enable_sercom_clock(id);
+
+ // Initialise the I2C peripheral
+ Sercom *i2c = self->instance;
+ // Reset the device
+ i2c->I2CS.CTRLA.reg = SERCOM_I2CM_CTRLA_SWRST;
+ while (i2c->I2CS.SYNCBUSY.bit.SWRST == 1) {
+ }
+
+ // Set to slave mode, enable SCl timeout, set the address
+ i2c->I2CS.CTRLA.reg = SERCOM_I2CS_CTRLA_MODE(0x04)
+ | SERCOM_I2CS_CTRLA_SEXTTOEN | SERCOM_I2CS_CTRLA_LOWTOUTEN;
+ i2c->I2CS.ADDR.reg = self->addr << 1;
+
+ // Enable interrupts
+ sercom_register_irq(id, &common_i2c_target_irq_handler);
+ #if defined(MCU_SAMD21)
+ NVIC_EnableIRQ(SERCOM0_IRQn + id);
+ #elif defined(MCU_SAMD51)
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id);
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id + 1);
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id + 2);
+ NVIC_EnableIRQ(SERCOM0_0_IRQn + 4 * id + 3);
+ #endif
+ i2c->I2CS.INTENSET.reg = SERCOM_I2CS_INTENSET_DRDY | SERCOM_I2CS_INTENSET_AMATCH |
+ SERCOM_I2CS_INTENSET_PREC | SERCOM_I2CS_INTENSET_ERROR;
+
+ // Now enable I2C.
+ sercom_enable(i2c, 1);
+
+ return MP_OBJ_FROM_PTR(self);
+}
+
+static void mp_machine_i2c_target_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
+ machine_i2c_target_obj_t *self = MP_OBJ_TO_PTR(self_in);
+ mp_printf(print, "I2C(%u, scl=\"%q\", sda=\"%q\", addr=%u)",
+ self->id, pin_find_by_id(self->scl)->name, pin_find_by_id(self->sda)->name,
+ self->addr);
+}
+
+// Stop the Slave transfer and free the memory objects.
+static void mp_machine_i2c_target_deinit(machine_i2c_target_obj_t *self) {
+ // Disable I2C
+ sercom_enable(self->instance, 0);
+ MP_STATE_PORT(sercom_table[self->id]) = NULL;
+}
diff --git a/ports/samd/main.c b/ports/samd/main.c
index a7da95582..475f57703 100644
--- a/ports/samd/main.c
+++ b/ports/samd/main.c
@@ -30,6 +30,7 @@
#include "py/mperrno.h"
#include "py/mphal.h"
#include "py/stackctrl.h"
+#include "extmod/modmachine.h"
#include "shared/readline/readline.h"
#include "shared/runtime/gchelper.h"
#include "shared/runtime/pyexec.h"
@@ -101,7 +102,7 @@ void samd_main(void) {
mp_usbd_deinit();
#endif
gc_sweep_all();
- #if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_SPI || MICROPY_PY_MACHINE_UART
+ #if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_I2C_TARGET || MICROPY_PY_MACHINE_SPI || MICROPY_PY_MACHINE_UART
sercom_deinit_all();
#endif
mp_deinit();
diff --git a/ports/samd/mcu/samd21/mpconfigmcu.h b/ports/samd/mcu/samd21/mpconfigmcu.h
index f0a7a73e0..a29d5c0a0 100644
--- a/ports/samd/mcu/samd21/mpconfigmcu.h
+++ b/ports/samd/mcu/samd21/mpconfigmcu.h
@@ -78,6 +78,9 @@ unsigned long trng_random_u32(int delay);
#ifndef MICROPY_PY_ONEWIRE
#define MICROPY_PY_ONEWIRE (SAMD21_EXTRA_FEATURES)
#endif
+#ifndef MICROPY_PY_MACHINE_I2C_TARGET
+#define MICROPY_PY_MACHINE_I2C_TARGET (SAMD21_EXTRA_FEATURES)
+#endif
#ifndef MICROPY_PY_MACHINE_PIN_BOARD_CPU
#define MICROPY_PY_MACHINE_PIN_BOARD_CPU (1)
diff --git a/ports/samd/mcu/samd51/mpconfigmcu.h b/ports/samd/mcu/samd51/mpconfigmcu.h
index 8cce90b88..a1ff208eb 100644
--- a/ports/samd/mcu/samd51/mpconfigmcu.h
+++ b/ports/samd/mcu/samd51/mpconfigmcu.h
@@ -16,6 +16,9 @@
#define MICROPY_PY_RANDOM_SEED_INIT_FUNC (trng_random_u32())
unsigned long trng_random_u32(void);
#define MICROPY_PY_MACHINE_UART_IRQ (1)
+#ifndef MICROPY_PY_MACHINE_I2C_TARGET
+#define MICROPY_PY_MACHINE_I2C_TARGET (1)
+#endif
// fatfs configuration used in ffconf.h
#define MICROPY_FATFS_ENABLE_LFN (1)
diff --git a/ports/samd/mpconfigport.h b/ports/samd/mpconfigport.h
index 514f38394..7b423bf0b 100644
--- a/ports/samd/mpconfigport.h
+++ b/ports/samd/mpconfigport.h
@@ -127,6 +127,10 @@
#define MICROPY_PY_MACHINE_WDT_INCLUDEFILE "ports/samd/machine_wdt.c"
#define MICROPY_PY_MACHINE_WDT_TIMEOUT_MS (1)
#define MICROPY_PLATFORM_VERSION "ASF4"
+#define MICROPY_PY_MACHINE_I2C_TARGET_INCLUDEFILE "ports/samd/machine_i2c_target.c"
+#define MICROPY_PY_MACHINE_I2C_TARGET_MAX (SERCOM_INST_NUM)
+#define MICROPY_PY_MACHINE_I2C_TARGET_HARD_IRQ (1)
+#define MICROPY_PY_MACHINE_I2C_TARGET_FINALISER (1)
#define MP_STATE_PORT MP_STATE_VM
diff --git a/ports/samd/pin_af.c b/ports/samd/pin_af.c
index 5d05b6d18..35cac27aa 100644
--- a/ports/samd/pin_af.c
+++ b/ports/samd/pin_af.c
@@ -161,3 +161,19 @@ pwm_config_t get_pwm_config(int pin_id, int wanted_dev, uint8_t device_status[])
}
#endif
+
+#if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_I2C_TARGET
+
+// Configure a I2C pin. Used by machine_i2c.c and machine_i2c_target.c.
+uint8_t pin_config_for_i2c(mp_obj_t pin_obj, uint8_t id, uint8_t pad_nr) {
+ uint8_t pin = mp_hal_get_pin_obj(pin_obj);
+ sercom_pad_config_t pad_config = get_sercom_config(pin, id);
+ if (pad_config.pad_nr != pad_nr) {
+ mp_raise_ValueError(MP_ERROR_TEXT("invalid sda/scl pin"));
+ }
+ // Configure the Pin mux.
+ mp_hal_set_pin_mux(pin, pad_config.alt_fct);
+ return pin;
+}
+
+#endif
diff --git a/ports/samd/pin_af.h b/ports/samd/pin_af.h
index 83839a050..bc65e8ae2 100644
--- a/ports/samd/pin_af.h
+++ b/ports/samd/pin_af.h
@@ -100,3 +100,5 @@ adc_config_t get_adc_config(int pin_id, int32_t flag);
pwm_config_t get_pwm_config(int pin_id, int wanted_dev, uint8_t used_dev[]);
const machine_pin_obj_t *pin_find_by_id(int pin_id);
const machine_pin_obj_t *pin_find(mp_obj_t pin);
+
+uint8_t pin_config_for_i2c(mp_obj_t pin_obj, uint8_t id, uint8_t pad_nr);
diff --git a/ports/samd/samd_soc.c b/ports/samd/samd_soc.c
index e78032513..fb6eb2083 100644
--- a/ports/samd/samd_soc.c
+++ b/ports/samd/samd_soc.c
@@ -122,7 +122,7 @@ void samd_init(void) {
machine_rtc_start(false);
}
-#if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_SPI || MICROPY_PY_MACHINE_UART
+#if MICROPY_PY_MACHINE_I2C || MICROPY_PY_MACHINE_I2C_TARGET || MICROPY_PY_MACHINE_SPI || MICROPY_PY_MACHINE_UART
Sercom *sercom_instance[] = SERCOM_INSTS;
MP_REGISTER_ROOT_POINTER(void *sercom_table[SERCOM_INST_NUM]);