USB FD via native USB Host + MSC (#20571)

2024-11-27 13:56:24 +00:00 · 2020-12-29 02:16:38 -03:00 · 2020-12-29 02:16:38 -03:00 · 79672d51f6
commit 79672d51f6
parent c3dc74bba0
13 changed files with 300 additions and 33 deletions
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -1326,9 +1326,6 @@
   */
  //#define USB_FLASH_DRIVE_SUPPORT
  #if ENABLED(USB_FLASH_DRIVE_SUPPORT)
-    #define USB_CS_PIN    SDSS
-    #define USB_INTR_PIN  SD_DETECT_PIN
-
    /**
     * USB Host Shield Library
     *
@ -1339,7 +1336,18 @@
     *   is less tested and is known to interfere with Servos.
     *   [1] This requires USB_INTR_PIN to be interrupt-capable.
     */
+    //#define USE_UHS2_USB
    //#define USE_UHS3_USB
+
+    /**
+     * Native USB Host supported by some boards (USB OTG)
+     */
+    //#define USE_OTG_USB_HOST
+
+    #if DISABLED(USE_OTG_USB_HOST)
+      #define USB_CS_PIN    SDSS
+      #define USB_INTR_PIN  SD_DETECT_PIN
+    #endif
  #endif

  /**
--- a/Marlin/src/HAL/STM32/usb_host.cpp
+++ b/Marlin/src/HAL/STM32/usb_host.cpp
@ -0,0 +1,117 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../inc/MarlinConfig.h"
+
+#if BOTH(USE_OTG_USB_HOST, USBHOST)
+
+#include "usb_host.h"
+#include "../shared/Marduino.h"
+#include "usbh_core.h"
+#include "usbh_msc.h"
+
+USBH_HandleTypeDef hUsbHost;
+USBHost usb;
+BulkStorage bulk(&usb);
+
+static void USBH_UserProcess(USBH_HandleTypeDef *phost, uint8_t id) {
+  switch(id) {
+    case HOST_USER_SELECT_CONFIGURATION:
+      //SERIAL_ECHOLNPGM("APPLICATION_SELECT_CONFIGURATION");
+      break;
+    case HOST_USER_DISCONNECTION:
+      //SERIAL_ECHOLNPGM("APPLICATION_DISCONNECT");
+      //usb.setUsbTaskState(USB_STATE_RUNNING);
+      break;
+    case HOST_USER_CLASS_ACTIVE:
+      //SERIAL_ECHOLNPGM("APPLICATION_READY");
+      usb.setUsbTaskState(USB_STATE_RUNNING);
+      break;
+    case HOST_USER_CONNECTION:
+      break;
+    default:
+      break;
+  }
+}
+
+bool USBHost::start() {
+  if (USBH_Init(&hUsbHost, USBH_UserProcess, TERN(USE_USB_HS_IN_FS, HOST_HS, HOST_FS)) != USBH_OK) {
+    SERIAL_ECHOLNPGM("Error: USBH_Init");
+    return false;
+  }
+  if (USBH_RegisterClass(&hUsbHost, USBH_MSC_CLASS) != USBH_OK) {
+    SERIAL_ECHOLNPGM("Error: USBH_RegisterClass");
+    return false;
+  }
+  if (USBH_Start(&hUsbHost) != USBH_OK) {
+    SERIAL_ECHOLNPGM("Error: USBH_Start");
+    return false;
+  }
+  return true;
+}
+
+void USBHost::Task() {
+  USBH_Process(&hUsbHost);
+}
+
+uint8_t USBHost::getUsbTaskState() {
+  return usb_task_state;
+}
+
+void USBHost::setUsbTaskState(uint8_t state) {
+  usb_task_state = state;
+  if (usb_task_state == USB_STATE_RUNNING) {
+    MSC_LUNTypeDef info;
+    USBH_MSC_GetLUNInfo(&hUsbHost, usb.lun, &info);
+    capacity = info.capacity.block_nbr / 2000;
+    block_size = info.capacity.block_size;
+    block_count = info.capacity.block_nbr;
+    // SERIAL_ECHOLNPAIR("info.capacity.block_nbr : %ld\n", info.capacity.block_nbr);
+    // SERIAL_ECHOLNPAIR("info.capacity.block_size: %d\n", info.capacity.block_size);
+    // SERIAL_ECHOLNPAIR("capacity                : %d MB\n", capacity);
+  }
+};
+
+bool BulkStorage::LUNIsGood(uint8_t t) {
+  return USBH_MSC_IsReady(&hUsbHost) && USBH_MSC_UnitIsReady(&hUsbHost, t);
+}
+
+uint32_t BulkStorage::GetCapacity(uint8_t lun) {
+  return usb->block_count;
+}
+
+uint16_t BulkStorage::GetSectorSize(uint8_t lun) {
+  return usb->block_size;
+}
+
+uint8_t BulkStorage::Read(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, uint8_t *buf) {
+  return USBH_MSC_Read(&hUsbHost, lun, addr, buf, blocks) != USBH_OK;
+}
+
+uint8_t BulkStorage::Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, const uint8_t * buf) {
+  return USBH_MSC_Write(&hUsbHost, lun, addr, const_cast <uint8_t*>(buf), blocks) != USBH_OK;
+}
+
+#endif // USE_OTG_USB_HOST && USBHOST
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
--- a/Marlin/src/HAL/STM32/usb_host.h
+++ b/Marlin/src/HAL/STM32/usb_host.h
@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+typedef enum {
+  USB_STATE_INIT,
+  USB_STATE_ERROR,
+  USB_STATE_RUNNING,
+} usb_state_t;
+
+class USBHost {
+public:
+  bool start();
+  void Task();
+  uint8_t getUsbTaskState();
+  void setUsbTaskState(uint8_t state);
+  uint8_t regRd(uint8_t reg) { return 0x0; };
+  uint8_t usb_task_state = USB_STATE_INIT;
+  uint8_t lun = 0;
+  uint32_t capacity = 0;
+  uint16_t block_size = 0;
+  uint32_t block_count = 0;
+};
+
+class BulkStorage {
+public:
+  BulkStorage(USBHost *usb) : usb(usb) {};
+
+  bool LUNIsGood(uint8_t t);
+  uint32_t GetCapacity(uint8_t lun);
+  uint16_t GetSectorSize(uint8_t lun);
+  uint8_t Read(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, uint8_t *buf);
+  uint8_t Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, const uint8_t * buf);
+
+  USBHost *usb;
+};
+
+extern USBHost usb;
+extern BulkStorage bulk;
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@ -386,6 +386,10 @@
  #define HOMING_BUMP_MM { 0, 0, 0 }
 #endif

+#if ENABLED(USB_FLASH_DRIVE_SUPPORT) && NONE(USE_OTG_USB_HOST, USE_UHS3_USB)
+  #define USE_UHS2_USB
+#endif
+
 /**
 * Driver Timings (in nanoseconds)
 * NOTE: Driver timing order is longest-to-shortest duration.
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@ -2912,10 +2912,14 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
  #error "PRINTCOUNTER requires EEPROM_SETTINGS."
 #endif

-#if ENABLED(USB_FLASH_DRIVE_SUPPORT) && !PINS_EXIST(USB_CS, USB_INTR)
+#if ENABLED(USB_FLASH_DRIVE_SUPPORT) && !PINS_EXIST(USB_CS, USB_INTR) && DISABLED(USE_OTG_USB_HOST)
  #error "USB_CS_PIN and USB_INTR_PIN are required for USB_FLASH_DRIVE_SUPPORT."
 #endif

+#if ENABLED(USE_OTG_USB_HOST) && !defined(HAS_OTG_USB_HOST_SUPPORT)
+  #error "The current board does not support USE_OTG_USB_HOST."
+#endif
+
 #if ENABLED(SD_FIRMWARE_UPDATE) && !defined(__AVR_ATmega2560__)
  #error "SD_FIRMWARE_UPDATE requires an ATmega2560-based (Arduino Mega) board."
 #endif
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_MINI.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_MINI.h
@ -52,6 +52,13 @@

 #define SPI_DEVICE                             2

+//
+// Servos
+//
+#ifndef SERVO0_PIN
+  #define SERVO0_PIN                        PA8   // Enable BLTOUCH support on IO0 (WIFI connector)
+#endif
+
 //
 // Limit Switches
 //
@ -91,6 +98,7 @@
 #ifndef DEFAULT_PWM_MOTOR_CURRENT
  #define DEFAULT_PWM_MOTOR_CURRENT { 800, 800, 800 }
 #endif
+
 //
 // Temperature Sensors
 //
@ -111,10 +119,6 @@
 #define POWER_LOSS_PIN                      PA2   // PW_DET
 #define PS_ON_PIN                           PA3   // PW_OFF

-#ifndef SERVO0_PIN
-  #define SERVO0_PIN                        PA8   // Enable BLTOUCH support on IO0 (WIFI connector)
-#endif
-
 #define MT_DET_1_PIN                        PA4
 #define MT_DET_PIN_INVERTING               false

--- a/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h
@ -35,6 +35,9 @@
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x2000  // 8KB (24C64 ... 64Kb = 8KB)

+// USB Flash Drive support
+#define HAS_OTG_USB_HOST_SUPPORT
+
 #define TP                                        // Enable to define servo and probe pins

 //
--- a/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h
@ -44,6 +44,9 @@
  #define FLASH_EEPROM_LEVELING
 #endif

+// USB Flash Drive support
+#define HAS_OTG_USB_HOST_SUPPORT
+
 //
 // Servos
 //
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
@ -41,6 +41,7 @@
 //#define SRAM_EEPROM_EMULATION                   // Use BackSRAM-based EEPROM emulation
 //#define FLASH_EEPROM_EMULATION                  // Use Flash-based EEPROM emulation
 #define I2C_EEPROM
+#define MARLIN_EEPROM_SIZE                0x1000  // 4KB

 //
 // Release PB4 (Z_DIR_PIN) from JTAG NRST role
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
@ -36,6 +36,10 @@
 //#define SRAM_EEPROM_EMULATION                   // Use BackSRAM-based EEPROM emulation
 //#define FLASH_EEPROM_EMULATION                  // Use Flash-based EEPROM emulation
 #define I2C_EEPROM
+#define MARLIN_EEPROM_SIZE                0x1000  // 4KB
+
+// USB Flash Drive support
+#define HAS_OTG_USB_HOST_SUPPORT

 //
 // Release PB4 (Y_ENABLE_PIN) from JTAG NRST role
--- a/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.cpp
+++ b/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.cpp
@ -44,8 +44,9 @@
 #include "../../core/serial.h"
 #include "../../module/temperature.h"

-static_assert(USB_CS_PIN   != -1, "USB_CS_PIN must be defined");
-static_assert(USB_INTR_PIN != -1, "USB_INTR_PIN must be defined");
+#if DISABLED(USE_OTG_USB_HOST) && !PINS_EXIST(USB_CS, USB_INTR)
+  #error "USB_FLASH_DRIVE_SUPPORT requires USB_CS_PIN and USB_INTR_PIN to be defined."
+#endif

 #if ENABLED(USE_UHS3_USB)
  #define NO_AUTO_SPEED
@ -81,6 +82,17 @@ static_assert(USB_INTR_PIN != -1, "USB_INTR_PIN must be defined");

  #define UHS_START  (usb.Init() == 0)
  #define UHS_STATE(state) UHS_USB_HOST_STATE_##state
+#elif ENABLED(USE_OTG_USB_HOST)
+
+  #if HAS_SD_HOST_DRIVE
+    #include HAL_PATH(../../HAL, msc_sd.h)
+  #endif
+
+  #include HAL_PATH(../../HAL, usb_host.h)
+
+  #define UHS_START usb.start()
+  #define rREVISION 0
+  #define UHS_STATE(state) USB_STATE_##state
 #else
  #include "lib-uhs2/Usb.h"
  #include "lib-uhs2/masstorage.h"
@ -250,7 +262,7 @@ bool Sd2Card::isInserted() {
  return state == MEDIA_READY;
 }

-bool Sd2Card::ready() {
+bool Sd2Card::isReady() {
  return state > DO_STARTUP;
 }

--- a/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.h
+++ b/Marlin/src/sd/usb_flashdrive/Sd2Card_FlashDrive.h
@ -23,26 +23,27 @@

 /**
 * \file
- * \brief Sd2Card class for V2 SD/SDHC cards
+ * \brief Sd2Card class for USB Flash Drive
 */
-
 #include "../SdFatConfig.h"
 #include "../SdInfo.h"

-/**
- * Define SOFTWARE_SPI to use bit-bang SPI
- */
-#if EITHER(MEGA_SOFT_SPI, USE_SOFTWARE_SPI)
-  #define SOFTWARE_SPI
-#endif
+#if DISABLED(USE_OTG_USB_HOST)
+  /**
+   * Define SOFTWARE_SPI to use bit-bang SPI
+   */
+  #if EITHER(MEGA_SOFT_SPI, USE_SOFTWARE_SPI)
+    #define SOFTWARE_SPI
+  #endif

-// SPI pin definitions - do not edit here - change in SdFatConfig.h
-#if ENABLED(SOFTWARE_SPI)
-  #warning "Auto-assigning '10' as the SD_CHIP_SELECT_PIN."
-  #define SD_CHIP_SELECT_PIN  10                // Software SPI chip select pin for the SD
-#else
-  // hardware pin defs
-  #define SD_CHIP_SELECT_PIN  SS_PIN            // The default chip select pin for the SD card is SS.
+  // SPI pin definitions - do not edit here - change in SdFatConfig.h
+  #if ENABLED(SOFTWARE_SPI)
+    #warning "Auto-assigning '10' as the SD_CHIP_SELECT_PIN."
+    #define SD_CHIP_SELECT_PIN  10                // Software SPI chip select pin for the SD
+  #else
+    // hardware pin defs
+    #define SD_CHIP_SELECT_PIN  SS_PIN            // The default chip select pin for the SD card is SS.
+  #endif
 #endif

 class Sd2Card {
@ -54,22 +55,24 @@ class Sd2Card {
  public:
    static bool usbStartup();

-    bool init(const uint8_t sckRateID=0, const pin_t chipSelectPin=SD_CHIP_SELECT_PIN);
+    bool init(const uint8_t sckRateID=0, const pin_t chipSelectPin=TERN(USE_OTG_USB_HOST, 0, SD_CHIP_SELECT_PIN));

    static void idle();

-    inline bool readStart(const uint32_t block)                  { pos = block; return ready(); }
+    inline bool readStart(const uint32_t block)                  { pos = block; return isReady(); }
    inline bool readData(uint8_t* dst)                           { return readBlock(pos++, dst); }
    inline bool readStop() const                                 { return true; }

-    inline bool writeStart(const uint32_t block, const uint32_t) { pos = block; return ready(); }
+    inline bool writeStart(const uint32_t block, const uint32_t) { pos = block; return isReady(); }
    inline bool writeData(uint8_t* src)                          { return writeBlock(pos++, src); }
    inline bool writeStop() const                                { return true; }

    bool readBlock(uint32_t block, uint8_t* dst);
    bool writeBlock(uint32_t blockNumber, const uint8_t* src);

+    bool readCSD(csd_t* csd) { return true; };
+
    uint32_t cardSize();
    static bool isInserted();
-    static bool ready();
+    bool isReady();
 };
--- a/platformio.ini
+++ b/platformio.ini
@ -59,7 +59,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
  -<src/lcd/extui/anycubic_i3mega_lcd.cpp> -<src/lcd/extui/lib/anycubic_i3mega>
  -<src/lcd/lcdprint.cpp>
  -<src/lcd/touch/touch_buttons.cpp>
-  -<src/sd/usb_flashdrive>
+  -<src/sd/usb_flashdrive/lib-uhs2> -<src/sd/usb_flashdrive/lib-uhs3>
  -<src/HAL/shared/backtrace>
  -<src/feature/babystep.cpp>
  -<src/feature/backlash.cpp>
@ -272,7 +272,8 @@ HAS_DGUS_LCD            = src_filter=+<src/lcd/extui/lib/dgus> +<src/lcd/extui/d
 TOUCH_UI_FTDI_EVE       = src_filter=+<src/lcd/extui/lib/ftdi_eve_touch_ui>
 EXTUI_EXAMPLE           = src_filter=+<src/lcd/extui/example.cpp>
 MALYAN_LCD              = src_filter=+<src/lcd/extui/malyan_lcd.cpp>
-USB_FLASH_DRIVE_SUPPORT = src_filter=+<src/sd/usb_flashdrive>
+USE_UHS2_USB            = src_filter=+<src/sd/usb_flashdrive/lib-uhs2>
+USE_UHS3_USB            = src_filter=+<src/sd/usb_flashdrive/lib-uhs3>
 AUTO_BED_LEVELING_BILINEAR = src_filter=+<src/feature/bedlevel/abl>
 AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
 MESH_BED_LEVELING       = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
@ -1278,6 +1279,23 @@ extra_scripts     = ${common.extra_scripts}
 debug_tool        = stlink
 debug_init_break  =

+#
+# USB Flash Drive mix-ins for STM32
+#
+[stm32_flash_drive]
+platform_packages = framework-arduinoststm32@https://github.com/rhapsodyv/Arduino_Core_STM32/archive/usb-host-msc.zip
+build_flags       = ${common_stm32.build_flags}
+  -DHAL_PCD_MODULE_ENABLED -DHAL_HCD_MODULE_ENABLED
+  -DUSBHOST -DUSBH_IRQ_PRIO=3 -DUSBH_IRQ_SUBPRIO=4
+
+#
+# BigTreeTech SKR Pro (STM32F407ZGT6 ARM Cortex-M4) with USB Flash Drive Support
+#
+[env:BIGTREE_SKR_PRO_usb_flash_drive]
+extends           = env:BIGTREE_SKR_PRO
+platform_packages = ${stm32_flash_drive.platform_packages}
+build_flags       = ${stm32_flash_drive.build_flags}
+
 #
 # Bigtreetech GTR V1.0 (STM32F407IGT6 ARM Cortex-M4)
 #
@ -1290,6 +1308,14 @@ extra_scripts     = ${common.extra_scripts}
 build_flags       = ${common_stm32.build_flags}
  -DSTM32F407IX -DVECT_TAB_OFFSET=0x8000

+#
+# Bigtreetech GTR V1.0 (STM32F407IGT6 ARM Cortex-M4) with USB Flash Drive Support
+#
+[env:BIGTREE_GTR_V1_0_usb_flash_drive]
+extends           = env:BIGTREE_GTR_V1_0
+platform_packages = ${stm32_flash_drive.platform_packages}
+build_flags       = ${stm32_flash_drive.build_flags}
+
 #
 # BigTreeTech BTT002 V1.0 (STM32F407VGT6 ARM Cortex-M4)
 #
@ -1392,13 +1418,16 @@ extra_scripts        = ${common.extra_scripts}
 #
 [env:mks_robin_pro2]
 platform             = ${common_stm32.platform}
+platform_packages    = ${stm32_flash_drive.platform_packages}
 extends              = common_stm32
-build_flags          = ${common_stm32.build_flags} -DHAL_HCD_MODULE_ENABLED -DUSBHOST
+build_flags          = ${stm32_flash_drive.build_flags}
 board                = genericSTM32F407VET6
 board_build.core     = stm32
 board_build.variant  = MARLIN_F4x7Vx
 board_build.ldscript = ldscript.ld
 board_build.firmware = firmware.bin
+board_build.offset   = 0x0000
+board_upload.offset_address = 0x08000000
 build_unflags        = ${common_stm32.build_unflags} -DUSBCON -DUSBD_USE_CDC
 debug_tool           = jlink
 upload_protocol      = jlink
@ -1427,6 +1456,21 @@ extra_scripts        = ${common.extra_scripts}
  pre:buildroot/share/PlatformIO/scripts/generic_create_variant.py
  buildroot/share/PlatformIO/scripts/stm32_bootloader.py

+#
+# MKS Robin Nano V3 with USB Flash Drive Support
+# Currently, using a STM32duino fork, until USB Host get merged
+#
+[env:mks_robin_nano_v3_usb_flash_drive]
+extends           = env:mks_robin_nano_v3
+platform_packages = ${stm32_flash_drive.platform_packages}
+build_flags       = ${stm32_flash_drive.build_flags}
+  -DUSBCON
+  -DUSE_USBHOST_HS
+  -DUSBD_IRQ_PRIO=5
+  -DUSBD_IRQ_SUBPRIO=6
+  -DUSE_USB_HS_IN_FS
+  -DUSBD_USE_CDC
+
 #################################
 #                               #
 #      Other Architectures      #