├── harcoded_iolink.ino ├── README.md ├── hard_code_iolink.h └── LICENSE /harcoded_iolink.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (C) 2021 unref-ptr 3 | This file is part of Hardcoded IO-Link. 4 | 5 | Hardcoded IO-Link is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | Hardcoded IO-Link is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with Hardcoded IO-Link. If not, see . 17 | */ 18 | 19 | /* 20 | IO-Link Example for 21 | using the hardcoded IO-Link. 22 | This is a proof of concept and in no means 23 | complies completely with the spec. 24 | */ 25 | #include 26 | #include "hard_code_iolink.h" 27 | 28 | hardcode_iolink simple_iolink_device; 29 | 30 | uint8_t pdOut[2]; 31 | 32 | void setup() { 33 | //Specifiy Serial HW Object for use with IO-Link 34 | simple_iolink_device.init(Serial); 35 | Serial.begin(IO_LINK_COM2, SERIAL_8E1); 36 | } 37 | 38 | void loop() { 39 | 40 | simple_iolink_device.task(); 41 | bool pdOut_ok=simple_iolink_device.getPDOut(pdOut); 42 | if(pdOut_ok) 43 | { 44 | //dosomething with pdOut 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 2 | ## Hard Coded IO-Link: 3 | 4 | 5 | Update: This repository is deprecated and superseded by [lwIOLink](https://github.com/unref-ptr/lwIOLink) , a lightweight IOLink device library. 6 | 7 | 8 | IO-Link Device for use with the Arduino platform. As the name imples, the IO-Link device stack is hardcoded and does not comply with the IO-Link specification. In general it can be used to test the IO-Link communication protocol and learn how it works. You can try using this softwware with an IO-Link Transciever (e.g. TIOL-111). It implements the most simplest way to communicate and recieve data from an IO-Link Master (PD Out). The pinout connection is found on the header file. In general it requires 4 pins 9 | 10 | * Wakeup (Digital Input with falling edge interrupt)
11 | * TX (Transmission from the Arduino to the IOL Device transciever)
12 | * RX (Reception of data from the IO-L Master via the IOL Device transciever)
13 | * Enable (Digital output, when HIGH it allows to send data to the transciever otherwise its in reception mode or waiting for the Wakuep signal)
14 | 15 | Note: only tested with TIOL-111. IF using any other transciever the functionality of the pins may need to be modified accordingly. 16 | 17 | ## Limitations 18 | 19 | * The IOL Device does not include use of Parameters, Events or DS. 20 | * IF the device comm is interrupted, it requires to reset the SW as it does not implement the device mode handler. 21 | * Blocking the main task with any other task might interrupt the program, as IO-Link expects a maxmimum device response time of 10/COM where COM is any of the baudrates for IO-Link. 22 | 23 | 24 | 25 | 26 | #### Improvements: 27 | 28 | You are welcome to improve the software and include features that are not part of this implementation by forking and creating a merge request. 29 | 30 | #### Further information: 31 | 32 | Just did this as an experiment to check how much can be achieved without implementing the complete spec. More of a simple and lightweight stack.
33 | For more informaiton RTFM (i.e. the IO-Link specification ) ;) 34 | 35 | -------------------------------------------------------------------------------- /hard_code_iolink.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (C) 2021 unref-ptr 3 | This file is part of Hardcoded IO-Link. 4 | 5 | Hardcoded IO-Link is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | Hardcoded IO-Link is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with Hardcoded IO-Link. If not, see . 17 | */ 18 | 19 | /* IO-Link COM Speeds*/ 20 | #define IO_LINK_COM3 230400 21 | #define IO_LINK_COM2 38400 22 | #define IO_LINK_COM1 4800 23 | #define MASTER_READ 1 24 | 25 | /* IO-Link spec definitions*/ 26 | //position where the master ckt frame is located (starting at 0) 27 | #define CKT_FRAME 1 28 | //Types of IO-Link channels according Table A.1 29 | #define PROCESS 0 30 | #define PAGE 1 31 | #define DIAGNOSIS 2 32 | #define ISDU 3 33 | /* Hard coded IO-Link device definitions*/ 34 | #define SIZE_OD_PREOPERATE 8 35 | #define SIZE_OD_OPERATE 8 36 | #define SIZE_PDOUT 2 37 | #define SIZE_PDIN 0 38 | 39 | /* 40 | Delay required when sending the data 41 | as arduino serial is non-blocking for TX 42 | */ 43 | #define COM2_DELAY 286 //(11 bits)/COM2 = 286 us 44 | //Modes for the Device 45 | typedef enum ioLink_mode 46 | { 47 | start, 48 | preoperate, 49 | operate 50 | } ioLink_mode_e; 51 | //States for interpreting IO-Link data 52 | typedef enum ioLink_states 53 | { 54 | wait_wake, //Waiting for wakeup signal 55 | wait_valid_frame, //Waiting for a complete IO-Link Master frame 56 | run_mode //state where checking for a new Master frame and parsing 57 | //data reciveed 58 | } ioLink_states_e; 59 | 60 | //HW connections for the IO-Link Transciever TIOL-111 61 | const uint8_t enablePin = 4; 62 | const uint8_t wakeupPin = 2; 63 | uint8_t ignore_RX_bytes = 0; 64 | //Message struct for IO-Link 65 | typedef struct { 66 | uint8_t channel; 67 | uint8_t addr; 68 | bool read; 69 | } ioLink_message_t; 70 | 71 | ioLink_message_t message; 72 | 73 | //Max buffer for IO-Link data [1 byte MC + 1 Byte CKT + 32 PD + 32 OD] 74 | #define MAX_BUFFER_IOLINK 66 75 | //Direct Parameter Page 1 values 76 | 77 | //Hard coded Direct Parameter Page 1 Values 78 | uint8_t paramterPage1[16] = 79 | { 80 | 0, 81 | 0, 82 | 0x86, //128 ms cycletime 83 | 0x2C, //8 preo 8 op isdu unsup 84 | 0x11, //Revision ID 85 | 0, //PDIn 86 | 16, //PDOut 2 bytes 87 | 0xAB, //Vendor ID 88 | 0xCD, 89 | 0, 90 | 0, 91 | 1, 92 | 0, 93 | 0, 94 | 0 95 | }; 96 | //Hard coded checksums for Direct Parameter Page 1 97 | //Check spec section A.1.3 98 | uint8_t ckt_pp1[15] = 99 | { 100 | 0x2d, 101 | 0x2d, 102 | 0x36, 103 | 0x39, 104 | 0x28, 105 | 0x2d, 106 | 0x39, 107 | 0x33, 108 | 0x3c, 109 | 0x2d, 110 | 0x2d, 111 | 0x3c, 112 | 0x2d, 113 | 0x2d, 114 | 0x2d 115 | }; 116 | volatile bool wakeUp_started = false; 117 | void wakeup() { 118 | wakeUp_started = true; 119 | } 120 | 121 | class hardcode_iolink 122 | { 123 | public: 124 | void init(Stream &serial); 125 | void task(); 126 | bool getPDOut(uint8_t * buffer); 127 | private: 128 | Stream* _serial; 129 | uint8_t pdOut[SIZE_PDOUT]; 130 | void initTransciever(); 131 | void decodeMessage(); 132 | void sendOK(); 133 | void send_ioLink_data(uint8_t *data, uint8_t len); 134 | bool new_ioLink_byte(); 135 | ioLink_mode_e deviceMode = start; 136 | ioLink_states_e deviceState = wait_wake; 137 | uint8_t rxBuffer[MAX_BUFFER_IOLINK]; 138 | uint8_t txBuffer[MAX_BUFFER_IOLINK]; 139 | uint8_t byteCount = 0; 140 | uint8_t MC_xWR = 0; 141 | uint8_t maxFrames = 0; 142 | bool newIOLinkMasterFrame_recieved = false; 143 | uint8_t read_ioLink_byte(); 144 | void prepareMessage(uint8_t od_size); 145 | void checkNewIOLinkMaster_Frame (uint8_t NewByte) ; 146 | }; 147 | bool hardcode_iolink::getPDOut(uint8_t * buffer) 148 | { 149 | memcpy(buffer, pdOut, SIZE_PDOUT); 150 | if (deviceMode == operate) 151 | { 152 | return true; 153 | } 154 | else 155 | { 156 | return false; 157 | } 158 | } 159 | void hardcode_iolink::prepareMessage(uint8_t od_size) 160 | { 161 | switch (message.channel) 162 | { 163 | case PAGE: 164 | if (!message.read) 165 | { 166 | if (rxBuffer[2] == 0x99) //Operate mode 167 | { 168 | deviceMode = operate; 169 | } 170 | sendOK(); 171 | } 172 | else 173 | { 174 | //Send the harcoded direct parameter page 1 value 175 | txBuffer[0] = paramterPage1[message.addr]; 176 | txBuffer[od_size] = ckt_pp1[message.addr]; 177 | memset(txBuffer + 1, 0, od_size - 1); 178 | send_ioLink_data(txBuffer, od_size + 1); 179 | } 180 | break; 181 | case ISDU: 182 | //Hardcoded IO-Link, no chance for ISDU 183 | memset(txBuffer, 0, od_size); //No service 184 | txBuffer[od_size] = 0x2D; 185 | send_ioLink_data(txBuffer, od_size + 1); 186 | break; 187 | } 188 | //if in operate mode get the PdOut 189 | //No Pdin available at the moment 190 | if (deviceMode == operate) 191 | { 192 | memcpy(pdOut, &rxBuffer[2], SIZE_PDOUT); 193 | } 194 | } 195 | 196 | //Send confirmation when IO-Link master does a 197 | //write request, as this hardcoded device 198 | //does not have PDIn, any write request will 199 | //involve sending just one byte (CKT) 200 | //If required to add PD IN, the checksum 6 type 201 | //Has to be added ;) 202 | void hardcode_iolink::sendOK() 203 | { 204 | txBuffer[0] = 0x2D; 205 | send_ioLink_data(txBuffer, 1); 206 | } 207 | //Decode the data from the IO-Link master frame MC 208 | void hardcode_iolink::decodeMessage() 209 | { 210 | message.channel = (rxBuffer[0] & 0x60) >> 5; 211 | message.addr = rxBuffer[0] & 0x1F; 212 | message.read = rxBuffer[0] >> 7; 213 | } 214 | //Initialize transciever 215 | void hardcode_iolink::init(Stream &serial) 216 | { 217 | initTransciever(); 218 | _serial = &serial; 219 | } 220 | // check for new IO-Link master frames 221 | void hardcode_iolink::checkNewIOLinkMaster_Frame (uint8_t NewByte) 222 | { 223 | rxBuffer[byteCount] = NewByte; 224 | if (byteCount == 0) 225 | { 226 | MC_xWR = rxBuffer[0] >> 7; //First Uart frame is MC, check IO-Link spec Figure A.1 227 | } 228 | byteCount ++; 229 | if (byteCount == CKT_FRAME ) 230 | { 231 | //Get MSeqType Bits (Figure A.2 IO-Link Spec) 232 | uint8_t mSeqType = rxBuffer[CKT_FRAME ] >> 6; 233 | if (mSeqType == 0) //Startup 234 | { 235 | if (MC_xWR == MASTER_READ) //If read 236 | { 237 | maxFrames = 2; 238 | } 239 | else 240 | { 241 | maxFrames = 3; 242 | } 243 | } 244 | //Preoperate 245 | else if (mSeqType == 1) 246 | { 247 | if (MC_xWR == MASTER_READ) 248 | { 249 | maxFrames = 2; 250 | } 251 | else 252 | { 253 | maxFrames = SIZE_OD_PREOPERATE + 2; 254 | } 255 | } 256 | //Operate mode 257 | else if (mSeqType == 2) 258 | { 259 | if (MC_xWR == MASTER_READ) 260 | { 261 | maxFrames = 2 + SIZE_PDOUT; 262 | } 263 | else 264 | { 265 | maxFrames = 2 + SIZE_OD_OPERATE + SIZE_PDOUT; 266 | } 267 | } 268 | } 269 | //this is the flag that should be sent as notification for this event 270 | if (byteCount == maxFrames) 271 | { 272 | newIOLinkMasterFrame_recieved = true; 273 | } 274 | } 275 | /*As the IO-Link Transciever 276 | *Sends what its recieve, it must 277 | * ignore the same quantity of bytes 278 | * it sends 279 | */ 280 | bool hardcode_iolink::new_ioLink_byte() 281 | { 282 | if (_serial->available() > 0) 283 | { 284 | if (ignore_RX_bytes == 0) 285 | { 286 | return true; 287 | } 288 | else 289 | { 290 | Serial.read(); 291 | ignore_RX_bytes -= 1; 292 | return false; 293 | } 294 | } 295 | else 296 | { 297 | return false; 298 | } 299 | } 300 | //Wrapper for Serial HW 301 | uint8_t hardcode_iolink::read_ioLink_byte() 302 | { 303 | return _serial->read(); 304 | } 305 | 306 | //HW Setup 307 | void hardcode_iolink::initTransciever() 308 | { 309 | pinMode(enablePin, OUTPUT); 310 | pinMode(wakeupPin, INPUT); 311 | digitalWrite(enablePin, HIGH); 312 | //Wakeup is detected with flaling edge 313 | attachInterrupt(digitalPinToInterrupt(wakeupPin), wakeup, FALLING ); 314 | } 315 | 316 | //While sending data the enable line must be held high 317 | //As arduino serial is non-blocking, must wait_valid_frame 318 | //a hardcoded value corresponding to the time it takes to send the data 319 | void hardcode_iolink::send_ioLink_data(uint8_t *data, uint8_t len) 320 | { 321 | byteCount = 0; 322 | maxFrames = 0xFF; 323 | ignore_RX_bytes = len; 324 | digitalWrite(enablePin, HIGH); 325 | for (uint8_t i = 0; i < len; i++) 326 | { 327 | _serial->write(*(data + i)); 328 | } 329 | delayMicroseconds(COM2_DELAY * len); 330 | digitalWrite(enablePin, LOW); 331 | } 332 | //Main task to process IO-Link data 333 | void hardcode_iolink::task() 334 | { 335 | switch (deviceState) 336 | { 337 | case wait_wake: 338 | if (wakeUp_started) 339 | { 340 | wakeUp_started = false; 341 | deviceState = wait_valid_frame; 342 | digitalWrite(enablePin, LOW); 343 | } 344 | break; 345 | case wait_valid_frame: 346 | /* 347 | Using COM2, for this reason 348 | the Arduino will recieve garbage as 349 | the IO-L Master will send the wakeup 350 | message (0xA2,0x00) at COM3 first. 351 | With this state, the device waits until 352 | it detects the first valid frame 0xA2 = MC (Read Page Channel, Min Cycle Time) 353 | */ 354 | if (new_ioLink_byte()) 355 | { 356 | uint8_t rx_byte = read_ioLink_byte(); 357 | if (rx_byte == 0xA2) 358 | { 359 | deviceState = run_mode; 360 | checkNewIOLinkMaster_Frame(rx_byte); 361 | } 362 | } 363 | break; 364 | case run_mode: 365 | if (new_ioLink_byte()) 366 | { 367 | checkNewIOLinkMaster_Frame(read_ioLink_byte()); 368 | } 369 | if (newIOLinkMasterFrame_recieved) 370 | { 371 | newIOLinkMasterFrame_recieved = false; 372 | if (deviceMode == start) 373 | { 374 | if (byteCount == 3) 375 | { 376 | //from the system command values of the 377 | //specification 378 | if (rxBuffer[2] == 0x9A) 379 | { 380 | deviceMode = preoperate; 381 | } 382 | sendOK(); 383 | } 384 | else 385 | { 386 | uint8_t address = rxBuffer[0] & 0x0F; 387 | txBuffer[0] = paramterPage1[address]; 388 | txBuffer[1] = ckt_pp1[address]; 389 | send_ioLink_data(txBuffer, 2); 390 | } 391 | } 392 | else if (deviceMode == preoperate) 393 | { 394 | decodeMessage(); 395 | prepareMessage(SIZE_OD_PREOPERATE); 396 | } 397 | else if (deviceMode == operate) 398 | { 399 | decodeMessage(); 400 | prepareMessage(SIZE_OD_OPERATE); 401 | } 402 | } 403 | break; 404 | } 405 | } 406 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------