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LoRa学习＜三＞：CAD模式实验_lora cad

作者：我家自动化 | 2024-06-13 18:31:18

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lora cad

平台：两台NUCLEO-WL55JC1开发板，即STM32WL55方案，内置LoRa射频SX1261的SOC。

内容：两台设备上电后都启动2s的软定时器，timerout后监听CAD，若有IRQ_CAD_DETECTED中段，则Radio.Rx(3000);   操作其中一台设备按键发送数据"LoRa_CAD"，接收段回复“ACK”。然后双方都再次进入CAD监听模式；

一、CAD监听（Channel Activity Detection ）

       1.1 SX126x之前的产品，只提供对Preamble检测的功能，SX126X系统提供了对CAD检测的功能，芯片设定为进入CAD模式后，SX1261/2将在用户可选择的持续时间内（以数量定义）对频带进行扫描，如果在CAD过程中检测到LoRa®信号，则将返回检测到的通道活动IRQ。

        1.2 不同于Rx Duty Cycle模式，在没有LoRa信号的情况下，MCU需要周期性的设定芯片Start CAD。而Rx Duty Cycle模式整个过程无需MCU参与，直到IRQ_PREAMBLE_DETECTED中断触发MCU。CAD模式工作时序图如下：

        

        1.2 SetCadParams()函数原型

      

         CAD_ONLY：

         芯片在LoRa®中执行CAD操作。一旦做了什么在通道上活动时，芯片返回STBY_RC模式。

         CAD_RX：

         芯片执行CAD操作，如果检测到活动，则它将保持在RX状态，直到检测到数据包或计时器达

         到cadTimeout*15.625us。

         这里再介绍下STBY模式，参考如下

         

         

二、CAD参数设定

        2.1 SX126x数据手册，CAD监听消耗数据如下（SF7，BW125KHz）

        2.2 CAD设定，Best settings更具官方手册设定（BW = 125KHz）

 

        2.3 CAD模式下前导码时长设定，由《LoRa学习＜一＞：基本参数和数据格式》可知：

                                                T_{symbol} = \frac{2^{SF}}{BW} = 1.024ms 

                                                T_{preamble} = (N_{preamble} + 4.5) * T_{symbol}

              加入设定每隔2s, MCU设定RF执行一次CAD监听，SF=7, BW = 125KHz，根据手册设定

        cadSymbolNum = 2，Cad Time Measure = 2.6641ms。则T_{preamble} > (2s + 2.6641ms)，可

        以设定N_{preamble} = 2000，

                            ​​​​T_{preamble} = （2000+ 4.5）* 1.024ms = 2,052.608ms > 2002.6641ms

三、参考代码如下

        3.1 初始化函数

  1. //#define SUPPORT_RX_DUTY_MODE
  2. #define SUPPORT_CAD_MODE
  3.  
  4. #ifdef SUPPORT_CAD_MODE
  5. #define SUPPORT_CAD_ONLY
  6. #endif
  7.  
  8. typedef enum
  9. {
  10. 	LOWPOWER = 0,
  11. 	RX,
  12. 	RX_TIMEOUT,
  13. 	RX_ERROR,
  14. 	TX,
  15. 	TX_TIMEOUT,
  16. 	PREAMBLE_DETECT,
  17. 	START_CAD,
  18. 	CAD_DONE,
  19. } States_t;
  20.  
  21. #ifdef SUPPORT_CAD_MODE
  22. CadRx_t CadRx = CAD_FAIL;
  23. static UTIL_TIMER_Object_t CADTimeoutTimer;
  24. #define CAD_TIMER_TIMEOUT  2000        //Define de CAD timer's timeout here
  25. #endif
  26.  
  27. #ifdef SUPPORT_CAD_MODE
  28. static 
  29. void OnCadDone( bool channelActivityDetected);
  30. static void CADTimeoutTimeoutIrq(void *context);
  31. #endif
  32.  
  33.  
  34. /* Exported functions ---------------------------------------------------------*/
  35. void SubghzApp_Init(void)
  36. {
  37. 	/* USER CODE BEGIN SubghzApp_Init_1 */
  38. #ifdef SUPPORT_CAD_MODE
  39. 	APP_LOG(TS_OFF, VLEVEL_M, "\n\rCAD Mode Test\n\r");
  40. #elif defined(SUPPORT_RX_DUTY_MODE)
  41. 	APP_LOG(TS_OFF, VLEVEL_M, "\n\rRx Duty Cycle Test\n\r");
  42. #endif
  43.  
  44. 	/* Print APP version*/
  45. 	APP_LOG(TS_OFF, VLEVEL_M, "APP_VERSION= V%X.%X.%X\r\n",
  46. 		(uint8_t)(__APP_VERSION >> __APP_VERSION_MAIN_SHIFT),
  47. 		(uint8_t)(__APP_VERSION >> __APP_VERSION_SUB1_SHIFT),
  48. 		(uint8_t)(__APP_VERSION >> __APP_VERSION_SUB2_SHIFT));
  49.  
  50. 	/* Led Timers*/
  51. 	//UTIL_TIMER_Create(&timerLed, 0xFFFFFFFFU, UTIL_TIMER_ONESHOT, OnledEvent, NULL);
  52. 	//UTIL_TIMER_SetPeriod(&timerLed, LED_PERIOD_MS);
  53. 	//UTIL_TIMER_Start(&timerLed);
  54. #ifdef SUPPORT_CAD_MODE
  55. 	UTIL_TIMER_Create(&CADTimeoutTimer, 0xFFFFFFFFU, UTIL_TIMER_ONESHOT, CADTimeoutTimeoutIrq, NULL);
  56. 	UTIL_TIMER_SetPeriod(&CADTimeoutTimer, CAD_TIMER_TIMEOUT);
  57. #endif
  58. 	//UTIL_TIMER_Start(&CADTimeoutTimer);
  59. 	/* USER CODE END SubghzApp_Init_1 */
  60.  
  61. 	/* Radio initialization */
  62. 	RadioEvents.TxDone = OnTxDone;
  63. 	RadioEvents.RxDone = OnRxDone;
  64. 	RadioEvents.TxTimeout = OnTxTimeout;
  65. 	RadioEvents.RxTimeout = OnRxTimeout;
  66. 	RadioEvents.RxError = OnRxError;
  67. 	RadioEvents.PreambleDetect = PreambleDectect;
  68.  
  69. #ifdef SUPPORT_CAD_MODE
  70. 	RadioEvents.CadDone = OnCadDone;
  71. #endif
  72.  
  73. 	Radio.Init(&RadioEvents);
  74.  
  75. 	/* USER CODE BEGIN SubghzApp_Init_2 */
  76. 	/* Radio Set frequency */
  77. 	Radio.SetChannel(RF_FREQUENCY);
  78.  
  79. 	/* Radio configuration */
  80. #if ((USE_MODEM_LORA == 1) && (USE_MODEM_FSK == 0))
  81. 	APP_LOG(TS_OFF, VLEVEL_M, "---------------\n\r");
  82. 	APP_LOG(TS_OFF, VLEVEL_M, "LORA_MODULATION\n\r");
  83. 	APP_LOG(TS_OFF, VLEVEL_M, "LORA_BW=%d kHz\n\r", (1 << LORA_BANDWIDTH) * 125);
  84. 	APP_LOG(TS_OFF, VLEVEL_M, "LORA_SF=%d\n\r", LORA_SPREADING_FACTOR);
  85.  
  86. #ifdef SUPPORT_CAD_MODE
  87. 	//BW = 0, 125K
  88. 	//Tsymbol = 1.024ms
  89. 	//Preamble Lenght = 2000;		//2004.5*1.024 = 2,052.608
  90. 	Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, 0,
  91. 		LORA_SPREADING_FACTOR, LORA_CODINGRATE,
  92. 		2000, LORA_FIX_LENGTH_PAYLOAD_ON,
  93. 		true, 0, 0, LORA_IQ_INVERSION_ON, TX_TIMEOUT_VALUE);
  94.  
  95. 	Radio.SetRxConfig(MODEM_LORA, 0, LORA_SPREADING_FACTOR,
  96. 		LORA_CODINGRATE, 0, 2000,
  97. 		LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON,
  98. 		0, true, 0, 0, LORA_IQ_INVERSION_ON, true);
  99. #elif defined(SUPPORT_RX_DUTY_MODE)
  100. 	//BW = 1, 250K
  101. 	//Tsymbol = 0.512ms
  102. 	//Preamble Lenght = 2000;		//2004.5*5.012 = 1,026.304
  103. 	Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, 1,
  104. 		LORA_SPREADING_FACTOR, LORA_CODINGRATE,
  105. 		2000, LORA_FIX_LENGTH_PAYLOAD_ON,
  106. 		true, 0, 0, LORA_IQ_INVERSION_ON, TX_TIMEOUT_VALUE);
  107.  
  108. 	Radio.SetRxConfig(MODEM_LORA, 1, LORA_SPREADING_FACTOR,
  109. 		LORA_CODINGRATE, 0, 2000,
  110. 		LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON,
  111. 		0, true, 0, 0, LORA_IQ_INVERSION_ON, true);
  112. #else
  113. 	Radio.SetTxConfig(MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
  114. 		LORA_SPREADING_FACTOR, LORA_CODINGRATE,
  115. 		LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
  116. 		true, 0, 0, LORA_IQ_INVERSION_ON, TX_TIMEOUT_VALUE);
  117.  
  118. 	Radio.SetRxConfig(MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR,
  119. 		LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH,
  120. 		LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON,
  121. 		0, true, 0, 0, LORA_IQ_INVERSION_ON, true);
  122. #endif
  123.  
  124.  
  125. 	Radio.SetMaxPayloadLength(MODEM_LORA, MAX_APP_BUFFER_SIZE);
  126.  
  127. #elif ((USE_MODEM_LORA == 0) && (USE_MODEM_FSK == 1))
  128. 	APP_LOG(TS_OFF, VLEVEL_M, "---------------\n\r");
  129. 	APP_LOG(TS_OFF, VLEVEL_M, "FSK_MODULATION\n\r");
  130. 	APP_LOG(TS_OFF, VLEVEL_M, "FSK_BW=%d Hz\n\r", FSK_BANDWIDTH);
  131. 	APP_LOG(TS_OFF, VLEVEL_M, "FSK_DR=%d bits/s\n\r", FSK_DATARATE);
  132.  
  133. 	Radio.SetTxConfig(MODEM_FSK, TX_OUTPUT_POWER, FSK_FDEV, 0,
  134. 		FSK_DATARATE, 0,
  135. 		FSK_PREAMBLE_LENGTH, FSK_FIX_LENGTH_PAYLOAD_ON,
  136. 		true, 0, 0, 0, TX_TIMEOUT_VALUE);
  137.  
  138. 	Radio.SetRxConfig(MODEM_FSK, FSK_BANDWIDTH, FSK_DATARATE,
  139. 		0, FSK_AFC_BANDWIDTH, FSK_PREAMBLE_LENGTH,
  140. 		0, FSK_FIX_LENGTH_PAYLOAD_ON, 0, true,
  141. 		0, 0, false, true);
  142.  
  143. 	Radio.SetMaxPayloadLength(MODEM_FSK, MAX_APP_BUFFER_SIZE);
  144.  
  145. #else
  146. 	#error "Please define a modulation in the subghz_phy_app.h file."
  147. #endif /* USE_MODEM_LORA | USE_MODEM_FSK */
  148.  
  149.  
  150. 	/* LED initialization*/
  151. 	BSP_LED_Init(LED_GREEN);
  152. 	BSP_LED_Init(LED_RED);
  153. 	BSP_LED_Init(LED_BLUE);
  154.  
  155. 	BSP_LED_On(LED_GREEN);
  156.  
  157.  
  158. 	/* KEY initialization*/
  159. 	APP_LOG(TS_ON, VLEVEL_L, "Key Init\r\n");
  160. 	BSP_PB_Init(BUTTON_SW1, BUTTON_MODE_EXTI);
  161. 	BSP_PB_Init(BUTTON_SW2, BUTTON_MODE_EXTI);
  162. 	BSP_PB_Init(BUTTON_SW3, BUTTON_MODE_EXTI);
  163.  
  164. 	/*calculate random delay for synchronization*/
  165. 	random_delay = (Radio.Random()) >> 22; /*10bits random e.g. from 0 to 1023 ms*/
  166. 	/*fills tx buffer*/
  167. 	memset(BufferTx, 0x0, MAX_APP_BUFFER_SIZE);
  168.  
  169. 	APP_LOG(TS_ON, VLEVEL_L, "rand=%d\n\r", random_delay);
  170. 	/*starts reception*/
  171.  
  172. #ifdef SUPPORT_RX_DUTY_MODE
  173. 	Radio.SetRxDutyCycle(RC_RX_TIIME, RC_SLEEP_TIIME);
  174. #elif defined(SUPPORT_CAD_MODE)
  175. 	Radio.StartCad();
  176. #else
  177. 	Radio.Rx(RX_TIMEOUT_VALUE);
  178. #endif
  179.  
  180. 	/*register task to to be run in while(1) after Radio IT*/
  181. 	UTIL_SEQ_RegTask((1 << CFG_SEQ_Task_SubGHz_Phy_App_Process), UTIL_SEQ_RFU, CadTest_Process);
  182. 	/* USER CODE END SubghzApp_Init_2 */
  183. }

         3.2 设定CAD，使能CAD_DETECT，设定 CAD_ONLY，即监测到CAD信道信息后，由MCU

切换到Rx模式；

  1. static void RadioStartCad( void )
  2. {
  3.     /* RF switch configuration */
  4.     //SUBGRF_SetSwitch(SubgRf.AntSwitchPaSelect, RFSWITCH_RX);
  5.  
  6.     SUBGRF_SetDioIrqParams( IRQ_CAD_CLEAR | IRQ_CAD_DETECTED,
  7.                             IRQ_CAD_CLEAR | IRQ_CAD_DETECTED,
  8.                             IRQ_RADIO_NONE,
  9.                             IRQ_RADIO_NONE );
  10.  
  11. 	SUBGRF_SetCadParams(LORA_CAD_02_SYMBOL, 22, 10, LORA_CAD_ONLY, 0); 
  12. 	//SUBGRF_SetCadParams(LORA_CAD_02_SYMBOL, 22, 10, LORA_CAD_RX, 192000);
  13.  
  14. 	//SUBGRF_SetCadParams(LORA_CAD_04_SYMBOL, 21, 10, LORA_CAD_RX, 192000);
  15.  
  16. 	SUBGRF_SetCad( );
  17. }

         3.3 CAD Done和CAD Detect中断处理函数，如果是CAD Detect，则进入Rx模式，否则继续

启动Timer，并再次启动CAD Start。

  1.  
  2. static void RadioIrqProcess( void )
  3. {
  4.     uint8_t size = 0;
  5.     int32_t cfo = 0;
  6.  
  7. 	MW_LOG( TS_OFF, VLEVEL_M,  "IRQ = %d\r\n", SubgRf.RadioIrq);
  8.     switch ( SubgRf.RadioIrq )
  9.     {
  10.         //省略部分
  11.         。。。。。。
  12.  
  13. 	case IRQ_CAD_CLEAR:
  14. 		//!< Update operating mode state to a value lower than \ref MODE_STDBY_XOSC
  15. 		//SUBGRF_SetStandby( STDBY_RC );
  16. 		if( ( RadioEvents != NULL ) && ( RadioEvents->CadDone != NULL ) )
  17. 		{
  18. 		    RadioEvents->CadDone( false );
  19. 		}
  20. 		break;
  21.  
  22. 	case IRQ_CAD_DETECTED:
  23. 		//!< Update operating mode state to a value lower than \ref MODE_STDBY_XOSC
  24. 		//SUBGRF_SetStandby( STDBY_RC );
  25. 		if( ( RadioEvents != NULL ) && ( RadioEvents->CadDone != NULL ) )
  26. 		{
  27. 			RadioEvents->CadDone( true );
  28. 		}
  29. 		break;
  30. 		
  31.         。。。。。。
  32.         //省略部分
  33.     default:
  34.         break;
  35.   }
  36. }
  1. #ifdef SUPPORT_CAD_MODE
  2. static void OnCadDone( bool channelActivityDetected)
  3. {
  4. 	if( channelActivityDetected == true )
  5. 	{
  6. 		CadRx = CAD_SUCCESS;
  7. #ifdef SUPPORT_CAD_ONLY
  8. 		State = CAD_DONE;
  9. 		UTIL_SEQ_SetTask((1 << CFG_SEQ_Task_SubGHz_Phy_App_Process), CFG_SEQ_Prio_0);
  10. #endif
  11. 	}
  12. 	else
  13. 	{
  14. 		CadRx = CAD_FAIL;
  15. 		UTIL_TIMER_Start(&CADTimeoutTimer);
  16. 	}
  17. }
  18. #endif

         3.4  CAD timer中断函数

  1. #ifdef SUPPORT_CAD_MODE
  2. static void CADTimeoutTimeoutIrq(void *context)
  3. {
  4. 	Radio.Standby( );
  5. 	State = START_CAD;
  6. 	UTIL_SEQ_SetTask((1 << CFG_SEQ_Task_SubGHz_Phy_App_Process), CFG_SEQ_Prio_0);
  7. }
  8. #endif

         3.5  CadTest_Process状态处理函数

  1.  
  2. /* USER CODE BEGIN PrFD */
  3. static void CadTest_Process(void)
  4. {
  5. 	static bool TxAckFlag = false;
  6. 	uint8_t i = 0;
  7.  
  8. 	APP_LOG(TS_OFF, VLEVEL_L, "State=%d\n\r", State);
  9. 	switch (State)
  10. 	{
  11. 		case RX:	
  12. 			if (RxBufferSize > 0)										//Received is True;
  13. 			{
  14. 				APP_LOG(TS_OFF, VLEVEL_L, "Rx:");
  15. 				for(i=0; i<RxBufferSize; i++)
  16. 				{
  17. 					APP_LOG(TS_OFF, VLEVEL_L, "%02x ", BufferRx[i]);
  18. 				}
  19. 				APP_LOG(TS_OFF, VLEVEL_L, "len(%d)\n\r", RxBufferSize);
  20.  
  21. 				if (strncmp((const char *)BufferRx, ACKMSG, sizeof(ACKMSG) - 1) == 0)
  22. 				{
  23. 					BSP_LED_On(LED_RED);
  24. 					HAL_Delay(Radio.GetWakeupTime() + RX_TIME_MARGIN);
  25. 					BSP_LED_Off(LED_RED);
  26.  
  27. #ifdef SUPPORT_RX_DUTY_MODE
  28. 					APP_LOG(TS_OFF, VLEVEL_L, "Rx Ack success, Go Duty Cycle\n\r");
  29. 					Radio.SetRxDutyCycle(RC_RX_TIIME, RC_SLEEP_TIIME);
  30. #elif defined(SUPPORT_CAD_MODE)
  31. 					APP_LOG(TS_OFF, VLEVEL_L, "Rx Ack success, Go CAD Mode\n\r");
  32. 					UTIL_TIMER_Start(&CADTimeoutTimer);
  33. #else
  34. 					Radio.Rx(3000);
  35. #endif
  36. 				}
  37. 				else if (strncmp((const char *)BufferRx, TXMSG, sizeof(TXMSG) - 1) == 0)
  38. 				{
  39. 					BSP_LED_On(LED_GREEN);
  40. 					HAL_Delay(Radio.GetWakeupTime() + RX_TIME_MARGIN);
  41. 					BSP_LED_Off(LED_GREEN);
  42. 					APP_LOG(TS_OFF, VLEVEL_L, "Rx success, Send Ack\n\r");
  43. 					memcpy(BufferTx, ACKMSG, sizeof(ACKMSG) - 1);
  44. 					Radio.Send(BufferTx, PAYLOAD_LEN);
  45. 					TxAckFlag = true;
  46.  
  47. 					//APP_LOG(TS_OFF, VLEVEL_L, "Go Duty Cycle\n\r");
  48. 					//Radio.SetRxDutyCycle(1000, 5000);
  49. 				}
  50. 			}
  51. #ifdef SUPPORT_CAD_MODE
  52. 			else													
  53. 			{
  54. 				if (CadRx == CAD_SUCCESS)
  55. 				{
  56. 					APP_LOG(TS_ON, VLEVEL_L, "CAD_SUCCESS, Go Rx\n\r");
  57. 					Radio.Rx( RX_TIMEOUT_VALUE );
  58. 				}
  59. 				else
  60. 				{
  61. 					APP_LOG(TS_ON, VLEVEL_L, "Restart Cad timer\n\r");
  62. 					UTIL_TIMER_Start(&CADTimeoutTimer);
  63. 				}
  64. 			}
  65. #endif
  66. 			break;
  67.  
  68. 		case TX:
  69. 			if(TxAckFlag == false)
  70. 			{
  71. 				APP_LOG(TS_OFF, VLEVEL_L, "Tx Msg Done, wait Ack\n\r");
  72. 				Radio.Rx(1000);
  73. 			}
  74. 			else
  75. 			{
  76. 				TxAckFlag = false;
  77. #ifdef SUPPORT_RX_DUTY_MODE
  78. 				APP_LOG(TS_OFF, VLEVEL_L, "Tx Timeout, Go Duty Cycle\n\r");
  79. 				Radio.SetRxDutyCycle(RC_RX_TIIME, RC_SLEEP_TIIME);
  80. #elif defined(SUPPORT_CAD_MODE)
  81. 				UTIL_TIMER_Start(&CADTimeoutTimer);
  82. #else
  83. 				Radio.Rx(3000);
  84. #endif
  85. 			}
  86. 			break;
  87.  
  88. 		case RX_TIMEOUT:
  89. 			APP_LOG(TS_OFF, VLEVEL_L, "Rx Timeout, ");
  90. 		case RX_ERROR:
  91. #ifdef SUPPORT_RX_DUTY_MODE
  92. 			APP_LOG(TS_OFF, VLEVEL_L, "Rx Err, Go Duty Cycle\n\r");
  93. 			Radio.SetRxDutyCycle(RC_RX_TIIME, RC_SLEEP_TIIME);
  94. #elif defined(SUPPORT_CAD_MODE)
  95. 			APP_LOG(TS_OFF, VLEVEL_L, "Rx Err, Go Cad\n\r");
  96. 			UTIL_TIMER_Start(&CADTimeoutTimer);
  97. #else
  98. 			Radio.Rx(3000);
  99. #endif
  100. 			break;
  101. 		
  102. 		case TX_TIMEOUT:
  103. #ifdef SUPPORT_RX_DUTY_MODE
  104. 			APP_LOG(TS_OFF, VLEVEL_L, "Tx Timeout, Go Duty Cycle\n\r");
  105. 			Radio.SetRxDutyCycle(RC_RX_TIIME, RC_SLEEP_TIIME);
  106. #elif defined(SUPPORT_CAD_MODE)
  107. 			APP_LOG(TS_OFF, VLEVEL_L, "Tx Timeout, Go Cad\n\r");
  108. 			UTIL_TIMER_Start(&CADTimeoutTimer);
  109. #else
  110. 			Radio.Rx(3000);
  111. #endif
  112. 			break;
  113.  
  114. 		case PREAMBLE_DETECT:
  115. 			APP_LOG(TS_ON, VLEVEL_L, "Preamble Dectect, Go Rx\n\r");
  116. 			break;
  117.  
  118. 		case START_CAD:
  119. 			Radio.StartCad();
  120. 			break;
  121.  
  122. 		case CAD_DONE
  123. :
  124. 			APP_LOG(TS_ON, VLEVEL_L, "CAD Dectect, Go Rx\n\r");
  125. 			Radio.Rx(3000);
  126. 			break;
  127.  
  128. 		case LOWPOWER:
  129. 		default:
  130. 			break;
  131. 	}
  132. }

四、实验结果

 测试软件下载STM32Cube_FW_WL_V1.1.0_Test.rar-嵌入式文档类资源-CSDN文库

      工程路径：STM32Cube_FW_WL_V1.1.0_Test\Projects\NUCLEO-WL55JC\Applications\SubGHz_Phy\SubGHz_Phy_PingPong

       其中Keil MDK和STM32CubeIDE编译测试都有测试OK;

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