spi setup more stable now

bsp_q7s/boardconfig/busConf.h

@@ -4,6 +4,8 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
+
 static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -44,7 +44,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
   if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;

bsp_q7s/core/InitMission.cpp

@@ -146,6 +146,12 @@ void initmission::initTasks() {
   }
 #endif
 
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
+  }
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
       "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
@@ -273,6 +279,7 @@ void initmission::initTasks() {
 
   acsTask->startTask();
   sysTask->startTask();
+  tcsPollingTask->startTask();
   tcsTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();

bsp_q7s/core/ObjectFactory.cpp

@@ -214,6 +214,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   SpiCookie* spiCookieRadSensor =
       new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);

common/config/devConf.h

@@ -31,6 +31,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
 static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
+static constexpr dur_millis_t RAD_SENSOR_CS_TIMEOUT = 250;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
@@ -42,6 +43,7 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 40;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 

fsfw

@@ -1 +1 @@
-Subproject commit dba08fed7a00187ba204f46bc40424f7b87f3aea
+Subproject commit bcd19045cc9f19d9fd0b61f991cb334c6315832a

linux/ObjectFactory.cpp

@@ -291,7 +291,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   bool useDirectHandler = false;
   if (not useDirectHandler) {
     // Create special low level reader communication interface
-    new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF);
+    new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
   }
   auto directRtdsCreator = [&](uint8_t idx) {
     auto typedHandler =
@@ -322,6 +322,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
     rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
                                     MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx]->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RTD_CS_TIMEOUT);
     if (useDirectHandler) {
       directRtdsCreator(idx);
     } else {

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -1,9 +1,11 @@
 #include "Max31865RtdLowlevelHandler.h"
 
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
 
-Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF)
-    : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF) {
+Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF)
+    : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
   readerMutex = MutexFactory::instance()->createMutex();
 }
 
@@ -18,6 +20,7 @@ ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
 
 void Max31865RtdReader::rtdMainLoop() {
   using namespace MAX31865;
+  // Stopwatch watch;
   if (periodicInitHandling()) {
     // 10 ms delay for VBIAS startup
     TaskFactory::delayTask(10);
@@ -55,9 +58,15 @@ bool Max31865RtdReader::periodicInitHandling() {
     }
     if ((rtd->on or rtd->active) and not rtd->configured) {
       if (rtd->cd.hasTimedOut()) {
-        uint8_t cfg = (Bias::OFF << CfgBitPos::BIAS_SEL) |
-                      (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
-                      (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE);
+        ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+        if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+          sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed"
+                     << std::endl;
+          break;
+        }
+        uint8_t cfg =
+            (Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
+            (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE) | (1 << CfgBitPos::FAULT_STATUS_CLEAR);
         result = writeCfgReg(rtd->spiCookie, cfg);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           handleSpiError(rtd, result, "writeCfgReg");
@@ -97,6 +106,11 @@ bool Max31865RtdReader::periodicInitHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
       someRtdUsable = true;
       result = writeBiasSel(Bias::ON, rtd->spiCookie);
     }
@@ -117,17 +131,24 @@ void Max31865RtdReader::periodicReadReqHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
       uint8_t currentCfg = 0;
       auto result = readCfgReg(rtd->spiCookie, currentCfg);
       if (result != RETURN_OK) {
         handleSpiError(rtd, result, "readCfgReg");
-        continue;
+        // Release mutex ASAP
+        break;
       }
       currentCfg |= (1 << CfgBitPos::ONE_SHOT);
       result = writeCfgReg(rtd->spiCookie, currentCfg);
       if (result != RETURN_OK) {
         handleSpiError(rtd, result, "writeCfgReg");
-        continue;
+        // Release mutex ASAP
+        break;
       }
     }
   }
@@ -147,6 +168,11 @@ void Max31865RtdReader::periodicReadHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
@@ -167,6 +193,11 @@ void Max31865RtdReader::periodicReadHandling() {
     // Even if a device was made inactive, turn off the bias here. If it was turned off, not
     // necessary anymore..
     if (rtd->on) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
       result = writeBiasSel(Bias::OFF, rtd->spiCookie);
     }
   }
@@ -338,7 +369,7 @@ ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
   if (result != RETURN_OK) {
     return result;
   }
-  currentCfg |= (1 << CfgBitPos::FAULTY_STATUS_CLEAR);
+  currentCfg |= (1 << CfgBitPos::FAULT_STATUS_CLEAR);
   return writeCfgReg(cookie, currentCfg);
 }
 
@@ -446,3 +477,8 @@ ReturnValue_t Max31865RtdReader::handleSpiError(Max31865ReaderCookie* cookie, Re
                << std::endl;
   return result;
 }
+
+ReturnValue_t Max31865RtdReader::initialize() {
+  csLock = comIF->getCsMutex();
+  return SystemObject::initialize();
+}

linux/devices/Max31865RtdLowlevelHandler.h

@@ -38,9 +38,10 @@ class Max31865RtdReader : public SystemObject,
                           public ExecutableObjectIF,
                           public DeviceCommunicationIF {
  public:
-  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF);
+  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
 
   [[noreturn]] ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
 
  private:
   std::vector<Max31865ReaderCookie*> rtds;
@@ -48,6 +49,12 @@ class Max31865RtdReader : public SystemObject,
   size_t dbLen = 0;
   MutexIF* readerMutex;
 
+  SpiComIF* comIF;
+  GpioIF* gpioIF;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
+  uint32_t csTimeoutMs = 0;
+  MutexIF* csLock = nullptr;
+
   void rtdMainLoop();
   bool periodicInitHandling();
   void periodicReadReqHandling();
@@ -75,8 +82,6 @@ class Max31865RtdReader : public SystemObject,
   ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
 
   ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
-
-  SpiComIF* comIF;
 };
 
 #endif /* LINUX_DEVICES_MAX31865RTDREADER_H_ */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -64,13 +64,12 @@ ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.0, 0);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_TMP_DEVICES == 1
   thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -83,27 +82,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 #endif
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_WRITE);
 #endif
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_READ);
 #endif
 
 #if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_RAD_SENSORS == 1
-  /* Radiation sensor */
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
@@ -371,6 +361,15 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   }
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 
+#if OBSW_ADD_RAD_SENSORS == 1
+  /* Radiation sensor */
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
+
 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
   bool enableAside = true;
   bool enableBside = true;

mission/devices/GyroADIS1650XHandler.cpp

@@ -424,7 +424,8 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       GpioIF *gpioIF = comIf->getGpioInterface();
       MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
       uint32_t timeoutMs = 0;
-      MutexIF *mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+      MutexIF *mutex = comIf->getCsMutex();
+      cookie->getMutexParams(timeoutType, timeoutMs);
       if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning << "GyroADIS16507Handler::spiSendCallback: "

mission/devices/Max31865EiveHandler.cpp

@@ -9,6 +9,7 @@ Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF
 }
 
 void Max31865EiveHandler::doStartUp() {
+  updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
   if (state == InternalState::NONE or state == InternalState::INACTIVE) {
     if (instantNormal) {
       state = InternalState::ACTIVE;
@@ -27,6 +28,7 @@ void Max31865EiveHandler::doStartUp() {
 }
 
 void Max31865EiveHandler::doShutDown() {
+  updatePeriodicReply(false, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
   if (state == InternalState::NONE or state == InternalState::ACTIVE or
       state == InternalState::ON) {
     state = InternalState::INACTIVE;
@@ -107,7 +109,7 @@ void Max31865EiveHandler::fillCommandAndReplyMap() {
   insertInCommandMap(EiveMax31855::RtdCommands::ON);
   insertInCommandMap(EiveMax31855::RtdCommands::ACTIVE);
   insertInCommandMap(EiveMax31855::RtdCommands::OFF);
-  insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 2, &sensorDataset, 0, true);
+  insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 200, &sensorDataset, 0, true);
 }
 
 ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
@@ -168,10 +170,4 @@ void Max31865EiveHandler::setDeviceInfo(uint8_t idx_, std::string location_) {
   locString = std::move(location_);
 }
 
-ReturnValue_t Max31865EiveHandler::initialize() {
-  auto result = DeviceHandlerBase::initialize();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  return updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
-}
+ReturnValue_t Max31865EiveHandler::initialize() { return DeviceHandlerBase::initialize(); }

mission/devices/PayloadPcduHandler.cpp

@@ -716,7 +716,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
   if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::warning << "GyroADIS16507Handler::spiSendCallback: "
@@ -727,6 +727,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   }
 
   if (gpioId != gpio::NO_GPIO) {
+    cookie->getMutexParams(timeoutType, timeoutMs);
     result = mutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -20,7 +20,7 @@ enum FilterSel : unsigned int { FIFTY_HERTZ = 1, SIXTY_HERTZ = 0 };
 
 enum CfgBitPos {
   FILTER_SEL = 0,
-  FAULTY_STATUS_CLEAR = 1,
+  FAULT_STATUS_CLEAR = 1,
   FDCC = 2,
   WIRE_SEL = 4,
   ONE_SHOT = 5,