1 /* 2 * Copyright (c) 2014 - 2018, Nordic Semiconductor ASA 3 * All rights reserved. 4 * 5 * Redistribution and use in source and binary forms, with or without 6 * modification, are permitted provided that the following conditions are met: 7 * 8 * 1. Redistributions of source code must retain the above copyright notice, this 9 * list of conditions and the following disclaimer. 10 * 11 * 2. Redistributions in binary form must reproduce the above copyright 12 * notice, this list of conditions and the following disclaimer in the 13 * documentation and/or other materials provided with the distribution. 14 * 15 * 3. Neither the name of the copyright holder nor the names of its 16 * contributors may be used to endorse or promote products derived from this 17 * software without specific prior written permission. 18 * 19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 23 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 * POSSIBILITY OF SUCH DAMAGE. 30 */ 31 #ifndef NRF_QDEC_H__ 32 #define NRF_QDEC_H__ 33 34 #include <nrfx.h> 35 36 #ifdef __cplusplus 37 extern "C" { 38 #endif 39 40 /** 41 * @defgroup nrf_qdec_hal QDEC HAL 42 * @{ 43 * @ingroup nrf_qdec 44 * @brief Hardware access layer for managing the Quadrature Decoder (QDEC) peripheral. 45 */ 46 47 /** 48 * @brief This value can be provided as a parameter for the @ref nrf_qdec_pio_assign 49 * function call to specify that a LED signal shall not be use by the QDEC and 50 * connected to a physical pin. 51 */ 52 #define NRF_QDEC_LED_NOT_CONNECTED 0xFFFFFFFF 53 54 /** 55 * @enum nrf_qdec_task_t 56 * @brief QDEC tasks. 57 */ 58 typedef enum /*lint -save -e30 -esym(628,__INTADDR__) */ 59 { 60 NRF_QDEC_TASK_START = offsetof(NRF_QDEC_Type, TASKS_START), /**< Starting the quadrature decoder. */ 61 NRF_QDEC_TASK_STOP = offsetof(NRF_QDEC_Type, TASKS_STOP), /**< Stopping the quadrature decoder. */ 62 NRF_QDEC_TASK_READCLRACC = offsetof(NRF_QDEC_Type, TASKS_READCLRACC) /**< Reading and clearing ACC and ACCDBL registers. */ 63 } nrf_qdec_task_t; 64 65 /** 66 * @enum nrf_qdec_event_t 67 * @brief QDEC events. 68 */ 69 typedef enum 70 { 71 NRF_QDEC_EVENT_SAMPLERDY = offsetof(NRF_QDEC_Type, EVENTS_SAMPLERDY), /**< Event generated for every new sample. */ 72 NRF_QDEC_EVENT_REPORTRDY = offsetof(NRF_QDEC_Type, EVENTS_REPORTRDY), /**< Event generated for every new report. */ 73 NRF_QDEC_EVENT_ACCOF = offsetof(NRF_QDEC_Type, EVENTS_ACCOF) /**< Event generated for every accumulator overflow. */ 74 } nrf_qdec_event_t; /*lint -restore */ 75 76 /** 77 * @enum nrf_qdec_short_mask_t 78 * @brief QDEC shortcuts. 79 */ 80 typedef enum 81 { 82 NRF_QDEC_SHORT_REPORTRDY_READCLRACC_MASK = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk, /**< Shortcut between REPORTRDY event and READCLRACC task. */ 83 NRF_QDEC_SHORT_SAMPLERDY_STOP_MASK = QDEC_SHORTS_SAMPLERDY_STOP_Msk /**< Shortcut between SAMPLERDY event and STOP task. */ 84 } nrf_qdec_short_mask_t; 85 86 /** 87 * @enum nrf_qdec_int_mask_t 88 * @brief QDEC interrupts. 89 */ 90 typedef enum 91 { 92 NRF_QDEC_INT_SAMPLERDY_MASK = QDEC_INTENSET_SAMPLERDY_Msk, /**< Mask for enabling or disabling an interrupt on SAMPLERDY event. */ 93 NRF_QDEC_INT_REPORTRDY_MASK = QDEC_INTENSET_REPORTRDY_Msk, /**< Mask for enabling or disabling an interrupt on REPORTRDY event. */ 94 NRF_QDEC_INT_ACCOF_MASK = QDEC_INTENSET_ACCOF_Msk /**< Mask for enabling or disabling an interrupt on ACCOF event. */ 95 } nrf_qdec_int_mask_t; 96 97 /** 98 * @enum nrf_qdec_enable_t 99 * @brief States of the enable bit. 100 */ 101 typedef enum 102 { 103 NRF_QDEC_DISABLE = QDEC_ENABLE_ENABLE_Disabled, /**< Mask for disabling the QDEC periperal. When disabled, the QDEC decoder pins are not active. */ 104 NRF_QDEC_ENABLE = QDEC_ENABLE_ENABLE_Enabled /**< Mask for enabling the QDEC periperal. When enabled, the QDEC pins are active. */ 105 } nrf_qdec_enable_t; 106 107 108 /** 109 * @enum nrf_qdec_dbfen_t 110 * @brief States of the debounce filter enable bit. 111 */ 112 typedef enum 113 { 114 NRF_QDEC_DBFEN_DISABLE = QDEC_DBFEN_DBFEN_Disabled, /**< Mask for disabling the debounce filter. */ 115 NRF_QDEC_DBFEN_ENABLE = QDEC_DBFEN_DBFEN_Enabled /**< Mask for enabling the debounce filter. */ 116 } nrf_qdec_dbfen_t; 117 118 /** 119 * @enum nrf_qdec_ledpol_t 120 * @brief Active LED polarity. 121 */ 122 typedef enum 123 { 124 NRF_QDEC_LEPOL_ACTIVE_LOW = QDEC_LEDPOL_LEDPOL_ActiveLow, /**< QDEC LED active on output pin low. */ 125 NRF_QDEC_LEPOL_ACTIVE_HIGH = QDEC_LEDPOL_LEDPOL_ActiveHigh /**< QDEC LED active on output pin high. */ 126 } nrf_qdec_ledpol_t; 127 128 129 /** 130 * @enum nrf_qdec_sampleper_t 131 * @brief Available sampling periods. 132 */ 133 typedef enum 134 { 135 NRF_QDEC_SAMPLEPER_128us = QDEC_SAMPLEPER_SAMPLEPER_128us, /**< QDEC sampling period 128 microseconds. */ 136 NRF_QDEC_SAMPLEPER_256us = QDEC_SAMPLEPER_SAMPLEPER_256us, /**< QDEC sampling period 256 microseconds. */ 137 NRF_QDEC_SAMPLEPER_512us = QDEC_SAMPLEPER_SAMPLEPER_512us, /**< QDEC sampling period 512 microseconds. */ 138 NRF_QDEC_SAMPLEPER_1024us = QDEC_SAMPLEPER_SAMPLEPER_1024us, /**< QDEC sampling period 1024 microseconds. */ 139 NRF_QDEC_SAMPLEPER_2048us = QDEC_SAMPLEPER_SAMPLEPER_2048us, /**< QDEC sampling period 2048 microseconds. */ 140 NRF_QDEC_SAMPLEPER_4096us = QDEC_SAMPLEPER_SAMPLEPER_4096us, /**< QDEC sampling period 4096 microseconds. */ 141 NRF_QDEC_SAMPLEPER_8192us = QDEC_SAMPLEPER_SAMPLEPER_8192us, /**< QDEC sampling period 8192 microseconds. */ 142 NRF_QDEC_SAMPLEPER_16384us = QDEC_SAMPLEPER_SAMPLEPER_16384us /**< QDEC sampling period 16384 microseconds. */ 143 } nrf_qdec_sampleper_t; 144 145 /** 146 * @enum nrf_qdec_reportper_t 147 * @brief Available report periods. 148 */ 149 typedef enum 150 { 151 NRF_QDEC_REPORTPER_10 = QDEC_REPORTPER_REPORTPER_10Smpl, /**< QDEC report period 10 samples. */ 152 NRF_QDEC_REPORTPER_40 = QDEC_REPORTPER_REPORTPER_40Smpl, /**< QDEC report period 40 samples. */ 153 NRF_QDEC_REPORTPER_80 = QDEC_REPORTPER_REPORTPER_80Smpl, /**< QDEC report period 80 samples. */ 154 NRF_QDEC_REPORTPER_120 = QDEC_REPORTPER_REPORTPER_120Smpl, /**< QDEC report period 120 samples. */ 155 NRF_QDEC_REPORTPER_160 = QDEC_REPORTPER_REPORTPER_160Smpl, /**< QDEC report period 160 samples. */ 156 NRF_QDEC_REPORTPER_200 = QDEC_REPORTPER_REPORTPER_200Smpl, /**< QDEC report period 200 samples. */ 157 NRF_QDEC_REPORTPER_240 = QDEC_REPORTPER_REPORTPER_240Smpl, /**< QDEC report period 240 samples. */ 158 NRF_QDEC_REPORTPER_280 = QDEC_REPORTPER_REPORTPER_280Smpl, /**< QDEC report period 280 samples. */ 159 NRF_QDEC_REPORTPER_DISABLED /**< QDEC reporting disabled. */ 160 } nrf_qdec_reportper_t; 161 162 /** 163 * @brief Function for enabling QDEC. 164 */ 165 __STATIC_INLINE void nrf_qdec_enable(void); 166 167 /** 168 * @brief Function for disabling QDEC. 169 */ 170 __STATIC_INLINE void nrf_qdec_disable(void); 171 172 /** 173 * @brief Function for returning the enable state of QDEC. 174 * @return State of the register. 175 */ 176 __STATIC_INLINE uint32_t nrf_qdec_enable_get(void); 177 178 /** 179 * @brief Function for enabling QDEC interrupts by mask. 180 * @param[in] qdec_int_mask Sources of the interrupts to enable. 181 */ 182 __STATIC_INLINE void nrf_qdec_int_enable(uint32_t qdec_int_mask); 183 184 /** 185 * @brief Function for disabling QDEC interrupts by mask. 186 * @param[in] qdec_int_mask Sources of the interrupts to disable. 187 * 188 */ 189 __STATIC_INLINE void nrf_qdec_int_disable(uint32_t qdec_int_mask); 190 191 /** 192 * @brief Function for getting the enabled interrupts of the QDEC. 193 */ 194 __STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t qdec_int_mask); 195 196 /** 197 * @brief Function for enabling the debouncing filter of the QED. 198 */ 199 __STATIC_INLINE void nrf_qdec_dbfen_enable(void); 200 201 /** 202 * @brief Function for disabling the debouncing filter of the QED. 203 */ 204 __STATIC_INLINE void nrf_qdec_dbfen_disable(void); 205 206 /** 207 * @brief Function for getting the state of the QDEC's debouncing filter. 208 * @retval NRF_QDEC_DBFEN_DISABLE If the debouncing filter is disabled. 209 * @retval NRF_QDEC_DBFEN_ENABLE If the debouncing filter is enabled. 210 */ 211 __STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void); 212 213 /** 214 * @brief Function for assigning QDEC pins. 215 * @param[in] psela Pin number. 216 * @param[in] pselb Pin number. 217 * @param[in] pselled Pin number. 218 */ 219 __STATIC_INLINE void nrf_qdec_pio_assign( uint32_t psela, uint32_t pselb, uint32_t pselled); 220 221 /** 222 * @brief Function for setting a specific QDEC task. 223 * @param[in] qdec_task QDEC task to be set. 224 */ 225 __STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t qdec_task); 226 227 /** 228 * @brief Function for retrieving the address of a QDEC task register. 229 * @param[in] qdec_task QDEC task. 230 */ 231 __STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t qdec_task); 232 233 /** 234 * @brief Function for clearing a specific QDEC event. 235 * @param[in] qdec_event QDEC event to clear. 236 */ 237 __STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t qdec_event); 238 239 /** 240 * @brief Function for retrieving the state of a specific QDEC event. 241 * @return State of the QDEC event. 242 */ 243 __STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t qdec_event); 244 245 /** 246 * @brief Function for retrieving the address of a specific QDEC event register. 247 * @param[in] qdec_event QDEC event. 248 * @return Address of the specified QDEC event. 249 */ 250 __STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t qdec_event); 251 252 /** 253 * @brief Function for setting QDEC shortcuts. 254 * @param[in] qdec_short_mask QDEC shortcut by mask. 255 */ 256 __STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t qdec_short_mask); 257 258 /** 259 * @brief Function for clearing shortcuts of the QDEC by mask. 260 * @param[in] qdec_short_mask QDEC shortcute to be cleared. 261 */ 262 __STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t qdec_short_mask); 263 264 /** 265 * @brief Function for retrieving the value of QDEC's SAMPLEPER register. 266 * @return Value of the SAMPLEPER register. 267 */ 268 __STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void); 269 270 /** 271 * @brief Function for converting the value of QDEC's SAMPLE PERIOD to microseconds. 272 * @retval sampling period in microseconds. 273 */ 274 __STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper); 275 276 /** 277 * @brief Function for setting the value of QDEC's SAMPLEPER register. 278 * @param[in] sample_per Sampling period. 279 */ 280 __STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per); 281 282 /** 283 * @brief Function for retrieving the value of QDEC's SAMPLE register. 284 * @return Value of the SAMPLE register. 285 */ 286 __STATIC_INLINE int32_t nrf_qdec_sample_get(void); 287 288 /** 289 * @brief Function for retrieving the value of QDEC's ACC register. 290 * @return Value of the ACC register. 291 */ 292 __STATIC_INLINE int32_t nrf_qdec_acc_get(void); 293 294 /** 295 * @brief Function for retrieving the value of QDEC's ACCREAD register. 296 * @return Value of the ACCREAD register. 297 */ 298 __STATIC_INLINE int32_t nrf_qdec_accread_get(void); 299 300 /** 301 * @brief Function for retrieving the value of QDEC's ACCDBL register. 302 * @return Value of the ACCDBL register. 303 */ 304 __STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void); 305 306 /** 307 * @brief Function for retrieving the value of QDEC's ACCDBLREAD register. 308 * @return Value of the ACCDBLREAD register. 309 */ 310 __STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void); 311 312 /** 313 * @brief Function for setting how long the LED is switched on before sampling. 314 * @param[in] time_us Time (in microseconds) how long the LED is switched on before sampling. 315 */ 316 __STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us); 317 318 /** 319 * @brief Function for retrieving how long the LED is switched on before sampling. 320 * @retval time_us Time (in microseconds) how long the LED is switched on before sampling. 321 */ 322 __STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void); 323 324 /** 325 * @brief Function for setting the report period (in samples). 326 * @param[in] reportper Number of samples. 327 */ 328 __STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper); 329 330 /** 331 * @brief Function for retrieving the report period. 332 * @retval reportper Number of samples as encoded in the register. 333 */ 334 __STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void); 335 336 /** 337 * @brief Function for retrieving the value of QDEC's SAMPLEPER register. 338 * @param [in] reportper Reportper to be converted to amount of samples per report. 339 */ 340 __STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper); 341 342 /** 343 * @brief Function for setting the active level for the LED. 344 * @param[in] pol Active level for the LED. 345 */ 346 __STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol); 347 348 /** 349 * @brief Function for retrieving the active level for the LED. 350 * @return Active level for the LED. 351 */ 352 __STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void); 353 354 #ifndef SUPPRESS_INLINE_IMPLEMENTATION 355 __STATIC_INLINE void nrf_qdec_enable(void) 356 { 357 NRF_QDEC->ENABLE = NRF_QDEC_ENABLE; 358 } 359 360 __STATIC_INLINE void nrf_qdec_disable(void) 361 { 362 NRF_QDEC->ENABLE = NRF_QDEC_DISABLE; 363 } 364 365 __STATIC_INLINE uint32_t nrf_qdec_enable_get(void) 366 { 367 return NRF_QDEC->ENABLE; 368 } 369 370 __STATIC_INLINE void nrf_qdec_int_enable(uint32_t qdec_int_mask) 371 { 372 NRF_QDEC->INTENSET = qdec_int_mask; // writing 0 has no effect 373 } 374 375 __STATIC_INLINE void nrf_qdec_int_disable(uint32_t qdec_int_mask) 376 { 377 NRF_QDEC->INTENCLR = qdec_int_mask; // writing 0 has no effect 378 } 379 380 __STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t qdec_int_mask) 381 { 382 return NRF_QDEC->INTENSET & qdec_int_mask; // when read this register will return the value of INTEN. 383 } 384 385 __STATIC_INLINE void nrf_qdec_dbfen_enable(void) 386 { 387 NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_ENABLE; 388 } 389 390 __STATIC_INLINE void nrf_qdec_dbfen_disable(void) 391 { 392 NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_DISABLE; 393 } 394 395 __STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void) 396 { 397 return NRF_QDEC->DBFEN; 398 } 399 400 __STATIC_INLINE void nrf_qdec_pio_assign( uint32_t psela, uint32_t pselb, uint32_t pselled) 401 { 402 NRF_QDEC->PSELA = psela; 403 NRF_QDEC->PSELB = pselb; 404 NRF_QDEC->PSELLED = pselled; 405 } 406 407 __STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t qdec_task) 408 { 409 *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task) ) = 1; 410 } 411 412 __STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t qdec_task) 413 { 414 return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task); 415 } 416 417 __STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t qdec_event) 418 { 419 *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event) ) = 0; 420 #if __CORTEX_M == 0x04 421 volatile uint32_t dummy = *((volatile uint32_t *)((uint8_t *)NRF_QDEC + qdec_event)); 422 (void)dummy; 423 #endif 424 } 425 426 __STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t qdec_event) 427 { 428 return *(volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event); 429 } 430 431 __STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t qdec_event) 432 { 433 return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event); 434 } 435 436 __STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t qdec_short_mask) 437 { 438 NRF_QDEC->SHORTS |= qdec_short_mask; 439 } 440 441 __STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t qdec_short_mask) 442 { 443 NRF_QDEC->SHORTS &= ~qdec_short_mask; 444 } 445 446 __STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void) 447 { 448 return NRF_QDEC->SAMPLEPER; 449 } 450 451 __STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper) 452 { 453 return (1 << (7 + sampleper)); 454 } 455 456 __STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per) 457 { 458 NRF_QDEC->SAMPLEPER = sample_per; 459 } 460 461 __STATIC_INLINE int32_t nrf_qdec_sample_get(void) 462 { 463 return NRF_QDEC->SAMPLE; 464 } 465 466 __STATIC_INLINE int32_t nrf_qdec_acc_get(void) 467 { 468 return NRF_QDEC->ACC; 469 } 470 471 __STATIC_INLINE int32_t nrf_qdec_accread_get(void) 472 { 473 return NRF_QDEC->ACCREAD; 474 } 475 476 __STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void) 477 { 478 return NRF_QDEC->ACCDBL; 479 } 480 481 __STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void) 482 { 483 return NRF_QDEC->ACCDBLREAD; 484 } 485 486 __STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us) 487 { 488 NRF_QDEC->LEDPRE = time_us; 489 } 490 491 __STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void) 492 { 493 return NRF_QDEC->LEDPRE; 494 } 495 496 __STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper) 497 { 498 NRF_QDEC->REPORTPER = reportper; 499 } 500 501 __STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void) 502 { 503 return NRF_QDEC->REPORTPER; 504 } 505 506 __STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper) 507 { 508 return (reportper == NRF_QDEC_REPORTPER_10) ? 10 : reportper * 40; 509 } 510 511 __STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol) 512 { 513 NRF_QDEC->LEDPOL = pol; 514 } 515 516 __STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void) 517 { 518 return NRF_QDEC->LEDPOL; 519 } 520 521 #endif // SUPPRESS_INLINE_IMPLEMENTATION 522 /** @} */ 523 524 #ifdef __cplusplus 525 } 526 #endif 527 528 #endif // NRF_QDEC_H__ 529