Can bus pdo. Mar 4, 2024 · The NI 9881 is a 1-port, high-speed CANopen C Series module interface for developing CANopen applications in NI LabVIEW software on NI hardware. To save bus traffic, how can I read the same PDO configuration from the EDS file? This remote note has static PDO configuration, so there no need to run SDOs to the remote to get it. 1 Baudrate or data transmission speed When selecting a baudrate the following criteria must be fulfilled: -All network devices must be set to operate on the same baudrate -The bus length must be taken into consideration 本文書の構成 ETG. associated with a zero - but not so on a CAN bus. Thus, it is impractical to transfer all the CAN bus data to the cloud for processing. rx[n] 3rd: node. Originally developed to reduce the complexity and cost of electrical wiring in automobiles through multiplexing, the CAN bus protocol has since been adopted in various other contexts. The CANopen port is accessible from the CompactRIO Real-Time controller. The 9881 module requires the NI cRIO-911x CANopen Communication. The industrial standard CANopen physical layer includes the power bus that provides the required power to all devices in that network. You can systematically go through everything, ensuring nothing is missed or skipped. pdo[0x1600] The n is the PDO index (normally 1 to 4). * different devices) configured to match the CAN-ID of the TPDO of interest. The following example assumes that the file /usr/local/dbconnect exists with file permissions that enable PHP to read the file. And it will resoult the problem of anxiety and complexity of protocol for user. Two methods exist: May 21, 2024 · can2udp -fp 6001 vcan0 192. g. 1 PDO Configuration 16 4. DS 301 mapping also provides that the PDO variable sizes are specified in bits. SDO communication can be used with all objects at any time, but has a great amount of overhead. The CAN bus is a vehicle bus over which information such as position, velocity, acceleration, steering, lights, battery and many more are submitted. The BIC is machine-readable and contains information that can also be used by the customer for handling and product management. it can communication between computer and I-7565-CPM's Nov 24, 2019 · Car Hacking 101: Practical Guide to Exploiting CAN-Bus using Instrument Cluster Simulator — Part I: Setting Up The EEPROM can be written by the configuration tool (via EtherCAT) based on the ESI file. len (pdo) Return the number of supported maps. Plugins can also be added for custom logging to display extra info and decoding info for any PDO for broadcasting process data with high priority and no protocol overhead. The same is with PDO objects: Any TPDO produced on the CANopen network must have unique CAN-ID and there can be zero to many RPDOs (from different devices) configured to match the CAN-ID of the TPDO of interest. Jedoch steigen sowohl in Nordamerika als auch in Asien die Nutzerzahlen. KPSC PDO Recruitment 2024 Salary. It is a serial communication interface in which special emphasis is placed on the following parameters: • Safety • Reliability • Real time control The Redundancy Master defines the bus to be considered active by periodic transmission of CANopen Heartbeat messages on the active bus. Das Hauptverbreitungsgebiet von CANopen ist Europa. Dynamic enumeration is a driver's ability to detect and report changes to the number and type of devices that are connected to the system while the system is running. In the following we outline how vehicle reverse engineering can be done, step-by-step. import canopen # Start with creating a network representing one CAN bus network = canopen Signaling for CAN differs in that there are only two bus voltage states; recessive (driver outputs are high impedance) and dominant (one bus line, CANH, is high and the other, CANL, is low), with thresholds as shown in Table 1. Arguments: Data - Pointer to the FDO device extension. Mar 22, 2023 · Description With a simple apt-get upgrade on my RPI 4 it was upgraded to a 64 bit kernel automatically :( uname -a Linux space01 6. Dec 14, 2018 · The COB-ID list for PDOs shows only the default values. The PDO becomes the bottom of a device stack. An address value of 0xFFFFFFFF indicates that the underlying bus driver did not supply a bus address for the device. students or new colleagues as an 'on-boarding package'. #1 Link physical event to message CAN ID. (1997), is the dominant year-round pattern of monthly sea surface temperature (SST) anomalies in the North Pacific obtained via Empirical Orthogonal Function (EOF) analysis. It's a standard CANopen protocol and build-in a cpu of 80186 80MHz to run I-7565-CPM firmware independently. May 27, 2024 · Candidates can check the PDO 2024 Syllabus by visiting the link below. PdoVariable for the variable specified as "Group. The API also provides some common functions such as NMT controls for start/stop/reset and full SDO client behaviour so that remote nodes object dictionaries can be read/written via SDO using the library. Signals separated by a -are displayed in separate subplots. py build again Also what can be parameterized in the CANbus element. 2 Channels per message, results in 10 Messages and 1080 Bit per cycle. 1 Basics 4. Lower numbers have higher priorities on CAN bus. Bus load: 70% → = 700000 bit/s. A PDO transmission can be triggered by a variety of events (see Object Dictionary Index 1800h): • asynchronously (event driven) by an internal cyclic device timer or by a change in the process value of the sensor data 对于多节点can系统，当从一个节点到另一个节点的高速数据传输中，往往会出现各类传输问题。本文解释了这些问题的成因，提出需要can系统级测试验证来解决，并阐释了控制器局域网can收发器评估的系统级测试方法，从而使得工程师为特定的多节点can系统选择收发器时，能够从容以对。 The GUI also shows PDO mappings and can generate reports of multiple devices that are loaded into the software. pdo[0x1A00] or node. CANopen. 100 6000. Starting at the bottom of this figure, the device objects in the sample device stacks include: A PDO and an FDO for the PCI bus. 2-2016). For us that would be a very important feature, Test #2: Removing the CAN bus terminal resistor . Functional Device Object (FDO) – represents a device to a function driver. You can convert the PDF to an e-book for use on a Kindle. This test is required for all USB PD ports that advertise APDO capabilities. It can modify in real time the voltage and current by feeding maximum power based on a device's charging status. Jun 28, 2021 · If we need a byte for each digital input or output, then we also consume quite a bit of CAN BUS bandwidth. tpdo[n] or node. The data log contains both PDOs, SDOs and other CANopen communication protocol objects. As a general rule, each CAN message is identified with own CAN-ID, which must be unique and produced by single source. The same is with PDO objects: Any TPDO produced on the CANopen. This application report presents an introduction to the CAN fundamentals, operating principles, and the implementation of a basic CAN bus with TI's Dec 14, 2021 · Device Object Tree for CD-ROM and Disk Devices on an IDE controller. exe /cxstress /mintime 5000 /maxtimeconnected 10000 /maxtimedisconnected 10000 See also. The 9881 module requires the NI cRIO-911x CANopen is an object-based standard communication protocol that was originally developed for motor and motion control applications where multiple devices (or nodes) interact via a controller area network (CAN) bus. Get a simplified introduction to the key essentials of CAN-based network protocols in automation. 0 and the encoder profile DS 406 V3. For detailed information, candidates must refer to the notification PDF. The PnP ISA bus driver enables the PnP ISA card so the function driver The most important communication parameter in a PDO is the CAN identifier (also known as the communication object identifier, or COB-ID). It is a work in progress and is rapidly changing. Jan 23, 2023 · WdfPdoInitAddHardwareID. The file contains the PDO DSN to connect to a DB2 database through the PDO_ODBC driver: odbc:DSN=SAMPLE;UID=john;PWD=mypass. on the device with a vcan0. The most important communication parameter in a PDO is the CAN identifier (also know as the communication object identifier, or COB-ID). In response, the PnP manager asks the bus driver to create a physical device object (PDO) for each child device that is connected to the parent device (that is, the bus). Assume you need to log data from your windscreen wipers. There is a set of parameters in the communication that indicates the CAN Identifier that is used in the PDO and the triggering events The library provides callbacks for the defined COB types NMT/PDO/SDO etc as well as allowing arbatary injection of CANOpen packets. 5 V Additionally, the CAN bus transceiver converts the voltage level between the CAN bus and the MCU. PDOs are a method of communication with minimized overhead, but they have to be configured before they can be used. iter (map) Creating Device Objects for WDM Bus Drivers. 3. pdo. What is CAN bus The CAN (Controller Area Network) bus was originally designed for the automobile industry. It serves as Purpose: The PPS Step Test verifies that when a source port makes a contract using an APDO its output follows the monotonicity and tolerance requirements from USB PD spec section 7. An idle CAN bus is distinguished from recessive bit transmission simply CanOpen Monitor is a C# application that can connect via a can interface and decode and log Can Open packets. This can be helpful to give enough time for the USB4 domain to power down before connect or disconnect. 37,900/- to Rs. May 26, 2023 · Collecting CAN bus data locally on the vehicle is pretty mature. Advanced built-in tool for PDO mapping. This page describes how to use the nuScenes CAN bus expansion data. Dec 14, 2021 · Dynamic Enumeration. Sep 28, 2022 · Explore CANopen with our easy guide, perfect for beginners. The root bus driver enumerates the internal system bus (the root bus) and creates a PDO Mar 1, 2024 · For USB4-capable systems, navigate in the Settings app to Bluetooth & devices > USB > USB4 Hubs and Devices. If the USB4 host router is statically or always enumerated The CANopen protocol is suitable for use in all corresponding standard devices/units available on the market. The bus driver must not call IoDeleteDevice a second time for the PDO; the I/O CAN components can be used together with PVG 32, PVG 120 and PVG 83. May 21, 2024 · You may want to monitor traffic on the virtual CAN bus, to better understand what is going on. The PnP ISA bus driver enables the PnP ISA card so the function driver The interpretation of this address is bus-specific. canopen. The following rules determine if a bus driver calls IoCreateDevice or IoCreateDeviceSecure to create a device object: The CAN Bus Protocol Tutorial gives an overview of the ISO 11898-1 and ISO 11898-2 controller area network standards. iter (pdo) Return an iterator of the available map numbers. Power handling for the bus FDO should be implemented similar to the function driver (vusbbus. Combining them on the application side does not work for me, because then I will not be able to freely map the bits. tx[n] or node. I believe the EDS file contain the information. Please consider this code experimental and beta quality. Troubleshoot: Perform Troubleshooting CAN Bus channel 1 – page 12 - using the Pin/Contact Make sure your CAN interface is ready, and if not you can for example bring it up this way: $ sudo /sbin/ip link set can0 up type can bitrate 1000000. You can refer to Table 3 in the GRL technical article entitled “Origin and Specification of Power Delivery” for the SPR specification, called SPR PDO and SPR APDO in the PD 3. Support to 3rd party DS401 and DS406 devices. Frames originating from the CAN bus are sent to 192. The first device listens on 192. g Apr 3, 2022 · Answers. However, it can be challenging to collect and process the CAN bus data and transfer the insight to the cloud in real-time due to the high data rate, low bandwidth, and variable network conditions. For example, the PCI bus driver programs its mapping registers to enable requests on the PCI bus. In another terminal, call the initialization service of your driver: Dec 1, 2021 · In addition to the test above, stress tests can be run while varying the time between connect and disconnect. The sensor can be used as a CAN-Bus Slave in networks with the CANopen data protocol CiA Standard DS 301 V3. It contains both Universal Windows Driver and desktop-only driver samples. Transmitting nodes transmit the dominant state for Logic 0 and the recessive state for Logic 1. Top answer. A Process Data Object (PDO) is used in CANopen for broadcasting the high-priority control and status information, consisting of a single CAN frame and up to 8 bytes of pure application data. standard. * CANopen standard provides pre-defined connection sets for four RPDOs and four. In this test, we remove the CAN termination in the middle of a log session. 168. 2 PDO Transmission Modes 17 All information accessible via the CAN bus is stored in the object directory (OD). To do so, you first need to identify which CAN ID contains the data. This effectively corresponds to immediately setting the bit level to dominant. *. This is why TI CAN transceivers have the driver input and receiver output pins passively pulled high internally, so that in the absence of any input, the device automatically defaults to a recessive bus state on all input and output pins. calculations of key fields (Priority, Reserved, Data Page, PDU Format, PDU Specific, Source Address). Variables from Object Dictionary can be dynamically mapped to the TPDO, which is then transmitted according to communication rules and received as RPDO by another device. sys) power code. The second form of access is for backward compatibility. 00:00 Introduction and Overview 1:13 Why CAN ? 4:51 CAN Bus 8:55 Why CANOpen ? 13:27 CANOpen architecture 20:00 Object dictionary 21:38 Important CANOpen concepts 23:29 PDO 27:25 SDO 32:23 NMT 33:25 CANOpenNode Open-Source Stack 39:26 STM32 Practical implementation 40:29 CANOpen Tutorial code preparation 43:09 Importing examples to STM32CubeIDE This table customizes the PDO (Process Data Object) dictionary, so you will set the variables for the information that you want to have usually cause they are time-critical, any device can overwrite those addresses, so it acts like shared variables. PDO::prepare — Prepares a statement for execution and returns a statement object. launch. 0. Dec 14, 2021 · Feedback. 5 V or 1. Want the ultimate PDF guide to CAN bus related protocols? CANopen Communication. Alexander has other CANopen devices to play with like the Dunker motor Both nodes communicate, but I don't know how PDO mapping and the object dictionary works. 8. It is used to identify the data, and determines their priority for bus access. In this tutorial we will assume the use of candump from can-utils, but Wireshark works just as well. CANopen Communication enables: Standardized “by the book” DS301/DS402. With CANopen ®, there are two ways of communicating with the objects of a slave: either via SDO or via PDO. It can be connected directly to the Bus and acts as a node in the Bus system. > ConnExUtil. This is a single port test at this time. Both together have a maximum Example #2 Create a PDO instance via URI invocation. Redundancy management and monitoring. User can choose DI/DO/AI/AO modules of I-87K series or I-8000 series to fit the customized practice applications. Sending motor commands. nginx 4. Optionally a format can be specified after a signal, separated by a colon. So, redo step 2 and 3 for as many nodes. PDO::quote — Quotes a string for use in a query. We recommend you start by reading the README. Each PDO can be configured with any valid 11-bit CAN identifier. The PCI bus driver If you don't want to show all signals you can select the desired signals with command line arguments. May 21, 2024 · The interface between the CANopen stack and the CAN bus (and system clock) is provided by the CAN network object ( can_net_t) from the CAN library (liblely-can). Description: The ENGINE CONTROL menu is configured as ELECTRONIC and the UGM does not detect the ECM on the CAN bus. Dec 14, 2021 · The following figure shows the device objects that are created by the sample drivers described in WDM Driver Layers: An Example. 1. The SST anomalies (denoted SST*) are defined as departures from the climatological annual cycle from Oct 21, 2021 · In my setup I read the PDO configuration from the remote node. Default COB-IDs ensure that there is no COB-ID conflict on Nov 24, 2023 · A CAN Bus Display is a user interface that provides real-time information about the status and performance of different vehicle systems connected through the Controller Area Network. A controller area network ( CAN) is a vehicle bus standard designed to enable efficient communication primarily between electronic control units (ECUs). py fullclean . Our CAN bus data loggers come with 100% free, open source software (FOSS) - for device configuration, CAN DBC decoding, APIs, telematics dashboards and more! The I-7565-CPM. Alexander Miller's implementation uses the Apache License 2. The candidates appointed as PDO will be recruited under the pay scale of Rs. There are three kinds of WDM device objects: Physical Device Object (PDO) – represents a device on a bus to a bus driver. Open a terminal and launch your launch file: $ roslaunch epos4_canopen maxon_epos4. The three kinds of device objects are all of the type First map starts at 1. Variable" or "Variable" or as a position starting at 0. The Con-troller Area Network (CAN) [4] was developed in the mid 1980s by Bosch GmbH, to provide a cost-effective communications bus for automotive applications, but is today The serial bus driver is required to perform the following tasks for supporting idle in the S0 system power state: Report PnP and power management capabilities; as an integrated device, its Removable flag for the child PDO should be set to WdfFalse. 4. Figure 4. Plugins are also avaliable to allow interactions with the BUS for sending NMT commands, reading and writing device object dictionaries via SDO. 101:6001. 2 Start-up procedure After a node power-on or after hardware can_bus_tutorial. Within the CANopen encoder three PDO services PDO1 (tx) , PDO2 (tx) and PDO3(tx) are available. In order to expand I/O channel more flexible, an CAN-8423 supports up to 4 slots for I/O expansion and suits with a lot of ICP DAS DI / AI / DO / AO modules. The Inverted Logic of a CAN Bus Bus access is This driver is power policy owner for the bus itself (not the devices on the bus). PDO::lastInsertId — Returns the ID of the last inserted row or sequence value. ICP DAS has been developing CAN based-CANopen protocol products for several This repo contains driver samples prepared for use with Microsoft Visual Studio and the Windows Driver Kit (WDK). These chips, [Kevin] tells us, have lately been Our online CAN ID to J1939 PGN converter lets you easily paste a list of CAN bus identifiers (29-bit) in the textbox - and see the corresponding SAE J1939 PGNs (Parameter Group Numbers), incl. 1 PDO Communication 15 4. CAN baud rate: 1000000. The three kinds of device objects are all of the type Sep 9, 2022 · The Pacific Decadal Oscillation (PDO), first defined by Mantua et al. 700000 bit/s / 1080 bit = ~650 Transfers of all 20 channels per second. Below is a sample of the raw CANopen data recorded. and run build idf. CAN BUS Arbitration IDs 11 or 29 bits + control bits - Bus with lowest ID may send prioritized Max 8 bytes of data (max 64 bytes with CAN-FD) - Transport of application layer data (e. You can search for specific topics across all 8 tutorials at once. It is a serial communication interface in which special emphasis is placed on the following parameters: • Safety • Reliability • Real time control Dec 14, 2021 · A bus driver starts a child device (child PDO) with a procedure such as the following in its DispatchPnP routine: Start the device. You can share it with e. </p> <p>CANopen standard provides pre-defined connection sets for four RPDOs and four TPDOs on each device with specific 7-bit Node-ID. To diagnose and resolve a number of development challenges, Rakkatec have used the CL2000 in standalone mode to log data during operation. Control all drives in the network using standardized CANopen protocol. 19-v8+ #1637 SMP PREEMPT Tue Mar 14 11:11:47 GMT 2023 aarch64 GN 20 channels with 4 Byte each should be transmitted. 1 Spec. When the CANopen stack needs to send a CAN frame, it hands it over to a CAN network object, which in turn invokes a user-defined callback function to write the frame to the bus. Support for multiple CANopen slaves, multiple slave types. This is a huge advantage for industrial applications, like the automotive one, where we can connect all the electronic components of a car to the same Logging PDO/SDO data from the Rakka 3000. A WDM bus driver creates a PDO when it is enumerating a new device in response to an IRP_MN_QUERY_DEVICE_RELATIONS request, if the relation type is BusRelations. WdfPdoInitAllocate. The WdfPdoInitAllocate method allocates a WDFDEVICE_INIT structure for a framework-based bus driver, which the bus driver uses when reporting a new device. 0 is included in the SPR (Standard Power Range). It's recommended to hook up any CAN Bus Interface for PC to see the raw data from CAN bus, that is helpful to know how it works actually under the hood. Filter Device Object (filter DO) – represents a device to a filter driver. CANopen or TMCL) Build-in CRC Build-in Acknowledge and retry on unacknowledged datagrams DATAGRAM CAN Datagram CAN Datagram Protocol Layer Instructions, e. PdoMap. 666. However, the EEPROM is always accessed via the ESC, which in turn interfaces to it via Inter-Integrated Circuit (I2C) data bus. Dec 14, 2021 · A bus driver starts a child device (child PDO) with a procedure such as the following in its DispatchPnP routine: Start the device. A * can stand for any number of any character, a ? for exactly one arbitrary character. Therefore, the bus driver can access the PDO while handling the second remove IRP. Bus drivers must use dynamic enumeration if the number or types of devices that are connected to the parent device depend on a system's configuration. CAN is a multicast-based communication protocolcharacterized by the de-terministic resolution of the contention, low cost and simple implementation. The caller of this routine should call the routine again to request the DevicePropertyBusTypeGuid, or possibly the DevicePropertyLegacyBusType, so it can interpret the address. Logo von CANopen. Starting from the bottom of the figure, the following describes each device object and its associated driver: The PCI bus driver creates an FDO for the PCI bus and attaches it to the PCI bus PDO that was created by the PnP manager (not shown in this figure). The second device receives those messages and puts them on vcan0. 4. A controller area network (CAN) is ideally suited to the many high-level industrial protocols embracing CAN and ISO-11898:2003 as their physical layer. Software Design. CANopen is a kind of network protocol based on CAN bus and has been used in various applications, such as vehicles, industrial machines, building automation, medical devices, maritime applications, restaurant appliances, laboratory equipment & research. The USB Implementers Forum (USB-IF), a nonprofit group that supports the marketing and promotion of the Universal 302 Found. * network must have unique CAN-ID and there can be zero to many RPDOs (from. The exact steps vary from device to device. CANopen Series. This tutorial provides a great introduction to the fundamentals of CAN (controller area network) as it is used in automotive design, industrial automation controls, and many more applications. The data identifier is followed by a character string. Some of When a bus driver detects that child devices have been plugged in or unplugged, it informs the Plug and Play (PnP) manager. The main advantages of the CAN bus protocol are: Reduced wiring: The CAN communication only uses two wires, creating a bus communication where all the devices of the network are connected. In addition, we also provide CAN-8423 Utility to allow users to create the Dec 14, 2021 · The PDO for the device has not yet been deleted in this case, despite the bus driver's previous call to IoDeleteDevice, because some component still has a reference to the object. 0 JW04 v 本文書の構成 本文書では、EtherCAT® スレーブを実装するための手順を総合的かつ実践的な観点から解説しています。 In the PD 3. Its power supply specification . The WdfPdoInitAddHardwareID method adds a hardware ID to the list of hardware IDs for a child device. The slave nodes monitor the presence of the Heartbeat message from the master to determine the active bus. The CAN bus physically connects the commander and responder devices and supports A controller area network ( CAN) is a vehicle bus standard designed to enable efficient communication primarily between electronic control units (ECUs). While CANopen remains most widely used for embedded systems that enable automation in industrial settings, other verticals such as May 2, 2019 · Physical layer (CAN bus): The CANopen physical layer consists of a CAN-H and CAN-L channels to transmit the differential signals. Guillermo-ruffino's implementation : Consists of an LSS Slave node. Its cost, performance, and upgradeability provide for tremendous flexibility in system design. CAN Bus Failure – Engine Controller When this diagnostic code occurs, the following responses will occur: • Engine will not start. CANopen ist ein auf CAN basierendes Kommunikationsprotokoll, welches hauptsächlich in der Automatisierungstechnik und zur Vernetzung innerhalb komplexer Geräte verwendet wird. The μC can also access the EEPROM if access rights are assigned. PDO::query — Prepares and executes an SQL statement without placeholders. CAN components can be used together with PVG 32, PVG 120 and PVG 83. KPSC PDO Syllabus 2024 – Click to Check. Send cycle: to be determined. We will just print some debug outputs and forward this Irp to the next level. If a system is not USB4-capable, the USB4 Hubs and Devices page will not appear. Each piece of information can be uniquely identified using the so-called data identifier (ANSI MH10. Report that it can support idle to its function driver (Bluetooth core driver). 1 Spec, the power supply specification previously defined in PD 3. 8. 1 CAN message: 8 byte of data + CAN ID… = 108 bits. rpdo[n] 2nd: node. This example go through some basic CANopen communication functionalities including NMT / SYNC / SDO / PDO / HEARTBEAT. 100:6000 for incoming UDP frames, and puts the CAN frames they contain on can0. The PDOs can be access by three forms: 1st: node. I-7565-CPM provides a set APIs that will be easy programr to controll device by user. 0 Only implements the Master Node. 2200 EtherCAT & EtherCAT P スレーブ実装ガイド V3. map [name] Return the canopen. If all devices in a network have default COB-IDs for their PDOs, it means that they are not linked together and no device listens to any PDO sent on the bus (well, actually the PDOs they listen to simply don't exist on the bus). As shown in Figure 3, the CAN bus message based on the J1939 protocol multitask processing flow uses a producer and consumer loop Programmable Power Supply (PPS) is a standard that refers to the advanced charging technology for USB-C® devices. Bus voltage that includes dominant and recessive levels; A differential voltage of 3. Jul 9, 2022 · The CAN bus needs a peripheral for the messages to be handled properly, and people have been using external chips for this purpose until now. 70,850/- per month. Most of the code here requires multiple terminals to be open to see the output for each CAN node. The core library can be used without the GUI to implement eds/xdd loading/saving and parsing etc in other projects. The USB4 Hubs and Devices page is enabled when the presence of any USB4 host router is detected. Universal Serial Bus 4 Feb 28, 2023 · The driver can safely assume that the PDO's devnode has been created when it receives an IRP_MN_QUERY_RESOURCE_REQUIREMENTS request. The NI-9881 is externally powered and can attain transfer rates of up to 1Mbit/s. Note : if builds fail, then try to run idf. The bus driver that responds to this IRP is the function driver for the bus adapter or controller, not the parent bus driver for the bus that the adapter or controller is connected to. wa bc sx xa nh gd gc lg uu yg