CN101169629A - Controller inner program downloading method and downloading system - Google Patents
Controller inner program downloading method and downloading system Download PDFInfo
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- CN101169629A CN101169629A CNA2007101949184A CN200710194918A CN101169629A CN 101169629 A CN101169629 A CN 101169629A CN A2007101949184 A CNA2007101949184 A CN A2007101949184A CN 200710194918 A CN200710194918 A CN 200710194918A CN 101169629 A CN101169629 A CN 101169629A
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Abstract
The invention relates to a downloading method for the internal program of a controller. A computer divides the internal program data into data packets, and sends the data packets to the controller through an Ethernet interface. The controller constitutes the received data pockets into internal program data. The controller updates the internal program. The t invention can select to adopt a single-socket transmission mode or a multi-socket transmission socket to transmit the internal program data. Simultaneously, the invention still provides a downloading system for the internal program of the controller. The invention needs no interface conversion, and has better applicability and reliability.
Description
Technical field
The present invention relates to the controller field, particularly relate to a kind of method for down loading and download system of controller internal processes.
Background technology
In engineering machinery field, controller is responsible for the processing and the computing of related data, controls mechanical coordination, is the core control part of engineering machinery.When engineering machinery being safeguarded and debug, often need the internal processes of controller is downloaded or debugged.
Consult Fig. 1, download synoptic diagram, comprise controller 11, computing machine 12 and serial port data line 13 for existing controller internal processes.Controller 11 comprises serial ports 111, and computing machine 12 comprises serial ports 121.Serial port data line 13 connects serial ports 111 and serial ports 121.Computing machine 12 is downloaded the internal processes data by serial ports 121, serial data line 13, serial ports 111 to little processing 11.
Consult Fig. 2, download synoptic diagram, comprise controller 11, computing machine 12 and interconnecting device 14, CAN bus 15 for existing another kind of controller internal processes.Controller 11 comprises CAN interface 112.CAN interface 112, CAN bus 15, interconnecting device 14 connect successively.Computing machine 12 is downloaded the internal processes data by interconnecting device 14, CAN bus 15, CAN interface 112 to little processing 11.
Though above-mentioned controller 11 can be by CAN interface 112 in the interior transmission data of long distance, existing computing machine 12 does not generally have the CAN interface, needs interconnecting device 14 to carry out interface conversion, realizes the data transmission between computing machine 12 and the little processing 11.Utilize interconnecting device 14 to realize interface conversion, increase tie point, also strengthen the possibility that produces fault in the data transmission accordingly, reduce the reliability that controller 11 internal processes are downloaded.Simultaneously, the use of interconnecting device 14 also increases the realization cost to a certain extent.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method for down loading of controller internal processes, and this method need not carried out the conversion of interface, and has applicability and reliability preferably.
Another object of the present invention provides a kind of download system of controller internal processes, and this system need not increase interconnecting device, and has applicability and reliability preferably.
The method for down loading of a kind of controller internal processes of the present invention comprises: computing machine is divided into each packet with the internal processes data, is sent to described controller by Ethernet interface; Each packet that described controller will receive is formed the internal processes data; Described controller upgrades internal processes.
Preferably, described computing machine is divided into the internal processes data before each packet, also comprises: described controller detects downloads the internal processes instruction, confirms that described Ethernet interface connects described computing machine.
Preferably, described computing machine is divided into the internal processes data before each packet, also comprises: described controller receives the connection confirmation signal that described computing machine sends, and sets up and monitors socket.
Preferably, each packet that described controller will receive is formed before the internal processes data, also comprises: described controller detects each packet that receives, as occurs requiring described computing machine to retransmit this packet unusually.
Preferably, each packet that described controller will receive is formed before the internal processes data, and also comprise: described controller is counted each packet that receives, as lacks certain packet, requires described computing machine to retransmit this packet.
Preferably, be saved in after the internal storage device, also comprise: described controller starts the above-mentioned internal processes of back operation.
Preferably, described computing machine is divided into each packet with the internal processes data and is specially: described computing machine is divided into the internal processes data each packet with different I D number.
Preferably, described computing machine is divided into the internal processes data before each packet, also comprises: described controller receives the download enabling signal that described computing machine sends, and sets up one and transmits socket.
Preferably, being sent to described controller specifically is: each packet is sent to described controller by above-mentioned transmission socket.
Preferably, described computing machine is divided into the internal processes data before each packet, also comprises: described controller receives the download enabling signal that described computing machine sends, and sets up and transmits the transmission socket that above port numbers is different.
Preferably, being sent to described controller specifically is: above-mentioned each packet is sent to described controller by the above-mentioned socket that respectively transmits.
The download system of a kind of controller internal processes of the present invention, comprise data partitioning unit, data component units, data updating unit: described data partitioning unit, be used for the internal processes data are divided into each packet, be sent to described data component units by Ethernet interface; Described data component units is used for each packet that receives is formed the internal processes data, and is sent to described data updating unit; Described data updating unit is used to upgrade internal processes.
Preferably, also comprise: download the internal processes instruction detection unit, be used for detecting and download the internal processes instruction, and confirm that described Ethernet interface connects described computing machine.
Preferably, also comprise: monitor socket and set up the unit, be used for when receiving the connection confirmation signal of described computing machine transmission, setting up and monitoring socket; Transmit socket and set up the unit, when being used to receive the download enabling signal of described computing machine transmission, setting up one and transmit socket, or the transmission socket that above port numbers is different.
Preferably, also comprise: data packet detecting unit unit is used to detect each packet of reception, as occurs requiring described computing machine to retransmit this packet unusually; Packet counting unit is used for each packet that receives is counted, as lacks certain packet, requires described computing machine to retransmit this packet.
Compared with prior art, the present invention has the following advantages:
Computing machine of the present invention is divided into each packet with the internal processes data, is sent to controller by Ethernet interface, and each packet that controller will receive is formed the internal processes data, upgrades internal processes again, and uses.Computing machine generally all has Ethernet interface, need not use interconnecting device to transfer, and reduces data produce fault in transmission possibility, improves the reliability that controller internal processes data are downloaded.Because of computing machine all has Ethernet interface, the present invention has applicability preferably.
Description of drawings
Fig. 1 is that existing controller internal processes is downloaded synoptic diagram;
Fig. 2 is that existing another kind of controller internal processes is downloaded synoptic diagram;
The method for down loading process flow diagram of the controller internal processes that Fig. 3 provides for first embodiment of the invention;
Fig. 4 is the single socket downloading mode of the present invention synoptic diagram;
The method for down loading process flow diagram of the controller internal processes that Fig. 5 provides for second embodiment of the invention;
Fig. 6 is many sockets of the present invention downloading mode synoptic diagram;
The method for down loading process flow diagram of the controller internal processes that Fig. 7 provides for third embodiment of the invention;
The download system synoptic diagram of the controller internal processes that Fig. 8 provides for first embodiment of the invention;
The download system synoptic diagram of the controller internal processes that Fig. 9 provides for second embodiment of the invention.
Embodiment
The present invention is provided with Ethernet interface in controller, controller connects computing machine by Ethernet interface, and computing machine transmits the internal processes data to controller by Ethernet interface, realizes the download of internal processes.For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
The present invention is provided with Ethernet interface in the inside of controller, and in controller cure system kernel program, data transmission Agent, and ethernet driver.Controller can be the nonshared control unit of engineering machinery, Ethernet interface is set in controller can and solidify the ethernet driver realization by the expanding internal hardware circuit, and ethernet driver is mainly used in the connection that realizes Ethernet interface between controller and the computing machine.
Realize the download of internal processes, also need be in controller cure system kernel program and data transmission Agent.Kernel program is mainly used in the initialization that realizes the controller inner function module, carries out program on the distinct program address to the detection of user intervention and according to user's intervention guide controller.The data transmission Agent is mainly used in reception, verification, the group bag that is implemented in the data transfer procedure packet, and to the examination and the preservation of packet.
Consult Fig. 3, the method for down loading of the controller internal processes that first embodiment of the invention provides is shown, concrete steps are as follows.
Step S301, in controller its hardware circuit of expansion, make it have the Ethernet interface hardware circuit, and in this controller, solidify the Ethernet interface driver, be implemented in Ethernet interface be set in the controller.
Step S302, the Ethernet interface that uses network data line connection controller and the Ethernet interface of computing machine realize that the hardware of controller and computing machine is connected.Calculator memory contains the required internal processes data of controller.
Step S303, controller detect computing machine by inner Ethernet interface, after computing machine also detects controller by Ethernet interface, computing machine is divided into each packet with the internal processes data, is sent to controller respectively by Ethernet interface and network data line.
Step S304, controller receive each packet successively, and through verification, each packet is not unusual, and does not have the missing data bag.Each packet that controller will receive is formed the internal processes data, is saved in the internal storage device ram space, realizes the download of internal processes.
Controller detects the internal processes of downloading, determine this internal processes complete effectively after, again this internal processes is copied to the associated storage district and stores, prevent that because of faults such as power down the internal processes that is kept at ram space is lost.
Step S305, controller are updated to former internal processes the internal processes of receiving.
The present invention is provided with Ethernet interface in controller, controller connects computing machine by Ethernet interface, and computing machine transmits the internal processes data to controller by Ethernet interface.Computing machine generally all has Ethernet interface, need not use interconnecting device to transfer, and reduces data produce fault in transmission possibility, improves the reliability that controller internal processes data are downloaded.Because of computing machine all has Ethernet interface, the present invention has applicability preferably.
The download of controller internal processes data of the present invention can be adopted single socket downloading mode.Consult Fig. 4, the single socket downloading mode of the present invention is shown, controller 11 detects computing machine 12, after receiving the connection confirmation signal of computing machine 12 transmissions, set up and monitor socket, after the download enabling signal that listens to computing machine 12 transmissions, set up a download socket SOCKET who is used to receive the internal processes data, computing machine 12 is also set up a download socket SOCKET who is used to transmit the internal processes data.Computing machine 12 is divided into the internal processes data has a fixed structure but each packet of different I D number, as ID1, ID2, ID3......IDn among the figure, divided packet is sent to the controller 11 from downloading socket SOCKET by downloaded software, the download socket SOCKET of controller 11 inside receives each packet, and carry out verification, again each packet is counted and made up, at last the internal processes data of downloading are saved among the internal storage device RAM of controller 11.
The internal processes of 11 pairs of downloads of controller detects, determine this internal processes complete effectively after, again this internal processes is copied to the associated storage district and stores, prevent that because of faults such as power down the internal processes that is kept at ram space is lost.
Consult Fig. 5, the method for down loading of the controller internal processes that second embodiment of the invention provides is shown, concrete steps are as follows.
Step S501, in controller 11 its hardware circuit of expansion, make it have the Ethernet interface hardware circuit, and in this controller, solidify the Ethernet interface driver, be implemented in the controller 11 Ethernet interface be set.
Step S502, the Ethernet interface that uses network data line connection controller 11 and the Ethernet interface of computing machine 12 realize that the hardware of controller 11 and computing machine 12 is connected.Computing machine 12 internal memories contain the required internal processes data of controller.
Step S503, start-up control device 11 transmit the instruction of download internal processes to controller 11 in start-up course.Transmit the mode of downloading the internal processes instruction and can adopt change controller 11 internal hardwares connection before startup, or in controller 11 start-up courses, send specific data to its PORT COM, the kernel program of controller 11 detects this download internal processes instruction, and guide controller 11 is carried out the data transmission Agent.
Step S504, controller 11 utilize the PING protocol detection to be connected with computing machine 12 to inner Ethernet interface.
Step S505, controller 11 receive the connection confirmation signal that computing machine 12 sends, and set up one and monitor socket.
Step S506, monitoring socket listen to the download enabling signal that computing machine 12 sends, and notification controller 11 is set up one and transmitted socket in inside.Computing machine 12 is also set up one and is transmitted socket in inside.
The downloaded software of step S507, computing machine 12 is divided into a plurality of packets with fixed structure different I D number with the internal processes data, and each packet is sent to controller 11 by transmitting socket.
The transmission socket of step S508, controller 11 inside receives each packet, and carries out verification, occurs unusually if detect certain packet, sends this data packet retransmissions instruction to computing machine 12, and the downloaded software of computing machine 12 resends this packet.
Step S509, controller 11 are counted by the packet that detects each, and whether check has the packet disappearance, as find certain packet disappearance to send this data packet retransmission instruction to computing machine 12, and the downloaded software of computing machine 12 is retransmitted this subroutine pack.After receiving intact each packet of also verification, controller 11 is saved in the ram space of internal storage device with the synthetic complete internal processes data of each data packet group.
The internal processes data that step S510,11 pairs of controllers are saved in the ram space are carried out verification, pass through as if verification, with this internal processes data write-in program storage space; If the verification failure sends error message to computing machine 12, and forwards step S507 to.
Step S511, controller 11 are carried out the internal processes of downloading.
Adopt single socket mode to download the internal processes data, 12 need of controller 11 and computing machine are set up a program and are transmitted socket, realize comparatively simple.
The download of controller internal processes data of the present invention can be adopted many sockets downloading mode.Consult Fig. 6, many sockets of the present invention downloading mode is shown, controller 11 detects computing machine 12, after receiving the connection confirmation signal of computing machine 12 transmissions, set up and monitor socket, after listening to the download enabling signal that computing machine 12 sends, set up a plurality of download sockets different port number, that be used to receive the internal processes data that have, as SOCKET0, SOCKET1, SOCKET3....SOCKETn.Computing machine 12 is also set up a plurality of download sockets different port number, that be used to transmit the internal processes data that have, as SOCKET0, SOCKET1, SOCKET3....SOCKETn.Computing machine 12 is divided into the internal processes data has a fixed structure but each packet of different I D number, divided packet is downloaded socket by downloaded software and is sent to the controller 11 from each, the socket of respectively downloading of controller 11 inside receives each packet, and carry out verification, again each packet is counted and made up, at last complete internal processes data are saved among the internal storage device RAM of controller 11.
The internal processes of 11 pairs of downloads of controller detects, determine this internal processes complete effectively after, again this internal processes is copied to the associated storage district and stores, prevent that because of faults such as power down the internal processes that is kept at ram space is lost.
Consult Fig. 7, the method for down loading of the controller internal processes that third embodiment of the invention provides is shown, concrete steps are as follows.
Step S701, in controller 11 its hardware circuit of expansion, make it have the Ethernet interface hardware circuit, and in this controller, solidify the Ethernet interface driver, be implemented in the controller 11 Ethernet interface be set.
Step S702, the Ethernet interface that uses network data line connection controller 11 and the Ethernet interface of computing machine 12 realize that the hardware of controller 11 and computing machine 12 is connected.Computing machine 12 internal memories contain the required internal processes data of controller.
Step S703, start-up control device 11 transmit the instruction of download internal processes to controller 11 in start-up course.The mode that transmits the internal processes download instruction can adopt and change the connection of controller 11 internal hardwares before startup, or in controller 11 start-up courses, send specific data to its PORT COM, the kernel program of controller 11 detects this download internal processes instruction, and guide controller 11 is carried out the data transmission Agent.
Step S704, controller 11 utilize the PING protocol detection to be connected with computing machine 12 to inner Ethernet interface.
Step S705, controller 11 receive the connection confirmation signal that computing machine 12 sends, and set up one and monitor socket.
Step S706, monitor socket and listen to the download enabling signal that computing machine 12 sends, notification controller 11 is set up the transmission socket of a plurality of different ports number simultaneously in inside.Computing machine 12 is also set up the transmission socket of a plurality of different ports number simultaneously in inside.
The downloaded software of step S707, computing machine 12 is divided into a plurality of packets with fixed structure different I D number with the internal processes data, and each packet is transmitted socket by each sends to controller 11.
The socket that respectively transmits of step S708, controller 11 inside receives each packet, and carries out verification, occurs unusually if detect certain packet, sends this data packet retransmissions instruction to computing machine 12, and the downloaded software of computing machine 12 resends this packet.
Step S709, controller 11 are counted by the packet that detects each, and whether check has the packet disappearance, as find certain packet disappearance to send this data packet retransmission instruction to computing machine 12, and the downloaded software of computing machine 12 is retransmitted this subroutine pack.After receiving intact each packet of also verification, controller 11 is saved in the ram space of internal storage device with the synthetic complete internal processes data of each data packet group.
The internal processes data that step S710,11 pairs of controllers are saved in the ram space are carried out verification, pass through as if verification, with this internal processes data write-in program storage space; If the verification failure sends error message to computing machine 12, and forwards step S707 to.
Step S711, controller 11 are carried out the internal processes of downloading.
Adopt many sockets mode to download the internal processes data, controller 11 and computing machine 12 can be realized the quick transmission of data by a plurality of socket transfer data packets of setting up.
Based on the method for down loading of above-mentioned controller internal processes, the present invention also provides a kind of download system of controller internal processes, and this download system need not increase interconnecting device, and has applicability and reliability preferably.
Consult Fig. 8, the download system of the controller internal processes that first embodiment of the invention provides is shown, comprise controller 11, computing machine 12, reach network data line 16, controller 11 comprises Ethernet interface 113, data component units 114, reaches data updating unit 115, and computing machine 12 comprises Ethernet interface 122, reaches data partitioning unit 123.Network data line 16 connects Ethernet interface 113 and Ethernet interface 122, realizes that the hardware of controller 11 and computing machine 12 is connected.
Download system of the present invention can select for use single socket and two kinds of data transfer modes of many sockets to download the internal processes data flexibly.Consult Fig. 9, the download system of the controller internal processes that second embodiment of the invention provides is shown, comprise controller 11, computing machine 12, reach network data line 16, controller 11 comprises that Ethernet interface 113, data component units 114, data updating unit 115, download internal processes instruction detection unit 116, monitoring socket are set up unit 117, the transmission socket is set up unit 118, data packet detecting unit unit 119, reached packet counting unit 120, and computing machine 12 comprises Ethernet interface 122, reaches data partitioning unit 123.Network data line 16 connects Ethernet interface 113 and Ethernet interface 122, realizes that the hardware of controller 11 and computing machine 12 is connected.
Download internal processes instruction detection unit 116 and detect the instruction of download internal processes, and confirm that Ethernet interface 113 connects computing machine 12, notice monitoring socket is set up unit 117.
Monitor socket and set up unit 117 when receiving the connection confirmation signal of described computing machine transmission, set up and monitor socket.Transmit socket and set up unit 118 when the download enabling signal that receiving computer 12 sends, as adopt single socket mode to transmit data, then set up one and transmit socket; As adopt a plurality of socket modes to transmit data, then set up a transmission socket that above port numbers is different.
Each packet that receiving computer 12 sends detects in data packet detecting unit unit 119, as occurs unusually, requires computing machine 12 to retransmit these packets.Each packet that 120 pairs of packet counting units receive is counted, as lacks certain packet, requires computing machine 12 to retransmit this packet.
More than to the method for down loading and the download system of a kind of controller internal processes provided by the present invention, be described in detail, used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (15)
1. the method for down loading of a controller internal processes is characterized in that, comprising:
Computing machine is divided into each packet with the internal processes data, is sent to described controller by Ethernet interface;
Each packet that described controller will receive is formed the internal processes data;
Described controller upgrades internal processes.
2. method for down loading as claimed in claim 1 is characterized in that, described computing machine is divided into the internal processes data before each packet, also comprises:
Described controller detects downloads the internal processes instruction, confirms that described Ethernet interface connects described computing machine.
3. method for down loading as claimed in claim 1 is characterized in that, described computing machine is divided into the internal processes data before each packet, also comprises:
Described controller receives the connection confirmation signal that described computing machine sends, and sets up and monitors socket.
4. method for down loading as claimed in claim 1 is characterized in that, each packet that described controller will receive is formed before the internal processes data, also comprises:
Described controller detects each packet that receives, as occurs requiring described computing machine to retransmit this packet unusually.
5. method for down loading as claimed in claim 1 is characterized in that, each packet that described controller will receive is formed before the internal processes data, also comprises:
Described controller is counted each packet that receives, as lacks certain packet, requires described computing machine to retransmit this packet.
6. method for down loading as claimed in claim 1 is characterized in that, is saved in after the internal storage device, also comprises:
Described controller starts the above-mentioned internal processes of back operation.
7. method for down loading as claimed in claim 1 is characterized in that, described computing machine is divided into each packet with the internal processes data and is specially:
Described computing machine is divided into the internal processes data each packet with different I D number.
8. as each described method for down loading of claim 1 to 7, it is characterized in that described computing machine is divided into the internal processes data before each packet, also comprises:
Described controller receives the download enabling signal that described computing machine sends, and sets up one and transmits socket.
9. method for down loading as claimed in claim 8 is characterized in that, is sent to described controller specifically to be:
Each packet is sent to described controller by above-mentioned transmission socket.
10. as each described method for down loading of claim 1 to 7, it is characterized in that described computing machine is divided into the internal processes data before each packet, also comprises:
Described controller receives the download enabling signal that described computing machine sends, and sets up and transmits the transmission socket that above port numbers is different.
11. method for down loading as claimed in claim 10 is characterized in that, is sent to described controller specifically to be:
Above-mentioned each packet is sent to described controller by the above-mentioned socket that respectively transmits.
12. the download system of a controller internal processes is characterized in that, comprises data partitioning unit, data component units, data updating unit:
Described data partitioning unit is used for the internal processes data are divided into each packet, is sent to described data component units by Ethernet interface;
Described data component units is used for each packet that receives is formed the internal processes data, and is sent to described data updating unit;
Described data updating unit is used to upgrade internal processes.
13. download system as claimed in claim 12 is characterized in that, also comprises:
Download the internal processes instruction detection unit, be used for detecting and download the internal processes instruction, and confirm that described Ethernet interface connects described computing machine.
14. download system as claimed in claim 12 is characterized in that, also comprises:
Monitor socket and set up the unit, be used for when receiving the connection confirmation signal of described computing machine transmission, setting up and monitoring socket;
Transmit socket and set up the unit, when being used to receive the download enabling signal of described computing machine transmission, setting up one and transmit socket, or the transmission socket that above port numbers is different.
15. as claim 12,13 or 14 described download systems, it is characterized in that, also comprise:
Data packet detecting unit unit is used to detect each packet of reception, as occurs requiring described computing machine to retransmit this packet unusually;
Packet counting unit is used for each packet that receives is counted, as lacks certain packet, requires described computing machine to retransmit this packet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101949184A CN101169629A (en) | 2007-12-06 | 2007-12-06 | Controller inner program downloading method and downloading system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101949184A CN101169629A (en) | 2007-12-06 | 2007-12-06 | Controller inner program downloading method and downloading system |
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| CN101169629A true CN101169629A (en) | 2008-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2007101949184A Pending CN101169629A (en) | 2007-12-06 | 2007-12-06 | Controller inner program downloading method and downloading system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102185931A (en) * | 2011-06-14 | 2011-09-14 | 三一重机有限公司 | Program downloading device |
| CN104781738A (en) * | 2012-09-21 | 2015-07-15 | Abb研究有限公司 | Operating a programmable logic controller |
| CN114697293A (en) * | 2022-03-30 | 2022-07-01 | 西安北方华创微电子装备有限公司 | Data transmission method, lower computer and controller |
-
2007
- 2007-12-06 CN CNA2007101949184A patent/CN101169629A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102185931A (en) * | 2011-06-14 | 2011-09-14 | 三一重机有限公司 | Program downloading device |
| CN102185931B (en) * | 2011-06-14 | 2013-08-14 | 三一重机有限公司 | Program downloading device |
| CN104781738A (en) * | 2012-09-21 | 2015-07-15 | Abb研究有限公司 | Operating a programmable logic controller |
| CN114697293A (en) * | 2022-03-30 | 2022-07-01 | 西安北方华创微电子装备有限公司 | Data transmission method, lower computer and controller |
| CN114697293B (en) * | 2022-03-30 | 2023-11-10 | 西安北方华创微电子装备有限公司 | Data transmission method, lower computer and controller |
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Open date: 20080430 |