README.md

# PMSM FOC SL XMC&trade;48 IOT Board

This code example (CE) demonstrates the sensorless PMSM FOC motor control application using XMC4800PSOC6M5 board. In order to test this software; [XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/), [3-phase DC power board](https://www.infineon.com/cms/en/product/evaluation-boards/kit_motor_dc_250w_24v/), and Nanotec DC motor (DB42S03) are needed.

## Requirements

- [ModusToolbox&trade; software](https://www.infineon.com/modustoolbox) v3.2 or higher (tested with v3.2)
- [SEGGER J-Link software](https://www.segger.com/downloads/jlink/#J-LinkSoftwareAndDocumentationPack) v7.90a
- Programming language: C
- Associated parts: [XMC4800 MCU](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/32-bit-xmc4000-industrial-microcontroller-arm-cortex-m4/xmc4800/)

## Supported toolchains (make variable 'TOOLCHAIN')

- GNU Arm&reg; embedded compiler v10.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN`

## Supported Kits (make variable 'TARGET')

- [XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/) (`EVAL-XMC4800PSOC6M5-XMC`)

## Hardware setup

Before using this code example, make sure that the XMC4800PSOC6M5 board is correctly connected to the 3-phase DC Power Card. The Nanotec motor also needs to be connected to the power card accordingly as in Figure 1. Make sure that a 24V DC Adapter is connected to the power jack, and also an external 24V DC-supply (with max. 400mA current) is provided to the XMC4800PSOC6M5 Board as below.

<img src="images/xmc4800-label.png" width="800" height="387" style="border: 2px solid gray; border-radius:15px">

**Figure 1. Complete hardware setup example with XMC4800PSOC6M5 Board, Power Card, and Nanotec Motor**

## Software setup

This code example uses Micro Inspector Pro application by default to run and control the motor from a GUI. Click [here](https://softwaretools.infineon.com/tools/com.ifx.tb.tool.ifxmicroinspectorpro) to download the application.

Please follow the steps below to control the motor from the Micro Inspector Pro application.

**Note:** If you want to run the motor without using Micro Inspector Pro application, please change the "**motor_request_start**" flag to "**true**" in line 45 inside main.c file.


## Using the code example

Create the project and open it using one of the following:

<details open><summary><b>In Eclipse IDE for ModusToolbox&trade; software</b></summary>

1. Click the **New Application** link in the **Quick Panel** (or, use **File** > **New** > **ModusToolbox&trade; Application**). This launches the [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool.

2. Select the kit **EVAL-XMC4800PSOC6M5-XMC** from the **XMC&trade; BSPs** list shown in the **Project Creator - Choose Board Support Package (BSP)** dialog.

3. In the **Project Creator - Select Application** dialog, choose the example from the category **Motor Control** by enabling the checkbox.

4. (Optional) Change the suggested **New Application Name**.

5. The **Application(s) Root Path** defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the *Application(s) Root Path* value. Applications that share libraries should be in the same root path.

6. Click **Create** to complete the application creation process.

7. To build the project, click **Build Application** from the Quick Panel.

8. To start the debugging session to run the motor, click **Generate Launches for "YourApplicationName"** in Quick Panel. Then click to **YourApplicationName Debug (Jlink)**. A debugging window will appear and the session will automatically pause in a breakpoint. Click **Resume** button from the above toolbar to continue the session.

9. While the debugging session is running, open the Micro Inspector Pro application. Click **Open Workspace** button from the upper left corner.

<img src="images/folder.png" width="400" height="220" style="border: 2px solid gray; border-radius:15px">

**Figure 2. Opening the workspace folder in Micro Inspector Pro**

10. Find the "PMSM_FOC_SL_XMC4_uCProbe.wspx" file from your ModusToolbox workspace folder and select **Open**. A pop-up window will appear to show the existing elf file. Select the one shown and click **Open**.

<img src="images/elf.png" width="400" height="348" style="border: 2px solid gray; border-radius:15px">

**Figure 3. Selecting the elf file**

11. In the "Symbol Browser" section, you can click the **+** button from the left side of the elf file to further expand the file. For example if you go to **pmsm_foc_functions.c / Current**, you can select a parameter by double clicking it to enable that parameter for the oscilloscope.

<img src="images/selectparam.png" width="700" height="376" style="border: 2px solid gray; border-radius:15px">

**Figure 4. Adding different parameters to the oscilloscope channels**

12. Before running the motor, go to **Oscilloscope** window to select the parameters that you want to observe in real time. The parameters that you selected in the previous step will appear in the symbol selection. Make sure to enable 4 channels and select the parameters that you want to observe.

<img src="images/scope.png" width="400" height="270" style="border: 2px solid gray; border-radius:15px">

**Figure 5. Selecting the parameters to observe from the oscilloscope in running mode**

13. To run and control the motor from the GUI, switch to running mode by clicking **Run** button.

<img src="images/run.png" width="400" height="155" style="border: 2px solid gray; border-radius:15px">

**Figure 6. Switching to running mode**

14. Press **Motor Start** to run the motor. You can also adjust the motor speed by changing the "Target" RPM.

<img src="images/start.png" width="700" height="455" style="border: 2px solid gray; border-radius:15px">

**Figure 7. Motor control part of the running mode**

15. Right click the **Oscilloscope** tab and select **New Vertical Tab Group** in order to observe your parameters from the oscilloscope on the right side while observing the motor control parameters on the left side simultaneously.

<img src="images/currents.png" width="700" height="555" style="border: 2px solid gray; border-radius:15px">

**Figure 8. Three-phase currents observed from the oscilloscope**

**Note:** This code does not use the Device Configurator in ModusToolbox. All peripheral definitions and initializations are directly integrated within the software using low level drivers by calling the necessary libraries. When the user wants to change a configuration variable or parameter, it should be done within the code in the user config header files rather than in the Device Configurator.

<img src="images/config.png" width="400" height="222" style="border: 2px solid gray; border-radius:15px">

**Figure 9. Device Configurator in ModusToolbox**

For more details, see the [Eclipse IDE for ModusToolbox&trade; software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/ide_{version}/docs/mtb_ide_user_guide.pdf*).

</details>

<details open><summary><b>In command-line interface (CLI)</b></summary>

ModusToolbox&trade; software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the *{ModusToolbox&trade; software install directory}/tools_{version}/project-creator/* directory.

Alternatively, you can manually create the application using the following steps:

1. Download and unzip this repository onto your local machine, or clone the repository.

2. Open a CLI terminal and navigate to the application folder.

   On Linux and macOS, you can use any terminal application. On Windows, open the **modus-shell** app from the Start menu.

   **Note:** The cloned application contains a default BSP file (*TARGET_xxx.mtb*) in the *deps* folder. Use the [Library Manager](https://www.infineon.com/ModusToolboxLibraryManager) (`make modlibs` command) to select and download a different BSP file, if required. If the selected kit does not have the required resources or is not [supported](#supported-kits-make-variable-target), the application may not work.

3. Import the required libraries by executing the `make getlibs` command.

Various CLI tools include a `-h` option that prints help information to the terminal screen about that tool. For more details, see the [ModusToolbox&trade; software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/docs_{version}/mtb_user_guide.pdf*).

</details>

<details open><summary><b>In third-party IDEs</b></summary>

**Note:** Only VS Code is supported.

1. Follow the instructions from the **In command-line interface (CLI)** section to create the application, and import the libraries using the `make getlibs` command.

2. Export the application to a supported IDE using the `make <ide>` command.

   For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox&trade; software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at *{ModusToolbox&trade; software install directory}/docs_{version}/mtb_user_guide.pdf*).

3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

</details>

## Related resources


Resources | Links
--------------------|----------------------
Code examples  | [Using ModusToolbox&trade; software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub|
Kit guides| [XMC4800PSOC6M5 Board](https://www.infineon.com/dgdl/Infineon-UG-2023-07-EVAL-XMC4800PSOC6M5-UserManual-v01_00-EN.pdf?fileId=8ac78c8c8d2fe47b018e12871028537c) – Board user‘s manual. Describes the schematic and hardware of the XMC4800PSOC6M5 Board, equipped with XMC™ microcontroller based on Arm® Cortex®-M4 from Infineon.<br>
Device documentation| [XMC4800 datasheet](https://www.infineon.com/dgdl/Infineon-XMC4700-XMC4800-DataSheet-v01_02-EN.pdf?fileId=5546d462518ffd850151908ea8db00b3) <br> [XMC4800 technical reference manuals](https://www.infineon.com/dgdl/Infineon-ReferenceManual_XMC4700_XMC4800-UM-v01_03-EN.pdf?fileId=5546d462518ffd850151904eb90c0044) |
Development kits | Buy at www.infineon.com<br>[EVAL-XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/) |
PMSM FOC Guide | [XMC1000/4000 PMSM FOC](https://www.infineon.com/dgdl/Infineon-AP32370_PMSM_FOC_for_XMC1000_4000-ApplicationNotes-v01_06-EN.pdf?fileId=5546d4626bb628d7016be669c3eb7e60) - Application notes for PMSM FOC motor control software |
Libraries on GitHub  | [mtb-xmclib-cat3](https://github.com/Infineon/mtb-xmclib-cat3) – XMC&trade; peripheral driver library (XMCLib)and docs
Tools | [Eclipse IDE for ModusToolbox&trade; software](https://www.infineon.com) – ModusToolbox&trade; software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC&trade; Wi-Fi and Bluetooth® connectivity devices.

## Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

For XMC&trade; MCU devices, see [32-bit XMC™ Industrial microcontroller based on Arm® Cortex®-M](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/).

## Document history

Document title: *CE240116* - *PMSM FOC SL XMC&trade;48 IOT Board*


| Version | Description of change |
| ------- | --------------------- |
| 0.5.0   | New code example      |

------

All other trademarks or registered trademarks referenced herein are the property of their respective owners.


© 2024 Infineon Technologies AG

All Rights Reserved.

### Legal disclaimer

The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights of any third party.

### Information

For further information on technology, delivery terms and conditions and prices, please contact the nearest Infineon Technologies Office (www.infineon.com).

### Warnings

Due to technical requirements, components may contain dangerous substances. For information on the types in question, please contact the nearest Infineon Technologies Office.

Infineon Technologies components may be used in life-support devices or systems only with the express written approval of Infineon Technologies, if a failure of such components can reasonably be expected to cause the failure of that life-support device or system or to affect the safety or effectiveness of that device or system. Life support devices or systems are intended to be implanted in the human body or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered.

-------------------------------------------------------------------------------
	# PMSM FOC SL XMC™48 IOT Board

	This code example (CE) demonstrates the sensorless PMSM FOC motor control application using XMC4800PSOC6M5 board. In order to test this software; [XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/), [3-phase DC power board](https://www.infineon.com/cms/en/product/evaluation-boards/kit_motor_dc_250w_24v/), and Nanotec DC motor (DB42S03) are needed.

	## Requirements

	- [ModusToolbox™ software](https://www.infineon.com/modustoolbox) v3.2 or higher (tested with v3.2)
	- [SEGGER J-Link software](https://www.segger.com/downloads/jlink/#J-LinkSoftwareAndDocumentationPack) v7.90a
	- Programming language: C
	- Associated parts: [XMC4800 MCU](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/32-bit-xmc4000-industrial-microcontroller-arm-cortex-m4/xmc4800/)

	## Supported toolchains (make variable 'TOOLCHAIN')

	- GNU Arm® embedded compiler v10.3.1 (`GCC_ARM`) - Default value of `TOOLCHAIN`

	## Supported Kits (make variable 'TARGET')

	- [XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/) (`EVAL-XMC4800PSOC6M5-XMC`)

	## Hardware setup

	Before using this code example, make sure that the XMC4800PSOC6M5 board is correctly connected to the 3-phase DC Power Card. The Nanotec motor also needs to be connected to the power card accordingly as in Figure 1. Make sure that a 24V DC Adapter is connected to the power jack, and also an external 24V DC-supply (with max. 400mA current) is provided to the XMC4800PSOC6M5 Board as below.

	<img src="images/xmc4800-label.png" width="800" height="387" style="border: 2px solid gray; border-radius:15px">

	Figure 1. Complete hardware setup example with XMC4800PSOC6M5 Board, Power Card, and Nanotec Motor

	## Software setup

	This code example uses Micro Inspector Pro application by default to run and control the motor from a GUI. Click [here](https://softwaretools.infineon.com/tools/com.ifx.tb.tool.ifxmicroinspectorpro) to download the application.

	Please follow the steps below to control the motor from the Micro Inspector Pro application.

	Note: If you want to run the motor without using Micro Inspector Pro application, please change the "motor_request_start" flag to "true" in line 45 inside main.c file.



	## Using the code example

	Create the project and open it using one of the following:

	<details open><summary><b>In Eclipse IDE for ModusToolbox™ software</b></summary>

	1. Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the [Project Creator](https://www.infineon.com/ModusToolboxProjectCreator) tool.

	2. Select the kit EVAL-XMC4800PSOC6M5-XMC from the XMC™ BSPs list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

	3. In the Project Creator - Select Application dialog, choose the example from the category Motor Control by enabling the checkbox.

	4. (Optional) Change the suggested New Application Name.

	5. The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.

	6. Click Create to complete the application creation process.

	7. To build the project, click Build Application from the Quick Panel.

	8. To start the debugging session to run the motor, click Generate Launches for "YourApplicationName" in Quick Panel. Then click to YourApplicationName Debug (Jlink). A debugging window will appear and the session will automatically pause in a breakpoint. Click Resume button from the above toolbar to continue the session.

	9. While the debugging session is running, open the Micro Inspector Pro application. Click Open Workspace button from the upper left corner.

	<img src="images/folder.png" width="400" height="220" style="border: 2px solid gray; border-radius:15px">

	Figure 2. Opening the workspace folder in Micro Inspector Pro

	10. Find the "PMSM_FOC_SL_XMC4_uCProbe.wspx" file from your ModusToolbox workspace folder and select Open. A pop-up window will appear to show the existing elf file. Select the one shown and click Open.

	<img src="images/elf.png" width="400" height="348" style="border: 2px solid gray; border-radius:15px">

	Figure 3. Selecting the elf file

	11. In the "Symbol Browser" section, you can click the + button from the left side of the elf file to further expand the file. For example if you go to pmsm_foc_functions.c / Current, you can select a parameter by double clicking it to enable that parameter for the oscilloscope.

	<img src="images/selectparam.png" width="700" height="376" style="border: 2px solid gray; border-radius:15px">

	Figure 4. Adding different parameters to the oscilloscope channels

	12. Before running the motor, go to Oscilloscope window to select the parameters that you want to observe in real time. The parameters that you selected in the previous step will appear in the symbol selection. Make sure to enable 4 channels and select the parameters that you want to observe.

	<img src="images/scope.png" width="400" height="270" style="border: 2px solid gray; border-radius:15px">

	Figure 5. Selecting the parameters to observe from the oscilloscope in running mode

	13. To run and control the motor from the GUI, switch to running mode by clicking Run button.

	<img src="images/run.png" width="400" height="155" style="border: 2px solid gray; border-radius:15px">

	Figure 6. Switching to running mode

	14. Press Motor Start to run the motor. You can also adjust the motor speed by changing the "Target" RPM.

	<img src="images/start.png" width="700" height="455" style="border: 2px solid gray; border-radius:15px">

	Figure 7. Motor control part of the running mode

	15. Right click the Oscilloscope tab and select New Vertical Tab Group in order to observe your parameters from the oscilloscope on the right side while observing the motor control parameters on the left side simultaneously.

	<img src="images/currents.png" width="700" height="555" style="border: 2px solid gray; border-radius:15px">

	Figure 8. Three-phase currents observed from the oscilloscope

	Note: This code does not use the Device Configurator in ModusToolbox. All peripheral definitions and initializations are directly integrated within the software using low level drivers by calling the necessary libraries. When the user wants to change a configuration variable or parameter, it should be done within the code in the user config header files rather than in the Device Configurator.

	<img src="images/config.png" width="400" height="222" style="border: 2px solid gray; border-radius:15px">

	Figure 9. Device Configurator in ModusToolbox

	For more details, see the [Eclipse IDE for ModusToolbox™ software user guide](https://www.infineon.com/MTBEclipseIDEUserGuide) (locally available at {ModusToolbox™ software install directory}/ide_{version}/docs/mtb_ide_user_guide.pdf).

	</details>

	<details open><summary><b>In command-line interface (CLI)</b></summary>

	ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ software install directory}/tools_{version}/project-creator/ directory.

	Alternatively, you can manually create the application using the following steps:

	1. Download and unzip this repository onto your local machine, or clone the repository.

	2. Open a CLI terminal and navigate to the application folder.

	On Linux and macOS, you can use any terminal application. On Windows, open the modus-shell app from the Start menu.

	Note: The cloned application contains a default BSP file (TARGET_xxx.mtb) in the deps folder. Use the [Library Manager](https://www.infineon.com/ModusToolboxLibraryManager) (`make modlibs` command) to select and download a different BSP file, if required. If the selected kit does not have the required resources or is not [supported](#supported-kits-make-variable-target), the application may not work.

	3. Import the required libraries by executing the `make getlibs` command.

	Various CLI tools include a `-h` option that prints help information to the terminal screen about that tool. For more details, see the [ModusToolbox™ software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

	</details>

	<details open><summary><b>In third-party IDEs</b></summary>

	Note: Only VS Code is supported.

	1. Follow the instructions from the In command-line interface (CLI) section to create the application, and import the libraries using the `make getlibs` command.

	2. Export the application to a supported IDE using the `make <ide>` command.

	For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the [ModusToolbox™ software user guide](https://www.infineon.com/ModusToolboxUserGuide) (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

	3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

	</details>

	## Related resources


	Resources \| Links
	--------------------\|----------------------
	Code examples \| [Using ModusToolbox™ software](https://github.com/Infineon/Code-Examples-for-ModusToolbox-Software) on GitHub\|
	Kit guides\| [XMC4800PSOC6M5 Board](https://www.infineon.com/dgdl/Infineon-UG-2023-07-EVAL-XMC4800PSOC6M5-UserManual-v01_00-EN.pdf?fileId=8ac78c8c8d2fe47b018e12871028537c) – Board user‘s manual. Describes the schematic and hardware of the XMC4800PSOC6M5 Board, equipped with XMC™ microcontroller based on Arm® Cortex®-M4 from Infineon.<br>
	Device documentation\| [XMC4800 datasheet](https://www.infineon.com/dgdl/Infineon-XMC4700-XMC4800-DataSheet-v01_02-EN.pdf?fileId=5546d462518ffd850151908ea8db00b3) <br> [XMC4800 technical reference manuals](https://www.infineon.com/dgdl/Infineon-ReferenceManual_XMC4700_XMC4800-UM-v01_03-EN.pdf?fileId=5546d462518ffd850151904eb90c0044) \|
	Development kits \| Buy at www.infineon.com<br>[EVAL-XMC4800PSOC6M5](https://www.infineon.com/cms/en/product/evaluation-boards/eval-xmc4800psoc6m5/) \|
	PMSM FOC Guide \| [XMC1000/4000 PMSM FOC](https://www.infineon.com/dgdl/Infineon-AP32370_PMSM_FOC_for_XMC1000_4000-ApplicationNotes-v01_06-EN.pdf?fileId=5546d4626bb628d7016be669c3eb7e60) - Application notes for PMSM FOC motor control software \|
	Libraries on GitHub \| [mtb-xmclib-cat3](https://github.com/Infineon/mtb-xmclib-cat3) – XMC™ peripheral driver library (XMCLib)and docs
	Tools \| [Eclipse IDE for ModusToolbox™ software](https://www.infineon.com) – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

	## Other resources

	Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

	For XMC™ MCU devices, see [32-bit XMC™ Industrial microcontroller based on Arm® Cortex®-M](https://www.infineon.com/cms/en/product/microcontroller/32-bit-industrial-microcontroller-based-on-arm-cortex-m/).

	## Document history

	Document title: CE240116 - PMSM FOC SL XMC™48 IOT Board


	\| Version \| Description of change \|
	\| ------- \| --------------------- \|
	\| 0.5.0 \| New code example \|

	------

	All other trademarks or registered trademarks referenced herein are the property of their respective owners.


	© 2024 Infineon Technologies AG

	All Rights Reserved.

	### Legal disclaimer

	The information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights of any third party.

	### Information

	For further information on technology, delivery terms and conditions and prices, please contact the nearest Infineon Technologies Office (www.infineon.com).

	### Warnings

	Due to technical requirements, components may contain dangerous substances. For information on the types in question, please contact the nearest Infineon Technologies Office.

	Infineon Technologies components may be used in life-support devices or systems only with the express written approval of Infineon Technologies, if a failure of such components can reasonably be expected to cause the failure of that life-support device or system or to affect the safety or effectiveness of that device or system. Life support devices or systems are intended to be implanted in the human body or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered.

	-------------------------------------------------------------------------------