Hans-Günther Nusseck
Published © MIT

Where on earth is the Hall effect sensor of the ESP32?

The ESP32 inside the M5Stack Core module has a built-in Hall effect sensor. But where exactly is this small piece located? Let's measure it.

BeginnerFull instructions provided1 hour250
Where on earth is the Hall effect sensor of the ESP32?

Things used in this project

Hardware components

ESP32 Basic Core IoT Development Kit
M5Stack ESP32 Basic Core IoT Development Kit
×1

Software apps and online services

PlatformIO IDE
PlatformIO IDE
The R Project

Story

Read more

Code

Hall-Sensor_plot_result.R

R
R script to visualize the measured data
# R Script to analyze and visualize the measured data from the Hall-Sensor. 
# 
# see Hackster.io project page for details and the results:
# https://www.hackster.io/hague/where-on-earth-is-the-hall-effect-sensor-of-the-esp32-21d7b3

fileName <- file.choose()
Hallsensor_Data  <- read.table(fileName,header=TRUE, sep = "",dec = ".",numerals = c("warn.loss"))



#############################################################################
# Display the color coded representation matrix

# note:
# the y-axis need to be flipped because the origin on the display is the top left corner
x <- Hallsensor_Data[,2]
y <- max(Hallsensor_Data[,3])-Hallsensor_Data[,3]
z <- Hallsensor_Data[,4]

plot(x,z)
plot(y,z)

#- Here's a useful function to normalize a vector of data
#- to between 0 and 1.
normalize.vector <- function(x, ...) {
  (x-min(x, ...))/max(x-min(x, ...), ...)
}

#fields is useful for colorbars
if (!require("fields")) {
  install.packages("fields", dependencies = TRUE)
  library(fields)
}


#Make the scatter plot
#- Making a colorbar is a multi-step process.  First
#- let's create a color ramp from which to sample colors
my.colramp <- colorRamp(colors=c("blue", "lightblue", 
                                 "lightgreen", "yellow", 
                                 "orange", "red"))

# Grayscale Ramp
#my.colramp <- colorRamp(colors=c("gray75", 
#                                 "gray60", "gray45", 
#                                 "gray30", "gray15", "gray0"))

#- "my.colramp" is a function that takes a value [0,1] and
#- returns an rgb value for the appropriate color in the ramp.

#- Normalize the data of the z column
z.norm <- normalize.vector(z, na.rm=T)

#- Use the normalized values to get colors
z.col.components <- my.colramp(z.norm)

#- Convert the rgb values into actual colors
z.cols <- rgb(z.col.components, maxColorValue=255)

#- Use the same color ramp to make colors for the bar
my.colbar.cols <- rgb(my.colramp(seq(0,1,l=10)), maxColorValue=255)

#plotting margins.  
# buttom, left, top, right
# Style "i" (internal) just finds an axis with pretty labels that fits within the original data range
# Style "r" (regular) first extends the data range by 4 percent at each end and then finds an axis with pretty labels that fits within the extended range.
par(mar = c(5,5,2.5,6.5), font = 2, xaxs = "r",yaxs = "r")

# change the cex value depending on the plot size and the grid dimensions
plot(x,y,main="Hall sensor sensitivity over the area of the screen",
     xlab='x position',ylab='y position', pch=15, col=z.cols, 
     xlim = range(x),ylim=range(y), cex = 4,
     panel.first=grid(lty= "dashed"))

# Add a colorbar

#- For the colorbar, "fields" is a fairly useful package.
#- It provides "image.plot" which will allow you to plot
#- a colorbar over an existing plot.
# see: http://www.image.ucar.edu/Software/Fields/Help/image.plot.html
# and: https://rdrr.io/cran/fields/man/image.plot.html
image.plot(legend.only=T, add=T, horizontal=F, 
           col=my.colbar.cols, zlim=range(z),
           legend.lab="Hall Sensor Value", legend.line=2.5)


#############################################################################

main.cpp

C/C++
main program code
/******************************************************************************
 * M5Stack Hall Sensor detector
 * Simple program to detect the position of the Hall sensor on the M5STack Core
 * 
 * Hague Nusseck @ electricidea
 * v1.0 | 19.December.2021
 * 
 * 
 * Check the complete project at Hackster.io:
 * https://www.hackster.io/hague/where-on-earth-is-the-hall-effect-sensor-of-the-esp32-21d7b3
 * 
 * 
 * Distributed as-is; no warranty is given.
 ******************************************************************************/

#include <Arduino.h>

#include <M5Stack.h>
// install the library:
// pio lib install "M5Stack"

// Free Fonts for nice looking fonts on the screen
#include "Free_Fonts.h"

// logo with 150x150 pixel size in XBM format
// check the file header for more information
#include "electric-idea_logo.h"

// Stuff for the Graphical output
// The M5Stack screen pixel is 320x240, with the top left corner of the screen as the origin (0,0)
#define SCREEN_WIDTH 320
#define SCREEN_HEIGHT 240

// speaker DAC, only 8 Bit
#define M5STACK_SPEAKER_PIN 25 

// the dimensions of the raster field on the screen
#define raster_steps 20 // 80 = 5x4 // 40 = 9x7 = 63 // 20 = 17x13 = 221
const int raster_x = (SCREEN_WIDTH / raster_steps)+1;
const int raster_y = (SCREEN_HEIGHT / raster_steps)+1;

// to count how many scans are done
int raster_count = 0;

// rater positions
int xpos, ypos;
// raterfield to store which positions are already scanned
float raster_field[raster_x][raster_y];

// Offset to cerrect the hall sensor zero value
float HallOffset = 0;
float MaxValue = -9999.0;
float MinValue = 9999.0;

//==============================================================
// function forward declaration
void Clear_Screen();
float ESP32_hallRead(int count, float scale = 10.0);
bool M5Screen2bmp(fs::FS &fs, const char * path);
uint32_t ColorPalette565_6bit(uint16_t value);
bool writeFile(fs::FS &fs, const char * path, const char * data, bool new_file = false);


void setup() {
  // initialize the M5Stack object
  M5.begin();
  // configure the Lcd display
  M5.Lcd.setBrightness(100); //Brightness (0: Off - 255: Full)
  M5.Lcd.setTextColor(TFT_WHITE, TFT_BLACK);
  M5.Lcd.setTextSize(1);
  Clear_Screen();
  // draw logo in the center of the screen
  M5.Lcd.drawXBitmap((int)(320-logoWidth)/2, (int)(240-logoHeight)/2, logo, logoWidth, logoHeight, TFT_WHITE);
  // configure centered String output
  M5.Lcd.setTextDatum(CC_DATUM);
  M5.Lcd.setFreeFont(FF2);
  M5.Lcd.drawString("Hall Sensor Mapping", (int)(M5.Lcd.width()/2), 20, 1);
  M5.Lcd.setFreeFont(FF1);
  M5.Lcd.drawString("Version 1.0 | 19.12.2021", (int)(M5.Lcd.width()/2), M5.Lcd.height()-20, 1);
  // print Welcome screen over Serial connection
  Serial.println("Hall Sensor Mapping");
  M5Screen2bmp(SD, "/scr_01.bmp");
  // wait 5 seconds before start file action
  delay(5000);
  Clear_Screen();
  // make sure that the speaker is quite
  dacWrite(M5STACK_SPEAKER_PIN, 0); 
  // callibrate the Hall Sensor value to the magnetic field at start up
  M5.Lcd.drawString("INIT Hall Sensor", (int)(M5.Lcd.width()/2), (int)(M5.Lcd.height()/2), 1);
  delay(1000);
  Clear_Screen();
  HallOffset = ESP32_hallRead(1500); 
  // init the raster fiels with zero values
  for(int x=0; x<raster_x; x++){
    for(int y=0; y<raster_y; y++){
      raster_field[x][y] = -9999.0;
      M5.Lcd.drawCircle(x*raster_steps, y*raster_steps, 10, TFT_RED);
    }
  }
  M5Screen2bmp(SD, "/scr_02.bmp");
  delay(1000);
  M5.Lcd.drawString("Press right Button to start", (int)(M5.Lcd.width()/2), (int)(M5.Lcd.height()/2)-20, 1);
  M5.Lcd.drawString("Center Button to measure", (int)(M5.Lcd.width()/2), (int)(M5.Lcd.height()/2)+20, 1);
  M5Screen2bmp(SD, "/scr_03.bmp");
  // use xpos to indicate the start of the mapping
  xpos = -99;
  // call M5.update() to empty all detected button presses
  M5.update();  
}


void loop() {
  M5.update();  

  // left Button
  if (M5.BtnC.wasPressed()){
    Clear_Screen();
    // first point to map
    xpos = random(raster_x);
    ypos = random(raster_y);
    M5.Lcd.drawCircle(xpos*raster_steps, ypos*raster_steps, 10, TFT_WHITE);
    Serial.println(raster_x*raster_y);
    Serial.println("\n\nn x y value");
    writeFile(SD, "/data.txt", "n x y value\n", true);
    M5Screen2bmp(SD, "/scr_04.bmp");
  }

  // center Button
  if (M5.BtnB.wasPressed()){
    if(xpos >= 0){
      float value = ESP32_hallRead(1000)- HallOffset;
      raster_field[xpos][ypos] = value;
      if(value > MaxValue)
        MaxValue = value;
      if(value < MinValue)
        MinValue = value;
      raster_count++;
      char Str_buffer[64]; 
      snprintf(Str_buffer, sizeof(Str_buffer), "%i %i %i %8.2f\n", raster_count, xpos*raster_steps, ypos*raster_steps, value);
      Serial.printf(Str_buffer);
      writeFile(SD, "/data.txt", Str_buffer);
      // print all measured points
      M5.Lcd.fillScreen(TFT_BLACK);
      for(int x=0; x<raster_x; x++){
        for(int y=0; y<raster_y; y++){
          if(raster_field[x][y] > -9999.0){
            M5.Lcd.drawCircle(x*raster_steps, y*raster_steps, 10, TFT_GREEN);
          }
        }
      }
      if(raster_count == (raster_x*raster_y)/2){
        M5.Lcd.setTextColor(TFT_WHITE, TFT_RED);
        M5.Lcd.drawString("Half finished!", (int)(M5.Lcd.width()/2), (int)(M5.Lcd.height()/2), 1);
        M5Screen2bmp(SD, "/scr_05.bmp");
        delay(2000);
        M5.Lcd.setTextColor(TFT_WHITE, TFT_BLACK);
      }
      delay(200);
      // if there are still positions left to measure
      if(raster_count < raster_x*raster_y){
        // Brutal force method to find the next not yet measured position
        while(raster_field[xpos][ypos] > -9999.0){
          xpos = random(raster_x);
          ypos = random(raster_y);
        }
        M5.Lcd.fillScreen(TFT_BLACK);
        M5.Lcd.drawCircle(xpos*raster_steps, ypos*raster_steps, 10, TFT_WHITE);
      } else{
        // print all measured points in false colors
        M5.Lcd.fillScreen(TFT_BLACK);
        for(int x=0; x<raster_x; x++){
          for(int y=0; y<raster_y; y++){
            // scale measured values to 0..64 for 6bit false color display
            int color = round((raster_field[x][y] - MinValue) / (MaxValue - MinValue) * 63.0);
            M5.Lcd.fillRect((x*raster_steps)-(raster_steps / 2), (y*raster_steps)-(raster_steps / 2), raster_steps, raster_steps, ColorPalette565_6bit(color));
          }
        }
        M5Screen2bmp(SD, "/result.bmp");
        Serial.println("done");
      }
    }
  }
  delay(10);
}

/***************************************************************************************
* Function name:          Clear_Screen
* Description:            Clear the entire screen and add one row
* The added row is important. Otherwise the first row is not visible with print command
***************************************************************************************/
void Clear_Screen(){
  M5.Lcd.fillScreen(TFT_BLACK);
  M5.Lcd.setCursor(0, 0);
  M5.Lcd.println("");
}

/***************************************************************************************
* Function name:          ESP32_hallRead
* Description:            Return the value from the internal Hall Effect Sensor
* Parameter:
*     count = number of averages
*     scale = optional paramter to scale the value (Default = 10.0)
***************************************************************************************/
float ESP32_hallRead(int count, float scale)
{
  float value = 0;
  // mean value filter
  for (int n = 0; n < count; n++) 
    value += hallRead();
  return (value / count) * scale; 
}

/***************************************************************************************
* Function name:          M5Screen2bmp
* Description:            Dump the screen to a bmp image File
* Image file format:      .bmp
* return value:           true:  succesfully wrote screen to file
*                         false: unabel to open file for writing
* example for screen capture onto SD-Card: 
*                         M5Screen2bmp(SD, "/screen.bmp");
* inspired by: https://stackoverflow.com/a/58395323
***************************************************************************************/
bool M5Screen2bmp(fs::FS &fs, const char * path){
  // Open file for writing
  // The existing image file will be replaced
  File file = fs.open(path, FILE_WRITE);
  if(file){
    // M5Stack:      TFT_WIDTH = 240 / TFT_HEIGHT = 320
    // M5StickC:     TFT_WIDTH =  80 / TFT_HEIGHT = 160
    // M5StickCplus: TFT_WIDTH =  135 / TFT_HEIGHT = 240
    int image_height = M5.Lcd.height();
    int image_width = M5.Lcd.width();
    // horizontal line must be a multiple of 4 bytes long
    // add padding to fill lines with 0
    const uint pad=(4-(3*image_width)%4)%4;
    // header size is 54 bytes:
    //    File header = 14 bytes
    //    Info header = 40 bytes
    uint filesize=54+(3*image_width+pad)*image_height; 
    unsigned char header[54] = { 
      'B','M',  // BMP signature (Windows 3.1x, 95, NT, …)
      0,0,0,0,  // image file size in bytes
      0,0,0,0,  // reserved
      54,0,0,0, // start of pixel array
      40,0,0,0, // info header size
      0,0,0,0,  // image width
      0,0,0,0,  // image height
      1,0,      // number of color planes
      24,0,     // bits per pixel
      0,0,0,0,  // compression
      0,0,0,0,  // image size (can be 0 for uncompressed images)
      0,0,0,0,  // horizontal resolution (dpm)
      0,0,0,0,  // vertical resolution (dpm)
      0,0,0,0,  // colors in color table (0 = none)
      0,0,0,0 };// important color count (0 = all colors are important)
    // fill filesize, width and heigth in the header array
    for(uint i=0; i<4; i++) {
        header[ 2+i] = (char)((filesize>>(8*i))&255);
        header[18+i] = (char)((image_width   >>(8*i))&255);
        header[22+i] = (char)((image_height  >>(8*i))&255);
    }
    // write the header to the file
    file.write(header, 54);
    
    // To keep the required memory low, the image is captured line by line
    unsigned char line_data[image_width*3+pad];
    // initialize padded pixel with 0 
    for(int i=(image_width-1)*3; i<(image_width*3+pad); i++){
      line_data[i]=0;
    }
    // The coordinate origin of a BMP image is at the bottom left.
    // Therefore, the image must be read from bottom to top.
    for(int y=image_height; y>0; y--){
      // get one line of the screen content
      M5.Lcd.readRectRGB(0, y-1, image_width, 1, line_data);
      // BMP color order is: Blue, Green, Red
      // return values from readRectRGB is: Red, Green, Blue
      // therefore: R und B need to be swapped
      for(int x=0; x<image_width; x++){
        unsigned char r_buff = line_data[x*3];
        line_data[x*3] = line_data[x*3+2];
        line_data[x*3+2] = r_buff;
      }
      // write the line to the file
      file.write(line_data, (image_width*3)+pad);
    }
    file.close();
    return true;
  }
  return false;
}


/***************************************************************************************
* Function name:          ColorPalette565_6bit
* Description:            6 bit False color palette
* Parameter:              unsigned integer value fom 0 to 63
* retrun a 565 Color Palette with colors from 0..63
* Colors goes: Blue -> Cyan -> Green -> Yellow -> Red
* Example:
*  for(int i=0; i<64; i++)
*    M5.Lcd.fillRect(i*5, 0, 5, 100, ColorPalette565_6bit(i));
***************************************************************************************/
uint32_t ColorPalette565_6bit(uint16_t value) {
  // ensure the constraints [0..63] for input value
  if(value > 63)
    value = 63;
  int r = 0; 
  int g = ((value)*4); 
  int b = 63;
  if(value >= 16){
    g = 63;
    b = 63-((value-16)*4);
    if(value >= 24){
      r = ((value-24)*4);
      if(value >= 42){
        b = 0;
        r = 63;
        g = 63-((value-42)*4);
      }
    }
  }
  // ensure the constraints [0..63] for 565 color
  if(r < 0) r = 0;
  if(r > 63) r = 63;
  if(g < 0) g = 0;
  if(g > 63) g = 63;
  if(b < 0) b = 0;
  if(b > 63) b = 63;
  // calculate the 565 Color
  return ((r & 0x3E) << 10) | ((g & 0x3F) << 5) | ((b & 0x3E) >> 1);
}


/***************************************************************************************
* Function name:          writeFile
* Description:            Write a data string to a file
* return value:           true:  succesfully wrote data to file
*                         false: unabel to open file for writing
* example for writing data into a new file on SD-Card: 
*                         M5Screen2bmp(SD, "/data_01", "n x y");
* example for appending  data to an existing file on SD-Card: 
*                         M5Screen2bmp(SD, "/data_01", "01 12.54 87.9");
***************************************************************************************/
bool writeFile(fs::FS &fs, const char * path, const char * data, bool new_file){
  bool result = false;
  File file;
  if(new_file){
    file = fs.open(path, FILE_WRITE);
  } else {
    file = fs.open(path, FILE_APPEND);
  }
  if(!file){
      return false;
  }
  if(file.print(data)){
      result = true;
  } 
  return result;
}

electric-idea_logo.h

C/C++
pixel array of logo image
// See:
//  https://github.com/m5stack/M5Stack/tree/master/examples/Advanced/Display/drawXBitmap
// 
// Images can be converted to XBM format by using the online converter here:
// https://www.online-utility.org/image/convert/to/XBM

// The output must be pasted in a header file, renamed and adjusted to appear
// as as a const unsigned char array in PROGMEM (FLASH program memory).

// The xbm format adds padding to pixel rows so they are a whole number of bytes
// For example: 50 pixel width means 56 bits = 7 bytes
// the 50 height then means array uses 50 x 7 = 350 bytes of FLASH
// The library ignores the padding bits when drawing the image on the display.

#include <pgmspace.h>  // PROGMEM support header

// electric-idea logo 150 x 150 pixel array in XBM format
#define logoWidth  150  // logo width
#define logoHeight 150  // logo height

// Image is stored in this array
PROGMEM const unsigned char logo[] = {
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0xFF, 0xFF, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xFF, 0xFF, 0xFF, 
  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0xFE, 0xFF, 0xFF, 0xFF, 0x0F, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 0xFF, 
  0xFF, 0xFF, 0x7F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x01, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 
  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x0F, 0x00, 0xFE, 0xFF, 
  0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x80, 0xFF, 0xFF, 0x00, 0x00, 0xC0, 0xFF, 0x7F, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xFF, 0x0F, 0x00, 0x00, 
  0x00, 0xFC, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0xF0, 0xFF, 0x03, 0x00, 0x00, 0x00, 0xF0, 0xFF, 0x01, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0x7F, 0x00, 
  0x00, 0x00, 0x00, 0xC0, 0xFF, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0xFC, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 
  0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 
  0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, 0x1F, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x03, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0xF0, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x80, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x7F, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x7F, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0x00, 0xC0, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
  0x00, 0x00, 0xE0, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xFF, 
  0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF0, 0x1F, 0x00, 
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x01, 0x00, 0x00, 0x00, 0x00, 
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Credits

Hans-Günther Nusseck

Hans-Günther Nusseck

14 projects • 27 followers
Just a guy who can't pass by any hardware without wondering how it works. Managing robot based industrial automation projects for living.

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