forked from EFeru/hoverboard-firmware-hack-FOC
Implemented reliable Serial Rx/Tx
► Reliable Serial Communication implemented featuring: - start frame - checksum - out-of-sync handling - timeout and disconnected line detection ► Arduino example code added ► Fixed ConsoleLog Item #5
This commit is contained in:
EmanuelFeru
296
Src/setup.c
296
Src/setup.c
@@ -44,183 +44,186 @@ ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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I2C_HandleTypeDef hi2c2;
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UART_HandleTypeDef huart2;
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UART_HandleTypeDef huart3;
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DMA_HandleTypeDef hdma_usart2_rx;
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DMA_HandleTypeDef hdma_usart2_tx;
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DMA_HandleTypeDef hdma_usart3_rx;
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DMA_HandleTypeDef hdma_usart3_tx;
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volatile adc_buf_t adc_buffer;
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#ifdef CONTROL_SERIAL_USART2
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#if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
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void UART2_Init(void) {
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/* The code below is commented out - otwerwise Serial Receive does not work */
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// #ifdef CONTROL_SERIAL_USART2
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// /* DMA1_Channel6_IRQn interrupt configuration */
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// HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
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// HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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// /* DMA1_Channel7_IRQn interrupt configuration */
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// HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
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// HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
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// #endif
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void UART_Control_Init(void) {
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GPIO_InitTypeDef GPIO_InitStruct;
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// Disable serial interrupt - it is not needed
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HAL_NVIC_DisableIRQ(DMA1_Channel6_IRQn); // Rx Channel
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HAL_NVIC_DisableIRQ(DMA1_Channel7_IRQn); // Tx Channel
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__HAL_RCC_DMA1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_USART2_CLK_ENABLE();
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/* DMA1_Channel6_IRQn interrupt configuration */
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//HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
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//HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
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HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
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/* DMA1_Channel7_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
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HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
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huart2.Instance = USART2;
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huart2.Init.BaudRate = CONTROL_BAUD;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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// huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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huart2.Instance = USART2;
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huart2.Init.BaudRate = USART2_BAUD;
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huart2.Init.WordLength = USART2_WORDLENGTH;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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#if defined(CONTROL_SERIAL_USART2)
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huart2.Init.Mode = UART_MODE_TX_RX;
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#elif defined(DEBUG_SERIAL_USART2)
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huart2.Init.Mode = UART_MODE_TX;
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#endif
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HAL_UART_Init(&huart2);
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#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
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USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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#endif
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* USER CODE BEGIN USART2_MspInit 0 */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/* USER CODE END USART2_MspInit 0 */
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/* Peripheral clock enable */
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__HAL_RCC_USART2_CLK_ENABLE();
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = GPIO_PIN_2;
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GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
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GPIO_InitStruct.Pin = GPIO_PIN_2;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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#ifdef CONTROL_SERIAL_USART2
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GPIO_InitStruct.Pin = GPIO_PIN_3;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_3;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
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// GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* Peripheral DMA init*/
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hdma_usart2_rx.Instance = DMA1_Channel6;
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hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
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hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_rx);
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__HAL_LINKDMA(&huart2, hdmarx, hdma_usart2_rx);
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#endif
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/* Peripheral DMA init*/
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hdma_usart2_tx.Instance = DMA1_Channel7;
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hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_tx.Init.Mode = DMA_NORMAL;
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hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_tx);
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hdma_usart2_rx.Instance = DMA1_Channel6;
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hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
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hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_rx);
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#ifdef CONTROL_SERIAL_USART2
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__HAL_LINKDMA(&huart2, hdmatx, hdma_usart2_tx);
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
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DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
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DMA1_Channel7->CNDTR = 0;
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DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
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#endif
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__HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx);
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hdma_usart2_tx.Instance = DMA1_Channel7;
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hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart2_tx.Init.Mode = DMA_NORMAL;
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hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart2_tx);
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__HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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void UART_Init(void) {
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__HAL_RCC_USART3_CLK_ENABLE();
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__HAL_RCC_DMA1_CLK_ENABLE();
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#if defined(CONTROL_SERIAL_USART3) || defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
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void UART3_Init(void) {
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UART_HandleTypeDef huart3;
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huart3.Instance = USART3;
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huart3.Init.BaudRate = DEBUG_BAUD;
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huart3.Init.WordLength = UART_WORDLENGTH_8B;
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huart3.Init.StopBits = UART_STOPBITS_1;
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huart3.Init.Parity = UART_PARITY_NONE;
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huart3.Init.Mode = UART_MODE_TX;
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huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart3.Init.OverSampling = UART_OVERSAMPLING_16;
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/* The code below is commented out - otwerwise Serial Receive does not work */
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// #ifdef CONTROL_SERIAL_USART3
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// /* DMA1_Channel3_IRQn interrupt configuration */
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// HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 5, 3);
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// HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
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// /* DMA1_Channel2_IRQn interrupt configuration */
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// HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 5, 2);
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// HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
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// #endif
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// Disable serial interrupt - it is not needed
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HAL_NVIC_DisableIRQ(DMA1_Channel3_IRQn); // Rx Channel
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HAL_NVIC_DisableIRQ(DMA1_Channel2_IRQn); // Tx Channel
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__HAL_RCC_DMA1_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_USART3_CLK_ENABLE();
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huart3.Instance = USART3;
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huart3.Init.BaudRate = USART3_BAUD;
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huart3.Init.WordLength = USART3_WORDLENGTH;
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huart3.Init.StopBits = UART_STOPBITS_1;
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huart3.Init.Parity = UART_PARITY_NONE;
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huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart3.Init.OverSampling = UART_OVERSAMPLING_16;
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#if defined(CONTROL_SERIAL_USART3)
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huart3.Init.Mode = UART_MODE_TX_RX;
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#elif defined(DEBUG_SERIAL_USART3)
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huart3.Init.Mode = UART_MODE_TX;
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#endif
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HAL_UART_Init(&huart3);
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USART3->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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#if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
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USART3->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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#endif
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = GPIO_PIN_10;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Pin = GPIO_PIN_10;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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DMA1_Channel2->CCR = 0;
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DMA1_Channel2->CPAR = (uint32_t) & (USART3->DR);
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DMA1_Channel2->CNDTR = 0;
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DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
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DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
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#ifdef CONTROL_SERIAL_USART3
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GPIO_InitStruct.Pin = GPIO_PIN_11;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* Peripheral DMA init*/
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hdma_usart3_rx.Instance = DMA1_Channel3;
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hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart3_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
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hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart3_rx);
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__HAL_LINKDMA(&huart3, hdmarx, hdma_usart3_rx);
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#endif
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hdma_usart3_tx.Instance = DMA1_Channel2;
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hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart3_tx.Init.Mode = DMA_NORMAL;
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hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
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HAL_DMA_Init(&hdma_usart3_tx);
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#ifdef CONTROL_SERIAL_USART3
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__HAL_LINKDMA(&huart3, hdmatx, hdma_usart3_tx);
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#endif
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#if defined(FEEDBACK_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)
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DMA1_Channel2->CPAR = (uint32_t) & (USART3->DR);
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DMA1_Channel2->CNDTR = 0;
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DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
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#endif
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}
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#endif
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#ifdef DEBUG_SERIAL_USART2
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void UART_Init(void) {
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__HAL_RCC_USART2_CLK_ENABLE();
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__HAL_RCC_DMA1_CLK_ENABLE();
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UART_HandleTypeDef huart2;
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huart2.Instance = USART2;
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huart2.Init.BaudRate = DEBUG_BAUD;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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HAL_UART_Init(&huart2);
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USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = GPIO_PIN_2;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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DMA1_Channel7->CCR = 0;
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DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
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DMA1_Channel7->CNDTR = 0;
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DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
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DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
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}
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#endif
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/*
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void UART_Init(void) {
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__HAL_RCC_USART2_CLK_ENABLE();
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__HAL_RCC_DMA1_CLK_ENABLE();
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UART_HandleTypeDef huart2;
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huart2.Instance = USART2;
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huart2.Init.BaudRate = 115200;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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HAL_UART_Init(&huart2);
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USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.Pin = GPIO_PIN_2;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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DMA1_Channel7->CCR = 0;
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DMA1_Channel7->CPAR = (uint32_t) & (USART3->DR);
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DMA1_Channel7->CNDTR = 0;
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DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
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DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
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}
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*/
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DMA_HandleTypeDef hdma_i2c2_rx;
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DMA_HandleTypeDef hdma_i2c2_tx;
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@@ -476,7 +479,6 @@ void MX_TIM_Init(void) {
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HAL_TIM_PWM_Init(&htim_left);
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
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// sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
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HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
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