2020-03-16 14:57:55 -07:00
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/*
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Copyright 2019 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "hw.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "utils.h"
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2021-08-11 10:58:48 -07:00
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#include "ledpwm.h"
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2020-03-16 14:57:55 -07:00
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#include "drv8323s.h"
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2021-08-11 10:58:48 -07:00
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#if defined (HW_VER_IS_100S_V2)
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static THD_WORKING_AREA(switch_color_thread_wa, 128);
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static THD_FUNCTION(switch_color_thread, arg);
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static volatile float switch_bright = 1.0;
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#endif
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2020-03-16 14:57:55 -07:00
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// I2C configuration
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static const I2CConfig i2cfg = {
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OPMODE_I2C,
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100000,
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STD_DUTY_CYCLE
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};
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2020-03-17 10:18:39 -07:00
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static volatile bool i2c_running = false;
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2020-03-16 14:57:55 -07:00
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void hw_init_gpio(void) {
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// GPIO clock enable
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
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2021-08-11 10:58:48 -07:00
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#if defined (HW_VER_IS_100S_V2)
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palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF();
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palSetPadMode(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(SWITCH_LED_2_GPIO,SWITCH_LED_2_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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chThdCreateStatic(switch_color_thread_wa, sizeof(switch_color_thread_wa), LOWPRIO, switch_color_thread, NULL);
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#endif
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2020-03-16 14:57:55 -07:00
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// LEDs
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palSetPadMode(GPIOB, 0,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOB, 1,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// ENABLE_GATE
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palSetPadMode(GPIOB, 5,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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ENABLE_GATE();
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// Disable BMI160
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palSetPadMode(GPIOA, 15,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPad(GPIOA, 15);
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// Disable DCCAL
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palSetPadMode(GPIOD, 2,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palClearPad(GPIOD, 2);
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ENABLE_GATE();
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// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
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palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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// Hall sensors
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palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
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// Fault pin
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palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
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// ADC Pins
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palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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drv8323s_init();
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}
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void hw_setup_adc_channels(void) {
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// ADC1 regular channels
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ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
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}
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void hw_start_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (!i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2c_running = true;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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void hw_stop_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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/**
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* Try to restore the i2c bus
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*/
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void hw_try_restore_i2c(void) {
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if (i2c_running) {
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i2cAcquireBus(&HW_I2C_DEV);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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for(int i = 0;i < 16;i++) {
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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}
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// Generate start then stop condition
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palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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HW_I2C_DEV.state = I2C_STOP;
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2cReleaseBus(&HW_I2C_DEV);
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}
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}
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2021-08-11 10:58:48 -07:00
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#if defined (HW_VER_IS_100S_V2)
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static THD_FUNCTION(switch_color_thread, arg) {
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(void)arg;
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2022-02-04 16:04:56 -08:00
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chRegSetThreadName("switch_color");
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2021-08-11 10:58:48 -07:00
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float switch_red = 0.0;
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float switch_green = 0.0;
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float switch_blue = 0.0;
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for(int i = 0; i < 400; i++) {
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float angle = i*3.14/400.0;
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float s,c;
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utils_fast_sincos_better(angle, &s, &c);
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switch_blue = 0.75* c*c;
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ledpwm_set_intensity(LED_HW1,switch_bright*switch_blue);
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utils_fast_sincos_better(angle + 3.14/3.0, &s, &c);
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switch_green = 0.75* c*c;
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ledpwm_set_intensity(LED_HW2,switch_bright*switch_green);
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utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
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switch_red = 0.75* c*c;
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ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
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chThdSleepMilliseconds(4);
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}
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float switch_red_old = switch_red_old;
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float switch_green_old = switch_green;
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float switch_blue_old = switch_blue;
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float wh_left;
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float left = mc_interface_get_battery_level(&wh_left);
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if(left < 0.5){
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float intense = utils_map(left,0.0, 0.5, 0.0, 1.0);
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utils_truncate_number(&intense,0,1);
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switch_blue = intense;
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switch_red = 1.0-intense;
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}else{
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float intense = utils_map(left , 0.5, 1.0, 0.0, 1.0);
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utils_truncate_number(&intense,0,1);
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switch_green = intense;
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switch_blue = 1.0-intense;
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}
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for(int i = 0; i < 100; i++) {
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float red_now = utils_map((float) i,0.0, 100.0, switch_red_old, switch_red);
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float blue_now = utils_map((float) i,0.0, 100.0, switch_blue_old, switch_blue);
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float green_now = utils_map((float) i,0.0, 100.0, switch_green_old, switch_green);
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ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
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ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
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ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
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chThdSleepMilliseconds(2);
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}
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for (;;) {
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mc_fault_code fault = mc_interface_get_fault();
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mc_interface_select_motor_thread(2);
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mc_fault_code fault2 = mc_interface_get_fault();
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mc_interface_select_motor_thread(1);
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if (fault != FAULT_CODE_NONE || fault2 != FAULT_CODE_NONE) {
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ledpwm_set_intensity(LED_HW2, 0);
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ledpwm_set_intensity(LED_HW1, 0);
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for (int i = 0;i < (int)fault;i++) {
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ledpwm_set_intensity(LED_HW3, 1.0);
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chThdSleepMilliseconds(250);
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ledpwm_set_intensity(LED_HW3, 0.0);
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chThdSleepMilliseconds(250);
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}
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chThdSleepMilliseconds(500);
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for (int i = 0;i < (int)fault2;i++) {
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ledpwm_set_intensity(LED_HW3, 1.0);
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chThdSleepMilliseconds(250);
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ledpwm_set_intensity(LED_HW3, 0.0);
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chThdSleepMilliseconds(250);
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}
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chThdSleepMilliseconds(500);
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} else {
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left = mc_interface_get_battery_level(&wh_left);
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if(HW_SAMPLE_SHUTDOWN()){
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switch_bright = 0.5;
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}else{
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switch_bright = 1.0;
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}
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if(left < 0.5){
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float intense = utils_map(left,0.0, 0.5, 0.0, 1.0);
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utils_truncate_number(&intense,0,1);
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switch_blue = intense;
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switch_red = 1.0-intense;
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switch_green = 0;
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}else{
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float intense = utils_map(left , 0.5, 1.0, 0.0, 1.0);
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|
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utils_truncate_number(&intense,0,1);
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|
switch_green = intense;
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|
switch_blue = 1.0-intense;
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|
|
switch_red = 0;
|
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|
|
}
|
|
|
|
ledpwm_set_intensity(LED_HW1, switch_bright*switch_blue);
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|
|
ledpwm_set_intensity(LED_HW2, switch_bright*switch_green);
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|
|
ledpwm_set_intensity(LED_HW3, switch_bright*switch_red);
|
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|
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}
|
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|
|
chThdSleepMilliseconds(20);
|
|
|
|
}
|
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|
|
}
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#endif
|
2020-03-16 14:57:55 -07:00
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