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annotate Small_CPU/Src/uartProtocol_GNSS.c @ 1002:23e94766d00a BootloaderOstc5
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| author | Ideenmodellierer |
|---|---|
| date | Thu, 01 May 2025 17:48:25 +0200 |
| parents | 9b29995d6619 |
| children | d9290c76b840 |
| rev | line source |
|---|---|
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1 /** |
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2 ****************************************************************************** |
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3 * @file uartProtocol_GNSS.c |
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4 * @author heinrichs weikamp gmbh |
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5 * @version V0.0.1 |
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6 * @date 30-Sep-2024 |
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7 * @brief Interface functionality operation of GNSS devices |
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8 * |
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9 @verbatim |
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10 |
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11 |
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12 @endverbatim |
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13 ****************************************************************************** |
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14 * @attention |
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15 * |
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16 * <h2><center>© COPYRIGHT(c) 2024 heinrichs weikamp</center></h2> |
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17 * |
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18 ****************************************************************************** |
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19 */ |
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20 /* Includes ------------------------------------------------------------------*/ |
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21 |
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22 #include <string.h> |
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23 #include "scheduler.h" |
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24 #include <uartProtocol_GNSS.h> |
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25 #include "uart.h" |
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26 #include "GNSS.h" |
| 919 | 27 #include "configuration.h" |
| 28 #include "externalInterface.h" | |
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29 |
| 932 | 30 |
| 31 #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2 | |
| 32 | |
| 33 static uartGnssStatus_t gnssState = UART_GNSS_INIT; | |
| 34 static gnssRequest_s activeRequest = {0,0}; | |
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35 |
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36 static receiveStateGnss_t rxState = GNSSRX_READY; |
| 919 | 37 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */ |
| 38 static uint8_t writeIndex = 0; | |
| 39 static uint8_t dataToRead = 0; | |
| 936 | 40 static uint8_t ReqPowerDown = 0; |
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41 |
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42 void ConvertByteToHexString(uint8_t byte, char* str) |
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43 { |
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44 uint8_t worker = 0; |
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45 uint8_t digit = 0; |
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46 uint8_t digitCnt = 1; |
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47 |
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48 worker = byte; |
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49 while((worker!=0) && (digitCnt != 255)) |
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50 { |
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51 digit = worker % 16; |
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52 if( digit < 10) |
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53 { |
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54 digit += '0'; |
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55 } |
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56 else |
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57 { |
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58 digit += 'A' - 10; |
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59 } |
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60 str[digitCnt--]= digit; |
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61 worker = worker / 16; |
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62 } |
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63 } |
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64 |
| 936 | 65 void uartGnss_ReqPowerDown(uint8_t request) |
| 66 { | |
| 67 if(GnssConnected) | |
| 68 { | |
| 939 | 69 ReqPowerDown = request; |
| 936 | 70 } |
| 71 } | |
| 919 | 72 |
| 939 | 73 uint8_t uartGnss_isPowerDownRequested() |
| 74 { | |
| 75 return ReqPowerDown; | |
| 76 } | |
| 77 | |
| 932 | 78 uartGnssStatus_t uartGnss_GetState() |
| 79 { | |
| 80 return gnssState; | |
| 81 } | |
| 82 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 83 { | |
| 84 gnssState = newState; | |
| 85 } | |
| 86 | |
| 87 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 88 { |
| 922 | 89 const uint8_t* pData; |
| 919 | 90 uint8_t txLength = 0; |
| 91 | |
| 92 switch (GnssCmd) | |
| 93 { | |
| 94 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 95 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 96 break; | |
| 97 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 98 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 99 break; | |
| 100 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 101 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 102 break; | |
| 939 | 103 case GNSSCMD_SETMOBILE: pData = setPortableMode; |
| 104 txLength = sizeof(setPortableMode) / sizeof(uint8_t); | |
| 105 break; | |
| 919 | 106 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; |
| 107 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 108 break; | |
| 109 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 110 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 111 break; | |
| 932 | 112 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 113 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 114 break; | |
| 936 | 115 case GNSSCMD_MODE_PWS: pData = setPowerLow; |
| 116 txLength = sizeof(setPowerLow) / sizeof(uint8_t); | |
| 117 break; | |
| 118 case GNSSCMD_MODE_NORMAL: pData = setPowerNormal; | |
| 119 txLength = sizeof(setPowerNormal) / sizeof(uint8_t); | |
| 120 break; | |
| 121 case GNSSCMD_SET_CONFIG: pData = setConfig; | |
| 122 txLength = sizeof(setConfig) / sizeof(uint8_t); | |
| 123 break; | |
| 919 | 124 default: |
| 125 break; | |
| 126 } | |
| 127 if(txLength != 0) | |
| 128 { | |
| 932 | 129 activeRequest.class = pData[2]; |
| 130 activeRequest.id = pData[3]; | |
| 919 | 131 UART_SendCmdUbx(pData, txLength); |
| 132 } | |
| 133 } | |
| 134 | |
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135 void uartGnss_Control(void) |
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136 { |
| 919 | 137 static uint32_t warmupTick = 0; |
| 932 | 138 static uint8_t dataToggle = 0; |
| 139 uint8_t activeSensor = 0; | |
| 140 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
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141 |
| 932 | 142 if(pUartCtrl == &Uart1Ctrl) |
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143 { |
| 932 | 144 activeSensor = externalInterface_GetActiveUartSensor(); |
| 145 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 146 } | |
| 147 | |
| 148 switch (gnssState) | |
| 149 { | |
| 150 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 151 warmupTick = HAL_GetTick(); |
| 932 | 152 UART_clearRxBuffer(pUartCtrl); |
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153 break; |
| 919 | 154 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 155 { | |
| 932 | 156 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 157 } |
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158 break; |
| 932 | 159 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 160 rxState = GNSSRX_DETECT_ACK_0; | |
| 161 break; | |
| 162 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 163 rxState = GNSSRX_DETECT_ACK_0; | |
| 164 break; | |
| 165 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 166 rxState = GNSSRX_DETECT_ACK_0; |
| 167 break; | |
| 939 | 168 case UART_GNSS_SETMODE_MOBILE: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); |
| 169 rxState = GNSSRX_DETECT_ACK_0; | |
| 170 break; | |
| 936 | 171 case UART_GNSS_PWRDOWN: UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 172 rxState = GNSSRX_DETECT_ACK_0; | |
| 173 break; | |
| 174 | |
| 939 | 175 case UART_GNSS_PWRUP: UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); |
| 936 | 176 rxState = GNSSRX_DETECT_ACK_0; |
| 177 gnssState = UART_GNSS_PWRUP; | |
| 178 break; | |
| 179 case UART_GNSS_SETCONF: UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 180 rxState = GNSSRX_DETECT_ACK_0; | |
| 181 break; | |
| 182 | |
| 183 case UART_GNSS_IDLE: if(ReqPowerDown) | |
| 932 | 184 { |
| 936 | 185 UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 186 gnssState = UART_GNSS_PWRDOWN; | |
| 187 rxState = GNSSRX_DETECT_ACK_0; | |
| 932 | 188 } |
| 189 else | |
| 190 { | |
| 936 | 191 if(dataToggle) |
| 192 { | |
| 193 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 194 gnssState = UART_GNSS_GET_PVT; | |
| 195 rxState = GNSSRX_DETECT_HEADER_0; | |
| 196 dataToggle = 0; | |
| 197 } | |
| 198 else | |
| 199 { | |
| 200 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 201 gnssState = UART_GNSS_GET_SAT; | |
| 202 rxState = GNSSRX_DETECT_HEADER_0; | |
| 203 dataToggle = 1; | |
| 204 } | |
| 932 | 205 } |
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206 break; |
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207 default: |
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208 break; |
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209 } |
| 932 | 210 if(pUartCtrl == &Uart1Ctrl) |
| 211 { | |
| 212 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 213 } | |
| 919 | 214 |
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215 } |
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216 |
| 936 | 217 |
| 919 | 218 void uartGnss_ProcessData(uint8_t data) |
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219 { |
| 932 | 220 static uint16_t rxLength = 0; |
| 221 static uint8_t ck_A = 0; | |
| 222 static uint8_t ck_B = 0; | |
| 223 static uint8_t ck_A_Ref = 0; | |
| 224 static uint8_t ck_B_Ref = 0; | |
| 936 | 225 uint8_t activeSensor = 0; |
| 226 | |
| 227 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 228 | |
| 229 if(pUartCtrl == &Uart1Ctrl) | |
| 230 { | |
| 231 activeSensor = externalInterface_GetActiveUartSensor(); | |
| 232 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 233 } | |
| 932 | 234 |
| 919 | 235 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 236 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 237 { | |
| 238 ck_A += data; | |
| 239 ck_B += ck_A; | |
| 240 } | |
| 241 | |
| 919 | 242 switch(rxState) |
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243 { |
| 919 | 244 case GNSSRX_DETECT_ACK_0: |
| 245 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 246 { | |
| 247 writeIndex = 0; | |
| 932 | 248 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 249 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 250 rxState++; | |
| 932 | 251 ck_A = 0; |
| 252 ck_B = 0; | |
| 919 | 253 } |
| 254 break; | |
| 255 case GNSSRX_DETECT_ACK_1: | |
| 256 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 257 { | |
| 258 rxState++; | |
| 259 } | |
| 260 else | |
| 261 { | |
| 262 rxState = GNSSRX_DETECT_HEADER_0; | |
| 263 } | |
| 264 break; | |
| 265 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 266 { | |
| 267 rxState++; | |
| 268 } | |
| 269 else | |
| 270 { | |
| 271 rxState = GNSSRX_DETECT_HEADER_0; | |
| 272 } | |
| 273 break; | |
| 932 | 274 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 275 { |
| 936 | 276 rxState = GNSSRX_READY; |
| 939 | 277 switch(gnssState) |
| 936 | 278 { |
| 939 | 279 case UART_GNSS_PWRUP: gnssState = UART_GNSS_IDLE; |
| 280 break; | |
| 281 case UART_GNSS_PWRDOWN: rxState = GNSSRX_DETECT_ACK_0; | |
| 282 UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 283 gnssState = UART_GNSS_SETCONF; | |
| 284 break; | |
| 285 case UART_GNSS_SETCONF: gnssState = UART_GNSS_INACTIVE; | |
| 286 break; | |
| 287 case UART_GNSS_LOADCONF_0: | |
| 288 case UART_GNSS_LOADCONF_1: gnssState++; | |
| 289 break; | |
| 290 case UART_GNSS_LOADCONF_2: gnssState = UART_GNSS_SETMODE_MOBILE; | |
| 291 break; | |
| 955 | 292 case UART_GNSS_SETMODE_MOBILE: rxState = GNSSRX_DETECT_ACK_0; |
| 293 UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); | |
| 294 gnssState = UART_GNSS_PWRUP; | |
| 939 | 295 break; |
| 296 default: | |
| 297 break; | |
| 932 | 298 } |
| 919 | 299 GnssConnected = 1; |
| 300 } | |
| 301 else | |
| 302 { | |
| 303 rxState = GNSSRX_DETECT_HEADER_0; | |
| 304 } | |
| 305 break; | |
| 932 | 306 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 307 { |
| 308 rxState++; | |
| 309 } | |
| 310 else | |
| 311 { | |
| 312 rxState = GNSSRX_DETECT_HEADER_0; | |
| 313 } | |
| 314 break; | |
| 932 | 315 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 316 { | |
| 317 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 318 } | |
| 319 else | |
| 919 | 320 { |
| 932 | 321 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 322 } |
| 932 | 323 break; |
| 324 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 325 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 326 break; | |
| 327 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 328 rxState = GNSSRX_READ_DATA; | |
| 329 dataToRead = rxLength; | |
| 330 break; | |
| 331 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 332 { |
| 333 dataToRead--; | |
| 334 } | |
| 932 | 335 if(dataToRead == 0) |
| 919 | 336 { |
| 932 | 337 rxState = GNSSRX_READ_CK_A; |
| 919 | 338 } |
| 339 break; | |
| 932 | 340 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 341 rxState++; | |
| 342 break; | |
| 343 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 344 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 345 { | |
| 346 switch(gnssState) | |
| 347 { | |
| 348 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 349 break; | |
| 350 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 351 break; | |
| 352 default: | |
| 353 break; | |
| 354 } | |
| 355 } | |
| 356 rxState = GNSSRX_DETECT_HEADER_0; | |
| 357 gnssState = UART_GNSS_IDLE; | |
| 358 break; | |
| 359 | |
| 919 | 360 default: rxState = GNSSRX_READY; |
| 361 break; | |
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362 } |
| 936 | 363 if(pUartCtrl == &Uart1Ctrl) |
| 364 { | |
| 365 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 366 } | |
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367 } |
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368 |
| 919 | 369 uint8_t uartGnss_isSensorConnected() |
| 370 { | |
| 371 return GnssConnected; | |
| 372 } | |
| 373 | |
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374 #endif |
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375 |