423 lines
14 KiB
Rust
423 lines
14 KiB
Rust
#![deny(warnings)]
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#![allow(clippy::missing_safety_doc)]
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#![no_std]
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#![no_main]
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#![cfg_attr(feature = "nightly", feature(asm))]
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// Enable returning `!`
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#![cfg_attr(feature = "nightly", feature(never_type))]
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#![cfg_attr(feature = "nightly", feature(core_intrinsics))]
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#[inline(never)]
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#[panic_handler]
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#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
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fn panic(_info: &core::panic::PanicInfo) -> ! {
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let gpiod = unsafe { &*pac::GPIOD::ptr() };
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gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
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unsafe {
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core::intrinsics::abort();
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}
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}
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#[cfg(feature = "semihosting")]
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extern crate panic_semihosting;
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#[cfg(not(any(feature = "nightly", feature = "semihosting")))]
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extern crate panic_halt;
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#[macro_use]
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extern crate log;
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use core::ptr;
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// use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
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use core::fmt::Write;
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use cortex_m_rt::exception;
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use heapless::{consts::*, String, Vec};
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use rtfm::cyccnt::{Instant, U32Ext as _};
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use stm32h7::stm32h743 as pac;
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use smoltcp as net;
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use serde::{de::DeserializeOwned, Deserialize, Serialize};
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use serde_json_core::{de::from_slice, ser::to_string};
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mod eth;
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mod iir;
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use iir::*;
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mod board;
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mod eeprom;
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mod i2c;
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#[cfg(not(feature = "semihosting"))]
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fn init_log() {}
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#[cfg(feature = "semihosting")]
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fn init_log() {
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use cortex_m_log::log::{init as init_log, Logger};
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use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
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use log::LevelFilter;
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static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
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let logger = Logger {
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inner: InterruptOk::<_>::stdout().unwrap(),
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level: LevelFilter::Info,
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};
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let logger = unsafe { LOGGER.get_or_insert(logger) };
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init_log(logger).unwrap();
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}
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// Pull in build information (from `built` crate)
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mod build_info {
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#![allow(dead_code)]
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// include!(concat!(env!("OUT_DIR"), "/built.rs"));
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}
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const SCALE: f32 = ((1 << 15) - 1) as f32;
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// static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
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const TCP_RX_BUFFER_SIZE: usize = 8192;
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const TCP_TX_BUFFER_SIZE: usize = 8192;
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macro_rules! create_socket {
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($set:ident, $rx_storage:ident, $tx_storage:ident, $target:ident) => {
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let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
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let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
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let tcp_rx_buffer =
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net::socket::TcpSocketBuffer::new(&mut $rx_storage[..]);
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let tcp_tx_buffer =
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net::socket::TcpSocketBuffer::new(&mut $tx_storage[..]);
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let tcp_socket =
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net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
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let $target = $set.add(tcp_socket);
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};
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}
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#[rtfm::app(device = stm32h7::stm32h743, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
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const APP: () = {
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struct Resources {
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spi: (pac::SPI1, pac::SPI2, pac::SPI4, pac::SPI5),
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i2c: pac::I2C2,
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ethernet_periph:
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(pac::ETHERNET_MAC, pac::ETHERNET_DMA, pac::ETHERNET_MTL),
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#[init([[0.; 5]; 2])]
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iir_state: [IIRState; 2],
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#[init([IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
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iir_ch: [IIR; 2],
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#[link_section = ".sram3.eth"]
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#[init(eth::Device::new())]
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ethernet: eth::Device,
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}
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#[init(schedule = [tick])]
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fn init(c: init::Context) -> init::LateResources {
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board::init();
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init_log();
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// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
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// info!("Built on {}", build_info::BUILT_TIME_UTC);
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// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
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// c.schedule.tick(Instant::now()).unwrap();
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let dp = c.device;
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init::LateResources {
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spi: (dp.SPI1, dp.SPI2, dp.SPI4, dp.SPI5),
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i2c: dp.I2C2,
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ethernet_periph: (
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dp.ETHERNET_MAC,
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dp.ETHERNET_DMA,
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dp.ETHERNET_MTL,
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),
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}
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}
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#[idle(resources = [ethernet, ethernet_periph, iir_state, iir_ch, i2c])]
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fn idle(c: idle::Context) -> ! {
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let (MAC, DMA, MTL) = c.resources.ethernet_periph;
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let hardware_addr = match eeprom::read_eui48(c.resources.i2c) {
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Err(_) => {
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info!("Could not read EEPROM, using default MAC address");
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net::wire::EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00])
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}
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Ok(raw_mac) => net::wire::EthernetAddress(raw_mac),
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};
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info!("MAC: {}", hardware_addr);
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unsafe { c.resources.ethernet.init(hardware_addr, MAC, DMA, MTL) };
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let mut neighbor_cache_storage = [None; 8];
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let neighbor_cache =
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net::iface::NeighborCache::new(&mut neighbor_cache_storage[..]);
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let local_addr = net::wire::IpAddress::v4(10, 0, 16, 99);
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let mut ip_addrs = [net::wire::IpCidr::new(local_addr, 24)];
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let mut iface =
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net::iface::EthernetInterfaceBuilder::new(c.resources.ethernet)
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.ethernet_addr(hardware_addr)
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.neighbor_cache(neighbor_cache)
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.ip_addrs(&mut ip_addrs[..])
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.finalize();
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let mut socket_set_entries: [_; 8] = Default::default();
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let mut sockets =
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net::socket::SocketSet::new(&mut socket_set_entries[..]);
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create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0);
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create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
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// unsafe { eth::enable_interrupt(DMA); }
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let mut time = 0u32;
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let mut next_ms = Instant::now();
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next_ms += 400_000.cycles();
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let mut server = Server::new();
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let mut iir_state: resources::iir_state = c.resources.iir_state;
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let mut iir_ch: resources::iir_ch = c.resources.iir_ch;
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loop {
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// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
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let tick = Instant::now() > next_ms;
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if tick {
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next_ms += 400_000.cycles();
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time += 1;
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}
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{
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let socket =
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&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
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if socket.state() == net::socket::TcpState::CloseWait {
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socket.close();
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} else if !(socket.is_open() || socket.is_listening()) {
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socket
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.listen(1234)
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.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else if tick && socket.can_send() {
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let s = iir_state.lock(|iir_state| Status {
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t: time,
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x0: iir_state[0][0],
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y0: iir_state[0][2],
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x1: iir_state[1][0],
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y1: iir_state[1][2],
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});
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json_reply(socket, &s);
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}
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}
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{
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let socket =
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&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
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if socket.state() == net::socket::TcpState::CloseWait {
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socket.close();
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} else if !(socket.is_open() || socket.is_listening()) {
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socket
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.listen(1235)
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.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else {
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server.poll(socket, |req: &Request| {
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if req.channel < 2 {
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iir_ch.lock(|iir_ch| {
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iir_ch[req.channel as usize] = req.iir
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});
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}
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});
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}
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}
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if !match iface.poll(
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&mut sockets,
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net::time::Instant::from_millis(time as i64),
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) {
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Ok(changed) => changed,
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Err(net::Error::Unrecognized) => true,
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Err(e) => {
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info!("iface poll error: {:?}", e);
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true
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}
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} {
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// cortex_m::asm::wfi();
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}
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}
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}
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#[task(priority = 1, schedule = [tick])]
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fn tick(c: tick::Context) {
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static mut TIME: u32 = 0;
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*TIME += 1;
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const PERIOD: u32 = 200_000_000;
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c.schedule.tick(c.scheduled + PERIOD.cycles()).unwrap();
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}
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// seems to slow it down
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// #[link_section = ".data.spi1"]
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#[task(binds = SPI1, resources = [spi, iir_state, iir_ch], priority = 2)]
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fn spi1(c: spi1::Context) {
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#[cfg(feature = "bkpt")]
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cortex_m::asm::bkpt();
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let (spi1, spi2, spi4, spi5) = c.resources.spi;
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let iir_ch = c.resources.iir_ch;
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let iir_state = c.resources.iir_state;
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let sr = spi1.sr.read();
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if sr.eot().bit_is_set() {
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spi1.ifcr.write(|w| w.eotc().set_bit());
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}
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if sr.rxp().bit_is_set() {
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let rxdr = &spi1.rxdr as *const _ as *const u16;
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let a = unsafe { ptr::read_volatile(rxdr) };
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let x0 = f32::from(a as i16);
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let y0 = iir_ch[0].update(&mut iir_state[0], x0);
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let d = y0 as i16 as u16 ^ 0x8000;
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let txdr = &spi2.txdr as *const _ as *mut u16;
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unsafe { ptr::write_volatile(txdr, d) };
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}
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let sr = spi5.sr.read();
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if sr.eot().bit_is_set() {
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spi5.ifcr.write(|w| w.eotc().set_bit());
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}
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if sr.rxp().bit_is_set() {
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let rxdr = &spi5.rxdr as *const _ as *const u16;
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let a = unsafe { ptr::read_volatile(rxdr) };
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let x0 = f32::from(a as i16);
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let y0 = iir_ch[1].update(&mut iir_state[1], x0);
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let d = y0 as i16 as u16 ^ 0x8000;
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let txdr = &spi4.txdr as *const _ as *mut u16;
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unsafe { ptr::write_volatile(txdr, d) };
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}
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#[cfg(feature = "bkpt")]
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cortex_m::asm::bkpt();
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}
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/*
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#[task(binds = ETH, resources = [ethernet_periph], priority = 1)]
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fn eth(c: eth::Context) {
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let dma = &c.resources.ethernet_periph.1;
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ETHERNET_PENDING.store(true, Ordering::Relaxed);
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unsafe { eth::interrupt_handler(dma) }
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}
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*/
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extern "C" {
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// hw interrupt handlers for RTFM to use for scheduling tasks
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// one per priority
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fn DCMI();
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fn JPEG();
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fn SDMMC();
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}
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};
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#[derive(Deserialize, Serialize)]
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struct Request {
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channel: u8,
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iir: IIR,
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}
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#[derive(Serialize)]
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struct Response<'a> {
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code: i32,
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message: &'a str,
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}
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#[derive(Serialize)]
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struct Status {
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t: u32,
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x0: f32,
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y0: f32,
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x1: f32,
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y1: f32,
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}
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fn json_reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
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let mut u: String<U128> = to_string(msg).unwrap();
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u.push('\n').unwrap();
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socket.write_str(&u).unwrap();
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}
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struct Server {
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data: Vec<u8, U256>,
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discard: bool,
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}
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impl Server {
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fn new() -> Self {
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Self {
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data: Vec::new(),
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discard: false,
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}
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}
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fn poll<T, F, R>(
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&mut self,
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socket: &mut net::socket::TcpSocket,
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f: F,
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) -> Option<R>
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where
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T: DeserializeOwned,
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F: FnOnce(&T) -> R,
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{
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while socket.can_recv() {
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let found = socket
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.recv(|buf| {
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let (len, found) =
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match buf.iter().position(|&c| c as char == '\n') {
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Some(end) => (end + 1, true),
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None => (buf.len(), false),
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};
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if self.data.len() + len >= self.data.capacity() {
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self.discard = true;
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self.data.clear();
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} else if !self.discard && len > 0 {
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self.data.extend_from_slice(&buf[..len]).unwrap();
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}
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(len, found)
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})
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.unwrap();
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if found {
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if self.discard {
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self.discard = false;
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json_reply(
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socket,
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&Response {
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code: 520,
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message: "command buffer overflow",
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},
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);
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self.data.clear();
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} else {
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let r = from_slice::<T>(&self.data[..self.data.len() - 1]);
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self.data.clear();
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match r {
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Ok(res) => {
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let r = f(&res);
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json_reply(
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socket,
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&Response {
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code: 200,
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message: "ok",
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},
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);
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return Some(r);
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}
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Err(err) => {
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warn!("parse error {:?}", err);
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json_reply(
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socket,
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&Response {
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code: 550,
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message: "parse error",
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},
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);
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}
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}
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}
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}
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}
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None
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}
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}
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#[exception]
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fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
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panic!("HardFault at {:#?}", ef);
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}
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#[exception]
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fn DefaultHandler(irqn: i16) {
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panic!("Unhandled exception (IRQn = {})", irqn);
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}
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