401 lines
13 KiB
C
401 lines
13 KiB
C
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/*
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CAN总线上的设备1到7
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将所有CAN总线上挂载的设备抽象成单个设备进行管理和控制
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "can_use.h"
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#include "user_math.h"
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#include "device.h"
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#include "error_detect.h"
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#define CAN_MOTOR_ENC_RES (8191) /* 电机编码器分辨率 */
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#define CAN_MOTOR_CUR_RES (16384)
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#define CAN_GM6020_CTRL_ID_BASE (0x1ff)
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#define CAN_PITCH6020_CTRL_ID (0x2ff)
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#define CAN_G3508_CTRL_ALL_ID (0x200)
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#define CAN_VESC_CTRL_ID_BASE (0x300)
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#define CAN_MOTOR_TX_BUF_SIZE (8)
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#define CAN_MOTOR_RX_BUF_SIZE (8)
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/*电机最大电流绝对值*/
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#define CAN_GM6020_MAX_ABS_CUR (20)
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#define CAN_M3508_MAX_ABS_CUR (20)
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#define CAN_M2006_MAX_ABS_CUR (10)
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static CAN_RawRx_t raw_rx1;//原始的can数据
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static CAN_RawRx_t raw_rx2;
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CAN_RawTx_t raw_tx;
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/*用于can原始数据，传入消息队列*/
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static CAN_t *gcan;
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/* Private function -------------------------------------------------------- */
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static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback,
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const uint8_t *raw) {
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if (feedback == NULL || raw == NULL) return;
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uint16_t raw_ecd = (uint16_t)((raw[0] << 8) | raw[1]);
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int16_t raw_current = (int16_t)((raw[4] << 8) | raw[5]);
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feedback->rotor_speed = (int16_t)((raw[2] << 8) | raw[3]);
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feedback->temp = raw[6];
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feedback->rotor_ecd = raw_ecd ;
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feedback->torque_current =
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raw_current * CAN_GM6020_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES;
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}
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static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,
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const uint8_t *raw) {
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if (feedback == NULL || raw == NULL) return;
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feedback->raw_dis[0] = (uint16_t)((raw[0] << 8) | raw[1]);
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feedback->raw_dis[1] = (uint16_t)((raw[2] << 8) | raw[3]);
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feedback->raw_dis[2] = (uint16_t)((raw[4] << 8) | raw[5]);
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feedback->raw_dis[3]= (uint16_t)((raw[6] << 8) | raw[7]);
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}
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static void CAN_VescMotor_Decode_1(CAN_MotorFeedback_t *feedback,
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const uint8_t *raw)
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{
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if (feedback == NULL || raw == NULL) return;
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union
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{
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int x;
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uint8_t data[4];
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}speed;
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speed.data[0]= raw[3];
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speed.data[1]= raw[2];
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speed.data[2]= raw[1];
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speed.data[3]= raw[0];
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feedback->rotor_speed = speed.x;
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union
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{
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int16_t y;
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uint8_t dat[2];
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}current;
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current.dat[0]= raw[5];
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current.dat[1]= raw[4];
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feedback->torque_current =(fp32)current.y/10;
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}
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static void CAN_CAN1RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_RX_FIFO0,
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&raw_rx1.rx_header, raw_rx1.rx_data);
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raw_rx1.hcan =BSP_CAN_GetHandle(BSP_CAN_1);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
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}
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static void CAN_CAN2RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_RX_FIFO1,
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&raw_rx2.rx_header, raw_rx2.rx_data);
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raw_rx2.hcan =BSP_CAN_GetHandle(BSP_CAN_2);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param) {
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if (can == NULL) return DEVICE_ERR_NULL;
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can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
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can->param = param;
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CAN_FilterTypeDef can_filter = {0};
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can_filter.FilterBank = 0;
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can_filter.FilterIdHigh = 0;
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can_filter.FilterIdLow = 0;
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can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter.FilterMaskIdHigh = 0;
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can_filter.FilterMaskIdLow = 0;
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can_filter.FilterActivation = ENABLE;
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can_filter.SlaveStartFilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_RX_FIFO0;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_1), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_1));
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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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CAN_CAN1RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_1),
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CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter.FilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_RX_FIFO1;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_2), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_2));
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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CAN_CAN2RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_2),
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CAN_IT_RX_FIFO1_MSG_PENDING);
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gcan = can;
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return DEVICE_OK;
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}
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int8_t CAN_DJIMotor_Control(CAN_MotorGroup_e group, CAN_Output_t *output,
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CAN_t *can) {
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if (output == NULL) return DEVICE_ERR_NULL;
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int16_t motor1, motor2, motor3, motor4, motor5 ;
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switch (group) {
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case CAN_MOTOR_CHASSIS6020:
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motor1 =
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(int16_t)(output->chassis6020.named.m1);
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motor2 =
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(int16_t)(output->chassis6020.named.m2);
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motor3 =
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(int16_t)(output->chassis6020.named.m3);
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motor4 =
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(int16_t)(output->chassis6020.named.m4);
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raw_tx.tx_header.StdId = CAN_GM6020_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((motor1 >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(motor1 & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((motor2 >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(motor2 & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((motor3 >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(motor3 & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)((motor4 >> 8) & 0xFF);
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raw_tx.tx_data[7] = (uint8_t)(motor4 & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->chassis6020),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.up_6020 ));
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break;
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case CAN_MOTOR_3508:
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motor1 =
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(int16_t)(output->motor3508.named.m1);
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motor2 =
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(int16_t)(output->motor3508.named.m2);
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motor3 =
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(int16_t)(output->motor3508.named.m3);
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motor4 =
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(int16_t)(output->motor3508.named.m4);
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raw_tx.tx_header.StdId =CAN_G3508_CTRL_ALL_ID;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((motor1 >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(motor1 & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((motor2 >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(motor2 & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((motor3 >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(motor3 & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)((motor4 >> 8) & 0xFF);
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raw_tx.tx_data[7] = (uint8_t)(motor4 & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->motor3508),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.up_3508 ));
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break;
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case CAN_MOTOR_PITCH6020:
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motor5 =
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(int16_t)(output->pitch6020.named.m1);
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raw_tx.tx_header.StdId = CAN_PITCH6020_CTRL_ID;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((motor5 >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(motor5 & 0xFF);
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raw_tx.tx_data[2] = 0;
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raw_tx.tx_data[3] = 0;
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raw_tx.tx_data[4] = 0;
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raw_tx.tx_data[5] = 0;
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->pitch6020),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.up_6020 ));
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break;
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default:
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break;
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}
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return DEVICE_OK;
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}
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//用来问答接收来自sick的数据
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void CAN_Sick_Control(CAN_t *can)
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{
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raw_tx.tx_header.StdId = 0x301;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.DLC = 0x08;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;//˽ߝ֡
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raw_tx.tx_data[0] = 0x00;
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raw_tx.tx_data[1] = 0x00;
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raw_tx.tx_data[2] = 0x00;
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raw_tx.tx_data[3] = 0x00;
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raw_tx.tx_data[4] = 0x00;
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raw_tx.tx_data[5] = 0x00;
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raw_tx.tx_data[6] = 0x00;
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raw_tx.tx_data[7] = 0x00;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->sick),&raw_tx.tx_header,raw_tx.tx_data,&(can->mailbox.up_other ));
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}
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int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can){
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if (output == NULL) return DEVICE_ERR_NULL;
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int Byte[4];
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Vesc_ByteGet raw[4];
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switch (group) {
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case CAN_MOTOR_CHASSIS5065:
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//将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
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raw[0].as_array = output->chassis5065.named.m1;
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raw[1].as_array = output->chassis5065.named.m2;
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raw[2].as_array = output->chassis5065.named.m3;
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raw[3].as_array = output->chassis5065.named.m4;
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for(int i=0 ; i < 4 ; i ++)
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{
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if(i==2) //此处可能同时发送四个vesc导致只有三个轮子接收到数据 故加上delay
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{
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osDelay(1);
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}
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//将单个电机的期望输出值通过联合体拆分
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Byte[0] = raw[i].byte.byte1;
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Byte[1] = raw[i].byte.byte2;
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Byte[2] = raw[i].byte.byte3;
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Byte[3] = raw[i].byte.byte4;
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raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_EXT;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = Byte[3];
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raw_tx.tx_data[1] = Byte[2];
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raw_tx.tx_data[2] = Byte[1];
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raw_tx.tx_data[3] = Byte[0];
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raw_tx.tx_data[4] = 0;
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raw_tx.tx_data[5] = 0;
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->chassis5065),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.up_5065 ));
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 将接收到的CAN消息存储在CAN_t结构体中，对容易有id冲突的进行can1和can2分类
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* @param can 要存储消息的CAN_t结构体
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* @param can_rx 接收到的CAN消息
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* @return 如果消息存储成功，DEVICE_ERR_NULL 如果can或can_rx为NULL
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*/
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int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
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// 检查输入参数是否为空
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if (can == NULL) return DEVICE_ERR_NULL;
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if (can_rx == NULL) return DEVICE_ERR_NULL;
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uint32_t index;
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// 处理CAN1消息
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if (can_rx->hcan == BSP_CAN_GetHandle(BSP_CAN_1)) {
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switch (can_rx->rx_header.StdId) {
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case CAN_G6020_AgvM1:
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case CAN_G6020_AgvM2:
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case CAN_G6020_AgvM3:
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case CAN_G6020_AgvM4:
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// 存储消息到对应的电机结构体中
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index = can_rx->rx_header.StdId - CAN_G6020_AgvM1;
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can->recive_flag |= 1 << (index);
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CAN_DJIMotor_Decode(&(can->motor.chassis6020.as_array[index]), can_rx->rx_data);
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break;
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case CAN_M3508_M1_ID:
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case CAN_M3508_M2_ID:
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case CAN_M3508_M3_ID:
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case CAN_M3508_M4_ID:
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// 存储消息到对应的电机结构体中
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index = can_rx->rx_header.StdId - CAN_M3508_M1_ID;
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can->recive_flag |= 1 << (index);
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CAN_DJIMotor_Decode(&(can->motor.motor3508.as_array[index]), can_rx->rx_data);
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break;
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default:
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break;
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}
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}
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// 处理CAN2消息
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if (can_rx->hcan == BSP_CAN_GetHandle(BSP_CAN_2)) {
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switch (can_rx->rx_header.StdId) {
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case CAN_G6020_Pitch:
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// 存储消息到对应的电机结构体中
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index = can_rx->rx_header.StdId - CAN_G6020_Pitch;
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can->recive_flag |= 1 << (index);
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CAN_DJIMotor_Decode(&(can->motor.pit6020.as_array[index]), can_rx->rx_data);
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break;
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case CAN_SICK_ID:
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// 存储消息到sickfed结构体中
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CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data);
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break;
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default:
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break;
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}
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}
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// 处理扩展ID消息
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switch (can_rx->rx_header.ExtId) {
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case CAN_VESC5065_M1_MSG1:
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// 存储消息到对应的电机结构体中
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CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[0]), can_rx->rx_data);
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break;
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case CAN_VESC5065_M2_MSG1:
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// 存储消息到对应的电机结构体中
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CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[1]), can_rx->rx_data);
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break;
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// case CAN_VESC5065_M3_MSG1:
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// // 存储消息到对应的电机结构体中
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// CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[2]), can_rx->rx_data);
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// break;
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// case CAN_VSEC5065_M4_MSG1:
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// // 存储消息到对应的电机结构体中
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// CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[3]), can_rx->rx_data);
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break;
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default:
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break;
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}
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return DEVICE_OK;
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}
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bool_t CAN_CheckFlag(CAN_t *can, uint32_t flag) {
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if (can == NULL) return false;
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return (can->recive_flag & flag) == flag;
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}
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int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
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if (can == NULL) return DEVICE_ERR_NULL;
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can->recive_flag &= ~flag;
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return DEVICE_OK;
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}
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