From b2be72e1b2d0189a253dbfe1d2f834cbc3a14c15 Mon Sep 17 00:00:00 2001
From: ZHAISHUI04 <3150778793@qq.com>
Date: Thu, 27 Mar 2025 00:54:24 +0800
Subject: [PATCH] =?UTF-8?q?=E9=81=A5=E6=8E=A7=E5=99=A8=E6=8C=89=E9=94=AE?=
=?UTF-8?q?=E6=8E=A7=E5=88=B6=E4=B8=8A=E5=B1=82=EF=BC=8C=E9=87=8D=E6=96=B0?=
=?UTF-8?q?=E5=88=86=E9=85=8D=E6=8E=A7=E5=88=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
AUTO_CHASSIS.ioc | 23 +-
Core/Inc/stm32f4xx_hal_conf.h | 2 +-
Core/Src/gpio.c | 10 +
Core/Src/main.c | 6 +-
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex | 3618 ----------------
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex | 3643 -----------------
MDK-ARM/{AUTO_CHASSIS.uvoptx => R2_UP.uvoptx} | 232 +-
.../{AUTO_CHASSIS.uvprojx => R2_UP.uvprojx} | 116 +-
.../AUTO_CHASSIS.axf => R2_UP/R2_UP.axf} | Bin 3364516 -> 2755124 bytes
User/Algorithm/navi.c | 216 -
User/Algorithm/navi.h | 108 -
User/Module/Chassis.c | 231 --
User/Module/Chassis.h | 232 --
User/Module/config.c | 107 +-
User/Module/config.h | 4 -
User/Module/up.c | 230 +-
User/Module/up.h | 100 +-
User/bsp/{gpio.c => bsp_gpio.c} | 2 +-
User/bsp/{gpio.h => bsp_gpio.h} | 0
User/bsp/{spi.c => bsp_spi.c} | 2 +-
User/bsp/{spi.h => bsp_spi.h} | 0
User/bsp/bsp_usart.c | 4 +-
User/bsp/protocol.h | 2 +-
User/device/Action.c | 203 -
User/device/Action.h | 59 -
User/device/GO_M8010_6_Driver.c | 10 +-
User/device/LD_remote.c | 176 -
User/device/LD_remote.h | 31 -
User/device/bmi088.c | 4 +-
User/device/can_use.c | 3 +-
User/device/cmd.c | 188 +-
User/device/cmd.h | 176 +-
User/device/nuc.c | 101 +-
User/device/r12ds.c | 216 -
User/device/r12ds.h | 32 -
User/device/remote_control.c | 185 -
User/device/remote_control.h | 42 -
User/task/action_task.c | 75 -
User/task/action_task.h | 1 -
User/task/chassis_task.c | 94 -
User/task/chassis_task.h | 23 -
User/task/cmd_task.c | 27 +-
User/task/error_detect_task.c | 1 -
User/task/init.c | 8 +-
User/task/navi_task.c | 68 -
User/task/navi_task.h | 1 -
User/task/r12ds_task.c | 56 -
User/task/r12ds_task.h | 16 -
User/task/up_task.c | 27 +-
User/task/user_task.c | 32 +-
User/task/user_task.h | 34 +-
keilkill.bat | 27 +
52 files changed, 644 insertions(+), 10160 deletions(-)
delete mode 100644 MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
delete mode 100644 MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
rename MDK-ARM/{AUTO_CHASSIS.uvoptx => R2_UP.uvoptx} (94%)
rename MDK-ARM/{AUTO_CHASSIS.uvprojx => R2_UP.uvprojx} (96%)
rename MDK-ARM/{ELE_CHASSIS/AUTO_CHASSIS.axf => R2_UP/R2_UP.axf} (66%)
delete mode 100644 User/Algorithm/navi.c
delete mode 100644 User/Algorithm/navi.h
delete mode 100644 User/Module/Chassis.c
delete mode 100644 User/Module/Chassis.h
rename User/bsp/{gpio.c => bsp_gpio.c} (98%)
rename User/bsp/{gpio.h => bsp_gpio.h} (100%)
rename User/bsp/{spi.c => bsp_spi.c} (99%)
rename User/bsp/{spi.h => bsp_spi.h} (100%)
delete mode 100644 User/device/Action.c
delete mode 100644 User/device/Action.h
delete mode 100644 User/device/LD_remote.c
delete mode 100644 User/device/LD_remote.h
delete mode 100644 User/device/r12ds.c
delete mode 100644 User/device/r12ds.h
delete mode 100644 User/device/remote_control.c
delete mode 100644 User/device/remote_control.h
delete mode 100644 User/task/action_task.c
delete mode 100644 User/task/action_task.h
delete mode 100644 User/task/chassis_task.c
delete mode 100644 User/task/chassis_task.h
delete mode 100644 User/task/navi_task.c
delete mode 100644 User/task/navi_task.h
delete mode 100644 User/task/r12ds_task.c
delete mode 100644 User/task/r12ds_task.h
create mode 100644 keilkill.bat
diff --git a/AUTO_CHASSIS.ioc b/AUTO_CHASSIS.ioc
index f608f02..b7f3c37 100644
--- a/AUTO_CHASSIS.ioc
+++ b/AUTO_CHASSIS.ioc
@@ -145,23 +145,24 @@ Mcu.Pin24=PA4
Mcu.Pin25=PC4
Mcu.Pin26=PC5
Mcu.Pin27=PE9
-Mcu.Pin28=PA7
-Mcu.Pin29=PB0
+Mcu.Pin28=PE11
+Mcu.Pin29=PA7
Mcu.Pin3=PB3
-Mcu.Pin30=VP_CRC_VS_CRC
-Mcu.Pin31=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin32=VP_SYS_VS_Systick
-Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin34=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin35=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin36=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin30=PB0
+Mcu.Pin31=VP_CRC_VS_CRC
+Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin35=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin36=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin37=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin4=PA14
Mcu.Pin5=PA13
Mcu.Pin6=PB7
Mcu.Pin7=PB6
Mcu.Pin8=PD0
Mcu.Pin9=PC11
-Mcu.PinsNb=37
+Mcu.PinsNb=38
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@@ -272,6 +273,8 @@ PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=Buzzer
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
+PE11.Locked=true
+PE11.Signal=GPIO_Output
PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=FlagForUpper
PE9.GPIO_PuPd=GPIO_PULLUP
diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
index cf0bc67..8495479 100644
--- a/Core/Inc/stm32f4xx_hal_conf.h
+++ b/Core/Inc/stm32f4xx_hal_conf.h
@@ -190,7 +190,7 @@
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
-#define USE_HAL_UART_REGISTER_CALLBACKS 1U /* UART register callback disabled */
+#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 7b59a61..5803556 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -63,6 +63,9 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(FlagForUpper_GPIO_Port, FlagForUpper_Pin, GPIO_PIN_SET);
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, GPIO_PIN_RESET);
+
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
@@ -99,6 +102,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(FlagForUpper_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : PE11 */
+ GPIO_InitStruct.Pin = GPIO_PIN_11;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GYRO_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 244ccf3..2372718 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -32,7 +32,6 @@
/* USER CODE BEGIN Includes */
#include "bsp_delay.h"
#include "bsp_can.h"
-#include "Action.h"
//#include "bsp_dwt.h"
/* USER CODE END Includes */
@@ -80,7 +79,9 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init();
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+
+ HAL_Init();
/* USER CODE BEGIN Init */
@@ -95,7 +96,6 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
-
MX_DMA_Init();
MX_SPI1_Init();
MX_TIM4_Init();
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
deleted file mode 100644
index 5c8b503..0000000
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
+++ /dev/null
@@ -1,3618 +0,0 @@
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-:100000009862002029030008896500080D60000837
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deleted file mode 100644
index 9a99b3f..0000000
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-:10E29000A6F810111111813FD561C119A0012ABF43
-:10E2A0007DFEB157E31DC73EEB9C2B8AE6E55ABEC7
-:10E2B0007CD5CF5A3AD9E53D64656661756C745476
-:10E2C00061736B00636D6400617474695F6573747E
-:10E2D000690000006E6176690000000063616E00F5
-:10E2E000616374696F6E0000723132647300000004
-:10E2F000636861737369730076697300696E69742A
-:10E300000000000024E300080000002000030000DB
-:10E31000C401000878E3000800030020905F0000BB
-:10E3200020020008011432104201037524F41AAAD5
-:10E3300001A1E3204123E1C49AF0142910832F4561
-:10E34000530602323F5ABF04290C69045914237042
-:10E35000431AE444031E8B42D97C0C1C803B4618B4
-:10E3600001782A80DC018922A0432003027A01057A
-:08E3700024022B073D00000010
-:040000050800018965
-:00000001FF
diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/R2_UP.uvoptx
similarity index 94%
rename from MDK-ARM/AUTO_CHASSIS.uvoptx
rename to MDK-ARM/R2_UP.uvoptx
index a88a95b..9f52ce8 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/R2_UP.uvoptx
@@ -12,7 +12,7 @@
*.lib
*.txt; *.h; *.inc; *.md
*.plm
- *.cpp
+ *.cpp; *.cc; *.cxx
0
@@ -22,11 +22,11 @@
- AUTO_CHASSIS
+ R2_UP
0x4
ARM-ADS
- 12000000
+ 25000000
1
1
@@ -117,11 +117,6 @@
STLink\ST-LINKIII-KEIL_SWO.dll
-
- 0
- ST-LINKIII-KEIL_SWO
- -U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
-
0
ARMRTXEVENTFLAGS
@@ -139,13 +134,13 @@
0
- CMSIS_AGDI
- -X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+ ST-LINKIII-KEIL_SWO
+ -U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
DLGUARM
-
+ (105=-1,-1,-1,-1,0)
0
@@ -158,57 +153,20 @@
0
1
- raw,0x0A
+ aaa,0x0A
1
1
- UP,0x0A
-
-
- 2
- 1
- can,0x0A
-
-
- 3
- 1
- can_out,0x0A
-
-
- 4
- 1
bbb,0x0A
-
- 5
- 1
- aaa,0x0A
-
-
- 6
- 1
- CCC
-
-
- 7
- 1
- GO_motor_info
-
-
-
- 0
- 2
- a
-
-
0
0
- 1
+ 0
1
0
0
@@ -246,18 +204,18 @@
- 0
+ 1
0
0
2
- 5000000
+ 10000000
Application/MDK-ARM
- 1
+ 0
0
0
0
@@ -289,7 +247,7 @@
Application/User/Core
- 1
+ 0
0
0
0
@@ -721,7 +679,7 @@
Middlewares/FreeRTOS
- 1
+ 0
0
0
0
@@ -928,30 +886,6 @@
0
0
0
- ..\User\bsp\gpio.c
- gpio.c
- 0
- 0
-
-
- 7
- 53
- 1
- 0
- 0
- 0
- ..\User\bsp\spi.c
- spi.c
- 0
- 0
-
-
- 7
- 54
- 1
- 0
- 0
- 0
..\User\bsp\pwm.c
pwm.c
0
@@ -959,7 +893,7 @@
7
- 55
+ 53
1
0
0
@@ -971,7 +905,7 @@
7
- 56
+ 54
1
0
0
@@ -983,7 +917,7 @@
7
- 57
+ 55
1
0
0
@@ -995,7 +929,7 @@
7
- 58
+ 56
1
0
0
@@ -1007,7 +941,7 @@
7
- 59
+ 57
5
0
0
@@ -1019,7 +953,7 @@
7
- 60
+ 58
1
0
0
@@ -1031,7 +965,7 @@
7
- 61
+ 59
1
0
0
@@ -1043,7 +977,7 @@
7
- 62
+ 60
1
0
0
@@ -1053,6 +987,30 @@
0
0
+
+ 7
+ 61
+ 1
+ 0
+ 0
+ 0
+ ..\User\bsp\bsp_spi.c
+ bsp_spi.c
+ 0
+ 0
+
+
+ 7
+ 62
+ 1
+ 0
+ 0
+ 0
+ ..\User\bsp\bsp_gpio.c
+ bsp_gpio.c
+ 0
+ 0
+
@@ -1140,8 +1098,8 @@
0
0
0
- ..\User\task\dr16_task.c
- dr16_task.c
+ ..\User\task\up_task.c
+ up_task.c
0
0
@@ -1152,8 +1110,20 @@
0
0
0
- ..\User\task\up_task.c
- up_task.c
+ ..\User\task\cmd_task.c
+ cmd_task.c
+ 0
+ 0
+
+
+ 8
+ 71
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\dr16_task.c
+ dr16_task.c
0
0
@@ -1167,7 +1137,7 @@
0
9
- 71
+ 72
1
0
0
@@ -1177,18 +1147,6 @@
0
0
-
- 9
- 72
- 1
- 0
- 0
- 0
- ..\User\task\cmd_task.c
- cmd_task.c
- 0
- 0
-
9
73
@@ -1249,18 +1207,6 @@
0
0
-
- 9
- 78
- 1
- 0
- 0
- 0
- ..\User\Algorithm\navi.c
- navi.c
- 0
- 0
-
@@ -1271,7 +1217,7 @@
0
10
- 79
+ 78
1
0
0
@@ -1283,7 +1229,7 @@
10
- 80
+ 79
1
0
0
@@ -1295,7 +1241,7 @@
10
- 81
+ 80
1
0
0
@@ -1307,7 +1253,7 @@
10
- 82
+ 81
1
0
0
@@ -1319,7 +1265,7 @@
10
- 83
+ 82
1
0
0
@@ -1329,6 +1275,18 @@
0
0
+
+ 10
+ 83
+ 1
+ 0
+ 0
+ 0
+ ..\User\device\GO_M8010_6_Driver.c
+ GO_M8010_6_Driver.c
+ 0
+ 0
+
10
84
@@ -1341,18 +1299,6 @@
0
0
-
- 10
- 85
- 1
- 0
- 0
- 0
- ..\User\device\GO_M8010_6_Driver.c
- GO_M8010_6_Driver.c
- 0
- 0
-
@@ -1363,7 +1309,7 @@
0
11
- 86
+ 85
1
0
0
@@ -1375,7 +1321,7 @@
11
- 87
+ 86
1
0
0
@@ -1387,7 +1333,7 @@
11
- 88
+ 87
1
0
0
@@ -1401,13 +1347,13 @@
Application/User/USB_DEVICE/Target
- 1
+ 0
0
0
0
12
- 89
+ 88
1
0
0
@@ -1421,13 +1367,13 @@
Middlewares/USB_Device_Library
- 1
+ 0
0
0
0
13
- 90
+ 89
1
0
0
@@ -1439,7 +1385,7 @@
13
- 91
+ 90
1
0
0
@@ -1451,7 +1397,7 @@
13
- 92
+ 91
1
0
0
@@ -1463,7 +1409,7 @@
13
- 93
+ 92
1
0
0
diff --git a/MDK-ARM/AUTO_CHASSIS.uvprojx b/MDK-ARM/R2_UP.uvprojx
similarity index 96%
rename from MDK-ARM/AUTO_CHASSIS.uvprojx
rename to MDK-ARM/R2_UP.uvprojx
index eee0eb5..29a57d0 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvprojx
+++ b/MDK-ARM/R2_UP.uvprojx
@@ -7,7 +7,7 @@
- AUTO_CHASSIS
+ R2_UP
0x4
ARM-ADS
5060960::V5.06 update 7 (build 960)::.\ARMCC
@@ -49,8 +49,8 @@
0
1
- ELE_CHASSIS\
- AUTO_CHASSIS
+ .\R2_UP\
+ R2_UP
1
0
0
@@ -82,7 +82,7 @@
0
- 1
+ 0
0
@@ -1128,16 +1128,6 @@
1
..\User\bsp\delay.c
-
- gpio.c
- 1
- ..\User\bsp\gpio.c
-
-
- spi.c
- 1
- ..\User\bsp\spi.c
-
pwm.c
1
@@ -1183,6 +1173,16 @@
1
..\User\bsp\bsp_buzzer.c
+
+ bsp_spi.c
+ 1
+ ..\User\bsp\bsp_spi.c
+
+
+ bsp_gpio.c
+ 1
+ ..\User\bsp\bsp_gpio.c
+
@@ -1218,16 +1218,72 @@
1
..\User\task\error_detect_task.c
-
- dr16_task.c
- 1
- ..\User\task\dr16_task.c
-
up_task.c
1
..\User\task\up_task.c
+
+ cmd_task.c
+ 1
+ ..\User\task\cmd_task.c
+
+
+ 2
+ 0
+ 0
+ 0
+ 0
+ 1
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
+
+
+ dr16_task.c
+ 1
+ ..\User\task\dr16_task.c
+
@@ -1238,11 +1294,6 @@
1
..\User\Algorithm\filter.c
-
- cmd_task.c
- 1
- ..\User\task\cmd_task.c
-
ahrs.c
1
@@ -1268,11 +1319,6 @@
1
..\User\Algorithm\pid.c
-
- navi.c
- 1
- ..\User\Algorithm\navi.c
-
@@ -1303,16 +1349,16 @@
1
..\User\device\vofa.c
-
- dr16.c
- 1
- ..\User\device\dr16.c
-
GO_M8010_6_Driver.c
1
..\User\device\GO_M8010_6_Driver.c
+
+ dr16.c
+ 1
+ ..\User\device\dr16.c
+
@@ -1998,7 +2044,7 @@
-
+
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/R2_UP/R2_UP.axf
similarity index 66%
rename from MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
rename to MDK-ARM/R2_UP/R2_UP.axf
index 5253c10882025dd78bff6d10ce587778c7de9ce6..64a99a3fd38ed6e02110391627d765e209e81ed8 100644
GIT binary patch
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