191 lines
8.2 KiB
C
191 lines
8.2 KiB
C
/*
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imu Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/ahrs.h"
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#include <string.h>
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#include <stdint.h>
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* AHRS数据CAN ID定义 */
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#define CAN_ID_AHRS_ACCL 0x301 /* 加速度计数据 */
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#define CAN_ID_AHRS_GYRO 0x302 /* 陀螺仪数据 */
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#define CAN_ID_AHRS_EULR 0x303 /* 欧拉角数据 */
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#define CAN_ID_AHRS_QUAT 0x304 /* 四元数数据 */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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AHRS_Accl_t accl;
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AHRS_Gyro_t gyro;
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AHRS_Eulr_t eulr;
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AHRS_Quaternion_t quat;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_imu(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / IMU_FREQ;
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osDelay(IMU_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BSP_CAN_Init();
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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/* 获取加速度计数据并通过CAN发送 - 使用24位精度，充分利用8字节 */
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if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t accl_frame;
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accl_frame.id = CAN_ID_AHRS_ACCL;
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accl_frame.dlc = 8; /* 充分利用8字节数据帧 */
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/* 使用24位精度存储x/y轴，16位存储z轴 + 2字节预留
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* x: 24位 (精度1/1000000，范围±8.388g)
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* y: 24位 (精度1/1000000，范围±8.388g)
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* z: 16位 (精度1/10000，范围±3.276g)
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* 预留: 2字节用于扩展或校验
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*/
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// X轴 - 24位有符号整数 (字节0-2)
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int32_t x_int = (int32_t)(accl.x * 1000000.0f);
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x_int = (x_int > 8388607) ? 8388607 : ((x_int < -8388608) ? -8388608 : x_int);
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accl_frame.data[0] = (x_int >> 16) & 0xFF;
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accl_frame.data[1] = (x_int >> 8) & 0xFF;
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accl_frame.data[2] = x_int & 0xFF;
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// Y轴 - 24位有符号整数 (字节3-5)
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int32_t y_int = (int32_t)(accl.y * 1000000.0f);
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y_int = (y_int > 8388607) ? 8388607 : ((y_int < -8388608) ? -8388608 : y_int);
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accl_frame.data[3] = (y_int >> 16) & 0xFF;
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accl_frame.data[4] = (y_int >> 8) & 0xFF;
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accl_frame.data[5] = y_int & 0xFF;
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// Z轴 - 16位有符号整数 (字节6-7)
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int16_t z_int = (int16_t)(accl.z * 10000.0f);
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memcpy(&accl_frame.data[6], &z_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
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}
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/* 获取陀螺仪数据并通过CAN发送 - 使用24位精度，充分利用8字节 */
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if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t gyro_frame;
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gyro_frame.id = CAN_ID_AHRS_GYRO;
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gyro_frame.dlc = 8; /* 充分利用8字节数据帧 */
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/* 使用24位精度存储x/y轴，16位存储z轴 + 2字节预留
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* x: 24位 (精度1/1000，范围±8388°/s)
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* y: 24位 (精度1/1000，范围±8388°/s)
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* z: 16位 (精度1/100，范围±327°/s)
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* 预留: 2字节用于扩展或校验
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*/
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// X轴 - 24位有符号整数 (字节0-2) - 精度0.001°/s
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int32_t x_int = (int32_t)(gyro.x * 1000.0f);
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x_int = (x_int > 8388607) ? 8388607 : ((x_int < -8388608) ? -8388608 : x_int);
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gyro_frame.data[0] = (x_int >> 16) & 0xFF;
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gyro_frame.data[1] = (x_int >> 8) & 0xFF;
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gyro_frame.data[2] = x_int & 0xFF;
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// Y轴 - 24位有符号整数 (字节3-5) - 精度0.001°/s
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int32_t y_int = (int32_t)(gyro.y * 1000.0f);
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y_int = (y_int > 8388607) ? 8388607 : ((y_int < -8388608) ? -8388608 : y_int);
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gyro_frame.data[3] = (y_int >> 16) & 0xFF;
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gyro_frame.data[4] = (y_int >> 8) & 0xFF;
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gyro_frame.data[5] = y_int & 0xFF;
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// Z轴 - 16位有符号整数 (字节6-7) - 精度0.01°/s
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int16_t z_int = (int16_t)(gyro.z * 100.0f);
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memcpy(&gyro_frame.data[6], &z_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
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}
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/* 获取欧拉角数据并通过CAN发送 - 使用24位精度，充分利用8字节 */
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if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t eulr_frame;
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eulr_frame.id = CAN_ID_AHRS_EULR;
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eulr_frame.dlc = 8; /* 充分利用8字节数据帧 */
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/* 使用更高精度存储欧拉角
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* yaw: 24位 (精度1/10000，范围±838.8°)
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* pitch: 24位 (精度1/10000，范围±838.8°)
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* roll: 16位 (精度1/1000，范围±32.767°)
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* 预留: 2字节用于扩展或校验
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*/
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// Yaw - 24位有符号整数 (字节0-2) - 精度0.0001°
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int32_t yaw_int = (int32_t)(eulr.yaw * 10000.0f);
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yaw_int = (yaw_int > 8388607) ? 8388607 : ((yaw_int < -8388608) ? -8388608 : yaw_int);
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eulr_frame.data[0] = (yaw_int >> 16) & 0xFF;
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eulr_frame.data[1] = (yaw_int >> 8) & 0xFF;
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eulr_frame.data[2] = yaw_int & 0xFF;
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// Pitch - 24位有符号整数 (字节3-5) - 精度0.0001°
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int32_t pit_int = (int32_t)(eulr.pit * 10000.0f);
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pit_int = (pit_int > 8388607) ? 8388607 : ((pit_int < -8388608) ? -8388608 : pit_int);
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eulr_frame.data[3] = (pit_int >> 16) & 0xFF;
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eulr_frame.data[4] = (pit_int >> 8) & 0xFF;
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eulr_frame.data[5] = pit_int & 0xFF;
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// Roll - 16位有符号整数 (字节6-7) - 精度0.001°
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int16_t rol_int = (int16_t)(eulr.rol * 1000.0f);
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memcpy(&eulr_frame.data[6], &rol_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame);
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}
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/* 获取四元数数据并通过CAN发送 - 优化精度分配 */
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if (osMessageQueueGet(task_runtime.msgq.imu.quat, &quat, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t quat_frame;
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quat_frame.id = CAN_ID_AHRS_QUAT;
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quat_frame.dlc = 8; /* 充分利用8字节数据帧 */
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/* 优化四元数精度分配，四元数范围-1~1
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* q0: 16位 (精度1/32767，最高精度)
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* q1: 16位 (精度1/32767，最高精度)
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* q2: 16位 (精度1/32767，最高精度)
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* q3: 16位 (精度1/32767，最高精度)
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* 使用int16_t的全部范围，精度提升至1/32767
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*/
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// 将四元数归一化并转换为int16_t，使用int16_t全部范围
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int16_t q0_int = (int16_t)(quat.q0 * 32767.0f);
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int16_t q1_int = (int16_t)(quat.q1 * 32767.0f);
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int16_t q2_int = (int16_t)(quat.q2 * 32767.0f);
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int16_t q3_int = (int16_t)(quat.q3 * 32767.0f);
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// 限制范围防止溢出
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q0_int = (q0_int > 32767) ? 32767 : ((q0_int < -32767) ? -32767 : q0_int);
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q1_int = (q1_int > 32767) ? 32767 : ((q1_int < -32767) ? -32767 : q1_int);
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q2_int = (q2_int > 32767) ? 32767 : ((q2_int < -32767) ? -32767 : q2_int);
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q3_int = (q3_int > 32767) ? 32767 : ((q3_int < -32767) ? -32767 : q3_int);
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memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t));
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memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));
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memcpy(&quat_frame.data[4], &q2_int, sizeof(int16_t));
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memcpy(&quat_frame.data[6], &q3_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
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}
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |