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Russian
00:00:02
Hello everyone, dear friends, today we00:00:05
continue with you a series of lessons on00:00:07
programming stm32 microcontrollers,00:00:09
today we have lesson 42 part 200:00:12
connected accelerometer lsm 6d with 000:00:16
which is installed on our00:00:19
expansion board but with glue or on the evaluation00:00:22
board in the last lesson we have already00:00:26
connected this the board has already been connected to the00:00:29
expansion board, the debugging board has already00:00:33
contacted you, we have already contacted our sensor, read00:00:40
the identifiers from it, they matched and started writing the00:00:42
initialization function; we also added a00:00:45
macro substitution header file for the future,00:00:48
which is00:00:51
also part of our00:00:54
own hand-written library, in general, as00:00:58
well we learned that the sensor data is not00:01:00
only an oxymiron accelerometer but also a00:01:02
gyroscope, well, since today we are working00:01:05
with it exactly as an accelerometer, we00:01:08
will not write the words gyroscope here so as00:01:10
not to be misleading,00:01:12
so that later in the future00:01:14
we can work with it as a gyroscope,00:01:18
then we will return to the00:01:20
project00:01:22
here you and I have added all the00:01:26
macro substitutions, here we00:01:30
have added a variable for now, but we’ll try to00:01:33
collect them, of course, we have four00:01:36
warnings there for now we wo00:01:39
n’t pay much attention to them, well, let00:01:43
’s try to write something here, in00:01:46
general we will also I’ll write comments00:01:50
about the mysterious species, I’ll00:01:54
explain a little later who it is and what you00:01:57
need to eat it with,00:01:59
if you need to eat it at all,00:02:05
but at first it will be hard to00:02:08
write the first functions, then we00:02:11
’ll basically copy the entire address here, it hasn’t00:02:14
changed with you the address is always one00:02:18
somewhere we have already used it here, and we00:02:23
will continue to use it, we will continue to use it,00:02:27
great, this is the00:02:30
address00:02:33
for the register, we will turn to the00:02:38
eighth one, this one, which00:02:42
has the meaning of its address 22, you can00:02:47
call this an address in general, of course it00:02:51
can maybe it’s not an address,00:02:54
maybe this also has some meaning,00:02:57
nevertheless, we turned to him, well,00:03:01
why did we turn to him, let’s00:03:04
look here, here he is, here,00:03:08
some00:03:09
general software Lisette, well, somehow these00:03:11
sensors work well without software reboots, like00:03:14
this concrete but00:03:18
today we want p' I will work, in00:03:20
general, I think I already explained it once,00:03:22
maybe I didn’t explain it, that is, well, I’ll00:03:25
explain it again so that I can give this block the date to give it away,00:03:28
but it doesn’t allow me to update them in general, it does00:03:32
n’t allow me to read it, it doesn’t allow me to update it at00:03:36
that moment when the low byte is read,00:03:39
because it’s all in separate00:03:42
registers, there’s data in everything,00:03:46
so we’ll turn on the bit in general,00:03:50
today we’ll turn on the bit a little differently, so00:03:53
we’ll read the00:03:56
registers first, that is, we have to write00:04:00
to the bit registers00:04:03
in such a way as not to disturb the00:04:05
structure of the00:04:06
remaining bits, so we will not00:04:09
immediately push the data into the00:04:13
registry in a heap, we will somehow change one by two00:04:15
by three only in the necessary bits with you,00:04:18
which means we will take a mask year mask00:04:23
this is what00:04:25
we have here only the third one we have a bit,00:04:28
that is, not the last 3, the penultimate00:04:31
bit, we have 7 turned on,00:04:35
but so that we can do it00:04:39
right, so that it is on this particular bit,00:04:43
so that we can just leave it there and here,00:04:47
we add this little tilde with00:04:50
you, that is, this is how we reset it with00:04:54
you It’s this bit that00:04:58
we don’t touch the rest of, that is, we00:05:01
will already have it at 0 anyway, and then we00:05:04
either install it or don’t install it; that’s00:05:06
our question, that is, further, but00:05:10
it will be like just a little bit of metal00:05:12
through the reverse operation00:05:13
that is, through this we won’t have a00:05:16
tilde, not some kind,00:05:18
and here we00:05:21
turn it on, that is, again we are now like a00:05:25
mask, a mask, and an inclusion, we00:05:28
get the same number, but only00:05:31
here it’s a little different happens, but00:05:33
why are there different names, that for00:05:36
convenience, it is reading our code00:05:41
ourselves later, that is, we00:05:45
see perfectly well that we turned it on with00:05:47
you, that is, we installed it, we don’t00:05:50
know what it was before, maybe00:05:51
it was already zero, that is here we00:05:54
made it so that it was definitely a00:05:57
zero, that is, it is 0 or a one, here we00:06:00
definitely already turn it on, that is, in this00:06:03
case we could easily00:06:05
do without masking without it, but suddenly00:06:07
marzo we want to correct the code and00:06:09
turn it off, then we we’ll forget00:06:13
to add this line and we wo00:06:16
n’t turn it off, so if it’s00:06:19
already turned on because the operation or it doesn’t00:06:23
know how to turn it off, it only00:06:25
knows how to turn it on, it can turn it off, this00:06:27
operation can be like this, now we’re all00:06:30
left with only us00:06:32
put everything back in place00:06:36
for this, we have a function of an00:06:40
inverse type like this, that is, this00:06:44
function of an inverse type00:06:47
will bring in the value of ours, well, let's00:06:51
copy approximately, then we will have the same thing00:06:54
inside the function, but this is again00:06:58
very00:07:00
approximately here because what00:07:04
needs to be00:07:05
added like this, that is, that we are with00:07:09
you,00:07:10
this is the value that you and I00:07:13
lived in the process of these 300:07:15
operations and added,00:07:19
well, in general, for now, here’s everything with00:07:24
this register,00:07:27
further on, another register00:07:32
will be next with us,00:07:34
for now, let's put our sensor00:07:38
into a low-power mode,00:07:44
we are our battle, the doctor who is responsible for our00:07:50
speed, we00:07:52
will perform until all are zeros, this is00:07:55
how we will do this with you, that is,00:07:59
we can calmly now00:08:01
copy all this and just change the values, that00:08:04
is, the resistor we will now have a00:08:06
slightly different register we will have 600:08:09
now we will take it with you,00:08:13
here we have a register at the 20 mm address00:08:16
that is located and00:08:21
we read them for now here, that is,00:08:25
let's see who this00:08:27
register is we have here this register00:08:31
has several bits, for us at the00:08:33
moment these bits are interesting, that is, this is00:08:36
how their value depends, the00:08:39
return of their values depends on the speed or00:08:42
even the inclusion of our sensor, that is, this00:08:45
form is not set to 10 and the heart00:08:48
will be that is00:08:51
It will poll its axis 10 times a second, but everything at once,00:08:54
of course, but this one, which we00:08:57
will now be with zeros, it will simply00:08:59
turn it off altogether or put it into a low-power mode, which is why00:09:03
you and I first again00:09:07
use a mask, that is, we are all with you Let’s00:09:11
first turn off all three of these bits, that00:09:14
is, well, we have the letters e, I think we know00:09:17
what it is 1110, that is, we have them00:09:21
because in the register the very first one is00:09:24
1110, well, and here the hole is 0, and that is,00:09:29
we’ll just turn it off, let’s go, don’t touch it00:09:32
this is for those who don’t know what this00:09:36
masking operation is,00:09:39
we all turn them off, now you and I will continue00:09:42
to use the bit with00:09:47
which we turn something on,00:09:51
take the power down here, which is from00:09:55
scratch, and that is, we don’t do anything again, we turn it on00:09:57
here, on the contrary, it doesn’t make sense for us00:10:03
to program this line, that is, if00:10:05
we comment out the same thing, we00:10:07
have already disabled them, but if suddenly we decide to00:10:11
do something else with you, again,00:10:15
anyway, it will again need to be00:10:16
uncommented about then we’ll just00:10:18
add some value here with you,00:10:19
that is, we will carry this technique00:10:21
to the end everywhere, it depends on whether00:10:23
you and I will put a bit of00:10:26
zero or one, that is, it doesn’t matter, and in the00:10:29
same register we will do everything again We00:10:33
're bringing in something strange with you, I00:10:37
got it00:10:39
why 6 I'm00:10:41
he 6 and why here I have 6 right there00:10:46
8 why did I get 6 you're here 8 all 600:10:52
this is the sensor 6 and00:10:54
here's everything00:10:56
6 here 6 6 here are the registers 6 what am I - I’m completely00:11:00
confused, well, everything seems so00:11:04
simple, let’s try to assemble it, it won’t come together00:11:07
here,00:11:10
we’ll write the next comment so far, everything seems simple, but I think00:11:13
further there it won’t be more difficult, we’ll write a scale file00:11:23
selection00:11:27
2 j but 2g is of course not gprs,00:11:33
which can also be 3g and 4g and this is exactly00:11:37
how much acceleration of free fall we have,00:11:42
our sensor measures the maximum in this mode, that is,00:11:45
well,00:11:46
in many there is already an accelerometer, ah, this whole00:11:51
thing happens if we00:11:54
set the measurement to the minimum, that is, the00:11:56
minimum measurement amplitudes, then00:11:59
again we have zeros, that’s all these00:12:04
bits here are responsible for this matter here00:12:08
fs1 fs 0 that is, with a value of 0 and00:12:12
they put 2 g01 16-10 4g and 11 8g in00:12:20
general like this, but we will now take it00:12:24
since we have already seen that they are also in00:12:26
sixth registers for us to write minimally here00:12:28
Scott will come, let’s take their00:12:32
mask, it’s very convenient with a mask, I also00:12:35
envied it in the example, I liked it, for00:12:39
example, the00:12:41
engineers came up with a very good idea,00:12:44
well, let’s take the zero ones like this, now I00:12:48
won’t explain anything, everything is already00:12:51
extremely clear here, that is00:12:54
with this we have done practically nothing to you00:12:56
because we have all these and00:12:59
so by default these are enabled, or00:13:02
rather by default the00:13:05
bits that we do not enable are disabled, but you00:13:08
never know before that we did something else with you again we00:13:10
will initialize00:13:13
again, then we will at least reset them,00:13:16
well, now the following comments about00:13:20
seven will also include everything with you, let's00:13:25
take it like this for now because00:13:27
our axes are generally in the fifth register,00:13:33
here in the00:13:35
5th register, of course we'll00:13:38
see now, we'll probably have it this00:13:41
is the 1F address he has, so we will turn on00:13:45
these bits for00:13:50
this y and x, and that is, we will measure00:13:53
all of them, I don’t know what it does, we00:13:57
won’t use this00:13:59
switch here with you. Well, here’s what00:14:03
we can do here, in general,00:14:06
here we are working with00:14:10
several strokes at once, we00:14:13
’ll take00:14:17
this one for now, but not only with a stroke,00:14:22
now you’ll see like00:14:25
this, we take00:14:29
a bracket, we use this,00:14:33
we do this,00:14:37
we do this, and we do this again but00:14:41
since this line is too long, I doesn’t00:14:43
look very nice, we’ll00:14:48
do it like this, it will still be00:14:50
a little prettier, but everywhere00:14:54
here, of course, it’s not x and00:14:56
here we have the00:14:58
next one y and00:15:02
this with this, that is, we are all these bits you and I00:15:07
will reset us for some reason, but here I00:15:11
erased x and to the salty ride excel remains, that00:15:15
is, the same here, you and I will00:15:22
logically add00:15:24
several values of00:15:27
several bits and00:15:29
do it on my computer, that is, here we are 4 no00:15:35
3 4 5 bits and we also turn it on00:15:41
while we write like this,00:15:45
only here there will be z00:15:48
here there will be00:15:50
such a dash here there will be00:15:53
y00:15:55
also the dash00:15:58
is nothing more than a transfer we have tracks with00:16:02
you00:16:05
this can be done00:16:08
it works quite well and that’s probably all and00:16:12
we enter the value in register00:16:15
now you and I, after00:16:18
all, let's00:16:21
probably turn on our accelerometer,00:16:25
it turns on00:16:27
in the following way, it00:16:30
turns on by installing00:16:34
batteries, then the00:16:37
frequencies are collecting data or reading00:16:41
data,00:16:42
well, let's turn on 119 hertz with you and00:16:50
take com and from here we are here, we00:16:55
turned it all off here, let's turn it on00:16:58
this is the same thing here we have00:17:01
right no this is not that I won’t but the00:17:04
next one00:17:07
here we worked with up to the container and this00:17:10
with you00:17:14
with a blow and we will find here in the00:17:19
macros00:17:20
119 here we have 60 60 and here we have00:17:24
5 6 bits and00:17:34
the mask is turned on, everything remains here we do00:17:38
119 we all basically00:17:43
carried out the initialization now we mean00:17:47
here what we can do with you00:17:50
we can probably do with you00:17:55
here turn on the00:17:56
LED00:17:59
no turn off00:18:03
turn off better because we are not anywhere00:18:06
we check for an error and here we00:18:08
turn it on, that is, that we don’t have00:18:11
anything frozen anywhere with you, we thereby00:18:14
find out, well, initialization is already00:18:19
turned on in May, not that is, called, that is, we have00:18:23
nothing to call, we don’t need to, we00:18:26
only have with you compile the code,00:18:29
flash the controller and see00:18:32
the result,00:18:33
now our LED is lit, you can00:18:37
turn everything off again, everything is fine, we’ll00:18:40
continue writing the code, we still have time,00:18:43
we may00:18:45
display something today, we may not even display it, but00:18:48
we wanted to read, we’ll try, or we can00:18:52
write a reading function you and I already00:18:54
have00:18:56
practically,00:18:59
well, not that we exist, but at least there is a blank, so we’ll00:19:04
continue to write00:19:08
axor here, it’s not that complicated00:19:12
read,00:19:15
we have this address that doesn’t change with you, we00:19:24
read the register,00:19:28
but we’ll probably start with the first one00:19:32
here is the low byte of the00:19:36
x-axis register, we will read it,00:19:44
but accordingly we will not just read it,00:19:48
we will count it into the buffer,00:19:53
its 000:19:56
cell 0 byte,00:19:59
well then, as always, we00:20:02
will do it like this and just00:20:05
send the00:20:10
entire value to our buffer,00:20:14
let’s still take a look you and I, what00:20:17
kind of registers are these from 28 to 2d? Let’s00:20:21
make sure that on the body we read the registers and00:20:24
this knowing that you are those registers and00:20:28
someone maybe doesn’t believe him,00:20:33
here they are, we have an output, we have an X output, an00:20:38
output z from 22 up to 22 by 28 by 2900:20:43
that is, this is a 16-bit value along the axes,00:20:48
here we are now and we are reading them with you,00:20:51
we have all read them, we will not multiply by00:20:55
sensitivity as in the last lesson00:20:57
we were shown there is no point in bothering with this,00:21:01
well, in00:21:03
this one the buffer is already such a 16-bit one,00:21:08
it was entered by the company with you00:21:11
alternately according to the cycle, all these our00:21:15
values are00:21:23
not so I wanted00:21:27
well, since we have these values with you,00:21:32
signed Tony uint just int00:21:38
here00:21:41
you are already this 16 we convert anyway on00:21:44
yours first like00:21:46
this order otherwise you and I risk00:21:50
losing something00:21:51
buffer00:21:55
here 2 multiplied by00:21:59
5 plus 1 close this00:22:05
we shift by00:22:07
800:22:10
closed the bracket and00:22:13
plus00:22:15
almost the same thing not shifted but00:22:20
not added by one everything in general00:22:24
here we have00:22:25
all of us we considered this00:22:29
function here with you, we00:22:31
called00:22:33
all the variables for now and00:22:39
we’ll try to display it00:22:42
here, we don’t touch anything here, as00:22:45
we remember, we use Dima, today we’ll00:22:48
just add houses and remove the00:22:51
timings in the houses of timings and since it doesn’t00:22:55
happen, this is all of us For now, let00:22:58
's comment it out, of course, and00:23:00
we won't forget to do it in an infinite loop, we'll00:23:04
call00:23:09
this function here, we'll00:23:12
copy it, we have00:23:15
a prototype for it, as we know, we have a00:23:18
prototype of the court, it doesn't matter if we move it a little bit, then00:23:20
we'll correct it00:23:23
because now I don't want to00:23:25
spoil it for me the clipboard in which00:23:27
the functions are located00:23:29
here and here without any delay we00:23:32
also select the delay on stands here with00:23:35
you well, according to my calculations here 10 is a lot we00:23:40
will put 2000:23:42
all of us at once with you and the LED we will check00:23:46
them here we will check the whole economy00:23:48
let's00:23:50
collect the code but this is probably an hour for us,00:23:53
or z is not used or something else00:23:55
like that, so let’s see the tempo 16 we don’t need it, which00:23:58
means in general we00:24:00
haven’t used this variable for a long time, let’s00:24:04
flash the controller and see00:24:07
what’s going on with us for some reason,00:24:15
the LED is constantly blinking, it shouldn’t00:24:19
blink, it should be on sometime, sometime it shouldn’t be on,00:24:22
something is wrong with it, it’s00:24:28
not blinking like that,00:24:31
well, nevertheless, we will now launch the00:24:34
Art Yanovskaya program with you00:24:36
which we use as an00:24:41
arduino knightley terminal00:24:44
there we have a00:24:47
virtual com port, strange something is00:24:51
wrong, probably00:24:52
com 6, let the port monitor, but it’s here00:24:57
because we need to00:24:59
run it like this and we have00:25:03
axes jumping here for some reason, they’re dancing now00:25:07
Let's figure it out, I'll figure it out and come back in00:25:11
general, the axes are jumping here just00:25:13
for one simple reason, everywhere00:25:17
we have the least significant bit is read, sometimes00:25:21
it is necessary to read the most significant bit, we, that is,00:25:23
repeated the operation of the axis to change and the bytes00:25:27
older than the lower are not assigned, most likely00:25:29
just just let's let's see,00:25:33
we have a stream that lights up, that is,00:25:37
just here we light up like this, that00:25:40
is, well, it's better that we don't look at00:25:42
the LED here, it's necessary to connect the anti-matrix00:25:45
externally, and00:25:48
of course we'll look at it normally,00:25:55
so we start the port monitor, we have X's count00:25:58
tend to zero since00:26:01
we have a board on the plane, we will00:26:03
turn it the other way around, z will become00:26:06
negative,00:26:07
so if we00:26:09
turn it back to positive, we00:26:12
will put a negative y, so we will00:26:15
put a positive y,00:26:19
that is, it all works, well, let’s do it00:26:22
a little and in two parts we00:26:24
completely dealt with you, which is very00:26:26
surprising, of course we are growing, which means this is00:26:29
generally very wonderful, then let us00:26:32
now try to00:26:36
display a normal visualization, that00:26:39
is, through my program, but for this00:26:42
we will need to not just write00:26:46
the code here, but that goes without saying00:26:53
this is necessary, but since I generally have the00:26:58
following requirements in my program, here00:27:01
we must put with you 11 here 5500:27:07
well, let everything remain00:27:13
that we don’t need 7 end ones here 8,00:27:20
respectively, the axes are slightly different y00:27:24
here here z and of course here too y00:27:30
of course00:27:32
here 2 there is00:27:36
no Taimanov here,00:27:39
let’s put it together for now and close the project with you, it’s00:27:44
just that my normal program ran00:27:47
at 512 and here for some reason I do00:27:52
n’t even know why00:27:53
512 thousand are just my own programs, I00:27:57
mean any frequency, but in arduino 512 If I weren’t, I00:28:00
would have stayed at 512, but there is a00:28:02
maximum of 6 and we don’t change anything anymore.00:28:05
Now we’ll regenerate the project,00:28:07
rebuild it with firmware, run my monitor, here’s mine, we’ll00:28:12
find mine for now, while00:28:17
everything is assembled here, but the cais sources are in00:28:20
one folder, here we have00:28:25
it my people stream port monitor, that00:28:29
is, we have a00:28:30
project assembled now, let’s flash00:28:35
this project for us,00:28:39
the LED has not stopped working, everything works fine here,00:28:41
that is, we can00:28:43
safely run this program with00:28:47
you here com 6 as we saw here, so00:28:52
I added various Well, I’ll tell you the program00:28:54
there, of course, I’m not your wife about this 512,00:28:58
we press start and for00:29:01
some reason we don’t see anything with you,00:29:04
why I don’t know,00:29:06
apparently something is not quite right here,00:29:10
but there00:29:11
seem to be no errors, it00:29:14
starts up and drowns right now it’s normal for a00:29:16
new one to start,00:29:21
maybe something with the program, maybe something00:29:23
with the emulation, in fact, everything00:29:26
is displayed here, the z axis is red00:29:29
at the top, here it is, here we reject the scarf,00:29:34
turned the red one down, like00:29:37
this, put it on the yellow bottom, like this,00:29:41
blue at the top that is, you will play in general,00:29:44
if of course you have such a board, well,00:29:48
at least study it, and while the cat about the board00:29:52
does not matter what the most important principle of00:29:55
writing code and working with sensors is, I00:29:58
think we achieved our goal in this00:30:03
lesson, congratulations to everyone00:30:06
that we wrote such the code actually00:30:10
curbed such a sensor, subscribe to the00:30:13
channel who hasn’t done this yet in order to00:30:16
know when the next time00:30:19
my next video comes out who liked00:30:22
this lesson00:30:23
press the button I like in the form of a00:30:27
thumb which is located on00:30:30
the right reasons for the video write comments00:30:32
here in YouTube write also comments00:30:36
questions discuss in groups on00:30:39
social media all links are given on the forum00:30:43
everyone wish you00:30:45
good healthDescription:
Продолжаем работать с библиотекой HAL. Сегодня мы продолжаем работать с акселерометром LSM6DS0, который установлен на плате расширения X-NUCLEO-IKS01A1, предназначенной для работы с отладочной платой Nucleo, с которой мы уже познакомились немного раньше. В данной части занятия мы продолжим писать функцию инициализации датчика, затем напишем функцию считывания данных, и, более того, мы в данной части закончим работу с данным акселерометром. Мы увидим показания и в текстовом виде и визуально с помощью программы NS Port Monitor. Отладочную плату Nucleo STM32F401RE можно приобрести здесь: http://ali.pub/1u80dx и здесь http://ali.pub/1u80gn Оценочную плату X-NUCLEO-IKS01A1 можно приобрести здесь http://ali.pub/1us417 Навигация по видео: 00:00 Введение 01:18 Продолжим писать функцию инициализации 18:26 Проверим инициализацию на настоящем акселерометре 19:05 Напишем функцию считывания данных 23:43 Проверим считанные данные монитором порта 26:22 Исправим функцию отображения считанных данных 27:41 Проверим считывание данных визуально с помощью программы NS Port Monitor Текстовая часть урока, исходный код, документация на акселерометр, на плату расширения, ссылка на программу NS Port Monitor здесь https://narodstream.ru/stm-urok-42-podklyuchaem-akselerometr-lsm6ds0-chast-2/ Рекомендуется также перед просмотром данного урока просмотреть данное видео: УРОК 41. Подключаем акселерометр LIS3DSH. Часть 1 https://www.youtube.com/watch?v=KWXJCJk-JV4 УРОК 41. Подключаем акселерометр LIS3DSH. Часть 2 https://www.youtube.com/watch?v=qrnTbYd6Gy0 УРОК 41. Подключаем акселерометр LIS3DSH. Часть 3 https://www.youtube.com/watch?v=CztrtMEIqNY УРОК 41. Подключаем акселерометр LIS3DSH. Часть 4 https://www.youtube.com/watch?v=_XJmKjqAQH8 УРОК 42. Подключаем акселерометр LSM6DS0. Часть 1 https://www.youtube.com/watch?v=jMKXOjJwOs4 УРОК 38. Знакомство с платой NUCLEO STM32F401RE и оценочными платами https://www.youtube.com/watch?v=L-ta_BhW6CU Группа в контакте http://vk.com/club116656325 Группа в Одноклассниках http://ok.ru/group/52987126153436 Группа в Facebook https://www.facebook.com/unsupportedbrowser Мой сайт "Программирование МК" https://narodstream.ru/ Форум https://narodstream.ru/forum/ Вы можете помочь проекту: ЮMoney https://yoomoney.ru/to/41001176473465 Webmoney Z341906933112 Карта Сбербанка (МИР) 2202201799288929 Можно в USDT 1) Сеть:TRC20 Адрес: TBBPFk5Widf1CYvF7Xk5ssKXeiPJHwtMgS 2) Сеть: BSC BNB Smart Chain (BEP20) (комиссия намного меньше) Адрес: 0x2e38754DF1e54649Bf0D5CD6fD6D8c96a9f22f17 3) Сеть: Huobi ECO Chain (HECO) (комиссия еще меньше) Адрес: 0x2e38754DF1e54649Bf0D5CD6fD6D8c96a9f22f17
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