mirror of https://github.com/ArduPilot/ardupilot
Linux_HAL_Essentials: Restructure BeagleBone PRU firmware for BBBmini and BeagleBone Blue
This commit is contained in:
mirkix
Lucas De Marchi
parent
6d99bb0937
commit
d0fce3b1d7
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@ -1,5 +1,6 @@
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RcAioPRU: RcAioPRU.p
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pasm -V3 -c RcAioPRU.p
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pasm -V3 -c RcAioPRU.p RcAioPRU_BBBMINI -DBBBMINI
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pasm -V3 -c RcAioPRU.p RcAioPRU_BBBLUE -DBBBLUE
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test: RcAioPRUTest.c
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gcc -g -o RcAioPRUTest RcAioPRUTest.c
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@ -126,6 +126,7 @@
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#define RCIN_RINGBUFFER_RAM_OFFSET 0x1004
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// RCOut pins
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#ifdef BBBMINI
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#define RC_CH_1_PIN r30.t10
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#define RC_CH_2_PIN r30.t8
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#define RC_CH_3_PIN r30.t11
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@ -138,6 +139,18 @@
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#define RC_CH_10_PIN r30.t2
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#define RC_CH_11_PIN r30.t1
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#define RC_CH_12_PIN r30.t0
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#endif
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#ifdef BBBLUE
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#define RC_CH_1_PIN r30.t8
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#define RC_CH_2_PIN r30.t10
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#define RC_CH_3_PIN r30.t9
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#define RC_CH_4_PIN r30.t11
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#define RC_CH_5_PIN r30.t6
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#define RC_CH_6_PIN r30.t7
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#define RC_CH_7_PIN r30.t4
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#define RC_CH_8_PIN r30.t5
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#endif
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// RCOut enable bits
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#define RC_CH_1_ENABLE register.ch_enable.t0
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@ -376,10 +389,14 @@ mainloop:
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RCOUT_PWM RC_CH_6_PIN, register.ch_6_next_time, RC_CH_6_ENABLE, CH_6_PULSE_TIME_RAM_OFFSET, CH_6_T_TIME_RAM_OFFSET
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RCOUT_PWM RC_CH_7_PIN, register.ch_7_next_time, RC_CH_7_ENABLE, CH_7_PULSE_TIME_RAM_OFFSET, CH_7_T_TIME_RAM_OFFSET
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RCOUT_PWM RC_CH_8_PIN, register.ch_8_next_time, RC_CH_8_ENABLE, CH_8_PULSE_TIME_RAM_OFFSET, CH_8_T_TIME_RAM_OFFSET
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#ifdef BBBMINI
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RCOUT_PWM RC_CH_9_PIN, register.ch_9_next_time, RC_CH_9_ENABLE, CH_9_PULSE_TIME_RAM_OFFSET, CH_9_T_TIME_RAM_OFFSET
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RCOUT_PWM RC_CH_10_PIN, register.ch_10_next_time, RC_CH_10_ENABLE, CH_10_PULSE_TIME_RAM_OFFSET, CH_10_T_TIME_RAM_OFFSET
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RCOUT_PWM RC_CH_11_PIN, register.ch_11_next_time, RC_CH_11_ENABLE, CH_11_PULSE_TIME_RAM_OFFSET, CH_11_T_TIME_RAM_OFFSET
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RCOUT_PWM RC_CH_12_PIN, register.ch_12_next_time, RC_CH_12_ENABLE, CH_12_PULSE_TIME_RAM_OFFSET, CH_12_T_TIME_RAM_OFFSET
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#endif
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RCIN_ECAP
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// MAX_CYCLE_TIME
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#ifdef DEBUG
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MAX_CYCLE_TIME
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#endif
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jmp mainloop
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@ -0,0 +1,216 @@
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/* This file contains the PRU instructions in a C array which are to */
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/* be downloaded from the host CPU to the PRU instruction memory. */
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/* This file is generated by the PRU assembler. */
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const unsigned int PRUcode[] = {
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0x240000fe,
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0x2effaf84,
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0x240000f9,
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0x81643899,
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0x241004f4,
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0x24012cf6,
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0x241000f7,
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0x241002f8,
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0x240000f9,
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0xe1001799,
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0xe1001899,
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0x2403e8e5,
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0x2407d0e6,
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0x240bb8e7,
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0x240fa0e8,
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0x241388e9,
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0x241770ea,
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0x241b58eb,
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0x241f40ec,
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0x242328ed,
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0x242710ee,
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0x242af8ef,
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0x242ee0f0,
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0x240000e4,
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0x81003884,
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0x240002d9,
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0x24cec099,
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0x81043899,
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0x810c3899,
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0x81143899,
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0x811c3899,
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0x81243899,
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0x812c3899,
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0x81343899,
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0x813c3899,
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0x81443899,
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0x814c3899,
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0x81543899,
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0x815c3899,
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0x24003dd9,
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0x24090099,
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0x81083899,
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0x81103899,
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0x81183899,
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0x81203899,
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0x81283899,
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0x81303899,
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0x81383899,
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0x81403899,
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0x81483899,
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0x81503899,
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0x81583899,
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0x81603899,
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0x240010f9,
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0x81003a99,
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0x24ffffd9,
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0x24ffff99,
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0x810c3a99,
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0x91003a99,
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0x1301f9f9,
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0x81003a99,
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0x24010bf9,
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0x81282399,
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0x240092f9,
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0x812a2399,
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0x91003884,
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0x910c3a91,
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0x04f1e5f9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1e5,
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0xd108fe06,
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0x91043899,
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0x00f9e5e5,
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0xc900e408,
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0x1f08fefe,
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0x21005300,
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0x9104389a,
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0x91083899,
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0x04faf9f9,
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0x00f9e5e5,
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0x1d08fefe,
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0x04f1e6f9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1e6,
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0xd10afe06,
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0x910c3899,
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0x00f9e6e6,
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0xc901e408,
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0x1f0afefe,
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0x21006300,
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0x910c389a,
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0x91103899,
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0x04faf9f9,
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0x00f9e6e6,
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0x1d0afefe,
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0x04f1e7f9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1e7,
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0xd109fe06,
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0x91143899,
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0x00f9e7e7,
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0xc902e408,
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0x1f09fefe,
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0x21007300,
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0x9114389a,
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0x91183899,
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0x04faf9f9,
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0x00f9e7e7,
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0x1d09fefe,
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0x04f1e8f9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1e8,
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0xd10bfe06,
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0x911c3899,
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0x00f9e8e8,
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0xc903e408,
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0x1f0bfefe,
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0x21008300,
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0x911c389a,
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0x91203899,
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0x04faf9f9,
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0x00f9e8e8,
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0x1d0bfefe,
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0x04f1e9f9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1e9,
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0xd106fe06,
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0x91243899,
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0x00f9e9e9,
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0xc904e408,
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0x1f06fefe,
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0x21009300,
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0x9124389a,
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0x91283899,
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0x04faf9f9,
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0x00f9e9e9,
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0x1d06fefe,
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0x04f1eaf9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1ea,
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0xd107fe06,
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0x912c3899,
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0x00f9eaea,
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0xc905e408,
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0x1f07fefe,
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0x2100a300,
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0x912c389a,
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0x91303899,
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0x04faf9f9,
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0x00f9eaea,
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0x1d07fefe,
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0x04f1ebf9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1eb,
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0xd104fe06,
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0x91343899,
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0x00f9ebeb,
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0xc906e408,
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0x1f04fefe,
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0x2100b300,
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0x9134389a,
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0x91383899,
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0x04faf9f9,
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0x00f9ebeb,
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0x1d04fefe,
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0x04f1ecf9,
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0x24f000da,
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0x2400009a,
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0x60faf90d,
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0x10f1f1ec,
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0xd105fe06,
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0x913c3899,
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0x00f9ecec,
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0xc907e408,
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0x1f05fefe,
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0x2100c300,
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0x913c389a,
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0x91403899,
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0x04faf9f9,
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0x00f9ecec,
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0x1d05fefe,
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0x912e2399,
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0xc902f90b,
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0x91086399,
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0xe1007499,
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0x240006f9,
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0x81302399,
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0xe1001895,
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0x0101f5f5,
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0x0108f4f4,
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0x48f5f603,
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0x241004f4,
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0x240000f5,
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0x21004100 };
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