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ardupilot/libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h

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/*
Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Author: GDL90/UCP protocol by uAvionix, 2021.
Implemented by: Tom Pittenger
*/
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
typedef enum __attribute__((__packed__))
{
GDL90_ID_HEARTBEAT = 0,
GDL90_ID_OWNSHIP_REPORT = 10, // 0x0A
GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE = 11, // 0x0B
GDL90_ID_IDENTIFICATION = 37, // 0x25
GDL90_ID_SENSOR_MESSAGE = 40, // 0x28
GDL90_ID_TRANSPONDER_CONFIG = 43, // 0x2B
GDL90_ID_MESSAGE_REQUEST = 44, // 0x2C
GDL90_ID_TRANSPONDER_CONTROL = 45, // 0x2D
GDL90_ID_GPS_DATA = 46, // 0x2E
GDL90_ID_TRANSPONDER_STATUS = 47, // 0x2F
} GDL90_MESSAGE_ID;
typedef enum __attribute__((__packed__))
{
ADSB_NIC_BARO_UNVERIFIED = 0, // Baro is Gilman bases, and not cross checked
ADSB_NIC_BARO_VERIFIED = 1, // Baro is cross-checked, or not Gilman based
} ADSB_NIC_BARO; // Barometric Altitude Integrity Code
typedef enum __attribute__((__packed__))
{
ADSB_AIRBORNE_SUBSONIC = 0,
ADSB_AIRBORNE_SUPERSONIC = 1,
ADSB_ON_GROUND = 2,
// 3 Reserved
} ADSB_AIR_GROUND_STATE; // Determines how horizontal velocity fields are processed in UAT
typedef enum __attribute__((__packed__))
{
ADSB_EMERGENCY_NONE = 0,
ADSB_EMERGENCY_GENERAL = 1,
ADSB_EMERGENCY_MEDICAL = 2,
ADSB_EMERGENCY_MINIMUM_FUEL = 3,
ADSB_EMERGENCY_NO_COMMUNICATION = 4,
ADSB_EMERGNECY_INTERFERENCE = 5,
ADSB_EMERGENCY_DOWNED_AIRCRAFT = 6,
ADSB_EMERGENCY_UAS_LOST_LINK = 7,
// 7 Reserved
} ADSB_EMERGENCY_STATUS;
#define GDL90_TRANSPONDER_CONTROL_VERSION (2)
#if GDL90_TRANSPONDER_CONTROL_VERSION == 1
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
ADSB_NIC_BARO baroCrossChecked : 1;
ADSB_AIR_GROUND_STATE airGroundState : 2;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
int32_t externalBaroAltitude_mm;
uint16_t squawkCode;
ADSB_EMERGENCY_STATUS emergencyState;
uint8_t callsign[8];
} GDL90_TRANSPONDER_CONTROL_MSG;
#elif GDL90_TRANSPONDER_CONTROL_VERSION == 2
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
ADSB_NIC_BARO baroCrossChecked : 1;
ADSB_AIR_GROUND_STATE airGroundState : 2;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
int32_t externalBaroAltitude_mm;
uint16_t squawkCode;
ADSB_EMERGENCY_STATUS emergencyState;
uint8_t callsign[8];
uint8_t rfu : 7;
uint8_t x_bit : 1;
} GDL90_TRANSPONDER_CONTROL_MSG;
#endif
#define GDL90_STATUS_MAX_ALTITUDE_FT (101338)
#define GDL90_STATUS_MIN_ALTITUDE_FT (-1000)
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
uint8_t rfu : 2;
uint8_t x_bit : 1;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
uint16_t modeARepliesPerSecond;
uint16_t modecRepliesPerSecond;
uint16_t modeSRepliesPerSecond;
uint16_t squawkCode;
uint16_t crc;
} GDL90_TRANSPONDER_STATUS_MSG;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
uint8_t indicatingOnGround : 1;
uint8_t interrogatedSinceLast : 1;
uint8_t fault : 1;
uint8_t identActive : 1;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
uint8_t latitude[3];
uint8_t longitude[3];
uint32_t track_Heading : 8;
uint32_t horizontalVelocity :12;
uint32_t altitude :12;
uint16_t squawkCode;
uint8_t NIC : 4;
uint8_t NACp : 4;
uint8_t temperature;
uint16_t crc;
} GDL90_TRANSPONDER_STATUS_MSG_V3;
typedef struct __attribute__((__packed__))
{
uint8_t HPLfdeActive : 1;
uint8_t fault : 1;
uint8_t HrdMagNorth : 1;
uint8_t reserved : 5;
} GDL90_GPS_NAV_STATE;
typedef enum __attribute__((__packed__))
{
GPS_FIX_NONE = 0,
GPS_FIX_NO_FIX = 1,
GPS_FIX_2D = 2,
GPS_FIX_3D = 3,
GPS_FIX_DIFFERENTIAL = 4,
GPS_FIX_RTK = 5,
} GPS_FIX;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
uint32_t utcTime_s; // Time since GPS epoch
int32_t latitude_ddE7;
int32_t longitude_ddE7;
int32_t altitudeGnss_mm; // Height about WGS84 ellipsoid
// Protection Limits. FD or SBAS-based depending on state bits
uint32_t HPL_mm;
uint32_t VPL_cm;
// FOMS
uint32_t horizontalFOM_mm;
uint16_t verticalFOM_cm;
uint16_t horizontalVelocityFOM_mmps;
uint16_t verticalVelocityFOM_mmps;
// Velocities
int16_t verticalVelocity_cmps;
int32_t northVelocity_mmps; // millimeter/s
int32_t eastVelocity_mmps;
// State
GPS_FIX fixType;
GDL90_GPS_NAV_STATE navState;
uint8_t satsUsed;
} GDL90_GPS_DATA_V2;
#define GDL90_GPS_DATA_VERSION (2)
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
GDL90_MESSAGE_ID reqMsgId;
} GDL90_TRANSPONDER_MESSAGE_REQUEST_V2;
typedef enum __attribute__((__packed__))
{
GDL90_BARO_DATA_SOURCE_INTERNAL = 0,
GDL90_BARO_DATA_SOURCE_EXTERNAL,
}GDL90_BARO_DATA_SOURCE;
typedef enum __attribute__((__packed__))
{
ADSB_SDA_UNKNOWN = 0,
ADSB_SDA_10_NEG3 = 1,
ADSB_SDA_10_NEG5 = 2,
ADSB_SDA_10_NEG7 = 3,
} ADSB_SDA; // System Design Assurance
typedef enum __attribute__((__packed__))
{
ADSB_SIL_UNKNOWN = 0,
ADSB_SIL_10_NEG3 = 1,
ADSB_SIL_10_NEG5 = 2,
ADSB_SIL_10_NEG7 = 3,
} ADSB_SIL; // Source Integrity Level
typedef enum __attribute__((__packed__))
{
ADSB_AV_LW_NO_DATA = 0,
ADSB_AV_LW_15M_23M = 1,
ADSB_AV_LW_25M_28P5M = 2,
ADSB_AV_LW_25M_34M = 3,
ADSB_AV_LW_35M_33M = 4,
ADSB_AV_LW_35M_38M = 5,
ADSB_AV_LW_45M_39P5M = 6,
ADSB_AV_LW_45M_45M = 7,
ADSB_AV_LW_55M_45M = 8,
ADSB_AV_LW_55M_52M = 9,
ADSB_AV_LW_65M_59P5M = 10,
ADSB_AV_LW_65M_67M = 11,
ADSB_AV_LW_75M_72P5M = 12,
ADSB_AV_LW_75M_80M = 13,
ADSB_AV_LW_85M_80M = 14,
ADSB_AV_LW_85M_90M = 15,
} ADSB_AIRCRAFT_LENGTH_WIDTH;
typedef enum __attribute__((__packed__))
{
ADSB_NOT_UAT_IN_CAPABLE = 0,
ADSB_UAT_IN_CAPABLE = 1
} ADSB_UAT_IN_CAPABILITY;
typedef enum __attribute__((__packed__))
{
ADSB_NOT_1090ES_IN_CAPABLE = 0,
ADSB_1090ES_IN_CAPABLE = 1
} ADSB_1090ES_IN_CAPABILITY;
typedef enum __attribute__((__packed__))
{
ADSB_GPS_LON_NO_DATA = 0,
ADSB_GPS_LON_FROM_SENSOR = 1,
// 2 - 31 valid values in 2 meter increments
} ADSB_GPS_LONGITUDINAL_OFFSET;
typedef enum __attribute__((__packed__))
{
ADSB_GPS_LAT_NO_DATA = 0,
ADSB_GPS_LAT_LEFT_2M = 1,
ADSB_GPS_LAT_LEFT_4M = 2,
ADSB_GPS_LAT_LEFT_6M = 3,
ADSB_GPS_LAT_0M = 4,
ADSB_GPS_LAT_RIGHT_2M = 5,
ADSB_GPS_LAT_RIGHT_4M = 6,
ADSB_GPS_LAT_RIGHT_6M = 7,
} ADSB_GPS_LATERAL_OFFSET;
typedef enum __attribute__((__packed__))
{
ADSB_EMITTER_NO_INFO = 0,
ADSB_EMITTER_LIGHT = 1,
ADSB_EMITTER_SMALL = 2,
ADSB_EMITTER_LARGE = 3,
ADSB_EMITTER_HIGH_VORTEX_LARGE = 4,
ADSB_EMITTER_HEAVY = 5,
ADSB_EMITTER_HIGHLY_MANUV = 6,
ADSB_EMITTER_ROTOCRAFT = 7,
// 8 Unassigned
ADSB_EMITTER_GLIDER = 9,
ADSB_EMITTER_LIGHTER_AIR = 10,
ADSB_EMITTER_PARACHUTE = 11,
ADSB_EMITTER_ULTRA_LIGHT = 12,
// 13 Unassigned
ADSB_EMITTER_UAV = 14,
ADSB_EMITTER_SPACE = 15,
// 16 Unassigned
// Surface types
ADSB_EMITTER_EMERGENCY_SURFACE = 17,
ADSB_EMITTER_SERVICE_SURFACE = 18,
// Obstacle types
ADSB_EMITTER_POINT_OBSTACLE = 19,
ADSB_EMITTER_CLUSTER_OBSTACLE = 20,
ADSB_EMITTER_LINE_OBSTACLE = 21,
// 22 - 39 Reserved
} ADSB_EMITTER; // ADSB Emitter Category
typedef enum __attribute__((__packed__))
{
PING_COM_1200_BAUD = 0,
PING_COM_2400_BAUD = 1,
PING_COM_4800_BAUD = 2,
PING_COM_9600_BAUD = 3,
PING_COM_19200_BAUD = 4,
PING_COM_38400_BAUD = 5,
PING_COM_57600_BAUD = 6,
PING_COM_115200_BAUD = 7,
PING_COM_921600_BAUD = 8,
} PING_COM_RATE;
typedef enum __attribute__((__packed__))
{
CONFIG_VALIDITY_ICAO = 1 << 0,
CONFIG_VALIDITY_SIL = 1 << 1,
CONFIG_VALIDITY_SDA = 1 << 2,
CONFIG_VALIDITY_BARO_ALT_SOURCE = 1 << 3,
CONFIG_VALIDITY_AIRCRAFT_MAX_SPEED = 1 << 4,
CONFIG_VALIDITY_TEST_MODE = 1 << 5,
CONFIG_VALIDITY_ADSB_IN_CAP = 1 << 6,
CONFIG_VALIDITY_AIRCRAFT_LEN_WIDTH = 1 << 7,
CONFIG_VALIDITY_ANT_LAT_OFFSET = 1 << 8,
CONFIG_VALIDITY_ANT_LONG_OFFSET = 1 << 9,
CONFIG_VALIDITY_AIRCRAFT_REG = 1 << 10,
CONFIG_VALIDITY_AIRCRAFT_STALL_SPEED = 1 << 11,
CONFIG_VALIDITY_AIRCRAFT_EMITTER_TYPE = 1 << 12,
CONFIG_VALIDITY_DEF_1090ES_TX_MODE = 1 << 13,
CONFIG_VALIDITY_DEF_MODES_REPLY_MODE = 1 << 14,
CONFIG_VALIDITY_DEF_MODEC_REPLY_MODE = 1 << 15,
CONFIG_VALIDITY_DEF_MODEA_REPLY_MODE = 1 << 16,
CONFIG_VALIDITY_SERIAL_BAUD_RATE = 1 << 17,
CONFIG_VALIDITY_DEF_MODEA_SQUAWK = 1 << 18,
CONFIG_VALIDITY_BARO_100 = 1 << 19,
CONFIG_VALIDITY_IN_PROTOCOL = 1 << 20,
CONFIG_VALIDITY_OUT_PROTOCOL = 1 << 21,
} CONFIG_VALIDITY;
typedef union __attribute__((__packed__))
{
struct __attribute__((__packed__))
{
uint32_t icaoValid : 1;
uint32_t silValid : 1;
uint32_t sdaValid : 1;
uint32_t baroAltSourceValid : 1;
uint32_t aircraftMaxSpeedValid : 1;
uint32_t testModeValid : 1;
uint32_t adsbInCapValid : 1;
uint32_t aircraftLenWidthValid : 1;
uint32_t aircraftLatOffsetValid : 1;
uint32_t aircraftLongOffsetValid : 1;
uint32_t aircraftRegValid : 1;
uint32_t aircraftStallSpeedValid : 1;
uint32_t aircraftEmitterCatValid : 1;
uint32_t default1090ExTxModeValid : 1;
uint32_t defaultModeSReplyModeValid : 1;
uint32_t defaultModeCReplyModeValid : 1;
uint32_t defaultModeAReplyModeValid : 1;
uint32_t serialBaudRateValid : 1;
uint32_t defaultModeASquawkValid : 1;
uint32_t baro100Valid : 1;
uint32_t inProtocolValid : 1;
uint32_t outProtocolValid : 1;
uint32_t reserved : 10;
};
CONFIG_VALIDITY raw;
} CONFIG_VALIDITY_BITMASK;
typedef enum __attribute__((__packed__))
{
PING_PROTOCOL_NONE = 0,
PING_PROTOCOL_MAVLINK = 1 << 0,
PING_PROTOCOL_UCP = 1 << 1,
PING_PROTOCOL_APOLLO = 1 << 9,
PING_PROTOCOL_UCP_HD = 1 << 10,
} PING_PROTOCOL;
typedef union
{
struct __attribute__((__packed__))
{
uint16_t mavlink : 1;
uint16_t ucp : 1;
uint16_t reserved1 : 7;
uint16_t apollo : 1;
uint16_t ucphd : 1;
uint16_t reserved2 : 5;
};
PING_PROTOCOL raw;
} PING_PROTOCOL_MASK;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t version;
uint8_t icaoAddress[3];
uint8_t maxSpeed : 3;
GDL90_BARO_DATA_SOURCE baroAltSource : 1;
ADSB_SDA SDA : 2;
ADSB_SIL SIL : 2;
ADSB_AIRCRAFT_LENGTH_WIDTH lengthWidth : 4;
ADSB_1090ES_IN_CAPABILITY es1090InCapable : 1;
ADSB_UAT_IN_CAPABILITY uatInCapable : 1;
uint8_t testMode : 2;
ADSB_GPS_LONGITUDINAL_OFFSET longitudinalOffset : 5;
ADSB_GPS_LATERAL_OFFSET lateralOffset : 3;
uint8_t registration[8];
uint16_t stallSpeed_cmps;
ADSB_EMITTER emitterType;
PING_COM_RATE baudRate : 4;
uint8_t modeAEnabled : 1;
uint8_t modeCEnabled : 1;
uint8_t modeSEnabled : 1;
uint8_t es1090TxEnabled : 1;
uint16_t defaultSquawk;
CONFIG_VALIDITY_BITMASK valdityBitmask;
uint8_t rfu : 7;
uint8_t baro100 : 1;
PING_PROTOCOL_MASK inProtocol;
PING_PROTOCOL_MASK outProtocol;
uint16_t crc;
} GDL90_TRANSPONDER_CONFIG_MSG_V4_V5;
typedef struct __attribute__((__packed__))
{
uint8_t fwMajorVersion;
uint8_t fwMinorVersion;
uint8_t fwBuildVersion;
uint8_t hwId; // TODO Ugh should be 16 bits
uint64_t serialNumber;
} GDL90_DEVICE_ID;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t protocolVersion;
GDL90_DEVICE_ID primary;
GDL90_DEVICE_ID secondary;
uint8_t primaryFWID;
uint32_t primaryCRC;
uint8_t secondaryFWID;
uint32_t secondaryCRC;
uint8_t primaryFwPartNumber[15];
uint8_t secondaryFwPartNumber[15];
uint16_t crc;
} GDL90_IDENTIFICATION_V3;
#define GDL90_IDENT_PROTOCOL_VERSION (3)
typedef struct __attribute__((__packed__))
{
struct
{
uint8_t uatInitialized : 1;
// GDL90 public spec defines next bit as reserved
// uAvionix maps extra failure condition
uint8_t functionFailureGnssDataFrequency : 1;
uint8_t ratcs : 1;
uint8_t gpsBatteryLow : 1;
uint8_t addressType : 1;
uint8_t ident : 1;
uint8_t maintenanceRequired : 1;
uint8_t gpsPositionValid : 1;
} one;
struct __attribute__((__packed__))
{
uint8_t utcOk : 1;
// GDL90 public spec defines next four bits as reserved
// uAvionix maps extra failure conditions
uint8_t functionFailureGnssUnavailable : 1;
uint8_t functionFailureGnssNo3dFix : 1;
uint8_t functionFailureBroadcastMonitor : 1;
uint8_t functionFailureTransmitSystem : 1;
uint8_t csaNotAvailable : 1;
uint8_t csaRequested : 1;
uint8_t timestampMsb : 1;
} two;
} GDL90_HEARTBEAT_STATUS;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
GDL90_HEARTBEAT_STATUS status;
uint16_t timestamp;
// Need to flip before TX
union
{
struct __attribute__((__packed__))
{
uint16_t uatMessages : 10;
uint16_t rfu : 1;
uint16_t uplinkMessages : 5;
};
uint16_t messageCount;
};
uint16_t crc;
} GDL90_HEARTBEAT;
typedef enum __attribute__((__packed__))
{
GDL90_ADDRESS_ADSB_ICAO,
GDL90_ADDRESS_ADSB_SELF_ASSIGNED,
GDL90_ADDRESS_TISB_ICAO,
GDL90_ADDRESS_TISB_TRACK_ID,
GDL90_ADDRESS_SURFACE,
GDL90_ADDRESS_GROUND_BEACON,
} GDL90_ADDRESS_TYPE;
typedef enum __attribute__((__packed__))
{
GDL90_NO_ALERT,
GDL90_ALERT,
} GDL90_TRAFFIC_ALERT;
typedef enum __attribute__((__packed__))
{
GDL90_MISC_INVALID,
GDL90_MISC_TRUE_TRACK,
GDL90_MISC_HEADING_MAGNETIC,
GDL90_MISC_HEADING_TRUE,
} GDL90_MISC_TRACK_TYPE;
typedef enum __attribute__((__packed__))
{
GDL90_MISC_REPORT_UPDATED,
GDL90_MISC_REPORT_EXTRAPOLATED,
} GDL90_MISC_REPORT_TYPE;
typedef enum __attribute__((__packed__))
{
GDL90_MISC_ON_GROUND,
GDL90_MISC_AIRBORNE,
} GDL90_MISC_AG_STATE;
typedef union
{
struct __attribute__((__packed__))
{
GDL90_MISC_TRACK_TYPE track : 2;
GDL90_MISC_REPORT_TYPE reportType : 1;
GDL90_MISC_AG_STATE agState : 1;
};
uint8_t data;
} GDL90_MISCELLANEOUS;
typedef struct __attribute__((__packed__))
{
GDL90_ADDRESS_TYPE addressType: 4;
GDL90_TRAFFIC_ALERT trafficAlert : 4;
uint8_t address[3];
uint8_t latitude[3]; // 180 deg / 2^23
uint8_t longitude[3]; // 180 deg / 2^23
// Byte order must be flipped before TX
union
{
struct __attribute__((__packed__))
{
uint16_t misc : 4;
uint16_t altitude : 12;
};
uint16_t altitudeMisc;
};
uint8_t NACp : 4;
uint8_t NIC : 4;
// Byte order must be flipped before TX
union
{
struct __attribute__((__packed__))
{
uint32_t heading : 8;
uint32_t verticalVelocity : 12;
uint32_t horizontalVelocity : 12;
};
uint32_t velocities;
};
uint8_t emitterCategory;
uint8_t callsign[8];
uint8_t rfu : 4;
uint8_t emergencyCode : 4;
} GDL90_REPORT;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
GDL90_REPORT report;
uint16_t crc;
} GDL90_OWNSHIP_REPORT;
typedef GDL90_OWNSHIP_REPORT GDL90_TRAFFIC_REPORT;
typedef enum __attribute__((__packed__))
{
GDL90_NO_WARNING,
GDL90_WARNING,
} GDL90_VERTICAL_WARNING;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint16_t geometricAltitude; // 5 ft resolution
// Must be endian swapped before TX
union
{
struct __attribute__((__packed__))
{
uint16_t verticalFOM : 15;
GDL90_VERTICAL_WARNING verticalWarning : 1;
};
uint16_t veritcalMetrics;
};
uint16_t crc;
} GDL90_OWNSHIP_GEO_ALTITUDE;
typedef enum __attribute__((__packed__))
{
GDL90_SENSOR_AHRS = 0,
GDL90_SENSOR_BARO = 1,
GDL90_SENSOR_CO = 2,
GDL90_SENSOR_DEVICE = 3
} GDL90_SENSOR_TYPE;
typedef struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
GDL90_SENSOR_TYPE sensorType;
uint32_t pressure_mbarE2;
int32_t pressureAlt_mm;
int16_t temperature_cE2;
uint16_t crc;
} GDL90_SENSOR_BARO_MESSAGE;
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