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Merge branch 'staging/riscv_wrapper_freertos_tasks_v5.0' into 'release/v5.0'
RISC-V: Create a wrapper around FreeRTOS Tasks to detect the ones returning (backport v5.0) See merge request espressif/esp-idf!21202
This commit is contained in:
Zim Kalinowski
commit
83e2cf1a68
@ -247,8 +247,8 @@ void esp_panic_handler(panic_info_t *info)
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*
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* ----------------------------------------------------------------------------------------
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* core - core where exception was triggered
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* exception - what kind of exception occured
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* description - a short description regarding the exception that occured
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* exception - what kind of exception occurred
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* description - a short description regarding the exception that occurred
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* details - more details about the exception
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* state - processor state like register contents, and backtrace
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* elf_info - details about the image currently running
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@ -313,6 +313,14 @@ void esp_panic_handler(panic_info_t *info)
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PANIC_INFO_DUMP(info, state);
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panic_print_str("\r\n");
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/* No matter if we come here from abort or an exception, this variable must be reset.
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* Else, any exception/error occurring during the current panic handler would considered
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* an abort. Do this after PANIC_INFO_DUMP(info, state) as it also checks this variable.
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* For example, if coredump triggers a stack overflow and this variable is not reset,
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* the second panic would be still be marked as the result of an abort, even the previous
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* message reason would be kept. */
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g_panic_abort = false;
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#ifdef WITH_ELF_SHA256
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panic_print_str("\r\nELF file SHA256: ");
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char sha256_buf[65];
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@ -349,10 +357,6 @@ void esp_panic_handler(panic_info_t *info)
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} else {
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disable_all_wdts();
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s_dumping_core = true;
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/* No matter if we come here from abort or an exception, this variable must be reset.
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* Else, any exception/error occuring during the current panic handler would considered
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* an abort. */
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g_panic_abort = false;
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#if CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH
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esp_core_dump_to_flash(info);
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#endif
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@ -515,30 +515,29 @@ void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
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#endif //( configSUPPORT_STATIC_ALLOCATION == 1 )
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// ------------------------ Stack --------------------------
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__attribute__((noreturn)) static void _prvTaskExitError(void)
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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/**
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* Wrapper to allow task functions to return. Force the optimization option -O1 on that function to make sure there
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* is no tail-call. Indeed, we need the compiler to keep the return address to this function when calling `panic_abort`.
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*
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* Thanks to `naked` attribute, the compiler won't generate a prologue and epilogue for the function, which saves time
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* and stack space.
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*/
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static void __attribute__((optimize("O1"), naked)) vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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portDISABLE_INTERRUPTS();
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abort();
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asm volatile(".cfi_undefined ra\n");
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extern void __attribute__((noreturn)) panic_abort(const char *details);
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static char DRAM_ATTR msg[80] = "FreeRTOS: FreeRTOS Task \"\0";
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pxCode(pvParameters);
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//FreeRTOS tasks should not return. Log the task name and abort.
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char *pcTaskName = pcTaskGetName(NULL);
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/* We cannot use s(n)printf because it is in flash */
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strcat(msg, pcTaskName);
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strcat(msg, "\" should not return, Aborting now!");
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panic_abort(msg);
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}
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#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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__attribute__((naked)) static void prvTaskExitError(void)
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{
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asm volatile(".option push\n" \
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".option norvc\n" \
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"nop\n" \
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".option pop");
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/* Task entry's RA will point here. Shifting RA into prvTaskExitError is necessary
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to make GDB backtrace ending inside that function.
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Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
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_prvTaskExitError();
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}
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StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
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{
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@ -602,11 +601,16 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
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sp -= RV_STK_FRMSZ;
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RvExcFrame *frame = (RvExcFrame *)sp;
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memset(frame, 0, sizeof(*frame));
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/* Shifting RA into prvTaskExitError is necessary to make GDB backtrace ending inside that function.
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Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
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frame->ra = (UBaseType_t)prvTaskExitError + 4/*size of the nop insruction at the beginning of prvTaskExitError*/;
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/* Initialize the stack frame. */
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->mepc = (UBaseType_t)vPortTaskWrapper;
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frame->a0 = (UBaseType_t)pxCode;
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frame->a1 = (UBaseType_t)pvParameters;
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#else
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frame->mepc = (UBaseType_t)pxCode;
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frame->a0 = (UBaseType_t)pvParameters;
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#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->gp = (UBaseType_t)&__global_pointer$;
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frame->tp = (UBaseType_t)threadptr;
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@ -113,31 +113,29 @@ void vPortEndScheduler(void)
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}
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// ------------------------ Stack --------------------------
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__attribute__((noreturn)) static void _prvTaskExitError(void)
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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/**
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* Wrapper to allow task functions to return. Force the optimization option -O1 on that function to make sure there
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* is no tail-call. Indeed, we need the compiler to keep the return address to this function when calling `panic_abort`.
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*
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* Thanks to `naked` attribute, the compiler won't generate a prologue and epilogue for the function, which saves time
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* and stack space.
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*/
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static void __attribute__((optimize("O1"), naked)) vPortTaskWrapper(TaskFunction_t pxCode, void *pvParameters)
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT(uxCriticalNesting == ~0UL);
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portDISABLE_INTERRUPTS();
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abort();
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asm volatile(".cfi_undefined ra\n");
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extern void __attribute__((noreturn)) panic_abort(const char *details);
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static char DRAM_ATTR msg[80] = "FreeRTOS: FreeRTOS Task \"\0";
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pxCode(pvParameters);
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//FreeRTOS tasks should not return. Log the task name and abort.
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char *pcTaskName = pcTaskGetName(NULL);
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/* We cannot use s(n)printf because it is in flash */
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strcat(msg, pcTaskName);
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strcat(msg, "\" should not return, Aborting now!");
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panic_abort(msg);
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}
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#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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__attribute__((naked)) static void prvTaskExitError(void)
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{
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asm volatile(".option push\n" \
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".option norvc\n" \
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"nop\n" \
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".option pop");
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/* Task entry's RA will point here. Shifting RA into prvTaskExitError is necessary
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to make GDB backtrace ending inside that function.
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Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
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_prvTaskExitError();
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}
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StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
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{
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@ -201,11 +199,17 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
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sp -= RV_STK_FRMSZ;
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RvExcFrame *frame = (RvExcFrame *)sp;
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memset(frame, 0, sizeof(*frame));
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/* Shifting RA into prvTaskExitError is necessary to make GDB backtrace ending inside that function.
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Otherwise backtrace will end in the function laying just before prvTaskExitError in address space. */
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frame->ra = (UBaseType_t)prvTaskExitError + 4/*size of the nop insruction at the beginning of prvTaskExitError*/;
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/* Initialize the stack frame. */
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extern uint32_t __global_pointer$;
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#if CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->mepc = (UBaseType_t)vPortTaskWrapper;
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frame->a0 = (UBaseType_t)pxCode;
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frame->a1 = (UBaseType_t)pvParameters;
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#else
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frame->mepc = (UBaseType_t)pxCode;
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frame->a0 = (UBaseType_t)pvParameters;
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#endif // CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER
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frame->gp = (UBaseType_t)&__global_pointer$;
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frame->tp = (UBaseType_t)threadptr;
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