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9c8e3cc46a
nuttx-apps/examples/foc/foc_float_thr.c
raiden00pl 9c8e3cc46a examples/foc: add option to disable open-loop operations 
Initial step towards sensored control
2021-10-30 10:00:38 -05:00

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/****************************************************************************
* apps/examples/foc/foc_float_thr.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <fcntl.h>
#include <assert.h>
#include <dsp.h>
#include "foc_mq.h"
#include "foc_thr.h"
#include "foc_cfg.h"
#include "foc_adc.h"
#include "foc_debug.h"
#include "industry/foc/foc_utils.h"
#include "industry/foc/foc_common.h"
#include "industry/foc/float/foc_handler.h"
#include "industry/foc/float/foc_ramp.h"
#include "industry/foc/float/foc_angle.h"
#include "industry/foc/float/foc_velocity.h"
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
# include "industry/foc/float/foc_model.h"
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef CONFIG_INDUSTRY_FOC_FLOAT
# error
#endif
/****************************************************************************
* Private Type Definition
****************************************************************************/
/* FOC motor data */
struct foc_motor_f32_s
{
FAR struct foc_ctrl_env_s *envp; /* Thread env */
bool fault; /* Fault flag */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
bool openloop_now; /* Open-loop now */
float angle_ol; /* Phase angle open-loop */
foc_angle_f32_t openloop; /* Open-loop angle handler */
#endif
int foc_mode; /* FOC mode */
float vbus; /* Power bus voltage */
float angle_now; /* Phase angle now */
float vel_set; /* Velocity setting now */
float vel_now; /* Velocity now */
float vel_des; /* Velocity destination */
float dir; /* Motor's direction */
float per; /* Controller period in seconds */
float iphase_adc; /* Iphase ADC scaling factor */
dq_frame_f32_t dq_ref; /* DQ reference */
dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
foc_handler_f32_t handler; /* FOC controller */
struct foc_mq_s mq; /* MQ data */
struct foc_info_s info; /* Device info */
struct foc_state_f32_s foc_state; /* FOC controller sate */
struct foc_state_s dev_state; /* FOC dev state */
struct foc_params_s dev_params; /* FOC dev params */
struct foc_ramp_f32_s ramp; /* Velocity ramp data */
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_f32_s model; /* Model handler */
struct foc_model_state_f32_s model_state; /* PMSM model state */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_motor_init
****************************************************************************/
static int foc_motor_init(FAR struct foc_motor_f32_s *motor,
FAR struct foc_ctrl_env_s *envp)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
struct foc_openloop_cfg_f32_s ol_cfg;
#endif
int ret = OK;
DEBUGASSERT(motor);
DEBUGASSERT(envp);
/* Reset data */
memset(motor, 0, sizeof(struct foc_motor_f32_s));
/* Connect envp with motor handler */
motor->envp = envp;
/* Get device info */
ret = foc_dev_getinfo(envp->dev.fd, &motor->info);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_getinfo failed %d!\n", ret);
goto errout;
}
/* Initialize motor data */
motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */
foc_angle_init_f32(&motor->openloop,
&g_foc_angle_ol_f32);
/* Configure open-loop angle handler */
ol_cfg.per = motor->per;
foc_angle_cfg_f32(&motor->openloop, &ol_cfg);
#endif
errout:
return ret;
}
/****************************************************************************
* Name: foc_mode_init
****************************************************************************/
static int foc_mode_init(FAR struct foc_motor_f32_s *motor)
{
int ret = OK;
switch (motor->envp->mode)
{
case FOC_OPMODE_IDLE:
{
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case FOC_OPMODE_OL_V_VEL:
{
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
motor->openloop_now = true;
break;
}
case FOC_OPMODE_OL_C_VEL:
{
motor->foc_mode = FOC_HANDLER_MODE_CURRENT;
motor->openloop_now = true;
break;
}
#endif
default:
{
PRINTF("ERROR: unsupported op mode %d\n", motor->envp->mode);
ret = -EINVAL;
goto errout;
}
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_configure
****************************************************************************/
static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
{
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
struct foc_initdata_f32_s ctrl_cfg;
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
struct foc_mod_cfg_f32_s mod_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_pmsm_cfg_f32_s pmsm_cfg;
#endif
struct foc_cfg_s cfg;
int ret = OK;
DEBUGASSERT(motor);
/* Initialize velocity ramp */
ret = foc_ramp_init_f32(&motor->ramp,
motor->per,
RAMP_CFG_THR,
RAMP_CFG_ACC,
RAMP_CFG_ACC);
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_init failed %d\n", ret);
goto errout;
}
/* Initialize FOC handler */
ret = foc_handler_init_f32(&motor->handler,
&g_foc_control_pi_f32,
&g_foc_mod_svm3_f32);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_init failed %d\n", ret);
goto errout;
}
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
/* Get PI controller configuration */
ctrl_cfg.id_kp = (motor->envp->pi_kp / 1000.0f);
ctrl_cfg.id_ki = (motor->envp->pi_ki / 1000.0f);
ctrl_cfg.iq_kp = (motor->envp->pi_kp / 1000.0f);
ctrl_cfg.iq_ki = (motor->envp->pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = FOCDUTY_TO_FLOAT(motor->info.hw_cfg.pwm_max);
#endif
/* Configure FOC handler */
foc_handler_cfg_f32(&motor->handler, &ctrl_cfg, &mod_cfg);
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Initialize PMSM model */
ret = foc_model_init_f32(&motor->model,
&g_foc_model_pmsm_ops_f32);
if (ret < 0)
{
PRINTF("ERROR: foc_model_init failed %d\n", ret);
goto errout;
}
/* Get PMSM model configuration */
pmsm_cfg.poles = FOC_MODEL_POLES;
pmsm_cfg.res = FOC_MODEL_RES;
pmsm_cfg.ind = FOC_MODEL_IND;
pmsm_cfg.iner = FOC_MODEL_INER;
pmsm_cfg.flux_link = FOC_MODEL_FLUX;
pmsm_cfg.ind_d = FOC_MODEL_INDD;
pmsm_cfg.ind_q = FOC_MODEL_INDQ;
pmsm_cfg.per = motor->per;
pmsm_cfg.iphase_adc = motor->iphase_adc;
/* Configure PMSM model */
foc_model_cfg_f32(&motor->model, &pmsm_cfg);
#endif
/* Get FOC device configuration */
cfg.pwm_freq = (CONFIG_EXAMPLES_FOC_PWM_FREQ);
cfg.notifier_freq = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
/* Print FOC device configuration */
foc_cfg_print(&cfg);
/* Configure FOC device */
ret = foc_dev_setcfg(motor->envp->dev.fd, &cfg);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_setcfg %d!\n", ret);
goto errout;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_start
****************************************************************************/
static int foc_motor_start(FAR struct foc_motor_f32_s *motor, bool start)
{
int ret = OK;
DEBUGASSERT(motor);
if (start == true)
{
/* Start device if VBUS data present */
if (motor->mq.vbus > 0)
{
/* Configure FOC device */
PRINTF("Configure FOC device %d!\n", motor->envp->id);
ret = foc_motor_configure(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_configure failed %d!\n", ret);
goto errout;
}
/* Start device */
PRINTF("Start FOC device %d!\n", motor->envp->id);
ret = foc_dev_start(motor->envp->dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_start failed %d!\n", ret);
goto errout;
}
}
else
{
/* Return error if no VBUS data */
PRINTF("ERROR: start request without VBUS!\n");
goto errout;
}
}
else
{
/* Stop FOC device */
PRINTF("Stop FOC device %d!\n", motor->envp->id);
ret = foc_dev_stop(motor->envp->dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_stop failed %d!\n", ret);
goto errout;
}
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_deinit
****************************************************************************/
static int foc_motor_deinit(FAR struct foc_motor_f32_s *motor)
{
int ret = OK;
DEBUGASSERT(motor);
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Deinitialize PMSM model */
ret = foc_model_deinit_f32(&motor->model);
if (ret < 0)
{
PRINTF("ERROR: foc_model_deinit failed %d\n", ret);
goto errout;
}
#endif
/* Deinitialize FOC handler */
ret = foc_handler_deinit_f32(&motor->handler);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_deinit failed %d\n", ret);
goto errout;
}
/* Reset data */
memset(motor, 0, sizeof(struct foc_motor_f32_s));
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_vbus
****************************************************************************/
static int foc_motor_vbus(FAR struct foc_motor_f32_s *motor, uint32_t vbus)
{
DEBUGASSERT(motor);
/* Update motor VBUS */
motor->vbus = (vbus * VBUS_ADC_SCALE);
return OK;
}
/****************************************************************************
* Name: foc_motor_vel
****************************************************************************/
static int foc_motor_vel(FAR struct foc_motor_f32_s *motor, uint32_t vel)
{
DEBUGASSERT(motor);
/* Update motor velocity destination */
motor->vel_des = (vel * VEL_ADC_SCALE * motor->envp->velmax / 1000.0f);
return OK;
}
/****************************************************************************
* Name: foc_motor_state
****************************************************************************/
static int foc_motor_state(FAR struct foc_motor_f32_s *motor, int state)
{
int ret = OK;
DEBUGASSERT(motor);
/* Get open-loop currents
* NOTE: Id always set to 0
*/
motor->dq_ref.q = (motor->envp->qparam / 1000.0f);
motor->dq_ref.d = 0.0f;
/* Update motor state */
switch (state)
{
case FOC_EXAMPLE_STATE_FREE:
{
motor->vel_set = 0.0f;
motor->dir = DIR_NONE;
/* Force DQ vector to zero */
motor->dq_ref.q = 0.0f;
motor->dq_ref.d = 0.0f;
break;
}
case FOC_EXAMPLE_STATE_STOP:
{
motor->vel_set = 0.0f;
motor->dir = DIR_NONE;
/* DQ vector not zero - active brake */
break;
}
case FOC_EXAMPLE_STATE_CW:
{
motor->vel_set = 0.0f;
motor->dir = DIR_CW;
break;
}
case FOC_EXAMPLE_STATE_CCW:
{
motor->vel_set = 0.0f;
motor->dir = DIR_CCW;
break;
}
default:
{
ret = -EINVAL;
goto errout;
}
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_run
****************************************************************************/
static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
{
struct foc_angle_in_f32_s ain;
struct foc_angle_out_f32_s aout;
int ret = OK;
DEBUGASSERT(motor);
/* No velocity feedback - assume that velocity now is velocity set
* TODO: velocity observer or sensor
*/
motor->vel_now = motor->vel_set;
/* Run velocity ramp controller */
ret = foc_ramp_run_f32(&motor->ramp, motor->vel_des,
motor->vel_now, &motor->vel_set);
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_run failed %d\n", ret);
goto errout;
}
/* Update open-loop angle handler */
ain.vel = motor->vel_set;
ain.angle = motor->angle_now;
ain.dir = motor->dir;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc_angle_run_f32(&motor->openloop, &ain, &aout);
/* Store open-loop angle */
motor->angle_ol = aout.angle;
/* Get phase angle now */
if (motor->openloop_now == true)
{
motor->angle_now = motor->angle_ol;
}
else
#endif
{
/* TODO: get phase angle from observer or sensor */
ASSERT(0);
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_handler_run
****************************************************************************/
static int foc_handler_run(FAR struct foc_motor_f32_s *motor)
{
struct foc_handler_input_f32_s input;
struct foc_handler_output_f32_s output;
float current[CONFIG_MOTOR_FOC_PHASES];
int ret = OK;
int i = 0;
DEBUGASSERT(motor);
/* FOC device fault */
if (motor->fault == true)
{
/* Stop motor */
motor->dq_ref.q = 0;
motor->dq_ref.d = 0;
motor->angle_now = 0;
motor->vbus = 0;
/* Force velocity to zero */
motor->vel_des = 0;
}
/* Get real currents */
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
current[i] = (motor->iphase_adc * motor->dev_state.curr[i]);
}
/* Get input for FOC handler */
input.current = current;
input.dq_ref = &motor->dq_ref;
input.vdq_comp = &motor->vdq_comp;
input.angle = motor->angle_now;
input.vbus = motor->vbus;
input.mode = motor->foc_mode;
/* Run FOC controller */
ret = foc_handler_run_f32(&motor->handler, &input, &output);
/* Get duty from controller */
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
motor->dev_params.duty[i] = FOCDUTY_FROM_FLOAT(output.duty[i]);
}
/* Get FOC handler state */
foc_handler_state_f32(&motor->handler, &motor->foc_state);
return ret;
}
/****************************************************************************
* Name: foc_dev_state_get
****************************************************************************/
static int foc_dev_state_get(FAR struct foc_motor_f32_s *motor)
{
int ret = OK;
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
int i;
#endif
DEBUGASSERT(motor);
/* Get FOC state - blocking */
ret = foc_dev_getstate(motor->envp->dev.fd, &motor->dev_state);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_getstate failed %d!\n", ret);
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Get model state */
foc_model_state_f32(&motor->model, &motor->model_state);
/* Get model currents */
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
motor->dev_state.curr[i] = motor->model_state.curr_raw[i];
}
#endif
errout:
return ret;
}
/****************************************************************************
* Name: foc_dev_params_set
****************************************************************************/
static int foc_dev_params_set(FAR struct foc_motor_f32_s *motor)
{
int ret = OK;
DEBUGASSERT(motor);
/* Write FOC parameters */
ret = foc_dev_setparams(motor->envp->dev.fd, &motor->dev_params);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_setparams failed %d!\n", ret);
goto errout;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_state_handle
****************************************************************************/
static int foc_state_handle(FAR struct foc_motor_f32_s *motor)
{
DEBUGASSERT(motor);
if (motor->dev_state.fault > 0)
{
PRINTF("FAULT = %d\n", motor->dev_state.fault);
motor->fault = true;
}
else
{
motor->fault = false;
}
return OK;
}
#ifdef FOC_STATE_PRINT_PRE
/****************************************************************************
* Name: foc_state_print
****************************************************************************/
static int foc_state_print(FAR struct foc_motor_f32_s *motor)
{
DEBUGASSERT(motor);
PRINTF("f32 inst %d:\n", motor->envp->inst);
foc_handler_state_print_f32(&motor->foc_state);
return OK;
}
#endif
/****************************************************************************
* Name: foc_motor_handle
****************************************************************************/
static int foc_motor_handle(FAR struct foc_motor_f32_s *motor,
FAR struct foc_mq_s *handle)
{
int ret = OK;
DEBUGASSERT(motor);
DEBUGASSERT(handle);
/* Terminate */
if (handle->quit == true)
{
motor->mq.quit = true;
}
/* Update motor VBUS */
if (motor->mq.vbus != handle->vbus)
{
PRINTFV("Set vbus=%" PRIu32 " for FOC driver %d!\n",
handle->vbus, motor->envp->id);
ret = foc_motor_vbus(motor, handle->vbus);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_vbus failed %d!\n", ret);
goto errout;
}
motor->mq.vbus = handle->vbus;
}
/* Update motor velocity destination */
if (motor->mq.vel != handle->vel)
{
PRINTFV("Set vel=%" PRIu32 " for FOC driver %d!\n",
handle->vel, motor->envp->id);
ret = foc_motor_vel(motor, handle->vel);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_vel failed %d!\n", ret);
goto errout;
}
motor->mq.vel = handle->vel;
}
/* Update motor state */
if (motor->mq.app_state != handle->app_state)
{
PRINTFV("Set app_state=%d for FOC driver %d!\n",
handle->app_state, motor->envp->id);
ret = foc_motor_state(motor, handle->app_state);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_state failed %d!\n", ret);
goto errout;
}
motor->mq.app_state = handle->app_state;
}
/* Start/stop motor */
if (motor->mq.start != handle->start)
{
PRINTFV("Set start=%d for FOC driver %d!\n",
handle->start, motor->envp->id);
ret = foc_motor_start(motor, handle->start);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_start failed %d!\n", ret);
goto errout;
}
motor->mq.start = handle->start;
}
errout:
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_float_thr
****************************************************************************/
int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
{
struct foc_mq_s handle;
struct foc_motor_f32_s motor;
int time = 0;
int ret = OK;
DEBUGASSERT(envp);
PRINTFV("foc_float_thr, id=%d\n", envp->id);
/* Reset data */
memset(&handle, 0, sizeof(struct foc_mq_s));
/* Initialize motor controller */
ret = foc_motor_init(&motor, envp);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_init failed %d!\n", ret);
goto errout;
}
/* Initialize controller mode */
ret = foc_mode_init(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_mode_init failed %d!\n", ret);
goto errout;
}
/* Start with motor free */
handle.app_state = FOC_EXAMPLE_STATE_FREE;
/* Wait some time */
usleep(1000);
/* Control loop */
while (motor.mq.quit == false)
{
PRINTFV("foc_float_thr %d %d\n", envp->id, time);
/* Handle mqueue */
ret = foc_mq_handle(envp->mqd, &handle);
if (ret < 0)
{
PRINTF("ERROR: foc_mq_handle failed %d!\n", ret);
goto errout;
}
/* Handle motor data */
ret = foc_motor_handle(&motor, &handle);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_handle failed %d!\n", ret);
goto errout;
}
/* Run control logic if controller started */
if (motor.mq.start == true)
{
/* Get FOC device state */
ret = foc_dev_state_get(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_get failed %d!\n", ret);
goto errout;
}
/* Handle controller state */
ret = foc_state_handle(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_state_handle failed %d!\n", ret);
goto errout;
}
if (motor.dev_state.fault > 0)
{
/* Clear fault state */
ret = foc_dev_clearfault(envp->dev.fd);
if (ret != OK)
{
goto errout;
}
}
/* Run motor controller */
ret = foc_motor_run(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_run failed %d!\n", ret);
goto errout;
}
/* Run FOC */
ret = foc_handler_run(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_run failed %d!\n", ret);
goto errout;
}
#ifdef FOC_STATE_PRINT_PRE
/* Print state if configured */
if (time % FOC_STATE_PRINT_PRE == 0)
{
foc_state_print(&motor);
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Feed FOC model with data */
foc_model_run_f32(&motor.model,
FOC_MODEL_LOAD,
&motor.foc_state.vab);
#endif
/* Set FOC device parameters */
ret = foc_dev_params_set(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_prams_set failed %d!\n", ret);
goto errout;
}
}
else
{
usleep(1000);
}
/* Increase counter */
time += 1;
}
errout:
/* Deinit motor controller */
ret = foc_motor_deinit(&motor);
if (ret != OK)
{
PRINTF("ERROR: foc_motor_deinit failed %d!\n", ret);
}
PRINTF("Stop FOC device %d!\n", envp->id);
/* Stop FOC device */
ret = foc_dev_stop(envp->dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_stop failed %d!\n", ret);
}
PRINTF("foc_float_thr %d exit\n", envp->id);
return ret;
}
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