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original version by: Nikos Drakos, CBLU, University of Leeds
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* revised and updated by: Marcus Hennecke, Ross Moore, Herb Swan
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* with significant contributions from:
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Jens Lippmann, Marek Rouchal, Martin Wilck and others -->
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HREF="node52.html">Example and test program:</A>
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<B> <A NAME="tex2html829"
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HREF="node1.html">Contents</A></B>
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<BR></DIV>
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<!--End of Navigation Panel-->
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<H2><A NAME="SECTION00091000000000000000">
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TestMasterSlave</A>
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</H2>
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<TT>**************************************************************</TT>
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<TT>*
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<BR>&sstarf#star;</TT>
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<TT>* simple example for PC. It does implement 2 CanOpen
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<TT>* in the same process. A master and a slave. Both
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<TT>* together, exchanging periodically NMT, SYNC, &sstarf#star;</TT>
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<TT>* and PDO. Master configure heartbeat producer time
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<TT>* @1000 ms for slave node-id 0x02 by concise DCF.
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<TT>*
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Usage:
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<BR>./TestMasterSlave OPTIONS]
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<BR>-l : Can library
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[libcanfestival_can_virtual.so]
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<BR>-s : bus name [0]
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<BR>-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
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<BR>
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<BR>
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<BR>
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<BR>&sstarf#star;</TT>
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<P>
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<TT>*
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<BR>:
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>*</TT>
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<P>
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<TT>*
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<BR>
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<BR>-m : bus name [1]
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>&sstarf#star;</TT>
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<P>
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<TT>*
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<BR>
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481 |
<BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
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<P>
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<TT>*
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>
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<BR>&sstarf#star;</TT>
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<P>
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517 |
<TT>**************************************************************</TT>
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518 |
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519 |
<P>
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520 |
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521 |
<P><P>
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522 |
<BR>
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523 |
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524 |
<P>
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525 |
<I CLASS="sans">Notes for Concise DCF :</I>
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526 |
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527 |
<P>
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528 |
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529 |
<P><P>
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530 |
<BR>
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|
531 |
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532 |
<P>
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533 |
<I CLASS="sans"> In this example, Master configure producer time at 1000 ms
|
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|
534 |
for slave node-id 0x02 by concise DCF according DS-302 profile. </I>
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535 |
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536 |
<P>
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537 |
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538 |
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539 |
<P>
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540 |
<I CLASS="sans"> Index 0x1F22 , sub-index 0x00 of the master OD, correspond to the
|
|
|
541 |
number of entries. This equal to the maximum possible nodeId (127).
|
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|
542 |
Each sub-index points to the Node-ID of the device, to which the
|
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|
543 |
configuration belongs. </I>
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|
544 |
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|
545 |
<P>
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546 |
|
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547 |
<P><P>
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548 |
<BR>
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|
549 |
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550 |
<P>
|
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|
551 |
<I CLASS="sans"> To add more parameters configurations to the slave, the value at
|
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|
552 |
sub-index 0x02 must be a binary stream (little-endian) following
|
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|
553 |
this structure :</I>
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554 |
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555 |
<P>
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|
556 |
|
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557 |
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558 |
<P>
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|
559 |
<I CLASS="sans">[ nb of entries / index parameter 1 / sub-index parameter 1 size
|
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|
560 |
data parameter 1 data parameter 1 / index parameter n / ...]</I>
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561 |
|
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562 |
<P>
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563 |
<I CLASS="sans">
|
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|
564 |
<BR>
|
|
|
565 |
<BR>
|
|
|
566 |
<BR>(UNS32)
|
|
|
567 |
<BR>
|
|
|
568 |
<BR>
|
|
|
569 |
<BR>
|
|
|
570 |
<BR>
|
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|
571 |
<BR>
|
|
|
572 |
<BR>(UNS16) (UNS8)
|
|
|
573 |
|
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|
574 |
<BR>
|
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|
575 |
<BR>
|
|
|
576 |
<BR>
|
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|
577 |
<BR>
|
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|
578 |
<BR>
|
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|
579 |
UNS32)
|
|
|
580 |
<BR>
|
|
|
581 |
DOMAIN)</I>
|
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|
582 |
|
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|
583 |
<P>
|
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|
584 |
|
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|
585 |
|
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|
586 |
<P>
|
|
|
587 |
<I CLASS="sans"> So the binary value stream to configure heartbeat producer time must be
|
|
|
588 |
: </I>
|
|
|
589 |
|
|
|
590 |
<P>
|
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|
591 |
|
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|
592 |
<P><P>
|
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|
593 |
<BR>
|
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|
594 |
|
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|
595 |
<P>
|
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|
596 |
<I CLASS="sans"> 0100000017100002000000e803</I>
|
|
|
597 |
|
|
|
598 |
<P>
|
|
|
599 |
|
|
|
600 |
<P><P>
|
|
|
601 |
<BR>
|
|
|
602 |
|
|
|
603 |
<P>
|
|
|
604 |
<I CLASS="sans">The slave node is configured just before the Master entering in
|
|
|
605 |
Pre_operational state.</I>
|
|
|
606 |
|
|
|
607 |
<P>
|
|
|
608 |
|
|
|
609 |
<DIV CLASS="navigation"><HR>
|
|
|
610 |
<!--Navigation Panel-->
|
|
|
611 |
<A NAME="tex2html830"
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|
612 |
HREF="node54.html">
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|
613 |
<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next"
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|
614 |
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615 |
<A NAME="tex2html826"
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616 |
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617 |
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|
618 |
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619 |
<A NAME="tex2html820"
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620 |
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621 |
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622 |
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623 |
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624 |
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625 |
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626 |
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627 |
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628 |
<B> Next:</B> <A NAME="tex2html831"
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629 |
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|
630 |
<B> Up:</B> <A NAME="tex2html827"
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631 |
HREF="node52.html">Example and test program:</A>
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633 |
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634 |
<B> <A NAME="tex2html829"
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635 |
HREF="node1.html">Contents</A></B> </DIV>
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637 |
<ADDRESS>
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|
|
638 |
epimerde
|
|
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|
639 |
2007-06-08
|
|
210
|
640 |
</ADDRESS>
|
|
|
641 |
</BODY>
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642 |
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