mirror of
https://github.com/openmv/openmv.git
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429 lines
11 KiB
C
429 lines
11 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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* Copyright (c) 2015 Glenn Ruben Bakke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdint.h>
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#include <stdio.h>
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#include <string.h>
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#include "py/nlr.h"
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#include "py/mperrno.h"
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#include "py/lexer.h"
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#include "py/parse.h"
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#include "py/obj.h"
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#include "py/runtime.h"
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#include "py/stackctrl.h"
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#include "py/gc.h"
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#include "py/compile.h"
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#include "py/persistentcode.h"
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#include "shared/runtime/pyexec.h"
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#include "shared/readline/readline.h"
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#include "gccollect.h"
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#include "modmachine.h"
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#include "modmusic.h"
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#include "modules/os/microbitfs.h"
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#include "led.h"
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#include "uart.h"
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#include "nrf.h"
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#include "pin.h"
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#include "spi.h"
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#include "i2c.h"
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#include "adc.h"
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#include "rtcounter.h"
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#include "mphalport.h"
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#include "pendsv.h"
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#if MICROPY_PY_MACHINE_HW_PWM
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#include "pwm.h"
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#endif
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#include "timer.h"
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#if BLUETOOTH_SD
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#include "nrf_sdm.h"
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#endif
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#if (MICROPY_PY_BLE_NUS)
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#include "ble_uart.h"
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#endif
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#if MICROPY_PY_MACHINE_SOFT_PWM
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#include "ticker.h"
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#include "softpwm.h"
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#endif
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#if MICROPY_HW_USB_CDC
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#include "usb_cdc.h"
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#endif
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#if MICROPY_HW_ENABLE_INTERNAL_FLASH_STORAGE
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#include "extmod/vfs_fat.h"
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#include "lib/oofatfs/ff.h"
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#include "extmod/vfs.h"
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#include "modules/nrf/flashbdev.h"
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#endif
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#include "usbdbg.h"
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#include "py_audio.h"
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#include "framebuffer.h"
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#include "omv_boardconfig.h"
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#include "omv_i2c.h"
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#include "omv_csi.h"
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#include "mp_utils.h"
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extern uint32_t _heap_start;
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extern uint32_t _heap_end;
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uint32_t HAL_GetHalVersion() {
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// Hard-coded because it's not defined in SDK
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return ((2 << 24) | (0 << 16) | (0 << 8) | (0 << 0));
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}
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void NORETURN __fatal_error(const char *msg) {
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while (1) {
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;
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}
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}
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#if MICROPY_HW_ENABLE_INTERNAL_FLASH_STORAGE
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static int vfs_mount_and_chdir(mp_obj_t bdev, mp_obj_t mount_point) {
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nlr_buf_t nlr;
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mp_int_t ret = -MP_EIO;
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if (nlr_push(&nlr) == 0) {
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mp_obj_t args[] = { bdev, mount_point };
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mp_vfs_mount(2, args, (mp_map_t *) &mp_const_empty_map);
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mp_vfs_chdir(mount_point);
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ret = 0; // success
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nlr_pop();
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} else {
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mp_obj_base_t *exc = nlr.ret_val;
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if (mp_obj_is_subclass_fast(MP_OBJ_FROM_PTR(exc->type), MP_OBJ_FROM_PTR(&mp_type_OSError))) {
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mp_obj_t v = mp_obj_exception_get_value(MP_OBJ_FROM_PTR(exc));
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mp_obj_get_int_maybe(v, &ret); // get errno value
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ret = -ret;
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}
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}
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return ret;
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}
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#endif
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void NORETURN _start(void) {
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bool first_soft_reset = true;
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soft_reset:
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#if defined(MICROPY_BOARD_EARLY_INIT)
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MICROPY_BOARD_EARLY_INIT();
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#endif
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#if MICROPY_PY_TIME_TICKS
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rtc1_init_time_ticks();
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#endif
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led_init();
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led_state(1, 1); // MICROPY_HW_LED_1 aka MICROPY_HW_LED_RED
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// Initialize the stack and GC memory.
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mp_init_gc_stack(&_heap_end, &_ram_end, &_heap_start, &_heap_end, 400);
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machine_init();
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mp_init();
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readline_init0();
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pin_init0();
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#if MICROPY_PY_MACHINE_SPI
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spi_init0();
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#endif
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#if MICROPY_PY_MACHINE_I2C
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i2c_init0();
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#endif
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#if MICROPY_PY_MACHINE_ADC
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adc_init0();
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#endif
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#if MICROPY_PY_MACHINE_HW_PWM
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pwm_init0();
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#endif
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#if MICROPY_PY_MACHINE_RTCOUNTER
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rtc_init0();
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#endif
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#if MICROPY_PY_MACHINE_TIMER_NRF
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timer_init0();
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#endif
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#if MICROPY_PY_MACHINE_UART
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uart_init0();
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#endif
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fb_alloc_init0();
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framebuffer_init0();
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#if MICROPY_PY_CSI
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omv_csi_init0();
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#endif
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#if MICROPY_PY_CSI
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// Initialize the csi.
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if (first_soft_reset) {
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int ret = omv_csi_init();
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if (ret != 0 && ret != OMV_CSI_ERROR_ISC_UNDETECTED) {
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__fatal_error("Failed to init the CSI");
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}
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}
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#endif
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#if (MICROPY_PY_BLE_NUS == 0) && (MICROPY_HW_USB_CDC == 0)
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mp_obj_t args[2] = {
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MP_OBJ_NEW_SMALL_INT(0),
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MP_OBJ_NEW_SMALL_INT(115200),
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};
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MP_STATE_PORT(board_stdio_uart) = machine_hard_uart_type.make_new(
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(mp_obj_t) &machine_hard_uart_type, MP_ARRAY_SIZE(args), 0, args);
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#endif
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#if MICROPY_HW_ENABLE_INTERNAL_FLASH_STORAGE
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flashbdev_init();
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// Try to mount the flash on "/flash" and chdir to it for the boot-up directory.
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mp_obj_t mount_point = MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash);
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int ret = vfs_mount_and_chdir((mp_obj_t) &nrf_flash_obj, mount_point);
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if ((ret == -MP_ENODEV) || (ret == -MP_EIO)) {
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pyexec_frozen_module("_mkfs.py", false); // Frozen script for formatting flash filesystem.
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ret = vfs_mount_and_chdir((mp_obj_t) &nrf_flash_obj, mount_point);
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}
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if (ret != 0) {
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printf("MPY: can't mount flash\n");
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}
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#endif
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#if MICROPY_MBFS
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microbit_filesystem_init();
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#endif
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#if MICROPY_HW_HAS_SDCARD
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// if an SD card is present then mount it on /sd/
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if (sdcard_is_present()) {
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// create vfs object
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fs_user_mount_t *vfs = m_new_obj_maybe(fs_user_mount_t);
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if (vfs == NULL) {
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goto no_mem_for_sd;
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}
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vfs->str = "/sd";
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vfs->len = 3;
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vfs->flags = MP_BLOCKDEV_FLAG_FREE_OBJ;
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sdcard_init_vfs(vfs);
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// put the sd device in slot 1 (it will be unused at this point)
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MP_STATE_PORT(fs_user_mount)[1] = vfs;
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FRESULT res = f_mount(&vfs->fatfs, vfs->str, 1);
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if (res != FR_OK) {
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printf("MPY: can't mount SD card\n");
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MP_STATE_PORT(fs_user_mount)[1] = NULL;
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m_del_obj(fs_user_mount_t, vfs);
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} else {
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// TODO these should go before the /flash entries in the path
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd));
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd_slash_lib));
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// use SD card as current directory
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f_chdrive("/sd");
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}
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no_mem_for_sd:;
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}
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#endif
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// Main script is finished, so now go into REPL mode.
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#if MICROPY_PY_BLE_NUS
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ble_uart_init0();
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#endif
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#if MICROPY_PY_MACHINE_SOFT_PWM
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ticker_init0();
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softpwm_init0();
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#endif
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#if MICROPY_PY_MUSIC
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microbit_music_init0();
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#endif
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#if BOARD_SPECIFIC_MODULES
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board_modules_init0();
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#endif
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#if MICROPY_PY_MACHINE_SOFT_PWM
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ticker_start();
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pwm_start();
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#endif
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led_state(1, 0);
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#if MICROPY_HW_USB_CDC
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usb_cdc_init();
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#endif
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usbdbg_init();
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pendsv_init();
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#if MICROPY_VFS || MICROPY_MBFS || MICROPY_MODULE_FROZEN
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// Run boot.py script.
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bool interrupted = mp_exec_bootscript("boot.py", true);
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// Run main.py script on first soft-reset.
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if (first_soft_reset && !interrupted && mp_vfs_import_stat("main.py")) {
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mp_exec_bootscript("main.py", true);
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goto soft_reset_exit;
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}
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#endif
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// If there's no script ready, just re-exec REPL
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while (!usbdbg_script_ready()) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// run REPL
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if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
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if (pyexec_raw_repl() != 0) {
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break;
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}
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} else {
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if (pyexec_friendly_repl() != 0) {
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break;
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}
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}
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nlr_pop();
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}
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}
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if (usbdbg_script_ready()) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// Execute the script.
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pyexec_str(usbdbg_get_script(), true);
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// Disable IDE interrupts
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usbdbg_set_irq_enabled(false);
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nlr_pop();
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} else {
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val);
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}
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}
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soft_reset_exit:
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printf("MPY: soft reboot\n");
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#if MICROPY_PY_CSI
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omv_csi_abort_all();
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#endif
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#if MICROPY_PY_AUDIO
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py_audio_deinit();
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#endif
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#if MICROPY_PY_MACHINE_HW_PWM
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pwm_deinit_all();
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#endif
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#if BLUETOOTH_SD
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sd_softdevice_disable();
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#endif
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#if defined(MICROPY_BOARD_DEINIT)
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MICROPY_BOARD_DEINIT();
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#endif
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mp_deinit();
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first_soft_reset = false;
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goto soft_reset;
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}
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#if !MICROPY_VFS
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#if MICROPY_MBFS
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// Use micro:bit filesystem
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mp_lexer_t *mp_lexer_new_from_file(const char *filename) {
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return uos_mbfs_new_reader(filename);
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}
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mp_import_stat_t mp_import_stat(const char *path) {
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return uos_mbfs_import_stat(path);
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}
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mp_obj_t mp_builtin_open(size_t n_args, const mp_obj_t *args, mp_map_t *kwargs) {
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return uos_mbfs_open(n_args, args);
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(mp_builtin_open_obj, 1, mp_builtin_open);
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#else
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// use dummy functions - no filesystem available
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mp_lexer_t *mp_lexer_new_from_file(const char *filename) {
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mp_raise_OSError(MP_ENOENT);
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}
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mp_import_stat_t mp_import_stat(const char *path) {
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return MP_IMPORT_STAT_NO_EXIST;
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}
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mp_obj_t mp_builtin_open(size_t n_args, const mp_obj_t *args, mp_map_t *kwargs) {
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mp_raise_OSError(MP_EPERM);
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(mp_builtin_open_obj, 1, mp_builtin_open);
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#endif
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#endif
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void HardFault_Handler(void) {
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#if defined(NRF52_SERIES) || defined(NRF91_SERIES)
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static volatile uint32_t reg;
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static volatile uint32_t reg2;
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static volatile uint32_t bfar;
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reg = SCB->HFSR;
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reg2 = SCB->CFSR;
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bfar = SCB->BFAR;
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for (int i = 0; i < 0; i++) {
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(void) reg;
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(void) reg2;
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(void) bfar;
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}
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#endif
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}
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void nlr_jump_fail(void *val) {
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printf("FATAL: uncaught exception %p\n", val);
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t) val);
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__fatal_error("");
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}
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void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
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printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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__fatal_error("Assertion failed");
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}
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#if MICROPY_EMIT_MACHINE_CODE
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void *nrf_native_code_commit(void *buf, unsigned int len, void *reloc) {
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(void) len;
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if (reloc) {
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// Native code in RAM must execute from the IRAM region at 0x00800000, and so relocations
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// to text must also point to this region. The MICROPY_MAKE_POINTER_CALLABLE macro will
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// adjust the `buf` address from RAM to IRAM.
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mp_native_relocate(reloc, buf, (uintptr_t) MICROPY_MAKE_POINTER_CALLABLE(buf) & ~1);
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}
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return buf;
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}
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#endif
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