Move optical sensor code to drivers folder (#13044)
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32 changed files with 60 additions and 890 deletions
237
drivers/sensors/pmw3360.c
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237
drivers/sensors/pmw3360.c
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/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
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* Copyright 2019 Sunjun Kim
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* Copyright 2020 Ploopy Corporation
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "wait.h"
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#include "debug.h"
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#include "print.h"
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#include "pmw3360.h"
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#include "pmw3360_firmware.h"
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bool _inBurst = false;
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#ifndef PMW_CPI
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# define PMW_CPI 1600
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#endif
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#ifndef PMW_CLOCK_SPEED
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# define PMW_CLOCK_SPEED 70000000
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#endif
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#ifndef SPI_MODE
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# define SPI_MODE 3
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#endif
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#ifndef SPI_DIVISOR
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# define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
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#endif
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#ifndef ROTATIONAL_TRANSFORM_ANGLE
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# define ROTATIONAL_TRANSFORM_ANGLE 0x00
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#endif
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#ifndef PMW_CS_PIN
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# define PMW_CS_PIN SPI_SS_PIN
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#endif
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void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
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bool spi_start_adv(void) {
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bool status = spi_start(PMW_CS_PIN, false, SPI_MODE, SPI_DIVISOR);
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wait_us(1);
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return status;
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}
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void spi_stop_adv(void) {
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wait_us(1);
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spi_stop();
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}
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spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
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if (reg_addr != REG_Motion_Burst) {
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_inBurst = false;
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}
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spi_start_adv();
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// send address of the register, with MSBit = 1 to indicate it's a write
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spi_status_t status = spi_write(reg_addr | 0x80);
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status = spi_write(data);
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// tSCLK-NCS for write operation
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wait_us(20);
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// tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
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wait_us(100);
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spi_stop();
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return status;
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}
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uint8_t spi_read_adv(uint8_t reg_addr) {
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spi_start_adv();
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// send adress of the register, with MSBit = 0 to indicate it's a read
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spi_write(reg_addr & 0x7f);
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uint8_t data = spi_read();
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// tSCLK-NCS for read operation is 120ns
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wait_us(1);
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// tSRW/tSRR (=20us) minus tSCLK-NCS
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wait_us(19);
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spi_stop();
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return data;
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}
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void pmw_set_cpi(uint16_t cpi) {
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uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
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spi_start_adv();
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spi_write_adv(REG_Config1, cpival);
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spi_stop();
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}
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uint16_t pmw_get_cpi(void) {
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uint8_t cpival = spi_read_adv(REG_Config1);
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return (uint16_t)(cpival & 0xFF) * 100;
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}
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bool pmw_spi_init(void) {
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setPinOutput(PMW_CS_PIN);
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spi_init();
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_inBurst = false;
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spi_stop();
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spi_start_adv();
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spi_stop();
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spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
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wait_ms(300);
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spi_start_adv();
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wait_us(40);
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spi_stop_adv();
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wait_us(40);
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spi_write_adv(REG_Power_Up_Reset, 0x5a);
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wait_ms(50);
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spi_read_adv(REG_Motion);
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spi_read_adv(REG_Delta_X_L);
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spi_read_adv(REG_Delta_X_H);
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spi_read_adv(REG_Delta_Y_L);
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spi_read_adv(REG_Delta_Y_H);
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pmw_upload_firmware();
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spi_stop_adv();
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wait_ms(10);
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pmw_set_cpi(PMW_CPI);
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wait_ms(1);
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spi_write_adv(REG_Config2, 0x00);
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spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
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bool init_success = pmw_check_signature();
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writePinLow(PMW_CS_PIN);
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return init_success;
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}
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void pmw_upload_firmware(void) {
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spi_write_adv(REG_SROM_Enable, 0x1d);
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wait_ms(10);
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spi_write_adv(REG_SROM_Enable, 0x18);
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spi_start_adv();
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spi_write(REG_SROM_Load_Burst | 0x80);
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wait_us(15);
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unsigned char c;
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for (int i = 0; i < firmware_length; i++) {
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c = (unsigned char)pgm_read_byte(firmware_data + i);
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spi_write(c);
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wait_us(15);
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}
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wait_us(200);
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spi_read_adv(REG_SROM_ID);
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spi_write_adv(REG_Config2, 0x00);
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spi_stop();
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wait_ms(10);
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}
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bool pmw_check_signature(void) {
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uint8_t pid = spi_read_adv(REG_Product_ID);
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uint8_t iv_pid = spi_read_adv(REG_Inverse_Product_ID);
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uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
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return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04
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}
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report_pmw_t pmw_read_burst(void) {
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if (!_inBurst) {
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dprintf("burst on");
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spi_write_adv(REG_Motion_Burst, 0x00);
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_inBurst = true;
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}
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spi_start_adv();
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spi_write(REG_Motion_Burst);
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wait_us(35); // waits for tSRAD
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report_pmw_t data;
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data.motion = 0;
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data.dx = 0;
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data.mdx = 0;
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data.dy = 0;
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data.mdx = 0;
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data.motion = spi_read();
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spi_write(0x00); // skip Observation
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data.dx = spi_read();
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data.mdx = spi_read();
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data.dy = spi_read();
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data.mdy = spi_read();
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spi_stop();
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print_byte(data.motion);
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print_byte(data.dx);
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print_byte(data.mdx);
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print_byte(data.dy);
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print_byte(data.mdy);
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dprintf("\n");
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data.isMotion = (data.motion & 0x80) != 0;
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data.isOnSurface = (data.motion & 0x08) == 0;
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data.dx |= (data.mdx << 8);
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data.dx = data.dx * -1;
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data.dy |= (data.mdy << 8);
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data.dy = data.dy * -1;
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spi_stop();
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if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
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_inBurst = false;
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}
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return data;
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}
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