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WiringPi
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#17

pull/188/head
mstroh76 9 месяцев назад
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888d88ef6e
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1 измененных файлов: 228 добавлений и 83 удалений
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  1. +228
    -83
      wiringPi/wiringPi.c

+ 228
- 83
wiringPi/wiringPi.c Просмотреть файл

@@ -123,6 +123,42 @@ struct wiringPiNodeStruct *wiringPiNodes = NULL ;
#define FSEL_ALT4 0b011
#define FSEL_ALT5 0b010

//RP1 chip (@Pi5) - 3.1.1. Function select
#define RP1_FSEL_ALT0 0x00
#define RP1_FSEL_GPIO 0x05 //SYS_RIO
#define RP1_FSEL_NONE 0x09
#define RP1_FSEL_NONE_HW 0x1f //default, mask

//RP1 chip (@Pi5) RIO address
const unsigned int RP1_RIO_OUT = 0x0000;
const unsigned int RP1_RIO_OE = (0x0004/4);
const unsigned int RP1_RIO_IN = (0x0008/4);

//RP1 chip (@Pi5) RIO offset for set/clear value
const unsigned int RP1_SET_OFFSET = (0x2000/4):
const unsigned int RP1_CLR_OFFSET = (0x3000/4);

//RP1 chip (@Pi5) PDE/PDU pull-up/-down enable
const unsigned int RP1_PUD_UP = (1<<3);
const unsigned int RP1_PUD_DOWN = (1<<2);
const unsigned int RP1_INV_PUD_MASK = ~(RP1_PUD_UP | RP1_PUD_DOWN); //~0x0C

//RP1 chip (@Pi5) pin level, status register
const unsigned int RP1_STATUS_LEVEL_LOW = 0x00400000;
const unsigned int RP1_STATUS_LEVEL_HIGH = 0x00800000;
const unsigned int RP1_STATUS_LEVEL_MASK = 0x00C00000;

const unsigned int RP1_DEBOUNCE_DEFAULT_VALUE = 4;
const unsigned int RP1_DEBOUNCE_MASK = 0x7f;
const unsigned int RP1_DEBOUNCE_DEFAULT = (RP1_DEBOUNCE_DEFAULT_VALUE << 5);

//RP1 chip (@Pi5) address
const unsigned long long RP1_BASE_Addr = 0x1f000d0000;
const unsigned int RP1_IO0_Addr = 0x400d0000;
const unsigned int RP1_SYS_RIO0_Addr = 0x400e0000;
const unsigned int RP1_PADS0_Addr = 0x400f0000;


// Access from ARM Running Linux
// Taken from Gert/Doms code. Some of this is not in the manual
// that I can find )-:
@@ -130,6 +166,11 @@ struct wiringPiNodeStruct *wiringPiNodes = NULL ;
// Updates in September 2015 - all now static variables (and apologies for the caps)
// due to the Pi v2, v3, etc. and the new /dev/gpiomem interface

const char* gpiomem_global = "/dev/mem";
const char* gpiomem_BCM = "/dev/gpiomem"
const char* gpiomem_RP1 = "/dev/gpiomem0";
const int gpiomem_RP1_Size = 0x00030000;

static volatile unsigned int GPIO_PADS ;
static volatile unsigned int GPIO_CLOCK_BASE ;
static volatile unsigned int GPIO_BASE ;
@@ -194,6 +235,7 @@ static volatile unsigned int *clk ;
static volatile unsigned int *pads ;
static volatile unsigned int *timer ;
static volatile unsigned int *timerIrqRaw ;
static volatile unsigned int *rio ;

// Export variables for the hardware pointers

@@ -203,7 +245,7 @@ volatile unsigned int *_wiringPiClk ;
volatile unsigned int *_wiringPiPads ;
volatile unsigned int *_wiringPiTimer ;
volatile unsigned int *_wiringPiTimerIrqRaw ;
volatile unsigned int *_wiringPiRio ;

// Data for use with the boardId functions.
// The order of entries here to correspond with the PI_MODEL_X
@@ -216,6 +258,7 @@ volatile unsigned int *_wiringPiTimerIrqRaw ;
#define GPIO_PERI_BASE_OLD 0x20000000
#define GPIO_PERI_BASE_2835 0x3F000000
#define GPIO_PERI_BASE_2711 0xFE000000
#define GPIO_PERI_BASE_2712 0x00 //unknown - 32-bit mapped global mem access not supported for now

static volatile unsigned int piGpioBase = 0 ;

@@ -512,6 +555,20 @@ int GPIOToSysFS(const int pin) {
return sysfspin;
}

int GetMaxPin() {
return PI_MODEL_5 == RaspberryPiModel ? 27 : 63;
}


#define RETURN_ON_MODEL5 if (PI_MODEL_5 == RaspberryPiModel) { if (wiringPiDebug) printf("Function not supported on Pi5\n"); return; }
void FailOnModel5() {
if (PI_MODEL_5 == RaspberryPiModel) {
return wiringPiFailure (WPI_ALMOST, "Function not supported on Raspberry Pi 5.\n"
" Unable to continue. Keep an eye of new versions at https://github.com/GrazerComputerClub/WiringPi\n") ;
}
}

// gpioToGPFSEL:
// Map a BCM_GPIO pin to it's Function Selection
// control port. (GPFSEL 0-5)
@@ -1191,6 +1248,7 @@ void setPadDrive (int group, int value)
{
uint32_t wrVal ;

RETURN_ON_MODEL5
if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
{
if ((group < 0) || (group > 2))
@@ -1228,11 +1286,14 @@ int getAlt (int pin)
else if (wiringPiMode != WPI_MODE_GPIO)
return 0 ;

fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;

alt = (*(gpio + fSel) >> shift) & 7 ;
if (PI_MODEL_5 == RaspberryPiModel) {
alt = (gpio[2*pin+1] & RP1_FSEL_NONE_HW); //0-4 function, 5-11 debounce time
} else {
fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;

alt = (*(gpio + fSel) >> shift) & 7 ;
}
return alt ;
}

@@ -1247,6 +1308,7 @@ void pwmSetMode (int mode)
{
if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
{
FailOnModel5();
if (mode == PWM_MODE_MS)
*(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE | PWM0_MS_MODE | PWM1_MS_MODE ;
else
@@ -1284,6 +1346,7 @@ void pwmSetClock (int divisor)
{
uint32_t pwm_control ;

FailOnModel5();
if (piGpioBase == GPIO_PERI_BASE_2711)
{
divisor = 540*divisor/192;
@@ -1335,6 +1398,7 @@ void gpioClockSet (int pin, int freq)
{
int divi, divr, divf ;

FailOnModel5();
pin &= 63 ;

/**/ if (wiringPiMode == WPI_MODE_PINS)
@@ -1466,6 +1530,7 @@ void pinModeAlt (int pin, int mode)
{
int fSel, shift ;

RETURN_ON_MODEL5
setupCheck ("pinModeAlt") ;

if ((pin & PI_GPIO_MASK) == 0) // On-board pin
@@ -1477,10 +1542,25 @@ void pinModeAlt (int pin, int mode)
else if (wiringPiMode != WPI_MODE_GPIO)
return ;

fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;
if (PI_MODEL_5 == RaspberryPiModel) {

//confusion! diffrent to to BCM! this is taking directly the value for the register
/*
"alt0" 0b100
"alt1" 0b101
"alt2" 0b110
"alt3" 0b111
"alt4" 0b011
"alt5" 0b010
*/
gpio[2*pin+1] = (mode & RP1_FSEL_NONE_HW) | RP1_DEBOUNCE_DEFAULT; //0-4 function, 5-11 debounce time
} else {
fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;

*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | ((mode & 0x7) << shift) ;
}

*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | ((mode & 0x7) << shift) ;
}
}

@@ -1514,21 +1594,30 @@ void pinMode (int pin, int mode)
fSel = gpioToGPFSEL [pin] ;
shift = gpioToShift [pin] ;

/**/ if (mode == INPUT)
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
else if (mode == OUTPUT)
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
else if (mode == SOFT_PWM_OUTPUT)
if (mode == INPUT) {
if (PI_MODEL_5 == RaspberryPiModel) {
rio[RP1_RIO_OE + RP1_CLR_OFFSET] = 1<<pin;
} else {
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) ; // Sets bits to zero = input
}
} else if (mode == OUTPUT) {
if (PI_MODEL_5 == RaspberryPiModel) {
rio[RP1_RIO_OE + RP1_SET_OFFSET] = 1<<pin;
} else {
*(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift) ;
}
} else if (mode == SOFT_PWM_OUTPUT) {
softPwmCreate (origPin, 0, 100) ;
else if (mode == SOFT_TONE_OUTPUT)
} else if (mode == SOFT_TONE_OUTPUT) {
softToneCreate (origPin) ;
else if (mode == PWM_TONE_OUTPUT)
} else if (mode == PWM_TONE_OUTPUT)
{
pinMode (origPin, PWM_OUTPUT) ; // Call myself to enable PWM mode
pwmSetMode (PWM_MODE_MS) ;
}
else if (mode == PWM_OUTPUT)
{
RETURN_ON_MODEL5
if ((alt = gpioToPwmALT [pin]) == 0) // Not a hardware capable PWM pin
return ;

@@ -1545,6 +1634,7 @@ void pinMode (int pin, int mode)
}
else if (mode == GPIO_CLOCK)
{
RETURN_ON_MODEL5
if ((alt = gpioToGpClkALT0 [pin]) == 0) // Not a GPIO_CLOCK pin
return ;

@@ -1580,42 +1670,54 @@ void pullUpDnControl (int pin, int pud)

if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
{
/**/ if (wiringPiMode == WPI_MODE_PINS)

/**/ if (wiringPiMode == WPI_MODE_PINS)
pin = pinToGpio [pin] ;
else if (wiringPiMode == WPI_MODE_PHYS)
pin = physToGpio [pin] ;
else if (wiringPiMode != WPI_MODE_GPIO)
return ;

if (piGpioPupOffset == GPPUPPDN0)
{
// Pi 4B pull up/down method
int pullreg = GPPUPPDN0 + (pin>>4);
int pullshift = (pin & 0xf) << 1;
unsigned int pullbits;
unsigned int pull;

switch (pud)
{
case PUD_OFF: pull = 0; break;
case PUD_UP: pull = 1; break;
case PUD_DOWN: pull = 2; break;
unsigned int pull;
if (PI_MODEL_5 == RaspberryPiModel) {
unsigned int pullbits = pads[1+pin] & RP1_INV_PUD_MASK; // remove bits
switch (pud){
case PUD_OFF: break;
case PUD_UP: pads[1+pin] = pullbits | RP1_PUD_UP; break; //set bit
case PUD_DOWN: pads[1+pin] = pullbits | RP1_PUD_DOWN; break;
default: return ; /* An illegal value */
}
} else {
if (piGpioPupOffset == GPPUPPDN0)
{
// Pi 4B pull up/down method
int pullreg = GPPUPPDN0 + (pin>>4);
int pullshift = (pin & 0xf) << 1;
unsigned int pullbits;
unsigned int pull;

switch (pud)
{
case PUD_OFF: pull = 0; break;
case PUD_UP: pull = 1; break;
case PUD_DOWN: pull = 2; break;
default: return ; /* An illegal value */
}

pullbits = *(gpio + pullreg);
pullbits &= ~(3 << pullshift);
pullbits |= (pull << pullshift);
*(gpio + pullreg) = pullbits;
}
else
{
// legacy pull up/down method
*(gpio + GPPUD) = pud & 3 ; delayMicroseconds (5) ;
*(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (5) ;

pullbits = *(gpio + pullreg);
pullbits &= ~(3 << pullshift);
pullbits |= (pull << pullshift);
*(gpio + pullreg) = pullbits;
}
else
{
// legacy pull up/down method
*(gpio + GPPUD) = pud & 3 ; delayMicroseconds (5) ;
*(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31) ; delayMicroseconds (5) ;

*(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
*(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
*(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
*(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
}
}
}
else // Extension module
@@ -1655,10 +1757,18 @@ int digitalRead (int pin)
else if (wiringPiMode != WPI_MODE_GPIO)
return LOW ;

if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
return HIGH ;
else
return LOW ;
if (PI_MODEL_5 == RaspberryPiModel) {
switch(gpio[2*pin] & RP1_STATUS_LEVEL_MASK) {
default: // 11 or 00 not allowed, give LOW!
case RP1_STATUS_LEVEL_LOW: return LOW ;
case RP1_STATUS_LEVEL_HIGH: return HIGH ;
}
} else {
if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
return HIGH ;
else
return LOW ;
}
}
else
{
@@ -1704,12 +1814,12 @@ void digitalWrite (int pin, int value)
{
/**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
{
if (sysFds [pin] != -1)
if (sysFds [pin] != -1)
{
if (value == LOW)
write (sysFds [pin], "0\n", 2) ;
else
write (sysFds [pin], "1\n", 2) ;
if (value == LOW)
write (sysFds [pin], "0\n", 2) ;
else
write (sysFds [pin], "1\n", 2) ;
}
return ;
}
@@ -1719,11 +1829,20 @@ void digitalWrite (int pin, int value)
pin = physToGpio [pin] ;
else if (wiringPiMode != WPI_MODE_GPIO)
return ;

if (value == LOW)
*(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
else
*(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
if (PI_MODEL_5 == RaspberryPiModel) {
if (value == LOW)
//printf("Set pin %d >>0x%08x<< to low\n", pin, 1<<pin);
rio[RP1_RIO_OUT + RP1_CLR_OFFSET] = 1<<pin;
} else {
//printf("Set pin %d >>0x%08x<< to high\n", pin, 1<<pin);
rio[RP1_RIO_OUT + RP1_SET_OFFSET] = 1<<pin;
}
} else {
if (value == LOW)
*(gpio + gpioToGPCLR [pin]) = 1 << (pin & 31) ;
else
*(gpio + gpioToGPSET [pin]) = 1 << (pin & 31) ;
}
}
else
{
@@ -1763,6 +1882,7 @@ void pwmWrite (int pin, int value)
{
struct wiringPiNodeStruct *node = wiringPiNodes ;

FailOnModel5();
setupCheck ("pwmWrite") ;

if ((pin & PI_GPIO_MASK) == 0) // On-Board Pin
@@ -1832,7 +1952,7 @@ void analogWrite (int pin, int value)

void pwmToneWrite (int pin, int freq)
{
int range ;
FailOnModel5();

setupCheck ("pwmToneWrite") ;

@@ -1840,7 +1960,7 @@ void pwmToneWrite (int pin, int freq)
pwmWrite (pin, 0) ; // Off
else
{
range = 600000 / freq ;
int range = 600000 / freq ;
pwmSetRange (range) ;
pwmWrite (pin, freq / 2) ;
}
@@ -1871,6 +1991,8 @@ void digitalWriteByte (const int value)
int mask = 1 ;
int pin ;

FailOnModel5();

/**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
{
for (pin = 0 ; pin < 8 ; ++pin)
@@ -1903,6 +2025,8 @@ unsigned int digitalReadByte (void)
uint32_t raw ;
uint32_t data = 0 ;

FailOnModel5();

/**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
{
for (pin = 0 ; pin < 8 ; ++pin)
@@ -1939,6 +2063,8 @@ void digitalWriteByte2 (const int value)
register int mask = 1 ;
register int pin ;

FailOnModel5();

/**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
{
for (pin = 20 ; pin < 28 ; ++pin)
@@ -1960,6 +2086,8 @@ unsigned int digitalReadByte2 (void)
int pin, x ;
uint32_t data = 0 ;

FailOnModel5();

/**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
{
for (pin = 20 ; pin < 28 ; ++pin)
@@ -2064,9 +2192,10 @@ int wiringPiISR (int pin, int mode, void (*function)(void))
int count, i ;
char c ;
int bcmGpioPin ;
const int maxpin = GetMaxPin();

if ((pin < 0) || (pin > 63))
return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-63 (%d)\n", pin) ;
if (pin < 0 || pin > maxpin)
return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-%d (%d)\n", maxpin, pin) ;

/**/ if (wiringPiMode == WPI_MODE_UNINITIALISED)
return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
@@ -2384,6 +2513,11 @@ int wiringPiSetup (void)
piGpioPupOffset = GPPUPPDN0 ;
break ;

case PI_MODEL_5:
piGpioBase = GPIO_PERI_BASE_2712 ;
piGpioPupOffset = 0 ;
break ;

default:
piGpioBase = GPIO_PERI_BASE_2835 ;
piGpioPupOffset = GPPUD ;
@@ -2395,37 +2529,43 @@ int wiringPiSetup (void)
// Try /dev/mem. If that fails, then
// try /dev/gpiomem. If that fails then game over.

const char* gpiomemGlobal = gpiomem_global;
const char* gpiomemModule = gpiomem_BCM;

if (PI_MODEL_5 == model) {
return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Raspberry Pi 5 not supported.\n"
" Unable to continue. Keep an eye of new versions at https://github.com/GrazerComputerClub/WiringPi\n") ;
gpiomemGlobal = NULL; // now supported as long as i don't know the RP1 32-bit mapped global address
gpiomemModule = gpiomem_RP1;
}

if ((fd = open ("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC)) < 0)
if (gpiomemGlobal==NULL || (fd = open (gpiomemGlobal, O_RDWR | O_SYNC | O_CLOEXEC)) < 0)
{
if ((fd = open ("/dev/gpiomem", O_RDWR | O_SYNC | O_CLOEXEC) ) >= 0) // We're using gpiomem

if (gpiomemModule && (fd = open (gpiomemModule, O_RDWR | O_SYNC | O_CLOEXEC) ) >= 0) // We're using gpiomem
{
piGpioBase = 0 ;
usingGpioMem = TRUE ;
}
else
return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/mem or /dev/gpiomem: %s.\n"
return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/mem or %s: %s.\n"
" Aborting your program because if it can not access the GPIO\n"
" hardware then it most certianly won't work\n"
" Try running with sudo?\n", strerror (errno)) ;
" Try running with sudo?\n", gpiomemModule, strerror (errno)) ;
}

//Set the offsets into the memory interface.
// GPIO:
if (PI_MODEL_5 != model) {
//Set the offsets into the memory interface.

GPIO_PADS = piGpioBase + 0x00100000 ;
GPIO_CLOCK_BASE = piGpioBase + 0x00101000 ;
GPIO_BASE = piGpioBase + 0x00200000 ;
GPIO_TIMER = piGpioBase + 0x0000B000 ;
GPIO_PWM = piGpioBase + 0x0020C000 ;
GPIO_PADS = piGpioBase + 0x00100000 ;
GPIO_CLOCK_BASE = piGpioBase + 0x00101000 ;
GPIO_BASE = piGpioBase + 0x00200000 ;
GPIO_TIMER = piGpioBase + 0x0000B000 ;
GPIO_PWM = piGpioBase + 0x0020C000 ;

// Map the individual hardware components

// GPIO:
if (PI_MODEL_5 != model) {
// GPIO:
gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_BASE) ;
if (gpio == MAP_FAILED)
return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
@@ -2462,23 +2602,29 @@ int wiringPiSetup (void)
*(timer + TIMER_PRE_DIV) = 0x00000F9 ;
timerIrqRaw = timer + TIMER_IRQ_RAW ;

// Export the base addresses for any external software that might need them
_wiringPiGpio = gpio ;
_wiringPiPwm = pwm ;
_wiringPiClk = clk ;
_wiringPiPads = pads ;
_wiringPiTimer = timer ;
_wiringPiRio = NULL ;
} else {
_wiringPiGpio = NULL ;
//map hole RP1 memory block from beginning, gobal mem not supported
gpio = (unsigned int *)mmap(0, gpiomem_RP1_Size, PROT_READ|PROT_WRITE, MAP_SHARED, fd, 0x00000000) ;
if (gpio == MAP_FAILED)
return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap failed: %s\n", strerror (errno)) ;
pads = &gpio[(RP1_PADS0_Addr-RP1_IO0_Addr)/4]; // Start adress of map memory for pads
rio = &gpio[(RP1_SYS_RIO0_Addr-RP1_IO0_Addr)/4]; // Start adress of map memory for rio

// Export the base addresses for any external software that might need them
_wiringPiGpio = gpio ;
_wiringPiPwm = NULL ;
_wiringPiClk = NULL ;
_wiringPiPads = NULL ;
_wiringPiPads = pads ;
_wiringPiTimer = NULL ;
_wiringPiRio = rio ;
}

// Export the base addresses for any external software that might need them



initialiseEpoch () ;

@@ -2541,7 +2687,6 @@ int wiringPiSetupPhys (void)

int wiringPiSetupSys (void)
{
int pin ;
char fName [128] ;

if (wiringPiSetuped)
@@ -2575,7 +2720,7 @@ int wiringPiSetupSys (void)
// Open and scan the directory, looking for exported GPIOs, and pre-open
// the 'value' interface to speed things up for later

for (pin = 0 ; pin < 64 ; ++pin)
for (int pin = 0, maxpin=GetMaxPin() ; pin <= maxpin ; ++pin)
{
int pinFS = GPIOToSysFS(pin);
if (pinFS>=0) {


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