amiro-os / README.txt @ 10687985
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AMiRo-OS is the operating system for the base version of the |
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Autonomous Mini Robot (AMiRo) [1,2]. It utilizes ChibiOS (a real-time |
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operating system for embedded devices developed by Giovanni di Sirio; |
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see <http://chibios.org>) as system kernel and extends it with |
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platform specific functionalities. |
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|
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Copyright (C) 2016 Thomas Schöpping et al. |
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(a complete list of all authors is given below) |
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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 3 of the License, or (at |
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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, but |
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WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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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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This research/work was supported by the Cluster of Excellence |
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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University, which is funded by the German Research Foundation (DFG). |
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|
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Authors: |
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- Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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- Timo Korthals <tkorthals[at]cit-ec.uni-bielefeld.de> |
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- Stefan Herbechtsmeier <sherbrec[at]cit-ec.uni-bielefeld.de> |
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- Teerapat Chinapirom <tchinapirom[at]cit-ec.uni-bielefeld.de> |
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- Robert Abel |
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- Marvin Barther |
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- Claas Braun |
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- Tristan Kenneweg |
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|
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References: |
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[1] Herbrechtsmeier S., Rückert U., & Sitte J. (2012). "AMiRo - |
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Autonomous Mini Robot for Research and Education". In Advances in |
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Autonomous Mini Robots (pp. 101-112). Springer Berlin |
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Heidelberg. |
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[2] Schöpping T., Korthals T., Herbrechtsmeier S., & Rückert U. |
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(2015). "AMiRo: A Mini Robot for Scientific Applications" In |
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Advances in Computational Intelligence (pp. 199-205). Springer |
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International Publishing. |
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##################################################################### |
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# # |
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# RRRRRRRR EEEEEEEE AAA DDDDDDDD MM MM EEEEEEEE # |
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# RR RR EE AA AA DD DD MMM MMM EE # |
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# RR RR EE AA AA DD DD MMMM MMMM EE # |
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# RRRRRRRR EEEEEE AA AA DD DD MM MMM MM EEEEEE # |
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# RR RR EE AAAAAAAAA DD DD MM MM EE # |
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# RR RR EE AA AA DD DD MM MM EE # |
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# RR RR EEEEEEEE AA AA DDDDDDDD MM MM EEEEEEEE # |
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# # |
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##################################################################### |
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|
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This file will help you to setup all required software on your system, |
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compile the source code, and flash it to the AMiRo modules. |
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|
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===================================================================== |
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|
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CONTENTS: |
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1 Required software |
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1.1 gcc-arm-none-eabi |
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1.2 ChibiOS |
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1.3 AMiRo-BLT |
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2 Recommended software |
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2.1 gtkterm and hterm |
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2.2 QtCreator |
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3 Building and flashing |
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|
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===================================================================== |
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|
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1 - REQUIRED SOFTWARE |
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--------------------- |
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|
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In order to compile the source code, you need to install the GCC for |
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ARM embedded devices. Since AMiRo-OS requires ChibiOS as system |
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kernel, you need a copy of that project as well. Furthermore, AMiRo-OS |
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requires a compatible bootloader, such as provided by the AMiRo-BLT |
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project. |
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|
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1.1 gcc-arm-none-eabi |
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Various versions of the GCC for ARM embedded devices can be found at |
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<https://launchpad.net/gcc-arm-embedded>. It is highly recommended to |
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use the version 4.8 with update 2014-q1 since some others will cause |
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issues. For installation of the compiler toolchain, please follow the |
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instructions that can be found on the web page. |
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|
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1.2 ChibiOS |
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Since AMiRo-OS uses ChibiOS as underlying system kernel, you need to |
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acquire a copy of it as well. First, go to the directory which |
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contains the AMiRo-OS folder (but do not go into the AMiRo-OS |
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directory itself!). Now clone the GIT repository of ChibiOS and |
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checkout version 2.6.x: |
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>$ git clone https://github.com/ChibiOS/ChibiOS.git ChibiOS |
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>$ cd ChibiOS |
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>$ git checkout 2e6dfc7364e7551483922ea6afbaea8f3501ab0e |
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It is highly recommended to use exactly this commit. Although newer |
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commits in the 2.6.x branch might work fine, AMiRo-OS is not |
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compatible with ChibiOS version 3 or newer. |
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AMiRo-OS comes with some patches to ChibiOS, which must be applied as |
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well before compiling the project. Therefore you need to copy all |
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files from the ./patches directory of AMiRo-OS to the root directory |
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of ChibiOS. You can then apply the patches via the following command: |
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>$ for i in `ls | grep patch`; do git am --ignore-space-change --ignore-whitespace < ${i}; done |
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If the files could not be patched successfully, you are probably using |
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an incompatible version of ChibiOS (try to checkout the correct commit |
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as denoted above). |
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1.3 AMiRo-BLT |
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AMiRo-BLT is an additional software project, which is developed in |
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parallel with AMiRo-OS. If you did not receive a copy of AMiRo-BLT |
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with AMiRo-OS, you can find all code and documentation at |
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<https://opensource.cit-ec.de/projects/amiro-os>. Instructions for |
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installation and how to use the software provided by AMiRo-BLT can be |
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found on the web page or in the project's readme file. |
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2 - RECOMMENDED SOFTWARE |
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------------------------ |
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|
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In order to fully use all features of AMiRo-OS it is recommended to |
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install the 'hterm' or 'gtkterm' application for accessing the robot. |
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To ease further development, this project offers support for the |
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QtCreator IDE. |
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2.1 - gtkterm and hterm |
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Depending on your operating system, it is recommended to install |
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'gtkterm' for Linux (available in the Ubuntu repositories), or 'hterm' |
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for Windows. |
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For gtkterm you need to modify the configuration file ~/.gtktermrc (it |
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is generated automatically when you start the application for the |
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first time) as follows: |
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port = /dev/ttyUSB0 |
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speed = 115200 |
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bits = 8 |
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stopbits = 1 |
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parity = none |
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flow = none |
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wait_delay = 0 |
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wait_char = -1 |
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rs485_rts_time_before_tx = 30 |
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rs485_rts_time_after_tx = 30 |
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echo = False |
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crlfauto = True |
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For hterm you must need to configure the tool analogously. |
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2.2 - QtCreator |
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In order to setup QtCreator projects for the three AMiRo base modules, |
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a script is provided in the directory ./ide/qtcreator/. It is |
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accompanied by an additional README.txt file, which contains further |
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information. |
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3 - BUILDING AND FLASHING |
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------------------------- |
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Each time you modify any part of AMiRo-OS, you need to recompile the |
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whole project for the according AMiRo module. Therefore you have to |
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use the makefiles provided in ./devices/<DeviceToRecompile>/ by simply |
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executing 'make' in the according directory. If you want to compile |
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all modules at once, you can also use the makefile in the ./devices/ |
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folder. |
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After compilation, you always have to flash the generated program to |
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the robot. Therefore you need to install the SerialBoot tool provided |
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by the AMiRo-BLT project. Furthermore the tool must be accessible |
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globally under the environment variable 'SERIALBOOT'. You can do this |
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by appending the following line to your ~/.bashrc file: |
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export SERIALBOOT=</absolute/path/to/the/SerialBoot/binary> |
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You can test the tool by calling it via the variable: |
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>$ ${SERIALBOOT} |
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This should print some information about the tool. |
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Similar to the compilation procedure as described above, you can flash |
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either each module separately, or all modules at once by executing |
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'make flash' from the according directory. |
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Note that you must connect the programming cable either to the |
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DiWheelDrive or the PowerManagement module for flashing the operating |
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system. All other modules are powered off after reset so that only |
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these two offer a bootloader that is required for flashing. |
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|
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===================================================================== |
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|