417 lines
13 KiB
C
417 lines
13 KiB
C
#include <string.h>
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#include "mlx90640_lcd_display.h"
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#include "stm32_hx8347d_lcd.h"
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#include "MLX90640_API.h"
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#include "MLX90640_I2C_Driver.h"
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#include "sys_app.h"
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#include "yunhorn_sts_sensors.h"
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//#include "bmp.h"
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#define FPS_HALF_HZ 0x00
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#define FPS1HZ 0x01
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#define FPS2HZ 0x02
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#define FPS4HZ 0x03
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#define FPS8HZ 0x04
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#define FPS16HZ 0x05
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#define FPS32HZ 0x06
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#define DetectCycleCount 8
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#define MLX90640_ADDR 0x33
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#define RefreshRate FPS4HZ //FPS1HZ //was FPS2HZ
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#define EMMISIVITY 0.96f //water Emisivity=0.96, human body == 0.92f
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#define TA_SHIFT 8 //Default shift for MLX90640 in open air
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#define WATER_DETECT 0x01
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#define HUMAN_DETECT 0x02
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paramsMLX90640 mlx90640;
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static uint16_t eeMLX90640[832];
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int status;
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volatile uint8_t draw_legend_once=0, blackOutTag=0;
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// The following be stored in NVM
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volatile uint8_t averageTempThreshold;
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volatile uint8_t emmisivityThreshold= (EMMISIVITY*100); // 96/100 = 0.96f
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volatile uint8_t humanTempThreshold = 32;
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volatile uint8_t waterTempThreshold=15; //15/10= 1.5 C
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volatile uint8_t thermalDetectTag = WATER_DETECT;
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// The Above be stored in NVM
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volatile uint8_t normalWaterTemp=25; // 25 C
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volatile uint16_t detectCycle=0, v_water_cnt=0,h_water_cnt=0, spot_cnt=0;
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// start with some initial colors
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volatile float minTemp = -20.0f;
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volatile float maxTemp = 120.0f;
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volatile float centerTemp=0.0f;
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volatile float averageTemp=0.0f;
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volatile float averageTempInner=0.0f;
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volatile uint16_t waterSpillCount=0;
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volatile uint16_t humanSpotCount=0;
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extern volatile uint8_t sensor_data_ready;
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extern volatile float env_temperature;
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char tempBuffer[256];
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// variables for interpolated colors
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uint8_t red, green, blue;
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// variables for row/column interpolation
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float intPoint, val, a, b, c, d, ii;
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int x, y, i, j;
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// array for the 32 x 24 measured tempValues
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#define ROW 24
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#define COL 32
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static float tempValues[COL*ROW];
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volatile uint16_t zoneMask[ROW*COL]={0x0}, edgeMask[ROW*COL]={0x0}, upMask[ROW/3][COL/3]={0x0}, order[(ROW/3)*(COL/3)]={0x0};
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volatile STS_M1A_SensorDataTypeDef m1a_data;
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void blackOutFilter(void);
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static void setTempScale(void);
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static void setAbcd(void);
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static void findFocusArea(void);
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static void readTempValues(void);
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static void sortFocusAreas(void);
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static void bubbleSort(uint16_t arr[], uint16_t len, uint16_t order[]);
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static void setTempScale(void) {
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minTemp = 255;
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maxTemp = 0;
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averageTemp =0.0f;
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averageTempInner =0.0f;
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float sumtemp=0.0f;
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float sumtempinner=0.0f;
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for (i = 0; i < 768; i++)
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{
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//averageTemp += tempValues[i];
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sumtemp += tempValues[i];
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if (((uint8_t)(i/32) > 1)&& ((uint8_t)(i/32) <22) && ((uint8_t)(i%32) >1) && ((uint8_t)(i%32) <30))
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{
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sumtempinner += (float)tempValues[i];
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}
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minTemp = (float)min(minTemp, tempValues[i]);
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maxTemp = (float)max(maxTemp, tempValues[i]);
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}
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//averageTemp /= 768;
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averageTemp = sumtemp / (float)768.0;
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averageTempInner = sumtempinner / (float)560.0; //28*20 inner round area
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centerTemp = (float) ((tempValues[383 - 16] + tempValues[383 - 15] + tempValues[384 + 15] + tempValues[384 + 16]) / 4);
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if (maxTemp > (float)humanTempThreshold)
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{
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blackOutTag = 1;
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} else {
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blackOutTag = 0;
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}
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setAbcd();
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}
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// Function to get the cutoff points in the temp vs RGB graph.
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static void setAbcd(void) {
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a = minTemp + (maxTemp - minTemp) * 0.2121f;
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b = minTemp + (maxTemp - minTemp) * 0.3182f;
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c = minTemp + (maxTemp - minTemp) * 0.4242f;
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d = minTemp + (maxTemp - minTemp) * 0.8182f;
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}
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static void findFocusArea(void)
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{
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uint16_t h_cnt[COL]={0},v_cnt[ROW]={0}; //for horizon and vertical _water spill count
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// start from 2, ignore edge of FOV
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for (y=1; y<ROW-1; y++)
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{
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for (x=1; x<COL-1; x++) // Start from 2, ignore edge of FOV
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{
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if (zoneMask[y*COL+x] > 3) {
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upMask[(uint8_t)(y/3)][(uint8_t)(x/3)] ++; //translate to 11*8 matrix for upload
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h_cnt[x] =1;
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v_cnt[y] =1;
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}
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}
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}
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// simple count of water spill point cloud
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v_water_cnt=0;
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h_water_cnt=0;
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uint8_t v_1=0, v_2=0,h_1=0,h_2=0;
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for (y=1; y<ROW/2; y++) {
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if ((1 == v_cnt[y]) && (0 == v_cnt[y-1])) {
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v_1++;
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}
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}
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for (y=12; y<ROW; y++) {
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if ((1 == v_cnt[y]) && (0 == v_cnt[y-1])) {
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v_2++;
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}
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}
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v_water_cnt= v_1 + v_2;
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for (x=1; x<COL/2; x++) {
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if ((1 == h_cnt[x]) && (0 == h_cnt[x-1])) {
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h_1 ++;
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}
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}
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for (x=16; x<COL; x++) {
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if ((1 == h_cnt[x]) && (0 == h_cnt[x-1])) {
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h_2 ++;
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}
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}
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h_water_cnt = h_1 + h_2;
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spot_cnt += max(h_water_cnt, v_water_cnt);
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// APP_LOG(TS_OFF, VLEVEL_L, " H cnt = %2u V cnt =%2u Spot Cnt=%2u \r\n", h_water_cnt, v_water_cnt, spot_cnt);
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}
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// Read pixel data from MLX90640.
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static void readTempValues(void)
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{
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for (uint8_t x = 0 ; x < 2 ; x++) // Read both subpages
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{
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uint16_t mlx90640Frame[834];
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status = MLX90640_GetFrameData(MLX90640_ADDR, mlx90640Frame);
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if (status < 0)
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{
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APP_LOG(TS_OFF, VLEVEL_L, "GetFrame Error: %d\r\n",status);
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}
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float vdd = MLX90640_GetVdd(mlx90640Frame, &mlx90640);
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float Ta = MLX90640_GetTa(mlx90640Frame, &mlx90640);
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float tr = Ta - TA_SHIFT; //Reflected temperature based on the sensor ambient temperature
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//MLX90640_CalculateTo(mlx90640Frame, &mlx90640, EMMISIVITY, tr, tempValues);
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MLX90640_CalculateTo(mlx90640Frame, &mlx90640, (float)(emmisivityThreshold/100.0), tr, tempValues);
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}
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}
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static void sortFocusAreas(void)
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{
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float temp1=0.0;
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if ((maxTemp > humanTempThreshold)&&(thermalDetectTag==WATER_DETECT))
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{
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blackOutTag =1;
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} else
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{
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blackOutTag =0;
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}
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// ignore edge of FOV
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waterSpillCount = 0;
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humanSpotCount = 0;
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for (y=1; y<ROW; y++)
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{
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for (x=1; x<COL; x++)
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{
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temp1 = (float)tempValues[(x)+(y*COL)];
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if (thermalDetectTag == WATER_DETECT)
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{
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if ((temp1 + (float)(waterTempThreshold / 10.0)) < (float)(min(averageTemp, env_temperature))) // was max(averageTemp, env_temperature))
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{
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if (blackOutTag == 0)
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{
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zoneMask[y*COL+x] ++;
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upMask[(uint8_t)(y/3)][(uint8_t)(x/3)] ++; //translate to 11*8 matrix for upload
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waterSpillCount ++;
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}
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}
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} else if (thermalDetectTag == HUMAN_DETECT) {
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if ((temp1 > (float) humanTempThreshold)&&(temp1 <(float) (humanTempThreshold+6.0))) {
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zoneMask[y*COL+x] ++;
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upMask[(uint8_t)(y/3)][(uint8_t)(x/3)] ++; //translate to 11*8 matrix for upload
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humanSpotCount ++;
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}
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}
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}
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}
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}
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void STS_M1A_SENSOR_Read(STS_M1A_SensorDataTypeDef *m1a_data)
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{
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m1a_data->thermalDetectTag = thermalDetectTag;
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m1a_data->waterSpillCount = blackOutTag==0?waterSpillCount:0;
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m1a_data->humanSpotCount = humanSpotCount;
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m1a_data->humanSpot_level = (uint8_t)((m1a_data->humanSpotCount)*99/768.0);
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m1a_data->spillage_level = (uint8_t)((m1a_data->waterSpillCount)*99/768.0); //((ROW-2)*(COL-2))); // (24-4) * (32 -4) minus edge dots
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m1a_data->averageTemp = averageTemp;
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m1a_data->averageTempInner = averageTempInner;
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m1a_data->centerTemp = centerTemp;
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m1a_data->minTemp = minTemp;
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m1a_data->maxTemp = maxTemp;
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m1a_data->v_water_cnt = v_water_cnt;
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m1a_data->h_water_cnt = h_water_cnt;
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spot_cnt = max(v_water_cnt, h_water_cnt);
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m1a_data->spot_cnt = blackOutTag ==0? spot_cnt:0; //max(v_water_cnt, h_water_cnt);
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// TODO XXXX for fall detection logic
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m1a_data->detectedEvent = (m1a_data->spot_cnt>0)? 1:0; //fall detection or water spillage detection result
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uint8_t i=0;
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if ((spot_cnt != 0) && (blackOutTag == 0)) {
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bubbleSort((void *)upMask, 80, (void *)order);
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for (i= spot_cnt; i< 80;i++) {
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order[i] = 0;
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}
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} else {
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for (i= 0; i< 80;i++) {
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order[i] = 0;
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}
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}
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// MIRROR REVERT OF MATRIX
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for (i=0; i<spot_cnt;i++)
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{
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order[i]= 10*((order[i]+10)/10)+ (9 - ((order[i])%10));
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}
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memcpy((void *)m1a_data->order, (const void *)order, sizeof(order));
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memset(tempBuffer,0x0,sizeof(tempBuffer));
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if (thermalDetectTag == WATER_DETECT)
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{
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sprintf(tempBuffer,(char *)"\r\n## Blackout=%u ######\n##Read Sensor Spot CNT=%4d (areas), \r\n Env_Temp =%2.2f C \r\n## V_cnt=%2d (lane) H_cnt=%2d (lane)\r\n## Spillage Level =%u %% \r\n## averageTempInner=%02.2f C averageTemp=%02.2f C, centerTemp=%2.2f C MinTemp=%2.2f C maxTemp=%2.2f C \r\n",
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(uint8_t)blackOutTag, (uint16_t)(m1a_data->waterSpillCount), (float)env_temperature, (int)v_water_cnt, (int)h_water_cnt, (uint8_t)(m1a_data->spillage_level), (float)averageTempInner, (float)averageTemp, (float)centerTemp, (float)minTemp, (float)maxTemp);
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} else if (thermalDetectTag == HUMAN_DETECT)
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{
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sprintf(tempBuffer,(char *)"\r\n######Read Sensor Spot CNT=%4d (areas), \r\n Env_Temp =%2.2f C \r\n## V_cnt=%2d (lane) H_cnt=%2d (lane)\r\n## Spillage Level =%u %% \r\n## averageTempInner=%02.2f C averageTemp=%02.2f C, centerTemp=%2.2f C MinTemp=%2.2f C maxTemp=%2.2f C \r\n",
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(uint16_t)(m1a_data->humanSpotCount), (float)env_temperature, (int)v_water_cnt, (int)h_water_cnt, (uint8_t)(m1a_data->humanSpot_level), (float)averageTempInner, (float)averageTemp, (float)centerTemp, (float)minTemp, (float)maxTemp);
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}
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APP_LOG(TS_OFF, VLEVEL_H,(char *)tempBuffer);
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sprintf(tempBuffer,(char *)"\r\n######## Gap_Average= %2.2f C Gap_Inner =%2.2f C\r\n ##### Thermal Detect Tag =%s \r\n Human Body Threshold=%2.2f C WaterThreshold=%2.2f C\r\n",(float)(averageTemp - minTemp),(float)(averageTempInner - minTemp), ((thermalDetectTag == WATER_DETECT)? "Water Detect":"Human Detect"), (float)humanTempThreshold, (float)(waterTempThreshold/10));
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APP_LOG(TS_OFF, VLEVEL_H,(char *)tempBuffer);
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if ((m1a_data->spot_cnt !=0 ))
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{
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if ((blackOutTag == 0) || (thermalDetectTag == HUMAN_DETECT))
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{
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for (uint8_t i=0; i< 4; i++)
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{
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memset(tempBuffer,0x0,sizeof(tempBuffer));
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sprintf(tempBuffer, (char *) " Top {%2u} : order =%2u X=%2u : Y=%2u \r\n", (uint8_t)i, (int)(order[i]),
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(int)(order[i]%(10)), (int)(order[i]/10));
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APP_LOG(TS_OFF, VLEVEL_H,(char *)tempBuffer);
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}
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}
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}
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sensor_data_ready = 1;
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}
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void mlx90640_display_process(void)
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{
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memset((void *)zoneMask, 0,sizeof(zoneMask));
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memset((void *)edgeMask, 0, sizeof(edgeMask));
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memset((void *)upMask, 0, sizeof(upMask));
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detectCycle = 0;
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uint16_t spillcountTemp =0, spot_cntTemp=0;
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uint16_t humanspotcountTemp =0;
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do {
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readTempValues();
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setTempScale();
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sortFocusAreas();
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findFocusArea();
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spillcountTemp += waterSpillCount;
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humanspotcountTemp += humanSpotCount;
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spot_cntTemp += spot_cnt;
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} while (++detectCycle < DetectCycleCount);
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waterSpillCount = (uint16_t) (spillcountTemp/DetectCycleCount);
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humanSpotCount = (uint16_t) (humanspotcountTemp/DetectCycleCount);
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spot_cnt /= DetectCycleCount ; //max(v_water_cnt, h_water_cnt);
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if ((blackOutTag == 0)&& (thermalDetectTag == WATER_DETECT))
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{
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APP_LOG(TS_OFF, VLEVEL_H, "Water Spill Detected Level = %u of 768 \r\n", (uint16_t)waterSpillCount);
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}
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else if (thermalDetectTag == HUMAN_DETECT)
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{
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APP_LOG(TS_OFF, VLEVEL_H, "Human Spot Detected Level = %u of 768 \r\n", (uint16_t)humanSpotCount);
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}
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}
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uint8_t mlx90640_bringup_test(void)
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{
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status = MLX90640_DumpEE(MLX90640_ADDR, eeMLX90640);
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return (status==0?1:0);
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}
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void mlx90640_display_init(void){
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MLX90640_SetRefreshRate(MLX90640_ADDR, RefreshRate);
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MLX90640_SetChessMode(MLX90640_ADDR);
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status = MLX90640_DumpEE(MLX90640_ADDR, eeMLX90640);
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if (status != 0) APP_LOG(TS_OFF, VLEVEL_L, "\r\nload system parameters error with code:%d\r\n",status);
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status = MLX90640_ExtractParameters(eeMLX90640, &mlx90640);
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if (status != 0) APP_LOG(TS_OFF, VLEVEL_L, "\r\nParameter extraction failed with error code:%d\r\n",status);
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}
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void STS_SENSOR_Thermal_Graph_Test_Process(float *self_test_result, uint8_t count)
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{
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mlx90640_display_init();
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readTempValues();
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setTempScale();
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self_test_result[0] = averageTemp;
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self_test_result[1] = centerTemp;
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self_test_result[2] = minTemp;
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self_test_result[3] = maxTemp;
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#if 0
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memset(tempBuffer,0,sizeof(tempBuffer));
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sprintf(tempBuffer,(char *)"Upload ============ Calibrated Temp Average=%2.2fC Center=%2.2fC Min=%2.2fC Max=%2.2fC \r\n",
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(float)self_test_result[0], (float)self_test_result[1], (float)self_test_result[2], (float)self_test_result[3]);
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APP_LOG(TS_OFF, VLEVEL_L,(char *)tempBuffer);
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#endif
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}
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static void bubbleSort(uint16_t arr[], uint16_t len, uint16_t order[])
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{
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uint16_t i, j, temp, t1;
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for (j=0; j < len ; j++) {
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order[j] = j;
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}
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for (i = 0; i < len - 1; i++) {
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for (j = 0; j < len - i - 1; j++) {
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if (arr[j] < arr[j + 1]) {
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temp = arr[j];
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arr[j] = arr[j + 1];
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arr[j + 1] = temp;
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t1 = order[j];
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order[j]=order[j+1];
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order[j+1]=t1;
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}
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}
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}
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}
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