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I (121) esp_image: segment 1: paddr=000313e0 vaddr=3fc96aESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0x15 (USB_UART_CHIP_RESET),boot:0x2a (SPI_FAST_FLASH_BOOT)
Saved PC:0x4037ce2b
SPIWP:0xee
mode:DIO, clock div:1
load:0x3fce3810,len:0x168c
load:0x403c9700,len:0xbe0
load:0x403cc700,len:0x2cd0
entry 0x403c9908
I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader
I (25) boot: compile time 08:45:38
I (25) boot: Multicore bootloader
I (27) boot: chip revision: v0.1
I (31) boot.esp32s3: Boot SPI Speed : 80MHz
I (36) boot.esp32s3: SPI Mode : DIO
I (41) boot.esp32s3: SPI Flash Size : 2MB
I (45) boot: Enabling RNG early entropy source...
I (51) boot: Partition Table:
I (54) boot: ## Label Usage Type ST Offset Length
I (62) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (69) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (76) boot: 2 factory factory app 00 00 00010000 00100000
I (84) boot: End of partition table
I (88) esp_image: segment 0: paddr=00010020 vaddr=3c080020 size=213b8h (136120) map
I (121) esp_image: segment 1: paddr=000313e0 vaddr=3fc96a00 size=03e50h ( 15952) load
I (125) esp_image: segment 2: paddr=00035238 vaddr=40374000 size=0ade0h ( 44512) load
I (137) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7ae6ch (503404) map
I (227) esp_image: segment 4: paddr=000bae94 vaddr=4037ede0 size=07b34h ( 31540) load
I (243) boot: Loaded app from partition at offset 0x10000
I (243) boot: Disabling RNG early entropy source...
I (243) cpu_start: Multicore app
I (247) cpu_start: Pro cpu up.
I (251) cpu_start: Starting app cpu, entry point is 0x40375370
I (0) cpu_start: App cpu up.
I (266) cpu_start: Pro cpu start user code
I (267) cpu_start: cpu freq: 160000000 Hz
I (267) cpu_start: Application information:
I (267) cpu_start: Project name: wheel
I (267) cpu_start: App version: 3445a91-dirty
I (267) cpu_start: Compile time: Jan 22 2024 14:39:34
I (268) cpu_start: ELF file SHA256: a640e3e7e4513fe8...
I (268) cpu_start: ESP-IDF: v5.0.4-dirty
I (268) cpu_start: Min chip rev: v0.0
I (268) cpu_start: Max chip rev: v0.99 
I (269) cpu_start: Chip rev: v0.1
I (269) heap_init: Initializing. RAM available for dynamic allocation:
I (269) heap_init: At 3FCA4338 len 000453D8 (276 KiB): DRAM
I (269) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM
I (270) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (270) heap_init: At 600FE010 len 00001FD8 (7 KiB): RTCRAM
I (271) spi_flash: detected chip: gd
I (272) spi_flash: flash io: dio
W (272) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (273) app_start: Starting scheduler on CPU0
I (274) app_start: Starting scheduler on CPU1
I (274) main_task: Started on CPU0
I (284) main_task: Calling app_main()
I (304) wifi station: ESP_WIFI_INIT_STA
I (304) pp: pp rom version: e7ae62f
I (304) net80211: net80211 rom version: e7ae62f
I (314) wifi:wifi driver task: 3fcae348, prio:23, stack:6656, core=0
I (314) system_api: Base MAC address is not set
I (314) system_api: read default base MAC address from EFUSE
I (324) wifi:wifi firmware version: e2d0ad8
I (324) wifi:wifi certification version: v7.0
I (324) wifi:config NVS flash: enabled
I (324) wifi:config nano formating: disabled
I (324) wifi:Init data frame dynamic rx buffer num: 32
I (324) wifi:Init management frame dynamic rx buffer num: 32
I (324) wifi:Init management short buffer num: 32
I (324) wifi:Init dynamic tx buffer num: 32
I (324) wifi:Init static tx FG buffer num: 2
I (324) wifi:Init static rx buffer size: 1600
I (324) wifi:Init static rx buffer num: 10
I (324) wifi:Init dynamic rx buffer num: 32
I (324) wifi_init: rx ba win: 6
I (324) wifi_init: tcpip mbox: 32
I (324) wifi_init: udp mbox: 6
I (324) wifi_init: tcp mbox: 6
I (324) wifi_init: tcp tx win: 5744
I (324) wifi_init: tcp rx win: 5744
I (324) wifi_init: tcp mss: 1440
I (324) wifi_init: WiFi IRAM OP enabled
I (324) wifi_init: WiFi RX IRAM OP enabled
I (334) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14
I (364) wifi:mode : sta (f4:12:fa:57:c4:a4)
I (364) wifi:enable tsf
I (374) modbus tcp: ModBusTCPSlave_init
I (374) bdc_control: DC motor dir gpio init
I (374) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (374) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (374) bdc_control: DC motor speed pwm init
I (374) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (374) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (374) bdc_control: Init pcnt driver to decode rotary signal
I (374) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (374) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (374) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (374) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1
I (384) wifi:state: init -> auth (b0)
I (384) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (384) bdc_control: Create PID control block
I (384) wifi:state: auth -> assoc (0)
I (384) bdc_control: Create a timer to do PID calculation periodically
I (384) bdc_control: DC motor dir gpio init
I (384) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (384) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (384) bdc_control: DC motor speed pwm init
I (384) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (384) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 
I (384) bdc_control: Init pcnt driver to decode rotary signal
I (384) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (384) wifi:state: assoc -> run (10)
I (394) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (394) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (394) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 
I (394) bdc_control: Create PID control block
I (394) bdc_control: Create a timer to do PID calculation periodically
I (394) bdc_control: Enable motor
I (394) bdc_control: Start motor speed loop
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
I (414) wifi:connected with CMCC-xRSZ, aid = 132, channel 11, BW20, bssid = 74:6f:88:5a:5f:88
I (414) wifi:security: WPA2-PSK, phy: bgn, rssi: -45
I (424) wifi:pm start, type: 1
I (424) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000
error: 0.000000, output: 0.000000
I (424) wifi:<ba-add>idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64
I (424) wifi:<ba-add>idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64
I (424) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm
error: 0.000000, output: 0.000000
I (444) wifi:AP's beacon interval = 102400 us, DTIM period = 1
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
I (1424) esp_netif_handlers: sta ip: 192.168.1.157, mask: 255.255.255.0, gw: 192.168.1.1
I (1424) wifi station: got ip:192.168.1.157
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
error: 0.000000, output: 0.000000
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