From aefb7d4ee4875560f1e5f94d65de33e4e32f5f56 Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Wed, 7 Jan 2026 23:14:15 +0800 Subject: [PATCH] =?UTF-8?q?feat(ota):=20=E4=BF=AE=E5=A4=8D=E5=A4=87?= =?UTF-8?q?=E4=BB=BDAPP=E5=8C=BA=E5=9F=9F=E6=81=A2=E5=A4=8D=E5=8A=9F?= =?UTF-8?q?=E8=83=BD=E5=92=8COTA=E6=B5=81=E7=A8=8B=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E3=80=81=E5=90=AF=E7=94=A8BRS=E3=80=81=E5=87=8F=E5=B0=8F?= =?UTF-8?q?=E5=BB=B6=E6=97=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 添加sendBackup方法用于在备份APP激活时发送确认消息 - 优化OTA跳转逻辑，在jumpToApplication中清除复位标志 - 修复move_app_data函数中数据源地址错误，从备份区域正确读取数据 - 在OTA流程中正确设置APP状态标志，确保应用验证状态管理 refactor(can): 清理调试代码和函数签名优化 - 移除调试用的printf语句和未使用的cstdio头文件 - 统一函数参数类型为u8和u32，提高代码一致性 - 优化CAN通信检查逻辑，移除冗余的调试输出 perf(ota): 优化OTA处理中的延时函数 - 将delay_1ms(1)改为delay_1us(100)，提高延时精度 - 添加微秒级延时函数delay_1us实现 - 增加OTA超时时间从10秒到100秒 fix(ota): 修复OTA状态管理和错误处理 - 在各种错误情况下正确设置ota_state为OTA_STATE_IDLE - 在eraseApplicationArea中正确初始化APP状态标志 - 添加CRC校验失败时的调试输出选项 - 修复数据包大小验证逻辑 --- Robot_V2/device/Can.cpp | 18 +- Robot_V2/device/Can.h | 3 +- Robot_V2/main.cpp | 6 +- Robot_V2/sys/OTA.cpp | 40 +- Robot_V2/sys/OTA.h | 22 +- Robot_V2/sys/config.h | 2 +- Robot_V2/sys/systick.cpp | 18 + Robot_V2/sys/systick.h | 2 + out/Robot_V2/GD32C103CB/Release/Robot_V2.axf | Bin 239196 -> 236500 bytes .../GD32C103CB/Release/Robot_V2.axf.map | 323 +-- out/Robot_V2/GD32C103CB/Release/Robot_V2.hex | 2137 +++++++++-------- tmp/.ninja_log | 64 +- tmp/1/.ninja_deps | Bin 82860 -> 109432 bytes tmp/1/.ninja_log | 77 +- .../G_/Robot_v2/BOOT/Robot_V2/main.o | Bin 14648 -> 14780 bytes .../G_/Robot_v2/BOOT/Robot_V2/device/Can.o | Bin 37848 -> 38244 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o | Bin 41376 -> 40992 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/systick.o | Bin 14412 -> 15076 bytes 18 files changed, 1384 insertions(+), 1328 deletions(-) diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index cb5f3b0..b3f334a 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -6,7 +6,6 @@ #include "gd32c10x_dma.h" #include "gd32c10x_gpio.h" #include "main.h" -#include #include #include #include @@ -191,30 +190,19 @@ u8 CAN_transmiter::init() { void CAN_transmiter::communication_check() { // CAN0 发送数据标志 if (SET == can0_send_flag) { - // printf("\r\n can0 %X receive data:", receive_message.rx_efid); - // CAN0_transmiter.CAN_all_Send(); - // CANFD_all_Send(); can0_send_flag = RESET; } // CAN0 接收数据标志 if (SET == can0_receive_flag) { - // printf("can0 %X receive data,length%d:", receive_message.rx_efid, - // receive_message.rx_dlen); - // for (int i = 0; i < receive_message.rx_dlen; i++) { - // printf(" 0x%02x", receive_message.rx_data[i]); - // } - // printf("\n"); if (receive_message.rx_efid == CANFD_OTA_DATA_ID or receive_message.rx_efid == CANFD_OTA_REQ_ID) { ota.handleOTAMessage(receive_message.rx_efid, receive_message.rx_data, receive_message.rx_dlen); } else { - #if CAN_DEBUG printf("Unknown CAN ID: %X\n", receive_message.rx_efid); - #endif } can0_receive_flag = RESET; @@ -233,6 +221,11 @@ u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, u8 *data) { // 握手的时候 return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, transmit_data); } +u8 CAN_transmiter::sendBackup() { // 握手的时候 + return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 0, transmit_data); +} + + u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, bool if_success) { // 发送数据的时候 memset(transmit_data, 0, 4); @@ -361,7 +354,6 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { } else { #if CAN_DEBUG printf("CANFD data length error\r\n"); - #endif return 0; } diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h index 78616a9..d28f973 100644 --- a/Robot_V2/device/Can.h +++ b/Robot_V2/device/Can.h @@ -38,7 +38,8 @@ class CAN_transmiter { void communication_check(); // 通信检查 u8 CANFD_AsyncSend(u32 ID, u8 length, u8 *data); // CANFD异步发送(使用DMA) u8 sendDATA_ACK(u32 packet_num, bool if_success); - u8 sendDATA_ACK(u32 packet_num, u8* data); // 恢复原函数签名 + u8 sendDATA_ACK(u32 packet_num, u8 *data); // 恢复原函数签名 + u8 sendBackup(); }; #ifdef __cplusplus diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index 6fb8cc5..c65fd20 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -16,8 +16,6 @@ void BootloaderSystem::initHardware() { systick_config(); // 系统时钟初始化 USART0_init(); // 调试串口初始化 - // rcu_periph_clock_enable(RCU_CRC); // 使能CRC外设时钟 - // crc_deinit(); // 初始化CRC模块 CAN0_transmiter.init(); } @@ -46,10 +44,12 @@ void BootloaderSystem::run() { u32 back_check = *flash_ptr; if (back_check == OTA_AVAL and back_aval == OTA_AVAL) { // backup已确认且激活，复制到主APP区域 + printf("OTA Mode3\r\n"); + CAN0_transmiter.sendBackup(); move_app_data(); // 恢复BACKUP ota.jumpToApplication(); // 跳转到APP } else { // backup无效，进入OTA模式 - printf("OTA Mode2\r\n"); + printf("OTA Mode4\r\n"); // OTA模式 while (1) { CAN0_transmiter.communication_check(); diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp index f3480e5..e63c30d 100644 --- a/Robot_V2/sys/OTA.cpp +++ b/Robot_V2/sys/OTA.cpp @@ -108,7 +108,7 @@ void OTAHandler::process() { delay_1ms(10); return; } else { - delay_1ms(1); + delay_1us(100); ota_time++; } @@ -126,8 +126,8 @@ void OTAHandler::process() { if (if_checked == OTA_AVAL and if_aval == OTA_AVAL) { OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_AVAL); // 实际可用，设置APP为启用 + jumpToApplication(); } - jumpToApplication(); } } bool validateApplication() { @@ -218,7 +218,11 @@ void OTAHandler::jumpToApplication() { printf("jumping5, MSP:0x%08X, Reset Handler:0x%08X\r\n", msp_value, reset_handler); #endif + __set_MSP(msp_value); + + // 在跳转前清除复位标志 + rcu_all_reset_flag_clear(); // 7. 跳转 app_entry(); @@ -234,6 +238,9 @@ void OTAHandler::jumpToApplication() { * @retval 无 */ void OTAHandler::eraseApplicationArea() { + OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_NOT_AVAL); // 设置APP为未确认 + OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置APP为未激活 + OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_NOT_AVAL); // 设置APP为不可用 // 擦除APP区域 fmc_unlock(); @@ -338,6 +345,10 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { 0) { ota_error = OTA_ERROR_INVALID_CRC; send_error_frame(OTA_ERROR_INVALID_CRC); +#if DEBUG_OTA + std::printf("CRC32 :%x,%x!\r\n", receive_dataCRC32[0], + calculated_dataCRC32[0]); +#endif receive_packet_num -= 1; } else { // 写入Flash前验证数据 @@ -347,6 +358,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { OTA_PACKET_SIZE); } else { ota_error = OTA_ERROR_INVALID_SIZE; + ota_state = OTA_STATE_IDLE; send_error_frame(OTA_ERROR_INVALID_SIZE); } } @@ -374,11 +386,13 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { received_size = 0; } else { ota_error = OTA_ERROR_INVALID_SIZE; + ota_state = OTA_STATE_IDLE; send_error_frame(OTA_ERROR_INVALID_SIZE); return; } u8 send_data[6] = {0xBA, 0xC0, 0x00, 0x00, 0x00, 0x00}; // 确认开始传输 + eraseApplicationArea(); // 发送接收包0请求 CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data); @@ -393,6 +407,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { } else { ota_error = OTA_ERROR_INVALID_PACKET; + ota_state = OTA_STATE_IDLE; send_error_frame(OTA_ERROR_INVALID_PACKET); } } else if (id == CANFD_OTA_REQ_ID) { @@ -471,7 +486,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { // 验证失败 - 可能密钥错误或攻击 ota_error = OTA_ERROR_INVALID_KEY; send_error_frame(OTA_ERROR_INVALID_KEY); // 验证失败 - // reset_ota_state(); + ota_state = OTA_STATE_IDLE; return; } @@ -484,6 +499,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { } else { // 其他握手异常 ota_error = OTA_ERROR_INVALID_HANDSHAKE; + ota_state = OTA_STATE_IDLE; send_error_frame(OTA_ERROR_INVALID_HANDSHAKE); return; } @@ -569,17 +585,16 @@ fmc_state_enum move_app_data() { // 复制数据 - 按字（32位）进行复制以提高效率 uint32_t offset = 0; uint32_t write_count = 0; // 记录实际写入的字数 - const uint32_t *src_ptr = (const uint32_t *)APPLATEST_START_ADDR; - uint32_t *dst_ptr = (uint32_t *)APPLATEST_START_ADDR; + const uint32_t *src_ptr = (const uint32_t *)APPBACK_START_ADDR; // 从备份区域读取 // 预计算源数据的CRC，避免重复访问内存 crc_deinit(); crc_data_register_reset(); - uint32_t src_crc = crc_block_data_calculate( - (uint32_t *)APPBACK_START_ADDR, APP_MAX_SIZE / 4); + uint32_t src_crc = crc_block_data_calculate((uint32_t *)APPBACK_START_ADDR, + APP_MAX_SIZE / 4); while (offset < APP_MAX_SIZE) { - uint32_t src_data = src_ptr[offset / 4]; + uint32_t src_data = src_ptr[offset / 4]; // 从备份区域读取数据 // 检查源地址是否为有效的Flash数据（非0xFFFFFFFF表示有数据） if (src_data != 0xFFFFFFFF) { @@ -588,7 +603,7 @@ fmc_state_enum move_app_data() { FMC_FLAG_PGERR); fmc_status = - fmc_word_program(APPLATEST_START_ADDR + offset, src_data); + fmc_word_program(APPLATEST_START_ADDR + offset, src_data); // 写入到最新APP区域 // 检查写入操作是否成功 if (fmc_status != FMC_READY) { @@ -604,11 +619,6 @@ fmc_state_enum move_app_data() { write_count++; } offset += 4; - - // 每写入一定数量的数据后，喂狗一次 - if ((offset % 4096) == 0) { // 每4KB喂狗一次 - fwdgt_counter_reload(); - } } fmc_lock(); @@ -710,4 +720,4 @@ void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data, output[1] = (uint8_t)(crc >> 8); output[2] = (uint8_t)(crc >> 16); output[3] = (uint8_t)(crc >> 24); -} +} \ No newline at end of file diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h index a4ec9db..9bbf929 100644 --- a/Robot_V2/sys/OTA.h +++ b/Robot_V2/sys/OTA.h @@ -10,20 +10,20 @@ class OTAHandler { public: u32 ota_stateota_time; - uint32_t received_size; - uint32_t expected_size; + u32 received_size; + u32 expected_size; void init(); void process(); bool isActive() const { return ota_state; } - void handleOTAMessage(uint32_t id, uint8_t *data, uint8_t len); + void handleOTAMessage(u32 id, u8 *data, u8 len); void jumpToApplication(); private: - u16 ota_time; + u32 ota_time; void eraseApplicationArea(); - void writeApplicationData(uint32_t offset, uint8_t *data, uint32_t size); + void writeApplicationData(u32 offset, u8 *data, u32 size); bool verifyApplicationData(u32 offset, u8 *data, u32 size); typedef enum { OTA_STATE_IDLE = 0, @@ -44,18 +44,18 @@ class OTAHandler { OTA_ERROR_INVALID_SIZE } ota_error_t; - uint8_t device_uid[12]; // 从GD32 UID寄存器读取 - uint8_t current_K_session[16]; - uint8_t nonce_server[16]; + u8 device_uid[12]; // 从GD32 UID寄存器读取 + u8 current_K_session[16]; + u8 nonce_server[16]; aes128_context aes_ctx; // AES上下文 ota_state_t ota_state = OTA_STATE_IDLE; ota_error_t ota_error = OTA_ERROR_NONE; }; -void getDeviceSerialNumber(uint8_t *buffer); -void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data, +void getDeviceSerialNumber(u8 *buffer); +void calculate_crc32_with_key(const u8 *key, const u8 *data, u8 *output); -void send_error_frame(uint8_t error); +void send_error_frame(u8 error); bool validateApplication(); fmc_state_enum move_app_data(); diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h index 1309594..3163f9a 100644 --- a/Robot_V2/sys/config.h +++ b/Robot_V2/sys/config.h @@ -54,7 +54,7 @@ constexpr uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0xFE, 0xDC, 0xBA, 0x98, 0x76, 0x54, 0x32, 0x10}; // 预置主密钥 // 其他 -constexpr u32 OTA_TIMEOUT = 10000; +constexpr u32 OTA_TIMEOUT = 100000; constexpr u8 SIZE_U32 = sizeof(uint32_t); constexpr u8 SIZE_FLOAT = sizeof(float); #endif \ No newline at end of file diff --git a/Robot_V2/sys/systick.cpp b/Robot_V2/sys/systick.cpp index f9e03a9..29487e9 100644 --- a/Robot_V2/sys/systick.cpp +++ b/Robot_V2/sys/systick.cpp @@ -56,6 +56,24 @@ void systick_config(void) { NVIC_SetPriority(SysTick_IRQn, 0x00U); } +/*! + \brief delay a time in microseconds + \param[in] count: count in microseconds + \param[out] none + \retval none +*/ +void delay_1us(uint32_t count) { + /* 计算循环次数以实现微秒延时 + 假设CPU每执行一条nop指令需要1个时钟周期 + 根据系统时钟频率计算需要的循环次数 */ + uint32_t cycles = (SystemCoreClock / 4000000UL) * count; // 每微秒的时钟周期数 + + /* 循环减去执行指令所需的周期数 */ + for(uint32_t i = 0; i < cycles; i++) { + __NOP(); // 空操作指令 + } +} + /*! \brief delay a time in milliseconds \param[in] count: count in milliseconds diff --git a/Robot_V2/sys/systick.h b/Robot_V2/sys/systick.h index 6927e32..0705498 100644 --- a/Robot_V2/sys/systick.h +++ b/Robot_V2/sys/systick.h @@ -44,6 +44,8 @@ extern "C" { void systick_config(void); /* delay a time in milliseconds */ void delay_1ms(uint32_t count); +/* delay a time in microseconds */ +void delay_1us(uint32_t count); /* delay a time in seconds */ void delay_1s(uint32_t count); /* delay decrement */ diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf index 5f6054dd6f03b78f9e59b5cb4ca818deba910618..5b864ad18a204d42c337da5b25d8a5fda98e039a 100644 GIT binary patch delta 51238 zcmaG}2YeJo7oWGYw|BRDxwH!@mvR?UNg#w8+7So|y%WUHTL3|tfbBwUkcPY)j> zr121H54h)e8`CWXar-W@d9dV_?y(fp{%!kodf&Ni*^>9dzMvf};ls-knkGA?c{BOcn%MFYA<6&J94fw_Tgn<+}q?<$@|Ld z;O5@Jr7STeQu4lWfBqiBwW7g0u4Q+;eoXR~+>^Yo+}nIDJG%W6^H zC@(jDdHw$6w%6}W;%C@?xqio7`&Yk5=9jAdMn~T`+Snm^pT3_GlbOf8ZA)3o#iMeb zia6c z9%?Evg-f{?oe{U-a(3+d3V}w@Vf6tJHWf^4!Iq?i|-op 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ABSOLUTE) + Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00004934, Max: 0x08005000, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x08000000 0x00000150 Data RO 875 RESET startup_gd32c10x.o - 0x08000150 0x00000000 Code RO 1039 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x08000150 0x00000004 Code RO 1466 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) - 0x08000154 0x00000004 Code RO 1469 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000158 0x00000000 Code RO 1471 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000158 0x00000000 Code RO 1473 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000158 0x00000008 Code RO 1474 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x08000160 0x00000000 Code RO 1476 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x08000160 0x00000000 Code RO 1478 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x08000160 0x00000004 Code RO 1467 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) - 0x08000164 0x0000002c Code RO 876 * .text startup_gd32c10x.o - 0x08000190 0x00000024 Code RO 1048 .text mc_w.l(memcpya.o) - 0x080001b4 0x00000024 Code RO 1050 .text mc_w.l(memseta.o) - 0x080001d8 0x0000001a Code RO 1052 .text mc_w.l(memcmp.o) - 0x080001f2 0x00000002 Code RO 1494 .text mc_w.l(abort.o) - 0x080001f4 0x00000030 Code RO 1821 .text mc_w.l(init.o) - 0x08000224 0x0000009c Code RO 163 .text.CAN0_RX0_IRQHandler Can.o - 0x080002c0 0x0000004a Code RO 165 .text.DMA0_Channel4_IRQHandler Can.o + 0x08000000 0x00000150 Data RO 879 RESET startup_gd32c10x.o + 0x08000150 0x00000000 Code RO 1043 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) + 0x08000150 0x00000004 Code RO 1470 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) + 0x08000154 0x00000004 Code RO 1473 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) + 0x08000158 0x00000000 Code RO 1475 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) + 0x08000158 0x00000000 Code RO 1477 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) + 0x08000158 0x00000008 Code RO 1478 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) + 0x08000160 0x00000000 Code RO 1480 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) + 0x08000160 0x00000000 Code RO 1482 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) + 0x08000160 0x00000004 Code RO 1471 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) + 0x08000164 0x0000002c Code RO 880 * .text startup_gd32c10x.o + 0x08000190 0x00000024 Code RO 1052 .text mc_w.l(memcpya.o) + 0x080001b4 0x00000024 Code RO 1054 .text mc_w.l(memseta.o) + 0x080001d8 0x0000001a Code RO 1056 .text mc_w.l(memcmp.o) + 0x080001f2 0x00000002 Code RO 1498 .text mc_w.l(abort.o) + 0x080001f4 0x00000030 Code RO 1825 .text mc_w.l(init.o) + 0x08000224 0x0000009c Code RO 167 .text.CAN0_RX0_IRQHandler Can.o + 0x080002c0 0x0000004a Code RO 169 .text.DMA0_Channel4_IRQHandler Can.o 0x0800030a 0x00000002 PAD - 0x0800030c 0x00000026 Code RO 167 .text.DMA0_Channel5_IRQHandler Can.o + 0x0800030c 0x00000026 Code RO 171 .text.DMA0_Channel5_IRQHandler Can.o 0x08000332 0x00000002 PAD - 0x08000334 0x00000342 Code RO 882 .text.SystemInit system_gd32c10x.o + 0x08000334 0x00000342 Code RO 886 .text.SystemInit system_gd32c10x.o 0x08000676 0x00000002 PAD - 0x08000678 0x00000012 Code RO 82 .text.USART0_init initial.o + 0x08000678 0x00000012 Code RO 84 .text.USART0_init initial.o 0x0800068a 0x00000002 PAD 0x0800068c 0x00000198 Code RO 29 .text._Z11mix_columnsPh aes128.o - 0x08000824 0x000000ba Code RO 129 .text._Z13move_app_datav OTA.o - 0x080008de 0x00000002 PAD - 0x080008e0 0x00000238 Code RO 37 .text._Z14aes128_set_keyP14aes128_contextPKh aes128.o - 0x08000b18 0x000008e2 Code RO 35 .text._Z15inv_mix_columnsPh aes128.o - 0x080013fa 0x00000002 PAD - 0x080013fc 0x000003c8 Code RO 43 .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh aes128.o - 0x080017c4 0x000003e6 Code RO 39 .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh aes128.o - 0x08001baa 0x00000002 PAD - 0x08001bac 0x00000210 Code RO 123 .text._Z24calculate_crc32_with_keyPKhS0_Ph OTA.o - 0x08001dbc 0x0000002c Code RO 45 .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh aes128.o - 0x08001de8 0x00000182 Code RO 105 .text._Z7OTA_SETjj OTA.o - 0x08001f6a 0x00000002 PAD - 0x08001f6c 0x000004a8 Code RO 121 .text._ZN10OTAHandler16handleOTAMessageEjPhh OTA.o - 0x08002414 0x000000a2 Code RO 113 .text._ZN10OTAHandler17jumpToApplicationEv OTA.o - 0x080024b6 0x00000002 PAD - 0x080024b8 0x0000005a Code RO 119 .text._ZN10OTAHandler20writeApplicationDataEjPhj OTA.o - 0x08002512 0x00000002 PAD - 0x08002514 0x00000096 Code RO 109 .text._ZN10OTAHandler7processEv OTA.o - 0x080025aa 0x00000028 Code RO 905 .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block libcppabi_wx.l(cxa_exception.cpp.o) - 0x080025d2 0x00000060 Code RO 933 .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv libcppabi_wx.l(cxa_exception.cpp.o) - 0x08002632 0x00000002 PAD - 0x08002634 0x0000008c Code RO 157 .text._ZN14CAN_transmiter12sendDATA_ACKEjPh Can.o - 0x080026c0 0x0000014e Code RO 159 .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh Can.o - 0x0800280e 0x00000002 PAD - 0x08002810 0x0000004e Code RO 155 .text._ZN14CAN_transmiter19communication_checkEv Can.o - 0x0800285e 0x00000002 PAD - 0x08002860 0x00000038 Code RO 153 .text._ZN14CAN_transmiter4initEv Can.o - 0x08002898 0x000000b4 Code RO 6 .text._ZN16BootloaderSystem3runEv main.o - 0x0800294c 0x00000074 Code RO 976 .text._ZSt11__terminatePFvvE libcppabi_wx.l(cxa_handlers.cpp.o) - 0x080029c0 0x00000030 Code RO 967 .text._ZSt9terminatev libcppabi_wx.l(cxa_handlers.cpp.o) - 0x080029f0 0x0000000a Code RO 962 .text.__clang_call_terminate libcppabi_wx.l(cxa_exception.cpp.o) - 0x080029fa 0x00000002 PAD - 0x080029fc 0x0000006c Code RO 910 .text.__cxa_begin_catch libcppabi_wx.l(cxa_exception.cpp.o) - 0x08002a68 0x0000000a Code RO 1333 .text.__cxa_get_globals libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x08002a72 0x0000000a Code RO 1335 .text.__cxa_get_globals_fast libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x08002a7c 0x00000026 Code RO 216 .text.can_deinit gd32c10x_can.o - 0x08002aa2 0x00000002 PAD - 0x08002aa4 0x00000114 Code RO 222 .text.can_fd_init gd32c10x_can.o - 0x08002bb8 0x000000b2 Code RO 224 .text.can_filter_init gd32c10x_can.o - 0x08002c6a 0x00000002 PAD - 0x08002c6c 0x00000176 Code RO 220 .text.can_init gd32c10x_can.o - 0x08002de2 0x00000002 PAD - 0x08002de4 0x00000008 Code RO 266 .text.can_interrupt_enable gd32c10x_can.o - 0x08002dec 0x00000016 Code RO 276 .text.can_interrupt_flag_clear gd32c10x_can.o - 0x08002e02 0x00000002 PAD - 0x08002e04 0x00000066 Code RO 274 .text.can_interrupt_flag_get gd32c10x_can.o - 0x08002e6a 0x00000002 PAD - 0x08002e6c 0x000001f4 Code RO 250 .text.can_message_receive gd32c10x_can.o - 0x08003060 0x000001f0 Code RO 244 .text.can_message_transmit gd32c10x_can.o - 0x08003250 0x00000018 Code RO 254 .text.can_receive_message_length_get gd32c10x_can.o - 0x08003268 0x00000072 Code RO 218 .text.can_struct_para_init gd32c10x_can.o - 0x080032da 0x00000002 PAD - 0x080032dc 0x000001b0 Code RO 151 .text.canfd_config Can.o - 0x0800348c 0x00000066 Code RO 302 .text.crc_block_data_calculate gd32c10x_crc.o - 0x080034f2 0x00000002 PAD - 0x080034f4 0x00000012 Code RO 292 .text.crc_data_register_reset gd32c10x_crc.o - 0x08003506 0x00000002 PAD - 0x08003508 0x00000018 Code RO 290 .text.crc_deinit gd32c10x_crc.o - 0x08003520 0x00000024 Code RO 64 .text.delay_1ms systick.o - 0x08003544 0x00000018 Code RO 66 .text.delay_decrement systick.o - 0x0800355c 0x00000024 Code RO 356 .text.dma_channel_disable gd32c10x_dma.o - 0x08003580 0x00000024 Code RO 354 .text.dma_channel_enable gd32c10x_dma.o - 0x080035a4 0x00000074 Code RO 344 .text.dma_init gd32c10x_dma.o - 0x08003618 0x00000022 Code RO 390 .text.dma_interrupt_enable gd32c10x_dma.o - 0x0800363a 0x00000002 PAD - 0x0800363c 0x0000000e Code RO 388 .text.dma_interrupt_flag_clear gd32c10x_dma.o - 0x0800364a 0x00000002 PAD - 0x0800364c 0x0000003a Code RO 386 .text.dma_interrupt_flag_get gd32c10x_dma.o - 0x08003686 0x00000002 PAD - 0x08003688 0x0000001a Code RO 342 .text.dma_struct_para_init gd32c10x_dma.o - 0x080036a2 0x00000002 PAD - 0x080036a4 0x0000000c Code RO 498 .text.fmc_flag_clear gd32c10x_fmc.o - 0x080036b0 0x00000012 Code RO 460 .text.fmc_lock gd32c10x_fmc.o - 0x080036c2 0x00000002 PAD - 0x080036c4 0x00000166 Code RO 464 .text.fmc_page_erase gd32c10x_fmc.o - 0x0800382a 0x00000002 PAD - 0x0800382c 0x00000026 Code RO 458 .text.fmc_unlock gd32c10x_fmc.o - 0x08003852 0x00000002 PAD - 0x08003854 0x000001aa Code RO 470 .text.fmc_word_program gd32c10x_fmc.o - 0x080039fe 0x00000002 PAD - 0x08003a00 0x0000002c Code RO 84 .text.fputc initial.o - 0x08003a2c 0x00000010 Code RO 529 .text.fwdgt_counter_reload gd32c10x_fwdgt.o - 0x08003a3c 0x00000098 Code RO 199 .text.gd_eval_com_init gd32c10x_eval.o - 0x08003ad4 0x00000004 Code RO 554 .text.gpio_bit_reset gd32c10x_gpio.o - 0x08003ad8 0x000002c0 Code RO 550 .text.gpio_init gd32c10x_gpio.o - 0x08003d98 0x00000080 Code RO 568 .text.gpio_pin_remap_config gd32c10x_gpio.o - 0x08003e18 0x0000001e Code RO 8 .text.main main.o - 0x08003e36 0x00000002 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Data RO 135 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o - 0x0800472c 0x00000008 Data RO 749 .rodata.cst8 gd32c10x_rcu.o - 0x08004734 0x00000007 Data RO 278 .rodata.g_can_fdlength_table gd32c10x_can.o - 0x0800473b 0x00000100 Data RO 49 .rodata.inv_sbox aes128.o - 0x0800483b 0x00000001 PAD - 0x0800483c 0x00000020 Data RO 1909 Region$$Table anon$$obj.o + 0x08000824 0x000000b2 Code RO 131 .text._Z13move_app_datav OTA.o + 0x080008d6 0x00000002 PAD + 0x080008d8 0x00000238 Code RO 37 .text._Z14aes128_set_keyP14aes128_contextPKh aes128.o + 0x08000b10 0x000008e2 Code RO 35 .text._Z15inv_mix_columnsPh aes128.o + 0x080013f2 0x00000002 PAD + 0x080013f4 0x000003c8 Code RO 43 .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh aes128.o + 0x080017bc 0x000003e6 Code RO 39 .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh aes128.o + 0x08001ba2 0x00000002 PAD + 0x08001ba4 0x00000210 Code RO 125 .text._Z24calculate_crc32_with_keyPKhS0_Ph OTA.o + 0x08001db4 0x0000002c Code RO 45 .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh aes128.o + 0x08001de0 0x00000182 Code RO 107 .text._Z7OTA_SETjj OTA.o + 0x08001f62 0x00000002 PAD + 0x08001f64 0x0000046c Code RO 123 .text._ZN10OTAHandler16handleOTAMessageEjPhh OTA.o + 0x080023d0 0x000000a8 Code RO 115 .text._ZN10OTAHandler17jumpToApplicationEv OTA.o + 0x08002478 0x00000080 Code RO 119 .text._ZN10OTAHandler20eraseApplicationAreaEv OTA.o + 0x080024f8 0x0000005a Code RO 121 .text._ZN10OTAHandler20writeApplicationDataEjPhj OTA.o + 0x08002552 0x00000002 PAD + 0x08002554 0x00000098 Code RO 111 .text._ZN10OTAHandler7processEv OTA.o + 0x080025ec 0x00000028 Code RO 909 .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002614 0x00000060 Code RO 937 .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002674 0x0000004c Code RO 163 .text._ZN14CAN_transmiter10sendBackupEv Can.o + 0x080026c0 0x0000008c Code RO 159 .text._ZN14CAN_transmiter12sendDATA_ACKEjPh Can.o + 0x0800274c 0x0000014e Code RO 161 .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh Can.o + 0x0800289a 0x00000002 PAD + 0x0800289c 0x0000004e Code RO 157 .text._ZN14CAN_transmiter19communication_checkEv Can.o + 0x080028ea 0x00000002 PAD + 0x080028ec 0x00000038 Code RO 155 .text._ZN14CAN_transmiter4initEv Can.o + 0x08002924 0x000000d4 Code RO 6 .text._ZN16BootloaderSystem3runEv main.o + 0x080029f8 0x00000074 Code RO 980 .text._ZSt11__terminatePFvvE libcppabi_wx.l(cxa_handlers.cpp.o) + 0x08002a6c 0x00000030 Code RO 971 .text._ZSt9terminatev libcppabi_wx.l(cxa_handlers.cpp.o) + 0x08002a9c 0x0000000a Code RO 966 .text.__clang_call_terminate libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002aa6 0x00000002 PAD + 0x08002aa8 0x0000006c Code RO 914 .text.__cxa_begin_catch libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002b14 0x0000000a Code RO 1337 .text.__cxa_get_globals libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x08002b1e 0x0000000a Code RO 1339 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RO 222 .text.can_struct_para_init gd32c10x_can.o + 0x08003386 0x00000002 PAD + 0x08003388 0x000001b0 Code RO 153 .text.canfd_config Can.o + 0x08003538 0x00000066 Code RO 306 .text.crc_block_data_calculate gd32c10x_crc.o + 0x0800359e 0x00000002 PAD + 0x080035a0 0x00000012 Code RO 296 .text.crc_data_register_reset gd32c10x_crc.o + 0x080035b2 0x00000002 PAD + 0x080035b4 0x00000018 Code RO 294 .text.crc_deinit gd32c10x_crc.o + 0x080035cc 0x00000024 Code RO 66 .text.delay_1ms systick.o + 0x080035f0 0x00000028 Code RO 64 .text.delay_1us systick.o + 0x08003618 0x00000018 Code RO 68 .text.delay_decrement systick.o + 0x08003630 0x00000024 Code RO 360 .text.dma_channel_disable gd32c10x_dma.o + 0x08003654 0x00000024 Code RO 358 .text.dma_channel_enable gd32c10x_dma.o + 0x08003678 0x00000074 Code RO 348 .text.dma_init gd32c10x_dma.o + 0x080036ec 0x00000022 Code RO 394 .text.dma_interrupt_enable gd32c10x_dma.o + 0x0800370e 0x00000002 PAD + 0x08003710 0x0000000e Code RO 392 .text.dma_interrupt_flag_clear gd32c10x_dma.o + 0x0800371e 0x00000002 PAD + 0x08003720 0x0000003a Code RO 390 .text.dma_interrupt_flag_get gd32c10x_dma.o + 0x0800375a 0x00000002 PAD + 0x0800375c 0x0000001a Code RO 346 .text.dma_struct_para_init gd32c10x_dma.o + 0x08003776 0x00000002 PAD + 0x08003778 0x0000000c Code RO 502 .text.fmc_flag_clear gd32c10x_fmc.o + 0x08003784 0x00000012 Code RO 464 .text.fmc_lock gd32c10x_fmc.o + 0x08003796 0x00000002 PAD + 0x08003798 0x00000166 Code RO 468 .text.fmc_page_erase gd32c10x_fmc.o + 0x080038fe 0x00000002 PAD + 0x08003900 0x00000026 Code RO 462 .text.fmc_unlock gd32c10x_fmc.o + 0x08003926 0x00000002 PAD + 0x08003928 0x000001aa Code RO 474 .text.fmc_word_program gd32c10x_fmc.o + 0x08003ad2 0x00000002 PAD + 0x08003ad4 0x0000002c Code RO 86 .text.fputc initial.o + 0x08003b00 0x00000098 Code RO 203 .text.gd_eval_com_init gd32c10x_eval.o + 0x08003b98 0x00000004 Code RO 558 .text.gpio_bit_reset gd32c10x_gpio.o + 0x08003b9c 0x000002c0 Code RO 554 .text.gpio_init gd32c10x_gpio.o + 0x08003e5c 0x00000080 Code RO 572 .text.gpio_pin_remap_config gd32c10x_gpio.o + 0x08003edc 0x0000001e Code RO 8 .text.main main.o + 0x08003efa 0x00000002 PAD + 0x08003efc 0x00000060 Code RO 601 .text.nvic_irq_enable gd32c10x_misc.o + 0x08003f5c 0x0000001c Code RO 605 .text.nvic_vector_table_set gd32c10x_misc.o + 0x08003f78 0x00000012 Code RO 723 .text.rcu_all_reset_flag_clear gd32c10x_rcu.o + 0x08003f8a 0x00000002 PAD + 0x08003f8c 0x0000010c Code RO 751 .text.rcu_clock_freq_get gd32c10x_rcu.o + 0x08004098 0x00000020 Code RO 671 .text.rcu_periph_clock_disable gd32c10x_rcu.o + 0x080040b8 0x0000001e Code RO 669 .text.rcu_periph_clock_enable gd32c10x_rcu.o + 0x080040d6 0x00000002 PAD + 0x080040d8 0x00000020 Code RO 679 .text.rcu_periph_reset_disable gd32c10x_rcu.o + 0x080040f8 0x0000001e Code RO 677 .text.rcu_periph_reset_enable gd32c10x_rcu.o + 0x08004116 0x00000002 PAD + 0x08004118 0x00000014 Code RO 685 .text.rcu_system_clock_source_config gd32c10x_rcu.o + 0x0800412c 0x00000048 Code RO 62 .text.systick_config systick.o + 0x08004174 0x00000006 Code RO 1322 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o) + 0x0800417a 0x00000002 PAD + 0x0800417c 0x0000006a Code RO 767 .text.usart_baudrate_set gd32c10x_usart.o + 0x080041e6 0x00000002 PAD + 0x080041e8 0x00000008 Code RO 793 .text.usart_data_transmit gd32c10x_usart.o + 0x080041f0 0x0000007a Code RO 765 .text.usart_deinit gd32c10x_usart.o + 0x0800426a 0x00000002 PAD + 0x0800426c 0x0000000a Code RO 775 .text.usart_enable gd32c10x_usart.o + 0x08004276 0x00000002 PAD + 0x08004278 0x00000010 Code RO 855 .text.usart_flag_get gd32c10x_usart.o + 0x08004288 0x00000014 Code RO 781 .text.usart_receive_config gd32c10x_usart.o + 0x0800429c 0x00000014 Code RO 779 .text.usart_transmit_config gd32c10x_usart.o + 0x080042b0 0x0000000e Code RO 1914 i.__scatterload_copy mc_w.l(handlers.o) + 0x080042be 0x00000002 Code RO 1915 i.__scatterload_null mc_w.l(handlers.o) + 0x080042c0 0x0000000e Code RO 1916 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x080042ce 0x00000002 PAD + 0x080042d0 0x00000024 Code RO 1046 i.puts mc_w.l(puts.o) + 0x080042f4 0x00000100 Data RO 50 .rodata._ZL4sbox aes128.o + 0x080043f4 0x00000010 Data RO 135 .rodata._ZL8K_master OTA.o + 0x08004404 0x00000400 Data RO 137 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o + 0x08004804 0x00000008 Data RO 753 .rodata.cst8 gd32c10x_rcu.o + 0x0800480c 0x00000007 Data RO 282 .rodata.g_can_fdlength_table gd32c10x_can.o + 0x08004813 0x00000100 Data RO 49 .rodata.inv_sbox aes128.o + 0x08004913 0x00000001 PAD + 0x08004914 0x00000020 Data RO 1913 Region$$Table anon$$obj.o Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT) @@ -173,22 +175,21 @@ Memory Map of the image Base Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x00000004 Data RW 1480 .data mc_w.l(stdout.o) - 0x20000004 0x000000e8 Data RW 171 .data.CAN0_transmiter Can.o - 0x200000ec 0x00000004 Data RW 888 .data.SystemCoreClock system_gd32c10x.o - 0x200000f0 0x00000004 Data RW 1328 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) + 0x20000000 0x00000004 Data RW 1484 .data mc_w.l(stdout.o) + 0x20000004 0x000000e8 Data RW 175 .data.CAN0_transmiter Can.o + 0x200000ec 0x00000004 Data RW 892 .data.SystemCoreClock system_gd32c10x.o + 0x200000f0 0x00000004 Data RW 1332 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) 0x200000f4 0x00000004 PAD - 0x200000f8 0x00000004 Zero RW 70 .bss._ZL5delay systick.o - 0x200000fc 0x0000000c Zero RW 1337 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x20000108 0x00000001 Zero RW 132 .bss._ZZN10OTAHandler7processEvE4zero OTA.o + 0x200000f8 0x00000004 Zero RW 72 .bss._ZL5delay systick.o + 0x200000fc 0x0000000c Zero RW 1341 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x20000108 0x00000001 Zero RW 134 .bss._ZZN10OTAHandler7processEvE4zero OTA.o 0x20000109 0x00000007 PAD - 0x20000110 0x00000008 Zero RW 174 .bss.can_rx_buffer Can.o - 0x20000118 0x00000008 Zero RW 175 .bss.can_tx_buffer Can.o - 0x20000120 0x0000001c Zero RW 172 .bss.dma_rx_parameter Can.o - 0x2000013c 0x0000001c Zero RW 173 .bss.dma_tx_parameter Can.o - 0x20000158 0x0000010c Zero RW 131 .bss.ota OTA.o - 0x20000264 0x00000004 PAD - 0x20000268 0x00000800 Zero RW 873 STACK startup_gd32c10x.o + 0x20000110 0x00000008 Zero RW 178 .bss.can_rx_buffer Can.o + 0x20000118 0x00000008 Zero RW 179 .bss.can_tx_buffer Can.o + 0x20000120 0x0000001c Zero RW 176 .bss.dma_rx_parameter Can.o + 0x2000013c 0x0000001c Zero RW 177 .bss.dma_tx_parameter Can.o + 0x20000158 0x00000110 Zero RW 133 .bss.ota OTA.o + 0x20000268 0x00000800 Zero RW 877 STACK startup_gd32c10x.o Execution Region ARM_LIB_HEAP (Base: 0x20000a68, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex index a222a30..ea4496b 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex @@ -20,10 +20,10 @@ :1001200081010008810100088101000881010008A7 :1001300081010008000000000000000081010008AB :100140008101000881010008810100088101000887 -:10015000DFF80CD000F04EF800480047193E0008C8 +:10015000DFF80CD000F04EF800480047DD3E000804 :10016000008000200748804707480047FEE7FEE779 :10017000FEE7FEE7FEE7FEE7FEE7FEE7034800478F -:10018000FEE700003503000851010008453500086E +:10018000FEE7000035030008510100081936000899 :1001900040EA01039B0703D009E008C9121F08C009 :1001A000042AFAD203E011F8013B00F8013B521E89 :1001B000F9D27047D2B201E000F8012B491EFBD200 @@ -32,25 +32,25 @@ :1001E00000E05B1C934203D2E05CCD5C401BF8D086 :1001F00030BD70471CB5094800900948019005467C :10020000009C06E0E06840F0010394E8070098478E -:100210001034AC42F6D3FFF79FFF00003C480008C3 -:100220005C480008B0B546F20044C4F20004204621 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-:1002E000ADF940F20400C2F2000090F89E205AB12D +:1002D00027FA002808BF10BD20460421012203F0A0 +:1002E00017FA40F20400C2F2000090F89E205AB1C2 :1002F00040F21011082A28BF08229F30C2F20001E4 :10030000BDE81040FFF744BF10BD000010B5002449 -:10031000C4F2020420460521022203F097F90028C6 +:10031000C4F2020420460521022203F001FA00285B :1003200008BF10BD204605210222BDE8104003F0A1 -:1003300085B9000082B04EF68851CEF200010A68FD +:10033000EFB9000082B04EF68851CEF200010A6893 :1003400041F2000042F47002C4F202000A60016847 :1003500041F0010101600168890709D4016889073A :100360005CBF01685FEA817102D401688907F2D538 @@ -102,8 +102,8 @@ :1006400003010191019941F0020101910199416079 :100650004168090709D4416809075CBF41685FEA3E :10066000017102D441680907F2D54FF00060002102 -:1006700002B003F011BC000080B543F60000C4F2E4 -:10068000010003F0DBF9012080BD00002DE9F041FD +:1006700002B003F073BC000080B543F60000C4F282 +:10068000010003F03DFA012080BD00002DE9F0419A :1006900090F900E090F9013090F902104FF01B0C36 :1006A0000CEADE1490F9032084EA4E0481EA030682 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