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micropython/ports/stm32/main.c
Jim Mussared 61d1e4b01b extmod/nimble: Make stm32 and unix NimBLE ports use synchronous events. 
This changes stm32 from using PENDSV to run NimBLE to use the MicroPython
scheduler instead.  This allows Python BLE callbacks to be invoked directly
(and therefore synchronously) rather than via the ringbuffer.

The NimBLE UART HCI and event processing now happens in a scheduled task
every 128ms.  When RX IRQ idle events arrive, it will also schedule this
task to improve latency.

There is a similar change for the unix port where the background thread now
queues the scheduled task.

Signed-off-by: Jim Mussared <jim.mussared@gmail.com>
2020-11-13 17:19:05 +11:00

685 lines
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013-2020 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "py/stackctrl.h"
#include "py/gc.h"
#include "py/mperrno.h"
#include "py/mphal.h"
#include "lib/mp-readline/readline.h"
#include "lib/utils/pyexec.h"
#include "lib/oofatfs/ff.h"
#include "lib/littlefs/lfs1.h"
#include "lib/littlefs/lfs1_util.h"
#include "lib/littlefs/lfs2.h"
#include "lib/littlefs/lfs2_util.h"
#include "extmod/vfs.h"
#include "extmod/vfs_fat.h"
#include "extmod/vfs_lfs.h"
#if MICROPY_PY_LWIP
#include "lwip/init.h"
#include "lwip/apps/mdns.h"
#include "drivers/cyw43/cyw43.h"
#endif
#if MICROPY_PY_BLUETOOTH
#include "extmod/modbluetooth.h"
#endif
#include "boardctrl.h"
#include "mpu.h"
#include "rfcore.h"
#include "systick.h"
#include "pendsv.h"
#include "powerctrl.h"
#include "pybthread.h"
#include "gccollect.h"
#include "factoryreset.h"
#include "modmachine.h"
#include "softtimer.h"
#include "i2c.h"
#include "spi.h"
#include "uart.h"
#include "timer.h"
#include "led.h"
#include "pin.h"
#include "extint.h"
#include "usrsw.h"
#include "usb.h"
#include "rtc.h"
#include "storage.h"
#include "sdcard.h"
#include "sdram.h"
#include "rng.h"
#include "accel.h"
#include "servo.h"
#include "dac.h"
#include "can.h"
#include "modnetwork.h"
#if MICROPY_PY_THREAD
STATIC pyb_thread_t pyb_thread_main;
#endif
#if defined(MICROPY_HW_UART_REPL)
#ifndef MICROPY_HW_UART_REPL_RXBUF
#define MICROPY_HW_UART_REPL_RXBUF (260)
#endif
STATIC pyb_uart_obj_t pyb_uart_repl_obj;
STATIC uint8_t pyb_uart_repl_rxbuf[MICROPY_HW_UART_REPL_RXBUF];
#endif
void NORETURN __fatal_error(const char *msg) {
for (volatile uint delay = 0; delay < 10000000; delay++) {
}
led_state(1, 1);
led_state(2, 1);
led_state(3, 1);
led_state(4, 1);
mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
mp_hal_stdout_tx_strn(msg, strlen(msg));
for (uint i = 0;;) {
led_toggle(((i++) & 3) + 1);
for (volatile uint delay = 0; delay < 10000000; delay++) {
}
if (i >= 16) {
// to conserve power
__WFI();
}
}
}
void nlr_jump_fail(void *val) {
printf("FATAL: uncaught exception %p\n", val);
mp_obj_print_exception(&mp_plat_print, MP_OBJ_FROM_PTR(val));
__fatal_error("");
}
void abort(void) {
__fatal_error("abort");
}
#ifndef NDEBUG
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
(void)func;
printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
__fatal_error("");
}
#endif
STATIC mp_obj_t pyb_main(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_opt, MP_ARG_INT, {.u_int = 0} }
};
if (mp_obj_is_str(pos_args[0])) {
MP_STATE_PORT(pyb_config_main) = pos_args[0];
// parse args
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
#if MICROPY_ENABLE_COMPILER
MP_STATE_VM(mp_optimise_value) = args[0].u_int;
#endif
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_KW(pyb_main_obj, 1, pyb_main);
#if MICROPY_HW_ENABLE_STORAGE
// avoid inlining to avoid stack usage within main()
MP_NOINLINE STATIC bool init_flash_fs(uint reset_mode) {
if (reset_mode == 3) {
// Asked by user to reset filesystem
factory_reset_create_filesystem();
}
// Default block device to entire flash storage
mp_obj_t bdev = MP_OBJ_FROM_PTR(&pyb_flash_obj);
#if MICROPY_VFS_LFS1 || MICROPY_VFS_LFS2
// Try to detect the block device used for the main filesystem, based on the first block
uint8_t buf[FLASH_BLOCK_SIZE];
storage_read_blocks(buf, FLASH_PART1_START_BLOCK, 1);
mp_int_t len = -1;
#if MICROPY_VFS_LFS1
if (memcmp(&buf[40], "littlefs", 8) == 0) {
// LFS1
lfs1_superblock_t *superblock = (void *)&buf[12];
uint32_t block_size = lfs1_fromle32(superblock->d.block_size);
uint32_t block_count = lfs1_fromle32(superblock->d.block_count);
len = block_count * block_size;
}
#endif
#if MICROPY_VFS_LFS2
if (memcmp(&buf[8], "littlefs", 8) == 0) {
// LFS2
lfs2_superblock_t *superblock = (void *)&buf[20];
uint32_t block_size = lfs2_fromle32(superblock->block_size);
uint32_t block_count = lfs2_fromle32(superblock->block_count);
len = block_count * block_size;
}
#endif
if (len != -1) {
// Detected a littlefs filesystem so create correct block device for it
mp_obj_t args[] = { MP_OBJ_NEW_QSTR(MP_QSTR_len), MP_OBJ_NEW_SMALL_INT(len) };
bdev = pyb_flash_type.make_new(&pyb_flash_type, 0, 1, args);
}
#endif
// Try to mount the flash on "/flash" and chdir to it for the boot-up directory.
mp_obj_t mount_point = MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash);
int ret = mp_vfs_mount_and_chdir_protected(bdev, mount_point);
if (ret == -MP_ENODEV && bdev == MP_OBJ_FROM_PTR(&pyb_flash_obj) && reset_mode != 3) {
// No filesystem, bdev is still the default (so didn't detect a possibly corrupt littlefs),
// and didn't already create a filesystem, so try to create a fresh one now.
ret = factory_reset_create_filesystem();
if (ret == 0) {
ret = mp_vfs_mount_and_chdir_protected(bdev, mount_point);
}
}
if (ret != 0) {
printf("MPY: can't mount flash\n");
return false;
}
return true;
}
#endif
#if MICROPY_HW_SDCARD_MOUNT_AT_BOOT
STATIC bool init_sdcard_fs(void) {
bool first_part = true;
for (int part_num = 1; part_num <= 4; ++part_num) {
// create vfs object
fs_user_mount_t *vfs_fat = m_new_obj_maybe(fs_user_mount_t);
mp_vfs_mount_t *vfs = m_new_obj_maybe(mp_vfs_mount_t);
if (vfs == NULL || vfs_fat == NULL) {
break;
}
vfs_fat->blockdev.flags = MP_BLOCKDEV_FLAG_FREE_OBJ;
sdcard_init_vfs(vfs_fat, part_num);
// try to mount the partition
FRESULT res = f_mount(&vfs_fat->fatfs);
if (res != FR_OK) {
// couldn't mount
m_del_obj(fs_user_mount_t, vfs_fat);
m_del_obj(mp_vfs_mount_t, vfs);
} else {
// mounted via FatFs, now mount the SD partition in the VFS
if (first_part) {
// the first available partition is traditionally called "sd" for simplicity
vfs->str = "/sd";
vfs->len = 3;
} else {
// subsequent partitions are numbered by their index in the partition table
if (part_num == 2) {
vfs->str = "/sd2";
} else if (part_num == 3) {
vfs->str = "/sd3";
} else {
vfs->str = "/sd4";
}
vfs->len = 4;
}
vfs->obj = MP_OBJ_FROM_PTR(vfs_fat);
vfs->next = NULL;
for (mp_vfs_mount_t **m = &MP_STATE_VM(vfs_mount_table);; m = &(*m)->next) {
if (*m == NULL) {
*m = vfs;
break;
}
}
#if MICROPY_HW_ENABLE_USB
if (pyb_usb_storage_medium == PYB_USB_STORAGE_MEDIUM_NONE) {
// if no USB MSC medium is selected then use the SD card
pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
}
#endif
#if MICROPY_HW_ENABLE_USB
// only use SD card as current directory if that's what the USB medium is
if (pyb_usb_storage_medium == PYB_USB_STORAGE_MEDIUM_SDCARD)
#endif
{
if (first_part) {
// use SD card as current directory
MP_STATE_PORT(vfs_cur) = vfs;
}
}
first_part = false;
}
}
if (first_part) {
printf("MPY: can't mount SD card\n");
return false;
} else {
return true;
}
}
#endif
void stm32_main(uint32_t reset_mode) {
#if !defined(STM32F0) && defined(MICROPY_HW_VTOR)
// Change IRQ vector table if configured differently
SCB->VTOR = MICROPY_HW_VTOR;
#endif
// Enable 8-byte stack alignment for IRQ handlers, in accord with EABI
SCB->CCR |= SCB_CCR_STKALIGN_Msk;
// Check if bootloader should be entered instead of main application
powerctrl_check_enter_bootloader();
// Enable caches and prefetch buffers
#if defined(STM32F4)
#if INSTRUCTION_CACHE_ENABLE
__HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
#endif
#if DATA_CACHE_ENABLE
__HAL_FLASH_DATA_CACHE_ENABLE();
#endif
#if PREFETCH_ENABLE
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
#endif
#elif defined(STM32F7) || defined(STM32H7)
#if ART_ACCLERATOR_ENABLE
__HAL_FLASH_ART_ENABLE();
#endif
SCB_EnableICache();
SCB_EnableDCache();
#elif defined(STM32L4)
#if !INSTRUCTION_CACHE_ENABLE
__HAL_FLASH_INSTRUCTION_CACHE_DISABLE();
#endif
#if !DATA_CACHE_ENABLE
__HAL_FLASH_DATA_CACHE_DISABLE();
#endif
#if PREFETCH_ENABLE
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
#endif
#endif
mpu_init();
#if __CORTEX_M >= 0x03
// Set the priority grouping
NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
#endif
// SysTick is needed by HAL_RCC_ClockConfig (called in SystemClock_Config)
HAL_InitTick(TICK_INT_PRIORITY);
// set the system clock to be HSE
SystemClock_Config();
// enable GPIO clocks
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
#if defined(GPIOD)
__HAL_RCC_GPIOD_CLK_ENABLE();
#endif
#if defined(STM32F4) || defined(STM32F7)
#if defined(__HAL_RCC_DTCMRAMEN_CLK_ENABLE)
// The STM32F746 doesn't really have CCM memory, but it does have DTCM,
// which behaves more or less like normal SRAM.
__HAL_RCC_DTCMRAMEN_CLK_ENABLE();
#elif defined(CCMDATARAM_BASE)
// enable the CCM RAM
__HAL_RCC_CCMDATARAMEN_CLK_ENABLE();
#endif
#elif defined(STM32H7)
// Enable D2 SRAM1/2/3 clocks.
__HAL_RCC_D2SRAM1_CLK_ENABLE();
__HAL_RCC_D2SRAM2_CLK_ENABLE();
__HAL_RCC_D2SRAM3_CLK_ENABLE();
#endif
MICROPY_BOARD_EARLY_INIT();
// basic sub-system init
#if defined(STM32WB)
rfcore_init();
#endif
#if MICROPY_HW_SDRAM_SIZE
sdram_init();
bool sdram_valid = true;
UNUSED(sdram_valid);
#if MICROPY_HW_SDRAM_STARTUP_TEST
sdram_valid = sdram_test(true);
#endif
#endif
#if MICROPY_PY_THREAD
pyb_thread_init(&pyb_thread_main);
#endif
pendsv_init();
led_init();
#if MICROPY_HW_HAS_SWITCH
switch_init0();
#endif
machine_init();
#if MICROPY_HW_ENABLE_RTC
rtc_init_start(false);
#endif
uart_init0();
spi_init0();
#if MICROPY_PY_PYB_LEGACY && MICROPY_HW_ENABLE_HW_I2C
i2c_init0();
#endif
#if MICROPY_HW_ENABLE_SDCARD
sdcard_init();
#endif
#if MICROPY_HW_ENABLE_STORAGE
storage_init();
#endif
#if MICROPY_PY_LWIP
// lwIP doesn't allow to reinitialise itself by subsequent calls to this function
// because the system timeout list (next_timeout) is only ever reset by BSS clearing.
// So for now we only init the lwIP stack once on power-up.
lwip_init();
#if LWIP_MDNS_RESPONDER
mdns_resp_init();
#endif
systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
#endif
#if MICROPY_PY_BLUETOOTH
extern void mp_bluetooth_hci_systick(uint32_t ticks_ms);
systick_enable_dispatch(SYSTICK_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_systick);
#endif
#if MICROPY_PY_NETWORK_CYW43
{
cyw43_init(&cyw43_state);
uint8_t buf[8];
memcpy(&buf[0], "PYBD", 4);
mp_hal_get_mac_ascii(MP_HAL_MAC_WLAN0, 8, 4, (char *)&buf[4]);
cyw43_wifi_ap_set_ssid(&cyw43_state, 8, buf);
cyw43_wifi_ap_set_password(&cyw43_state, 8, (const uint8_t *)"pybd0123");
}
#endif
#if defined(MICROPY_HW_UART_REPL)
// Set up a UART REPL using a statically allocated object
pyb_uart_repl_obj.base.type = &pyb_uart_type;
pyb_uart_repl_obj.uart_id = MICROPY_HW_UART_REPL;
pyb_uart_repl_obj.is_static = true;
pyb_uart_repl_obj.timeout = 0;
pyb_uart_repl_obj.timeout_char = 2;
uart_init(&pyb_uart_repl_obj, MICROPY_HW_UART_REPL_BAUD, UART_WORDLENGTH_8B, UART_PARITY_NONE, UART_STOPBITS_1, 0);
uart_set_rxbuf(&pyb_uart_repl_obj, sizeof(pyb_uart_repl_rxbuf), pyb_uart_repl_rxbuf);
uart_attach_to_repl(&pyb_uart_repl_obj, true);
MP_STATE_PORT(pyb_uart_obj_all)[MICROPY_HW_UART_REPL - 1] = &pyb_uart_repl_obj;
#endif
boardctrl_state_t state;
state.reset_mode = reset_mode;
state.run_boot_py = false;
state.run_main_py = false;
state.last_ret = 0;
MICROPY_BOARD_BEFORE_SOFT_RESET_LOOP(&state);
soft_reset:
MICROPY_BOARD_TOP_SOFT_RESET_LOOP(&state);
// Python threading init
#if MICROPY_PY_THREAD
mp_thread_init();
#endif
// Stack limit should be less than real stack size, so we have a chance
// to recover from limit hit. (Limit is measured in bytes.)
// Note: stack control relies on main thread being initialised above
mp_stack_set_top(&_estack);
mp_stack_set_limit((char *)&_estack - (char *)&_sstack - 1024);
// GC init
gc_init(MICROPY_HEAP_START, MICROPY_HEAP_END);
#if MICROPY_ENABLE_PYSTACK
static mp_obj_t pystack[384];
mp_pystack_init(pystack, &pystack[384]);
#endif
// MicroPython init
mp_init();
mp_obj_list_init(MP_OBJ_TO_PTR(mp_sys_path), 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
mp_obj_list_init(MP_OBJ_TO_PTR(mp_sys_argv), 0);
// Initialise low-level sub-systems. Here we need to very basic things like
// zeroing out memory and resetting any of the sub-systems. Following this
// we can run Python scripts (eg boot.py), but anything that is configurable
// by boot.py must be set after boot.py is run.
#if defined(MICROPY_HW_UART_REPL)
MP_STATE_PORT(pyb_stdio_uart) = &pyb_uart_repl_obj;
#else
MP_STATE_PORT(pyb_stdio_uart) = NULL;
#endif
readline_init0();
pin_init0();
extint_init0();
timer_init0();
#if MICROPY_HW_ENABLE_CAN
can_init0();
#endif
#if MICROPY_HW_ENABLE_USB
pyb_usb_init0();
#endif
// Initialise the local flash filesystem.
// Create it if needed, mount in on /flash, and set it as current dir.
bool mounted_flash = false;
#if MICROPY_HW_ENABLE_STORAGE
mounted_flash = init_flash_fs(reset_mode);
#endif
bool mounted_sdcard = false;
#if MICROPY_HW_SDCARD_MOUNT_AT_BOOT
// if an SD card is present then mount it on /sd/
if (sdcard_is_present()) {
// if there is a file in the flash called "SKIPSD", then we don't mount the SD card
if (!mounted_flash || mp_vfs_import_stat("SKIPSD") == MP_IMPORT_STAT_NO_EXIST) {
mounted_sdcard = init_sdcard_fs();
}
}
#endif
#if MICROPY_HW_ENABLE_USB
// if the SD card isn't used as the USB MSC medium then use the internal flash
if (pyb_usb_storage_medium == PYB_USB_STORAGE_MEDIUM_NONE) {
pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
}
#endif
// set sys.path based on mounted filesystems (/sd is first so it can override /flash)
if (mounted_sdcard) {
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd_slash_lib));
}
if (mounted_flash) {
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash_slash_lib));
}
// reset config variables; they should be set by boot.py
MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
MICROPY_BOARD_BEFORE_BOOT_PY(&state);
// run boot.py, if it exists
// TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
if (state.run_boot_py) {
const char *boot_py = "boot.py";
state.last_ret = pyexec_file_if_exists(boot_py);
if (state.last_ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
}
MICROPY_BOARD_AFTER_BOOT_PY(&state);
// Now we initialise sub-systems that need configuration from boot.py,
// or whose initialisation can be safely deferred until after running
// boot.py.
#if MICROPY_HW_ENABLE_USB
// init USB device to default setting if it was not already configured
if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
#if MICROPY_HW_USB_MSC
const uint16_t pid = USBD_PID_CDC_MSC;
const uint8_t mode = USBD_MODE_CDC_MSC;
#else
const uint16_t pid = USBD_PID_CDC;
const uint8_t mode = USBD_MODE_CDC;
#endif
pyb_usb_dev_init(pyb_usb_dev_detect(), USBD_VID, pid, mode, 0, NULL, NULL);
}
#endif
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset
accel_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
servo_init();
#endif
#if MICROPY_PY_NETWORK
mod_network_init();
#endif
// At this point everything is fully configured and initialised.
MICROPY_BOARD_BEFORE_MAIN_PY(&state);
// Run the main script from the current directory.
if (state.run_main_py) {
const char *main_py;
if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
main_py = "main.py";
} else {
main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
}
state.last_ret = pyexec_file_if_exists(main_py);
if (state.last_ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
}
MICROPY_BOARD_AFTER_MAIN_PY(&state);
#if MICROPY_ENABLE_COMPILER
// Main script is finished, so now go into REPL mode.
// The REPL mode can change, or it can request a soft reset.
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
#endif
soft_reset_exit:
// soft reset
MICROPY_BOARD_START_SOFT_RESET(&state);
#if MICROPY_HW_ENABLE_STORAGE
if (state.log_soft_reset) {
mp_printf(&mp_plat_print, "MPY: sync filesystems\n");
}
storage_flush();
#endif
if (state.log_soft_reset) {
mp_printf(&mp_plat_print, "MPY: soft reboot\n");
}
#if MICROPY_PY_BLUETOOTH
mp_bluetooth_deinit();
#endif
#if MICROPY_PY_NETWORK
mod_network_deinit();
#endif
soft_timer_deinit();
timer_deinit();
uart_deinit_all();
#if MICROPY_HW_ENABLE_CAN
can_deinit_all();
#endif
machine_deinit();
#if MICROPY_PY_THREAD
pyb_thread_deinit();
#endif
MICROPY_BOARD_END_SOFT_RESET(&state);
gc_sweep_all();
goto soft_reset;
}
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