Configure the hardware and boot a reference image

The default configuration of the image is set up to run the Camera MUX example application.

Setting up the R-Car V3H to use the reference image

If you haven't done so already, connect your R-Car V3H to:
  • a Lilliput 10" display, using the HDMI port on the R-Car V3H
  • a miniUSB-serial cable for a console
  • the power supply that came from the hardware vendor

Now follow the instructions in the Installation Notes chapter of the Renesas R-Car V3H BSP User's Guide for this release to:

  1. set up and configure the R-Car V3H
  2. load and boot up the MiniMonitor program
  3. program boot loaders to QSPI

After you complete programming the boot loaders to the QSPI flash, follow the steps below (Booting the reference image), instead of continuing to the Boot the board section from the Renesas R-Car V3H BSP User's Guide.

Booting the reference image

Before you boot the reference image on the R-Car V3H, ensure that you have:

  • a functional TFTP Boot Server working on your host machine. TFTP is a boot service that's used to perform OS installations on remote devices. Depending on your host, you can do one of the following:
    • Install a utility to run TFTP. For example, TFtpd32 at http://tftpd32.jounin.net/ (Windows).
    • Configure a TFTP server (Linux, macOS).
  • a terminal program (e.g., Tera Term) on your host machine to access the console.
  • a functional NFS Server working on your host machine.
  • your reference image (e.g., rcarv3h-sd.img) copied to the NFS server export directory.
  • your image-loading utility (e.g., program_v3h) copied to the TFTP server directory. This customized image-loading utility boots the board and copies the reference image from your NFS server to the eMMc on the board. This utility is specific to your reference image.
  1. Launch the TFTP server on your host. On Windows, select the path to your IFS image.
  2. Power on the board and after U-Boot runs, in your console, press any key to abort the autoboot process. 
    NOTICE:  R-Car Gen3 Initial Program Loader(CR7) Rev.1.0.1
NOTICE:  PRR is R-Car V3H ES1.0
NOTICE:  CR7: DDR3200(rev.0.28rc05)NOTICE:  [COLD_BOOT]
NOTICE:  BL2: QoS is default setting(rev.0.20180901)
NOTICE:  Normal boot(CR7)
NOTICE:  CA5x Loader load address=0xeb244000 CA5x Loader image size=0x00020000
[    0.000138] NOTICE:  BL2: R-Car Gen3 Initial Program Loader(CA53) Rev.1.0.17
[    0.005701] NOTICE:  BL2: PRR is R-Car V3H Ver1.0
[    0.010363] NOTICE:  BL2: Board is unknown Rev---
[    0.015031] NOTICE:  BL2: Boot device is QSPI Flash(40MHz)
[    0.020470] NOTICE:  BL2: LCM state is unknown
[    0.024889] NOTICE:  BL2: v1.3(release):b15fefa
[    0.029357] NOTICE:  BL2: Built : 06:53:09, Sep 14 2018
[    0.034541] NOTICE:  BL2: Normal boot
[    0.038186] NOTICE:  BL2: dst=0xeb25e210 src=0x8180000 len=512(0x200)
[    0.044766] NOTICE:  BL2: dst=0x43f00000 src=0x8180400 len=6144(0x1800)
[    0.052406] NOTICE:  BL2: dst=0x44000000 src=0x81c0000 len=65536(0x10000)
[    0.071329] NOTICE:  BL2: dst=0x50000000 src=0x8640000 len=1048576(0x100000)

U-Boot 2015.04 (Sep 14 2018 - 06:52:49)

CPU: Renesas Electronics R8A7798 rev 1.0
Board: V3HSK
I2C:   ready
DRAM:  1.9 GiB
MMC:   sh-sdhi: 0
SF: Detected s25fs512s with page size 256 Bytes, erase size 256 KiB, total 512 MiB
In:    serial
Out:   serial
Err:   serial
Net:   sh_eth
Hit any key to stop autoboot:  0
=>
  3. Set the following environment variables:
    • ethaddr: This variable specifies the MAC address assigned to the board. Refer to the label (sticker) on the Ethernet port (CN3) of your board to get the MAC address. For example: 
      => setenv ethaddr 2e:09:0a:00:83:0c
    • serverip: This specifies the IP address to use to communicate with the TFTP server. Set this to the IP address that's assigned to your host machine with the TFTP server: 
      => setenv serverip your host address of the TFTP server
    • ipaddr: This specifies the IP address assigned to your board. Set this to the IP address assigned to your board. 
      => setenv ipaddr board IP address
    • bootfile: This specifies the image filename to be downloaded. This is the filename of your customized IFS on the TFTP Server. 
      => setenv bootfile program_v3h
    • loadaddr: This specifies the starting address in RAM to use to load the image. This should be 0x40100000. 
      => setenv loadaddr 0x40100000
  4. Run the tftp command to download the IFS to RAM as shown here: 
    => tftp
sh_eth connected to Micrel ksz9031
sh_eth Waiting for PHY auto negotiation to complete.. done
sh_eth: 100Base/Full
Using sh_eth device
TFTP from server 192.168.68.119; our IP address is 192.168.68.120
Filename 'program_v3h'.
Load address: 0x40100000
Loading: #################################################################
     #################################################################
     #################################################################
     #################################################################
     #################################################################
     #################################################################
     #################################################################
     ###########################
     845.7 KiB/s

done
Bytes transferred = 7071100 (6be57c hex)
  5. After the transfer is done, type go 0x40100000 to start running the IFS image: 
    => go 0x40100000

    On your terminal console, you should see something similar to the following: 

    ## Starting application at 0x40100000 ...

board_smp_num_cpu: 4 cores
MMU: 16-bit ASID 40-bit PA TCR_EL1=b5183519
GICv2: 416 interrupts
GICv2: routing SPIs to gic cpu 0
cpu0: MPIDR=80000000
cpu0: MIDR=410fd034 Cortex-A53 r0p4
cpu0: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
cpu0: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
cpu0: L1 Icache 32K linesz=64 set/way=256/2
cpu0: L1 Dcache 32K linesz=64 set/way=128/4
cpu0: L2 Unified 1024K linesz=64 set/way=1024/16
cpu0: GICv2 cpu interface 0
sdio0, ivec idx 0 == 197
iic0, ivec idx 0 == 205
sys0, ivec idx 0 == 248
sys0, ivec idx 1 == 249
sys0, ivec idx 2 == 250
sys0, ivec idx 3 == 251
sys0, ivec idx 4 == 340
sys0, ivec idx 5 == 341
sys0, ivec idx 6 == 342
sys0, ivec idx 7 == 343
sys0, ivec idx 8 == 385
sys0, ivec idx 9 == 386
sys0, ivec idx 10 == 387
sys0, ivec idx 11 == 388
sys0, ivec idx 12 == 389
sys0, ivec idx 13 == 390
sys0, ivec idx 14 == 391
sys0, ivec idx 15 == 392
sys1, ivec idx 0 == 344
sys1, ivec idx 1 == 345
sys1, ivec idx 2 == 346
sys1, ivec idx 3 == 347
sys1, ivec idx 4 == 348
sys1, ivec idx 5 == 349
sys1, ivec idx 6 == 350
sys1, ivec idx 7 == 351
sys1, ivec idx 8 == 393
sys1, ivec idx 9 == 394
sys1, ivec idx 10 == 395
sys1, ivec idx 11 == 396
sys1, ivec idx 12 == 397
sys1, ivec idx 13 == 398
sys1, ivec idx 14 == 399
sys1, ivec idx 15 == 400
vin0, ivec idx 0 == 220
vin1, ivec idx 0 == 221
vin2, ivec idx 0 == 222
vin3, ivec idx 0 == 223
vin4, ivec idx 0 == 206
vin5, ivec idx 0 == 207
vin6, ivec idx 0 == 208
vin7, ivec idx 0 == 203
vin8, ivec idx 0 == 300
vin9, ivec idx 0 == 301
vin10, ivec idx 0 == 321
vin11, ivec idx 0 == 328
vin12, ivec idx 0 == 330
vin13, ivec idx 0 == 331
vin14, ivec idx 0 == 333
vin15, ivec idx 0 == 334
Loading IFS...decompressing...done
cpu1: MPIDR=80000001
cpu1: MIDR=410fd034 Cortex-A53 r0p4
cpu1: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
cpu1: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
cpu1: L1 Icache 32K linesz=64 set/way=256/2
cpu1: L1 Dcache 32K linesz=64 set/way=128/4
cpu1: L2 Unified 1024K linesz=64 set/way=1024/16
cpu1: GICv2 cpu interface 1
cpu2: MPIDR=80000002
cpu2: MIDR=410fd034 Cortex-A53 r0p4
cpu2: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
cpu2: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
cpu2: L1 Icache 32K linesz=64 set/way=256/2
cpu2: L1 Dcache 32K linesz=64 set/way=128/4
cpu2: L2 Unified 1024K linesz=64 set/way=1024/16
cpu2: GICv2 cpu interface 2
cpu3: MPIDR=80000003
cpu3: MIDR=410fd034 Cortex-A53 r0p4
cpu3: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
cpu3: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
cpu3: L1 Icache 32K linesz=64 set/way=256/2
cpu3: L1 Dcache 32K linesz=64 set/way=128/4
cpu3: L2 Unified 1024K linesz=64 set/way=1024/16
cpu3: GICv2 cpu interface 3
Header size=0x00000108, Total Size=0x00000e98, #Cpu=4, Type=257
Section:system_private offset:0x000003a8 size:0x000000b8
  syspage ptr user:ffffff8040203000 kernel:ffffff8040201000
  cpupage ptr user:ffffff80402042a0 kernel:ffffff80402022a0 spacing:112
  kdebug info:0000000000000000 callback:0000000000000000 num_ready:0
  pagesize:00001000 flags:00000000, kdinfo:00000000 tracebuf:0000000000000000
Section:qtime offset:0x000002c8 size:0x00000060
  boot:00000000 CPS:00000000007f2815 rate/scale:1200000048/-16 intr:27
  flags:00000001 load:0 epoch:1970 rr_mul:0 adj count/inc:0/0
Section:callout offset:0x00000108 size:0x000000c0
  reboot:ffffff80402020dc power:0000000000000000 watchdog:0000000000000000
  timer_load:ffffff8040202108 reload:ffffff8040202128 value:ffffff8040202168
  0) display:ffffff8040202184 poll:ffffff80402021c0 break:ffffff80402021ec
  1) display:0000000000000000 poll:0000000000000000 break:0000000000000000
Section:cpuinfo offset:0x00000328 size:0x00000080 elsize:0x00000020
  0) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000000 cache i/d:0/1 name:66
  1) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000001 cache i/d:0/1 name:66
  2) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000002 cache i/d:0/1 name:66
  3) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000003 cache i/d:0/1 name:66
Section:cacheattr offset:0x00000e18 size:0x00000040 elsize:0x00000020
  0) flags:01 size:0040 #lines:0200 ways:0000 control:ffffff8040201eb0 next:255
  1) flags:02 size:0040 #lines:0200 ways:0000 control:ffffff8040201f00 next:255
Section:asinfo offset:0x00000bf8 size:0x000001c0 elsize:0x00000020
  0000) 0000000000000000-0000ffffffffffff o:ffff a:0010 p:100 c:0 n:21
  0020) 0000000000000000-00000000ffffffff o:0000 a:0010 p:100 c:0 n:28
  0040) 0000000040000000-000000007fffffff o:0020 a:0017 p:100 c:0 n:36
  0060) 00000000f1010000-00000000f1010fff o:0000 a:0003 p:100 c:0 n:40
  0080) 00000000f1020000-00000000f1020fff o:0000 a:0003 p:100 c:0 n:45
  00a0) 00000000401220b8-000000004108ee9f o:0000 a:0005 p:100 c:0 n:323
  00c0) 0000000040100fb4-00000000401220b7 o:0000 a:0007 p:100 c:0 n:331
  00e0) 00000000401220b8-000000004108ee9f o:0000 a:0007 p:100 c:0 n:339
  0100) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:0 n:347
  0120) ffffff8060026000-ffffff80600eba78 o:0100 a:0000 p:100 c:0 n:355
  0140) 0000000040000000-0000000040007fff o:0040 a:0007 p:100 c:0 n:361
  0160) 0000000040011460-0000000040100fb3 o:0040 a:0007 p:100 c:0 n:361
  0180) 000000004108eea0-0000000043efffff o:0040 a:0007 p:100 c:0 n:361
  01a0) 0000000047e00000-000000007fffffff o:0040 a:0007 p:100 c:0 n:361
Section:hwinfo offset:0x00000608 size:0x000005f0
  0) size:3 tag:3(Group) isize:3, iname:0(hw), owner:65535, kids:3
  12) size:3 tag:17(Bus) isize:3, iname:9(unknown), owner:0, kids:22
  24) size:3 tag:3(Group) isize:3, iname:50(rtc), owner:12, kids:1
  36) size:4 tag:59(Device) isize:4, iname:54(NONE), owner:24, kids:0
     00 00 00 00
  52) size:3 tag:17(Bus) isize:16, iname:77(sdio), owner:0, kids:0
  64) size:6 tag:82(location)
     00 20 00 00 00 00 14 ee 00 00 00 00 00 00 00 00 00 00 00 00
  88) size:2 tag:91(irq)
     c5 00 00 00
  96) size:2 tag:103(drvr_dll)
     5f 00 00 00
  104) size:3 tag:112(inputclk)
     00 c2 eb 0b 01 00 00 00
  116) size:3 tag:17(Bus) isize:14, iname:121(iic), owner:0, kids:0
  128) size:6 tag:82(location)
     00 01 00 00 00 00 0b e6 00 00 00 00 00 00 00 00 00 00 00 00
  152) size:2 tag:91(irq)
     cd 00 00 00
  160) size:3 tag:112(inputclk)
     00 6c dc 02 02 00 00 00
  172) size:4 tag:59(Device) isize:49, iname:125(sys), owner:12, kids:0
     04 00 00 00
  188) size:1 tag:129(pad)
  192) size:6 tag:82(location)
     00 30 00 00 00 00 30 e7 00 00 00 00 00 00 00 00 00 00 00 00
  216) size:2 tag:91(irq)
     f8 00 00 00
  224) size:2 tag:91(irq)
     f9 00 00 00
  232) size:2 tag:91(irq)
     fa 00 00 00
  240) size:2 tag:91(irq)
     fb 00 00 00
  248) size:2 tag:91(irq)
     54 01 00 00
  256) size:2 tag:91(irq)
     55 01 00 00
  264) size:2 tag:91(irq)
     56 01 00 00
  272) size:2 tag:91(irq)
     57 01 00 00
  280) size:2 tag:91(irq)
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  288) size:2 tag:91(irq)
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  296) size:2 tag:91(irq)
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  304) size:2 tag:91(irq)
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     85 01 00 00
  320) size:2 tag:91(irq)
     86 01 00 00
  328) size:2 tag:91(irq)
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  336) size:2 tag:91(irq)
     88 01 00 00
  344) size:2 tag:141(regname)
     85 00 00 80
  352) size:2 tag:141(regname)
     95 00 80 00
  360) size:2 tag:141(regname)
     9e 00 00 20
  368) size:4 tag:59(Device) isize:48, iname:125(sys), owner:12, kids:0
     04 00 00 00
  384) size:6 tag:82(location)
     00 30 00 00 00 00 31 e7 00 00 00 00 00 00 00 00 00 00 00 00
  408) size:2 tag:91(irq)
     58 01 00 00
  416) size:2 tag:91(irq)
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     5d 01 00 00
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     5e 01 00 00
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     5f 01 00 00
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     89 01 00 00
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  488) size:2 tag:91(irq)
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     8c 01 00 00
  504) size:2 tag:91(irq)
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  512) size:2 tag:91(irq)
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  520) size:2 tag:91(irq)
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     90 01 00 00
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     85 00 00 80
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     95 00 80 00
  552) size:2 tag:141(regname)
     9e 00 00 20
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     00 00 00 00
  576) size:2 tag:141(regname)
     b3 00 20 00
  584) size:2 tag:141(regname)
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 00 00 00
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     00 10 00 00 00 c0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
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     4a 01 00 00
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     00 00 00 00
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     00 10 00 00 00 d0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
  1272) size:2 tag:91(irq)
     4b 01 00 00
  1280) size:4 tag:59(Device) isize:12, iname:246(vin), owner:12, kids:0
     00 00 00 00
  1296) size:6 tag:82(location)
     00 10 00 00 00 e0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
  1320) size:2 tag:91(irq)
     4d 01 00 00
  1328) size:4 tag:59(Device) isize:12, iname:246(vin), owner:12, kids:0
     00 00 00 00
  1344) size:6 tag:82(location)
     00 10 00 00 00 f0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
  1368) size:2 tag:91(irq)
     4e 01 00 00
  1376) size:4 tag:59(Device) isize:13, iname:250(wdog), owner:12, kids:0
     07 00 00 00
  1392) size:6 tag:82(location)
     0c 00 00 00 00 00 02 e6 00 00 00 00 00 00 00 00 00 00 00 00
  1416) size:3 tag:112(inputclk)
     10 27 00 00 01 00 00 00
  1428) size:4 tag:59(Device) isize:12, iname:255(wdt,options), owner:12, kids:0
     00 00 00 00
  1444) size:2 tag:141(regname)
     0b 01 10 00
  1452) size:2 tag:141(regname)
     18 01 80 00
  1460) size:2 tag:141(regname)
     24 01 80 00
  1468) size:2 tag:141(regname)
     35 01 04 00
Section:typed_strings offset:0x00000460 size:0x00000030
  off:0 type:5 string:'R-Car V3H rev 1.0'
  off:24 type:2 string:'localhost'
Section:strings offset:0x00000490 size:0x00000178
  [0]'hw' [3]'Group' [9]'unknown' [17]'Bus' [21]'memory' [28]'below4G'
  [36]'ram' [40]'gicd' [45]'gicc' [50]'rtc' [54]'NONE' [59]'Device'
  [66]'Cortex-A53' [77]'sdio' [82]'location' [91]'irq' [95]'rcar_v3'
  [103]'drvr_dll' [112]'inputclk' [121]'iic' [125]'sys' [129]'pad'
  [133]'dma_reg' [141]'regname' [149]'dma_size' [158]'dma_desc'
  [167]'dma,options' [179]'sysdmac_chans' [193]'sysdmac_chan_grps'
  [211]'audiodmac_chans' [227]'audiodmc_chan_grps' [246]'vin' [250]'wdog'
  [255]'wdt,options' [267]'enable_width' [280]'enable_mask'
  [292]'enable_condition' [309]'enable_offset' [323]'imagefs' [331]'startup'
  [339]'bootram' [347]'virtual' [355]'vboot' [361]'sysram'
Section:intrinfo offset:0x00000db8 size:0x00000060 elsize:0x00000060
  0) vector_base:00000000, #vectors:416, cascade_vector:7fffffff
     cpu_intr_base:00000000, cpu_intr_stride:0, flags:0000, local_stride:0
      id => flags:8000, size:004c, rtn:ffffff8040201f58
     eoi => flags:9000, size:0034, rtn:ffffff8040201fa4
     mask:ffffff8040201fd8, unmask:ffffff8040202004, config:ffffff8040202030
Section:smp offset:0x000002a0 size:0x00000028
  send_ipi:ffffff8040202094 cpu:00000000 cpu2:0000000000000000
Section:pminfo offset:0x00000e58 size:0x00000000
Section:mdriver offset:0x00000e58 size:0x00000000 elsize:0x00000030

System page at phys:0000000040010000 user:ffffff8040203000 kern:ffffff8040201000
Starting next program at vffffff8060064250
MMFLAGS=1
Welcome to QNX Neutrino 7.0 on the R-Car V3H Condor Board
Starting slogger and pipe servers...
Starting watchdog ...
Starting Serial driver...
Starting I2C driver ...
Starting SPI Flash driver...
Starting Network driver...
  6. When prompted, enter the requested parameters for your NFS server. For example: 
    Mounting NFS: provide fs-nfs3 parms:
10.122.1.10:/mnt/export/ /

    In your console, you should see something similar to the following: 

    starting eMMC driver
waiting for hd0
Path=copying SD image to eMMC
0 - RCar MMCIF
 target=0 lun=0     Direct-Access(0) - SDMMC: 016G30 Rev: 0.0
7626752+0 records in
7626752+0 records out
syncing
please reset target
    Note:
    It may take a while (approximately 16 minutes) to complete the transfer of the image to the eMMC.
  7. Reset the board.
  8. After U-boot starts, press any key to abort the autoboot process and enter the following on the console:
    => setenv bootcmd 'fatload mmc 0 0x40100000 qnx-ifs; go 0x40100000'
  9. Save your environment settings: 
    => saveenv
  10. Reset the board.

After the image boots, it runs the Camera MUX example application by default and uses the RDACM24 camera.

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