EV6 longitudinal (#26023)

* ev6 long * update refs
2026-08-05 08:16:06 +08:00 · 2022-10-12 14:22:40 -07:00
parent 03f06b0e32
commit 3c0904a18f
6 changed files with 220 additions and 95 deletions
@@ -52,17 +52,15 @@ class CarController:
    self.apply_steer_last = 0
    self.car_fingerprint = CP.carFingerprint
    self.last_button_frame = 0
-    self.accel = 0

  def update(self, CC, CS):
    actuators = CC.actuators
    hud_control = CC.hudControl

-    # Steering Torque
-
-    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    # steering torque
    steer = actuators.steer
    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      # these cars have significantly more torque than most HKG; limit to 70% of max
      steer = clip(steer, -0.7, 0.7)
    new_steer = int(round(steer * self.params.STEER_MAX))
    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@@ -72,48 +70,66 @@ class CarController:

    self.apply_steer_last = apply_steer

+    # accel + longitudinal
+    accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+    stopping = actuators.longControlState == LongCtrlState.stopping
+    set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
+
+    # HUD messages
    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
                                                                                      hud_control)

    can_sends = []

-    if self.CP.carFingerprint in CANFD_CAR:
-      # steering control
-      can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
+    # *** common hyundai stuff ***

-      # block LFA on HDA2
-      if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2):
+    # tester present - w/ no response (keeps relevant ECU disabled)
+    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
+      addr, bus = 0x7d0, 0
+      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
+        addr, bus = 0x730, 5
+      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+
+    # CAN-FD platforms
+    if self.CP.carFingerprint in CANFD_CAR:
+      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
+      hda2_long = hda2 and self.CP.openpilotLongitudinalControl
+
+      # steering control
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
+
+      # disable LFA on HDA2
+      if self.frame % 5 == 0 and hda2:
        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))

      # LFA and HDA icons
-      if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled))
+      if self.frame % 5 == 0 and (not hda2 or hda2_long):
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))

-      # button presses
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-        # cruise cancel
-        if CC.cruiseControl.cancel:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True))
-            self.last_button_frame = self.frame
-          else:
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
-            self.last_button_frame = self.frame
-
-        # cruise standstill resume
-        elif CC.cruiseControl.resume:
-          if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-            for _ in range(20):
-              can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
-            self.last_button_frame = self.frame
-    else:
-
-      # tester present - w/ no response (keeps radar disabled)
      if self.CP.openpilotLongitudinalControl:
-        if self.frame % 100 == 0:
-          can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
+        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+        if self.frame % 2 == 0:
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, accel, stopping, CC.cruiseControl.override,
+                                                           set_speed_in_units))
+      else:
+        # button presses
+        if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
+          # cruise cancel
+          if CC.cruiseControl.cancel:
+            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+              self.last_button_frame = self.frame
+            else:
+              for _ in range(20):
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+              self.last_button_frame = self.frame

+          # cruise standstill resume
+          elif CC.cruiseControl.resume:
+            if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+              for _ in range(20):
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+              self.last_button_frame = self.frame
+    else:
      # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
      if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
        self.angle_limit_counter += 1
@@ -143,18 +159,10 @@ class CarController:
            self.last_button_frame = self.frame

      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
-        accel = actuators.accel
-
-        #TODO unclear if this is needed
+        # TODO: unclear if this is needed
        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
-
-        accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-
-        stopping = actuators.longControlState == LongCtrlState.stopping
-        set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                        hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
-        self.accel = accel

      # 20 Hz LFA MFA message
      if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
@@ -173,7 +181,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = apply_steer / self.params.STEER_MAX
-    new_actuators.accel = self.accel
+    new_actuators.accel = accel

    self.frame += 1
    return new_actuators, can_sends
@@ -30,6 +30,7 @@ class CarState(CarStateBase):
    else:  # preferred and elect gear methods use same definition
      self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]

+    self.is_metric = False
    self.brake_error = False
    self.buttons_counter = 0

@@ -45,8 +46,8 @@ class CarState(CarStateBase):

    ret = car.CarState.new_message()
    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
-    is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
-    speed_conv = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
+    self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
+    speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS

    ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                        cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
@@ -69,7 +70,7 @@ class CarState(CarStateBase):
      self.cluster_speed_counter = 0

      # mimic how dash converts to imperial
-      if not is_metric:
+      if not self.is_metric:
        self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)

    ret.vEgoCluster = self.cluster_speed * speed_conv
@@ -187,16 +188,19 @@ class CarState(CarStateBase):

    ret.cruiseState.available = True
    ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
-    cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-    speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
-    ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
-    ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+    self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
+    if not self.CP.openpilotLongitudinalControl:
+      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+      cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+      ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1

    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
+    self.prev_cruise_buttons = self.cruise_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
-    self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
+    self.cruise_info_copy =  {}

    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
@@ -448,13 +452,18 @@ class CarState(CarStateBase):
      signals += [
        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
        ("GEAR", "ACCELERATOR"),
-        ("SET_SPEED", "CRUISE_INFO"),
-        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
      ]
      checks += [
-        ("CRUISE_INFO", 50),
        ("ACCELERATOR", 100),
      ]
+      if not CP.openpilotLongitudinalControl:
+        signals += [
+          ("SET_SPEED", "CRUISE_INFO"),
+          ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ]
+        checks += [
+          ("CRUISE_INFO", 50),
+        ]
    else:
      signals += [
        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
@@ -478,17 +487,14 @@ class CarState(CarStateBase):
        ("CRUISE_MAIN", "CRUISE_INFO"),
        ("CRUISE_STATUS", "CRUISE_INFO"),
        ("CRUISE_INACTIVE", "CRUISE_INFO"),
-        ("NEW_SIGNAL_2", "CRUISE_INFO"),
+        ("ZEROS_9", "CRUISE_INFO"),
        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-        ("NEW_SIGNAL_3", "CRUISE_INFO"),
-        ("BYTE11", "CRUISE_INFO"),
+        ("ZEROS_5", "CRUISE_INFO"),
+        ("DISTANCE_SETTING", "CRUISE_INFO"),
        ("SET_SPEED", "CRUISE_INFO"),
        ("NEW_SIGNAL_4", "CRUISE_INFO"),
      ]

-      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)]
-      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)]
-
      checks = [
        ("CRUISE_INFO", 50),
      ]
@@ -1,7 +1,17 @@
 from selfdrive.car.hyundai.values import HyundaiFlags


-def create_lkas(packer, CP, enabled, lat_active, apply_steer):
+def get_e_can_bus(CP):
+  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
+  # have a a different harness than the HDA1 and non-HDA variants in order to split
+  # a different bus, since the steering is done by different ECUs.
+  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+
+
+def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
+
+  ret = []
+
  values = {
    "LKA_MODE": 2,
    "LKA_ICON": 2 if enabled else 1,
@@ -14,8 +24,14 @@ def create_lkas(packer, CP, enabled, lat_active, apply_steer):
    "NEW_SIGNAL_2": 0,
  }

-  msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA"
-  return packer.make_can_msg(msg, 4, values)
+  if CP.flags & HyundaiFlags.CANFD_HDA2:
+    if CP.openpilotLongitudinalControl:
+      ret.append(packer.make_can_msg("LFA", 5, values))
+    ret.append(packer.make_can_msg("LKAS", 4, values))
+  else:
+    ret.append(packer.make_can_msg("LFA", 4, values))
+
+  return ret

 def create_cam_0x2a4(packer, camera_values):
  camera_values.update({
@@ -36,11 +52,92 @@ def create_cruise_info(packer, cruise_info_copy, cancel):
  if cancel:
    values["CRUISE_STATUS"] = 0
    values["CRUISE_INACTIVE"] = 1
-  return packer.make_can_msg("CRUISE_INFO", 4, values)
+  return packer.make_can_msg("CRUISE_INFO", 5, values)

-def create_lfahda_cluster(packer, enabled):
+def create_lfahda_cluster(packer, CP, enabled):
  values = {
    "HDA_ICON": 1 if enabled else 0,
    "LFA_ICON": 2 if enabled else 0,
  }
-  return packer.make_can_msg("LFAHDA_CLUSTER", 4, values)
+  return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
+
+
+def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed):
+  cruise_status = 0 if not enabled else (4 if gas_override else 2)
+  if not enabled or gas_override:
+    accel = 0
+  values = {
+    "CRUISE_STATUS": cruise_status,
+    "CRUISE_INACTIVE": 0 if enabled else 1,
+    "CRUISE_MAIN": 1,
+    "CRUISE_STANDSTILL": 0,
+    "STOP_REQ": 1 if stopping else 0,
+    "ACCEL_REQ": accel,
+    "ACCEL_REQ2": accel,
+    "SET_SPEED": set_speed,
+    "DISTANCE_SETTING": 4,
+
+    "ACC_ObjDist": 1,
+    "ObjValid": 1,
+    "OBJ_STATUS": 2,
+    "SET_ME_2": 0x2,
+    "SET_ME_3": 0x3,
+    "SET_ME_TMP_64": 0x64,
+
+    "NEW_SIGNAL_9": 2,
+    "NEW_SIGNAL_10": 4,
+  }
+
+  return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
+
+
+
+def create_adrv_messages(packer, frame):
+  # messages needed to car happy after disabling
+  # the ADAS Driving ECU to do longitudinal control
+
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("ADRV_0x51", 4, values))
+
+  if frame % 2 == 0:
+    values = {
+      'AEB_SETTING': 0x1,  # show AEB disabled icon
+      'SET_ME_2': 0x2,
+      'SET_ME_FF': 0xff,
+      'SET_ME_FC': 0xfc,
+      'SET_ME_9': 0x9,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x160", 5, values))
+
+  if frame % 5 == 0:
+    values = {
+      'SET_ME_1C': 0x1c,
+      'SET_ME_FF': 0xff,
+      'SET_ME_TMP_F': 0xf,
+      'SET_ME_TMP_F_2': 0xf,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))
+
+    values = {
+      'SET_ME_E1': 0xe1,
+      'SET_ME_3A': 0x3a,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x200", 5, values))
+
+  if frame % 20 == 0:
+    values = {
+      'SET_ME_15': 0x15,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x345", 5, values))
+
+  if frame % 100 == 0:
+    values = {
+      'SET_ME_22': 0x22,
+      'SET_ME_41': 0x41,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))
+
+  return ret
@@ -27,31 +27,24 @@ class CarInterface(CarInterfaceBase):
    ret.carName = "hyundai"
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

-    # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CANFD_CAR)
-    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
-
-    ret.pcmCruise = not ret.openpilotLongitudinalControl
-
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}

+    if candidate in CANFD_CAR:
+      # detect HDA2 with LKAS message
+      if 0x50 in fingerprint[6]:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
+      else:
+        # non-HDA2
+        if 0x1cf not in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+
    ret.steerActuatorDelay = 0.1  # Default delay
    ret.steerLimitTimer = 0.4
    tire_stiffness_factor = 1.

-    ret.stoppingControl = True
-    ret.startingState = True
-    ret.vEgoStarting = 0.1
-    ret.startAccel = 2.0
-
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.0]
-
-    ret.longitudinalActuatorDelayLowerBound = 0.5  # s
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -291,20 +284,38 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]

-    # panda safety config
+    # *** longitudinal control ***
+    if candidate in CANFD_CAR:
+      ret.longitudinalTuning.kpV = [0.1]
+      ret.longitudinalTuning.kiV = [0.0]
+      ret.longitudinalActuatorDelayLowerBound = 0.15
+      ret.longitudinalActuatorDelayUpperBound = 0.5
+      ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
+    else:
+      ret.longitudinalTuning.kpV = [0.5]
+      ret.longitudinalTuning.kiV = [0.0]
+      ret.longitudinalActuatorDelayLowerBound = 0.5
+      ret.longitudinalActuatorDelayUpperBound = 0.5
+      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
+    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
+
+    ret.stoppingControl = True
+    ret.startingState = True
+    ret.vEgoStarting = 0.1
+    ret.startAccel = 2.0
+
+    # *** panda safety config ***
    if candidate in CANFD_CAR:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]

-      # detect HDA2 with LKAS message
-      if 0x50 in fingerprint[6]:
-        ret.flags |= HyundaiFlags.CANFD_HDA2.value
+      if ret.openpilotLongitudinalControl:
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_LONG
+      if ret.flags & HyundaiFlags.CANFD_HDA2:
        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-      else:
-        # non-HDA2
-        if 0x1cf not in fingerprint[4]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-          ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+      if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
    else:
      ret.enableBsm = 0x58b in fingerprint[0]

@@ -342,7 +353,10 @@ class CarInterface(CarInterfaceBase):
  @staticmethod
  def init(CP, logcan, sendcan):
    if CP.openpilotLongitudinalControl:
-      disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01')
+      addr, bus = 0x7d0, 0
+      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
+        addr, bus = 0x730, 5
+      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
@@ -1 +1 @@
-5fa6a3743f2678eef13267fb946d7a03f2af5824
+27022484e3f4c0265ee7243154659b2697de3af7