From 9d7ca3a8767f28963f4907bb3ac368659de68e6e Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 23:19:56 -0700 Subject: [PATCH] uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp --- .../AP_InertialSensor_MPU6000.cpp | 1965 +++++++++-------- 1 file changed, 1050 insertions(+), 915 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index fd097e575a..d4e553a4f5 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -5,177 +5,177 @@ #include #if defined(ARDUINO) && ARDUINO >= 100 - #include "Arduino.h" + #include "Arduino.h" #else - #include + #include #endif // MPU 6000 registers -#define MPUREG_XG_OFFS_TC 0x00 -#define MPUREG_YG_OFFS_TC 0x01 -#define MPUREG_ZG_OFFS_TC 0x02 -#define MPUREG_X_FINE_GAIN 0x03 -#define MPUREG_Y_FINE_GAIN 0x04 -#define MPUREG_Z_FINE_GAIN 0x05 -#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte) -#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte) -#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte) -#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte) -#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte) -#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte) -#define MPUREG_PRODUCT_ID 0x0C // Product ID Register -#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte) -#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte) -#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte) -#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte) -#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte) -#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte) -#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(+1) = 200Hz -# define MPUREG_SMPLRT_1000HZ 0x00 -# define MPUREG_SMPLRT_500HZ 0x01 -# define MPUREG_SMPLRT_250HZ 0x03 -# define MPUREG_SMPLRT_200HZ 0x04 -# define MPUREG_SMPLRT_100HZ 0x09 -# define MPUREG_SMPLRT_50HZ 0x13 -#define MPUREG_CONFIG 0x1A -#define MPUREG_GYRO_CONFIG 0x1B +#define MPUREG_XG_OFFS_TC 0x00 +#define MPUREG_YG_OFFS_TC 0x01 +#define MPUREG_ZG_OFFS_TC 0x02 +#define MPUREG_X_FINE_GAIN 0x03 +#define MPUREG_Y_FINE_GAIN 0x04 +#define MPUREG_Z_FINE_GAIN 0x05 +#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte) +#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte) +#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte) +#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte) +#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte) +#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte) +#define MPUREG_PRODUCT_ID 0x0C // Product ID Register +#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte) +#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte) +#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte) +#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte) +#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte) +#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte) +#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(+1) = 200Hz +# define MPUREG_SMPLRT_1000HZ 0x00 +# define MPUREG_SMPLRT_500HZ 0x01 +# define MPUREG_SMPLRT_250HZ 0x03 +# define MPUREG_SMPLRT_200HZ 0x04 +# define MPUREG_SMPLRT_100HZ 0x09 +# define MPUREG_SMPLRT_50HZ 0x13 +#define MPUREG_CONFIG 0x1A +#define MPUREG_GYRO_CONFIG 0x1B // bit definitions for MPUREG_GYRO_CONFIG -# define BITS_GYRO_FS_250DPS 0x00 -# define BITS_GYRO_FS_500DPS 0x08 -# define BITS_GYRO_FS_1000DPS 0x10 -# define BITS_GYRO_FS_2000DPS 0x18 -# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits -# define BITS_GYRO_ZGYRO_SELFTEST 0x20 -# define BITS_GYRO_YGYRO_SELFTEST 0x40 -# define BITS_GYRO_XGYRO_SELFTEST 0x80 -#define MPUREG_ACCEL_CONFIG 0x1C -#define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this -#define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms -#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation. -#define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. -#define MPUREG_FIFO_EN 0x23 -#define MPUREG_INT_PIN_CFG 0x37 -# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs -#define MPUREG_INT_ENABLE 0x38 +# define BITS_GYRO_FS_250DPS 0x00 +# define BITS_GYRO_FS_500DPS 0x08 +# define BITS_GYRO_FS_1000DPS 0x10 +# define BITS_GYRO_FS_2000DPS 0x18 +# define BITS_GYRO_FS_MASK 0x18 // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits +# define BITS_GYRO_ZGYRO_SELFTEST 0x20 +# define BITS_GYRO_YGYRO_SELFTEST 0x40 +# define BITS_GYRO_XGYRO_SELFTEST 0x80 +#define MPUREG_ACCEL_CONFIG 0x1C +#define MPUREG_MOT_THR 0x1F // detection threshold for Motion interrupt generation. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this +#define MPUREG_MOT_DUR 0x20 // duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1 LSB = 1 ms +#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation. +#define MPUREG_ZRMOT_DUR 0x22 // duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. +#define MPUREG_FIFO_EN 0x23 +#define MPUREG_INT_PIN_CFG 0x37 +# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs +#define MPUREG_INT_ENABLE 0x38 // bit definitions for MPUREG_INT_ENABLE -# define BIT_RAW_RDY_EN 0x01 -# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems -# define BIT_UNKNOWN_INT_EN 0x04 -# define BIT_I2C_MST_INT_EN 0x08 -# define BIT_FIFO_OFLOW_EN 0x10 -# define BIT_ZMOT_EN 0x20 -# define BIT_MOT_EN 0x40 -# define BIT_FF_EN 0x80 -#define MPUREG_INT_STATUS 0x3A +# define BIT_RAW_RDY_EN 0x01 +# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems +# define BIT_UNKNOWN_INT_EN 0x04 +# define BIT_I2C_MST_INT_EN 0x08 +# define BIT_FIFO_OFLOW_EN 0x10 +# define BIT_ZMOT_EN 0x20 +# define BIT_MOT_EN 0x40 +# define BIT_FF_EN 0x80 +#define MPUREG_INT_STATUS 0x3A // bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired) -# define BIT_RAW_RDY_INT 0x01 -# define BIT_DMP_INT 0x02 -# define BIT_UNKNOWN_INT 0x04 -# define BIT_I2C_MST_INT 0x08 -# define BIT_FIFO_OFLOW_INT 0x10 -# define BIT_ZMOT_INT 0x20 -# define BIT_MOT_INT 0x40 -# define BIT_FF_INT 0x80 -#define MPUREG_ACCEL_XOUT_H 0x3B -#define MPUREG_ACCEL_XOUT_L 0x3C -#define MPUREG_ACCEL_YOUT_H 0x3D -#define MPUREG_ACCEL_YOUT_L 0x3E -#define MPUREG_ACCEL_ZOUT_H 0x3F -#define MPUREG_ACCEL_ZOUT_L 0x40 -#define MPUREG_TEMP_OUT_H 0x41 -#define MPUREG_TEMP_OUT_L 0x42 -#define MPUREG_GYRO_XOUT_H 0x43 -#define MPUREG_GYRO_XOUT_L 0x44 -#define MPUREG_GYRO_YOUT_H 0x45 -#define MPUREG_GYRO_YOUT_L 0x46 -#define MPUREG_GYRO_ZOUT_H 0x47 -#define MPUREG_GYRO_ZOUT_L 0x48 -#define MPUREG_USER_CTRL 0x6A +# define BIT_RAW_RDY_INT 0x01 +# define BIT_DMP_INT 0x02 +# define BIT_UNKNOWN_INT 0x04 +# define BIT_I2C_MST_INT 0x08 +# define BIT_FIFO_OFLOW_INT 0x10 +# define BIT_ZMOT_INT 0x20 +# define BIT_MOT_INT 0x40 +# define BIT_FF_INT 0x80 +#define MPUREG_ACCEL_XOUT_H 0x3B +#define MPUREG_ACCEL_XOUT_L 0x3C +#define MPUREG_ACCEL_YOUT_H 0x3D +#define MPUREG_ACCEL_YOUT_L 0x3E +#define MPUREG_ACCEL_ZOUT_H 0x3F +#define MPUREG_ACCEL_ZOUT_L 0x40 +#define MPUREG_TEMP_OUT_H 0x41 +#define MPUREG_TEMP_OUT_L 0x42 +#define MPUREG_GYRO_XOUT_H 0x43 +#define MPUREG_GYRO_XOUT_L 0x44 +#define MPUREG_GYRO_YOUT_H 0x45 +#define MPUREG_GYRO_YOUT_L 0x46 +#define MPUREG_GYRO_ZOUT_H 0x47 +#define MPUREG_GYRO_ZOUT_L 0x48 +#define MPUREG_USER_CTRL 0x6A // bit definitions for MPUREG_USER_CTRL -# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp) -# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set) -# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer -# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP -# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable SPI interface -# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors -# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations -# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations -#define MPUREG_PWR_MGMT_1 0x6B -# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator -# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference -# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference -# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference -# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference -# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference -# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset -# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor -# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL -# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode -# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device -#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode -#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers) -#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory) -#define MPUREG_MEM_R_W 0x6F // DMP related register -#define MPUREG_DMP_CFG_1 0x70 // DMP related register -#define MPUREG_DMP_CFG_2 0x71 // DMP related register -#define MPUREG_FIFO_COUNTH 0x72 -#define MPUREG_FIFO_COUNTL 0x73 -#define MPUREG_FIFO_R_W 0x74 -#define MPUREG_WHOAMI 0x75 +# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp) +# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set) +# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer +# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP +# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable SPI interface +# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors +# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations +# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations +#define MPUREG_PWR_MGMT_1 0x6B +# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator +# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference +# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference +# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference +# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference +# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference +# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset +# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor +# define BIT_PWR_MGMT_1_CYCLE 0x20 // put sensor into cycle mode. cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL +# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode +# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device +#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode +#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers) +#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory) +#define MPUREG_MEM_R_W 0x6F // DMP related register +#define MPUREG_DMP_CFG_1 0x70 // DMP related register +#define MPUREG_DMP_CFG_2 0x71 // DMP related register +#define MPUREG_FIFO_COUNTH 0x72 +#define MPUREG_FIFO_COUNTL 0x73 +#define MPUREG_FIFO_R_W 0x74 +#define MPUREG_WHOAMI 0x75 // Configuration bits MPU 3000 and MPU 6000 (not revised)? -#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 -#define BITS_DLPF_CFG_188HZ 0x01 -#define BITS_DLPF_CFG_98HZ 0x02 -#define BITS_DLPF_CFG_42HZ 0x03 -#define BITS_DLPF_CFG_20HZ 0x04 -#define BITS_DLPF_CFG_10HZ 0x05 -#define BITS_DLPF_CFG_5HZ 0x06 -#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 -#define BITS_DLPF_CFG_MASK 0x07 +#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 +#define BITS_DLPF_CFG_188HZ 0x01 +#define BITS_DLPF_CFG_98HZ 0x02 +#define BITS_DLPF_CFG_42HZ 0x03 +#define BITS_DLPF_CFG_20HZ 0x04 +#define BITS_DLPF_CFG_10HZ 0x05 +#define BITS_DLPF_CFG_5HZ 0x06 +#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 +#define BITS_DLPF_CFG_MASK 0x07 - // Product ID Description for MPU6000 - // high 4 bits low 4 bits - // Product Name Product Revision -#define MPU6000ES_REV_C4 0x14 // 0001 0100 -#define MPU6000ES_REV_C5 0x15 // 0001 0101 -#define MPU6000ES_REV_D6 0x16 // 0001 0110 -#define MPU6000ES_REV_D7 0x17 // 0001 0111 -#define MPU6000ES_REV_D8 0x18 // 0001 1000 -#define MPU6000_REV_C4 0x54 // 0101 0100 -#define MPU6000_REV_C5 0x55 // 0101 0101 -#define MPU6000_REV_D6 0x56 // 0101 0110 -#define MPU6000_REV_D7 0x57 // 0101 0111 -#define MPU6000_REV_D8 0x58 // 0101 1000 -#define MPU6000_REV_D9 0x59 // 0101 1001 +// Product ID Description for MPU6000 +// high 4 bits low 4 bits +// Product Name Product Revision +#define MPU6000ES_REV_C4 0x14 // 0001 0100 +#define MPU6000ES_REV_C5 0x15 // 0001 0101 +#define MPU6000ES_REV_D6 0x16 // 0001 0110 +#define MPU6000ES_REV_D7 0x17 // 0001 0111 +#define MPU6000ES_REV_D8 0x18 // 0001 1000 +#define MPU6000_REV_C4 0x54 // 0101 0100 +#define MPU6000_REV_C5 0x55 // 0101 0101 +#define MPU6000_REV_D6 0x56 // 0101 0110 +#define MPU6000_REV_D7 0x57 // 0101 0111 +#define MPU6000_REV_D8 0x58 // 0101 1000 +#define MPU6000_REV_D9 0x59 // 0101 1001 // DMP output rate constants -#define MPU6000_200HZ 0x00 // default value -#define MPU6000_100HZ 0x01 -#define MPU6000_66HZ 0x02 -#define MPU6000_50HZ 0x03 +#define MPU6000_200HZ 0x00 // default value +#define MPU6000_100HZ 0x01 +#define MPU6000_66HZ 0x02 +#define MPU6000_50HZ 0x03 // DMP FIFO constants #define FIFO_PACKET_SIZE 18 // Default quaternion FIFO size (4*4) + Footer(2) #define GYRO_BIAS_FROM_GRAVITY_RATE 4 // Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz -#define DEFAULT_ACCEL_FUSION_GAIN 0x80 // Default gain for accel fusion (with gyros) +#define DEFAULT_ACCEL_FUSION_GAIN 0x80 // Default gain for accel fusion (with gyros) uint8_t AP_InertialSensor_MPU6000::_cs_pin; -/* - RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of - gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3) +/* + * RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of + * gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3) */ const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4); -/* - RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of - accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2) - - See note below about accel scaling of engineering sample MPU6k - variants however +/* + * RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of + * accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2) + * + * See note below about accel scaling of engineering sample MPU6k + * variants however */ const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0; @@ -183,10 +183,10 @@ const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0; * but somone else should please confirm. */ const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3] = { 5, 4, 6 }; -const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 }; +const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 }; const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 }; -const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 }; +const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 }; const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3; @@ -197,22 +197,22 @@ static uint8_t _product_id; // DMP related static variables bool AP_InertialSensor_MPU6000::_dmp_initialised = false; uint8_t AP_InertialSensor_MPU6000::_received_packet[DMP_FIFO_BUFFER_SIZE]; // FIFO packet buffer -uint8_t AP_InertialSensor_MPU6000::_fifoCountH; // high byte of number of elements in fifo buffer -uint8_t AP_InertialSensor_MPU6000::_fifoCountL; // low byte of number of elements in fifo buffer -Quaternion AP_InertialSensor_MPU6000::quaternion; // holds the 4 quaternions representing attitude taken directly from the DMP +uint8_t AP_InertialSensor_MPU6000::_fifoCountH; // high byte of number of elements in fifo buffer +uint8_t AP_InertialSensor_MPU6000::_fifoCountL; // low byte of number of elements in fifo buffer +Quaternion AP_InertialSensor_MPU6000::quaternion; // holds the 4 quaternions representing attitude taken directly from the DMP AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( uint8_t cs_pin ) { - _cs_pin = cs_pin; /* can't use initializer list, is static */ - _gyro.x = 0; - _gyro.y = 0; - _gyro.z = 0; - _accel.x = 0; - _accel.y = 0; - _accel.z = 0; - _temp = 0; - _initialised = false; - _dmp_initialised = false; + _cs_pin = cs_pin; /* can't use initializer list, is static */ + _gyro.x = 0; + _gyro.y = 0; + _gyro.z = 0; + _accel.x = 0; + _accel.y = 0; + _accel.z = 0; + _temp = 0; + _initialised = false; + _dmp_initialised = false; } uint16_t AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler ) @@ -223,7 +223,7 @@ uint16_t AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler ) hardware_init(); scheduler->resume_timer(); scheduler->register_process( &AP_InertialSensor_MPU6000::read ); - return _product_id; + return _product_id; } // accumulation in ISR - must be read with interrupts disabled @@ -238,36 +238,36 @@ static volatile uint16_t _count; bool AP_InertialSensor_MPU6000::update( void ) { - int32_t sum[7]; - uint16_t count; - float count_scale; + int32_t sum[7]; + uint16_t count; + float count_scale; - // wait for at least 1 sample - while (_count == 0) /* nop */; + // wait for at least 1 sample + while (_count == 0) /* nop */; - // disable interrupts for mininum time - cli(); - for (int i=0; i<7; i++) { - sum[i] = _sum[i]; - _sum[i] = 0; - } - count = _count; - _count = 0; - sei(); + // disable interrupts for mininum time + cli(); + for (int i=0; i<7; i++) { + sum[i] = _sum[i]; + _sum[i] = 0; + } + count = _count; + _count = 0; + sei(); - count_scale = 1.0 / count; + count_scale = 1.0 / count; - _gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale; - _gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale; - _gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale; + _gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale; + _gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale; + _gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale; - _accel.x = _accel_scale * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale; - _accel.y = _accel_scale * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale; - _accel.z = _accel_scale * _accel_data_sign[2] * sum[_accel_data_index[2]] * count_scale; + _accel.x = _accel_scale * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale; + _accel.y = _accel_scale * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale; + _accel.z = _accel_scale * _accel_data_sign[2] * sum[_accel_data_index[2]] * count_scale; - _temp = _temp_to_celsius(sum[_temp_data_index] * count_scale); + _temp = _temp_to_celsius(sum[_temp_data_index] * count_scale); - return true; + return true; } bool AP_InertialSensor_MPU6000::new_data_available( void ) @@ -275,46 +275,60 @@ bool AP_InertialSensor_MPU6000::new_data_available( void ) return _count != 0; } -float AP_InertialSensor_MPU6000::gx() { return _gyro.x; } -float AP_InertialSensor_MPU6000::gy() { return _gyro.y; } -float AP_InertialSensor_MPU6000::gz() { return _gyro.z; } +float AP_InertialSensor_MPU6000::gx() { + return _gyro.x; +} +float AP_InertialSensor_MPU6000::gy() { + return _gyro.y; +} +float AP_InertialSensor_MPU6000::gz() { + return _gyro.z; +} void AP_InertialSensor_MPU6000::get_gyros( float * g ) { - g[0] = _gyro.x; - g[1] = _gyro.y; - g[2] = _gyro.z; + g[0] = _gyro.x; + g[1] = _gyro.y; + g[2] = _gyro.z; } -float AP_InertialSensor_MPU6000::ax() { return _accel.x; } -float AP_InertialSensor_MPU6000::ay() { return _accel.y; } -float AP_InertialSensor_MPU6000::az() { return _accel.z; } +float AP_InertialSensor_MPU6000::ax() { + return _accel.x; +} +float AP_InertialSensor_MPU6000::ay() { + return _accel.y; +} +float AP_InertialSensor_MPU6000::az() { + return _accel.z; +} void AP_InertialSensor_MPU6000::get_accels( float * a ) { - a[0] = _accel.x; - a[1] = _accel.y; - a[2] = _accel.z; + a[0] = _accel.x; + a[1] = _accel.y; + a[2] = _accel.z; } void AP_InertialSensor_MPU6000::get_sensors( float * sensors ) { - sensors[0] = _gyro.x; - sensors[1] = _gyro.y; - sensors[2] = _gyro.z; - sensors[3] = _accel.x; - sensors[4] = _accel.y; - sensors[5] = _accel.z; + sensors[0] = _gyro.x; + sensors[1] = _gyro.y; + sensors[2] = _gyro.z; + sensors[3] = _accel.x; + sensors[4] = _accel.y; + sensors[5] = _accel.z; } -float AP_InertialSensor_MPU6000::temperature() { return _temp; } +float AP_InertialSensor_MPU6000::temperature() { + return _temp; +} uint32_t AP_InertialSensor_MPU6000::sample_time() { - uint32_t us = micros(); - uint32_t delta = us - _last_sample_micros; - reset_sample_time(); - return delta; + uint32_t us = micros(); + uint32_t delta = us - _last_sample_micros; + reset_sample_time(); + return delta; } void AP_InertialSensor_MPU6000::reset_sample_time() @@ -326,15 +340,15 @@ void AP_InertialSensor_MPU6000::reset_sample_time() static int16_t spi_transfer_16(void) { - uint8_t byte_H, byte_L; - byte_H = SPI.transfer(0); - byte_L = SPI.transfer(0); - return (((int16_t)byte_H)<<8) | byte_L; + uint8_t byte_H, byte_L; + byte_H = SPI.transfer(0); + byte_L = SPI.transfer(0); + return (((int16_t)byte_H)<<8) | byte_L; } /* - this is called from a timer interrupt to read data from the MPU6000 - and add it to _sum[] + * this is called from a timer interrupt to read data from the MPU6000 + * and add it to _sum[] */ void AP_InertialSensor_MPU6000::read(uint32_t ) { @@ -360,35 +374,35 @@ void AP_InertialSensor_MPU6000::read(uint32_t ) digitalWrite(_cs_pin, HIGH); - // should also read FIFO data if enabled - if( _dmp_initialised ) { - if( FIFO_ready() ) { - FIFO_getPacket(); - } - } + // should also read FIFO data if enabled + if( _dmp_initialised ) { + if( FIFO_ready() ) { + FIFO_getPacket(); + } + } } uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg ) { - uint8_t return_value; - uint8_t addr = reg | 0x80; // Set most significant bit + uint8_t return_value; + uint8_t addr = reg | 0x80; // Set most significant bit - digitalWrite(_cs_pin, LOW); + digitalWrite(_cs_pin, LOW); - SPI.transfer(addr); - return_value = SPI.transfer(0); + SPI.transfer(addr); + return_value = SPI.transfer(0); - digitalWrite(_cs_pin, HIGH); + digitalWrite(_cs_pin, HIGH); - return return_value; + return return_value; } void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val) { - digitalWrite(_cs_pin, LOW); - SPI.transfer(reg); - SPI.transfer(val); - digitalWrite(_cs_pin, HIGH); + digitalWrite(_cs_pin, LOW); + SPI.transfer(reg); + SPI.transfer(val); + digitalWrite(_cs_pin, HIGH); } // MPU6000 new data interrupt on INT6 @@ -412,8 +426,8 @@ void AP_InertialSensor_MPU6000::hardware_init() register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_ZGYRO); delay(1); - register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode - delay(1); + register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode + delay(1); // Disable I2C bus (recommended on datasheet) register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS); @@ -426,30 +440,30 @@ void AP_InertialSensor_MPU6000::hardware_init() delay(1); register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000ยบ/s delay(1); - - _product_id = register_read(MPUREG_PRODUCT_ID); // read the product ID rev c has 1/2 the sensitivity of rev d - //Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id); - - if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) || - (_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)){ - // Accel scale 8g (4096 LSB/g) - // Rev C has different scaling than rev D - register_write(MPUREG_ACCEL_CONFIG,1<<3); - } else { - // Accel scale 8g (4096 LSB/g) - register_write(MPUREG_ACCEL_CONFIG,2<<3); - } + + _product_id = register_read(MPUREG_PRODUCT_ID); // read the product ID rev c has 1/2 the sensitivity of rev d + //Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id); + + if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) || + (_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)) { + // Accel scale 8g (4096 LSB/g) + // Rev C has different scaling than rev D + register_write(MPUREG_ACCEL_CONFIG,1<<3); + } else { + // Accel scale 8g (4096 LSB/g) + register_write(MPUREG_ACCEL_CONFIG,2<<3); + } delay(1); - register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // configure interrupt to fire when new data arrives + register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // configure interrupt to fire when new data arrives delay(1); - register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR); // clear interrupt on any read + register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR); // clear interrupt on any read delay(1); attachInterrupt(6,data_interrupt,RISING); - // initialise DMP. Should we only do this when we know we want to use the DMP for attitude sensing as well? - dmp_init(); + // initialise DMP. Should we only do this when we know we want to use the DMP for attitude sensing as well? + dmp_init(); } float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval ) @@ -469,51 +483,51 @@ float AP_InertialSensor_MPU6000::get_gyro_drift_rate(void) // Update gyro offsets with new values. Offsets provided in as scaled deg/sec values void AP_InertialSensor_MPU6000::set_gyro_offsets_scaled(float offX, float offY, float offZ) { - int16_t offsetX = offX / _gyro_scale * _gyro_data_sign[0]; - int16_t offsetY = offY / _gyro_scale * _gyro_data_sign[1]; - int16_t offsetZ = offZ / _gyro_scale * _gyro_data_sign[2]; + int16_t offsetX = offX / _gyro_scale * _gyro_data_sign[0]; + int16_t offsetY = offY / _gyro_scale * _gyro_data_sign[1]; + int16_t offsetZ = offZ / _gyro_scale * _gyro_data_sign[2]; - set_gyro_offsets(offsetX, offsetY, offsetZ); + set_gyro_offsets(offsetX, offsetY, offsetZ); } // Update gyro offsets with new values. New offset values are substracted to actual offset values. // offset values in gyro LSB units (as read from registers) void AP_InertialSensor_MPU6000::set_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ) { - int16_t aux_int; + int16_t aux_int; - if (offsetX != 0){ - // Read actual value - aux_int = (register_read(MPUREG_XG_OFFS_USRH)<<8) | register_read(MPUREG_XG_OFFS_USRL); - aux_int -= offsetX<<1; // Adjust to internal units - // Write to MPU registers - register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF); - register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF); - } - if (offsetY != 0){ - aux_int = (register_read(MPUREG_YG_OFFS_USRH)<<8) | register_read(MPUREG_YG_OFFS_USRL); - aux_int -= offsetY<<1; // Adjust to internal units - // Write to MPU registers - register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF); - register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF); - } - if (offsetZ != 0){ - aux_int = (register_read(MPUREG_ZG_OFFS_USRH)<<8) | register_read(MPUREG_ZG_OFFS_USRL); - aux_int -= offsetZ<<1; // Adjust to internal units - // Write to MPU registers - register_write(MPUREG_ZG_OFFS_USRH, (aux_int>>8)&0xFF); - register_write(MPUREG_ZG_OFFS_USRL, aux_int&0xFF); - } + if (offsetX != 0) { + // Read actual value + aux_int = (register_read(MPUREG_XG_OFFS_USRH)<<8) | register_read(MPUREG_XG_OFFS_USRL); + aux_int -= offsetX<<1; // Adjust to internal units + // Write to MPU registers + register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF); + register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF); + } + if (offsetY != 0) { + aux_int = (register_read(MPUREG_YG_OFFS_USRH)<<8) | register_read(MPUREG_YG_OFFS_USRL); + aux_int -= offsetY<<1; // Adjust to internal units + // Write to MPU registers + register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF); + register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF); + } + if (offsetZ != 0) { + aux_int = (register_read(MPUREG_ZG_OFFS_USRH)<<8) | register_read(MPUREG_ZG_OFFS_USRL); + aux_int -= offsetZ<<1; // Adjust to internal units + // Write to MPU registers + register_write(MPUREG_ZG_OFFS_USRH, (aux_int>>8)&0xFF); + register_write(MPUREG_ZG_OFFS_USRL, aux_int&0xFF); + } } // Update accel offsets with new values. Offsets provided in as scaled values (Gs?) void AP_InertialSensor_MPU6000::set_accel_offsets_scaled(float offX, float offY, float offZ) { - int16_t offsetX = offX / _accel_scale * _accel_data_sign[0]; - int16_t offsetY = offY / _accel_scale * _accel_data_sign[1]; - int16_t offsetZ = offZ / _accel_scale * _accel_data_sign[2]; + int16_t offsetX = offX / _accel_scale * _accel_data_sign[0]; + int16_t offsetY = offY / _accel_scale * _accel_data_sign[1]; + int16_t offsetZ = offZ / _accel_scale * _accel_data_sign[2]; - set_accel_offsets(offsetX, offsetY, offsetZ); + set_accel_offsets(offsetX, offsetY, offsetZ); } // set_accel_offsets - adds an offset to acceleromter readings @@ -522,315 +536,315 @@ void AP_InertialSensor_MPU6000::set_accel_offsets_scaled(float offX, float offY, // Input, accel offsets for X,Y and Z in LSB units (as read from raw values) void AP_InertialSensor_MPU6000::set_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ) { - int aux_int; - uint8_t regs[2]; + int aux_int; + uint8_t regs[2]; - // Write accel offsets to DMP memory... - // TO-DO: why don't we write to main accel offset registries? i.e. MPUREG_XA_OFFS_H - aux_int = offsetX>>1; // Transform to internal units - regs[0]=(aux_int>>8)&0xFF; - regs[1]=aux_int&0xFF; - dmp_register_write(0x01,0x08,2,regs); // key KEY_D_1_8 Accel X offset + // Write accel offsets to DMP memory... + // TO-DO: why don't we write to main accel offset registries? i.e. MPUREG_XA_OFFS_H + aux_int = offsetX>>1; // Transform to internal units + regs[0]=(aux_int>>8)&0xFF; + regs[1]=aux_int&0xFF; + dmp_register_write(0x01,0x08,2,regs); // key KEY_D_1_8 Accel X offset - aux_int = offsetY>>1; - regs[0]=(aux_int>>8)&0xFF; - regs[1]=aux_int&0xFF; - dmp_register_write(0x01,0x0A,2,regs); // key KEY_D_1_10 Accel Y offset + aux_int = offsetY>>1; + regs[0]=(aux_int>>8)&0xFF; + regs[1]=aux_int&0xFF; + dmp_register_write(0x01,0x0A,2,regs); // key KEY_D_1_10 Accel Y offset - aux_int = offsetZ>>1; - regs[0]=(aux_int>>8)&0xFF; - regs[1]=aux_int&0xFF; - dmp_register_write(0x01,0x02,2,regs); // key KEY_D_1_2 Accel Z offset + aux_int = offsetZ>>1; + regs[0]=(aux_int>>8)&0xFF; + regs[1]=aux_int&0xFF; + dmp_register_write(0x01,0x02,2,regs); // key KEY_D_1_2 Accel Z offset } // dmp_register_write - method to write to dmp's registers // the dmp is logically separated from the main mpu6000. To write a block of memory to the DMP's memory you -// write the "bank" and starting address into two of the main MPU's registers, then write the data one byte +// write the "bank" and starting address into two of the main MPU's registers, then write the data one byte // at a time into the MPUREG_MEM_R_W register void AP_InertialSensor_MPU6000::dmp_register_write(uint8_t bank, uint8_t address, uint8_t num_bytes, uint8_t data[]) { - register_write(MPUREG_BANK_SEL,bank); - register_write(MPUREG_MEM_START_ADDR,address); - digitalWrite(_cs_pin, LOW); - SPI.transfer(MPUREG_MEM_R_W); - for (uint8_t i=0; i 32767){ - q_long[i] -= 65536; - } - } - quaternion.q1 = ((float)q_long[0]) / 16384.0f; // convert from fixed point to float - quaternion.q2 = ((float)q_long[2]) / 16384.0f; // convert from fixed point to float - quaternion.q3 = ((float)q_long[1]) / 16384.0f; // convert from fixed point to float - quaternion.q4 = ((float)-q_long[3]) / 16384.0f; // convert from fixed point to float + // we are using 16 bits resolution + q_long[0] = (int16_t) ((((uint16_t) _received_packet[0]) << 8) + ((uint16_t) _received_packet[1])); + q_long[1] = (int16_t) ((((uint16_t) _received_packet[4]) << 8) + ((uint16_t) _received_packet[5])); + q_long[2] = (int16_t) ((((uint16_t) _received_packet[8]) << 8) + ((uint16_t) _received_packet[9])); + q_long[3] = (int16_t) ((((uint16_t) _received_packet[12]) << 8) + ((uint16_t) _received_packet[13])); + // Take care of sign + for (i = 0; i < 4; i++ ) { + if(q_long[i] > 32767) { + q_long[i] -= 65536; + } + } + quaternion.q1 = ((float)q_long[0]) / 16384.0f; // convert from fixed point to float + quaternion.q2 = ((float)q_long[2]) / 16384.0f; // convert from fixed point to float + quaternion.q3 = ((float)q_long[1]) / 16384.0f; // convert from fixed point to float + quaternion.q4 = ((float)-q_long[3]) / 16384.0f; // convert from fixed point to float } // dmp_set_gyro_calibration - apply default gyro calibration FS=2000dps and default orientation void AP_InertialSensor_MPU6000::dmp_set_gyro_calibration() { - uint8_t regs[4]; - regs[0]=0x4C; - regs[1]=0xCD; - regs[2]=0x6C; - dmp_register_write(0x03, 0x7B, 0x03, regs); //FCFG_1 inv_set_gyro_calibration - regs[0]=0x36; - regs[1]=0x56; - regs[2]=0x76; - dmp_register_write(0x03, 0xAB, 0x03, regs); //FCFG_3 inv_set_gyro_calibration - regs[0]=0x02; - regs[1]=0xCB; - regs[2]=0x47; - regs[3]=0xA2; - dmp_register_write(0x00, 0x68, 0x04, regs); //D_0_104 inv_set_gyro_calibration - regs[0]=0x00; - regs[1]=0x05; - regs[2]=0x8B; - regs[3]=0xC1; - dmp_register_write(0x02, 0x18, 0x04, regs); //D_0_24 inv_set_gyro_calibration + uint8_t regs[4]; + regs[0]=0x4C; + regs[1]=0xCD; + regs[2]=0x6C; + dmp_register_write(0x03, 0x7B, 0x03, regs); //FCFG_1 inv_set_gyro_calibration + regs[0]=0x36; + regs[1]=0x56; + regs[2]=0x76; + dmp_register_write(0x03, 0xAB, 0x03, regs); //FCFG_3 inv_set_gyro_calibration + regs[0]=0x02; + regs[1]=0xCB; + regs[2]=0x47; + regs[3]=0xA2; + dmp_register_write(0x00, 0x68, 0x04, regs); //D_0_104 inv_set_gyro_calibration + regs[0]=0x00; + regs[1]=0x05; + regs[2]=0x8B; + regs[3]=0xC1; + dmp_register_write(0x02, 0x18, 0x04, regs); //D_0_24 inv_set_gyro_calibration } // dmp_set_accel_calibration - apply default accel calibration scale=8g and default orientation void AP_InertialSensor_MPU6000::dmp_set_accel_calibration() { - uint8_t regs[6]; - regs[0]=0x00; - regs[1]=0x00; - regs[2]=0x00; - regs[3]=0x00; - dmp_register_write(0x01, 0x0C, 0x04, regs); //D_1_152 inv_set_accel_calibration - regs[0]=0x0C; - regs[1]=0xC9; - regs[2]=0x2C; - regs[3]=0x97; - regs[4]=0x97; - regs[5]=0x97; - dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_accel_calibration - regs[0]=0x26; - regs[1]=0x46; - regs[2]=0x66; - dmp_register_write(0x03, 0x89, 0x03, regs); //FCFG_7 inv_set_accel_calibration - // accel range, 0x20,0x00 => 2g, 0x10,0x00=>4g regs= (1073741824/accel_scale*65536) - //regs[0]=0x20; // 2g - regs[0]=0x08; // 8g - regs[1]=0x00; - dmp_register_write(0x00, 0x6C, 0x02, regs); //D_0_108 inv_set_accel_calibration + uint8_t regs[6]; + regs[0]=0x00; + regs[1]=0x00; + regs[2]=0x00; + regs[3]=0x00; + dmp_register_write(0x01, 0x0C, 0x04, regs); //D_1_152 inv_set_accel_calibration + regs[0]=0x0C; + regs[1]=0xC9; + regs[2]=0x2C; + regs[3]=0x97; + regs[4]=0x97; + regs[5]=0x97; + dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_accel_calibration + regs[0]=0x26; + regs[1]=0x46; + regs[2]=0x66; + dmp_register_write(0x03, 0x89, 0x03, regs); //FCFG_7 inv_set_accel_calibration + // accel range, 0x20,0x00 => 2g, 0x10,0x00=>4g regs= (1073741824/accel_scale*65536) + //regs[0]=0x20; // 2g + regs[0]=0x08; // 8g + regs[1]=0x00; + dmp_register_write(0x00, 0x6C, 0x02, regs); //D_0_108 inv_set_accel_calibration } // dmp_apply_endian_accel - set byte order of accelerometer values? void AP_InertialSensor_MPU6000::dmp_apply_endian_accel() { - uint8_t regs[4]; - regs[0]=0x00; - regs[1]=0x00; - regs[2]=0x40; - regs[3]=0x00; - dmp_register_write(0x01, 0xEC, 0x04, regs); //D_1_236 inv_apply_endian_accel + uint8_t regs[4]; + regs[0]=0x00; + regs[1]=0x00; + regs[2]=0x40; + regs[3]=0x00; + dmp_register_write(0x01, 0xEC, 0x04, regs); //D_1_236 inv_apply_endian_accel } // dmp_set_mpu_sensors - to configure for SIX_AXIS output void AP_InertialSensor_MPU6000::dmp_set_mpu_sensors() { - uint8_t regs[6]; - regs[0]=0x0C; - regs[1]=0xC9; - regs[2]=0x2C; - regs[3]=0x97; - regs[4]=0x97; - regs[5]=0x97; - dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_mpu_sensors(INV_SIX_AXIS_GYRO_ACCEL); + uint8_t regs[6]; + regs[0]=0x0C; + regs[1]=0xC9; + regs[2]=0x2C; + regs[3]=0x97; + regs[4]=0x97; + regs[5]=0x97; + dmp_register_write(0x03, 0x7F, 0x06, regs); //FCFG_2 inv_set_mpu_sensors(INV_SIX_AXIS_GYRO_ACCEL); } // dmp_set_bias_from_no_motion - turn on bias from no motion void AP_InertialSensor_MPU6000::dmp_set_bias_from_no_motion() { - uint8_t regs[4]; - regs[0]=0x0D; - regs[1]=0x35; - regs[2]=0x5D; - dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion - regs[0]=0x87; - regs[1]=0x2D; - regs[2]=0x35; - regs[3]=0x3D; - dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION ); + uint8_t regs[4]; + regs[0]=0x0D; + regs[1]=0x35; + regs[2]=0x5D; + dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion + regs[0]=0x87; + regs[1]=0x2D; + regs[2]=0x35; + regs[3]=0x3D; + dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION ); } // dmp_set_bias_none - turn off internal bias correction (we will use this and we handle the gyro bias correction externally) void AP_InertialSensor_MPU6000::dmp_set_bias_none() { - uint8_t regs[4]; - regs[0]=0x98; - regs[1]=0x98; - regs[2]=0x98; - dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_off_bias_from_no_motion - regs[0]=0x87; - regs[1]=0x2D; - regs[2]=0x35; - regs[3]=0x3D; - dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION ); + uint8_t regs[4]; + regs[0]=0x98; + regs[1]=0x98; + regs[2]=0x98; + dmp_register_write(0x04, 0x02, 0x03, regs); //CFG_MOTION_BIAS inv_turn_off_bias_from_no_motion + regs[0]=0x87; + regs[1]=0x2D; + regs[2]=0x35; + regs[3]=0x3D; + dmp_register_write(0x04, 0x09, 0x04, regs); //FCFG_5 inv_set_bias_update( INV_BIAS_FROM_NO_MOTION ); } // dmp_set_fifo_interrupt void AP_InertialSensor_MPU6000::dmp_set_fifo_interrupt() { - uint8_t regs[1]; - regs[0]=0xFE; - dmp_register_write(0x07, 0x86, 0x01, regs); //CFG_6 inv_set_fifo_interupt + uint8_t regs[1]; + regs[0]=0xFE; + dmp_register_write(0x07, 0x86, 0x01, regs); //CFG_6 inv_set_fifo_interupt } // dmp_send_quaternion - send quaternion data to FIFO void AP_InertialSensor_MPU6000::dmp_send_quaternion() { - uint8_t regs[5]; - regs[0]=0xF1; - regs[1]=0x20; - regs[2]=0x28; - regs[3]=0x30; - regs[4]=0x38; - dmp_register_write(0x07, 0x41, 0x05, regs); //CFG_8 inv_send_quaternion - regs[0]=0x30; - dmp_register_write(0x07, 0x7E, 0x01, regs); //CFG_16 inv_set_footer + uint8_t regs[5]; + regs[0]=0xF1; + regs[1]=0x20; + regs[2]=0x28; + regs[3]=0x30; + regs[4]=0x38; + dmp_register_write(0x07, 0x41, 0x05, regs); //CFG_8 inv_send_quaternion + regs[0]=0x30; + dmp_register_write(0x07, 0x7E, 0x01, regs); //CFG_16 inv_set_footer } // dmp_send_gyro - send gyro data to FIFO void AP_InertialSensor_MPU6000::dmp_send_gyro() { - uint8_t regs[4]; - regs[0]=0xF1; - regs[1]=0x28; - regs[2]=0x30; - regs[3]=0x38; - dmp_register_write(0x07, 0x47, 0x04, regs); //CFG_9 inv_send_gyro + uint8_t regs[4]; + regs[0]=0xF1; + regs[1]=0x28; + regs[2]=0x30; + regs[3]=0x38; + dmp_register_write(0x07, 0x47, 0x04, regs); //CFG_9 inv_send_gyro } // dmp_send_accel - send accel data to FIFO void AP_InertialSensor_MPU6000::dmp_send_accel() { - uint8_t regs[54]; - regs[0]=0xF1; - regs[1]=0x28; - regs[2]=0x30; - regs[3]=0x38; - dmp_register_write(0x07, 0x6C, 0x04, regs); //CFG_12 inv_send_accel + uint8_t regs[54]; + regs[0]=0xF1; + regs[1]=0x28; + regs[2]=0x30; + regs[3]=0x38; + dmp_register_write(0x07, 0x6C, 0x04, regs); //CFG_12 inv_send_accel } // This functions defines the rate at wich attitude data is send to FIFO @@ -838,10 +852,10 @@ void AP_InertialSensor_MPU6000::dmp_send_accel() // rate constant definitions in MPU6000.h void AP_InertialSensor_MPU6000::dmp_set_fifo_rate(uint8_t rate) { - uint8_t regs[2]; - regs[0]=0x00; - regs[1]=rate; - dmp_register_write(0x02, 0x16, 0x02, regs); //D_0_22 inv_set_fifo_rate + uint8_t regs[2]; + regs[0]=0x00; + regs[1]=rate; + dmp_register_write(0x02, 0x16, 0x02, regs); //D_0_22 inv_set_fifo_rate } // This function defines the weight of the accel on the sensor fusion @@ -849,439 +863,560 @@ void AP_InertialSensor_MPU6000::dmp_set_fifo_rate(uint8_t rate) // The official invensense name is inv_key_0_96 (??) void AP_InertialSensor_MPU6000::dmp_set_sensor_fusion_accel_gain(uint8_t gain) { - //inv_key_0_96 - register_write(MPUREG_BANK_SEL,0x00); - register_write(MPUREG_MEM_START_ADDR, 0x60); - digitalWrite(_cs_pin, LOW); - SPI.transfer(MPUREG_MEM_R_W); - SPI.transfer(0x00); - SPI.transfer(gain); // Original : 0x80 To test: 0x40, 0x20 (too less) - SPI.transfer(0x00); - SPI.transfer(0x00); - digitalWrite(_cs_pin, HIGH); + //inv_key_0_96 + register_write(MPUREG_BANK_SEL,0x00); + register_write(MPUREG_MEM_START_ADDR, 0x60); + digitalWrite(_cs_pin, LOW); + SPI.transfer(MPUREG_MEM_R_W); + SPI.transfer(0x00); + SPI.transfer(gain); // Original : 0x80 To test: 0x40, 0x20 (too less) + SPI.transfer(0x00); + SPI.transfer(0x00); + digitalWrite(_cs_pin, HIGH); } // Load initial memory values into DMP memory banks void AP_InertialSensor_MPU6000::dmp_load_mem() { - for(int i = 0; i < 7; i++) { - register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL - for(uint8_t j = 0; j < 16; j++){ - uint8_t start_addy = j * 0x10; - register_write(MPUREG_MEM_START_ADDR,start_addy); - digitalWrite(_cs_pin, LOW); - SPI.transfer(MPUREG_MEM_R_W); - for(int k = 0; k < 16; k++){ - uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k])); - SPI.transfer((uint8_t) byteToSend); - } - digitalWrite(_cs_pin, HIGH); - } - } + for(int i = 0; i < 7; i++) { + register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL + for(uint8_t j = 0; j < 16; j++) { + uint8_t start_addy = j * 0x10; + register_write(MPUREG_MEM_START_ADDR,start_addy); + digitalWrite(_cs_pin, LOW); + SPI.transfer(MPUREG_MEM_R_W); + for(int k = 0; k < 16; k++) { + uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k])); + SPI.transfer((uint8_t) byteToSend); + } + digitalWrite(_cs_pin, HIGH); + } + } - register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL - for(uint8_t j = 0; j < 8; j++){ - uint8_t start_addy = j * 0x10; - register_write(MPUREG_MEM_START_ADDR,start_addy); - digitalWrite(_cs_pin, LOW); - SPI.transfer(MPUREG_MEM_R_W); - for(int k = 0; k < 16; k++){ - uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k])); - SPI.transfer((uint8_t) byteToSend); - } - digitalWrite(_cs_pin, HIGH); - } + register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL + for(uint8_t j = 0; j < 8; j++) { + uint8_t start_addy = j * 0x10; + register_write(MPUREG_MEM_START_ADDR,start_addy); + digitalWrite(_cs_pin, LOW); + SPI.transfer(MPUREG_MEM_R_W); + for(int k = 0; k < 16; k++) { + uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k])); + SPI.transfer((uint8_t) byteToSend); + } + digitalWrite(_cs_pin, HIGH); + } - register_write(MPUREG_MEM_START_ADDR,0x80); - digitalWrite(_cs_pin, LOW); - SPI.transfer(MPUREG_MEM_R_W); - for(int k = 0; k < 9; k++){ - uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k])); - SPI.transfer((uint8_t) byteToSend); - } - digitalWrite(_cs_pin, HIGH); + register_write(MPUREG_MEM_START_ADDR,0x80); + digitalWrite(_cs_pin, LOW); + SPI.transfer(MPUREG_MEM_R_W); + for(int k = 0; k < 9; k++) { + uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k])); + SPI.transfer((uint8_t) byteToSend); + } + digitalWrite(_cs_pin, HIGH); } // ========= DMP MEMORY ================================ const uint8_t dmpMem[8][16][16] PROGMEM = { - { { - 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00 } - , - { - 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01 } - , - { - 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01 } - , - { - 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00 } - , - { - 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00 } - , - { - 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82 } - , - { - 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00 } - , - { - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0 } - , - { - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC } - , - { - 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4 } - , - { - 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10 } - } - , - { - { - 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8 } - , - { - 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7 } - , - { - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C } - , - { - 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C } - , - { - 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0 } - } - , - { - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - , - { - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } - } - , - { - { - 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F } - , - { - 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2 } - , - { - 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF } - , - { - 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C } - , - { - 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1 } - , - { - 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01 } - , - { - 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80 } - , - { - 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C } - , - { - 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80 } - , - { - 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E } - , - { - 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9 } - , - { - 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24 } - , - { - 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0 } - , - { - 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86 } - , - { - 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1 } - , - { - 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86 } - } - , - { - { - 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA } - , - { - 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C } - , - { - 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8 } - , - { - 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3 } - , - { - 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84 } - , - { - 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5 } - , - { - 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3 } - , - { - 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1 } - , - { - 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5 } - , - { - 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D } - , - { - 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9 } - , - { - 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D } - , - { - 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9 } - , - { - 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A } - , - { - 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8 } - , - { - 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87 } - } - , - { - { - 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8 } - , - { - 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68 } - , - { - 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D } - , - { - 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94 } - , - { - 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA } - , - { - 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56 } - , - { - 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9 } - , - { - 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA } - , - { - 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A } - , - { - 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60 } - , - { - 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97 } - , - { - 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04 } - , - { - 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78 } - , - { - 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79 } - , - { - 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68 } - , - { - 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68 } - } - , - { - { - 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04 } - , - { - 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66 } - , - { - 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31 } - , - { - 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60 } - , - { - 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76 } - , - { - 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56 } - , - { - 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD } - , - { - 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91 } - , - { - 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8 } - , - { - 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE } - , - { - 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9 } - , - { - 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD } - , - { - 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E } - , - { - 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8 } - , - { - 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89 } - , - { - 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79 } - } - , - { - { - 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8 } - , - { - 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA } - , - { - 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB } - , - { - 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3 } - , - { - 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3 } - , - { - 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3 } - , - { - 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3 } - , - { - 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC } - , - { - 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF } - } + { + 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00 + } + , + { + 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01 + } + , + { + 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01 + } + , + { + 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00 + } + , + { + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00 + } + , + { + 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82 + } + , + { + 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00 + } + , + { + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0 + } + , + { + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC + } + , + { + 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4 + } + , + { + 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10 + } + } + , + { + { + 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8 + } + , + { + 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7 + } + , + { + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C + } + , + { + 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C + } + , + { + 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0 + } + } + , + { + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + , + { + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 + } + } + , + { + { + 0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F + } + , + { + 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2 + } + , + { + 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF + } + , + { + 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C + } + , + { + 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1 + } + , + { + 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01 + } + , + { + 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80 + } + , + { + 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C + } + , + { + 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80 + } + , + { + 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E + } + , + { + 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9 + } + , + { + 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24 + } + , + { + 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0 + } + , + { + 0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86 + } + , + { + 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1 + } + , + { + 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86 + } + } + , + { + { + 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA + } + , + { + 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C + } + , + { + 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8 + } + , + { + 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3 + } + , + { + 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84 + } + , + { + 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5 + } + , + { + 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3 + } + , + { + 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1 + } + , + { + 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5 + } + , + { + 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D + } + , + { + 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9 + } + , + { + 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D + } + , + { + 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9 + } + , + { + 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A + } + , + { + 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8 + } + , + { + 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87 + } + } + , + { + { + 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8 + } + , + { + 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68 + } + , + { + 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D + } + , + { + 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94 + } + , + { + 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA + } + , + { + 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56 + } + , + { + 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9 + } + , + { + 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA + } + , + { + 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A + } + , + { + 0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60 + } + , + { + 0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97 + } + , + { + 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04 + } + , + { + 0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78 + } + , + { + 0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79 + } + , + { + 0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68 + } + , + { + 0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68 + } + } + , + { + { + 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04 + } + , + { + 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66 + } + , + { + 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31 + } + , + { + 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60 + } + , + { + 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76 + } + , + { + 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56 + } + , + { + 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD + } + , + { + 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91 + } + , + { + 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8 + } + , + { + 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE + } + , + { + 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9 + } + , + { + 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD + } + , + { + 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E + } + , + { + 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8 + } + , + { + 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89 + } + , + { + 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79 + } + } + , + { + { + 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8 + } + , + { + 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA + } + , + { + 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB + } + , + { + 0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3 + } + , + { + 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3 + } + , + { + 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3 + } + , + { + 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3 + } + , + { + 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC + } + , + { + 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF + } + } };