uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

This commit is contained in:
uncrustify 2012-08-16 23:19:56 -07:00 committed by Pat Hickey
parent bc6d3811bc
commit 9d7ca3a876

View File

@ -135,9 +135,9 @@
#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 #define BITS_DLPF_CFG_2100HZ_NOLPF 0x07
#define BITS_DLPF_CFG_MASK 0x07 #define BITS_DLPF_CFG_MASK 0x07
// Product ID Description for MPU6000 // Product ID Description for MPU6000
// high 4 bits low 4 bits // high 4 bits low 4 bits
// Product Name Product Revision // Product Name Product Revision
#define MPU6000ES_REV_C4 0x14 // 0001 0100 #define MPU6000ES_REV_C4 0x14 // 0001 0100
#define MPU6000ES_REV_C5 0x15 // 0001 0101 #define MPU6000ES_REV_C5 0x15 // 0001 0101
#define MPU6000ES_REV_D6 0x16 // 0001 0110 #define MPU6000ES_REV_D6 0x16 // 0001 0110
@ -165,17 +165,17 @@
uint8_t AP_InertialSensor_MPU6000::_cs_pin; uint8_t AP_InertialSensor_MPU6000::_cs_pin;
/* /*
RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of * 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) * 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); 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 * 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) * accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2)
*
See note below about accel scaling of engineering sample MPU6k * See note below about accel scaling of engineering sample MPU6k
variants however * variants however
*/ */
const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0; const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0;
@ -275,9 +275,15 @@ bool AP_InertialSensor_MPU6000::new_data_available( void )
return _count != 0; return _count != 0;
} }
float AP_InertialSensor_MPU6000::gx() { return _gyro.x; } float AP_InertialSensor_MPU6000::gx() {
float AP_InertialSensor_MPU6000::gy() { return _gyro.y; } return _gyro.x;
float AP_InertialSensor_MPU6000::gz() { return _gyro.z; } }
float AP_InertialSensor_MPU6000::gy() {
return _gyro.y;
}
float AP_InertialSensor_MPU6000::gz() {
return _gyro.z;
}
void AP_InertialSensor_MPU6000::get_gyros( float * g ) void AP_InertialSensor_MPU6000::get_gyros( float * g )
{ {
@ -286,9 +292,15 @@ void AP_InertialSensor_MPU6000::get_gyros( float * g )
g[2] = _gyro.z; g[2] = _gyro.z;
} }
float AP_InertialSensor_MPU6000::ax() { return _accel.x; } float AP_InertialSensor_MPU6000::ax() {
float AP_InertialSensor_MPU6000::ay() { return _accel.y; } return _accel.x;
float AP_InertialSensor_MPU6000::az() { return _accel.z; } }
float AP_InertialSensor_MPU6000::ay() {
return _accel.y;
}
float AP_InertialSensor_MPU6000::az() {
return _accel.z;
}
void AP_InertialSensor_MPU6000::get_accels( float * a ) void AP_InertialSensor_MPU6000::get_accels( float * a )
{ {
@ -307,7 +319,9 @@ void AP_InertialSensor_MPU6000::get_sensors( float * sensors )
sensors[5] = _accel.z; 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 AP_InertialSensor_MPU6000::sample_time()
{ {
@ -333,8 +347,8 @@ static int16_t spi_transfer_16(void)
} }
/* /*
this is called from a timer interrupt to read data from the MPU6000 * this is called from a timer interrupt to read data from the MPU6000
and add it to _sum[] * and add it to _sum[]
*/ */
void AP_InertialSensor_MPU6000::read(uint32_t ) void AP_InertialSensor_MPU6000::read(uint32_t )
{ {
@ -431,7 +445,7 @@ void AP_InertialSensor_MPU6000::hardware_init()
//Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id); //Serial.printf("Product_ID= 0x%x\n", (unsigned) _product_id);
if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) || if ((_product_id == MPU6000ES_REV_C4) || (_product_id == MPU6000ES_REV_C5) ||
(_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)){ (_product_id == MPU6000_REV_C4) || (_product_id == MPU6000_REV_C5)) {
// Accel scale 8g (4096 LSB/g) // Accel scale 8g (4096 LSB/g)
// Rev C has different scaling than rev D // Rev C has different scaling than rev D
register_write(MPUREG_ACCEL_CONFIG,1<<3); register_write(MPUREG_ACCEL_CONFIG,1<<3);
@ -482,7 +496,7 @@ void AP_InertialSensor_MPU6000::set_gyro_offsets(int16_t offsetX, int16_t offset
{ {
int16_t aux_int; int16_t aux_int;
if (offsetX != 0){ if (offsetX != 0) {
// Read actual value // Read actual value
aux_int = (register_read(MPUREG_XG_OFFS_USRH)<<8) | register_read(MPUREG_XG_OFFS_USRL); aux_int = (register_read(MPUREG_XG_OFFS_USRH)<<8) | register_read(MPUREG_XG_OFFS_USRL);
aux_int -= offsetX<<1; // Adjust to internal units aux_int -= offsetX<<1; // Adjust to internal units
@ -490,14 +504,14 @@ void AP_InertialSensor_MPU6000::set_gyro_offsets(int16_t offsetX, int16_t offset
register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF); register_write(MPUREG_XG_OFFS_USRH, (aux_int>>8)&0xFF);
register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF); register_write(MPUREG_XG_OFFS_USRL, aux_int&0xFF);
} }
if (offsetY != 0){ if (offsetY != 0) {
aux_int = (register_read(MPUREG_YG_OFFS_USRH)<<8) | register_read(MPUREG_YG_OFFS_USRL); aux_int = (register_read(MPUREG_YG_OFFS_USRH)<<8) | register_read(MPUREG_YG_OFFS_USRL);
aux_int -= offsetY<<1; // Adjust to internal units aux_int -= offsetY<<1; // Adjust to internal units
// Write to MPU registers // Write to MPU registers
register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF); register_write(MPUREG_YG_OFFS_USRH, (aux_int>>8)&0xFF);
register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF); register_write(MPUREG_YG_OFFS_USRL, aux_int&0xFF);
} }
if (offsetZ != 0){ if (offsetZ != 0) {
aux_int = (register_read(MPUREG_ZG_OFFS_USRH)<<8) | register_read(MPUREG_ZG_OFFS_USRL); aux_int = (register_read(MPUREG_ZG_OFFS_USRH)<<8) | register_read(MPUREG_ZG_OFFS_USRL);
aux_int -= offsetZ<<1; // Adjust to internal units aux_int -= offsetZ<<1; // Adjust to internal units
// Write to MPU registers // Write to MPU registers
@ -633,7 +647,7 @@ bool AP_InertialSensor_MPU6000::FIFO_ready()
{ {
_fifoCountH = register_read(MPUREG_FIFO_COUNTH); _fifoCountH = register_read(MPUREG_FIFO_COUNTH);
_fifoCountL = register_read(MPUREG_FIFO_COUNTL); _fifoCountL = register_read(MPUREG_FIFO_COUNTL);
if(_fifoCountL == FIFO_PACKET_SIZE){ if(_fifoCountL == FIFO_PACKET_SIZE) {
return 1; return 1;
} }
else{ else{
@ -662,7 +676,7 @@ void AP_InertialSensor_MPU6000::FIFO_getPacket()
uint8_t addr = MPUREG_FIFO_R_W | 0x80; // Set most significant bit to indicate a read uint8_t addr = MPUREG_FIFO_R_W | 0x80; // Set most significant bit to indicate a read
digitalWrite(_cs_pin, LOW); // enable the device digitalWrite(_cs_pin, LOW); // enable the device
SPI.transfer(addr); // send address we want to read from SPI.transfer(addr); // send address we want to read from
for(i = 0; i < _fifoCountL; i++){ for(i = 0; i < _fifoCountL; i++) {
_received_packet[i] = SPI.transfer(0); // request value _received_packet[i] = SPI.transfer(0); // request value
} }
digitalWrite(_cs_pin, HIGH); // disable device digitalWrite(_cs_pin, HIGH); // disable device
@ -673,8 +687,8 @@ void AP_InertialSensor_MPU6000::FIFO_getPacket()
q_long[2] = (int16_t) ((((uint16_t) _received_packet[8]) << 8) + ((uint16_t) _received_packet[9])); 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])); q_long[3] = (int16_t) ((((uint16_t) _received_packet[12]) << 8) + ((uint16_t) _received_packet[13]));
// Take care of sign // Take care of sign
for (i = 0; i < 4; i++ ){ for (i = 0; i < 4; i++ ) {
if(q_long[i] > 32767){ if(q_long[i] > 32767) {
q_long[i] -= 65536; q_long[i] -= 65536;
} }
} }
@ -867,12 +881,12 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
for(int i = 0; i < 7; i++) { for(int i = 0; i < 7; i++) {
register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL
for(uint8_t j = 0; j < 16; j++){ for(uint8_t j = 0; j < 16; j++) {
uint8_t start_addy = j * 0x10; uint8_t start_addy = j * 0x10;
register_write(MPUREG_MEM_START_ADDR,start_addy); register_write(MPUREG_MEM_START_ADDR,start_addy);
digitalWrite(_cs_pin, LOW); digitalWrite(_cs_pin, LOW);
SPI.transfer(MPUREG_MEM_R_W); SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 16; k++){ for(int k = 0; k < 16; k++) {
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k])); uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k]));
SPI.transfer((uint8_t) byteToSend); SPI.transfer((uint8_t) byteToSend);
} }
@ -881,12 +895,12 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
} }
register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL
for(uint8_t j = 0; j < 8; j++){ for(uint8_t j = 0; j < 8; j++) {
uint8_t start_addy = j * 0x10; uint8_t start_addy = j * 0x10;
register_write(MPUREG_MEM_START_ADDR,start_addy); register_write(MPUREG_MEM_START_ADDR,start_addy);
digitalWrite(_cs_pin, LOW); digitalWrite(_cs_pin, LOW);
SPI.transfer(MPUREG_MEM_R_W); SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 16; k++){ for(int k = 0; k < 16; k++) {
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k])); uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k]));
SPI.transfer((uint8_t) byteToSend); SPI.transfer((uint8_t) byteToSend);
} }
@ -896,7 +910,7 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
register_write(MPUREG_MEM_START_ADDR,0x80); register_write(MPUREG_MEM_START_ADDR,0x80);
digitalWrite(_cs_pin, LOW); digitalWrite(_cs_pin, LOW);
SPI.transfer(MPUREG_MEM_R_W); SPI.transfer(MPUREG_MEM_R_W);
for(int k = 0; k < 9; k++){ for(int k = 0; k < 9; k++) {
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k])); uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k]));
SPI.transfer((uint8_t) byteToSend); SPI.transfer((uint8_t) byteToSend);
} }
@ -908,380 +922,501 @@ void AP_InertialSensor_MPU6000::dmp_load_mem()
const uint8_t dmpMem[8][16][16] PROGMEM = { const uint8_t dmpMem[8][16][16] PROGMEM = {
{ {
{ {
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00 } 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, 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, 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, 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, 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, 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 } 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 } 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 } 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 } 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 } 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, 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 } 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 } 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 } 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 } 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 } 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, 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 } 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 } 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 } 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 } 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, 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, 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
}
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}
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}
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}
} }
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{ {
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}
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}
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}
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}
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}
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}
} }
}; };