/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <FastSerial.h>

#include "AP_InertialSensor_MPU6000.h"

#include <SPI.h>
#if defined(ARDUINO) && ARDUINO >= 100
 #include "Arduino.h"
#else
 #include <wiring.h>
#endif

// MPU6000 accelerometer scaling
#define MPU6000_ACCEL_SCALE_1G    (GRAVITY / 4096.0)

// 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/(<this value>+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
// 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
// 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
// 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


// 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

// 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

// 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)

/*
 *  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);

/* pch: I believe the accel and gyro indicies are correct
 *      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 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 uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;

int16_t AP_InertialSensor_MPU6000::_mpu6000_product_id = AP_PRODUCT_ID_NONE;

// variables to calculate time period over which a group of samples were collected
static volatile uint32_t _delta_time_micros = 1;   // time period overwhich samples were collected (initialise to non-zero number but will be overwritten on 2nd read in any case)
static volatile uint32_t _delta_time_start_micros = 0;  // time we start collecting sample (reset on update)
static volatile uint32_t _last_sample_time_micros = 0;  // time latest sample was collected

// DMP related static variables
bool AP_InertialSensor_MPU6000::_dmp_initialised = false;
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_PeriodicProcess*  AP_InertialSensor_MPU6000::_scheduler = NULL;

/*
 *  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
 */

AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000()
{
    _temp = 0;
    _initialised = false;
    _dmp_initialised = false;
}

uint16_t AP_InertialSensor_MPU6000::_init_sensor( AP_PeriodicProcess * scheduler )
{
    if (_initialised) return _mpu6000_product_id;
    _initialised = true;
    _scheduler = scheduler;     // store pointer to scheduler so that we can suspend/resume scheduler when we pull data from the MPU6000
    scheduler->suspend_timer();
    hardware_init();
    scheduler->resume_timer();
    return _mpu6000_product_id;
}

// accumulation in ISR - must be read with interrupts disabled
// the sum of the values since last read
static volatile int32_t _sum[7];

// how many values we've accumulated since last read
static volatile uint16_t _count;

/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */

bool AP_InertialSensor_MPU6000::update( void )
{
    int32_t sum[7];
    uint16_t count;
    float count_scale;
    Vector3f gyro_offset = _gyro_offset.get();
    Vector3f accel_scale = _accel_scale.get();
    Vector3f accel_offset = _accel_offset.get();

    // 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;

    // record sample time
    _delta_time_micros = _last_sample_time_micros - _delta_time_start_micros;
    _delta_time_start_micros = _last_sample_time_micros;
    sei();

    count_scale = 1.0 / count;

    _gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale - gyro_offset.x;
    _gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale - gyro_offset.y;
    _gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale - gyro_offset.z;

    _accel.x = accel_scale.x * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale * MPU6000_ACCEL_SCALE_1G - accel_offset.x;
    _accel.y = accel_scale.y * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale * MPU6000_ACCEL_SCALE_1G - accel_offset.y;
    _accel.z = accel_scale.z * _accel_data_sign[2] * sum[_accel_data_index[2]] * count_scale * MPU6000_ACCEL_SCALE_1G - accel_offset.z;

    _temp    = _temp_to_celsius(sum[_temp_data_index] * count_scale);

    return true;
}

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::ax() {
    return _accel.x;
}
float AP_InertialSensor_MPU6000::ay() {
    return _accel.y;
}
float AP_InertialSensor_MPU6000::az() {
    return _accel.z;
}

float AP_InertialSensor_MPU6000::temperature() {
    return _temp;
}

/*================ HARDWARE FUNCTIONS ==================== */

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;
}

/*
 *  this is called from the data_interrupt which fires when the MPU6000 has new sensor data available
 *  and add it to _sum[]
 *  Note: it is critical that no other devices on the same SPI bus attempt to read at the same time
 *        to ensure this is the case, these other devices must perform their SPI reads after being
 *        called by the AP_TimerProcess.
 */
void AP_InertialSensor_MPU6000::read(uint32_t)
{
    // now read the data
    digitalWrite(MPU6000_CS_PIN, LOW);
    byte addr = MPUREG_ACCEL_XOUT_H | 0x80;
    SPI.transfer(addr);
    for (uint8_t i=0; i<7; i++) {
        _sum[i] += spi_transfer_16();
    }
    digitalWrite(MPU6000_CS_PIN, HIGH);

    _count++;
    if (_count == 0) {
        // rollover - v unlikely
        memset((void*)_sum, 0, sizeof(_sum));
    }

    // 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

    digitalWrite(MPU6000_CS_PIN, LOW);

    SPI.transfer(addr);
    return_value = SPI.transfer(0);

    digitalWrite(MPU6000_CS_PIN, HIGH);

    return return_value;
}

void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val)
{
    digitalWrite(MPU6000_CS_PIN, LOW);
    SPI.transfer(reg);
    SPI.transfer(val);
    digitalWrite(MPU6000_CS_PIN, HIGH);
}

// MPU6000 new data interrupt on INT6
void AP_InertialSensor_MPU6000::data_interrupt(void)
{
    // record time that data was available
    _last_sample_time_micros = micros();

    // re-enable interrupts
    sei();

    // queue our read process to run after any currently running timed processes complete
    _scheduler->queue_process( AP_InertialSensor_MPU6000::read );
}

void AP_InertialSensor_MPU6000::hardware_init()
{
    // MPU6000 chip select setup
    pinMode(MPU6000_CS_PIN, OUTPUT);
    digitalWrite(MPU6000_CS_PIN, HIGH);
    delay(1);

    // Chip reset
    register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
    delay(100);
    // Wake up device and select GyroZ clock (better performance)
    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);

    // Disable I2C bus (recommended on datasheet)
    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
    delay(1);
    // SAMPLE RATE
    register_write(MPUREG_SMPLRT_DIV, MPUREG_SMPLRT_200HZ);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
    delay(1);
    // FS & DLPF   FS=2000º/s, DLPF = 98Hz (low pass filter)
    register_write(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
    delay(1);
    register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS);  // Gyro scale 2000º/s
    delay(1);

    _mpu6000_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) _mpu6000_product_id);

    if ((_mpu6000_product_id == MPU6000ES_REV_C4) || (_mpu6000_product_id == MPU6000ES_REV_C5) ||
        (_mpu6000_product_id == MPU6000_REV_C4)   || (_mpu6000_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
    delay(1);
    register_write(MPUREG_INT_PIN_CFG, BIT_INT_RD_CLEAR);               // clear interrupt on any read
    delay(1);

    attachInterrupt(6,data_interrupt,RISING);
}

float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval )
{
    /* TODO */
    return 20.0;
}

// return the MPU6k gyro drift rate in radian/s/s
// note that this is much better than the oilpan gyros
float AP_InertialSensor_MPU6000::get_gyro_drift_rate(void)
{
    // 0.5 degrees/second/minute
    return ToRad(0.5/60);
}

// get number of samples read from the sensors
uint16_t AP_InertialSensor_MPU6000::num_samples_available()
{
    return _count;
}

// get_delta_time returns the time period in seconds overwhich the sensor data was collected
uint32_t AP_InertialSensor_MPU6000::get_delta_time_micros() 
{
    return _delta_time_micros;
}

// Update gyro offsets with new values.  Offsets provided in as scaled deg/sec values
void AP_InertialSensor_MPU6000::push_gyro_offsets_to_dmp()
{
    Vector3f gyro_offsets = _gyro_offset.get();

    int16_t offsetX = gyro_offsets.x / _gyro_scale * _gyro_data_sign[0];
    int16_t offsetY = gyro_offsets.y / _gyro_scale * _gyro_data_sign[1];
    int16_t offsetZ = gyro_offsets.z / _gyro_scale * _gyro_data_sign[2];

    set_dmp_gyro_offsets(offsetX, offsetY, offsetZ);

    // remove ins level offsets to avoid double counting
    gyro_offsets.x = 0;
    gyro_offsets.y = 0;
    gyro_offsets.z = 0;
    _gyro_offset = gyro_offsets;
}

// 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_dmp_gyro_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
{
    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);
    }
}

// Update accel offsets with new values.  Offsets provided in as scaled values (1G)
void AP_InertialSensor_MPU6000::push_accel_offsets_to_dmp()
{
    Vector3f accel_offset = _accel_offset.get();
    Vector3f accel_scale = _accel_scale.get();
    int16_t offsetX = accel_offset.x / (accel_scale.x * _accel_data_sign[0] * MPU6000_ACCEL_SCALE_1G);
    int16_t offsetY = accel_offset.y / (accel_scale.y * _accel_data_sign[1] * MPU6000_ACCEL_SCALE_1G);
    int16_t offsetZ = accel_offset.z / (accel_scale.z * _accel_data_sign[2] * MPU6000_ACCEL_SCALE_1G);

    // strangely x and y are reversed
    set_dmp_accel_offsets(offsetY, offsetX, offsetZ);
}

// set_accel_offsets - adds an offset to acceleromter readings
// This is useful for dynamic acceleration correction (for example centripetal force correction)
// and for the initial offset calibration
// Input, accel offsets for X,Y and Z in LSB units (as read from raw values)
void AP_InertialSensor_MPU6000::set_dmp_accel_offsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ)
{
    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

    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
}

// 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
//    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(MPU6000_CS_PIN, LOW);
    SPI.transfer(MPUREG_MEM_R_W);
    for (uint8_t i=0; i<num_bytes; i++) {
        SPI.transfer(data[i]);
    }
    digitalWrite(MPU6000_CS_PIN, HIGH);
}

// MPU6000 DMP initialization
// this should be called after hardware_init if you wish to enable the dmp
void AP_InertialSensor_MPU6000::dmp_init()
{
    uint8_t regs[4];    // for writing to dmp

    // ensure we only initialise once
    if( _dmp_initialised ) {
        return;
    }

    // load initial values into DMP memory
    dmp_load_mem();

    dmp_set_gyro_calibration();
    dmp_set_accel_calibration();
    dmp_apply_endian_accel();
    dmp_set_mpu_sensors();
    dmp_set_bias_none();
    dmp_set_fifo_interrupt();
    dmp_send_quaternion();                      // By default we only send the quaternion to the FIFO (18 bytes packet size)
    dmp_set_fifo_rate(MPU6000_200HZ);                   // 200Hz DMP output rate

    register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN | BIT_DMP_INT_EN ); // configure interrupts to fire only when new data arrives from DMP (in fifo buffer)

    // Randy: no idea what this does
    register_write(MPUREG_DMP_CFG_1, 0x03);             //MPUREG_DMP_CFG_1, 0x03
    register_write(MPUREG_DMP_CFG_2, 0x00);             //MPUREG_DMP_CFG_2, 0x00

    //inv_state_change_fifo
    regs[0] = 0xFF;
    regs[1] = 0xFF;
    dmp_register_write(0x01, 0xB2, 0x02, regs); // D_1_178

    // ?? FIFO ??
    regs[0] = 0x09;
    regs[1] = 0x23;
    regs[2] = 0xA1;
    regs[3] = 0x35;
    dmp_register_write(0x01, 0x90, 0x04, regs); // D_1_144

    //register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);		//MPUREG_USER_CTRL, BIT_FIFO_RST
    FIFO_reset();

    FIFO_ready();

    //register_write(MPUREG_USER_CTRL, 0x00);		// MPUREG_USER_CTRL, 0.  TO-DO: is all this setting of USER_CTRL really necessary?

    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);         //MPUREG_USER_CTRL, BIT_FIFO_RST.  TO-DO: replace this call with FIFO_reset()?
    register_write(MPUREG_USER_CTRL, 0x00);             // MPUREG_USER_CTRL: 0
    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);

    // Set the gain of the accel in the sensor fusion
    dmp_set_sensor_fusion_accel_gain(DEFAULT_ACCEL_FUSION_GAIN); // default value

    // dmp initialisation complete
    _dmp_initialised = true;

}

// dmp_reset - reset dmp (required for changes in gains or offsets to take effect)
void AP_InertialSensor_MPU6000::dmp_reset()
{
    //uint8_t tmp = register_read(MPUREG_USER_CTRL);
    //tmp |= BIT_USER_CTRL_DMP_RESET;
    //register_write(MPUREG_USER_CTRL,tmp);
    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_FIFO_RESET);                 //MPUREG_USER_CTRL, BIT_FIFO_RST.  TO-DO: replace this call with FIFO_reset()?
    register_write(MPUREG_USER_CTRL, 0x00);             // MPUREG_USER_CTRL: 0
    register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_DMP_EN | BIT_USER_CTRL_FIFO_EN | BIT_USER_CTRL_DMP_RESET);
}

// New data packet in FIFO?
bool AP_InertialSensor_MPU6000::FIFO_ready()
{
    _fifoCountH = register_read(MPUREG_FIFO_COUNTH);
    _fifoCountL = register_read(MPUREG_FIFO_COUNTL);
    if(_fifoCountL == FIFO_PACKET_SIZE) {
        return 1;
    }
    else{
        //We should not reach this point or maybe we have more than one packet (we should manage this!)
        FIFO_reset();
        return 0;
    }
}

// FIFO_reset - reset/clear FIFO buffer used to capture attitude information from DMP
void AP_InertialSensor_MPU6000::FIFO_reset()
{
    uint8_t temp;
    temp = register_read(MPUREG_USER_CTRL);
    temp = temp | BIT_USER_CTRL_FIFO_RESET;             // FIFO RESET BIT
    register_write(MPUREG_USER_CTRL, temp);
}

// FIFO_getPacket - read an attitude packet from FIFO buffer
// TO-DO: interpret results instead of just dumping into a buffer
void AP_InertialSensor_MPU6000::FIFO_getPacket()
{
    uint8_t i;
    int16_t q_long[4];
    uint8_t addr = MPUREG_FIFO_R_W | 0x80;      // Set most significant bit to indicate a read
    uint8_t received_packet[DMP_FIFO_BUFFER_SIZE];    // FIFO packet buffer
    digitalWrite(MPU6000_CS_PIN, LOW);                                 // enable the device
    SPI.transfer(addr);                                 // send address we want to read from
    for(i = 0; i < _fifoCountL; i++) {
        received_packet[i] = SPI.transfer(0);          // request value
    }
    digitalWrite(MPU6000_CS_PIN, HIGH);                                // disable device

    // 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
}

// 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
}

// 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
}

// 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);
}

// 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 );
}

// 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 );
}

// 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
}

// 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
}

// 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
}

// 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
}

// This functions defines the rate at wich attitude data is send to FIFO
// Rate: 0 => SAMPLE_RATE(ex:200Hz), 1=> SAMPLE_RATE/2 (ex:100Hz), 2=> SAMPLE_RATE/3 (ex:66Hz)
// 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
}

// This function defines the weight of the accel on the sensor fusion
// default value is 0x80
// 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(MPU6000_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(MPU6000_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(MPU6000_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(MPU6000_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(MPU6000_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(MPU6000_CS_PIN, HIGH);
    }

    register_write(MPUREG_MEM_START_ADDR,0x80);
    digitalWrite(MPU6000_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(MPU6000_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
        }
    }
};