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1293 lines
45 KiB
1293 lines
45 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <FastSerial.h> |
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#include "AP_InertialSensor_MPU6000.h" |
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#include <SPI.h> |
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include "Arduino.h" |
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#else |
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#include <wiring.h> |
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#endif |
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// MPU 6000 registers |
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#define MPUREG_XG_OFFS_TC 0x00 |
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#define MPUREG_YG_OFFS_TC 0x01 |
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#define MPUREG_ZG_OFFS_TC 0x02 |
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#define MPUREG_X_FINE_GAIN 0x03 |
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#define MPUREG_Y_FINE_GAIN 0x04 |
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#define MPUREG_Z_FINE_GAIN 0x05 |
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#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte) |
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#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte) |
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#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte) |
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#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte) |
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#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte) |
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#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte) |
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#define MPUREG_PRODUCT_ID 0x0C // Product ID Register |
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#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte) |
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#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte) |
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#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte) |
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#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte) |
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#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte) |
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#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte) |
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#define MPUREG_SMPLRT_DIV 0x19 // sample rate. Fsample= 1Khz/(<this value>+1) = 200Hz |
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# define MPUREG_SMPLRT_1000HZ 0x00 |
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# define MPUREG_SMPLRT_500HZ 0x01 |
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# define MPUREG_SMPLRT_250HZ 0x03 |
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# define MPUREG_SMPLRT_200HZ 0x04 |
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# define MPUREG_SMPLRT_100HZ 0x09 |
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# define MPUREG_SMPLRT_50HZ 0x13 |
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#define MPUREG_CONFIG 0x1A |
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#define MPUREG_GYRO_CONFIG 0x1B |
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// bit definitions for MPUREG_GYRO_CONFIG |
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# define BITS_GYRO_FS_250DPS 0x00 |
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# define BITS_GYRO_FS_500DPS 0x08 |
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# define BITS_GYRO_FS_1000DPS 0x10 |
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# define BITS_GYRO_FS_2000DPS 0x18 |
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# 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 |
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# define BITS_GYRO_ZGYRO_SELFTEST 0x20 |
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# define BITS_GYRO_YGYRO_SELFTEST 0x40 |
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# define BITS_GYRO_XGYRO_SELFTEST 0x80 |
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#define MPUREG_ACCEL_CONFIG 0x1C |
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#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 |
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#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 |
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#define MPUREG_ZRMOT_THR 0x21 // detection threshold for Zero Motion interrupt generation. |
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#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. |
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#define MPUREG_FIFO_EN 0x23 |
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#define MPUREG_INT_PIN_CFG 0x37 |
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# define BIT_INT_RD_CLEAR 0x10 // clear the interrupt when any read occurs |
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#define MPUREG_INT_ENABLE 0x38 |
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// bit definitions for MPUREG_INT_ENABLE |
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# define BIT_RAW_RDY_EN 0x01 |
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# define BIT_DMP_INT_EN 0x02 // enabling this bit (DMP_INT_EN) also enables RAW_RDY_EN it seems |
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# define BIT_UNKNOWN_INT_EN 0x04 |
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# define BIT_I2C_MST_INT_EN 0x08 |
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# define BIT_FIFO_OFLOW_EN 0x10 |
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# define BIT_ZMOT_EN 0x20 |
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# define BIT_MOT_EN 0x40 |
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# define BIT_FF_EN 0x80 |
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#define MPUREG_INT_STATUS 0x3A |
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// bit definitions for MPUREG_INT_STATUS (same bit pattern as above because this register shows what interrupt actually fired) |
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# define BIT_RAW_RDY_INT 0x01 |
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# define BIT_DMP_INT 0x02 |
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# define BIT_UNKNOWN_INT 0x04 |
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# define BIT_I2C_MST_INT 0x08 |
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# define BIT_FIFO_OFLOW_INT 0x10 |
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# define BIT_ZMOT_INT 0x20 |
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# define BIT_MOT_INT 0x40 |
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# define BIT_FF_INT 0x80 |
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#define MPUREG_ACCEL_XOUT_H 0x3B |
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#define MPUREG_ACCEL_XOUT_L 0x3C |
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#define MPUREG_ACCEL_YOUT_H 0x3D |
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#define MPUREG_ACCEL_YOUT_L 0x3E |
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#define MPUREG_ACCEL_ZOUT_H 0x3F |
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#define MPUREG_ACCEL_ZOUT_L 0x40 |
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#define MPUREG_TEMP_OUT_H 0x41 |
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#define MPUREG_TEMP_OUT_L 0x42 |
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#define MPUREG_GYRO_XOUT_H 0x43 |
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#define MPUREG_GYRO_XOUT_L 0x44 |
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#define MPUREG_GYRO_YOUT_H 0x45 |
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#define MPUREG_GYRO_YOUT_L 0x46 |
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#define MPUREG_GYRO_ZOUT_H 0x47 |
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#define MPUREG_GYRO_ZOUT_L 0x48 |
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#define MPUREG_USER_CTRL 0x6A |
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// bit definitions for MPUREG_USER_CTRL |
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# define BIT_USER_CTRL_SIG_COND_RESET 0x01 // resets signal paths and results registers for all sensors (gyros, accel, temp) |
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# define BIT_USER_CTRL_I2C_MST_RESET 0x02 // reset I2C Master (only applicable if I2C_MST_EN bit is set) |
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# define BIT_USER_CTRL_FIFO_RESET 0x04 // Reset (i.e. clear) FIFO buffer |
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# define BIT_USER_CTRL_DMP_RESET 0x08 // Reset DMP |
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# define BIT_USER_CTRL_I2C_IF_DIS 0x10 // Disable primary I2C interface and enable SPI interface |
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# define BIT_USER_CTRL_I2C_MST_EN 0x20 // Enable MPU to act as the I2C Master to external slave sensors |
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# define BIT_USER_CTRL_FIFO_EN 0x40 // Enable FIFO operations |
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# define BIT_USER_CTRL_DMP_EN 0x80 // Enable DMP operations |
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#define MPUREG_PWR_MGMT_1 0x6B |
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# define BIT_PWR_MGMT_1_CLK_INTERNAL 0x00 // clock set to internal 8Mhz oscillator |
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# define BIT_PWR_MGMT_1_CLK_XGYRO 0x01 // PLL with X axis gyroscope reference |
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# define BIT_PWR_MGMT_1_CLK_YGYRO 0x02 // PLL with Y axis gyroscope reference |
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# define BIT_PWR_MGMT_1_CLK_ZGYRO 0x03 // PLL with Z axis gyroscope reference |
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# define BIT_PWR_MGMT_1_CLK_EXT32KHZ 0x04 // PLL with external 32.768kHz reference |
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# define BIT_PWR_MGMT_1_CLK_EXT19MHZ 0x05 // PLL with external 19.2MHz reference |
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# define BIT_PWR_MGMT_1_CLK_STOP 0x07 // Stops the clock and keeps the timing generator in reset |
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# define BIT_PWR_MGMT_1_TEMP_DIS 0x08 // disable temperature sensor |
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# 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 |
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# define BIT_PWR_MGMT_1_SLEEP 0x40 // put sensor into low power sleep mode |
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# define BIT_PWR_MGMT_1_DEVICE_RESET 0x80 // reset entire device |
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#define MPUREG_PWR_MGMT_2 0x6C // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode |
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#define MPUREG_BANK_SEL 0x6D // DMP bank selection register (used to indirectly access DMP registers) |
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#define MPUREG_MEM_START_ADDR 0x6E // DMP memory start address (used to indirectly write to dmp memory) |
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#define MPUREG_MEM_R_W 0x6F // DMP related register |
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#define MPUREG_DMP_CFG_1 0x70 // DMP related register |
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#define MPUREG_DMP_CFG_2 0x71 // DMP related register |
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#define MPUREG_FIFO_COUNTH 0x72 |
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#define MPUREG_FIFO_COUNTL 0x73 |
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#define MPUREG_FIFO_R_W 0x74 |
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#define MPUREG_WHOAMI 0x75 |
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// Configuration bits MPU 3000 and MPU 6000 (not revised)? |
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#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 |
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#define BITS_DLPF_CFG_188HZ 0x01 |
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#define BITS_DLPF_CFG_98HZ 0x02 |
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#define BITS_DLPF_CFG_42HZ 0x03 |
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#define BITS_DLPF_CFG_20HZ 0x04 |
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#define BITS_DLPF_CFG_10HZ 0x05 |
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#define BITS_DLPF_CFG_5HZ 0x06 |
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#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 |
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#define BITS_DLPF_CFG_MASK 0x07 |
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// Product ID Description for MPU6000 |
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// high 4 bits low 4 bits |
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// Product Name Product Revision |
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#define MPU6000ES_REV_C4 0x14 // 0001 0100 |
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#define MPU6000ES_REV_C5 0x15 // 0001 0101 |
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#define MPU6000ES_REV_D6 0x16 // 0001 0110 |
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#define MPU6000ES_REV_D7 0x17 // 0001 0111 |
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#define MPU6000ES_REV_D8 0x18 // 0001 1000 |
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#define MPU6000_REV_C4 0x54 // 0101 0100 |
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#define MPU6000_REV_C5 0x55 // 0101 0101 |
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#define MPU6000_REV_D6 0x56 // 0101 0110 |
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#define MPU6000_REV_D7 0x57 // 0101 0111 |
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#define MPU6000_REV_D8 0x58 // 0101 1000 |
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#define MPU6000_REV_D9 0x59 // 0101 1001 |
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// DMP output rate constants |
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#define MPU6000_200HZ 0x00 // default value |
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#define MPU6000_100HZ 0x01 |
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#define MPU6000_66HZ 0x02 |
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#define MPU6000_50HZ 0x03 |
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// DMP FIFO constants |
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#define FIFO_PACKET_SIZE 18 // Default quaternion FIFO size (4*4) + Footer(2) |
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#define GYRO_BIAS_FROM_GRAVITY_RATE 4 // Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz |
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#define DEFAULT_ACCEL_FUSION_GAIN 0x80 // Default gain for accel fusion (with gyros) |
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uint8_t AP_InertialSensor_MPU6000::_cs_pin; |
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/* |
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RS-MPU-6000A-00.pdf, page 33, section 4.25 lists LSB sensitivity of |
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gyro as 16.4 LSB/DPS at scale factor of +/- 2000dps (FS_SEL==3) |
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*/ |
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const float AP_InertialSensor_MPU6000::_gyro_scale = (0.0174532 / 16.4); |
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/* |
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RS-MPU-6000A-00.pdf, page 31, section 4.23 lists LSB sensitivity of |
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accel as 4096 LSB/mg at scale factor of +/- 8g (AFS_SEL==2) |
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See note below about accel scaling of engineering sample MPU6k |
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variants however |
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*/ |
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const float AP_InertialSensor_MPU6000::_accel_scale = 9.81 / 4096.0; |
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/* pch: I believe the accel and gyro indicies are correct |
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* but somone else should please confirm. |
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*/ |
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const uint8_t AP_InertialSensor_MPU6000::_gyro_data_index[3] = { 5, 4, 6 }; |
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const int8_t AP_InertialSensor_MPU6000::_gyro_data_sign[3] = { 1, 1, -1 }; |
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const uint8_t AP_InertialSensor_MPU6000::_accel_data_index[3] = { 1, 0, 2 }; |
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const int8_t AP_InertialSensor_MPU6000::_accel_data_sign[3] = { 1, 1, -1 }; |
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const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3; |
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static volatile uint8_t _new_data; |
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static uint8_t _product_id; |
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// DMP related static variables |
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bool AP_InertialSensor_MPU6000::_dmp_initialised = false; |
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uint8_t AP_InertialSensor_MPU6000::_received_packet[DMP_FIFO_BUFFER_SIZE]; // FIFO packet buffer |
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uint8_t AP_InertialSensor_MPU6000::_fifoCountH; // high byte of number of elements in fifo buffer |
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uint8_t AP_InertialSensor_MPU6000::_fifoCountL; // low byte of number of elements in fifo buffer |
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Quaternion AP_InertialSensor_MPU6000::quaternion; // holds the 4 quaternions representing attitude taken directly from the DMP |
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AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( uint8_t cs_pin ) |
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{ |
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_cs_pin = cs_pin; /* can't use initializer list, is static */ |
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_gyro.x = 0; |
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_gyro.y = 0; |
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_gyro.z = 0; |
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_accel.x = 0; |
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_accel.y = 0; |
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_accel.z = 0; |
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_temp = 0; |
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_initialised = false; |
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_dmp_initialised = false; |
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} |
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uint16_t AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler ) |
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{ |
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if (_initialised) return _product_id; |
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_initialised = true; |
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scheduler->suspend_timer(); |
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hardware_init(); |
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scheduler->resume_timer(); |
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scheduler->register_process( &AP_InertialSensor_MPU6000::read ); |
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return _product_id; |
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} |
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// accumulation in ISR - must be read with interrupts disabled |
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// the sum of the values since last read |
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static volatile int32_t _sum[7]; |
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// how many values we've accumulated since last read |
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static volatile uint16_t _count; |
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ |
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bool AP_InertialSensor_MPU6000::update( void ) |
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{ |
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int32_t sum[7]; |
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uint16_t count; |
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float count_scale; |
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// wait for at least 1 sample |
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while (_count == 0) /* nop */; |
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// disable interrupts for mininum time |
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cli(); |
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for (int i=0; i<7; i++) { |
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sum[i] = _sum[i]; |
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_sum[i] = 0; |
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} |
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count = _count; |
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_count = 0; |
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sei(); |
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count_scale = 1.0 / count; |
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_gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale; |
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_gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale; |
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_gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale; |
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_accel.x = _accel_scale * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale; |
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_accel.y = _accel_scale * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale; |
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_accel.z = _accel_scale * _accel_data_sign[2] * sum[_accel_data_index[2]] * count_scale; |
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_temp = _temp_to_celsius(sum[_temp_data_index] * count_scale); |
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return true; |
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} |
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bool AP_InertialSensor_MPU6000::new_data_available( void ) |
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{ |
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return _count != 0; |
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} |
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float AP_InertialSensor_MPU6000::gx() { return _gyro.x; } |
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float AP_InertialSensor_MPU6000::gy() { return _gyro.y; } |
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float AP_InertialSensor_MPU6000::gz() { return _gyro.z; } |
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void AP_InertialSensor_MPU6000::get_gyros( float * g ) |
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{ |
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g[0] = _gyro.x; |
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g[1] = _gyro.y; |
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g[2] = _gyro.z; |
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} |
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float AP_InertialSensor_MPU6000::ax() { return _accel.x; } |
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float AP_InertialSensor_MPU6000::ay() { return _accel.y; } |
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float AP_InertialSensor_MPU6000::az() { return _accel.z; } |
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void AP_InertialSensor_MPU6000::get_accels( float * a ) |
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{ |
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a[0] = _accel.x; |
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a[1] = _accel.y; |
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a[2] = _accel.z; |
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} |
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void AP_InertialSensor_MPU6000::get_sensors( float * sensors ) |
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{ |
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sensors[0] = _gyro.x; |
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sensors[1] = _gyro.y; |
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sensors[2] = _gyro.z; |
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sensors[3] = _accel.x; |
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sensors[4] = _accel.y; |
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sensors[5] = _accel.z; |
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} |
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float AP_InertialSensor_MPU6000::temperature() { return _temp; } |
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uint32_t AP_InertialSensor_MPU6000::sample_time() |
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{ |
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uint32_t us = micros(); |
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uint32_t delta = us - _last_sample_micros; |
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reset_sample_time(); |
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return delta; |
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} |
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void AP_InertialSensor_MPU6000::reset_sample_time() |
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{ |
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_last_sample_micros = micros(); |
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} |
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/*================ HARDWARE FUNCTIONS ==================== */ |
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static int16_t spi_transfer_16(void) |
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{ |
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uint8_t byte_H, byte_L; |
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byte_H = SPI.transfer(0); |
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byte_L = SPI.transfer(0); |
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return (((int16_t)byte_H)<<8) | byte_L; |
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} |
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/* |
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this is called from a timer interrupt to read data from the MPU6000 |
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and add it to _sum[] |
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*/ |
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void AP_InertialSensor_MPU6000::read(uint32_t ) |
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{ |
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if (_new_data == 0) { |
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// no new data is ready from the MPU6000 |
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return; |
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} |
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_new_data = 0; |
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// now read the data |
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digitalWrite(_cs_pin, LOW); |
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byte addr = MPUREG_ACCEL_XOUT_H | 0x80; |
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SPI.transfer(addr); |
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for (uint8_t i=0; i<7; i++) { |
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_sum[i] += spi_transfer_16(); |
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} |
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_count++; |
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if (_count == 0) { |
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// rollover - v unlikely |
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memset((void*)_sum, 0, sizeof(_sum)); |
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} |
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digitalWrite(_cs_pin, HIGH); |
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// should also read FIFO data if enabled |
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if( _dmp_initialised ) { |
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if( FIFO_ready() ) { |
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FIFO_getPacket(); |
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} |
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} |
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} |
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uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg ) |
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{ |
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uint8_t dump; |
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uint8_t return_value; |
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uint8_t addr = reg | 0x80; // Set most significant bit |
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digitalWrite(_cs_pin, LOW); |
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dump = SPI.transfer(addr); |
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return_value = SPI.transfer(0); |
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digitalWrite(_cs_pin, HIGH); |
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return return_value; |
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} |
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void AP_InertialSensor_MPU6000::register_write(uint8_t reg, uint8_t val) |
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{ |
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uint8_t dump; |
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digitalWrite(_cs_pin, LOW); |
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dump = SPI.transfer(reg); |
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dump = SPI.transfer(val); |
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digitalWrite(_cs_pin, HIGH); |
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} |
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// MPU6000 new data interrupt on INT6 |
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void AP_InertialSensor_MPU6000::data_interrupt(void) |
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{ |
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// tell the timer routine that there is data to be read |
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_new_data = 1; |
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} |
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void AP_InertialSensor_MPU6000::hardware_init() |
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{ |
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// MPU6000 chip select setup |
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pinMode(_cs_pin, OUTPUT); |
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digitalWrite(_cs_pin, HIGH); |
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delay(1); |
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// Chip reset |
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register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET); |
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delay(100); |
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// Wake up device and select GyroZ clock (better performance) |
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register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_CLK_ZGYRO); |
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delay(1); |
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register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode |
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delay(1); |
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// Disable I2C bus (recommended on datasheet) |
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register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS); |
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delay(1); |
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// SAMPLE RATE |
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register_write(MPUREG_SMPLRT_DIV, MPUREG_SMPLRT_200HZ); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz |
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delay(1); |
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// FS & DLPF FS=2000º/s, DLPF = 98Hz (low pass filter) |
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register_write(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); |
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delay(1); |
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register_write(MPUREG_GYRO_CONFIG, BITS_GYRO_FS_2000DPS); // Gyro scale 2000º/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); |
|
} |
|
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); |
|
|
|
// 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 ) |
|
{ |
|
/* 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); |
|
} |
|
|
|
// 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]; |
|
|
|
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; |
|
|
|
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]; |
|
|
|
set_accel_offsets(offsetX, offsetY, 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_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[]) |
|
{ |
|
uint8_t dump; |
|
|
|
register_write(MPUREG_BANK_SEL,bank); |
|
register_write(MPUREG_MEM_START_ADDR,address); |
|
digitalWrite(_cs_pin, LOW); |
|
dump = SPI.transfer(MPUREG_MEM_R_W); |
|
for( uint8_t i=0; i<num_bytes; i++ ) { |
|
dump = SPI.transfer(data[i]); |
|
} |
|
digitalWrite(_cs_pin, HIGH); |
|
} |
|
|
|
// MPU6000 DMP initialization |
|
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); |
|
_new_data = 0; // clear new data flag |
|
} |
|
|
|
// 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 dump; |
|
uint8_t addr = MPUREG_FIFO_R_W | 0x80; // Set most significant bit to indicate a read |
|
digitalWrite(_cs_pin, LOW); // enable the device |
|
dump = 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(_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) |
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{ |
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uint8_t dump; |
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//inv_key_0_96 |
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register_write(MPUREG_BANK_SEL,0x00); |
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register_write(MPUREG_MEM_START_ADDR, 0x60); |
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digitalWrite(_cs_pin, LOW); |
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dump = SPI.transfer(MPUREG_MEM_R_W); |
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dump = SPI.transfer(0x00); |
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dump = SPI.transfer(gain); // Original : 0x80 To test: 0x40, 0x20 (too less) |
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dump = SPI.transfer(0x00); |
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dump = SPI.transfer(0x00); |
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digitalWrite(_cs_pin, HIGH); |
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} |
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|
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// Load initial memory values into DMP memory banks |
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void AP_InertialSensor_MPU6000::dmp_load_mem() |
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{ |
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|
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for(int i = 0; i < 7; i++) { |
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register_write(MPUREG_BANK_SEL,i); //MPUREG_BANK_SEL |
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for(uint8_t j = 0; j < 16; j++){ |
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uint8_t start_addy = j * 0x10; |
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register_write(MPUREG_MEM_START_ADDR,start_addy); |
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digitalWrite(_cs_pin, LOW); |
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SPI.transfer(MPUREG_MEM_R_W); |
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for(int k = 0; k < 16; k++){ |
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uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[i][j][k])); |
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SPI.transfer((uint8_t) byteToSend); |
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} |
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digitalWrite(_cs_pin, HIGH); |
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} |
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} |
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|
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register_write(MPUREG_BANK_SEL,7); //MPUREG_BANK_SEL |
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for(uint8_t j = 0; j < 8; j++){ |
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uint8_t start_addy = j * 0x10; |
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register_write(MPUREG_MEM_START_ADDR,start_addy); |
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digitalWrite(_cs_pin, LOW); |
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SPI.transfer(MPUREG_MEM_R_W); |
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for(int k = 0; k < 16; k++){ |
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uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][j][k])); |
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SPI.transfer((uint8_t) byteToSend); |
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} |
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digitalWrite(_cs_pin, HIGH); |
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} |
|
|
|
register_write(MPUREG_MEM_START_ADDR,0x80); |
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digitalWrite(_cs_pin, LOW); |
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SPI.transfer(MPUREG_MEM_R_W); |
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for(int k = 0; k < 9; k++){ |
|
uint8_t byteToSend = pgm_read_byte((const prog_char *)&(dmpMem[7][8][k])); |
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SPI.transfer((uint8_t) byteToSend); |
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} |
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digitalWrite(_cs_pin, HIGH); |
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} |
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|
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// ========= DMP MEMORY ================================ |
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|
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const uint8_t dmpMem[8][16][16] PROGMEM = { |
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{ |
|
{ |
|
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 } |
|
, |
|
{ |
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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 } |
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, |
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{ |
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0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94 } |
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, |
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{ |
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0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA } |
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, |
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{ |
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0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56 } |
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, |
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{ |
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0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9 } |
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, |
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{ |
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0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA } |
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, |
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{ |
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0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A } |
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, |
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{ |
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0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60 } |
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, |
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{ |
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0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97 } |
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, |
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{ |
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0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04 } |
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, |
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{ |
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0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78 } |
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, |
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{ |
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0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79 } |
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, |
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{ |
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0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68 } |
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, |
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{ |
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0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68 } |
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} |
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, |
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{ |
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{ |
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0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04 } |
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, |
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{ |
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0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66 } |
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, |
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{ |
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0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31 } |
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, |
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{ |
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0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60 } |
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, |
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{ |
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0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76 } |
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, |
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{ |
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0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56 } |
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, |
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{ |
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0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD } |
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, |
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{ |
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0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91 } |
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, |
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{ |
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0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8 } |
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, |
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{ |
|
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE } |
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, |
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{ |
|
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9 } |
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, |
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{ |
|
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD } |
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, |
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{ |
|
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E } |
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, |
|
{ |
|
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8 } |
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, |
|
{ |
|
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89 } |
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, |
|
{ |
|
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 } |
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, |
|
{ |
|
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA } |
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, |
|
{ |
|
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB } |
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, |
|
{ |
|
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3 } |
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, |
|
{ |
|
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 } |
|
} |
|
};
|
|
|