Rune Harlyk
509 lines
30 KiB
C++
509 lines
30 KiB
C++
#pragma once
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#include <peripherals/i2c_bus.h>
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#include <utils/math_utils.h>
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class MPU6050Driver {
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public:
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static constexpr uint8_t DEFAULT_ADDR = 0x68;
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MPU6050Driver(uint8_t addr = DEFAULT_ADDR) : _addr(addr) {}
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bool begin() {
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if (!I2CBus::instance().probe(_addr)) return false;
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uint8_t whoami = readReg(REG_WHO_AM_I);
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if (whoami != 0x68 && whoami != 0x72) return false;
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if (dmpInitialize() != 0) return false;
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setDMPEnabled(true);
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vTaskDelay(pdMS_TO_TICKS(100));
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resetFIFO();
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vTaskDelay(pdMS_TO_TICKS(50));
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_initialized = true;
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return true;
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}
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bool update() {
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if (!_initialized) return false;
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if (dmpGetCurrentFIFOPacket(_fifoBuffer)) {
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float q[4];
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dmpGetQuaternion(q, _fifoBuffer);
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dmpGetGravity(_gravity, q);
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dmpGetYawPitchRoll(_rpy, q, _gravity);
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}
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uint8_t buf[2];
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if (I2CBus::instance().readReg(_addr, REG_TEMP_OUT_H, buf, 2) == ESP_OK) {
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int16_t rawTemp = (buf[0] << 8) | buf[1];
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_temp = rawTemp / 340.0f + 36.53f;
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}
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return true;
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}
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bool calibrate() {
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if (!_initialized) return false;
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CalibrateGyro(6);
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CalibrateAccel(6);
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return true;
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}
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float getRoll() const { return _rpy[2]; }
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float getPitch() const { return _rpy[1]; }
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float getYaw() const { return _rpy[0]; }
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float getTemperature() const { return _temp; }
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bool isInitialized() const { return _initialized; }
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private:
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static constexpr uint8_t REG_XG_OFFS_USRH = 0x13;
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static constexpr uint8_t REG_XA_OFFS_H = 0x06;
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static constexpr uint8_t REG_SMPLRT_DIV = 0x19;
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static constexpr uint8_t REG_CONFIG = 0x1A;
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static constexpr uint8_t REG_GYRO_CONFIG = 0x1B;
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static constexpr uint8_t REG_ACCEL_CONFIG = 0x1C;
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static constexpr uint8_t REG_FIFO_EN = 0x23;
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static constexpr uint8_t REG_INT_PIN_CFG = 0x37;
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static constexpr uint8_t REG_INT_ENABLE = 0x38;
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static constexpr uint8_t REG_INT_STATUS = 0x3A;
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static constexpr uint8_t REG_ACCEL_XOUT_H = 0x3B;
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static constexpr uint8_t REG_TEMP_OUT_H = 0x41;
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static constexpr uint8_t REG_GYRO_XOUT_H = 0x43;
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static constexpr uint8_t REG_SIGNAL_PATH_RESET = 0x68;
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static constexpr uint8_t REG_USER_CTRL = 0x6A;
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static constexpr uint8_t REG_PWR_MGMT_1 = 0x6B;
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static constexpr uint8_t REG_PWR_MGMT_2 = 0x6C;
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static constexpr uint8_t REG_BANK_SEL = 0x6D;
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static constexpr uint8_t REG_MEM_START_ADDR = 0x6E;
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static constexpr uint8_t REG_MEM_R_W = 0x6F;
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static constexpr uint8_t REG_DMP_CFG_1 = 0x70;
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static constexpr uint8_t REG_DMP_CFG_2 = 0x71;
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static constexpr uint8_t REG_FIFO_COUNT_H = 0x72;
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static constexpr uint8_t REG_FIFO_R_W = 0x74;
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static constexpr uint8_t REG_WHO_AM_I = 0x75;
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static constexpr uint16_t DMP_PACKET_SIZE = 28;
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static constexpr uint16_t DMP_CODE_SIZE = 3062;
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static constexpr uint8_t dmpMemory[DMP_CODE_SIZE] = {
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0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x03, 0x00, 0x00, 0x00, 0x65,
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0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01, 0x03, 0x0C, 0x30, 0xC3,
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0x0A, 0x74, 0x56, 0x2D, 0x0D, 0x62, 0xDB, 0xC7, 0x16, 0xF4, 0xBA, 0x02, 0x38, 0x83, 0xF8, 0x83, 0x30, 0x00,
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0xF8, 0x83, 0x25, 0x8E, 0xF8, 0x83, 0x30, 0x00, 0xF8, 0x83, 0xFF, 0xFF, 0xFF, 0xFF, 0x0C, 0xBD, 0xD8, 0x11,
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0x24, 0x00, 0x04, 0x00, 0x1A, 0x82, 0x79, 0xA1, 0x00, 0x36, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10,
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0x00, 0x00, 0x38, 0x83, 0x6F, 0xA2, 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09,
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0x3E, 0x80, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00,
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0x00, 0x00, 0x1F, 0xA4, 0xE8, 0xE4, 0xFF, 0xF5, 0xDC, 0xB9, 0x00, 0x5B, 0x79, 0xCF, 0x1F, 0x3F, 0x78, 0x76,
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0x00, 0x86, 0x7C, 0x5A, 0x00, 0x86, 0x23, 0x47, 0xFA, 0xB9, 0x86, 0x31, 0x00, 0x74, 0x87, 0x8A, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x43, 0x05, 0xFF, 0xFF, 0xE9, 0xA8, 0x00, 0x00, 0x21, 0x82, 0xFA, 0xB8, 0x4D, 0x46,
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0xFF, 0xFA, 0xDF, 0x3D, 0xFF, 0xFF, 0xB2, 0xB3, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xBA, 0x98, 0x00, 0x5D,
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0xAC, 0x08, 0x00, 0x0A, 0x63, 0x78, 0x00, 0x01, 0x46, 0x21, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x42, 0xB5,
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0x00, 0x06, 0x00, 0x64, 0x00, 0x64, 0x00, 0x06, 0x14, 0x06, 0x02, 0x9F, 0x0F, 0x47, 0x91, 0x32, 0xD9, 0x0E,
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0x9F, 0xC9, 0x1D, 0xCF, 0x4C, 0x34, 0x3B, 0xB6, 0x7A, 0xE8, 0x00, 0x64, 0x00, 0x06, 0x00, 0xC8, 0x00, 0x00,
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0x00, 0x00, 0xFF, 0xFE, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00, 0xA2, 0xB8, 0x00, 0x00,
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0x10, 0x00, 0x00, 0x00, 0x04, 0xD6, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x02,
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0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x0C, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x32, 0xF8, 0x98, 0x00, 0x00, 0xFF, 0x65,
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0x00, 0x00, 0x83, 0x0F, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00,
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0xA2, 0xB8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
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0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0D, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01,
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0xFB, 0x83, 0x00, 0x7C, 0x00, 0x00, 0xFB, 0x15, 0xFC, 0x00, 0x1F, 0xB4, 0xFF, 0x83, 0x00, 0x00, 0x00, 0x01,
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0x00, 0x65, 0x00, 0x07, 0x00, 0x64, 0x03, 0xE8, 0x00, 0x64, 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFD, 0x00, 0x00,
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0x00, 0x00, 0x16, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x2F, 0x00, 0x00,
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0x00, 0x00, 0x01, 0xF4, 0x00, 0x00, 0x10, 0x00, 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF,
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0xFA, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0xBA, 0xC6,
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0x00, 0x47, 0x78, 0xA2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
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0x00, 0x14, 0x00, 0x00, 0x23, 0xBB, 0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49,
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0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1B,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x07,
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0x00, 0x08, 0x00, 0x06, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49,
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0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02,
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0x00, 0x00, 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x0E,
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0xFF, 0xFF, 0xFF, 0xCF, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xFF, 0xFF, 0xFF, 0x9C, 0x00, 0x00,
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0x43, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, 0xFF, 0xE5, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00,
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0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xD3, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06,
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0x00, 0x10, 0x00, 0x96, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x1F, 0x9E, 0x65, 0x5D, 0x0C, 0x0A, 0x4E, 0x68, 0xCD, 0xCF, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xC6, 0x19,
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0xCE, 0x82, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x71, 0x1C,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xD7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x11,
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0xDC, 0x47, 0x03, 0x00, 0x00, 0x00, 0xC7, 0x93, 0x8F, 0x9D, 0x1E, 0x1B, 0x1C, 0x19, 0xFF, 0xFF, 0xFF, 0xFF,
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0x00, 0x00, 0x00, 0x00, 0x0E, 0xDF, 0xA4, 0x38, 0x1F, 0x9E, 0x65, 0x5D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47,
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0x71, 0x1C, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFD, 0xFF, 0xFF, 0xF4, 0xC9, 0xFF, 0xFF,
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0xBC, 0xF0, 0x00, 0x01, 0x0C, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0xF5, 0xB7, 0xBA, 0xB3, 0x67, 0x7D, 0xDF, 0x7E, 0x72, 0x90, 0x2E, 0x55, 0x4C, 0xF6, 0xE6, 0x88,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD8, 0xDC,
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0xB4, 0xB8, 0xB0, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xB3, 0xB7, 0xBB, 0x8E, 0x9E, 0xAE, 0xF1, 0x32, 0xF5,
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0x1B, 0xF1, 0xB4, 0xB8, 0xB0, 0x80, 0x97, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA,
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0x4C, 0xCD, 0x6C, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB2, 0x89, 0x99, 0xA9,
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0x2D, 0x55, 0x7D, 0xB0, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xBA, 0xA3, 0xB4, 0xB2, 0x80, 0xC0,
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0xB8, 0xA8, 0x97, 0x11, 0xB2, 0x83, 0x98, 0xBA, 0xA3, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xB2, 0xB9,
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0xB4, 0x98, 0x83, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xBA, 0xB5, 0xB1, 0xA3, 0x83, 0x93, 0xF0, 0x00, 0x28, 0x50,
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0xF5, 0xB2, 0xB6, 0xAA, 0x83, 0x93, 0x28, 0x54, 0x7C, 0xF1, 0xB9, 0xA3, 0x82, 0x93, 0x61, 0xBA, 0xA2, 0xDA,
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0xDE, 0xDF, 0xDB, 0x81, 0x9A, 0xB9, 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xF1, 0xDA, 0xBA, 0xA2, 0xDF, 0xD9, 0xBA,
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0xA2, 0xFA, 0xB9, 0xA3, 0x82, 0x92, 0xDB, 0x31, 0xBA, 0xA2, 0xD9, 0xBA, 0xA2, 0xF8, 0xDF, 0x85, 0xA4, 0xD0,
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0xC1, 0xBB, 0xAD, 0x83, 0xC2, 0xC5, 0xC7, 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xBA, 0xA0, 0xDF, 0xDF, 0xDF, 0xD8,
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0xD8, 0xF1, 0xB8, 0xAA, 0xB3, 0x8D, 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB2, 0xB6, 0xBA, 0xAF, 0x8C, 0x96, 0x19,
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0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C, 0x54, 0x7C, 0xBA, 0xA4, 0xB0, 0x8A,
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0xB6, 0x91, 0x32, 0x56, 0x76, 0xB2, 0x84, 0x94, 0xA4, 0xC8, 0x08, 0xCD, 0xD8, 0xB8, 0xB4, 0xB0, 0xF1, 0x99,
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0x82, 0xA8, 0x2D, 0x55, 0x7D, 0x98, 0xA8, 0x0E, 0x16, 0x1E, 0xA2, 0x2C, 0x54, 0x7C, 0x92, 0xA4, 0xF0, 0x2C,
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0x50, 0x78, 0xF1, 0x84, 0xA8, 0x98, 0xC4, 0xCD, 0xFC, 0xD8, 0x0D, 0xDB, 0xA8, 0xFC, 0x2D, 0xF3, 0xD9, 0xBA,
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0xA6, 0xF8, 0xDA, 0xBA, 0xA6, 0xDE, 0xD8, 0xBA, 0xB2, 0xB6, 0x86, 0x96, 0xA6, 0xD0, 0xF3, 0xC8, 0x41, 0xDA,
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0xA6, 0xC8, 0xF8, 0xD8, 0xB0, 0xB4, 0xB8, 0x82, 0xA8, 0x92, 0xF5, 0x2C, 0x54, 0x88, 0x98, 0xF1, 0x35, 0xD9,
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0xF4, 0x18, 0xD8, 0xF1, 0xA2, 0xD0, 0xF8, 0xF9, 0xA8, 0x84, 0xD9, 0xC7, 0xDF, 0xF8, 0xF8, 0x83, 0xC5, 0xDA,
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0xDF, 0x69, 0xDF, 0x83, 0xC1, 0xD8, 0xF4, 0x01, 0x14, 0xF1, 0xA8, 0x82, 0x4E, 0xA8, 0x84, 0xF3, 0x11, 0xD1,
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0x82, 0xF5, 0xD9, 0x92, 0x28, 0x97, 0x88, 0xF1, 0x09, 0xF4, 0x1C, 0x1C, 0xD8, 0x84, 0xA8, 0xF3, 0xC0, 0xF9,
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0xD1, 0xD9, 0x97, 0x82, 0xF1, 0x29, 0xF4, 0x0D, 0xD8, 0xF3, 0xF9, 0xF9, 0xD1, 0xD9, 0x82, 0xF4, 0xC2, 0x03,
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0xD8, 0xDE, 0xDF, 0x1A, 0xD8, 0xF1, 0xA2, 0xFA, 0xF9, 0xA8, 0x84, 0x98, 0xD9, 0xC7, 0xDF, 0xF8, 0xF8, 0xF8,
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0x83, 0xC7, 0xDA, 0xDF, 0x69, 0xDF, 0xF8, 0x83, 0xC3, 0xD8, 0xF4, 0x01, 0x14, 0xF1, 0x98, 0xA8, 0x82, 0x2E,
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|
0xA8, 0x84, 0xF3, 0x11, 0xD1, 0x82, 0xF5, 0xD9, 0x92, 0x50, 0x97, 0x88, 0xF1, 0x09, 0xF4, 0x1C, 0xD8, 0x84,
|
|
0xA8, 0xF3, 0xC0, 0xF8, 0xF9, 0xD1, 0xD9, 0x97, 0x82, 0xF1, 0x49, 0xF4, 0x0D, 0xD8, 0xF3, 0xF9, 0xF9, 0xD1,
|
|
0xD9, 0x82, 0xF4, 0xC4, 0x03, 0xD8, 0xDE, 0xDF, 0xD8, 0xF1, 0xAD, 0x88, 0x98, 0xCC, 0xA8, 0x09, 0xF9, 0xD9,
|
|
0x82, 0x92, 0xA8, 0xF5, 0x7C, 0xF1, 0x88, 0x3A, 0xCF, 0x94, 0x4A, 0x6E, 0x98, 0xDB, 0x69, 0x31, 0xDA, 0xAD,
|
|
0xF2, 0xDE, 0xF9, 0xD8, 0x87, 0x95, 0xA8, 0xF2, 0x21, 0xD1, 0xDA, 0xA5, 0xF9, 0xF4, 0x17, 0xD9, 0xF1, 0xAE,
|
|
0x8E, 0xD0, 0xC0, 0xC3, 0xAE, 0x82, 0xC6, 0x84, 0xC3, 0xA8, 0x85, 0x95, 0xC8, 0xA5, 0x88, 0xF2, 0xC0, 0xF1,
|
|
0xF4, 0x01, 0x0E, 0xF1, 0x8E, 0x9E, 0xA8, 0xC6, 0x3E, 0x56, 0xF5, 0x54, 0xF1, 0x88, 0x72, 0xF4, 0x01, 0x15,
|
|
0xF1, 0x98, 0x45, 0x85, 0x6E, 0xF5, 0x8E, 0x9E, 0x04, 0x88, 0xF1, 0x42, 0x98, 0x5A, 0x8E, 0x9E, 0x06, 0x88,
|
|
0x69, 0xF4, 0x01, 0x1C, 0xF1, 0x98, 0x1E, 0x11, 0x08, 0xD0, 0xF5, 0x04, 0xF1, 0x1E, 0x97, 0x02, 0x02, 0x98,
|
|
0x36, 0x25, 0xDB, 0xF9, 0xD9, 0x85, 0xA5, 0xF3, 0xC1, 0xDA, 0x85, 0xA5, 0xF3, 0xDF, 0xD8, 0x85, 0x95, 0xA8,
|
|
0xF3, 0x09, 0xDA, 0xA5, 0xFA, 0xD8, 0x82, 0x92, 0xA8, 0xF5, 0x78, 0xF1, 0x88, 0x1A, 0x84, 0x9F, 0x26, 0x88,
|
|
0x98, 0x21, 0xDA, 0xF4, 0x1D, 0xF3, 0xD8, 0x87, 0x9F, 0x39, 0xD1, 0xAF, 0xD9, 0xDF, 0xDF, 0xFB, 0xF9, 0xF4,
|
|
0x0C, 0xF3, 0xD8, 0xFA, 0xD0, 0xF8, 0xDA, 0xF9, 0xF9, 0xD0, 0xDF, 0xD9, 0xF9, 0xD8, 0xF4, 0x0B, 0xD8, 0xF3,
|
|
0x87, 0x9F, 0x39, 0xD1, 0xAF, 0xD9, 0xDF, 0xDF, 0xF4, 0x1D, 0xF3, 0xD8, 0xFA, 0xFC, 0xA8, 0x69, 0xF9, 0xF9,
|
|
0xAF, 0xD0, 0xDA, 0xDE, 0xFA, 0xD9, 0xF8, 0x8F, 0x9F, 0xA8, 0xF1, 0xCC, 0xF3, 0x98, 0xDB, 0x45, 0xD9, 0xAF,
|
|
0xDF, 0xD0, 0xF8, 0xD8, 0xF1, 0x8F, 0x9F, 0xA8, 0xCA, 0xF3, 0x88, 0x09, 0xDA, 0xAF, 0x8F, 0xCB, 0xF8, 0xD8,
|
|
0xF2, 0xAD, 0x97, 0x8D, 0x0C, 0xD9, 0xA5, 0xDF, 0xF9, 0xBA, 0xA6, 0xF3, 0xFA, 0xF4, 0x12, 0xF2, 0xD8, 0x95,
|
|
0x0D, 0xD1, 0xD9, 0xBA, 0xA6, 0xF3, 0xFA, 0xDA, 0xA5, 0xF2, 0xC1, 0xBA, 0xA6, 0xF3, 0xDF, 0xD8, 0xF1, 0xBA,
|
|
0xB2, 0xB6, 0x86, 0x96, 0xA6, 0xD0, 0xCA, 0xF3, 0x49, 0xDA, 0xA6, 0xCB, 0xF8, 0xD8, 0xB0, 0xB4, 0xB8, 0xD8,
|
|
0xAD, 0x84, 0xF2, 0xC0, 0xDF, 0xF1, 0x8F, 0xCB, 0xC3, 0xA8, 0xB2, 0xB6, 0x86, 0x96, 0xC8, 0xC1, 0xCB, 0xC3,
|
|
0xF3, 0xB0, 0xB4, 0x88, 0x98, 0xA8, 0x21, 0xDB, 0x71, 0x8D, 0x9D, 0x71, 0x85, 0x95, 0x21, 0xD9, 0xAD, 0xF2,
|
|
0xFA, 0xD8, 0x85, 0x97, 0xA8, 0x28, 0xD9, 0xF4, 0x08, 0xD8, 0xF2, 0x8D, 0x29, 0xDA, 0xF4, 0x05, 0xD9, 0xF2,
|
|
0x85, 0xA4, 0xC2, 0xF2, 0xD8, 0xA8, 0x8D, 0x94, 0x01, 0xD1, 0xD9, 0xF4, 0x11, 0xF2, 0xD8, 0x87, 0x21, 0xD8,
|
|
0xF4, 0x0A, 0xD8, 0xF2, 0x84, 0x98, 0xA8, 0xC8, 0x01, 0xD1, 0xD9, 0xF4, 0x11, 0xD8, 0xF3, 0xA4, 0xC8, 0xBB,
|
|
0xAF, 0xD0, 0xF2, 0xDE, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xD8, 0xF1, 0xB8, 0xF6, 0xB5, 0xB9,
|
|
0xB0, 0x8A, 0x95, 0xA3, 0xDE, 0x3C, 0xA3, 0xD9, 0xF8, 0xD8, 0x5C, 0xA3, 0xD9, 0xF8, 0xD8, 0x7C, 0xA3, 0xD9,
|
|
0xF8, 0xD8, 0xF8, 0xF9, 0xD1, 0xA5, 0xD9, 0xDF, 0xDA, 0xFA, 0xD8, 0xB1, 0x85, 0x30, 0xF7, 0xD9, 0xDE, 0xD8,
|
|
0xF8, 0x30, 0xAD, 0xDA, 0xDE, 0xD8, 0xF2, 0xB4, 0x8C, 0x99, 0xA3, 0x2D, 0x55, 0x7D, 0xA0, 0x83, 0xDF, 0xDF,
|
|
0xDF, 0xB5, 0x91, 0xA0, 0xF6, 0x29, 0xD9, 0xFB, 0xD8, 0xA0, 0xFC, 0x29, 0xD9, 0xFA, 0xD8, 0xA0, 0xD0, 0x51,
|
|
0xD9, 0xF8, 0xD8, 0xFC, 0x51, 0xD9, 0xF9, 0xD8, 0x79, 0xD9, 0xFB, 0xD8, 0xA0, 0xD0, 0xFC, 0x79, 0xD9, 0xFA,
|
|
0xD8, 0xA1, 0xF9, 0xF9, 0xF9, 0xF9, 0xF9, 0xA0, 0xDA, 0xDF, 0xDF, 0xDF, 0xD8, 0xA1, 0xF8, 0xF8, 0xF8, 0xF8,
|
|
0xF8, 0xAC, 0xDE, 0xF8, 0xAD, 0xDE, 0x83, 0x93, 0xAC, 0x2C, 0x54, 0x7C, 0xF1, 0xA8, 0xDF, 0xDF, 0xDF, 0xF6,
|
|
0x9D, 0x2C, 0xDA, 0xA0, 0xDF, 0xD9, 0xFA, 0xDB, 0x2D, 0xF8, 0xD8, 0xA8, 0x50, 0xDA, 0xA0, 0xD0, 0xDE, 0xD9,
|
|
0xD0, 0xF8, 0xF8, 0xF8, 0xDB, 0x55, 0xF8, 0xD8, 0xA8, 0x78, 0xDA, 0xA0, 0xD0, 0xDF, 0xD9, 0xD0, 0xFA, 0xF8,
|
|
0xF8, 0xF8, 0xF8, 0xDB, 0x7D, 0xF8, 0xD8, 0x9C, 0xA8, 0x8C, 0xF5, 0x30, 0xDB, 0x38, 0xD9, 0xD0, 0xDE, 0xDF,
|
|
0xA0, 0xD0, 0xDE, 0xDF, 0xD8, 0xA8, 0x48, 0xDB, 0x58, 0xD9, 0xDF, 0xD0, 0xDE, 0xA0, 0xDF, 0xD0, 0xDE, 0xD8,
|
|
0xA8, 0x68, 0xDB, 0x70, 0xD9, 0xDF, 0xDF, 0xA0, 0xDF, 0xDF, 0xD8, 0xF1, 0xA8, 0x88, 0x90, 0x2C, 0x54, 0x7C,
|
|
0x98, 0xA8, 0xD0, 0x5C, 0x38, 0xD1, 0xDA, 0xF2, 0xAE, 0x8C, 0xDF, 0xF9, 0xD8, 0xB0, 0x87, 0xA8, 0xC1, 0xC1,
|
|
0xB1, 0x88, 0xA8, 0xC6, 0xF9, 0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36,
|
|
0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xF7, 0x8D, 0x9D, 0xAD, 0xF8, 0x18, 0xDA,
|
|
0xF2, 0xAE, 0xDF, 0xD8, 0xF7, 0xAD, 0xFA, 0x30, 0xD9, 0xA4, 0xDE, 0xF9, 0xD8, 0xF2, 0xAE, 0xDE, 0xFA, 0xF9,
|
|
0x83, 0xA7, 0xD9, 0xC3, 0xC5, 0xC7, 0xF1, 0x88, 0x9B, 0xA7, 0x7A, 0xAD, 0xF7, 0xDE, 0xDF, 0xA4, 0xF8, 0x84,
|
|
0x94, 0x08, 0xA7, 0x97, 0xF3, 0x00, 0xAE, 0xF2, 0x98, 0x19, 0xA4, 0x88, 0xC6, 0xA3, 0x94, 0x88, 0xF6, 0x32,
|
|
0xDF, 0xF2, 0x83, 0x93, 0xDB, 0x09, 0xD9, 0xF2, 0xAA, 0xDF, 0xD8, 0xD8, 0xAE, 0xF8, 0xF9, 0xD1, 0xDA, 0xF3,
|
|
0xA4, 0xDE, 0xA7, 0xF1, 0x88, 0x9B, 0x7A, 0xD8, 0xF3, 0x84, 0x94, 0xAE, 0x19, 0xF9, 0xDA, 0xAA, 0xF1, 0xDF,
|
|
0xD8, 0xA8, 0x81, 0xC0, 0xC3, 0xC5, 0xC7, 0xA3, 0x92, 0x83, 0xF6, 0x28, 0xAD, 0xDE, 0xD9, 0xF8, 0xD8, 0xA3,
|
|
0x50, 0xAD, 0xD9, 0xF8, 0xD8, 0xA3, 0x78, 0xAD, 0xD9, 0xF8, 0xD8, 0xF8, 0xF9, 0xD1, 0xA1, 0xDA, 0xDE, 0xC3,
|
|
0xC5, 0xC7, 0xD8, 0xA1, 0x81, 0x94, 0xF8, 0x18, 0xF2, 0xB0, 0x89, 0xAC, 0xC3, 0xC5, 0xC7, 0xF1, 0xD8, 0xB8,
|
|
0xB4, 0xB0, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20,
|
|
0x14, 0x40, 0xB0, 0xB4, 0xB8, 0xF0, 0xA8, 0x8A, 0x9A, 0x28, 0x50, 0x78, 0xB7, 0x9B, 0xA8, 0x29, 0x51, 0x79,
|
|
0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xF1, 0xBB, 0xAB, 0x88, 0x00, 0x2C, 0x54, 0x7C, 0xF0,
|
|
0xB3, 0x8B, 0xB8, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0xB0, 0x88, 0xB4, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xBB,
|
|
0xAB, 0xB3, 0x8B, 0x02, 0x26, 0x46, 0x66, 0xB0, 0xB8, 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, 0x88, 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,
|
|
0xD8, 0xB1, 0xB5, 0xB9, 0xA3, 0xDF, 0xDF, 0xDF, 0xAE, 0xD0, 0xDF, 0xAA, 0xD0, 0xDE, 0xF2, 0xAB, 0xF8, 0xF9,
|
|
0xD9, 0xB0, 0x87, 0xC4, 0xAA, 0xF1, 0xDF, 0xDF, 0xBB, 0xAF, 0xDF, 0xDF, 0xB9, 0xD8, 0xB1, 0xF1, 0xA3, 0x97,
|
|
0x8E, 0x60, 0xDF, 0xB0, 0x84, 0xF2, 0xC8, 0xF8, 0xF9, 0xD9, 0xDE, 0xD8, 0x93, 0x85, 0xF1, 0x4A, 0xB1, 0x83,
|
|
0xA3, 0x08, 0xB5, 0x83, 0x9A, 0x08, 0x10, 0xB7, 0x9F, 0x10, 0xD8, 0xF1, 0xB0, 0xBA, 0xAE, 0xB0, 0x8A, 0xC2,
|
|
0xB2, 0xB6, 0x8E, 0x9E, 0xF1, 0xFB, 0xD9, 0xF4, 0x1D, 0xD8, 0xF9, 0xD9, 0x0C, 0xF1, 0xD8, 0xF8, 0xF8, 0xAD,
|
|
0x61, 0xD9, 0xAE, 0xFB, 0xD8, 0xF4, 0x0C, 0xF1, 0xD8, 0xF8, 0xF8, 0xAD, 0x19, 0xD9, 0xAE, 0xFB, 0xDF, 0xD8,
|
|
0xF4, 0x16, 0xF1, 0xD8, 0xF8, 0xAD, 0x8D, 0x61, 0xD9, 0xF4, 0xF4, 0xAC, 0xF5, 0x9C, 0x9C, 0x8D, 0xDF, 0x2B,
|
|
0xBA, 0xB6, 0xAE, 0xFA, 0xF8, 0xF4, 0x0B, 0xD8, 0xF1, 0xAE, 0xD0, 0xF8, 0xAD, 0x51, 0xDA, 0xAE, 0xFA, 0xF8,
|
|
0xF1, 0xD8, 0xB9, 0xB1, 0xB6, 0xA3, 0x83, 0x9C, 0x08, 0xB9, 0xB1, 0x83, 0x9A, 0xB5, 0xAA, 0xC0, 0xFD, 0x30,
|
|
0x83, 0xB7, 0x9F, 0x10, 0xB5, 0x8B, 0x93, 0xF2, 0x02, 0x02, 0xD1, 0xAB, 0xDA, 0xDE, 0xD8, 0xF1, 0xB0, 0x80,
|
|
0xBA, 0xAB, 0xC0, 0xC3, 0xB2, 0x84, 0xC1, 0xC3, 0xD8, 0xB1, 0xB9, 0xF3, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4,
|
|
0xD9, 0xAB, 0xDE, 0xB0, 0x87, 0x9C, 0xB9, 0xA3, 0xDD, 0xF1, 0xB3, 0x8B, 0x8B, 0x8B, 0x8B, 0x8B, 0xB0, 0x87,
|
|
0x20, 0x28, 0x30, 0x38, 0xB2, 0x8B, 0xB6, 0x9B, 0xF2, 0xA3, 0xC0, 0xC8, 0xC2, 0xC4, 0xCC, 0xC6, 0xA3, 0xA3,
|
|
0xA3, 0xF1, 0xB0, 0x87, 0xB5, 0x9A, 0xD8, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC, 0xBA, 0xAC, 0xDF, 0xB9, 0xA3, 0xFE,
|
|
0xF2, 0xAB, 0xC4, 0xAA, 0xF1, 0xDF, 0xDF, 0xBB, 0xAF, 0xDF, 0xDF, 0xA3, 0xA3, 0xA3, 0xD8, 0xD8, 0xD8, 0xBB,
|
|
0xB3, 0xB7, 0xF1, 0xAA, 0xF9, 0xDA, 0xFF, 0xD9, 0x80, 0x9A, 0xAA, 0x28, 0xB4, 0x80, 0x98, 0xA7, 0x20, 0xB7,
|
|
0x97, 0x87, 0xA8, 0x66, 0x88, 0xF0, 0x79, 0x51, 0xF1, 0x90, 0x2C, 0x87, 0x0C, 0xA7, 0x81, 0x97, 0x62, 0x93,
|
|
0xF0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xA5, 0xF1, 0x28, 0x4C, 0x6C, 0x87, 0x0C,
|
|
0x95, 0x18, 0x85, 0x78, 0xA3, 0x83, 0x90, 0x28, 0x4C, 0x6C, 0x88, 0x6C, 0xD8, 0xF3, 0xA2, 0x82, 0x00, 0xF2,
|
|
0x10, 0xA8, 0x92, 0x19, 0x80, 0xA2, 0xF2, 0xD9, 0x26, 0xD8, 0xF1, 0x88, 0xA8, 0x4D, 0xD9, 0x48, 0xD8, 0x96,
|
|
0xA8, 0x39, 0x80, 0xD9, 0x3C, 0xD8, 0x95, 0x80, 0xA8, 0x39, 0xA6, 0x86, 0x98, 0xD9, 0x2C, 0xDA, 0x87, 0xA7,
|
|
0x2C, 0xD8, 0xA8, 0x89, 0x95, 0x19, 0xA9, 0x80, 0xD9, 0x38, 0xD8, 0xA8, 0x89, 0x39, 0xA9, 0x80, 0xDA, 0x3C,
|
|
0xD8, 0xA8, 0x2E, 0xA8, 0x39, 0x90, 0xD9, 0x0C, 0xD8, 0xA8, 0x95, 0x31, 0x98, 0xD9, 0x0C, 0xD8, 0xA8, 0x09,
|
|
0xD9, 0xFF, 0xD8, 0x01, 0xDA, 0xFF, 0xD8, 0x95, 0x39, 0xA9, 0xDA, 0x26, 0xFF, 0xD8, 0x90, 0xA8, 0x0D, 0x89,
|
|
0x99, 0xA8, 0x10, 0x80, 0x98, 0x21, 0xDA, 0x2E, 0xD8, 0x89, 0x99, 0xA8, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8,
|
|
0x86, 0x96, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x87, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x82, 0x92, 0xF3,
|
|
0x41, 0x80, 0xF1, 0xD9, 0x2E, 0xD8, 0xA8, 0x82, 0xF3, 0x19, 0x80, 0xF1, 0xD9, 0x2E, 0xD8, 0x82, 0xAC, 0xF3,
|
|
0xC0, 0xA2, 0x80, 0x22, 0xF1, 0xA6, 0x2E, 0xA7, 0x2E, 0xA9, 0x22, 0x98, 0xA8, 0x29, 0xDA, 0xAC, 0xDE, 0xFF,
|
|
0xD8, 0xA2, 0xF2, 0x2A, 0xF1, 0xA9, 0x2E, 0x82, 0x92, 0xA8, 0xF2, 0x31, 0x80, 0xA6, 0x96, 0xF1, 0xD9, 0x00,
|
|
0xAC, 0x8C, 0x9C, 0x0C, 0x30, 0xAC, 0xDE, 0xD0, 0xDE, 0xFF, 0xD8, 0x8C, 0x9C, 0xAC, 0xD0, 0x10, 0xAC, 0xDE,
|
|
0x80, 0x92, 0xA2, 0xF2, 0x4C, 0x82, 0xA8, 0xF1, 0xCA, 0xF2, 0x35, 0xF1, 0x96, 0x88, 0xA6, 0xD9, 0x00, 0xD8,
|
|
0xF1, 0xFF};
|
|
|
|
void writeReg(uint8_t reg, uint8_t val) { I2CBus::instance().writeReg(_addr, reg, &val, 1); }
|
|
|
|
uint8_t readReg(uint8_t reg) {
|
|
uint8_t val = 0;
|
|
I2CBus::instance().readReg(_addr, reg, &val, 1);
|
|
return val;
|
|
}
|
|
|
|
void writeBit(uint8_t reg, uint8_t bit, uint8_t val) {
|
|
uint8_t b = readReg(reg);
|
|
b = val ? (b | (1 << bit)) : (b & ~(1 << bit));
|
|
writeReg(reg, b);
|
|
}
|
|
|
|
void writeBits(uint8_t reg, uint8_t startBit, uint8_t len, uint8_t val) {
|
|
uint8_t b = readReg(reg);
|
|
uint8_t mask = ((1 << len) - 1) << (startBit - len + 1);
|
|
val <<= (startBit - len + 1);
|
|
b = (b & ~mask) | (val & mask);
|
|
writeReg(reg, b);
|
|
}
|
|
|
|
void setDMPEnabled(bool enabled) { writeBit(REG_USER_CTRL, 7, enabled ? 1 : 0); }
|
|
|
|
uint16_t getFIFOCount() {
|
|
uint8_t buf[2];
|
|
I2CBus::instance().readReg(_addr, REG_FIFO_COUNT_H, buf, 2);
|
|
return (buf[0] << 8) | buf[1];
|
|
}
|
|
|
|
void resetFIFO() { writeBit(REG_USER_CTRL, 2, 1); }
|
|
|
|
void setMemoryBank(uint8_t bank) { writeReg(REG_BANK_SEL, bank & 0x1F); }
|
|
|
|
void setMemoryStartAddress(uint8_t address) { writeReg(REG_MEM_START_ADDR, address); }
|
|
|
|
bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address) {
|
|
uint8_t chunkSize;
|
|
uint16_t i = 0;
|
|
|
|
setMemoryBank(bank);
|
|
setMemoryStartAddress(address);
|
|
|
|
while (i < dataSize) {
|
|
chunkSize = 16;
|
|
if (i + chunkSize > dataSize) chunkSize = dataSize - i;
|
|
if (address + chunkSize > 256) chunkSize = 256 - address;
|
|
|
|
I2CBus::instance().writeReg(_addr, REG_MEM_R_W, data + i, chunkSize);
|
|
|
|
i += chunkSize;
|
|
address += chunkSize;
|
|
|
|
if (address == 0 || address >= 256) {
|
|
address = 0;
|
|
bank++;
|
|
setMemoryBank(bank);
|
|
}
|
|
|
|
if (address > 0) {
|
|
setMemoryStartAddress(address);
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
int dmpInitialize() {
|
|
writeBit(REG_PWR_MGMT_1, 7, 1);
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
writeBits(REG_USER_CTRL, 2, 3, 0b111);
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
writeReg(REG_PWR_MGMT_1, 0x01);
|
|
writeReg(REG_INT_ENABLE, 0x00);
|
|
writeReg(REG_FIFO_EN, 0x00);
|
|
writeReg(REG_ACCEL_CONFIG, 0x00);
|
|
writeReg(REG_INT_PIN_CFG, 0x82);
|
|
writeReg(REG_PWR_MGMT_1, 0x01);
|
|
writeReg(REG_SMPLRT_DIV, 0x04);
|
|
writeReg(REG_CONFIG, 0x01);
|
|
|
|
if (!writeMemoryBlock(dmpMemory, DMP_CODE_SIZE, 0, 0)) return 1;
|
|
|
|
uint8_t verify[2];
|
|
setMemoryBank(0);
|
|
setMemoryStartAddress(0);
|
|
I2CBus::instance().readReg(_addr, REG_MEM_R_W, verify, 2);
|
|
if (verify[0] != 0x00 || verify[1] != 0xF8) return 2;
|
|
|
|
uint8_t dmpStart[2] = {0x04, 0x00};
|
|
I2CBus::instance().writeReg(_addr, REG_DMP_CFG_1, dmpStart, 2);
|
|
|
|
writeReg(REG_GYRO_CONFIG, 0x18);
|
|
writeReg(REG_USER_CTRL, 0xC0);
|
|
writeReg(REG_INT_ENABLE, 0x02);
|
|
resetFIFO();
|
|
|
|
setDMPEnabled(false);
|
|
|
|
return 0;
|
|
}
|
|
|
|
bool dmpGetCurrentFIFOPacket(uint8_t* data) {
|
|
int16_t fifoC = getFIFOCount();
|
|
|
|
if (fifoC > 200) {
|
|
resetFIFO();
|
|
uint32_t start = xTaskGetTickCount();
|
|
fifoC = 0;
|
|
while (!fifoC && (xTaskGetTickCount() - start) < pdMS_TO_TICKS(100)) {
|
|
vTaskDelay(pdMS_TO_TICKS(2));
|
|
fifoC = getFIFOCount();
|
|
}
|
|
} else if (fifoC > DMP_PACKET_SIZE) {
|
|
uint8_t trash[32];
|
|
while ((fifoC = getFIFOCount()) > DMP_PACKET_SIZE) {
|
|
uint16_t toRemove = fifoC - DMP_PACKET_SIZE;
|
|
while (toRemove > 0) {
|
|
uint8_t chunk = (toRemove < 32) ? toRemove : 32;
|
|
I2CBus::instance().readReg(_addr, REG_FIFO_R_W, trash, chunk);
|
|
toRemove -= chunk;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!fifoC) return false;
|
|
if (fifoC != DMP_PACKET_SIZE) return false;
|
|
|
|
I2CBus::instance().readReg(_addr, REG_FIFO_R_W, data, DMP_PACKET_SIZE);
|
|
return true;
|
|
}
|
|
|
|
void dmpGetQuaternion(float* q, const uint8_t* packet) {
|
|
int16_t qI[4];
|
|
qI[0] = (packet[0] << 8) | packet[1];
|
|
qI[1] = (packet[4] << 8) | packet[5];
|
|
qI[2] = (packet[8] << 8) | packet[9];
|
|
qI[3] = (packet[12] << 8) | packet[13];
|
|
q[0] = qI[0] / 16384.0f;
|
|
q[1] = qI[1] / 16384.0f;
|
|
q[2] = qI[2] / 16384.0f;
|
|
q[3] = qI[3] / 16384.0f;
|
|
}
|
|
|
|
void dmpGetGravity(float* g, const float* q) {
|
|
g[0] = 2.0f * (q[1] * q[3] - q[0] * q[2]);
|
|
g[1] = 2.0f * (q[0] * q[1] + q[2] * q[3]);
|
|
g[2] = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
|
|
}
|
|
|
|
void dmpGetYawPitchRoll(float* ypr, const float* q, const float* gravity) {
|
|
ypr[0] = atan2f(2.0f * q[1] * q[2] - 2.0f * q[0] * q[3], 2.0f * q[0] * q[0] + 2.0f * q[1] * q[1] - 1.0f);
|
|
ypr[1] = atan2f(gravity[0], sqrtf(gravity[1] * gravity[1] + gravity[2] * gravity[2]));
|
|
ypr[2] = atan2f(gravity[1], gravity[2]);
|
|
if (gravity[2] < 0) {
|
|
if (ypr[1] > 0) {
|
|
ypr[1] = M_PI - ypr[1];
|
|
} else {
|
|
ypr[1] = -M_PI - ypr[1];
|
|
}
|
|
}
|
|
}
|
|
|
|
void CalibrateGyro(int loops) {
|
|
float kP = 0.3f;
|
|
float kI = 90.0f;
|
|
float x = (100.0f - (loops < 1 ? 20 : (loops > 5 ? 0 : 20 - (loops - 1) * 5))) * 0.01f;
|
|
kP *= x;
|
|
kI *= x;
|
|
PID(REG_GYRO_XOUT_H, kP, kI, loops);
|
|
}
|
|
|
|
void CalibrateAccel(int loops) {
|
|
float kP = 0.3f;
|
|
float kI = 20.0f;
|
|
float x = (100.0f - (loops < 1 ? 20 : (loops > 5 ? 0 : 20 - (loops - 1) * 5))) * 0.01f;
|
|
kP *= x;
|
|
kI *= x;
|
|
PID(REG_ACCEL_XOUT_H, kP, kI, loops);
|
|
}
|
|
|
|
void PID(uint8_t readAddr, float kP, float kI, int loops) {
|
|
uint8_t saveAddr = (readAddr == REG_ACCEL_XOUT_H) ? REG_XA_OFFS_H : REG_XG_OFFS_USRH;
|
|
uint8_t shift = (readAddr == REG_ACCEL_XOUT_H) ? 2 : 2;
|
|
|
|
int16_t data;
|
|
float reading;
|
|
int16_t bitZero[3] = {0, 0, 0};
|
|
float iTerm[3] = {0, 0, 0};
|
|
int16_t gravity = 16384;
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
uint8_t buf[2];
|
|
I2CBus::instance().readReg(_addr, saveAddr + (i * shift), buf, 2);
|
|
data = (buf[0] << 8) | buf[1];
|
|
reading = data;
|
|
if (readAddr == REG_ACCEL_XOUT_H) {
|
|
bitZero[i] = data & 1;
|
|
iTerm[i] = reading * 8.0f;
|
|
} else {
|
|
iTerm[i] = reading * 4.0f;
|
|
}
|
|
}
|
|
|
|
for (int l = 0; l < loops; l++) {
|
|
for (int c = 0; c < 100; c++) {
|
|
for (int i = 0; i < 3; i++) {
|
|
uint8_t buf[2];
|
|
I2CBus::instance().readReg(_addr, readAddr + (i * 2), buf, 2);
|
|
data = (buf[0] << 8) | buf[1];
|
|
reading = data;
|
|
|
|
if (readAddr == REG_ACCEL_XOUT_H && i == 2) reading -= gravity;
|
|
|
|
float error = -reading;
|
|
float pTerm = kP * error;
|
|
iTerm[i] += (error * 0.001f) * kI;
|
|
|
|
if (readAddr == REG_ACCEL_XOUT_H) {
|
|
data = (int16_t)roundf((pTerm + iTerm[i]) / 8.0f);
|
|
data = (data & 0xFFFE) | bitZero[i];
|
|
} else {
|
|
data = (int16_t)roundf((pTerm + iTerm[i]) / 4.0f);
|
|
}
|
|
|
|
uint8_t outBuf[2] = {(uint8_t)(data >> 8), (uint8_t)(data & 0xFF)};
|
|
I2CBus::instance().writeReg(_addr, saveAddr + (i * shift), outBuf, 2);
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1));
|
|
}
|
|
kP *= 0.75f;
|
|
kI *= 0.75f;
|
|
}
|
|
}
|
|
|
|
uint8_t _addr;
|
|
bool _initialized = false;
|
|
uint8_t _fifoBuffer[DMP_PACKET_SIZE];
|
|
float _gravity[3] = {0};
|
|
float _rpy[3] = {0};
|
|
float _temp = 0;
|
|
};
|