diff --git a/examples/pmw3389.rs b/examples/pmw3389.rs
index 572479dca79321f097bdb6f34f4433a93295adfb..746cf156cfe2d7dd194ed3d5c80ac8235ef33d81 100644
--- a/examples/pmw3389.rs
+++ b/examples/pmw3389.rs
@@ -3,12 +3,23 @@
#![no_main]
#![no_std]
-// use cortex_m::{iprintln, peripheral::DWT};
use embedded_hal::spi::MODE_3;
-// use cortex_m_semihosting::hprintln;
-use panic_halt as _;
-// use rtic::cyccnt::{Instant, U32Ext as _};
-use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
+use panic_rtt_target as _;
+
+use rtic::cyccnt::{Instant, U32Ext as _};
+use stm32f4xx_hal::{
+ dwt::Dwt,
+ gpio::Speed,
+ gpio::{
+ gpiob::{PB10, PB4},
+ gpioc::{PC2, PC3},
+ Alternate, Output, PushPull,
+ },
+ prelude::*,
+ rcc::Clocks,
+ spi::Spi,
+ stm32,
+};
use app::{
pmw3389::{self, Register},
@@ -16,35 +27,41 @@ use app::{
};
use rtt_target::{rprintln, rtt_init_print};
+type PMW3389T = pmw3389::Pmw3389<
+ Spi<
+ stm32f4xx_hal::stm32::SPI2,
+ (
+ PB10<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ PC2<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ PC3<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ ),
+ >,
+ PB4<Output<PushPull>>,
+>;
+
#[rtic::app(device = stm32f4xx_hal::stm32, monotonic = rtic::cyccnt::CYCCNT, peripherals = true)]
const APP: () = {
struct Resources {
// late resources
- GPIOA: stm32::GPIOA,
+ pmw3389: PMW3389T,
}
- #[init(schedule = [toggle])]
+ #[init(schedule = [poll])]
fn init(cx: init::Context) -> init::LateResources {
rtt_init_print!();
+ rprintln!("init");
let mut core = cx.core;
let device = cx.device;
- // Configure led:
- // power on GPIOA, RM0368 6.3.11
- device.RCC.ahb1enr.modify(|_, w| w.gpioaen().set_bit());
- // configure PA5 as output, RM0368 8.4.1
- device.GPIOA.moder.modify(|_, w| w.moder5().bits(1));
+ // Initialize (enable) the monotonic timer (CYCCNT)
+ core.DCB.enable_trace();
+ core.DWT.enable_cycle_counter();
// setup clocks
let rcc = device.RCC.constrain();
-
let clocks = rcc.cfgr.freeze();
-
- rprintln!("------------");
- rprintln!("pmw3389");
-
- // Initialize (enable) the monotonic timer (CYCCNT)
- core.DCB.enable_trace();
+ rprintln!("clocks:");
+ rprintln!("hclk {}", clocks.hclk().0);
// Configure SPI
// spi2
@@ -64,812 +81,74 @@ const APP: () = {
let miso = gpioc.pc2.into_alternate_af5();
let mosi = gpioc.pc3.into_alternate_af5();
let cs = gpiob.pb4.into_push_pull_output().set_speed(Speed::High);
- // let cs = gpiob.pb4.into_push_pull_output();
let spi = Spi::spi2(
device.SPI2,
(sck, miso, mosi),
MODE_3,
- stm32f4xx_hal::time::KiloHertz(1000).into(),
+ stm32f4xx_hal::time::KiloHertz(2000).into(),
clocks,
);
let mut delay = DwtDelay::new(&mut core.DWT, clocks);
- rprintln!("clocks:");
- rprintln!("hclk {}", clocks.hclk().0);
-
- // test the delay
- let t1 = stm32::DWT::get_cycle_count();
- delay.delay_us(1000);
- let t2 = stm32::DWT::get_cycle_count();
-
- rprintln!("1000us {}", t2.wrapping_sub(t1));
-
- let t1 = stm32::DWT::get_cycle_count();
- delay.delay_ms(1000);
- let t2 = stm32::DWT::get_cycle_count();
-
- rprintln!("1000ms {}", t2.wrapping_sub(t1));
-
let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay).unwrap();
- let mut delay = DwtDelay::new(&mut core.DWT, clocks);
-
- // loop {
- // pmw3389.write_register(Register::Motion, 0x01).ok();
-
- // let motion = pmw3389.read_register(Register::Motion).unwrap();
- // let xl = pmw3389.read_register(Register::DeltaXL).unwrap();
- // let xh = pmw3389.read_register(Register::DeltaXH).unwrap();
- // let yl = pmw3389.read_register(Register::DeltaYL).unwrap();
- // let yh = pmw3389.read_register(Register::DeltaYH).unwrap();
-
- // let x = (xl as u16 + (xh as u16) << 8) as i16;
- // let y = (yl as u16 + (yh as u16) << 8) as i16;
-
- // let surface = motion & 0x08;
- // let motion_detect = motion & 0x80;
-
- // rprintln!(
- // "motion {}, surface {}, (x, y) {:?}",
- // motion_detect,
- // surface,
- // (x, y),
- // );
- // delay.delay_ms(200);
- // }
-
// set in burst mode
pmw3389.write_register(Register::MotionBurst, 0x00);
- loop {
- pmw3389.read_status().unwrap();
- delay.delay_ms(200);
- }
-
- let id = pmw3389.product_id().unwrap();
- rprintln!("id {}", id);
-
- let id = pmw3389
- .read_register(pmw3389::Register::RevisionId)
- .unwrap();
- rprintln!("rev {}", id);
-
- let id = pmw3389
- .read_register(pmw3389::Register::ShutterLower)
- .unwrap();
- rprintln!("lower {}", id);
-
- let id = pmw3389
- .read_register(pmw3389::Register::ShutterUpper)
- .unwrap();
- rprintln!("upper {}", id);
-
- let id = pmw3389.read_register(pmw3389::Register::SROMId).unwrap();
- rprintln!("sromid {}", id);
-
- let id = pmw3389
- .read_register(pmw3389::Register::InverseProductID)
- .unwrap();
- rprintln!("-id {}", id);
-
- let id = pmw3389
- .read_register(pmw3389::Register::RippleControl)
- .unwrap();
- rprintln!("ripple_control {:x}", id);
-
// semantically, the monotonic timer is frozen at time "zero" during `init`
// NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
- // let now = cx.start; // the start time of the system
+ let now = cx.start; // the start time of the system
- // Schedule `toggle` to run 8e6 cycles (clock cycles) in the future
- // cx.schedule.toggle(now + 8_000_000.cycles()).unwrap();
+ cx.schedule.poll(now + 16_000.cycles()).unwrap();
// pass on late resources
- init::LateResources {
- GPIOA: device.GPIOA,
- }
+ init::LateResources { pmw3389 }
}
- #[task(resources = [GPIOA], schedule = [toggle])]
- fn toggle(cx: toggle::Context) {
- static mut TOGGLE: bool = false;
- rprintln!("toggle @ {:?}", Instant::now());
+ #[task(priority = 2, resources = [pmw3389], schedule = [poll], spawn = [trace])]
+ fn poll(cx: poll::Context) {
+ static mut COUNTER: u32 = 0;
+ static mut POS_X: i64 = 0;
- if *TOGGLE {
- cx.resources.GPIOA.bsrr.write(|w| w.bs5().set_bit());
- } else {
- cx.resources.GPIOA.bsrr.write(|w| w.br5().set_bit());
+ *COUNTER += 1;
+ if *COUNTER == 1000 / RATIO {
+ cx.spawn.trace(*POS_X).unwrap();
+ *COUNTER = 0;
}
- *TOGGLE = !*TOGGLE;
+ let (x, _y) = cx.resources.pmw3389.read_status().unwrap();
+ *POS_X += x as i64;
+
+ // task should run each second N ms (16_000 cycles at 16MHz)
cx.schedule
- .toggle(cx.scheduled + 8_000_000.cycles())
+ .poll(cx.scheduled + (RATIO * 16_000).cycles())
.unwrap();
}
+ #[task(priority = 1)]
+ fn trace(_cx: trace::Context, pos: i64) {
+ static mut OLD_POS: i64 = 0;
+ rprintln!(
+ "pos_x {:010}, diff {:010} @{:?}",
+ pos,
+ pos - *OLD_POS,
+ Instant::now()
+ );
+ *OLD_POS = pos;
+ }
+
+ #[idle]
+ fn idle(_cx: idle::Context) -> ! {
+ loop {
+ continue;
+ }
+ }
+
extern "C" {
fn EXTI0();
+ fn EXTI1();
}
};
-// mod pmw3389 {
-// use super::DwtDelay;
-
-// use cortex_m::{iprint, iprintln};
-// use embedded_hal::blocking::spi::{Transfer, Write};
-// use embedded_hal::digital::v2::OutputPin;
-// use stm32f4xx_hal::{prelude::*, stm32};
-// // use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
-
-// #[allow(dead_code)]
-// #[derive(Clone, Copy)]
-// pub enum Register {
-// ProductId = 0x00,
-// RevisionId = 0x01,
-// Motion = 0x02,
-// DeltaXL = 0x03,
-// DeltaXH = 0x04,
-// DeltaYL = 0x05,
-// DeltaYH = 0x06,
-// SQUAL = 0x07,
-// RawDataSum = 0x08,
-// MaximumRawdata = 0x09,
-// MinimumRawdata = 0x0A,
-// ShutterLower = 0x0B,
-// ShutterUpper = 0x0C,
-// RippleControl = 0x0D,
-// ResolutionL = 0x0E,
-// ResolutionH = 0x0F,
-// Config2 = 0x10,
-// AngleTune = 0x11,
-// FrameCapture = 0x12,
-// SROMEnable = 0x13,
-// RunDownshift = 0x14,
-// Rest1RateLower = 0x15,
-// Rest1RateUpper = 0x16,
-// Rest1Downshift = 0x17,
-// Rest2RateLower = 0x18,
-// Rest2RateUpper = 0x19,
-// Rest2Downshift = 0x1A,
-// Rest3RateLower = 0x1B,
-// Rest3RateUpper = 0x1C,
-// Observation = 0x24,
-// DataOutLower = 0x25,
-// DataOutUpper = 0x26,
-// RawDataDump = 0x29,
-// SROMId = 0x2A,
-// MinSQRun = 0x2B,
-// RawDataThreshold = 0x2C,
-// Control2 = 0x2D,
-// Config5L = 0x2E,
-// Config5H = 0x2F,
-// PowerUpReset = 0x3A,
-// Shutdown = 0x3B,
-// InverseProductID = 0x3F,
-// LiftCutoffTune3 = 0x41,
-// AngleSnap = 0x42,
-// LiftCutoffTune1 = 0x4A,
-// MotionBurst = 0x50,
-// LiftCutoffTune1Timeout = 0x58,
-// LiftCutoffTune1MinLength = 0x5A,
-// SROMLoadBurst = 0x62,
-// LiftConfig = 0x63,
-// RawDataBurst = 0x64,
-// LiftCutoffTune2 = 0x65,
-// LiftCutoffTune2Timeout = 0x71,
-// LiftCutoffTune2MinLength = 0x72,
-// PWMPeriodCnt = 0x73,
-// PWMWidthCnt = 0x74,
-// }
-
-// impl Register {
-// fn addr(self) -> u8 {
-// self as u8
-// }
-// }
-
-// pub struct Pmw3389<SPI, CS> {
-// spi: SPI,
-// cs: CS,
-// delay: DwtDelay,
-// }
-
-// impl<SPI, CS, E> Pmw3389<SPI, CS>
-// where
-// SPI: Transfer<u8, Error = E> + Write<u8, Error = E>,
-// CS: OutputPin,
-// {
-// fn com_begin(&mut self) {
-// self.cs.set_low().ok();
-// }
-
-// fn com_end(&mut self) {
-// self.cs.set_high().ok();
-// }
-
-// /// Creates a new driver from a SPI peripheral and a NCS pin
-// pub fn new(spi: SPI, cs: CS, delay: DwtDelay, itm: &mut stm32::ITM) -> Result<Self, E> {
-// let mut pmw3389 = Pmw3389 { spi, cs, delay };
-
-// iprintln!(&mut itm.stim[0], "pmw3389 - new");
-
-// // ensure SPI is reset
-// pmw3389.com_end();
-// pmw3389.delay.delay_us(40);
-// pmw3389.com_begin();
-// pmw3389.delay.delay_us(40);
-// pmw3389.com_end();
-
-// // read product id
-// let id = pmw3389.product_id()?;
-// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
-
-// let srom_id = pmw3389.read_register(Register::SROMId)?;
-// iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
-
-// iprintln!(&mut itm.stim[0], "reset");
-
-// // shutdown
-
-// // adns_write_reg(Shutdown, 0xb6); // Shutdown first
-// // delay(300);
-
-// // adns_com_begin(); // drop and raise ncs to reset spi port
-// // delayMicroseconds(40);
-// // adns_com_end();
-// // delayMicroseconds(40);
-
-// // pmw3389.write_register(Register::Shutdown, 0xb6)?;
-// // pmw3389.delay.delay_ms(300);
-// // pmw3389.com_begin();
-// // pmw3389.delay.delay_us(40);
-// // pmw3389.com_end();
-// // pmw3389.delay.delay_us(40);
-
-// // force reset
-// pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
-
-// // wait for reboot
-// pmw3389.delay.delay_ms(50);
-
-// // read product id
-// let id = pmw3389.product_id()?;
-// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
-
-// let srom_id = pmw3389.read_register(Register::SROMId)?;
-// iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
-
-// // read registers 0x02 to 0x06 (and discard the data)
-// pmw3389.read_register(Register::Motion)?;
-// pmw3389.read_register(Register::DeltaXL)?;
-// pmw3389.read_register(Register::DeltaXH)?;
-// pmw3389.read_register(Register::DeltaYL)?;
-// pmw3389.read_register(Register::DeltaYH)?;
-
-// pmw3389.upload_firmware(itm)?;
-
-// pmw3389.delay.delay_ms(1000);
-
-// iprintln!(&mut itm.stim[0], "Optical Chip Initialized");
-
-// // read product id
-// let id = pmw3389.product_id()?;
-// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
-
-// let srom_id = pmw3389.read_register(Register::SROMId)?;
-// iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
-
-// loop {
-// pmw3389.write_register(Register::Motion, 0x01)?;
-
-// let motion = pmw3389.read_register(Register::Motion)?;
-// let xl = pmw3389.read_register(Register::DeltaXL)?;
-// let xh = pmw3389.read_register(Register::DeltaXH)?;
-// let yl = pmw3389.read_register(Register::DeltaYL)?;
-// let yh = pmw3389.read_register(Register::DeltaYH)?;
-
-// let x = (xl as u16 + (xh as u16) << 8) as i16;
-// let y = (yl as u16 + (yh as u16) << 8) as i16;
-
-// let surface = motion & 0x08;
-// let motion_detect = motion & 0x80;
-
-// iprintln!(
-// &mut itm.stim[0],
-// "motion {}, surface {}, (x, y) {:?}",
-// motion_detect,
-// surface,
-// (x, y),
-// );
-// pmw3389.delay.delay_ms(200);
-// }
-
-// // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
-// // self.delay.delay_ms(35); // waits for tSRAD
-
-// // loop {
-// // pmw3389.read_status(itm)?;
-// // pmw3389.delay.delay_ms(10);
-// // }
-
-// // Ok(pmw3389)
-// }
-
-// pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
-// self.com_begin();
-
-// let mut buffer = [reg.addr() & 0x7f];
-// self.spi.transfer(&mut buffer)?;
-
-// // tSRAD
-// self.delay.delay_us(100);
-// self.delay.delay_us(120);
-
-// let mut buffer = [0];
-// self.spi.transfer(&mut buffer)?;
-
-// // tSCLK-NCS for read operation is 120ns
-// self.delay.delay_us(1);
-
-// self.com_end();
-
-// // tSRW/tSRR (=20us) minus tSCLK-NCS
-// self.delay.delay_us(19);
-// self.delay.delay_us(120);
-
-// Ok(buffer[0])
-// }
-
-// pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
-// self.com_begin();
-
-// let mut buffer = [reg.addr() | 0x80];
-// self.spi.transfer(&mut buffer)?;
-
-// // send
-// let mut buffer = [byte];
-// self.spi.transfer(&mut buffer)?;
-
-// // tSCLK-NCS for write operation
-// self.delay.delay_us(20);
-
-// self.com_end();
-// // tSWW/tSWR (=120us) minus tSCLK-NCS.
-// // Could be shortened, but is looks like a safe lower bound
-
-// self.delay.delay_us(100);
-
-// Ok(())
-// }
-
-// /// Reads the ProductId register; should return `0x47`
-// pub fn product_id(&mut self) -> Result<u8, E> {
-// self.read_register(Register::ProductId)
-// }
-
-// /// Read status
-// pub fn read_status(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
-// self.com_begin();
-
-// self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
-// self.delay.delay_us(35); // waits for tSRAD
-
-// // read burst buffer
-// let mut buf = [0u8; 12];
-// self.spi.transfer(&mut buf)?;
-
-// // tSCLK-NCS for read operation is 120ns
-// self.delay.delay_us(120);
-
-// self.com_end();
-
-// iprint!(&mut itm.stim[0], "burst [");
-// for j in buf.iter() {
-// iprint!(&mut itm.stim[0], "0x{:02x}, ", j);
-// }
-// iprintln!(&mut itm.stim[0], "]");
-
-// // SPI.endTransaction(); // Per:Not sure what it does
-// // /*
-// // BYTE[00] = Motion = if the 7th bit is 1, a motion is detected.
-// // ==> 7 bit: MOT (1 when motion is detected)
-// // ==> 3 bit: 0 when chip is on surface / 1 when off surface
-// // ] = Observation
-// // BYTE[02] = Delta_X_L = dx (LSB)
-// // BYTE[03] = Delta_X_H = dx (MSB)
-// // BYTE[04] = Delta_Y_L = dy (LSB)
-// // BYTE[05] = Delta_Y_H = dy (MSB)
-// // BYTE[06] = SQUAL = Surface Quality register, max 0x80
-// // - Number of features on the surface = SQUAL * 8
-// // BYTE[07] = Raw_Data_Sum = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
-// // * Avg value = Raw_Data_Sum * 1024 / 1296
-// // BYTE[08] = Maximum_Raw_Data = Max raw data value in current frame, max=127
-// // BYTE[09] = Minimum_Raw_Data = Min raw data value in current frame, max=127
-// // BYTE[10] = Shutter_Upper = Shutter LSB
-// // BYTE[11] = Shutter_Lower = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
-// // */
-// // int motion = (burstBuffer[0] & 0x80) > 0;
-// let motion = buf[0] & 0x80;
-// let surface = buf[0] & 0x08;
-// // 0 if on surface / 1 if off surface
-
-// let x = buf[2] as u16 + (buf[3] as u16) << 8;
-// let y = buf[4] as u16 + (buf[5] as u16) << 8;
-
-// let squal = buf[6];
-
-// iprintln!(
-// &mut itm.stim[0],
-// "motion {}, surface {}, (x, y) {:?}, squal {}",
-// motion,
-// surface,
-// (x, y),
-// squal
-// );
-
-// Ok(())
-// }
-
-// // Upload the firmware
-// pub fn upload_firmware(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
-// let stim = &mut itm.stim[0];
-// // send the firmware to the chip, cf p.18 of the datasheet
-// // Serial.println("Uploading firmware...");
-// iprintln!(stim, "Uploading firmware...");
-
-// //Write 0 to Rest_En bit of Config2 register to disable Rest mode.
-// // adns_write_reg(Config2, 0x20);
-// // is this correct?
-// self.write_register(Register::Config2, 0x00)?;
-
-// // write 0x1d in SROM_enable reg for initializing
-// // adns_write_reg(SROM_Enable, 0x1d);
-// self.write_register(Register::SROMEnable, 0x1d)?;
-
-// // wait for more than one frame period
-// // delay(10);
-// // assume that the frame rate is as low as 100fps...
-// // even if it should never be that low
-// self.delay.delay_ms(10);
-
-// // write 0x18 to SROM_enable to start SROM download
-// // adns_write_reg(SROM_Enable, 0x18);
-// self.write_register(Register::SROMEnable, 0x18)?;
-
-// iprintln!(stim, "Begin transfer...");
-
-// // write the SROM file (=firmware data)
-// // adns_com_begin();
-// self.com_begin();
-
-// // write burst destination address
-// // SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
-// // delayMicroseconds(15);
-
-// self.spi
-// .transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
-
-// self.delay.delay_us(15);
-
-// // send all bytes of the firmware
-// // unsigned char c;
-// // for(int i = 0; i < firmware_length; i++){
-// // c = (unsigned char)pgm_read_byte(firmware_data + i);
-// // SPI.transfer(c);
-// // delayMicroseconds(15);
-// // }
-
-// for i in FIRMWARE.iter() {
-// let mut buff = [*i];
-// // iprintln!(stim, "0x{:x}", buff[0]);
-// self.spi.transfer(&mut buff)?;
-// self.delay.delay_us(15); // 15
-// }
-
-// // // Per: added this, seems adequate
-// self.delay.delay_us(105);
-
-// self.com_end();
-
-// //Read the SROM_ID register to verify the ID before any other register reads or writes.
-// // adns_read_reg(SROM_ID);
-
-// let srom_id = self.read_register(Register::SROMId)?;
-// iprintln!(stim, "srom_id {}, 0x{:x}", srom_id, srom_id);
-
-// // //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
-// // // adns_write_reg(Config2, 0x00);
-// self.write_register(Register::Config2, 0x20)?;
-
-// // // set initial CPI resolution
-// // // adns_write_reg(Config1, 0x15);
-
-// // self.write_register(Register::ResolutionL, 0x15)?;
-// self.write_register(Register::ResolutionL, 0x5)?;
-// // self.write_register(Register::ResolutionH, 0x15)?;
-// self.write_register(Register::ResolutionH, 0x00)?;
-
-// // adns_com_end(); // why the CS is already high
-// self.com_end();
-// Ok(())
-// }
-// }
-
-// // const unsigned char firmware_data[] PROGMEM
-// const FIRMWARE: [u8; 4094] = [
-// 0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
-// 0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
-// 0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
-// 0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e,
-// 0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58,
-// 0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02,
-// 0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16,
-// 0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8,
-// 0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c,
-// 0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1,
-// 0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9,
-// 0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30,
-// 0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18,
-// 0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45,
-// 0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f,
-// 0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e,
-// 0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c,
-// 0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28,
-// 0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62,
-// 0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda,
-// 0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2,
-// 0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a,
-// 0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d,
-// 0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04,
-// 0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65,
-// 0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff,
-// 0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5,
-// 0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a,
-// 0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e,
-// 0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b,
-// 0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9,
-// 0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c,
-// 0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e,
-// 0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee,
-// 0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d,
-// 0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac,
-// 0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd,
-// 0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf,
-// 0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec,
-// 0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7,
-// 0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8,
-// 0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2,
-// 0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 0x68, 0x66, 0x6d,
-// 0x2c, 0x92, 0x1f, 0xcc, 0x5b, 0xa7, 0x8f, 0x5d, 0xbb, 0xc9, 0xdb, 0xe8, 0x3b, 0x9d, 0x61,
-// 0x74, 0x8b, 0x05, 0xa1, 0x58, 0x52, 0x68, 0xee, 0x3d, 0x39, 0x79, 0xa0, 0x9b, 0xdd, 0xe1,
-// 0x55, 0xc9, 0x60, 0xeb, 0xad, 0xb8, 0x5b, 0xc2, 0x5a, 0xb5, 0x2c, 0x18, 0x55, 0xa9, 0x50,
-// 0xc3, 0xf6, 0x72, 0x5f, 0xcc, 0xe2, 0xf4, 0x55, 0xb5, 0xd6, 0xb5, 0x4a, 0x99, 0xa5, 0x28,
-// 0x74, 0x97, 0x18, 0xe8, 0xc0, 0x84, 0x89, 0x50, 0x03, 0x86, 0x4d, 0x1a, 0xb7, 0x09, 0x90,
-// 0xa2, 0x01, 0x04, 0xbb, 0x73, 0x62, 0xcb, 0x97, 0x22, 0x70, 0x5d, 0x52, 0x41, 0x8e, 0xd9,
-// 0x90, 0x15, 0xaa, 0xab, 0x0a, 0x31, 0x65, 0xb4, 0xda, 0xd0, 0xee, 0x24, 0xc9, 0x41, 0x91,
-// 0x1e, 0xbc, 0x46, 0x70, 0x40, 0x9d, 0xda, 0x0e, 0x2a, 0xe4, 0xb2, 0x4c, 0x9f, 0xf2, 0xfc,
-// 0xf3, 0x84, 0x17, 0x44, 0x1e, 0xd7, 0xca, 0x23, 0x1f, 0x3f, 0x5a, 0x22, 0x3d, 0xaf, 0x9b,
-// 0x2d, 0xfc, 0x41, 0xad, 0x26, 0xb4, 0x45, 0x67, 0x0b, 0x80, 0x0e, 0xf9, 0x61, 0x37, 0xec,
-// 0x3b, 0xf4, 0x4b, 0x14, 0xdf, 0x5a, 0x0c, 0x3a, 0x50, 0x0b, 0x14, 0x0c, 0x72, 0xae, 0xc6,
-// 0xc5, 0xec, 0x35, 0x53, 0x2d, 0x59, 0xed, 0x91, 0x74, 0xe2, 0xc4, 0xc8, 0xf2, 0x25, 0x6b,
-// 0x97, 0x6f, 0xc9, 0x76, 0xce, 0xa9, 0xb1, 0x99, 0x8f, 0x5a, 0x92, 0x3b, 0xc4, 0x8d, 0x54,
-// 0x50, 0x40, 0x72, 0xd6, 0x90, 0x83, 0xfc, 0xe5, 0x49, 0x8b, 0x17, 0xf5, 0xfd, 0x6b, 0x8d,
-// 0x32, 0x02, 0xe9, 0x0a, 0xfe, 0xbf, 0x00, 0x6b, 0xa3, 0xad, 0x5f, 0x09, 0x4b, 0x97, 0x2b,
-// 0x00, 0x58, 0x65, 0x2e, 0x07, 0x49, 0x0a, 0x3b, 0x6b, 0x2e, 0x50, 0x6c, 0x1d, 0xac, 0xb7,
-// 0x6a, 0x26, 0xd8, 0x13, 0xa4, 0xca, 0x16, 0xae, 0xab, 0x93, 0xb9, 0x1c, 0x1c, 0xb4, 0x47,
-// 0x6a, 0x38, 0x36, 0x17, 0x27, 0xc9, 0x7f, 0xc7, 0x64, 0xcb, 0x89, 0x58, 0xc5, 0x61, 0xc2,
-// 0xc6, 0xea, 0x15, 0x0b, 0x34, 0x0c, 0x5d, 0x61, 0x76, 0x6e, 0x2b, 0x62, 0x40, 0x92, 0xa3,
-// 0x6c, 0xef, 0xf4, 0xe4, 0xc3, 0xa1, 0xa8, 0xf5, 0x94, 0x79, 0x0d, 0xd1, 0x3d, 0xcb, 0x3d,
-// 0x40, 0xb6, 0xd0, 0xf0, 0x10, 0x54, 0xd8, 0x47, 0x25, 0x51, 0xc5, 0x41, 0x79, 0x00, 0xe5,
-// 0xa0, 0x72, 0xde, 0xbb, 0x3b, 0x62, 0x17, 0xf6, 0xbc, 0x5d, 0x00, 0x76, 0x2e, 0xa7, 0x3b,
-// 0xb6, 0xf1, 0x98, 0x72, 0x59, 0x2a, 0x73, 0xb0, 0x21, 0xd6, 0x49, 0xe0, 0xc0, 0xd5, 0xeb,
-// 0x02, 0x7d, 0x4b, 0x41, 0x28, 0x70, 0x2d, 0xec, 0x2b, 0x71, 0x1f, 0x0b, 0xb9, 0x71, 0x63,
-// 0x06, 0xe6, 0xbc, 0x60, 0xbb, 0xf4, 0x9a, 0x62, 0x43, 0x09, 0x18, 0x4e, 0x93, 0x06, 0x4d,
-// 0x76, 0xfa, 0x7f, 0xbd, 0x02, 0xe4, 0x50, 0x91, 0x12, 0xe5, 0x86, 0xff, 0x64, 0x1e, 0xaf,
-// 0x7e, 0xb3, 0xb2, 0xde, 0x89, 0xc1, 0xa2, 0x6f, 0x40, 0x7b, 0x41, 0x51, 0x63, 0xea, 0x25,
-// 0xd1, 0x97, 0x57, 0x92, 0xa8, 0x45, 0xa1, 0xa5, 0x45, 0x21, 0x43, 0x7f, 0x83, 0x15, 0x29,
-// 0xd0, 0x30, 0x53, 0x32, 0xb4, 0x5a, 0x17, 0x96, 0xbc, 0xc2, 0x68, 0xa9, 0xb7, 0xaf, 0xac,
-// 0xdf, 0xf1, 0xe3, 0x89, 0xba, 0x24, 0x79, 0x54, 0xc6, 0x14, 0x07, 0x1c, 0x1e, 0x0d, 0x3a,
-// 0x6b, 0xe5, 0x3d, 0x4e, 0x10, 0x60, 0x96, 0xec, 0x6c, 0xda, 0x47, 0xae, 0x03, 0x25, 0x39,
-// 0x1d, 0x74, 0xc8, 0xac, 0x6a, 0xf2, 0x6b, 0x05, 0x2a, 0x9a, 0xe7, 0xe8, 0x92, 0xd6, 0xc2,
-// 0x6d, 0xfa, 0xe8, 0xa7, 0x9d, 0x5f, 0x48, 0xc9, 0x75, 0xf1, 0x66, 0x6a, 0xdb, 0x5d, 0x9a,
-// 0xcd, 0x27, 0xdd, 0xb9, 0x24, 0x04, 0x9c, 0x18, 0xc2, 0x6d, 0x0c, 0x91, 0x34, 0x48, 0x42,
-// 0x6f, 0xe9, 0x59, 0x70, 0xc4, 0x7e, 0x81, 0x0e, 0x32, 0x0a, 0x93, 0x48, 0xb0, 0xc0, 0x15,
-// 0x9e, 0x05, 0xac, 0x36, 0x16, 0xcb, 0x59, 0x65, 0xa0, 0x83, 0xdf, 0x3e, 0xda, 0xfb, 0x1d,
-// 0x1a, 0xdb, 0x65, 0xec, 0x9a, 0xc6, 0xc3, 0x8e, 0x3c, 0x45, 0xfd, 0xc8, 0xf5, 0x1c, 0x6a,
-// 0x67, 0x0d, 0x8f, 0x99, 0x7d, 0x30, 0x21, 0x8c, 0xea, 0x22, 0x87, 0x65, 0xc9, 0xb2, 0x4c,
-// 0xe4, 0x1b, 0x46, 0xba, 0x54, 0xbd, 0x7c, 0xca, 0xd5, 0x8f, 0x5b, 0xa5, 0x01, 0x04, 0xd8,
-// 0x0a, 0x16, 0xbf, 0xb9, 0x50, 0x2e, 0x37, 0x2f, 0x64, 0xf3, 0x70, 0x11, 0x02, 0x05, 0x31,
-// 0x9b, 0xa0, 0xb2, 0x01, 0x5e, 0x4f, 0x19, 0xc9, 0xd4, 0xea, 0xa1, 0x79, 0x54, 0x53, 0xa7,
-// 0xde, 0x2f, 0x49, 0xd3, 0xd1, 0x63, 0xb5, 0x03, 0x15, 0x4e, 0xbf, 0x04, 0xb3, 0x26, 0x8b,
-// 0x20, 0xb2, 0x45, 0xcf, 0xcd, 0x5b, 0x82, 0x32, 0x88, 0x61, 0xa7, 0xa8, 0xb2, 0xa0, 0x72,
-// 0x96, 0xc0, 0xdb, 0x2b, 0xe2, 0x5f, 0xba, 0xe3, 0xf5, 0x8a, 0xde, 0xf1, 0x18, 0x01, 0x16,
-// 0x40, 0xd9, 0x86, 0x12, 0x09, 0x18, 0x1b, 0x05, 0x0c, 0xb1, 0xb5, 0x47, 0xe2, 0x43, 0xab,
-// 0xfe, 0x92, 0x63, 0x7e, 0x95, 0x2b, 0xf0, 0xaf, 0xe1, 0xf1, 0xc3, 0x4a, 0xff, 0x2b, 0x09,
-// 0xbb, 0x4a, 0x0e, 0x9a, 0xc4, 0xd8, 0x64, 0x7d, 0x83, 0xa0, 0x4f, 0x44, 0xdb, 0xc4, 0xa8,
-// 0x58, 0xef, 0xfc, 0x9e, 0x77, 0xf9, 0xa6, 0x8f, 0x58, 0x8b, 0x12, 0xf4, 0xe9, 0x81, 0x12,
-// 0x47, 0x51, 0x41, 0x83, 0xef, 0xf6, 0x73, 0xbc, 0x8e, 0x0f, 0x4c, 0x8f, 0x4e, 0x69, 0x90,
-// 0x77, 0x29, 0x5d, 0x92, 0xb0, 0x6d, 0x06, 0x67, 0x29, 0x60, 0xbd, 0x4b, 0x17, 0xc8, 0x89,
-// 0x69, 0x28, 0x29, 0xd6, 0x78, 0xcb, 0x11, 0x4c, 0xba, 0x8b, 0x68, 0xae, 0x7e, 0x9f, 0xef,
-// 0x95, 0xda, 0xe2, 0x9e, 0x7f, 0xe9, 0x55, 0xe5, 0xe1, 0xe2, 0xb7, 0xe6, 0x5f, 0xbb, 0x2c,
-// 0xa2, 0xe6, 0xee, 0xc7, 0x0a, 0x60, 0xa9, 0xd1, 0x80, 0xdf, 0x7f, 0xd6, 0x97, 0xab, 0x1d,
-// 0x22, 0x25, 0xfc, 0x79, 0x23, 0xe0, 0xae, 0xc5, 0xef, 0x16, 0xa4, 0xa1, 0x0f, 0x92, 0xa9,
-// 0xc7, 0xe3, 0x3a, 0x55, 0xdf, 0x62, 0x49, 0xd9, 0xf5, 0x84, 0x49, 0xc5, 0x90, 0x34, 0xd3,
-// 0xe1, 0xac, 0x99, 0x21, 0xb1, 0x02, 0x76, 0x4a, 0xfa, 0xd4, 0xbb, 0xa4, 0x9c, 0xa2, 0xe2,
-// 0xcb, 0x3d, 0x3b, 0x14, 0x75, 0x60, 0xd1, 0x02, 0xb4, 0xa3, 0xb4, 0x72, 0x06, 0xf9, 0x19,
-// 0x9c, 0xe2, 0xe4, 0xa7, 0x0f, 0x25, 0x88, 0xc6, 0x86, 0xd6, 0x8c, 0x74, 0x4e, 0x6e, 0xfc,
-// 0xa8, 0x48, 0x9e, 0xa7, 0x9d, 0x1a, 0x4b, 0x37, 0x09, 0xc8, 0xb0, 0x10, 0xbe, 0x6f, 0xfe,
-// 0xa3, 0xc4, 0x7a, 0xb5, 0x3d, 0xe8, 0x30, 0xf1, 0x0d, 0xa0, 0xb2, 0x44, 0xfc, 0x9b, 0x8c,
-// 0xf8, 0x61, 0xed, 0x81, 0xd1, 0x62, 0x11, 0xb4, 0xe1, 0xd5, 0x39, 0x52, 0x89, 0xd3, 0xa8,
-// 0x49, 0x31, 0xdf, 0xb6, 0xf9, 0x91, 0xf4, 0x1c, 0x9d, 0x09, 0x95, 0x40, 0x56, 0xe7, 0xe3,
-// 0xcd, 0x5c, 0x92, 0xc1, 0x1d, 0x6b, 0xe9, 0x78, 0x6f, 0x8e, 0x94, 0x42, 0x66, 0xa2, 0xaa,
-// 0xd3, 0xc8, 0x2e, 0xe3, 0xf6, 0x07, 0x72, 0x0b, 0x6b, 0x1e, 0x7b, 0xb9, 0x7c, 0xe0, 0xa0,
-// 0xbc, 0xd9, 0x25, 0xdf, 0x87, 0xa8, 0x5f, 0x9c, 0xcc, 0xf0, 0xdb, 0x42, 0x8e, 0x07, 0x31,
-// 0x13, 0x01, 0x66, 0x32, 0xd1, 0xb8, 0xd6, 0xe3, 0x5e, 0x12, 0x76, 0x61, 0xd3, 0x38, 0x89,
-// 0xe6, 0x17, 0x6f, 0xa5, 0xf2, 0x71, 0x0e, 0xa5, 0xe2, 0x88, 0x30, 0xbb, 0xbe, 0x8a, 0xea,
-// 0xc7, 0x62, 0xc4, 0xcf, 0xb8, 0xcd, 0x33, 0x8d, 0x3d, 0x3e, 0xb5, 0x60, 0x3a, 0x03, 0x92,
-// 0xe4, 0x6d, 0x1b, 0xe0, 0xb4, 0x84, 0x08, 0x55, 0x88, 0xa7, 0x3a, 0xb9, 0x3d, 0x43, 0xc3,
-// 0xc0, 0xfa, 0x07, 0x6a, 0xca, 0x94, 0xad, 0x99, 0x55, 0xf1, 0xf1, 0xc0, 0x23, 0x87, 0x1d,
-// 0x3d, 0x1c, 0xd1, 0x66, 0xa0, 0x57, 0x10, 0x52, 0xa2, 0x7f, 0xbe, 0xf9, 0x88, 0xb6, 0x02,
-// 0xbf, 0x08, 0x23, 0xa9, 0x0c, 0x63, 0x17, 0x2a, 0xae, 0xf5, 0xf7, 0xb7, 0x21, 0x83, 0x92,
-// 0x31, 0x23, 0x0d, 0x20, 0xc3, 0xc2, 0x05, 0x21, 0x62, 0x8e, 0x45, 0xe8, 0x14, 0xc1, 0xda,
-// 0x75, 0xb8, 0xf8, 0x92, 0x01, 0xd0, 0x5d, 0x18, 0x9f, 0x99, 0x11, 0x19, 0xf5, 0x35, 0xe8,
-// 0x7f, 0x20, 0x88, 0x8c, 0x05, 0x75, 0xf5, 0xd7, 0x40, 0x17, 0xbb, 0x1e, 0x36, 0x52, 0xd9,
-// 0xa4, 0x9c, 0xc2, 0x9d, 0x42, 0x81, 0xd8, 0xc7, 0x8a, 0xe7, 0x4c, 0x81, 0xe0, 0xb7, 0x57,
-// 0xed, 0x48, 0x8b, 0xf0, 0x97, 0x15, 0x61, 0xd9, 0x2c, 0x7c, 0x45, 0xaf, 0xc2, 0xcd, 0xfc,
-// 0xaa, 0x13, 0xad, 0x59, 0xcc, 0xb2, 0xb2, 0x6e, 0xdd, 0x63, 0x9c, 0x32, 0x0f, 0xec, 0x83,
-// 0xbe, 0x78, 0xac, 0x91, 0x44, 0x1a, 0x1f, 0xea, 0xfd, 0x5d, 0x8e, 0xb4, 0xc0, 0x84, 0xd4,
-// 0xac, 0xb4, 0x87, 0x5f, 0xac, 0xef, 0xdf, 0xcd, 0x12, 0x56, 0xc8, 0xcd, 0xfe, 0xc5, 0xda,
-// 0xd3, 0xc1, 0x69, 0xf3, 0x61, 0x05, 0xea, 0x25, 0xe2, 0x12, 0x05, 0x8f, 0x39, 0x08, 0x08,
-// 0x7c, 0x37, 0xb6, 0x7e, 0x5b, 0xd8, 0xb1, 0x0e, 0xf2, 0xdb, 0x4b, 0xf1, 0xad, 0x90, 0x01,
-// 0x57, 0xcd, 0xa0, 0xb4, 0x52, 0xe8, 0xf3, 0xd7, 0x8a, 0xbd, 0x4f, 0x9f, 0x21, 0x40, 0x72,
-// 0xa4, 0xfc, 0x0b, 0x01, 0x2b, 0x2f, 0xb6, 0x4c, 0x95, 0x2d, 0x35, 0x33, 0x41, 0x6b, 0xa0,
-// 0x93, 0xe7, 0x2c, 0xf2, 0xd3, 0x72, 0x8b, 0xf4, 0x4f, 0x15, 0x3c, 0xaf, 0xd6, 0x12, 0xde,
-// 0x3f, 0x83, 0x3f, 0xff, 0xf8, 0x7f, 0xf6, 0xcc, 0xa6, 0x7f, 0xc9, 0x9a, 0x6e, 0x1f, 0xc1,
-// 0x0c, 0xfb, 0xee, 0x9c, 0xe7, 0xaf, 0xc9, 0x26, 0x54, 0xef, 0xb0, 0x39, 0xef, 0xb2, 0xe9,
-// 0x23, 0xc4, 0xef, 0xd1, 0xa1, 0xa4, 0x25, 0x24, 0x6f, 0x8d, 0x6a, 0xe5, 0x8a, 0x32, 0x3a,
-// 0xaf, 0xfc, 0xda, 0xce, 0x18, 0x25, 0x42, 0x07, 0x4d, 0x45, 0x8b, 0xdf, 0x85, 0xcf, 0x55,
-// 0xb2, 0x24, 0xfe, 0x9c, 0x69, 0x74, 0xa7, 0x6e, 0xa0, 0xce, 0xc0, 0x39, 0xf4, 0x86, 0xc6,
-// 0x8d, 0xae, 0xb9, 0x48, 0x64, 0x13, 0x0b, 0x40, 0x81, 0xa2, 0xc9, 0xa8, 0x85, 0x51, 0xee,
-// 0x9f, 0xcf, 0xa2, 0x8c, 0x19, 0x52, 0x48, 0xe2, 0xc1, 0xa8, 0x58, 0xb4, 0x10, 0x24, 0x06,
-// 0x58, 0x51, 0xfc, 0xb9, 0x12, 0xec, 0xfd, 0x73, 0xb4, 0x6d, 0x84, 0xfa, 0x06, 0x8b, 0x05,
-// 0x0b, 0x2d, 0xd6, 0xd6, 0x1f, 0x29, 0x82, 0x9f, 0x19, 0x12, 0x1e, 0xb2, 0x04, 0x8f, 0x7f,
-// 0x4d, 0xbd, 0x30, 0x2e, 0xe3, 0xe0, 0x88, 0x29, 0xc5, 0x93, 0xd6, 0x6c, 0x1f, 0x29, 0x45,
-// 0x91, 0xa7, 0x58, 0xcd, 0x05, 0x17, 0xd6, 0x6d, 0xb3, 0xca, 0x66, 0xcc, 0x3c, 0x4a, 0x74,
-// 0xfd, 0x08, 0x10, 0xa6, 0x99, 0x92, 0x10, 0xd2, 0x85, 0xab, 0x6e, 0x1d, 0x0e, 0x8b, 0x26,
-// 0x46, 0xd1, 0x6c, 0x84, 0xc0, 0x26, 0x43, 0x59, 0x68, 0xf0, 0x13, 0x1d, 0xfb, 0xe3, 0xd1,
-// 0xd2, 0xb4, 0x71, 0x9e, 0xf2, 0x59, 0x6a, 0x33, 0x29, 0x79, 0xd2, 0xd7, 0x26, 0xf1, 0xae,
-// 0x78, 0x9e, 0x1f, 0x0f, 0x3f, 0xe3, 0xe8, 0xd0, 0x27, 0x78, 0x77, 0xf6, 0xac, 0x9c, 0x56,
-// 0x39, 0x73, 0x8a, 0x6b, 0x2f, 0x34, 0x78, 0xb1, 0x11, 0xdb, 0xa4, 0x5c, 0x80, 0x01, 0x71,
-// 0x6a, 0xc2, 0xd1, 0x2e, 0x5e, 0x76, 0x28, 0x70, 0x93, 0xae, 0x3e, 0x78, 0xb0, 0x1f, 0x0f,
-// 0xda, 0xbf, 0xfb, 0x8a, 0x67, 0x65, 0x4f, 0x91, 0xed, 0x49, 0x75, 0x78, 0x62, 0xa2, 0x93,
-// 0xb5, 0x70, 0x7f, 0x4d, 0x08, 0x4e, 0x79, 0x61, 0xa8, 0x5f, 0x7f, 0xb4, 0x65, 0x9f, 0x91,
-// 0x54, 0x3a, 0xe8, 0x50, 0x33, 0xd3, 0xd5, 0x8a, 0x7c, 0xf3, 0x9e, 0x8b, 0x77, 0x7b, 0xc6,
-// 0xc6, 0x0c, 0x45, 0x95, 0x1f, 0xb0, 0xd0, 0x0b, 0x27, 0x4a, 0xfd, 0xc7, 0xf7, 0x0d, 0x5a,
-// 0x43, 0xc9, 0x7d, 0x35, 0xb0, 0x7d, 0xc4, 0x9c, 0x57, 0x1e, 0x76, 0x0d, 0xf1, 0x95, 0x30,
-// 0x71, 0xcc, 0xb3, 0x66, 0x3b, 0x63, 0xa8, 0x6c, 0xa3, 0x43, 0xa0, 0x24, 0xcc, 0xb7, 0x53,
-// 0xfe, 0xfe, 0xbc, 0x6e, 0x60, 0x89, 0xaf, 0x16, 0x21, 0xc8, 0x91, 0x6a, 0x89, 0xce, 0x80,
-// 0x2c, 0xf1, 0x59, 0xce, 0xc3, 0x60, 0x61, 0x3b, 0x0b, 0x19, 0xfe, 0x99, 0xac, 0x65, 0x90,
-// 0x15, 0x12, 0x05, 0xac, 0x7e, 0xff, 0x98, 0x7b, 0x66, 0x64, 0x0e, 0x4b, 0x5b, 0xaa, 0x8d,
-// 0x3b, 0xd2, 0x56, 0xcf, 0x99, 0x39, 0xee, 0x22, 0x81, 0xd0, 0x60, 0x06, 0x66, 0x20, 0x81,
-// 0x48, 0x3c, 0x6f, 0x3a, 0x77, 0xba, 0xcb, 0x52, 0xac, 0x79, 0x56, 0xaf, 0xe9, 0x16, 0x17,
-// 0x0a, 0xa3, 0x82, 0x08, 0xd5, 0x3c, 0x97, 0xcb, 0x09, 0xff, 0x7f, 0xf9, 0x4f, 0x60, 0x05,
-// 0xb9, 0x53, 0x26, 0xaa, 0xb8, 0x50, 0xaa, 0x19, 0x25, 0xae, 0x5f, 0xea, 0x8a, 0xd0, 0x89,
-// 0x12, 0x80, 0x43, 0x50, 0x24, 0x12, 0x21, 0x14, 0xcd, 0x77, 0xeb, 0x21, 0xcc, 0x5c, 0x09,
-// 0x64, 0xf3, 0xc7, 0xcb, 0xc5, 0x4b, 0xc3, 0xe7, 0xed, 0xe7, 0x86, 0x2c, 0x1d, 0x8e, 0x19,
-// 0x52, 0x9b, 0x2a, 0x0c, 0x18, 0x72, 0x0b, 0x1e, 0x1b, 0xb0, 0x0f, 0x42, 0x99, 0x04, 0xae,
-// 0xd5, 0xb7, 0x89, 0x1a, 0xb9, 0x4f, 0xd6, 0xaf, 0xf3, 0xc9, 0x93, 0x6f, 0xb0, 0x60, 0x83,
-// 0x6e, 0x6b, 0xd1, 0x5f, 0x3f, 0x1a, 0x83, 0x1e, 0x24, 0x00, 0x87, 0xb5, 0x3e, 0xdb, 0xf9,
-// 0x4d, 0xa7, 0x16, 0x2e, 0x19, 0x5b, 0x8f, 0x1b, 0x0d, 0x47, 0x72, 0x42, 0xe9, 0x0a, 0x11,
-// 0x08, 0x2d, 0x88, 0x1c, 0xbc, 0xc7, 0xb4, 0xbe, 0x29, 0x4d, 0x03, 0x5e, 0xec, 0xdf, 0xf3,
-// 0x3d, 0x2f, 0xe8, 0x1d, 0x9a, 0xd2, 0xd1, 0xab, 0x41, 0x3d, 0x87, 0x11, 0x45, 0xb0, 0x0d,
-// 0x46, 0xf5, 0xe8, 0x95, 0x62, 0x1c, 0x68, 0xf7, 0xa6, 0x5b, 0x39, 0x4e, 0xbf, 0x47, 0xba,
-// 0x5d, 0x7f, 0xb7, 0x6a, 0xf4, 0xba, 0x1d, 0x69, 0xf6, 0xa4, 0xe7, 0xe4, 0x6b, 0x3b, 0x0d,
-// 0x23, 0x16, 0x4a, 0xb2, 0x68, 0xf0, 0xb2, 0x0d, 0x09, 0x17, 0x6a, 0x63, 0x8c, 0x83, 0xd3,
-// 0xbd, 0x05, 0xc9, 0xf6, 0xf0, 0xa1, 0x31, 0x0b, 0x2c, 0xac, 0x83, 0xac, 0x80, 0x34, 0x32,
-// 0xb4, 0xec, 0xd0, 0xbc, 0x54, 0x82, 0x9a, 0xc8, 0xf6, 0xa0, 0x7d, 0xc6, 0x79, 0x73, 0xf4,
-// 0x20, 0x99, 0xf3, 0xb4, 0x01, 0xde, 0x91, 0x27, 0xf2, 0xc0, 0xdc, 0x81, 0x00, 0x4e, 0x7e,
-// 0x07, 0x99, 0xc8, 0x3a, 0x51, 0xbc, 0x38, 0xd6, 0x8a, 0xa2, 0xde, 0x3b, 0x6a, 0x8c, 0x1a,
-// 0x7c, 0x81, 0x0f, 0x3a, 0x1f, 0xe4, 0x05, 0x7b, 0x20, 0x35, 0x6b, 0xa5, 0x6a, 0xa7, 0xe7,
-// 0xbc, 0x9c, 0x20, 0xec, 0x00, 0x15, 0xe2, 0x51, 0xaf, 0x77, 0xeb, 0x29, 0x3c, 0x7d, 0x2e,
-// 0x00, 0x5c, 0x81, 0x21, 0xfa, 0x35, 0x6f, 0x40, 0xef, 0xfb, 0xd1, 0x3f, 0xcc, 0x9d, 0x55,
-// 0x53, 0xfb, 0x5a, 0xa5, 0x56, 0x89, 0x0b, 0x52, 0xeb, 0x57, 0x73, 0x4f, 0x1b, 0x67, 0x24,
-// 0xcb, 0xb8, 0x6a, 0x10, 0x69, 0xd6, 0xfb, 0x52, 0x40, 0xff, 0x20, 0xa5, 0xf3, 0x72, 0xe1,
-// 0x3d, 0xa4, 0x8c, 0x81, 0x66, 0x16, 0x0d, 0x5d, 0xad, 0xa8, 0x50, 0x25, 0x78, 0x31, 0x77,
-// 0x0c, 0x57, 0xe4, 0xe9, 0x15, 0x2d, 0xdb, 0x07, 0x87, 0xc8, 0xb0, 0x43, 0xde, 0xfc, 0xfe,
-// 0xa9, 0xeb, 0xf5, 0xb0, 0xd3, 0x7b, 0xe9, 0x1f, 0x6e, 0xca, 0xe4, 0x03, 0x95, 0xc5, 0xd1,
-// 0x59, 0x72, 0x63, 0xf0, 0x86, 0x54, 0xe8, 0x16, 0x62, 0x0b, 0x35, 0x29, 0xc2, 0x68, 0xd0,
-// 0xd6, 0x3e, 0x90, 0x60, 0x57, 0x1d, 0xc9, 0xed, 0x3f, 0xed, 0xb0, 0x2f, 0x7e, 0x97, 0x02,
-// 0x51, 0xec, 0xee, 0x6f, 0x82, 0x74, 0x76, 0x7f, 0xfb, 0xd6, 0xc4, 0xc3, 0xdd, 0xe8, 0xb1,
-// 0x60, 0xfc, 0xc6, 0xb9, 0x0d, 0x6a, 0x33, 0x78, 0xc6, 0xc1, 0xbf, 0x86, 0x2c, 0x50, 0xcc,
-// 0x9a, 0x70, 0x8e, 0x7b, 0xec, 0xab, 0x95, 0xac, 0x53, 0xa0, 0x4b, 0x07, 0x88, 0xaf, 0x42,
-// 0xed, 0x19, 0x8d, 0xf6, 0x32, 0x17, 0x48, 0x47, 0x1d, 0x41, 0x6f, 0xfe, 0x2e, 0xa7, 0x8f,
-// 0x4b, 0xa0, 0x51, 0xf3, 0xbf, 0x02, 0x0a, 0x48, 0x58, 0xf7, 0xa1, 0x6d, 0xea, 0xa5, 0x13,
-// 0x5a, 0x5b, 0xea, 0x0c, 0x9e, 0x52, 0x4f, 0x9e, 0xb9, 0x71, 0x7f, 0x23, 0x83, 0xda, 0x1b,
-// 0x86, 0x9a, 0x41, 0x29, 0xda, 0x70, 0xe7, 0x64, 0xa1, 0x7b, 0xd5, 0x0a, 0x22, 0x0d, 0x5c,
-// 0x40, 0xc4, 0x81, 0x07, 0x25, 0x35, 0x4a, 0x1c, 0x10, 0xdb, 0x45, 0x0a, 0xff, 0x36, 0xd4,
-// 0xe0, 0xeb, 0x5f, 0x68, 0xd6, 0x67, 0xc6, 0xd0, 0x8b, 0x76, 0x1a, 0x7d, 0x59, 0x42, 0xa1,
-// 0xcb, 0x96, 0x4d, 0x84, 0x09, 0x9a, 0x3d, 0xe0, 0x52, 0x85, 0x6e, 0x48, 0x90, 0x85, 0x2a,
-// 0x63, 0xb2, 0x69, 0xd2, 0x00, 0x43, 0x31, 0x37, 0xb3, 0x52, 0xaf, 0x62, 0xfa, 0xc1, 0xe0,
-// 0x03, 0xfb, 0x62, 0xaa, 0x88, 0xc9, 0xb2, 0x2c, 0xd5, 0xa8, 0xf5, 0xa5, 0x4c, 0x12, 0x59,
-// 0x4e, 0x06, 0x5e, 0x9b, 0x15, 0x66, 0x11, 0xb2, 0x27, 0x92, 0xdc, 0x98, 0x59, 0xde, 0xdf,
-// 0xfa, 0x9a, 0x32, 0x2e, 0xc0, 0x5d, 0x3c, 0x33, 0x41, 0x6d, 0xaf, 0xb2, 0x25, 0x23, 0x14,
-// 0xa5, 0x7b, 0xc7, 0x9b, 0x68, 0xf3, 0xda, 0xeb, 0xe3, 0xa9, 0xe2, 0x6f, 0x0e, 0x1d, 0x1c,
-// 0xba, 0x55, 0xb6, 0x34, 0x6a, 0x93, 0x1f, 0x1f, 0xb8, 0x34, 0xc8, 0x84, 0x08, 0xb1, 0x6b,
-// 0x6a, 0x28, 0x74, 0x74, 0xe5, 0xeb, 0x75, 0xe9, 0x7c, 0xd8, 0xba, 0xd8, 0x42, 0xa5, 0xee,
-// 0x1f, 0x80, 0xd9, 0x96, 0xb2, 0x2e, 0xe7, 0xbf, 0xba, 0xeb, 0xd1, 0x69, 0xbb, 0x8f, 0xfd,
-// 0x5a, 0x63, 0x8f, 0x39, 0x7f, 0xdf, 0x1d, 0x37, 0xd2, 0x18, 0x35, 0x9d, 0xb6, 0xcc, 0xe4,
-// 0x27, 0x81, 0x89, 0x38, 0x38, 0x68, 0x33, 0xe7, 0x78, 0xd8, 0x76, 0xf5, 0xee, 0xd0, 0x4a,
-// 0x07, 0x69, 0x19, 0x7a, 0xad, 0x18, 0xb1, 0x94, 0x61, 0x45, 0x53, 0xa2, 0x48, 0xda, 0x96,
-// 0x4a, 0xf9, 0xee, 0x94, 0x2a, 0x1f, 0x6e, 0x18, 0x3c, 0x92, 0x46, 0xd1, 0x1a, 0x28, 0x18,
-// 0x32, 0x1f, 0x3a, 0x45, 0xbe, 0x04, 0x35, 0x92, 0xe5, 0xa3, 0xcb, 0xb5, 0x2e, 0x32, 0x43,
-// 0xac, 0x65, 0x17, 0x89, 0x99, 0x15, 0x03, 0x9e, 0xb1, 0x23, 0x2f, 0xed, 0x76, 0x4d, 0xd8,
-// 0xac, 0x21, 0x40, 0xc4, 0x99, 0x4e, 0x65, 0x71, 0x2c, 0xb3, 0x45, 0xab, 0xfb, 0xe7, 0x72,
-// 0x39, 0x56, 0x30, 0x6d, 0xfb, 0x74, 0xeb, 0x99, 0xf3, 0xcd, 0x57, 0x5c, 0x78, 0x75, 0xe9,
-// 0x8d, 0xc3, 0xa2, 0xfb, 0x5d, 0xe0, 0x90, 0xc5, 0x55, 0xad, 0x91, 0x53, 0x4e, 0x9e, 0xbd,
-// 0x8c, 0x49, 0xa4, 0xa4, 0x69, 0x10, 0x0c, 0xc5, 0x76, 0xe9, 0x25, 0x86, 0x8d, 0x66, 0x23,
-// 0xa8, 0xdb, 0x5c, 0xe8, 0xd9, 0x30, 0xe1, 0x15, 0x7b, 0xc0, 0x99, 0x0f, 0x03, 0xec, 0xaa,
-// 0x12, 0xef, 0xce, 0xd4, 0xea, 0x55, 0x5c, 0x08, 0x86, 0xf4, 0xf4, 0xb0, 0x83, 0x42, 0x95,
-// 0x37, 0xb6, 0x38, 0xe0, 0x2b, 0x54, 0x89, 0xbd, 0x4e, 0x20, 0x9d, 0x3f, 0xc3, 0x4b, 0xb7,
-// 0xec, 0xfa, 0x5a, 0x14, 0x03, 0xcb, 0x64, 0xc8, 0x34, 0x4a, 0x4b, 0x6e, 0xf8, 0x6e, 0x56,
-// 0xf6, 0xdd, 0x5f, 0xa1, 0x24, 0xe2, 0xd4, 0xd0, 0x82, 0x64, 0x1f, 0x8e, 0x9b, 0xfa, 0xb4,
-// 0xcb, 0xdb, 0x0a, 0xe8, 0x15, 0xfc, 0x15, 0xab, 0x4b, 0x18, 0xbf, 0xd4, 0x42, 0x14, 0x48,
-// 0x82, 0x85, 0xdd, 0xeb, 0x49, 0x1b, 0x0b, 0x0b, 0x05, 0xe9, 0xb4, 0xa1, 0x33, 0x0a, 0x5d,
-// 0x0e, 0x6c, 0x4b, 0xc0, 0xd6, 0x6c, 0x7c, 0xfb, 0x69, 0x0b, 0x53, 0x19, 0xe4, 0xf3, 0x35,
-// 0xfc, 0xbe, 0xa1, 0x34, 0x02, 0x09, 0x4f, 0x74, 0x86, 0x92, 0xcd, 0x5d, 0x1a, 0xc1, 0x27,
-// 0x0c, 0xf2, 0xc5, 0xcf, 0xdd, 0x23, 0x93, 0x02, 0xbd, 0x41, 0x5e, 0x42, 0xf0, 0xa0, 0x9d,
-// 0x0c, 0x72, 0xc8, 0xec, 0x32, 0x0a, 0x8a, 0xfd, 0x3d, 0x5a, 0x41, 0x27, 0x0c, 0x88, 0x59,
-// 0xad, 0x94, 0x2e, 0xef, 0x5d, 0x8f, 0xc7, 0xdf, 0x66, 0xe4, 0xdd, 0x56, 0x6c, 0x7b, 0xca,
-// 0x55, 0x81, 0xae, 0xae, 0x5c, 0x1b, 0x1a, 0xab, 0xae, 0x99, 0x8d, 0xcc, 0x42, 0x97, 0x59,
-// 0xf4, 0x14, 0x3f, 0x75, 0xc6, 0xd1, 0x88, 0xba, 0xaa, 0x84, 0x4a, 0xd0, 0x34, 0x08, 0x3b,
-// 0x7d, 0xdb, 0x15, 0x06, 0xb0, 0x5c, 0xbd, 0x40, 0xf5, 0xa8, 0xec, 0xae, 0x36, 0x40, 0xdd,
-// 0x90, 0x1c, 0x3e, 0x0d, 0x7e, 0x73, 0xc7, 0xc2, 0xc5, 0x6a, 0xff, 0x52, 0x05, 0x7f, 0xbe,
-// 0xd0, 0x92, 0xfd, 0xb3, 0x6f, 0xff, 0x5d, 0xb7, 0x97, 0x64, 0x73, 0x7b, 0xca, 0xd1, 0x98,
-// 0x24, 0x6b, 0x0b, 0x01, 0x68, 0xdd, 0x27, 0x85, 0x85, 0xb5, 0x83, 0xc1, 0xe0, 0x50, 0x64,
-// 0xc7, 0xaf, 0xf1, 0xc6, 0x4d, 0xb1, 0xef, 0xc9, 0xb4, 0x0a, 0x6d, 0x65, 0xf3, 0x47, 0xcc,
-// 0xa3, 0x02, 0x21, 0x0c, 0xbe, 0x22, 0x29, 0x05, 0xcf, 0x5f, 0xe8, 0x94, 0x6c, 0xe5, 0xdc,
-// 0xc4, 0xdf, 0xbe, 0x3e, 0xa8, 0xb4, 0x18, 0xb0, 0x99, 0xb8, 0x6f, 0xff, 0x5d, 0xb9, 0xfd,
-// 0x3b, 0x5d, 0x16, 0xbf, 0x3e, 0xd8, 0xb3, 0xd8, 0x08, 0x34, 0xf6, 0x47, 0x35, 0x5b, 0x72,
-// 0x1a, 0x33, 0xad, 0x52, 0x5d, 0xb8, 0xd0, 0x77, 0xc6, 0xab, 0xba, 0x55, 0x09, 0x5f, 0x02,
-// 0xf8, 0xd4, 0x5f, 0x53, 0x06, 0x91, 0xcd, 0x74, 0x42, 0xae, 0x54, 0x91, 0x81, 0x62, 0x13,
-// 0x6f, 0xd8, 0xa9, 0x77, 0xc3, 0x6c, 0xcb, 0xf1, 0x29, 0x5a, 0xcc, 0xda, 0x35, 0xbd, 0x52,
-// 0x23, 0xbe, 0x59, 0xeb, 0x12, 0x6d, 0xb7, 0x53, 0xee, 0xfc, 0xb4, 0x1b, 0x13, 0x5e, 0xba,
-// 0x16, 0x7c, 0xc5, 0xf3, 0xe3, 0x6d, 0x07, 0x78, 0xf5, 0x2b, 0x21, 0x05, 0x88, 0x4c, 0xc0,
-// 0xa1, 0xe3, 0x36, 0x10, 0xf8, 0x1b, 0xd8, 0x17, 0xfb, 0x6a, 0x4e, 0xd8, 0xb3, 0x47, 0x2d,
-// 0x99, 0xbd, 0xbb, 0x5d, 0x37, 0x7d, 0xba, 0xf1, 0xe1, 0x7c, 0xc0, 0xc5, 0x54, 0x62, 0x7f,
-// 0xcf, 0x5a, 0x4a, 0x93, 0xcc, 0xf1, 0x1b, 0x34, 0xc8, 0xa6, 0x05, 0x4c, 0x55, 0x8b, 0x54,
-// 0x84, 0xd5, 0x77, 0xeb, 0xc0, 0x6d, 0x3a, 0x29, 0xbd, 0x75, 0x61, 0x09, 0x9a, 0x2c, 0xbb,
-// 0xf7, 0x18, 0x79, 0x34, 0x90, 0x24, 0xa5, 0x81, 0x70, 0x87, 0xc5, 0x02, 0x7c, 0xba, 0xd4,
-// 0x5e, 0x14, 0x8e, 0xe4, 0xed, 0xa2, 0x61, 0x6a, 0xb9, 0x6e, 0xb5, 0x4a, 0xb9, 0x01, 0x46,
-// 0xf4, 0xcf, 0xbc, 0x09, 0x2f, 0x27, 0x4b, 0xbd, 0x86, 0x7a, 0x10, 0xe1, 0xd4, 0xc8, 0xd9,
-// 0x20, 0x8d, 0x8a, 0x63, 0x00, 0x63, 0x44, 0xeb, 0x54, 0x0b, 0x75, 0x49, 0x10, 0xa2, 0xa7,
-// 0xad, 0xb9, 0xd1, 0x01, 0x80, 0x63, 0x25, 0xc8, 0x12, 0xa6, 0xce, 0x1e, 0xbe, 0xfe, 0x7e,
-// 0x5f, 0x3c, 0xdb, 0x34, 0xea, 0x37, 0xec, 0x3b, 0xd5, 0x28, 0xd2, 0x07, 0x8c, 0x9a, 0xb6,
-// 0xee, 0x5e, 0x3e, 0xdf, 0x1d, 0x99, 0xb0, 0xe2, 0x46, 0xef, 0x5c, 0x1b, 0xb4, 0xea, 0x56,
-// 0x2e, 0xde, 0x1f, 0x9d, 0xb8, 0xd3, 0x24, 0xab, 0xd4, 0x2a, 0xd6, 0x2e, 0xde, 0x1f, 0x9d,
-// 0xb8, 0xf2, 0x66, 0x2f, 0xbd, 0xf8, 0x72, 0x66, 0x4e, 0x1e, 0x9f, 0x9d, 0xb8, 0xf2, 0x47,
-// 0x0c, 0x9a, 0xb6, 0xee, 0x3f, 0xfc, 0x7a, 0x57, 0x0d, 0x79, 0x70, 0x62, 0x27, 0xad, 0xb9,
-// 0xd1, 0x01, 0x61, 0x40, 0x02, 0x67, 0x2d, 0xd8, 0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xd7, 0x2c,
-// 0xbb, 0xf4, 0x4b, 0xf5, 0x49, 0xf1, 0x60, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0xf9, 0x51, 0x01,
-// 0x80, 0x63, 0x25, 0xa9, 0xb1, 0xe0, 0x42, 0xe7, 0x4c, 0x1a, 0x97, 0xac, 0xbb, 0xf4, 0x6a,
-// 0x37, 0xcd, 0x18, 0xb2, 0xe6, 0x2f, 0xdc, 0x1b, 0x95, 0xa8, 0xd2, 0x07, 0x6d, 0x58, 0x32,
-// 0xe6, 0x4e, 0x1e, 0x9f, 0xbc, 0xfa, 0x57, 0x0d, 0x79, 0x51, 0x20, 0xc2, 0x06, 0x6f, 0x5c,
-// 0x1b, 0x95, 0xa8, 0xb3, 0xc5, 0xe9, 0x31, 0xe0, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0x18, 0x93,
-// 0x85, 0x69, 0x31, 0xc1, 0xe1, 0x21, 0xc0, 0xe3, 0x44, 0x0a, 0x77, 0x6c, 0x5a, 0x17, 0x8d,
-// 0x98, 0x93, 0xa4, 0xab, 0xd4, 0x2a, 0xb7, 0xec, 0x5a, 0x17, 0xac, 0xbb, 0xf4, 0x4b, 0x14,
-// 0xaa, 0xb7, 0xec, 0x3b, 0xd5, 0x28, 0xb3, 0xc5, 0xe9, 0x31, 0xc1, 0x00, 0x82, 0x67, 0x4c,
-// 0xfb, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xbd, 0xd9, 0x11, 0x81, 0x61, 0x21, 0xa1, 0xa1, 0xc0,
-// 0x02, 0x86, 0x6f, 0x5c, 0x1b, 0xb4, 0xcb, 0x14, 0x8b, 0x94, 0xaa, 0xd6, 0x2e, 0xbf, 0xdd,
-// 0x19, 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x7c, 0x5b, 0x15, 0x89, 0x90, 0x83, 0x84, 0x6b, 0x54,
-// 0x0b, 0x75, 0x68, 0x52, 0x07, 0x6d, 0x58, 0x32, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0xed, 0x58,
-// 0x32, 0xe6, 0x4e, 0xff, 0x7c, 0x7a, 0x76, 0x6e, 0x3f, 0xdd, 0x38, 0xd3, 0x05, 0x88, 0x92,
-// 0xa6, 0xaf, 0xdc, 0x1b, 0xb4, 0xcb, 0xf5, 0x68, 0x52, 0x07, 0x8c, 0x7b, 0x55, 0x09, 0x90,
-// 0x83, 0x84, 0x6b, 0x54, 0x2a, 0xb7, 0xec, 0x3b, 0xd5, 0x09, 0x90, 0xa2, 0xc6, 0x0e, 0x7f,
-// 0x7c, 0x7a, 0x57, 0x0d, 0x98, 0xb2, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0x0c, 0x7b, 0x74, 0x4b,
-// 0x14, 0x8b, 0x94, 0xaa, 0xb7, 0xcd, 0x18, 0x93, 0xa4, 0xca, 0x16, 0xae, 0xbf, 0xdd, 0x19,
-// 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0xeb, 0x35, 0xc9,
-// 0x10, 0x83, 0x65, 0x48, 0x12, 0xa6, 0xce, 0x1e, 0x9f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60,
-// 0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74,
-// ];
-// }
+const RATIO: u32 = 5;
diff --git a/src/pmw3389.rs b/src/pmw3389.rs
index fd9e8112a79164f0d0d67758899055363fad28b6..a978c32dfeece778559228503d94d6cf1242b5cf 100644
--- a/src/pmw3389.rs
+++ b/src/pmw3389.rs
@@ -166,38 +166,6 @@ where
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
- // loop {
- // pmw3389.write_register(Register::Motion, 0x01)?;
-
- // let motion = pmw3389.read_register(Register::Motion)?;
- // let xl = pmw3389.read_register(Register::DeltaXL)?;
- // let xh = pmw3389.read_register(Register::DeltaXH)?;
- // let yl = pmw3389.read_register(Register::DeltaYL)?;
- // let yh = pmw3389.read_register(Register::DeltaYH)?;
-
- // let x = (xl as u16 + (xh as u16) << 8) as i16;
- // let y = (yl as u16 + (yh as u16) << 8) as i16;
-
- // let surface = motion & 0x08;
- // let motion_detect = motion & 0x80;
-
- // rprintln!(
- // "motion {}, surface {}, (x, y) {:?}",
- // motion_detect,
- // surface,
- // (x, y),
- // );
- // pmw3389.delay.delay_ms(200);
- // }
-
- // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
- // self.delay.delay_ms(35); // waits for tSRAD
-
- // loop {
- // pmw3389.read_status(itm)?;
- // pmw3389.delay.delay_ms(10);
- // }
-
Ok(pmw3389)
}
@@ -208,8 +176,7 @@ where
self.spi.transfer(&mut buffer)?;
// tSRAD
- self.delay.delay_us(100);
- self.delay.delay_us(120);
+ self.delay.delay_us(35);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
@@ -221,7 +188,6 @@ where
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
- self.delay.delay_us(120);
Ok(buffer[0])
}
@@ -254,13 +220,10 @@ where
}
/// Read status
- pub fn read_status(&mut self) -> Result<(), E> {
+ pub fn read_status(&mut self) -> Result<((i16, i16)), E> {
self.com_begin();
- // self.write_register(Register::Motion, 0x01)?;
-
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
- // self.write_register(Register::MotionBurst, 0x00);
self.delay.delay_us(35); // waits for tSRAD
@@ -269,16 +232,10 @@ where
self.spi.transfer(&mut buf)?;
// tSCLK-NCS for read operation is 120ns
- self.delay.delay_us(120);
+ // self.delay.delay_us(120);
self.com_end();
- rprint!("burst [");
- for j in buf.iter() {
- rprint!("0x{:02x}, ", j);
- }
- rprintln!("]");
-
// SPI.endTransaction(); // Per:Not sure what it does
// /*
// BYTE[00] = Motion = if the 7th bit is 1, a motion is detected.
@@ -299,24 +256,16 @@ where
// BYTE[11] = Shutter_Lower = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
// */
// int motion = (burstBuffer[0] & 0x80) > 0;
- let motion = buf[0] & 0x80;
- let surface = buf[0] & 0x08;
+ let _motion = buf[0] & 0x80;
+ let _surface = buf[0] & 0x08;
// 0 if on surface / 1 if off surface
- let x = buf[2] as u16 + (buf[3] as u16) << 8;
- let y = buf[4] as u16 + (buf[5] as u16) << 8;
-
- let squal = buf[6];
+ let x: i16 = (((buf[3] as u16) << 8) | buf[2] as u16) as i16;
+ let y: i16 = (((buf[5] as u16) << 8) | buf[4] as u16) as i16;
- rprintln!(
- "motion {}, surface {}, (x, y) {:?}, squal {}",
- motion,
- surface,
- (x, y),
- squal
- );
+ let _squal = buf[6];
- Ok(())
+ Ok((x, y))
}
// Upload the firmware
@@ -369,9 +318,8 @@ where
for i in Self::FIRMWARE.iter() {
let mut buff = [*i];
- // iprintln!(stim, "0x{:x}", buff[0]);
self.spi.transfer(&mut buff)?;
- self.delay.delay_us(15); // 15
+ self.delay.delay_us(15); // 15us delay between transfers
}
// // Per: added this, seems adequate
@@ -387,18 +335,17 @@ where
// //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
// // adns_write_reg(Config2, 0x00);
- self.write_register(Register::Config2, 0x20)?;
+ self.write_register(Register::Config2, 0x00)?;
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
- // self.write_register(Register::ResolutionL, 0x15)?;
- self.write_register(Register::ResolutionL, 0x5)?;
- // self.write_register(Register::ResolutionH, 0x15)?;
- self.write_register(Register::ResolutionH, 0x00)?;
+ let cpi: u16 = 16000;
+ self.write_register(Register::ResolutionL, cpi as u8)?;
+ self.write_register(Register::ResolutionH, (cpi >> 8) as u8)?;
// adns_com_end(); // why the CS is already high
- self.com_end();
+ // self.com_end();
Ok(())
}