From 1a5afe5e9d7b662def8a3eebace668f50a79e0a1 Mon Sep 17 00:00:00 2001
From: Per Lindgren <per.lindgren@ltu.se>
Date: Sun, 31 Jan 2021 22:11:56 +0100
Subject: [PATCH] refactored pwm3389
---
examples/pmw3389.rs | 1413 +++++++++++++++++++++----------------------
src/lib.rs | 37 ++
src/pmw3389.rs | 692 +++++++++++++++++++++
3 files changed, 1420 insertions(+), 722 deletions(-)
create mode 100644 src/lib.rs
create mode 100644 src/pmw3389.rs
diff --git a/examples/pmw3389.rs b/examples/pmw3389.rs
index 9c57444..bcf896c 100644
--- a/examples/pmw3389.rs
+++ b/examples/pmw3389.rs
@@ -3,13 +3,16 @@
#![no_main]
#![no_std]
-use cortex_m::{iprintln, peripheral::DWT};
+// 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 app::{pmw3389, DwtDelay};
+use rtt_target::{rprint, rprintln, rtt_init_print};
+
//use crate::hal::gpio::{gpioa::PA0, Edge, Input, PullDown};
//use hal::spi::{Mode, Phase, Polarity};
@@ -18,10 +21,11 @@ const APP: () = {
struct Resources {
// late resources
GPIOA: stm32::GPIOA,
- ITM: stm32::ITM,
}
#[init(schedule = [toggle])]
fn init(cx: init::Context) -> init::LateResources {
+ rtt_init_print!();
+
let mut core = cx.core;
let device = cx.device;
@@ -36,10 +40,8 @@ const APP: () = {
let clocks = rcc.cfgr.freeze();
- let stim = &mut core.ITM.stim[0];
-
- iprintln!(stim, "------------");
- iprintln!(stim, "pmw3389");
+ rprintln!("------------");
+ rprintln!("pmw3389");
// Initialize (enable) the monotonic timer (CYCCNT)
core.DCB.enable_trace();
@@ -73,55 +75,54 @@ const APP: () = {
);
let mut delay = DwtDelay::new(&mut core.DWT, clocks);
- iprintln!(stim, "clocks:");
- iprintln!(stim, "hclk {}", clocks.hclk().0);
+ 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();
- iprintln!(stim, "1000us {}", t2.wrapping_sub(t1));
+ rprintln!("1000us {}", t2.wrapping_sub(t1));
let t1 = stm32::DWT::get_cycle_count();
delay.delay_ms(1000);
let t2 = stm32::DWT::get_cycle_count();
- iprintln!(stim, "1000ms {}", t2.wrapping_sub(t1));
+ rprintln!("1000ms {}", t2.wrapping_sub(t1));
- let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay, &mut core.ITM).unwrap();
+ let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay).unwrap();
- let stim = &mut core.ITM.stim[0];
let id = pmw3389.product_id().unwrap();
- iprintln!(stim, "id {}", id);
+ rprintln!("id {}", id);
let id = pmw3389
.read_register(pmw3389::Register::RevisionId)
.unwrap();
- iprintln!(stim, "rev {}", id);
+ rprintln!("rev {}", id);
let id = pmw3389
.read_register(pmw3389::Register::ShutterLower)
.unwrap();
- iprintln!(stim, "lower {}", id);
+ rprintln!("lower {}", id);
let id = pmw3389
.read_register(pmw3389::Register::ShutterUpper)
.unwrap();
- iprintln!(stim, "upper {}", id);
+ rprintln!("upper {}", id);
let id = pmw3389.read_register(pmw3389::Register::SROMId).unwrap();
- iprintln!(stim, "sromid {}", id);
+ rprintln!("sromid {}", id);
let id = pmw3389
.read_register(pmw3389::Register::InverseProductID)
.unwrap();
- iprintln!(stim, "-id {}", id);
+ rprintln!("-id {}", id);
let id = pmw3389
.read_register(pmw3389::Register::RippleControl)
.unwrap();
- iprintln!(stim, "ripple_control {:x}", id);
+ 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
@@ -133,14 +134,13 @@ const APP: () = {
// pass on late resources
init::LateResources {
GPIOA: device.GPIOA,
- ITM: core.ITM,
}
}
- #[task(resources = [GPIOA, ITM], schedule = [toggle])]
+ #[task(resources = [GPIOA], schedule = [toggle])]
fn toggle(cx: toggle::Context) {
static mut TOGGLE: bool = false;
- iprintln!(&mut cx.resources.ITM.stim[0], "foo @ {:?}", Instant::now());
+ rprintln!("toggle @ {:?}", Instant::now());
if *TOGGLE {
cx.resources.GPIOA.bsrr.write(|w| w.bs5().set_bit());
@@ -159,714 +159,683 @@ const APP: () = {
}
};
-pub struct DwtDelay {
- clocks: Clocks,
-}
-
-impl DwtDelay {
- pub fn new(dwt: &mut stm32::DWT, clocks: Clocks) -> DwtDelay {
- // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
- stm32::DWT::unlock();
- dwt.enable_cycle_counter();
- Self { clocks }
- }
-}
-
-impl _embedded_hal_blocking_delay_DelayUs<u32> for DwtDelay {
- fn delay_us(&mut self, us: u32) {
- let freq_m_hertz = self.clocks.hclk().0 / 1_000_000;
-
- let start = stm32::DWT::get_cycle_count() as i32;
- let end = start.wrapping_add((us * freq_m_hertz) as i32);
-
- while (stm32::DWT::get_cycle_count() as i32).wrapping_sub(end) < 0 {
- // this nop should be ok as the `DWT::get_cycle_count() provides side effects
- }
- }
-}
-
-impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
- fn delay_ms(&mut self, ms: u32) {
- self.delay_us(ms * 1000)
- }
-}
-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);
+// 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");
- loop {
- pmw3389.write_register(Register::Motion, 0x01)?;
+// // read product id
+// let id = pmw3389.product_id()?;
+// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
- 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 srom_id = pmw3389.read_register(Register::SROMId)?;
+// iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
- let x = (xl as u16 + (xh as u16) << 8) as i16;
- let y = (yl as u16 + (yh as u16) << 8) as i16;
+// loop {
+// pmw3389.write_register(Register::Motion, 0x01)?;
- let surface = motion & 0x08;
- let motion_detect = motion & 0x80;
+// 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)?;
- iprintln!(
- &mut itm.stim[0],
- "motion {}, surface {}, (x, y) {:?}",
- motion_detect,
- surface,
- (x, y),
- );
- pmw3389.delay.delay_ms(200);
- }
+// let x = (xl as u16 + (xh as u16) << 8) as i16;
+// let y = (yl as u16 + (yh as u16) << 8) as i16;
- // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
- // self.delay.delay_ms(35); // waits for tSRAD
+// let surface = motion & 0x08;
+// let motion_detect = motion & 0x80;
- // loop {
- // pmw3389.read_status(itm)?;
- // pmw3389.delay.delay_ms(10);
- // }
+// iprintln!(
+// &mut itm.stim[0],
+// "motion {}, surface {}, (x, y) {:?}",
+// motion_detect,
+// surface,
+// (x, y),
+// );
+// pmw3389.delay.delay_ms(200);
+// }
- // 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);
+// // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
+// // self.delay.delay_ms(35); // waits for tSRAD
- // 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);
- // }
+// // 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();
- 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(())
- }
- }
+// let mut buffer = [reg.addr() & 0x7f];
+// self.spi.transfer(&mut buffer)?;
- // 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,
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- 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,
- ];
-}
+// // 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,
+// ];
+// }
diff --git a/src/lib.rs b/src/lib.rs
new file mode 100644
index 0000000..821accb
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,37 @@
+#![no_std]
+
+pub mod pmw3389;
+
+use stm32f4xx_hal::{prelude::*, rcc::Clocks, stm32};
+
+pub struct DwtDelay {
+ clocks: Clocks,
+}
+
+impl DwtDelay {
+ pub fn new(dwt: &mut stm32::DWT, clocks: Clocks) -> DwtDelay {
+ // required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
+ stm32::DWT::unlock();
+ dwt.enable_cycle_counter();
+ Self { clocks }
+ }
+}
+
+impl _embedded_hal_blocking_delay_DelayUs<u32> for DwtDelay {
+ fn delay_us(&mut self, us: u32) {
+ let freq_m_hertz = self.clocks.hclk().0 / 1_000_000;
+
+ let start = stm32::DWT::get_cycle_count() as i32;
+ let end = start.wrapping_add((us * freq_m_hertz) as i32);
+
+ while (stm32::DWT::get_cycle_count() as i32).wrapping_sub(end) < 0 {
+ // this nop should be ok as the `DWT::get_cycle_count() provides side effects
+ }
+ }
+}
+
+impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
+ fn delay_ms(&mut self, ms: u32) {
+ self.delay_us(ms * 1000)
+ }
+}
diff --git a/src/pmw3389.rs b/src/pmw3389.rs
new file mode 100644
index 0000000..b2b795d
--- /dev/null
+++ b/src/pmw3389.rs
@@ -0,0 +1,692 @@
+/// PWM3389 gaming mouse sensor driver
+// // #![deny(unsafe_code)]
+// // // #![deny(warnings)]
+// // #![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 crate::hal::gpio::{gpioa::PA0, Edge, Input, PullDown};
+//use hal::spi::{Mode, Phase, Polarity};
+
+use crate::DwtDelay;
+
+// use cortex_m::{iprint, iprintln};
+use embedded_hal::blocking::spi::{Transfer, Write};
+use embedded_hal::digital::v2::OutputPin;
+use stm32f4xx_hal::prelude::*;
+// use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
+
+use rtt_target::{rprint, rprintln};
+
+#[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) -> Result<Self, E> {
+ let mut pmw3389 = Pmw3389 { spi, cs, delay };
+
+ rprintln!("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()?;
+ rprintln!("product_id 0x{:x}", id);
+
+ let srom_id = pmw3389.read_register(Register::SROMId)?;
+ rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
+
+ rprintln!("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()?;
+ rprintln!("product_id 0x{:x}", id);
+
+ let srom_id = pmw3389.read_register(Register::SROMId)?;
+ rprintln!("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()?;
+
+ pmw3389.delay.delay_ms(1000);
+
+ rprintln!("Optical Chip Initialized");
+
+ // read product id
+ let id = pmw3389.product_id()?;
+ rprintln!("product_id 0x{:x}", id);
+
+ 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)
+ }
+
+ 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();
+
+ 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.
+ // ==> 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];
+
+ rprintln!(
+ "motion {}, surface {}, (x, y) {:?}, squal {}",
+ motion,
+ surface,
+ (x, y),
+ squal
+ );
+
+ Ok(())
+ }
+
+ // Upload the firmware
+ pub fn upload_firmware(&mut self) -> Result<(), E> {
+ // send the firmware to the chip, cf p.18 of the datasheet
+ // Serial.println("Uploading firmware...");
+ rprintln!("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)?;
+
+ rprintln!("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 Self::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)?;
+ rprintln!("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
+ pub 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,
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+ 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,
+ ];
+}
--
GitLab