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Commit 12c41d5a authored by Per Lindgren's avatar Per Lindgren
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pmw3389 wip, firmare uplode not yet tested

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examples/pmw3389.rs
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...@@ -70,9 +70,8 @@ const APP: () = { ...@@ -70,9 +70,8 @@ const APP: () = {
clocks, clocks,
); );
iprintln!(stim, "clocks:\n hclk {}", clocks.hclk().0);
let mut delay = DwtDelay::new(&mut core.DWT, clocks); let mut delay = DwtDelay::new(&mut core.DWT, clocks);
iprintln!(stim, "clocks:\n hclk {}", clocks.hclk().0);
// test the delay // test the delay
let t1 = stm32::DWT::get_cycle_count(); let t1 = stm32::DWT::get_cycle_count();
...@@ -89,7 +88,7 @@ const APP: () = { ...@@ -89,7 +88,7 @@ const APP: () = {
// iprintln!(stim, "t1 {}", t1); // iprintln!(stim, "t1 {}", t1);
// iprintln!(stim, "t2 {}", t2); // iprintln!(stim, "t2 {}", t2);
let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs).unwrap(); let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay).unwrap();
let id = pmw3389.product_id().unwrap(); let id = pmw3389.product_id().unwrap();
iprintln!(stim, "id {}", id); iprintln!(stim, "id {}", id);
...@@ -164,7 +163,7 @@ const APP: () = { ...@@ -164,7 +163,7 @@ const APP: () = {
} }
}; };
struct DwtDelay { pub struct DwtDelay {
clocks: Clocks, clocks: Clocks,
} }
...@@ -196,10 +195,13 @@ impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay { ...@@ -196,10 +195,13 @@ impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
} }
} }
mod pmw3389 { mod pmw3389 {
use super::DwtDelay;
use embedded_hal::blocking::spi::{Transfer, Write}; use embedded_hal::blocking::spi::{Transfer, Write};
use embedded_hal::digital::v2::OutputPin; use embedded_hal::digital::v2::OutputPin;
// use embedded_hal::spi::Mode; // use embedded_hal::spi::Mode;
use cortex_m::iprintln;
use stm32f4xx_hal::prelude::*;
#[allow(dead_code)] #[allow(dead_code)]
#[derive(Clone, Copy)] #[derive(Clone, Copy)]
...@@ -276,6 +278,7 @@ mod pmw3389 { ...@@ -276,6 +278,7 @@ mod pmw3389 {
pub struct Pmw3389<SPI, CS> { pub struct Pmw3389<SPI, CS> {
spi: SPI, spi: SPI,
cs: CS, cs: CS,
delay: DwtDelay,
} }
impl<SPI, CS, E> Pmw3389<SPI, CS> impl<SPI, CS, E> Pmw3389<SPI, CS>
...@@ -284,112 +287,132 @@ mod pmw3389 { ...@@ -284,112 +287,132 @@ mod pmw3389 {
CS: OutputPin, CS: OutputPin,
{ {
/// Creates a new driver from a SPI peripheral and a NCS pin /// Creates a new driver from a SPI peripheral and a NCS pin
pub fn new(spi: SPI, cs: CS) -> Result<Self, E> { pub fn new(spi: SPI, cs: CS, delay: DwtDelay) -> Result<Self, E> {
let mut pmw3389 = Pmw3389 { spi, cs }; let mut pmw3389 = Pmw3389 { spi, cs, delay };
// power up and enable all the axes // power up code here?
// l3gd20.write_register(Register::CTRL_REG1, 0b00_00_1_111)?; // download firmware etc.
Ok(pmw3389) Ok(pmw3389)
} }
/// Reads the ProductId register; should return `0x47` pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
pub fn product_id(&mut self) -> Result<u8, E> { let _ = self.cs.set_low();
self.read_register(Register::ProductId)
let mut buffer = [reg.addr() & 0x7f, 0];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for read operation is 120ns
self.delay.delay_us(1);
let _ = self.cs.set_high();
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
Ok(buffer[1])
} }
// /// Temperature measurement + gyroscope measurements pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
// pub fn all(&mut self) -> Result<Measurements, E> { let _ = self.cs.set_low();
// let mut bytes = [0u8; 9];
// self.read_many(Register::OUT_TEMP, &mut bytes)?;
// Ok(Measurements {
// gyro: I16x3 {
// x: (bytes[3] as u16 + ((bytes[4] as u16) << 8)) as i16,
// y: (bytes[5] as u16 + ((bytes[6] as u16) << 8)) as i16,
// z: (bytes[7] as u16 + ((bytes[8] as u16) << 8)) as i16,
// },
// temp: bytes[1] as i8,
// })
// }
// /// Gyroscope measurements let buffer = [reg.addr() | 0x80, byte];
// pub fn gyro(&mut self) -> Result<I16x3, E> { self.spi.write(&buffer)?;
// let mut bytes = [0u8; 7];
// self.read_many(Register::OUT_X_L, &mut bytes)?;
// Ok(I16x3 { // tSCLK-NCS for write operation
// x: (bytes[1] as u16 + ((bytes[2] as u16) << 8)) as i16, self.delay.delay_us(20);
// y: (bytes[3] as u16 + ((bytes[4] as u16) << 8)) as i16,
// z: (bytes[5] as u16 + ((bytes[6] as u16) << 8)) as i16,
// })
// }
// /// Temperature sensor measurement let _ = self.cs.set_high();
// pub fn temp(&mut self) -> Result<i8, E> {
// Ok(self.read_register(Register::OUT_TEMP)? as i8)
// }
// /// Read `STATUS_REG` of sensor // tSWW/tSWR (=120us) minus tSCLK-NCS.
// pub fn status(&mut self) -> Result<Status, E> { // Could be shortened, but is looks like a safe lower bound
// let sts = self.read_register(Register::STATUS_REG)?; self.delay.delay_us(100);
// Ok(Status::from_u8(sts))
// }
// /// Get the current Output Data Rate Ok(())
// pub fn odr(&mut self) -> Result<Odr, E> { }
// // Read control register
// let reg1 = self.read_register(Register::CTRL_REG1)?;
// Ok(Odr::from_u8(reg1))
// }
// /// Set the Output Data Rate /// Reads the ProductId register; should return `0x47`
// pub fn set_odr(&mut self, odr: Odr) -> Result<&mut Self, E> { pub fn product_id(&mut self) -> Result<u8, E> {
// self.change_config(Register::CTRL_REG1, odr) self.read_register(Register::ProductId)
// } }
// /// Get current Bandwidth ///
// pub fn bandwidth(&mut self) -> Result<Bandwidth, E> { pub fn upload_firmware(&mut self, mut itm: stm32f4::stm32f411::ITM) -> Result<(), E> {
// let reg1 = self.read_register(Register::CTRL_REG1)?; let stim = &mut itm.stim[0];
// Ok(Bandwidth::from_u8(reg1)) // 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);
self.write_register(Register::Config2, 0x20)?;
// 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)?;
// write the SROM file (=firmware data)
// adns_com_begin();
let _ = self.cs.set_low();
// /// Set low-pass cut-off frequency (i.e. bandwidth) // write burst destination address
// /// self.spi
// /// See `Bandwidth` for further explanation .transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
// pub fn set_bandwidth(&mut self, bw: Bandwidth) -> Result<&mut Self, E> { // delayMicroseconds(15);
// self.change_config(Register::CTRL_REG1, bw)
// }
// /// Get the current Full Scale Selection self.delay.delay_us(15);
// ///
// /// This is the sensitivity of the sensor, see `Scale` for more information
// pub fn scale(&mut self) -> Result<Scale, E> {
// let scl = self.read_register(Register::CTRL_REG4)?;
// Ok(Scale::from_u8(scl))
// }
// /// Set the Full Scale Selection // send all bytes of the firmware
// /// // unsigned char c;
// /// This sets the sensitivity of the sensor, see `Scale` for more // for(int i = 0; i < firmware_length; i++){
// /// information // c = (unsigned char)pgm_read_byte(firmware_data + i);
// pub fn set_scale(&mut self, scale: Scale) -> Result<&mut Self, E> { // SPI.transfer(c);
// self.change_config(Register::CTRL_REG4, scale) // delayMicroseconds(15);
// } // }
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> { iprintln!(stim, "Begin transfer...");
let _ = self.cs.set_low();
let mut buffer = [reg.addr() & 0x7f, 0]; for i in FIRMWARE.iter() {
self.spi.transfer(&mut buffer)?; self.spi.transfer(&mut [*i])?;
self.delay.delay_us(15);
}
// Per: added this, seems adequate
self.delay.delay_us(105);
let _ = self.cs.set_high(); let _ = self.cs.set_high();
Ok(buffer[1]) //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, 0x00)?;
// set initial CPI resolution
// adns_write_reg(Config1, 0x15);
// not sure this is the RippleControl
self.write_register(Register::RippleControl, 0x15)?;
// adns_com_end();
Ok(())
} }
/// Read multiple bytes starting from the `start_reg` register. // /// Read multiple bytes starting from the `start_reg` register.
/// This function will attempt to fill the provided buffer. // /// This function will attempt to fill the provided buffer.
// fn read_many(&mut self, start_reg: Register, buffer: &mut [u8]) -> Result<(), E> { // fn read_many(&mut self, start_reg: Register, buffer: &mut [u8]) -> Result<(), E> {
// let _ = self.cs.set_low(); // let _ = self.cs.set_low();
// buffer[0] = start_reg.addr() | MULTI | READ; // buffer[0] = start_reg.addr() | MULTI | READ;
...@@ -399,17 +422,6 @@ mod pmw3389 { ...@@ -399,17 +422,6 @@ mod pmw3389 {
// Ok(()) // Ok(())
// } // }
pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
let _ = self.cs.set_low();
let buffer = [reg.addr() | 0x80, byte];
self.spi.write(&buffer)?;
let _ = self.cs.set_high();
Ok(())
}
// /// Change configuration in register // /// Change configuration in register
// /// // ///
// /// Helper function to update a particular part of a register without // /// Helper function to update a particular part of a register without
...@@ -431,4 +443,281 @@ mod pmw3389 { ...@@ -431,4 +443,281 @@ mod pmw3389 {
// Ok(self) // Ok(self)
// } // }
} }
// 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,
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