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Jonas Jacobsson
e7020e_2021
Commits
1a5afe5e
Commit
1a5afe5e
authored
4 years ago
by
Per Lindgren
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refactored pwm3389
parent
eb54a0ff
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3 changed files
examples/pmw3389.rs
+691
-722
691 additions, 722 deletions
examples/pmw3389.rs
src/lib.rs
+37
-0
37 additions, 0 deletions
src/lib.rs
src/pmw3389.rs
+692
-0
692 additions, 0 deletions
src/pmw3389.rs
with
1420 additions
and
722 deletions
examples/pmw3389.rs
+
691
−
722
View file @
1a5afe5e
...
...
@@ -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
);
i
println!
(
stim
,
"clocks:"
);
i
println!
(
stim
,
"hclk {}"
,
clocks
.hclk
()
.0
);
r
println!
(
"clocks:"
);
r
println!
(
"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
();
i
println!
(
stim
,
"1000us {}"
,
t2
.wrapping_sub
(
t1
));
r
println!
(
"1000us {}"
,
t2
.wrapping_sub
(
t1
));
let
t1
=
stm32
::
DWT
::
get_cycle_count
();
delay
.delay_ms
(
1000
);
let
t2
=
stm32
::
DWT
::
get_cycle_count
();
i
println!
(
stim
,
"1000ms {}"
,
t2
.wrapping_sub
(
t1
));
r
println!
(
"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
();
i
println!
(
stim
,
"id {}"
,
id
);
r
println!
(
"id {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
RevisionId
)
.unwrap
();
i
println!
(
stim
,
"rev {}"
,
id
);
r
println!
(
"rev {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
ShutterLower
)
.unwrap
();
i
println!
(
stim
,
"lower {}"
,
id
);
r
println!
(
"lower {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
ShutterUpper
)
.unwrap
();
i
println!
(
stim
,
"upper {}"
,
id
);
r
println!
(
"upper {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
SROMId
)
.unwrap
();
i
println!
(
stim
,
"sromid {}"
,
id
);
r
println!
(
"sromid {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
InverseProductID
)
.unwrap
();
i
println!
(
stim
,
"-id {}"
,
id
);
r
println!
(
"-id {}"
,
id
);
let
id
=
pmw3389
.read_register
(
pmw3389
::
Register
::
RippleControl
)
.unwrap
();
i
println!
(
stim
,
"ripple_control {:x}"
,
id
);
r
println!
(
"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
;
i
println!
(
&
mut
cx
.resources.ITM.stim
[
0
],
"foo
@ {:?}"
,
Instant
::
now
());
r
println!
(
"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
();
// 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,
// }
// read product id
let
id
=
pmw3389
.product_id
()
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"product_id 0x{:x}"
,
id
);
// impl Register {
// fn addr(self) -> u8 {
// self as u8
// }
// }
let
srom_id
=
pmw3389
.read_register
(
Register
::
SROMId
)
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"srom_id {}, 0x{:x}"
,
srom_id
,
srom_id
);
// pub struct Pmw3389<SPI, CS> {
// spi: SPI,
// cs: CS,
// delay: DwtDelay,
// }
iprintln!
(
&
mut
itm
.stim
[
0
],
"reset"
);
// 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();
// }
// shutdown
// fn com_end(&mut self) {
// self.cs.set_high().ok();
// }
// adns_write_reg(Shutdown, 0xb6); // Shutdown first
// delay(300);
// /// 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 };
// adns_com_begin(); // drop and raise ncs to reset spi port
// delayMicroseconds(40);
// adns_com_end();
// delayMicroseconds(40);
// iprintln!(&mut itm.stim[0], "pmw3389 - new");
// pmw3389.write_register(Register::Shutdown, 0xb6)?;
// pmw3389.delay.delay_ms(300);
// // ensure SPI is reset
// pmw3389.com_end();
// pmw3389.delay.delay_us(40);
// pmw3389.com_begin();
// pmw3389.delay.delay_us(40);
// pmw3389.com_end();
// pmw3389.delay.delay_us(40);
// force reset
pmw3389
.write_register
(
Register
::
PowerUpReset
,
0x5a
)
?
;
// // read product id
// let id = pmw3389.product_id()?;
// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
// wait for reboot
pmw3389
.delay
.delay_ms
(
50
);
//
let srom_id = pmw3389.read_register(Register::SROMId)?;
//
iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id
);
// read product id
let
id
=
pmw3389
.product_id
()
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"product_id 0x{:x}"
,
id
);
// iprintln!(&mut itm.stim[0], "reset");
let
srom_id
=
pmw3389
.read_register
(
Register
::
SROMId
)
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"srom_id {}, 0x{:x}"
,
srom_id
,
srom_id
);
// // shutdown
// 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
)
?
;
// // adns_write_reg(Shutdown, 0xb6); // Shutdown first
// // delay(300);
pmw3389
.upload_firmware
(
itm
)
?
;
// // adns_com_begin(); // drop and raise ncs to reset spi port
// // delayMicroseconds(40);
// // adns_com_end();
// // delayMicroseconds(40);
pmw3389
.delay
.delay_ms
(
1000
);
// // 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);
iprintln!
(
&
mut
itm
.stim
[
0
],
"Optical Chip Initialized"
);
// // force reset
// pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
// read product id
let
id
=
pmw3389
.product_id
()
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"product_id 0x{:x}"
,
id
);
// // wait for reboot
// pmw3389.delay.delay_ms(50);
let
srom_id
=
pmw3389
.read_register
(
Register
::
SROMId
)
?
;
iprintln!
(
&
mut
itm
.stim
[
0
],
"srom_id {}, 0x{:x}"
,
srom_id
,
srom_id
);
// // read product id
// let id = pmw3389.product_id()?;
// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
l
oop
{
pmw3389
.write_register
(
Register
::
Motion
,
0x01
)
?
;
//
l
et srom_id = pmw3389.read_register(Register::SROMId)?;
//
iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_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
)
?
;
// // 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)?;
let
x
=
(
xl
as
u16
+
(
xh
as
u16
)
<<
8
)
as
i16
;
let
y
=
(
yl
as
u16
+
(
yh
as
u16
)
<<
8
)
as
i16
;
// pmw3389.upload_firmware(itm)?;
let
surface
=
motion
&
0x08
;
let
motion_detect
=
motion
&
0x80
;
// pmw3389.delay.delay_ms(1000);
iprintln!
(
&
mut
itm
.stim
[
0
],
"motion {}, surface {}, (x, y) {:?}"
,
motion_detect
,
surface
,
(
x
,
y
),
);
pmw3389
.delay
.delay_ms
(
200
);
}
// iprintln!(&mut itm.stim[0], "Optical Chip Initialized");
// self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
// self.delay.delay_ms(35); // waits for tSRAD
// // read product id
// let id = pmw3389.product_id()?;
// iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
// let srom_id = pmw3389.read_register(Register::SROMId)?;
// iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
// loop {
// pmw3389.read_status(itm)?;
// pmw3389.delay.delay_ms(10);
// pmw3389.write_register(Register::Motion, 0x01)?;
// let motion = pmw3389.read_register(Register::Motion)?;
// let xl = pmw3389.read_register(Register::DeltaXL)?;
// let xh = pmw3389.read_register(Register::DeltaXH)?;
// let yl = pmw3389.read_register(Register::DeltaYL)?;
// let yh = pmw3389.read_register(Register::DeltaYH)?;
// let x = (xl as u16 + (xh as u16) << 8) as i16;
// let y = (yl as u16 + (yh as u16) << 8) as i16;
// let surface = motion & 0x08;
// let motion_detect = motion & 0x80;
// iprintln!(
// &mut itm.stim[0],
// "motion {}, surface {}, (x, y) {:?}",
// motion_detect,
// surface,
// (x, y),
// );
// pmw3389.delay.delay_ms(200);
// }
//
Ok(pmw3389)
}
//
//
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
//
// self.delay.delay_ms(35); // waits for tSRAD
pub
fn
read_register
(
&
mut
self
,
reg
:
Register
)
->
Result
<
u8
,
E
>
{
self
.com_begin
();
// // loop {
// // pmw3389.read_status(itm)?;
// // pmw3389.delay.delay_ms(10);
// // }
let
mut
buffer
=
[
reg
.addr
()
&
0x7f
];
self
.spi
.transfer
(
&
mut
buffer
)
?
;
//
// Ok(pmw3389)
//
}
// tSRAD
self
.delay
.delay_us
(
100
);
self
.delay
.delay_us
(
120
);
// pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
// self.com_begin();
let
mut
buffer
=
[
0
];
self
.spi
.transfer
(
&
mut
buffer
)
?
;
//
let mut buffer = [
reg.addr() & 0x7f
];
//
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for read operation is 120ns
self
.delay
.delay_us
(
1
);
// // tSRAD
// self.delay.delay_us(100);
// self.delay.delay_us(120);
self
.com_end
();
// let mut buffer = [0];
// self.spi.transfer(&mut buffer)?;
// tSRW/tSRR (=20us) minus tSCLK-NCS
self
.delay
.delay_us
(
19
);
self
.delay
.delay_us
(
120
);
// // tSCLK-NCS for read operation is 120ns
// self.delay.delay_us(1);
Ok
(
buffer
[
0
])
}
// self.com_end();
pub
fn
write_register
(
&
mut
self
,
reg
:
Register
,
byte
:
u8
)
->
Result
<
(),
E
>
{
self
.com_begin
();
// // tSRW/tSRR (=20us) minus tSCLK-NCS
// self.delay.delay_us(19);
// self.delay.delay_us(120);
let
mut
buffer
=
[
reg
.addr
()
|
0x8
0
]
;
self
.spi
.transfer
(
&
mut
buffer
)
?
;
//
Ok(buffer[
0]
)
//
}
// send
let
mut
buffer
=
[
byte
];
self
.spi
.transfer
(
&
mut
buffer
)
?
;
// pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
// self.com_begin();
// tSCLK-NCS for write operation
self
.
delay
.delay_us
(
20
)
;
//
let mut buffer = [reg.addr() | 0x80];
//
self.
spi.transfer(&mut buffer)?
;
self
.com_end
();
// tSWW/tSWR (=120us) minus tSCLK-NCS.
// Could be shortened, but is looks like a safe lower bound
//
// send
//
let mut buffer = [byte];
//
self.spi.transfer(&mut buffer)?;
self
.delay
.delay_us
(
100
);
// // tSCLK-NCS for write operation
// self.delay.delay_us(20);
Ok
(())
}
// self.com_end();
// // tSWW/tSWR (=120us) minus tSCLK-NCS.
// // Could be shortened, but is looks like a safe lower bound
/// Reads the ProductId register; should return `0x47`
pub
fn
product_id
(
&
mut
self
)
->
Result
<
u8
,
E
>
{
self
.read_register
(
Register
::
ProductId
)
}
// self.delay.delay_us(100);
/// Read status
pub
fn
read_status
(
&
mut
self
,
itm
:
&
mut
stm32
::
ITM
)
->
Result
<
(),
E
>
{
self
.com_begin
();
// Ok(())
// }
self
.spi
.transfer
(
&
mut
[
Register
::
MotionBurst
.addr
()])
?
;
self
.delay
.delay_us
(
35
);
// waits for tSRAD
// /// Reads the ProductId register; should return `0x47`
// pub fn product_id(&mut self) -> Result<u8, E> {
// self.read_register(Register::ProductId)
// }
//
r
ead
burst buffer
let
mut
buf
=
[
0u8
;
12
];
self
.
spi
.transfer
(
&
mut
buf
)
?
;
//
//
/ R
ead
status
//
pub fn read_status(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
//
self.
com_begin()
;
// tSCLK-NCS for read operation is 120ns
self
.delay
.delay_us
(
120
);
//
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
//
self.delay.delay_us(
35); // waits for tSRAD
self
.com_end
();
// // read burst buffer
// let mut buf = [0u8; 12];
// self.spi.transfer(&mut buf)?;
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
);
// // tSCLK-NCS for read operation is 120ns
// self.delay.delay_us(120);
Ok
(())
}
// self.com_end();
// 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);
// 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(())
// }
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
}
// // 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
);
//
// // Per: added this, seems adequate
//
self.delay.delay_us(105);
self
.com_end
();
//
self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
//
//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
);
//
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
)
?
;
//
// //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);
//
// // 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
)
?
;
//
// 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
(())
}
}
//
// 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
,
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0xca
,
0x16
,
0xae
,
0xbf
,
0xdd
,
0x19
,
0xb0
,
0xe2
,
0x46
,
0x0e
,
0x7f
,
0x5d
,
0x19
,
0x91
,
0x81
,
0x80
,
0x63
,
0x44
,
0xeb
,
0x35
,
0xc9
,
0x10
,
0x83
,
0x65
,
0x48
,
0x12
,
0xa6
,
0xce
,
0x1e
,
0x9f
,
0xbc
,
0xdb
,
0x15
,
0x89
,
0x71
,
0x60
,
0x23
,
0xc4
,
0xeb
,
0x54
,
0x2a
,
0xb7
,
0xec
,
0x5a
,
0x36
,
0xcf
,
0x81
,
0x10
,
0xac
,
0x74
,
];
}
//
// const 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,
//
];
//
}
This diff is collapsed.
Click to expand it.
src/lib.rs
0 → 100644
+
37
−
0
View file @
1a5afe5e
#![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
)
}
}
This diff is collapsed.
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src/pmw3389.rs
0 → 100644
+
692
−
0
View file @
1a5afe5e
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