Cardputer Kit (#9540)
* Cardputer Kit BMI270 WIP * BMI270 support * verify that the number of bytes read matches the requested length Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * trunk'd * remove excessive logging * Kick the screen when unsleeping * Update the st7789 library, and enable displayon and displayoff * Battery detection * Default to arrow keys and enter, while in menus. * Enable Backlight control * Update src/detect/ScanI2CTwoWire.cpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * updateState method now accepts shouldRequestFocus parameter for better maintainability --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz> Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Thomas Göttgens
co-authored by
GitHub
Copilot
Jonathan Bennett
Ben Meadors
GitHub
Copilot
Jonathan Bennett
Ben Meadors
parent
afd5e29bce
commit
969aefa551
@@ -10,6 +10,9 @@
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#ifdef HAS_BMA423
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#include "BMA423Sensor.h"
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#endif
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#ifdef HAS_BMI270
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#include "BMI270Sensor.h"
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#endif
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#include "BMM150Sensor.h"
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#include "BMX160Sensor.h"
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#include "ICM20948Sensor.h"
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@@ -111,6 +114,11 @@ class AccelerometerThread : public concurrency::OSThread
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case ScanI2C::DeviceType::BMM150:
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sensor = new BMM150Sensor(device);
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break;
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#ifdef HAS_BMI270
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case ScanI2C::DeviceType::BMI270:
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sensor = new BMI270Sensor(device);
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break;
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#endif
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#ifdef HAS_QMA6100P
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case ScanI2C::DeviceType::QMA6100P:
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sensor = new QMA6100PSensor(device);
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@@ -0,0 +1,605 @@
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#include "BMI270Sensor.h"
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#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && defined(HAS_BMI270)
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#include <pgmspace.h>
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// BMI270 registers used
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#define BMI270_REG_ACC_X_LSB 0x0C
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#define BMI270_REG_INTERNAL_STATUS 0x21
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#define BMI270_REG_ACC_CONF 0x40
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#define BMI270_REG_ACC_RANGE 0x41
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#define BMI270_REG_INIT_CTRL 0x59
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#define BMI270_REG_INIT_ADDR_0 0x5B
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#define BMI270_REG_INIT_ADDR_1 0x5C
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#define BMI270_REG_INIT_DATA 0x5E
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#define BMI270_REG_PWR_CONF 0x7C
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#define BMI270_REG_PWR_CTRL 0x7D
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#define BMI270_REG_CMD 0x7E
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// Commands and configuration values
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#define BMI270_CMD_SOFTRESET 0xB6
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#define BMI270_PWR_CONF_ADV_POWER_SAVE_DISABLED 0x00
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#define BMI270_PWR_CTRL_ACC_EN 0x04
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#define BMI270_ACC_ODR_50HZ 0x07
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#define BMI270_ACC_BWP_NORMAL 0x20
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#define BMI270_ACC_FILTER_PERF 0x80
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#define BMI270_ACC_RANGE_2G 0x00
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#define BMI270_INIT_OK 0x01
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// BMI270 config file - 8192 bytes from official Bosch BMI270 API
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static const uint8_t bmi270_config_file[] PROGMEM = {
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0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80,
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0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e,
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0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00, 0x00, 0x10, 0x00,
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0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
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0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
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0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
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0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
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0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
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0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
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0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
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0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
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0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08,
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0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00,
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0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f,
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0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00,
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0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32,
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0x00, 0x05, 0x00, 0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02,
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0xb3, 0x00, 0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, 0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0,
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0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2, 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1,
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0xf0, 0x00, 0xe0, 0x00, 0xcd, 0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa,
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0x00, 0xff, 0x3f, 0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01,
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0x58, 0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01, 0x88,
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0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e, 0x01, 0xdb, 0x00,
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0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05, 0x37, 0xfa, 0xa2, 0x01, 0xaa,
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0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce, 0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01,
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0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5, 0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff,
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0x00, 0x00, 0x80, 0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f,
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0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f, 0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00,
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0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87, 0x0f, 0x8a, 0x0f, 0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00,
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0x2d, 0xf5, 0xca, 0xf5, 0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x50, 0x98,
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0x2e, 0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00, 0x2e,
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0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e, 0x19, 0x00, 0x01, 0x2e, 0xee, 0x00, 0x00, 0xb2, 0x07,
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0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e, 0x07, 0xcc, 0x01, 0x2e, 0xdd, 0x00,
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0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e, 0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1, 0x03, 0x2e, 0xe9, 0x00, 0x40, 0xb2, 0xf0,
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0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1,
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0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50, 0x98, 0x2e, 0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98,
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0x2e, 0xf9, 0xb4, 0x98, 0x2e, 0x54, 0xb2, 0x98, 0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00,
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0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4,
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0x00, 0x04, 0xae, 0x0b, 0x2f, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2,
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0x02, 0x2f, 0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00, 0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7,
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0x00, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7b, 0x00, 0x00, 0xb2,
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0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98, 0x2e, 0x81, 0x0d, 0x01,
|
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0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e,
|
||||
0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01, 0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98,
|
||||
0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30, 0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f,
|
||||
0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98, 0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09,
|
||||
0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41, 0x04, 0x41, 0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56,
|
||||
0x4a, 0x0f, 0x0c, 0x2f, 0xd1, 0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80,
|
||||
0xb2, 0x08, 0x22, 0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30,
|
||||
0x21, 0x2e, 0x5a, 0xf5, 0x18, 0x2d, 0xe1, 0x7f, 0x50, 0x30, 0x98, 0x2e, 0xfa, 0x03, 0x0f, 0x52, 0x07, 0x50, 0x50, 0x42, 0x70,
|
||||
0x30, 0x0d, 0x54, 0x42, 0x42, 0x7e, 0x82, 0xe2, 0x6f, 0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x10, 0x30,
|
||||
0x98, 0x2e, 0xc3, 0xb7, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x06, 0x90, 0x18, 0x2f, 0x01,
|
||||
0x2e, 0x76, 0x00, 0x0b, 0x54, 0x07, 0x52, 0xe0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xe1, 0x6f, 0x08, 0x1a, 0x40, 0x30, 0x08, 0x2f,
|
||||
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|
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|
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|
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|
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|
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0xf6, 0x6f, 0xe7, 0x6f, 0x80, 0x6f, 0xa2, 0x6f, 0xb3, 0x6f, 0xc4, 0x6f, 0xd5, 0x6f, 0x7b, 0x6f, 0x91, 0x6f, 0x40, 0x5f, 0xc8,
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|
||||
0x42, 0x41, 0x23, 0x7f, 0x12, 0x7f, 0xf6, 0x30, 0x40, 0x25, 0x51, 0x25, 0x98, 0x2e, 0x37, 0xca, 0x14, 0x6f, 0x20, 0x05, 0x70,
|
||||
0x6f, 0x25, 0x6f, 0x69, 0x07, 0xa2, 0x6f, 0x31, 0x6f, 0x0b, 0x30, 0x04, 0x42, 0x9b, 0x42, 0x8b, 0x42, 0x55, 0x42, 0x32, 0x7f,
|
||||
0x40, 0xa9, 0xc3, 0x6f, 0x71, 0x7f, 0x02, 0x30, 0xd0, 0x40, 0xc3, 0x7f, 0x03, 0x2f, 0x40, 0x91, 0x15, 0x2f, 0x00, 0xa7, 0x13,
|
||||
0x2f, 0x00, 0xa4, 0x11, 0x2f, 0x84, 0xbd, 0x98, 0x2e, 0x79, 0xca, 0x55, 0x6f, 0xb7, 0x54, 0x54, 0x41, 0x82, 0x00, 0xf3, 0x3f,
|
||||
0x45, 0x41, 0xcb, 0x02, 0xf6, 0x30, 0x98, 0x2e, 0x37, 0xca, 0x35, 0x6f, 0xa4, 0x6f, 0x41, 0x43, 0x03, 0x2c, 0x00, 0x43, 0xa4,
|
||||
0x6f, 0x35, 0x6f, 0x17, 0x30, 0x42, 0x6f, 0x51, 0x6f, 0x93, 0x40, 0x42, 0x82, 0x00, 0x41, 0xc3, 0x00, 0x03, 0x43, 0x51, 0x7f,
|
||||
0x00, 0x2e, 0x94, 0x40, 0x41, 0x41, 0x4c, 0x02, 0xc4, 0x6f, 0xd1, 0x56, 0x63, 0x0e, 0x74, 0x6f, 0x51, 0x43, 0xa5, 0x7f, 0x8a,
|
||||
0x2f, 0x09, 0x2e, 0xd8, 0x00, 0x01, 0xb3, 0x21, 0x2f, 0xcb, 0x58, 0x90, 0x6f, 0x13, 0x41, 0xb6, 0x6f, 0xe4, 0x7f, 0x00, 0x2e,
|
||||
0x91, 0x41, 0x14, 0x40, 0x92, 0x41, 0x15, 0x40, 0x17, 0x2e, 0x6f, 0xf5, 0xb6, 0x7f, 0xd0, 0x7f, 0xcb, 0x7f, 0x98, 0x2e, 0x00,
|
||||
0x0c, 0x07, 0x15, 0xc2, 0x6f, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0xc3, 0xa3, 0xc1, 0x8f, 0xe4, 0x6f, 0xd0, 0x6f, 0xe6, 0x2f,
|
||||
0x14, 0x30, 0x05, 0x2e, 0x6f, 0xf5, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0x18, 0x2d, 0xcd, 0x56, 0x04, 0x32, 0xb5, 0x6f, 0x1c,
|
||||
0x01, 0x51, 0x41, 0x52, 0x41, 0xc3, 0x40, 0xb5, 0x7f, 0xe4, 0x7f, 0x98, 0x2e, 0x1f, 0x0c, 0xe4, 0x6f, 0x21, 0x87, 0x00, 0x43,
|
||||
0x04, 0x32, 0xcf, 0x54, 0x5a, 0x0e, 0xef, 0x2f, 0x15, 0x54, 0x09, 0x2e, 0x77, 0xf7, 0x22, 0x0b, 0x29, 0x2e, 0x77, 0xf7, 0xfb,
|
||||
0x6f, 0x50, 0x5e, 0xb8, 0x2e, 0x10, 0x50, 0x01, 0x2e, 0xd4, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x51, 0x2f, 0x01, 0xb2, 0x48, 0x2f,
|
||||
0x02, 0xb2, 0x42, 0x2f, 0x03, 0x90, 0x56, 0x2f, 0xd7, 0x52, 0x79, 0x80, 0x42, 0x40, 0x81, 0x84, 0x00, 0x40, 0x42, 0x42, 0x98,
|
||||
0x2e, 0x93, 0x0c, 0xd9, 0x54, 0xd7, 0x50, 0xa1, 0x40, 0x98, 0xbd, 0x82, 0x40, 0x3e, 0x82, 0xda, 0x0a, 0x44, 0x40, 0x8b, 0x16,
|
||||
0xe3, 0x00, 0x53, 0x42, 0x00, 0x2e, 0x43, 0x40, 0x9a, 0x02, 0x52, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x15, 0x54, 0x4a, 0x0e, 0x3a,
|
||||
0x2f, 0x3a, 0x82, 0x00, 0x30, 0x41, 0x40, 0x21, 0x2e, 0x85, 0x0f, 0x40, 0xb2, 0x0a, 0x2f, 0x98, 0x2e, 0xb1, 0x0c, 0x98, 0x2e,
|
||||
0x45, 0x0e, 0x98, 0x2e, 0x5b, 0x0e, 0xfb, 0x6f, 0xf0, 0x5f, 0x00, 0x30, 0x80, 0x2e, 0xce, 0xb7, 0xdd, 0x52, 0xd3, 0x54, 0x42,
|
||||
0x42, 0x4f, 0x84, 0x73, 0x30, 0xdb, 0x52, 0x83, 0x42, 0x1b, 0x30, 0x6b, 0x42, 0x23, 0x30, 0x27, 0x2e, 0xd7, 0x00, 0x37, 0x2e,
|
||||
0xd4, 0x00, 0x21, 0x2e, 0xd6, 0x00, 0x7a, 0x84, 0x17, 0x2c, 0x42, 0x42, 0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21,
|
||||
0x30, 0x00, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b, 0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50,
|
||||
0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0xd4, 0x00, 0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8,
|
||||
0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39, 0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f,
|
||||
0xab, 0x08, 0x91, 0x6f, 0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b,
|
||||
0x09, 0xcb, 0x52, 0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08,
|
||||
0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50, 0x03, 0x2e, 0x25,
|
||||
0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4, 0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a, 0x08, 0xb6, 0x89, 0x16,
|
||||
0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08,
|
||||
0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e, 0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00,
|
||||
0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f, 0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82,
|
||||
0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00, 0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54,
|
||||
0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5, 0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64,
|
||||
0xf5, 0x94, 0x00, 0x50, 0x42, 0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e,
|
||||
0xdd, 0x52, 0x00, 0x30, 0x40, 0x42, 0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54,
|
||||
0x40, 0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e, 0x82,
|
||||
0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90, 0x02, 0x2f, 0x21,
|
||||
0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77, 0xf7, 0xbd, 0x56, 0x47, 0xbe,
|
||||
0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e, 0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02,
|
||||
0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc0, 0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40,
|
||||
0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f, 0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4,
|
||||
0x6f, 0x4c, 0x0e, 0x12, 0x42, 0xd3, 0x7f, 0xeb, 0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e,
|
||||
0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30, 0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25, 0x3c,
|
||||
0x86, 0xeb, 0x7f, 0x41, 0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f,
|
||||
0x94, 0x09, 0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
|
||||
0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42, 0xc0, 0x5f, 0x50, 0x50, 0xf5, 0x50,
|
||||
0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01, 0x42, 0x03, 0x00, 0x07,
|
||||
0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52, 0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f, 0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f,
|
||||
0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00,
|
||||
0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30, 0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42,
|
||||
0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0,
|
||||
0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e,
|
||||
0x5d, 0xc0, 0xed, 0x50, 0x98, 0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35,
|
||||
0x50, 0x98, 0x2e, 0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xab, 0x33,
|
||||
0x0b, 0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42, 0x8b,
|
||||
0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc, 0x84, 0x0b, 0x40,
|
||||
0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x58, 0xb7, 0xd1, 0x6f, 0x80, 0x30, 0x40, 0x42, 0x03,
|
||||
0x30, 0xe0, 0x6f, 0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62, 0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30,
|
||||
0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0,
|
||||
0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6,
|
||||
0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1};
|
||||
|
||||
#define BMI270_CONFIG_FILE_SIZE sizeof(bmi270_config_file)
|
||||
|
||||
BMI270Sensor::BMI270Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
|
||||
{
|
||||
if (foundDevice.address.port == ScanI2C::I2CPort::WIRE1) {
|
||||
#ifdef I2C_SDA1
|
||||
wire = &Wire1;
|
||||
#else
|
||||
wire = &Wire;
|
||||
#endif
|
||||
} else {
|
||||
wire = &Wire;
|
||||
}
|
||||
}
|
||||
|
||||
bool BMI270Sensor::writeRegister(uint8_t reg, uint8_t value)
|
||||
{
|
||||
wire->beginTransmission(deviceAddress());
|
||||
wire->write(reg);
|
||||
wire->write(value);
|
||||
return wire->endTransmission() == 0;
|
||||
}
|
||||
|
||||
bool BMI270Sensor::writeRegisters(uint8_t reg, const uint8_t *data, size_t len)
|
||||
{
|
||||
wire->beginTransmission(deviceAddress());
|
||||
wire->write(reg);
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
wire->write(data[i]);
|
||||
}
|
||||
return wire->endTransmission() == 0;
|
||||
}
|
||||
|
||||
uint8_t BMI270Sensor::readRegister(uint8_t reg)
|
||||
{
|
||||
wire->beginTransmission(deviceAddress());
|
||||
wire->write(reg);
|
||||
wire->endTransmission(false);
|
||||
wire->requestFrom(deviceAddress(), (uint8_t)1);
|
||||
if (wire->available()) {
|
||||
return wire->read();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool BMI270Sensor::readRegisters(uint8_t reg, uint8_t *data, size_t len)
|
||||
{
|
||||
wire->beginTransmission(deviceAddress());
|
||||
wire->write(reg);
|
||||
wire->endTransmission(false);
|
||||
size_t bytesRead = wire->requestFrom(deviceAddress(), (uint8_t)len);
|
||||
if (bytesRead != len) {
|
||||
// Read any available bytes to keep the bus state clean, but report failure.
|
||||
for (size_t i = 0; i < bytesRead && wire->available(); i++) {
|
||||
data[i] = wire->read();
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < len && wire->available(); i++) {
|
||||
data[i] = wire->read();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool BMI270Sensor::uploadConfigFile()
|
||||
{
|
||||
if (!writeRegister(BMI270_REG_INIT_CTRL, 0x00))
|
||||
return false;
|
||||
|
||||
const size_t chunkSize = 32;
|
||||
size_t bytesWritten = 0;
|
||||
|
||||
while (bytesWritten < BMI270_CONFIG_FILE_SIZE) {
|
||||
size_t remaining = BMI270_CONFIG_FILE_SIZE - bytesWritten;
|
||||
size_t toWrite = (remaining < chunkSize) ? remaining : chunkSize;
|
||||
|
||||
// Set address in word units before each chunk
|
||||
uint16_t wordAddr = bytesWritten / 2;
|
||||
if (!writeRegister(BMI270_REG_INIT_ADDR_0, (uint8_t)(wordAddr & 0x0F)))
|
||||
return false;
|
||||
if (!writeRegister(BMI270_REG_INIT_ADDR_1, (uint8_t)(wordAddr >> 4)))
|
||||
return false;
|
||||
|
||||
wire->beginTransmission(deviceAddress());
|
||||
wire->write(BMI270_REG_INIT_DATA);
|
||||
for (size_t i = 0; i < toWrite; i++) {
|
||||
wire->write(pgm_read_byte(&bmi270_config_file[bytesWritten + i]));
|
||||
}
|
||||
if (wire->endTransmission() != 0)
|
||||
return false;
|
||||
|
||||
bytesWritten += toWrite;
|
||||
}
|
||||
|
||||
if (!writeRegister(BMI270_REG_INIT_CTRL, 0x01))
|
||||
return false;
|
||||
|
||||
delay(50);
|
||||
|
||||
for (int i = 0; i < 10; i++) {
|
||||
uint8_t status = readRegister(BMI270_REG_INTERNAL_STATUS);
|
||||
if ((status & 0x0F) == BMI270_INIT_OK)
|
||||
return true;
|
||||
delay(20);
|
||||
}
|
||||
|
||||
LOG_WARN("BMI270 status=0x%02X", readRegister(BMI270_REG_INTERNAL_STATUS));
|
||||
return false;
|
||||
}
|
||||
|
||||
bool BMI270Sensor::init()
|
||||
{
|
||||
delay(10);
|
||||
writeRegister(BMI270_REG_CMD, BMI270_CMD_SOFTRESET);
|
||||
delay(50);
|
||||
|
||||
if (!writeRegister(BMI270_REG_PWR_CONF, BMI270_PWR_CONF_ADV_POWER_SAVE_DISABLED))
|
||||
return false;
|
||||
delay(2);
|
||||
|
||||
if (!uploadConfigFile()) {
|
||||
LOG_WARN("BMI270 config failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
uint8_t accConf = BMI270_ACC_ODR_50HZ | BMI270_ACC_BWP_NORMAL | BMI270_ACC_FILTER_PERF;
|
||||
if (!writeRegister(BMI270_REG_ACC_CONF, accConf) || !writeRegister(BMI270_REG_ACC_RANGE, BMI270_ACC_RANGE_2G) ||
|
||||
!writeRegister(BMI270_REG_PWR_CTRL, BMI270_PWR_CTRL_ACC_EN))
|
||||
return false;
|
||||
|
||||
delay(50);
|
||||
initialized = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
int32_t BMI270Sensor::runOnce()
|
||||
{
|
||||
if (!initialized) {
|
||||
return MOTION_SENSOR_CHECK_INTERVAL_MS;
|
||||
}
|
||||
|
||||
// Read accelerometer data (6 bytes)
|
||||
uint8_t data[6];
|
||||
if (!readRegisters(BMI270_REG_ACC_X_LSB, data, 6)) {
|
||||
return MOTION_SENSOR_CHECK_INTERVAL_MS;
|
||||
}
|
||||
|
||||
// Convert to 16-bit signed values
|
||||
int16_t x = (int16_t)((data[1] << 8) | data[0]);
|
||||
int16_t y = (int16_t)((data[3] << 8) | data[2]);
|
||||
int16_t z = (int16_t)((data[5] << 8) | data[4]);
|
||||
|
||||
if (!hasBaseline) {
|
||||
prevX = x;
|
||||
prevY = y;
|
||||
prevZ = z;
|
||||
hasBaseline = true;
|
||||
return MOTION_SENSOR_CHECK_INTERVAL_MS;
|
||||
}
|
||||
|
||||
// Calculate change in acceleration
|
||||
int16_t deltaX = abs(x - prevX);
|
||||
int16_t deltaY = abs(y - prevY);
|
||||
int16_t deltaZ = abs(z - prevZ);
|
||||
|
||||
// Update baseline with low-pass filter
|
||||
prevX = (prevX * 9 + x) / 10;
|
||||
prevY = (prevY * 9 + y) / 10;
|
||||
prevZ = (prevZ * 9 + z) / 10;
|
||||
|
||||
// Check for significant motion (~0.2g at 2g range)
|
||||
const int16_t threshold = 3200;
|
||||
if (deltaX > threshold || deltaY > threshold || deltaZ > threshold) {
|
||||
wakeScreen();
|
||||
return 500;
|
||||
}
|
||||
|
||||
return MOTION_SENSOR_CHECK_INTERVAL_MS;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,36 @@
|
||||
#pragma once
|
||||
#ifndef _BMI270_SENSOR_H_
|
||||
#define _BMI270_SENSOR_H_
|
||||
|
||||
#include "MotionSensor.h"
|
||||
|
||||
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && defined(HAS_BMI270)
|
||||
|
||||
class BMI270Sensor : public MotionSensor
|
||||
{
|
||||
private:
|
||||
bool initialized = false;
|
||||
TwoWire *wire = nullptr;
|
||||
|
||||
// Previous readings for motion detection
|
||||
int16_t prevX = 0, prevY = 0, prevZ = 0;
|
||||
bool hasBaseline = false;
|
||||
|
||||
// BMI270 register access
|
||||
bool writeRegister(uint8_t reg, uint8_t value);
|
||||
bool writeRegisters(uint8_t reg, const uint8_t *data, size_t len);
|
||||
uint8_t readRegister(uint8_t reg);
|
||||
bool readRegisters(uint8_t reg, uint8_t *data, size_t len);
|
||||
|
||||
// Config file upload (BMI270 requires 8KB config blob)
|
||||
bool uploadConfigFile();
|
||||
|
||||
public:
|
||||
explicit BMI270Sensor(ScanI2C::FoundDevice foundDevice);
|
||||
virtual bool init() override;
|
||||
virtual int32_t runOnce() override;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user