Modified MPU9150 Library for Nucleo F303K8
Fork of MPU9150_DMP by
dmpdata.h@3:ed487dfe5570, 2016-05-14 (annotated)
- Committer:
- yishii
- Date:
- Sat May 14 07:11:27 2016 +0000
- Revision:
- 3:ed487dfe5570
- Parent:
- 0:74f0ae286b03
Supported to use sensor with Nucleo F3030K8
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
p3p | 0:74f0ae286b03 | 1 | //ripped from sparkfun github |
p3p | 0:74f0ae286b03 | 2 | |
p3p | 0:74f0ae286b03 | 3 | /* ============================================ |
p3p | 0:74f0ae286b03 | 4 | I2Cdev device library code is placed under the MIT license |
p3p | 0:74f0ae286b03 | 5 | Copyright (c) 2012 Jeff Rowberg |
p3p | 0:74f0ae286b03 | 6 | |
p3p | 0:74f0ae286b03 | 7 | Permission is hereby granted, free of charge, to any person obtaining a copy |
p3p | 0:74f0ae286b03 | 8 | of this software and associated documentation files (the "Software"), to deal |
p3p | 0:74f0ae286b03 | 9 | in the Software without restriction, including without limitation the rights |
p3p | 0:74f0ae286b03 | 10 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
p3p | 0:74f0ae286b03 | 11 | copies of the Software, and to permit persons to whom the Software is |
p3p | 0:74f0ae286b03 | 12 | furnished to do so, subject to the following conditions: |
p3p | 0:74f0ae286b03 | 13 | |
p3p | 0:74f0ae286b03 | 14 | The above copyright notice and this permission notice shall be included in |
p3p | 0:74f0ae286b03 | 15 | all copies or substantial portions of the Software. |
p3p | 0:74f0ae286b03 | 16 | |
p3p | 0:74f0ae286b03 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
p3p | 0:74f0ae286b03 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
p3p | 0:74f0ae286b03 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
p3p | 0:74f0ae286b03 | 20 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
p3p | 0:74f0ae286b03 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
p3p | 0:74f0ae286b03 | 22 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
p3p | 0:74f0ae286b03 | 23 | THE SOFTWARE. |
p3p | 0:74f0ae286b03 | 24 | =============================================== |
p3p | 0:74f0ae286b03 | 25 | */ |
p3p | 0:74f0ae286b03 | 26 | #define MPU6050_DMP_CODE_SIZE 1962 // dmpMemory[] |
p3p | 0:74f0ae286b03 | 27 | #define MPU6050_DMP_CONFIG_SIZE 232 // dmpConfig[] |
p3p | 0:74f0ae286b03 | 28 | #define MPU6050_DMP_UPDATES_SIZE 140 // dmpUpdates[] |
p3p | 0:74f0ae286b03 | 29 | |
p3p | 0:74f0ae286b03 | 30 | /* ================================================================================================ * |
p3p | 0:74f0ae286b03 | 31 | | Default MotionApps v4.1 48-byte FIFO packet structure: | |
p3p | 0:74f0ae286b03 | 32 | | | |
p3p | 0:74f0ae286b03 | 33 | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | |
p3p | 0:74f0ae286b03 | 34 | | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | |
p3p | 0:74f0ae286b03 | 35 | | | |
p3p | 0:74f0ae286b03 | 36 | | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | |
p3p | 0:74f0ae286b03 | 37 | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | |
p3p | 0:74f0ae286b03 | 38 | * ================================================================================================ */ |
p3p | 0:74f0ae286b03 | 39 | |
p3p | 0:74f0ae286b03 | 40 | // this block of memory gets written to the MPU on start-up, and it seems |
p3p | 0:74f0ae286b03 | 41 | // to be volatile memory, so it has to be done each time (it only takes ~1 |
p3p | 0:74f0ae286b03 | 42 | // second though) |
p3p | 0:74f0ae286b03 | 43 | const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] = { |
p3p | 0:74f0ae286b03 | 44 | // bank 0, 256 bytes |
p3p | 0:74f0ae286b03 | 45 | 0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 46 | 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01, |
p3p | 0:74f0ae286b03 | 47 | 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 48 | 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 49 | 0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01, |
p3p | 0:74f0ae286b03 | 50 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 51 | 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 52 | 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 53 | 0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82, |
p3p | 0:74f0ae286b03 | 54 | 0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00, |
p3p | 0:74f0ae286b03 | 55 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 56 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0, |
p3p | 0:74f0ae286b03 | 57 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 58 | 0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC, |
p3p | 0:74f0ae286b03 | 59 | 0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4, |
p3p | 0:74f0ae286b03 | 60 | 0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10, |
p3p | 0:74f0ae286b03 | 61 | |
p3p | 0:74f0ae286b03 | 62 | // bank 1, 256 bytes |
p3p | 0:74f0ae286b03 | 63 | 0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 64 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 65 | 0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8, |
p3p | 0:74f0ae286b03 | 66 | 0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7, |
p3p | 0:74f0ae286b03 | 67 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C, |
p3p | 0:74f0ae286b03 | 68 | 0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 69 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, |
p3p | 0:74f0ae286b03 | 70 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 71 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 72 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 73 | 0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C, |
p3p | 0:74f0ae286b03 | 74 | 0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 75 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30, |
p3p | 0:74f0ae286b03 | 76 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 77 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 78 | 0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0, |
p3p | 0:74f0ae286b03 | 79 | |
p3p | 0:74f0ae286b03 | 80 | // bank 2, 256 bytes |
p3p | 0:74f0ae286b03 | 81 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 82 | 0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00, |
p3p | 0:74f0ae286b03 | 83 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 84 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 85 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 86 | 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 87 | 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 88 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 89 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 90 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 91 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 92 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 93 | 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 94 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 95 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x78, 0xA2, |
p3p | 0:74f0ae286b03 | 96 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 97 | |
p3p | 0:74f0ae286b03 | 98 | // bank 3, 256 bytes |
p3p | 0:74f0ae286b03 | 99 | 0xD8, 0xDC, 0xF4, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xF1, 0xBA, 0xA2, 0xDE, 0xB2, 0xB8, 0xB4, |
p3p | 0:74f0ae286b03 | 100 | 0xA8, 0x81, 0x98, 0xF7, 0x4A, 0x90, 0x7F, 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, |
p3p | 0:74f0ae286b03 | 101 | 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2, 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, |
p3p | 0:74f0ae286b03 | 102 | 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF, 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, |
p3p | 0:74f0ae286b03 | 103 | 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C, 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, |
p3p | 0:74f0ae286b03 | 104 | 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, |
p3p | 0:74f0ae286b03 | 105 | 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01, 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, |
p3p | 0:74f0ae286b03 | 106 | 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, |
p3p | 0:74f0ae286b03 | 107 | 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, |
p3p | 0:74f0ae286b03 | 108 | 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80, 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, |
p3p | 0:74f0ae286b03 | 109 | 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E, 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, |
p3p | 0:74f0ae286b03 | 110 | 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9, 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, |
p3p | 0:74f0ae286b03 | 111 | 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, |
p3p | 0:74f0ae286b03 | 112 | 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xBA, 0xAD, 0x8F, 0x9F, 0x28, 0x54, |
p3p | 0:74f0ae286b03 | 113 | 0x7C, 0xB9, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xDB, 0xB2, 0xB6, 0x8E, 0x9D, |
p3p | 0:74f0ae286b03 | 114 | 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xB1, 0xB5, 0xF1, 0xDA, 0xA6, 0xDF, 0xD9, 0xA6, 0xFA, 0xA3, 0x86, |
p3p | 0:74f0ae286b03 | 115 | |
p3p | 0:74f0ae286b03 | 116 | // bank 4, 256 bytes |
p3p | 0:74f0ae286b03 | 117 | 0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1, |
p3p | 0:74f0ae286b03 | 118 | 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86, |
p3p | 0:74f0ae286b03 | 119 | 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA, |
p3p | 0:74f0ae286b03 | 120 | 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C, |
p3p | 0:74f0ae286b03 | 121 | 0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8, |
p3p | 0:74f0ae286b03 | 122 | 0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3, |
p3p | 0:74f0ae286b03 | 123 | 0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84, |
p3p | 0:74f0ae286b03 | 124 | 0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5, |
p3p | 0:74f0ae286b03 | 125 | 0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3, |
p3p | 0:74f0ae286b03 | 126 | 0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1, |
p3p | 0:74f0ae286b03 | 127 | 0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5, |
p3p | 0:74f0ae286b03 | 128 | 0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D, |
p3p | 0:74f0ae286b03 | 129 | 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9, |
p3p | 0:74f0ae286b03 | 130 | 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D, |
p3p | 0:74f0ae286b03 | 131 | 0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9, |
p3p | 0:74f0ae286b03 | 132 | 0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A, |
p3p | 0:74f0ae286b03 | 133 | |
p3p | 0:74f0ae286b03 | 134 | // bank 5, 256 bytes |
p3p | 0:74f0ae286b03 | 135 | 0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8, |
p3p | 0:74f0ae286b03 | 136 | 0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87, |
p3p | 0:74f0ae286b03 | 137 | 0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8, |
p3p | 0:74f0ae286b03 | 138 | 0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68, |
p3p | 0:74f0ae286b03 | 139 | 0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D, |
p3p | 0:74f0ae286b03 | 140 | 0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94, |
p3p | 0:74f0ae286b03 | 141 | 0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA, |
p3p | 0:74f0ae286b03 | 142 | 0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56, |
p3p | 0:74f0ae286b03 | 143 | 0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, |
p3p | 0:74f0ae286b03 | 144 | 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA, |
p3p | 0:74f0ae286b03 | 145 | 0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0x97, 0x86, |
p3p | 0:74f0ae286b03 | 146 | 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, |
p3p | 0:74f0ae286b03 | 147 | 0xB9, 0xA3, 0x8A, 0xC3, 0xC5, 0xC7, 0x9A, 0xA3, 0x28, 0x50, 0x78, 0xF1, 0xB5, 0x93, 0x01, 0xD9, |
p3p | 0:74f0ae286b03 | 148 | 0xDF, 0xDF, 0xDF, 0xD8, 0xB8, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04, 0x28, 0x51, 0x79, 0x1D, 0x30, |
p3p | 0:74f0ae286b03 | 149 | 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78, 0x78, 0x9B, 0xF1, 0x1A, 0xB0, |
p3p | 0:74f0ae286b03 | 150 | 0xF0, 0xB1, 0x83, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0xB0, 0x8B, 0x29, 0x51, 0x79, 0xB1, 0x83, 0x24, |
p3p | 0:74f0ae286b03 | 151 | |
p3p | 0:74f0ae286b03 | 152 | // bank 6, 256 bytes |
p3p | 0:74f0ae286b03 | 153 | 0x70, 0x59, 0xB0, 0x8B, 0x20, 0x58, 0x71, 0xB1, 0x83, 0x44, 0x69, 0x38, 0xB0, 0x8B, 0x39, 0x40, |
p3p | 0:74f0ae286b03 | 154 | 0x68, 0xB1, 0x83, 0x64, 0x48, 0x31, 0xB0, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, |
p3p | 0:74f0ae286b03 | 155 | 0x58, 0x44, 0x68, 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, |
p3p | 0:74f0ae286b03 | 156 | 0x8C, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, |
p3p | 0:74f0ae286b03 | 157 | 0x26, 0x46, 0x66, 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, |
p3p | 0:74f0ae286b03 | 158 | 0x64, 0x48, 0x31, 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, |
p3p | 0:74f0ae286b03 | 159 | 0x31, 0x48, 0x60, 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, |
p3p | 0:74f0ae286b03 | 160 | 0xA8, 0x6E, 0x76, 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, |
p3p | 0:74f0ae286b03 | 161 | 0x6E, 0x8A, 0x56, 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, |
p3p | 0:74f0ae286b03 | 162 | 0x9D, 0xB8, 0xAD, 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, |
p3p | 0:74f0ae286b03 | 163 | 0x7D, 0x81, 0x91, 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, |
p3p | 0:74f0ae286b03 | 164 | 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, |
p3p | 0:74f0ae286b03 | 165 | 0xD9, 0x04, 0xAE, 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, |
p3p | 0:74f0ae286b03 | 166 | 0x81, 0xAD, 0xD9, 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, |
p3p | 0:74f0ae286b03 | 167 | 0xAD, 0xAD, 0xAD, 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, |
p3p | 0:74f0ae286b03 | 168 | 0xF3, 0xAC, 0x2E, 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, |
p3p | 0:74f0ae286b03 | 169 | |
p3p | 0:74f0ae286b03 | 170 | // bank 7, 170 bytes (remainder) |
p3p | 0:74f0ae286b03 | 171 | 0x30, 0x18, 0xA8, 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, |
p3p | 0:74f0ae286b03 | 172 | 0xF2, 0xB0, 0x89, 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, |
p3p | 0:74f0ae286b03 | 173 | 0xD8, 0xD8, 0x79, 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, |
p3p | 0:74f0ae286b03 | 174 | 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, |
p3p | 0:74f0ae286b03 | 175 | 0x80, 0x25, 0xDA, 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, |
p3p | 0:74f0ae286b03 | 176 | 0x3C, 0xF3, 0xAB, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xB0, 0x87, 0x9C, 0xB9, |
p3p | 0:74f0ae286b03 | 177 | 0xA3, 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, |
p3p | 0:74f0ae286b03 | 178 | 0xA3, 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, |
p3p | 0:74f0ae286b03 | 179 | 0xA3, 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, |
p3p | 0:74f0ae286b03 | 180 | 0xA3, 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, |
p3p | 0:74f0ae286b03 | 181 | 0xDC, 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF |
p3p | 0:74f0ae286b03 | 182 | }; |
p3p | 0:74f0ae286b03 | 183 | |
p3p | 0:74f0ae286b03 | 184 | const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] = { |
p3p | 0:74f0ae286b03 | 185 | // BANK OFFSET LENGTH [DATA] |
p3p | 0:74f0ae286b03 | 186 | 0x02, 0xEC, 0x04, 0x00, 0x47, 0x7D, 0x1A, // ? |
p3p | 0:74f0ae286b03 | 187 | 0x03, 0x82, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration |
p3p | 0:74f0ae286b03 | 188 | 0x03, 0xB2, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration |
p3p | 0:74f0ae286b03 | 189 | 0x00, 0x68, 0x04, 0x02, 0xCA, 0xE3, 0x09, // D_0_104 inv_set_gyro_calibration |
p3p | 0:74f0ae286b03 | 190 | 0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration |
p3p | 0:74f0ae286b03 | 191 | 0x03, 0x86, 0x03, 0x0C, 0xC9, 0x2C, // FCFG_2 inv_set_accel_calibration |
p3p | 0:74f0ae286b03 | 192 | 0x03, 0x90, 0x03, 0x26, 0x46, 0x66, // (continued)...FCFG_2 inv_set_accel_calibration |
p3p | 0:74f0ae286b03 | 193 | 0x00, 0x6C, 0x02, 0x40, 0x00, // D_0_108 inv_set_accel_calibration |
p3p | 0:74f0ae286b03 | 194 | |
p3p | 0:74f0ae286b03 | 195 | 0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration |
p3p | 0:74f0ae286b03 | 196 | 0x02, 0x44, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_01 |
p3p | 0:74f0ae286b03 | 197 | 0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02 |
p3p | 0:74f0ae286b03 | 198 | 0x02, 0x4C, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_10 |
p3p | 0:74f0ae286b03 | 199 | 0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11 |
p3p | 0:74f0ae286b03 | 200 | 0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12 |
p3p | 0:74f0ae286b03 | 201 | 0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20 |
p3p | 0:74f0ae286b03 | 202 | 0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21 |
p3p | 0:74f0ae286b03 | 203 | 0x02, 0xBC, 0x04, 0xC0, 0x00, 0x00, 0x00, // CPASS_MTX_22 |
p3p | 0:74f0ae286b03 | 204 | |
p3p | 0:74f0ae286b03 | 205 | 0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel |
p3p | 0:74f0ae286b03 | 206 | 0x03, 0x86, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors |
p3p | 0:74f0ae286b03 | 207 | 0x04, 0x22, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion |
p3p | 0:74f0ae286b03 | 208 | 0x00, 0xA3, 0x01, 0x00, // ? |
p3p | 0:74f0ae286b03 | 209 | 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update |
p3p | 0:74f0ae286b03 | 210 | 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion |
p3p | 0:74f0ae286b03 | 211 | 0x07, 0x9F, 0x01, 0x30, // CFG_16 inv_set_footer |
p3p | 0:74f0ae286b03 | 212 | 0x07, 0x67, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro |
p3p | 0:74f0ae286b03 | 213 | 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo |
p3p | 0:74f0ae286b03 | 214 | 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ? |
p3p | 0:74f0ae286b03 | 215 | 0x02, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // ? |
p3p | 0:74f0ae286b03 | 216 | 0x07, 0x83, 0x06, 0xC2, 0xCA, 0xC4, 0xA3, 0xA3, 0xA3, // ? |
p3p | 0:74f0ae286b03 | 217 | // SPECIAL 0x01 = enable interrupts |
p3p | 0:74f0ae286b03 | 218 | 0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE, SPECIAL INSTRUCTION |
p3p | 0:74f0ae286b03 | 219 | 0x07, 0xA7, 0x01, 0xFE, // ? |
p3p | 0:74f0ae286b03 | 220 | 0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ? |
p3p | 0:74f0ae286b03 | 221 | 0x07, 0x67, 0x01, 0x9A, // ? |
p3p | 0:74f0ae286b03 | 222 | 0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo |
p3p | 0:74f0ae286b03 | 223 | 0x07, 0x8D, 0x04, 0xF1, 0x28, 0x30, 0x38, // ??? CFG_12 inv_send_mag -> inv_construct3_fifo |
p3p | 0:74f0ae286b03 | 224 | 0x02, 0x16, 0x02, 0x00, 0x09 // D_0_22 inv_set_fifo_rate |
p3p | 0:74f0ae286b03 | 225 | |
p3p | 0:74f0ae286b03 | 226 | // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz, |
p3p | 0:74f0ae286b03 | 227 | // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data. |
p3p | 0:74f0ae286b03 | 228 | // DMP output frequency is calculated easily using this equation: (200Hz / (1 + value)) |
p3p | 0:74f0ae286b03 | 229 | |
p3p | 0:74f0ae286b03 | 230 | // It is important to make sure the host processor can keep up with reading and processing |
p3p | 0:74f0ae286b03 | 231 | // the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea. |
p3p | 0:74f0ae286b03 | 232 | }; |
p3p | 0:74f0ae286b03 | 233 | |
p3p | 0:74f0ae286b03 | 234 | const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] = { |
p3p | 0:74f0ae286b03 | 235 | 0x01, 0xB2, 0x02, 0xFF, 0xF5, |
p3p | 0:74f0ae286b03 | 236 | 0x01, 0x90, 0x04, 0x0A, 0x0D, 0x97, 0xC0, |
p3p | 0:74f0ae286b03 | 237 | 0x00, 0xA3, 0x01, 0x00, |
p3p | 0:74f0ae286b03 | 238 | 0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, |
p3p | 0:74f0ae286b03 | 239 | 0x01, 0x6A, 0x02, 0x06, 0x00, |
p3p | 0:74f0ae286b03 | 240 | 0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 241 | 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 242 | 0x02, 0x60, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 243 | 0x01, 0x08, 0x02, 0x01, 0x20, |
p3p | 0:74f0ae286b03 | 244 | 0x01, 0x0A, 0x02, 0x00, 0x4E, |
p3p | 0:74f0ae286b03 | 245 | 0x01, 0x02, 0x02, 0xFE, 0xB3, |
p3p | 0:74f0ae286b03 | 246 | 0x02, 0x6C, 0x04, 0x00, 0x00, 0x00, 0x00, // READ |
p3p | 0:74f0ae286b03 | 247 | 0x02, 0x6C, 0x04, 0xFA, 0xFE, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 248 | 0x02, 0x60, 0x0C, 0xFF, 0xFF, 0xCB, 0x4D, 0x00, 0x01, 0x08, 0xC1, 0xFF, 0xFF, 0xBC, 0x2C, |
p3p | 0:74f0ae286b03 | 249 | 0x02, 0xF4, 0x04, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 250 | 0x02, 0xF8, 0x04, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 251 | 0x02, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 252 | 0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00, |
p3p | 0:74f0ae286b03 | 253 | 0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00 |
p3p | 0:74f0ae286b03 | 254 | }; |