diff --git a/.gitignore b/.gitignore
index 21bf964..b0155fc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -47,7 +47,6 @@
*.o
*.dp
*.lst
-*.elf
*.build_log
*.build_log.htm
diff --git a/Core/Inc/i2c.h b/Core/Inc/i2c.h
new file mode 100644
index 0000000..dcdd711
--- /dev/null
+++ b/Core/Inc/i2c.h
@@ -0,0 +1,51 @@
+/**
+ ******************************************************************************
+ * @file i2c.h
+ * @brief This file contains all the function prototypes for
+ * the i2c.c file
+ ******************************************************************************
+ * @attention
+ *
+ * © Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __I2C_H__
+#define __I2C_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_I2C2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __I2C_H__ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Inc/stm32wlxx_nucleo_bus.h b/Core/Inc/stm32wlxx_nucleo_bus.h
new file mode 100644
index 0000000..753ac45
--- /dev/null
+++ b/Core/Inc/stm32wlxx_nucleo_bus.h
@@ -0,0 +1,139 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : stm32wlxx_nucleo_bus.h
+ * @brief : header file for the BSP BUS IO driver
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+*/
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32WLXX_NUCLEO_BUS_H
+#define STM32WLXX_NUCLEO_BUS_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32wlxx_nucleo_conf.h"
+#include "stm32wlxx_nucleo_errno.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup STM32WLXX_NUCLEO
+ * @{
+ */
+
+/** @defgroup STM32WLXX_NUCLEO_BUS STM32WLXX_NUCLEO BUS
+ * @{
+ */
+
+/** @defgroup STM32WLXX_NUCLEO_BUS_Exported_Constants STM32WLXX_NUCLEO BUS Exported Constants
+ * @{
+ */
+
+#define BUS_I2C2_INSTANCE I2C2
+#define BUS_I2C2_SCL_GPIO_AF GPIO_AF4_I2C2
+#define BUS_I2C2_SCL_GPIO_PORT GPIOA
+#define BUS_I2C2_SCL_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
+#define BUS_I2C2_SCL_GPIO_PIN GPIO_PIN_12
+#define BUS_I2C2_SCL_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
+#define BUS_I2C2_SDA_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
+#define BUS_I2C2_SDA_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
+#define BUS_I2C2_SDA_GPIO_PORT GPIOA
+#define BUS_I2C2_SDA_GPIO_PIN GPIO_PIN_11
+#define BUS_I2C2_SDA_GPIO_AF GPIO_AF4_I2C2
+
+#ifndef BUS_I2C2_POLL_TIMEOUT
+ #define BUS_I2C2_POLL_TIMEOUT 0x1000U
+#endif
+/* I2C2 Frequeny in Hz */
+#ifndef BUS_I2C2_FREQUENCY
+ #define BUS_I2C2_FREQUENCY 1000000U /* Frequency of I2Cn = 100 KHz*/
+#endif
+
+/**
+ * @}
+ */
+
+/** @defgroup STM32WLXX_NUCLEO_BUS_Private_Types STM32WLXX_NUCLEO BUS Private types
+ * @{
+ */
+#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1U)
+typedef struct
+{
+ pI2C_CallbackTypeDef pMspInitCb;
+ pI2C_CallbackTypeDef pMspDeInitCb;
+}BSP_I2C_Cb_t;
+#endif /* (USE_HAL_I2C_REGISTER_CALLBACKS == 1U) */
+/**
+ * @}
+ */
+
+/** @defgroup STM32WLXX_NUCLEO_LOW_LEVEL_Exported_Variables LOW LEVEL Exported Constants
+ * @{
+ */
+
+extern I2C_HandleTypeDef hi2c2;
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32WLXX_NUCLEO_BUS_Exported_Functions
+ * @{
+ */
+
+/* BUS IO driver over I2C Peripheral */
+HAL_StatusTypeDef MX_I2C2_Init(I2C_HandleTypeDef* hi2c);
+int32_t BSP_I2C2_Init(void);
+int32_t BSP_I2C2_DeInit(void);
+int32_t BSP_I2C2_IsReady(uint16_t DevAddr, uint32_t Trials);
+int32_t BSP_I2C2_WriteReg(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_ReadReg(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_WriteReg16(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_ReadReg16(uint16_t Addr, uint16_t Reg, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_Send(uint16_t DevAddr, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_Recv(uint16_t DevAddr, uint8_t *pData, uint16_t Length);
+int32_t BSP_I2C2_SendRecv(uint16_t DevAddr, uint8_t *pTxdata, uint8_t *pRxdata, uint16_t Length);
+#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1U)
+int32_t BSP_I2C2_RegisterDefaultMspCallbacks (void);
+int32_t BSP_I2C2_RegisterMspCallbacks (BSP_I2C_Cb_t *Callbacks);
+#endif /* (USE_HAL_I2C_REGISTER_CALLBACKS == 1U) */
+
+int32_t BSP_GetTick(void);
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32WLXX_NUCLEO_BUS_H */
+
diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c
new file mode 100644
index 0000000..37e91a6
--- /dev/null
+++ b/Core/Src/i2c.c
@@ -0,0 +1,201 @@
+/**
+ ******************************************************************************
+ * @file i2c.c
+ * @brief This file provides code for the configuration
+ * of the I2C instances.
+ ******************************************************************************
+ * @attention
+ *
+ * © Copyright (c) 2021 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "i2c.h"
+#include "main.h"
+/* USER CODE BEGIN 0 */
+I2C_HandleTypeDef hi2c2;
+DMA_HandleTypeDef hdma_i2c2_rx;
+DMA_HandleTypeDef hdma_i2c2_tx;
+/* USER CODE END 0 */
+
+/* I2C2 init function */
+/**
+ * @brief I2C2 Initialization Function
+ * @param None
+ * @retval None
+ */
+void MX_I2C2_Init(void)
+{
+
+ /* USER CODE BEGIN I2C2_Init 0 */
+
+ /* USER CODE END I2C2_Init 0 */
+
+ /* USER CODE BEGIN I2C2_Init 1 */
+
+ /* USER CODE END I2C2_Init 1 */
+ hi2c2.Instance = I2C2;
+#ifdef L8
+ hi2c2.Init.Timing = I2C2_FAST_PLUS_1M;
+#else
+ hi2c2.Init.Timing = I2C2_STANDARD_100K;
+#endif
+ hi2c2.Init.OwnAddress1 = 0;
+ hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+ hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+ hi2c2.Init.OwnAddress2 = 0;
+ hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
+ hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+ hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+ if (HAL_I2C_Init(&hi2c2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ /** Configure Analogue filter
+ */
+ if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /** Configure Digital filter
+ */
+ if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN I2C2_Init 2 */
+
+ /* USER CODE END I2C2_Init 2 */
+
+}
+
+void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
+{
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+ if(i2cHandle->Instance==I2C2)
+ {
+ /* USER CODE BEGIN I2C2_MspInit 0 */
+
+ /* USER CODE END I2C2_MspInit 0 */
+
+ /** Initializes the peripherals clocks
+ */
+ PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C2;
+ PeriphClkInitStruct.I2c2ClockSelection = RCC_I2C2CLKSOURCE_PCLK1;
+ if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ /**I2C2 GPIO Configuration
+ PA12 ------> I2C2_SCL
+ PA11 ------> I2C2_SDA
+ */
+ GPIO_InitStruct.Pin = I2C2_SCL_PIN|I2C2_SDA_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
+ GPIO_InitStruct.Pull = GPIO_NOPULL; //GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF4_I2C2;
+ HAL_GPIO_Init(I2C2_SCL_PORT, &GPIO_InitStruct);
+
+ /* I2C2 clock enable */
+ __HAL_RCC_I2C2_CLK_ENABLE();
+
+ /* I2C2 DMA Init */
+ /* I2C2_RX Init */
+ hdma_i2c2_rx.Instance = DMA1_Channel4;
+ hdma_i2c2_rx.Init.Request = DMA_REQUEST_I2C2_RX;
+ hdma_i2c2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ hdma_i2c2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_i2c2_rx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_i2c2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_i2c2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_i2c2_rx.Init.Mode = DMA_NORMAL;
+ hdma_i2c2_rx.Init.Priority = DMA_PRIORITY_LOW;
+ if (HAL_DMA_Init(&hdma_i2c2_rx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+#ifdef STM32WL55xx
+ if (HAL_DMA_ConfigChannelAttributes(&hdma_i2c2_rx, DMA_CHANNEL_NPRIV) != HAL_OK)
+ {
+ Error_Handler();
+ }
+#endif
+ __HAL_LINKDMA(i2cHandle,hdmarx,hdma_i2c2_rx);
+
+ /* I2C2_TX Init */
+ hdma_i2c2_tx.Instance = DMA1_Channel5;
+ hdma_i2c2_tx.Init.Request = DMA_REQUEST_I2C2_TX;
+ hdma_i2c2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+ hdma_i2c2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_i2c2_tx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_i2c2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_i2c2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_i2c2_tx.Init.Mode = DMA_NORMAL;
+ hdma_i2c2_tx.Init.Priority = DMA_PRIORITY_LOW;
+ if (HAL_DMA_Init(&hdma_i2c2_tx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+#ifdef STM32WL55xx
+ if (HAL_DMA_ConfigChannelAttributes(&hdma_i2c2_tx, DMA_CHANNEL_NPRIV) != HAL_OK)
+ {
+ Error_Handler();
+ }
+#endif
+ __HAL_LINKDMA(i2cHandle,hdmatx,hdma_i2c2_tx);
+
+ /* USER CODE BEGIN I2C2_MspInit 1 */
+
+ /* USER CODE END I2C2_MspInit 1 */
+ }
+}
+
+void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
+{
+
+ if(i2cHandle->Instance==I2C2)
+ {
+ /* USER CODE BEGIN I2C2_MspDeInit 0 */
+
+ /* USER CODE END I2C2_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_I2C2_CLK_DISABLE();
+
+ /**I2C2 GPIO Configuration
+ PA12 ------> I2C2_SCL
+ PA11 ------> I2C2_SDA
+ */
+ HAL_GPIO_DeInit(I2C2_SCL_PORT, I2C2_SCL_PIN);
+
+ HAL_GPIO_DeInit(I2C2_SCL_PORT, I2C2_SDA_PIN);
+
+ /* I2C2 DMA DeInit */
+ HAL_DMA_DeInit(i2cHandle->hdmarx);
+ HAL_DMA_DeInit(i2cHandle->hdmatx);
+
+ /* USER CODE BEGIN I2C2_MspDeInit 1 */
+
+ /* USER CODE END I2C2_MspDeInit 1 */
+ }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Core/Src/stm32wlxx_nucleo_bus.c b/Core/Src/stm32wlxx_nucleo_bus.c
index a39f02a..fb87016 100644
--- a/Core/Src/stm32wlxx_nucleo_bus.c
+++ b/Core/Src/stm32wlxx_nucleo_bus.c
@@ -38,7 +38,7 @@ __weak HAL_StatusTypeDef MX_I2C2_Init(I2C_HandleTypeDef* hi2c);
* @{
*/
-I2C_HandleTypeDef hi2c2;
+extern I2C_HandleTypeDef hi2c2;
/**
* @}
*/
diff --git a/Core/Src/usart_if.c b/Core/Src/usart_if.c
index 9f0331e..8ac0e4a 100644
--- a/Core/Src/usart_if.c
+++ b/Core/Src/usart_if.c
@@ -127,7 +127,7 @@ UTIL_ADV_TRACE_Status_t vcom_DeInit(void)
/* ##-3- Disable the NVIC for DMA ########################################### */
/* USER CODE BEGIN 1 */
- HAL_NVIC_DisableIRQ(DMA1_Channel5_IRQn);
+ HAL_NVIC_DisableIRQ(DMA1_Channel6_IRQn);
return UTIL_ADV_TRACE_OK;
/* USER CODE END 1 */
diff --git a/LMZ/Core/Inc/main.h b/LMZ/Core/Inc/main.h
new file mode 100644
index 0000000..2413be4
--- /dev/null
+++ b/LMZ/Core/Inc/main.h
@@ -0,0 +1,99 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : main.h
+ * @brief : Header for main.c file.
+ * This file contains the common defines of the application.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define SPI_I2C_N_Pin GPIO_PIN_13
+#define SPI_I2C_N_GPIO_Port GPIOC
+#define USART_TX_Pin GPIO_PIN_2
+#define USART_TX_GPIO_Port GPIOA
+#define USART_RX_Pin GPIO_PIN_3
+#define USART_RX_GPIO_Port GPIOA
+#define INT_C_Pin GPIO_PIN_4
+#define INT_C_GPIO_Port GPIOA
+#define INT_C_EXTI_IRQn EXTI4_IRQn
+#define LD2_Pin GPIO_PIN_5
+#define LD2_GPIO_Port GPIOA
+#define PWR_EN_Pin GPIO_PIN_7
+#define PWR_EN_GPIO_Port GPIOA
+#define LPn_Pin GPIO_PIN_0
+#define LPn_GPIO_Port GPIOB
+#define AVDD_EN_Pin GPIO_PIN_1
+#define AVDD_EN_GPIO_Port GPIOB
+#define NCS_Pin GPIO_PIN_12
+#define NCS_GPIO_Port GPIOB
+#define TCK_Pin GPIO_PIN_14
+#define TCK_GPIO_Port GPIOA
+#define VDDIO_EN_Pin GPIO_PIN_15
+#define VDDIO_EN_GPIO_Port GPIOA
+/* USER CODE BEGIN Private defines */
+
+
+#define BUILD_FOR_PCB4128A
+
+#ifdef BUILD_FOR_PCB4128A
+ #define GPIO_FOR_PWR_EN
+#endif
+
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
diff --git a/LMZ/Core/Inc/stm32f4xx_it.h b/LMZ/Core/Inc/stm32f4xx_it.h
new file mode 100644
index 0000000..572a028
--- /dev/null
+++ b/LMZ/Core/Inc/stm32f4xx_it.h
@@ -0,0 +1,69 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file stm32f4xx_it.h
+ * @brief This file contains the headers of the interrupt handlers.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_IT_H
+#define __STM32F4xx_IT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+void EXTI4_IRQHandler(void);
+void DMA1_Stream6_IRQHandler(void);
+void USART2_IRQHandler(void);
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_IT_H */
diff --git a/LMZ/Core/Src/Example_11_motion_indicator_with_detection_thresholds.c b/LMZ/Core/Src/Example_11_motion_indicator_with_detection_thresholds.c
new file mode 100644
index 0000000..bc6953b
--- /dev/null
+++ b/LMZ/Core/Src/Example_11_motion_indicator_with_detection_thresholds.c
@@ -0,0 +1,213 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/************************************************************/
+/* VL53LMZ ULD motion indicator with detection thresholds */
+/************************************************************/
+/*
+* This example shows how to use the motion indicator with detection threshold.
+* This kind of configuration might be used for user detection applications.
+* To use this example, user needs to be sure that macro
+* VL53LMZ_DISABLE_MOTION_INDICATOR is NOT enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_motion_indicator.h"
+#include "vl53lmz_plugin_detection_thresholds.h"
+
+// #define UNUSED(x) (void)(x)
+
+/* This function needs to be filled by the customer. It allows knowing when
+ * the VL53LMZ interrupt is raised on GPIO1. This is the only way to use detection thresholds.
+ */
+/*
+int WaitForL5Interrupt(VL53LMZ_Configuration * pDev) {
+
+ //Add your implementation here ...
+ UNUSED(pDev);
+
+ return 0;
+}
+*/
+extern int WaitForL5Interrupt(VL53LMZ_Configuration * pDev);
+extern int IntCount;
+
+int example11(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_Motion_Configuration motion_config; /* Motion configuration*/
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Program motion indicator */
+ /*********************************/
+
+ /* Create motion indicator with resolution 8x8 */
+ status = vl53lmz_motion_indicator_init(&Dev, &motion_config, VL53LMZ_RESOLUTION_8X8);
+ if(status)
+ {
+ printf("Motion indicator init failed with status : %u\n", status);
+ return status;
+ }
+
+ /* (Optional) Change the min and max distance used to detect motions. The
+ * difference between min and max must never be >1500mm, and minimum never be <400mm,
+ * otherwise the function below returns error 127 */
+ status = vl53lmz_motion_indicator_set_distance_motion(&Dev, &motion_config, 1000, 2000);
+ if(status)
+ {
+ printf("Motion indicator set distance motion failed with status : %u\n", status);
+ return status;
+ }
+
+ /* If user want to change the resolution, he also needs to update the motion indicator resolution */
+ //status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_4X4);
+ //status = vl53lmz_motion_indicator_set_resolution(&Dev, &motion_config, VL53LMZ_RESOLUTION_4X4);
+
+
+ /* Set the device in AUTONOMOUS and set a small integration time to reduce power consumption */
+ status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_8X8);
+ status = vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
+ status = vl53lmz_set_ranging_frequency_hz(&Dev, 2);
+ status = vl53lmz_set_integration_time_ms(&Dev, 10);
+
+
+ /*********************************/
+ /* Program detection thresholds */
+ /*********************************/
+
+ /* In this example, we want 1 thresholds per zone for a 8x8 resolution */
+ /* Create array of thresholds (size cannot be changed) */
+ VL53LMZ_DetectionThresholds thresholds[VL53LMZ_NB_THRESHOLDS];
+
+ /* Set all values to 0 */
+ memset(&thresholds, 0, sizeof(thresholds));
+
+ /* Add thresholds for all zones (64 zones in resolution 4x4, or 64 in 8x8) */
+ for(i = 0; i < 64; i++){
+ thresholds[i].zone_num = i;
+ thresholds[i].measurement = VL53LMZ_MOTION_INDICATOR;
+ thresholds[i].type = VL53LMZ_GREATER_THAN_MAX_CHECKER;
+ thresholds[i].mathematic_operation = VL53LMZ_OPERATION_NONE;
+
+ /* The value 44 is given as example. All motion above 44 will be considered as a movement */
+ thresholds[i].param_low_thresh = 24;
+ thresholds[i].param_high_thresh = 24;
+ }
+
+ /* The last thresholds must be clearly indicated. As we have 64
+ * checkers, the last one is the 63 */
+ thresholds[63].zone_num = VL53LMZ_LAST_THRESHOLD | thresholds[63].zone_num;
+
+ /* Send array of thresholds to the sensor */
+ vl53lmz_set_detection_thresholds(&Dev, thresholds);
+
+ /* Enable detection thresholds */
+ vl53lmz_set_detection_thresholds_enable(&Dev, 1);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ IntCount = 0;
+ status = vl53lmz_start_ranging(&Dev);
+ printf("Waiting for a movement into the FOV between 1m and 2m...\n");
+
+ loop = 0;
+ while(loop < 9999999)
+ {
+ /* Function WaitForL5Interrupt() does not exists, and must be
+ * implemented by user. It allows catching the interrupt raised on
+ * pin A3 (INT), when the checkers detect the programmed
+ * conditions.
+ */
+
+ isReady = WaitForL5Interrupt(&Dev);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 8x8 mode by default, we have a total
+ * of 64 zones to print. For this example, only the data of first zone are
+ * print */
+ for(i = 0; i < 64; i++)
+ {
+ if(Results.motion_indicator.motion[motion_config.map_id[i]] >= 44)
+ {
+ printf(" Movement detected in this zone : %3d !\n", i);
+ }
+ }
+ printf("\n");
+ loop++;
+ }
+
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Core/Src/Example_12_cnh_data.c b/LMZ/Core/Src/Example_12_cnh_data.c
new file mode 100644
index 0000000..bdc3b9d
--- /dev/null
+++ b/LMZ/Core/Src/Example_12_cnh_data.c
@@ -0,0 +1,264 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD CNH Data */
+/***********************************/
+/*
+* This example how to configure, capture and decode CNH data from
+* the VL53L7CH/VL53LCH sensors.
+*
+* In this example, we also suppose that the number of targets per zone is
+* set to 1(see file platform.h).
+*/
+
+#include
+#include
+#include
+
+
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_cnh.h"
+
+
+int example12(void)
+{
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+ VL53LMZ_Motion_Configuration cnh_config; /* Motion Configuration is shared with CNH */
+
+ cnh_data_buffer_t cnh_data_buffer; /* cnh_data_bufer_t is sized to take the largest data transfer */
+ /* possible from the device. If smaller CNH configuration is */
+ /* used then cnh_data_buffer size could be make smaller. */
+
+ uint32_t cnh_data_size; /* This will be used to record the actual size of CNH data */
+ /* generated by the set CNH configuration. */
+
+ int agg_id, bin_num;
+ float amb_value, bin_value;
+
+ /* variables needed for call to vl53lmz_cnh_get_mem_block_addresses() */
+ int32_t *p_hist = NULL;
+ int8_t *p_hist_scaler = NULL;
+ int32_t *p_ambient = NULL;
+ int8_t *p_ambient_scaler = NULL;
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Initialise the VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Set basic ranging settings */
+ /*********************************/
+ status = vl53lmz_set_resolution(&Dev, 16);
+ status |= vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
+ status |= vl53lmz_set_ranging_frequency_hz(&Dev, 5);
+ status |= vl53lmz_set_integration_time_ms(&Dev, 20);
+ if(status)
+ {
+ printf("ERROR - Failed basic configuration sequence, status=%u\n", status);
+ return status;
+ }
+
+
+ /*********************************/
+ /* CNH specific configuration */
+ /*********************************/
+
+ /* Populate the basic CNH parameters into the CNH configuration structure */
+ status = vl53lmz_cnh_init_config( &cnh_config,
+ 0, /* StartBin */
+ 24, /* NumBins */
+ 4 ); /* SubSample */
+
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_init_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Add the aggregate map that maps zones to aggregates. Resolution of map */
+ /* must follow that set by vl53lmz_set_resolution(), either 16 or 64 zones. */
+ status = vl53lmz_cnh_create_agg_map( &cnh_config,
+ 16, /* Resolution. Must match value used in vl53lmz_set_resolution() */
+ 0, /* StartX */
+ 0, /* StartY */
+ 1, /* MergeX */
+ 1, /* MergeY */
+ 4, /* Cols */
+ 4 ); /* Rows */
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_create_agg_map failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Check that the requested configuration will not generate CNH data that is */
+ /* too large for the available space on the sensor. */
+ /* Store the size of data generate so we can next setup an optimize data transfer */
+ /* from sensor to host. */
+ status = vl53lmz_cnh_calc_required_memory( &cnh_config, &cnh_data_size );
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_calc_required_memory : %d\n",__func__, __LINE__,status);
+ if (cnh_data_size < 0){
+ printf("Required memory is too high : %lu. Maximum is %lu!\n", cnh_data_size, VL53LMZ_CNH_MAX_DATA_BYTES);
+ }
+ return status;
+ }
+
+ /* Send this CNH configuration to the sensor. */
+ status = vl53lmz_cnh_send_config(&Dev,&cnh_config);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_send_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Because we want to use a non-standard data transfer from the device we can not */
+ /* use the standard vl53lmz_start_ranging() function, instead we need to use */
+ /* vl53lmz_create_output_config() followed by vl53lmz_send_output_config_and_start() */
+ /* This allows us to modify the data transfer requested between the two functions. */
+
+ /* First create the standard data upload(output) configuration. */
+ status = vl53lmz_create_output_config(&Dev);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_create_output_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Next, add the CNH data block, sized correctly for the configuration we are using. */
+ union Block_header cnh_data_bh;
+ cnh_data_bh.idx = VL53LMZ_CNH_DATA_IDX;
+ cnh_data_bh.type = 4;
+ cnh_data_bh.size = cnh_data_size / 4;
+ status = vl53lmz_add_output_block(&Dev, cnh_data_bh.bytes);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_add_output_block failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /*********************************/
+ /* Start the sensor ranging */
+ /*********************************/
+
+ /* Finally, send the output configuration and start the sensor ranging. */
+ status = vl53lmz_send_output_config_and_start(&Dev);
+
+ printf("Started ranging\n");
+
+ loop = 0;
+ while(loop < 10)
+ {
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total of 16 zones */
+ /* to print. This example assumes VL53LMZ_NB_TARGET_PER_ZONE == 1 */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+
+ /* Because we use a non-standard upload configuration for CNH data we */
+ /* must extract the data from the ULD transfer buffer and place it in */
+ /* our own data area before accessing it. */
+ status = vl53lmz_results_extract_block( &Dev, VL53LMZ_CNH_DATA_IDX, (uint8_t *)cnh_data_buffer, cnh_data_size );
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_results_extract_block failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ for(agg_id = 0; agg_id < cnh_config.nb_of_aggregates; agg_id++)
+ {
+ /* Start address of each aggregates data blocks within the cnh_data_buffer depends */
+ /* on the exact CNH configuration in use. Function below calculates these start */
+ /* locations for us. */
+ vl53lmz_cnh_get_block_addresses( &cnh_config,
+ agg_id,
+ cnh_data_buffer,
+ &(p_hist), &(p_hist_scaler),
+ &(p_ambient), &(p_ambient_scaler));
+
+ /* there is just a single ambient value per aggregate */
+ amb_value = ((float)*p_ambient)/(2<<*p_ambient_scaler);
+ printf("Agg, %2d, Ambient, % .1f, Bins, ", agg_id, amb_value );
+
+ for( bin_num = 0; bin_num < cnh_config.feature_length; bin_num++ ) {
+ bin_value = ((float)p_hist[bin_num])/(2<
+
+#include "vl53lmz_api.h"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+I2C_HandleTypeDef hi2c1;
+
+UART_HandleTypeDef huart2;
+DMA_HandleTypeDef hdma_usart2_tx;
+
+/* USER CODE BEGIN PV */
+volatile int IntCount;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_I2C1_Init(void);
+static void MX_DMA_Init(void);
+static void MX_USART2_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if (GPIO_Pin==INT_C_Pin)
+ {
+ IntCount++;
+ }
+}
+
+int check_for_gpio_interrupt(void)
+{
+ if(IntCount != 0) {
+ IntCount = 0;
+ return 1;
+ }
+ return 0;
+}
+
+int WaitForL5Interrupt(VL53LMZ_Configuration * pDev) {
+ while ( !check_for_gpio_interrupt() );
+ return(1);
+}
+
+
+//https://electronics.stackexchange.com/questions/206113/how-do-i-use-the-printf-function-on-stm32
+__attribute__((weak)) int __io_getchar(void)
+{
+ int ch = 0;
+ HAL_StatusTypeDef status = HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, 0xFFFF);
+ return (status == HAL_OK ? ch : 0);
+}
+
+
+__attribute__((weak)) int __io_putchar(int ch)
+{
+ HAL_StatusTypeDef status;
+ do {
+ status = HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&ch, 1);
+ } while ( status == HAL_BUSY );
+ return (status == HAL_OK ? ch : 0);
+}
+
+// _read() and _write() copied from STM32 syscalls.c file (which Cube.MX insists on removing from project).
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+ int DataIdx;
+
+ for (DataIdx = 0; DataIdx < len; DataIdx++)
+ {
+ *ptr++ = __io_getchar();
+ }
+
+return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+ int DataIdx;
+
+ for (DataIdx = 0; DataIdx < len; DataIdx++)
+ {
+ __io_putchar(*ptr++);
+ }
+ return len;
+}
+
+
+#define GPIO_FOR_LPn_PIN
+
+void Reset_Sensor_via_GPIO(void)
+{
+#ifdef GPIO_FOR_LPn_PIN
+ /* Set 0 to pin LPn = PB0 */
+ HAL_GPIO_WritePin(LPn_GPIO_Port, LPn_Pin, GPIO_PIN_RESET);
+#endif
+
+#ifdef GPIO_FOR_PWR_EN
+ /* Set 0 to pin PWR_EN = PB0 or PA7 */
+ HAL_GPIO_WritePin(PWR_EN_GPIO_Port, PWR_EN_Pin, GPIO_PIN_RESET);
+ HAL_Delay(100);
+
+ /* Set 1 to pin PWR_EN */
+ HAL_GPIO_WritePin(PWR_EN_GPIO_Port, PWR_EN_Pin, GPIO_PIN_SET);
+ HAL_Delay(100);
+#endif
+
+#ifdef GPIO_FOR_LPn_PIN
+ /* Set 1 to pin LPn */
+ HAL_GPIO_WritePin(LPn_GPIO_Port, LPn_Pin, GPIO_PIN_SET);
+#endif
+
+ // If I2C master does not support "I2C bus clear" feature, need to toggle I2C_SPI_N pin to release I2C bus
+ HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);
+ HAL_Delay(1);
+ HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_SET);
+ HAL_Delay(1);
+ HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);
+ HAL_Delay(1);
+
+ return;
+}
+
+
+/* USER CODE END 0 */
+
+/**
+ * @brief The application entry point.
+ * @retval int
+ */
+int main(void)
+{
+ /* USER CODE BEGIN 1 */
+ int status;
+ /* USER CODE END 1 */
+
+ /* MCU Configuration--------------------------------------------------------*/
+
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+ HAL_Init();
+
+ /* USER CODE BEGIN Init */
+
+ /* USER CODE END Init */
+
+ /* Configure the system clock */
+ SystemClock_Config();
+
+ /* USER CODE BEGIN SysInit */
+
+ /* USER CODE END SysInit */
+
+ /* Initialize all configured peripherals */
+ MX_GPIO_Init();
+ MX_I2C1_Init();
+ MX_DMA_Init();
+ MX_USART2_UART_Init();
+
+ /* USER CODE BEGIN 2 */
+
+ Reset_Sensor_via_GPIO();
+
+ printf("\n\nVL53LMZ_ULD_TEST\n\n");
+
+ /* USER CODE END 2 */
+
+ /* Infinite loop */
+ /* USER CODE BEGIN WHILE */
+ status = 0;
+ while (status==0)
+ {
+ //status = example1();
+ //status = example2();
+ //status = example3();
+ //status = example4();
+ //status = example5();
+ //status = example6();
+ //status = example8();
+ //status = example9();
+ status = example10();
+ //status = example11();
+ //status = example11();
+ //status = example12();
+ /* USER CODE END WHILE */
+
+ /* USER CODE BEGIN 3 */
+
+ }
+ /* USER CODE END 3 */
+}
+
+/**
+ * @brief System Clock Configuration
+ * @retval None
+ */
+void SystemClock_Config(void)
+{
+ RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+ RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+ /** Configure the main internal regulator output voltage
+ */
+ __HAL_RCC_PWR_CLK_ENABLE();
+ __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
+
+ /** Initializes the RCC Oscillators according to the specified parameters
+ * in the RCC_OscInitTypeDef structure.
+ */
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+ RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+ RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+ RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+ RCC_OscInitStruct.PLL.PLLM = 16;
+ RCC_OscInitStruct.PLL.PLLN = 336;
+ RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
+ RCC_OscInitStruct.PLL.PLLQ = 7;
+ if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ /** Initializes the CPU, AHB and APB buses clocks
+ */
+ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+ |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+ RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+ RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+ RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+ if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+}
+
+/**
+ * @brief I2C1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_I2C1_Init(void)
+{
+
+ /* USER CODE BEGIN I2C1_Init 0 */
+
+ /* USER CODE END I2C1_Init 0 */
+
+ /* USER CODE BEGIN I2C1_Init 1 */
+
+ /* USER CODE END I2C1_Init 1 */
+ hi2c1.Instance = I2C1;
+ hi2c1.Init.ClockSpeed = 1000000;
+ hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
+ hi2c1.Init.OwnAddress1 = 0;
+ hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
+ hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+ hi2c1.Init.OwnAddress2 = 0;
+ hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+ hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
+ if (HAL_I2C_Init(&hi2c1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN I2C1_Init 2 */
+
+ /* USER CODE END I2C1_Init 2 */
+
+}
+
+/**
+ * @brief USART2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART2_UART_Init(void)
+{
+
+ /* USER CODE BEGIN USART2_Init 0 */
+
+ /* USER CODE END USART2_Init 0 */
+
+ /* USER CODE BEGIN USART2_Init 1 */
+
+ /* USER CODE END USART2_Init 1 */
+ huart2.Instance = USART2;
+ huart2.Init.BaudRate = 921600;
+ huart2.Init.WordLength = UART_WORDLENGTH_8B;
+ huart2.Init.StopBits = UART_STOPBITS_1;
+ huart2.Init.Parity = UART_PARITY_NONE;
+ huart2.Init.Mode = UART_MODE_TX_RX;
+ huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+ if (HAL_UART_Init(&huart2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN USART2_Init 2 */
+
+ /* USER CODE END USART2_Init 2 */
+
+}
+
+/**
+ * Enable DMA controller clock
+ */
+static void MX_DMA_Init(void)
+{
+
+ /* DMA controller clock enable */
+ __HAL_RCC_DMA1_CLK_ENABLE();
+
+ /* DMA interrupt init */
+ /* DMA1_Stream6_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
+
+}
+
+/**
+ * @brief GPIO Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_GPIO_Init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+ /* GPIO Ports Clock Enable */
+ __HAL_RCC_GPIOC_CLK_ENABLE();
+ __HAL_RCC_GPIOH_CLK_ENABLE();
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(SPI_I2C_N_GPIO_Port, SPI_I2C_N_Pin, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOA, LD2_Pin|PWR_EN_Pin, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(NCS_GPIO_Port, NCS_Pin, GPIO_PIN_RESET);
+
+ /*Configure GPIO pin : SPI_I2C_N_Pin */
+ GPIO_InitStruct.Pin = SPI_I2C_N_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(SPI_I2C_N_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : INT_C_Pin */
+ GPIO_InitStruct.Pin = INT_C_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(INT_C_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : LD2_Pin PWR_EN_Pin */
+ GPIO_InitStruct.Pin = LD2_Pin|PWR_EN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /*Configure GPIO pins : LPn_Pin AVDD_EN_Pin */
+ GPIO_InitStruct.Pin = LPn_Pin|AVDD_EN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : NCS_Pin */
+ GPIO_InitStruct.Pin = NCS_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(NCS_GPIO_Port, &GPIO_InitStruct);
+
+ /*Configure GPIO pin : VDDIO_EN_Pin */
+ GPIO_InitStruct.Pin = VDDIO_EN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(VDDIO_EN_GPIO_Port, &GPIO_InitStruct);
+
+ /* EXTI interrupt init*/
+ HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(EXTI4_IRQn);
+
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+ * @brief This function is executed in case of error occurrence.
+ * @retval None
+ */
+void Error_Handler(void)
+{
+ /* USER CODE BEGIN Error_Handler_Debug */
+ /* User can add his own implementation to report the HAL error return state */
+ __disable_irq();
+ while (1)
+ {
+ }
+ /* USER CODE END Error_Handler_Debug */
+}
+
+#ifdef USE_FULL_ASSERT
+/**
+ * @brief Reports the name of the source file and the source line number
+ * where the assert_param error has occurred.
+ * @param file: pointer to the source file name
+ * @param line: assert_param error line source number
+ * @retval None
+ */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+ /* USER CODE BEGIN 6 */
+ /* User can add his own implementation to report the file name and line number,
+ ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+ /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */
diff --git a/LMZ/Core/Src/stm32f4xx_it.c b/LMZ/Core/Src/stm32f4xx_it.c
new file mode 100644
index 0000000..51c4a78
--- /dev/null
+++ b/LMZ/Core/Src/stm32f4xx_it.c
@@ -0,0 +1,246 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file stm32f4xx_it.c
+ * @brief Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "stm32f4xx_it.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_usart2_tx;
+extern UART_HandleTypeDef huart2;
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/* Cortex-M4 Processor Interruption and Exception Handlers */
+/******************************************************************************/
+/**
+ * @brief This function handles Non maskable interrupt.
+ */
+void NMI_Handler(void)
+{
+ /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+ /* USER CODE END NonMaskableInt_IRQn 0 */
+ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+ while (1)
+ {
+ }
+ /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+ * @brief This function handles Hard fault interrupt.
+ */
+void HardFault_Handler(void)
+{
+ /* USER CODE BEGIN HardFault_IRQn 0 */
+
+ /* USER CODE END HardFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+ /* USER CODE END W1_HardFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Memory management fault.
+ */
+void MemManage_Handler(void)
+{
+ /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+ /* USER CODE END MemoryManagement_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+ /* USER CODE END W1_MemoryManagement_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Pre-fetch fault, memory access fault.
+ */
+void BusFault_Handler(void)
+{
+ /* USER CODE BEGIN BusFault_IRQn 0 */
+
+ /* USER CODE END BusFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+ /* USER CODE END W1_BusFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles Undefined instruction or illegal state.
+ */
+void UsageFault_Handler(void)
+{
+ /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+ /* USER CODE END UsageFault_IRQn 0 */
+ while (1)
+ {
+ /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+ /* USER CODE END W1_UsageFault_IRQn 0 */
+ }
+}
+
+/**
+ * @brief This function handles System service call via SWI instruction.
+ */
+void SVC_Handler(void)
+{
+ /* USER CODE BEGIN SVCall_IRQn 0 */
+
+ /* USER CODE END SVCall_IRQn 0 */
+ /* USER CODE BEGIN SVCall_IRQn 1 */
+
+ /* USER CODE END SVCall_IRQn 1 */
+}
+
+/**
+ * @brief This function handles Debug monitor.
+ */
+void DebugMon_Handler(void)
+{
+ /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+ /* USER CODE END DebugMonitor_IRQn 0 */
+ /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+ /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+ * @brief This function handles Pendable request for system service.
+ */
+void PendSV_Handler(void)
+{
+ /* USER CODE BEGIN PendSV_IRQn 0 */
+
+ /* USER CODE END PendSV_IRQn 0 */
+ /* USER CODE BEGIN PendSV_IRQn 1 */
+
+ /* USER CODE END PendSV_IRQn 1 */
+}
+
+/**
+ * @brief This function handles System tick timer.
+ */
+void SysTick_Handler(void)
+{
+ /* USER CODE BEGIN SysTick_IRQn 0 */
+
+ /* USER CODE END SysTick_IRQn 0 */
+ HAL_IncTick();
+ /* USER CODE BEGIN SysTick_IRQn 1 */
+
+ /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F4xx Peripheral Interrupt Handlers */
+/* Add here the Interrupt Handlers for the used peripherals. */
+/* For the available peripheral interrupt handler names, */
+/* please refer to the startup file (startup_stm32f4xx.s). */
+/******************************************************************************/
+
+/**
+ * @brief This function handles EXTI line4 interrupt.
+ */
+void EXTI4_IRQHandler(void)
+{
+ /* USER CODE BEGIN EXTI4_IRQn 0 */
+
+ /* USER CODE END EXTI4_IRQn 0 */
+ HAL_GPIO_EXTI_IRQHandler(INT_C_Pin);
+ /* USER CODE BEGIN EXTI4_IRQn 1 */
+
+ /* USER CODE END EXTI4_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA1 stream6 global interrupt.
+ */
+void DMA1_Stream6_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream6_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart2_tx);
+ /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream6_IRQn 1 */
+}
+
+/**
+ * @brief This function handles USART2 global interrupt.
+ */
+void USART2_IRQHandler(void)
+{
+ /* USER CODE BEGIN USART2_IRQn 0 */
+
+ /* USER CODE END USART2_IRQn 0 */
+ HAL_UART_IRQHandler(&huart2);
+ /* USER CODE BEGIN USART2_IRQn 1 */
+
+ /* USER CODE END USART2_IRQn 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
diff --git a/LMZ/Examples/Example_10_motion_indicator.c b/LMZ/Examples/Example_10_motion_indicator.c
new file mode 100644
index 0000000..59ff982
--- /dev/null
+++ b/LMZ/Examples/Example_10_motion_indicator.c
@@ -0,0 +1,155 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD motion indicator */
+/***********************************/
+/*
+* This example shows the VL53LMZ motion indicator capabilities.
+* To use this example, user needs to be sure that macro
+* VL53LMZ_DISABLE_MOTION_INDICATOR is NOT enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_motion_indicator.h"
+
+int example10(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_Motion_Configuration motion_config; /* Motion configuration*/
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+ Reset_Sensor();
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ //return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ //return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Program motion indicator */
+ /*********************************/
+
+ /* Create motion indicator with resolution 4x4 */
+ status = vl53lmz_motion_indicator_init(&Dev, &motion_config, VL53LMZ_RESOLUTION_4X4);
+ if(status)
+ {
+ printf("Motion indicator init failed with status : %u\n", status);
+ return status;
+ }
+
+ /* (Optional) Change the min and max distance used to detect motions. The
+ * difference between min and max must never be >1500mm, and minimum never be <400mm,
+ * otherwise the function below returns error 127 */
+ status = vl53lmz_motion_indicator_set_distance_motion(&Dev, &motion_config, 1000, 2000);
+ if(status)
+ {
+ printf("Motion indicator set distance motion failed with status : %u\n", status);
+ return status;
+ }
+
+ /* If user want to change the resolution, he also needs to update the motion indicator resolution */
+ //status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_4X4);
+ //status = vl53lmz_motion_indicator_set_resolution(&Dev, &motion_config, VL53LMZ_RESOLUTION_4X4);
+
+ /* Increase ranging frequency for the example */
+ status = vl53lmz_set_ranging_frequency_hz(&Dev, 2);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 9999999)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Motion power : %3lu\n",
+ i,
+ Results.motion_indicator.motion[motion_config.map_id[i]]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_11_motion_indicator_with_detection_thresholds.c b/LMZ/Examples/Example_11_motion_indicator_with_detection_thresholds.c
new file mode 100644
index 0000000..466ed9b
--- /dev/null
+++ b/LMZ/Examples/Example_11_motion_indicator_with_detection_thresholds.c
@@ -0,0 +1,213 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/************************************************************/
+/* VL53LMZ ULD motion indicator with detection thresholds */
+/************************************************************/
+/*
+* This example shows how to use the motion indicator with detection threshold.
+* This kind of configuration might be used for user detection applications.
+* To use this example, user needs to be sure that macro
+* VL53LMZ_DISABLE_MOTION_INDICATOR is NOT enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_motion_indicator.h"
+#include "vl53lmz_plugin_detection_thresholds.h"
+
+// #define UNUSED(x) (void)(x)
+
+/* This function needs to be filled by the customer. It allows knowing when
+ * the VL53LMZ interrupt is raised on GPIO1. This is the only way to use detection thresholds.
+ */
+/*
+int WaitForL5Interrupt(VL53LMZ_Configuration * pDev) {
+
+ //Add your implementation here ...
+ UNUSED(pDev);
+
+ return 0;
+}
+*/
+extern int WaitForL5Interrupt(VL53LMZ_Configuration * pDev);
+extern int IntCount;
+
+int example11(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_Motion_Configuration motion_config; /* Motion configuration*/
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Program motion indicator */
+ /*********************************/
+
+ /* Create motion indicator with resolution 8x8 */
+ status = vl53lmz_motion_indicator_init(&Dev, &motion_config, VL53LMZ_RESOLUTION_8X8);
+ if(status)
+ {
+ printf("Motion indicator init failed with status : %u\n", status);
+ return status;
+ }
+
+ /* (Optional) Change the min and max distance used to detect motions. The
+ * difference between min and max must never be >1500mm, and minimum never be <400mm,
+ * otherwise the function below returns error 127 */
+ status = vl53lmz_motion_indicator_set_distance_motion(&Dev, &motion_config, 1000, 2000);
+ if(status)
+ {
+ printf("Motion indicator set distance motion failed with status : %u\n", status);
+ return status;
+ }
+
+ /* If user want to change the resolution, he also needs to update the motion indicator resolution */
+ //status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_4X4);
+ //status = vl53lmz_motion_indicator_set_resolution(&Dev, &motion_config, VL53LMZ_RESOLUTION_4X4);
+
+
+ /* Set the device in AUTONOMOUS and set a small integration time to reduce power consumption */
+ status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_8X8);
+ status = vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
+ status = vl53lmz_set_ranging_frequency_hz(&Dev, 2);
+ status = vl53lmz_set_integration_time_ms(&Dev, 10);
+
+
+ /*********************************/
+ /* Program detection thresholds */
+ /*********************************/
+
+ /* In this example, we want 1 thresholds per zone for a 8x8 resolution */
+ /* Create array of thresholds (size cannot be changed) */
+ VL53LMZ_DetectionThresholds thresholds[VL53LMZ_NB_THRESHOLDS];
+
+ /* Set all values to 0 */
+ memset(&thresholds, 0, sizeof(thresholds));
+
+ /* Add thresholds for all zones (64 zones in resolution 4x4, or 64 in 8x8) */
+ for(i = 0; i < 64; i++){
+ thresholds[i].zone_num = i;
+ thresholds[i].measurement = VL53LMZ_MOTION_INDICATOR;
+ thresholds[i].type = VL53LMZ_GREATER_THAN_MAX_CHECKER;
+ thresholds[i].mathematic_operation = VL53LMZ_OPERATION_NONE;
+
+ /* The value 44 is given as example. All motion above 44 will be considered as a movement */
+ thresholds[i].param_low_thresh = 44;
+ thresholds[i].param_high_thresh = 44;
+ }
+
+ /* The last thresholds must be clearly indicated. As we have 64
+ * checkers, the last one is the 63 */
+ thresholds[63].zone_num = VL53LMZ_LAST_THRESHOLD | thresholds[63].zone_num;
+
+ /* Send array of thresholds to the sensor */
+ vl53lmz_set_detection_thresholds(&Dev, thresholds);
+
+ /* Enable detection thresholds */
+ vl53lmz_set_detection_thresholds_enable(&Dev, 1);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ IntCount = 0;
+ status = vl53lmz_start_ranging(&Dev);
+ printf("Waiting for a movement into the FOV between 1m and 2m...\n");
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Function WaitForL5Interrupt() does not exists, and must be
+ * implemented by user. It allows catching the interrupt raised on
+ * pin A3 (INT), when the checkers detect the programmed
+ * conditions.
+ */
+
+ isReady = WaitForL5Interrupt(&Dev);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 8x8 mode by default, we have a total
+ * of 64 zones to print. For this example, only the data of first zone are
+ * print */
+ for(i = 0; i < 64; i++)
+ {
+ if(Results.motion_indicator.motion[motion_config.map_id[i]] >= 44)
+ {
+ printf(" Movement detected in this zone : %3d !\n", i);
+ }
+ }
+ printf("\n");
+ loop++;
+ }
+
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_12_cnh_data.c b/LMZ/Examples/Example_12_cnh_data.c
new file mode 100644
index 0000000..bdc3b9d
--- /dev/null
+++ b/LMZ/Examples/Example_12_cnh_data.c
@@ -0,0 +1,264 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD CNH Data */
+/***********************************/
+/*
+* This example how to configure, capture and decode CNH data from
+* the VL53L7CH/VL53LCH sensors.
+*
+* In this example, we also suppose that the number of targets per zone is
+* set to 1(see file platform.h).
+*/
+
+#include
+#include
+#include
+
+
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_cnh.h"
+
+
+int example12(void)
+{
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+ VL53LMZ_Motion_Configuration cnh_config; /* Motion Configuration is shared with CNH */
+
+ cnh_data_buffer_t cnh_data_buffer; /* cnh_data_bufer_t is sized to take the largest data transfer */
+ /* possible from the device. If smaller CNH configuration is */
+ /* used then cnh_data_buffer size could be make smaller. */
+
+ uint32_t cnh_data_size; /* This will be used to record the actual size of CNH data */
+ /* generated by the set CNH configuration. */
+
+ int agg_id, bin_num;
+ float amb_value, bin_value;
+
+ /* variables needed for call to vl53lmz_cnh_get_mem_block_addresses() */
+ int32_t *p_hist = NULL;
+ int8_t *p_hist_scaler = NULL;
+ int32_t *p_ambient = NULL;
+ int8_t *p_ambient_scaler = NULL;
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Initialise the VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Set basic ranging settings */
+ /*********************************/
+ status = vl53lmz_set_resolution(&Dev, 16);
+ status |= vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
+ status |= vl53lmz_set_ranging_frequency_hz(&Dev, 5);
+ status |= vl53lmz_set_integration_time_ms(&Dev, 20);
+ if(status)
+ {
+ printf("ERROR - Failed basic configuration sequence, status=%u\n", status);
+ return status;
+ }
+
+
+ /*********************************/
+ /* CNH specific configuration */
+ /*********************************/
+
+ /* Populate the basic CNH parameters into the CNH configuration structure */
+ status = vl53lmz_cnh_init_config( &cnh_config,
+ 0, /* StartBin */
+ 24, /* NumBins */
+ 4 ); /* SubSample */
+
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_init_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Add the aggregate map that maps zones to aggregates. Resolution of map */
+ /* must follow that set by vl53lmz_set_resolution(), either 16 or 64 zones. */
+ status = vl53lmz_cnh_create_agg_map( &cnh_config,
+ 16, /* Resolution. Must match value used in vl53lmz_set_resolution() */
+ 0, /* StartX */
+ 0, /* StartY */
+ 1, /* MergeX */
+ 1, /* MergeY */
+ 4, /* Cols */
+ 4 ); /* Rows */
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_create_agg_map failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Check that the requested configuration will not generate CNH data that is */
+ /* too large for the available space on the sensor. */
+ /* Store the size of data generate so we can next setup an optimize data transfer */
+ /* from sensor to host. */
+ status = vl53lmz_cnh_calc_required_memory( &cnh_config, &cnh_data_size );
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_calc_required_memory : %d\n",__func__, __LINE__,status);
+ if (cnh_data_size < 0){
+ printf("Required memory is too high : %lu. Maximum is %lu!\n", cnh_data_size, VL53LMZ_CNH_MAX_DATA_BYTES);
+ }
+ return status;
+ }
+
+ /* Send this CNH configuration to the sensor. */
+ status = vl53lmz_cnh_send_config(&Dev,&cnh_config);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_cnh_send_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Because we want to use a non-standard data transfer from the device we can not */
+ /* use the standard vl53lmz_start_ranging() function, instead we need to use */
+ /* vl53lmz_create_output_config() followed by vl53lmz_send_output_config_and_start() */
+ /* This allows us to modify the data transfer requested between the two functions. */
+
+ /* First create the standard data upload(output) configuration. */
+ status = vl53lmz_create_output_config(&Dev);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_create_output_config failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /* Next, add the CNH data block, sized correctly for the configuration we are using. */
+ union Block_header cnh_data_bh;
+ cnh_data_bh.idx = VL53LMZ_CNH_DATA_IDX;
+ cnh_data_bh.type = 4;
+ cnh_data_bh.size = cnh_data_size / 4;
+ status = vl53lmz_add_output_block(&Dev, cnh_data_bh.bytes);
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_add_output_block failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ /*********************************/
+ /* Start the sensor ranging */
+ /*********************************/
+
+ /* Finally, send the output configuration and start the sensor ranging. */
+ status = vl53lmz_send_output_config_and_start(&Dev);
+
+ printf("Started ranging\n");
+
+ loop = 0;
+ while(loop < 10)
+ {
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total of 16 zones */
+ /* to print. This example assumes VL53LMZ_NB_TARGET_PER_ZONE == 1 */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+
+ /* Because we use a non-standard upload configuration for CNH data we */
+ /* must extract the data from the ULD transfer buffer and place it in */
+ /* our own data area before accessing it. */
+ status = vl53lmz_results_extract_block( &Dev, VL53LMZ_CNH_DATA_IDX, (uint8_t *)cnh_data_buffer, cnh_data_size );
+ if (status != VL53LMZ_STATUS_OK){
+ printf("ERROR at %s(%d) : vl53lmz_results_extract_block failed : %d\n",__func__, __LINE__,status);
+ return status;
+ }
+
+ for(agg_id = 0; agg_id < cnh_config.nb_of_aggregates; agg_id++)
+ {
+ /* Start address of each aggregates data blocks within the cnh_data_buffer depends */
+ /* on the exact CNH configuration in use. Function below calculates these start */
+ /* locations for us. */
+ vl53lmz_cnh_get_block_addresses( &cnh_config,
+ agg_id,
+ cnh_data_buffer,
+ &(p_hist), &(p_hist_scaler),
+ &(p_ambient), &(p_ambient_scaler));
+
+ /* there is just a single ambient value per aggregate */
+ amb_value = ((float)*p_ambient)/(2<<*p_ambient_scaler);
+ printf("Agg, %2d, Ambient, % .1f, Bins, ", agg_id, amb_value );
+
+ for( bin_num = 0; bin_num < cnh_config.feature_length; bin_num++ ) {
+ bin_value = ((float)p_hist[bin_num])/(2<
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example1(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+ //Reset_Sensor();
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A1
+ * (INT) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_2_get_set_params.c b/LMZ/Examples/Example_2_get_set_params.c
new file mode 100644
index 0000000..f07e67f
--- /dev/null
+++ b/LMZ/Examples/Example_2_get_set_params.c
@@ -0,0 +1,171 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD get/set params */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to get/set params. It
+* initializes the VL53LMZ ULD, set a configuration, and starts
+* a ranging to capture 10 frames.
+*
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example2(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ uint32_t integration_time_ms;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Set some params */
+ /*********************************/
+
+ /* Set resolution in 8x8. WARNING : As others settings depend to this
+ * one, it must be the first to use.
+ */
+ status = vl53lmz_set_resolution(&Dev, VL53LMZ_RESOLUTION_8X8);
+ if(status)
+ {
+ printf("vl53lmz_set_resolution failed, status %u\n", status);
+ return status;
+ }
+
+ /* Set ranging frequency to 10Hz.
+ * Using 4x4, min frequency is 1Hz and max is 60Hz
+ * Using 8x8, min frequency is 1Hz and max is 15Hz
+ */
+ status = vl53lmz_set_ranging_frequency_hz(&Dev, 10);
+ if(status)
+ {
+ printf("vl53lmz_set_ranging_frequency_hz failed, status %u\n", status);
+ return status;
+ }
+
+ /* Set target order to closest */
+ status = vl53lmz_set_target_order(&Dev, VL53LMZ_TARGET_ORDER_CLOSEST);
+ if(status)
+ {
+ printf("vl53lmz_set_target_order failed, status %u\n", status);
+ return status;
+ }
+
+ /* Get current integration time */
+ status = vl53lmz_get_integration_time_ms(&Dev, &integration_time_ms);
+ if(status)
+ {
+ printf("vl53lmz_get_integration_time_ms failed, status %u\n", status);
+ return status;
+ }
+ printf("Current integration time is : %d ms\n", (int)integration_time_ms);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 8x8 mode, we have a total
+ * of 64 zones to print. For this example, only the data of
+ * first zone are print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 64; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_3_ranging_modes.c b/LMZ/Examples/Example_3_ranging_modes.c
new file mode 100644
index 0000000..1a1283a
--- /dev/null
+++ b/LMZ/Examples/Example_3_ranging_modes.c
@@ -0,0 +1,189 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD ranging mode */
+/***********************************/
+/*
+* This example shows the differences between ranging modes of VL53LMZ
+* (mode continuous and autonomous). For both modes, it initializes the VL53LMZ
+* ULD, set the mode, and starts a ranging to capture 10 frames.
+*
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example3(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Set ranging mode autonomous */
+ /*********************************/
+
+ status = vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_AUTONOMOUS);
+ if(status)
+ {
+ printf("vl53lmz_set_ranging_mode failed, status %u\n", status);
+ return status;
+ }
+
+ /* Using autonomous mode, the integration time can be updated (not possible
+ * using continuous) */
+ status = vl53lmz_set_integration_time_ms(&Dev, 20);
+
+ /* Start a ranging session */
+ status = vl53lmz_start_ranging(&Dev);
+ printf("Start ranging autonomous\n");
+
+ loop = 0;
+ while(loop < 10)
+ {
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("Stop ranging autonomous\n");
+
+
+ /*********************************/
+ /* Set ranging mode continuous */
+ /*********************************/
+
+ /* In continuous mode, the integration time cannot be programmed
+ * (automatically set to maximum value) */
+
+ status = vl53lmz_set_ranging_mode(&Dev, VL53LMZ_RANGING_MODE_CONTINUOUS);
+ if(status)
+ {
+ printf("vl53lmz_set_ranging_mode failed, status %u\n", status);
+ return status;
+ }
+
+ /* Trying to update value below will have no impact on integration time */
+ //status = vl53lmz_set_integration_time_ms(&Dev, 20);
+
+ /* Start a ranging session */
+ status = vl53lmz_start_ranging(&Dev);
+ printf("Start ranging continuous\n");
+
+ loop = 0;
+ while(loop < 10)
+ {
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("Stop ranging continuous\n");
+
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_4_power_modes.c b/LMZ/Examples/Example_4_power_modes.c
new file mode 100644
index 0000000..1cc5358
--- /dev/null
+++ b/LMZ/Examples/Example_4_power_modes.c
@@ -0,0 +1,154 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD power mode */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to change power mode. It
+* initializes the VL53LMZ ULD, set a configuration, change the power mode, and
+* starts a ranging to capture 10 frames.
+*
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example4(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+ /*********************************/
+ /* Change the power mode */
+ /*********************************/
+
+ /* For the example, we don't want to use the sensor during 10 seconds. In order to reduce
+ * the power consumption, the sensor is set to low power mode.
+ */
+ status = vl53lmz_set_power_mode(&Dev, VL53LMZ_POWER_MODE_SLEEP);
+ if(status)
+ {
+ printf("vl53lmz_set_power_mode failed, status %u\n", status);
+ return status;
+ }
+ printf("VL53LMZ is now sleeping\n");
+
+ /* We wait 5 seconds, only for the example */
+ printf("Waiting 5 seconds for the example...\n");
+ WaitMs(&(Dev.platform), 5000);
+
+ /* After 5 seconds, the sensor needs to be restarted */
+ status = vl53lmz_set_power_mode(&Dev, VL53LMZ_POWER_MODE_WAKEUP);
+ if(status)
+ {
+ printf("vl53lmz_set_power_mode failed, status %u\n", status);
+ return status;
+ }
+ printf("VL53LMZ is now waking up\n");
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_5_multiple_targets_per_zone.c b/LMZ/Examples/Example_5_multiple_targets_per_zone.c
new file mode 100644
index 0000000..d525137
--- /dev/null
+++ b/LMZ/Examples/Example_5_multiple_targets_per_zone.c
@@ -0,0 +1,146 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD multiple targets */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to get/set params. It
+* initializes the VL53LMZ ULD, set a configuration, and starts
+* a ranging to capture 10 frames.
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example5(void)
+{
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i, j;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Set nb target per zone */
+ /*********************************/
+
+ /* Each zone can output between 1 and 4 targets. By default the output
+ * is set to 1 targets, but user can change it using macro
+ * VL53LMZ_NB_TARGET_PER_ZONE located in file 'platform.h'.
+ */
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ /* Print per zone results. These results are the same for all targets */
+ printf("Zone %3u : %2u, %6lu, %6lu, ",
+ i,
+ Results.nb_target_detected[i],
+ Results.ambient_per_spad[i],
+ Results.nb_spads_enabled[i]);
+
+ for(j = 0; j < VL53LMZ_NB_TARGET_PER_ZONE; j++)
+ {
+ /* Print per target results. These results depends of the target nb */
+ uint16_t idx = VL53LMZ_NB_TARGET_PER_ZONE * i + j;
+ printf("Target[%1u] : %2u, %4d, %6lu, %3u, ",
+ j,
+ Results.target_status[idx],
+ Results.distance_mm[idx],
+ Results.signal_per_spad[idx],
+ Results.range_sigma_mm[idx]);
+ }
+ printf("\n");
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_6_I2C_and_RAM_optimization.c b/LMZ/Examples/Example_6_I2C_and_RAM_optimization.c
new file mode 100644
index 0000000..9395e89
--- /dev/null
+++ b/LMZ/Examples/Example_6_I2C_and_RAM_optimization.c
@@ -0,0 +1,146 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/**************************************/
+/* VL53LMZ ULD I2C/RAM optimization */
+/**************************************/
+/*
+* This example shows the possibility of VL53LMZ to reduce I2C transactions
+* and RAM footprint. It initializes the VL53LMZ ULD, and starts
+* a ranging to capture 10 frames.
+*
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+
+int example6(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Reduce RAM & I2C access */
+ /*********************************/
+
+ /* Results can be tuned in order to reduce I2C access and RAM footprints.
+ * The 'platform.h' file contains macros used to disable output. If user declare
+ * one of these macros, the results will not be sent through I2C, and the array will not
+ * be created into the VL53LMZ_ResultsData structure.
+ * For the minimum size, ST recommends 1 targets per zone, and only keep distance_mm,
+ * target_status, and nb_target_detected. The following macros can be defined into file 'platform.h':
+ *
+ * #define VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+ * #define VL53LMZ_DISABLE_NB_SPADS_ENABLED
+ * #define VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+ * #define VL53LMZ_DISABLE_RANGE_SIGMA_MM
+ * #define VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+ * #define VL53LMZ_DISABLE_MOTION_INDICATOR
+ */
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_7_calibrate_xtalk.c b/LMZ/Examples/Example_7_calibrate_xtalk.c
new file mode 100644
index 0000000..900ab1a
--- /dev/null
+++ b/LMZ/Examples/Example_7_calibrate_xtalk.c
@@ -0,0 +1,156 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD calibrate Xtalk */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to calibrate Xtalk. It
+* initializes the VL53LMZ ULD, perform a Xtalk calibration, and starts
+* a ranging to capture 10 frames.
+
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_xtalk.h"
+
+int example7(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+ /* Buffer containing Xtalk data */
+ uint8_t xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE];
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Start Xtalk calibration */
+ /*********************************/
+
+ /* Start Xtalk calibration with a 3% reflective target at 600mm for the
+ * sensor, using 4 samples.
+ */
+ printf("Running Xtalk calibration...\n");
+
+ status = vl53lmz_calibrate_xtalk(&Dev, 3, 4, 600);
+ if(status)
+ {
+ printf("vl53lmz_calibrate_xtalk failed, status %u\n", status);
+ return status;
+ }else
+ {
+ printf("Xtalk calibration done\n");
+
+ /* Get Xtalk calibration data, in order to use them later */
+ status = vl53lmz_get_caldata_xtalk(&Dev, xtalk_data);
+
+ /* Set Xtalk calibration data */
+ status = vl53lmz_set_caldata_xtalk(&Dev, xtalk_data);
+ }
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_8_vizualize_xtalk_data.c b/LMZ/Examples/Example_8_vizualize_xtalk_data.c
new file mode 100644
index 0000000..df0d00b
--- /dev/null
+++ b/LMZ/Examples/Example_8_vizualize_xtalk_data.c
@@ -0,0 +1,190 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/***********************************/
+/* VL53LMZ ULD visualize Xtalk */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to visualize Xtalk data. It
+* initializes the VL53LMZ ULD, perform a Xtalk calibration, and starts
+* a ranging to capture 10 frames.
+
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_xtalk.h"
+
+int example8(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+ /* Buffer containing Xtalk data */
+ uint8_t xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE];
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+
+ /*********************************/
+ /* Start Xtalk calibration */
+ /*********************************/
+
+ /* Start Xtalk calibration with a 3% reflective target at 600mm for the
+ * sensor, using 4 samples.
+ */
+
+ printf("Running Xtalk calibration...\n");
+
+ status = vl53lmz_calibrate_xtalk(&Dev, 3, 4, 600);
+ if(status)
+ {
+ printf("vl53lmz_calibrate_xtalk failed, status %u\n", status);
+ return status;
+ }else
+ {
+ printf("Xtalk calibration done\n");
+
+ /* Get Xtalk calibration data, in order to use them later */
+ status = vl53lmz_get_caldata_xtalk(&Dev, xtalk_data);
+
+ /* Set Xtalk calibration data */
+ status = vl53lmz_set_caldata_xtalk(&Dev, xtalk_data);
+ }
+
+ /* (Optional) Visualize Xtalk grid and Xtalk shape */
+ uint32_t i, j;
+ union Block_header *bh_ptr;
+ uint32_t xtalk_signal_kcps_grid[VL53LMZ_RESOLUTION_8X8];
+ uint16_t xtalk_shape_bins[144];
+
+ /* Swap buffer */
+ SwapBuffer(xtalk_data, VL53LMZ_XTALK_BUFFER_SIZE);
+
+ /* Get data */
+ for(i = 0; i < VL53LMZ_XTALK_BUFFER_SIZE; i = i + 4)
+ {
+ bh_ptr = (union Block_header *)&(xtalk_data[i]);
+ if (bh_ptr->idx == 0xA128){
+ printf("Xtalk shape bins located at position %#06x\n", (int)i);
+ for (j = 0; j < 144; j++){
+ memcpy(&(xtalk_shape_bins[j]), &(xtalk_data[i + 4 + j * 2]), 2);
+ printf("xtalk_shape_bins[%d] = %d\n", (int)j, (int)xtalk_shape_bins[j]);
+ }
+ }
+ if (bh_ptr->idx == 0x9FFC){
+ printf("Xtalk signal kcps located at position %#06x\n", (int)i);
+ for (j = 0; j < VL53LMZ_RESOLUTION_8X8; j++){
+ memcpy(&(xtalk_signal_kcps_grid[j]), &(xtalk_data[i + 4 + j * 4]), 4);
+ xtalk_signal_kcps_grid[j] /= 2048;
+ printf("xtalk_signal_kcps_grid[%d] = %d\n", (int)j, (int)xtalk_signal_kcps_grid[j]);
+ }
+ }
+ }
+
+ /* Re-Swap buffer (in case of re-using data later) */
+ SwapBuffer(xtalk_data, VL53LMZ_XTALK_BUFFER_SIZE);
+
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_start_ranging(&Dev);
+
+ loop = 0;
+ while(loop < 10)
+ {
+ /* Use polling function to know when a new measurement is ready.
+ * Another way can be to wait for HW interrupt raised on PIN A3
+ * (GPIO 1) when a new measurement is ready */
+
+ status = vl53lmz_check_data_ready(&Dev, &isReady);
+
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of first zone are
+ * print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
+ (int)i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Examples/Example_9_detection_thresholds.c b/LMZ/Examples/Example_9_detection_thresholds.c
new file mode 100644
index 0000000..03cedeb
--- /dev/null
+++ b/LMZ/Examples/Example_9_detection_thresholds.c
@@ -0,0 +1,200 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+
+/***********************************/
+/* VL53LMZ ULD interrupt checkers */
+/***********************************/
+/*
+* This example shows the possibility of VL53LMZ to program detection thresholds. It
+* initializes the VL53LMZ ULD, create 2 thresholds per zone for a 4x4 resolution,
+* and starts a ranging to capture 10 frames.
+
+* In this example, we also suppose that the number of target per zone is
+* set to 1 , and all output are enabled (see file platform.h).
+*/
+
+#include
+#include
+#include
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_detection_thresholds.h"
+
+// #define UNUSED(x) (void)(x)
+
+/* This function needs to be filled by the customer. It allows knowing when
+ * the VL53LMZ interrupt is raised on GPIO1. This is the only way to use detection thresholds.
+ */
+/*
+int WaitForL5Interrupt(VL53LMZ_Configuration * pDev) {
+
+ //Add your implementation here ...
+ UNUSED(pDev);
+
+ return 0;
+}
+*/
+extern int WaitForL5Interrupt(VL53LMZ_Configuration * pDev);
+extern int IntCount;
+
+int example9(void)
+{
+
+ /*********************************/
+ /* VL53LMZ ranging variables */
+ /*********************************/
+
+ uint8_t status, loop, isAlive, isReady, i;
+ VL53LMZ_Configuration Dev; /* Sensor configuration */
+ VL53LMZ_ResultsData Results; /* Results data from VL53LMZ */
+
+
+ /*********************************/
+ /* Customer platform */
+ /*********************************/
+
+ /* Fill the platform structure with customer's implementation. For this
+ * example, only the I2C address is used.
+ */
+ Dev.platform.address = VL53LMZ_DEFAULT_I2C_ADDRESS;
+
+ /* (Optional) Reset sensor toggling PINs (see platform, not in API) */
+ //Reset_Sensor(&(Dev.platform));
+
+ /* (Optional) Set a new I2C address if the wanted address is different
+ * from the default one (filled with 0x20 for this example).
+ */
+ //status = vl53lmz_set_i2c_address(&Dev, 0x20);
+
+
+ /*********************************/
+ /* Power on sensor and init */
+ /*********************************/
+
+ /* (Optional) Check if there is a VL53LMZ sensor connected */
+ status = vl53lmz_is_alive(&Dev, &isAlive);
+ if(!isAlive || status)
+ {
+ printf("VL53LMZ not detected at requested address\n");
+ return status;
+ }
+
+ /* (Mandatory) Init VL53LMZ sensor */
+ status = vl53lmz_init(&Dev);
+ if(status)
+ {
+ printf("VL53LMZ ULD Loading failed\n");
+ return status;
+ }
+
+ printf("VL53LMZ ULD ready ! (Version : %s)\n",
+ VL53LMZ_API_REVISION);
+
+ /*********************************/
+ /* Program detection thresholds */
+ /*********************************/
+
+ /* In this example, we want 2 thresholds per zone for a 4x4 resolution */
+ /* Create array of thresholds (size cannot be changed) */
+ VL53LMZ_DetectionThresholds thresholds[VL53LMZ_NB_THRESHOLDS];
+
+ /* Set all values to 0 */
+ memset(&thresholds, 0, sizeof(thresholds));
+
+ /* Add thresholds for all zones (16 zones in resolution 4x4, or 64 in 8x8) */
+ for(i = 0; i < 16; i++){
+ /* The first wanted thresholds is GREATER_THAN mode. Please note that the
+ * first one must always be set with a mathematic_operation
+ * VL53LMZ_OPERATION_NONE.
+ * For this example, the signal thresholds is set to 150 kcps/spads
+ * (the format is automatically updated inside driver)
+ */
+ thresholds[2*i].zone_num = i;
+ thresholds[2*i].measurement = VL53LMZ_SIGNAL_PER_SPAD_KCPS;
+ thresholds[2*i].type = VL53LMZ_GREATER_THAN_MAX_CHECKER;
+ thresholds[2*i].mathematic_operation = VL53LMZ_OPERATION_NONE;
+ thresholds[2*i].param_low_thresh = 150;
+ thresholds[2*i].param_high_thresh = 150;
+
+ /* The second wanted checker is IN_WINDOW mode. We will set a
+ * mathematical thresholds VL53LMZ_OPERATION_OR, to add the previous
+ * checker to this one.
+ * For this example, distance thresholds are set between 200mm and
+ * 400mm (the format is automatically updated inside driver).
+ */
+ thresholds[2*i+1].zone_num = i;
+ thresholds[2*i+1].measurement = VL53LMZ_DISTANCE_MM;
+ thresholds[2*i+1].type = VL53LMZ_IN_WINDOW;
+ thresholds[2*i+1].mathematic_operation = VL53LMZ_OPERATION_AND;
+ thresholds[2*i+1].param_low_thresh = 200;
+ thresholds[2*i+1].param_high_thresh = 400;
+ }
+
+ /* The last thresholds must be clearly indicated. As we have 32
+ * checkers (16 zones x 2), the last one is the 31 */
+ thresholds[31].zone_num = VL53LMZ_LAST_THRESHOLD | thresholds[31].zone_num;
+
+ /* Send array of thresholds to the sensor */
+ vl53lmz_set_detection_thresholds(&Dev, thresholds);
+
+ /* Enable detection thresholds */
+ vl53lmz_set_detection_thresholds_enable(&Dev, 1);
+
+ /*********************************/
+ /* Ranging loop */
+ /*********************************/
+
+ status = vl53lmz_set_ranging_frequency_hz(&Dev, 10);
+
+ IntCount = 0;
+ status = vl53lmz_start_ranging(&Dev);
+ printf("Put an object between 200mm and 400mm to catch an interrupt\n");
+
+ loop = 0;
+ while(loop < 100)
+ {
+ /* Function WaitForL5Interrupt() does not exists, and must be
+ * implemented by user. It allows catching the interrupt raised on
+ * pin A1 (INT), when the checkers detect the programmed
+ * conditions.
+ */
+
+ isReady = WaitForL5Interrupt(&Dev);
+ if(isReady)
+ {
+ vl53lmz_get_ranging_data(&Dev, &Results);
+
+ /* As the sensor is set in 4x4 mode by default, we have a total
+ * of 16 zones to print. For this example, only the data of
+ * first zone are print */
+ printf("Print data no : %3u\n", Dev.streamcount);
+ for(i = 0; i < 16; i++)
+ {
+ printf("Zone : %3d, Status : %3u, Distance : %4d mm, Signal : %5lu kcps/SPADs\n",
+ i,
+ Results.target_status[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.distance_mm[VL53LMZ_NB_TARGET_PER_ZONE*i],
+ Results.signal_per_spad[VL53LMZ_NB_TARGET_PER_ZONE*i]);
+ }
+ printf("\n");
+ loop++;
+ }
+
+ /* Wait a few ms to avoid too high polling (function in platform
+ * file, not in API) */
+ WaitMs(&(Dev.platform), 5);
+ }
+
+ status = vl53lmz_stop_ranging(&Dev);
+ printf("End of ULD demo\n");
+ return status;
+}
diff --git a/LMZ/Platform/platform.c b/LMZ/Platform/platform.c
new file mode 100644
index 0000000..5572189
--- /dev/null
+++ b/LMZ/Platform/platform.c
@@ -0,0 +1,107 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include "platform_lmz.h"
+
+extern I2C_HandleTypeDef hi2c2;
+
+uint8_t RdByte(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_value)
+{
+ uint8_t status = 0;
+ uint8_t data_write[2];
+ uint8_t data_read[1];
+
+ data_write[0] = (RegisterAdress >> 8) & 0xFF;
+ data_write[1] = RegisterAdress & 0xFF;
+ status = HAL_I2C_Master_Transmit(&hi2c2, p_platform->address, data_write, 2, 100);
+ status = HAL_I2C_Master_Receive(&hi2c2, p_platform->address, data_read, 1, 100);
+ *p_value = data_read[0];
+ //uart_printf("read 1 byte\n");
+ return status;
+}
+
+uint8_t WrByte(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t value)
+{
+ uint8_t data_write[3];
+ uint8_t status = 0;
+
+ data_write[0] = (RegisterAdress >> 8) & 0xFF;
+ data_write[1] = RegisterAdress & 0xFF;
+ data_write[2] = value & 0xFF;
+ status = HAL_I2C_Master_Transmit(&hi2c2, p_platform->address, data_write, 3, 100);
+ //uart_printf("write 1 byte\n");
+ return status;
+}
+
+uint8_t WrMulti(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_values,
+ uint32_t size)
+{
+ uint8_t status = HAL_I2C_Mem_Write(&hi2c2, p_platform->address, RegisterAdress,
+ I2C_MEMADD_SIZE_16BIT, p_values, size, 65535);
+ //uart_printf("write %d bytes\n",size);
+ return status;
+}
+
+uint8_t RdMulti(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_values,
+ uint32_t size)
+{
+ uint8_t status;
+ uint8_t data_write[2];
+ data_write[0] = (RegisterAdress>>8) & 0xFF;
+ data_write[1] = RegisterAdress & 0xFF;
+
+ status = HAL_I2C_Master_Transmit(&hi2c2, p_platform->address, data_write, 2, 10);
+ status += HAL_I2C_Master_Receive(&hi2c2, p_platform->address, p_values, size, 400);
+ //uart_printf("read %d bytes\n",size);
+
+ return status;
+}
+
+
+void SwapBuffer(
+ uint8_t *buffer,
+ uint16_t size)
+{
+ uint32_t i, tmp;
+
+ /* Example of possible implementation using */
+ for(i = 0; i < size; i = i + 4)
+ {
+ tmp = (
+ buffer[i]<<24)
+ |(buffer[i+1]<<16)
+ |(buffer[i+2]<<8)
+ |(buffer[i+3]);
+
+ memcpy(&(buffer[i]), &tmp, 4);
+ }
+}
+
+uint8_t WaitMs(
+ VL53LMZ_Platform *p_platform,
+ uint32_t TimeMs)
+{
+ HAL_Delay(TimeMs);
+ return 0;
+}
diff --git a/LMZ/Platform/platform_lmz.h b/LMZ/Platform/platform_lmz.h
new file mode 100644
index 0000000..f5b8707
--- /dev/null
+++ b/LMZ/Platform/platform_lmz.h
@@ -0,0 +1,163 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef _PLATFORM_H_
+#define _PLATFORM_H_
+#pragma once
+
+#include
+#include
+
+#include "stm32wlxx.h"
+
+
+/**
+ * @brief Structure VL53LMZ_Platform needs to be filled by the customer,
+ * depending on his platform. At least, it contains the VL53L5CX I2C address.
+ * Some additional fields can be added, as descriptors, or platform
+ * dependencies. Anything added into this structure is visible into the platform
+ * layer.
+ */
+
+typedef struct
+{
+ /* To be filled with customer's platform. At least an I2C address/descriptor
+ * needs to be added */
+ /* Example for most standard platform : I2C address of sensor */
+ uint16_t address;
+
+ uint8_t module_type; // MZ-AI specific field used by sensor_command.c
+
+} VL53LMZ_Platform;
+
+/*
+ * @brief The macro below is used to define the number of target per zone sent
+ * through I2C. This value can be changed by user, in order to tune I2C
+ * transaction, and also the total memory size (a lower number of target per
+ * zone means a lower RAM). The value must be between 1 and 4.
+ */
+
+#define VL53LMZ_NB_TARGET_PER_ZONE 1U
+
+/*
+ * @brief The macro below can be used to avoid data conversion into the driver.
+ * By default there is a conversion between firmware and user data. Using this macro
+ * allows to use the firmware format instead of user format. The firmware format allows
+ * an increased precision.
+ */
+
+//#define VL53LMZ_USE_RAW_FORMAT
+
+/*
+ * @brief All macro below are used to configure the sensor output. User can
+ * define some macros if he wants to disable selected output, in order to reduce
+ * I2C access.
+ */
+
+//#define VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+//#define VL53LMZ_DISABLE_NB_SPADS_ENABLED
+//#define VL53LMZ_DISABLE_NB_TARGET_DETECTED
+//#define VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+//#define VL53LMZ_DISABLE_RANGE_SIGMA_MM
+//#define VL53LMZ_DISABLE_DISTANCE_MM
+//#define VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+//#define VL53LMZ_DISABLE_TARGET_STATUS
+//#define VL53LMZ_DISABLE_MOTION_INDICATOR
+
+/**
+ * @param (VL53LMZ_Platform*) p_platform : Pointer of VL53L5CX platform
+ * structure.
+ * @param (uint16_t) Address : I2C location of value to read.
+ * @param (uint8_t) *p_values : Pointer of value to read.
+ * @return (uint8_t) status : 0 if OK
+ */
+
+uint8_t RdByte(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_value);
+
+/**
+ * @brief Mandatory function used to write one single byte.
+ * @param (VL53LMZ_Platform*) p_platform : Pointer of VL53L5CX platform
+ * structure.
+ * @param (uint16_t) Address : I2C location of value to read.
+ * @param (uint8_t) value : Pointer of value to write.
+ * @return (uint8_t) status : 0 if OK
+ */
+
+uint8_t WrByte(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t value);
+
+/**
+ * @brief Mandatory function used to read multiples bytes.
+ * @param (VL53LMZ_Platform*) p_platform : Pointer of VL53L5CX platform
+ * structure.
+ * @param (uint16_t) Address : I2C location of values to read.
+ * @param (uint8_t) *p_values : Buffer of bytes to read.
+ * @param (uint32_t) size : Size of *p_values buffer.
+ * @return (uint8_t) status : 0 if OK
+ */
+
+uint8_t RdMulti(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_values,
+ uint32_t size);
+
+/**
+ * @brief Mandatory function used to write multiples bytes.
+ * @param (VL53LMZ_Platform*) p_platform : Pointer of VL53L5CX platform
+ * structure.
+ * @param (uint16_t) Address : I2C location of values to write.
+ * @param (uint8_t) *p_values : Buffer of bytes to write.
+ * @param (uint32_t) size : Size of *p_values buffer.
+ * @return (uint8_t) status : 0 if OK
+ */
+
+uint8_t WrMulti(
+ VL53LMZ_Platform *p_platform,
+ uint16_t RegisterAdress,
+ uint8_t *p_values,
+ uint32_t size);
+
+
+/**
+ * @brief Mandatory function, used to swap a buffer. The buffer size is always a
+ * multiple of 4 (4, 8, 12, 16, ...).
+ * @param (uint8_t*) buffer : Buffer to swap, generally uint32_t
+ * @param (uint16_t) size : Buffer size to swap
+ */
+
+void SwapBuffer(
+ uint8_t *buffer,
+ uint16_t size);
+/**
+ * @brief Mandatory function, used to wait during an amount of time. It must be
+ * filled as it's used into the API.
+ * @param (VL53LMZ_Platform*) p_platform : Pointer of VL53L5CX platform
+ * structure.
+ * @param (uint32_t) TimeMs : Time to wait in ms.
+ * @return (uint8_t) status : 0 if wait is finished.
+ */
+
+uint8_t WaitMs(
+ VL53LMZ_Platform *p_platform,
+ uint32_t TimeMs);
+
+
+
+
+
+#endif // _PLATFORM_H_
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_api.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_api.h
new file mode 100644
index 0000000..f6fb5eb
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_api.h
@@ -0,0 +1,853 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef VL53LMZ_API_H_
+#define VL53LMZ_API_H_
+
+#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION < 6010050)
+#pragma anon_unions
+#endif
+
+
+#include "platform_lmz.h"
+void Reset_Sensor(void);
+/**
+ * @brief Current driver version.
+ */
+
+#define VL53LMZ_API_REVISION "VL53LMZ_2.0.10"
+
+
+/**
+ * @brief Default I2C address of VL53LMZ sensor. Can be changed using function
+ * vl53lmz_set_i2c_address() function is called.
+ */
+
+#define VL53LMZ_DEFAULT_I2C_ADDRESS ((uint16_t)0x52)
+
+
+/**
+ * @brief Definition of the module types as reported in the
+ * VL53LMZ_Configuration.module_type field
+ */
+
+#define VL53LMZ_MODULE_TYPE_L5 ((uint8_t) 0U)
+#define VL53LMZ_MODULE_TYPE_L7 ((uint8_t) 1U)
+#define VL53LMZ_MODULE_TYPE_L8 ((uint8_t) 2U)
+#define VL53LMZ_MODULE_TYPE_UNKNOWN ((uint8_t) 255U)
+
+
+/**
+ * @brief Macro VL53LMZ_RESOLUTION_4X4 or VL53LMZ_RESOLUTION_8X8 allows
+ * setting sensor in 4x4 mode or 8x8 mode, using function
+ * vl53lmz_set_resolution().
+ */
+
+#define VL53LMZ_RESOLUTION_4X4 ((uint8_t) 16U)
+#define VL53LMZ_RESOLUTION_8X8 ((uint8_t) 64U)
+
+
+/**
+ * @brief Macro VL53LMZ_TARGET_ORDER_STRONGEST or VL53LMZ_TARGET_ORDER_CLOSEST
+ * are used to select the target order for data output.
+ */
+
+#define VL53LMZ_TARGET_ORDER_CLOSEST ((uint8_t) 1U)
+#define VL53LMZ_TARGET_ORDER_STRONGEST ((uint8_t) 2U)
+
+/**
+ * @brief Macro VL53LMZ_RANGING_MODE_CONTINUOUS and
+ * VL53LMZ_RANGING_MODE_AUTONOMOUS are used to change the ranging mode.
+ * Autonomous mode can be used to set a precise integration time, whereas
+ * continuous is always maximum.
+ */
+
+#define VL53LMZ_RANGING_MODE_CONTINUOUS ((uint8_t) 1U)
+#define VL53LMZ_RANGING_MODE_AUTONOMOUS ((uint8_t) 3U)
+
+/**
+ * @brief The default power mode is VL53LMZ_POWER_MODE_WAKEUP. User can choose two
+ * different modes to save power consumption when is the device
+ * is not used:
+ * - VL53LMZ_POWER_MODE_SLEEP: This mode retains the firmware and the configuration. It
+ * is recommended when the device needs to quickly wake-up.
+ * - VL53LMZ_POWER_MODE_DEEP_SLEEP: This mode clears all memory, by consequence the firmware,
+ * the configuration and the calibration are lost. It is recommended when the device sleeps during
+ * a long time as it consumes a very low current consumption.
+ * Both modes can be changed using function vl53l8cx_set_power_mode().
+ */
+
+#define VL53LMZ_POWER_MODE_SLEEP ((uint8_t) 0U)
+#define VL53LMZ_POWER_MODE_WAKEUP ((uint8_t) 1U)
+#define VL53LMZ_POWER_MODE_DEEP_SLEEP ((uint8_t) 2U)
+
+/**
+ * @brief Macro VL53LMZ_STATUS_OK indicates that VL53L5 sensor has no error.
+ * Macro VL53LMZ_STATUS_ERROR indicates that something is wrong (value,
+ * I2C access, ...). Macro VL53LMZ_MCU_ERROR is used to indicate a MCU issue.
+ */
+
+#define VL53LMZ_STATUS_OK ((uint8_t) 0U)
+#define VL53LMZ_STATUS_TIMEOUT_ERROR ((uint8_t) 1U)
+#define VL53LMZ_STATUS_CORRUPTED_FRAME ((uint8_t) 2U)
+#define VL53LMZ_STATUS_LASER_SAFETY ((uint8_t) 3U)
+#define VL53LMZ_STATUS_UNKNOWN_DEVICE ((uint8_t) 4U)
+#define VL53LMZ_MCU_ERROR ((uint8_t) 66U)
+#define VL53LMZ_STATUS_INVALID_PARAM ((uint8_t) 127U)
+#define VL53LMZ_STATUS_FUNC_NOT_AVAILABLE ((uint8_t) 254U)
+#define VL53LMZ_STATUS_ERROR ((uint8_t) 255U)
+
+/**
+ * @brief Definitions for Range results block headers
+ */
+
+#define VL53L5_NULL_BH ((uint32_t)0x00000000U)
+
+#if VL53LMZ_NB_TARGET_PER_ZONE == 1
+
+#define VL53LMZ_NB_TARGET_DETECTED_BH ((uint32_t)0xDB840401U)
+#define VL53LMZ_SIGNAL_RATE_BH ((uint32_t)0xDBC40404U)
+#define VL53LMZ_RANGE_SIGMA_MM_BH ((uint32_t)0xDEC40402U)
+#define VL53LMZ_DISTANCE_BH ((uint32_t)0xDF440402U)
+#define VL53LMZ_REFLECTANCE_BH ((uint32_t)0xE0440401U)
+#define VL53LMZ_TARGET_STATUS_BH ((uint32_t)0xE0840401U)
+
+#define VL53LMZ_NB_TARGET_DETECTED_IDX ((uint16_t)0xDB84U)
+#define VL53LMZ_SIGNAL_RATE_IDX ((uint16_t)0xDBC4U)
+#define VL53LMZ_RANGE_SIGMA_MM_IDX ((uint16_t)0xDEC4U)
+#define VL53LMZ_DISTANCE_IDX ((uint16_t)0xDF44U)
+#define VL53LMZ_REFLECTANCE_EST_PC_IDX ((uint16_t)0xE044U)
+#define VL53LMZ_TARGET_STATUS_IDX ((uint16_t)0xE084U)
+
+#else
+#define VL53LMZ_NB_TARGET_DETECTED_BH ((uint32_t)0x57D00401U)
+#define VL53LMZ_SIGNAL_RATE_BH ((uint32_t)0x58900404U)
+#define VL53LMZ_RANGE_SIGMA_MM_BH ((uint32_t)0x64900402U)
+#define VL53LMZ_DISTANCE_BH ((uint32_t)0x66900402U)
+#define VL53LMZ_REFLECTANCE_BH ((uint32_t)0x6A900401U)
+#define VL53LMZ_TARGET_STATUS_BH ((uint32_t)0x6B900401U)
+
+#define VL53LMZ_NB_TARGET_DETECTED_IDX ((uint16_t)0x57D0U)
+#define VL53LMZ_SIGNAL_RATE_IDX ((uint16_t)0x5890U)
+#define VL53LMZ_RANGE_SIGMA_MM_IDX ((uint16_t)0x6490U)
+#define VL53LMZ_DISTANCE_IDX ((uint16_t)0x6690U)
+#define VL53LMZ_REFLECTANCE_EST_PC_IDX ((uint16_t)0x6A90U)
+#define VL53LMZ_TARGET_STATUS_IDX ((uint16_t)0x6B90U)
+#endif
+
+#define VL53LMZ_START_BH ((uint32_t)0x0000000DU)
+#define VL53LMZ_METADATA_BH ((uint32_t)0x54B400C0U)
+#define VL53LMZ_COMMONDATA_BH ((uint32_t)0x54C00040U)
+#define VL53LMZ_AMBIENT_RATE_BH ((uint32_t)0x54D00404U)
+#define VL53LMZ_SPAD_COUNT_BH ((uint32_t)0x55D00404U)
+#define VL53LMZ_MOTION_DETECT_BH ((uint32_t)0xD85808C0U)
+
+
+#define VL53LMZ_METADATA_IDX ((uint16_t)0x54B4U)
+#define VL53LMZ_COMMONDATA_IDX ((uint16_t)0x54C0U)
+#define VL53LMZ_AMBIENT_RATE_IDX ((uint16_t)0x54D0U)
+#define VL53LMZ_SPAD_COUNT_IDX ((uint16_t)0x55D0U)
+#define VL53LMZ_MOTION_DETEC_IDX ((uint16_t)0xD858U)
+#define VL53LMZ_RAD2PERP_SCALE_GRID_IDX ((uint16_t)0xA2A8U)
+
+#define VL53LMZ_MODULE_TYPE_IDX ((uint16_t)0xE0C5U)
+
+
+
+/**
+ * @brief Inner Macro for API. Not for user, only for development.
+ */
+
+#define VL53LMZ_NVM_DATA_SIZE ((uint16_t)492U)
+#define VL53LMZ_CONFIGURATION_SIZE ((uint16_t)972U)
+#define VL53LMZ_OFFSET_BUFFER_SIZE ((uint16_t)488U)
+#define VL53LMZ_XTALK_BUFFER_SIZE ((uint16_t)776U)
+
+#define VL53LMZ_DCI_ZONE_CONFIG ((uint16_t)0x5450U)
+#define VL53LMZ_DCI_FREQ_HZ ((uint16_t)0x5458U)
+#define VL53LMZ_DCI_INT_TIME ((uint16_t)0x545CU)
+#define VL53LMZ_DCI_FW_NB_TARGET ((uint16_t)0x5478U)
+#define VL53LMZ_DCI_RANGING_MODE ((uint16_t)0xAD30U)
+#define VL53LMZ_DCI_DSS_CONFIG ((uint16_t)0xAD38U)
+#define VL53LMZ_DCI_TARGET_ORDER ((uint16_t)0xAE64U)
+#define VL53LMZ_DCI_SHARPENER ((uint16_t)0xAED8U)
+#define VL53LMZ_DCI_INTERNAL_CP ((uint16_t)0xB39CU)
+#define VL53LMZ_DCI_SYNC_PIN ((uint16_t)0xB5F0U)
+#define VL53LMZ_DCI_MOTION_DETECTOR_CFG ((uint16_t)0xBFACU)
+#define VL53LMZ_DCI_SINGLE_RANGE ((uint16_t)0xD964U)
+#define VL53LMZ_DCI_OUTPUT_CONFIG ((uint16_t)0xD968U)
+#define VL53LMZ_DCI_OUTPUT_ENABLES ((uint16_t)0xD970U)
+#define VL53LMZ_DCI_OUTPUT_LIST ((uint16_t)0xD980U)
+#define VL53LMZ_DCI_PIPE_CONTROL ((uint16_t)0xDB80U)
+#define VL53LMZ_DCI_GLARE_FILTER_CFG ((uint16_t)0xE108U)
+
+#define VL53LMZ_UI_CMD_STATUS ((uint16_t)0x2C00U)
+#define VL53LMZ_UI_CMD_START ((uint16_t)0x2C04U)
+#define VL53LMZ_UI_CMD_END ((uint16_t)0x2FFFU)
+
+
+/**
+ * @brief Custom block header configuration.
+ * limited to 32 so that only the first word of of the output_enables needs
+ * to be updated.
+ */
+
+#define NUM_OUTPUT_ENABLE_WORDS 4U
+#define NUM_OUTPUT_CONFIG_WORDS 32U
+
+/**
+ * @brief Inner values for API. Max buffer size depends of the selected output.
+ */
+
+#ifndef VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+#define LMZ_AMB_SIZE 260U
+#else
+#define LMZ_AMB_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_NB_SPADS_ENABLED
+#define LMZ_SPAD_SIZE 260U
+#else
+#define LMZ_SPAD_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_NB_TARGET_DETECTED
+#define LMZ_NTAR_SIZE 68U
+#else
+#define LMZ_NTAR_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+#define LMZ_SPS_SIZE ((256U * VL53LMZ_NB_TARGET_PER_ZONE) + 4U)
+#else
+#define LMZ_SPS_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_RANGE_SIGMA_MM
+#define LMZ_SIGR_SIZE ((128U * VL53LMZ_NB_TARGET_PER_ZONE) + 4U)
+#else
+#define LMZ_SIGR_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_DISTANCE_MM
+#define LMZ_DIST_SIZE ((128U * VL53LMZ_NB_TARGET_PER_ZONE) + 4U)
+#else
+#define LMZ_DIST_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+#define LMZ_RFLEST_SIZE ((64U * VL53LMZ_NB_TARGET_PER_ZONE) + 4U)
+#else
+#define LMZ_RFLEST_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_TARGET_STATUS
+#define LMZ_STA_SIZE ((64U * VL53LMZ_NB_TARGET_PER_ZONE) + 4U)
+#else
+#define LMZ_STA_SIZE 0U
+#endif
+
+#ifndef VL53LMZ_DISABLE_MOTION_INDICATOR
+#define LMZ_MOT_SIZE 144U
+#else
+#define LMZ_MOT_SIZE 0U
+#endif
+
+/* maximum size of (CNH_DATA + MI_OP_DEV) */
+#define VL53LMZ_ADDITIONAL_RESULTS_DATA (6160U+268U)
+
+
+/**
+ * @brief Macro VL53LMZ_MAX_RESULTS_SIZE indicates the maximum size used by
+ * output through I2C. Value 40 corresponds to headers + meta-data + common-data
+ * and 20 corresponds to the footer.
+ */
+
+#define VL53LMZ_MAX_RESULTS_SIZE ( 40U \
+ + LMZ_AMB_SIZE + LMZ_SPAD_SIZE + LMZ_NTAR_SIZE + LMZ_SPS_SIZE \
+ + LMZ_SIGR_SIZE + LMZ_DIST_SIZE + LMZ_RFLEST_SIZE + LMZ_STA_SIZE \
+ + LMZ_MOT_SIZE + 20U + VL53LMZ_ADDITIONAL_RESULTS_DATA )
+
+
+/**
+ * @brief Macro VL53LMZ_TEMPORARY_BUFFER_SIZE can be used to know the size of
+ * the temporary buffer. The minimum size is 1024, and the maximum depends of
+ * the output configuration.
+ */
+
+#if VL53LMZ_MAX_RESULTS_SIZE < 1024U
+#define VL53LMZ_TEMPORARY_BUFFER_SIZE ((uint32_t) 1024U)
+#else
+#define VL53LMZ_TEMPORARY_BUFFER_SIZE ((uint32_t) VL53LMZ_MAX_RESULTS_SIZE)
+#endif
+
+
+/**
+ * @brief Structure VL53LMZ_Configuration contains the sensor configuration.
+ * User MUST not manually change these field, except for the sensor address.
+ */
+
+typedef struct
+{
+ /* Platform, filled by customer into the 'platform.h' file */
+ VL53LMZ_Platform platform;
+ /* Results streamcount, value auto-incremented at each range */
+ uint8_t streamcount;
+ /* Size of data read though I2C */
+ uint32_t data_read_size;
+ /* Address of default configuration buffer */
+ uint8_t *default_configuration;
+ /* Address of default Xtalk buffer */
+ uint8_t *default_xtalk;
+ /* Offset buffer */
+ uint8_t offset_data[VL53LMZ_OFFSET_BUFFER_SIZE];
+ /* Xtalk buffer */
+ uint8_t xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE];
+ /* Temporary buffer used for internal driver processing */
+ uint8_t temp_buffer[VL53LMZ_TEMPORARY_BUFFER_SIZE];
+ /* Auto-stop flag for stopping the sensor */
+ uint8_t is_auto_stop_enabled;
+ /* Device and revision information read back from sensor */
+ uint8_t device_id, revision_id;
+ /* Module type read back from sensor */
+ uint8_t module_type;
+} VL53LMZ_Configuration;
+
+
+/**
+ * @brief Structure VL53LMZ_ResultsData contains the ranging results of
+ * VL53LMZ. If user wants more than 1 target per zone, the results can be split
+ * into 2 sub-groups :
+ * - Per zone results. These results are common to all targets (ambient_per_spad
+ * , nb_target_detected and nb_spads_enabled).
+ * - Per target results : These results are different relative to the detected
+ * target (signal_per_spad, range_sigma_mm, distance_mm, reflectance,
+ * target_status).
+ */
+
+typedef struct
+{
+ /* Internal sensor silicon temperature */
+ int8_t silicon_temp_degc;
+
+ /* Ambient noise in kcps/spads */
+#ifndef VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+ uint32_t ambient_per_spad[VL53LMZ_RESOLUTION_8X8];
+#endif
+
+ /* Number of valid target detected for 1 zone */
+#ifndef VL53LMZ_DISABLE_NB_TARGET_DETECTED
+ uint8_t nb_target_detected[VL53LMZ_RESOLUTION_8X8];
+#endif
+
+ /* Number of spads enabled for this ranging */
+#ifndef VL53LMZ_DISABLE_NB_SPADS_ENABLED
+ uint32_t nb_spads_enabled[VL53LMZ_RESOLUTION_8X8];
+#endif
+
+ /* Signal returned to the sensor in kcps/spads */
+#ifndef VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+ uint32_t signal_per_spad[(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE)];
+#endif
+
+ /* Sigma of the current distance in mm */
+#ifndef VL53LMZ_DISABLE_RANGE_SIGMA_MM
+ uint16_t range_sigma_mm[(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE)];
+#endif
+
+ /* Measured distance in mm */
+#ifndef VL53LMZ_DISABLE_DISTANCE_MM
+ int16_t distance_mm[(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE)];
+#endif
+
+ /* Estimated reflectance in percent */
+#ifndef VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+ uint8_t reflectance[(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE)];
+#endif
+
+ /* Status indicating the measurement validity (5 & 9 means ranging OK)*/
+#ifndef VL53LMZ_DISABLE_TARGET_STATUS
+ uint8_t target_status[(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE)];
+#endif
+
+ /* Motion detector results */
+#ifndef VL53LMZ_DISABLE_MOTION_INDICATOR
+ struct
+ {
+ uint32_t global_indicator_1;
+ uint32_t global_indicator_2;
+ uint8_t status;
+ uint8_t nb_of_detected_aggregates;
+ uint8_t nb_of_aggregates;
+ uint8_t spare;
+ uint32_t motion[32];
+ } motion_indicator;
+#endif
+
+} VL53LMZ_ResultsData;
+
+
+union Block_header {
+ uint32_t bytes;
+ struct {
+ uint32_t type : 4;
+ uint32_t size : 12;
+ uint32_t idx : 16;
+ };
+};
+
+
+
+uint8_t vl53lmz_is_alive(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_is_alive);
+
+/**
+ * @brief Mandatory function used to initialize the sensor. This function must
+ * be called after a power on, to load the firmware into the VL53LMZ. It takes
+ * a few hundred milliseconds.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @return (uint8_t) status : 0 if initialization is OK.
+ */
+uint8_t vl53lmz_init(
+ VL53LMZ_Configuration *p_dev);
+
+/**
+ * @brief This function is used to change the I2C address of the sensor. If
+ * multiple VL53L5 sensors are connected to the same I2C line, all other LPn
+ * pins needs to be set to Low. The default sensor address is 0x52.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint16_t) i2c_address : New I2C address.
+ * @return (uint8_t) status : 0 if new address is OK
+ */
+uint8_t vl53lmz_set_i2c_address(
+ VL53LMZ_Configuration *p_dev,
+ uint16_t i2c_address);
+
+/**
+ * @brief This function is used to get the current sensor power mode.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_power_mode : Current power mode. The value of this
+ * pointer is equal to 0 if the sensor is in low power,
+ * (VL53LMZ_POWER_MODE_SLEEP), 1 if sensor is in standard mode
+ * (VL53LMZ_POWER_MODE_WAKEUP), or 2 if the sensor is in ultra low power
+ * mode (VL53LMZ_POWER_MODE_DEEP_SLEEP).
+ * @return (uint8_t) status : 0 if power mode is OK
+ */
+uint8_t vl53lmz_get_power_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_power_mode);
+
+/**
+ * @brief This function is used to set the sensor in Low Power mode, for
+ * example if the sensor is not used during a long time. The macro
+ * VL53LMZ_POWER_MODE_SLEEP can be used to enable the low power mode. When user
+ * want to restart the sensor, he can use macro VL53LMZ_POWER_MODE_WAKEUP.
+ * Please ensure that the device is not streaming before calling the function.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) power_mode : Selected power mode (VL53LMZ_POWER_MODE_SLEEP
+ * or VL53LMZ_POWER_MODE_WAKEUP or VL53LMZ_POWER_MODE_DEEP_SLEEP)
+ * @return (uint8_t) status : 0 if power mode is OK, or 127 if power mode
+ * requested by user is not valid.
+ */
+uint8_t vl53lmz_set_power_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t power_mode);
+
+/**
+ * @brief This function starts a ranging session. When the sensor streams, host
+ * cannot change settings 'on-the-fly'.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @return (uint8_t) status : 0 if start is OK.
+ */
+uint8_t vl53lmz_start_ranging(
+ VL53LMZ_Configuration *p_dev);
+
+/**
+ * @brief This function stops the ranging session. It must be used when the
+ * sensor streams, after calling vl53lmz_start_ranging().
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @return (uint8_t) status : 0 if stop is OK
+ */
+uint8_t vl53lmz_stop_ranging(
+ VL53LMZ_Configuration *p_dev);
+
+/**
+ * @brief This function checks if a new data is ready by polling I2C. If a new
+ * data is ready, a flag will be raised.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_isReady : Value of this pointer be updated to 0 if data
+ * is not ready, or 1 if a new data is ready.
+ * @return (uint8_t) status : 0 if I2C reading is OK
+ */
+uint8_t vl53lmz_check_data_ready(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_isReady);
+
+/**
+ * @brief This function gets the ranging data, using the selected output and the
+ * resolution.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (VL53LMZ_ResultsData) *p_results : VL53L5 results structure.
+ * @return (uint8_t) status : 0 data are successfully get.
+ */
+uint8_t vl53lmz_get_ranging_data(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_ResultsData *p_results);
+
+/**
+ * @brief This function gets the current resolution (4x4 or 8x8).
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_resolution : Value of this pointer will be equal to 16
+ * for 4x4 mode, and 64 for 8x8 mode.
+ * @return (uint8_t) status : 0 if resolution is OK.
+ */
+uint8_t vl53lmz_get_resolution(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_resolution);
+
+/**
+ * @brief This function sets a new resolution (4x4 or 8x8).
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) resolution : Use macro VL53LMZ_RESOLUTION_4X4 or
+ * VL53LMZ_RESOLUTION_8X8 to set the resolution.
+ * @return (uint8_t) status : 0 if set resolution is OK.
+ */
+uint8_t vl53lmz_set_resolution(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t resolution);
+
+/**
+ * @brief This function gets the current ranging frequency in Hz. Ranging
+ * frequency corresponds to the time between each measurement.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_frequency_hz: Contains the ranging frequency in Hz.
+ * @return (uint8_t) status : 0 if ranging frequency is OK.
+ */
+uint8_t vl53lmz_get_ranging_frequency_hz(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_frequency_hz);
+
+/**
+ * @brief This function sets a new ranging frequency in Hz. Ranging frequency
+ * corresponds to the measurements frequency. This setting depends of
+ * the resolution, so please select your resolution before using this function.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) frequency_hz : Contains the ranging frequency in Hz.
+ * - For 4x4, min and max allowed values are : [1;60]
+ * - For 8x8, min and max allowed values are : [1;15]
+ * @return (uint8_t) status : 0 if ranging frequency is OK, or 127 if the value
+ * is not correct.
+ */
+uint8_t vl53lmz_set_ranging_frequency_hz(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t frequency_hz);
+
+/**
+ * @brief This function gets the current integration time in ms.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) *p_time_ms: Contains integration time in ms.
+ * @return (uint8_t) status : 0 if integration time is OK.
+ */
+uint8_t vl53lmz_get_integration_time_ms(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t *p_time_ms);
+
+/**
+ * @brief This function sets a new integration time in ms. Integration time must
+ * be computed to be lower than the ranging period, for a selected resolution.
+ * Please note that this function has no impact on ranging mode continous.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) time_ms : Contains the integration time in ms. For all
+ * resolutions and frequency, the minimum value is 2ms, and the maximum is
+ * 1000ms.
+ * @return (uint8_t) status : 0 if set integration time is OK.
+ */
+uint8_t vl53lmz_set_integration_time_ms(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t integration_time_ms);
+
+/**
+ * @brief This function gets the current sharpener in percent. Sharpener can be
+ * changed to blur more or less zones depending of the application.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) *p_sharpener_percent: Contains the sharpener in percent.
+ * @return (uint8_t) status : 0 if get sharpener is OK.
+ */
+uint8_t vl53lmz_get_sharpener_percent(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_sharpener_percent);
+
+/**
+ * @brief This function sets a new sharpener value in percent. Sharpener can be
+ * changed to blur more or less zones depending of the application. Min value is
+ * 0 (disabled), and max is 99.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) sharpener_percent : Value between 0 (disabled) and 99%.
+ * @return (uint8_t) status : 0 if set sharpener is OK.
+ */
+uint8_t vl53lmz_set_sharpener_percent(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t sharpener_percent);
+
+/**
+ * @brief This function gets the current target order (closest or strongest).
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_target_order: Contains the target order.
+ * @return (uint8_t) status : 0 if get target order is OK.
+ */
+uint8_t vl53lmz_get_target_order(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_target_order);
+
+/**
+ * @brief This function sets a new target order. Please use macros
+ * VL53LMZ_TARGET_ORDER_STRONGEST and VL53LMZ_TARGET_ORDER_CLOSEST to define
+ * the new output order. By default, the sensor is configured with the strongest
+ * output.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) target_order : Required target order.
+ * @return (uint8_t) status : 0 if set target order is OK, or 127 if target
+ * order is unknown.
+ */
+uint8_t vl53lmz_set_target_order(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t target_order);
+
+/**
+ * @brief This function is used to get the ranging mode. Two modes are
+ * available using ULD : Continuous and autonomous. The default
+ * mode is Autonomous.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_ranging_mode : current ranging mode
+ * @return (uint8_t) status : 0 if get ranging mode is OK.
+ */
+uint8_t vl53lmz_get_ranging_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_ranging_mode);
+
+/**
+ * @brief This function is used to set the ranging mode. Two modes are
+ * available using ULD : Continuous and autonomous. The default
+ * mode is Autonomous.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) ranging_mode : Use macros VL53LMZ_RANGING_MODE_CONTINUOUS,
+ * VL53LMZ_RANGING_MODE_CONTINUOUS.
+ * @return (uint8_t) status : 0 if set ranging mode is OK.
+ */
+uint8_t vl53lmz_set_ranging_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t ranging_mode);
+
+/**
+ * @brief This function is used to disable the VCSEL charge pump
+ * This optimizes the power consumption of the device
+ * To be used only if AVDD = 3.3V
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ */
+uint8_t vl53lmz_enable_internal_cp(
+ VL53LMZ_Configuration *p_dev);
+
+/**
+ * @brief This function is used to disable the VCSEL charge pump
+ * This optimizes the power consumption of the device
+ * To be used only if AVDD = 3.3V
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ */
+uint8_t vl53lmz_disable_internal_cp(
+ VL53LMZ_Configuration *p_dev);
+
+/**
+ * @brief This function is used to check if the synchronization pin is enabled
+ * or disabled. When it is enabled, the sensor waits an interrupt on B1 pin
+ * to start the next measurement. It is useful for multi-devices
+ * synchronization. By default the sync pin is disabled.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t*) p_is_sync_pin_enabled : Pointer of sync pin status. Value
+ * overridden to 0 if the pin is disabled, or 1 if the pin is enabled.
+ * @return (uint8_t) status : 0 if get sync pin OK.
+ */
+uint8_t vl53lmz_get_external_sync_pin_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_is_sync_pin_enabled);
+
+
+/**
+ * @brief This function is used to enable or disable the synchronization pin. When
+ * it is enabled, the sensor waits an interrupt on B1 pin to start the next
+ * measurement. It is useful for multi-devices synchronization. By default the sync
+ * pin is disabled.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) enable_sync_pin : Ste the value to 1 to enable the sync
+ * pin, or 0 to disable it.
+ * @return (uint8_t) status : 0 if set sync pin OK.
+ */
+uint8_t vl53lmz_set_external_sync_pin_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t enable_sync_pin);
+
+/**
+ * @brief This function gets the current Glare Filter config.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *p_threshold_x10: Pointer to variable to place threshold_x10 value.
+ * @param (int16_t) *p_max_range: Pointer to variable to place max_range value.
+ * @return (uint8_t) status : 0 if settings where applied successfully.
+ */
+uint8_t vl53lmz_get_glare_filter_cfg(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_threshold_pc_x10,
+ int16_t *p_max_range );
+
+/**
+ * @brief This function sets the current Glare Filter config.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) threshold_x10: GlareFilter threshold value. Percentage scaled by a factor of 10, i.e. to set a threshold of 2.5% set a value of 25. Setting to zero completely disables the GlareFilter.
+ * @param (int16_t) max_range: Maximum range for GlareFilter to operate. Valid range of values is 10mm to 1000mm.
+ * @return (uint8_t) status : 0 if settings where applied successfully.
+ */
+uint8_t vl53lmz_set_glare_filter_cfg(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t threshold_pc_x10,
+ int16_t max_range );
+
+
+/**
+ * @brief This function can be used to read 'extra data' from DCI. Using a known
+ * index, the function fills the casted structure passed in argument.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *data : This field can be a casted structure, or a simple
+ * array. Please note that the FW only accept data of 32 bits. So field data can
+ * only have a size of 32, 64, 96, 128, bits ....
+ * @param (uint32_t) index : Index of required value.
+ * @param (uint16_t)*data_size : This field must be the structure or array size
+ * (using sizeof() function).
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_dci_read_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size);
+
+/**
+ * @brief This function can be used to write 'extra data' to DCI. The data can
+ * be simple data, or casted structure.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *data : This field can be a casted structure, or a simple
+ * array. Please note that the FW only accept data of 32 bits. So field data can
+ * only have a size of 32, 64, 96, 128, bits ..
+ * @param (uint32_t) index : Index of required value.
+ * @param (uint16_t)*data_size : This field must be the structure or array size
+ * (using sizeof() function).
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_dci_write_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size);
+
+/**
+ * @brief This function can be used to replace 'extra data' in DCI. The data can
+ * be simple data, or casted structure.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint8_t) *data : This field can be a casted structure, or a simple
+ * array. Please note that the FW only accept data of 32 bits. So field data can
+ * only have a size of 32, 64, 96, 128, bits ..
+ * @param (uint32_t) index : Index of required value.
+ * @param (uint16_t)*data_size : This field must be the structure or array size
+ * (using sizeof() function).
+ * @param (uint8_t) *new_data : Contains the new fields.
+ * @param (uint16_t) new_data_size : New data size.
+ * @param (uint16_t) new_data_pos : New data position into the buffer.
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_dci_replace_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size,
+ uint8_t *new_data,
+ uint16_t new_data_size,
+ uint16_t new_data_pos);
+
+
+/**
+ * @brief This function creates the output configuration that will be sent to
+ * the device by the vl53lmz_send_output_config_and_start() functions.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_create_output_config(
+ VL53LMZ_Configuration *p_dev );
+
+
+/**
+ * @brief This function sends the output configuration previously created by
+ * vl53lmz_create_output_config() to the device. It then commands the device
+ * to start streaming data.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_send_output_config_and_start(
+ VL53LMZ_Configuration *p_dev );
+
+
+/**
+ * @brief This function adds the specified block header to the end of the
+ * g_output_config list. It also enables this output in the g_output_bh_enable
+ * structure.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) block_header : Block Header to add to output_config list.
+ * * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_add_output_block(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t block_header );
+
+
+/**
+ * @brief This function disables the specified block output in the
+ * g_output_bh_enable structure. If the block is not in the g_output_config list
+ * ,or, not enabled then it will do nothing (and return success).
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) block_header : Block Header to disable output_config list.
+ * * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_disable_output_block(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t block_header );
+
+
+/**
+ * @brief This function extracts the specified data block from a Results
+ * packet of data.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53LMZ configuration structure.
+ * @param (uint32_t) blk_index : Index of required block..
+ * @param (uint8_t) *p_data : Pointer to the destination area to place the data.
+ * @param (uint16_t)*data_size : This field must be the structure or array size
+ * (using sizeof() function).
+ * @return (uint8_t) status : 0 if OK
+ */
+uint8_t vl53lmz_results_extract_block(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t blk_index,
+ uint8_t *p_data,
+ uint16_t data_size );
+
+
+#endif //VL53LMZ_API_H_
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_buffers.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_buffers.h
new file mode 100644
index 0000000..79642f2
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_buffers.h
@@ -0,0 +1,22266 @@
+
+/*
+ ******************************************************************************
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+*/
+
+
+#ifndef VL53LMZ_BUFFERS_H_
+#define VL53LMZ_BUFFERS_H_
+
+#include "platform.h"
+
+/**
+ * @brief Inner internal number of targets.
+ */
+
+#if VL53LMZ_NB_TARGET_PER_ZONE == 1
+#define VL53LMZ_FW_NBTAR_RANGING 2
+#else
+#define VL53LMZ_FW_NBTAR_RANGING VL53LMZ_NB_TARGET_PER_ZONE
+#endif
+
+/**
+ * @brief This buffer contains the VL53LMZ firmware (MM1.7)
+ */
+
+const uint8_t VL53LMZ_FIRMWARE[] = {
+
+ 0xe0, 0x00, 0x03, 0x08,
+ 0xe0, 0x00, 0x0a, 0xc8,
+ 0xe0, 0x00, 0x05, 0x08,
+ 0xe0, 0x64, 0x08, 0x68,
+ 0xe0, 0x00, 0x0a, 0x88,
+ 0xe0, 0x00, 0x0a, 0x88,
+ 0xe0, 0x00, 0x0a, 0x88,
+ 0xe0, 0x00, 0x0a, 0x88,
+ 0xe0, 0x64, 0x2e, 0x48,
+ 0xe0, 0x64, 0x32, 0x08,
+ 0xe0, 0x64, 0x35, 0x68,
+ 0xe0, 0x64, 0x3b, 0xa8,
+ 0xe0, 0x68, 0x04, 0x88,
+ 0xe0, 0x68, 0x17, 0x88,
+ 0xe0, 0x68, 0x1b, 0x68,
+ 0xe0, 0x68, 0x1e, 0xe8,
+ 0xe0, 0x68, 0x25, 0x48,
+ 0xe0, 0x68, 0x28, 0x68,
+ 0xe0, 0x00, 0x09, 0xe8,
+ 0xe0, 0x00, 0x09, 0xc8,
+ 0xe0, 0x00, 0x09, 0xa8,
+ 0xe0, 0x00, 0x09, 0x88,
+ 0xe0, 0x00, 0x09, 0x68,
+ 0xe0, 0x00, 0x09, 0x48,
+ 0xf8, 0x02, 0x00, 0x06,
+ 0xc1, 0xc3, 0x81, 0x01,
+ 0x1e, 0x06, 0xa1, 0x0b,
+ 0x1a, 0x06, 0x81, 0x00,
+ 0x99, 0x23, 0xe1, 0x00,
+ 0x97, 0xb3, 0x97, 0xe3,
+ 0x06, 0x2c, 0x97, 0x73,
+ 0x06, 0x34, 0xe2, 0xc0,
+ 0x06, 0x2c, 0xfc, 0x80,
+ 0xc1, 0x83, 0xe3, 0x40,
+ 0xe2, 0xc0, 0x06, 0x1c,
+ 0xfc, 0x98, 0x06, 0x34,
+ 0xfc, 0x9c, 0x06, 0x34,
+ 0xe3, 0x40, 0x06, 0x1c,
+ 0x69, 0x38, 0xc1, 0x83,
+ 0xc1, 0x43, 0xe8, 0x00,
+ 0xc1, 0xc3, 0x81, 0x05,
+ 0xe1, 0x00, 0x00, 0x0c,
+ 0xfa, 0x04, 0x5e, 0x65,
+ 0xec, 0x10, 0x0c, 0xf0,
+ 0xf4, 0x1c, 0x5e, 0x60,
+ 0xbc, 0x6e, 0x88, 0x61,
+ 0xff, 0x84, 0x07, 0xfc,
+ 0x9a, 0x14, 0xd8, 0x04,
+ 0xe4, 0x30, 0x04, 0x60,
+ 0xfc, 0x12, 0x4c, 0x06,
+ 0xe0, 0xd0, 0x4c, 0x4a,
+ 0xc1, 0xc3, 0x82, 0x15,
+ 0xc1, 0xc3, 0xc1, 0xc3,
+ 0xf8, 0x04, 0x17, 0x0c,
+ 0x81, 0x93, 0x81, 0x83,
+ 0xe2, 0xc0, 0x0c, 0x2c,
+ 0x1c, 0x8c, 0xd1, 0x67,
+ 0xe3, 0x6b, 0xe4, 0x04,
+ 0xe5, 0x6b, 0x8e, 0x05,
+ 0x80, 0x64, 0x03, 0xa8,
+ 0x04, 0xf8, 0xe7, 0x6b,
+ 0xe9, 0x6b, 0x80, 0x64,
+ 0xeb, 0x6b, 0x8a, 0xc5,
+ 0x80, 0x64, 0x06, 0x28,
+ 0x0a, 0x78, 0xed, 0x6b,
+ 0xf1, 0x6b, 0x80, 0x64,
+ 0x80, 0x64, 0x07, 0x48,
+ 0x08, 0x98, 0xf3, 0x6b,
+ 0xf5, 0x6b, 0x80, 0x64,
+ 0xf7, 0x6b, 0x8a, 0xc5,
+ 0xf9, 0x6b, 0x8c, 0x05,
+ 0xfb, 0x6b, 0x8c, 0x45,
+ 0x0c, 0x0a, 0x8a, 0x45,
+ 0x8a, 0x65, 0xe4, 0xb4,
+ 0xe4, 0xb8, 0x0c, 0x0a,
+ 0x0a, 0x98, 0x84, 0x45,
+ 0x40, 0x06, 0xe0, 0x64,
+ 0x40, 0x4a, 0xfc, 0x12,
+ 0x80, 0xd5, 0xe0, 0xd0,
+ 0xc1, 0xc3, 0xc1, 0xc3,
+ 0x1f, 0x0c, 0xc1, 0xc3,
+ 0x0f, 0xfc, 0xf0, 0x04,
+ 0xbc, 0xf4, 0xf7, 0x84,
+ 0xc1, 0x53, 0xfd, 0x64,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xe0, 0x80, 0x00, 0x0c,
+ 0xc1, 0xc3, 0xc1, 0x43,
+ 0xc1, 0xc3, 0xc1, 0x53,
+ 0xfa, 0xfc, 0x04, 0x0c,
+ 0x60, 0x00, 0x06, 0xda,
+ 0x0a, 0x20, 0xa1, 0x0b,
+ 0x18, 0x30, 0x64, 0x00,
+ 0x0e, 0x24, 0xe4, 0x00,
+ 0x02, 0x0a, 0x37, 0x80,
+ 0x0c, 0x06, 0x80, 0x00,
+ 0x08, 0x34, 0x20, 0x00,
+ 0x0a, 0x70, 0xb7, 0x80,
+ 0x58, 0x42, 0xa4, 0x04,
+ 0x81, 0x61, 0x32, 0x98,
+ 0x21, 0x2b, 0xaa, 0x45,
+ 0x06, 0x0a, 0x8c, 0xbb,
+ 0x0c, 0x10, 0x00, 0x00,
+ 0x04, 0x00, 0xe4, 0x00,
+ 0x18, 0x1a, 0x64, 0x00,
+ 0xa8, 0x25, 0xe0, 0x00,
+ 0x08, 0x04, 0xa1, 0x1d,
+ 0x0e, 0x14, 0x57, 0x80,
+ 0x10, 0x06, 0xd7, 0x80,
+ 0x04, 0x40, 0x40, 0x00,
+ 0x08, 0x54, 0xc4, 0x04,
+ 0x4c, 0x72, 0x76, 0x80,
+ 0x10, 0xc4, 0xd2, 0xa0,
+ 0x14, 0x40, 0x76, 0x80,
+ 0x0e, 0x64, 0xa4, 0x80,
+ 0x12, 0x24, 0xf6, 0x80,
+ 0xa1, 0x6b, 0x76, 0x80,
+ 0x3c, 0x01, 0x54, 0x80,
+ 0x8c, 0x8b, 0x40, 0x00,
+ 0x04, 0x80, 0x08, 0x90,
+ 0xdc, 0x00, 0x48, 0x70,
+ 0x84, 0x9b, 0x28, 0xa3,
+ 0xec, 0x04, 0x0e, 0xa0,
+ 0x9e, 0xe5, 0xa0, 0x7d,
+ 0x96, 0x4b, 0x21, 0x7b,
+ 0x0e, 0x8a, 0x86, 0x45,
+ 0x0e, 0x9a, 0xe5, 0x00,
+ 0x00, 0x06, 0x44, 0x80,
+ 0x16, 0xa0, 0x80, 0x00,
+ 0x08, 0x54, 0x2c, 0x84,
+ 0xc0, 0x00, 0x28, 0x9c,
+ 0x20, 0x01, 0x0e, 0x4a,
+ 0x00, 0x54, 0x40, 0x00,
+ 0x00, 0xc4, 0xa8, 0xac,
+ 0xc0, 0x00, 0x28, 0x9d,
+ 0x0f, 0x9c, 0x14, 0x54,
+ 0x40, 0x02, 0x88, 0x5b,
+ 0x80, 0xcb, 0x99, 0xa8,
+ 0x61, 0x84, 0x00, 0x84,
+ 0xe1, 0x84, 0x08, 0x94,
+ 0x12, 0x84, 0x01, 0xcb,
+ 0x32, 0x4f, 0xe0, 0xfc,
+ 0xe4, 0x04, 0x1c, 0x70,
+ 0x4b, 0x0a, 0x01, 0xa1,
+ 0x58, 0xda, 0x84, 0x10,
+ 0x94, 0xbb, 0x64, 0x00,
+ 0x6d, 0x84, 0x40, 0x1a,
+ 0x1c, 0x70, 0xc6, 0x1f,
+ 0x00, 0xc4, 0x24, 0x08,
+ 0x0e, 0x54, 0xa0, 0x84,
+ 0x08, 0x54, 0x21, 0xfc,
+ 0x40, 0x02, 0xa0, 0x84,
+ 0xa1, 0xeb, 0x39, 0x9c,
+ 0x3c, 0x00, 0x58, 0x00,
+ 0xbc, 0x00, 0x4a, 0x40,
+ 0x1d, 0x5a, 0x08, 0xc5,
+ 0x0e, 0xe0, 0xe0, 0x04,
+ 0x0d, 0xcb, 0xec, 0x04,
+ 0xe1, 0xfc, 0x00, 0xa4,
+ 0x4b, 0x0a, 0x42, 0xb7,
+ 0x58, 0xfa, 0x84, 0x08,
+ 0x08, 0xc4, 0x64, 0x18,
+ 0x10, 0xa4, 0xe0, 0xfc,
+ 0x40, 0x0a, 0x60, 0x84,
+ 0x20, 0xbf, 0xed, 0x8c,
+ 0x00, 0x54, 0x90, 0xab,
+ 0x14, 0x84, 0x61, 0x84,
+ 0x28, 0x0f, 0x9c, 0x80,
+ 0x91, 0x94, 0x48, 0x22,
+ 0x13, 0xb0, 0x4a, 0x62,
+ 0x4c, 0x50, 0xc3, 0xc7,
+ 0x80, 0x5b, 0x1c, 0x00,
+ 0x27, 0xf0, 0x4e, 0xd8,
+ 0x9c, 0x00, 0x44, 0x40,
+ 0x96, 0x0b, 0x21, 0x1d,
+ 0x57, 0x80, 0x04, 0xa4,
+ 0xd7, 0x80, 0x02, 0xb4,
+ 0x40, 0x00, 0x06, 0x06,
+ 0xc4, 0x04, 0x04, 0x20,
+ 0x52, 0x8c, 0x42, 0x12,
+ 0x40, 0x10, 0x94, 0x6b,
+ 0x4c, 0x20, 0x5c, 0x00,
+ 0x80, 0x1b, 0xdc, 0x00,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0xdd, 0x93, 0xf2, 0xfc,
+ 0x8c, 0x1b, 0x7f, 0xc5,
+ 0x80, 0x6b, 0x7f, 0xa5,
+ 0x96, 0x7b, 0x73, 0xe5,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x81, 0xc1, 0x21, 0x0b,
+ 0x00, 0x00, 0x02, 0x0a,
+ 0xa0, 0x85, 0x98, 0x6b,
+ 0x76, 0x80, 0x0a, 0x14,
+ 0x08, 0x24, 0xa1, 0x2b,
+ 0x06, 0x0a, 0x76, 0x80,
+ 0x0c, 0x04, 0x80, 0x00,
+ 0x98, 0x8b, 0x76, 0x80,
+ 0x06, 0x1a, 0x1e, 0xc5,
+ 0x18, 0x34, 0xe0, 0x00,
+ 0xa1, 0x1b, 0x76, 0x80,
+ 0xa4, 0x80, 0x0e, 0x40,
+ 0x3c, 0x01, 0x4e, 0xc0,
+ 0x08, 0x60, 0xc0, 0x00,
+ 0x48, 0x50, 0x04, 0x80,
+ 0xa8, 0x73, 0xdc, 0x00,
+ 0xec, 0x04, 0x0a, 0x70,
+ 0x9a, 0xc5, 0xa0, 0x5d,
+ 0x90, 0xcb, 0x21, 0x5b,
+ 0x0a, 0x8a, 0x86, 0x45,
+ 0x0a, 0x9a, 0xe5, 0x00,
+ 0x08, 0x06, 0x44, 0x80,
+ 0x10, 0x70, 0x80, 0x00,
+ 0x0a, 0x4a, 0x2c, 0x84,
+ 0xc0, 0x00, 0x20, 0x00,
+ 0x28, 0x95, 0x08, 0x34,
+ 0x0c, 0x24, 0x40, 0x00,
+ 0x08, 0x24, 0x8f, 0x94,
+ 0x18, 0x24, 0x28, 0xa0,
+ 0xc0, 0x00, 0x28, 0x94,
+ 0x19, 0x98, 0x48, 0x42,
+ 0x88, 0x3b, 0x98, 0x2b,
+ 0x61, 0x84, 0x08, 0x14,
+ 0xe0, 0xfc, 0x0c, 0x14,
+ 0x61, 0x84, 0x18, 0x04,
+ 0x2c, 0xcf, 0x89, 0x3b,
+ 0xe4, 0x10, 0x46, 0xda,
+ 0x04, 0x30, 0x45, 0x0a,
+ 0xe4, 0x04, 0x12, 0x50,
+ 0x6d, 0x84, 0x40, 0x1a,
+ 0x12, 0x50, 0x81, 0xc1,
+ 0x0c, 0x24, 0x24, 0x08,
+ 0x08, 0x34, 0xa1, 0xfc,
+ 0x0a, 0x24, 0x20, 0x84,
+ 0x48, 0x42, 0xa0, 0x84,
+ 0xa1, 0x9b, 0x39, 0x98,
+ 0x3c, 0x00, 0x46, 0x40,
+ 0xbc, 0x00, 0x44, 0x50,
+ 0x13, 0x5a, 0x18, 0x6b,
+ 0x88, 0xc5, 0xe0, 0x04,
+ 0xec, 0x04, 0x0e, 0x90,
+ 0x46, 0xfa, 0x03, 0x3b,
+ 0x45, 0x0a, 0xe4, 0x04,
+ 0x0a, 0x24, 0x04, 0x00,
+ 0x10, 0x34, 0xe1, 0x84,
+ 0xc2, 0x67, 0x60, 0xfc,
+ 0x60, 0x84, 0x1c, 0xc4,
+ 0xed, 0x8c, 0x40, 0x0a,
+ 0x61, 0x84, 0x08, 0x34,
+ 0x10, 0xc4, 0xb0, 0x5f,
+ 0x9c, 0xcb, 0x61, 0xfc,
+ 0x50, 0x02, 0x30, 0x6f,
+ 0x44, 0x12, 0x91, 0x88,
+ 0x88, 0x3b, 0x13, 0x8c,
+ 0x1c, 0x00, 0x42, 0x20,
+ 0x40, 0x80, 0x8a, 0x2b,
+ 0x18, 0xe4, 0x1c, 0x00,
+ 0x4f, 0xd8, 0x9c, 0x80,
+ 0x18, 0x0b, 0xa7, 0xec,
+ 0x0c, 0x0c, 0x8c, 0x1b,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0x82, 0x6b, 0x00, 0xcb,
+ 0x75, 0xf5, 0xff, 0x95,
+ 0xc1, 0xc3, 0x90, 0x5b,
+ 0xfa, 0xfc, 0x04, 0x0c,
+ 0x80, 0x8b, 0x21, 0x0b,
+ 0x00, 0x00, 0x02, 0x0a,
+ 0x04, 0x6b, 0x82, 0x9b,
+ 0x80, 0xe5, 0x86, 0x7b,
+ 0x06, 0x0a, 0xa1, 0x2b,
+ 0x40, 0x0a, 0x80, 0x00,
+ 0x80, 0xe5, 0xe5, 0x9c,
+ 0x84, 0x1b, 0x81, 0x21,
+ 0x0c, 0x0c, 0x84, 0x0b,
+ 0xdd, 0x93, 0xf2, 0xfc,
+ 0x68, 0x00, 0x41, 0x88,
+ 0x00, 0xbb, 0x84, 0x1b,
+ 0x02, 0xab, 0x90, 0x0b,
+ 0x41, 0x18, 0x8e, 0x1b,
+ 0x00, 0x7b, 0xe8, 0x00,
+ 0x40, 0xd8, 0x92, 0x0b,
+ 0x8c, 0x1b, 0x68, 0x00,
+ 0x44, 0xb2, 0x81, 0x31,
+ 0x42, 0xa2, 0xf0, 0x8c,
+ 0x86, 0x23, 0xf2, 0x9c,
+ 0x42, 0x12, 0x7d, 0x85,
+ 0xc1, 0xc3, 0xf2, 0x80,
+ 0xe6, 0x86, 0x4a, 0x0e,
+ 0xe7, 0x06, 0x58, 0x0e,
+ 0x66, 0x06, 0x46, 0x0e,
+ 0xe1, 0xc0, 0x08, 0x54,
+ 0x67, 0x86, 0x44, 0x0e,
+ 0xe0, 0xc0, 0x00, 0xc4,
+ 0x02, 0xc4, 0x60, 0x57,
+ 0x8a, 0x03, 0xe1, 0xc0,
+ 0xf2, 0x90, 0x42, 0x12,
+ 0x5d, 0x93, 0x86, 0x03,
+ 0xf2, 0x88, 0x42, 0x12,
+ 0xe5, 0x00, 0x04, 0xca,
+ 0xc1, 0x7c, 0x02, 0x14,
+ 0xdc, 0x00, 0x40, 0x10,
+ 0x84, 0x80, 0x04, 0xca,
+ 0xcc, 0x80, 0x04, 0x20,
+ 0xc9, 0x08, 0x00, 0x14,
+ 0xc1, 0x7c, 0x02, 0x14,
+ 0x80, 0x00, 0x04, 0x5a,
+ 0xad, 0x88, 0x06, 0x14,
+ 0x20, 0x01, 0x06, 0x06,
+ 0x00, 0x04, 0xc0, 0x00,
+ 0x02, 0x14, 0x89, 0x88,
+ 0x40, 0x02, 0x89, 0x08,
+ 0xdd, 0x93, 0x99, 0x8c,
+ 0xe5, 0x00, 0x04, 0xca,
+ 0xc0, 0x00, 0x02, 0x06,
+ 0xc0, 0x00, 0x00, 0x06,
+ 0x84, 0x80, 0x04, 0xca,
+ 0xcc, 0x80, 0x04, 0x20,
+ 0xc9, 0x88, 0x00, 0x14,
+ 0xc0, 0x00, 0x02, 0x06,
+ 0x80, 0x00, 0x04, 0x5a,
+ 0xad, 0x88, 0x06, 0x14,
+ 0x20, 0x01, 0x06, 0x06,
+ 0x00, 0x04, 0xc0, 0x00,
+ 0x02, 0x14, 0x89, 0x88,
+ 0x40, 0x02, 0x89, 0x88,
+ 0xdd, 0x93, 0x99, 0x8c,
+ 0x81, 0x41, 0x61, 0x0b,
+ 0x06, 0x14, 0x8a, 0x25,
+ 0xe1, 0x1b, 0x76, 0x80,
+ 0x76, 0x80, 0x04, 0x04,
+ 0x08, 0x85, 0x81, 0x41,
+ 0x06, 0x30, 0xa4, 0x33,
+ 0x04, 0x04, 0x6c, 0x04,
+ 0xa0, 0x3d, 0xe1, 0x84,
+ 0xa1, 0x3b, 0x86, 0xe5,
+ 0xc8, 0x8c, 0x02, 0x14,
+ 0x64, 0x04, 0x18, 0x30,
+ 0xe4, 0x08, 0x43, 0x1a,
+ 0x24, 0x08, 0x18, 0x30,
+ 0xa0, 0x84, 0x02, 0x14,
+ 0x0a, 0xc0, 0x21, 0xcb,
+ 0x19, 0x5a, 0xec, 0x04,
+ 0x82, 0x45, 0xe0, 0x04,
+ 0xc2, 0x47, 0x40, 0x1d,
+ 0x1c, 0x80, 0x08, 0x44,
+ 0x91, 0x84, 0x40, 0x02,
+ 0x27, 0xfc, 0x4a, 0x98,
+ 0x5d, 0x93, 0xc3, 0x17,
+ 0x7f, 0xe5, 0x88, 0x0b,
+ 0x7d, 0x55, 0x80, 0x4b,
+ 0xc1, 0xc3, 0x88, 0x3b,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x81, 0x11, 0x00, 0x6b,
+ 0xe8, 0x04, 0x50, 0x48,
+ 0xe1, 0xa0, 0x40, 0x86,
+ 0x00, 0x15, 0x80, 0x04,
+ 0xa1, 0x1b, 0xe0, 0x3c,
+ 0xdc, 0x38, 0x42, 0x08,
+ 0x68, 0x04, 0x57, 0xc8,
+ 0xc1, 0xc3, 0x8c, 0x0b,
+ 0xfa, 0x04, 0x04, 0x7c,
+ 0x74, 0xa9, 0x46, 0x8e,
+ 0x49, 0x4e, 0xc0, 0x10,
+ 0xc0, 0x10, 0x74, 0xa9,
+ 0x88, 0x25, 0x89, 0x3d,
+ 0xcd, 0x14, 0xcd, 0x04,
+ 0x05, 0x0a, 0xcd, 0x24,
+ 0x4a, 0x00, 0xe0, 0x80,
+ 0x84, 0x25, 0xf0, 0x0c,
+ 0xe4, 0x00, 0x0a, 0x3a,
+ 0x60, 0x01, 0x00, 0x98,
+ 0x04, 0x20, 0x80, 0x00,
+ 0xc1, 0x16, 0xec, 0x04,
+ 0xf8, 0x0c, 0x00, 0x4a,
+ 0x04, 0x20, 0xfe, 0x65,
+ 0xe9, 0x2d, 0xec, 0x10,
+ 0xfe, 0x85, 0xc1, 0x1e,
+ 0xe0, 0x04, 0x04, 0xca,
+ 0x80, 0x00, 0x45, 0x48,
+ 0x45, 0xc8, 0xc1, 0x16,
+ 0xfb, 0xf5, 0x87, 0xfc,
+ 0xe1, 0x98, 0x41, 0x46,
+ 0x61, 0x91, 0x43, 0x06,
+ 0x80, 0x1e, 0xc0, 0x00,
+ 0x81, 0x11, 0x9b, 0x01,
+ 0x81, 0x31, 0x81, 0x21,
+ 0xe8, 0x04, 0x4a, 0x88,
+ 0x8c, 0x45, 0xa1, 0x0b,
+ 0x74, 0xa9, 0x07, 0x0e,
+ 0x48, 0x8e, 0xc0, 0x10,
+ 0xc0, 0x10, 0x74, 0xa9,
+ 0x8a, 0x45, 0x89, 0x3d,
+ 0xcd, 0x14, 0xcd, 0x04,
+ 0x05, 0x0a, 0xcd, 0x24,
+ 0x4a, 0x00, 0xe0, 0x80,
+ 0x86, 0x25, 0xf0, 0x0c,
+ 0xf0, 0x0c, 0x4c, 0x10,
+ 0xe4, 0x18, 0x4a, 0x5a,
+ 0xe4, 0x00, 0x0a, 0x3a,
+ 0xa0, 0x00, 0x01, 0x28,
+ 0x60, 0x01, 0x00, 0xa8,
+ 0xc5, 0x50, 0x80, 0x00,
+ 0xec, 0x04, 0x04, 0x20,
+ 0x00, 0x4a, 0xc1, 0x56,
+ 0xfe, 0x45, 0xf8, 0x0c,
+ 0x04, 0x20, 0xc5, 0x54,
+ 0xe9, 0x2d, 0xec, 0x10,
+ 0xfe, 0x65, 0xc1, 0x5e,
+ 0xe0, 0x04, 0x04, 0xca,
+ 0x80, 0x00, 0x45, 0x88,
+ 0xc1, 0x56, 0xc5, 0x50,
+ 0x87, 0xfc, 0x45, 0x88,
+ 0x47, 0x86, 0xfb, 0x65,
+ 0x08, 0xf0, 0xe1, 0x90,
+ 0x8c, 0x4e, 0xe4, 0x30,
+ 0xe1, 0xa4, 0x0c, 0x46,
+ 0xe1, 0xa4, 0x0e, 0x46,
+ 0x82, 0x45, 0x8f, 0x6d,
+ 0x02, 0x3a, 0xd9, 0x14,
+ 0x00, 0x68, 0xe4, 0x00,
+ 0x80, 0x00, 0x60, 0x01,
+ 0xfc, 0x38, 0x42, 0x08,
+ 0x81, 0x61, 0xff, 0x65,
+ 0x00, 0x46, 0xe1, 0x6b,
+ 0x4c, 0x08, 0xe1, 0xa4,
+ 0x8b, 0x04, 0xdc, 0x38,
+ 0xfe, 0x24, 0x89, 0x14,
+ 0xe8, 0x6c, 0x65, 0x88,
+ 0xe1, 0xa4, 0x0c, 0x46,
+ 0xe1, 0xa4, 0x0e, 0x46,
+ 0x82, 0x45, 0x8f, 0x6d,
+ 0x02, 0x3a, 0xd9, 0x14,
+ 0x00, 0x68, 0xe4, 0x00,
+ 0x80, 0x00, 0x60, 0x01,
+ 0xfc, 0x38, 0x42, 0x08,
+ 0x75, 0x78, 0xff, 0x65,
+ 0x0c, 0x7c, 0xef, 0xfc,
+ 0xdd, 0x93, 0xf2, 0x04,
+ 0x80, 0x55, 0xa1, 0x1b,
+ 0x0a, 0x00, 0x83, 0x11,
+ 0x40, 0x06, 0xe5, 0x50,
+ 0x40, 0x4a, 0xfc, 0x12,
+ 0xd7, 0xf4, 0xe0, 0xd0,
+ 0xc1, 0xc3, 0x82, 0xb5,
+ 0xc1, 0xc3, 0xc1, 0xc3,
+ 0xf4, 0x04, 0x0b, 0x3f,
+ 0xf4, 0x04, 0x0b, 0x2f,
+ 0xf4, 0x04, 0x0b, 0x1f,
+ 0xf4, 0x04, 0x0b, 0x0f,
+ 0x0a, 0x50, 0x81, 0x35,
+ 0x40, 0x5a, 0xec, 0x40,
+ 0x44, 0x06, 0xe0, 0xbc,
+ 0x44, 0x6a, 0xbc, 0x22,
+ 0x40, 0x4a, 0xa0, 0x90,
+ 0xc0, 0x00, 0x20, 0x89,
+ 0xed, 0x88, 0x40, 0x1a,
+ 0x20, 0x01, 0x01, 0x98,
+ 0x0a, 0xff, 0xc0, 0x00,
+ 0xc1, 0xc3, 0xf4, 0x04,
+ 0xc1, 0xc3, 0xc1, 0xc3,
+ 0xf4, 0x04, 0x0b, 0xf5,
+ 0xf4, 0x04, 0x0b, 0xe5,
+ 0xf4, 0x04, 0x0b, 0xd5,
+ 0xf4, 0x04, 0x0b, 0xc5,
+ 0xf4, 0x04, 0x0b, 0xb5,
+ 0xf4, 0x04, 0x0b, 0xa5,
+ 0xf4, 0x04, 0x0b, 0x95,
+ 0xf4, 0x04, 0x0b, 0x85,
+ 0x0a, 0xff, 0x81, 0x55,
+ 0x0a, 0x50, 0xf4, 0x04,
+ 0xd7, 0xe4, 0xec, 0x80,
+ 0xd7, 0xb4, 0xd7, 0xd4,
+ 0xd7, 0x94, 0xd7, 0xa4,
+ 0xd7, 0x74, 0xd7, 0x84,
+ 0x82, 0x0b, 0x94, 0x64,
+ 0xfa, 0x00, 0x5c, 0x08,
+ 0xf8, 0x3c, 0x04, 0x4c,
+ 0xe4, 0x40, 0x04, 0x8a,
+ 0x21, 0x2b, 0x80, 0xa5,
+ 0x82, 0x15, 0x80, 0x3b,
+ 0x46, 0x12, 0x81, 0xf5,
+ 0x06, 0x4a, 0xf9, 0x80,
+ 0x82, 0xb5, 0xf8, 0x0c,
+ 0x04, 0x20, 0x80, 0x3b,
+ 0x04, 0x4a, 0xec, 0x04,
+ 0xc5, 0x48, 0xe4, 0x00,
+ 0x45, 0x88, 0xcd, 0x46,
+ 0x0c, 0x4c, 0x87, 0xfc,
+ 0xdd, 0x93, 0xf0, 0x3c,
+ 0x6c, 0x40, 0x0a, 0x20,
+ 0x49, 0x27, 0xe1, 0xc1,
+ 0x04, 0x20, 0x8a, 0xcf,
+ 0x06, 0xc0, 0x6c, 0x04,
+ 0x04, 0x4a, 0xe4, 0x40,
+ 0x48, 0x12, 0x64, 0x00,
+ 0x00, 0x33, 0xf0, 0x8c,
+ 0x02, 0x75, 0x80, 0x6b,
+ 0x02, 0x85, 0xf0, 0x10,
+ 0x02, 0x95, 0xf8, 0x0c,
+ 0x02, 0xa5, 0xf8, 0x08,
+ 0x4c, 0x75, 0xf8, 0x04,
+ 0x4c, 0x85, 0xf0, 0x10,
+ 0x4c, 0x95, 0xf8, 0x0c,
+ 0x4c, 0xa5, 0xf8, 0x08,
+ 0x44, 0x08, 0xf8, 0x04,
+ 0x44, 0x52, 0x87, 0xf8,
+ 0xe9, 0x2d, 0xf1, 0xb0,
+ 0x0a, 0x20, 0x86, 0x95,
+ 0xc5, 0x27, 0x6c, 0x10,
+ 0x61, 0x88, 0x0e, 0x54,
+ 0xec, 0x04, 0x0c, 0x20,
+ 0x64, 0x04, 0x18, 0x70,
+ 0xe4, 0x00, 0x0c, 0x4a,
+ 0x04, 0x74, 0x44, 0xc7,
+ 0x42, 0x42, 0xe0, 0x88,
+ 0x86, 0x7b, 0x70, 0xb0,
+ 0xdd, 0x8e, 0xd1, 0x84,
+ 0x87, 0xfc, 0x4d, 0x88,
+ 0x71, 0x88, 0x44, 0x52,
+ 0xa1, 0x2b, 0x98, 0x33,
+ 0xf7, 0xe5, 0xec, 0xf5,
+ 0x88, 0x1b, 0x21, 0x2b,
+ 0xf7, 0xa5, 0xec, 0x75,
+ 0xe1, 0x00, 0x00, 0x0c,
+ 0xf8, 0x04, 0x04, 0x0c,
+ 0x78, 0x0c, 0x00, 0x0a,
+ 0x82, 0x25, 0x80, 0x3b,
+ 0x94, 0xa5, 0xa1, 0x2b,
+ 0x04, 0x20, 0x4d, 0x16,
+ 0x06, 0x4a, 0xec, 0x04,
+ 0xfe, 0x25, 0xf8, 0x0c,
+ 0x90, 0x95, 0xe9, 0x2d,
+ 0x7a, 0x80, 0x08, 0x14,
+ 0xe4, 0x40, 0x04, 0x8a,
+ 0xe0, 0xa0, 0x0a, 0x44,
+ 0x08, 0x54, 0xa8, 0x5f,
+ 0x06, 0xf5, 0xe0, 0xc0,
+ 0x0c, 0x24, 0xaa, 0x4f,
+ 0x0a, 0x20, 0x61, 0x90,
+ 0x61, 0xc1, 0xec, 0x40,
+ 0xec, 0x04, 0x0c, 0x60,
+ 0x0c, 0x4a, 0x0a, 0xcf,
+ 0x4e, 0x32, 0xe4, 0x00,
+ 0x86, 0x2b, 0x70, 0xb0,
+ 0xe4, 0x40, 0x06, 0x70,
+ 0xf0, 0x10, 0x44, 0x45,
+ 0xf8, 0x0c, 0x44, 0x45,
+ 0xf8, 0x08, 0x44, 0x45,
+ 0xf8, 0x04, 0x44, 0x45,
+ 0x87, 0xfc, 0x4c, 0x08,
+ 0xf1, 0xb0, 0x44, 0x52,
+ 0x86, 0x95, 0xe9, 0x2d,
+ 0xf9, 0xc1, 0x07, 0x51,
+ 0x4a, 0x52, 0xa4, 0x53,
+ 0x04, 0x53, 0xfa, 0xb0,
+ 0xec, 0x10, 0x04, 0x20,
+ 0x0e, 0x24, 0x08, 0x51,
+ 0x45, 0x57, 0xe1, 0x88,
+ 0xe4, 0x04, 0x18, 0x70,
+ 0x6c, 0x04, 0x0c, 0x50,
+ 0xe0, 0x88, 0x0a, 0x74,
+ 0x64, 0x00, 0x0c, 0x4a,
+ 0xdd, 0x4e, 0x86, 0x7b,
+ 0x87, 0xfc, 0x4d, 0xc8,
+ 0xaa, 0x23, 0x44, 0xc7,
+ 0xa1, 0x2b, 0x98, 0x33,
+ 0x04, 0x20, 0x82, 0x05,
+ 0x04, 0x4a, 0xec, 0x04,
+ 0xcd, 0x16, 0xe4, 0x00,
+ 0x87, 0xfc, 0x45, 0xc8,
+ 0xf0, 0x04, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfe, 0x7c, 0x04, 0x0c,
+ 0x04, 0x4a, 0x00, 0x7b,
+ 0x40, 0x72, 0xe0, 0x10,
+ 0x1e, 0xf0, 0x79, 0x88,
+ 0x00, 0x0c, 0xed, 0x20,
+ 0x00, 0x1a, 0x62, 0x00,
+ 0x11, 0x0e, 0xf8, 0x0c,
+ 0x1b, 0x0e, 0x82, 0x8b,
+ 0x20, 0x01, 0x00, 0x26,
+ 0x5e, 0x05, 0xc0, 0x00,
+ 0x40, 0x00, 0x20, 0x35,
+ 0x23, 0x3e, 0xef, 0x8d,
+ 0x5e, 0x17, 0xa4, 0x0b,
+ 0x9d, 0x2e, 0xe0, 0xfc,
+ 0x23, 0x88, 0xa1, 0x0e,
+ 0x00, 0x24, 0xc0, 0x00,
+ 0xc4, 0x1b, 0x61, 0x88,
+ 0xc0, 0x3b, 0x7d, 0x41,
+ 0x7a, 0x10, 0x42, 0x12,
+ 0xfa, 0x10, 0x46, 0x32,
+ 0x84, 0x13, 0x00, 0x33,
+ 0x82, 0x11, 0x3e, 0x1e,
+ 0x82, 0x31, 0x7c, 0x3e,
+ 0x00, 0x20, 0x19, 0x1e,
+ 0x97, 0x3e, 0xec, 0x04,
+ 0x00, 0x84, 0xfe, 0x0e,
+ 0xaf, 0x8b, 0x61, 0x84,
+ 0x54, 0x0a, 0x15, 0x8e,
+ 0x2e, 0xa5, 0xe6, 0x8a,
+ 0x00, 0x80, 0x8e, 0xa3,
+ 0x10, 0x8a, 0x6c, 0x04,
+ 0x40, 0x0a, 0xe4, 0xa4,
+ 0x56, 0x72, 0xe6, 0x8a,
+ 0x40, 0x70, 0x70, 0x80,
+ 0xa2, 0xb5, 0xdc, 0x00,
+ 0x00, 0x84, 0x0f, 0xbe,
+ 0x23, 0xb4, 0xe1, 0x8c,
+ 0xe6, 0x8a, 0x4c, 0x0a,
+ 0x60, 0x84, 0x00, 0x64,
+ 0xf0, 0x98, 0x50, 0x72,
+ 0x8e, 0x03, 0x0d, 0x0e,
+ 0x8e, 0x0b, 0x0b, 0x0e,
+ 0x56, 0x08, 0x90, 0x1b,
+ 0x13, 0x8e, 0xfc, 0x38,
+ 0x0b, 0x84, 0x80, 0x9b,
+ 0x90, 0x1b, 0x90, 0x0b,
+ 0xfc, 0x38, 0x56, 0x08,
+ 0x82, 0x9d, 0xff, 0x11,
+ 0xa0, 0x0d, 0x82, 0x85,
+ 0x0e, 0x0b, 0x84, 0xd5,
+ 0xa3, 0x24, 0x90, 0x1b,
+ 0xfc, 0x38, 0x44, 0x08,
+ 0x8e, 0x0b, 0x21, 0x0d,
+ 0x81, 0xc5, 0x82, 0x85,
+ 0x82, 0x75, 0xa1, 0x0d,
+ 0x90, 0x1b, 0x0e, 0x0b,
+ 0x44, 0x08, 0xa3, 0x24,
+ 0x21, 0x0d, 0xfc, 0x38,
+ 0x80, 0x45, 0x8e, 0x0b,
+ 0x93, 0x0e, 0x90, 0x0b,
+ 0x50, 0xa2, 0x2c, 0x0b,
+ 0x23, 0x64, 0xf1, 0x98,
+ 0xf0, 0x98, 0x56, 0xa2,
+ 0x90, 0x0b, 0x0b, 0x0e,
+ 0x4c, 0x08, 0x94, 0x1b,
+ 0x00, 0x9b, 0xfc, 0x38,
+ 0x09, 0xbe, 0x94, 0x0b,
+ 0x4c, 0x08, 0x96, 0x1b,
+ 0xff, 0x11, 0xfc, 0x38,
+ 0x82, 0xa5, 0x82, 0x9d,
+ 0x84, 0xd5, 0xa0, 0x0d,
+ 0x90, 0x0b, 0x09, 0x64,
+ 0x8c, 0x1b, 0xa3, 0x24,
+ 0xfc, 0x38, 0x44, 0x08,
+ 0x01, 0xd5, 0xa1, 0x0d,
+ 0x9c, 0x00, 0x50, 0x60,
+ 0x82, 0x55, 0xa1, 0x0d,
+ 0x90, 0x0b, 0x09, 0xa4,
+ 0x94, 0x1b, 0xa3, 0x24,
+ 0xfc, 0x38, 0x44, 0x08,
+ 0x80, 0x55, 0xa1, 0x0d,
+ 0x8f, 0xb4, 0x90, 0xab,
+ 0x8d, 0x14, 0x8b, 0x94,
+ 0x96, 0x93, 0xa3, 0x64,
+ 0x71, 0x84, 0x40, 0xb2,
+ 0x8d, 0x0e, 0x92, 0x1b,
+ 0xfc, 0x38, 0x4c, 0x08,
+ 0x92, 0x0b, 0x00, 0x8b,
+ 0x4c, 0x08, 0x96, 0x1b,
+ 0xff, 0x11, 0xfc, 0x38,
+ 0x82, 0xc5, 0x82, 0x8d,
+ 0xa0, 0x0d, 0x15, 0x84,
+ 0x0d, 0x64, 0x86, 0x15,
+ 0xa3, 0x24, 0x96, 0x1b,
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+ 0xfa, 0x80, 0x02, 0x14,
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+ 0x00, 0x06, 0x94, 0x22,
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+ 0x0c, 0x4a, 0xf0, 0x02,
+ 0x06, 0x34, 0x64, 0x7c,
+ 0x5e, 0x15, 0xfa, 0x80,
+ 0x4a, 0x0e, 0x00, 0x04,
+ 0x5e, 0x25, 0x9f, 0xfc,
+ 0x06, 0x1a, 0x00, 0x08,
+ 0x1e, 0x25, 0xe4, 0x00,
+ 0x44, 0x22, 0x80, 0x04,
+ 0x5e, 0x25, 0x98, 0x14,
+ 0x1e, 0x25, 0x80, 0x00,
+ 0x1e, 0x55, 0x80, 0x00,
+ 0x4a, 0x50, 0x80, 0x08,
+ 0x44, 0x22, 0x90, 0x7c,
+ 0x5e, 0x25, 0x99, 0x94,
+ 0x1e, 0x25, 0x80, 0x04,
+ 0x42, 0x20, 0x80, 0x04,
+ 0x18, 0x14, 0x9c, 0x00,
+ 0x40, 0x00, 0x3c, 0xb5,
+ 0xbc, 0x34, 0x18, 0x14,
+ 0x02, 0x44, 0x00, 0xd5,
+ 0xe1, 0x1b, 0xfa, 0x80,
+ 0xdc, 0x3c, 0x18, 0xc4,
+ 0xe2, 0x32, 0x00, 0x66,
+ 0x42, 0x0e, 0x28, 0xf1,
+ 0xc0, 0x10, 0x60, 0x01,
+ 0x0c, 0x0c, 0x8c, 0x2b,
+ 0x87, 0x75, 0xf0, 0x00,
+ 0x01, 0x7e, 0x28, 0xf1,
+ 0x0c, 0x0c, 0xff, 0xf8,
+ 0xdd, 0x93, 0xf0, 0x00,
+ 0x6c, 0x40, 0x1e, 0xf0,
+ 0xe4, 0x7c, 0x01, 0x4a,
+ 0xbe, 0x2e, 0xbc, 0x2e,
+ 0x86, 0x85, 0xfc, 0x2e,
+ 0xe4, 0x7c, 0x00, 0x0a,
+ 0x44, 0x06, 0x84, 0x45,
+ 0x3e, 0x2e, 0xf0, 0x02,
+ 0xfc, 0x1e, 0xc1, 0x21,
+ 0x84, 0x1f, 0xbe, 0x14,
+ 0xbc, 0x14, 0xbc, 0x1e,
+ 0xbe, 0x29, 0xfc, 0x24,
+ 0xbe, 0x1e, 0xa4, 0x1f,
+ 0x00, 0x06, 0xbe, 0x14,
+ 0x81, 0x55, 0xe2, 0x06,
+ 0xf8, 0x7e, 0x40, 0x06,
+ 0xf0, 0xfe, 0x00, 0x06,
+ 0x5d, 0x93, 0x81, 0x01,
+ 0x7f, 0xe5, 0xa0, 0xf1,
+ 0xff, 0xf8, 0x01, 0xae,
+ 0xe2, 0xc0, 0x04, 0x1c,
+ 0x04, 0x1f, 0xc1, 0x11,
+ 0xf0, 0x7c, 0x44, 0x00,
+ 0x02, 0x1c, 0xa4, 0x1f,
+ 0xdd, 0x93, 0xe3, 0x40,
+ 0xe4, 0x7c, 0x04, 0x0a,
+ 0x40, 0x88, 0x04, 0x24,
+ 0x00, 0x00, 0x06, 0x0e,
+ 0x08, 0x30, 0x80, 0x10,
+ 0x48, 0x12, 0x04, 0x10,
+ 0x58, 0x02, 0xd0, 0x88,
+ 0x02, 0x06, 0x71, 0x90,
+ 0xff, 0xfc, 0x60, 0x00,
+ 0x00, 0xc4, 0x83, 0xc7,
+ 0x02, 0x0f, 0xf0, 0x80,
+ 0x70, 0x01, 0x42, 0xc0,
+ 0x61, 0x0b, 0xdf, 0xfc,
+ 0x73, 0xfd, 0x40, 0xc0,
+ 0x48, 0x07, 0xc0, 0x03,
+ 0x00, 0xa5, 0xd0, 0x17,
+ 0x5d, 0x93, 0xa2, 0x0f,
+ 0xff, 0xf8, 0x01, 0x8e,
+ 0x60, 0x01, 0x02, 0x86,
+ 0xa2, 0x0f, 0xf8, 0x00,
+ 0x40, 0x06, 0x90, 0x0e,
+ 0xa1, 0x0d, 0xfc, 0x12,
+ 0x40, 0x06, 0x82, 0xc5,
+ 0xa1, 0x0d, 0xfc, 0x1a,
+ 0x40, 0x06, 0x82, 0x15,
+ 0x02, 0x06, 0xfc, 0x0a,
+ 0xc0, 0x20, 0x60, 0x01,
+ 0x80, 0x75, 0x83, 0x0d,
+ 0xf3, 0x72, 0x00, 0x46,
+ 0x81, 0x01, 0x5d, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0x86, 0x4b, 0x08, 0x8b,
+ 0x81, 0x71, 0x3e, 0x2e,
+ 0x40, 0x5a, 0x00, 0x6b,
+ 0x7c, 0x7e, 0xe5, 0x06,
+ 0x42, 0x5a, 0x81, 0x31,
+ 0x88, 0x2b, 0x65, 0x86,
+ 0xef, 0xf8, 0x4f, 0x68,
+ 0x67, 0xd1, 0x00, 0x00,
+ 0x44, 0x86, 0x40, 0x01,
+ 0x42, 0x12, 0xe0, 0x3c,
+ 0x81, 0x31, 0x72, 0x9c,
+ 0xef, 0xf8, 0x45, 0x68,
+ 0x00, 0x00, 0x17, 0xa4,
+ 0xc0, 0x04, 0x64, 0x01,
+ 0x72, 0x9c, 0x42, 0x12,
+ 0x19, 0x74, 0xd7, 0x07,
+ 0xe0, 0xd4, 0x16, 0x14,
+ 0xff, 0x01, 0x20, 0xbf,
+ 0x00, 0x14, 0x01, 0xbb,
+ 0x57, 0xfe, 0xe1, 0xac,
+ 0xa1, 0x0b, 0x1f, 0xfc,
+ 0x60, 0x38, 0x14, 0x09,
+ 0xdf, 0xfc, 0x57, 0xfe,
+ 0x81, 0x11, 0x1b, 0x94,
+ 0x0a, 0xf0, 0x1c, 0x24,
+ 0x15, 0x04, 0xe4, 0x20,
+ 0xbe, 0x44, 0xa1, 0x0b,
+ 0x80, 0x08, 0x00, 0x1b,
+ 0x06, 0x14, 0x80, 0x04,
+ 0x90, 0x1b, 0x7b, 0x00,
+ 0xe8, 0x00, 0x43, 0xc8,
+ 0xfc, 0x04, 0xbc, 0x0e,
+ 0xe0, 0x18, 0x0e, 0x49,
+ 0x68, 0x34, 0xaa, 0x24,
+ 0x50, 0x82, 0xa0, 0x1b,
+ 0x8e, 0x0b, 0x7b, 0x90,
+ 0x68, 0x38, 0x4a, 0x68,
+ 0x3e, 0x0e, 0x8c, 0x4b,
+ 0x85, 0x05, 0x81, 0xa1,
+ 0x0e, 0x29, 0xd9, 0x0a,
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+ 0x48, 0xba, 0xe5, 0x02,
+ 0x06, 0x20, 0x65, 0x82,
+ 0x83, 0x01, 0xe4, 0x1c,
+ 0x02, 0x03, 0xa7, 0x0f,
+ 0x42, 0x42, 0x81, 0x11,
+ 0x90, 0x21, 0x72, 0x84,
+ 0xef, 0xf8, 0x50, 0x48,
+ 0x7f, 0xfd, 0x45, 0xfe,
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+ 0x41, 0xfe, 0xc5, 0x0d,
+ 0x00, 0x3f, 0x1f, 0xfd,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0xc0, 0x3f, 0x1f, 0xfd,
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+ 0xbe, 0x04, 0xf8, 0x15,
+ 0x1e, 0x05, 0xa1, 0x0b,
+ 0x98, 0xf1, 0x00, 0x00,
+ 0xf2, 0x7c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x58, 0x96, 0x21, 0x1b,
+ 0x02, 0x14, 0xe0, 0x08,
+ 0x18, 0x06, 0x40, 0xac,
+ 0x44, 0x2a, 0xc0, 0x00,
+ 0xa1, 0x4b, 0x41, 0x06,
+ 0x00, 0x00, 0x02, 0x06,
+ 0x80, 0x08, 0x58, 0x96,
+ 0xff, 0x11, 0x82, 0x65,
+ 0x02, 0x44, 0x02, 0x3d,
+ 0x60, 0x37, 0xe1, 0x04,
+ 0x91, 0x80, 0x02, 0x14,
+ 0x42, 0x1a, 0x86, 0x13,
+ 0x20, 0x23, 0xe0, 0x92,
+ 0x82, 0x23, 0x98, 0x0b,
+ 0xdd, 0x93, 0x94, 0x2e,
+ 0xfa, 0x04, 0x04, 0x4c,
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+ 0x81, 0x71, 0x6f, 0xf8,
+ 0x66, 0x00, 0x00, 0x60,
+ 0xe4, 0xc0, 0x02, 0x60,
+ 0x91, 0x21, 0x01, 0xa5,
+ 0x04, 0x20, 0x06, 0x7e,
+ 0x40, 0x73, 0xec, 0x04,
+ 0x42, 0x75, 0xf8, 0x20,
+ 0xc1, 0x7c, 0xf0, 0x08,
+ 0xfc, 0xf5, 0xa1, 0x2b,
+ 0x7f, 0xf4, 0x41, 0x0e,
+ 0xe0, 0x38, 0x03, 0x06,
+ 0x60, 0x28, 0x05, 0x06,
+ 0xff, 0xd4, 0x47, 0x0e,
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+ 0x92, 0x7e, 0xec, 0x20,
+ 0x48, 0x62, 0x10, 0x7e,
+ 0x10, 0x7e, 0xf0, 0x88,
+ 0xf0, 0x84, 0x48, 0x62,
+ 0x82, 0x11, 0x10, 0x76,
+ 0x87, 0x0b, 0x88, 0x21,
+ 0x41, 0xf6, 0xfc, 0x35,
+ 0x81, 0x11, 0x60, 0x0c,
+ 0x6f, 0x40, 0x4c, 0x01,
+ 0x67, 0x44, 0x00, 0x60,
+ 0x63, 0x98, 0xc0, 0x03,
+ 0x8f, 0x21, 0x6f, 0xf8,
+ 0x65, 0x61, 0x00, 0x60,
+ 0x02, 0x60, 0x40, 0x08,
+ 0xc0, 0x03, 0x67, 0x61,
+ 0x05, 0x06, 0x01, 0x95,
+ 0x06, 0x7e, 0xe0, 0x08,
+ 0xec, 0x04, 0x04, 0x20,
+ 0xf0, 0x08, 0x42, 0x75,
+ 0xa1, 0x2b, 0xc1, 0x7c,
+ 0x0c, 0x4c, 0xfe, 0x35,
+ 0xdd, 0x93, 0xf2, 0x04,
+ 0x6f, 0xd1, 0x00, 0x19,
+ 0xa1, 0x1b, 0xc0, 0x05,
+ 0x00, 0x09, 0x82, 0x45,
+ 0xc0, 0x06, 0x60, 0x2d,
+ 0xf3, 0xf0, 0x40, 0x00,
+ 0x00, 0x0c, 0xa9, 0x0b,
+ 0xdd, 0x93, 0xe2, 0x00,
+ 0x81, 0x01, 0x5d, 0x93,
+ 0xf0, 0x80, 0x44, 0x12,
+ 0xec, 0x70, 0x04, 0x29,
+ 0x84, 0x05, 0xa1, 0x2b,
+ 0xe0, 0x3c, 0x02, 0x29,
+ 0xe6, 0x82, 0x40, 0x2a,
+ 0x02, 0x09, 0x80, 0x13,
+ 0xc0, 0x05, 0x6b, 0x71,
+ 0xec, 0x14, 0x00, 0x00,
+ 0xe4, 0x08, 0x00, 0xca,
+ 0xe2, 0x00, 0x00, 0x0c,
+ 0x5d, 0x93, 0xdd, 0x93,
+ 0xc1, 0xc3, 0x81, 0x01,
+ 0xf8, 0x04, 0x04, 0x0c,
+ 0x60, 0x3c, 0x02, 0x39,
+ 0x67, 0x70, 0x02, 0x10,
+ 0x0a, 0x04, 0xc0, 0x03,
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+ 0x04, 0x55, 0xe6, 0x40,
+ 0x58, 0x22, 0x7c, 0x14,
+ 0x46, 0x3a, 0xf0, 0x94,
+ 0x81, 0x71, 0x66, 0x82,
+ 0x08, 0x34, 0xb2, 0x64,
+ 0xc2, 0x37, 0x60, 0x88,
+ 0xfc, 0x10, 0x02, 0x45,
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+ 0x86, 0x13, 0x72, 0x9c,
+ 0x08, 0x04, 0x32, 0x4e,
+ 0x30, 0x5e, 0xe0, 0x88,
+ 0x02, 0x13, 0x84, 0x43,
+ 0x40, 0x01, 0x6c, 0x01,
+ 0x08, 0x35, 0x80, 0x23,
+ 0x82, 0x33, 0xe2, 0x00,
+ 0xe2, 0x00, 0x48, 0x35,
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+ 0x0c, 0x0c, 0xec, 0x00,
+ 0xdd, 0x93, 0xf0, 0x04,
+ 0xfe, 0x04, 0x04, 0x0c,
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+ 0x21, 0x4b, 0xf9, 0x8c,
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+ 0xe0, 0x08, 0x48, 0x96,
+ 0x61, 0x84, 0x08, 0x24,
+ 0xe0, 0xfc, 0x0a, 0x34,
+ 0x0a, 0x34, 0x2a, 0x4f,
+ 0x88, 0x03, 0xe1, 0x84,
+ 0x6f, 0xf4, 0x71, 0x88,
+ 0xf2, 0x84, 0x42, 0x52,
+ 0x64, 0x1c, 0x43, 0x4a,
+ 0x42, 0x1a, 0x81, 0x41,
+ 0x41, 0x6a, 0xe0, 0x1c,
+ 0x42, 0x0a, 0xe4, 0x18,
+ 0x42, 0x1a, 0xe5, 0x80,
+ 0x42, 0x0a, 0xe1, 0x88,
+ 0x09, 0x04, 0xed, 0x80,
+ 0xdc, 0x00, 0x4c, 0x00,
+ 0xdc, 0x00, 0x4e, 0x10,
+ 0x80, 0x6e, 0x82, 0x7e,
+ 0x0c, 0x0c, 0x88, 0x0b,
+ 0xdd, 0x93, 0xf6, 0x04,
+ 0xf8, 0x00, 0x04, 0x4c,
+ 0x67, 0xfd, 0x00, 0x25,
+ 0x81, 0x51, 0x40, 0x01,
+ 0x86, 0x44, 0x84, 0x34,
+ 0xe0, 0x18, 0x02, 0xc5,
+ 0x6f, 0xc9, 0x00, 0x21,
+ 0x84, 0x33, 0x40, 0x05,
+ 0x60, 0x50, 0x02, 0x6b,
+ 0xf2, 0x94, 0x48, 0x42,
+ 0x6f, 0xcd, 0x00, 0x01,
+ 0x02, 0x55, 0xc0, 0x05,
+ 0x84, 0xc3, 0x60, 0x1c,
+ 0x82, 0x61, 0x06, 0x4e,
+ 0x42, 0xc5, 0x84, 0x3e,
+ 0x80, 0x53, 0x60, 0x18,
+ 0xe0, 0x1c, 0x42, 0x55,
+ 0xe0, 0x50, 0x42, 0x63,
+ 0xf0, 0x00, 0x0c, 0x4c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x60, 0x3c, 0x02, 0x39,
+ 0xc8, 0x44, 0x81, 0xc1,
+ 0x46, 0x3a, 0xca, 0x54,
+ 0xc4, 0x37, 0xe6, 0x82,
+ 0x06, 0x35, 0x82, 0x33,
+ 0x86, 0x43, 0xe7, 0xdc,
+ 0x72, 0xb0, 0x46, 0x52,
+ 0xca, 0x3e, 0x80, 0x13,
+ 0x02, 0x01, 0xc8, 0x4e,
+ 0x04, 0x35, 0xea, 0x70,
+ 0x80, 0x33, 0xe0, 0x20,
+ 0xe0, 0x20, 0x44, 0x35,
+ 0xe0, 0x54, 0x04, 0x3b,
+ 0xeb, 0x70, 0x02, 0x01,
+ 0xe0, 0x24, 0x04, 0x15,
+ 0x44, 0x33, 0x82, 0x31,
+ 0x80, 0x13, 0xe0, 0x54,
+ 0xe0, 0x24, 0x44, 0x15,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xe0, 0x3c, 0x02, 0x39,
+ 0xe0, 0x58, 0x04, 0x4b,
+ 0xe6, 0x82, 0x40, 0x3a,
+ 0xe0, 0x14, 0x04, 0x35,
+ 0x80, 0x13, 0xc4, 0x07,
+ 0xe7, 0xdc, 0x02, 0x05,
+ 0xe0, 0x10, 0x04, 0x15,
+ 0x81, 0x01, 0x00, 0x13,
+ 0x72, 0x80, 0x40, 0x32,
+ 0x44, 0x05, 0x82, 0x41,
+ 0x44, 0x15, 0xe0, 0x14,
+ 0x44, 0x43, 0xe0, 0x10,
+ 0xdd, 0x93, 0xe0, 0x58,
+ 0x60, 0x58, 0x00, 0x29,
+ 0x0a, 0x39, 0x84, 0x5b,
+ 0x0a, 0x49, 0xef, 0x40,
+ 0x02, 0x39, 0xef, 0x44,
+ 0x40, 0x01, 0x60, 0x51,
+ 0x4a, 0x21, 0xc7, 0x2d,
+ 0xc8, 0x2d, 0x4f, 0x40,
+ 0x6f, 0x48, 0x4a, 0x21,
+ 0xe4, 0xa0, 0x08, 0x00,
+ 0x4f, 0x44, 0x4a, 0x21,
+ 0x00, 0x35, 0xc2, 0x37,
+ 0x86, 0x13, 0x60, 0x20,
+ 0x60, 0x30, 0x02, 0xc3,
+ 0x67, 0x60, 0x0a, 0x50,
+ 0x02, 0x13, 0xc0, 0x03,
+ 0x98, 0x0b, 0xe0, 0xc0,
+ 0xe0, 0x00, 0x24, 0x68,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x84, 0x6b, 0x02, 0x7b,
+ 0x60, 0x50, 0x0e, 0x2b,
+ 0x0e, 0xab, 0x81, 0x81,
+ 0x0e, 0x9b, 0xe0, 0x54,
+ 0x18, 0x8e, 0xe0, 0x58,
+ 0x9a, 0x8e, 0xa1, 0x2b,
+ 0x4c, 0x23, 0xd8, 0x8e,
+ 0x4c, 0xa3, 0xe0, 0x18,
+ 0x4c, 0x93, 0xe0, 0x1c,
+ 0x84, 0xc5, 0xe0, 0x20,
+ 0x06, 0x24, 0x1c, 0x04,
+ 0x9e, 0x14, 0xe1, 0x84,
+ 0x81, 0x31, 0x06, 0x03,
+ 0x6f, 0xf4, 0x65, 0x88,
+ 0xf2, 0xa0, 0x42, 0x12,
+ 0x67, 0xfd, 0x00, 0x8a,
+ 0x41, 0xfe, 0xc7, 0xff,
+ 0x00, 0x01, 0x1f, 0xfd,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0xc0, 0x01, 0x1f, 0xfd,
+ 0x14, 0x0a, 0x98, 0x0e,
+ 0x04, 0xa4, 0x68, 0x00,
+ 0x84, 0xc5, 0xfb, 0x80,
+ 0x06, 0x24, 0x5c, 0x04,
+ 0xde, 0x14, 0xe1, 0x84,
+ 0x81, 0x31, 0x06, 0x03,
+ 0x6f, 0xf4, 0x63, 0xe8,
+ 0xf2, 0xa0, 0x42, 0x12,
+ 0x67, 0xfd, 0x00, 0x8a,
+ 0x41, 0xfe, 0xc7, 0xff,
+ 0x00, 0x01, 0x1f, 0xfd,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0xc0, 0x01, 0x1f, 0xfd,
+ 0x12, 0x0a, 0x9a, 0x0e,
+ 0x04, 0x94, 0x68, 0x00,
+ 0x86, 0x05, 0xfb, 0x80,
+ 0x60, 0x10, 0x0e, 0x05,
+ 0xe1, 0x84, 0x06, 0x24,
+ 0xe0, 0x14, 0x0e, 0x15,
+ 0x81, 0x31, 0x06, 0x03,
+ 0x6f, 0xf4, 0x62, 0x28,
+ 0xf2, 0xa0, 0x42, 0x12,
+ 0x67, 0xfd, 0x00, 0x8a,
+ 0x41, 0xfe, 0xc7, 0xff,
+ 0x00, 0x01, 0x1f, 0xfd,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0xc0, 0x01, 0x1f, 0xfd,
+ 0x0c, 0x0c, 0xd8, 0x0e,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0xf8, 0x04, 0x04, 0x0c,
+ 0x84, 0x3b, 0x01, 0x01,
+ 0x46, 0x01, 0x8a, 0x06,
+ 0x8e, 0x06, 0xf0, 0x08,
+ 0x02, 0x0b, 0x8c, 0x06,
+ 0xa1, 0x0b, 0xe0, 0x50,
+ 0x02, 0xc5, 0x88, 0x45,
+ 0x06, 0x04, 0x60, 0x18,
+ 0x7f, 0x51, 0xe1, 0x84,
+ 0x86, 0x6b, 0xa6, 0x4b,
+ 0x4c, 0x40, 0x8a, 0xcd,
+ 0x18, 0x63, 0x9c, 0x00,
+ 0xff, 0xf8, 0x18, 0x0e,
+ 0xe0, 0x82, 0x4e, 0x6a,
+ 0xe0, 0x1c, 0x02, 0x65,
+ 0x4a, 0x72, 0x0a, 0x6d,
+ 0x46, 0x40, 0xfa, 0x30,
+ 0x0a, 0x52, 0x1c, 0x00,
+ 0x08, 0x56, 0xe9, 0xfc,
+ 0x40, 0x3a, 0x8c, 0x33,
+ 0x40, 0x02, 0xe0, 0x82,
+ 0x00, 0x02, 0xfa, 0x30,
+ 0x8a, 0x06, 0xe9, 0xfc,
+ 0xe0, 0x54, 0x02, 0x0b,
+ 0x88, 0x45, 0xa1, 0x0b,
+ 0x60, 0x20, 0x02, 0xc5,
+ 0xe1, 0x84, 0x06, 0x04,
+ 0xa6, 0x4b, 0x7f, 0x51,
+ 0x8a, 0xcd, 0x86, 0x6b,
+ 0x9c, 0x00, 0x4c, 0x40,
+ 0x60, 0x24, 0x02, 0xc5,
+ 0x4c, 0x6a, 0x98, 0x63,
+ 0x02, 0x0e, 0x60, 0x82,
+ 0x8a, 0xcd, 0xff, 0xf8,
+ 0x1c, 0x00, 0x46, 0x40,
+ 0xfa, 0x04, 0x4c, 0x62,
+ 0x0a, 0x62, 0x18, 0x33,
+ 0x40, 0x3a, 0xe9, 0xfc,
+ 0xc8, 0x56, 0xe0, 0x82,
+ 0xfa, 0x04, 0x40, 0x02,
+ 0xe9, 0xfc, 0x00, 0x02,
+ 0x0c, 0x0c, 0xca, 0x06,
+ 0xdd, 0x93, 0xf0, 0x04,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x89, 0x04, 0x84, 0x7a,
+ 0x04, 0x89, 0x86, 0x1a,
+ 0xd6, 0x58, 0xe0, 0x10,
+ 0x80, 0x7c, 0x88, 0x98,
+ 0xc8, 0xc8, 0x8a, 0x78,
+ 0x04, 0x29, 0xca, 0x68,
+ 0x02, 0x1c, 0xe0, 0x14,
+ 0xe1, 0x84, 0x02, 0x84,
+ 0x60, 0x10, 0x40, 0x51,
+ 0x0a, 0x24, 0x98, 0x13,
+ 0xc2, 0x17, 0x61, 0x84,
+ 0x02, 0x10, 0x0c, 0x53,
+ 0x40, 0x11, 0xec, 0x04,
+ 0xc2, 0x57, 0x60, 0x1c,
+ 0x6c, 0x04, 0x02, 0x50,
+ 0x40, 0x11, 0xc2, 0x87,
+ 0xc2, 0x27, 0x60, 0x20,
+ 0x60, 0x28, 0x40, 0x21,
+ 0x66, 0x40, 0x04, 0x40,
+ 0x06, 0x19, 0xc0, 0x03,
+ 0x81, 0x31, 0x60, 0x38,
+ 0xe0, 0x14, 0x40, 0x91,
+ 0xe0, 0x18, 0x40, 0x71,
+ 0xe0, 0x24, 0x40, 0x81,
+ 0x49, 0x48, 0x81, 0x95,
+ 0xec, 0x04, 0x0a, 0x30,
+ 0xec, 0x04, 0x02, 0x10,
+ 0x46, 0x40, 0xc9, 0x5d,
+ 0xa1, 0x1b, 0x9c, 0x00,
+ 0x40, 0x31, 0xfc, 0xf5,
+ 0x81, 0x01, 0x60, 0x2c,
+ 0xf0, 0x1c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xf0, 0x80, 0x46, 0x22,
+ 0xec, 0x70, 0x06, 0x39,
+ 0x86, 0xa5, 0xa1, 0x3b,
+ 0xe0, 0x3c, 0x04, 0x39,
+ 0xe6, 0x82, 0x40, 0x3a,
+ 0xf0, 0x80, 0x46, 0x22,
+ 0x6b, 0x71, 0x06, 0x39,
+ 0x06, 0x30, 0xc0, 0x05,
+ 0xe2, 0x3d, 0xec, 0x14,
+ 0xc2, 0x07, 0x84, 0x15,
+ 0x04, 0x03, 0x80, 0x23,
+ 0xc0, 0x02, 0x63, 0xb9,
+ 0x86, 0x12, 0x84, 0x22,
+ 0x41, 0x1a, 0x85, 0x0d,
+ 0x40, 0x0a, 0xe0, 0x04,
+ 0x00, 0x0c, 0xe1, 0x84,
+ 0xdd, 0x93, 0xe2, 0x00,
+ 0x81, 0x01, 0x5d, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x70, 0x1e, 0xf0,
+ 0x81, 0x61, 0x1d, 0x04,
+ 0x88, 0x8b, 0x7c, 0x5e,
+ 0x90, 0x1b, 0x7e, 0x1e,
+ 0x00, 0x06, 0x3e, 0x0e,
+ 0x8b, 0x6e, 0xe0, 0x04,
+ 0xe0, 0x38, 0x04, 0xb9,
+ 0x81, 0x45, 0x89, 0x6e,
+ 0x00, 0x00, 0x45, 0x6e,
+ 0xa1, 0x0b, 0xec, 0x04,
+ 0x7c, 0x04, 0xfe, 0x95,
+ 0x12, 0x20, 0x87, 0x41,
+ 0x40, 0x03, 0x65, 0x71,
+ 0xe6, 0x40, 0x14, 0x30,
+ 0x66, 0x41, 0x0e, 0x30,
+ 0x80, 0x6e, 0xc0, 0x03,
+ 0xc2, 0x6e, 0x82, 0x4e,
+ 0x00, 0x06, 0x40, 0x6e,
+ 0xbe, 0x14, 0xe0, 0x08,
+ 0x86, 0x4e, 0x84, 0x0e,
+ 0xc4, 0x6e, 0xc6, 0x6e,
+ 0x9c, 0x28, 0x85, 0xe5,
+ 0x86, 0xa5, 0xa1, 0x2b,
+ 0x00, 0x09, 0xfe, 0x04,
+ 0xc1, 0x2d, 0xe0, 0x10,
+ 0x3e, 0x14, 0x82, 0x45,
+ 0xe0, 0x08, 0x00, 0x46,
+ 0x87, 0x01, 0x04, 0x0e,
+ 0xa4, 0x08, 0x86, 0x0e,
+ 0xc6, 0x0e, 0xc4, 0x6e,
+ 0x06, 0xf0, 0x2a, 0x14,
+ 0x28, 0x04, 0xe4, 0x40,
+ 0x7f, 0xfd, 0x49, 0xfe,
+ 0x3c, 0x3e, 0xcf, 0xff,
+ 0x5e, 0x18, 0x81, 0x31,
+ 0x81, 0x51, 0x6f, 0xfc,
+ 0x81, 0x95, 0x89, 0x04,
+ 0x83, 0x01, 0x7c, 0x24,
+ 0x88, 0x0e, 0x87, 0x11,
+ 0xa4, 0x18, 0x8a, 0x1e,
+ 0xca, 0x1e, 0xc8, 0x6e,
+ 0x16, 0xb0, 0x61, 0x0e,
+ 0x02, 0x91, 0xec, 0x04,
+ 0x82, 0x71, 0x90, 0xa1,
+ 0xf4, 0x55, 0xa1, 0xbb,
+ 0xb8, 0xf1, 0x7c, 0x04,
+ 0xa1, 0x0b, 0x80, 0x04,
+ 0xc0, 0x08, 0x4c, 0x96,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0x88, 0x6b, 0x0a, 0x9b,
+ 0x80, 0xbb, 0x06, 0x7b,
+ 0x64, 0xd1, 0x00, 0x90,
+ 0x84, 0x8b, 0x40, 0x01,
+ 0x08, 0x90, 0x02, 0xab,
+ 0x3c, 0x0e, 0xe4, 0x90,
+ 0x64, 0x91, 0x0a, 0x90,
+ 0x0e, 0x2b, 0xc0, 0x01,
+ 0x78, 0x58, 0x8c, 0x3b,
+ 0xa1, 0x0b, 0xef, 0xfc,
+ 0x98, 0xf1, 0x80, 0xa5,
+ 0xf2, 0x7c, 0x0c, 0x0c,
+ 0x04, 0x90, 0xdd, 0x93,
+ 0x96, 0x0b, 0x64, 0x30,
+ 0x6f, 0xfc, 0x65, 0x88,
+ 0x7c, 0x8e, 0x8c, 0x1b,
+ 0xe4, 0x80, 0x10, 0x90,
+ 0x8c, 0x1b, 0x16, 0x0b,
+ 0x6f, 0xfc, 0x6b, 0x48,
+ 0x3c, 0x9e, 0x90, 0x2b,
+ 0x7c, 0x24, 0x96, 0x0b,
+ 0x0e, 0x3b, 0x94, 0x1b,
+ 0x70, 0x18, 0x8c, 0x4b,
+ 0x90, 0x5b, 0x6f, 0xfc,
+ 0x0c, 0x0c, 0x98, 0xf1,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x1c, 0x04, 0x4c,
+ 0x82, 0x9b, 0x04, 0x8b,
+ 0x86, 0x7b, 0x08, 0x6b,
+ 0x6f, 0x48, 0x10, 0x19,
+ 0x67, 0x60, 0x04, 0x80,
+ 0x12, 0x09, 0xc0, 0x03,
+ 0x8c, 0x3b, 0x60, 0x10,
+ 0xe8, 0x04, 0x59, 0x68,
+ 0xe0, 0x10, 0x0e, 0x05,
+ 0xe0, 0x34, 0x0e, 0x1b,
+ 0xef, 0x48, 0x10, 0x29,
+ 0xe0, 0x10, 0x12, 0x39,
+ 0xe0, 0x8c, 0x0e, 0x49,
+ 0x81, 0x01, 0x18, 0x0e,
+ 0x4c, 0x21, 0xd8, 0x1c,
+ 0x4c, 0x31, 0xe0, 0x18,
+ 0x4c, 0x41, 0xe0, 0x1c,
+ 0x0c, 0x4c, 0xe0, 0x20,
+ 0xdd, 0x93, 0xf2, 0x1c,
+ 0xfa, 0x7c, 0x04, 0x4c,
+ 0x81, 0xb1, 0x13, 0xa4,
+ 0x6e, 0x40, 0x02, 0x22,
+ 0x11, 0x74, 0x88, 0x8b,
+ 0x28, 0x5e, 0x86, 0x6b,
+ 0x0f, 0xbe, 0x81, 0x91,
+ 0x81, 0x55, 0x81, 0x21,
+ 0x82, 0x21, 0x41, 0x34,
+ 0xfa, 0x24, 0x52, 0x32,
+ 0xfe, 0x75, 0xc3, 0x2d,
+ 0x41, 0xfe, 0xa0, 0x9d,
+ 0x80, 0x3f, 0x1f, 0xfd,
+ 0x80, 0x00, 0x54, 0x05,
+ 0x06, 0xf0, 0x90, 0x05,
+ 0x92, 0x0b, 0x64, 0x70,
+ 0x90, 0x2b, 0x0a, 0x1b,
+ 0xe8, 0x34, 0x5e, 0x48,
+ 0x8e, 0x15, 0xa1, 0x0b,
+ 0x90, 0x1b, 0x12, 0x0b,
+ 0x68, 0x34, 0x61, 0x48,
+ 0xa1, 0x0b, 0x8e, 0x2b,
+ 0x8f, 0x84, 0x8c, 0x35,
+ 0x54, 0xb5, 0xa1, 0x8b,
+ 0x40, 0x96, 0x00, 0x00,
+ 0x8a, 0x45, 0x80, 0x08,
+ 0x98, 0x1a, 0x9c, 0x04,
+ 0xc7, 0x07, 0x9a, 0x2a,
+ 0x80, 0x95, 0xc3, 0x0d,
+ 0x81, 0x01, 0x44, 0x0d,
+ 0x40, 0x12, 0x88, 0x25,
+ 0x04, 0x06, 0x70, 0x88,
+ 0x42, 0xb2, 0xff, 0x40,
+ 0x81, 0x31, 0x72, 0xac,
+ 0xef, 0xf4, 0x4e, 0x28,
+ 0x60, 0xfc, 0x04, 0x14,
+ 0x24, 0x0f, 0xc3, 0x07,
+ 0x01, 0x31, 0xc3, 0x17,
+ 0x44, 0x38, 0x90, 0x2b,
+ 0x04, 0x04, 0xef, 0xf4,
+ 0xff, 0x31, 0x60, 0xa0,
+ 0xd0, 0x17, 0x71, 0x07,
+ 0xa2, 0x0f, 0x07, 0x2b,
+ 0x1f, 0xfc, 0x45, 0xfe,
+ 0x45, 0xfe, 0xa1, 0x0b,
+ 0xa8, 0x2e, 0xdf, 0xfc,
+ 0x0c, 0x4c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x84, 0x03, 0x04, 0x13,
+ 0x61, 0x8a, 0x40, 0x0a,
+ 0x42, 0x1a, 0x82, 0x11,
+ 0x04, 0x20, 0x61, 0x8a,
+ 0x18, 0x04, 0xec, 0x04,
+ 0x0c, 0x04, 0x60, 0x88,
+ 0x08, 0xc5, 0xe0, 0x8c,
+ 0x4e, 0x52, 0x7c, 0x30,
+ 0x0a, 0x65, 0xf0, 0x98,
+ 0x85, 0x0d, 0x7c, 0x18,
+ 0xca, 0xc7, 0x9e, 0x84,
+ 0x12, 0xc4, 0xa6, 0xc3,
+ 0x8c, 0xc3, 0x61, 0x7c,
+ 0xf2, 0xa0, 0x4c, 0x92,
+ 0x0c, 0x04, 0x1e, 0x6e,
+ 0x1c, 0xce, 0xe0, 0x84,
+ 0x0c, 0xcb, 0x8a, 0x63,
+ 0x00, 0x06, 0x69, 0x00,
+ 0x00, 0x00, 0x80, 0x00,
+ 0x83, 0x0b, 0xc4, 0x04,
+ 0x4c, 0xc3, 0x82, 0xc1,
+ 0xf6, 0xd5, 0xe9, 0x00,
+ 0xf0, 0x1c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x61, 0xfc, 0x18, 0x24,
+ 0x04, 0xc3, 0xa2, 0x03,
+ 0x03, 0xc7, 0x86, 0x03,
+ 0x0b, 0xc4, 0x81, 0x81,
+ 0x4c, 0x0a, 0xb8, 0x03,
+ 0x00, 0x34, 0x61, 0x8e,
+ 0x09, 0x04, 0xe0, 0x88,
+ 0xf0, 0x80, 0x4e, 0x42,
+ 0x0c, 0x13, 0x94, 0x8e,
+ 0x42, 0x1a, 0xc4, 0x67,
+ 0x88, 0x63, 0x61, 0x8e,
+ 0xb0, 0x8e, 0x80, 0x8e,
+ 0xc4, 0x17, 0x02, 0x23,
+ 0x61, 0x8e, 0x46, 0x2a,
+ 0xf0, 0x84, 0x44, 0x42,
+ 0x42, 0x42, 0xc4, 0x37,
+ 0x06, 0x70, 0x70, 0x8c,
+ 0x82, 0x7b, 0xec, 0x10,
+ 0x14, 0x94, 0xd9, 0x84,
+ 0x10, 0x93, 0xc6, 0x6d,
+ 0xdc, 0x00, 0x4c, 0x40,
+ 0xdd, 0x84, 0x94, 0x9e,
+ 0xc6, 0x7d, 0x30, 0x94,
+ 0x4e, 0x40, 0x10, 0x93,
+ 0x30, 0x9e, 0xdc, 0x00,
+ 0xfc, 0x35, 0x85, 0x6b,
+ 0xc9, 0xc4, 0x80, 0x54,
+ 0x98, 0x53, 0xc6, 0x2d,
+ 0x44, 0x40, 0x00, 0x5e,
+ 0x83, 0x2b, 0xdc, 0x00,
+ 0x0c, 0x0c, 0xfe, 0x35,
+ 0xdd, 0x93, 0xf0, 0x1c,
+ 0xfe, 0x7c, 0x04, 0x0c,
+ 0xec, 0x40, 0x1e, 0xf0,
+ 0x4c, 0x42, 0x08, 0x13,
+ 0x4c, 0x6a, 0xf0, 0x80,
+ 0x82, 0x11, 0x61, 0x92,
+ 0x61, 0x92, 0x42, 0x1a,
+ 0xe0, 0x88, 0x18, 0x44,
+ 0xd6, 0x07, 0x7e, 0x3e,
+ 0xc4, 0x67, 0x19, 0x34,
+ 0x4f, 0xfe, 0x44, 0x17,
+ 0xc0, 0x01, 0x7f, 0xfd,
+ 0x52, 0x52, 0x0a, 0xc3,
+ 0x3e, 0x3e, 0xf0, 0x84,
+ 0xf0, 0x98, 0x54, 0x52,
+ 0x06, 0xc0, 0x0c, 0x7e,
+ 0x7c, 0x5e, 0xec, 0x10,
+ 0xfc, 0xa8, 0x16, 0x04,
+ 0x81, 0xc1, 0x01, 0x41,
+ 0x81, 0x11, 0x01, 0x81,
+ 0xe9, 0x64, 0x83, 0xf5,
+ 0xc6, 0xad, 0x7e, 0x04,
+ 0x1e, 0xa5, 0xca, 0x67,
+ 0x4e, 0x62, 0x40, 0x08,
+ 0x21, 0x7d, 0xf1, 0x80,
+ 0x0c, 0x06, 0x8e, 0x6b,
+ 0xa0, 0x2d, 0x40, 0x00,
+ 0x9c, 0x00, 0x4c, 0x70,
+ 0x61, 0x7c, 0x0e, 0x64,
+ 0x40, 0x6a, 0x8c, 0x43,
+ 0x58, 0x72, 0x64, 0x2e,
+ 0x4c, 0x6a, 0xf2, 0xb0,
+ 0x80, 0x83, 0xe4, 0xae,
+ 0x72, 0x84, 0x42, 0x62,
+ 0x64, 0x00, 0x16, 0xb0,
+ 0x93, 0xab, 0xc0, 0x08,
+ 0x18, 0xca, 0xf8, 0x35,
+ 0x18, 0x1a, 0xe0, 0x00,
+ 0x08, 0x2a, 0xe0, 0x00,
+ 0x42, 0x0a, 0xe0, 0x00,
+ 0x42, 0x1a, 0xe5, 0x80,
+ 0x42, 0x0a, 0xe1, 0x88,
+ 0x08, 0x45, 0xed, 0x80,
+ 0x80, 0x08, 0x40, 0x96,
+ 0x61, 0x84, 0x00, 0x44,
+ 0xe0, 0xfc, 0x04, 0xc4,
+ 0x04, 0xc4, 0x24, 0x0f,
+ 0x10, 0x03, 0xe1, 0x84,
+ 0x42, 0x12, 0x98, 0x3b,
+ 0x88, 0x2b, 0x72, 0x88,
+ 0xef, 0xf0, 0x69, 0x48,
+ 0xe0, 0x00, 0x03, 0x4a,
+ 0x02, 0x1a, 0x3e, 0x14,
+ 0x00, 0x6a, 0xe0, 0x00,
+ 0x42, 0x0a, 0xe0, 0x00,
+ 0x42, 0x1a, 0xe5, 0x80,
+ 0x42, 0x0a, 0xe1, 0x88,
+ 0x00, 0x06, 0xed, 0x80,
+ 0x04, 0x0e, 0xc0, 0x00,
+ 0xa0, 0xf1, 0x81, 0x01,
+ 0xf6, 0x7c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xf8, 0x7c, 0x04, 0x0c,
+ 0x4c, 0x52, 0x0d, 0x04,
+ 0x0c, 0x23, 0xf0, 0x80,
+ 0xf0, 0x94, 0x4e, 0x12,
+ 0x61, 0x96, 0x58, 0x2a,
+ 0xec, 0x04, 0x10, 0x50,
+ 0xc4, 0x87, 0x02, 0x71,
+ 0x18, 0x33, 0x8f, 0x24,
+ 0x46, 0x3a, 0xc4, 0xc7,
+ 0x42, 0x02, 0x61, 0x96,
+ 0x4c, 0x6a, 0xf0, 0xb0,
+ 0x82, 0x9b, 0x61, 0x96,
+ 0x61, 0x96, 0x4e, 0x7a,
+ 0xc4, 0x37, 0x81, 0x51,
+ 0x70, 0x8c, 0x58, 0x02,
+ 0xf0, 0xa0, 0x46, 0x02,
+ 0xe5, 0xa4, 0x81, 0x65,
+ 0x94, 0x53, 0xc6, 0x9d,
+ 0xdc, 0x00, 0x52, 0x00,
+ 0xfe, 0x55, 0x99, 0x9b,
+ 0xa3, 0x4d, 0x44, 0x67,
+ 0xc4, 0x77, 0x04, 0x63,
+ 0x80, 0x00, 0x0c, 0x95,
+ 0x52, 0x92, 0x02, 0x65,
+ 0xff, 0x91, 0x90, 0x94,
+ 0x60, 0x24, 0x49, 0x1a,
+ 0x0c, 0x95, 0x8a, 0x9b,
+ 0x52, 0x92, 0xa0, 0x00,
+ 0x18, 0x9e, 0xb1, 0x94,
+ 0x04, 0x83, 0x84, 0x73,
+ 0x83, 0xd5, 0xff, 0x91,
+ 0xc5, 0xb4, 0xf1, 0xa4,
+ 0x4a, 0xa2, 0x8a, 0xa3,
+ 0x0c, 0xa5, 0xf1, 0xac,
+ 0x02, 0x45, 0x80, 0x00,
+ 0x90, 0x94, 0x54, 0xa2,
+ 0x60, 0x24, 0x49, 0x1a,
+ 0x0c, 0xa5, 0x8a, 0xab,
+ 0x54, 0xa2, 0xa0, 0x00,
+ 0x18, 0xae, 0xb1, 0x94,
+ 0xe4, 0x0c, 0x59, 0x1a,
+ 0x3c, 0x01, 0x58, 0x00,
+ 0x43, 0x1a, 0x40, 0x00,
+ 0x42, 0x00, 0xe4, 0x0c,
+ 0xc0, 0x00, 0x3c, 0x01,
+ 0x64, 0x10, 0x14, 0x60,
+ 0x55, 0x1a, 0x84, 0x6b,
+ 0x4c, 0xa0, 0xe4, 0x20,
+ 0x4c, 0x1a, 0xbc, 0x00,
+ 0x3d, 0xb8, 0xe0, 0x1c,
+ 0xc3, 0xff, 0x3f, 0xfd,
+ 0x0c, 0x0c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf0, 0x7c,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0xca, 0x37, 0x00, 0x8b,
+ 0xe1, 0xfc, 0x14, 0x84,
+ 0x00, 0xa4, 0x90, 0xa3,
+ 0x80, 0x33, 0xe1, 0x04,
+ 0x60, 0xa2, 0x40, 0x3a,
+ 0xe1, 0x7c, 0x06, 0x54,
+ 0x61, 0x7c, 0x18, 0x04,
+ 0x56, 0xc2, 0xaa, 0x03,
+ 0x46, 0x02, 0xf3, 0x8c,
+ 0x17, 0x34, 0xf9, 0xac,
+ 0x41, 0xfe, 0xa1, 0x3b,
+ 0x00, 0x01, 0x1f, 0xfd,
+ 0x80, 0x08, 0x4e, 0x96,
+ 0x0a, 0x44, 0x90, 0x05,
+ 0xa4, 0x43, 0x61, 0x7c,
+ 0x61, 0x7c, 0x18, 0x24,
+ 0x4a, 0x52, 0xff, 0x21,
+ 0x81, 0x71, 0x73, 0xb0,
+ 0x44, 0x72, 0x04, 0x5d,
+ 0x3e, 0x1e, 0xf1, 0x80,
+ 0x12, 0x44, 0x80, 0xcb,
+ 0xe0, 0x57, 0x61, 0xc0,
+ 0x1c, 0x00, 0x58, 0x20,
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+ 0xe8, 0x30, 0x4e, 0xe8,
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+ 0x42, 0x12, 0x7e, 0x35,
+ 0x88, 0xc1, 0xd0, 0xac,
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+ 0x54, 0x60, 0x46, 0xb2,
+ 0xfc, 0x15, 0xdc, 0x00,
+ 0xe1, 0x84, 0x18, 0x04,
+ 0x42, 0x5a, 0x02, 0xc3,
+ 0x40, 0xca, 0xe6, 0x96,
+ 0x0c, 0x0c, 0xe0, 0x02,
+ 0x81, 0x35, 0xf0, 0x7c,
+ 0xc1, 0xc3, 0x8b, 0x45,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x48, 0x0a, 0x08, 0x6b,
+ 0x40, 0x0a, 0xe5, 0x06,
+ 0x0a, 0x24, 0x65, 0x86,
+ 0x02, 0x44, 0xe1, 0x84,
+ 0xe8, 0x47, 0x61, 0xb0,
+ 0x18, 0x34, 0x68, 0x07,
+ 0x20, 0x1f, 0xe1, 0x84,
+ 0xe0, 0xfc, 0x00, 0x34,
+ 0x40, 0x42, 0xa0, 0x5f,
+ 0x41, 0xb8, 0xf0, 0x94,
+ 0x42, 0x12, 0x6f, 0xec,
+ 0x04, 0x06, 0xf2, 0xb0,
+ 0x40, 0x40, 0x60, 0x01,
+ 0x84, 0x03, 0xff, 0x31,
+ 0x81, 0x31, 0x07, 0x0b,
+ 0x72, 0x8c, 0x42, 0x12,
+ 0x9f, 0xfc, 0x41, 0xfe,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0x40, 0x0a, 0xdf, 0xfc,
+ 0x02, 0x04, 0xf0, 0x0a,
+ 0x84, 0x13, 0xe1, 0x84,
+ 0xe0, 0x02, 0x40, 0x1a,
+ 0x81, 0x01, 0x18, 0x0e,
+ 0xf2, 0x00, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x60, 0x14, 0x44, 0x01,
+ 0x08, 0x3c, 0x81, 0x31,
+ 0x0a, 0x3c, 0xaf, 0x41,
+ 0xfc, 0x00, 0x06, 0x14,
+ 0x60, 0x18, 0x44, 0x01,
+ 0xe4, 0x1c, 0x00, 0x30,
+ 0x60, 0x1c, 0x44, 0x01,
+ 0xec, 0x04, 0x00, 0x30,
+ 0x60, 0x20, 0x44, 0x01,
+ 0x44, 0x41, 0xc2, 0x17,
+ 0x83, 0x01, 0x60, 0x10,
+ 0xe0, 0x24, 0x44, 0x11,
+ 0xe0, 0x28, 0x44, 0x11,
+ 0xe0, 0x2c, 0x44, 0x01,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x04, 0x2e, 0x00, 0x38,
+ 0xa1, 0x3b, 0xff, 0xfc,
+ 0x82, 0x08, 0x84, 0x45,
+ 0x82, 0xe5, 0xa1, 0x0b,
+ 0x71, 0x80, 0x48, 0x22,
+ 0x26, 0x23, 0x90, 0x01,
+ 0x40, 0x00, 0x90, 0x31,
+ 0x40, 0x01, 0x73, 0xc1,
+ 0x73, 0xc1, 0x46, 0x30,
+ 0x06, 0x23, 0xc0, 0x01,
+ 0x81, 0x35, 0x88, 0x03,
+ 0xff, 0xfc, 0x00, 0x2e,
+ 0x86, 0x0e, 0x84, 0x2e,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x50, 0x1e, 0xf0,
+ 0x86, 0x7b, 0x09, 0x0e,
+ 0x61, 0x84, 0x00, 0x14,
+ 0xe0, 0xac, 0x06, 0x74,
+ 0x88, 0x6b, 0x20, 0x23,
+ 0x84, 0x13, 0x86, 0x23,
+ 0xe1, 0x0e, 0x40, 0x1a,
+ 0xe1, 0x0e, 0x42, 0x2a,
+ 0xe1, 0xac, 0x04, 0x04,
+ 0x61, 0x1e, 0x56, 0x2a,
+ 0xe1, 0xac, 0x04, 0x14,
+ 0xe1, 0x1e, 0x50, 0x2a,
+ 0xe4, 0x04, 0x04, 0xb0,
+ 0x61, 0x1e, 0x54, 0x2a,
+ 0xe0, 0x80, 0x04, 0x06,
+ 0x06, 0x84, 0x22, 0x23,
+ 0x06, 0x23, 0xe0, 0xac,
+ 0xf1, 0x84, 0x42, 0x02,
+ 0x04, 0xb4, 0x7c, 0x2e,
+ 0x7e, 0x1e, 0xe0, 0xac,
+ 0x3e, 0x0e, 0xa4, 0x03,
+ 0x85, 0xb5, 0x90, 0x9b,
+ 0x82, 0x35, 0x91, 0x9b,
+ 0xe0, 0x2c, 0x52, 0x1a,
+ 0xa0, 0x10, 0x1e, 0x05,
+ 0xa0, 0x0c, 0x1e, 0x15,
+ 0xa0, 0x00, 0x01, 0x68,
+ 0xe0, 0x20, 0x52, 0x1a,
+ 0xa0, 0x00, 0x00, 0x88,
+ 0x52, 0x1a, 0x09, 0x04,
+ 0x00, 0xf8, 0xe0, 0x2c,
+ 0xc0, 0x00, 0x20, 0x01,
+ 0x80, 0x10, 0x1e, 0x05,
+ 0x80, 0x08, 0x1e, 0x15,
+ 0x17, 0x9b, 0x80, 0xc5,
+ 0x80, 0xb5, 0x81, 0x01,
+ 0xbe, 0x14, 0x89, 0x04,
+ 0xe8, 0x00, 0x4b, 0x08,
+ 0x60, 0x88, 0x02, 0x94,
+ 0x0c, 0x25, 0x82, 0x91,
+ 0x8c, 0x13, 0x7c, 0x04,
+ 0xe1, 0x1e, 0x52, 0x9a,
+ 0x84, 0x2e, 0x80, 0x23,
+ 0xf4, 0xb5, 0x95, 0x9b,
+ 0xa8, 0xf1, 0x01, 0x01,
+ 0xf2, 0x7c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x1c, 0x04, 0x4c,
+ 0x84, 0x7b, 0x02, 0x8b,
+ 0x86, 0x6b, 0x00, 0x9b,
+ 0x00, 0x06, 0x1c, 0x14,
+ 0xe0, 0x24, 0xe0, 0x80,
+ 0x43, 0x38, 0xa4, 0x34,
+ 0xa0, 0x44, 0xe8, 0x00,
+ 0x9e, 0x14, 0x98, 0x0e,
+ 0x88, 0x0b, 0x60, 0x24,
+ 0x42, 0xb8, 0xa4, 0x34,
+ 0x9a, 0x0e, 0xe8, 0x00,
+ 0xf2, 0x1c, 0x0c, 0x4c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x82, 0x8b, 0x04, 0x7b,
+ 0x60, 0x24, 0x0e, 0x19,
+ 0x10, 0x49, 0x83, 0x21,
+ 0x86, 0x6b, 0x60, 0x24,
+ 0x60, 0x28, 0x0e, 0x59,
+ 0x1c, 0x04, 0x80, 0x9b,
+ 0x22, 0x34, 0xa3, 0x2f,
+ 0xe0, 0x90, 0x02, 0x44,
+ 0x68, 0x2c, 0x48, 0x88,
+ 0xe8, 0x94, 0x14, 0x24,
+ 0x9c, 0x24, 0xa4, 0x14,
+ 0x22, 0x34, 0x98, 0x0e,
+ 0x04, 0x0b, 0xcf, 0x17,
+ 0x47, 0xd8, 0x94, 0x2b,
+ 0x1a, 0x0e, 0xe8, 0x2c,
+ 0x0c, 0x0c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0xfa, 0x0c, 0x04, 0x0c,
+ 0x40, 0x3a, 0x00, 0x6b,
+ 0x02, 0x7b, 0xe5, 0x0a,
+ 0xe5, 0x8a, 0x42, 0x3a,
+ 0x00, 0x00, 0x01, 0x81,
+ 0xc0, 0x01, 0x67, 0xd1,
+ 0x72, 0xa0, 0x42, 0x12,
+ 0xe0, 0x3c, 0x44, 0x86,
+ 0x6f, 0xe8, 0x71, 0x48,
+ 0x7f, 0x21, 0x81, 0x31,
+ 0x85, 0x0b, 0x81, 0x31,
+ 0x1f, 0xfc, 0x41, 0xfe,
+ 0x41, 0xfe, 0xa1, 0x1b,
+ 0x42, 0x7a, 0xdf, 0xfc,
+ 0x44, 0x7a, 0xe5, 0x02,
+ 0x00, 0x64, 0x65, 0x82,
+ 0x82, 0x03, 0xe0, 0x9c,
+ 0x72, 0xa0, 0x42, 0x22,
+ 0xe0, 0xa0, 0x04, 0x64,
+ 0xef, 0xe8, 0x6f, 0xe8,
+ 0x7f, 0xfd, 0x45, 0xfe,
+ 0xc5, 0x0d, 0xc0, 0x3f,
+ 0x1f, 0xfd, 0x41, 0xfe,
+ 0xa1, 0x1b, 0x00, 0x3f,
+ 0x1f, 0xfd, 0x41, 0xfe,
+ 0x0c, 0x0c, 0xc0, 0x3f,
+ 0xdd, 0x93, 0xf2, 0x0c,
+ 0xa1, 0x1b, 0x00, 0x5b,
+ 0x60, 0x08, 0x40, 0x96,
+ 0x64, 0x00, 0x18, 0x50,
+ 0x00, 0x06, 0xc0, 0x80,
+ 0x07, 0x0a, 0x40, 0x00,
+ 0x40, 0xc6, 0xe6, 0x40,
+ 0x19, 0x0a, 0x40, 0x00,
+ 0xc0, 0xff, 0x67, 0xfc,
+ 0xc0, 0x00, 0x40, 0xc6,
+ 0x5c, 0x08, 0xa1, 0x0b,
+ 0x18, 0x14, 0xda, 0x00,
+ 0xa1, 0x5d, 0x61, 0xfc,
+ 0xe0, 0x57, 0x02, 0xc3,
+ 0xd6, 0x37, 0x03, 0xc7,
+ 0xd1, 0x80, 0x18, 0xc4,
+ 0x42, 0xca, 0x8a, 0xc3,
+ 0x84, 0x13, 0xe0, 0x86,
+ 0xe0, 0x00, 0x02, 0x12,
+ 0xe1, 0x0e, 0x42, 0x1a,
+ 0xdd, 0x93, 0x90, 0x1e,
+ 0x65, 0x06, 0x44, 0x0a,
+ 0x42, 0x0a, 0x81, 0x31,
+ 0x00, 0x20, 0xe5, 0x86,
+ 0xc0, 0x04, 0x64, 0x01,
+ 0xf2, 0x8c, 0x42, 0x12,
+ 0x5c, 0x08, 0xee, 0x1d,
+ 0x41, 0xfe, 0x5a, 0x00,
+ 0xc0, 0x3f, 0x1f, 0xfc,
+ 0xd7, 0x07, 0x6a, 0x17,
+ 0xa2, 0x0f, 0x5d, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x70, 0x1e, 0xf0,
+ 0x81, 0x61, 0x7e, 0x3e,
+ 0x88, 0xbb, 0x09, 0x2e,
+ 0xe0, 0x34, 0x04, 0x09,
+ 0x8d, 0x6e, 0xfc, 0x1e,
+ 0xe8, 0x0d, 0x3e, 0x0e,
+ 0x60, 0x24, 0x02, 0xa9,
+ 0xe0, 0x00, 0x40, 0xc6,
+ 0x15, 0x0a, 0x98, 0x15,
+ 0x96, 0xb5, 0xe6, 0x40,
+ 0x89, 0x04, 0xfc, 0x14,
+ 0x75, 0x18, 0xfe, 0x34,
+ 0x04, 0x10, 0x6f, 0xfc,
+ 0xa1, 0x0b, 0xe4, 0x30,
+ 0x7c, 0x04, 0x94, 0x95,
+ 0x89, 0x14, 0x96, 0x3b,
+ 0x72, 0xd8, 0xfe, 0x24,
+ 0x00, 0xb0, 0xef, 0xfc,
+ 0x81, 0x11, 0x64, 0x20,
+ 0x55, 0x1d, 0x81, 0x75,
+ 0x16, 0x25, 0x81, 0x21,
+ 0x82, 0x11, 0x40, 0x04,
+ 0x02, 0x0a, 0xc1, 0x2e,
+ 0xfe, 0x15, 0xe2, 0x40,
+ 0x89, 0x11, 0x7e, 0x04,
+ 0xb0, 0x01, 0x01, 0x75,
+ 0x78, 0x10, 0x40, 0x65,
+ 0xec, 0x04, 0x02, 0x10,
+ 0xa1, 0x1b, 0xc1, 0x6e,
+ 0x09, 0x74, 0xfe, 0x55,
+ 0x7e, 0x84, 0x90, 0xb1,
+ 0xbc, 0xbe, 0x81, 0x01,
+ 0xc0, 0x71, 0x7c, 0x94,
+ 0xb0, 0x81, 0x05, 0xb5,
+ 0x8a, 0x75, 0xa1, 0x0b,
+ 0x90, 0x6b, 0x0b, 0x6e,
+ 0x89, 0x84, 0xfe, 0x14,
+ 0xf8, 0x10, 0x0e, 0x25,
+ 0xa0, 0x04, 0x86, 0x14,
+ 0x73, 0xd8, 0xa4, 0x34,
+ 0x22, 0x24, 0xef, 0xfc,
+ 0x1c, 0x04, 0x80, 0xbb,
+ 0xe4, 0x60, 0x08, 0xf0,
+ 0x60, 0x10, 0x12, 0x15,
+ 0x76, 0x98, 0x94, 0x3b,
+ 0x8c, 0x8b, 0x6f, 0xfc,
+ 0x82, 0x95, 0xa1, 0x0b,
+ 0x78, 0x10, 0x50, 0xb5,
+ 0x8d, 0x24, 0x94, 0x3b,
+ 0x89, 0x04, 0xa0, 0x2e,
+ 0x00, 0x14, 0xbc, 0x44,
+ 0x68, 0x78, 0x96, 0x0b,
+ 0x0b, 0x64, 0xef, 0xfc,
+ 0x88, 0x81, 0x88, 0x71,
+ 0xbe, 0x14, 0x82, 0x61,
+ 0xf4, 0xb5, 0xc3, 0x6d,
+ 0x0c, 0x0c, 0xb8, 0xf1,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0x80, 0x6b, 0x06, 0x4a,
+ 0x04, 0xc9, 0x84, 0x0a,
+ 0x4c, 0x45, 0xe0, 0xc0,
+ 0x02, 0x49, 0xed, 0xac,
+ 0x4c, 0x05, 0xe0, 0x20,
+ 0xc4, 0x0a, 0xed, 0xa8,
+ 0xee, 0x24, 0x4c, 0x45,
+ 0xe0, 0xcc, 0x04, 0x49,
+ 0xed, 0xb0, 0x4c, 0x05,
+ 0xe0, 0xc8, 0x04, 0x09,
+ 0xe0, 0xc4, 0x04, 0x79,
+ 0xed, 0xc0, 0x4c, 0x45,
+ 0xe0, 0xd0, 0x04, 0x41,
+ 0xed, 0xbc, 0x4c, 0x05,
+ 0xe0, 0x2c, 0x04, 0x05,
+ 0xed, 0xb4, 0x4c, 0xc5,
+ 0xed, 0xb8, 0x4c, 0x75,
+ 0xe0, 0xd4, 0x04, 0xc1,
+ 0xe0, 0xd8, 0x04, 0x71,
+ 0xed, 0xc4, 0x4c, 0x45,
+ 0xe0, 0xe0, 0x04, 0x49,
+ 0xee, 0x28, 0x4c, 0x05,
+ 0xe0, 0xdc, 0x04, 0x01,
+ 0xed, 0xc8, 0x4c, 0xc5,
+ 0xed, 0xcc, 0x4c, 0x75,
+ 0xed, 0xd4, 0x4c, 0x45,
+ 0xe0, 0xf0, 0x04, 0x49,
+ 0xe0, 0xe4, 0x04, 0xc9,
+ 0xe0, 0xec, 0x04, 0x79,
+ 0xed, 0xd0, 0x4c, 0x05,
+ 0xe0, 0xe8, 0x04, 0x09,
+ 0xed, 0xe4, 0x4c, 0x45,
+ 0xed, 0xd8, 0x4c, 0xc5,
+ 0xed, 0xe0, 0x4c, 0x75,
+ 0x8a, 0xc4, 0x88, 0x44,
+ 0xca, 0x84, 0xc8, 0x74,
+ 0xe0, 0xf8, 0x04, 0x91,
+ 0xe0, 0xfc, 0x04, 0xa1,
+ 0x6d, 0xdc, 0x4c, 0x05,
+ 0x4c, 0xc5, 0x81, 0x01,
+ 0x4c, 0x75, 0xed, 0xf0,
+ 0x4c, 0x85, 0xed, 0xf4,
+ 0x4c, 0x95, 0xed, 0xf8,
+ 0x4c, 0xa5, 0xee, 0x48,
+ 0x4c, 0x05, 0xee, 0x4c,
+ 0x4c, 0x45, 0xed, 0xe8,
+ 0x06, 0x45, 0xed, 0xec,
+ 0x04, 0xc5, 0xe0, 0x34,
+ 0x04, 0x75, 0xe0, 0x10,
+ 0x4c, 0x45, 0xe0, 0x14,
+ 0x06, 0x45, 0xee, 0x50,
+ 0x04, 0x85, 0xe0, 0x38,
+ 0x04, 0x95, 0xe0, 0x18,
+ 0x04, 0xa5, 0xe0, 0x1c,
+ 0x4c, 0xc5, 0xe0, 0x20,
+ 0x4c, 0x75, 0xee, 0x70,
+ 0x4c, 0x95, 0xee, 0x74,
+ 0x4c, 0xa5, 0xee, 0x7c,
+ 0x83, 0xa1, 0x6e, 0x80,
+ 0xee, 0x54, 0x4c, 0x45,
+ 0xee, 0x78, 0x4c, 0x85,
+ 0x04, 0xc5, 0x8c, 0x44,
+ 0xa1, 0x94, 0xe0, 0x24,
+ 0xee, 0x84, 0x4c, 0x45,
+ 0xa4, 0x88, 0x8e, 0x44,
+ 0x4c, 0x45, 0x9b, 0x74,
+ 0xcc, 0x44, 0xee, 0x88,
+ 0x4c, 0x45, 0xa7, 0xb4,
+ 0xce, 0x44, 0xee, 0x8c,
+ 0xee, 0x90, 0x4c, 0x45,
+ 0xe0, 0x10, 0x06, 0x45,
+ 0xee, 0x94, 0x4c, 0x45,
+ 0xe0, 0x14, 0x06, 0x45,
+ 0xee, 0x98, 0x4c, 0x45,
+ 0xe0, 0x18, 0x06, 0x45,
+ 0xee, 0x9c, 0x4c, 0x45,
+ 0xe0, 0x1c, 0x06, 0x45,
+ 0xee, 0xa0, 0x4c, 0x45,
+ 0xe0, 0x20, 0x06, 0x45,
+ 0xee, 0xa4, 0x4c, 0x45,
+ 0xe0, 0x24, 0x06, 0x45,
+ 0xee, 0xa8, 0x4c, 0x45,
+ 0xe0, 0x28, 0x06, 0x45,
+ 0xee, 0xac, 0x4c, 0x45,
+ 0xe0, 0x2c, 0x06, 0x45,
+ 0xee, 0xb0, 0x4c, 0x45,
+ 0xe0, 0x30, 0x06, 0x35,
+ 0xee, 0xb8, 0x4c, 0xc5,
+ 0x4c, 0x35, 0x99, 0xc4,
+ 0x97, 0x34, 0xee, 0xb4,
+ 0x6d, 0x88, 0x4c, 0xc5,
+ 0x7f, 0xfc, 0x59, 0xe6,
+ 0x9f, 0x44, 0xc0, 0x20,
+ 0xed, 0x84, 0x4c, 0x35,
+ 0x4c, 0x85, 0xc8, 0x34,
+ 0x9d, 0x84, 0xed, 0x80,
+ 0x6d, 0x8c, 0x4c, 0x45,
+ 0x67, 0xfc, 0x04, 0x30,
+ 0x58, 0x2d, 0xc0, 0xff,
+ 0xe0, 0x08, 0x18, 0x06,
+ 0x01, 0x7c, 0x18, 0x34,
+ 0x23, 0x44, 0xff, 0x21,
+ 0x81, 0xc0, 0x18, 0xc4,
+ 0x6d, 0x94, 0x4c, 0x75,
+ 0x90, 0xb0, 0x46, 0x32,
+ 0x18, 0x34, 0x25, 0x34,
+ 0x4c, 0x85, 0x81, 0x40,
+ 0x0e, 0x60, 0x6d, 0x90,
+ 0xc0, 0x0d, 0x66, 0x00,
+ 0xee, 0x34, 0x4c, 0x55,
+ 0xee, 0x04, 0x4c, 0x25,
+ 0x95, 0x34, 0xfc, 0x3e,
+ 0x6d, 0xa4, 0x4c, 0xc5,
+ 0xff, 0xf4, 0x59, 0xce,
+ 0x6d, 0x9c, 0x4c, 0x45,
+ 0xff, 0xf8, 0x08, 0x8e,
+ 0x0c, 0x85, 0x99, 0x4b,
+ 0x50, 0x82, 0xcd, 0x9c,
+ 0x08, 0x40, 0x51, 0x90,
+ 0x50, 0xa1, 0xcc, 0x04,
+ 0xfc, 0xf5, 0xc0, 0x00,
+ 0x6e, 0x3c, 0x4c, 0x05,
+ 0x67, 0x00, 0x00, 0x60,
+ 0x4c, 0x05, 0xc0, 0x06,
+ 0x00, 0x60, 0x6d, 0x98,
+ 0xc0, 0x02, 0x65, 0x00,
+ 0x6e, 0x20, 0x4c, 0x35,
+ 0xe0, 0x80, 0x06, 0x8a,
+ 0x66, 0x01, 0x06, 0x60,
+ 0x50, 0xc6, 0x40, 0x04,
+ 0x4c, 0x65, 0xe0, 0x00,
+ 0x4c, 0x05, 0xed, 0xa0,
+ 0x4c, 0x35, 0xee, 0x2c,
+ 0x4c, 0x25, 0xee, 0x30,
+ 0x88, 0x75, 0xee, 0x14,
+ 0xed, 0xf8, 0x0c, 0x35,
+ 0xee, 0x28, 0x0c, 0x45,
+ 0x86, 0xb5, 0x87, 0x4d,
+ 0xed, 0xb4, 0x0c, 0x25,
+ 0xe4, 0x08, 0x00, 0x20,
+ 0xe1, 0x7c, 0x18, 0x04,
+ 0x98, 0x03, 0xfd, 0xc7,
+ 0x61, 0x08, 0x18, 0x04,
+ 0x58, 0x02, 0xa1, 0x01,
+ 0xa9, 0xcd, 0xf1, 0xb0,
+ 0xbe, 0xbe, 0x82, 0xd5,
+ 0xed, 0xc4, 0x0c, 0xc5,
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+ 0xf4, 0x20, 0x02, 0x8a,
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+ 0x7c, 0x24, 0x8c, 0xc3,
+ 0x42, 0xca, 0x8a, 0xc3,
+ 0xd1, 0x07, 0xf0, 0x0a,
+ 0xfa, 0x80, 0x00, 0x04,
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+ 0x02, 0x0a, 0xfc, 0x1c,
+ 0xc7, 0xff, 0x63, 0xfd,
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+ 0xe3, 0x90, 0x48, 0x11,
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+ 0x94, 0x24, 0x80, 0xe5,
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+ 0xc1, 0xc3, 0xdd, 0x93,
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+ 0xb3, 0x04, 0xbe, 0x0e,
+ 0xb1, 0x04, 0x8b, 0x0e,
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+ 0x8e, 0x03, 0x95, 0x04,
+ 0xe3, 0x90, 0x00, 0x09,
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+ 0x8e, 0x4b, 0x7c, 0x04,
+ 0x8b, 0x34, 0x89, 0x24,
+ 0xe0, 0x20, 0x00, 0x13,
+ 0xfe, 0x54, 0x95, 0x04,
+ 0xbe, 0x04, 0xbc, 0x0e,
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+ 0x82, 0x71, 0x97, 0x24,
+ 0xfa, 0x75, 0x8f, 0x2b,
+ 0xe0, 0x00, 0x39, 0x98,
+ 0xe0, 0x30, 0x02, 0x09,
+ 0xb5, 0xb4, 0x95, 0x14,
+ 0xa1, 0x0b, 0x1f, 0x0e,
+ 0x02, 0x10, 0x15, 0x01,
+ 0x1d, 0x0e, 0xe7, 0x90,
+ 0xc0, 0x00, 0x00, 0x46,
+ 0xc0, 0x38, 0x5e, 0x05,
+ 0x9b, 0x0e, 0xbd, 0x04,
+ 0x81, 0xa5, 0xb9, 0x04,
+ 0x04, 0x20, 0x04, 0x38,
+ 0xad, 0x3b, 0xec, 0x04,
+ 0x80, 0x38, 0x1e, 0x35,
+ 0x00, 0x00, 0x42, 0x31,
+ 0xa1, 0x2b, 0x82, 0x11,
+ 0x09, 0x94, 0xfc, 0xd5,
+ 0xe2, 0x00, 0x00, 0x2a,
+ 0x81, 0xa1, 0x0b, 0x74,
+ 0x60, 0x08, 0x0d, 0x06,
+ 0x40, 0x0a, 0x81, 0x31,
+ 0x96, 0x2b, 0x66, 0xa6,
+ 0x40, 0x09, 0x0c, 0x06,
+ 0x42, 0x0a, 0xc0, 0x00,
+ 0x40, 0x0a, 0xe5, 0x1e,
+ 0x02, 0x10, 0xe5, 0x9e,
+ 0xc0, 0x08, 0x64, 0x01,
+ 0x72, 0xa8, 0x40, 0x02,
+ 0xe8, 0x07, 0xd9, 0x17,
+ 0x81, 0x11, 0x22, 0x0f,
+ 0xef, 0xd8, 0x53, 0x28,
+ 0x66, 0xa6, 0x44, 0x6a,
+ 0x64, 0x00, 0x00, 0x00,
+ 0x42, 0x12, 0xc1, 0x00,
+ 0xe3, 0x07, 0x72, 0xa8,
+ 0x65, 0x1e, 0x46, 0x2a,
+ 0x44, 0x2a, 0xde, 0x17,
+ 0x4c, 0x02, 0x65, 0x9e,
+ 0x06, 0x30, 0xf9, 0x84,
+ 0x40, 0x08, 0x64, 0x01,
+ 0x40, 0x22, 0x81, 0x11,
+ 0xd9, 0x37, 0x72, 0xa8,
+ 0x96, 0x2b, 0x68, 0x07,
+ 0x81, 0x31, 0x26, 0x0f,
+ 0xef, 0xd8, 0x51, 0x68,
+ 0x00, 0x00, 0x17, 0x34,
+ 0xc1, 0x00, 0x64, 0x01,
+ 0x42, 0x12, 0x1b, 0x44,
+ 0x5e, 0x17, 0xf2, 0xa8,
+ 0x04, 0x34, 0xe3, 0x07,
+ 0xa2, 0x0f, 0x60, 0x88,
+ 0xa6, 0x1b, 0x08, 0x23,
+ 0x64, 0x01, 0x06, 0x40,
+ 0x04, 0x20, 0x40, 0x09,
+ 0xc0, 0x09, 0x64, 0x01,
+ 0x60, 0x08, 0x48, 0x86,
+ 0x11, 0xb4, 0x81, 0x51,
+ 0x85, 0x25, 0x81, 0xc1,
+ 0xa9, 0xbb, 0x15, 0xa4,
+ 0xfc, 0x10, 0x14, 0x73,
+ 0x14, 0x95, 0x8c, 0x7e,
+ 0x46, 0x95, 0xfc, 0x14,
+ 0x52, 0xa2, 0x60, 0xc0,
+ 0x12, 0xa9, 0xf1, 0xb0,
+ 0x46, 0xa5, 0xe3, 0x90,
+ 0x82, 0x95, 0xe1, 0x80,
+ 0x88, 0x7e, 0x8c, 0x73,
+ 0x0e, 0x75, 0x95, 0x74,
+ 0x44, 0x75, 0xfc, 0x14,
+ 0x12, 0x79, 0xe0, 0xc0,
+ 0x44, 0x75, 0xe3, 0x90,
+ 0x18, 0xc0, 0xe1, 0x80,
+ 0x84, 0x41, 0x6c, 0x04,
+ 0x88, 0x31, 0x08, 0x21,
+ 0x99, 0x1b, 0x88, 0x51,
+ 0x1f, 0x24, 0xf6, 0xd5,
+ 0x1b, 0x44, 0x81, 0x51,
+ 0x91, 0xb4, 0x81, 0xc1,
+ 0x60, 0x88, 0x06, 0x24,
+ 0x19, 0x3e, 0xa4, 0x1b,
+ 0x0f, 0x3e, 0x88, 0x33,
+ 0xe5, 0xe0, 0x04, 0x80,
+ 0x65, 0x81, 0x06, 0x30,
+ 0x08, 0x40, 0x40, 0x09,
+ 0xc0, 0x0a, 0x67, 0x81,
+ 0x08, 0x62, 0x85, 0x15,
+ 0xf0, 0x94, 0x52, 0x42,
+ 0x52, 0x65, 0xa9, 0xbb,
+ 0x10, 0x75, 0xf9, 0x80,
+ 0x52, 0x75, 0xfc, 0x14,
+ 0x4e, 0x82, 0x78, 0xc0,
+ 0x0e, 0xa9, 0xf1, 0xb0,
+ 0xa4, 0xae, 0xe2, 0x40,
+ 0x00, 0x63, 0x82, 0xb5,
+ 0xf0, 0x94, 0x52, 0x32,
+ 0x10, 0x65, 0xa4, 0x6e,
+ 0x52, 0x65, 0xfc, 0x14,
+ 0x0e, 0x69, 0xe0, 0xc0,
+ 0x52, 0x65, 0xe2, 0x40,
+ 0x18, 0xc0, 0xe1, 0x80,
+ 0x84, 0x21, 0x6c, 0x04,
+ 0x99, 0x1b, 0x88, 0x51,
+ 0x11, 0x04, 0xf6, 0xf5,
+ 0x17, 0x54, 0xff, 0x81,
+ 0x9f, 0x14, 0x81, 0x41,
+ 0x00, 0x4a, 0x1b, 0x34,
+ 0x00, 0x0c, 0xe0, 0x0c,
+ 0x04, 0x54, 0xe2, 0x00,
+ 0x00, 0x14, 0x68, 0x80,
+ 0x42, 0x0a, 0xe8, 0x80,
+ 0x81, 0x35, 0xe6, 0x8a,
+ 0x82, 0x41, 0x4d, 0x8e,
+ 0xfe, 0xb5, 0x83, 0x4d,
+ 0x0e, 0x04, 0x1b, 0x14,
+ 0x81, 0x41, 0xe0, 0x88,
+ 0x65, 0x81, 0x06, 0x10,
+ 0x93, 0x3e, 0xc0, 0x09,
+ 0x1b, 0xc4, 0x85, 0x95,
+ 0xe0, 0x88, 0x0a, 0x44,
+ 0x82, 0x9b, 0x13, 0x64,
+ 0x8a, 0xc3, 0x9f, 0xa4,
+ 0x66, 0x01, 0x0a, 0xc0,
+ 0x18, 0xc0, 0x40, 0x0a,
+ 0xc0, 0x09, 0x64, 0x01,
+ 0x94, 0xb4, 0x83, 0x65,
+ 0x82, 0xe5, 0xa1, 0xbb,
+ 0xe1, 0x80, 0x0c, 0xb5,
+ 0x82, 0x65, 0xa1, 0xbb,
+ 0x98, 0x34, 0xb0, 0xb4,
+ 0x16, 0xb4, 0xa6, 0xb3,
+ 0x17, 0x0a, 0xf0, 0x80,
+ 0xc0, 0x03, 0x60, 0x81,
+ 0x80, 0x00, 0x52, 0xb5,
+ 0x6c, 0x04, 0x14, 0xa0,
+ 0x88, 0x61, 0x88, 0x91,
+ 0xfa, 0x55, 0xa1, 0xab,
+ 0x82, 0x41, 0x17, 0x54,
+ 0x8b, 0x4b, 0x8e, 0x13,
+ 0x91, 0x14, 0xf4, 0xf5,
+ 0x0a, 0x48, 0xa9, 0x1b,
+ 0x03, 0x68, 0xc0, 0x00,
+ 0xc0, 0x00, 0x40, 0x01,
+ 0x66, 0x96, 0x42, 0x0a,
+ 0x9b, 0x34, 0x81, 0x41,
+ 0x05, 0xb5, 0xc4, 0x17,
+ 0x1b, 0x54, 0x86, 0x13,
+ 0xf0, 0x94, 0x46, 0x42,
+ 0xc4, 0x37, 0x13, 0x64,
+ 0x82, 0x9b, 0x1f, 0xa4,
+ 0x0a, 0x30, 0x8a, 0x33,
+ 0x40, 0x0a, 0x66, 0x01,
+ 0x64, 0x01, 0x18, 0x30,
+ 0x83, 0x65, 0xc0, 0x09,
+ 0xa1, 0x3b, 0x94, 0x34,
+ 0x0c, 0x35, 0x82, 0xe5,
+ 0xa1, 0x3b, 0xe1, 0x80,
+ 0xb0, 0x34, 0x82, 0x65,
+ 0xb6, 0x33, 0x98, 0xb4,
+ 0xf0, 0x80, 0x16, 0x34,
+ 0x60, 0x81, 0x17, 0x0a,
+ 0x52, 0xb5, 0xc0, 0x03,
+ 0x14, 0xa0, 0x80, 0x00,
+ 0x88, 0x91, 0x6c, 0x04,
+ 0xa1, 0xab, 0x88, 0x61,
+ 0x17, 0x54, 0xfa, 0x55,
+ 0x8e, 0x13, 0x82, 0x41,
+ 0xf4, 0xd5, 0x8b, 0x4b,
+ 0x1b, 0x14, 0x87, 0x45,
+ 0x99, 0x34, 0x81, 0x41,
+ 0x06, 0x10, 0x86, 0x13,
+ 0xc0, 0x09, 0x65, 0x81,
+ 0x85, 0x95, 0x93, 0x3e,
+ 0x0a, 0x44, 0x1b, 0xc4,
+ 0x13, 0x64, 0xe0, 0x88,
+ 0x9f, 0xa4, 0x82, 0x9b,
+ 0x0a, 0xc0, 0x8a, 0xc3,
+ 0x40, 0x0a, 0x66, 0x01,
+ 0x64, 0x01, 0x18, 0xc0,
+ 0x83, 0x65, 0xc0, 0x09,
+ 0xa1, 0xbb, 0x94, 0xb4,
+ 0x0c, 0xb5, 0x82, 0xe5,
+ 0xa1, 0xbb, 0xe1, 0x80,
+ 0xb0, 0xb4, 0x82, 0x65,
+ 0xa6, 0xb3, 0x98, 0x34,
+ 0xf0, 0x80, 0x16, 0xb4,
+ 0x60, 0x81, 0x17, 0x0a,
+ 0x52, 0xb5, 0xc0, 0x03,
+ 0x14, 0xa0, 0x80, 0x00,
+ 0x88, 0x91, 0x6c, 0x04,
+ 0xa1, 0xab, 0x88, 0x61,
+ 0x17, 0x54, 0xfa, 0x55,
+ 0x8e, 0x13, 0x82, 0x41,
+ 0xf4, 0xf5, 0x8b, 0x4b,
+ 0x42, 0x0a, 0x9f, 0x34,
+ 0x99, 0x44, 0xe6, 0x96,
+ 0x86, 0x13, 0x1b, 0x34,
+ 0x06, 0x13, 0xc4, 0x17,
+ 0x06, 0x30, 0x88, 0x33,
+ 0x40, 0x09, 0x65, 0x81,
+ 0x93, 0x3e, 0x81, 0x41,
+ 0x1b, 0xc4, 0x85, 0x95,
+ 0x13, 0x64, 0x88, 0x53,
+ 0x1f, 0xa4, 0xc4, 0x57,
+ 0x8a, 0xc3, 0x82, 0x9b,
+ 0x66, 0x01, 0x0a, 0xc0,
+ 0x18, 0xc0, 0x40, 0x0a,
+ 0xc0, 0x09, 0x64, 0x01,
+ 0x94, 0xb4, 0x83, 0x65,
+ 0x82, 0xe5, 0xa1, 0xbb,
+ 0xe1, 0x80, 0x0c, 0xb5,
+ 0x82, 0x65, 0xa1, 0xbb,
+ 0x98, 0x34, 0xb0, 0xb4,
+ 0x16, 0xb4, 0xa6, 0xb3,
+ 0x17, 0x0a, 0xf0, 0x80,
+ 0xc0, 0x03, 0x60, 0x81,
+ 0x80, 0x00, 0x52, 0xb5,
+ 0x6c, 0x04, 0x14, 0xa0,
+ 0x88, 0x61, 0x88, 0x91,
+ 0xfa, 0x55, 0xa1, 0xab,
+ 0x82, 0x41, 0x17, 0x54,
+ 0x8b, 0x4b, 0x8e, 0x13,
+ 0x1b, 0x94, 0xf4, 0xf5,
+ 0x8d, 0x05, 0x81, 0x41,
+ 0x66, 0x82, 0x42, 0x4a,
+ 0x7f, 0xfc, 0x55, 0xfe,
+ 0x13, 0x9e, 0xdf, 0xff,
+ 0x0d, 0x1e, 0x92, 0x3b,
+ 0x59, 0xfe, 0xff, 0x51,
+ 0x5f, 0xff, 0x7f, 0xfd,
+ 0x03, 0x85, 0xff, 0x61,
+ 0x8c, 0x14, 0x81, 0x91,
+ 0x84, 0x05, 0x91, 0x1b,
+ 0x4a, 0x60, 0x95, 0x1d,
+ 0x58, 0xa0, 0x5c, 0x00,
+ 0x02, 0x75, 0xdc, 0x00,
+ 0xdc, 0x00, 0x4c, 0x90,
+ 0x92, 0xbb, 0x19, 0x1d,
+ 0x1c, 0x00, 0x56, 0x50,
+ 0xfb, 0x30, 0x58, 0x12,
+ 0x94, 0x1b, 0x96, 0x5b,
+ 0x88, 0x31, 0x02, 0x91,
+ 0x81, 0x9d, 0x82, 0xab,
+ 0x13, 0x94, 0xfa, 0x35,
+ 0x8c, 0x85, 0x91, 0x5b,
+ 0xf1, 0xa8, 0x42, 0xc2,
+ 0xe1, 0xdc, 0x03, 0x0a,
+ 0x58, 0xa0, 0x08, 0x55,
+ 0x1b, 0x94, 0xdc, 0x00,
+ 0xe0, 0x88, 0x02, 0x44,
+ 0x60, 0x88, 0x06, 0x64,
+ 0xe0, 0x88, 0x16, 0x54,
+ 0x12, 0x90, 0x12, 0x13,
+ 0xc0, 0x0a, 0x64, 0x81,
+ 0xfc, 0x0c, 0x12, 0x35,
+ 0xe9, 0xc0, 0x02, 0x15,
+ 0xfc, 0x2c, 0x12, 0x95,
+ 0xf1, 0x8c, 0x46, 0x12,
+ 0x06, 0x34, 0x32, 0x13,
+ 0x13, 0x94, 0xf0, 0x80,
+ 0xf0, 0x80, 0x02, 0x14,
+ 0x4a, 0x60, 0x87, 0x1d,
+ 0x58, 0xa0, 0x1c, 0x00,
+ 0x8a, 0x6b, 0x9c, 0x00,
+ 0x81, 0x31, 0x12, 0x1b,
+ 0x45, 0x8e, 0x81, 0x35,
+ 0x81, 0x3d, 0x82, 0x31,
+ 0x8d, 0x14, 0xfe, 0xb5,
+ 0x82, 0x63, 0x1b, 0x14,
+ 0x82, 0x63, 0xc4, 0x67,
+ 0x02, 0x41, 0x98, 0xce,
+ 0x85, 0x4d, 0x8e, 0x93,
+ 0x1b, 0x34, 0xe8, 0x15,
+ 0x8d, 0x35, 0x81, 0x91,
+ 0x43, 0xfe, 0x13, 0x9e,
+ 0xdf, 0xff, 0x7f, 0xfd,
+ 0xff, 0x41, 0x06, 0xbb,
+ 0x7f, 0xfd, 0x4b, 0xfe,
+ 0xff, 0xc1, 0x5f, 0xff,
+ 0x81, 0x91, 0x03, 0x85,
+ 0x91, 0xab, 0xac, 0xa4,
+ 0x83, 0xad, 0x84, 0x05,
+ 0x5c, 0x00, 0x48, 0xc0,
+ 0xdc, 0x00, 0x4a, 0x10,
+ 0x58, 0x90, 0x02, 0x75,
+ 0x0b, 0xad, 0xdc, 0x00,
+ 0x4c, 0x40, 0x92, 0x6b,
+ 0x4a, 0xa2, 0x1c, 0x00,
+ 0x8c, 0x4b, 0xfb, 0x14,
+ 0x02, 0x91, 0x82, 0xab,
+ 0x94, 0x1b, 0x8e, 0xb3,
+ 0xfa, 0x35, 0x85, 0x9d,
+ 0x91, 0x4b, 0x13, 0x94,
+ 0x4c, 0x52, 0x8e, 0x45,
+ 0x0d, 0x0a, 0xf1, 0x84,
+ 0x08, 0x55, 0xe1, 0xdc,
+ 0xdc, 0x00, 0x4a, 0x10,
+ 0x0c, 0x94, 0x1b, 0xa4,
+ 0x12, 0xc4, 0xe0, 0x88,
+ 0x16, 0x44, 0x60, 0x88,
+ 0x14, 0x63, 0xe0, 0x88,
+ 0x67, 0x01, 0x14, 0xa0,
+ 0x14, 0x95, 0xc0, 0x09,
+ 0x0c, 0x65, 0xfc, 0x24,
+ 0x14, 0xa5, 0xea, 0x20,
+ 0x52, 0x62, 0xfc, 0x2c,
+ 0x34, 0x63, 0xf1, 0xa4,
+ 0xf0, 0x80, 0x12, 0x94,
+ 0xf0, 0x80, 0x0c, 0x64,
+ 0x93, 0x6d, 0x13, 0x94,
+ 0x1c, 0x00, 0x48, 0xc0,
+ 0x9c, 0x00, 0x4a, 0x10,
+ 0x01, 0x11, 0x88, 0xcb,
+ 0x85, 0x6d, 0x81, 0x61,
+ 0x50, 0x84, 0x48, 0x32,
+ 0xc4, 0x04, 0x0c, 0x60,
+ 0x40, 0x00, 0x48, 0x85,
+ 0xd0, 0x9c, 0x42, 0x12,
+ 0x42, 0xca, 0xfc, 0xf5,
+ 0x9b, 0x44, 0xe6, 0x82,
+ 0xc4, 0x17, 0x92, 0x13,
+ 0x84, 0x5e, 0x88, 0x13,
+ 0x88, 0x31, 0x02, 0x91,
+ 0xe6, 0xb5, 0x81, 0x9d,
+ 0x02, 0x2a, 0x91, 0x14,
+ 0x0c, 0x28, 0xe0, 0x10,
+ 0xc0, 0x00, 0x40, 0x01,
+ 0xff, 0x31, 0x1b, 0x64,
+ 0x81, 0xc1, 0x7f, 0x41,
+ 0x13, 0x6e, 0x8b, 0x75,
+ 0x7f, 0xb1, 0x8c, 0x5b,
+ 0x03, 0x45, 0xff, 0x61,
+ 0x8a, 0x9b, 0x81, 0x11,
+ 0xfe, 0x1c, 0x12, 0xa5,
+ 0x19, 0xa4, 0x91, 0xab,
+ 0xdc, 0x00, 0x46, 0xa0,
+ 0xdc, 0x00, 0x56, 0x10,
+ 0xfc, 0x28, 0x0a, 0x55,
+ 0x48, 0x50, 0x91, 0x5b,
+ 0x4c, 0x10, 0x5c, 0x00,
+ 0x02, 0x11, 0xdc, 0x00,
+ 0x85, 0x1d, 0x92, 0x5b,
+ 0x91, 0xbb, 0x80, 0xa5,
+ 0x91, 0x6b, 0xfa, 0x65,
+ 0x91, 0xbb, 0xfa, 0x25,
+ 0x91, 0x6b, 0x8c, 0x85,
+ 0x42, 0x32, 0x8c, 0x45,
+ 0x02, 0x14, 0xf1, 0x90,
+ 0x03, 0x0a, 0xf0, 0x80,
+ 0x86, 0x95, 0xe1, 0xdc,
+ 0x02, 0xc4, 0x1b, 0x94,
+ 0x0a, 0xb4, 0xe0, 0x88,
+ 0x14, 0x64, 0x60, 0x88,
+ 0x12, 0x13, 0xe0, 0x88,
+ 0x67, 0x01, 0x12, 0x90,
+ 0x12, 0x55, 0xc0, 0x09,
+ 0x02, 0x15, 0xfc, 0x14,
+ 0x12, 0x95, 0xea, 0x20,
+ 0x4a, 0x12, 0xfc, 0x28,
+ 0x32, 0x13, 0xf1, 0x94,
+ 0xf0, 0x80, 0x0a, 0x54,
+ 0xf0, 0x80, 0x02, 0x14,
+ 0x80, 0x95, 0x83, 0x5d,
+ 0x89, 0x3d, 0x81, 0x85,
+ 0x9f, 0x14, 0x80, 0xc5,
+ 0xe6, 0x82, 0x4a, 0x6a,
+ 0x98, 0x13, 0x01, 0x55,
+ 0x66, 0x82, 0x42, 0xba,
+ 0x1b, 0x54, 0x98, 0x5b,
+ 0xc4, 0x17, 0x8a, 0x13,
+ 0x84, 0x8e, 0x8a, 0x13,
+ 0x82, 0xc1, 0x13, 0x64,
+ 0x9f, 0x54, 0x88, 0x61,
+ 0x8b, 0xcb, 0x97, 0x14,
+ 0x42, 0x0a, 0xe8, 0xf5,
+ 0x81, 0x51, 0x66, 0x86,
+ 0xc4, 0x17, 0x9b, 0x24,
+ 0x54, 0x22, 0x0b, 0x85,
+ 0x19, 0x2e, 0xf0, 0x84,
+ 0x14, 0x1b, 0x84, 0xbb,
+ 0x7f, 0xc1, 0xff, 0x21,
+ 0x81, 0xe5, 0x81, 0x61,
+ 0x91, 0x9b, 0xed, 0x94,
+ 0x46, 0x90, 0x45, 0x94,
+ 0x44, 0x60, 0xdc, 0x00,
+ 0x91, 0x9b, 0xdc, 0x00,
+ 0x5c, 0x00, 0x58, 0x60,
+ 0xdc, 0x00, 0x48, 0x90,
+ 0x81, 0x6d, 0x82, 0x61,
+ 0x91, 0x2b, 0x80, 0xa5,
+ 0x91, 0xcb, 0xfc, 0x05,
+ 0x91, 0x2b, 0xfa, 0xc5,
+ 0x91, 0xcb, 0x8c, 0xc5,
+ 0x42, 0x32, 0x8c, 0x85,
+ 0x02, 0x14, 0xf1, 0x90,
+ 0x03, 0x0a, 0xf0, 0x80,
+ 0x86, 0xd5, 0xe1, 0xdc,
+ 0x02, 0x54, 0x1b, 0x94,
+ 0x14, 0xbb, 0xe0, 0x88,
+ 0xe0, 0x88, 0x0c, 0x24,
+ 0xe0, 0x88, 0x14, 0xc4,
+ 0x12, 0x90, 0x12, 0x13,
+ 0xc0, 0x0a, 0x64, 0x81,
+ 0xfc, 0x18, 0x12, 0x65,
+ 0xe9, 0xc0, 0x02, 0x15,
+ 0x7c, 0x28, 0x12, 0x95,
+ 0x4c, 0x12, 0x96, 0xab,
+ 0x32, 0x13, 0xf1, 0x98,
+ 0xf0, 0x80, 0x0c, 0x64,
+ 0xf0, 0x80, 0x02, 0x14,
+ 0x4c, 0xca, 0x01, 0x55,
+ 0x46, 0xca, 0xe0, 0x04,
+ 0x17, 0x14, 0xe0, 0x10,
+ 0xdc, 0x00, 0x58, 0x20,
+ 0x02, 0x06, 0x9b, 0x24,
+ 0x8a, 0x13, 0xc0, 0x00,
+ 0xe6, 0x82, 0x42, 0x1a,
+ 0xc4, 0x17, 0x98, 0x13,
+ 0x84, 0x8e, 0x84, 0x13,
+ 0x82, 0x51, 0x19, 0x24,
+ 0x8e, 0x23, 0x8e, 0xa3,
+ 0x83, 0x5b, 0x97, 0x14,
+ 0x97, 0x24, 0xea, 0x35,
+ 0x9b, 0xb4, 0x9f, 0x14,
+ 0xe6, 0x8a, 0x40, 0x0a,
+ 0x00, 0x13, 0x8f, 0x34,
+ 0x1d, 0x94, 0xc4, 0x07,
+ 0x4c, 0xb2, 0xc4, 0x17,
+ 0x80, 0xb3, 0x70, 0x84,
+ 0x81, 0x11, 0x09, 0x15,
+ 0x82, 0xab, 0x15, 0x04,
+ 0x86, 0x2b, 0x0f, 0x3e,
+ 0x8c, 0x4b, 0x16, 0x3b,
+ 0x82, 0x03, 0x1b, 0x14,
+ 0x67, 0x90, 0x00, 0x00,
+ 0x81, 0x65, 0x81, 0x51,
+ 0x88, 0x41, 0x02, 0x51,
+ 0x88, 0x21, 0x08, 0x31,
+ 0x9f, 0xc4, 0x88, 0x11,
+ 0x88, 0x45, 0x99, 0x5d,
+ 0x93, 0xcb, 0x80, 0xc8,
+ 0x84, 0xc4, 0xfc, 0xd5,
+ 0x84, 0x15, 0x91, 0xcb,
+ 0x5f, 0xfd, 0x3f, 0x28,
+ 0x88, 0xc4, 0xc3, 0xff,
+ 0x80, 0xf5, 0x91, 0xcb,
+ 0x91, 0xcb, 0x8c, 0xc4,
+ 0x90, 0xc4, 0x80, 0x95,
+ 0xf8, 0xe5, 0x91, 0xcb,
+ 0x80, 0x16, 0x89, 0x11,
+ 0x7c, 0x04, 0x81, 0xd5,
+ 0x89, 0x24, 0x94, 0x4b,
+ 0x00, 0x13, 0x8b, 0x34,
+ 0x95, 0x04, 0xe0, 0x20,
+ 0xbc, 0x0e, 0xfe, 0x54,
+ 0x77, 0x58, 0xbe, 0x04,
+ 0x1b, 0x04, 0xef, 0xf8,
+ 0x0f, 0x34, 0x94, 0x1b,
+ 0x17, 0x24, 0x82, 0x11,
+ 0x0e, 0x03, 0x8e, 0x63,
+ 0x1b, 0x0e, 0x8e, 0xb3,
+ 0x85, 0x1b, 0x8e, 0x33,
+ 0x1e, 0xf0, 0xf0, 0x15,
+ 0x0c, 0x0c, 0xe5, 0x00,
+ 0xdd, 0x93, 0xf6, 0x7c,
+ 0xfe, 0x7c, 0x04, 0x0c,
+ 0xec, 0x60, 0x1e, 0xf0,
+ 0x82, 0x9b, 0x00, 0xab,
+ 0x60, 0x94, 0x00, 0x34,
+ 0xe1, 0x84, 0x02, 0xa4,
+ 0x82, 0x03, 0x25, 0xc4,
+ 0x60, 0x2a, 0x40, 0x0a,
+ 0x29, 0x84, 0xa1, 0x71,
+ 0x42, 0x02, 0x81, 0x61,
+ 0x40, 0xc2, 0x7b, 0xb0,
+ 0xa2, 0x73, 0xfa, 0x80,
+ 0xf3, 0x98, 0x42, 0x62,
+ 0x40, 0x12, 0x80, 0x73,
+ 0xcb, 0x77, 0x72, 0x98,
+ 0xe0, 0xec, 0x02, 0x04,
+ 0x0e, 0x04, 0x2e, 0x1f,
+ 0x0b, 0x1e, 0xe1, 0x94,
+ 0xfa, 0x90, 0x40, 0x22,
+ 0x44, 0x42, 0x2e, 0x1f,
+ 0x21, 0x1b, 0xfb, 0x88,
+ 0xef, 0xfc, 0x43, 0xf6,
+ 0xa4, 0x03, 0x20, 0x1c,
+ 0x73, 0x98, 0x42, 0x62,
+ 0x80, 0x08, 0x4c, 0x96,
+ 0x80, 0x00, 0x10, 0x18,
+ 0x48, 0xaa, 0x9f, 0x24,
+ 0x89, 0x7e, 0xe6, 0xaa,
+ 0x06, 0x44, 0x06, 0x23,
+ 0x3e, 0x5e, 0xe1, 0x84,
+ 0x06, 0x23, 0xca, 0x27,
+ 0x44, 0x2a, 0x82, 0x3b,
+ 0x84, 0xc3, 0xe0, 0x12,
+ 0xf2, 0x98, 0x44, 0x62,
+ 0x4e, 0x22, 0xa0, 0xc1,
+ 0xcb, 0xc7, 0x72, 0x98,
+ 0x60, 0xec, 0x16, 0x74,
+ 0x38, 0xbf, 0xcb, 0x77,
+ 0x7f, 0xfd, 0x45, 0xfe,
+ 0x56, 0xca, 0xc0, 0x3f,
+ 0x80, 0x2b, 0x64, 0x08,
+ 0xe0, 0x00, 0x0e, 0x1a,
+ 0xe1, 0x80, 0x42, 0x0a,
+ 0x1f, 0xfd, 0x57, 0xfe,
+ 0x0e, 0x06, 0x40, 0x3f,
+ 0x57, 0x58, 0xc0, 0x00,
+ 0x04, 0x04, 0xef, 0xd4,
+ 0xd0, 0x17, 0x61, 0xe0,
+ 0x45, 0xfe, 0x24, 0x1f,
+ 0xc0, 0x3f, 0x7f, 0xfd,
+ 0xff, 0xa1, 0x50, 0x07,
+ 0x42, 0xca, 0x7c, 0x9e,
+ 0x7e, 0x8e, 0xe4, 0x08,
+ 0xe0, 0x08, 0x42, 0x1a,
+ 0x40, 0x6a, 0x0b, 0x94,
+ 0x09, 0x84, 0xe0, 0x28,
+ 0xe5, 0x80, 0x42, 0x0a,
+ 0xe1, 0x88, 0x42, 0x1a,
+ 0x6d, 0x80, 0x42, 0x0a,
+ 0x41, 0xfe, 0x92, 0x2b,
+ 0x43, 0xfe, 0x5f, 0xfc,
+ 0xc0, 0x3f, 0x1f, 0xfc,
+ 0x6f, 0xd4, 0x4b, 0xe8,
+ 0x12, 0x2b, 0x90, 0x3b,
+ 0x4b, 0x98, 0x90, 0x3b,
+ 0x02, 0x3b, 0xef, 0xd4,
+ 0x23, 0xa4, 0x80, 0x2b,
+ 0xe0, 0x28, 0x44, 0x6a,
+ 0x06, 0xca, 0x21, 0x84,
+ 0x1d, 0x94, 0xe5, 0xfc,
+ 0xe1, 0xfc, 0x06, 0x1a,
+ 0x65, 0x80, 0x42, 0x0a,
+ 0x42, 0x1a, 0x96, 0x0b,
+ 0x8e, 0x1b, 0x61, 0x88,
+ 0xed, 0x80, 0x42, 0x0a,
+ 0x5f, 0xfc, 0x45, 0xfe,
+ 0xc0, 0x04, 0x47, 0xf6,
+ 0xef, 0xd4, 0x53, 0x68,
+ 0x47, 0xfe, 0x3e, 0x24,
+ 0xc0, 0x3f, 0x7f, 0xfd,
+ 0x89, 0xb4, 0xa7, 0x74,
+ 0x44, 0x62, 0x84, 0x93,
+ 0x7e, 0x84, 0xf2, 0x98,
+ 0x44, 0x22, 0x90, 0x93,
+ 0x7c, 0x94, 0xf2, 0x98,
+ 0x44, 0x22, 0x92, 0xa3,
+ 0x54, 0xca, 0x72, 0x98,
+ 0x04, 0x1a, 0xe4, 0x0c,
+ 0x42, 0x0a, 0xe0, 0x00,
+ 0x04, 0x06, 0xe1, 0x80,
+ 0x55, 0xfe, 0x40, 0x00,
+ 0xc0, 0x3f, 0x1f, 0xfc,
+ 0x61, 0xe0, 0x06, 0xa4,
+ 0x50, 0xa7, 0xd0, 0x27,
+ 0x14, 0x03, 0xa6, 0x2f,
+ 0x42, 0x12, 0xff, 0xa1,
+ 0x45, 0xfe, 0x72, 0x88,
+ 0xdf, 0xff, 0x7f, 0xfc,
+ 0x64, 0x08, 0x42, 0xca,
+ 0x42, 0x1a, 0x84, 0x71,
+ 0xc7, 0x77, 0x60, 0x08,
+ 0xe0, 0x28, 0x40, 0x6a,
+ 0xe5, 0x80, 0x42, 0x0a,
+ 0xe1, 0x88, 0x42, 0x1a,
+ 0xed, 0x80, 0x42, 0x0a,
+ 0x1f, 0xfd, 0x43, 0xfe,
+ 0x41, 0xfe, 0x5f, 0xff,
+ 0xa1, 0x1b, 0xdf, 0xfc,
+ 0x0b, 0x24, 0x82, 0x45,
+ 0x45, 0xf8, 0x96, 0x3b,
+ 0x01, 0x31, 0xef, 0xd4,
+ 0x4f, 0x18, 0x8e, 0x2b,
+ 0x81, 0x95, 0xef, 0xd4,
+ 0x8e, 0x2b, 0x01, 0x31,
+ 0xef, 0xd4, 0x4e, 0xc8,
+ 0x96, 0x3b, 0x0b, 0x24,
+ 0xef, 0xd4, 0x45, 0x28,
+ 0x43, 0xfe, 0xa1, 0x1d,
+ 0x5f, 0xff, 0x1f, 0xfd,
+ 0xdf, 0xfc, 0x41, 0xfe,
+ 0x82, 0xe5, 0xa1, 0x1b,
+ 0x96, 0x3b, 0x0b, 0x24,
+ 0xef, 0xd4, 0x44, 0x68,
+ 0x60, 0xf8, 0x04, 0x14,
+ 0x24, 0x0f, 0xc5, 0x07,
+ 0x01, 0x31, 0xc5, 0x17,
+ 0x4d, 0x38, 0x8e, 0x2b,
+ 0x81, 0xe5, 0xef, 0xd4,
+ 0x8e, 0x2b, 0x01, 0x31,
+ 0xef, 0xd4, 0x4c, 0xe8,
+ 0x96, 0x3b, 0x0b, 0x24,
+ 0xef, 0xd4, 0x43, 0x48,
+ 0x60, 0xf8, 0x04, 0x14,
+ 0x24, 0x0f, 0xc5, 0x07,
+ 0x21, 0x1d, 0xc5, 0x17,
+ 0x7f, 0xfd, 0x45, 0xfe,
+ 0x04, 0x14, 0xc7, 0xff,
+ 0xff, 0x31, 0x01, 0x88,
+ 0x01, 0x88, 0x00, 0x04,
+ 0x80, 0xf8, 0x02, 0x14,
+ 0x19, 0x84, 0x46, 0x02,
+ 0x46, 0x5a, 0xa1, 0x2b,
+ 0x40, 0x9a, 0x60, 0x28,
+ 0x40, 0x0a, 0xe5, 0x26,
+ 0x47, 0xfe, 0xe1, 0x84,
+ 0x04, 0x06, 0x5f, 0xfc,
+ 0x00, 0x33, 0xc0, 0x00,
+ 0xe5, 0xa6, 0x40, 0x9a,
+ 0x40, 0x22, 0x95, 0x3b,
+ 0x47, 0xfe, 0x72, 0x80,
+ 0xa1, 0x0b, 0x9f, 0xfc,
+ 0xdf, 0xfc, 0x47, 0xfe,
+ 0xf0, 0x0a, 0x40, 0x3a,
+ 0x0c, 0x0b, 0xa0, 0x0c,
+ 0x0c, 0x0c, 0xb0, 0xf1,
+ 0xdd, 0x93, 0xf6, 0x7c,
+ 0x81, 0x41, 0x01, 0xb5,
+ 0x82, 0x41, 0x49, 0x54,
+ 0x98, 0x5d, 0xc5, 0xc4,
+ 0x80, 0x00, 0x0a, 0x06,
+ 0xd1, 0xb0, 0x4a, 0x52,
+ 0x81, 0x4d, 0xcd, 0x5e,
+ 0x5d, 0x93, 0xfc, 0xd5,
+ 0xc1, 0xc3, 0x81, 0x01,
+ 0xf8, 0x7c, 0x04, 0xcc,
+ 0x67, 0x90, 0x0a, 0x30,
+ 0xe6, 0xa0, 0x18, 0x30,
+ 0x81, 0x61, 0x0f, 0x4e,
+ 0x48, 0x06, 0x08, 0x8b,
+ 0x03, 0xa5, 0xe0, 0x24,
+ 0x20, 0x66, 0x80, 0x9b,
+ 0x18, 0xa3, 0xa5, 0x1b,
+ 0x16, 0x0e, 0x40, 0x00,
+ 0x14, 0x78, 0xd0, 0x00,
+ 0x00, 0x01, 0x16, 0x06,
+ 0x06, 0xa5, 0x90, 0x00,
+ 0xf2, 0x7d, 0x00, 0x00,
+ 0x48, 0x4a, 0x80, 0xb5,
+ 0x54, 0xa2, 0xe4, 0x9c,
+ 0x65, 0xae, 0x90, 0xac,
+ 0x08, 0x31, 0x82, 0x61,
+ 0x04, 0xc1, 0x82, 0x51,
+ 0x8a, 0xa8, 0x82, 0x81,
+ 0xf8, 0xd5, 0x95, 0x6d,
+ 0x88, 0xd5, 0xe5, 0xad,
+ 0x82, 0x41, 0x8f, 0x44,
+ 0x88, 0x5b, 0x03, 0x31,
+ 0x81, 0xc1, 0x03, 0xb5,
+ 0x78, 0x04, 0x0a, 0x69,
+ 0x94, 0x78, 0xa5, 0x1b,
+ 0xe0, 0x88, 0x10, 0x64,
+ 0x7c, 0x20, 0x00, 0x85,
+ 0xe0, 0x88, 0x12, 0x74,
+ 0xfc, 0x24, 0x00, 0x95,
+ 0x93, 0x8d, 0x80, 0x95,
+ 0x81, 0x75, 0x80, 0x95,
+ 0x80, 0xa5, 0x92, 0x8d,
+ 0x78, 0x04, 0x4a, 0x71,
+ 0x94, 0x66, 0x83, 0xc1,
+ 0x82, 0x31, 0x0a, 0xa8,
+ 0x0c, 0xa4, 0x82, 0x51,
+ 0x8d, 0x3d, 0xfa, 0x80,
+ 0xa3, 0xcd, 0xf8, 0x95,
+ 0x81, 0x01, 0xf6, 0xc5,
+ 0xf0, 0x7c, 0x0c, 0xcc,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xed, 0x90, 0x1e, 0xf0,
+ 0xe0, 0x84, 0x1e, 0x75,
+ 0xa7, 0x4e, 0x9d, 0x5e,
+ 0xaf, 0x2e, 0xa1, 0x3e,
+ 0x9e, 0x14, 0xa9, 0x1e,
+ 0xe0, 0x20, 0x0e, 0x05,
+ 0xe0, 0x8c, 0x1e, 0x85,
+ 0xe0, 0x88, 0x1e, 0x65,
+ 0xe0, 0x80, 0x1e, 0xa5,
+ 0x82, 0x0b, 0x25, 0x0e,
+ 0x47, 0xf8, 0xad, 0x1e,
+ 0x1f, 0x0e, 0xe8, 0x14,
+ 0x0e, 0x05, 0x83, 0xc1,
+ 0x4c, 0x05, 0xe0, 0x18,
+ 0x0e, 0x09, 0xeb, 0x54,
+ 0xdc, 0x34, 0xe0, 0x58,
+ 0x00, 0x60, 0x31, 0x0e,
+ 0xc0, 0x0b, 0x65, 0x41,
+ 0x9e, 0x48, 0xab, 0x0e,
+ 0xe0, 0x20, 0x0e, 0x1b,
+ 0x5c, 0x58, 0x9c, 0x28,
+ 0x4c, 0x35, 0xa9, 0xcf,
+ 0x4c, 0x21, 0xeb, 0x50,
+ 0xc0, 0x02, 0x6d, 0x69,
+ 0x04, 0xc4, 0x1e, 0x04,
+ 0x4c, 0x13, 0xe8, 0x94,
+ 0xc0, 0x01, 0x66, 0xb1,
+ 0x6d, 0x6d, 0x4c, 0x41,
+ 0x4c, 0x51, 0xc0, 0x02,
+ 0xc0, 0x02, 0x6d, 0x71,
+ 0xe8, 0x14, 0x4b, 0x28,
+ 0x60, 0x18, 0x0e, 0x05,
+ 0x0e, 0x29, 0x80, 0x9b,
+ 0x90, 0xbb, 0x60, 0x4c,
+ 0xf0, 0x14, 0x56, 0x05,
+ 0xe0, 0x48, 0x0e, 0x09,
+ 0x14, 0x19, 0x9b, 0xae,
+ 0x81, 0xa1, 0x60, 0x34,
+ 0xe0, 0x90, 0x0e, 0x39,
+ 0xe0, 0x94, 0x0e, 0x49,
+ 0x78, 0x18, 0x56, 0x01,
+ 0xe7, 0xf4, 0x03, 0x0a,
+ 0x78, 0x10, 0x56, 0x31,
+ 0x00, 0x10, 0x81, 0x01,
+ 0x02, 0x70, 0x04, 0x04,
+ 0x56, 0x41, 0xe4, 0x60,
+ 0x90, 0x4b, 0x78, 0x0c,
+ 0xf8, 0x14, 0x56, 0x21,
+ 0xe0, 0x1c, 0x0e, 0x35,
+ 0x50, 0x01, 0xa3, 0x1e,
+ 0x99, 0x01, 0x60, 0x48,
+ 0x50, 0xa1, 0xac, 0x06,
+ 0x50, 0xa1, 0xe0, 0x54,
+ 0xab, 0x04, 0xe0, 0x58,
+ 0xb1, 0x24, 0xad, 0x14,
+ 0xef, 0xe0, 0x74, 0x68,
+ 0x8d, 0x51, 0x21, 0x0b,
+ 0x2f, 0xc4, 0x90, 0xa5,
+ 0xb1, 0x14, 0x80, 0xab,
+ 0x64, 0x01, 0x00, 0x60,
+ 0x04, 0x70, 0x40, 0x09,
+ 0x01, 0x65, 0xe4, 0xa0,
+ 0x49, 0x44, 0x82, 0x3b,
+ 0xec, 0x04, 0x06, 0x30,
+ 0xa1, 0x3b, 0xc1, 0x4e,
+ 0x1e, 0x05, 0xfe, 0x75,
+ 0xa1, 0xab, 0x60, 0x90,
+ 0x9d, 0x0e, 0x96, 0xd5,
+ 0xe0, 0xa4, 0x18, 0x09,
+ 0x12, 0xc5, 0xa1, 0x0b,
+ 0x84, 0x60, 0x12, 0x80,
+ 0x64, 0x60, 0x12, 0x80,
+ 0xe4, 0x80, 0x02, 0xc0,
+ 0x64, 0xe0, 0x04, 0xc0,
+ 0xe5, 0xf0, 0x06, 0xc0,
+ 0x64, 0x01, 0x00, 0x60,
+ 0x08, 0x60, 0x40, 0x09,
+ 0xc0, 0x02, 0x65, 0x01,
+ 0x66, 0x01, 0x0a, 0x60,
+ 0x18, 0x60, 0x40, 0x04,
+ 0xc0, 0x06, 0x67, 0x01,
+ 0x8d, 0xbe, 0x8f, 0x9e,
+ 0x89, 0x5e, 0x8b, 0xce,
+ 0xfc, 0x6e, 0xfe, 0x4e,
+ 0xb1, 0x04, 0xbe, 0x0e,
+ 0xa5, 0x54, 0xa7, 0x44,
+ 0xa9, 0x04, 0xbc, 0x0e,
+ 0xef, 0xe8, 0x72, 0x08,
+ 0x80, 0xab, 0x31, 0x14,
+ 0xa1, 0xab, 0x2f, 0xc4,
+ 0x05, 0xe5, 0x88, 0xa5,
+ 0xaf, 0xc4, 0x95, 0x51,
+ 0xe0, 0x70, 0x18, 0x09,
+ 0xee, 0x45, 0xa1, 0x0b,
+ 0xe0, 0x74, 0x18, 0x09,
+ 0x96, 0xf5, 0xa3, 0x0b,
+ 0xa1, 0x14, 0xa3, 0x04,
+ 0x00, 0x34, 0x9d, 0x24,
+ 0xe4, 0x40, 0x00, 0xc0,
+ 0xa0, 0x11, 0x46, 0x54,
+ 0xfc, 0x2e, 0xfe, 0x6e,
+ 0x3c, 0x1e, 0xbe, 0x0e,
+ 0x29, 0x04, 0x92, 0x1b,
+ 0x9f, 0x24, 0x98, 0x9b,
+ 0x65, 0xb8, 0xb1, 0x44,
+ 0x21, 0x0b, 0xef, 0xd8,
+ 0x90, 0x85, 0x8f, 0x51,
+ 0x92, 0xcb, 0x00, 0xab,
+ 0x00, 0xc0, 0xf3, 0xd5,
+ 0x96, 0x2b, 0x66, 0xf0,
+ 0x6f, 0xe4, 0x43, 0xc8,
+ 0x80, 0xab, 0x92, 0x3b,
+ 0x82, 0x65, 0xa1, 0xab,
+ 0x9d, 0x04, 0x97, 0x51,
+ 0x1e, 0xf0, 0x00, 0xae,
+ 0x02, 0x5e, 0xe5, 0x90,
+ 0x0c, 0x0c, 0x94, 0x0b,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0x02, 0x80, 0x27, 0x04,
+ 0x04, 0x60, 0xe6, 0x70,
+ 0x40, 0x09, 0x64, 0x01,
+ 0x92, 0x4b, 0x96, 0x3b,
+ 0xe0, 0x2c, 0x00, 0x59,
+ 0xfe, 0x1e, 0xaf, 0x04,
+ 0x31, 0x14, 0xa7, 0x1e,
+ 0xfc, 0x6e, 0xa0, 0x01,
+ 0x99, 0x2e, 0xbe, 0x2e,
+ 0x8e, 0x1b, 0x3c, 0x1e,
+ 0xa3, 0x24, 0x97, 0x0e,
+ 0xef, 0xe0, 0x48, 0x08,
+ 0x80, 0xab, 0x1d, 0x04,
+ 0x99, 0x51, 0x21, 0xab,
+ 0x23, 0x9e, 0xf6, 0x95,
+ 0x64, 0xd1, 0x0e, 0x80,
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+ 0x02, 0x70, 0xe8, 0x84,
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+ 0x04, 0x0b, 0xf2, 0x84,
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+ 0xef, 0xcc, 0x49, 0x68,
+ 0x64, 0x08, 0x06, 0x70,
+ 0x07, 0x0a, 0x81, 0x21,
+ 0x01, 0xe5, 0xe4, 0x7c,
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+ 0x0a, 0x0c, 0xe4, 0x80,
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+ 0x00, 0x02, 0x7f, 0x45,
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+ 0xdf, 0xfc, 0x2d, 0xd8,
+ 0xb0, 0xf1, 0x3c, 0x04,
+ 0xf6, 0x7c, 0x0c, 0x0c,
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+ 0x80, 0xcb, 0x06, 0x1d,
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+ 0xf1, 0x84, 0x46, 0x62,
+ 0x1c, 0x00, 0x44, 0x00,
+ 0x67, 0x0f, 0xff, 0x01,
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+ 0x69, 0x8c, 0x0e, 0xc4,
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+ 0xf9, 0x30, 0x4e, 0x02,
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+ 0x42, 0x29, 0xf1, 0x8c,
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+ 0x06, 0xc4, 0x76, 0x80,
+ 0x04, 0x20, 0xfc, 0x7c,
+ 0x42, 0x22, 0xec, 0x04,
+ 0x22, 0x63, 0xf1, 0x84,
+ 0x6d, 0x3f, 0xa3, 0x0f,
+ 0x03, 0x35, 0x84, 0x1b,
+ 0xa3, 0x1d, 0x86, 0x03,
+ 0x41, 0xfc, 0x04, 0x24,
+ 0x1f, 0xfc, 0x41, 0xfe,
+ 0x02, 0x75, 0xdf, 0xff,
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+ 0x02, 0x10, 0x06, 0x2f,
+ 0xa4, 0x0f, 0xec, 0x04,
+ 0x94, 0x1e, 0x90, 0x0e,
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+ 0xec, 0x70, 0x1e, 0xf0,
+ 0x88, 0x9b, 0x1d, 0x34,
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+ 0x21, 0x04, 0x9c, 0x00,
+ 0xfb, 0x08, 0x46, 0x32,
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+ 0x9c, 0x00, 0x4c, 0x50,
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+ 0x7f, 0x01, 0x82, 0xbb,
+ 0x7c, 0xae, 0xff, 0x11,
+ 0x42, 0xf8, 0x94, 0x2b,
+ 0x09, 0xa4, 0xef, 0xcc,
+ 0xe1, 0x7c, 0x04, 0x64,
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+ 0x56, 0x02, 0x3e, 0x6e,
+ 0x4e, 0x12, 0xf0, 0xa4,
+ 0x40, 0x72, 0xf2, 0xa8,
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+ 0x82, 0x0f, 0xf9, 0x18,
+ 0x98, 0x35, 0xa1, 0x0d,
+ 0xe1, 0x7c, 0x02, 0x74,
+ 0xf0, 0x84, 0x40, 0xb2,
+ 0x72, 0x84, 0x44, 0x72,
+ 0x44, 0x1f, 0xc2, 0x0f,
+ 0x40, 0xf8, 0x90, 0x2b,
+ 0x21, 0x1b, 0xef, 0xcc,
+ 0x00, 0x14, 0xbf, 0xc1,
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+ 0x9c, 0x04, 0x40, 0x00,
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+ 0x42, 0xb0, 0x7b, 0x80,
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+ 0x4e, 0xb2, 0x7e, 0xb4,
+ 0x47, 0xf6, 0xf9, 0x8c,
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+ 0x71, 0xa0, 0x4a, 0x32,
+ 0x0b, 0x0a, 0xa0, 0x43,
+ 0x58, 0x52, 0x64, 0x7c,
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+ 0x96, 0x5b, 0x00, 0x04,
+ 0x6c, 0x04, 0x10, 0x42,
+ 0xec, 0x7c, 0x08, 0xc2,
+ 0x40, 0x00, 0x0a, 0x06,
+ 0xec, 0x00, 0x14, 0x44,
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+ 0x10, 0x14, 0xb1, 0x7f,
+ 0x40, 0xa2, 0x68, 0x80,
+ 0x02, 0xb4, 0xf8, 0xa4,
+ 0xa8, 0xc3, 0x68, 0x90,
+ 0x00, 0xc2, 0x20, 0x1f,
+ 0x21, 0x1f, 0xec, 0x04,
+ 0xe8, 0x90, 0x00, 0x54,
+ 0x7c, 0x7c, 0x02, 0x14,
+ 0xf1, 0x88, 0x44, 0x32,
+ 0xef, 0xc8, 0x7b, 0xe8,
+ 0x03, 0xd5, 0x90, 0x03,
+ 0xf2, 0x9c, 0x42, 0x12,
+ 0xff, 0x01, 0x23, 0x8d,
+ 0x02, 0x06, 0x82, 0xf5,
+ 0x60, 0x00, 0x60, 0x01,
+ 0xe0, 0xfc, 0x00, 0x74,
+ 0xc3, 0x77, 0x43, 0xb7,
+ 0xb6, 0x0f, 0x02, 0xaf,
+ 0x79, 0xa8, 0x42, 0x72,
+ 0xec, 0x04, 0x0c, 0x80,
+ 0x7f, 0xa7, 0x81, 0xa5,
+ 0x7f, 0xfd, 0x43, 0xfe,
+ 0x01, 0x21, 0xdf, 0xff,
+ 0x42, 0x22, 0x94, 0x03,
+ 0x90, 0x6b, 0x72, 0x84,
+ 0x88, 0x0e, 0x8b, 0x24,
+ 0x0d, 0x04, 0x8a, 0x1e,
+ 0x80, 0x6e, 0xb8, 0xf1,
+ 0xf2, 0x7c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x4c,
+ 0x88, 0x7b, 0x0a, 0x6b,
+ 0x76, 0x80, 0x14, 0x24,
+ 0xe0, 0x00, 0x48, 0xc6,
+ 0xb4, 0x43, 0x19, 0x51,
+ 0x09, 0x0a, 0x34, 0x53,
+ 0x4a, 0x42, 0xe4, 0x7c,
+ 0x81, 0xc1, 0x7b, 0x94,
+ 0x6c, 0x7c, 0x08, 0x52,
+ 0x9c, 0x00, 0x58, 0x00,
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+ 0xe4, 0xb0, 0x12, 0x10,
+ 0x6f, 0x90, 0x02, 0xc4,
+ 0xec, 0x00, 0x16, 0x44,
+ 0x78, 0x84, 0x42, 0xb2,
+ 0x28, 0x53, 0xa9, 0x0f,
+ 0x02, 0x52, 0xa2, 0x0f,
+ 0x86, 0xa3, 0x6c, 0x04,
+ 0x68, 0x84, 0x02, 0x04,
+ 0xe8, 0x90, 0x00, 0xc4,
+ 0x6f, 0xc8, 0x5b, 0x08,
+ 0x81, 0x81, 0x81, 0x31,
+ 0xff, 0x21, 0x34, 0x93,
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+ 0x82, 0x85, 0x9c, 0x0e,
+ 0x12, 0x8a, 0x18, 0x9e,
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+ 0x6f, 0xc8, 0x74, 0x28,
+ 0xec, 0xf8, 0x04, 0x90,
+ 0x51, 0xe6, 0x05, 0x25,
+ 0x32, 0x2b, 0xe0, 0x00,
+ 0x05, 0x0a, 0x80, 0x3b,
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+ 0xc1, 0x11, 0x1c, 0x00,
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+ 0x04, 0x12, 0xfb, 0x84,
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+ 0xec, 0x00, 0x0a, 0x24,
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+ 0x20, 0x4f, 0xf8, 0x80,
+ 0xec, 0x04, 0x00, 0x12,
+ 0x68, 0x80, 0x02, 0x44,
+ 0xe8, 0x88, 0x00, 0x34,
+ 0x9e, 0x1e, 0x9c, 0x0e,
+ 0x0c, 0x4c, 0x98, 0x8e,
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+ 0xf8, 0x7c, 0x04, 0x0c,
+ 0x88, 0x7b, 0x52, 0xc4,
+ 0xf0, 0x14, 0x0e, 0x65,
+ 0xe6, 0x82, 0x52, 0x1a,
+ 0x60, 0x90, 0x58, 0x0a,
+ 0x04, 0x16, 0x83, 0xc1,
+ 0xa1, 0x6b, 0x40, 0x00,
+ 0x44, 0xc2, 0x0d, 0xb4,
+ 0x12, 0x24, 0x91, 0x88,
+ 0x42, 0x3a, 0xa3, 0x2b,
+ 0x8f, 0xa4, 0xe6, 0x86,
+ 0x08, 0x24, 0x11, 0x84,
+ 0x19, 0xc4, 0x9b, 0x80,
+ 0x80, 0x88, 0x08, 0x44,
+ 0x10, 0x90, 0x4e, 0x72,
+ 0xe0, 0x88, 0x08, 0x14,
+ 0x0a, 0x70, 0x14, 0x7e,
+ 0x2c, 0x5e, 0xe4, 0x10,
+ 0x17, 0x64, 0x90, 0x71,
+ 0xf0, 0x90, 0x4a, 0x72,
+ 0x14, 0x90, 0x28, 0x5e,
+ 0x0a, 0x94, 0xe4, 0x0c,
+ 0x12, 0xa4, 0x60, 0x88,
+ 0x7d, 0x97, 0xe1, 0x7c,
+ 0xf0, 0x94, 0x56, 0x72,
+ 0xf9, 0x71, 0x12, 0xa3,
+ 0x70, 0x84, 0x52, 0xb2,
+ 0x20, 0x9e, 0x8e, 0xaf,
+ 0x10, 0x34, 0x94, 0xb3,
+ 0x12, 0x04, 0x60, 0x88,
+ 0x54, 0xb2, 0xe0, 0x88,
+ 0x50, 0xb2, 0x70, 0xa0,
+ 0x18, 0xae, 0xf0, 0xa4,
+ 0x30, 0x3e, 0x90, 0x33,
+ 0xe0, 0xe0, 0x44, 0x0a,
+ 0x02, 0x06, 0x13, 0x34,
+ 0x95, 0x24, 0xc0, 0x00,
+ 0xc0, 0x00, 0x46, 0x15,
+ 0x86, 0x01, 0x82, 0x95,
+ 0xe1, 0x7c, 0x18, 0x04,
+ 0x98, 0x03, 0xfd, 0xc7,
+ 0x80, 0x83, 0x8e, 0x0f,
+ 0x8a, 0x83, 0x10, 0x43,
+ 0x90, 0x13, 0x0c, 0x4e,
+ 0x0c, 0x0c, 0x88, 0x1e,
+ 0xdd, 0x93, 0xf0, 0x7c,
+ 0xfa, 0x7c, 0x04, 0x4c,
+ 0x88, 0xab, 0x02, 0x7b,
+ 0x61, 0x7c, 0x10, 0x74,
+ 0x10, 0x03, 0x86, 0x6b,
+ 0x52, 0x72, 0x84, 0xbb,
+ 0x50, 0x9f, 0xf2, 0xa0,
+ 0x10, 0x0b, 0xc0, 0x8f,
+ 0x6c, 0x78, 0x92, 0x1b,
+ 0xa1, 0x1b, 0xef, 0xc8,
+ 0xd6, 0x80, 0x00, 0x14,
+ 0x9c, 0x04, 0x40, 0x00,
+ 0x96, 0x80, 0x00, 0x04,
+ 0x84, 0x80, 0x00, 0x00,
+ 0x60, 0x80, 0x01, 0x0a,
+ 0xec, 0x84, 0x02, 0x00,
+ 0x82, 0x55, 0xa8, 0x1e,
+ 0x41, 0xfe, 0x7f, 0x77,
+ 0xdf, 0xff, 0x7f, 0xfd,
+ 0x81, 0x01, 0x00, 0x73,
+ 0xa8, 0x0e, 0x98, 0x7e,
+ 0x56, 0x1b, 0x85, 0x15,
+ 0x82, 0x03, 0x90, 0x2b,
+ 0x6c, 0x80, 0x02, 0x00,
+ 0xe4, 0x7c, 0x01, 0x0a,
+ 0x7b, 0x84, 0x40, 0x02,
+ 0xc0, 0x00, 0x04, 0x06,
+ 0x6c, 0x7c, 0x02, 0x02,
+ 0x9c, 0x00, 0x50, 0x90,
+ 0x6f, 0x84, 0x04, 0x24,
+ 0xec, 0x00, 0x06, 0x14,
+ 0x44, 0x32, 0x22, 0x03,
+ 0x23, 0x8f, 0xf8, 0x88,
+ 0xec, 0x04, 0x00, 0x02,
+ 0xa1, 0x7d, 0x24, 0x8f,
+ 0xe8, 0x80, 0x00, 0x84,
+ 0xd1, 0x80, 0x00, 0x04,
+ 0x0c, 0x4c, 0x98, 0x0e,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x7c, 0x04, 0x4c,
+ 0x82, 0x7b, 0x0a, 0x6b,
+ 0x61, 0x7c, 0x02, 0x64,
+ 0xe1, 0x7c, 0x06, 0x74,
+ 0x81, 0xa1, 0x02, 0x43,
+ 0x58, 0x62, 0x11, 0xb4,
+ 0x06, 0x03, 0xf2, 0x84,
+ 0xf9, 0x04, 0x50, 0xc2,
+ 0x72, 0x8c, 0x4a, 0x72,
+ 0x58, 0x42, 0xc6, 0x0f,
+ 0xc6, 0x5f, 0x79, 0x04,
+ 0xe5, 0xb2, 0x42, 0x0a,
+ 0xe5, 0x32, 0x46, 0x5a,
+ 0xe5, 0xb2, 0x48, 0x5a,
+ 0x42, 0x8a, 0x02, 0x33,
+ 0x48, 0x42, 0xe5, 0x02,
+ 0x52, 0x8a, 0x72, 0xa8,
+ 0x06, 0x13, 0xe5, 0x82,
+ 0xe5, 0x22, 0x46, 0x5a,
+ 0x72, 0xa4, 0x48, 0x42,
+ 0xe5, 0xa2, 0x4a, 0x5a,
+ 0x70, 0x8c, 0x50, 0x42,
+ 0xe5, 0x32, 0x40, 0x0a,
+ 0xf2, 0xa8, 0x48, 0x52,
+ 0xf9, 0x90, 0x46, 0x82,
+ 0x8e, 0x85, 0xa1, 0x3b,
+ 0x06, 0x44, 0x0f, 0x2e,
+ 0x4a, 0x82, 0xe1, 0x7c,
+ 0x58, 0x42, 0xf0, 0x8c,
+ 0x07, 0xcb, 0xf2, 0x8c,
+ 0x06, 0xc4, 0xc6, 0xcf,
+ 0x90, 0xcb, 0x56, 0x80,
+ 0x99, 0x0c, 0x4a, 0x52,
+ 0x96, 0x80, 0x06, 0x54,
+ 0x84, 0x80, 0x06, 0x30,
+ 0xec, 0x04, 0x0a, 0x30,
+ 0xe4, 0x7c, 0x0b, 0x0a,
+ 0x1c, 0x00, 0x58, 0x40,
+ 0xec, 0x84, 0x08, 0x30,
+ 0x7b, 0x90, 0x4a, 0x52,
+ 0xc0, 0x00, 0x10, 0x06,
+ 0xec, 0x7c, 0x08, 0x52,
+ 0x6f, 0x90, 0x12, 0x84,
+ 0xec, 0x00, 0x14, 0x44,
+ 0x52, 0xa2, 0x29, 0xcf,
+ 0x28, 0x53, 0xf8, 0xa4,
+ 0x12, 0x16, 0xb2, 0xcf,
+ 0x0a, 0x52, 0x60, 0x04,
+ 0x26, 0x93, 0xec, 0x04,
+ 0xe8, 0x94, 0x14, 0xc4,
+ 0x92, 0x2b, 0x29, 0x8f,
+ 0xef, 0xc8, 0x62, 0x48,
+ 0xb4, 0x1f, 0x0f, 0x24,
+ 0x81, 0xa1, 0x30, 0x0f,
+ 0x01, 0xe5, 0x84, 0xb3,
+ 0xa1, 0x1d, 0xb2, 0xb3,
+ 0x56, 0xb2, 0x02, 0x65,
+ 0x04, 0xb3, 0x90, 0x88,
+ 0xe0, 0xfc, 0x06, 0x14,
+ 0xc3, 0x17, 0x43, 0x07,
+ 0x16, 0xb0, 0x26, 0x0f,
+ 0x21, 0xbd, 0xec, 0x04,
+ 0xe0, 0x00, 0x04, 0xb2,
+ 0x1f, 0xfd, 0x43, 0xfe,
+ 0x41, 0xfe, 0x5f, 0xff,
+ 0x04, 0x8a, 0xdf, 0xfc,
+ 0xff, 0x81, 0x60, 0xfc,
+ 0x60, 0x38, 0x80, 0xf5,
+ 0x04, 0x20, 0x6f, 0xc8,
+ 0x45, 0xe6, 0xec, 0xf8,
+ 0x4e, 0x6f, 0xe0, 0x00,
+ 0xf1, 0x80, 0x48, 0xa2,
+ 0x90, 0x6d, 0x13, 0x54,
+ 0x40, 0x40, 0x15, 0x44,
+ 0x46, 0xa2, 0x9c, 0x00,
+ 0x42, 0x30, 0xf3, 0x84,
+ 0x96, 0x1e, 0x9c, 0x00,
+ 0x90, 0x2e, 0x94, 0x0e,
+ 0xf2, 0x7c, 0x0c, 0x4c,
+ 0xc1, 0xc3, 0xdd, 0x93,
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+ 0x40, 0xb5, 0x80, 0xae,
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+ 0x47, 0xb8, 0xe0, 0x28,
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+ 0xe8, 0x00, 0x44, 0x28,
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+ 0x96, 0x0b, 0x0b, 0x0e,
+ 0xe8, 0x00, 0x43, 0xc8,
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+ 0x92, 0x73, 0x0d, 0x34,
+ 0x4e, 0x11, 0x8f, 0x04,
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+ 0xc0, 0x01, 0x64, 0x09,
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+ 0x0e, 0x34, 0x40, 0x01,
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+ 0x00, 0x10, 0xdc, 0x35,
+ 0x52, 0x01, 0xe4, 0x04,
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+ 0xc8, 0xf1, 0x7c, 0x04,
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+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x0a, 0x44, 0x88, 0x44,
+ 0xaa, 0x43, 0xe9, 0x04,
+ 0x81, 0x01, 0x00, 0x43,
+ 0xc3, 0x4f, 0x08, 0x4e,
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+ 0xa3, 0x0f, 0x0c, 0x0e,
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+ 0x60, 0x3c, 0x02, 0x09,
+ 0xa1, 0x0b, 0x80, 0x3b,
+ 0x40, 0x96, 0x06, 0x65,
+ 0x48, 0x3a, 0x80, 0x08,
+ 0x40, 0x3a, 0xe0, 0x02,
+ 0x08, 0x44, 0xe1, 0x02,
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+ 0xec, 0x70, 0x08, 0x49,
+ 0x81, 0x01, 0x49, 0x0d,
+ 0x86, 0x13, 0x82, 0xa5,
+ 0x6b, 0x71, 0x02, 0x19,
+ 0xf4, 0x1d, 0xc0, 0x05,
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+ 0x46, 0x4a, 0xe0, 0x64,
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+ 0x00, 0x04, 0x5d, 0x93,
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+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0x82, 0xbb, 0x00, 0x7b,
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+ 0x12, 0x70, 0x40, 0x11,
+ 0xc0, 0x03, 0x67, 0x71,
+ 0x81, 0xa1, 0x3e, 0xbe,
+ 0x81, 0x01, 0x01, 0x61,
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+ 0x04, 0xf0, 0x7b, 0x80,
+ 0x7c, 0x58, 0xe4, 0x20,
+ 0x8e, 0x1b, 0x6f, 0xfc,
+ 0xa1, 0x1b, 0x91, 0x18,
+ 0x1f, 0xfd, 0x43, 0xfe,
+ 0x56, 0x15, 0x9f, 0xff,
+ 0x82, 0xe5, 0x80, 0x00,
+ 0x45, 0xfe, 0x20, 0x1a,
+ 0xcf, 0xff, 0x7f, 0xfd,
+ 0xfb, 0x80, 0x0c, 0x64,
+ 0xe0, 0x17, 0x82, 0x61,
+ 0xac, 0x1e, 0xb4, 0x1f,
+ 0xc4, 0x1d, 0xa4, 0x14,
+ 0xc0, 0x00, 0x40, 0xc6,
+ 0x88, 0xb1, 0x02, 0xa1,
+ 0x88, 0x91, 0x04, 0x81,
+ 0x60, 0x01, 0x14, 0x0a,
+ 0xf6, 0x95, 0xc0, 0x01,
+ 0x98, 0xf1, 0x3e, 0x14,
+ 0x62, 0x01, 0x42, 0x63,
+ 0x0c, 0x0c, 0xc0, 0x01,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0x81, 0x01, 0x5d, 0x93,
+ 0x60, 0x38, 0x00, 0x19,
+ 0xa1, 0x1b, 0x81, 0x21,
+ 0x00, 0x00, 0x02, 0x16,
+ 0x80, 0x08, 0x40, 0x96,
+ 0xcc, 0x2a, 0x86, 0x25,
+ 0xe0, 0x28, 0x06, 0x09,
+ 0x7c, 0xc0, 0x08, 0x24,
+ 0x48, 0x4a, 0xe2, 0x27,
+ 0x02, 0x10, 0x66, 0x86,
+ 0x01, 0x0a, 0xec, 0x04,
+ 0x40, 0xc6, 0x64, 0x40,
+ 0x44, 0x2a, 0xe0, 0x00,
+ 0x08, 0x06, 0x60, 0x12,
+ 0x00, 0x06, 0xf0, 0x00,
+ 0x42, 0x2a, 0x80, 0x00,
+ 0x42, 0x42, 0xe6, 0x86,
+ 0xce, 0x2c, 0xf1, 0x84,
+ 0xe0, 0x10, 0x46, 0x13,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x80, 0x8b, 0x06, 0x6b,
+ 0x60, 0x38, 0x0c, 0x09,
+ 0x21, 0x0b, 0x84, 0x7b,
+ 0x86, 0x95, 0x81, 0x01,
+ 0x8e, 0x1b, 0x10, 0x0b,
+ 0xef, 0xfc, 0x78, 0xe8,
+ 0x40, 0x96, 0x00, 0xab,
+ 0x14, 0x0a, 0xe0, 0x08,
+ 0x84, 0x45, 0xe2, 0xa4,
+ 0x67, 0x71, 0x12, 0x80,
+ 0x8e, 0x1b, 0x40, 0x03,
+ 0x8c, 0x2b, 0x12, 0x0b,
+ 0xef, 0xfc, 0x69, 0x48,
+ 0x41, 0x26, 0x00, 0x8b,
+ 0xa1, 0x8b, 0xe0, 0x0c,
+ 0x9c, 0x00, 0x50, 0xa0,
+ 0xe3, 0xc8, 0x10, 0x0a,
+ 0x0c, 0x0c, 0x80, 0x95,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0x8e, 0x1b, 0x12, 0x0b,
+ 0x6f, 0xfc, 0x64, 0x48,
+ 0xa1, 0x0b, 0x8c, 0x2b,
+ 0xdc, 0x00, 0x50, 0x00,
+ 0x0c, 0x0c, 0x90, 0x0b,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0xfa, 0x00, 0x00, 0x4c,
+ 0xe1, 0x00, 0x1e, 0x06,
+ 0x61, 0x9c, 0x00, 0x46,
+ 0x66, 0x38, 0x83, 0x11,
+ 0xc1, 0xc3, 0xef, 0xb8,
+ 0xfa, 0x0c, 0x04, 0x0c,
+ 0x80, 0x6b, 0x02, 0x7b,
+ 0x60, 0x3c, 0x41, 0xf6,
+ 0x73, 0xd8, 0x81, 0x11,
+ 0x81, 0x81, 0x6f, 0xbc,
+ 0x60, 0x00, 0x42, 0x76,
+ 0x62, 0xb8, 0x8c, 0x0b,
+ 0x7e, 0xd8, 0xe8, 0x24,
+ 0x8c, 0x0b, 0x68, 0x0c,
+ 0xe1, 0x3c, 0x00, 0x86,
+ 0x80, 0x18, 0x80, 0x04,
+ 0xf1, 0xfc, 0x42, 0x10,
+ 0x00, 0xc6, 0x00, 0x16,
+ 0x80, 0x04, 0xe1, 0x44,
+ 0x01, 0x86, 0x00, 0x86,
+ 0x80, 0x04, 0xe1, 0x44,
+ 0x40, 0x46, 0x00, 0x86,
+ 0x80, 0x04, 0xe1, 0x44,
+ 0x40, 0xc6, 0x00, 0x86,
+ 0x0c, 0x2b, 0xef, 0xdc,
+ 0xc0, 0x15, 0x6e, 0x09,
+ 0x73, 0xf5, 0x42, 0x20,
+ 0x44, 0x4a, 0x40, 0xff,
+ 0x4c, 0x13, 0xe0, 0x98,
+ 0xc0, 0x15, 0x6e, 0x09,
+ 0xf8, 0x70, 0x00, 0x39,
+ 0xf3, 0xec, 0x44, 0x30,
+ 0xf8, 0x70, 0x40, 0x21,
+ 0x4c, 0x81, 0x84, 0x45,
+ 0x40, 0x2b, 0x6c, 0x21,
+ 0x73, 0xf9, 0x42, 0x10,
+ 0x4c, 0x13, 0xc0, 0xff,
+ 0xc0, 0x15, 0x6e, 0x09,
+ 0xf8, 0x20, 0x40, 0x81,
+ 0xf8, 0x10, 0x00, 0x19,
+ 0xf3, 0xf8, 0x42, 0x10,
+ 0xf8, 0x10, 0x40, 0x11,
+ 0x42, 0x10, 0x80, 0x18,
+ 0x80, 0x16, 0xf3, 0xf8,
+ 0x42, 0x10, 0x80, 0x18,
+ 0x80, 0x16, 0xf3, 0xf4,
+ 0xf8, 0x30, 0x00, 0x19,
+ 0x40, 0x11, 0xc8, 0x19,
+ 0x40, 0x81, 0xf8, 0x30,
+ 0x00, 0x09, 0xe0, 0x30,
+ 0x40, 0x0a, 0xf8, 0x30,
+ 0x82, 0xe5, 0xe0, 0x88,
+ 0x43, 0xf6, 0x1c, 0x04,
+ 0xff, 0xc0, 0x6f, 0xfd,
+ 0x02, 0x0e, 0x02, 0x0f,
+ 0x40, 0x00, 0xf0, 0x00,
+ 0xc3, 0x00, 0x7c, 0x01,
+ 0x9c, 0x04, 0x9c, 0x0e,
+ 0x9c, 0x0e, 0x82, 0x0f,
+ 0x6e, 0x0d, 0x0c, 0x09,
+ 0xa3, 0x0b, 0xc0, 0x36,
+ 0x0c, 0x09, 0x84, 0x15,
+ 0xc0, 0x38, 0x63, 0x11,
+ 0x41, 0xc6, 0xa3, 0x0b,
+ 0x00, 0x20, 0x12, 0xfd,
+ 0x00, 0x01, 0x02, 0x06,
+ 0x4c, 0x81, 0xbf, 0xc1,
+ 0x80, 0x38, 0x03, 0x11,
+ 0x80, 0x00, 0x40, 0x15,
+ 0x68, 0x00, 0x5f, 0xa8,
+ 0x42, 0x86, 0x8c, 0x0b,
+ 0x8c, 0x0b, 0x60, 0x00,
+ 0xe8, 0x24, 0x5b, 0x28,
+ 0xef, 0xfc, 0x76, 0xe8,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x8b, 0x11, 0x00, 0x6b,
+ 0xe8, 0x28, 0x56, 0xa8,
+ 0x61, 0x24, 0x00, 0xc6,
+ 0xe0, 0x00, 0x42, 0x06,
+ 0x4c, 0x11, 0x80, 0x04,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x00, 0x16, 0x81, 0x11,
+ 0xe1, 0x3c, 0x00, 0x86,
+ 0x80, 0x18, 0x80, 0x04,
+ 0xf1, 0xfc, 0x42, 0x10,
+ 0x40, 0x86, 0x00, 0x16,
+ 0x80, 0x08, 0xef, 0xdc,
+ 0xe0, 0x80, 0x40, 0x0a,
+ 0x0e, 0x09, 0x0c, 0x0b,
+ 0x40, 0x00, 0xc0, 0x15,
+ 0xc0, 0xff, 0x13, 0x7d,
+ 0x0e, 0x09, 0x4c, 0x03,
+ 0x8c, 0x0b, 0x40, 0x15,
+ 0xe8, 0x00, 0x5c, 0xa8,
+ 0xe8, 0x00, 0x5c, 0x08,
+ 0x61, 0x44, 0x40, 0x46,
+ 0x80, 0x04, 0x85, 0x11,
+ 0x01, 0x86, 0x00, 0x16,
+ 0x80, 0x04, 0xe1, 0x44,
+ 0x00, 0xc6, 0x00, 0x16,
+ 0x80, 0x04, 0xe1, 0x44,
+ 0x0c, 0x09, 0x80, 0x16,
+ 0xc0, 0x2b, 0x6c, 0x21,
+ 0xec, 0x04, 0x02, 0x00,
+ 0x84, 0x95, 0xe7, 0x1d,
+ 0xec, 0x2c, 0x02, 0x00,
+ 0x84, 0xb5, 0xe7, 0x1d,
+ 0xec, 0x10, 0x02, 0x00,
+ 0x84, 0xd5, 0xe5, 0x1d,
+ 0x86, 0x25, 0xad, 0x0b,
+ 0x86, 0x65, 0xb3, 0x0b,
+ 0x86, 0xb5, 0xb5, 0x0b,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0x20, 0x78, 0xf2, 0x00,
+ 0x8c, 0x0b, 0xe0, 0x58,
+ 0xf2, 0x00, 0x0c, 0x0c,
+ 0xe0, 0x40, 0x35, 0x68,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0x08, 0x58, 0xf2, 0x00,
+ 0x8c, 0x0b, 0xe0, 0x54,
+ 0xf2, 0x00, 0x0c, 0x0c,
+ 0xe0, 0x4c, 0x10, 0xe8,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0x85, 0xb5, 0xf2, 0x00,
+ 0x0c, 0x0c, 0x8c, 0x0b,
+ 0x85, 0x75, 0xf2, 0x00,
+ 0x0c, 0x0c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf2, 0x00,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x81, 0x11, 0x01, 0x01,
+ 0x68, 0x20, 0x7d, 0xc8,
+ 0x03, 0x46, 0x81, 0x61,
+ 0x83, 0x31, 0x61, 0x4c,
+ 0x08, 0x36, 0x84, 0x24,
+ 0xe1, 0x14, 0x44, 0xc6,
+ 0x90, 0x36, 0x88, 0x44,
+ 0x08, 0x66, 0x88, 0x24,
+ 0x84, 0x14, 0x87, 0x21,
+ 0x83, 0x11, 0x04, 0x26,
+ 0xf2, 0x00, 0x0c, 0x0c,
+ 0xe0, 0x20, 0x3c, 0x88,
+ 0x61, 0x14, 0x40, 0xc6,
+ 0x80, 0x04, 0x83, 0x11,
+ 0xc1, 0x83, 0x80, 0x16,
+ 0xdd, 0x93, 0xc7, 0x13,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x0c, 0x09, 0x80, 0x6b,
+ 0xc0, 0x2b, 0x6c, 0x21,
+ 0x40, 0x96, 0xb3, 0x0b,
+ 0x4c, 0x01, 0x80, 0x00,
+ 0x80, 0x2b, 0x0c, 0x1d,
+ 0x40, 0x66, 0x82, 0x25,
+ 0x4c, 0x01, 0xe0, 0x00,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x41, 0x98, 0x8c, 0x0b,
+ 0x41, 0x18, 0xe8, 0x50,
+ 0x8c, 0x0b, 0x68, 0x18,
+ 0x61, 0xd1, 0x0c, 0x09,
+ 0x80, 0x7b, 0x40, 0x15,
+ 0x6c, 0x79, 0x0c, 0x19,
+ 0x40, 0x0a, 0xc0, 0x2c,
+ 0x82, 0x01, 0xe6, 0x86,
+ 0x67, 0xf9, 0x00, 0x8a,
+ 0x41, 0xd6, 0xc0, 0x03,
+ 0x0e, 0x66, 0x00, 0x3c,
+ 0x00, 0x04, 0x80, 0x04,
+ 0xa1, 0x7b, 0x5a, 0x80,
+ 0x66, 0x31, 0x4c, 0x03,
+ 0x82, 0x45, 0xc0, 0x16,
+ 0x6c, 0x1d, 0x0c, 0x29,
+ 0x8c, 0x0b, 0x40, 0x2b,
+ 0x68, 0x0c, 0x70, 0x48,
+ 0xa1, 0x0b, 0x8e, 0x1b,
+ 0x47, 0xd8, 0x98, 0x75,
+ 0x8c, 0x0b, 0x68, 0x44,
+ 0x6c, 0x21, 0x0c, 0x09,
+ 0x80, 0x7b, 0x40, 0x2b,
+ 0x88, 0x55, 0xb3, 0x0b,
+ 0x92, 0xd5, 0xa1, 0x7b,
+ 0x68, 0x3c, 0x72, 0xe8,
+ 0x00, 0x7b, 0x8c, 0x0b,
+ 0xe1, 0x34, 0x41, 0x06,
+ 0x02, 0x96, 0x00, 0x04,
+ 0x4c, 0x11, 0xe0, 0x04,
+ 0xc0, 0x2b, 0x6c, 0x1d,
+ 0x00, 0x0e, 0x00, 0x16,
+ 0x0c, 0x19, 0xff, 0xf8,
+ 0xc0, 0x2c, 0x6c, 0xfd,
+ 0xe3, 0xf0, 0x02, 0x0a,
+ 0xc4, 0x04, 0x00, 0x10,
+ 0x6c, 0xfd, 0x4c, 0x01,
+ 0x8c, 0x0b, 0x40, 0x2c,
+ 0xe8, 0x04, 0x4b, 0xe8,
+ 0x8c, 0x15, 0xa1, 0x7b,
+ 0x21, 0x7b, 0x87, 0x85,
+ 0xe0, 0x00, 0x40, 0x66,
+ 0x6c, 0x1d, 0x4c, 0x01,
+ 0x8a, 0x15, 0xc0, 0x2b,
+ 0x61, 0x4c, 0x55, 0x46,
+ 0x66, 0xe0, 0x10, 0x60,
+ 0x28, 0x04, 0xc0, 0xa3,
+ 0x67, 0x61, 0x12, 0x60,
+ 0x02, 0x60, 0xc0, 0x9f,
+ 0x40, 0x54, 0x65, 0xc1,
+ 0x65, 0x41, 0x04, 0x60,
+ 0x06, 0x60, 0xc0, 0x54,
+ 0x40, 0x54, 0x66, 0xd1,
+ 0x5e, 0xd8, 0x90, 0x4b,
+ 0x92, 0x5b, 0x6f, 0xc0,
+ 0xa1, 0x7b, 0x80, 0x7b,
+ 0x28, 0x04, 0x82, 0xf5,
+ 0x66, 0x31, 0x02, 0x60,
+ 0x08, 0x60, 0xc0, 0xad,
+ 0x40, 0xa1, 0x64, 0x71,
+ 0x61, 0x78, 0x90, 0x2b,
+ 0x92, 0x3b, 0x6f, 0xc0,
+ 0xa1, 0x7b, 0x80, 0x7b,
+ 0x0c, 0x29, 0x82, 0xe5,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x6a, 0x38, 0x8c, 0x0b,
+ 0x8e, 0x1b, 0x68, 0x0c,
+ 0x80, 0x55, 0xa1, 0x0b,
+ 0x8e, 0x0b, 0x81, 0x71,
+ 0xf2, 0x3c, 0x0c, 0x0c,
+ 0x28, 0x04, 0xdd, 0x93,
+ 0x64, 0x81, 0x04, 0x60,
+ 0x06, 0x60, 0xc0, 0x99,
+ 0x40, 0xa2, 0x65, 0x21,
+ 0x50, 0xd8, 0x90, 0x1b,
+ 0x73, 0x95, 0xef, 0xf8,
+ 0xc1, 0xc3, 0x80, 0x7b,
+ 0x64, 0x51, 0x00, 0x8a,
+ 0x80, 0xf5, 0xc0, 0x03,
+ 0x61, 0x18, 0x01, 0x46,
+ 0x80, 0x04, 0x87, 0x11,
+ 0xdd, 0x93, 0x80, 0x16,
+ 0x64, 0x39, 0x00, 0x8a,
+ 0x80, 0xf5, 0xc0, 0x02,
+ 0x61, 0x18, 0x01, 0x46,
+ 0x80, 0x04, 0x85, 0x11,
+ 0xdd, 0x93, 0x80, 0x16,
+ 0x61, 0x18, 0x03, 0x46,
+ 0x64, 0x18, 0x01, 0x4a,
+ 0x84, 0x14, 0xc0, 0x01,
+ 0xe2, 0x00, 0x00, 0x0c,
+ 0xdd, 0x93, 0x84, 0x06,
+ 0x66, 0x61, 0x02, 0x8a,
+ 0x03, 0x06, 0xc0, 0x03,
+ 0x04, 0x66, 0x01, 0x04,
+ 0x02, 0x15, 0x80, 0x00,
+ 0x86, 0xc5, 0x80, 0x00,
+ 0x64, 0x99, 0x02, 0x8a,
+ 0x03, 0x06, 0xc0, 0x03,
+ 0x04, 0x56, 0x01, 0x04,
+ 0x02, 0x15, 0x80, 0x00,
+ 0x84, 0x85, 0x80, 0x00,
+ 0x66, 0xc9, 0x02, 0x8a,
+ 0x03, 0x06, 0xc0, 0x02,
+ 0x04, 0x46, 0x01, 0x04,
+ 0x02, 0x15, 0x80, 0x00,
+ 0x82, 0x45, 0x80, 0x00,
+ 0x64, 0x95, 0x03, 0x0a,
+ 0x03, 0x06, 0x40, 0x02,
+ 0x04, 0x14, 0xe1, 0x04,
+ 0x04, 0x26, 0x87, 0x21,
+ 0x04, 0x26, 0x80, 0x00,
+ 0xe1, 0x04, 0x03, 0x06,
+ 0x84, 0x18, 0x84, 0x14,
+ 0x65, 0x79, 0x40, 0x11,
+ 0xdd, 0x93, 0xc0, 0x2b,
+ 0x03, 0x0a, 0xc4, 0x17,
+ 0xc0, 0x0f, 0x66, 0x81,
+ 0x02, 0x8a, 0x86, 0xf5,
+ 0xc0, 0x0f, 0x64, 0xf5,
+ 0x01, 0x04, 0x02, 0xc6,
+ 0x80, 0x00, 0x04, 0x06,
+ 0x80, 0x00, 0x02, 0x15,
+ 0x02, 0x8a, 0x84, 0x85,
+ 0xc0, 0x0c, 0x66, 0xcd,
+ 0x01, 0x04, 0x02, 0xc6,
+ 0x80, 0x00, 0x04, 0x16,
+ 0x80, 0x00, 0x02, 0x15,
+ 0x03, 0x0a, 0x82, 0x45,
+ 0x40, 0x0a, 0x64, 0xa1,
+ 0xe1, 0x04, 0x02, 0xc6,
+ 0x85, 0x21, 0x04, 0x14,
+ 0x80, 0x00, 0x04, 0x36,
+ 0x02, 0xc6, 0x84, 0x26,
+ 0x84, 0x14, 0xe1, 0x04,
+ 0x40, 0x11, 0x84, 0x18,
+ 0xc0, 0x2b, 0x65, 0x75,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xe1, 0x18, 0x05, 0x86,
+ 0x88, 0x28, 0x88, 0x24,
+ 0x00, 0x15, 0xa1, 0x2b,
+ 0x00, 0x09, 0x0e, 0x0d,
+ 0xc1, 0x18, 0x05, 0x46,
+ 0xc0, 0x00, 0x04, 0x25,
+ 0x81, 0xb0, 0x02, 0x14,
+ 0x40, 0x00, 0x04, 0x29,
+ 0x84, 0x04, 0x02, 0x10,
+ 0xc4, 0x04, 0x04, 0x20,
+ 0xc0, 0x0a, 0x42, 0x1a,
+ 0x6e, 0x01, 0x40, 0x13,
+ 0xdd, 0x93, 0xc0, 0x15,
+ 0xe1, 0x24, 0x01, 0x46,
+ 0x84, 0x28, 0x80, 0x14,
+ 0xf3, 0xf8, 0x44, 0x20,
+ 0x43, 0x06, 0x04, 0x26,
+ 0x84, 0x14, 0xe1, 0x14,
+ 0x04, 0x24, 0x84, 0x28,
+ 0x84, 0x26, 0xfc, 0x94,
+ 0x84, 0x28, 0x80, 0x14,
+ 0xf3, 0xf4, 0x44, 0x20,
+ 0x80, 0x04, 0x84, 0x26,
+ 0x42, 0x10, 0x80, 0x18,
+ 0x80, 0x16, 0xf3, 0xcc,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xe1, 0x24, 0x01, 0x46,
+ 0x80, 0x18, 0x80, 0x04,
+ 0x80, 0x16, 0xc2, 0x19,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0xfc, 0x04, 0x0c,
+ 0x00, 0x26, 0x00, 0x6b,
+ 0x4c, 0x01, 0xe0, 0x0c,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x65, 0x38, 0x81, 0x01,
+ 0x81, 0x11, 0x68, 0x20,
+ 0x6f, 0xa9, 0x0c, 0x15,
+ 0x25, 0x1b, 0xc0, 0x0b,
+ 0xe1, 0x24, 0x03, 0x46,
+ 0x82, 0x45, 0x84, 0x24,
+ 0x42, 0x4a, 0x88, 0x18,
+ 0x80, 0xc5, 0xe0, 0x80,
+ 0x0c, 0x0c, 0x83, 0x11,
+ 0x24, 0x18, 0xf2, 0xfc,
+ 0x3e, 0x0e, 0xe0, 0x20,
+ 0x88, 0x18, 0x8c, 0x0b,
+ 0xf3, 0xf8, 0x42, 0x10,
+ 0x02, 0x86, 0x08, 0x16,
+ 0x75, 0x98, 0xe0, 0x0c,
+ 0x81, 0x21, 0x68, 0x50,
+ 0x61, 0x44, 0x10, 0xc6,
+ 0xe1, 0x48, 0x53, 0x86,
+ 0xff, 0xa1, 0x20, 0x04,
+ 0xe1, 0x24, 0x57, 0x46,
+ 0xc7, 0x07, 0x80, 0x08,
+ 0xf0, 0x04, 0x4e, 0x00,
+ 0x80, 0xc5, 0xa1, 0x7b,
+ 0x6f, 0xa9, 0x0c, 0x05,
+ 0xa5, 0x0b, 0xc0, 0x0b,
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+ 0x3e, 0x0e, 0x81, 0x81,
+ 0xe1, 0x24, 0x01, 0xc6,
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+ 0xe0, 0x20, 0x16, 0x28,
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+ 0x04, 0x34, 0xc0, 0x20,
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+ 0x0c, 0xc9, 0xff, 0xc0,
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+ 0xa6, 0x5f, 0x84, 0x3f,
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+ 0xc0, 0xe0, 0x08, 0x44,
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+ 0xa1, 0x7b, 0xd0, 0x90,
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+ 0xe0, 0x80, 0x40, 0x0a,
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+ 0xe1, 0xe0, 0x16, 0x74,
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+ 0xfc, 0xc0, 0x02, 0xa4,
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+ 0xfc, 0xc4, 0x04, 0xa4,
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+ 0x20, 0x14, 0xf1, 0x80,
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+ 0x6c, 0x08, 0x0a, 0x40,
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+ 0xe1, 0x4c, 0x17, 0xc6,
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+ 0x66, 0x96, 0x48, 0x4a,
+ 0x20, 0x74, 0xe1, 0x37,
+ 0x46, 0xc0, 0x86, 0xc3,
+ 0x41, 0xff, 0x73, 0xf1,
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+ 0xa1, 0xcb, 0xdd, 0xae,
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+ 0xc5, 0x3e, 0xe4, 0x10,
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+ 0xf4, 0x95, 0xbf, 0x4b,
+ 0x91, 0xf5, 0xbe, 0x24,
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+ 0x40, 0x15, 0x6e, 0x09,
+ 0xff, 0xfc, 0x03, 0xee,
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+ 0x17, 0xc6, 0x40, 0x15,
+ 0x8e, 0x05, 0xe1, 0x4c,
+ 0x72, 0xfd, 0x49, 0xc6,
+ 0x05, 0x46, 0x40, 0x20,
+ 0x02, 0x06, 0xe1, 0x98,
+ 0x40, 0x20, 0x73, 0x01,
+ 0x20, 0x14, 0xa0, 0x43,
+ 0xf1, 0x80, 0x40, 0x12,
+ 0x85, 0x55, 0x88, 0x2a,
+ 0x6c, 0x08, 0x0a, 0x40,
+ 0x77, 0x5d, 0x80, 0x7b,
+ 0xe1, 0x90, 0x0a, 0x34,
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+ 0x08, 0x16, 0x40, 0x0f,
+ 0x48, 0x4a, 0x80, 0x00,
+ 0xe1, 0x37, 0x66, 0x96,
+ 0x4a, 0x30, 0x84, 0x33,
+ 0x41, 0xff, 0x73, 0xf1,
+ 0x06, 0x00, 0xc5, 0x47,
+ 0x82, 0x53, 0x64, 0x10,
+ 0x88, 0xcb, 0x01, 0x65,
+ 0x18, 0xc0, 0x5d, 0x94,
+ 0xd5, 0x9e, 0xec, 0x04,
+ 0xfe, 0x75, 0xa1, 0xcb,
+ 0xe0, 0x88, 0x0a, 0x44,
+ 0x70, 0x94, 0x48, 0x02,
+ 0xf0, 0x94, 0x40, 0x32,
+ 0x48, 0x30, 0x90, 0x34,
+ 0xbf, 0x4b, 0xf0, 0x3c,
+ 0x0c, 0x19, 0xf6, 0x15,
+ 0x40, 0x15, 0x62, 0x65,
+ 0xe1, 0x4c, 0x00, 0x46,
+ 0x88, 0x19, 0x80, 0x04,
+ 0x44, 0x20, 0x80, 0x28,
+ 0xa2, 0x2f, 0xf3, 0xec,
+ 0x0c, 0x09, 0x80, 0x26,
+ 0xc0, 0x2b, 0x64, 0xc5,
+ 0x6c, 0x21, 0x4c, 0x01,
+ 0x8c, 0x0b, 0x40, 0x2b,
+ 0xe8, 0x00, 0x45, 0x88,
+ 0x00, 0x60, 0x20, 0x44,
+ 0xc0, 0x54, 0x65, 0x01,
+ 0x7b, 0x80, 0x04, 0x04,
+ 0x19, 0x11, 0x81, 0x01,
+ 0x72, 0xc1, 0x06, 0x46,
+ 0x4f, 0x58, 0xc0, 0x20,
+ 0x2c, 0x14, 0xe8, 0x00,
+ 0x00, 0x2e, 0x9f, 0x21,
+ 0x7c, 0x51, 0x4e, 0xa0,
+ 0x84, 0x7e, 0xc3, 0x00,
+ 0xef, 0xf8, 0x6d, 0xe8,
+ 0xa9, 0x91, 0x0e, 0x2b,
+ 0x60, 0x01, 0x02, 0x06,
+ 0x00, 0x94, 0x7f, 0xc0,
+ 0x2c, 0x24, 0xfb, 0x80,
+ 0xa0, 0x1f, 0x84, 0x1f,
+ 0x7c, 0x01, 0x40, 0x10,
+ 0x88, 0x0e, 0xc3, 0x00,
+ 0x67, 0xcd, 0x0c, 0x09,
+ 0x40, 0x0a, 0xc0, 0x2d,
+ 0x80, 0xe5, 0xe0, 0x80,
+ 0x6c, 0x11, 0x0c, 0x09,
+ 0x40, 0x0a, 0xc0, 0x2b,
+ 0x80, 0x95, 0xe0, 0x98,
+ 0xf2, 0xfc, 0x0c, 0x0c,
+ 0x8c, 0x0b, 0xdd, 0x93,
+ 0xf2, 0xfc, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0x9f, 0xa5,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x41, 0x86, 0x00, 0x6b,
+ 0x80, 0x14, 0xe1, 0x48,
+ 0x44, 0x20, 0x84, 0x28,
+ 0x84, 0x26, 0xf3, 0xbc,
+ 0x84, 0x28, 0x80, 0x14,
+ 0xf3, 0x7c, 0x44, 0x20,
+ 0x80, 0x04, 0x84, 0x26,
+ 0x42, 0x10, 0x80, 0x18,
+ 0x80, 0x16, 0xf1, 0xfc,
+ 0xef, 0xf8, 0x7a, 0x68,
+ 0x83, 0x11, 0x01, 0x01,
+ 0x0c, 0x0c, 0x8c, 0x2b,
+ 0x22, 0x78, 0xf2, 0x00,
+ 0xc1, 0xc3, 0xff, 0xfc,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x61, 0x41, 0x00, 0x19,
+ 0x08, 0x00, 0x40, 0x15,
+ 0xc0, 0xd9, 0x66, 0x01,
+ 0x61, 0x45, 0x00, 0x29,
+ 0x0a, 0x00, 0x40, 0x15,
+ 0xc0, 0xd9, 0x65, 0xc1,
+ 0x62, 0x11, 0x00, 0x39,
+ 0x91, 0xc1, 0x40, 0x15,
+ 0x81, 0x71, 0x01, 0x61,
+ 0xe6, 0x86, 0x44, 0x2a,
+ 0x62, 0x1d, 0x00, 0x19,
+ 0x40, 0x21, 0xc0, 0x15,
+ 0x40, 0x15, 0x63, 0x09,
+ 0x40, 0x31, 0x81, 0x21,
+ 0xc0, 0x15, 0x63, 0x0d,
+ 0x06, 0x10, 0x07, 0xc5,
+ 0x0c, 0x4a, 0xe4, 0x40,
+ 0x0c, 0x1a, 0xe0, 0x00,
+ 0x40, 0x0a, 0xf8, 0x7c,
+ 0x0a, 0x50, 0xe1, 0x84,
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+ 0x94, 0x84, 0x80, 0x00,
+ 0x50, 0x0a, 0x51, 0x84,
+ 0x82, 0x25, 0xe4, 0x9c,
+ 0x6c, 0x34, 0x12, 0x80,
+ 0x12, 0xda, 0xa1, 0x8b,
+ 0x42, 0x0a, 0xe4, 0x08,
+ 0x80, 0x95, 0xed, 0x80,
+ 0x82, 0x61, 0x02, 0x71,
+ 0xbf, 0x8b, 0x85, 0x05,
+ 0xa1, 0x6b, 0x88, 0x25,
+ 0x00, 0x95, 0x82, 0x45,
+ 0xc0, 0x0d, 0x69, 0x6d,
+ 0x12, 0xc0, 0x93, 0x6b,
+ 0x40, 0x93, 0x84, 0x20,
+ 0x80, 0x16, 0x0b, 0xe1,
+ 0xf0, 0x3c, 0x52, 0x80,
+ 0x02, 0xa5, 0xb9, 0x9b,
+ 0x9b, 0x80, 0x18, 0xc4,
+ 0xa1, 0x9b, 0x49, 0x87,
+ 0x73, 0xfd, 0x50, 0x80,
+ 0x18, 0xc4, 0x40, 0x0f,
+ 0x50, 0x8a, 0xfb, 0x80,
+ 0x90, 0xc3, 0xc6, 0xa6,
+ 0x88, 0xc1, 0x7d, 0x05,
+ 0xe5, 0xfc, 0x0d, 0x0a,
+ 0x40, 0x23, 0xf0, 0xa5,
+ 0x40, 0x0a, 0x68, 0x95,
+ 0xfb, 0x80, 0x08, 0xc4,
+ 0x68, 0x89, 0x40, 0x13,
+ 0x88, 0x33, 0x40, 0x0a,
+ 0x6f, 0xf1, 0x06, 0x8a,
+ 0x0a, 0x34, 0x40, 0x2b,
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+ 0x40, 0x13, 0x88, 0x11,
+ 0x40, 0x0a, 0x68, 0x8d,
+ 0xec, 0x04, 0x02, 0x30,
+ 0x68, 0x91, 0x40, 0x33,
+ 0x06, 0x06, 0x40, 0x0a,
+ 0xc0, 0x20, 0x70, 0x01,
+ 0x68, 0x85, 0x40, 0x13,
+ 0x02, 0x14, 0x40, 0x0a,
+ 0x48, 0x40, 0xfb, 0x80,
+ 0xa6, 0x1f, 0x1c, 0x20,
+ 0x07, 0xcd, 0x40, 0x41,
+ 0x00, 0x45, 0x80, 0x2d,
+ 0xc0, 0x0d, 0x69, 0x69,
+ 0x64, 0xf9, 0x40, 0x15,
+ 0x40, 0x15, 0xc0, 0x0b,
+ 0xc0, 0x0b, 0x64, 0xfd,
+ 0x89, 0x41, 0x09, 0x5b,
+ 0x0e, 0x09, 0x00, 0x2b,
+ 0x40, 0x43, 0xc0, 0x15,
+ 0xc0, 0x0a, 0x68, 0x81,
+ 0x12, 0xfd, 0x44, 0x20,
+ 0x40, 0x23, 0xc0, 0xff,
+ 0x40, 0x15, 0x0e, 0x09,
+ 0xe1, 0x40, 0x04, 0x46,
+ 0x00, 0x86, 0x08, 0x24,
+ 0x88, 0x1e, 0xe1, 0x40,
+ 0x80, 0x1e, 0x80, 0x04,
+ 0xf0, 0x1c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xf8, 0x04, 0x04, 0x0c,
+ 0x61, 0x98, 0x0b, 0x46,
+ 0xe0, 0x90, 0x0c, 0x14,
+ 0x4e, 0x00, 0x14, 0xca,
+ 0x0c, 0x64, 0xf0, 0x3c,
+ 0xa1, 0x0b, 0x7b, 0x80,
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+ 0x58, 0x22, 0x80, 0x00,
+ 0x40, 0x1a, 0x71, 0xb0,
+ 0x04, 0xc4, 0xe6, 0x82,
+ 0x02, 0xc4, 0x60, 0xc0,
+ 0x24, 0x6f, 0xfb, 0x80,
+ 0x49, 0x6e, 0x86, 0x2b,
+ 0x94, 0x5a, 0xc5, 0x07,
+ 0x02, 0x00, 0x02, 0x53,
+ 0x4a, 0x50, 0xe4, 0x04,
+ 0xc1, 0xff, 0x73, 0xf1,
+ 0x8a, 0x43, 0x01, 0x65,
+ 0x00, 0x00, 0x51, 0x54,
+ 0xc9, 0x5e, 0xec, 0x04,
+ 0xfe, 0x75, 0xa1, 0x0b,
+ 0x40, 0x32, 0xc4, 0x17,
+ 0x0c, 0x0c, 0xf0, 0x84,
+ 0xdd, 0x93, 0xf0, 0x04,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x50, 0x1e, 0xf0,
+ 0x0c, 0x09, 0x80, 0x6b,
+ 0xc0, 0x36, 0x6e, 0x01,
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+ 0x4f, 0x78, 0x9c, 0x00,
+ 0x41, 0x06, 0x88, 0x00,
+ 0x02, 0x96, 0x61, 0x34,
+ 0x00, 0x04, 0xe0, 0x04,
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+ 0x6c, 0x1d, 0x4c, 0x11,
+ 0x81, 0x71, 0x40, 0x2b,
+ 0x00, 0x16, 0xa0, 0x7e,
+ 0x0c, 0x0b, 0x81, 0x11,
+ 0xc0, 0x15, 0x6e, 0x09,
+ 0x73, 0xfd, 0x40, 0x00,
+ 0x4c, 0x03, 0xc0, 0xfd,
+ 0x40, 0x15, 0x6e, 0x09,
+ 0x67, 0xd8, 0x81, 0x01,
+ 0x7e, 0x0e, 0xe8, 0x1c,
+ 0xe1, 0x48, 0x41, 0x86,
+ 0x41, 0xc6, 0x00, 0x14,
+ 0xfc, 0x1e, 0xe1, 0x48,
+ 0x80, 0x04, 0x84, 0x18,
+ 0x0c, 0x29, 0x80, 0x08,
+ 0xc0, 0x2d, 0x67, 0xcd,
+ 0x68, 0x89, 0x0c, 0x0b,
+ 0x06, 0x04, 0x40, 0x0a,
+ 0x02, 0x29, 0xe0, 0xa0,
+ 0x3e, 0x3e, 0xa6, 0x1f,
+ 0x24, 0x1f, 0xf0, 0x27,
+ 0x4c, 0x15, 0xc5, 0x07,
+ 0x40, 0x02, 0x68, 0x01,
+ 0x64, 0x31, 0x06, 0x60,
+ 0x83, 0x11, 0xc0, 0x28,
+ 0x46, 0x75, 0xc1, 0x1d,
+ 0x02, 0x10, 0x58, 0x04,
+ 0x7e, 0x75, 0xc4, 0x04,
+ 0xc4, 0x10, 0x06, 0x30,
+ 0x61, 0x8d, 0x0c, 0x0b,
+ 0x08, 0x60, 0x40, 0x1c,
+ 0xc0, 0xd9, 0x66, 0x01,
+ 0x65, 0xc1, 0x0a, 0x60,
+ 0x81, 0xb1, 0x40, 0xd9,
+ 0xbc, 0x0e, 0x81, 0xa1,
+ 0xf8, 0x04, 0x46, 0x05,
+ 0x09, 0x0e, 0xa0, 0x04,
+ 0xe1, 0x98, 0x01, 0x46,
+ 0x81, 0x01, 0x00, 0x9a,
+ 0x14, 0x4a, 0x8b, 0x85,
+ 0x14, 0x1a, 0xe0, 0x00,
+ 0x40, 0x0a, 0xf8, 0x7c,
+ 0x0a, 0x50, 0xe1, 0x84,
+ 0x16, 0x06, 0x04, 0x10,
+ 0x94, 0x14, 0x80, 0x00,
+ 0x42, 0x0a, 0x51, 0x14,
+ 0x90, 0xe5, 0xe4, 0xac,
+ 0x84, 0x25, 0xa1, 0xab,
+ 0x69, 0x6d, 0x0c, 0x25,
+ 0x85, 0xab, 0xc0, 0x0d,
+ 0x08, 0x91, 0x0c, 0x0b,
+ 0x40, 0x00, 0x80, 0x0a,
+ 0x80, 0xff, 0x13, 0xf1,
+ 0x90, 0x98, 0x40, 0x02,
+ 0x06, 0x00, 0x0e, 0xa5,
+ 0x80, 0x28, 0x04, 0x01,
+ 0xec, 0x34, 0x04, 0x10,
+ 0x80, 0xb5, 0xe4, 0x2d,
+ 0xbf, 0x1b, 0x4d, 0x1e,
+ 0x87, 0x25, 0x8a, 0xd5,
+ 0x8a, 0x65, 0xa1, 0x1b,
+ 0x70, 0x3c, 0x58, 0x10,
+ 0xe1, 0xc0, 0x04, 0x14,
+ 0xb9, 0xcb, 0x0c, 0x1e,
+ 0x84, 0x8b, 0x01, 0x71,
+ 0x49, 0x17, 0x82, 0x45,
+ 0x4e, 0x10, 0xa1, 0xcb,
+ 0x40, 0x0f, 0x73, 0xfd,
+ 0x4e, 0x7a, 0x80, 0x8b,
+ 0xc5, 0x77, 0xc6, 0xb2,
+ 0x92, 0x23, 0x09, 0x14,
+ 0x73, 0xf1, 0x40, 0x20,
+ 0x88, 0x31, 0x41, 0xff,
+ 0x02, 0x03, 0x86, 0x2b,
+ 0x81, 0xa5, 0x8e, 0x1b,
+ 0x02, 0x10, 0x21, 0x8b,
+ 0x00, 0xc5, 0xec, 0x04,
+ 0x88, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x44, 0xc5,
+ 0xa1, 0x1b, 0x88, 0x21,
+ 0x44, 0x77, 0xfc, 0xd5,
+ 0x8e, 0x33, 0x90, 0x0b,
+ 0x82, 0xa1, 0x02, 0xb1,
+ 0xe5, 0xfc, 0x15, 0x0a,
+ 0x9d, 0x01, 0xe8, 0xe5,
+ 0x9f, 0x01, 0x0c, 0x0e,
+ 0xbc, 0x04, 0x8e, 0x0e,
+ 0xfc, 0x04, 0xcc, 0x0e,
+ 0x0c, 0x19, 0x80, 0x08,
+ 0xc0, 0x15, 0x62, 0xed,
+ 0xf0, 0x17, 0xbe, 0x24,
+ 0xa2, 0x0f, 0xa4, 0x0f,
+ 0x68, 0x01, 0x4c, 0x05,
+ 0x8c, 0x0b, 0x40, 0x02,
+ 0xe8, 0x10, 0x4a, 0xe8,
+ 0xe1, 0x48, 0x41, 0x86,
+ 0x80, 0x18, 0x80, 0x04,
+ 0xe0, 0x90, 0x42, 0x0a,
+ 0x80, 0x18, 0x82, 0x65,
+ 0x42, 0x10, 0x80, 0x28,
+ 0x44, 0x20, 0xf0, 0x80,
+ 0xa2, 0x2f, 0xf3, 0x7c,
+ 0xf8, 0x80, 0x42, 0x20,
+ 0x7e, 0x04, 0x80, 0x16,
+ 0x5b, 0xd8, 0x83, 0x11,
+ 0x01, 0x86, 0xe8, 0x1c,
+ 0x80, 0x04, 0xe1, 0x98,
+ 0x0c, 0x0b, 0xa3, 0x0b,
+ 0x80, 0x15, 0x0e, 0x09,
+ 0x9c, 0xa4, 0x00, 0x04,
+ 0x0e, 0x09, 0x4c, 0x03,
+ 0x80, 0x85, 0x80, 0x15,
+ 0x68, 0x00, 0x49, 0xc8,
+ 0x03, 0x01, 0x8c, 0x0b,
+ 0x45, 0x18, 0x81, 0x11,
+ 0x8c, 0x2b, 0x6f, 0xfc,
+ 0x0c, 0x0c, 0xa8, 0xf1,
+ 0x1c, 0x38, 0xf2, 0x7c,
+ 0xc1, 0xc3, 0xff, 0xf8,
+ 0xf8, 0x7c, 0x04, 0x0c,
+ 0x63, 0x09, 0x00, 0x19,
+ 0x81, 0x21, 0x40, 0x15,
+ 0x00, 0xc9, 0x91, 0x15,
+ 0x40, 0x36, 0x6e, 0x09,
+ 0xfa, 0x80, 0x08, 0x24,
+ 0x63, 0x0d, 0x00, 0x69,
+ 0x46, 0x02, 0x40, 0x15,
+ 0x06, 0x59, 0xf0, 0x90,
+ 0xc0, 0x15, 0x6f, 0x41,
+ 0x58, 0x6a, 0xa1, 0xcb,
+ 0x0c, 0x30, 0x66, 0x92,
+ 0xc0, 0xdb, 0x66, 0x10,
+ 0x6e, 0x11, 0x46, 0x51,
+ 0x86, 0x45, 0xc0, 0x36,
+ 0x7a, 0x80, 0x0e, 0xc4,
+ 0x12, 0x84, 0x81, 0x81,
+ 0xcb, 0x9d, 0xfa, 0x80,
+ 0x54, 0x92, 0x84, 0x05,
+ 0x56, 0x02, 0xf0, 0x9c,
+ 0x16, 0xb9, 0xf0, 0xa8,
+ 0xc0, 0x1a, 0x6e, 0x41,
+ 0x7c, 0x85, 0xb9, 0xbb,
+ 0x84, 0x04, 0x10, 0x80,
+ 0x94, 0xcb, 0x32, 0x53,
+ 0x81, 0x45, 0x98, 0x56,
+ 0x81, 0x71, 0x0b, 0x9b,
+ 0x0a, 0x8a, 0x80, 0xa5,
+ 0x83, 0x71, 0x74, 0x08,
+ 0x18, 0x76, 0x80, 0x75,
+ 0x18, 0xc4, 0x8e, 0x5b,
+ 0x0c, 0x00, 0x7a, 0x80,
+ 0xc0, 0x58, 0x66, 0x40,
+ 0x60, 0x88, 0x0e, 0xc4,
+ 0xe0, 0x88, 0x12, 0x44,
+ 0x7c, 0x1c, 0x0c, 0x85,
+ 0x66, 0x10, 0x14, 0x00,
+ 0x14, 0x93, 0xc0, 0xdb,
+ 0x0a, 0x0a, 0x8c, 0x73,
+ 0x82, 0x21, 0x7b, 0xfc,
+ 0xe0, 0x40, 0x52, 0x85,
+ 0xe8, 0x00, 0x0e, 0x85,
+ 0x62, 0x40, 0x52, 0x85,
+ 0xe0, 0x84, 0x10, 0xc4,
+ 0x64, 0x00, 0x0e, 0x75,
+ 0x18, 0x63, 0x8c, 0x83,
+ 0xd0, 0x80, 0x58, 0xc2,
+ 0x61, 0x40, 0x52, 0x75,
+ 0xe0, 0x84, 0x12, 0x44,
+ 0x68, 0x01, 0x10, 0x7b,
+ 0x94, 0x93, 0x40, 0x01,
+ 0x52, 0x73, 0x88, 0xa3,
+ 0x10, 0x7b, 0xe6, 0x80,
+ 0xc0, 0x01, 0x6c, 0x01,
+ 0xe7, 0x80, 0x52, 0x73,
+ 0x60, 0x01, 0x0c, 0x79,
+ 0x54, 0x71, 0xc0, 0x04,
+ 0xc0, 0x01, 0x61, 0x01,
+ 0x64, 0x01, 0x0c, 0x49,
+ 0x54, 0x41, 0xc0, 0x04,
+ 0xc0, 0x01, 0x62, 0x01,
+ 0x68, 0x01, 0x0c, 0x49,
+ 0x54, 0x41, 0xc0, 0x04,
+ 0x40, 0x01, 0x63, 0x01,
+ 0x18, 0x49, 0x81, 0x41,
+ 0xc0, 0x1a, 0x0e, 0x41,
+ 0x62, 0x11, 0x46, 0x41,
+ 0x44, 0x8a, 0xc0, 0x38,
+ 0xde, 0xd5, 0xf4, 0x04,
+ 0xf0, 0x7c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x84, 0x04, 0x0c,
+ 0x81, 0x01, 0x00, 0x6b,
+ 0x68, 0x1c, 0x50, 0xe8,
+ 0x0c, 0x1b, 0x81, 0x11,
+ 0x40, 0x0a, 0x68, 0x91,
+ 0x00, 0x60, 0x80, 0x7b,
+ 0x40, 0x28, 0x64, 0x01,
+ 0x70, 0x01, 0x04, 0x06,
+ 0x88, 0x11, 0xc0, 0x20,
+ 0xc5, 0x17, 0x01, 0x65,
+ 0x02, 0x10, 0x41, 0x34,
+ 0xc9, 0x3e, 0xec, 0x04,
+ 0xfe, 0x75, 0xa1, 0x1b,
+ 0x61, 0x48, 0x41, 0x86,
+ 0x80, 0x04, 0x8c, 0x2b,
+ 0xe0, 0x19, 0x80, 0x18,
+ 0x83, 0x01, 0x00, 0x16,
+ 0x6f, 0xf8, 0x79, 0x88,
+ 0x50, 0xd8, 0x81, 0x11,
+ 0x7d, 0x38, 0xef, 0xf8,
+ 0x8c, 0x0b, 0x68, 0x0c,
+ 0x61, 0x8d, 0x0c, 0x0b,
+ 0x83, 0x11, 0x40, 0x1c,
+ 0x4c, 0x03, 0x82, 0x01,
+ 0x40, 0x1c, 0x61, 0x8d,
+ 0x0c, 0x0c, 0x8e, 0x0b,
+ 0x0d, 0xd8, 0xf2, 0x84,
+ 0xc1, 0xc3, 0xe0, 0x1c,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x43, 0x86, 0x02, 0x6b,
+ 0x04, 0x14, 0xe1, 0x48,
+ 0xe0, 0x98, 0x06, 0x04,
+ 0xf1, 0x00, 0x46, 0x30,
+ 0x44, 0x20, 0x84, 0x28,
+ 0x26, 0x2f, 0xf2, 0xfc,
+ 0xe1, 0x98, 0x07, 0x86,
+ 0x0c, 0x0e, 0x84, 0x26,
+ 0x0c, 0x1b, 0x82, 0x09,
+ 0x40, 0x15, 0x6e, 0x09,
+ 0x42, 0x10, 0xd0, 0x07,
+ 0xc0, 0xfe, 0x73, 0xfd,
+ 0x4c, 0x13, 0xa0, 0x1f,
+ 0xc0, 0x15, 0x6e, 0x09,
+ 0xef, 0xf8, 0x4d, 0xc8,
+ 0x81, 0x11, 0x01, 0x01,
+ 0x0c, 0x0c, 0x8c, 0x2b,
+ 0x35, 0xd8, 0xf2, 0x00,
+ 0xc1, 0xc3, 0xff, 0xf8,
+ 0xe1, 0x00, 0x01, 0x86,
+ 0x80, 0x08, 0x80, 0x04,
+ 0x82, 0x09, 0x5d, 0x93,
+ 0xc7, 0x13, 0xc1, 0x83,
+ 0x00, 0x0c, 0xdd, 0x93,
+ 0xc0, 0x00, 0x61, 0x01,
+ 0xfa, 0x0c, 0x04, 0x0c,
+ 0x81, 0x01, 0x00, 0x6b,
+ 0x82, 0x8b, 0x04, 0x7b,
+ 0x65, 0x39, 0x4c, 0x01,
+ 0x04, 0x60, 0x40, 0x2c,
+ 0xc0, 0xb1, 0x65, 0x41,
+ 0x8c, 0x0b, 0x03, 0x11,
+ 0xe8, 0x00, 0x42, 0x88,
+ 0x8c, 0x0b, 0x03, 0x11,
+ 0xe8, 0x00, 0x4e, 0x28,
+ 0x80, 0xd5, 0xa1, 0x0b,
+ 0x68, 0x48, 0x59, 0xa8,
+ 0xa1, 0x0b, 0x8c, 0x0b,
+ 0x0c, 0x0c, 0x80, 0x85,
+ 0xdd, 0x93, 0xf2, 0x0c,
+ 0x45, 0x76, 0x01, 0x11,
+ 0x09, 0x31, 0xe0, 0x00,
+ 0x5d, 0x78, 0x8c, 0x0b,
+ 0xa3, 0x8b, 0xe8, 0x48,
+ 0xa1, 0x0b, 0xfc, 0xb5,
+ 0x0c, 0x0b, 0xfc, 0x75,
+ 0x52, 0x38, 0x8e, 0x1b,
+ 0xa1, 0x0b, 0xe8, 0x00,
+ 0x01, 0x11, 0xfa, 0xb5,
+ 0x8c, 0x0b, 0x81, 0x21,
+ 0xf2, 0x0c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xb1, 0x45,
+ 0xf8, 0x7c, 0x04, 0x0c,
+ 0xec, 0xc0, 0x1e, 0xf0,
+ 0x60, 0x04, 0x46, 0x86,
+ 0x40, 0x31, 0xa5, 0x1b,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0xe0, 0x04, 0x0e, 0x06,
+ 0xa1, 0x81, 0x0e, 0xa5,
+ 0xaa, 0x35, 0xa3, 0x1b,
+ 0x60, 0x0c, 0x41, 0xe6,
+ 0xe0, 0x0c, 0x59, 0xe6,
+ 0x01, 0xa6, 0x17, 0x0e,
+ 0x11, 0x0e, 0xe0, 0x04,
+ 0xe0, 0x04, 0x01, 0x26,
+ 0x01, 0x86, 0x0f, 0x0e,
+ 0x15, 0x0e, 0xe0, 0x04,
+ 0xe0, 0x04, 0x00, 0x06,
+ 0xa1, 0x01, 0x0b, 0x0e,
+ 0x00, 0x06, 0x09, 0x0e,
+ 0x7e, 0x0e, 0xe0, 0x04,
+ 0x7c, 0x0e, 0xa1, 0x01,
+ 0xe0, 0x04, 0x01, 0x86,
+ 0x01, 0x86, 0x0d, 0x0e,
+ 0x3e, 0x0e, 0xe0, 0x04,
+ 0xe0, 0x04, 0x01, 0xa6,
+ 0x49, 0xf6, 0x3c, 0x0e,
+ 0x4b, 0xa6, 0xe0, 0x0c,
+ 0x03, 0xa6, 0x60, 0x0c,
+ 0x07, 0x06, 0xe0, 0x0c,
+ 0x11, 0x06, 0x60, 0x04,
+ 0x0d, 0xa6, 0xe0, 0x04,
+ 0x13, 0xa6, 0x60, 0x04,
+ 0x0f, 0xa6, 0xe0, 0x0c,
+ 0x55, 0xa6, 0x60, 0x0c,
+ 0x13, 0xce, 0xe0, 0x0c,
+ 0xe0, 0x0c, 0x41, 0xe6,
+ 0x57, 0xf6, 0x05, 0x95,
+ 0x00, 0x06, 0xe0, 0x0c,
+ 0x89, 0x11, 0x60, 0x08,
+ 0x91, 0x01, 0x13, 0x0e,
+ 0x40, 0x06, 0x17, 0x0e,
+ 0x0d, 0x0e, 0xe0, 0x00,
+ 0x15, 0x0e, 0x85, 0x01,
+ 0x0b, 0x0e, 0x83, 0x01,
+ 0x09, 0x0e, 0x81, 0x01,
+ 0x7e, 0x0e, 0xa1, 0x01,
+ 0x7c, 0x0e, 0x83, 0x01,
+ 0x0f, 0x0e, 0x81, 0x01,
+ 0x11, 0x0e, 0x85, 0x01,
+ 0x3e, 0x0e, 0x81, 0x01,
+ 0xe0, 0x00, 0x40, 0x06,
+ 0x81, 0x31, 0x3c, 0x0e,
+ 0x81, 0x91, 0x01, 0x61,
+ 0x14, 0x06, 0x01, 0x51,
+ 0x01, 0x01, 0xe0, 0x04,
+ 0x16, 0x06, 0x81, 0x41,
+ 0x81, 0xc1, 0xe0, 0x08,
+ 0x8b, 0xc4, 0x88, 0xc6,
+ 0x89, 0xc4, 0x8a, 0xc6,
+ 0xfe, 0xc4, 0xc8, 0xc6,
+ 0xfc, 0xc4, 0xca, 0xc6,
+ 0xe0, 0x18, 0x44, 0x81,
+ 0xe0, 0x14, 0x44, 0x31,
+ 0xe0, 0x10, 0x44, 0xc1,
+ 0xe0, 0x1c, 0x44, 0x31,
+ 0xe0, 0x20, 0x44, 0x31,
+ 0x44, 0x31, 0x95, 0x34,
+ 0x8f, 0x34, 0xe0, 0x24,
+ 0xe0, 0x28, 0x44, 0x31,
+ 0x44, 0x31, 0x8d, 0x34,
+ 0x91, 0x34, 0xe0, 0x2c,
+ 0xe0, 0x30, 0x44, 0x31,
+ 0x44, 0x31, 0xbe, 0x34,
+ 0xbc, 0x34, 0xe0, 0x34,
+ 0xe0, 0x3c, 0x44, 0x61,
+ 0xe0, 0x40, 0x44, 0x61,
+ 0xe0, 0x38, 0x44, 0x31,
+ 0xe0, 0x48, 0x44, 0x91,
+ 0xe0, 0x4c, 0x44, 0x71,
+ 0xe0, 0x44, 0x44, 0x11,
+ 0xe0, 0x50, 0x44, 0x11,
+ 0xe0, 0x58, 0x44, 0xa1,
+ 0xe0, 0x54, 0x44, 0x51,
+ 0xe0, 0x5c, 0x44, 0x51,
+ 0xe0, 0x60, 0x44, 0x51,
+ 0xe0, 0x68, 0x44, 0x01,
+ 0x44, 0x01, 0x93, 0x04,
+ 0x97, 0x04, 0xe0, 0x6c,
+ 0xe0, 0x78, 0x44, 0xb1,
+ 0xe0, 0x74, 0x44, 0x41,
+ 0xe0, 0x64, 0x44, 0x01,
+ 0xe0, 0x70, 0x44, 0x01,
+ 0xe0, 0x7c, 0x44, 0x41,
+ 0xe0, 0xf1, 0x01, 0x01,
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+ 0xc0, 0x2b, 0x6c, 0x49,
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+ 0x12, 0x19, 0xc0, 0x2b,
+ 0xc0, 0x2b, 0x6c, 0x45,
+ 0x6c, 0x4d, 0x12, 0x89,
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+ 0x12, 0x39, 0xe6, 0x82,
+ 0xc0, 0x2b, 0x6c, 0x3d,
+ 0x66, 0x86, 0x54, 0x8a,
+ 0xe1, 0x88, 0x02, 0x04,
+ 0x52, 0x01, 0x91, 0x01,
+ 0x40, 0x26, 0x64, 0x81,
+ 0x0f, 0x2e, 0xc5, 0xa7,
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+ 0xc0, 0x26, 0x64, 0x91,
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+ 0xc0, 0x26, 0x64, 0xb1,
+ 0x12, 0xb9, 0x8b, 0x1e,
+ 0xc0, 0x2b, 0x6c, 0x51,
+ 0x6c, 0x55, 0x12, 0x69,
+ 0x52, 0x11, 0xc0, 0x2b,
+ 0x40, 0x26, 0x64, 0xd1,
+ 0xe4, 0xa0, 0x02, 0xf0,
+ 0x64, 0xf1, 0x52, 0xa1,
+ 0x67, 0xf8, 0xc0, 0x26,
+ 0x80, 0x7b, 0xe8, 0x0c,
+ 0xa6, 0x55, 0xa1, 0x7b,
+ 0x06, 0x64, 0x45, 0xb7,
+ 0x7c, 0xbe, 0xe1, 0x88,
+ 0x80, 0x65, 0xa1, 0xbb,
+ 0x82, 0xf5, 0xa1, 0x3b,
+ 0x6c, 0x1d, 0x12, 0x29,
+ 0x42, 0x96, 0x40, 0x2b,
+ 0x12, 0x0b, 0xe0, 0x08,
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+ 0x4e, 0x96, 0x68, 0x00,
+ 0x23, 0x0b, 0xe0, 0x08,
+ 0xa0, 0x85, 0x8c, 0x3b,
+ 0xc5, 0x87, 0x0d, 0x04,
+ 0x4b, 0xf6, 0x7c, 0x14,
+ 0x48, 0x8a, 0xe0, 0x0c,
+ 0x81, 0xb1, 0x60, 0x0e,
+ 0x44, 0x0a, 0xc5, 0x07,
+ 0x8f, 0x04, 0xe0, 0x06,
+ 0xbe, 0x2e, 0x8b, 0x14,
+ 0x02, 0x03, 0xbc, 0x4e,
+ 0xe6, 0x8a, 0x42, 0x4a,
+ 0x00, 0x00, 0x09, 0x24,
+ 0xfe, 0x0e, 0xec, 0x04,
+ 0x00, 0xa0, 0x84, 0xa3,
+ 0x81, 0xa1, 0x6c, 0x04,
+ 0x52, 0x11, 0x8d, 0x0e,
+ 0xc0, 0x2c, 0x65, 0x3d,
+ 0x4c, 0x92, 0x8b, 0xe5,
+ 0x0c, 0x09, 0xf0, 0xac,
+ 0xc0, 0x2b, 0x6e, 0xf1,
+ 0x62, 0xb1, 0x4c, 0x51,
+ 0x4c, 0x51, 0xc0, 0x2c,
+ 0xc0, 0x2c, 0x63, 0xf1,
+ 0xf0, 0x3c, 0x42, 0x00,
+ 0x92, 0xd5, 0xc5, 0x1d,
+ 0xc8, 0x1d, 0x8d, 0x44,
+ 0x7e, 0x14, 0x92, 0x75,
+ 0xc2, 0x0d, 0xc9, 0x07,
+ 0x8f, 0x14, 0x90, 0xf5,
+ 0x90, 0x95, 0xc3, 0x0d,
+ 0x61, 0x8c, 0x00, 0xb4,
+ 0xf0, 0x1c, 0x44, 0xb0,
+ 0x83, 0x41, 0x3e, 0x09,
+ 0x04, 0x44, 0x12, 0x03,
+ 0x00, 0x19, 0xe8, 0x88,
+ 0x40, 0x2c, 0x65, 0xc1,
+ 0x08, 0xa4, 0x86, 0x8b,
+ 0x0a, 0xf0, 0x7a, 0x80,
+ 0x7c, 0x14, 0xe4, 0x90,
+ 0xf9, 0x88, 0x58, 0x12,
+ 0x04, 0x34, 0x0b, 0x34,
+ 0x40, 0xc1, 0xfa, 0x80,
+ 0x40, 0x2c, 0x65, 0xc1,
+ 0x02, 0x14, 0x92, 0x0b,
+ 0x62, 0xd8, 0xfa, 0x80,
+ 0x06, 0x34, 0x6f, 0xfc,
+ 0x80, 0x7b, 0xfa, 0x80,
+ 0x8a, 0x15, 0xa1, 0x7b,
+ 0x0a, 0xf0, 0x3e, 0x04,
+ 0x1e, 0x49, 0xe4, 0x80,
+ 0x1e, 0x39, 0xe0, 0x90,
+ 0x3c, 0x04, 0xe0, 0xa0,
+ 0xfa, 0x80, 0x02, 0x04,
+ 0x63, 0xf1, 0x4c, 0x41,
+ 0x04, 0x04, 0xc0, 0x2c,
+ 0x92, 0x0b, 0x7a, 0x80,
+ 0xef, 0xfc, 0x64, 0xa8,
+ 0xa1, 0x7b, 0x80, 0x7b,
+ 0x1e, 0x09, 0x84, 0x75,
+ 0x82, 0xa1, 0x60, 0x80,
+ 0x4b, 0xf6, 0x10, 0x3b,
+ 0x4c, 0x01, 0xe0, 0x0c,
+ 0xc0, 0x2c, 0x62, 0xb1,
+ 0x82, 0xb1, 0x89, 0x24,
+ 0xe5, 0x3c, 0x17, 0x0a,
+ 0x40, 0x98, 0xe8, 0x25,
+ 0x92, 0x0b, 0x68, 0x00,
+ 0x0e, 0x0b, 0x80, 0x7b,
+ 0x0c, 0x0c, 0xe8, 0xf1,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x1c, 0x04, 0x0c,
+ 0xec, 0x30, 0x1e, 0xf0,
+ 0x81, 0x81, 0x00, 0x6b,
+ 0x6c, 0x59, 0x0c, 0x09,
+ 0xa3, 0x0b, 0xc0, 0x2b,
+ 0x02, 0xf0, 0x8a, 0x85,
+ 0x8c, 0x0b, 0x64, 0x20,
+ 0xe8, 0x0c, 0x5d, 0xa8,
+ 0x88, 0xd5, 0xa1, 0x0b,
+ 0x6f, 0xdc, 0x40, 0x86,
+ 0x80, 0x08, 0x81, 0x91,
+ 0xe0, 0x80, 0x40, 0x4a,
+ 0x04, 0xf1, 0x00, 0x60,
+ 0x00, 0x60, 0xc0, 0xad,
+ 0x80, 0xad, 0x04, 0xf9,
+ 0x03, 0x15, 0x80, 0x0a,
+ 0xfb, 0x80, 0x0e, 0x04,
+ 0x7a, 0x80, 0x02, 0x84,
+ 0xe4, 0x10, 0x08, 0xf0,
+ 0x8c, 0x0b, 0x01, 0x21,
+ 0x68, 0x00, 0x42, 0x88,
+ 0x7c, 0x0a, 0x8e, 0x3b,
+ 0xfb, 0x80, 0x12, 0x94,
+ 0x80, 0x93, 0x82, 0x81,
+ 0xc1, 0x8d, 0xfc, 0x04,
+ 0x4c, 0x93, 0xfc, 0x15,
+ 0xc0, 0x16, 0x62, 0x99,
+ 0x98, 0xf1, 0x81, 0x01,
+ 0xf2, 0x1c, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0x82, 0xf5, 0xfc, 0x1d,
+ 0x02, 0x14, 0x83, 0x31,
+ 0x82, 0x11, 0xfa, 0x80,
+ 0xf4, 0x38, 0x03, 0x0a,
+ 0x08, 0x14, 0x82, 0x15,
+ 0x08, 0x34, 0xfa, 0x80,
+ 0x80, 0x4f, 0xe8, 0x90,
+ 0xfc, 0x85, 0xa1, 0x4b,
+ 0x81, 0x01, 0x08, 0x16,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xf8, 0x00, 0x10, 0xfc,
+ 0xec, 0xf0, 0x1e, 0xf0,
+ 0x80, 0x5b, 0x02, 0x9b,
+ 0x63, 0xfc, 0x12, 0x0a,
+ 0xfc, 0x2e, 0x81, 0x01,
+ 0x90, 0x0c, 0xbe, 0x4e,
+ 0x80, 0x00, 0x0b, 0x98,
+ 0x10, 0x50, 0x49, 0x37,
+ 0xc0, 0xb0, 0x66, 0xb1,
+ 0x0e, 0x50, 0x3c, 0x3e,
+ 0xc0, 0xb0, 0x64, 0x31,
+ 0x81, 0xa1, 0x01, 0xb1,
+ 0x81, 0x61, 0x7e, 0x5e,
+ 0x0e, 0x09, 0x85, 0x85,
+ 0x93, 0x0b, 0xe3, 0xc0,
+ 0xfc, 0x04, 0x88, 0x35,
+ 0x80, 0xf5, 0xa3, 0x0b,
+ 0x6c, 0xe9, 0x0a, 0x09,
+ 0xa0, 0x18, 0xc0, 0x2c,
+ 0x86, 0x15, 0x83, 0x0b,
+ 0x7a, 0x80, 0x02, 0xb4,
+ 0x55, 0x78, 0x8a, 0x0b,
+ 0x00, 0x0a, 0xef, 0xfc,
+ 0x1e, 0x55, 0xf0, 0x04,
+ 0x82, 0xd5, 0xc0, 0x0c,
+ 0x02, 0xa4, 0x1c, 0x08,
+ 0x04, 0xf0, 0xe0, 0x88,
+ 0x82, 0xa1, 0x64, 0x50,
+ 0x82, 0x23, 0x7e, 0x54,
+ 0x80, 0x63, 0x70, 0xad,
+ 0x80, 0x45, 0x88, 0xbe,
+ 0x02, 0xb1, 0x81, 0x95,
+ 0x82, 0x71, 0x82, 0x81,
+ 0xe5, 0x3c, 0x17, 0x0a,
+ 0xa1, 0xab, 0xf4, 0xe5,
+ 0x0a, 0x8b, 0x9e, 0xe5,
+ 0xc0, 0x15, 0x6a, 0x7d,
+ 0xc9, 0x87, 0xbc, 0x14,
+ 0xfb, 0x80, 0x00, 0x14,
+ 0x6a, 0x81, 0x0a, 0x0b,
+ 0xd1, 0x0d, 0x40, 0x15,
+ 0x9c, 0x00, 0x50, 0x10,
+ 0xfb, 0x80, 0x02, 0x84,
+ 0xc0, 0x1d, 0xc9, 0x07,
+ 0xdc, 0x00, 0x50, 0x00,
+ 0xec, 0x18, 0x51, 0x0a,
+ 0x3e, 0x14, 0x84, 0x65,
+ 0xe0, 0x90, 0x00, 0x64,
+ 0x00, 0xf0, 0x04, 0x0c,
+ 0x01, 0x95, 0xe4, 0x50,
+ 0x41, 0x24, 0x9f, 0x11,
+ 0xec, 0x04, 0x14, 0xa0,
+ 0x44, 0x11, 0x8a, 0x23,
+ 0xc0, 0x2c, 0x61, 0x71,
+ 0xfe, 0x15, 0xa1, 0xab,
+ 0x81, 0x31, 0x8b, 0x75,
+ 0x00, 0x34, 0x85, 0x05,
+ 0x02, 0xf0, 0x60, 0x88,
+ 0x02, 0x15, 0xe4, 0x50,
+ 0x00, 0x14, 0xfc, 0x00,
+ 0x8a, 0x03, 0xe0, 0x84,
+ 0x6e, 0x39, 0x00, 0x2b,
+ 0x81, 0x01, 0x40, 0x15,
+ 0x82, 0x85, 0xa1, 0x2b,
+ 0x44, 0x4a, 0x81, 0x01,
+ 0x44, 0x20, 0xe0, 0x80,
+ 0x40, 0xff, 0x13, 0xf9,
+ 0xc4, 0x04, 0x00, 0x00,
+ 0x04, 0x24, 0x7e, 0x35,
+ 0x0a, 0x13, 0xc1, 0x84,
+ 0x42, 0x01, 0x82, 0x31,
+ 0xc0, 0x2c, 0x61, 0x71,
+ 0xf8, 0x15, 0x95, 0x3b,
+ 0x94, 0x7b, 0x21, 0x06,
+ 0x83, 0x23, 0xa1, 0x43,
+ 0x4e, 0x8a, 0xab, 0xe3,
+ 0x8a, 0x25, 0xec, 0x20,
+ 0x64, 0x50, 0x12, 0xf0,
+ 0x82, 0xb1, 0xff, 0xb1,
+ 0x88, 0x45, 0xd5, 0xbd,
+ 0x00, 0x50, 0x24, 0x64,
+ 0xc0, 0xaf, 0x64, 0x71,
+ 0xe4, 0x40, 0x04, 0xf0,
+ 0x60, 0x84, 0x02, 0x64,
+ 0x00, 0x0b, 0x80, 0x63,
+ 0x0c, 0x19, 0xfc, 0x04,
+ 0x73, 0xd8, 0xe5, 0x00,
+ 0x21, 0x08, 0xef, 0xfc,
+ 0x0c, 0x19, 0x88, 0x91,
+ 0x83, 0x0b, 0xe5, 0x00,
+ 0x05, 0x01, 0x02, 0x60,
+ 0x0e, 0x74, 0x40, 0x01,
+ 0x42, 0x01, 0xdb, 0x80,
+ 0x0e, 0x70, 0x40, 0x00,
+ 0x7e, 0x54, 0xc4, 0x04,
+ 0xec, 0x20, 0x4e, 0x8a,
+ 0xc1, 0xc3, 0xf6, 0xb5,
+ 0xc8, 0x77, 0x3e, 0x04,
+ 0x01, 0x01, 0x80, 0x7c,
+ 0x18, 0xfc, 0xf8, 0xf1,
+ 0x0c, 0x0c, 0xf0, 0x00,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x02, 0x46, 0x02, 0x6b,
+ 0x04, 0x14, 0xe1, 0x28,
+ 0x84, 0x34, 0x83, 0x21,
+ 0x65, 0x75, 0x00, 0x19,
+ 0x00, 0x45, 0xc0, 0x1b,
+ 0xc0, 0x06, 0x6d, 0x49,
+ 0x65, 0x79, 0x00, 0x09,
+ 0x82, 0x31, 0x40, 0x1b,
+ 0xa1, 0x11, 0x23, 0x2f,
+ 0x88, 0x0b, 0x21, 0x2f,
+ 0xef, 0xe8, 0x75, 0x48,
+ 0x81, 0x01, 0x18, 0x0e,
+ 0xf2, 0x00, 0x0c, 0x0c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x50, 0x1e, 0xf0,
+ 0x88, 0x7b, 0x00, 0x8b,
+ 0x65, 0x0d, 0x10, 0x09,
+ 0x82, 0x6b, 0x40, 0x2b,
+ 0x60, 0x88, 0x02, 0x74,
+ 0x10, 0x13, 0x84, 0xab,
+ 0x23, 0x0b, 0x81, 0x21,
+ 0x42, 0x25, 0x86, 0x9b,
+ 0xc0, 0x0b, 0x61, 0xa5,
+ 0xa7, 0x0b, 0x82, 0x25,
+ 0x10, 0x0b, 0x8c, 0x75,
+ 0x40, 0x15, 0x6a, 0x79,
+ 0x91, 0x0c, 0x81, 0xb1,
+ 0x3e, 0x5e, 0x85, 0x05,
+ 0x66, 0x91, 0x00, 0x10,
+ 0x7c, 0x0e, 0xc0, 0xb1,
+ 0x42, 0xb8, 0x90, 0x0b,
+ 0x8e, 0x1b, 0x68, 0x00,
+ 0x02, 0xf0, 0x49, 0x07,
+ 0x3c, 0x1e, 0xe4, 0x40,
+ 0xfb, 0x80, 0x16, 0x04,
+ 0x64, 0x30, 0x0a, 0xf0,
+ 0x0c, 0x1b, 0x90, 0x0b,
+ 0x12, 0x3b, 0x94, 0x2b,
+ 0x43, 0xb8, 0x96, 0x4b,
+ 0x7e, 0x14, 0xe8, 0x00,
+ 0xfc, 0x24, 0xa1, 0x0b,
+ 0x84, 0x35, 0x88, 0x1e,
+ 0xbe, 0x54, 0x91, 0x0a,
+ 0xfb, 0x80, 0x06, 0x04,
+ 0x04, 0x16, 0x97, 0x3b,
+ 0x40, 0x80, 0x40, 0x00,
+ 0x42, 0x70, 0xdc, 0x00,
+ 0x48, 0x50, 0x5c, 0x00,
+ 0x6c, 0xd8, 0xdc, 0x00,
+ 0x81, 0x01, 0xcf, 0xfc,
+ 0x0c, 0x0c, 0xa8, 0xf1,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x1c, 0x04, 0x4c,
+ 0x80, 0x7b, 0x02, 0x6b,
+ 0x81, 0x81, 0x01, 0x91,
+ 0x40, 0x72, 0x83, 0x25,
+ 0x00, 0x09, 0xf0, 0xa4,
+ 0xc0, 0x2c, 0x63, 0xf1,
+ 0xe3, 0xfc, 0x00, 0x0a,
+ 0x8d, 0x0b, 0x82, 0x25,
+ 0x02, 0x94, 0x80, 0xf5,
+ 0x8e, 0x0b, 0x7a, 0x80,
+ 0xef, 0xfc, 0x44, 0x88,
+ 0x82, 0x91, 0x80, 0x83,
+ 0xe1, 0x40, 0x12, 0x0a,
+ 0x90, 0x0b, 0xfa, 0xb5,
+ 0xf2, 0x1c, 0x0c, 0x4c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x7c, 0x04, 0x0c,
+ 0xec, 0x50, 0x1e, 0xf0,
+ 0x40, 0x06, 0x00, 0x6b,
+ 0x00, 0x04, 0xe1, 0x18,
+ 0x19, 0x14, 0x82, 0xbb,
+ 0x08, 0x8b, 0x8a, 0x7b,
+ 0x00, 0x08, 0x86, 0x9b,
+ 0x7e, 0x1e, 0x84, 0xab,
+ 0x64, 0xf8, 0x91, 0x11,
+ 0x00, 0x2b, 0xef, 0xe8,
+ 0xe4, 0x40, 0x00, 0xf0,
+ 0x0a, 0x84, 0x3e, 0x0e,
+ 0x3c, 0x7e, 0xe0, 0x90,
+ 0x64, 0xe1, 0x06, 0x60,
+ 0x16, 0x0b, 0xc0, 0xad,
+ 0x4d, 0xf8, 0x94, 0x1b,
+ 0x92, 0x4b, 0x6f, 0xb4,
+ 0xa1, 0x7b, 0x80, 0x7b,
+ 0x0c, 0x29, 0x82, 0x65,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x54, 0x58, 0x8c, 0x0b,
+ 0x8e, 0x1b, 0x68, 0x00,
+ 0x81, 0x01, 0x23, 0x0b,
+ 0x09, 0x04, 0x80, 0xe5,
+ 0xc9, 0x07, 0x81, 0x71,
+ 0x6f, 0xfd, 0x00, 0x02,
+ 0x7e, 0x14, 0xc0, 0xff,
+ 0x04, 0x0c, 0xa8, 0xf1,
+ 0x0c, 0x0c, 0x8e, 0x0b,
+ 0xdd, 0x93, 0xf2, 0x7c,
+ 0xfa, 0x3c, 0x04, 0x0c,
+ 0x0e, 0x00, 0x02, 0x6b,
+ 0xc0, 0xb0, 0x65, 0x71,
+ 0x64, 0x71, 0x10, 0x00,
+ 0x81, 0x01, 0x40, 0xaf,
+ 0x60, 0x04, 0x13, 0x06,
+ 0x83, 0x75, 0x9d, 0xa1,
+ 0x78, 0x81, 0x0e, 0x19,
+ 0x44, 0x10, 0xc0, 0x01,
+ 0xc9, 0x17, 0x70, 0x3c,
+ 0xe6, 0xaa, 0x44, 0x2a,
+ 0x8d, 0x2b, 0x82, 0x23,
+ 0x80, 0x00, 0x0e, 0x19,
+ 0x80, 0x00, 0x10, 0x0b,
+ 0x08, 0x48, 0x67, 0x48,
+ 0x84, 0x04, 0x02, 0x10,
+ 0x6c, 0x04, 0x12, 0x90,
+ 0x84, 0x81, 0x82, 0x71,
+ 0xfa, 0x35, 0xa1, 0x9b,
+ 0x0c, 0x0c, 0xd0, 0x07,
+ 0xdd, 0x93, 0xf2, 0x3c,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x02, 0x06, 0x00, 0x6b,
+ 0x5e, 0x18, 0xe2, 0x80,
+ 0x43, 0xf6, 0xe8, 0x48,
+ 0x05, 0x86, 0x60, 0x0c,
+ 0x7b, 0x98, 0xe0, 0x10,
+ 0x8c, 0x0b, 0x6f, 0xa8,
+ 0x45, 0x76, 0x01, 0x11,
+ 0x0c, 0x0b, 0xe0, 0x00,
+ 0x0c, 0x0c, 0x8c, 0x3b,
+ 0x3e, 0x58, 0xf2, 0x00,
+ 0xc1, 0xc3, 0xe0, 0x40,
+ 0xfa, 0x9c, 0x04, 0x0c,
+ 0x40, 0x96, 0x00, 0x6b,
+ 0x4c, 0x01, 0xe0, 0x04,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x02, 0x06, 0x82, 0x7b,
+ 0x8c, 0x0b, 0x62, 0x80,
+ 0xe8, 0x48, 0x5c, 0x28,
+ 0xe4, 0x40, 0x0e, 0x8a,
+ 0x0c, 0x29, 0x82, 0xd5,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0xe0, 0x00, 0x42, 0xb6,
+ 0x68, 0x00, 0x4d, 0xa8,
+ 0x50, 0xb6, 0x8c, 0x0b,
+ 0x23, 0x0b, 0xe0, 0x00,
+ 0x8c, 0x85, 0x81, 0x71,
+ 0x61, 0x88, 0x00, 0x74,
+ 0x06, 0x09, 0x91, 0x91,
+ 0x04, 0x94, 0x83, 0x11,
+ 0xa1, 0x1f, 0x69, 0x80,
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+ 0x46, 0x4a, 0x84, 0x38,
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+ 0x42, 0x25, 0xe0, 0x88,
+ 0x0c, 0x09, 0xc0, 0x00,
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+ 0x40, 0x2c, 0x6d, 0x01,
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+ 0x82, 0xd5, 0xe1, 0xb8,
+ 0x6c, 0x1d, 0x0e, 0x29,
+ 0x0c, 0x46, 0x40, 0x2b,
+ 0x02, 0x46, 0xe0, 0x0c,
+ 0x8e, 0x0b, 0x60, 0x0c,
+ 0xef, 0xc4, 0x70, 0x88,
+ 0x0c, 0x06, 0xa1, 0x0b,
+ 0x8c, 0x0b, 0x80, 0x00,
+ 0xf2, 0x04, 0x0c, 0x4c,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xfa, 0x00, 0x04, 0x0c,
+ 0x0c, 0x09, 0x80, 0x6b,
+ 0xc0, 0x2c, 0x6c, 0xfd,
+ 0x80, 0xf5, 0xa1, 0x0b,
+ 0x6c, 0x6d, 0x0c, 0x09,
+ 0x40, 0x4a, 0xc0, 0x2c,
+ 0x82, 0x65, 0xe0, 0x8c,
+ 0x63, 0x35, 0x0c, 0x05,
+ 0xa1, 0x0b, 0xc0, 0x0b,
+ 0x0c, 0x15, 0x82, 0x65,
+ 0xc0, 0x0b, 0x63, 0x15,
+ 0x80, 0xd5, 0x83, 0x0b,
+ 0x6d, 0x15, 0x0c, 0x09,
+ 0x05, 0x55, 0xc0, 0x2c,
+ 0x0c, 0x09, 0xc6, 0x09,
+ 0xc0, 0x2c, 0x6c, 0x6d,
+ 0xe0, 0x90, 0x40, 0x0a,
+ 0x0c, 0x09, 0x86, 0x25,
+ 0xc0, 0x2c, 0x6c, 0x89,
+ 0x84, 0x85, 0xa1, 0x0b,
+ 0x68, 0x0c, 0x42, 0x48,
+ 0x0c, 0x11, 0x8c, 0x0b,
+ 0xc0, 0x2c, 0x6d, 0x05,
+ 0x6c, 0x89, 0x0c, 0x29,
+ 0x0c, 0x01, 0xc0, 0x2c,
+ 0xc0, 0x2c, 0x6d, 0x01,
+ 0xf1, 0x88, 0x46, 0x12,
+ 0x82, 0xf5, 0x87, 0x0d,
+ 0x84, 0x0d, 0x82, 0x23,
+ 0x0c, 0x09, 0x82, 0x95,
+ 0xc0, 0x2c, 0x6d, 0x15,
+ 0xf3, 0xf0, 0x40, 0x00,
+ 0x6d, 0x15, 0x4c, 0x01,
+ 0x0c, 0x0c, 0xc0, 0x2c,
+ 0xdd, 0x93, 0xf2, 0x00,
+ 0x6d, 0x15, 0x0c, 0x19,
+ 0x4c, 0x01, 0xc0, 0x2c,
+ 0xc0, 0x2c, 0x6d, 0x05,
+ 0x4c, 0x11, 0xc6, 0x19,
+ 0xc0, 0x2c, 0x6d, 0x15,
+ 0xc1, 0xc3, 0xff, 0x35,
+ 0x82, 0xc5, 0xa9, 0x3b,
+ 0x02, 0xa5, 0xa3, 0x3b,
+ 0x81, 0x88, 0x04, 0x24,
+ 0x84, 0x85, 0xa5, 0x3b,
+ 0x84, 0x85, 0xa7, 0x3b,
+ 0x5c, 0x08, 0xa1, 0x3b,
+ 0x0f, 0xb8, 0xda, 0x00,
+ 0x89, 0x75, 0xff, 0x70,
+ 0x5c, 0x08, 0xa1, 0x2b,
+ 0x45, 0x34, 0x9a, 0x00,
+ 0xec, 0x04, 0x04, 0x20,
+ 0x7b, 0xfd, 0x46, 0x30,
+ 0xc1, 0x3e, 0xdf, 0xff,
+ 0x81, 0x31, 0xff, 0x65,
+ 0x83, 0x31, 0x81, 0x45,
+ 0xdd, 0x93, 0x81, 0x25,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x90, 0x01, 0x45, 0x27,
+ 0x4b, 0xfe, 0x01, 0x41,
+ 0xc0, 0x3f, 0x7f, 0xfd,
+ 0x04, 0x84, 0x85, 0x95,
+ 0x06, 0x74, 0xa3, 0x3b,
+ 0xc4, 0xc4, 0x88, 0x41,
+ 0xa0, 0x11, 0x46, 0x64,
+ 0x1b, 0xfd, 0x50, 0x80,
+ 0x4e, 0x70, 0x9f, 0xff,
+ 0x1f, 0xff, 0x1b, 0xfd,
+ 0x12, 0x74, 0x8a, 0x8f,
+ 0x58, 0xc0, 0x60, 0xe0,
+ 0x9f, 0xff, 0x1b, 0xfc,
+ 0x1b, 0xfd, 0x4c, 0x60,
+ 0xb0, 0x9f, 0x1f, 0xff,
+ 0x10, 0xc4, 0x51, 0x77,
+ 0x61, 0xc7, 0xe0, 0xc0,
+ 0xfb, 0x80, 0x0e, 0x74,
+ 0x18, 0xc4, 0x50, 0x67,
+ 0x2e, 0x8f, 0xfa, 0x80,
+ 0x40, 0x95, 0xb8, 0x6f,
+ 0x40, 0x85, 0xf8, 0x08,
+ 0x40, 0x65, 0xf8, 0x04,
+ 0xc5, 0x4d, 0xf0, 0x0c,
+ 0x0c, 0x0c, 0xf4, 0xf5,
+ 0xdd, 0x93, 0xf0, 0x1c,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x90, 0x01, 0x45, 0x27,
+ 0x49, 0xfe, 0x01, 0x31,
+ 0xc0, 0x3f, 0x7f, 0xfd,
+ 0x7f, 0xf1, 0x0a, 0x0e,
+ 0x18, 0x0e, 0x40, 0x3f,
+ 0xc0, 0x3f, 0x70, 0x01,
+ 0x02, 0x65, 0x83, 0xd5,
+ 0x86, 0x31, 0x70, 0x0c,
+ 0xf8, 0x08, 0x02, 0x75,
+ 0xf8, 0x04, 0x02, 0x85,
+ 0x78, 0x10, 0x52, 0x62,
+ 0x40, 0x95, 0xf1, 0x67,
+ 0x12, 0x74, 0x78, 0x08,
+ 0x0a, 0x9f, 0xe0, 0xa0,
+ 0x2c, 0x9f, 0xe1, 0x77,
+ 0xe0, 0xc0, 0x0c, 0x84,
+ 0x78, 0x04, 0x40, 0x95,
+ 0x2e, 0x6f, 0x98, 0x6f,
+ 0x40, 0x65, 0xd1, 0x87,
+ 0x40, 0x85, 0xf0, 0x10,
+ 0xc5, 0x3d, 0xf8, 0x0c,
+ 0x0c, 0x0c, 0xf8, 0x75,
+ 0xdd, 0x93, 0xf0, 0x1c,
+ 0xec, 0x40, 0x1e, 0xf0,
+ 0x60, 0x18, 0x00, 0x29,
+ 0x00, 0x49, 0x81, 0x31,
+ 0xbe, 0x3e, 0xe0, 0x10,
+ 0xc5, 0x27, 0x7c, 0x3e,
+ 0xa7, 0x2b, 0x7e, 0x3e,
+ 0x66, 0x8a, 0x46, 0x4a,
+ 0x0a, 0x26, 0x83, 0x41,
+ 0x18, 0x06, 0x00, 0x00,
+ 0x82, 0x65, 0x80, 0x00,
+ 0x81, 0x51, 0x25, 0x2b,
+ 0x81, 0x41, 0x03, 0xc1,
+ 0xa3, 0x2b, 0x80, 0xc5,
+ 0x01, 0x51, 0x80, 0xf5,
+ 0x81, 0x41, 0x81, 0xc1,
+ 0xfc, 0xce, 0xbe, 0x5e,
+ 0xc0, 0x08, 0xfe, 0x4e,
+ 0x00, 0x34, 0x00, 0x13,
+ 0x01, 0xb5, 0xfa, 0x80,
+ 0x48, 0x4a, 0x81, 0x31,
+ 0x0a, 0xf0, 0x61, 0x0a,
+ 0x82, 0x31, 0xe4, 0x10,
+ 0x0a, 0x45, 0xc4, 0x47,
+ 0xc5, 0x46, 0xfc, 0x10,
+ 0xfa, 0x80, 0x08, 0x34,
+ 0xfc, 0x95, 0xc1, 0x4d,
+ 0xa0, 0xf1, 0x01, 0x01,
+ 0xc1, 0xc3, 0xdd, 0x93,
+ 0xec, 0x40, 0x1e, 0xf0,
+ 0x60, 0x1c, 0x00, 0x29,
+ 0x00, 0x49, 0x81, 0x31,
+ 0x85, 0x51, 0x60, 0x14,
+ 0x7c, 0x3e, 0xbe, 0x3e,
+ 0x27, 0x2b, 0xc5, 0x27,
+ 0xe6, 0x8a, 0x48, 0x4a,
+ 0x18, 0x16, 0x7e, 0x3e,
+ 0x82, 0x05, 0x80, 0x00,
+ 0x81, 0xc1, 0x25, 0x2b,
+ 0xa3, 0x2b, 0x80, 0xa5,
+ 0x01, 0x51, 0x80, 0xd5,
+ 0xbe, 0x5e, 0x81, 0xc1,
+ 0xfe, 0xce, 0xfc, 0x3e,
+ 0x81, 0x31, 0x42, 0x08,
+ 0x00, 0x44, 0x00, 0x13,
+ 0x81, 0xa5, 0xfa, 0x80,
+ 0x61, 0x0a, 0x48, 0x4a,
+ 0xe4, 0x10, 0x0a, 0xf0,
+ 0xc4, 0x47, 0x82, 0x31,
+ 0xfc, 0x10, 0x0a, 0x45,
+ 0x08, 0x34, 0xc5, 0x46,
+ 0xc1, 0x4d, 0xfa, 0x80,
+ 0x01, 0x01, 0xfc, 0x95,
+ 0xdd, 0x93, 0xa0, 0xf1,
+ 0xf8, 0x1c, 0x04, 0x0c,
+ 0x61, 0x0c, 0x07, 0xc6,
+ 0xe1, 0x0c, 0x49, 0x06,
+ 0x46, 0x06, 0x0c, 0xc4,
+ 0x0c, 0x64, 0xe1, 0x0c,
+ 0xe1, 0x0c, 0x46, 0x86,
+ 0x4f, 0x86, 0x10, 0x54,
+ 0x0c, 0x44, 0xe1, 0x0c,
+ 0x1c, 0x34, 0x8b, 0x81,
+ 0xe4, 0x60, 0x0e, 0x00,
+ 0x1c, 0x98, 0x81, 0x75,
+ 0xec, 0x04, 0x10, 0x80,
+ 0xdd, 0x98, 0xf1, 0x96,
+ 0xa1, 0x8b, 0xd9, 0x96,
+ 0x18, 0x00, 0xfe, 0x35,
+ 0x89, 0x61, 0x64, 0x74,
+ 0x71, 0x78, 0x81, 0x55,
+ 0xec, 0x04, 0x0c, 0x60,
+ 0xa1, 0x6b, 0xd5, 0x76,
+ 0x1d, 0x51, 0xfe, 0x75,
+ 0x81, 0x55, 0x80, 0xcb,
+ 0x0a, 0x50, 0x71, 0x68,
+ 0xd1, 0x66, 0xec, 0x04,
+ 0xfe, 0x75, 0xa1, 0x5b,
+ 0x95, 0x41, 0x1c, 0x01,
+ 0x41, 0x58, 0x81, 0x55,
+ 0xec, 0x04, 0x08, 0x40,
+ 0xa1, 0x4b, 0xcd, 0x56,
+ 0x00, 0x20, 0xfe, 0x75,
+ 0x83, 0x31, 0x6c, 0x04,
+ 0x68, 0x80, 0x00, 0x34,
+ 0x08, 0x00, 0x81, 0xc1,
+ 0x00, 0x34, 0x6c, 0x04,
+ 0x0a, 0x00, 0xe8, 0x88,
+ 0x81, 0x01, 0x6c, 0x04,
+ 0x81, 0x61, 0x03, 0x45,
+ 0x0e, 0x54, 0xe9, 0x2d,
+ 0x00, 0x04, 0x48, 0xb0,
+ 0x82, 0x55, 0xdb, 0x80,
+ 0xe8, 0xb0, 0x0e, 0x44,
+ 0x00, 0x60, 0x00, 0x73,
+ 0x00, 0x34, 0xe4, 0x30,
+ 0x0e, 0x74, 0x68, 0x80,
+ 0x0e, 0x03, 0xfb, 0x80,
+ 0x86, 0xc1, 0x82, 0x61,
+ 0xfa, 0xb5, 0x8d, 0x1b,
+ 0x61, 0x04, 0x42, 0x06,
+ 0x6b, 0xfc, 0x01, 0x0a,
+ 0x04, 0x14, 0xc0, 0xff,
+ 0xdb, 0x80, 0x00, 0x04,
+ 0x04, 0x01, 0x00, 0x00,
+ 0x04, 0x0c, 0xc0, 0x80,
+ 0x0c, 0x0c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf0, 0x1c,
+ 0xfa, 0x04, 0x04, 0x4c,
+ 0x42, 0x16, 0x00, 0x6b,
+ 0x62, 0x98, 0xe0, 0x00,
+ 0x0c, 0x09, 0xe8, 0x0c,
+ 0x40, 0x2b, 0x6c, 0x45,
+ 0xe1, 0x0c, 0x42, 0x46,
+ 0x0e, 0x60, 0x04, 0x14,
+ 0xc0, 0xaf, 0x64, 0x31,
+ 0x00, 0x0c, 0xa9, 0x0b,
+ 0x04, 0x06, 0xe2, 0x00,
+ 0x71, 0x58, 0x8e, 0x0b,
+ 0x8c, 0x1b, 0x6f, 0xfc,
+ 0x64, 0x38, 0x02, 0x60,
+ 0x74, 0x78, 0x8e, 0x0b,
+ 0x0c, 0x19, 0xef, 0xfc,
+ 0x40, 0x2b, 0x6c, 0x39,
+ 0xe4, 0x60, 0x00, 0x60,
+ 0x6c, 0x41, 0x0c, 0x29,
+ 0x81, 0x31, 0x40, 0x2b,
+ 0x0c, 0x49, 0x81, 0x85,
+ 0xa1, 0x4b, 0xfc, 0x04,
+ 0x41, 0x16, 0x80, 0x75,
+ 0x82, 0x11, 0x82, 0x31,
+ 0xfe, 0x15, 0xc5, 0x3d,
+ 0x6c, 0x3d, 0x0c, 0x09,
+ 0x02, 0x60, 0x40, 0x2b,
+ 0x0c, 0x39, 0xe4, 0x74,
+ 0x40, 0x2b, 0x6c, 0x45,
+ 0x44, 0x62, 0x81, 0x41,
+ 0x01, 0x95, 0xf0, 0x80,
+ 0x88, 0x58, 0x9c, 0x21,
+ 0x80, 0x75, 0xa1, 0x5b,
+ 0x82, 0x41, 0x45, 0x06,
+ 0x82, 0x21, 0x02, 0x01,
+ 0xfe, 0x15, 0xc7, 0x4d,
+ 0x6c, 0x45, 0x0c, 0x29,
+ 0x8c, 0x0b, 0x40, 0x2b,
+ 0x6c, 0x41, 0x0c, 0x19,
+ 0x74, 0x78, 0xc0, 0x2b,
+ 0x42, 0x98, 0xef, 0xfc,
+ 0x8c, 0x0b, 0x68, 0x10,
+ 0x0c, 0x4c, 0x81, 0x01,
+ 0xdd, 0x93, 0xf2, 0x04,
+ 0xfe, 0x7c, 0x04, 0x0c,
+ 0xed, 0x40, 0x1e, 0xf0,
+ 0x40, 0x16, 0x00, 0x6b,
+ 0x08, 0x9b, 0xe0, 0x04,
+ 0x4c, 0x01, 0x86, 0xab,
+ 0x40, 0x2b, 0x6c, 0x1d,
+ 0x01, 0x01, 0x84, 0xbb,
+ 0x5e, 0xb1, 0x82, 0x8b,
+ 0x8a, 0x7b, 0x61, 0x30,
+ 0x61, 0x20, 0x5e, 0xa1,
+ 0xe2, 0x80, 0x02, 0x06,
+ 0xe1, 0x10, 0x5e, 0x91,
+ 0x9f, 0x0e, 0xa1, 0x0e,
+ 0x5e, 0x01, 0x9d, 0x0e,
+ 0x5e, 0x01, 0xe0, 0xd0,
+ 0x5e, 0x01, 0xe0, 0xc0,
+ 0x8c, 0x0b, 0x60, 0xb0,
+ 0xe8, 0x0c, 0x5b, 0x68,
+ 0x9f, 0x21, 0x01, 0x11,
+ 0x8c, 0x3b, 0x0c, 0x0b,
+ 0xe8, 0x04, 0x69, 0xa8,
+ 0x60, 0x90, 0x00, 0x84,
+ 0xe1, 0x8c, 0x02, 0x84,
+ 0x40, 0x00, 0x0d, 0x8e,
+ 0x4e, 0x09, 0xf1, 0xc0,
+ 0xe0, 0x04, 0x0e, 0x6a,
+ 0x71, 0x84, 0x50, 0x02,
+ 0x93, 0x7e, 0x8f, 0x01,
+ 0x00, 0xb8, 0x95, 0x8e,
+ 0x80, 0x00, 0x40, 0x01,
+ 0xfa, 0x80, 0x00, 0x84,
+ 0x15, 0x0e, 0x90, 0x01,
+ 0x5e, 0x01, 0x91, 0x01,
+ 0x9f, 0x01, 0x60, 0xb0,
+ 0x40, 0xa2, 0x0f, 0x0e,
+ 0xb2, 0x0f, 0xf9, 0xac,
+ 0x9a, 0xa5, 0xa1, 0x0b,
+ 0x4f, 0x76, 0x1e, 0x89,
+ 0x11, 0x8e, 0xe0, 0x00,
+ 0xf0, 0xac, 0x50, 0xa2,
+ 0x92, 0x83, 0x07, 0x65,
+ 0x6c, 0x1d, 0x0c, 0x29,
+ 0x43, 0x76, 0x40, 0x2b,
+ 0x4a, 0x38, 0xe0, 0x00,
+ 0x8c, 0x0b, 0x6f, 0xc4,
+ 0x5e, 0xb1, 0xa1, 0x0b,
+ 0x5e, 0xa1, 0xc1, 0x30,
+ 0x5e, 0x91, 0xc1, 0x20,
+ 0x15, 0x48, 0xc1, 0x10,
+ 0x16, 0x0a, 0xc0, 0x00,
+ 0x81, 0x01, 0x70, 0x00,
+ 0x44, 0x04, 0x00, 0xb0,
+ 0xf0, 0x00, 0x16, 0x4a,
+ 0x62, 0x00, 0x02, 0x0c,
+ 0xf0, 0x00, 0x14, 0x4a,
+ 0x62, 0x00, 0x04, 0x0c,
+ 0x14, 0x1a, 0x82, 0x83,
+ 0x81, 0x11, 0x70, 0x00,
+ 0x24, 0x05, 0x02, 0xa0,
+ 0x84, 0x83, 0x40, 0x00,
+ 0x70, 0x00, 0x12, 0x4a,
+ 0x06, 0x0c, 0x81, 0x21,
+ 0x12, 0x1a, 0x62, 0x00,
+ 0x04, 0x90, 0xf0, 0x00,
+ 0x40, 0x00, 0x24, 0x05,
+ 0x04, 0x9b, 0x86, 0x83,
+ 0x80, 0xbb, 0x82, 0xab,
+ 0xf2, 0x65, 0xe8, 0x8d,
+ 0x5e, 0xb1, 0x93, 0x04,
+ 0x5e, 0xa1, 0xe1, 0x30,
+ 0x11, 0x04, 0xe1, 0x20,
+ 0x5e, 0x91, 0xa3, 0x0b,
+ 0x5e, 0x07, 0xe1, 0x10,
+ 0x15, 0x04, 0xe0, 0x3c,
+ 0xe4, 0x20, 0x0e, 0x00,
+ 0x1e, 0x75, 0x89, 0x7e,
+ 0x16, 0x0a, 0x40, 0x20,
+ 0x10, 0x74, 0xfb, 0xfc,
+ 0xb0, 0x03, 0xfa, 0x80,
+ 0x44, 0x00, 0x0c, 0x25,
+ 0x15, 0x04, 0xf0, 0x7c,
+ 0xe0, 0x80, 0x50, 0x0a,
+ 0xa1, 0x2b, 0x88, 0x75,
+ 0xa0, 0x01, 0x88, 0x85,
+ 0x60, 0xd0, 0x5e, 0x01,
+ 0xf3, 0xc0, 0x42, 0x00,
+ 0x65, 0xc4, 0x02, 0x8a,
+ 0x02, 0x80, 0x8e, 0x0b,
+ 0x00, 0x80, 0x04, 0x3c,
+ 0x5e, 0x11, 0x8c, 0x04,
+ 0x83, 0x85, 0x80, 0xd0,
+ 0x6c, 0x1d, 0x0c, 0x29,
+ 0x43, 0x76, 0x40, 0x2b,
+ 0x43, 0xf8, 0xe0, 0x00,
+ 0x8c, 0x0b, 0x6f, 0xc4,
+ 0xe0, 0x00, 0x4f, 0x76,
+ 0x0f, 0x48, 0xa1, 0x0b,
+ 0x9b, 0xa1, 0xc0, 0x00,
+ 0xe1, 0x20, 0x5e, 0xa1,
+ 0xa1, 0x2b, 0xf1, 0x45,
+ 0x84, 0x40, 0x00, 0x00,
+ 0x60, 0xd0, 0x5e, 0x01,
+ 0x5e, 0x01, 0x8e, 0x0b,
+ 0x00, 0xf0, 0xe0, 0xc0,
+ 0x16, 0xf0, 0x65, 0x00,
+ 0x3e, 0x0e, 0xe4, 0xd0,
+ 0xe4, 0xc0, 0x08, 0xf0,
+ 0x04, 0xf0, 0x0b, 0x2e,
+ 0x3c, 0xbe, 0xe5, 0x30,
+ 0xe4, 0xb0, 0x0a, 0xf0,
+ 0x8c, 0x0b, 0x01, 0x11,
+ 0x68, 0x00, 0x4d, 0xe8,
+ 0x1e, 0xa9, 0x8c, 0x3b,
+ 0x14, 0x0a, 0x60, 0xc0,
+ 0x86, 0x05, 0xfb, 0xfc,
+ 0xe0, 0x80, 0x4e, 0x0a,
+ 0x44, 0x3c, 0x02, 0x70,
+ 0xcc, 0x04, 0x00, 0x70,
+ 0xc0, 0xd0, 0x5e, 0x11,
+ 0x8b, 0x04, 0x82, 0xb5,
+ 0xe0, 0x40, 0x00, 0x0a,
+ 0xc0, 0x28, 0x1e, 0x05,
+ 0xc4, 0x40, 0x00, 0x00,
+ 0x80, 0x28, 0x1e, 0x05,
+ 0x60, 0xd0, 0x5e, 0x01,
+ 0x5e, 0x01, 0x8e, 0x0b,
+ 0x00, 0xf0, 0xe0, 0xc0,
+ 0x04, 0xf0, 0x64, 0xf0,
+ 0x3e, 0x0e, 0xe5, 0x20,
+ 0xe4, 0xc0, 0x08, 0xf0,
+ 0x0a, 0xf0, 0x3c, 0xbe,
+ 0x03, 0x11, 0xe4, 0xb0,
+ 0x4b, 0x38, 0x8c, 0x0b,
+ 0x8c, 0x3b, 0x68, 0x00,
+ 0x60, 0xc0, 0x1e, 0x99,
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+ 0x00, 0x80, 0x02, 0x24,
+ 0x00, 0x80, 0x02, 0x26,
+ 0x00, 0x80, 0x02, 0x2c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x2f,
+ 0x00, 0x80, 0x02, 0x46,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x4a,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x4c,
+ 0x00, 0x80, 0x02, 0x4d,
+ 0x00, 0x80, 0x02, 0x4e,
+ 0x00, 0x80, 0x02, 0x51,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x53,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x57,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x59,
+ 0x00, 0x80, 0x02, 0x5a,
+ 0x00, 0x80, 0x02, 0x5f,
+ 0x00, 0x80, 0x02, 0x60,
+ 0x00, 0x80, 0x02, 0x61,
+ 0x00, 0x80, 0x02, 0x62,
+ 0x00, 0x80, 0x02, 0x63,
+ 0x00, 0x80, 0x02, 0x64,
+ 0x00, 0x80, 0x02, 0x65,
+ 0x00, 0x80, 0x02, 0x66,
+ 0x00, 0x80, 0x02, 0x67,
+ 0x00, 0x80, 0x02, 0x68,
+ 0x00, 0x80, 0x02, 0x73,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x78,
+ 0x00, 0x80, 0x02, 0x7c,
+ 0x00, 0x80, 0x02, 0x81,
+ 0x00, 0x80, 0x02, 0x86,
+ 0x00, 0x80, 0x02, 0x87,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x95,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0x99,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0xa3,
+ 0x00, 0x80, 0x02, 0xa8,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0xaa,
+ 0x00, 0x80, 0x02, 0xab,
+ 0x00, 0x80, 0x02, 0xac,
+ 0x00, 0x80, 0x02, 0xad,
+ 0x00, 0x80, 0x02, 0xae,
+ 0x00, 0x80, 0x02, 0xb1,
+ 0x00, 0x80, 0x02, 0xb2,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x02, 0xb6,
+ 0x00, 0x80, 0x02, 0xb7,
+ 0x00, 0x80, 0x02, 0xb8,
+ 0x00, 0x80, 0x02, 0xb9,
+ 0x00, 0x80, 0x02, 0xba,
+ 0x00, 0x80, 0x02, 0xbb,
+ 0x00, 0x80, 0x02, 0xbc,
+ 0x00, 0x80, 0x02, 0xbd,
+ 0x00, 0x80, 0x02, 0xbe,
+ 0x00, 0x80, 0x02, 0xbf,
+ 0x00, 0x80, 0x02, 0xc2,
+ 0x00, 0x80, 0x02, 0xc3,
+ 0x00, 0x80, 0x02, 0xc4,
+ 0x00, 0x80, 0x02, 0xc5,
+ 0x00, 0x80, 0x40, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x02,
+ 0x00, 0x80, 0x40, 0x03,
+ 0x00, 0x80, 0x40, 0x04,
+ 0x00, 0x80, 0x40, 0x06,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x09,
+ 0x00, 0x80, 0x40, 0x0a,
+ 0x00, 0x80, 0x40, 0x0b,
+ 0x00, 0x80, 0x40, 0x0c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x0e,
+ 0x00, 0x80, 0x40, 0x0f,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x13,
+ 0x00, 0x80, 0x40, 0x14,
+ 0x00, 0x80, 0x40, 0x15,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x19,
+ 0x00, 0x80, 0x40, 0x1e,
+ 0x00, 0x80, 0x40, 0x1f,
+ 0x00, 0x80, 0x40, 0x20,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x24,
+ 0x00, 0x80, 0x40, 0x25,
+ 0x00, 0x80, 0x40, 0x3c,
+ 0x00, 0x80, 0x40, 0x3d,
+ 0x00, 0x80, 0x40, 0x3e,
+ 0x00, 0x80, 0x40, 0x3f,
+ 0x00, 0x80, 0x40, 0x40,
+ 0x00, 0x80, 0x40, 0x41,
+ 0x00, 0x80, 0x40, 0x42,
+ 0x00, 0x80, 0x40, 0x43,
+ 0x00, 0x80, 0x40, 0x44,
+ 0x00, 0x80, 0x40, 0x45,
+ 0x00, 0x80, 0x40, 0x46,
+ 0x00, 0x80, 0x40, 0x47,
+ 0x00, 0x80, 0x40, 0x48,
+ 0x00, 0x80, 0x40, 0x49,
+ 0x00, 0x80, 0x40, 0x4a,
+ 0x00, 0x80, 0x40, 0x4b,
+ 0x00, 0x80, 0x40, 0x4c,
+ 0x00, 0x80, 0x40, 0x4d,
+ 0x00, 0x80, 0x40, 0x4e,
+ 0x00, 0x80, 0x40, 0x4f,
+ 0x00, 0x80, 0x40, 0x50,
+ 0x00, 0x80, 0x40, 0x51,
+ 0x00, 0x80, 0x40, 0x52,
+ 0x00, 0x80, 0x40, 0x53,
+ 0x00, 0x80, 0x40, 0x54,
+ 0x00, 0x80, 0x40, 0x55,
+ 0x00, 0x80, 0x40, 0x56,
+ 0x00, 0x80, 0x40, 0x57,
+ 0x00, 0x80, 0x40, 0x58,
+ 0x00, 0x80, 0x40, 0x59,
+ 0x00, 0x80, 0x40, 0x5a,
+ 0x00, 0x80, 0x40, 0x5b,
+ 0x00, 0x80, 0x40, 0x5c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x5e,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x60,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x69,
+ 0x00, 0x80, 0x40, 0x6a,
+ 0x00, 0x80, 0x40, 0x6b,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x74,
+ 0x00, 0x80, 0x40, 0x78,
+ 0x00, 0x80, 0x40, 0x79,
+ 0x00, 0x80, 0x40, 0x7a,
+ 0x00, 0x80, 0x40, 0x7c,
+ 0x00, 0x80, 0x40, 0x84,
+ 0x00, 0x80, 0x40, 0x85,
+ 0x00, 0x80, 0x40, 0x88,
+ 0x00, 0x80, 0x40, 0x89,
+ 0x00, 0x80, 0x40, 0x8e,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x90,
+ 0x00, 0x80, 0x40, 0x91,
+ 0x00, 0x80, 0x40, 0x99,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0x9f,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0xa1,
+ 0x00, 0x80, 0x40, 0xa2,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0xa8,
+ 0x00, 0x80, 0x40, 0xb0,
+ 0x00, 0x80, 0x40, 0xb6,
+ 0x00, 0x80, 0x40, 0xd0,
+ 0x00, 0x80, 0x40, 0xd1,
+ 0x00, 0x80, 0x40, 0xd4,
+ 0x00, 0x80, 0x40, 0xd5,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0xdd,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x40, 0xdf,
+ 0x00, 0x80, 0x43, 0xdc,
+ 0x00, 0x80, 0x43, 0xdd,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x43, 0xe4,
+ 0x00, 0x80, 0x44, 0x04,
+ 0x00, 0x80, 0x44, 0x28,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x44, 0x48,
+ 0x00, 0x80, 0x44, 0x4c,
+ 0x00, 0x80, 0x44, 0x50,
+ 0x00, 0x80, 0x44, 0x54,
+ 0x00, 0x80, 0x44, 0x58,
+ 0x00, 0x80, 0x44, 0x5c,
+ 0x00, 0x80, 0x44, 0x60,
+ 0x00, 0x80, 0x44, 0x64,
+ 0x00, 0x80, 0x44, 0x68,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x46, 0x98,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x48, 0xc8,
+ 0x00, 0x80, 0x48, 0xc9,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x48, 0xcb,
+ 0x00, 0x80, 0x48, 0xcc,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x49, 0x1c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x34, 0x3c,
+ 0x00, 0x80, 0x80, 0x00,
+ 0x00, 0x80, 0x80, 0x01,
+ 0x00, 0x80, 0x80, 0x02,
+ 0x00, 0x80, 0x80, 0x06,
+ 0x00, 0x80, 0x80, 0x07,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x09,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x0e,
+ 0x00, 0x80, 0x80, 0x10,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x14,
+ 0x00, 0x80, 0x80, 0x18,
+ 0x00, 0x80, 0x80, 0x1c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x2d,
+ 0x00, 0x80, 0x80, 0x2e,
+ 0x00, 0x80, 0x80, 0x31,
+ 0x00, 0x80, 0x80, 0x32,
+ 0x00, 0x80, 0x80, 0x35,
+ 0x00, 0x80, 0x80, 0x36,
+ 0x00, 0x80, 0x80, 0x37,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x39,
+ 0x00, 0x80, 0x80, 0x3a,
+ 0x00, 0x80, 0x80, 0x3b,
+ 0x00, 0x80, 0x80, 0x3c,
+ 0x00, 0x80, 0x80, 0x3d,
+ 0x00, 0x80, 0x80, 0x3e,
+ 0x00, 0x80, 0x80, 0x40,
+ 0x00, 0x80, 0x80, 0x44,
+ 0x00, 0x80, 0x80, 0x48,
+ 0x00, 0x80, 0x80, 0x49,
+ 0x00, 0x80, 0x80, 0x4a,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x4c,
+ 0x00, 0x80, 0x80, 0x50,
+ 0x00, 0x80, 0x80, 0x54,
+ 0x00, 0x80, 0x80, 0x55,
+ 0x00, 0x80, 0x80, 0x56,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x58,
+ 0x00, 0x80, 0x80, 0x5c,
+ 0x00, 0x80, 0x80, 0x60,
+ 0x00, 0x80, 0x80, 0x61,
+ 0x00, 0x80, 0x80, 0x62,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x64,
+ 0x00, 0x80, 0x80, 0x68,
+ 0x00, 0x80, 0x80, 0x6c,
+ 0x00, 0x80, 0x80, 0x6d,
+ 0x00, 0x80, 0x80, 0x6e,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x70,
+ 0x00, 0x80, 0x80, 0x74,
+ 0x00, 0x80, 0x80, 0x78,
+ 0x00, 0x80, 0x80, 0x79,
+ 0x00, 0x80, 0x80, 0x7a,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x7c,
+ 0x00, 0x80, 0x80, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x88,
+ 0x00, 0x80, 0x80, 0x8c,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x80, 0x94,
+ 0x00, 0x80, 0x80, 0x98,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x00, 0x80,
+ 0x00, 0x80, 0x00, 0x81,
+ 0x00, 0x80, 0x00, 0x82,
+ 0x00, 0x80, 0x00, 0x83,
+ 0x00, 0x80, 0x00, 0x84,
+ 0x00, 0x80, 0x00, 0x85,
+ 0x00, 0x80, 0x00, 0x86,
+ 0x00, 0x80, 0x00, 0x87,
+ 0x00, 0x80, 0x00, 0x88,
+ 0x00, 0x80, 0x00, 0x89,
+ 0x00, 0x80, 0x00, 0x8a,
+ 0x00, 0x80, 0x00, 0x8b,
+ 0x00, 0x80, 0x00, 0x8c,
+ 0x00, 0x80, 0x00, 0x8d,
+ 0x00, 0x80, 0x00, 0x8e,
+ 0x00, 0x80, 0x00, 0x8f,
+ 0x00, 0x80, 0x00, 0x90,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x80, 0x01, 0x01,
+ 0x00, 0x80, 0x01, 0x02,
+ 0x00, 0x80, 0x01, 0x03,
+ 0x00, 0x80, 0x01, 0x04,
+ 0x00, 0x80, 0x01, 0x05,
+ 0x00, 0x80, 0x01, 0x06,
+ 0x00, 0x80, 0x01, 0x07,
+ 0x00, 0x80, 0x01, 0x0a,
+ 0x00, 0x80, 0x01, 0x0c,
+ 0x00, 0x81, 0x2c, 0x00,
+ 0x00, 0x81, 0x2f, 0xfc,
+ 0x00, 0x00, 0x0d, 0x00,
+ 0x00, 0x00, 0x00, 0x64,
+ 0x00, 0x00, 0xbb, 0x80,
+ 0x00, 0x00, 0x1a, 0x48,
+ 0x00, 0x00, 0xfb, 0x88,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x17, 0xec,
+ 0x00, 0x00, 0x18, 0x54,
+ 0x00, 0x00, 0x18, 0xbc,
+ 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, 0x1a, 0x3f,
+ 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,
+
+};
+
+/**
+ * @brief This buffer contains the VL53L8 default configuration.
+ * L8 ULD v1.0.4
+ */
+
+const uint8_t VL53L8_DEFAULT_CONFIGURATION[] = {
+ 0x54, 0x50, 0x00, 0x80,
+ 0x00, 0x04, 0x04, 0x04,
+ 0x00, 0x00, 0x08, 0x08,
+ 0xAD, 0x30, 0x00, 0x80,
+ 0x02, 0x01, 0x03, 0x03,
+ 0x00, 0x00, 0x03, 0x00,
+ 0xAD, 0x38, 0x01, 0x00,
+ 0x01, 0xE0, 0x01, 0x40,
+ 0x00, 0x40, 0x00, 0x40,
+ 0x01, 0x00, 0x04, 0x00,
+ 0x00, 0x00, 0x00, 0x01,
+ 0x54, 0x58, 0x00, 0x40,
+ 0x04, 0x1A, 0x01, 0x00,
+ 0x54, 0x5C, 0x01, 0x40,
+ 0x00, 0x00, 0x27, 0x10,
+ 0x00, 0x00, 0x0F, 0xA0,
+ 0x0F, 0xA0, 0x03, 0xE8,
+ 0x02, 0x80, 0x1F, 0x40,
+ 0x00, 0x00, 0x05, 0x00,
+ 0x54, 0x70, 0x00, 0x80,
+ 0x03, 0x20, 0x03, 0x20,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x54, 0x78, 0x01, 0x00,
+ 0x01, 0x13, 0x00, 0x29,
+ 0x00, 0x33, 0x00, 0x00,
+ 0x02, 0x00, 0x00, 0x01,
+ 0x04, 0x01, 0x08, VL53LMZ_FW_NBTAR_RANGING,
+ 0x54, 0x88, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x0C, 0x00,
+ 0xAD, 0x48, 0x01, 0x00,
+ 0x01, 0xF4, 0x00, 0x00,
+ 0x03, 0x06, 0x00, 0x10,
+ 0x08, 0x07, 0x08, 0x07,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAD, 0x60, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x20, 0x1F, 0x01, 0xF4,
+ 0x00, 0x00, 0x1D, 0x0A,
+ 0xAD, 0x70, 0x00, 0x80,
+ 0x08, 0x00, 0x1F, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAD, 0x78, 0x00, 0x80,
+ 0x00, 0xA0, 0x03, 0x20,
+ 0x00, 0x01, 0x01, 0x90,
+ 0xAD, 0x80, 0x00, 0x40,
+ 0x00, 0x00, 0x28, 0x00,
+ 0xAD, 0x84, 0x00, 0x80,
+ 0x00, 0x00, 0x32, 0x00,
+ 0x03, 0x20, 0x00, 0x00,
+ 0xAD, 0x8C, 0x00, 0x80,
+ 0x02, 0x58, 0xFF, 0x38,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0xAD, 0x94, 0x01, 0x00,
+ 0x00, 0x01, 0x90, 0x00,
+ 0xFF, 0xFF, 0xFC, 0x00,
+ 0x00, 0x00, 0x04, 0x00,
+ 0x00, 0x00, 0x01, 0x01,
+ 0xAD, 0xA4, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x00, 0x40, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x06,
+ 0xAD, 0xB0, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x19, 0x00, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x90,
+ 0xAD, 0xBC, 0x04, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x12, 0x00, 0x25,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x00, 0x00, 0x5A,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x09,
+ 0x0B, 0x0C, 0x0B, 0x0B,
+ 0x03, 0x03, 0x11, 0x05,
+ 0x01, 0x01, 0x01, 0x01,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x0D, 0x00, 0x00,
+ 0xAE, 0x00, 0x01, 0x04,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x0A,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0x00, 0x00, 0x00, 0x0D,
+ 0x00, 0x00, 0x00, 0x0E,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x05, 0x0A,
+ 0x02, 0x00, 0x0C, 0x08,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0x40, 0x00, 0x40,
+ 0x00, 0x00, 0x01, 0xFF,
+ 0xAE, 0x44, 0x00, 0x40,
+ 0x00, 0x10, 0x04, 0x01,
+ 0xAE, 0x48, 0x00, 0x40,
+ 0x00, 0x00, 0x10, 0x00,
+ 0xAE, 0x4C, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAE, 0x50, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x14,
+ 0x04, 0x00, 0x28, 0x00,
+ 0x03, 0x20, 0x6C, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x25, 0x80,
+ 0xAE, 0x64, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x02,
+ 0xAE, 0xD8, 0x01, 0x00,
+ 0x00, 0xC8, 0x05, 0xDC,
+ 0x00, 0x00, 0x07, 0xAE,
+ 0x01, 0x04, 0x00, 0x00,
+ 0x00, 0x00, 0x03, 0x01,
+ 0xB5, 0x50, 0x02, 0x82,
+ 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, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xA0, 0x02, 0x82,
+ 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, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xF0, 0x00, 0x40,
+ 0x00, 0xFF, 0x00, 0x00,
+ 0xB3, 0x9C, 0x01, 0x00,
+ 0x40, 0x00, 0x05, 0x1E,
+ 0x02, 0x1B, 0x08, 0x7C,
+ 0x80, 0x00, 0x12, 0x01,
+ 0x00, 0x01, 0x08, 0x00,
+ 0xB6, 0xC0, 0x00, 0xC0,
+ 0x00, 0x00, 0x60, 0x00,
+ 0x00, 0x00, 0x20, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xA8, 0x00, 0x40,
+ 0x00, 0x00, 0x04, 0x05,
+ 0xAE, 0xAC, 0x00, 0x80,
+ 0x01, 0x00, 0x01, 0x00,
+ 0x00, 0x02, 0x00, 0x00,
+ 0xAE, 0xB4, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xB8, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC0, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC8, 0x00, 0x81,
+ 0x08, 0x01, 0x01, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAE, 0xD0, 0x00, 0x81,
+ 0x01, 0x08, 0x08, 0x08,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xB5, 0xF4, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xFC, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x04, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x08, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x18, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x28, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x38, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x48, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x58, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x68, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x01, 0x03, 0xc8
+};
+
+/**
+ * @brief This buffer contains the VL53L7 default configuration.
+ * L7 ULD v1.2.7
+ */
+
+const uint8_t VL53L7_DEFAULT_CONFIGURATION[] = {
+ 0x54, 0x50, 0x00, 0x80,
+ 0x00, 0x04, 0x04, 0x04,
+ 0x00, 0x00, 0x08, 0x08,
+ 0xAD, 0x30, 0x00, 0x80,
+ 0x02, 0x01, 0x03, 0x03,
+ 0x00, 0x00, 0x03, 0x00,
+ 0xAD, 0x38, 0x01, 0x00,
+ 0x01, 0xE0, 0x01, 0x40,
+ 0x00, 0x40, 0x00, 0x40,
+ 0x01, 0x00, 0x04, 0x00,
+ 0x00, 0x00, 0x00, 0x01,
+ 0x54, 0x58, 0x00, 0x40,
+ 0x04, 0x1A, 0x01, 0x00,
+ 0x54, 0x5C, 0x01, 0x40,
+ 0x00, 0x00, 0x27, 0x10,
+ 0x00, 0x00, 0x0F, 0xA0,
+ 0x0F, 0xA0, 0x03, 0xE8,
+ 0x02, 0x80, 0x1F, 0x40,
+ 0x00, 0x00, 0x05, 0x00,
+ 0x54, 0x70, 0x00, 0x80,
+ 0x03, 0x20, 0x03, 0x20,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x54, 0x78, 0x01, 0x00,
+ 0x01, 0x13, 0x00, 0x29,
+ 0x00, 0x33, 0x00, 0x00,
+ 0x02, 0x00, 0x00, 0x01,
+ 0x04, 0x01, 0x08, VL53LMZ_FW_NBTAR_RANGING,
+ 0x54, 0x88, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x0C, 0x00,
+ 0xAD, 0x48, 0x01, 0x00,
+ 0x01, 0xF4, 0x00, 0x00,
+ 0x03, 0x06, 0x00, 0x10,
+ 0x08, 0x07, 0x08, 0x07,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAD, 0x60, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x20, 0x1F, 0x01, 0xF4,
+ 0x00, 0x00, 0x1D, 0x0A,
+ 0xAD, 0x70, 0x00, 0x80,
+ 0x08, 0x00, 0x1F, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAD, 0x78, 0x00, 0x80,
+ 0x00, 0xA0, 0x03, 0x20,
+ 0x00, 0x01, 0x01, 0x90,
+ 0xAD, 0x80, 0x00, 0x40,
+ 0x00, 0x00, 0x28, 0x00,
+ 0xAD, 0x84, 0x00, 0x80,
+ 0x00, 0x00, 0x32, 0x00,
+ 0x03, 0x20, 0x00, 0x00,
+ 0xAD, 0x8C, 0x00, 0x80,
+ 0x02, 0x58, 0xFF, 0x38,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0xAD, 0x94, 0x01, 0x00,
+ 0x00, 0x01, 0x90, 0x00,
+ 0xFF, 0xFF, 0xFC, 0x00,
+ 0x00, 0x00, 0x04, 0x00,
+ 0x00, 0x00, 0x01, 0x01,
+ 0xAD, 0xA4, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x00, 0x40, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x06,
+ 0xAD, 0xB0, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x19, 0x00, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x90,
+ 0xAD, 0xBC, 0x04, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x12, 0x00, 0x25,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x00, 0x00, 0x5A,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x09,
+ 0x0B, 0x0C, 0x0B, 0x0B,
+ 0x03, 0x03, 0x11, 0x05,
+ 0x01, 0x01, 0x01, 0x01,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x0D, 0x00, 0x00,
+ 0xAE, 0x00, 0x01, 0x04,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x0A,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0x00, 0x00, 0x00, 0x0D,
+ 0x00, 0x00, 0x00, 0x0E,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x05, 0x0A,
+ 0x02, 0x00, 0x0C, 0x08,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0x40, 0x00, 0x40,
+ 0x00, 0x00, 0x01, 0xFF,
+ 0xAE, 0x44, 0x00, 0x40,
+ 0x00, 0x10, 0x04, 0x01,
+ 0xAE, 0x48, 0x00, 0x40,
+ 0x00, 0x00, 0x10, 0x00,
+ 0xAE, 0x4C, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAE, 0x50, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x14,
+ 0x04, 0x00, 0x28, 0x00,
+ 0x03, 0x20, 0x6C, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x25, 0x80,
+ 0xAE, 0x64, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x02,
+ 0xAE, 0xD8, 0x01, 0x00,
+ 0x00, 0xC8, 0x05, 0xDC,
+ 0x00, 0x00, 0x0C, 0xCD,
+ 0x01, 0x04, 0x00, 0x00,
+ 0x00, 0x00, 0x26, 0x01,
+ 0xB5, 0x50, 0x02, 0x82,
+ 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, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xA0, 0x02, 0x82,
+ 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, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xF0, 0x00, 0x40,
+ 0x00, 0xFF, 0x00, 0x00,
+ 0xB3, 0x9C, 0x01, 0x00,
+ 0x40, 0x00, 0x05, 0x1E,
+ 0x02, 0x1B, 0x08, 0x7C,
+ 0x80, 0x01, 0x12, 0x01,
+ 0x00, 0x00, 0x08, 0x00,
+ 0xB6, 0xC0, 0x00, 0xC0,
+ 0x00, 0x00, 0x60, 0x00,
+ 0x00, 0x00, 0x20, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xA8, 0x00, 0x40,
+ 0x00, 0x00, 0x04, 0x05,
+ 0xAE, 0xAC, 0x00, 0x80,
+ 0x01, 0x00, 0x01, 0x00,
+ 0x00, 0x02, 0x00, 0x00,
+ 0xAE, 0xB4, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xB8, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC0, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC8, 0x00, 0x81,
+ 0x08, 0x01, 0x01, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAE, 0xD0, 0x00, 0x81,
+ 0x01, 0x08, 0x08, 0x08,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xB5, 0xF4, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xFC, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x04, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x08, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x18, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x28, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x38, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x48, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x58, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x68, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x01, 0x03, 0xc8
+};
+
+
+/**
+ * @brief This buffer contains the VL53LMZ default Xtalk data.
+ */
+
+const uint8_t VL53LMZ_DEFAULT_XTALK[] = {
+ 0x9f, 0xd8, 0x00, 0xc0,
+ 0x03, 0x20, 0x09, 0x60,
+ 0x0b, 0x08, 0x08, 0x17,
+ 0x08, 0x08, 0x08, 0x03,
+ 0x9f, 0xe4, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x01, 0xe0, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x9f, 0xf8, 0x00, 0x40,
+ 0x17, 0x17, 0x17, 0x17,
+ 0x9f, 0xfc, 0x04, 0x04,
+ 0x00, 0x00, 0x46, 0xa4,
+ 0x00, 0x00, 0x37, 0x66,
+ 0x00, 0x00, 0x26, 0x60,
+ 0x00, 0x00, 0x1c, 0xbc,
+ 0x00, 0x00, 0x17, 0x73,
+ 0x00, 0x00, 0x11, 0x25,
+ 0x00, 0x00, 0x11, 0x07,
+ 0x00, 0x00, 0x0e, 0x63,
+ 0x00, 0x00, 0x8b, 0x4c,
+ 0x00, 0x00, 0x60, 0xa2,
+ 0x00, 0x00, 0x3d, 0xc0,
+ 0x00, 0x00, 0x26, 0xaa,
+ 0x00, 0x00, 0x1b, 0xc2,
+ 0x00, 0x00, 0x18, 0x04,
+ 0x00, 0x00, 0x14, 0x97,
+ 0x00, 0x00, 0x10, 0xed,
+ 0x00, 0x01, 0x28, 0x1b,
+ 0x00, 0x00, 0x93, 0xf0,
+ 0x00, 0x00, 0x57, 0x61,
+ 0x00, 0x00, 0x30, 0x2b,
+ 0x00, 0x00, 0x20, 0xaa,
+ 0x00, 0x00, 0x1a, 0xb6,
+ 0x00, 0x00, 0x15, 0xc3,
+ 0x00, 0x00, 0x16, 0x0e,
+ 0x00, 0x01, 0x7f, 0xbb,
+ 0x00, 0x00, 0xad, 0x58,
+ 0x00, 0x00, 0x71, 0xaf,
+ 0x00, 0x00, 0x36, 0xd9,
+ 0x00, 0x00, 0x22, 0xfb,
+ 0x00, 0x00, 0x1c, 0x96,
+ 0x00, 0x00, 0x18, 0x83,
+ 0x00, 0x00, 0x17, 0x96,
+ 0x00, 0x01, 0x90, 0x00,
+ 0x00, 0x00, 0x97, 0xd6,
+ 0x00, 0x00, 0x66, 0x3b,
+ 0x00, 0x00, 0x33, 0x0a,
+ 0x00, 0x00, 0x20, 0xcd,
+ 0x00, 0x00, 0x19, 0x38,
+ 0x00, 0x00, 0x16, 0xa5,
+ 0x00, 0x00, 0x14, 0xbb,
+ 0x00, 0x00, 0xaf, 0xcf,
+ 0x00, 0x00, 0x65, 0x7d,
+ 0x00, 0x00, 0x3d, 0x93,
+ 0x00, 0x00, 0x29, 0xd1,
+ 0x00, 0x00, 0x19, 0x4e,
+ 0x00, 0x00, 0x15, 0xba,
+ 0x00, 0x00, 0x11, 0xc6,
+ 0x00, 0x00, 0x12, 0x7f,
+ 0x00, 0x00, 0x73, 0x1d,
+ 0x00, 0x00, 0x42, 0x2c,
+ 0x00, 0x00, 0x2e, 0x82,
+ 0x00, 0x00, 0x1e, 0x80,
+ 0x00, 0x00, 0x18, 0x1c,
+ 0x00, 0x00, 0x13, 0x2d,
+ 0x00, 0x00, 0x0f, 0xc6,
+ 0x00, 0x00, 0x0f, 0x85,
+ 0x00, 0x00, 0x4f, 0x04,
+ 0x00, 0x00, 0x33, 0xe9,
+ 0x00, 0x00, 0x1f, 0x06,
+ 0x00, 0x00, 0x18, 0x40,
+ 0x00, 0x00, 0x13, 0x2c,
+ 0x00, 0x00, 0x12, 0x97,
+ 0x00, 0x00, 0x0e, 0x01,
+ 0x00, 0x00, 0x0d, 0xac,
+ 0xa0, 0xfc, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x03,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa1, 0x0c, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x03,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa1, 0x1c, 0x00, 0xc0,
+ 0x00, 0x00, 0x70, 0xeb,
+ 0x0c, 0x80, 0x01, 0xe0,
+ 0x00, 0x00, 0x00, 0x26,
+ 0xa1, 0x28, 0x09, 0x02,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x36, 0x00, 0x03,
+ 0x01, 0xd9, 0x01, 0x43,
+ 0x02, 0x33, 0x02, 0x17,
+ 0x02, 0x4b, 0x02, 0x41,
+ 0x01, 0x17, 0x02, 0x22,
+ 0x00, 0x27, 0x00, 0x5d,
+ 0x00, 0x05, 0x00, 0x11,
+ 0x00, 0x00, 0x00, 0x01,
+ 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, 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,
+ 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, 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,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x48, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x4c, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x54, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x5c, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x64, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xa2, 0x6c, 0x00, 0x84,
+ 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,
+ 0xa2, 0x8c, 0x00, 0x82,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x05, 0x01, 0x03, 0x04
+};
+
+/**
+ * @brief This buffer is used to get NVM data.
+ */
+
+const uint8_t VL53LMZ_GET_NVM_CMD[] = {
+ 0x54, 0x00, 0x00, 0x40,
+ 0x9E, 0x14, 0x00, 0xC0,
+ 0x9E, 0x20, 0x01, 0x40,
+ 0x9E, 0x34, 0x00, 0x40,
+ 0x9E, 0x38, 0x04, 0x04,
+ 0x9F, 0x38, 0x04, 0x02,
+ 0x9F, 0xB8, 0x01, 0x00,
+ 0x9F, 0xC8, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x02, 0x02, 0x00, 0x24
+};
+
+#endif /* VL53LMZ_BUFFERS_H_ */
+
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_cnh.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_cnh.h
new file mode 100644
index 0000000..d15a17f
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_cnh.h
@@ -0,0 +1,158 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef VL53LMZ_PLUGIN_CNH_H_
+#define VL53LMZ_PLUGIN_CNH_H_
+
+#include "vl53lmz_api.h"
+#include "vl53lmz_plugin_motion_indicator.h"
+
+
+/**
+ * @brief Fundamental characteristics of histogram.
+ */
+#define VL53LMZ_CNH_PULSE_WIDTH_BIN 10
+#define VL53LMZ_CNH_BIN_WIDTH_MM 37.5348
+
+
+/**
+ * @brief Value defined by (int) 2.0 * 37.5348
+ */
+#define VL53LMZ_CNH_BIN_WIDTH_MM_POWER2 ((int16_t)(75U))
+
+/**
+ * @brief Value defined by VL53LMZ_CNH_PULSE_WIDTH_BIN/2.0)*VL53LMZ_CNH_BIN_WIDTH_MM
+ */
+#define VL53LMZ_CNH_BIN_CONSTANT_VALUE ((int16_t)(187U))
+
+/**
+ * @brief Max length of the aggregate id map and MI per aggregate indicator map.
+ */
+#define VL53LMZ_CNH_AGG_MAX VL53LMZ_MI_MAP_ID_LENGTH
+
+
+/** Maximum size for CNH buffer in 32b words. */
+#define VL53LMZ_CNH_MAX_DATA_WORDS ((uint32_t)(1540U))
+
+/**
+ * @brief Maximum size for CNH buffer in bytes
+ */
+#define VL53LMZ_CNH_MAX_DATA_BYTES (VL53LMZ_CNH_MAX_DATA_WORDS*(uint32_t)4)
+
+/**
+ * @typedef cnh_data_buffer_t
+ * @brief Array to hold the raw CNH data from the device.
+ */
+typedef uint32_t cnh_data_buffer_t[VL53LMZ_CNH_MAX_DATA_WORDS];
+
+#define VL53LMZ_CNH_DATA_IDX ((uint32_t)0xC048U)
+#define VL53LMZ_CNH_DATA_BH ((uint32_t)((VL53LMZ_CNH_DATA_IDX<<16)+((sizeof(cnh_data_buffer_t)<<4)))
+
+
+/**
+ * @brief Function to initialise the CNH configuration structure.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @param (int16_t) start_bin : Start bin within device histogram to for CNH data.
+ * @param (int16_t) num_bins : Number of bin from device histogram for CNH data.
+ * @param (int16_t) sub_sample : Sub-sample factor to reduce histogram bins by for CNH data.
+ * @return (uint8_t) status : 0 if configuration is OK
+ */
+uint8_t vl53lmz_cnh_init_config( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t start_bin,
+ int16_t num_bins,
+ int16_t sub_sample);
+
+
+/**
+ * @brief Function to create aggregate map CNH.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @param (int16_t) resolution : Mode sensor is operating in, 16 for 4x4 mode, 64 for 8x8 mode.
+ * @param (int16_t) start_x : Start zone X location.
+ * @param (int16_t) start_y : Start zone Y location.
+ * @param (int16_t) merge_x : Merge factor for zones in X direction.
+ * @param (int16_t) merge_y : Merge factor for zones in Y direction.
+ * @param (int16_t) cols : Number of columns for the aggregate map.
+ * @param (int16_t) rows : Number of rows for the aggregate map.
+ * @return (uint8_t) status : 0 if configuration is OK
+ */
+uint8_t vl53lmz_cnh_create_agg_map( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t resolution,
+ int16_t start_x,
+ int16_t start_y,
+ int16_t merge_x,
+ int16_t merge_y,
+ int16_t cols,
+ int16_t rows );
+
+
+/**
+ * @brief Calculate the size of persistent memory required on the sensor for the MI or CNH configuration.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @param (int32_t) *p_mem_size : Positive value if CNH configuration is good. Returns negative value if bad CNH configuration.
+ * @return (uint8_t) status : 0 if configuration is OK
+ */
+uint8_t vl53lmz_cnh_calc_required_memory( VL53LMZ_Motion_Configuration *p_mi_config,
+ uint32_t *p_mem_size);
+
+/**
+ * @brief Function to calculate minimum and maximum distances for the CNH configuration.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @param (int16_t) *p_min_distance : Minimum distance, in mm.
+ * @param (int16_t) *p_max_distance_x : Maximum distance, in mm.
+ * @return (uint8_t) status : 0 if configuration is OK
+ */
+uint8_t vl53lmz_cnh_calc_min_max_distance( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t *p_min_distance,
+ int16_t *p_max_distance );
+
+
+/**
+ * @brief Function to send the CNH configuration to the sensor.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+uint8_t vl53lmz_cnh_send_config( VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_mi_config );
+
+
+/**
+ * @brief Function to calculate location within the CNH buffer of various blocks.
+ * @param (VL53LMZ_Motion_Configuration) *p_mi_config : Motion Indicator configuration structure used by CNH.
+ * @param (int32_t) agg_id : aggregate ID to get the dat locations for
+ * @param (cnh_data_buffer_t) mi_persistent_array : raw CNH data buffer
+ * @param (int32_t) **p_hist : Pointer to histogram array
+ * @param (int8_t) **p_hist_scaler : Pointer to histogram data scaler array
+ * @param (int32_t) **p_ambient : Pointer to pointer to ambient value
+ * @param (int8_t) **p_ambient_scaler : Pointer to pointer to ambient data scaler value
+ * @return (uint8_t) status : 0 if no error
+ */
+
+uint8_t vl53lmz_cnh_get_block_addresses( VL53LMZ_Motion_Configuration *p_mi_config,
+ int32_t agg_id,
+ cnh_data_buffer_t mi_persistent_array,
+ int32_t **p_hist,
+ int8_t **p_hist_scaler,
+ int32_t **p_ambient,
+ int8_t **p_ambient_scaler );
+
+
+/**
+ * @brief Function to retrieve the Reference Residual value from the raw CNH buffer
+ * @param (cnh_data_buffer_t) mi_persistent_array : raw CNH data buffer
+ * @return (uint32_t) ref_residual : Reference Residual value (11 fractional bits)
+ */
+uint32_t vl53lmz_cnh_get_ref_residual( cnh_data_buffer_t mi_persistent_array );
+
+
+#endif /* VL53LMZ_PLUGIN_CNH_H_ */
+
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_detection_thresholds.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_detection_thresholds.h
new file mode 100644
index 0000000..4c6ae71
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_detection_thresholds.h
@@ -0,0 +1,187 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef VL53LMZ_PLUGIN_DETECTION_THRESHOLDS_H_
+#define VL53LMZ_PLUGIN_DETECTION_THRESHOLDS_H_
+
+#include "vl53lmz_api.h"
+
+/**
+ * @brief Macro VL53LMZ_NB_THRESHOLDS indicates the number of checkers. This
+ * value cannot be changed.
+ */
+
+#define VL53LMZ_NB_THRESHOLDS ((uint8_t)64U)
+
+/**
+ * @brief Inner Macro for API. Not for user, only for development.
+ */
+
+#define VL53LMZ_DCI_DET_THRESH_CONFIG ((uint16_t)0x5488U)
+#define VL53LMZ_DCI_DET_THRESH_GLOBAL_CONFIG ((uint16_t)0xB6E0U)
+#define VL53LMZ_DCI_DET_THRESH_START ((uint16_t)0xB6E8U)
+#define VL53LMZ_DCI_DET_THRESH_VALID_STATUS ((uint16_t)0xB9F0U)
+
+/**
+ * @brief Macro VL53LMZ_LAST_THRESHOLD is used to indicate the end of checkers
+ * programming.
+ */
+
+#define VL53LMZ_LAST_THRESHOLD ((uint8_t)128U)
+
+/**
+ * @brief The following macro are used to define the 'param_type' of a checker.
+ * They indicate what is the measurement to catch.
+ */
+
+#define VL53LMZ_DISTANCE_MM ((uint8_t)1U)
+#define VL53LMZ_SIGNAL_PER_SPAD_KCPS ((uint8_t)2U)
+#define VL53LMZ_RANGE_SIGMA_MM ((uint8_t)4U)
+#define VL53LMZ_AMBIENT_PER_SPAD_KCPS ((uint8_t)8U)
+#define VL53LMZ_NB_TARGET_DETECTED ((uint8_t)9U)
+#define VL53LMZ_TARGET_STATUS ((uint8_t)12U)
+#define VL53LMZ_NB_SPADS_ENABLED ((uint8_t)13U)
+#define VL53LMZ_MOTION_GLOBAL_INDICATOR ((uint8_t)16U)
+#define VL53LMZ_MOTION_INDICATOR ((uint8_t)19U)
+
+/**
+ * @brief The following macro are used to define the 'type' of a checker.
+ * They indicate the window of measurements, defined by low and a high
+ * thresholds.
+ */
+
+#define VL53LMZ_IN_WINDOW ((uint8_t)0U)
+#define VL53LMZ_OUT_OF_WINDOW ((uint8_t)1U)
+#define VL53LMZ_LESS_THAN_EQUAL_MIN_CHECKER ((uint8_t)2U)
+#define VL53LMZ_GREATER_THAN_MAX_CHECKER ((uint8_t)3U)
+#define VL53LMZ_EQUAL_MIN_CHECKER ((uint8_t)4U)
+#define VL53LMZ_NOT_EQUAL_MIN_CHECKER ((uint8_t)5U)
+
+/**
+ * @brief The following macro are used to define multiple checkers in the same
+ * zone, using operators. Please note that the first checker MUST always be a OR
+ * operation.
+ */
+
+#define VL53LMZ_OPERATION_NONE ((uint8_t)0U)
+#define VL53LMZ_OPERATION_OR ((uint8_t)0U)
+#define VL53LMZ_OPERATION_AND ((uint8_t)2U)
+
+/**
+ * @brief Structure VL53LMZ_DetectionThresholds contains a single threshold.
+ * This structure is never used alone, it must be used as an array of 64
+ * thresholds (defined by macro VL53LMZ_NB_THRESHOLDS).
+ */
+
+typedef struct {
+
+ /* Low threshold */
+ int32_t param_low_thresh;
+ /* High threshold */
+ int32_t param_high_thresh;
+ /* Measurement to catch (VL53LMZ_MEDIAN_RANGE_MM,...)*/
+ uint8_t measurement;
+ /* Windows type (VL53LMZ_IN_WINDOW, VL53LMZ_OUT_WINDOW, ...) */
+ uint8_t type;
+ /* Zone id. Please read VL53L5 user manual to find the zone id.Set macro
+ * VL53LMZ_LAST_THRESHOLD to indicates the end of checkers */
+ uint8_t zone_num;
+ /* Mathematics operation (AND/OR). The first threshold is always OR.*/
+ uint8_t mathematic_operation;
+}VL53LMZ_DetectionThresholds;
+
+/**
+ * @brief This function allows indicating if the detection thresholds are
+ * enabled.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint8_t) *p_enabled : Set to 1 if enabled, or 0 if disable.
+ * @return (uint8_t) status : 0 if OK
+ */
+
+uint8_t vl53lmz_get_detection_thresholds_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_enabled);
+
+/**
+ * @brief This function allows enable the detection thresholds.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint8_t) enabled : Set to 1 to enable, or 0 to disable thresholds.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+
+uint8_t vl53lmz_set_detection_thresholds_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t enabled);
+
+/**
+ * @brief This function allows getting the detection thresholds.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_DetectionThresholds) *p_thresholds : Array of 64 thresholds.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+
+uint8_t vl53lmz_get_detection_thresholds(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_DetectionThresholds *p_thresholds);
+
+/**
+ * @brief This function allows programming the detection thresholds.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_DetectionThresholds) *p_thresholds : Array of 64 thresholds.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+
+uint8_t vl53lmz_set_detection_thresholds(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_DetectionThresholds *p_thresholds);
+
+/**
+ * @brief This function is used to enable or disable the auto-stop feature.
+ * When ToF runs in autonomous mode with detection threshold, the sensor
+ * only emits an interrupt (INT pin) when a threshold is reached. Interrupt
+ * is raised when the measurement is completed. It is possible to abort the ranging
+ * without waiting for end of measurement completed by enabling the auto-stop. The
+ * sensor emits an interrupt and quickly aborts the measurements in progress. Please
+ * note that vl53lmz_stop_ranging() function needs to be used after interrupt raised
+ * for a clean stop.
+ * This function is used to get the auto_stop flag.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint8_t) *p_auto_stop : Pointer of auto-stop feature, 0 disabled
+ * (default) or 1 enabled.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+
+uint8_t vl53lmz_get_detection_thresholds_auto_stop(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_auto_stop);
+
+/**
+ * @brief This function is used to enable or disable the auto-stop feature.
+ * When ToF runs in autonomous mode with detection threshold, the sensor
+ * only emits an interrupt (INT pin) when a threshold is reached. Interrupt
+ * is raised when the measurement is completed. It is possible to abort the ranging
+ * without waiting for end of measurement completed by enabling the auto-stop. The
+ * sensor emits an interrupt and quickly aborts the measurements in progress. Please
+ * note that vl53lmz_stop_ranging() function needs to be used after interrupt raised
+ * for a clean stop.
+ * This function is used to set the auto_stop flag.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint8_t) *p_auto_stop : Pointer of auto-stop feature, 0 disabled
+ * (default) or 1 enabled.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+
+uint8_t vl53lmz_set_detection_thresholds_auto_stop(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t auto_stop);
+
+#endif /* VL53LMZ_PLUGIN_DETECTION_THRESHOLDS_H_ */
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_motion_indicator.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_motion_indicator.h
new file mode 100644
index 0000000..b4115a5
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_motion_indicator.h
@@ -0,0 +1,147 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef VL53LMZ_PLUGIN_MOTION_INDICATOR_H_
+#define VL53LMZ_PLUGIN_MOTION_INDICATOR_H_
+
+#include "vl53lmz_api.h"
+
+
+#define VL53LMZ_MI_MAP_ID_LENGTH VL53LMZ_RESOLUTION_8X8
+#define VL53LMZ_MI_INDICATOR_LENGTH 32
+
+
+/**
+ * @brief Motion indicator internal configuration structure.
+ */
+
+typedef struct {
+ int32_t ref_bin_offset;
+ uint32_t detection_threshold;
+ uint32_t extra_noise_sigma;
+ uint32_t null_den_clip_value;
+ uint8_t mem_update_mode;
+ uint8_t mem_update_choice;
+ uint8_t sum_span;
+ uint8_t feature_length;
+ uint8_t nb_of_aggregates;
+ uint8_t nb_of_temporal_accumulations;
+ uint8_t min_nb_for_global_detection;
+ uint8_t global_indicator_format_1;
+ uint8_t global_indicator_format_2;
+ uint8_t cnh_cfg;
+ uint8_t cnh_flex_shift;
+ uint8_t spare_3;
+ int8_t map_id[VL53LMZ_MI_MAP_ID_LENGTH];
+ uint8_t indicator_format_1[VL53LMZ_MI_INDICATOR_LENGTH];
+ uint8_t indicator_format_2[VL53LMZ_MI_INDICATOR_LENGTH];
+}VL53LMZ_Motion_Configuration;
+
+
+
+
+/**
+ * @brief Flags to modify the operation of the mi__scene_feature_extract module
+ * They should be placed in cnh_cfg field before calling start()
+ */
+#define MI_SFE_DISABLE_PING_PONG 0x01U
+#define MI_SFE_DISABLE_VARIANCE 0x02U
+#define MI_SFE_ENABLE_AMBIENT_LEVEL 0x04U
+#define MI_SFE_ENABLE_XTALK_REMOVAL 0x08U
+#define MI_SFE_ZERO_NON_VALID_BINS 0x10U
+#define MI_SFE_STORE_REF_RESIDUAL 0x20U
+
+
+
+/**
+ * @brief Structure of Motion Indicator output block.
+ */
+typedef struct {
+ /* The MI output structure for the not-arrayed output */
+ struct {
+ uint32_t global_indicator_1;
+ uint32_t global_indicator_2;
+ uint8_t status;
+ uint8_t nb_of_detected_aggregates;
+ uint8_t nb_of_aggregates;
+ uint8_t spare;
+ } op;
+
+ /* The MI output structure for the arrayed output. */
+ struct {
+ uint32_t per_aggregate_indicator_1[VL53LMZ_MI_INDICATOR_LENGTH];
+ uint32_t per_aggregate_indicator_2[VL53LMZ_MI_INDICATOR_LENGTH];
+ } arrayed_op;
+
+} VL53LMZ_MI_Output;
+
+
+#define VL53LMZ_MI_CFG_DEV_IDX ((uint32_t)0xBFACU)
+#define VL53LMZ_MI_CFG_DEV_BH ((uint32_t)((VL53LMZ_MI_CFG_DEV_IDX<<16)+(sizeof(VL53LMZ_Motion_Configuration)<<4) )))
+
+#define VL53LMZ_MI_OP_DEV_IDX ((uint32_t)0xD858U)
+#define VL53LMZ_MI_OP_DEV_BH ((uint32_t)((VL53LMZ_MI_OP_DEV_IDX<<16)+(sizeof(VL53LMZ_MI_Output)<<4)))
+
+
+/**
+ * @brief This function is used to initialized the motion indicator. By default,
+ * indicator is programmed to monitor movements between 400mm and 1500mm.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_Motion_Configuration) *p_motion_config : Structure
+ * containing the initialized motion configuration.
+ * @param (uint8_t) resolution : Wanted resolution, defined by macros
+ * VL53LMZ_RESOLUTION_4X4 or VL53LMZ_RESOLUTION_8X8.
+ * @return (uint8_t) status : 0 if OK, or 127 is the resolution is unknown.
+ */
+
+uint8_t vl53lmz_motion_indicator_init(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint8_t resolution);
+
+/**
+ * @brief This function can be used to change the working distance of motion
+ * indicator. By default, indicator is programmed to monitor movements between
+ * 400mm and 1500mm.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_Motion_Configuration) *p_motion_config : Structure
+ * containing the initialized motion configuration.
+ * @param (uint16_t) distance_min_mm : Minimum distance for indicator (min value
+ * 400mm, max 4000mm).
+ * @param (uint16_t) distance_max_mm : Maximum distance for indicator (min value
+ * 400mm, max 4000mm).
+ * VL53LMZ_RESOLUTION_4X4 or VL53LMZ_RESOLUTION_8X8.
+ * @return (uint8_t) status : 0 if OK, or 127 if an argument is invalid.
+ */
+
+uint8_t vl53lmz_motion_indicator_set_distance_motion(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint16_t distance_min_mm,
+ uint16_t distance_max_mm);
+
+/**
+ * @brief This function is used to update the internal motion indicator map.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (VL53LMZ_Motion_Configuration) *p_motion_config : Structure
+ * containing the initialized motion configuration.
+ * @param (uint8_t) resolution : Wanted MI resolution, defined by macros
+ * VL53LMZ_RESOLUTION_4X4 or VL53LMZ_RESOLUTION_8X8.
+ * @return (uint8_t) status : 0 if OK, or 127 is the resolution is unknown.
+ */
+
+uint8_t vl53lmz_motion_indicator_set_resolution(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint8_t resolution);
+
+#endif /* VL53LMZ_PLUGIN_MOTION_INDICATOR_H_ */
diff --git a/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_xtalk.h b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_xtalk.h
new file mode 100644
index 0000000..51f4bf0
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/inc/vl53lmz_plugin_xtalk.h
@@ -0,0 +1,391 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#ifndef VL53LMZ_PLUGIN_XTALK_H_
+#define VL53LMZ_PLUGIN_XTALK_H_
+
+#include "vl53lmz_api.h"
+
+/**
+ * @brief Inner internal number of targets.
+ */
+
+#if VL53LMZ_NB_TARGET_PER_ZONE == 1
+#define VL53LMZ_FW_NBTAR_XTALK 2
+#else
+#define VL53LMZ_FW_NBTAR_XTALK VL53LMZ_NB_TARGET_PER_ZONE
+#endif
+
+/**
+ * @brief Inner Macro for plugin. Not for user, only for development.
+ */
+
+#define VL53LMZ_DCI_CAL_CFG ((uint16_t)0x5470U)
+#define VL53LMZ_DCI_XTALK_CFG ((uint16_t)0xAD94U)
+
+
+/**
+ * @brief This function starts the VL53L5CX sensor in order to calibrate Xtalk.
+ * This calibration is recommended is user wants to use a coverglass.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint16_t) reflectance_percent : Target reflectance in percent. This
+ * value is include between 1 and 99%. For a better efficiency, ST recommends a
+ * 3% target reflectance.
+ * @param (uint8_t) nb_samples : Nb of samples used for calibration. A higher
+ * number of samples means a higher accuracy, but it increases the calibration
+ * time. Minimum is 1 and maximum is 16.
+ * @param (uint16_t) distance_mm : Target distance in mm. The minimum allowed
+ * distance is 600mm, and maximum is 3000mm. The target must stay in Full FOV,
+ * so short distance are easier for calibration.
+ * @return (uint8_t) status : 0 if calibration OK, 127 if an argument has an
+ * incorrect value, or 255 is something failed.
+ */
+
+uint8_t vl53lmz_calibrate_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint16_t reflectance_percent,
+ uint8_t nb_samples,
+ uint16_t distance_mm);
+
+/**
+ * @brief This function gets the Xtalk buffer. The buffer is available after
+ * using the function vl53lmz_calibrate_xtalk().
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5 configuration structure.
+ * @param (uint8_t) *p_xtalk_data : Buffer with a size defined by
+ * macro VL53LMZ_XTALK_SIZE.
+ * @return (uint8_t) status : 0 if buffer reading OK
+ */
+
+uint8_t vl53lmz_get_caldata_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_xtalk_data);
+
+/**
+ * @brief This function sets the Xtalk buffer. This function can be used to
+ * override default Xtalk buffer.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5 configuration structure.
+ * @param (uint8_t) *p_xtalk_data : Buffer with a size defined by
+ * macro VL53LMZ_XTALK_SIZE.
+ * @return (uint8_t) status : 0 if buffer OK
+ */
+
+uint8_t vl53lmz_set_caldata_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_xtalk_data);
+
+/**
+ * @brief This function gets the Xtalk margin. This margin is used to increase
+ * the Xtalk threshold. It can also be used to avoid false positives after the
+ * Xtalk calibration. The default value is 50 kcps/spads.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint32_t) *p_xtalk_margin : Xtalk margin in kcps/spads.
+ * @return (uint8_t) status : 0 if reading OK
+ */
+
+uint8_t vl53lmz_get_xtalk_margin(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t *p_xtalk_margin);
+
+/**
+ * @brief This function sets the Xtalk margin. This margin is used to increase
+ * the Xtalk threshold. It can also be used to avoid false positives after the
+ * Xtalk calibration. The default value is 50 kcps/spads.
+ * @param (VL53LMZ_Configuration) *p_dev : VL53L5CX configuration structure.
+ * @param (uint32_t) xtalk_margin : New Xtalk margin in kcps/spads. Min value is
+ * 0 kcps/spads, and max is 10.000 kcps/spads
+ * @return (uint8_t) status : 0 if set margin is OK, or 127 is the margin is
+ * invalid.
+ */
+
+uint8_t vl53lmz_set_xtalk_margin(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t xtalk_margin);
+
+/**
+ * @brief Command used to get Xtalk calibration data
+ */
+
+static const uint8_t VL53LMZ_GET_XTALK_CMD[] = {
+ 0x54, 0x00, 0x00, 0x40,
+ 0x9F, 0xD8, 0x00, 0xC0,
+ 0x9F, 0xE4, 0x01, 0x40,
+ 0x9F, 0xF8, 0x00, 0x40,
+ 0x9F, 0xFC, 0x04, 0x04,
+ 0xA0, 0xFC, 0x01, 0x00,
+ 0xA1, 0x0C, 0x01, 0x00,
+ 0xA1, 0x1C, 0x00, 0xC0,
+ 0xA1, 0x28, 0x09, 0x02,
+ 0xA2, 0x48, 0x00, 0x40,
+ 0xA2, 0x4C, 0x00, 0x81,
+ 0xA2, 0x54, 0x00, 0x81,
+ 0xA2, 0x5C, 0x00, 0x81,
+ 0xA2, 0x64, 0x00, 0x81,
+ 0xA2, 0x6C, 0x00, 0x84,
+ 0xA2, 0x8C, 0x00, 0x82,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x07, 0x02, 0x00, 0x44
+};
+
+/**
+ * @brief Command used to get run Xtalk calibration
+ */
+
+static const uint8_t VL53LMZ_CALIBRATE_XTALK[] = {
+ 0x54, 0x50, 0x00, 0x80,
+ 0x00, 0x04, 0x08, 0x08,
+ 0x00, 0x00, 0x04, 0x04,
+ 0xAD, 0x30, 0x00, 0x80,
+ 0x03, 0x01, 0x06, 0x03,
+ 0x00, 0x00, 0x01, 0x00,
+ 0xAD, 0x38, 0x01, 0x00,
+ 0x01, 0xE0, 0x01, 0x40,
+ 0x00, 0x10, 0x00, 0x10,
+ 0x01, 0x00, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x01,
+ 0x54, 0x58, 0x00, 0x40,
+ 0x04, 0x1A, 0x02, 0x00,
+ 0x54, 0x5C, 0x01, 0x40,
+ 0x00, 0x01, 0x00, 0x51,
+ 0x00, 0x00, 0x0F, 0xA0,
+ 0x0F, 0xA0, 0x03, 0xE8,
+ 0x02, 0x80, 0x1F, 0x40,
+ 0x00, 0x00, 0x05, 0x00,
+ 0x54, 0x70, 0x00, 0x80,
+ 0x03, 0x20, 0x03, 0x20,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x54, 0x78, 0x01, 0x00,
+ 0x01, 0x1B, 0x00, 0x21,
+ 0x00, 0x33, 0x00, 0x00,
+ 0x02, 0x00, 0x00, 0x01,
+ 0x04, 0x01, 0x08, VL53LMZ_FW_NBTAR_XTALK,
+ 0x54, 0x88, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x08, 0x00,
+ 0xAD, 0x48, 0x01, 0x00,
+ 0x01, 0xF4, 0x00, 0x00,
+ 0x03, 0x06, 0x00, 0x10,
+ 0x08, 0x08, 0x08, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAD, 0x60, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x20, 0x1F, 0x01, 0xF4,
+ 0x00, 0x00, 0x1D, 0x0A,
+ 0xAD, 0x70, 0x00, 0x80,
+ 0x08, 0x00, 0x1F, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAD, 0x78, 0x00, 0x80,
+ 0x00, 0xA0, 0x03, 0x20,
+ 0x00, 0x01, 0x01, 0x90,
+ 0xAD, 0x80, 0x00, 0x40,
+ 0x00, 0x00, 0x28, 0x00,
+ 0xAD, 0x84, 0x00, 0x80,
+ 0x00, 0x00, 0x32, 0x00,
+ 0x03, 0x20, 0x00, 0x00,
+ 0xAD, 0x8C, 0x00, 0x80,
+ 0x02, 0x58, 0xFF, 0x38,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0xAD, 0x94, 0x01, 0x00,
+ 0x00, 0x01, 0x90, 0x00,
+ 0xFF, 0xFF, 0xFC, 0x00,
+ 0x00, 0x00, 0x04, 0x00,
+ 0x00, 0x00, 0x01, 0x00,
+ 0xAD, 0xA4, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x00, 0x80, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x06,
+ 0xAD, 0xB0, 0x00, 0xC0,
+ 0x04, 0x80, 0x06, 0x1A,
+ 0x19, 0x00, 0x05, 0x80,
+ 0x00, 0x00, 0x01, 0x90,
+ 0xAD, 0xBC, 0x04, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x12, 0x00, 0x25,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x05,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x00, 0x00, 0x5A,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x09,
+ 0x0B, 0x0C, 0x0B, 0x0B,
+ 0x03, 0x03, 0x11, 0x05,
+ 0x01, 0x01, 0x01, 0x01,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x0D, 0x00, 0x00,
+ 0xAE, 0x00, 0x01, 0x04,
+ 0x00, 0x00, 0x00, 0x04,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x0A,
+ 0x00, 0x00, 0x00, 0x0C,
+ 0x00, 0x00, 0x00, 0x0D,
+ 0x00, 0x00, 0x00, 0x0E,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x10,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x20,
+ 0x00, 0x00, 0x00, 0x06,
+ 0x00, 0x00, 0x05, 0x0A,
+ 0x02, 0x00, 0x0C, 0x08,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0x40, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0xFF,
+ 0xAE, 0x44, 0x00, 0x40,
+ 0x00, 0x10, 0x04, 0x01,
+ 0xAE, 0x48, 0x00, 0x40,
+ 0x00, 0x00, 0x10, 0x00,
+ 0xAE, 0x4C, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAE, 0x50, 0x01, 0x40,
+ 0x00, 0x00, 0x00, 0x14,
+ 0x04, 0x00, 0x28, 0x00,
+ 0x03, 0x20, 0x6C, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0x64, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xAE, 0xD8, 0x01, 0x00,
+ 0x00, 0xC8, 0x05, 0xDC,
+ 0x00, 0x00, 0x0C, 0xCD,
+ 0x01, 0x04, 0x00, 0x00,
+ 0x00, 0x01, 0x26, 0x01,
+ 0xB5, 0x50, 0x02, 0x82,
+ 0xA3, 0xE8, 0xA3, 0xB8,
+ 0xA4, 0x38, 0xA4, 0x28,
+ 0xA6, 0x48, 0xA4, 0x48,
+ 0xA7, 0x88, 0xA7, 0x48,
+ 0xAC, 0x10, 0xA7, 0x90,
+ 0x99, 0xBC, 0x99, 0xB4,
+ 0x9A, 0xFC, 0x9A, 0xBC,
+ 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,
+ 0xB5, 0xA0, 0x02, 0x82,
+ 0x00, 0x88, 0x03, 0x00,
+ 0x00, 0x82, 0x00, 0x82,
+ 0x04, 0x04, 0x04, 0x08,
+ 0x00, 0x80, 0x04, 0x01,
+ 0x09, 0x02, 0x09, 0x08,
+ 0x04, 0x04, 0x00, 0x80,
+ 0x04, 0x01, 0x04, 0x01,
+ 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,
+ 0xB5, 0xF0, 0x00, 0x40,
+ 0x00, 0x04, 0x00, 0x00,
+ 0xB3, 0x9C, 0x01, 0x00,
+ 0x40, 0x00, 0x05, 0x1E,
+ 0x02, 0x1B, 0x08, 0x7C,
+ 0x80, 0x00, 0x12, 0x01,
+ 0x00, 0x01, 0x08, 0x00,
+ 0xB6, 0xC0, 0x00, 0xC0,
+ 0x00, 0x00, 0x60, 0x00,
+ 0x00, 0x00, 0x20, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xA8, 0x00, 0x40,
+ 0x00, 0x00, 0x04, 0x05,
+ 0xAE, 0xAC, 0x00, 0x80,
+ 0x01, 0x00, 0x01, 0x00,
+ 0x00, 0x02, 0x00, 0x00,
+ 0xAE, 0xB4, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xB8, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC0, 0x00, 0x81,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xAE, 0xC8, 0x00, 0x81,
+ 0x08, 0x01, 0x01, 0x08,
+ 0x00, 0x00, 0x00, 0x08,
+ 0xAE, 0xD0, 0x00, 0x81,
+ 0x01, 0x08, 0x08, 0x08,
+ 0x00, 0x00, 0x00, 0x01,
+ 0xB5, 0xF4, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB5, 0xFC, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x04, 0x00, 0x40,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x08, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x18, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x28, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x38, 0x00, 0x44,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x48, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x58, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0xB6, 0x68, 0x01, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x54, 0x70, 0x00, 0x80,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x02,
+ 0x00, 0x00, 0x00, 0x0F,
+ 0x00, 0x01, 0x03, 0xD4
+};
+
+#endif /* VL53LMZ_PLUGIN_XTALK_H_ */
diff --git a/LMZ/VL53LMZ_ULD_API/src/vl53lmz_api.c b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_api.c
new file mode 100644
index 0000000..02413c2
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_api.c
@@ -0,0 +1,1639 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include
+#include
+
+
+#include "vl53lmz_api.h"
+
+#include "vl53lmz_buffers.h"
+
+
+static uint32_t g_output_config[NUM_OUTPUT_CONFIG_WORDS];
+
+
+static uint32_t g_output_bh_enable[NUM_OUTPUT_ENABLE_WORDS] = {
+ 0x00000007U,
+ 0x00000000U,
+ 0x00000000U,
+ 0xC0000000U };
+/**
+ * @brief Inner function, not available outside this file. This function is used
+ * to wait for an answer from VL53L5CX sensor.
+ */
+
+static uint8_t _vl53lmz_poll_for_answer(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t size,
+ uint8_t pos,
+ uint16_t address,
+ uint8_t mask,
+ uint8_t expected_value)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t timeout = 0;
+
+ do {
+ status |= RdMulti(&(p_dev->platform), address,
+ p_dev->temp_buffer, size);
+ status |= WaitMs(&(p_dev->platform), 10);
+
+ if(timeout >= (uint8_t)200) /* 2s timeout */
+ {
+ status |= (uint8_t)VL53LMZ_STATUS_TIMEOUT_ERROR;
+ break;
+ }else if((size >= (uint8_t)4)
+ && (p_dev->temp_buffer[2] >= (uint8_t)0x7f))
+ {
+ status |= VL53LMZ_MCU_ERROR;
+ break;
+ }
+ else
+ {
+ timeout++;
+ }
+ }while ((p_dev->temp_buffer[pos] & mask) != expected_value);
+
+ return status;
+}
+
+/*
+ * Inner function, not available outside this file. This function is used to
+ * wait for the MCU to boot.
+ */
+static uint8_t _vl53lmz_poll_for_mcu_boot(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t go2_status0, go2_status1, status = VL53LMZ_STATUS_OK;
+ uint16_t timeout = 0;
+
+ do {
+ status |= RdByte(&(p_dev->platform), 0x06, &go2_status0);
+ if((go2_status0 & (uint8_t)0x80) != (uint8_t)0){
+ status |= RdByte(&(p_dev->platform), 0x07, &go2_status1);
+ if((go2_status1 & (uint8_t)0x01) != (uint8_t)0x00)
+ {
+ status |= VL53LMZ_STATUS_OK;
+ break;
+ }
+ }
+ (void)WaitMs(&(p_dev->platform), 1);
+ timeout++;
+
+ if((go2_status0 & (uint8_t)0x1) != (uint8_t)0){
+ break;
+ }
+ }while (timeout < (uint16_t)500);
+
+ return status;
+}
+
+/**
+ * @brief Inner function, not available outside this file. This function is used
+ * to set the offset data gathered from NVM.
+ */
+
+static uint8_t _vl53lmz_send_offset_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t resolution)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t signal_grid[64];
+ int16_t range_grid[64];
+ uint8_t dss_4x4[] = {0x0F, 0x04, 0x04, 0x00, 0x08, 0x10, 0x10, 0x07};
+ uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x03, 0x01, 0x01, 0xE4};
+ int8_t i, j;
+ uint16_t k;
+
+ (void)memcpy(p_dev->temp_buffer,
+ p_dev->offset_data, VL53LMZ_OFFSET_BUFFER_SIZE);
+
+ /* Data extrapolation is required for 4X4 offset */
+ if(resolution == (uint8_t)VL53LMZ_RESOLUTION_4X4){
+ (void)memcpy(&(p_dev->temp_buffer[0x10]), dss_4x4, sizeof(dss_4x4));
+ SwapBuffer(p_dev->temp_buffer, VL53LMZ_OFFSET_BUFFER_SIZE);
+ (void)memcpy(signal_grid,&(p_dev->temp_buffer[0x3C]),
+ sizeof(signal_grid));
+ (void)memcpy(range_grid,&(p_dev->temp_buffer[0x140]),
+ sizeof(range_grid));
+
+ for (j = 0; j < (int8_t)4; j++)
+ {
+ for (i = 0; i < (int8_t)4 ; i++)
+ {
+ signal_grid[i+(4*j)] =
+ (signal_grid[(2*i)+(16*j)+ (int8_t)0]
+ + signal_grid[(2*i)+(16*j)+(int8_t)1]
+ + signal_grid[(2*i)+(16*j)+(int8_t)8]
+ + signal_grid[(2*i)+(16*j)+(int8_t)9])
+ /(uint32_t)4;
+ range_grid[i+(4*j)] =
+ (range_grid[(2*i)+(16*j)]
+ + range_grid[(2*i)+(16*j)+1]
+ + range_grid[(2*i)+(16*j)+8]
+ + range_grid[(2*i)+(16*j)+9])
+ /(int16_t)4;
+ }
+ }
+ (void)memset(&range_grid[0x10], 0, (uint16_t)96);
+ (void)memset(&signal_grid[0x10], 0, (uint16_t)192);
+ (void)memcpy(&(p_dev->temp_buffer[0x3C]),
+ signal_grid, sizeof(signal_grid));
+ (void)memcpy(&(p_dev->temp_buffer[0x140]),
+ range_grid, sizeof(range_grid));
+ SwapBuffer(p_dev->temp_buffer, VL53LMZ_OFFSET_BUFFER_SIZE);
+ }
+
+ for(k = 0; k < (VL53LMZ_OFFSET_BUFFER_SIZE - (uint16_t)4); k++)
+ {
+ p_dev->temp_buffer[k] = p_dev->temp_buffer[k + (uint16_t)8];
+ }
+
+ (void)memcpy(&(p_dev->temp_buffer[0x1E0]), footer, 8);
+ status |= WrMulti(&(p_dev->platform), 0x2e18, p_dev->temp_buffer,
+ VL53LMZ_OFFSET_BUFFER_SIZE);
+ status |=_vl53lmz_poll_for_answer(p_dev, 4, 1,
+ VL53LMZ_UI_CMD_STATUS, 0xff, 0x03);
+
+ return status;
+}
+
+/**
+ * @brief Inner function, not available outside this file. This function is used
+ * to set the Xtalk data from generic configuration, or user's calibration.
+ */
+
+static uint8_t _vl53lmz_send_xtalk_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t resolution)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t res4x4[] = {0x0F, 0x04, 0x04, 0x17, 0x08, 0x10, 0x10, 0x07};
+ uint8_t dss_4x4[] = {0x00, 0x78, 0x00, 0x08, 0x00, 0x00, 0x00, 0x08};
+ uint8_t profile_4x4[] = {0xA0, 0xFC, 0x01, 0x00};
+ uint32_t signal_grid[64];
+ int8_t i, j;
+
+ (void)memcpy(p_dev->temp_buffer, &(p_dev->xtalk_data[0]),
+ VL53LMZ_XTALK_BUFFER_SIZE);
+
+ /* Data extrapolation is required for 4X4 Xtalk */
+ if(resolution == (uint8_t)VL53LMZ_RESOLUTION_4X4)
+ {
+ (void)memcpy(&(p_dev->temp_buffer[0x8]),
+ res4x4, sizeof(res4x4));
+ (void)memcpy(&(p_dev->temp_buffer[0x020]),
+ dss_4x4, sizeof(dss_4x4));
+
+ SwapBuffer(p_dev->temp_buffer, VL53LMZ_XTALK_BUFFER_SIZE);
+ (void)memcpy(signal_grid, &(p_dev->temp_buffer[0x34]),
+ sizeof(signal_grid));
+
+ for (j = 0; j < (int8_t)4; j++)
+ {
+ for (i = 0; i < (int8_t)4 ; i++)
+ {
+ signal_grid[i+(4*j)] =
+ (signal_grid[(2*i)+(16*j)+0]
+ + signal_grid[(2*i)+(16*j)+1]
+ + signal_grid[(2*i)+(16*j)+8]
+ + signal_grid[(2*i)+(16*j)+9])/(uint32_t)4;
+ }
+ }
+ (void)memset(&signal_grid[0x10], 0, (uint32_t)192);
+ (void)memcpy(&(p_dev->temp_buffer[0x34]),
+ signal_grid, sizeof(signal_grid));
+ SwapBuffer(p_dev->temp_buffer, VL53LMZ_XTALK_BUFFER_SIZE);
+ (void)memcpy(&(p_dev->temp_buffer[0x134]),
+ profile_4x4, sizeof(profile_4x4));
+ (void)memset(&(p_dev->temp_buffer[0x078]),0 ,
+ (uint32_t)4*sizeof(uint8_t));
+ }
+
+ status |= WrMulti(&(p_dev->platform), 0x2cf8,
+ p_dev->temp_buffer, VL53LMZ_XTALK_BUFFER_SIZE);
+ status |=_vl53lmz_poll_for_answer(p_dev, 4, 1,
+ VL53LMZ_UI_CMD_STATUS, 0xff, 0x03);
+
+ return status;
+}
+
+#define REVISION_CUT11 0x01
+#define REVISION_CUT12 0x02
+#define REVISION_L8 0x0C
+
+uint8_t vl53lmz_is_alive(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_is_alive)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ printf("\r\np_dev->platform=0x%04x \r\n",(p_dev->platform.address));
+
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= RdByte(&(p_dev->platform), 0, &(p_dev->device_id));
+ status |= RdByte(&(p_dev->platform), 1, &(p_dev->revision_id));
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+ printf("\r\n DevID:RevID =0x%02x:0x%02x \r\n", p_dev->device_id, p_dev->revision_id);
+
+ if ( (p_dev->device_id==(uint8_t)0xF0) && (p_dev->revision_id==(uint8_t)REVISION_CUT11) )
+ p_dev->module_type = (uint8_t)VL53LMZ_MODULE_TYPE_L5;
+ else if ( p_dev->revision_id==(uint8_t)REVISION_CUT12 )
+ p_dev->module_type = (uint8_t)VL53LMZ_MODULE_TYPE_L7;
+ else if ( p_dev->revision_id==(uint8_t)REVISION_L8 )
+ p_dev->module_type = (uint8_t)VL53LMZ_MODULE_TYPE_L8;
+ else
+ p_dev->module_type = (uint8_t)VL53LMZ_MODULE_TYPE_UNKNOWN;
+
+ if (p_dev->module_type != (uint8_t)VL53LMZ_MODULE_TYPE_UNKNOWN)
+ *p_is_alive = 1;
+ else
+ *p_is_alive = 0;
+
+ return status;
+}
+
+uint8_t vl53lmz_init(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t tmp, status = VL53LMZ_STATUS_OK;
+ uint8_t pipe_ctrl[] = {VL53LMZ_NB_TARGET_PER_ZONE, 0x00, 0x01, 0x00};
+ uint32_t single_range = 0x01;
+
+ p_dev->is_auto_stop_enabled = (uint8_t)0x0;
+
+ status = vl53lmz_is_alive(p_dev, &tmp);
+ if ( (status != (uint8_t)VL53LMZ_STATUS_OK) || (tmp != (uint8_t)1) ){
+ goto exit;
+ }
+
+ /* SW reboot sequence */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+
+ status |= WrByte(&(p_dev->platform), 0x0009, 0x04);
+ status |= WrByte(&(p_dev->platform), 0x000F, 0x40);
+ status |= WrByte(&(p_dev->platform), 0x000A, 0x03);
+ status |= RdByte(&(p_dev->platform), 0x7FFF, &tmp);
+ status |= WrByte(&(p_dev->platform), 0x000C, 0x01);
+
+ status |= WrByte(&(p_dev->platform), 0x0101, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x0102, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x010A, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x4002, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x4002, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x010A, 0x03);
+ status |= WrByte(&(p_dev->platform), 0x0103, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x000C, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x000F, 0x43);
+ status |= WaitMs(&(p_dev->platform), 1);
+
+ status |= WrByte(&(p_dev->platform), 0x000F, 0x40);
+ status |= WrByte(&(p_dev->platform), 0x000A, 0x01);
+ status |= WaitMs(&(p_dev->platform), 100);
+
+ /* Wait for sensor booted (several ms required to get sensor ready ) */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= _vl53lmz_poll_for_answer(p_dev, 1, 0, 0x06, 0xff, 1);
+ printf("\r\n wait for sensor booted status = %d %s \r\n",status, (status==0)?"Chip Booted":"Chip Not booted");
+ if(status != (uint8_t)VL53LMZ_STATUS_OK){
+ goto exit;
+ }
+
+ status |= WrByte(&(p_dev->platform), 0x000E, 0x01);
+
+ /* Enable FW access */
+ if ( p_dev->revision_id == (uint8_t)REVISION_L8 ) {
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x06, 0x01);
+ status |= _vl53lmz_poll_for_answer(p_dev, 1, 0, 0x21, 0xFF, 0x4);
+ }
+ else {
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+ status |= WrByte(&(p_dev->platform), 0x03, 0x0D);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+ status |= _vl53lmz_poll_for_answer(p_dev, 1, 0, 0x21, 0x10, 0x10);
+ }
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+
+ /* Enable host access to GO1 */
+ status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
+ status |= WrByte(&(p_dev->platform), 0x0C, 0x01);
+
+ /* Power ON status */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x101, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x102, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x010A, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x4002, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x4002, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x010A, 0x03);
+ status |= WrByte(&(p_dev->platform), 0x103, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x400F, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x21A, 0x43);
+ status |= WrByte(&(p_dev->platform), 0x21A, 0x03);
+ status |= WrByte(&(p_dev->platform), 0x21A, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x21A, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x219, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x21B, 0x00);
+
+ /* Wake up MCU */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x20, 0x07);
+ status |= WrByte(&(p_dev->platform), 0x20, 0x06);
+
+ /* Download FW into VL53LMZ */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x09);
+ status |= WrMulti(&(p_dev->platform),0,
+ (uint8_t*)&VL53LMZ_FIRMWARE[0],0x8000);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x0a);
+ status |= WrMulti(&(p_dev->platform),0,
+ (uint8_t*)&VL53LMZ_FIRMWARE[0x8000],0x8000);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x0b);
+ status |= WrMulti(&(p_dev->platform),0,
+ (uint8_t*)&VL53LMZ_FIRMWARE[0x10000],0x5000);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+
+ /* Check if FW correctly downloaded */
+ if ( p_dev->revision_id == (uint8_t)REVISION_L8 ) {
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+ status |= WrByte(&(p_dev->platform), 0x06, 0x03);
+ status |= WaitMs(&(p_dev->platform), 5);
+ printf("\r\n FW download check status =%d \r\n", status);
+ }
+ else {
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+ status |= WrByte(&(p_dev->platform), 0x03, 0x0D);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x01);
+ status |= _vl53lmz_poll_for_answer(p_dev, 1, 0, 0x21, 0x10, 0x10);
+ }
+
+ if(status != (uint8_t)VL53LMZ_STATUS_OK) {
+ goto exit;
+ }
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
+ status |= WrByte(&(p_dev->platform), 0x0C, 0x01);
+
+ /* Reset MCU and wait boot */
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x114, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x115, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x116, 0x42);
+ status |= WrByte(&(p_dev->platform), 0x117, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x0B, 0x00);
+ status |= RdByte(&(p_dev->platform), 0x7fff, &tmp);
+ status |= WrByte(&(p_dev->platform), 0x0C, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x0B, 0x01);
+
+ status |= _vl53lmz_poll_for_mcu_boot(p_dev);
+ printf("\r\n Poll for mcu boot status=%d \r\n", status);
+
+ if(status != (uint8_t)VL53LMZ_STATUS_OK){
+ goto exit;
+ }
+
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+
+ /* Get offset NVM data and store them into the offset buffer */
+ status |= WrMulti(&(p_dev->platform), 0x2fd8,
+ (uint8_t*)VL53LMZ_GET_NVM_CMD, sizeof(VL53LMZ_GET_NVM_CMD));
+ status |= _vl53lmz_poll_for_answer(p_dev, 4, 0,
+ VL53LMZ_UI_CMD_STATUS, 0xff, 2);
+ status |= RdMulti(&(p_dev->platform), VL53LMZ_UI_CMD_START,
+ p_dev->temp_buffer, VL53LMZ_NVM_DATA_SIZE);
+ (void)memcpy(p_dev->offset_data, p_dev->temp_buffer,
+ VL53LMZ_OFFSET_BUFFER_SIZE);
+ status |= _vl53lmz_send_offset_data(p_dev, VL53LMZ_RESOLUTION_4X4);
+
+ /* Set default Xtalk shape. Send Xtalk to sensor */
+ p_dev->default_xtalk = (uint8_t*)VL53LMZ_DEFAULT_XTALK;
+ (void)memcpy(p_dev->xtalk_data, (uint8_t*)VL53LMZ_DEFAULT_XTALK,
+ VL53LMZ_XTALK_BUFFER_SIZE);
+ status |= _vl53lmz_send_xtalk_data(p_dev, VL53LMZ_RESOLUTION_4X4);
+
+ /* Send default configuration to VL53L5CX firmware */
+ if ( p_dev->revision_id == (uint8_t)REVISION_L8 ) {
+ p_dev->default_configuration = (uint8_t*)VL53L8_DEFAULT_CONFIGURATION;
+ status |= WrMulti(&(p_dev->platform), 0x2c34,
+ p_dev->default_configuration,
+ sizeof(VL53L8_DEFAULT_CONFIGURATION));
+ }
+ else {
+ p_dev->default_configuration = (uint8_t*)VL53L7_DEFAULT_CONFIGURATION;
+ status |= WrMulti(&(p_dev->platform), 0x2c34,
+ p_dev->default_configuration,
+ sizeof(VL53L7_DEFAULT_CONFIGURATION));
+ }
+ printf("\r\n Send default config to L8 firmware status=%d", status);
+
+ status |= _vl53lmz_poll_for_answer(p_dev, 4, 1, VL53LMZ_UI_CMD_STATUS, 0xff, 0x03);
+
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)&pipe_ctrl,
+ VL53LMZ_DCI_PIPE_CONTROL, (uint16_t)sizeof(pipe_ctrl));
+#if VL53LMZ_NB_TARGET_PER_ZONE != 1
+ tmp = VL53LMZ_NB_TARGET_PER_ZONE;
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_FW_NB_TARGET, 16,
+ (uint8_t*)&tmp, 1, 0x0C);
+#endif
+
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)&single_range,
+ VL53LMZ_DCI_SINGLE_RANGE,
+ (uint16_t)sizeof(single_range));
+
+exit:
+ return status;
+}
+
+uint8_t vl53lmz_set_i2c_address(
+ VL53LMZ_Configuration *p_dev,
+ uint16_t i2c_address)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x4, (uint8_t)(i2c_address >> 1));
+ p_dev->platform.address = i2c_address;
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_power_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_power_mode)
+{
+ uint8_t tmp, status = VL53LMZ_STATUS_OK;
+
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
+ status |= RdByte(&(p_dev->platform), 0x009, &tmp);
+
+ switch(tmp)
+ {
+ case 0x4:
+ *p_power_mode = VL53LMZ_POWER_MODE_WAKEUP;
+ break;
+ case 0x2:
+ status |= RdByte(&(p_dev->platform), 0x000F, &tmp);
+ if(tmp == 0x43)
+ {
+ *p_power_mode = VL53LMZ_POWER_MODE_DEEP_SLEEP;
+ }
+ else
+ {
+ *p_power_mode = VL53LMZ_POWER_MODE_SLEEP;
+ }
+
+ break;
+ default:
+ *p_power_mode = 0;
+ status = VL53LMZ_STATUS_ERROR;
+ break;
+ }
+
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02);
+
+ return status;
+}
+
+uint8_t vl53lmz_set_power_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t power_mode)
+{
+ uint8_t current_power_mode, stored_mode, status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_get_power_mode(p_dev, ¤t_power_mode);
+ if(power_mode != current_power_mode)
+ {
+ switch(power_mode)
+ {
+ case VL53LMZ_POWER_MODE_WAKEUP:
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x09, 0x04);
+ status |= RdByte(&(p_dev->platform), 0x000F, &stored_mode);
+ if(stored_mode == 0x43) /* Only for deep sleep mode */
+ {
+ status |= WrByte(&(p_dev->platform), 0x000F, 0x40);
+ }
+ status |= _vl53lmz_poll_for_answer(
+ p_dev, 1, 0, 0x06, 0x01, 1);
+ if(stored_mode == 0x43) /* Only for deep sleep mode */
+ {
+ status |= vl53lmz_init(p_dev);
+ }
+ break;
+
+ case VL53LMZ_POWER_MODE_SLEEP:
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x09, 0x02);
+ status |= _vl53lmz_poll_for_answer(
+ p_dev, 1, 0, 0x06, 0x01, 0);
+ break;
+
+ case VL53LMZ_POWER_MODE_DEEP_SLEEP:
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x09, 0x02);
+ status |= _vl53lmz_poll_for_answer(
+ p_dev, 1, 0, 0x06, 0x01, 0);
+ status |= WrByte(&(p_dev->platform), 0x000F, 0x43);
+ break;
+ default:
+ status = VL53LMZ_STATUS_ERROR;
+ break;
+ }
+ status |= WrByte(&(p_dev->platform), 0x7FFF, 0x02);
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_start_ranging(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_create_output_config( p_dev );
+ status |= vl53lmz_send_output_config_and_start( p_dev );
+
+ return status;
+}
+
+uint8_t vl53lmz_stop_ranging(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t tmp = 0, status = VL53LMZ_STATUS_OK;
+ uint16_t timeout = 0;
+ uint32_t auto_stop_flag = 0;
+
+ status |= RdMulti(&(p_dev->platform),
+ 0x2FFC, (uint8_t*)&auto_stop_flag, 4);
+
+ if((auto_stop_flag != (uint32_t)0x4FF)
+ && (p_dev->is_auto_stop_enabled == (uint8_t)0))
+ {
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+
+ /* Provoke MCU stop */
+ status |= WrByte(&(p_dev->platform), 0x15, 0x16);
+ status |= WrByte(&(p_dev->platform), 0x14, 0x01);
+
+ /* Poll for G02 status 0 MCU stop */
+ while(((tmp & (uint8_t)0x80) >> 7) == (uint8_t)0x00)
+ {
+ status |= RdByte(&(p_dev->platform), 0x6, &tmp);
+ status |= WaitMs(&(p_dev->platform), 10);
+ timeout++; /* Timeout reached after 5 seconds */
+
+ if(timeout > (uint16_t)500)
+ {
+ status |= tmp;
+ break;
+ }
+ }
+ }
+
+ /* Check GO2 status 1 if status is still OK */
+ status |= RdByte(&(p_dev->platform), 0x6, &tmp);
+ if((tmp & (uint8_t)0x80) != (uint8_t)0){
+ status |= RdByte(&(p_dev->platform), 0x7, &tmp);
+ if((tmp != (uint8_t)0x84) && (tmp != (uint8_t)0x85)){
+ status |= tmp;
+ }
+ }
+
+ /* Undo MCU stop */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x14, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x15, 0x00);
+
+ /* Stop xshut bypass */
+ status |= WrByte(&(p_dev->platform), 0x09, 0x04);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+
+ return status;
+}
+
+uint8_t vl53lmz_check_data_ready(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_isReady)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ *p_isReady = 0;
+
+ status |= RdMulti(&(p_dev->platform), 0x0, p_dev->temp_buffer, 4);
+
+ if((p_dev->temp_buffer[0] != p_dev->streamcount)
+ && (p_dev->temp_buffer[0] != (uint8_t)255)
+ && (p_dev->temp_buffer[1] == (uint8_t)0x5)
+ && ((p_dev->temp_buffer[2] & (uint8_t)0x5) == (uint8_t)0x5)
+ && ((p_dev->temp_buffer[3] & (uint8_t)0x10) ==(uint8_t)0x10)
+ )
+ {
+ *p_isReady = (uint8_t)1;
+ p_dev->streamcount = p_dev->temp_buffer[0];
+ }
+ else
+ {
+ if ((p_dev->temp_buffer[3] & (uint8_t)0x80) != (uint8_t)0)
+ {
+ status |= p_dev->temp_buffer[2]; /* Return GO2 error status */
+ }
+ *p_isReady = 0;
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_get_ranging_data(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_ResultsData *p_results)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ union Block_header *bh_ptr;
+ uint16_t header_id, footer_id;
+ uint32_t i, msize;
+ status |= RdMulti(&(p_dev->platform), 0x0,
+ p_dev->temp_buffer, p_dev->data_read_size);
+ p_dev->streamcount = p_dev->temp_buffer[0];
+ SwapBuffer(p_dev->temp_buffer, (uint16_t)p_dev->data_read_size);
+
+ /* Start conversion at position 16 to avoid headers */
+ for (i = (uint32_t)16; i < (uint32_t)p_dev->data_read_size; i+=(uint32_t)4)
+ {
+ bh_ptr = (union Block_header *)&(p_dev->temp_buffer[i]);
+ if ((bh_ptr->type > (uint32_t)0x1)
+ && (bh_ptr->type < (uint32_t)0xd))
+ {
+ msize = bh_ptr->type * bh_ptr->size;
+ }
+ else
+ {
+ msize = bh_ptr->size;
+ }
+
+ switch(bh_ptr->idx){
+ case VL53LMZ_METADATA_IDX:
+ p_results->silicon_temp_degc =
+ (int8_t)p_dev->temp_buffer[i + (uint32_t)12];
+ break;
+
+#ifndef VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+ case VL53LMZ_AMBIENT_RATE_IDX:
+ (void)memcpy(p_results->ambient_per_spad,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_NB_SPADS_ENABLED
+ case VL53LMZ_SPAD_COUNT_IDX:
+ (void)memcpy(p_results->nb_spads_enabled,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_NB_TARGET_DETECTED
+ case VL53LMZ_NB_TARGET_DETECTED_IDX:
+ (void)memcpy(p_results->nb_target_detected,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+ case VL53LMZ_SIGNAL_RATE_IDX:
+ (void)memcpy(p_results->signal_per_spad,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_RANGE_SIGMA_MM
+ case VL53LMZ_RANGE_SIGMA_MM_IDX:
+ (void)memcpy(p_results->range_sigma_mm,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_DISTANCE_MM
+ case VL53LMZ_DISTANCE_IDX:
+ (void)memcpy(p_results->distance_mm,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+ case VL53LMZ_REFLECTANCE_EST_PC_IDX:
+ (void)memcpy(p_results->reflectance,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_TARGET_STATUS
+ case VL53LMZ_TARGET_STATUS_IDX:
+ (void)memcpy(p_results->target_status,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+#ifndef VL53LMZ_DISABLE_MOTION_INDICATOR
+ case VL53LMZ_MOTION_DETEC_IDX:
+ (void)memcpy(&p_results->motion_indicator,
+ &(p_dev->temp_buffer[i + (uint32_t)4]), msize);
+ break;
+#endif
+ default:
+ break;
+ }
+ i += msize;
+ }
+
+#ifndef VL53LMZ_USE_RAW_FORMAT
+
+ /* Convert data into their real format */
+#ifndef VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+ for(i = 0; i < (uint32_t)VL53LMZ_RESOLUTION_8X8; i++)
+ {
+ p_results->ambient_per_spad[i] /= (uint32_t)2048;
+ }
+#endif
+
+ for(i = 0; i < (uint32_t)(VL53LMZ_RESOLUTION_8X8
+ *VL53LMZ_NB_TARGET_PER_ZONE); i++)
+ {
+#ifndef VL53LMZ_DISABLE_DISTANCE_MM
+ p_results->distance_mm[i] /= 4;
+ if(p_results->distance_mm[i] < 0)
+ {
+ p_results->distance_mm[i] = 0;
+ }
+#endif
+#ifndef VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+ p_results->reflectance[i] /= (uint8_t)2;
+#endif
+#ifndef VL53LMZ_DISABLE_RANGE_SIGMA_MM
+ p_results->range_sigma_mm[i] /= (uint16_t)128;
+#endif
+#ifndef VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+ p_results->signal_per_spad[i] /= (uint32_t)2048;
+#endif
+ }
+
+ /* Set target status to 255 if no target is detected for this zone */
+#ifndef VL53LMZ_DISABLE_NB_TARGET_DETECTED
+ uint32_t j;
+ for(i = 0; i < (uint32_t)VL53LMZ_RESOLUTION_8X8; i++)
+ {
+ if(p_results->nb_target_detected[i] == (uint8_t)0){
+ for(j = 0; j < (uint32_t)
+ VL53LMZ_NB_TARGET_PER_ZONE; j++)
+ {
+#ifndef VL53LMZ_DISABLE_TARGET_STATUS
+ p_results->target_status
+ [((uint32_t)VL53LMZ_NB_TARGET_PER_ZONE*(uint32_t)i) + j]=(uint8_t)255;
+#endif
+ }
+ }
+ }
+#endif
+
+#ifndef VL53LMZ_DISABLE_MOTION_INDICATOR
+ for(i = 0; i < (uint32_t)32; i++)
+ {
+ p_results->motion_indicator.motion[i] /= (uint32_t)65535;
+ }
+#endif
+
+#endif
+
+ /* Check if footer id and header id are matching. This allows to detect
+ * corrupted frames */
+ header_id = ((uint16_t)(p_dev->temp_buffer[0x8])<<8) & 0xFF00U;
+ header_id |= ((uint16_t)(p_dev->temp_buffer[0x9])) & 0x00FFU;
+
+ footer_id = ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size
+ - (uint32_t)4]) << 8) & 0xFF00U;
+ footer_id |= ((uint16_t)(p_dev->temp_buffer[p_dev->data_read_size
+ - (uint32_t)3])) & 0xFFU;
+
+ if(header_id != footer_id)
+ {
+ status |= VL53LMZ_STATUS_CORRUPTED_FRAME;
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_get_resolution(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_resolution)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_ZONE_CONFIG, 8);
+ *p_resolution = p_dev->temp_buffer[0x00]*p_dev->temp_buffer[0x01];
+
+ return status;
+}
+
+
+
+uint8_t vl53lmz_set_resolution(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t resolution)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ switch(resolution){
+ case VL53LMZ_RESOLUTION_4X4:
+ status |= vl53lmz_dci_read_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_DSS_CONFIG, 16);
+ p_dev->temp_buffer[0x04] = 64;
+ p_dev->temp_buffer[0x06] = 64;
+ p_dev->temp_buffer[0x09] = 4;
+ status |= vl53lmz_dci_write_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_DSS_CONFIG, 16);
+
+ status |= vl53lmz_dci_read_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_ZONE_CONFIG, 8);
+ p_dev->temp_buffer[0x00] = 4;
+ p_dev->temp_buffer[0x01] = 4;
+ p_dev->temp_buffer[0x04] = 8;
+ p_dev->temp_buffer[0x05] = 8;
+ status |= vl53lmz_dci_write_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_ZONE_CONFIG, 8);
+ break;
+
+ case VL53LMZ_RESOLUTION_8X8:
+ status |= vl53lmz_dci_read_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_DSS_CONFIG, 16);
+ p_dev->temp_buffer[0x04] = 16;
+ p_dev->temp_buffer[0x06] = 16;
+ p_dev->temp_buffer[0x09] = 1;
+ status |= vl53lmz_dci_write_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_DSS_CONFIG, 16);
+
+ status |= vl53lmz_dci_read_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_ZONE_CONFIG, 8);
+ p_dev->temp_buffer[0x00] = 8;
+ p_dev->temp_buffer[0x01] = 8;
+ p_dev->temp_buffer[0x04] = 4;
+ p_dev->temp_buffer[0x05] = 4;
+ status |= vl53lmz_dci_write_data(p_dev,
+ p_dev->temp_buffer,
+ VL53LMZ_DCI_ZONE_CONFIG, 8);
+
+ break;
+
+ default:
+ status = VL53LMZ_STATUS_INVALID_PARAM;
+ break;
+ }
+
+ status |= _vl53lmz_send_offset_data(p_dev, resolution);
+ status |= _vl53lmz_send_xtalk_data(p_dev, resolution);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_ranging_frequency_hz(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_frequency_hz)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_FREQ_HZ, 4);
+ *p_frequency_hz = p_dev->temp_buffer[0x01];
+
+ return status;
+}
+
+uint8_t vl53lmz_set_ranging_frequency_hz(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t frequency_hz)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_FREQ_HZ, 4,
+ (uint8_t*)&frequency_hz, 1, 0x01);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_integration_time_ms(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t *p_time_ms)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_INT_TIME, 20);
+
+ (void)memcpy(p_time_ms, &(p_dev->temp_buffer[0x0]), 4);
+ *p_time_ms /= (uint32_t)1000;
+
+ return status;
+}
+
+uint8_t vl53lmz_set_integration_time_ms(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t integration_time_ms)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t integration = integration_time_ms;
+
+ /* Integration time must be between 2ms and 1000ms */
+ if((integration < (uint32_t)2)
+ || (integration > (uint32_t)1000))
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }else
+ {
+ integration *= (uint32_t)1000;
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_INT_TIME, 20,
+ (uint8_t*)&integration, 4, 0x00);
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_get_sharpener_percent(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_sharpener_percent)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev,p_dev->temp_buffer,
+ VL53LMZ_DCI_SHARPENER, 16);
+
+ *p_sharpener_percent = (p_dev->temp_buffer[0xD]
+ *(uint8_t)100)/(uint8_t)255;
+
+ return status;
+}
+
+uint8_t vl53lmz_set_sharpener_percent(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t sharpener_percent)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t sharpener;
+
+ if(sharpener_percent >= (uint8_t)100)
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else
+ {
+ sharpener = (sharpener_percent*(uint8_t)255)/(uint8_t)100;
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_SHARPENER, 16,
+ (uint8_t*)&sharpener, 1, 0xD);
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_get_target_order(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_target_order)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_TARGET_ORDER, 4);
+ *p_target_order = (uint8_t)p_dev->temp_buffer[0x0];
+
+ return status;
+}
+
+uint8_t vl53lmz_set_target_order(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t target_order)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ if((target_order == (uint8_t)VL53LMZ_TARGET_ORDER_CLOSEST)
+ || (target_order == (uint8_t)VL53LMZ_TARGET_ORDER_STRONGEST))
+ {
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_TARGET_ORDER, 4,
+ (uint8_t*)&target_order, 1, 0x0);
+ }else
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_get_ranging_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_ranging_mode)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_RANGING_MODE, 8);
+
+ if(p_dev->temp_buffer[0x01] == (uint8_t)0x1)
+ {
+ *p_ranging_mode = VL53LMZ_RANGING_MODE_CONTINUOUS;
+ }
+ else
+ {
+ *p_ranging_mode = VL53LMZ_RANGING_MODE_AUTONOMOUS;
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_set_ranging_mode(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t ranging_mode)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t single_range = 0x00;
+
+ status |= vl53lmz_dci_read_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_RANGING_MODE, 8);
+
+ switch(ranging_mode)
+ {
+ case VL53LMZ_RANGING_MODE_CONTINUOUS:
+ p_dev->temp_buffer[0x01] = 0x1;
+ p_dev->temp_buffer[0x03] = 0x3;
+ single_range = 0x00;
+ break;
+
+ case VL53LMZ_RANGING_MODE_AUTONOMOUS:
+ p_dev->temp_buffer[0x01] = 0x3;
+ p_dev->temp_buffer[0x03] = 0x2;
+ single_range = 0x01;
+ break;
+
+ default:
+ status = VL53LMZ_STATUS_INVALID_PARAM;
+ break;
+ }
+
+ status |= vl53lmz_dci_write_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_RANGING_MODE, (uint16_t)8);
+
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)&single_range,
+ VL53LMZ_DCI_SINGLE_RANGE,
+ (uint16_t)sizeof(single_range));
+
+ return status;
+}
+
+uint8_t vl53lmz_enable_internal_cp(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t vcsel_bootup_fsm = 1;
+ uint8_t analog_dynamic_pad_0 = 0;
+
+ if ( p_dev->revision_id==(uint8_t)REVISION_L8 ){
+ /* L8 has no Charge Pump, so not possible to enable it ! */
+ status |= VL53LMZ_STATUS_FUNC_NOT_AVAILABLE;
+ goto exit;
+ }
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_INTERNAL_CP, 16,
+ (uint8_t*)&vcsel_bootup_fsm, 1, 0x0A);
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_INTERNAL_CP, 16,
+ (uint8_t*)&analog_dynamic_pad_0, 1, 0x0E);
+
+exit:
+ return status;
+}
+
+uint8_t vl53lmz_disable_internal_cp(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t vcsel_bootup_fsm = 0;
+ uint8_t analog_dynamic_pad_0 = 1;
+
+ if ( p_dev->revision_id==(uint8_t)REVISION_L8 ){
+ /* L8 has no Charge Pump, so nothing to do here to disable it ! */
+ /* allow function to exit without an error */
+ goto exit;
+ }
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_INTERNAL_CP, 16,
+ (uint8_t*)&vcsel_bootup_fsm, 1, 0x0A);
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_INTERNAL_CP, 16,
+ (uint8_t*)&analog_dynamic_pad_0, 1, 0x0E);
+
+exit:
+ return status;
+}
+
+
+uint8_t vl53lmz_get_external_sync_pin_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_is_sync_pin_enabled)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ if ( p_dev->revision_id!=(uint8_t)REVISION_L8 ){
+ status |= VL53LMZ_STATUS_FUNC_NOT_AVAILABLE;
+ goto exit;
+ }
+
+ status |= vl53lmz_dci_read_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_SYNC_PIN, 4);
+
+ /* Check bit 1 value (get sync pause bit) */
+ if((p_dev->temp_buffer[3] & (uint8_t)0x2) != (uint8_t)0)
+ {
+ *p_is_sync_pin_enabled = (uint8_t)1;
+ }
+ else
+ {
+ *p_is_sync_pin_enabled = (uint8_t)0;
+ }
+
+exit:
+ return status;
+}
+
+uint8_t vl53lmz_set_external_sync_pin_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t enable_sync_pin)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t tmp;
+
+ if ( p_dev->revision_id!=(uint8_t)REVISION_L8 ){
+ status |= VL53LMZ_STATUS_FUNC_NOT_AVAILABLE;
+ goto exit;
+ }
+
+ status |= vl53lmz_dci_read_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_SYNC_PIN, 4);
+ tmp = (uint32_t)p_dev->temp_buffer[3];
+
+ /* Update bit 1 with mask (set sync pause bit) */
+ if(enable_sync_pin == (uint8_t)0)
+ {
+ tmp &= ~(1UL << 1);
+
+ }
+ else
+ {
+ tmp |= 1UL << 1;
+ }
+
+ p_dev->temp_buffer[3] = (uint8_t)tmp;
+ status |= vl53lmz_dci_write_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_SYNC_PIN, 4);
+
+exit:
+ return status;
+}
+
+uint8_t vl53lmz_get_glare_filter_cfg(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_threshold_pc_x10,
+ int16_t *p_max_range )
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_GLARE_FILTER_CFG, 40);
+
+ *p_threshold_pc_x10 = (uint8_t)((*((uint16_t *)&(p_dev->temp_buffer[30])) * 10U) / 256U);
+ *p_max_range = *((int16_t *)&(p_dev->temp_buffer[2]));
+
+ return status;
+}
+
+uint8_t vl53lmz_set_glare_filter_cfg(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t threshold_pc_x10,
+ int16_t max_range )
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ int16_t *p_int16;
+ uint16_t *p_uint16;
+ uint16_t scaled_threshold;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_GLARE_FILTER_CFG, 40);
+
+ /* updated the entries in reflectance threshold LUT */
+ scaled_threshold = ((uint16_t)threshold_pc_x10 * 256U) / 10U;
+ p_uint16 = (uint16_t *)&(p_dev->temp_buffer[30]);
+ *p_uint16 = scaled_threshold;
+ p_uint16++;
+ *p_uint16 = scaled_threshold;
+ p_uint16++;
+ *p_uint16 = scaled_threshold;
+ p_uint16++;
+
+ /* update the max_filter_range field */
+ p_int16 = (int16_t *)&(p_dev->temp_buffer[2]);
+ *p_int16 = max_range;
+
+ if (threshold_pc_x10 == 0U) {
+ /* threshold of zero means request to disabled GF entirely */
+ p_dev->temp_buffer[37] = 1; /* disable Glare Detection */
+ p_dev->temp_buffer[38] = 1; /* disable Glare Filtering */
+ }
+ else {
+ p_dev->temp_buffer[37] = 0; /* enable Glare Detection */
+ p_dev->temp_buffer[38] = 0; /* enable Glare Filtering */
+ }
+
+ status |= vl53lmz_dci_write_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_GLARE_FILTER_CFG, 40);
+
+ return status;
+}
+
+
+uint8_t vl53lmz_dci_read_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size)
+{
+ int16_t i;
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t rd_size = (uint32_t) data_size + (uint32_t)12;
+ uint8_t cmd[] = {0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x0f,
+ 0x00, 0x02, 0x00, 0x08};
+
+ /* Check if tmp buffer is large enough */
+ if((data_size + (uint16_t)12)>(uint16_t)VL53LMZ_TEMPORARY_BUFFER_SIZE)
+ {
+ status |= VL53LMZ_STATUS_ERROR;
+ }
+ else
+ {
+ cmd[0] = (uint8_t)(index >> 8);
+ cmd[1] = (uint8_t)(index & (uint32_t)0xff);
+ cmd[2] = (uint8_t)((data_size & (uint16_t)0xff0) >> 4);
+ cmd[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4);
+
+ /* Request data reading from FW */
+ status |= WrMulti(&(p_dev->platform),
+ (VL53LMZ_UI_CMD_END-(uint16_t)11),cmd, sizeof(cmd));
+ status |= _vl53lmz_poll_for_answer(p_dev, 4, 1,
+ VL53LMZ_UI_CMD_STATUS,
+ 0xff, 0x03);
+
+ /* Read new data sent (4 bytes header + data_size + 8 bytes footer) */
+ status |= RdMulti(&(p_dev->platform), VL53LMZ_UI_CMD_START,
+ p_dev->temp_buffer, rd_size);
+ SwapBuffer(p_dev->temp_buffer, data_size + (uint16_t)12);
+
+ /* Copy data from FW into input structure (-4 bytes to remove header) */
+ for(i = 0 ; i < (int16_t)data_size;i++){
+ data[i] = p_dev->temp_buffer[i + 4];
+ }
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_dci_write_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ int16_t i;
+
+ uint8_t headers[] = {0x00, 0x00, 0x00, 0x00};
+ uint8_t footer[] = {0x00, 0x00, 0x00, 0x0f, 0x05, 0x01,
+ (uint8_t)((data_size + (uint16_t)8) >> 8),
+ (uint8_t)((data_size + (uint16_t)8) & (uint8_t)0xFF)};
+
+ uint16_t address = (uint16_t)VL53LMZ_UI_CMD_END -
+ (data_size + (uint16_t)12) + (uint16_t)1;
+
+ /* Check if cmd buffer is large enough */
+ if((data_size + (uint16_t)12)
+ > (uint16_t)VL53LMZ_TEMPORARY_BUFFER_SIZE)
+ {
+ status |= VL53LMZ_STATUS_ERROR;
+ }
+ else
+ {
+ headers[0] = (uint8_t)(index >> 8);
+ headers[1] = (uint8_t)(index & (uint32_t)0xff);
+ headers[2] = (uint8_t)(((data_size & (uint16_t)0xff0) >> 4));
+ headers[3] = (uint8_t)((data_size & (uint16_t)0xf) << 4);
+
+ /* Copy data from structure to FW format (+4 bytes to add header) */
+ SwapBuffer(data, data_size);
+ for(i = (int16_t)data_size - (int16_t)1 ; i >= 0; i--)
+ {
+ p_dev->temp_buffer[i + 4] = data[i];
+ }
+
+ /* Add headers and footer */
+ (void)memcpy(&p_dev->temp_buffer[0], headers, sizeof(headers));
+ (void)memcpy(&p_dev->temp_buffer[data_size + (uint16_t)4],
+ footer, sizeof(footer));
+
+ /* Send data to FW */
+ status |= WrMulti(&(p_dev->platform),address,
+ p_dev->temp_buffer,
+ (uint32_t)((uint32_t)data_size + (uint32_t)12));
+ status |= _vl53lmz_poll_for_answer(p_dev, 4, 1,
+ VL53LMZ_UI_CMD_STATUS, 0xff, 0x03);
+
+ SwapBuffer(data, data_size);
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_dci_replace_data(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *data,
+ uint32_t index,
+ uint16_t data_size,
+ uint8_t *new_data,
+ uint16_t new_data_size,
+ uint16_t new_data_pos)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, data, index, data_size);
+ (void)memcpy(&(data[new_data_pos]), new_data, new_data_size);
+ status |= vl53lmz_dci_write_data(p_dev, data, index, data_size);
+
+ return status;
+}
+uint8_t vl53lmz_create_output_config(
+ VL53LMZ_Configuration *p_dev ) {
+
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ /* Send addresses of possible output */
+ uint32_t default_output_config[] ={
+ VL53LMZ_START_BH,
+ VL53LMZ_METADATA_BH,
+ VL53LMZ_COMMONDATA_BH,
+ VL53LMZ_AMBIENT_RATE_BH,
+ VL53LMZ_SPAD_COUNT_BH,
+ VL53LMZ_NB_TARGET_DETECTED_BH,
+ VL53LMZ_SIGNAL_RATE_BH,
+ VL53LMZ_RANGE_SIGMA_MM_BH,
+ VL53LMZ_DISTANCE_BH,
+ VL53LMZ_REFLECTANCE_BH,
+ VL53LMZ_TARGET_STATUS_BH,
+ VL53LMZ_MOTION_DETECT_BH };
+
+ (void)memset(g_output_config, 0x00, sizeof(g_output_config));
+ (void)memcpy(g_output_config, default_output_config, sizeof(default_output_config));
+
+ /* Enable mandatory output (meta and common data) */
+ g_output_bh_enable[0] = 0x00000007U;
+ g_output_bh_enable[1] = 0x00000000U;
+ g_output_bh_enable[2] = 0x00000000U;
+ g_output_bh_enable[3] = 0x00000000U;
+
+ /* Enable selected outputs in the 'platform.h' file */
+#ifndef VL53LMZ_DISABLE_AMBIENT_PER_SPAD
+ g_output_bh_enable[0] += (uint32_t)8;
+#endif
+#ifndef VL53LMZ_DISABLE_NB_SPADS_ENABLED
+ g_output_bh_enable[0] += (uint32_t)16;
+#endif
+#ifndef VL53LMZ_DISABLE_NB_TARGET_DETECTED
+ g_output_bh_enable[0] += (uint32_t)32;
+#endif
+#ifndef VL53LMZ_DISABLE_SIGNAL_PER_SPAD
+ g_output_bh_enable[0] += (uint32_t)64;
+#endif
+#ifndef VL53LMZ_DISABLE_RANGE_SIGMA_MM
+ g_output_bh_enable[0] += (uint32_t)128;
+#endif
+#ifndef VL53LMZ_DISABLE_DISTANCE_MM
+ g_output_bh_enable[0] += (uint32_t)256;
+#endif
+#ifndef VL53LMZ_DISABLE_REFLECTANCE_PERCENT
+ g_output_bh_enable[0] += (uint32_t)512;
+#endif
+#ifndef VL53LMZ_DISABLE_TARGET_STATUS
+ g_output_bh_enable[0] += (uint32_t)1024;
+#endif
+#ifndef VL53LMZ_DISABLE_MOTION_INDICATOR
+ g_output_bh_enable[0] += (uint32_t)2048;
+#endif
+
+ return status;
+}
+
+
+uint8_t vl53lmz_send_output_config_and_start(
+ VL53LMZ_Configuration *p_dev ) {
+
+ uint8_t resolution, status = VL53LMZ_STATUS_OK;
+ uint16_t tmp;
+ uint32_t i;
+ uint32_t header_config[2] = {0, 0};
+
+ union Block_header *bh_ptr;
+ uint8_t cmd[] = {0x00, 0x03, 0x00, 0x00};
+
+ status |= vl53lmz_get_resolution(p_dev, &resolution);
+ p_dev->data_read_size = 0;
+ p_dev->streamcount = 255;
+
+ /* Update data size */
+ for (i = 0; i < (uint32_t)(sizeof(g_output_config)/sizeof(uint32_t)); i++)
+ {
+ if ((g_output_config[i] == (uint8_t)0)
+ || ((g_output_bh_enable[i/(uint32_t)32]
+ &((uint32_t)1 << (i%(uint32_t)32))) == (uint32_t)0))
+ {
+ continue;
+ }
+
+ bh_ptr = (union Block_header *)&(g_output_config[i]);
+ if ( ((uint8_t)bh_ptr->type >= (uint8_t)0x1)
+ && ((uint8_t)bh_ptr->type < (uint8_t)0x0d))
+ {
+ if ( ((uint16_t)bh_ptr->idx >= (uint16_t)0x54d0)
+ && ((uint16_t)bh_ptr->idx < (uint16_t)(0x5890)) )
+ {
+ /* it is zone data (does not depend on NB_TARGET_PER_ZONE) */
+ bh_ptr->size = resolution;
+ }
+ else if ((uint16_t)bh_ptr->idx < (uint16_t)(0x6C90))
+ {
+ /* it is a per-target data block (depends on NB_TARGET_PER_ZONE) */
+ bh_ptr->size = (uint32_t)resolution
+ * (uint32_t)VL53LMZ_NB_TARGET_PER_ZONE;
+ }
+ p_dev->data_read_size += bh_ptr->type * bh_ptr->size;
+ }
+ else
+ {
+ p_dev->data_read_size += bh_ptr->size;
+ }
+ p_dev->data_read_size += (uint32_t)4;
+ }
+ p_dev->data_read_size += (uint32_t)24;
+
+
+ if (p_dev->data_read_size > VL53LMZ_MAX_RESULTS_SIZE) {
+ status |= VL53LMZ_STATUS_ERROR;
+ goto exit;
+ }
+
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)&(g_output_config), VL53LMZ_DCI_OUTPUT_LIST,
+ (uint16_t)sizeof(g_output_config));
+
+ header_config[0] = p_dev->data_read_size;
+ header_config[1] = i + (uint32_t)1;
+
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)&(header_config), VL53LMZ_DCI_OUTPUT_CONFIG,
+ (uint16_t)sizeof(header_config));
+
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)&(g_output_bh_enable), VL53LMZ_DCI_OUTPUT_ENABLES,
+ (uint16_t)sizeof(g_output_bh_enable));
+
+ /* Start xshut bypass (interrupt mode) */
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x00);
+ status |= WrByte(&(p_dev->platform), 0x09, 0x05);
+ status |= WrByte(&(p_dev->platform), 0x7fff, 0x02);
+
+ /* Start ranging session */
+ status |= WrMulti(&(p_dev->platform), VL53LMZ_UI_CMD_END -
+ (uint16_t)(4 - 1), (uint8_t*)cmd, sizeof(cmd));
+ status |= _vl53lmz_poll_for_answer(p_dev, 4, 1,
+ VL53LMZ_UI_CMD_STATUS, 0xff, 0x03);
+
+ /* Read ui range data content and compare if data size is the correct one */
+ status |= vl53lmz_dci_read_data(p_dev,
+ (uint8_t*)p_dev->temp_buffer, 0x5440, 12);
+ (void)memcpy(&tmp, &(p_dev->temp_buffer[0x8]), sizeof(tmp));
+ if(tmp != p_dev->data_read_size) {
+ status |= VL53LMZ_STATUS_ERROR;
+ }
+
+exit:
+
+ return status;
+}
+
+uint8_t vl53lmz_add_output_block(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t block_header ) {
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t i;
+
+ for(i=0;i<(uint8_t)NUM_OUTPUT_CONFIG_WORDS;i++) {
+ if ( (g_output_config[i] == VL53L5_NULL_BH) /* reached current end of list */
+ || (g_output_config[i] == block_header) ){ /* OR, block already exists in list */
+ break;
+ }
+ }
+
+ if ( i == NUM_OUTPUT_CONFIG_WORDS ) {
+ /* no space found in output config list */
+ status = VL53LMZ_STATUS_ERROR;
+ }
+ else {
+ g_output_config[i] = block_header;
+ g_output_bh_enable[0] |= ((uint32_t)1U)<data_read_size; )
+ {
+ bh_ptr = (union Block_header *)&(p_dev->temp_buffer[i]);
+
+ if (((uint32_t)bh_ptr->type > (uint32_t)0x1)
+ && ((uint32_t)bh_ptr->type < (uint32_t)0xd)){
+ msize = bh_ptr->size * bh_ptr->type;
+ }
+ else {
+ msize = bh_ptr->size;
+ }
+
+ i += (uint32_t)4; /* skip over the block header */
+
+ if ( bh_ptr->idx == blk_index ) {
+ if (msize < data_size) {
+ /* not enough data in block to fill requested buffer */
+ status = VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else {
+ (void)memcpy(p_data, (uint8_t *)&(p_dev->temp_buffer[i]), data_size);
+ status = VL53LMZ_STATUS_OK;
+ }
+ break;
+ }
+ i = i + msize; /* add size of data block */
+ }
+
+ return status;
+}
+
diff --git a/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_cnh.c b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_cnh.c
new file mode 100644
index 0000000..6602843
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_cnh.c
@@ -0,0 +1,443 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include
+
+#include "vl53lmz_plugin_cnh.h"
+#include "vl53lmz_plugin_motion_indicator.h"
+
+/**
+ * @brief Size buffer header areas within persistent data area.
+ */
+#define CNH_PER_HEADER_BYTES ((uint32_t)(5*4))
+#define CNH_PER_BUFFER_HEADER_BYTES ((uint32_t)(2*4))
+
+
+/**
+ * @brief Indexes for information stored in the persistent data header area.
+ */
+#define CNH_PER_HEADER_STATE_IDX ((uint8_t) 0U) /* State */
+#define CNH_PER_HEADER_BUFFER_INFO_IDX ((uint8_t) 1U) /* FLAGS<<24 | NUM_BUFFERS<<16 | BUFFER_WORDS */
+#define CNH_PER_HEADER_NOISE_SEED_IDX ((uint8_t) 2U) /* Noise seed */
+#define CNH_PER_HEADER_FLAGS_IDX ((uint8_t) 3U) /* Flags used to communicate between SFE and SCI modules */
+#define CNH_PER_HEADER_AGG_INFO_IDX ((uint8_t) 4U) /* NumberFeatures[31:16], NumberAggregates[15:0] */
+
+/**
+ * @brief Possible values of the STATE field.
+ */
+#define MI_STATE__PING ((uint8_t) 0U) /** Current feature extract is into ping. */
+#define MI_STATE__PONG ((uint8_t) 1U) /** Current feature extract is into pong. */
+
+
+/**
+ * @brief Fields within the CNH_PER_HEADER_BUFFER_INFO_IDX dword.
+ */
+#define CNH_PER_HEADER_BUFFER_INFO_WORDS_MASK 0xFFFFU
+#define CNH_PER_HEADER_BUFFER_INFO_NUM_BUFFERS_MASK 0x00FF0000U
+#define CNH_PER_HEADER_BUFFER_INFO_NUM_BUFFERS_SHIFT 16U
+
+#define CNH_PER_HEADER_BUFFER_INFO_FLAGS_MASK 0xFF000000U
+#define CNH_PER_HEADER_BUFFER_INFO_FLAGS_SHIFT 24U
+
+/**
+ * @brief Flags bit within the INFO_FLAGS field.
+ */
+#define CNH_PER_HEADER_BUFFER_INFO_NO_VARIANCE_DATA_FLAG ((uint8_t)0x01U)
+
+
+/**
+ * @brief Indexes for information stored in the Ping-Pong buffer header areas.
+ */
+#define CNH_PER_BUFFER_STATE_IDX ((uint8_t)0x00U) /* State */
+#define CNH_PER_BUFFER_NUM_ACCUMULATED_IDX ((uint8_t)0x01U) /* Number of accumulations performed */
+
+/**
+ * @brief Possible values for the pingpong parameter of cnh_get_mem_block_addresses()
+ */
+#define MI_REQUIRED__PREVIOUS ((uint8_t) 0U)
+#define MI_REQUIRED__CURRENT ((uint8_t) 1U)
+
+
+/**
+ * @brief Function to calculate memory block addresses.
+ * @return (uint8_t) status : 0 if programming is OK
+ */
+static void _cnh_get_mem_block_addresses(
+ int32_t nb_of_agg,
+ int32_t feat_length ,
+ int32_t pingpong,
+ int32_t agg_id,
+ cnh_data_buffer_t p_mi_persistent_array,
+ int32_t **p_status,
+ int32_t **p_nb_of_acc,
+ int32_t **p_feat,
+ int8_t **p_feat_scaler,
+ int32_t **p_var,
+ int8_t **p_var_scaler,
+ int32_t **p_amb_est_var,
+ int8_t **p_amb_est_var_scaler
+);
+
+/**
+ * @brief Returns the size in 32-bits words of a ping or pong block.
+ *
+ * @param[in] option_flags: option flags to modify memory map
+ * @param[in] nb_of_agg: the number of aggregates.
+ * @param[in] feat_length: the feature length.
+ *
+ */
+static uint32_t _cnh_get_pingpong_size_in_word(
+ uint8_t option_flags,
+ uint32_t nb_of_agg,
+ uint32_t feat_length
+);
+
+/**
+ * @brief This function is used to compute the required memory
+ *
+ * @param[in] option_flags: option flags to modify memory map
+ * @param[in] nb_of_agg: the number of aggregates.
+ * @param[in] feat_length: the feature length.
+ * @return size : memory required in bytes.
+ */
+static uint32_t _cnh_calculate_required_memory(
+ uint8_t option_flags,
+ uint32_t nb_of_agg,
+ uint32_t feat_length);
+
+
+
+uint8_t vl53lmz_cnh_init_config( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t start_bin,
+ int16_t num_bins,
+ int16_t sub_sample) {
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ p_mi_config->ref_bin_offset = (((int32_t)start_bin) * (int32_t)2048);
+ p_mi_config->detection_threshold = 0;
+ p_mi_config->extra_noise_sigma = 0;
+ p_mi_config->null_den_clip_value = 0;
+ p_mi_config->mem_update_mode = 0;
+ p_mi_config->mem_update_choice = 0;
+ p_mi_config->feature_length = (uint8_t)num_bins;
+ p_mi_config->sum_span = (uint8_t)sub_sample;
+ p_mi_config->nb_of_temporal_accumulations = 1;
+ p_mi_config->min_nb_for_global_detection = 0;
+ p_mi_config->global_indicator_format_1 = 0;
+ p_mi_config->global_indicator_format_2 = 0;
+ p_mi_config->cnh_cfg = MI_SFE_DISABLE_PING_PONG |
+ MI_SFE_DISABLE_VARIANCE |
+ MI_SFE_ENABLE_AMBIENT_LEVEL |
+ MI_SFE_ENABLE_XTALK_REMOVAL |
+ MI_SFE_ZERO_NON_VALID_BINS |
+ MI_SFE_STORE_REF_RESIDUAL;
+ p_mi_config->cnh_flex_shift = 1;
+ p_mi_config->spare_3 = 0;
+
+ return(status);
+}
+
+
+uint8_t vl53lmz_cnh_create_agg_map( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t resolution,
+ int16_t start_x,
+ int16_t start_y,
+ int16_t merge_x,
+ int16_t merge_y,
+ int16_t cols,
+ int16_t rows ) {
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint16_t zone_res, row, col, i;
+ int16_t agg_id;
+
+ // first clear down entirely the map
+ (void)memset(p_mi_config->map_id,-1,sizeof(p_mi_config->map_id));
+
+ if (resolution == (int16_t)16){
+ zone_res = (uint16_t)4;
+ }
+ else{
+ zone_res = (uint16_t)8;
+ }
+
+
+ if ( ((start_x + (cols*merge_x)) > (int16_t)zone_res)
+ || ((start_y + (rows*merge_y)) > (int16_t)zone_res) ) {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ goto exit;
+ }else{
+ p_mi_config->nb_of_aggregates = (uint8_t)((uint8_t)cols*(uint8_t)rows);
+ }
+
+ // loop using row and col will step through all the locations in the aggregate map
+ // we want to fill.
+ for( row = (uint16_t)start_y; (int16_t)row < (start_y + (rows*merge_y)); row++ ) {
+ for( col = (uint16_t)start_x; (int16_t)col < (start_x + (cols*merge_x)); col++ ) {
+ i = (row * zone_res) + col;
+ // calc of what aggregrate ID to place in array takes into account the
+ // start location and step sizes(which can cause IDs to be used in more than one zone).
+ agg_id = ((((int16_t)row - start_y)/merge_y)*cols) + ((((int16_t)col - start_x)/merge_x));
+ if ( (agg_id >= (int16_t)0) && (agg_id < (int16_t)VL53LMZ_MI_MAP_ID_LENGTH) ) {
+ p_mi_config->map_id[i] = (int8_t)agg_id;
+ }
+ else {
+ status = VL53LMZ_STATUS_INVALID_PARAM;
+ goto exit;
+ }
+ }
+ }
+
+exit:
+ return( status );
+}
+
+
+uint8_t vl53lmz_cnh_calc_required_memory( VL53LMZ_Motion_Configuration *p_mi_config, uint32_t *p_mem_size )
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t size;
+
+ /* check that the MI Config structure is not blank */
+ if ( (uint32_t)p_mi_config->nb_of_aggregates == (uint32_t)0 ){
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else{
+ size = _cnh_calculate_required_memory(p_mi_config->cnh_cfg,
+ (uint32_t)p_mi_config->nb_of_aggregates,
+ (uint32_t)p_mi_config->feature_length);
+ *p_mem_size = size;
+
+ if ( size > (uint32_t)VL53LMZ_CNH_MAX_DATA_BYTES ) {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ }
+
+ return status;
+}
+
+
+uint8_t vl53lmz_cnh_calc_min_max_distance( VL53LMZ_Motion_Configuration *p_mi_config,
+ int16_t *p_min_distance,
+ int16_t *p_max_distance ) {
+ uint8_t status = VL53LMZ_STATUS_OK;
+ int16_t bin_center_mm;
+
+ /* find the centre distance of the first subsampled CNH histogram bin */
+ bin_center_mm = (int16_t)((((int16_t)p_mi_config->ref_bin_offset * (int16_t)2048)
+ + ((int16_t)p_mi_config->sum_span/(int16_t)2))*VL53LMZ_CNH_BIN_WIDTH_MM_POWER2);
+ bin_center_mm /= (int16_t)2;
+
+ /* find minimum distance target can be so that the pulse is entirely within CNH histogram */
+ *p_min_distance = (int16_t)(bin_center_mm + VL53LMZ_CNH_BIN_CONSTANT_VALUE);
+
+ /* do the same for the last bin */
+ bin_center_mm = (int16_t)((((int16_t)p_mi_config->ref_bin_offset * (int16_t)2048)
+ + (((int16_t)p_mi_config->feature_length-(int16_t)1)*((int16_t)p_mi_config->sum_span)) +
+ ((int16_t)p_mi_config->sum_span/(int16_t)2))*VL53LMZ_CNH_BIN_WIDTH_MM_POWER2);
+ bin_center_mm /= (int16_t)2;
+
+ *p_max_distance = (int16_t)(bin_center_mm - VL53LMZ_CNH_BIN_CONSTANT_VALUE);
+
+ return(status);
+}
+
+
+uint8_t vl53lmz_cnh_send_config( VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_mi_config ) {
+ uint8_t status = VL53LMZ_STATUS_OK;
+ status |= vl53lmz_dci_write_data(p_dev,(uint8_t *)p_mi_config,
+ VL53LMZ_MI_CFG_DEV_IDX, (uint16_t)sizeof(VL53LMZ_Motion_Configuration));
+ return status;
+}
+
+
+uint8_t vl53lmz_cnh_get_block_addresses( VL53LMZ_Motion_Configuration *p_mi_config,
+ int32_t agg_id,
+ cnh_data_buffer_t mi_persistent_array,
+ int32_t **p_hist,
+ int8_t **p_hist_scaler,
+ int32_t **p_ambient,
+ int8_t **p_ambient_scaler ) {
+ /* dummy variables to hold data we do not want to pass back to caller */
+ int32_t *p_tmp_32 = NULL;
+ int8_t *p_tmp_8 = NULL;
+
+ _cnh_get_mem_block_addresses( (int32_t)p_mi_config->nb_of_aggregates,
+ (int32_t)p_mi_config->feature_length,
+ (int32_t)MI_REQUIRED__CURRENT,
+ agg_id,
+ mi_persistent_array,
+ &p_tmp_32,
+ &p_tmp_32,
+ p_hist,
+ p_hist_scaler,
+ &p_tmp_32,
+ &p_tmp_8,
+ p_ambient,
+ p_ambient_scaler );
+
+ return VL53LMZ_STATUS_OK;
+}
+
+
+uint32_t vl53lmz_cnh_get_ref_residual( cnh_data_buffer_t mi_persistent_array ) {
+ return( mi_persistent_array[2] );
+}
+
+
+uint32_t _cnh_get_pingpong_size_in_word(
+ uint8_t option_flags,
+ uint32_t nb_of_agg,
+ uint32_t feat_length )
+{
+ uint32_t agg_x_feat;
+ uint32_t size;
+
+ agg_x_feat = nb_of_agg * feat_length;
+
+ size = CNH_PER_BUFFER_HEADER_BYTES;
+
+ size += agg_x_feat*4; /* FEAT_INT - 32b per value */
+ size += ((3+agg_x_feat)/4)*4; /* FEAT_FRAC - 8b per value, rounding size up to nearest 32b word */
+
+ size += nb_of_agg*4; /* AMBIENT_INT - 32b per value */
+ size += ((3+nb_of_agg)/4)*4; /* AMBIENT_FRAC - 8b per value, rounding size up to nearest 32b word */
+
+ if ( (option_flags & (uint8_t)MI_SFE_DISABLE_VARIANCE) == (uint8_t)0) {
+ size += agg_x_feat * 4; /* VARIANCE_INT - 32b per value */
+ size += ((3+agg_x_feat)/4)*4; /* VARIANCE_FRAC - 8b per value, rounding size up to nearest 32b word */
+ }
+
+ return size;
+}
+
+uint32_t _cnh_calculate_required_memory(
+ uint8_t option_flags,
+ uint32_t nb_of_agg,
+ uint32_t feat_length )
+{
+ uint32_t size;
+
+ size = _cnh_get_pingpong_size_in_word(option_flags, nb_of_agg, feat_length);
+ if ((option_flags & (uint8_t)MI_SFE_DISABLE_PING_PONG) == (uint8_t)0) {
+ size *= (uint32_t)2;
+ }
+ size += (uint32_t)CNH_PER_HEADER_BYTES;
+ return size;
+}
+
+void _cnh_get_mem_block_addresses(
+ int32_t nb_of_agg,
+ int32_t feat_length,
+ int32_t pingpong,
+ int32_t agg_id,
+ cnh_data_buffer_t mi_persistent_array,
+ int32_t **p_status,
+ int32_t **p_nb_of_acc,
+ int32_t **p_feat,
+ int8_t **p_feat_scaler,
+ int32_t **p_var,
+ int8_t **p_var_scaler,
+ int32_t **p_amb_est_var,
+ int8_t **p_amb_est_var_scaler
+)
+{
+ /* Local variable declaration. */
+ int32_t agg_x_feat = nb_of_agg * feat_length;
+ int32_t agg_off = agg_id * feat_length;
+ uint32_t *p = &mi_persistent_array[0];
+ int8_t *blk_start;
+ uint32_t size;
+ uint32_t buffer_info_flags;
+ int32_t local_pingpong;
+
+ /* Local pinpong used to change pingpong value while it's an argument */
+ local_pingpong = pingpong;
+
+ /* Force to current if we are in the "no previous mode". */
+ if (((uint32_t)p[3] & (uint32_t)0x10) == (uint32_t)0x10)
+ {
+ local_pingpong = (int32_t)1;
+ }
+
+ /* If current is ping:
+ * - if required is current (i.e. pingpong arg = 1) then we must set
+ * pingpong to ping (i.e 0) so to 1 - pingpong arg.
+ * - if required is previous (i.e. pingpong arg = 0) then we must set
+ * pingpong to pong (i.e. 1) so to 1 - pingpong arg.
+ * If current is pong:
+ * - if required is current (i.e. pingpong arg = 1) then we must set
+ * pingpong to pong (i.e 1) so to pingpong arg: nothing to do.
+ * - if required is previous (i.e. pingpong arg = 0) then we must set
+ * pingpong to ping (i.e. 0) so to pingpong arg: nothing to do.
+ */
+ if (p[0] == MI_STATE__PING)
+ {
+ local_pingpong = 1 - local_pingpong;
+ }
+
+ /* Get the size of the ping or pong area. */
+ size = ((uint32_t)p[(uint32_t)CNH_PER_HEADER_BUFFER_INFO_IDX] & (uint32_t)CNH_PER_HEADER_BUFFER_INFO_WORDS_MASK);
+
+ /* Get additional information about the buffer */
+ buffer_info_flags = (uint32_t)(((uint32_t)p[(uint32_t)CNH_PER_HEADER_BUFFER_INFO_IDX]
+ & CNH_PER_HEADER_BUFFER_INFO_FLAGS_MASK)>>CNH_PER_HEADER_BUFFER_INFO_FLAGS_SHIFT);
+
+ /* Get status.
+ * - jump the first 3 words
+ * - if pong is required jump also the ping area size.
+ */
+ p = p + (uint32_t)5; /* Points to ping. */
+ if (local_pingpong == 1)
+ {
+ p = p + size; /* Points to pong. */
+ }
+
+ *p_status = (int32_t *)&(p[0]);
+ *p_nb_of_acc = (int32_t *)&(p[1]);
+
+ blk_start = (int8_t *)&p[2];
+
+ /* Store feature location */
+ *p_feat = &(((int32_t *)blk_start)[agg_off]);
+ blk_start = blk_start + (agg_x_feat*4); /* skip over this block, one 32b word per agg_x_feat */
+
+ /* Store fractional part of feature. */
+ *p_feat_scaler = &(blk_start[agg_off]);
+ blk_start = blk_start + (((3+agg_x_feat)/4)*4); /* skip over this block, one byte per agg_x_feat, rounded up to next 32b word */
+
+ /* Store variance of estimated ambient. */
+ *p_amb_est_var = &(((int32_t *)blk_start)[agg_id]);
+ blk_start = blk_start + (nb_of_agg*4); /* skip over this block, one 32b word per nb_of_agg */
+
+ /* Store fractional part of variance of estimated ambient. */
+ *p_amb_est_var_scaler = &(blk_start[agg_id]);
+ blk_start = blk_start + (((3+nb_of_agg)/4)*4); /* skip over this block, one byte per nb_of_agg, rounded up to next 32b word */
+
+ if (((uint32_t)buffer_info_flags
+ & (uint32_t)CNH_PER_HEADER_BUFFER_INFO_NO_VARIANCE_DATA_FLAG) != (uint32_t)0) {
+ /* no Variance data in buffer, set pointers to NULL */
+ *p_var = (int32_t *)NULL;
+ *p_var_scaler = (int8_t *)NULL;
+ }
+ else {
+ /* Store variances.*/
+ *p_var = &(((int32_t *)blk_start)[agg_off]);
+ blk_start = blk_start + (agg_x_feat*4); /* skip over this block, one 32b word per agg_x_feat */
+
+ /* Store fractional part of variance. */
+ *p_var_scaler = &(blk_start[agg_off]);
+ }
+
+ return;
+}
+
diff --git a/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_detection_thresholds.c b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_detection_thresholds.c
new file mode 100644
index 0000000..29abae5
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_detection_thresholds.c
@@ -0,0 +1,187 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include "vl53lmz_plugin_detection_thresholds.h"
+
+uint8_t vl53lmz_get_detection_thresholds_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_enabled)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_DET_THRESH_GLOBAL_CONFIG, 8);
+ *p_enabled = p_dev->temp_buffer[0x1];
+
+ return status;
+}
+
+uint8_t vl53lmz_set_detection_thresholds_enable(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t enabled)
+{
+ uint8_t tmp, status = VL53LMZ_STATUS_OK;
+ uint8_t grp_global_config[] = {0x01, 0x00, 0x01, 0x00};
+
+ if(enabled == (uint8_t)1)
+ {
+ grp_global_config[0x01] = 0x01;
+ tmp = 0x04;
+ }
+ else
+ {
+ grp_global_config[0x01] = 0x00;
+ tmp = 0x0C;
+ }
+
+ /* Set global interrupt config */
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_DET_THRESH_GLOBAL_CONFIG, 8,
+ (uint8_t*)&grp_global_config, 4, 0x00);
+
+ /* Update interrupt config */
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_DET_THRESH_CONFIG, 20,
+ (uint8_t*)&tmp, 1, 0x11);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_detection_thresholds(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_DetectionThresholds *p_thresholds)
+{
+ uint8_t i, status = VL53LMZ_STATUS_OK;
+
+ /* Get thresholds configuration */
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_thresholds,
+ VL53LMZ_DCI_DET_THRESH_START,
+ (uint16_t)VL53LMZ_NB_THRESHOLDS
+ *(uint16_t)sizeof(VL53LMZ_DetectionThresholds));
+
+ for(i = 0; i < (uint8_t)VL53LMZ_NB_THRESHOLDS; i++)
+ {
+ switch(p_thresholds[i].measurement)
+ {
+ case VL53LMZ_DISTANCE_MM:
+ p_thresholds[i].param_low_thresh /= 4;
+ p_thresholds[i].param_high_thresh /= 4;
+ break;
+ case VL53LMZ_SIGNAL_PER_SPAD_KCPS:
+ p_thresholds[i].param_low_thresh /= 2048;
+ p_thresholds[i].param_high_thresh /= 2048;
+ break;
+ case VL53LMZ_RANGE_SIGMA_MM:
+ p_thresholds[i].param_low_thresh /= 128;
+ p_thresholds[i].param_high_thresh /= 128;
+ break;
+ case VL53LMZ_AMBIENT_PER_SPAD_KCPS:
+ p_thresholds[i].param_low_thresh /= 2048;
+ p_thresholds[i].param_high_thresh /= 2048;
+ break;
+ case VL53LMZ_NB_SPADS_ENABLED:
+ p_thresholds[i].param_low_thresh /= 256;
+ p_thresholds[i].param_high_thresh /= 256;
+ break;
+ case VL53LMZ_MOTION_INDICATOR:
+ p_thresholds[i].param_low_thresh /= 65535;
+ p_thresholds[i].param_high_thresh /= 65535;
+ break;
+ default:
+ break;
+ }
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_set_detection_thresholds(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_DetectionThresholds *p_thresholds)
+{
+ uint8_t i, status = VL53LMZ_STATUS_OK;
+ uint8_t grp_valid_target_cfg[] = {0x05, 0x05, 0x05, 0x05,
+ 0x05, 0x05, 0x05, 0x05};
+
+ for(i = 0; i < (uint8_t) VL53LMZ_NB_THRESHOLDS; i++)
+ {
+ switch(p_thresholds[i].measurement)
+ {
+ case VL53LMZ_DISTANCE_MM:
+ p_thresholds[i].param_low_thresh *= 4;
+ p_thresholds[i].param_high_thresh *= 4;
+ break;
+ case VL53LMZ_SIGNAL_PER_SPAD_KCPS:
+ p_thresholds[i].param_low_thresh *= 2048;
+ p_thresholds[i].param_high_thresh *= 2048;
+ break;
+ case VL53LMZ_RANGE_SIGMA_MM:
+ p_thresholds[i].param_low_thresh *= 128;
+ p_thresholds[i].param_high_thresh *= 128;
+ break;
+ case VL53LMZ_AMBIENT_PER_SPAD_KCPS:
+ p_thresholds[i].param_low_thresh *= 2048;
+ p_thresholds[i].param_high_thresh *= 2048;
+ break;
+ case VL53LMZ_NB_SPADS_ENABLED:
+ p_thresholds[i].param_low_thresh *= 256;
+ p_thresholds[i].param_high_thresh *= 256;
+ break;
+ case VL53LMZ_MOTION_INDICATOR:
+ p_thresholds[i].param_low_thresh *= 65535;
+ p_thresholds[i].param_high_thresh *= 65535;
+ break;
+ default:
+ break;
+ }
+ }
+
+ /* Set valid target list */
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)grp_valid_target_cfg,
+ VL53LMZ_DCI_DET_THRESH_VALID_STATUS,
+ (uint16_t)sizeof(grp_valid_target_cfg));
+
+ /* Set thresholds configuration */
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)p_thresholds,
+ VL53LMZ_DCI_DET_THRESH_START,
+ (uint16_t)(VL53LMZ_NB_THRESHOLDS
+ *sizeof(VL53LMZ_DetectionThresholds)));
+
+ return status;
+}
+
+uint8_t vl53lmz_get_detection_thresholds_auto_stop(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_auto_stop)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_PIPE_CONTROL, 4);
+ *p_auto_stop = p_dev->temp_buffer[0x3];
+
+ return status;
+}
+
+uint8_t vl53lmz_set_detection_thresholds_auto_stop(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t auto_stop)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_PIPE_CONTROL, 4,
+ (uint8_t*)&auto_stop, 1, 0x03);
+ p_dev->is_auto_stop_enabled = (uint8_t)auto_stop;
+
+ return status;
+}
diff --git a/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_motion_indicator.c b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_motion_indicator.c
new file mode 100644
index 0000000..1e83510
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_motion_indicator.c
@@ -0,0 +1,125 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include "vl53lmz_plugin_motion_indicator.h"
+
+typedef float float_t;
+
+#define MI_SFE_STANDARD_MODE 0x00
+
+
+uint8_t vl53lmz_motion_indicator_init(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint8_t resolution)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ (void)memset(p_motion_config, 0, sizeof(VL53LMZ_Motion_Configuration));
+
+ p_motion_config->ref_bin_offset = 13633;
+ p_motion_config->detection_threshold = 2883584;
+ p_motion_config->extra_noise_sigma = 0;
+ p_motion_config->null_den_clip_value = 0;
+ p_motion_config->mem_update_mode = 6;
+ p_motion_config->mem_update_choice = 2;
+ p_motion_config->sum_span = 4;
+ p_motion_config->feature_length = 9;
+ p_motion_config->nb_of_aggregates = 16;
+ p_motion_config->nb_of_temporal_accumulations = 16;
+ p_motion_config->min_nb_for_global_detection = 1;
+ p_motion_config->global_indicator_format_1 = 8;
+ p_motion_config->global_indicator_format_2 = 0;
+ p_motion_config->cnh_cfg = MI_SFE_STANDARD_MODE;
+ p_motion_config->cnh_flex_shift = 0;
+ p_motion_config->spare_3 = 0;
+
+ status |= vl53lmz_motion_indicator_set_resolution(p_dev,
+ p_motion_config, resolution);
+
+ return status;
+}
+
+uint8_t vl53lmz_motion_indicator_set_distance_motion(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint16_t distance_min_mm,
+ uint16_t distance_max_mm)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ float_t tmp;
+
+ if(((distance_max_mm - distance_min_mm) > (uint16_t)1500)
+ || (distance_min_mm < (uint16_t)400)
+ || (distance_max_mm > (uint16_t)4000))
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else
+ {
+ tmp = (float_t)((((float_t)distance_min_mm/(float_t)37.5348)-(float_t)4.0)*(float_t)2048.5);
+ p_motion_config->ref_bin_offset = (int32_t)tmp;
+
+ tmp = (float_t)((((((float_t)distance_max_mm-
+ (float_t)distance_min_mm)/(float_t)10.0)+(float_t)30.02784)
+ /((float_t)15.01392))+(float_t)0.5);
+ p_motion_config->feature_length = (uint8_t)tmp;
+
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)(p_motion_config),
+ VL53LMZ_DCI_MOTION_DETECTOR_CFG,
+ (uint16_t)sizeof(*p_motion_config));
+ }
+
+ return status;
+}
+
+uint8_t vl53lmz_motion_indicator_set_resolution(
+ VL53LMZ_Configuration *p_dev,
+ VL53LMZ_Motion_Configuration *p_motion_config,
+ uint8_t resolution)
+{
+ uint8_t i, status = VL53LMZ_STATUS_OK;
+
+ switch(resolution)
+ {
+ case VL53LMZ_RESOLUTION_4X4:
+ for(i = 0; i < (uint8_t)VL53LMZ_RESOLUTION_4X4; i++)
+ {
+ p_motion_config->map_id[i] = (int8_t)i;
+ }
+ (void)memset(p_motion_config->map_id + 16, -1, 48);
+ break;
+
+ case VL53LMZ_RESOLUTION_8X8:
+ for(i = 0; i < (uint8_t)VL53LMZ_RESOLUTION_8X8; i++)
+ {
+ p_motion_config->map_id[i] = (int8_t)((((int8_t)
+ i % 8)/2) + (4*((int8_t)i/16)));
+ }
+ break;
+
+ default:
+ status |= VL53LMZ_STATUS_ERROR;
+ break;
+ }
+
+ if(status != (uint8_t)0)
+ {
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)(p_motion_config),
+ VL53LMZ_DCI_MOTION_DETECTOR_CFG,
+ (uint16_t)sizeof(*p_motion_config));
+ }
+
+ return status;
+}
diff --git a/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_xtalk.c b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_xtalk.c
new file mode 100644
index 0000000..adc4654
--- /dev/null
+++ b/LMZ/VL53LMZ_ULD_API/src/vl53lmz_plugin_xtalk.c
@@ -0,0 +1,364 @@
+/**
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include "vl53lmz_plugin_xtalk.h"
+
+/*
+ * Inner function, not available outside this file. This function is used to
+ * wait for an answer from VL53L5 sensor.
+ */
+
+static uint8_t _vl53lmz_poll_for_answer(
+ VL53LMZ_Configuration *p_dev,
+ uint16_t address,
+ uint8_t expected_value)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint8_t timeout = 0;
+
+ do {
+ status |= RdMulti(&(p_dev->platform),
+ address, p_dev->temp_buffer, 4);
+ status |= WaitMs(&(p_dev->platform), 10);
+
+ /* 2s timeout or FW error*/
+ if((timeout >= (uint8_t)200)
+ || (p_dev->temp_buffer[2] >= (uint8_t) 0x7f))
+ {
+ status |= VL53LMZ_MCU_ERROR;
+ break;
+ }
+ else
+ {
+ timeout++;
+ }
+ }while ((p_dev->temp_buffer[0x1]) != expected_value);
+
+ return status;
+}
+
+/*
+ * Inner function, not available outside this file. This function is used to
+ * program the output using the macro defined into the 'platform.h' file.
+ */
+
+static uint8_t _vl53lmz_program_output_config(
+ VL53LMZ_Configuration *p_dev)
+{
+ uint8_t resolution, status = VL53LMZ_STATUS_OK;
+ uint32_t i;
+ union Block_header *bh_ptr;
+ uint32_t header_config[2] = {0, 0};
+
+
+ status |= vl53lmz_get_resolution(p_dev, &resolution);
+ p_dev->data_read_size = 0;
+
+ /* Enable mandatory output (meta and common data) */
+ uint32_t output_bh_enable[] = {
+ 0x0001FFFFU,
+ 0x00000000U,
+ 0x00000000U,
+ 0xC0000000U};
+
+ /* Send addresses of possible output */
+ uint32_t output[] ={
+ 0x0000000DU,
+ 0x54000040U,
+ 0x9FD800C0U,
+ 0x9FE40140U,
+ 0x9FF80040U,
+ 0x9FFC0404U,
+ 0xA0FC0100U,
+ 0xA10C0100U,
+ 0xA11C00C0U,
+ 0xA1280902U,
+ 0xA2480040U,
+ 0xA24C0081U,
+ 0xA2540081U,
+ 0xA25C0081U,
+ 0xA2640081U,
+ 0xA26C0084U,
+ 0xA28C0082U};
+
+ /* Update data size */
+ for (i = 0; i < (uint32_t)(sizeof(output)/sizeof(uint32_t)); i++)
+ {
+ if ((output[i] == (uint8_t)0)
+ || ((output_bh_enable[i/(uint32_t)32]
+ &((uint32_t)1 << (i%(uint32_t)32))) == (uint32_t)0))
+ {
+ continue;
+ }
+
+ bh_ptr = (union Block_header *)&(output[i]);
+ if (((uint8_t)bh_ptr->type >= (uint8_t)0x1)
+ && ((uint8_t)bh_ptr->type < (uint8_t)0x0d))
+ {
+ if ((bh_ptr->idx >= (uint16_t)0x54d0)
+ && (bh_ptr->idx < (uint16_t)(0x54d0 + 960)))
+ {
+ bh_ptr->size = resolution;
+ }
+ else
+ {
+ bh_ptr->size = (uint8_t)(resolution
+ * (uint8_t)VL53LMZ_NB_TARGET_PER_ZONE);
+ }
+
+
+ p_dev->data_read_size += bh_ptr->type * bh_ptr->size;
+ }
+ else
+ {
+ p_dev->data_read_size += bh_ptr->size;
+ }
+
+ p_dev->data_read_size += (uint32_t)4;
+ }
+ p_dev->data_read_size += (uint32_t)24;
+
+ status |= vl53lmz_dci_write_data(p_dev,
+ (uint8_t*)&(output),
+ VL53LMZ_DCI_OUTPUT_LIST, (uint16_t)sizeof(output));
+
+ header_config[0] = p_dev->data_read_size;
+ header_config[1] = i + (uint32_t)1;
+
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)&(header_config),
+ VL53LMZ_DCI_OUTPUT_CONFIG,
+ (uint16_t)sizeof(header_config));
+ status |= vl53lmz_dci_write_data(p_dev, (uint8_t*)&(output_bh_enable),
+ VL53LMZ_DCI_OUTPUT_ENABLES,
+ (uint16_t)sizeof(output_bh_enable));
+
+ return status;
+}
+
+uint8_t vl53lmz_calibrate_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint16_t reflectance_percent,
+ uint8_t nb_samples,
+ uint16_t distance_mm)
+{
+ uint16_t timeout = 0;
+ uint8_t cmd[] = {0x00, 0x03, 0x00, 0x00};
+ uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x00, 0x01, 0x03, 0x04};
+ uint8_t continue_loop = 1, status = VL53LMZ_STATUS_OK;
+
+ uint8_t resolution, frequency, target_order, sharp_prct, ranging_mode;
+ uint32_t integration_time_ms, xtalk_margin;
+
+ uint16_t reflectance = reflectance_percent;
+ uint8_t samples = nb_samples;
+ uint16_t distance = distance_mm;
+
+ /* Get initial configuration */
+ status |= vl53lmz_get_resolution(p_dev, &resolution);
+ status |= vl53lmz_get_ranging_frequency_hz(p_dev, &frequency);
+ status |= vl53lmz_get_integration_time_ms(p_dev, &integration_time_ms);
+ status |= vl53lmz_get_sharpener_percent(p_dev, &sharp_prct);
+ status |= vl53lmz_get_target_order(p_dev, &target_order);
+ status |= vl53lmz_get_xtalk_margin(p_dev, &xtalk_margin);
+ status |= vl53lmz_get_ranging_mode(p_dev, &ranging_mode);
+
+ /* Check input arguments validity */
+ if(((reflectance < (uint16_t)1) || (reflectance > (uint16_t)99))
+ || ((distance < (uint16_t)600) || (distance > (uint16_t)3000))
+ || ((samples < (uint8_t)1) || (samples > (uint8_t)16)))
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else
+ {
+ status |= vl53lmz_set_resolution(p_dev,
+ VL53LMZ_RESOLUTION_8X8);
+
+ /* Send Xtalk calibration buffer */
+ (void)memcpy(p_dev->temp_buffer, VL53LMZ_CALIBRATE_XTALK,
+ sizeof(VL53LMZ_CALIBRATE_XTALK));
+ status |= WrMulti(&(p_dev->platform), 0x2c28,
+ p_dev->temp_buffer,
+ (uint16_t)sizeof(VL53LMZ_CALIBRATE_XTALK));
+ status |= _vl53lmz_poll_for_answer(p_dev,
+ VL53LMZ_UI_CMD_STATUS, 0x3);
+
+ /* Format input argument */
+ reflectance = reflectance * (uint16_t)16;
+ distance = distance * (uint16_t)4;
+
+ /* Update required fields */
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_CAL_CFG, 8,
+ (uint8_t*)&distance, 2, 0x00);
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_CAL_CFG, 8,
+ (uint8_t*)&reflectance, 2,0x02);
+
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_CAL_CFG, 8,
+ (uint8_t*)&samples, 1, 0x04);
+
+ /* Program output for Xtalk calibration */
+ status |= _vl53lmz_program_output_config(p_dev);
+
+ /* Start ranging session */
+ status |= WrMulti(&(p_dev->platform),
+ VL53LMZ_UI_CMD_END - (uint16_t)(4 - 1),
+ (uint8_t*)cmd, sizeof(cmd));
+ status |= _vl53lmz_poll_for_answer(p_dev,
+ VL53LMZ_UI_CMD_STATUS, 0x3);
+
+ /* Wait for end of calibration */
+ do {
+ status |= RdMulti(&(p_dev->platform),
+ 0x0, p_dev->temp_buffer, 4);
+ if(p_dev->temp_buffer[0] != VL53LMZ_STATUS_ERROR)
+ {
+ /* Coverglass too good for Xtalk calibration */
+ if((p_dev->temp_buffer[2] >= (uint8_t)0x7f) &&
+ (((uint16_t)(p_dev->temp_buffer[3] &
+ (uint16_t)0x80) >> 7) == (uint16_t)1))
+ {
+ (void)memcpy(p_dev->xtalk_data,
+ p_dev->default_xtalk,
+ VL53LMZ_XTALK_BUFFER_SIZE);
+ }
+ continue_loop = (uint8_t)0;
+ }
+ else if(timeout >= (uint16_t)400)
+ {
+ status |= VL53LMZ_STATUS_ERROR;
+ continue_loop = (uint8_t)0;
+ }
+ else
+ {
+ timeout++;
+ status |= WaitMs(&(p_dev->platform), 50);
+ }
+
+ }while (continue_loop == (uint8_t)1);
+ }
+
+ /* Save Xtalk data into the Xtalk buffer */
+ (void)memcpy(p_dev->temp_buffer, VL53LMZ_GET_XTALK_CMD,
+ sizeof(VL53LMZ_GET_XTALK_CMD));
+ status |= WrMulti(&(p_dev->platform), 0x2fb8,
+ p_dev->temp_buffer,
+ (uint16_t)sizeof(VL53LMZ_GET_XTALK_CMD));
+ status |= _vl53lmz_poll_for_answer(p_dev,VL53LMZ_UI_CMD_STATUS, 0x03);
+ status |= RdMulti(&(p_dev->platform), VL53LMZ_UI_CMD_START,
+ p_dev->temp_buffer,
+ VL53LMZ_XTALK_BUFFER_SIZE + (uint16_t)4);
+
+ (void)memcpy(&(p_dev->xtalk_data[0]), &(p_dev->temp_buffer[8]),
+ VL53LMZ_XTALK_BUFFER_SIZE - (uint16_t)8);
+ (void)memcpy(&(p_dev->xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE
+ - (uint16_t)8]), footer, sizeof(footer));
+
+ /* Reset default buffer */
+ status |= WrMulti(&(p_dev->platform), 0x2c34,
+ p_dev->default_configuration,
+ VL53LMZ_CONFIGURATION_SIZE);
+ status |= _vl53lmz_poll_for_answer(p_dev,VL53LMZ_UI_CMD_STATUS, 0x03);
+
+ /* Reset initial configuration */
+ status |= vl53lmz_set_resolution(p_dev, resolution);
+ status |= vl53lmz_set_ranging_frequency_hz(p_dev, frequency);
+ status |= vl53lmz_set_integration_time_ms(p_dev, integration_time_ms);
+ status |= vl53lmz_set_sharpener_percent(p_dev, sharp_prct);
+ status |= vl53lmz_set_target_order(p_dev, target_order);
+ status |= vl53lmz_set_xtalk_margin(p_dev, xtalk_margin);
+ status |= vl53lmz_set_ranging_mode(p_dev, ranging_mode);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_caldata_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_xtalk_data)
+{
+ uint8_t status = VL53LMZ_STATUS_OK, resolution;
+ uint8_t footer[] = {0x00, 0x00, 0x00, 0x0F, 0x00, 0x01, 0x03, 0x04};
+
+ status |= vl53lmz_get_resolution(p_dev, &resolution);
+ status |= vl53lmz_set_resolution(p_dev, VL53LMZ_RESOLUTION_8X8);
+
+ (void)memcpy(p_dev->temp_buffer, VL53LMZ_GET_XTALK_CMD,
+ sizeof(VL53LMZ_GET_XTALK_CMD));
+ status |= WrMulti(&(p_dev->platform), 0x2fb8,
+ p_dev->temp_buffer, sizeof(VL53LMZ_GET_XTALK_CMD));
+ status |= _vl53lmz_poll_for_answer(p_dev,VL53LMZ_UI_CMD_STATUS, 0x03);
+ status |= RdMulti(&(p_dev->platform), VL53LMZ_UI_CMD_START,
+ p_dev->temp_buffer,
+ VL53LMZ_XTALK_BUFFER_SIZE + (uint16_t)4);
+
+ (void)memcpy(&(p_xtalk_data[0]), &(p_dev->temp_buffer[8]),
+ VL53LMZ_XTALK_BUFFER_SIZE-(uint16_t)8);
+ (void)memcpy(&(p_xtalk_data[VL53LMZ_XTALK_BUFFER_SIZE - (uint16_t)8]),
+ footer, sizeof(footer));
+
+ status |= vl53lmz_set_resolution(p_dev, resolution);
+
+ return status;
+}
+
+uint8_t vl53lmz_set_caldata_xtalk(
+ VL53LMZ_Configuration *p_dev,
+ uint8_t *p_xtalk_data)
+{
+ uint8_t resolution, status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_get_resolution(p_dev, &resolution);
+ (void)memcpy(p_dev->xtalk_data, p_xtalk_data, VL53LMZ_XTALK_BUFFER_SIZE);
+ status |= vl53lmz_set_resolution(p_dev, resolution);
+
+ return status;
+}
+
+uint8_t vl53lmz_get_xtalk_margin(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t *p_xtalk_margin)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+
+ status |= vl53lmz_dci_read_data(p_dev, (uint8_t*)p_dev->temp_buffer,
+ VL53LMZ_DCI_XTALK_CFG, 16);
+
+ (void)memcpy(p_xtalk_margin, p_dev->temp_buffer, 4);
+ *p_xtalk_margin = *p_xtalk_margin/(uint32_t)2048;
+
+ return status;
+}
+
+uint8_t vl53lmz_set_xtalk_margin(
+ VL53LMZ_Configuration *p_dev,
+ uint32_t xtalk_margin)
+{
+ uint8_t status = VL53LMZ_STATUS_OK;
+ uint32_t margin_kcps = xtalk_margin;
+
+ if(margin_kcps > (uint32_t)10000)
+ {
+ status |= VL53LMZ_STATUS_INVALID_PARAM;
+ }
+ else
+ {
+ margin_kcps = margin_kcps*(uint32_t)2048;
+ status |= vl53lmz_dci_replace_data(p_dev, p_dev->temp_buffer,
+ VL53LMZ_DCI_XTALK_CFG, 16,
+ (uint8_t*)&margin_kcps, 4, 0x00);
+ }
+
+ return status;
+}
diff --git a/STM32CubeIDE/.cproject b/STM32CubeIDE/.cproject
index 342edd1..36fa574 100644
--- a/STM32CubeIDE/.cproject
+++ b/STM32CubeIDE/.cproject
@@ -126,6 +126,7 @@