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nrf8001: added helloworld example (communicating with nrf UART application

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Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>
This commit is contained in:
Kiveisha Yevgeniy 2014-08-13 11:49:33 +00:00
parent 044037b892
commit ffdd6d2f00
3 changed files with 618 additions and 0 deletions
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2
examples/CMakeLists.txt
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@ -25,6 +25,7 @@ add_executable (maxds3231m-example maxds3231m.cxx)
add_executable (max31723-example max31723.cxx)
add_executable (max5487-example max5487.cxx)
add_executable (nrf8001-broadcast-example nrf8001_broadcast.cxx)
add_executable (nrf8001-helloworld-example nrf8001_helloworld.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@ -76,3 +77,4 @@ target_link_libraries (maxds3231m-example maxds3231m ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (max31723-example max31723 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (max5487-example max5487 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf8001-broadcast-example nrf8001 ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries (nrf8001-helloworld-example nrf8001 ${CMAKE_THREAD_LIBS_INIT})

362
examples/nrf8001_helloworld.cxx Normal file
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@ -0,0 +1,362 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include "nrf8001.h"
#include "nrf8001_helloworld.h"
#include <lib_aci.h>
#include <aci_setup.h>
#include <signal.h>
#include "uart_over_ble.h"
/*
* You can use the nRF UART app in the Apple iOS app store and Google Play for Android 4.3 for Samsung Galaxy S4
* with this helloworld application
*/
#ifdef SERVICES_PIPE_TYPE_MAPPING_CONTENT
static services_pipe_type_mapping_t
services_pipe_type_mapping[NUMBER_OF_PIPES] = SERVICES_PIPE_TYPE_MAPPING_CONTENT;
#else
#define NUMBER_OF_PIPES 0
static services_pipe_type_mapping_t * services_pipe_type_mapping = NULL;
#endif
/**
* Store the setup for the nRF8001 in the flash of the AVR to save on RAM
*/
static hal_aci_data_t setup_msgs[NB_SETUP_MESSAGES] = SETUP_MESSAGES_CONTENT;
/**
* aci_struct that will contain
* total initial credits
* current credit
* current state of the aci (setup/standby/active/sleep)
* open remote pipe pending
* close remote pipe pending
* Current pipe available bitmap
* Current pipe closed bitmap
* Current connection interval, slave latency and link supervision timeout
* Current State of the the GATT client (Service Discovery)
* Status of the bond (R) Peer address
*/
static struct aci_state_t aci_state;
/**
* Temporary buffers for sending ACI commands
*/
static hal_aci_evt_t aci_data;
/*
Timing change state variable
*/
static bool timing_change_done = false;
/*
Used to test the UART TX characteristic notification
*/
static uart_over_ble_t uart_over_ble;
static uint8_t uart_buffer[20];
static uint8_t uart_buffer_len = 0;
static uint8_t dummychar = 0;
void
sig_handler(int signo)
{
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
}
}
void
init_aci_setup () {
/**
* Point ACI data structures to the the setup data that the nRFgo studio generated for the nRF8001
*/
if (NULL != services_pipe_type_mapping) {
aci_state.aci_setup_info.services_pipe_type_mapping = &services_pipe_type_mapping[0];
} else {
aci_state.aci_setup_info.services_pipe_type_mapping = NULL;
}
aci_state.aci_setup_info.number_of_pipes = NUMBER_OF_PIPES;
aci_state.aci_setup_info.setup_msgs = setup_msgs;
aci_state.aci_setup_info.num_setup_msgs = NB_SETUP_MESSAGES;
}
void
uart_over_ble_init (void) {
uart_over_ble.uart_rts_local = true;
}
bool
uart_tx (uint8_t *buffer, uint8_t buffer_len) {
bool status = false;
if (lib_aci_is_pipe_available(&aci_state, PIPE_UART_OVER_BTLE_UART_TX_TX) &&
(aci_state.data_credit_available >= 1)) {
status = lib_aci_send_data(PIPE_UART_OVER_BTLE_UART_TX_TX, buffer, buffer_len);
if (status) {
aci_state.data_credit_available--;
}
}
return status;
}
bool
uart_process_control_point_rx(uint8_t *byte, uint8_t length) {
bool status = false;
aci_ll_conn_params_t *conn_params;
if (lib_aci_is_pipe_available(&aci_state, PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_TX) ) {
switch (*byte) {
/*
Queues a ACI Disconnect to the nRF8001 when this packet is received.
May cause some of the UART packets being sent to be dropped
*/
case UART_OVER_BLE_DISCONNECT:
/*
Parameters:
None
*/
lib_aci_disconnect(&aci_state, ACI_REASON_TERMINATE);
status = true;
break;
/*
Queues an ACI Change Timing to the nRF8001
*/
case UART_OVER_BLE_LINK_TIMING_REQ:
/*
Parameters:
Connection interval min: 2 bytes
Connection interval max: 2 bytes
Slave latency: 2 bytes
Timeout: 2 bytes
Same format as Peripheral Preferred Connection Parameters (See nRFgo studio -> nRF8001 Configuration -> GAP Settings
Refer to the ACI Change Timing Request in the nRF8001 Product Specifications
*/
conn_params = (aci_ll_conn_params_t *)(byte+1);
lib_aci_change_timing( conn_params->min_conn_interval,
conn_params->max_conn_interval,
conn_params->slave_latency,
conn_params->timeout_mult);
status = true;
break;
/*
Clears the RTS of the UART over BLE
*/
case UART_OVER_BLE_TRANSMIT_STOP:
/*
Parameters:
None
*/
uart_over_ble.uart_rts_local = false;
status = true;
break;
/*
Set the RTS of the UART over BLE
*/
case UART_OVER_BLE_TRANSMIT_OK:
/*
Parameters:
None
*/
uart_over_ble.uart_rts_local = true;
status = true;
break;
}
}
return status;
}
int
main(int argc, char **argv)
{
//! [Interesting]
init_aci_setup ();
init_local_interfaces (&aci_state, 10, 8, 4);
while (1) {
static bool setup_required = false;
// We enter the if statement only when there is a ACI event available to be processed
if (lib_aci_event_get(&aci_state, &aci_data)) {
aci_evt_t * aci_evt;
aci_evt = &aci_data.evt;
switch(aci_evt->evt_opcode) {
/**
As soon as you reset the nRF8001 you will get an ACI Device Started Event
*/
case ACI_EVT_DEVICE_STARTED: {
aci_state.data_credit_total = aci_evt->params.device_started.credit_available;
switch(aci_evt->params.device_started.device_mode) {
case ACI_DEVICE_SETUP:
/**
When the device is in the setup mode
*/
printf ("Evt Device Started: Setup \n");
setup_required = true;
break;
case ACI_DEVICE_STANDBY:
printf ("Evt Device Started: Standby \n");
// Looking for an iPhone by sending radio advertisements
// When an iPhone connects to us we will get an ACI_EVT_CONNECTED event from the nRF8001
if (aci_evt->params.device_started.hw_error) {
usleep (20000); //Handle the HW error event correctly.
} else {
lib_aci_connect(0/* in seconds : 0 means forever */, 0x0050 /* advertising interval 50ms*/);
printf ("Advertising started \n");
}
break;
}
}
break; // ACI Device Started Event
case ACI_EVT_CMD_RSP:
//If an ACI command response event comes with an error -> stop
if (ACI_STATUS_SUCCESS != aci_evt->params.cmd_rsp.cmd_status) {
//ACI ReadDynamicData and ACI WriteDynamicData will have status codes of
//TRANSACTION_CONTINUE and TRANSACTION_COMPLETE
//all other ACI commands will have status code of ACI_STATUS_SCUCCESS for a successful command
printf ("ACI_EVT_CMD_RSP \n");
}
if (ACI_CMD_GET_DEVICE_VERSION == aci_evt->params.cmd_rsp.cmd_opcode) {
//Store the version and configuration information of the nRF8001 in the Hardware Revision String Characteristic
lib_aci_set_local_data(&aci_state, PIPE_DEVICE_INFORMATION_HARDWARE_REVISION_STRING_SET,
(uint8_t *)&(aci_evt->params.cmd_rsp.params.get_device_version), sizeof(aci_evt_cmd_rsp_params_get_device_version_t));
}
break;
case ACI_EVT_CONNECTED:
printf ("ACI_EVT_CONNECTED");
uart_over_ble_init ();
timing_change_done = false;
aci_state.data_credit_available = aci_state.data_credit_total;
/*
Get the device version of the nRF8001 and store it in the Hardware Revision String
*/
lib_aci_device_version();
break;
case ACI_EVT_PIPE_STATUS:
printf ("ACI_EVT_PIPE_STATUS \n");
if (lib_aci_is_pipe_available(&aci_state, PIPE_UART_OVER_BTLE_UART_TX_TX) && (false == timing_change_done)) {
lib_aci_change_timing_GAP_PPCP(); // change the timing on the link as specified in the nRFgo studio -> nRF8001 conf. -> GAP.
// Used to increase or decrease bandwidth
timing_change_done = true;
char hello[]="Hello World, works";
uart_tx((uint8_t *)&hello[0], strlen(hello));
}
break;
case ACI_EVT_TIMING:
printf ("Evt link connection interval changed \n");
lib_aci_set_local_data(&aci_state,
PIPE_UART_OVER_BTLE_UART_LINK_TIMING_CURRENT_SET,
(uint8_t *)&(aci_evt->params.timing.conn_rf_interval), /* Byte aligned */
PIPE_UART_OVER_BTLE_UART_LINK_TIMING_CURRENT_SET_MAX_SIZE);
break;
case ACI_EVT_DISCONNECTED:
printf ("ACI_EVT_DISCONNECTED \n");
lib_aci_connect(0/* in seconds : 0 means forever */, 0x0050 /* advertising interval 50ms*/);
printf ("Advertising started \n");
break;
case ACI_EVT_DATA_RECEIVED:
if (PIPE_UART_OVER_BTLE_UART_RX_RX == aci_evt->params.data_received.rx_data.pipe_number) {
for(int i=0; i<aci_evt->len - 2; i++) {
uart_buffer[i] = aci_evt->params.data_received.rx_data.aci_data[i];
}
uart_buffer_len = aci_evt->len - 2;
if (lib_aci_is_pipe_available(&aci_state, PIPE_UART_OVER_BTLE_UART_TX_TX)) {
}
}
if (PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_RX == aci_evt->params.data_received.rx_data.pipe_number) {
//Subtract for Opcode and Pipe number
uart_process_control_point_rx(&aci_evt->params.data_received.rx_data.aci_data[0], aci_evt->len - 2);
}
printf ("Incomming data - %s\n", uart_buffer);
break;
case ACI_EVT_DATA_CREDIT:
printf ("ACI_EVT_DATA_CREDIT \n");
aci_state.data_credit_available = aci_state.data_credit_available + aci_evt->params.data_credit.credit;
break;
case ACI_EVT_PIPE_ERROR:
printf ("ACI_EVT_PIPE_ERROR \n");
//Increment the credit available as the data packet was not sent.
//The pipe error also represents the Attribute protocol Error Response sent from the peer and that should not be counted
//for the credit.
if (ACI_STATUS_ERROR_PEER_ATT_ERROR != aci_evt->params.pipe_error.error_code) {
aci_state.data_credit_available++;
}
break;
case ACI_EVT_HW_ERROR:
printf ("ACI_EVT_HW_ERROR \n");
lib_aci_connect(0/* in seconds, 0 means forever */, 0x0050 /* advertising interval 50ms*/);
printf ("Advertising started \n");
break;
}
}
/* setup_required is set to true when the device starts up and enters setup mode.
* It indicates that do_aci_setup() should be called. The flag should be cleared if
* do_aci_setup() returns ACI_STATUS_TRANSACTION_COMPLETE.
*/
if(setup_required) {
if (SETUP_SUCCESS == do_aci_setup(&aci_state)) {
setup_required = false;
}
}
usleep (100);
}
close_local_interfaces (&aci_state);
//! [Interesting]
std::cout << "exiting application" << std::endl;
return 0;
}

254
examples/nrf8001_helloworld.h Normal file
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@ -0,0 +1,254 @@
#include "hal_platform.h"
#include "aci.h"
#pragma once
#define SETUP_ID 0
#define SETUP_FORMAT 2 /** nRF8001 Cx */
#define ACI_DYNAMIC_DATA_SIZE 263
/* Service: GATT - Characteristic: Service Changed - Pipe: TX_ACK */
#define PIPE_GATT_SERVICE_CHANGED_TX_ACK 1
#define PIPE_GATT_SERVICE_CHANGED_TX_ACK_MAX_SIZE 4
/* Service: Device Information - Characteristic: Hardware Revision String - Pipe: SET */
#define PIPE_DEVICE_INFORMATION_HARDWARE_REVISION_STRING_SET 2
#define PIPE_DEVICE_INFORMATION_HARDWARE_REVISION_STRING_SET_MAX_SIZE 9
/* Service: Device Information - Characteristic: Manufacturer Name String - Pipe: SET */
#define PIPE_DEVICE_INFORMATION_MANUFACTURER_NAME_STRING_SET 3
#define PIPE_DEVICE_INFORMATION_MANUFACTURER_NAME_STRING_SET_MAX_SIZE 20
/* Service: Device Information - Characteristic: Model Number String - Pipe: SET */
#define PIPE_DEVICE_INFORMATION_MODEL_NUMBER_STRING_SET 4
#define PIPE_DEVICE_INFORMATION_MODEL_NUMBER_STRING_SET_MAX_SIZE 8
/* Service: Device Information - Characteristic: Firmware Revision String - Pipe: SET */
#define PIPE_DEVICE_INFORMATION_FIRMWARE_REVISION_STRING_SET 5
#define PIPE_DEVICE_INFORMATION_FIRMWARE_REVISION_STRING_SET_MAX_SIZE 4
/* Service: Device Information - Characteristic: PNP_ID - Pipe: SET */
#define PIPE_DEVICE_INFORMATION_PNP_ID_SET 6
#define PIPE_DEVICE_INFORMATION_PNP_ID_SET_MAX_SIZE 7
/* Service: UART over BTLE - Characteristic: UART RX - Pipe: RX */
#define PIPE_UART_OVER_BTLE_UART_RX_RX 7
#define PIPE_UART_OVER_BTLE_UART_RX_RX_MAX_SIZE 20
/* Service: UART over BTLE - Characteristic: UART TX - Pipe: TX */
#define PIPE_UART_OVER_BTLE_UART_TX_TX 8
#define PIPE_UART_OVER_BTLE_UART_TX_TX_MAX_SIZE 20
/* Service: UART over BTLE - Characteristic: UART Control Point - Pipe: TX */
#define PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_TX 9
#define PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_TX_MAX_SIZE 9
/* Service: UART over BTLE - Characteristic: UART Control Point - Pipe: RX */
#define PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_RX 10
#define PIPE_UART_OVER_BTLE_UART_CONTROL_POINT_RX_MAX_SIZE 9
/* Service: UART over BTLE - Characteristic: UART Link Timing Current - Pipe: SET */
#define PIPE_UART_OVER_BTLE_UART_LINK_TIMING_CURRENT_SET 11
#define PIPE_UART_OVER_BTLE_UART_LINK_TIMING_CURRENT_SET_MAX_SIZE 6
#define NUMBER_OF_PIPES 11
#define SERVICES_PIPE_TYPE_MAPPING_CONTENT {\
{ACI_STORE_LOCAL, ACI_TX_ACK}, \
{ACI_STORE_LOCAL, ACI_SET}, \
{ACI_STORE_LOCAL, ACI_SET}, \
{ACI_STORE_LOCAL, ACI_SET}, \
{ACI_STORE_LOCAL, ACI_SET}, \
{ACI_STORE_LOCAL, ACI_SET}, \
{ACI_STORE_LOCAL, ACI_RX}, \
{ACI_STORE_LOCAL, ACI_TX}, \
{ACI_STORE_LOCAL, ACI_TX}, \
{ACI_STORE_LOCAL, ACI_RX}, \
{ACI_STORE_LOCAL, ACI_SET}, \
}
#define GAP_PPCP_MAX_CONN_INT 0x12 /**< Maximum connection interval as a multiple of 1.25 msec , 0xFFFF means no specific value requested */
#define GAP_PPCP_MIN_CONN_INT 0xa /**< Minimum connection interval as a multiple of 1.25 msec , 0xFFFF means no specific value requested */
#define GAP_PPCP_SLAVE_LATENCY 0
#define GAP_PPCP_CONN_TIMEOUT 0xa /** Connection Supervision timeout multiplier as a multiple of 10msec, 0xFFFF means no specific value requested */
#define NB_SETUP_MESSAGES 30
#define SETUP_MESSAGES_CONTENT {\
{0x00,\
{\
0x07,0x06,0x00,0x00,0x02,0x02,0x41,0xfe,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x10,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x0a,0x00,0x0b,0x01,0x01,0x00,0x00,0x06,0x00,0x00,\
0x90,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\
},\
},\
{0x00,\
{\
0x1e,0x06,0x10,0x1c,0x01,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\
0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x14,0x03,0x90,0x01,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x00,0x04,0x04,0x02,0x02,0x00,0x01,0x28,0x00,0x01,0x00,0x18,0x04,0x04,0x05,0x05,0x00,\
0x02,0x28,0x03,0x01,0x02,0x03,0x00,0x00,0x2a,0x04,0x04,0x14,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x1c,0x05,0x00,0x03,0x2a,0x00,0x01,0x48,0x65,0x6c,0x6c,0x6f,0x63,0x73,0x65,0x6d,0x69,\
0x2e,0x63,0x6f,0x6d,0x00,0x00,0x00,0x00,0x00,0x00,0x04,0x04,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x38,0x05,0x05,0x00,0x04,0x28,0x03,0x01,0x02,0x05,0x00,0x01,0x2a,0x06,0x04,0x03,0x02,\
0x00,0x05,0x2a,0x01,0x01,0x80,0x00,0x04,0x04,0x05,0x05,0x00,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x54,0x06,0x28,0x03,0x01,0x02,0x07,0x00,0x04,0x2a,0x06,0x04,0x09,0x08,0x00,0x07,0x2a,\
0x04,0x01,0x0a,0x00,0x12,0x00,0x00,0x00,0x0a,0x00,0x04,0x04,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x70,0x02,0x02,0x00,0x08,0x28,0x00,0x01,0x01,0x18,0x04,0x04,0x05,0x05,0x00,0x09,0x28,\
0x03,0x01,0x22,0x0a,0x00,0x05,0x2a,0x26,0x04,0x05,0x04,0x00,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0x8c,0x0a,0x2a,0x05,0x01,0x00,0x00,0x00,0x00,0x46,0x14,0x03,0x02,0x00,0x0b,0x29,0x02,\
0x01,0x00,0x00,0x04,0x04,0x02,0x02,0x00,0x0c,0x28,0x00,0x01,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0xa8,0x0a,0x18,0x04,0x04,0x05,0x05,0x00,0x0d,0x28,0x03,0x01,0x02,0x0e,0x00,0x27,0x2a,\
0x04,0x04,0x09,0x01,0x00,0x0e,0x2a,0x27,0x01,0x0a,0x00,0x00,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0xc4,0x00,0x00,0x00,0x00,0x00,0x00,0x04,0x04,0x05,0x05,0x00,0x0f,0x28,0x03,0x01,0x02,\
0x10,0x00,0x29,0x2a,0x04,0x04,0x14,0x02,0x00,0x10,0x2a,0x29,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0xe0,0x01,0x30,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,\
0x00,0x00,0x00,0x00,0x00,0x04,0x04,0x05,0x05,0x00,0x11,0x28,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x20,0xfc,0x03,0x01,0x02,0x12,0x00,0x24,0x2a,0x04,0x04,0x08,0x02,0x00,0x12,0x2a,0x24,0x01,\
0x31,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x04,0x04,0x05,0x05,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x21,0x18,0x00,0x13,0x28,0x03,0x01,0x02,0x14,0x00,0x26,0x2a,0x04,0x04,0x04,0x02,0x00,0x14,\
0x2a,0x26,0x01,0x33,0x34,0x00,0x00,0x04,0x04,0x05,0x05,0x00,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x21,0x34,0x15,0x28,0x03,0x01,0x02,0x16,0x00,0x50,0x2a,0x06,0x04,0x08,0x07,0x00,0x16,0x2a,\
0x50,0x01,0x02,0x00,0x00,0xaa,0xaa,0xcc,0xcc,0x04,0x04,0x10,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x21,0x50,0x10,0x00,0x17,0x28,0x00,0x01,0x9e,0xca,0xdc,0x24,0x0e,0xe5,0xa9,0xe0,0x93,0xf3,\
0xa3,0xb5,0x01,0x00,0x40,0x6e,0x04,0x04,0x13,0x13,0x00,0x18,\
},\
},\
{0x00,\
{\
0x1f,0x06,0x21,0x6c,0x28,0x03,0x01,0x04,0x19,0x00,0x9e,0xca,0xdc,0x24,0x0e,0xe5,0xa9,0xe0,0x93,0xf3,\
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}