aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
authorLorenz Meier <lm@inf.ethz.ch>2012-08-06 20:20:49 +0200
committerLorenz Meier <lm@inf.ethz.ch>2012-08-06 20:20:49 +0200
commitf88bba0cec9fa98037a966e2e3bcac8ad10b68f0 (patch)
tree95ee88f8847b36393382f5f564e8ddd761eb7b4c
parent31850115bbe09261725d64c3eacb5896fa770cba (diff)
parent9fd948039caea28627808eb63bd3095687eb79f8 (diff)
downloadpx4-firmware-f88bba0cec9fa98037a966e2e3bcac8ad10b68f0.tar.gz
px4-firmware-f88bba0cec9fa98037a966e2e3bcac8ad10b68f0.tar.bz2
px4-firmware-f88bba0cec9fa98037a966e2e3bcac8ad10b68f0.zip
Merge branch 'master' of github.com:PX4/Firmware
Diffstat
-rw-r--r--.cproject116
-rw-r--r--.gitignore2
-rw-r--r--.project135
-rw-r--r--Firmware.sublime-project5
-rw-r--r--ROMFS/Makefile7
-rw-r--r--ROMFS/mixers/FMU_AERT.mix64
-rw-r--r--ROMFS/mixers/FMU_AET.mix60
-rw-r--r--ROMFS/mixers/FMU_RET.mix53
-rw-r--r--ROMFS/mixers/FMU_delta.mix50
-rw-r--r--ROMFS/mixers/FMU_pass.mix23
-rw-r--r--ROMFS/mixers/FMU_quad+.mix54
-rw-r--r--ROMFS/mixers/FMU_quadX.mix54
-rw-r--r--ROMFS/mixers/README90
-rw-r--r--apps/px4/fmu/fmu.cpp76
-rw-r--r--apps/systemlib/mixer.c61
-rw-r--r--nuttx/configs/px4fmu/include/nsh_romfsimg.h601
-rw-r--r--nuttx/configs/px4fmu/src/up_pwm_servo.c6
-rw-r--r--nuttx/configs/px4io/src/drv_pwm_servo.c6
18 files changed, 826 insertions, 637 deletions
diff --git a/.cproject b/.cproject
new file mode 100644
index 000000000..b0c8d5a9d
--- /dev/null
+++ b/.cproject
@@ -0,0 +1,116 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+ <storageModule moduleId="org.eclipse.cdt.core.settings">
+ <cconfiguration id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869" moduleId="org.eclipse.cdt.core.settings" name="Default">
+ <externalSettings/>
+ <extensions>
+ <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+ <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ </extensions>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <configuration artifactName="PX4 Firmware" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+ <folderInfo id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368" name="/" resourcePath="">
+ <toolChain id="cdt.managedbuild.toolchain.gnu.cross.base.1856969168" name="cdt.managedbuild.toolchain.gnu.cross.base" superClass="cdt.managedbuild.toolchain.gnu.cross.base">
+ <option id="cdt.managedbuild.option.gnu.cross.prefix.991032273" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix"/>
+ <option id="cdt.managedbuild.option.gnu.cross.path.272414815" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path"/>
+ <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.28710194" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
+ <builder id="cdt.managedbuild.builder.gnu.cross.65631855" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.builder.gnu.cross"/>
+ <tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.1999202405" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
+ <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1330238701" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.917097290" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1246192262" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.901081720" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+ <tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.2000759535" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+ <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.476227307" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+ <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+ <additionalInput kind="additionalinput" paths="$(LIBS)"/>
+ </inputType>
+ </tool>
+ <tool id="cdt.managedbuild.tool.gnu.cross.archiver.747956554" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+ <tool id="cdt.managedbuild.tool.gnu.cross.assembler.1942271155" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+ <inputType id="cdt.managedbuild.tool.gnu.assembler.input.30395998" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+ </tool>
+ </toolChain>
+ </folderInfo>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+ </cconfiguration>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <project id="PX4 Firmware.null.1571077338" name="PX4 Firmware"/>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+ <storageModule moduleId="refreshScope" versionNumber="2">
+ <configuration configurationName="Default">
+ <resource resourceType="PROJECT" workspacePath="/PX4 Firmware"/>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="scannerConfiguration">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.1480167869;cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368;cdt.managedbuild.tool.gnu.cross.c.compiler.1999202405;cdt.managedbuild.tool.gnu.c.compiler.input.1330238701">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.1480167869;cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368;cdt.managedbuild.tool.gnu.cross.cpp.compiler.917097290;cdt.managedbuild.tool.gnu.cpp.compiler.input.1246192262">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
+ </scannerConfigBuildInfo>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
+ <doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
+ <path value=""/>
+ </doc-comment-owner>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+ <buildTargets>
+ <target name="firmware" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <buildCommand>make</buildCommand>
+ <buildTarget>all</buildTarget>
+ <stopOnError>true</stopOnError>
+ <useDefaultCommand>true</useDefaultCommand>
+ <runAllBuilders>true</runAllBuilders>
+ </target>
+ <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <buildCommand>make</buildCommand>
+ <buildArguments/>
+ <buildTarget>clean</buildTarget>
+ <stopOnError>true</stopOnError>
+ <useDefaultCommand>true</useDefaultCommand>
+ <runAllBuilders>true</runAllBuilders>
+ </target>
+ <target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <buildCommand>make</buildCommand>
+ <buildArguments/>
+ <buildTarget>distclean</buildTarget>
+ <stopOnError>true</stopOnError>
+ <useDefaultCommand>true</useDefaultCommand>
+ <runAllBuilders>true</runAllBuilders>
+ </target>
+ <target name="upload" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <buildCommand>make</buildCommand>
+ <buildArguments/>
+ <buildTarget>upload</buildTarget>
+ <stopOnError>true</stopOnError>
+ <useDefaultCommand>true</useDefaultCommand>
+ <runAllBuilders>true</runAllBuilders>
+ </target>
+ <target name="ROMFS" path="ROMFS" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+ <buildCommand>make</buildCommand>
+ <buildArguments/>
+ <buildTarget>install</buildTarget>
+ <stopOnError>true</stopOnError>
+ <useDefaultCommand>true</useDefaultCommand>
+ <runAllBuilders>true</runAllBuilders>
+ </target>
+ </buildTargets>
+ </storageModule>
+</cproject>
diff --git a/.gitignore b/.gitignore
index a05cd34c8..3da1c5c7a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,4 +33,4 @@ nuttx/nuttx.hex
.settings
Firmware.sublime-workspace
.DS_Store
-nuttx/configs/px4fmu/include/nsh_romfsimg.h
+nsh_romfsimg.h
diff --git a/.project b/.project
new file mode 100644
index 000000000..62e37139e
--- /dev/null
+++ b/.project
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>PX4 Firmware</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ <dictionary>
+ <key>?name?</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.append_environment</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildCommand</key>
+ <value>make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ </natures>
+ <filteredResources>
+ <filter>
+ <id>1344101890673</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.o</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>1344101890683</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-.dep</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>1344101890687</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-.context</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>1344101890691</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-.depend</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>1344101890695</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-.built</arguments>
+ </matcher>
+ </filter>
+ <filter>
+ <id>1344101890698</id>
+ <name></name>
+ <type>6</type>
+ <matcher>
+ <id>org.eclipse.ui.ide.multiFilter</id>
+ <arguments>1.0-name-matches-false-false-*.a</arguments>
+ </matcher>
+ </filter>
+ </filteredResources>
+</projectDescription>
diff --git a/Firmware.sublime-project b/Firmware.sublime-project
index e3a8064c3..31b924af7 100644
--- a/Firmware.sublime-project
+++ b/Firmware.sublime-project
@@ -10,7 +10,10 @@
".built",
".context",
".depend",
- "Make.dep"
+ "Make.dep",
+ ".configured",
+ "*.sublime-project",
+ "*.sublime-workspace"
]
}
],
diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index cc5a3ccd3..6437a1e97 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -20,7 +20,12 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
- $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR
+ $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
+ $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
+ $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
+ $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
+ $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
+ $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
#
# Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
new file mode 100644
index 000000000..eb46da5fa
--- /dev/null
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -0,0 +1,64 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically. To obtain the correct
+motion using a Y cable, the servos can be positioned reversed from one another.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 10000 10000 0 -10000 10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 1 10000 10000 0 -10000 10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 2 10000 10000 0 -10000 10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
new file mode 100644
index 000000000..9ae23f264
--- /dev/null
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -0,0 +1,60 @@
+Aileron/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, elevator and throttle controls using PX4FMU. The configuration assumes
+the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
+output 1 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically. To obtain the correct
+motion using a Y cable, the servos can be positioned reversed from one another.
+
+Alternatively, output 2 could be used as a second aileron servo output with
+separate mixing.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 10000 10000 0 -10000 10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 1 10000 10000 0 -10000 10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
new file mode 100644
index 000000000..94815b48e
--- /dev/null
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -0,0 +1,53 @@
+Rudder/elevator/throttle mixer for PX4FMU
+=========================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+rudder, elevator and throttle controls using PX4FMU. The configuration assumes
+the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
+and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Rudder mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 10000 10000 0 -10000 10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 1 10000 10000 0 -10000 10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix
new file mode 100644
index 000000000..7b878e40b
--- /dev/null
+++ b/ROMFS/mixers/FMU_delta.mix
@@ -0,0 +1,50 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 3
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 3000 5000 0 -10000 10000
+S: 0 1 5000 5000 0 -10000 10000
+
+M: 3
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 5000 3000 0 -10000 10000
+S: 0 1 -5000 -5000 0 -10000 10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range. Inputs below zero are treated as zero.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/mixers/FMU_pass.mix
new file mode 100644
index 000000000..0e8e07a07
--- /dev/null
+++ b/ROMFS/mixers/FMU_pass.mix
@@ -0,0 +1,23 @@
+Passthrough mixer for PX4FMU
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-3 are passed directly through to the outputs.
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 10000 10000 0 -10000 10000
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 1 10000 10000 0 -10000 10000
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 2 10000 10000 0 -10000 10000
+
+M: 2
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 3 10000 10000 0 -10000 10000
+
diff --git a/ROMFS/mixers/FMU_quad+.mix b/ROMFS/mixers/FMU_quad+.mix
new file mode 100644
index 000000000..1ab38ef6d
--- /dev/null
+++ b/ROMFS/mixers/FMU_quad+.mix
@@ -0,0 +1,54 @@
+Quadrotor + mixer for PX4FMU
+============================
+
+This file defines mixers suitable for controlling a quadrotor in the +
+arrangement using PX4FMU. The configuration assumes the motors are connected
+starting with the front motor on output 0 and proceeding clockwise.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Scale values here will definitely need tuning.
+
+Front
+-----
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 0 0 0 -10000 10000
+S: 0 1 1000 1000 0 -10000 10000
+S: 0 2 1000 1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Right
+-----
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 1000 1000 0 -10000 10000
+S: 0 1 0 0 0 -10000 10000
+S: 0 2 -1000 -1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Back
+----
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 0 0 0 -10000 10000
+S: 0 1 -1000 -1000 0 -10000 10000
+S: 0 2 1000 1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Left
+----
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 -1000 -1000 0 -10000 10000
+S: 0 1 0 0 0 -10000 10000
+S: 0 2 -1000 -1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
diff --git a/ROMFS/mixers/FMU_quadX.mix b/ROMFS/mixers/FMU_quadX.mix
new file mode 100644
index 000000000..5a8641fa0
--- /dev/null
+++ b/ROMFS/mixers/FMU_quadX.mix
@@ -0,0 +1,54 @@
+Quadrotor X mixer for PX4FMU
+============================
+
+This file defines mixers suitable for controlling a quadrotor in the X
+arrangement using PX4FMU. The configuration assumes the motors are connected
+starting with the front-right motor on output 0 and proceeding clockwise.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Scale values here will definitely need tuning.
+
+Front right
+-----------
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 1000 1000 0 -10000 10000
+S: 0 1 1000 1000 0 -10000 10000
+S: 0 2 1000 1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Back right
+----------
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 1000 1000 0 -10000 10000
+S: 0 1 -1000 -1000 0 -10000 10000
+S: 0 2 -1000 -1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Back left
+---------
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 -1000 -1000 0 -10000 10000
+S: 0 1 -1000 -1000 0 -10000 10000
+S: 0 2 1000 1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
+Front left
+----------
+
+M: 4
+S: 0 0 10000 10000 0 -10000 10000
+S: 0 0 -1000 -1000 0 -10000 10000
+S: 0 1 1000 1000 0 -10000 10000
+S: 0 2 -1000 -1000 0 -10000 10000
+S: 0 3 0 20000 -10000 -10000 10000
+
diff --git a/ROMFS/mixers/README b/ROMFS/mixers/README
new file mode 100644
index 000000000..482478fa7
--- /dev/null
+++ b/ROMFS/mixers/README
@@ -0,0 +1,90 @@
+PX4 mixer definitions
+=====================
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+Mixer basics
+------------
+
+Mixers combine control values from various sources (control tasks, user inputs,
+etc.) and produce output values suitable for controlling actuators; servos,
+motors, switches and so on.
+
+An actuator derives its value from the combination of one or more control
+values. Each of the control values is scaled according to the actuator's
+configuration and then combined to produce the actuator value, which may then be
+further scaled to suit the specific output type.
+
+Internally, all scaling is performed using floating point values. Inputs and
+outputs are clamped to the range -1.0 to 1.0.
+
+control control control
+ | | |
+ v v v
+ scale scale scale
+ | | |
+ | v |
+ +-------> mix <------+
+ |
+ scale
+ |
+ v
+ out
+
+Scaling
+-------
+
+Basic scalers provide linear scaling of the input to the output.
+
+Each scaler allows the input value to be scaled independently for inputs
+greater/less than zero. An offset can be applied to the output, and lower and
+upper boundary constraints can be applied. Negative scaling factors cause the
+output to be inverted (negative input produces positive output).
+
+Scaler pseudocode:
+
+if (input < 0)
+ output = (input * NEGATIVE_SCALE) + OFFSET
+else
+ output = (input * POSITIVE_SCALE) + OFFSET
+
+if (output < LOWER_LIMIT)
+ output = LOWER_LIMIT
+if (output > UPPER_LIMIT)
+ output = UPPER_LIMIT
+
+Syntax
+------
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition.
+
+A mixer begins with a line of the form
+
+ M: <scaler count>
+
+If the scaler count is zero, the mixer is a placeholder and the device will not
+allocate a mixer for this position. Otherwise, this line is followed by scaler
+definitions matching the given count.
+
+A scaler definition is a line of the form:
+
+ S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The first scaler definition following the M: line configures the output scaler.
+The <group> and <index> fields are ignored in this case.
+
+For the remaining scalers, the <group> value identifies the control group from
+which the scaler will read. Control group 0 is the vehicle attitude control
+group; other group numbers may be assigned for other purposes. The <index> value
+selects the control within the group that will be scaled.
+
+The remaining fields on the line represent the scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 57eb12f4e..3021321da 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -209,6 +209,8 @@ FMUServo::task_main()
unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
+ log("starting");
+
/* loop until killed */
while (!_task_should_exit) {
@@ -235,7 +237,6 @@ FMUServo::task_main()
/* if the actuator is configured */
if (_mixer[i] != nullptr) {
-
/* mix controls to the actuator */
float output = mixer_mix(_mixer[i], &controls[0]);
@@ -263,6 +264,8 @@ FMUServo::task_main()
/* make sure servos are off */
up_pwm_servo_deinit();
+ log("stopping");
+
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
@@ -379,13 +382,16 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
/* get the caller-supplied mixer and check */
mm = (struct mixer_s *)arg;
- if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) { /* only the attitude group is supported */
- ret = -EINVAL;
- break;
- }
-
/* allocate local storage and copy from the caller*/
if (mm != nullptr) {
+
+ if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) {
+ /* only the attitude group is supported */
+ ret = -EINVAL;
+ break;
+ }
+
+ /* allocate a new mixer struct */
tmm = (struct mixer_s *)malloc(MIXER_SIZE(mm->control_count));
memcpy(tmm, mm, MIXER_SIZE(mm->control_count));
@@ -512,6 +518,56 @@ fmu_new_mode(PortMode new_mode)
return ret;
}
+void
+test(void)
+{
+ int fd;
+
+ fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
+
+ if (fd < 0) {
+ puts("open fail");
+ exit(1);
+ }
+
+ ioctl(fd, PWM_SERVO_ARM, 0);
+ ioctl(fd, PWM_SERVO_SET(0), 1000);
+
+ close(fd);
+
+ exit(0);
+}
+
+void
+fake(int argc, char *argv[])
+{
+ if (argc < 5) {
+ puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 - 100)");
+ exit(1);
+ }
+
+ struct actuator_controls_s ac;
+
+ ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
+
+ ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
+
+ ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
+
+ ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
+
+ int handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
+
+ if (handle < 0) {
+ puts("advertise failed");
+ exit(1);
+ }
+
+ close(handle);
+
+ exit(0);
+}
+
} // namespace
extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
@@ -521,10 +577,16 @@ fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
+ if (!strcmp(argv[1], "test"))
+ test();
+
+ if (!strcmp(argv[1], "fake"))
+ fake(argc - 1, argv + 1);
+
/*
* Mode switches.
*
- * XXX use getopt
+ * XXX use getopt?
*/
if (!strcmp(argv[1], "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
diff --git a/apps/systemlib/mixer.c b/apps/systemlib/mixer.c
index 8b1dcc054..b068d3958 100644
--- a/apps/systemlib/mixer.c
+++ b/apps/systemlib/mixer.c
@@ -163,29 +163,46 @@ mixer_mix(struct mixer_s *mixer, float **controls)
static int
mixer_getline(int fd, char *line, unsigned maxlen)
{
- int ret;
- char c;
-
- while (--maxlen) {
- ret = read(fd, &c, 1);
-
- if (ret <= 0)
- return ret;
-
- if (c == '\r')
- continue;
-
- if (c == '\n') {
- *line = '\0';
- return 1;
+ /* reduce line budget by 1 to account for terminal NUL */
+ maxlen--;
+
+ /* loop looking for a non-comment line */
+ for (;;) {
+ int ret;
+ char c;
+ char *p = line;
+
+ /* loop reading characters for this line */
+ for (;;) {
+ ret = read(fd, &c, 1);
+
+ /* on error or EOF, return same */
+ if (ret <= 0)
+ return ret;
+
+ /* ignore carriage returns */
+ if (c == '\r')
+ continue;
+
+ /* line termination */
+ if (c == '\n') {
+ /* ignore malformed lines */
+ if ((p - line) < 4)
+ break;
+
+ if (line[1] != ':')
+ break;
+
+ /* terminate line as string and return */
+ *p = '\0';
+ return 1;
+ }
+
+ /* if we have space, accumulate the byte and go on */
+ if ((p - line) < maxlen)
+ *p++ = c;
}
-
- *line++ = c;
}
-
- /* line too long */
- puts("line too long");
- return -1;
}
static int
@@ -214,7 +231,7 @@ mixer_load(int fd, struct mixer_s **mp)
{
int ret, result = -1;
struct mixer_s *mixer = NULL;
- char buf[100];
+ char buf[60];
unsigned scalers;
ret = mixer_getline(fd, buf, sizeof(buf));
diff --git a/nuttx/configs/px4fmu/include/nsh_romfsimg.h b/nuttx/configs/px4fmu/include/nsh_romfsimg.h
deleted file mode 100644
index 9965277c7..000000000
--- a/nuttx/configs/px4fmu/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,601 +0,0 @@
-unsigned char romfs_img[] = {
- 0x2d, 0x72, 0x6f, 0x6d, 0x31, 0x66, 0x73, 0x2d, 0x00, 0x00, 0x18, 0x90,
- 0xc0, 0x84, 0x3c, 0x72, 0x4e, 0x53, 0x48, 0x49, 0x6e, 0x69, 0x74, 0x56,
- 0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x49,
- 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0xd1, 0xff, 0xff, 0x97,
- 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x20,
- 0x00, 0x00, 0x00, 0x00, 0xd1, 0xd1, 0xff, 0x80, 0x2e, 0x2e, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00,
- 0x68, 0x2d, 0x96, 0x03, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa0,
- 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0xd1, 0xff, 0xff, 0x00,
- 0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x20,
- 0x00, 0x00, 0x00, 0x00, 0xd1, 0xd1, 0xff, 0x20, 0x2e, 0x2e, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x01, 0x62, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7c,
- 0xaf, 0xce, 0x68, 0x4d, 0x72, 0x63, 0x2e, 0x6c, 0x6f, 0x67, 0x67, 0x69,
- 0x6e, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x21, 0x6e, 0x73,
- 0x68, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x49, 0x6e, 0x69, 0x74, 0x69, 0x61,
- 0x6c, 0x69, 0x73, 0x65, 0x20, 0x6c, 0x6f, 0x67, 0x67, 0x69, 0x6e, 0x67,
- 0x20, 0x73, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65, 0x73, 0x2e, 0x0a, 0x23,
- 0x0a, 0x0a, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x2d, 0x64, 0x20, 0x2f, 0x66,
- 0x73, 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x20, 0x5d, 0x0a,
- 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20,
- 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20,
- 0x62, 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64,
- 0x3e, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e, 0x0a, 0x09, 0x23,
- 0x20, 0x73, 0x64, 0x6c, 0x6f, 0x67, 0x20, 0x26, 0x0a, 0x66, 0x69, 0x0a,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x72, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x03, 0xe9, 0x35, 0x68, 0x7f, 0x06, 0x72, 0x63, 0x2e, 0x50,
- 0x58, 0x34, 0x49, 0x4f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x23, 0x21, 0x6e, 0x73, 0x68, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x46, 0x6c,
- 0x69, 0x67, 0x68, 0x74, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70,
- 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x66, 0x6f, 0x72, 0x20,
- 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x77, 0x69, 0x74, 0x68, 0x20,
- 0x50, 0x58, 0x34, 0x49, 0x4f, 0x20, 0x63, 0x61, 0x72, 0x72, 0x69, 0x65,
- 0x72, 0x20, 0x62, 0x6f, 0x61, 0x72, 0x64, 0x2e, 0x0a, 0x23, 0x0a, 0x0a,
- 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d,
- 0x20, 0x64, 0x6f, 0x69, 0x6e, 0x67, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f,
- 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x2e, 0x2e, 0x2e, 0x22,
- 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20,
- 0x74, 0x68, 0x65, 0x20, 0x4f, 0x52, 0x42, 0x0a, 0x23, 0x0a, 0x75, 0x6f,
- 0x72, 0x62, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x0a, 0x23, 0x0a,
- 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20,
- 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x2e, 0x0a, 0x23, 0x0a, 0x73,
- 0x68, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e,
- 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73,
- 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20,
- 0x4d, 0x41, 0x56, 0x4c, 0x69, 0x6e, 0x6b, 0x0a, 0x23, 0x0a, 0x6d, 0x61,
- 0x76, 0x6c, 0x69, 0x6e, 0x6b, 0x20, 0x2d, 0x64, 0x20, 0x2f, 0x64, 0x65,
- 0x76, 0x2f, 0x74, 0x74, 0x79, 0x53, 0x30, 0x20, 0x2d, 0x62, 0x20, 0x35,
- 0x37, 0x36, 0x30, 0x30, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x63, 0x6f,
- 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x65, 0x72, 0x2e, 0x0a, 0x23, 0x0a, 0x23,
- 0x20, 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68,
- 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f,
- 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74,
- 0x27, 0x2e, 0x0a, 0x23, 0x0a, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64,
- 0x65, 0x72, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74,
- 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x61, 0x74, 0x74, 0x69,
- 0x74, 0x75, 0x64, 0x65, 0x20, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61, 0x74,
- 0x6f, 0x72, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x74,
- 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62,
- 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x3e,
- 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e, 0x0a, 0x23, 0x0a, 0x61,
- 0x74, 0x74, 0x69, 0x74, 0x75, 0x64, 0x65, 0x5f, 0x65, 0x73, 0x74, 0x69,
- 0x6d, 0x61, 0x74, 0x6f, 0x72, 0x5f, 0x62, 0x6d, 0x20, 0x26, 0x0a, 0x23,
- 0x70, 0x6f, 0x73, 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x65, 0x73, 0x74,
- 0x69, 0x6d, 0x61, 0x74, 0x6f, 0x72, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a,
- 0x23, 0x20, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x65, 0x20,
- 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x6f,
- 0x70, 0x65, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x77, 0x69, 0x74,
- 0x68, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x58, 0x58, 0x58, 0x20, 0x61, 0x72, 0x67, 0x75, 0x6d, 0x65, 0x6e, 0x74,
- 0x73, 0x3f, 0x0a, 0x23, 0x0a, 0x70, 0x78, 0x34, 0x66, 0x6d, 0x75, 0x20,
- 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53,
- 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x66, 0x69, 0x78,
- 0x65, 0x64, 0x2d, 0x77, 0x69, 0x6e, 0x67, 0x20, 0x63, 0x6f, 0x6e, 0x74,
- 0x72, 0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58,
- 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75,
- 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f, 0x6d, 0x6d,
- 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e,
- 0x0a, 0x23, 0x0a, 0x66, 0x69, 0x78, 0x65, 0x64, 0x77, 0x69, 0x6e, 0x67,
- 0x5f, 0x63, 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x20, 0x26, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x46, 0x69, 0x72, 0x65, 0x20, 0x75, 0x70, 0x20,
- 0x74, 0x68, 0x65, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x20, 0x69, 0x6e,
- 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x2e, 0x0a, 0x23, 0x0a, 0x70,
- 0x78, 0x34, 0x69, 0x6f, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x6c, 0x6f,
- 0x6f, 0x6b, 0x69, 0x6e, 0x67, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x61, 0x20,
- 0x47, 0x50, 0x53, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58,
- 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64,
- 0x20, 0x6e, 0x6f, 0x74, 0x20, 0x6e, 0x65, 0x65, 0x64, 0x20, 0x74, 0x6f,
- 0x20, 0x62, 0x65, 0x20, 0x62, 0x61, 0x63, 0x6b, 0x67, 0x72, 0x6f, 0x75,
- 0x6e, 0x64, 0x65, 0x64, 0x0a, 0x23, 0x0a, 0x67, 0x70, 0x73, 0x20, 0x2d,
- 0x64, 0x20, 0x2f, 0x64, 0x65, 0x76, 0x2f, 0x74, 0x74, 0x79, 0x53, 0x33,
- 0x20, 0x2d, 0x6d, 0x20, 0x61, 0x6c, 0x6c, 0x20, 0x26, 0x0a, 0x0a, 0x23,
- 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x6c, 0x6f, 0x67,
- 0x67, 0x69, 0x6e, 0x67, 0x20, 0x74, 0x6f, 0x20, 0x6d, 0x69, 0x63, 0x72,
- 0x6f, 0x53, 0x44, 0x20, 0x69, 0x66, 0x20, 0x77, 0x65, 0x20, 0x63, 0x61,
- 0x6e, 0x0a, 0x23, 0x0a, 0x73, 0x68, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f,
- 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x6c, 0x6f,
- 0x67, 0x67, 0x69, 0x6e, 0x67, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x73,
- 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x69, 0x73, 0x20, 0x64, 0x6f,
- 0x6e, 0x65, 0x3b, 0x20, 0x77, 0x65, 0x20, 0x64, 0x6f, 0x6e, 0x27, 0x74,
- 0x20, 0x77, 0x61, 0x6e, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73, 0x68,
- 0x65, 0x6c, 0x6c, 0x20, 0x62, 0x65, 0x63, 0x61, 0x75, 0x73, 0x65, 0x20,
- 0x77, 0x65, 0x0a, 0x23, 0x20, 0x75, 0x73, 0x65, 0x20, 0x74, 0x68, 0x65,
- 0x20, 0x73, 0x61, 0x6d, 0x65, 0x20, 0x55, 0x41, 0x52, 0x54, 0x20, 0x66,
- 0x6f, 0x72, 0x20, 0x74, 0x65, 0x6c, 0x65, 0x6d, 0x65, 0x74, 0x72, 0x79,
- 0x20, 0x28, 0x64, 0x75, 0x6d, 0x62, 0x29, 0x2e, 0x0a, 0x23, 0x0a, 0x65,
- 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20,
- 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x64, 0x6f, 0x6e, 0x65,
- 0x2c, 0x20, 0x65, 0x78, 0x69, 0x74, 0x69, 0x6e, 0x67, 0x2e, 0x22, 0x0a,
- 0x65, 0x78, 0x69, 0x74, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x09, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xd6,
- 0xf4, 0x16, 0x7b, 0x19, 0x72, 0x63, 0x2e, 0x50, 0x58, 0x34, 0x49, 0x4f,
- 0x41, 0x52, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x21, 0x6e, 0x73,
- 0x68, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x46, 0x6c, 0x69, 0x67, 0x68, 0x74,
- 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x73, 0x63, 0x72,
- 0x69, 0x70, 0x74, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x50, 0x58, 0x34, 0x46,
- 0x4d, 0x55, 0x20, 0x6f, 0x6e, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41,
- 0x52, 0x20, 0x63, 0x61, 0x72, 0x72, 0x69, 0x65, 0x72, 0x20, 0x62, 0x6f,
- 0x61, 0x72, 0x64, 0x2e, 0x0a, 0x23, 0x0a, 0x0a, 0x65, 0x63, 0x68, 0x6f,
- 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x64, 0x6f, 0x69,
- 0x6e, 0x67, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x20, 0x73,
- 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x2e, 0x2e, 0x2e, 0x22, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68,
- 0x65, 0x20, 0x4f, 0x52, 0x42, 0x0a, 0x23, 0x0a, 0x75, 0x6f, 0x72, 0x62,
- 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73, 0x65,
- 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x2e, 0x0a, 0x23, 0x0a, 0x73, 0x68, 0x20,
- 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f,
- 0x72, 0x63, 0x2e, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x4d, 0x41,
- 0x56, 0x4c, 0x69, 0x6e, 0x6b, 0x0a, 0x23, 0x0a, 0x6d, 0x61, 0x76, 0x6c,
- 0x69, 0x6e, 0x6b, 0x20, 0x2d, 0x64, 0x20, 0x2f, 0x64, 0x65, 0x76, 0x2f,
- 0x74, 0x74, 0x79, 0x53, 0x30, 0x20, 0x2d, 0x62, 0x20, 0x35, 0x37, 0x36,
- 0x30, 0x30, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74,
- 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x63, 0x6f, 0x6d, 0x6d,
- 0x61, 0x6e, 0x64, 0x65, 0x72, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58,
- 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75,
- 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f, 0x6d, 0x6d,
- 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e,
- 0x0a, 0x23, 0x0a, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x65, 0x72,
- 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72,
- 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x61, 0x74, 0x74, 0x69, 0x74, 0x75,
- 0x64, 0x65, 0x20, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61, 0x74, 0x6f, 0x72,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69,
- 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20,
- 0x27, 0x3c, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73,
- 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e, 0x0a, 0x23, 0x0a, 0x61, 0x74, 0x74,
- 0x69, 0x74, 0x75, 0x64, 0x65, 0x5f, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61,
- 0x74, 0x6f, 0x72, 0x5f, 0x62, 0x6d, 0x20, 0x26, 0x0a, 0x23, 0x70, 0x6f,
- 0x73, 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x65, 0x73, 0x74, 0x69, 0x6d,
- 0x61, 0x74, 0x6f, 0x72, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x65, 0x20, 0x50, 0x58,
- 0x34, 0x46, 0x4d, 0x55, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x6f, 0x70, 0x65,
- 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x77, 0x69, 0x74, 0x68, 0x20,
- 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x58, 0x58, 0x58, 0x20, 0x61, 0x72, 0x67, 0x75, 0x6d, 0x65, 0x6e, 0x74,
- 0x73, 0x3f, 0x0a, 0x23, 0x0a, 0x70, 0x78, 0x34, 0x66, 0x6d, 0x75, 0x20,
- 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x46,
- 0x69, 0x72, 0x65, 0x20, 0x75, 0x70, 0x20, 0x74, 0x68, 0x65, 0x20, 0x41,
- 0x52, 0x2e, 0x44, 0x72, 0x6f, 0x6e, 0x65, 0x20, 0x63, 0x6f, 0x6e, 0x74,
- 0x72, 0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f,
- 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x3c, 0x63, 0x6f, 0x6d,
- 0x6d, 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27,
- 0x2e, 0x0a, 0x23, 0x0a, 0x61, 0x72, 0x64, 0x72, 0x6f, 0x6e, 0x65, 0x5f,
- 0x63, 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x20, 0x2d, 0x64, 0x20, 0x2f,
- 0x64, 0x65, 0x76, 0x2f, 0x74, 0x74, 0x79, 0x53, 0x31, 0x20, 0x2d, 0x6d,
- 0x20, 0x61, 0x74, 0x74, 0x69, 0x74, 0x75, 0x64, 0x65, 0x20, 0x26, 0x0a,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x6c,
- 0x6f, 0x6f, 0x6b, 0x69, 0x6e, 0x67, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x61,
- 0x20, 0x47, 0x50, 0x53, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58,
- 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c,
- 0x64, 0x20, 0x6e, 0x6f, 0x74, 0x20, 0x6e, 0x65, 0x65, 0x64, 0x20, 0x74,
- 0x6f, 0x20, 0x62, 0x65, 0x20, 0x62, 0x61, 0x63, 0x6b, 0x67, 0x72, 0x6f,
- 0x75, 0x6e, 0x64, 0x65, 0x64, 0x0a, 0x23, 0x0a, 0x67, 0x70, 0x73, 0x20,
- 0x2d, 0x64, 0x20, 0x2f, 0x64, 0x65, 0x76, 0x2f, 0x74, 0x74, 0x79, 0x53,
- 0x33, 0x20, 0x2d, 0x6d, 0x20, 0x61, 0x6c, 0x6c, 0x20, 0x26, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x6c, 0x6f,
- 0x67, 0x67, 0x69, 0x6e, 0x67, 0x20, 0x74, 0x6f, 0x20, 0x6d, 0x69, 0x63,
- 0x72, 0x6f, 0x53, 0x44, 0x20, 0x69, 0x66, 0x20, 0x77, 0x65, 0x20, 0x63,
- 0x61, 0x6e, 0x0a, 0x23, 0x0a, 0x73, 0x68, 0x20, 0x2f, 0x65, 0x74, 0x63,
- 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x6c,
- 0x6f, 0x67, 0x67, 0x69, 0x6e, 0x67, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x69, 0x73, 0x20, 0x64,
- 0x6f, 0x6e, 0x65, 0x3b, 0x20, 0x77, 0x65, 0x20, 0x64, 0x6f, 0x6e, 0x27,
- 0x74, 0x20, 0x77, 0x61, 0x6e, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73,
- 0x68, 0x65, 0x6c, 0x6c, 0x20, 0x62, 0x65, 0x63, 0x61, 0x75, 0x73, 0x65,
- 0x20, 0x77, 0x65, 0x0a, 0x23, 0x20, 0x75, 0x73, 0x65, 0x20, 0x74, 0x68,
- 0x65, 0x20, 0x73, 0x61, 0x6d, 0x65, 0x20, 0x55, 0x41, 0x52, 0x54, 0x20,
- 0x66, 0x6f, 0x72, 0x20, 0x74, 0x65, 0x6c, 0x65, 0x6d, 0x65, 0x74, 0x72,
- 0x79, 0x20, 0x28, 0x64, 0x75, 0x6d, 0x62, 0x29, 0x2e, 0x0a, 0x23, 0x0a,
- 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d,
- 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x64, 0x6f, 0x6e,
- 0x65, 0x2c, 0x20, 0x65, 0x78, 0x69, 0x74, 0x69, 0x6e, 0x67, 0x2e, 0x22,
- 0x0a, 0x65, 0x78, 0x69, 0x74, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x02, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x01, 0x6e, 0xb5, 0xbb, 0x51, 0xae, 0x72, 0x63, 0x2e, 0x73,
- 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x23, 0x21, 0x6e, 0x73, 0x68, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74,
- 0x61, 0x6e, 0x64, 0x61, 0x72, 0x64, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74,
- 0x75, 0x70, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x66, 0x6f,
- 0x72, 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x6f, 0x6e, 0x62,
- 0x6f, 0x61, 0x72, 0x64, 0x20, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x20,
- 0x64, 0x72, 0x69, 0x76, 0x65, 0x72, 0x73, 0x2e, 0x0a, 0x23, 0x0a, 0x0a,
- 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x73, 0x65,
- 0x6e, 0x73, 0x6f, 0x72, 0x20, 0x64, 0x72, 0x69, 0x76, 0x65, 0x72, 0x73,
- 0x20, 0x68, 0x65, 0x72, 0x65, 0x2e, 0x0a, 0x23, 0x0a, 0x0a, 0x23, 0x6d,
- 0x73, 0x35, 0x36, 0x31, 0x31, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20, 0x74,
- 0x68, 0x65, 0x20, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x20, 0x63, 0x6f,
- 0x6c, 0x6c, 0x65, 0x63, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x74, 0x61, 0x73,
- 0x6b, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x73,
- 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x73, 0x65,
- 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27,
- 0x0a, 0x23, 0x0a, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x20, 0x26,
- 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x73,
- 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x20, 0x66, 0x75, 0x6e, 0x63, 0x74, 0x69,
- 0x6f, 0x6e, 0x61, 0x6c, 0x69, 0x74, 0x79, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x58, 0x58, 0x58, 0x20, 0x69, 0x6e, 0x74, 0x65, 0x67, 0x72, 0x61, 0x74,
- 0x65, 0x20, 0x77, 0x69, 0x74, 0x68, 0x20, 0x27, 0x73, 0x65, 0x6e, 0x73,
- 0x6f, 0x72, 0x73, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x20, 0x3f,
- 0x0a, 0x23, 0x0a, 0x23, 0x69, 0x66, 0x20, 0x73, 0x65, 0x6e, 0x73, 0x6f,
- 0x72, 0x73, 0x20, 0x71, 0x75, 0x69, 0x63, 0x6b, 0x74, 0x65, 0x73, 0x74,
- 0x0a, 0x23, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x23, 0x09, 0x65, 0x63, 0x68,
- 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x73, 0x65,
- 0x6e, 0x73, 0x6f, 0x72, 0x20, 0x69, 0x6e, 0x69, 0x74, 0x69, 0x61, 0x6c,
- 0x69, 0x73, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x46, 0x41, 0x49, 0x4c,
- 0x45, 0x44, 0x2e, 0x22, 0x0a, 0x23, 0x09, 0x72, 0x65, 0x62, 0x6f, 0x6f,
- 0x74, 0x0a, 0x23, 0x66, 0x69, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x0e, 0xf2,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xcc, 0x52, 0xce, 0xe0, 0xfd,
- 0x72, 0x63, 0x2e, 0x73, 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e,
- 0x65, 0x00, 0x00, 0x00, 0x23, 0x21, 0x6e, 0x73, 0x68, 0x0a, 0x23, 0x0a,
- 0x23, 0x20, 0x46, 0x6c, 0x69, 0x67, 0x68, 0x74, 0x20, 0x73, 0x74, 0x61,
- 0x72, 0x74, 0x75, 0x70, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20,
- 0x66, 0x6f, 0x72, 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x73,
- 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x20, 0x63, 0x6f,
- 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x2e,
- 0x0a, 0x23, 0x0a, 0x0a, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69,
- 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x64, 0x6f, 0x69, 0x6e, 0x67, 0x20, 0x73,
- 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x20, 0x50, 0x58,
- 0x34, 0x46, 0x4d, 0x55, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70,
- 0x2e, 0x2e, 0x2e, 0x22, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74,
- 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x4f, 0x52, 0x42, 0x0a,
- 0x23, 0x0a, 0x75, 0x6f, 0x72, 0x62, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74,
- 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20,
- 0x74, 0x68, 0x65, 0x20, 0x73, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x2e,
- 0x0a, 0x23, 0x0a, 0x23, 0x73, 0x68, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f,
- 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x73, 0x65,
- 0x6e, 0x73, 0x6f, 0x72, 0x73, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53,
- 0x74, 0x61, 0x72, 0x74, 0x20, 0x4d, 0x41, 0x56, 0x4c, 0x69, 0x6e, 0x6b,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x6d, 0x61, 0x76, 0x6c, 0x69, 0x6e, 0x6b,
- 0x20, 0x2d, 0x64, 0x20, 0x2f, 0x64, 0x65, 0x76, 0x2f, 0x74, 0x74, 0x79,
- 0x53, 0x30, 0x20, 0x2d, 0x62, 0x20, 0x35, 0x37, 0x36, 0x30, 0x30, 0x20,
- 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74,
- 0x20, 0x74, 0x68, 0x65, 0x20, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64,
- 0x65, 0x72, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20,
- 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20,
- 0x62, 0x65, 0x20, 0x27, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x65,
- 0x72, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x27, 0x2e, 0x0a, 0x23, 0x0a,
- 0x23, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x65, 0x72, 0x20, 0x26,
- 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61, 0x72, 0x74, 0x20,
- 0x74, 0x68, 0x65, 0x20, 0x61, 0x74, 0x74, 0x69, 0x74, 0x75, 0x64, 0x65,
- 0x20, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61, 0x74, 0x6f, 0x72, 0x0a, 0x23,
- 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20,
- 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20, 0x27, 0x3c,
- 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x3e, 0x20, 0x73, 0x74, 0x61,
- 0x72, 0x74, 0x27, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x61, 0x74, 0x74, 0x69,
- 0x74, 0x75, 0x64, 0x65, 0x5f, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61, 0x74,
- 0x6f, 0x72, 0x5f, 0x62, 0x6d, 0x20, 0x26, 0x0a, 0x23, 0x70, 0x6f, 0x73,
- 0x69, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x65, 0x73, 0x74, 0x69, 0x6d, 0x61,
- 0x74, 0x6f, 0x72, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53,
- 0x74, 0x61, 0x72, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20, 0x66, 0x69, 0x78,
- 0x65, 0x64, 0x2d, 0x77, 0x69, 0x6e, 0x67, 0x20, 0x63, 0x6f, 0x6e, 0x74,
- 0x72, 0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x58, 0x58, 0x58, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x74,
- 0x68, 0x69, 0x73, 0x20, 0x62, 0x65, 0x20, 0x6c, 0x6f, 0x6f, 0x6b, 0x69,
- 0x6e, 0x67, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x63, 0x6f, 0x6e, 0x66, 0x69,
- 0x67, 0x75, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x74, 0x6f, 0x20,
- 0x64, 0x65, 0x63, 0x69, 0x64, 0x65, 0x0a, 0x23, 0x20, 0x77, 0x68, 0x65,
- 0x74, 0x68, 0x65, 0x72, 0x20, 0x74, 0x68, 0x65, 0x20, 0x62, 0x6f, 0x61,
- 0x72, 0x64, 0x20, 0x69, 0x73, 0x20, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x67,
- 0x75, 0x72, 0x65, 0x64, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x66, 0x69, 0x78,
- 0x65, 0x64, 0x2d, 0x77, 0x69, 0x6e, 0x67, 0x20, 0x75, 0x73, 0x65, 0x3f,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69,
- 0x73, 0x20, 0x73, 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x62, 0x65, 0x20,
- 0x27, 0x66, 0x69, 0x78, 0x65, 0x64, 0x77, 0x69, 0x6e, 0x67, 0x5f, 0x63,
- 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74,
- 0x27, 0x2e, 0x0a, 0x23, 0x0a, 0x23, 0x66, 0x69, 0x78, 0x65, 0x64, 0x77,
- 0x69, 0x6e, 0x67, 0x5f, 0x63, 0x6f, 0x6e, 0x74, 0x72, 0x6f, 0x6c, 0x20,
- 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x43, 0x6f, 0x6e, 0x66, 0x69,
- 0x67, 0x75, 0x72, 0x65, 0x20, 0x46, 0x4d, 0x55, 0x20, 0x66, 0x6f, 0x72,
- 0x20, 0x73, 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x20,
- 0x6d, 0x6f, 0x64, 0x65, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x58, 0x58, 0x58,
- 0x20, 0x61, 0x72, 0x67, 0x75, 0x6d, 0x65, 0x6e, 0x74, 0x73, 0x3f, 0x0a,
- 0x23, 0x0a, 0x23, 0x70, 0x78, 0x34, 0x66, 0x6d, 0x75, 0x20, 0x73, 0x74,
- 0x61, 0x72, 0x74, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61,
- 0x72, 0x74, 0x20, 0x6c, 0x6f, 0x6f, 0x6b, 0x69, 0x6e, 0x67, 0x20, 0x66,
- 0x6f, 0x72, 0x20, 0x61, 0x20, 0x47, 0x50, 0x53, 0x2e, 0x0a, 0x23, 0x0a,
- 0x23, 0x20, 0x58, 0x58, 0x58, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73,
- 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x6e, 0x6f, 0x74, 0x20, 0x6e, 0x65,
- 0x65, 0x64, 0x20, 0x74, 0x6f, 0x20, 0x62, 0x65, 0x20, 0x62, 0x61, 0x63,
- 0x6b, 0x67, 0x72, 0x6f, 0x75, 0x6e, 0x64, 0x65, 0x64, 0x0a, 0x23, 0x0a,
- 0x23, 0x67, 0x70, 0x73, 0x20, 0x2d, 0x64, 0x20, 0x2f, 0x64, 0x65, 0x76,
- 0x2f, 0x74, 0x74, 0x79, 0x53, 0x33, 0x20, 0x2d, 0x6d, 0x20, 0x61, 0x6c,
- 0x6c, 0x20, 0x26, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x53, 0x74, 0x61,
- 0x72, 0x74, 0x20, 0x6c, 0x6f, 0x67, 0x67, 0x69, 0x6e, 0x67, 0x20, 0x74,
- 0x6f, 0x20, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x53, 0x44, 0x20, 0x69, 0x66,
- 0x20, 0x77, 0x65, 0x20, 0x63, 0x61, 0x6e, 0x0a, 0x23, 0x0a, 0x73, 0x68,
- 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64,
- 0x2f, 0x72, 0x63, 0x2e, 0x6c, 0x6f, 0x67, 0x67, 0x69, 0x6e, 0x67, 0x0a,
- 0x0a, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74,
- 0x5d, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x64, 0x6f,
- 0x6e, 0x65, 0x22, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0x76, 0x8d, 0x9c, 0xa3, 0x80,
- 0x72, 0x63, 0x53, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x23, 0x21, 0x6e, 0x73, 0x68, 0x0a, 0x23, 0x0a,
- 0x23, 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x73, 0x74, 0x61,
- 0x72, 0x74, 0x75, 0x70, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x2e,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x54, 0x68, 0x69, 0x73, 0x20, 0x73, 0x63,
- 0x72, 0x69, 0x70, 0x74, 0x20, 0x69, 0x73, 0x20, 0x72, 0x65, 0x73, 0x70,
- 0x6f, 0x6e, 0x73, 0x69, 0x62, 0x6c, 0x65, 0x20, 0x66, 0x6f, 0x72, 0x3a,
- 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x2d, 0x20, 0x6d, 0x6f, 0x75, 0x6e, 0x74,
- 0x69, 0x6e, 0x67, 0x20, 0x74, 0x68, 0x65, 0x20, 0x6d, 0x69, 0x63, 0x72,
- 0x6f, 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64, 0x20, 0x28, 0x69, 0x66,
- 0x20, 0x70, 0x72, 0x65, 0x73, 0x65, 0x6e, 0x74, 0x29, 0x0a, 0x23, 0x20,
- 0x2d, 0x20, 0x72, 0x75, 0x6e, 0x6e, 0x69, 0x6e, 0x67, 0x20, 0x74, 0x68,
- 0x65, 0x20, 0x75, 0x73, 0x65, 0x72, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74,
- 0x75, 0x70, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x66, 0x72,
- 0x6f, 0x6d, 0x20, 0x74, 0x68, 0x65, 0x20, 0x6d, 0x69, 0x63, 0x72, 0x6f,
- 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64, 0x20, 0x28, 0x69, 0x66, 0x20,
- 0x70, 0x72, 0x65, 0x73, 0x65, 0x6e, 0x74, 0x29, 0x0a, 0x23, 0x20, 0x2d,
- 0x20, 0x64, 0x65, 0x74, 0x65, 0x63, 0x74, 0x69, 0x6e, 0x67, 0x20, 0x74,
- 0x68, 0x65, 0x20, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x61,
- 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x6f, 0x66, 0x20, 0x74, 0x68, 0x65, 0x20,
- 0x73, 0x79, 0x73, 0x74, 0x65, 0x6d, 0x20, 0x61, 0x6e, 0x64, 0x20, 0x70,
- 0x69, 0x63, 0x6b, 0x69, 0x6e, 0x67, 0x20, 0x61, 0x20, 0x73, 0x75, 0x69,
- 0x74, 0x61, 0x62, 0x6c, 0x65, 0x0a, 0x23, 0x20, 0x20, 0x20, 0x73, 0x74,
- 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74,
- 0x20, 0x74, 0x6f, 0x20, 0x63, 0x6f, 0x6e, 0x74, 0x69, 0x6e, 0x75, 0x65,
- 0x20, 0x77, 0x69, 0x74, 0x68, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x4e, 0x6f,
- 0x74, 0x65, 0x3a, 0x20, 0x44, 0x4f, 0x20, 0x4e, 0x4f, 0x54, 0x20, 0x61,
- 0x64, 0x64, 0x20, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x61,
- 0x74, 0x69, 0x6f, 0x6e, 0x2d, 0x73, 0x70, 0x65, 0x63, 0x69, 0x66, 0x69,
- 0x63, 0x20, 0x63, 0x6f, 0x6d, 0x6d, 0x61, 0x6e, 0x64, 0x73, 0x20, 0x74,
- 0x6f, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70,
- 0x74, 0x3b, 0x0a, 0x23, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x61,
- 0x64, 0x64, 0x20, 0x74, 0x68, 0x65, 0x6d, 0x20, 0x74, 0x6f, 0x20, 0x74,
- 0x68, 0x65, 0x20, 0x70, 0x65, 0x72, 0x2d, 0x63, 0x6f, 0x6e, 0x66, 0x69,
- 0x67, 0x75, 0x72, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x20, 0x73, 0x63, 0x72,
- 0x69, 0x70, 0x74, 0x73, 0x20, 0x69, 0x6e, 0x73, 0x74, 0x65, 0x61, 0x64,
- 0x2e, 0x0a, 0x23, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x44, 0x65, 0x66,
- 0x61, 0x75, 0x6c, 0x74, 0x20, 0x74, 0x6f, 0x20, 0x61, 0x75, 0x74, 0x6f,
- 0x2d, 0x73, 0x74, 0x61, 0x72, 0x74, 0x20, 0x6d, 0x6f, 0x64, 0x65, 0x2e,
- 0x20, 0x20, 0x41, 0x6e, 0x20, 0x69, 0x6e, 0x69, 0x74, 0x20, 0x73, 0x63,
- 0x72, 0x69, 0x70, 0x74, 0x20, 0x6f, 0x6e, 0x20, 0x74, 0x68, 0x65, 0x20,
- 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64,
- 0x0a, 0x23, 0x20, 0x63, 0x61, 0x6e, 0x20, 0x63, 0x68, 0x61, 0x6e, 0x67,
- 0x65, 0x20, 0x74, 0x68, 0x69, 0x73, 0x20, 0x74, 0x6f, 0x20, 0x70, 0x72,
- 0x65, 0x76, 0x65, 0x6e, 0x74, 0x20, 0x61, 0x75, 0x74, 0x6f, 0x6d, 0x61,
- 0x74, 0x69, 0x63, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x75, 0x70, 0x20,
- 0x6f, 0x66, 0x20, 0x74, 0x68, 0x65, 0x20, 0x66, 0x6c, 0x69, 0x67, 0x68,
- 0x74, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x2e, 0x0a, 0x23, 0x0a,
- 0x73, 0x65, 0x74, 0x20, 0x4d, 0x4f, 0x44, 0x45, 0x20, 0x61, 0x75, 0x74,
- 0x6f, 0x73, 0x74, 0x61, 0x72, 0x74, 0x0a, 0x73, 0x65, 0x74, 0x20, 0x55,
- 0x53, 0x42, 0x5f, 0x41, 0x4c, 0x4c, 0x4f, 0x57, 0x45, 0x44, 0x20, 0x79,
- 0x65, 0x73, 0x0a, 0x73, 0x65, 0x74, 0x20, 0x55, 0x53, 0x42, 0x20, 0x6e,
- 0x6f, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20, 0x54, 0x72, 0x79, 0x20, 0x74,
- 0x6f, 0x20, 0x6d, 0x6f, 0x75, 0x6e, 0x74, 0x20, 0x74, 0x68, 0x65, 0x20,
- 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64,
- 0x2e, 0x0a, 0x23, 0x0a, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69,
- 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x6c, 0x6f, 0x6f, 0x6b, 0x69, 0x6e, 0x67,
- 0x20, 0x66, 0x6f, 0x72, 0x20, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x53, 0x44,
- 0x2e, 0x2e, 0x2e, 0x22, 0x0a, 0x69, 0x66, 0x20, 0x6d, 0x6f, 0x75, 0x6e,
- 0x74, 0x20, 0x2d, 0x74, 0x20, 0x76, 0x66, 0x61, 0x74, 0x20, 0x2f, 0x64,
- 0x65, 0x76, 0x2f, 0x6d, 0x6d, 0x63, 0x73, 0x64, 0x30, 0x20, 0x2f, 0x66,
- 0x73, 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x0a, 0x74, 0x68,
- 0x65, 0x6e, 0x0a, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69,
- 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x63, 0x61, 0x72, 0x64, 0x20, 0x6d, 0x6f,
- 0x75, 0x6e, 0x74, 0x65, 0x64, 0x20, 0x61, 0x74, 0x20, 0x2f, 0x66, 0x73,
- 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x22, 0x0a, 0x65, 0x6c,
- 0x73, 0x65, 0x0a, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69,
- 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x6e, 0x6f, 0x20, 0x6d, 0x69, 0x63, 0x72,
- 0x6f, 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64, 0x20, 0x66, 0x6f, 0x75,
- 0x6e, 0x64, 0x22, 0x0a, 0x66, 0x69, 0x0a, 0x0a, 0x23, 0x0a, 0x23, 0x20,
- 0x4c, 0x6f, 0x6f, 0x6b, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x61, 0x6e, 0x20,
- 0x69, 0x6e, 0x69, 0x74, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20,
- 0x6f, 0x6e, 0x20, 0x74, 0x68, 0x65, 0x20, 0x6d, 0x69, 0x63, 0x72, 0x6f,
- 0x53, 0x44, 0x20, 0x63, 0x61, 0x72, 0x64, 0x2e, 0x0a, 0x23, 0x0a, 0x23,
- 0x20, 0x54, 0x6f, 0x20, 0x70, 0x72, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x20,
- 0x61, 0x75, 0x74, 0x6f, 0x6d, 0x61, 0x74, 0x69, 0x63, 0x20, 0x73, 0x74,
- 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x69, 0x6e, 0x20, 0x74, 0x68, 0x65,
- 0x20, 0x63, 0x75, 0x72, 0x72, 0x65, 0x6e, 0x74, 0x20, 0x66, 0x6c, 0x69,
- 0x67, 0x68, 0x74, 0x20, 0x6d, 0x6f, 0x64, 0x65, 0x2c, 0x0a, 0x23, 0x20,
- 0x74, 0x68, 0x65, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x73,
- 0x68, 0x6f, 0x75, 0x6c, 0x64, 0x20, 0x73, 0x65, 0x74, 0x20, 0x4d, 0x4f,
- 0x44, 0x45, 0x20, 0x74, 0x6f, 0x20, 0x73, 0x6f, 0x6d, 0x65, 0x20, 0x6f,
- 0x74, 0x68, 0x65, 0x72, 0x20, 0x76, 0x61, 0x6c, 0x75, 0x65, 0x2e, 0x0a,
- 0x23, 0x0a, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x2d, 0x66, 0x20, 0x2f, 0x66,
- 0x73, 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x2f, 0x65, 0x74,
- 0x63, 0x2f, 0x72, 0x63, 0x20, 0x5d, 0x0a, 0x74, 0x68, 0x65, 0x6e, 0x0a,
- 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74,
- 0x5d, 0x20, 0x72, 0x65, 0x61, 0x64, 0x69, 0x6e, 0x67, 0x20, 0x2f, 0x66,
- 0x73, 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x2f, 0x65, 0x74,
- 0x63, 0x2f, 0x72, 0x63, 0x22, 0x0a, 0x09, 0x73, 0x68, 0x20, 0x2f, 0x66,
- 0x73, 0x2f, 0x6d, 0x69, 0x63, 0x72, 0x6f, 0x73, 0x64, 0x2f, 0x65, 0x74,
- 0x63, 0x2f, 0x72, 0x63, 0x0a, 0x66, 0x69, 0x0a, 0x0a, 0x23, 0x0a, 0x23,
- 0x20, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x20, 0x66, 0x6f, 0x72, 0x20, 0x55,
- 0x53, 0x42, 0x20, 0x68, 0x6f, 0x73, 0x74, 0x0a, 0x23, 0x0a, 0x69, 0x66,
- 0x20, 0x5b, 0x20, 0x24, 0x55, 0x53, 0x42, 0x5f, 0x41, 0x4c, 0x4c, 0x4f,
- 0x57, 0x45, 0x44, 0x20, 0x3d, 0x3d, 0x20, 0x79, 0x65, 0x73, 0x20, 0x5d,
- 0x0a, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x69, 0x66, 0x20, 0x73, 0x65,
- 0x72, 0x63, 0x6f, 0x6e, 0x0a, 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09,
- 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74,
- 0x5d, 0x20, 0x55, 0x53, 0x42, 0x20, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x66,
- 0x61, 0x63, 0x65, 0x20, 0x63, 0x6f, 0x6e, 0x6e, 0x65, 0x63, 0x74, 0x65,
- 0x64, 0x22, 0x0a, 0x09, 0x66, 0x69, 0x0a, 0x66, 0x69, 0x0a, 0x0a, 0x23,
- 0x0a, 0x23, 0x20, 0x49, 0x66, 0x20, 0x77, 0x65, 0x20, 0x61, 0x72, 0x65,
- 0x20, 0x73, 0x74, 0x69, 0x6c, 0x6c, 0x20, 0x69, 0x6e, 0x20, 0x66, 0x6c,
- 0x69, 0x67, 0x68, 0x74, 0x20, 0x6d, 0x6f, 0x64, 0x65, 0x2c, 0x20, 0x77,
- 0x6f, 0x72, 0x6b, 0x20, 0x6f, 0x75, 0x74, 0x20, 0x77, 0x68, 0x61, 0x74,
- 0x20, 0x61, 0x69, 0x72, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x20, 0x0a, 0x23,
- 0x20, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x75, 0x72, 0x61, 0x74, 0x69,
- 0x6f, 0x6e, 0x20, 0x77, 0x65, 0x20, 0x68, 0x61, 0x76, 0x65, 0x20, 0x61,
- 0x6e, 0x64, 0x20, 0x73, 0x74, 0x61, 0x72, 0x74, 0x20, 0x75, 0x70, 0x20,
- 0x61, 0x63, 0x63, 0x6f, 0x72, 0x64, 0x69, 0x6e, 0x67, 0x6c, 0x79, 0x2e,
- 0x0a, 0x23, 0x0a, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x24, 0x4d, 0x4f, 0x44,
- 0x45, 0x20, 0x21, 0x3d, 0x20, 0x61, 0x75, 0x74, 0x6f, 0x73, 0x74, 0x61,
- 0x72, 0x74, 0x20, 0x5d, 0x0a, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x65,
- 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20,
- 0x61, 0x75, 0x74, 0x6f, 0x6d, 0x61, 0x74, 0x69, 0x63, 0x20, 0x73, 0x74,
- 0x61, 0x72, 0x74, 0x75, 0x70, 0x20, 0x63, 0x61, 0x6e, 0x63, 0x65, 0x6c,
- 0x6c, 0x65, 0x64, 0x20, 0x62, 0x79, 0x20, 0x75, 0x73, 0x65, 0x72, 0x20,
- 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x22, 0x0a, 0x65, 0x6c, 0x73, 0x65,
- 0x0a, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69,
- 0x74, 0x5d, 0x20, 0x64, 0x65, 0x74, 0x65, 0x63, 0x74, 0x69, 0x6e, 0x67,
- 0x20, 0x61, 0x74, 0x74, 0x61, 0x63, 0x68, 0x65, 0x64, 0x20, 0x68, 0x61,
- 0x72, 0x64, 0x77, 0x61, 0x72, 0x65, 0x2e, 0x2e, 0x2e, 0x22, 0x0a, 0x0a,
- 0x09, 0x23, 0x0a, 0x09, 0x23, 0x20, 0x41, 0x73, 0x73, 0x75, 0x6d, 0x65,
- 0x20, 0x74, 0x68, 0x61, 0x74, 0x20, 0x77, 0x65, 0x20, 0x61, 0x72, 0x65,
- 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20, 0x69, 0x6e, 0x20, 0x73,
- 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x20, 0x6d, 0x6f,
- 0x64, 0x65, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x73, 0x65, 0x74, 0x20, 0x42,
- 0x4f, 0x41, 0x52, 0x44, 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x0a,
- 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x23, 0x20, 0x41, 0x72, 0x65, 0x20, 0x77,
- 0x65, 0x20, 0x61, 0x74, 0x74, 0x61, 0x63, 0x68, 0x65, 0x64, 0x20, 0x74,
- 0x6f, 0x20, 0x61, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x20,
- 0x28, 0x41, 0x52, 0x2e, 0x44, 0x72, 0x6f, 0x6e, 0x65, 0x20, 0x63, 0x61,
- 0x72, 0x72, 0x69, 0x65, 0x72, 0x20, 0x62, 0x6f, 0x61, 0x72, 0x64, 0x29,
- 0x3f, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x69, 0x66, 0x20, 0x62, 0x6f, 0x61,
- 0x72, 0x64, 0x69, 0x6e, 0x66, 0x6f, 0x20, 0x2d, 0x74, 0x20, 0x37, 0x0a,
- 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x09, 0x73, 0x65, 0x74, 0x20,
- 0x42, 0x4f, 0x41, 0x52, 0x44, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41,
- 0x52, 0x0a, 0x09, 0x09, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x2d, 0x66, 0x20,
- 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f,
- 0x72, 0x63, 0x2e, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x20, 0x5d,
- 0x0a, 0x09, 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x09, 0x09, 0x65,
- 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20,
- 0x72, 0x65, 0x61, 0x64, 0x69, 0x6e, 0x67, 0x20, 0x2f, 0x65, 0x74, 0x63,
- 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x50,
- 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x22, 0x0a, 0x09, 0x09, 0x09, 0x73,
- 0x68, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e,
- 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52,
- 0x0a, 0x09, 0x09, 0x66, 0x69, 0x0a, 0x09, 0x65, 0x6c, 0x73, 0x65, 0x0a,
- 0x09, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69,
- 0x74, 0x5d, 0x20, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x41, 0x52, 0x20, 0x6e,
- 0x6f, 0x74, 0x20, 0x64, 0x65, 0x74, 0x65, 0x63, 0x74, 0x65, 0x64, 0x22,
- 0x0a, 0x09, 0x66, 0x69, 0x0a, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x23, 0x20,
- 0x41, 0x72, 0x65, 0x20, 0x77, 0x65, 0x20, 0x61, 0x74, 0x74, 0x61, 0x63,
- 0x68, 0x65, 0x64, 0x20, 0x74, 0x6f, 0x20, 0x61, 0x20, 0x50, 0x58, 0x34,
- 0x49, 0x4f, 0x3f, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x69, 0x66, 0x20, 0x62,
- 0x6f, 0x61, 0x72, 0x64, 0x69, 0x6e, 0x66, 0x6f, 0x20, 0x2d, 0x74, 0x20,
- 0x36, 0x0a, 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x09, 0x73, 0x65,
- 0x74, 0x20, 0x42, 0x4f, 0x41, 0x52, 0x44, 0x20, 0x50, 0x58, 0x34, 0x49,
- 0x4f, 0x0a, 0x09, 0x09, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x2d, 0x66, 0x20,
- 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f,
- 0x72, 0x63, 0x2e, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x20, 0x5d, 0x0a, 0x09,
- 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x09, 0x09, 0x65, 0x63, 0x68,
- 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x72, 0x65,
- 0x61, 0x64, 0x69, 0x6e, 0x67, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69,
- 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x50, 0x58, 0x34,
- 0x49, 0x4f, 0x22, 0x0a, 0x09, 0x09, 0x09, 0x73, 0x68, 0x20, 0x2f, 0x65,
- 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63,
- 0x2e, 0x50, 0x58, 0x34, 0x49, 0x4f, 0x0a, 0x09, 0x09, 0x66, 0x69, 0x0a,
- 0x09, 0x65, 0x6c, 0x73, 0x65, 0x0a, 0x09, 0x09, 0x65, 0x63, 0x68, 0x6f,
- 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x50, 0x58, 0x34,
- 0x49, 0x4f, 0x20, 0x6e, 0x6f, 0x74, 0x20, 0x64, 0x65, 0x74, 0x65, 0x63,
- 0x74, 0x65, 0x64, 0x22, 0x0a, 0x09, 0x66, 0x69, 0x0a, 0x0a, 0x09, 0x23,
- 0x0a, 0x09, 0x23, 0x20, 0x4c, 0x6f, 0x6f, 0x6b, 0x73, 0x20, 0x6c, 0x69,
- 0x6b, 0x65, 0x20, 0x77, 0x65, 0x20, 0x61, 0x72, 0x65, 0x20, 0x73, 0x74,
- 0x61, 0x6e, 0x64, 0x2d, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x0a, 0x09, 0x23,
- 0x0a, 0x09, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x24, 0x42, 0x4f, 0x41, 0x52,
- 0x44, 0x20, 0x3d, 0x3d, 0x20, 0x50, 0x58, 0x34, 0x46, 0x4d, 0x55, 0x20,
- 0x5d, 0x0a, 0x09, 0x74, 0x68, 0x65, 0x6e, 0x0a, 0x09, 0x09, 0x65, 0x63,
- 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x6e,
- 0x6f, 0x20, 0x65, 0x78, 0x70, 0x61, 0x6e, 0x73, 0x69, 0x6f, 0x6e, 0x20,
- 0x62, 0x6f, 0x61, 0x72, 0x64, 0x20, 0x64, 0x65, 0x74, 0x65, 0x63, 0x74,
- 0x65, 0x64, 0x22, 0x0a, 0x09, 0x09, 0x69, 0x66, 0x20, 0x5b, 0x20, 0x2d,
- 0x66, 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e,
- 0x64, 0x2f, 0x72, 0x63, 0x2e, 0x73, 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c,
- 0x6f, 0x6e, 0x65, 0x20, 0x5d, 0x0a, 0x09, 0x09, 0x74, 0x68, 0x65, 0x6e,
- 0x0a, 0x09, 0x09, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20, 0x22, 0x5b, 0x69,
- 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x72, 0x65, 0x61, 0x64, 0x69, 0x6e, 0x67,
- 0x20, 0x2f, 0x65, 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64,
- 0x2f, 0x72, 0x63, 0x2e, 0x73, 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f,
- 0x6e, 0x65, 0x22, 0x0a, 0x09, 0x09, 0x09, 0x73, 0x68, 0x20, 0x2f, 0x65,
- 0x74, 0x63, 0x2f, 0x69, 0x6e, 0x69, 0x74, 0x2e, 0x64, 0x2f, 0x72, 0x63,
- 0x2e, 0x73, 0x74, 0x61, 0x6e, 0x64, 0x61, 0x6c, 0x6f, 0x6e, 0x65, 0x0a,
- 0x09, 0x09, 0x66, 0x69, 0x0a, 0x09, 0x66, 0x69, 0x0a, 0x0a, 0x09, 0x23,
- 0x0a, 0x09, 0x23, 0x20, 0x57, 0x65, 0x20, 0x6d, 0x61, 0x79, 0x20, 0x6e,
- 0x6f, 0x74, 0x20, 0x72, 0x65, 0x61, 0x63, 0x68, 0x20, 0x68, 0x65, 0x72,
- 0x65, 0x20, 0x69, 0x66, 0x20, 0x74, 0x68, 0x65, 0x20, 0x61, 0x69, 0x72,
- 0x66, 0x72, 0x61, 0x6d, 0x65, 0x2d, 0x73, 0x70, 0x65, 0x63, 0x69, 0x66,
- 0x69, 0x63, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x65, 0x78,
- 0x69, 0x74, 0x73, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73, 0x68, 0x65, 0x6c,
- 0x6c, 0x2e, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20,
- 0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x73, 0x74, 0x61, 0x72,
- 0x74, 0x75, 0x70, 0x20, 0x64, 0x6f, 0x6e, 0x65, 0x2e, 0x22, 0x0a, 0x66,
- 0x69, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00
-};
-unsigned int romfs_img_len = 7168;
diff --git a/nuttx/configs/px4fmu/src/up_pwm_servo.c b/nuttx/configs/px4fmu/src/up_pwm_servo.c
index 05daf1e97..adb9b5030 100644
--- a/nuttx/configs/px4fmu/src/up_pwm_servo.c
+++ b/nuttx/configs/px4fmu/src/up_pwm_servo.c
@@ -164,10 +164,10 @@ pwm_timer_init(unsigned timer)
rDCR(timer) = 0;
/* configure the timer to free-run at 1MHz */
- rPSC(timer) = pwm_timers[timer].clock_freq / 1000000;
+ rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
/* and update at the desired rate */
- rARR(timer) = 1000000 / pwm_update_rate;
+ rARR(timer) = (1000000 / pwm_update_rate) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
@@ -234,6 +234,8 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
return -1;
/* configure the channel */
+ if (value > 0)
+ value--;
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
diff --git a/nuttx/configs/px4io/src/drv_pwm_servo.c b/nuttx/configs/px4io/src/drv_pwm_servo.c
index 7f3238da3..4d821cba6 100644
--- a/nuttx/configs/px4io/src/drv_pwm_servo.c
+++ b/nuttx/configs/px4io/src/drv_pwm_servo.c
@@ -96,10 +96,10 @@ pwm_timer_init(unsigned timer)
rDCR(timer) = 0;
/* configure the timer to free-run at 1MHz */
- rPSC(timer) = cfg->timers[timer].clock_freq / 1000000;
+ rPSC(timer) = (cfg->timers[timer].clock_freq / 1000000) -1;
/* and update at the desired rate */
- rARR(timer) = 1000000 / cfg->update_rate;
+ rARR(timer) = (1000000 / cfg->update_rate) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
@@ -166,6 +166,8 @@ pwm_channel_set(unsigned channel, servo_position_t value)
return;
/* configure the channel */
+ if (value > 0)
+ value--;
switch (cfg->channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-25 12:29:17 +0000