Merge branch 'develop'

8 files changed, 1027 insertions, 37 deletions

diff --git a/doc/SMV2Protocol.png b/doc/SMV2Protocol.png
new file mode 100644
index 0000000..7325afc
--- /dev/null
+++ b/doc/SMV2Protocol.png
diff --git a/doc/SMV2Protocol.svg b/doc/SMV2Protocol.svg
new file mode 100644
index 0000000..8be482b
--- /dev/null
+++ b/doc/SMV2Protocol.svg
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+         id="tspan4202">lenght</tspan></text>
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+         id="tspan4213">(write / read value</tspan><tspan
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+         id="tspan4202-3">lenght</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:56.6688652px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="627.15057"
+       y="157.56667"
+       id="text2987-1-8-7-1-2-1"
+       sodipodi:linespacing="125%"
+       transform="scale(0.99497636,1.005049)"><tspan
+         sodipodi:role="line"
+         x="627.15057"
+         y="157.56667"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan3154-7-3-9">6, 14, 22 or 30 bits</tspan><tspan
+         sodipodi:role="line"
+         x="627.15057"
+         y="184.1302"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan3190-1-8">Value data</tspan><tspan
+         sodipodi:role="line"
+         x="627.15057"
+         y="210.69373"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4213-6">(write / read value</tspan><tspan
+         sodipodi:role="line"
+         x="627.15057"
+         y="237.25726"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4215-5">of parameter)</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:66.42854309px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="394"
+       y="193.36221"
+       id="text4296"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan4298"
+         x="394"
+         y="193.36221">. . .</tspan></text>
+    <path
+       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       d="M 530,-17.637817 530,2.3621826 53.999998,88.36222 l 0,20"
+       id="path4302"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cccc" />
+    <path
+       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       d="m 700,-17.637817 0,19.9999996 114,86.0000374 0,20"
+       id="path4304"
+       inkscape:connector-curvature="0"
+       sodipodi:nodetypes="cccc" />
+    <text
+       xml:space="preserve"
+       style="font-size:62.80782318px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="180"
+       y="-247.63782"
+       id="text2987-0"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         x="180"
+         y="-247.63782"
+         style="font-size:23.55293465px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4327">SimpleMotion V2 outbound or inbound packet</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:40px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="301.42856"
+       y="-281.20926"
+       id="text4331"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         id="tspan4333"
+         x="301.42856"
+         y="-281.20926"></tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-size:53.08763885px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="340"
+       y="-217.63782"
+       id="text2987-0-8"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         x="340"
+         y="-217.63782"
+         style="font-size:19.90786552px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4327-6">3 - 125 bytes total</tspan></text>
+    <rect
+       style="fill:#ffe680;fill-opacity:1;stroke:#000000;stroke-width:1.99999988;stroke-miterlimit:4;stroke-dasharray:none"
+       id="rect3361-6"
+       width="820"
+       height="300"
+       x="23.999998"
+       y="302.36221" />
+    <text
+       xml:space="preserve"
+       style="font-size:56.6688652px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="34.171661"
+       y="330.69238"
+       id="text2987-1-8-7-13"
+       sodipodi:linespacing="125%"
+       transform="scale(0.99497636,1.005049)"><tspan
+         sodipodi:role="line"
+         id="tspan2989-7-2-1-8"
+         x="34.171661"
+         y="330.69238"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial">Packet types</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="357.25592"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4450" /><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="383.81946"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan3152-3">Outbound (host to devices):</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="410.38297"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4442">- execute payload subpackets instantly</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="436.9465"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4438">- place payload subpackets in buffer executed by timed fashion</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="463.51004"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4440">- get device clock value (used to sync buffered execution)</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="490.07358"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4452" /><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="516.63708"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4444">Inbound (device to host)</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="543.20062"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4446">- Return data packets (one type for each outbound type),</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="569.76416"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4448">  these contain payload data (read values) or clock value</tspan><tspan
+         sodipodi:role="line"
+         x="34.171661"
+         y="596.3277"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan3154-4" /></text>
+    <rect
+       style="fill:#ccff00;fill-opacity:1;stroke:#000000;stroke-width:1.99999976;stroke-miterlimit:4;stroke-dasharray:none"
+       id="rect3361-7-46"
+       width="820"
+       height="396.00003"
+       x="23.999998"
+       y="642.36218" />
+    <text
+       xml:space="preserve"
+       style="font-size:56.6688652px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="34.171665"
+       y="668.98511"
+       id="text2987-1-8-7-9-0"
+       sodipodi:linespacing="125%"
+       transform="scale(0.99497636,1.005049)"><tspan
+         sodipodi:role="line"
+         id="tspan2989-7-2-1-5-6"
+         x="34.171665"
+         y="668.98511"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial">Subpacket types</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="695.54865"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan3154-1-6" /><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="722.11218"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4491">Outbound</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="748.67572"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4489">- set parameter address where next values are written to, 2 bytes long</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="775.23926"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4487">- write parameter value, 3 or 4 bytes long</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="801.8028"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4533" /><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="828.36627"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4543">Inbound</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="854.92981"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4552">- SM bus status value, 1 byte long</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="881.49335"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4554">- read parameter value, 2, 3 or 4 bytes long</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="908.05688"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4558" /><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="934.62042"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4531">Each outbound subpacket will give one inbound subpacket in return when device</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="961.18396"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4537">sends the response to a SM packet. Content of inbound subpackets are defined by</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="987.7475"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4539">writable parameters SMP_RETURN_PARAM_ADDR and </tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="1014.311"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4541">SMP_RETURN_PARAM_LEN.</tspan><tspan
+         sodipodi:role="line"
+         x="34.171665"
+         y="1040.8745"
+         style="font-size:21.25082588px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4202-8" /></text>
+    <text
+       xml:space="preserve"
+       style="font-size:98.96096039px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;font-family:Audiowide;-inkscape-font-specification:Audiowide"
+       x="10.667066"
+       y="-335.63782"
+       id="text2987-0-4"
+       sodipodi:linespacing="125%"><tspan
+         sodipodi:role="line"
+         x="10.667066"
+         y="-335.63782"
+         style="font-size:37.11036301px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Arial;-inkscape-font-specification:Arial"
+         id="tspan4327-9">SimpleMotion V2 Protocol</tspan></text>
+  </g>
+</svg>
diff --git a/simplemotion.c b/simplemotion.c
index 5b09860..cea0238 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -94,7 +94,6 @@ void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...)
         va_end(fmtargs);

         fprintf(smDebugOut,"%s: %s",smBus[handle].busDeviceName, buffer);

     }

-

 }

 #else

 #define smDebug(...)

@@ -143,6 +142,19 @@ smuint16 calcCRC16Buf(const char *buffer, smuint16 buffer_length)
     return (crc_hi << 8 | crc_lo);

 }

 

+smuint8 calcCRC8Buf( smuint8 *buf, int len, int crcinit )

+{

+    int i;

+    smuint8 crc=crcinit;

+

+    for(i=0;i<len;i++)

+    {

+            crc=table_crc8[crc^buf[i]];

+    }

+

+    return crc;

+}

+

 SM_STATUS smSetTimeout( smuint16 millsecs )

 {

     if(millsecs<=5000)

@@ -222,7 +234,7 @@ LIB SM_STATUS smCloseBus( const smbus bushandle )
 

     if( smBDClose(smBus[bushandle].bdHandle) == smfalse ) return recordStatus(bushandle,SM_ERR_BUS);

 

-    return recordStatus(bushandle,SM_OK);

+    return SM_OK;

 }

 

 char *cmdidToStr(smuint8 cmdid )

@@ -242,6 +254,8 @@ char *cmdidToStr(smuint8 cmdid )
 #endif

     case SMCMD_GET_CLOCK: str="SMCMD_GET_CLOCK";break;

     case SMCMD_GET_CLOCK_RET :str="SMCMD_GET_CLOCK_RET";break;

+    case SMCMD_FAST_UPDATE_CYCLE:str="SMCMD_FAST_UPDATE_CYCLE";break;

+    case SMCMD_FAST_UPDATE_CYCLE_RET:str="SMCMD_FAST_UPDATE_CYCLE_RET";break;

     default: str="unknown cmdid";break;

     }

     //puts(str);

@@ -323,6 +337,62 @@ SM_STATUS smSendSMCMD( smbus handle, smuint8 cmdid, smuint8 addr, smuint8 datale
 }

 

 

+SM_STATUS smFastUpdateCycle( smbus handle, smuint8 nodeAddress, smuint16 write1, smuint16 write2, smuint16 *read1, smuint16 *read2)

+{

+    //check if bus handle is valid & opened

+    if(smIsHandleOpen(handle)==smfalse) return SM_ERR_NODEVICE;

+

+    smDebug(handle, Mid, "> %s (addr=%d, w1=%d, w2=%d)\n",cmdidToStr(SMCMD_FAST_UPDATE_CYCLE),

+            nodeAddress,

+            write1,write2);

+

+

+    //form the tx packet

+    smuint8 cmd[8];

+    int i;

+    cmd[0]=SMCMD_FAST_UPDATE_CYCLE;

+    cmd[1]=nodeAddress;

+    bufput16bit(cmd,2,write1);

+    bufput16bit(cmd,4,write2);

+    cmd[6]=calcCRC8Buf(cmd,6,0x52);

+

+    //send

+    for(i=0;i<7;i++)

+    {

+        if( smWriteByte(handle,cmd[i], NULL) != smtrue )

+            return recordStatus(handle,SM_ERR_BUS);

+    }

+    smTransmitBuffer(handle);//this sends the bytes entered with smWriteByte

+

+    smDebug(handle, High, "  Reading reply packet\n");

+    for(i=0;i<6;i++)

+    {

+        smbool success;

+        smuint8 rx;

+        success=smBDRead(smBus[handle].bdHandle,&rx);

+        cmd[i]=rx;

+        if(success!=smtrue)

+            return recordStatus(handle,SM_ERR_BUS|SM_ERR_LENGTH);//no enough data received

+    }

+

+    //parse

+    if( cmd[5]!=calcCRC8Buf(cmd,5,0x52) || cmd[0]!=SMCMD_FAST_UPDATE_CYCLE_RET )

+    {

+        return recordStatus(handle,SM_ERR_COMMUNICATION);//packet error

+    }

+    if(read1!=NULL)

+        *read1=bufget16bit(cmd,1);

+    if(read2!=NULL)

+        *read2=bufget16bit(cmd,3);

+

+    //return data read complete

+    smDebug(handle,Mid, "< %s (id=%d, r1=%d, r2=%d)\n",

+            cmdidToStr( cmd[0] ),

+            cmd[0],*read1,*read2);

+

+    return recordStatus(handle,SM_OK);

+}

+

 

 

 SM_STATUS smReceiveErrorHandler( smbus handle, smbool flushrx )

diff --git a/simplemotion.h b/simplemotion.h
index 28743c4..056c745 100644
--- a/simplemotion.h
+++ b/simplemotion.h
@@ -134,6 +134,10 @@ LIB SM_STATUS smSetParameter( const smbus handle, const smaddr nodeAddress, cons
 

 LIB SM_STATUS smGetBufferClock( const smbus handle, const smaddr targetaddr, smuint16 *clock );

 

+/** smFastUpdateCycle uses special SimpleMotion command to perform fast turaround communication. May be used with cyclic real time control. Parameter & return data

+ *content are application specific and defined . */

+LIB SM_STATUS smFastUpdateCycle( smbus handle, smuint8 nodeAddress, smuint16 write1, smuint16 write2, smuint16 *read1, smuint16 *read2);

+

 #ifdef __cplusplus

 }

 #endif

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index c0a0e78..d5f6630 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -17,6 +17,51 @@
  * 8191 NOP command. if SM command SMPCMD_SET_PARAM_ADDR with SMP_ADDR_NOP as parameter is sent, no actions are taken in nodes. it's NOP (no operation) command.

  */

 

+/* SMV2 protocol change log:

+ * Version 20:

+ *   -V20 was introduced with Argon FW 1.0.0 and present at least until 1.4.0

+ * Version 21 (is backwards compatible in syntax but not in setpoint behavior, see details below):

+ *   -V25 was introduced with IONI

+ *   -setpoint calculation is different:

+ *     now there is only one common setpoint and all ABS and INC commands (buffered & instant)

+ *     change the same variable. In V20 there was separate setpoint variables for each stream

+ *     (instant & buffered) and for INC and ABS separately and finally all setpoints were summed together.

+ *     Formula for total setpoint is = SMV2setpoint+OptionalPhysicalSetpoint (step/dir, analog etc)

+ *   -in buffered stream, only setpoint commands execute on timed pace. all others execute as fast as possible.

+ *    this makes it possible to insert any parameter read/write commands in middle of buffered motion.

+ *   -implemented watchdog functionality in new param SMP_FAULT_BEHAVIOR

+ *   -added param SMP_ADDRESS_OFFSET

+ */

+

+/* Important when using SMV2 protocol:

+ *

+ * SMP_SM_VERSION_COMPAT defines the oldest SM bus version in which the current version is

+ * fully backwards compatible. If you write app that supports SM bus versions between N and M (i.e. N=20 M=25),

+ * then check that connected device complies with the test (pseudo code):

+ *

+ *

+	smuint32 NEWEST_SUPPORTED_SMV2_VERSION=M;

+	smuint32 OLDEST_SUPPORTED_SMV2_VERSION=N;

+	smuint32 smv2version=getParam(SMP_SM_VERSION);

+	smuint32 smv2compatversion=getParam(SMP_SM_COMPAT_VERSION);

+

+	if(smv2version>NEWEST_SUPPORTED_SMV2_VERSION && smv2compatversion>NEWEST_SUPPORTED_SMV2_VERSION)

+	{

+		error("SimpleMotion protocol version too new, not supported by this software version. Check for upgrades. Connected SMV2 Version: " + smv2version);

+		return false;

+	}

+	if(smv2version<OLDEST_SUPPORTED_SMV2_VERSION && smv2compatversion < OLDEST_SUPPORTED_SMV2_VERSION)

+	{

+		error("SimpleMotion protocol version too old, not supported by this software version. Try older versions. Connected SMV2 Version: " + smv2version);

+		return false;

+	}

+ *

+ * If test fails, then connected device may not be compatible with your app.

+ *

+ * Its strongly recommended to read these paramers and verify compatibility before any other actions

+ * and do same kind of test also with SMP_FIRMWARE_VERSION and SMP_FIRMWARE_BACKWARDS_COMP_VERSION.

+ */

+

 

 #ifndef SIMPLEMOTION_DEFS_H_

 #define SIMPLEMOTION_DEFS_H_

@@ -32,14 +77,7 @@
 #endif

 

 

-//SMP command types

-#define SMPCMD_SETPARAMADDR 2

-#define SMPCMD_24B 1

-#define SMPCMD_32B 0

-#define SMPRET_OTHER 3

-#define SMPRET_16B 2

-#define SMPRET_24B 1

-#define SMPRET_32B 0

+

 

 

 /*

@@ -59,15 +97,69 @@
 //mask for addresses

 #define SMP_ADDRESS_BITS_MASK  0x1FFF //E=1110

 

+/*

+ * SM payload command types and return value types.

+ */

 

 //SMP packet header bits (2 bits). These determine content length and type

-#define SMPCMD_SET_PARAM_ADDR 2

-#define SMPCMD_24B 1

-#define SMPCMD_32B 0

-#define SMPRET_CMD_STATUS 3

-#define SMPRET_16B 2

-#define SMPRET_24B 1

-#define SMPRET_32B 0

+#define SMPCMD_SETPARAMADDR 2 //Deprecated name, dont use these. Use new names seen below

+#define SMPCMD_SET_PARAM_ADDR 2 //Deprecated name, dont use these. Use new names seen below

+#define SMPCMD_24B 1 //Deprecated name, dont use these. Use new names seen below

+#define SMPCMD_32B 0 //Deprecated name, dont use these. Use new names seen below

+#define SMPRET_CMD_STATUS 3 //Deprecated name, dont use these. Use new names seen below

+#define SMPRET_OTHER 3 //Deprecated name, dont use these. Use new names seen below

+#define SMPRET_16B 2 //Deprecated name, dont use these. Use new names seen below

+#define SMPRET_24B 1 //Deprecated name, dont use these. Use new names seen below

+#define SMPRET_32B 0 //Deprecated name, dont use these. Use new names seen below

+

+//

+//new naming for the above values (more clear meanings):

+//

+

+//OUTBOUND SM COMMAND PAYLOAD SUBPACKET TYPES

+//each SMCMD_INSTANT_CMD and SMCMD_BUFFERED_CMD payload is filled with subpackets of following types

+	//sets param address (one of SMP_ defines) where next written value goes to.

+	//consumes 2 bytes from payload buffer.

+	#define SM_SET_WRITE_ADDRESS 2

+	//writes value to previously defined address. consumes 3 bytes (24 bits) from payload buffer.

+	//can hold value size up to 22 bits. bits above 22 are clipped (transmitted as 0s)

+	#define SM_WRITE_VALUE_24B 1

+	//writes value to previously defined address. consumes 4 bytes (32 bits) from payload buffer.

+	//can hold value size up to 30 bits. bits above 30 are clipped (transmitted as 0s)

+	#define SM_WRITE_VALUE_32B 0

+

+//INBOUND SM COMMAND PAYLOAD SUBPACKET TYPES

+//each outbound subpacket will return one of these. the type and address what is being returned

+//is defined by parameters SMP_RETURN_PARAM_ADDR and SMP_RETURN_PARAM_LEN

+	//return value contains SM bus status bits (possible faults etc).

+	//consumes 1 byte from payload buffer

+	#define SM_RETURN_STATUS 3

+	//return value contains a read value from address defined by SMP_RETURN_PARAM_ADDR

+	//consumes 2 byte from payload buffer. can contain value up to 14 bits. value greater than 14 bits is clipped (padded with 0s)

+	#define SM_RETURN_VALUE_16B 2

+	//return value contains a read value from address defined by SMP_RETURN_PARAM_ADDR

+	//consumes 3 byte from payload buffer. can contain value up to 14 bits. value greater than 22 bits is clipped (padded with 0s)

+	#define SM_RETURN_VALUE_24B 1

+	//return value contains a read value from address defined by SMP_RETURN_PARAM_ADDR

+	//consumes 4 byte from payload buffer. can contain value up to 30 bits. value greater than 14 bits is clipped (padded with 0s)

+	#define SM_RETURN_VALUE_32B 0

+

+/* subpacket format

+ *

+ * header:

+ * 2 bits packet type which defines also lenght of subpacket

+ * data:

+ * rest of subpacket contains the transmitted value

+ *

+ * example:

+ * SM_WRITE_VALUE_32B packet looks like this

+ *

+ * -2 first bits are 00

+ * -next 30 bits carry the value

+ *

+ * SMV2 library takes care of forming subpackets so user only needs to care about using the macros above

+ *

+ */

 

 //if command is to set param addr to this -> NOP

 #define SMP_ADDR_NOP 0x3fff

@@ -88,7 +180,15 @@
 #define SMP_NULL 0

 #define SMP_NODE_ADDRSS 1

 #define SMP_BUS_MODE 2

+//possible values:

+	#define SMP_BUS_MODE_DFU 0

+	#define SMP_BUS_MODE_NORMAL 1

+	#define _SMP_BUS_MODE_LAST 1

+

+/* SMP_SM_VERSION returns current SM protocol version */

 #define SMP_SM_VERSION 3

+/* SMP_SM_VERSION_COMPAT defines the oldest SM bus version in which the current version is

+ * fully backwards compatible. */

 #define SMP_SM_VERSION_COMPAT 4

 #define SMP_BUS_SPEED 5

 #define SMP_BUFFER_FREE_BYTES 6

@@ -96,8 +196,24 @@
 #define SMP_BUFFERED_CMD_PERIOD 8

 #define SMP_RETURN_PARAM_ADDR 9

 #define SMP_RETURN_PARAM_LEN 10

+/*SMP_TIMOUT defines how long device waits for one packet to transmit before discarding it. unit 0.1 milliseconds*/

 #define SMP_TIMEOUT 12

 #define SMP_CUMULATIVE_STATUS 13 //error bits are set here if any, (SMP_CMD_STATUS_... bits). clear by writing 0

+#define SMP_ADDRESS_OFFSET 14 /*used to set or offset device address along physical method, i.e. DIP SW + offset to allow greater range of addresses than switch allows. */

+/* SMP_FAULT_BEHAVIOR defines maximum amount of time between to valid received SM packets to device and other SM

+ * fault behavior that affect drive operation.

+ *

+ * If comm is broken longer than watchdog time, drive will go fault stop state.

+ * Can be used for additional safety stop when drives are controlled only onver SM bus.

+ *

+ * Parameter is bit field:

+ * bit 0 (LSB): enable device fault stop on any SM comm error (CRC, invalid value etc)

+ * bits 1-7: reserved, always 0

+ * bits 8-17: watchdog timeout value. nonzero enables watchdog. scale: 1 count=10ms, so allows 0.01-10.230 s delay.

+ * bits 18-32: reserved, always 0

+ */

+#define SMP_FAULT_BEHAVIOR 15

+

 

 //bit mask

 #define SM_BUFCMD_STAT_IDLE 1

@@ -142,6 +258,7 @@
 // continue to .. 200

 

 

+

 /*

  * List of motor control parameters.

  *

@@ -183,7 +300,7 @@
 #define SMP_FIRST_FAULT 8115

 #define SMP_STATUS 553

 	//bitfield bits:

-	#define STAT_POWER_ON BV(0)

+	#define STAT_RESERVED_ BV(0)

 	#define STAT_TARGET_REACHED BV(1)//this is 1 when trajectory planner target reached

 	#define STAT_FERROR_RECOVERY BV(2)

 	#define STAT_RUN BV(3)//run is true only if motor is being actually driven. run=0 clears integrators etc

@@ -210,6 +327,23 @@
     #define SMP_SYSTEM_SAMPLE_TEST_VARIABLES 8 //production testing function

     #define SMP_SYSTEM_START_PRODUCTION_TEST 16 //production testing function

     #define SMP_SYSTEM_STOP_PRODUCTION_TEST 32 //production testing function

+	//restart device into DFU mode

+	#define SMP_SYSTEM_CONTROL_RESTART_TO_DFU_MODE 64

+	//read miscellaneous device specific flag bits

+	#define SMP_SYSTEM_CONTROL_GET_FLAGS 128

+	/*start measure motor RL function.

+	 * poll debug param 5 for state

+	 * -100 fail

+	 * 700 busy

+	 * 800 success -new RL values inserted in drive params

+	 *

+	 * SMP_STATUS must obey:

+	 * requiredStats=STAT_INITIALIZED|STAT_RUN|STAT_ENABLED|STAT_VOLTAGES_OK;

+       deniedStats=STAT_FERROR_RECOVERY|STAT_PERMANENT_STOP|STAT_STO_ACTIVE|STAT_FAULTSTOP|STAT_HOMING;

+	 */

+	#define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256

+	//resets position mode FB and setpoint values to 0, and also resets homing status. useful after using in vel or torq mode.

+	#define SMP_SYSTEM_CONTROL_RESET_FB_AND_SETPOINT 512

 

 	//follow error tolerance for position control:

 #define SMP_POS_FERROR_TRIP 555

@@ -228,18 +362,26 @@
     #define MOTOR_AC_VECTOR_2PHA 2  /*2 phase ac or bldc */

 	//3 phase AC motor

     #define MOTOR_AC_VECTOR 3 /*3 phase ac or bldc */

+	//2 phase stepper

+	#define MOTOR_STEPPER_2PHA 4 /*2 phase stepper */

 	//for drive internal use only:

 	#define _MOTOR_LAST 7

 

+

+

+

+//position follow error trip point

+//velocity follow error trip point. units: velocity command (counts per PIDcycle * divider)

+

 //#define CFG_INPUT_FILTER_LEN 30

 #define SMP_CONTROL_MODE 559

 	//control mode choices:

 	#define CM_TORQUE 3

 	#define CM_VELOCITY 2

 	#define CM_POSITION 1

+	#define CM_NONE 0

 #define SMP_INPUT_MULTIPLIER 560

 #define SMP_INPUT_DIVIDER 561

-//setpoint source

 #define SMP_INPUT_REFERENCE_MODE 562

 	//choices:

 	#define SMP_INPUT_REFERENCE_MODE_SERIALONLY 0

@@ -265,24 +407,33 @@
 //flag bits & general

 #define SMP_DRIVE_FLAGS 567

 	//bitfield bits:

-	#define FLAG_DISABLED_AT_STARTUP BV(0)

-	#define FLAG_NO_DCBUS_FAULT BV(1)

-	#define FLAG_INVERT_ENCODER BV(3)

-	#define FLAG_INVERT_MOTOR_DIRECTION BV(4) /*invert positive direction*/

-	#define FLAG_DISABLE_DEADTIMECORR_LO_SPEED BV(5)

-	#define FLAG_USE_PULSE_IN_ACCEL_LIMIT BV(7)

-	#define FLAG_2PHASE_AC_MOTOR BV(9)

-	#define FLAG_ALLOW_VOLTAGE_CLIPPING BV(10)

-	#define FLAG_USE_INPUT_LP_FILTER BV(11)

-	#define FLAG_USE_PID_CONTROLLER BV(12)//PIV is the default if bit is 0

-	#define FLAG_INVERTED_HALLS BV(13)

-	#define FLAG_USE_HALLS BV(14)

+    #define FLAG_DISABLED_AT_STARTUP BV(0)

+    #define FLAG_NO_DCBUS_FAULT BV(1)/*obsolete?*/

+    #define FLAG_ENABLE_DIR_INPUT_ON_ABS_SETPOINT BV(2) /*if 1, then use direction input signal for analog and PWM setpoint mode*/

+    #define FLAG_INVERT_ENCODER BV(3)

+    #define FLAG_INVERT_MOTOR_DIRECTION BV(4) /*invert positive direction*/

+    #define FLAG_ENABLE_REQUIRES_PULSING BV(5) /*enable signal must be fed 50hz-1khz toggling signal to validate enable status*/

+    #define FLAG_USE_PULSE_IN_ACCEL_LIMIT BV(7)/*obsolete*/

+    #define FLAG_2PHASE_AC_MOTOR BV(9)/*obsolete*/

+    #define FLAG_ALLOW_VOLTAGE_CLIPPING BV(10)

+    #define FLAG_USE_INPUT_LP_FILTER BV(11)

+    #define FLAG_USE_PID_CONTROLLER BV(12)//PIV is the default if bit is 0/*obsolete*/

+    #define FLAG_INVERTED_HALLS BV(13)

+    #define FLAG_USE_HALLS BV(14)

     #define FLAG_MECH_BRAKE_DURING_PHASING BV(15)

+	#define FLAG_LIMIT_SWITCHES_NORMALLY_CLOSED_TYPE BV(16)

 #define SMP_MOTION_FAULT_THRESHOLD 568

 #define SMP_HV_VOLTAGE_HI_LIMIT 569

 #define SMP_HV_VOLTAGE_LOW_LIMIT 570

+#define SMP_MAX_OUTPUT_POWER 571 //in watts

 #define SMP_MOTOR_MAX_SPEED 572

 

+//in Ioni only

+#define SMP_ELECTRICAL_MODE 573

+    #define EL_MODE_STANDARD 0

+    #define EL_MODE_IONICUBE 1

+    #define EL_MODE_IONIZER 2

+

 

 //primary feedback loop 200-299

 #define SMP_VEL_I 200

@@ -290,6 +441,7 @@
 #define SMP_VEL_P 202

 #define SMP_VEL_FF 220

 #define SMP_ACC_FF 221

+#define SMP_POS_FF 222

 

 //anti dither limits

 #define SMP_ANTIDITHER_MODE 230

@@ -315,6 +467,34 @@
 #define SMP_TORQUEFAULT_MARGIN 420

 #define SMP_TORQUEFAULT_OC_TOLERANCE 421

 

+/* next four parameters allow compensation of motor detent torque and torque ripple (cogging torque).

+ * xxx_TORQUE_FUNCTION and xxx_TORQUE_AMPLITUDE sets function, value range is 0-25 and used like:

+ *

+ * if((function%1)==0) xxx_torque_modifier=sin(electrical_angle*(function/2))*amplitude;

+ * else xxx_torque_modifier=cos(electrical_angle*(function/2))*amplitude;

+ *

+ * i.e. functions go like:

+ * 0=no effect (sin(0a))

+ * 1=constant (cos(0a))

+ * 2=sin(1a)

+ * 3=cos(1a)

+ * 4=sin(2a)

+ * 5=cos(a2)

+ * 6=sin(3a)

+ * 7=cos(3a)

+ *

+ *

+ * Detent torque compensation value (static_torque modifier) is added to the original torque setpoint.

+ * Ripple torque compensation value (dynamic_torque modifier) will modulate the original torque setpoint.

+ * Overall formula how these affect to troque output is:

+ *

+ * torqueSetpoint=torqueSetpoint*(dynamic_torque_modifier+1) +static_torque_modifier;

+ */

+#define SMP_MOTOR_STATIC_TORQUE_FUNCTION 424

+#define SMP_MOTOR_STATIC_TORQUE_AMPLITUDE 425

+#define SMP_MOTOR_DYNAMIC_TORQUE_FUNCTION 426

+#define SMP_MOTOR_DYNAMIC_TORQUE_AMPLITUDE 427

+

 //motor thermal time constant in seconds:

 #define SMP_MOTOR_THERMAL_TIMECONSTANT 430

 //how fast to ramp up voltage during phase search:

@@ -330,7 +510,17 @@
 #define SMP_AXIS_UNITS 492

 //0=none 1=qei1 2=qei2 3=resolver 4=ssi 5=biss

 #define SMP_FB1_DEVICE_SELECTION 493

+	#define SMP_FBD_NONE 0

+	#define SMP_FBD_INCR1 1

+	#define SMP_FBD_INCR2 2

+	#define SMP_FBD_RESOLVER 3

+	#define SMP_FBD_SSI 4

+	#define SMP_FBD_BISS 5

+	#define SMP_FBD_SINCOS16X 6

+	#define SMP_FBD_SINCOS64X 7

+	#define SMP_FBD_SINCOS256X 8

 #define SMP_FB2_DEVICE_SELECTION 494

+

 //in 1/2500 seconds.

 #define SMP_GOAL_FAULT_FILTER_TIME 495

 //in speed scale

@@ -350,21 +540,23 @@
 	//bitfiled values:

 	//CB1 & CB2 enables must be 1 to have drive enabled

 	//Control bits 1 are controlled by host software

-	#define SMP_CB1_ENABLE BV(0)

+	#define SMP_CB1_ENABLE BV(0)//software enable

 	#define SMP_CB1_CLEARFAULTS BV(1)

-	#define SMP_CB1_QUICKSTOP BV(2)

-	#define SMP_CB1_USE_TRAJPLANNER BV(3)

+	#define SMP_CB1_QUICKSTOP BV(2)//not implemented at the moment

+	#define SMP_CB1_USE_TRAJPLANNER BV(3)//not implemented at the moment

+	#define SMP_CB1_START_HOMING BV(4)//write 1 here to start homing //not implemented at the moment

 	#define SMP_STATIC_CBS1 (SMP_CB1_ENABLE|SMP_CB1_USE_TRAJPLANNER)

 

 #define SMP_CONTROL_BITS2 2534

 	//bitfiled values:

 	//both enables must be 1 to have drive enabled

-	//Control bits 2 are controlled by physical inputs

-	#define SMP_CB2_ENABLE BV(0)

+	//Control bits 2 are controlled by physical inputs, dont try to write on these thu SMV2. reading is ok

+	#define SMP_CB2_ENABLE BV(0)//hadrware enable pin

 	#define SMP_CB2_ENA_POS_FEED BV(1)

 	#define SMP_CB2_ENA_NEG_FEED BV(2)

 	#define SMP_CB2_HOMESW_ON BV(3)

     #define SMP_CB2_CLEARFAULTS BV(4)

+    #define SMP_CB2_START_HOMING BV(5)

 

 //trajectory planner

 #define SMP_TRAJ_PLANNER_ACCEL 800

@@ -407,9 +599,33 @@
 #define SMP_SCOPE_CHANNEL_SELECT 905

 

 #define SMP_MECH_BRAKE_RELEASE_DELAY 910

-#define SMP_BRAKE_STOP_ENGAGE_DELAY 911

+#define SMP_MECH_BRAKE_ENGAGE_DELAY 911

 #define SMP_DYNAMIC_BRAKING_SPEED 912

+#define SMP_BRAKE_STOP_ENGAGE_DELAY SMP_MECH_BRAKE_ENGAGE_DELAY /* SMP_BRAKE_STOP_ENGAGE_DELAY is old name, kept for compatibility*/

 

+/*Special torque mode specific settings, currently IONI only. This paramterer is a bitfield

+ * defined as: bits 0-7: option bits, bits 8-29: rotation angle limit (in feedback counts).

+ *

+ * Guide:

+ * 0 = disabled, standard drive operation

+ * nonzero = calculate value by: round(allowed_rotation_in_counts/256)*256 + modebits

+ *

+ * where modebits is a bitfield defined as:

+ *    bit 0: input scaling. if true, analog input 0-5V sets torque scale to 10-100%. Note: cant use analog input for torque setpoint now.

+ *    bits 1-7: reserved for future use.

+ *

+ * example 1: we want rotation limit of 8000 encoder counts (for each direction) and no scaling input, we

+ * use value 7936.

+ *

+ * example 2: we want rotation limit of 8000 encoder counts (for each direction) and torque

+ * command scaling input, we use value 7937

+

+ * example 3: no rotation limit but just saling is on: use value 1

+ *

+ * Tip: use Granity Ctrl+P (Shortcut) dialog to set value:

+ * http://granitedevices.com/wiki/Reading_and_writing_an_arbitrary_parameter_with_Granity

+ */

+#define SMP_TORQUE_MODE_ATTRIBUTES 920

 

 //////////////////////////////////////////////////////////////////////////////////RUNTIME PARAMS 5000-9999

 

@@ -463,6 +679,7 @@
 

 //#define RUNTIME_FEATURES1 6000

 #define SMP_SERIAL_NR 6002

+#define SMP_UID_NR 6003

 #define SMP_DRIVE_CAPABILITIES 6006

 #define SMP_FIRMWARE_VERSION 6010

 #define SMP_FIRMWARE_BACKWARDS_COMP_VERSION 6011

@@ -479,6 +696,15 @@
 #define SMP_TORQUE_CMD_OVERRIDE 8001

 #define SMP_OVERRIDE_COMMUTATION_FREQ 8003

 #define SMP_OVERRIDE_REGENRES_DUTY 8004

+#define SMP_DEVICE_TEMPERATURE 8007//reported in 0.01 celsius steps

+#define SMP_CURRENT_LIMITED_TO_MA 8008//actual current limit (based on user settings, device temperature, voltage etc)

+#define SMP_CURRENT_LIMIT_REASON 8009 //last reason why current was clampled

+	#define CURR_LIMIT_REASON_NONE 0

+	#define CURR_LIMIT_REASON_VOLTAGE_SATURATION 1

+	#define CURR_LIMIT_REASON_SETTINGS 2

+	#define CURR_LIMIT_REASON_I2T 3

+	#define CURR_LIMIT_REASON_DRIVE_TEMPERATURE 4

+	#define CURR_LIMIT_REASON_POWER_CAP 5

 

 /*IO side CPU sends encoder counter at index every time index is encountered. homing uses this info */

 #define SMP_INDEX_PULSE_LOCATION 8005

@@ -518,6 +744,8 @@
 //bootloaded status

 #define SMP_BOOTLOADER_STAT 193

         #define BOOTLOADER_STAT_FLASH_VERIFIED_OK BV(0)

+#define SMP_BOOTLOADER_WRITE_OTP 194

+

 

 /*DFU Bootloader parameters end*/

 

diff --git a/simplemotion_private.h b/simplemotion_private.h
index 9cfdabc..d1e37a3 100644
--- a/simplemotion_private.h
+++ b/simplemotion_private.h
@@ -38,6 +38,7 @@
 

 extern const smuint8 table_crc16_hi[];

 extern const smuint8 table_crc16_lo[];

+extern const smuint8 table_crc8[];

 extern FILE *smDebugOut; //such as stderr or file handle. if NULL, debug info disbled

 extern smuint16 readTimeoutMs;

 

diff --git a/sm485.h b/sm485.h
index 40d9fdb..2d79815 100644
--- a/sm485.h
+++ b/sm485.h
@@ -52,6 +52,14 @@
 #define SMCMD_GET_CLOCK SMCMD_ID(10,SMCMD_MASK_0_PARAMS)
 #define SMCMD_GET_CLOCK_RET SMCMD_ID(10,SMCMD_MASK_2_PARAMS|SMCMD_MASK_RETURN)
 
+// SMCMD_FAST_UPDATE_CYCLE is a high priority command for fast realtime cyclic operation. content and lenght of
+// payload data may be application specific and may be controlled by other variables
+// cmd u8 ID, u8 toaddr, u32 data u16 crc
+// ret u8 ID, u8 fromaddr, u32 data, u16 crc
+#define SMCMD_FAST_UPDATE_CYCLE SMCMD_ID(2,SMCMD_MASK_0_PARAMS)
+#define SMCMD_FAST_UPDATE_CYCLE_RET SMCMD_ID(2,SMCMD_MASK_0_PARAMS|SMCMD_MASK_RETURN)
+
+
 #ifdef PROCESS_IMAGE_SUPPORT
 
 //PROCESS_IMAGE communication not supported by SM V2.0.0. placeholders here
diff --git a/sm_consts.c b/sm_consts.c
index 3ac98bb..62439af 100644
--- a/sm_consts.c
+++ b/sm_consts.c
@@ -59,3 +59,39 @@ const smuint8 table_crc16_lo[] = {
 	0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,

 	0x43, 0x83, 0x41, 0x81, 0x80, 0x40

 };

+

+//http://www.maxim-ic.com/appnotes.cfm/an_pk/3749

+const smuint8 table_crc8[] = {

+    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15,

+    0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,

+    0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,

+    0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,

+    0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,

+    0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,

+    0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,

+    0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,

+    0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,

+    0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,

+    0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,

+    0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,

+    0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,

+    0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,

+    0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,

+    0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,

+    0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,

+    0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,

+    0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,

+    0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,

+    0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,

+    0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,

+    0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,

+    0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,

+    0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,

+    0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,

+    0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,

+    0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,

+    0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,

+    0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,

+    0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,

+    0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3

+};