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[bmi270] Support Bosch BMI270 IMU (#16202)
Co-authored-by: J. Nick Koston <nick@koston.org>
This commit is contained in:
Clyde Stubbs
co-authored by
J. Nick Koston
J. Nick Koston
parent
eb6d6eac7d
commit
4f62bb7171
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import esphome.codegen as cg
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from esphome.components import i2c
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from esphome.components.motion import MotionComponent
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CODEOWNERS = ["@clydebarrow"]
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CONF_BMI270_ID = "bmi270_id"
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# C++ namespace / class
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bmi270_ns = cg.esphome_ns.namespace("bmi270")
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BMI270Component = bmi270_ns.class_("BMI270Component", MotionComponent, i2c.I2CDevice)
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#include "bmi270.h"
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#include "bmi270_config.h"
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#include "esphome/core/log.h"
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#include "esphome/core/hal.h"
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namespace esphome::bmi270 {
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static const char *const TAG = "bmi270";
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#if defined(USE_ARDUINO) && !defined(USE_ESP32)
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static const size_t MAX_I2C_BUFFER_SIZE = 32;
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#else
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static const size_t MAX_I2C_BUFFER_SIZE = 256;
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#endif
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// Configuration blob upload
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// The BMI270 requires a firmware config blob to be written to its internal
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// memory after every power-on before sensors can be used.
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bool BMI270Component::load_config_file_() {
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// 1. Disable advanced power-save so the config port is accessible
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if (!this->write_byte(BMI270_REG_PWR_CONF, 0x00))
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return false;
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delay(1);
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// 2. Prepare config load: write 0x00 to INIT_CTRL to start
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if (!this->write_byte(BMI270_REG_INIT_CTRL, 0x00))
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return false;
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// 3. Burst-write the config in pages
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const uint8_t *cfg = BMI270_CONFIG_FILE;
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constexpr size_t cfg_len = sizeof(BMI270_CONFIG_FILE);
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size_t index = 0;
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while (index != cfg_len) {
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// Set the page address in INIT_ADDR registers
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uint8_t addr_lsb = (uint8_t) ((index / 2) & 0x0F);
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uint8_t addr_msb = (uint8_t) ((index / 2) >> 4);
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if (!this->write_byte(BMI270_REG_INIT_ADDR_0, addr_lsb))
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return false;
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if (!this->write_byte(BMI270_REG_INIT_ADDR_0 + 1, addr_msb))
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return false;
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// Write a burst of up to the maximum allowed size
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size_t burst = clamp_at_most(cfg_len - index, MAX_I2C_BUFFER_SIZE);
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if (this->write_register(BMI270_REG_INIT_DATA, cfg + index, burst) != i2c::ERROR_OK)
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return false;
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index += burst;
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}
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// 4. Signal end of config load
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if (!this->write_byte(BMI270_REG_INIT_CTRL, 0x01))
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return false;
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delay(20); // spec: wait ≥20 ms for init to complete
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// 5. Check INTERNAL_STATUS: bit[0:3] should be 0x01 ("initialisation OK")
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uint8_t status = 0;
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if (!this->read_byte(BMI270_REG_INTERNAL_STATUS, &status))
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return false;
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if ((status & 0x0F) != 0x01) {
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ESP_LOGE(TAG, "Config load failed: INTERNAL_STATUS=0x%02X (expected 0x01)", status);
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return false;
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}
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return true;
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}
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// setup() ─
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void BMI270Component::setup() {
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MotionComponent::setup();
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// 1. Verify chip ID
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uint8_t chip_id = 0;
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if (!this->read_byte(BMI270_REG_CHIP_ID, &chip_id)) {
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ESP_LOGE(TAG, "Failed to read chip ID – check wiring / address");
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this->mark_failed();
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return;
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}
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if (chip_id != BMI270_CHIP_ID_VALUE) {
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ESP_LOGE(TAG, "Wrong chip ID: 0x%02X (expected 0x%02X)", chip_id, BMI270_CHIP_ID_VALUE);
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this->mark_failed();
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return;
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}
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ESP_LOGD(TAG, "Chip ID: 0x%02X", chip_id);
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// 2. Soft-reset via CMD register (0x7E = 0xB6)
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if (!this->write_byte(0x7E, 0xB6)) {
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this->mark_failed();
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return;
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}
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delay(20);
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// 4. Upload the configuration blob
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if (!load_config_file_()) {
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ESP_LOGE(TAG, "Config file upload failed");
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this->mark_failed();
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return;
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}
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ESP_LOGD(TAG, "Config blob uploaded ✓");
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// 5. Configure accelerometer
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// ACC_CONF: ODR | BWP(0x2 = normal avg4) | perf_mode(1)
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uint8_t acc_conf = (uint8_t) (accel_odr_) | (0x2 << 4) | (1 << 7);
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if (!this->write_byte(BMI270_REG_ACC_CONF, acc_conf)) {
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this->mark_failed();
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return;
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}
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if (!this->write_byte(BMI270_REG_ACC_RANGE, (uint8_t) accel_range_)) {
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this->mark_failed();
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return;
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}
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// 6. Configure gyroscope
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// GYR_CONF: ODR | BWP(0x2 = normal) | noise_perf(1) | filter_perf(1)
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uint8_t gyr_conf = (uint8_t) (gyro_odr_) | (0x2 << 4) | (1 << 6) | (1 << 7);
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if (!this->write_byte(BMI270_REG_GYR_CONF, gyr_conf)) {
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this->mark_failed();
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return;
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}
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if (!this->write_byte(BMI270_REG_GYR_RANGE, (uint8_t) gyro_range_)) {
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this->mark_failed();
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return;
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}
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// 7. Enable accelerometer, gyroscope, and temperature sensor
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// PWR_CTRL bits: temp_en[3] | gyr_en[2] | acc_en[1]
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if (!this->write_byte(BMI270_REG_PWR_CTRL, 0x0E)) {
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this->mark_failed();
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return;
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}
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delay(5);
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// 8. Re-enable advanced power save (optional; keeps current low between reads)
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// Disabled here for simplicity – leave in performance mode
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if (!this->write_byte(BMI270_REG_PWR_CONF, 0x02)) { // bit1 = fifo_self_wakeup
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this->mark_failed();
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return;
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}
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ESP_LOGCONFIG(TAG, "BMI270 initialised successfully");
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}
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void BMI270Component::dump_config() {
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ESP_LOGCONFIG(TAG, "BMI270 IMU:");
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LOG_I2C_DEVICE(this);
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if (this->is_failed()) {
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ESP_LOGE(TAG, " Communication failed!");
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return;
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}
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static constexpr const char *const ACCEL_RANGE_STRS[] = {"±2g", "±4g", "±8g", "±16g"};
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static constexpr const char *const GYRO_RANGE_STRS[] = {"±2000°/s", "±1000°/s", "±500°/s", "±250°/s", "±125°/s"};
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ESP_LOGCONFIG(TAG, " Accel range : %s", ACCEL_RANGE_STRS[accel_range_]);
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ESP_LOGCONFIG(TAG, " Gyro range : %s", GYRO_RANGE_STRS[gyro_range_]);
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MotionComponent::dump_config();
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}
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// update() ─
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// Reads all 6 axes + temperature in one block
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bool BMI270Component::update_data(motion::MotionData &data) {
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if (this->is_failed())
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return false;
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// Accelerometer: registers 0x0C–0x11 (6 bytes: x_lsb, x_msb, y_lsb, y_msb, z_lsb, z_msb)
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uint8_t raw_data[REG_READ_LEN];
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if (!this->read_bytes(BMI270_REG_DATA_8, raw_data, REG_READ_LEN)) {
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ESP_LOGW(TAG, "Failed to read IMU data");
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return false;
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}
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// Scale factor: LSB/g depends on range
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// raw is a signed 16-bit value; full-scale = range_g * 2^15 lsb
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static constexpr float ACCEL_SCALE[] = {
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2.0f / 32768.0f,
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4.0f / 32768.0f,
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8.0f / 32768.0f,
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16.0f / 32768.0f,
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};
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float scale = ACCEL_SCALE[this->accel_range_];
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data.acceleration[motion::X_AXIS] = (int16_t) ((raw_data[1] << 8) | raw_data[0]) * scale;
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data.acceleration[motion::Y_AXIS] = (int16_t) ((raw_data[3] << 8) | raw_data[2]) * scale;
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data.acceleration[motion::Z_AXIS] = (int16_t) ((raw_data[5] << 8) | raw_data[4]) * scale;
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// Gyroscope: registers 0x12–0x17 (6 bytes)
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// Scale: full-scale range / 2^15
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static constexpr float GYRO_SCALE[] = {
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2000.0f / 32768.0f, 1000.0f / 32768.0f, 500.0f / 32768.0f, 250.0f / 32768.0f, 125.0f / 32768.0f,
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};
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static constexpr uint8_t GYR_OFFS = BMI270_REG_DATA_14 - BMI270_REG_DATA_8;
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scale = GYRO_SCALE[this->gyro_range_];
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data.angular_rate[motion::X_AXIS] = (int16_t) ((raw_data[GYR_OFFS + 1] << 8) | raw_data[GYR_OFFS + 0]) * scale;
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data.angular_rate[motion::Y_AXIS] = (int16_t) ((raw_data[GYR_OFFS + 3] << 8) | raw_data[GYR_OFFS + 2]) * scale;
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data.angular_rate[motion::Z_AXIS] = (int16_t) ((raw_data[GYR_OFFS + 5] << 8) | raw_data[GYR_OFFS + 4]) * scale;
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if (this->temperature_callback_.empty())
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return true;
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// Temperature: registers 0x22–0x23
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// Formula from datasheet: T[°C] = raw / 512 + 23
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static constexpr uint8_t TEMP_OFFS = BMI270_REG_TEMP_0 - BMI270_REG_DATA_8;
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int16_t raw_t = (int16_t) ((raw_data[TEMP_OFFS + 1] << 8) | raw_data[TEMP_OFFS + 0]);
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float temperature = (raw_t / 512.0f) + 23.0f;
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this->temperature_callback_.call(temperature);
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return true;
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}
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} // namespace esphome::bmi270
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@@ -0,0 +1,108 @@
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#pragma once
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#include "esphome/components/motion/motion_component.h"
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#include "esphome/core/component.h"
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#include "esphome/core/helpers.h"
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#include "esphome/components/i2c/i2c.h"
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#include <functional>
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namespace esphome::bmi270 {
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// Register map
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static const uint8_t BMI270_REG_CHIP_ID = 0x00;
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static const uint8_t BMI270_REG_ERR_REG = 0x02;
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static const uint8_t BMI270_REG_STATUS = 0x03;
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static const uint8_t BMI270_REG_DATA_8 = 0x0C; // ACC_X LSB
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static const uint8_t BMI270_REG_DATA_14 = 0x12; // GYR_X LSB
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static const uint8_t BMI270_REG_TEMP_0 = 0x22;
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static const uint8_t BMI270_REG_TEMP_MSB = 0x23; // temperature (2 bytes big-endian ish)
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static constexpr uint8_t REG_READ_LEN =
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BMI270_REG_TEMP_MSB - BMI270_REG_DATA_8 +
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1; // 0x23 - 0x0C + 1 = 0x18 bytes total for accel(6) + gyro(6) + temp(2) + padding(4)
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static const uint8_t BMI270_REG_PWR_CONF = 0x7C;
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static const uint8_t BMI270_REG_PWR_CTRL = 0x7D;
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static const uint8_t BMI270_REG_INIT_CTRL = 0x59;
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static const uint8_t BMI270_REG_INIT_DATA = 0x5E;
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static const uint8_t BMI270_REG_INIT_ADDR_0 = 0x5B;
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static const uint8_t BMI270_REG_INTERNAL_STATUS = 0x21;
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static const uint8_t BMI270_REG_ACC_CONF = 0x40;
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static const uint8_t BMI270_REG_ACC_RANGE = 0x41;
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static const uint8_t BMI270_REG_GYR_CONF = 0x42;
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static const uint8_t BMI270_REG_GYR_RANGE = 0x43;
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static const uint8_t BMI270_CHIP_ID_VALUE = 0x24;
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// Accelerometer range options
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enum BMI270AccelRange : uint8_t {
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BMI270_ACCEL_RANGE_2G = 0x00,
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BMI270_ACCEL_RANGE_4G = 0x01,
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BMI270_ACCEL_RANGE_8G = 0x02,
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BMI270_ACCEL_RANGE_16G = 0x03,
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};
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// Accelerometer ODR options
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enum BMI270AccelODR : uint8_t {
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BMI270_ACCEL_ODR_12_5 = 0x05,
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BMI270_ACCEL_ODR_25 = 0x06,
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BMI270_ACCEL_ODR_50 = 0x07,
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BMI270_ACCEL_ODR_100 = 0x08,
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BMI270_ACCEL_ODR_200 = 0x09,
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BMI270_ACCEL_ODR_400 = 0x0A,
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BMI270_ACCEL_ODR_800 = 0x0B,
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BMI270_ACCEL_ODR_1600 = 0x0C,
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};
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// Gyroscope range options
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enum BMI270GyroRange : uint8_t {
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BMI270_GYRO_RANGE_2000 = 0x00,
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BMI270_GYRO_RANGE_1000 = 0x01,
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BMI270_GYRO_RANGE_500 = 0x02,
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BMI270_GYRO_RANGE_250 = 0x03,
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BMI270_GYRO_RANGE_125 = 0x04,
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};
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// Gyroscope ODR options
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enum BMI270GyroODR : uint8_t {
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BMI270_GYRO_ODR_25 = 0x06,
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BMI270_GYRO_ODR_50 = 0x07,
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BMI270_GYRO_ODR_100 = 0x08,
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BMI270_GYRO_ODR_200 = 0x09,
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BMI270_GYRO_ODR_400 = 0x0A,
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BMI270_GYRO_ODR_800 = 0x0B,
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BMI270_GYRO_ODR_1600 = 0x0C,
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BMI270_GYRO_ODR_3200 = 0x0D,
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};
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// ---Data class
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// Main component class
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class BMI270Component : public motion::MotionComponent, public i2c::I2CDevice {
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public:
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// Lifecycle
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void setup() override;
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void dump_config() override;
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float get_setup_priority() const override { return setup_priority::DATA; }
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// Configuration setters
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void set_accel_range(BMI270AccelRange r) { this->accel_range_ = r; }
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void set_accel_odr(BMI270AccelODR o) { this->accel_odr_ = o; }
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void set_gyro_range(BMI270GyroRange r) { this->gyro_range_ = r; }
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void set_gyro_odr(BMI270GyroODR o) { this->gyro_odr_ = o; }
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template<typename F> void add_temperature_listener(F &&cb) { this->temperature_callback_.add(std::forward<F>(cb)); }
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protected:
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bool update_data(motion::MotionData &data) override;
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bool load_config_file_();
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// Config
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BMI270AccelRange accel_range_{BMI270_ACCEL_RANGE_4G};
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BMI270AccelODR accel_odr_{BMI270_ACCEL_ODR_100};
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BMI270GyroRange gyro_range_{BMI270_GYRO_RANGE_2000};
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BMI270GyroODR gyro_odr_{BMI270_GYRO_ODR_200};
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LazyCallbackManager<void(float)> temperature_callback_{};
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};
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} // namespace esphome::bmi270
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@@ -0,0 +1,483 @@
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#pragma once
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#include <cstdint>
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namespace esphome::bmi270 {
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/**
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BMI270 configuration file (chip ID 0x24, firmware v2.86.1)
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Source: Bosch Sensortec BMI270_SensorAPI (BSD-3-Clause)
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https://github.com/boschsensortec/BMI270_SensorAPI
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Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
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BSD-3-Clause
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
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IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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This blob MUST be written to the chip's internal INIT_DATA register
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after every power cycle, before any sensor data can be read.
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--------------------------------------------------------------------------- */
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static constexpr uint8_t BMI270_CONFIG_FILE[] = {
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0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc,
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0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5,
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0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22,
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0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
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0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
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0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
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0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
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0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
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0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
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0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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||||
0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
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0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
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0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
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0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
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||||
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0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
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||||
0xf5, 0x68, 0xf7, 0xb3, 0xf1, 0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7, 0x83, 0x0f,
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0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f, 0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87,
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||||
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||||
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||||
0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b,
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||||
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||||
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|
||||
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0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e, 0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00, 0x01,
|
||||
0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30,
|
||||
0x01, 0x2e, 0x7c, 0x00, 0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e, 0xd4, 0x00, 0x98,
|
||||
0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f, 0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41,
|
||||
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0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30, 0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
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0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21,
|
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0x86, 0x21, 0x2e, 0xc9, 0x01, 0xe0, 0x40, 0x13, 0x52, 0xc4, 0x40, 0x82, 0x40, 0xa8, 0xb9, 0x52, 0x42, 0x43, 0xbe,
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||||
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||||
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||||
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0x23, 0x2e, 0x7c, 0x00, 0xe0, 0x31, 0x21, 0x2e, 0x61, 0xf5, 0xf6, 0x6f, 0xe7, 0x6f, 0x80, 0x6f, 0xa2, 0x6f, 0xb3,
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||||
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||||
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||||
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||||
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||||
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||||
0x30, 0xf4, 0x7f, 0xd0, 0x7f, 0xb2, 0x7f, 0xe3, 0x30, 0xc5, 0x6f, 0x56, 0x40, 0x45, 0x41, 0x28, 0x08, 0x03, 0x14,
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||||
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|
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||||
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|
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0x31, 0x30, 0x50, 0x8a, 0x08, 0x08, 0x08, 0xcb, 0x08, 0xe0, 0x7f, 0x80, 0xb2, 0xf3, 0x7f, 0xdb, 0x7f, 0x25, 0x2f,
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||||
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||||
0xb2, 0x05, 0x2f, 0x03, 0x2e, 0xda, 0x00, 0x00, 0x30, 0x41, 0x04, 0x23, 0x2e, 0xda, 0x00, 0x98, 0x2e, 0x92, 0xb2,
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||||
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0x41, 0x40, 0x12, 0x30, 0x25, 0x2e, 0x8c, 0x01, 0x01, 0x42, 0x05, 0x30, 0x69, 0x50, 0x65, 0x54, 0x84, 0x82, 0x43,
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||||
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||||
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||||
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||||
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||||
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|
||||
0x20, 0x30, 0x21, 0x2e, 0x7e, 0x01, 0x03, 0x2d, 0x10, 0x30, 0x21, 0x2e, 0x7e, 0x01, 0xc2, 0x6f, 0x01, 0x2e, 0xc9,
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
0x30, 0x21, 0x2e, 0xcc, 0x00, 0xfb, 0x6f, 0xe0, 0x5f, 0xb8, 0x2e, 0x00, 0x51, 0x05, 0x58, 0xeb, 0x7f, 0x2a, 0x25,
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x54, 0xd0, 0x42, 0xa3, 0x7f, 0xf2, 0x7f, 0x60, 0x7f, 0x20, 0x25, 0x71, 0x6f, 0x75, 0x5a, 0x77, 0x58, 0x79, 0x5c,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0xb2, 0x6f, 0x90, 0x0e, 0x06, 0x2f, 0x8b, 0x50, 0x14, 0x30, 0x42, 0x6f, 0x51, 0x6f, 0x14, 0x42, 0x12, 0x42, 0x01,
|
||||
0x42, 0x00, 0x2e, 0x31, 0x6f, 0x98, 0x2e, 0x74, 0xc0, 0x41, 0x6f, 0x80, 0x7f, 0x98, 0x2e, 0x74, 0xc0, 0x82, 0x6f,
|
||||
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||||
0x58, 0x8c, 0x0e, 0x04, 0x30, 0x1c, 0x2f, 0x85, 0x88, 0x41, 0x6f, 0x04, 0x41, 0x8c, 0x0f, 0x04, 0x30, 0x16, 0x2f,
|
||||
0x84, 0x88, 0x00, 0x2e, 0x04, 0x41, 0x04, 0x05, 0x8c, 0x0e, 0x04, 0x30, 0x0f, 0x2f, 0x82, 0x88, 0x31, 0x6f, 0x04,
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||||
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|
||||
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||||
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||||
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||||
0x01, 0x80, 0xb2, 0x02, 0x30, 0x55, 0x2f, 0x03, 0x2e, 0xa9, 0x01, 0x92, 0x6f, 0xb3, 0x30, 0x98, 0x2e, 0x0f, 0xca,
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||||
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||||
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||||
0x51, 0x6f, 0x81, 0x54, 0x98, 0x2e, 0xfe, 0xc9, 0x10, 0x25, 0xb3, 0x30, 0x21, 0x25, 0x98, 0x2e, 0x0f, 0xca, 0x32,
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||||
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||||
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||||
0x30, 0x02, 0x30, 0x1d, 0x2f, 0x05, 0x2e, 0xa1, 0x01, 0x80, 0xb2, 0x12, 0x30, 0x0f, 0x2f, 0x42, 0x6f, 0x03, 0x2e,
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||||
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||||
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||||
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0xf8, 0xbf, 0xcb, 0x42, 0xd3, 0x7f, 0x6c, 0xbb, 0xfc, 0xbb, 0xc5, 0x0a, 0x90, 0x7f, 0x1b, 0x7f, 0x0b, 0x43, 0xc0,
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0xb2, 0xe5, 0x7f, 0xb7, 0x7f, 0xa6, 0x7f, 0xc4, 0x7f, 0x90, 0x2e, 0x1c, 0xb7, 0x07, 0x2e, 0xd2, 0x00, 0xc0, 0xb2,
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0x0b, 0x2f, 0x97, 0x52, 0x01, 0x2e, 0xcd, 0x00, 0x82, 0x7f, 0x98, 0x2e, 0xbb, 0xcc, 0x0b, 0x30, 0x37, 0x2e, 0xd2,
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0x03, 0xbf, 0x6f, 0xbb, 0x80, 0xb3, 0x20, 0x2f, 0x06, 0x6f, 0x26, 0x01, 0x16, 0x6f, 0x6e, 0x03, 0x45, 0x42, 0xc0,
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0x90, 0x29, 0x2e, 0xce, 0x00, 0x9b, 0x52, 0x14, 0x2f, 0x9b, 0x5c, 0x00, 0x2e, 0x93, 0x41, 0x86, 0x41, 0xe3, 0x04,
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0xae, 0x07, 0x80, 0xab, 0x04, 0x2f, 0x80, 0x91, 0x0a, 0x2f, 0x86, 0x6f, 0x73, 0x0f, 0x07, 0x2f, 0x83, 0x6f, 0xc0,
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0x02, 0xbc, 0x0f, 0xb8, 0xd2, 0x7f, 0x00, 0xb2, 0x0a, 0x2f, 0x01, 0x2e, 0xfc, 0x00, 0x05, 0x2e, 0xc7, 0x01, 0x10,
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0x95, 0xcf, 0xd1, 0x6f, 0xa0, 0x6f, 0x98, 0x2e, 0x95, 0xcf, 0xe2, 0x6f, 0x9f, 0x52, 0x01, 0x2e, 0xce, 0x00, 0x82,
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0x40, 0x50, 0x42, 0x0c, 0x2c, 0x42, 0x42, 0x11, 0x30, 0x23, 0x2e, 0xd2, 0x00, 0x01, 0x30, 0xb0, 0x6f, 0x98, 0x2e,
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0x95, 0xcf, 0xa0, 0x6f, 0x01, 0x30, 0x98, 0x2e, 0x95, 0xcf, 0x00, 0x2e, 0xfb, 0x6f, 0x00, 0x5f, 0xb8, 0x2e, 0x83,
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0x86, 0x01, 0x30, 0x00, 0x30, 0x94, 0x40, 0x24, 0x18, 0x06, 0x00, 0x53, 0x0e, 0x4f, 0x02, 0xf9, 0x2f, 0xb8, 0x2e,
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0xa9, 0x52, 0x00, 0x2e, 0x60, 0x40, 0x41, 0x40, 0x0d, 0xbc, 0x98, 0xbc, 0xc0, 0x2e, 0x01, 0x0a, 0x0f, 0xb8, 0xab,
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0x05, 0x2e, 0xd3, 0x00, 0xfb, 0x7f, 0x00, 0x2e, 0x13, 0x40, 0x93, 0x42, 0x41, 0x0e, 0xfb, 0x2f, 0x98, 0x2e, 0xa5,
|
||||
0xb7, 0x98, 0x2e, 0x87, 0xcf, 0x01, 0x2e, 0xd9, 0x00, 0x00, 0xb2, 0xfb, 0x6f, 0x0b, 0x2f, 0x01, 0x2e, 0x69, 0xf7,
|
||||
0xb1, 0x3f, 0x01, 0x08, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd9, 0x00, 0x21, 0x2e, 0x69, 0xf7, 0x80, 0x2e, 0x7a,
|
||||
0xb7, 0xf0, 0x5f, 0xb8, 0x2e, 0x01, 0x2e, 0xc0, 0xf8, 0x03, 0x2e, 0xfc, 0xf5, 0x15, 0x54, 0xaf, 0x56, 0x82, 0x08,
|
||||
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|
||||
0x90, 0x07, 0x2f, 0x03, 0x34, 0xc3, 0x08, 0xf2, 0x3a, 0x0a, 0x08, 0x02, 0x35, 0xc0, 0x90, 0x4a, 0x0a, 0x48, 0x22,
|
||||
0xc0, 0x2e, 0x23, 0x2e, 0xfc, 0xf5, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x56, 0xc7, 0x98, 0x2e, 0x49, 0xc3, 0x10,
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||||
0x30, 0xfb, 0x6f, 0xf0, 0x5f, 0x21, 0x2e, 0xcc, 0x00, 0x21, 0x2e, 0xca, 0x00, 0xb8, 0x2e, 0x03, 0x2e, 0xd3, 0x00,
|
||||
0x16, 0xb8, 0x02, 0x34, 0x4a, 0x0c, 0x21, 0x2e, 0x2d, 0xf5, 0xc0, 0x2e, 0x23, 0x2e, 0xd3, 0x00, 0x03, 0xbc, 0x21,
|
||||
0x2e, 0xd5, 0x00, 0x03, 0x2e, 0xd5, 0x00, 0x40, 0xb2, 0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x30, 0x05, 0x2f,
|
||||
0x05, 0x2e, 0xd8, 0x00, 0x80, 0x90, 0x01, 0x2f, 0x23, 0x2e, 0x6f, 0xf5, 0xc0, 0x2e, 0x21, 0x2e, 0xd9, 0x00, 0x11,
|
||||
0x30, 0x81, 0x08, 0x01, 0x2e, 0x6a, 0xf7, 0x71, 0x3f, 0x23, 0xbd, 0x01, 0x08, 0x02, 0x0a, 0xc0, 0x2e, 0x21, 0x2e,
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||||
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|
||||
0x00, 0xfb, 0x7f, 0x98, 0x2e, 0xc3, 0xb7, 0x40, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0xfb, 0x6f, 0xf0, 0x5f, 0x03, 0x25,
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||||
0x80, 0x2e, 0xaf, 0xb7, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
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||||
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||||
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||||
0x00, 0x30, 0x41, 0x04, 0x82, 0x06, 0xc0, 0xa4, 0x00, 0x30, 0x11, 0x2f, 0x40, 0xa9, 0x03, 0x2f, 0x40, 0x91, 0x0d,
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||||
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|
||||
0x10, 0x30, 0x01, 0x2f, 0xcc, 0x0e, 0x00, 0x2f, 0x00, 0x30, 0xb8, 0x2e, 0xb5, 0x50, 0x18, 0x08, 0x08, 0xbc, 0x88,
|
||||
0xb6, 0x0d, 0x17, 0xc6, 0xbd, 0x56, 0xbc, 0xb7, 0x58, 0xda, 0xba, 0x04, 0x01, 0x1d, 0x0a, 0x10, 0x50, 0x05, 0x30,
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||||
0x32, 0x25, 0x45, 0x03, 0xfb, 0x7f, 0xf6, 0x30, 0x21, 0x25, 0x98, 0x2e, 0x37, 0xca, 0x16, 0xb5, 0x9a, 0xbc, 0x06,
|
||||
0xb8, 0x80, 0xa8, 0x41, 0x0a, 0x0e, 0x2f, 0x80, 0x90, 0x02, 0x2f, 0x2d, 0x50, 0x48, 0x0f, 0x09, 0x2f, 0xbf, 0xa0,
|
||||
0x04, 0x2f, 0xbf, 0x90, 0x06, 0x2f, 0xb7, 0x54, 0xca, 0x0f, 0x03, 0x2f, 0x00, 0x2e, 0x02, 0x2c, 0xb7, 0x52, 0x2d,
|
||||
0x52, 0xf2, 0x33, 0x98, 0x2e, 0xd9, 0xc0, 0xfb, 0x6f, 0xf1, 0x37, 0xc0, 0x2e, 0x01, 0x08, 0xf0, 0x5f, 0xbf, 0x56,
|
||||
0xb9, 0x54, 0xd0, 0x40, 0xc4, 0x40, 0x0b, 0x2e, 0xfd, 0xf3, 0xbf, 0x52, 0x90, 0x42, 0x94, 0x42, 0x95, 0x42, 0x05,
|
||||
0x30, 0xc1, 0x50, 0x0f, 0x88, 0x06, 0x40, 0x04, 0x41, 0x96, 0x42, 0xc5, 0x42, 0x48, 0xbe, 0x73, 0x30, 0x0d, 0x2e,
|
||||
0xd8, 0x00, 0x4f, 0xba, 0x84, 0x42, 0x03, 0x42, 0x81, 0xb3, 0x02, 0x2f, 0x2b, 0x2e, 0x6f, 0xf5, 0x06, 0x2d, 0x05,
|
||||
0x2e, 0x77, 0xf7, 0xbd, 0x56, 0x93, 0x08, 0x25, 0x2e, 0x77, 0xf7, 0xbb, 0x54, 0x25, 0x2e, 0xc2, 0xf5, 0x07, 0x2e,
|
||||
0xfd, 0xf3, 0x42, 0x30, 0xb4, 0x33, 0xda, 0x0a, 0x4c, 0x00, 0x27, 0x2e, 0xfd, 0xf3, 0x43, 0x40, 0xd4, 0x3f, 0xdc,
|
||||
0x08, 0x43, 0x42, 0x00, 0x2e, 0x00, 0x2e, 0x43, 0x40, 0x24, 0x30, 0xdc, 0x0a, 0x43, 0x42, 0x04, 0x80, 0x03, 0x2e,
|
||||
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|
||||
0x25, 0x7a, 0x86, 0xe0, 0x7f, 0xf3, 0x7f, 0x03, 0x25, 0xc3, 0x52, 0x41, 0x84, 0xdb, 0x7f, 0x33, 0x30, 0x98, 0x2e,
|
||||
0x16, 0xc2, 0x1a, 0x25, 0x7d, 0x82, 0xf0, 0x6f, 0xe2, 0x6f, 0x32, 0x25, 0x16, 0x40, 0x94, 0x40, 0x26, 0x01, 0x85,
|
||||
0x40, 0x8e, 0x17, 0xc4, 0x42, 0x6e, 0x03, 0x95, 0x42, 0x41, 0x0e, 0xf4, 0x2f, 0xdb, 0x6f, 0xa0, 0x5f, 0xb8, 0x2e,
|
||||
0xb0, 0x51, 0xfb, 0x7f, 0x98, 0x2e, 0xe8, 0x0d, 0x5a, 0x25, 0x98, 0x2e, 0x0f, 0x0e, 0xcb, 0x58, 0x32, 0x87, 0xc4,
|
||||
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|
||||
0xb6, 0x7f, 0x94, 0x7f, 0x17, 0x30, 0xc7, 0x52, 0xc9, 0x54, 0x51, 0x7f, 0x00, 0x2e, 0x85, 0x6f, 0x42, 0x7f, 0x00,
|
||||
0x2e, 0x51, 0x41, 0x45, 0x81, 0x42, 0x41, 0x13, 0x40, 0x3b, 0x8a, 0x00, 0x40, 0x4b, 0x04, 0xd0, 0x06, 0xc0, 0xac,
|
||||
0x85, 0x7f, 0x02, 0x2f, 0x02, 0x30, 0x51, 0x04, 0xd3, 0x06, 0x41, 0x84, 0x05, 0x30, 0x5d, 0x02, 0xc9, 0x16, 0xdf,
|
||||
0x08, 0xd3, 0x00, 0x8d, 0x02, 0xaf, 0xbc, 0xb1, 0xb9, 0x59, 0x0a, 0x65, 0x6f, 0x11, 0x43, 0xa1, 0xb4, 0x52, 0x41,
|
||||
0x53, 0x41, 0x01, 0x43, 0x34, 0x7f, 0x65, 0x7f, 0x26, 0x31, 0xe5, 0x6f, 0xd4, 0x6f, 0x98, 0x2e, 0x37, 0xca, 0x32,
|
||||
0x6f, 0x75, 0x6f, 0x83, 0x40, 0x42, 0x41, 0x23, 0x7f, 0x12, 0x7f, 0xf6, 0x30, 0x40, 0x25, 0x51, 0x25, 0x98, 0x2e,
|
||||
0x37, 0xca, 0x14, 0x6f, 0x20, 0x05, 0x70, 0x6f, 0x25, 0x6f, 0x69, 0x07, 0xa2, 0x6f, 0x31, 0x6f, 0x0b, 0x30, 0x04,
|
||||
0x42, 0x9b, 0x42, 0x8b, 0x42, 0x55, 0x42, 0x32, 0x7f, 0x40, 0xa9, 0xc3, 0x6f, 0x71, 0x7f, 0x02, 0x30, 0xd0, 0x40,
|
||||
0xc3, 0x7f, 0x03, 0x2f, 0x40, 0x91, 0x15, 0x2f, 0x00, 0xa7, 0x13, 0x2f, 0x00, 0xa4, 0x11, 0x2f, 0x84, 0xbd, 0x98,
|
||||
0x2e, 0x79, 0xca, 0x55, 0x6f, 0xb7, 0x54, 0x54, 0x41, 0x82, 0x00, 0xf3, 0x3f, 0x45, 0x41, 0xcb, 0x02, 0xf6, 0x30,
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||||
0x98, 0x2e, 0x37, 0xca, 0x35, 0x6f, 0xa4, 0x6f, 0x41, 0x43, 0x03, 0x2c, 0x00, 0x43, 0xa4, 0x6f, 0x35, 0x6f, 0x17,
|
||||
0x30, 0x42, 0x6f, 0x51, 0x6f, 0x93, 0x40, 0x42, 0x82, 0x00, 0x41, 0xc3, 0x00, 0x03, 0x43, 0x51, 0x7f, 0x00, 0x2e,
|
||||
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0x7f, 0x98, 0x2e, 0x00, 0x0c, 0x07, 0x15, 0xc2, 0x6f, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0xc3, 0xa3, 0xc1, 0x8f,
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||||
0xe4, 0x6f, 0xd0, 0x6f, 0xe6, 0x2f, 0x14, 0x30, 0x05, 0x2e, 0x6f, 0xf5, 0x14, 0x0b, 0x29, 0x2e, 0x6f, 0xf5, 0x18,
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||||
0x2d, 0xcd, 0x56, 0x04, 0x32, 0xb5, 0x6f, 0x1c, 0x01, 0x51, 0x41, 0x52, 0x41, 0xc3, 0x40, 0xb5, 0x7f, 0xe4, 0x7f,
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||||
0x98, 0x2e, 0x1f, 0x0c, 0xe4, 0x6f, 0x21, 0x87, 0x00, 0x43, 0x04, 0x32, 0xcf, 0x54, 0x5a, 0x0e, 0xef, 0x2f, 0x15,
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||||
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||||
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|
||||
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|
||||
0xd9, 0x54, 0xd7, 0x50, 0xa1, 0x40, 0x98, 0xbd, 0x82, 0x40, 0x3e, 0x82, 0xda, 0x0a, 0x44, 0x40, 0x8b, 0x16, 0xe3,
|
||||
0x00, 0x53, 0x42, 0x00, 0x2e, 0x43, 0x40, 0x9a, 0x02, 0x52, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x15, 0x54, 0x4a, 0x0e,
|
||||
0x3a, 0x2f, 0x3a, 0x82, 0x00, 0x30, 0x41, 0x40, 0x21, 0x2e, 0x85, 0x0f, 0x40, 0xb2, 0x0a, 0x2f, 0x98, 0x2e, 0xb1,
|
||||
0x0c, 0x98, 0x2e, 0x45, 0x0e, 0x98, 0x2e, 0x5b, 0x0e, 0xfb, 0x6f, 0xf0, 0x5f, 0x00, 0x30, 0x80, 0x2e, 0xce, 0xb7,
|
||||
0xdd, 0x52, 0xd3, 0x54, 0x42, 0x42, 0x4f, 0x84, 0x73, 0x30, 0xdb, 0x52, 0x83, 0x42, 0x1b, 0x30, 0x6b, 0x42, 0x23,
|
||||
0x30, 0x27, 0x2e, 0xd7, 0x00, 0x37, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0xd6, 0x00, 0x7a, 0x84, 0x17, 0x2c, 0x42, 0x42,
|
||||
0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30, 0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b,
|
||||
0xf7, 0x0b, 0x2d, 0x17, 0x30, 0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e, 0xd4, 0x00,
|
||||
0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39,
|
||||
0x86, 0xfb, 0x7f, 0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f, 0xab, 0x08, 0x91, 0x6f,
|
||||
0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09, 0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0xcb,
|
||||
0x52, 0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a, 0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08,
|
||||
0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f, 0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50, 0x03,
|
||||
0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4, 0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a,
|
||||
0x08, 0xb6, 0x89, 0x16, 0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x81, 0x0d, 0x01,
|
||||
0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f, 0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e,
|
||||
0xd7, 0x00, 0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e, 0x01, 0x2f, 0x80, 0x2e, 0x1f,
|
||||
0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34, 0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
|
||||
0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54, 0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5,
|
||||
0x52, 0x83, 0x42, 0x00, 0x30, 0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00, 0x50, 0x42,
|
||||
0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08, 0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00,
|
||||
0x30, 0x40, 0x42, 0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42, 0xd3, 0x86, 0x54, 0x40,
|
||||
0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e, 0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e,
|
||||
0x82, 0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00, 0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90,
|
||||
0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5, 0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e, 0x77,
|
||||
0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e, 0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e,
|
||||
0xfc, 0x2f, 0xb8, 0x2e, 0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc0,
|
||||
0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40, 0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f,
|
||||
0x14, 0x30, 0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e, 0x12, 0x42, 0xd3, 0x7f, 0xeb,
|
||||
0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90, 0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
|
||||
0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f, 0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41,
|
||||
0x33, 0x22, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f, 0x94, 0x09,
|
||||
0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd, 0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77,
|
||||
0x0b, 0x51, 0xbe, 0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42, 0xc0, 0x5f, 0x50, 0x50,
|
||||
0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f, 0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01,
|
||||
0x42, 0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52, 0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f,
|
||||
0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f, 0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30, 0x98,
|
||||
0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f, 0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30,
|
||||
0xc7, 0x86, 0x23, 0x2e, 0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e, 0x00, 0x2e, 0xd0,
|
||||
0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00, 0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e,
|
||||
0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e, 0x5d, 0xc0, 0xed, 0x50, 0x98,
|
||||
0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e, 0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
|
||||
0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f, 0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b,
|
||||
0x42, 0x37, 0x80, 0x01, 0x30, 0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a, 0x42, 0x42,
|
||||
0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08, 0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc,
|
||||
0x84, 0x0b, 0x40, 0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e, 0x58, 0xb7, 0xd1, 0x6f,
|
||||
0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f, 0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62,
|
||||
0x0e, 0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42, 0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00,
|
||||
0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e, 0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff, 0xff,
|
||||
0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
|
||||
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
|
||||
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e,
|
||||
0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80,
|
||||
0x2e, 0x00, 0xc1
|
||||
|
||||
};
|
||||
|
||||
} // namespace esphome::bmi270
|
||||
@@ -0,0 +1,91 @@
|
||||
import esphome.codegen as cg
|
||||
from esphome.components import i2c
|
||||
from esphome.components.const import (
|
||||
CONF_ACCELEROMETER_ODR,
|
||||
CONF_ACCELEROMETER_RANGE,
|
||||
CONF_GYROSCOPE_ODR,
|
||||
CONF_GYROSCOPE_RANGE,
|
||||
)
|
||||
from esphome.components.motion import motion_schema, new_motion_component
|
||||
import esphome.config_validation as cv
|
||||
|
||||
from . import BMI270Component, bmi270_ns
|
||||
|
||||
DEPENDENCIES = ["i2c"]
|
||||
|
||||
# Enum proxies (must match the C++ enum values exactly)
|
||||
BMI270AccelRange = bmi270_ns.enum("BMI270AccelRange")
|
||||
ACCEL_RANGE_OPTIONS = {
|
||||
"2G": BMI270AccelRange.BMI270_ACCEL_RANGE_2G,
|
||||
"4G": BMI270AccelRange.BMI270_ACCEL_RANGE_4G,
|
||||
"8G": BMI270AccelRange.BMI270_ACCEL_RANGE_8G,
|
||||
"16G": BMI270AccelRange.BMI270_ACCEL_RANGE_16G,
|
||||
}
|
||||
|
||||
BMI270GyroRange = bmi270_ns.enum("BMI270GyroRange")
|
||||
GYRO_RANGE_OPTIONS = {
|
||||
"2000DPS": BMI270GyroRange.BMI270_GYRO_RANGE_2000,
|
||||
"1000DPS": BMI270GyroRange.BMI270_GYRO_RANGE_1000,
|
||||
"500DPS": BMI270GyroRange.BMI270_GYRO_RANGE_500,
|
||||
"250DPS": BMI270GyroRange.BMI270_GYRO_RANGE_250,
|
||||
"125DPS": BMI270GyroRange.BMI270_GYRO_RANGE_125,
|
||||
}
|
||||
|
||||
BMI270AccelODR = bmi270_ns.enum("BMI270AccelODR")
|
||||
ACCEL_ODR_OPTIONS = {
|
||||
"12_5HZ": BMI270AccelODR.BMI270_ACCEL_ODR_12_5,
|
||||
"25HZ": BMI270AccelODR.BMI270_ACCEL_ODR_25,
|
||||
"50HZ": BMI270AccelODR.BMI270_ACCEL_ODR_50,
|
||||
"100HZ": BMI270AccelODR.BMI270_ACCEL_ODR_100,
|
||||
"200HZ": BMI270AccelODR.BMI270_ACCEL_ODR_200,
|
||||
"400HZ": BMI270AccelODR.BMI270_ACCEL_ODR_400,
|
||||
"800HZ": BMI270AccelODR.BMI270_ACCEL_ODR_800,
|
||||
"1600HZ": BMI270AccelODR.BMI270_ACCEL_ODR_1600,
|
||||
}
|
||||
|
||||
BMI270GyroODR = bmi270_ns.enum("BMI270GyroODR")
|
||||
GYRO_ODR_OPTIONS = {
|
||||
"25HZ": BMI270GyroODR.BMI270_GYRO_ODR_25,
|
||||
"50HZ": BMI270GyroODR.BMI270_GYRO_ODR_50,
|
||||
"100HZ": BMI270GyroODR.BMI270_GYRO_ODR_100,
|
||||
"200HZ": BMI270GyroODR.BMI270_GYRO_ODR_200,
|
||||
"400HZ": BMI270GyroODR.BMI270_GYRO_ODR_400,
|
||||
"800HZ": BMI270GyroODR.BMI270_GYRO_ODR_800,
|
||||
"1600HZ": BMI270GyroODR.BMI270_GYRO_ODR_1600,
|
||||
"3200HZ": BMI270GyroODR.BMI270_GYRO_ODR_3200,
|
||||
}
|
||||
|
||||
# Top-level CONFIG_SCHEMA
|
||||
CONFIG_SCHEMA = (
|
||||
motion_schema(BMI270Component, has_accel=True, has_gyro=True)
|
||||
.extend(
|
||||
{
|
||||
cv.Optional(CONF_ACCELEROMETER_RANGE, default="4G"): cv.enum(
|
||||
ACCEL_RANGE_OPTIONS, upper=True
|
||||
),
|
||||
cv.Optional(CONF_ACCELEROMETER_ODR, default="100HZ"): cv.enum(
|
||||
ACCEL_ODR_OPTIONS, upper=True
|
||||
),
|
||||
cv.Optional(CONF_GYROSCOPE_RANGE, default="2000DPS"): cv.enum(
|
||||
GYRO_RANGE_OPTIONS, upper=True
|
||||
),
|
||||
cv.Optional(CONF_GYROSCOPE_ODR, default="200HZ"): cv.enum(
|
||||
GYRO_ODR_OPTIONS, upper=True
|
||||
),
|
||||
}
|
||||
)
|
||||
.extend(i2c.i2c_device_schema(0x68))
|
||||
)
|
||||
|
||||
|
||||
# Code generation
|
||||
async def to_code(config):
|
||||
var = await new_motion_component(config)
|
||||
await i2c.register_i2c_device(var, config)
|
||||
|
||||
# Accelerometer sensors
|
||||
# Hardware configuration
|
||||
cg.add(var.set_accel_range(config[CONF_ACCELEROMETER_RANGE]))
|
||||
cg.add(var.set_accel_odr(config[CONF_ACCELEROMETER_ODR]))
|
||||
cg.add(var.set_gyro_range(config[CONF_GYROSCOPE_RANGE]))
|
||||
cg.add(var.set_gyro_odr(config[CONF_GYROSCOPE_ODR]))
|
||||
@@ -0,0 +1,41 @@
|
||||
# YAML config keys
|
||||
import esphome.codegen as cg
|
||||
from esphome.components import sensor
|
||||
import esphome.config_validation as cv
|
||||
from esphome.const import (
|
||||
CONF_TEMPERATURE,
|
||||
CONF_TYPE,
|
||||
DEVICE_CLASS_TEMPERATURE,
|
||||
ICON_THERMOMETER,
|
||||
STATE_CLASS_MEASUREMENT,
|
||||
UNIT_CELSIUS,
|
||||
)
|
||||
from esphome.cpp_generator import MockObj
|
||||
|
||||
from . import CONF_BMI270_ID, BMI270Component
|
||||
|
||||
AUTO_LOAD = ["bmi270"]
|
||||
|
||||
CONFIG_SCHEMA = sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_CELSIUS,
|
||||
icon=ICON_THERMOMETER,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
device_class=DEVICE_CLASS_TEMPERATURE,
|
||||
).extend(
|
||||
{
|
||||
cv.Optional(CONF_TYPE): cv.one_of(CONF_TEMPERATURE),
|
||||
cv.GenerateID(CONF_BMI270_ID): cv.use_id(BMI270Component),
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
async def to_code(config):
|
||||
var = await sensor.new_sensor(config)
|
||||
parent = await cg.get_variable(config[CONF_BMI270_ID])
|
||||
data = MockObj("data")
|
||||
value_lambda = await cg.process_lambda(
|
||||
var.publish_state(data),
|
||||
[(cg.float_, str(data))],
|
||||
)
|
||||
cg.add(parent.add_temperature_listener(value_lambda))
|
||||
@@ -5,6 +5,8 @@ CODEOWNERS = ["@esphome/core"]
|
||||
BYTE_ORDER_LITTLE = "little_endian"
|
||||
BYTE_ORDER_BIG = "big_endian"
|
||||
|
||||
CONF_ACCELEROMETER_ODR = "accelerometer_odr"
|
||||
CONF_ACCELEROMETER_RANGE = "accelerometer_range"
|
||||
CONF_B_CONSTANT = "b_constant"
|
||||
CONF_BYTE_ORDER = "byte_order"
|
||||
CONF_CLIMATE_ID = "climate_id"
|
||||
@@ -13,6 +15,8 @@ CONF_CRC_ENABLE = "crc_enable"
|
||||
CONF_DATA_BITS = "data_bits"
|
||||
CONF_DRAW_ROUNDING = "draw_rounding"
|
||||
CONF_ENABLED = "enabled"
|
||||
CONF_GYROSCOPE_ODR = "gyroscope_odr"
|
||||
CONF_GYROSCOPE_RANGE = "gyroscope_range"
|
||||
CONF_IGNORE_NOT_FOUND = "ignore_not_found"
|
||||
CONF_LIBRETINY = "libretiny"
|
||||
CONF_LOOP = "loop"
|
||||
|
||||
Reference in New Issue
Block a user