From: Keith Packard Date: Tue, 7 Aug 2012 18:48:20 +0000 (-0700) Subject: Merge remote-tracking branch 'mjb/master' X-Git-Tag: 1.1~67^2~34^2 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=4d4ad34aec0c75c66162b992f1e52947e4685730;hp=8e4ebd1f6eb928b5cb7bcda4ed88851aa9e61bdf Merge remote-tracking branch 'mjb/master' --- diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index 57c4da71..27ea3a2b 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -23,16 +23,10 @@ import java.text.*; import java.util.prefs.*; import java.util.concurrent.*; -class AltosSensorTM { - int tick; - int accel; - int pres; - int temp; - int batt; - int drogue; - int main; +class AltosSensorTM extends AltosRecordTM { - public AltosSensorTM(AltosLink link) throws InterruptedException, TimeoutException { + public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException { + super(); link.printf("a\n"); for (;;) { String line = link.get_reply_no_dialog(5000); @@ -82,6 +76,10 @@ class AltosSensorTM { } break; } + ground_accel = config_data.accel_cal_plus; + ground_pres = pres; + accel_plus_g = config_data.accel_cal_plus; + accel_minus_g = config_data.accel_cal_minus; } } @@ -253,7 +251,7 @@ class AltosGPSQuery extends AltosGPS { if (line.startsWith("Date:")) { if (bits.length < 2) continue; - String[] d = bits[1].split(":"); + String[] d = bits[1].split("/"); if (d.length < 3) continue; year = Integer.parseInt(d[0]) + 2000; @@ -264,7 +262,7 @@ class AltosGPSQuery extends AltosGPS { if (line.startsWith("Time:")) { if (bits.length < 2) continue; - String[] d = bits[1].split("/"); + String[] d = bits[1].split(":"); if (d.length < 3) continue; hour = Integer.parseInt(d[0]); @@ -339,8 +337,7 @@ public class AltosIdleMonitor extends Thread { } void update_state() throws InterruptedException, TimeoutException { - AltosRecord record; - int rssi; + AltosRecord record = null; try { if (remote) { @@ -350,20 +347,7 @@ public class AltosIdleMonitor extends Thread { link.flush_input(); config_data = new AltosConfigData(link); if (config_data.product.startsWith("TeleMetrum")) { - AltosRecordTM record_tm = new AltosRecordTM(); - AltosSensorTM sensor = new AltosSensorTM(link); - record_tm.accel = sensor.accel; - record_tm.pres = sensor.pres; - record_tm.batt = sensor.batt; - record_tm.temp = sensor.temp; - record_tm.drogue = sensor.drogue; - record_tm.main = sensor.main; - record_tm.ground_accel = record_tm.accel; - record_tm.ground_pres = record_tm.pres; - record_tm.accel_plus_g = config_data.accel_cal_plus; - record_tm.accel_minus_g = config_data.accel_cal_minus; - record_tm.tick = sensor.tick; - record = record_tm; + record = new AltosSensorTM(link, config_data); } else if (config_data.product.startsWith("MegaMetrum")) { AltosRecordMM record_mm = new AltosRecordMM(); AltosSensorMM sensor = new AltosSensorMM(link); @@ -390,24 +374,27 @@ public class AltosIdleMonitor extends Thread { record = new AltosRecord(); gps = new AltosGPSQuery(link, config_data); + + record.version = 0; + record.callsign = config_data.callsign; + record.serial = config_data.serial; + record.flight = config_data.log_available() > 0 ? 255 : 0; + record.status = 0; + record.state = AltosLib.ao_flight_idle; + record.gps = gps; + record.new_gps = true; + state = new AltosState (record, state); } finally { if (remote) { link.stop_remote(); - rssi = AltosRSSI(); - } else - rssi = 0; + if (record != null) + record.rssi = AltosRSSI(); + } else { + if (record != null) + record.rssi = 0; + } } - record.version = 0; - record.callsign = config_data.callsign; - record.serial = config_data.serial; - record.flight = config_data.log_available() > 0 ? 255 : 0; - record.rssi = rssi; - record.status = 0; - record.state = AltosLib.ao_flight_idle; - - record.gps = gps; - state = new AltosState (record, state); } public void set_frequency(double in_frequency) { diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java index d59e73ba..415c3c64 100644 --- a/altoslib/AltosLink.java +++ b/altoslib/AltosLink.java @@ -23,7 +23,7 @@ import java.util.concurrent.*; import java.util.*; import java.text.*; -public abstract class AltosLink { +public abstract class AltosLink implements Runnable { public final static int ERROR = -1; public final static int TIMEOUT = -2; @@ -101,15 +101,23 @@ public abstract class AltosLink { try { for (;;) { c = getchar(); - if (Thread.interrupted()) + if (Thread.interrupted()) { + if (debug) + System.out.printf("INTERRUPTED\n"); break; + } if (c == ERROR) { + if (debug) + System.out.printf("ERROR\n"); add_telem (new AltosLine()); add_reply (new AltosLine()); break; } - if (c == TIMEOUT) + if (c == TIMEOUT) { + if (debug) + System.out.printf("TIMEOUT\n"); continue; + } if (c == '\r') continue; synchronized(this) { @@ -180,6 +188,14 @@ public abstract class AltosLink { reply_queue.put (line); } + public void abort_reply() { + try { + add_telem (new AltosLine()); + add_reply (new AltosLine()); + } catch (InterruptedException e) { + } + } + public void add_string(String line) throws InterruptedException { if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) { add_telem(new AltosLine(line)); diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java index e468f84b..8722bc05 100644 --- a/altoslib/AltosRecord.java +++ b/altoslib/AltosRecord.java @@ -127,7 +127,7 @@ public class AltosRecord implements Comparable , Cloneable { double p = filtered_pressure(); if (p == MISSING) - return MISSING; + return raw_altitude(); return AltosConvert.pressure_to_altitude(p); } diff --git a/altoslib/AltosRecordTM.java b/altoslib/AltosRecordTM.java index afb70790..37accef6 100644 --- a/altoslib/AltosRecordTM.java +++ b/altoslib/AltosRecordTM.java @@ -177,14 +177,14 @@ public class AltosRecordTM extends AltosRecord { drogue = MISSING; main = MISSING; - flight_accel = 0; - flight_vel = 0; - flight_pres = 0; - - ground_accel = 0; - ground_pres = 0; - accel_plus_g = 0; - accel_minus_g = 0; + flight_accel = MISSING; + flight_vel = MISSING; + flight_pres = MISSING; + + ground_accel = MISSING; + ground_pres = MISSING; + accel_plus_g = MISSING; + accel_minus_g = MISSING; } public AltosRecordTM(AltosRecord old) { diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index e20ec9a7..3b37a3d4 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -38,6 +38,7 @@ public class AltosState { public boolean boost; /* under power */ public double ground_altitude; + public double altitude; public double height; public double speed; public double acceleration; @@ -82,6 +83,7 @@ public class AltosState { data = cur; ground_altitude = data.ground_altitude(); + altitude = data.raw_altitude(); height = data.filtered_height(); report_time = System.currentTimeMillis(); diff --git a/altosui/AltosInfoTable.java b/altosui/AltosInfoTable.java index aa6a6d4e..c1400976 100644 --- a/altosui/AltosInfoTable.java +++ b/altosui/AltosInfoTable.java @@ -40,18 +40,38 @@ public class AltosInfoTable extends JTable { return (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 18 / 10; } + int text_width(String t) { + FontMetrics infoValueMetrics = getFontMetrics(Altos.table_value_font); + + return infoValueMetrics.stringWidth(t); + } + + void set_layout() { + setRowHeight(desired_row_height()); + for (int i = 0; i < info_columns * 2; i++) + { + TableColumn column = getColumnModel().getColumn(i); + + if ((i & 1) == 0) + column.setPreferredWidth(text_width(" Satellites Visible ")); + else + column.setPreferredWidth(text_width(" 179°59.99999' ")); + } + } + public AltosInfoTable() { super(new AltosFlightInfoTableModel(info_rows, info_columns)); model = (AltosFlightInfoTableModel) getModel(); setFont(Altos.table_value_font); setAutoResizeMode(AUTO_RESIZE_ALL_COLUMNS); setShowGrid(true); - setRowHeight(desired_row_height()); + set_layout(); doLayout(); } public void set_font() { setFont(Altos.table_value_font); + set_layout(); doLayout(); } @@ -95,13 +115,8 @@ public class AltosInfoTable extends JTable { if (state == null) return; info_reset(); - info_add_row(0, "Rocket state", "%s", state.data.state()); - info_add_row(0, "Callsign", "%s", state.data.callsign); - info_add_row(0, "Rocket serial", "%6d", state.data.serial); - info_add_row(0, "Rocket flight", "%6d", state.data.flight); - - info_add_row(0, "RSSI", "%6d dBm", state.data.rssi); - info_add_row(0, "CRC Errors", "%6d", crc_errors); + info_add_row(0, "Altitude", "%6.0f m", state.altitude); + info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude); info_add_row(0, "Height", "%6.0f m", state.height); info_add_row(0, "Max height", "%6.0f m", state.max_height); info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration); @@ -114,7 +129,8 @@ public class AltosInfoTable extends JTable { info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense); if (state.main_sense != AltosRecord.MISSING) info_add_row(0, "Main", "%9.2f V", state.main_sense); - info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude); + info_add_row(0, "CRC Errors", "%6d", crc_errors); + if (state.gps == null || !state.gps.connected) { info_add_row(1, "GPS", "not available"); } else { diff --git a/altosui/AltosSerial.java b/altosui/AltosSerial.java index c4e9c697..6cee1609 100644 --- a/altosui/AltosSerial.java +++ b/altosui/AltosSerial.java @@ -41,7 +41,7 @@ import libaltosJNI.*; * threads. */ -public class AltosSerial extends AltosLink implements Runnable { +public class AltosSerial extends AltosLink { static java.util.List devices_opened = Collections.synchronizedList(new LinkedList()); @@ -54,13 +54,19 @@ public class AltosSerial extends AltosLink implements Runnable { Frame frame; public int getchar() { + if (altos == null) + return ERROR; return libaltos.altos_getchar(altos, 0); } public void flush_output() { super.flush_output(); if (altos != null) { - libaltos.altos_flush(altos); + if (libaltos.altos_flush(altos) != 0) { + libaltos.altos_close(altos); + altos = null; + abort_reply(); + } } } @@ -155,7 +161,11 @@ public class AltosSerial extends AltosLink implements Runnable { private void putc(char c) { if (altos != null) - libaltos.altos_putchar(altos, c); + if (libaltos.altos_putchar(altos, c) != 0) { + libaltos.altos_close(altos); + altos = null; + abort_reply(); + } } public void print(String data) { diff --git a/altosui/libaltos/libaltos.c b/altosui/libaltos/libaltos.c index 1cc27cbe..515432f9 100644 --- a/altosui/libaltos/libaltos.c +++ b/altosui/libaltos/libaltos.c @@ -221,7 +221,7 @@ altos_flush(struct altos_file *file) #endif if (ret < 0) { altos_set_last_posix_error(); - return -errno; + return -last_error.code; } if (ret) { memmove(file->out_data, file->out_data + ret, @@ -247,7 +247,7 @@ altos_putchar(struct altos_file *file, char c) ret = 0; if (file->out_used == USB_BUF_SIZE) ret = altos_flush(file); - return 0; + return ret; } #ifdef USE_POLL diff --git a/debian/control b/debian/control index 0b35bbe3..f57117ff 100644 --- a/debian/control +++ b/debian/control @@ -3,7 +3,7 @@ Section: electronics Priority: optional Maintainer: Bdale Garbee Uploaders: Keith Packard -Build-Depends: debhelper (>= 7), autoconf, automake, gawk, libreadline-dev, libusb-1.0-0-dev, nickle, sdcc, xsltproc, fop, docbook-xml, docbook-xsl, swig, default-jdk, freetts, libtool, libjfreechart-java, libbluetooth-dev, pkg-config +Build-Depends: debhelper (>= 7), autoconf, automake, gawk, libreadline-dev, libusb-1.0-0-dev, nickle, cc1111, xsltproc, fop, docbook-xml, docbook-xsl, swig, default-jdk, freetts, libtool, libjfreechart-java, libbluetooth-dev, pkg-config Standards-Version: 3.9.3 Homepage: http://altusmetrum.org/AltOS Vcs-Git: git://git.gag.com/fw/altos diff --git a/src/Makefile b/src/Makefile index 491618f6..99ea8f85 100644 --- a/src/Makefile +++ b/src/Makefile @@ -21,7 +21,8 @@ ifneq ($(shell which sdcc),) telebt-v0.0 telebt-v0.1 \ telemetrum-v0.1-sky telemetrum-v0.1-sirf \ telelaunch-v0.1 tidongle test \ - teleterra-v0.2 teleshield-v0.1 + teleterra-v0.2 teleshield-v0.1 \ + telefire-v0.1 endif ifneq ($(shell which avr-gcc),) diff --git a/src/aes/ao_aes.c b/src/aes/ao_aes.c new file mode 100644 index 00000000..4977aaf8 --- /dev/null +++ b/src/aes/ao_aes.c @@ -0,0 +1,390 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* rijndael.c - optimized version of the Rijndeal cipher */ +/* $Id: rijndael.c 258 2009-08-26 17:46:10Z selinger $ */ + +/* derived from original source: rijndael-alg-ref.c v2.0 August '99 + * Reference ANSI C code for NIST competition + * authors: Paulo Barreto + * Vincent Rijmen + */ + +#include +#include +#include "ao_aes_int.h" + +static const int xshifts[3][2][4] = { + {{0, 1, 2, 3}, + {0, 3, 2, 1}}, + + {{0, 1, 2, 3}, + {0, 5, 4, 3}}, + + {{0, 1, 3, 4}, + {0, 7, 5, 4}}, +}; + +/* Exor corresponding text input and round key input bytes */ +/* the result is written to res, which can be the same as a */ +static inline void xKeyAddition(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + + for (j = 0; j < BC; j++) { + res[j] = a[j] ^ rk[j]; + } +} + +#if 0 /* code included for reference */ + +/* shift rows a, return result in res. This avoids having to copy a + tmp array back to a. res must not be a. */ +static inline void xShiftRow(word32 res[MAXBC], word32 a[MAXBC], int shift[4], + int BC) +{ + word8 (*a8)[4] = (word8 (*)[4]) a; + word8 (*res8)[4] = (word8 (*)[4]) res; + + /* Row 0 remains unchanged + * The other three rows are shifted a variable amount + */ + int i, j; + int s; + + for (j = 0; j < BC; j++) { + res8[j][0] = a8[j][0]; + } + for (i = 1; i < 4; i++) { + s = shift[i]; + for (j = 0; j < BC; j++) { + res8[j][i] = a8[(j + s) % BC][i]; + } + } +} + +static inline void xSubstitution(word32 a[MAXBC], word8 box[256], int BC) +{ + word8 (*a8)[4] = (word8 (*)[4]) a; + + /* Replace every byte of the input by the byte at that place + * in the nonlinear S-box + */ + int i, j; + + for (i = 0; i < 4; i++) { + for (j = 0; j < BC; j++) { + a8[j][i] = box[a[j][i]]; + } + } +} + +#endif /* code included for reference */ + +/* profiling shows that the ccrypt program spends about 50% of its + time in the function xShiftSubst. Splitting the inner "for" + statement into two parts - versus using the expensive "%" modulo + operation, makes this function about 44% faster, thereby making the + entire program about 28% faster. With -O3 optimization, the time + savings are even more dramatic - ccrypt runs between 55% and 65% + faster on most platforms. */ + +/* do ShiftRow and Substitution together. res must not be a. */ +static inline void xShiftSubst(word32 res[MAXBC], word32 a[MAXBC], + int shift[4], int BC, const word8 box[256]) +{ + int i, j; + int s; + word8 (*a8)[4] = (word8 (*)[4]) a; + word8 (*res8)[4] = (word8 (*)[4]) res; + + for (j = 0; j < BC; j++) { + res8[j][0] = box[a8[j][0]]; + } + for (i = 1; i < 4; i++) { + s = shift[i]; + for (j = 0; j < BC - s; j++) { + res8[j][i] = box[a8[(j + s)][i]]; + } + for (j = BC - s; j < BC; j++) { + res8[j][i] = box[a8[(j + s) - BC][i]]; + } + } +} + +#if 0 /* code included for reference */ + +/* Mix the four bytes of every column in a linear way */ +/* the result is written to res, which may equal a */ +static inline void xMixColumn(word32 res[MAXBC], word32 a[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M0[0][a8[j][0]].w32; + b ^= M0[1][a8[j][1]].w32; + b ^= M0[2][a8[j][2]].w32; + b ^= M0[3][a8[j][3]].w32; + res[j] = b; + } +} + +#endif /* code included for reference */ + +/* do MixColumn and KeyAddition together */ +static inline void xMixAdd(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M0[0][a8[j][0]].w32; + b ^= M0[1][a8[j][1]].w32; + b ^= M0[2][a8[j][2]].w32; + b ^= M0[3][a8[j][3]].w32; + b ^= rk[j]; + res[j] = b; + } +} + +/* Mix the four bytes of every column in a linear way + * This is the opposite operation of xMixColumn */ +/* the result is written to res, which may equal a */ +static inline void xInvMixColumn(word32 res[MAXBC], word32 a[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + b = M1[0][a8[j][0]].w32; + b ^= M1[1][a8[j][1]].w32; + b ^= M1[2][a8[j][2]].w32; + b ^= M1[3][a8[j][3]].w32; + res[j] = b; + } +} + +#if 0 /* code included for reference */ + +/* do KeyAddition and InvMixColumn together */ +static inline void xAddInvMix(word32 res[MAXBC], word32 a[MAXBC], + word32 rk[MAXBC], int BC) +{ + int j; + word32 b; + word8 (*a8)[4] = (word8 (*)[4]) a; + + for (j = 0; j < BC; j++) { + a[j] = a[j] ^ rk[j]; + b = M1[0][a8[j][0]].w32; + b ^= M1[1][a8[j][1]].w32; + b ^= M1[2][a8[j][2]].w32; + b ^= M1[3][a8[j][3]].w32; + res[j] = b; + } +} + +#endif /* code included for reference */ + +int xrijndaelKeySched(word32 key[], int keyBits, int blockBits, + roundkey *rkk) +{ + /* Calculate the necessary round keys + * The number of calculations depends on keyBits and blockBits */ + int KC, BC, ROUNDS; + int i, j, t, rconpointer = 0; + word8 (*k8)[4] = (word8 (*)[4]) key; + + switch (keyBits) { + case 128: + KC = 4; + break; + case 192: + KC = 6; + break; + case 256: + KC = 8; + break; + default: + return -1; + } + + switch (blockBits) { + case 128: + BC = 4; + break; + case 192: + BC = 6; + break; + case 256: + BC = 8; + break; + default: + return -2; + } + + ROUNDS = KC > BC ? KC + 6 : BC + 6; + + t = 0; + /* copy values into round key array */ + for (j = 0; (j < KC) && (t < (ROUNDS + 1) * BC); j++, t++) + rkk->rk[t] = key[j]; + + while (t < (ROUNDS + 1) * BC) { /* while not enough round key material */ + /* calculate new values */ + for (i = 0; i < 4; i++) { + k8[0][i] ^= xS[k8[KC - 1][(i + 1) % 4]]; + } + k8[0][0] ^= xrcon[rconpointer++]; + + if (KC != 8) { + for (j = 1; j < KC; j++) { + key[j] ^= key[j - 1]; + } + } else { + for (j = 1; j < 4; j++) { + key[j] ^= key[j - 1]; + } + for (i = 0; i < 4; i++) { + k8[4][i] ^= xS[k8[3][i]]; + } + for (j = 5; j < 8; j++) { + key[j] ^= key[j - 1]; + } + } + /* copy values into round key array */ + for (j = 0; (j < KC) && (t < (ROUNDS + 1) * BC); j++, t++) { + rkk->rk[t] = key[j]; + } + } + + /* make roundkey structure */ + rkk->BC = BC; + rkk->KC = KC; + rkk->ROUNDS = ROUNDS; + for (i = 0; i < 2; i++) { + for (j = 0; j < 4; j++) { + rkk->shift[i][j] = xshifts[(BC - 4) >> 1][i][j]; + } + } + + return 0; +} + +/* Encryption of one block. */ + +void xrijndaelEncrypt(word32 block[], roundkey *rkk) +{ + word32 block2[MAXBC]; /* hold intermediate result */ + int r; + + int *shift = rkk->shift[0]; + int BC = rkk->BC; + int ROUNDS = rkk->ROUNDS; + word32 *rp = rkk->rk; + + /* begin with a key addition */ + xKeyAddition(block, block, rp, BC); + rp += BC; + + /* ROUNDS-1 ordinary rounds */ + for (r = 1; r < ROUNDS; r++) { + xShiftSubst(block2, block, shift, BC, xS); + xMixAdd(block, block2, rp, BC); + rp += BC; + } + + /* Last round is special: there is no xMixColumn */ + xShiftSubst(block2, block, shift, BC, xS); + xKeyAddition(block, block2, rp, BC); +} + +void xrijndaelDecrypt(word32 block[], roundkey *rkk) +{ + word32 block2[MAXBC]; /* hold intermediate result */ + int r; + + int *shift = rkk->shift[1]; + int BC = rkk->BC; + int ROUNDS = rkk->ROUNDS; + word32 *rp = rkk->rk + ROUNDS * BC; + + /* To decrypt: apply the inverse operations of the encrypt routine, + * in opposite order + * + * (xKeyAddition is an involution: it's equal to its inverse) + * (the inverse of xSubstitution with table S is xSubstitution with the + * inverse table of S) + * (the inverse of xShiftRow is xShiftRow over a suitable distance) + */ + + /* First the special round: + * without xInvMixColumn + * with extra xKeyAddition + */ + xKeyAddition(block2, block, rp, BC); + xShiftSubst(block, block2, shift, BC, xSi); + rp -= BC; + + /* ROUNDS-1 ordinary rounds + */ + for (r = ROUNDS - 1; r > 0; r--) { + xKeyAddition(block, block, rp, BC); + xInvMixColumn(block2, block, BC); + xShiftSubst(block, block2, shift, BC, xSi); + rp -= BC; + } + + /* End with the extra key addition + */ + + xKeyAddition(block, block, rp, BC); +} + +uint8_t ao_aes_mutex; +static roundkey rkk; + +static uint8_t iv[16]; + +void +ao_aes_set_mode(enum ao_aes_mode mode) +{ + /* we only do CBC_MAC anyways... */ +} + +void +ao_aes_set_key(__xdata uint8_t *in) +{ + xrijndaelKeySched((word32 *) in, 128, 128, &rkk); +} + +void +ao_aes_zero_iv(void) +{ + memset(iv, '\0', sizeof (iv)); +} + +void +ao_aes_run(__xdata uint8_t *in, + __xdata uint8_t *out) +{ + uint8_t i; + + for (i = 0; i < 16; i++) + iv[i] ^= in[i]; + xrijndaelEncrypt((word32 *) iv, &rkk); + if (out) + memcpy(out, iv, 16); +} + +void +ao_aes_init(void) +{ +} diff --git a/src/aes/ao_aes_int.h b/src/aes/ao_aes_int.h new file mode 100644 index 00000000..7990a2e1 --- /dev/null +++ b/src/aes/ao_aes_int.h @@ -0,0 +1,64 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* rijndael.h */ +/* $Id: rijndael.h 258 2009-08-26 17:46:10Z selinger $ */ + +/* derived from original source: rijndael-alg-ref.h v2.0 August '99 + * Reference ANSI C code for NIST competition + * authors: Paulo Barreto + * Vincent Rijmen + */ + +#ifndef __RIJNDAEL_H +#define __RIJNDAEL_H + +#include + +typedef uint8_t word8; +typedef uint32_t word32; + +/* a type to hold 32 bits accessible as 1 integer or 4 bytes */ +union word8x4_u { + word8 w8[4]; + word32 w32; +}; +typedef union word8x4_u word8x4; + +#include "ao_aes_tables.h" + +#define MAXBC (256/32) +#define MAXKC (256/32) +#define MAXROUNDS 14 +#define MAXRK ((MAXROUNDS+1)*MAXBC) + +typedef struct { + int BC; + int KC; + int ROUNDS; + int shift[2][4]; + word32 rk[MAXRK]; +} roundkey; + +/* keys and blocks are externally treated as word32 arrays, to + make sure they are aligned on 4-byte boundaries on architectures + that require it. */ + +/* make a roundkey rkk from key. key must have appropriate size given + by keyBits. keyBits and blockBits may only be 128, 196, or + 256. Returns non-zero if arguments are invalid. */ + +int xrijndaelKeySched(word32 key[], int keyBits, int blockBits, + roundkey *rkk); + +/* encrypt, resp. decrypt, block using rijndael roundkey rkk. rkk must + have been created with xrijndaelKeySched. Size of block, in bits, + must be equal to blockBits parameter that was used to make rkk. In + all other cases, behavior is undefined - for reasons of speed, no + check for error conditions is done. */ + +void xrijndaelEncrypt(word32 block[], roundkey *rkk); +void xrijndaelDecrypt(word32 block[], roundkey *rkk); + +#endif /* __RIJNDAEL_H */ diff --git a/src/aes/ao_aes_tables.c b/src/aes/ao_aes_tables.c new file mode 100644 index 00000000..1bca227c --- /dev/null +++ b/src/aes/ao_aes_tables.c @@ -0,0 +1,768 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +/* generated by maketables.c */ + +#include "ao_aes_int.h" + +const word8x4 M0[4][256] = { + { + {{ 0, 0, 0, 0}}, {{ 2, 1, 1, 3}}, {{ 4, 2, 2, 6}}, + {{ 6, 3, 3, 5}}, {{ 8, 4, 4, 12}}, {{ 10, 5, 5, 15}}, + {{ 12, 6, 6, 10}}, {{ 14, 7, 7, 9}}, {{ 16, 8, 8, 24}}, + {{ 18, 9, 9, 27}}, {{ 20, 10, 10, 30}}, {{ 22, 11, 11, 29}}, + {{ 24, 12, 12, 20}}, {{ 26, 13, 13, 23}}, {{ 28, 14, 14, 18}}, + {{ 30, 15, 15, 17}}, {{ 32, 16, 16, 48}}, {{ 34, 17, 17, 51}}, + {{ 36, 18, 18, 54}}, {{ 38, 19, 19, 53}}, {{ 40, 20, 20, 60}}, + {{ 42, 21, 21, 63}}, {{ 44, 22, 22, 58}}, {{ 46, 23, 23, 57}}, + {{ 48, 24, 24, 40}}, {{ 50, 25, 25, 43}}, {{ 52, 26, 26, 46}}, + {{ 54, 27, 27, 45}}, {{ 56, 28, 28, 36}}, {{ 58, 29, 29, 39}}, + {{ 60, 30, 30, 34}}, {{ 62, 31, 31, 33}}, {{ 64, 32, 32, 96}}, + {{ 66, 33, 33, 99}}, {{ 68, 34, 34, 102}}, {{ 70, 35, 35, 101}}, + {{ 72, 36, 36, 108}}, {{ 74, 37, 37, 111}}, {{ 76, 38, 38, 106}}, + {{ 78, 39, 39, 105}}, {{ 80, 40, 40, 120}}, {{ 82, 41, 41, 123}}, + {{ 84, 42, 42, 126}}, {{ 86, 43, 43, 125}}, {{ 88, 44, 44, 116}}, + {{ 90, 45, 45, 119}}, {{ 92, 46, 46, 114}}, {{ 94, 47, 47, 113}}, + {{ 96, 48, 48, 80}}, {{ 98, 49, 49, 83}}, {{100, 50, 50, 86}}, + {{102, 51, 51, 85}}, {{104, 52, 52, 92}}, {{106, 53, 53, 95}}, + {{108, 54, 54, 90}}, {{110, 55, 55, 89}}, {{112, 56, 56, 72}}, + {{114, 57, 57, 75}}, {{116, 58, 58, 78}}, {{118, 59, 59, 77}}, + {{120, 60, 60, 68}}, {{122, 61, 61, 71}}, {{124, 62, 62, 66}}, + {{126, 63, 63, 65}}, {{128, 64, 64, 192}}, {{130, 65, 65, 195}}, + {{132, 66, 66, 198}}, {{134, 67, 67, 197}}, {{136, 68, 68, 204}}, + {{138, 69, 69, 207}}, {{140, 70, 70, 202}}, {{142, 71, 71, 201}}, + {{144, 72, 72, 216}}, {{146, 73, 73, 219}}, {{148, 74, 74, 222}}, + {{150, 75, 75, 221}}, {{152, 76, 76, 212}}, {{154, 77, 77, 215}}, + {{156, 78, 78, 210}}, {{158, 79, 79, 209}}, {{160, 80, 80, 240}}, + {{162, 81, 81, 243}}, {{164, 82, 82, 246}}, {{166, 83, 83, 245}}, + {{168, 84, 84, 252}}, {{170, 85, 85, 255}}, {{172, 86, 86, 250}}, + {{174, 87, 87, 249}}, {{176, 88, 88, 232}}, {{178, 89, 89, 235}}, + {{180, 90, 90, 238}}, {{182, 91, 91, 237}}, {{184, 92, 92, 228}}, + {{186, 93, 93, 231}}, {{188, 94, 94, 226}}, {{190, 95, 95, 225}}, + {{192, 96, 96, 160}}, {{194, 97, 97, 163}}, {{196, 98, 98, 166}}, + {{198, 99, 99, 165}}, {{200, 100, 100, 172}}, {{202, 101, 101, 175}}, + {{204, 102, 102, 170}}, {{206, 103, 103, 169}}, {{208, 104, 104, 184}}, + {{210, 105, 105, 187}}, {{212, 106, 106, 190}}, {{214, 107, 107, 189}}, + {{216, 108, 108, 180}}, {{218, 109, 109, 183}}, {{220, 110, 110, 178}}, + {{222, 111, 111, 177}}, {{224, 112, 112, 144}}, {{226, 113, 113, 147}}, + {{228, 114, 114, 150}}, {{230, 115, 115, 149}}, {{232, 116, 116, 156}}, + {{234, 117, 117, 159}}, {{236, 118, 118, 154}}, {{238, 119, 119, 153}}, + {{240, 120, 120, 136}}, {{242, 121, 121, 139}}, {{244, 122, 122, 142}}, + {{246, 123, 123, 141}}, {{248, 124, 124, 132}}, {{250, 125, 125, 135}}, + {{252, 126, 126, 130}}, {{254, 127, 127, 129}}, {{ 27, 128, 128, 155}}, + {{ 25, 129, 129, 152}}, {{ 31, 130, 130, 157}}, {{ 29, 131, 131, 158}}, + {{ 19, 132, 132, 151}}, {{ 17, 133, 133, 148}}, {{ 23, 134, 134, 145}}, + {{ 21, 135, 135, 146}}, {{ 11, 136, 136, 131}}, {{ 9, 137, 137, 128}}, + {{ 15, 138, 138, 133}}, {{ 13, 139, 139, 134}}, {{ 3, 140, 140, 143}}, + {{ 1, 141, 141, 140}}, {{ 7, 142, 142, 137}}, {{ 5, 143, 143, 138}}, + {{ 59, 144, 144, 171}}, {{ 57, 145, 145, 168}}, {{ 63, 146, 146, 173}}, + {{ 61, 147, 147, 174}}, {{ 51, 148, 148, 167}}, {{ 49, 149, 149, 164}}, + {{ 55, 150, 150, 161}}, {{ 53, 151, 151, 162}}, {{ 43, 152, 152, 179}}, + {{ 41, 153, 153, 176}}, {{ 47, 154, 154, 181}}, {{ 45, 155, 155, 182}}, + {{ 35, 156, 156, 191}}, {{ 33, 157, 157, 188}}, {{ 39, 158, 158, 185}}, + {{ 37, 159, 159, 186}}, {{ 91, 160, 160, 251}}, {{ 89, 161, 161, 248}}, + {{ 95, 162, 162, 253}}, {{ 93, 163, 163, 254}}, {{ 83, 164, 164, 247}}, + {{ 81, 165, 165, 244}}, {{ 87, 166, 166, 241}}, {{ 85, 167, 167, 242}}, + {{ 75, 168, 168, 227}}, {{ 73, 169, 169, 224}}, {{ 79, 170, 170, 229}}, + {{ 77, 171, 171, 230}}, {{ 67, 172, 172, 239}}, {{ 65, 173, 173, 236}}, + {{ 71, 174, 174, 233}}, {{ 69, 175, 175, 234}}, {{123, 176, 176, 203}}, + {{121, 177, 177, 200}}, {{127, 178, 178, 205}}, {{125, 179, 179, 206}}, + {{115, 180, 180, 199}}, {{113, 181, 181, 196}}, {{119, 182, 182, 193}}, + {{117, 183, 183, 194}}, {{107, 184, 184, 211}}, {{105, 185, 185, 208}}, + {{111, 186, 186, 213}}, {{109, 187, 187, 214}}, {{ 99, 188, 188, 223}}, + {{ 97, 189, 189, 220}}, {{103, 190, 190, 217}}, {{101, 191, 191, 218}}, + {{155, 192, 192, 91}}, {{153, 193, 193, 88}}, {{159, 194, 194, 93}}, + {{157, 195, 195, 94}}, {{147, 196, 196, 87}}, {{145, 197, 197, 84}}, + {{151, 198, 198, 81}}, {{149, 199, 199, 82}}, {{139, 200, 200, 67}}, + {{137, 201, 201, 64}}, {{143, 202, 202, 69}}, {{141, 203, 203, 70}}, + {{131, 204, 204, 79}}, {{129, 205, 205, 76}}, {{135, 206, 206, 73}}, + {{133, 207, 207, 74}}, {{187, 208, 208, 107}}, {{185, 209, 209, 104}}, + {{191, 210, 210, 109}}, {{189, 211, 211, 110}}, {{179, 212, 212, 103}}, + {{177, 213, 213, 100}}, {{183, 214, 214, 97}}, {{181, 215, 215, 98}}, + {{171, 216, 216, 115}}, {{169, 217, 217, 112}}, {{175, 218, 218, 117}}, + {{173, 219, 219, 118}}, {{163, 220, 220, 127}}, {{161, 221, 221, 124}}, + {{167, 222, 222, 121}}, {{165, 223, 223, 122}}, {{219, 224, 224, 59}}, + {{217, 225, 225, 56}}, {{223, 226, 226, 61}}, {{221, 227, 227, 62}}, + {{211, 228, 228, 55}}, {{209, 229, 229, 52}}, {{215, 230, 230, 49}}, + {{213, 231, 231, 50}}, {{203, 232, 232, 35}}, {{201, 233, 233, 32}}, + {{207, 234, 234, 37}}, {{205, 235, 235, 38}}, {{195, 236, 236, 47}}, + {{193, 237, 237, 44}}, {{199, 238, 238, 41}}, {{197, 239, 239, 42}}, + {{251, 240, 240, 11}}, {{249, 241, 241, 8}}, {{255, 242, 242, 13}}, + {{253, 243, 243, 14}}, {{243, 244, 244, 7}}, {{241, 245, 245, 4}}, + {{247, 246, 246, 1}}, {{245, 247, 247, 2}}, {{235, 248, 248, 19}}, + {{233, 249, 249, 16}}, {{239, 250, 250, 21}}, {{237, 251, 251, 22}}, + {{227, 252, 252, 31}}, {{225, 253, 253, 28}}, {{231, 254, 254, 25}}, + {{229, 255, 255, 26}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 3, 2, 1, 1}}, {{ 6, 4, 2, 2}}, + {{ 5, 6, 3, 3}}, {{ 12, 8, 4, 4}}, {{ 15, 10, 5, 5}}, + {{ 10, 12, 6, 6}}, {{ 9, 14, 7, 7}}, {{ 24, 16, 8, 8}}, + {{ 27, 18, 9, 9}}, {{ 30, 20, 10, 10}}, {{ 29, 22, 11, 11}}, + {{ 20, 24, 12, 12}}, {{ 23, 26, 13, 13}}, {{ 18, 28, 14, 14}}, + {{ 17, 30, 15, 15}}, {{ 48, 32, 16, 16}}, {{ 51, 34, 17, 17}}, + {{ 54, 36, 18, 18}}, {{ 53, 38, 19, 19}}, {{ 60, 40, 20, 20}}, + {{ 63, 42, 21, 21}}, {{ 58, 44, 22, 22}}, {{ 57, 46, 23, 23}}, + {{ 40, 48, 24, 24}}, {{ 43, 50, 25, 25}}, {{ 46, 52, 26, 26}}, + {{ 45, 54, 27, 27}}, {{ 36, 56, 28, 28}}, {{ 39, 58, 29, 29}}, + {{ 34, 60, 30, 30}}, {{ 33, 62, 31, 31}}, {{ 96, 64, 32, 32}}, + {{ 99, 66, 33, 33}}, {{102, 68, 34, 34}}, {{101, 70, 35, 35}}, + {{108, 72, 36, 36}}, {{111, 74, 37, 37}}, {{106, 76, 38, 38}}, + {{105, 78, 39, 39}}, {{120, 80, 40, 40}}, {{123, 82, 41, 41}}, + {{126, 84, 42, 42}}, {{125, 86, 43, 43}}, {{116, 88, 44, 44}}, + {{119, 90, 45, 45}}, {{114, 92, 46, 46}}, {{113, 94, 47, 47}}, + {{ 80, 96, 48, 48}}, {{ 83, 98, 49, 49}}, {{ 86, 100, 50, 50}}, + {{ 85, 102, 51, 51}}, {{ 92, 104, 52, 52}}, {{ 95, 106, 53, 53}}, + {{ 90, 108, 54, 54}}, {{ 89, 110, 55, 55}}, {{ 72, 112, 56, 56}}, + {{ 75, 114, 57, 57}}, {{ 78, 116, 58, 58}}, {{ 77, 118, 59, 59}}, + {{ 68, 120, 60, 60}}, {{ 71, 122, 61, 61}}, {{ 66, 124, 62, 62}}, + {{ 65, 126, 63, 63}}, {{192, 128, 64, 64}}, {{195, 130, 65, 65}}, + {{198, 132, 66, 66}}, {{197, 134, 67, 67}}, {{204, 136, 68, 68}}, + {{207, 138, 69, 69}}, {{202, 140, 70, 70}}, {{201, 142, 71, 71}}, + {{216, 144, 72, 72}}, {{219, 146, 73, 73}}, {{222, 148, 74, 74}}, + {{221, 150, 75, 75}}, {{212, 152, 76, 76}}, {{215, 154, 77, 77}}, + {{210, 156, 78, 78}}, {{209, 158, 79, 79}}, {{240, 160, 80, 80}}, + {{243, 162, 81, 81}}, {{246, 164, 82, 82}}, {{245, 166, 83, 83}}, + {{252, 168, 84, 84}}, {{255, 170, 85, 85}}, {{250, 172, 86, 86}}, + {{249, 174, 87, 87}}, {{232, 176, 88, 88}}, {{235, 178, 89, 89}}, + {{238, 180, 90, 90}}, {{237, 182, 91, 91}}, {{228, 184, 92, 92}}, + {{231, 186, 93, 93}}, {{226, 188, 94, 94}}, {{225, 190, 95, 95}}, + {{160, 192, 96, 96}}, {{163, 194, 97, 97}}, {{166, 196, 98, 98}}, + {{165, 198, 99, 99}}, {{172, 200, 100, 100}}, {{175, 202, 101, 101}}, + {{170, 204, 102, 102}}, {{169, 206, 103, 103}}, {{184, 208, 104, 104}}, + {{187, 210, 105, 105}}, {{190, 212, 106, 106}}, {{189, 214, 107, 107}}, + {{180, 216, 108, 108}}, {{183, 218, 109, 109}}, {{178, 220, 110, 110}}, + {{177, 222, 111, 111}}, {{144, 224, 112, 112}}, {{147, 226, 113, 113}}, + {{150, 228, 114, 114}}, {{149, 230, 115, 115}}, {{156, 232, 116, 116}}, + {{159, 234, 117, 117}}, {{154, 236, 118, 118}}, {{153, 238, 119, 119}}, + {{136, 240, 120, 120}}, {{139, 242, 121, 121}}, {{142, 244, 122, 122}}, + {{141, 246, 123, 123}}, {{132, 248, 124, 124}}, {{135, 250, 125, 125}}, + {{130, 252, 126, 126}}, {{129, 254, 127, 127}}, {{155, 27, 128, 128}}, + {{152, 25, 129, 129}}, {{157, 31, 130, 130}}, {{158, 29, 131, 131}}, + {{151, 19, 132, 132}}, {{148, 17, 133, 133}}, {{145, 23, 134, 134}}, + {{146, 21, 135, 135}}, {{131, 11, 136, 136}}, {{128, 9, 137, 137}}, + {{133, 15, 138, 138}}, {{134, 13, 139, 139}}, {{143, 3, 140, 140}}, + {{140, 1, 141, 141}}, {{137, 7, 142, 142}}, {{138, 5, 143, 143}}, + {{171, 59, 144, 144}}, {{168, 57, 145, 145}}, {{173, 63, 146, 146}}, + {{174, 61, 147, 147}}, {{167, 51, 148, 148}}, {{164, 49, 149, 149}}, + {{161, 55, 150, 150}}, {{162, 53, 151, 151}}, {{179, 43, 152, 152}}, + {{176, 41, 153, 153}}, {{181, 47, 154, 154}}, {{182, 45, 155, 155}}, + {{191, 35, 156, 156}}, {{188, 33, 157, 157}}, {{185, 39, 158, 158}}, + {{186, 37, 159, 159}}, {{251, 91, 160, 160}}, {{248, 89, 161, 161}}, + {{253, 95, 162, 162}}, {{254, 93, 163, 163}}, {{247, 83, 164, 164}}, + {{244, 81, 165, 165}}, {{241, 87, 166, 166}}, {{242, 85, 167, 167}}, + {{227, 75, 168, 168}}, {{224, 73, 169, 169}}, {{229, 79, 170, 170}}, + {{230, 77, 171, 171}}, {{239, 67, 172, 172}}, {{236, 65, 173, 173}}, + {{233, 71, 174, 174}}, {{234, 69, 175, 175}}, {{203, 123, 176, 176}}, + {{200, 121, 177, 177}}, {{205, 127, 178, 178}}, {{206, 125, 179, 179}}, + {{199, 115, 180, 180}}, {{196, 113, 181, 181}}, {{193, 119, 182, 182}}, + {{194, 117, 183, 183}}, {{211, 107, 184, 184}}, {{208, 105, 185, 185}}, + {{213, 111, 186, 186}}, {{214, 109, 187, 187}}, {{223, 99, 188, 188}}, + {{220, 97, 189, 189}}, {{217, 103, 190, 190}}, {{218, 101, 191, 191}}, + {{ 91, 155, 192, 192}}, {{ 88, 153, 193, 193}}, {{ 93, 159, 194, 194}}, + {{ 94, 157, 195, 195}}, {{ 87, 147, 196, 196}}, {{ 84, 145, 197, 197}}, + {{ 81, 151, 198, 198}}, {{ 82, 149, 199, 199}}, {{ 67, 139, 200, 200}}, + {{ 64, 137, 201, 201}}, {{ 69, 143, 202, 202}}, {{ 70, 141, 203, 203}}, + {{ 79, 131, 204, 204}}, {{ 76, 129, 205, 205}}, {{ 73, 135, 206, 206}}, + {{ 74, 133, 207, 207}}, {{107, 187, 208, 208}}, {{104, 185, 209, 209}}, + {{109, 191, 210, 210}}, {{110, 189, 211, 211}}, {{103, 179, 212, 212}}, + {{100, 177, 213, 213}}, {{ 97, 183, 214, 214}}, {{ 98, 181, 215, 215}}, + {{115, 171, 216, 216}}, {{112, 169, 217, 217}}, {{117, 175, 218, 218}}, + {{118, 173, 219, 219}}, {{127, 163, 220, 220}}, {{124, 161, 221, 221}}, + {{121, 167, 222, 222}}, {{122, 165, 223, 223}}, {{ 59, 219, 224, 224}}, + {{ 56, 217, 225, 225}}, {{ 61, 223, 226, 226}}, {{ 62, 221, 227, 227}}, + {{ 55, 211, 228, 228}}, {{ 52, 209, 229, 229}}, {{ 49, 215, 230, 230}}, + {{ 50, 213, 231, 231}}, {{ 35, 203, 232, 232}}, {{ 32, 201, 233, 233}}, + {{ 37, 207, 234, 234}}, {{ 38, 205, 235, 235}}, {{ 47, 195, 236, 236}}, + {{ 44, 193, 237, 237}}, {{ 41, 199, 238, 238}}, {{ 42, 197, 239, 239}}, + {{ 11, 251, 240, 240}}, {{ 8, 249, 241, 241}}, {{ 13, 255, 242, 242}}, + {{ 14, 253, 243, 243}}, {{ 7, 243, 244, 244}}, {{ 4, 241, 245, 245}}, + {{ 1, 247, 246, 246}}, {{ 2, 245, 247, 247}}, {{ 19, 235, 248, 248}}, + {{ 16, 233, 249, 249}}, {{ 21, 239, 250, 250}}, {{ 22, 237, 251, 251}}, + {{ 31, 227, 252, 252}}, {{ 28, 225, 253, 253}}, {{ 25, 231, 254, 254}}, + {{ 26, 229, 255, 255}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 1, 3, 2, 1}}, {{ 2, 6, 4, 2}}, + {{ 3, 5, 6, 3}}, {{ 4, 12, 8, 4}}, {{ 5, 15, 10, 5}}, + {{ 6, 10, 12, 6}}, {{ 7, 9, 14, 7}}, {{ 8, 24, 16, 8}}, + {{ 9, 27, 18, 9}}, {{ 10, 30, 20, 10}}, {{ 11, 29, 22, 11}}, + {{ 12, 20, 24, 12}}, {{ 13, 23, 26, 13}}, {{ 14, 18, 28, 14}}, + {{ 15, 17, 30, 15}}, {{ 16, 48, 32, 16}}, {{ 17, 51, 34, 17}}, + {{ 18, 54, 36, 18}}, {{ 19, 53, 38, 19}}, {{ 20, 60, 40, 20}}, + {{ 21, 63, 42, 21}}, {{ 22, 58, 44, 22}}, {{ 23, 57, 46, 23}}, + {{ 24, 40, 48, 24}}, {{ 25, 43, 50, 25}}, {{ 26, 46, 52, 26}}, + {{ 27, 45, 54, 27}}, {{ 28, 36, 56, 28}}, {{ 29, 39, 58, 29}}, + {{ 30, 34, 60, 30}}, {{ 31, 33, 62, 31}}, {{ 32, 96, 64, 32}}, + {{ 33, 99, 66, 33}}, {{ 34, 102, 68, 34}}, {{ 35, 101, 70, 35}}, + {{ 36, 108, 72, 36}}, {{ 37, 111, 74, 37}}, {{ 38, 106, 76, 38}}, + {{ 39, 105, 78, 39}}, {{ 40, 120, 80, 40}}, {{ 41, 123, 82, 41}}, + {{ 42, 126, 84, 42}}, {{ 43, 125, 86, 43}}, {{ 44, 116, 88, 44}}, + {{ 45, 119, 90, 45}}, {{ 46, 114, 92, 46}}, {{ 47, 113, 94, 47}}, + {{ 48, 80, 96, 48}}, {{ 49, 83, 98, 49}}, {{ 50, 86, 100, 50}}, + {{ 51, 85, 102, 51}}, {{ 52, 92, 104, 52}}, {{ 53, 95, 106, 53}}, + {{ 54, 90, 108, 54}}, {{ 55, 89, 110, 55}}, {{ 56, 72, 112, 56}}, + {{ 57, 75, 114, 57}}, {{ 58, 78, 116, 58}}, {{ 59, 77, 118, 59}}, + {{ 60, 68, 120, 60}}, {{ 61, 71, 122, 61}}, {{ 62, 66, 124, 62}}, + {{ 63, 65, 126, 63}}, {{ 64, 192, 128, 64}}, {{ 65, 195, 130, 65}}, + {{ 66, 198, 132, 66}}, {{ 67, 197, 134, 67}}, {{ 68, 204, 136, 68}}, + {{ 69, 207, 138, 69}}, {{ 70, 202, 140, 70}}, {{ 71, 201, 142, 71}}, + {{ 72, 216, 144, 72}}, {{ 73, 219, 146, 73}}, {{ 74, 222, 148, 74}}, + {{ 75, 221, 150, 75}}, {{ 76, 212, 152, 76}}, {{ 77, 215, 154, 77}}, + {{ 78, 210, 156, 78}}, {{ 79, 209, 158, 79}}, {{ 80, 240, 160, 80}}, + {{ 81, 243, 162, 81}}, {{ 82, 246, 164, 82}}, {{ 83, 245, 166, 83}}, + {{ 84, 252, 168, 84}}, {{ 85, 255, 170, 85}}, {{ 86, 250, 172, 86}}, + {{ 87, 249, 174, 87}}, {{ 88, 232, 176, 88}}, {{ 89, 235, 178, 89}}, + {{ 90, 238, 180, 90}}, {{ 91, 237, 182, 91}}, {{ 92, 228, 184, 92}}, + {{ 93, 231, 186, 93}}, {{ 94, 226, 188, 94}}, {{ 95, 225, 190, 95}}, + {{ 96, 160, 192, 96}}, {{ 97, 163, 194, 97}}, {{ 98, 166, 196, 98}}, + {{ 99, 165, 198, 99}}, {{100, 172, 200, 100}}, {{101, 175, 202, 101}}, + {{102, 170, 204, 102}}, {{103, 169, 206, 103}}, {{104, 184, 208, 104}}, + {{105, 187, 210, 105}}, {{106, 190, 212, 106}}, {{107, 189, 214, 107}}, + {{108, 180, 216, 108}}, {{109, 183, 218, 109}}, {{110, 178, 220, 110}}, + {{111, 177, 222, 111}}, {{112, 144, 224, 112}}, {{113, 147, 226, 113}}, + {{114, 150, 228, 114}}, {{115, 149, 230, 115}}, {{116, 156, 232, 116}}, + {{117, 159, 234, 117}}, {{118, 154, 236, 118}}, {{119, 153, 238, 119}}, + {{120, 136, 240, 120}}, {{121, 139, 242, 121}}, {{122, 142, 244, 122}}, + {{123, 141, 246, 123}}, {{124, 132, 248, 124}}, {{125, 135, 250, 125}}, + {{126, 130, 252, 126}}, {{127, 129, 254, 127}}, {{128, 155, 27, 128}}, + {{129, 152, 25, 129}}, {{130, 157, 31, 130}}, {{131, 158, 29, 131}}, + {{132, 151, 19, 132}}, {{133, 148, 17, 133}}, {{134, 145, 23, 134}}, + {{135, 146, 21, 135}}, {{136, 131, 11, 136}}, {{137, 128, 9, 137}}, + {{138, 133, 15, 138}}, {{139, 134, 13, 139}}, {{140, 143, 3, 140}}, + {{141, 140, 1, 141}}, {{142, 137, 7, 142}}, {{143, 138, 5, 143}}, + {{144, 171, 59, 144}}, {{145, 168, 57, 145}}, {{146, 173, 63, 146}}, + {{147, 174, 61, 147}}, {{148, 167, 51, 148}}, {{149, 164, 49, 149}}, + {{150, 161, 55, 150}}, {{151, 162, 53, 151}}, {{152, 179, 43, 152}}, + {{153, 176, 41, 153}}, {{154, 181, 47, 154}}, {{155, 182, 45, 155}}, + {{156, 191, 35, 156}}, {{157, 188, 33, 157}}, {{158, 185, 39, 158}}, + {{159, 186, 37, 159}}, {{160, 251, 91, 160}}, {{161, 248, 89, 161}}, + {{162, 253, 95, 162}}, {{163, 254, 93, 163}}, {{164, 247, 83, 164}}, + {{165, 244, 81, 165}}, {{166, 241, 87, 166}}, {{167, 242, 85, 167}}, + {{168, 227, 75, 168}}, {{169, 224, 73, 169}}, {{170, 229, 79, 170}}, + {{171, 230, 77, 171}}, {{172, 239, 67, 172}}, {{173, 236, 65, 173}}, + {{174, 233, 71, 174}}, {{175, 234, 69, 175}}, {{176, 203, 123, 176}}, + {{177, 200, 121, 177}}, {{178, 205, 127, 178}}, {{179, 206, 125, 179}}, + {{180, 199, 115, 180}}, {{181, 196, 113, 181}}, {{182, 193, 119, 182}}, + {{183, 194, 117, 183}}, {{184, 211, 107, 184}}, {{185, 208, 105, 185}}, + {{186, 213, 111, 186}}, {{187, 214, 109, 187}}, {{188, 223, 99, 188}}, + {{189, 220, 97, 189}}, {{190, 217, 103, 190}}, {{191, 218, 101, 191}}, + {{192, 91, 155, 192}}, {{193, 88, 153, 193}}, {{194, 93, 159, 194}}, + {{195, 94, 157, 195}}, {{196, 87, 147, 196}}, {{197, 84, 145, 197}}, + {{198, 81, 151, 198}}, {{199, 82, 149, 199}}, {{200, 67, 139, 200}}, + {{201, 64, 137, 201}}, {{202, 69, 143, 202}}, {{203, 70, 141, 203}}, + {{204, 79, 131, 204}}, {{205, 76, 129, 205}}, {{206, 73, 135, 206}}, + {{207, 74, 133, 207}}, {{208, 107, 187, 208}}, {{209, 104, 185, 209}}, + {{210, 109, 191, 210}}, {{211, 110, 189, 211}}, {{212, 103, 179, 212}}, + {{213, 100, 177, 213}}, {{214, 97, 183, 214}}, {{215, 98, 181, 215}}, + {{216, 115, 171, 216}}, {{217, 112, 169, 217}}, {{218, 117, 175, 218}}, + {{219, 118, 173, 219}}, {{220, 127, 163, 220}}, {{221, 124, 161, 221}}, + {{222, 121, 167, 222}}, {{223, 122, 165, 223}}, {{224, 59, 219, 224}}, + {{225, 56, 217, 225}}, {{226, 61, 223, 226}}, {{227, 62, 221, 227}}, + {{228, 55, 211, 228}}, {{229, 52, 209, 229}}, {{230, 49, 215, 230}}, + {{231, 50, 213, 231}}, {{232, 35, 203, 232}}, {{233, 32, 201, 233}}, + {{234, 37, 207, 234}}, {{235, 38, 205, 235}}, {{236, 47, 195, 236}}, + {{237, 44, 193, 237}}, {{238, 41, 199, 238}}, {{239, 42, 197, 239}}, + {{240, 11, 251, 240}}, {{241, 8, 249, 241}}, {{242, 13, 255, 242}}, + {{243, 14, 253, 243}}, {{244, 7, 243, 244}}, {{245, 4, 241, 245}}, + {{246, 1, 247, 246}}, {{247, 2, 245, 247}}, {{248, 19, 235, 248}}, + {{249, 16, 233, 249}}, {{250, 21, 239, 250}}, {{251, 22, 237, 251}}, + {{252, 31, 227, 252}}, {{253, 28, 225, 253}}, {{254, 25, 231, 254}}, + {{255, 26, 229, 255}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 1, 1, 3, 2}}, {{ 2, 2, 6, 4}}, + {{ 3, 3, 5, 6}}, {{ 4, 4, 12, 8}}, {{ 5, 5, 15, 10}}, + {{ 6, 6, 10, 12}}, {{ 7, 7, 9, 14}}, {{ 8, 8, 24, 16}}, + {{ 9, 9, 27, 18}}, {{ 10, 10, 30, 20}}, {{ 11, 11, 29, 22}}, + {{ 12, 12, 20, 24}}, {{ 13, 13, 23, 26}}, {{ 14, 14, 18, 28}}, + {{ 15, 15, 17, 30}}, {{ 16, 16, 48, 32}}, {{ 17, 17, 51, 34}}, + {{ 18, 18, 54, 36}}, {{ 19, 19, 53, 38}}, {{ 20, 20, 60, 40}}, + {{ 21, 21, 63, 42}}, {{ 22, 22, 58, 44}}, {{ 23, 23, 57, 46}}, + {{ 24, 24, 40, 48}}, {{ 25, 25, 43, 50}}, {{ 26, 26, 46, 52}}, + {{ 27, 27, 45, 54}}, {{ 28, 28, 36, 56}}, {{ 29, 29, 39, 58}}, + {{ 30, 30, 34, 60}}, {{ 31, 31, 33, 62}}, {{ 32, 32, 96, 64}}, + {{ 33, 33, 99, 66}}, {{ 34, 34, 102, 68}}, {{ 35, 35, 101, 70}}, + {{ 36, 36, 108, 72}}, {{ 37, 37, 111, 74}}, {{ 38, 38, 106, 76}}, + {{ 39, 39, 105, 78}}, {{ 40, 40, 120, 80}}, {{ 41, 41, 123, 82}}, + {{ 42, 42, 126, 84}}, {{ 43, 43, 125, 86}}, {{ 44, 44, 116, 88}}, + {{ 45, 45, 119, 90}}, {{ 46, 46, 114, 92}}, {{ 47, 47, 113, 94}}, + {{ 48, 48, 80, 96}}, {{ 49, 49, 83, 98}}, {{ 50, 50, 86, 100}}, + {{ 51, 51, 85, 102}}, {{ 52, 52, 92, 104}}, {{ 53, 53, 95, 106}}, + {{ 54, 54, 90, 108}}, {{ 55, 55, 89, 110}}, {{ 56, 56, 72, 112}}, + {{ 57, 57, 75, 114}}, {{ 58, 58, 78, 116}}, {{ 59, 59, 77, 118}}, + {{ 60, 60, 68, 120}}, {{ 61, 61, 71, 122}}, {{ 62, 62, 66, 124}}, + {{ 63, 63, 65, 126}}, {{ 64, 64, 192, 128}}, {{ 65, 65, 195, 130}}, + {{ 66, 66, 198, 132}}, {{ 67, 67, 197, 134}}, {{ 68, 68, 204, 136}}, + {{ 69, 69, 207, 138}}, {{ 70, 70, 202, 140}}, {{ 71, 71, 201, 142}}, + {{ 72, 72, 216, 144}}, {{ 73, 73, 219, 146}}, {{ 74, 74, 222, 148}}, + {{ 75, 75, 221, 150}}, {{ 76, 76, 212, 152}}, {{ 77, 77, 215, 154}}, + {{ 78, 78, 210, 156}}, {{ 79, 79, 209, 158}}, {{ 80, 80, 240, 160}}, + {{ 81, 81, 243, 162}}, {{ 82, 82, 246, 164}}, {{ 83, 83, 245, 166}}, + {{ 84, 84, 252, 168}}, {{ 85, 85, 255, 170}}, {{ 86, 86, 250, 172}}, + {{ 87, 87, 249, 174}}, {{ 88, 88, 232, 176}}, {{ 89, 89, 235, 178}}, + {{ 90, 90, 238, 180}}, {{ 91, 91, 237, 182}}, {{ 92, 92, 228, 184}}, + {{ 93, 93, 231, 186}}, {{ 94, 94, 226, 188}}, {{ 95, 95, 225, 190}}, + {{ 96, 96, 160, 192}}, {{ 97, 97, 163, 194}}, {{ 98, 98, 166, 196}}, + {{ 99, 99, 165, 198}}, {{100, 100, 172, 200}}, {{101, 101, 175, 202}}, + {{102, 102, 170, 204}}, {{103, 103, 169, 206}}, {{104, 104, 184, 208}}, + {{105, 105, 187, 210}}, {{106, 106, 190, 212}}, {{107, 107, 189, 214}}, + {{108, 108, 180, 216}}, {{109, 109, 183, 218}}, {{110, 110, 178, 220}}, + {{111, 111, 177, 222}}, {{112, 112, 144, 224}}, {{113, 113, 147, 226}}, + {{114, 114, 150, 228}}, {{115, 115, 149, 230}}, {{116, 116, 156, 232}}, + {{117, 117, 159, 234}}, {{118, 118, 154, 236}}, {{119, 119, 153, 238}}, + {{120, 120, 136, 240}}, {{121, 121, 139, 242}}, {{122, 122, 142, 244}}, + {{123, 123, 141, 246}}, {{124, 124, 132, 248}}, {{125, 125, 135, 250}}, + {{126, 126, 130, 252}}, {{127, 127, 129, 254}}, {{128, 128, 155, 27}}, + {{129, 129, 152, 25}}, {{130, 130, 157, 31}}, {{131, 131, 158, 29}}, + {{132, 132, 151, 19}}, {{133, 133, 148, 17}}, {{134, 134, 145, 23}}, + {{135, 135, 146, 21}}, {{136, 136, 131, 11}}, {{137, 137, 128, 9}}, + {{138, 138, 133, 15}}, {{139, 139, 134, 13}}, {{140, 140, 143, 3}}, + {{141, 141, 140, 1}}, {{142, 142, 137, 7}}, {{143, 143, 138, 5}}, + {{144, 144, 171, 59}}, {{145, 145, 168, 57}}, {{146, 146, 173, 63}}, + {{147, 147, 174, 61}}, {{148, 148, 167, 51}}, {{149, 149, 164, 49}}, + {{150, 150, 161, 55}}, {{151, 151, 162, 53}}, {{152, 152, 179, 43}}, + {{153, 153, 176, 41}}, {{154, 154, 181, 47}}, {{155, 155, 182, 45}}, + {{156, 156, 191, 35}}, {{157, 157, 188, 33}}, {{158, 158, 185, 39}}, + {{159, 159, 186, 37}}, {{160, 160, 251, 91}}, {{161, 161, 248, 89}}, + {{162, 162, 253, 95}}, {{163, 163, 254, 93}}, {{164, 164, 247, 83}}, + {{165, 165, 244, 81}}, {{166, 166, 241, 87}}, {{167, 167, 242, 85}}, + {{168, 168, 227, 75}}, {{169, 169, 224, 73}}, {{170, 170, 229, 79}}, + {{171, 171, 230, 77}}, {{172, 172, 239, 67}}, {{173, 173, 236, 65}}, + {{174, 174, 233, 71}}, {{175, 175, 234, 69}}, {{176, 176, 203, 123}}, + {{177, 177, 200, 121}}, {{178, 178, 205, 127}}, {{179, 179, 206, 125}}, + {{180, 180, 199, 115}}, {{181, 181, 196, 113}}, {{182, 182, 193, 119}}, + {{183, 183, 194, 117}}, {{184, 184, 211, 107}}, {{185, 185, 208, 105}}, + {{186, 186, 213, 111}}, {{187, 187, 214, 109}}, {{188, 188, 223, 99}}, + {{189, 189, 220, 97}}, {{190, 190, 217, 103}}, {{191, 191, 218, 101}}, + {{192, 192, 91, 155}}, {{193, 193, 88, 153}}, {{194, 194, 93, 159}}, + {{195, 195, 94, 157}}, {{196, 196, 87, 147}}, {{197, 197, 84, 145}}, + {{198, 198, 81, 151}}, {{199, 199, 82, 149}}, {{200, 200, 67, 139}}, + {{201, 201, 64, 137}}, {{202, 202, 69, 143}}, {{203, 203, 70, 141}}, + {{204, 204, 79, 131}}, {{205, 205, 76, 129}}, {{206, 206, 73, 135}}, + {{207, 207, 74, 133}}, {{208, 208, 107, 187}}, {{209, 209, 104, 185}}, + {{210, 210, 109, 191}}, {{211, 211, 110, 189}}, {{212, 212, 103, 179}}, + {{213, 213, 100, 177}}, {{214, 214, 97, 183}}, {{215, 215, 98, 181}}, + {{216, 216, 115, 171}}, {{217, 217, 112, 169}}, {{218, 218, 117, 175}}, + {{219, 219, 118, 173}}, {{220, 220, 127, 163}}, {{221, 221, 124, 161}}, + {{222, 222, 121, 167}}, {{223, 223, 122, 165}}, {{224, 224, 59, 219}}, + {{225, 225, 56, 217}}, {{226, 226, 61, 223}}, {{227, 227, 62, 221}}, + {{228, 228, 55, 211}}, {{229, 229, 52, 209}}, {{230, 230, 49, 215}}, + {{231, 231, 50, 213}}, {{232, 232, 35, 203}}, {{233, 233, 32, 201}}, + {{234, 234, 37, 207}}, {{235, 235, 38, 205}}, {{236, 236, 47, 195}}, + {{237, 237, 44, 193}}, {{238, 238, 41, 199}}, {{239, 239, 42, 197}}, + {{240, 240, 11, 251}}, {{241, 241, 8, 249}}, {{242, 242, 13, 255}}, + {{243, 243, 14, 253}}, {{244, 244, 7, 243}}, {{245, 245, 4, 241}}, + {{246, 246, 1, 247}}, {{247, 247, 2, 245}}, {{248, 248, 19, 235}}, + {{249, 249, 16, 233}}, {{250, 250, 21, 239}}, {{251, 251, 22, 237}}, + {{252, 252, 31, 227}}, {{253, 253, 28, 225}}, {{254, 254, 25, 231}}, + {{255, 255, 26, 229}}, + }, +}; + +const word8x4 M1[4][256] = { + { + {{ 0, 0, 0, 0}}, {{ 14, 9, 13, 11}}, {{ 28, 18, 26, 22}}, + {{ 18, 27, 23, 29}}, {{ 56, 36, 52, 44}}, {{ 54, 45, 57, 39}}, + {{ 36, 54, 46, 58}}, {{ 42, 63, 35, 49}}, {{112, 72, 104, 88}}, + {{126, 65, 101, 83}}, {{108, 90, 114, 78}}, {{ 98, 83, 127, 69}}, + {{ 72, 108, 92, 116}}, {{ 70, 101, 81, 127}}, {{ 84, 126, 70, 98}}, + {{ 90, 119, 75, 105}}, {{224, 144, 208, 176}}, {{238, 153, 221, 187}}, + {{252, 130, 202, 166}}, {{242, 139, 199, 173}}, {{216, 180, 228, 156}}, + {{214, 189, 233, 151}}, {{196, 166, 254, 138}}, {{202, 175, 243, 129}}, + {{144, 216, 184, 232}}, {{158, 209, 181, 227}}, {{140, 202, 162, 254}}, + {{130, 195, 175, 245}}, {{168, 252, 140, 196}}, {{166, 245, 129, 207}}, + {{180, 238, 150, 210}}, {{186, 231, 155, 217}}, {{219, 59, 187, 123}}, + {{213, 50, 182, 112}}, {{199, 41, 161, 109}}, {{201, 32, 172, 102}}, + {{227, 31, 143, 87}}, {{237, 22, 130, 92}}, {{255, 13, 149, 65}}, + {{241, 4, 152, 74}}, {{171, 115, 211, 35}}, {{165, 122, 222, 40}}, + {{183, 97, 201, 53}}, {{185, 104, 196, 62}}, {{147, 87, 231, 15}}, + {{157, 94, 234, 4}}, {{143, 69, 253, 25}}, {{129, 76, 240, 18}}, + {{ 59, 171, 107, 203}}, {{ 53, 162, 102, 192}}, {{ 39, 185, 113, 221}}, + {{ 41, 176, 124, 214}}, {{ 3, 143, 95, 231}}, {{ 13, 134, 82, 236}}, + {{ 31, 157, 69, 241}}, {{ 17, 148, 72, 250}}, {{ 75, 227, 3, 147}}, + {{ 69, 234, 14, 152}}, {{ 87, 241, 25, 133}}, {{ 89, 248, 20, 142}}, + {{115, 199, 55, 191}}, {{125, 206, 58, 180}}, {{111, 213, 45, 169}}, + {{ 97, 220, 32, 162}}, {{173, 118, 109, 246}}, {{163, 127, 96, 253}}, + {{177, 100, 119, 224}}, {{191, 109, 122, 235}}, {{149, 82, 89, 218}}, + {{155, 91, 84, 209}}, {{137, 64, 67, 204}}, {{135, 73, 78, 199}}, + {{221, 62, 5, 174}}, {{211, 55, 8, 165}}, {{193, 44, 31, 184}}, + {{207, 37, 18, 179}}, {{229, 26, 49, 130}}, {{235, 19, 60, 137}}, + {{249, 8, 43, 148}}, {{247, 1, 38, 159}}, {{ 77, 230, 189, 70}}, + {{ 67, 239, 176, 77}}, {{ 81, 244, 167, 80}}, {{ 95, 253, 170, 91}}, + {{117, 194, 137, 106}}, {{123, 203, 132, 97}}, {{105, 208, 147, 124}}, + {{103, 217, 158, 119}}, {{ 61, 174, 213, 30}}, {{ 51, 167, 216, 21}}, + {{ 33, 188, 207, 8}}, {{ 47, 181, 194, 3}}, {{ 5, 138, 225, 50}}, + {{ 11, 131, 236, 57}}, {{ 25, 152, 251, 36}}, {{ 23, 145, 246, 47}}, + {{118, 77, 214, 141}}, {{120, 68, 219, 134}}, {{106, 95, 204, 155}}, + {{100, 86, 193, 144}}, {{ 78, 105, 226, 161}}, {{ 64, 96, 239, 170}}, + {{ 82, 123, 248, 183}}, {{ 92, 114, 245, 188}}, {{ 6, 5, 190, 213}}, + {{ 8, 12, 179, 222}}, {{ 26, 23, 164, 195}}, {{ 20, 30, 169, 200}}, + {{ 62, 33, 138, 249}}, {{ 48, 40, 135, 242}}, {{ 34, 51, 144, 239}}, + {{ 44, 58, 157, 228}}, {{150, 221, 6, 61}}, {{152, 212, 11, 54}}, + {{138, 207, 28, 43}}, {{132, 198, 17, 32}}, {{174, 249, 50, 17}}, + {{160, 240, 63, 26}}, {{178, 235, 40, 7}}, {{188, 226, 37, 12}}, + {{230, 149, 110, 101}}, {{232, 156, 99, 110}}, {{250, 135, 116, 115}}, + {{244, 142, 121, 120}}, {{222, 177, 90, 73}}, {{208, 184, 87, 66}}, + {{194, 163, 64, 95}}, {{204, 170, 77, 84}}, {{ 65, 236, 218, 247}}, + {{ 79, 229, 215, 252}}, {{ 93, 254, 192, 225}}, {{ 83, 247, 205, 234}}, + {{121, 200, 238, 219}}, {{119, 193, 227, 208}}, {{101, 218, 244, 205}}, + {{107, 211, 249, 198}}, {{ 49, 164, 178, 175}}, {{ 63, 173, 191, 164}}, + {{ 45, 182, 168, 185}}, {{ 35, 191, 165, 178}}, {{ 9, 128, 134, 131}}, + {{ 7, 137, 139, 136}}, {{ 21, 146, 156, 149}}, {{ 27, 155, 145, 158}}, + {{161, 124, 10, 71}}, {{175, 117, 7, 76}}, {{189, 110, 16, 81}}, + {{179, 103, 29, 90}}, {{153, 88, 62, 107}}, {{151, 81, 51, 96}}, + {{133, 74, 36, 125}}, {{139, 67, 41, 118}}, {{209, 52, 98, 31}}, + {{223, 61, 111, 20}}, {{205, 38, 120, 9}}, {{195, 47, 117, 2}}, + {{233, 16, 86, 51}}, {{231, 25, 91, 56}}, {{245, 2, 76, 37}}, + {{251, 11, 65, 46}}, {{154, 215, 97, 140}}, {{148, 222, 108, 135}}, + {{134, 197, 123, 154}}, {{136, 204, 118, 145}}, {{162, 243, 85, 160}}, + {{172, 250, 88, 171}}, {{190, 225, 79, 182}}, {{176, 232, 66, 189}}, + {{234, 159, 9, 212}}, {{228, 150, 4, 223}}, {{246, 141, 19, 194}}, + {{248, 132, 30, 201}}, {{210, 187, 61, 248}}, {{220, 178, 48, 243}}, + {{206, 169, 39, 238}}, {{192, 160, 42, 229}}, {{122, 71, 177, 60}}, + {{116, 78, 188, 55}}, {{102, 85, 171, 42}}, {{104, 92, 166, 33}}, + {{ 66, 99, 133, 16}}, {{ 76, 106, 136, 27}}, {{ 94, 113, 159, 6}}, + {{ 80, 120, 146, 13}}, {{ 10, 15, 217, 100}}, {{ 4, 6, 212, 111}}, + {{ 22, 29, 195, 114}}, {{ 24, 20, 206, 121}}, {{ 50, 43, 237, 72}}, + {{ 60, 34, 224, 67}}, {{ 46, 57, 247, 94}}, {{ 32, 48, 250, 85}}, + {{236, 154, 183, 1}}, {{226, 147, 186, 10}}, {{240, 136, 173, 23}}, + {{254, 129, 160, 28}}, {{212, 190, 131, 45}}, {{218, 183, 142, 38}}, + {{200, 172, 153, 59}}, {{198, 165, 148, 48}}, {{156, 210, 223, 89}}, + {{146, 219, 210, 82}}, {{128, 192, 197, 79}}, {{142, 201, 200, 68}}, + {{164, 246, 235, 117}}, {{170, 255, 230, 126}}, {{184, 228, 241, 99}}, + {{182, 237, 252, 104}}, {{ 12, 10, 103, 177}}, {{ 2, 3, 106, 186}}, + {{ 16, 24, 125, 167}}, {{ 30, 17, 112, 172}}, {{ 52, 46, 83, 157}}, + {{ 58, 39, 94, 150}}, {{ 40, 60, 73, 139}}, {{ 38, 53, 68, 128}}, + {{124, 66, 15, 233}}, {{114, 75, 2, 226}}, {{ 96, 80, 21, 255}}, + {{110, 89, 24, 244}}, {{ 68, 102, 59, 197}}, {{ 74, 111, 54, 206}}, + {{ 88, 116, 33, 211}}, {{ 86, 125, 44, 216}}, {{ 55, 161, 12, 122}}, + {{ 57, 168, 1, 113}}, {{ 43, 179, 22, 108}}, {{ 37, 186, 27, 103}}, + {{ 15, 133, 56, 86}}, {{ 1, 140, 53, 93}}, {{ 19, 151, 34, 64}}, + {{ 29, 158, 47, 75}}, {{ 71, 233, 100, 34}}, {{ 73, 224, 105, 41}}, + {{ 91, 251, 126, 52}}, {{ 85, 242, 115, 63}}, {{127, 205, 80, 14}}, + {{113, 196, 93, 5}}, {{ 99, 223, 74, 24}}, {{109, 214, 71, 19}}, + {{215, 49, 220, 202}}, {{217, 56, 209, 193}}, {{203, 35, 198, 220}}, + {{197, 42, 203, 215}}, {{239, 21, 232, 230}}, {{225, 28, 229, 237}}, + {{243, 7, 242, 240}}, {{253, 14, 255, 251}}, {{167, 121, 180, 146}}, + {{169, 112, 185, 153}}, {{187, 107, 174, 132}}, {{181, 98, 163, 143}}, + {{159, 93, 128, 190}}, {{145, 84, 141, 181}}, {{131, 79, 154, 168}}, + {{141, 70, 151, 163}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 11, 14, 9, 13}}, {{ 22, 28, 18, 26}}, + {{ 29, 18, 27, 23}}, {{ 44, 56, 36, 52}}, {{ 39, 54, 45, 57}}, + {{ 58, 36, 54, 46}}, {{ 49, 42, 63, 35}}, {{ 88, 112, 72, 104}}, + {{ 83, 126, 65, 101}}, {{ 78, 108, 90, 114}}, {{ 69, 98, 83, 127}}, + {{116, 72, 108, 92}}, {{127, 70, 101, 81}}, {{ 98, 84, 126, 70}}, + {{105, 90, 119, 75}}, {{176, 224, 144, 208}}, {{187, 238, 153, 221}}, + {{166, 252, 130, 202}}, {{173, 242, 139, 199}}, {{156, 216, 180, 228}}, + {{151, 214, 189, 233}}, {{138, 196, 166, 254}}, {{129, 202, 175, 243}}, + {{232, 144, 216, 184}}, {{227, 158, 209, 181}}, {{254, 140, 202, 162}}, + {{245, 130, 195, 175}}, {{196, 168, 252, 140}}, {{207, 166, 245, 129}}, + {{210, 180, 238, 150}}, {{217, 186, 231, 155}}, {{123, 219, 59, 187}}, + {{112, 213, 50, 182}}, {{109, 199, 41, 161}}, {{102, 201, 32, 172}}, + {{ 87, 227, 31, 143}}, {{ 92, 237, 22, 130}}, {{ 65, 255, 13, 149}}, + {{ 74, 241, 4, 152}}, {{ 35, 171, 115, 211}}, {{ 40, 165, 122, 222}}, + {{ 53, 183, 97, 201}}, {{ 62, 185, 104, 196}}, {{ 15, 147, 87, 231}}, + {{ 4, 157, 94, 234}}, {{ 25, 143, 69, 253}}, {{ 18, 129, 76, 240}}, + {{203, 59, 171, 107}}, {{192, 53, 162, 102}}, {{221, 39, 185, 113}}, + {{214, 41, 176, 124}}, {{231, 3, 143, 95}}, {{236, 13, 134, 82}}, + {{241, 31, 157, 69}}, {{250, 17, 148, 72}}, {{147, 75, 227, 3}}, + {{152, 69, 234, 14}}, {{133, 87, 241, 25}}, {{142, 89, 248, 20}}, + {{191, 115, 199, 55}}, {{180, 125, 206, 58}}, {{169, 111, 213, 45}}, + {{162, 97, 220, 32}}, {{246, 173, 118, 109}}, {{253, 163, 127, 96}}, + {{224, 177, 100, 119}}, {{235, 191, 109, 122}}, {{218, 149, 82, 89}}, + {{209, 155, 91, 84}}, {{204, 137, 64, 67}}, {{199, 135, 73, 78}}, + {{174, 221, 62, 5}}, {{165, 211, 55, 8}}, {{184, 193, 44, 31}}, + {{179, 207, 37, 18}}, {{130, 229, 26, 49}}, {{137, 235, 19, 60}}, + {{148, 249, 8, 43}}, {{159, 247, 1, 38}}, {{ 70, 77, 230, 189}}, + {{ 77, 67, 239, 176}}, {{ 80, 81, 244, 167}}, {{ 91, 95, 253, 170}}, + {{106, 117, 194, 137}}, {{ 97, 123, 203, 132}}, {{124, 105, 208, 147}}, + {{119, 103, 217, 158}}, {{ 30, 61, 174, 213}}, {{ 21, 51, 167, 216}}, + {{ 8, 33, 188, 207}}, {{ 3, 47, 181, 194}}, {{ 50, 5, 138, 225}}, + {{ 57, 11, 131, 236}}, {{ 36, 25, 152, 251}}, {{ 47, 23, 145, 246}}, + {{141, 118, 77, 214}}, {{134, 120, 68, 219}}, {{155, 106, 95, 204}}, + {{144, 100, 86, 193}}, {{161, 78, 105, 226}}, {{170, 64, 96, 239}}, + {{183, 82, 123, 248}}, {{188, 92, 114, 245}}, {{213, 6, 5, 190}}, + {{222, 8, 12, 179}}, {{195, 26, 23, 164}}, {{200, 20, 30, 169}}, + {{249, 62, 33, 138}}, {{242, 48, 40, 135}}, {{239, 34, 51, 144}}, + {{228, 44, 58, 157}}, {{ 61, 150, 221, 6}}, {{ 54, 152, 212, 11}}, + {{ 43, 138, 207, 28}}, {{ 32, 132, 198, 17}}, {{ 17, 174, 249, 50}}, + {{ 26, 160, 240, 63}}, {{ 7, 178, 235, 40}}, {{ 12, 188, 226, 37}}, + {{101, 230, 149, 110}}, {{110, 232, 156, 99}}, {{115, 250, 135, 116}}, + {{120, 244, 142, 121}}, {{ 73, 222, 177, 90}}, {{ 66, 208, 184, 87}}, + {{ 95, 194, 163, 64}}, {{ 84, 204, 170, 77}}, {{247, 65, 236, 218}}, + {{252, 79, 229, 215}}, {{225, 93, 254, 192}}, {{234, 83, 247, 205}}, + {{219, 121, 200, 238}}, {{208, 119, 193, 227}}, {{205, 101, 218, 244}}, + {{198, 107, 211, 249}}, {{175, 49, 164, 178}}, {{164, 63, 173, 191}}, + {{185, 45, 182, 168}}, {{178, 35, 191, 165}}, {{131, 9, 128, 134}}, + {{136, 7, 137, 139}}, {{149, 21, 146, 156}}, {{158, 27, 155, 145}}, + {{ 71, 161, 124, 10}}, {{ 76, 175, 117, 7}}, {{ 81, 189, 110, 16}}, + {{ 90, 179, 103, 29}}, {{107, 153, 88, 62}}, {{ 96, 151, 81, 51}}, + {{125, 133, 74, 36}}, {{118, 139, 67, 41}}, {{ 31, 209, 52, 98}}, + {{ 20, 223, 61, 111}}, {{ 9, 205, 38, 120}}, {{ 2, 195, 47, 117}}, + {{ 51, 233, 16, 86}}, {{ 56, 231, 25, 91}}, {{ 37, 245, 2, 76}}, + {{ 46, 251, 11, 65}}, {{140, 154, 215, 97}}, {{135, 148, 222, 108}}, + {{154, 134, 197, 123}}, {{145, 136, 204, 118}}, {{160, 162, 243, 85}}, + {{171, 172, 250, 88}}, {{182, 190, 225, 79}}, {{189, 176, 232, 66}}, + {{212, 234, 159, 9}}, {{223, 228, 150, 4}}, {{194, 246, 141, 19}}, + {{201, 248, 132, 30}}, {{248, 210, 187, 61}}, {{243, 220, 178, 48}}, + {{238, 206, 169, 39}}, {{229, 192, 160, 42}}, {{ 60, 122, 71, 177}}, + {{ 55, 116, 78, 188}}, {{ 42, 102, 85, 171}}, {{ 33, 104, 92, 166}}, + {{ 16, 66, 99, 133}}, {{ 27, 76, 106, 136}}, {{ 6, 94, 113, 159}}, + {{ 13, 80, 120, 146}}, {{100, 10, 15, 217}}, {{111, 4, 6, 212}}, + {{114, 22, 29, 195}}, {{121, 24, 20, 206}}, {{ 72, 50, 43, 237}}, + {{ 67, 60, 34, 224}}, {{ 94, 46, 57, 247}}, {{ 85, 32, 48, 250}}, + {{ 1, 236, 154, 183}}, {{ 10, 226, 147, 186}}, {{ 23, 240, 136, 173}}, + {{ 28, 254, 129, 160}}, {{ 45, 212, 190, 131}}, {{ 38, 218, 183, 142}}, + {{ 59, 200, 172, 153}}, {{ 48, 198, 165, 148}}, {{ 89, 156, 210, 223}}, + {{ 82, 146, 219, 210}}, {{ 79, 128, 192, 197}}, {{ 68, 142, 201, 200}}, + {{117, 164, 246, 235}}, {{126, 170, 255, 230}}, {{ 99, 184, 228, 241}}, + {{104, 182, 237, 252}}, {{177, 12, 10, 103}}, {{186, 2, 3, 106}}, + {{167, 16, 24, 125}}, {{172, 30, 17, 112}}, {{157, 52, 46, 83}}, + {{150, 58, 39, 94}}, {{139, 40, 60, 73}}, {{128, 38, 53, 68}}, + {{233, 124, 66, 15}}, {{226, 114, 75, 2}}, {{255, 96, 80, 21}}, + {{244, 110, 89, 24}}, {{197, 68, 102, 59}}, {{206, 74, 111, 54}}, + {{211, 88, 116, 33}}, {{216, 86, 125, 44}}, {{122, 55, 161, 12}}, + {{113, 57, 168, 1}}, {{108, 43, 179, 22}}, {{103, 37, 186, 27}}, + {{ 86, 15, 133, 56}}, {{ 93, 1, 140, 53}}, {{ 64, 19, 151, 34}}, + {{ 75, 29, 158, 47}}, {{ 34, 71, 233, 100}}, {{ 41, 73, 224, 105}}, + {{ 52, 91, 251, 126}}, {{ 63, 85, 242, 115}}, {{ 14, 127, 205, 80}}, + {{ 5, 113, 196, 93}}, {{ 24, 99, 223, 74}}, {{ 19, 109, 214, 71}}, + {{202, 215, 49, 220}}, {{193, 217, 56, 209}}, {{220, 203, 35, 198}}, + {{215, 197, 42, 203}}, {{230, 239, 21, 232}}, {{237, 225, 28, 229}}, + {{240, 243, 7, 242}}, {{251, 253, 14, 255}}, {{146, 167, 121, 180}}, + {{153, 169, 112, 185}}, {{132, 187, 107, 174}}, {{143, 181, 98, 163}}, + {{190, 159, 93, 128}}, {{181, 145, 84, 141}}, {{168, 131, 79, 154}}, + {{163, 141, 70, 151}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 13, 11, 14, 9}}, {{ 26, 22, 28, 18}}, + {{ 23, 29, 18, 27}}, {{ 52, 44, 56, 36}}, {{ 57, 39, 54, 45}}, + {{ 46, 58, 36, 54}}, {{ 35, 49, 42, 63}}, {{104, 88, 112, 72}}, + {{101, 83, 126, 65}}, {{114, 78, 108, 90}}, {{127, 69, 98, 83}}, + {{ 92, 116, 72, 108}}, {{ 81, 127, 70, 101}}, {{ 70, 98, 84, 126}}, + {{ 75, 105, 90, 119}}, {{208, 176, 224, 144}}, {{221, 187, 238, 153}}, + {{202, 166, 252, 130}}, {{199, 173, 242, 139}}, {{228, 156, 216, 180}}, + {{233, 151, 214, 189}}, {{254, 138, 196, 166}}, {{243, 129, 202, 175}}, + {{184, 232, 144, 216}}, {{181, 227, 158, 209}}, {{162, 254, 140, 202}}, + {{175, 245, 130, 195}}, {{140, 196, 168, 252}}, {{129, 207, 166, 245}}, + {{150, 210, 180, 238}}, {{155, 217, 186, 231}}, {{187, 123, 219, 59}}, + {{182, 112, 213, 50}}, {{161, 109, 199, 41}}, {{172, 102, 201, 32}}, + {{143, 87, 227, 31}}, {{130, 92, 237, 22}}, {{149, 65, 255, 13}}, + {{152, 74, 241, 4}}, {{211, 35, 171, 115}}, {{222, 40, 165, 122}}, + {{201, 53, 183, 97}}, {{196, 62, 185, 104}}, {{231, 15, 147, 87}}, + {{234, 4, 157, 94}}, {{253, 25, 143, 69}}, {{240, 18, 129, 76}}, + {{107, 203, 59, 171}}, {{102, 192, 53, 162}}, {{113, 221, 39, 185}}, + {{124, 214, 41, 176}}, {{ 95, 231, 3, 143}}, {{ 82, 236, 13, 134}}, + {{ 69, 241, 31, 157}}, {{ 72, 250, 17, 148}}, {{ 3, 147, 75, 227}}, + {{ 14, 152, 69, 234}}, {{ 25, 133, 87, 241}}, {{ 20, 142, 89, 248}}, + {{ 55, 191, 115, 199}}, {{ 58, 180, 125, 206}}, {{ 45, 169, 111, 213}}, + {{ 32, 162, 97, 220}}, {{109, 246, 173, 118}}, {{ 96, 253, 163, 127}}, + {{119, 224, 177, 100}}, {{122, 235, 191, 109}}, {{ 89, 218, 149, 82}}, + {{ 84, 209, 155, 91}}, {{ 67, 204, 137, 64}}, {{ 78, 199, 135, 73}}, + {{ 5, 174, 221, 62}}, {{ 8, 165, 211, 55}}, {{ 31, 184, 193, 44}}, + {{ 18, 179, 207, 37}}, {{ 49, 130, 229, 26}}, {{ 60, 137, 235, 19}}, + {{ 43, 148, 249, 8}}, {{ 38, 159, 247, 1}}, {{189, 70, 77, 230}}, + {{176, 77, 67, 239}}, {{167, 80, 81, 244}}, {{170, 91, 95, 253}}, + {{137, 106, 117, 194}}, {{132, 97, 123, 203}}, {{147, 124, 105, 208}}, + {{158, 119, 103, 217}}, {{213, 30, 61, 174}}, {{216, 21, 51, 167}}, + {{207, 8, 33, 188}}, {{194, 3, 47, 181}}, {{225, 50, 5, 138}}, + {{236, 57, 11, 131}}, {{251, 36, 25, 152}}, {{246, 47, 23, 145}}, + {{214, 141, 118, 77}}, {{219, 134, 120, 68}}, {{204, 155, 106, 95}}, + {{193, 144, 100, 86}}, {{226, 161, 78, 105}}, {{239, 170, 64, 96}}, + {{248, 183, 82, 123}}, {{245, 188, 92, 114}}, {{190, 213, 6, 5}}, + {{179, 222, 8, 12}}, {{164, 195, 26, 23}}, {{169, 200, 20, 30}}, + {{138, 249, 62, 33}}, {{135, 242, 48, 40}}, {{144, 239, 34, 51}}, + {{157, 228, 44, 58}}, {{ 6, 61, 150, 221}}, {{ 11, 54, 152, 212}}, + {{ 28, 43, 138, 207}}, {{ 17, 32, 132, 198}}, {{ 50, 17, 174, 249}}, + {{ 63, 26, 160, 240}}, {{ 40, 7, 178, 235}}, {{ 37, 12, 188, 226}}, + {{110, 101, 230, 149}}, {{ 99, 110, 232, 156}}, {{116, 115, 250, 135}}, + {{121, 120, 244, 142}}, {{ 90, 73, 222, 177}}, {{ 87, 66, 208, 184}}, + {{ 64, 95, 194, 163}}, {{ 77, 84, 204, 170}}, {{218, 247, 65, 236}}, + {{215, 252, 79, 229}}, {{192, 225, 93, 254}}, {{205, 234, 83, 247}}, + {{238, 219, 121, 200}}, {{227, 208, 119, 193}}, {{244, 205, 101, 218}}, + {{249, 198, 107, 211}}, {{178, 175, 49, 164}}, {{191, 164, 63, 173}}, + {{168, 185, 45, 182}}, {{165, 178, 35, 191}}, {{134, 131, 9, 128}}, + {{139, 136, 7, 137}}, {{156, 149, 21, 146}}, {{145, 158, 27, 155}}, + {{ 10, 71, 161, 124}}, {{ 7, 76, 175, 117}}, {{ 16, 81, 189, 110}}, + {{ 29, 90, 179, 103}}, {{ 62, 107, 153, 88}}, {{ 51, 96, 151, 81}}, + {{ 36, 125, 133, 74}}, {{ 41, 118, 139, 67}}, {{ 98, 31, 209, 52}}, + {{111, 20, 223, 61}}, {{120, 9, 205, 38}}, {{117, 2, 195, 47}}, + {{ 86, 51, 233, 16}}, {{ 91, 56, 231, 25}}, {{ 76, 37, 245, 2}}, + {{ 65, 46, 251, 11}}, {{ 97, 140, 154, 215}}, {{108, 135, 148, 222}}, + {{123, 154, 134, 197}}, {{118, 145, 136, 204}}, {{ 85, 160, 162, 243}}, + {{ 88, 171, 172, 250}}, {{ 79, 182, 190, 225}}, {{ 66, 189, 176, 232}}, + {{ 9, 212, 234, 159}}, {{ 4, 223, 228, 150}}, {{ 19, 194, 246, 141}}, + {{ 30, 201, 248, 132}}, {{ 61, 248, 210, 187}}, {{ 48, 243, 220, 178}}, + {{ 39, 238, 206, 169}}, {{ 42, 229, 192, 160}}, {{177, 60, 122, 71}}, + {{188, 55, 116, 78}}, {{171, 42, 102, 85}}, {{166, 33, 104, 92}}, + {{133, 16, 66, 99}}, {{136, 27, 76, 106}}, {{159, 6, 94, 113}}, + {{146, 13, 80, 120}}, {{217, 100, 10, 15}}, {{212, 111, 4, 6}}, + {{195, 114, 22, 29}}, {{206, 121, 24, 20}}, {{237, 72, 50, 43}}, + {{224, 67, 60, 34}}, {{247, 94, 46, 57}}, {{250, 85, 32, 48}}, + {{183, 1, 236, 154}}, {{186, 10, 226, 147}}, {{173, 23, 240, 136}}, + {{160, 28, 254, 129}}, {{131, 45, 212, 190}}, {{142, 38, 218, 183}}, + {{153, 59, 200, 172}}, {{148, 48, 198, 165}}, {{223, 89, 156, 210}}, + {{210, 82, 146, 219}}, {{197, 79, 128, 192}}, {{200, 68, 142, 201}}, + {{235, 117, 164, 246}}, {{230, 126, 170, 255}}, {{241, 99, 184, 228}}, + {{252, 104, 182, 237}}, {{103, 177, 12, 10}}, {{106, 186, 2, 3}}, + {{125, 167, 16, 24}}, {{112, 172, 30, 17}}, {{ 83, 157, 52, 46}}, + {{ 94, 150, 58, 39}}, {{ 73, 139, 40, 60}}, {{ 68, 128, 38, 53}}, + {{ 15, 233, 124, 66}}, {{ 2, 226, 114, 75}}, {{ 21, 255, 96, 80}}, + {{ 24, 244, 110, 89}}, {{ 59, 197, 68, 102}}, {{ 54, 206, 74, 111}}, + {{ 33, 211, 88, 116}}, {{ 44, 216, 86, 125}}, {{ 12, 122, 55, 161}}, + {{ 1, 113, 57, 168}}, {{ 22, 108, 43, 179}}, {{ 27, 103, 37, 186}}, + {{ 56, 86, 15, 133}}, {{ 53, 93, 1, 140}}, {{ 34, 64, 19, 151}}, + {{ 47, 75, 29, 158}}, {{100, 34, 71, 233}}, {{105, 41, 73, 224}}, + {{126, 52, 91, 251}}, {{115, 63, 85, 242}}, {{ 80, 14, 127, 205}}, + {{ 93, 5, 113, 196}}, {{ 74, 24, 99, 223}}, {{ 71, 19, 109, 214}}, + {{220, 202, 215, 49}}, {{209, 193, 217, 56}}, {{198, 220, 203, 35}}, + {{203, 215, 197, 42}}, {{232, 230, 239, 21}}, {{229, 237, 225, 28}}, + {{242, 240, 243, 7}}, {{255, 251, 253, 14}}, {{180, 146, 167, 121}}, + {{185, 153, 169, 112}}, {{174, 132, 187, 107}}, {{163, 143, 181, 98}}, + {{128, 190, 159, 93}}, {{141, 181, 145, 84}}, {{154, 168, 131, 79}}, + {{151, 163, 141, 70}}, + }, + { + {{ 0, 0, 0, 0}}, {{ 9, 13, 11, 14}}, {{ 18, 26, 22, 28}}, + {{ 27, 23, 29, 18}}, {{ 36, 52, 44, 56}}, {{ 45, 57, 39, 54}}, + {{ 54, 46, 58, 36}}, {{ 63, 35, 49, 42}}, {{ 72, 104, 88, 112}}, + {{ 65, 101, 83, 126}}, {{ 90, 114, 78, 108}}, {{ 83, 127, 69, 98}}, + {{108, 92, 116, 72}}, {{101, 81, 127, 70}}, {{126, 70, 98, 84}}, + {{119, 75, 105, 90}}, {{144, 208, 176, 224}}, {{153, 221, 187, 238}}, + {{130, 202, 166, 252}}, {{139, 199, 173, 242}}, {{180, 228, 156, 216}}, + {{189, 233, 151, 214}}, {{166, 254, 138, 196}}, {{175, 243, 129, 202}}, + {{216, 184, 232, 144}}, {{209, 181, 227, 158}}, {{202, 162, 254, 140}}, + {{195, 175, 245, 130}}, {{252, 140, 196, 168}}, {{245, 129, 207, 166}}, + {{238, 150, 210, 180}}, {{231, 155, 217, 186}}, {{ 59, 187, 123, 219}}, + {{ 50, 182, 112, 213}}, {{ 41, 161, 109, 199}}, {{ 32, 172, 102, 201}}, + {{ 31, 143, 87, 227}}, {{ 22, 130, 92, 237}}, {{ 13, 149, 65, 255}}, + {{ 4, 152, 74, 241}}, {{115, 211, 35, 171}}, {{122, 222, 40, 165}}, + {{ 97, 201, 53, 183}}, {{104, 196, 62, 185}}, {{ 87, 231, 15, 147}}, + {{ 94, 234, 4, 157}}, {{ 69, 253, 25, 143}}, {{ 76, 240, 18, 129}}, + {{171, 107, 203, 59}}, {{162, 102, 192, 53}}, {{185, 113, 221, 39}}, + {{176, 124, 214, 41}}, {{143, 95, 231, 3}}, {{134, 82, 236, 13}}, + {{157, 69, 241, 31}}, {{148, 72, 250, 17}}, {{227, 3, 147, 75}}, + {{234, 14, 152, 69}}, {{241, 25, 133, 87}}, {{248, 20, 142, 89}}, + {{199, 55, 191, 115}}, {{206, 58, 180, 125}}, {{213, 45, 169, 111}}, + {{220, 32, 162, 97}}, {{118, 109, 246, 173}}, {{127, 96, 253, 163}}, + {{100, 119, 224, 177}}, {{109, 122, 235, 191}}, {{ 82, 89, 218, 149}}, + {{ 91, 84, 209, 155}}, {{ 64, 67, 204, 137}}, {{ 73, 78, 199, 135}}, + {{ 62, 5, 174, 221}}, {{ 55, 8, 165, 211}}, {{ 44, 31, 184, 193}}, + {{ 37, 18, 179, 207}}, {{ 26, 49, 130, 229}}, {{ 19, 60, 137, 235}}, + {{ 8, 43, 148, 249}}, {{ 1, 38, 159, 247}}, {{230, 189, 70, 77}}, + {{239, 176, 77, 67}}, {{244, 167, 80, 81}}, {{253, 170, 91, 95}}, + {{194, 137, 106, 117}}, {{203, 132, 97, 123}}, {{208, 147, 124, 105}}, + {{217, 158, 119, 103}}, {{174, 213, 30, 61}}, {{167, 216, 21, 51}}, + {{188, 207, 8, 33}}, {{181, 194, 3, 47}}, {{138, 225, 50, 5}}, + {{131, 236, 57, 11}}, {{152, 251, 36, 25}}, {{145, 246, 47, 23}}, + {{ 77, 214, 141, 118}}, {{ 68, 219, 134, 120}}, {{ 95, 204, 155, 106}}, + {{ 86, 193, 144, 100}}, {{105, 226, 161, 78}}, {{ 96, 239, 170, 64}}, + {{123, 248, 183, 82}}, {{114, 245, 188, 92}}, {{ 5, 190, 213, 6}}, + {{ 12, 179, 222, 8}}, {{ 23, 164, 195, 26}}, {{ 30, 169, 200, 20}}, + {{ 33, 138, 249, 62}}, {{ 40, 135, 242, 48}}, {{ 51, 144, 239, 34}}, + {{ 58, 157, 228, 44}}, {{221, 6, 61, 150}}, {{212, 11, 54, 152}}, + {{207, 28, 43, 138}}, {{198, 17, 32, 132}}, {{249, 50, 17, 174}}, + {{240, 63, 26, 160}}, {{235, 40, 7, 178}}, {{226, 37, 12, 188}}, + {{149, 110, 101, 230}}, {{156, 99, 110, 232}}, {{135, 116, 115, 250}}, + {{142, 121, 120, 244}}, {{177, 90, 73, 222}}, {{184, 87, 66, 208}}, + {{163, 64, 95, 194}}, {{170, 77, 84, 204}}, {{236, 218, 247, 65}}, + {{229, 215, 252, 79}}, {{254, 192, 225, 93}}, {{247, 205, 234, 83}}, + {{200, 238, 219, 121}}, {{193, 227, 208, 119}}, {{218, 244, 205, 101}}, + {{211, 249, 198, 107}}, {{164, 178, 175, 49}}, {{173, 191, 164, 63}}, + {{182, 168, 185, 45}}, {{191, 165, 178, 35}}, {{128, 134, 131, 9}}, + {{137, 139, 136, 7}}, {{146, 156, 149, 21}}, {{155, 145, 158, 27}}, + {{124, 10, 71, 161}}, {{117, 7, 76, 175}}, {{110, 16, 81, 189}}, + {{103, 29, 90, 179}}, {{ 88, 62, 107, 153}}, {{ 81, 51, 96, 151}}, + {{ 74, 36, 125, 133}}, {{ 67, 41, 118, 139}}, {{ 52, 98, 31, 209}}, + {{ 61, 111, 20, 223}}, {{ 38, 120, 9, 205}}, {{ 47, 117, 2, 195}}, + {{ 16, 86, 51, 233}}, {{ 25, 91, 56, 231}}, {{ 2, 76, 37, 245}}, + {{ 11, 65, 46, 251}}, {{215, 97, 140, 154}}, {{222, 108, 135, 148}}, + {{197, 123, 154, 134}}, {{204, 118, 145, 136}}, {{243, 85, 160, 162}}, + {{250, 88, 171, 172}}, {{225, 79, 182, 190}}, {{232, 66, 189, 176}}, + {{159, 9, 212, 234}}, {{150, 4, 223, 228}}, {{141, 19, 194, 246}}, + {{132, 30, 201, 248}}, {{187, 61, 248, 210}}, {{178, 48, 243, 220}}, + {{169, 39, 238, 206}}, {{160, 42, 229, 192}}, {{ 71, 177, 60, 122}}, + {{ 78, 188, 55, 116}}, {{ 85, 171, 42, 102}}, {{ 92, 166, 33, 104}}, + {{ 99, 133, 16, 66}}, {{106, 136, 27, 76}}, {{113, 159, 6, 94}}, + {{120, 146, 13, 80}}, {{ 15, 217, 100, 10}}, {{ 6, 212, 111, 4}}, + {{ 29, 195, 114, 22}}, {{ 20, 206, 121, 24}}, {{ 43, 237, 72, 50}}, + {{ 34, 224, 67, 60}}, {{ 57, 247, 94, 46}}, {{ 48, 250, 85, 32}}, + {{154, 183, 1, 236}}, {{147, 186, 10, 226}}, {{136, 173, 23, 240}}, + {{129, 160, 28, 254}}, {{190, 131, 45, 212}}, {{183, 142, 38, 218}}, + {{172, 153, 59, 200}}, {{165, 148, 48, 198}}, {{210, 223, 89, 156}}, + {{219, 210, 82, 146}}, {{192, 197, 79, 128}}, {{201, 200, 68, 142}}, + {{246, 235, 117, 164}}, {{255, 230, 126, 170}}, {{228, 241, 99, 184}}, + {{237, 252, 104, 182}}, {{ 10, 103, 177, 12}}, {{ 3, 106, 186, 2}}, + {{ 24, 125, 167, 16}}, {{ 17, 112, 172, 30}}, {{ 46, 83, 157, 52}}, + {{ 39, 94, 150, 58}}, {{ 60, 73, 139, 40}}, {{ 53, 68, 128, 38}}, + {{ 66, 15, 233, 124}}, {{ 75, 2, 226, 114}}, {{ 80, 21, 255, 96}}, + {{ 89, 24, 244, 110}}, {{102, 59, 197, 68}}, {{111, 54, 206, 74}}, + {{116, 33, 211, 88}}, {{125, 44, 216, 86}}, {{161, 12, 122, 55}}, + {{168, 1, 113, 57}}, {{179, 22, 108, 43}}, {{186, 27, 103, 37}}, + {{133, 56, 86, 15}}, {{140, 53, 93, 1}}, {{151, 34, 64, 19}}, + {{158, 47, 75, 29}}, {{233, 100, 34, 71}}, {{224, 105, 41, 73}}, + {{251, 126, 52, 91}}, {{242, 115, 63, 85}}, {{205, 80, 14, 127}}, + {{196, 93, 5, 113}}, {{223, 74, 24, 99}}, {{214, 71, 19, 109}}, + {{ 49, 220, 202, 215}}, {{ 56, 209, 193, 217}}, {{ 35, 198, 220, 203}}, + {{ 42, 203, 215, 197}}, {{ 21, 232, 230, 239}}, {{ 28, 229, 237, 225}}, + {{ 7, 242, 240, 243}}, {{ 14, 255, 251, 253}}, {{121, 180, 146, 167}}, + {{112, 185, 153, 169}}, {{107, 174, 132, 187}}, {{ 98, 163, 143, 181}}, + {{ 93, 128, 190, 159}}, {{ 84, 141, 181, 145}}, {{ 79, 154, 168, 131}}, + {{ 70, 151, 163, 141}}, + }, +}; + +const int xrcon[30] = { + 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0x1b, 0x36, + 0x6c, 0xd8, 0xab, 0x4d, 0x9a, 0x2f, 0x5e, 0xbc, 0x63, 0xc6, + 0x97, 0x35, 0x6a, 0xd4, 0xb3, 0x7d, 0xfa, 0xef, 0xc5, 0x91, +}; + +const word8 xS[256] = { + 99, 124, 119, 123, 242, 107, 111, 197, 48, 1, 103, 43, 254, 215, + 171, 118, 202, 130, 201, 125, 250, 89, 71, 240, 173, 212, 162, 175, + 156, 164, 114, 192, 183, 253, 147, 38, 54, 63, 247, 204, 52, 165, + 229, 241, 113, 216, 49, 21, 4, 199, 35, 195, 24, 150, 5, 154, + 7, 18, 128, 226, 235, 39, 178, 117, 9, 131, 44, 26, 27, 110, + 90, 160, 82, 59, 214, 179, 41, 227, 47, 132, 83, 209, 0, 237, + 32, 252, 177, 91, 106, 203, 190, 57, 74, 76, 88, 207, 208, 239, + 170, 251, 67, 77, 51, 133, 69, 249, 2, 127, 80, 60, 159, 168, + 81, 163, 64, 143, 146, 157, 56, 245, 188, 182, 218, 33, 16, 255, + 243, 210, 205, 12, 19, 236, 95, 151, 68, 23, 196, 167, 126, 61, + 100, 93, 25, 115, 96, 129, 79, 220, 34, 42, 144, 136, 70, 238, + 184, 20, 222, 94, 11, 219, 224, 50, 58, 10, 73, 6, 36, 92, + 194, 211, 172, 98, 145, 149, 228, 121, 231, 200, 55, 109, 141, 213, + 78, 169, 108, 86, 244, 234, 101, 122, 174, 8, 186, 120, 37, 46, + 28, 166, 180, 198, 232, 221, 116, 31, 75, 189, 139, 138, 112, 62, + 181, 102, 72, 3, 246, 14, 97, 53, 87, 185, 134, 193, 29, 158, + 225, 248, 152, 17, 105, 217, 142, 148, 155, 30, 135, 233, 206, 85, + 40, 223, 140, 161, 137, 13, 191, 230, 66, 104, 65, 153, 45, 15, + 176, 84, 187, 22, +}; + +const word8 xSi[256] = { + 82, 9, 106, 213, 48, 54, 165, 56, 191, 64, 163, 158, 129, 243, + 215, 251, 124, 227, 57, 130, 155, 47, 255, 135, 52, 142, 67, 68, + 196, 222, 233, 203, 84, 123, 148, 50, 166, 194, 35, 61, 238, 76, + 149, 11, 66, 250, 195, 78, 8, 46, 161, 102, 40, 217, 36, 178, + 118, 91, 162, 73, 109, 139, 209, 37, 114, 248, 246, 100, 134, 104, + 152, 22, 212, 164, 92, 204, 93, 101, 182, 146, 108, 112, 72, 80, + 253, 237, 185, 218, 94, 21, 70, 87, 167, 141, 157, 132, 144, 216, + 171, 0, 140, 188, 211, 10, 247, 228, 88, 5, 184, 179, 69, 6, + 208, 44, 30, 143, 202, 63, 15, 2, 193, 175, 189, 3, 1, 19, + 138, 107, 58, 145, 17, 65, 79, 103, 220, 234, 151, 242, 207, 206, + 240, 180, 230, 115, 150, 172, 116, 34, 231, 173, 53, 133, 226, 249, + 55, 232, 28, 117, 223, 110, 71, 241, 26, 113, 29, 41, 197, 137, + 111, 183, 98, 14, 170, 24, 190, 27, 252, 86, 62, 75, 198, 210, + 121, 32, 154, 219, 192, 254, 120, 205, 90, 244, 31, 221, 168, 51, + 136, 7, 199, 49, 177, 18, 16, 89, 39, 128, 236, 95, 96, 81, + 127, 169, 25, 181, 74, 13, 45, 229, 122, 159, 147, 201, 156, 239, + 160, 224, 59, 77, 174, 42, 245, 176, 200, 235, 187, 60, 131, 83, + 153, 97, 23, 43, 4, 126, 186, 119, 214, 38, 225, 105, 20, 99, + 85, 33, 12, 125, +}; + diff --git a/src/aes/ao_aes_tables.h b/src/aes/ao_aes_tables.h new file mode 100644 index 00000000..73bcf3fb --- /dev/null +++ b/src/aes/ao_aes_tables.h @@ -0,0 +1,10 @@ +/* Copyright (C) 2000-2009 Peter Selinger. + This file is part of ccrypt. It is free software and it is covered + by the GNU general public license. See the file COPYING for details. */ + +extern const word8x4 M0[4][256]; +extern const word8x4 M1[4][256]; +extern const int xrcon[30]; +extern const word8 xS[256]; +extern const word8 xSi[256]; + diff --git a/src/cc1111/Makefile.cc1111 b/src/cc1111/Makefile.cc1111 index f7ecce33..0e19603b 100644 --- a/src/cc1111/Makefile.cc1111 +++ b/src/cc1111/Makefile.cc1111 @@ -2,7 +2,7 @@ CC=sdcc CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE) -CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../driver -I../product +CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../drivers -I../product CODESIZE ?= 0x8000 @@ -33,3 +33,6 @@ clean-cc1111: rm -f $(PROGNAME)-* rm -f ao_product.h rm -f ../$(PROGNAME)-* + +../ao_kalman.h: + +(cd .. && make ao_kalman.h) diff --git a/src/cc1111/ao_adc.c b/src/cc1111/ao_adc.c index ce827e25..f7b52281 100644 --- a/src/cc1111/ao_adc.c +++ b/src/cc1111/ao_adc.c @@ -140,6 +140,15 @@ ao_adc_isr(void) __interrupt 1 } #endif /* telemini || telenano */ +#ifdef TELEFIRE_V_0_1 + a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.sense[0] + sequence); + a[0] = ADCL; + a[1] = ADCH; + if (sequence < 5) + ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | (sequence + 1); +#define GOT_ADC +#endif /* TELEFIRE_V_0_1 */ + #ifndef GOT_ADC #error No known ADC configuration set #endif @@ -157,9 +166,13 @@ ao_adc_dump(void) __reentrant { static __xdata struct ao_data packet; ao_data_get(&packet); +#ifndef AO_ADC_DUMP printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n", packet.tick, packet.adc.accel, packet.adc.pres, packet.adc.temp, packet.adc.v_batt, packet.adc.sense_d, packet.adc.sense_m); +#else + AO_ADC_DUMP(&packet); +#endif } __code struct ao_cmds ao_adc_cmds[] = { @@ -170,6 +183,11 @@ __code struct ao_cmds ao_adc_cmds[] = { void ao_adc_init(void) { +#ifdef AO_ADC_PINS + ADCCFG = AO_ADC_PINS; + +#else + #if IGNITE_ON_P2 /* TeleMetrum configuration */ ADCCFG = ((1 << 0) | /* acceleration */ @@ -190,6 +208,8 @@ ao_adc_init(void) (1 << 3)); /* battery voltage */ #endif +#endif /* else AO_ADC_PINS */ + /* enable interrupts */ ADCIF = 0; IEN0 |= IEN0_ADCIE; diff --git a/src/cc1111/ao_arch.h b/src/cc1111/ao_arch.h index 06b04b93..a97515a7 100644 --- a/src/cc1111/ao_arch.h +++ b/src/cc1111/ao_arch.h @@ -200,18 +200,6 @@ extern AO_ROMCONFIG_SYMBOL(0x00a6) uint32_t ao_radio_cal; #define ao_arch_critical(b) __critical { b } -struct ao_adc { - int16_t accel; /* accelerometer */ - int16_t pres; /* pressure sensor */ - int16_t temp; /* temperature sensor */ - int16_t v_batt; /* battery voltage */ - int16_t sense_d; /* drogue continuity sense */ - int16_t sense_m; /* main continuity sense */ -#if HAS_ACCEL_REF - uint16_t accel_ref; /* acceleration reference */ -#endif -}; - #define AO_DATA_RING 32 /* ao_button.c */ diff --git a/src/cc1111/ao_arch_funcs.h b/src/cc1111/ao_arch_funcs.h index 0737e7ab..29755b5c 100644 --- a/src/cc1111/ao_arch_funcs.h +++ b/src/cc1111/ao_arch_funcs.h @@ -88,3 +88,4 @@ ao_spi_init(void); #define token_paster(x,y) x ## y #define token_evaluator(x,y) token_paster(x,y) #define ao_enable_output(port,bit,pin,v) cc1111_enable_output(port,token_evaluator(port,DIR), token_evaluator(port,SEL), pin, bit, v) +#define ao_gpio_set(port, bit, pin, v) ((pin) = (v)) diff --git a/src/cc1111/ao_pins.h b/src/cc1111/ao_pins.h index fc6ed3ec..2f0e2884 100644 --- a/src/cc1111/ao_pins.h +++ b/src/cc1111/ao_pins.h @@ -560,4 +560,16 @@ #define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) #define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) +struct ao_adc { + int16_t accel; /* accelerometer */ + int16_t pres; /* pressure sensor */ + int16_t temp; /* temperature sensor */ + int16_t v_batt; /* battery voltage */ + int16_t sense_d; /* drogue continuity sense */ + int16_t sense_m; /* main continuity sense */ +#if HAS_ACCEL_REF + uint16_t accel_ref; /* acceleration reference */ +#endif +}; + #endif /* _AO_PINS_H_ */ diff --git a/src/cc1111/ao_serial.c b/src/cc1111/ao_serial.c index 00c85ff3..48383802 100644 --- a/src/cc1111/ao_serial.c +++ b/src/cc1111/ao_serial.c @@ -17,6 +17,25 @@ #include "ao.h" +const __code struct ao_serial_speed ao_serial_speeds[] = { + /* [AO_SERIAL_SPEED_4800] = */ { + /* .baud = */ 163, + /* .gcr = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_9600] = */ { + /* .baud = */ 163, + /* .gcr = */ (8 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_19200] = */ { + /* .baud = */ 163, + /* .gcr = */ (9 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, + /* [AO_SERIAL_SPEED_57600] = */ { + /* .baud = */ 59, + /* .gcr = */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB + }, +}; + #if HAS_SERIAL_0 volatile __xdata struct ao_fifo ao_serial0_rx_fifo; @@ -116,7 +135,7 @@ ao_serial1_rx_isr(void) __interrupt 3 if (!ao_fifo_full(ao_serial1_rx_fifo)) ao_fifo_insert(ao_serial1_rx_fifo, U1DBUF); ao_wakeup(&ao_serial1_rx_fifo); -#if USE_SERIAL1_STDIN +#if USE_SERIAL_1_STDIN ao_wakeup(&ao_stdin_ready); #endif } @@ -181,25 +200,6 @@ ao_serial1_drain(void) __critical ao_sleep(&ao_serial1_tx_fifo); } -const __code struct ao_serial_speed ao_serial_speeds[] = { - /* [AO_SERIAL_SPEED_4800] = */ { - /* .baud = */ 163, - /* .gcr = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, - /* [AO_SERIAL_SPEED_9600] = */ { - /* .baud = */ 163, - /* .gcr = */ (8 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, - /* [AO_SERIAL_SPEED_19200] = */ { - /* .baud = */ 163, - /* .gcr = */ (9 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, - /* [AO_SERIAL_SPEED_57600] = */ { - /* .baud = */ 59, - /* .gcr = */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB - }, -}; - void ao_serial1_set_speed(uint8_t speed) { @@ -236,9 +236,9 @@ ao_serial_init(void) (P2SEL_PRI3P1_USART0 | P2SEL_PRI0P1_USART0); /* Make the USART pins be controlled by the USART */ - P1SEL |= (1 << 2) | (1 << 3); -#if HAS_SERIAL_0_HW_FLOW P1SEL |= (1 << 5) | (1 << 4); +#if HAS_SERIAL_0_HW_FLOW + P1SEL |= (1 << 3) | (1 << 2); #endif #endif @@ -292,7 +292,9 @@ ao_serial_init(void) /* Make the USART pins be controlled by the USART */ P1SEL |= (1 << 6) | (1 << 7); +#if HAS_SERIAL_1_HW_FLOW P1SEL |= (1 << 5) | (1 << 4); +#endif #endif /* UART mode with receiver enabled */ diff --git a/src/cc1111/ao_spi.c b/src/cc1111/ao_spi.c index 1bf5e155..88cff9dd 100644 --- a/src/cc1111/ao_spi.c +++ b/src/cc1111/ao_spi.c @@ -40,6 +40,7 @@ static __xdata uint8_t ao_spi_const; void ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant { +#if !AO_SPI_SLAVE ao_dma_set_transfer(ao_spi_dma_in_id, &U0DBUFXADDR, &ao_spi_const, @@ -50,7 +51,7 @@ ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant DMA_CFG1_SRCINC_0 | DMA_CFG1_DESTINC_0 | DMA_CFG1_PRIORITY_NORMAL); - +#endif ao_dma_set_transfer(ao_spi_dma_out_id, block, &U0DBUFXADDR, @@ -62,11 +63,18 @@ ao_spi_send_bus(void __xdata *block, uint16_t len) __reentrant DMA_CFG1_DESTINC_0 | DMA_CFG1_PRIORITY_NORMAL); +#if !AO_SPI_SLAVE ao_dma_start(ao_spi_dma_in_id); +#endif ao_dma_start(ao_spi_dma_out_id); ao_dma_trigger(ao_spi_dma_out_id); +#if AO_SPI_SLAVE + __critical while (!ao_spi_dma_out_done) + ao_sleep(&ao_spi_dma_out_done); +#else __critical while (!ao_spi_dma_in_done) ao_sleep(&ao_spi_dma_in_done); +#endif } /* Receive bytes over SPI. @@ -115,10 +123,19 @@ ao_spi_recv_bus(void __xdata *block, uint16_t len) __reentrant * MO P1_5 * MI P1_4 * CLK P1_3 + * CSS P1_2 * - * Chip select is the responsibility of the caller + * Chip select is the responsibility of the caller in master mode */ +#if AO_SPI_SLAVE +#define CSS (1 << 2) +#define UxCSR_DIRECTION UxCSR_SLAVE +#else +#define CSS 0 +#define UxCSR_DIRECTION UxCSR_MASTER +#endif + void ao_spi_init(void) { @@ -131,7 +148,7 @@ ao_spi_init(void) P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | P2SEL_PRI3P1_USART0; /* Make the SPI pins be controlled by the USART peripheral */ - P1SEL |= ((1 << 5) | (1 << 4) | (1 << 3)); + P1SEL |= ((1 << 5) | (1 << 4) | (1 << 3) | CSS); /* Set up OUT DMA */ ao_spi_dma_out_id = ao_dma_alloc(&ao_spi_dma_out_done); @@ -143,7 +160,7 @@ ao_spi_init(void) * * SPI master mode */ - U0CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_MASTER); + U0CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_DIRECTION); /* Set the baud rate and signal parameters * diff --git a/src/core/ao.h b/src/core/ao.h index 65b9eb18..5e1fbb9d 100644 --- a/src/core/ao.h +++ b/src/core/ao.h @@ -125,7 +125,12 @@ ao_panic(uint8_t reason); * ao_timer.c */ -extern volatile __data uint16_t ao_tick_count; +#ifndef AO_TICK_TYPE +#define AO_TICK_TYPE uint16_t +#define AO_TICK_SIGNED int16_t +#endif + +extern volatile __data AO_TICK_TYPE ao_tick_count; /* Our timer runs at 100Hz */ #define AO_HERTZ 100 @@ -432,6 +437,7 @@ ao_gps_report_mega_init(void); * ao_telemetry_orig.c */ +#if LEGACY_MONITOR struct ao_adc_orig { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ @@ -489,6 +495,8 @@ struct ao_telemetry_tiny_recv { uint8_t status; }; +#endif /* LEGACY_MONITOR */ + /* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method * for reporting RSSI. So, now we use these values everywhere */ @@ -582,6 +590,8 @@ ao_radio_init(void); * ao_monitor.c */ +#if HAS_MONITOR + extern const char const * const ao_state_names[]; #define AO_MONITOR_RING 8 @@ -618,6 +628,8 @@ ao_monitor_enable(void); void ao_monitor_init(void) __reentrant; +#endif + /* * ao_stdio.c */ diff --git a/src/core/ao_aes.h b/src/core/ao_aes.h index 7f67374d..ab3e367e 100644 --- a/src/core/ao_aes.h +++ b/src/core/ao_aes.h @@ -29,9 +29,11 @@ enum ao_aes_mode { }; #if HAS_AES +#ifdef SDCC void ao_aes_isr(void) __interrupt 4; #endif +#endif void ao_aes_set_mode(enum ao_aes_mode mode); diff --git a/src/core/ao_config.c b/src/core/ao_config.c index e2095e65..f19dd9cd 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -17,8 +17,11 @@ #include "ao.h" #include "ao_log.h" +#include +#if HAS_FLIGHT #include #include +#endif __xdata struct ao_config ao_config; __pdata uint8_t ao_config_loaded; diff --git a/src/core/ao_radio_cmac.c b/src/core/ao_radio_cmac.c index e263f0db..7a377002 100644 --- a/src/core/ao_radio_cmac.c +++ b/src/core/ao_radio_cmac.c @@ -121,7 +121,7 @@ radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant } ao_radio_cmac_rssi = (int16_t) (((int8_t) cmac_data[len + AO_CMAC_KEY_LEN]) >> 1) - 74; - if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & PKT_APPEND_STATUS_1_CRC_OK)) + if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK)) return AO_RADIO_CMAC_CRC_ERROR; ao_config_get(); @@ -233,9 +233,9 @@ radio_cmac_recv_cmd(void) __reentrant static __xdata struct ao_launch_command command; static __xdata struct ao_launch_query query; -static pdata uint16_t launch_serial; -static pdata uint8_t launch_channel; -static pdata uint16_t tick_offset; +static __pdata uint16_t launch_serial; +static __pdata uint8_t launch_channel; +static __pdata uint16_t tick_offset; static void launch_args(void) __reentrant diff --git a/src/core/ao_storage.c b/src/core/ao_storage.c index b2dd435b..adf7e4d4 100644 --- a/src/core/ao_storage.c +++ b/src/core/ao_storage.c @@ -16,6 +16,7 @@ */ #include +#include uint8_t ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant diff --git a/src/drivers/ao_74hc497.c b/src/drivers/ao_74hc497.c new file mode 100644 index 00000000..93c544c3 --- /dev/null +++ b/src/drivers/ao_74hc497.c @@ -0,0 +1,40 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * 74HC597 driver. + * Reads a single byte from the shift register + */ + +#include +#include + +uint8_t +ao_74hc497_read(void) +{ + static __xdata state; + ao_spi_get_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_send(&state, 1, AO_74HC497_SPI_BUS); + ao_spi_put_bit(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, AO_74HC497_SPI_BUS); + return state; +} + +void +ao_74hc497_init(void) +{ + ao_enable_output(AO_74HC497_CS_PORT, AO_74HC497_CS_PIN, AO_74HC497_CS, 1); +} diff --git a/src/drivers/ao_74hc497.h b/src/drivers/ao_74hc497.h new file mode 100644 index 00000000..6df7bcae --- /dev/null +++ b/src/drivers/ao_74hc497.h @@ -0,0 +1,27 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_74HC497_H_ +#define _AO_74HC497_H_ + +uint8_t +ao_74hc497_read(void); + +void +ao_74hc497_init(void); + +#endif /* _AO_74HC497_H_ */ diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c new file mode 100644 index 00000000..21aa788d --- /dev/null +++ b/src/drivers/ao_pad.c @@ -0,0 +1,227 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include + +__xdata uint8_t ao_pad_ignite; + +#define ao_pad_igniter_status(c) AO_PAD_IGNITER_STATUS_UNKNOWN +#define ao_pad_arm_status() AO_PAD_ARM_STATUS_UNKNOWN + +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + +static void +ao_pad_run(void) +{ + for (;;) { + while (!ao_pad_ignite) + ao_sleep(&ao_pad_ignite); + /* + * Actually set the pad bits + */ + AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite; + while (ao_pad_ignite) { + ao_pad_ignite = 0; + ao_delay(AO_PAD_FIRE_TIME); + } + AO_PAD_PORT &= ~(AO_PAD_ALL_PINS); + } +} + +static void +ao_pad_status(void) +{ + for (;;) { + ao_delay(AO_SEC_TO_TICKS(1)); +#if 0 + if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) { + if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) { + for (i = 0; i < 5; i++) { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50)); + ao_delay(AO_MS_TO_TICKS(100)); + } + } else { + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + } + } +#endif + } +} + +static __pdata uint8_t ao_pad_armed; +static __pdata uint16_t ao_pad_arm_time; +static __pdata uint8_t ao_pad_box; + +static void +ao_pad(void) +{ + static __xdata struct ao_pad_command command; + static __xdata struct ao_pad_query query; + int16_t time_difference; + uint8_t c; + + ao_led_off(AO_LED_RED); + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + ao_pad_box = ao_74hc497_read(); + for (;;) { + flush(); + if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK) + continue; + + PRINTD ("tick %d serial %d cmd %d channel %d\n", + command.tick, command.serial, command.cmd, command.channel); + + switch (command.cmd) { + case AO_LAUNCH_ARM: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + if (command.channels & ~(AO_PAD_ALL_PINS)) + break; + + time_difference = command.tick - ao_time(); + PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time()); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time difference too large %d\n", time_difference); + break; + } + PRINTD ("armed\n"); + ao_pad_armed = command.channels; + ao_pad_arm_time = ao_time(); + + /* fall through ... */ + + case AO_LAUNCH_QUERY: + if (command.box != ao_pad_box) { + PRINTD ("box number mismatch\n"); + break; + } + + query.tick = ao_time(); + query.box = ao_pad_box; + query.channels = AO_PAD_ALL_PINS; + query.armed = ao_pad_armed; + query.arm_status = ao_pad_arm_status(); + for (c = 0; c < AO_PAD_NUM; c++) + query.igniter_status[c] = ao_pad_igniter_status(c); + PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", + query.tick, query.serial, query.channel, query.valid, query.arm_status, + query.igniter_status); + ao_radio_cmac_send(&query, sizeof (query)); + break; + case AO_LAUNCH_FIRE: + if (!ao_pad_armed) { + PRINTD ("not armed\n"); + break; + } + if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late pad arm_time %d time %d\n", + ao_pad_arm_time, ao_time()); + break; + } + time_difference = command.tick - ao_time(); + if (time_difference < 0) + time_difference = -time_difference; + if (time_difference > 10) { + PRINTD ("time different too large %d\n", time_difference); + break; + } + PRINTD ("ignite\n"); + ao_pad_ignite = ao_pad_armed; + ao_wakeup(&ao_pad_ignite); + break; + } + } +} + +void +ao_pad_test(void) +{ +#if 0 + switch (ao_igniter_status(ao_igniter_drogue)) { + case ao_igniter_ready: + case ao_igniter_active: + printf ("Armed: "); + switch (ao_igniter_status(ao_igniter_main)) { + default: + printf("unknown status\n"); + break; + case ao_igniter_ready: + printf("igniter good\n"); + break; + case ao_igniter_open: + printf("igniter bad\n"); + break; + } + break; + default: + printf("Disarmed\n"); + } +#endif +} + +void +ao_pad_manual(void) +{ + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + ao_cmd_white(); + ao_pad_ignite = 1; + ao_wakeup(&ao_pad_ignite); +} + +static __xdata struct ao_task ao_pad_task; +static __xdata struct ao_task ao_pad_ignite_task; +static __xdata struct ao_task ao_pad_status_task; + +__code struct ao_cmds ao_pad_cmds[] = { + { ao_pad_test, "t\0Test pad continuity" }, + { ao_pad_manual, "i \0Fire igniter. is doit with D&I" }, + { 0, NULL } +}; + +void +ao_pad_init(void) +{ +#if AO_PAD_NUM > 0 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0); +#endif +#if AO_PAD_NUM > 1 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0); +#endif +#if AO_PAD_NUM > 2 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0); +#endif +#if AO_PAD_NUM > 3 + ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0); +#endif + ao_cmd_register(&ao_pad_cmds[0]); + ao_add_task(&ao_pad_task, ao_pad, "pad listener"); + ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter"); + ao_add_task(&ao_pad_status_task, ao_pad_status, "pad status"); +} diff --git a/src/drivers/ao_pad.h b/src/drivers/ao_pad.h new file mode 100644 index 00000000..9ea016ff --- /dev/null +++ b/src/drivers/ao_pad.h @@ -0,0 +1,67 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PAD_H_ +#define _AO_PAD_H_ + +#define AO_PAD_MAX_CHANNELS 8 + +struct ao_pad_command { + uint16_t tick; + uint16_t box; + uint8_t cmd; + uint8_t channels; +}; + +/* Report current telefire status. + */ + +#define AO_PAD_QUERY 1 + +struct ao_pad_query { + uint16_t tick; /* telefire tick */ + uint16_t box; /* telefire box number */ + uint8_t channels; /* which chanels are present */ + uint8_t armed; /* which channels are armed */ + uint8_t arm_status; /* status of arming switch */ + uint8_t igniter_status[AO_PAD_MAX_CHANNELS]; /* status for each igniter */ +}; + +/* Set current armed pads, report back status + */ + +#define AO_PAD_ARM 2 + +/* Fire current armed pads for 200ms, no report + */ +#define AO_PAD_FIRE 3 + +#define AO_PAD_FIRE_TIME AO_MS_TO_TICKS(200) + +#define AO_PAD_ARM_STATUS_DISARMED 0 +#define AO_PAD_ARM_STATUS_ARMED 1 +#define AO_PAD_ARM_STATUS_UNKNOWN 2 + +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN 0 +#define AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN 1 +#define AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED 2 +#define AO_PAD_IGNITER_STATUS_UNKNOWN 3 + +void +ao_pad_init(void); + +#endif /* _AO_PAD_H_ */ diff --git a/src/drivers/ao_pca9922.c b/src/drivers/ao_pca9922.c new file mode 100644 index 00000000..dc006f55 --- /dev/null +++ b/src/drivers/ao_pca9922.c @@ -0,0 +1,78 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* + * PCA9922 LED driver. This uses SPI to send a single byte to the device to + * set the current state of the LEDs using the existing LED interface + */ + +#include + +static __xdata uint8_t ao_led_state; + +static void +ao_led_apply(void) +{ + /* Don't try the SPI bus during initialization */ + if (!ao_cur_task) + return; + ao_spi_get_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS, AO_SPI_SPEED_FAST); + ao_spi_send(&ao_led_state, 1, AO_PCA9922_SPI_BUS); + ao_spi_put_bit(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, AO_PCA9922_SPI_BUS); +} + +void +ao_led_on(uint8_t colors) +{ + ao_led_state |= colors; + ao_led_apply(); +} + +void +ao_led_off(uint8_t colors) +{ + ao_led_state &= ~colors; + ao_led_apply(); +} + +void +ao_led_set(uint8_t colors) +{ + ao_led_state = colors; + ao_led_apply(); +} + +void +ao_led_toggle(uint8_t colors) +{ + ao_led_state ^= colors; + ao_led_apply(); +} + +void +ao_led_for(uint8_t colors, uint16_t ticks) __reentrant +{ + ao_led_on(colors); + ao_delay(ticks); + ao_led_off(colors); +} + +void +ao_led_init(uint8_t enable) +{ + ao_enable_output(AO_PCA9922_CS_PORT, AO_PCA9922_CS_PIN, AO_PCA9922_CS, 1); +} diff --git a/src/drivers/ao_quadrature.c b/src/drivers/ao_quadrature.c new file mode 100644 index 00000000..6a2c1bba --- /dev/null +++ b/src/drivers/ao_quadrature.c @@ -0,0 +1,150 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#if AO_EVENT +#include +#define ao_quadrature_queue(q) ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q]) +#else +#define ao_quadrature_queue(q) +#endif + +__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT]; + +static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT]; + +#define BIT(a,b) ((a) | ((b) << 1)) +#define STATE(old_a, old_b, new_a, new_b) (((BIT(old_a, old_b) << 2) | BIT(new_a, new_b))) + +#define port(q) AO_QUADRATURE_ ## q ## _PORT +#define bita(q) AO_QUADRATURE_ ## q ## _A +#define bitb(q) AO_QUADRATURE_ ## q ## _B + +#define ao_quadrature_update(q) do { \ + ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \ + ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \ + ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \ + } while (0) + + +static void +ao_quadrature_isr(void) +{ + uint8_t q; +#if AO_QUADRATURE_COUNT > 0 + ao_quadrature_update(0); +#endif +#if AO_QUADRATURE_COUNT > 1 + ao_quadrature_update(1); +#endif + + for (q = 0; q < AO_QUADRATURE_COUNT; q++) { + switch (ao_quadrature_state[q]) { + case STATE(0, 1, 0, 0): + ao_quadrature_count[q]++; + break; + case STATE(1, 0, 0, 0): + ao_quadrature_count[q]--; + break; + default: + continue; + } + ao_quadrature_queue(q); + ao_wakeup(&ao_quadrature_count[q]); + } +} + +int32_t +ao_quadrature_poll(uint8_t q) +{ + int32_t ret; + ao_arch_critical(ret = ao_quadrature_count[q];); + return ret; +} + +int32_t +ao_quadrature_wait(uint8_t q) +{ + ao_sleep(&ao_quadrature_count[q]); + return ao_quadrature_poll(q); +} + +static void +ao_quadrature_test(void) +{ +#if 1 + for (;;) { + int32_t c; + flush(); + c = ao_quadrature_wait(0); + printf ("new count %6d\n", c); + if (c == 100) + break; + } +#endif +#if 0 + uint8_t a, old_a, b, old_b; + + old_a = 2; old_b = 2; + for (;;) { + a = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_A, AO_QUADRATURE_A_PIN); + b = ao_gpio_get(AO_QUADRATURE_PORT, AO_QUADRATURE_B, AO_QUADRATURE_B_PIN); + if (a != old_a || b != old_b) { + printf ("A %d B %d count %ld\n", a, b, ao_quadrature_count); + flush(); + ao_yield(); + old_a = a; + old_b = b; + } + if (ao_stdin_ready) + break; + } +#endif +} + +static const struct ao_cmds ao_quadrature_cmds[] = { + { ao_quadrature_test, "q\0Test quadrature" }, + { 0, NULL } +}; + +#define init(q) do { \ + ao_enable_port(port(q)); \ + \ + ao_exti_setup(port(q), bita(q), \ + AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ + ao_quadrature_isr); \ + ao_exti_enable(port(q), bita(q)); \ + \ + ao_exti_setup(port(q), bitb(q), \ + AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \ + ao_quadrature_isr); \ + ao_exti_enable(port(q), bitb(q)); \ + } while (0) + +void +ao_quadrature_init(void) +{ +#if AO_QUADRATURE_COUNT > 0 + init(0); +#endif +#if AO_QUADRATURE_COUNT > 1 + init(1); +#endif + ao_cmd_register(&ao_quadrature_cmds[0]); +} diff --git a/src/drivers/ao_quadrature.h b/src/drivers/ao_quadrature.h new file mode 100644 index 00000000..f0b73b68 --- /dev/null +++ b/src/drivers/ao_quadrature.h @@ -0,0 +1,30 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_QUADRATURE_H_ +#define _AO_QUADRATURE_H_ + +int32_t +ao_quadrature_wait(uint8_t q); + +int32_t +ao_quadrature_poll(uint8_t q); + +void +ao_quadrature_init(void); + +#endif /* _AO_QUADRATURE_H_ */ diff --git a/src/stm-demo/Makefile b/src/stm-demo/Makefile index 055a73af..340967fc 100644 --- a/src/stm-demo/Makefile +++ b/src/stm-demo/Makefile @@ -33,7 +33,11 @@ ALTOS_SRC = \ ao_spi_stm.c \ ao_adc_stm.c \ ao_i2c_stm.c \ - ao_usb_stm.c + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_event.c \ + ao_quadrature.c \ + ao_button.c PRODUCT=StmDemo-v0.0 PRODUCT_DEF=-DSTM_DEMO diff --git a/src/stm-demo/ao_demo.c b/src/stm-demo/ao_demo.c index 9a581ff9..fe7c69f2 100644 --- a/src/stm-demo/ao_demo.c +++ b/src/stm-demo/ao_demo.c @@ -16,6 +16,10 @@ */ #include "ao.h" +#include +#include +#include +#include struct ao_task demo_task; @@ -148,12 +152,29 @@ ao_temp (void) printf ("temp: %d\n", temp); } +static void +ao_event(void) +{ + struct ao_event event; + + for (;;) { + flush(); + ao_event_get(&event); + printf ("type %1d unit %1d tick %5u value %ld\n", + event.type, event.unit, event.tick, event.value); + if (event.value == 100) + break; + } + +} + __code struct ao_cmds ao_demo_cmds[] = { { ao_dma_test, "D\0DMA test" }, { ao_spi_write, "W\0SPI write" }, { ao_spi_read, "R\0SPI read" }, { ao_i2c_write, "i\0I2C write" }, { ao_temp, "t\0Show temp" }, + { ao_event, "e\0Monitor event queue" }, { 0, NULL } }; @@ -170,6 +191,9 @@ main(void) // ao_lcd_font_init(); ao_spi_init(); ao_i2c_init(); + ao_exti_init(); + ao_quadrature_init(); + ao_button_init(); ao_timer_set_adc_interval(100); diff --git a/src/stm-demo/ao_pins.h b/src/stm-demo/ao_pins.h index 7e222122..77e42a28 100644 --- a/src/stm-demo/ao_pins.h +++ b/src/stm-demo/ao_pins.h @@ -170,4 +170,29 @@ struct ao_adc { #define HAS_I2C_2 0 #define I2C_2_PB10_PB11 0 +#define AO_EVENT 1 + +#define AO_QUADRATURE_COUNT 2 +#define AO_QUADRATURE_MODE AO_EXTI_MODE_PULL_UP + +#define AO_QUADRATURE_0_PORT &stm_gpioc +#define AO_QUADRATURE_0_A 1 +#define AO_QUADRATURE_0_B 0 + +#define AO_QUADRATURE_1_PORT &stm_gpioc +#define AO_QUADRATURE_1_A 3 +#define AO_QUADRATURE_1_B 2 + +#define AO_BUTTON_COUNT 2 +#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP + +#define AO_BUTTON_0_PORT &stm_gpioc +#define AO_BUTTON_0 6 + +#define AO_BUTTON_1_PORT &stm_gpioc +#define AO_BUTTON_1 7 + +#define AO_TICK_TYPE uint32_t +#define AO_TICK_SIGNED int32_t + #endif /* _AO_PINS_H_ */ diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs index 3edfa41d..04404cdc 100644 --- a/src/stm/Makefile.defs +++ b/src/stm/Makefile.defs @@ -1,4 +1,4 @@ -vpath % ../stm:../product:../drivers:../core:../util:../kalman:.. +vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:.. vpath make-altitude ../util vpath make-kalman ../util vpath kalman.5c ../kalman diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h index d2c973f5..3d8ca1f2 100644 --- a/src/stm/ao_arch_funcs.h +++ b/src/stm/ao_arch_funcs.h @@ -78,12 +78,25 @@ ao_spi_init(void); #define ao_gpio_set(port, bit, pin, v) stm_gpio_set(port, bit, v) +#define ao_gpio_get(port, bit, pin) stm_gpio_get(port, bit) + #define ao_enable_output(port,bit,pin,v) do { \ ao_enable_port(port); \ ao_gpio_set(port, bit, pin, v); \ stm_moder_set(port, bit, STM_MODER_OUTPUT);\ } while (0) +#define ao_enable_input(port,bit,mode) do { \ + ao_enable_port(port); \ + stm_moder_set(port, bit, STM_MODER_INPUT); \ + if (mode == AO_EXTI_MODE_PULL_UP) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_UP); \ + else if (mode == AO_EXTI_MODE_PULL_DOWN) \ + stm_pupdr_set(port, bit, STM_PUPDR_PULL_DOWN); \ + else \ + stm_pupdr_set(port, bit, STM_PUPDR_NONE); \ + } while (0) + #define ao_enable_cs(port,bit) do { \ stm_gpio_set((port), bit, 1); \ stm_moder_set((port), bit, STM_MODER_OUTPUT); \ diff --git a/src/stm/ao_eeprom_stm.c b/src/stm/ao_eeprom_stm.c new file mode 100644 index 00000000..1e51b417 --- /dev/null +++ b/src/stm/ao_eeprom_stm.c @@ -0,0 +1,191 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include + +/* Total bytes of available storage */ +ao_pos_t ao_storage_total = 4096; + +/* Block size - device is erased in these units. */ +ao_pos_t ao_storage_block = 1024; + +/* Byte offset of config block. Will be ao_storage_block bytes long */ +ao_pos_t ao_storage_config = 0; + +/* Storage unit size - device reads and writes must be within blocks of this size. */ +uint16_t ao_storage_unit = 1024; + +/* Location of eeprom in address space */ +#define stm_eeprom ((uint8_t *) 0x08080000) + +/* + * The internal flash chip is arranged in 8 byte sectors; the + * chip cannot erase in units smaller than that. + * + * Writing happens in units of 2 bytes and + * can only change bits from 1 to 0. So, you can rewrite + * the same contents, or append to an existing page easily enough + */ + +/* + * Erase the specified sector + */ +uint8_t +ao_storage_erase(ao_pos_t pos) __reentrant +{ + /* Not necessary */ + return 1; +} + +static void +ao_intflash_unlock(void) +{ + /* Unlock Data EEPROM and FLASH_PECR register */ + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1; + stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2; + + /* Configure the FTDW bit (FLASH_PECR[8]) to execute + * word write, whatever the previous value of the word + * being written to + */ + stm_flash.pecr = ((0 << STM_FLASH_PECR_OBL_LAUNCH) | + (0 << STM_FLASH_PECR_ERRIE) | + (0 << STM_FLASH_PECR_EOPIE) | + (0 << STM_FLASH_PECR_FPRG) | + (0 << STM_FLASH_PECR_ERASE) | + (0 << STM_FLASH_PECR_FTDW) | + (1 << STM_FLASH_PECR_DATA) | + (0 << STM_FLASH_PECR_PROG) | + (0 << STM_FLASH_PECR_OPTLOCK) | + (0 << STM_FLASH_PECR_PRGLOCK) | + (0 << STM_FLASH_PECR_PELOCK)); +} + +static void +ao_intflash_lock(void) +{ + stm_flash.pecr |= (1 << STM_FLASH_PECR_PELOCK); +} + +static void +ao_intflash_write32(uint16_t pos, uint32_t w) +{ + uint32_t *addr; + + addr = (uint32_t *) (stm_eeprom + pos); + + /* Write a word to a valid address in the data EEPROM */ + *addr = w; + + /* Wait for the flash unit to go idle */ + while (stm_flash.sr & (1 << STM_FLASH_SR_BSY)) + ; +} + +static void +ao_intflash_write8(uint16_t pos, uint8_t d) +{ + uint32_t w, *addr, mask; + uint8_t shift; + + addr = (uint32_t *) (stm_eeprom + (pos & ~3)); + + /* Compute word to be written */ + shift = (pos & 3) << 3; + mask = 0xff << shift; + w = (*addr & ~mask) | (d << shift); + + ao_intflash_write32(pos & ~3, w); +} + +static uint8_t +ao_intflash_read(uint16_t pos) +{ + return stm_eeprom[pos]; +} + +/* + * Write to flash + */ + +uint8_t +ao_storage_device_write(ao_pos_t pos32, __xdata void *v, uint16_t len) __reentrant +{ + uint16_t pos = pos32; + __xdata uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + + ao_intflash_unlock(); + while (len) { + if ((pos & 3) == 0 && len >= 4) { + uint32_t w; + + w = d[0] | (d[1] << 8) | (d[2] << 16) | (d[3] << 24); + ao_intflash_write32(pos, w); + pos += 4; + d += 4; + len -= 4; + } else { + ao_intflash_write8(pos, *d); + pos += 1; + d += 1; + len -= 1; + } + } + ao_intflash_lock(); + + return 1; +} + +/* + * Read from flash + */ +uint8_t +ao_storage_device_read(ao_pos_t pos, __xdata void *v, uint16_t len) __reentrant +{ + uint8_t *d = v; + + if (pos >= ao_storage_total || pos + len > ao_storage_total) + return 0; + while (len--) + *d++ = ao_intflash_read(pos++); + return 1; +} + +void +ao_storage_flush(void) __reentrant +{ +} + +void +ao_storage_setup(void) +{ +} + +void +ao_storage_device_info(void) __reentrant +{ + printf ("Using internal flash\n"); +} + +void +ao_storage_device_init(void) +{ +} diff --git a/src/stm/ao_exti.h b/src/stm/ao_exti.h index b579ad9f..35b56b57 100644 --- a/src/stm/ao_exti.h +++ b/src/stm/ao_exti.h @@ -29,6 +29,9 @@ void ao_exti_setup(struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback)()); +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode); + void ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()); diff --git a/src/stm/ao_exti_stm.c b/src/stm/ao_exti_stm.c index d54e6ee6..11099b02 100644 --- a/src/stm/ao_exti_stm.c +++ b/src/stm/ao_exti_stm.c @@ -115,6 +115,20 @@ ao_exti_setup (struct stm_gpio *gpio, uint8_t pin, uint8_t mode, void (*callback stm_nvic_set_enable(irq); } +void +ao_exti_set_mode(struct stm_gpio *gpio, uint8_t pin, uint8_t mode) { + uint32_t mask = 1 << pin; + + if (mode & AO_EXTI_MODE_RISING) + stm_exti.rtsr |= mask; + else + stm_exti.rtsr &= ~mask; + if (mode & AO_EXTI_MODE_FALLING) + stm_exti.ftsr |= mask; + else + stm_exti.ftsr &= ~mask; +} + void ao_exti_set_callback(struct stm_gpio *gpio, uint8_t pin, void (*callback)()) { ao_exti_callback[pin] = callback; diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index ebe75366..adec7aad 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -17,7 +17,7 @@ #include "ao.h" -volatile __data uint16_t ao_tick_count; +volatile __data AO_TICK_TYPE ao_tick_count; uint16_t ao_time(void) { diff --git a/src/stm/stm32l.h b/src/stm/stm32l.h index ff8dddff..3a498a0a 100644 --- a/src/stm/stm32l.h +++ b/src/stm/stm32l.h @@ -167,7 +167,7 @@ stm_gpio_set(struct stm_gpio *gpio, int pin, uint8_t value) { } static inline uint8_t -stm_gpio_isset(struct stm_gpio *gpio, int pin) { +stm_gpio_get(struct stm_gpio *gpio, int pin) { return (gpio->idr >> pin) & 1; } @@ -281,6 +281,30 @@ extern struct stm_flash stm_flash; #define STM_FLASH_ACR_PRFEN (1) #define STM_FLASH_ACR_LATENCY (0) +#define STM_FLASH_PECR_OBL_LAUNCH 18 +#define STM_FLASH_PECR_ERRIE 17 +#define STM_FLASH_PECR_EOPIE 16 +#define STM_FLASH_PECR_FPRG 10 +#define STM_FLASH_PECR_ERASE 9 +#define STM_FLASH_PECR_FTDW 8 +#define STM_FLASH_PECR_DATA 4 +#define STM_FLASH_PECR_PROG 3 +#define STM_FLASH_PECR_OPTLOCK 2 +#define STM_FLASH_PECR_PRGLOCK 1 +#define STM_FLASH_PECR_PELOCK 0 + +#define STM_FLASH_SR_OPTVERR 11 +#define STM_FLASH_SR_SIZERR 10 +#define STM_FLASH_SR_PGAERR 9 +#define STM_FLASH_SR_WRPERR 8 +#define STM_FLASH_SR_READY 3 +#define STM_FLASH_SR_ENDHV 2 +#define STM_FLASH_SR_EOP 1 +#define STM_FLASH_SR_BSY 0 + +#define STM_FLASH_PEKEYR_PEKEY1 0x89ABCDEF +#define STM_FLASH_PEKEYR_PEKEY2 0x02030405 + struct stm_rcc { vuint32_t cr; vuint32_t icscr; diff --git a/src/telebt-v0.1/.sdcdbrc b/src/telebt-v0.1/.sdcdbrc index 710b4a2f..b9f6129c 100644 --- a/src/telebt-v0.1/.sdcdbrc +++ b/src/telebt-v0.1/.sdcdbrc @@ -1 +1,2 @@ ---directory=.. +--directory=../cc1111:../product:../core:../drivers:. + diff --git a/src/telefire-v0.1/Makefile b/src/telefire-v0.1/Makefile new file mode 100644 index 00000000..09cb88fb --- /dev/null +++ b/src/telefire-v0.1/Makefile @@ -0,0 +1,101 @@ +# +# TeleFire build file +# + +TELEFIRE_VER=0.1 +TELEFIRE_DEF=0_1 + +vpath %.c ..:../core:../cc1111:../drivers:../product +vpath %.h ..:../core:../cc1111:../drivers:../product +vpath ao-make-product.5c ../util + +ifndef VERSION +include ../Version +endif + +INC = \ + ao.h \ + ao_pins.h \ + ao_arch.h \ + ao_arch_funcs.h \ + cc1111.h \ + ao_product.h + +CORE_SRC = \ + ao_cmd.c \ + ao_config.c \ + ao_convert.c \ + ao_mutex.c \ + ao_panic.c \ + ao_stdio.c \ + ao_storage.c \ + ao_task.c \ + ao_freq.c + +CC1111_SRC = \ + ao_adc.c \ + ao_aes.c \ + ao_beep.c \ + ao_dma.c \ + ao_intflash.c \ + ao_radio.c \ + ao_radio_cmac.c \ + ao_romconfig.c \ + ao_serial.c \ + ao_spi.c \ + ao_string.c \ + ao_timer.c \ + ao_usb.c \ + _bp.c + +DRIVER_SRC = \ + ao_pca9922.c \ + ao_74hc497.c \ + ao_pad.c + +PRODUCT_SRC = \ + ao_telefire.c + +SRC = \ + $(CORE_SRC) \ + $(CC1111_SRC) \ + $(DRIVER_SRC) \ + $(PRODUCT_SRC) + +PROGNAME = telefire-v$(TELEFIRE_VER) +PROG = $(PROGNAME)-$(VERSION).ihx +PRODUCT=TeleFire-v$(TELEFIRE_VER) +PRODUCT_DEF=-DTELEFIRE_V_$(TELEFIRE_DEF) +IDPRODUCT=0x000f +CODESIZE=0x6700 + +include ../cc1111/Makefile.cc1111 + +NICKLE=nickle +CHECK_STACK=sh ../util/check-stack + +V=0 +# The user has explicitly enabled quiet compilation. +ifeq ($(V),0) +quiet = @printf " $1 $2 $@\n"; $($1) +endif +# Otherwise, print the full command line. +quiet ?= $($1) + +all: ../$(PROG) + +../$(PROG): $(REL) Makefile + $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) .. + $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@ + +ao_product.h: ao-make-product.5c ../Version + $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@ + +distclean: clean + +clean: clean-cc1111 + +install: + +uninstall: + diff --git a/src/telefire-v0.1/ao_pins.h b/src/telefire-v0.1/ao_pins.h new file mode 100644 index 00000000..4cf523fc --- /dev/null +++ b/src/telefire-v0.1/ao_pins.h @@ -0,0 +1,94 @@ +/* + * Copyright © 2010 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +#define HAS_RADIO 1 + +#define HAS_FLIGHT 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define HAS_GPS 0 +#define HAS_SERIAL_1 0 +#define HAS_ADC 1 +#define HAS_DBG 0 +#define HAS_EEPROM 1 +#define HAS_LOG 0 +#define USE_INTERNAL_FLASH 1 +#define DBG_ON_P1 0 +#define IGNITE_ON_P2 0 +#define IGNITE_ON_P1 1 +#define IGNITE_ON_P0 0 +#define PACKET_HAS_MASTER 0 +#define PACKET_HAS_SLAVE 0 +#define AO_LED_RED 2 +#define AO_LED_GREEN 1 +#define LEDS_AVAILABLE (0xff) +#define HAS_EXTERNAL_TEMP 0 +#define HAS_ACCEL_REF 0 +#define SPI_CS_ON_P1 1 +#define HAS_AES 1 + +#define SPI_CS_PORT P1 +#define SPI_CS_SEL P1SEL +#define SPI_CS_DIR P1DIR + +#define AO_74HC497_CS_PORT P1 +#define AO_74HC497_CS_PIN 4 +#define AO_74HC497_CS P1_4 + +#define AO_PCA9922_CS_PORT P1 +#define AO_PCA9922_CS_PIN 4 +#define AO_PCA9922_CS P1_4 + +#define AO_PAD_NUM 4 +#define AO_PAD_PORT P1 +#define AO_PAD_DIR P1DIR +#define AO_PAD_PIN_0 0 +#define AO_PAD_0 P1_0 +#define AO_PAD_PIN_1 1 +#define AO_PAD_1 P1_1 +#define AO_PAD_PIN_2 2 +#define AO_PAD_2 P1_2 +#define AO_PAD_PIN_3 3 +#define AO_PAD_3 P1_3 +#define AO_PAD_ALL_PINS ((1 << AO_PAD_PIN_0) | (1 << AO_PAD_PIN_1) | (1 << AO_PAD_PIN_2) | (1 << AO_PAD_PIN_3)) + +/* test these values with real igniters */ +#define AO_PAD_RELAY_CLOSED 3524 +#define AO_PAD_NO_IGNITER 16904 +#define AO_PAD_GOOD_IGNITER 22514 + +struct ao_adc { + int16_t sense[4]; + int16_t pyro; + int16_t batt; +}; + +#define AO_ADC_DUMP(p) \ + printf ("tick: %5u 0: %5d 1: %5d 2: %5d 3: %5d pyro: %5d batt %5d\n", \ + (p)->adc.sense[0], \ + (p)->adc.sense[1], \ + (p)->adc.sense[2], \ + (p)->adc.sense[3], \ + (p)->adc.pyro, \ + (p)->adc.batt) + +#define AO_ADC_PINS ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5)) + +#endif /* _AO_PINS_H_ */ diff --git a/src/telefire-v0.1/ao_telefire.c b/src/telefire-v0.1/ao_telefire.c new file mode 100644 index 00000000..96413a63 --- /dev/null +++ b/src/telefire-v0.1/ao_telefire.c @@ -0,0 +1,41 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_pins.h" + +void +main(void) +{ + ao_clock_init(); + + ao_led_init(LEDS_AVAILABLE); + + ao_timer_init(); + ao_adc_init(); + ao_beep_init(); + ao_cmd_init(); + ao_spi_init(); + ao_storage_init(); + ao_usb_init(); + ao_radio_init(); + ao_aes_init(); + ao_radio_cmac_init(); + ao_pad_init(); + ao_config_init(); + ao_start_scheduler(); +}