From 4fa2a5b4d11eb4da319d2d94496d433bc3d235f2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=B8=81=E6=AC=A3=E7=AB=A5?= Date: Thu, 28 Jan 2021 10:33:50 +0800 Subject: [PATCH] Add fakesensor driver. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit N/A This driver can read data from csv file. Change-Id: Ibf7af0553441b5c05a4a4f3e6ed4786472771be1 Signed-off-by: 丁欣童 --- boards/sim/sim/sim/src/csv/accel.csv | 1026 ++++++++++++++++++++++++++ boards/sim/sim/sim/src/csv/gyro.csv | 1026 ++++++++++++++++++++++++++ boards/sim/sim/sim/src/csv/mag.csv | 1026 ++++++++++++++++++++++++++ boards/sim/sim/sim/src/sim_appinit.c | 14 +- drivers/sensors/Kconfig | 16 + drivers/sensors/Make.defs | 4 + drivers/sensors/fakesensor.c | 294 ++++++++ include/nuttx/sensors/fakesensor.h | 67 ++ 8 files changed, 3472 insertions(+), 1 deletion(-) create mode 100644 boards/sim/sim/sim/src/csv/accel.csv create mode 100644 boards/sim/sim/sim/src/csv/gyro.csv create mode 100644 boards/sim/sim/sim/src/csv/mag.csv create mode 100644 drivers/sensors/fakesensor.c create mode 100644 include/nuttx/sensors/fakesensor.h diff --git a/boards/sim/sim/sim/src/csv/accel.csv b/boards/sim/sim/sim/src/csv/accel.csv new file mode 100644 index 00000000000..a3baad30ea2 --- /dev/null +++ b/boards/sim/sim/sim/src/csv/accel.csv @@ -0,0 +1,1026 @@ +interval:20 +x,y,z +3.5612934,5.0969167,7.642158 +3.5708697,5.044246,7.5272408 +3.6714218,4.9245415,7.5559707 +3.5421405,5.154375,7.5416055 +3.5086234,5.1208577,7.771439 +3.5181994,5.2166214,7.5894876 +3.4511647,4.8670835,7.785804 +3.6235397,5.044246,7.5033 +3.5660815,4.9197536,7.651734 +3.5948107,5.077764,7.6134286 +3.4990468,5.029882,7.6038523 +3.556505,4.982,7.69004 +3.4415882,5.049035,7.642158 +3.5373523,5.0203056,7.6804633 +3.479894,5.154375,7.74271 +3.556505,4.986788,7.4937234 +3.5421405,5.010729,7.575123 +3.4272237,5.029882,7.6613107 +3.5181994,5.005941,7.5894876 +3.532564,5.106493,7.642158 +3.5421405,5.053823,7.5080886 +3.5229878,5.077764,7.6134286 +3.5181994,5.1495867,7.618217 +3.5229878,5.1112814,7.642158 +3.604387,4.991576,7.546394 +3.575658,5.044246,7.599064 +3.532564,5.082552,7.675675 +3.5660815,5.154375,7.575123 +3.5229878,4.934118,7.74271 +3.5181994,5.025094,7.575123 +3.5181994,4.8479304,7.670887 +3.5708697,5.015517,7.4841475 +3.4559531,5.015517,7.5799117 +3.8246443,5.154375,7.819321 +3.6331162,5.398573,7.7283454 +3.4176476,5.001153,7.551182 +3.7576096,4.8862357,7.6325817 +3.5421405,5.03467,7.6804633 +3.503835,5.049035,7.651734 +3.5612934,5.101705,7.675675 +3.5708697,4.982,7.618217 +3.5995991,4.977212,7.599064 +3.5181994,5.0203056,7.6804633 +3.4846823,5.010729,7.694828 +3.4607413,5.0394583,7.599064 +3.5373523,4.986788,7.7091923 +3.479894,5.082552,7.642158 +3.5181994,4.9436946,7.6852517 +3.5229878,4.991576,7.551182 +3.4894702,4.9197536,7.6565223 +3.546929,5.068187,7.6565223 +3.532564,5.0921283,7.69004 +3.532564,5.053823,7.694828 +3.5708697,5.015517,7.618217 +3.4846823,4.986788,7.646946 +3.556505,4.991576,7.699616 +3.5134113,5.001153,7.6325817 +3.4846823,4.8192015,7.6134286 +3.5373523,5.0203056,7.5416055 +3.527776,4.982,7.5846996 +3.5134113,5.044246,7.694828 +3.503835,5.1735277,7.8049564 +3.556505,4.9724236,7.551182 +3.527776,5.015517,7.8288975 +3.479894,5.2166214,7.675675 +3.546929,4.9628468,7.642158 +3.5421405,5.0203056,7.594276 +3.5134113,5.058611,7.642158 +3.546929,5.005941,7.666099 +3.6379046,5.058611,7.718769 +3.5086234,5.072976,7.651734 +3.5086234,5.005941,7.646946 +3.5660815,5.025094,7.6804633 +3.575658,5.0394583,7.6086407 +3.4703176,4.8862357,7.5320296 +3.5086234,4.9389057,7.5176644 +3.556505,5.058611,7.675675 +3.4511647,5.1735277,7.7810154 +3.503835,5.2549276,7.7091923 +3.532564,5.025094,7.599064 +3.5373523,4.9628468,7.642158 +3.532564,5.053823,7.6325817 +3.4990468,4.953271,7.694828 +3.551717,5.106493,7.6086407 +3.5421405,5.03467,7.642158 +3.4846823,5.0633993,7.6277933 +3.5852342,5.015517,7.6852517 +3.5134113,5.029882,7.5799117 +3.546929,4.953271,7.474571 +3.5660815,5.001153,7.6325817 +2.7425115,6.38973,8.6381035 +3.5373523,4.081819,7.383595 +3.843797,4.8431425,7.2686787 +3.4990468,4.982,7.5799117 +3.503835,5.1926804,7.7618628 +3.4559531,4.986788,7.5080886 +3.6235397,4.905389,7.618217 +3.575658,5.005941,7.7044044 +3.527776,4.92933,7.5128765 +3.5995991,5.154375,7.6277933 +3.4703176,4.92933,7.74271 +3.6139636,5.178316,7.7283454 +3.3889182,5.058611,7.694828 +3.4751058,4.9149656,7.6804633 +3.4846823,4.6324615,7.455418 +3.4846823,4.982,7.675675 +3.1734493,5.350691,7.8576264 +3.6379046,5.044246,7.8767796 +3.3889182,4.9389057,7.6804633 +3.5708697,4.9628468,7.7091923 +3.479894,4.9006004,7.785804 +3.187814,5.1735277,7.747498 +3.3314598,5.058611,7.9725437 +3.944349,5.345903,7.74271 +4.193335,4.704284,7.718769 +3.891679,4.7521663,7.79538 +3.3123071,4.5366974,7.642158 +4.667367,4.6228848,7.5033 +4.4662623,4.378687,7.498512 +3.1782374,4.474451,7.6086407 +3.2021785,4.613309,7.747498 +3.192602,5.3075976,8.082672 +3.700151,4.9197536,8.039578 +3.5948107,4.4936037,7.5799117 +3.9108317,4.8048363,7.8049564 +2.5749245,4.2158885,7.7618628 +2.7616644,5.03467,7.9916964 +4.265158,5.1831045,7.891144 +4.001807,3.9669023,7.6613107 +4.092783,4.0483017,7.7810154 +5.246739,4.45051,7.3644423 +4.3896513,3.8998673,7.3931713 +2.79997,3.8519855,7.939026 +2.9914978,6.09765,8.159284 +1.397028,5.3554792,7.642158 +3.8150678,4.057878,7.407536 +3.503835,4.651614,7.9964843 +3.8725262,5.0394583,7.8336854 +3.360189,4.8048363,8.130554 +3.3937066,4.881448,7.9773316 +3.4368002,4.163218,7.7618628 +3.6426928,4.8670835,7.915085 +3.2835777,4.469663,7.8672028 +3.3649774,4.6324615,7.886356 +3.264425,4.311652,7.7570744 +3.4751058,4.6276736,7.6804633 +3.546929,4.594156,7.694828 +3.5229878,4.9245415,8.097037 +3.2931542,5.049035,8.053944 +3.5181994,4.8575068,8.049154 +3.4032829,4.498392,7.623005 +3.5708697,4.5606384,7.7331333 +3.4846823,4.6803436,7.8767796 +3.4751058,4.8431425,7.9294496 +3.503835,4.670767,7.9677553 +3.5660815,4.63725,7.718769 +3.4607413,4.5079684,7.766651 +3.5373523,4.733014,7.7810154 +3.4942586,4.8000484,7.9533906 +3.5852342,4.934118,7.79538 +3.5660815,4.9149656,7.862415 +3.4607413,4.9676356,7.9677553 +3.8821025,4.5989437,7.699616 +3.38413,4.5031805,7.699616 +3.843797,5.2405624,7.934238 +3.4368002,4.8527184,7.9198737 +3.240484,5.470396,8.149708 +3.3458245,4.4552984,7.6038523 +3.5995991,4.6803436,7.6134286 +3.604387,5.03467,8.140131 +3.4463766,4.953271,7.9677553 +3.6618454,4.388263,7.7091923 +3.5660815,4.8479304,7.623005 +3.5900226,5.7002296,8.207166 +3.556505,4.68992,7.9533906 +3.211755,4.005208,7.4937234 +3.38413,4.709073,7.8959327 +3.408071,4.9197536,7.9007206 +2.704206,4.6085205,8.03479 +3.1590848,4.5127563,7.6086407 +3.0968382,4.8048363,7.7522864 +3.5373523,5.446455,7.838474 +3.336248,4.991576,8.312506 +3.211755,4.5079684,7.934238 +3.2931542,4.618097,7.8001685 +3.3027308,4.4840274,7.7331333 +3.2740016,4.982,7.819321 +2.828699,4.5366974,8.130554 +2.388185,4.1680064,7.6134286 +3.7145157,5.341115,8.164072 +3.575658,5.0873404,8.025214 +3.192602,4.3164406,7.6325817 +3.5181994,4.780895,7.79538 +3.5900226,4.977212,7.8767796 +4.1263003,5.5757365,7.9773316 +4.432745,5.2309866,8.120978 +4.2507935,4.881448,8.106613 +4.1693945,4.5175447,7.9725437 +3.4990468,4.421781,7.575123 +2.9531922,2.903922,7.670887 +4.001807,2.4059496,8.46094 +5.644159,6.5237994,7.421901 +2.9771333,3.0619326,7.838474 +4.394439,5.2597156,7.7331333 +2.972345,3.914232,7.891144 +3.3889182,4.5702147,7.6852517 +3.628328,4.474451,7.737922 +3.4703176,4.5845795,8.144919 +3.3745534,4.589368,8.0635195 +3.3649774,4.4361453,7.9725437 +3.360189,4.5366974,7.9725437 +3.4655292,4.4552984,7.8719916 +3.4511647,4.4936037,7.8336854 +3.4703176,4.68992,7.939026 +3.4032829,4.7473783,8.030003 +3.4272237,4.756954,8.020426 +3.546929,4.728225,7.9486027 +3.408071,4.4840274,7.838474 +3.4942586,4.728225,7.915085 +3.503835,4.8910246,8.049154 +3.4655292,4.8431425,7.9294496 +3.3123071,4.6276736,7.9438143 +3.4942586,4.661191,7.8672028 +3.4751058,4.618097,7.891144 +3.4272237,4.8335657,7.939026 +3.3410363,4.8287773,7.910297 +3.3506126,4.4552984,7.766651 +3.4703176,4.694708,7.8288975 +3.432012,4.646826,7.9198737 +3.3937066,4.8192015,7.915085 +3.7528212,4.7473783,7.8719916 +3.5995991,4.6085205,7.785804 +3.3218834,4.9101768,8.073095 +3.2213314,4.8575068,8.001273 +3.3937066,4.74259,7.790592 +3.6714218,4.7473783,7.551182 +3.5373523,4.756954,7.9055085 +3.690575,5.029882,7.886356 +3.7623975,4.838354,7.6038523 +3.9635022,4.9484825,7.646946 +3.5181994,4.661191,7.642158 +3.8390088,5.2166214,8.001273 +3.556505,4.733014,7.6325817 +4.1023593,4.704284,7.5320296 +3.7193038,4.685132,7.5368176 +3.771974,4.862295,7.694828 +3.7193038,4.9676356,7.713981 +3.6331162,4.594156,7.7762275 +3.628328,4.522333,7.642158 +3.8821025,5.1639514,7.5894876 +4.016172,4.9245415,7.6565223 +3.7671857,4.74259,7.766651 +3.6091752,4.814413,7.766651 +4.02096,4.364322,7.862415 +3.8246443,4.613309,7.6086407 +3.700151,4.651614,7.2255845 +4.308252,5.1735277,7.134609 +4.2364287,4.2589817,7.5320296 +4.308252,4.005208,7.98212 +3.944349,4.5702147,7.886356 +3.8342204,4.1775827,7.8049564 +4.322616,4.0243607,7.426689 +4.629061,4.0674543,7.354866 +4.566815,3.914232,7.670887 +4.7966485,3.2965543,7.819321 +5.61543,2.1809044,8.40827 +6.654469,2.6693006,7.766651 +7.923341,3.3923185,7.014904 +7.923341,4.0913954,6.7419763 +8.248939,5.786417,6.311039 +7.0997715,6.916432,5.8417954 +6.4102707,7.4670744,5.7125144 +5.5579715,7.0983834,5.75082 +4.940294,6.993043,5.540139 +3.9012554,6.6435046,6.119511 +3.1830258,6.365789,6.842529 +2.436067,5.657136,7.2160087 +1.7944484,4.8766594,7.570335 +1.3491461,5.0921283,7.8336854 +1.2677468,4.15843,7.599064 +1.1097363,3.2151551,8.015637 +0.8655382,3.210367,8.590221 +2.000341,5.106493,8.85836 +3.6522691,5.2261977,7.8336854 +4.696096,4.4313574,8.231107 +4.7822833,4.5989437,7.8528385 +4.882836,5.025094,7.4602065 +4.7583423,4.665979,7.4649944 +4.954659,4.9676356,7.4841475 +5.1030927,4.4936037,7.1010914 +4.293887,4.790472,7.0723624 +4.0592656,4.426569,6.986175 +4.557238,4.718649,7.134609 +4.456686,4.8575068,7.2495255 +4.4135923,5.044246,7.407536 +4.624273,5.388997,7.479359 +4.3657103,4.6803436,7.26389 +4.3369813,4.7521663,7.1489735 +4.5045676,4.651614,7.1968555 +4.581179,4.651614,7.115456 +4.590756,4.7952604,7.091515 +4.432745,4.785684,7.1681266 +4.571603,4.8192015,7.2399497 +4.600332,5.0921283,7.1920676 +4.8062243,4.8958125,7.235161 +4.662578,4.9006004,7.326137 +4.681731,4.982,7.2734666 +4.60512,5.053823,7.45063 +4.609908,5.1160693,7.3644423 +4.7822833,4.661191,7.038845 +4.65779,4.7952604,7.1489735 +4.7008843,5.0394583,7.206432 +4.619485,4.9436946,7.0723624 +4.609908,4.6564026,6.97181 +4.6769433,4.814413,6.7659173 +4.7056723,4.780895,6.990963 +4.667367,4.982,7.062786 +4.595544,4.991576,7.2399497 +4.542874,5.3363266,7.1202445 +4.7008843,5.1591635,7.1441855 +4.7296133,4.8000484,7.134609 +4.6530023,4.881448,7.0244803 +4.595544,4.977212,7.115456 +4.5620265,4.905389,7.1920676 +4.629061,4.8862357,6.943081 +4.734401,4.761743,6.9574456 +4.585967,4.934118,6.8856225 +4.648214,4.986788,7.110668 +4.633849,5.2118335,7.134609 +4.662578,5.025094,7.091515 +4.590756,4.9149656,7.019692 +4.667367,4.953271,7.010116 +4.5763907,4.8766594,7.1010914 +4.542874,4.991576,7.019692 +4.629061,4.9676356,7.014904 +4.595544,5.077764,7.0723624 +4.5285087,5.010729,7.0484214 +4.7008843,4.862295,7.014904 +4.643426,4.9436946,6.990963 +4.662578,4.9676356,7.091515 +4.624273,5.0921283,7.0819383 +4.5380855,5.154375,7.0532093 +4.7056723,5.025094,6.990963 +4.7152486,5.029882,6.9813867 +4.600332,5.2118335,7.115456 +4.5093565,5.2022567,7.043633 +4.71046,5.2405624,6.876046 +4.7056723,4.934118,7.019692 +4.858895,5.025094,6.8808346 +4.614697,4.8766594,7.0484214 +4.614697,4.991576,7.019692 +4.566815,4.991576,6.895199 +4.7679186,4.9389057,6.899987 +4.887624,5.077764,6.899987 +4.7631307,5.1112814,7.010116 +4.633849,5.2884445,7.182491 +4.614697,5.1160693,7.187279 +4.619485,4.8958125,6.8808346 +4.873259,4.766531,6.8521056 +4.743978,4.8910246,7.1777024 +4.65779,5.1447983,7.1729145 +4.557238,5.015517,7.2447376 +4.696096,5.1160693,6.943081 +4.7918596,4.704284,6.847317 +4.7487664,4.733014,6.8521056 +4.629061,4.958059,7.043633 +4.518933,4.9197536,7.110668 +4.5380855,4.9724236,7.067574 +4.71046,4.9197536,6.986175 +4.7152486,4.9676356,6.947869 +4.624273,4.9149656,7.067574 +4.638637,4.9676356,7.1920676 +4.5763907,5.025094,7.1489735 +4.648214,5.03467,7.038845 +4.585967,4.905389,7.010116 +4.7056723,4.7952604,6.9765983 +4.60512,5.001153,7.0484214 +4.638637,5.0633993,7.091515 +4.619485,5.0394583,7.010116 +4.609908,4.8575068,6.97181 +4.638637,4.9436946,7.043633 +4.7152486,4.9963646,7.019692 +4.7727075,5.0633993,7.062786 +4.940294,5.1112814,7.39796 +5.0169053,5.417726,7.1537614 +4.298675,4.7473783,7.019692 +4.279523,4.718649,7.1058793 +4.7535543,5.4033613,7.9007206 +4.624273,5.269292,7.958179 +4.8684707,4.39784,7.0244803 +4.959447,3.646093,6.7898583 +4.595544,4.4552984,7.1489735 +3.920408,5.077764,7.8959327 +4.5237207,4.235041,7.2255845 +3.1303556,3.9669023,7.259102 +5.299409,4.8192015,7.0579977 +4.8062243,3.9381728,7.2160087 +4.834954,4.5127563,7.6565223 +5.289832,4.551062,7.2399497 +4.9785995,4.4313574,6.9765983 +4.873259,3.9764783,7.5080886 +4.5380855,3.9956312,7.306984 +4.404016,5.010729,8.164072 +4.4902034,4.7761073,7.431477 +4.60512,4.15843,7.4171124 +4.4758387,3.7849507,7.5033 +4.2077,4.1536417,7.4410534 +3.9299846,4.522333,7.575123 +4.0065956,4.1775827,7.599064 +4.356134,4.172795,7.646946 +4.4423213,4.1249127,7.498512 +4.5045676,4.2685585,7.350078 +4.456686,4.5079684,7.4458413 +4.456686,4.589368,7.7091923 +4.7727075,4.373899,7.718769 +4.5380855,4.1440654,7.98212 +4.1023593,3.9429612,7.4410534 +4.1406646,4.330805,7.2734666 +4.3609223,4.201524,7.2160087 +4.4710507,3.7083395,7.230373 +4.4710507,4.6085205,7.4697824 +4.2077,5.6284065,8.231107 +4.4806266,5.2357745,7.986908 +5.5436068,3.5934227,6.239216 +5.4047494,3.2247314,6.382862 +4.94987,5.6044655,7.785804 +4.332193,5.154375,7.9486027 +4.432745,4.63725,7.2734666 +3.9922311,5.4368787,7.6277933 +3.7145157,4.74259,7.5272408 +4.0496893,4.5127563,7.474571 +4.4088044,4.5079684,7.139397 +4.964235,4.8718715,7.335713 +4.8014364,4.958059,7.618217 +4.581179,4.594156,7.421901 +4.293887,4.4888153,7.3692303 +4.279523,4.694708,7.2926197 +4.3848634,4.766531,7.570335 +4.614697,4.8766594,7.474571 +4.5763907,4.809625,7.4458413 +4.4135923,4.670767,7.302196 +4.4183803,4.6803436,7.311772 +4.3609223,4.5462737,7.2686787 +4.289099,4.713861,7.4649944 +4.4902034,4.6037326,7.306984 +4.279523,4.6276736,7.311772 +4.394439,4.6085205,7.3213487 +4.432745,4.5797915,7.2207966 +4.317828,4.7234373,7.4410534 +4.518933,4.8048363,7.402748 +4.4135923,4.785684,7.474571 +4.533297,4.5462737,7.230373 +4.4806266,4.5797915,7.2207966 +4.380075,4.934118,7.4410534 +4.3992276,4.9006004,7.5176644 +4.3752866,4.814413,7.3883834 +4.4183803,4.661191,7.278255 +4.4710507,4.737802,7.2160087 +4.4231687,4.737802,7.359654 +4.4997797,4.977212,7.2686787 +4.432745,4.8000484,7.3165603 +4.4471097,4.7952604,7.378807 +4.394439,4.728225,7.3452897 +4.3896513,4.5702147,7.2016435 +4.4471097,4.694708,7.278255 +4.4279566,4.718649,7.2447376 +4.3992276,4.6564026,7.2734666 +4.518933,4.8910246,7.2447376 +4.26037,4.613309,7.3165603 +4.533297,4.8718715,7.407536 +4.346557,4.8862357,7.335713 +3.743245,4.1680064,7.2207966 +4.547662,4.9197536,7.1202445 +4.590756,4.7713194,7.5799117 +4.4806266,5.293233,8.456152 +4.5524497,5.130434,7.5607586 +4.4471097,3.986055,7.010116 +4.533297,4.1775827,6.8042235 +4.4423213,4.7234373,7.5080886 +3.9730785,4.335593,8.733868 +4.557238,5.22141,7.623005 +4.518933,3.86635,7.0532093 +4.8636827,3.727492,6.751553 +4.7487664,4.9724236,7.891144 +4.542874,4.416992,7.642158 +4.7966485,4.440933,8.293353 +4.4135923,4.349958,7.5033 +4.590756,4.273347,7.7044044 +4.332193,4.172795,7.7091923 +4.346557,4.1009717,8.0635195 +4.8445296,3.6508808,7.474571 +4.7822833,3.354013,7.311772 +4.696096,3.5407524,7.8241096 +4.7679186,3.693975,7.6373696 +4.4662623,3.670034,7.8815675 +4.734401,3.5646935,7.575123 +4.7727075,3.4497766,7.5272408 +4.7679186,3.6796103,7.79538 +4.60512,3.770586,7.891144 +4.518933,3.6652458,7.9198737 +4.614697,3.7562215,7.79538 +4.7631307,3.6077871,7.6277933 +4.7727075,3.38753,7.7283454 +4.7631307,3.6556692,7.9198737 +4.9163527,3.4449887,7.718769 +4.743978,3.7993152,7.8480506 +4.533297,3.7610097,8.140131 +4.5380855,3.7945268,7.9198737 +4.5141444,3.5120234,7.7810154 +4.743978,3.3444364,7.642158 +4.8205886,3.5886345,7.6804633 +4.648214,3.5886345,7.891144 +4.643426,3.670034,7.9007206 +4.585967,3.8615618,7.9773316 +4.624273,3.5646935,7.723557 +4.7631307,3.4545648,7.723557 +4.7008843,3.57427,7.8815675 +4.5141444,3.4497766,7.7618628 +4.619485,3.5168114,7.8241096 +4.394439,3.727492,8.465729 +5.026481,3.9285965,7.570335 +4.696096,3.2774017,7.4410534 +4.4518976,3.38753,7.6613107 +4.930718,3.5120234,7.7283454 +4.284311,3.6221519,8.039578 +4.691308,4.0674543,8.006062 +4.0784187,3.6748219,7.8719916 +4.566815,3.7945268,8.580646 +4.882836,3.5886345,7.7762275 +4.7822833,3.4545648,7.570335 +4.317828,3.746645,7.838474 +4.351346,3.6269403,7.891144 +4.4423213,3.7418566,7.809745 +4.65779,3.526388,7.8241096 +4.8062243,3.3109188,7.7091923 +4.585967,3.7610097,7.838474 +4.4902034,3.6221519,7.9294496 +4.7583423,3.4402003,7.8480506 +4.614697,3.3923185,7.7283454 +4.5237207,3.717916,8.015637 +4.614697,3.5646935,7.986908 +4.681731,3.6173637,7.843262 +4.648214,3.406683,7.8815675 +4.4854155,3.6125755,7.8288975 +4.7008843,3.5790582,7.9916964 +4.7583423,3.4737177,7.915085 +4.6530023,3.3923185,7.670887 +4.8636827,3.6221519,9.677142 +3.3266718,3.1481204,9.174381 +4.921141,4.1440654,7.6086407 +5.1940684,3.0523565,7.479359 +4.7679186,3.9669023,7.8288975 +4.4662623,3.6652458,7.934238 +4.1885467,3.5934227,7.9198737 +4.2364287,3.4258356,7.718769 +4.7296133,3.3492246,7.8049564 +4.7727075,3.2055786,7.4602065 +5.2180095,3.2247314,7.551182 +5.237162,3.5455406,7.9916964 +4.988176,3.5551171,8.030003 +5.0312696,3.507235,7.9486027 +4.7774954,3.4210477,7.790592 +4.4231687,3.3444364,7.8001685 +4.1646056,3.4641414,6.9526577 +3.9347727,3.2774017,7.8241096 +5.1222453,3.770586,7.651734 +4.8636827,3.5359645,7.986908 +5.4813604,3.2774017,7.7810154 +4.954659,3.3109188,7.3644423 +4.935506,3.0954502,7.737922 +5.074363,3.7897387,7.886356 +4.696096,3.698763,8.1928005 +4.4231687,3.38753,8.216742 +4.5285087,3.358801,7.69004 +4.887624,3.2821898,7.45063 +4.686519,3.234308,7.5176644 +4.4183803,3.5551171,7.6852517 +4.672155,3.9333847,7.5846996 +4.5237207,3.5886345,7.9294496 +4.8924117,3.6173637,7.8767796 +4.9019885,3.526388,8.015637 +4.662578,3.8280444,8.058731 +4.600332,4.0291486,7.651734 +4.609908,3.6125755,7.6613107 +4.7535543,3.698763,7.6325817 +4.8493185,4.364322,7.4889355 +4.7008843,4.062666,7.9294496 +4.925929,4.115336,7.6277933 +4.71046,4.311652,7.723557 +4.696096,4.278135,7.79538 +4.691308,4.062666,7.5368176 +4.7679186,4.373899,7.6852517 +4.542874,4.2302527,7.642158 +4.346557,4.2063117,7.666099 +4.226853,4.306864,7.618217 +4.322616,4.1775827,7.5320296 +4.4806266,4.235041,7.5799117 +4.696096,4.225465,7.426689 +4.456686,3.914232,7.2207966 +4.696096,4.5079684,7.7810154 +4.8158007,4.474451,7.5799117 +4.547662,4.373899,7.675675 +4.4423213,4.756954,7.651734 +4.648214,4.6324615,7.287831 +4.667367,4.6803436,7.421901 +4.327405,4.713861,7.6038523 +4.303464,4.498392,7.1537614 +3.9491374,4.3403816,7.283043 +4.2124877,4.809625,7.1920676 +4.341769,5.2022567,7.3692303 +3.8054914,4.977212,7.1729145 +3.8821025,5.1400104,7.350078 +3.843797,4.7761073,7.1010914 +3.7623975,4.335593,6.9047756 +3.3410363,3.9381728,7.9677553 +2.1056812,2.870405,6.2727337 +2.1631398,2.4011614,6.6605773 +2.7664526,1.0365254,5.9423475 +3.38413,0.4427888,4.975132 +3.5708697,0.5720701,4.0893154 +4.404016,1.4387339,3.792447 +5.0025406,1.8457307,3.4716377 +4.6769433,2.267092,3.5147314 +5.1797037,3.1816378,3.7732942 +5.3951726,3.3109188,4.2856317 +5.9889092,2.9661689,4.97992 +5.174916,2.1138697,5.5640798 +5.0552106,1.1131365,6.018959 +6.1086144,-0.63455564,6.4498963 +6.3240833,-1.6927472,7.062786 +5.625006,-2.1428378,7.4123244 +4.432745,-3.9096828,7.891144 +3.8485854,-5.365295,8.2981415 +5.012117,-5.9494553,8.547128 +5.5819125,-5.4371176,8.436999 +5.572336,-5.255166,8.03479 +4.935506,-6.102677,8.211954 +3.7384565,-7.989227,8.647679 +3.7193038,-9.128818,9.26057 +3.4559531,-7.989227,9.528708 +2.2876327,-8.104143,9.715447 +0.741045,-11.020156,8.891877 +-0.40333423,-12.810942,8.714714 +-0.063372195,-10.383326,7.713981 +-0.29320568,-9.703402,7.163338 +-0.9252477,-9.81353,6.698883 +-1.6722065,-9.727343,6.651001 +-2.021745,-9.262888,6.4211674 +-2.1558144,-8.463259,6.172181 +-2.3521304,-7.314091,5.5305624 +-2.6250577,-6.6533203,5.128354 +-3.357652,-6.150559,4.8171215 +-4.2099514,-5.8632674,4.4819474 +-5.0718274,-5.5089407,4.3813953 +-6.0294666,-4.508208,3.9791868 +-8.572,-3.1675122,2.188401 +-9.596673,-3.2920053,1.513265 +-10.597407,-3.5936618,0.9913515 +-11.516741,-3.7612486,0.59393114 +-12.364252,-3.9048946,0.6035075 +-13.240492,-3.99587,0.66575414 +-13.125575,-3.9240472,0.6944832 +-12.890953,-3.3638284,0.8620702 +-13.0489645,-2.6839044,0.8620702 +-12.924471,-2.5977166,1.0009279 +-13.43202,-2.3774595,0.75672984 +-13.149516,-2.6312342,0.5604138 +-12.402557,-3.2345471,0.37367406 +-11.17199,-3.6559083,0.25875732 +-10.104222,-3.378193,0.29706287 +-9.371628,-3.1244183,0.4311324 +-9.156159,-2.3487303,0.2874865 +-8.811409,-2.0853796,0.3880386 +-9.007725,-2.6168697,0.5460492 +-9.141795,-2.7461507,0.31142747 +-9.381206,-2.501953,0.2874865 +-9.23277,-2.4444942,0.56520194 +-9.141795,-2.554623,0.89079934 +-9.285441,-2.5402584,1.3696191 +-9.534428,-2.2625427,1.6186054 +-9.505698,-2.3008482,1.7143694 +-9.826508,-2.679116,1.6521227 +-10.104222,-2.9281023,1.561147 +-10.1185875,-3.382981,1.5946643 +-10.027611,-3.8953183,1.4653832 +-10.219139,-4.3837147,1.2882197 +-10.410667,-4.6327004,1.0392336 +-11.511952,-4.6039715,0.9003757 +-13.115999,-4.1443048,0.90995216 +-13.75283,-3.6415439,0.89079934 +-12.938835,-3.335099,0.7950354 +-12.306793,-3.239335,0.34015667 +-11.282119,-2.7653036,0.028923824 +-10.951734,-2.391824,0.11511138 +-11.526318,-2.195508,0.30185106 +-12.665908,-1.9991919,0.52210814 +-13.709735,-1.903428,0.59871936 +-14.542881,-2.2242374,0.32100388 +-15.390392,-2.501953,-0.124298505 +-15.615438,-2.583352,-0.73718774 +-14.815809,-2.6264458,-1.2734659 +-13.24528,-2.6743279,-1.6517335 +-12.258911,-2.7413626,-1.6900392 +-11.516741,-2.6647513,-1.5320286 +-10.53516,-2.5306818,-0.8042226 +-9.7786255,-2.391824,-0.2966736 +-9.160947,-2.3678834,-0.090781115 +-8.576787,-2.554623,-0.1482395 +-8.050085,-3.0909011,-0.39243758 +-7.935169,-3.3446755,-0.5648127 +-8.040509,-3.2824287,-0.75634056 +-8.06445,-2.9472551,-0.89041007 +-8.107544,-2.7844563,-0.986174 +-8.342166,-2.8131857,-0.8808337 +-9.050819,-2.5641994,-0.63663566 +-9.850449,-2.1236851,-0.45468414 +-10.00367,-1.6879591,-0.25357983 +-9.31417,-1.4820666,-0.34934378 +-9.390781,-2.3966124,-0.30625 +-10.77457,-2.8036091,-0.60790646 +-10.9038515,-2.8083973,-0.5408717 +-10.24308,-2.6695397,-0.109933905 +-10.463337,-2.8275502,0.30663928 +-10.602195,-2.5881402,0.6705423 +-10.90864,-2.6647513,0.90995216 +-11.617293,-2.875432,0.90995216 +-12.000349,-2.6264458,0.857282 +-12.436075,-2.6408105,0.493379 +-12.570145,-2.9807725,-0.028534539 +-12.206242,-3.2536998,-0.25836805 +-11.310848,-3.2967937,0.04328842 +-10.444184,-2.9903488,0.5029554 +-9.87439,-2.5306818,1.1397856 +-9.591886,-2.1045322,1.6186054 +-9.47218,-2.0662267,1.7095811 +-9.587097,-2.2529666,1.4941123 +-9.567945,-2.4061887,1.1828793 +-9.76426,-2.439706,1.0919037 +-10.42982,-2.4875882,1.2259732 +-10.932581,-2.6647513,1.4127128 +-11.353942,-2.7892447,1.3744074 +-11.516741,-2.918526,1.0440217 +-11.114532,-3.406922,0.83812916 +-11.186356,-4.0724816,0.6801187 +-11.286907,-4.3885026,0.44549698 +-11.3730955,-4.3885026,0.14862877 +-12.503109,-4.52736,-0.2966736 +-13.882111,-4.4076557,-0.5265071 +-14.260378,-3.665485,-0.40201396 +-13.230915,-2.5498347,-0.16739225 +-11.957255,-2.1428378,0.30663928 +-12.555779,-2.391824,0.31142747 +-13.67143,-2.2960603,0.11511138 +-14.949878,-2.051862,-0.26315624 +-16.17087,-1.6544417,-0.58875364 +-15.950611,-1.491643,-0.78506976 +-14.533305,-1.9944037,-0.91913927 +-13.326679,-2.3439424,-0.8808337 +-12.670696,-2.4349182,-0.6797294 +-11.923738,-2.4971645,-0.57917726 +-10.851181,-2.6120813,-0.47383696 +-10.027611,-2.5067408,-0.41159037 +-9.8839655,-2.391824,-0.22963884 +-9.678073,-2.099744,-0.14345127 +-9.137006,-1.7645702,-0.13866308 +-8.658187,-1.8363932,-0.15302768 +-8.605517,-2.219449,-0.2966736 +-9.1801,-2.5450466,-0.39243758 +-9.879177,-2.6886923,-0.5073543 +-10.195198,-2.7844563,-0.5456599 +-9.994094,-2.6455986,-0.5696009 +-9.395569,-2.458859,-0.6270593 +-8.797044,-2.2816956,-0.6270593 +-8.758739,-2.3535185,-0.45468414 +-9.951,-2.4875882,-0.43074316 +-9.740319,-2.6025047,-0.6270593 +-8.64861,-2.6408105,-0.60311824 +-8.552846,-2.8036091,-0.1051457 +-9.663709,-3.0478075,0.2539691 +-11.162415,-3.043019,0.52210814 +-12.383404,-2.7748802,0.8429174 +-13.479902,-2.3152132,0.9530459 +-14.1502495,-2.4636471,0.4646498 +-13.791134,-3.1196303,-0.26794443 +-12.196665,-3.4548042,-0.63663566 +-10.453761,-3.043019,-0.39243758 +-9.285441,-2.2050846,0.10074679 +-8.849715,-1.5251603,0.8524938 +-8.610305,-1.2474449,1.4893241 +-8.615093,-1.8890634,1.7000047 +-9.189677,-2.387036,1.728734 +-9.836083,-2.4444942,1.5467824 +-10.750629,-2.2625427,1.5036886 +-11.315637,-2.2577546,1.4558066 +-11.646022,-2.7461507,1.3408899 +-12.0290785,-3.5936618,1.2068204 +-12.627603,-4.3789263,0.9291049 +-12.550991,-4.958298,0.5891429 +-11.985984,-5.226437,0.19172254 +-11.349154,-4.8290167,-0.009381749 +-11.090591,-4.1490927,-0.24879164 +-12.670696,-4.187398,-0.41637853 +-12.986717,-3.7564607,-0.4594723 +-12.359463,-3.1675122,-0.40201396 +-11.722633,-2.7509391,-0.08599291 +-12.641967,-2.8562794,0.31142747 +-14.30826,-3.0238664,0.37846226 +-15.294628,-2.72221,0.067229405 +-15.701625,-2.387036,-0.40680218 +-15.52925,-1.9896156,-0.8808337 +-14.485423,-1.783723,-1.0196913 +-13.451172,-1.7502056,-0.9813858 +-12.321158,-1.8076639,-0.79464614 +-11.497588,-1.927369,-0.6653648 +-11.124108,-2.1524143,-0.35413197 +-10.884699,-2.219449,-0.1626041 +-10.530373,-2.439706,-0.09556932 +-10.080281,-2.6120813,-0.23442703 +-10.065917,-2.5929286,-0.38286117 +-10.109012,-2.4205534,-0.50256616 +-10.300538,-2.4827998,-0.72761136 +-10.214352,-2.4301298,-0.86646914 +-10.018035,-2.382248,-0.8856219 +-10.099434,-2.3487303,-0.79464614 +-9.917483,-2.1476262,-0.78028154 +-9.113065,-1.932157,-0.60790646 +-8.490601,-1.903428,-0.70845854 +-8.351742,-2.4540708,-0.5408717 +-9.773837,-2.798821,-0.55044806 +-9.71159,-2.7700918,-0.7467642 +-8.744374,-2.6168697,-0.35892016 +-8.5480585,-2.4109771,0.21087533 +-9.342899,-2.6455986,0.58435476 +-10.525584,-2.6455986,0.8237646 +-11.5742,-2.4301298,1.1206329 +-12.31637,-2.3200014,1.1158447 +-12.843071,-2.501953,0.70405966 +-12.828707,-3.2201824,0.028923824 +-12.321158,-3.5840852,-0.44510776 +-11.401824,-3.2824287,-0.3110382 +-10.688382,-2.5929286,0.03850022 +-10.262233,-2.0566504,0.66575414 +-9.898331,-1.8220286,1.293008 +-10.037189,-2.051862,1.7383103 +-10.506432,-2.4827998,1.7478868 +-10.602195,-2.6886923,1.5755116 +-10.726688,-2.7126334,1.3552545 +-10.966098,-2.6503868,1.3456781 +-11.215084,-2.841915,1.5180533 +-11.511952,-3.210606,1.4893241 +-11.8997965,-3.8474364,1.1062683 +-12.407345,-4.6614294,0.58435476 +-12.651544,-5.106732,-0.1769687 +-12.211029,-4.867322,-0.63663566 +-12.02429,-4.3166795,-0.66057664 +-13.666641,-4.4315963,-0.6510002 +-13.6427,-3.8761654,-0.63663566 +-13.072906,-3.4739568,-0.56002444 +-12.120053,-3.205818,-0.3206146 +-12.440864,-3.402134,-0.05726374 +-13.824653,-3.6367557,-0.1338749 +-15.222805,-3.2824287,-0.44989592 +-16.046375,-2.4875882,-0.7036704 +-15.998493,-1.6688062,-0.91913927 +-14.964243,-1.2282921,-1.1489727 +-13.40329,-1.1708337,-1.0963026 +-12.594085,-1.5969833,-1.081938 +-12.167935,-1.9991919,-0.9287157 +-11.985984,-2.1428378,-0.77070516 +-11.655599,-2.358307,-0.5839654 +-11.296484,-2.5977166,-0.5648127 +-11.277331,-2.7413626,-0.5552363 +-11.06665,-2.4971645,-0.670153 +-10.808087,-2.1236851,-0.646212 +-10.396302,-1.9560982,-0.63184744 +-9.898331,-1.8986397,-0.718035 +-9.189677,-1.8651223,-0.75634056 +-8.787468,-1.9896156,-0.7467642 +-8.476235,-2.1141088,-0.70845854 +-8.026144,-2.214661,-0.646212 +-7.868134,-2.3343658,-0.56002444 +-7.623936,-2.6264458,-0.43553138 +-8.533694,-2.7557273,-0.2966736 +-9.046031,-2.8131857,-0.42116678 +-8.610305,-2.841915,-0.43074316 +-8.538483,-2.5977166,-0.023746349 +-9.405147,-2.6216576,0.4024032 +-10.793723,-2.6072931,0.86685836 +-11.75615,-2.3200014,1.1780913 +-12.857436,-2.238602,1.2355496 +-14.064062,-2.2002964,0.8620702 +-14.99776,-2.703057,-0.009381749 +-15.05522,-3.2920053,-0.8616809 +-14.317836,-3.3111582,-1.1058791 +-13.053752,-2.8179739,-0.7515524 +-11.550259,-2.2960603,-0.2966736 +-10.650077,-1.7932993,0.24439272 +-10.544737,-2.023133,0.71842426 +-10.468125,-2.8610675,0.9147404 +-10.257445,-3.3925576,1.0440217 +-9.927059,-3.191453,0.9721987 +-9.984517,-3.2010295,1.053598 +-10.372361,-3.4835334,1.125421 +-10.822453,-3.7085786,1.0440217 +-11.234238,-3.9336238,0.8237646 +-11.516741,-4.278374,0.4646498 +-11.420978,-4.6997356,0.05765301 +-11.148049,-4.8002877,-0.37807298 +-11.315637,-4.3885026,-0.6988822 +-12.838284,-4.2927384,-0.8185871 +-13.657065,-3.842648,-0.83773994 +-13.321891,-3.0286546,-0.52171886 +-12.7090025,-2.7126334,-0.028534539 +-13.187822,-3.0142899,0.42634422 +-14.882843,-3.019078,0.4838026 +-16.065529,-2.655175,0.21087533 +-16.687994,-2.4253416,-0.56002444 +-16.802912,-2.2577546,-1.2303722 +-16.127775,-2.0901678,-1.6421571 +-14.820598,-1.831605,-1.5320286 +-13.35062,-1.7310529,-1.3788062 +-12.325946,-1.855546,-1.1010908 +-11.693904,-1.9082161,-0.7228232 +-11.325213,-2.094956,-0.5073543 +-11.052285,-2.3152132,-0.5169307 +-10.377151,-2.1811435,-0.6749412 +-10.018035,-2.1045322,-0.6653648 +-9.97973,-2.195508,-0.8281635 +-10.2239275,-2.238602,-1.0388442 +-10.511219,-2.2002964,-1.397959 +-10.161681,-2.219449,-1.6325808 +-9.998882,-2.3487303,-1.6469452 +-10.027611,-2.458859,-1.5846988 +-9.567945,-2.2864838,-1.4314764 +-8.792256,-2.1380498,-1.081938 +-8.141062,-2.458859,-0.73718774 +-9.046031,-2.851491,-0.46904868 +-9.23277,-2.9281023,-0.38764936 +-8.576787,-2.7940328,-0.07162831 +-7.9447455,-2.6264458,0.36888584 +-8.294284,-2.6455986,0.94825774 +-9.601462,-2.6312342,1.5372059 +-11.128898,-3.0286546,1.7143694 +-12.402557,-2.995137,1.9442029 +-13.700159,-2.7461507,1.7909805 +-14.475847,-2.9711962,1.0440217 +-14.313048,-2.9281023,0.15341696 +-13.40329,-2.501953,-0.19612148 +-12.225394,-1.9752508,-0.08599291 +-11.540682,-1.6352888,0.6035075 +-11.291696,-1.587407,1.4366539 +-11.095379,-1.7741466,2.0016613 +-10.96131,-2.2481782,2.140519 +-10.453761,-2.822762,1.8532271 +-9.831295,-2.9807725,1.4127128 +-9.390781,-3.0095017,1.3839837 +-9.539215,-2.9664078,1.4989005 +-9.974941,-2.9855607,1.4414421 +-10.927793,-3.1435711,1.221185 +-11.5742,-3.7708251,0.90995216 +-11.904585,-4.570454,0.2683337 +-12.0290785,-4.876899,-0.27273265 +-11.507164,-4.3693495,-0.50256616 +-12.057807,-4.034176,-0.51214254 +-13.709735,-4.105999,-0.5648127 +-13.307527,-3.3207345,-0.36370838 +-12.541415,-2.8179739,-0.1482395 +-11.76094,-2.8179739,0.18693435 +-13.001082,-3.1531477,0.44070882 +-15.122253,-3.019078,0.34015667 +-16.568289,-2.4732237,0.028923824 +-17.286518,-1.9608864,-0.23442703 +-16.8891,-1.6735945,-0.6270593 +-15.845271,-1.592195,-0.6749412 +-14.815809,-1.7980876,-0.670153 +-13.542149,-2.0374975,-0.60790646 +-12.503109,-2.2290256,-0.5073543 +-11.502377,-2.2577546,-0.42595494 +-10.96131,-2.1907198,-0.1195103 +-10.391514,-2.2529666,-0.114722095 +-9.634979,-2.2577546,-0.028534539 +-8.964631,-2.24339,-0.07162831 +-8.595941,-2.1093206,-0.100357495 +-8.361319,-2.0662267,-0.1769687 +-7.9830513,-2.1093206,-0.2918854 +-7.7675824,-2.2864838,-0.5648127 +-7.90644,-2.3726714,-0.741976 +-7.623936,-2.2481782,-0.8712573 +-7.288762,-2.2529666,-0.78506976 +-7.499443,-2.4205534,-0.66057664 +-7.8585577,-2.698269,-0.3349792 +-9.304593,-3.0334425,-0.16739225 +-9.941424,-3.4931097,-0.41159037 +-9.855236,-3.4117103,-0.3397674 +-10.027611,-2.9807725,0.29227468 +-11.004403,-2.8275502,0.7806708 +-12.546204,-2.5977166,1.3887719 +-13.901263,-2.1907198,1.6138172 +-15.859636,-1.8842751,1.4845358 +-16.917828,-2.2050846,0.63223666 +-16.67363,-2.899373,-0.7611288 +-15.524462,-3.2967937,-1.4745702 +-13.283586,-2.9137378,-1.153761 +-11.382671,-2.051862,0.09117039 +-10.463337,-1.103799,1.0440217 +-9.989306,-1.2426567,1.6856401 +-9.836083,-2.4301298,1.7143694 +-9.55358,-3.3734045,1.4414421 +-9.251924,-3.4260747,1.1876676 +-9.223194,-3.0717483,1.0296571 +-9.443451,-3.210606,1.1397856 +-9.936635,-3.4308631,1.1062683 +-10.626136,-3.6798494,0.83812916 +-11.01398,-3.7899778,0.51732 +-11.258178,-4.220916,0.05765301 +-11.363518,-4.6614294,-0.24879164 +-11.502377,-4.6087594,-0.44510776 +-12.081748,-4.522572,-0.5983301 +-13.652277,-4.623124,-0.6270593 +-13.958721,-3.8282833,-0.41159037 +-13.183033,-2.9711962,0.014559232 +-12.416923,-2.5737755,0.6130839 +-12.512686,-2.7557273,0.8429174 +-13.40329,-3.0956893,0.6226603 diff --git a/boards/sim/sim/sim/src/csv/gyro.csv b/boards/sim/sim/sim/src/csv/gyro.csv new file mode 100644 index 00000000000..a990d19cd61 --- /dev/null +++ b/boards/sim/sim/sim/src/csv/gyro.csv @@ -0,0 +1,1026 @@ +interval:20 +x,y,z +-0.0078114327,0.016363539,-0.013942987 +-0.0065897033,0.011476621,-0.012721257 +-0.0017027855,0.009033162,-0.0053908816 +0.0092927795,0.002924515,0.0019394952 +0.014179697,-0.005627591,7.177658E-4 +0.016623156,-0.010514509,0.0019394952 +0.012957968,-0.011736238,0.008048143 +0.0092927795,-0.00807105,0.010491602 +0.0031841323,-0.0092927795,0.010491602 +-0.018806998,-0.00807105,0.011713332 +-0.029802563,-0.0019624028,0.008048143 +-0.020028727,0.002924515,0.0056046834 +-0.0065897033,0.009033162,-0.0017256931 +-0.017585268,0.015141809,-0.009056069 +-0.015141809,0.020028727,-0.015164716 +-0.020028727,0.020028727,-0.009056069 +0.005627591,0.0126983505,-5.039636E-4 +0.031283908,4.8105605E-4,0.006826413 +0.05205331,-0.0044058617,0.0056046834 +0.06915752,-0.0031841323,0.006826413 +0.006849321,-0.00807105,0.0031612248 +-0.044463314,-0.005627591,0.0056046834 +-0.031024292,-0.016623156,-0.0029474224 +-0.016363539,-0.020288344,-5.039636E-4 +-0.018806998,-0.012957968,0.0056046834 +-0.03346775,-0.0031841323,7.177658E-4 +-0.04201986,-0.0031841323,-0.0029474224 +-0.028580833,4.8105605E-4,-5.039636E-4 +-0.009033162,0.010254892,7.177658E-4 +-0.010254892,0.0065897033,-5.039636E-4 +-0.010254892,0.002924515,7.177658E-4 +-0.015141809,0.002924515,-0.0017256931 +-0.023693915,0.0017027855,7.177658E-4 +-0.022472186,0.0041462444,-5.039636E-4 +-0.016363539,0.0017027855,7.177658E-4 +0.006849321,-7.406734E-4,0.0031612248 +0.015401427,4.8105605E-4,0.0019394952 +0.005627591,0.0017027855,-0.0017256931 +-0.005367974,0.0065897033,-0.00783434 +-0.015141809,0.009033162,-0.009056069 +-0.0126983505,0.017585268,-0.006612611 +-0.028580833,0.020028727,-0.009056069 +-0.03346775,0.015141809,-0.0053908816 +-0.010254892,0.0017027855,-0.004169152 +0.022731803,-0.005627591,-5.039636E-4 +0.042279474,-0.0092927795,0.0056046834 +0.055718496,-0.005627591,0.010491602 +0.041057743,-0.0044058617,0.004382954 +0.019066615,-0.0092927795,7.177658E-4 +0.03372737,-0.0044058617,0.0019394952 +0.005627591,-0.0068493206,7.177658E-4 +-0.016363539,-0.0092927795,-5.039636E-4 +-0.009033162,-0.0092927795,-5.039636E-4 +0.006849321,-0.011736238,-0.0017256931 +0.006849321,-0.012957968,-0.0017256931 +0.010514509,-0.015401427,-0.0017256931 +0.005627591,-0.0031841323,-0.0053908816 +-0.010254892,-0.0019624028,-0.0053908816 +-0.020028727,-7.406734E-4,-0.0053908816 +-0.023693915,-0.0031841323,-0.0017256931 +0.0031841323,-0.00807105,0.0019394952 +0.05205331,-0.0068493206,-5.039636E-4 +0.08504,4.8105605E-4,0.004382954 +0.0764879,0.005367974,0.0031612248 +0.021510074,0.005367974,-0.0017256931 +-0.021250457,-7.406734E-4,-0.004169152 +-0.024915645,-0.0031841323,-0.0029474224 +-0.0126983505,-0.0068493206,0.009269873 +-0.0065897033,-0.0044058617,0.009269873 +-0.0065897033,-0.0031841323,0.0056046834 +-0.0126983505,-0.0044058617,0.0019394952 +-0.01392008,-0.0044058617,0.0019394952 +-0.020028727,-0.0044058617,0.0056046834 +-0.011476621,-0.0044058617,-0.0017256931 +0.0031841323,-0.0019624028,-0.006612611 +0.038614288,0.0017027855,-0.0017256931 +-0.089667305,-0.08504,0.031261 +-0.12998438,-0.10703114,0.004382954 +-0.022472186,-0.03617083,0.009269873 +0.043501206,-0.0092927795,0.020265438 +0.034949098,-0.021510074,0.023930626 +0.0092927795,-0.042279474,0.0056046834 +-0.051793694,0.023693915,0.0019394952 +-0.064010985,0.027359102,0.0056046834 +-0.05423715,0.044463318,-0.010277798 +-0.044463314,0.071341366,-0.016386446 +-0.051793694,0.0725631,-0.0053908816 +-0.07378482,0.06767617,-5.039636E-4 +-0.10310633,0.049350236,-0.0029474224 +-0.11654536,0.01392008,-0.00783434 +-0.05790234,0.016363539,0.010491602 +0.010514509,0.005367974,0.026374085 +-0.0017027855,-0.042279474,0.05569559 +-0.070119634,-0.045944665,0.05691732 +-0.12021054,-0.043501202,0.039813105 +-0.12631918,-0.027618721,0.004382954 +-0.122654,-0.016623156,-0.024938552 +-0.12509745,-0.053275038,-0.045707952 +-0.13242783,-0.13268745,-0.053038333 +-0.16785799,-0.13146573,-0.045707952 +-0.15808414,-0.12657881,-0.101907514 +-0.14831032,-0.120470166,-0.07502946 +-0.1641928,-0.19010875,0.021487167 +-0.17030144,-0.072822705,-0.015164716 +-0.07867174,0.026137374,-0.048151415 +0.028840452,0.107993245,0.012935061 +0.12413535,0.10066287,-0.023716822 +0.13268746,0.01392008,-0.010277798 +0.011736238,-0.07526617,0.0019394952 +-0.039576396,-0.119248435,-0.0053908816 +0.006849321,-0.13635264,-0.021273363 +0.012957968,-0.17789145,-0.006612611 +0.0044058617,-0.32205552,0.05325213 +-0.023693915,-0.45644575,0.10700822 +-0.12754092,-0.31594688,0.08501709 +-0.12876265,-0.09847903,0.0031612248 +-0.13731475,0.11043671,-0.021273363 +-0.0126983505,0.37310854,7.177658E-4 +0.05327504,0.66143674,-0.17521128 +0.0044058617,0.56736356,-0.061590437 +-0.15075377,0.2888092,0.10700822 +-0.056680612,-7.406734E-4,-0.020051634 +0.06915752,-0.014179697,-0.031047199 +0.059383683,0.016363539,0.004382954 +0.006849321,0.040798128,-5.039636E-4 +-0.09333249,0.03591121,-0.006612611 +-0.06278926,0.049350236,-0.02738201 +-0.031024292,0.07745001,-0.020051634 +-0.039576396,0.0688979,0.004382954 +-0.023693915,0.03835467,0.009269873 +0.014179697,-0.0092927795,0.0031612248 +0.06182715,-0.047166392,0.011713332 +0.1339092,-0.050831582,0.023930626 +0.15834378,-0.033727366,0.025152354 +0.05816196,-0.038614284,0.011713332 +-0.028580833,-0.053275038,7.177658E-4 +-0.048128504,-0.04838812,-0.015164716 +0.00807105,-0.027618721,-0.012721257 +0.047166392,-0.014179697,-0.00783434 +0.03372737,-0.011736238,-0.011499528 +0.00807105,-0.015401427,-0.009056069 +7.406734E-4,-0.022731803,-0.0053908816 +0.037392557,-0.023953533,0.0031612248 +0.07404444,-0.03250564,7.177658E-4 +0.07160098,-0.03250564,-0.004169152 +0.041057743,-0.03006218,-0.006612611 +0.039836016,-0.03250564,0.0056046834 +0.0092927795,-0.016623156,0.0019394952 +-0.015141809,-0.0092927795,-0.039599307 +0.016623156,0.017585268,-0.024938552 +0.037392557,-0.033727366,0.028817544 +-0.002924515,-0.014179697,0.01415679 +0.02639699,0.0126983505,-0.13122901 +-0.051793694,0.037132937,-0.17032436 +0.00807105,0.07378483,-0.21064143 +0.03250564,0.06401099,-0.15688534 +-0.06523272,0.042019855,-0.010277798 +-0.09211076,0.07989347,0.019043708 +-0.023693915,0.11165844,0.026374085 +0.038614288,0.049350236,0.081351906 +-0.06767618,0.06767617,0.19619447 +-0.046906777,0.0933325,0.18764237 +0.03372737,0.1018846,0.15221222 +0.03250564,0.08600211,0.16076432 +-0.01392008,0.049350236,0.18642063 +0.016623156,0.048128504,0.05325213 +0.13757437,0.0078114327,-0.035934117 +0.18644355,0.005367974,-0.06647736 +0.08504,-0.011736238,0.0031612248 +-0.056680612,-0.0019624028,0.080130175 +-0.1397582,0.050571963,0.16320777 +-0.101884596,0.0395764,0.14854702 +-0.059124067,0.03591121,0.052030403 +-0.027359104,0.03224602,-0.09824233 +0.06304888,0.088445574,-0.33159265 +0.00807105,0.045685045,-0.46109596 +-0.06645445,-0.104587674,-0.34503168 +-0.09088904,-0.12169188,-0.27661481 +0.0044058617,-0.09481384,-0.2595106 +0.036170825,-0.10825287,-0.15322015 +0.06304888,-0.19377393,0.004382954 +0.042279474,-0.2756298,0.24139845 +-4.8105605E-4,-0.33671626,0.62135637 +-0.10066287,-0.30983824,0.87425435 +-0.08355866,-0.19743912,0.92190176 +-0.01392008,0.53071165,0.50162685 +-0.17152317,0.3254611,-1.0316436 +-0.36089125,0.083558664,-0.682229 +-0.23749655,0.048128504,-0.14955497 +-0.14464512,0.01392008,-0.097020596 +-0.10432806,0.028580833,-0.0518166 +-0.03346775,0.01392008,-0.009056069 +0.039836016,-0.010514509,-0.038377576 +0.08381828,0.021250457,-0.018829904 +0.05816196,0.031024292,-0.009056069 +0.038614288,0.018806998,-0.0053908816 +0.055718496,-0.0044058617,7.177658E-4 +0.07526617,-0.03006218,0.010491602 +0.11924843,-0.031283908,0.021487167 +0.14856994,-0.027618721,0.017821979 +0.14368303,-0.031283908,0.010491602 +0.08992692,-0.031283908,-0.0029474224 +0.06304888,-0.025175262,0.006826413 +0.05816196,-0.011736238,0.008048143 +0.08504,-0.0031841323,0.010491602 +0.0764879,0.0017027855,0.004382954 +0.017844886,0.009033162,-0.004169152 +-0.015141809,0.020028727,-0.0017256931 +-0.031024292,0.0078114327,-0.010277798 +-0.009033162,0.002924515,-0.0029474224 +0.00807105,0.0041462444,-0.009056069 +-4.8105605E-4,-0.0031841323,-0.013942987 +-0.009033162,-0.026396992,-0.022495093 +0.02639699,-0.034949098,-0.021273363 +0.06427061,-0.041057747,-0.03471239 +0.039836016,-0.06549233,-0.02860374 +0.07037925,-0.072822705,-0.013942987 +0.09481384,-0.043501202,0.021487167 +0.09481384,-0.016623156,0.028817544 +0.028840452,-0.045944665,0.017821979 +-0.0078114327,-0.10825287,0.012935061 +0.04960985,-0.17178279,0.004382954 +0.130244,-0.18522182,-0.010277798 +0.11924843,-0.17544799,-0.011499528 +0.07282271,-0.16567415,-0.012721257 +0.080153085,-0.10336594,0.06180424 +0.10092249,-0.061827146,0.0727998 +0.08504,-0.050831582,0.052030403 +0.038614288,-0.07037926,0.045921754 +0.080153085,-0.06671406,0.06180424 +0.13635264,-0.056940228,0.058139045 +0.15712205,-0.026396992,0.08257364 +0.111918055,-0.019066615,0.086238824 +0.08870519,0.011476621,0.13022108 +0.07037925,0.015141809,0.11922552 +0.05449677,0.027359102,0.14488183 +0.031283908,0.050571963,0.1766468 +0.03372737,0.083558664,0.21940733 +0.021510074,0.061567526,0.22673771 +-0.01392008,0.028580833,0.27927208 +0.059383683,-0.014179697,0.3061501 +0.08381828,0.06523271,0.38189736 +0.078931354,0.028580833,0.4344317 +0.042279474,0.0041462444,0.45397937 +0.08992692,-0.014179697,0.49307474 +0.060605414,-0.05449677,0.5651568 +0.023953533,-0.09847903,0.6384606 +0.06671406,-0.099700764,0.6445692 +0.1632307,-0.06671406,0.582261 +0.21209988,-0.105809405,0.55171776 +0.23653446,-0.11436151,0.48940954 +0.18155664,-0.21454333,0.3061501 +0.22676063,-0.38802892,0.1143386 +0.09114865,-0.46011093,-0.0518166 +0.17789145,-0.4210156,-0.21675009 +0.24875174,-0.41857216,-0.3792401 +0.113139786,-0.34649011,-0.474535 +-0.046906777,-0.18888701,-0.4415483 +-0.12631918,-0.020288344,-0.33647957 +-0.09088904,0.15319723,-0.19598068 +-0.022472186,0.32057416,-0.070142545 +-0.0017027855,0.41831252,0.07646499 +0.016623156,0.44519058,0.22185078 +0.07526617,0.41953424,0.3379151 +0.06671406,0.3669999,0.4417621 +-0.040798128,0.30346996,0.4588663 +0.10703114,0.2387183,0.3965581 +0.28540364,0.15319723,0.31836742 +0.021510074,0.0126983505,0.31714568 +-0.11165843,-0.021510074,0.36845833 +0.047166392,-0.0031841323,0.35135412 +0.17300454,0.0041462444,0.2682765 +0.14734821,0.044463318,0.16687296 +0.19133048,0.08478038,0.11922552 +0.22431716,0.094554216,0.111895144 +0.15956551,0.048128504,-0.010277798 +0.12535708,0.071341366,-0.004169152 +0.09481384,0.050571963,-0.024938552 +0.037392557,0.024915645,-0.045707952 +0.022731803,0.010254892,-0.046929684 +-0.0078114327,-0.016623156,-0.0848033 +-0.027359104,-0.06304887,-0.11168135 +-0.05423715,-0.11680497,-0.14955497 +-0.020028727,-0.15467858,-0.18131992 +0.023953533,-0.18033491,-0.19231549 +0.020288344,-0.20354776,-0.18254165 +-0.002924515,-0.21943025,-0.16665918 +-0.005367974,-0.2304258,-0.14833324 +0.0031841323,-0.23286927,-0.13978112 +-0.020028727,-0.23897792,-0.1348942 +-0.05545888,-0.24386483,-0.14100285 +-0.021250457,-0.21820852,-0.1471115 +0.0019624028,-0.17789145,-0.15322015 +-0.0126983505,-0.15345685,-0.14588977 +-0.08355866,-0.1180267,-0.14588977 +-0.09455422,-0.087483466,-0.14466804 +-0.010254892,-0.056940228,-0.15566361 +0.022731803,-0.041057747,-0.15444188 +-0.011476621,-0.044722933,-0.13122901 +-0.044463314,-0.058161955,-0.09946405 +-0.03346775,-0.0557185,-0.07258601 +0.019066615,-0.05205331,-0.053038333 +0.05327504,-0.04960985,-0.043264497 +0.038614288,-0.053275038,-0.048151415 +0.0019624028,-0.053275038,-0.0518166 +-0.046906777,-0.05205331,-0.070142545 +-0.07378482,-0.037392557,-0.07991638 +-0.064010985,-0.015401427,-0.06769909 +-0.05423715,-0.0044058617,-0.053038333 +-0.056680612,-0.0068493206,-0.043264497 +-0.06645445,-0.0092927795,-0.031047199 +-0.03346775,-0.0092927795,-0.020051634 +0.022731803,0.002924515,-0.004169152 +0.04594466,0.010254892,-0.0017256931 +0.025175262,0.010254892,-5.039636E-4 +-0.021250457,0.005367974,0.010491602 +-0.039576396,0.009033162,0.010491602 +-0.021250457,0.011476621,0.017821979 +-4.8105605E-4,0.011476621,0.020265438 +0.021510074,0.0065897033,0.019043708 +0.038614288,0.0041462444,0.0056046834 +0.05205331,0.0017027855,-0.004169152 +0.042279474,-0.011736238,-0.009056069 +0.047166392,-0.027618721,0.0031612248 +0.07526617,-0.034949098,0.01537852 +0.093592115,-0.037392557,0.011713332 +0.086261734,-0.034949098,0.011713332 +0.05327504,-0.042279474,0.012935061 +0.036170825,-0.044722933,0.004382954 +0.039836016,-0.033727366,-5.039636E-4 +0.043501206,-0.021510074,-0.00783434 +7.406734E-4,-0.025175262,-0.017608175 +-0.03835467,-0.033727366,-0.023716822 +-0.043241587,-0.03617083,-0.02860374 +-0.024915645,-0.026396992,-0.024938552 +-0.015141809,-0.027618721,-0.016386446 +-0.01392008,-0.044722933,-5.039636E-4 +-0.0065897033,-0.0557185,0.0031612248 +0.006849321,-0.07160099,-0.009056069 +0.02639699,-0.056940228,-0.004169152 +0.034949098,-0.022731803,-0.006612611 +0.0019624028,0.0041462444,-0.017608175 +-0.077450015,0.005367974,-0.021273363 +-0.12998438,-0.0044058617,-0.031047199 +-0.08600212,0.005367974,-0.023716822 +-0.03835467,0.027359102,-0.017608175 +-0.059124067,0.044463318,-0.018829904 +-0.12143227,0.042019855,-0.02738201 +-0.16785799,0.023693915,-0.033490658 +-0.13487129,0.023693915,-0.02860374 +-0.049350232,0.03591121,-0.012721257 +0.006849321,0.034689482,-0.004169152 +0.015401427,0.017585268,0.0019394952 +0.0092927795,0.0041462444,0.004382954 +0.00807105,-0.00807105,0.0019394952 +0.03250564,-0.005627591,-5.039636E-4 +0.04960985,0.0041462444,0.0031612248 +0.031283908,0.005367974,7.177658E-4 +-0.002924515,4.8105605E-4,-0.006612611 +-0.039576396,-0.0044058617,-0.00783434 +-0.04201986,-0.0044058617,-0.006612611 +-0.015141809,0.0017027855,-0.00783434 +0.012957968,0.010254892,-0.010277798 +-4.8105605E-4,0.0041462444,-0.013942987 +-0.022472186,-0.012957968,-0.011499528 +-0.010254892,-0.016623156,-0.009056069 +0.028840452,-0.019066615,7.177658E-4 +0.048388124,-0.015401427,0.020265438 +0.041057743,-0.010514509,0.045921754 +0.006849321,0.0126983505,0.07157807 +-0.048128504,-0.0031841323,0.07524326 +-0.044463314,-0.04838812,0.060582507 +-0.020028727,-0.0044058617,0.07890844 +-0.059124067,0.024915645,0.10700822 +-0.38166064,0.018806998,0.10700822 +-0.55148107,0.010254892,0.045921754 +-0.4158691,0.09699768,0.05080867 +-0.19595776,0.16052762,0.06546942 +-0.21184024,0.06645444,0.045921754 +-0.3828824,0.023693915,0.041034836 +0.025175262,0.42686462,0.45642284 +-0.056680612,0.2888092,0.35868448 +-0.1727449,0.06645444,0.098456115 +-0.10554979,0.12998438,0.18153372 +-0.12143227,0.1018846,0.14732529 +-0.13609302,0.14464512,0.09723438 +-0.048128504,0.19595776,0.04958694 +0.034949098,0.22283581,0.009269873 +0.05327504,0.19962296,-0.010277798 +-0.122654,0.1434234,0.010491602 +-0.1849622,0.17763183,-0.012721257 +-0.10921498,0.17763183,-0.013942987 +0.0092927795,0.16785799,0.030039271 +0.0019624028,0.09821941,0.038591377 +-0.03591121,0.0688979,0.052030403 +-0.016363539,0.029802565,0.042256568 +-0.009033162,0.01392008,0.01537852 +0.048388124,0.0078114327,-0.012721257 +0.05816196,0.0041462444,-0.048151415 +0.042279474,-0.020288344,-0.05792525 +0.037392557,-0.050831582,-0.044486225 +0.037392557,-0.08381827,-0.026160281 +0.05083158,-0.07770963,-0.043264497 +0.1546786,-0.09847903,-0.021273363 +0.18888701,-0.1180267,-0.055481788 +0.30250785,-0.11191805,-0.06281217 +0.3587074,-0.104587674,-0.05670352 +0.2841819,-0.08381827,-5.039636E-4 +0.06549233,-0.0972573,0.05691732 +-0.024915645,-0.10336594,-0.012721257 +0.2255389,0.026137374,-0.10923789 +0.54807544,0.0933325,-0.1385594 +0.25852558,0.03346775,-0.19475895 +0.0044058617,-0.03250564,-0.25218022 +-0.114101894,-0.04960985,-0.17887646 +-0.07622828,-0.060605418,-0.06892081 +-0.06156753,-0.11313978,-0.089690216 +-0.06156753,-0.1387961,-0.14222458 +-0.009033162,-0.120470166,-0.1385594 +-0.0078114327,-0.08504,-0.08358157 +-0.03835467,-0.04838812,-0.03471239 +-0.03468948,-0.026396992,-0.02738201 +-0.027359104,-0.021510074,-0.045707952 +-0.022472186,-0.02884045,-0.060368706 +-0.048128504,-0.017844886,-0.064033896 +-0.09944114,0.005367974,-0.06281217 +-0.115323626,0.015141809,-0.060368706 +-0.107993245,0.011476621,-0.06525563 +-0.07378482,0.011476621,-0.06647736 +-0.053015422,-0.005627591,-0.043264497 +-0.05545888,-0.010514509,-0.038377576 +-0.039576396,-0.010514509,-0.020051634 +-0.0065897033,-0.017844886,-0.02860374 +0.039836016,-0.020288344,-0.03226893 +0.06671406,-0.016623156,-0.035934117 +0.047166392,-0.023953533,-0.022495093 +0.015401427,-0.031283908,-0.012721257 +0.034949098,-0.027618721,-0.0017256931 +0.07770963,-0.010514509,-0.009056069 +0.093592115,-0.0031841323,-0.004169152 +0.037392557,-0.00807105,0.0019394952 +-0.015141809,-0.014179697,-0.006612611 +-0.017585268,-0.014179697,-0.021273363 +-0.011476621,-0.012957968,-0.016386446 +7.406734E-4,-0.014179697,-0.011499528 +-4.8105605E-4,-0.00807105,-0.004169152 +-0.017585268,-0.0092927795,-0.018829904 +-0.020028727,-0.0068493206,-0.021273363 +-0.026137374,-0.014179697,-0.0029474224 +-0.017585268,-0.022731803,0.011713332 +0.021510074,-0.022731803,0.019043708 +0.041057743,-0.022731803,0.030039271 +0.05816196,-0.03617083,0.034926187 +0.06304888,-0.033727366,0.042256568 +0.07037925,-0.047166392,0.039813105 +0.05083158,-0.027618721,0.052030403 +0.031283908,-0.0031841323,0.080130175 +0.021510074,-0.012957968,0.07035634 +0.039836016,-0.0044058617,0.038591377 +0.07282271,0.011476621,0.059360776 +-0.03224602,-0.0031841323,0.08257364 +-0.36944336,-0.012957968,0.13144282 +-0.4293081,0.0065897033,0.14732529 +-0.27781364,0.060345802,0.11067341 +-0.15441896,0.11654535,0.09723438 +-0.11776708,0.06645444,0.086238824 +-0.37921718,-0.045944665,0.004382954 +-0.44396886,-0.060605418,0.038591377 +-0.29369614,-0.0092927795,0.06302597 +-0.14586686,0.05179369,0.058139045 +-0.21061851,0.0126983505,0.06791288 +-0.24482694,0.0041462444,0.12044725 +-0.35356086,0.028580833,0.15954259 +-0.44763404,-0.022731803,0.13266455 +-0.36577818,-0.045944665,0.13999492 +-0.39876485,-0.06549233,0.13999492 +-0.44885576,-0.04838812,0.111895144 +-0.330348,-0.010514509,0.116782054 +-0.20817505,0.03224602,0.116782054 +-0.09211076,0.021250457,0.12655589 +-0.0603458,0.009033162,0.135108 +-0.048128504,0.009033162,0.12044725 +0.0044058617,0.031024292,0.11311687 +0.03372737,0.043241587,0.09723438 +0.019066615,0.040798128,0.08501709 +-0.018806998,0.026137374,0.09112574 +-0.05545888,0.0078114327,0.09479093 +-0.064010985,0.009033162,0.08379536 +-0.0126983505,0.016363539,0.06302597 +0.04594466,0.023693915,0.039813105 +0.080153085,0.0395764,0.017821979 +0.08137482,0.05790234,-0.0017256931 +0.016623156,0.046906773,0.020265438 +-0.03835467,0.021250457,0.05325213 +-0.056680612,0.0041462444,0.05080867 +0.020288344,0.026137374,0.041034836 +0.043501206,0.03835467,0.006826413 +0.042279474,0.034689482,0.0019394952 +0.022731803,0.031024292,0.009269873 +-4.8105605E-4,0.0065897033,0.011713332 +-0.051793694,-0.0068493206,0.004382954 +-0.024915645,0.010254892,-5.039636E-4 +0.0031841323,0.0078114327,-0.012721257 +0.022731803,0.0041462444,-0.006612611 +0.014179697,0.005367974,-0.012721257 +-0.024915645,0.009033162,-0.0029474224 +-0.10432806,0.009033162,0.019043708 +-0.12143227,0.01392008,-0.0017256931 +-0.029802563,0.043241587,-0.03471239 +0.10214422,0.09211077,-0.05792525 +0.15712205,0.121432275,-0.09213368 +0.07404444,0.1018846,-0.044486225 +0.04960985,0.10554978,-0.05059487 +-4.8105605E-4,0.070119634,-0.059146978 +-0.064010985,0.01392008,-0.018829904 +-0.1434234,-0.026396992,-0.015164716 +-0.05790234,-0.026396992,-0.016386446 +-0.0078114327,-0.043501202,-0.035934117 +-0.050571963,-0.053275038,-0.033490658 +-0.13487129,-0.06549233,-0.040821034 +-0.06645445,-0.067935795,-0.02982547 +0.031283908,-0.058161955,-0.02982547 +0.0031841323,-0.059383687,-0.03226893 +-0.0688979,-0.06304887,-0.035934117 +-0.06645445,-0.07037926,-0.053038333 +-0.028580833,-0.05449677,-0.049373142 +-0.024915645,-0.061827146,-0.037155848 +-0.03591121,-0.039836016,-0.033490658 +-0.046906777,-0.038614284,-0.05426006 +-0.018806998,-0.038614284,-0.055481788 +0.0019624028,-0.027618721,-0.053038333 +-0.027359104,-0.03006218,-0.055481788 +-0.040798128,-0.03617083,-0.05426006 +-0.029802563,0.01392008,-0.059146978 +0.1632307,0.11532362,-0.07380773 +-0.026137374,-0.04838812,-0.05792525 +-0.09088904,-0.07893136,-0.013942987 +-0.056680612,-0.06304887,0.010491602 +-0.06523272,-0.05205331,0.045921754 +-0.08478039,-0.060605418,0.043478295 +0.038614288,-0.0092927795,0.15709913 +0.06915752,-0.045944665,0.1558774 +0.13757437,-0.04960985,0.18764237 +0.1632307,0.026137374,0.16565123 +0.12780054,0.06523271,0.12655589 +0.05083158,0.060345802,0.1436601 +-0.0017027855,0.046906773,0.14121665 +-0.010254892,-0.0019624028,0.12166898 +-0.0017027855,-0.06671406,0.13632973 +-0.03468948,-0.12657881,0.15343395 +0.12780054,-0.092370376,0.13388628 +0.07770963,-0.069157526,0.13755146 +-0.06156753,-0.06304887,0.13632973 +-0.03346775,-0.061827146,0.12166898 +0.06915752,-0.00807105,0.10089958 +0.16567415,0.14708859,0.030039271 +0.2255389,0.1849622,0.01660025 +0.17056108,0.17763183,0.048365213 +0.17666972,0.1641928,0.098456115 +0.19988258,0.13242783,0.11556033 +0.2634125,0.2020664,0.14976875 +0.37214643,0.23994002,0.17786853 +0.41124177,0.25093558,0.1888641 +0.35504222,0.23138791,0.17786853 +0.32083377,0.20328814,0.19497274 +0.32449898,0.18251874,0.21696387 +0.3257207,0.18007529,0.22795944 +0.2841819,0.14464512,0.2475071 +0.21698679,0.12509745,0.23284635 +0.24142139,0.14708859,0.21696387 +0.32327724,0.14831032,0.16565123 +0.32816416,0.14586686,0.12899935 +0.27807325,0.14953205,0.12533416 +0.29517746,0.13487129,0.09112574 +0.28784707,0.103106335,0.07157807 +0.2719646,0.071341366,0.060582507 +0.24019966,0.043241587,0.05447386 +0.2426431,0.027359102,0.060582507 +0.1717828,0.018806998,0.045921754 +0.14856994,0.016363539,0.05691732 +0.13513093,0.0017027855,0.074021526 +0.11069632,0.009033162,0.0935692 +0.113139786,0.01392008,0.09234747 +0.14734821,0.023693915,0.08746055 +0.2426431,0.043241587,0.07157807 +0.33182934,0.07745001,0.06302597 +0.31594688,0.08233693,0.026374085 +0.28296018,0.10921498,-0.016386446 +0.26585597,0.11898881,-0.042042766 +0.27440807,0.12021054,-0.07502946 +0.28296018,0.11776708,-0.115346536 +0.2255389,0.10066287,-0.1348942 +0.1510134,0.07867174,-0.16788091 +0.17911318,0.0688979,-0.18987203 +0.21209988,0.026137374,-0.2179718 +0.18277837,-0.017844886,-0.22285873 +0.08137482,-0.092370376,-0.19353722 +0.016623156,-0.15834378,-0.16055052 +-0.088445574,-0.2719646,-0.121455185 +-0.30346996,-0.486989,-0.06281217 +-0.583246,-0.617714,-0.07991638 +-0.61134577,-0.8021952,-0.19109376 +-0.5343768,-1.0453193,-0.41711372 +-0.96320385,-1.3483082,-0.47820017 +-1.6864678,-1.5498936,-0.61014694 +-2.4170618,-1.634193,-0.8337234 +-2.8898711,-1.5608891,-1.1293819 +-2.9167492,-1.3421996,-1.3016458 +-2.8532193,-1.0575366,-1.2759895 +-3.0523612,-0.70934373,-1.0780693 +-3.360237,-0.38192025,-0.876484 +-3.495849,-0.08259654,-0.7042201 +-3.5251706,0.19473603,-0.43543965 +-3.6522303,0.4635165,-0.11290307 +-3.8758068,0.750623,0.28293726 +-4.085944,1.0792682,0.6250215 +-4.3021903,1.4140221,0.82905036 +-4.462237,1.658368,0.8730326 +-4.4084806,1.9222615,0.9768796 +-4.228886,2.087195,1.0660659 +-4.148252,2.2704542,1.2126734 +-4.126261,2.5184653,1.4386934 +-3.933228,2.7420418,1.6353918 +-3.5410528,2.917971,1.6696002 +-2.8984232,2.998605,1.5999616 +-2.3547537,3.070687,1.4655714 +-1.9124877,3.0865695,1.3470637 +-1.3712616,3.0914564,1.0966091 +-0.40243006,3.084126,0.6885515 +0.4454502,2.998605,0.24506366 +0.753326,2.9057536,-0.076251194 +0.85595125,2.83245,-0.28883213 +0.98789805,2.7029464,-0.40123123 +1.1283969,2.5233521,-0.45498732 +1.2249135,2.3559754,-0.44277003 +1.1858182,2.2509067,-0.38534874 +1.083193,2.1849332,-0.25340196 +1.0001153,2.1421726,-0.02860374 +0.9182595,2.1067426,0.2719417 +0.7911996,2.0395474,0.6030304 +0.50531495,1.9320353,0.9915404 +0.017844886,1.7927582,1.399598 +-0.5539245,1.6180508,1.814986 +-1.0890421,1.3969178,2.1986089 +-1.5129821,1.1403546,2.5468018 +-1.8709489,0.894787,2.8730035 +-2.1580553,0.718858,3.1906533 +-2.375523,0.6113458,3.4655423 +-2.5257957,0.5197161,3.5877154 +-2.6271994,0.45618615,3.5461764 +-2.7041683,0.45985132,3.3885734 +-2.7896893,0.51727265,3.1979837 +-2.795798,0.5685853,3.034272 +-2.7701416,0.6394456,2.915764 +-2.7224941,0.6858713,2.8241343 +-2.5502303,0.6822061,2.7544959 +-2.231359,0.67976266,2.6701965 +-1.8123059,0.67609745,2.5675712 +-1.4457871,0.68831474,2.4209638 +-1.3749267,0.732297,2.2315955 +-1.3480487,0.7298536,2.0825446 +-1.4103569,0.6663236,1.9615935 +-1.4237959,0.5893547,1.7844428 +-1.365153,0.5453724,1.5804139 +-1.3798137,0.52704644,1.3886025 +-1.4201307,0.53193337,1.1943475 +-1.432348,0.5404855,0.97321445 +-1.4531175,0.51849437,0.74475104 +-1.5423037,0.45740786,0.55416125 +-1.6473724,0.43175155,0.38678426 +-1.6510376,0.39754313,0.28171554 +-1.5471905,0.3596695,0.238955 +-1.3443835,0.33279145,0.26705477 +-1.0291773,0.32790455,0.31592396 +-0.6455542,0.33890012,0.3843408 +-0.32057416,0.3804389,0.4344317 +-0.09333249,0.41220388,0.41854924 +0.021510074,0.28392228,0.35135412 +0.011736238,0.08478038,0.1644295 +0.021510074,-0.047166392,-0.15688534 +0.17300454,-0.100922495,-0.61014694 +0.4295677,-0.031283908,-1.1012821 +0.7191176,0.040798128,-1.5948609 +0.99156326,0.048128504,-2.0811093 +1.1662705,-0.037392557,-2.5331492 +1.2334657,-0.18277836,-2.941207 +1.3214301,-0.33182937,-3.3260517 +1.5633326,-0.5053149,-3.636371 +1.9054168,-0.69346124,-3.8171868 +2.28904,-0.84373397,-3.8599474 +2.6628892,-0.8632816,-3.7988608 +2.9768736,-0.8486209,-3.690127 +3.0966032,-0.8364036,-3.549628 +3.0086386,-0.8278515,-3.3859162 +2.7838404,-0.84373397,-3.1831093 +2.5113947,-0.8156342,-2.9424286 +2.279266,-0.7411087,-2.6846437 +2.135102,-0.61527056,-2.4280806 +2.071572,-0.513867,-2.1470828 +1.9909378,-0.45522404,-1.8514241 +1.8382217,-0.3843637,-1.5191137 +1.61098,-0.30739477,-1.1733642 +1.2750044,-0.21698679,-0.844719 +0.8229646,-0.1424613,-0.56005603 +0.21943025,-0.12535708,-0.29738423 +-0.46595997,-0.07770963,-0.026160281 +-1.0597205,0.13487129,0.32691953 +-1.4763303,0.3841041,0.7520814 +-1.7671019,0.47451207,1.2444384 +-2.0627604,0.61378926,1.7917732 +-2.343758,0.82026154,2.2987907 +-2.564891,0.9228868,2.6799703 +-2.6772902,0.9558735,2.960968 +-2.6528556,0.90211743,3.2065358 +-2.5441217,0.8104877,3.4276688 +-2.4256139,0.73840564,3.661019 +-2.3058844,0.6699888,3.882152 +-2.1030774,0.62600654,4.05686 +-1.8575099,0.6113458,4.1277204 +-1.6473724,0.64555424,4.0996203 +-1.5117605,0.71274936,3.9664514 +-1.4751085,0.73840564,3.7392097 +-1.4836607,0.67487574,3.4606555 +-1.5019866,0.5722505,3.1405623 +-1.4738868,0.49039456,2.7887042 +-1.4628912,0.46840343,2.4136333 +-1.4873259,0.46473825,2.0287886 +-1.5484123,0.39021274,1.665935 +-1.6363769,0.2802571,1.2969728 +-1.6937982,0.1849622,0.9353408 +-1.6449289,0.1312061,0.6262433 +-1.4702216,0.121432275,0.36968005 +-1.1403548,0.094554216,0.1436601 +-0.732297,0.07378483,-0.049373142 +-0.3498957,0.12021054,-0.2680627 +0.00807105,0.12509745,-0.5234041 +0.26463422,0.107993245,-0.8300582 +0.3794768,0.043241587,-1.188025 +0.3843637,0.049350236,-1.6082999 +0.4332329,0.07989347,-2.0884397 +0.55540586,0.061567526,-2.5759096 +0.65192246,0.022472186,-3.0719318 +0.65070075,-0.010514509,-3.5838366 +0.6287096,-0.08015309,-4.0236588 +0.71300894,-0.11069633,-4.3352 +1.0086673,-0.041057747,-4.542894 +1.461929,0.043241587,-4.650406 +1.9078603,0.05545888,-4.6687317 +2.2694924,4.8105605E-4,-4.595428 +2.5358293,-0.07160099,-4.4610376 +2.6787717,-0.14368302,-4.2851086 +2.6885455,-0.2255389,-4.085967 +2.5480466,-0.3293859,-3.829404 +2.293927,-0.4002462,-3.4995372 +2.0190377,-0.41490695,-3.0719318 +1.7856873,-0.40146795,-2.5441449 +1.5682194,-0.42712426,-1.9381669 +1.2921087,-0.49065417,-1.3065327 +0.9194812,-0.51631045,-0.70910704 +0.4918759,-0.48210207,-0.16910264 +0.08870519,-0.3660378,0.3012632 +-0.24482694,-0.16811761,0.7655204 +-0.55148107,0.03591121,1.295751 +-0.83614403,0.1312061,1.8834028 +-1.0731596,0.28392228,2.4307375 +-1.2478669,0.556368,2.8876643 +-1.3785919,0.85324824,3.2590702 +-1.4018048,1.0096296,3.5864935 +-1.3663746,1.0010775,3.865048 +-1.5215343,0.913113,4.0678554 +-1.6962416,0.79094005,4.213241 +-1.6950198,0.6321152,4.2633324 +-1.3529357,0.49039456,4.2352324 +-0.894787,0.4720686,4.12039 +-0.5539245,0.57713735,3.905365 +-0.4293081,0.7335187,3.6145933 +-0.55148107,0.82148325,3.3079393 +-0.78849655,0.8141529,3.0306067 +-0.96198213,0.75917506,2.7129571 +-1.0902638,0.6724323,2.3782032 +-1.3248359,0.5893547,2.0422275 +-1.6632549,0.47817728,1.7490126 +-1.951583,0.36944336,1.5071102 +-2.040769,0.2558225,1.3104118 +-1.9100442,0.14097995,1.1405914 +-1.5972815,0.0041462444,1.0269705 +-1.1733414,-0.09847903,0.9194583 +-0.7298536,-0.1510134,0.7533031 +-0.40487352,-0.11191805,0.46130976 +-0.18374047,0.0078114327,0.09234747 +0.0044058617,0.0065897033,-0.3291492 +0.17056108,0.016363539,-0.7628631 +0.37214643,0.089667305,-1.2112378 +0.559071,0.18618393,-1.670608 +0.68124396,0.20450987,-2.1177611 +0.766765,0.1018846,-2.5710227 +0.80586034,0.0078114327,-3.0474973 +0.86328167,-0.04960985,-3.5398543 +0.9976719,-0.07037926,-3.9870071 +1.2432394,-0.020288344,-4.3913994 +1.6134235,0.03591121,-4.676062 +2.0141509,0.088445574,-4.8141174 +2.3281353,0.06278926,-4.821448 +2.5138383,-0.020288344,-4.7640266 +2.5859203,-0.13513091,-4.6284146 +2.5724812,-0.25730386,-4.428051 +2.478408,-0.33671626,-4.148275 +2.3391309,-0.4002462,-3.7878654 +2.153428,-0.4662196,-3.3431559 +1.9347383,-0.53463644,-2.8569076 +1.6855055,-0.56517965,-2.340116 +1.3776296,-0.5419668,-1.8049983 +1.0306585,-0.51631045,-1.3028675 +0.6372617,-0.45278057,-0.83738863 +0.2377562,-0.30128613,-0.38290527 +-0.051793694,-0.09359211,0.10822995 +-0.2888092,0.11288017,0.69588184 +-0.4830642,0.19595776,1.3458419 +-0.69320166,0.3352349,1.9567066 +-0.96564734,0.5869112,2.4392896 +-1.2417582,0.8471396,2.8339083 +-1.437235,0.9803081,3.191875 +-1.5325298,0.9741995,3.5339592 +-1.6840243,0.8752394,3.860161 +-1.884388,0.7836096,4.172924 +-1.9821262,0.6492194,4.4368176 +-1.8061973,0.511164,4.6188555 +-1.4897693,0.44519058,4.6738334 +-1.2661928,0.47451207,4.598086 +-1.206328,0.5539245,4.4417048 +-1.2857405,0.62600654,4.2144628 +-1.40547,0.6479977,3.9554558 +-1.4738868,0.5856895,3.6463583 +-1.4885476,0.47695553,3.282283 +-1.5471905,0.4134256,2.893773 +-1.6754721,0.38288236,2.4796066 +-1.8184146,0.3425653,2.066662 +-1.9161528,0.26193115,1.665935 +-1.8514012,0.16052762,1.2810903 +-1.5960598,0.061567526,0.9426712 +-1.1818935,-0.020288344,0.64823437 +-0.7335187,-0.05449677,0.3635714 +-0.37433028,0.024915645,0.011713332 +-0.12387573,0.14220166,-0.36580107 +0.039836016,0.12509745,-0.7372068 +0.17544799,0.12998438,-1.1086125 +0.35748565,0.17885356,-1.4836835 +0.604275,0.2802571,-1.8538675 +0.87672067,0.3266828,-2.2069473 +1.1283969,0.2936961,-2.5685794 +1.2530133,0.21306197,-2.9790804 +1.2188048,0.12509745,-3.4494462 +1.1174014,0.060345802,-3.929586 +1.1051841,0.053015422,-4.347417 +1.2847782,0.14464512,-4.6931663 +1.6684012,0.23749657,-4.9142995 +2.0679069,0.271705,-5.0242553 +2.4136565,0.20939678,-5.014481 +2.6775498,0.12509745,-4.915521 +2.8547008,0.010254892,-4.7408137 +2.8754702,-0.122913614,-4.496468 +2.7459667,-0.24019966,-4.1910357 +2.4576387,-0.34526837,-3.8232956 +2.0886765,-0.40513313,-3.400577 +1.7062749,-0.42223734,-2.9069984 +1.3470864,-0.383142,-2.3413377 +1.0208846,-0.32327726,-1.7646812 +0.71789587,-0.2304258,-1.1672555 +0.4540023,-0.086261734,-0.5502822 +0.2805167,0.053015422,0.08257364 +0.09970076,0.2142837,0.7814029 +-0.1641928,0.2680398,1.5449839 +-0.5123857,0.39021274,2.3244472 +-0.8923436,0.54781586,3.0403805 +-1.2686362,0.8019356,3.61215 +-1.6119423,0.926552,4.043421 +-1.8562882,0.8764611,4.3732877 +-2.0480995,0.71152765,4.670168 +-2.244798,0.53193337,4.9438353 +-2.3425364,0.30469167,5.163747 +-2.2435763,0.06278926,5.276146 +-1.9931219,-0.12535708,5.2419376 +-1.7695453,-0.17300452,5.058678 +-1.6864678,-0.09359211,4.7837887 +-1.7597715,0.11410189,4.4453697 +-1.8550664,0.26926154,4.0983987 +-1.7854278,0.28270057,3.729436 +-1.5459689,0.27537018,3.2932785 +-1.2735232,0.26559633,2.83513 +-1.1318026,0.2973613,2.3989725 +-1.0682727,0.3352349,1.9652587 +-0.9888602,0.316909,1.5510925 +-0.91311294,0.26681808,1.178465 +-0.7994921,0.20328814,0.86081535 +-0.601572,0.14586686,0.58103925 +-0.3291263,0.11654535,0.297598 +-0.07867174,0.15319723,-0.043264497 +0.10947459,0.22405754,-0.43910483 +0.25608212,0.24116175,-0.8630449 +0.35748565,0.25460076,-1.2759895 +0.42712423,0.2973613,-1.6779385 +0.5578493,0.37677372,-2.1043222 +0.7117872,0.39876485,-2.5453665 +0.8144125,0.330348,-3.0010715 +0.8645034,0.24849212,-3.4579983 +0.9683504,0.19595776,-3.892934 +1.2004789,0.16785799,-4.2997694 +1.5230155,0.14708859,-4.6479626 +1.8663214,0.15686242,-4.881313 +2.1998537,0.1727449,-4.9985986 +2.4686341,0.1312061,-5.0157027 +2.6201286,0.05179369,-4.961947 +2.6580024,-0.07160099,-4.839774 +2.587142,-0.19133046,-4.6565146 +2.4368691,-0.279295,-4.3889556 +2.2181797,-0.34404665,-4.0505366 +1.9872726,-0.4124635,-3.6571403 +1.7270443,-0.49065417,-3.2099874 +1.439938,-0.53585815,-2.7200737 +1.1711574,-0.49431938,-2.1837347 +0.9365854,-0.39291582,-1.6058564 +0.7240045,-0.3135034,-1.0609651 +0.4967628,-0.17422625,-0.52951276 +0.3183903,0.027359102,0.020265438 +0.17056108,0.271705,0.6580082 +0.06182715,0.40976042,1.359281 +-0.115323626,0.5942416,2.0910966 +-0.38166064,0.8789046,2.739835 +-0.66388017,1.2319844,3.240744 +-0.88623494,1.5007648,3.6622407 +-0.98152983,1.5300864,4.0678554 +-0.9363258,1.4689999,4.427044 +-0.90333915,1.2930708,4.759354 +-0.96198213,1.0633857,5.0318 +-0.9729777,0.87157416,5.1735206 +-0.97542113,0.7823879,5.19429 +-1.0719378,0.7677272,5.094108 +-1.2674146,0.8178181,4.8937445 +-1.5019866,0.8312571,4.5834255 +-1.7047937,0.7445143,4.221793 +-1.8623968,0.5710287,3.8222873 +-1.9357005,0.38654757,3.3690257 +-1.9161528,0.29491785,2.8522341 +-1.8233014,0.29491785,2.306121 +-1.7109023,0.31446552,1.7575648 +-1.6021684,0.29613957,1.237108 +-1.5251994,0.26926154,0.7716291 +-1.4079134,0.19473603,0.40388846 +-1.1684545,0.11654535,0.11311687 +-0.7970487,0.06523271,-0.11901172 +-0.45740786,0.060345802,-0.34014475 +-0.23016618,0.16052762,-0.6211425 +-0.070119634,0.23016618,-0.90458375 +0.055718496,0.22039235,-1.1941336 +0.12535708,0.22527927,-1.4959008 +0.24630831,0.3095786,-1.8416502 +0.44056326,0.42808637,-2.1971736 +0.60549676,0.47573382,-2.5685794 +0.6910178,0.4256429,-2.9778588 +0.6543659,0.3718868,-3.4445593 +0.58106214,0.33767837,-3.9210339 +0.64703554,0.35478258,-4.3901772 +0.94269407,0.42808637,-4.803122 +1.403286,0.49039456,-5.1134415 +1.9408469,0.51482916,-5.268601 +2.433204,0.45985132,-5.2881484 +2.7398582,0.3669999,-5.2111797 +2.8901308,0.23749657,-5.04869 +2.862031,0.11532362,-4.809231 +2.7288625,0.027359102,-4.4976897 +2.5113947,-0.043501202,-4.0823016 +2.2365055,-0.13757437,-3.567954 +1.909082,-0.22798236,-2.981524 +1.5498935,-0.26829943,-2.3193464 +1.1516098,-0.2719646,-1.6315128 +0.72889143,-0.25241694,-0.9730006 +0.31472513,-0.1387961,-0.325484 +-0.022472186,0.037132937,0.31103703 +-0.2546008,0.19962296,0.9585537 +-0.49772495,0.35722604,1.711139 +-0.72618836,0.49283803,2.5663495 +-0.92044336,0.67487574,3.4032342 +-1.1305809,0.8972305,4.065412 +-1.4140221,1.1354678,4.485687 +-1.6730287,1.174563,4.7165937 +-1.815971,1.012073,4.891301 +-1.9295919,0.8104877,5.0660086 +-2.0028956,0.48917282,5.2223897 +-1.9686873,0.1727449,5.2956934 +-1.7451108,-0.022731803,5.239494 +-1.4616696,-0.072822705,5.0195827 +-1.3908092,0.09699768,4.6652813 +-1.6021684,0.2924744,4.2291236 +-1.9552482,0.3633347,3.7990744 +-2.1079643,0.28147882,3.3934603 +-1.9796828,0.15319723,2.979294 +-1.7157893,0.11532362,2.528476 +-1.5068735,0.13731475,2.12164 +-1.4201307,0.15441896,1.7514561 +-1.3590443,0.13731475,1.3983762 +-1.328501,0.083558664,1.0733962 +-1.3077316,0.034689482,0.78018117 +-1.2148802,0.010254892,0.53339183 +-1.003521,0.0126983505,0.32325435 +-0.7274101,0.027359102,0.1143386 +-0.46473825,0.11043671,-0.14466804 +-0.21550544,0.226501,-0.45132214 +-0.037132937,0.2924744,-0.82028437 +0.03006218,0.36944336,-1.2368941 +0.07770963,0.4708469,-1.6950427 +0.23653446,0.556368,-2.1483045 +0.5260843,0.6040154,-2.601566 +0.8681686,0.5991285,-3.043832 +1.2053658,0.569807,-3.5374107 +1.4790332,0.51605093,-4.030989 +1.7417051,0.4256429,-4.451264 +2.06302,0.3266828,-4.748144 +2.4808514,0.27048326,-4.9399557 +2.8547008,0.20084468,-5.025477 +2.9878693,0.028580833,-5.019368 +2.8815787,-0.10703114,-4.938734 +2.6567805,-0.19133046,-4.8104525 +2.3892217,-0.24386483,-4.6296363 +2.108224,-0.33060762,-4.3339777 diff --git a/boards/sim/sim/sim/src/csv/mag.csv b/boards/sim/sim/sim/src/csv/mag.csv new file mode 100644 index 00000000000..7d4637adc04 --- /dev/null +++ b/boards/sim/sim/sim/src/csv/mag.csv @@ -0,0 +1,1026 @@ +interval:20 +x,y,z +-1.2858582,6.0058594,-9.325378 +-1.8768616,7.863037,-10.831238 +-2.880127,6.9160156,-9.558411 +-2.8270264,5.303467,-9.762146 +-1.9900513,3.6391602,-9.798401 +-3.4794312,5.3427734,-9.771179 +-0.8640442,4.8864746,-10.558899 +-1.9030457,4.9257812,-9.790222 +-3.2344055,5.810791,-9.706482 +-2.5709534,5.3115234,-10.541565 +-1.1187134,4.736328,-10.4262085 +-1.4013672,5.5341797,-9.544983 +-2.6950989,5.1533203,-10.407166 +-2.8174133,4.715576,-11.722961 +-1.538147,5.708496,-9.682983 +-3.7346191,5.0598145,-10.598572 +-1.9214478,5.286377,-11.00238 +-3.2392578,5.8344727,-10.489502 +-2.858429,6.133545,-10.443298 +-1.4187622,5.8901367,-10.600525 +-0.86694336,4.900879,-11.028748 +-0.86694336,4.900879,-11.028748 +-1.2221375,4.070801,-9.569885 +-1.2221375,4.070801,-9.569885 +-2.5496826,4.666504,-10.623047 +-2.2645264,3.991455,-10.23114 +-2.9169312,4.0307617,-10.240173 +-1.3965149,5.510498,-8.761902 +-2.5800476,5.761963,-9.384216 +0.22808838,3.505127,-9.767761 +-1.0704651,3.147705,-11.413025 +-2.31958,5.6132812,-10.340637 +-1.5202637,5.215332,-9.430847 +-1.4893188,4.522705,-7.946228 +-1.5154114,5.1914062,-8.647827 +-0.6098633,4.904297,-11.65155 +-1.3699646,4.7043457,-8.8637085 +-2.2702942,4.290039,-9.407349 +-2.6003723,6.132324,-10.909546 +-2.6864014,4.840332,-10.761108 +-2.5573425,5.244873,-8.34906 +-1.269043,5.2470703,-10.993347 +-1.5584717,6.0788574,-11.208313 +-0.7470093,5.4853516,-9.222717 +-2.5534973,4.9558105,-9.486023 +-1.7730408,4.7851562,-10.748474 +-1.0979309,4.22876,-9.704285 +0.57373047,4.9230957,-9.265808 +-1.5096436,4.8928223,-9.471619 +-2.8086853,4.6726074,-10.313416 +-2.0378418,5.090088,-9.615051 +-2.7216492,5.9594727,-10.305298 +-1.9253235,5.30542,-11.628845 +-2.1640015,4.9416504,-9.793884 +-1.4100342,5.847168,-9.190979 +-1.0767212,3.5839844,-9.785767 +-1.7643127,4.7421875,-9.338989 +-1.25354,4.900635,-10.251038 +-2.133545,4.116455,-9.269287 +-2.8125,4.961914,-9.176453 +-0.7489624,5.494873,-9.53595 +-2.149475,4.6000977,-9.208191 +-1.5096436,4.8928223,-9.471619 +-2.040741,5.104492,-10.0849 +-1.3680115,4.694824,-8.550537 +-1.5222168,5.2248535,-9.74408 +-0.5242615,6.333252,-10.996521 +-2.1533813,4.6191406,-9.834595 +-1.2389832,4.8293457,-7.9019165 +-2.2765198,4.726074,-7.7800903 +-1.1669617,6.324951,-9.439514 +-1.769165,4.7661133,-10.122009 +-2.7167969,5.935547,-9.522278 +-1.2269897,4.0944824,-10.352966 +-2.8096008,4.94751,-8.706604 +-1.5584717,6.0788574,-11.208313 +-2.9343567,4.3864746,-11.295654 +-2.349945,6.70874,-9.101746 +-2.0605469,5.6071777,-10.650269 +-2.7018738,5.1865234,-11.503418 +-2.1620483,4.932129,-9.480652 +-2.1843262,5.3117676,-11.319214 +-3.4345398,3.9057617,-10.424377 +-2.5515442,4.946289,-9.172791 +-1.9276428,5.722412,-9.375183 +-2.820221,5.2700195,-8.6658325 +-2.0329895,5.0664062,-8.832031 +-0.07577515,4.948242,-8.804993 +-0.8857422,5.6689453,-9.674011 +0.98117065,4.686035,-7.5580444 +1.5802612,2.1125488,-9.129639 +1.657135,3.5847168,-9.884155 +1.8026123,3.36792,-8.336609 +3.2051086,4.253418,-8.351135 +3.1194763,2.824463,-9.006165 +3.3615723,3.3066406,-9.411255 +1.093689,4.901123,-9.571777 +3.755951,3.269043,-8.935974 +2.536316,4.9140625,-7.4956665 +4.576538,2.2253418,-8.107788 +5.407135,0.45703125,-10.043701 +6.69751,0.9897461,-8.847961 +8.27301,0.84765625,-7.260193 +8.387024,1.190918,-8.157288 +7.996063,1.3474121,-7.2026978 +7.488556,0.4970703,-10.151062 +6.69751,0.9897461,-8.847961 +3.1653748,1.652832,-7.739197 +0.60705566,4.08374,-8.271423 +0.68878174,5.531494,-8.242859 +0.71047974,4.7492676,-9.127747 +0.04547119,5.1208496,-9.409241 +0.24890137,2.9975586,-9.045837 +-0.07867432,4.9624023,-9.274841 +0.8404541,4.6086426,-10.085999 +0.8404541,4.6086426,-10.085999 +0.022216797,1.8989258,-9.661804 +-0.56591797,3.7421875,-10.697876 +-0.4387207,4.15625,-8.59906 +-0.42721558,3.559082,-10.246582 +1.3991394,3.8562012,-7.65448 +-0.45037842,4.213379,-10.4783325 +-0.34210205,4.8549805,-10.551636 +-0.8060913,3.2504883,-9.979553 +-0.2913208,3.659668,-8.501709 +-1.2573853,5.1899414,-9.114075 +-0.7547302,5.793701,-8.712158 +-0.82873535,4.0375977,-9.251282 +-0.26290894,2.5737305,-10.053772 +-0.33633423,4.5563965,-11.375427 +2.2070007,2.6049805,-10.625549 +0.14154053,2.0808105,-10.579346 +-0.59536743,4.562744,-11.065857 +1.7784119,3.756836,-10.488464 +-1.3588867,4.244385,-9.707947 +0.7970581,6.173584,-8.316162 +0.7770996,2.8000488,-8.902405 +0.3562317,3.644287,-9.275757 +0.38464355,2.5581055,-10.82782 +1.0057678,3.8894043,-7.9730835 +1.6836853,2.7785645,-9.986023 +3.3547668,3.340088,-10.507507 +4.450836,1.939209,-9.089966 +4.3415527,1.0322266,-10.936707 +3.7059937,0.31298828,-12.613647 +3.8307495,0.87402344,-10.024597 +6.3813477,-1.5187988,-10.745361 +2.7572632,-2.388916,-12.191345 +3.3309326,-0.28442383,-13.483582 +3.0186462,-2.8122559,-14.754578 +2.359436,-2.739502,-15.859924 +4.4056396,-1.5803223,-15.511475 +4.0345154,-1.927002,-13.991516 +3.483551,-1.2124023,-15.170105 +4.233032,-4.026367,-14.411194 +4.9970093,-3.8452148,-16.572449 +5.373993,-3.527588,-17.152771 +6.055786,-4.6574707,-18.539246 +7.070709,-3.4970703,-16.16925 +6.0437927,-3.9223633,-16.088196 +5.8669434,-2.605713,-16.553528 +5.882416,-2.9521484,-15.811218 +5.829315,-1.3398438,-15.607483 +4.420532,-2.3293457,-17.492615 +4.115082,-4.6203613,-15.90387 +3.1842957,-4.209717,-16.972107 +3.8579102,-4.893799,-17.044495 +3.825592,-3.7885742,-16.118835 +3.8318481,-4.2250977,-17.746094 +4.6258545,-4.462158,-16.815979 +4.6258545,-4.462158,-16.815979 +5.3213196,-5.388672,-14.246399 +6.407257,-2.9978027,-15.3341675 +6.407257,-2.9978027,-15.3341675 +6.637329,-2.0512695,-15.051697 +4.770996,-0.6647949,-14.444153 +1.7425537,0.8671875,-11.013489 +0.19360352,0.203125,-12.703064 +0.07336426,0.29614258,-10.178772 +1.4680481,1.2197266,-11.446228 +0.36340332,3.2033691,-10.746338 +-0.42721558,3.559082,-10.246582 +2.1867065,2.9748535,-12.15094 +0.42227173,1.2922363,-11.773865 +0.66781616,1.8930664,-10.749084 +1.4926453,0.4230957,-11.861267 +0.7968445,2.0270996,-10.100525 +1.9880371,1.1977539,-11.752197 +1.7536316,0.4074707,-11.857666 +1.4618225,1.6557617,-9.819031 +1.6846008,2.503418,-11.592834 +0.18356323,0.9284668,-9.938904 +1.6943054,2.4558105,-10.026794 +1.177185,2.1933594,-11.014343 +1.9504089,2.463623,-10.806213 +0.9306946,1.8676758,-10.432251 +1.6875916,2.7595215,-9.359558 +1.4449768,2.4143066,-8.151062 +1.9291687,3.1088867,-10.72467 +1.0606995,1.7270508,-11.390503 +0.34069824,3.720459,-11.781555 +2.4395142,3.4047852,-10.833313 +-0.59051514,4.5388184,-10.282776 +0.85928345,4.1105957,-9.677246 +0.37020874,3.170166,-9.650085 +0.8520813,4.5515137,-8.206604 +0.121795654,2.854004,-9.381165 +-0.5431824,3.2253418,-9.66272 +1.0245667,3.121338,-9.32782 +0.10726929,3.1955566,-9.966858 +-0.5648804,4.0075684,-8.777832 +1.5377502,3.402832,-8.966614 +0.36398315,3.6062012,-8.022888 +-0.31555176,4.048828,-10.653503 +0.19580078,4.6098633,-8.842102 +0.24404907,3.0212402,-9.828857 +-0.47750854,1.2807617,-9.593933 +-0.3550415,5.5944824,-8.257263 +-0.0897522,5.4223633,-8.430664 +-0.434906,3.8669434,-9.736023 +-0.024108887,3.4782715,-8.361877 +-1.4039001,1.8051758,-9.075623 +-0.78671265,2.8850098,-8.610779 +-0.78671265,2.8850098,-8.610779 +-0.45272827,4.630371,-8.22467 +0.5892029,4.5769043,-8.523499 +-0.31982422,4.475342,-8.713074 +-0.5720825,4.4484863,-7.30719 +0.8414612,4.8740234,-8.165894 +0.06097412,4.774414,-8.666931 +-1.1393738,5.7839355,-7.621277 +0.1253357,6.8483887,-7.930481 +-1.8164062,6.620117,-7.21521 +0.26989746,6.6364746,-6.539551 +-0.7373047,5.437744,-7.6566772 +-0.90930176,6.731201,-7.338806 +0.1822815,4.946533,-9.271179 +-1.8603516,7.7822266,-8.168884 +-1.4906006,8.5407715,-7.2786255 +-2.0353394,5.4833984,-6.57843 +-1.8028564,6.2834473,-6.786133 +-1.376709,5.0078125,-8.196594 +-2.6660461,4.7402344,-7.47229 +-2.5055847,4.044922,-6.142517 +-2.776245,4.1081543,-7.712219 +-2.7960205,4.8808594,-6.514038 +-2.8263855,5.9765625,-5.2752075 +-3.3193665,5.0544434,-5.8744507 +-1.3084717,3.7268066,-3.3276978 +-2.780548,4.534668,-5.7717285 +-4.3463135,4.6291504,-5.793396 +-5.3351135,3.0703125,-5.698303 +-4.1573486,3.1176758,-4.2522583 +-4.6884766,3.3295898,-4.8655396 +-4.0254517,2.9677734,-4.897217 +-3.6340027,2.9440918,-4.8917847 +-3.8109741,0.38476562,-5.3779907 +-4.371826,5.7006836,-3.7714844 +-4.4077454,2.8110352,-4.29657 +-3.6340027,2.9440918,-4.8917847 +-4.4584045,4.276367,-4.583069 +-3.537262,4.1833496,-3.317566 +-3.407318,4.0427246,-4.275818 +-2.9162598,4.973633,-3.989746 +-3.5835571,5.762207,-2.0176392 +-3.9828491,5.553711,-5.0393677 +-4.32843,4.1359863,-5.541321 +-4.232727,5.109619,-5.887085 +-3.9746704,5.1081543,-6.3533325 +-3.5232239,7.3151855,-5.4345093 +-5.437958,6.1435547,-5.6244507 +-4.5076904,5.599365,-5.5164185 +-4.388336,5.781494,-6.433838 +-5.5572815,5.9611816,-4.7070312 +-3.9963684,5.890381,-5.468445 +-5.6675415,5.3291016,-4.9468384 +-5.6675415,5.3291016,-4.9468384 +-4.0180664,6.6730957,-4.583557 +-4.7445374,4.686035,-6.8950806 +-5.2209167,7.5598145,-4.811096 +-5.036804,6.0722656,-4.0529175 +-5.5447083,5.6291504,-4.4345093 +-4.324951,4.524414,-2.3479614 +-5.6520386,4.98291,-4.204529 +-5.784912,5.137451,-3.7162476 +-7.2061462,5.0202637,-2.3469238 +-6.324188,5.794922,-3.015503 +-5.3568115,3.852539,-4.8134155 +-5.7477417,4.008789,-3.8588257 +-6.8229675,4.9018555,-4.5543823 +-5.884491,4.1828613,-3.9968872 +-7.0182495,3.243164,-2.72583 +-4.709259,3.8371582,-5.5874634 +-6.9037476,3.4492188,-4.4263306 +-6.9423523,4.7199707,-3.6369019 +-7.1589355,3.1662598,-5.253723 +-7.199005,4.309326,-5.5809937 +-7.2061462,5.0202637,-2.3469238 +-6.787628,4.322998,-1.4833374 +-7.310608,4.0891113,-3.4106445 +-7.888031,5.879883,-2.723938 +-5.5683594,6.4211426,-3.862854 +-7.836853,4.2770996,-3.2408447 +-6.3818054,3.6877441,-2.6557007 +-5.8492737,3.0637207,-4.4526367 +-5.862793,3.4003906,-4.881775 +-4.8146057,3.1809082,-5.0443115 +-5.760315,4.3408203,-4.1312866 +-7.3203125,4.1367188,-4.9767456 +-6.769348,3.6923828,-2.034607 +-5.373657,4.611084,-3.1454468 +-7.885681,5.4628906,-4.977539 +-6.442169,5.2006836,-4.5082397 +-7.7204285,4.4733887,-4.628174 +-7.701172,3.8381348,-5.022888 +-5.8690186,3.8364258,-3.2545776 +-5.5355835,5.178711,-5.591919 +-7.043915,3.7746582,-4.230774 +-5.669861,5.7460938,-2.6932373 +-5.5190735,5.0979004,-2.9295044 +-5.9216614,5.3115234,-3.854248 +-6.1411133,4.041992,-4.177429 +-6.585144,5.810547,-3.019104 +-6.426697,4.854248,-3.7659302 +-4.09494,5.201416,-3.8289795 +-5.648163,4.963867,-3.578125 +-7.6199036,5.42334,-4.190857 +-7.6199036,5.42334,-4.190857 +-6.297638,4.9887695,-3.1173706 +-6.207367,2.2475586,-3.463684 +-5.5747375,2.9814453,-2.2564697 +-6.133423,3.7341309,-4.6879883 +-5.081848,3.6330566,-3.4207153 +-5.8796387,4.1589355,-3.2138062 +-6.1479187,4.0754395,-5.2737427 +-6.5789185,5.3745117,-4.6463013 +-5.9051514,5.2304688,-1.1918335 +-6.565399,5.037842,-4.217224 +-8.806244,5.9589844,-3.5195923 +-6.3082886,5.3112793,-3.0765991 +-7.5956726,5.0341797,-2.0391235 +-5.662689,5.30542,-4.1638184 +-6.448395,5.6367188,-2.8810425 +-6.1305237,3.7197266,-4.2182007 +-6.92157,4.2124023,-2.914978 +-5.018036,5.303955,-5.407715 +-6.373596,3.2419434,-3.9696655 +-5.1040955,4.012451,-5.2592773 +-6.29187,4.6901855,-3.941101 +-5.884491,4.1828613,-3.9968872 +-4.8677063,4.793213,-4.840637 +-7.083954,4.9174805,-4.5580444 +-6.9529724,5.0424805,-3.5961304 +-6.406952,4.081543,-4.9641113 +-6.5615234,5.018799,-3.5907593 +-6.8417664,5.669922,-3.199707 +-6.899872,3.4301758,-3.7998657 +-6.29187,4.6901855,-3.941101 +-6.3082886,5.3112793,-3.0765991 +-5.6226196,3.892334,-5.6000366 +-6.3755493,3.2514648,-4.282898 +-6.5368958,4.222168,-4.0058594 +-5.864746,3.409912,-5.1949463 +-4.8126526,3.1713867,-4.731079 +-5.942444,5.8188477,-4.576233 +-5.5466614,5.638672,-4.7477417 +-5.941437,6.0844727,-2.656067 +-6.11261,3.2263184,-3.9660645 +-5.7830505,4.85791,-5.166443 +-4.9111023,6.3581543,-3.0708008 +-5.1610107,5.9138184,-3.918579 +-6.215912,6.4370117,-3.0888062 +-4.522583,6.348633,-3.5352173 +-6.2579346,7.5893555,-3.729309 +-7.0177,6.712158,-5.2717896 +-5.818268,5.977051,-4.7106323 +-6.2967224,4.713867,-4.724182 +-7.160248,7.1845703,-4.5861206 +-5.9926453,7.4172363,-3.902649 +-6.01001,8.042969,-3.1947632 +-6.5760193,5.3603516,-4.1764526 +-7.8560486,8.788818,-2.8252563 +-5.7766113,8.568359,-5.0093384 +-5.7766113,8.568359,-5.0093384 +-6.72229,9.728027,-4.0963135 +-6.298004,8.732422,-4.0565186 +-5.8694153,7.580078,-4.1937256 +-6.49527,6.8132324,-4.3045654 +-5.9709473,6.6347656,-4.7875366 +-8.529816,8.932861,-6.279724 +-6.6585693,7.793213,-4.3407593 +-6.486603,6.500244,-4.6585083 +-7.0519714,7.826416,-4.659363 +-5.9095764,8.452881,-6.284363 +-7.176178,7.668213,-4.5249634 +-7.417389,6.911133,-5.7266846 +-8.073608,7.239746,-4.598694 +-7.411499,7.152832,-3.0236206 +-5.4490356,6.6032715,-4.7803345 +-6.453247,5.6604004,-3.6641235 +-7.029358,6.769287,-7.151062 +-7.2361755,5.4379883,-5.4384155 +-7.2381287,5.44751,-5.751587 +-7.2313232,5.4140625,-4.6553345 +-7.2903137,6.7851562,-7.154724 +-6.3523254,5.9331055,-7.55719 +-6.6282043,6.697998,-5.57959 +-7.210083,4.769043,-4.7368164 +-6.5751038,5.085449,-5.783264 +-6.5808716,5.384033,-4.9595337 +-6.342621,5.885498,-5.991089 +-6.894409,7.1450195,-3.7993774 +-7.990143,4.5317383,-6.04126 +-7.585602,4.308838,-4.8033447 +-6.3073425,5.036377,-4.6834106 +-7.229431,5.1345215,-6.10553 +-6.9234924,4.221924,-3.2282104 +-6.4823303,6.0734863,-6.598938 +-6.949127,4.753174,-4.7332153 +-6.5837708,5.3984375,-5.4293823 +-7.1951904,4.0200195,-6.7179565 +-7.0897217,5.2160645,-3.734253 +-6.1714783,5.137451,-2.9385376 +-7.313507,4.1032715,-3.8804321 +-6.769867,3.2895508,-4.7581177 +-6.4509277,5.243408,-5.9177856 +-7.226471,5.390381,-3.8722534 +-5.660736,5.2958984,-3.850647 +-5.6037903,3.394287,-5.191345 +-7.3289795,4.449707,-4.6227417 +-6.3247986,5.392334,-5.7389526 +-7.375366,5.758545,-5.0862427 +-7.375366,5.758545,-5.0862427 +-7.2255554,5.1154785,-5.479126 +-8.388763,4.996338,-4.576111 +-7.9746704,4.185547,-5.29895 +-8.678223,5.8276367,-4.7910767 +-7.1230774,6.055664,-4.7286987 +-7.083954,4.9174805,-4.5580444 +-7.096527,5.2495117,-4.8305054 +-7.0848694,5.192383,-2.951233 +-6.557678,4.729492,-4.727783 +-7.335785,4.48291,-5.719055 +-6.8070374,4.418213,-4.6155396 +-6.161438,4.4121094,-5.70282 +-6.3778687,7.004883,-5.5352173 +-6.8582764,5.7507324,-5.8620605 +-6.5837708,5.3984375,-5.4293823 +-6.3396606,6.1416016,-3.7577515 +-6.4552,5.669922,-3.977356 +-5.459656,6.9257812,-4.739563 +-5.7433167,7.45874,-5.7783813 +-6.2362366,6.807129,-4.614197 +-6.2579346,7.5893555,-3.729309 +-7.0283203,7.034668,-5.231018 +-6.01297,7.7873535,-5.4279785 +-7.78656,6.555176,-3.8934937 +-6.497223,6.822754,-4.617798 +-9.241638,7.1445312,-4.4786987 +-9.499695,7.14624,-4.01239 +-8.792999,9.906006,-0.5027466 +-8.082733,7.6899414,-3.4413452 +-9.190308,9.687988,-3.2112427 +-7.87973,9.310547,-4.017029 +-9.325134,9.852295,-3.0360718 +-7.8511963,8.764893,-2.0422363 +-8.130981,9.278564,-2.4545288 +-7.9120483,10.415527,-3.0913696 +-9.169983,9.317627,-1.6859741 +-9.192261,9.69751,-3.524475 +-7.9492188,11.544189,-2.9487915 +-7.914917,10.699951,-1.7977905 +-8.83548,11.195801,-0.3397827 +-8.157074,9.94751,-3.156067 +-8.844208,11.238525,-1.7493286 +-8.1493225,9.909424,-1.9032593 +-8.424774,10.266846,-2.4924927 +-8.595856,11.284912,-3.7816162 +-8.7335205,11.733398,-2.3128052 +-9.214539,10.077148,-5.363098 +-7.5751953,11.876465,-3.9989624 +-8.462524,10.992676,-5.0734253 +-9.351685,10.658447,-2.9342651 +-8.142639,9.335693,-4.3339233 +-8.142639,9.335693,-4.3339233 +-8.402069,9.749756,-1.4573364 +-8.402069,9.749756,-1.4573364 +-8.212128,11.569336,-3.265625 +-9.7247925,10.051514,-3.4909668 +-7.756439,9.743408,-2.5446167 +-9.027832,12.588867,-3.310852 +-9.512085,11.624512,-2.5006104 +-8.408844,9.782959,-2.55365 +-8.177856,10.455078,-3.8780518 +-8.05365,10.613037,-4.012512 +-8.796997,9.3845215,-4.656128 +-9.23233,10.840576,-3.8517456 +-7.5471497,11.197998,-2.9841309 +-8.161926,9.971436,-3.939148 +-8.623322,12.365967,-2.072937 +-8.029053,9.816406,-4.4275513 +-8.774261,8.867432,-3.6209717 +-6.6347046,11.417725,-1.364685 +-9.015259,12.256836,-3.038391 +-7.2713013,10.433105,-4.961731 +-8.403076,9.484619,-3.3773804 +-10.782623,10.588623,-3.1310425 +-8.972778,10.967041,-3.201355 +-9.729065,10.478027,-1.5505371 +-10.031525,11.779053,-1.2345581 +-9.969757,9.85376,-1.7922974 +-9.359375,10.966553,-2.423706 +-9.251129,11.608643,-2.4970093 +-10.647797,10.424561,-3.3062134 +-9.636261,11.466064,-2.36615 +-10.052338,12.286377,-1.956543 +-9.729065,10.478027,-1.5505371 +-11.223755,12.343018,-1.5029907 +-11.556305,10.455811,-2.5358276 +-11.440796,10.926758,-2.3163452 +-11.079742,11.998535,-1.0720215 +-10.825562,12.016113,-2.1646729 +-11.692047,10.89502,-0.7538452 +-11.810516,10.438232,-1.4431763 +-11.807587,10.423828,-0.97332764 +-10.286743,11.49585,-2.0619507 +-11.535522,9.948242,-1.8139038 +-11.176422,11.029297,-0.88287354 +-10.756989,10.057373,-1.6260376 +-11.205902,11.8498535,-1.2507935 +-11.665497,10.088867,-0.85565186 +-11.526794,9.905273,-0.40441895 +-11.738922,12.071289,-2.1773071 +-12.079681,10.629395,-1.8962402 +-10.3220215,12.344971,-3.369629 +-9.624603,11.408936,-0.48687744 +-9.384003,11.763184,-2.008606 +-10.40802,11.323486,-1.4577026 +-10.40802,11.323486,-1.4577026 +-11.435944,10.902832,-1.5332642 +-10.688812,11.842041,-2.0266724 +-10.336914,13.094238,-1.3884888 +-10.184235,12.436523,-1.3115234 +-9.6449585,11.779053,-2.012207 +-8.962158,10.644531,-3.2421265 +-9.71994,10.027832,-2.7079468 +-9.711212,9.984863,-1.2984009 +-10.357239,13.464355,-2.9138184 +-7.396393,10.550049,-3.220459 +-9.251129,11.608643,-2.4970093 +-9.218811,10.503662,-3.4226685 +-10.05719,12.310303,-2.739563 +-10.27182,10.746826,-4.043152 +-9.678284,12.618652,-3.0066528 +-8.714783,10.6953125,-5.4310303 +-7.9492188,11.544189,-2.9487915 +-7.7720337,9.549805,-6.8137817 +-8.75238,12.231445,-2.7215576 +-8.423401,9.854492,-4.902771 +-6.715515,9.694824,-3.000061 +-7.7483215,9.027588,-5.6221313 +-6.336212,9.595947,-5.8339844 +-6.4661865,9.736328,-4.8757935 +-6.3019104,8.751465,-4.6829224 +-6.0481873,8.90625,-4.972229 +-7.252472,9.935303,-4.5529785 +-7.225006,8.854004,-6.2616577 +-5.65921,8.7595215,-6.2400513 +-5.2677917,8.736084,-6.234619 +-5.764984,8.51123,-3.1299438 +-4.4255066,6.9104004,-6.2911987 +-5.1170044,8.0876465,-6.470886 +-7.2598267,6.2299805,-4.866638 +-5.6969604,6.1499023,-5.3148804 +-4.7729797,5.7719727,-5.3430176 +-7.0665283,7.897949,-7.008484 +-5.895569,7.97876,-6.6587524 +-4.5458984,6.4628906,-7.2938843 +-4.925659,6.4294434,-5.419983 +-5.0161133,5.02417,-6.857971 +-4.9818726,3.909912,-7.470398 +-4.9847107,4.194336,-6.176758 +-3.5072937,6.831543,-5.4955444 +-4.408081,6.5546875,-5.235718 +-4.2511597,5.2001953,-8.862671 +-4.06073,3.8168945,-6.204895 +-4.1690063,3.1748047,-6.131531 +-5.6371155,4.2338867,-6.18573 +-4.115906,1.5622559,-6.335266 +-4.115906,1.5622559,-6.335266 +-5.727997,3.236084,-5.056946 +-6.522003,3.4731445,-5.9869995 +-3.994049,2.1376953,-4.2160034 +-5.518158,4.822998,-4.536377 +-6.4606323,1.9550781,-3.9778442 +-7.526184,2.800293,-3.1073608 +-6.7712708,3.7019043,-2.3478394 +-6.8475647,2.6325684,1.130127 +-8.441345,3.4055176,0.093688965 +-7.1114197,2.6625977,0.65667725 +-7.8749695,2.3444824,2.0145874 +-6.7223206,3.0561523,2.9157715 +-8.883545,1.5583496,3.3078003 +-7.4617615,1.8085938,2.8986206 +-10.007538,3.9074707,2.638916 +-7.970093,5.109375,1.5778809 +-7.7984924,7.5600586,0.32092285 +-6.967621,10.208008,1.9327393 +-5.4748535,8.622314,3.3353271 +-2.63797,9.966553,6.7108765 +-2.5858765,8.088867,4.587219 +-2.6772766,6.6884766,2.9925537 +-0.48379517,7.0810547,1.6748047 +-0.1812439,9.386475,-0.38372803 +-0.7030945,13.02417,-2.133484 +-0.10760498,14.885742,-0.7838135 +1.2475281,17.08545,-1.418396 +2.7350159,18.997559,-3.5015259 +3.5264893,18.3667,-5.6080933 +5.558655,19.730225,-6.6487427 +4.764618,19.967285,-7.5789185 +4.1901245,21.74414,-6.4223633 +5.5629272,19.30371,-8.589172 +4.9312134,18.295166,-11.403198 +6.693695,19.987305,-12.093567 +6.3514404,18.147217,-14.692566 +9.664612,16.347412,-15.164368 +7.37973,18.1604,-17.183899 +10.410736,17.021484,-17.57782 +11.441498,17.157715,-18.795898 +12.28183,15.341797,-19.16571 +13.28363,16.431152,-19.79181 +13.27005,16.497803,-21.984314 +15.457886,17.459473,-20.714783 +17.620026,18.952393,-20.950256 +17.915314,18.092285,-19.795654 +20.305603,20.541504,-20.06195 +21.942474,22.21753,-19.971008 +22.443237,23.101074,-18.118835 +25.770966,24.566162,-19.747559 +27.727325,24.99292,-16.35022 +30.5448,26.432129,-16.106873 +31.001556,28.478027,-15.208374 +32.57901,28.326416,-13.307373 +32.57901,28.326416,-13.307373 +33.248474,28.608643,-7.9125366 +33.248474,28.608643,-7.9125366 +37.00586,29.186523,-7.758362 +37.521545,29.591309,-6.1239624 +39.30136,27.05127,-5.779602 +37.731735,27.434814,-4.6642456 +39.49765,29.245361,-3.9247437 +41.43643,25.881836,-3.3672485 +41.67186,26.937256,-1.3416748 +43.646973,26.326172,-1.062561 +42.514145,25.111572,-1.3983154 +42.743286,26.333496,0.49090576 +42.53064,25.030762,1.2640381 +43.318893,25.092041,3.0179443 +44.399918,23.900635,2.8898315 +43.012985,26.274902,1.9040527 +44.287323,23.685547,4.9035034 +43.62036,23.796143,2.5453491 +43.7437,24.229248,4.017761 +45.223434,23.113281,5.951355 +43.78766,23.067383,4.9714966 +43.652786,23.23169,5.1466675 +43.916687,23.201416,5.620056 +41.904755,20.927734,4.6592407 +43.701614,22.045654,6.883362 +42.929306,21.500244,5.0683594 +42.991257,23.721191,6.294983 +45.512894,22.281738,6.16626 +44.411575,23.843506,4.769104 +44.250153,24.814209,5.0460815 +41.797714,28.033691,4.930908 +41.57451,30.659424,4.002136 +39.689835,32.40625,3.397522 +38.99922,33.308838,1.611023 +35.312363,34.098633,-1.1973267 +33.8105,36.404785,0.32092285 +31.896332,38.971436,-0.65167236 +29.672302,38.86377,-3.385437 +29.638947,39.703613,-4.379883 +28.63797,38.06909,-7.1240845 +27.33374,41.886475,-7.9247437 +23.66269,38.316162,-10.8151245 +23.56369,41.10034,-11.878235 +20.847137,39.933105,-16.01477 +19.054626,38.929443,-16.652405 +17.254547,41.839355,-18.522156 +16.78952,39.96924,-19.869995 +15.16806,37.677002,-20.982117 +13.154327,39.28882,-22.23529 +13.305084,38.641113,-22.471558 +13.305084,38.641113,-22.471558 +14.046478,39.878662,-22.141174 +14.046478,39.878662,-22.141174 +14.595673,40.253906,-14.221985 +13.825775,42.89795,-20.033264 +15.529327,42.894775,-17.95343 +16.122864,44.766846,-16.916931 +17.680939,44.980225,-16.384766 +20.401794,45.720703,-14.18866 +23.718018,44.446777,-10.663879 +25.665161,45.053955,-7.8725586 +28.51596,45.65332,-6.6347656 +32.03961,43.048096,3.1703491 +35.13272,42.64209,-5.6176147 +36.623123,41.203613,-3.7247925 +40.847366,39.76587,-1.9303589 +43.26198,33.666016,-2.6533813 +45.003708,32.529785,-0.55963135 +49.189682,31.955322,-0.5426636 +49.17038,29.254639,3.3580933 +51.893448,25.701416,3.279602 +52.097748,23.303467,2.0361328 +53.47986,21.2229,4.0022583 +53.363907,20.889404,4.5861816 +53.30829,18.772705,5.2592163 +53.336777,17.956787,5.470581 +55.81682,17.53247,3.8980103 +54.89824,18.289307,7.432678 +55.446213,17.318604,6.3779907 +54.599228,19.708252,9.178467 +55.577194,17.44336,7.3398438 +55.152435,18.306885,6.340027 +53.45285,18.83081,8.413635 +54.20381,19.480957,6.783142 +54.52774,21.681396,8.170044 +52.705322,21.635498,7.9678345 +51.785767,25.462402,6.076355 +51.99359,27.059082,6.2836914 +49.506393,31.260254,5.820862 +49.238205,31.717285,7.287781 +46.857346,36.569824,6.4384155 +46.48436,39.838867,5.902588 +42.48198,42.39917,3.941101 +38.834457,46.46753,4.8511353 +37.45137,48.55249,2.7283936 +33.62921,49.644043,0.8986206 +31.774353,49.89258,-3.668274 +28.190552,52.02539,-3.0027466 +25.521057,53.828857,-3.9313965 +23.38736,54.58618,-8.754089 +20.470734,55.390625,-13.587524 +19.86145,58.148926,-12.7786255 +18.078644,56.82715,-13.613647 +15.2724,58.803955,-14.680359 +16.6138,57.193848,-17.528381 +16.6138,57.193848,-17.528381 +16.162537,59.40332,-14.899414 +15.624573,59.378418,-18.372437 +16.987396,57.933594,-16.011658 +17.713806,59.65039,-15.463501 +19.801025,59.3916,-16.394653 +22.870789,61.128174,-15.793762 +26.479736,58.601074,-14.150818 +28.596436,57.791992,-12.950623 +33.31407,57.138428,-11.360352 +35.501892,58.100098,-10.090759 +39.622498,51.85034,-9.224304 +44.724854,51.476562,-6.961426 +49.440887,46.818848,-6.508667 +53.510834,42.30493,-4.165222 +56.612244,38.92749,-5.470764 +59.450867,36.115723,-3.5662842 +58.53209,32.455566,-3.5794067 +62.693832,28.664307,-3.9716187 +63.291626,26.773193,-1.3695679 +63.700806,22.380127,-1.1328735 +66.14551,19.19873,-2.2705078 +65.27272,18.243652,-0.9957886 +65.3804,15.1467285,-0.28656006 +66.71855,14.2282715,0.7258911 +66.55469,11.469727,1.472229 +66.670135,11.67041,-0.07171631 +65.91434,11.044189,0.77563477 +66.71895,10.484619,1.664978 +66.09596,9.433594,0.26049805 +65.189224,5.309082,-0.4401245 +65.588806,4.8395996,-1.7487793 +67.913376,5.6274414,-0.3411255 +67.389114,9.411865,-1.600769 +66.82858,10.714111,-0.8185425 +67.19545,11.487305,-0.3980713 +67.13556,13.133057,-1.2906494 +67.11682,17.507324,-1.6785278 +66.22827,20.91211,-0.32196045 +65.6136,23.561768,-1.2560425 +64.78688,28.647217,-2.199707 +63.16188,34.396484,-2.1329956 +61.229324,37.32373,-4.317688 +59.891327,42.388184,-3.5458374 +56.07312,46.796875,-8.255249 +52.07512,49.200684,-10.393738 +46.93576,54.849365,-10.729675 +43.09523,56.301758,-13.771606 +38.69757,58.904785,-16.36493 +35.192383,58.354004,-17.924927 +34.709076,60.45044,-22.2276 +29.37619,60.014893,-23.969482 +29.37619,60.014893,-23.969482 +28.708313,60.400635,-24.720764 +27.226166,61.66333,-26.164185 +24.632782,57.323486,-27.085632 +25.636536,58.1333,-29.161926 +26.287018,58.103516,-29.466125 +26.565796,57.594482,-29.210388 +25.980072,55.95459,-27.23053 +29.517548,55.13037,-28.35968 +30.541199,56.248047,-24.58014 +35.18283,53.577637,-25.605652 +37.476974,55.190186,-24.722717 +39.87979,53.971924,-21.210388 +44.159058,50.91211,-19.306458 +48.155136,48.517822,-17.481262 +51.473175,46.694336,-17.169983 +55.427628,41.708984,-15.046082 +58.452194,36.859375,-15.597229 +59.34903,33.549316,-14.740906 +62.20735,29.69458,-15.797974 +62.363403,25.549316,-12.548523 +63.670044,21.58496,-12.23822 +66.69949,16.71167,-12.006165 +67.41664,15.00293,-10.321533 +66.63646,10.889404,-11.646851 +67.73685,9.332275,-10.406311 +66.9292,6.300049,-10.022888 +67.119095,4.513672,-10.088562 +67.4061,3.559082,-11.14679 +67.42157,3.2128906,-10.40448 +65.024506,1.0668945,-9.471069 +64.31604,2.4628906,-11.509705 +64.88484,1.255127,-10.078918 +62.549866,4.9362793,-9.661499 +61.94525,3.5246582,-9.853821 +60.166428,6.0598145,-10.041565 +60.29991,6.577881,-6.04303 +59.750916,7.282959,-6.908386 +58.839172,11.342041,-5.7835083 +57.309296,14.326172,-5.2800903 +55.159866,16.64795,-2.987793 +55.55002,20.642578,-2.3147583 +52.431625,24.238281,-2.868103 +51.081924,25.75415,-2.2329712 +49.179977,32.00293,-2.1088257 +46.233154,34.44287,-2.1764526 +44.527893,38.871826,-1.0217285 +41.569366,41.36914,-2.968689 +37.975403,43.687256,-3.065857 +33.71109,46.268066,-5.187439 +31.976166,47.101074,-7.9484253 +28.362885,50.054688,-7.650818 +24.075348,49.684326,-8.261658 +24.075348,49.684326,-8.261658 +22.044128,48.0459,-8.82782 +19.894104,49.694336,-11.022522 +17.41687,49.83423,-10.743591 +15.463959,49.52588,-12.710999 +15.472626,49.21289,-13.065002 +14.339966,51.874756,-13.379944 +15.280914,51.27881,-11.549133 +15.943939,50.916992,-11.580872 +16.878998,50.079346,-12.453125 +19.362457,49.773438,-12.595825 +22.612427,50.04126,-11.86322 +25.46814,50.617188,-9.842346 +27.508453,48.19873,-8.690979 +30.859283,45.403076,-8.345398 +34.525803,44.9834,-7.062317 +38.16278,41.507812,-6.168152 +39.42935,38.956543,-4.42157 +43.88588,34.442383,-2.855774 +46.355743,30.59668,-3.4484253 +48.791245,27.595703,-5.1920776 +50.943558,21.923584,-3.508484 +50.960983,21.567871,-2.452942 +52.856125,15.623047,-1.9099731 +52.406082,13.273926,-3.475647 +53.05757,13.509277,-1.8598022 +52.529694,9.693115,-2.8275757 +52.538376,9.380127,-3.1814575 +52.938385,5.1672363,-3.5509033 +52.15175,5.77417,-0.66119385 +53.108505,4.1540527,-2.418396 +52.5475,5.593506,-0.8328247 +53.150528,3.0014648,-1.7779541 +51.169678,3.911621,-1.2333374 +51.638992,5.625,-0.062438965 +51.481934,6.1689453,-1.725769 +52.11264,6.9121094,-0.8319092 +52.88008,7.481201,0.20013428 +50.26918,11.656982,0.8317261 +50.875275,13.1970215,2.140686 +50.18376,14.374512,1.9610596 +49.10579,19.428223,2.579895 +48.766068,21.587402,1.2749634 +46.870346,24.063965,3.2780151 +45.504776,29.399414,0.46820068 +42.250122,33.301758,0.7368164 +40.204056,36.019043,0.40930176 +38.1362,38.978027,-2.5603027 +34.571167,40.343018,-3.2494507 +33.7574,41.353027,-2.9813843 +29.887451,43.895752,-4.6278687 +27.111572,44.777588,-6.9334106 +22.791656,45.24121,-8.38208 +22.791656,45.24121,-8.38208 +20.26178,46.58618,-10.466248 +17.615906,47.597656,-11.966614 +15.127075,47.79492,-13.566956 +14.926422,46.027344,-13.481384 +10.385223,45.77173,-12.039551 +12.924347,47.58252,-12.855347 +11.510254,46.753906,-14.720093 +11.83493,44.803223,-14.9609375 +12.446289,45.91162,-15.435791 +12.596649,45.671387,-13.105164 +14.666382,45.76831,-15.091858 +16.41095,44.347656,-14.291687 +19.473846,45.847168,-16.550476 +22.695312,43.59497,-12.523254 +26.22705,43.339355,-11.065002 +29.165161,40.941895,-12.406799 +32.086914,39.16577,-12.884033 +35.96112,36.196777,-13.17804 +39.194595,33.209473,-11.601685 +41.510742,30.025879,-12.4279175 +44.227158,27.046387,-10.075745 +44.735916,23.608398,-9.558472 +46.495895,21.5708,-9.77948 +48.868057,16.76123,-10.339539 +48.26738,15.600098,-8.142029 +50.066986,12.557617,-7.232361 +51.71817,9.74585,-8.340027 +50.25685,10.77124,-7.2980347 +52.085968,10.513916,-7.7630005 +49.236145,10.179932,-7.0806885 +49.236145,10.179932,-7.0806885 +50.351974,8.0061035,-6.861267 +50.16638,9.366211,-8.736023 +49.764374,9.982178,-6.937317 +48.832687,10.668213,-6.3985596 +48.271667,11.837891,-6.576416 +47.989517,12.768555,-4.7350464 +47.945557,13.930664,-5.6887817 +49.002502,17.274414,-6.184387 +47.7621,19.427002,-5.4660034 +49.618774,18.62915,-4.112732 +44.816696,21.995117,-4.417053 +44.496872,23.921875,-3.3931885 +44.618744,27.833252,-4.7799683 +42.64862,32.29712,-4.25531 +41.355087,36.062256,-3.3330688 +37.373566,38.38501,-2.809204 +36.02188,39.640137,-4.2507324 +32.10846,43.207764,-7.654236 +28.667633,44.730713,-8.477905 +26.261566,46.641357,-8.1297 +22.664124,48.5708,-11.420105 +18.855957,49.188477,-13.624207 +18.855957,49.188477,-13.624207 +16.126404,48.761475,-15.466248 +13.819275,47.617676,-15.818298 +10.105255,45.475098,-17.742249 +8.375671,46.416992,-18.760193 +8.384338,46.104248,-19.114075 +5.7852783,45.668945,-20.954346 +6.7112427,45.28174,-20.66925 +6.683777,46.362793,-18.960571 +7.017578,43.961914,-20.358765 +8.143127,45.346924,-20.315796 +8.744385,46.9104,-19.789856 +12.407501,46.372314,-19.936707 +14.603973,47.020752,-19.02118 +19.509674,48.466553,-17.78888 +21.334076,48.773438,-15.51001 +24.934784,46.15161,-16.080078 +27.902588,47.350586,-13.5060425 +32.71147,43.950928,-12.10553 +36.14984,42.304688,-12.555115 +41.90335,37.47998,-13.98761 +42.030792,33.610107,-14.476501 +45.322372,32.863037,-12.299988 +47.774353,29.780762,-11.381287 +49.24919,28.418457,-11.994324 +50.034912,24.750732,-9.771057 +51.84854,21.233643,-9.235718 +51.33287,21.099365,-9.106628 +51.00084,19.344482,-9.179504 +53.124252,18.231934,-8.646484 +52.212296,18.14502,-9.305908 +51.67842,18.911621,-6.8621216 +51.776855,15.7248535,-8.5224 +52.652588,16.935547,-7.5637817 +53.93907,17.487305,-6.994446 +53.97818,16.349365,-6.8237915 +53.93422,17.510986,-7.777466 +51.85959,17.437744,-6.5737915 +53.1427,18.141602,-5.6708984 +52.53,20.781494,-6.291809 +52.33435,22.8667,-5.4023438 +52.296814,27.73877,-6.1989136 +51.808273,27.200684,-3.4483032 +51.293182,30.534912,-5.8652954 +48.54413,35.297363,-2.9614868 +46.406662,36.884033,-3.1201782 +44.541428,41.871338,-4.098633 +41.487366,47.540527,-3.9155884 +37.453033,47.192383,-5.775635 +32.175903,52.74951,-8.169739 +28.39627,52.551025,-10.162476 +25.070923,54.27539,-12.530029 +25.070923,54.27539,-12.530029 +21.623322,55.83203,-14.449829 +16.649628,56.74756,-13.497253 +12.904175,55.16504,-17.865845 +10.071777,54.474854,-16.128052 +5.137207,57.58789,-18.510864 +2.230774,54.871582,-19.075623 +1.5914001,54.441162,-19.615662 +-0.7177124,53.307617,-20.280823 +-1.801117,54.645996,-19.662537 diff --git a/boards/sim/sim/sim/src/sim_appinit.c b/boards/sim/sim/sim/src/sim_appinit.c index ab1ed5888f5..9fc4f82f707 100644 --- a/boards/sim/sim/sim/src/sim_appinit.c +++ b/boards/sim/sim/sim/src/sim_appinit.c @@ -39,6 +39,7 @@ #include #include +#include #include #include #include @@ -98,10 +99,21 @@ int board_app_initialize(uintptr_t arg) #endif #endif +#ifdef CONFIG_SENSORS_FAKESENSOR + fakesensor_init(SENSOR_TYPE_ACCELEROMETER, + "/data/boards/sim/sim/sim/src/csv/accel.csv", 0); + + fakesensor_init(SENSOR_TYPE_MAGNETIC_FIELD, + "/data/boards/sim/sim/sim/src/csv/mag.csv", 0); + + fakesensor_init(SENSOR_TYPE_GYROSCOPE, + "/data/boards/sim/sim/sim/src/csv/gyro.csv", 0); +#endif + #ifdef CONFIG_RC_DUMMY rc_dummy_initialize(0); #endif return 0; } -#endif /* CONFIG_LIB_BOARDCTL */ +#endif /* CONFIG_LIB_BOARDCTL */ \ No newline at end of file diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig index c69578bd4d3..be168c20fdf 100644 --- a/drivers/sensors/Kconfig +++ b/drivers/sensors/Kconfig @@ -27,6 +27,22 @@ config SENSORS_WTGAHRS2 wtgashrs2(JY901) as data source. This sensor can generate accelerometer, gyroscope, magnetic, barometer and gps data. +config SENSORS_FAKESENSOR + bool "Fake Sensor Support" + default n + ---help--- + Simulate physical sensor by reading data from csv file. + The file structure is as follows: + First row : set interval + Second row: csv file header + third row : data + (Each line should not exceed 50 characters) + For example: + interval:12 + x,y,z + 2.1234,3.23443,2.23456 + ... + config SENSORS_APDS9960 bool "Avago APDS-9960 Gesture Sensor support" default n diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs index a22909f6cb0..7c1dab936a3 100644 --- a/drivers/sensors/Make.defs +++ b/drivers/sensors/Make.defs @@ -47,6 +47,10 @@ ifeq ($(CONFIG_SENSORS_HCSR04),y) CSRCS += hc_sr04.c endif +ifeq ($(CONFIG_SENSORS_FAKESENSOR),y) + CSRCS += fakesensor.c +endif + ifeq ($(CONFIG_SENSORS_ADXL345),y) CSRCS += adxl345_base.c endif diff --git a/drivers/sensors/fakesensor.c b/drivers/sensors/fakesensor.c new file mode 100644 index 00000000000..30ca085e5df --- /dev/null +++ b/drivers/sensors/fakesensor.c @@ -0,0 +1,294 @@ +/**************************************************************************** + * drivers/sensors/fakesensor.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct fakesensor_s +{ + struct sensor_lowerhalf_s lower; + struct file data; + unsigned int interval; + int raw_start; + FAR const char *file_path; +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower, + bool sw); +static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower, + FAR unsigned int *period_us); +static int fakesensor_fetch(FAR struct sensor_lowerhalf_s *lower, + FAR char *buffer, size_t buflen); +static int fakesensor_thread(int argc, char** argv); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct sensor_ops_s g_fakesensor_ops = +{ + .activate = fakesensor_activate, + .set_interval = fakesensor_set_interval, + .fetch = fakesensor_fetch, +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int fakesensor_read_csv_line(FAR struct file *file, + char *buffer, int len, int start) +{ + int i; + + len = file_read(file, buffer, len); + if (len == 0) + { + /* Loop reads */ + + file_seek(file, start, SEEK_SET); + len = file_read(file, buffer, len); + } + + for (i = 0; i < len; i++) + { + if (buffer[i] == '\n') + { + file_seek(file, i - len + 1, SEEK_CUR); + break; + } + } + + return i + 1; +} + +static int fakesensor_read_csv_header(struct fakesensor_s *sensor) +{ + char buffer[40]; + + /* Set interval */ + + sensor->raw_start = + fakesensor_read_csv_line(&sensor->data, buffer, sizeof(buffer), 0); + sscanf(buffer, "interval:%d\n", &sensor->interval); + + /* Skip the CSV header */ + + sensor->raw_start += + fakesensor_read_csv_line(&sensor->data, buffer, sizeof(buffer), 0); + return OK; +} + +static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower, bool sw) +{ + struct fakesensor_s *sensor = + (FAR struct fakesensor_s *)lower; + int ret; + + if (sw) + { + ret = file_open(&sensor->data, sensor->file_path, O_RDONLY); + if (ret < 0) + { + snerr("Failed to open file:%s, err:%d", sensor->file_path, ret); + return ret; + } + + fakesensor_read_csv_header(sensor); + } + else + { + ret = file_close(&sensor->data); + if (ret < 0) + { + snerr("Failed to close file:%s, err:%d", sensor->file_path, ret); + return ret; + } + } + + return OK; +} + +static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower, + FAR unsigned int *period_us) +{ + FAR struct fakesensor_s *sensor = container_of(lower, + struct fakesensor_s, lower); + sensor->interval = *period_us; + return OK; +} + +static int fakesensor_fetch(FAR struct sensor_lowerhalf_s *lower, + FAR char *buffer, size_t buflen) +{ + struct fakesensor_s *sensor = + (FAR struct fakesensor_s *)lower; + + if (lower->type == SENSOR_TYPE_ACCELEROMETER) + { + struct sensor_event_accel accel; + char raw[50]; + fakesensor_read_csv_line( + &sensor->data, raw, sizeof(raw), sensor->raw_start); + sscanf(raw, "%f,%f,%f\n", &accel.x, &accel.y, &accel.z); + accel.temperature = NAN; + accel.timestamp = sensor_get_timestamp(); + memcpy(buffer, &accel, buflen); + return buflen; + } + + if (lower->type == SENSOR_TYPE_MAGNETIC_FIELD) + { + struct sensor_event_accel mag; + char raw[50]; + fakesensor_read_csv_line( + &sensor->data, raw, sizeof(raw), sensor->raw_start); + sscanf(raw, "%f,%f,%f\n", &mag.x, &mag.y, &mag.z); + mag.temperature = NAN; + mag.timestamp = sensor_get_timestamp(); + memcpy(buffer, &mag, buflen); + return buflen; + } + + if (lower->type == SENSOR_TYPE_GYROSCOPE) + { + struct sensor_event_accel gyro; + char raw[50]; + fakesensor_read_csv_line( + &sensor->data, raw, sizeof(raw), sensor->raw_start); + sscanf(raw, "%f,%f,%f\n", &gyro.x, &gyro.y, &gyro.z); + gyro.temperature = NAN; + gyro.timestamp = sensor_get_timestamp(); + memcpy(buffer, &gyro, buflen); + return buflen; + } + + return -ENOTSUP; +} + +static int fakesensor_thread(int argc, char** argv) +{ + FAR struct fakesensor_s *sensor = (FAR struct fakesensor_s *) + ((uintptr_t)strtoul(argv[1], NULL, 0)); + + while (true) + { + if (sensor->data.f_inode != NULL) + { + /* Notify upper */ + + sensor->lower.notify_event(sensor->lower.priv); + } + + /* Sleeping thread */ + + usleep(1000000 / sensor->interval); + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: fakesensor_init + * + * Description: + * This function generates a sensor node under /dev/sensor/. And then + * report the data from csv file. + * + * Input Parameters: + * type - The type of sensor and Defined in + * file_name - The name of csv name and the file structure is as follows: + * First row : set interval + * Second row: csv file header + * third row : data + * (Each line should not exceed 50 characters) + * For example: + * interval:12 + * x,y,z + * 2.1234,3.23443,2.23456 + * ... + * devno - The user specifies which device of this type, from 0. + ****************************************************************************/ + +int fakesensor_init(int type, FAR const char *file_name, int devno) +{ + FAR struct fakesensor_s *sensor; + FAR char *argv[2]; + char arg1[32]; + int ret; + + /* Alloc memory for sensor */ + + sensor = kmm_zalloc(sizeof(struct fakesensor_s)); + if (!sensor) + { + snerr("Memory cannot be allocated for fakesensor\n"); + return -ENOMEM; + } + + sensor->lower.type = type; + sensor->lower.ops = &g_fakesensor_ops; + sensor->interval = 1; + sensor->file_path = file_name; + + /* Create thread for sensor */ + + snprintf(arg1, 32, "%p", sensor); + argv[0] = arg1; + argv[1] = NULL; + ret = kthread_create("fakesensor_thread", SCHED_PRIORITY_DEFAULT, + CONFIG_DEFAULT_TASK_STACKSIZE, fakesensor_thread, argv); + if (ret < 0) + { + kmm_free(sensor); + return ERROR; + } + + /* Register sensor */ + + sensor_register(&sensor->lower, devno); + + return OK; +} diff --git a/include/nuttx/sensors/fakesensor.h b/include/nuttx/sensors/fakesensor.h new file mode 100644 index 00000000000..55e7a5ff7a7 --- /dev/null +++ b/include/nuttx/sensors/fakesensor.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * include/nuttx/sensors/fakesensor.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SENSORS_FAKESENSOR_H +#define __INCLUDE_NUTTX_SENSORS_FAKESENSOR_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +extern "C" +{ +#endif + +/**************************************************************************** + * Name: fakesensor_init + * + * Description: + * This function generates a sensor node under /dev/sensor/. And then + * report the data from csv file. + * + * Input Parameters: + * type - The type of sensor and Defined in + * file_name - The name of csv name and the file structure is as follows: + * First row : set interval + * Second row: csv file header + * third row : data + * (Each line should not exceed 50 characters) + * For example: + * interval:12 + * x,y,z + * 2.1234,3.23443,2.23456 + * ... + * devno - The user specifies which device of this type, from 0. + ****************************************************************************/ + +int fakesensor_init(int type, FAR const char *file_name, int devno); + +#ifdef __cplusplus +} +#endif + +#endif