# stm32f103激光雷达

**Repository Path**: tang176084/stm32f103-lidar

## Basic Information

- **Project Name**: stm32f103激光雷达
- **Description**: 美国Neatoxv11扫地机器人激光雷达代码及上位机代码
- **Primary Language**: Unknown
- **License**: AGPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 3
- **Created**: 2023-07-07
- **Last Updated**: 2024-09-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# stm32f103激光雷达

#### 介绍
美国Neatoxv11扫地机器人激光雷达代码及上位机代码

#### 通信协议介绍
Data Format：
<start> <index> <speed_L> <speed_H> [Data 0] [Data 1] [Data 2] [Data 3] <checksum_L> <checksum_H>

<start> is always 0xFA

<index> is the index byte in the 90 packets, going from 0xA0 (packet 0, readings 0 to 3) to 0xF9 
(packet 89, readings 356 to 359).

<index>是90个数据包中的索引字节，从0xA0（数据包0，读数0到3）到0xF9（数据包89，读数356到359）。

<speed> is a two-byte information, little-endian. It represents the speed, in 64th of RPM (aka 
value in RPM represented in fixed point, with 6 bits used for the decimal part).

<speed>是一个两字节的信息，低字节存储次序。它表示速度，单位为64转/分（即用定点表示的转速值，小数部分为6位）

[Data 0] to [Data 3] are the 4 readings. Each one is 4 bytes long, and organized as follows :

[数据0]到[数据3]是4个读数。每个字节长4个字节，组织如下：

`byte 0 : <distance 7:0>`

`byte 1 : <"invalid data" flag> <"strength warning" flag> <distance 13:8>`

`byte 2 : <signal strength 7:0>`

`byte 3 : <signal strength 15:8>`

As chenglung points out, the distance information is in mm, and coded on 14 bits. This puts the tests 
made by Sparkfun in a room of around 3.3m x 3.9m (11ft x 13 ft ?), which seems reasonable.
距离单位为 mm 14位编码(其他无用信息)

The minimum distance is around 15cm, and the maximum distance is around 6m.
最小距离在15cm左右，最大距离在6m左右。（不太理解在哪体现）

When bit 7 of byte 1 is set, it indicates that the distance could not be calculated. When this bit is 
set, it seems that byte 0 contains an error code. Examples of error code are 0x02, 0x03, 0x21, 0x25, 
0x35 or 0x50...

nvalid data" flag  ： 置位时表示 字节0 发生错误，错误代码有0x02, 0x03, 0x21, 0x25, 0x35 or 0x50...

When it's `21`, then the whole block is `21 80 XX XX`, but for all the other values it's the data block
is `YY 80 00 00`...

当它是“21”时，则整个块是“21 80 XX XX”，但对于所有其他值，则是数据块是“YY 80 00 00”。。。
"invalid data" flag ： 表示无效数据，0x21是错误代码

The bit 6 of byte 1 is a warning when the reported strength is greatly inferior to what is expected at
this distance. This may happen when the material has a low reflectance (black material...), or when the
dot does not have the expected size or shape (porous material, transparent fabric, grid, edge of an 
object...), or maybe when there are parasitic reflections (glass... ).

当报告的强度大大低于此距离处的预期强度时，字节1的位6是一个警告。当材料具有低反射率（黑色材料…）时，
或者当点没有预期的大小或形状（多孔材料、透明织物、网格、物体边缘…）时，或者当存在寄生反射（玻璃…）
时，可能会发生这种情况.

strength warning" flag ： 表示强度有以上情况

Byte 2 and 3 are the LSB and MSB of the strength indication. This value can get very high when facing
a retroreflector.
字节2和3是强度指示的LSB和MSB。当面对回复反射器时，该值会变得非常高

checksum is a two-byte checksum of the packet.
校验和是包的两字节校验和。

启动雷达需要发送命令：startlds$

FA E8 F1 75 65 02 4B 2F 6C 02 FF 2D 73 02 9A 2C 80 02 CF 2A 00 00 
FA E9 F1 75 92 02 58 28 A1 02 12 28 AF 02 CA 24 BE 02 26 28 00 00 
FA EA F1 75 CA 02 8C 29 DA 02 B4 26 EC 02 C1 1B F2 02 9D 16 00 00 
FA EB F1 75 05 03 CD 18 01 03 C9 1D D9 02 EA 15 D5 02 D4 19 00 00 
FA EC F1 75 CB 02 77 0C B6 02 A4 09 99 99 4E 00 99 99 40 00 00 00 
FA ED F1 75 CA 02 37 0D 96 02 28 11 96 02 70 16 77 77 B9 06 17 01 
FA EE BB 75 D2 02 F2 1A 18 03 C0 05 A8 02 58 1C 9D 02 89 26 00 00 
FA EF BB 75 94 02 2E 2A 7B 02 A3 1B 71 02 F6 09 4E 02 73 13 00 00 
FA F0 BB 75 3F 02 E5 27 32 02 45 2D 1E 02 1D 1E 11 02 34 38 00 00 
FA F1 BB 75 99 99 48 00 D3 01 20 1D D1 01 6E 2D 99 99 45 00 00 00 
FA F2 BB 75 D9 01 FE 2E DF 01 24 33 D0 01 47 1B C7 01 40 34 00 00 
FA F3 BB 75 C2 01 80 37 C0 01 F0 38 BF 01 86 32 77 77 94 25 17 01 
FA F4 EF 75 D0 01 E2 40 D1 01 70 2B 47 02 EC 1A 66 66 C6 00 00 00 
FA F5 EF 75 79 02 B5 10 99 99 4A 00 99 99 4A 00 99 99 47 00 00 00 
FA F6 EF 75 99 99 4D 00 2A 03 72 04 23 03 05 04 15 03 F4 03 00 00 
FA F7 EF 75 99 99 4F 00 99 99 50 00 99 99 4D 00 99 99 4B 00 00 00 
FA F8 EF 75 99 99 4B 00 3E 03 51 09 41 03 5D 05 6E 05 A3 0F 00 00 
FA F9 EF 75 80 05 BD 11 91 05 85 11 9B 05 38 10 77 77 B9 06 17 01 

FA A0 BB 75 BC 05 20 10 CD 05 54 0F E6 05 6C 0F FD 05 92 0F 00 00 
FA A1 BB 75 1D 06 EE 0D 34 06 1D 0D 13 06 7F 06 13 06 26 06 00 00 
FA A2 BB 75 99 99 47 00 C4 04 E7 0D B5 04 2E 10 AE 04 19 13 00 00 
FA A3 BB 75 A6 04 71 13 9F 04 F6 13 A1 04 FD 13 B5 04 58 13 00 00 
FA A4 BB 75 99 99 4F 00 99 99 40 00 99 99 46 00 39 02 56 0C 00 00 
FA A5 BB 75 99 99 47 00 41 02 73 0C 43 02 F1 0E 77 77 94 25 17 01 
FA A6 BD 75 49 02 98 1D 4D 02 A0 28 4E 02 1A 29 51 02 26 31 00 00 
FA A7 BD 75 53 02 91 2A 56 02 A0 29 57 02 F5 2A 5B 02 E3 24 00 00 
FA A8 BD 75 5B 02 EF 1F 53 02 7B 16 5F 02 06 18 57 02 9B 07 00 00 
FA A9 BD 75 99 99 43 00 99 99 40 00 99 99 40 00 38 02 44 13 00 00 
FA AA BD 75 46 02 1A 11 99 99 46 00 35 02 1E 12 99 99 50 00 00 00 
FA AB BD 75 12 01 1E 26 99 99 4E 00 39 02 F5 08 77 77 B9 06 17 01 
FA AC CC 75 97 04 19 07 90 04 95 0F 63 04 ED 1B 60 04 65 21 00 00 
FA AD CC 75 6A 04 EB 1A 99 99 48 00 99 99 47 00 99 99 40 00 00 00 
FA AE CC 75 D8 01 CA 0A 99 99 4A 00 99 99 40 00 99 99 47 00 00 00 
FA AF CC 75 99 99 41 00 99 99 43 00 99 99 4E 00 66 66 55 00 00 00 
FA B0 CC 75 7D 03 5F 04 48 03 A3 05 11 03 2E 07 DF 02 08 08 00 00 
FA B1 CC 75 BE 02 63 09 9C 02 DD 0A 78 02 11 0E 77 77 94 25 17 01 
FA B2 10 76 3D 04 5A 17 45 04 02 18 4C 04 E4 17 54 04 A0 16 00 00 
FA B3 10 76 59 04 56 0F 68 04 02 12 6F 04 71 17 79 04 61 16 00 00 
FA B4 10 76 81 04 97 15 81 04 CB 08 9F 04 F3 0E A6 04 77 14 00 00 
FA B5 10 76 AE 04 71 14 BD 04 D6 12 C7 04 8C 11 D6 04 EF 0D 00 00 
FA B6 10 76 D8 04 29 0C EF 04 39 05 12 05 A7 09 99 99 41 00 00 00 
FA B7 10 76 99 99 3F 00 99 99 3E 00 99 99 3E 00 77 77 B9 06 17 02 
FA B8 11 76 99 99 41 00 99 99 41 00 99 99 40 00 99 99 40 00 00 00 
FA B9 11 76 99 99 42 00 99 99 40 00 99 99 3F 00 39 02 65 0B 00 00 
FA BA 11 76 24 02 D6 1D F9 01 9E 15 EA 01 9C 29 DE 01 18 15 00 00 
FA BB 11 76 CB 01 B4 22 C2 01 5D 22 BC 01 46 38 BD 01 CE 22 00 00 
FA BC 11 76 B2 01 F8 26 AB 01 F2 27 A7 01 44 31 A1 01 D7 14 00 00 
FA BD 11 76 A1 01 D4 2D A2 01 6E 2F A2 01 B0 2F 77 77 94 25 17 02 
FA BE 0F 76 A3 01 3C 33 A6 01 CE 27 A8 01 6C 2C AB 01 7C 29 00 00 
FA BF 0F 76 AE 01 B6 24 B3 01 F8 21 BA 01 6A 2A BC 01 D6 20 00 00 
FA C0 0F 76 C1 01 5F 13 66 66 CC 00 D9 01 45 1A E4 01 C4 0F 00 00 
FA C1 0F 76 99 99 42 00 99 99 40 00 1C 05 A8 05 12 05 5B 0D 00 00 
FA C2 0F 76 05 05 0E 0D 99 99 43 00 99 99 3F 00 99 99 3F 00 00 00 
FA C3 0F 76 99 99 3E 00 99 99 3E 00 99 99 3F 00 77 77 B9 06 17 02 
FA C4 10 76 99 99 45 00 66 66 61 00 21 01 24 24 66 66 54 00 00 00 
FA C5 10 76 99 99 45 00 99 99 41 00 99 99 40 00 99 99 40 00 00 00 
FA C6 10 76 05 05 EE 0F 0A 05 A9 11 0A 05 13 12 17 05 5A 11 00 00 
FA C7 10 76 1C 05 AC 10 21 05 BA 11 28 05 3A 10 2D 05 82 0C 00 00 
FA C8 10 76 3C 05 D8 0E 49 05 9A 0F 4E 05 DC 0F 4E 05 25 0D 00 00 
FA C9 10 76 58 05 63 0C 32 05 37 0B 00 05 61 0B 77 77 94 25 17 02 
FA CA 10 76 B5 04 42 0B 97 04 5A 15 58 05 F1 0F 64 05 50 10 00 00 
FA CB 10 76 69 05 2B 10 7B 05 0C 10 80 05 4F 0F 8A 05 44 10 00 00 
FA CC 10 76 96 05 60 0F A5 05 E8 0F B7 05 EB 0E BC 05 02 0E 00 00 
FA CD 10 76 C8 05 38 0E D7 05 1F 0D EE 05 5C 0D FD 05 B0 0C 00 00 
FA CE 10 76 13 06 32 0C 2C 06 B3 0B 3B 06 D4 0B 5C 06 B7 0B 00 00 
FA CF 10 76 66 66 04 01 84 06 BD 09 A2 06 11 0A 77 77 B9 06 17 02 
FA D0 11 76 D1 06 C4 08 21 07 0C 07 99 99 46 00 99 99 4C 00 00 00 
FA D1 11 76 66 66 55 00 66 66 5A 00 4E 0C 4E 04 33 0C 4B 04 00 00 
FA D2 11 76 1A 0C 4B 04 E3 0B 57 04 E3 0B 53 04 66 66 68 00 00 00 
FA D3 11 76 75 0B 3B 05 75 0B BA 04 3E 0B A4 05 3E 0B 42 06 00 00 
FA D4 11 76 07 0B ED 05 07 0B AF 06 07 0B 75 06 D0 0A BD 05 00 00 
FA D5 11 76 D0 0A 92 06 A5 0A 5F 06 A5 0A 43 06 77 77 94 25 17 02 
FA D6 0F 76 80 0A F9 05 99 99 42 00 7B 05 30 0C 69 05 F5 0F 00 00 
FA D7 0F 76 6E 05 81 13 69 05 6B 13 69 05 BF 13 99 99 46 00 00 00 
FA D8 0F 76 87 03 DB 13 84 03 A7 17 84 03 44 16 82 03 2F 0A 00 00 
FA D9 0F 76 E5 03 AF 1A DB 03 C8 1C D3 03 08 1D CC 03 3B 1D 00 00 
FA DA 0F 76 C4 03 72 1E 96 03 FD 22 93 03 9B 21 93 03 9A 1E 00 00 
FA DB 0F 76 A6 03 F0 1F B5 03 F1 1E B5 03 83 1D BA 03 2A 1D 18 02 
FA DC 11 76 BD 03 00 1B 9F 03 0E 14 A1 03 89 12 A4 03 CA 12 00 00 
FA DD 11 76 AE 03 8D 12 B0 03 60 11 B3 03 5C 10 B8 03 86 10 00 00 
FA DE 11 76 BD 03 6A 11 C2 03 D1 0D C7 03 18 0D CC 03 34 0D 00 00 
FA DF 11 76 D1 03 9B 0C D6 03 18 0D DD 03 0B 0D E5 03 D7 0B 00 00 
FA E0 11 76 EB 03 A3 0C E5 03 E3 11 E5 03 DC 15 E2 03 E1 06 00 00 
FA E1 11 76 FB 02 F4 0A F0 02 FC 11 77 77 43 06 77 77 94 25 16 02 
FA E2 11 76 EB 02 31 21 E7 02 41 1D 99 99 46 00 99 99 41 00 00 00 
FA E3 11 76 99 99 41 00 99 99 41 00 99 99 41 00 99 99 42 00 00 00 
FA E4 11 76 99 99 44 00 6C 02 FE 12 65 02 52 22 5C 02 6E 23 00 00 
FA E5 11 76 56 02 7D 25 49 02 38 25 46 02 66 2F 43 02 C3 31 00 00 
FA E6 11 76 41 02 2C 34 3F 02 66 34 3F 02 66 2E 46 02 B8 1C 00 00 
FA E7 11 76 49 02 B0 09 49 02 7F 0A 5B 02 4A 14 77 77 2A 1D 17 02 
FA E8 A1 77 66 02 40 2E 6E 02 57 30 78 02 18 2B 84 02 20 28 00 00 
FA E9 A1 77 93 02 0F 2C A5 02 55 26 B4 02 13 27 BE 02 8E 2B 00 00 
FA EA A1 77 CB 02 8D 29 DD 02 11 2A EE 02 AB 15 EC 02 55 1E 00 00 
FA EB A1 77 07 03 FB 1C FC 02 81 1E DC 02 B4 2E D0 02 5C 10 00 00 
FA EC A1 77 C1 02 D6 0C B5 02 92 0A 99 99 42 00 99 99 45 00 00 00 
FA ED A1 77 C5 02 58 0E 8F 02 2C 0D 9C 02 0C 17 77 77 94 25 17 02 
FA EE 10 76 D0 02 78 1D 13 03 2F 05 A8 02 B5 1D 9D 02 7F 27 00 00 
FA EF 10 76 93 02 BD 2B 7B 02 D5 1D 71 02 F2 08 4E 02 DF 14 00 00 
FA F0 10 76 3F 02 70 2A 30 02 F7 2F 1E 02 F5 21 11 02 2E 3A 00 00 
FA F1 10 76 99 99 48 00 D3 01 48 25 D0 01 EC 2E 99 99 46 00 00 00 
FA F2 10 76 D9 01 82 31 DF 01 14 36 D0 01 D7 1E C7 01 46 35 00 00 
FA F3 10 76 C2 01 C8 39 C0 01 B6 3A C0 01 C2 33 77 77 2A 1D 17 01 
FA F4 11 76 D0 01 38 44 D1 01 34 2C 46 02 8C 1D 66 66 D4 00 00 00 
FA F5 11 76 79 02 79 10 99 99 4A 00 99 99 4B 00 99 99 49 00 00 00 
FA F6 11 76 99 99 4F 00 2D 03 E9 03 23 03 15 04 13 03 02 04 00 00 
FA F7 11 76 99 99 50 00 66 66 51 00 99 99 4F 00 99 99 4C 00 00 00 
FA F8 11 76 99 99 4D 00 3E 03 F2 09 3E 03 5E 05 73 05 D1 10 00 00 
FA F9 11 76 80 05 EB 11 91 05 01 12 A0 05 9F 10 77 77 94 25 17 02 

FA A0 11 76 BC 05 F0 10 D2 05 F4 0F E6 05 54 0F FD 05 1D 10 00 00 
FA A1 11 76 1D 06 E9 0D 34 06 E6 0D 13 06 8B 06 13 06 32 06 00 00 
FA A2 11 76 99 99 43 00 C4 04 CD 0E B5 04 62 11 AE 04 96 13 00 00 
FA A3 11 76 A6 04 39 14 9F 04 E0 14 A1 04 E7 13 B8 04 50 13 00 00 
FA A4 11 76 99 99 45 00 99 99 41 00 99 99 4F 00 39 02 A1 0B 00 00 
FA A5 11 76 99 99 4A 00 41 02 25 0D 44 02 5D 10 77 77 2A 1D 17 02 
FA A6 10 76 4B 02 DA 20 4D 02 CA 2A 4E 02 22 2B 51 02 87 33 00 00 
FA A7 10 76 53 02 F2 2B 56 02 24 2A 58 02 1B 2D 5B 02 33 26 00 00 
FA A8 10 76 5B 02 4C 20 53 02 0A 15 5F 02 8B 19 53 02 3A 0B 00 00 
FA A9 10 76 99 99 42 00 99 99 40 00 99 99 40 00 37 02 EA 0C 00 00 
FA AA 10 76 46 02 9C 0E 99 99 44 00 66 66 5D 00 44 02 89 08 00 00 
FA AB 10 76 12 01 52 2E 41 02 1A 05 39 02 D5 07 77 77 94 25 17 02 
FA AC 10 76 97 04 60 07 81 04 ED 12 63 04 87 1C 60 04 5D 22 00 00 
FA AD 10 76 72 04 17 18 99 99 47 00 99 99 49 00 99 99 40 00 00 00 
FA AE 10 76 D8 01 01 0C 99 99 49 00 99 99 3F 00 99 99 47 00 00 00 
FA AF 10 76 99 99 43 00 99 99 42 00 99 99 4F 00 B8 03 5D 03 00 00 
FA B0 10 76 75 03 8E 04 3C 03 2C 06 07 03 C3 07 DA 02 63 08 00 00 
FA B1 10 76 B9 02 A7 09 94 02 81 0B 71 02 BF 18 77 77 2A 1D 17 02 
FA B2 7B 77 3D 04 40 18 45 04 B8 18 4C 04 27 18 54 04 E5 16 00 00 
FA B3 7B 77 59 04 E0 0E 68 04 DB 12 6F 04 A4 16 7E 04 07 17 00 00 
FA B4 7B 77 83 04 F1 14 7E 04 36 07 9F 04 0D 11 A6 04 48 16 00 00 
FA B5 7B 77 B0 04 91 13 BD 04 E4 12 C9 04 22 12 D6 04 4C 0E 00 00 
FA B6 7B 77 DD 04 E5 0A 66 66 9D 00 0A 05 EA 05 99 99 40 00 00 00 
FA B7 7B 77 99 99 3F 00 99 99 3F 00 99 99 3F 00 77 77 94 25 17 02 
FA B8 11 76 99 99 40 00 99 99 41 00 99 99 42 00 99 99 40 00 00 00 
FA B9 11 76 99 99 43 00 99 99 40 00 99 99 41 00 3A 02 7E 0C 00 00 
FA BA 11 76 24 02 29 20 F9 01 9A 14 EA 01 AD 2A DF 01 84 15 00 00 
FA BB 11 76 CB 01 0C 22 C2 01 A1 22 BC 01 76 3A BC 01 5E 24 00 00 
FA BC 11 76 B2 01 D6 27 AB 01 10 2A A7 01 CA 33 A2 01 DA 14 00 00 
FA BD 11 76 A2 01 78 2F A2 01 12 34 A2 01 A8 31 77 77 2A 1D 17 02 
FA BE 10 76 A3 01 20 30 A6 01 12 2A A8 01 64 2E AB 01 C2 2A 00 00 
FA BF 10 76 AE 01 92 24 B5 01 08 25 BA 01 02 2F BC 01 33 21 00 00 
FA C0 10 76 C2 01 EA 13 D4 01 88 16 D9 01 48 1A E4 01 6F 0F 00 00 
FA C1 10 76 99 99 43 00 99 99 42 00 17 05 CF 06 0A 05 11 0E 00 00 
FA C2 10 76 05 05 28 0B 99 99 42 00 99 99 3E 00 99 99 3E 00 00 00 
FA C3 10 76 99 99 3F 00 99 99 3F 00 99 99 3E 00 77 77 94 25 17 02 
FA C4 F3 77 99 99 45 00 24 01 D4 15 21 01 5E 22 99 99 50 00 00 00 
FA C5 F3 77 99 99 44 00 99 99 42 00 99 99 40 00 99 99 4E 00 00 00 
FA C6 F3 77 05 05 A3 11 0A 05 57 12 12 05 42 13 17 05 08 12 00 00 
FA C7 F3 77 1C 05 5F 11 28 05 E9 12 21 05 75 0D 32 05 16 11 00 00 
FA C8 F3 77 3C 05 8A 10 44 05 CD 10 53 05 6C 10 49 05 FC 08 00 00 
FA C9 F3 77 5F 05 61 0A 28 05 5F 0B EF 04 DE 0B 77 77 2A 1D 17 02 
FA CA 11 76 BD 04 27 0C 97 04 8E 14 53 05 7E 10 5F 05 F3 10 00 00 
FA CB 11 76 69 05 5E 11 73 05 A0 10 80 05 BD 10 8A 05 42 10 00 00 
FA CC 11 76 96 05 E2 0F A0 05 1F 0F AD 05 00 10 BC 05 4F 0E 00 00 
FA CD 11 76 C8 05 FE 0D D7 05 21 0E E6 05 B1 0E FD 05 1B 0D 00 00 
FA CE 11 76 13 06 EF 0C 25 06 ED 0C 3B 06 B6 0B 5C 06 8F 0C 00 00 
FA CF 11 76 6B 06 C3 0A 84 06 ED 0A 9A 06 27 0B 77 77 94 25 17 02 
FA D0 11 76 CA 06 EC 09 66 66 92 00 99 99 46 00 99 99 4F 00 00 00 
FA D1 11 76 83 0C 15 04 6A 0C 9B 03 4E 0C 59 04 33 0C 55 04 00 00 
FA D2 11 76 1A 0C 4E 04 E3 0B A8 04 E3 0B 5C 04 AE 0B 9F 04 00 00 
FA D3 11 76 75 0B 82 05 75 0B 90 05 3E 0B B8 05 3E 0B 6F 06 00 00 
FA D4 11 76 07 0B 1B 06 07 0B F0 06 07 0B D3 06 D0 0A FE 05 00 00 
FA D5 11 76 66 66 88 00 A5 0A CB 05 A5 0A 58 06 77 77 2A 1D 17 02 
FA D6 0F 76 A5 0A D5 06 99 99 42 00 7B 05 B9 0C 69 05 DE 10 00 00 
FA D7 0F 76 6E 05 03 14 69 05 2C 14 69 05 F2 14 99 99 47 00 00 00 
FA D8 0F 76 87 03 E1 15 84 03 13 19 84 03 EF 17 82 03 18 0D 00 00 
FA D9 0F 76 E5 03 D3 1B DB 03 C0 1E D3 03 F2 1D C9 03 89 1E 00 00 
FA DA 0F 76 C4 03 35 1F 96 03 96 23 93 03 3F 22 93 03 3F 1F 00 00 
FA DB 0F 76 A6 03 EF 21 B5 03 B4 1F B5 03 09 1F 77 77 94 25 17 02 
FA DC 10 76 BA 03 B2 1E BA 03 FF 1B A1 03 B5 15 9F 03 B1 13 00 00 
FA DD 10 76 A4 03 3A 14 AE 03 50 13 B0 03 62 12 B5 03 AF 11 00 00 
FA DE 10 76 B8 03 31 12 BD 03 4F 12 C2 03 62 0E C7 03 BA 0D 00 00 
FA DF 10 76 CC 03 B1 0D D1 03 7A 0D D8 03 7B 0D DD 03 4D 0D 00 00 
FA E0 10 76 E5 03 80 0C EB 03 06 0D E2 03 BF 13 E7 03 FC 16 00 00 
FA E1 10 76 E0 03 3F 07 FC 02 30 0B F0 02 C4 13 77 77 2A 1D 17 02 
FA E2 D2 77 EB 02 A4 23 E7 02 4D 1B 99 99 45 00 99 99 42 00 00 00 
FA E3 D2 77 99 99 42 00 99 99 42 00 99 99 41 00 99 99 42 00 00 00 
FA E4 D2 77 99 99 45 00 6B 02 7A 14 65 02 87 24 5C 02 DA 26 00 00 
FA E5 D2 77 53 02 CC 24 49 02 01 29 46 02 E1 32 43 02 0D 35 00 00 
FA E6 D2 77 41 02 CE 37 3F 02 48 37 3F 02 51 2E 47 02 5F 1C 00 00 
FA E7 D2 77 4C 02 7E 08 4C 02 66 0C 5C 02 6E 1A 77 77 94 25 17 02 
FA E8 11 76 65 02 7B 34 6E 02 92 32 75 02 BA 30 80 02 59 2E 00 00 
FA E9 11 76 92 02 A6 04 5E 15 00 00 
FA B5 0F 76 B0 04 09 15 BD 04 04 15 C7 04 18 13 D6 04 35 10 00 00 
FA B6 0F 76 D8 04 93 0C FB 04 FE 05 12 05 BA 08 99 99 41 00 00 00 
FA B7 0F 76 99 99 3F 00 99 99 3F 00 99 99 3F 00 77 77 2A 1D 17 02 
FA B8 0E 76 99 99 41 00 99 99 41 00 99 99 41 00 99 99 40 00 00 00 
FA B9 0E 76 99 99 42 00 99 99