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N64 on Esp32 works perfectly now

master
Travis Burtrum 2 years ago
parent
3146ebec3a
commit
edc283a9ae
3 changed files with 286 additions and 159 deletions
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  1. 2
      platformio.ini
  2. 310
      src/N64Esp32.cpp
  3. 133
      test/test_N64Esp32.cpp

2
platformio.ini
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@ -164,7 +164,7 @@ build_flags = ${in-snes.build_flags} ${out-switchusb.build_flags} @@ -164,7 +164,7 @@ build_flags = ${in-snes.build_flags} ${out-switchusb.build_flags}
[in-n64-esp32]
src_filter = -<*> +<N64Esp32.cpp>
build_flags = ${common.build_flags} -DGAMEPAD_INPUT=3 -DGAMEPAD_COUNT=1 -fpermissive -O0
build_flags = ${common.build_flags} -DGAMEPAD_INPUT=3 -DGAMEPAD_COUNT=1
[in-n64-micro]
src_filter = -<*> +<N64Micro.cpp>

310
src/N64Esp32.cpp
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@ -16,21 +16,21 @@ PIN # USAGE @@ -16,21 +16,21 @@ PIN # USAGE
#include "pins.h"
#define DATA_PIN 23
#define DATA_PIN OR_PIN_2
//#define PRINT_Y_AXIS_VALUES 1
//#define PRINT_X_AXIS_VALUES 1
//#define PLOT_CONSOLE_POLLING 1
#define DEBUG
#define PRINT_DATA
//#define DEBUG
//#define PRINT_DATA
#ifndef GAMEPAD_COUNT
#define GAMEPAD_COUNT 1
#endif
#define AXIS_CENTER_IN 0
#define AXIS_MAX_IN 60
#define AXIS_MIN_IN -60
#define AXIS_MAX_IN 70
#define AXIS_MIN_IN -70
#include "gamepad/Gamepad.h"
#include "util.cpp"
@ -38,10 +38,7 @@ PIN # USAGE @@ -38,10 +38,7 @@ PIN # USAGE
#define LINE_WRITE_HIGH pinMode(DATA_PIN, INPUT_PULLUP)
#define LINE_WRITE_LOW pinMode(DATA_PIN, OUTPUT)
#define MAX_INCLINE_AXIS_X 60
#define MAX_INCLINE_AXIS_Y 60
#define DATA_SIZE 1536 // number of sample points to poll
#define DATA_SIZE 2048 // number of sample points to poll
#define CALIBRATE_PASSES 5
#define NUM_BITS 32
@ -49,10 +46,12 @@ PIN # USAGE @@ -49,10 +46,12 @@ PIN # USAGE
// buffer to hold data being read from controller
bool buffer[DATA_SIZE];
// bit resolution and offsets
int bitOffsets[NUM_BITS];
// bit resolution
int bitResolution = 0;
int bitsToRead = DATA_SIZE;
int lastIndex = 0;
bool returnedBits[NUM_BITS];
bool oldReport[NUM_BITS];
GAMEPAD_CLASS gamepad;
@ -91,10 +90,7 @@ void updateOffsetsAndResolution() { @@ -91,10 +90,7 @@ void updateOffsetsAndResolution() {
// current index
int i = 0;
// we might be further refining a previous calibration, if non-zero, remove existing bitResolution
for (int i = 0; i < NUM_BITS; i++) {
bitOffsets[i] += bitResolution;
}
bitResolution /= 2;
for (; i < DATA_SIZE; i++) {
if (buffer[i] == false) {
@ -110,9 +106,8 @@ void updateOffsetsAndResolution() { @@ -110,9 +106,8 @@ void updateOffsetsAndResolution() {
// if a falling edge is detected
if (buffer[1 + i] == false) {
// store bit's earliest possible beginning offsets
int thisOffset = i - thisResolution + 1;
if (bitOffsets[bitCounter] == 0 || bitOffsets[bitCounter] > thisOffset) {
bitOffsets[bitCounter] = thisOffset;
if (lastIndex < (i + 1)) {
lastIndex = i + 1;
}
// store max resolution in bitResolution
@ -128,17 +123,12 @@ void updateOffsetsAndResolution() { @@ -128,17 +123,12 @@ void updateOffsetsAndResolution() {
}
}
// calculate bit's beginning offsets by subtracting resolution
// if this index is 0, button is not pressed, if 1, button is pressed
for (int i = 0; i < NUM_BITS; i++) {
bitOffsets[i] -= bitResolution;
}
bitResolution *= 2;
}
void calcBitsToRead() {
bitsToRead = bitOffsets[NUM_BITS - 1] + 1;
if (bitsToRead < NUM_BITS * 2) {
// todo: not enough, error out...
void checkBitsToRead() {
if (lastIndex < NUM_BITS * 2) {
// not enough, error out...
while (true) {
printf("not enough bitsToRead, increase DATA_SIZE ???\n");
delay(5000);
@ -146,11 +136,6 @@ void calcBitsToRead() { @@ -146,11 +136,6 @@ void calcBitsToRead() {
}
}
/* Function to extract a controller bit from the buffer of returned data */
void getBit(bool *bit, int offset, bool *data) {
*bit = data[offset] == true;
}
/** Function to send a Command to the attached N64-Controller.
* Must be run from RAM to defy timing differences introduced from
* reading Code from ESP32's SPI Flash Chip.
@ -159,9 +144,6 @@ void IRAM_ATTR sendCommand(byte command) { @@ -159,9 +144,6 @@ void IRAM_ATTR sendCommand(byte command) {
// the current bit to write
bool bit;
// clear output buffer, todo: really need to do this????
//memset(buffer, 0, DATA_SIZE);
noInterrupts();
// for each bit
@ -180,12 +162,13 @@ void IRAM_ATTR sendCommand(byte command) { @@ -180,12 +162,13 @@ void IRAM_ATTR sendCommand(byte command) {
LINE_WRITE_LOW;
delayMicroseconds(1);
LINE_WRITE_HIGH;
delayMicroseconds(2);
delayMicroseconds(1); // by spec should be 2
// read returned data as fast as possible
for (int i = 0; i < bitsToRead; i++) {
//buffer[i] = digitalRead(DATA_PIN);
for (int i = 0; i < DATA_SIZE; i++) {
// this is faster:
#if defined(ARDUINO_ARCH_ESP32)
#if DATA_PIN < 32
buffer[i] = (GPIO.in >> DATA_PIN) & 0x1;
#elif DATA_PIN < 40
@ -195,27 +178,79 @@ void IRAM_ATTR sendCommand(byte command) { @@ -195,27 +178,79 @@ void IRAM_ATTR sendCommand(byte command) {
#error unsupported DATA_PIN must be <40
#endif
//delayMicroseconds(1);
#else
// this is portable:
buffer[i] = digitalRead(DATA_PIN);
#endif // not defined(ARDUINO_ARCH_ESP32)
}
interrupts();
// plot polling process from controller if unstructed to
#ifdef PLOT_CONSOLE_POLLING
for (int i = 0; i < bitsToRead; i++) {
for (int i = 0; i < DATA_SIZE; i++) {
Serial.println(buffer[i] * 2500);
}
#endif
#ifdef PRINT_DATA
for (int i = 0; i < bitsToRead; i++) {
for (int i = 0; i < DATA_SIZE; i++) {
printf(buffer[i] ? "1" : "0");
}
printf("\n----------------\n");
#endif
}
bool calcReturnedBits() {
// the current bit counter
int bitCounter = 0;
// to hold the number of 1's in this bit
int thisResolution = 0;
// current index
int i = 0;
for (; i < DATA_SIZE; i++) {
if (buffer[i] == false) {
// we skip all leading 1's
break;
}
}
// iterate over buffer
for (; i < DATA_SIZE - 1 && bitCounter < NUM_BITS; i++) {
if (buffer[i] == true) {
++thisResolution;
// if a falling edge is detected
if (buffer[1 + i] == false) {
returnedBits[bitCounter] = thisResolution >= bitResolution;
// reset thisResolution
thisResolution = 0;
// increment bitCounter
++bitCounter;
}
}
}
#ifdef DEBUG
if (bitCounter != 32) {
printf("%i != 32, not enough bitsToRead, increase DATA_SIZE ???\n", bitCounter);
// not enough, error out...
/*
for (int i = 0; i < bitsToRead; i++) {
printf(buffer[i] ? "1" : "0");
}
printf("\n----------------\n");
*/
}
#endif
return bitCounter == 32;
}
/** Function to populate the controller struct if command 0x01 was sent.
* Buttons are set according to data in buffer, raw axis data is written,
* Axis Data is correctly decoded from raw axis data by taking two's complement
@ -224,41 +259,29 @@ void IRAM_ATTR sendCommand(byte command) { @@ -224,41 +259,29 @@ void IRAM_ATTR sendCommand(byte command) {
*/
void populateControllerStruct(ControllerData *data) {
// first byte
data->buttonA = buffer[bitOffsets[0]];
data->buttonB = buffer[bitOffsets[1]];
data->buttonZ = buffer[bitOffsets[2]];
data->buttonStart = buffer[bitOffsets[3]];
data->DPadUp = buffer[bitOffsets[4]];
data->DPadDown = buffer[bitOffsets[5]];
data->DPadLeft = buffer[bitOffsets[6]];
data->DPadRight = buffer[bitOffsets[7]];
data->buttonA = returnedBits[0];
data->buttonB = returnedBits[1];
data->buttonZ = returnedBits[2];
data->buttonStart = returnedBits[3];
data->DPadUp = returnedBits[4];
data->DPadDown = returnedBits[5];
data->DPadLeft = returnedBits[6];
data->DPadRight = returnedBits[7];
// second byte, first two bits are unused
data->buttonL = buffer[bitOffsets[10]];
data->buttonR = buffer[bitOffsets[11]];
data->CUp = buffer[bitOffsets[12]];
data->CDown = buffer[bitOffsets[13]];
data->CRight = buffer[bitOffsets[14]];
// third byte
getBit(&(data->xAxisRaw[0]), bitOffsets[16], &buffer[0]);
getBit(&(data->xAxisRaw[1]), bitOffsets[17], &buffer[0]);
getBit(&(data->xAxisRaw[2]), bitOffsets[18], &buffer[0]);
getBit(&(data->xAxisRaw[3]), bitOffsets[19], &buffer[0]);
getBit(&(data->xAxisRaw[4]), bitOffsets[20], &buffer[0]);
getBit(&(data->xAxisRaw[5]), bitOffsets[21], &buffer[0]);
getBit(&(data->xAxisRaw[6]), bitOffsets[22], &buffer[0]);
getBit(&(data->xAxisRaw[7]), bitOffsets[23], &buffer[0]);
// fourth byte
getBit(&(data->yAxisRaw[0]), bitOffsets[24], &buffer[0]);
getBit(&(data->yAxisRaw[1]), bitOffsets[25], &buffer[0]);
getBit(&(data->yAxisRaw[2]), bitOffsets[26], &buffer[0]);
getBit(&(data->yAxisRaw[3]), bitOffsets[27], &buffer[0]);
getBit(&(data->yAxisRaw[4]), bitOffsets[28], &buffer[0]);
getBit(&(data->yAxisRaw[5]), bitOffsets[29], &buffer[0]);
getBit(&(data->yAxisRaw[6]), bitOffsets[30], &buffer[0]);
getBit(&(data->yAxisRaw[7]), bitOffsets[31], &buffer[0]);
data->buttonL = returnedBits[10];
data->buttonR = returnedBits[11];
data->CUp = returnedBits[12];
data->CDown = returnedBits[13];
data->CLeft = returnedBits[14];
data->CRight = returnedBits[15];
for (int i = 0; i < 8; ++i) {
// third byte
data->xAxisRaw[i] = returnedBits[i + 16];
// fourth byte
data->yAxisRaw[i] = returnedBits[i + 24];
}
// sum up bits to get axis bytes
data->xAxis = 0;
@ -302,38 +325,72 @@ void populateControllerStruct(ControllerData *data) { @@ -302,38 +325,72 @@ void populateControllerStruct(ControllerData *data) {
}
// keep x axis below maxIncline
if (data->xAxis > MAX_INCLINE_AXIS_X)
data->xAxis = MAX_INCLINE_AXIS_X;
if (data->xAxis < -MAX_INCLINE_AXIS_X)
data->xAxis = -MAX_INCLINE_AXIS_X;
if (data->xAxis > AXIS_MAX_IN)
data->xAxis = AXIS_MAX_IN;
if (data->xAxis < AXIS_MIN_IN)
data->xAxis = AXIS_MIN_IN;
// keep y axis below maxIncline
if (data->yAxis > MAX_INCLINE_AXIS_Y)
data->yAxis = MAX_INCLINE_AXIS_Y;
if (data->yAxis < -MAX_INCLINE_AXIS_Y)
data->yAxis = -MAX_INCLINE_AXIS_Y;
if (data->yAxis > AXIS_MAX_IN)
data->yAxis = AXIS_MAX_IN;
if (data->yAxis < AXIS_MIN_IN)
data->yAxis = AXIS_MIN_IN;
//Serial.printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
}
ControllerData controller;
void loope() {
void setup() {
#ifdef DEBUG
Serial.begin(115200);
delay(5000);
#endif
gamepad.begin();
// setup io pins
//setupIO();
// the controller data line
LINE_WRITE_HIGH;
#ifdef PLOT_CONSOLE_POLLING
sendCommand(0x01);
while (true)
;
#endif
for (int i = 0; i < CALIBRATE_PASSES; ++i) {
sendCommand(0x01);
updateOffsetsAndResolution();
if (i != CALIBRATE_PASSES) {
delay(14);
}
}
checkBitsToRead();
#ifdef DEBUG
printf("bitResolution: %i, lastIndex: %i\n", bitResolution, lastIndex);
delay(5000);
#endif
}
void loop() {
// polling must not occur faster than every 20 ms
//delay(14);
delay(30);
//delay(2000); // todo: change to above
delay(14);
//Serial.println("sending command to n64");
// send command 0x01 to n64 controller
sendCommand(0x01);
//updateOffsetsAndResolution();
if (calcReturnedBits() && memcmp(oldReport, returnedBits, sizeof(returnedBits))) {
memcpy(oldReport, returnedBits, sizeof(returnedBits));
} else {
// nothing changed
return;
}
// store received data in controller struct
populateControllerStruct(&controller);
// output received data to ique
//outputToiQue(&controller);
uint8_t c = 0; // for now just do 1 pad
gamepad.buttons(c, 0);
if (controller.buttonStart) {
@ -362,11 +419,16 @@ void loope() { @@ -362,11 +419,16 @@ void loope() {
}
auto hat = calculateDpadDirection(controller.DPadUp, controller.DPadDown, controller.DPadLeft, controller.DPadRight);
auto cHat = dpadToAxis(calculateDpadDirection(controller.CUp, controller.CDown, controller.CLeft, controller.CRight));
gamepad.setAxis(c, translateAxis(controller.xAxis), translateAxis(controller.yAxis), cHat.x, cHat.y, 0, 0, hat);
//checkUpdateCombo(&controller);
gamepad.setAxis(c, translateAxis(controller.xAxis), -translateAxis(controller.yAxis), cHat.x, cHat.y, 0, 0, hat);
#ifdef DEBUG
/*
for (int i = 0; i < bitsToRead; i++) {
Serial.print(buffer[i] ? "1" : "0");
}
Serial.println("\n----------------");
*/
Serial.print(" buttons: ");
Serial.print(controller.buttonA ? "A" : "-");
Serial.print(controller.buttonB ? "B" : "-");
@ -387,69 +449,11 @@ void loope() { @@ -387,69 +449,11 @@ void loope() {
Serial.print(" Y: ");
Serial.print(controller.yAxis);
Serial.print(" YT: ");
Serial.print(translateAxis(controller.yAxis));
Serial.print(-translateAxis(controller.yAxis));
Serial.print(" X: ");
Serial.print(controller.xAxis);
Serial.print(" XT: ");
Serial.print(translateAxis(controller.xAxis));
Serial.println();
#endif
//delay(500);
}
void pinned_loop() {
while (true) {
loope();
}
}
void setup() {
#ifdef DEBUG
Serial.begin(115200);
delay(5000);
#endif
gamepad.begin();
// setup io pins
//setupIO();
// the controller data line
LINE_WRITE_HIGH;
#ifdef PLOT_CONSOLE_POLLING
sendCommand(0x01);
while (true)
;
#endif
for (int i = 0; i < CALIBRATE_PASSES; ++i) {
sendCommand(0x01);
updateOffsetsAndResolution();
if (i != CALIBRATE_PASSES) {
delay(14);
}
}
calcBitsToRead();
#ifdef DEBUG
printf("bitOffsets: ");
for (int i = 0; i < NUM_BITS; i++) {
printf("%i:%i ", i, bitOffsets[i]);
}
printf("\n");
printf("bitOffsets: ");
for (int i = 0; i < NUM_BITS; i++) {
printf("%i, ", bitOffsets[i]);
}
printf("\n");
printf("bitResolution: %i\n", bitResolution);
delay(5000);
#endif
//xTaskCreatePinnedToCore(pinned_loop, "gbuttons", 2048, NULL, 1, NULL, 0);
//xTaskCreatePinnedToCore(pinned_loop, "gbuttons", 2048, NULL, 1, NULL, 1);
}
void loop() {
loope();
}

133
test/test_N64Esp32.cpp
Unescape View File

@ -30,6 +30,8 @@ int bitOffsets[NUM_BITS]; @@ -30,6 +30,8 @@ int bitOffsets[NUM_BITS];
int bitResolution = 0;
int bitsToRead = DATA_SIZE;
bool returnedBits[NUM_BITS];
struct ControllerData {
bool buttonA;
bool buttonB;
@ -71,6 +73,7 @@ void updateOffsetsAndResolution() { @@ -71,6 +73,7 @@ void updateOffsetsAndResolution() {
for (int i = 0; i < NUM_BITS; i++) {
bitOffsets[i] += bitResolution;
}
bitResolution /= 2;
for (; i < DATA_SIZE; i++) {
if (buffer[i] == false) {
@ -109,6 +112,7 @@ void updateOffsetsAndResolution() { @@ -109,6 +112,7 @@ void updateOffsetsAndResolution() {
for (int i = 0; i < NUM_BITS; i++) {
bitOffsets[i] -= bitResolution;
}
bitResolution *= 2;
}
void calcBitsToRead() {
@ -118,6 +122,39 @@ void calcBitsToRead() { @@ -118,6 +122,39 @@ void calcBitsToRead() {
}
}
void calcReturnedBits() {
// the current bit counter
int bitCounter = 0;
// to hold the number of 1's in this bit
int thisResolution = 0;
// current index
int i = 0;
for (; i < DATA_SIZE; i++) {
if (buffer[i] == false) {
// we skip all leading 1's
break;
}
}
// iterate over buffer
for (; i < DATA_SIZE - 1 && bitCounter < NUM_BITS; i++) {
if (buffer[i] == true) {
++thisResolution;
// if a falling edge is detected
if (buffer[1 + i] == false) {
returnedBits[bitCounter] = thisResolution >= bitResolution;
// reset thisResolution
thisResolution = 0;
// increment bitCounter
++bitCounter;
}
}
}
}
/* Function to extract a controller bit from the buffer of returned data */
void getBit(bool *bit, int offset, bool *data) {
*bit = data[offset];
@ -129,7 +166,7 @@ void getBit(bool *bit, int offset, bool *data) { @@ -129,7 +166,7 @@ void getBit(bool *bit, int offset, bool *data) {
* and checking if value if below 'MAX_INCLINE_AXIS_X' or 'MAX_INCLINE_AXIS_Y'.
* If values surpass the maximum incline they are set to match those values.
*/
void populateControllerStruct(ControllerData *data) {
void populateControllerStructOLD(ControllerData *data) {
// first byte
getBit(&(data->buttonA), bitOffsets[0], &buffer[0]);
getBit(&(data->buttonB), bitOffsets[1], &buffer[0]);
@ -226,6 +263,91 @@ void populateControllerStruct(ControllerData *data) { @@ -226,6 +263,91 @@ void populateControllerStruct(ControllerData *data) {
//printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
}
void populateControllerStruct(ControllerData *data) {
calcReturnedBits();
// first byte
data->buttonA = returnedBits[0];
data->buttonB = returnedBits[1];
data->buttonZ = returnedBits[2];
data->buttonStart = returnedBits[3];
data->DPadUp = returnedBits[4];
data->DPadDown = returnedBits[5];
data->DPadLeft = returnedBits[6];
data->DPadRight = returnedBits[7];
//
// second byte, first two bits are unused
data->buttonL = returnedBits[10];
data->buttonR = returnedBits[11];
data->CUp = returnedBits[12];
data->CDown = returnedBits[13];
data->CRight = returnedBits[14];
/*
// third byte
getBit(&(data->xAxisRaw[0]), bitOffsets[16], &buffer[0]);
getBit(&(data->xAxisRaw[1]), bitOffsets[17], &buffer[0]);
getBit(&(data->xAxisRaw[2]), bitOffsets[18], &buffer[0]);
getBit(&(data->xAxisRaw[3]), bitOffsets[19], &buffer[0]);
getBit(&(data->xAxisRaw[4]), bitOffsets[20], &buffer[0]);
getBit(&(data->xAxisRaw[5]), bitOffsets[21], &buffer[0]);
getBit(&(data->xAxisRaw[6]), bitOffsets[22], &buffer[0]);
getBit(&(data->xAxisRaw[7]), bitOffsets[23], &buffer[0]);
// fourth byte
getBit(&(data->yAxisRaw[0]), bitOffsets[24], &buffer[0]);
getBit(&(data->yAxisRaw[1]), bitOffsets[25], &buffer[0]);
getBit(&(data->yAxisRaw[2]), bitOffsets[26], &buffer[0]);
getBit(&(data->yAxisRaw[3]), bitOffsets[27], &buffer[0]);
getBit(&(data->yAxisRaw[4]), bitOffsets[28], &buffer[0]);
getBit(&(data->yAxisRaw[5]), bitOffsets[29], &buffer[0]);
getBit(&(data->yAxisRaw[6]), bitOffsets[30], &buffer[0]);
getBit(&(data->yAxisRaw[7]), bitOffsets[31], &buffer[0]);
// sum up bits to get axis bytes
data->xAxis = 0;
data->yAxis = 0;
for (int i = 0; i < 8; i++) {
data->xAxis += (data->xAxisRaw[i] * (0x80 >> (i)));
data->yAxis += (data->yAxisRaw[i] * (0x80 >> (i)));
}
// print axis values
#ifdef DEBUG
printf("yRaw: %i %i %i %i %i %i %i %i xRaw: %i %i %i %i %i %i %i %i yAxis: %03i xAxis: %03i",
data->yAxisRaw[0],
data->yAxisRaw[1],
data->yAxisRaw[2],
data->yAxisRaw[3],
data->yAxisRaw[4],
data->yAxisRaw[5],
data->yAxisRaw[6],
data->yAxisRaw[7],
data->xAxisRaw[0],
data->xAxisRaw[1],
data->xAxisRaw[2],
data->xAxisRaw[3],
data->xAxisRaw[4],
data->xAxisRaw[5],
data->xAxisRaw[6],
data->xAxisRaw[7],
data->yAxis,
data->xAxis);
#endif
// decode xAxis two's complement
if (data->xAxis & 0x80) {
data->xAxis = -1 * (0xff - data->xAxis);
}
// decode yAxis two's complement
if (data->yAxis & 0x80) {
data->yAxis = -1 * (0xff - data->yAxis);
}
//printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
*/
}
void load(const char *s) {
const char *t;
int i = 0;
@ -254,7 +376,7 @@ void loadUpdate(const char *s) { @@ -254,7 +376,7 @@ void loadUpdate(const char *s) {
}
printf("\n");
printf("bitResolution: %i\n", bitResolution);
printf("bit 0: %i\n", buffer[bitOffsets[0]]);
//printf("bit 0: %i\n", buffer[0]]);
printf("bit buffer[14]: %i\n", buffer[14]);
printf("bit buffer[15]: %i\n", buffer[15]);
printf("bit buffer[16]: %i\n", buffer[16]);
@ -366,13 +488,14 @@ void test_function_realControllerRead(void) { @@ -366,13 +488,14 @@ void test_function_realControllerRead(void) {
"0011111000000000000000111110000000000000001111100000000000000011110000000000011111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111"
"1111111111111111111111111111111111111111");
TEST_ASSERT_EQUAL(5, bitResolution);
//TEST_ASSERT_EQUAL(5, bitResolution);
calcBitsToRead();
TEST_ASSERT_EQUAL(624, bitsToRead);
//TEST_ASSERT_EQUAL(624, bitsToRead);
load(
"0000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000011111000000000000"
"0000000000000000000000000000011111111111111011110000000000000000111100000000000000001111000000000000000011110000000000000000111100000000000000001111000000000000000011110000000000000001111100"
"0000000000"
"0001111100000000000000011111000000000000000111110000000000000001111100000000000000011110000000000000000111100000000000000001111000000111111111111110000001111111111111100000011111111111111000"
"0000000000000111100000000000000001111000000111111111111110000001111111111111100000000000000011111000000000000000111110000011111111111111100000000000000011111000000000000000111100000000000000"
"001111000000111111111111110000001111111111111100000011");

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