Move optical sensor code to drivers folder (#13044)

10 files changed, 4420 insertions, 0 deletions

diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c
new file mode 100644
index 000000000..3c4f5e258
--- /dev/null
+++ b/drivers/sensors/adns5050.c
@@ -0,0 +1,193 @@
+/* Copyright 2021 Colin Lam (Ploopy Corporation)
+ * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2019 Hiroyuki Okada
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include "adns5050.h"
+#include "wait.h"
+#include "debug.h"
+#include "print.h"
+#include "gpio.h"
+
+#ifndef OPTIC_ROTATED
+#    define OPTIC_ROTATED false
+#endif
+
+// Definitions for the ADNS serial line.
+#ifndef ADNS_SCLK_PIN
+#    define ADNS_SCLK_PIN B7
+#endif
+
+#ifndef ADNS_SDIO_PIN
+#    define ADNS_SDIO_PIN C6
+#endif
+
+#ifndef ADNS_CS_PIN
+#    define ADNS_CS_PIN B4
+#endif
+
+#ifdef CONSOLE_ENABLE
+void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
+#endif
+
+// Initialize the ADNS serial pins.
+void adns_init(void) {
+    setPinOutput(ADNS_SCLK_PIN);
+    setPinOutput(ADNS_SDIO_PIN);
+    setPinOutput(ADNS_CS_PIN);
+}
+
+// Perform a synchronization with the ADNS.
+// Just as with the serial protocol, this is used by the slave to send a
+// synchronization signal to the master.
+void adns_sync(void) {
+    writePinLow(ADNS_CS_PIN);
+    wait_us(1);
+    writePinHigh(ADNS_CS_PIN);
+}
+
+void adns_cs_select(void) {
+    writePinLow(ADNS_CS_PIN);
+}
+
+void adns_cs_deselect(void) {
+    writePinHigh(ADNS_CS_PIN);
+}
+
+uint8_t adns_serial_read(void) {
+    setPinInput(ADNS_SDIO_PIN);
+    uint8_t byte = 0;
+
+    for (uint8_t i = 0; i < 8; ++i) {
+        writePinLow(ADNS_SCLK_PIN);
+        wait_us(1);
+
+        byte = (byte << 1) | readPin(ADNS_SDIO_PIN);
+
+        writePinHigh(ADNS_SCLK_PIN);
+        wait_us(1);
+    }
+
+    return byte;
+}
+
+void adns_serial_write(uint8_t data) {
+    setPinOutput(ADNS_SDIO_PIN);
+
+    for (int8_t b = 7; b >= 0; b--) {
+        writePinLow(ADNS_SCLK_PIN);
+
+        if (data & (1 << b))
+            writePinHigh(ADNS_SDIO_PIN);
+        else
+            writePinLow(ADNS_SDIO_PIN);
+
+        wait_us(2);
+
+        writePinHigh(ADNS_SCLK_PIN);
+    }
+
+    // tSWR. See page 15 of the ADNS spec sheet.
+    // Technically, this is only necessary if the next operation is an SDIO
+    // read. This is not guaranteed to be the case, but we're being lazy.
+    wait_us(4);
+
+    // Note that tSWW is never necessary. All write operations require at
+    // least 32us, which exceeds tSWW, so there's never a need to wait for it.
+}
+
+// Read a byte of data from a register on the ADNS.
+// Don't forget to use the register map (as defined in the header file).
+uint8_t adns_read_reg(uint8_t reg_addr) {
+    adns_cs_select();
+
+    adns_serial_write(reg_addr);
+
+    // We don't need a minimum tSRAD here. That's because a 4ms wait time is
+    // already included in adns_serial_write(), so we're good.
+    // See page 10 and 15 of the ADNS spec sheet.
+    //wait_us(4);
+
+    uint8_t byte = adns_serial_read();
+
+    // tSRW & tSRR. See page 15 of the ADNS spec sheet.
+    // Technically, this is only necessary if the next operation is an SDIO
+    // read or write. This is not guaranteed to be the case.
+    // Honestly, this wait could probably be removed.
+    wait_us(1);
+
+    adns_cs_deselect();
+
+    return byte;
+}
+
+void adns_write_reg(uint8_t reg_addr, uint8_t data) {
+    adns_cs_select();
+    adns_serial_write(reg_addr);
+    adns_serial_write(data);
+    adns_cs_deselect();
+}
+
+report_adns_t adns_read_burst(void) {
+    adns_cs_select();
+
+    report_adns_t data;
+    data.dx = 0;
+    data.dy = 0;
+
+    adns_serial_write(REG_MOTION_BURST);
+
+    // We don't need a minimum tSRAD here. That's because a 4ms wait time is
+    // already included in adns_serial_write(), so we're good.
+    // See page 10 and 15 of the ADNS spec sheet.
+    //wait_us(4);
+
+    uint8_t x = adns_serial_read();
+    uint8_t y = adns_serial_read();
+
+    // Burst mode returns a bunch of other shit that we don't really need.
+    // Setting CS to high ends burst mode early.
+    adns_cs_deselect();
+
+    data.dx = convert_twoscomp(x);
+    data.dy = convert_twoscomp(y);
+
+    return data;
+}
+
+// Convert a two's complement byte from an unsigned data type into a signed
+// data type.
+int8_t convert_twoscomp(uint8_t data) {
+    if ((data & 0x80) == 0x80)
+        return -128 + (data & 0x7F);
+    else
+        return data;
+}
+
+// Don't forget to use the definitions for CPI in the header file.
+void adns_set_cpi(uint8_t cpi) {
+    adns_write_reg(REG_MOUSE_CONTROL2, cpi);
+}
+
+bool adns_check_signature(void) {
+    uint8_t pid = adns_read_reg(REG_PRODUCT_ID);
+    uint8_t rid = adns_read_reg(REG_REVISION_ID);
+    uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2);
+
+    return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
+}
diff --git a/drivers/sensors/adns5050.h b/drivers/sensors/adns5050.h
new file mode 100644
index 000000000..ff8e8f78e
--- /dev/null
+++ b/drivers/sensors/adns5050.h
@@ -0,0 +1,79 @@
+/* Copyright 2021 Colin Lam (Ploopy Corporation)
+ * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2019 Hiroyuki Okada
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+// Registers
+#define REG_PRODUCT_ID 0x00
+#define REG_REVISION_ID 0x01
+#define REG_MOTION 0x02
+#define REG_DELTA_X 0x03
+#define REG_DELTA_Y 0x04
+#define REG_SQUAL 0x05
+#define REG_SHUTTER_UPPER 0x06
+#define REG_SHUTTER_LOWER 0x07
+#define REG_MAXIMUM_PIXEL 0x08
+#define REG_PIXEL_SUM 0x09
+#define REG_MINIMUM_PIXEL 0x0a
+#define REG_PIXEL_GRAB 0x0b
+#define REG_MOUSE_CONTROL 0x0d
+#define REG_MOUSE_CONTROL2 0x19
+#define REG_LED_DC_MODE 0x22
+#define REG_CHIP_RESET 0x3a
+#define REG_PRODUCT_ID2 0x3e
+#define REG_INV_REV_ID 0x3f
+#define REG_MOTION_BURST 0x63
+
+// CPI values
+#define CPI125 0x11
+#define CPI250 0x12
+#define CPI375 0x13
+#define CPI500 0x14
+#define CPI625 0x15
+#define CPI750 0x16
+#define CPI875 0x17
+#define CPI1000 0x18
+#define CPI1125 0x19
+#define CPI1250 0x1a
+#define CPI1375 0x1b
+
+#ifdef CONSOLE_ENABLE
+void print_byte(uint8_t byte);
+#endif
+
+typedef struct {
+    int8_t dx;
+    int8_t dy;
+} report_adns_t;
+
+// A bunch of functions to implement the ADNS5050-specific serial protocol.
+// Note that the "serial.h" driver is insufficient, because it does not
+// manually manipulate a serial clock signal.
+void adns_init(void);
+void adns_sync(void);
+uint8_t adns_serial_read(void);
+void adns_serial_write(uint8_t data);
+uint8_t adns_read_reg(uint8_t reg_addr);
+void adns_write_reg(uint8_t reg_addr, uint8_t data);
+report_adns_t adns_read_burst(void);
+int8_t convert_twoscomp(uint8_t data);
+void adns_set_cpi(uint8_t cpi);
+bool adns_check_signature(void);
diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c
new file mode 100644
index 000000000..36213179f
--- /dev/null
+++ b/drivers/sensors/adns9800.c
@@ -0,0 +1,219 @@
+/* Copyright 2020 Alexander Tulloh
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "spi_master.h"
+#include "quantum.h"
+#include "adns9800_srom_A6.h"
+#include "adns9800.h"
+
+// registers
+#define REG_Product_ID                           0x00
+#define REG_Revision_ID                          0x01
+#define REG_Motion                               0x02
+#define REG_Delta_X_L                            0x03
+#define REG_Delta_X_H                            0x04
+#define REG_Delta_Y_L                            0x05
+#define REG_Delta_Y_H                            0x06
+#define REG_SQUAL                                0x07
+#define REG_Pixel_Sum                            0x08
+#define REG_Maximum_Pixel                        0x09
+#define REG_Minimum_Pixel                        0x0a
+#define REG_Shutter_Lower                        0x0b
+#define REG_Shutter_Upper                        0x0c
+#define REG_Frame_Period_Lower                   0x0d
+#define REG_Frame_Period_Upper                   0x0e
+#define REG_Configuration_I                      0x0f
+#define REG_Configuration_II                     0x10
+#define REG_Frame_Capture                        0x12
+#define REG_SROM_Enable                          0x13
+#define REG_Run_Downshift                        0x14
+#define REG_Rest1_Rate                           0x15
+#define REG_Rest1_Downshift                      0x16
+#define REG_Rest2_Rate                           0x17
+#define REG_Rest2_Downshift                      0x18
+#define REG_Rest3_Rate                           0x19
+#define REG_Frame_Period_Max_Bound_Lower         0x1a
+#define REG_Frame_Period_Max_Bound_Upper         0x1b
+#define REG_Frame_Period_Min_Bound_Lower         0x1c
+#define REG_Frame_Period_Min_Bound_Upper         0x1d
+#define REG_Shutter_Max_Bound_Lower              0x1e
+#define REG_Shutter_Max_Bound_Upper              0x1f
+#define REG_LASER_CTRL0                          0x20
+#define REG_Observation                          0x24
+#define REG_Data_Out_Lower                       0x25
+#define REG_Data_Out_Upper                       0x26
+#define REG_SROM_ID                              0x2a
+#define REG_Lift_Detection_Thr                   0x2e
+#define REG_Configuration_V                      0x2f
+#define REG_Configuration_IV                     0x39
+#define REG_Power_Up_Reset                       0x3a
+#define REG_Shutdown                             0x3b
+#define REG_Inverse_Product_ID                   0x3f
+#define REG_Motion_Burst                         0x50
+#define REG_SROM_Load_Burst                      0x62
+#define REG_Pixel_Burst                          0x64
+
+#define ADNS_CLOCK_SPEED 2000000
+#define MIN_CPI 200
+#define MAX_CPI 8200
+#define CPI_STEP 200
+#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
+#define SPI_MODE 3
+#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED)
+#define US_BETWEEN_WRITES 120
+#define US_BETWEEN_READS 20
+#define US_BEFORE_MOTION 100
+#define MSB1 0x80
+
+extern const uint16_t adns_firmware_length;
+extern const uint8_t adns_firmware_data[];
+
+void adns_spi_start(void){
+    spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
+}
+
+void adns_write(uint8_t reg_addr, uint8_t data){
+
+    adns_spi_start();
+    spi_write(reg_addr | MSB1);
+    spi_write(data);
+    spi_stop();
+    wait_us(US_BETWEEN_WRITES);
+}
+
+uint8_t adns_read(uint8_t reg_addr){
+
+    adns_spi_start();
+    spi_write(reg_addr & 0x7f );
+    uint8_t data = spi_read();
+    spi_stop();
+    wait_us(US_BETWEEN_READS);
+
+    return data;
+}
+
+void adns_init() {
+
+    setPinOutput(SPI_SS_PIN);
+
+    spi_init();
+
+    // reboot
+    adns_write(REG_Power_Up_Reset, 0x5a);
+    wait_ms(50);
+
+    // read registers and discard
+    adns_read(REG_Motion);
+    adns_read(REG_Delta_X_L);
+    adns_read(REG_Delta_X_H);
+    adns_read(REG_Delta_Y_L);
+    adns_read(REG_Delta_Y_H);
+
+    // upload firmware
+
+    // 3k firmware mode
+    adns_write(REG_Configuration_IV, 0x02);
+
+    // enable initialisation
+    adns_write(REG_SROM_Enable, 0x1d);
+
+    // wait a frame
+    wait_ms(10);
+
+    // start SROM download
+    adns_write(REG_SROM_Enable, 0x18);
+
+    // write the SROM file
+
+    adns_spi_start();
+
+    spi_write(REG_SROM_Load_Burst | 0x80);
+    wait_us(15);
+
+    // send all bytes of the firmware
+    unsigned char c;
+    for(int i = 0; i < adns_firmware_length; i++){
+        c = (unsigned char)pgm_read_byte(adns_firmware_data + i);
+        spi_write(c);
+        wait_us(15);
+    }
+
+    spi_stop();
+
+    wait_ms(10);
+
+    // enable laser
+    uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
+    adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
+}
+
+config_adns_t adns_get_config(void) {
+    uint8_t config_1 = adns_read(REG_Configuration_I);
+    return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP };
+}
+
+void adns_set_config(config_adns_t config) {
+    uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
+    adns_write(REG_Configuration_I, config_1);
+}
+
+static int16_t convertDeltaToInt(uint8_t high, uint8_t low){
+
+    // join bytes into twos compliment
+    uint16_t twos_comp = (high << 8) | low;
+
+    // convert twos comp to int
+    if (twos_comp & 0x8000)
+        return -1 * (~twos_comp + 1);
+
+    return twos_comp;
+}
+
+report_adns_t adns_get_report(void) {
+
+    report_adns_t report = {0, 0};
+
+    adns_spi_start();
+
+    // start burst mode
+    spi_write(REG_Motion_Burst & 0x7f);
+
+    wait_us(US_BEFORE_MOTION);
+
+    uint8_t motion = spi_read();
+
+    if(motion & 0x80) {
+
+        // clear observation register
+        spi_read();
+
+        // delta registers
+        uint8_t delta_x_l = spi_read();
+        uint8_t delta_x_h = spi_read();
+        uint8_t delta_y_l = spi_read();
+        uint8_t delta_y_h = spi_read();
+
+        report.x = convertDeltaToInt(delta_x_h, delta_x_l);
+        report.y = convertDeltaToInt(delta_y_h, delta_y_l);
+    }
+
+    // clear residual motion
+    spi_write(REG_Motion & 0x7f);
+
+    spi_stop();
+
+    return report;
+}
diff --git a/drivers/sensors/adns9800.h b/drivers/sensors/adns9800.h
new file mode 100644
index 000000000..2f50b8f1b
--- /dev/null
+++ b/drivers/sensors/adns9800.h
@@ -0,0 +1,35 @@
+/* Copyright 2020 Alexander Tulloh
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+typedef struct {
+    /* 200 - 8200 CPI supported */
+    uint16_t cpi;
+} config_adns_t;
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+} report_adns_t;
+
+void adns_init(void);
+config_adns_t adns_get_config(void);
+void adns_set_config(config_adns_t);
+/* Reads and clears the current delta values on the ADNS sensor */
+report_adns_t adns_get_report(void);
diff --git a/drivers/sensors/adns9800_srom_A6.h b/drivers/sensors/adns9800_srom_A6.h
new file mode 100644
index 000000000..f5b3abeb6
--- /dev/null
+++ b/drivers/sensors/adns9800_srom_A6.h
@@ -0,0 +1,3078 @@
+#pragma once
+
+#include "progmem.h"
+
+const uint16_t adns_firmware_length = 3070;
+
+const uint8_t adns_firmware_data[] PROGMEM = {
+0x03,
+0xa6,
+0x68,
+0x1e,
+0x7d,
+0x10,
+0x7e,
+0x7e,
+0x5f,
+0x1c,
+0xb8,
+0xf2,
+0x47,
+0x0c,
+0x7b,
+0x74,
+0x4b,
+0x14,
+0x8b,
+0x75,
+0x66,
+0x51,
+0x0b,
+0x8c,
+0x76,
+0x74,
+0x4b,
+0x14,
+0xaa,
+0xd6,
+0x0f,
+0x9c,
+0xba,
+0xf6,
+0x6e,
+0x3f,
+0xdd,
+0x38,
+0xd5,
+0x02,
+0x80,
+0x9b,
+0x82,
+0x6d,
+0x58,
+0x13,
+0xa4,
+0xab,
+0xb5,
+0xc9,
+0x10,
+0xa2,
+0xc6,
+0x0a,
+0x7f,
+0x5d,
+0x19,
+0x91,
+0xa0,
+0xa3,
+0xce,
+0xeb,
+0x3e,
+0xc9,
+0xf1,
+0x60,
+0x42,
+0xe7,
+0x4c,
+0xfb,
+0x74,
+0x6a,
+0x56,
+0x2e,
+0xbf,
+0xdd,
+0x38,
+0xd3,
+0x05,
+0x88,
+0x92,
+0xa6,
+0xce,
+0xff,
+0x5d,
+0x38,
+0xd1,
+0xcf,
+0xef,
+0x58,
+0xcb,
+0x65,
+0x48,
+0xf0,
+0x35,
+0x85,
+0xa9,
+0xb2,
+0x8f,
+0x5e,
+0xf3,
+0x80,
+0x94,
+0x97,
+0x7e,
+0x75,
+0x97,
+0x87,
+0x73,
+0x13,
+0xb0,
+0x8a,
+0x69,
+0xd4,
+0x0a,
+0xde,
+0xc1,
+0x79,
+0x59,
+0x36,
+0xdb,
+0x9d,
+0xd6,
+0xb8,
+0x15,
+0x6f,
+0xce,
+0x3c,
+0x72,
+0x32,
+0x45,
+0x88,
+0xdf,
+0x6c,
+0xa5,
+0x6d,
+0xe8,
+0x76,
+0x96,
+0x14,
+0x74,
+0x20,
+0xdc,
+0xf4,
+0xfa,
+0x37,
+0x6a,
+0x27,
+0x32,
+0xe3,
+0x29,
+0xbf,
+0xc4,
+0xc7,
+0x06,
+0x9d,
+0x58,
+0xe7,
+0x87,
+0x7c,
+0x2e,
+0x9f,
+0x6e,
+0x49,
+0x07,
+0x5d,
+0x23,
+0x64,
+0x54,
+0x83,
+0x6e,
+0xcb,
+0xb7,
+0x77,
+0xf7,
+0x2b,
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+0x3e
+};
diff --git a/drivers/sensors/pimoroni_trackball.c b/drivers/sensors/pimoroni_trackball.c
new file mode 100644
index 000000000..c0ac644f7
--- /dev/null
+++ b/drivers/sensors/pimoroni_trackball.c
@@ -0,0 +1,140 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "pimoroni_trackball.h"
+#include "i2c_master.h"
+
+static uint8_t scrolling      = 0;
+static int16_t x_offset       = 0;
+static int16_t y_offset       = 0;
+static int16_t h_offset       = 0;
+static int16_t v_offset       = 0;
+static float   precisionSpeed = 1;
+
+static uint16_t i2c_timeout_timer;
+
+#ifndef PIMORONI_I2C_TIMEOUT
+#    define PIMORONI_I2C_TIMEOUT 100
+#endif
+#ifndef I2C_WAITCHECK
+#    define I2C_WAITCHECK 1000
+#endif
+#ifndef MOUSE_DEBOUNCE
+#    define MOUSE_DEBOUNCE 5
+#endif
+
+void trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white) {
+    uint8_t data[] = {0x00, red, green, blue, white};
+    i2c_transmit(TRACKBALL_WRITE, data, sizeof(data), PIMORONI_I2C_TIMEOUT);
+}
+
+int16_t mouse_offset(uint8_t positive, uint8_t negative, int16_t scale) {
+    int16_t offset    = (int16_t)positive - (int16_t)negative;
+    int16_t magnitude = (int16_t)(scale * offset * offset * precisionSpeed);
+    return offset < 0 ? -magnitude : magnitude;
+}
+
+void update_member(int8_t* member, int16_t* offset) {
+    if (*offset > 127) {
+        *member = 127;
+        *offset -= 127;
+    } else if (*offset < -127) {
+        *member = -127;
+        *offset += 127;
+    } else {
+        *member = *offset;
+        *offset = 0;
+    }
+}
+
+__attribute__((weak)) void trackball_check_click(bool pressed, report_mouse_t* mouse) {
+    if (pressed) {
+        mouse->buttons |= MOUSE_BTN1;
+    } else {
+        mouse->buttons &= ~MOUSE_BTN1;
+    }
+}
+
+float trackball_get_precision(void) { return precisionSpeed; }
+void  trackball_set_precision(float precision) { precisionSpeed = precision; }
+bool  trackball_is_scrolling(void) { return scrolling; }
+void  trackball_set_scrolling(bool scroll) { scrolling = scroll; }
+
+__attribute__((weak)) void pointing_device_init(void) { i2c_init(); trackball_set_rgbw(0x00, 0x00, 0x00, 0x00); }
+
+void pointing_device_task(void) {
+    static bool     debounce;
+    static uint16_t debounce_timer;
+    uint8_t         state[5] = {};
+    if (timer_elapsed(i2c_timeout_timer) > I2C_WAITCHECK) {
+        if (i2c_readReg(TRACKBALL_READ, 0x04, state, 5, PIMORONI_I2C_TIMEOUT) == I2C_STATUS_SUCCESS) {
+            if (!state[4] && !debounce) {
+                if (scrolling) {
+#ifdef PIMORONI_TRACKBALL_INVERT_X
+                    h_offset += mouse_offset(state[2], state[3], 1);
+#else
+                    h_offset -= mouse_offset(state[2], state[3], 1);
+#endif
+#ifdef PIMORONI_TRACKBALL_INVERT_Y
+                    v_offset += mouse_offset(state[1], state[0], 1);
+#else
+                    v_offset -= mouse_offset(state[1], state[0], 1);
+#endif
+                } else {
+#ifdef PIMORONI_TRACKBALL_INVERT_X
+                    x_offset -= mouse_offset(state[2], state[3], 5);
+#else
+                    x_offset += mouse_offset(state[2], state[3], 5);
+#endif
+#ifdef PIMORONI_TRACKBALL_INVERT_Y
+                    y_offset -= mouse_offset(state[1], state[0], 5);
+#else
+                    y_offset += mouse_offset(state[1], state[0], 5);
+#endif
+                }
+            } else {
+                if (state[4]) {
+                    debounce       = true;
+                    debounce_timer = timer_read();
+                }
+            }
+        } else {
+            i2c_timeout_timer = timer_read();
+        }
+    }
+
+    if (timer_elapsed(debounce_timer) > MOUSE_DEBOUNCE) debounce = false;
+
+    report_mouse_t mouse = pointing_device_get_report();
+
+#ifdef PIMORONI_TRACKBALL_CLICK
+    trackball_check_click(state[4] & (1 << 7), &mouse);
+#endif
+
+#ifndef PIMORONI_TRACKBALL_ROTATE
+    update_member(&mouse.x, &x_offset);
+    update_member(&mouse.y, &y_offset);
+    update_member(&mouse.h, &h_offset);
+    update_member(&mouse.v, &v_offset);
+#else
+    update_member(&mouse.x, &y_offset);
+    update_member(&mouse.y, &x_offset);
+    update_member(&mouse.h, &v_offset);
+    update_member(&mouse.v, &h_offset);
+#endif
+    pointing_device_set_report(mouse);
+    pointing_device_send();
+}
diff --git a/drivers/sensors/pimoroni_trackball.h b/drivers/sensors/pimoroni_trackball.h
new file mode 100644
index 000000000..a30fb0bb8
--- /dev/null
+++ b/drivers/sensors/pimoroni_trackball.h
@@ -0,0 +1,35 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "quantum.h"
+#include "pointing_device.h"
+
+#ifndef TRACKBALL_ADDRESS
+#    define TRACKBALL_ADDRESS 0x0A
+#endif
+#define TRACKBALL_WRITE ((TRACKBALL_ADDRESS << 1) | I2C_WRITE)
+#define TRACKBALL_READ ((TRACKBALL_ADDRESS << 1) | I2C_READ)
+
+void trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white);
+void trackball_check_click(bool pressed, report_mouse_t *mouse);
+void trackball_register_button(bool pressed, enum mouse_buttons button);
+
+float trackball_get_precision(void);
+void  trackball_set_precision(float precision);
+bool  trackball_is_scrolling(void);
+void  trackball_set_scrolling(bool scroll);
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
new file mode 100644
index 000000000..91ee87b95
--- /dev/null
+++ b/drivers/sensors/pmw3360.c
@@ -0,0 +1,237 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2020 Ploopy Corporation
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "wait.h"
+#include "debug.h"
+#include "print.h"
+#include "pmw3360.h"
+#include "pmw3360_firmware.h"
+
+bool _inBurst = false;
+
+#ifndef PMW_CPI
+#    define PMW_CPI 1600
+#endif
+#ifndef PMW_CLOCK_SPEED
+#    define PMW_CLOCK_SPEED 70000000
+#endif
+#ifndef SPI_MODE
+#    define SPI_MODE 3
+#endif
+#ifndef SPI_DIVISOR
+#    define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
+#endif
+#ifndef ROTATIONAL_TRANSFORM_ANGLE
+#    define ROTATIONAL_TRANSFORM_ANGLE 0x00
+#endif
+#ifndef PMW_CS_PIN
+#    define PMW_CS_PIN SPI_SS_PIN
+#endif
+
+void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
+
+bool spi_start_adv(void) {
+    bool status = spi_start(PMW_CS_PIN, false, SPI_MODE, SPI_DIVISOR);
+    wait_us(1);
+    return status;
+}
+
+void spi_stop_adv(void) {
+    wait_us(1);
+    spi_stop();
+}
+
+spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
+    if (reg_addr != REG_Motion_Burst) {
+        _inBurst = false;
+    }
+
+    spi_start_adv();
+    // send address of the register, with MSBit = 1 to indicate it's a write
+    spi_status_t status = spi_write(reg_addr | 0x80);
+    status              = spi_write(data);
+
+    // tSCLK-NCS for write operation
+    wait_us(20);
+
+    // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
+    wait_us(100);
+    spi_stop();
+    return status;
+}
+
+uint8_t spi_read_adv(uint8_t reg_addr) {
+    spi_start_adv();
+    // send adress of the register, with MSBit = 0 to indicate it's a read
+    spi_write(reg_addr & 0x7f);
+
+    uint8_t data = spi_read();
+
+    // tSCLK-NCS for read operation is 120ns
+    wait_us(1);
+
+    //  tSRW/tSRR (=20us) minus tSCLK-NCS
+    wait_us(19);
+
+    spi_stop();
+    return data;
+}
+
+void pmw_set_cpi(uint16_t cpi) {
+    uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77);  // limits to 0--119
+
+    spi_start_adv();
+    spi_write_adv(REG_Config1, cpival);
+    spi_stop();
+}
+
+uint16_t pmw_get_cpi(void) {
+    uint8_t cpival = spi_read_adv(REG_Config1);
+    return (uint16_t)(cpival & 0xFF) * 100;
+}
+
+bool pmw_spi_init(void) {
+    setPinOutput(PMW_CS_PIN);
+
+    spi_init();
+    _inBurst = false;
+
+    spi_stop();
+    spi_start_adv();
+    spi_stop();
+
+    spi_write_adv(REG_Shutdown, 0xb6);  // Shutdown first
+    wait_ms(300);
+
+    spi_start_adv();
+    wait_us(40);
+    spi_stop_adv();
+    wait_us(40);
+
+    spi_write_adv(REG_Power_Up_Reset, 0x5a);
+    wait_ms(50);
+
+    spi_read_adv(REG_Motion);
+    spi_read_adv(REG_Delta_X_L);
+    spi_read_adv(REG_Delta_X_H);
+    spi_read_adv(REG_Delta_Y_L);
+    spi_read_adv(REG_Delta_Y_H);
+
+    pmw_upload_firmware();
+
+    spi_stop_adv();
+
+    wait_ms(10);
+    pmw_set_cpi(PMW_CPI);
+
+    wait_ms(1);
+
+    spi_write_adv(REG_Config2, 0x00);
+
+    spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
+
+    bool init_success = pmw_check_signature();
+
+    writePinLow(PMW_CS_PIN);
+
+    return init_success;
+}
+
+void pmw_upload_firmware(void) {
+    spi_write_adv(REG_SROM_Enable, 0x1d);
+
+    wait_ms(10);
+
+    spi_write_adv(REG_SROM_Enable, 0x18);
+
+    spi_start_adv();
+    spi_write(REG_SROM_Load_Burst | 0x80);
+    wait_us(15);
+
+    unsigned char c;
+    for (int i = 0; i < firmware_length; i++) {
+        c = (unsigned char)pgm_read_byte(firmware_data + i);
+        spi_write(c);
+        wait_us(15);
+    }
+    wait_us(200);
+
+    spi_read_adv(REG_SROM_ID);
+
+    spi_write_adv(REG_Config2, 0x00);
+
+    spi_stop();
+    wait_ms(10);
+}
+
+bool pmw_check_signature(void) {
+    uint8_t pid      = spi_read_adv(REG_Product_ID);
+    uint8_t iv_pid   = spi_read_adv(REG_Inverse_Product_ID);
+    uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
+    return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04);  // signature for SROM 0x04
+}
+
+report_pmw_t pmw_read_burst(void) {
+    if (!_inBurst) {
+        dprintf("burst on");
+        spi_write_adv(REG_Motion_Burst, 0x00);
+        _inBurst = true;
+    }
+
+    spi_start_adv();
+    spi_write(REG_Motion_Burst);
+    wait_us(35);  // waits for tSRAD
+
+    report_pmw_t data;
+    data.motion = 0;
+    data.dx     = 0;
+    data.mdx    = 0;
+    data.dy     = 0;
+    data.mdx    = 0;
+
+    data.motion = spi_read();
+    spi_write(0x00);  // skip Observation
+    data.dx  = spi_read();
+    data.mdx = spi_read();
+    data.dy  = spi_read();
+    data.mdy = spi_read();
+
+    spi_stop();
+
+    print_byte(data.motion);
+    print_byte(data.dx);
+    print_byte(data.mdx);
+    print_byte(data.dy);
+    print_byte(data.mdy);
+    dprintf("\n");
+
+    data.isMotion    = (data.motion & 0x80) != 0;
+    data.isOnSurface = (data.motion & 0x08) == 0;
+    data.dx |= (data.mdx << 8);
+    data.dx = data.dx * -1;
+    data.dy |= (data.mdy << 8);
+    data.dy = data.dy * -1;
+
+    spi_stop();
+
+    if (data.motion & 0b111) {  // panic recovery, sometimes burst mode works weird.
+        _inBurst = false;
+    }
+
+    return data;
+}
diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h
new file mode 100644
index 000000000..d5b174179
--- /dev/null
+++ b/drivers/sensors/pmw3360.h
@@ -0,0 +1,104 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2020 Ploopy Corporation
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "spi_master.h"
+
+// Registers
+#define REG_Product_ID  0x00
+#define REG_Revision_ID 0x01
+#define REG_Motion  0x02
+#define REG_Delta_X_L 0x03
+#define REG_Delta_X_H 0x04
+#define REG_Delta_Y_L 0x05
+#define REG_Delta_Y_H 0x06
+#define REG_SQUAL 0x07
+#define REG_Raw_Data_Sum  0x08
+#define REG_Maximum_Raw_data  0x09
+#define REG_Minimum_Raw_data  0x0A
+#define REG_Shutter_Lower 0x0B
+#define REG_Shutter_Upper 0x0C
+#define REG_Control 0x0D
+#define REG_Config1 0x0F
+#define REG_Config2 0x10
+#define REG_Angle_Tune  0x11
+#define REG_Frame_Capture 0x12
+#define REG_SROM_Enable 0x13
+#define REG_Run_Downshift 0x14
+#define REG_Rest1_Rate_Lower  0x15
+#define REG_Rest1_Rate_Upper  0x16
+#define REG_Rest1_Downshift 0x17
+#define REG_Rest2_Rate_Lower  0x18
+#define REG_Rest2_Rate_Upper  0x19
+#define REG_Rest2_Downshift 0x1A
+#define REG_Rest3_Rate_Lower  0x1B
+#define REG_Rest3_Rate_Upper  0x1C
+#define REG_Observation 0x24
+#define REG_Data_Out_Lower  0x25
+#define REG_Data_Out_Upper  0x26
+#define REG_Raw_Data_Dump 0x29
+#define REG_SROM_ID 0x2A
+#define REG_Min_SQ_Run  0x2B
+#define REG_Raw_Data_Threshold  0x2C
+#define REG_Config5 0x2F
+#define REG_Power_Up_Reset  0x3A
+#define REG_Shutdown  0x3B
+#define REG_Inverse_Product_ID  0x3F
+#define REG_LiftCutoff_Tune3  0x41
+#define REG_Angle_Snap  0x42
+#define REG_LiftCutoff_Tune1  0x4A
+#define REG_Motion_Burst  0x50
+#define REG_LiftCutoff_Tune_Timeout 0x58
+#define REG_LiftCutoff_Tune_Min_Length  0x5A
+#define REG_SROM_Load_Burst 0x62
+#define REG_Lift_Config 0x63
+#define REG_Raw_Data_Burst  0x64
+#define REG_LiftCutoff_Tune2  0x65
+
+#ifdef CONSOLE_ENABLE
+void print_byte(uint8_t byte);
+#endif
+
+typedef struct {
+    int8_t  motion;
+    bool    isMotion;     // True if a motion is detected.
+    bool    isOnSurface;  // True when a chip is on a surface
+    int16_t dx;           // displacement on x directions. Unit: Count. (CPI * Count = Inch value)
+    int8_t  mdx;
+    int16_t dy;  // displacement on y directions.
+    int8_t  mdy;
+} report_pmw_t;
+
+
+
+bool spi_start_adv(void);
+void spi_stop_adv(void);
+spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data);
+uint8_t spi_read_adv(uint8_t reg_addr);
+bool pmw_spi_init(void);
+void pmw_set_cpi(uint16_t cpi);
+uint16_t pmw_get_cpi(void);
+void pmw_upload_firmware(void);
+bool pmw_check_signature(void);
+report_pmw_t pmw_read_burst(void);
+
+
+#define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0)
+#define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI)
+#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
diff --git a/drivers/sensors/pmw3360_firmware.h b/drivers/sensors/pmw3360_firmware.h
new file mode 100644
index 000000000..cca5a6a4d
--- /dev/null
+++ b/drivers/sensors/pmw3360_firmware.h
@@ -0,0 +1,300 @@
+/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2020 Ploopy Corporation
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// clang-format off
+// Firmware Blob foor PMW3360
+const uint16_t firmware_length = 4094;
+// clang-format off
+const uint8_t firmware_data[] PROGMEM = {    // SROM 0x04
+0x01, 0x04, 0x8e, 0x96, 0x6e, 0x77, 0x3e, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x4e,
+0xff, 0x5d, 0x19, 0xb0, 0xc2, 0x04, 0x69, 0x54, 0x2a, 0xd6, 0x2e, 0xbf, 0xdd, 0x19, 0xb0,
+0xc3, 0xe5, 0x29, 0xb1, 0xe0, 0x23, 0xa5, 0xa9, 0xb1, 0xc1, 0x00, 0x82, 0x67, 0x4c, 0x1a,
+0x97, 0x8d, 0x79, 0x51, 0x20, 0xc7, 0x06, 0x8e, 0x7c, 0x7c, 0x7a, 0x76, 0x4f, 0xfd, 0x59,
+0x30, 0xe2, 0x46, 0x0e, 0x9e, 0xbe, 0xdf, 0x1d, 0x99, 0x91, 0xa0, 0xa5, 0xa1, 0xa9, 0xd0,
+0x22, 0xc6, 0xef, 0x5c, 0x1b, 0x95, 0x89, 0x90, 0xa2, 0xa7, 0xcc, 0xfb, 0x55, 0x28, 0xb3,
+0xe4, 0x4a, 0xf7, 0x6c, 0x3b, 0xf4, 0x6a, 0x56, 0x2e, 0xde, 0x1f, 0x9d, 0xb8, 0xd3, 0x05,
+0x88, 0x92, 0xa6, 0xce, 0x1e, 0xbe, 0xdf, 0x1d, 0x99, 0xb0, 0xe2, 0x46, 0xef, 0x5c, 0x07,
+0x11, 0x5d, 0x98, 0x0b, 0x9d, 0x94, 0x97, 0xee, 0x4e, 0x45, 0x33, 0x6b, 0x44, 0xc7, 0x29,
+0x56, 0x27, 0x30, 0xc6, 0xa7, 0xd5, 0xf2, 0x56, 0xdf, 0xb4, 0x38, 0x62, 0xcb, 0xa0, 0xb6,
+0xe3, 0x0f, 0x84, 0x06, 0x24, 0x05, 0x65, 0x6f, 0x76, 0x89, 0xb5, 0x77, 0x41, 0x27, 0x82,
+0x66, 0x65, 0x82, 0xcc, 0xd5, 0xe6, 0x20, 0xd5, 0x27, 0x17, 0xc5, 0xf8, 0x03, 0x23, 0x7c,
+0x5f, 0x64, 0xa5, 0x1d, 0xc1, 0xd6, 0x36, 0xcb, 0x4c, 0xd4, 0xdb, 0x66, 0xd7, 0x8b, 0xb1,
+0x99, 0x7e, 0x6f, 0x4c, 0x36, 0x40, 0x06, 0xd6, 0xeb, 0xd7, 0xa2, 0xe4, 0xf4, 0x95, 0x51,
+0x5a, 0x54, 0x96, 0xd5, 0x53, 0x44, 0xd7, 0x8c, 0xe0, 0xb9, 0x40, 0x68, 0xd2, 0x18, 0xe9,
+0xdd, 0x9a, 0x23, 0x92, 0x48, 0xee, 0x7f, 0x43, 0xaf, 0xea, 0x77, 0x38, 0x84, 0x8c, 0x0a,
+0x72, 0xaf, 0x69, 0xf8, 0xdd, 0xf1, 0x24, 0x83, 0xa3, 0xf8, 0x4a, 0xbf, 0xf5, 0x94, 0x13,
+0xdb, 0xbb, 0xd8, 0xb4, 0xb3, 0xa0, 0xfb, 0x45, 0x50, 0x60, 0x30, 0x59, 0x12, 0x31, 0x71,
+0xa2, 0xd3, 0x13, 0xe7, 0xfa, 0xe7, 0xce, 0x0f, 0x63, 0x15, 0x0b, 0x6b, 0x94, 0xbb, 0x37,
+0x83, 0x26, 0x05, 0x9d, 0xfb, 0x46, 0x92, 0xfc, 0x0a, 0x15, 0xd1, 0x0d, 0x73, 0x92, 0xd6,
+0x8c, 0x1b, 0x8c, 0xb8, 0x55, 0x8a, 0xce, 0xbd, 0xfe, 0x8e, 0xfc, 0xed, 0x09, 0x12, 0x83,
+0x91, 0x82, 0x51, 0x31, 0x23, 0xfb, 0xb4, 0x0c, 0x76, 0xad, 0x7c, 0xd9, 0xb4, 0x4b, 0xb2,
+0x67, 0x14, 0x09, 0x9c, 0x7f, 0x0c, 0x18, 0xba, 0x3b, 0xd6, 0x8e, 0x14, 0x2a, 0xe4, 0x1b,
+0x52, 0x9f, 0x2b, 0x7d, 0xe1, 0xfb, 0x6a, 0x33, 0x02, 0xfa, 0xac, 0x5a, 0xf2, 0x3e, 0x88,
+0x7e, 0xae, 0xd1, 0xf3, 0x78, 0xe8, 0x05, 0xd1, 0xe3, 0xdc, 0x21, 0xf6, 0xe1, 0x9a, 0xbd,
+0x17, 0x0e, 0xd9, 0x46, 0x9b, 0x88, 0x03, 0xea, 0xf6, 0x66, 0xbe, 0x0e, 0x1b, 0x50, 0x49,
+0x96, 0x40, 0x97, 0xf1, 0xf1, 0xe4, 0x80, 0xa6, 0x6e, 0xe8, 0x77, 0x34, 0xbf, 0x29, 0x40,
+0x44, 0xc2, 0xff, 0x4e, 0x98, 0xd3, 0x9c, 0xa3, 0x32, 0x2b, 0x76, 0x51, 0x04, 0x09, 0xe7,
+0xa9, 0xd1, 0xa6, 0x32, 0xb1, 0x23, 0x53, 0xe2, 0x47, 0xab, 0xd6, 0xf5, 0x69, 0x5c, 0x3e,
+0x5f, 0xfa, 0xae, 0x45, 0x20, 0xe5, 0xd2, 0x44, 0xff, 0x39, 0x32, 0x6d, 0xfd, 0x27, 0x57,
+0x5c, 0xfd, 0xf0, 0xde, 0xc1, 0xb5, 0x99, 0xe5, 0xf5, 0x1c, 0x77, 0x01, 0x75, 0xc5, 0x6d,
+0x58, 0x92, 0xf2, 0xb2, 0x47, 0x00, 0x01, 0x26, 0x96, 0x7a, 0x30, 0xff, 0xb7, 0xf0, 0xef,
+0x77, 0xc1, 0x8a, 0x5d, 0xdc, 0xc0, 0xd1, 0x29, 0x30, 0x1e, 0x77, 0x38, 0x7a, 0x94, 0xf1,
+0xb8, 0x7a, 0x7e, 0xef, 0xa4, 0xd1, 0xac, 0x31, 0x4a, 0xf2, 0x5d, 0x64, 0x3d, 0xb2, 0xe2,
+0xf0, 0x08, 0x99, 0xfc, 0x70, 0xee, 0x24, 0xa7, 0x7e, 0xee, 0x1e, 0x20, 0x69, 0x7d, 0x44,
+0xbf, 0x87, 0x42, 0xdf, 0x88, 0x3b, 0x0c, 0xda, 0x42, 0xc9, 0x04, 0xf9, 0x45, 0x50, 0xfc,
+0x83, 0x8f, 0x11, 0x6a, 0x72, 0xbc, 0x99, 0x95, 0xf0, 0xac, 0x3d, 0xa7, 0x3b, 0xcd, 0x1c,
+0xe2, 0x88, 0x79, 0x37, 0x11, 0x5f, 0x39, 0x89, 0x95, 0x0a, 0x16, 0x84, 0x7a, 0xf6, 0x8a,
+0xa4, 0x28, 0xe4, 0xed, 0x83, 0x80, 0x3b, 0xb1, 0x23, 0xa5, 0x03, 0x10, 0xf4, 0x66, 0xea,
+0xbb, 0x0c, 0x0f, 0xc5, 0xec, 0x6c, 0x69, 0xc5, 0xd3, 0x24, 0xab, 0xd4, 0x2a, 0xb7, 0x99,
+0x88, 0x76, 0x08, 0xa0, 0xa8, 0x95, 0x7c, 0xd8, 0x38, 0x6d, 0xcd, 0x59, 0x02, 0x51, 0x4b,
+0xf1, 0xb5, 0x2b, 0x50, 0xe3, 0xb6, 0xbd, 0xd0, 0x72, 0xcf, 0x9e, 0xfd, 0x6e, 0xbb, 0x44,
+0xc8, 0x24, 0x8a, 0x77, 0x18, 0x8a, 0x13, 0x06, 0xef, 0x97, 0x7d, 0xfa, 0x81, 0xf0, 0x31,
+0xe6, 0xfa, 0x77, 0xed, 0x31, 0x06, 0x31, 0x5b, 0x54, 0x8a, 0x9f, 0x30, 0x68, 0xdb, 0xe2,
+0x40, 0xf8, 0x4e, 0x73, 0xfa, 0xab, 0x74, 0x8b, 0x10, 0x58, 0x13, 0xdc, 0xd2, 0xe6, 0x78,
+0xd1, 0x32, 0x2e, 0x8a, 0x9f, 0x2c, 0x58, 0x06, 0x48, 0x27, 0xc5, 0xa9, 0x5e, 0x81, 0x47,
+0x89, 0x46, 0x21, 0x91, 0x03, 0x70, 0xa4, 0x3e, 0x88, 0x9c, 0xda, 0x33, 0x0a, 0xce, 0xbc,
+0x8b, 0x8e, 0xcf, 0x9f, 0xd3, 0x71, 0x80, 0x43, 0xcf, 0x6b, 0xa9, 0x51, 0x83, 0x76, 0x30,
+0x82, 0xc5, 0x6a, 0x85, 0x39, 0x11, 0x50, 0x1a, 0x82, 0xdc, 0x1e, 0x1c, 0xd5, 0x7d, 0xa9,
+0x71, 0x99, 0x33, 0x47, 0x19, 0x97, 0xb3, 0x5a, 0xb1, 0xdf, 0xed, 0xa4, 0xf2, 0xe6, 0x26,
+0x84, 0xa2, 0x28, 0x9a, 0x9e, 0xdf, 0xa6, 0x6a, 0xf4, 0xd6, 0xfc, 0x2e, 0x5b, 0x9d, 0x1a,
+0x2a, 0x27, 0x68, 0xfb, 0xc1, 0x83, 0x21, 0x4b, 0x90, 0xe0, 0x36, 0xdd, 0x5b, 0x31, 0x42,
+0x55, 0xa0, 0x13, 0xf7, 0xd0, 0x89, 0x53, 0x71, 0x99, 0x57, 0x09, 0x29, 0xc5, 0xf3, 0x21,
+0xf8, 0x37, 0x2f, 0x40, 0xf3, 0xd4, 0xaf, 0x16, 0x08, 0x36, 0x02, 0xfc, 0x77, 0xc5, 0x8b,
+0x04, 0x90, 0x56, 0xb9, 0xc9, 0x67, 0x9a, 0x99, 0xe8, 0x00, 0xd3, 0x86, 0xff, 0x97, 0x2d,
+0x08, 0xe9, 0xb7, 0xb3, 0x91, 0xbc, 0xdf, 0x45, 0xc6, 0xed, 0x0f, 0x8c, 0x4c, 0x1e, 0xe6,
+0x5b, 0x6e, 0x38, 0x30, 0xe4, 0xaa, 0xe3, 0x95, 0xde, 0xb9, 0xe4, 0x9a, 0xf5, 0xb2, 0x55,
+0x9a, 0x87, 0x9b, 0xf6, 0x6a, 0xb2, 0xf2, 0x77, 0x9a, 0x31, 0xf4, 0x7a, 0x31, 0xd1, 0x1d,
+0x04, 0xc0, 0x7c, 0x32, 0xa2, 0x9e, 0x9a, 0xf5, 0x62, 0xf8, 0x27, 0x8d, 0xbf, 0x51, 0xff,
+0xd3, 0xdf, 0x64, 0x37, 0x3f, 0x2a, 0x6f, 0x76, 0x3a, 0x7d, 0x77, 0x06, 0x9e, 0x77, 0x7f,
+0x5e, 0xeb, 0x32, 0x51, 0xf9, 0x16, 0x66, 0x9a, 0x09, 0xf3, 0xb0, 0x08, 0xa4, 0x70, 0x96,
+0x46, 0x30, 0xff, 0xda, 0x4f, 0xe9, 0x1b, 0xed, 0x8d, 0xf8, 0x74, 0x1f, 0x31, 0x92, 0xb3,
+0x73, 0x17, 0x36, 0xdb, 0x91, 0x30, 0xd6, 0x88, 0x55, 0x6b, 0x34, 0x77, 0x87, 0x7a, 0xe7,
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+
+// clang-format off