�>Servo2
1�"Servo motor control using the printer port"
�"By Mike Cook"
(� CODE% 300
2
�_Init
<� � �_RELEASE
F�_Claim
P�
Z#�"Motor to change (0 to 7) ",M%
d
M%=M% � 7
n'�"Position for motor (0 to 14) ",P%
xMH?M%=P%
�� �
��
�
�� �_Init
�� A%=0 � 2 � 2
�P%=CODE%
�[
�
OPT A%
�.TM  EQUD 0   \ .1mS timer
�0.MH  EQUD &04030208   \ Motors 0-3 Threshold
�/.ML  EQUD &05060708   \ Motor 4-7 Threshold
�+.LH  EQUD &04040404   \ Motor 0-3 Latch
�+.LL  EQUD &04040404   \ Motor 4-7 Latch



	.EXIT

MOV PC,R14 \ Back to BASIC

"

,.TREQ \ IRQ from timer

6%MOV R0,#&40  \ Clear T1 interrupt

@STRB R0,[R3,#&14]

JLDR R0,[R12] \ Increment TM

TADD R0,R0,#1

^CMP R0,#15  \ Maximum count

_6\ the bigger this is the better is the resoloution

h�Q R0,#0

rSTR R0,[R12]

|BNE MOUT

�0LDR R0,[R12,#4] \ Move motor values to latch

�STR R0,[R12,#12]

�LDR R0,[R12,#8]

�STR R0,[R12,#16]

�

�	.MOUT

�MOV R1,#1 \ Bit Pointer

�'MOV R0,#0 \ Bit pattern accumulator

�0ADD R12,R12,#12 \ Point to first latch value

�	.LOOP

�-LDRB R2,[R12] \ Get motor threshold value

� SUB  R2,R2,#1 \ Decrement it

�6STRB R2,[R12],#1 \ Store it and update the pointer
CMP R2,#128
*�RLS R0,R0,R1  \ Set the bit if needed
)MOV R1,R1,ASL#1 \ Next bit in pattern
&$CMP R1,#&100 \ Are we at the end
0BNE LOOP
:
D-MOV R2,#&50000 \ Address of printer latch
NADD R2,R2,R3
X
bMOV R0,R0,ASL#16
lSTR R0,[R2,#&10]
v
�MOV PC,R14 \ Back to BASIC
�
�*.ENAB  \ Enable the interrupts from T1
�STMFD R13!,{R14}
�MOV R9,R15
�SWI "OS_EnterOS"
�#MOVNV R0,R0        \ JUST DELAY
�,MOV R0, #&3200000   \ BASE ADDRESS � IOC
�
�-LDRB R1,[R0,#&18]    \ Get interrupt mask
�#�R R1,R1,#&40       \ Set bit 6
�STRB R1,[R0,#&18]
�<MOV R1,#&C8         \ Set timer values for .1mS interval
"STRB R1,[R0,#&50]  \ Low value
MOV R1,#&0
!STRB R1,[R0,#&54]  \ Hi value
 
*\PREPARE � EXIT
4TEQP R9,#0
>MOVNV R0,R0
H-LDMFD R13!, {PC} \ BACK FROM �ST YOU CAME
R
\,.DISAB  \ Disable the interrupts from T1
fSTMFD R13!,{R14}
pMOV R9,R15
zSWI "OS_EnterOS"
�#MOVNV R0,R0        \ JUST DELAY
�,MOV R0, #&3200000   \ BASE ADDRESS � IOC
�-LDRB R1,[R0,#&18]    \ Get interrupt mask
�$� R1,R1,#&BF       \ Clear bit 6
�STRB R1,[R0,#&18]
�
�\PREPARE � EXIT
�TEQP R9,#0
�MOVNV R0,R0
�-LDMFD R13!, {PC} \ BACK FROM �ST YOU CAME
�]
�
��
�


� �_Claim
$&ș"OS_ClaimDeviceVector",6,TREQ,TM
.
� ENAB
8�
B
L� �_RELEASE
V�:�" at line ";�
`� DISAB
j(ș"OS_ReleaseDeviceVector",6,TREQ,TM
t�
�

00000000  0d 00 0a 0c f4 3e 53 65  72 76 6f 32 0d 00 14 31  |.....>Servo2...1|
00000010  f1 22 53 65 72 76 6f 20  6d 6f 74 6f 72 20 63 6f  |."Servo motor co|
00000020  6e 74 72 6f 6c 20 75 73  69 6e 67 20 74 68 65 20  |ntrol using the |
00000030  70 72 69 6e 74 65 72 20  70 6f 72 74 22 0d 00 1e  |printer port"...|
00000040  13 f1 22 42 79 20 4d 69  6b 65 20 43 6f 6f 6b 22  |.."By Mike Cook"|
00000050  0d 00 28 0f de 20 43 4f  44 45 25 20 33 30 30 0d  |..(.. CODE% 300.|
00000060  00 32 0a f2 5f 49 6e 69  74 0d 00 3c 11 ee 20 85  |.2.._Init..<.. .|
00000070  20 f2 5f 52 45 4c 45 41  53 45 0d 00 46 0b f2 5f  | ._RELEASE..F.._|
00000080  43 6c 61 69 6d 0d 00 50  05 f5 0d 00 5a 23 e8 22  |Claim..P....Z#."|
00000090  4d 6f 74 6f 72 20 74 6f  20 63 68 61 6e 67 65 20  |Motor to change |
000000a0  28 30 20 74 6f 20 37 29  20 22 2c 4d 25 0d 00 64  |(0 to 7) ",M%..d|
000000b0  0d 4d 25 3d 4d 25 20 80  20 37 0d 00 6e 27 e8 22  |.M%=M% . 7..n'."|
000000c0  50 6f 73 69 74 69 6f 6e  20 66 6f 72 20 6d 6f 74  |Position for mot|
000000d0  6f 72 20 28 30 20 74 6f  20 31 34 29 20 22 2c 50  |or (0 to 14) ",P|
000000e0  25 0d 00 78 0c 4d 48 3f  4d 25 3d 50 25 0d 00 82  |%..x.MH?M%=P%...|
000000f0  07 fd 20 a3 0d 00 8c 05  e0 0d 00 96 04 0d 00 a0  |.. .............|
00000100  0c dd 20 f2 5f 49 6e 69  74 0d 00 aa 12 e3 20 41  |.. ._Init..... A|
00000110  25 3d 30 20 b8 20 32 20  88 20 32 0d 00 b4 0c 50  |%=0 . 2 . 2....P|
00000120  25 3d 43 4f 44 45 25 0d  00 be 05 5b 0d 00 c8 0a  |%=CODE%....[....|
00000130  4f 50 54 20 41 25 0d 00  d2 1e 2e 54 4d 20 20 45  |OPT A%.....TM  E|
00000140  51 55 44 20 30 20 20 20  5c 20 2e 31 6d 53 20 74  |QUD 0   \ .1mS t|
00000150  69 6d 65 72 0d 00 dc 30  2e 4d 48 20 20 45 51 55  |imer...0.MH  EQU|
00000160  44 20 26 30 34 30 33 30  32 30 38 20 20 20 5c 20  |D &04030208   \ |
00000170  4d 6f 74 6f 72 73 20 30  2d 33 20 54 68 72 65 73  |Motors 0-3 Thres|
00000180  68 6f 6c 64 0d 00 e6 2f  2e 4d 4c 20 20 45 51 55  |hold.../.ML  EQU|
00000190  44 20 26 30 35 30 36 30  37 30 38 20 20 20 5c 20  |D &05060708   \ |
000001a0  4d 6f 74 6f 72 20 34 2d  37 20 54 68 72 65 73 68  |Motor 4-7 Thresh|
000001b0  6f 6c 64 0d 00 f0 2b 2e  4c 48 20 20 45 51 55 44  |old...+.LH  EQUD|
000001c0  20 26 30 34 30 34 30 34  30 34 20 20 20 5c 20 4d  | &04040404   \ M|
000001d0  6f 74 6f 72 20 30 2d 33  20 4c 61 74 63 68 0d 00  |otor 0-3 Latch..|
000001e0  fa 2b 2e 4c 4c 20 20 45  51 55 44 20 26 30 34 30  |.+.LL  EQUD &040|
000001f0  34 30 34 30 34 20 20 20  5c 20 4d 6f 74 6f 72 20  |40404   \ Motor |
00000200  34 2d 37 20 4c 61 74 63  68 0d 01 04 04 0d 01 0e  |4-7 Latch.......|
00000210  09 2e 45 58 49 54 0d 01  18 1e 4d 4f 56 20 50 43  |..EXIT....MOV PC|
00000220  2c 52 31 34 20 5c 20 42  61 63 6b 20 74 6f 20 42  |,R14 \ Back to B|
00000230  41 53 49 43 0d 01 22 04  0d 01 2c 1a 2e 54 52 45  |ASIC.."...,..TRE|
00000240  51 20 5c 20 49 52 51 20  66 72 6f 6d 20 74 69 6d  |Q \ IRQ from tim|
00000250  65 72 0d 01 36 25 4d 4f  56 20 52 30 2c 23 26 34  |er..6%MOV R0,#&4|
00000260  30 20 20 5c 20 43 6c 65  61 72 20 54 31 20 69 6e  |0  \ Clear T1 in|
00000270  74 65 72 72 75 70 74 0d  01 40 15 53 54 52 42 20  |terrupt..@.STRB |
00000280  52 30 2c 5b 52 33 2c 23  26 31 34 5d 0d 01 4a 1f  |R0,[R3,#&14]..J.|
00000290  4c 44 52 20 52 30 2c 5b  52 31 32 5d 20 5c 20 49  |LDR R0,[R12] \ I|
000002a0  6e 63 72 65 6d 65 6e 74  20 54 4d 0d 01 54 10 41  |ncrement TM..T.A|
000002b0  44 44 20 52 30 2c 52 30  2c 23 31 0d 01 5e 1f 43  |DD R0,R0,#1..^.C|
000002c0  4d 50 20 52 30 2c 23 31  35 20 20 5c 20 4d 61 78  |MP R0,#15  \ Max|
000002d0  69 6d 75 6d 20 63 6f 75  6e 74 0d 01 5f 36 5c 20  |imum count.._6\ |
000002e0  74 68 65 20 62 69 67 67  65 72 20 74 68 69 73 20  |the bigger this |
000002f0  69 73 20 74 68 65 20 62  65 74 74 65 72 20 69 73  |is the better is|
00000300  20 74 68 65 20 72 65 73  6f 6c 6f 75 74 69 6f 6e  | the resoloution|
00000310  0d 01 68 0c ec 51 20 52  30 2c 23 30 0d 01 72 10  |..h..Q R0,#0..r.|
00000320  53 54 52 20 52 30 2c 5b  52 31 32 5d 0d 01 7c 0c  |STR R0,[R12]..|.|
00000330  42 4e 45 20 4d 4f 55 54  0d 01 86 30 4c 44 52 20  |BNE MOUT...0LDR |
00000340  52 30 2c 5b 52 31 32 2c  23 34 5d 20 5c 20 4d 6f  |R0,[R12,#4] \ Mo|
00000350  76 65 20 6d 6f 74 6f 72  20 76 61 6c 75 65 73 20  |ve motor values |
00000360  74 6f 20 6c 61 74 63 68  0d 01 90 14 53 54 52 20  |to latch....STR |
00000370  52 30 2c 5b 52 31 32 2c  23 31 32 5d 0d 01 9a 13  |R0,[R12,#12]....|
00000380  4c 44 52 20 52 30 2c 5b  52 31 32 2c 23 38 5d 0d  |LDR R0,[R12,#8].|
00000390  01 a4 14 53 54 52 20 52  30 2c 5b 52 31 32 2c 23  |...STR R0,[R12,#|
000003a0  31 36 5d 0d 01 ae 04 0d  01 b8 09 2e 4d 4f 55 54  |16].........MOUT|
000003b0  0d 01 c2 1b 4d 4f 56 20  52 31 2c 23 31 20 5c 20  |....MOV R1,#1 \ |
000003c0  42 69 74 20 50 6f 69 6e  74 65 72 0d 01 cc 27 4d  |Bit Pointer...'M|
000003d0  4f 56 20 52 30 2c 23 30  20 5c 20 42 69 74 20 70  |OV R0,#0 \ Bit p|
000003e0  61 74 74 65 72 6e 20 61  63 63 75 6d 75 6c 61 74  |attern accumulat|
000003f0  6f 72 0d 01 d6 30 41 44  44 20 52 31 32 2c 52 31  |or...0ADD R12,R1|
00000400  32 2c 23 31 32 20 5c 20  50 6f 69 6e 74 20 74 6f  |2,#12 \ Point to|
00000410  20 66 69 72 73 74 20 6c  61 74 63 68 20 76 61 6c  | first latch val|
00000420  75 65 0d 01 e0 09 2e 4c  4f 4f 50 0d 01 ea 2d 4c  |ue.....LOOP...-L|
00000430  44 52 42 20 52 32 2c 5b  52 31 32 5d 20 5c 20 47  |DRB R2,[R12] \ G|
00000440  65 74 20 6d 6f 74 6f 72  20 74 68 72 65 73 68 6f  |et motor thresho|
00000450  6c 64 20 76 61 6c 75 65  0d 01 f4 20 53 55 42 20  |ld value... SUB |
00000460  20 52 32 2c 52 32 2c 23  31 20 5c 20 44 65 63 72  | R2,R2,#1 \ Decr|
00000470  65 6d 65 6e 74 20 69 74  0d 01 fe 36 53 54 52 42  |ement it...6STRB|
00000480  20 52 32 2c 5b 52 31 32  5d 2c 23 31 20 5c 20 53  | R2,[R12],#1 \ S|
00000490  74 6f 72 65 20 69 74 20  61 6e 64 20 75 70 64 61  |tore it and upda|
000004a0  74 65 20 74 68 65 20 70  6f 69 6e 74 65 72 0d 02  |te the pointer..|
000004b0  08 0f 43 4d 50 20 52 32  2c 23 31 32 38 0d 02 12  |..CMP R2,#128...|
000004c0  2a 84 52 4c 53 20 52 30  2c 52 30 2c 52 31 20 20  |*.RLS R0,R0,R1  |
000004d0  5c 20 53 65 74 20 74 68  65 20 62 69 74 20 69 66  |\ Set the bit if|
000004e0  20 6e 65 65 64 65 64 0d  02 1c 29 4d 4f 56 20 52  | needed...)MOV R|
000004f0  31 2c 52 31 2c 41 53 4c  23 31 20 5c 20 4e 65 78  |1,R1,ASL#1 \ Nex|
00000500  74 20 62 69 74 20 69 6e  20 70 61 74 74 65 72 6e  |t bit in pattern|
00000510  0d 02 26 24 43 4d 50 20  52 31 2c 23 26 31 30 30  |..&$CMP R1,#&100|
00000520  20 5c 20 41 72 65 20 77  65 20 61 74 20 74 68 65  | \ Are we at the|
00000530  20 65 6e 64 0d 02 30 0c  42 4e 45 20 4c 4f 4f 50  | end..0.BNE LOOP|
00000540  0d 02 3a 04 0d 02 44 2d  4d 4f 56 20 52 32 2c 23  |..:...D-MOV R2,#|
00000550  26 35 30 30 30 30 20 5c  20 41 64 64 72 65 73 73  |&50000 \ Address|
00000560  20 6f 66 20 70 72 69 6e  74 65 72 20 6c 61 74 63  | of printer latc|
00000570  68 0d 02 4e 10 41 44 44  20 52 32 2c 52 32 2c 52  |h..N.ADD R2,R2,R|
00000580  33 0d 02 58 04 0d 02 62  14 4d 4f 56 20 52 30 2c  |3..X...b.MOV R0,|
00000590  52 30 2c 41 53 4c 23 31  36 0d 02 6c 14 53 54 52  |R0,ASL#16..l.STR|
000005a0  20 52 30 2c 5b 52 32 2c  23 26 31 30 5d 0d 02 76  | R0,[R2,#&10]..v|
000005b0  04 0d 02 80 1e 4d 4f 56  20 50 43 2c 52 31 34 20  |.....MOV PC,R14 |
000005c0  5c 20 42 61 63 6b 20 74  6f 20 42 41 53 49 43 0d  |\ Back to BASIC.|
000005d0  02 8a 04 0d 02 94 2a 2e  45 4e 41 42 20 20 5c 20  |......*.ENAB  \ |
000005e0  45 6e 61 62 6c 65 20 74  68 65 20 69 6e 74 65 72  |Enable the inter|
000005f0  72 75 70 74 73 20 66 72  6f 6d 20 54 31 0d 02 9e  |rupts from T1...|
00000600  14 53 54 4d 46 44 20 52  31 33 21 2c 7b 52 31 34  |.STMFD R13!,{R14|
00000610  7d 0d 02 a8 0e 4d 4f 56  20 52 39 2c 52 31 35 0d  |}....MOV R9,R15.|
00000620  02 b2 14 53 57 49 20 22  4f 53 5f 45 6e 74 65 72  |...SWI "OS_Enter|
00000630  4f 53 22 0d 02 bc 23 4d  4f 56 4e 56 20 52 30 2c  |OS"...#MOVNV R0,|
00000640  52 30 20 20 20 20 20 20  20 20 5c 20 4a 55 53 54  |R0        \ JUST|
00000650  20 44 45 4c 41 59 0d 02  c6 2c 4d 4f 56 20 52 30  | DELAY...,MOV R0|
00000660  2c 20 23 26 33 32 30 30  30 30 30 20 20 20 5c 20  |, #&3200000   \ |
00000670  42 41 53 45 20 41 44 44  52 45 53 53 20 ca 20 49  |BASE ADDRESS . I|
00000680  4f 43 0d 02 d0 04 0d 02  da 2d 4c 44 52 42 20 52  |OC.......-LDRB R|
00000690  31 2c 5b 52 30 2c 23 26  31 38 5d 20 20 20 20 5c  |1,[R0,#&18]    \|
000006a0  20 47 65 74 20 69 6e 74  65 72 72 75 70 74 20 6d  | Get interrupt m|
000006b0  61 73 6b 0d 02 e4 23 84  52 20 52 31 2c 52 31 2c  |ask...#.R R1,R1,|
000006c0  23 26 34 30 20 20 20 20  20 20 20 5c 20 53 65 74  |#&40       \ Set|
000006d0  20 62 69 74 20 36 0d 02  ee 15 53 54 52 42 20 52  | bit 6....STRB R|
000006e0  31 2c 5b 52 30 2c 23 26  31 38 5d 0d 02 f8 3c 4d  |1,[R0,#&18]...<M|
000006f0  4f 56 20 52 31 2c 23 26  43 38 20 20 20 20 20 20  |OV R1,#&C8      |
00000700  20 20 20 5c 20 53 65 74  20 74 69 6d 65 72 20 76  |   \ Set timer v|
00000710  61 6c 75 65 73 20 66 6f  72 20 2e 31 6d 53 20 69  |alues for .1mS i|
00000720  6e 74 65 72 76 61 6c 0d  03 02 22 53 54 52 42 20  |nterval..."STRB |
00000730  52 31 2c 5b 52 30 2c 23  26 35 30 5d 20 20 5c 20  |R1,[R0,#&50]  \ |
00000740  4c 6f 77 20 76 61 6c 75  65 0d 03 0c 0e 4d 4f 56  |Low value....MOV|
00000750  20 52 31 2c 23 26 30 0d  03 16 21 53 54 52 42 20  | R1,#&0...!STRB |
00000760  52 31 2c 5b 52 30 2c 23  26 35 34 5d 20 20 5c 20  |R1,[R0,#&54]  \ |
00000770  48 69 20 76 61 6c 75 65  0d 03 20 04 0d 03 2a 13  |Hi value.. ...*.|
00000780  5c 50 52 45 50 41 52 45  20 b8 20 45 58 49 54 0d  |\PREPARE . EXIT.|
00000790  03 34 0e 54 45 51 50 20  52 39 2c 23 30 0d 03 3e  |.4.TEQP R9,#0..>|
000007a0  0f 4d 4f 56 4e 56 20 52  30 2c 52 30 0d 03 48 2d  |.MOVNV R0,R0..H-|
000007b0  4c 44 4d 46 44 20 52 31  33 21 2c 20 7b 50 43 7d  |LDMFD R13!, {PC}|
000007c0  20 5c 20 42 41 43 4b 20  46 52 4f 4d 20 c9 53 54  | \ BACK FROM .ST|
000007d0  20 59 4f 55 20 43 41 4d  45 0d 03 52 04 0d 03 5c  | YOU CAME..R...\|
000007e0  2c 2e 44 49 53 41 42 20  20 5c 20 44 69 73 61 62  |,.DISAB  \ Disab|
000007f0  6c 65 20 74 68 65 20 69  6e 74 65 72 72 75 70 74  |le the interrupt|
00000800  73 20 66 72 6f 6d 20 54  31 0d 03 66 14 53 54 4d  |s from T1..f.STM|
00000810  46 44 20 52 31 33 21 2c  7b 52 31 34 7d 0d 03 70  |FD R13!,{R14}..p|
00000820  0e 4d 4f 56 20 52 39 2c  52 31 35 0d 03 7a 14 53  |.MOV R9,R15..z.S|
00000830  57 49 20 22 4f 53 5f 45  6e 74 65 72 4f 53 22 0d  |WI "OS_EnterOS".|
00000840  03 84 23 4d 4f 56 4e 56  20 52 30 2c 52 30 20 20  |..#MOVNV R0,R0  |
00000850  20 20 20 20 20 20 5c 20  4a 55 53 54 20 44 45 4c  |      \ JUST DEL|
00000860  41 59 0d 03 8e 2c 4d 4f  56 20 52 30 2c 20 23 26  |AY...,MOV R0, #&|
00000870  33 32 30 30 30 30 30 20  20 20 5c 20 42 41 53 45  |3200000   \ BASE|
00000880  20 41 44 44 52 45 53 53  20 ca 20 49 4f 43 0d 03  | ADDRESS . IOC..|
00000890  98 2d 4c 44 52 42 20 52  31 2c 5b 52 30 2c 23 26  |.-LDRB R1,[R0,#&|
000008a0  31 38 5d 20 20 20 20 5c  20 47 65 74 20 69 6e 74  |18]    \ Get int|
000008b0  65 72 72 75 70 74 20 6d  61 73 6b 0d 03 a2 24 80  |errupt mask...$.|
000008c0  20 52 31 2c 52 31 2c 23  26 42 46 20 20 20 20 20  | R1,R1,#&BF     |
000008d0  20 20 5c 20 43 6c 65 61  72 20 62 69 74 20 36 0d  |  \ Clear bit 6.|
000008e0  03 ac 15 53 54 52 42 20  52 31 2c 5b 52 30 2c 23  |...STRB R1,[R0,#|
000008f0  26 31 38 5d 0d 03 b6 04  0d 03 c0 13 5c 50 52 45  |&18]........\PRE|
00000900  50 41 52 45 20 b8 20 45  58 49 54 0d 03 ca 0e 54  |PARE . EXIT....T|
00000910  45 51 50 20 52 39 2c 23  30 0d 03 d4 0f 4d 4f 56  |EQP R9,#0....MOV|
00000920  4e 56 20 52 30 2c 52 30  0d 03 de 2d 4c 44 4d 46  |NV R0,R0...-LDMF|
00000930  44 20 52 31 33 21 2c 20  7b 50 43 7d 20 5c 20 42  |D R13!, {PC} \ B|
00000940  41 43 4b 20 46 52 4f 4d  20 c9 53 54 20 59 4f 55  |ACK FROM .ST YOU|
00000950  20 43 41 4d 45 0d 03 e8  05 5d 0d 03 f2 04 0d 03  | CAME....]......|
00000960  fc 05 ed 0d 04 06 05 e1  0d 04 10 04 0d 04 1a 0d  |................|
00000970  dd 20 f2 5f 43 6c 61 69  6d 0d 04 24 26 c8 99 22  |. ._Claim..$&.."|
00000980  4f 53 5f 43 6c 61 69 6d  44 65 76 69 63 65 56 65  |OS_ClaimDeviceVe|
00000990  63 74 6f 72 22 2c 36 2c  54 52 45 51 2c 54 4d 0d  |ctor",6,TREQ,TM.|
000009a0  04 2e 0a d6 20 45 4e 41  42 0d 04 38 05 e1 0d 04  |.... ENAB..8....|
000009b0  42 04 0d 04 4c 0f dd 20  f2 5f 52 45 4c 45 41 53  |B...L.. ._RELEAS|
000009c0  45 0d 04 56 14 f6 3a f1  22 20 61 74 20 6c 69 6e  |E..V..:." at lin|
000009d0  65 20 22 3b 9e 0d 04 60  0b d6 20 44 49 53 41 42  |e ";...`.. DISAB|
000009e0  0d 04 6a 28 c8 99 22 4f  53 5f 52 65 6c 65 61 73  |..j(.."OS_Releas|
000009f0  65 44 65 76 69 63 65 56  65 63 74 6f 72 22 2c 36  |eDeviceVector",6|
00000a00  2c 54 52 45 51 2c 54 4d  0d 04 74 05 e0 0d ff     |,TREQ,TM..t....|
00000a0f