Add I²C part

2012-10-13 13:10:20 +02:00 · 2012-10-13 13:10:20 +02:00 · a7b523828d
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--- a/latex/TM.tex
+++ b/latex/TM.tex
@ -39,7 +39,7 @@
 \thispagestyle{empty}
 Je remercie bla bla bla...
 \vfill
-Image de couverture par \enquote{oomlout}, sous licence Creative Commons Attribution-Share like 2.0 Generic (CC BY-SA 2.0)
+Image de couverture par \enquote{oomlout}, sous licence \emph{Creative Commons Attribution-Share Alike 2.0 Generic (CC BY-SA 2.0)}.
 \tableofcontents
@ -74,6 +74,141 @@ Les mots en \textbf{gras} sont des mots expliqués dans le glossaire ou des acro
 Les textes écrits avec \verb|cette police d'écriture| sont des extraits de code.
 \chapter{L'I²C}
 \section{Le bus I²C}
 Le bus l'I²C a été développé par Philips en 1982. La première norme (notée 1.0) a été publiée en 1992 et la dernière (noté 4.0) en 2012.
 \section{Les caractéristiques}
 L'I²C a plusieurs caractéristiques intéressantes :
 \begin{itemize}
    \item il n'utilise que deux lignes (en réalité trois, la masse devant être commune à tous les maîtres et les esclaves)
    \item il est multi-maîtres : plusieurs objets peuvent contrôler le bus
    \item il est multi-esclaves : plusieurs objets peuvent répondre à un maître
    \item c'est un bus série : chaque information est découpée en plusieurs morceaux de taille fixe
    \item c'est un bus synchrone : possède une horloge propre (imposée par les maître qui veux parler)
    \item c'est un bus bidirectionnel half-duplex : les informations peuvent circuler dans les deux sens mais dans un seul sens à la fois
    \item il peux communiquer à des vitesses allant de 100 kbit/s à 5 Mbit/s
 \end{itemize}
 \section{Topologie}
 Tout d'abord, plusieurs équipements peuvent être connectés au bus en même temps (qu'ils soient maîtres ou esclaves).
 Les équipement sont connectés entre eux à l'aide de deux lignes :
 \begin{itemize}
    \item SDA (Serial Data Line) : ligne de données bidirectionnelle,
    \item SCL (Serial Clock Line) : ligne d'horloge de synchronisation bidirectionnelle
 \end{itemize}
 Il faut toute fois une troisième ligne pour avoir une masse commune à tous les équipements.
 Tous les équipements doivent être alimentés avec le même potentiel (pour avoir la même référence comme niveau haut) mais peuvent être alimentés par différentes sources.
 Les échanges ont toujours lieu entre un maître et un esclave et sont toujours débutés par le maître. Toute fois, rien n'empêche à un équipement de passer du status de maître au status d'esclave et vice-versa.
 L'état logique \enquote{0} ou \enquote{LOW} est l'état \enquote{dominant} tandis que l'état logique \enquote{1} ou \enquote{HIGH} est l'état \enquote{récessif}. Cela veux dire que si un équipement impose l'état LOW et qu'un autre impose l'état HIGH, la ligne sera à l'état LOW. 
 \begin{figure}[h]
    \centering
    \includegraphics[width=1\textwidth]{images/I2C/I2C_Architecture.eps}
    \caption{Architecture I²C avec plusieurs maîtres et plusieurs esclaves}
    \label{fig:I2C_Architecture}
 \end{figure}
 \section{Le protocole I²C}
 Toutes les images ont été faites par \enquote{Emiaille} et sont sous licence \emph{Creative Commons paternité – partage à l’identique 3.0 (non transposée)}.
 \subsection{L'encodage}
 Pour transmettre un bit, le maître doit d'abord placer la ligne SCL au niveau LOW puis placer la ligne SDA au niveau voulu (LOW pour transmettre un 1 ou HIGH pour transmettre un 0). Ensuite, il place la ligne SCL au niveau HIGH, attend un temps défini par la vitesse et la norme utilisée puis replace la ligne SCL au niveau LOW. Un bit vient d'être transmis. Il recommence pour transmettre le bit suivant. Tant que la ligne SCL est au niveau HIGH, la ligne SDA ne doit pas changer d'état.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_Encodage.eps}
    \caption{Encodage d'un bit I²C}
    \label{fig:I2C_Encodage}
 \end{figure}
 \subsection{La commande START}
 La commande START est un transgression à la règle d'encodage. Elle est utilisé pour signaler le début d'une trame.
 Pour envoyer un START, la ligne SDA doit passer de l'état HIGH à LOW pendant que la ligne SCL est à l'état HIGH.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_START.eps}
    \caption{Condition de START I²C}
    \label{fig:I2C_START}
 \end{figure}
 \subsection{La commande STOP}
 La commande STOP est un transgression à la règle d'encodage. Elle est utilisé pour signaler la fin d'une trame.
 Pour envoyer un STOP, la ligne SDA doit passer de l'état LOW à HIGH pendant que la ligne SCL est à l'état HIGH.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_STOP.eps}
    \caption{Condition de STOP I²C}
    \label{fig:I2C_STOP}
 \end{figure}
 \subsection{La commande RESTART}
 La commande RESTART est un transgression à la règle d'encodage. Elle est utilisé pour signaler le début d'une nouvelle trame sans passer par une condition STOP.
 Pour envoyer un RESTART, la ligne SDA doit passer de l'état LOW à HIGH pendant que la ligne SCL est à l'état HIGH. En fait, il s'agit que la commande START qui est envoyée entre un START en un STOP.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_RESTART.eps}
    \caption{Condition de RESTART I²C}
    \label{fig:I2C_RESTART}
 \end{figure}
 \subsection{L'acquittement}
 Quand le récepteur à reçu un octet, il envoie la commande ACK pour signaler qu'il l'a bien reçu ou la commande NACK pour signaler un problème lors de la réception.
 Quand le récepteur est un maître, il peux envoyer un NACK pour demander l'arrêt de la lecture avant d'envoyer un STOP.
 Pour envoyer un ACK, le récepteur envoie simplement un bit 0. Pour envoyer un NACK, le récepteur envoie simplement un bit 1.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_ACK.eps}
    \caption{Acquittement I²C}
    \label{fig:I2C_ACK}
 \end{figure}
 \subsection{La pause}
 A tout moment, l'esclave peux bloquer la ligne SCL à LOW pour signaler qu'il est occupé.
 Pour aire un pause, l'esclave maintient la ligne SCL au niveau LOW tandis que le maître maintient la ligne au niveau HIGH. Le maître va détecter l'écrasement et maintenir la ligne au niveau HIGH jusqu'à ce que l'esclave est libéré la ligne.
 \begin{figure}[h]
    \centering
    \includegraphics{images/I2C/I2C_Pause.eps}
    \caption{Pause I²C}
    \label{fig:I2C_Pause}
 \end{figure}
 \subsection{Un échange complet}
 Tout d'abord, tout les maîtres écoutent en permanence les deux lignes. S'ils détectent un START, ils savent qu'ils doivent attendre un STOP avant de tenter de parler à un esclave. Cette écoute permanente permet aussi de détecter les pauses et les conflits (plusieurs maîtres qui tentent de parler en même temps).
 Voici un exemple d'échange complet :
 \begin{enumerate}
    \item le maître qui veux parler attend que le bus soit libre s'il est occupé
    \item le maître envoie la commande START
    \item le maître envoie un octet : le sept premiers bits correspondent à l'adresse et le huitième permet de savoir si le maître demande une lecture ou une écriture (ici, une écriture)
    \item l'esclave envoie un bit d'acquittement (ici, un ACK)
    \item l'esclave peux demander une pause
    \item le maître envoie un octet qui contient une commande
    \item l'esclave envoie un bit d'acquittement (ici, un ACK)
    \item l'esclave peux demander une pause
    \item le maître envoie la commande RESTART
    \item le maître envoie un octet : le sept premiers bits correspondent à l'adresse et le huitième permet de savoir si le maître demande une lecture ou une écriture (ici, une lecture)
    \item l'esclave envoie un premier octet qui contient le début des données
    \item le maître envoie un bit d'acquittement (ici, un ACK)
    \item l'esclave peux demander une pause
    \item l'esclave envoie un deuxième octet qui contient la suite des données
    \item le maître envoie un bit d'acquittement (ici, un NACK)
    \item l'esclave peux demander une pause
    \item le maître envoie la commande STOP pour libérer le bus
 \end{enumerate}
 \begin{figure}[h]
    \centering
    \includegraphics[width=1\textwidth]{images/I2C/I2C_EchangeMaitreEsclave.eps}
    \caption{Exemple d'échange I²C entre un maître et un esclave}
    \label{fig:I2C_EchangeMaitreEsclave}
 \end{figure}
 \subsection{Le cas de conflit}
 Si deux maîtres (ou plus) prennent le contrôle du bus en même temps ou presque, les deux START et les lignes SCL vont se superposer et aucun des deux maîtres ne va se rendre compte qu'un autre est en train de parler un même temps. Toute fois, ils écoutent tous les deux en même temps qu'ils écrivent. Tant qu'ils envoient tous les deux un bit 1 ou 0 en même temps, il n'y aura pas de conflit entre les deux. Par contre, si l'un envoie un 1 et l'autre un 0, le 0 va écraser le 1 et le maître envoyant le 1 va détecter le conflit. Il va donc arrêter de parler et laisser l'autre continuer. Le conflit peux être détecter lors de l'écriture de l'adresse, du bit R/W ou lors de l'envoi d'un commande.
 Si les deux maîtres on envoyer exactement la même chose, il n'y aura pas de conflit et ils liront ou écriront la même chose.
 \chapter{Le matériel}
 \section{Le choix de la plate-forme}
 Il existe de nombreuse \gls{plate-forme} en robotique~: par exemple, le Boe-Bot de Parallax, utilisé dans les cours facultatifs de robotique de M. \textsc{Gardon}. J'ai fait le choix d'un Arduino car cette un plate-forme de plus en plus répandue, peu chère (20 € pour une carte programmable) et puissante. On trouve de nombreux exemples de \gls{DIY}, elle est programmable en \gls{C++} (donc il est possible d'utiliser des \glspl{bibliotheque}) et c'est du \gls{materiel libre}.
--- a/latex/bibliographie.bib
+++ b/latex/bibliographie.bib
@ -1,7 +1,63 @@
@misc{fig:Arduino_Ethernet,
    author = "oomlout",
    title = "Arduino Ethernet",
-    url = "https://upload.wikimedia.org/wikipedia/commons/f/f7/Arduino_Ethernet_Board_.jpg",
+    url = "https://commons.wikimedia.org/wiki/File:Arduino_Ethernet_Board_.jpg",
    keywords = "image"
 }
@misc{fig:I2C_ACK,
    author = "Emiaille",
    title = "Acquittement I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_ACK.svg",
    keywords = "image"
 }
@misc{fig:I2C_Architecture,
    author = "Emiaille",
    title = "Architecture I²C avec plusieurs maîtres et plusieurs esclaves",
    url ="https://commons.wikimedia.org/wiki/File:I2C_Architecture.svg",
    keywords = "image"
 }
@misc{fig:I2C_EchangeMaitreEsclave,
    author = "Emiaille",
    title = "Exemple d'échange I²C entre un maître et un esclave",
    url ="https://commons.wikimedia.org/wiki/File:I2C_EchangeMaitreEsclave.svg",
    keywords = "image"
 }
@misc{fig:I2C_Encodage,
    author = "Emiaille",
    title = "Encodage d'un bit I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_Encodage.svg",
    keywords = "image"
 }
@misc{fig:I2C_Pause,
    author = "Emiaille",
    title = "Pause I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_Pause.svg",
    keywords = "image"
 }
@misc{fig:I2C_RESTART,
    author = "Emiaille",
    title = "Condition de RESTART I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_RESTART.svg",
    keywords = "image"
 }
@misc{fig:I2C_START,
    author = "Emiaille",
    title = "Condition de START I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_START.svg",
    keywords = "image"
 }
@misc{fig:I2C_STOP,
    author = "Emiaille",
    title = "Condition de STOP I²C",
    url ="https://commons.wikimedia.org/wiki/File:I2C_STOP.svg",
    keywords = "image"
 }
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 13.156 74.602 m 14.141 74.602 l 14.141 68.133 l 17.688 68.133 l 17.688 
 67.305 l 13.156 67.305 l h
 f
 23.699 69.961 m 23.832 70.199 23.996 70.375 24.184 70.492 c 24.371 70.605
 24.59 70.664 24.84 70.664 c 25.184 70.664 25.441 70.543 25.621 70.305 c
 25.809 70.062 25.902 69.727 25.902 69.289 c 25.902 67.305 l 25.371 67.305
 l 25.371 69.273 l 25.371 69.586 25.312 69.812 25.199 69.961 c 25.082 70.117
 24.91 70.195 24.684 70.195 c 24.41 70.195 24.191 70.102 24.027 69.914 c
 23.871 69.727 23.793 69.477 23.793 69.164 c 23.793 67.305 l 23.246 67.305
 l 23.246 69.273 l 23.246 69.586 23.188 69.812 23.074 69.961 c 22.957 70.117
 22.785 70.195 22.559 70.195 c 22.285 70.195 22.066 70.102 21.902 69.914
 c 21.746 69.727 21.668 69.477 21.668 69.164 c 21.668 67.305 l 21.121 67.305
 l 21.121 70.586 l 21.668 70.586 l 21.668 70.07 l 21.781 70.277 21.922 70.43
 22.09 70.523 c 22.266 70.617 22.473 70.664 22.715 70.664 c 22.953 70.664
 23.156 70.602 23.324 70.477 c 23.488 70.359 23.613 70.188 23.699 69.961
 c h
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 c 28.031 67.719 28.203 67.664 28.422 67.664 c 28.711 67.664 28.945 67.766
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 l h
 29.938 69.18 m 29.938 67.305 l 29.406 67.305 l 29.406 67.805 l 29.281 67.605
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 c 27.93 67.227 27.664 67.32 27.469 67.508 c 27.27 67.695 27.172 67.945 
 27.172 68.258 c 27.172 68.633 27.297 68.914 27.547 69.102 c 27.797 69.289
 28.164 69.383 28.656 69.383 c 29.406 69.383 l 29.406 69.43 l 29.406 69.68
 29.32 69.871 29.156 70.008 c 29 70.141 28.77 70.211 28.469 70.211 c 28.281
 70.211 28.098 70.184 27.922 70.133 c 27.742 70.09 27.57 70.027 27.406 69.945
 c 27.406 70.43 l 27.602 70.512 27.797 70.57 27.984 70.602 c 28.172 70.641
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 70.047 29.938 69.68 29.938 69.18 c h
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 67.793 33.938 67.758 34.168 67.758 c 34.715 67.758 l 34.715 67.305 l 34.168
 67.305 l 33.75 67.305 33.465 67.383 33.309 67.539 c 33.152 67.695 33.074
 67.977 33.074 68.383 c 33.074 70.164 l 32.668 70.164 l 32.668 70.586 l 
 33.074 70.586 l 33.074 71.523 l h
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 69.684 36.117 69.402 36.117 69.039 c 36.117 67.305 l 35.57 67.305 l 35.57
 70.586 l 36.117 70.586 l 36.117 70.07 l 36.219 70.277 36.359 70.43 36.539
 70.523 c 36.727 70.617 36.949 70.664 37.211 70.664 c 37.25 70.664 37.293
 70.656 37.336 70.648 c 37.375 70.648 37.43 70.641 37.492 70.633 c h
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 67.703 40.18 67.758 c 40.375 67.809 40.574 67.883 40.773 67.977 c 40.773
 67.477 l 40.574 67.391 40.371 67.328 40.164 67.289 c 39.965 67.25 39.762
 67.227 39.555 67.227 c 39.031 67.227 38.617 67.375 38.305 67.68 c 38 67.98
 37.852 68.391 37.852 68.914 c 37.852 69.453 37.996 69.883 38.289 70.195
 c 38.578 70.508 38.969 70.664 39.461 70.664 c 39.906 70.664 40.258 70.523
 40.508 70.242 c 40.766 69.961 40.898 69.574 40.898 69.086 c h
 40.352 69.242 m 40.352 69.531 40.266 69.766 40.102 69.945 c 39.945 70.121
 39.734 70.211 39.477 70.211 c 39.172 70.211 38.93 70.121 38.742 69.945 
 c 38.562 69.777 38.461 69.543 38.43 69.242 c h
 f
 [ 2.4 2.4] 0 d
 q 1 0 0 -1 0 88 cm
 100.398 0.008 m 100.398 88.008 l S Q
 [ 3.2 3.2] 0 d
 q 1 0 0 -1 0 88 cm
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 l 52.059 85.066 l 52.059 80.691 l 51.465 80.691 l 51.465 82.77 l 49.324
 82.77 l 49.324 80.691 l 48.73 80.691 l h
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 81.207 c 55.371 81.602 55.18 82.16 55.18 82.879 c 55.18 83.586 55.371 84.137
 55.758 84.535 c 56.141 84.941 56.672 85.145 57.352 85.145 c 57.641 85.145
 57.914 85.105 58.164 85.035 c 58.422 84.973 58.664 84.867 58.883 84.723
 c 58.883 84.098 l 58.664 84.285 58.43 84.426 58.18 84.52 c 57.938 84.613
 57.68 84.66 57.398 84.66 c 56.867 84.66 56.465 84.508 56.195 84.207 c 55.934
 83.914 55.805 83.473 55.805 82.879 c 55.805 82.285 55.934 81.836 56.195
 81.535 c 56.465 81.242 56.867 81.098 57.398 81.098 c 57.617 81.098 57.805
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 82.77 l 60.984 80.691 l 60.391 80.691 l h
 f
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 l 49.477 56.77 l h
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 c 53.816 57.32 54.152 57.16 54.582 57.16 c 55.02 57.16 55.363 57.32 55.613
 57.645 c 55.863 57.965 55.988 58.402 55.988 58.957 c 55.988 59.508 55.863
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 c 55.684 56.895 55.195 56.691 54.582 56.691 c 53.965 56.691 53.477 56.895
 53.113 57.301 c 52.746 57.707 52.566 58.258 52.566 58.957 c 52.566 59.645
 52.746 60.191 53.113 60.598 c 53.477 61.012 53.965 61.223 54.582 61.223
 c h
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 61.148 56.77 l 60.227 60.566 l 59.305 56.77 l 58.555 56.77 l h
 f
 [ 3.2 3.2] 0 d
 q 1 0 0 -1 0 88 cm
 66.652 57.008 m 305.215 57.008 l S Q
 4.727 22.348 m 4.727 21.395 l 4.352 21.57 3.996 21.699 3.664 21.785 c 3.328
 21.879 3.008 21.926 2.695 21.926 c 2.164 21.926 1.75 21.82 1.461 21.613
 c 1.168 21.402 1.023 21.105 1.023 20.723 c 1.023 20.398 1.117 20.152 1.305
 19.988 c 1.5 19.82 1.871 19.691 2.414 19.598 c 3.008 19.473 l 3.734 19.324
 4.277 19.074 4.633 18.723 c 4.984 18.379 5.164 17.91 5.164 17.316 c 5.164
 16.605 4.922 16.07 4.445 15.707 c 3.977 15.34 3.281 15.16 2.367 15.16 c
 2.023 15.16 1.652 15.203 1.258 15.285 c 0.871 15.355 0.469 15.473 0.055
 15.629 c 0.055 16.645 l 0.461 16.414 0.852 16.242 1.227 16.129 c 1.609 
 16.012 1.992 15.957 2.367 15.957 c 2.93 15.957 3.359 16.066 3.664 16.285
 c 3.977 16.512 4.133 16.832 4.133 17.238 c 4.133 17.59 4.023 17.867 3.805
 18.066 c 3.586 18.273 3.219 18.43 2.711 18.535 c 2.117 18.645 l 1.375 18.789
 0.84 19.02 0.508 19.332 c 0.184 19.645 0.023 20.082 0.023 20.645 c 0.023
 21.289 0.246 21.793 0.695 22.16 c 1.152 22.535 1.781 22.723 2.586 22.723
 c 2.93 22.723 3.277 22.691 3.633 22.629 c 3.984 22.566 4.352 22.473 4.727
 22.348 c h
 11.898 22.035 m 11.898 20.988 l 11.562 21.301 11.211 21.527 10.836 21.676
 c 10.461 21.832 10.062 21.91 9.648 21.91 c 8.812 21.91 8.172 21.652 7.727
 21.145 c 7.289 20.633 7.07 19.898 7.07 18.941 c 7.07 17.98 7.289 17.246
 7.727 16.738 c 8.172 16.227 8.812 15.973 9.648 15.973 c 10.062 15.973 10.461
 16.043 10.836 16.191 c 11.211 16.348 11.562 16.582 11.898 16.895 c 11.898
 15.863 l 11.555 15.621 11.188 15.445 10.805 15.332 c 10.418 15.219 10.012
 15.16 9.586 15.16 c 8.48 15.16 7.609 15.496 6.977 16.176 c 6.34 16.852 
 6.023 17.773 6.023 18.941 c 6.023 20.105 6.34 21.027 6.977 21.707 c 7.609
 22.383 8.48 22.723 9.586 22.723 c 10.023 22.723 10.434 22.664 10.82 22.551
 c 11.203 22.434 11.562 22.262 11.898 22.035 c h
 13.156 22.598 m 14.141 22.598 l 14.141 16.129 l 17.688 16.129 l 17.688 
 15.301 l 13.156 15.301 l h
 f
 23.043 18.082 m 22.98 18.113 22.91 18.133 22.84 18.145 c 22.766 18.164 
 22.688 18.176 22.605 18.176 c 22.301 18.176 22.066 18.074 21.902 17.879 
 c 21.746 17.68 21.668 17.398 21.668 17.035 c 21.668 15.301 l 21.121 15.301
 l 21.121 18.582 l 21.668 18.582 l 21.668 18.066 l 21.77 18.273 21.91 18.426
 22.09 18.52 c 22.277 18.613 22.5 18.66 22.762 18.66 c 22.801 18.66 22.844
 18.652 22.887 18.645 c 22.926 18.645 22.98 18.637 23.043 18.629 c h
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 c 23.551 15.977 23.402 16.387 23.402 16.91 c 23.402 17.449 23.547 17.879
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 18.52 26.059 18.238 c 26.316 17.957 26.449 17.57 26.449 17.082 c h
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 c 24.113 17.773 24.012 17.539 23.98 17.238 c h
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 c 29.027 18.184 28.859 18.207 28.684 18.207 c 28.41 18.207 28.207 18.164
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 27.934 17.496 28.027 17.426 c 28.121 17.352 28.312 17.285 28.605 17.223
 c 28.793 17.176 l 29.168 17.09 29.434 16.977 29.59 16.832 c 29.754 16.684
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 15.309 28.91 15.223 28.496 15.223 c 28.316 15.223 28.129 15.238 27.934 
 15.27 c 27.746 15.301 27.547 15.352 27.34 15.426 c 27.34 15.973 l 27.535
 15.867 27.73 15.789 27.918 15.738 c 28.113 15.684 28.309 15.66 28.496 15.66
 c 28.754 15.66 28.953 15.699 29.09 15.785 c 29.223 15.879 29.293 16.004
 29.293 16.16 c 29.293 16.305 29.238 16.414 29.137 16.488 c 29.043 16.57
 28.828 16.648 28.496 16.723 c 28.309 16.77 l 27.973 16.84 27.73 16.949 
 27.574 17.098 c 27.426 17.242 27.355 17.441 27.355 17.691 c 27.355 18.004
 27.465 18.242 27.684 18.41 c 27.902 18.574 28.215 18.66 28.621 18.66 c 
 28.816 18.66 29.004 18.645 29.184 18.613 c 29.359 18.582 29.52 18.539 29.668
 18.488 c h
 30.863 16.598 m 30.863 18.582 l 31.395 18.582 l 31.395 16.613 l 31.395 
 16.301 31.449 16.066 31.566 15.91 c 31.691 15.762 31.879 15.691 32.129 15.691
 c 32.418 15.691 32.648 15.777 32.816 15.957 c 32.98 16.145 33.066 16.398
 33.066 16.723 c 33.066 18.582 l 33.613 18.582 l 33.613 15.301 l 33.066 
 15.301 l 33.066 15.801 l 32.93 15.602 32.773 15.457 32.598 15.363 c 32.43
 15.27 32.23 15.223 32.004 15.223 c 31.629 15.223 31.34 15.336 31.145 15.566
 c 30.957 15.805 30.863 16.148 30.863 16.598 c h
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 l 36.75 19.52 l h
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 39.605 16.523 39.605 16.285 c 39.605 16.098 39.668 15.945 39.793 15.832
 c 39.918 15.715 40.09 15.66 40.309 15.66 c 40.598 15.66 40.832 15.762 41.012
 15.973 c 41.199 16.191 41.293 16.477 41.293 16.832 c 41.293 16.957 l h
 41.824 17.176 m 41.824 15.301 l 41.293 15.301 l 41.293 15.801 l 41.168 
 15.602 41.012 15.457 40.824 15.363 c 40.645 15.27 40.422 15.223 40.152 15.223
 c 39.816 15.223 39.551 15.316 39.355 15.504 c 39.156 15.691 39.059 15.941
 39.059 16.254 c 39.059 16.629 39.184 16.91 39.434 17.098 c 39.684 17.285
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 41.207 17.867 41.043 18.004 c 40.887 18.137 40.656 18.207 40.355 18.207
 c 40.168 18.207 39.984 18.18 39.809 18.129 c 39.629 18.086 39.457 18.023
 39.293 17.941 c 39.293 18.426 l 39.488 18.508 39.684 18.566 39.871 18.598
 c 40.059 18.637 40.238 18.66 40.418 18.66 c 40.887 18.66 41.234 18.535 
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 c 44.363 18.191 44.133 18.098 43.969 17.91 c 43.801 17.723 43.719 17.473
 43.719 17.16 c 43.719 15.301 l 43.172 15.301 l 43.172 18.582 l 43.719 18.582
 l 43.719 18.066 l 43.844 18.262 43.992 18.41 44.172 18.504 c 44.348 18.605
 44.547 18.66 44.766 18.66 c 45.148 18.66 45.438 18.539 45.625 18.301 c 
 45.82 18.07 45.922 17.73 45.922 17.285 c h
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 48.113 15.754 48.344 15.754 c 48.891 15.754 l 48.891 15.301 l 48.344 15.301
 l 47.926 15.301 47.641 15.379 47.484 15.535 c 47.328 15.691 47.25 15.973
 47.25 16.379 c 47.25 18.16 l 46.844 18.16 l 46.844 18.582 l 47.25 18.582
 l 47.25 19.52 l h
 52.574 17.082 m 52.574 16.816 l 50.09 16.816 l 50.109 16.441 50.219 16.152
 50.418 15.957 c 50.625 15.77 50.906 15.676 51.262 15.676 c 51.469 15.676
 51.668 15.699 51.855 15.754 c 52.051 15.805 52.25 15.879 52.449 15.973 
 c 52.449 15.473 l 52.25 15.387 52.047 15.324 51.84 15.285 c 51.641 15.246
 51.438 15.223 51.23 15.223 c 50.707 15.223 50.293 15.371 49.98 15.676 c
 49.676 15.977 49.527 16.387 49.527 16.91 c 49.527 17.449 49.672 17.879 
 49.965 18.191 c 50.254 18.504 50.645 18.66 51.137 18.66 c 51.582 18.66 51.934
 18.52 52.184 18.238 c 52.441 17.957 52.574 17.57 52.574 17.082 c h
 52.027 17.238 m 52.027 17.527 51.941 17.762 51.777 17.941 c 51.621 18.117
 51.41 18.207 51.152 18.207 c 50.848 18.207 50.605 18.117 50.418 17.941 
 c 50.238 17.773 50.137 17.539 50.105 17.238 c h
 f
 [ 3.2 3.2] 0 d
 q 1 0 0 -1 0 88 cm
 66.652 81.008 m 305.215 81.008 l S Q
 48.73 33.066 m 49.324 33.066 l 49.324 31.27 l 51.465 31.27 l 51.465 33.066
 l 52.059 33.066 l 52.059 28.691 l 51.465 28.691 l 51.465 30.77 l 49.324
 30.77 l 49.324 28.691 l 48.73 28.691 l h
 53.543 33.066 m 54.137 33.066 l 54.137 28.691 l 53.543 28.691 l h
 58.414 29.316 m 58.414 30.488 l 57.445 30.488 l 57.445 30.973 l 58.992 
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 28.656 57.664 28.613 57.352 28.613 c 56.672 28.613 56.141 28.809 55.758
 29.207 c 55.371 29.602 55.18 30.16 55.18 30.879 c 55.18 31.586 55.371 32.137
 55.758 32.535 c 56.141 32.941 56.672 33.145 57.352 33.145 c 57.641 33.145
 57.914 33.105 58.164 33.035 c 58.422 32.973 58.664 32.867 58.883 32.723
 c 58.883 32.098 l 58.664 32.285 58.43 32.426 58.18 32.52 c 57.938 32.613
 57.68 32.66 57.398 32.66 c 56.867 32.66 56.465 32.508 56.195 32.207 c 55.934
 31.914 55.805 31.473 55.805 30.879 c 55.805 30.285 55.934 29.836 56.195
 29.535 c 56.465 29.242 56.867 29.098 57.398 29.098 c 57.617 29.098 57.805
 29.113 57.961 29.145 c 58.125 29.184 58.277 29.242 58.414 29.316 c h
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 l 63.719 33.066 l 63.719 28.691 l 63.125 28.691 l 63.125 30.77 l 60.984
 30.77 l 60.984 28.691 l 60.391 28.691 l h
 f
 49.477 9.145 m 50.07 9.145 l 50.07 5.27 l 52.195 5.27 l 52.195 4.77 l 49.477
 4.77 l h
 54.578 8.738 m 54.148 8.738 53.812 8.574 53.562 8.254 c 53.312 7.941 53.188
 7.508 53.188 6.957 c 53.188 6.402 53.312 5.965 53.562 5.645 c 53.812 5.32
 54.148 5.16 54.578 5.16 c 55.016 5.16 55.359 5.32 55.609 5.645 c 55.859
 5.965 55.984 6.402 55.984 6.957 c 55.984 7.508 55.859 7.941 55.609 8.254
 c 55.359 8.574 55.016 8.738 54.578 8.738 c h
 54.578 9.223 m 55.191 9.223 55.68 9.012 56.047 8.598 c 56.422 8.191 56.609
 7.645 56.609 6.957 c 56.609 6.27 56.422 5.715 56.047 5.301 c 55.68 4.895
 55.191 4.691 54.578 4.691 c 53.961 4.691 53.473 4.895 53.109 5.301 c 52.742
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