Trying to get the BMM150 Magnetometer Working

[mjs513]

I am kind of new to using Zephyr so please be kind :)

I have been using the Teensy Micromod (TMMM) board with the BMM150 (DFRobot) sensor on Wire1 (I2C0). For the TMM I have been using the board config from #88502 (still open). However, before trying the BMM150 I tested the BMI270 which worked no issues.

As a guide for the BMM150 I used this example https://github.com/zephyrproject-rtos/zephyr/tree/d7578804dd4683245f5b3d0140e03769486f7315/samples/sensor/bmm150 which does not seem to be in the current samles folder. Also used the BMI270 as a guide which as I said works.

What I run the app I get the message that the device is not ready. Debugging with a few printks, seems ito indicate that the BMM150 failing to complete a soft reset successfully

[00:00:00.005,000] <dbg> bmi270: write_config_file: writing config file max_fifo
[00:00:00.074,000] <err> BMM150: failed soft reset: -5
[00:00:00.075,000] <err> BMM150: failed to initialize chip: -5
*** Booting Zephyr OS build v4.1.0-2277-ge840e19de987 ***
[00:00:00.075,000] <inf> cdc_acm_echo: Wait for DTR
[00:00:00.250,000] <inf> usb_cdc_acm: Device configured
[00:00:00.475,000] <inf> cdc_acm_echo: DTR set
[00:00:00.581,000] <inf> cdc_acm_echo: Baudrate 115200

What I have so far is

prj.conf:

#CONFIG_STDOUT_CONSOLE=y
CONFIG_USB_DEVICE_STACK=y
CONFIG_USB_DEVICE_PRODUCT="Zephyr CDC ACM sample"
CONFIG_USB_DEVICE_VID=0x16c0
CONFIG_USB_DEVICE_PID=0x0483
CONFIG_LOG=y
CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y
CONFIG_SERIAL=y
CONFIG_UART_INTERRUPT_DRIVEN=y
CONFIG_UART_LINE_CTRL=y
CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
CONFIG_GPIO=y
CONFIG_SPI=y
CONFIG_SPI_ASYNC=y
CONFIG_POLL=y
CONFIG_STATIC_INIT_GNU=y

# Enable uart driver
CONFIG_SERIAL=y

# Console
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
CONFIG_USB_CDC_ACM_LOG_LEVEL_DBG=n
#CONFIG_SPI_LOG_LEVEL_DBG=y

CONFIG_I2C=y
CONFIG_SENSOR=y
CONFIG_BMM150=y
CONFIG_BMM150_PRESET_REGULAR=y
CONFIG_SENSOR_LOG_LEVEL_DBG=y

App overlay:

/*
 * Copyright (c) 2021 Bosch Sensortec GmbH
 *
 * SPDX-License-Identifier: Apache-2.0
 */

&zephyr_udc0 {
	cdc_acm_uart0 {
		compatible = "zephyr,cdc-acm-uart";
		label = "Zephyr USB CDC-ACM";
	};
};

&micromod_0_i2c {
	status = "okay";

	bmi270@68 {
		compatible = "bosch,bmi270";
		reg = <0x68>;
    label = "BMI270";
	};
  
	bmm150@13 {
		compatible = "bosch,bmm150";
		reg = <0x13>;
		label = "BMM150";
	};
};

kconfig

# Copyright (c) 2023 Nordic Semiconductor ASA
# SPDX-License-Identifier: Apache-2.0

# Source common USB sample options used to initialize new experimental USB
# device stack. The scope of these options is limited to USB samples in project
# tree, you cannot use them in your own application.
source "samples/subsys/usb/common/Kconfig.sample_usbd"

source "Kconfig.zephyr"

Cmake

#
# Copyright (c) 2021 Bosch Sensortec GmbH
#
# SPDX-License-Identifier: Apache-2.0
#

cmake_minimum_required(VERSION 3.20.0)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(cdc_acm)

include(${ZEPHYR_BASE}/samples/subsys/usb/common/common.cmake)
FILE(GLOB app_sources src/*.cpp  app_sources src/*.c)
target_sources(app PRIVATE ${app_sources})

main.cpp - most of which is getting USBSerial working.

/*
 * Copyright (c) 2021 Bosch Sensortec GmbH
 *
 * SPDX-License-Identifier: Apache-2.0
 */


#include <sample_usbd.h>

#include <stdio.h>
#include <string.h>
#include <zephyr/device.h>
#include <zephyr/drivers/uart.h>
#include <zephyr/kernel.h>
#include <zephyr/sys/ring_buffer.h>

#include <zephyr/usb/usb_device.h>
#include <zephyr/usb/usbd.h>
#include <zephyr/logging/log.h>
#include <zephyr/drivers/gpio.h>

LOG_MODULE_REGISTER(cdc_acm_echo, LOG_LEVEL_INF);

#include "UARTDevice.h"

#include <zephyr/drivers/sensor.h>


const struct device *const usb_uart_dev = DEVICE_DT_GET_ONE(zephyr_cdc_acm_uart);


//UARTDevice SerialX(serial_dev);
UARTDevice USBSerial(usb_uart_dev);


inline int min(int a, int b) {
	return (a <= b)? a : b;
}

inline void delay(uint32_t ms) {
	k_sleep(K_MSEC(ms));
}


static inline void print_baudrate(const struct device *dev)
{
	uint32_t baudrate;
	int ret;

	ret = uart_line_ctrl_get(dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
	if (ret) {
		LOG_WRN("Failed to get baudrate, ret code %d", ret);
	} else {
		LOG_INF("Baudrate %u", baudrate);
	}
}

#if defined(CONFIG_USB_DEVICE_STACK_NEXT)
static struct usbd_context *sample_usbd;
K_SEM_DEFINE(dtr_sem, 0, 1);

static void sample_msg_cb(struct usbd_context *const ctx, const struct usbd_msg *msg)
{
	LOG_INF("USBD message: %s", usbd_msg_type_string(msg->type));

	if (usbd_can_detect_vbus(ctx)) {
		if (msg->type == USBD_MSG_VBUS_READY) {
			if (usbd_enable(ctx)) {
				LOG_ERR("Failed to enable device support");
			}
		}

		if (msg->type == USBD_MSG_VBUS_REMOVED) {
			if (usbd_disable(ctx)) {
				LOG_ERR("Failed to disable device support");
			}
		}
	}

	if (msg->type == USBD_MSG_CDC_ACM_CONTROL_LINE_STATE) {
		uint32_t dtr = 0U;

		uart_line_ctrl_get(msg->dev, UART_LINE_CTRL_DTR, &dtr);
		if (dtr) {
			k_sem_give(&dtr_sem);
		}
	}

	if (msg->type == USBD_MSG_CDC_ACM_LINE_CODING) {
		print_baudrate(msg->dev);
	}
}

static int enable_usb_device_next(void)
{
	int err;

	sample_usbd = sample_usbd_init_device(sample_msg_cb);
	if (sample_usbd == NULL) {
		LOG_ERR("Failed to initialize USB device");
		return -ENODEV;
	}

	if (!usbd_can_detect_vbus(sample_usbd)) {
		err = usbd_enable(sample_usbd);
		if (err) {
			LOG_ERR("Failed to enable device support");
			return err;
		}
	}

	LOG_INF("USB device support enabled");

	return 0;
}
#endif /* defined(CONFIG_USB_DEVICE_STACK_NEXT) */



// Need to do this.
unsigned long micros(void) {
#ifdef CONFIG_TIMER_HAS_64BIT_CYCLE_COUNTER
  return k_cyc_to_us_floor32(k_cycle_get_64());
#else
  return k_cyc_to_us_floor32(k_cycle_get_32());
#endif
 }



int main(void)
{
  int ret;
  
//===============================================================	
// BUGBUG:: need to wrap this in class...
#if defined(CONFIG_USB_DEVICE_STACK_NEXT)
		ret = enable_usb_device_next();
#else
		ret = usb_enable(NULL);
#endif

	if (ret != 0) {
		LOG_ERR("Failed to enable USB");
		return 0;
	}

//	ring_buf_init(&ringbuf, sizeof(ring_buffer), ring_buffer);

	LOG_INF("Wait for DTR");

#if defined(CONFIG_USB_DEVICE_STACK_NEXT)
	k_sem_take(&dtr_sem, K_FOREVER);
#else
	while (true) {
		uint32_t dtr = 0U;

		uart_line_ctrl_get(usb_uart_dev, UART_LINE_CTRL_DTR, &dtr);
		if (dtr) {
			break;
		} else {
			/* Give CPU resources to low priority threads. */
			k_sleep(K_MSEC(100));
		}
	}
#endif

	LOG_INF("DTR set");

	/* They are optional, we use them to test the interrupt endpoint */
	ret = uart_line_ctrl_set(usb_uart_dev, UART_LINE_CTRL_DCD, 1);
	if (ret) {
		LOG_WRN("Failed to set DCD, ret code %d", ret);
	}

	ret = uart_line_ctrl_set(usb_uart_dev, UART_LINE_CTRL_DSR, 1);
	if (ret) {
		LOG_WRN("Failed to set DSR, ret code %d", ret);
	}

	/* Wait 100ms for the host to do all settings */
	k_msleep(100);

#ifndef CONFIG_USB_DEVICE_STACK_NEXT
	print_baudrate(usb_uart_dev);
#endif


	USBSerial.begin();

	const struct device *const dev = DEVICE_DT_GET_ONE(bosch_bmm150);
	struct sensor_value x, y, z;
  
	if (!device_is_ready(dev)) {
		USBSerial.printf("BMM150 %s is not ready\n", dev->name);
		return 0;
	}

	USBSerial.printf("BMM150 %p name is %s\n", dev, dev->name);

	while (1) {
		ret = sensor_sample_fetch(dev);
		if (ret) {
			USBSerial.printf("sensor_sample_fetch failed ret %d\n", ret);
			return 0;
		}

		ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &x);
		ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &y);
		ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &z);

		USBSerial.printf("( x y z ) = ( %f  %f  %f )\n", sensor_value_to_double(&x),
		       sensor_value_to_double(&y), sensor_value_to_double(&z));

		k_sleep(K_MSEC(500));
	}
  
	return 0;
}

Added info. Build info:

(.venv) PS D:\zephyrproject\zephyr> west build -p auto -b teensymm zephyr_test_sketches\i2c_bmm150 
 [0/1] Re-running CMake...Loading Zephyr default modules (Zephyr base (cached)). 
 -- Application: D:/zephyrproject/zephyr/zephyr_test_sketches/i2c_bmm150  
 -- CMake version: 4.0.1  
-- Cache files will be written to: D:/zephyrproject/zephyr/.cache 
-- Zephyr version: 4.1.99 (D:/zephyrproject/zephyr)
 -- Found west (found suitable version "1.3.0", minimum required is "0.14.0") 
 -- Board: teensymm, qualifiers: mimxrt1062 
-- Found host-tools: zephyr 0.17.0 (D:/zephyrproject/zephyr-sdk-0.17.0)  
 -- Found toolchain: zephyr 0.17.0 (D:/zephyrproject/zephyr-sdk-0.17.0)
 -- Found BOARD.dts: D:/zephyrproject/zephyr/boards/pjrc/teensy4/teensymm.dts
-- Found devicetree overlay: D:/zephyrproject/zephyr/zephyr_test_sketches/i2c_bmm150/app.overlay
-- Generated zephyr.dts: D:/zephyrproject/zephyr/build/zephyr/zephyr.dts
-- Generated pickled edt: D:/zephyrproject/zephyr/build/zephyr/edt.pickle
-- Generated devicetree_generated.h: D:/zephyrproject/zephyr/build/zephyr/include/generated/zephyr/devicetree_generated.h
-- Including generated dts.cmake file: D:/zephyrproject/zephyr/build/zephyr/dts.cmake
Parsing D:/zephyrproject/zephyr/zephyr_test_sketches/i2c_bmm150/Kconfig
Loaded configuration 'D:/zephyrproject/zephyr/build/zephyr/.config'
Configuration saved to 'D:/zephyrproject/zephyr/build/zephyr/.config'
Kconfig header saved to 'D:/zephyrproject/zephyr/build/zephyr/include/generated/zephyr/autoconf.h'
-- Looking for device MIMXRT1062 in D:/zephyrproject/modules/hal/nxp/mcux/mcux-sdk-ng/devices/
-- Found device folder: D:/zephyrproject/modules/hal/nxp/mcux/mcux-sdk-ng/devices/RT/RT1060/MIMXRT1062
-- Configuring done (41.4s)
-- Generating done (5.2s)
-- Build files have been written to: D:/zephyrproject/zephyr/build

[167/168] Linking CXX executable zephyr\zephyr.elf
Memory region         Used Size  Region Size  %age Used
           FLASH:       74236 B        16 MB      0.44%
             RAM:       48888 B       256 KB     18.65%
            ITCM:          0 GB       128 KB      0.00%
            DTCM:          0 GB       128 KB      0.00%
           OCRAM:          0 GB       256 KB      0.00%
          OCRAM2:          0 GB       512 KB      0.00%
        IDT_LIST:          0 GB        32 KB      0.00%
Generating files from D:/zephyrproject/zephyr/build/zephyr/zephyr.elf for board: teensymm

any help would be appreciated.

Thanks
Mike

[ldomaigne]

Accordingly to the BMM150 datasheet, the default I2C address is 0x10.... The address is configurable based on the CSB / SDO pin as described on p36.

Perhaps you're already familiar with this... Just making sure we're on the same page so to speak. 😄

[mjs513]

Yep understood. The DFRobot BMM150 has a i2c address of 0x13. So I changed that in the overlay:

	bmm150@13 {
		compatible = "bosch,bmm150";
		reg = <0x13>;
		label = "BMM150";
	};

it does seem to see the sensor. Glad you mentioned it in case anyone else joins the fun.

UPDATE: I have it print out the device and device name to USBSerial

BMM150 0x6000f798 name is BMM150
BMM150 BMM150 is not ready

[mjs513]

Just as a heads up to any finding this discussion I managed to get the BMM150 working.

Comparing chip init in zephyr to the chip init in the DFRobot library found that they do not do a softreset as part of the chip init only a power suspend and power on before configuring the chip, i.e., modified in static int bmm150_init_chip(const struct device *dev)

	//if (bmm150_full_por(dev) != 0) {
	//	goto err_poweroff;
	//}
  
	ret = bmm150_power_control(dev, 0);
	if (ret != 0) {
		LOG_ERR("failed to enter suspend mode: %d", ret);
		return ret;
	}

	k_sleep(BMM150_POR_TIME);

	ret = bmm150_power_control(dev, 1);
	if (ret != 0) {
		LOG_ERR("failed to go back into sleep mode: %d", ret);
		return ret;
	}

Also found that

	if (!device_is_ready(dev)) {
		USBSerial.printf("BMM150 %s is not ready\n", dev->name);
		return 0;
	}

always fails even if chip is started correctly ( no error returned in debug window). To fix that changed it to

	if (device_is_ready(dev)) {
		USBSerial.printf("BMM150 %s is not ready\n", dev->name);
		return 0;
	}

now it works.

For convience I also changed the data get loop:

	while (1) {
		ret = sensor_sample_fetch(dev);
		if (!ret) {
			//return 0;
		ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &x);
		ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &y);
		 ret = sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &z);

		 //convert to uT from Gauss, multiply by 100)
		USBSerial.printf("( x y z ) = ( %f  %f  %f )\n", sensor_value_to_double(&x) * 100,
                  sensor_value_to_double(&y) * 100, sensor_value_to_double(&z)) * 100;
		}
	}

data sample

( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -1.500000  -20.625000  0.030000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( -0.750000  -21.375000  0.060000 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 4.312500  -21.750000  0.056250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 0.000000  -21.750000  0.041250 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )
( x y z ) = ( 1.750000  -25.687500  0.075000 )