5 #include "TSISensor.h" // Touch Sensor
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6 #include "MAG3110.h" // Magnetic Sensor
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7 #include "MMA8451Q.h" // AcceleroMeter
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9 #include "serial_dma.h" // AcceleroMeter
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11 //#include "DataFrame.h"
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13 #define CLAMP(x, min, max) \
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14 ((x) < (min) ? (min) : \
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15 (x) > (max) ? (max) : (x))
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17 #define MMA8451_I2C_ADDRESS (0x1d<<1) // acc sensor address
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18 #define TIME_ACCURACY 0.01
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20 #define ACC_SNS_DEFAULT 0.1 // default collecting interval in seconds
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21 #define MAG_SNS_DEFAULT 1.0
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22 #define LGT_SNS_DEFAULT 1.0
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23 #define TCH_SNS_DEFAULT 1.0
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24 #define A2D_SNS_DEFAULT 1.0
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25 #define LED_OUT_DEFAULT 0.5
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27 #define MIN_RATE 1E-4 // 1 kHz
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28 #define MAX_RATE 10.0 // 0.1 Hz
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30 // Common Frame Information
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32 #define TAIL 0x0A // '\n'
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34 #define MAX_FRAME_SIZE 256
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61 // Data Frame Information
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70 } __attribute__((__packed__)) state_t;
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72 // Command Frame Information
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80 } __attribute__((__packed__)) command_t;
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82 // Define Devices & Pins
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83 MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);
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84 MAG3110 magSensor(PTE25, PTE24);
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85 TSISensor tchSensor;
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86 AnalogIn lgtSensor(PTE22);
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87 AnalogIn a2dSensor(A0);
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89 DigitalOut led1(LED1);
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90 DigitalOut led2(LED2);
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92 Serial serial(USBTX, USBRX);
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96 // Initial interval: in seconds
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97 float accTmr = ACC_SNS_DEFAULT;
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98 float magTmr = MAG_SNS_DEFAULT;
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99 float tchTmr = TCH_SNS_DEFAULT;
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100 float lgtTmr = LGT_SNS_DEFAULT;
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101 float a2dTmr = A2D_SNS_DEFAULT;
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102 float ledTmr = LED_OUT_DEFAULT;
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104 bool accEnable = false;
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105 bool magEnable = true;
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106 bool lgtEnable = false;
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107 bool tchEnable = false;
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108 bool a2dEnable = false;
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109 bool ledEnable = true;
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111 bool useStr = true;
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112 bool useHex = false;
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113 bool useBin = false;
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115 uint8_t txFrame[MAX_FRAME_SIZE];
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116 uint8_t rxFrame[MAX_FRAME_SIZE];
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119 void clock1_interrupt(void);
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120 void serialRx_interrupt(void);
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122 void runCommand(command_t *cmd);
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124 void sendAccInfo(void);
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125 void sendMagInfo(void);
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126 void sendLgtInfo(void);
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127 void sendTchInfo(void);
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128 void sendA2dInfo(void);
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130 int calDataSize(uint8_t);
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131 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data);
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133 void printStr(const char *str, ...);
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134 void printHex(uint8_t *frame, int len);
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135 void printBin(uint8_t *frame, int len);
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143 // Interruption Declarations
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144 clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s
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145 serial.attach(&serialRx_interrupt, Serial::RxIrq); // receive interrupt for serialS
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146 serial.baud(115200);
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149 sdma_setup(UART0, 0);
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151 printStr("\r\n============= Start of the program ============\r\n");
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158 /**********************
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159 * Interrupt handlers *
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160 **********************/
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162 void serialRx_interrupt(void) { // Byte version
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163 static int state = 0;
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164 static int index = 0;
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165 static int length = 0;
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167 command_t *cmd = (command_t*)rxFrame;
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169 while (serial.readable()) {
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170 rxFrame[index++] = serial.getc();
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173 if (cmd->header == HEADER)
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179 if (cmd->bits.sns >= SNS_NUM ||
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180 cmd->bits.oper >= OPER_NUM) {
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182 } else if (cmd->bits.oper == RATE) {
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194 if (rxFrame[index-1] == TAIL)
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203 void clock1_interrupt(void){
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218 // Send data through Serial
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219 if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){
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223 if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){
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227 if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){
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231 if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){
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235 if (a2dEnable && (a2dCnt<0 || a2dCnt>=a2dTmr/TIME_ACCURACY)){
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240 // Toggel LED for debugging
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241 if (ledEnable && (ledCnt<0 || ledCnt>=ledTmr/TIME_ACCURACY)){
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249 /*******************
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250 * Command handler *
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251 *******************/
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253 void runCommand(command_t *cmd)
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255 // Validate interval
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256 sns_t snsType = (sns_t )cmd->bits.sns;
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257 oper_t operType = (oper_t)cmd->bits.oper;
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258 float interval = CLAMP(cmd->interval, MIN_RATE, MAX_RATE);
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260 // Save value to global data
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264 case STOP: accEnable = false; break;
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265 case START: accEnable = true; break;
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266 case RATE: accTmr = interval; break;
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272 case STOP: magEnable = false; break;
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273 case START: magEnable = true; break;
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274 case RATE: magTmr = interval; break;
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280 case STOP: lgtEnable = false; break;
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281 case START: lgtEnable = true; break;
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282 case RATE: lgtTmr = interval; break;
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288 case STOP: tchEnable = false; break;
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289 case START: tchEnable = true; break;
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290 case RATE: tchTmr = interval; break;
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296 case STOP: a2dEnable = false; break;
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297 case START: a2dEnable = true; break;
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298 case RATE: a2dTmr = interval; break;
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304 /*******************
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305 * Sensors reading *
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306 *******************/
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308 void sendAccInfo(void){
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310 accData[0] = accSensor.getAccX();
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311 accData[1] = accSensor.getAccY();
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312 accData[2] = accSensor.getAccZ();
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313 int len = packToFrame(txFrame, ACC_SNS, FLOAT, 3, accData);
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315 printStr("[ACC] accX=%-2.4f accY=%-2.4f accZ=%-2.4f\r\n",
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316 accData[0], accData[1], accData[2]);
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317 printHex(txFrame, len);
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318 printBin(txFrame, len);
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321 void sendMagInfo(void){
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323 magSensor.getValues(&magData[0], &magData[1], &magData[2]);
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324 int len = packToFrame(txFrame, MAG_SNS, INT, 3, magData);
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326 printStr("[MAG] magX=%hd magY=%hd magZ=%hd %d\r\n",
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327 magData[0], magData[1], magData[2], sizeof(int));
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328 printHex(txFrame, len);
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329 printBin(txFrame, len);
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332 void sendLgtInfo(void){
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333 float lgtData = lgtSensor.read();
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334 int len = packToFrame(txFrame, LGT_SNS, FLOAT, 1, &lgtData);
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336 printStr("[LGT] intensity=%f\r\n",
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338 printHex(txFrame, len);
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339 printBin(txFrame, len);
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342 void sendTchInfo(void){
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344 tchData[0] = tchSensor.readPercentage();
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345 tchData[1] = tchSensor.readDistance();
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346 int len = packToFrame(txFrame, TCH_SNS, FLOAT, 2, tchData);
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348 printStr("[TCH] force=%0.4f distance=%2.2f\r\n",
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349 tchData[0], tchData[1]);
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350 printHex(txFrame, len);
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351 printBin(txFrame, len);
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354 void sendA2dInfo(void){
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362 int len = packToFrame(txFrame, A2D_SNS, FLOAT, 6, a2dData);
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364 printStr("[A2D] data=%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",
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365 a2dData[0], a2dData[1], a2dData[2],
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366 a2dData[3], a2dData[4], a2dData[5]);
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367 printHex(txFrame, len);
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368 printBin(txFrame, len);
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371 /********************
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372 * Helper functions *
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373 ********************/
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375 int calDataSize(type_t dataType){
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377 case INT: return 2;
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378 case LONG: return 4;
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379 case FLOAT: return 4;
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380 case DOUBLE: return 8;
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385 /*******************
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386 * Frame functions *
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387 *******************/
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389 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data){
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390 //const char pattern[] = "\x80\x81\x82\x83"
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391 // "\x84\x85\x86\x87"
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392 // "\x88\x89\x8A\x8B"
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393 // "\x8C\x8D\x8E\x8F";
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395 int size = dataNum * calDataSize(dataType);
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396 state_t *state = (state_t*)frame;
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397 uint8_t *tail = &state->data[size];
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399 state->header = HEADER;
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400 state->bits.sns = snsType;
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401 state->bits.type = dataType;
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402 state->count = dataNum;;
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403 memcpy(&state->data, data, size);
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407 return (3 + size + 1);
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410 /*******************
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411 * Print functions *
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412 *******************/
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414 void printHex(uint8_t *frame, int len){
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419 for (int i=0; i<len; i++)
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420 sdma_printf("%02hx ", frame[i]);
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421 sdma_printf("\r\n");
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424 void printStr(const char *fmt, ...){
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430 sdma_vprintf(fmt, ap);
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434 void printBin(uint8_t *frame, int len){
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438 sdma_write(frame, len);
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