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 0.0005
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20 #define ACC_SNS_DEFAULT 0.01 // default collecting interval in seconds
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21 #define MAG_SNS_DEFAULT 0.1
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22 #define LGT_SNS_DEFAULT 0.1
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23 #define TCH_SNS_DEFAULT 0.1
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24 #define A2D_SNS_DEFAULT 0.1
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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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49 TYP_S8, TYP_S16, TYP_S32,
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50 TYP_U8, TYP_U16, TYP_U32,
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60 // Data Frame Information
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73 // Command Frame Information
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85 // Define Devices & Pins
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86 MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);
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87 MAG3110 magSensor(PTE25, PTE24);
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88 TSISensor tchSensor;
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89 AnalogIn lgtSensor(PTE22);
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90 AnalogIn a2dSensor(A0);
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92 AnalogOut a2dOutput(PTE30);
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94 DigitalOut led1(LED1);
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95 DigitalOut led2(LED2);
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97 Serial serial(USBTX, USBRX);
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100 // Global Variables
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101 // Initial interval: in seconds
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102 float accTmr = ACC_SNS_DEFAULT;
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103 float magTmr = MAG_SNS_DEFAULT;
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104 float tchTmr = TCH_SNS_DEFAULT;
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105 float lgtTmr = LGT_SNS_DEFAULT;
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106 float a2dTmr = A2D_SNS_DEFAULT;
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107 float ledTmr = LED_OUT_DEFAULT;
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109 bool accEnable = false;
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110 bool magEnable = false;
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111 bool lgtEnable = false;
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112 bool tchEnable = false;
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113 bool a2dEnable = true;
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114 bool ledEnable = true;
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116 bool useStr = false;
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117 bool useHex = false;
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118 bool useBin = true;
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120 uint8_t txFrame[MAX_FRAME_SIZE];
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121 uint8_t rxFrame[MAX_FRAME_SIZE];
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124 void clock1_interrupt(void);
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125 void serialRx_interrupt(void);
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127 void runCommand(control_t *cmd);
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129 void sendAccInfo(void);
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130 void sendMagInfo(void);
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131 void sendLgtInfo(void);
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132 void sendTchInfo(void);
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133 void sendA2dInfo(void);
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135 int calDataSize(uint8_t);
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136 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data);
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138 void printStr(const char *str, ...);
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139 void printHex(uint8_t *frame, int len);
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140 void printBin(uint8_t *frame, int len);
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148 // Interruption Declarations
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149 //clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s
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150 serial.attach(&serialRx_interrupt, Serial::RxIrq); // receive interrupt for serialS
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151 //serial.baud(115200);
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152 serial.baud(230400);
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155 sdma_setup(UART0, 0);
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157 printStr("\r\n============= Start of the program ============\r\n");
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159 int ticks = 0, tocks = 0;
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161 ticks = (us_ticker_read()*1E-6) / TIME_ACCURACY;
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162 if (tocks < ticks) {
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163 clock1_interrupt();
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169 /**********************
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170 * Interrupt handlers *
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171 **********************/
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173 void serialRx_interrupt(void) { // Byte version
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174 static int state = 0;
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175 static int index = 0;
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176 static int length = 0;
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178 control_t *cmd = (control_t*)rxFrame;
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180 while (serial.readable()) {
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181 rxFrame[index++] = serial.getc();
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184 if (cmd->header == HEADER)
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190 if (cmd->bits.sns >= SNS_NUM ||
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191 cmd->bits.cmd >= CMD_NUM) {
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193 } else if (cmd->bits.cmd == CMD_RATE) {
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205 if (rxFrame[index-1] == TAIL)
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214 void clock1_interrupt(void){
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222 // Write A2D output sine wave
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223 a2dOutput.write(sin(a2dCnt * TIME_ACCURACY * (2*PI) * 0.1));
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225 // Send data through Serial
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226 if (accEnable && accCnt >= (int)(accTmr/TIME_ACCURACY+0.5)){
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230 if (magEnable && magCnt >= (int)(magTmr/TIME_ACCURACY+0.5)){
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234 if (lgtEnable && lgtCnt >= (int)(lgtTmr/TIME_ACCURACY+0.5)){
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238 if (tchEnable && tchCnt >= (int)(tchTmr/TIME_ACCURACY+0.5)){
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242 if (a2dEnable && a2dCnt >= (int)(a2dTmr/TIME_ACCURACY+0.5)){
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247 // Toggel LED for debugging
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248 if (ledEnable && ledCnt>=ledTmr/TIME_ACCURACY){
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263 /*******************
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264 * Command handler *
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265 *******************/
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267 void runCommand(control_t *cmd)
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269 // Validate interval
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270 sns_t snsType = (sns_t)cmd->bits.sns;
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271 cmd_t cmdType = (cmd_t)cmd->bits.cmd;
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272 float interval = CLAMP(cmd->interval, MIN_RATE, MAX_RATE);
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274 // Save value to global data
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278 case CMD_STOP: accEnable = false; break;
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279 case CMD_START: accEnable = true; break;
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280 case CMD_RATE: accTmr = interval; break;
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286 case CMD_STOP: magEnable = false; break;
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287 case CMD_START: magEnable = true; break;
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288 case CMD_RATE: magTmr = interval; break;
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294 case CMD_STOP: lgtEnable = false; break;
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295 case CMD_START: lgtEnable = true; break;
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296 case CMD_RATE: lgtTmr = interval; break;
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302 case CMD_STOP: tchEnable = false; break;
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303 case CMD_START: tchEnable = true; break;
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304 case CMD_RATE: tchTmr = interval; break;
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310 case CMD_STOP: a2dEnable = false; break;
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311 case CMD_START: a2dEnable = true; break;
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312 case CMD_RATE: a2dTmr = interval; break;
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318 /*******************
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319 * Sensors reading *
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320 *******************/
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322 void sendAccInfo(void){
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324 accData[0] = accSensor.getAccX();
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325 accData[1] = accSensor.getAccY();
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326 accData[2] = accSensor.getAccZ();
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327 int len = packToFrame(txFrame, SNS_ACC, TYP_F32, 3, accData);
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329 printStr("[ACC] accX=%-2.4f accY=%-2.4f accZ=%-2.4f\r\n",
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330 accData[0], accData[1], accData[2]);
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331 printHex(txFrame, len);
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332 printBin(txFrame, len);
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335 void sendMagInfo(void){
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336 // magSensor uses the wrong types,
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337 // so we have to convert it
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339 magSensor.getValues(&tmp[0], &tmp[1], &tmp[2]);
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340 uint16_t magData[3];
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341 magData[0] = tmp[0];
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342 magData[1] = tmp[1];
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343 magData[2] = tmp[2];
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344 int len = packToFrame(txFrame, SNS_MAG, TYP_S16, 3, magData);
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346 printStr("[MAG] magX=%hd magY=%hd magZ=%hd %d\r\n",
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347 magData[0], magData[1], magData[2], sizeof(int));
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348 printHex(txFrame, len);
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349 printBin(txFrame, len);
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352 void sendLgtInfo(void){
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353 float lgtData = lgtSensor.read();
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354 int len = packToFrame(txFrame, SNS_LGT, TYP_F32, 1, &lgtData);
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356 printStr("[LGT] intensity=%f\r\n",
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358 printHex(txFrame, len);
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359 printBin(txFrame, len);
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362 void sendTchInfo(void){
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364 tchData[0] = tchSensor.readPercentage();
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365 tchData[1] = tchSensor.readDistance();
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366 int len = packToFrame(txFrame, SNS_TCH, TYP_F32, 2, tchData);
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368 printStr("[TCH] force=%0.4f distance=%2.2f\r\n",
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369 tchData[0], tchData[1]);
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370 printHex(txFrame, len);
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371 printBin(txFrame, len);
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374 void sendA2dInfo(void){
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376 a2dData[0] = a2dSensor.read();
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382 int len = packToFrame(txFrame, SNS_A2D, TYP_F32, 6, a2dData);
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384 printStr("[A2D] data=%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",
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385 a2dData[0], a2dData[1], a2dData[2],
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386 a2dData[3], a2dData[4], a2dData[5]);
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387 printHex(txFrame, len);
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388 printBin(txFrame, len);
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391 /********************
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392 * Helper functions *
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393 ********************/
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395 int calDataSize(type_t dataType){
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397 case TYP_S8: return 1;
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398 case TYP_S16: return 2;
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399 case TYP_S32: return 4;
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400 case TYP_U8: return 1;
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401 case TYP_U16: return 2;
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402 case TYP_U32: return 4;
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403 case TYP_F32: return 4;
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404 case TYP_F64: return 8;
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409 /*******************
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410 * Frame functions *
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411 *******************/
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413 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data){
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414 //const char pattern[] = "\x80\x81\x82\x83"
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415 // "\x84\x85\x86\x87"
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416 // "\x88\x89\x8A\x8B"
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417 // "\x8C\x8D\x8E\x8F";
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419 int size = dataNum * calDataSize(dataType);
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420 state_t *state = (state_t*)frame;
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421 uint8_t *tail = &state->data[size];
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423 state->header = HEADER;
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424 state->bits.sns = snsType;
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425 state->bits.type = dataType;
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426 state->count = dataNum;;
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427 memcpy(&state->data, data, size);
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431 return (3 + size + 1);
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434 /*******************
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435 * Print functions *
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436 *******************/
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438 void printHex(uint8_t *frame, int len){
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443 for (int i=0; i<len; i++)
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444 sdma_printf("%02hx ", frame[i]);
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445 sdma_printf("\r\n");
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448 void printStr(const char *fmt, ...){
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454 sdma_vprintf(fmt, ap);
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458 void printBin(uint8_t *frame, int len){
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462 sdma_write(frame, len);
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