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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26 #define MIN_RATE 1E-4 // 1 kHz
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27 #define MAX_RATE 10.0 // 0.1 Hz
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29 // Common Frame Information
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31 #define TAIL 0x0A // '\n'
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33 #define MAX_FRAME_SIZE 256
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56 // Data Frame Information
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67 // Command Frame Information
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77 // Define Devices & Pins
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78 MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);
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79 MAG3110 magSensor(PTE25, PTE24);
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80 TSISensor tchSensor;
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81 AnalogIn lgtSensor(PTE22);
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82 AnalogIn a2dSensor(A0);
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84 Serial serial(USBTX, USBRX);
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88 // Initial interval: in seconds
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89 float accTmr = ACC_SNS_DEFAULT;
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90 float magTmr = MAG_SNS_DEFAULT;
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91 float tchTmr = TCH_SNS_DEFAULT;
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92 float lgtTmr = LGT_SNS_DEFAULT;
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93 float a2dTmr = A2D_SNS_DEFAULT;
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95 bool accEnable = true;
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96 bool magEnable = false;
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97 bool lgtEnable = false;
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98 bool tchEnable = false;
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99 bool a2dEnable = false;
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101 bool useStr = true;
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102 bool useHex = false;
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103 bool useBin = false;
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105 uint8_t txFrame[MAX_FRAME_SIZE];
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106 uint8_t rxFrame[MAX_FRAME_SIZE];
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109 void clock1_interrupt(void);
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110 void serialRx_interrupt(void);
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112 void sendAccInfo(void);
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113 void sendMagInfo(void);
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114 void sendLgtInfo(void);
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115 void sendTchInfo(void);
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116 void sendA2dInfo(void);
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118 int calDataSize(uint8_t);
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119 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data);
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121 void printStr(const char *str, ...);
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122 void printHex(uint8_t *frame, int len);
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123 void printBin(uint8_t *frame, int len);
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131 // Interruption Declarations
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132 clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s
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133 serial.attach(&serialRx_interrupt, Serial::RxIrq); // receive interrupt for serialS
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134 serial.baud(115200);
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137 sdma_setup(UART0, 0);
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139 printStr("\r\n============= Start of the program ============\r\n");
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146 /**********************
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147 * Interrupt handlers *
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148 **********************/
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150 void serialRx_interrupt(void) { // Byte version
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151 clock1.detach(); // close the interrupt temporarily
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153 uint8_t ch = serial.getc();
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155 while (ch!=HEADER){
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156 if (serial.readable()){
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157 ch = serial.getc();
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160 printStr("[ERROR] broken data!\r\n");
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161 clock1.attach(&clock1_interrupt, TIME_ACCURACY);
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166 //TODO: ticker for time out
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167 while (serial.readable()){
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171 ch = serial.getc();
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174 rxFrame[++i] = '\0';
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176 // Cast to command and
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177 command_t *cmd = (command_t *)rxFrame;
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179 // Validate interval
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180 sns_t snsType = (sns_t )cmd->bits.sns;
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181 oper_t operType = (oper_t)cmd->bits.oper;
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182 float interval = CLAMP(cmd->interval, MIN_RATE, MAX_RATE);
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184 // Save value to global data
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188 case START: accEnable = true; break;
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189 case STOP: accEnable = false; break;
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190 case SET_INT: accTmr = interval; break;
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196 case START: magEnable = true; break;
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197 case STOP: magEnable = false; break;
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198 case SET_INT: magTmr = interval; break;
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204 case START: lgtEnable = true; break;
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205 case STOP: lgtEnable = false; break;
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206 case SET_INT: lgtTmr = interval; break;
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212 case START: tchEnable = true; break;
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213 case STOP: tchEnable = false; break;
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214 case SET_INT: tchTmr = interval; break;
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220 case START: a2dEnable = true; break;
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221 case STOP: a2dEnable = false; break;
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222 case SET_INT: a2dTmr = interval; break;
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227 clock1.attach(&clock1_interrupt, TIME_ACCURACY);
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230 void clock1_interrupt(void){
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243 // TODO: send data through Serial
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244 if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){
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248 if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){
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252 if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){
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256 if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){
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260 if (a2dEnable && (a2dCnt<0 || a2dCnt>=a2dTmr/TIME_ACCURACY)){
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268 /*******************
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269 * Sensors reading *
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270 *******************/
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272 void sendAccInfo(void){
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274 accData[0] = accSensor.getAccX();
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275 accData[1] = accSensor.getAccY();
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276 accData[2] = accSensor.getAccZ();
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277 int len = packToFrame(txFrame, ACC_SNS, FLOAT, 3, accData);
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279 printStr("[ACC] accX=%-2.4f accY=%-2.4f accZ=%-2.4f\r\n",
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280 accData[0], accData[1], accData[2]);
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281 printHex(txFrame, len);
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282 printBin(txFrame, len);
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285 void sendMagInfo(void){
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287 magSensor.getValues(&magData[0], &magData[1], &magData[2]);
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288 int len = packToFrame(txFrame, MAG_SNS, INT, 3, magData);
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290 printStr("[MAG] magX=%d magY=%d magZ=%d\r\n",
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291 magData[0], magData[1], magData[2]);
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292 printHex(txFrame, len);
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293 printBin(txFrame, len);
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296 void sendLgtInfo(void){
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297 float lgtData = lgtSensor.read();
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298 int len = packToFrame(txFrame, LGT_SNS, FLOAT, 1, &lgtData);
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300 printStr("[LGT] intensity=%f\r\n",
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302 printHex(txFrame, len);
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303 printBin(txFrame, len);
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306 void sendTchInfo(void){
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308 tchData[0] = tchSensor.readPercentage();
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309 tchData[1] = tchSensor.readDistance();
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310 int len = packToFrame(txFrame, TCH_SNS, FLOAT, 2, tchData);
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312 printStr("[TCH] force=%0.4f distance=%2.2f\r\n",
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313 tchData[0], tchData[1]);
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314 printHex(txFrame, len);
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315 printBin(txFrame, len);
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318 void sendA2dInfo(void){
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326 int len = packToFrame(txFrame, A2D_SNS, FLOAT, 2, a2dData);
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328 printStr("[A2D] data=%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",
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329 a2dData[0], a2dData[1], a2dData[2],
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330 a2dData[3], a2dData[4], a2dData[5]);
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331 printHex(txFrame, len);
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332 printBin(txFrame, len);
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335 /********************
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336 * Helper functions *
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337 ********************/
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339 int calDataSize(uint8_t dataType){
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341 case INT: return 2;
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342 case LONG: return 4;
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343 case FLOAT: return 4;
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344 case DOUBLE: return 8;
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349 /*******************
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350 * Frame functions *
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351 *******************/
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353 int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data){
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354 int size = dataNum + calDataSize(dataType);
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355 state_t *state = (state_t*)frame;
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356 uint8_t *tail = &state->data[size];
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358 state->header = HEADER;
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359 state->bits.sns = snsType;
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360 state->bits.type = dataType;
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361 state->count = dataNum;;
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362 memcpy(&state->data, data, size);
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366 return (3 + size + 1);
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369 /*******************
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370 * Print functions *
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371 *******************/
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373 void printHex(uint8_t *frame, int len){
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378 for (int i=0; i<len; i++)
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379 sdma_printf("%02hx ", frame[i]);
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380 sdma_printf("\r\n");
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383 void printStr(const char *fmt, ...){
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389 sdma_vprintf(fmt, ap);
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393 void printBin(uint8_t *frame, int len){
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397 sdma_write(frame, len);
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