+#include <stdint.h>\r
+#include <stdarg.h>\r
+\r
#include "mbed.h"\r
#include "TSISensor.h" // Touch Sensor\r
#include "MAG3110.h" // Magnetic Sensor\r
#include "MMA8451Q.h" // AcceleroMeter\r
-//#include "DataFrame.h"\r
-\r
-\r
\r
-#define MMA8451_I2C_ADDRESS (0x1d<<1) // acc sensor address\r
-#define TIME_ACCURACY 0.1\r
-#define LGT_SNS_DEFAULT 2 // default collecting interval in seconds\r
-#define ACC_SNS_DEFAULT 2\r
-#define MAG_SNS_DEFAULT 2\r
-#define TCH_SNS_DEFAULT 2\r
-\r
-// Parameters in Data Frame\r
-// TODO: need to sync with the pc program\r
+#include "serial_dma.h" // AcceleroMeter\r
\r
-#define HEADER 0x02\r
-\r
-#define SNS_BITS 5\r
-#define LGT_SNS 0x00\r
-#define ACC_SNS 0x01\r
-#define MAG_SNS 0x02\r
-#define TCH_SNS 0x03\r
-#define ADC_SNS_1 0x04\r
+//#include "DataFrame.h"\r
\r
-#define INT 0\r
-#define LONG 1\r
-#define FLOAT 2\r
-#define DOUBLE 3\r
-#define TAIL 0x0A // '\n'\r
+#define CLAMP(x, min, max) \\r
+ ((x) < (min) ? (min) : \\r
+ (x) > (max) ? (max) : (x))\r
\r
-// Command Frame\r
-#define START 0\r
-#define STOP 1\r
-#define SET_INT 2\r
+#define MMA8451_I2C_ADDRESS (0x1d<<1) // acc sensor address\r
+#define TIME_ACCURACY 0.0005\r
+\r
+#define ACC_SNS_DEFAULT 0.01 // default collecting interval in seconds\r
+#define MAG_SNS_DEFAULT 0.1\r
+#define LGT_SNS_DEFAULT 0.1\r
+#define TCH_SNS_DEFAULT 0.1\r
+#define A2D_SNS_DEFAULT 0.1\r
+#define LED_OUT_DEFAULT 0.5\r
+\r
+#define MIN_RATE 1E-4 // 1 kHz\r
+#define MAX_RATE 10.0 // 0.1 Hz\r
+\r
+// Common Frame Information\r
+#define HEADER 0x02\r
+#define TAIL 0x0A // '\n'\r
+\r
+#define MAX_FRAME_SIZE 256\r
+\r
+#define SNS_NUM 5\r
+#define TYP_NUM 8\r
+#define CMD_NUM 3\r
+\r
+typedef enum {\r
+ SNS_ACC,\r
+ SNS_MAG,\r
+ SNS_LGT,\r
+ SNS_TCH,\r
+ SNS_A2D,\r
+} sns_t;\r
+\r
+typedef enum {\r
+ TYP_S8, TYP_S16, TYP_S32,\r
+ TYP_U8, TYP_U16, TYP_U32,\r
+ TYP_F32, TYP_F64,\r
+} type_t;\r
+\r
+typedef enum {\r
+ CMD_STOP,\r
+ CMD_START,\r
+ CMD_RATE,\r
+} cmd_t;\r
+\r
+// Data Frame Information\r
+#pragma pack(1)\r
+typedef struct {\r
+ uint8_t header;\r
+ struct {\r
+ uint8_t type : 4;\r
+ uint8_t sns : 4;\r
+ } bits;\r
+ uint8_t count;\r
+ uint8_t data[];\r
+} state_t;\r
+#pragma pack()\r
+\r
+// Command Frame Information\r
+#pragma pack(1)\r
+typedef struct {\r
+ uint8_t header;\r
+ struct {\r
+ uint8_t cmd : 4;\r
+ uint8_t sns : 4;\r
+ } bits;\r
+ float interval;\r
+} control_t;\r
+#pragma pack()\r
\r
+// Define Devices & Pins\r
+MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);\r
+MAG3110 magSensor(PTE25, PTE24);\r
+TSISensor tchSensor;\r
+AnalogIn lgtSensor(PTE22);\r
+AnalogIn a2dSensor(A0);\r
\r
+AnalogOut a2dOutput(PTE30);\r
\r
-#define MAX_FRAME_LEN 255\r
-// Define Devices & Pins\r
-MMA8451Q accSensor(PTE25, PTE24, MMA8451_I2C_ADDRESS);\r
-TSISensor touchSensor;\r
-MAG3110 magSensor(PTE25, PTE24);\r
-Serial serial(USBTX, USBRX);\r
-Ticker clock1;\r
-AnalogIn lightSensor(PTE22);\r
+DigitalOut led1(LED1);\r
+DigitalOut led2(LED2);\r
\r
+Serial serial(USBTX, USBRX);\r
+Ticker clock1;\r
\r
// Global Variables\r
// Initial interval: in seconds\r
-float lgtTmr = LGT_SNS_DEFAULT;\r
float accTmr = ACC_SNS_DEFAULT;\r
float magTmr = MAG_SNS_DEFAULT;\r
float tchTmr = TCH_SNS_DEFAULT;\r
+float lgtTmr = LGT_SNS_DEFAULT;\r
+float a2dTmr = A2D_SNS_DEFAULT;\r
+float ledTmr = LED_OUT_DEFAULT;\r
\r
-bool lgtEnable = false;\r
bool accEnable = false;\r
-bool magEnable = true;\r
+bool magEnable = false;\r
+bool lgtEnable = false;\r
bool tchEnable = false;\r
+bool a2dEnable = true;\r
+bool ledEnable = true;\r
\r
-void clock1_interrupt();\r
-void serialRx_interrupt();\r
-void sendLightInfo();\r
-void sendAccInfo();\r
-void sendMagInfo();\r
-void sendTouchInfo();\r
-int packToFrame(char*, char, char, int, void*);\r
-char* floatToByte(float);\r
-float byteToFloat(char*);\r
-int calDataSize(char);\r
-void printHex(char*);\r
-void sendFrame(char*, int);\r
-\r
-\r
-int main() {\r
+bool useStr = false;\r
+bool useHex = false;\r
+bool useBin = true;\r
+\r
+uint8_t txFrame[MAX_FRAME_SIZE];\r
+uint8_t rxFrame[MAX_FRAME_SIZE];\r
+\r
+// Prototypes\r
+void clock1_interrupt(void);\r
+void serialRx_interrupt(void);\r
+\r
+void runCommand(control_t *cmd);\r
+\r
+void sendAccInfo(void);\r
+void sendMagInfo(void);\r
+void sendLgtInfo(void);\r
+void sendTchInfo(void);\r
+void sendA2dInfo(void);\r
+\r
+int calDataSize(uint8_t);\r
+int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data);\r
+\r
+void printStr(const char *str, ...);\r
+void printHex(uint8_t *frame, int len);\r
+void printBin(uint8_t *frame, int len);\r
+\r
+/********\r
+ * Main *\r
+ ********/\r
+\r
+int main(void) {\r
// Initialization\r
// Interruption Declarations\r
- clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s\r
+ //clock1.attach(&clock1_interrupt, TIME_ACCURACY); // maximun accuracy be 0.1s\r
serial.attach(&serialRx_interrupt, Serial::RxIrq); // receive interrupt for serialS\r
+ //serial.baud(115200);\r
+ serial.baud(230400);\r
magSensor.begin();\r
\r
- serial.printf("\r\n============= Start of the program ============\r\n");\r
- while(1){\r
- wait(3);\r
- }\r
-}\r
-\r
-\r
-/*---------------------------------------------------------------\r
- ## Receive Interruption of the Serial ##\r
- -> used to receive & process user command\r
- -> and configure the board accordingly\r
- ---------------------------------------------------------------*/\r
-/*void serialRx_interrupt_userFriendlyVersion(){\r
- clock1.detach(); // close the interrupt\r
- serial.printf("\r\n");\r
-\r
- // Receive the Serial Input\r
- float interval;\r
- char buffer[255];\r
- char temp[255];\r
- char ch = serial.getc();\r
- int i;\r
- for (i=0 ; ch!='\n' && ch!='\r'; i++){\r
- serial.putc(ch);\r
- buffer[i] = ch;\r
- if (ch==127){ // BackSpace\r
- i--;\r
- i--;\r
- }\r
- ch = serial.getc();\r
- }\r
- buffer[i] = '\0';\r
- serial.printf("\r\nBUFFER: %s %d\r\n", buffer,i);\r
- // TODO: buffer -> lower case\r
-\r
- // Process the Serial Input\r
- // Set-Interval Command\r
- if (strstr(buffer, "set")!=NULL && strstr(buffer, "int")!= NULL){\r
- sscanf(buffer, "%*[^0123456789.]%s", temp); // find the number in buffer\r
- sscanf(temp, "%f", &interval); // translate into float\r
- if (interval<0.1 || interval>5){\r
- interval = 1;\r
- }\r
- if (strstr(buffer, "acc")){\r
- accTmr = interval;\r
- }\r
- if (strstr(buffer, "mag")){\r
- magTmr = interval;\r
- }\r
- if (strstr(buffer, "light")){\r
- lgtTmr = interval;\r
- }\r
- if (strstr(buffer, "touch")){\r
- tchTmr = interval;\r
- }\r
- }\r
+ sdma_setup(UART0, 0);\r
\r
- // Stop Command\r
- else if (strstr(buffer, "stop")!= NULL){\r
- serial.printf("STOP\r\n");\r
- if (strstr(buffer, "acc")){\r
- accEnable = false;\r
- accTmr = ACC_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "mag")){\r
- magEnable = false;\r
- magTmr = MAG_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "light")){\r
- lgtEnable = false;\r
- lgtTmr = LGT_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "touch")){\r
- tchEnable = false;\r
- tchTmr = TCH_SNS_DEFAULT;\r
- }\r
- }\r
+ printStr("\r\n============= Start of the program ============\r\n");\r
\r
- // Start Command\r
- else if (strstr(buffer, "start")!=NULL){\r
- if (strstr(buffer, "acc") && !accEnable){\r
- accEnable = true;\r
- accTmr = ACC_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "mag") && !magEnable){\r
- magEnable = true;\r
- magTmr = MAG_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "light") && !lgtEnable){\r
- lgtEnable = true;\r
- lgtTmr = LGT_SNS_DEFAULT;\r
- }\r
- if (strstr(buffer, "touch") && !tchEnable){\r
- tchEnable = true;\r
- tchTmr = TCH_SNS_DEFAULT;\r
- }\r
+ int ticks = 0, tocks = 0;\r
+ while(1){\r
+ ticks = (us_ticker_read()*1E-6) / TIME_ACCURACY;\r
+ if (tocks < ticks) {\r
+ clock1_interrupt();\r
+ tocks++;\r
+ }\r
}\r
- clock1.attach(&clock1_interrupt,TIME_ACCURACY);\r
}\r
-*/\r
-\r
-void serialRx_interrupt(){ // Byte version\r
- clock1.detach(); // close the interrupt temporarily\r
- int i = 0;\r
- char frame[MAX_FRAME_LEN];\r
- char ch = serial.getc();\r
- while (ch!=HEADER){\r
- if (serial.readable()){\r
- ch = serial.getc();\r
- }\r
- else{\r
- serial.printf("[ERROR] broken data!\r\n");\r
- clock1.attach(&clock1_interrupt,TIME_ACCURACY);\r
- return;\r
- }\r
- }\r
- //TODO: ticker for time out\r
- while (serial.readable()){\r
- frame[i] = ch;\r
- if (ch=='\n'){\r
- break;\r
- }\r
- ch = serial.getc();\r
- i++;\r
- }\r
- frame[++i] = '\0';\r
- float interval=-1;\r
- char snsType = frame[1]|0x1F;\r
- char oper = (frame[1]|0xE0)>>SNS_BITS; // operation type\r
- if (oper==SET_INT){\r
- memcpy(&interval,&frame[2],4);\r
- if (interval<0.0001||interval>10){\r
- interval = 1;\r
- }\r
- }\r
- switch(snsType){\r
- case ACC_SNS:\r
- {\r
- switch(oper){\r
- case START: accEnable = true; break;\r
- case STOP: accEnable = false; break;\r
- case SET_INT: accTmr = interval; break;\r
- }\r
- }\r
- case MAG_SNS:\r
- {\r
- switch(oper){\r
- case START: magEnable = true; break;\r
- case STOP: magEnable = false; break;\r
- case SET_INT: magTmr = interval; break;\r
- }\r
- }\r
- case LGT_SNS:\r
- {\r
- switch(oper){\r
- case START: lgtEnable = true; break;\r
- case STOP: lgtEnable = false; break;\r
- case SET_INT: lgtTmr = interval; break;\r
- }\r
- }\r
- case TCH_SNS:\r
- {\r
- switch(oper){\r
- case START: tchEnable = true; break;\r
- case STOP: tchEnable = false; break;\r
- case SET_INT: tchTmr = interval; break;\r
- }\r
+\r
+/**********************\r
+ * Interrupt handlers *\r
+ **********************/\r
+\r
+void serialRx_interrupt(void) { // Byte version\r
+ static int state = 0;\r
+ static int index = 0;\r
+ static int length = 0;\r
+\r
+ control_t *cmd = (control_t*)rxFrame;\r
+\r
+ while (serial.readable()) {\r
+ rxFrame[index++] = serial.getc();\r
+ switch (state) {\r
+ case 0: // Header\r
+ if (cmd->header == HEADER)\r
+ state = 1;\r
+ else\r
+ index = 0;\r
+ break;\r
+ case 1: // Bits\r
+ if (cmd->bits.sns >= SNS_NUM ||\r
+ cmd->bits.cmd >= CMD_NUM) {\r
+ state = index = 0;\r
+ } else if (cmd->bits.cmd == CMD_RATE) {\r
+ length = 4;\r
+ state = 2;\r
+ } else {\r
+ state = 3;\r
+ }\r
+ break;\r
+ case 2: // Data\r
+ if (--length == 0)\r
+ state = 3;\r
+ break;\r
+ case 3: // Tail\r
+ if (rxFrame[index-1] == TAIL)\r
+ runCommand(cmd);\r
+ state = 0;\r
+ index = 0;\r
+ break;\r
}\r
}\r
- clock1.attach(&clock1_interrupt,TIME_ACCURACY);\r
}\r
\r
-void clock1_interrupt(){\r
+void clock1_interrupt(void){\r
static int accCnt;\r
static int magCnt;\r
static int lgtCnt;\r
static int tchCnt;\r
+ static int a2dCnt;\r
+ static int ledCnt;\r
\r
- accCnt++;\r
- magCnt++;\r
- lgtCnt++;\r
- tchCnt++;\r
+ // Write A2D output sine wave\r
+ a2dOutput.write(sin(a2dCnt * TIME_ACCURACY * (2*PI) * 0.1));\r
\r
- // TODO: send data through Serial\r
- if (lgtEnable && (lgtCnt<0 || lgtCnt>=lgtTmr/TIME_ACCURACY)){\r
- sendLightInfo();\r
- lgtCnt = 0;\r
+ // Send data through Serial\r
+ if (accEnable && accCnt >= (int)(accTmr/TIME_ACCURACY+0.5)){\r
+ sendAccInfo();\r
+ accCnt = 0;\r
}\r
- if (magEnable && (magCnt<0 || magCnt>=magTmr/TIME_ACCURACY)){\r
+ if (magEnable && magCnt >= (int)(magTmr/TIME_ACCURACY+0.5)){\r
sendMagInfo();\r
magCnt = 0;\r
}\r
- if (tchEnable && (tchCnt<0 || tchCnt>=tchTmr/TIME_ACCURACY)){\r
- sendTouchInfo();\r
+ if (lgtEnable && lgtCnt >= (int)(lgtTmr/TIME_ACCURACY+0.5)){\r
+ sendLgtInfo();\r
+ lgtCnt = 0;\r
+ }\r
+ if (tchEnable && tchCnt >= (int)(tchTmr/TIME_ACCURACY+0.5)){\r
+ sendTchInfo();\r
tchCnt = 0;\r
}\r
- if (accEnable && (accCnt<0 || accCnt>=accTmr/TIME_ACCURACY)){\r
- sendAccInfo();\r
- accCnt = 0;\r
+ if (a2dEnable && a2dCnt >= (int)(a2dTmr/TIME_ACCURACY+0.5)){\r
+ sendA2dInfo();\r
+ a2dCnt = 0;\r
}\r
-}\r
\r
-void sendLightInfo(){\r
- char frame[MAX_FRAME_LEN];\r
- float lightData = lightSensor.read();\r
- packToFrame(frame,LGT_SNS,FLOAT,1,&lightData);\r
- serial.printf("[LGT] %s\r\n", frame);\r
- //printHex(frame);\r
- //serial.printf("[LGT] Light Intensity=%f\r\n", lightSensor.read());\r
-}\r
+ // Toggel LED for debugging\r
+ if (ledEnable && ledCnt>=ledTmr/TIME_ACCURACY){\r
+ led1 = !led1;\r
+ ledCnt = 0;\r
+ }\r
\r
+ accCnt++;\r
+ magCnt++;\r
+ lgtCnt++;\r
+ tchCnt++;\r
+ a2dCnt++;\r
+ ledCnt++;\r
\r
-void sendTouchInfo(){\r
- char frame[MAX_FRAME_LEN];\r
- float touchData[2];\r
- touchData[0] = touchSensor.readPercentage();\r
- touchData[1] = touchSensor.readDistance();\r
- packToFrame(frame,TCH_SNS,FLOAT,2,touchData);\r
- serial.printf("[TCH] %s\r\n", frame);\r
- //printHex(frame);\r
+ sdma_flush();\r
}\r
\r
-void sendMagInfo(){\r
- char frame[MAX_FRAME_LEN];\r
- int magData[3];\r
- magSensor.getValues(magData, magData+1, magData+2);\r
- //serial.printf("[MAG] magX=%d magY=%d magZ=%d\r\n",magData[0],magData[1],magData[2]);\r
- int len = packToFrame(frame,MAG_SNS,INT,3,magData);\r
- sendFrame(frame, len);\r
- //memcpy(magData, &frame[3], 2);\r
- //serial.printf("[MAG] %d\r\n", magData[0]);\r
- //printHex(frame);\r
+/*******************\r
+ * Command handler *\r
+ *******************/\r
+\r
+void runCommand(control_t *cmd)\r
+{\r
+ // Validate interval\r
+ sns_t snsType = (sns_t)cmd->bits.sns;\r
+ cmd_t cmdType = (cmd_t)cmd->bits.cmd;\r
+ float interval = CLAMP(cmd->interval, MIN_RATE, MAX_RATE);\r
+\r
+ // Save value to global data\r
+ switch(snsType){\r
+ case SNS_ACC:\r
+ switch(cmdType){\r
+ case CMD_STOP: accEnable = false; break;\r
+ case CMD_START: accEnable = true; break;\r
+ case CMD_RATE: accTmr = interval; break;\r
+ }\r
+ break;\r
+\r
+ case SNS_MAG:\r
+ switch(cmdType){\r
+ case CMD_STOP: magEnable = false; break;\r
+ case CMD_START: magEnable = true; break;\r
+ case CMD_RATE: magTmr = interval; break;\r
+ }\r
+ break;\r
+\r
+ case SNS_LGT:\r
+ switch(cmdType){\r
+ case CMD_STOP: lgtEnable = false; break;\r
+ case CMD_START: lgtEnable = true; break;\r
+ case CMD_RATE: lgtTmr = interval; break;\r
+ }\r
+ break;\r
+\r
+ case SNS_TCH:\r
+ switch(cmdType){\r
+ case CMD_STOP: tchEnable = false; break;\r
+ case CMD_START: tchEnable = true; break;\r
+ case CMD_RATE: tchTmr = interval; break;\r
+ }\r
+ break;\r
+\r
+ case SNS_A2D:\r
+ switch(cmdType){\r
+ case CMD_STOP: a2dEnable = false; break;\r
+ case CMD_START: a2dEnable = true; break;\r
+ case CMD_RATE: a2dTmr = interval; break;\r
+ }\r
+ break;\r
+ }\r
}\r
\r
-void sendAccInfo(){\r
- // get acc data\r
- char frame[MAX_FRAME_LEN];\r
+/*******************\r
+ * Sensors reading *\r
+ *******************/\r
+\r
+void sendAccInfo(void){\r
float accData[3];\r
accData[0] = accSensor.getAccX();\r
accData[1] = accSensor.getAccY();\r
accData[2] = accSensor.getAccZ();\r
- packToFrame(frame, ACC_SNS,FLOAT,3,accData);\r
- serial.printf("[ACC] %s\n\r", frame);\r
- //int num = int(frame[2]);\r
- //memcpy(&accZ, &frame[3], 4);\r
- // send acc data\r
- //printHex(frame);\r
+ int len = packToFrame(txFrame, SNS_ACC, TYP_F32, 3, accData);\r
+\r
+ printStr("[ACC] accX=%-2.4f accY=%-2.4f accZ=%-2.4f\r\n",\r
+ accData[0], accData[1], accData[2]);\r
+ printHex(txFrame, len);\r
+ printBin(txFrame, len);\r
+}\r
+\r
+void sendMagInfo(void){\r
+ // magSensor uses the wrong types,\r
+ // so we have to convert it\r
+ int tmp[3];\r
+ magSensor.getValues(&tmp[0], &tmp[1], &tmp[2]);\r
+ uint16_t magData[3];\r
+ magData[0] = tmp[0];\r
+ magData[1] = tmp[1];\r
+ magData[2] = tmp[2];\r
+ int len = packToFrame(txFrame, SNS_MAG, TYP_S16, 3, magData);\r
+\r
+ printStr("[MAG] magX=%hd magY=%hd magZ=%hd %d\r\n",\r
+ magData[0], magData[1], magData[2], sizeof(int));\r
+ printHex(txFrame, len);\r
+ printBin(txFrame, len);\r
+}\r
+\r
+void sendLgtInfo(void){\r
+ float lgtData = lgtSensor.read();\r
+ int len = packToFrame(txFrame, SNS_LGT, TYP_F32, 1, &lgtData);\r
+\r
+ printStr("[LGT] intensity=%f\r\n",\r
+ lgtSensor.read());\r
+ printHex(txFrame, len);\r
+ printBin(txFrame, len);\r
+}\r
+\r
+void sendTchInfo(void){\r
+ float tchData[2];\r
+ tchData[0] = tchSensor.readPercentage();\r
+ tchData[1] = tchSensor.readDistance();\r
+ int len = packToFrame(txFrame, SNS_TCH, TYP_F32, 2, tchData);\r
+\r
+ printStr("[TCH] force=%0.4f distance=%2.2f\r\n",\r
+ tchData[0], tchData[1]);\r
+ printHex(txFrame, len);\r
+ printBin(txFrame, len);\r
}\r
-int calDataSize(char dataType){\r
+\r
+void sendA2dInfo(void){\r
+ float a2dData[6];\r
+ a2dData[0] = a2dSensor.read();\r
+ a2dData[1] = 0;\r
+ a2dData[2] = 0;\r
+ a2dData[3] = 0;\r
+ a2dData[4] = 0;\r
+ a2dData[5] = 0;\r
+ int len = packToFrame(txFrame, SNS_A2D, TYP_F32, 6, a2dData);\r
+\r
+ printStr("[A2D] data=%2.2f %2.2f %2.2f %2.2f %2.2f %2.2f\r\n",\r
+ a2dData[0], a2dData[1], a2dData[2],\r
+ a2dData[3], a2dData[4], a2dData[5]);\r
+ printHex(txFrame, len);\r
+ printBin(txFrame, len);\r
+}\r
+\r
+/********************\r
+ * Helper functions *\r
+ ********************/\r
+\r
+int calDataSize(type_t dataType){\r
switch(dataType){\r
- case INT: return 2;\r
- case LONG: return 4;\r
- case FLOAT: return 4;\r
- case DOUBLE: return 8;\r
+ case TYP_S8: return 1;\r
+ case TYP_S16: return 2;\r
+ case TYP_S32: return 4;\r
+ case TYP_U8: return 1;\r
+ case TYP_U16: return 2;\r
+ case TYP_U32: return 4;\r
+ case TYP_F32: return 4;\r
+ case TYP_F64: return 8;\r
}\r
return 4;\r
}\r
\r
-void printHex(char* frame){\r
- int dataType = frame[1]&0xE0;\r
- int dataSize = calDataSize(dataType);\r
- int dataNum = frame[2];\r
- for (int i=0; i<4+dataSize*dataNum; i++){\r
- serial.printf("0x%x ",frame[i]);\r
- }\r
- serial.printf("\r\n");\r
+/*******************\r
+ * Frame functions *\r
+ *******************/\r
+\r
+int packToFrame(uint8_t *frame, sns_t snsType, type_t dataType, int dataNum, void *data){\r
+ //const char pattern[] = "\x80\x81\x82\x83"\r
+ // "\x84\x85\x86\x87"\r
+ // "\x88\x89\x8A\x8B"\r
+ // "\x8C\x8D\x8E\x8F";\r
+\r
+ int size = dataNum * calDataSize(dataType);\r
+ state_t *state = (state_t*)frame;\r
+ uint8_t *tail = &state->data[size];\r
+\r
+ state->header = HEADER;\r
+ state->bits.sns = snsType;\r
+ state->bits.type = dataType;\r
+ state->count = dataNum;;\r
+ memcpy(&state->data, data, size);\r
+ tail[0] = TAIL;\r
+ tail[1] = '\0';\r
+\r
+ return (3 + size + 1);\r
}\r
\r
-int packToFrame(char* frame, char snsType,char dataType, int dataNum, void* data){\r
- int dataSize = calDataSize(dataType);\r
- frame[0] = HEADER;\r
- frame[1] = (snsType|(dataType<<SNS_BITS));\r
- frame[2] = dataNum;\r
- memcpy(frame+3, data, dataSize*dataNum);\r
- frame[3+dataNum*dataSize]= TAIL;\r
- frame[4+dataNum*dataSize]= '\0';\r
- frame[3] = 0x00;\r
- return (4+dataNum*dataSize);\r
+/*******************\r
+ * Print functions *\r
+ *******************/\r
+\r
+void printHex(uint8_t *frame, int len){\r
+ if (!useHex)\r
+ return;\r
+\r
+ sdma_printf(" ");\r
+ for (int i=0; i<len; i++)\r
+ sdma_printf("%02hx ", frame[i]);\r
+ sdma_printf("\r\n");\r
}\r
\r
+void printStr(const char *fmt, ...){\r
+ if (!useStr)\r
+ return;\r
\r
-void sendFrame (char* frame, int len){\r
- for (int i=0; i<len; i++){\r
- serial.putc(frame[i]);\r
- }\r
+ va_list ap;\r
+ va_start(ap, fmt);\r
+ sdma_vprintf(fmt, ap);\r
+ va_end(ap);\r
+}\r
+\r
+void printBin(uint8_t *frame, int len){\r
+ if (!useBin)\r
+ return;\r
+\r
+ sdma_write(frame, len);\r
}\r
projects / ~andy / csm213a-hw / blobdiff