//Switches the I2C address of the desired sensor and removes others
void Sensor::SelectSensor(byte sensorNumber) {
if (sensorNumber == sC::FR) { sensGPIO.writeGPIOA(0x7F); SEN_PRINTLN("FR Selected"); }
else if (sensorNumber == sC::LTR) { sensGPIO.writeGPIOA(0xBF); SEN_PRINTLN("LTR Selected"); }
else if (sensorNumber == sC::LTL) { sensGPIO.writeGPIOA(0xDF); SEN_PRINTLN("LTL Selected"); }
else if (sensorNumber == sC::FL) { sensGPIO.writeGPIOA(0xEF); SEN_PRINTLN("FL Selected"); }
else if (sensorNumber == sC::MR) { sensGPIO.writeGPIOA(0xF7); SEN_PRINTLN("MR Selected"); }
else if (sensorNumber == sC::ML) { sensGPIO.writeGPIOA(0xFB); SEN_PRINTLN("ML Selected"); }
else if (sensorNumber == sC::BR) { sensGPIO.writeGPIOA(0xFD); SEN_PRINTLN("BR Selected"); }
else if (sensorNumber == sC::BL) { sensGPIO.writeGPIOA(0xFE); SEN_PRINTLN("BL Selected"); }
else {
ERROR_PRINTLN("Sensor Select Error");
ERROR_PRINTLN("All address lines returned to default");
sensGPIO.writeGPIOA(0xFF);
}
}
bool MCP::turnSw(byte num) {
if ((num == -1) || (num == 255)) {
ERROR_PRINT("ERROR: MCP.turnSw num = ");
ERROR_PRINTLN(num);
return false;
}
return turnSw(num, !actStates.msw[num]);
}
bool MCP::turnSw(byte num, bool state) {
if ((num == -1) || (num == 255)) {
ERROR_PRINT("ERROR: MCP.turnSw num = ");
ERROR_PRINTLN(num);
return false;
}
if (actStates.msw[num] != state) {
actStates.setMsw(num, state);
MCP23017::digitalWrite(appSettings.msw[num], state);
mqtt->publish(appSettings.topMSW, (num+1), OUT, (state?"ON":"OFF"));
}
return state;
}
//Reads the Raw value from whichever sensor is enabled
void Sensor::ReadRaw() {
if(_s == sC::SensorType::TSL) {
Raw = 0;
if (!tsl.getData(Raw)) {
ERROR_PRINTLN("I2C ERROR");
}
SEN_VPRINTLN(Raw);
}
else {
#ifdef QTRSINUSE
unsigned int *a;
rc[_pin].readCalibrated(a);
Raw = (uint16_t)a;
#endif
}
}
void* ts_malloc(size_t size)
{
void* block;
/* To prevent corruption of the heap due to concurrent access between two
* threads or by an interrupt routine, this call is made atomic.*/
ATOMIC
{
block = malloc(size);
}
if(!block)
{
//This should be optimized away by the compiler when ERROR_OUTPUT is defined to 0.
ERROR_PRINTLN("Malloc failed!");
}
return block;
}
//Polls all given sensors in the order specified.
void Sensor::PollSensors(Sensor *sens, const sC::sensorNumber *order, const byte OrderLength){
if (_sensorInitComplete == false) {
ERROR_PRINTLN("Please call initSensors() before attempting to poll");
return;
}
sC::sensorNumber currentSensorIndex = sC::FR;
for (byte n = 0; n < OrderLength; n++) {
currentSensorIndex = order[n];
SelectSensor(static_cast<byte>(currentSensorIndex));
SLASTVAL(currentSensorIndex, RVAL(currentSensorIndex));
sens[currentSensorIndex].GetReading();
SVAL(currentSensorIndex, sens[currentSensorIndex].tileWhite);
}
printbw();
}
