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MySensor.cpp
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705 lines (609 loc) · 20.6 KB
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/*
The MySensors library adds a new layer on top of the RF24 library.
It handles radio network routing, relaying and ids.
Created by Henrik Ekblad <henrik.ekblad@gmail.com>
12/10/14 - Ported to Raspberry Pi by OUJABER Mohamed <m.oujaber@gmail.com>
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
*/
#include "MySensor.h"
#ifdef __Raspberry_Pi
#include "RF24.h"
#include "RF24_config.h"
#else
#include "utility/LowPower.h"
#include "utility/RF24.h"
#include "utility/RF24_config.h"
#endif
// Inline function and macros
inline MyMessage& build (MyMessage &msg, uint8_t sender, uint8_t destination, uint8_t sensor, uint8_t command, uint8_t type, bool enableAck) {
msg.sender = sender;
msg.destination = destination;
msg.sensor = sensor;
msg.type = type;
mSetCommand(msg,command);
mSetRequestAck(msg,enableAck);
mSetAck(msg,false);
return msg;
}
#ifdef __Raspberry_Pi
MySensor::MySensor(uint8_t _cepin, uint8_t _cspin, uint32_t spispeed ) : RF24(_cepin, _cspin, spispeed){
}
#else
MySensor::MySensor(uint8_t _cepin, uint8_t _cspin) : RF24(_cepin, _cspin) {
}
#endif
void MySensor::begin(void (*_msgCallback)(const MyMessage &), uint8_t _nodeId, boolean _repeaterMode, uint8_t _parentNodeId, rf24_pa_dbm_e paLevel, uint8_t channel, rf24_datarate_e dataRate) {
#ifndef __Raspberry_Pi
Serial.begin(BAUD_RATE);
#endif
isGateway = false;
repeaterMode = _repeaterMode;
msgCallback = _msgCallback;
if (repeaterMode) {
setupRepeaterMode();
}
setupRadio(paLevel, channel, dataRate);
// Read settings from EEPROM
eeprom_read_block((void*)&nc, (void*)EEPROM_NODE_ID_ADDRESS, sizeof(NodeConfig));
// Read latest received controller configuration from EEPROM
eeprom_read_block((void*)&cc, (void*)EEPROM_CONTROLLER_CONFIG_ADDRESS, sizeof(ControllerConfig));
if (cc.isMetric == 0xff) {
// Eeprom empty, set default to metric
cc.isMetric = 0x01;
}
if (_parentNodeId != AUTO) {
nc.parentNodeId = _parentNodeId;
autoFindParent = false;
} else {
autoFindParent = true;
}
if (_nodeId != AUTO) {
// Set static id
nc.nodeId = _nodeId;
}
// If no parent was found in eeprom. Try to find one.
if (autoFindParent && nc.parentNodeId == 0xff) {
findParentNode();
}
// Try to fetch node-id from gateway
if (nc.nodeId == AUTO) {
requestNodeId();
}
debug(PSTR("%s started, id %d\n"), repeaterMode?"repeater":"sensor", nc.nodeId);
// Open reading pipe for messages directed to this node (set write pipe to same)
RF24::openReadingPipe(WRITE_PIPE, TO_ADDR(nc.nodeId));
RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(nc.nodeId));
// Send presentation for this radio node (attach
present(NODE_SENSOR_ID, repeaterMode? S_ARDUINO_REPEATER_NODE : S_ARDUINO_NODE);
// Send a configuration exchange request to controller
// Node sends parent node. Controller answers with latest node configuration
// which is picked up in process()
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_CONFIG, false).set(nc.parentNodeId));
// Wait configuration reply.
waitForReply();
}
void MySensor::setupRadio(rf24_pa_dbm_e paLevel, uint8_t channel, rf24_datarate_e dataRate) {
failedTransmissions = 0;
// Start up the radio library
RF24::begin();
if (!RF24::isPVariant()) {
debug(PSTR("check wires\n"));
while(1);
}
RF24::setAutoAck(1);
RF24::setAutoAck(BROADCAST_PIPE,false); // Turn off auto ack for broadcast
RF24::enableAckPayload();
RF24::setChannel(channel);
RF24::setPALevel(paLevel);
RF24::setDataRate(dataRate);
RF24::setRetries(5,15);
RF24::setCRCLength(RF24_CRC_16);
RF24::enableDynamicPayloads();
// All nodes listen to broadcast pipe (for FIND_PARENT_RESPONSE messages)
RF24::openReadingPipe(BROADCAST_PIPE, TO_ADDR(BROADCAST_ADDRESS));
RF24::printDetails();
}
void MySensor::setupRepeaterMode(){
childNodeTable = new uint8_t[256];
eeprom_read_block((void*)childNodeTable, (void*)EEPROM_ROUTES_ADDRESS, 256);
}
uint8_t MySensor::getNodeId() {
return nc.nodeId;
}
ControllerConfig MySensor::getConfig() {
return cc;
}
void MySensor::requestNodeId() {
debug(PSTR("req node id\n"));
RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(nc.nodeId));
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_ID_REQUEST, false).set(""));
waitForReply();
}
void MySensor::findParentNode() {
failedTransmissions = 0;
// Set distance to max
nc.distance = 255;
// Send ping message to BROADCAST_ADDRESS (to which all relaying nodes and gateway listens and should reply to)
build(msg, nc.nodeId, BROADCAST_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_FIND_PARENT, false).set("");
sendWrite(BROADCAST_ADDRESS, msg, true);
// Wait for ping response.
waitForReply();
}
void MySensor::waitForReply() {
unsigned long enter = millis();
// Wait a couple of seconds for response
while (millis() - enter < 2000) {
process();
}
}
boolean MySensor::sendRoute(MyMessage &message) {
// Make sure to process any incoming messages before sending (could this end up in recursive loop?)
// process();
bool isInternal = mGetCommand(message) == C_INTERNAL;
// If we still don't have any node id, re-request and skip this message.
if (nc.nodeId == AUTO && !(isInternal && message.type == I_ID_REQUEST)) {
requestNodeId();
return false;
}
if (repeaterMode) {
uint8_t dest = message.destination;
uint8_t route = getChildRoute(dest);
if (route>GATEWAY_ADDRESS && route<BROADCAST_ADDRESS && dest != GATEWAY_ADDRESS) {
// --- debug(PSTR("route %d.\n"), route);
// Message destination is not gateway and is in routing table for this node.
// Send it downstream
return sendWrite(route, message);
} else if (isInternal && message.type == I_ID_RESPONSE && dest==BROADCAST_ADDRESS) {
// Node has not yet received any id. We need to send it
// by doing a broadcast sending,
return sendWrite(BROADCAST_ADDRESS, message, true);
}
}
if (!isGateway) {
// --- debug(PSTR("route parent\n"));
// Should be routed back to gateway.
bool ok = sendWrite(nc.parentNodeId, message);
if (!ok) {
// Failure when sending to parent node. The parent node might be down and we
// need to find another route to gateway.
if (autoFindParent && failedTransmissions > SEARCH_FAILURES) {
findParentNode();
}
failedTransmissions++;
} else {
failedTransmissions = 0;
}
return ok;
}
return false;
}
boolean MySensor::sendWrite(uint8_t next, MyMessage &message, bool broadcast) {
uint8_t length = mGetLength(message);
message.last = nc.nodeId;
mSetVersion(message, PROTOCOL_VERSION);
// Make sure radio has powered up
RF24::powerUp();
RF24::stopListening();
RF24::openWritingPipe(TO_ADDR(next));
bool ok = RF24::write(&message, min(MAX_MESSAGE_LENGTH, HEADER_SIZE + length), broadcast);
RF24::startListening();
debug(PSTR("send: %d-%d-%d-%d s=%d,c=%d,t=%d,pt=%d,l=%d,st=%s:%s\n"),
message.sender,message.last, next, message.destination, message.sensor, mGetCommand(message), message.type, mGetPayloadType(message), mGetLength(message), ok?"ok":"fail", message.getString(convBuf));
return ok;
}
bool MySensor::send(MyMessage &message, bool enableAck) {
message.sender = nc.nodeId;
mSetCommand(message,C_SET);
mSetRequestAck(message,enableAck);
return sendRoute(message);
}
void MySensor::sendBatteryLevel(uint8_t value, bool enableAck) {
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_BATTERY_LEVEL, enableAck).set(value));
}
void MySensor::present(uint8_t childSensorId, uint8_t sensorType, bool enableAck) {
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, childSensorId, C_PRESENTATION, sensorType, enableAck).set(LIBRARY_VERSION));
}
void MySensor::sendSketchInfo(const char *name, const char *version, bool enableAck) {
if (name != NULL) {
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_SKETCH_NAME, enableAck).set(name));
}
if (version != NULL) {
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_SKETCH_VERSION, enableAck).set(version));
}
}
void MySensor::request(uint8_t childSensorId, uint8_t variableType, uint8_t destination) {
sendRoute(build(msg, nc.nodeId, destination, childSensorId, C_REQ, variableType, false));
}
void MySensor::requestTime(void (* _timeCallback)(unsigned long)) {
timeCallback = _timeCallback;
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_TIME, false));
}
boolean MySensor::process() {
uint8_t pipe;
boolean available = RF24::available(&pipe);
if (!available || pipe>6)
return false;
uint8_t len = RF24::getDynamicPayloadSize();
RF24::read(&msg, len);
RF24::writeAckPayload(pipe,&pipe, 1 );
// Add string termination, good if we later would want to print it.
msg.data[mGetLength(msg)] = '\0';
debug(PSTR("read: %d-%d-%d s=%d,c=%d,t=%d,pt=%d,l=%d:%s\n"),
msg.sender, msg.last, msg.destination, msg.sensor, mGetCommand(msg), msg.type, mGetPayloadType(msg), mGetLength(msg), msg.getString(convBuf));
if(!(mGetVersion(msg) == PROTOCOL_VERSION)) {
debug(PSTR("version mismatch\n"));
return false;
}
uint8_t command = mGetCommand(msg);
uint8_t type = msg.type;
uint8_t sender = msg.sender;
uint8_t last = msg.last;
uint8_t destination = msg.destination;
if (repeaterMode && command == C_INTERNAL && type == I_FIND_PARENT) {
// Relaying nodes should always answer ping messages
// Wait a random delay of 0-2 seconds to minimize collision
// between ping ack messages from other relaying nodes
delay(millis() & 0x3ff);
sendWrite(sender, build(msg, nc.nodeId, sender, NODE_SENSOR_ID, C_INTERNAL, I_FIND_PARENT_RESPONSE, false).set(nc.distance), true);
return false;
} else if (destination == nc.nodeId) {
// Check if sender requests an ack back.
if (mGetRequestAck(msg)) {
// Copy message
ack = msg;
mSetRequestAck(ack,false); // Reply without ack flag (otherwise we would end up in an eternal loop)
mSetAck(ack,true);
ack.sender = nc.nodeId;
ack.destination = msg.sender;
sendRoute(ack);
}
// This message is addressed to this node
if (repeaterMode && last != nc.parentNodeId) {
// Message is from one of the child nodes. Add it to routing table.
addChildRoute(sender, last);
}
if (command == C_INTERNAL) {
if (type == I_FIND_PARENT_RESPONSE && !isGateway) {
// We've received a reply to a FIND_PARENT message. Check if the distance is
// shorter than we already have.
uint8_t distance = msg.getByte();
if (distance<nc.distance-1) {
// Found a neighbor closer to GW than previously found
nc.distance = distance + 1;
nc.parentNodeId = msg.sender;
eeprom_write_byte((uint8_t*)EEPROM_PARENT_NODE_ID_ADDRESS, nc.parentNodeId);
eeprom_write_byte((uint8_t*)EEPROM_DISTANCE_ADDRESS, nc.distance);
debug(PSTR("new parent=%d, d=%d\n"), nc.parentNodeId, nc.distance);
}
return false;
} else if (sender == GATEWAY_ADDRESS) {
bool isMetric;
if (type == I_REBOOT) {
#ifndef __Raspberry_Pi
// Requires MySensors or other bootloader with watchdogs enabled
wdt_enable(WDTO_15MS);
for (;;);
#endif
} else if (type == I_ID_RESPONSE) {
if (nc.nodeId == AUTO) {
nc.nodeId = msg.getByte();
// Write id to EEPROM
if (nc.nodeId == AUTO) {
// sensor net gateway will return max id if all sensor id are taken
debug(PSTR("full\n"));
while (1); // Wait here. Nothing else we can do...
} else {
RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(nc.nodeId));
eeprom_write_byte((uint8_t*)EEPROM_NODE_ID_ADDRESS, nc.nodeId);
}
debug(PSTR("id=%d\n"), nc.nodeId);
}
} else if (type == I_CONFIG) {
// Pick up configuration from controller (currently only metric/imperial)
// and store it in eeprom if changed
isMetric = msg.getString()[0] == 'M' ;
if (cc.isMetric != isMetric) {
cc.isMetric = isMetric;
eeprom_write_byte((uint8_t*)EEPROM_CONTROLLER_CONFIG_ADDRESS, isMetric);
}
} else if (type == I_CHILDREN) {
if (repeaterMode && msg.getString()[0] == 'C') {
// Clears child relay data for this node
debug(PSTR("rd=clear\n"));
for (uint8_t i=0;i< sizeof(childNodeTable); i++) {
removeChildRoute(i);
}
sendRoute(build(msg, nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_CHILDREN,false).set(""));
}
} else if (type == I_TIME) {
if (timeCallback != NULL) {
// Deliver time to callback
timeCallback(msg.getULong());
}
}
return false;
}
}
// Call incoming message callback if available
if (msgCallback != NULL) {
msgCallback(msg);
}
// Return true if message was addressed for this node...
return true;
} else if (repeaterMode && pipe == CURRENT_NODE_PIPE) {
// We should try to relay this message to another node
uint8_t route = getChildRoute(msg.destination);
if (route>0 && route<255) {
// This message should be forwarded to a child node. If we send message
// to this nodes pipe then all children will receive it because the are
// all listening to this nodes pipe.
//
// +----B
// -A
// +----C------D
//
// We're node C, Message comes from A and has destination D
//
// lookup route in table and send message there
sendWrite(route, msg);
} else {
// A message comes from a child node and we have no
// route for it.
//
// +----B
// -A
// +----C------D <-- Message comes from D
//
// We're node C
//
// Message should be passed to node A (this nodes relay)
// This message should be routed back towards sensor net gateway
sendWrite(nc.parentNodeId, msg);
// Add this child to our "routing table" if it not already exist
addChildRoute(sender, last);
}
}
return false;
}
MyMessage& MySensor::getLastMessage() {
return msg;
}
void MySensor::saveState(uint8_t pos, uint8_t value) {
if (loadState(pos) != value) {
eeprom_write_byte((uint8_t*)(EEPROM_LOCAL_CONFIG_ADDRESS+pos), value);
}
}
uint8_t MySensor::loadState(uint8_t pos) {
return eeprom_read_byte((uint8_t*)(EEPROM_LOCAL_CONFIG_ADDRESS+pos));
}
void MySensor::addChildRoute(uint8_t childId, uint8_t route) {
if (childNodeTable[childId] != route) {
childNodeTable[childId] = route;
eeprom_write_byte((uint8_t*)EEPROM_ROUTES_ADDRESS+childId, route);
}
}
void MySensor::removeChildRoute(uint8_t childId) {
if (childNodeTable[childId] != 0xff) {
childNodeTable[childId] = 0xff;
eeprom_write_byte((uint8_t*)EEPROM_ROUTES_ADDRESS+childId, 0xff);
}
}
uint8_t MySensor::getChildRoute(uint8_t childId) {
return childNodeTable[childId];
}
int8_t pinIntTrigger = 0;
void wakeUp() //place to send the interrupts
{
pinIntTrigger = 1;
}
void wakeUp2() //place to send the second interrupts
{
pinIntTrigger = 2;
}
void MySensor::internalSleep(unsigned long ms) {
#ifndef __Raspberry_Pi
while (!pinIntTrigger && ms >= 8000) { LowPower.powerDown(SLEEP_8S, ADC_OFF, BOD_OFF); ms -= 8000; }
if (!pinIntTrigger && ms >= 4000) { LowPower.powerDown(SLEEP_4S, ADC_OFF, BOD_OFF); ms -= 4000; }
if (!pinIntTrigger && ms >= 2000) { LowPower.powerDown(SLEEP_2S, ADC_OFF, BOD_OFF); ms -= 2000; }
if (!pinIntTrigger && ms >= 1000) { LowPower.powerDown(SLEEP_1S, ADC_OFF, BOD_OFF); ms -= 1000; }
if (!pinIntTrigger && ms >= 500) { LowPower.powerDown(SLEEP_500MS, ADC_OFF, BOD_OFF); ms -= 500; }
if (!pinIntTrigger && ms >= 250) { LowPower.powerDown(SLEEP_250MS, ADC_OFF, BOD_OFF); ms -= 250; }
if (!pinIntTrigger && ms >= 125) { LowPower.powerDown(SLEEP_120MS, ADC_OFF, BOD_OFF); ms -= 120; }
if (!pinIntTrigger && ms >= 64) { LowPower.powerDown(SLEEP_60MS, ADC_OFF, BOD_OFF); ms -= 60; }
if (!pinIntTrigger && ms >= 32) { LowPower.powerDown(SLEEP_30MS, ADC_OFF, BOD_OFF); ms -= 30; }
if (!pinIntTrigger && ms >= 16) { LowPower.powerDown(SLEEP_15Ms, ADC_OFF, BOD_OFF); ms -= 15; }
#endif
}
void MySensor::sleep(unsigned long ms) {
#ifndef __Raspberry_Pi
// Let serial prints finish (debug, log etc)
Serial.flush();
#endif
RF24::powerDown();
pinIntTrigger = 0;
internalSleep(ms);
}
bool MySensor::sleep(uint8_t interrupt, uint8_t mode, unsigned long ms) {
#ifdef __Raspberry_Pi
return 1;
#else
// Let serial prints finish (debug, log etc)
bool pinTriggeredWakeup = true;
Serial.flush();
RF24::powerDown();
attachInterrupt(interrupt, wakeUp, mode);
if (ms>0) {
pinIntTrigger = 0;
sleep(ms);
if (0 == pinIntTrigger) {
pinTriggeredWakeup = false;
}
} else {
Serial.flush();
LowPower.powerDown(SLEEP_FOREVER, ADC_OFF, BOD_OFF);
}
detachInterrupt(interrupt);
return pinTriggeredWakeup;
#endif
}
int8_t MySensor::sleep(uint8_t interrupt1, uint8_t mode1, uint8_t interrupt2, uint8_t mode2, unsigned long ms) {
int8_t retVal = 1;
#ifdef __Raspberry_Pi
return retVal;
#else
Serial.flush(); // Let serial prints finish (debug, log etc)
RF24::powerDown();
attachInterrupt(interrupt1, wakeUp, mode1);
attachInterrupt(interrupt2, wakeUp2, mode2);
if (ms>0) {
pinIntTrigger = 0;
sleep(ms);
if (0 == pinIntTrigger) {
retVal = -1;
}
} else {
Serial.flush();
LowPower.powerDown(SLEEP_FOREVER, ADC_OFF, BOD_OFF);
}
detachInterrupt(interrupt1);
detachInterrupt(interrupt2);
if (1 == pinIntTrigger) {
retVal = (int8_t)interrupt1;
} else if (2 == pinIntTrigger) {
retVal = (int8_t)interrupt2;
}
return retVal;
#endif
}
#ifdef DEBUG
void MySensor::debugPrint(const char *fmt, ... ) {
char fmtBuffer[300];
if (isGateway) {
// prepend debug message to be handled correctly by gw (C_INTERNAL, I_LOG_MESSAGE)
snprintf_P(fmtBuffer, 299, PSTR("0;0;%d;0;%d;"), C_INTERNAL, I_LOG_MESSAGE);
#ifdef __Raspberry_Pi
printf(fmtBuffer);
#else
Serial.print(fmtBuffer);
#endif
}
va_list args;
va_start (args, fmt );
va_end (args);
if (isGateway) {
// Truncate message if this is gateway node
vsnprintf_P(fmtBuffer, 60, fmt, args);
fmtBuffer[59] = '\n';
fmtBuffer[60] = '\0';
} else {
vsnprintf_P(fmtBuffer, 299, fmt, args);
}
va_end (args);
#ifdef __Raspberry_Pi
printf(fmtBuffer);
fflush(stdout);
#else
Serial.print(fmtBuffer);
Serial.flush();
#endif
//Serial.write(freeRam());
}
#endif
#ifdef __Raspberry_Pi
unsigned long MySensor::millis()
{
timeval curTime;
gettimeofday(&curTime, NULL);
return curTime.tv_usec / 1000;
}
/**
* C++ version 0.4 char* style "itoa":
* Written by Lukás Chmela
* Released under GPLv3.
*/
char* MySensor::itoa(int value, char* result, int base) {
// check that the base if valid
if (base < 2 || base > 36) { *result = '\0'; return result; }
char* ptr = result, *ptr1 = result, tmp_char;
int tmp_value;
do {
tmp_value = value;
value /= base;
*ptr++ = "zyxwvutsrqponmlkjihgfedcba9876543210123456789abcdefghijklmnopqrstuvwxyz" [35 + (tmp_value - value * base)];
} while ( value );
// Apply negative sign
// Apply negative sign
if (tmp_value < 0) *ptr++ = '-';
*ptr-- = '\0';
while(ptr1 < ptr) {
tmp_char = *ptr;
*ptr--= *ptr1;
*ptr1++ = tmp_char;
}
return result;
}
/**
* C++ version 0.4 char* style "itoa":
* Written by Lukás Chmela
* Released under GPLv3.
*/
char* MySensor::ltoa(long value, char* result, int base) {
// check that the base if valid
if (base < 2 || base > 36) { *result = '\0'; return result; }
char* ptr = result, *ptr1 = result, tmp_char;
long tmp_value;
do {
tmp_value = value;
value /= base;
*ptr++ = "zyxwvutsrqponmlkjihgfedcba9876543210123456789abcdefghijklmnopqrstuvwxyz" [35 + (tmp_value - value * base)];
} while ( value );
// Apply negative sign
if (tmp_value < 0) *ptr++ = '-';
*ptr-- = '\0';
while(ptr1 < ptr) {
tmp_char = *ptr;
*ptr--= *ptr1;
*ptr1++ = tmp_char;
}
return result;
}
char * MySensor::dtostrf(float f, int width, int decimals, char *result)
{
char widths[3];
char decimalss[3];
char format[100];
itoa(width,widths,10);
itoa(decimals,decimalss,10);
strcpy(format,"%");
strcat(format,widths);
strcat(format,".");
strcat(format,decimalss);
strcat(format,"f");
sprintf(result,format,f);
return result;
}
// TODO: Implement this
void MySensor::eeprom_write_block (const void *__src, void *__dst, size_t __n) {
printf("[EEPROM] - write block at offset: %d (%d)\n", (int)__dst, (int)__n);
}
void MySensor::eeprom_read_block(void *__dst, const void *__src, size_t __n) {
printf("[EEPROM] - read block at offset: %d (%d)\n", (int)__src, (int)__n);
memset (__dst,0,__n);
}
void MySensor::eeprom_write_byte (uint8_t *__p, uint8_t __value) {
printf("[EEPROM] - write byte at offset: %d value: %d\n",(int) __p, (int)__value);
}
uint8_t MySensor::eeprom_read_byte (const uint8_t *__p) {
printf("[EEPROM] - read byte at offset: %d\n", (int)__p);
return 0;
}
#endif
#if defined(DEBUG) && !defined(__Raspberry_Pi)
int MySensor::freeRam (void) {
extern int __heap_start, *__brkval;
int v;
return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
}
#endif