/* H0AR9x.c BitzOS (BOS) V0.2.9 - Copyright (C) 2017-2023 Hexabitz All rights reserved File Name : H0AR9.c Description : Source code for module H0AR9. (Description_of_module) (Description of Special module peripheral configuration): >> >> >> */ /* Includes ------------------------------------------------------------------*/ #include "BOS.h" #include "stdio.h" #include "stdlib.h" #include "string.h" #include "H0AR9_inputs.h" /* Define UART variables */ UART_HandleTypeDef huart1; UART_HandleTypeDef huart2; UART_HandleTypeDef huart3; UART_HandleTypeDef huart4; UART_HandleTypeDef huart5; UART_HandleTypeDef huart6; /* Exported variables */ extern FLASH_ProcessTypeDef pFlash; extern uint8_t numOfRecordedSnippets; extern I2C_HandleTypeDef hi2c2; /* Module exported parameters ------------------------------------------------*/ uint8_t H0AR9_PIR; uint16_t H0AR9_RGBred; uint16_t H0AR9_RGBgreen; uint16_t H0AR9_RGBblue; uint16_t H0AR9_proximity; float H0AR9_temperature; float H0AR9_humidity; module_param_t modParam[NUM_MODULE_PARAMS] = {{.paramPtr=&H0AR9_RGBred, .paramFormat=FMT_UINT16, .paramName="RGBred"}, {.paramPtr=&H0AR9_RGBgreen, .paramFormat=FMT_UINT16, .paramName="RGBgreen"}, {.paramPtr=&H0AR9_RGBblue, .paramFormat=FMT_UINT16, .paramName="RGBblue"}, {.paramPtr=&H0AR9_proximity, .paramFormat=FMT_UINT16, .paramName="proximity"}, {.paramPtr=&H0AR9_temperature, .paramFormat=FMT_FLOAT, .paramName="temperature"}, {.paramPtr=&H0AR9_humidity, .paramFormat=FMT_FLOAT, .paramName="humidity"}, {.paramPtr=&H0AR9_PIR, .paramFormat=FMT_UINT8, .paramName="PIR"}, }; #define MIN_MEMS_PERIOD_MS 100 #define MAX_MEMS_TIMEOUT_MS 0xFFFFFFFF float H0AR9_temperature; /* Private variables ---------------------------------------------------------*/ typedef void (*SampleMemsToPort)(uint8_t, uint8_t); typedef void (*SampleMemsToString)(char *, size_t); typedef void (*SampleMemsToBuffer)(float *buffer); //temprature and humidity sensor addresses static const uint8_t tempHumAdd = (0x40)<<1; // Use 7-bit address static const uint8_t tempReg = 0x00; static const uint8_t humidityReg = 0x01; /*Define private variables*/ static bool stopStream = false; extern I2C_HandleTypeDef hi2c2; uint8_t buf[10]; uint8_t CONTROL, Enable, ATIME, WTIME, PPULSE; uint8_t redReg, greenReg, blueReg, distanceReg; uint16_t RED_data, GREEN_data, BLUE_data, Prox_data; uint16_t val; uint8_t pir; uint8_t CONTROL, Enable, ATIME, WTIME, PPULSE; uint16_t Red __attribute__((section(".mySection"))); uint16_t Green __attribute__((section(".mySection"))); uint16_t Blue __attribute__((section(".mySection"))); uint16_t distance1 __attribute__((section(".mySection"))); float temp __attribute__((section(".mySection"))); float hum __attribute__((section(".mySection"))); uint8_t Sample __attribute__((section(".mySection"))); /* Private function prototypes -----------------------------------------------*/ static Module_Status StreamMemsToBuf( float *buffer, uint32_t period, uint32_t timeout, SampleMemsToBuffer function); static Module_Status StreamMemsToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout, SampleMemsToPort function); static Module_Status StreamMemsToCLI(uint32_t period, uint32_t timeout, SampleMemsToString function); static Module_Status PollingSleepCLISafe(uint32_t period); void FLASH_Page_Eras(uint32_t Addr ); void ExecuteMonitor(void); /* Create CLI commands --------------------------------------------------------*/ static portBASE_TYPE SampleSensorCommand(int8_t *pcWriteBuffer, size_t xWriteBufferLen, const int8_t *pcCommandString); static portBASE_TYPE StreamSensorCommand(int8_t *pcWriteBuffer, size_t xWriteBufferLen, const int8_t *pcCommandString); static portBASE_TYPE StopStreamCommand(int8_t *pcWriteBuffer, size_t xWriteBufferLen, const int8_t *pcCommandString); /* CLI command structure : sample */ const CLI_Command_Definition_t SampleCommandDefinition = { (const int8_t *) "sample", (const int8_t *) "sample:\r\n Syntax: sample [color]/[distance]/[temp]/[humidity]/[pir].\r\n\r\n", SampleSensorCommand, 1 }; /* CLI command structure : stream */ const CLI_Command_Definition_t StreamCommandDefinition = { (const int8_t *) "stream", (const int8_t *) "stream:\r\n Syntax: stream [color]/[distance]/[temp]/[humidity]/[pir] (period in ms) (time in ms) [port] [module].\r\n\r\n", StreamSensorCommand, -1 }; /* CLI command structure : stop */ const CLI_Command_Definition_t StopCommandDefinition = { (const int8_t *) "stop", (const int8_t *) "stop:\r\n Syntax: stop\r\n \ \tStop the current streaming of MEMS values. r\n\r\n", StopStreamCommand, 0 }; /*-----------------------------------------------------------*/ /* ----------------------------------------------------------------------- | Private Functions | ----------------------------------------------------------------------- */ /** * @brief System Clock Configuration * The system Clock is configured as follow : * System Clock source = PLL (HSE) * SYSCLK(Hz) = 48000000 * HCLK(Hz) = 48000000 * AHB Prescaler = 1 * APB1 Prescaler = 1 * HSE Frequency(Hz) = 8000000 * PREDIV = 1 * PLLMUL = 6 * Flash Latency(WS) = 1 * @param None * @retval None */ void SystemClock_Config(void){ RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; /** Configure the main internal regulator output voltage */ HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.LSIState = RCC_LSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1; RCC_OscInitStruct.PLL.PLLN = 12; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; HAL_RCC_OscConfig(&RCC_OscInitStruct); /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2); /** Initializes the peripherals clocks */ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_USART2; PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1; PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI; HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit); PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C2; PeriphClkInit.I2c2ClockSelection = RCC_I2C2CLKSOURCE_PCLK1; HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit); HAL_NVIC_SetPriority(SysTick_IRQn,0,0); } /*-----------------------------------------------------------*/ /* --- Save array topology and Command Snippets in Flash RO --- */ uint8_t SaveToRO(void){ BOS_Status result =BOS_OK; HAL_StatusTypeDef FlashStatus =HAL_OK; uint16_t add =8; uint16_t temp =0; uint8_t snipBuffer[sizeof(snippet_t) + 1] ={0}; HAL_FLASH_Unlock(); /* Erase RO area */ FLASH_PageErase(FLASH_BANK_1,RO_START_ADDRESS); FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); FLASH_PageErase(FLASH_BANK_1,RO_MID_ADDRESS); //TOBECHECKED FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); if(FlashStatus != HAL_OK){ return pFlash.ErrorCode; } else{ /* Operation is completed, disable the PER Bit */ CLEAR_BIT(FLASH->CR,FLASH_CR_PER); } /* Save number of modules and myID */ if(myID){ temp =(uint16_t )(N << 8) + myID; //HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD,RO_START_ADDRESS,temp); HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,RO_START_ADDRESS,temp); //TOBECHECKED FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); if(FlashStatus != HAL_OK){ return pFlash.ErrorCode; } else{ /* If the program operation is completed, disable the PG Bit */ CLEAR_BIT(FLASH->CR,FLASH_CR_PG); } /* Save topology */ for(uint8_t i =1; i <= N; i++){ for(uint8_t j =0; j <= MaxNumOfPorts; j++){ if(array[i - 1][0]){ HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,RO_START_ADDRESS + add,array[i - 1][j]); //HALFWORD //TOBECHECKED FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); if(FlashStatus != HAL_OK){ return pFlash.ErrorCode; } else{ /* If the program operation is completed, disable the PG Bit */ CLEAR_BIT(FLASH->CR,FLASH_CR_PG); add +=8; } } } } } // Save Command Snippets int currentAdd = RO_MID_ADDRESS; for(uint8_t s =0; s < numOfRecordedSnippets; s++){ if(snippets[s].cond.conditionType){ snipBuffer[0] =0xFE; // A marker to separate Snippets memcpy((uint32_t* )&snipBuffer[1],(uint8_t* )&snippets[s],sizeof(snippet_t)); // Copy the snippet struct buffer (20 x numOfRecordedSnippets). Note this is assuming sizeof(snippet_t) is even. for(uint8_t j =0; j < (sizeof(snippet_t)/4); j++){ HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,currentAdd,*(uint64_t* )&snipBuffer[j*8]); //HALFWORD //TOBECHECKED FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); if(FlashStatus != HAL_OK){ return pFlash.ErrorCode; } else{ /* If the program operation is completed, disable the PG Bit */ CLEAR_BIT(FLASH->CR,FLASH_CR_PG); currentAdd +=8; } } // Copy the snippet commands buffer. Always an even number. Note the string termination char might be skipped for(uint8_t j =0; j < ((strlen(snippets[s].cmd) + 1)/4); j++){ HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,currentAdd,*(uint64_t* )(snippets[s].cmd + j*4 )); //HALFWORD //TOBECHECKED FlashStatus =FLASH_WaitForLastOperation((uint32_t ) HAL_FLASH_TIMEOUT_VALUE); if(FlashStatus != HAL_OK){ return pFlash.ErrorCode; } else{ /* If the program operation is completed, disable the PG Bit */ CLEAR_BIT(FLASH->CR,FLASH_CR_PG); currentAdd +=8; } } } } HAL_FLASH_Lock(); return result; } /* --- Clear array topology in SRAM and Flash RO --- */ uint8_t ClearROtopology(void){ // Clear the array memset(array,0,sizeof(array)); N =1; myID =0; return SaveToRO(); } /*-----------------------------------------------------------*/ /* --- Trigger ST factory bootloader update for a remote module. */ void remoteBootloaderUpdate(uint8_t src,uint8_t dst,uint8_t inport,uint8_t outport){ uint8_t myOutport =0, lastModule =0; int8_t *pcOutputString; /* 1. Get route to destination module */ myOutport =FindRoute(myID,dst); if(outport && dst == myID){ /* This is a 'via port' update and I'm the last module */ myOutport =outport; lastModule =myID; } else if(outport == 0){ /* This is a remote update */ if(NumberOfHops(dst)== 1) lastModule = myID; else lastModule = route[NumberOfHops(dst)-1]; /* previous module = route[Number of hops - 1] */ } /* 2. If this is the source of the message, show status on the CLI */ if(src == myID){ /* Obtain the address of the output buffer. Note there is no mutual exclusion on this buffer as it is assumed only one command console interface will be used at any one time. */ pcOutputString =FreeRTOS_CLIGetOutputBuffer(); if(outport == 0) // This is a remote module update sprintf((char* )pcOutputString,pcRemoteBootloaderUpdateMessage,dst); else // This is a 'via port' remote update sprintf((char* )pcOutputString,pcRemoteBootloaderUpdateViaPortMessage,dst,outport); strcat((char* )pcOutputString,pcRemoteBootloaderUpdateWarningMessage); writePxITMutex(inport,(char* )pcOutputString,strlen((char* )pcOutputString),cmd50ms); Delay_ms(100); } /* 3. Setup my inport and outport for bootloader update */ SetupPortForRemoteBootloaderUpdate(inport); SetupPortForRemoteBootloaderUpdate(myOutport); /* 5. Build a DMA stream between my inport and outport */ StartScastDMAStream(inport,myID,myOutport,myID,BIDIRECTIONAL,0xFFFFFFFF,0xFFFFFFFF,false); } /*-----------------------------------------------------------*/ /* --- Setup a port for remote ST factory bootloader update: - Set baudrate to 57600 - Enable even parity - Set datasize to 9 bits */ void SetupPortForRemoteBootloaderUpdate(uint8_t port){ UART_HandleTypeDef *huart =GetUart(port); huart->Init.BaudRate =57600; huart->Init.Parity = UART_PARITY_EVEN; huart->Init.WordLength = UART_WORDLENGTH_9B; HAL_UART_Init(huart); /* The CLI port RXNE interrupt might be disabled so enable here again to be sure */ __HAL_UART_ENABLE_IT(huart,UART_IT_RXNE); } /* --- H0AR9 module initialization. */ void Module_Peripheral_Init(void){ /* Array ports */ MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_USART3_UART_Init(); MX_USART4_UART_Init(); MX_USART5_UART_Init(); //MX_USART6_UART_Init(); /* initialize GPIO for module */ SENSORS_GPIO_Init(); /* initialize I2C for module */ MX_I2C_Init(); /* initialize color&proximity sensor */ APDS9950_init(); /* Create module special task (if needed) */ } /*-----------------------------------------------------------*/ /* --- H0AR9 message processing task. */ Module_Status Module_MessagingTask(uint16_t code, uint8_t port, uint8_t src, uint8_t dst, uint8_t shift) { Module_Status result = H0AR9_OK; uint32_t period = 0, timeout = 0; switch (code) { case CODE_H0AR9_SAMPLE_COLOR: { SampleColorToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift]); break; } case CODE_H0AR9_SAMPLE_DISTANCE: { SampleDistanceToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift]); break; } case CODE_H0AR9_SAMPLE_TEMP: { SampleTemperatureToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift]); break; } case CODE_H0AR9_SAMPLE_HUMIDITY: { SampleHumidityToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift]); break; } case CODE_H0AR9_SAMPLE_PIR: { SamplePIRToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift]); break; } case CODE_H0AR9_STREAM_COLOR: { period = ((uint32_t) cMessage[port - 1][2 + shift] ) + ((uint32_t) cMessage[port - 1][3 + shift] << 8) + ((uint32_t) cMessage[port - 1][4 + shift] << 16) + ((uint32_t)cMessage[port - 1][5 + shift] << 24); timeout = ((uint32_t) cMessage[port - 1][6 + shift] ) + ((uint32_t) cMessage[port - 1][7 + shift] << 8) + ((uint32_t) cMessage[port - 1][8 + shift] << 16) + ((uint32_t)cMessage[port - 1][9 + shift] << 24); StreamColorToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift], period, timeout); break; } case CODE_H0AR9_STREAM_DISTANCE: { period = ((uint32_t) cMessage[port - 1][2 + shift] ) + ((uint32_t) cMessage[port - 1][3 + shift] << 8) + ((uint32_t) cMessage[port - 1][4 + shift] << 16) + ((uint32_t)cMessage[port - 1][5 + shift] <<24); timeout = ((uint32_t) cMessage[port - 1][6 + shift] ) + ((uint32_t) cMessage[port - 1][7 + shift] << 8) + ((uint32_t) cMessage[port - 1][8 + shift] << 16) + ((uint32_t)cMessage[port - 1][9 + shift]<<24); StreamDistanceToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift], period, timeout); break; } case CODE_H0AR9_STREAM_TEMP: { period = ((uint32_t) cMessage[port - 1][2 + shift] ) + ((uint32_t) cMessage[port - 1][3 + shift] << 8) + ((uint32_t) cMessage[port - 1][4 + shift] << 16) + ((uint32_t)cMessage[port - 1][5 + shift]<<24); timeout = ((uint32_t) cMessage[port - 1][6 + shift] ) + ((uint32_t) cMessage[port - 1][7 + shift] << 8) + ((uint32_t) cMessage[port - 1][8 + shift] << 16) + ((uint32_t)cMessage[port - 1][9 + shift]<<24); StreamTemperatureToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift], period, timeout); break; } case CODE_H0AR9_STREAM_HUMIDITY: { period = ((uint32_t) cMessage[port - 1][2 + shift] ) + ((uint32_t) cMessage[port - 1][3 + shift] << 8) + ((uint32_t) cMessage[port - 1][4 + shift] << 16) + ((uint32_t)cMessage[port - 1][5 + shift]<<24); timeout = ((uint32_t) cMessage[port - 1][6 + shift] ) + ((uint32_t) cMessage[port - 1][7 + shift] << 8) + ((uint32_t) cMessage[port - 1][8 + shift] << 16) + ((uint32_t)cMessage[port - 1][9 + shift]<<24); StreamHumidityToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift], period, timeout); break; } case CODE_H0AR9_STREAM_PIR: { period = ((uint32_t) cMessage[port - 1][2 + shift] ) + ((uint32_t) cMessage[port - 1][3 + shift] << 8) + ((uint32_t) cMessage[port - 1][4 + shift] << 16) + ((uint32_t)cMessage[port - 1][5 + shift] <<24); timeout = ((uint32_t) cMessage[port - 1][6 + shift] ) + ((uint32_t) cMessage[port - 1][7 + shift] << 8) + ((uint32_t) cMessage[port - 1][8 + shift] << 16) + ((uint32_t)cMessage[port - 1][9 + shift] <<24); StreamPIRToPort(cMessage[port-1][1+shift] ,cMessage[port-1][shift], period, timeout); break; } case CODE_H0AR9_STREAM_STOP: { stopStreamMems(); result = H0AR9_OK; break; } default: result = H0AR9_ERR_UnknownMessage; break; } return result; } /* --- Get the port for a given UART. */ uint8_t GetPort(UART_HandleTypeDef *huart){ if(huart->Instance == USART4) return P1; else if(huart->Instance == USART2) return P2; else if(huart->Instance == USART3) return P3; else if(huart->Instance == USART1) return P4; else if(huart->Instance == USART5) return P5; //else if(huart->Instance == USART6) //return P6; return 0; } /*------------------------------------------------------------*/ //initialize APDS9950 sensor void APDS9950_init(void) { //registers addresses CONTROL = 0x0F; Enable = 0x00; ATIME = 0x01; WTIME = 0x03; PPULSE = 0x0E; redReg = 0x16; greenReg = 0x18; blueReg = 0x1A; distanceReg = 0x1C; WriteRegData (Enable,0x00); WriteRegData (ATIME,0x00); WriteRegData (WTIME,0xff); WriteRegData (PPULSE,0x01); WriteRegData (CONTROL, 0x20); WriteRegData (Enable, 0x0F); } /*-----------------------------------------------------------*/ void initialValue(void) { Red=0; Green=0; Blue=0; distance1=0; temp=0; hum=0; Sample=0; } /*-----------------------------------------------------------*/ /* --- Register this module CLI Commands */ void RegisterModuleCLICommands(void){ FreeRTOS_CLIRegisterCommand( &SampleCommandDefinition ); FreeRTOS_CLIRegisterCommand( &StreamCommandDefinition ); FreeRTOS_CLIRegisterCommand( &StopCommandDefinition); } /*-----------------------------------------------------------*/ /* Module special task function (if needed) */ //void Module_Special_Task(void *argument){ // // /* Infinite loop */ // uint8_t cases; // Test variable. // for(;;){ // /* */ // switch(cases){ // // // default: // osDelay(10); // break; // } // // taskYIELD(); // } // //} /*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/ static Module_Status StreamMemsToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout, SampleMemsToPort function) { Module_Status status = H0AR9_OK; if (period < MIN_MEMS_PERIOD_MS) return H0AR9_ERR_WrongParams; if (port == 0) return H0AR9_ERR_WrongParams; if (port == PcPort) // Check if CLI is not enabled at that port! return H0AR9_ERR_BUSY; if (period > timeout) timeout = period; long numTimes = timeout / period; stopStream = false; while ((numTimes-- > 0) || (timeout >= MAX_MEMS_TIMEOUT_MS)) { function(port, module); vTaskDelay(pdMS_TO_TICKS(period)); if (stopStream) { status = H0AR9_ERR_TERMINATED; break; } } return status; } /*-----------------------------------------------------------*/ static Module_Status StreamMemsToBuf( float *buffer, uint32_t period, uint32_t timeout, SampleMemsToBuffer function) { Module_Status status = H0AR9_OK; if (period < MIN_MEMS_PERIOD_MS) return H0AR9_ERR_WrongParams; // TODO: Check if CLI is enable or not if (period > timeout) timeout = period; long numTimes = timeout / period; stopStream = false; while ((numTimes-- > 0) || (timeout >= MAX_MEMS_TIMEOUT_MS)) { function(buffer); vTaskDelay(pdMS_TO_TICKS(period)); if (stopStream) { status = H0AR9_ERR_TERMINATED; break; } } return status; } /*-----------------------------------------------------------*/ static Module_Status StreamMemsToCLI(uint32_t period, uint32_t timeout, SampleMemsToString function) { Module_Status status = H0AR9_OK; int8_t *pcOutputString = NULL; if (period < MIN_MEMS_PERIOD_MS) return H0AR9_ERR_WrongParams; // TODO: Check if CLI is enable or not if (period > timeout) timeout = period; long numTimes = timeout / period; stopStream = false; while ((numTimes-- > 0) || (timeout >= MAX_MEMS_TIMEOUT_MS)) { pcOutputString = FreeRTOS_CLIGetOutputBuffer(); function((char *)pcOutputString, 100); writePxMutex(PcPort, (char *)pcOutputString, strlen((char *)pcOutputString), cmd500ms, HAL_MAX_DELAY); if (PollingSleepCLISafe(period) != H0AR9_OK) break; } memset((char *) pcOutputString, 0, configCOMMAND_INT_MAX_OUTPUT_SIZE); sprintf((char *)pcOutputString, "\r\n"); return status; } /*-----------------------------------------------------------*/ /* --- Save array topology and Command Snippets in Flash RO --- */ static Module_Status PollingSleepCLISafe(uint32_t period) { const unsigned DELTA_SLEEP_MS = 100; // milliseconds long numDeltaDelay = period / DELTA_SLEEP_MS; unsigned lastDelayMS = period % DELTA_SLEEP_MS; while (numDeltaDelay-- > 0) { vTaskDelay(pdMS_TO_TICKS(DELTA_SLEEP_MS)); // Look for ENTER key to stop the stream for (uint8_t chr=0 ; chr