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Published © MIT

Make DIY Interactive Paper Robot With Hexabitz 🤖👋😊

Make a robot that reacts to gestures by waving its arms in a cheer!

IntermediateFull instructions provided1 hour256
Make DIY Interactive Paper Robot With Hexabitz 🤖👋😊

Things used in this project

Hardware components

4-Pin USB-Serial Prototype Cable
Hexabitz 4-Pin USB-Serial Prototype Cable
×1
Temperature, Humidity, Light, Color, and Motion Sensor Hub (H0AR9x)
Hexabitz Temperature, Humidity, Light, Color, and Motion Sensor Hub (H0AR9x)
×1
3.3V/1A DC-DC Power Supply Module (H03R00)
Hexabitz 3.3V/1A DC-DC Power Supply Module (H03R00)
×1
5V DC-DC Boost Power Supply (H32R1x)
Hexabitz 5V DC-DC Boost Power Supply (H32R1x)
×1
BitzClamp
Hexabitz BitzClamp
×2
STLINK-V3MODS Programmer (H40Rx)
Hexabitz STLINK-V3MODS Programmer (H40Rx)
×1
Adafruit servo HiTEC HS-322HD
×1
Jumper Wires
DIYables Jumper Wires
×1

Software apps and online services

STM32CUBEPROG
STMicroelectronics STM32CUBEPROG

Hand tools and fabrication machines

5V / 8W Portable USB Soldering Iron
Hexabitz 5V / 8W Portable USB Soldering Iron
Solder Wire, Lead Free
Solder Wire, Lead Free

Story

Read more

Code

H0AR9x-main code

C/C++
/*
 BitzOS (BOS) V0.2.9 - Copyright (C) 2017-2023 Hexabitz
 All rights reserved

 File Name     : main.c
 Description   : Main program body.
 */
/* Includes ------------------------------------------------------------------*/
#include "BOS.h"
uint16_t prox;
int q;


/* Private function prototypes -----------------------------------------------*/
// char *user_data = "The application is running\r\n"; //demo data for transmission-
/* Main function ------------------------------------------------------------*/

int main(void){

	Module_Init();		//Initialize Module &  BitzOS

	//MX_USART5_UART_Init();
		//Don't place your code here.
	for(;;){}
}

/*---float H0AR9_temperature;
float H0AR9_humidity;--------------------------------------------------------*/

/* User Task */
void UserTask(void *argument){

	while(1){
	SampleDistance(&prox);
		q  =prox;
		if (q > 15)
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_SET);
		Delay_ms(1.5);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
		Delay_ms(20);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_SET);
    Delay_ms(0.5);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
		Delay_ms(10);
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_SET);
    Delay_ms(2.5);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
		Delay_ms(50);

	}
}



/*-----------------------------------------------------------*/

H0AR9x.h

C/C++
/*
 BitzOS (BOS) V0.2.9 - Copyright (C) 2017-2023 Hexabitz
 All rights reserved
 
 File Name     : H0AR9.h
 Description   : Header file for module H0AR9.
 	 	 	 	 (Description_of_module)

(Description of Special module peripheral configuration):
>>
>>
>>

 */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef H0AR9_H
#define H0AR9_H

/* Includes ------------------------------------------------------------------*/
#include "BOS.h"
#include "H0AR9_MemoryMap.h"
#include "H0AR9_uart.h"
#include "H0AR9_gpio.h"
#include "H0AR9_dma.h"
#include "H0AR9_inputs.h"
#include "H0AR9_eeprom.h"
#include "H0AR9_i2c.h"
/* Exported definitions -------------------------------------------------------*/

#define	modulePN		_H0AR9


/* Port-related definitions */
#define	NumOfPorts			6

#define P_PROG 				P2						/* ST factory bootloader UART */

/* Define available ports */
#define _P1 
#define _P2 
#define _P3 
#define _P4
#define _P5
//#define _P6

/* Define available USARTs */
#define _Usart1 1
#define _Usart2 1
#define _Usart3 1
#define _Usart4 1
#define _Usart5 1
//#define _Usart6	1


/* Port-UART mapping */

#define P1uart &huart4
#define P2uart &huart2
#define P3uart &huart3
#define P4uart &huart1
#define P5uart &huart5
//#define P6uart &huart6


/* Port Definitions */
#define	USART1_TX_PIN		GPIO_PIN_9
#define	USART1_RX_PIN		GPIO_PIN_10
#define	USART1_TX_PORT		GPIOA
#define	USART1_RX_PORT		GPIOA
#define	USART1_AF			GPIO_AF1_USART1

#define	USART2_TX_PIN		GPIO_PIN_2
#define	USART2_RX_PIN		GPIO_PIN_3
#define	USART2_TX_PORT		GPIOA
#define	USART2_RX_PORT		GPIOA
#define	USART2_AF			GPIO_AF1_USART2

#define	USART3_TX_PIN		GPIO_PIN_10
#define	USART3_RX_PIN		GPIO_PIN_11
#define	USART3_TX_PORT		GPIOB
#define	USART3_RX_PORT		GPIOB
#define	USART3_AF			GPIO_AF4_USART3

#define	USART4_TX_PIN		GPIO_PIN_0
#define	USART4_RX_PIN		GPIO_PIN_1
#define	USART4_TX_PORT		GPIOA
#define	USART4_RX_PORT		GPIOA
#define	USART4_AF			GPIO_AF4_USART4

#define	USART5_TX_PIN		GPIO_PIN_3
#define	USART5_RX_PIN		GPIO_PIN_2
#define	USART5_TX_PORT		GPIOD
#define	USART5_RX_PORT		GPIOD
#define	USART5_AF			GPIO_AF3_USART5

#define	USART6_TX_PIN		GPIO_PIN_8
#define	USART6_RX_PIN		GPIO_PIN_9
#define	USART6_TX_PORT		GPIOB
#define	USART6_RX_PORT		GPIOB
#define	USART6_AF			GPIO_AF8_USART6

/* Module-specific Definitions */

#define NUM_MODULE_PARAMS						7
#define STOP_MEASUREMENT_RANGING      0
#define START_MEASUREMENT_RANGING     1
/* Module EEPROM Variables */

// Module Addressing Space 500 - 599
#define _EE_MODULE							500		

/* Module_Status Type Definition */
typedef enum
{
  H0AR9_OK = 0,
  H0AR9_ERR_UnknownMessage,
  H0AR9_ERR_RGB,
  H0AR9_ERR_PROXIMITY,
  H0AR9_ERR_TEMPRATURE,
  H0AR9_ERR_HUMIDITY,
  H0AR9_ERR_PIR,
  H0AR9_ERR_BUSY,
  H0AR9_ERR_TIMEOUT,
  H0AR9_ERR_IO,
  H0AR9_ERR_TERMINATED,
  H0AR9_ERR_WrongParams,
  H0AR9_ERROR = 25
} Module_Status;

/* Indicator LED */
#define _IND_LED_PORT			GPIOB
#define _IND_LED_PIN			GPIO_PIN_14

/* Export UART variables */
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart6;

/* Define UART Init prototypes */
extern void MX_USART1_UART_Init(void);
extern void MX_USART2_UART_Init(void);
extern void MX_USART3_UART_Init(void);
extern void MX_USART4_UART_Init(void);
extern void MX_USART5_UART_Init(void);
//extern void MX_USART6_UART_Init(void);
extern void SystemClock_Config(void);
extern void ExecuteMonitor(void);


/* -----------------------------------------------------------------------
 |								  APIs							          |  																 	|
/* -----------------------------------------------------------------------
 */
uint16_t Read_Word(uint8_t reg);
void Error_Handler(void);
void initialValue(void);
void APDS9950_init(void);
void WriteRegData(uint8_t reg, uint8_t data);
void stopStreamMems(void);
void SamplePIR(bool *pir);
void SampleColor(uint16_t *Red, uint16_t *Green, uint16_t *Blue);
void SampleDistance(uint16_t *Proximity);
void SampleTemperature(float *temperature);
void SampleHumidity(float *humidity);
void SampleColorBuf(float *buffer);
void SampleDistanceBuff(float *buffer);
void SampleTemperatureBuf(float *buffer);
void SampleHumidityBuf(float *buffer);
void SamplePIRBuf(float *buffer);
void SampleColorToPort(uint8_t port,uint8_t module);
void SampleDistanceToPort(uint8_t port,uint8_t module);
void SampleTemperatureToPort(uint8_t port,uint8_t module);
void SampleHumidityToPort(uint8_t port,uint8_t module);
void SamplePIRToPort(uint8_t port,uint8_t module);
void SampleColorToString(char *cstring, size_t maxLen);
void SampleDistanceToString(char *cstring, size_t maxLen);
void SampleTemperatureToString(char *cstring, size_t maxLen);
void SampleHumidityToString(char *cstring, size_t maxLen);
void SamplePIRToString(char *cstring, size_t maxLen);
Module_Status StreamColorToBuffer(float *buffer, uint32_t period, uint32_t timeout);
Module_Status StreamDistanceToBuffer(float *buffer, uint32_t period, uint32_t timeout);
Module_Status StreamTemperatureToBuffer(float *buffer, uint32_t period, uint32_t timeout);
Module_Status StreamHumidityToBuffer(float *buffer, uint32_t period, uint32_t timeout);
Module_Status StreamPIRToBuffer(float *buffer, uint32_t period, uint32_t timeout);
Module_Status StreamColorToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout);
Module_Status StreamDistanceToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout);
Module_Status StreamTemperatureToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout);
Module_Status StreamHumidityToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout);
Module_Status StreamPIRToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout);
Module_Status StreamColorToCLI(uint32_t period, uint32_t timeout);
Module_Status StreamDistanceToCLI(uint32_t period, uint32_t timeout);
Module_Status StreamTemperatureToCLI(uint32_t period, uint32_t timeout);
Module_Status StreamHumidityToCLI(uint32_t period, uint32_t timeout);
Module_Status StreamPIRToCLI(uint32_t period, uint32_t timeout);
void SetupPortForRemoteBootloaderUpdate(uint8_t port);
void remoteBootloaderUpdate(uint8_t src,uint8_t dst,uint8_t inport,uint8_t outport);

/* -----------------------------------------------------------------------
 |								Commands							      |															 	|
/* -----------------------------------------------------------------------
 */


#endif /* H0AR9_H */

/************************ (C) COPYRIGHT HEXABITZ *****END OF FILE****/

H0AR9x.c

C/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<MSG_RX_BUF_SIZE ; chr++)
		{
			if (UARTRxBuf[PcPort-1][chr] == '\r') {
				UARTRxBuf[PcPort-1][chr] = 0;
				return H0AR9_ERR_TERMINATED;
			}
		}

		if (stopStream)
			return H0AR9_ERR_TERMINATED;
	}

	vTaskDelay(pdMS_TO_TICKS(lastDelayMS));
	return H0AR9_OK;
}
/* -----------------------------------------------------------------------
 |								  APIs							          | 																 	|
/* -----------------------------------------------------------------------
 */
void SampleColorToPort(uint8_t port,uint8_t module)
{
	float buffer[3]; // Three Samples RED, GREEN, BLUE
	static uint8_t temp[12];

	SampleColorBuf(buffer);


		temp[0] =*((__IO uint8_t* )(&buffer[0]) + 3);
		temp[1] =*((__IO uint8_t* )(&buffer[0]) + 2);
		temp[2] =*((__IO uint8_t* )(&buffer[0]) + 1);
		temp[3] =*((__IO uint8_t* )(&buffer[0]) + 0);

		temp[4] =*((__IO uint8_t* )(&buffer[1]) + 3);
		temp[5] =*((__IO uint8_t* )(&buffer[1]) + 2);
		temp[6] =*((__IO uint8_t* )(&buffer[1]) + 1);
		temp[7] =*((__IO uint8_t* )(&buffer[1]) + 0);

		temp[8] =*((__IO uint8_t* )(&buffer[2]) + 3);
		temp[9] =*((__IO uint8_t* )(&buffer[2]) + 2);
		temp[10] =*((__IO uint8_t* )(&buffer[2]) + 1);
		temp[11] =*((__IO uint8_t* )(&buffer[2]) + 0);

		writePxITMutex(port,(char* )&temp[0],12 * sizeof(uint8_t),10);

}
/*-----------------------------------------------------------*/

void SampleDistanceToPort(uint8_t port,uint8_t module)
{
	float buffer[1]; // Three Samples X, Y, Z
	static uint8_t temp[4];

	SampleDistanceBuff(buffer);

		temp[0] =*((__IO uint8_t* )(&buffer[0]) + 3);
		temp[1] =*((__IO uint8_t* )(&buffer[0]) + 2);
		temp[2] =*((__IO uint8_t* )(&buffer[0]) + 1);
		temp[3] =*((__IO uint8_t* )(&buffer[0]) + 0);

		writePxITMutex(port,(char* )&temp[0],4 * sizeof(uint8_t),10);
}
/*-----------------------------------------------------------*/
void SampleTemperatureToPort(uint8_t port,uint8_t module)
{
	float buffer[1];
	static uint8_t temp[4];

	SampleTemperatureBuf(buffer);

	if(module == myID){
			temp[0] =*((__IO uint8_t* )(&buffer[0]) + 3);
			temp[1] =*((__IO uint8_t* )(&buffer[0]) + 2);
			temp[2] =*((__IO uint8_t* )(&buffer[0]) + 1);
			temp[3] =*((__IO uint8_t* )(&buffer[0]) + 0);


			writePxITMutex(port,(char* )&temp[0],4 * sizeof(uint8_t),10);
		}
		else{
			messageParams[0] =port;
			messageParams[1] =*((__IO uint8_t* )(&buffer[0]) + 3);
			messageParams[2] =*((__IO uint8_t* )(&buffer[0]) + 2);
			messageParams[3] =*((__IO uint8_t* )(&buffer[0]) + 1);
			messageParams[4] =*((__IO uint8_t* )(&buffer[0]) + 0);

			SendMessageToModule(module,CODE_PORT_FORWARD,sizeof(float)+1);
		}


}
/*-----------------------------------------------------------*/
void SampleHumidityToPort(uint8_t port,uint8_t module)
{
	float buffer[1];
	static uint8_t temp[4];

	SampleHumidityBuf(buffer);

		temp[0] =*((__IO uint8_t* )(&buffer[0]) + 3);
		temp[1] =*((__IO uint8_t* )(&buffer[0]) + 2);
		temp[2] =*((__IO uint8_t* )(&buffer[0]) + 1);
		temp[3] =*((__IO uint8_t* )(&buffer[0]) + 0);

		writePxITMutex(port,(char* )&temp[0],4 * sizeof(uint8_t),10);
}
/*-----------------------------------------------------------*/
void SamplePIRToPort(uint8_t port,uint8_t module)
{
	float buffer;
	bool temp;

	SamplePIRBuf(&buffer);


	if(module == myID){
		temp = buffer;
		writePxITMutex(port,(char* )&temp,sizeof(bool),10);
	}
	else{
		messageParams[0] =port;
		messageParams[1] =buffer;
		SendMessageToModule(module,CODE_PORT_FORWARD,sizeof(char)+1);
	}
}
/*-----------------------------------------------------------*/

void SampleColorBuf(float *buffer)
{
	uint16_t rgb[3];
	SampleColor(rgb,rgb+1,rgb+2);
	buffer[0]=rgb[0];
	buffer[1]=rgb[1];
	buffer[2]=rgb[2];
}
/*-----------------------------------------------------------*/
void SampleDistanceBuff(float *buffer)
{
	uint16_t distance;
	SampleDistance(&distance);
	*buffer = distance;
}
/*-----------------------------------------------------------*/
void SampleTemperatureBuf(float *buffer)
{
	SampleTemperature(buffer);
}
/*-----------------------------------------------------------*/
void SampleHumidityBuf(float *buffer)
{
	SampleHumidity(buffer);
}
/*-----------------------------------------------------------*/
void SamplePIRBuf(float *buffer)
{
	bool pir;
    SamplePIR(&pir);
    *buffer = pir;
}
/*-----------------------------------------------------------*/

void SampleColorToString(char *cstring, size_t maxLen)
{
	uint16_t red = 0, green = 0, blue = 0;
	SampleColor(&red, &green, &blue);
	Red=red;
	Green=green;
	Blue=blue;
	snprintf(cstring, maxLen, "Red: %d, Green: %d, Blue: %d\r\n", red, green, blue);
}
/*-----------------------------------------------------------*/

void SampleDistanceToString(char *cstring, size_t maxLen)
{
	uint16_t distance = 0;
	SampleDistance(&distance);
	distance1=distance;
	snprintf(cstring, maxLen, "Distance: %d\r\n", distance);
}
/*-----------------------------------------------------------*/

void SampleTemperatureToString(char *cstring, size_t maxLen)
{
	float temprature = 0;
	SampleTemperature(&temprature);
	temp=temprature;
	char Number[5]={0};
	uint16_t x;
	volatile uint32_t temp1=1;
	uint16_t x0,x1,x2;
	temp1=temp;

x0 = (uint8_t) (temp*10 - temp1*10);
x1 = (uint8_t) (temp1%10);
x2 = (uint8_t) (temp1/10%10);

if(x2 == 0)  {Number[0] = 0x20;} else {Number[0] = x2 +0x30;}
Number[1] = x1 +0x30;
Number[2] = '.';
Number[3] = x0 +0x30;
Number[4] = 0;
//    x=*((long long*)&temp);
//	temp=atoff(Number);
	snprintf(cstring, maxLen, "Temperature:  %.4s\r\n", Number);
}
/*-----------------------------------------------------------*/

void SampleHumidityToString(char *cstring, size_t maxLen)
{
	float humidity = 0;
	SampleHumidity(&humidity);
	hum=humidity;
	char Number[5]={0};
	uint16_t x;
	volatile uint32_t temp1=1;
	uint16_t x0,x1,x2;
	temp1=hum;

x0 = (uint8_t) (hum*10 - temp1*10);
x1 = (uint8_t) (temp1%10);
x2 = (uint8_t) (temp1/10%10);

if(x2 == 0)  {Number[0] = 0x20;} else {Number[0] = x2 +0x30;}
Number[1] = x1 +0x30;
Number[2] = '.';
Number[3] = x0 +0x30;
Number[4] = 0;
	snprintf(cstring, maxLen, "Humidity: %.4s\r\n", Number);
}
/*-----------------------------------------------------------*/

void SamplePIRToString(char *cstring, size_t maxLen)
{
	bool sample;
	SamplePIR(&sample);
	Sample=sample;
	snprintf(cstring, maxLen, "PIR: %d\r\n", sample);
}
/*-----------------------------------------------------------*/


void SampleTemperature(float *temperature)
{

	buf[0] = tempReg;
	HAL_I2C_Master_Transmit(&hi2c2, tempHumAdd, buf, 1, HAL_MAX_DELAY);
	HAL_Delay(20);
	HAL_I2C_Master_Receive(&hi2c2, tempHumAdd, buf, 2, HAL_MAX_DELAY);
	val = buf[0] << 8 | buf[1];
	*temperature=((float)val/65536)*165.0-40.0;



}
/*-----------------------------------------------------------*/
void SampleColor(uint16_t *Red, uint16_t *Green, uint16_t *Blue)
{
	*Red = Read_Word(redReg);
	*Green = Read_Word(greenReg);
	*Blue = Read_Word(blueReg);
}
/*-----------------------------------------------------------*/
void SampleDistance(uint16_t *distance)
{
	*distance = Read_Word(distanceReg)/6.39;
}

/*-----------------------------------------------------------*/
void SampleHumidity(float *humidity)
{
	buf[0] = humidityReg;
	HAL_I2C_Master_Transmit(&hi2c2, tempHumAdd, buf, 1, HAL_MAX_DELAY);
	HAL_Delay(20);
	HAL_I2C_Master_Receive(&hi2c2, tempHumAdd, buf, 2, HAL_MAX_DELAY);
	val = buf[0] << 8 | buf[1];
	*humidity = (((float)val*100)/65536);
}
/*-----------------------------------------------------------*/
void SamplePIR(bool *pir)
{
	*pir=HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6);/* USER CODE END WHILE */
	 Delay_ms(2000);
}
/*-----------------------------------------------------------*/
Module_Status StreamColorToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout)
{
	return StreamMemsToPort(port, module, period, timeout, SampleColorToPort);
}
/*-----------------------------------------------------------*/

Module_Status StreamDistanceToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout)
{
	return StreamMemsToPort(port, module, period, timeout, SampleDistanceToPort);
}
/*-----------------------------------------------------------*/

Module_Status StreamTemperatureToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout)
{
	return StreamMemsToPort(port, module, period, timeout, SampleTemperatureToPort);
}
/*-----------------------------------------------------------*/

Module_Status StreamHumidityToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout)
{
	return StreamMemsToPort(port, module, period, timeout, SampleHumidityToPort);
}
/*-----------------------------------------------------------*/

Module_Status StreamPIRToPort(uint8_t port, uint8_t module, uint32_t period, uint32_t timeout)
{
	return StreamMemsToPort(port, module, period, timeout, SamplePIRToPort);
}
/*-----------------------------------------------------------*/

Module_Status StreamColorToBuffer(float *buffer, uint32_t period, uint32_t timeout)
{
	 return StreamMemsToBuf(buffer, period, timeout, SampleColorBuf);
}
...

This file has been truncated, please download it to see its full contents.

H0AR9_gpio.c

C/C++
/*
 BitzOS (BOS) V0.2.9 - Copyright (C) 2017-2023 Hexabitz
 All rights reserved

 File Name     : H0AR9_gpio.c
 Description   : Source code provides code for the configuration of all used GPIO pins .

 */

/* Includes ------------------------------------------------------------------*/
#include "BOS.h"

/*  */
BOS_Status GetPortGPIOs(uint8_t port,uint32_t *TX_Port,uint16_t *TX_Pin,uint32_t *RX_Port,uint16_t *RX_Pin);

/*----------------------------------------------------------------------------*/
/* Configure GPIO                                                             */
/*----------------------------------------------------------------------------*/

/** Pinout Configuration
 */
void GPIO_Init(void){
	/* GPIO Ports Clock Enable */
	__GPIOC_CLK_ENABLE();
	__GPIOA_CLK_ENABLE();
	__GPIOD_CLK_ENABLE();
	__GPIOB_CLK_ENABLE();
	__GPIOF_CLK_ENABLE();		// for HSE and Boot0

	IND_LED_Init();
}

//-- Configure indicator LED
void IND_LED_Init(void){
	GPIO_InitTypeDef GPIO_InitStruct;
	
	GPIO_InitStruct.Pin = _IND_LED_PIN;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
	HAL_GPIO_Init(_IND_LED_PORT,&GPIO_InitStruct);

	GPIO_InitStruct.Pin = GPIO_PIN_8;
			GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
			GPIO_InitStruct.Pull = GPIO_NOPULL;
			GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
			HAL_GPIO_Init(GPIOB,&GPIO_InitStruct);
}
/*-----------------------------------------------------------*/
void SENSORS_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct;

  /**I2C2 GPIO Configuration
  PA6     ------> I2C2_SDA
  PA7     ------> I2C2_SCL
  */
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF8_I2C2;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    __HAL_RCC_I2C2_CLK_ENABLE();

    /*Configure GPIO pin : PB6 as output*/
    GPIO_InitStruct.Pin = GPIO_PIN_6;
    GPIO_InitStruct.Mode =  GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/*-----------------------------------------------------------*/

/* --- Check for factory reset condition: 
 - P1 TXD is connected to last port RXD    
 */
uint8_t IsFactoryReset(void){
	GPIO_InitTypeDef GPIO_InitStruct;
	uint32_t P1_TX_Port, P1_RX_Port, P_last_TX_Port, P_last_RX_Port;
	uint16_t P1_TX_Pin, P1_RX_Pin, P_last_TX_Pin, P_last_RX_Pin;
	
	/* -- Setup GPIOs -- */

	/* Enable all GPIO Ports Clocks */
	__GPIOA_CLK_ENABLE();
	__GPIOB_CLK_ENABLE();
	__GPIOC_CLK_ENABLE();
	__GPIOD_CLK_ENABLE();
	
	/* Get GPIOs */
	GetPortGPIOs(P1,&P1_TX_Port,&P1_TX_Pin,&P1_RX_Port,&P1_RX_Pin);
	GetPortGPIOs(P_LAST,&P_last_TX_Port,&P_last_TX_Pin,&P_last_RX_Port,&P_last_RX_Pin);
	
	/* TXD of first port */
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Pin =P1_TX_Pin;
	HAL_GPIO_Init((GPIO_TypeDef* )P1_TX_Port,&GPIO_InitStruct);
	
	/* RXD of last port */
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_PULLDOWN;
	GPIO_InitStruct.Pin =P_last_RX_Pin;
	HAL_GPIO_Init((GPIO_TypeDef* )P_last_RX_Port,&GPIO_InitStruct);
	
	/* Check for factory reset conditions */
	HAL_GPIO_WritePin((GPIO_TypeDef* )P1_TX_Port,P1_TX_Pin,GPIO_PIN_RESET);
	Delay_ms_no_rtos(5);
	if(HAL_GPIO_ReadPin((GPIO_TypeDef* )P_last_RX_Port,P_last_RX_Pin) == RESET){
		HAL_GPIO_WritePin((GPIO_TypeDef* )P1_TX_Port,P1_TX_Pin,GPIO_PIN_SET);
		Delay_ms_no_rtos(5);
		if(HAL_GPIO_ReadPin((GPIO_TypeDef* )P_last_RX_Port,P_last_RX_Pin) == SET){
			return 1;
		}
	}
	
	/* Clear flag for formated EEPROM if it was already set */
	/* Flag address (STM32F09x) - Last 4 words of SRAM */
	*((unsigned long* )0x20007FF0) =0xFFFFFFFF;
	
	return 0;
}

/*-----------------------------------------------------------*/

/* --- Get GPIO pins and ports of this array port
 */
BOS_Status GetPortGPIOs(uint8_t port,uint32_t *TX_Port,uint16_t *TX_Pin,uint32_t *RX_Port,uint16_t *RX_Pin){
	BOS_Status result =BOS_OK;
	
	/* Get port UART */
	UART_HandleTypeDef *huart =GetUart(port);
	
	if(huart == &huart1){
#ifdef _Usart1		
		*TX_Port =(uint32_t ) USART1_TX_PORT;
		*TX_Pin = USART1_TX_PIN;
		*RX_Port =(uint32_t ) USART1_RX_PORT;
		*RX_Pin = USART1_RX_PIN;
#endif
	}
#ifdef _Usart2	
	else if(huart == &huart2){
		*TX_Port =(uint32_t ) USART2_TX_PORT;
		*TX_Pin = USART2_TX_PIN;
		*RX_Port =(uint32_t ) USART2_RX_PORT;
		*RX_Pin = USART2_RX_PIN;
	}
#endif
#ifdef _Usart3	
	else if(huart == &huart3){
		*TX_Port =(uint32_t ) USART3_TX_PORT;
		*TX_Pin = USART3_TX_PIN;
		*RX_Port =(uint32_t ) USART3_RX_PORT;
		*RX_Pin = USART3_RX_PIN;
	}
#endif
#ifdef _Usart4
	else if(huart == &huart4){
		*TX_Port =(uint32_t ) USART4_TX_PORT;
		*TX_Pin = USART4_TX_PIN;
		*RX_Port =(uint32_t ) USART4_RX_PORT;
		*RX_Pin = USART4_RX_PIN;
	}
#endif
#ifdef _Usart5	
	else if(huart == &huart5){
		*TX_Port =(uint32_t ) USART5_TX_PORT;
		*TX_Pin = USART5_TX_PIN;
		*RX_Port =(uint32_t ) USART5_RX_PORT;
		*RX_Pin = USART5_RX_PIN;
	}
#endif
#ifdef _Usart6	
	else if(huart == &huart6){
		*TX_Port =(uint32_t ) USART6_TX_PORT;
		*TX_Pin = USART6_TX_PIN;
		*RX_Port =(uint32_t ) USART6_RX_PORT;
		*RX_Pin = USART6_RX_PIN;
	}
#endif
#ifdef _Usart7
	else if (huart == &huart7) 
	{		
		*TX_Port = (uint32_t)USART7_TX_PORT;
		*TX_Pin = USART7_TX_PIN;
		*RX_Port = (uint32_t)USART7_RX_PORT;
		*RX_Pin = USART7_RX_PIN;
	} 
#endif
#ifdef _Usart8	
	else if (huart == &huart8) 
	{	
		*TX_Port = (uint32_t)USART8_TX_PORT;
		*TX_Pin = USART8_TX_PIN;
		*RX_Port = (uint32_t)USART8_RX_PORT;
		*RX_Pin = USART8_RX_PIN;
	} 
#endif
	else
		result =BOS_ERROR;
	
	return result;
}

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

H0AR9x-Firmware

Credits

Aula 💡🕊️

Aula 💡🕊️

55 projects • 217 followers
Electronic Engineering

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