/** * @file mr16.c * @brief MR16 Module Implementation - SX1281 Radio Control with FreeRTOS CLI * * This module provides comprehensive control for the MR16 radio system using * the SX1281 2.4GHz transceiver. Features include: * * - Multi-protocol support: BLE, LoRa, GFSK, FLRC * - Flash configuration persistence * - FreeRTOS CLI interface for real-time control * - Parameter validation and error handling * - LCD status display integration * - Event-driven callback system * * @author MR16 Development Team * @date 2024 * @version 1.0 * * Hardware Requirements: * - STM32F103C8T6 MCU (20KB RAM, 64KB Flash) * - SX1281 2.4GHz Radio Transceiver * - LCD Display Module * - UART2 for CLI Communication * * Memory Usage: * - Static CLI buffers: 320 bytes (64+256) * - Help text storage: ~4KB (const) * - Radio parameter structures: ~200 bytes */ /* Includes ----------------------------------------------------------------- */ #include "module/mr16.h" #include "module/config.h" /* STM32 HAL Headers */ #include #include "usart.h" #include #include #include #include #include /* for strtoul, strtol */ /* Device Driver Headers */ #include "bsp/flash.h" #include "bsp/time.h" #include "device/sx1281_driver/sx1281.h" #include "device/sx1281_driver/radio.h" #include "device/sx1281_driver/sx1281_driver.h" #include "device/lcd_driver/lcd.h" /* Component Headers */ #include "component/crc16.h" /* FreeRTOS Headers */ #include "component/FreeRTOS_CLI.h" /* Private defines --------------------------------------------------------- */ #define RXID_MIN 0x0001 #define RXID_MAX 0xFFFE #define RXID_INVALID_LOW 0x0000 #define RXID_INVALID_HIGH 0xFFFF #define PAYLOAD_MIN 1 #define PAYLOAD_MAX 255 #define TX_POWER_MIN -18 #define TX_POWER_MAX 13 /* Private macro ------------------------------------------------------------ */ /* Private typedef ---------------------------------------------------------- */ /* MR16 finite state machine states */ typedef enum { MR16_FSM_NONE, MR16_FSM_INIT, MR16_FSM_TX, MR16_FSM_RX, } MR16_FSM_t; /* Private variables -------------------------------------------------------- */ /* Radio instance and configuration */ SX1281_t radio; /* External references */ extern const unsigned char logo_M[]; /* LCD logo bitmap */ extern const unsigned char logo_R[]; /* LCD logo bitmap */ extern uint8_t uart2_data[255], uart2_datalength; /* UART data buffer */ extern MR16_t mr16; /* MR16 main instance */ /* Radio communication buffers */ uint8_t radioRXBuffer[BUFFER_SIZE]; uint8_t radioRXSize; /* State machines */ static MR16_FSM_t MR16_FSM = MR16_FSM_NONE; /* UART notification flag */ bool UART2_IdleFlag = false; /* CLI buffers - Static allocation to prevent stack overflow */ static char cInputBuffer[64]; /* CLI input buffer */ static char cOutputBuffer[256]; /* CLI output buffer */ /* Private function prototypes ---------------------------------------------- */ int8_t MR16_CLI_Init(void); static BaseType_t mr16CommandHandler(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); static BaseType_t radioCommandHandler(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); static BaseType_t outputHelpText(char *pcWriteBuffer, size_t xWriteBufferLen, const char *helpText, size_t *position); static void copyCLIArg(const char *param, BaseType_t len, char *output, size_t outputSize); static const char* getModeString(MR16_Mode_t mode); static const char* getRadioModeString(SX1281_RadioMode_t mode); static bool isValidRXID(uint16_t rxid); static int8_t setRXID(uint16_t *rxid, const char *value, char *response, size_t responseLen); /* Helper Functions ------------------------------------------------------- */ /** * @brief Copy CLI argument to buffer with length limit */ static void copyCLIArg(const char *param, BaseType_t len, char *output, size_t outputSize) { if (!param || !output || outputSize == 0) return; size_t copyLen = (len < (BaseType_t)(outputSize - 1)) ? (size_t)len : (outputSize - 1); strncpy(output, param, copyLen); output[copyLen] = '\0'; } /** * @brief Get mode string from enum */ static const char* getModeString(MR16_Mode_t mode) { switch (mode) { case MR16_MODE_NONE: return "NONE"; case MR16_MODE_RFUART: return "RFUART"; case MR16_MODE_RC: return "RC"; default: return "UNKNOWN"; } } /** * @brief Get radio mode string from enum */ static const char* getRadioModeString(SX1281_RadioMode_t mode) { switch (mode) { case RADIOMODE_BLE: return "BLE"; case RADIOMODE_LORA: return "LORA"; case RADIOMODE_GFSK: return "GFSK"; case RADIOMODE_FLRC: return "FLRC"; default: return "UNKNOWN"; } } /** * @brief Validate RX ID range */ static bool isValidRXID(uint16_t rxid) { return (rxid >= RXID_MIN && rxid <= RXID_MAX); } /** * @brief Set RX ID with validation */ static int8_t setRXID(uint16_t *rxid, const char *value, char *response, size_t responseLen) { uint16_t newID; sscanf(value, "%hx", &newID); if (!isValidRXID(newID)) { snprintf(response, responseLen, "RXID set failed: invalid value\r\nValid range: 0x%04X-0x%04X\r\n", RXID_MIN, RXID_MAX); return -1; } *rxid = newID; snprintf(response, responseLen, "RXID set to: 0x%04X\r\n", *rxid); return 0; } /** * 分块打印帮助信息 * @brief Output help text in chunks to prevent buffer overflow * @param pcWriteBuffer Output buffer * @param xWriteBufferLen Buffer length * @param helpText Help text to output * @param position Current position in help text * @return pdTRUE if more output pending, pdFALSE if complete */ static BaseType_t outputHelpText(char *pcWriteBuffer, size_t xWriteBufferLen, const char *helpText, size_t *position) { size_t help_len = strlen(helpText); if (*position >= help_len) { *position = 0; return pdFALSE; } size_t chunk = (xWriteBufferLen > 1) ? (xWriteBufferLen - 1) : 0; size_t remain = help_len - *position; size_t to_copy = (remain < chunk) ? remain : chunk; if (to_copy > 0) { memcpy(pcWriteBuffer, helpText + *position, to_copy); pcWriteBuffer[to_copy] = '\0'; *position += to_copy; return (*position < help_len) ? pdTRUE : pdFALSE; } *position = 0; return pdFALSE; } /* SX1281 Radio Event Callback ----------------------------------------------- */ int8_t SX1281_Callback(SX1281_States_t source) { switch (source) { case RX_DONE: printf("\r\n[RX] >>> Packet Received <<<\r\n"); /* Extract payload from radio buffer */ radioRXSize = 0; Radio.GetPayload(radioRXBuffer, &radioRXSize, BUFFER_SIZE); if (radioRXSize < BUFFER_SIZE) { radioRXBuffer[radioRXSize] = 0; /* Null terminate */ } else { radioRXBuffer[BUFFER_SIZE - 1] = 0; } /* Parse header and update packet counters */ uint16_t RXheader = (((uint16_t)radioRXBuffer[0]) << 8) | (uint16_t)radioRXBuffer[1]; for (int i = 0; i < 3; i++) { /* Skip disabled RX_ID slots - 用于扩展自动配对功能，保留 */ if (mr16.param->RX_ID[i] == RXID_INVALID_LOW || mr16.param->RX_ID[i] == RXID_INVALID_HIGH) { continue; } if (RXheader == mr16.param->RX_ID[i]) { mr16.packetCount[i]++; printf("[ch%d] Header: 0x%04X | Size: %d bytes | Count: %d\r\n", i+1, RXheader, radioRXSize, mr16.packetCount[i]); break; } } break; case RX_TIMEOUT: /* 打印状态 */ printf( "\r\n[RX] ... Timeout (Restarting RX)\r\n" ); SX1281_SetRXSuccessive(&radio); break; case RX_ERROR: /* 打印状态 */ printf( "\r\n[RX] !!! ERROR - Reception Failed !!!\r\n" ); Radio.SetRx( ( TickTime_t ) { RADIO_TICK_SIZE_1000_US, 0x1000 } ); break; case TX_DONE: /* 打印状态 */ printf( "\r\n[TX] <<< Packet Sent Successfully >>>\r\n" ); printf( "[TX] Length: %d bytes\r\n", MR16_RC_Data_Len ); SX1281_SetTX(&radio,mr16.txbuffer,MR16_RC_Data_Len); break; case TX_TIMEOUT: /* 打印状态 */ printf( "\r\n[TX] !!! TIMEOUT - Transmission Failed !!!\r\n" ); break; case LORA_CAD_DONE: /* 打印状态 */ printf( "\r\n[CAD] Channel Activity Detected\r\n" ); break; default: break; } return 0; } /* Exported functions ------------------------------------------------------- */ /** * @brief Display power-on logo */ int8_t MR16_UI_PowerON() { LCD_Clear(BLACK); LCD_DrawString(110, 119, "Initializing...", CYAN, 16, LSB); LCD_DrawBitmap(logo_M, 0, 0, 48, 32, CRIMSON, MSB); HAL_Delay(100); LCD_DrawBitmap(logo_R, 48, 4, 28, 28, CRIMSON, MSB); HAL_Delay(100); LCD_DrawString(0, 48, "MR16--Wireless", CRIMSON, 24, LSB); LCD_DrawString(0, 72, "transmission tool", CYAN, 24, LSB); return 0; } /** * @brief Display home screen with key information * @param mr16 Pointer to MR16 instance */ int8_t MR16_UI_Home(MR16_t *mr16) { if (!mr16 || !mr16->param) return -1; LCD_Clear(BLACK); /* Title */ LCD_DrawString(5, 5, "MR16 Status", CRIMSON, 24, LSB); /* TX/RX Indicator in top right corner */ if (radio.appMode == APPMODE_TX) { LCD_DrawString(200, 5, "TX", ORANGE, 24, LSB); } else { LCD_DrawString(200, 5, "RX", LIME, 24, LSB); } LCD_DrawLine(0, 30, 135, 30, GRAY); /* Mode Display */ LCD_DrawString(5, 40, "Mode:", CYAN, 16, LSB); const char* mode_str = "UNKNOWN"; uint16_t mode_color = WHITE; switch(mr16->param->mode) { case MR16_MODE_RFUART: mode_str = "RF-UART"; mode_color = WHITE; break; case MR16_MODE_RC: mode_str = radio.appMode == APPMODE_TX ? "RC-TX" : "RC-RX"; mode_color = radio.appMode == APPMODE_TX ? ORANGE : LIME; break; case MR16_MODE_NONE: mode_str = "IDLE"; mode_color = GRAY; break; default: mode_str = "NONE"; mode_color = DARKGRAY; break; } LCD_DrawString(65, 40, mode_str, mode_color, 16, LSB); /* Radio Mode */ LCD_DrawString(5, 65, "Radio:", CYAN, 16, LSB); const char* radio_mode = "NONE"; switch(radio.param->packetParams.PacketType) { case PACKET_TYPE_BLE: radio_mode = "BLE"; break; case PACKET_TYPE_GFSK: radio_mode = "GFSK"; break; case PACKET_TYPE_LORA: radio_mode = "LORA"; break; case PACKET_TYPE_FLRC: radio_mode = "FLRC"; break; default: break; } LCD_DrawString(65, 65, radio_mode, WHITE, 16, LSB); /* RF Frequency */ LCD_DrawString(5, 90, "Freq:", CYAN, 16, LSB); char freq_buf[15]; snprintf(freq_buf, sizeof(freq_buf), "%lluMHz", radio.param->rfFrequency / 1000000); LCD_DrawString(50, 90, freq_buf, WHITE, 16, LSB); uint16_t yPos = 35; /* TX Mode: Show TXID and Power */ if (radio.appMode == APPMODE_TX) { LCD_DrawString(5, 115, "TXID:", CYAN, 16, LSB); char id_buf[10]; snprintf(id_buf, sizeof(id_buf), "0x%04X", mr16->param->TX_ID); LCD_DrawString(65, 115, id_buf, WHITE, 16, LSB); yPos += 25; LCD_DrawString(120, 40, "Power:", CYAN, 16, LSB); char pwr_buf[10]; snprintf(pwr_buf, sizeof(pwr_buf), "%ddBm", radio.param->txOutputPower); LCD_DrawString(180, 40, pwr_buf, ORANGE, 16, LSB); yPos += 25; } /* RX Mode: Show packet counts per channel */ else { /* RX Count Label */ LCD_DrawString(120, yPos, "rxcount:", CYAN, 16, LSB); yPos += 20; /* Channel counts */ char ch_buf[20]; snprintf(ch_buf, sizeof(ch_buf), "ch1:%lu", mr16->packetCount[0]); LCD_DrawString(120, yPos, ch_buf, LIME, 16, LSB); yPos += 20; snprintf(ch_buf, sizeof(ch_buf), "ch2:%lu", mr16->packetCount[1]); LCD_DrawString(120, yPos, ch_buf, LIME, 16, LSB); yPos += 20; snprintf(ch_buf, sizeof(ch_buf), "ch3:%lu", mr16->packetCount[2]); LCD_DrawString(120, yPos, ch_buf, LIME, 16, LSB); /* RX ID Label */ LCD_DrawString(5, 115, "rxid:", CYAN, 16, LSB); snprintf(ch_buf, sizeof(ch_buf), "0x%04X", mr16->param->RX_ID[0]); LCD_DrawString(65, 115, ch_buf, WHITE, 16, LSB); snprintf(ch_buf, sizeof(ch_buf), "0x%04X", mr16->param->RX_ID[1]); LCD_DrawString(125, 115, ch_buf, WHITE, 16, LSB); snprintf(ch_buf, sizeof(ch_buf), "0x%04X", mr16->param->RX_ID[2]); LCD_DrawString(185, 115, ch_buf, WHITE, 16, LSB); } return 0; } /** * @brief Update dynamic status on screen * @param mr16 Pointer to MR16 instance */ int8_t MR16_UI_UpdateStatus(MR16_t *mr16) { if (!mr16) return -1; /* Only update in RX mode */ if (radio.appMode == APPMODE_RXSUCCESSIVE) { /* Clear and update channel counts */ uint16_t yPos = 35; char ch_buf[20]; yPos += 20; /* ch1 - use background color for auto-clear */ snprintf(ch_buf, sizeof(ch_buf), "ch1:%lu", mr16->packetCount[0]); LCD_DrawStringBG(120, yPos, ch_buf, LIME, BLACK, 16, LSB); yPos += 20; /* ch2 */ snprintf(ch_buf, sizeof(ch_buf), "ch2:%lu", mr16->packetCount[1]); LCD_DrawStringBG(120, yPos, ch_buf, LIME, BLACK, 16, LSB); yPos += 20; /* ch3 */ snprintf(ch_buf, sizeof(ch_buf), "ch3:%lu", mr16->packetCount[2]); LCD_DrawStringBG(120, yPos, ch_buf, LIME, BLACK, 16, LSB); } return 0; } int8_t MR16_Init(MR16_t *mr16, MR16_Param_t *param) { if (!mr16 || !param) { return -1; /* Invalid parameters */ } /* Smart config loading: try Flash first, fallback to defaults */ if (!Config_LoadMR16FromFlashBool()) { /* Flash invalid or corrupt, use safe defaults */ Config_SetDefaults(); printf("[MR16] Flash config invalid, using defaults\r\n"); } else { printf("[MR16] Config loaded from Flash successfully\r\n"); } memset(&mr16->timer, 0, sizeof(MR16_Timer_t)); /* Initialize CLI system */ MR16_CLI_Init(); /* Initialize MR16 parameters - config should be loaded before calling this function */ mr16->param = &Config_Get()->mr16; /* Initialize SX1281 radio using persistent parameters */ if (SX1281_Init(&radio, &mr16->param->radioParams, mr16->param->radioParams.radioMode) != DEVICE_OK) { return -1; /* Radio initialization failed */ } /* 根据工作模式设置 PayloadLength */ Radio.SetStandby(STDBY_RC); switch (mr16->param->mode) { case MR16_MODE_RFUART: radio.param->packetParams.Params.LoRa.PayloadLength = 255; radio.param->packetParams.Params.Flrc.PayloadLength = 255; radio.param->packetParams.Params.Gfsk.PayloadLength = 255; break; case MR16_MODE_RC: /* RC模式: 数据长度固定已知 (ID[2]high&low + 数据[N] + CRC[2]high&low) */ radio.param->packetParams.Params.LoRa.PayloadLength = MR16_RC_Data_Len; radio.param->packetParams.Params.Flrc.PayloadLength = MR16_RC_Data_Len; radio.param->packetParams.Params.Gfsk.PayloadLength = MR16_RC_Data_Len; break; case MR16_MODE_NONE: case MR16_MODE_NUM: break; } Radio.SetPacketParams(&radio.param->packetParams); if (radio.param->RadioRole == RadioRoleRX) { SX1281_SetRXSuccessive(&radio); } else if (radio.param->RadioRole == RadioRoleTX) { uint16_t txLen; switch (mr16->param->mode) { case MR16_MODE_RFUART: txLen = uart2_datalength; break; case MR16_MODE_RC: txLen = MR16_RC_Data_Len; break; case MR16_MODE_NONE: case MR16_MODE_NUM: default: txLen = 0; break; } if (txLen > 0) { SX1281_SetTX(&radio, mr16->txbuffer, txLen); } } /* Initialize LCD display and show UI */ LCD_Init(1); MR16_UI_PowerON(); HAL_Delay(1500); MR16_UI_Home(mr16); return 0; /* Success */ } void MR16_NotifyUARTIdle(void) { UART2_IdleFlag = true; } /** * @brief Pack RC data into TX buffer for transmission * @param mr16 Pointer to MR16 instance * @param rcData Pointer to RC data from UART (data + CRC) * @param dataLen Length of RC data (excluding header) * @return 0 on success, -1 on error * * Buffer format: * [0] Header high byte (TX_ID >> 8) * [1] Header low byte (TX_ID & 0xFF) * [2..N] RC data (including CRC at end) */ int8_t MR16_RC_PackTxBuffer(MR16_t *mr16, const uint8_t *rcData, uint16_t dataLen) { if (!mr16 || !rcData || dataLen == 0 || dataLen > 125) { return -1; /* Invalid parameters */ } /* Pack TX_ID as header */ mr16->txbuffer[0] = (uint8_t)(mr16->param->TX_ID >> 8); /* High byte */ mr16->txbuffer[1] = (uint8_t)(mr16->param->TX_ID & 0xFF); /* Low byte */ /* Copy RC data (including CRC) */ memcpy(&mr16->txbuffer[2], rcData, dataLen); /* Update data length field (for variable-length packets) */ /* txbuffer[2] can be used to store data length if needed by protocol */ return 0; } int8_t MR16_Main(MR16_t *mr16) { /* Handle UART data */ if (UART2_IdleFlag) { UART2_IdleFlag = false; bool isRCData = false; /* Distinguish RC data from CLI commands by checking first byte: * CLI commands start with ASCII letters (a-z, A-Z) * RC data is binary and won't start with letter */ if (uart2_datalength > 0 && ((uart2_data[0] >= 'a' && uart2_data[0] <= 'z') || (uart2_data[0] >= 'A' && uart2_data[0] <= 'Z'))) { /* Starts with letter - CLI command */ isRCData = false; } else if (uart2_datalength > 0) { /* Binary data - RC data, pack with TX_ID header */ MR16_RC_PackTxBuffer(mr16, uart2_data, uart2_datalength); isRCData = true; } if(!isRCData) { /* CLI Mode: Process as command */ if (uart2_datalength > 0 && uart2_datalength < sizeof(cInputBuffer)) { memcpy(cInputBuffer, uart2_data, uart2_datalength); cInputBuffer[uart2_datalength] = '\0'; } else { cInputBuffer[0] = '\0'; } /* Process CLI command */ cOutputBuffer[0] = '\0'; BaseType_t xMore = pdTRUE; do { xMore = FreeRTOS_CLIProcessCommand(cInputBuffer, cOutputBuffer, sizeof(cOutputBuffer)); if (cOutputBuffer[0] != '\0') { printf("%s", cOutputBuffer); } cOutputBuffer[0] = '\0'; } while (xMore == pdTRUE); } } mr16->timer.now = BSP_TIME_Get_us() / 1000000.0f; mr16->timer.dt = (BSP_TIME_Get_us() - mr16->timer.last_wakeup) / 1000000.0f; mr16->timer.last_wakeup = BSP_TIME_Get_us(); /* Handle MR16 mode operations */ switch (mr16->param->mode) { case MR16_MODE_RFUART: switch (radio.param->RadioRole) { case RadioRoleTX: SX1281_Running(&radio); break; case RadioRoleRX: SX1281_Running(&radio); break; default: break; } break; case MR16_MODE_RC: /* Remote control mode */ switch (radio.param->RadioRole) { case RadioRoleTX: SX1281_Running(&radio); break; case RadioRoleRX: SX1281_Running(&radio); if(mr16->timer.now-mr16->timer.lastUIupdata>=1.0f) { MR16_UI_UpdateStatus(mr16); mr16->timer.lastUIupdata=mr16->timer.now; } break; default: break; } break; case MR16_MODE_NONE: default: /* Idle mode */ break; } return 0; } /*------------------------------------------------- CLI --------------------------------------------------*/ static const char radio_help_en[] = "============================================================================\r\n" //"radio [args] - SX1281 radio control\r\n" //"----------------------------------------------------------------------------\r\n" //"Mode Configuration:\r\n" //" mode - Change working mode\r\n" //" rffreq - Set RF frequency\r\n" //"----------------------------------------------------------------------------\r\n" //"Parameter Configuration:\r\n" //" modulation - Set modulation parameters\r\n" //" packet - Set packet parameters\r\n" //" baudrate - Set baudrate\r\n" //" power - Set TX power (-18..+13)\r\n" //" ramptime - Set ramp time (2|4|6|8|10|12|16|20)\r\n" //"----------------------------------------------------------------------------\r\n" //"Operation Commands:\r\n" //" tx | rx - TX/RX operations\r\n" //"----------------------------------------------------------------------------\r\n" //"Help Commands:\r\n" //" modulation help | packet help - Show detailed help\r\n" "============================================================================\r\n"; static const char modulation_help[] = "============================================================================================================\r\n" "modulation - Set modulation parameters\r\n" " BLE/GFSK fields:\r\n" //" br_bw : 0x04(2.0M/2.4M)||0x28(1.6M/2.4M)||0x4C(1.0M/2.4M)||0x45(1.0M/1.2M)\r\n" //" 0x70(0.8M/2.4M)||0x69(0.8M/1.2M)||0x8D(0.5M/1.2M)||0x86(0.5M/0.6M)\r\n" //" 0xB1(0.4M/1.2M)||0xAA(0.4M/0.6M)||0xCE(0.25M/0.6M)||0xC7(0.25M/0.3M)||0xEF(0.125M/0.3M)\r\n" //" modindex : 0(0.35)||1(0.50)||2(0.75)||3(1.00)||4(1.25)||5(1.50)||6(1.75)||7(2.00)\r\n" //" 8(2.25)||9(2.50)||10(2.75)||11(3.00)||12(3.25)||13(3.50)||14(3.75)||15(4.00)\r\n" //" shaping : 0x00(OFF)||0x10(BT_1_0)||0x20(BT_0_5)\r\n" //" LORA fields:\r\n" //" sf : 0x50(SF5)||0x60(SF6)||0x70(SF7)||0x80(SF8)||0x90(SF9)||0xA0(SF10)||0xB0(SF11)||0xC0(SF12)\r\n" //" bw : 0x34(BW_200K)||0x26(BW_400K)||0x18(BW_800K)||0x0A(BW_1600K)\r\n" //" cr : 0x01(4/5)||0x02(4/6)||0x03(4/7)||0x04(4/8)||0x05(LI_4/5)||0x06(LI_4/6)||0x07(LI_4/7)\r\n" //" FLRC fields:\r\n" //" br_bw : 0x04(2.6M/2.4M)||0x28(2.08M/2.4M)||0x45(1.3M/1.2M)||0x69(1.04M/1.2M)\r\n" //" 0x86(0.65M/0.6M)||0xAA(0.52M/0.6M)||0xC7(0.325M/0.3M)||0xEB(0.26M/0.3M)\r\n" //" cr : 0x00(CR_1/2)||0x02(CR_3/4)||0x04(CR_1/0)\r\n" //" shaping : 0x00(OFF)||0x10(BT_1_0)||0x20(BT_0_5)\r\n" //"Examples: radio modulation br_bw 0x4C\r\n" //" radio modulation sf 0x70\r\n" "============================================================================================================\r\n"; static const char packet_help[] = "================================================================================================\r\n" //"packet - Set packet parameters (current PacketType based)\r\n" //" BLE fields:\r\n" //" ConnectionState : 0(MASTER_SLAVE)||1(ADVERTISER)||2(TX_TEST)||3(RX_TEST)||4(RXTX_TEST)\r\n" //" CrcField : 0(OFF)||1(CRC_3B)\r\n" //" BlePacketType : 0(PRBS_9)||1(PRBS_15)||2(EYELONG_1_0)||3(EYELONG_0_1)\r\n" //" 4(EYESHORT_1_0)||5(EYESHORT_0_1)||6(ALL_1)||7(ALL_0)\r\n" //" Whitening : 0x00(ON)||0x08(OFF)\r\n" //" GFSK fields:\r\n" //" Preamble : 0x00(4bits)||0x10(8bits)||0x20(12bits)||0x30(16bits)\r\n" //" 0x40(20bits)||0x50(24bits)||0x60(28bits)||0x70(32bits)\r\n" //" SyncWordLength : 0x00(1byte)||0x02(2bytes)||0x04(3bytes)||0x06(4bytes)||0x08(5bytes)\r\n" //" SyncWordMatch : 0x00(OFF)||0x10(1)||0x20(2)||0x30(1_2)||0x40(3)||0x50(1_3)||0x60(2_3)||0x70(1_2_3)\r\n" //" SyncWord1/2/3 : - Set sync word 1/2/3 (max 5 bytes for GFSK)\r\n" //" SyncWord : Show all sync words\r\n" //" Header : 0x00(VARIABLE)||0x20(FIXED)\r\n" //" Payload : 1-255 (bytes)\r\n" //" Crc : 0x00(OFF)||0x10(1byte)||0x20(2bytes)||0x30(3bytes)\r\n" //" Whitening : 0x00(ON)||0x08(OFF)\r\n" //" LORA fields:\r\n" //" Preamble : 0-255 (symbols count)\r\n" //" Header : 0x00(VARIABLE/EXPLICIT)||0x80(FIXED/IMPLICIT)\r\n" //" Payload : 1-255 (bytes)\r\n" //" Crc : 0x20(ON)||0x00(OFF)\r\n" //" InvertIQ : 0x40(NORMAL)||0x00(INVERTED)\r\n" //" FLRC fields: Same as GFSK (Preamble/SyncWordLength/SyncWordMatch/SyncWord1/2/3/Header/Payload/Crc/Whitening)\r\n" //" SyncWord1/2/3 : - Set sync word 1/2/3 (max 4 bytes for FLRC)\r\n" //"Examples: radio packet Payload 64\r\n" //" radio packet Crc 0x20\r\n" //" radio packet SyncWord1 0x12345678\r\n" //" radio packet SyncWord\r\n" "================================================================================================\r\n"; static const char mr16_help[] = "======================================================\r\n" //"mr16 [args] - MR16 system commands\r\n" //"------------------------------------------------------\r\n" //"Configuration Commands:\r\n" //" save : Save MR16 configuration to Flash\r\n" //" get : Load configuration from Flash\r\n" //" reset : Restore default configuration\r\n" //" mode : Set/get operating mode (RFUART|RC)\r\n" //" power : Set/show TX power (-18 to +13 dBm)\r\n" //" rxid1/2/3 : Set/get RX ID (hex value)\r\n" //"------------------------------------------------------\r\n" //"Operation Commands:\r\n" //" tx : Transmit current TX buffer\r\n" //" rx : Start continuous receive\r\n" //"------------------------------------------------------\r\n" //"Information Commands:\r\n" //" rxid : Show all three RX IDs\r\n" //"------------------------------------------------------\r\n" //"Help Commands:\r\n" //" help : Show this help (supports paging)\r\n" //" mode help : Show mode details\r\n" "======================================================\r\n"; static const char baudrate_help[] = "=====================================================================\r\n" //"baudrate - Set baudrate\r\n" //" BLE : 0(250K)||1(500K)||2(1M)\r\n" //" LORA : 0(216b)||1(1K)||2(5K)||3(10K)||4(20K)||5(61K)||6(127K)||7(203K)\r\n" //" GFSK : 0(125K)||1(250K)||2(500K)||3(1M)\r\n" //" FLRC : 0(130K)||1(260K)||2(520K)||3(1040K)\r\n" //"Examples: radio baudrate GFSK 2\r\n" //" radio baudrate LORA 3\r\n" "=====================================================================\r\n"; static BaseType_t mr16CommandHandler(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { BaseType_t len1 = 0, len2 = 0, len3 = 0; const char *p1 = FreeRTOS_CLIGetParameter(pcCommandString, 1, &len1); const char *p2 = FreeRTOS_CLIGetParameter(pcCommandString, 2, &len2); const char *p3 = FreeRTOS_CLIGetParameter(pcCommandString, 3, &len3); char arg1[32] = {0}, arg2[32] = {0}, arg3[32] = {0}; /* Extract parameters using common function */ if (p1) copyCLIArg(p1, len1, arg1, sizeof(arg1)); if (p2) copyCLIArg(p2, len2, arg2, sizeof(arg2)); if (p3) copyCLIArg(p3, len3, arg3, sizeof(arg3)); /* Built-in help support */ if (strcasecmp(arg1, "help") == 0) { static size_t help_pos = 0; return outputHelpText(pcWriteBuffer, xWriteBufferLen, mr16_help, &help_pos); } /* Command: save - Save configuration to Flash */ if (strcasecmp(arg1, "save") == 0) { Config_Get()->earsed_count++; STMFLASH_Write(FLASH_SAVE_ADDR, (uint16_t*)Config_Get(), sizeof(Config_t)/2); snprintf(pcWriteBuffer, xWriteBufferLen, "Configuration saved to Flash!\r\n"); /* Command: get - Read configuration from Flash */ } else if (strcasecmp(arg1, "get") == 0) { STMFLASH_Read(FLASH_SAVE_ADDR, (uint16_t*)Config_Get(), sizeof(Config_t)/2); snprintf(pcWriteBuffer, xWriteBufferLen, "Configuration loaded from Flash\r\n"); /* Command: reset - Restore default configuration */ } else if (strcasecmp(arg1, "reset") == 0) { Config_SetDefaults(); MR16_Init(&mr16,&Config_Get()->mr16); snprintf(pcWriteBuffer, xWriteBufferLen, "Configuration reset to defaults!\r\n"); /* Command: mode - Set MR16 mode */ } else if (strcasecmp(arg1, "mode") == 0) { if (strcasecmp(arg2, "help") == 0) { snprintf(pcWriteBuffer, xWriteBufferLen, "mode: 'RFUART' - bridge UART to RF|| 'RC' - remote control mode\r\n"); return pdFALSE; } if (arg2[0] != '\0') { if (strcasecmp(arg2, "RFUART") == 0) { mr16.param->mode = MR16_MODE_RFUART; snprintf(pcWriteBuffer, xWriteBufferLen, "Mode set to: RFUART\r\n"); } else if (strcasecmp(arg2, "RC") == 0) { mr16.param->mode = MR16_MODE_RC; snprintf(pcWriteBuffer, xWriteBufferLen, "Mode set to: RC\r\n"); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid mode: %s\r\n", arg2); } } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Current mode: %s\r\n", getModeString(mr16.param->mode)); } /* Command: tx - Transmit packet */ } else if (strcasecmp(arg1, "tx") == 0) { radio.param->RadioRole=RadioRoleTX; switch (mr16.param->mode) { case MR16_MODE_RFUART: SX1281_SetTX(&radio, mr16.txbuffer, uart2_datalength); break; case MR16_MODE_RC: SX1281_SetTX(&radio, mr16.txbuffer, MR16_RC_Data_Len); break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Cannot transmit: invalid mode\r\n"); return pdFALSE; } MR16_UI_Home(&mr16); snprintf(pcWriteBuffer, xWriteBufferLen, "Transmitting packet...\r\n"); /* Command: rx - Start continuous receive */ } else if (strcasecmp(arg1, "rx") == 0) { radio.param->RadioRole=RadioRoleRX; SX1281_SetRXSuccessive(&radio); MR16_UI_Home(&mr16); snprintf(pcWriteBuffer, xWriteBufferLen, "Starting continuous receive...\r\n"); /* Commands: rxid1/rxid2/rxid3 - Set RX IDs */ } else if (strcasecmp(arg1, "rxid1") == 0 || strcasecmp(arg1, "rxid2") == 0 || strcasecmp(arg1, "rxid3") == 0) { int idx = arg1[4] - '1'; /* Extract index from "rxid1/2/3" */ if (arg2[0] != '\0') { setRXID(&mr16.param->RX_ID[idx], arg2, pcWriteBuffer, xWriteBufferLen); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Current RXID%d: 0x%04X\r\n", idx + 1, mr16.param->RX_ID[idx]); } /* Command: rxid - Show all RX IDs */ } else if (strcasecmp(arg1, "rxid") == 0 && arg2[0] == '\0') { snprintf(pcWriteBuffer, xWriteBufferLen, "RX IDs:\r\n RXID1: 0x%04X\r\n RXID2: 0x%04X\r\n RXID3: 0x%04X\r\n", mr16.param->RX_ID[0], mr16.param->RX_ID[1], mr16.param->RX_ID[2]); /* Command: power - Set/show TX power */ } else if (strcasecmp(arg1, "power") == 0) { if (arg2[0] == '\0') { if (radio.param) { snprintf(pcWriteBuffer, xWriteBufferLen, "Current power: %d dBm\r\n", radio.param->txOutputPower); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Current power: (radio not initialized)\r\n"); } } else { char *endptr = NULL; long v = strtol(arg2, &endptr, 0); if (endptr == arg2) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid power value: %s\r\n", arg2); } else if (v < TX_POWER_MIN || v > TX_POWER_MAX) { snprintf(pcWriteBuffer, xWriteBufferLen, "Power out of range: %ld dBm (valid: %d..%d)\r\n", v, TX_POWER_MIN, TX_POWER_MAX); } else { int8_t p = (int8_t)v; if (radio.param) { radio.param->txOutputPower = p; Radio.SetTxParams(radio.param->txOutputPower, radio.param->rampTime); } snprintf(pcWriteBuffer, xWriteBufferLen, "Power set to %d dBm\r\n", p); } } /* Invalid command */ } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid command: %s\r\nUse 'mr16 help' for available commands\r\n", arg1); } return pdFALSE; } static BaseType_t radioCommandHandler(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { BaseType_t len1 = 0, len2 = 0, len3 = 0, len4 = 0; const char *p1 = FreeRTOS_CLIGetParameter(pcCommandString, 1, &len1); const char *p2 = FreeRTOS_CLIGetParameter(pcCommandString, 2, &len2); const char *p3 = FreeRTOS_CLIGetParameter(pcCommandString, 3, &len3); const char *p4 = FreeRTOS_CLIGetParameter(pcCommandString, 4, &len4); char arg1[32] = {0}, arg2[32] = {0}, arg3[32] = {0}, arg4[32] = {0}; /* Extract parameters using common function */ if (p1) copyCLIArg(p1, len1, arg1, sizeof(arg1)); if (p2) copyCLIArg(p2, len2, arg2, sizeof(arg2)); if (p3) copyCLIArg(p3, len3, arg3, sizeof(arg3)); if (p4) copyCLIArg(p4, len4, arg4, sizeof(arg4)); /* Command: help - Display help information */ if (strcasecmp(arg1, "help") == 0) { static size_t help_pos = 0; return outputHelpText(pcWriteBuffer, xWriteBufferLen, radio_help_en, &help_pos); } else if (strcasecmp(arg1, "modulation") == 0 && strcasecmp(arg2, "help") == 0) { static size_t mod_help_pos = 0; return outputHelpText(pcWriteBuffer, xWriteBufferLen, modulation_help, &mod_help_pos); } else if (strcasecmp(arg1, "packet") == 0 && strcasecmp(arg2, "help") == 0) { static size_t pkt_help_pos = 0; return outputHelpText(pcWriteBuffer, xWriteBufferLen, packet_help, &pkt_help_pos); /* Parameter processing commands */ } else { /* Parse numeric value from arg3 or arg4 */ unsigned long val = 0; if (arg4[0] != '\0') { val = strtoul(arg4, NULL, 0); } else if (arg3[0] != '\0') { val = strtoul(arg3, NULL, 0); } /* Command: mode - Change or show radio mode */ if (strcasecmp(arg1, "mode") == 0) { if (arg2[0] == '\0') { snprintf(pcWriteBuffer, xWriteBufferLen, "Current radio mode: %s\r\n", getRadioModeString(radio.param->radioMode)); } else { SX1281_RadioMode_t proto; if (strcasecmp(arg2, "BLE") == 0) { proto = RADIOMODE_BLE; } else if (strcasecmp(arg2, "LORA") == 0) { proto = RADIOMODE_LORA; } else if (strcasecmp(arg2, "GFSK") == 0) { proto = RADIOMODE_GFSK; } else if (strcasecmp(arg2, "FLRC") == 0) { proto = RADIOMODE_FLRC; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown radio mode: %s\r\n", arg2); return pdFALSE; } if (SX1281_SetMode(&radio, proto) == DEVICE_OK) { snprintf(pcWriteBuffer, xWriteBufferLen, "Radio mode set to %s\r\n", arg2); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Failed to set radio mode\r\n"); } } /* Command: modulation - Set modulation parameters */ } else if (strcasecmp(arg1, "modulation") == 0) { /* Show current modulation params when no field provided */ if (arg2[0] == '\0') { switch (radio.param->modulationParams.PacketType) { case PACKET_TYPE_BLE: snprintf(pcWriteBuffer, xWriteBufferLen, "Modulation(BLE): br_bw=0x%X modindex=%u shaping=0x%X\r\n", radio.param->modulationParams.Params.Ble.BitrateBandwidth, radio.param->modulationParams.Params.Ble.ModulationIndex, radio.param->modulationParams.Params.Ble.ModulationShaping); break; case PACKET_TYPE_GFSK: snprintf(pcWriteBuffer, xWriteBufferLen, "Modulation(GFSK): br_bw=0x%X modindex=%u shaping=0x%X\r\n", radio.param->modulationParams.Params.Gfsk.BitrateBandwidth, radio.param->modulationParams.Params.Gfsk.ModulationIndex, radio.param->modulationParams.Params.Gfsk.ModulationShaping); break; case PACKET_TYPE_LORA: snprintf(pcWriteBuffer, xWriteBufferLen, "Modulation(LoRa): sf=0x%X bw=0x%X cr=0x%X\r\n", radio.param->modulationParams.Params.LoRa.SpreadingFactor, radio.param->modulationParams.Params.LoRa.Bandwidth, radio.param->modulationParams.Params.LoRa.CodingRate); break; case PACKET_TYPE_FLRC: snprintf(pcWriteBuffer, xWriteBufferLen, "Modulation(FLRC): br_bw=0x%X cr=0x%X shaping=0x%X\r\n", radio.param->modulationParams.Params.Flrc.BitrateBandwidth, radio.param->modulationParams.Params.Flrc.CodingRate, radio.param->modulationParams.Params.Flrc.ModulationShaping); break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown modulation packet type\r\n"); break; } return pdFALSE; } /* Handle different packet types for modulation */ switch (radio.param->modulationParams.PacketType) { case PACKET_TYPE_BLE: if (strcasecmp(arg2, "br_bw") == 0) { if (val > 0xEF) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid br_bw value for BLE (max: 0xEF)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Ble.BitrateBandwidth = (RadioGfskBleBitrates_t)val; } else if (strcasecmp(arg2, "modindex") == 0) { if (val > 15) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid modindex value for BLE (max: 15)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Ble.ModulationIndex = (RadioGfskBleModIndexes_t)val; } else if (strcasecmp(arg2, "shaping") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid shaping value for BLE (0x00/0x10/0x20)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Ble.ModulationShaping = (RadioModShapings_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown modulation field for BLE: %s\r\n", arg2); return pdFALSE; } break; case PACKET_TYPE_GFSK: if (strcasecmp(arg2, "br_bw") == 0) { if (val > 0xEF) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid br_bw value for GFSK (max: 0xEF)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Gfsk.BitrateBandwidth = (RadioGfskBleBitrates_t)val; } else if (strcasecmp(arg2, "modindex") == 0) { if (val > 15) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid modindex value for GFSK (max: 15)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Gfsk.ModulationIndex = (RadioGfskBleModIndexes_t)val; } else if (strcasecmp(arg2, "shaping") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid shaping value for GFSK (0x00/0x10/0x20)\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Gfsk.ModulationShaping = (RadioModShapings_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown modulation field for GFSK: %s\r\n", arg2); return pdFALSE; } break; case PACKET_TYPE_LORA: if (strcasecmp(arg2, "sf") == 0) { if (val != 0x50 && val != 0x60 && val != 0x70 && val != 0x80 && val != 0x90 && val != 0xA0 && val != 0xB0 && val != 0xC0) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid sf value for LORA\r\n"); return pdFALSE; } radio.param->modulationParams.Params.LoRa.SpreadingFactor = (RadioLoRaSpreadingFactors_t)val; } else if (strcasecmp(arg2, "bw") == 0) { if (val != 0x34 && val != 0x26 && val != 0x18 && val != 0x0A) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid bw value for LORA\r\n"); return pdFALSE; } radio.param->modulationParams.Params.LoRa.Bandwidth = (RadioLoRaBandwidths_t)val; } else if (strcasecmp(arg2, "cr") == 0) { if (val < 0x01 || val > 0x07) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid cr value for LORA\r\n"); return pdFALSE; } radio.param->modulationParams.Params.LoRa.CodingRate = (RadioLoRaCodingRates_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown modulation field\r\n"); return pdFALSE; } break; case PACKET_TYPE_FLRC: if (strcasecmp(arg2, "br_bw") == 0) { if (val != 0x04 && val != 0x28 && val != 0x45 && val != 0x69 && val != 0x86 && val != 0xAA && val != 0xC7 && val != 0xEB) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid br_bw value for FLRC\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Flrc.BitrateBandwidth = (RadioFlrcBitrates_t)val; } else if (strcasecmp(arg2, "cr") == 0) { if (val != 0x00 && val != 0x02 && val != 0x04) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid cr value for FLRC\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Flrc.CodingRate = (RadioFlrcCodingRates_t)val; } else if (strcasecmp(arg2, "shaping") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid shaping value for FLRC\r\n"); return pdFALSE; } radio.param->modulationParams.Params.Flrc.ModulationShaping = (RadioModShapings_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown modulation field\r\n"); return pdFALSE; } break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown current packet type\r\n"); return pdFALSE; } Radio.SetModulationParams(&radio.param->modulationParams); snprintf(pcWriteBuffer, xWriteBufferLen, "Modulation updated\r\n"); } else if (strcasecmp(arg1, "packet") == 0) { /* Show current packet params when no field provided */ if (arg2[0] == '\0') { switch (radio.param->packetParams.PacketType) { case PACKET_TYPE_BLE: snprintf(pcWriteBuffer, xWriteBufferLen, "Packet(BLE): ConnectionState=%u CrcField=%u BlePacketType=%u Whitening=0x%X\r\n", radio.param->packetParams.Params.Ble.ConnectionState, radio.param->packetParams.Params.Ble.CrcField, radio.param->packetParams.Params.Ble.BlePacketType, radio.param->packetParams.Params.Ble.Whitening); break; case PACKET_TYPE_GFSK: snprintf(pcWriteBuffer, xWriteBufferLen, "Packet(GFSK): Preamble=0x%X SyncLen=0x%X SyncMatch=0x%X Header=0x%X Payload=%u Crc=0x%X Whitening=0x%X\r\n", radio.param->packetParams.Params.Gfsk.PreambleLength, radio.param->packetParams.Params.Gfsk.SyncWordLength, radio.param->packetParams.Params.Gfsk.SyncWordMatch, radio.param->packetParams.Params.Gfsk.HeaderType, radio.param->packetParams.Params.Gfsk.PayloadLength, radio.param->packetParams.Params.Gfsk.CrcLength, radio.param->packetParams.Params.Gfsk.Whitening); break; case PACKET_TYPE_LORA: snprintf(pcWriteBuffer, xWriteBufferLen, "Packet(LoRa): Preamble=%u Header=0x%X Payload=%u Crc=0x%X InvertIQ=0x%X\r\n", radio.param->packetParams.Params.LoRa.PreambleLength, radio.param->packetParams.Params.LoRa.HeaderType, radio.param->packetParams.Params.LoRa.PayloadLength, radio.param->packetParams.Params.LoRa.CrcMode, radio.param->packetParams.Params.LoRa.InvertIQ); break; case PACKET_TYPE_FLRC: snprintf(pcWriteBuffer, xWriteBufferLen, "Packet(FLRC): Preamble=0x%X SyncLen=0x%X SyncMatch=0x%X Header=0x%X Payload=%u Crc=0x%X Whitening=0x%X\r\n", radio.param->packetParams.Params.Flrc.PreambleLength, radio.param->packetParams.Params.Flrc.SyncWordLength, radio.param->packetParams.Params.Flrc.SyncWordMatch, radio.param->packetParams.Params.Flrc.HeaderType, radio.param->packetParams.Params.Flrc.PayloadLength, radio.param->packetParams.Params.Flrc.CrcLength, radio.param->packetParams.Params.Flrc.Whitening); break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown packet type\r\n"); break; } return pdFALSE; } /* packet fields examples: payload | preamble | header | crc | whitening */ /* 根据当前 packet type 设置对应字段 */ switch (radio.param->packetParams.PacketType) { case PACKET_TYPE_BLE: /* BLE 使用 Ble 子结构 */ if (strcasecmp(arg2, "ConnectionState") == 0) { if (val > 4) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid BLE ConnectionState (0-4)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Ble.ConnectionState = (RadioBleConnectionStates_t)val; } else if (strcasecmp(arg2, "CrcField") == 0) { if (val > 1) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid BLE CrcField (0-1)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Ble.CrcField = (RadioBleCrcFields_t)val; } else if (strcasecmp(arg2, "BlePacketType") == 0) { if (val > 7) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid BLEPacketType (0-7)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Ble.BlePacketType = (RadioBlePacketTypes_t)val; } else if (strcasecmp(arg2, "Whitening") == 0) { if (val != 0x00 && val != 0x08) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid BLE Whitening (0x00/0x08)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Ble.Whitening = (RadioWhiteningModes_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown BLE packet field\r\n"); return pdFALSE; } break; case PACKET_TYPE_GFSK: /* GFSK 子结构 */ if (strcasecmp(arg2, "Preamble") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30 && val != 0x40 && val != 0x50 && val != 0x60 && val != 0x70) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK Preamble (0x00/0x10/0x20/0x30/0x40/0x50/0x60/0x70)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.PreambleLength = (RadioPreambleLengths_t)val; } else if (strcasecmp(arg2, "SyncWordLength") == 0) { if (val != 0x00 && val != 0x02 && val != 0x04 && val != 0x06 && val != 0x08) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK SyncWordLength (0x00/0x02/0x04/0x06/0x08)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.SyncWordLength = (RadioSyncWordLengths_t)val; } else if (strcasecmp(arg2, "SyncWordMatch") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30 && val != 0x40 && val != 0x50 && val != 0x60 && val != 0x70) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK SyncWordMatch (0x00/0x10/0x20/0x30/0x40/0x50/0x60/0x70)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.SyncWordMatch = (RadioSyncWordRxMatchs_t)val; } else if (strcasecmp(arg2, "SyncWord") == 0) { /* Show all GFSK sync words */ snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK Sync Words:\r\n" " Word 1: %02X%02X%02X%02X%02X\r\n" " Word 2: %02X%02X%02X%02X%02X\r\n" " Word 3: %02X%02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.gfsk.first[0], mr16.param->radioParams.syncWord.gfsk.first[1], mr16.param->radioParams.syncWord.gfsk.first[2], mr16.param->radioParams.syncWord.gfsk.first[3], mr16.param->radioParams.syncWord.gfsk.first[4], mr16.param->radioParams.syncWord.gfsk.second[0], mr16.param->radioParams.syncWord.gfsk.second[1], mr16.param->radioParams.syncWord.gfsk.second[2], mr16.param->radioParams.syncWord.gfsk.second[3], mr16.param->radioParams.syncWord.gfsk.second[4], mr16.param->radioParams.syncWord.gfsk.third[0], mr16.param->radioParams.syncWord.gfsk.third[1], mr16.param->radioParams.syncWord.gfsk.third[2], mr16.param->radioParams.syncWord.gfsk.third[3], mr16.param->radioParams.syncWord.gfsk.third[4]); return pdFALSE; } else if (strcasecmp(arg2, "SyncWord1") == 0) { if (arg3[0] != '\0') { /* Set GFSK sync word 1 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.gfsk.first[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.gfsk.first[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.gfsk.first[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.gfsk.first[3] = sync_val & 0xFF; mr16.param->radioParams.syncWord.gfsk.first[4] = 0; snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK sync word 1 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK Sync Word 1: %02X%02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.gfsk.first[0], mr16.param->radioParams.syncWord.gfsk.first[1], mr16.param->radioParams.syncWord.gfsk.first[2], mr16.param->radioParams.syncWord.gfsk.first[3], mr16.param->radioParams.syncWord.gfsk.first[4]); } return pdFALSE; } else if (strcasecmp(arg2, "SyncWord2") == 0) { if (arg3[0] != '\0') { /* Set GFSK sync word 2 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.gfsk.second[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.gfsk.second[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.gfsk.second[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.gfsk.second[3] = sync_val & 0xFF; mr16.param->radioParams.syncWord.gfsk.second[4] = 0; snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK sync word 2 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK Sync Word 2: %02X%02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.gfsk.second[0], mr16.param->radioParams.syncWord.gfsk.second[1], mr16.param->radioParams.syncWord.gfsk.second[2], mr16.param->radioParams.syncWord.gfsk.second[3], mr16.param->radioParams.syncWord.gfsk.second[4]); } return pdFALSE; } else if (strcasecmp(arg2, "SyncWord3") == 0) { if (arg3[0] != '\0') { /* Set GFSK sync word 3 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.gfsk.third[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.gfsk.third[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.gfsk.third[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.gfsk.third[3] = sync_val & 0xFF; mr16.param->radioParams.syncWord.gfsk.third[4] = 0; snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK sync word 3 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "GFSK Sync Word 3: %02X%02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.gfsk.third[0], mr16.param->radioParams.syncWord.gfsk.third[1], mr16.param->radioParams.syncWord.gfsk.third[2], mr16.param->radioParams.syncWord.gfsk.third[3], mr16.param->radioParams.syncWord.gfsk.third[4]); } return pdFALSE; } else if (strcasecmp(arg2, "Header") == 0) { if (val != 0x00 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK Header (0x00/0x20)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.HeaderType = (RadioPacketLengthModes_t)val; } else if (strcasecmp(arg2, "Payload") == 0) { if (val < 1 || val > 255) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK Payload (1-255)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.PayloadLength = (uint8_t)val; } else if (strcasecmp(arg2, "Crc") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK Crc (0x00/0x10/0x20/0x30)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.CrcLength = (RadioCrcTypes_t)val; } else if (strcasecmp(arg2, "Whitening") == 0) { if (val != 0x00 && val != 0x08) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid GFSK Whitening (0x00/0x08)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Gfsk.Whitening = (RadioWhiteningModes_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown GFSK packet field\r\n"); return pdFALSE; } break; case PACKET_TYPE_LORA: /* LoRa 子结构 */ if (strcasecmp(arg2, "Preamble") == 0) { if (val < 0 || val > 255) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid LoRa Preamble (0-255)\r\n"); return pdFALSE; } radio.param->packetParams.Params.LoRa.PreambleLength = (uint8_t)val; } else if (strcasecmp(arg2, "Header") == 0) { if (val != 0x00 && val != 0x80) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid LoRa Header (0x00/0x80)\r\n"); return pdFALSE; } radio.param->packetParams.Params.LoRa.HeaderType = (RadioLoRaPacketLengthsModes_t)val; } else if (strcasecmp(arg2, "Payload") == 0) { if (val < 1 || val > 255) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid LoRa Payload (1-255)\r\n"); return pdFALSE; } radio.param->packetParams.Params.LoRa.PayloadLength = (uint8_t)val; } else if (strcasecmp(arg2, "Crc") == 0) { if (val != 0x00 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid LoRa Crc (0x00/0x20)\r\n"); return pdFALSE; } radio.param->packetParams.Params.LoRa.CrcMode = (RadioLoRaCrcModes_t)val; } else if (strcasecmp(arg2, "InvertIQ") == 0) { if (val != 0x00 && val != 0x40) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid LoRa InvertIQ (0x00/0x40)\r\n"); return pdFALSE; } radio.param->packetParams.Params.LoRa.InvertIQ = (RadioLoRaIQModes_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown LoRa packet field\r\n"); return pdFALSE; } break; case PACKET_TYPE_FLRC: /* FLRC 子结构 */ if (strcasecmp(arg2, "Preamble") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30 && val != 0x40 && val != 0x50 && val != 0x60 && val != 0x70) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC Preamble (0x00/0x10/0x20/0x30/0x40/0x50/0x60/0x70)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.PreambleLength = (RadioPreambleLengths_t)val; } else if (strcasecmp(arg2, "SyncWordLength") == 0) { if (val != 0x00 && val != 0x02 && val != 0x04 && val != 0x06 && val != 0x08) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC SyncWordLength (0x00/0x02/0x04/0x06/0x08)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.SyncWordLength = (RadioFlrcSyncWordLengths_t)val; } else if (strcasecmp(arg2, "SyncWordMatch") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30 && val != 0x40 && val != 0x50 && val != 0x60 && val != 0x70) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC SyncWordMatch (0x00/0x10/0x20/0x30/0x40/0x50/0x60/0x70)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.SyncWordMatch = (RadioSyncWordRxMatchs_t)val; } else if (strcasecmp(arg2, "SyncWord") == 0) { /* Show all FLRC sync words */ snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC Sync Words:\r\n" " Word 1: %02X%02X%02X%02X\r\n" " Word 2: %02X%02X%02X%02X\r\n" " Word 3: %02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.flrc.first[0], mr16.param->radioParams.syncWord.flrc.first[1], mr16.param->radioParams.syncWord.flrc.first[2], mr16.param->radioParams.syncWord.flrc.first[3], mr16.param->radioParams.syncWord.flrc.second[0], mr16.param->radioParams.syncWord.flrc.second[1], mr16.param->radioParams.syncWord.flrc.second[2], mr16.param->radioParams.syncWord.flrc.second[3], mr16.param->radioParams.syncWord.flrc.third[0], mr16.param->radioParams.syncWord.flrc.third[1], mr16.param->radioParams.syncWord.flrc.third[2], mr16.param->radioParams.syncWord.flrc.third[3]); return pdFALSE; } else if (strcasecmp(arg2, "SyncWord1") == 0) { if (arg3[0] != '\0') { /* Set FLRC sync word 1 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.flrc.first[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.flrc.first[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.flrc.first[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.flrc.first[3] = sync_val & 0xFF; snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC sync word 1 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC Sync Word 1: %02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.flrc.first[0], mr16.param->radioParams.syncWord.flrc.first[1], mr16.param->radioParams.syncWord.flrc.first[2], mr16.param->radioParams.syncWord.flrc.first[3]); } return pdFALSE; } else if (strcasecmp(arg2, "SyncWord2") == 0) { if (arg3[0] != '\0') { /* Set FLRC sync word 2 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.flrc.second[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.flrc.second[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.flrc.second[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.flrc.second[3] = sync_val & 0xFF; snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC sync word 2 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC Sync Word 2: %02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.flrc.second[0], mr16.param->radioParams.syncWord.flrc.second[1], mr16.param->radioParams.syncWord.flrc.second[2], mr16.param->radioParams.syncWord.flrc.second[3]); } return pdFALSE; } else if (strcasecmp(arg2, "SyncWord3") == 0) { if (arg3[0] != '\0') { /* Set FLRC sync word 3 */ uint32_t sync_val = (uint32_t)strtoul(arg3, NULL, 0); mr16.param->radioParams.syncWord.flrc.third[0] = (sync_val >> 24) & 0xFF; mr16.param->radioParams.syncWord.flrc.third[1] = (sync_val >> 16) & 0xFF; mr16.param->radioParams.syncWord.flrc.third[2] = (sync_val >> 8) & 0xFF; mr16.param->radioParams.syncWord.flrc.third[3] = sync_val & 0xFF; snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC sync word 3 set to 0x%08lX\r\n", (unsigned long)sync_val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "FLRC Sync Word 3: %02X%02X%02X%02X\r\n", mr16.param->radioParams.syncWord.flrc.third[0], mr16.param->radioParams.syncWord.flrc.third[1], mr16.param->radioParams.syncWord.flrc.third[2], mr16.param->radioParams.syncWord.flrc.third[3]); } return pdFALSE; } else if (strcasecmp(arg2, "Header") == 0) { if (val != 0x00 && val != 0x20) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC Header (0x00/0x20)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.HeaderType = (RadioPacketLengthModes_t)val; } else if (strcasecmp(arg2, "Payload") == 0) { if (val < 1 || val > 255) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC Payload (1-255)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.PayloadLength = (uint8_t)val; } else if (strcasecmp(arg2, "Crc") == 0) { if (val != 0x00 && val != 0x10 && val != 0x20 && val != 0x30) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC Crc (0x00/0x10/0x20/0x30)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.CrcLength = (RadioCrcTypes_t)val; } else if (strcasecmp(arg2, "Whitening") == 0) { if (val != 0x00 && val != 0x08) { snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid FLRC Whitening (0x00/0x08)\r\n"); return pdFALSE; } radio.param->packetParams.Params.Flrc.Whitening = (RadioWhiteningModes_t)val; } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown FLRC packet field\r\n"); return pdFALSE; } break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown current packet type\r\n"); return pdFALSE; } /* 应用并返回 */ Radio.SetPacketParams(&radio.param->packetParams); snprintf(pcWriteBuffer, xWriteBufferLen, "Packet parameters updated\r\n"); } else if (strcasecmp(arg1, "baudrate") == 0) { /* baudrate */ int8_t ret = -1; if (arg2[0] == '\0') { snprintf(pcWriteBuffer, xWriteBufferLen, "Baudrates: BLE=%u LORA=%u GFSK=%u FLRC=%u\r\n", radio.param->baudrate.ble, radio.param->baudrate.lora, radio.param->baudrate.gfks, radio.param->baudrate.flrc); return pdFALSE; } if (strcasecmp(arg2, "BLE") == 0) { radio.param->baudrate.ble = (SX1281_BLEBaudrate_t)val; ret = SX1281_SetBLEBaudrate(&radio, radio.param->baudrate.ble); } else if (strcasecmp(arg2, "LORA") == 0) { radio.param->baudrate.lora = (SX1281_LORABaudrate_t)val; ret = SX1281_SetLORABaudrate(&radio, radio.param->baudrate.lora); } else if (strcasecmp(arg2, "GFSK") == 0) { radio.param->baudrate.gfks = (SX1281_GFKSBaudrate_t)val; ret = SX1281_SetGFSKBaudrate(&radio, radio.param->baudrate.gfks); } else if (strcasecmp(arg2, "FLRC") == 0) { radio.param->baudrate.flrc = (SX1281_FLRCBaudrate_t)val; ret = SX1281_SetFLRCBaudrate(&radio, radio.param->baudrate.flrc); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown proto: %s\r\n", arg2); return pdFALSE; } if (ret == DEVICE_OK) { snprintf(pcWriteBuffer, xWriteBufferLen, "Baudrate updated for %s -> %lu\r\n", arg2, (unsigned long)val); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Failed to update baudrate for %s\r\n", arg2); } } else if (strcasecmp(arg1, "power") == 0) { /* power */ if (arg2[0] == '\0') { snprintf(pcWriteBuffer, xWriteBufferLen, "Current TX power: %d dBm\r\n", radio.param->txOutputPower); return pdFALSE; } int8_t p = (int8_t)val; radio.param->txOutputPower = p; Radio.SetTxParams(radio.param->txOutputPower, radio.param->rampTime); snprintf(pcWriteBuffer, xWriteBufferLen, "TX power set to %d dBm\r\n", p); } else if (strcasecmp(arg1, "ramptime") == 0) { /* ramptime - accepts 2/4/6/8/10/12/16/20 */ RadioRampTimes_t rt = RADIO_RAMP_02_US; unsigned long us = val; if (arg2[0] == '\0') { /* print current ramptime */ unsigned long cur_us = 2; switch (radio.param->rampTime) { case RADIO_RAMP_02_US: cur_us = 2; break; case RADIO_RAMP_04_US: cur_us = 4; break; case RADIO_RAMP_06_US: cur_us = 6; break; case RADIO_RAMP_08_US: cur_us = 8; break; case RADIO_RAMP_10_US: cur_us = 10; break; case RADIO_RAMP_12_US: cur_us = 12; break; case RADIO_RAMP_16_US: cur_us = 16; break; case RADIO_RAMP_20_US: cur_us = 20; break; default: break; } snprintf(pcWriteBuffer, xWriteBufferLen, "Current ramp time: %lu us\r\n", cur_us); return pdFALSE; } switch (us) { case 2: rt = RADIO_RAMP_02_US; break; case 4: rt = RADIO_RAMP_04_US; break; case 6: rt = RADIO_RAMP_06_US; break; case 8: rt = RADIO_RAMP_08_US; break; case 10: rt = RADIO_RAMP_10_US; break; case 12: rt = RADIO_RAMP_12_US; break; case 16: rt = RADIO_RAMP_16_US; break; case 20: rt = RADIO_RAMP_20_US; break; default: snprintf(pcWriteBuffer, xWriteBufferLen, "Invalid ramptime\r\n"); return pdFALSE; } radio.param->rampTime = rt; Radio.SetTxParams(radio.param->txOutputPower, radio.param->rampTime); snprintf(pcWriteBuffer, xWriteBufferLen, "Ramp time set to %lu us\r\n", us); } else if (strcasecmp(arg1, "rffreq") == 0 || strcasecmp(arg1, "rffrequency") == 0) { /* rffreq */ if (arg2[0] == '\0') { snprintf(pcWriteBuffer, xWriteBufferLen, "Current RF freq: %llu Hz\r\n", (unsigned long long)radio.param->rfFrequency); return pdFALSE; } uint32_t f = (uint32_t)val; SX1281_SetRFFrequency(&radio, f); snprintf(pcWriteBuffer, xWriteBufferLen, "RF freq set to %lu Hz\r\n", (unsigned long)f); } else { snprintf(pcWriteBuffer, xWriteBufferLen, "Unknown radio command\r\n"); } } return pdFALSE; } /* CLI Initialization Function -------------------------------------------- */ /** * @brief Initialize MR16 CLI commands * @return 0 on success, -1 on failure */ int8_t MR16_CLI_Init(void) { static const CLI_Command_Definition_t mr16Command = { "mr16", "mr16 [args] - MR16 system commands. Use 'mr16 help' for details\r\n", mr16CommandHandler, -1 }; static const CLI_Command_Definition_t radioCommand = { "radio", "radio - SX1281 radio control commands. Use 'radio help' for details\r\n", radioCommandHandler, -1 }; /* Register commands */ if (FreeRTOS_CLIRegisterCommand(&mr16Command) != pdPASS) { return -1; } if (FreeRTOS_CLIRegisterCommand(&radioCommand) != pdPASS) { return -1; } return 0; }