node-red-STM32/OZE_Main/Core/Src/uart_tasks.c

/*
 * uart_tasks.c
 *
 *  Created on: Aug 14, 2024
 *      Author: jakubski
 */

#include "cmsis_os.h"
#include "main.h"

#include <stdio.h>
#include <string.h>

#include "interprocess_data.h"
#include "measurements.h"
#include "mock_tasks.h"
#include "uart_tasks.h"

enum SerialReceiverStates { srWaitForHeader, srCheckCrc, srRecieveData, srExecuteCmd, srFail, srFinish, srLast };

// osThreadId_t uart8RecieveTaskHandle;
// osThreadId_t uart8TransmitTaskHandle;
//  osSemaphoreDef_t uart8RxSemaphoreDef;
//  osSemaphoreId_t uart8RxSemaphore = NULL;

// osMessageQueueId_t uart8DecodedFrameDataTaskQueue;
// osMessageQueueId_t uart8SendCmdToSlaveQueue;

extern UART_HandleTypeDef huart8;
extern DMA_HandleTypeDef hdma_uart8_rx;
extern CRC_HandleTypeDef hcrc;

uint8_t uart8RxBuffer[UART8_RX_BUFF_SIZE]        = { 0 };
uint8_t uart8TxBuffer[UART8_TX_BUFF_SIZE]        = { 0 };
uint8_t uart8TaskFrameData[INPUT_DATA_BUFF_SIZE] = { 0 };

uint8_t boardToUartNumberMap[SLAVES_COUNT] = { /*1*/ 8, 3, 6, 2 };

UartTaskData uart1TaskData = { 0 }; // Board 1
UartTaskData uart3TaskData = { 0 }; // Board 2
UartTaskData uart6TaskData = { 0 }; // Board 3
UartTaskData uart2TaskData = { 0 }; // Board 4
UartTaskData uart8TaskData = { 0 }; // Debug

UartTaskData* uartTasks[] = { &uart8TaskData, NULL };

uint8_t outputDataBuffer[OUTPUT_DATA_BUFF_SIZE];
uint16_t outputDataBufferPos = 0;


//extern uint32_t slaveLastSeen[SLAVES_COUNT];
//extern RESMeasurements resMeasurements[SLAVES_COUNT];
//extern SesnorsInfo sensorsInfo[SLAVES_COUNT];
//extern osMutexId_t resMeasurementsMutex;
//extern osMutexId_t sensorsInfoMutex;
RESMeasurements resMeasurements[SLAVES_COUNT] = { 0 };
SesnorsInfo sensorsInfo[SLAVES_COUNT]         = { 0 };
uint32_t slaveLastSeen[SLAVES_COUNT] = { 0 };
osMutexId_t resMeasurementsMutex;
osMutexId_t sensorsInfoMutex;

extern RNG_HandleTypeDef hrng;


void Uart8TasksInit (void) {
    osThreadAttr_t osThreadAttrRxUart = { 0 };
    osThreadAttr_t osThreadAttrTxUart = { 0 };
#if 0
	osMessageQueueAttr_t uartRxMsgQueueAttr = { 0 };
	uartRxMsgQueueAttr.name = "uart8RxMsgQueue";
	uart8DecodedFrameDataTaskQueue = osMessageQueueNew(4, sizeof(SerialProtocolFrameData), &uartRxMsgQueueAttr);
	uart8TaskData.processDataQueue = uart8DecodedFrameDataTaskQueue;
#else
//    uart8TaskData.processDataQueue = NULL;
#endif

	uart8TaskData.processRxDataMsgBuffer = xMessageBufferCreate( INPUT_DATA_BUFF_SIZE );
//    uart8TaskData.processDataCb = Uart8ReceivedDataProcessCallback;
    uart8TaskData.processDataCb = NULL;

    osThreadAttrRxUart.name       = "os_thread_uart8_rx";
    osThreadAttrRxUart.stack_size = configMINIMAL_STACK_SIZE * 2;
    osThreadAttrRxUart.priority   = (osPriority_t)osPriorityHigh;

    //	uart8RxSemaphoreDef.name = "uart8RxSemaphore";
    //	uart8RxSemaphore = osSemaphoreNew(1, 1, NULL);

    uart8TaskData.uartRxBuffer          = uart8RxBuffer;
    uart8TaskData.uartRxBufferLen       = UART8_RX_BUFF_SIZE;
    uart8TaskData.uartTxBuffer          = uart8TxBuffer;
    uart8TaskData.uartRxBufferLen       = UART8_TX_BUFF_SIZE;
    uart8TaskData.frameData             = uart8TaskFrameData;
    uart8TaskData.frameDataLen          = UART8_RX_BUFF_SIZE;
    uart8TaskData.huart                 = &huart8;
    uart8TaskData.uartNumber            = 8;
    uart8TaskData.uartRecieveTaskHandle = osThreadNew (UartRxTask, &uart8TaskData, &osThreadAttrRxUart);


    osMessageQueueAttr_t uartTxMsgQueueAttr = { 0 };
    uartTxMsgQueueAttr.name                 = "uart8TxMsgQueue";
    uart8TaskData.sendCmdToSlaveQueue       = osMessageQueueNew (16, sizeof (InterProcessData), &uartTxMsgQueueAttr);

    osThreadAttrTxUart.name              = "os_thread_uart8_tx";
    osThreadAttrTxUart.stack_size        = configMINIMAL_STACK_SIZE * 4;
    osThreadAttrTxUart.priority          = (osPriority_t)osPriorityNormal;
    uart8TaskData.uartTransmitTaskHandle = osThreadNew (UartTxTask, &uart8TaskData, &osThreadAttrTxUart);
}

void HAL_UART_RxCpltCallback (UART_HandleTypeDef* huart) {
    //	osSemaphoreRelease(uart8RxSemaphore);
}

void HAL_UARTEx_RxEventCallback (UART_HandleTypeDef* huart, uint16_t Size) {
    if (huart->Instance == UART8) {
        HandleUartRxCallback (&uart8TaskData, huart, Size);
    }
}

void HAL_UART_TxCpltCallback (UART_HandleTypeDef* huart) {
    if (huart->Instance == UART8) {
    }
}

void HandleUartRxCallback (UartTaskData* uartTaskData, UART_HandleTypeDef* huart, uint16_t Size) {
    BaseType_t pxHigherPriorityTaskWoken = pdFALSE;
    osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
    memcpy (&(uartTaskData->frameData[uartTaskData->frameBytesCount]), uartTaskData->uartRxBuffer, Size);
    uartTaskData->frameBytesCount += Size;
    osMutexRelease (uartTaskData->rxDataBufferMutex);
    xTaskNotifyFromISR (uartTaskData->uartRecieveTaskHandle, Size, eSetValueWithOverwrite, &pxHigherPriorityTaskWoken);
    //	HAL_UARTEx_ReceiveToIdle_DMA(huart, uart8RxBuffer, UART8_RX_BUFF_SIZE);
    //	__HAL_DMA_DISABLE_IT(&hdma_uart8_rx, DMA_IT_HT);
    HAL_UARTEx_ReceiveToIdle_IT (uartTaskData->huart, uartTaskData->uartRxBuffer, uartTaskData->uartRxBufferLen);
    portEND_SWITCHING_ISR (pxHigherPriorityTaskWoken);
}

void UartRxTask (void* argument) {
    UartTaskData* uartTaskData             = (UartTaskData*)argument;
    SerialProtocolFrameData spFrameData    = { 0 };
    uint32_t bytesRec                      = 0;
    uint32_t crc                           = 0;
    uint16_t frameCommandRaw               = 0x0000;
    uint16_t frameBytesCount               = 0;
    uint16_t frameCrc                      = 0;
    uint16_t frameTotalLength              = 0;
    uint16_t dataToSend                    = 0;
    portBASE_TYPE crcPass                  = pdFAIL;
    portBASE_TYPE proceed                  = pdFALSE;
    portBASE_TYPE frameTimeout             = pdFAIL;
    enum SerialReceiverStates receverState = srWaitForHeader;

    uartTaskData->rxDataBufferMutex = osMutexNew (NULL);
    HAL_UARTEx_ReceiveToIdle_IT (uartTaskData->huart, uartTaskData->uartRxBuffer, uartTaskData->uartRxBufferLen);
    //	HAL_UARTEx_ReceiveToIdle_DMA(&huart8, uart8RxBuffer, 32);
    while (pdTRUE) {
        //		HAL_UART_Receive_IT(&huart8, uart8RxBuffer, 1);
        //		if(osSemaphoreAcquire(uart8RxSemaphore, pdMS_TO_TICKS(1000)) !=
        // osOK) 		if(xTaskNotifyWait(0, 0, &bytesRec, portMAX_DELAY) == pdTrue)
        frameTimeout = !(xTaskNotifyWait (0, 0, &bytesRec, pdMS_TO_TICKS (FRAME_TIMEOUT_MS)));

        osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
        frameBytesCount = uartTaskData->frameBytesCount;
        osMutexRelease (uartTaskData->rxDataBufferMutex);
        if ((frameTimeout == pdTRUE) && (frameBytesCount > 0)) {
            receverState = srFail;
            proceed      = pdTRUE;
        } else {
            if (frameTimeout == pdFALSE) {
                proceed = pdTRUE;
#if UART_TASK_LOGS
                printf ("Uart%d: RX bytes received: %ld\n", uartTaskData->uartNumber, bytesRec);
#endif
            } else {
                if (uartTaskData->huart->RxState == HAL_UART_STATE_READY) {
                    HAL_UARTEx_ReceiveToIdle_IT (uartTaskData->huart, uartTaskData->uartRxBuffer, uartTaskData->uartRxBufferLen);
                }
            }
        }

        while (proceed) {
            switch (receverState) {
            case srWaitForHeader:
                osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
                if (uartTaskData->frameData[0] == FRAME_INDICATOR) {
                    if (frameBytesCount > FRAME_ID_LENGTH) {
                        spFrameData.frameHeader.frameId =
                        CONVERT_BYTES_TO_SHORT_WORD (&(uartTaskData->frameData[FRAME_HEADER_LENGTH - FRAME_RESP_STAT_LENGTH - FRAME_DATALEN_LENGTH - FRAME_ID_LENGTH - FRAME_COMMAND_LENGTH]));
                    }
                    if (frameBytesCount > FRAME_ID_LENGTH + FRAME_COMMAND_LENGTH) {
                        frameCommandRaw = CONVERT_BYTES_TO_SHORT_WORD (&(uartTaskData->frameData[FRAME_HEADER_LENGTH - FRAME_RESP_STAT_LENGTH - FRAME_DATALEN_LENGTH - FRAME_COMMAND_LENGTH]));
                        spFrameData.frameHeader.frameCommand    = (SerialProtocolCommands)(frameCommandRaw & 0x7FFF);
                        spFrameData.frameHeader.isResponseFrame = (frameCommandRaw & 0x8000) != 0 ? pdTRUE : pdFALSE;
                    }
                    if ((frameBytesCount > FRAME_ID_LENGTH + FRAME_COMMAND_LENGTH + FRAME_RESP_STAT_LENGTH) && ((spFrameData.frameHeader.frameCommand & 0x8000) != 0)) {
                        spFrameData.frameHeader.respStatus = (SerialProtocolRespStatus)(uartTaskData->frameData[FRAME_ID_LENGTH + FRAME_COMMAND_LENGTH + FRAME_RESP_STAT_LENGTH]);
                    }
                    if (frameBytesCount >= FRAME_HEADER_LENGTH) {
                        spFrameData.frameHeader.frameDataLength = CONVERT_BYTES_TO_SHORT_WORD (&(uartTaskData->frameData[FRAME_HEADER_LENGTH - FRAME_RESP_STAT_LENGTH - FRAME_DATALEN_LENGTH]));
                        frameTotalLength                        = FRAME_HEADER_LENGTH + spFrameData.frameHeader.frameDataLength + FRAME_CRC_LENGTH;
                        receverState                            = srRecieveData;
                    } else {
                        proceed = pdFALSE;
                    }
                } else {
                    if (frameBytesCount > 0) {
                        receverState = srFail;
                    } else {
                        proceed = pdFALSE;
                    }
                }
                osMutexRelease (uartTaskData->rxDataBufferMutex);
                break;
            case srRecieveData:
                if (frameBytesCount >= frameTotalLength) {
                    receverState = srCheckCrc;
                } else {
                    proceed = pdFALSE;
                }
                break;
            case srCheckCrc:
                osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
                frameCrc = CONVERT_BYTES_TO_SHORT_WORD (&(uartTaskData->frameData[frameTotalLength - FRAME_CRC_LENGTH]));
                crc      = HAL_CRC_Calculate (&hcrc, (uint32_t*)(uartTaskData->frameData), frameTotalLength - FRAME_CRC_LENGTH);
                osMutexRelease (uartTaskData->rxDataBufferMutex);
                crcPass = frameCrc == crc;
                if (crcPass) {
#if UART_TASK_LOGS
                    printf ("Uart%d: Frame CRC PASS\n", uartTaskData->uartNumber);
#endif
                    receverState = srExecuteCmd;
                } else {
                    receverState = srFail;
                }
                break;
            case srExecuteCmd:
                if (/*(uartTaskData->processDataQueue != NULL) || */(uartTaskData->processDataCb != NULL) || (uartTaskData->processRxDataMsgBuffer != NULL)) {
                    osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
                    memcpy (spFrameData.dataBuffer, &(uartTaskData->frameData[FRAME_HEADER_LENGTH]), spFrameData.frameHeader.frameDataLength);
                    osMutexRelease (uartTaskData->rxDataBufferMutex);
                }

//                if (uartTaskData->processDataQueue != NULL) {
//                    osMessageQueuePut (uartTaskData->processDataQueue, &spFrameData, 0, osWaitForever);
//                }
                if (uartTaskData->processRxDataMsgBuffer != NULL) {
                    if(xMessageBufferSend (uartTaskData->processRxDataMsgBuffer, &spFrameData, sizeof (SerialProtocolFrameHeader) + spFrameData.frameHeader.frameDataLength, pdMS_TO_TICKS (200)) == pdFALSE)
                    {
                    	receverState = srFail;
                    	break;
                    }
                }
                if (uartTaskData->processDataCb != NULL) {
                    uartTaskData->processDataCb (uartTaskData, &spFrameData);
                }
                receverState = srFinish;
                break;
            case srFail:
                dataToSend = 0;
                if ((frameTimeout == pdTRUE) && (frameBytesCount > 2)) {
                    dataToSend = PrepareRespFrame (uart8TxBuffer, spFrameData.frameHeader.frameId, spFrameData.frameHeader.frameCommand, spTimeout, NULL, 0);
#if UART_TASK_LOGS
                    printf ("Uart%d: RX data receiver timeout!\n", uartTaskData->uartNumber);
#endif
                } else if (!crcPass) {
                    dataToSend = PrepareRespFrame (uart8TxBuffer, spFrameData.frameHeader.frameId, spFrameData.frameHeader.frameCommand, spCrcFail, NULL, 0);
#if UART_TASK_LOGS
                    printf ("Uart%d: Frame CRC FAIL\n", uartTaskData->uartNumber);
#endif
                }
                else
                {
                	dataToSend = PrepareRespFrame (uart8TxBuffer, spFrameData.frameHeader.frameId, spFrameData.frameHeader.frameCommand, spInternalError, NULL, 0);
                }
                if (dataToSend > 0) {
                    HAL_UART_Transmit_IT (&huart8, uart8TxBuffer, dataToSend);
                }
#if UART_TASK_LOGS
                printf ("Uart%d: TX bytes sent: %d\n", dataToSend, uartTaskData->uartNumber);
#endif
                receverState = srFinish;
                break;
            case srFinish:
            default:
                osMutexAcquire (uartTaskData->rxDataBufferMutex, osWaitForever);
                uartTaskData->frameBytesCount = 0;
                osMutexRelease (uartTaskData->rxDataBufferMutex);
                spFrameData.frameHeader.frameCommand = spUnknown;
                frameTotalLength                     = 0;
                outputDataBufferPos                  = 0;
                receverState                         = srWaitForHeader;
                proceed                              = pdFALSE;
                break;
            }
        }
    }
}

void Uart8ReceivedDataProcessCallback (void* arg, SerialProtocolFrameData* spFrameData) {
    UartTaskData* uartTaskData = (UartTaskData*)arg;
    uint16_t dataToSend        = 0;
    switch (spFrameData->frameHeader.frameCommand) {
    case spGetElectricalMeasurments:
        float slaveVoltage = 48.0 + rndflt (0.5);
        slaveVoltage = 48.0 + rndflt (1);
        WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &slaveVoltage, sizeof (float));
        WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &slaveVoltage, sizeof (float));
        slaveVoltage = 47.5 + rndflt (0.5);
        WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &slaveVoltage, sizeof (float));
        break;
    case spGetSensorMeasurments: break;
    default: break;
    }
    if (outputDataBufferPos > 0) {
        dataToSend = PrepareRespFrame (uart8TxBuffer, spFrameData->frameHeader.frameId, spFrameData->frameHeader.frameCommand, spOK, outputDataBuffer, outputDataBufferPos);
    }
    if (dataToSend > 0) {
        //        HAL_UART_Transmit_DMA(&huart8, uart8TxBuffer, dataToSend);
        HAL_UART_Transmit_IT (uartTaskData->huart, uart8TxBuffer, dataToSend);
    }
#if UART_TASK_LOGS
    printf ("Uart%d: TX bytes sent: %d\n", uartTaskData->uartNumber, dataToSend);
#endif
}

void ReadMeasSetFromBuffer(uint8_t* buff, uint16_t* buffPos, float* dataSet)
{
	for(uint8_t i = 0; i < 3; i++)
	{
		ReadFloatFromBuffer(buff, buffPos, &dataSet[i]);
	}
}

void UartTxTask (void* argument) {
    UartTaskData* const uartTaskData  = (UartTaskData*)argument;
    InterProcessData data             = { 0 };
    SerialProtocolFrameData frameData = { 0 };
    size_t bytesInMsg;
    uint16_t frameId                    = 0;
    uint32_t rndVal                     = 0;
    uint16_t bytesToSend                = 0;
    SerialProtocolCommands frameCommand = spUnknown;
    uint16_t inputDataBufferPos = 0;
    uint8_t boardNumber = 0;

    while (pdTRUE) {
        if (uartTaskData->sendCmdToSlaveQueue != NULL) {
            osMessageQueueGet (uartTaskData->sendCmdToSlaveQueue, &data, 0, osWaitForever);
            HAL_RNG_GenerateRandomNumber (&hrng, &rndVal);
            frameId             = (uint16_t)(rndVal & 0xFFFF);
            frameCommand        = data.spCommand;
            outputDataBufferPos = 0;
            memset (outputDataBuffer, 0x00, OUTPUT_DATA_BUFF_SIZE);
            switch (frameCommand) {
            case spSetFanSpeed:
            case spSetMotorXOn:
            case spSetMotorYOn:
                WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &data.values.integerValues.value[0], sizeof (float));
                WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &data.values.integerValues.value[1], sizeof (float));
                break;
            case spSetDiodeOn: WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &data.values.integerValues.value[0], sizeof (float)); break;
            case spSetmotorXMaxCurrent:
            case spSetmotorYMaxCurrent: WriteDataToBuffer (outputDataBuffer, &outputDataBufferPos, &data.values.flaotValues.value[0], sizeof (float)); break;
            case spGetElectricalMeasurments:
            case spGetSensorMeasurments: break;
            default: continue; break;
            }

            bytesToSend = PrepareReqFrame (uart8TxBuffer, frameId, frameCommand, outputDataBuffer, outputDataBufferPos);
            HAL_UART_Transmit_IT (uartTaskData->huart, uart8TxBuffer, bytesToSend);
            bytesInMsg = xMessageBufferReceive (uartTaskData->processRxDataMsgBuffer, &frameData, INPUT_DATA_BUFF_SIZE, pdMS_TO_TICKS (1000));
        	for(boardNumber = 0; boardNumber < SLAVES_COUNT; boardNumber++)
        	{
        		if(boardToUartNumberMap[boardNumber] == uartTaskData->uartNumber)
        		{
        			break;
        		}
        	}
            if (bytesInMsg == 0) {
                if (frameCommand == spGetElectricalMeasurments)
                {
                	osMutexAcquire (resMeasurementsMutex, osWaitForever);
                	slaveLastSeen[boardNumber]++;
                	osMutexRelease(resMeasurementsMutex);
                }
#if UART_TASK_LOGS
                printf ("Uart%d: Response timeout for frameId 0x%x\n", uartTaskData->uartNumber, frameId);
#endif
            } else {
                if ((frameId == frameData.frameHeader.frameId) && (frameData.frameHeader.respStatus == spOK)) {
#if UART_TASK_LOGS
                    printf ("Uart%d: Response for frameId 0x%x OK\n", uartTaskData->uartNumber, frameId);
#endif
                    slaveLastSeen[boardNumber] = 0;
                    switch(frameData.frameHeader.frameCommand)
                    {
                    case spGetElectricalMeasurments:
                    	osMutexAcquire (resMeasurementsMutex, osWaitForever);
            			RESMeasurements *resMeas = &resMeasurements[boardNumber];
                    	inputDataBufferPos = 0;
                    	ReadMeasSetFromBuffer(frameData.dataBuffer, &inputDataBufferPos, resMeas->voltageRMS);
                    	ReadMeasSetFromBuffer(frameData.dataBuffer, &inputDataBufferPos, resMeas->voltagePeak);
                    	ReadMeasSetFromBuffer(frameData.dataBuffer, &inputDataBufferPos, resMeas->currentRMS);
                    	ReadMeasSetFromBuffer(frameData.dataBuffer, &inputDataBufferPos, resMeas->currentPeak);
                    	ReadMeasSetFromBuffer(frameData.dataBuffer, &inputDataBufferPos, resMeas->power);
                    	osMutexRelease(resMeasurementsMutex);
                    	break;
                    case spGetSensorMeasurments:
                    	osMutexAcquire (sensorsInfoMutex, osWaitForever);
                    	inputDataBufferPos = 0;
                    	SesnorsInfo* sensors = &sensorsInfo[boardNumber];
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->pvTemperature[0]);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->pvTemperature[1]);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->fanVoltage);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->pvEncoder);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorXStatus);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorYStatus);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorXAveCurrent);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorYAveCurrent);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorXPeakCurrent);
                    	ReadFloatFromBuffer(frameData.dataBuffer, &inputDataBufferPos, &sensors->motorYPeakCurrent);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->limitSwitchUp);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->limitSwitchDown);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->limitSwitchCenter);
                    	ReadByteFromBufer(frameData.dataBuffer, &inputDataBufferPos, &sensors->powerSupplyFailMask);
                    	osMutexRelease(sensorsInfoMutex);
                    	break;
                    default:
                    	break;
                    }
                }
            }
        } else {
            osDelay (pdMS_TO_TICKS (1000));
        }
    }
}

void MeasurmentsReqSchedulerTaskInit (void) {
    osThreadAttr_t osThreadAttrMeasurmentsReqSchedulerTask = { 0 };

    osThreadAttrMeasurmentsReqSchedulerTask.name       = "os_thread_XXX";
    osThreadAttrMeasurmentsReqSchedulerTask.stack_size = configMINIMAL_STACK_SIZE * 2;
    osThreadAttrMeasurmentsReqSchedulerTask.priority   = (osPriority_t)osPriorityNormal;

    osThreadNew (MeasurmentsReqSchedulerTask, uartTasks, &osThreadAttrMeasurmentsReqSchedulerTask);
}

void MeasurmentsReqSchedulerTask (void* argument) {
    while (pdTRUE) {
        __uintptr_t* ptr = (__uintptr_t*)argument;
        while (*ptr != 0) {
            UartTaskData* uartTask = (UartTaskData*)*ptr;
            if (uartTask->sendCmdToSlaveQueue != NULL) {
                InterProcessData data = { 0 };
                uint8_t boardNumber = 0;
            	for(boardNumber = 0; boardNumber < SLAVES_COUNT; boardNumber++)
            	{
            		if(boardToUartNumberMap[boardNumber] == uartTask->uartNumber)
            		{
            			break;
            		}
            	}
                data.spCommand        = spGetElectricalMeasurments;
                osMessageQueuePut (uartTask->sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
            	osMutexAcquire (resMeasurementsMutex, osWaitForever);
            	if(slaveLastSeen[boardNumber] == 0)
            	{
            		data.spCommand = spGetSensorMeasurments;
            		osMessageQueuePut (uartTask->sendCmdToSlaveQueue, &data, 0, (TickType_t)100);
            	}
            	osMutexRelease(resMeasurementsMutex);
            }
            ptr++;
        }
        osDelay (pdMS_TO_TICKS (1000));
    }
}