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Tasmota/tasmota/tasmota_xsns_sensor/xsns_102_ld2410.ino

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/*
xsns_102_ld2410.ino - HLK-LD2410 24GHz smart wave motion sensor support for Tasmota
SPDX-FileCopyrightText: 2022 Theo Arends
SPDX-License-Identifier: GPL-3.0-only
*/
#ifdef USE_LD2410
/*********************************************************************************************\
* HLK-LD2410 24GHz smart wave motion sensor
*
* LD2410Duration 0 - Set factory default settings
* LD2410Duration 1..65535 - Set no-one duration in seconds (default 5)
* LD2410MovingSens 50,50,40,30,20,15,15,15,15 - Set moving distance sensitivity for up to 9 gates (at 0.75 meter interval)
* LD2410StaticSens 0,0,40,40,30,30,20,20,20 - Set static distance sensitivity for up to 9 gates (at 0.75 meter interval)
*
* Inspiration:
* https://community.home-assistant.io/t/mmwave-wars-one-sensor-module-to-rule-them-all/453260/2
* Resources:
* https://drive.google.com/drive/folders/1p4dhbEJA3YubyIjIIC7wwVsSo8x29Fq-?spm=a2g0o.detail.1000023.17.93465697yFwVxH
*
* Internal info:
* - After a LD2410 serial command a response takes about 10mS
* - After a LD2410 restart it takes at least 1000mS before commands are allowed
\*********************************************************************************************/
#define XSNS_102 102
#define LD2410_BUFFER_SIZE TM_SERIAL_BUFFER_SIZE // 64
#define LD2410_MAX_GATES 8 // 0 to 8 (= 9) - DO NOT CHANGE
#define LD2410_CMND_START_CONFIGURATION 0xFF
#define LD2410_CMND_END_CONFIGURATION 0xFE
#define LD2410_CMND_SET_DISTANCE 0x60
#define LD2410_CMND_READ_PARAMETERS 0x61
#define LD2410_CMND_START_ENGINEERING 0x62
#define LD2410_CMND_END_ENGINEERING 0x63
#define LD2410_CMND_SET_SENSITIVITY 0x64
#define LD2410_CMND_GET_FIRMWARE 0xA0
#define LD2410_CMND_SET_BAUDRATE 0xA1
#define LD2410_CMND_FACTORY_RESET 0xA2
#define LD2410_CMND_REBOOT 0xA3
#define LD2410_CMND_SET_BLUETOOTH 0xA4
#define LD2410_CMND_GET_BLUETOOTH_MAC 0xA5
const uint8_t LD2410_config_header[4] = {0xFD, 0xFC, 0xFB, 0xFA};
const uint8_t LD2410_config_footer[4] = {0x04, 0x03, 0x02, 0x01};
const uint8_t LD2410_target_header[4] = {0xF4, 0xF3, 0xF2, 0xF1};
const uint8_t LD2410_target_footer[4] = {0xF8, 0xF7, 0xF6, 0xF5};
#include <TasmotaSerial.h>
TasmotaSerial *LD2410Serial = nullptr;
struct {
uint8_t *buffer;
uint16_t moving_distance;
uint16_t static_distance;
uint16_t detect_distance;
uint16_t no_one_duration;
uint8_t moving_sensitivity[LD2410_MAX_GATES +1];
uint8_t static_sensitivity[LD2410_MAX_GATES +1];
uint8_t max_moving_distance_gate;
uint8_t max_static_distance_gate;
uint8_t moving_energy;
uint8_t static_energy;
uint8_t step;
uint8_t retry;
uint8_t settings;
uint8_t byte_counter;
bool valid_response;
} LD2410;
/********************************************************************************************/
uint32_t ToBcd(uint32_t value) {
return ((value >> 4) * 10) + (value & 0xF);
}
/********************************************************************************************/
void Ld1410HandleTargetData(void) {
if ((0x0D == LD2410.buffer[4]) && (0x55 == LD2410.buffer[17])) { // Add bad reception detection
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
// F4 F3 F2 F1 0D 00 02 AA 00 00 00 00 00 00 37 00 00 55 00 F8 F7 F6 F5 - No target
// F4 F3 F2 F1 0D 00 02 AA 00 45 00 3E 00 00 3A 00 00 55 00 F8 F7 F6 F5 - No target
// F4 F3 F2 F1 0D 00 02 AA 03 46 00 34 00 00 3C 00 00 55 00 F8 F7 F6 F5 - Movement and Stationary target
// F4 F3 F2 F1 0D 00 02 AA 02 54 00 00 00 00 64 00 00 55 00 F8 F7 F6 F5 - Stationary target
// F4 F3 F2 F1 0D 00 02 AA 02 96 00 00 00 00 36 00 00 55 00 F8 F7 F6 F5 - Stationary target
// F4 F3 F2 F1 0D 00 02 AA 03 2A 00 64 00 00 64 00 00 55 00 F8 F7 F6 F5 - Movement and Stationary target
// header |len |dt|hd|st|movin|me|stati|se|detec|tr|ck|trailer
if (LD2410.buffer[8] != 0x00) { // Movement and/or Stationary target
LD2410.moving_distance = LD2410.buffer[10] << 8 | LD2410.buffer[9];
LD2410.moving_energy = LD2410.buffer[11];
LD2410.static_distance = LD2410.buffer[13] << 8 | LD2410.buffer[12];
LD2410.static_energy = LD2410.buffer[14];
LD2410.detect_distance = LD2410.buffer[16] << 8 | LD2410.buffer[15];
/*
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Type %d, State %d, Moving %d/%d%%, Static %d/%d%%, Detect %d"),
LD2410.buffer[6], LD2410.buffer[8],
LD2410.moving_distance, LD2410.moving_energy,
LD2410.static_distance, LD2410.static_energy,
LD2410.detect_distance);
*/
if (0x01 == LD2410.buffer[6]) { // Engineering mode data
// Adds 22 extra bytes of data
}
} else {
LD2410.moving_distance = 0;
LD2410.moving_energy = 0;
LD2410.static_distance = 0;
LD2410.static_energy = 0;
LD2410.detect_distance = 0;
}
}
}
void Ld1410HandleConfigData(void) {
if (LD2410_CMND_READ_PARAMETERS == LD2410.buffer[6]) { // 0x61
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
// FD FC FB FA 1C 00 61 01 00 00 AA 08 08 08 32 32 28 1E 14 0F 0F 0F 0F 00 00 28 28 1E 1E 14 14 14 05 00 04 03 02 01 - Default
// header |len |cw cv|ack |hd|dd|md|sd|moving sensitivity 0..8 |static sensitivity 0..8 |timed|trailer
// | 28| | 0| | 8| 8| 8|50 50 40 30 20 15 15 15 15| 0 0 40 40 30 30 20 20 20| 5|
LD2410.max_moving_distance_gate = LD2410.buffer[12];
LD2410.max_static_distance_gate = LD2410.buffer[13];
for (uint32_t i = 0; i <= LD2410_MAX_GATES; i++) {
LD2410. moving_sensitivity[i] = LD2410.buffer[14 +i];
LD2410.static_sensitivity[i] = LD2410.buffer[23 +i];
}
LD2410.no_one_duration = LD2410.buffer[33] << 8 | LD2410.buffer[32];
}
else if (LD2410_CMND_START_CONFIGURATION == LD2410.buffer[6]) { // 0xFF
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
// FD FC FB FA 08 00 FF 01 00 00 01 00 40 00 04 03 02 01
// header |len |ty |ack |protv|bsize|trailer
// | 8| | 0| 1| 64|
LD2410.valid_response = true;
}
else if (LD2410_CMND_GET_FIRMWARE == LD2410.buffer[6]) { // 0xA0
// 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21
// FD FC FB FA 0C 00 A0 01 00 00 00 01 07 01 16 15 09 22 04 03 02 01
// header |len |ty|hd|ack |ftype|major|minor |trailer
// | 12| | 1| 0| 256| 1.7| 22091516|
AddLog(LOG_LEVEL_INFO, PSTR("LD2: Firmware version V%d.%02d.%02d%02d%02d%02d"), // Firmware version V1.07.22091516
ToBcd(LD2410.buffer[13]), ToBcd(LD2410.buffer[12]),
ToBcd(LD2410.buffer[17]), ToBcd(LD2410.buffer[16]), ToBcd(LD2410.buffer[15]), ToBcd(LD2410.buffer[14]));
}
}
bool Ld2410Match(const uint8_t *header, uint32_t offset) {
for (uint32_t i = 0; i < 4; i++) {
if (LD2410.buffer[offset +i] != header[i]) { return false; }
}
return true;
}
void Ld2410Input(void) {
/*
// Works with TasmotaSerial as SoftwareSerial but fails with HardwareSerial
uint32_t size = LD2410Serial->read(LD2410.buffer, LD2410_BUFFER_SIZE);
if (size) {
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Rcvd %*_H"), size, LD2410.buffer);
bool target_header = (Ld2410Match(LD2410_target_header, 0)); // F4F3F2F1
bool config_header = (Ld2410Match(LD2410_config_header, 0)); // FDFCFBFA
if (target_header || config_header) {
uint32_t len = LD2410.buffer[4] +10; // Total packet size
if (size >= len) { // Handle only the first entry (if there are more)
if (target_header) { // F4F3F2F1
if (Ld2410Match(LD2410_target_footer, len -4)) { // F8F7F6F5
Ld1410HandleTargetData();
}
}
else if (config_header) { // FDFCFBFA
if (Ld2410Match(LD2410_config_footer, len -4)) { // 04030201
Ld1410HandleConfigData();
}
}
}
}
}
*/
// Works with TasmotaSerial and HardwareSerial
while (LD2410Serial->available()) {
yield(); // Fix watchdogs
LD2410.buffer[LD2410.byte_counter++] = LD2410Serial->read();
if (LD2410.byte_counter < 4) { continue; } // Need first four header bytes
uint32_t header_start = LD2410.byte_counter -4; // Fix interrupted header transmits
bool target_header = (Ld2410Match(LD2410_target_header, header_start)); // F4F3F2F1
bool config_header = (Ld2410Match(LD2410_config_header, header_start)); // FDFCFBFA
if ((target_header || config_header) && (header_start != 0)) {
memmove(LD2410.buffer, LD2410.buffer + header_start, 4); // Sync buffer with header
LD2410.byte_counter = 4;
}
if (LD2410.byte_counter < 6) { continue; } // Need packet size bytes
target_header = (Ld2410Match(LD2410_target_header, 0)); // F4F3F2F1
config_header = (Ld2410Match(LD2410_config_header, 0)); // FDFCFBFA
if (target_header || config_header) {
uint32_t len = LD2410.buffer[4] +10; // Total packet size
if (len > LD2410_BUFFER_SIZE) {
LD2410.byte_counter = 0; // Invalid data
break; // Exit loop to satisfy yields
}
if (LD2410.byte_counter < len) { continue; } // Need complete packet
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Rcvd %*_H"), len, LD2410.buffer);
if (target_header) { // F4F3F2F1
// AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Rcvd %*_H"), len, LD2410.buffer);
if (Ld2410Match(LD2410_target_footer, len -4)) { // F8F7F6F5
Ld1410HandleTargetData();
}
}
else if (config_header) { // FDFCFBFA
// AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Rcvd %*_H"), len, LD2410.buffer);
if (Ld2410Match(LD2410_config_footer, len -4)) { // 04030201
Ld1410HandleConfigData();
LD2410Serial->setReadChunkMode(0); // Disable chunk mode fixing Hardware Watchdogs
}
}
}
LD2410.byte_counter = 0; // Finished or bad received footer
break; // Exit loop to satisfy yields
}
// If here then LD2410.byte_counter could still be partial correct for next loop
}
void Ld2410SendCommand(uint32_t command, uint8_t *val = nullptr, uint32_t val_len = 0);
void Ld2410SendCommand(uint32_t command, uint8_t *val, uint32_t val_len) {
uint32_t len = val_len +12;
uint8_t buffer[len];
buffer[0] = 0xFD;
buffer[1] = 0xFC;
buffer[2] = 0xFB;
buffer[3] = 0xFA;
buffer[4] = val_len +2;
buffer[5] = 0x00;
buffer[6] = command;
buffer[7] = 0x00;
if (val) {
for (uint32_t i = 0; i < val_len; i++) {
buffer[8 +i] = val[i];
}
}
buffer[8 +val_len] = 0x04;
buffer[9 +val_len] = 0x03;
buffer[10 +val_len] = 0x02;
buffer[11 +val_len] = 0x01;
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("LD2: Send %*_H"), len, buffer);
LD2410Serial->setReadChunkMode(1); // Enable chunk mode introducing possible Hardware Watchdogs
LD2410Serial->flush();
LD2410Serial->write(buffer, len);
}
void Ld2410SetConfigMode(void) { // 0xFF
uint8_t value[2] = { 0x01, 0x00 };
Ld2410SendCommand(LD2410_CMND_START_CONFIGURATION, value, sizeof(value));
}
void Ld2410SetMaxDistancesAndNoneDuration(uint32_t max_moving_distance_range, uint32_t max_static_distance_range, uint32_t no_one_duration) { // 0x60
// Distance range value can be set from 1 to 8 (distance gates of 0.75 meter)
// No-one duration value can be set from 1 to 65535 (seconds)
// 00 00 08 00 00 00 01 00 08 00 00 00 02 00 05 00 00 00
// motio| 8|stati| 8|durat|seconds
uint8_t lsb_nd = no_one_duration & 0xFF;
uint8_t msb_nd = (no_one_duration >> 8) & 0xFF;
uint8_t value[18] = { 0x00, 0x00, (uint8_t)max_moving_distance_range, 0x00, 0x00, 0x00, 0x01, 0x00, (uint8_t)max_static_distance_range, 0x00, 0x00, 0x00, 0x02, 0x00, lsb_nd, msb_nd, 0x00, 0x00 };
Ld2410SendCommand(LD2410_CMND_SET_DISTANCE, value, sizeof(value));
}
void Ld2410SetGateSensitivity(uint32_t gate, uint32_t moving_sensitivity, uint32_t static_sensitivity) { // 0x64
// Sensitivity value can be set from 0 to 100 (%) for gates 0 to 8
// 00 00 03 00 00 00 01 00 28 00 00 00 02 00 28 00 00 00
// gate | 3|motio| 40|stati| 40
uint8_t value[18] = { 0x00, 0x00, (uint8_t)gate, 0x00, 0x00, 0x00, 0x01, 0x00, (uint8_t)moving_sensitivity, 0x00, 0x00, 0x00, 0x02, 0x00, (uint8_t)static_sensitivity, 0x00, 0x00, 0x00 };
Ld2410SendCommand(LD2410_CMND_SET_SENSITIVITY, value, sizeof(value));
}
void Ld2410SetAllSensitivity(uint32_t sensitivity) { // 0x64
// Sensitivity value can be set from 0 to 100
// 00 00 FF FF 00 00 01 00 28 00 00 00 02 00 28 00 00 00
// gate |all gates |motio| 40|stati| 40
uint8_t value[18] = { 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x01, 0x00, (uint8_t)sensitivity, 0x00, 0x00, 0x00, 0x02, 0x00, (uint8_t)sensitivity, 0x00, 0x00, 0x00 };
Ld2410SendCommand(LD2410_CMND_SET_SENSITIVITY, value, sizeof(value));
}
void Ld2410SetBaudrate(uint32_t index) { // 0xA1
uint8_t value[2] = { (uint8_t)index, 0x00 };
Ld2410SendCommand(LD2410_CMND_SET_BAUDRATE, value, sizeof(value));
}
/********************************************************************************************/
void Ld2410Every100MSecond(void) {
if (LD2410.step) {
LD2410.step--;
switch (LD2410.step) {
// case 60: Set default settings
case 59:
Ld2410SetConfigMode(); // Stop running mode
break;
case 57:
Ld2410SendCommand(LD2410_CMND_FACTORY_RESET);
break;
case 56:
Ld2410SendCommand(LD2410_CMND_REBOOT); // Wait at least 1 second
break;
case 51:
LD2410.step = 12;
AddLog(LOG_LEVEL_DEBUG, PSTR("LD2: Settings factory reset"));
break;
// case 40: Save settings
case 39:
Ld2410SetConfigMode(); // Stop running mode
break;
case 37:
Ld2410SetMaxDistancesAndNoneDuration(8, 8, LD2410.no_one_duration);
break;
case 28 ... 36: {
uint32_t index = LD2410.step -28;
Ld2410SetGateSensitivity(index, LD2410.moving_sensitivity[index], LD2410.static_sensitivity[index]);
}
break;
case 27:
LD2410.step = 3;
AddLog(LOG_LEVEL_DEBUG, PSTR("LD2: Settings saved"));
break;
/*
// case 24: pre-POC using 57600 bps instead of default 256000 bps
case 23:
AddLog(LOG_LEVEL_DEBUG, PSTR("LD2: Switch to 57600 bps"));
LD2410Serial->flush();
LD2410Serial->begin(256000);
break;
case 21:
Ld2410SetConfigMode(); // Stop running mode
break;
case 19:
Ld2410SetBaudrate(4); // 57600 bps
break;
case 18:
Ld2410SendCommand(LD2410_CMND_REBOOT); // Wait at least 1 second
LD2410Serial->flush();
LD2410Serial->begin(57600);
break;
*/
// case 12: Init
case 5:
Ld2410SetConfigMode(); // Stop running mode
break;
case 3:
if (!LD2410.valid_response && LD2410.retry) {
LD2410.retry--;
if (LD2410.retry) {
// LD2410.step = 24; // Change baudrate
LD2410.step = 7; // Retry
} else {
LD2410.step = 0;
AddLog(LOG_LEVEL_DEBUG, PSTR("LD2: Not detected"));
}
} else {
Ld2410SendCommand(LD2410_CMND_GET_FIRMWARE);
}
break;
case 2:
Ld2410SendCommand(LD2410_CMND_READ_PARAMETERS);
break;
case 1:
Ld2410SendCommand(LD2410_CMND_END_CONFIGURATION);
break;
}
} else {
if (1 == LD2410.settings) {
LD2410.settings = 0;
LD2410.step = 40;
}
else if (2 == LD2410.settings) {
LD2410.settings = 0;
LD2410.step = 60;
}
}
}
void Ld2410EverySecond(void) {
if (LD2410.moving_energy) {
// Send state change to be captured by rules
// {"Time":"2022-11-26T10:48:16","Switch1":"ON","LD2410":{"Distance":[125.0,0.0,0.0],"Energy":[0,100]}}
MqttPublishSensor();
}
}
void Ld2410Detect(void) {
if (PinUsed(GPIO_LD2410_RX) && PinUsed(GPIO_LD2410_TX)) {
LD2410.buffer = (uint8_t*)malloc(LD2410_BUFFER_SIZE); // Default 64
if (!LD2410.buffer) { return; }
LD2410Serial = new TasmotaSerial(Pin(GPIO_LD2410_RX), Pin(GPIO_LD2410_TX), 2);
if (LD2410Serial->begin(256000)) {
if (LD2410Serial->hardwareSerial()) { ClaimSerial(); }
LD2410.retry = 4;
LD2410.step = 12;
}
}
}
/*********************************************************************************************\
* Commands
\*********************************************************************************************/
const char kLd2410Commands[] PROGMEM = "LD2410|" // Prefix
"Duration|MovingSens|StaticSens";
void (* const Ld2410Command[])(void) PROGMEM = {
&CmndLd2410Duration, &CmndLd2410MovingSensitivity, &CmndLd2410StaticSensitivity };
void Ld2410Response(void) {
Response_P(PSTR("{\"LD2410\":{\"Duration\":%d,\"Moving\":{\"Gates\":%d,\"Sensitivity\":["),
LD2410.no_one_duration, LD2410.max_moving_distance_gate);
for (uint32_t i = 0; i <= LD2410_MAX_GATES; i++) {
ResponseAppend_P(PSTR("%s%d"), (i==0)?"":",", LD2410.moving_sensitivity[i]);
}
ResponseAppend_P(PSTR("]},\"Static\":{\"Gates\":%d,\"Sensitivity\":["), LD2410.max_static_distance_gate);
for (uint32_t i = 0; i <= LD2410_MAX_GATES; i++) {
ResponseAppend_P(PSTR("%s%d"), (i==0)?"":",", LD2410.static_sensitivity[i]);
}
ResponseAppend_P(PSTR("]}}}"));
}
void CmndLd2410Duration(void) {
// LD2410Duration 0 - Set default settings
if (0 == XdrvMailbox.payload) {
LD2410.settings = 2;
}
// LD2410Duration 5
else if ((XdrvMailbox.payload > 0) && (XdrvMailbox.payload <= 65535)) {
LD2410.no_one_duration = XdrvMailbox.payload;
LD2410.settings = 1;
}
Ld2410Response();
}
void CmndLd2410MovingSensitivity(void) {
// LD2410MovingSens 50,50,40,30,20,15,15,15,15
uint32_t parm[LD2410_MAX_GATES +1] = { 0 };
uint32_t count = ParseParameters(LD2410_MAX_GATES +1, parm);
if (count) {
for (uint32_t i = 0; i < count; i++) {
if ((parm[i] >= 0) && (parm[i] <= 100)) {
LD2410.moving_sensitivity[i] = parm[i];
}
}
LD2410.settings = 1;
}
Ld2410Response();
}
void CmndLd2410StaticSensitivity(void) {
// LD2410StaticSens 0,0,40,40,30,30,20,20,20
uint32_t parm[LD2410_MAX_GATES +1] = { 0 };
uint32_t count = ParseParameters(LD2410_MAX_GATES +1, parm);
if (count) {
for (uint32_t i = 0; i < count; i++) {
if ((parm[i] >= 0) && (parm[i] <= 100)) {
LD2410.static_sensitivity[i] = parm[i];
}
}
LD2410.settings = 1;
}
Ld2410Response();
}
/*********************************************************************************************\
* Presentation
\*********************************************************************************************/
#ifdef USE_WEBSERVER
const char HTTP_SNS_LD2410_CM[] PROGMEM =
"{s}LD2410 " D_MOVING_DISTANCE "{m}%1_f " D_UNIT_CENTIMETER "{e}"
"{s}LD2410 " D_STATIC_DISTANCE "{m}%1_f " D_UNIT_CENTIMETER "{e}"
"{s}LD2410 " D_DETECT_DISTANCE "{m}%1_f " D_UNIT_CENTIMETER "{e}";
#endif
void Ld2410Show(bool json) {
float moving_distance = LD2410.moving_distance;
float static_distance = LD2410.static_distance;
float detect_distance = LD2410.detect_distance;
if (json) {
// cm cm cm % %
ResponseAppend_P(PSTR(",\"LD2410\":{\"" D_JSON_DISTANCE "\":[%1_f,%1_f,%1_f],\"" D_JSON_ENERGY "\":[%d,%d]}"),
&moving_distance, &static_distance, &detect_distance, LD2410.moving_energy, LD2410.static_energy);
#ifdef USE_WEBSERVER
} else {
WSContentSend_PD(HTTP_SNS_LD2410_CM, &moving_distance, &static_distance, &detect_distance);
#endif
}
}
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xsns102(uint32_t function) {
bool result = false;
if (FUNC_INIT == function) {
Ld2410Detect();
}
else if (LD2410Serial) {
switch (function) {
case FUNC_LOOP:
case FUNC_SLEEP_LOOP:
Ld2410Input();
break;
case FUNC_EVERY_100_MSECOND:
Ld2410Every100MSecond();
break;
case FUNC_EVERY_SECOND:
Ld2410EverySecond();
break;
case FUNC_JSON_APPEND:
Ld2410Show(1);
break;
#ifdef USE_WEBSERVER
case FUNC_WEB_SENSOR:
Ld2410Show(0);
break;
#endif // USE_WEBSERVER
case FUNC_COMMAND:
result = DecodeCommand(kLd2410Commands, Ld2410Command);
break;
}
}
return result;
}
#endif // USE_LD2410
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