/* | |
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
* NOTE: This file uses a third party USB CDC driver. | |
*/ | |
/* Standard includes. */ | |
#include "string.h" | |
#include "stdio.h" | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "semphr.h" | |
/* Example includes. */ | |
#include "FreeRTOS_CLI.h" | |
/* Demo application includes. */ | |
#include "serial.h" | |
/* Dimensions the buffer into which input characters are placed. */ | |
#define cmdMAX_INPUT_SIZE 50 | |
/* Dimentions a buffer to be used by the UART driver, if the UART driver uses a | |
buffer at all. */ | |
#define cmdQUEUE_LENGTH 25 | |
/* DEL acts as a backspace. */ | |
#define cmdASCII_DEL ( 0x7F ) | |
/* The maximum time to wait for the mutex that guards the UART to become | |
available. */ | |
#define cmdMAX_MUTEX_WAIT pdMS_TO_TICKS( 300 ) | |
#ifndef configCLI_BAUD_RATE | |
#define configCLI_BAUD_RATE 115200 | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* | |
* The task that implements the command console processing. | |
*/ | |
static void prvUARTCommandConsoleTask( void *pvParameters ); | |
void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority ); | |
/*-----------------------------------------------------------*/ | |
/* Const messages output by the command console. */ | |
static const char * const pcWelcomeMessage = "FreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>"; | |
static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>"; | |
static const char * const pcNewLine = "\r\n"; | |
/* Used to guard access to the UART in case messages are sent to the UART from | |
more than one task. */ | |
static SemaphoreHandle_t xTxMutex = NULL; | |
/* The handle to the UART port, which is not used by all ports. */ | |
static xComPortHandle xPort = 0; | |
/*-----------------------------------------------------------*/ | |
void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority ) | |
{ | |
/* Create the semaphore used to access the UART Tx. */ | |
xTxMutex = xSemaphoreCreateMutex(); | |
configASSERT( xTxMutex ); | |
/* Create that task that handles the console itself. */ | |
xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */ | |
"CLI", /* Text name assigned to the task. This is just to assist debugging. The kernel does not use this name itself. */ | |
usStackSize, /* The size of the stack allocated to the task. */ | |
NULL, /* The parameter is not used, so NULL is passed. */ | |
uxPriority, /* The priority allocated to the task. */ | |
NULL ); /* A handle is not required, so just pass NULL. */ | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvUARTCommandConsoleTask( void *pvParameters ) | |
{ | |
signed char cRxedChar; | |
uint8_t ucInputIndex = 0; | |
char *pcOutputString; | |
static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ]; | |
BaseType_t xReturned; | |
xComPortHandle xPort; | |
( void ) pvParameters; | |
/* Obtain the address of the output buffer. Note there is no mutual | |
exclusion on this buffer as it is assumed only one command console interface | |
will be used at any one time. */ | |
pcOutputString = FreeRTOS_CLIGetOutputBuffer(); | |
/* Initialise the UART. */ | |
xPort = xSerialPortInitMinimal( configCLI_BAUD_RATE, cmdQUEUE_LENGTH ); | |
/* Send the welcome message. */ | |
vSerialPutString( xPort, ( signed char * ) pcWelcomeMessage, ( unsigned short ) strlen( pcWelcomeMessage ) ); | |
for( ;; ) | |
{ | |
/* Wait for the next character. The while loop is used in case | |
INCLUDE_vTaskSuspend is not set to 1 - in which case portMAX_DELAY will | |
be a genuine block time rather than an infinite block time. */ | |
while( xSerialGetChar( xPort, &cRxedChar, portMAX_DELAY ) != pdPASS ); | |
/* Ensure exclusive access to the UART Tx. */ | |
if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS ) | |
{ | |
/* Echo the character back. */ | |
xSerialPutChar( xPort, cRxedChar, portMAX_DELAY ); | |
/* Was it the end of the line? */ | |
if( cRxedChar == '\n' || cRxedChar == '\r' ) | |
{ | |
/* Just to space the output from the input. */ | |
vSerialPutString( xPort, ( signed char * ) pcNewLine, ( unsigned short ) strlen( pcNewLine ) ); | |
/* See if the command is empty, indicating that the last command | |
is to be executed again. */ | |
if( ucInputIndex == 0 ) | |
{ | |
/* Copy the last command back into the input string. */ | |
strcpy( cInputString, cLastInputString ); | |
} | |
/* Pass the received command to the command interpreter. The | |
command interpreter is called repeatedly until it returns | |
pdFALSE (indicating there is no more output) as it might | |
generate more than one string. */ | |
do | |
{ | |
/* Get the next output string from the command interpreter. */ | |
xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE ); | |
/* Write the generated string to the UART. */ | |
vSerialPutString( xPort, ( signed char * ) pcOutputString, ( unsigned short ) strlen( pcOutputString ) ); | |
} while( xReturned != pdFALSE ); | |
/* All the strings generated by the input command have been | |
sent. Clear the input string ready to receive the next command. | |
Remember the command that was just processed first in case it is | |
to be processed again. */ | |
strcpy( cLastInputString, cInputString ); | |
ucInputIndex = 0; | |
memset( cInputString, 0x00, cmdMAX_INPUT_SIZE ); | |
vSerialPutString( xPort, ( signed char * ) pcEndOfOutputMessage, ( unsigned short ) strlen( pcEndOfOutputMessage ) ); | |
} | |
else | |
{ | |
if( cRxedChar == '\r' ) | |
{ | |
/* Ignore the character. */ | |
} | |
else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) ) | |
{ | |
/* Backspace was pressed. Erase the last character in the | |
string - if any. */ | |
if( ucInputIndex > 0 ) | |
{ | |
ucInputIndex--; | |
cInputString[ ucInputIndex ] = '\0'; | |
} | |
} | |
else | |
{ | |
/* A character was entered. Add it to the string entered so | |
far. When a \n is entered the complete string will be | |
passed to the command interpreter. */ | |
if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) ) | |
{ | |
if( ucInputIndex < cmdMAX_INPUT_SIZE ) | |
{ | |
cInputString[ ucInputIndex ] = cRxedChar; | |
ucInputIndex++; | |
} | |
} | |
} | |
} | |
/* Must ensure to give the mutex back. */ | |
xSemaphoreGive( xTxMutex ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vOutputString( const char * const pcMessage ) | |
{ | |
if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS ) | |
{ | |
vSerialPutString( xPort, ( signed char * ) pcMessage, ( unsigned short ) strlen( pcMessage ) ); | |
xSemaphoreGive( xTxMutex ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |