/* | |
* FreeRTOS Kernel V10.0.1 | |
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 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 ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |