FreeRTOS/Demo/CORTEX_A5_SAMA5D4x_EK_IAR/CDCCommandConsole.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

     1 tab == 4 spaces!

     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
      *    not run, what could be wrong?".  Have you defined configASSERT()?  *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.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                              *
      *                                                                       *
     ***************************************************************************

     ***************************************************************************
      *                                                                       *
      *   Investing in training allows your team to be as productive as       *
      *   possible as early as possible, lowering your overall development    *
      *   cost, and enabling you to bring a more robust product to market     *
      *   earlier than would otherwise be possible.  Richard Barry is both    *
      *   the architect and key author of FreeRTOS, and so also the world's   *
      *   leading authority on what is the world's most popular real time     *
      *   kernel for deeply embedded MCU designs.  Obtaining your training    *
      *   from Richard ensures your team will gain directly from his in-depth *
      *   product knowledge and years of usage experience.  Contact Real Time *
      *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *
      *   by Richard Barry:  http://www.FreeRTOS.org/contact
      *                                                                       *
     ***************************************************************************

     ***************************************************************************
      *                                                                       *
      *    You are receiving this top quality software for free.  Please play *
      *    fair and reciprocate by reporting any suspected issues and         *
      *    participating in the community forum:                              *
      *    http://www.FreeRTOS.org/support                                    *
      *                                                                       *
      *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************

     http://www.FreeRTOS.org - Documentation, books, training, latest versions,
     license and Real Time Engineers Ltd. contact details.

     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 "event_groups.h"

 /* Example includes. */
 #include "FreeRTOS_CLI.h"

 /* Library includes. */
 #include "board.h"
 #include "chip.h"
 #include "USBD.h"
 #include "CDCDSerialDriver.h"

 /*-----------------------------------------------------------*/

 /* Dimensions the buffer into which input characters are placed. */
 #define cmdMAX_INPUT_SIZE		50

 /* DEL acts as a backspace. */
 #define cmdASCII_DEL		( 0x7F )

 /* The bits in the event group used to signal USB interrupt events to this
 task. */
 #define cmdRX_COMPLETE_BIT	( 0x01 )
 #define cmdTX_COMPLETE_BIT	( 0x02 )
 /*-----------------------------------------------------------*/

 /*
  * The task that implements the command console processing.
  */
 static void prvCDCCommandConsoleTask( void *pvParameters );

 /*
  * Initialise the USB hardware and driver.
  */
 static void prvCDCInit( void );

 /*
  * Handler installed on the VBUS pin to detect connect() and disconnect()
  * events.
  */
 static void prvVBusISRHandler( void );

 /*
  * USB handler defined by the driver, installed after the CDC driver has been
  * initialised.
  */
 extern void USBD_IrqHandler( void );

 /*
  * The function that creates the CLI task.
  */
 void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );

 /*
  * Send xDataLength bytes from pcData to the CDC port.
  */
 static void prvCDCSend( const char *pcData, size_t xDataLenth );

 /*
  * Initiate a receive into the Rx buffer from the CDC port, then wait for a
  * period for characters to be received.
  */
 static void prvCDCGetChar( void );

 /*
  * Configure VBus pins and interrupts, and check for connection.
  */
 static void prvConfigureVBus( void );

 /*
  * Callback which is invoked when a CDC read completes.  This callback is
  * passed as a parameter to the CDC receive function.
  */
 static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining );

 /*
  * Callback which is invoked when a CDC write completes.  This callback is
  * passed as a parameter to the CDC send function.
  */
 static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining );

 /*
  * Keep trying to initiate an Rx until it is started successfully
  */
 static void prvStartRx( void );

 /*-----------------------------------------------------------*/

 /* 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";

 /* Buffer into which received characters are placed. */
 static char pcRxBuffer[ cmdMAX_INPUT_SIZE ];

 /* The number of bytes in pcRxBuffer that have not yet been read. */
 static uint32_t ulBytesAvailable = 0;

 /* Used to unblock the task when bytes are received and when bytes have
 completed sending. */
 static EventGroupHandle_t xCDCEventBits;

 /*-----------------------------------------------------------*/

 void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
 {
 	/* Event group used to indicate that bytes are available in the Rx buffer
 	or that bytes have finished sending. */
 	xCDCEventBits = xEventGroupCreate();
 	configASSERT( xCDCEventBits );

 	/* Create the task that handles the console itself. */
 	xTaskCreate( 	prvCDCCommandConsoleTask,	/* 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 prvCDCCommandConsoleTask( void *pvParameters )
 {
 uint8_t ucInputIndex = 0;
 char *pcOutputString, cRxedChar;
 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
 BaseType_t xReturned;
 uint32_t ulBufferIndex = 0;

 	( 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 CDC driver. */
 	prvCDCInit();

 	/* Start receiving into the buffer. */
 	prvStartRx();

 	/* Send the welcome message. */
 	prvCDCSend( pcWelcomeMessage, strlen( pcWelcomeMessage ) );

 	for( ;; )
 	{
 		/* Wait for my characters to be available. */
 		prvCDCGetChar();

 		/* Process the bytes char for char on the assumption that as input comes
 		from typing it is unlikely that more than a single byte will be received
 		at a time anyway. */
 		while( ulBytesAvailable > 0 )
 		{
 			/* Read next byte from the rx buffer. */
 			cRxedChar = pcRxBuffer[ ulBufferIndex ];

 			taskENTER_CRITICAL();
 			{
 				ulBytesAvailable--;
 			}
 			taskEXIT_CRITICAL();

 			/* Echo the character back. */
 			prvCDCSend( &cRxedChar, sizeof( cRxedChar ) );

 			/* Was it the end of the line? */
 			if( cRxedChar == '\n' || cRxedChar == '\r' )
 			{
 				/* Just to space the output from the input. */
 				prvCDCSend( pcNewLine, 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. */
 					prvCDCSend( pcOutputString, 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 );

 				prvCDCSend( pcEndOfOutputMessage, 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++;
 						}
 					}
 				}
 			}

 			/* Move onto the next byte the next time around. */
 			ulBufferIndex++;
 			if( ulBufferIndex >= cmdMAX_INPUT_SIZE )
 			{
 				ulBufferIndex = 0;
 			}
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvCDCInit( void )
 {
 extern WEAK const USBDDriverDescriptors cdcdSerialDriverDescriptors;

 	/* If they are present, configure Vbus & Wake-up pins */
 	PIO_InitializeInterrupts( 0 );

 	/* CDC serial driver initialization */
 	CDCDSerialDriver_Initialize( &cdcdSerialDriverDescriptors );

 	/* Configure VBus pins and interrupts, and check for connection. */
 	prvConfigureVBus();
 }
 /*-----------------------------------------------------------*/

 static void prvCDCSend( const char *pcData, size_t xDataLength )
 {
 const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 500UL );

 	( void ) pcData;
 	( void ) xDataLength;

 	if( xDataLength > 0 )
 	{
 		if( CDCDSerialDriver_Write( ( void * ) pcData, xDataLength, ( TransferCallback ) prvCDCDataTransmittedCallback, 0 ) == USBD_STATUS_SUCCESS )
 		{
 			/* Wait for the transfer to complete. */
 			xEventGroupWaitBits(	xCDCEventBits,
 									cmdTX_COMPLETE_BIT, /* The bit to wait for. */
 									pdTRUE, /* Clear the bit before exiting the function. */
 									pdFALSE, /* Only need to wait for one bit anyway. */
 									xTransferCompleteDelay ); /* The maximum time to wait for the event. */
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvStartRx( void )
 {
 const TickType_t xFailedReadDelay = pdMS_TO_TICKS( 150UL );

 	while( CDCDSerialDriver_Read( pcRxBuffer, cmdMAX_INPUT_SIZE, ( TransferCallback ) prvCDCDataReceivedCallback, 0 ) != USBD_STATUS_SUCCESS )
 	{
 		/* Maybe the CDC is not connected. */
 		vTaskDelay( xFailedReadDelay );
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvCDCGetChar( void )
 {
 const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 750UL );

 	if( ulBytesAvailable == 0 )
 	{
 		/* Wait for a transfer to complete. */
 		xEventGroupWaitBits(	xCDCEventBits,
 								cmdRX_COMPLETE_BIT, /* The bit to wait for. */
 								pdTRUE, /* Clear the bit before exiting the function. */
 								pdFALSE, /* Only need to wait for one bit anyway. */
 								xTransferCompleteDelay ); /* The maximum time to wait for the event. */
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvVBusISRHandler( void )
 {
 const Pin xVBusPin = PIN_USB_VBUS;

     /* Check current level on VBus to detect a connect/disconnect. */
     if( PIO_Get( &xVBusPin ) != 0 )
     {
         USBD_Connect();
     }
     else
     {
         USBD_Disconnect();
     }
 }
 /*-----------------------------------------------------------*/

 static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining )
 {
 BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 static uint32_t ulNextRxPosition = 0;

 	( void ) ulUnused;
 	( void ) ucStatus;
 	( void ) ulBytesRemaining;

 	/* If bytes were received then store the number of bytes placed into the Rx
 	buffer. */
 	if( ucStatus == USBD_STATUS_SUCCESS )
 	{
 		ulBytesAvailable += ulBytesReceived;

 		/* Restart the Rx position from a buffer position past the newly
 		received data. */
 		ulNextRxPosition += ulBytesReceived;

 		if( ulNextRxPosition >= cmdMAX_INPUT_SIZE )
 		{
 			ulNextRxPosition = 0;
 		}
 		CDCDSerialDriver_Read( pcRxBuffer + ulNextRxPosition, cmdMAX_INPUT_SIZE - ulNextRxPosition, ( TransferCallback ) prvCDCDataReceivedCallback, 0 );

 		/* Ensure the task knows new data is available. */
 		xEventGroupSetBitsFromISR( xCDCEventBits, cmdRX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
 		portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining )
 {
 BaseType_t xHigherPriorityTaskWoken = pdFALSE;

 	( void ) ulUnused;
 	( void ) ucStatus;
 	( void ) ulBytesRemaining;
 	( void ) ulBytesSent;

 	xEventGroupSetBitsFromISR( xCDCEventBits, cmdTX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
 	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 /*-----------------------------------------------------------*/

 static void prvConfigureVBus( void )
 {
 const Pin xVBusPin = PIN_USB_VBUS;
 const uint32_t ulPriority = 7; /* Highest. */

 	/* Configure PIO to generate an interrupt on status change. */
     PIO_Configure( &xVBusPin, 1 );
     PIO_ConfigureIt( &xVBusPin );

 	/* Ensure interrupt is disabled before setting the mode and installing the
 	handler.  The priority of the tick interrupt should always be set to the
 	lowest possible. */
 	AIC->AIC_SSR  = ID_PIOE;
 	AIC->AIC_IDCR = AIC_IDCR_INTD;
 	AIC->AIC_SMR  = AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE | ulPriority;
 	AIC->AIC_SVR = ( uint32_t ) prvVBusISRHandler;

 	/* Start with the interrupt clear. */
 	AIC->AIC_ICCR = AIC_ICCR_INTCLR;
 	PIO_EnableIt( &xVBusPin );
     AIC_EnableIT( ID_PIOE );

 	/* Check current level on VBus */
 	if( PIO_Get( &xVBusPin ) != pdFALSE )
 	{
 		/* If VBUS present, force the connect */
 		USBD_Connect();
 	}
 	else
 	{
 		USBD_Disconnect();
 	}
 }
 /*-----------------------------------------------------------*/

 void USBDCallbacks_Initialized( void )
 {
 	/* CDC specific re-implementation of weak callback function.  Invoked after
 	the USB driver has been initialised. By default, configures the UDP/UDPHS
 	interrupt.  The interrupt priority is set to the highest to ensure the
 	interrupt nesting tests interfer as little as possible with the USB. */
 	AIC_EnableIT( ID_UDPHS );
 }
 /*-----------------------------------------------------------*/

 void USBDDriverCallbacks_ConfigurationChanged( uint8_t ucConfigNumber )
 {
 	/* CDC specific re-implementation of weak callback function.  Invoked when
 	the configuration of the device changes. Parse used endpoints. */
 	CDCDSerialDriver_ConfigurationChangedHandler( ucConfigNumber );
 }
 /*-----------------------------------------------------------*/

 void USBDCallbacks_RequestReceived( const USBGenericRequest *pxRequest )
 {
 	/* CDC specific re-implementation of weak callback function.  Invoked when
 	a new SETUP request is received from the host. */
 	CDCDSerialDriver_RequestHandler( pxRequest );
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

	1 tab == 4 spaces!

	***************************************************************************
	* *
	* Having a problem? Start by reading the FAQ "My application does *
	* not run, what could be wrong?". Have you defined configASSERT()? *
	* *
	* http://www.FreeRTOS.org/FAQHelp.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 *
	* *
	***************************************************************************

	***************************************************************************
	* *
	* Investing in training allows your team to be as productive as *
	* possible as early as possible, lowering your overall development *
	* cost, and enabling you to bring a more robust product to market *
	* earlier than would otherwise be possible. Richard Barry is both *
	* the architect and key author of FreeRTOS, and so also the world's *
	* leading authority on what is the world's most popular real time *
	* kernel for deeply embedded MCU designs. Obtaining your training *
	* from Richard ensures your team will gain directly from his in-depth *
	* product knowledge and years of usage experience. Contact Real Time *
	* Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
	* by Richard Barry: http://www.FreeRTOS.org/contact
	* *
	***************************************************************************

	***************************************************************************
	* *
	* You are receiving this top quality software for free. Please play *
	* fair and reciprocate by reporting any suspected issues and *
	* participating in the community forum: *
	* http://www.FreeRTOS.org/support *
	* *
	* Thank you! *
	* *
	***************************************************************************

	http://www.FreeRTOS.org - Documentation, books, training, latest versions,
	license and Real Time Engineers Ltd. contact details.

	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 "event_groups.h"

	/* Example includes. */
	#include "FreeRTOS_CLI.h"

	/* Library includes. */
	#include "board.h"
	#include "chip.h"
	#include "USBD.h"
	#include "CDCDSerialDriver.h"

	/-----------------------------------------------------------/

	/* Dimensions the buffer into which input characters are placed. */
	#define cmdMAX_INPUT_SIZE 50

	/* DEL acts as a backspace. */
	#define cmdASCII_DEL ( 0x7F )

	/* The bits in the event group used to signal USB interrupt events to this
	task. */
	#define cmdRX_COMPLETE_BIT ( 0x01 )
	#define cmdTX_COMPLETE_BIT ( 0x02 )
	/-----------------------------------------------------------/

	/*
	* The task that implements the command console processing.
	*/
	static void prvCDCCommandConsoleTask( void *pvParameters );

	/*
	* Initialise the USB hardware and driver.
	*/
	static void prvCDCInit( void );

	/*
	* Handler installed on the VBUS pin to detect connect() and disconnect()
	* events.
	*/
	static void prvVBusISRHandler( void );

	/*
	* USB handler defined by the driver, installed after the CDC driver has been
	* initialised.
	*/
	extern void USBD_IrqHandler( void );

	/*
	* The function that creates the CLI task.
	*/
	void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );

	/*
	* Send xDataLength bytes from pcData to the CDC port.
	*/
	static void prvCDCSend( const char *pcData, size_t xDataLenth );

	/*
	* Initiate a receive into the Rx buffer from the CDC port, then wait for a
	* period for characters to be received.
	*/
	static void prvCDCGetChar( void );

	/*
	* Configure VBus pins and interrupts, and check for connection.
	*/
	static void prvConfigureVBus( void );

	/*
	* Callback which is invoked when a CDC read completes. This callback is
	* passed as a parameter to the CDC receive function.
	*/
	static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining );

	/*
	* Callback which is invoked when a CDC write completes. This callback is
	* passed as a parameter to the CDC send function.
	*/
	static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining );

	/*
	* Keep trying to initiate an Rx until it is started successfully
	*/
	static void prvStartRx( void );

	/-----------------------------------------------------------/

	/* 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";

	/* Buffer into which received characters are placed. */
	static char pcRxBuffer[ cmdMAX_INPUT_SIZE ];

	/* The number of bytes in pcRxBuffer that have not yet been read. */
	static uint32_t ulBytesAvailable = 0;

	/* Used to unblock the task when bytes are received and when bytes have
	completed sending. */
	static EventGroupHandle_t xCDCEventBits;

	/-----------------------------------------------------------/

	void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
	{
	/* Event group used to indicate that bytes are available in the Rx buffer
	or that bytes have finished sending. */
	xCDCEventBits = xEventGroupCreate();
	configASSERT( xCDCEventBits );

	/* Create the task that handles the console itself. */
	xTaskCreate( prvCDCCommandConsoleTask, /* 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 prvCDCCommandConsoleTask( void *pvParameters )
	{
	uint8_t ucInputIndex = 0;
	char *pcOutputString, cRxedChar;
	static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
	BaseType_t xReturned;
	uint32_t ulBufferIndex = 0;

	( 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 CDC driver. */
	prvCDCInit();

	/* Start receiving into the buffer. */
	prvStartRx();

	/* Send the welcome message. */
	prvCDCSend( pcWelcomeMessage, strlen( pcWelcomeMessage ) );

	for( ;; )
	{
	/* Wait for my characters to be available. */
	prvCDCGetChar();

	/* Process the bytes char for char on the assumption that as input comes
	from typing it is unlikely that more than a single byte will be received
	at a time anyway. */
	while( ulBytesAvailable > 0 )
	{
	/* Read next byte from the rx buffer. */
	cRxedChar = pcRxBuffer[ ulBufferIndex ];

	taskENTER_CRITICAL();
	{
	ulBytesAvailable--;
	}
	taskEXIT_CRITICAL();

	/* Echo the character back. */
	prvCDCSend( &cRxedChar, sizeof( cRxedChar ) );

	/* Was it the end of the line? */
	if( cRxedChar == '\n' \|\| cRxedChar == '\r' )
	{
	/* Just to space the output from the input. */
	prvCDCSend( pcNewLine, 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. */
	prvCDCSend( pcOutputString, 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 );

	prvCDCSend( pcEndOfOutputMessage, 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++;
	}
	}
	}
	}

	/* Move onto the next byte the next time around. */
	ulBufferIndex++;
	if( ulBufferIndex >= cmdMAX_INPUT_SIZE )
	{
	ulBufferIndex = 0;
	}
	}
	}
	}
	/-----------------------------------------------------------/

	static void prvCDCInit( void )
	{
	extern WEAK const USBDDriverDescriptors cdcdSerialDriverDescriptors;

	/* If they are present, configure Vbus & Wake-up pins */
	PIO_InitializeInterrupts( 0 );

	/* CDC serial driver initialization */
	CDCDSerialDriver_Initialize( &cdcdSerialDriverDescriptors );

	/* Configure VBus pins and interrupts, and check for connection. */
	prvConfigureVBus();
	}
	/-----------------------------------------------------------/

	static void prvCDCSend( const char *pcData, size_t xDataLength )
	{
	const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 500UL );

	( void ) pcData;
	( void ) xDataLength;

	if( xDataLength > 0 )
	{
	if( CDCDSerialDriver_Write( ( void * ) pcData, xDataLength, ( TransferCallback ) prvCDCDataTransmittedCallback, 0 ) == USBD_STATUS_SUCCESS )
	{
	/* Wait for the transfer to complete. */
	xEventGroupWaitBits( xCDCEventBits,
	cmdTX_COMPLETE_BIT, /* The bit to wait for. */
	pdTRUE, /* Clear the bit before exiting the function. */
	pdFALSE, /* Only need to wait for one bit anyway. */
	xTransferCompleteDelay ); /* The maximum time to wait for the event. */
	}
	}
	}
	/-----------------------------------------------------------/

	static void prvStartRx( void )
	{
	const TickType_t xFailedReadDelay = pdMS_TO_TICKS( 150UL );

	while( CDCDSerialDriver_Read( pcRxBuffer, cmdMAX_INPUT_SIZE, ( TransferCallback ) prvCDCDataReceivedCallback, 0 ) != USBD_STATUS_SUCCESS )
	{
	/* Maybe the CDC is not connected. */
	vTaskDelay( xFailedReadDelay );
	}
	}
	/-----------------------------------------------------------/

	static void prvCDCGetChar( void )
	{
	const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 750UL );

	if( ulBytesAvailable == 0 )
	{
	/* Wait for a transfer to complete. */
	xEventGroupWaitBits( xCDCEventBits,
	cmdRX_COMPLETE_BIT, /* The bit to wait for. */
	pdTRUE, /* Clear the bit before exiting the function. */
	pdFALSE, /* Only need to wait for one bit anyway. */
	xTransferCompleteDelay ); /* The maximum time to wait for the event. */
	}
	}
	/-----------------------------------------------------------/

	static void prvVBusISRHandler( void )
	{
	const Pin xVBusPin = PIN_USB_VBUS;

	/* Check current level on VBus to detect a connect/disconnect. */
	if( PIO_Get( &xVBusPin ) != 0 )
	{
	USBD_Connect();
	}
	else
	{
	USBD_Disconnect();
	}
	}
	/-----------------------------------------------------------/

	static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining )
	{
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
	static uint32_t ulNextRxPosition = 0;

	( void ) ulUnused;
	( void ) ucStatus;
	( void ) ulBytesRemaining;

	/* If bytes were received then store the number of bytes placed into the Rx
	buffer. */
	if( ucStatus == USBD_STATUS_SUCCESS )
	{
	ulBytesAvailable += ulBytesReceived;

	/* Restart the Rx position from a buffer position past the newly
	received data. */
	ulNextRxPosition += ulBytesReceived;

	if( ulNextRxPosition >= cmdMAX_INPUT_SIZE )
	{
	ulNextRxPosition = 0;
	}
	CDCDSerialDriver_Read( pcRxBuffer + ulNextRxPosition, cmdMAX_INPUT_SIZE - ulNextRxPosition, ( TransferCallback ) prvCDCDataReceivedCallback, 0 );

	/* Ensure the task knows new data is available. */
	xEventGroupSetBitsFromISR( xCDCEventBits, cmdRX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
	}
	}
	/-----------------------------------------------------------/

	static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining )
	{
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;

	( void ) ulUnused;
	( void ) ucStatus;
	( void ) ulBytesRemaining;
	( void ) ulBytesSent;

	xEventGroupSetBitsFromISR( xCDCEventBits, cmdTX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
	}
	/-----------------------------------------------------------/

	static void prvConfigureVBus( void )
	{
	const Pin xVBusPin = PIN_USB_VBUS;
	const uint32_t ulPriority = 7; /* Highest. */

	/* Configure PIO to generate an interrupt on status change. */
	PIO_Configure( &xVBusPin, 1 );
	PIO_ConfigureIt( &xVBusPin );

	/* Ensure interrupt is disabled before setting the mode and installing the
	handler. The priority of the tick interrupt should always be set to the
	lowest possible. */
	AIC->AIC_SSR = ID_PIOE;
	AIC->AIC_IDCR = AIC_IDCR_INTD;
	AIC->AIC_SMR = AIC_SMR_SRCTYPE_EXT_POSITIVE_EDGE \| ulPriority;
	AIC->AIC_SVR = ( uint32_t ) prvVBusISRHandler;

	/* Start with the interrupt clear. */
	AIC->AIC_ICCR = AIC_ICCR_INTCLR;
	PIO_EnableIt( &xVBusPin );
	AIC_EnableIT( ID_PIOE );

	/* Check current level on VBus */
	if( PIO_Get( &xVBusPin ) != pdFALSE )
	{
	/* If VBUS present, force the connect */
	USBD_Connect();
	}
	else
	{
	USBD_Disconnect();
	}
	}
	/-----------------------------------------------------------/

	void USBDCallbacks_Initialized( void )
	{
	/* CDC specific re-implementation of weak callback function. Invoked after
	the USB driver has been initialised. By default, configures the UDP/UDPHS
	interrupt. The interrupt priority is set to the highest to ensure the
	interrupt nesting tests interfer as little as possible with the USB. */
	AIC_EnableIT( ID_UDPHS );
	}
	/-----------------------------------------------------------/

	void USBDDriverCallbacks_ConfigurationChanged( uint8_t ucConfigNumber )
	{
	/* CDC specific re-implementation of weak callback function. Invoked when
	the configuration of the device changes. Parse used endpoints. */
	CDCDSerialDriver_ConfigurationChangedHandler( ucConfigNumber );
	}
	/-----------------------------------------------------------/

	void USBDCallbacks_RequestReceived( const USBGenericRequest *pxRequest )
	{
	/* CDC specific re-implementation of weak callback function. Invoked when
	a new SETUP request is received from the host. */
	CDCDSerialDriver_RequestHandler( pxRequest );
	}
	/-----------------------------------------------------------/