/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 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! | |
*/ | |
/* Standard includes. */ | |
#include "string.h" | |
#include "stdio.h" | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
/* Library includes. */ | |
#include "asf.h" | |
/* Example includes. */ | |
#include "FreeRTOS_CLI.h" | |
#include "UARTCommandConsole.h" | |
/* Dimensions the buffer into which input characters are placed. */ | |
#define cmdMAX_INPUT_SIZE 50 | |
/* The maximum time in ticks to wait for the UART access mutex. */ | |
#define cmdMAX_MUTEX_WAIT ( 200 / portTICK_PERIOD_MS ) | |
/* Characters are only ever received slowly on the CLI so it is ok to pass | |
received characters from the UART interrupt to the task on a queue. This sets | |
the length of the queue used for that purpose. */ | |
#define cmdRXED_CHARS_QUEUE_LENGTH ( 10 ) | |
/* DEL acts as a backspace. */ | |
#define cmdASCII_DEL ( 0x7F ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The task that implements the command console processing. | |
*/ | |
static void prvUARTCommandConsoleTask( void *pvParameters ); | |
/* | |
* Ensure a previous interrupt driven Tx has completed before sending the next | |
* data block to the UART. | |
*/ | |
static void prvSendBuffer( struct usart_module *pxCDCUsart, const char * pcBuffer, size_t xBufferLength ); | |
/* | |
* Register the 'standard' sample CLI commands with FreeRTOS+CLI. | |
*/ | |
extern void vRegisterSampleCLICommands( void ); | |
/* | |
* Configure the UART used for IO.and register prvUARTRxNotificationHandler() | |
* to handle UART Rx events. | |
*/ | |
static void prvConfigureUART( struct usart_module *pxCDCUsart ); | |
/* | |
* Callback functions registered with the Atmel UART driver. Both functions | |
* just 'give' a semaphore to unblock a task that may be waiting for a | |
* character to be received, or a transmission to complete. | |
*/ | |
static void prvUARTTxNotificationHandler( const struct usart_module *const pxUSART ); | |
static void prvUARTRxNotificationHandler( const struct usart_module *const pxUSART ); | |
/*-----------------------------------------------------------*/ | |
/* Const messages output by the command console. */ | |
static char * const pcWelcomeMessage = "\r\n\r\nFreeRTOS 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"; | |
/* This semaphore is used to allow the task to wait for a Tx to complete | |
without wasting any CPU time. */ | |
static SemaphoreHandle_t xTxCompleteSemaphore = NULL; | |
/* This semaphore is sued to allow the task to wait for an Rx to complete | |
without wasting any CPU time. */ | |
static SemaphoreHandle_t xRxCompleteSemaphore = NULL; | |
/*-----------------------------------------------------------*/ | |
void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority ) | |
{ | |
vRegisterSampleCLICommands(); | |
/* 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 ) | |
{ | |
char cRxedChar, *pcOutputString; | |
uint8_t ucInputIndex = 0; | |
static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ]; | |
portBASE_TYPE xReturned; | |
static struct usart_module xCDCUsart; /* Static so it doesn't take up too much stack. */ | |
( void ) pvParameters; | |
/* A UART is used for printf() output and CLI input and output. Note there | |
is no mutual exclusion on the UART, but the demo as it stands does not | |
require mutual exclusion. */ | |
prvConfigureUART( &xCDCUsart ); | |
/* 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(); | |
/* Send the welcome message. */ | |
prvSendBuffer( &xCDCUsart, pcWelcomeMessage, strlen( pcWelcomeMessage ) ); | |
for( ;; ) | |
{ | |
/* Wait for the next character to arrive. A semaphore is used to | |
ensure no CPU time is used until data has arrived. */ | |
usart_read_buffer_job( &xCDCUsart, ( uint8_t * ) &cRxedChar, sizeof( cRxedChar ) ); | |
if( xSemaphoreTake( xRxCompleteSemaphore, portMAX_DELAY ) == pdPASS ) | |
{ | |
/* Echo the character back. */ | |
prvSendBuffer( &xCDCUsart, &cRxedChar, sizeof( cRxedChar ) ); | |
/* Was it the end of the line? */ | |
if( cRxedChar == '\n' || cRxedChar == '\r' ) | |
{ | |
/* Just to space the output from the input. */ | |
prvSendBuffer( &xCDCUsart, 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. */ | |
prvSendBuffer( &xCDCUsart, 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 ); | |
prvSendBuffer( &xCDCUsart, 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++; | |
} | |
} | |
} | |
} | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSendBuffer( struct usart_module *pxCDCUsart, const char * pcBuffer, size_t xBufferLength ) | |
{ | |
const TickType_t xBlockMax100ms = 100UL / portTICK_PERIOD_MS; | |
if( xBufferLength > 0 ) | |
{ | |
usart_write_buffer_job( pxCDCUsart, ( uint8_t * ) pcBuffer, xBufferLength ); | |
/* Wait for the Tx to complete so the buffer can be reused without | |
corrupting the data that is being sent. */ | |
xSemaphoreTake( xTxCompleteSemaphore, xBlockMax100ms ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvConfigureUART( struct usart_module *pxCDCUsart ) | |
{ | |
struct usart_config xUARTConfig; | |
/* This semaphore is used to allow the task to wait for the Tx to complete | |
without wasting any CPU time. */ | |
vSemaphoreCreateBinary( xTxCompleteSemaphore ); | |
configASSERT( xTxCompleteSemaphore ); | |
/* This semaphore is used to allow the task to block for an Rx to complete | |
without wasting any CPU time. */ | |
vSemaphoreCreateBinary( xRxCompleteSemaphore ); | |
configASSERT( xRxCompleteSemaphore ); | |
/* Take the semaphores so they start in the wanted state. A block time is | |
not necessary, and is therefore set to 0, as it is known that the semaphores | |
exists - they have just been created. */ | |
xSemaphoreTake( xTxCompleteSemaphore, 0 ); | |
xSemaphoreTake( xRxCompleteSemaphore, 0 ); | |
/* Configure the hardware. */ | |
usart_get_config_defaults( &xUARTConfig ); | |
xUARTConfig.baudrate = 115200; | |
xUARTConfig.mux_setting = EDBG_CDC_SERCOM_MUX_SETTING; | |
xUARTConfig.pinmux_pad0 = EDBG_CDC_SERCOM_PINMUX_PAD0; | |
xUARTConfig.pinmux_pad1 = EDBG_CDC_SERCOM_PINMUX_PAD1; | |
xUARTConfig.pinmux_pad2 = EDBG_CDC_SERCOM_PINMUX_PAD2; | |
xUARTConfig.pinmux_pad3 = EDBG_CDC_SERCOM_PINMUX_PAD3; | |
while( usart_init( pxCDCUsart, EDBG_CDC_MODULE, &xUARTConfig ) != STATUS_OK ) | |
{ | |
/* Nothing to do here. Should include a timeout really but this is | |
init code only. */ | |
} | |
usart_enable( pxCDCUsart ); | |
/* Register the driver callbacks. */ | |
usart_register_callback( pxCDCUsart, prvUARTTxNotificationHandler, USART_CALLBACK_BUFFER_TRANSMITTED ); | |
usart_register_callback( pxCDCUsart, prvUARTRxNotificationHandler, USART_CALLBACK_BUFFER_RECEIVED ); | |
usart_enable_callback( pxCDCUsart, USART_CALLBACK_BUFFER_TRANSMITTED ); | |
usart_enable_callback( pxCDCUsart, USART_CALLBACK_BUFFER_RECEIVED ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvUARTRxNotificationHandler( const struct usart_module *const pxUSART ) | |
{ | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
/* Remove compiler warnings. */ | |
( void ) pxUSART; | |
/* Give the semaphore to unblock any tasks that might be waiting for an Rx | |
to complete. If a task is unblocked, and the unblocked task has a priority | |
above the currently running task, then xHigherPriorityTaskWoken will be set | |
to pdTRUE inside the xSemaphoreGiveFromISR() function. */ | |
xSemaphoreGiveFromISR( xRxCompleteSemaphore, &xHigherPriorityTaskWoken ); | |
/* portEND_SWITCHING_ISR() or portYIELD_FROM_ISR() can be used here. */ | |
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvUARTTxNotificationHandler( const struct usart_module *const pxUSART ) | |
{ | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
/* Remove compiler warnings. */ | |
( void ) pxUSART; | |
/* Give the semaphore to unblock any tasks that might be waiting for a Tx | |
to complete. If a task is unblocked, and the unblocked task has a priority | |
above the currently running task, then xHigherPriorityTaskWoken will be set | |
to pdTRUE inside the xSemaphoreGiveFromISR() function. */ | |
xSemaphoreGiveFromISR( xTxCompleteSemaphore, &xHigherPriorityTaskWoken ); | |
/* portEND_SWITCHING_ISR() or portYIELD_FROM_ISR() can be used here. */ | |
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); | |
} | |