| /* | |
| 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! | |
| */ | |
| /* 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 ); | |
| } | |