/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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 from 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?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and 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. | |
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*/ | |
/* | |
* 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" | |
/* Driver includes. */ | |
#include "usbhw.h" | |
#include "cdcuser.h" | |
#include "usbcfg.h" | |
#include "usbuser.h" | |
/* Example includes. */ | |
#include "FreeRTOS_CLI.h" | |
#include "CDCCommandConsole.h" | |
/* Dimensions the buffer into which input characters are placed. */ | |
#define cmdMAX_INPUT_SIZE 50 | |
/* The maximum time in ticks to wait for the CDC access mutex. */ | |
#define cmdMAX_MUTEX_WAIT ( 200 / portTICK_RATE_MS ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The task that implements the command console processing. | |
*/ | |
static void prvCDCCommandConsoleTask( void *pvParameters ); | |
/* | |
* Obtain a character from the CDC input. The calling task will be held in the | |
* Blocked state (so other tasks can execute) until a character is avilable. | |
*/ | |
char cGetCDCChar( void ); | |
/* | |
* Initialise the third party virtual comport files driver | |
*/ | |
static void prvSetupUSBDrivers( void ); | |
/*-----------------------------------------------------------*/ | |
/* 'Given' by the CDC interrupt to unblock the receiving task when new data | |
is available. */ | |
static xSemaphoreHandle xNewDataSemaphore = NULL; | |
/* Used to guard access to the CDC output, which is used by more than one | |
task. */ | |
static xSemaphoreHandle xCDCMutex = NULL; | |
/* 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"; | |
/*-----------------------------------------------------------*/ | |
void vCDCCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority ) | |
{ | |
/* Create the semaphores and mutexes used by the CDC to task interface. */ | |
xCDCMutex = xSemaphoreCreateMutex(); | |
vSemaphoreCreateBinary( xNewDataSemaphore ); | |
configASSERT( xCDCMutex ); | |
configASSERT( xNewDataSemaphore ); | |
/* Add the semaphore and mutex to the queue registry for viewing in the | |
kernel aware state viewer. */ | |
vQueueAddToRegistry( xCDCMutex, "CDCMu" ); | |
vQueueAddToRegistry( xNewDataSemaphore, "CDCDat" ); | |
/* Create that task that handles the console itself. */ | |
xTaskCreate( prvCDCCommandConsoleTask, /* The task that implements the command console. */ | |
"CDCCmd", /* 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 ) | |
{ | |
char cRxedChar; | |
uint8_t ucInputIndex = 0; | |
char *pcOutputString; | |
static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ]; | |
portBASE_TYPE xReturned; | |
( 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 virtual com port (CDC) interface. */ | |
prvSetupUSBDrivers(); | |
/* Send the welcome message. This probably won't be seen as the console | |
will not have been connected yet. */ | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) pcWelcomeMessage, strlen( pcWelcomeMessage ) ); | |
for( ;; ) | |
{ | |
/* No characters received yet for the current input string. */ | |
cRxedChar = 0; | |
/* Only interested in reading one character at a time. */ | |
cRxedChar = cGetCDCChar(); | |
if( xSemaphoreTake( xCDCMutex, cmdMAX_MUTEX_WAIT ) == pdPASS ) | |
{ | |
/* Echo the character back. */ | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) &cRxedChar, sizeof( uint8_t ) ); | |
/* Was it the end of the line? */ | |
if( cRxedChar == '\n' || cRxedChar == '\r' ) | |
{ | |
/* Just to space the output from the input. */ | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) 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 CDC. */ | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) pcOutputString, strlen( pcOutputString ) ); | |
vTaskDelay( 1 ); | |
} 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 ); | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) pcEndOfOutputMessage, strlen( pcEndOfOutputMessage ) ); | |
} | |
else | |
{ | |
if( cRxedChar == '\r' ) | |
{ | |
/* Ignore the character. */ | |
} | |
else if( cRxedChar == '\b' ) | |
{ | |
/* 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( xCDCMutex ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vOutputString( const char * const pcMessage ) | |
{ | |
if( xSemaphoreTake( xCDCMutex, cmdMAX_MUTEX_WAIT ) == pdPASS ) | |
{ | |
USB_WriteEP( CDC_DEP_IN, ( uint8_t * ) pcMessage, strlen( pcMessage ) ); | |
xSemaphoreGive( xCDCMutex ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
char cGetCDCChar( void ) | |
{ | |
int32_t lAvailableBytes, xBytes = 0; | |
char cInputChar; | |
do | |
{ | |
/* Are there any characters already available? */ | |
CDC_OutBufAvailChar( &lAvailableBytes ); | |
if( lAvailableBytes > 0 ) | |
{ | |
if( xSemaphoreTake( xCDCMutex, cmdMAX_MUTEX_WAIT ) == pdPASS ) | |
{ | |
/* Attempt to read one character. */ | |
xBytes = 1; | |
xBytes = CDC_RdOutBuf( &cInputChar, &xBytes ); | |
xSemaphoreGive( xCDCMutex ); | |
} | |
} | |
if( xBytes == 0 ) | |
{ | |
/* A character was not available. Wait until signalled by the | |
CDC Rx callback function that new data has arrived. */ | |
xSemaphoreTake( xNewDataSemaphore, portMAX_DELAY ); | |
} | |
} while( xBytes == 0 ); | |
return cInputChar; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Callback function executed by the USB interrupt when new data arrives. */ | |
void vCDCNewDataNotify( void ) | |
{ | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
configASSERT( xNewDataSemaphore ); | |
/* 'Give' the semaphore that signals the arrival of new data to the command | |
console task. */ | |
xSemaphoreGiveFromISR( xNewDataSemaphore, &xHigherPriorityTaskWoken ); | |
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupUSBDrivers( void ) | |
{ | |
LPC_USBDRV_INIT_T xUSBCallback; | |
/* Initialise the callback structure. */ | |
memset( ( void * ) &xUSBCallback, 0, sizeof( LPC_USBDRV_INIT_T ) ); | |
xUSBCallback.USB_Reset_Event = USB_Reset_Event; | |
xUSBCallback.USB_P_EP[ 0 ] = USB_EndPoint0; | |
xUSBCallback.USB_P_EP[ 1 ] = USB_EndPoint1; | |
xUSBCallback.USB_P_EP[ 2 ] = USB_EndPoint2; | |
xUSBCallback.ep0_maxp = USB_MAX_PACKET0; | |
/* Initialise then connect the USB. */ | |
USB_Init( &xUSBCallback ); | |
USB_Connect( pdTRUE ); | |
} |