| /* | |
| 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. | |
| 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 | |
| #define cmdQUEUE_LENGTH 25 | |
| /* DEL acts as a backspace. */ | |
| #define cmdASCII_DEL ( 0x7F ) | |
| #define cmdMAX_MUTEX_WAIT ( ( ( TickType_t ) 300 ) / ( portTICK_PERIOD_MS ) ) | |
| #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"; | |
| SemaphoreHandle_t xTxMutex = NULL; | |
| 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 ]; | |
| portBASE_TYPE 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, 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, 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, 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, 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, strlen( pcMessage ) ); | |
| xSemaphoreGive( xTxMutex ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |