2 FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 * NOTE: This file uses a third party USB CDC driver.
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70 /* Standard includes. */
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74 /* FreeRTOS includes. */
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75 #include "FreeRTOS.h"
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77 #include "event_groups.h"
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79 /* Example includes. */
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80 #include "FreeRTOS_CLI.h"
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82 /* Library includes. */
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86 #include "CDCDSerialDriver.h"
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88 /*-----------------------------------------------------------*/
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90 /* Dimensions the buffer into which input characters are placed. */
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91 #define cmdMAX_INPUT_SIZE 50
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93 /* DEL acts as a backspace. */
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94 #define cmdASCII_DEL ( 0x7F )
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96 /* The bits in the event group used to signal USB interrupt events to this
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98 #define cmdRX_COMPLETE_BIT ( 0x01 )
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99 #define cmdTX_COMPLETE_BIT ( 0x02 )
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100 /*-----------------------------------------------------------*/
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103 * The task that implements the command console processing.
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105 static void prvCDCCommandConsoleTask( void *pvParameters );
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108 * Initialise the USB hardware and driver.
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110 static void prvCDCInit( void );
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113 * Handler installed on the VBUS pin to detect connect() and disconnect()
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116 static void prvVBusISRHandler( const Pin *pxPin );
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119 * USB handler defined by the driver, installed after the CDC driver has been
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122 extern void USBD_IrqHandler( void );
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125 * The function that creates the CLI task.
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127 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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130 * Send xDataLength bytes from pcData to the CDC port.
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132 static void prvCDCSend( const char *pcData, size_t xDataLenth );
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135 * Initiate a receive into the Rx buffer from the CDC port, then wait for a
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136 * period for characters to be received.
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138 static void prvCDCGetChar( void );
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141 * Configure VBus pins and interrupts, and check for connection.
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143 static void prvConfigureVBus( void );
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146 * Callback which is invoked when a CDC read completes. This callback is
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147 * passed as a parameter to the CDC receive function.
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149 static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining );
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152 * Callback which is invoked when a CDC write completes. This callback is
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153 * passed as a parameter to the CDC send function.
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155 static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining );
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158 * Keep trying to initiate an Rx until it is started successfully
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160 static void prvStartRx( void );
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162 /*-----------------------------------------------------------*/
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164 /* Const messages output by the command console. */
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165 static const char * const pcWelcomeMessage = "FreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>";
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166 static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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167 static const char * const pcNewLine = "\r\n";
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169 /* Buffer into which received characters are placed. */
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170 static char pcRxBuffer[ cmdMAX_INPUT_SIZE ];
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172 /* The number of bytes in pcRxBuffer that have not yet been read. */
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173 static uint32_t ulBytesAvailable = 0;
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175 /* Used to unblock the task when bytes are received and when bytes have
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176 completed sending. */
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177 static EventGroupHandle_t xCDCEventBits;
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179 /*-----------------------------------------------------------*/
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181 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
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183 /* Event group used to indicate that bytes are available in the Rx buffer
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184 or that bytes have finished sending. */
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185 xCDCEventBits = xEventGroupCreate();
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186 configASSERT( xCDCEventBits );
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188 /* Create the task that handles the console itself. */
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189 xTaskCreate( prvCDCCommandConsoleTask, /* The task that implements the command console. */
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190 "CLI", /* Text name assigned to the task. This is just to assist debugging. The kernel does not use this name itself. */
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191 usStackSize, /* The size of the stack allocated to the task. */
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192 NULL, /* The parameter is not used, so NULL is passed. */
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193 uxPriority, /* The priority allocated to the task. */
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194 NULL ); /* A handle is not required, so just pass NULL. */
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196 /*-----------------------------------------------------------*/
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198 static void prvCDCCommandConsoleTask( void *pvParameters )
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200 uint8_t ucInputIndex = 0;
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201 char *pcOutputString, cRxedChar;
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202 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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203 BaseType_t xReturned;
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204 uint32_t ulBufferIndex = 0;
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206 ( void ) pvParameters;
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208 /* Obtain the address of the output buffer. Note there is no mutual
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209 exclusion on this buffer as it is assumed only one command console interface
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210 will be used at any one time. */
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211 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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213 /* Initialise the CDC driver. */
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216 /* Start receiving into the buffer. */
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219 /* Send the welcome message. */
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220 prvCDCSend( pcWelcomeMessage, strlen( pcWelcomeMessage ) );
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224 /* Wait for my characters to be available. */
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227 /* Process the bytes char for char on the assumption that as input comes
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228 from typing it is unlikely that more than a single byte will be received
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229 at a time anyway. */
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230 while( ulBytesAvailable > 0 )
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232 /* Read next byte from the rx buffer. */
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233 cRxedChar = pcRxBuffer[ ulBufferIndex ];
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235 taskENTER_CRITICAL();
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237 ulBytesAvailable--;
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239 taskEXIT_CRITICAL();
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241 /* Echo the character back. */
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242 prvCDCSend( &cRxedChar, sizeof( cRxedChar ) );
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244 /* Was it the end of the line? */
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245 if( cRxedChar == '\n' || cRxedChar == '\r' )
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247 /* Just to space the output from the input. */
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248 prvCDCSend( pcNewLine, strlen( pcNewLine ) );
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250 /* See if the command is empty, indicating that the last command
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251 is to be executed again. */
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252 if( ucInputIndex == 0 )
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254 /* Copy the last command back into the input string. */
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255 strcpy( cInputString, cLastInputString );
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258 /* Pass the received command to the command interpreter. The
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259 command interpreter is called repeatedly until it returns
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260 pdFALSE (indicating there is no more output) as it might
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261 generate more than one string. */
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264 /* Get the next output string from the command interpreter. */
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265 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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267 /* Write the generated string to the UART. */
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268 prvCDCSend( pcOutputString, strlen( pcOutputString ) );
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270 } while( xReturned != pdFALSE );
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272 /* All the strings generated by the input command have been
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273 sent. Clear the input string ready to receive the next command.
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274 Remember the command that was just processed first in case it is
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275 to be processed again. */
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276 strcpy( cLastInputString, cInputString );
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278 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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280 prvCDCSend( pcEndOfOutputMessage, strlen( pcEndOfOutputMessage ) );
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284 if( cRxedChar == '\r' )
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286 /* Ignore the character. */
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288 else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) )
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290 /* Backspace was pressed. Erase the last character in the
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291 string - if any. */
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292 if( ucInputIndex > 0 )
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295 cInputString[ ucInputIndex ] = '\0';
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300 /* A character was entered. Add it to the string entered so
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301 far. When a \n is entered the complete string will be
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302 passed to the command interpreter. */
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303 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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305 if( ucInputIndex < cmdMAX_INPUT_SIZE )
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307 cInputString[ ucInputIndex ] = cRxedChar;
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314 /* Move onto the next byte the next time around. */
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316 if( ulBufferIndex >= cmdMAX_INPUT_SIZE )
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323 /*-----------------------------------------------------------*/
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325 static void prvCDCInit( void )
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327 extern WEAK const USBDDriverDescriptors cdcdSerialDriverDescriptors;
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329 /* If they are present, configure Vbus & Wake-up pins */
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330 PIO_InitializeInterrupts( 0 );
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332 /* CDC serial driver initialization */
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333 CDCDSerialDriver_Initialize( &cdcdSerialDriverDescriptors );
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335 /* Configure VBus pins and interrupts, and check for connection. */
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336 prvConfigureVBus();
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338 /*-----------------------------------------------------------*/
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340 static void prvCDCSend( const char *pcData, size_t xDataLength )
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342 const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 500UL );
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345 ( void ) xDataLength;
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347 if( xDataLength > 0 )
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349 if( CDCDSerialDriver_Write( ( void * ) pcData, xDataLength, ( TransferCallback ) prvCDCDataTransmittedCallback, 0 ) == USBD_STATUS_SUCCESS )
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351 /* Wait for the transfer to complete. */
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352 xEventGroupWaitBits( xCDCEventBits,
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353 cmdTX_COMPLETE_BIT, /* The bit to wait for. */
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354 pdTRUE, /* Clear the bit before exiting the function. */
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355 pdFALSE, /* Only need to wait for one bit anyway. */
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356 xTransferCompleteDelay ); /* The maximum time to wait for the event. */
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360 /*-----------------------------------------------------------*/
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362 static void prvStartRx( void )
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364 const TickType_t xFailedReadDelay = pdMS_TO_TICKS( 150UL );
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366 while( CDCDSerialDriver_Read( pcRxBuffer, cmdMAX_INPUT_SIZE, ( TransferCallback ) prvCDCDataReceivedCallback, 0 ) != USBD_STATUS_SUCCESS )
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368 /* Maybe the CDC is not connected. */
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369 vTaskDelay( xFailedReadDelay );
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372 /*-----------------------------------------------------------*/
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374 static void prvCDCGetChar( void )
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376 const TickType_t xTransferCompleteDelay = pdMS_TO_TICKS( 750UL );
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378 if( ulBytesAvailable == 0 )
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380 /* Wait for a transfer to complete. */
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381 xEventGroupWaitBits( xCDCEventBits,
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382 cmdRX_COMPLETE_BIT, /* The bit to wait for. */
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383 pdTRUE, /* Clear the bit before exiting the function. */
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384 pdFALSE, /* Only need to wait for one bit anyway. */
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385 xTransferCompleteDelay ); /* The maximum time to wait for the event. */
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388 /*-----------------------------------------------------------*/
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390 static void prvVBusISRHandler( const Pin *pxPin )
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392 /* NOTE: As this was written for the XPlained board, which is powered
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393 through the USB and cannot be on without the USB connected, this function
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394 has not been exercised. */
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396 /* Check current level on VBus to detect a connect/disconnect. */
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397 if( PIO_Get( pxPin ) != 0 )
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406 /*-----------------------------------------------------------*/
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408 static void prvCDCDataReceivedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesReceived, uint32_t ulBytesRemaining )
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410 BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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411 static uint32_t ulNextRxPosition = 0;
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415 ( void ) ulBytesRemaining;
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417 /* If bytes were received then store the number of bytes placed into the Rx
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419 if( ucStatus == USBD_STATUS_SUCCESS )
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421 ulBytesAvailable += ulBytesReceived;
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423 /* Restart the Rx position from a buffer position past the newly
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425 ulNextRxPosition += ulBytesReceived;
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427 if( ulNextRxPosition >= cmdMAX_INPUT_SIZE )
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429 ulNextRxPosition = 0;
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431 CDCDSerialDriver_Read( pcRxBuffer + ulNextRxPosition, cmdMAX_INPUT_SIZE - ulNextRxPosition, ( TransferCallback ) prvCDCDataReceivedCallback, 0 );
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433 /* Ensure the task knows new data is available. */
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434 xEventGroupSetBitsFromISR( xCDCEventBits, cmdRX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
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435 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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438 /*-----------------------------------------------------------*/
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440 static void prvCDCDataTransmittedCallback( uint32_t ulUnused, uint8_t ucStatus, uint32_t ulBytesSent, uint32_t ulBytesRemaining )
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442 BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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446 ( void ) ulBytesRemaining;
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447 ( void ) ulBytesSent;
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449 xEventGroupSetBitsFromISR( xCDCEventBits, cmdTX_COMPLETE_BIT, &xHigherPriorityTaskWoken );
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450 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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452 /*-----------------------------------------------------------*/
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454 static void prvConfigureVBus( void )
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456 const Pin xVBusPin = PIN_USB_VBUS;
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458 /* Configure PIO to generate an interrupt on status change. */
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459 PIO_Configure( &xVBusPin, 1 );
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460 PIO_ConfigureIt( &xVBusPin, prvVBusISRHandler );
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461 PIO_EnableIt( &xVBusPin );
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463 /* Check current level on VBus */
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464 if( PIO_Get( &xVBusPin ) != pdFALSE )
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466 /* if VBUS present, force the connect */
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474 /*-----------------------------------------------------------*/
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476 void USBDCallbacks_Initialized( void )
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478 /* CDC specific re-implementation of weak callback function. Invoked after
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479 the USB driver has been initialised. By default, configures the UDP/UDPHS
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481 IRQ_ConfigureIT( ID_UDPHS, 0, USBD_IrqHandler );
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482 IRQ_EnableIT( ID_UDPHS );
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484 /*-----------------------------------------------------------*/
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486 void USBDDriverCallbacks_ConfigurationChanged( uint8_t ucConfigNumber )
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488 /* CDC specific re-implementation of weak callback function. Invoked when
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489 the configuration of the device changes. Parse used endpoints. */
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490 CDCDSerialDriver_ConfigurationChangedHandler( ucConfigNumber );
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492 /*-----------------------------------------------------------*/
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494 void USBDCallbacks_RequestReceived( const USBGenericRequest *pxRequest )
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496 /* CDC specific re-implementation of weak callback function. Invoked when
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497 a new SETUP request is received from the host. */
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498 CDCDSerialDriver_RequestHandler( pxRequest );
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500 /*-----------------------------------------------------------*/
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