2 FreeRTOS V7.6.0 - Copyright (C) 2013 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 distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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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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66 /* Standard includes. */
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70 /* FreeRTOS includes. */
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71 #include "FreeRTOS.h"
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75 /* Driver includes. */
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76 #include "drivers/mss_uart/mss_uart.h"
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78 /* Example includes. */
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79 #include "FreeRTOS_CLI.h"
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80 #include "UARTCommandConsole.h"
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82 /* Dimensions the buffer into which input characters are placed. */
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83 #define cmdMAX_INPUT_SIZE 50
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85 /* The maximum time in ticks to wait for the UART access mutex. */
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86 #define cmdMAX_MUTEX_WAIT ( 200 / portTICK_RATE_MS )
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88 /* Characters are only ever received slowly on the CLI so it is ok to pass
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89 received characters from the UART interrupt to the task on a queue. This sets
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90 the length of the queue used for that purpose. */
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91 #define cmdRXED_CHARS_QUEUE_LENGTH ( 10 )
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93 /*-----------------------------------------------------------*/
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96 * The task that implements the command console processing.
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98 static void prvUARTCommandConsoleTask( void *pvParameters );
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101 * Ensure a previous interrupt driven Tx has completed before sending the next
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102 * data block to the UART.
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104 static void prvSendBuffer( const uint8_t * pcBuffer, size_t xBufferLength );
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107 * A UART is used for printf() output and CLI input and output. Configure the
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108 * UART and register prvUARTRxNotificationHandler() to handle UART Rx events.
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110 static void prvConfigureUART( void );
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111 static void prvUARTRxNotificationHandler( mss_uart_instance_t * this_uart );
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113 /*-----------------------------------------------------------*/
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115 /* Const messages output by the command console. */
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116 static const uint8_t * const pcWelcomeMessage = ( uint8_t * ) "\r\n\r\nFreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>";
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117 static const uint8_t * const pcEndOfOutputMessage = ( uint8_t * ) "\r\n[Press ENTER to execute the previous command again]\r\n>";
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118 static const uint8_t * const pcNewLine = ( uint8_t * ) "\r\n";
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120 /* The UART used by the CLI. */
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121 #if configBUILD_FOR_DEVELOPMENT_KIT == 1
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122 static const mss_uart_instance_t * const pxUART = &g_mss_uart1;
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123 static const IRQn_Type xUART_IRQ = UART1_IRQn;
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125 static const mss_uart_instance_t * const pxUART = &g_mss_uart0;
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126 static const IRQn_Type xUART_IRQ = UART0_IRQn;
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129 /* Because characters are received slowly (at the speed somebody can type) then
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130 it is ok to pass received characters from the Rx interrupt to the task on a
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131 queue. This is the queue used for that purpose. */
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132 static xQueueHandle xRxedChars = NULL;
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134 /*-----------------------------------------------------------*/
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136 void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority )
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138 /* A UART is used for printf() output and CLI input and output. Note there
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139 is no mutual exclusion on the UART, but the demo as it stands does not
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140 require mutual exclusion. */
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141 prvConfigureUART();
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143 /* Create that task that handles the console itself. */
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144 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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145 "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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146 usStackSize, /* The size of the stack allocated to the task. */
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147 NULL, /* The parameter is not used, so NULL is passed. */
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148 uxPriority, /* The priority allocated to the task. */
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149 NULL ); /* A handle is not required, so just pass NULL. */
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151 /*-----------------------------------------------------------*/
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153 static void prvUARTCommandConsoleTask( void *pvParameters )
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155 int8_t cRxedChar, cInputIndex = 0, *pcOutputString;
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156 static int8_t cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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157 portBASE_TYPE xReturned;
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159 ( void ) pvParameters;
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161 /* Obtain the address of the output buffer. Note there is no mutual
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162 exclusion on this buffer as it is assumed only one command console
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163 interface will be used at any one time. */
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164 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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166 /* Send the welcome message. */
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167 prvSendBuffer( pcWelcomeMessage, strlen( ( char * ) pcWelcomeMessage ) );
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171 /* Wait for the next character to arrive. */
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172 if( xQueueReceive( xRxedChars, &cRxedChar, portMAX_DELAY ) == pdPASS )
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174 /* Echo the character back. */
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175 prvSendBuffer( ( uint8_t * ) &cRxedChar, sizeof( cRxedChar ) );
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177 /* Was it the end of the line? */
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178 if( cRxedChar == '\n' || cRxedChar == '\r' )
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180 /* Just to space the output from the input. */
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181 prvSendBuffer( ( uint8_t * ) pcNewLine, strlen( ( char * ) pcNewLine ) );
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183 /* See if the command is empty, indicating that the last command is
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184 to be executed again. */
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185 if( cInputIndex == 0 )
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187 /* Copy the last command back into the input string. */
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188 strcpy( ( char * ) cInputString, ( char * ) cLastInputString );
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191 /* Pass the received command to the command interpreter. The
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192 command interpreter is called repeatedly until it returns pdFALSE
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193 (indicating there is no more output) as it might generate more than
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197 /* Get the next output string from the command interpreter. */
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198 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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200 /* Write the generated string to the UART. */
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201 prvSendBuffer( ( uint8_t * ) pcOutputString, strlen( ( char * ) pcOutputString ) );
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203 } while( xReturned != pdFALSE );
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205 /* All the strings generated by the input command have been sent.
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206 Clear the input string ready to receive the next command. Remember
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207 the command that was just processed first in case it is to be
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208 processed again. */
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209 strcpy( ( char * ) cLastInputString, ( char * ) cInputString );
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211 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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213 prvSendBuffer( ( uint8_t * ) pcEndOfOutputMessage, strlen( ( char * ) pcEndOfOutputMessage ) );
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217 if( cRxedChar == '\r' )
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219 /* Ignore the character. */
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221 else if( cRxedChar == '\b' )
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223 /* Backspace was pressed. Erase the last character in the
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224 string - if any. */
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225 if( cInputIndex > 0 )
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228 cInputString[ cInputIndex ] = '\0';
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233 /* A character was entered. Add it to the string
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234 entered so far. When a \n is entered the complete
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235 string will be passed to the command interpreter. */
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236 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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238 if( cInputIndex < cmdMAX_INPUT_SIZE )
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240 cInputString[ cInputIndex ] = cRxedChar;
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249 /*-----------------------------------------------------------*/
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251 static void prvSendBuffer( const uint8_t * pcBuffer, size_t xBufferLength )
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253 const portTickType xVeryShortDelay = 2UL;
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255 if( xBufferLength > 0 )
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257 MSS_UART_irq_tx( ( mss_uart_instance_t * ) pxUART, pcBuffer, xBufferLength );
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259 /* Ensure any previous transmissions have completed. The default UART
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260 interrupt does not provide an event based method of signally the end of a Tx
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261 - this is therefore a crude poll of the Tx end status. Replacing the
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262 default UART handler with one that 'gives' a semaphore when the Tx is
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263 complete would allow this poll loop to be replaced by a simple semaphore
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265 while( MSS_UART_tx_complete( ( mss_uart_instance_t * ) pxUART ) == pdFALSE )
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267 vTaskDelay( xVeryShortDelay );
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271 /*-----------------------------------------------------------*/
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273 static void prvConfigureUART( void )
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275 /* Initialise the UART which is used for printf() and CLI IO. */
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276 MSS_UART_init( ( mss_uart_instance_t * ) pxUART, MSS_UART_115200_BAUD, MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT );
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278 /* Characters are only ever received slowly on the CLI so it is ok to pass
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279 received characters from the UART interrupt to the task on a queue. Create
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280 the queue used for that purpose. */
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281 xRxedChars = xQueueCreate( cmdRXED_CHARS_QUEUE_LENGTH, sizeof( char ) );
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283 /* The interrupt handler makes use of FreeRTOS API functions, so its
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284 priority must be at or below the configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
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285 setting (the higher the numeric priority, the lower the logical priority). */
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286 NVIC_SetPriority( xUART_IRQ, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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288 /* Set the UART Rx notification function. */
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289 MSS_UART_set_rx_handler( ( mss_uart_instance_t * ) pxUART, prvUARTRxNotificationHandler, MSS_UART_FIFO_SINGLE_BYTE );
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291 /*-----------------------------------------------------------*/
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293 static void prvUARTRxNotificationHandler( mss_uart_instance_t * pxUART )
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296 portBASE_TYPE xHigherPriorityTaskWoken;
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298 /* The command console receives data very slowly (at the speed of somebody
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299 typing), therefore it is ok to just handle one character at a time and use
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300 a queue to send the characters to the task. */
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301 if( MSS_UART_get_rx( pxUART, &cRxed, sizeof( cRxed ) ) == sizeof( cRxed ) )
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303 xHigherPriorityTaskWoken = pdFALSE;
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304 xQueueSendFromISR( xRxedChars, &cRxed, &xHigherPriorityTaskWoken );
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306 /* portEND_SWITCHING_ISR() or portYIELD_FROM_ISR() can be used here. */
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307 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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