2 FreeRTOS V9.0.0 - Copyright (C) 2016 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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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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79 /* Driver includes. */
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80 #include "drivers/mss_uart/mss_uart.h"
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82 /* Example includes. */
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83 #include "FreeRTOS_CLI.h"
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84 #include "UARTCommandConsole.h"
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86 /* Dimensions the buffer into which input characters are placed. */
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87 #define cmdMAX_INPUT_SIZE 50
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89 /* The maximum time in ticks to wait for the UART access mutex. */
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90 #define cmdMAX_MUTEX_WAIT ( 200 / portTICK_PERIOD_MS )
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92 /* Characters are only ever received slowly on the CLI so it is ok to pass
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93 received characters from the UART interrupt to the task on a queue. This sets
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94 the length of the queue used for that purpose. */
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95 #define cmdRXED_CHARS_QUEUE_LENGTH ( 10 )
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97 /*-----------------------------------------------------------*/
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100 * The task that implements the command console processing.
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102 static void prvUARTCommandConsoleTask( void *pvParameters );
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105 * Ensure a previous interrupt driven Tx has completed before sending the next
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106 * data block to the UART.
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108 static void prvSendBuffer( const char * pcBuffer, size_t xBufferLength );
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111 * A UART is used for printf() output and CLI input and output. Configure the
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112 * UART and register prvUARTRxNotificationHandler() to handle UART Rx events.
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114 static void prvConfigureUART( void );
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115 static void prvUARTRxNotificationHandler( mss_uart_instance_t * this_uart );
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117 /*-----------------------------------------------------------*/
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119 /* Const messages output by the command console. */
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120 static const char * const pcWelcomeMessage = "\r\n\r\nFreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>";
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121 static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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122 static const char * const pcNewLine = "\r\n";
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124 /* The UART used by the CLI. */
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125 #if configBUILD_FOR_DEVELOPMENT_KIT == 1
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126 static const mss_uart_instance_t * const pxUART = &g_mss_uart1;
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127 static const IRQn_Type xUART_IRQ = UART1_IRQn;
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129 static const mss_uart_instance_t * const pxUART = &g_mss_uart0;
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130 static const IRQn_Type xUART_IRQ = UART0_IRQn;
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133 /* Because characters are received slowly (at the speed somebody can type) then
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134 it is ok to pass received characters from the Rx interrupt to the task on a
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135 queue. This is the queue used for that purpose. */
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136 static QueueHandle_t xRxedChars = NULL;
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138 /*-----------------------------------------------------------*/
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140 void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority )
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142 /* A UART is used for printf() output and CLI input and output. Note there
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143 is no mutual exclusion on the UART, but the demo as it stands does not
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144 require mutual exclusion. */
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145 prvConfigureUART();
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147 /* Create that task that handles the console itself. */
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148 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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149 "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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150 usStackSize, /* The size of the stack allocated to the task. */
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151 NULL, /* The parameter is not used, so NULL is passed. */
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152 uxPriority, /* The priority allocated to the task. */
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153 NULL ); /* A handle is not required, so just pass NULL. */
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155 /*-----------------------------------------------------------*/
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157 static void prvUARTCommandConsoleTask( void *pvParameters )
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159 char cRxedChar, *pcOutputString;
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160 unsigned char cInputIndex = 0;
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161 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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162 portBASE_TYPE xReturned;
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164 ( void ) pvParameters;
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166 /* Obtain the address of the output buffer. Note there is no mutual
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167 exclusion on this buffer as it is assumed only one command console
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168 interface will be used at any one time. */
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169 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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171 /* Send the welcome message. */
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172 prvSendBuffer( pcWelcomeMessage, strlen( pcWelcomeMessage ) );
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176 /* Wait for the next character to arrive. */
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177 if( xQueueReceive( xRxedChars, &cRxedChar, portMAX_DELAY ) == pdPASS )
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179 /* Echo the character back. */
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180 prvSendBuffer( &cRxedChar, sizeof( cRxedChar ) );
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182 /* Was it the end of the line? */
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183 if( cRxedChar == '\n' || cRxedChar == '\r' )
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185 /* Just to space the output from the input. */
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186 prvSendBuffer( pcNewLine, strlen( pcNewLine ) );
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188 /* See if the command is empty, indicating that the last command is
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189 to be executed again. */
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190 if( cInputIndex == 0 )
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192 /* Copy the last command back into the input string. */
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193 strcpy( cInputString, cLastInputString );
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196 /* Pass the received command to the command interpreter. The
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197 command interpreter is called repeatedly until it returns pdFALSE
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198 (indicating there is no more output) as it might generate more than
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202 /* Get the next output string from the command interpreter. */
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203 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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205 /* Write the generated string to the UART. */
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206 prvSendBuffer( pcOutputString, strlen( pcOutputString ) );
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208 } while( xReturned != pdFALSE );
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210 /* All the strings generated by the input command have been sent.
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211 Clear the input string ready to receive the next command. Remember
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212 the command that was just processed first in case it is to be
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213 processed again. */
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214 strcpy( cLastInputString, cInputString );
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216 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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218 prvSendBuffer( pcEndOfOutputMessage, strlen( pcEndOfOutputMessage ) );
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222 if( cRxedChar == '\r' )
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224 /* Ignore the character. */
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226 else if( cRxedChar == '\b' )
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228 /* Backspace was pressed. Erase the last character in the
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229 string - if any. */
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230 if( cInputIndex > 0 )
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233 cInputString[ cInputIndex ] = '\0';
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238 /* A character was entered. Add it to the string
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239 entered so far. When a \n is entered the complete
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240 string will be passed to the command interpreter. */
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241 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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243 if( cInputIndex < cmdMAX_INPUT_SIZE )
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245 cInputString[ cInputIndex ] = cRxedChar;
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254 /*-----------------------------------------------------------*/
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256 static void prvSendBuffer( const char * pcBuffer, size_t xBufferLength )
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258 const TickType_t xVeryShortDelay = 2UL;
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260 if( xBufferLength > 0 )
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262 MSS_UART_irq_tx( ( mss_uart_instance_t * ) pxUART, ( uint8_t * ) pcBuffer, xBufferLength );
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264 /* Ensure any previous transmissions have completed. The default UART
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265 interrupt does not provide an event based method of signally the end of a Tx
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266 - this is therefore a crude poll of the Tx end status. Replacing the
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267 default UART handler with one that 'gives' a semaphore when the Tx is
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268 complete would allow this poll loop to be replaced by a simple semaphore
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270 while( MSS_UART_tx_complete( ( mss_uart_instance_t * ) pxUART ) == pdFALSE )
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272 vTaskDelay( xVeryShortDelay );
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276 /*-----------------------------------------------------------*/
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278 static void prvConfigureUART( void )
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280 /* Initialise the UART which is used for printf() and CLI IO. */
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281 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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283 /* Characters are only ever received slowly on the CLI so it is ok to pass
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284 received characters from the UART interrupt to the task on a queue. Create
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285 the queue used for that purpose. */
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286 xRxedChars = xQueueCreate( cmdRXED_CHARS_QUEUE_LENGTH, sizeof( char ) );
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288 /* The interrupt handler makes use of FreeRTOS API functions, so its
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289 priority must be at or below the configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
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290 setting (the higher the numeric priority, the lower the logical priority). */
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291 NVIC_SetPriority( xUART_IRQ, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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293 /* Set the UART Rx notification function. */
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294 MSS_UART_set_rx_handler( ( mss_uart_instance_t * ) pxUART, prvUARTRxNotificationHandler, MSS_UART_FIFO_SINGLE_BYTE );
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296 /*-----------------------------------------------------------*/
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298 static void prvUARTRxNotificationHandler( mss_uart_instance_t * pxUART )
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301 portBASE_TYPE xHigherPriorityTaskWoken;
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303 /* The command console receives data very slowly (at the speed of somebody
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304 typing), therefore it is ok to just handle one character at a time and use
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305 a queue to send the characters to the task. */
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306 if( MSS_UART_get_rx( pxUART, ( uint8_t * ) &cRxed, sizeof( cRxed ) ) == sizeof( cRxed ) )
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308 xHigherPriorityTaskWoken = pdFALSE;
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309 xQueueSendFromISR( xRxedChars, &cRxed, &xHigherPriorityTaskWoken );
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311 /* portEND_SWITCHING_ISR() or portYIELD_FROM_ISR() can be used here. */
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312 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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