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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71 * NOTE: This file uses a third party USB CDC driver.
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74 /* Standard includes. */
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78 /* FreeRTOS includes. */
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79 #include "FreeRTOS.h"
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83 /* Example includes. */
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84 #include "FreeRTOS_CLI.h"
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86 /* Demo application includes. */
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89 /* Dimensions the buffer into which input characters are placed. */
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90 #define cmdMAX_INPUT_SIZE 50
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92 #define cmdQUEUE_LENGTH 25
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94 /* DEL acts as a backspace. */
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95 #define cmdASCII_DEL ( 0x7F )
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97 #define cmdMAX_MUTEX_WAIT ( ( ( TickType_t ) 300 ) / ( portTICK_PERIOD_MS ) )
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99 #ifndef configCLI_BAUD_RATE
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100 #define configCLI_BAUD_RATE 115200
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103 /*-----------------------------------------------------------*/
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106 * The task that implements the command console processing.
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108 static void prvUARTCommandConsoleTask( void *pvParameters );
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109 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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111 /*-----------------------------------------------------------*/
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113 /* Const messages output by the command console. */
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114 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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115 static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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116 static const char * const pcNewLine = "\r\n";
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118 SemaphoreHandle_t xTxMutex = NULL;
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119 static xComPortHandle xPort = 0;
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121 /* Serial drivers that use task notifications may need the CLI task's handle. */
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122 TaskHandle_t xCLITaskHandle = NULL;
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124 /*-----------------------------------------------------------*/
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126 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
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128 /* Create the semaphore used to access the UART Tx. */
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129 xTxMutex = xSemaphoreCreateMutex();
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130 configASSERT( xTxMutex );
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132 /* Create that task that handles the console itself. */
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133 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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134 "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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135 usStackSize, /* The size of the stack allocated to the task. */
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136 NULL, /* The parameter is not used, so NULL is passed. */
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137 uxPriority, /* The priority allocated to the task. */
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138 &xCLITaskHandle ); /* Serial drivers that use task notifications may need the CLI task's handle. */
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140 /*-----------------------------------------------------------*/
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142 static void prvUARTCommandConsoleTask( void *pvParameters )
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145 uint8_t ucInputIndex = 0;
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146 char *pcOutputString;
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147 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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148 BaseType_t xReturned;
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149 xComPortHandle xPort;
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151 ( void ) pvParameters;
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153 /* Obtain the address of the output buffer. Note there is no mutual
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154 exclusion on this buffer as it is assumed only one command console interface
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155 will be used at any one time. */
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156 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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158 /* Initialise the UART. */
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159 xPort = xSerialPortInitMinimal( configCLI_BAUD_RATE, cmdQUEUE_LENGTH );
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161 /* Send the welcome message. */
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162 vSerialPutString( xPort, ( char * ) pcWelcomeMessage, strlen( pcWelcomeMessage ) );
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166 /* Wait for the next character. The while loop is used in case
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167 INCLUDE_vTaskSuspend is not set to 1 - in which case portMAX_DELAY will
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168 be a genuine block time rather than an infinite block time. */
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169 while( xSerialGetChar( xPort, &cRxedChar, portMAX_DELAY ) != pdPASS );
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171 /* Ensure exclusive access to the UART Tx. */
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172 if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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174 /* Echo the character back. */
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175 xSerialPutChar( xPort, cRxedChar, portMAX_DELAY );
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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 vSerialPutString( xPort, ( char * ) pcNewLine, strlen( pcNewLine ) );
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183 /* See if the command is empty, indicating that the last command
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184 is to be executed again. */
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185 if( ucInputIndex == 0 )
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187 /* Copy the last command back into the input string. */
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188 strcpy( cInputString, 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
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193 pdFALSE (indicating there is no more output) as it might
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194 generate more than one string. */
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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 vSerialPutString( xPort, ( char * ) pcOutputString, strlen( pcOutputString ) );
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203 } while( xReturned != pdFALSE );
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205 /* All the strings generated by the input command have been
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206 sent. Clear the input string ready to receive the next command.
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207 Remember the command that was just processed first in case it is
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208 to be processed again. */
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209 strcpy( cLastInputString, cInputString );
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211 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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213 vSerialPutString( xPort, ( char * ) pcEndOfOutputMessage, strlen( 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' ) || ( cRxedChar == cmdASCII_DEL ) )
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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( ucInputIndex > 0 )
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228 cInputString[ ucInputIndex ] = '\0';
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233 /* A character was entered. Add it to the string entered so
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234 far. When a \n is entered the complete string will be
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235 passed to the command interpreter. */
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236 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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238 if( ucInputIndex < cmdMAX_INPUT_SIZE )
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240 cInputString[ ucInputIndex ] = cRxedChar;
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247 /* Must ensure to give the mutex back. */
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248 xSemaphoreGive( xTxMutex );
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252 /*-----------------------------------------------------------*/
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254 void vOutputString( const char * const pcMessage )
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256 if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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258 vSerialPutString( xPort, ( char * ) pcMessage, strlen( pcMessage ) );
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259 xSemaphoreGive( xTxMutex );
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262 /*-----------------------------------------------------------*/
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264 void vOutputChar( const char cChar, const TickType_t xTicksToWait )
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266 if( xSemaphoreTake( xTxMutex, xTicksToWait ) == pdPASS )
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268 xSerialPutChar( xPort, cChar, xTicksToWait );
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269 xSemaphoreGive( xTxMutex );
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272 /*-----------------------------------------------------------*/
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