2 FreeRTOS V8.2.0rc1 - 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 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 * NOTE: This file uses a third party USB CDC driver.
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100 /* Standard includes. */
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101 #include "string.h"
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104 /* FreeRTOS includes. */
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105 #include "FreeRTOS.h"
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107 #include "semphr.h"
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109 /* Example includes. */
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110 #include "FreeRTOS_CLI.h"
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112 /* Demo application includes. */
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113 #include "serial.h"
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115 /* Dimensions the buffer into which input characters are placed. */
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116 #define cmdMAX_INPUT_SIZE 50
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118 #define cmdQUEUE_LENGTH 25
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120 /* DEL acts as a backspace. */
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121 #define cmdASCII_DEL ( 0x7F )
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123 #define cmdMAX_MUTEX_WAIT ( ( ( TickType_t ) 300 ) / ( portTICK_PERIOD_MS ) )
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125 #ifndef configCLI_BAUD_RATE
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126 #define configCLI_BAUD_RATE 115200
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129 /*-----------------------------------------------------------*/
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132 * The task that implements the command console processing.
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134 static void prvUARTCommandConsoleTask( void *pvParameters );
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135 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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137 /*-----------------------------------------------------------*/
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139 /* Const messages output by the command console. */
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140 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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141 static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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142 static const char * const pcNewLine = "\r\n";
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144 SemaphoreHandle_t xTxMutex = NULL;
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145 static xComPortHandle xPort = 0;
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147 /*-----------------------------------------------------------*/
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149 void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
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151 /* Create the semaphore used to access the UART Tx. */
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152 xTxMutex = xSemaphoreCreateMutex();
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153 configASSERT( xTxMutex );
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155 /* Create that task that handles the console itself. */
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156 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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157 "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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158 usStackSize, /* The size of the stack allocated to the task. */
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159 NULL, /* The parameter is not used, so NULL is passed. */
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160 uxPriority, /* The priority allocated to the task. */
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161 NULL ); /* A handle is not required, so just pass NULL. */
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163 /*-----------------------------------------------------------*/
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165 static void prvUARTCommandConsoleTask( void *pvParameters )
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167 signed char cRxedChar;
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168 uint8_t ucInputIndex = 0;
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169 char *pcOutputString;
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170 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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171 BaseType_t xReturned;
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172 xComPortHandle xPort;
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174 ( void ) pvParameters;
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176 /* Obtain the address of the output buffer. Note there is no mutual
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177 exclusion on this buffer as it is assumed only one command console interface
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178 will be used at any one time. */
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179 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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181 /* Initialise the UART. */
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182 xPort = xSerialPortInitMinimal( configCLI_BAUD_RATE, cmdQUEUE_LENGTH );
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184 /* Send the welcome message. */
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185 vSerialPutString( xPort, ( signed char * ) pcWelcomeMessage, strlen( pcWelcomeMessage ) );
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189 /* Wait for the next character. The while loop is used in case
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190 INCLUDE_vTaskSuspend is not set to 1 - in which case portMAX_DELAY will
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191 be a genuine block time rather than an infinite block time. */
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192 while( xSerialGetChar( xPort, &cRxedChar, portMAX_DELAY ) != pdPASS );
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194 /* Ensure exclusive access to the UART Tx. */
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195 if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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197 /* Echo the character back. */
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198 xSerialPutChar( xPort, cRxedChar, portMAX_DELAY );
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200 /* Was it the end of the line? */
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201 if( cRxedChar == '\n' || cRxedChar == '\r' )
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203 /* Just to space the output from the input. */
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204 vSerialPutString( xPort, ( signed char * ) pcNewLine, strlen( pcNewLine ) );
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206 /* See if the command is empty, indicating that the last command
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207 is to be executed again. */
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208 if( ucInputIndex == 0 )
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210 /* Copy the last command back into the input string. */
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211 strcpy( cInputString, cLastInputString );
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214 /* Pass the received command to the command interpreter. The
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215 command interpreter is called repeatedly until it returns
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216 pdFALSE (indicating there is no more output) as it might
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217 generate more than one string. */
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220 /* Get the next output string from the command interpreter. */
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221 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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223 /* Write the generated string to the UART. */
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224 vSerialPutString( xPort, ( signed char * ) pcOutputString, strlen( pcOutputString ) );
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226 } while( xReturned != pdFALSE );
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228 /* All the strings generated by the input command have been
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229 sent. Clear the input string ready to receive the next command.
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230 Remember the command that was just processed first in case it is
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231 to be processed again. */
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232 strcpy( cLastInputString, cInputString );
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234 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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236 vSerialPutString( xPort, ( signed char * ) pcEndOfOutputMessage, strlen( pcEndOfOutputMessage ) );
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240 if( cRxedChar == '\r' )
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242 /* Ignore the character. */
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244 else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) )
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246 /* Backspace was pressed. Erase the last character in the
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247 string - if any. */
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248 if( ucInputIndex > 0 )
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251 cInputString[ ucInputIndex ] = '\0';
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256 /* A character was entered. Add it to the string entered so
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257 far. When a \n is entered the complete string will be
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258 passed to the command interpreter. */
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259 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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261 if( ucInputIndex < cmdMAX_INPUT_SIZE )
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263 cInputString[ ucInputIndex ] = cRxedChar;
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270 /* Must ensure to give the mutex back. */
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271 xSemaphoreGive( xTxMutex );
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275 /*-----------------------------------------------------------*/
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277 void vOutputString( const char * const pcMessage )
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279 if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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281 vSerialPutString( xPort, ( signed char * ) pcMessage, strlen( pcMessage ) );
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282 xSemaphoreGive( xTxMutex );
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285 /*-----------------------------------------------------------*/
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