2 FreeRTOS V8.1.0 - 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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66 /* Standard includes. */
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70 /* FreeRTOS includes. */
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71 #include "FreeRTOS.h"
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74 /* FreeRTOS+CLI includes. */
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75 #include "FreeRTOS_CLI.h"
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77 /* FreeRTOS+UDP includes. */
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78 #include "FreeRTOS_UDP_IP.h"
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79 #include "FreeRTOS_Sockets.h"
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81 /* Demo app includes. */
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82 #include "UDPCommandInterpreter.h"
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84 /* Dimensions the buffer into which input characters are placed. */
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85 #define cmdMAX_INPUT_SIZE 60
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87 /* Dimensions the buffer into which string outputs can be placed. */
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88 #define cmdMAX_OUTPUT_SIZE 1024
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90 /* Dimensions the buffer passed to the recvfrom() call. */
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91 #define cmdSOCKET_INPUT_BUFFER_SIZE 60
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94 * The task that runs FreeRTOS+CLI.
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96 void vUDPCommandInterpreterTask( void *pvParameters );
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99 * Open and configure the UDP socket.
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101 static xSocket_t prvOpenUDPServerSocket( uint16_t usPort );
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103 /*-----------------------------------------------------------*/
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105 void vStartUDPCommandInterpreterTask( uint16_t usStackSize, uint32_t ulPort, UBaseType_t uxPriority )
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107 xTaskCreate( vUDPCommandInterpreterTask, "CLI", usStackSize, ( void * ) ulPort, uxPriority, NULL );
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109 /*-----------------------------------------------------------*/
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112 * Task that provides the input and output for the FreeRTOS+CLI command
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113 * interpreter. In this case a UDP port is used. See the URL in the comments
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114 * within main.c for the location of the online documentation.
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116 void vUDPCommandInterpreterTask( void *pvParameters )
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118 long lBytes, lByte;
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119 signed char cInChar, cInputIndex = 0;
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120 static signed char cInputString[ cmdMAX_INPUT_SIZE ], cOutputString[ cmdMAX_OUTPUT_SIZE ], cLocalBuffer[ cmdSOCKET_INPUT_BUFFER_SIZE ];
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121 BaseType_t xMoreDataToFollow;
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122 struct freertos_sockaddr xClient;
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123 socklen_t xClientAddressLength = 0; /* This is required as a parameter to maintain the sendto() Berkeley sockets API - but it is not actually used so can take any value. */
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125 extern const uint8_t ucIPAddress[ 4 ];
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126 extern const uint8_t ucMACAddress[ 6 ];
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128 /* Just to prevent compiler warnings. */
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129 ( void ) pvParameters;
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131 /* Attempt to open the socket. The port number is passed in the task
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132 parameter. The strange casting is to remove compiler warnings on 32-bit
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134 xSocket = prvOpenUDPServerSocket( ( uint16_t ) ( ( uint32_t ) pvParameters ) & 0xffffUL );
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136 if( xSocket != FREERTOS_INVALID_SOCKET )
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140 /* Wait for incoming data on the opened socket. */
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141 lBytes = FreeRTOS_recvfrom( xSocket, ( void * ) cLocalBuffer, sizeof( cLocalBuffer ), 0, &xClient, &xClientAddressLength );
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143 if( lBytes != FREERTOS_SOCKET_ERROR )
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145 /* Process each received byte in turn. */
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147 while( lByte < lBytes )
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149 /* The next character in the input buffer. */
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150 cInChar = cLocalBuffer[ lByte ];
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153 /* Newline characters are taken as the end of the command
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155 if( cInChar == '\n' )
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157 /* Process the input string received prior to the
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161 /* Pass the string to FreeRTOS+CLI. */
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162 xMoreDataToFollow = FreeRTOS_CLIProcessCommand( cInputString, cOutputString, cmdMAX_OUTPUT_SIZE );
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164 /* Send the output generated by the command's
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166 FreeRTOS_sendto( xSocket, cOutputString, strlen( cOutputString ), 0, &xClient, xClientAddressLength );
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168 } while( xMoreDataToFollow != pdFALSE ); /* Until the command does not generate any more output. */
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170 /* All the strings generated by the command processing
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171 have been sent. Clear the input string ready to receive
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172 the next command. */
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174 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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176 /* Transmit a spacer, just to make the command console
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178 FreeRTOS_sendto( xSocket, "\r\n", strlen( "\r\n" ), 0, &xClient, xClientAddressLength );
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182 if( cInChar == '\r' )
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184 /* Ignore the character. Newlines are used to
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185 detect the end of the input string. */
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187 else if( cInChar == '\b' )
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189 /* Backspace was pressed. Erase the last character
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190 in the string - if any. */
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191 if( cInputIndex > 0 )
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194 cInputString[ cInputIndex ] = '\0';
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199 /* A character was entered. Add it to the string
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200 entered so far. When a \n is entered the complete
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201 string will be passed to the command interpreter. */
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202 if( cInputIndex < cmdMAX_INPUT_SIZE )
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204 cInputString[ cInputIndex ] = cInChar;
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215 /* The socket could not be opened. */
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216 vTaskDelete( NULL );
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219 /*-----------------------------------------------------------*/
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221 static xSocket_t prvOpenUDPServerSocket( uint16_t usPort )
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223 struct freertos_sockaddr xServer;
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224 xSocket_t xSocket = FREERTOS_INVALID_SOCKET;
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226 xSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP );
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227 if( xSocket != FREERTOS_INVALID_SOCKET)
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229 /* Zero out the server structure. */
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230 memset( ( void * ) &xServer, 0x00, sizeof( xServer ) );
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232 /* Set family and port. */
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233 xServer.sin_port = FreeRTOS_htons( usPort );
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235 /* Bind the address to the socket. */
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236 if( FreeRTOS_bind( xSocket, &xServer, sizeof( xServer ) ) == -1 )
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238 FreeRTOS_closesocket( xSocket );
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239 xSocket = FREERTOS_INVALID_SOCKET;
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