2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 /* FreeRTOS+CLI includes. */
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84 #include "FreeRTOS_CLI.h"
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86 /* FreeRTOS+UDP includes. */
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87 #include "FreeRTOS_UDP_IP.h"
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88 #include "FreeRTOS_Sockets.h"
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90 /* Demo app includes. */
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91 #include "UDPCommandInterpreter.h"
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93 /* Dimensions the buffer into which input characters are placed. */
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94 #define cmdMAX_INPUT_SIZE 60
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96 /* Dimensions the buffer into which string outputs can be placed. */
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97 #define cmdMAX_OUTPUT_SIZE 1024
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99 /* Dimensions the buffer passed to the recvfrom() call. */
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100 #define cmdSOCKET_INPUT_BUFFER_SIZE 60
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103 * The task that runs FreeRTOS+CLI.
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105 void vUDPCommandInterpreterTask( void *pvParameters );
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108 * Open and configure the UDP socket.
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110 static xSocket_t prvOpenUDPServerSocket( uint16_t usPort );
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112 /*-----------------------------------------------------------*/
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114 void vStartUDPCommandInterpreterTask( uint16_t usStackSize, uint32_t ulPort, unsigned portBASE_TYPE uxPriority )
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116 xTaskCreate( vUDPCommandInterpreterTask, ( signed char * ) "CLI", usStackSize, ( void * ) ulPort, uxPriority, NULL );
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118 /*-----------------------------------------------------------*/
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121 * Task that provides the input and output for the FreeRTOS+CLI command
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122 * interpreter. In this case a UDP port is used. See the URL in the comments
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123 * within main.c for the location of the online documentation.
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125 void vUDPCommandInterpreterTask( void *pvParameters )
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127 long lBytes, lByte;
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128 signed char cInChar, cInputIndex = 0;
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129 static signed char cInputString[ cmdMAX_INPUT_SIZE ], cOutputString[ cmdMAX_OUTPUT_SIZE ], cLocalBuffer[ cmdSOCKET_INPUT_BUFFER_SIZE ];
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130 portBASE_TYPE xMoreDataToFollow;
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131 struct freertos_sockaddr xClient;
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132 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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134 extern const uint8_t ucIPAddress[ 4 ];
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135 extern const uint8_t ucMACAddress[ 6 ];
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137 /* Just to prevent compiler warnings. */
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138 ( void ) pvParameters;
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140 /* Attempt to open the socket. The port number is passed in the task
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141 parameter. The strange casting is to remove compiler warnings on 32-bit
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143 xSocket = prvOpenUDPServerSocket( ( uint16_t ) ( ( uint32_t ) pvParameters ) & 0xffffUL );
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145 if( xSocket != FREERTOS_INVALID_SOCKET )
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149 /* Wait for incoming data on the opened socket. */
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150 lBytes = FreeRTOS_recvfrom( xSocket, ( void * ) cLocalBuffer, sizeof( cLocalBuffer ), 0, &xClient, &xClientAddressLength );
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152 if( lBytes != FREERTOS_SOCKET_ERROR )
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154 /* Process each received byte in turn. */
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156 while( lByte < lBytes )
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158 /* The next character in the input buffer. */
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159 cInChar = cLocalBuffer[ lByte ];
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162 /* Newline characters are taken as the end of the command
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164 if( cInChar == '\n' )
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166 /* Process the input string received prior to the
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170 /* Pass the string to FreeRTOS+CLI. */
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171 xMoreDataToFollow = FreeRTOS_CLIProcessCommand( cInputString, cOutputString, cmdMAX_OUTPUT_SIZE );
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173 /* Send the output generated by the command's
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175 FreeRTOS_sendto( xSocket, cOutputString, strlen( ( const char * ) cOutputString ), 0, &xClient, xClientAddressLength );
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177 } while( xMoreDataToFollow != pdFALSE ); /* Until the command does not generate any more output. */
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179 /* All the strings generated by the command processing
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180 have been sent. Clear the input string ready to receive
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181 the next command. */
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183 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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185 /* Transmit a spacer, just to make the command console
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187 FreeRTOS_sendto( xSocket, "\r\n", strlen( "\r\n" ), 0, &xClient, xClientAddressLength );
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191 if( cInChar == '\r' )
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193 /* Ignore the character. Newlines are used to
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194 detect the end of the input string. */
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196 else if( cInChar == '\b' )
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198 /* Backspace was pressed. Erase the last character
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199 in the string - if any. */
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200 if( cInputIndex > 0 )
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203 cInputString[ cInputIndex ] = '\0';
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208 /* A character was entered. Add it to the string
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209 entered so far. When a \n is entered the complete
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210 string will be passed to the command interpreter. */
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211 if( cInputIndex < cmdMAX_INPUT_SIZE )
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213 cInputString[ cInputIndex ] = cInChar;
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224 /* The socket could not be opened. */
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225 vTaskDelete( NULL );
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228 /*-----------------------------------------------------------*/
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230 static xSocket_t prvOpenUDPServerSocket( uint16_t usPort )
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232 struct freertos_sockaddr xServer;
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233 xSocket_t xSocket = FREERTOS_INVALID_SOCKET;
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235 xSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP );
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236 if( xSocket != FREERTOS_INVALID_SOCKET)
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238 /* Zero out the server structure. */
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239 memset( ( void * ) &xServer, 0x00, sizeof( xServer ) );
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241 /* Set family and port. */
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242 xServer.sin_port = FreeRTOS_htons( usPort );
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244 /* Bind the address to the socket. */
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245 if( FreeRTOS_bind( xSocket, &xServer, sizeof( xServer ) ) == -1 )
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247 FreeRTOS_closesocket( xSocket );
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248 xSocket = FREERTOS_INVALID_SOCKET;
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