2 FreeRTOS V9.0.0rc2 - 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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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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80 /* Common demo includes. */
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83 /* Example includes. */
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84 #include "FreeRTOS_CLI.h"
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85 #include "UARTCommandConsole.h"
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87 /* Dimensions the buffer into which input characters are placed. */
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88 #define cmdMAX_INPUT_SIZE 50
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90 /* The maximum time in ticks to wait for the UART access mutex. */
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91 #define cmdMAX_MUTEX_WAIT ( 200 / portTICK_PERIOD_MS )
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93 /*-----------------------------------------------------------*/
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96 * The task that implements the command console processing.
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98 static void prvUARTCommandConsoleTask( void *pvParameters );
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100 /*-----------------------------------------------------------*/
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102 /* Const messages output by the command console. */
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103 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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104 static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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105 static const char * const pcNewLine = "\r\n";
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107 /*-----------------------------------------------------------*/
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109 void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority )
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111 /* Create that task that handles the console itself. */
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112 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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113 "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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114 usStackSize, /* The size of the stack allocated to the task. */
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115 NULL, /* The parameter is not used, so NULL is passed. */
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116 uxPriority, /* The priority allocated to the task. */
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117 NULL ); /* A handle is not required, so just pass NULL. */
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119 /*-----------------------------------------------------------*/
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121 static void prvUARTCommandConsoleTask( void *pvParameters )
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123 char cRxedChar, cInputIndex = 0, *pcOutputString;
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124 static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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125 portBASE_TYPE xReturned;
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127 ( void ) pvParameters;
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129 /* Obtain the address of the output buffer. Note there is no mutual
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130 exclusion on this buffer as it is assumed only one command console
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131 interface will be used at any one time. */
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132 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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134 /* Send the welcome message. */
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135 vSerialPutString( NULL, ( const signed char * ) pcWelcomeMessage, strlen( ( char * ) pcWelcomeMessage ) );
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139 /* Only interested in reading one character at a time. */
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140 while( xSerialGetChar( NULL, ( signed char * ) &cRxedChar, portMAX_DELAY ) == pdFALSE );
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142 /* Echo the character back. */
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143 xSerialPutChar( NULL, cRxedChar, portMAX_DELAY );
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145 /* Was it the end of the line? */
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146 if( cRxedChar == '\n' || cRxedChar == '\r' )
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148 /* Just to space the output from the input. */
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149 vSerialPutString( NULL, ( const signed char * ) pcNewLine, strlen( ( char * ) pcNewLine ) );
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151 /* See if the command is empty, indicating that the last command is
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152 to be executed again. */
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153 if( cInputIndex == 0 )
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155 /* Copy the last command back into the input string. */
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156 strcpy( ( char * ) cInputString, ( char * ) cLastInputString );
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159 /* Pass the received command to the command interpreter. The
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160 command interpreter is called repeatedly until it returns pdFALSE
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161 (indicating there is no more output) as it might generate more than
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165 /* Get the next output string from the command interpreter. */
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166 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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168 /* Write the generated string to the UART. */
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169 vSerialPutString( NULL, ( const signed char * ) pcOutputString, strlen( ( char * ) pcOutputString ) );
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171 } while( xReturned != pdFALSE );
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173 /* All the strings generated by the input command have been sent.
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174 Clear the input string ready to receive the next command. Remember
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175 the command that was just processed first in case it is to be
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176 processed again. */
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177 strcpy( ( char * ) cLastInputString, ( char * ) cInputString );
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179 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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180 vSerialPutString( NULL, ( const signed char * ) pcEndOfOutputMessage, strlen( ( char * ) pcEndOfOutputMessage ) );
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184 if( cRxedChar == '\r' )
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186 /* Ignore the character. */
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188 else if( cRxedChar == '\b' )
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190 /* Backspace was pressed. Erase the last character in the
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191 string - if any. */
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192 if( cInputIndex > 0 )
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195 cInputString[ cInputIndex ] = '\0';
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200 /* A character was entered. Add it to the string
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201 entered so far. When a \n is entered the complete
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202 string will be passed to the command interpreter. */
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203 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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205 if( cInputIndex < cmdMAX_INPUT_SIZE )
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207 cInputString[ cInputIndex ] = cRxedChar;
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215 /*-----------------------------------------------------------*/
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