2 FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /* Standard includes. */
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58 /* FreeRTOS includes. */
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59 #include "FreeRTOS.h"
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63 /* Driver includes. */
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64 #include "drivers/mss_uart/mss_uart.h"
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66 /* Example includes. */
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67 #include "FreeRTOS_CLI.h"
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68 #include "UARTCommandConsole.h"
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70 /* Dimensions the buffer into which input characters are placed. */
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71 #define cmdMAX_INPUT_SIZE 50
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73 /* The maximum time in ticks to wait for the UART access mutex. */
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74 #define cmdMAX_MUTEX_WAIT ( 200 / portTICK_RATE_MS )
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76 /* Characters are only ever received slowly on the CLI so it is ok to pass
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77 received characters from the UART interrupt to the task on a queue. This sets
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78 the length of the queue used for that purpose. */
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79 #define cmdRXED_CHARS_QUEUE_LENGTH ( 10 )
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81 /*-----------------------------------------------------------*/
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84 * The task that implements the command console processing.
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86 static void prvUARTCommandConsoleTask( void *pvParameters );
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89 * Ensure a previous interrupt driven Tx has completed before sending the next
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90 * data block to the UART.
92 static void prvSendBuffer( const uint8_t * pcBuffer, size_t xBufferLength );
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95 * A UART is used for printf() output and CLI input and output. Configure the
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96 * UART and register prvUARTRxNotificationHandler() to handle UART Rx events.
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98 static void prvConfigureUART( void );
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99 static void prvUARTRxNotificationHandler( mss_uart_instance_t * this_uart );
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101 /*-----------------------------------------------------------*/
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103 /* Const messages output by the command console. */
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104 static const uint8_t * const pcWelcomeMessage = ( uint8_t * ) "\r\n\r\nFreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>";
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105 static const uint8_t * const pcEndOfOutputMessage = ( uint8_t * ) "\r\n[Press ENTER to execute the previous command again]\r\n>";
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106 static const uint8_t * const pcNewLine = ( uint8_t * ) "\r\n";
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108 /* The UART used by the CLI. */
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109 #if configBUILD_FOR_DEVELOPMENT_KIT == 1
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110 static const mss_uart_instance_t * const pxUART = &g_mss_uart1;
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111 static const IRQn_Type xUART_IRQ = UART1_IRQn;
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113 static const mss_uart_instance_t * const pxUART = &g_mss_uart0;
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114 static const IRQn_Type xUART_IRQ = UART0_IRQn;
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117 /* Because characters are received slowly (at the speed somebody can type) then
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118 it is ok to pass received characters from the Rx interrupt to the task on a
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119 queue. This is the queue used for that purpose. */
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120 static xQueueHandle xRxedChars = NULL;
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122 /*-----------------------------------------------------------*/
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124 void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority )
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126 /* A UART is used for printf() output and CLI input and output. Note there
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127 is no mutual exclusion on the UART, but the demo as it stands does not
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128 require mutual exclusion. */
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129 prvConfigureUART();
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131 /* Create that task that handles the console itself. */
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132 xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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133 ( const int8_t * const ) "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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134 usStackSize, /* The size of the stack allocated to the task. */
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135 NULL, /* The parameter is not used, so NULL is passed. */
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136 uxPriority, /* The priority allocated to the task. */
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137 NULL ); /* A handle is not required, so just pass NULL. */
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139 /*-----------------------------------------------------------*/
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141 static void prvUARTCommandConsoleTask( void *pvParameters )
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143 int8_t cRxedChar, cInputIndex = 0, *pcOutputString;
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144 static int8_t cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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145 portBASE_TYPE xReturned;
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147 ( void ) pvParameters;
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149 /* Obtain the address of the output buffer. Note there is no mutual
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150 exclusion on this buffer as it is assumed only one command console
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151 interface will be used at any one time. */
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152 pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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154 /* Send the welcome message. */
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155 prvSendBuffer( pcWelcomeMessage, strlen( ( char * ) pcWelcomeMessage ) );
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159 /* Wait for the next character to arrive. */
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160 if( xQueueReceive( xRxedChars, &cRxedChar, portMAX_DELAY ) == pdPASS )
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162 /* Echo the character back. */
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163 prvSendBuffer( ( uint8_t * ) &cRxedChar, sizeof( cRxedChar ) );
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165 /* Was it the end of the line? */
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166 if( cRxedChar == '\n' || cRxedChar == '\r' )
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168 /* Just to space the output from the input. */
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169 prvSendBuffer( ( uint8_t * ) pcNewLine, strlen( ( char * ) pcNewLine ) );
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171 /* See if the command is empty, indicating that the last command is
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172 to be executed again. */
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173 if( cInputIndex == 0 )
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175 /* Copy the last command back into the input string. */
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176 strcpy( ( char * ) cInputString, ( char * ) cLastInputString );
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179 /* Pass the received command to the command interpreter. The
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180 command interpreter is called repeatedly until it returns pdFALSE
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181 (indicating there is no more output) as it might generate more than
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185 /* Get the next output string from the command interpreter. */
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186 xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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188 /* Write the generated string to the UART. */
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189 prvSendBuffer( ( uint8_t * ) pcOutputString, strlen( ( char * ) pcOutputString ) );
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191 } while( xReturned != pdFALSE );
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193 /* All the strings generated by the input command have been sent.
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194 Clear the input string ready to receive the next command. Remember
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195 the command that was just processed first in case it is to be
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196 processed again. */
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197 strcpy( ( char * ) cLastInputString, ( char * ) cInputString );
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199 memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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201 prvSendBuffer( ( uint8_t * ) pcEndOfOutputMessage, strlen( ( char * ) pcEndOfOutputMessage ) );
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205 if( cRxedChar == '\r' )
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207 /* Ignore the character. */
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209 else if( cRxedChar == '\b' )
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211 /* Backspace was pressed. Erase the last character in the
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212 string - if any. */
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213 if( cInputIndex > 0 )
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216 cInputString[ cInputIndex ] = '\0';
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221 /* A character was entered. Add it to the string
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222 entered so far. When a \n is entered the complete
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223 string will be passed to the command interpreter. */
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224 if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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226 if( cInputIndex < cmdMAX_INPUT_SIZE )
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228 cInputString[ cInputIndex ] = cRxedChar;
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237 /*-----------------------------------------------------------*/
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239 static void prvSendBuffer( const uint8_t * pcBuffer, size_t xBufferLength )
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241 const portTickType xVeryShortDelay = 2UL;
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243 if( xBufferLength > 0 )
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245 MSS_UART_irq_tx( ( mss_uart_instance_t * ) pxUART, pcBuffer, xBufferLength );
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247 /* Ensure any previous transmissions have completed. The default UART
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248 interrupt does not provide an event based method of signally the end of a Tx
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249 - this is therefore a crude poll of the Tx end status. Replacing the
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250 default UART handler with one that 'gives' a semaphore when the Tx is
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251 complete would allow this poll loop to be replaced by a simple semaphore
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253 while( MSS_UART_tx_complete( ( mss_uart_instance_t * ) pxUART ) == pdFALSE )
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255 vTaskDelay( xVeryShortDelay );
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259 /*-----------------------------------------------------------*/
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261 static void prvConfigureUART( void )
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263 /* Initialise the UART which is used for printf() and CLI IO. */
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264 MSS_UART_init( ( mss_uart_instance_t * ) pxUART, MSS_UART_115200_BAUD, MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT );
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266 /* Characters are only ever received slowly on the CLI so it is ok to pass
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267 received characters from the UART interrupt to the task on a queue. Create
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268 the queue used for that purpose. */
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269 xRxedChars = xQueueCreate( cmdRXED_CHARS_QUEUE_LENGTH, sizeof( char ) );
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271 /* The interrupt handler makes use of FreeRTOS API functions, so its
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272 priority must be at or below the configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY
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273 setting (the higher the numeric priority, the lower the logical priority). */
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274 NVIC_SetPriority( xUART_IRQ, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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276 /* Set the UART Rx notification function. */
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277 MSS_UART_set_rx_handler( ( mss_uart_instance_t * ) pxUART, prvUARTRxNotificationHandler, MSS_UART_FIFO_SINGLE_BYTE );
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279 /*-----------------------------------------------------------*/
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281 static void prvUARTRxNotificationHandler( mss_uart_instance_t * pxUART )
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284 portBASE_TYPE xHigherPriorityTaskWoken;
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286 /* The command console receives data very slowly (at the speed of somebody
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287 typing), therefore it is ok to just handle one character at a time and use
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288 a queue to send the characters to the task. */
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289 if( MSS_UART_get_rx( pxUART, &cRxed, sizeof( cRxed ) ) == sizeof( cRxed ) )
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291 xHigherPriorityTaskWoken = pdFALSE;
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292 xQueueSendFromISR( xRxedChars, &cRxed, &xHigherPriorityTaskWoken );
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294 /* portEND_SWITCHING_ISR() or portYIELD_FROM_ISR() can be used here. */
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295 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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