227 lines
8.0 KiB
C
227 lines
8.0 KiB
C
|
/*
|
||
|
|
* FreeRTOS Kernel V10.2.1
|
||
|
|
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||
|
|
*
|
||
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||
|
|
* this software and associated documentation files (the "Software"), to deal in
|
||
|
|
* the Software without restriction, including without limitation the rights to
|
||
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||
|
|
* subject to the following conditions:
|
||
|
|
*
|
||
|
|
* The above copyright notice and this permission notice shall be included in all
|
||
|
|
* copies or substantial portions of the Software.
|
||
|
|
*
|
||
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||
|
|
*
|
||
|
|
* http://www.FreeRTOS.org
|
||
|
|
* http://aws.amazon.com/freertos
|
||
|
|
*
|
||
|
|
* 1 tab == 4 spaces!
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* NOTE: This file uses a third party USB CDC driver.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Standard includes. */
|
||
|
|
#include "string.h"
|
||
|
|
#include "stdio.h"
|
||
|
|
|
||
|
|
/* FreeRTOS includes. */
|
||
|
|
#include "FreeRTOS.h"
|
||
|
|
#include "task.h"
|
||
|
|
#include "semphr.h"
|
||
|
|
|
||
|
|
/* Example includes. */
|
||
|
|
#include "FreeRTOS_CLI.h"
|
||
|
|
|
||
|
|
/* Demo application includes. */
|
||
|
|
#include "serial.h"
|
||
|
|
|
||
|
|
/* Dimensions the buffer into which input characters are placed. */
|
||
|
|
#define cmdMAX_INPUT_SIZE 50
|
||
|
|
|
||
|
|
/* Dimentions a buffer to be used by the UART driver, if the UART driver uses a
|
||
|
|
buffer at all. */
|
||
|
|
#define cmdQUEUE_LENGTH 25
|
||
|
|
|
||
|
|
/* DEL acts as a backspace. */
|
||
|
|
#define cmdASCII_DEL ( 0x7F )
|
||
|
|
|
||
|
|
/* The maximum time to wait for the mutex that guards the UART to become
|
||
|
|
available. */
|
||
|
|
#define cmdMAX_MUTEX_WAIT pdMS_TO_TICKS( 300 )
|
||
|
|
|
||
|
|
#ifndef configCLI_BAUD_RATE
|
||
|
|
#define configCLI_BAUD_RATE 115200
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* The task that implements the command console processing.
|
||
|
|
*/
|
||
|
|
static void prvUARTCommandConsoleTask( void *pvParameters );
|
||
|
|
void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
|
||
|
|
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
/* Const messages output by the command console. */
|
||
|
|
static const char * const pcWelcomeMessage = "FreeRTOS command server.\r\nType Help to view a list of registered commands.\r\n\r\n>";
|
||
|
|
static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
|
||
|
|
static const char * const pcNewLine = "\r\n";
|
||
|
|
|
||
|
|
/* Used to guard access to the UART in case messages are sent to the UART from
|
||
|
|
more than one task. */
|
||
|
|
static SemaphoreHandle_t xTxMutex = NULL;
|
||
|
|
|
||
|
|
/* The handle to the UART port, which is not used by all ports. */
|
||
|
|
static xComPortHandle xPort = 0;
|
||
|
|
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
|
||
|
|
{
|
||
|
|
/* Create the semaphore used to access the UART Tx. */
|
||
|
|
xTxMutex = xSemaphoreCreateMutex();
|
||
|
|
configASSERT( xTxMutex );
|
||
|
|
|
||
|
|
/* Create that task that handles the console itself. */
|
||
|
|
xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
|
||
|
|
"CLI", /* Text name assigned to the task. This is just to assist debugging. The kernel does not use this name itself. */
|
||
|
|
usStackSize, /* The size of the stack allocated to the task. */
|
||
|
|
NULL, /* The parameter is not used, so NULL is passed. */
|
||
|
|
uxPriority, /* The priority allocated to the task. */
|
||
|
|
NULL ); /* A handle is not required, so just pass NULL. */
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvUARTCommandConsoleTask( void *pvParameters )
|
||
|
|
{
|
||
|
|
signed char cRxedChar;
|
||
|
|
uint8_t ucInputIndex = 0;
|
||
|
|
char *pcOutputString;
|
||
|
|
static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
|
||
|
|
BaseType_t xReturned;
|
||
|
|
xComPortHandle xPort;
|
||
|
|
|
||
|
|
( void ) pvParameters;
|
||
|
|
|
||
|
|
/* Obtain the address of the output buffer. Note there is no mutual
|
||
|
|
exclusion on this buffer as it is assumed only one command console interface
|
||
|
|
will be used at any one time. */
|
||
|
|
pcOutputString = FreeRTOS_CLIGetOutputBuffer();
|
||
|
|
|
||
|
|
/* Initialise the UART. */
|
||
|
|
xPort = xSerialPortInitMinimal( configCLI_BAUD_RATE, cmdQUEUE_LENGTH );
|
||
|
|
|
||
|
|
/* Send the welcome message. */
|
||
|
|
vSerialPutString( xPort, ( signed char * ) pcWelcomeMessage, ( unsigned short ) strlen( pcWelcomeMessage ) );
|
||
|
|
|
||
|
|
for( ;; )
|
||
|
|
{
|
||
|
|
/* Wait for the next character. The while loop is used in case
|
||
|
|
INCLUDE_vTaskSuspend is not set to 1 - in which case portMAX_DELAY will
|
||
|
|
be a genuine block time rather than an infinite block time. */
|
||
|
|
while( xSerialGetChar( xPort, &cRxedChar, portMAX_DELAY ) != pdPASS );
|
||
|
|
|
||
|
|
/* Ensure exclusive access to the UART Tx. */
|
||
|
|
if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
|
||
|
|
{
|
||
|
|
/* Echo the character back. */
|
||
|
|
xSerialPutChar( xPort, cRxedChar, portMAX_DELAY );
|
||
|
|
|
||
|
|
/* Was it the end of the line? */
|
||
|
|
if( cRxedChar == '\n' || cRxedChar == '\r' )
|
||
|
|
{
|
||
|
|
/* Just to space the output from the input. */
|
||
|
|
vSerialPutString( xPort, ( signed char * ) pcNewLine, ( unsigned short ) strlen( pcNewLine ) );
|
||
|
|
|
||
|
|
/* See if the command is empty, indicating that the last command
|
||
|
|
is to be executed again. */
|
||
|
|
if( ucInputIndex == 0 )
|
||
|
|
{
|
||
|
|
/* Copy the last command back into the input string. */
|
||
|
|
strcpy( cInputString, cLastInputString );
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Pass the received command to the command interpreter. The
|
||
|
|
command interpreter is called repeatedly until it returns
|
||
|
|
pdFALSE (indicating there is no more output) as it might
|
||
|
|
generate more than one string. */
|
||
|
|
do
|
||
|
|
{
|
||
|
|
/* Get the next output string from the command interpreter. */
|
||
|
|
xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
|
||
|
|
|
||
|
|
/* Write the generated string to the UART. */
|
||
|
|
vSerialPutString( xPort, ( signed char * ) pcOutputString, ( unsigned short ) strlen( pcOutputString ) );
|
||
|
|
|
||
|
|
} while( xReturned != pdFALSE );
|
||
|
|
|
||
|
|
/* All the strings generated by the input command have been
|
||
|
|
sent. Clear the input string ready to receive the next command.
|
||
|
|
Remember the command that was just processed first in case it is
|
||
|
|
to be processed again. */
|
||
|
|
strcpy( cLastInputString, cInputString );
|
||
|
|
ucInputIndex = 0;
|
||
|
|
memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
|
||
|
|
|
||
|
|
vSerialPutString( xPort, ( signed char * ) pcEndOfOutputMessage, ( unsigned short ) strlen( pcEndOfOutputMessage ) );
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if( cRxedChar == '\r' )
|
||
|
|
{
|
||
|
|
/* Ignore the character. */
|
||
|
|
}
|
||
|
|
else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) )
|
||
|
|
{
|
||
|
|
/* Backspace was pressed. Erase the last character in the
|
||
|
|
string - if any. */
|
||
|
|
if( ucInputIndex > 0 )
|
||
|
|
{
|
||
|
|
ucInputIndex--;
|
||
|
|
cInputString[ ucInputIndex ] = '\0';
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/* A character was entered. Add it to the string entered so
|
||
|
|
far. When a \n is entered the complete string will be
|
||
|
|
passed to the command interpreter. */
|
||
|
|
if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
|
||
|
|
{
|
||
|
|
if( ucInputIndex < cmdMAX_INPUT_SIZE )
|
||
|
|
{
|
||
|
|
cInputString[ ucInputIndex ] = cRxedChar;
|
||
|
|
ucInputIndex++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Must ensure to give the mutex back. */
|
||
|
|
xSemaphoreGive( xTxMutex );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
void vOutputString( const char * const pcMessage )
|
||
|
|
{
|
||
|
|
if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
|
||
|
|
{
|
||
|
|
vSerialPutString( xPort, ( signed char * ) pcMessage, ( unsigned short ) strlen( pcMessage ) );
|
||
|
|
xSemaphoreGive( xTxMutex );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|